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 <QTranslator>
 
#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(_frameThread, &FrameThread::setSerialStatus, this, &MainWindow::setSerialStatus);
 
    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::addValueBattery);
    connect(_parser, &Parser::leftMotorDirection, ui->openGLWidget, &GLWidget::leftWheelDirection);
    connect(_parser, &Parser::rightMotorDirection, ui->openGLWidget, &GLWidget::rightWheelDirection);
    connect(_parser, &Parser::setObstacleCloseStatus, this, &MainWindow::setObstacleCloseStatus);
    connect(_parser, &Parser::resetObstacleCloseStatus, this, &MainWindow::resetObstacleCloseStatus);
 
    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"));
 
    QStringList languages;
    const QStringList uiLanguages = QLocale::system().uiLanguages();
    for(const QString& locale : uiLanguages)
    {
        const QString baseName = "roomba-app_" + QLocale(locale).name();
 
        if(_translator.load(":/i18n/" + baseName))
        {
            qApp->installTranslator(&_translator);
            break;
        }
    }
    ui->retranslateUi(this);
}
 
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()
{
    _communication->endCommunication();
    _frameThread->wait();
}
 
void MainWindow::on_actionSearch_triggered()
{
    ui->menuConnect->clear();
    addMessageToLogs(tr("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++)
    {
        QString message = tr("Znalazłem urządzenie: ");
        addMessageToLogs(message + 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();
        _serialTimer.start();
    }
    else
    {
        addMessageToLogs(tr("Port już jest otwarty!"));
        return;
    }
}
 
void MainWindow::serialTimeout()
{
    std::string line;
 
    while(_communication->getFrameBuffer().isFrame())
    {
        if(!_communication->useFrameBuffer().getFrame(line)) continue;
 
        if(_parser->parseFrame(line))
        {
            _parser->processData();
        }
        else
        {
            addMessageToLogs(tr("Niepoprawna ramka danych"));
        }
    }
 
    _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::addValueBattery(const int message)
{
    ui->progressBarBattery->setValue(message);
}
 
void MainWindow::setSerialStatus(const QString& message)
{
    ui->serialStatus->setText(message);
}
 
void MainWindow::setObstacleCloseStatus()
{
    ui->labelSkiddingInfo->setStyleSheet("QLabel#labelSkiddingInfo {color: #FF0000;}");
    ui->labelSkiddingInfo->setText(tr("Zwolnij przeszkoda jest blisko!"));
}
 
void MainWindow::resetObstacleCloseStatus()
{
    ui->labelSkiddingInfo->setStyleSheet("QLabel#labelSkiddingInfo {color: #00AA00;}");
    ui->labelSkiddingInfo->setText(tr("Jazda normalna!"));
}
 
void MainWindow::on_actionPolish_triggered()
{
    if(!_translator.isEmpty())
    {
        qApp->removeTranslator(&_translator);
    }
    ui->retranslateUi(this);
}
 
void MainWindow::on_actionEnglish_US_triggered()
{
    if(_translator.load(":/i18n/roomba-app_en_US"))
    {
        qApp->installTranslator(&_translator);
    }
    ui->retranslateUi(this);
}