MainWindow::MainWindow(QWidget *parent)
: QMainWindow(parent), bonjourResolver(0)
{
qDebug() << "NUview is starting in: MainWindow.cpp";
debug.open("debug.log");
errorlog.open("error.log");
m_platform = new NUPlatform(); // you could make the arguement that NUView should have its own platform, for now we just use a 'blank' one
m_blackboard = new NUBlackboard();
m_blackboard->add(new NUSensorsData());
m_blackboard->add(new NUActionatorsData());
m_blackboard->add(new FieldObjects());
m_blackboard->add(new JobList());
m_blackboard->add(new GameInformation(0, 0));
m_blackboard->add(new TeamInformation(0, 0));
m_nuview_io = new NUviewIO();
// create mdi workspace
mdiArea = new QMdiArea(this);
mdiArea->setHorizontalScrollBarPolicy(Qt::ScrollBarAsNeeded);
mdiArea->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
createActions();
createMenus();
createContextMenu();
createToolBars();
createStatusBar();
sensorDisplay = new SensorDisplayWidget(this);
QDockWidget* sensorDock = new QDockWidget("Sensor Values");
sensorDock->setObjectName("Sensor Values");
sensorDock->setWidget(sensorDisplay);
sensorDock->setShown(false);
addDockWidget(Qt::RightDockWidgetArea,sensorDock);
// Add localisation widget
localisation = new LocalisationWidget(this);
addDockWidget(Qt::BottomDockWidgetArea,localisation);
localisation->setVisible(false);
// Add Vision Widgets to Tab then Dock them on Screen
visionTabs = new QTabWidget(this);
layerSelection = new LayerSelectionWidget(mdiArea,this);
visionTabs->addTab(layerSelection,layerSelection->objectName());
classification = new ClassificationWidget(this);
visionTabs->addTab(classification,classification->objectName());
visionTabDock = new QDockWidget("Vision");
visionTabDock->setWidget(visionTabs);
visionTabDock->setObjectName(tr("visionTab"));
addDockWidget(Qt::RightDockWidgetArea, visionTabDock);
// Add Network widgets to Tabs then dock them on Screen
networkTabs = new QTabWidget(this);
connection = new ConnectionWidget(this);
networkTabs->addTab(connection, connection->objectName());
walkParameter = new WalkParameterWidget(mdiArea, this);
kick = new KickWidget(mdiArea, this);
networkTabs->addTab(walkParameter, walkParameter->objectName());
networkTabs->addTab(kick, kick->objectName());
VisionStreamer = new visionStreamWidget(mdiArea, this);
LocWmStreamer = new locwmStreamWidget(mdiArea, this);
networkTabs->addTab(VisionStreamer, VisionStreamer->objectName());
networkTabs->addTab(LocWmStreamer, LocWmStreamer->objectName());
cameraSetting = new cameraSettingsWidget(mdiArea, this);
networkTabs->addTab(cameraSetting, cameraSetting->objectName());
//networkTabs->addTab(kick, kick->objectName());
networkTabDock = new QDockWidget("Network");
networkTabDock->setWidget(networkTabs);
networkTabDock->setObjectName(tr("networkTab"));
addDockWidget(Qt::RightDockWidgetArea, networkTabDock);
frameInfo = new frameInformationWidget(this);
QDockWidget* temp = new QDockWidget(this);
temp->setWidget(frameInfo);
temp->setObjectName("Frame Information Dock");
temp->setWindowTitle(frameInfo->windowTitle());
addDockWidget(Qt::RightDockWidgetArea,temp);
createConnections();
setCentralWidget(mdiArea);
qDebug() << "Main Window Starting";
setWindowTitle(QString("NUview"));
glManager.clearAllDisplays();
qDebug() << "Display Cleared";
readSettings();
qDebug() << "Main Window Started";
//glManager.writeWMBallToDisplay(100,100,30,GLDisplay::CalGrid);
glManager.writeCalGridToDisplay(GLDisplay::CalGrid);
//
//glManager.writeCalGridToDisplay(GLDisplay::CalGrid);
//
}
