void MainWindow::keyPressEvent(QKeyEvent *qkeyevent) //Tatstertur .............
{
switch(qkeyevent->key())
{
case Qt::Key_Up:
vor();
break;
case Qt::Key_Down:
back();
break;
case Qt::Key_Right:
rechts();
break;
case Qt::Key_Left:
links();
break;
case Qt::Key_Space:
stop();
break;
case Qt::Key_X:
hoch();
break;
case Qt::Key_Y:
runter();
break;
}
}
int main(){
window w( vector( 128, 64 ), 1);
ball b( w, vector( 70, 30 ), 9, vector( 5, 2 ) );
line test(w,vector (128,0),vector(128,64));
muur boven(w,vector (0,0),vector(128,4), vector (128,0), false,5,vector (1,-1));
muur rechts(w,vector (124,0),vector(128,64), vector (4,64), false,5,vector (-1,1));
muur links(w,vector (0,0),vector(4,64), vector (0,64), false,5,vector (-1,1));
muur onder(w,vector (0,60),vector(128,64), vector (128,0),false,5,vector (1,-1));
drawable * objects[] = { &b,&boven,&rechts,&links,&onder};
for(;;){
w.clear();
for( auto & p : objects ){
p->draw();
}
wait_ms(20);
for( auto & p : objects ){
p->update();
}
for( auto & p : objects ){
for( auto & other : objects ){
p->interact( *other );
}
}
}
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
//IPS Stationen Arduino-Simulation
/*ui->s1x->setValue(1000);ui->s1y->setValue(1000);ui->s1z->setValue(0);
ui->s2x->setValue(2000);ui->s2y->setValue(1000);ui->s2z->setValue(0);
ui->s3x->setValue(2000);ui->s3y->setValue(0000);ui->s3z->setValue(1000);
ui->s4x->setValue(1000);ui->s4y->setValue(0000);ui->s4z->setValue(0);
ui->s5x->setValue(0000);ui->s5y->setValue(0000);ui->s5z->setValue(1000);
ui->s6x->setValue(0000);ui->s6y->setValue(1000);ui->s6z->setValue(0);
ui->s7x->setValue(0000);ui->s7y->setValue(2000);ui->s7z->setValue(1000);
ui->s8x->setValue(1000);ui->s8y->setValue(2000);ui->s8z->setValue(0);
ui->s9x->setValue(2000);ui->s9y->setValue(2000);ui->s9z->setValue(1000);*/
//Ende IPS Stationen;
//Karte erstellen
map = new QGraphicsScene(this);
ui->graphicsView->setScene(map);
ui->graphicsView->scale(0.1,0.1); //zoomen der Karte so ist platz für 7,5 meter
// GUI Einstellunegn
setWindowTitle(tr("Zentrale - Sturzflug@daedalus"));
//PortBox ComPort Einstellungen
//COM Ports suchen
foreach (QextPortInfo info, QextSerialEnumerator::getPorts())
ui->XbeeportBox->addItem(info.portName);
foreach (QextPortInfo info, QextSerialEnumerator::getPorts())
ui->IPSportBox->addItem(info.portName);
//selber eintargen Möglich machen
ui->XbeeportBox->setEditable(true);
ui->IPSportBox->setEditable(true);
//Port Box STOP
//BaudRateBox kompatible Werte mit Win und Linux
ui->XbeeBaudRateBox->addItem("1200", BAUD1200);
ui->XbeeBaudRateBox->addItem("2400", BAUD2400);
ui->XbeeBaudRateBox->addItem("4800", BAUD4800);
ui->XbeeBaudRateBox->addItem("9600", BAUD9600);
ui->XbeeBaudRateBox->addItem("19200", BAUD19200);
ui->XbeeBaudRateBox->addItem("115200", BAUD115200);
ui->XbeeBaudRateBox->setCurrentIndex(3); //Vorsicht nur Ändern wenn auch PorSettings geändert
ui->IPSBaudRateBox->addItem("115200", BAUD115200); //IPS nur mit dieser BaudRate
ui->IPSBaudRateBox->setCurrentIndex(0); //Vorsicht nur Ändern wenn auch PorSettings geändert
// BaudRateBox STOP
//ComText Box
ui->XbeeComText->setReadOnly(true);
ui->IPSComText->setReadOnly(true);
//ComText Box STOP
Xbeetimer = new QTimer(this);
Xbeetimer->setInterval(80);
IPStimer = new QTimer(this);
IPStimer->setInterval(155); //könnte probleme lösen
Refreshtimer = new QTimer(this);
Refreshtimer->setInterval(ui->refreshTime->value()); //Aktuallisierungsrate aus der GUI in ms
//Vordefinierte Einstelluneg
PortSettings Xbeesettings = {BAUD9600, DATA_8, PAR_NONE, STOP_1, FLOW_OFF, 10};
Xbeeport = new QextSerialPort(ui->XbeeportBox->currentText(), Xbeesettings, QextSerialPort::Polling);
PortSettings IPSsettings = {BAUD115200, DATA_8, PAR_NONE, STOP_1, FLOW_OFF, 10};
IPSport = new QextSerialPort(ui->IPSportBox->currentText(), IPSsettings, QextSerialPort::Polling);
//Vordefinierte Einstellungen STOP
//Connectoren -----------------------------------------------------------------------------------------------------
//globale Connectoren
//connect(ui->TestButton, SIGNAL(clicked()), SLOT(onTestButtonClicked()));
connect(ui->reset_imu, SIGNAL(clicked()), SLOT(onreset_imuClicked()));
//Xbee connectoren
connect(ui->XbeeBaudRateBox, SIGNAL(currentIndexChanged(int)), SLOT(XbeeonBaudRateChanged(int)));
connect(ui->XbeeportBox, SIGNAL(editTextChanged(QString)), SLOT(XbeeonPortNameChanged(QString)));
connect(Xbeetimer, SIGNAL(timeout()), SLOT(XbeeonReadyRead()));
connect(Xbeeport, SIGNAL(readyRead()), SLOT(XbeeonReadyRead()));
//IPS connectoren
connect(ui->IPSBaudRateBox, SIGNAL(currentIndexChanged(int)), SLOT(IPSonBaudRateChanged(int)));
connect(ui->IPSportBox, SIGNAL(editTextChanged(QString)), SLOT(IPSonPortNameChanged(QString)));
connect(IPStimer, SIGNAL(timeout()), SLOT(IPSonReadyRead()));
connect(IPSport, SIGNAL(readyRead()), SLOT(IPSonReadyRead()));
connect(ui->posStationSetzen, SIGNAL(clicked()), SLOT(setPosStation()));
//refresh connector ZENTRALES Takt-Element
connect(Refreshtimer, SIGNAL(timeout()), SLOT(refresh()));
connect(ui->setRefresh, SIGNAL(clicked()), SLOT(setrefreshrate()));
// Karte
connect(ui->deletkoordinaten, SIGNAL(clicked()), SLOT(deletekoordinaten()));
//Einstellungen
connect(ui->setAbweichung, SIGNAL(clicked()), SLOT(setAbweichung()));
connect(ui->setZiel, SIGNAL(clicked()), SLOT(setZiel()));
connect(ui->setZieltolleranz, SIGNAL(clicked()), SLOT(setZieltolleranz()));
connect(ui->setHoehe, SIGNAL(clicked()), SLOT(setHoehe()));
connect(ui->setFilter, SIGNAL(clicked()), SLOT(setFilter()));
connect(ui->setHindernisse, SIGNAL(clicked()), SLOT(setHindernisse()));
connect(ui->setSchub, SIGNAL(clicked()), SLOT(setRueckschub()));
connect(ui->ultraschall, SIGNAL(stateChanged(int)), SLOT(setUltraschall()));
//Handsteuerung
connect(ui->Handsteuerung, SIGNAL(stateChanged(int)), SLOT(setHandsteuerung()));
connect(ui->vor, SIGNAL(clicked()), SLOT(vor()));
connect(ui->back, SIGNAL(clicked()), SLOT(back()));
connect(ui->links, SIGNAL(clicked()), SLOT(links()));
connect(ui->rechts, SIGNAL(clicked()), SLOT(rechts()));
connect(ui->stop, SIGNAL(clicked()), SLOT(stop()));
connect(ui->hoch, SIGNAL(clicked()), SLOT(hoch()));
connect(ui->runter, SIGNAL(clicked()), SLOT(runter()));
connect(ui->abwurf, SIGNAL(clicked()), SLOT(abwurf()));
//ENDE Connectoren ------------------------------------------------------------------------------------------------
setup();
}
