mainwindow.cpp

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#include <QCloseEvent>
#include <QColor>
#include <QDateTime>
#include <QDebug>
#include <QGraphicsDropShadowEffect>
#include <QList>
#include <QObject>
#include <QSerialPortInfo>
#include <QSignalMapper>
 
#include "mainwindow.hh"
#include "ui_mainwindow.h"
 
MainWindow::MainWindow(QWidget* parent)
    : QMainWindow(parent), ui(new Ui::MainWindow), _communication(new Communication),
      _frameThread(new FrameThread(_communication, this)), _parser(new Parser())
 
{
    ui->setupUi(this);
    ui->serialStatus->setAlignment(Qt::AlignCenter);
    ui->statusbar->addPermanentWidget(ui->serialStatus, 1);
 
    _serialTimer.setInterval(200);
    _serialTimer.setSingleShot(true);
 
    connect(&_serialTimer, &QTimer::timeout, this, &MainWindow::serialTimeout);
    connect(_frameThread, &FrameThread::error, this, &MainWindow::showErrorMessage);
    connect(_frameThread, &FrameThread::info, this, &MainWindow::addMessageToLogs);
    connect(_parser, &Parser::changedLeftMotorSpeed, this, &MainWindow::addValueSpeedL);
    connect(_parser, &Parser::changedRightMotorSpeed, this, &MainWindow::addValueSpeedR);
    connect(_parser, &Parser::changedLeftMotorGSpeed, this, &MainWindow::addValueGSpeedL);
    connect(_parser, &Parser::changedRightMotorGSpeed, this, &MainWindow::addValueGSpeedR);
    connect(_parser, &Parser::changedLeftMotorAcceleration, this, &MainWindow::addValueAccelerationL);
    connect(_parser, &Parser::changedRightMotorAcceleration, this, &MainWindow::addValueAccelerationR);
    connect(_parser, &Parser::changedJoystick, ui->widgetJoystick, &Joystick::movePos);
    connect(_parser, &Parser::changedLidar, ui->openGLWidget, &GLWidget::obstacleDataReady);
    connect(_parser, &Parser::changedBattery, this, &MainWindow::addValueBaterry);
 
    addDropShadow(ui->groupBoxLidar, 4, 4, 4);
    addDropShadow(ui->groupBoxAnalogJoystick, 4, 4, 4);
    addDropShadow(ui->groupBoxBattery, 4, 4, 4);
    addDropShadow(ui->groupBoxMotors, 4, 4, 4);
    addDropShadow(ui->groupBoxLogs, 4, 4, 4);
 
    ui->lineEditAccelerationValueL->setText(QString("0.00"));
    ui->lineEditSpeedValueL->setText(QString("0.00"));
    ui->lineEditGSpeedValueL->setText(QString("0.00"));
 
    ui->lineEditAccelerationValueR->setText(QString("0.00"));
    ui->lineEditSpeedValueR->setText(QString("0.00"));
    ui->lineEditGSpeedValueR->setText(QString("0.00"));
}
 
MainWindow::~MainWindow()
{
    delete ui;
}
 
void MainWindow::closeEvent(QCloseEvent* event)
{
    _communication->endCommunication();
    _frameThread->wait();
    event->accept();
}
 
void MainWindow::on_actionClose_triggered()
{
    _communication->endCommunication();
    _frameThread->wait();
    QApplication::quit();
}
 
void MainWindow::on_actionDisconnect_triggered()
{
    if(_communication->closeSerialPort())
    {
        addMessageToLogs("Zamknięto połączenie.");
        _communication->setStatus(ui->serialStatus);
        _frameThread->wait();
    }
    else
    {
        addMessageToLogs("Port nie jest otwarty!");
        return;
    }
}
 
void MainWindow::on_actionSearch_triggered()
{
    // TODO: Repair bug when connect menu is hovered first and do not show founded devices
    ui->menuConnect->clear();
    addMessageToLogs("Szukam urządzeń...");
 
    QList<QSerialPortInfo> devices;
    devices = QSerialPortInfo::availablePorts();
 
    QSignalMapper* mapper = new QSignalMapper;
    connect(mapper, SIGNAL(mappedString(QString)), this, SLOT(connectSerialDevice(QString)));
 
    for(int i = 0; i < devices.count(); i++)
    {
        addMessageToLogs("Znalazłem urządzenie: " + devices.at(i).portName() + " " + devices.at(i).description());
        QAction* deviceName = new QAction(QString(devices.at(i).portName() + "\t" + devices.at(i).description()), this);
        QObject::connect(deviceName, SIGNAL(triggered()), mapper, SLOT(map()));
        mapper->setMapping(deviceName, deviceName->text());
        ui->menuConnect->addAction(deviceName);
    }
}
 
void MainWindow::connectSerialDevice(const QString& actionName)
{
    QString portName = actionName.split("\t").first();
 
    _communication->setDeviceName(portName.toStdString().data());
 
    if(!_communication->isOpen())
    {
        _frameThread->start();
        _communication->setStatus(ui->serialStatus);
        _serialTimer.start();
    }
    else
    {
        addMessageToLogs("Port już jest otwarty!");
        return;
    }
}
 
void MainWindow::serialTimeout()
{
    std::string line;
 
    while(_communication->getFrameBuffer().isFrame())
    {
        if(!_communication->useFrameBuffer().getFrame(line)) continue;
        addMessageToLogs(QString(line.c_str()));
 
        if(_parser->parseFrame(line))
        {
            _parser->processData();
        }
    }
 
    _serialTimer.start();
}
 
void MainWindow::showErrorMessage(const QString& message)
{
    ui->statusbar->showMessage(message, 100);
}
 
void MainWindow::addMessageToLogs(const QString& message)
{
    QString currentDate = QDateTime::currentDateTime().toString("yyyy.MM.dd");
    QString currentTime = QDateTime::currentDateTime().toString("hh:mm:ss");
    ui->textEditLogs->append(currentDate + " | " + currentTime + " | " + message);
}
 
void MainWindow::addDropShadow(QGroupBox* group, int xOffset, int yOffset, int radius)
{
    QGraphicsDropShadowEffect* shadow = new QGraphicsDropShadowEffect();
    shadow->setBlurRadius(radius);
    shadow->setOffset(xOffset, yOffset);
    group->setGraphicsEffect(shadow);
}
 
void MainWindow::addValueSpeedL(const QString& message)
{
    ui->lineEditSpeedValueL->setText(message);
}
 
void MainWindow::addValueGSpeedL(const QString& message)
{
    ui->lineEditGSpeedValueL->setText(message);
}
 
void MainWindow::addValueAccelerationL(const QString& message)
{
    ui->lineEditAccelerationValueL->setText(message);
}
 
void MainWindow::addValueSpeedR(const QString& message)
{
    ui->lineEditSpeedValueR->setText(message);
}
 
void MainWindow::addValueGSpeedR(const QString& message)
{
    ui->lineEditGSpeedValueR->setText(message);
}
 
void MainWindow::addValueAccelerationR(const QString& message)
{
    ui->lineEditAccelerationValueR->setText(message);
}
 
void MainWindow::addValueBaterry(const int message)
{
    ui->progressBarBattery->setValue(message);
}