PersistComboBox::PersistComboBox(QString const &key, QComboBox *box)
: key_(key)
, box_(box)
, index_(std::max(0, box->currentIndex()))
{
index_ = filterValue(box->findText(QSettings().value(key, box->itemText(index_)).toString()),
box->count(), 0, index_);
box->setCurrentIndex(index_);
}
inline optional<mbgl::style::Filter> toFilter(jni::JNIEnv& env, jni::Array<jni::Object<>> jfilter) {
mbgl::optional<mbgl::style::Filter> filter;
if (jfilter) {
Value filterValue(env, jfilter);
mbgl::style::conversion::Error error;
auto converted = mbgl::style::conversion::convert<mbgl::style::Filter>(filterValue, error);
if (!converted) {
mbgl::Log::Error(mbgl::Event::JNI, "Error converting filter: " + error.message);
}
filter = std::move(*converted);
}
return filter;
}
SoundDialog::SoundDialog(MainWindow const &mw, QWidget *const parent)
: QDialog(parent)
, mw_(mw)
, engineSelector_("sound/engineIndex", createEngineBox(mw, this))
, resamplerSelector_("sound/resamplerNum", createResamplerBox(mw, this))
, rateBox_(createRateBox(this))
, latencyBox_(new QSpinBox(this))
, engineWidget_()
, rate_(0)
, latency_(68)
{
setWindowTitle(tr("Sound Settings"));
QVBoxLayout *const mainLayout = new QVBoxLayout(this);
QVBoxLayout *const topLayout = addLayout(mainLayout, new QVBoxLayout);
{
QHBoxLayout *const hLayout = addLayout(topLayout, new QHBoxLayout);
hLayout->addWidget(new QLabel(tr("Sound engine:")));
hLayout->addWidget(engineSelector_.box());
}
{
QHBoxLayout *const hLayout = addLayout(topLayout, new QHBoxLayout);
hLayout->addWidget(new QLabel(tr("Resampler:")));
hLayout->addWidget(resamplerSelector_.box());
}
{
QHBoxLayout *const hLayout = addLayout(topLayout, new QHBoxLayout);
hLayout->addWidget(new QLabel(tr("Sample rate:")));
hLayout->addWidget(rateBox_);
}
{
QHBoxLayout *const hLayout = addLayout(topLayout, new QHBoxLayout);
hLayout->addWidget(new QLabel(tr("Buffer latency:")));
latencyBox_->setRange(8, 999);
latencyBox_->setSuffix(" ms");
hLayout->addWidget(latencyBox_);
}
{
QHBoxLayout *const hLayout = addLayout(mainLayout, new QHBoxLayout,
Qt::AlignBottom | Qt::AlignRight);
QPushButton *const okButton = addWidget(hLayout, new QPushButton(tr("OK")));
QPushButton *const cancelButton = addWidget(hLayout, new QPushButton(tr("Cancel")));
okButton->setDefault(true);
connect(okButton, SIGNAL(clicked()), this, SLOT(accept()));
connect(cancelButton, SIGNAL(clicked()), this, SLOT(reject()));
}
QSettings settings;
setRate(rateBox_,
settings.value("sound/rate",
rateBox_->itemData(rateBox_->currentIndex())).toInt());
rate_ = rateBox_->itemData(rateBox_->currentIndex()).toInt();
latency_ = filterValue(settings.value("sound/latency", latency_).toInt(),
latencyBox_->maximum() + 1, latencyBox_->minimum(), latency_);
latencyBox_->setValue(latency_);
engineChange(engineSelector_.index());
connect(engineSelector_.box(), SIGNAL(currentIndexChanged(int)),
this, SLOT(engineChange(int)));
connect(rateBox_, SIGNAL(currentIndexChanged(int)), this, SLOT(rateIndexChange(int)));
}
void DW1000RangingClass::loop() {
//we check if needed to reset !
checkForReset();
long time = millis();
if(time-timer > _timerDelay) {
timer = time;
timerTick();
}
if(_sentAck) {
_sentAck = false;
int messageType = detectMessageType(data);
if(messageType != POLL_ACK && messageType != POLL && messageType != RANGE)
return;
//A msg was sent. We launch the ranging protocole when a message was sent
if(_type == ANCHOR) {
if(messageType == POLL_ACK) {
DW1000Device* myDistantDevice = searchDistantDevice(_lastSentToShortAddress);
DW1000.getTransmitTimestamp(myDistantDevice->timePollAckSent);
}
}
else if(_type == TAG) {
if(messageType == POLL) {
DW1000Time timePollSent;
DW1000.getTransmitTimestamp(timePollSent);
//if the last device we send the POLL is broadcast:
if(_lastSentToShortAddress[0] == 0xFF && _lastSentToShortAddress[1] == 0xFF) {
//we save the value for all the devices !
for(short i = 0; i < _networkDevicesNumber; i++) {
_networkDevices[i].timePollSent = timePollSent;
}
}
else {
//we search the device associated with the last send address
DW1000Device* myDistantDevice = searchDistantDevice(_lastSentToShortAddress);
//we save the value just for one device
myDistantDevice->timePollSent = timePollSent;
}
}
else if(messageType == RANGE) {
DW1000Time timeRangeSent;
DW1000.getTransmitTimestamp(timeRangeSent);
//if the last device we send the POLL is broadcast:
if(_lastSentToShortAddress[0] == 0xFF && _lastSentToShortAddress[1] == 0xFF) {
//we save the value for all the devices !
for(short i = 0; i < _networkDevicesNumber; i++) {
_networkDevices[i].timeRangeSent = timeRangeSent;
}
}
else {
//we search the device associated with the last send address
DW1000Device* myDistantDevice = searchDistantDevice(_lastSentToShortAddress);
//we save the value just for one device
myDistantDevice->timeRangeSent = timeRangeSent;
}
}
}
}
//check for new received message
if(_receivedAck) {
_receivedAck = false;
//we read the datas from the modules:
// get message and parse
DW1000.getData(data, LEN_DATA);
int messageType = detectMessageType(data);
//we have just received a BLINK message from tag
if(messageType == BLINK && _type == ANCHOR) {
byte address[8];
byte shortAddress[2];
_globalMac.decodeBlinkFrame(data, address, shortAddress);
//we crate a new device with th tag
DW1000Device myTag(address, shortAddress);
if(addNetworkDevices(&myTag)) {
if(_handleBlinkDevice != 0) {
(*_handleBlinkDevice)(&myTag);
}
//we reply by the transmit ranging init message
transmitRangingInit(&myTag);
noteActivity();
}
_expectedMsgId = POLL;
}
else if(messageType == RANGING_INIT && _type == TAG) {
byte address[2];
_globalMac.decodeLongMACFrame(data, address);
//we crate a new device with the anchor
DW1000Device myAnchor(address, true);
if(addNetworkDevices(&myAnchor, true)) {
if(_handleNewDevice != 0) {
(*_handleNewDevice)(&myAnchor);
}
}
noteActivity();
}
else {
//we have a short mac layer frame !
byte address[2];
_globalMac.decodeShortMACFrame(data, address);
//we get the device which correspond to the message which was sent (need to be filtered by MAC address)
DW1000Device* myDistantDevice = searchDistantDevice(address);
if(myDistantDevice == NULL) {
Serial.println("Not found");
//we don't have the short address of the device in memory
/*
Serial.print("unknown: ");
Serial.print(address[0], HEX);
Serial.print(":");
Serial.println(address[1], HEX);
*/
return;
}
//then we proceed to range protocole
if(_type == ANCHOR) {
if(messageType != _expectedMsgId) {
// unexpected message, start over again (except if already POLL)
_protocolFailed = true;
}
if(messageType == POLL) {
//we receive a POLL which is a broacast message
//we need to grab info about it
short numberDevices = 0;
memcpy(&numberDevices, data+SHORT_MAC_LEN+1, 1);
for(short i = 0; i < numberDevices; i++) {
//we need to test if this value is for us:
//we grab the mac address of each devices:
byte shortAddress[2];
memcpy(shortAddress, data+SHORT_MAC_LEN+2+i*4, 2);
//we test if the short address is our address
if(shortAddress[0] == _currentShortAddress[0] && shortAddress[1] == _currentShortAddress[1]) {
//we grab the replytime wich is for us
unsigned int replyTime = 0;
memcpy(&replyTime, data+SHORT_MAC_LEN+2+i*4+2, 2);
//we configure our replyTime;
_replyDelayTimeUS = replyTime;
// on POLL we (re-)start, so no protocol failure
_protocolFailed = false;
DW1000.getReceiveTimestamp(myDistantDevice->timePollReceived);
//we note activity for our device:
myDistantDevice->noteActivity();
//we indicate our next receive message for our ranging protocole
_expectedMsgId = RANGE;
transmitPollAck(myDistantDevice);
noteActivity();
return;
}
}
}
else if(messageType == RANGE) {
//we receive a RANGE which is a broacast message
//we need to grab info about it
short numberDevices = 0;
memcpy(&numberDevices, data+SHORT_MAC_LEN+1, 1);
for(short i = 0; i < numberDevices; i++) {
//we need to test if this value is for us:
//we grab the mac address of each devices:
byte shortAddress[2];
memcpy(shortAddress, data+SHORT_MAC_LEN+2+i*17, 2);
//we test if the short address is our address
if(shortAddress[0] == _currentShortAddress[0] && shortAddress[1] == _currentShortAddress[1]) {
//we grab the replytime wich is for us
DW1000.getReceiveTimestamp(myDistantDevice->timeRangeReceived);
noteActivity();
_expectedMsgId = POLL;
if(!_protocolFailed) {
myDistantDevice->timePollSent.setTimestamp(data+SHORT_MAC_LEN+4+17*i);
myDistantDevice->timePollAckReceived.setTimestamp(data+SHORT_MAC_LEN+9+17*i);
myDistantDevice->timeRangeSent.setTimestamp(data+SHORT_MAC_LEN+14+17*i);
// (re-)compute range as two-way ranging is done
DW1000Time myTOF;
computeRangeAsymmetric(myDistantDevice, &myTOF); // CHOSEN RANGING ALGORITHM
float distance = myTOF.getAsMeters();
if (_useRangeFilter) {
//Skip first range
if (myDistantDevice->getRange() != 0.0f) {
distance = filterValue(distance, myDistantDevice->getRange(), _rangeFilterValue);
}
}
myDistantDevice->setRXPower(DW1000.getReceivePower());
myDistantDevice->setRange(distance);
myDistantDevice->setFPPower(DW1000.getFirstPathPower());
myDistantDevice->setQuality(DW1000.getReceiveQuality());
//we send the range to TAG
transmitRangeReport(myDistantDevice);
//we have finished our range computation. We send the corresponding handler
_lastDistantDevice = myDistantDevice->getIndex();
if(_handleNewRange != 0) {
(*_handleNewRange)();
}
}
else {
transmitRangeFailed(myDistantDevice);
}
return;
}
}
}
}
else if(_type == TAG) {
// get message and parse
if(messageType != _expectedMsgId) {
// unexpected message, start over again
//not needed ?
return;
_expectedMsgId = POLL_ACK;
return;
}
if(messageType == POLL_ACK) {
DW1000.getReceiveTimestamp(myDistantDevice->timePollAckReceived);
//we note activity for our device:
myDistantDevice->noteActivity();
//in the case the message come from our last device:
if(myDistantDevice->getIndex() == _networkDevicesNumber-1) {
_expectedMsgId = RANGE_REPORT;
//and transmit the next message (range) of the ranging protocole (in broadcast)
transmitRange(NULL);
}
}
else if(messageType == RANGE_REPORT) {
float curRange;
memcpy(&curRange, data+1+SHORT_MAC_LEN, 4);
float curRXPower;
memcpy(&curRXPower, data+5+SHORT_MAC_LEN, 4);
if (_useRangeFilter) {
//Skip first range
if (myDistantDevice->getRange() != 0.0f) {
curRange = filterValue(curRange, myDistantDevice->getRange(), _rangeFilterValue);
}
}
//we have a new range to save !
myDistantDevice->setRange(curRange);
myDistantDevice->setRXPower(curRXPower);
//We can call our handler !
//we have finished our range computation. We send the corresponding handler
_lastDistantDevice = myDistantDevice->getIndex();
if(_handleNewRange != 0) {
(*_handleNewRange)();
}
}
else if(messageType == RANGE_FAILED) {
//not needed as we have a timer;
return;
_expectedMsgId = POLL_ACK;
}
}
}
}
}
void BioXASCarbonFilterFarmActuator::onFilterControlValueChanged()
{
emit filterValueChanged( filterValue() );
}
