void cliFuncStop(void *cmd, char *cmdLine) {
if (state < ESC_STATE_NOCOMM) {
serialPrint(runError);
}
else {
runStop();
cliFuncChangeInput(ESC_INPUT_UART);
serialPrint("ESC stopping\r\n");
}
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "RunStop");
ros::NodeHandle nh;
std::string runStopPort;
if(!nh.getParam("runStop/port", runStopPort))
{
ROS_ERROR("Could not get all RunStop parameters");
return -1;
}
RunStop runStop(nh, runStopPort);
ros::spin();
return 0;
}
caStripPlot::caStripPlot(QWidget *parent): QwtPlot(parent)
{
timerID = false;
thisXaxisType = TimeScale;
HISTORY = 60;
thisUnits = Second;
thisPeriod = 60;
NumberOfCurves = MAXCURVES;
onInit = true;
timeInterval = 1.0;
setAutoReplot(false);
setAutoFillBackground(true);
Start = true;
// define a grid
plotGrid = new QwtPlotGrid();
plotGrid->attach(this);
plotLayout()->setAlignCanvasToScales(true);
// define our axis
if(thisXaxisType == TimeScale) {
setAxisScale(QwtPlot::xBottom, 0, HISTORY);
} else {
setAxisScale(QwtPlot::xBottom, -HISTORY, 0);
}
setAxisLabelAlignment(QwtPlot::xBottom, Qt::AlignLeft | Qt::AlignBottom);
setAxisScale(QwtPlot::yLeft, 0, 1000);
if(thisXaxisType == TimeScale) {
// due to time scale we need some distance
scaleWidget = axisWidget(QwtPlot::xBottom);
const int fmh = QFontMetrics(scaleWidget->font()).height();
scaleWidget->setMinBorderDist(fmh * 2, fmh * 2);
// define time axis
QTime timeNow= QTime::currentTime();
setAxisScaleDraw ( QwtPlot::xBottom, new TimeScaleDraw ( timeNow ) );
}
// define our curves
for(int i=0; i< MAXCURVES; i++) {
curve[i] = new QwtPlotCurve();
errorcurve[i] = new QwtPlotIntervalCurve();
fillcurve[i] = new QwtPlotIntervalCurve();
if(i>0) {
curve[i]->setZ(curve[i]->z() - i);
fillcurve[i]->setZ(fillcurve[i]->z() - i);
errorcurve[i]->setZ(errorcurve[i]->z() - i);
}
curve[i]->attach(this);
errorcurve[i]->attach(this);
fillcurve[i]->attach(this);
showCurve(i, false);
thisYaxisLimitsMax[i] = 100;
thisYaxisLimitsMin[i] = 0;
}
// default colors and styles
setTitlePlot("");
setTitleX("");
setTitleY("");
setBackground(Qt::black);
setForeground(QColor(133, 190, 232));
setScaleColor(Qt::black);
setGrid(true);
setGridColor(Qt::gray);
for(int i=0; i< MAXCURVES; i++) setStyle(Lines, i);
setColor(Qt::white, 0);
setColor(Qt::red, 1);
setColor(Qt::yellow, 2);
setColor(Qt::cyan, 3);
setColor(Qt::magenta, 4);
setColor(Qt::green, 5);
setColor(Qt::blue, 6);
setXaxisEnabled(true);
setYaxisEnabled(true);
setLegendEnabled(true);
setAxisFont(QwtPlot::xBottom, QFont("Arial", 10));
setAxisFont(QwtPlot::yLeft, QFont("Arial", 10));
installEventFilter(this);
// display timer
Timer = new QTimer(this);
Timer->setInterval(1000);
connect(Timer, SIGNAL(timeout()), this, SLOT(TimeOut()));
// data collection thread
timerThread = new stripplotthread();
timerThread->start();
timerThread->threadSetTimer(100);
timerThread->setPriority(QThread::HighPriority);
connect(this, SIGNAL(timerThreadStop()), timerThread, SLOT(runStop()));
connect(timerThread, SIGNAL(update()), this, SLOT(TimeOutThread()), Qt::DirectConnection);
}
