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essentialsform.cpp
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/*
essentialsform.cpp (part of GNSS-Stylus)
Copyright (C) 2019-2021 Pasi Nuutinmaki (gnssstylist<at>sci<dot>fi)
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 <https://www.gnu.org/licenses/>.
*/
/**
* @file essentialsform.h
* @brief Definition for a form that has some "essential" things for realtime operation.
*/
#include <QMessageBox>
#include <QDir>
#include <QSettings>
#include <QTime>
#include <QString>
#include <QPalette>
#include <math.h>
#include "essentialsform.h"
#include "ui_essentialsform.h"
#include "Eigen/Geometry"
EssentialsForm::EssentialsForm(QWidget *parent) :
QWidget(parent),
ui(new Ui::EssentialsForm)
{
// loggingActive = false;
// lastMatchingRELPOSNEDiTOW = -1;
ui->setupUi(this);
QSettings settings;
ui->lineEdit_LoggingDirectory->setText(settings.value("LoggingDirectory", "").toString());
ui->lineEdit_LoggingFileNamePrefix->setText(settings.value("LoggingFileNamePrefix", "ublox").toString());
ui->spinBox_NumberOfRovers->setValue(settings.value("NumberOfRovers").toInt());
ui->spinBox_FluctuationHistoryLength->setValue(settings.value("FluctuationHistoryLength").toInt());
ui->horizontalScrollBar_Volume_MouseButtonTagging->setValue(settings.value("Volume_MouseButtonTagging").toInt());
ui->horizontalScrollBar_Volume_DistanceReceived->setValue(settings.value("Volume_DistanceReceived").toInt());
// Just some valid values
const double defaultAntennaLocations[3][3] = {
{ 1, 0, 0 },
{ -1, -1, 0 },
{ -1, 1, 0 }
};
for (int row = 0; row < 3; row++)
{
for (int column = 0; column < 3; column++)
{
QString settingKey = "Essentials_AntennaLocations_Row" +
QString::number(row) + "_Column" +
QString::number(column);
QString defaultValue = QString::number(defaultAntennaLocations[row][column], 'g', 3);
ui->tableWidget_AntennaLocations_LOSolver->item(row, column)->setText(settings.value(settingKey, defaultValue).toString());
}
}
ui->comboBox_TagIdent->addItem("Suspend");
ui->comboBox_TagIdent->addItem("Resume");
ui->comboBox_TagIdent->addItem("New object");
ui->comboBox_TagIdent->addItem("Manual tag");
// QString soundDir = "D:\\GNSSStylusData\\AudioSamples\\";
QString soundDir = "AudioSamples/";
soundEffect_LMB.setSource(QUrl::fromLocalFile(soundDir + "LeftMouseButton.wav"));
soundEffect_RMB.setSource(QUrl::fromLocalFile(soundDir + "RightMouseButton.wav"));
soundEffect_MMB.setSource(QUrl::fromLocalFile(soundDir + "MiddleMouseButton.wav"));
soundEffect_MBError.setSource(QUrl::fromLocalFile(soundDir + "ErrorBeep.wav"));
soundEffect_Distance.setSource(QUrl::fromLocalFile(soundDir + "DistanceClick.wav"));
qreal volume = ui->horizontalScrollBar_Volume_MouseButtonTagging->value() / 100.;
soundEffect_LMB.setVolume(volume);
soundEffect_RMB.setVolume(volume);
soundEffect_MMB.setVolume(volume);
soundEffect_MBError.setVolume(volume);
volume = ui->horizontalScrollBar_Volume_DistanceReceived->value() / 100.;
soundEffect_Distance.setVolume(volume);
ui->checkBox_PlaySound->setChecked(settings.value("PlaySound").toBool());
on_checkBox_PlaySound_stateChanged(ui->checkBox_PlaySound->checkState());
fileDialog_AntennaLocations_Load.setFileMode(QFileDialog::ExistingFile);
QStringList antennaLocationsFilters;
antennaLocationsFilters << "Antenna locations-files (*.AntennaLocations)"
<< "Any files (*)";
fileDialog_AntennaLocations_Load.setNameFilters(antennaLocationsFilters);
fileDialog_AntennaLocations_Save.setFileMode(QFileDialog::AnyFile);
fileDialog_AntennaLocations_Save.setDefaultSuffix("AntennaLocations");
fileDialog_AntennaLocations_Save.setNameFilters(antennaLocationsFilters);
lidarTimeoutTimer.setSingleShot(true);
connect(&lidarTimeoutTimer, &QTimer::timeout, this, &EssentialsForm::on_lidarTimeoutTimerTimeout);
connect(&sideBarUpdateTimer, &QTimer::timeout, this, &EssentialsForm::on_sideBarUpdateTimerTimeout);
sideBarUpdateTimer.start(10);
}
EssentialsForm::~EssentialsForm()
{
QSettings settings;
settings.setValue("LoggingDirectory", ui->lineEdit_LoggingDirectory->text());
settings.setValue("LoggingFileNamePrefix", ui->lineEdit_LoggingFileNamePrefix->text());
settings.setValue("NumberOfRovers", ui->spinBox_NumberOfRovers->value());
settings.setValue("FluctuationHistoryLength", ui->spinBox_FluctuationHistoryLength->value());
settings.setValue("PlaySound", ui->checkBox_PlaySound->isChecked());
settings.setValue("Volume_MouseButtonTagging", ui->horizontalScrollBar_Volume_MouseButtonTagging->value());
settings.setValue("Volume_DistanceReceived", ui->horizontalScrollBar_Volume_DistanceReceived->value());
for (int row = 0; row < 3; row++)
{
for (int column = 0; column < 3; column++)
{
QString settingKey = "Essentials_AntennaLocations_Row" +
QString::number(row) + "_Column" +
QString::number(column);
settings.setValue(settingKey, ui->tableWidget_AntennaLocations_LOSolver->item(row, column)->text());
}
}
delete ui;
}
void EssentialsForm::closeAllLogFiles(void)
{
logFile_Base_Raw.close();
logFile_Base_NMEA.close();
logFile_Base_UBX.close();
logFile_Base_RTCM.close();
for (unsigned int i = 0; i < sizeof(rovers) / sizeof(rovers[0]); i++)
{
rovers[i].logFile_Raw.close();
rovers[i].logFile_NMEA.close();
rovers[i].logFile_UBX.close();
rovers[i].logFile_RELPOSNED.close();
}
logFile_Tags.close();
logFile_Distances.close();
logFile_Distances_Unfiltered.close();
logFile_Sync.close();
logFile_Lidar.close();
}
void EssentialsForm::on_pushButton_StartLogging_clicked()
{
closeAllLogFiles();
if ((ui->lineEdit_LoggingDirectory->text().length() == 0) ||
(ui->lineEdit_LoggingFileNamePrefix->text().length() == 0))
{
QMessageBox msgBox;
msgBox.setText("Directory or file name prefix can't be empty.");
msgBox.exec();
return;
}
QString fileNameBeginning = QDir::cleanPath(ui->lineEdit_LoggingDirectory->text() + "\\" + ui->lineEdit_LoggingFileNamePrefix->text());
logFile_Base_Raw.setFileName(fileNameBeginning + "_base.raw");
logFile_Base_NMEA.setFileName(fileNameBeginning + "_base.NMEA");
logFile_Base_UBX.setFileName(fileNameBeginning + "_base.ubx");
logFile_Base_RTCM.setFileName(fileNameBeginning + "_base.RTCM");
for (unsigned int i = 0; i < sizeof(rovers) / sizeof(rovers[0]); i++)
{
QString roverString = "_Rover" + getRoverIdentString(i);
rovers[i].logFile_Raw.setFileName(fileNameBeginning + roverString + ".raw");
rovers[i].logFile_NMEA.setFileName(fileNameBeginning + roverString + ".NMEA");
rovers[i].logFile_UBX.setFileName(fileNameBeginning + roverString + ".ubx");
rovers[i].logFile_RELPOSNED.setFileName(fileNameBeginning + roverString + "_RELPOSNED.ubx");
}
logFile_Tags.setFileName(fileNameBeginning + "_tags.tags");
logFile_Distances.setFileName(fileNameBeginning + ".distances");
logFile_Distances_Unfiltered.setFileName(fileNameBeginning + "_Unfiltered.distances");
logFile_Sync.setFileName(fileNameBeginning + ".sync");
logFile_Lidar.setFileName(fileNameBeginning + ".lidar");
QIODevice::OpenMode openMode = QIODevice::WriteOnly;
bool roverFileExists = false;
for (unsigned int i = 0; i < sizeof(rovers) / sizeof(rovers[0]); i++)
{
if ( rovers[i].logFile_Raw.exists() ||
rovers[i].logFile_NMEA.exists() ||
rovers[i].logFile_UBX.exists() ||
rovers[i].logFile_RELPOSNED.exists())
{
roverFileExists = true;
break;
}
}
if (roverFileExists ||
logFile_Base_Raw.exists() ||
logFile_Base_NMEA.exists() ||
logFile_Base_UBX.exists() ||
logFile_Base_RTCM.exists() ||
logFile_Tags.exists() ||
logFile_Distances.exists() ||
logFile_Distances_Unfiltered.exists() ||
logFile_Sync.exists() ||
logFile_Lidar.exists())
{
QMessageBox msgBox;
msgBox.setText("One or more of the files already exists.");
msgBox.setInformativeText("How to proceed?");
QPushButton *appendButton = msgBox.addButton(tr("Append"), QMessageBox::ActionRole);
QPushButton *overwriteButton = msgBox.addButton(tr("Overwrite"), QMessageBox::ActionRole);
QPushButton *cancelButton = msgBox.addButton(QMessageBox::Cancel);
msgBox.setDefaultButton(cancelButton);
msgBox.exec();
if (msgBox.clickedButton() == appendButton)
{
openMode = QIODevice::Append;
}
else if (msgBox.clickedButton() == overwriteButton)
{
openMode = QIODevice::WriteOnly;
}
else
{
return;
}
}
bool addTagFileHeader = true;
bool addDistanceFileHeader = true;
bool addDistanceFileHeader_Unfiltered = true;
bool addSyncFileHeader = true;
if (logFile_Tags.exists() && (openMode == QIODevice::Append))
{
addTagFileHeader = false;
}
if (logFile_Distances.exists() && (openMode == QIODevice::Append))
{
addDistanceFileHeader = false;
}
if (logFile_Distances_Unfiltered.exists() && (openMode == QIODevice::Append))
{
addDistanceFileHeader_Unfiltered = false;
}
if (logFile_Sync.exists() && (openMode == QIODevice::Append))
{
addSyncFileHeader = false;
}
bool logFilesOpen = true;
logFilesOpen = logFilesOpen && logFile_Base_Raw.open(openMode);
logFilesOpen = logFilesOpen && logFile_Base_NMEA.open(openMode);
logFilesOpen = logFilesOpen && logFile_Base_UBX.open(openMode);
logFilesOpen = logFilesOpen && logFile_Base_RTCM.open(openMode);
for (unsigned int i = 0; i < sizeof(rovers) / sizeof(rovers[0]); i++)
{
logFilesOpen = logFilesOpen && rovers[i].logFile_Raw.open(openMode);
logFilesOpen = logFilesOpen && rovers[i].logFile_NMEA.open(openMode);
logFilesOpen = logFilesOpen && rovers[i].logFile_UBX.open(openMode);
logFilesOpen = logFilesOpen && rovers[i].logFile_RELPOSNED.open(openMode);
}
logFilesOpen = logFilesOpen && logFile_Tags.open(openMode| QIODevice::Text);
logFilesOpen = logFilesOpen && logFile_Distances.open(openMode| QIODevice::Text);
logFilesOpen = logFilesOpen && logFile_Distances_Unfiltered.open(openMode| QIODevice::Text);
logFilesOpen = logFilesOpen && logFile_Sync.open(openMode| QIODevice::Text);
logFilesOpen = logFilesOpen && logFile_Lidar.open(openMode);
if (!logFilesOpen)
{
QMessageBox msgBox;
msgBox.setText("One or more of the files can't be opened.");
msgBox.exec();
closeAllLogFiles();
return;
}
if (addTagFileHeader)
{
QTextStream textStream(&logFile_Tags);
textStream << "Time\tiTOW\tTag\tText\tUptime\n";
}
if (addDistanceFileHeader)
{
QTextStream textStream(&logFile_Distances);
textStream << "Time\tDistance\tType\tUptime(Start)\tFrame time\n";
}
if (addDistanceFileHeader_Unfiltered)
{
QTextStream textStream(&logFile_Distances_Unfiltered);
textStream << "Time\tDistance\tType\tUptime(Start)\tFrame time\n";
}
if (lastValidDistanceItem.type != DistanceItem::Type::UNKNOWN)
{
// Log "fallback" item to the start of the file
DistanceItem dItem = lastValidDistanceItem;
dItem.frameStartTime = 0;
dItem.frameEndTime = 0;
addDistanceLogItem(dItem);
}
if (addSyncFileHeader)
{
QTextStream textStream(&logFile_Sync);
textStream << "Time\tSource\tType\tiTOW\tUptime(Start)\tFrame time\n";
}
loggingActive = true;
ui->pushButton_StartLogging->setEnabled(false);
ui->pushButton_StopLogging->setEnabled(true);
ui->lineEdit_LoggingDirectory->setEnabled(false);
ui->lineEdit_LoggingFileNamePrefix->setEnabled(false);
ui->pushButton_AddTag->setEnabled(true);
}
void EssentialsForm::on_pushButton_StopLogging_clicked()
{
ui->pushButton_StartLogging->setEnabled(true);
ui->pushButton_StopLogging->setEnabled(false);
ui->lineEdit_LoggingDirectory->setEnabled(true);
ui->lineEdit_LoggingFileNamePrefix->setEnabled(true);
ui->pushButton_AddTag->setEnabled(false);
loggingActive = false;
closeAllLogFiles();
}
void EssentialsForm::dataReceived_Base_Serial(const QByteArray& bytes, qint64, qint64, const SerialThread::DataReceivedEmitReason&)
{
if (loggingActive)
{
logFile_Base_Raw.write(bytes);
}
}
void EssentialsForm::dataReceived_Base_NTRIP(const QByteArray& bytes)
{
if (loggingActive)
{
logFile_Base_Raw.write(bytes);
}
}
void EssentialsForm::nmeaSentenceReceived_Base(const NMEAMessage& nmeaMessage)
{
if (loggingActive)
{
logFile_Base_NMEA.write(nmeaMessage.rawMessage);
}
}
void EssentialsForm::ubxMessageReceived_Base(const UBXMessage& ubxMessage)
{
if (loggingActive)
{
logFile_Base_UBX.write(ubxMessage.rawMessage);
}
}
void EssentialsForm::rtcmMessageReceived_Base(const RTCMMessage& rtcmMessage)
{
if (loggingActive)
{
logFile_Base_RTCM.write(rtcmMessage.rawMessage);
}
}
void EssentialsForm::serialDataReceived_Rover(const QByteArray& bytes, const unsigned int roverId)
{
if ((loggingActive) && (roverId < sizeof(rovers) / sizeof(rovers[0])))
{
rovers[roverId].logFile_Raw.write(bytes);
}
}
void EssentialsForm::nmeaSentenceReceived_Rover(const NMEAMessage& nmeaMessage, const unsigned int roverId)
{
if ((loggingActive) && (roverId < sizeof(rovers) / sizeof(rovers[0])))
{
rovers[roverId].logFile_NMEA.write(nmeaMessage.rawMessage);
}
}
void EssentialsForm::ubxMessageReceived_Rover(const UBXMessage& ubxMessage, const unsigned int roverId)
{
if (roverId < sizeof(rovers) / sizeof(rovers[0]) && (int(roverId) < ui->spinBox_NumberOfRovers->value()))
{
UBXMessage_RELPOSNED relposned(ubxMessage);
if (relposned.messageDataStatus == UBXMessage::STATUS_VALID)
{
// "Casting" generic UBX-message to RELPOSNED was successful
rovers[roverId].locationHistory.append(relposned);
while (rovers[roverId].locationHistory.size() > maxLocationHistoryLength)
{
rovers[roverId].locationHistory.removeFirst();
}
rovers[roverId].distanceBetweenFarthestCoordinates = calcDistanceBetweenFarthestCoordinates(rovers[roverId].locationHistory, ui->spinBox_FluctuationHistoryLength->value());
while ((!rovers[roverId].messageQueue_RELPOSNED.isEmpty()) && (rovers[roverId].messageQueue_RELPOSNED.head().iTOW > relposned.iTOW))
{
// Remove items from the queue that are from "the future".
// This is needed for a case when (re)replaying data that has RELPOSNED-items
// in the end of the logs (for example) for some rover(s) but not all
// (missing sync due to item from "the future" in the head of the queue
// -> queues fill up -> queues not handled in time).
rovers[roverId].messageQueue_RELPOSNED.dequeue();
}
rovers[roverId].messageQueue_RELPOSNED.enqueue(relposned);
handleVideoFrameRecording(ubxMessage.messageEndTime - 1);
handleRELPOSNEDQueues();
updateTreeItems();
// handleVideoFrameRecording(ubxMessage.messageEndTime);
}
if (loggingActive)
{
rovers[roverId].logFile_UBX.write(ubxMessage.rawMessage);
if (relposned.messageDataStatus == UBXMessage::STATUS_VALID)
{
rovers[roverId].logFile_RELPOSNED.write(ubxMessage.rawMessage);
QTextStream textStream(&logFile_Sync);
QString roverString = "Rover " + getRoverIdentString(roverId);
textStream << QTime::currentTime().toString("hh:mm:ss:zzz") << "\t" <<
roverString << "\tRELPOSNED\t" << QString::number(relposned.iTOW) <<
"\t" << QString::number(ubxMessage.messageStartTime) << "\t" <<
QString::number(ubxMessage.messageEndTime - ubxMessage.messageStartTime) << "\n";
}
}
}
}
void EssentialsForm::postProcessingTagReceived(const qint64 uptime, const PostProcessingForm::Tag& tag)
{
handleVideoFrameRecording(uptime - 1);
if (tag.ident == "LMB")
{
addMouseButtonTag("LMB", soundEffect_LMB, uptime);
stylusTipLocation_LMB = lastStylusTipLocation;
}
else if (tag.ident == "MMB")
{
addMouseButtonTag("MMB", soundEffect_MMB, uptime);
stylusTipLocation_MMB = lastStylusTipLocation;
}
else if (tag.ident == "RMB")
{
addMouseButtonTag("RMB", soundEffect_RMB, uptime);
stylusTipLocation_RMB = lastStylusTipLocation;
}
else
{
ui->comboBox_TagIdent->setEditText(tag.ident);
ui->lineEdit_TagText->setText(tag.text);
addTextTag(uptime);
}
// handleVideoFrameRecording(uptime);
}
void EssentialsForm::postProcessingDistanceReceived(const qint64 uptime, const PostProcessingForm::DistanceItem& ppDistanceItem)
{
handleVideoFrameRecording(uptime - 1);
DistanceItem localdistanceItem;
localdistanceItem.distance = ppDistanceItem.distance;
switch (ppDistanceItem.type)
{
case PostProcessingForm::DistanceItem::CONSTANT:
localdistanceItem.type = DistanceItem::CONSTANT;
break;
case PostProcessingForm::DistanceItem::MEASURED:
localdistanceItem.type = DistanceItem::MEASURED;
break;
default:
localdistanceItem.type = DistanceItem::UNKNOWN;
break;
}
localdistanceItem.frameStartTime = uptime;
localdistanceItem.frameEndTime = uptime + ppDistanceItem.frameDuration;
on_distanceReceived(localdistanceItem);
// handleVideoFrameRecording(uptime);
}
void EssentialsForm::connectSerialThreadSlots_Base(SerialThread* serThread)
{
connect(serThread, &SerialThread::dataReceived,
this, &EssentialsForm::dataReceived_Base_Serial);
}
void EssentialsForm::disconnectSerialThreadSlots_Base(SerialThread* serThread)
{
disconnect(serThread, &SerialThread::dataReceived,
this, &EssentialsForm::dataReceived_Base_Serial);
}
void EssentialsForm::connectNTRIPThreadSlots_Base(NTRIPThread* ntripThread)
{
connect(ntripThread, &NTRIPThread::dataReceived,
this, &EssentialsForm::dataReceived_Base_NTRIP);
}
void EssentialsForm::disconnectNTRIPThreadSlots_Base(NTRIPThread* ntripThread)
{
disconnect(ntripThread, &NTRIPThread::dataReceived,
this, &EssentialsForm::dataReceived_Base_NTRIP);
}
void EssentialsForm::connectUBloxDataStreamProcessorSlots_Base(UBloxDataStreamProcessor* ubloxDataStreamProcessor)
{
connect(ubloxDataStreamProcessor, &UBloxDataStreamProcessor::nmeaSentenceReceived,
this, &EssentialsForm::nmeaSentenceReceived_Base);
connect(ubloxDataStreamProcessor, &UBloxDataStreamProcessor::ubxMessageReceived,
this, &EssentialsForm::ubxMessageReceived_Base);
connect(ubloxDataStreamProcessor, &UBloxDataStreamProcessor::rtcmMessageReceived,
this, &EssentialsForm::rtcmMessageReceived_Base);
}
void EssentialsForm::disconnectUBloxDataStreamProcessorSlots_Base(UBloxDataStreamProcessor* ubloxDataStreamProcessor)
{
disconnect(ubloxDataStreamProcessor, &UBloxDataStreamProcessor::nmeaSentenceReceived,
this, &EssentialsForm::nmeaSentenceReceived_Base);
disconnect(ubloxDataStreamProcessor, &UBloxDataStreamProcessor::ubxMessageReceived,
this, &EssentialsForm::ubxMessageReceived_Base);
disconnect(ubloxDataStreamProcessor, &UBloxDataStreamProcessor::rtcmMessageReceived,
this, &EssentialsForm::rtcmMessageReceived_Base);
}
void EssentialsForm::connectSerialThreadSlots_Rover(SerialThread* serThread, const unsigned int roverId)
{
if (roverId < sizeof(rovers) / sizeof(rovers[0]))
{
rovers[roverId].serialThreadConnections.insert(serThread,
connect(serThread, &SerialThread::dataReceived,
this, [=](const QByteArray& bytes, qint64, qint64, const SerialThread::DataReceivedEmitReason&)
{
serialDataReceived_Rover(bytes, roverId);
}
)
);
}
}
void EssentialsForm::disconnectSerialThreadSlots_Rover(SerialThread* serThread, const unsigned int roverId)
{
if (roverId < sizeof(rovers) / sizeof(rovers[0]))
{
QList<QMetaObject::Connection> connections = rovers[roverId].serialThreadConnections.values(serThread);
for (int i = 0; i < connections.size(); i++)
{
disconnect(connections.at(i));
}
rovers[roverId].serialThreadConnections.remove(serThread);
}
}
void EssentialsForm::connectUBloxDataStreamProcessorSlots_Rover(UBloxDataStreamProcessor* ubloxDataStreamProcessor, const unsigned int roverId)
{
if (roverId < sizeof(rovers) / sizeof(rovers[0]))
{
rovers[roverId].ubloxDataStreamProcessorConnections.insert(ubloxDataStreamProcessor,
connect(ubloxDataStreamProcessor, &UBloxDataStreamProcessor::nmeaSentenceReceived,
this, [=](const NMEAMessage& message)
{
nmeaSentenceReceived_Rover(message, roverId);
}
)
);
rovers[roverId].ubloxDataStreamProcessorConnections.insert(ubloxDataStreamProcessor,
connect(ubloxDataStreamProcessor, &UBloxDataStreamProcessor::ubxMessageReceived,
this, [=](const UBXMessage& message)
{
ubxMessageReceived_Rover(message, roverId);
}
)
);
}
}
void EssentialsForm::disconnectUBloxDataStreamProcessorSlots_Rover(UBloxDataStreamProcessor* ubloxDataStreamProcessor, const unsigned int roverId)
{
if (roverId < sizeof(rovers) / sizeof(rovers[0]))
{
QList<QMetaObject::Connection> connections = rovers[roverId].ubloxDataStreamProcessorConnections.values(ubloxDataStreamProcessor);
for (int i = 0; i < connections.size(); i++)
{
disconnect(connections.at(i));
}
rovers[roverId].ubloxDataStreamProcessorConnections.remove(ubloxDataStreamProcessor);
}
}
void EssentialsForm::connectPostProcessingSlots(PostProcessingForm* postProcessingForm)
{
connect(postProcessingForm, &PostProcessingForm::replayData_Rover,
this, &EssentialsForm::ubxMessageReceived_Rover);
connect(postProcessingForm, &PostProcessingForm::replayData_Tag,
this, &EssentialsForm::postProcessingTagReceived);
connect(postProcessingForm, &PostProcessingForm::replayData_Distance,
this, &EssentialsForm::postProcessingDistanceReceived);
connect(postProcessingForm, &PostProcessingForm::replayData_Lidar,
this, &EssentialsForm::distanceRoundReceived);
}
void EssentialsForm::disconnectPostProcessingSlots(PostProcessingForm* postProcessingForm)
{
disconnect(postProcessingForm, &PostProcessingForm::replayData_Rover,
this, &EssentialsForm::ubxMessageReceived_Rover);
disconnect(postProcessingForm, &PostProcessingForm::replayData_Tag,
this, &EssentialsForm::postProcessingTagReceived);
disconnect(postProcessingForm, &PostProcessingForm::replayData_Distance,
this, &EssentialsForm::postProcessingDistanceReceived);
disconnect(postProcessingForm, &PostProcessingForm::replayData_Lidar,
this, &EssentialsForm::distanceRoundReceived);
}
void EssentialsForm::connectLaserRangeFinder20HzV2SerialThreadSlots(LaserRangeFinder20HzV2SerialThread* distanceThread)
{
connect(distanceThread, &LaserRangeFinder20HzV2SerialThread::distanceReceived,
this, &EssentialsForm::on_measuredDistanceReceived);
}
void EssentialsForm::disconnectLaserRangeFinder20HzV2SerialThreadSlots(LaserRangeFinder20HzV2SerialThread* distanceThread)
{
disconnect(distanceThread, &LaserRangeFinder20HzV2SerialThread::distanceReceived,
this, &EssentialsForm::on_measuredDistanceReceived);
}
void EssentialsForm::addTextTag(qint64 uptime)
{
handleVideoFrameRecording(uptime - 1);
if (loggingActive)
{
QTextStream textStream(&logFile_Tags);
if (uptime < 0)
{
QElapsedTimer uptimeTimer;
uptimeTimer.start();
uptime = uptimeTimer.msecsSinceReference();
}
textStream << QTime::currentTime().toString("hh:mm:ss:zzz") << "\t" << QString::number(lastMatchingRELPOSNEDiTOW) << "\t"
<< ui->comboBox_TagIdent->lineEdit()->text() << "\t" << ui->lineEdit_TagText->text() << "\t"
<< QString::number(uptime) << "\n";
treeItem_LastTag_Stylus->setText(1, ui->comboBox_TagIdent->lineEdit()->text() + "; " + ui->lineEdit_TagText->text());
lastTaggedRELPOSNEDiTOW = lastMatchingRELPOSNEDiTOW;
}
else
{
treeItem_LastTag_Stylus->setText(1, "Logging not active!");
}
treeItem_LastTag_LOSolver->setText(1, treeItem_LastTag_Stylus->text(1));
// handleVideoFrameRecording(uptime);
}
void EssentialsForm::on_pushButton_AddTag_clicked()
{
addTextTag();
}
void EssentialsForm::on_pushButton_MouseTag_clicked()
{
addMouseButtonTag("LMB", soundEffect_LMB);
stylusTipLocation_LMB = lastStylusTipLocation;
}
void EssentialsForm::on_pushButton_MouseTag_rightClicked()
{
addMouseButtonTag("RMB", soundEffect_RMB);
stylusTipLocation_RMB = lastStylusTipLocation;
}
void EssentialsForm::on_pushButton_MouseTag_middleClicked()
{
addMouseButtonTag("MMB", soundEffect_MMB);
stylusTipLocation_MMB = lastStylusTipLocation;
}
void EssentialsForm::addMouseButtonTag(const QString& tagtext, QSoundEffect& soundEffect, qint64 uptime)
{
handleVideoFrameRecording(uptime - 1);
if (loggingActive)
{
treeItem_LastTag_Stylus->setText(1, tagtext);
QTextStream textStream(&logFile_Tags);
if (uptime < 0)
{
QElapsedTimer uptimeTimer;
uptimeTimer.start();
uptime = uptimeTimer.msecsSinceReference();
}
textStream << QTime::currentTime().toString("hh:mm:ss:zzz") << "\t" << QString::number(lastMatchingRELPOSNEDiTOW) << "\t"
<< tagtext << "\t" << "" << "\t"
<< QString::number(uptime) << "\n";
soundEffect.play();
ui->pushButton_MouseTag->setText("Tagged " + tagtext);
lastTaggedRELPOSNEDiTOW = lastMatchingRELPOSNEDiTOW;
}
else
{
soundEffect_MBError.play();
ui->pushButton_MouseTag->setText("Logging not active!");
treeItem_LastTag_Stylus->setText(1, "Logging not active!");
}
treeItem_LastTag_LOSolver->setText(1, treeItem_LastTag_Stylus->text(1));
// handleVideoFrameRecording(uptime);
}
void EssentialsForm::handleRELPOSNEDQueues(void)
{
int numOfRovers = ui->spinBox_NumberOfRovers->value();
bool matchingiTOWFound = false;
while (1)
{
bool someQueueEmpty = false;
for (int i = 0; i < numOfRovers; i++)
{
someQueueEmpty = someQueueEmpty | rovers[i].messageQueue_RELPOSNED.isEmpty();
}
if (someQueueEmpty)
{
break;
}
// Highest ITOW value in handled rovers in the heads of the queues
UBXMessage_RELPOSNED::ITOW highestLowestITOW = 0;
for (int i = 0; i < numOfRovers; i++)
{
if (rovers[i].messageQueue_RELPOSNED.head().iTOW > highestLowestITOW)
{
highestLowestITOW = rovers[i].messageQueue_RELPOSNED.head().iTOW;
}
}
// Discard all RELPOSNED-messages that are older (lower iTOW) than the "highest lowest"
// (If time keeps running forward, they would never be handled).
for (int i = 0; i < numOfRovers; i++)
{
while ((!rovers[i].messageQueue_RELPOSNED.isEmpty()) &&
(rovers[i].messageQueue_RELPOSNED.head().iTOW < highestLowestITOW))
{
rovers[i].messageQueue_RELPOSNED.dequeue();
}
}
for (int i = 0; i < numOfRovers; i++)
{
someQueueEmpty = someQueueEmpty | rovers[i].messageQueue_RELPOSNED.isEmpty();
}
if (someQueueEmpty)
{
break;
}
bool iTOWMismatch = false;
for (int i = 1; i < numOfRovers; i++)
{
if (rovers[0].messageQueue_RELPOSNED.head().iTOW != rovers[i].messageQueue_RELPOSNED.head().iTOW)
{
iTOWMismatch = true;
break;
}
}
if (iTOWMismatch)
{
// ITOW-values in the heads of the queues still doesn't match -> try again from start
continue;
}
// Queues are in sync -> process
lastMatchingRELPOSNEDiTOW = rovers[0].messageQueue_RELPOSNED.head().iTOW;
matchingiTOWFound = true;
lastMatchingRELPOSNEDiTOWTimer.start();
for (int i = 0; i < numOfRovers; i++)
{
rovers[i].lastMatchingRoverRELPOSNED = rovers[i].messageQueue_RELPOSNED.dequeue();
}
updateTipData();
}
// Prevent groving queues too much if not all rovers are sending RELPOSNEDS
for (int i = 0; i < numOfRovers; i++)
{
while (rovers[i].messageQueue_RELPOSNED.size() > 100)
{
rovers[i].messageQueue_RELPOSNED.dequeue();
}
}
if (matchingiTOWFound)
{
ui->label_iTOW_BIG->setNum(lastMatchingRELPOSNEDiTOW);
updateSideBar();
double worstAccuracy = 0;
for (int i = 0; i < numOfRovers; i++)
{
double accuracy = sqrt(rovers[i].lastMatchingRoverRELPOSNED.accN * rovers[i].lastMatchingRoverRELPOSNED.accN +
rovers[i].lastMatchingRoverRELPOSNED.accE * rovers[i].lastMatchingRoverRELPOSNED.accE +
rovers[i].lastMatchingRoverRELPOSNED.accD * rovers[i].lastMatchingRoverRELPOSNED.accD);
if (accuracy > worstAccuracy)
{
worstAccuracy = accuracy;
}
}
int worstAccuracyInt = static_cast<int>(worstAccuracy * 1000);
ui->label_WorstAccuracy->setText(QString::number(worstAccuracyInt) + " mm");
if (worstAccuracyInt > ui->progressBar_Accuracy->maximum())
{
worstAccuracyInt = ui->progressBar_Accuracy->maximum();
}
ui->progressBar_Accuracy->setValue(static_cast<int>(worstAccuracyInt));
double distN = rovers[0].lastMatchingRoverRELPOSNED.relPosN - rovers[1].lastMatchingRoverRELPOSNED.relPosN;
double distE = rovers[0].lastMatchingRoverRELPOSNED.relPosE - rovers[1].lastMatchingRoverRELPOSNED.relPosE;
double distD = rovers[0].lastMatchingRoverRELPOSNED.relPosD - rovers[1].lastMatchingRoverRELPOSNED.relPosD;
distanceBetweenRovers = sqrt(distN * distN + distE * distE + distD * distD);
if (numOfRovers == 3)
{
Eigen::Vector3d antennaLocations[3];
for (int i = 0; i < 3; i++)
{
antennaLocations[i](0) = rovers[i].lastMatchingRoverRELPOSNED.relPosN;
antennaLocations[i](1) = rovers[i].lastMatchingRoverRELPOSNED.relPosE;
antennaLocations[i](2) = rovers[i].lastMatchingRoverRELPOSNED.relPosD;
}
loSolverLocationOrientation.iTOW = lastMatchingRELPOSNEDiTOW;
QElapsedTimer timer;
timer.start();
loSolverLocationOrientation.uptime = timer.msecsSinceReference();
Eigen::Vector3d origin;
bool valid = true;
valid = valid && loSolver.setPoints(antennaLocations);
valid = valid && loSolver.getTransformMatrix(loSolverLocationOrientation.transform);
if (valid)
{
origin = loSolverLocationOrientation.transform * Eigen::Vector3d(0,0,0);
}
else
{
origin = Eigen::Vector3d(0,0,0);
}
loSolverLocationOrientation.n = origin(0);
loSolverLocationOrientation.e = origin(1);
loSolverLocationOrientation.d = origin(2);
valid = valid && loSolver.getYawPitchRollAngles(loSolverLocationOrientation.transform, loSolverLocationOrientation.heading, loSolverLocationOrientation.pitch, loSolverLocationOrientation.roll);
loSolverLocationOrientation.valid = valid;
}
else
{
loSolverLocationOrientation.valid = false;
}
}
}
EssentialsForm::NEDPoint::NEDPoint(const UBXMessage_RELPOSNED relposnedMessage)
{
this->valid = true;
this->iTOW = static_cast<int>(relposnedMessage.iTOW);
this->uptime = relposnedMessage.messageStartTime;
this->n = relposnedMessage.relPosN;
this->e = relposnedMessage.relPosE;
this->d = relposnedMessage.relPosD;
this->accN = relposnedMessage.accN;
this->accE = relposnedMessage.accE;
this->accD = relposnedMessage.accD;
}