/*!
*/
void pAcquisitionWindow::setupConnections()
{
connect(m_transportBar, SIGNAL(start()), this, SLOT(startRun()));
connect(m_transportBar, SIGNAL(stop()), this, SLOT(stopRun()));
connect(m_runController, SIGNAL(runStarted()),
this, SLOT(disableTabs()));
connect(m_runController, SIGNAL(runStopped()),
this, SLOT(enableTabs()));
connect(m_runController, SIGNAL(runStopped()), this, SLOT(stop()));
connect(m_runController, SIGNAL(stationIdSet(int)), m_daqDisplay,
SLOT(updateStationId(int)));
connect(m_runController, SIGNAL(runIdChanged(int)), m_daqDisplay,
SLOT(updateRunId(int)));
connect(m_runController, SIGNAL(statusChanged(QString)), m_daqDisplay,
SLOT(updateStatus(QString)));
connect(m_runController, SIGNAL(numDataBlocksChanged(int)),
m_daqDisplay, SLOT(updateNumDataBlocks(int)));
connect(m_runController, SIGNAL(numEventsChanged(int)),
m_daqDisplay, SLOT(updateNumEvents(int)));
connect(m_runController, SIGNAL(elapsedSecondsChanged(int)),
m_daqDisplay, SLOT(updateElapsedSeconds(int)));
connect(m_runController, SIGNAL(averageEventRateChanged(double)),
m_daqDisplay, SLOT(updateAverageDaqRate(double)));
//connect(m_runController, SIGNAL(instantEventRateChanged(double)),
//m_daqDisplay, SLOT(updateInstantDaqRate(double)));
connect(m_runController->xpolFpga(),
SIGNAL(vrefRead(unsigned short, double)),
this, SLOT(displayReference(unsigned short, double)));
connect(m_thresholdSettingTab->getRefreshRefButton(), SIGNAL(clicked()),
m_runController->xpolFpga(), SLOT(readVrefDac()));
connect(m_userPreferencesTab, SIGNAL(visualizetionModeChanged(int)),
this, SLOT(changeVisualizationMode(int)));
}
StabilityBin::StabilityBin(ContextProvider::Service& s):
isStableProperty(s, "Position.Stable"),
isShakyProperty(s, "Position.Shaky"),
accelerometerReader(10),
cutterFilter(4.0),
avgVarFilter(60),
stabilityFilter(&isStableProperty, &isShakyProperty, STABILITY_THRESHOLD, UNSTABILITY_THRESHOLD, STABILITY_HYSTERESIS),
sessionId(0)
{
add(&accelerometerReader, "accelerometer");
add(&normalizerFilter, "normalizerfilter");
add(&cutterFilter, "cutterfilter");
add(&avgVarFilter, "avgvarfilter");
add(&stabilityFilter, "stabilityfilter");
join("accelerometer", "source", "normalizerfilter", "sink");
join("normalizerfilter", "source", "cutterfilter", "sink");
join("cutterfilter", "source", "avgvarfilter", "sink");
join("avgvarfilter", "source", "stabilityfilter", "sink");
// Context group
group.add(isStableProperty);
group.add(isShakyProperty);
connect(&group, SIGNAL(firstSubscriberAppeared()), this, SLOT(startRun()));
connect(&group, SIGNAL(lastSubscriberDisappeared()), this, SLOT(stopRun()));
}
OrientationBin::OrientationBin(ContextProvider::Service& s):
topEdgeProperty(s, "Screen.TopEdge"),
isCoveredProperty(s, "Screen.IsCovered"),
isFlatProperty(s, "Position.IsFlat"),
accelerometerReader(10),
topEdgeReader(10),
faceReader(10),
screenInterpreterFilter(&topEdgeProperty, &isCoveredProperty, &isFlatProperty),
sessionId(0)
{
add(&topEdgeReader, "topedge");
add(&faceReader, "face");
add(&screenInterpreterFilter, "screeninterpreterfilter");
// Create a branching filter chain
join("topedge", "source", "screeninterpreterfilter", "sink");
join("face", "source", "screeninterpreterfilter", "sink");
// Context group
group.add(topEdgeProperty);
group.add(isCoveredProperty);
group.add(isFlatProperty);
connect(&group, SIGNAL(firstSubscriberAppeared()), this, SLOT(startRun()));
connect(&group, SIGNAL(lastSubscriberDisappeared()), this, SLOT(stopRun()));
// Set default values (if the default isn't Unknown)
topEdgeProperty.setValue("top");
isCoveredProperty.setValue(false);
isFlatProperty.setValue(false);
}
void CRunGui::newEnv()
{
stopRun();
//NewEnvDialog newEnvDialog(Env.MapFilePath, Env.EffFilePath ,Env.BeetlesFilePath, this );
int result = newEnvDialog->exec();
if (result ==QDialog::Accepted)
{
COneRun oneRun;
newEnvDialog->getData(&oneRun);
//QMessageBox::information(NULL,"MyApp",QString::number(oneRun.NumRandBeetles) +" Before cleaning");
Env.CleanEnv();
//QMessageBox::information(NULL,"MyApp",QString::number(oneRun.NumRandBeetles));
Env.SetEnv(&oneRun);
//1QMessage::information(NULL,"MyApp","Env is cleaned");
//Env.FillEmptyEnvRandomly(seed,numBeetles,mapFN,effFN,isStepOnFlower);
//1QMessage::information(NULL,"MyApp","Env is filled"); //ch1
//emit envChanged();//uprav tak, aby to nastalo jen if Env was 0
//Field->setEnvRef(Env);
emit envIsEmpty(Env.IsEmpty);
FlowerGrowingRatioInEnvChanged(GFSlider->value());
//1QMessage::information(NULL,"MyApp","Message is emited"); //ch1
Env.NextTime();
renewAllChildren();
statusBar()->showMessage(tr("New environment made."));
}
}
LWDAQ_Client::LWDAQ_Client(QString host, quint16 port, QObject *parent) : QObject(parent),
hostName(host),
portNo(port),
currentState(UNSET),
cmdNo(0),
error(false),
errorText("") {
tcpSocket = new QTcpSocket(this);
connect(tcpSocket, SIGNAL(connected()), this, SLOT(gotConnected()));
connect(tcpSocket, SIGNAL(disconnected()), this, SLOT(gotDisconnected()));
connect(tcpSocket, SIGNAL(readyRead()), this, SLOT(readStatus()));
connect(tcpSocket, SIGNAL(error(QAbstractSocket::SocketError)),
this, SLOT(displayError(QAbstractSocket::SocketError)));
connectTimer = new QTimer(this);
connectTimer->setInterval(RECONNECT_TIME*1000);
connectTimer->setSingleShot(true);
connect(connectTimer, SIGNAL(timeout()), this, SLOT(init()));
statusTimer = new QTimer(this);
statusTimer->setInterval(SLOW_UPDATE_TIME*1000);
statusTimer->setSingleShot(false);
connect(statusTimer, SIGNAL(timeout()), this, SLOT(updateStatus()));
runTimer = new QTimer(this);
runTimer->setInterval(DEFAULT_RUN_TIME*1000);
runTimer->setSingleShot(true);
connect(runTimer, SIGNAL(timeout()), this, SLOT(stopRun()));
}
void changeDirction(double _dirct_speed, double angle) {
stopRun();
data.stri_speed = 0;
data.dirct_speed = _dirct_speed;
data.dth_goal = angle * ecl::pi /180;
kobuki.setBaseControl( data.stri_speed, data.dirct_speed ); // dirct_speed: to control the speed of dirction
dta.state = TURN;
return;
}
void goStright(double _stri_speed, double distance) {
stopRun();
data.stri_speed = _stri_speed;
data.dirct_speed = 0;
data.dx_goal = distance;
kobuki.setBaseControl( data.stri_speed, data.dirct_speed );
data.state = RUN;
return;
}
/* 解析代码后，执行代码 */
void frmLog::onRun()
{
if (isRunning)
{
stopRun();
}
else
{
startRun();
}
}
void update( Kobuki& kobuki ){
ecl::Pose2D<double> pose_update;
ecl::linear_algebra::Vector3d pose_update_rates;
kobuki.updateOdometry(pose_update, pose_update_rates);
pose *= pose_update;
dx += pose_update.x();
dth += pose_update.heading();
if( state == RUN ){
if (data.dx >= data.dx_goal) {
stopRun();
} else if (data.dx <= -data.dx_goal) {
stopRun();
}
}
else if( state == TURN ){
if (data.dth >= data.dth_goal) {
stopRun();
} else if (data.dth <= -data.dth_goal) {
stopRun();
}
}
return;
}
StabilityBin::~StabilityBin()
{
stopRun();
}
/* 收到串口数据 */
void frmLog::onReadData()
{
QByteArray data = mSerial.readAll();
QString str = data, ss, stime, smsg;
int pos, len;
static bool new_line = true;
if ((str == "") || (str == "\n")) return;
/* 符合熔断条件，向主窗体请求停止所有报文发送 */
if ((ui.chkStopAll->isChecked()) && (ui.ctlStopPattern->text().trimmed().length() > 0))
{
if (str.indexOf(ui.ctlStopPattern->text()) >= 0)
{
stopRun();
emit stopAllActions();
}
}
str.replace("\r\n", "\n");
str.remove("\r");
// 出现\n的时候打印时间
find_next_line:
//qDebug() << "str:" << str << new_line;
pos = str.indexOf("\n");
if (pos >= 0)
{
ss = str.mid(0, pos+1);
}
else
ss = str;
if (new_line)
{
qDebug() << "Line:" << sMonitorLine;
sLastLine = sMonitorLine;
QDateTime time = QDateTime::currentDateTime();//获取系统现在的时间
stime = time.toString("hh:mm:ss.zzz"); //设置显示格式
smsg = "[" + stime + "] " + ss;
sMonitorLine = ss;
}
else
{
smsg += ss;
sMonitorLine += ss;
}
// 如果有监控指定字符串
if (sMonitorPattern != "")
{
if (sMonitorLine.indexOf(sMonitorPattern) >= 0)
sMonitorResult = true;
}
// 读取指定内容开头的行
if ((sReadLinePattern != "") && (sReadLineResult == false))
{
if (sLastLine.indexOf(sReadLinePattern) == 0)
{
sReadLine = sLastLine;
sReadLineResult = true;
}
}
// 检测看有没有版本信息
checkVersionPattern(sMonitorLine);
if (pos >= 0)
new_line = true;
else
new_line = false;
qDebug() << "MSG:" << sMonitorLine;
//smsg = sMonitorLine;
smsg.remove("[1;32m");
smsg.remove("[1;33m");
smsg.remove("[1;34m");
smsg.remove("[1;35m");
smsg.remove("[1;36m");
smsg.remove("[0;0m");
smsg.remove("[0m");
//if (pos>=0)
{
ui.txtComInfo->insertPlainText(smsg);
ui.txtComInfo->moveCursor(QTextCursor::End);
}
len = str.length();
if ((pos >= 0) &&(pos < len - 1))
{
str = str.mid(pos + 1);
goto find_next_line;
}
// 太多内容了，程序会变慢，保存后清除
if (ui.txtComInfo->document()->lineCount() > mMaxMonitor)
{
saveMonitor();
ui.txtComInfo->clear();
}
ui.ctlMonitorLineNum->setText(QString::number(ui.txtComInfo->document()->lineCount()));
}
frmLog::~frmLog()
{
stopRun();
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
_marker_detector.setMinMaxSize(0.0001,0.5);
ui->cameraResolutionComboBox->addItem("640x480");
ui->cameraResolutionComboBox->addItem("1920x1080");
_serial_port = new QSerialPort();
refreshSerialPortOptions();
connect(ui->serialConnectButton,SIGNAL(clicked()),SLOT(updateSerialPort()));
connect(ui->serialDisconnectButton,SIGNAL(clicked()),SLOT(disconnectSerialPort()));
connect(_serial_port,SIGNAL(readyRead()),SLOT(receiveData()));
connect(ui->sendSerialDataButton,SIGNAL(clicked()),SLOT(sendTextEditSerialData()));
connect(ui->sendSerialDataLineEdit,SIGNAL(returnPressed()),SLOT(sendTextEditSerialData()));
connect(ui->refreshSerialOptionsButton,SIGNAL(clicked()),SLOT(refreshSerialPortOptions()));
loadDefaultSettings();
//applySettings();
//Timer connects to the kcamera object to call grabFrame every 30 milliseconds
_timer = new QTimer(this);
connect(_timer,SIGNAL(timeout()),SLOT(update()));
_timer->start(20);
//Update video every 20ms
QTimer* video_timer = new QTimer(this);
connect(video_timer,SIGNAL(timeout()),SLOT(updateVideo()));
video_timer->start(20);
connect(ui->applySettingsButton,SIGNAL(clicked()),SLOT(applySettings()));
QFileDialog* file_dialog = new QFileDialog();
connect(file_dialog,SIGNAL(fileSelected(QString)),ui->calibrationFileLineEdit,SLOT(setText(QString)));
connect(ui->browseCalibrationFileButton,SIGNAL(clicked()),file_dialog,SLOT(open()));
//Connections for selecting view (image/2D trace)
connect(ui->viewSelectComboBox,SIGNAL(currentIndexChanged(QString)),SLOT(selectView(QString)));
connect(ui->saveSentDataButton,SIGNAL(clicked()),SLOT(saveSentData()));
connect(ui->clearSentDataButton,SIGNAL(clicked()),SLOT(clearSentData()));
ui->markerTracePlot->addGraph();
ui->markerTracePlot->graph(0)->addData(1.5,1.5);
ui->markerTracePlot->graph(0)->addData(1.9,1.9);
ui->markerTracePlot->graph(0)->addData(1.5,1.9);
ui->markerTracePlot->graph(0)->setScatterStyle(QCPScatterStyle::ssCross);
ui->markerTracePlot->replot();
_running = false;
_frame_count = 0;
connect(ui->startRunButton,SIGNAL(clicked()),this,SLOT(startRun()));
connect(ui->stopRunButton,SIGNAL(clicked()),this,SLOT(stopRun()));
_received_data_max_length = 1000;
_sent_data_max_length = 1000;
//Camera Sliders
connect(ui->brightnessSlider, SIGNAL(valueChanged(int)), this, SLOT(updateBrightness(int)));
connect(ui->sharpnessSlider, SIGNAL(valueChanged(int)), this, SLOT(updateSharpness(int)));
connect(ui->autofocusCheckbox, SIGNAL(toggled(bool)), this, SLOT(updateAutoFocus(bool)));
connect(ui->focusSlider, SIGNAL(valueChanged(int)), this, SLOT(updateFocus(int)));
}
OrientationBin::~OrientationBin()
{
stopRun();
}
