MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
ui->starttime->setText("0");
ui->simurate->setText("1");
///create node
//STM32 MCU
Simulator* stm32comm = new Simulator(library, "Sensor_stm32comm", "stm32comm", config, QTime(),1);
stm32comm->setOutputNodesName(QList<QString>()<<"stm32comm_viewer;stm32comm_storage;doordetection;simplecollect;planner");
VisualizationMono* stm32comm_viewer = new VisualizationMono(library, "Sensor_stm32comm", "stm32comm_viewer", config);
stm32comm_viewer->setInputNodesName(QList<QString>()<<"stm32comm");
stm32comm_viewer->connectExternalTrigger(0, DRAINSLOT);
//LCamera
Simulator* l_camera = new Simulator(library, "Sensor_Camera", "l_camera", config, QTime(),1);
l_camera->setOutputNodesName(QList<QString>()<<"l_camera_viewer;l_camera_storage;cameralasercalib");
VisualizationMono* l_camera_viewer = new VisualizationMono(library, "Sensor_Camera", "l_camera_viewer", config);
l_camera_viewer->setInputNodesName(QList<QString>()<<"l_camera");
l_camera_viewer->connectExternalTrigger(0, DRAINSLOT);
//RCamera
Simulator* r_camera = new Simulator(library, "Sensor_Camera", "r_camera",config, QTime(),1);
r_camera->setOutputNodesName(QList<QString>()<<"r_camera_viewer");
VisualizationMono*r_camera_viewer = new VisualizationMono(library, "Sensor_Camera", "r_camera_viewer", config);
r_camera_viewer->setInputNodesName(QList<QString>()<<"r_camera");
r_camera_viewer->connectExternalTrigger(0, DRAINSLOT);
//Laser
Simulator* laser = new Simulator(library, "Sensor_Laser", "laser", config, QTime(),1);
laser->setOutputNodesName(QList<QString>()<<"laser_viewer;doordetection;simplecollect;calib;cameralasercalib");
VisualizationMono* laser_viewer = new VisualizationMono(library, "Sensor_Laser", "laser_viewer", config);
laser_viewer->setInputNodesName(QList<QString>()<<"laser");
laser_viewer->connectExternalTrigger(0, DRAINSLOT);
//camera laser calib
ProcessorMulti* cameralasercalib = new ProcessorMulti(library, "Processor_CameraLaser", "cameralasercalib", config);
cameralasercalib->setInputNodesName(QList<QString>()<<"l_camera"<<"laser");
cameralasercalib->setOutputNodesName(QList<QString>()<<"cameralasercalib_viewer");
cameralasercalib->connectExternalTrigger(1,PROCESSORSLOT);
VisualizationMono *cameralasercalib_viewer = new VisualizationMono(library, "Processor_CameraLaser", "cameralasercalib_viewer", config);
cameralasercalib_viewer->setInputNodesName(QList<QString>()<<"cameralasercalib");
cameralasercalib_viewer->connectExternalTrigger(0, DRAINSLOT);
//calibration
VisualizationMono *laserCalib = new VisualizationMono(library, "Calibration_Laser", "calib", config);
laserCalib->setInputNodesName(QList<QString>()<<"laser");
laserCalib->connectExternalTrigger(0, DRAINSLOT);
//Path
ProcessorMono* pathPlanner = new ProcessorMono(library, "Processor_PathGenerator", "planner", config);
pathPlanner->setInputNodesName(QList<QString>() << "stm32comm");
pathPlanner->setOutputNodesName(QList<QString>() << "plannerViewer");
pathPlanner->connectExternalTrigger(0, PROCESSORSLOT);
VisualizationMono* pathPlannerViewer = new VisualizationMono(library, "Processor_PathGenerator", "plannerViewer", config);
pathPlannerViewer->setInputNodesName(QList<QString>() << "planner");
pathPlannerViewer->connectExternalTrigger(0, DRAINSLOT);
//doordetection
ProcessorMulti* doordetection = new ProcessorMulti(library,"Processor_doordetection", "doordetection",config);
doordetection->setInputNodesName(QList<QString>()<<"laser"<<"stm32comm");
doordetection->setOutputNodesName(QList<QString>()<<"doordetection_viewer;simplecollect");
doordetection->connectExternalTrigger(1, PROCESSORSLOT);
VisualizationMono* doordetection_viewer = new VisualizationMono(library,"Processor_doordetection", "doordetection_viewer", config);
doordetection_viewer->setInputNodesName(QList<QString>()<<"doordetection");
doordetection_viewer->connectExternalTrigger(0,DRAINSLOT);
//simple collect
ProcessorMulti* simplecollect = new ProcessorMulti(library,"Processor_SimpleCollect", "simplecollect", config);
simplecollect->setInputNodesName(QList<QString>()<<"joystick"<<"laser"<<"stm32comm"<<"doordetection");
simplecollect->setOutputNodesName(QList<QString>()<<"simplecollect_viewer");
simplecollect->connectExternalTrigger(2, PROCESSORSLOT);
VisualizationMono* simplecollect_viewer = new VisualizationMono(library,"Processor_SimpleCollect", "simplecollect_viewer",config);
simplecollect_viewer->setInputNodesName(QList<QString>()<<"simplecollect");
simplecollect_viewer->connectExternalTrigger(0,DRAINSLOT);
///add node
edge.addNode(stm32comm, 1, MONITOR);
edge.addNode(stm32comm_viewer, 0, 0);
edge.addNode(l_camera, 1, MONITOR);
edge.addNode(l_camera_viewer, 0, 0);
edge.addNode(r_camera, 1, MONITOR);
edge.addNode(r_camera_viewer, 0, 0);
edge.addNode(laser, 1, MONITOR);
edge.addNode(laser_viewer, 0, 0);
edge.addNode(pathPlanner, 1, MONITOR);
edge.addNode(pathPlannerViewer, 0, 0);
edge.addNode(doordetection, 1, MONITOR);
edge.addNode(doordetection_viewer, 0, 0);
edge.addNode(cameralasercalib, 1, MONITOR);
edge.addNode(cameralasercalib_viewer, 0, 0);
// edge.addNode(simplecollect, 1, MONITOR);
// edge.addNode(simplecollect_viewer, 0, 0);
edge.addNode(laserCalib, 0, 0);
edge.connectAll();
connect(ui->open, SIGNAL(clicked()), &edge, SLOT(openAllNodesSlot()));
connect(ui->close, SIGNAL(clicked()), &edge, SLOT(closeAllNodesSlot()));
connect(ui->setvale, SIGNAL(clicked()), this, SLOT(on_setvalue()));
connect(this, SIGNAL(sig_setstarttime(QTime)), stm32comm, SLOT(setStartTimeSlot(QTime)));
connect(this,SIGNAL(sig_setsimurate(double)), stm32comm, SLOT(setSimulateRateSlot(double)));
connect(this, SIGNAL(sig_setstarttime(QTime)), l_camera, SLOT(setStartTimeSlot(QTime)));
connect(this,SIGNAL(sig_setsimurate(double)), l_camera, SLOT(setSimulateRateSlot(double)));
connect(this, SIGNAL(sig_setstarttime(QTime)), r_camera, SLOT(setStartTimeSlot(QTime)));
connect(this,SIGNAL(sig_setsimurate(double)), r_camera, SLOT(setSimulateRateSlot(double)));
connect(this, SIGNAL(sig_setstarttime(QTime)), laser, SLOT(setStartTimeSlot(QTime)));
connect(this,SIGNAL(sig_setsimurate(double)), laser, SLOT(setSimulateRateSlot(double)));
connect(ui->sync, SIGNAL(clicked()), this, SLOT(on_sync()));
connect(this, SIGNAL(sig_sync()), stm32comm, SLOT(syncTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), l_camera, SLOT(syncTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), r_camera, SLOT(syncTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), laser, SLOT(syncTimeTrackSlot()));
connect(ui->start, SIGNAL(clicked()), this, SLOT(on_start()));
connect(this, SIGNAL(sig_start()), stm32comm, SLOT(startSimulatorSlot()));
connect(this, SIGNAL(sig_start()), l_camera, SLOT(startSimulatorSlot()));
connect(this, SIGNAL(sig_start()), r_camera, SLOT(startSimulatorSlot()));
connect(this, SIGNAL(sig_start()), laser, SLOT(startSimulatorSlot()));
connect(ui->stop, SIGNAL(clicked()), this, SLOT(on_stop()));
connect(this, SIGNAL(sig_stop()), stm32comm, SLOT(stopSimulatorSlot()));
connect(this, SIGNAL(sig_stop()), l_camera, SLOT(stopSimulatorSlot()));
connect(this, SIGNAL(sig_stop()), r_camera, SLOT(stopSimulatorSlot()));
connect(this, SIGNAL(sig_stop()), laser, SLOT(stopSimulatorSlot()));
connect(ui->reset, SIGNAL(clicked()), this, SLOT(on_reset()));
connect(this, SIGNAL(sig_sync()), stm32comm, SLOT(resetTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), l_camera, SLOT(resetTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), r_camera, SLOT(resetTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), laser, SLOT(resetTimeTrackSlot()));
///visualazition
QList<QWidget *> widgets;
widgets = stm32comm_viewer->getVisualizationWidgets();
ui->scrollArea->setWidget(widgets.front());
widgets = laser_viewer->getVisualizationWidgets();
ui->scrollArea_2->setWidget(widgets.front());
// widgets = laserCalib->getVisualizationWidgets();
// ui->scrollArea_3->setWidget(widgets.front());
widgets =cameralasercalib_viewer->getVisualizationWidgets();
ui->scrollArea_3->setWidget(widgets.front());
widgets = l_camera_viewer->getVisualizationWidgets();
ui->scrollArea_4->setWidget(widgets.front());
widgets = r_camera_viewer->getVisualizationWidgets();
ui->scrollArea_5->setWidget(widgets.front());
widgets = doordetection_viewer->getVisualizationWidgets();
ui->scrollArea_6->setWidget(widgets.front());
widgets = pathPlannerViewer->getVisualizationWidgets();
ui->scrollArea_7->setWidget(widgets.front());
// widgets = simplecollect_viewer->getVisualizationWidgets();
// ui->scrollArea_8->setWidget(widgets.front());
if(MONITOR)
ui->tabWidget->addTab(&edge, "Monitor");
}
bool peer::add_request(writable& out, uint64_t now) {
if (m_req_count >= k_max_peer_requests) {
return false;
}
if (m_top_work < m_server.top()->total_work()) {
return false;
}
if (m_top_height != m_head->height()) {
// Make a chain request
chain_request cr;
cr.top_digest = m_top_digest;
cr.start_height = m_head->height();
cr.max_results = k_max_chain_req;
out(req_type::chain);
out(cr);
m_queue.emplace(
[this, cr](readable& in) { on_chain(cr, in); },
[this]() { m_req_count--; });
m_req_count++;
return true;
} else if (m_head->block()->get_status() != block::status::valid) {
// Make a sync request
sync_request sr;
bool r = next_sync(sr, m_head, checkpoint_height(m_head->height()), now);
if (!r) {
// TODO:
// Hmm, delaying due to some else just requesting stuff
// What should I do?
return false;
}
out(req_type::sync);
out(sr);
m_queue.emplace(
[this, sr](readable& in) { on_sync(sr, in);},
[this]() { m_req_count--; });
m_req_count++;
return true;
} else if (m_server.top() == m_head &&
m_ssync_txn < m_top_txn &&
m_txd_count < 2*k_max_peer_requests) {
// Make a tnxs request
txns_request tr;
tr.block = m_head->self_digest();
tr.start_txn = m_ssync_txn;
tr.max_results = k_max_txns_req;
out(req_type::txns);
out(tr);
m_queue.emplace(
[this, tr](readable& in) { on_txns(tr, in);},
[this]() { m_req_count--; });
m_req_count++;
return true;
} else if (m_server.top() == m_head && m_txns.size() != 0) {
// Make a txd request
auto p = m_txns.front();
txd_request td;
digest head_digest = m_head->self_digest();
td.block = head_digest;
td.txn_num = p.first;
out(req_type::txd);
out(td);
m_queue.emplace(
[this, p, head_digest](readable& in) { on_txd(head_digest, p.second, in);},
[this]() { m_txd_count--; });
m_txd_count++;
return true;
}
return false;
}
