boost::numeric::ublas::vector<double> ribi::kalman::StandardWhiteNoiseSystem::Measure() const noexcept
{
const auto sz = GetCurrentState().size();
assert(GetCurrentState().size() == m_parameters->GetMeasurementNoise().size());
boost::numeric::ublas::vector<double> measured(sz);
for (std::size_t i = 0; i!=sz; ++i)
{
measured(i) = GetRandomNormal(GetCurrentState()(i),m_parameters->GetMeasurementNoise()(i));
}
return measured;
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
QLocale::setDefault(QLocale::English);
//setAttribute(Qt::WA_DeleteOnClose,true);
ui->setupUi(this);
experimentSettings=new QSettings (QSettings::IniFormat,QSettings::UserScope,QApplication::organizationName(),"experiment",this);
experiment=new Experiment();
tcp=new TcpServer(this);
tcp->setExperiment(experiment);
udp=new UdpServer(this);
udp->setExperiment(experiment);
connect(tcp,SIGNAL(warning(QString)),SLOT(warning(QString)));
connect(tcp,SIGNAL(notify(QString)),SLOT(notify(QString)));
//bind tcp socket to local port 25050
tcp->bind(25050);
connect(experiment,SIGNAL(statusChanged(bool)),tcp,SLOT(experimentStatusChanged(bool)));
connect(experiment,SIGNAL(intervalChanged(int)),tcp,SLOT(experimentIntervalChanged(int)));
connect(experiment,SIGNAL(TcpForbidden(QString)),tcp,SLOT(experimentForbidden(QString)));
connect(ui->actionExit,SIGNAL(triggered()),this,SLOT(close()));
connect(ui->actionFullscreen,SIGNAL(triggered(bool)),this,SLOT(setFullscreen(bool)));
connect(ui->actionAbout_Qt,SIGNAL(triggered()),this,SLOT(showAboutQt()));
connect(ui->actionNew_experiment,SIGNAL(triggered()),this,SLOT(getExperiment()));
connect(ui->actionSave,SIGNAL(triggered()),experiment,SLOT(saveFile()));
connect(ui->actionSave_as,SIGNAL(triggered()),this,SLOT(getFile()));
connect(ui->actionStartMeasure,SIGNAL(toggled(bool)),experiment,SLOT(start(bool)));
connect(ui->actionMeasuring_interval,SIGNAL(triggered()),this,SLOT(changeMeasureIntervalDialog()));
connect(ui->actionControls,SIGNAL(triggered()),SLOT(showExperimentControlMangement()));
connect(ui->actionData,SIGNAL(triggered()),SLOT(showData()));
connect(experiment,SIGNAL(statusChanged(bool)),ui->actionStartMeasure,SLOT(setChecked(bool)));
connect(experiment,SIGNAL(statusChanged(bool)),this,SLOT(statusChanged(bool)));
connect(experiment,SIGNAL(experimentChanged(QString)),this,SLOT(setExperiment(QString)));
connect(experiment,SIGNAL(measured(QString)),ui->plainTextEdit,SLOT(appendPlainText(QString)));
connect(experiment,SIGNAL(fileChanged(QString)),this,SLOT(setFile(QString)));
connect(experiment,SIGNAL(Notify(QString)),SLOT(notify(QString)));
connect(experiment,SIGNAL(intervalChanged(int)),SLOT(setMeasureInterval(int)));
connect(experiment,SIGNAL(updateProgress(int)),ui->measureIntervalProgressBar,SLOT(setValue(int)));
connect(tcp,SIGNAL(clientCountChanged(int)),&tcpClientsLabel,SLOT(setNum(int)));
experiment->setInterval(2000);
// Additional ui preparation
experimentLabel.setToolTip("Experiment configuration");
statusLabel.setToolTip("Experiment status:\nR - running\nS - stopped");
QFont font(statusLabel.font());
font.setBold(true);
statusLabel.setFont(font);
//set experiment status to stopped
statusChanged(false);
tcpClientsLabel.setToolTip("Number of tcp clients");
tcpClientsLabel.setNum(0);
statusBar()->addPermanentWidget(&tcpClientsLabel);
statusBar()->addPermanentWidget(&fileLabel);
statusBar()->addPermanentWidget(&experimentLabel);
statusBar()->addPermanentWidget(&statusLabel);
// Ask user to select experiment
getExperiment();
}
