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 void DisplayQT::display_time(double time)
 121 {
 122         ui->matchTime->display(time);
 123 }
 124
 125 // 0-modra
 126 // 1-cervena
 127 void DisplayQT::setTeamColor(char color)
 128 {
 129         if(color==0){
 130                 color=0;
 131                 ui->our_color->setStyleSheet("background-color: rgb(213, 40, 24)");
 132         }else if(color==1){
 133                 color=1;
 134                 ui->our_color->setStyleSheet("background-color: blue");
 135         }
 136 }
 137
 138 void DisplayQT::setPosition(double x, double y, double phi)
 139 {
 140         this->pos.x=x;
 141         this->pos.y=y;
 142         this->pos.phi=phi;
 143
 144         //prevod z radianu na stupne a uprava
 145         pos.phi = RAD2DEG(pos.phi);
 146         pos.phi = fmod(pos.phi, 360);
 147         if ( pos.phi < 0 )
 148                 pos.phi += 360;
 149
 150         ui->position_x->setText("x: "+QString::number(pos.x, 10, 3)+" m");
 151         ui->position_y->setText("y: "+QString::number(pos.y, 10, 3)+" m");
 152         ui->position_phi->setText("phi: "+QString::number(pos.phi, 10, 1)+" deg");
 153
 154         pos.positionIsActual=true;
 155         emit repaintCompass();
 156 }
 157
 158 void DisplayQT::display_status(UDE_component_t c, UDE_hw_status_t s)
 159 {
 160         switch(c){
 161                 case 0:break;
 162                 case MOT:
 163                         if(s==STATUS_OK)
 164                                 ui->comp_MOT->setStyleSheet(GREEN);
 165                         else if(s==STATUS_FAILED)
 166                                 ui->comp_MOT->setStyleSheet(RED);
 167                         else
 168                                 ui->comp_MOT->setStyleSheet(YELLOW);
 169                 break;
 170                 case ODO:
 171                         if(s==STATUS_OK)
 172                                 ui->comp_ODO->setStyleSheet(GREEN);
 173                         else if(s==STATUS_FAILED)
 174                                 ui->comp_ODO->setStyleSheet(RED);
 175                         else
 176                                 ui->comp_ODO->setStyleSheet(YELLOW);
 177                 break;
 178                 case JAW:
 179                         if(s==STATUS_OK)
 180                                 ui->comp_JAW->setStyleSheet(GREEN);
 181                         else if(s==STATUS_FAILED)
 182                                 ui->comp_JAW->setStyleSheet(RED);
 183                         else
 184                                 ui->comp_JAW->setStyleSheet(YELLOW);
 185                         break;
 186                 case PWR:
 187                         if(s==STATUS_OK)
 188                                 ui->comp_PWR->setStyleSheet(GREEN);
 189                         else if(s==STATUS_FAILED){
 190                                 ui->comp_PWR->setStyleSheet(RED);
 191
 192                                 ui->voltage_33->setText("v.33 = ?");
 193                                 ui->voltage_50->setText("v.50 = ?");
 194                                 ui->voltage_80->setText("v.80 = ?");
 195                                 ui->voltage_BAT->setText("v.BAT = ?");
 196
 197                                 ui->voltage_33->setStyleSheet(YELLOW);
 198                                 ui->voltage_50->setStyleSheet(YELLOW);
 199                                 ui->voltage_80->setStyleSheet(YELLOW);
 200                                 ui->voltage_BAT->setStyleSheet(YELLOW);
 201                         }
 202                         else
 203                                 ui->comp_PWR->setStyleSheet(YELLOW);
 204                 break;
 205                 case HOK:
 206                         if(s==STATUS_OK)
 207                                 ui->comp_HOK->setStyleSheet(GREEN);
 208                         else if(s==STATUS_FAILED)
 209                                 ui->comp_HOK->setStyleSheet(RED);
 210                         else
 211                                 ui->comp_HOK->setStyleSheet(YELLOW);
 212                         break;
 213                 case APP:
 214                         if(s==STATUS_OK)
 215                                 ui->comp_APP->setStyleSheet(GREEN);
 216                         else if(s==STATUS_FAILED){
 217                                 ui->comp_APP->setStyleSheet(RED);
 218
 219                                 pos.positionIsActual=false;
 220                                 ui->position_x->setText("x: ?");
 221                                 ui->position_y->setText("y: ?");
 222                                 ui->position_phi->setText("phi: ?");
 223                                 emit repaintCompass();
 224                         }
 225                         else
 226                                 ui->comp_APP->setStyleSheet(YELLOW);
 227                         break;
 228                 case LFT:
 229                         if(s==STATUS_OK)
 230                                 ui->comp_LFT->setStyleSheet(GREEN);
 231                         else if(s==STATUS_FAILED)
 232                                 ui->comp_LFT->setStyleSheet(RED);
 233                         else
 234                                 ui->comp_LFT->setStyleSheet(YELLOW);
 235                         break;
 236                 case STA:
 237                         if(s==STATUS_OK)
 238                                 ui->comp_STA->setStyleSheet(GREEN);
 239                         else if(s==STATUS_FAILED)
 240                                 ui->comp_STA->setStyleSheet(RED);
 241                         else
 242                                 ui->comp_STA->setStyleSheet(YELLOW);
 243                         break;
 244                 case TIM:
 245                         if(s==STATUS_OK)
 246                                 ui->matchTime->setStyleSheet(GREEN);
 247                         else if(s==STATUS_FAILED)
 248                                 ui->matchTime->setStyleSheet(RED);
 249                         else
 250                                 ui->matchTime->setStyleSheet(YELLOW);
 251                         break;
 252         }
 253 }
 254
 255 void DisplayQT::display_fsm(UDE_fsm_t fsm, QString state){
 256
 257         switch(fsm){
 258                 case FSM_MAIN:
 259                         ui->fsm_main->setText(state);
 260                 break;
 261                 case FSM_MOVE:
 262                         ui->fsm_move->setText(state);
 263                 break;
 264                 case FSM_ACT:
 265                         ui->fsm_act->setText(state);
 266                 break;
 267         }
 268 }
 269
 270 void DisplayQT::display_voltage(double voltage33, double voltage50, double voltage80, double voltageBAT){
 271         ui->voltage_33->setText("v.33 = "+QString::number(voltage33, 10, 2)+" V");
 272         ui->voltage_50->setText("v.50 = "+QString::number(voltage50, 10, 2)+" V");
 273         ui->voltage_80->setText("v.80 = "+QString::number(voltage80, 10, 2)+" V");
 274         ui->voltage_BAT->setText("v.BAT = "+QString::number(voltageBAT, 10, 2)+" V");
 275
 276
 277         if( voltageBAT < WARNING_VOLTAGEBAT && voltageBAT > TRESHOLDS_VOLTAGEBAT )
 278                 ui->voltage_BAT->setStyleSheet(YELLOW);
 279         else if( voltageBAT < TRESHOLDS_VOLTAGEBAT )
 280                 ui->voltage_BAT->setStyleSheet(RED);
 281         else
 282                 ui->voltage_BAT->setStyleSheet(GREEN);
 283
 284         if( voltage33 < TRESHOLDS_VOLTAGE33 )
 285                 ui->voltage_33->setStyleSheet(YELLOW);
 286         else
 287                 ui->voltage_33->setStyleSheet(GREEN);
 288
 289         if( voltage50 < TRESHOLDS_VOLTAGE50 )
 290                 ui->voltage_50->setStyleSheet(YELLOW);
 291         else
 292                 ui->voltage_50->setStyleSheet(GREEN);
 293
 294         if( voltage80 < TRESHOLDS_VOLTAGE80 )
 295                 ui->voltage_80->setStyleSheet(YELLOW);
 296         else
 297                 ui->voltage_80->setStyleSheet(GREEN);
 298 }