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mainwindow.cpp
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Sat, Jul 5, 09:43

mainwindow.cpp
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#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <climits>
#include <QMessageBox>
#include <QDebug>
#include <QInputDialog>
#include <QList>
#include "hriboard.h"
const int UPDATE_PERIOD = 50; // [ms].
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
//
ui->setupUi(this);
//
voltage1SyncVar = nullptr;
voltage2SyncVar = nullptr;
// Ask for the COM port.
QString comPortName;
QStringList ports = HriBoard::getComPorts();
if(ports.size() == 0)
{
QMessageBox::critical(this, "HRI2_PC_Controller", "No COM port.");
exit(0);
}
else if(ports.size() == 1)
comPortName = ports.first();
else
{
bool ok;
QString portChoice = QInputDialog::getItem(this, "HRI2_PC_Controller",
"Serial port:", ports, 0,
false, &ok);
int portIndex = ports.indexOf(portChoice);
if(portIndex == -1 || !ok)
exit(0);
comPortName = ports[portIndex];
}
// Establish the link with the HRI board.
hriBoard.openLink(comPortName);
connect(&hriBoard, SIGNAL(syncVarsListReceived(QList<const SyncVar*>)),
this, SLOT(onVarsListReceived(QList<const SyncVar*>)));
connect(&hriBoard, SIGNAL(syncVarsUpdated()), this, SLOT(onVarsUpdated()));
// Setup the display update timer.
connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateDisplay()));
updateTimer.setSingleShot(false);
updateTimer.start(UPDATE_PERIOD);
}
MainWindow::~MainWindow()
{
delete ui;
}
void MainWindow::onVarsListReceived(QList<const SyncVar*> syncVars)
{
this->syncVars = syncVars;
// Search the useful variables handlers into the list.
voltage1SyncVar = nullptr;
voltage2SyncVar = nullptr;
for(SyncVar const* sv : syncVars)
{
if(sv->getName() == "adc1_voltage [V]")
voltage1SyncVar = sv;
else if(sv->getName() == "adc2_voltage [V]")
voltage2SyncVar = sv;
}
// If the desired variables have not been found, abort.
if(voltage1SyncVar == nullptr || voltage2SyncVar == nullptr)
{
qDebug() << "The variables list does not contains the right variables."
<< endl;
return;
}
// Start the streaming.
QList<SyncVar const*> varsToStream;
varsToStream.append(voltage1SyncVar);
varsToStream.append(voltage2SyncVar);
hriBoard.setStreamedVars(varsToStream);
}
void MainWindow::onVarsUpdated()
{
if(voltage1SyncVar != nullptr)
voltage1 = voltage1SyncVar->toDouble();
if(voltage2SyncVar != nullptr)
voltage2 = voltage2SyncVar->toDouble();
}
void MainWindow::updateDisplay()
{
// Update the label widgets.
ui->volt1Label->setText(QString::number(voltage1, 'f', 2) + " V");
ui->volt2Label->setText(QString::number(voltage2, 'f', 2) + " V");
}

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