MainWindow::MainWindow( QWidget *parent) :
QWidget(parent)
{
ip = new QLineEdit("127.0.0.1");
port = new QLineEdit("33333");
status = new QLabel(tr("Not connected"));
connectBtn = new QPushButton(tr("Connect"));
msgId = new QLineEdit("0");
msgValue = new QLineEdit("0");
sendMsg = new QPushButton(tr("Send Message"));
quitBtn = new QPushButton(tr("Quit"));
// Connection parameters
QGroupBox* grp1 = new QGroupBox(tr("Connection"));
QVBoxLayout* grp1layout = new QVBoxLayout();
grp1->setLayout(grp1layout);
grp1layout->addWidget(new QLabel(tr("IP")));
grp1layout->addWidget(ip);
grp1layout->addWidget(new QLabel(tr("Port")));
grp1layout->addWidget(port);
grp1layout->addWidget(status);
grp1layout->addWidget(connectBtn);
// UserMessage parameters
QGroupBox* grp2 = new QGroupBox(tr("User message"));
QVBoxLayout* grp2layout = new QVBoxLayout();
grp2->setLayout(grp2layout);
grp2layout->addWidget(new QLabel(tr("Message ID")));
grp2layout->addWidget(msgId);
grp2layout->addWidget(new QLabel(tr("Data 0")));
grp2layout->addWidget(msgValue);
grp2layout->addWidget(sendMsg);
// Overall layout
QVBoxLayout* main_layout = new QVBoxLayout();
main_layout->addWidget(grp1);
main_layout->addWidget(grp2);
main_layout->addWidget(quitBtn);
setLayout(main_layout);
// connect widgets
connect(connectBtn, SIGNAL(clicked()), this, SLOT(connectToDashel()));
connect(sendMsg, SIGNAL(clicked()), this, SLOT(sendUserMessage()));
connect(quitBtn, SIGNAL(clicked()), this, SLOT(close()));
// connect signals from dashel
connect(&dashelInterface, SIGNAL(messageAvailable(Aseba::UserMessage *)), SLOT(messageFromDashel(Aseba::UserMessage *)), Qt::QueuedConnection);
connect(&dashelInterface, SIGNAL(dashelDisconnection()), SLOT(disconnectionFromDashel()), Qt::QueuedConnection);
connect(&dashelInterface, SIGNAL(dashelConnection()), SLOT(connectionFromDashel()), Qt::QueuedConnection);
}
// internals
void DashelInterface::run()
{
while (1)
{
try
{
stream = Dashel::Hub::connect(dashelParams.toStdString());
emit dashelConnection();
qDebug() << "Connected to target: " << dashelParams;
isConnected = true;
break;
}
catch (Dashel::DashelException e)
{
qDebug() << "Cannot connect to target: " << dashelParams;
sleep(1000000L); // 1s
}
}
while (isRunning)
Dashel::Hub::run();
}
