RTIMULibDemo::RTIMULibDemo()
: QMainWindow()
{
// This is some normal Qt GUI stuff
ui.setupUi(this);
layoutWindow();
layoutStatusBar();
// This code connects up signals from the GUI
connect(ui.actionExit, SIGNAL(triggered()), this, SLOT(close()));
connect(ui.actionSelectFusionAlgorithm, SIGNAL(triggered()), this, SLOT(onSelectFusionAlgorithm()));
connect(ui.actionCalibrateAccelerometers, SIGNAL(triggered()), this, SLOT(onCalibrateAccelerometers()));
connect(ui.actionCalibrateMagnetometers, SIGNAL(triggered()), this, SLOT(onCalibrateMagnetometers()));
connect(ui.actionSelectIMU, SIGNAL(triggered()), this, SLOT(onSelectIMU()));
connect(m_enableGyro, SIGNAL(stateChanged(int)), this, SLOT(onEnableGyro(int)));
connect(m_enableAccel, SIGNAL(stateChanged(int)), this, SLOT(onEnableAccel(int)));
connect(m_enableCompass, SIGNAL(stateChanged(int)), this, SLOT(onEnableCompass(int)));
connect(m_enableDebug, SIGNAL(stateChanged(int)), this, SLOT(onEnableDebug(int)));
// create the imu thread and connect up the signal
m_imuThread = new IMUThread();
connect(m_imuThread, SIGNAL(newIMUData(const RTIMU_DATA&)),
this, SLOT(newIMUData(const RTIMU_DATA&)), Qt::DirectConnection);
connect(this, SIGNAL(newIMU()), m_imuThread, SLOT(newIMU()));
m_imuThread->resumeThread();
// This value allows a sample rate to be calculated
m_sampleCount = 0;
// start some timers to get things going
m_rateTimer = startTimer(RATE_TIMER_INTERVAL * 1000);
// Only update the display 10 times per second to keep CPU reasonable
m_displayTimer = startTimer(100);
m_fusionType->setText(RTFusion::fusionName(m_imuThread->getSettings()->m_fusionType));
}
void RTIMULibDemo::onSelectIMU()
{
SelectIMUDlg dlg(m_imuThread->getSettings(), this);
if (dlg.exec() == QDialog::Accepted) {
emit newIMU();
}
}
void RTIMULibDemo::onSelectFusionAlgorithm()
{
SelectFusionDlg dlg(m_imuThread->getSettings(), this);
if (dlg.exec() == QDialog::Accepted) {
emit newIMU();
m_fusionType->setText(RTFusion::fusionName(m_imuThread->getSettings()->m_fusionType));
}
}
int main()
{
settings = new RTIMUSettings("RTIMULib");
bool mustExit = false;
imu = NULL;
newIMU();
// set up for calibration run
imu->setCompassCalibrationMode(true);
imu->setAccelCalibrationMode(true);
magCal = new RTIMUMagCal(settings);
magCal->magCalInit();
magMinMaxDone = false;
accelCal = new RTIMUAccelCal(settings);
accelCal->accelCalInit();
// set up console io
struct termios ctty;
tcgetattr(fileno(stdout), &ctty);
ctty.c_lflag &= ~(ICANON);
tcsetattr(fileno(stdout), TCSANOW, &ctty);
// the main loop
while (!mustExit) {
displayMenu();
switch (tolower(getchar())) {
case 'x' :
mustExit = true;
break;
case 'm' :
doMagMinMaxCal();
break;
case 'e' :
doMagEllipsoidCal();
break;
case 'a' :
doAccelCal();
break;
}
}
printf("\nRTIMULibCal exiting\n");
return 0;
}
void RTIMULibDemo::onCalibrateMagnetometers()
{
m_imuThread->getIMU()->setCompassCalibrationMode(true);
MagCalDlg dlg(this, m_imuThread->getSettings());
connect(m_imuThread, SIGNAL(newIMUData(const RTIMU_DATA&)),
&dlg, SLOT(newIMUData(const RTIMU_DATA&)), Qt::DirectConnection);
if (dlg.exec() == QDialog::Accepted) {
}
disconnect(m_imuThread, SIGNAL(newIMUData(const RTIMU_DATA&)),
&dlg, SLOT(newIMUData(const RTIMU_DATA&)));
emit newIMU();
}
