The class for all GUI actions. More...

#include <gui.h>

Collaboration diagram for Gui:

Public Slots
void	appendLog (QString text, bool CR=true, bool sayIt=false, bool addTimestamp=true)
void	appendNetworkLog (QString text, bool CR=true, bool sayIt=false)
void	appendSerialLog (QString text, bool CR=true)
void	disableCompass ()
void	disableFaceDetection ()
void	hideCameraControls ()
void	setCamImage (QImage *image)
void	setCamImageDepth (QImage *image)
void	setCamImageOpenCV (QImage *image)
void	setConsoleMode (bool state)
void	setLabelMasterSlave (QString text)
void	setLaserscannerAngle (short int laserscanner, int angle)
void	setLaserscannerResolution (short int laserscanner, float resolution)
void	setLEDCamera (unsigned char state)
void	setLEDCompass (unsigned char state)
void	setLEDHeartbeat (unsigned char state)
void	setLEDJoystick (unsigned char state)
void	setLEDLaser (unsigned char state)
void	setLEDMasterSlave (unsigned char state)
void	setLEDNetwork (unsigned char state)
void	setPlotData5 (double xval, double yval, int size)
void	setPlotData6 (double xval, double yval, int size)
void	setPlotDataHeartbeat (double xval, double yval, int size)
void	setRobotControls (bool state)
void	showCompassData (float x, float y, float z, float heading)
void	showFaceTrackData (int faces, int faceX, int faceY, int faceRadius, int lastFaceX, int lastFaceY)
void	showFaceTrackDirection (QString direction)
void	showKinectAngle (double angle)
void	showLaserFrontAngles (int largestFreeAreaStart, int largestFreeAreaEnd, int centerOfFreeWay, float width)
void	showPreferredDirection (QString direction)
void	showThreshold (int threshold)
void	systemerrorcatcher (int errorlevel)

Signals
void	demo (bool state)
void	drive (const int command)
void	enableFaceDetection (int state)
void	enableFaceTracking (int state)
void	enableRemoteControlListening (bool state)
void	initCircuit ()
void	initServos ()
void	mediaSkip ()
void	resetDrivenDistance (int sensor)
void	resetKinectAngle ()
void	setKinectAngle (double i)
void	setKinectVideoMode (int mode)
void	setThreshold (int value)
void	shutdown ()
void	simulate (bool state)
void	speak (QString text)
void	test ()
void	writeLaserData ()

Public Member Functions
	Gui (bool useSmallGUI, SettingsDialog s, JoystickDialog j, AboutDialog a, QMainWindow parent=0)
void	showAlarm (short int sensor, bool state)
void	showDistanceGraphical (int sensor, int distance)
void	showDrivenDistance (int sensor, int distance)
void	showMotorStatus (int motor, bool power, int direction)
void	showVoltage (int sensor, float voltage)
	~Gui ()

Protected Slots
void	on_actionAbout_activated ()
void	on_actionAll_activated ()
void	on_actionCamera_activated ()
void	on_actionDemo_activated ()
void	on_actionDrive_activated ()
void	on_actionExit_activated ()
void	on_actionJoystick_activated ()
void	on_actionLog_activated ()
void	on_actionMediaSkip_activated ()
void	on_actionRemote_activated ()
void	on_actionReset_activated ()
void	on_actionSaveLaserData_activated ()
void	on_actionSettings_activated ()
void	on_actionSimulate_activated ()
void	on_actionState_activated ()
void	on_actionTest_activated ()
void	on_actionVoltage_activated ()

Protected Member Functions
void	closeEvent (QCloseEvent *event)

Private Slots
void	on_actionResetDrivenDistance_activated ()
void	on_btnKinectResetAngle_clicked ()
void	on_btnSavePicture_clicked ()
void	on_checkBoxFaceDetection_stateChanged (int)
void	on_checkBoxFaceTracking_stateChanged (int)
void	on_checkBoxMirror_stateChanged (int)
void	on_sliderThreshold_valueChanged (int)
void	on_spinBoxKinectAngle_valueChanged (int i)
void	processCam ()
void	saveCamImage (void)

Private Member Functions
void	init ()
void	initCompassView ()
void	initPlots ()
QString	removeHtml (QString text)

Private Attributes
AboutDialog *	aboutDialog
QPixmap	cameraPicToSave
QColor	colorGraphicsSceneBackground
QColor	colorHelpLine
QColor	colorHelpLineText
QColor	colorLaserCenterDrivingDirection
QColor	colorLaserFreeWay
QColor	colorLaserIgnoreArea
QColor	colorLaserObstacle
QColor	colorLaserPreferredDrivingDirection
bool	consoleMode
QwtPlotCurve	curveCurrent1
QwtPlotCurve	curveCurrent2
QwtPlotCurve	curveCurrent3
QwtPlotCurve	curveCurrent4
QwtPlotCurve	curveHeartbeat
QwtPlotCurve	curveVoltage1
QwtPlotCurve	curveVoltage2
QColor	gridColor
QwtPlotGrid	gridCurrent1
QwtPlotGrid	gridCurrent2
QwtPlotGrid	gridHeartbeat
QwtPlotGrid	gridVoltage1
QwtPlotGrid	gridVoltage2
JoystickDialog *	joystickDialog
QColor	labelFillColorBlue
QColor	labelFillColorGreen
QColor	labelFillColorRed
int	laserscannerAngleFront
int	laserscannerAngleRear
	this values holds the range of the laserscanner viewing angle. e.g. 180 oder 270 degrees. just for reading the value here.
float	laserscannerResolutionFront
	this values holds the range of the laserscanner viewing angle. e.g. 180 oder 270 degrees. just for reading the value here.
float	laserscannerResolutionRear
	this values holds the resolution of the laserscanner.
int	mLargestFreeAreaEndFront
	this stores the free area angle from the front laser. Got it from
int	mLargestFreeAreaEndRear
	this stores the free area angle from the rear laser. Got it from
int	mLargestFreeAreaStartFront
	this values holds the resolution of the laserscanner.
int	mLargestFreeAreaStartRear
	this stores the free area angle from the front laser. Got it from
QDateTime	now
	is enabled if the argument 'console' was passed by command-line. Sends all GUI messages to the command line.
QPixmap	pixmap
	this stores the free area angle from the rear laser. Got it from
QwtPlot	qwtPlotCurrent1
QwtPlot	qwtPlotCurrent2
QwtPlot	qwtPlotHeartbeat
QwtPlot	qwtPlotVoltage1
QwtPlot	qwtPlotVoltage2
bool	robotIsOn
SettingsDialog *	settingsDialog
	This is the small GUI, when running on the robots small TFT.
QString	string
	this is for the timestamp in the logs in the gui
Ui::mainWindow	ui
	if true, we will use the large GUI. If false, we will use the small one for fitting on a small onboard TFT. By default this is decided by the local hostname of the system.
Ui::mainWindowSmall	uiSmall
	This is the large default GUI, when not running on the robot.
bool	useLargeGUI
	Stores the robots (circuits) state.ON or OFF.

Static Private Attributes
static const int	ALLMOTORS = 250
	Motor 4 back right.
static const int	BACKWARD = 20
	Motor direction (formerly "clockwise")
static const int	CENTEROFLARGESTFREEWAY = 3
static const int	FITTOFRAMEFACTOR = 45
	theoratically 5 Volt for heartbeat "high"
static const int	FORWARD = 10
	Some driving directions and motor directions for the robot.
static const int	FREEWAY = 0
	the tags for the laser lines
static const unsigned char	GREEN = 2
static const int	IGNORETHIS = 4
static const int	INITIALLASERYPOSFRONT = 60.0
static const int	INITIALLASERYPOSREAR = 60.0
static const int	LARGESTFREEWAY = 2
static const short int	LASER1 = 1
static const short int	LASER2 = 2
static const short int	LASER3 = 4
static const short int	LASER4 = 8
static const short int	LASER5 = 16
static const int	LASERDISTANCECIRCLES = 27
	Number of distance semi circles.
static const int	LASERDISTANCEDISTANCE = 60
	Distances between the lines to show the laser distances in pixels.
static const int	LASERDISTANCEFIRSTCIRCLE = 82
	the size (diameter) of the first (innerst) circle in pixels
static const unsigned char	LEDOFF = 0
static const int	LEFT = 30
	Motor direction (formerly "counterclockwise".
static const float	MAXIMUMPLOTHEARTBEAT = 5.00
	for plot widgets
static const float	MAXIMUMPLOTVOLTAGE1 = 18.00
	for progress bars
static const float	MAXIMUMPLOTVOLTAGE2 = 26.00
	for plot widgets
static const float	MAXIMUMVOLTAGE1 = 18.00
static const float	MAXIMUMVOLTAGE2 = 26.00
	for progress bars
static const float	MINIMUMVOLTAGE1 = 13.20
static const float	MINIMUMVOLTAGE2 = 24.00
static const int	MOTOR1 = 210
	Motor direction/power "same like before".
static const int	MOTOR1BW = 310
static const int	MOTOR1FW = 300
	used for letting the robot getting only one command for all motors (like 'forward all'). This is to reduce commands on the serial line.
static const int	MOTOR1OFF = 320
static const int	MOTOR2 = 220
	Motor 1 front left.
static const int	MOTOR2BW = 340
static const int	MOTOR2FW = 330
static const int	MOTOR2OFF = 350
static const int	MOTOR3 = 230
	Motor 2 front right.
static const int	MOTOR3BW = 370
static const int	MOTOR3FW = 360
static const int	MOTOR3OFF = 380
static const int	MOTOR4 = 240
	Motor 3 back left.
static const int	MOTOR4BW = 400
static const int	MOTOR4FW = 390
static const int	MOTOR4OFF = 410
static const short int	MOTORSENSOR1 = 0
static const short int	MOTORSENSOR2 = 1
static const short int	MOTORSENSOR3 = 2
static const short int	MOTORSENSOR4 = 3
static const short int	NONE = 0
static const int	OBSTACLE = 1
static const bool	OFF = false
static const bool	ON = true
static const int	READ_AXIS_X = 500
static const int	READ_AXIS_Y = 510
static const int	READ_AXIS_Z = 520
static const unsigned char	RED = 1
static const int	RIGHT = 40
static const int	SAME = 200
static const short int	SENSOR1 = 1
static const short int	SENSOR16 = 256
static const short int	SENSOR2 = 2
static const short int	SENSOR3 = 4
static const short int	SENSOR4 = 8
static const short int	SENSOR5 = 16
static const short int	SENSOR6 = 32
static const short int	SENSOR7 = 64
static const short int	SENSOR8 = 128
static const int	SENSORPROGRESSBARMAXIR = 50
static const int	SENSORPROGRESSBARMAXUS = 400
static const int	START = 70
static const int	STARTZOOMLEVEL = 3
static const int	STOP = 80
static const int	TURNLEFT = 50
static const int	TURNRIGHT = 60
static const short int	VOLTAGESENSOR1 = 0
static const short int	VOLTAGESENSOR2 = 1
static const int	WAIT = 90

Detailed Description

The class for all GUI actions.

Author:: Markus Knapp

Definition at line 67 of file gui.h.

Constructor & Destructor Documentation

Gui::Gui	(	bool	useSmallGUI,
		SettingsDialog *	s,
		JoystickDialog *	j,
		AboutDialog *	a,
		QMainWindow *	parent = `0`
	)

Definition at line 24 of file gui.cpp.

Here is the call graph for this function:

Gui::~Gui ( )

Definition at line 174 of file gui.cpp.

Member Function Documentation

void Gui::appendLog	(	QString	text,
		bool	CR = `true`,
		bool	sayIt = `false`,
		bool	addTimestamp = `true`
	)

slot

Appends text to the main log in the main window.

Parameters:

text	is the text to be displayed.
CR	adds a carriage return (CR) to the text, if true (default). This parameter is optional.
sayIt	If true, the text is also spoken (default=false). This parameter is optional.
addTimestamp	If true, the a timestamp is added in front of the text. This parameter is optional.

Definition at line 309 of file gui.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

void Gui::appendNetworkLog	(	QString	text,
		bool	CR = `true`,
		bool	sayIt = `false`
	)

slot

Append text to the network log in the main window

Parameters:

text	is the text to be displayed.
CR	adds a carriage return (CR) to the text, if true (default). This parameter is optional!
sayIt	If true, the text is also spoken (default=false). This parameter is optional!

See also:: appendLog()

Definition at line 372 of file gui.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

void Gui::appendSerialLog	(	QString	text,
		bool	CR = `true`
	)

slot

Append text to the serial log in the main window

Parameters:

text	is the text to be displayed.
CR	adds a carriage return (CR) to the text, if true (default). This parameter is optional!

Definition at line 435 of file gui.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

void Gui::closeEvent ( QCloseEvent * event )

protected

Definition at line 246 of file gui.cpp.

Here is the call graph for this function:

void Gui::demo ( bool state )

signal

Emits the demo mode signal

Parameters:

state can be true or false.

Here is the caller graph for this function:

void Gui::disableCompass ( )

slot

Disables the compass window in the GUI.

Definition at line 2092 of file gui.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

void Gui::disableFaceDetection ( )

slot

Disables face detection checkBoxes in the GUI.

See also:: CameraThread::setCascadePath()

Definition at line 2061 of file gui.cpp.

Here is the call graph for this function:

void Gui::drive ( const int command )

signal

Instructs the robot to drive FORWARD, BACKWARD, LEFT and RIGHT. The commands START, STOP or WAIT are also possible.

Parameters:

command

Here is the caller graph for this function:

void Gui::enableFaceDetection ( int state )

signal

Enables or disables the face detection. When activated, a circle for each face is drawn on the camera live image.

Parameters:

state has to be Qt::Checked to enable the detection. All other states disable.

Here is the caller graph for this function:

void Gui::enableFaceTracking ( int state )

signal

Enables or disables the face tracking. When activated, a face will be tracked by the camera.

Parameters:

state has to be Qt::Checked to enable the detection. All other states disable.

Here is the caller graph for this function:

void Gui::enableRemoteControlListening ( bool state )

signal

Enables or disables the listening for the robot remote control. This signal is sent from the remote control button.

Parameters:

state can be true or false.

See also:: NetworkThread()

Here is the caller graph for this function:

void Gui::hideCameraControls ( )

slot

Hides the camera controls in the GUI (e.g. no camera detected). But can be enabled again anyway.

See also:: CameraThread::init()

Definition at line 2077 of file gui.cpp.

Here is the caller graph for this function:

void Gui::init ( )

private

Definition at line 65 of file gui.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

void Gui::initCircuit ( )

signal

Initializes the robots basic circuit.

Here is the caller graph for this function:

void Gui::initCompassView ( )

private

void Gui::initPlots ( )

private

Todo:: put plot voltage title to method or init call

Todo:: put plot voltage title to method or init call

Definition at line 3862 of file gui.cpp.

Here is the caller graph for this function:

void Gui::initServos ( )

signal

Initializes the servos.

Here is the caller graph for this function:

void Gui::mediaSkip ( )

signal

Emits a mediaplayer skip (track) signal

Here is the caller graph for this function:

void Gui::on_actionAbout_activated ( )

protectedslot

Definition at line 993 of file gui.cpp.

void Gui::on_actionAll_activated ( )

protectedslot

Definition at line 819 of file gui.cpp.

void Gui::on_actionCamera_activated ( )

protectedslot

Definition at line 846 of file gui.cpp.

void Gui::on_actionDemo_activated ( )

protectedslot

Definition at line 2622 of file gui.cpp.

Here is the call graph for this function:

void Gui::on_actionDrive_activated ( )

protectedslot

Definition at line 491 of file gui.cpp.

Here is the call graph for this function:

void Gui::on_actionExit_activated ( )

protectedslot

Action if a menu item or a toolbar button is clicked

Definition at line 257 of file gui.cpp.

void Gui::on_actionJoystick_activated ( )

protectedslot

Definition at line 980 of file gui.cpp.

void Gui::on_actionLog_activated ( )

protectedslot

Definition at line 959 of file gui.cpp.

void Gui::on_actionMediaSkip_activated ( )

protectedslot

Definition at line 2649 of file gui.cpp.

Here is the call graph for this function:

void Gui::on_actionRemote_activated ( )

protectedslot

Definition at line 2543 of file gui.cpp.

Here is the call graph for this function:

void Gui::on_actionReset_activated ( )

protectedslot

Definition at line 547 of file gui.cpp.

Here is the call graph for this function:

void Gui::on_actionResetDrivenDistance_activated ( )

privateslot

Definition at line 608 of file gui.cpp.

Here is the call graph for this function:

void Gui::on_actionSaveLaserData_activated ( )

protectedslot

Definition at line 2616 of file gui.cpp.

Here is the call graph for this function:

void Gui::on_actionSettings_activated ( )

protectedslot

Definition at line 945 of file gui.cpp.

void Gui::on_actionSimulate_activated ( )

protectedslot

Definition at line 2581 of file gui.cpp.

Here is the call graph for this function:

void Gui::on_actionState_activated ( )

protectedslot

Definition at line 924 of file gui.cpp.

void Gui::on_actionTest_activated ( )

protectedslot

Definition at line 745 of file gui.cpp.

Here is the call graph for this function:

void Gui::on_actionVoltage_activated ( )

protectedslot

Definition at line 871 of file gui.cpp.

void Gui::on_btnKinectResetAngle_clicked ( )

privateslot

Definition at line 2177 of file gui.cpp.

Here is the call graph for this function:

void Gui::on_btnSavePicture_clicked ( )

privateslot

Definition at line 2028 of file gui.cpp.

Here is the call graph for this function:

void Gui::on_checkBoxFaceDetection_stateChanged ( int state )

privateslot

Definition at line 2803 of file gui.cpp.

void Gui::on_checkBoxFaceTracking_stateChanged ( int state )

privateslot

Definition at line 2831 of file gui.cpp.

void Gui::on_checkBoxMirror_stateChanged ( int state )

privateslot

Definition at line 2793 of file gui.cpp.

void Gui::on_sliderThreshold_valueChanged ( int value )

privateslot

Definition at line 2191 of file gui.cpp.

Here is the call graph for this function:

void Gui::on_spinBoxKinectAngle_valueChanged ( int i )

privateslot

Definition at line 2171 of file gui.cpp.

Here is the call graph for this function:

void Gui::processCam ( )

privateslot

Definition at line 4542 of file gui.cpp.

QString Gui::removeHtml ( QString text )

private

Removes HTML code from a given string.

Parameters:

text	is the string to be cleaned

Returns:: the cleaned string

Definition at line 4514 of file gui.cpp.

Here is the caller graph for this function:

void Gui::resetDrivenDistance ( int sensor )

signal

Resets the driven distance to 0.

Parameters:

sensor is the sensor number.

Here is the caller graph for this function:

void Gui::resetKinectAngle ( )

signal

Here is the caller graph for this function:

void Gui::saveCamImage ( void )

privateslot

Saves the current picture to disk (one time shot).

Definition at line 2197 of file gui.cpp.

Here is the caller graph for this function:

void Gui::setCamImage ( QImage * image )

slot

Shows the new RGB picture from the Kienct camera.

Parameters:

frame

See also:: CamThread::camDataComplete()

Definition at line 2098 of file gui.cpp.

void Gui::setCamImageDepth ( QImage * image )

slot

Shows the new depth picture from the Kienct camera.

Parameters:

frame

See also:: CamThread::camDepthComplete()

Definition at line 2122 of file gui.cpp.

void Gui::setCamImageOpenCV ( QImage * image )

slot

Shows the OpenCV processed picture from the Kienct camera.

Parameters:

frame

See also:: CamThread::camOpenCVComplete()

Definition at line 2136 of file gui.cpp.

void Gui::setConsoleMode ( bool state )

slot

Turns the CONSOLE mode on or off. If enabled, all log messages are passed to the console.

Parameters:

state can be true or false.

Definition at line 4508 of file gui.cpp.

void Gui::setKinectAngle ( double i )

signal

Here is the caller graph for this function:

void Gui::setKinectVideoMode ( int mode )

signal

void Gui::setLabelMasterSlave ( QString text )

slot

Changes the text of the netowrk master/slave label

Parameters:

text	is the etxt to be shown (normally 'Master' or 'Slave)

Definition at line 4468 of file gui.cpp.

Here is the caller graph for this function:

void Gui::setLaserscannerAngle	(	short int	laserscanner,
		int	angle
	)

slot

Gets the angle of a laser from the

See also:: laserThread for drawing the correct laser scanner angles (e.g. 180 or 270 degrees)

Parameters:

laserScanner	can be LASER1 or LASER2
angle	in degrees

Definition at line 3427 of file gui.cpp.

Here is the caller graph for this function:

void Gui::setLaserscannerResolution	(	short int	laserscanner,
		float	resolution
	)

slot

Gets the resolution of a laser from the

See also:: laserThread for drawing the correct laser scanner angles (e.g. 0.5 or 1.0 degrees)

Parameters:

laserScanner	can be LASER1 or LASER2
angle	in degrees

Definition at line 3445 of file gui.cpp.

Here is the caller graph for this function:

void Gui::setLEDCamera ( unsigned char state )

slot

Turns the camera GUI LED red, green or off.

Parameters:

state can be RED, GREEN or OFF.

Definition at line 4316 of file gui.cpp.

Here is the caller graph for this function:

void Gui::setLEDCompass ( unsigned char state )

slot

Turns the GUI compass LED red, green or off.

Parameters:

state can be RED, GREEN or OFF.

Definition at line 4240 of file gui.cpp.

Here is the caller graph for this function:

void Gui::setLEDHeartbeat ( unsigned char state )

slot

Turns the heartbeat/state GUI LED red, green or off.

Parameters:

state can be RED, GREEN or OFF.

Definition at line 4202 of file gui.cpp.

Here is the caller graph for this function:

void Gui::setLEDJoystick ( unsigned char state )

slot

Turns the joystick GUI LED red, green or off.

Parameters:

state can be RED, GREEN or OFF.

Definition at line 4278 of file gui.cpp.

Here is the caller graph for this function:

void Gui::setLEDLaser ( unsigned char state )

slot

Turns the lase scanner GUI LED red, green or off.

Parameters:

state can be RED, GREEN or OFF.

Definition at line 4430 of file gui.cpp.

Here is the caller graph for this function:

void Gui::setLEDMasterSlave ( unsigned char state )

slot

Turns the network master/slave GUI LED red, green or off.

Parameters:

state can be RED, GREEN or OFF.

Definition at line 4392 of file gui.cpp.

void Gui::setLEDNetwork ( unsigned char state )

slot

Turns the network GUI LED red, green or off.

Parameters:

state can be RED, GREEN or OFF.

Definition at line 4354 of file gui.cpp.

Here is the caller graph for this function:

void Gui::setPlotData5	(	double *	xval,
		double *	yval,
		int	size
	)

slot

Shows the actual plot data (e.g. measured voltage from sensor 1). This slot is called from the plot thread.

Parameters:

xval	points to an array with the values for the x axis (usually the time line).
yval	points to an array with the values for the y axis (usually the measured values).
size	is the size of the array.

See also:: PlotThread()

Definition at line 2307 of file gui.cpp.

void Gui::setPlotData6	(	double *	xval,
		double *	yval,
		int	size
	)

slot

Shows the actual plot data (e.g. measured voltage from sensor 2). This slot is called from the plot thread.

Parameters:

xval	points to an array with the values for the x axis (usually the time line).
yval	points to an array with the values for the y axis (usually the measured values).
size	is the size of the array.

See also:: PlotThread()

Definition at line 2326 of file gui.cpp.

void Gui::setPlotDataHeartbeat	(	double *	xval,
		double *	yval,
		int	size
	)

slot

Shows the actual plot data (heartbeat from the robot). This slot is called from the plot thread.

Parameters:

xval	points to an array with the values for the x axis (usually the time line).
yval	points to an array with the values for the y axis (usually the measured values).
size	is the size of the array.

See also:: PlotThread()

Definition at line 2345 of file gui.cpp.

void Gui::setRobotControls ( bool state )

slot

Enables/Disables some controls in the GUI if the robot, depending on the robots state.

Parameters:

state can be ON or OFF

See also:: CameraThread::robotState()

Todo:: test if this really is needed. Is the heartbeaet in the sensorthread sufficient?

Todo:: still needed? state already checked in motorControl at lower level. :-)

Definition at line 263 of file gui.cpp.

Here is the call graph for this function:

void Gui::setThreshold ( int value )

signal

Sets the threshold on the OpenCV iamge stuff. This Signal is sent to the

See also:: CamThread

Here is the caller graph for this function:

void Gui::showAlarm	(	short int	sensor,
		bool	state
	)

Shows a sensor alarm (turns progressBars red, text in bold etc.)

Parameters:

sensor	is the sensor number.
state	can be ON or OFF.

Definition at line 1301 of file gui.cpp.

Here is the caller graph for this function:

void Gui::showCompassData	(	float	x,
		float	y,
		float	z,
		float	heading
	)

slot

Shows the compass axes values in labels. Also sets the compass needle to the value of the x axis and sets the 3D OpenGL compass!

Parameters:

x	is the x axis value
y	is the y axis value
z	is the z axis value
heading	is the heading of the compass

Definition at line 4170 of file gui.cpp.

void Gui::showDistanceGraphical	(	int	sensor,
		int	distance
	)

Shows a sensor distance in a progress bar.

Parameters:

sensor	is the sensor number.
distance	is the distance in cm.

See also:: SensorThread::convertToSensorValue(), SensorThread::convertToDistance()

Definition at line 1060 of file gui.cpp.

void Gui::showDrivenDistance	(	int	sensor,
		int	distance
	)

Shows the driven distance in a text label.

Parameters:

sensor	is the sensor number.
distance	is the distance in cm.

Definition at line 1116 of file gui.cpp.

Here is the caller graph for this function:

void Gui::showFaceTrackData	(	int	faces,
		int	faceX,
		int	faceY,
		int	faceRadius,
		int	lastFaceX,
		int	lastFaceY
	)

slot

Show some face track data in the GUI.

Parameters:

faces	is the number of detected faces
faceX	is the X coordinate to the middle of a detected face (0, if none)
faceY	is the Y coordinate to the middle of a detected face (0, if none)
faceRadius	is the radius (0, if none)

Definition at line 2035 of file gui.cpp.

void Gui::showFaceTrackDirection ( QString direction )

slot

Shows the face tracking direction in a lable.

Parameters:

direction can be UP, DOWN, LEFT, RIGHT or NONE

Definition at line 1907 of file gui.cpp.

void Gui::showKinectAngle ( double angle )

slot

Shows the angle of the Kinect

Parameters:

angle is the angle in degrees

Definition at line 4481 of file gui.cpp.

void Gui::showLaserFrontAngles	(	int	largestFreeAreaStart,
		int	largestFreeAreaEnd,
		int	centerOfFreeWay,
		float	width
	)

slot

Shows the angles of the free area where to drive in lables.

Parameters:

largestFreeAreaStart
largestFreeAreaEnd
centerOfFreeWay
width	of the estimated drive-trough area

Todo:: do all this stuff for the rear scanner?

Definition at line 1731 of file gui.cpp.

Here is the call graph for this function:

void Gui::showMotorStatus	(	int	motor,
		bool	power,
		int	direction
	)

Shows the status and direction of a motor (ON, OFF, RIGHT, LEFT)

Parameters:

motor	is the motor number.
power	can be ON or OFF.
direction	can be FORWARD or BACKWARD.

Definition at line 1508 of file gui.cpp.

Here is the caller graph for this function:

void Gui::showPreferredDirection ( QString direction )

slot

Shows the preferred driving direction in a lable.

Parameters:

direction can be FORWARD, BACKWARD, LEFT or RIGHT

See also:: Direcs::logicalUnit

Definition at line 1849 of file gui.cpp.

Here is the call graph for this function:

void Gui::showThreshold ( int threshold )

slot

Shows the threshold / sets the threshold slider regarding to the value from e.g. an inifile or CamThread.

Parameters:

threshold

Definition at line 4495 of file gui.cpp.

Here is the caller graph for this function:

void Gui::showVoltage	(	int	sensor,
		float	voltage
	)

Shows the voltage from the power supply in a text label.

Parameters:

sensor	is the sensor number.
voltage	is the voltage in V.

Definition at line 1177 of file gui.cpp.

Here is the caller graph for this function:

void Gui::shutdown ( )

signal

Exits the whole programm.

Here is the caller graph for this function:

void Gui::simulate ( bool state )

signal

Enables or disables the robots simulation mode. This signal is sent from the simulation button and received from all threads which deliver real signals from the bot. Once the signal is received, the slots switches to simulation mode.

Parameters:

state can be true or false.

See also:: Direcs::setSimulationMode(); SensorThread::setSimulationMode(); LaserThread::setSimulationMode(); ObstackeCheckThread::setSimulationMode()

Here is the caller graph for this function:

void Gui::speak ( QString text )

signal

Emits a speak signal. This signal is sent to the speakThread.

Here is the caller graph for this function:

void Gui::systemerrorcatcher ( int errorlevel )

slot

This slot catches all signals from the signal

See also:: systemerror

Definition at line 4532 of file gui.cpp.

Here is the call graph for this function:

void Gui::test ( )

signal

Emits a signal to call the test method in the Direcs class..

Here is the caller graph for this function:

void Gui::writeLaserData ( )

signal

Saves the current laser data to a file. This signal is sent to the

See also:: LaserThread::writeLaserData via; Direcs

Here is the caller graph for this function:

Member Data Documentation

AboutDialog* Gui::aboutDialog

private

Definition at line 639 of file gui.h.

const int Gui::ALLMOTORS = 250

staticprivate

Motor 4 back right.

Definition at line 750 of file gui.h.

const int Gui::BACKWARD = 20

staticprivate

Motor direction (formerly "clockwise")

Definition at line 732 of file gui.h.

QPixmap Gui::cameraPicToSave

private

Definition at line 660 of file gui.h.

const int Gui::CENTEROFLARGESTFREEWAY = 3

staticprivate

Definition at line 837 of file gui.h.

QColor Gui::colorGraphicsSceneBackground

private

Definition at line 673 of file gui.h.

QColor Gui::colorHelpLine

private

Definition at line 671 of file gui.h.

QColor Gui::colorHelpLineText

private

Definition at line 672 of file gui.h.

QColor Gui::colorLaserCenterDrivingDirection

private

Definition at line 669 of file gui.h.

QColor Gui::colorLaserFreeWay

private

Definition at line 667 of file gui.h.

QColor Gui::colorLaserIgnoreArea

private

Definition at line 670 of file gui.h.

QColor Gui::colorLaserObstacle

private

Definition at line 666 of file gui.h.

QColor Gui::colorLaserPreferredDrivingDirection

private

Definition at line 668 of file gui.h.

bool Gui::consoleMode

private

Definition at line 712 of file gui.h.

QwtPlotCurve Gui::curveCurrent1

private

Definition at line 648 of file gui.h.

QwtPlotCurve Gui::curveCurrent2

private

Definition at line 649 of file gui.h.

QwtPlotCurve Gui::curveCurrent3

private

Definition at line 650 of file gui.h.

QwtPlotCurve Gui::curveCurrent4

private

Definition at line 651 of file gui.h.

QwtPlotCurve Gui::curveHeartbeat

private

Definition at line 652 of file gui.h.

QwtPlotCurve Gui::curveVoltage1

private

Definition at line 646 of file gui.h.

QwtPlotCurve Gui::curveVoltage2

private

Definition at line 647 of file gui.h.

const int Gui::FITTOFRAMEFACTOR = 45

staticprivate

theoratically 5 Volt for heartbeat "high"

See also:: SensorThread::run Factor for fitting 6 meters (measured from the laser scanner) into a frame with a height of 270 pixels at a default zoom level of 5 !! Example:

laservalue = 0.18 cm fit factor = 45 zoom level = 5

0.18 x 45 x 5 = 40.5 Pixel -> 41 Pixel is the length of the laser line in the GUI

Definition at line 818 of file gui.h.

const int Gui::FORWARD = 10

staticprivate

Some driving directions and motor directions for the robot.

For motor "OFF"

See also:: Direcs::drive() [Slot]

Definition at line 731 of file gui.h.

const int Gui::FREEWAY = 0

staticprivate

the tags for the laser lines

See also:: ObstacleCheckThread

Definition at line 834 of file gui.h.

const unsigned char Gui::GREEN = 2

staticprivate

Definition at line 861 of file gui.h.

QColor Gui::gridColor

private

Definition at line 665 of file gui.h.

QwtPlotGrid Gui::gridCurrent1

private

Definition at line 655 of file gui.h.

QwtPlotGrid Gui::gridCurrent2

private

Definition at line 656 of file gui.h.

QwtPlotGrid Gui::gridHeartbeat

private

Definition at line 657 of file gui.h.

QwtPlotGrid Gui::gridVoltage1

private

Definition at line 653 of file gui.h.

QwtPlotGrid Gui::gridVoltage2

private

Definition at line 654 of file gui.h.

const int Gui::IGNORETHIS = 4

staticprivate

Definition at line 838 of file gui.h.

const int Gui::INITIALLASERYPOSFRONT = 60.0

staticprivate

the initial Y position of the laser lines and the robot image in the GUI This is the difference in pixel measured drom the absolute center within the robot pixmap!

Definition at line 823 of file gui.h.

const int Gui::INITIALLASERYPOSREAR = 60.0

staticprivate

Definition at line 824 of file gui.h.

JoystickDialog* Gui::joystickDialog

private

Definition at line 638 of file gui.h.

QColor Gui::labelFillColorBlue

private

Definition at line 664 of file gui.h.

QColor Gui::labelFillColorGreen

private

Definition at line 663 of file gui.h.

QColor Gui::labelFillColorRed

private

Definition at line 662 of file gui.h.

const int Gui::LARGESTFREEWAY = 2

staticprivate

Definition at line 836 of file gui.h.

const short int Gui::LASER1 = 1

staticprivate

Defines the size of the laserLines[] array This es equal to the number of degrees. See also laserThread.h For the laserThread

Definition at line 850 of file gui.h.

const short int Gui::LASER2 = 2

staticprivate

Definition at line 851 of file gui.h.

const short int Gui::LASER3 = 4

staticprivate

Definition at line 852 of file gui.h.

const short int Gui::LASER4 = 8

staticprivate

Definition at line 853 of file gui.h.

const short int Gui::LASER5 = 16

staticprivate

Definition at line 854 of file gui.h.

const int Gui::LASERDISTANCECIRCLES = 27

staticprivate

Number of distance semi circles.

Definition at line 827 of file gui.h.

const int Gui::LASERDISTANCEDISTANCE = 60

staticprivate

Distances between the lines to show the laser distances in pixels.

Definition at line 831 of file gui.h.

const int Gui::LASERDISTANCEFIRSTCIRCLE = 82

staticprivate

the size (diameter) of the first (innerst) circle in pixels

Definition at line 829 of file gui.h.

int Gui::laserscannerAngleFront

private

Definition at line 674 of file gui.h.

int Gui::laserscannerAngleRear

private

this values holds the range of the laserscanner viewing angle. e.g. 180 oder 270 degrees. just for reading the value here.

See also:: laserThread

Definition at line 675 of file gui.h.

float Gui::laserscannerResolutionFront

private

this values holds the range of the laserscanner viewing angle. e.g. 180 oder 270 degrees. just for reading the value here.

See also:: laserThread

Definition at line 676 of file gui.h.

float Gui::laserscannerResolutionRear

private

this values holds the resolution of the laserscanner.

See also:: laserThread

Definition at line 677 of file gui.h.

const unsigned char Gui::LEDOFF = 0

staticprivate

The GUI LED colors

Definition at line 859 of file gui.h.

const int Gui::LEFT = 30

staticprivate

Motor direction (formerly "counterclockwise".

Definition at line 733 of file gui.h.

const float Gui::MAXIMUMPLOTHEARTBEAT = 5.00

staticprivate

for plot widgets

Todo:: put to ini-file

Definition at line 806 of file gui.h.

const float Gui::MAXIMUMPLOTVOLTAGE1 = 18.00

staticprivate

for progress bars

Todo:: put max. voltage 2 in the ini-file (LiPo: 4,2 Volt x 6S = 25,2 Volt)

Definition at line 803 of file gui.h.

const float Gui::MAXIMUMPLOTVOLTAGE2 = 26.00

staticprivate

for plot widgets

Todo:: put to ini-file

Definition at line 804 of file gui.h.

const float Gui::MAXIMUMVOLTAGE1 = 18.00

staticprivate

Todo:: put min. voltage 2 in the ini-file (LiPo: 3.3 Volt x 6S = 19,8 Volt)

Definition at line 800 of file gui.h.

const float Gui::MAXIMUMVOLTAGE2 = 26.00

staticprivate

for progress bars

Todo:: put max. voltage 1 in the ini-file (LiPo: 4,2 Volt x 4S = 16,8 Volt)

Definition at line 801 of file gui.h.

const float Gui::MINIMUMVOLTAGE1 = 13.20

staticprivate

Definition at line 797 of file gui.h.

const float Gui::MINIMUMVOLTAGE2 = 24.00

staticprivate

Todo:: put min. voltage 1 in the ini-file (LiPo: 3,3 Volt x 4S = 13,2 Volt)

Definition at line 798 of file gui.h.

int Gui::mLargestFreeAreaEndFront

private

this stores the free area angle from the front laser. Got it from

See also:: showLaserFrontAngles()

Definition at line 679 of file gui.h.

int Gui::mLargestFreeAreaEndRear

private

this stores the free area angle from the rear laser. Got it from

See also:: showLaserFrontAngles()

Definition at line 681 of file gui.h.

int Gui::mLargestFreeAreaStartFront

private

this values holds the resolution of the laserscanner.

See also:: laserThread

Definition at line 678 of file gui.h.

int Gui::mLargestFreeAreaStartRear

private

this stores the free area angle from the front laser. Got it from

See also:: showLaserFrontAngles()

Definition at line 680 of file gui.h.

const int Gui::MOTOR1 = 210

staticprivate

Motor direction/power "same like before".

Definition at line 746 of file gui.h.

const int Gui::MOTOR1BW = 310

staticprivate

Definition at line 753 of file gui.h.

const int Gui::MOTOR1FW = 300

staticprivate

used for letting the robot getting only one command for all motors (like 'forward all'). This is to reduce commands on the serial line.

Definition at line 752 of file gui.h.

const int Gui::MOTOR1OFF = 320

staticprivate

Definition at line 754 of file gui.h.

const int Gui::MOTOR2 = 220

staticprivate

Motor 1 front left.

Definition at line 747 of file gui.h.

const int Gui::MOTOR2BW = 340

staticprivate

Definition at line 756 of file gui.h.

const int Gui::MOTOR2FW = 330

staticprivate

Definition at line 755 of file gui.h.

const int Gui::MOTOR2OFF = 350

staticprivate

Definition at line 757 of file gui.h.

const int Gui::MOTOR3 = 230

staticprivate

Motor 2 front right.

Definition at line 748 of file gui.h.

const int Gui::MOTOR3BW = 370

staticprivate

Definition at line 759 of file gui.h.

const int Gui::MOTOR3FW = 360

staticprivate

Definition at line 758 of file gui.h.

const int Gui::MOTOR3OFF = 380

staticprivate

Definition at line 760 of file gui.h.

const int Gui::MOTOR4 = 240

staticprivate

Motor 3 back left.

Definition at line 749 of file gui.h.

const int Gui::MOTOR4BW = 400

staticprivate

Definition at line 762 of file gui.h.

const int Gui::MOTOR4FW = 390

staticprivate

Definition at line 761 of file gui.h.

const int Gui::MOTOR4OFF = 410

staticprivate

Definition at line 763 of file gui.h.

const short int Gui::MOTORSENSOR1 = 0

staticprivate

Definition at line 789 of file gui.h.

const short int Gui::MOTORSENSOR2 = 1

staticprivate

Definition at line 790 of file gui.h.

const short int Gui::MOTORSENSOR3 = 2

staticprivate

Definition at line 791 of file gui.h.

const short int Gui::MOTORSENSOR4 = 3

staticprivate

Definition at line 792 of file gui.h.

const short int Gui::NONE = 0

staticprivate

Value if no sensor has a value to react

Definition at line 787 of file gui.h.

QDateTime Gui::now

private

is enabled if the argument 'console' was passed by command-line. Sends all GUI messages to the command line.

Definition at line 713 of file gui.h.

const int Gui::OBSTACLE = 1

staticprivate

Definition at line 835 of file gui.h.

const bool Gui::OFF = false

staticprivate

For motor "ON"

Definition at line 728 of file gui.h.

const bool Gui::ON = true

staticprivate

max value in cm for us sensor

Definition at line 727 of file gui.h.

QPixmap Gui::pixmap

private

this stores the free area angle from the rear laser. Got it from

See also:: showLaserFrontAngles()

Definition at line 709 of file gui.h.

QwtPlot Gui::qwtPlotCurrent1

private

Definition at line 643 of file gui.h.

QwtPlot Gui::qwtPlotCurrent2

private

Definition at line 644 of file gui.h.

QwtPlot Gui::qwtPlotHeartbeat

private

Definition at line 645 of file gui.h.

QwtPlot Gui::qwtPlotVoltage1

private

Definition at line 641 of file gui.h.

QwtPlot Gui::qwtPlotVoltage2

private

Definition at line 642 of file gui.h.

const int Gui::READ_AXIS_X = 500

staticprivate

Definition at line 765 of file gui.h.

const int Gui::READ_AXIS_Y = 510

staticprivate

Definition at line 766 of file gui.h.

const int Gui::READ_AXIS_Z = 520

staticprivate

Definition at line 767 of file gui.h.

const unsigned char Gui::RED = 1

staticprivate

Definition at line 860 of file gui.h.

const int Gui::RIGHT = 40

staticprivate

Definition at line 734 of file gui.h.

bool Gui::robotIsOn

private

Todo:: fix me to leave the last char in the string.

See also:: Logfile

Definition at line 633 of file gui.h.

const int Gui::SAME = 200

staticprivate

Definition at line 745 of file gui.h.

const short int Gui::SENSOR1 = 1

staticprivate

Give the sensors some names

DONT CHANGE THIS NUMBERS! THEY ARE ALSO USED TO ADRESS THE ARRAY "iRSensorValue[]" !!

Definition at line 775 of file gui.h.

const short int Gui::SENSOR16 = 256

staticprivate

ultrasonic sensor

Definition at line 785 of file gui.h.

const short int Gui::SENSOR2 = 2

staticprivate

Definition at line 776 of file gui.h.

const short int Gui::SENSOR3 = 4

staticprivate

Definition at line 777 of file gui.h.

const short int Gui::SENSOR4 = 8

staticprivate

Definition at line 778 of file gui.h.

const short int Gui::SENSOR5 = 16

staticprivate

Definition at line 779 of file gui.h.

const short int Gui::SENSOR6 = 32

staticprivate

Definition at line 780 of file gui.h.

const short int Gui::SENSOR7 = 64

staticprivate

Definition at line 781 of file gui.h.

const short int Gui::SENSOR8 = 128

staticprivate

Definition at line 782 of file gui.h.

const int Gui::SENSORPROGRESSBARMAXIR = 50

staticprivate

Definition at line 719 of file gui.h.

const int Gui::SENSORPROGRESSBARMAXUS = 400

staticprivate

max value in cm for ir sensor

Definition at line 720 of file gui.h.

SettingsDialog* Gui::settingsDialog

private

This is the small GUI, when running on the robots small TFT.

Definition at line 637 of file gui.h.

const int Gui::START = 70

staticprivate

Definition at line 737 of file gui.h.

const int Gui::STARTZOOMLEVEL = 3

staticprivate

Definition at line 819 of file gui.h.

const int Gui::STOP = 80

staticprivate

Definition at line 738 of file gui.h.

QString Gui::string

private

this is for the timestamp in the logs in the gui

Definition at line 714 of file gui.h.

const int Gui::TURNLEFT = 50

staticprivate

Definition at line 735 of file gui.h.

const int Gui::TURNRIGHT = 60

staticprivate

Definition at line 736 of file gui.h.

Ui::mainWindow Gui::ui

private

if true, we will use the large GUI. If false, we will use the small one for fitting on a small onboard TFT. By default this is decided by the local hostname of the system.

See also:: Direcs

Definition at line 635 of file gui.h.

Ui::mainWindowSmall Gui::uiSmall

private

This is the large default GUI, when not running on the robot.

Definition at line 636 of file gui.h.

bool Gui::useLargeGUI

private

Stores the robots (circuits) state.ON or OFF.

Definition at line 634 of file gui.h.

const short int Gui::VOLTAGESENSOR1 = 0

staticprivate

Definition at line 794 of file gui.h.

const short int Gui::VOLTAGESENSOR2 = 1

staticprivate

Definition at line 795 of file gui.h.

const int Gui::WAIT = 90

staticprivate

Definition at line 739 of file gui.h.

The documentation for this class was generated from the following files:

direcs/src/gui.h
direcs/src/gui.cpp

Public Slots

Signals

Public Member Functions

Protected Slots

Protected Member Functions

Private Slots

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation