void Rmp440LE::UpdateStatus()
{
UpdateImu();
UpdateOdometry();
UpdateBattery();
UpdateMotorStatus();
UpdateFaultStatus();
}
TestHarness::TestHarness(QWidget *parent)
: QWidget(parent)
{
QGroupBox *ecu_box = new QGroupBox("Engine Control Unit");
QGroupBox *gps_box = new QGroupBox("GPS");
QGroupBox *imu_box = new QGroupBox("Inertial Measurement Unit");
QGroupBox *lts_box = new QGroupBox("Lighting System");
QGroupBox *wls_box = new QGroupBox("Wireless Radio");
QGroupBox *tmr_box = new QGroupBox("Timer/Logger");
QGridLayout *ecu_layout = new QGridLayout();
QGridLayout *gps_layout = new QGridLayout();
QGridLayout *imu_layout = new QGridLayout();
QGridLayout *lts_layout = new QGridLayout();
QGridLayout *wls_layout = new QGridLayout();
QGridLayout *tmr_layout = new QGridLayout();
QGridLayout *layout = new QGridLayout();
// ecu box
ecu_rpm_label = new QLabel("RPM:");
ecu_rpm_edit = new QLineEdit("2000");
ecu_spark_label = new QLabel("Spark Advance:");
ecu_spark_edit = new QLineEdit("15.0");
ecu_cranking_label = new QLabel("Cranking:");
ecu_cranking_edit = new QCheckBox("Yes");
ecu_map_label = new QLabel("Manifold Air Pres:");
ecu_map_edit = new QLineEdit("1500.0");
ecu_mat_label = new QLabel("Manifold Air Temp:");
ecu_mat_edit = new QLineEdit("15.0");
ecu_clt_label = new QLabel("Coolant Temp:");
ecu_clt_edit = new QLineEdit("90.0");
ecu_tps_label = new QLabel("Throttle Position:");
ecu_tps_edit = new QLineEdit("50.0");
ecu_batt_label = new QLabel("Battery:");
ecu_batt_edit = new QLineEdit("11.9");
ecu_maf_label = new QLabel("Mass Airflow:");
ecu_maf_edit = new QLineEdit("900.0");
ecu_tc_label = new QLabel("Tach Count:");
ecu_tc_edit = new QLineEdit("100");
ecu_update_button = new QPushButton("Update");
ecu_layout->addWidget(ecu_rpm_label, 0, 0);
ecu_layout->addWidget(ecu_rpm_edit, 0, 1);
ecu_layout->addWidget(ecu_spark_label, 1, 0);
ecu_layout->addWidget(ecu_spark_edit, 1, 1);
ecu_layout->addWidget(ecu_cranking_label, 2, 0);
ecu_layout->addWidget(ecu_cranking_edit, 2, 1);
ecu_layout->addWidget(ecu_map_label, 3, 0);
ecu_layout->addWidget(ecu_map_edit, 3, 1);
ecu_layout->addWidget(ecu_mat_label, 4, 0);
ecu_layout->addWidget(ecu_mat_edit, 4, 1);
ecu_layout->addWidget(ecu_clt_label, 5, 0);
ecu_layout->addWidget(ecu_clt_edit, 5, 1);
ecu_layout->addWidget(ecu_tps_label, 6, 0);
ecu_layout->addWidget(ecu_tps_edit, 6, 1);
ecu_layout->addWidget(ecu_batt_label, 7, 0);
ecu_layout->addWidget(ecu_batt_edit, 7, 1);
ecu_layout->addWidget(ecu_maf_label, 8, 0);
ecu_layout->addWidget(ecu_maf_edit, 8, 1);
ecu_layout->addWidget(ecu_tc_label, 9, 0);
ecu_layout->addWidget(ecu_tc_edit, 9, 1);
ecu_layout->addWidget(ecu_update_button, 10, 0, 1, 2);
ecu_layout->setRowStretch(11, 1);
// gps box
gps_time_label = new QLabel("UTC Time:");
gps_colon1_label = new QLabel(":");
gps_colon2_label = new QLabel(":");
gps_hrs_edit = new QLineEdit("12");
gps_mins_edit = new QLineEdit("01");
gps_secs_edit = new QLineEdit("01.001");
gps_lat_label = new QLabel("Latitude:");
gps_deg1_label = new QLabel("deg");
gps_min1_label = new QLabel("min");
gps_latdeg_edit = new QLineEdit("35");
gps_latmin_edit = new QLineEdit("15.653229");
gps_latdir_edit = new QLineEdit("N");
gps_long_label = new QLabel("Longitude:");
gps_deg2_label = new QLabel("deg");
gps_min2_label = new QLabel("min");
gps_longdeg_edit = new QLineEdit("120");
gps_longmin_edit = new QLineEdit("39.2362974");
gps_longdir_edit = new QLineEdit("W");
gps_alt_label = new QLabel("Altitude:");
gps_alt_edit = new QLineEdit("500.0");
gps_speed_label = new QLabel("Speed:");
gps_speed_edit = new QLineEdit("25.0");
gps_heading_label = new QLabel("Heading:");
gps_heading_edit = new QLineEdit("187.5");
gps_update_button = new QPushButton("Update");
gps_layout->addWidget(gps_time_label, 0, 0);
gps_layout->addWidget(gps_hrs_edit, 0, 1);
gps_layout->addWidget(gps_colon1_label, 0, 2);
gps_layout->addWidget(gps_mins_edit, 0, 3);
gps_layout->addWidget(gps_colon2_label, 0, 4);
gps_layout->addWidget(gps_secs_edit, 0, 5);
gps_layout->addWidget(gps_lat_label, 1, 0);
gps_layout->addWidget(gps_latdeg_edit, 1, 1);
gps_layout->addWidget(gps_deg1_label, 1, 2);
gps_layout->addWidget(gps_latmin_edit, 1, 3);
gps_layout->addWidget(gps_min1_label, 1, 4);
gps_layout->addWidget(gps_latdir_edit, 1, 5);
gps_layout->addWidget(gps_long_label, 2, 0);
gps_layout->addWidget(gps_longdeg_edit, 2, 1);
gps_layout->addWidget(gps_deg2_label, 2, 2);
gps_layout->addWidget(gps_longmin_edit, 2, 3);
gps_layout->addWidget(gps_min2_label, 2, 4);
gps_layout->addWidget(gps_longdir_edit, 2, 5);
gps_layout->addWidget(gps_alt_label, 3, 0);
gps_layout->addWidget(gps_alt_edit, 3, 1, 1, 5);
gps_layout->addWidget(gps_speed_label, 4, 0);
gps_layout->addWidget(gps_speed_edit, 4, 1, 1, 5);
gps_layout->addWidget(gps_heading_label, 5, 0);
gps_layout->addWidget(gps_heading_edit, 5, 1, 1, 5);
gps_layout->addWidget(gps_update_button, 6, 0, 1, 6);
gps_layout->setRowStretch(7, 1);
// imu box
imu_ax_label = new QLabel("Accel X:");
imu_ax_edit = new QLineEdit("0.0");
imu_ay_label = new QLabel("Accel Y:");
imu_ay_edit = new QLineEdit("1.0");
imu_az_label = new QLabel("Accel Z:");
imu_az_edit = new QLineEdit("0.0");
imu_gx_label = new QLabel("Gyro X:");
imu_gx_edit = new QLineEdit("0.0");
imu_gy_label = new QLabel("Gyro Y:");
imu_gy_edit = new QLineEdit("0.0");
imu_gz_label = new QLabel("Gyro Z:");
imu_gz_edit = new QLineEdit("0.0");
imu_update_button = new QPushButton("Update");
imu_layout->addWidget(imu_ax_label, 0, 0);
imu_layout->addWidget(imu_ax_edit, 0, 1);
imu_layout->addWidget(imu_ay_label, 1, 0);
imu_layout->addWidget(imu_ay_edit, 1, 1);
imu_layout->addWidget(imu_az_label, 2, 0);
imu_layout->addWidget(imu_az_edit, 2, 1);
imu_layout->addWidget(imu_gx_label, 3, 0);
imu_layout->addWidget(imu_gx_edit, 3, 1);
imu_layout->addWidget(imu_gy_label, 4, 0);
imu_layout->addWidget(imu_gy_edit, 4, 1);
imu_layout->addWidget(imu_gz_label, 5, 0);
imu_layout->addWidget(imu_gz_edit, 5, 1);
imu_layout->addWidget(imu_update_button, 6, 0, 1, 2);
imu_layout->setRowStretch(7, 1);
// lights box
lts_head_label = new QLabel("Headlights:");
lts_head_edit = new QCheckBox("On");
lts_brake_label = new QLabel("Brakelights:");
lts_brake_edit = new QCheckBox("On");
lts_left_label = new QLabel("Left Turn Signal:");
lts_left_edit = new QCheckBox("On");
lts_right_label = new QLabel("Right Turn Signal:");
lts_right_edit = new QCheckBox("On");
lts_hazards_label = new QLabel("Hazards:");
lts_hazards_edit = new QCheckBox("On");
lts_update_button = new QPushButton("Update");
lts_layout->addWidget(lts_head_label, 0, 0);
lts_layout->addWidget(lts_head_edit, 0, 1);
lts_layout->addWidget(lts_brake_label, 1, 0);
lts_layout->addWidget(lts_brake_edit, 1, 1);
lts_layout->addWidget(lts_left_label, 2, 0);
lts_layout->addWidget(lts_left_edit, 2, 1);
lts_layout->addWidget(lts_right_label, 3, 0);
lts_layout->addWidget(lts_right_edit, 3, 1);
lts_layout->addWidget(lts_hazards_label, 4, 0);
lts_layout->addWidget(lts_hazards_edit, 4, 1);
lts_layout->addWidget(lts_update_button, 5, 0, 1, 2);
lts_layout->setRowStretch(6, 1);
// wireless box
wls_rx_label = new QLabel("Received from the radio:");
wls_rx_edit = new QTextEdit();
wls_tx_label = new QLabel("Transmit to the radio:");
wls_tx_edit = new QTextEdit();
wls_update_button = new QPushButton("Update");
wls_layout->addWidget(wls_rx_label, 0, 0);
wls_layout->addWidget(wls_rx_edit, 1, 0);
wls_layout->addWidget(wls_tx_label, 2, 0);
wls_layout->addWidget(wls_tx_edit, 3, 0);
wls_layout->addWidget(wls_update_button, 4, 0);
wls_layout->setRowStretch(5, 1);
// timer box
tmr_time_display = new QLCDNumber(8);
tmr_time_display->setSegmentStyle(QLCDNumber::Flat);
tmr_start_button = new QPushButton("Start Timer");
tmr_stop_button = new QPushButton("Stop Timer");
log_start_button = new QPushButton("Start Data Logger");
log_stop_button = new QPushButton("Stop Data Logger");
tmr_layout->addWidget(tmr_time_display, 0, 0);
tmr_layout->addWidget(tmr_start_button, 1, 0);
tmr_layout->addWidget(tmr_stop_button, 2, 0);
tmr_layout->addWidget(log_start_button, 3, 0);
tmr_layout->addWidget(log_stop_button, 4, 0);
tmr_layout->setRowStretch(5, 1);
// master layout
ecu_box->setLayout(ecu_layout);
gps_box->setLayout(gps_layout);
imu_box->setLayout(imu_layout);
lts_box->setLayout(lts_layout);
wls_box->setLayout(wls_layout);
tmr_box->setLayout(tmr_layout);
layout->addWidget(ecu_box, 0, 0);
layout->addWidget(gps_box, 0, 1);
layout->addWidget(imu_box, 0, 2);
layout->addWidget(lts_box, 1, 0);
layout->addWidget(wls_box, 1, 1);
layout->addWidget(tmr_box, 1, 2);
setLayout(layout);
setWindowTitle("Hardware Interface Test Harness");
// connect up the ui to internal slots
connect(tmr_start_button, SIGNAL(clicked()), this, SLOT(TmrStart()));
connect(tmr_stop_button, SIGNAL(clicked()), this, SLOT(TmrStop()));
connect(this, SIGNAL(TmrTick(int)), tmr_time_display, SLOT(display(int)));
connect(ecu_update_button, SIGNAL(clicked()), this, SLOT(UpdateEcu()));
connect(gps_update_button, SIGNAL(clicked()), this, SLOT(UpdateGps()));
connect(imu_update_button, SIGNAL(clicked()), this, SLOT(UpdateImu()));
connect(lts_update_button, SIGNAL(clicked()), this, SLOT(UpdateLts()));
connect(wls_update_button, SIGNAL(clicked()), this, SLOT(UpdateWls()));
// done initializing ui, set up some internal stuff
timer_running = false;
time = new QTime();
timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), this, SLOT(TimerTick()));
// debug
logger = new DataLogger();
dashboard = new Dashboard();
dashboard->show();
// connect up the test harness to the data logger
connect(log_start_button, SIGNAL(clicked()), logger, SLOT(LogStart()));
connect(log_stop_button, SIGNAL(clicked()), logger, SLOT(LogStop()));
connect(this, SIGNAL(EcuStateChanged(ecustate_t)), logger, SLOT(EcuUpdate(ecustate_t)));
connect(this, SIGNAL(GpsStateChanged(gpsstate_t)), logger, SLOT(GpsUpdate(gpsstate_t)));
connect(this, SIGNAL(ImuStateChanged(imustate_t)), logger, SLOT(ImuUpdate(imustate_t)));
connect(this, SIGNAL(LtsStateChanged(ltsstate_t)), logger, SLOT(LtsUpdate(ltsstate_t)));
connect(this, SIGNAL(TmrTick(int)), logger, SLOT(TmrUpdate(int)));
// connect up the test harness to the dashboard
connect(this, SIGNAL(TmrTick(int)), dashboard, SLOT(TmrUpdate(int)));
connect(this, SIGNAL(EcuStateChanged(ecustate_t)), dashboard, SLOT(EcuUpdate(ecustate_t)));
connect(this, SIGNAL(GpsStateChanged(gpsstate_t)), dashboard, SLOT(GpsUpdate(gpsstate_t)));
connect(this, SIGNAL(ImuStateChanged(imustate_t)), dashboard, SLOT(ImuUpdate(imustate_t)));
connect(this, SIGNAL(LtsStateChanged(ltsstate_t)), dashboard, SLOT(LtsUpdate(ltsstate_t)));
}