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         //na zacatku nazname polohu
  21         this->pos.positionIsActual=false;
  22
  23         /*ASCII tocitko
  24         pomoci timeru je kazdych 500 ms
  25         vyvolan signal pro pohnuti tocitka
  26         */
  27
  28         //pomocna promenna pro ASCII tocitko
  29         aliveState=0;
  30
  31         QTimer *timer = new QTimer(this);
  32         timer->start(500);
  33         connect(timer, SIGNAL(timeout()), this, SLOT(alive()));
  34     ///***///
  35
  36     //premalovavani kompasu
  37     connect(this, SIGNAL(repaintCompass()), this, SLOT(update()));
  38 }
  39
  40 //sipka od uhlu natoceni
  41 void DisplayQT::paintEvent(QPaintEvent *)
  42 {
  43         //umisteni stredu kompasu
  44         int const x=405;
  45         int const y=105;
  46         int const dimension=80;
  47
  48         static const QPoint hourHand[3] = {
  49                 QPoint(4, 4),
  50                 QPoint(-4, 4),
  51                 QPoint(0, -((dimension/2)-15))
  52     };
  53
  54
  55         //barvy pro malovani
  56         QColor prvniColor(127, 0, 127);
  57         QColor druhaColor(0, 127, 127, 191);
  58         QColor pozadi(240, 240, 240);
  59
  60         QPainter painter(this);
  61
  62         //background
  63         painter.fillRect(x-dimension/2, y-dimension/2, dimension, dimension, pozadi);
  64
  65         painter.setRenderHint(QPainter::Antialiasing);
  66         painter.translate(x,y);
  67
  68         painter.setPen(Qt::NoPen);
  69         painter.setBrush(prvniColor);
  70         painter.save();
  71
  72     //namalovani sipky p.t.k. je aktualni pozice
  73         if(pos.positionIsActual){
  74                 painter.rotate(90-pos.phi);
  75                 painter.drawConvexPolygon(hourHand, 3);
  76         }
  77         painter.restore();
  78
  79     //namaluju 4 cary po 90 stupnich
  80         painter.setPen(prvniColor);
  81         for(int i=0; i<4; i++){
  82                 painter.drawLine((dimension/2)-10, 0, (dimension/2)-5, 0);
  83                 painter.rotate(90.0);
  84         }
  85
  86         //namaluju mensi cary mezi ty predchozi
  87         painter.setPen(druhaColor);
  88
  89         for(int j=0; j<12; j++){
  90                 if(j%3)
  91                         painter.drawLine((dimension/2)-12, 0, (dimension/2)-7, 0);
  92                 painter.rotate(30.0);
  93         }
  94 }
  95
  96 DisplayQT::~DisplayQT()
  97 {
  98         delete ui;
  99 }
 100
 101 void DisplayQT::alive(void)
 102 {
 103         if(++aliveState==4)
 104                 aliveState=0;
 105
 106         switch(aliveState){
 107                 case 0: ui->ziju->setText("|");break;
 108                 case 1: ui->ziju->setText("/");break;
 109                 case 2: ui->ziju->setText("-");break;
 110                 case 3: ui->ziju->setText("\\");break;
 111         }
 112 }
 113
 114 // 0-modra
 115 // 1-cervena
 116 void DisplayQT::setTeamColor(char color)
 117 {
 118         if(color==0){
 119                 color=0;
 120                 ui->our_color->setStyleSheet("background-color: blue");
 121         }else if(color==1){
 122                 color=1;
 123                 ui->our_color->setStyleSheet("background-color: rgb(213, 40, 24)");
 124         }
 125 }
 126
 127 void DisplayQT::setPosition(double x, double y, double phi)
 128 {
 129         this->pos.x=x;
 130         this->pos.y=y;
 131         this->pos.phi=phi;
 132
 133         //prevod z radianu na stupne a uprava
 134         pos.phi = RAD2DEG(pos.phi);
 135         pos.phi = fmod(pos.phi, 360);
 136         if ( pos.phi < 0 )
 137                 pos.phi += 360;
 138
 139         ui->position_x->setText("x: "+QString::number(pos.x, 10, 3)+" m");
 140         ui->position_y->setText("y: "+QString::number(pos.y, 10, 3)+" m");
 141         ui->position_phi->setText("phi: "+QString::number(pos.phi, 10, 1)+" deg");
 142
 143         pos.positionIsActual=true;
 144         emit repaintCompass();
 145 }
 146
 147 void DisplayQT::display_status(UDE_component_t c, UDE_hw_status_t s)
 148 {
 149         switch(c){
 150                 case 0:break;
 151                 case MOT:
 152                         if(s==STATUS_OK)
 153                                 ui->comp_MOT->setStyleSheet(GREEN);
 154                         else if(s==STATUS_FAILED)
 155                                 ui->comp_MOT->setStyleSheet(RED);
 156                         else
 157                                 ui->comp_MOT->setStyleSheet(YELLOW);
 158                 break;
 159                 case ODO:
 160                         if(s==STATUS_OK)
 161                                 ui->comp_ODO->setStyleSheet(GREEN);
 162                         else if(s==STATUS_FAILED)
 163                                 ui->comp_ODO->setStyleSheet(RED);
 164                         else
 165                                 ui->comp_ODO->setStyleSheet(YELLOW);
 166                 break;
 167                 case CAM:
 168                         if(s==STATUS_OK)
 169                                 ui->comp_CAM->setStyleSheet(GREEN);
 170                         else if(s==STATUS_FAILED)
 171                                 ui->comp_CAM->setStyleSheet(RED);
 172                         else
 173                                 ui->comp_CAM->setStyleSheet(YELLOW);
 174                         break;
 175                 case PWR:
 176                         if(s==STATUS_OK)
 177                                 ui->comp_PWR->setStyleSheet(GREEN);
 178                         else if(s==STATUS_FAILED){
 179                                 ui->comp_PWR->setStyleSheet(RED);
 180
 181                                 ui->voltage_33->setText("v.33 = ?");
 182                                 ui->voltage_50->setText("v.50 = ?");
 183                                 ui->voltage_80->setText("v.80 = ?");
 184                                 ui->voltage_BAT->setText("v.BAT = ?");
 185
 186                                 ui->voltage_33->setStyleSheet(YELLOW);
 187                                 ui->voltage_50->setStyleSheet(YELLOW);
 188                                 ui->voltage_80->setStyleSheet(YELLOW);
 189                                 ui->voltage_BAT->setStyleSheet(YELLOW);
 190                         }
 191                         else
 192                                 ui->comp_PWR->setStyleSheet(YELLOW);
 193                 break;
 194                 case HOK:
 195                         if(s==STATUS_OK)
 196                                 ui->comp_HOK->setStyleSheet(GREEN);
 197                         else if(s==STATUS_FAILED)
 198                                 ui->comp_HOK->setStyleSheet(RED);
 199                         else
 200                                 ui->comp_HOK->setStyleSheet(YELLOW);
 201                         break;
 202                 case APP:
 203                         if(s==STATUS_OK)
 204                                 ui->comp_APP->setStyleSheet(GREEN);
 205                         else if(s==STATUS_FAILED){
 206                                 ui->comp_APP->setStyleSheet(RED);
 207
 208                                 pos.positionIsActual=false;
 209                                 ui->position_x->setText("x: ?");
 210                                 ui->position_y->setText("y: ?");
 211                                 ui->position_phi->setText("phi: ?");
 212                                 emit repaintCompass();
 213                         }
 214                         else
 215                                 ui->comp_APP->setStyleSheet(YELLOW);
 216                         break;
 217                 case VID:
 218                         if(s==STATUS_OK)
 219                                 ui->comp_VID->setStyleSheet(GREEN);
 220                         else if(s==STATUS_FAILED)
 221                                 ui->comp_VID->setStyleSheet(RED);
 222                         else
 223                                 ui->comp_VID->setStyleSheet(YELLOW);
 224                         break;
 225                 case STA:
 226                         if(s==STATUS_OK)
 227                                 ui->comp_STA->setStyleSheet(GREEN);
 228                         else if(s==STATUS_FAILED)
 229                                 ui->comp_STA->setStyleSheet(RED);
 230                         else
 231                                 ui->comp_STA->setStyleSheet(YELLOW);
 232                 break;
 233         }
 234 }
 235
 236 void DisplayQT::display_fsm(UDE_fsm_t fsm, QString state){
 237
 238         switch(fsm){
 239                 case FSM_MAIN:
 240                         ui->fsm_main->setText(state);
 241                 break;
 242                 case FSM_MOVE:
 243                         ui->fsm_move->setText(state);
 244                 break;
 245                 case FSM_ACT:
 246                         ui->fsm_act->setText(state);
 247                 break;
 248         }
 249 }
 250
 251 void DisplayQT::display_voltage(double voltage33, double voltage50, double voltage80, double voltageBAT){
 252         ui->voltage_33->setText("v.33 = "+QString::number(voltage33, 10, 2)+" V");
 253         ui->voltage_50->setText("v.50 = "+QString::number(voltage50, 10, 2)+" V");
 254         ui->voltage_80->setText("v.80 = "+QString::number(voltage80, 10, 2)+" V");
 255         ui->voltage_BAT->setText("v.BAT = "+QString::number(voltageBAT, 10, 2)+" V");
 256
 257
 258         if( voltageBAT < WARNING_VOLTAGEBAT && voltageBAT > TRESHOLDS_VOLTAGEBAT )
 259                 ui->voltage_BAT->setStyleSheet(YELLOW);
 260         else if( voltageBAT < TRESHOLDS_VOLTAGEBAT )
 261                 ui->voltage_BAT->setStyleSheet(RED);
 262         else
 263                 ui->voltage_BAT->setStyleSheet(GREEN);
 264
 265
 266
 267
 268         if( voltage33 < TRESHOLDS_VOLTAGE33 )
 269                 ui->voltage_33->setStyleSheet(YELLOW);
 270         else
 271                 ui->voltage_33->setStyleSheet(GREEN);
 272
 273         if( voltage50 < TRESHOLDS_VOLTAGE50 )
 274                 ui->voltage_50->setStyleSheet(YELLOW);
 275         else
 276                 ui->voltage_50->setStyleSheet(GREEN);
 277
 278         if( voltage80 < TRESHOLDS_VOLTAGE80 )
 279                 ui->voltage_80->setStyleSheet(YELLOW);
 280         else
 281                 ui->voltage_80->setStyleSheet(GREEN);
 282 }