814 lines
24 KiB
C++
814 lines
24 KiB
C++
#include "Senser.h"
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#include "ui_Senser.h"
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Senser::Senser(QWidget *parent) :
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QWidget(parent),
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ui(new Ui::Senser)
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{
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ui->setupUi(this);
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m_parent = parent;
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QFile file(":/qss/Senser.qss");
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file.open(QFile::ReadOnly);
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QTextStream filetext(&file);
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QString stylesheet = filetext.readAll();
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this->setStyleSheet(stylesheet);
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file.close();
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this->setWindowTitle(tr("sensor"));
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ui->frame_Attitude->resize(384,234);
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ui->frame_Gyro->resize(384,234);
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ui->frame_Accelerate->resize(384,234);
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ui->frame_Servo->resize(384,234);
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ui->frame_Altitude->resize(384,234);
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ui->frame_Speed->resize(384,234);
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attChart = new Chart(ui->frame_Attitude);
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//attChart = new Chart();
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gyroChart = new Chart(ui->frame_Gyro);
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accChart = new Chart(ui->frame_Accelerate);
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servoChart = new Chart(ui->frame_Servo);
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altChart = new Chart(ui->frame_Altitude);
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speedChart = new Chart(ui->frame_Speed);
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//ui->frame_Attitude->addWidget(attChart,0,0,1,1);
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attChart->setGeometry(0,0,ui->frame_Attitude->width(),ui->frame_Attitude->height());
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gyroChart->setGeometry(0,0,ui->frame_Gyro->width(),ui->frame_Gyro->height());
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accChart->setGeometry(0,0,ui->frame_Accelerate->width(),ui->frame_Accelerate->height());
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servoChart->setGeometry(0,0,ui->frame_Servo->width(),ui->frame_Servo->height());
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altChart->setGeometry(0,0,ui->frame_Altitude->width(),ui->frame_Altitude->height());
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speedChart->setGeometry(0,0,ui->frame_Speed->width(),ui->frame_Speed->height());
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attChart->chart()->legend()->setAlignment(Qt::AlignRight);
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gyroChart->chart()->legend()->setAlignment(Qt::AlignRight);
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accChart->chart()->legend()->setAlignment(Qt::AlignRight);
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servoChart->chart()->legend()->setAlignment(Qt::AlignRight);
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altChart->chart()->legend()->setAlignment(Qt::AlignRight);
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speedChart->chart()->legend()->setAlignment(Qt::AlignRight);
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attChart->setOperation(false);
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gyroChart->setOperation(false);
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accChart->setOperation(false);
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servoChart->setOperation(false);
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altChart->setOperation(false);
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speedChart->setOperation(false);
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attChart->setRenderHint(QPainter::Antialiasing);
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gyroChart->setRenderHint(QPainter::Antialiasing);
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accChart->setRenderHint(QPainter::Antialiasing);
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servoChart->setRenderHint(QPainter::Antialiasing);
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altChart->setRenderHint(QPainter::Antialiasing);
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speedChart->setRenderHint(QPainter::Antialiasing);
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attChart->setRubberBand(QChartView::RectangleRubberBand);
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gyroChart->setRubberBand(QChartView::RectangleRubberBand);
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accChart->setRubberBand(QChartView::RectangleRubberBand);
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servoChart->setRubberBand(QChartView::RectangleRubberBand);
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altChart->setRubberBand(QChartView::RectangleRubberBand);
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speedChart->setRubberBand(QChartView::RectangleRubberBand);
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connect(attChart,&Chart::select,
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this,&Senser::chartSelect);
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connect(gyroChart,&Chart::select,
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this,&Senser::chartSelect);
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connect(accChart,&Chart::select,
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this,&Senser::chartSelect);
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connect(servoChart,&Chart::select,
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this,&Senser::chartSelect);
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connect(altChart,&Chart::select,
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this,&Senser::chartSelect);
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connect(speedChart,&Chart::select,
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this,&Senser::chartSelect);
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//StringModel = new QStringListModel(ui->listView_Data);
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ItemModel = new QStandardItemModel(ui->listView_Data);
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ui->listView_Data->setModel(ItemModel);
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ui->listView_Data->scrollToBottom();
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QStandardItem *item = new QStandardItem("item1");
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ItemModel->appendRow(item);
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item = new QStandardItem("item2");
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ItemModel->appendRow(item);
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ui->listView_Data->setModel(ItemModel);
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}
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Senser::~Senser()
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{
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delete ui;
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}
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void Senser::chartSelect(bool flag)
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{
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if(flag)
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{
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QObject *obj = sender();
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if(obj)
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{
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Chart *chart = qobject_cast<Chart *>(obj);
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if(chart)
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{
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if(chart == attChart)
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{
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setColor(ui->frame_Attitude,QColor("#00FF00"));
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setColor(ui->frame_Gyro,QColor("#FFFFFF"));
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setColor(ui->frame_Accelerate,QColor("#FFFFFF"));
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setColor(ui->frame_Servo,QColor("#FFFFFF"));
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setColor(ui->frame_Altitude,QColor("#FFFFFF"));
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setColor(ui->frame_Speed,QColor("#FFFFFF"));
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attChart->setSelect(true);
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gyroChart->setSelect(false);
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accChart->setSelect(false);
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servoChart->setSelect(false);
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altChart->setSelect(false);
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speedChart->setSelect(false);
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}
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else if(chart == gyroChart)
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{
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setColor(ui->frame_Attitude,QColor("#FFFFFF"));
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setColor(ui->frame_Gyro,QColor("#00FF00"));
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setColor(ui->frame_Accelerate,QColor("#FFFFFF"));
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setColor(ui->frame_Servo,QColor("#FFFFFF"));
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setColor(ui->frame_Altitude,QColor("#FFFFFF"));
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setColor(ui->frame_Speed,QColor("#FFFFFF"));
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attChart->setSelect(false);
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gyroChart->setSelect(true);
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accChart->setSelect(false);
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servoChart->setSelect(false);
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altChart->setSelect(false);
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speedChart->setSelect(false);
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}
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else if(chart == accChart)
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{
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setColor(ui->frame_Attitude,QColor("#FFFFFF"));
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setColor(ui->frame_Gyro,QColor("#FFFFFF"));
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setColor(ui->frame_Accelerate,QColor("#00FF00"));
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setColor(ui->frame_Servo,QColor("#FFFFFF"));
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setColor(ui->frame_Altitude,QColor("#FFFFFF"));
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setColor(ui->frame_Speed,QColor("#FFFFFF"));
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attChart->setSelect(false);
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gyroChart->setSelect(false);
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accChart->setSelect(true);
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servoChart->setSelect(false);
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altChart->setSelect(false);
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speedChart->setSelect(false);
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}
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else if(chart == servoChart)
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{
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setColor(ui->frame_Attitude,QColor("#FFFFFF"));
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setColor(ui->frame_Gyro,QColor("#FFFFFF"));
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setColor(ui->frame_Accelerate,QColor("#FFFFFF"));
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setColor(ui->frame_Servo,QColor("#00FF00"));
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setColor(ui->frame_Altitude,QColor("#FFFFFF"));
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setColor(ui->frame_Speed,QColor("#FFFFFF"));
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attChart->setSelect(false);
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gyroChart->setSelect(false);
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accChart->setSelect(false);
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servoChart->setSelect(true);
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altChart->setSelect(false);
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speedChart->setSelect(false);
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}
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else if(chart == altChart)
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{
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setColor(ui->frame_Attitude,QColor("#FFFFFF"));
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setColor(ui->frame_Gyro,QColor("#FFFFFF"));
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setColor(ui->frame_Accelerate,QColor("#FFFFFF"));
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setColor(ui->frame_Servo,QColor("#FFFFFF"));
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setColor(ui->frame_Altitude,QColor("#00FF00"));
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setColor(ui->frame_Speed,QColor("#FFFFFF"));
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attChart->setSelect(false);
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gyroChart->setSelect(false);
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accChart->setSelect(false);
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servoChart->setSelect(false);
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altChart->setSelect(true);
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speedChart->setSelect(false);
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}
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else if(chart == speedChart)
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{
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setColor(ui->frame_Attitude,QColor("#FFFFFF"));
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setColor(ui->frame_Gyro,QColor("#FFFFFF"));
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setColor(ui->frame_Accelerate,QColor("#FFFFFF"));
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setColor(ui->frame_Servo,QColor("#FFFFFF"));
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setColor(ui->frame_Altitude,QColor("#FFFFFF"));
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setColor(ui->frame_Speed,QColor("#00FF00"));
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attChart->setSelect(false);
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gyroChart->setSelect(false);
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accChart->setSelect(false);
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servoChart->setSelect(false);
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altChart->setSelect(false);
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speedChart->setSelect(true);
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}
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}
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}
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}
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else
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{
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setColor(ui->frame_Attitude,QColor("#FFFFFF"));
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setColor(ui->frame_Gyro,QColor("#FFFFFF"));
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setColor(ui->frame_Accelerate,QColor("#FFFFFF"));
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setColor(ui->frame_Servo,QColor("#FFFFFF"));
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setColor(ui->frame_Altitude,QColor("#FFFFFF"));
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setColor(ui->frame_Speed,QColor("#FFFFFF"));
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attChart->setSelect(false);
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gyroChart->setSelect(false);
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accChart->setSelect(false);
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servoChart->setSelect(false);
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altChart->setSelect(false);
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speedChart->setSelect(false);
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}
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}
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void Senser::setColor(QWidget *w,QColor s)
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{
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QString stype = "background-color: ";
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stype.append(s.name());
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stype.append(";");
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if(w)
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{
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w->setStyleSheet(stype);
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w->style()->unpolish(w);
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w->style()->polish(w);
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}
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}
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void Senser::setColor(QWidget *w,state s)
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{
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w->setProperty("state",s);
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w->style()->unpolish(w);
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w->style()->polish(w);
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}
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void Senser::setValue(QLabel *w,QString s)
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{
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w->setText(s);
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}
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void Senser::updateUI()
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{
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attChart->setGeometry(0,0,ui->frame_Attitude->width(),ui->frame_Attitude->height());
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gyroChart->setGeometry(0,0,ui->frame_Gyro->width(),ui->frame_Gyro->height());
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accChart->setGeometry(0,0,ui->frame_Accelerate->width(),ui->frame_Accelerate->height());
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servoChart->setGeometry(0,0,ui->frame_Servo->width(),ui->frame_Servo->height());
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altChart->setGeometry(0,0,ui->frame_Altitude->width(),ui->frame_Altitude->height());
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speedChart->setGeometry(0,0,ui->frame_Speed->width(),ui->frame_Speed->height());
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}
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void Senser::resizeEvent(QResizeEvent *event)
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{
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//attChart->resizeEvent(event);
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attChart->setGeometry(0,0,ui->frame_Attitude->width(),ui->frame_Attitude->height());
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gyroChart->setGeometry(0,0,ui->frame_Gyro->width(),ui->frame_Gyro->height());
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accChart->setGeometry(0,0,ui->frame_Accelerate->width(),ui->frame_Accelerate->height());
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servoChart->setGeometry(0,0,ui->frame_Servo->width(),ui->frame_Servo->height());
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altChart->setGeometry(0,0,ui->frame_Altitude->width(),ui->frame_Altitude->height());
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speedChart->setGeometry(0,0,ui->frame_Speed->width(),ui->frame_Speed->height());
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}
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void Senser::closeEvent(QCloseEvent *event)
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{
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setFloat();
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event->ignore();
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}
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void Senser::setFloat(void)
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{
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if(this->parent())
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{
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this->setParent(nullptr);
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QScreen *screen=QGuiApplication::primaryScreen ();
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this->move((screen->availableGeometry().width()-this->width())/2,(screen->availableGeometry().height()-this->height())/2);
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this->show();
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this->resize(m_parent->size());
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updateUI();
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}
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else
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{
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this->setParent(m_parent);
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this->move(0,0);
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this->show();
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this->resize(m_parent->size());
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updateUI();
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}
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}
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void Senser::on_checkBox_att_stateChanged(int arg1)
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{
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QCheckBox *chk = qobject_cast<QCheckBox *>(sender());
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if(chk)
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{
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if(arg1 == Qt::Checked)
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{
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attChart->addSeries(chk->text());
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}
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else if(arg1 == Qt::Unchecked)
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{
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attChart->removeSerie(chk->text());
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}
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update();
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}
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}
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void Senser::on_checkBox_gyro_stateChanged(int arg1)
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{
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QCheckBox *chk = qobject_cast<QCheckBox *>(sender());
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if(chk)
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{
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if(arg1 == Qt::Checked)
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{
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gyroChart->addSeries(chk->text());
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}
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else if(arg1 == Qt::Unchecked)
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{
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gyroChart->removeSerie(chk->text());
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}
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update();
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}
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}
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void Senser::on_checkBox_acc_stateChanged(int arg1)
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{
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QCheckBox *chk = qobject_cast<QCheckBox *>(sender());
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if(chk)
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{
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if(arg1 == Qt::Checked)
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{
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accChart->addSeries(chk->text());
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}
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else if(arg1 == Qt::Unchecked)
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{
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accChart->removeSerie(chk->text());
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}
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update();
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}
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}
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void Senser::setINS(int source,int pos,QVariant value)
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{
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if(source == 1)
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{
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switch (pos) {
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case 1:
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ui->label_1_svn->setText(value.toString());
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break;
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case 2:
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ui->label_1_BIT->setText(value.toString());
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break;
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case 3:
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ui->label_1_AttitudeStatus->setText(value.toString());
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break;
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case 4:
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ui->label_1_HeadingStatus->setText(value.toString());
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break;
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case 5:
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ui->label_1_SpeedStatus->setText(value.toString());
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break;
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case 6:
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ui->label_1_PositionStatus->setText(value.toString());
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break;
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case 7:
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ui->label_1_System->setText(value.toString());
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break;
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case 8:
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ui->label_1_COM->setText(value.toString());
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break;
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case 9:
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ui->label_1_GPS->setText(value.toString());
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break;
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case 10:
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ui->label_1_lng->setText(value.toString());
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break;
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case 11:
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ui->label_1_lat->setText(value.toString());
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break;
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case 12:
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ui->label_1_alt->setText(value.toString());
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break;
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case 13:
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ui->label_1_gs->setText(value.toString());
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break;
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case 14:
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ui->label_1_rol->setText(value.toString());
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break;
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case 15:
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ui->label_1_pit->setText(value.toString());
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break;
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case 16:
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ui->label_1_yaw->setText(value.toString());
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break;
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case 17:
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ui->label_1_heading->setText(value.toString());
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break;
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case 18:
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ui->label_1_p->setText(value.toString());
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break;
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case 19:
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ui->label_1_q->setText(value.toString());
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break;
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case 20:
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ui->label_1_r->setText(value.toString());
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break;
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case 21:
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ui->label_1_ax->setText(value.toString());
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break;
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case 22:
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ui->label_1_ay->setText(value.toString());
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break;
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case 23:
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ui->label_1_az->setText(value.toString());
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break;
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default:
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break;
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}
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}
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else if(source == 2)
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{
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switch (pos) {
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case 1:
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ui->label_2_svn->setText(value.toString());
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break;
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case 2:
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ui->label_2_BIT->setText(value.toString());
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break;
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case 3:
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ui->label_2_AttitudeStatus->setText(value.toString());
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break;
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case 4:
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ui->label_2_HeadingStatus->setText(value.toString());
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break;
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case 5:
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ui->label_2_SpeedStatus->setText(value.toString());
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break;
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case 6:
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ui->label_2_PositionStatus->setText(value.toString());
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break;
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case 7:
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ui->label_2_System->setText(value.toString());
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break;
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case 8:
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ui->label_2_COM->setText(value.toString());
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break;
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case 9:
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ui->label_2_GPS->setText(value.toString());
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break;
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case 10:
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ui->label_2_lng->setText(value.toString());
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break;
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case 11:
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ui->label_2_lat->setText(value.toString());
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break;
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case 12:
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ui->label_2_alt->setText(value.toString());
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break;
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case 13:
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ui->label_2_gs->setText(value.toString());
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break;
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case 14:
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ui->label_2_rol->setText(value.toString());
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break;
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case 15:
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ui->label_2_pit->setText(value.toString());
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break;
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case 16:
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ui->label_2_yaw->setText(value.toString());
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break;
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case 17:
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ui->label_2_heading->setText(value.toString());
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break;
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case 18:
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ui->label_2_p->setText(value.toString());
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break;
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case 19:
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ui->label_2_q->setText(value.toString());
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break;
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case 20:
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|
ui->label_2_r->setText(value.toString());
|
|
break;
|
|
case 21:
|
|
ui->label_2_ax->setText(value.toString());
|
|
break;
|
|
case 22:
|
|
ui->label_2_ay->setText(value.toString());
|
|
break;
|
|
case 23:
|
|
ui->label_2_az->setText(value.toString());
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
void Senser::setDAS(int source,int pos,QVariant value)
|
|
{
|
|
if(source == 1)
|
|
{
|
|
switch (pos) {
|
|
case 1:
|
|
//ui->label_1_atteck->setText(value.toString());
|
|
break;
|
|
case 2:
|
|
//ui->label_1_slide->setText(value.toString());
|
|
break;
|
|
case 3:
|
|
ui->label_1_rel_alt->setText(value.toString());
|
|
break;
|
|
case 4:
|
|
ui->label_1_cas->setText(value.toString());
|
|
break;
|
|
case 5:
|
|
ui->label_1_tas->setText(value.toString());
|
|
break;
|
|
case 6:
|
|
ui->label_1_ma->setText(value.toString());
|
|
break;
|
|
case 7:
|
|
ui->label_1_dynamic->setText(value.toString());
|
|
break;
|
|
case 8:
|
|
ui->label_1_static->setText(value.toString());
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
else if(source == 2)
|
|
{
|
|
switch (pos) {
|
|
case 1:
|
|
//ui->label_2_atteck->setText(value.toString());
|
|
break;
|
|
case 2:
|
|
//ui->label_2_slide->setText(value.toString());
|
|
break;
|
|
case 3:
|
|
//ui->label_2_pre_alt->setText(value.toString());
|
|
break;
|
|
case 4:
|
|
//ui->label_2_cas->setText(value.toString());
|
|
break;
|
|
case 5:
|
|
//ui->label_2_tas->setText(value.toString());
|
|
break;
|
|
case 6:
|
|
//ui->label_2_ma->setText(value.toString());
|
|
break;
|
|
case 7:
|
|
ui->label_2_dynamic->setText(value.toString());
|
|
break;
|
|
case 8:
|
|
ui->label_2_static->setText(value.toString());
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
void Senser::setINSState(int source,int pos,state value)
|
|
{
|
|
if(source == 1)
|
|
{
|
|
switch (pos) {
|
|
case 1:
|
|
setColor(ui->label_1_svn,value);
|
|
break;
|
|
case 2:
|
|
setColor(ui->label_1_BIT,value);
|
|
break;
|
|
case 3:
|
|
setColor(ui->label_1_AttitudeStatus,value);
|
|
break;
|
|
case 4:
|
|
setColor(ui->label_1_HeadingStatus,value);
|
|
break;
|
|
case 5:
|
|
setColor(ui->label_1_SpeedStatus,value);
|
|
break;
|
|
case 6:
|
|
setColor(ui->label_1_PositionStatus,value);
|
|
break;
|
|
case 7:
|
|
setColor(ui->label_1_System,value);
|
|
break;
|
|
case 8:
|
|
setColor(ui->label_1_COM,value);
|
|
break;
|
|
case 9:
|
|
setColor(ui->label_1_GPS,value);
|
|
break;
|
|
case 10:
|
|
setColor(ui->label_1_lng,value);
|
|
break;
|
|
case 11:
|
|
setColor(ui->label_1_lat,value);
|
|
break;
|
|
case 12:
|
|
setColor(ui->label_1_alt,value);
|
|
break;
|
|
case 13:
|
|
setColor(ui->label_1_gs,value);
|
|
break;
|
|
case 14:
|
|
setColor(ui->label_1_rol,value);
|
|
break;
|
|
case 15:
|
|
setColor(ui->label_1_pit,value);
|
|
break;
|
|
case 16:
|
|
setColor(ui->label_1_yaw,value);
|
|
break;
|
|
case 17:
|
|
setColor(ui->label_1_heading,value);
|
|
break;
|
|
case 18:
|
|
setColor(ui->label_1_p,value);
|
|
break;
|
|
case 19:
|
|
setColor(ui->label_1_q,value);
|
|
break;
|
|
case 20:
|
|
setColor(ui->label_1_r,value);
|
|
break;
|
|
case 21:
|
|
setColor(ui->label_1_ax,value);
|
|
break;
|
|
case 22:
|
|
setColor(ui->label_1_ay,value);
|
|
break;
|
|
case 23:
|
|
setColor(ui->label_1_az,value);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
else if(source == 2)
|
|
{
|
|
switch (pos) {
|
|
case 1:
|
|
setColor(ui->label_2_svn,value);
|
|
break;
|
|
case 2:
|
|
setColor(ui->label_2_BIT,value);
|
|
break;
|
|
case 3:
|
|
setColor(ui->label_2_AttitudeStatus,value);
|
|
break;
|
|
case 4:
|
|
setColor(ui->label_2_HeadingStatus,value);
|
|
break;
|
|
case 5:
|
|
setColor(ui->label_2_SpeedStatus,value);
|
|
break;
|
|
case 6:
|
|
setColor(ui->label_2_PositionStatus,value);
|
|
break;
|
|
case 7:
|
|
setColor(ui->label_2_System,value);
|
|
break;
|
|
case 8:
|
|
setColor(ui->label_2_COM,value);
|
|
break;
|
|
case 9:
|
|
setColor(ui->label_2_GPS,value);
|
|
break;
|
|
case 10:
|
|
setColor(ui->label_2_lng,value);
|
|
break;
|
|
case 11:
|
|
setColor(ui->label_2_lat,value);
|
|
break;
|
|
case 12:
|
|
setColor(ui->label_2_alt,value);
|
|
break;
|
|
case 13:
|
|
setColor(ui->label_2_gs,value);
|
|
break;
|
|
case 14:
|
|
setColor(ui->label_2_rol,value);
|
|
break;
|
|
case 15:
|
|
setColor(ui->label_2_pit,value);
|
|
break;
|
|
case 16:
|
|
setColor(ui->label_2_yaw,value);
|
|
break;
|
|
case 17:
|
|
setColor(ui->label_2_heading,value);
|
|
break;
|
|
case 18:
|
|
setColor(ui->label_2_p,value);
|
|
break;
|
|
case 19:
|
|
setColor(ui->label_2_q,value);
|
|
break;
|
|
case 20:
|
|
setColor(ui->label_2_r,value);
|
|
break;
|
|
case 21:
|
|
setColor(ui->label_2_ax,value);
|
|
break;
|
|
case 22:
|
|
setColor(ui->label_2_ay,value);
|
|
break;
|
|
case 23:
|
|
setColor(ui->label_2_az,value);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
//设置曲线
|
|
|
|
/*
|
|
*
|
|
attChart->setOperation(false);
|
|
角度
|
|
|
|
gyroChart->setOperation(false);
|
|
角速度
|
|
|
|
accChart->setOperation(false);
|
|
加速度
|
|
|
|
servoChart->setOperation(false);
|
|
舵机指令和反馈
|
|
|
|
altChart->setOperation(false);
|
|
海拔
|
|
|
|
speedChart->setOperation(false);
|
|
速度
|
|
|
|
|
|
ScopeRPM->setSerieData(tr("物理"),t->RPM_mea);
|
|
ScopeRPM->setSerieData(tr("期望"),t->RPM_des);
|
|
|
|
*
|
|
*
|
|
*
|
|
*/
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|