src/display-qt/displayqt.cpp

   1 #include "displayqt.h"
   2 #include "ui_displayqt.h"
   3 #include <QtGui>
   4 #include <QObject>
   5 #include <QTimer>
   6 #include <QString>
   7 #include <robomath.h>
   8
   9 //backround colors for labels
  10 #define GREEN "background-color:rgb(27, 255, 11)"
  11 #define RED "background-color:red"
  12 #define YELLOW "background-color:yellow"
  13
  14 DisplayQT::DisplayQT(QWidget *parent) :
  15         QWidget(parent),
  16         ui(new Ui::DisplayQT)
  17 {
  18         ui->setupUi(this);
  19
  20         /* create the window without the title bar */
  21         Qt::WindowFlags flags = this->windowFlags();
  22         flags |= Qt::FramelessWindowHint;
  23         this->setWindowFlags(flags);
  24
  25         //cursor will be hidden
  26         setCursor(QCursor(Qt::BlankCursor));
  27
  28         //na zacatku nazname polohu
  29         this->pos.positionIsActual=false;
  30
  31         /*ASCII tocitko
  32         pomoci timeru je kazdych 500 ms
  33         vyvolan signal pro pohnuti tocitka
  34         */
  35
  36         QTimer *timer = new QTimer(this);
  37         timer->start(500);
  38         connect(timer, SIGNAL(timeout()), this, SLOT(alive()));
  39     ///***///
  40
  41     //premalovavani kompasu
  42     connect(this, SIGNAL(repaintCompass()), this, SLOT(update()));
  43 }
  44
  45 //sipka od uhlu natoceni
  46 void DisplayQT::paintEvent(QPaintEvent *)
  47 {
  48         //umisteni stredu kompasu
  49         int const x=410;
  50         int const y=95;
  51         int const dimension=80;
  52
  53         static const QPoint arrow[3] = {
  54                 QPoint(4, 4),
  55                 QPoint(-4, 4),
  56                 QPoint(0, -((dimension/2)-15))
  57     };
  58
  59
  60         //barvy pro malovani
  61         QColor prvniColor(127, 0, 127);
  62         QColor druhaColor(0, 127, 127, 191);
  63         QColor pozadi(240, 240, 240);
  64
  65         QPainter painter(this);
  66
  67         //background
  68         painter.fillRect(x-dimension/2, y-dimension/2, dimension, dimension, pozadi);
  69
  70         painter.setRenderHint(QPainter::Antialiasing);
  71         painter.translate(x,y);
  72
  73         painter.setPen(Qt::NoPen);
  74         painter.setBrush(prvniColor);
  75         painter.save();
  76
  77     //namalovani sipky p.t.k. je aktualni pozice
  78         if(pos.positionIsActual){
  79                 painter.rotate(90-pos.phi);
  80                 painter.drawConvexPolygon(arrow, 3);
  81         }
  82         painter.restore();
  83
  84     //namaluju 4 cary po 90 stupnich
  85         painter.setPen(prvniColor);
  86         for(int i=0; i<4; i++){
  87                 painter.drawLine((dimension/2)-10, 0, (dimension/2)-5, 0);
  88                 painter.rotate(90.0);
  89         }
  90
  91         //namaluju mensi cary mezi ty predchozi
  92         painter.setPen(druhaColor);
  93
  94         for(int j=0; j<12; j++){
  95                 if(j%3)
  96                         painter.drawLine((dimension/2)-12, 0, (dimension/2)-7, 0);
  97                 painter.rotate(30.0);
  98         }
  99 }
 100
 101 DisplayQT::~DisplayQT()
 102 {
 103         delete ui;
 104 }
 105
 106 void DisplayQT::alive(void)
 107 {
 108         static char aliveState=0;
 109         if(++aliveState==4)
 110                 aliveState=0;
 111
 112         switch(aliveState){
 113                 case 0: ui->ziju->setText("|");break;
 114                 case 1: ui->ziju->setText("/");break;
 115                 case 2: ui->ziju->setText("-");break;
 116                 case 3: ui->ziju->setText("\\");break;
 117         }
 118 }
 119
 120 // 0-modra
 121 // 1-cervena
 122 void DisplayQT::setTeamColor(char color)
 123 {
 124         if(color==0){
 125                 color=0;
 126                 ui->our_color->setStyleSheet("background-color: blue");
 127         }else if(color==1){
 128                 color=1;
 129                 ui->our_color->setStyleSheet("background-color: rgb(213, 40, 24)");
 130         }
 131 }
 132
 133 void DisplayQT::setPosition(double x, double y, double phi)
 134 {
 135         this->pos.x=x;
 136         this->pos.y=y;
 137         this->pos.phi=phi;
 138
 139         //prevod z radianu na stupne a uprava
 140         pos.phi = RAD2DEG(pos.phi);
 141         pos.phi = fmod(pos.phi, 360);
 142         if ( pos.phi < 0 )
 143                 pos.phi += 360;
 144
 145         ui->position_x->setText("x: "+QString::number(pos.x, 10, 3)+" m");
 146         ui->position_y->setText("y: "+QString::number(pos.y, 10, 3)+" m");
 147         ui->position_phi->setText("phi: "+QString::number(pos.phi, 10, 1)+" deg");
 148
 149         pos.positionIsActual=true;
 150         emit repaintCompass();
 151 }
 152
 153 void DisplayQT::display_status(UDE_component_t c, UDE_hw_status_t s)
 154 {
 155         switch(c){
 156                 case 0:break;
 157                 case MOT:
 158                         if(s==STATUS_OK)
 159                                 ui->comp_MOT->setStyleSheet(GREEN);
 160                         else if(s==STATUS_FAILED)
 161                                 ui->comp_MOT->setStyleSheet(RED);
 162                         else
 163                                 ui->comp_MOT->setStyleSheet(YELLOW);
 164                 break;
 165                 case ODO:
 166                         if(s==STATUS_OK)
 167                                 ui->comp_ODO->setStyleSheet(GREEN);
 168                         else if(s==STATUS_FAILED)
 169                                 ui->comp_ODO->setStyleSheet(RED);
 170                         else
 171                                 ui->comp_ODO->setStyleSheet(YELLOW);
 172                 break;
 173                 case CAM:
 174                         if(s==STATUS_OK)
 175                                 ui->comp_CAM->setStyleSheet(GREEN);
 176                         else if(s==STATUS_FAILED)
 177                                 ui->comp_CAM->setStyleSheet(RED);
 178                         else
 179                                 ui->comp_CAM->setStyleSheet(YELLOW);
 180                         break;
 181                 case PWR:
 182                         if(s==STATUS_OK)
 183                                 ui->comp_PWR->setStyleSheet(GREEN);
 184                         else if(s==STATUS_FAILED){
 185                                 ui->comp_PWR->setStyleSheet(RED);
 186
 187                                 ui->voltage_33->setText("v.33 = ?");
 188                                 ui->voltage_50->setText("v.50 = ?");
 189                                 ui->voltage_80->setText("v.80 = ?");
 190                                 ui->voltage_BAT->setText("v.BAT = ?");
 191
 192                                 ui->voltage_33->setStyleSheet(YELLOW);
 193                                 ui->voltage_50->setStyleSheet(YELLOW);
 194                                 ui->voltage_80->setStyleSheet(YELLOW);
 195                                 ui->voltage_BAT->setStyleSheet(YELLOW);
 196                         }
 197                         else
 198                                 ui->comp_PWR->setStyleSheet(YELLOW);
 199                 break;
 200                 case HOK:
 201                         if(s==STATUS_OK)
 202                                 ui->comp_HOK->setStyleSheet(GREEN);
 203                         else if(s==STATUS_FAILED)
 204                                 ui->comp_HOK->setStyleSheet(RED);
 205                         else
 206                                 ui->comp_HOK->setStyleSheet(YELLOW);
 207                         break;
 208                 case APP:
 209                         if(s==STATUS_OK)
 210                                 ui->comp_APP->setStyleSheet(GREEN);
 211                         else if(s==STATUS_FAILED){
 212                                 ui->comp_APP->setStyleSheet(RED);
 213
 214                                 pos.positionIsActual=false;
 215                                 ui->position_x->setText("x: ?");
 216                                 ui->position_y->setText("y: ?");
 217                                 ui->position_phi->setText("phi: ?");
 218                                 emit repaintCompass();
 219                         }
 220                         else
 221                                 ui->comp_APP->setStyleSheet(YELLOW);
 222                         break;
 223                 case VID:
 224                         if(s==STATUS_OK)
 225                                 ui->comp_VID->setStyleSheet(GREEN);
 226                         else if(s==STATUS_FAILED)
 227                                 ui->comp_VID->setStyleSheet(RED);
 228                         else
 229                                 ui->comp_VID->setStyleSheet(YELLOW);
 230                         break;
 231                 case STA:
 232                         if(s==STATUS_OK)
 233                                 ui->comp_STA->setStyleSheet(GREEN);
 234                         else if(s==STATUS_FAILED)
 235                                 ui->comp_STA->setStyleSheet(RED);
 236                         else
 237                                 ui->comp_STA->setStyleSheet(YELLOW);
 238                 break;
 239         }
 240 }
 241
 242 void DisplayQT::display_fsm(UDE_fsm_t fsm, QString state){
 243
 244         switch(fsm){
 245                 case FSM_MAIN:
 246                         ui->fsm_main->setText(state);
 247                 break;
 248                 case FSM_MOVE:
 249                         ui->fsm_move->setText(state);
 250                 break;
 251                 case FSM_ACT:
 252                         ui->fsm_act->setText(state);
 253                 break;
 254         }
 255 }
 256
 257 void DisplayQT::display_voltage(double voltage33, double voltage50, double voltage80, double voltageBAT){
 258         ui->voltage_33->setText("v.33 = "+QString::number(voltage33, 10, 2)+" V");
 259         ui->voltage_50->setText("v.50 = "+QString::number(voltage50, 10, 2)+" V");
 260         ui->voltage_80->setText("v.80 = "+QString::number(voltage80, 10, 2)+" V");
 261         ui->voltage_BAT->setText("v.BAT = "+QString::number(voltageBAT, 10, 2)+" V");
 262
 263
 264         if( voltageBAT < WARNING_VOLTAGEBAT && voltageBAT > TRESHOLDS_VOLTAGEBAT )
 265                 ui->voltage_BAT->setStyleSheet(YELLOW);
 266         else if( voltageBAT < TRESHOLDS_VOLTAGEBAT )
 267                 ui->voltage_BAT->setStyleSheet(RED);
 268         else
 269                 ui->voltage_BAT->setStyleSheet(GREEN);
 270
 271
 272
 273
 274         if( voltage33 < TRESHOLDS_VOLTAGE33 )
 275                 ui->voltage_33->setStyleSheet(YELLOW);
 276         else
 277                 ui->voltage_33->setStyleSheet(GREEN);
 278
 279         if( voltage50 < TRESHOLDS_VOLTAGE50 )
 280                 ui->voltage_50->setStyleSheet(YELLOW);
 281         else
 282                 ui->voltage_50->setStyleSheet(GREEN);
 283
 284         if( voltage80 < TRESHOLDS_VOLTAGE80 )
 285                 ui->voltage_80->setStyleSheet(YELLOW);
 286         else
 287                 ui->voltage_80->setStyleSheet(GREEN);
 288 }