2 #include "ui_displayqt.h"
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"
14 DisplayQT::DisplayQT(QWidget *parent) :
22 /* create the window without the title bar */
23 Qt::WindowFlags flags = this->windowFlags();
24 flags |= Qt::FramelessWindowHint;
25 this->setWindowFlags(flags);
27 //cursor will be hidden
28 setCursor(QCursor(Qt::BlankCursor));
31 //na zacatku nazname polohu
32 this->pos.positionIsActual=false;
35 pomoci timeru je kazdych 500 ms
36 vyvolan signal pro pohnuti tocitka
39 QTimer *timer = new QTimer(this);
41 connect(timer, SIGNAL(timeout()), this, SLOT(alive()));
44 //premalovavani kompasu
45 connect(this, SIGNAL(repaintCompass()), this, SLOT(update()));
48 //sipka od uhlu natoceni
49 void DisplayQT::paintEvent(QPaintEvent *)
51 //umisteni stredu kompasu
54 int const dimension=80;
56 static const QPoint arrow[3] = {
59 QPoint(0, -((dimension/2)-15))
64 QColor prvniColor(127, 0, 127);
65 QColor druhaColor(0, 127, 127, 191);
66 QColor pozadi(240, 240, 240);
68 QPainter painter(this);
71 painter.fillRect(x-dimension/2, y-dimension/2, dimension, dimension, pozadi);
73 painter.setRenderHint(QPainter::Antialiasing);
74 painter.translate(x,y);
76 painter.setPen(Qt::NoPen);
77 painter.setBrush(prvniColor);
80 //namalovani sipky p.t.k. je aktualni pozice
81 if(pos.positionIsActual){
82 painter.rotate(90-pos.phi);
83 painter.drawConvexPolygon(arrow, 3);
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);
94 //namaluju mensi cary mezi ty predchozi
95 painter.setPen(druhaColor);
97 for(int j=0; j<12; j++){
99 painter.drawLine((dimension/2)-12, 0, (dimension/2)-7, 0);
100 painter.rotate(30.0);
104 DisplayQT::~DisplayQT()
109 void DisplayQT::alive(void)
111 static char aliveState=0;
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;
123 void DisplayQT::display_time(double time)
125 ui->matchTime->display(time);
129 void DisplayQT::setTeamColor(char color)
133 ui->our_color->setStyleSheet("background-color: white");
136 ui->our_color->setStyleSheet("background-color: green");
139 ui->our_color->setStyleSheet("background-color: yellow");
144 void DisplayQT::setPosition(double x, double y, double phi)
150 //prevod z radianu na stupne a uprava
151 pos.phi = RAD2DEG(pos.phi);
152 pos.phi = fmod(pos.phi, 360);
156 ui->position_x->setText("x: "+QString::number(pos.x, 10, 3)+" m");
157 ui->position_y->setText("y: "+QString::number(pos.y, 10, 3)+" m");
158 ui->position_phi->setText("phi: "+QString::number(pos.phi, 10, 1)+" deg");
160 pos.positionIsActual=true;
161 emit repaintCompass();
164 void DisplayQT::display_status(UDE_component_t c, UDE_hw_status_t s)
169 if(s==UDE_HW_STATUS_OK)
170 ui->comp_MOT->setStyleSheet(GREEN);
171 else if(s==UDE_HW_STATUS_FAILED)
172 ui->comp_MOT->setStyleSheet(RED);
174 ui->comp_MOT->setStyleSheet(YELLOW);
177 if(s==UDE_HW_STATUS_OK)
178 ui->comp_ODO->setStyleSheet(GREEN);
179 else if(s==UDE_HW_STATUS_FAILED)
180 ui->comp_ODO->setStyleSheet(RED);
182 ui->comp_ODO->setStyleSheet(YELLOW);
185 if(s==UDE_HW_STATUS_OK)
186 ui->comp_PWR->setStyleSheet(GREEN);
187 else if(s==UDE_HW_STATUS_FAILED){
188 ui->comp_PWR->setStyleSheet(RED);
190 ui->voltage_33->setText("v.33 = ?");
191 ui->voltage_50->setText("v.50 = ?");
192 ui->voltage_80->setText("v.80 = ?");
193 ui->voltage_BAT->setText("v.BAT = ?");
195 ui->voltage_33->setStyleSheet(YELLOW);
196 ui->voltage_50->setStyleSheet(YELLOW);
197 ui->voltage_80->setStyleSheet(YELLOW);
198 ui->voltage_BAT->setStyleSheet(YELLOW);
201 ui->comp_PWR->setStyleSheet(YELLOW);
204 if(s==UDE_HW_STATUS_OK)
205 ui->comp_HOK->setStyleSheet(GREEN);
206 else if(s==UDE_HW_STATUS_FAILED)
207 ui->comp_HOK->setStyleSheet(RED);
209 ui->comp_HOK->setStyleSheet(YELLOW);
212 if(s==UDE_HW_STATUS_OK)
213 ui->comp_APP->setStyleSheet(GREEN);
214 else if(s==UDE_HW_STATUS_FAILED){
215 ui->comp_APP->setStyleSheet(RED);
217 pos.positionIsActual=false;
218 ui->position_x->setText("x: ?");
219 ui->position_y->setText("y: ?");
220 ui->position_phi->setText("phi: ?");
221 emit repaintCompass();
224 ui->comp_APP->setStyleSheet(YELLOW);
227 if(s==UDE_HW_STATUS_OK)
228 ui->comp_SIC->setStyleSheet(GREEN);
229 else if(s==UDE_HW_STATUS_FAILED)
230 ui->comp_SIC->setStyleSheet(RED);
232 ui->comp_SIC->setStyleSheet(YELLOW);
235 if(s==UDE_HW_STATUS_OK)
236 ui->comp_STA->setStyleSheet(GREEN);
237 else if(s==UDE_HW_STATUS_FAILED)
238 ui->comp_STA->setStyleSheet(RED);
240 ui->comp_STA->setStyleSheet(YELLOW);
243 if(s==UDE_HW_STATUS_OK)
244 ui->matchTime->setStyleSheet(GREEN);
245 else if(s==UDE_HW_STATUS_FAILED)
246 ui->matchTime->setStyleSheet(RED);
248 ui->matchTime->setStyleSheet(YELLOW);
253 void DisplayQT::display_fsm(UDE_fsm_t fsm, QString state){
257 ui->fsm_main->setText(state);
260 ui->fsm_move->setText(state);
263 ui->fsm_act->setText(state);
268 void DisplayQT::display_voltage(double voltage33, double voltage50, double voltage80, double voltageBAT){
269 ui->voltage_33->setText("v.33 = "+QString::number(voltage33, 10, 2)+" V");
270 ui->voltage_50->setText("v.50 = "+QString::number(voltage50, 10, 2)+" V");
271 ui->voltage_80->setText("v.80 = "+QString::number(voltage80, 10, 2)+" V");
272 ui->voltage_BAT->setText("v.BAT = "+QString::number(voltageBAT, 10, 2)+" V");
275 if( voltageBAT < WARNING_VOLTAGEBAT && voltageBAT > TRESHOLDS_VOLTAGEBAT )
276 ui->voltage_BAT->setStyleSheet(YELLOW);
277 else if( voltageBAT < TRESHOLDS_VOLTAGEBAT )
278 ui->voltage_BAT->setStyleSheet(RED);
280 ui->voltage_BAT->setStyleSheet(GREEN);
282 if( voltage33 < TRESHOLDS_VOLTAGE33 )
283 ui->voltage_33->setStyleSheet(YELLOW);
285 ui->voltage_33->setStyleSheet(GREEN);
287 if( voltage50 < TRESHOLDS_VOLTAGE50 )
288 ui->voltage_50->setStyleSheet(YELLOW);
290 ui->voltage_50->setStyleSheet(GREEN);
292 if( voltage80 < TRESHOLDS_VOLTAGE80 )
293 ui->voltage_80->setStyleSheet(YELLOW);
295 ui->voltage_80->setStyleSheet(GREEN);