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 #ifndef __i386__
  22         Qt::WindowFlags flags = this->windowFlags();
  23         flags |= Qt::FramelessWindowHint;
  24         this->setWindowFlags(flags);
  25
  26         //cursor will be hidden
  27         setCursor(QCursor(Qt::BlankCursor));
  28 #endif
  29
  30         //na zacatku nazname polohu
  31         this->pos.positionIsActual=false;
  32
  33         /*ASCII tocitko
  34         pomoci timeru je kazdych 500 ms
  35         vyvolan signal pro pohnuti tocitka
  36         */
  37
  38         QTimer *timer = new QTimer(this);
  39         timer->start(500);
  40         connect(timer, SIGNAL(timeout()), this, SLOT(alive()));
  41     ///***///
  42
  43     //premalovavani kompasu
  44     connect(this, SIGNAL(repaintCompass()), this, SLOT(update()));
  45 }
  46
  47 //sipka od uhlu natoceni
  48 void DisplayQT::paintEvent(QPaintEvent *)
  49 {
  50         //umisteni stredu kompasu
  51         int const x=410;
  52         int const y=95;
  53         int const dimension=80;
  54
  55         static const QPoint arrow[3] = {
  56                 QPoint(4, 4),
  57                 QPoint(-4, 4),
  58                 QPoint(0, -((dimension/2)-15))
  59     };
  60
  61
  62         //barvy pro malovani
  63         QColor prvniColor(127, 0, 127);
  64         QColor druhaColor(0, 127, 127, 191);
  65         QColor pozadi(240, 240, 240);
  66
  67         QPainter painter(this);
  68
  69         //background
  70         painter.fillRect(x-dimension/2, y-dimension/2, dimension, dimension, pozadi);
  71
  72         painter.setRenderHint(QPainter::Antialiasing);
  73         painter.translate(x,y);
  74
  75         painter.setPen(Qt::NoPen);
  76         painter.setBrush(prvniColor);
  77         painter.save();
  78
  79     //namalovani sipky p.t.k. je aktualni pozice
  80         if(pos.positionIsActual){
  81                 painter.rotate(90-pos.phi);
  82                 painter.drawConvexPolygon(arrow, 3);
  83         }
  84         painter.restore();
  85
  86     //namaluju 4 cary po 90 stupnich
  87         painter.setPen(prvniColor);
  88         for(int i=0; i<4; i++){
  89                 painter.drawLine((dimension/2)-10, 0, (dimension/2)-5, 0);
  90                 painter.rotate(90.0);
  91         }
  92
  93         //namaluju mensi cary mezi ty predchozi
  94         painter.setPen(druhaColor);
  95
  96         for(int j=0; j<12; j++){
  97                 if(j%3)
  98                         painter.drawLine((dimension/2)-12, 0, (dimension/2)-7, 0);
  99                 painter.rotate(30.0);
 100         }
 101 }
 102
 103 DisplayQT::~DisplayQT()
 104 {
 105         delete ui;
 106 }
 107
 108 void DisplayQT::alive(void)
 109 {
 110         static char aliveState=0;
 111         if(++aliveState==4)
 112                 aliveState=0;
 113
 114         switch(aliveState){
 115                 case 0: ui->ziju->setText("|");break;
 116                 case 1: ui->ziju->setText("/");break;
 117                 case 2: ui->ziju->setText("-");break;
 118                 case 3: ui->ziju->setText("\\");break;
 119         }
 120 }
 121
 122 void DisplayQT::display_time(double time)
 123 {
 124         ui->matchTime->display(time);
 125 }
 126
 127
 128 void DisplayQT::setTeamColor(char color)
 129 {
 130         switch (color) {
 131                 case TC_WHITE:
 132                         ui->our_color->setStyleSheet("background-color: white");
 133                 break;
 134                 case TC_GREEN:
 135                         ui->our_color->setStyleSheet("background-color: green");
 136                 break;
 137                 case TC_YELLOW:
 138                         ui->our_color->setStyleSheet("background-color: yellow");
 139                 break;
 140         }
 141 }
 142
 143 void DisplayQT::setPosition(double x, double y, double phi)
 144 {
 145         this->pos.x=x;
 146         this->pos.y=y;
 147         this->pos.phi=phi;
 148
 149         //prevod z radianu na stupne a uprava
 150         pos.phi = RAD2DEG(pos.phi);
 151         pos.phi = fmod(pos.phi, 360);
 152         if ( pos.phi < 0 )
 153                 pos.phi += 360;
 154
 155         ui->position_x->setText("x: "+QString::number(pos.x, 10, 3)+" m");
 156         ui->position_y->setText("y: "+QString::number(pos.y, 10, 3)+" m");
 157         ui->position_phi->setText("phi: "+QString::number(pos.phi, 10, 1)+" deg");
 158
 159         pos.positionIsActual=true;
 160         emit repaintCompass();
 161 }
 162
 163 void DisplayQT::display_status(UDE_component_t c, UDE_hw_status_t s)
 164 {
 165         switch(c){
 166                 case 0:break;
 167                 case MOT:
 168                         if(s==UDE_HW_STATUS_OK)
 169                                 ui->comp_MOT->setStyleSheet(GREEN);
 170                         else if(s==UDE_HW_STATUS_FAILED)
 171                                 ui->comp_MOT->setStyleSheet(RED);
 172                         else
 173                                 ui->comp_MOT->setStyleSheet(YELLOW);
 174                 break;
 175                 case ODO:
 176                         if(s==UDE_HW_STATUS_OK)
 177                                 ui->comp_ODO->setStyleSheet(GREEN);
 178                         else if(s==UDE_HW_STATUS_FAILED)
 179                                 ui->comp_ODO->setStyleSheet(RED);
 180                         else
 181                                 ui->comp_ODO->setStyleSheet(YELLOW);
 182                 break;
 183                 case PWR:
 184                         if(s==UDE_HW_STATUS_OK)
 185                                 ui->comp_PWR->setStyleSheet(GREEN);
 186                         else if(s==UDE_HW_STATUS_FAILED){
 187                                 ui->comp_PWR->setStyleSheet(RED);
 188
 189                                 ui->voltage_33->setText("v.33 = ?");
 190                                 ui->voltage_50->setText("v.50 = ?");
 191                                 ui->voltage_80->setText("v.80 = ?");
 192                                 ui->voltage_BAT->setText("v.BAT = ?");
 193
 194                                 ui->voltage_33->setStyleSheet(YELLOW);
 195                                 ui->voltage_50->setStyleSheet(YELLOW);
 196                                 ui->voltage_80->setStyleSheet(YELLOW);
 197                                 ui->voltage_BAT->setStyleSheet(YELLOW);
 198                         }
 199                         else
 200                                 ui->comp_PWR->setStyleSheet(YELLOW);
 201                 break;
 202                 case HOK:
 203                         if(s==UDE_HW_STATUS_OK)
 204                                 ui->comp_HOK->setStyleSheet(GREEN);
 205                         else if(s==UDE_HW_STATUS_FAILED)
 206                                 ui->comp_HOK->setStyleSheet(RED);
 207                         else
 208                                 ui->comp_HOK->setStyleSheet(YELLOW);
 209                         break;
 210                 case APP:
 211                         if(s==UDE_HW_STATUS_OK)
 212                                 ui->comp_APP->setStyleSheet(GREEN);
 213                         else if(s==UDE_HW_STATUS_FAILED){
 214                                 ui->comp_APP->setStyleSheet(RED);
 215
 216                                 pos.positionIsActual=false;
 217                                 ui->position_x->setText("x: ?");
 218                                 ui->position_y->setText("y: ?");
 219                                 ui->position_phi->setText("phi: ?");
 220                                 emit repaintCompass();
 221                         }
 222                         else
 223                                 ui->comp_APP->setStyleSheet(YELLOW);
 224                         break;
 225                 case SIC:
 226                         if(s==UDE_HW_STATUS_OK)
 227                                 ui->comp_SIC->setStyleSheet(GREEN);
 228                         else if(s==UDE_HW_STATUS_FAILED)
 229                                 ui->comp_SIC->setStyleSheet(RED);
 230                         else
 231                                 ui->comp_SIC->setStyleSheet(YELLOW);
 232                         break;
 233                 case STA:
 234                         if(s==UDE_HW_STATUS_OK)
 235                                 ui->comp_STA->setStyleSheet(GREEN);
 236                         else if(s==UDE_HW_STATUS_FAILED)
 237                                 ui->comp_STA->setStyleSheet(RED);
 238                         else
 239                                 ui->comp_STA->setStyleSheet(YELLOW);
 240                         break;
 241                 case TIM:
 242                         if(s==UDE_HW_STATUS_OK)
 243                                 ui->matchTime->setStyleSheet(GREEN);
 244                         else if(s==UDE_HW_STATUS_FAILED)
 245                                 ui->matchTime->setStyleSheet(RED);
 246                         else
 247                                 ui->matchTime->setStyleSheet(YELLOW);
 248                         break;
 249         }
 250 }
 251
 252 void DisplayQT::display_fsm(UDE_fsm_t fsm, QString state){
 253
 254         switch(fsm){
 255                 case FSM_MAIN:
 256                         ui->fsm_main->setText(state);
 257                 break;
 258                 case FSM_MOVE:
 259                         ui->fsm_move->setText(state);
 260                 break;
 261                 case FSM_ACT:
 262                         ui->fsm_act->setText(state);
 263                 break;
 264         }
 265 }
 266
 267 void DisplayQT::display_voltage(double voltage33, double voltage50, double voltage80, double voltageBAT){
 268         ui->voltage_33->setText("v.33 = "+QString::number(voltage33, 10, 2)+" V");
 269         ui->voltage_50->setText("v.50 = "+QString::number(voltage50, 10, 2)+" V");
 270         ui->voltage_80->setText("v.80 = "+QString::number(voltage80, 10, 2)+" V");
 271         ui->voltage_BAT->setText("v.BAT = "+QString::number(voltageBAT, 10, 2)+" V");
 272
 273
 274         if( voltageBAT < WARNING_VOLTAGEBAT && voltageBAT > TRESHOLDS_VOLTAGEBAT )
 275                 ui->voltage_BAT->setStyleSheet(YELLOW);
 276         else if( voltageBAT < TRESHOLDS_VOLTAGEBAT )
 277                 ui->voltage_BAT->setStyleSheet(RED);
 278         else
 279                 ui->voltage_BAT->setStyleSheet(GREEN);
 280
 281         if( voltage33 < TRESHOLDS_VOLTAGE33 )
 282                 ui->voltage_33->setStyleSheet(YELLOW);
 283         else
 284                 ui->voltage_33->setStyleSheet(GREEN);
 285
 286         if( voltage50 < TRESHOLDS_VOLTAGE50 )
 287                 ui->voltage_50->setStyleSheet(YELLOW);
 288         else
 289                 ui->voltage_50->setStyleSheet(GREEN);
 290
 291         if( voltage80 < TRESHOLDS_VOLTAGE80 )
 292                 ui->voltage_80->setStyleSheet(YELLOW);
 293         else
 294                 ui->voltage_80->setStyleSheet(GREEN);
 295 }