#include "landinggear.h" #include "ui_landinggear.h" landinggear::landinggear(QWidget *parent) : ToolsWidget(parent) , ui(new Ui::landinggear) { ui->setupUi(this); //load qss QFile file(":/qss/LandingGear.qss"); file.open(QFile::ReadOnly); QTextStream filetext(&file); QString stylesheet = filetext.readAll(); this->setStyleSheet(stylesheet); file.close(); setColor(ui->checkBox,state::success); setColor(ui->checkBox_2,state::success); setColor(ui->checkBox_3,state::success); setColor(ui->checkBox_4,state::success); setColor(ui->checkBox_5,state::success); setColor(ui->checkBox_6,state::success); setColor(ui->checkBox_7,state::success); setColor(ui->checkBox_8,state::success); setColor(ui->checkBox_9,state::success); setColor(ui->checkBox_10,state::success); setColor(ui->checkBox_11,state::success); setColor(ui->checkBox_12,state::success); setColor(ui->checkBox_13,state::success); setColor(ui->checkBox_14,state::success); setColor(ui->checkBox_15,state::success); setColor(ui->checkBox_16,state::success); setColor(ui->checkBox_17,state::success); setColor(ui->checkBox_18,state::success); setColor(ui->checkBox_19,state::success); setColor(ui->checkBox_20,state::success); setColor(ui->checkBox_21,state::success); setColor(ui->checkBox_22,state::success); setColor(ui->checkBox_23,state::success); setColor(ui->checkBox_24,state::success); setColor(ui->checkBox_DO_CH_1,state::success); setColor(ui->checkBox_DO_CH_2,state::success); setColor(ui->checkBox_DO_CH_3,state::success); setColor(ui->checkBox_DO_CH_4,state::success); setColor(ui->checkBox_DO_CH_5,state::success); setColor(ui->checkBox_DO_CH_6,state::success); setColor(ui->checkBox_DO_CH_7,state::success); setColor(ui->checkBox_DO_CH_8,state::success); setColor(ui->checkBox_DO_CH_9,state::success); setColor(ui->checkBox_DO_CH_10,state::success); setColor(ui->checkBox_DO_CH_11,state::success); setColor(ui->checkBox_DO_CH_12,state::success); setColor(ui->checkBox_DO_CH_13,state::success); setColor(ui->checkBox_DO_CH_14,state::success); setColor(ui->checkBox_DO_CH_15,state::success); setColor(ui->checkBox_DO_CH_16,state::success); setColor(ui->checkBox_DO_CH_17,state::success); setColor(ui->checkBox_DO_CH_18,state::success); setColor(ui->checkBox_DO_CH_19,state::success); setColor(ui->checkBox_DO_CH_20,state::success); setColor(ui->checkBox_DO_CH_21,state::success); setColor(ui->checkBox_DO_CH_22,state::success); setColor(ui->checkBox_DO_CH_23,state::success); setColor(ui->checkBox_DO_CH_24,state::success); setColor(ui->checkBox_DO_CH_25,state::success); setColor(ui->checkBox_DO_CH_26,state::success); setColor(ui->checkBox_DO_CH_27,state::success); setColor(ui->checkBox_DO_CH_28,state::success); setColor(ui->checkBox_DO_CH_29,state::success); setColor(ui->checkBox_DO_CH_30,state::success); setColor(ui->checkBox_DO_CH_31,state::success); setColor(ui->checkBox_DO_CH_32,state::success); connect(ui->checkBox_DO_CH_1,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_2,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_3,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_4,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_5,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_6,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_7,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_8,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_9,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_10,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_11,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_12,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_13,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_14,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_15,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_16,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_17,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_18,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_19,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_20,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_21,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_22,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_23,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_24,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_25,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_26,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_27,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_28,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_29,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_30,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_31,&QCheckBox::toggled,this,&landinggear::setDO); connect(ui->checkBox_DO_CH_32,&QCheckBox::toggled,this,&landinggear::setDO); timer = new QTimer(this); timer->setInterval(20);//100Hz /* connect(timer,&QTimer::timeout, this,&landinggear::timerOut); */ } landinggear::~landinggear() { delete ui; } void landinggear::timerOut(void) { uint8_t byte[4] = {0}; uint8_t sendByte = 0; byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_1->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_2->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_3->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_4->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_5->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_6->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_7->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_8->isChecked()?(0x01):(0x00); sendByte++; byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_9->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_10->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_11->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_12->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_13->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_14->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_15->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_16->isChecked()?(0x01):(0x00); sendByte++; byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_17->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_18->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_19->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_20->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_21->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_22->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_23->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_24->isChecked()?(0x01):(0x00); sendByte++; byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_25->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_26->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_27->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_28->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_29->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_30->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_31->isChecked()?(0x01):(0x00); byte[sendByte] <<= 1; byte[sendByte] |= ui->checkBox_DO_CH_32->isChecked()?(0x01):(0x00); sendByte++; emit SendMessageTo(2,byte,sendByte); uint16_t pwm[4] = {0}; uint8_t pwmByte[8] = {0}; pwm[0] = ui->horizontalSlider_pwm1->value(); pwm[1] = ui->horizontalSlider_pwm2->value(); pwm[2] = ui->horizontalSlider_pwm3->value(); pwm[3] = ui->horizontalSlider_pwm4->value(); pwmByte[0] = pwm[0]; pwmByte[1] = pwm[0] >> 8; pwmByte[2] = pwm[1]; pwmByte[3] = pwm[1] >> 8; pwmByte[4] = pwm[2]; pwmByte[5] = pwm[2] >> 8; pwmByte[6] = pwm[3]; pwmByte[7] = pwm[3] >> 8; emit SendMessageTo(3,pwmByte,8); } void landinggear::recieveData(const int &id, const QByteArray &data) { //return; if(id == 0) { Parse *parse = new Parse; connect(this,&landinggear::parseData, parse,&Parse::parseData); connect(parse,&Parse::gear_Info, this,&landinggear::gear_Info); connect(parse,&Parse::actuator_info, this,&landinggear::actuator_info); connect(parse,&Parse::actuator1_info, this,&landinggear::actuator1_info); connect(parse,&Parse::actuator2_info, this,&landinggear::actuator2_info); QThreadPool::globalInstance()->start(parse); emit parseData(id,data); } /* else if(id == 1) { Parse *parse = new Parse; connect(this,&landinggear::parseData, parse,&Parse::parseData); connect(parse,&Parse::actuator_info, this,&landinggear::actuator_info); connect(parse,&Parse::actuator1_info, this,&landinggear::actuator1_info); connect(parse,&Parse::actuator2_info, this,&landinggear::actuator2_info); QThreadPool::globalInstance()->start(parse); emit parseData(id,data); }*/ } void landinggear::gear_Info(Parse::_gear info) { setColor(ui->checkBox, (info.SW[0])?(state::failure):(state::success)); setColor(ui->checkBox_2,(info.SW[2])?(state::failure):(state::success)); setColor(ui->checkBox_3,(info.SW[3])?(state::failure):(state::success)); setColor(ui->checkBox_4,(info.SW[4])?(state::failure):(state::success)); setColor(ui->checkBox_5,(info.SW[5])?(state::failure):(state::success)); setColor(ui->checkBox_6,(info.SW[6])?(state::failure):(state::success)); setColor(ui->checkBox_7,(info.SW[7])?(state::failure):(state::success)); setColor(ui->checkBox_8,(info.SW[8])?(state::failure):(state::success)); setColor(ui->checkBox_9, (info.SW[9])?(state::failure):(state::success)); setColor(ui->checkBox_10,(info.SW[10])?(state::failure):(state::success)); setColor(ui->checkBox_11,(info.SW[11])?(state::failure):(state::success)); setColor(ui->checkBox_12,(info.SW[12])?(state::failure):(state::success)); setColor(ui->checkBox_13,(info.SW[13])?(state::failure):(state::success)); setColor(ui->checkBox_14,(info.SW[14])?(state::failure):(state::success)); setColor(ui->checkBox_15,(info.SW[15])?(state::failure):(state::success)); setColor(ui->checkBox_16,(info.SW[16])?(state::failure):(state::success)); setColor(ui->checkBox_17,(info.SW[17])?(state::failure):(state::success)); setColor(ui->checkBox_18,(info.SW[18])?(state::failure):(state::success)); setColor(ui->checkBox_19,(info.SW[19])?(state::failure):(state::success)); setColor(ui->checkBox_20,(info.SW[20])?(state::failure):(state::success)); setColor(ui->checkBox_21,(info.SW[21])?(state::failure):(state::success)); setColor(ui->checkBox_22,(info.SW[22])?(state::failure):(state::success)); setColor(ui->checkBox_23,(info.SW[23])?(state::failure):(state::success)); setColor(ui->checkBox_24,(info.SW[24])?(state::failure):(state::success)); ui->lineEdit_p1->setText(QString::number(info.LeftPressure,'f',3)); ui->lineEdit_p2->setText(QString::number(info.RightPressure,'f',3)); ui->lineEdit_p3->setText(QString::number(info.AirPressure,'f',3)); ui->lineEdit_rpm1->setText(QString::number(info.LeftWheel,'f',0)); ui->lineEdit_rpm2->setText(QString::number(info.RightPressure,'f',0)); ui->lineEdit_rpm3->setText(QString::number(info.rpm3,'f',0)); ui->lineEdit_rpm4->setText(QString::number(info.rpm4,'f',0)); ui->lineEdit_rpm5->setText(QString::number(info.fuel,'f',0)); ui->label_cpuload->setText(QString::number(info.cpu_load) + "us"); } void landinggear::setDO(void) { QObject *obj = sender(); if(obj) { QCheckBox *ckb = qobject_cast(obj); if(ckb) { setColor(ckb, (ckb->isChecked())?(state::failure):(state::success)); } } } void landinggear::actuator_info(Parse::_actuator info) { ui->label_0_type->setText(QString::number(info.type,16).toUpper()); ui->label_0_id->setText(QString::number(info.id,16).toUpper()); ui->label_0_wheel->setText(QString::number(info.wheel)); ui->label_0_trans_left->setText(QString::number(info.left_trans)); ui->label_0_trans_right->setText(QString::number(info.right_trans)); ui->label_0_status->setText(QString::number(info.status)); ui->label_0_current->setText(QString::number(info.current,'f',1)); ui->label_0_temp->setText(QString::number(info.temp)); } void landinggear::actuator1_info(Parse::_actuator1 info) { ui->label_1_type->setText(QString::number(info.type,16).toUpper()); ui->label_1_id->setText(QString::number(info.id,16).toUpper()); ui->label_1_ail_left->setText(QString::number(info.left_ail)); ui->label_1_ail_right->setText(QString::number(info.right_ail)); ui->label_1_rud_left->setText(QString::number(info.left_rud)); ui->label_1_rud_right->setText(QString::number(info.right_rud)); ui->label_1_status->setText(QString::number(info.status)); ui->label_1_current->setText(QString::number(info.current,'f',1)); ui->label_1_temp->setText(QString::number(info.temp)); } void landinggear::actuator2_info(Parse::_actuator2 info) { ui->label_2_type->setText(QString::number(info.type,16).toUpper()); ui->label_2_id->setText(QString::number(info.id,16).toUpper()); ui->label_2_ele_left->setText(QString::number(info.left_ele)); ui->label_2_ele_right->setText(QString::number(info.right_ele)); ui->label_2_brake_left->setText(QString::number(info.left_brake)); ui->label_2_brake_right->setText(QString::number(info.right_brake)); ui->label_2_status->setText(QString::number(info.status)); ui->label_2_current->setText(QString::number(info.current,'f',1)); ui->label_2_temp->setText(QString::number(info.temp)); }