void OfflineLocalisationDialog::MakeLayout()
{
this->setWindowTitle("Offline Localisation");
QVBoxLayout *buttonsLayout = new QVBoxLayout();
QPushButton *openFileButton = new QPushButton("&Open Log...");
connect(openFileButton,SIGNAL(clicked()), this, SLOT(OpenLogFiles()));
buttonsLayout->addWidget(openFileButton);
QPushButton *runSimulationButton = new QPushButton("&Run simulation");
connect(runSimulationButton,SIGNAL(clicked()), this, SLOT(BeginSimulation()));
buttonsLayout->addWidget(runSimulationButton);
QPushButton *saveLogButton = new QPushButton("Save &Log...");
saveLogButton->setEnabled(false);
connect(m_offline_loc,SIGNAL(SimDataChanged(bool)), saveLogButton, SLOT(setEnabled(bool)));
connect(saveLogButton,SIGNAL(clicked()), this, SLOT(SaveAsLocalisationLog()));
buttonsLayout->addWidget(saveLogButton);
QPushButton *saveReportButton = new QPushButton("Save Report...");
saveReportButton->setEnabled(false);
connect(m_offline_loc,SIGNAL(SimDataChanged(bool)), saveReportButton, SLOT(setEnabled(bool)));
//connect(runSimulationButton,SIGNAL(pressed()), this, SLOT(BeginSimulation()));
buttonsLayout->addWidget(saveReportButton);
QVBoxLayout *displayLayout = new QVBoxLayout();
QLabel *fileLabel = new QLabel("Log files");
displayLayout->addWidget(fileLabel);
m_fileListDisplay = new QTextBrowser(this);
m_fileListDisplay->setWordWrapMode(QTextOption::NoWrap);
displayLayout->addWidget(m_fileListDisplay);
QHBoxLayout *overallLayout = new QHBoxLayout();
overallLayout->addLayout(buttonsLayout);
overallLayout->addLayout(displayLayout,1);
m_progressBar = new QProgressDialog("Runing localisation...","Cancel",0, m_offline_loc->NumberOfLogFrames(),this);
m_progressBar->setWindowModality(Qt::WindowModal);
m_progressBar->setValue(0);
m_progressBar->setMinimumDuration(100);
connect(m_offline_loc, SIGNAL(updateProgress(int,int)), this, SLOT(DiplayProgress(int,int)));
connect(m_offline_loc, SIGNAL(finished()), this, SLOT(CompleteSimulation()));
connect(m_progressBar, SIGNAL(canceled()), this, SLOT(CancelProgress()));
connect(m_reader, SIGNAL(OpenLogFilesChanged(std::vector<QFileInfo>)), this, SLOT(SetOpenFileList(std::vector<QFileInfo>)));
setLayout(overallLayout);
}
/*
DialogProc
this is the window event handler for the main dialog
*/
BOOL CALLBACK DialogProc (HWND hwnd,
UINT message,
WPARAM wParam,
LPARAM lParam)
{
switch(message)
{
case WM_INITDIALOG:
// dialog is initializing - store the picture box handle in a global variable for later
HOutput = GetDlgItem(hwnd, IDC_PICTURE_OUTPUT);
// instantiate and initialize our graphics framework object
PGraphics = new GraphicsFramework(HOutput);
break;
case WM_COMMAND:
switch(LOWORD(wParam))
{
case IDC_BTN_DRAW:
//GetDlgItems which sets up the variables
BeginSimulation();
CalculateSimulation();
Beep(500, 200);
system("myfile.txt");
break;
case IDC_BTN_CLEAR:
// clear button was pressed so clear the scene and draw the empty scene
PGraphics->ClearScene(RGB(0, 0, 0));
PGraphics->Draw();
break;
case IDCANCEL:
// user is quitting so release the GraphicsFramework object and quit
delete PGraphics;
quit = true;
PostQuitMessage(0);
break;
}
}
return FALSE;
}
SimulationWindow::SimulationWindow(wxWindow *parent) :
m_threadCondition(m_threadMutex),
m_controlInterface(this),
m_started(false),
m_simulationTimer(this, 1),
m_drawTimer(this, 2)
{
srand(time(nullptr));
// initialize XRC elements..
wxXmlResource::Get()->LoadFrame(this, parent, wxT("SimulationWindow"));
wxPanel * p = XRCCTRL(*this, "m_topPanel", wxPanel);
XRC_INIT(m_joy1_enable, wxCheckBox);
INIT_JOY(1_x)
INIT_JOY(1_y)
INIT_JOY(1_z)
INIT_JOY(1_t)
m_joy1_x->SetReadOnly(true);
m_joy1_y->SetReadOnly(true);
m_joy1_z->SetReadOnly(true);
m_joy1_t->SetReadOnly(true);
XRC_INIT(m_joy1_1, wxCheckBox);
XRC_INIT(m_joy1_2, wxCheckBox);
XRC_INIT(m_joy1_3, wxCheckBox);
XRC_INIT(m_joy1_4, wxCheckBox);
INIT_JOY(2_x)
INIT_JOY(2_y)
INIT_JOY(2_z)
INIT_JOY(2_t)
XRC_INIT(m_joy2_1, wxCheckBox);
XRC_INIT(m_joy2_2, wxCheckBox);
XRC_INIT(m_joy2_3, wxCheckBox);
XRC_INIT(m_joy2_4, wxCheckBox);
XRC_INIT(m_ds_i_1, wxCheckBox);
XRC_INIT(m_ds_i_2, wxCheckBox);
XRC_INIT(m_ds_i_3, wxCheckBox);
XRC_INIT(m_ds_i_4, wxCheckBox);
XRC_INIT(m_ds_i_5, wxCheckBox);
XRC_INIT(m_ds_i_6, wxCheckBox);
XRC_INIT(m_ds_i_7, wxCheckBox);
XRC_INIT(m_ds_i_8, wxCheckBox);
INIT_DS_ANALOG(1)
INIT_DS_ANALOG(2)
INIT_DS_ANALOG(3)
INIT_DS_ANALOG(4)
XRC_INIT(m_stepText, wxTextCtrl);
XRC_INIT(m_startButton, wxButton);
XRC_INIT(m_statusBar, wxStatusBar);
XRC_INIT(m_enabledBox, wxCheckBox);
XRC_INIT(m_autonomousBox, wxCheckBox);
XRC_INIT(m_lcdTop, wxTextCtrl);
XRC_INIT(m_lcdBottom, wxTextCtrl);
// setup validation
m_stepText->SetValidator(wxTextValidator(wxFILTER_NUMERIC));
// statusbar
m_statusBar->SetFieldsCount(2);
m_statusBar->SetStatusText(wxT("Stopped"), 0);
m_statusBar->SetStatusText(wxT("0.0s"), 1);
// initialize analog inputs
wxXmlResource * xmlRes = wxXmlResource::Get();
// slot 1
for (int i = 0; i < ANALOG_IO_CHANNELS; i++)
{
m_slot1Analog[i] = new Slider(p, wxID_ANY, 0, 5, false);
xmlRes->AttachUnknownControl(
wxString::Format(wxT("m_analog_1_%d"), i+1),
m_slot1Analog[i], p);
}
// slot 2
for (int i = 0; i < ANALOG_IO_CHANNELS; i++)
{
m_slot2Analog[i] = new Slider(p, wxID_ANY, 0, 5, false);
xmlRes->AttachUnknownControl(
wxString::Format(wxT("m_analog_2_%d"), i+1),
m_slot2Analog[i], p);
}
// initialize pwm outputs
// slot 4
for (int i = 0; i < DIGITAL_PWM_CHANNELS; i++)
{
m_slot1PWM[i] = new Slider(p, wxID_ANY, -1, 1, true);
xmlRes->AttachUnknownControl(
wxString::Format(wxT("m_pwm_1_%d"), i+1),
m_slot1PWM[i], p);
}
// slot 6
// HAHAHAHAHAHAHAHAHAAHAHAHAAHAH
// I'd been trying to fix this assert error for HOURS
// and then I realized: size_t = long on Linux
for (int i = 0; i < DIGITAL_PWM_CHANNELS; i++)
{
m_slot2PWM[i] = new Slider(p, wxID_ANY, -1, 1, true);
xmlRes->AttachUnknownControl(
wxString::Format(wxT("m_pwm_2_%d"), i+1),
m_slot2PWM[i], p);
}
// slot 8 (solenoids)
for (int i = 0; i < SOLENOID_IO_CHANNELS; i++)
{
m_solenoids[i] = new TogglePanelButton(p, wxID_ANY);
m_solenoids[i]->SetReadOnly(true);
xmlRes->AttachUnknownControl(
wxString::Format(wxT("m_sol_%d"), i+1),
m_solenoids[i], p);
}
// initialize digital channels
// slot 4
for (int i = 0; i < DIGITAL_IO_CHANNELS; i++)
{
m_slot1DIO[i] = new TogglePanelButton(p, wxID_ANY);
xmlRes->AttachUnknownControl(
wxString::Format(wxT("m_dio_1_%d"), i+1),
m_slot1DIO[i], p);
m_slot1DIO_lbl[i] = wxStaticCast(FindWindow(xmlRes->GetXRCID(wxString::Format(wxT("m_diol_1_%d"), i+1))),
wxStaticText);
}
// slot 6
for (int i = 0; i < DIGITAL_IO_CHANNELS; i++)
{
m_slot2DIO[i] = new TogglePanelButton(p, wxID_ANY);
xmlRes->AttachUnknownControl(
wxString::Format(wxT("m_dio_2_%d"), i+1),
m_slot2DIO[i], p);
m_slot2DIO_lbl[i] = wxStaticCast(FindWindow(xmlRes->GetXRCID(wxString::Format(wxT("m_diol_2_%d"), i+1))),
wxStaticText);
}
p->Fit();
p->Layout();
Layout();
// initialize the simulation thread
BeginSimulation();
// anything else that needs to be done
m_joystick1.SetCapture(this);
// try to update regularly
m_drawTimer.Start(150);
}
