mainguiwindow.cpp 6.85 KB
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#include "mainguiwindow.h"
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#include "ui_mainguiwindow.h"
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#include "crazyFlyZoneTab.h"
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#include "myGraphicsScene.h"
#include "myGraphicsView.h"
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#include <QObject>
#include <QDoubleSpinBox>
#include <QTextEdit>
#include <QString>

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#include <string>
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#define N_MAX_CRAZYFLIES           20 // protection number
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#ifdef CATKIN_MAKE
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using namespace d_fall_pps;
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#endif
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#ifdef CATKIN_MAKE
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MainGUIWindow::MainGUIWindow(int argc, char **argv, QWidget *parent) :
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    QMainWindow(parent),
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    ui(new Ui::MainGUIWindow)//,
    // _rosNodeThread(argc, argv, "/ViconDataPublisher/ViconData")
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{
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    _rosNodeThread = new rosNodeThread(argc, argv, "/ViconDataPublisher/ViconData");
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    ui->setupUi(this);
    _init();
}
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#else
MainGUIWindow::MainGUIWindow(int argc, char **argv, QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainGUIWindow)
{

    ui->setupUi(this);
    _init();
}
#endif
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MainGUIWindow::~MainGUIWindow()
{
    delete ui;
}

void MainGUIWindow::set_tabs(int n)
{
    ui->tabWidget->clear();
    for (int i = 0; i < n; i++)
    {
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        QString qstr = "CrazyFly ";
        qstr.append(QString::number(i+1));
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        crazyFlyZoneTab* widget = new crazyFlyZoneTab(i);
        ui->tabWidget->addTab(widget, qstr);
        connect(widget, SIGNAL(centerButtonClickedSignal(int)), this, SLOT(centerViewIndex(int)));
    }
}

void MainGUIWindow::_init()
{

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    ui->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);

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    scene = new myGraphicsScene(ui->frame_drawing);
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    scene->setSceneRect(-100 * FROM_METERS_TO_UNITS, -100 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS);
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    marker = new Marker(1 * FROM_METERS_TO_UNITS, 1 * FROM_METERS_TO_UNITS);
    // marker->setPos(0,0);
    setPosMarker(0, 0);
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    // scene->addItem(marker);
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    ui->graphicsView->setScene(scene);

    QObject::connect(ui->tabWidget, SIGNAL(tabCloseRequested(int)), scene, SLOT(removeCrazyFlyZone(int)));
    QObject::connect(scene, SIGNAL(numCrazyFlyZonesChanged(int)), this, SLOT(set_tabs(int)));
    QObject::connect(ui->tabWidget, SIGNAL(currentChanged(int)), scene, SLOT(setSelectedCrazyFlyZone(int)));
    QObject::connect(scene, SIGNAL(crazyFlyZoneSelected(int)), ui->tabWidget, SLOT(setCurrentIndex(int)));
    QObject::connect(scene, SIGNAL(modeChanged(int)), this, SLOT(transitionToMode(int)));
    QObject::connect(scene, SIGNAL(numTablePiecesChanged(int)), this, SLOT(handleTablePiecesNumChanged(int)));
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    ui->checkBox_vicon_highlight_markers->setEnabled(false);
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    #ifdef CATKIN_MAKE
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    _rosNodeThread->init();
    QObject::connect(_rosNodeThread, SIGNAL(newViconData(double, double)), this, SLOT(setPosMarker(double, double)));
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    #endif
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}
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void MainGUIWindow::setPosMarker(double x, double y)
{
    marker->setPosMarker(scene->mapFromWorldToScene(QPointF(FROM_METERS_TO_UNITS * x, FROM_METERS_TO_UNITS * y)));
}
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void MainGUIWindow::on_removeTable_clicked()
{
    if(scene->getMode() == myGraphicsScene::mode_table)
    {
        scene->removeTable();
    }
}

void MainGUIWindow::transitionToMode(int mode)
{
    switch(mode)
    {
        case myGraphicsScene::mode_table:
        {
            ui->removeTable->setDisabled(false);
            break;
        }
        case myGraphicsScene::mode_crazyfly_zones:
        {
            ui->removeTable->setDisabled(true);
            break;
        }
    }
}

void MainGUIWindow::on_radioButton_table_mode_toggled(bool checked)
{
    switch(scene->getMode())
    {
        case myGraphicsScene::mode_table:
        {
            // already in the mode we want, do nothing
            break;
        }
        case myGraphicsScene::mode_crazyfly_zones:
        {
            scene->setMode(myGraphicsScene::mode_table);
            break;
        }
        case myGraphicsScene::mode_locked:
        {
            scene->setMode(myGraphicsScene::mode_table);
            break;
        }
    }

}


void MainGUIWindow::on_radioButton_crazyfly_zones_mode_toggled(bool checked)
{
    switch(scene->getMode())
    {
        case myGraphicsScene::mode_table:
        {
            scene->setMode(myGraphicsScene::mode_crazyfly_zones);
            break;
        }
        case myGraphicsScene::mode_crazyfly_zones:
        {
            // already in the mode we want, do nothing
            break;
        }
        case myGraphicsScene::mode_locked:
        {
            scene->setMode(myGraphicsScene::mode_crazyfly_zones);
            break;
        }
    }
}

void MainGUIWindow::handleTablePiecesNumChanged(int newNum)
{
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}

void MainGUIWindow::on_radioButton_lock_mode_toggled(bool checked)
{
    switch(scene->getMode())
    {
        case myGraphicsScene::mode_table:
        {
            scene->setMode(myGraphicsScene::mode_locked);
            break;
        }
        case myGraphicsScene::mode_crazyfly_zones:
        {
            scene->setMode(myGraphicsScene::mode_locked);
            break;
        }
        case myGraphicsScene::mode_locked:
        {
            break;
        }
    }
}

void MainGUIWindow::on_checkBox_grid_toggled(bool checked)
{
    scene->setGrid(checked);
}

void MainGUIWindow::on_checkBox_table_toggled(bool checked)
{
    if(checked)
    {
        scene->showTable();
    }
    else
    {
        scene->hideTable();
    }
}

void MainGUIWindow::on_checkBox_crazyfly_zones_toggled(bool checked)
{
    if(checked)
    {
        scene->showCrazyFlyZones();
    }
    else
    {
        scene->hideCrazyFlyZones();
    }
}

void MainGUIWindow::on_tabWidget_currentChanged(int index)
{
    if(index >= 0)
    {
        scene->setSelectedCrazyFlyZone(index);
    }
}

void MainGUIWindow::centerViewIndex(int index)
{
    ui->graphicsView->fitInView(scene->getRectFCrazyFlyZone(index), Qt::KeepAspectRatio);
    ui->graphicsView->scale(0.95, 0.95); // A bit back zoom, so we can see everything better
}


void MainGUIWindow::on_pushButton_fitAll_clicked()
{
    ui->graphicsView->fitInView(scene->itemsBoundingRect(), Qt::KeepAspectRatio);
    ui->graphicsView->scale(0.95, 0.95); // A bit back zoom, so we can see everything better
}
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void MainGUIWindow::on_checkBox_vicon_markers_toggled(bool checked)
{
    // This is temporal, just to see effect. In the end the marker will be created with data from vicon
    if(checked)
    {
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        // marker = new Marker(0, 0);
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        scene->addItem(marker);
        ui->checkBox_vicon_highlight_markers->setCheckable(true);
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        ui->checkBox_vicon_highlight_markers->setEnabled(true);
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    }
    else
    {
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        scene->removeItem(marker);
        // marker->setParentItem(NULL);
        // delete marker;
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        ui->checkBox_vicon_highlight_markers->setChecked(false);
        ui->checkBox_vicon_highlight_markers->setCheckable(false);
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        ui->checkBox_vicon_highlight_markers->setEnabled(false);
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    }
}

void MainGUIWindow::on_checkBox_vicon_highlight_markers_toggled(bool checked)
{
    if(checked)
    {
        marker->setHighlighted();
    }
    else
    {
        marker->clearHighlighted();
    }
}