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 #ifndef __i386__
  21 #ifndef __x86_64__
  22         /* create the window without the title bar */
  23         Qt::WindowFlags flags = this->windowFlags();
  24         flags |= Qt::FramelessWindowHint;
  25         this->setWindowFlags(flags);
  26
  27         //cursor will be hidden
  28         setCursor(QCursor(Qt::BlankCursor));
  29 #endif
  30 #endif
  31         //na zacatku nazname polohu
  32         this->pos.positionIsActual=false;
  33
  34         /*ASCII tocitko
  35         pomoci timeru je kazdych 500 ms
  36         vyvolan signal pro pohnuti tocitka
  37         */
  38
  39         QTimer *timer = new QTimer(this);
  40         timer->start(500);
  41         connect(timer, SIGNAL(timeout()), this, SLOT(alive()));
  42     ///***///
  43
  44     //premalovavani kompasu
  45     connect(this, SIGNAL(repaintCompass()), this, SLOT(update()));
  46 }
  47
  48 //sipka od uhlu natoceni
  49 void DisplayQT::paintEvent(QPaintEvent *)
  50 {
  51         //umisteni stredu kompasu
  52         int const x=410;
  53         int const y=95;
  54         int const dimension=80;
  55
  56         static const QPoint arrow[3] = {
  57                 QPoint(4, 4),
  58                 QPoint(-4, 4),
  59                 QPoint(0, -((dimension/2)-15))
  60     };
  61
  62
  63         //barvy pro malovani
  64         QColor prvniColor(127, 0, 127);
  65         QColor druhaColor(0, 127, 127, 191);
  66         QColor pozadi(240, 240, 240);
  67
  68         QPainter painter(this);
  69
  70         //background
  71         painter.fillRect(x-dimension/2, y-dimension/2, dimension, dimension, pozadi);
  72
  73         painter.setRenderHint(QPainter::Antialiasing);
  74         painter.translate(x,y);
  75
  76         painter.setPen(Qt::NoPen);
  77         painter.setBrush(prvniColor);
  78         painter.save();
  79
  80     //namalovani sipky p.t.k. je aktualni pozice
  81         if(pos.positionIsActual){
  82                 painter.rotate(90-pos.phi);
  83                 painter.drawConvexPolygon(arrow, 3);
  84         }
  85         painter.restore();
  86
  87     //namaluju 4 cary po 90 stupnich
  88         painter.setPen(prvniColor);
  89         for(int i=0; i<4; i++){
  90                 painter.drawLine((dimension/2)-10, 0, (dimension/2)-5, 0);
  91                 painter.rotate(90.0);
  92         }
  93
  94         //namaluju mensi cary mezi ty predchozi
  95         painter.setPen(druhaColor);
  96
  97         for(int j=0; j<12; j++){
  98                 if(j%3)
  99                         painter.drawLine((dimension/2)-12, 0, (dimension/2)-7, 0);
 100                 painter.rotate(30.0);
 101         }
 102 }
 103
 104 DisplayQT::~DisplayQT()
 105 {
 106         delete ui;
 107 }
 108
 109 void DisplayQT::alive(void)
 110 {
 111         static char aliveState=0;
 112         if(++aliveState==4)
 113                 aliveState=0;
 114
 115         switch(aliveState){
 116                 case 0: ui->ziju->setText("|");break;
 117                 case 1: ui->ziju->setText("/");break;
 118                 case 2: ui->ziju->setText("-");break;
 119                 case 3: ui->ziju->setText("\\");break;
 120         }
 121 }
 122
 123 void DisplayQT::display_time(double time)
 124 {
 125         ui->matchTime->display(time);
 126 }
 127
 128
 129 void DisplayQT::setTeamColor(char color)
 130 {
 131         switch (color) {
 132                 case TC_FROM_A3:
 133                         ui->our_color->setStyleSheet("background-color: white");
 134                         ui->our_color->setText("A3");
 135                 break;
 136                 case TC_FROM_D3:
 137                         ui->our_color->setStyleSheet("background-color: white");
 138                         ui->our_color->setText("D3");
 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 JAW:
 184                         if(s==UDE_HW_STATUS_OK)
 185                                 ui->comp_JAW->setStyleSheet(GREEN);
 186                         else if(s==UDE_HW_STATUS_FAILED)
 187                                 ui->comp_JAW->setStyleSheet(RED);
 188                         else
 189                                 ui->comp_JAW->setStyleSheet(YELLOW);
 190                         break;
 191                 case PWR:
 192                         if(s==UDE_HW_STATUS_OK)
 193                                 ui->comp_PWR->setStyleSheet(GREEN);
 194                         else if(s==UDE_HW_STATUS_FAILED){
 195                                 ui->comp_PWR->setStyleSheet(RED);
 196
 197                                 ui->voltage_33->setText("v.33 = ?");
 198                                 ui->voltage_50->setText("v.50 = ?");
 199                                 ui->voltage_80->setText("v.80 = ?");
 200                                 ui->voltage_BAT->setText("v.BAT = ?");
 201
 202                                 ui->voltage_33->setStyleSheet(YELLOW);
 203                                 ui->voltage_50->setStyleSheet(YELLOW);
 204                                 ui->voltage_80->setStyleSheet(YELLOW);
 205                                 ui->voltage_BAT->setStyleSheet(YELLOW);
 206                         }
 207                         else
 208                                 ui->comp_PWR->setStyleSheet(YELLOW);
 209                 break;
 210                 case HOK:
 211                         if(s==UDE_HW_STATUS_OK)
 212                                 ui->comp_HOK->setStyleSheet(GREEN);
 213                         else if(s==UDE_HW_STATUS_FAILED)
 214                                 ui->comp_HOK->setStyleSheet(RED);
 215                         else
 216                                 ui->comp_HOK->setStyleSheet(YELLOW);
 217                         break;
 218                 case APP:
 219                         if(s==UDE_HW_STATUS_OK)
 220                                 ui->comp_APP->setStyleSheet(GREEN);
 221                         else if(s==UDE_HW_STATUS_FAILED){
 222                                 ui->comp_APP->setStyleSheet(RED);
 223
 224                                 pos.positionIsActual=false;
 225                                 ui->position_x->setText("x: ?");
 226                                 ui->position_y->setText("y: ?");
 227                                 ui->position_phi->setText("phi: ?");
 228                                 emit repaintCompass();
 229                         }
 230                         else
 231                                 ui->comp_APP->setStyleSheet(YELLOW);
 232                         break;
 233                 case SIC:
 234                         if(s==UDE_HW_STATUS_OK)
 235                                 ui->comp_SIC->setStyleSheet(GREEN);
 236                         else if(s==UDE_HW_STATUS_FAILED)
 237                                 ui->comp_SIC->setStyleSheet(RED);
 238                         else
 239                                 ui->comp_SIC->setStyleSheet(YELLOW);
 240                         break;
 241                 case STA:
 242                         if(s==UDE_HW_STATUS_OK)
 243                                 ui->comp_STA->setStyleSheet(GREEN);
 244                         else if(s==UDE_HW_STATUS_FAILED)
 245                                 ui->comp_STA->setStyleSheet(RED);
 246                         else
 247                                 ui->comp_STA->setStyleSheet(YELLOW);
 248                         break;
 249                 case TIM:
 250                         if(s==UDE_HW_STATUS_OK)
 251                                 ui->matchTime->setStyleSheet(GREEN);
 252                         else if(s==UDE_HW_STATUS_FAILED)
 253                                 ui->matchTime->setStyleSheet(RED);
 254                         else
 255                                 ui->matchTime->setStyleSheet(YELLOW);
 256                         break;
 257         }
 258 }
 259
 260 void DisplayQT::display_fsm(UDE_fsm_t fsm, QString state){
 261
 262         switch(fsm){
 263                 case FSM_MAIN:
 264                         ui->fsm_main->setText(state);
 265                 break;
 266                 case FSM_MOVE:
 267                         ui->fsm_move->setText(state);
 268                 break;
 269                 case FSM_ACT:
 270                         ui->fsm_act->setText(state);
 271                 break;
 272         }
 273 }
 274
 275 void DisplayQT::display_voltage(double voltage33, double voltage50, double voltage80, double voltageBAT){
 276         ui->voltage_33->setText("v.33 = "+QString::number(voltage33, 10, 2)+" V");
 277         ui->voltage_50->setText("v.50 = "+QString::number(voltage50, 10, 2)+" V");
 278         ui->voltage_80->setText("v.80 = "+QString::number(voltage80, 10, 2)+" V");
 279         ui->voltage_BAT->setText("v.BAT = "+QString::number(voltageBAT, 10, 2)+" V");
 280
 281
 282         if( voltageBAT < WARNING_VOLTAGEBAT && voltageBAT > TRESHOLDS_VOLTAGEBAT )
 283                 ui->voltage_BAT->setStyleSheet(YELLOW);
 284         else if( voltageBAT < TRESHOLDS_VOLTAGEBAT )
 285                 ui->voltage_BAT->setStyleSheet(RED);
 286         else
 287                 ui->voltage_BAT->setStyleSheet(GREEN);
 288
 289         if( voltage33 < TRESHOLDS_VOLTAGE33 )
 290                 ui->voltage_33->setStyleSheet(YELLOW);
 291         else
 292                 ui->voltage_33->setStyleSheet(GREEN);
 293
 294         if( voltage50 < TRESHOLDS_VOLTAGE50 )
 295                 ui->voltage_50->setStyleSheet(YELLOW);
 296         else
 297                 ui->voltage_50->setStyleSheet(GREEN);
 298
 299         if( voltage80 < TRESHOLDS_VOLTAGE80 )
 300                 ui->voltage_80->setStyleSheet(YELLOW);
 301         else
 302                 ui->voltage_80->setStyleSheet(GREEN);
 303 }