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carinterface.cpp
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carinterface.cpp
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/*
Copyright 2016 - 2019 Benjamin Vedder benjamin@vedder.se
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "carinterface.h"
#include "ui_carinterface.h"
#include "carinfo.h"
#include "utility.h"
#include <QFileDialog>
#include <QMessageBox>
#include <cmath>
#include <QTime>
#include <QDateTime>
#include <QXmlStreamWriter>
#include <QXmlStreamReader>
namespace {
void faultToStr(mc_fault_code fault, QString &str, bool &isOk)
{
switch (fault) {
case FAULT_CODE_NONE: str = "FAULT_CODE_NONE"; isOk = true; break;
case FAULT_CODE_OVER_VOLTAGE: str = "FAULT_CODE_OVER_VOLTAGE"; isOk = false; break;
case FAULT_CODE_UNDER_VOLTAGE: str = "FAULT_CODE_UNDER_VOLTAGE"; isOk = false; break;
case FAULT_CODE_DRV8302: str = "FAULT_CODE_DRV8302"; isOk = false; break;
case FAULT_CODE_ABS_OVER_CURRENT: str = "FAULT_CODE_ABS_OVER_CURRENT"; isOk = false; break;
case FAULT_CODE_OVER_TEMP_FET: str = "FAULT_CODE_OVER_TEMP_FET"; isOk = false; break;
case FAULT_CODE_OVER_TEMP_MOTOR: str = "FAULT_CODE_OVER_TEMP_MOTOR"; isOk = false; break;
default: str = "Unknown fault"; isOk = false; break;
}
}
}
CarInterface::CarInterface(QWidget *parent) :
QWidget(parent),
ui(new Ui::CarInterface)
{
ui->setupUi(this);
#ifdef HAS_OPENGL
mOrientationWidget = new OrientationWidget(this);
ui->orientationLayout->removeItem(ui->orientationSpacer);
ui->orientationLayout->insertWidget(0, mOrientationWidget, 1);
#endif
memset(&mLastCarState, 0, sizeof(CAR_STATE));
// Plots
ui->experimentPlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
mMap = 0;
mPacketInterface = 0;
mId = 0;
resetApOnEmergencyStop = true;
mExperimentReplot = false;
mExperimentPlotNow = 0;
mSettingsReadDone = false;
mImageByteCnt = 0;
mImageCnt = 0;
mImageFpsFilter = 0.0;
mFullscreenImage = 0;
mTimer = new QTimer(this);
mTimer->start(20);
mUdpSocket = new QUdpSocket(this);
mLastHostAddress.clear();
mUdpPort = 27800;
mTcpServer = new TcpServerSimple(this);
mFaultLast = "Fault code...";
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
connect(mUdpSocket, SIGNAL(readyRead()), this, SLOT(udpReadReady()));
connect(mTcpServer->packet(), SIGNAL(packetReceived(QByteArray&)),
this, SLOT(tcpRx(QByteArray&)));
connect(ui->confCommonWidget, SIGNAL(loadMagCal()),
this, SLOT(loadMagCal()));
mTcpServer->setUsePacket(true);
ui->experimentPlot->xAxis->grid()->setSubGridVisible(true);
ui->experimentPlot->yAxis->grid()->setSubGridVisible(true);
connect(ui->experimentGraph1Button, &QPushButton::toggled,
[=]() {mExperimentReplot = true;});
connect(ui->experimentGraph2Button, &QPushButton::toggled,
[=]() {mExperimentReplot = true;});
connect(ui->experimentGraph3Button, &QPushButton::toggled,
[=]() {mExperimentReplot = true;});
connect(ui->experimentGraph4Button, &QPushButton::toggled,
[=]() {mExperimentReplot = true;});
connect(ui->experimentGraph5Button, &QPushButton::toggled,
[=]() {mExperimentReplot = true;});
}
CarInterface::~CarInterface()
{
if (mMap) {
mMap->removeCar(mId);
}
if (mFullscreenImage) {
delete mFullscreenImage;
}
delete ui;
}
void CarInterface::setID(int id)
{
ui->idBox->setValue(id);
}
int CarInterface::getId()
{
return mId;
}
bool CarInterface::pollData()
{
return ui->pollBox->isChecked();
}
void CarInterface::setPollData(bool poll)
{
ui->pollBox->setChecked(poll);
}
bool CarInterface::updateRouteFromMap()
{
return ui->updateRouteFromMapBox->isChecked();
}
void CarInterface::setOrientation(double roll, double pitch, double yaw)
{
#ifdef HAS_OPENGL
ui->rollBar->setValue(roll);
ui->pitchBar->setValue(pitch);
ui->yawBar->setValue(yaw);
mOrientationWidget->setRollPitchYaw(roll, pitch, yaw);
#else
(void)roll;
(void)pitch;
(void)yaw;
#endif
}
void CarInterface::setStateData(CAR_STATE data)
{
mLastCarState = data;
ui->imuPlot->addSample(data.accel, data.gyro, data.mag);
// Firmware label
QString fwStr;
fwStr.sprintf("FW %d.%d", data.fw_major, data.fw_minor);
ui->fwLabel->setText(fwStr);
setFirmwareVersion(qMakePair(data.fw_major, data.fw_minor));
// Speed bar
QString speedTxt;
speedTxt.sprintf("Speed: %.2f km/h", data.speed * 3.6);
ui->speedBar->setValue(fabs(data.speed) * 3.6);
ui->speedBar->setFormat(speedTxt);
// Temp FET bar
ui->tempFetBar->setValue(data.temp_fet);
// Battery bar
double battp = utility::map(data.vin, 34.0, 42.0, 0.0, 100.0);
if (battp < 0.0) {
battp = 0.0;
}
QString battTxt;
battTxt.sprintf("Battery: %.1f %% (%.2f V)", battp, data.vin);
if (battp > 100.0) {
battp = 100.0;
}
ui->batteryBar->setValue((int)battp);
ui->batteryBar->setFormat(battTxt);
// Orientation
setOrientation(data.roll, data.pitch, data.yaw);
// Fault label
QString fault_str;
bool isOk;
faultToStr(data.mc_fault, fault_str, isOk);
if (mFaultLast != fault_str) {
mFaultLast = fault_str;
ui->mcFaultLabel->setText(fault_str);
if (isOk) {
ui->mcFaultLabel->setStyleSheet("QLabel { background-color : lightgreen; color : black; }");
} else {
ui->mcFaultLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
QString msg;
msg.sprintf("Car %d: ", mId);
emit showStatusInfo(msg + fault_str, false);
}
}
if (mMap) {
CarInfo *car = mMap->getCarInfo(mId);
LocPoint loc = car->getLocation();
LocPoint loc_gps = car->getLocationGps();
LocPoint loc_uwb = car->getLocationUwb();
LocPoint ap_goal = car->getApGoal();
loc.setYaw(data.yaw * M_PI / 180.0);
loc.setXY(data.px, data.py);
loc.setSpeed(data.speed);
loc_gps.setXY(data.px_gps, data.py_gps);
loc_uwb.setXY(data.px_uwb, data.py_uwb);
ap_goal.setXY(data.ap_goal_px, data.ap_goal_py);
ap_goal.setRadius(data.ap_rad);
car->setLocation(loc);
car->setLocationGps(loc_gps);
car->setLocationUwb(loc_uwb);
car->setApGoal(ap_goal);
car->setTime(data.ms_today);
mMap->update();
}
ui->magCal->addSample(data.mag[0], data.mag[1], data.mag[2]);
// Clock
if (data.ms_today >= 0) {
QTime time = QTime::fromMSecsSinceStartOfDay(data.ms_today);
QDateTime date = QDateTime::currentDateTime();
QTime current = QTime::currentTime().addSecs(-date.offsetFromUtc());
int diff = data.ms_today - current.msecsSinceStartOfDay();
ui->clockLabel->setText(time.toString("HH:mm:ss:zzz") + " " +
QString("%1").arg(diff, 6, 10, QChar('0')) + " ms");
} else {
ui->clockLabel->setText("00:00:00:000");
}
}
void CarInterface::setMap(MapWidget *map)
{
mMap = map;
CarInfo car(mId);
mMap->addCar(car);
connect(mMap, SIGNAL(routePointAdded(LocPoint)),
this, SLOT(routePointSet(LocPoint)));
connect(mMap, SIGNAL(lastRoutePointRemoved(LocPoint)),
this, SLOT(lastRoutePointRemoved()));
}
void CarInterface::setPacketInterface(PacketInterface *packetInterface)
{
mPacketInterface = packetInterface;
connect(this, SIGNAL(terminalCmd(quint8,QString)),
mPacketInterface, SLOT(sendTerminalCmd(quint8,QString)));
connect(mPacketInterface, SIGNAL(printReceived(quint8,QString)),
this, SLOT(terminalPrint(quint8,QString)));
connect(this, SIGNAL(forwardVesc(quint8,QByteArray)),
mPacketInterface, SLOT(forwardVesc(quint8,QByteArray)));
connect(mPacketInterface, SIGNAL(vescFwdReceived(quint8,QByteArray)),
this, SLOT(vescFwdReceived(quint8,QByteArray)));
connect(this, SIGNAL(setRcCurrent(quint8,double,double)),
mPacketInterface, SLOT(setRcControlCurrent(quint8,double,double)));
connect(this, SIGNAL(setRcDuty(quint8,double,double)),
mPacketInterface, SLOT(setRcControlDuty(quint8,double,double)));
connect(this, SIGNAL(setServoDirect(quint8,double)),
mPacketInterface, SLOT(setServoDirect(quint8,double)));
connect(mPacketInterface, SIGNAL(nmeaRadioReceived(quint8,QByteArray)),
this, SLOT(nmeaReceived(quint8,QByteArray)));
connect(mPacketInterface, SIGNAL(configurationReceived(quint8,MAIN_CONFIG)),
this, SLOT(configurationReceived(quint8,MAIN_CONFIG)));
connect(mPacketInterface, SIGNAL(plotInitReceived(quint8,QString,QString)),
this, SLOT(plotInitReceived(quint8,QString,QString)));
connect(mPacketInterface, SIGNAL(plotDataReceived(quint8,double,double)),
SLOT(plotDataReceived(quint8,double,double)));
connect(mPacketInterface, SIGNAL(plotAddGraphReceived(quint8,QString)),
this, SLOT(plotAddGraphReceived(quint8,QString)));
connect(mPacketInterface, SIGNAL(plotSetGraphReceived(quint8,int)),
this, SLOT(plotSetGraphReceived(quint8,int)));
connect(mPacketInterface, SIGNAL(cameraImageReceived(quint8,QImage,int)),
this, SLOT(cameraImageReceived(quint8,QImage,int)));
connect(this, SIGNAL(ioBoardSetPwm(quint8,quint8,double)),
mPacketInterface, SLOT(ioBoardSetPwmDuty(quint8,quint8,double)));
}
void CarInterface::setControlValues(double throttle, double steering, double max, bool currentMode)
{
if (ui->keyboardControlBox->isChecked()) {
if (fabs(throttle) < 0.005) {
emit setRcCurrent(mId, 0.0, steering);
} else {
if (currentMode) {
emit setRcCurrent(mId, throttle * 80.0 * max, steering);
} else {
emit setRcDuty(mId, throttle * max, steering);
}
}
}
}
void CarInterface::emergencyStop()
{
if (ui->autopilotBox->isChecked()) {
ui->autopilotBox->setChecked(false);
} else {
// Send the AP stop command even if the autopilot was not active in the UI.
if (mPacketInterface) {
mPacketInterface->setApActive(mId, false, resetApOnEmergencyStop);
}
}
ui->keyboardControlBox->setChecked(false);
}
void CarInterface::setCtrlAp()
{
ui->keyboardControlBox->setChecked(false);
ui->autopilotBox->setChecked(true);
}
void CarInterface::setCtrlKb()
{
ui->autopilotBox->setChecked(false);
ui->keyboardControlBox->setChecked(true);
}
bool CarInterface::getCtrlKb()
{
return ui->keyboardControlBox->isChecked();
}
bool CarInterface::setAp(bool on, bool resetState)
{
bool ok = false;
if (mPacketInterface) {
ok = mPacketInterface->setApActive(mId, on, resetState);
if (ok) {
if (on)
ui->keyboardControlBox->setChecked(false);
ui->autopilotBox->setChecked(on);
}
}
return ok;
}
void CarInterface::disableKbBox()
{
ui->keyboardControlBox->setChecked(false);
}
void CarInterface::toggleCameraFullscreen()
{
if (mFullscreenImage) {
delete mFullscreenImage;
} else {
mFullscreenImage = new ImageWidget();
mFullscreenImage->setWindowFlags(mFullscreenImage->windowFlags() |
Qt::WindowStaysOnTopHint);
mFullscreenImage->showFullScreen();
connect(mFullscreenImage, &ImageWidget::destroyed, [=]() {
mFullscreenImage = 0;
});
}
}
void CarInterface::showAutoPilotConfiguration()
{
on_confReadButton_clicked();
ui->tabWidget->setCurrentIndex(ui->tabWidget->indexOf(ui->tab_5));
ui->confCommonWidget->showAutoPilotConfiguration();
}
QPair<int,int> CarInterface::getFirmwareVersion()
{
return mFirmwareVersion;
}
void CarInterface::setFirmwareVersion(QPair<int,int> firmwareVersion)
{
mFirmwareVersion = firmwareVersion;
}
void CarInterface::timerSlot()
{
if (mExperimentReplot) {
ui->experimentPlot->clearGraphs();
for (int i = 0;i < mExperimentPlots.size();i++) {
switch (i) {
case 0: if (!ui->experimentGraph1Button->isChecked()) {continue;} break;
case 1: if (!ui->experimentGraph2Button->isChecked()) {continue;} break;
case 2: if (!ui->experimentGraph3Button->isChecked()) {continue;} break;
case 3: if (!ui->experimentGraph4Button->isChecked()) {continue;} break;
case 4: if (!ui->experimentGraph5Button->isChecked()) {continue;} break;
default: break;
}
ui->experimentPlot->addGraph();
ui->experimentPlot->graph()->setData(mExperimentPlots.at(i).xData, mExperimentPlots.at(i).yData);
ui->experimentPlot->graph()->setName(mExperimentPlots.at(i).label);
ui->experimentPlot->graph()->setPen(QPen(mExperimentPlots.at(i).color));
if (ui->experimentScatterButton->isChecked()) {
ui->experimentPlot->graph()->setScatterStyle(QCPScatterStyle(QCPScatterStyle::ssDisc, 5));
}
}
ui->experimentPlot->legend->setVisible(mExperimentPlots.size() > 1);
if (ui->experimentAutoScaleButton->isChecked()) {
ui->experimentPlot->rescaleAxes();
}
ui->experimentPlot->replot();
mExperimentReplot = false;
}
}
void CarInterface::udpReadReady()
{
while (mUdpSocket->hasPendingDatagrams()) {
QByteArray datagram;
datagram.resize(mUdpSocket->pendingDatagramSize());
QHostAddress sender;
quint16 senderPort;
mUdpSocket->readDatagram(datagram.data(), datagram.size(),
&sender, &senderPort);
mLastHostAddress = sender;
emit forwardVesc(mId, datagram);
}
}
void CarInterface::tcpRx(QByteArray &data)
{
emit forwardVesc(mId, data);
}
void CarInterface::terminalPrint(quint8 id, QString str)
{
if (id == mId || id == 255) {
ui->terminalBrowser->append(str);
}
}
void CarInterface::vescFwdReceived(quint8 id, QByteArray data)
{
if (id == mId) {
if (QString::compare(mLastHostAddress.toString(), "0.0.0.0") != 0) {
mUdpSocket->writeDatagram(data, mLastHostAddress, mUdpPort + 1);
}
mTcpServer->packet()->sendPacket(data);
}
}
void CarInterface::routePointSet(LocPoint pos)
{
if (mMap && mPacketInterface && ui->updateRouteFromMapBox->isChecked()) {
QList<LocPoint> points;
points.append(pos);
mMap->setEnabled(false);
bool ok = mPacketInterface->setRoutePoints(mId, points);
mMap->setEnabled(true);
if (!ok) {
QMessageBox::warning(this, "Autopilot",
"No ack received, so the the last route point was most likely not set.");
}
}
}
void CarInterface::lastRoutePointRemoved()
{
if (mMap && mPacketInterface && ui->updateRouteFromMapBox->isChecked()) {
mMap->setEnabled(false);
bool ok = mPacketInterface->removeLastRoutePoint(mId);
mMap->setEnabled(true);
if (!ok) {
QMessageBox::warning(this, "Autopilot",
"No ack received, so the the last route point was most likely not removed.");
}
}
}
void CarInterface::nmeaReceived(quint8 id, QByteArray nmea_msg)
{
if (id == mId) {
ui->nmeaWidget->inputNmea(nmea_msg);
if (mMap) {
CarInfo *car = mMap->getCarInfo(mId);
if (car) {
LocPoint loc_gps = car->getLocationGps();
loc_gps.setInfo(ui->nmeaWidget->fixType());
car->setLocationGps(loc_gps);
}
}
}
}
void CarInterface::configurationReceived(quint8 id, MAIN_CONFIG config)
{
if (id == mId) {
mSettingsReadDone = true;
mConfigLast = config;
setConfGui(config);
QString str;
str.sprintf("Car %d: Configuration Received", id);
emit showStatusInfo(str, true);
}
}
void CarInterface::plotInitReceived(quint8 id, QString xLabel, QString yLabel)
{
if (id == mId) {
mExperimentPlots.clear();
ui->experimentPlot->clearGraphs();
ui->experimentPlot->xAxis->setLabel(xLabel);
ui->experimentPlot->yAxis->setLabel(yLabel);
mExperimentReplot = true;
}
}
void CarInterface::plotDataReceived(quint8 id, double x, double y)
{
if (id == mId) {
if (mExperimentPlots.size() <= mExperimentPlotNow) {
mExperimentPlots.resize(mExperimentPlotNow + 1);
}
mExperimentPlots[mExperimentPlotNow].xData.append(x);
mExperimentPlots[mExperimentPlotNow].yData.append(y);
mExperimentReplot = true;
}
}
void CarInterface::plotAddGraphReceived(quint8 id, QString name)
{
if (id == mId) {
mExperimentPlots.resize(mExperimentPlots.size() + 1);
mExperimentPlots.last().label = name;
if (mExperimentPlots.size() == 1) {
mExperimentPlots.last().color = "blue";
} else if (mExperimentPlots.size() == 2) {
mExperimentPlots.last().color = "red";
} else if (mExperimentPlots.size() == 3) {
mExperimentPlots.last().color = "magenta";
} else if (mExperimentPlots.size() == 4) {
mExperimentPlots.last().color = "darkgreen";
} else if (mExperimentPlots.size() == 5) {
mExperimentPlots.last().color = "cyan";
} else {
mExperimentPlots.last().color = "blue";
}
mExperimentReplot = true;
}
}
void CarInterface::plotSetGraphReceived(quint8 id, int graph)
{
if (id == mId) {
mExperimentPlotNow = graph;
}
}
void CarInterface::loadMagCal()
{
if (!ui->magCal->calculateCompensation()) {
QMessageBox::warning(this, "Load Magnetometer Calibration",
"Magnetometer calibration is not done. Please go to "
"the calibration tab and collect "
"samples, or load a file.");
return;
}
ui->confCommonWidget->setMagComp(ui->magCal->getComp());
ui->confCommonWidget->setMagCompCenter(ui->magCal->getCenter());
}
void CarInterface::cameraImageReceived(quint8 id, QImage image, int bytes)
{
if (id == mId || id == 255) {
mImageByteCnt += bytes;
mImageCnt++;
mPacketInterface->sendCameraFrameAck(mId);
mImageFpsFilter -= 0.1 * (mImageFpsFilter - 1000.0 / (double)mImageTimer.restart());
ui->camInfoLabel->setText(QString("Total RX: %1 MB | Last RX: %2 KB | "
"IMG CNT: %3 | FPS: %4").
arg((double)mImageByteCnt / 1024.0 / 1024.0, 0, 'f', 1).
arg(bytes / 1024).
arg(mImageCnt).arg(mImageFpsFilter, 0, 'f', 1));
if (mFullscreenImage) {
mFullscreenImage->setPixmap(QPixmap::fromImage(image));
} else {
ui->camWidget->setPixmap(QPixmap::fromImage(image));
if (mMap && ui->camShowMapBox->isChecked()) {
mMap->setLastCameraImage(image);
}
}
}
}
void CarInterface::on_terminalSendButton_clicked()
{
emit terminalCmd(mId, ui->terminalEdit->text());
ui->terminalEdit->clear();
}
void CarInterface::on_terminalSendVescButton_clicked()
{
emit terminalCmd(mId, "vesc " + ui->terminalEditVesc->text());
ui->terminalEditVesc->clear();
}
void CarInterface::on_terminalClearButton_clicked()
{
ui->terminalBrowser->clear();
}
void CarInterface::on_idBox_valueChanged(int arg1)
{
if (mMap) {
CarInfo *car = mMap->getCarInfo(mId);
car->setId(arg1, true);
}
mId = arg1;
}
void CarInterface::on_vescToolTcpBox_toggled(bool checked)
{
if (checked) {
if (!mTcpServer->startServer(65102)) {
qWarning() << "Starting TCP server failed:" << mTcpServer->errorString();
QMessageBox::warning(this, "TCP Server Error",
tr("Starting TCP server failed. Make sure that the port is not "
"already in use. Error: %1").arg(mTcpServer->errorString()));
ui->vescToolTcpBox->setChecked(false);
}
} else {
mTcpServer->stopServer();
}
}
void CarInterface::on_autopilotBox_toggled(bool checked)
{
if (!ui->autopilotBox->isEnabled()) {
return;
}
if (mPacketInterface) {
ui->autopilotBox->setEnabled(false);
bool ok = mPacketInterface->setApActive(mId, checked);
if (!ok) {
ui->autopilotBox->setChecked(!checked);
QMessageBox::warning(this, "Autopilot",
"No ack received, so the autopilot state is unknown.");
}
ui->autopilotBox->setEnabled(true);
}
}
void CarInterface::on_clearRouteButton_clicked()
{
if (mPacketInterface) {
ui->clearRouteButton->setEnabled(false);
bool ok = mPacketInterface->clearRoute(mId);
ui->clearRouteButton->setEnabled(true);
if (!ok) {
QMessageBox::warning(this, "Autopilot",
"No ack received on clear route, so the route is most likely not cleared.");
}
}
}
void CarInterface::on_servoDirectSlider_valueChanged(int value)
{
double val_mapped = (double)value / 1000.0;
ui->servoDirectNumber->display(val_mapped);
emit setServoDirect(mId, val_mapped);
}
void CarInterface::on_servoMappedSlider_valueChanged(int value)
{
double val_mapped = (double)value / 1000.0;
ui->servoMappedNumber->display(val_mapped);
emit setRcCurrent(mId, 0.0, val_mapped);
}
void CarInterface::on_confReadButton_clicked()
{
if (mPacketInterface) {
mPacketInterface->getConfiguration(mId);
}
}
void CarInterface::on_confReadDefaultButton_clicked()
{
if (mPacketInterface) {
mPacketInterface->getDefaultConfiguration(mId);
}
}
void CarInterface::on_confWriteButton_clicked()
{
if (!mSettingsReadDone) {
QMessageBox::warning(this, "Configuration",
"You must read the configuration at least once before writing it. "
"Otherwise everything would be set to 0.");
return;
}
if (mPacketInterface) {
MAIN_CONFIG conf = mConfigLast;
getConfGui(conf);
ui->confWriteButton->setEnabled(false);
bool ok = mPacketInterface->setConfiguration(mId, conf, 5);
ui->confWriteButton->setEnabled(true);
if (!ok) {
QMessageBox::warning(this, "Configuration",
"Could not write configuration.");
}
}
}
void CarInterface::getConfGui(MAIN_CONFIG &conf)
{
conf.car.yaw_use_odometry = ui->confOdometryYawBox->isChecked();
conf.car.yaw_imu_gain = ui->confYawImuGainBox->value();
conf.car.disable_motor = ui->confMiscDisableMotorBox->isChecked();
conf.car.simulate_motor = ui->confMiscSimulateMotorBox->isChecked();
conf.car.clamp_imu_yaw_stationary = ui->confClampImuYawBox->isChecked();
conf.car.use_uwb_pos = ui->confUseUwbPosBox->isChecked();
conf.car.gear_ratio = ui->confGearRatioBox->value();
conf.car.wheel_diam = ui->confWheelDiamBox->value();
conf.car.motor_poles = ui->confMotorPoleBox->value();
conf.car.steering_center = ui->confServoCenterBox->value();
conf.car.steering_range = ui->confServoRangeBox->value();
conf.car.steering_ramp_time = ui->confSteeringRampBox->value();
conf.car.axis_distance = ui->confAxisDistanceBox->value();
conf.car.steering_max_angle_rad = atan(ui->confAxisDistanceBox->value() / ui->confTurnRadBox->value());
ui->confCommonWidget->getConfGui(conf);
}
void CarInterface::setConfGui(MAIN_CONFIG &conf)
{
ui->confOdometryYawBox->setChecked(conf.car.yaw_use_odometry);
ui->confYawImuGainBox->setValue(conf.car.yaw_imu_gain);
ui->confMiscDisableMotorBox->setChecked(conf.car.disable_motor);
ui->confMiscSimulateMotorBox->setChecked(conf.car.simulate_motor);
ui->confClampImuYawBox->setChecked(conf.car.clamp_imu_yaw_stationary);
ui->confUseUwbPosBox->setChecked(conf.car.use_uwb_pos);
ui->confGearRatioBox->setValue(conf.car.gear_ratio);
ui->confWheelDiamBox->setValue(conf.car.wheel_diam);
ui->confMotorPoleBox->setValue(conf.car.motor_poles);
ui->confServoCenterBox->setValue(conf.car.steering_center);
ui->confServoRangeBox->setValue(conf.car.steering_range);
ui->confSteeringRampBox->setValue(conf.car.steering_ramp_time);
ui->confAxisDistanceBox->setValue(conf.car.axis_distance);
ui->confTurnRadBox->setValue(conf.car.axis_distance / tan(conf.car.steering_max_angle_rad));
ui->confCommonWidget->setConfGui(conf);
}
void CarInterface::updateExperimentZoom()
{
Qt::Orientations plotOrientations = (Qt::Orientations)
((ui->experimentHZoomButton->isChecked() ? Qt::Horizontal : 0) |
(ui->experimentVZoomButton->isChecked() ? Qt::Vertical : 0));
ui->experimentPlot->axisRect()->setRangeZoom(plotOrientations);
}
void CarInterface::on_setClockButton_clicked()
{
if (mPacketInterface) {
QDateTime date = QDateTime::currentDateTime();
QTime current = QTime::currentTime().addSecs(-date.offsetFromUtc());
mPacketInterface->setMsToday(mId, current.msecsSinceStartOfDay());
}
}
void CarInterface::on_setClockPiButton_clicked()
{
if (mPacketInterface) {
QDateTime date = QDateTime::currentDateTime();
bool res = mPacketInterface->setSystemTime(mId, date.toTime_t(), date.time().msec() * 1000.0);
if (!res) {
QMessageBox::warning(this, "Set time on Raspberry Pi",
"Could not set time, no ack received. Make sure that the "
"connection works.");
}
}
}
void CarInterface::on_rebootPiButton_clicked()
{
if (mPacketInterface) {
bool res = mPacketInterface->sendReboot(mId, false);
if (!res) {
QMessageBox::warning(this, "Reboot Raspberry Pi",
"Could not reboot the Raspberry Pi, no ack received. Make sure that the "
"connection works.");
}
}
}
void CarInterface::on_shutdownPiButton_clicked()
{
if (mPacketInterface) {
bool res = mPacketInterface->sendReboot(mId, true);
if (!res) {
QMessageBox::warning(this, "Shutdown Raspberry Pi",
"Could not shut down the Raspberry Pi, no ack received. Make sure that the "
"connection works.");
}
}
}
void CarInterface::on_experimentSavePngButton_clicked()
{
QString fileName = QFileDialog::getSaveFileName(this,
tr("Save Image"), "",
tr("PNG Files (*.png)"));
if (!fileName.isEmpty()) {
if (!fileName.toLower().endsWith(".png")) {
fileName.append(".png");
}
ui->experimentPlot->savePng(fileName,
ui->experimentWBox->value(),
ui->experimentHBox->value(),
ui->experimentScaleBox->value());
}
}
void CarInterface::on_experimentSavePdfButton_clicked()
{
QString fileName = QFileDialog::getSaveFileName(this,
tr("Save PDF"), "",
tr("PDF Files (*.pdf)"));
if (!fileName.isEmpty()) {
if (!fileName.toLower().endsWith(".pdf")) {
fileName.append(".pdf");
}
ui->experimentPlot->savePdf(fileName,
ui->experimentWBox->value(),
ui->experimentHBox->value());
}
}
void CarInterface::on_experimentSaveXmlButton_clicked()
{
QString filename = QFileDialog::getSaveFileName(this,
tr("Save Plot"), "",
tr("Xml files (*.xml)"));
if (filename.isEmpty()) {
return;
}
if (!filename.toLower().endsWith(".xml")) {
filename.append(".xml");
}
QFile file(filename);
if (!file.open(QIODevice::WriteOnly)) {
QMessageBox::critical(this, "Save Plot",
"Could not open\n" + filename + "\nfor writing");
return;
}
QXmlStreamWriter stream(&file);
stream.setCodec("UTF-8");
stream.setAutoFormatting(true);
stream.writeStartDocument();
stream.writeStartElement("plot");
stream.writeTextElement("xlabel", ui->experimentPlot->xAxis->label());
stream.writeTextElement("ylabel", ui->experimentPlot->yAxis->label());
for (EXPERIMENT_PLOT p: mExperimentPlots) {
stream.writeStartElement("graph");
stream.writeTextElement("label", p.label);
stream.writeTextElement("color", p.color);
for (int i = 0;i < p.xData.size();i++) {
stream.writeStartElement("point");
stream.writeTextElement("x", QString::number(p.xData.at(i)));
stream.writeTextElement("y", QString::number(p.yData.at(i)));
stream.writeEndElement();
}
stream.writeEndElement();
}
stream.writeEndDocument();
file.close();
}
void CarInterface::on_experimentLoadXmlButton_clicked()
{
QString filename = QFileDialog::getOpenFileName(this,
tr("Load Plot"), "",
tr("Xml files (*.xml)"));
if (!filename.isEmpty()) {
QFile file(filename);
if (!file.open(QIODevice::ReadOnly)) {
QMessageBox::critical(this, "Load Plot",
"Could not open\n" + filename + "\nfor reading");
return;
}
QXmlStreamReader stream(&file);
// Look for plot tag
bool plots_found = false;
while (stream.readNextStartElement()) {
if (stream.name() == "plot") {
plots_found = true;
break;
}
}
if (plots_found) {
mExperimentPlots.clear();
while (stream.readNextStartElement()) {
QString name = stream.name().toString();
if (name == "xlabel") {
ui->experimentPlot->xAxis->setLabel(stream.readElementText());
} else if (name == "ylabel") {
ui->experimentPlot->yAxis->setLabel(stream.readElementText());
} else if (name == "graph") {
EXPERIMENT_PLOT p;
while (stream.readNextStartElement()) {
QString name2 = stream.name().toString();
if (name2 == "label") {
p.label = stream.readElementText();
} else if (name2 == "color") {
p.color = stream.readElementText();
} else if (name2 == "point") {
while (stream.readNextStartElement()) {
QString name3 = stream.name().toString();
if (name3 == "x") {
p.xData.append(stream.readElementText().toDouble());
} else if (name3 == "y") {
p.yData.append(stream.readElementText().toDouble());
} else {
qWarning() << ": Unknown XML element :" << name2;
stream.skipCurrentElement();
}