diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..16effa4 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,6 @@ +[submodule "algorithm_cpp"] + path = algorithm_cpp + url = git@github.com:DaShakuev/algorithm_cpp.git +[submodule "Diagnostic_bord_UI"] + path = Diagnostic_bord_UI + url = https://github.com/Svvyppy/Diagnostic_bord_UI.git diff --git a/.vscode/settings.json b/.vscode/settings.json index 25d4a7b..13f13f8 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -11,5 +11,6 @@ "qpainter": "cpp", "qchartview": "cpp", "qtmath": "cpp" -} +}, +"ros.distro": "iron" } \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index a4ba71a..e0ea6a7 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,11 +10,36 @@ set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets) -find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets) -find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Charts) -find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Core Network) +find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS + Widgets + Charts + Core + Network + Sql + Gui + WebEngineWidgets + Positioning +) +find_package(Qt5 REQUIRED COMPONENTS Quick QuickControls2 Location) +find_package(X11 REQUIRED) + +# === GStreamer === +find_package(PkgConfig REQUIRED) +pkg_check_modules(GST REQUIRED + gstreamer-1.0 + gstreamer-video-1.0 + gstreamer-app-1.0 +) +# === Python конфигурация === +find_package(Python3 REQUIRED COMPONENTS Interpreter Development) + + +# Добавляем пути к заголовочным файлам GStreamer +include_directories(${GST_INCLUDE_DIRS}) +include_directories(${Python3_INCLUDE_DIRS}) +# Пути к вашим собственным заголовочным файлам include_directories("${PROJECT_SOURCE_DIR}/compass") include_directories("${PROJECT_SOURCE_DIR}/remote_control") include_directories("${PROJECT_SOURCE_DIR}/uv") @@ -22,6 +47,13 @@ include_directories("${PROJECT_SOURCE_DIR}/interface") include_directories("${PROJECT_SOURCE_DIR}/map") include_directories("${PROJECT_SOURCE_DIR}/communication") include_directories("${PROJECT_SOURCE_DIR}/ui_utils") +include_directories("${PROJECT_SOURCE_DIR}/missions") +include_directories("${PROJECT_SOURCE_DIR}/tabs") +include_directories("${PROJECT_SOURCE_DIR}/mods") +include_directories("${PROJECT_SOURCE_DIR}/Diagnostic_bord_UI/Diagnostic_bord") +include_directories("${PROJECT_SOURCE_DIR}/videowidget") +include_directories("${PROJECT_SOURCE_DIR}") + set(PROJECT_SOURCES main.cpp @@ -55,26 +87,36 @@ set(PROJECT_SOURCES map/map.cpp map/map.ui img.qrc -) - - + ui_utils/setupimu_check.h + ui_utils/setupimu_check.cpp + ui_utils/setupimu_check.ui + ui_utils/database.h + ui_utils/database.cpp + remote_control/key_board.h remote_control/key_board.cpp + remote_control/joy_stick.h remote_control/joy_stick.cpp + tabs/power_system.h tabs/power_system.cpp tabs/power_system.ui + tabs/check_msg.h tabs/check_msg.cpp tabs/check_msg.ui + tabs/check_imu.h tabs/check_imu.cpp tabs/check_imu.ui + mods/mode_automatic.h mods/mode_automatic.cpp mods/mode_automatic.ui + map/map_widget.h map/map_widget.cpp map/map_widget.ui map/map.html + Diagnostic_bord_UI/Diagnostic_bord/diagnostic_board.cpp + Diagnostic_bord_UI/Diagnostic_bord/diagnostic_board.h + Diagnostic_bord_UI/Diagnostic_bord/diagnostic_board.ui + videowidget/videowidget.cpp + videowidget/videowidget.h + videowidget/videowidget.ui + ) if(${QT_VERSION_MAJOR} GREATER_EQUAL 6) qt_add_executable(UMAS_GUI MANUAL_FINALIZATION ${PROJECT_SOURCES} ) -# Define target properties for Android with Qt 6 as: -# set_property(TARGET UMAS_GUI APPEND PROPERTY QT_ANDROID_PACKAGE_SOURCE_DIR -# ${CMAKE_CURRENT_SOURCE_DIR}/android) -# For more information, see https://doc.qt.io/qt-6/qt-add-executable.html#target-creation else() if(ANDROID) add_library(UMAS_GUI SHARED ${PROJECT_SOURCES} ) -# Define properties for Android with Qt 5 after find_package() calls as: -# set(ANDROID_PACKAGE_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/android") else() add_executable(UMAS_GUI ${PROJECT_SOURCES} @@ -82,11 +124,20 @@ else() endif() endif() +# Подключаем все библиотеки в одном месте target_link_libraries(UMAS_GUI PRIVATE sfml-graphics sfml-window sfml-system Qt${QT_VERSION_MAJOR}::Widgets Qt${QT_VERSION_MAJOR}::Charts - Qt${QT_VERSION_MAJOR}::Network) + Qt${QT_VERSION_MAJOR}::Network + Qt${QT_VERSION_MAJOR}::Sql + Qt${QT_VERSION_MAJOR}::Gui + Qt${QT_VERSION_MAJOR}::WebEngineWidgets + Qt${QT_VERSION_MAJOR}::Positioning + Python3::Python + ${GST_LIBRARIES} # <-- КЛЮЧЕВОЕ ИЗМЕНЕНИЕ: подключаем GStreamer и все его зависимости + ${X11_LIBRARIES} + ) set_target_properties(UMAS_GUI PROPERTIES MACOSX_BUNDLE_GUI_IDENTIFIER my.example.com diff --git a/Diagnostic_bord_UI b/Diagnostic_bord_UI new file mode 160000 index 0000000..5faaf33 --- /dev/null +++ b/Diagnostic_bord_UI @@ -0,0 +1 @@ +Subproject commit 5faaf33aec3e73d3561319f5ac9eca9baa88917d diff --git a/algorithm_cpp b/algorithm_cpp new file mode 160000 index 0000000..402269e --- /dev/null +++ b/algorithm_cpp @@ -0,0 +1 @@ +Subproject commit 402269e2a8ff3c1ee38f5f883690023ef31f6592 diff --git a/build/.cmake/api/v1/query/cache-v2 b/build/.cmake/api/v1/query/cache-v2 deleted file mode 100644 index e69de29..0000000 diff --git a/build/.cmake/api/v1/query/client-vscode/query.json b/build/.cmake/api/v1/query/client-vscode/query.json deleted file mode 100644 index 82bb964..0000000 --- a/build/.cmake/api/v1/query/client-vscode/query.json +++ /dev/null @@ -1 +0,0 @@ -{"requests":[{"kind":"cache","version":2},{"kind":"codemodel","version":2},{"kind":"toolchains","version":1},{"kind":"cmakeFiles","version":1}]} \ No newline at end of file diff --git a/build/.cmake/api/v1/query/cmakeFiles-v1 b/build/.cmake/api/v1/query/cmakeFiles-v1 deleted file mode 100644 index e69de29..0000000 diff --git a/build/.cmake/api/v1/query/codemodel-v2 b/build/.cmake/api/v1/query/codemodel-v2 deleted file mode 100644 index e69de29..0000000 diff --git a/build/.cmake/api/v1/reply.prev/cache-v2-852d9a2fa9e344be9821.json b/build/.cmake/api/v1/reply.prev/cache-v2-852d9a2fa9e344be9821.json deleted file mode 100644 index 281070c..0000000 --- a/build/.cmake/api/v1/reply.prev/cache-v2-852d9a2fa9e344be9821.json +++ /dev/null @@ -1,7163 +0,0 @@ -{ - 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Projects should use them to provide a -# consistent set of prefix-relative destinations. -if(NOT QT_DEPLOY_BIN_DIR) - set(QT_DEPLOY_BIN_DIR "bin") -endif() -if(NOT QT_DEPLOY_LIB_DIR) - set(QT_DEPLOY_LIB_DIR "lib") -endif() -if(NOT QT_DEPLOY_PLUGINS_DIR) - set(QT_DEPLOY_PLUGINS_DIR "plugins") -endif() -if(NOT QT_DEPLOY_QML_DIR) - set(QT_DEPLOY_QML_DIR "qml") -endif() -if(NOT QT_DEPLOY_PREFIX) - set(QT_DEPLOY_PREFIX "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") -endif() -if(QT_DEPLOY_PREFIX STREQUAL "") - set(QT_DEPLOY_PREFIX .) -endif() - -# These are internal implementation details. They may be removed at any time. -set(__QT_DEPLOY_SYSTEM_NAME "Linux") -set(__QT_DEPLOY_IS_SHARED_LIBS_BUILD "ON") -set(__QT_DEPLOY_TOOL "") -set(__QT_DEPLOY_IMPL_DIR "/home/shakuevda/Desktop/UMAS/UMAS_GUI/build/.qt") -set(__QT_DEPLOY_VERBOSE "") -set(__QT_CMAKE_EXPORT_NAMESPACE "Qt6") -set(__QT_DEPLOY_GENERATOR_IS_MULTI_CONFIG "0") -set(__QT_DEPLOY_ACTIVE_CONFIG "Debug") -set(__QT_NO_CREATE_VERSIONLESS_FUNCTIONS "") -set(__QT_DEFAULT_MAJOR_VERSION "6") - -# Define the CMake commands to be made available during deployment. -set(__qt_deploy_support_files - "/home/shakuevda/Qt/6.4.2/gcc_64/lib/cmake/Qt6Core/Qt6CoreDeploySupport.cmake" -) -foreach(__qt_deploy_support_file IN LISTS __qt_deploy_support_files) - include("${__qt_deploy_support_file}") -endforeach() - -unset(__qt_deploy_support_file) -unset(__qt_deploy_support_files) diff --git a/build/.qtc/package-manager/auto-setup.cmake b/build/.qtc/package-manager/auto-setup.cmake deleted file mode 100644 index 4689cc9..0000000 --- a/build/.qtc/package-manager/auto-setup.cmake +++ /dev/null @@ -1,208 +0,0 @@ -# -# Internal Qt Creator variable reference -# -foreach(qtcreator_var - QT_QMAKE_EXECUTABLE CMAKE_PREFIX_PATH CMAKE_C_COMPILER CMAKE_CXX_COMPILER - CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELWITHDEBINFO) - set(__just_reference_${qtcreator_var} ${${qtcreator_var}}) -endforeach() - -if (EXISTS "${CMAKE_SOURCE_DIR}/QtCreatorPackageManager.cmake") - include("${CMAKE_SOURCE_DIR}/QtCreatorPackageManager.cmake") -endif() - -if (QT_CREATOR_SKIP_PACKAGE_MANAGER_SETUP) - return() -endif() -option(QT_CREATOR_SKIP_PACKAGE_MANAGER_SETUP "Skip Qt Creator's package manager auto-setup" OFF) - -# -# conan -# -macro(qtc_auto_setup_conan) - foreach(file conanfile.txt conanfile.py) - if (EXISTS "${CMAKE_SOURCE_DIR}/${file}") - set(conanfile_txt "${CMAKE_SOURCE_DIR}/${file}") - break() - endif() - endforeach() - - if (conanfile_txt AND NOT QT_CREATOR_SKIP_CONAN_SETUP) - option(QT_CREATOR_SKIP_CONAN_SETUP "Skip Qt Creator's conan package manager auto-setup" OFF) - set(QT_CREATOR_CONAN_BUILD_POLICY "missing" CACHE STRING "Qt Creator's conan package manager auto-setup build policy. This is used for the BUILD property of cmake_conan_run") - - find_program(conan_program conan) - if (NOT conan_program) - message(WARNING "Qt Creator: conan executable not found. " - "Package manager auto-setup will be skipped. " - "To disable this warning set QT_CREATOR_SKIP_CONAN_SETUP to ON.") - return() - endif() - execute_process(COMMAND ${conan_program} --version - RESULT_VARIABLE result_code - OUTPUT_VARIABLE conan_version_output - ERROR_VARIABLE conan_version_output) - if (NOT result_code EQUAL 0) - message(FATAL_ERROR "conan --version failed='${result_code}: ${conan_version_output}") - endif() - - string(REGEX REPLACE ".*Conan version ([0-9].[0-9]).*" "\\1" conan_version "${conan_version_output}") - - set(conanfile_timestamp_file "${CMAKE_BINARY_DIR}/conan-dependencies/conanfile.timestamp") - file(TIMESTAMP "${conanfile_txt}" conanfile_timestamp) - - set(do_conan_installation ON) - if (EXISTS "${conanfile_timestamp_file}") - file(READ "${conanfile_timestamp_file}" old_conanfile_timestamp) - if ("${conanfile_timestamp}" STREQUAL "${old_conanfile_timestamp}") - set(do_conan_installation OFF) - endif() - endif() - - set(conanfile_build_policy_file "${CMAKE_BINARY_DIR}/conan-dependencies/conanfile.buildpolicy") - if (EXISTS "${conanfile_build_policy_file}") - file(READ "${conanfile_build_policy_file}" build_policy) - if (NOT "${build_policy}" STREQUAL "${QT_CREATOR_CONAN_BUILD_POLICY}") - set(do_conan_installation ON) - endif() - endif() - - if (do_conan_installation) - message(STATUS "Qt Creator: conan package manager auto-setup. " - "Skip this step by setting QT_CREATOR_SKIP_CONAN_SETUP to ON.") - - file(COPY "${conanfile_txt}" DESTINATION "${CMAKE_BINARY_DIR}/conan-dependencies/") - - file(WRITE "${CMAKE_BINARY_DIR}/conan-dependencies/toolchain.cmake" " - set(CMAKE_C_COMPILER \"${CMAKE_C_COMPILER}\") - set(CMAKE_CXX_COMPILER \"${CMAKE_CXX_COMPILER}\") - ") - if (CMAKE_TOOLCHAIN_FILE) - file(APPEND "${CMAKE_BINARY_DIR}/conan-dependencies/toolchain.cmake" - "include(\"${CMAKE_TOOLCHAIN_FILE}\")\n") - endif() - - file(WRITE "${CMAKE_BINARY_DIR}/conan-dependencies/CMakeLists.txt" " - cmake_minimum_required(VERSION 3.15) - - unset(CMAKE_PROJECT_INCLUDE_BEFORE CACHE) - project(conan-setup) - - if (${conan_version} VERSION_GREATER_EQUAL 2.0) - include(\"${CMAKE_CURRENT_LIST_DIR}/conan_support.cmake\") - conan_profile_detect_default() - detect_host_profile(\"${CMAKE_BINARY_DIR}/conan-dependencies/conan_host_profile\") - - conan_install( - -pr \"${CMAKE_BINARY_DIR}/conan-dependencies/conan_host_profile\" - --build=${QT_CREATOR_CONAN_BUILD_POLICY} - -s build_type=${CMAKE_BUILD_TYPE} - -g CMakeDeps) - if (CONAN_INSTALL_SUCCESS) - file(WRITE \"${CMAKE_BINARY_DIR}/conan-dependencies/conan_paths.cmake\" \" - list(PREPEND CMAKE_PREFIX_PATH \\\"\${CONAN_GENERATORS_FOLDER}\\\") - list(PREPEND CMAKE_MODULE_PATH \\\"\${CONAN_GENERATORS_FOLDER}\\\") - \") - endif() - else() - include(\"${CMAKE_CURRENT_LIST_DIR}/conan.cmake\") - conan_cmake_run( - CONANFILE \"${conanfile_txt}\" - INSTALL_FOLDER \"${CMAKE_BINARY_DIR}/conan-dependencies\" - GENERATORS cmake_paths cmake_find_package json - BUILD ${QT_CREATOR_CONAN_BUILD_POLICY} - ENV CONAN_CMAKE_TOOLCHAIN_FILE=\"${CMAKE_BINARY_DIR}/conan-dependencies/toolchain.cmake\" - ) - endif() - ") - - execute_process(COMMAND ${CMAKE_COMMAND} - -S "${CMAKE_BINARY_DIR}/conan-dependencies/" - -B "${CMAKE_BINARY_DIR}/conan-dependencies/build" - -C "${CMAKE_BINARY_DIR}/qtcsettings.cmake" - -D "CMAKE_TOOLCHAIN_FILE=${CMAKE_BINARY_DIR}/conan-dependencies/toolchain.cmake" - -G ${CMAKE_GENERATOR} - -D CMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} - RESULT_VARIABLE result - ) - if (result EQUAL 0) - file(WRITE "${conanfile_timestamp_file}" "${conanfile_timestamp}") - file(WRITE "${conanfile_build_policy_file}" ${QT_CREATOR_CONAN_BUILD_POLICY}) - else() - message(WARNING "Qt Creator's conan package manager auto-setup failed. Consider setting " - "QT_CREATOR_SKIP_CONAN_SETUP to ON and reconfigure to skip this step.") - return() - endif() - endif() - - include("${CMAKE_BINARY_DIR}/conan-dependencies/conan_paths.cmake") - endif() - unset(conanfile_txt) -endmacro() -qtc_auto_setup_conan() - -# -# vcpkg -# -macro(qtc_auto_setup_vcpkg) - if (EXISTS "${CMAKE_SOURCE_DIR}/vcpkg.json" AND NOT QT_CREATOR_SKIP_VCPKG_SETUP) - option(QT_CREATOR_SKIP_VCPKG_SETUP "Skip Qt Creator's vcpkg package manager auto-setup" OFF) - - find_program(vcpkg_program vcpkg) - if (NOT vcpkg_program) - message(WARNING "Qt Creator: vcpkg executable not found. " - "Package manager auto-setup will be skipped. " - "To disable this warning set QT_CREATOR_SKIP_VCPKG_SETUP to ON.") - return() - endif() - execute_process(COMMAND ${vcpkg_program} version - RESULT_VARIABLE result_code - OUTPUT_VARIABLE vcpkg_version_output - ERROR_VARIABLE vcpkg_version_output) - if (NOT result_code EQUAL 0) - message(FATAL_ERROR "vcpkg version failed='${result_code}: ${vcpkg_version_output}") - endif() - - # Resolve any symlinks - get_filename_component(vpkg_program_real_path ${vcpkg_program} REALPATH) - get_filename_component(vpkg_root ${vpkg_program_real_path} DIRECTORY) - - if (NOT EXISTS "${CMAKE_BINARY_DIR}/vcpkg-dependencies/toolchain.cmake") - message(STATUS "Qt Creator: vcpkg package manager auto-setup. " - "Skip this step by setting QT_CREATOR_SKIP_VCPKG_SETUP to ON.") - - file(WRITE "${CMAKE_BINARY_DIR}/vcpkg-dependencies/toolchain.cmake" " - set(CMAKE_C_COMPILER \"${CMAKE_C_COMPILER}\") - set(CMAKE_CXX_COMPILER \"${CMAKE_CXX_COMPILER}\") - ") - if (CMAKE_TOOLCHAIN_FILE AND NOT - CMAKE_TOOLCHAIN_FILE STREQUAL "${CMAKE_BINARY_DIR}/vcpkg-dependencies/toolchain.cmake") - file(APPEND "${CMAKE_BINARY_DIR}/vcpkg-dependencies/toolchain.cmake" - "include(\"${CMAKE_TOOLCHAIN_FILE}\")\n") - endif() - - if (VCPKG_TARGET_TRIPLET) - set(vcpkg_triplet ${VCPKG_TARGET_TRIPLET}) - else() - if (WIN32) - set(vcpkg_triplet x64-mingw-static) - if (CMAKE_CXX_COMPILER MATCHES ".*/(.*)/cl.exe") - set(vcpkg_triplet ${CMAKE_MATCH_1}-windows) - endif() - elseif(APPLE) - set(vcpkg_triplet x64-osx) - else() - set(vcpkg_triplet x64-linux) - endif() - endif() - - file(APPEND "${CMAKE_BINARY_DIR}/vcpkg-dependencies/toolchain.cmake" " - set(VCPKG_TARGET_TRIPLET ${vcpkg_triplet}) - include(\"${vpkg_root}/scripts/buildsystems/vcpkg.cmake\") - ") - endif() - - set(CMAKE_TOOLCHAIN_FILE "${CMAKE_BINARY_DIR}/vcpkg-dependencies/toolchain.cmake" CACHE PATH "" FORCE) - endif() -endmacro() -qtc_auto_setup_vcpkg() diff --git a/build/.qtc/package-manager/conan.cmake b/build/.qtc/package-manager/conan.cmake deleted file mode 100644 index 4f5f67e..0000000 --- a/build/.qtc/package-manager/conan.cmake +++ /dev/null @@ -1,1026 +0,0 @@ -# The MIT License (MIT) - -# Copyright (c) 2018 JFrog - -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: - -# The above copyright notice and this permission notice shall be included in all -# copies or substantial portions of the Software. - -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -# SOFTWARE. - - - -# This file comes from: https://github.com/conan-io/cmake-conan. Please refer -# to this repository for issues and documentation. - -# Its purpose is to wrap and launch Conan C/C++ Package Manager when cmake is called. -# It will take CMake current settings (os, compiler, compiler version, architecture) -# and translate them to conan settings for installing and retrieving dependencies. - -# It is intended to facilitate developers building projects that have conan dependencies, -# but it is only necessary on the end-user side. It is not necessary to create conan -# packages, in fact it shouldn't be use for that. Check the project documentation. - -# version: 0.18.1 - -include(CMakeParseArguments) - -function(_get_msvc_ide_version result) - set(${result} "" PARENT_SCOPE) - if(NOT MSVC_VERSION VERSION_LESS 1400 AND MSVC_VERSION VERSION_LESS 1500) - set(${result} 8 PARENT_SCOPE) - elseif(NOT MSVC_VERSION VERSION_LESS 1500 AND MSVC_VERSION VERSION_LESS 1600) - set(${result} 9 PARENT_SCOPE) - elseif(NOT MSVC_VERSION VERSION_LESS 1600 AND MSVC_VERSION VERSION_LESS 1700) - set(${result} 10 PARENT_SCOPE) - elseif(NOT MSVC_VERSION VERSION_LESS 1700 AND MSVC_VERSION VERSION_LESS 1800) - set(${result} 11 PARENT_SCOPE) - elseif(NOT MSVC_VERSION VERSION_LESS 1800 AND MSVC_VERSION VERSION_LESS 1900) - set(${result} 12 PARENT_SCOPE) - elseif(NOT MSVC_VERSION VERSION_LESS 1900 AND MSVC_VERSION VERSION_LESS 1910) - set(${result} 14 PARENT_SCOPE) - elseif(NOT MSVC_VERSION VERSION_LESS 1910 AND MSVC_VERSION VERSION_LESS 1920) - set(${result} 15 PARENT_SCOPE) - elseif(NOT MSVC_VERSION VERSION_LESS 1920 AND MSVC_VERSION VERSION_LESS 1930) - set(${result} 16 PARENT_SCOPE) - elseif(NOT MSVC_VERSION VERSION_LESS 1930 AND MSVC_VERSION VERSION_LESS 1940) - set(${result} 17 PARENT_SCOPE) - else() - message(FATAL_ERROR "Conan: Unknown MSVC compiler version [${MSVC_VERSION}]") - endif() -endfunction() - -macro(_conan_detect_build_type) - conan_parse_arguments(${ARGV}) - - if(ARGUMENTS_BUILD_TYPE) - set(_CONAN_SETTING_BUILD_TYPE ${ARGUMENTS_BUILD_TYPE}) - elseif(CMAKE_BUILD_TYPE) - set(_CONAN_SETTING_BUILD_TYPE ${CMAKE_BUILD_TYPE}) - else() - message(FATAL_ERROR "Please specify in command line CMAKE_BUILD_TYPE (-DCMAKE_BUILD_TYPE=Release)") - endif() - - string(TOUPPER ${_CONAN_SETTING_BUILD_TYPE} _CONAN_SETTING_BUILD_TYPE_UPPER) - if (_CONAN_SETTING_BUILD_TYPE_UPPER STREQUAL "DEBUG") - set(_CONAN_SETTING_BUILD_TYPE "Debug") - elseif(_CONAN_SETTING_BUILD_TYPE_UPPER STREQUAL "RELEASE") - set(_CONAN_SETTING_BUILD_TYPE "Release") - elseif(_CONAN_SETTING_BUILD_TYPE_UPPER STREQUAL "RELWITHDEBINFO") - set(_CONAN_SETTING_BUILD_TYPE "RelWithDebInfo") - elseif(_CONAN_SETTING_BUILD_TYPE_UPPER STREQUAL "MINSIZEREL") - set(_CONAN_SETTING_BUILD_TYPE "MinSizeRel") - endif() -endmacro() - -macro(_conan_check_system_name) - #handle -s os setting - if(CMAKE_SYSTEM_NAME AND NOT CMAKE_SYSTEM_NAME STREQUAL "Generic") - #use default conan os setting if CMAKE_SYSTEM_NAME is not defined - set(CONAN_SYSTEM_NAME ${CMAKE_SYSTEM_NAME}) - if(${CMAKE_SYSTEM_NAME} STREQUAL "Darwin") - set(CONAN_SYSTEM_NAME Macos) - endif() - if(${CMAKE_SYSTEM_NAME} STREQUAL "QNX") - set(CONAN_SYSTEM_NAME Neutrino) - endif() - set(CONAN_SUPPORTED_PLATFORMS Windows Linux Macos Android iOS FreeBSD WindowsStore WindowsCE watchOS tvOS FreeBSD SunOS AIX Arduino Emscripten Neutrino) - list (FIND CONAN_SUPPORTED_PLATFORMS "${CONAN_SYSTEM_NAME}" _index) - if (${_index} GREATER -1) - #check if the cmake system is a conan supported one - set(_CONAN_SETTING_OS ${CONAN_SYSTEM_NAME}) - else() - message(FATAL_ERROR "cmake system ${CONAN_SYSTEM_NAME} is not supported by conan. Use one of ${CONAN_SUPPORTED_PLATFORMS}") - endif() - endif() -endmacro() - -macro(_conan_check_language) - get_property(_languages GLOBAL PROPERTY ENABLED_LANGUAGES) - if (";${_languages};" MATCHES ";CXX;") - set(LANGUAGE CXX) - set(USING_CXX 1) - elseif (";${_languages};" MATCHES ";C;") - set(LANGUAGE C) - set(USING_CXX 0) - else () - message(FATAL_ERROR "Conan: Neither C or C++ was detected as a language for the project. Unabled to detect compiler version.") - endif() -endmacro() - -macro(_conan_detect_compiler) - - conan_parse_arguments(${ARGV}) - - if(ARGUMENTS_ARCH) - set(_CONAN_SETTING_ARCH ${ARGUMENTS_ARCH}) - endif() - - if(USING_CXX) - set(_CONAN_SETTING_COMPILER_CPPSTD ${CMAKE_CXX_STANDARD}) - endif() - - if (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL GNU) - # using GCC - # TODO: Handle other params - string(REPLACE "." ";" VERSION_LIST ${CMAKE_${LANGUAGE}_COMPILER_VERSION}) - list(GET VERSION_LIST 0 MAJOR) - list(GET VERSION_LIST 1 MINOR) - set(COMPILER_VERSION ${MAJOR}.${MINOR}) - if(${MAJOR} GREATER 4) - set(COMPILER_VERSION ${MAJOR}) - endif() - set(_CONAN_SETTING_COMPILER gcc) - set(_CONAN_SETTING_COMPILER_VERSION ${COMPILER_VERSION}) - if (USING_CXX) - conan_cmake_detect_unix_libcxx(_LIBCXX) - set(_CONAN_SETTING_COMPILER_LIBCXX ${_LIBCXX}) - endif () - elseif (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL Intel) - string(REPLACE "." ";" VERSION_LIST ${CMAKE_${LANGUAGE}_COMPILER_VERSION}) - list(GET VERSION_LIST 0 MAJOR) - list(GET VERSION_LIST 1 MINOR) - set(COMPILER_VERSION ${MAJOR}.${MINOR}) - set(_CONAN_SETTING_COMPILER intel) - set(_CONAN_SETTING_COMPILER_VERSION ${COMPILER_VERSION}) - if (USING_CXX) - conan_cmake_detect_unix_libcxx(_LIBCXX) - set(_CONAN_SETTING_COMPILER_LIBCXX ${_LIBCXX}) - endif () - elseif (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL AppleClang) - # using AppleClang - string(REPLACE "." ";" VERSION_LIST ${CMAKE_${LANGUAGE}_COMPILER_VERSION}) - list(GET VERSION_LIST 0 MAJOR) - list(GET VERSION_LIST 1 MINOR) - set(_CONAN_SETTING_COMPILER apple-clang) - set(_CONAN_SETTING_COMPILER_VERSION ${MAJOR}.${MINOR}) - if (USING_CXX) - conan_cmake_detect_unix_libcxx(_LIBCXX) - set(_CONAN_SETTING_COMPILER_LIBCXX ${_LIBCXX}) - endif () - elseif (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL Clang - AND NOT "${CMAKE_${LANGUAGE}_COMPILER_FRONTEND_VARIANT}" STREQUAL "MSVC" - AND NOT "${CMAKE_${LANGUAGE}_SIMULATE_ID}" STREQUAL "MSVC") - - string(REPLACE "." ";" VERSION_LIST ${CMAKE_${LANGUAGE}_COMPILER_VERSION}) - list(GET VERSION_LIST 0 MAJOR) - list(GET VERSION_LIST 1 MINOR) - set(_CONAN_SETTING_COMPILER clang) - set(_CONAN_SETTING_COMPILER_VERSION ${MAJOR}.${MINOR}) - if(APPLE) - cmake_policy(GET CMP0025 APPLE_CLANG_POLICY) - if(NOT APPLE_CLANG_POLICY STREQUAL NEW) - message(STATUS "Conan: APPLE and Clang detected. Assuming apple-clang compiler. Set CMP0025 to avoid it") - set(_CONAN_SETTING_COMPILER apple-clang) - endif() - endif() - if(${_CONAN_SETTING_COMPILER} STREQUAL clang AND ${MAJOR} GREATER 7) - set(_CONAN_SETTING_COMPILER_VERSION ${MAJOR}) - endif() - if (USING_CXX) - conan_cmake_detect_unix_libcxx(_LIBCXX) - set(_CONAN_SETTING_COMPILER_LIBCXX ${_LIBCXX}) - endif () - elseif(${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL MSVC - OR (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL Clang - AND "${CMAKE_${LANGUAGE}_COMPILER_FRONTEND_VARIANT}" STREQUAL "MSVC" - AND "${CMAKE_${LANGUAGE}_SIMULATE_ID}" STREQUAL "MSVC")) - - set(_VISUAL "Visual Studio") - _get_msvc_ide_version(_VISUAL_VERSION) - if("${_VISUAL_VERSION}" STREQUAL "") - message(FATAL_ERROR "Conan: Visual Studio not recognized") - else() - set(_CONAN_SETTING_COMPILER ${_VISUAL}) - set(_CONAN_SETTING_COMPILER_VERSION ${_VISUAL_VERSION}) - endif() - - if(NOT _CONAN_SETTING_ARCH) - if (MSVC_${LANGUAGE}_ARCHITECTURE_ID MATCHES "64") - set(_CONAN_SETTING_ARCH x86_64) - elseif (MSVC_${LANGUAGE}_ARCHITECTURE_ID MATCHES "^ARM") - message(STATUS "Conan: Using default ARM architecture from MSVC") - set(_CONAN_SETTING_ARCH armv6) - elseif (MSVC_${LANGUAGE}_ARCHITECTURE_ID MATCHES "86") - set(_CONAN_SETTING_ARCH x86) - else () - message(FATAL_ERROR "Conan: Unknown MSVC architecture [${MSVC_${LANGUAGE}_ARCHITECTURE_ID}]") - endif() - endif() - - conan_cmake_detect_vs_runtime(_vs_runtime ${ARGV}) - message(STATUS "Conan: Detected VS runtime: ${_vs_runtime}") - set(_CONAN_SETTING_COMPILER_RUNTIME ${_vs_runtime}) - - if (CMAKE_GENERATOR_TOOLSET) - set(_CONAN_SETTING_COMPILER_TOOLSET ${CMAKE_VS_PLATFORM_TOOLSET}) - elseif(CMAKE_VS_PLATFORM_TOOLSET AND (CMAKE_GENERATOR STREQUAL "Ninja")) - set(_CONAN_SETTING_COMPILER_TOOLSET ${CMAKE_VS_PLATFORM_TOOLSET}) - endif() - else() - message(FATAL_ERROR "Conan: compiler setup not recognized") - endif() - -endmacro() - -function(conan_cmake_settings result) - #message(STATUS "COMPILER " ${CMAKE_CXX_COMPILER}) - #message(STATUS "COMPILER " ${CMAKE_CXX_COMPILER_ID}) - #message(STATUS "VERSION " ${CMAKE_CXX_COMPILER_VERSION}) - #message(STATUS "FLAGS " ${CMAKE_LANG_FLAGS}) - #message(STATUS "LIB ARCH " ${CMAKE_CXX_LIBRARY_ARCHITECTURE}) - #message(STATUS "BUILD TYPE " ${CMAKE_BUILD_TYPE}) - #message(STATUS "GENERATOR " ${CMAKE_GENERATOR}) - #message(STATUS "GENERATOR WIN64 " ${CMAKE_CL_64}) - - message(STATUS "Conan: Automatic detection of conan settings from cmake") - - conan_parse_arguments(${ARGV}) - - _conan_detect_build_type(${ARGV}) - - _conan_check_system_name() - - _conan_check_language() - - _conan_detect_compiler(${ARGV}) - - # If profile is defined it is used - if(CMAKE_BUILD_TYPE STREQUAL "Debug" AND ARGUMENTS_DEBUG_PROFILE) - set(_APPLIED_PROFILES ${ARGUMENTS_DEBUG_PROFILE}) - elseif(CMAKE_BUILD_TYPE STREQUAL "Release" AND ARGUMENTS_RELEASE_PROFILE) - set(_APPLIED_PROFILES ${ARGUMENTS_RELEASE_PROFILE}) - elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo" AND ARGUMENTS_RELWITHDEBINFO_PROFILE) - set(_APPLIED_PROFILES ${ARGUMENTS_RELWITHDEBINFO_PROFILE}) - elseif(CMAKE_BUILD_TYPE STREQUAL "MinSizeRel" AND ARGUMENTS_MINSIZEREL_PROFILE) - set(_APPLIED_PROFILES ${ARGUMENTS_MINSIZEREL_PROFILE}) - elseif(ARGUMENTS_PROFILE) - set(_APPLIED_PROFILES ${ARGUMENTS_PROFILE}) - endif() - - foreach(ARG ${_APPLIED_PROFILES}) - set(_SETTINGS ${_SETTINGS} -pr=${ARG}) - endforeach() - foreach(ARG ${ARGUMENTS_PROFILE_BUILD}) - conan_check(VERSION 1.24.0 REQUIRED DETECT_QUIET) - set(_SETTINGS ${_SETTINGS} -pr:b=${ARG}) - endforeach() - - if(NOT _SETTINGS OR ARGUMENTS_PROFILE_AUTO STREQUAL "ALL") - set(ARGUMENTS_PROFILE_AUTO arch build_type compiler compiler.version - compiler.runtime compiler.libcxx compiler.toolset) - endif() - - # remove any manually specified settings from the autodetected settings - foreach(ARG ${ARGUMENTS_SETTINGS}) - string(REGEX MATCH "[^=]*" MANUAL_SETTING "${ARG}") - message(STATUS "Conan: ${MANUAL_SETTING} was added as an argument. Not using the autodetected one.") - list(REMOVE_ITEM ARGUMENTS_PROFILE_AUTO "${MANUAL_SETTING}") - endforeach() - - # Automatic from CMake - foreach(ARG ${ARGUMENTS_PROFILE_AUTO}) - string(TOUPPER ${ARG} _arg_name) - string(REPLACE "." "_" _arg_name ${_arg_name}) - if(_CONAN_SETTING_${_arg_name}) - set(_SETTINGS ${_SETTINGS} -s ${ARG}=${_CONAN_SETTING_${_arg_name}}) - endif() - endforeach() - - foreach(ARG ${ARGUMENTS_SETTINGS}) - set(_SETTINGS ${_SETTINGS} -s ${ARG}) - endforeach() - - message(STATUS "Conan: Settings= ${_SETTINGS}") - - set(${result} ${_SETTINGS} PARENT_SCOPE) -endfunction() - - -function(conan_cmake_detect_unix_libcxx result) - # Take into account any -stdlib in compile options - get_directory_property(compile_options DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} COMPILE_OPTIONS) - string(GENEX_STRIP "${compile_options}" compile_options) - - # Take into account any _GLIBCXX_USE_CXX11_ABI in compile definitions - get_directory_property(defines DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} COMPILE_DEFINITIONS) - string(GENEX_STRIP "${defines}" defines) - - foreach(define ${defines}) - if(define MATCHES "_GLIBCXX_USE_CXX11_ABI") - if(define MATCHES "^-D") - set(compile_options ${compile_options} "${define}") - else() - set(compile_options ${compile_options} "-D${define}") - endif() - endif() - endforeach() - - # add additional compiler options ala cmRulePlaceholderExpander::ExpandRuleVariable - set(EXPAND_CXX_COMPILER ${CMAKE_CXX_COMPILER}) - if(CMAKE_CXX_COMPILER_ARG1) - # CMake splits CXX="foo bar baz" into CMAKE_CXX_COMPILER="foo", CMAKE_CXX_COMPILER_ARG1="bar baz" - # without this, ccache, winegcc, or other wrappers might lose all their arguments - separate_arguments(SPLIT_CXX_COMPILER_ARG1 NATIVE_COMMAND ${CMAKE_CXX_COMPILER_ARG1}) - list(APPEND EXPAND_CXX_COMPILER ${SPLIT_CXX_COMPILER_ARG1}) - endif() - - if(CMAKE_CXX_COMPILE_OPTIONS_TARGET AND CMAKE_CXX_COMPILER_TARGET) - # without --target= we may be calling the wrong underlying GCC - list(APPEND EXPAND_CXX_COMPILER "${CMAKE_CXX_COMPILE_OPTIONS_TARGET}${CMAKE_CXX_COMPILER_TARGET}") - endif() - - if(CMAKE_CXX_COMPILE_OPTIONS_EXTERNAL_TOOLCHAIN AND CMAKE_CXX_COMPILER_EXTERNAL_TOOLCHAIN) - list(APPEND EXPAND_CXX_COMPILER "${CMAKE_CXX_COMPILE_OPTIONS_EXTERNAL_TOOLCHAIN}${CMAKE_CXX_COMPILER_EXTERNAL_TOOLCHAIN}") - endif() - - if(CMAKE_CXX_COMPILE_OPTIONS_SYSROOT) - # without --sysroot= we may find the wrong #include - if(CMAKE_SYSROOT_COMPILE) - list(APPEND EXPAND_CXX_COMPILER "${CMAKE_CXX_COMPILE_OPTIONS_SYSROOT}${CMAKE_SYSROOT_COMPILE}") - elseif(CMAKE_SYSROOT) - list(APPEND EXPAND_CXX_COMPILER "${CMAKE_CXX_COMPILE_OPTIONS_SYSROOT}${CMAKE_SYSROOT}") - endif() - endif() - - separate_arguments(SPLIT_CXX_FLAGS NATIVE_COMMAND ${CMAKE_CXX_FLAGS}) - - if(CMAKE_OSX_SYSROOT) - set(xcode_sysroot_option "--sysroot=${CMAKE_OSX_SYSROOT}") - endif() - - execute_process( - COMMAND ${CMAKE_COMMAND} -E echo "#include " - COMMAND ${EXPAND_CXX_COMPILER} ${SPLIT_CXX_FLAGS} -x c++ ${xcode_sysroot_option} ${compile_options} -E -dM - - OUTPUT_VARIABLE string_defines - ) - - if(string_defines MATCHES "#define __GLIBCXX__") - # Allow -D_GLIBCXX_USE_CXX11_ABI=ON/OFF as argument to cmake - if(DEFINED _GLIBCXX_USE_CXX11_ABI) - if(_GLIBCXX_USE_CXX11_ABI) - set(${result} libstdc++11 PARENT_SCOPE) - return() - else() - set(${result} libstdc++ PARENT_SCOPE) - return() - endif() - endif() - - if(string_defines MATCHES "#define _GLIBCXX_USE_CXX11_ABI 1\n") - set(${result} libstdc++11 PARENT_SCOPE) - else() - # Either the compiler is missing the define because it is old, and so - # it can't use the new abi, or the compiler was configured to use the - # old abi by the user or distro (e.g. devtoolset on RHEL/CentOS) - set(${result} libstdc++ PARENT_SCOPE) - endif() - else() - set(${result} libc++ PARENT_SCOPE) - endif() -endfunction() - -function(conan_cmake_detect_vs_runtime result) - - conan_parse_arguments(${ARGV}) - if(ARGUMENTS_BUILD_TYPE) - set(build_type "${ARGUMENTS_BUILD_TYPE}") - elseif(CMAKE_BUILD_TYPE) - set(build_type "${CMAKE_BUILD_TYPE}") - else() - message(FATAL_ERROR "Please specify in command line CMAKE_BUILD_TYPE (-DCMAKE_BUILD_TYPE=Release)") - endif() - - if(build_type) - string(TOUPPER "${build_type}" build_type) - endif() - set(variables CMAKE_CXX_FLAGS_${build_type} CMAKE_C_FLAGS_${build_type} CMAKE_CXX_FLAGS CMAKE_C_FLAGS) - foreach(variable ${variables}) - if(NOT "${${variable}}" STREQUAL "") - string(REPLACE " " ";" flags "${${variable}}") - foreach (flag ${flags}) - if("${flag}" STREQUAL "/MD" OR "${flag}" STREQUAL "/MDd" OR "${flag}" STREQUAL "/MT" OR "${flag}" STREQUAL "/MTd") - string(SUBSTRING "${flag}" 1 -1 runtime) - set(${result} "${runtime}" PARENT_SCOPE) - return() - endif() - endforeach() - endif() - endforeach() - if("${build_type}" STREQUAL "DEBUG") - set(${result} "MDd" PARENT_SCOPE) - else() - set(${result} "MD" PARENT_SCOPE) - endif() -endfunction() - -function(_collect_settings result) - set(ARGUMENTS_PROFILE_AUTO arch build_type compiler compiler.version - compiler.runtime compiler.libcxx compiler.toolset - compiler.cppstd) - foreach(ARG ${ARGUMENTS_PROFILE_AUTO}) - string(TOUPPER ${ARG} _arg_name) - string(REPLACE "." "_" _arg_name ${_arg_name}) - if(_CONAN_SETTING_${_arg_name}) - set(detected_setings ${detected_setings} ${ARG}=${_CONAN_SETTING_${_arg_name}}) - endif() - endforeach() - set(${result} ${detected_setings} PARENT_SCOPE) -endfunction() - -function(conan_cmake_autodetect detected_settings) - _conan_detect_build_type(${ARGV}) - _conan_check_system_name() - _conan_check_language() - _conan_detect_compiler(${ARGV}) - _collect_settings(collected_settings) - set(${detected_settings} ${collected_settings} PARENT_SCOPE) -endfunction() - -macro(conan_parse_arguments) - set(options BASIC_SETUP CMAKE_TARGETS UPDATE KEEP_RPATHS NO_LOAD NO_OUTPUT_DIRS OUTPUT_QUIET NO_IMPORTS SKIP_STD) - set(oneValueArgs CONANFILE ARCH BUILD_TYPE INSTALL_FOLDER OUTPUT_FOLDER CONAN_COMMAND) - set(multiValueArgs DEBUG_PROFILE RELEASE_PROFILE RELWITHDEBINFO_PROFILE MINSIZEREL_PROFILE - PROFILE REQUIRES OPTIONS IMPORTS SETTINGS BUILD ENV GENERATORS PROFILE_AUTO - INSTALL_ARGS CONFIGURATION_TYPES PROFILE_BUILD BUILD_REQUIRES) - cmake_parse_arguments(ARGUMENTS "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) -endmacro() - -function(old_conan_cmake_install) - # Calls "conan install" - # Argument BUILD is equivalant to --build={missing, PkgName,...} or - # --build when argument is 'BUILD all' (which builds all packages from source) - # Argument CONAN_COMMAND, to specify the conan path, e.g. in case of running from source - # cmake does not identify conan as command, even if it is +x and it is in the path - conan_parse_arguments(${ARGV}) - - if(CONAN_CMAKE_MULTI) - set(ARGUMENTS_GENERATORS ${ARGUMENTS_GENERATORS} cmake_multi) - else() - set(ARGUMENTS_GENERATORS ${ARGUMENTS_GENERATORS} cmake) - endif() - - set(CONAN_BUILD_POLICY "") - foreach(ARG ${ARGUMENTS_BUILD}) - if(${ARG} STREQUAL "all") - set(CONAN_BUILD_POLICY ${CONAN_BUILD_POLICY} --build) - break() - else() - set(CONAN_BUILD_POLICY ${CONAN_BUILD_POLICY} --build=${ARG}) - endif() - endforeach() - if(ARGUMENTS_CONAN_COMMAND) - set(CONAN_CMD ${ARGUMENTS_CONAN_COMMAND}) - else() - conan_check(REQUIRED) - endif() - set(CONAN_OPTIONS "") - if(ARGUMENTS_CONANFILE) - if(IS_ABSOLUTE ${ARGUMENTS_CONANFILE}) - set(CONANFILE ${ARGUMENTS_CONANFILE}) - else() - set(CONANFILE ${CMAKE_CURRENT_SOURCE_DIR}/${ARGUMENTS_CONANFILE}) - endif() - else() - set(CONANFILE ".") - endif() - foreach(ARG ${ARGUMENTS_OPTIONS}) - set(CONAN_OPTIONS ${CONAN_OPTIONS} -o=${ARG}) - endforeach() - if(ARGUMENTS_UPDATE) - set(CONAN_INSTALL_UPDATE --update) - endif() - if(ARGUMENTS_NO_IMPORTS) - set(CONAN_INSTALL_NO_IMPORTS --no-imports) - endif() - set(CONAN_INSTALL_FOLDER "") - if(ARGUMENTS_INSTALL_FOLDER) - set(CONAN_INSTALL_FOLDER -if=${ARGUMENTS_INSTALL_FOLDER}) - endif() - set(CONAN_OUTPUT_FOLDER "") - if(ARGUMENTS_OUTPUT_FOLDER) - set(CONAN_OUTPUT_FOLDER -of=${ARGUMENTS_OUTPUT_FOLDER}) - endif() - foreach(ARG ${ARGUMENTS_GENERATORS}) - set(CONAN_GENERATORS ${CONAN_GENERATORS} -g=${ARG}) - endforeach() - foreach(ARG ${ARGUMENTS_ENV}) - set(CONAN_ENV_VARS ${CONAN_ENV_VARS} -e=${ARG}) - endforeach() - set(conan_args install ${CONANFILE} ${settings} ${CONAN_ENV_VARS} ${CONAN_GENERATORS} ${CONAN_BUILD_POLICY} ${CONAN_INSTALL_UPDATE} ${CONAN_INSTALL_NO_IMPORTS} ${CONAN_OPTIONS} ${CONAN_INSTALL_FOLDER} ${ARGUMENTS_INSTALL_ARGS}) - - string (REPLACE ";" " " _conan_args "${conan_args}") - message(STATUS "Conan executing: ${CONAN_CMD} ${_conan_args}") - - if(ARGUMENTS_OUTPUT_QUIET) - execute_process(COMMAND ${CONAN_CMD} ${conan_args} - RESULT_VARIABLE return_code - OUTPUT_VARIABLE conan_output - ERROR_VARIABLE conan_output - WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}) - else() - execute_process(COMMAND ${CONAN_CMD} ${conan_args} - RESULT_VARIABLE return_code - WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}) - endif() - - if(NOT "${return_code}" STREQUAL "0") - message(FATAL_ERROR "Conan install failed='${return_code}'") - endif() - -endfunction() - -function(conan_cmake_install) - if(DEFINED CONAN_COMMAND) - set(CONAN_CMD ${CONAN_COMMAND}) - else() - conan_check(REQUIRED) - endif() - - set(installOptions UPDATE NO_IMPORTS OUTPUT_QUIET ERROR_QUIET) - set(installOneValueArgs PATH_OR_REFERENCE REFERENCE REMOTE LOCKFILE LOCKFILE_OUT LOCKFILE_NODE_ID INSTALL_FOLDER OUTPUT_FOLDER) - set(installMultiValueArgs GENERATOR BUILD ENV ENV_HOST ENV_BUILD OPTIONS_HOST OPTIONS OPTIONS_BUILD PROFILE - PROFILE_HOST PROFILE_BUILD SETTINGS SETTINGS_HOST SETTINGS_BUILD) - cmake_parse_arguments(ARGS "${installOptions}" "${installOneValueArgs}" "${installMultiValueArgs}" ${ARGN}) - foreach(arg ${installOptions}) - if(ARGS_${arg}) - set(${arg} ${${arg}} ${ARGS_${arg}}) - endif() - endforeach() - foreach(arg ${installOneValueArgs}) - if(DEFINED ARGS_${arg}) - if("${arg}" STREQUAL "REMOTE") - set(flag "--remote") - elseif("${arg}" STREQUAL "LOCKFILE") - set(flag "--lockfile") - elseif("${arg}" STREQUAL "LOCKFILE_OUT") - set(flag "--lockfile-out") - elseif("${arg}" STREQUAL "LOCKFILE_NODE_ID") - set(flag "--lockfile-node-id") - elseif("${arg}" STREQUAL "INSTALL_FOLDER") - set(flag "--install-folder") - elseif("${arg}" STREQUAL "OUTPUT_FOLDER") - set(flag "--output-folder") - endif() - set(${arg} ${${arg}} ${flag} ${ARGS_${arg}}) - endif() - endforeach() - foreach(arg ${installMultiValueArgs}) - if(DEFINED ARGS_${arg}) - if("${arg}" STREQUAL "GENERATOR") - set(flag "--generator") - elseif("${arg}" STREQUAL "BUILD") - set(flag "--build") - elseif("${arg}" STREQUAL "ENV") - set(flag "--env") - elseif("${arg}" STREQUAL "ENV_HOST") - set(flag "--env:host") - elseif("${arg}" STREQUAL "ENV_BUILD") - set(flag "--env:build") - elseif("${arg}" STREQUAL "OPTIONS") - set(flag "--options") - elseif("${arg}" STREQUAL "OPTIONS_HOST") - set(flag "--options:host") - elseif("${arg}" STREQUAL "OPTIONS_BUILD") - set(flag "--options:build") - elseif("${arg}" STREQUAL "PROFILE") - set(flag "--profile") - elseif("${arg}" STREQUAL "PROFILE_HOST") - set(flag "--profile:host") - elseif("${arg}" STREQUAL "PROFILE_BUILD") - set(flag "--profile:build") - elseif("${arg}" STREQUAL "SETTINGS") - set(flag "--settings") - elseif("${arg}" STREQUAL "SETTINGS_HOST") - set(flag "--settings:host") - elseif("${arg}" STREQUAL "SETTINGS_BUILD") - set(flag "--settings:build") - endif() - list(LENGTH ARGS_${arg} numargs) - foreach(item ${ARGS_${arg}}) - if(${item} STREQUAL "all" AND ${arg} STREQUAL "BUILD") - set(${arg} "--build") - break() - endif() - set(${arg} ${${arg}} ${flag} ${item}) - endforeach() - endif() - endforeach() - if(DEFINED UPDATE) - set(UPDATE --update) - endif() - if(DEFINED NO_IMPORTS) - set(NO_IMPORTS --no-imports) - endif() - set(install_args install ${PATH_OR_REFERENCE} ${REFERENCE} ${UPDATE} ${NO_IMPORTS} ${REMOTE} ${LOCKFILE} ${LOCKFILE_OUT} ${LOCKFILE_NODE_ID} ${INSTALL_FOLDER} ${OUTPUT_FOLDER} - ${GENERATOR} ${BUILD} ${ENV} ${ENV_HOST} ${ENV_BUILD} ${OPTIONS} ${OPTIONS_HOST} ${OPTIONS_BUILD} - ${PROFILE} ${PROFILE_HOST} ${PROFILE_BUILD} ${SETTINGS} ${SETTINGS_HOST} ${SETTINGS_BUILD}) - - string(REPLACE ";" " " _install_args "${install_args}") - message(STATUS "Conan executing: ${CONAN_CMD} ${_install_args}") - - if(ARGS_OUTPUT_QUIET) - set(OUTPUT_OPT OUTPUT_QUIET) - endif() - if(ARGS_ERROR_QUIET) - set(ERROR_OPT ERROR_QUIET) - endif() - - execute_process(COMMAND ${CONAN_CMD} ${install_args} - RESULT_VARIABLE return_code - ${OUTPUT_OPT} - ${ERROR_OPT} - WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}) - - if(NOT "${return_code}" STREQUAL "0") - if (ARGS_ERROR_QUIET) - message(WARNING "Conan install failed='${return_code}'") - else() - message(FATAL_ERROR "Conan install failed='${return_code}'") - endif() - endif() - -endfunction() - -function(conan_cmake_lock_create) - if(DEFINED CONAN_COMMAND) - set(CONAN_CMD ${CONAN_COMMAND}) - else() - conan_check(REQUIRED) - endif() - - set(lockCreateOptions UPDATE BASE OUTPUT_QUIET ERROR_QUIET) - set(lockCreateOneValueArgs PATH REFERENCE REMOTE LOCKFILE LOCKFILE_OUT) - set(lockCreateMultiValueArgs BUILD ENV ENV_HOST ENV_BUILD OPTIONS_HOST OPTIONS OPTIONS_BUILD PROFILE - PROFILE_HOST PROFILE_BUILD SETTINGS SETTINGS_HOST SETTINGS_BUILD) - cmake_parse_arguments(ARGS "${lockCreateOptions}" "${lockCreateOneValueArgs}" "${lockCreateMultiValueArgs}" ${ARGN}) - foreach(arg ${lockCreateOptions}) - if(ARGS_${arg}) - set(${arg} ${${arg}} ${ARGS_${arg}}) - endif() - endforeach() - foreach(arg ${lockCreateOneValueArgs}) - if(DEFINED ARGS_${arg}) - if("${arg}" STREQUAL "REMOTE") - set(flag "--remote") - elseif("${arg}" STREQUAL "LOCKFILE") - set(flag "--lockfile") - elseif("${arg}" STREQUAL "LOCKFILE_OUT") - set(flag "--lockfile-out") - endif() - set(${arg} ${${arg}} ${flag} ${ARGS_${arg}}) - endif() - endforeach() - foreach(arg ${lockCreateMultiValueArgs}) - if(DEFINED ARGS_${arg}) - if("${arg}" STREQUAL "BUILD") - set(flag "--build") - elseif("${arg}" STREQUAL "ENV") - set(flag "--env") - elseif("${arg}" STREQUAL "ENV_HOST") - set(flag "--env:host") - elseif("${arg}" STREQUAL "ENV_BUILD") - set(flag "--env:build") - elseif("${arg}" STREQUAL "OPTIONS") - set(flag "--options") - elseif("${arg}" STREQUAL "OPTIONS_HOST") - set(flag "--options:host") - elseif("${arg}" STREQUAL "OPTIONS_BUILD") - set(flag "--options:build") - elseif("${arg}" STREQUAL "PROFILE") - set(flag "--profile") - elseif("${arg}" STREQUAL "PROFILE_HOST") - set(flag "--profile:host") - elseif("${arg}" STREQUAL "PROFILE_BUILD") - set(flag "--profile:build") - elseif("${arg}" STREQUAL "SETTINGS") - set(flag "--settings") - elseif("${arg}" STREQUAL "SETTINGS_HOST") - set(flag "--settings:host") - elseif("${arg}" STREQUAL "SETTINGS_BUILD") - set(flag "--settings:build") - endif() - list(LENGTH ARGS_${arg} numargs) - foreach(item ${ARGS_${arg}}) - if(${item} STREQUAL "all" AND ${arg} STREQUAL "BUILD") - set(${arg} "--build") - break() - endif() - set(${arg} ${${arg}} ${flag} ${item}) - endforeach() - endif() - endforeach() - if(DEFINED UPDATE) - set(UPDATE --update) - endif() - if(DEFINED BASE) - set(BASE --base) - endif() - set(lock_create_Args lock create ${PATH} ${REFERENCE} ${UPDATE} ${BASE} ${REMOTE} ${LOCKFILE} ${LOCKFILE_OUT} ${LOCKFILE_NODE_ID} ${INSTALL_FOLDER} - ${GENERATOR} ${BUILD} ${ENV} ${ENV_HOST} ${ENV_BUILD} ${OPTIONS} ${OPTIONS_HOST} ${OPTIONS_BUILD} - ${PROFILE} ${PROFILE_HOST} ${PROFILE_BUILD} ${SETTINGS} ${SETTINGS_HOST} ${SETTINGS_BUILD}) - - string(REPLACE ";" " " _lock_create_Args "${lock_create_Args}") - message(STATUS "Conan executing: ${CONAN_CMD} ${_lock_create_Args}") - - if(ARGS_OUTPUT_QUIET) - set(OUTPUT_OPT OUTPUT_QUIET) - endif() - if(ARGS_ERROR_QUIET) - set(ERROR_OPT ERROR_QUIET) - endif() - - execute_process(COMMAND ${CONAN_CMD} ${lock_create_Args} - RESULT_VARIABLE return_code - ${OUTPUT_OPT} - ${ERROR_OPT} - WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}) - - if(NOT "${return_code}" STREQUAL "0") - if (ARGS_ERROR_QUIET) - message(WARNING "Conan lock create failed='${return_code}'") - else() - message(FATAL_ERROR "Conan lock create failed='${return_code}'") - endif() - endif() -endfunction() - -function(conan_cmake_setup_conanfile) - conan_parse_arguments(${ARGV}) - if(ARGUMENTS_CONANFILE) - get_filename_component(_CONANFILE_NAME ${ARGUMENTS_CONANFILE} NAME) - # configure_file will make sure cmake re-runs when conanfile is updated - configure_file(${ARGUMENTS_CONANFILE} ${CMAKE_CURRENT_BINARY_DIR}/${_CONANFILE_NAME}.junk COPYONLY) - file(REMOVE ${CMAKE_CURRENT_BINARY_DIR}/${_CONANFILE_NAME}.junk) - else() - conan_cmake_generate_conanfile(ON ${ARGV}) - endif() -endfunction() - -function(conan_cmake_configure) - conan_cmake_generate_conanfile(OFF ${ARGV}) -endfunction() - -# Generate, writing in disk a conanfile.txt with the requires, options, and imports -# specified as arguments -# This will be considered as temporary file, generated in CMAKE_CURRENT_BINARY_DIR) -function(conan_cmake_generate_conanfile DEFAULT_GENERATOR) - - conan_parse_arguments(${ARGV}) - - set(_FN "${CMAKE_CURRENT_BINARY_DIR}/conanfile.txt") - file(WRITE ${_FN} "") - - if(DEFINED ARGUMENTS_REQUIRES) - file(APPEND ${_FN} "[requires]\n") - foreach(REQUIRE ${ARGUMENTS_REQUIRES}) - file(APPEND ${_FN} ${REQUIRE} "\n") - endforeach() - endif() - - if (DEFAULT_GENERATOR OR DEFINED ARGUMENTS_GENERATORS) - file(APPEND ${_FN} "[generators]\n") - if (DEFAULT_GENERATOR) - file(APPEND ${_FN} "cmake\n") - endif() - if (DEFINED ARGUMENTS_GENERATORS) - foreach(GENERATOR ${ARGUMENTS_GENERATORS}) - file(APPEND ${_FN} ${GENERATOR} "\n") - endforeach() - endif() - endif() - - if(DEFINED ARGUMENTS_BUILD_REQUIRES) - file(APPEND ${_FN} "[build_requires]\n") - foreach(BUILD_REQUIRE ${ARGUMENTS_BUILD_REQUIRES}) - file(APPEND ${_FN} ${BUILD_REQUIRE} "\n") - endforeach() - endif() - - if(DEFINED ARGUMENTS_IMPORTS) - file(APPEND ${_FN} "[imports]\n") - foreach(IMPORTS ${ARGUMENTS_IMPORTS}) - file(APPEND ${_FN} ${IMPORTS} "\n") - endforeach() - endif() - - if(DEFINED ARGUMENTS_OPTIONS) - file(APPEND ${_FN} "[options]\n") - foreach(OPTION ${ARGUMENTS_OPTIONS}) - file(APPEND ${_FN} ${OPTION} "\n") - endforeach() - endif() - -endfunction() - - -macro(conan_load_buildinfo) - if(CONAN_CMAKE_MULTI) - set(_CONANBUILDINFO conanbuildinfo_multi.cmake) - else() - set(_CONANBUILDINFO conanbuildinfo.cmake) - endif() - if(ARGUMENTS_INSTALL_FOLDER) - set(_CONANBUILDINFOFOLDER ${ARGUMENTS_INSTALL_FOLDER}) - else() - set(_CONANBUILDINFOFOLDER ${CMAKE_CURRENT_BINARY_DIR}) - endif() - # Checks for the existence of conanbuildinfo.cmake, and loads it - # important that it is macro, so variables defined at parent scope - if(EXISTS "${_CONANBUILDINFOFOLDER}/${_CONANBUILDINFO}") - message(STATUS "Conan: Loading ${_CONANBUILDINFO}") - include(${_CONANBUILDINFOFOLDER}/${_CONANBUILDINFO}) - else() - message(FATAL_ERROR "${_CONANBUILDINFO} doesn't exist in ${CMAKE_CURRENT_BINARY_DIR}") - endif() -endmacro() - - -macro(conan_cmake_run) - conan_parse_arguments(${ARGV}) - - if(ARGUMENTS_CONFIGURATION_TYPES AND NOT CMAKE_CONFIGURATION_TYPES) - message(WARNING "CONFIGURATION_TYPES should only be specified for multi-configuration generators") - elseif(ARGUMENTS_CONFIGURATION_TYPES AND ARGUMENTS_BUILD_TYPE) - message(WARNING "CONFIGURATION_TYPES and BUILD_TYPE arguments should not be defined at the same time.") - endif() - - if(CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE AND NOT CONAN_EXPORTED - AND NOT ARGUMENTS_BUILD_TYPE) - set(CONAN_CMAKE_MULTI ON) - if (NOT ARGUMENTS_CONFIGURATION_TYPES) - set(ARGUMENTS_CONFIGURATION_TYPES "Release;Debug") - endif() - message(STATUS "Conan: Using cmake-multi generator") - else() - set(CONAN_CMAKE_MULTI OFF) - endif() - - if(NOT CONAN_EXPORTED) - conan_cmake_setup_conanfile(${ARGV}) - if(CONAN_CMAKE_MULTI) - foreach(CMAKE_BUILD_TYPE ${ARGUMENTS_CONFIGURATION_TYPES}) - set(ENV{CONAN_IMPORT_PATH} ${CMAKE_BUILD_TYPE}) - conan_cmake_settings(settings ${ARGV}) - old_conan_cmake_install(SETTINGS ${settings} ${ARGV}) - endforeach() - set(CMAKE_BUILD_TYPE) - else() - conan_cmake_settings(settings ${ARGV}) - old_conan_cmake_install(SETTINGS ${settings} ${ARGV}) - endif() - endif() - - if (NOT ARGUMENTS_NO_LOAD) - conan_load_buildinfo() - endif() - - if(ARGUMENTS_BASIC_SETUP) - foreach(_option CMAKE_TARGETS KEEP_RPATHS NO_OUTPUT_DIRS SKIP_STD) - if(ARGUMENTS_${_option}) - if(${_option} STREQUAL "CMAKE_TARGETS") - list(APPEND _setup_options "TARGETS") - else() - list(APPEND _setup_options ${_option}) - endif() - endif() - endforeach() - conan_basic_setup(${_setup_options}) - endif() -endmacro() - -macro(conan_check) - # Checks conan availability in PATH - # Arguments REQUIRED, DETECT_QUIET and VERSION are optional - # Example usage: - # conan_check(VERSION 1.0.0 REQUIRED) - set(options REQUIRED DETECT_QUIET) - set(oneValueArgs VERSION) - cmake_parse_arguments(CONAN "${options}" "${oneValueArgs}" "" ${ARGN}) - if(NOT CONAN_DETECT_QUIET) - message(STATUS "Conan: checking conan executable") - endif() - - find_program(CONAN_CMD conan) - if(NOT CONAN_CMD AND CONAN_REQUIRED) - message(FATAL_ERROR "Conan executable not found! Please install conan.") - endif() - if(NOT CONAN_DETECT_QUIET) - message(STATUS "Conan: Found program ${CONAN_CMD}") - endif() - execute_process(COMMAND ${CONAN_CMD} --version - RESULT_VARIABLE return_code - OUTPUT_VARIABLE CONAN_VERSION_OUTPUT - ERROR_VARIABLE CONAN_VERSION_OUTPUT) - - if(NOT "${return_code}" STREQUAL "0") - message(FATAL_ERROR "Conan --version failed='${return_code}'") - endif() - - if(NOT CONAN_DETECT_QUIET) - string(STRIP "${CONAN_VERSION_OUTPUT}" _CONAN_VERSION_OUTPUT) - message(STATUS "Conan: Version found ${_CONAN_VERSION_OUTPUT}") - endif() - - if(DEFINED CONAN_VERSION) - string(REGEX MATCH ".*Conan version ([0-9]+\\.[0-9]+\\.[0-9]+)" FOO - "${CONAN_VERSION_OUTPUT}") - if(${CMAKE_MATCH_1} VERSION_LESS ${CONAN_VERSION}) - message(FATAL_ERROR "Conan outdated. Installed: ${CMAKE_MATCH_1}, \ - required: ${CONAN_VERSION}. Consider updating via 'pip \ - install conan==${CONAN_VERSION}'.") - endif() - endif() -endmacro() - -function(conan_add_remote) - # Adds a remote - # Arguments URL and NAME are required, INDEX, COMMAND and VERIFY_SSL are optional - # Example usage: - # conan_add_remote(NAME bincrafters INDEX 1 - # URL https://api.bintray.com/conan/bincrafters/public-conan - # VERIFY_SSL True) - set(oneValueArgs URL NAME INDEX COMMAND VERIFY_SSL) - cmake_parse_arguments(CONAN "" "${oneValueArgs}" "" ${ARGN}) - - if(DEFINED CONAN_INDEX) - set(CONAN_INDEX_ARG "-i ${CONAN_INDEX}") - endif() - if(DEFINED CONAN_COMMAND) - set(CONAN_CMD ${CONAN_COMMAND}) - else() - conan_check(REQUIRED DETECT_QUIET) - endif() - set(CONAN_VERIFY_SSL_ARG "True") - if(DEFINED CONAN_VERIFY_SSL) - set(CONAN_VERIFY_SSL_ARG ${CONAN_VERIFY_SSL}) - endif() - message(STATUS "Conan: Adding ${CONAN_NAME} remote repository (${CONAN_URL}) verify ssl (${CONAN_VERIFY_SSL_ARG})") - execute_process(COMMAND ${CONAN_CMD} remote add ${CONAN_NAME} ${CONAN_INDEX_ARG} -f ${CONAN_URL} ${CONAN_VERIFY_SSL_ARG} - RESULT_VARIABLE return_code) - if(NOT "${return_code}" STREQUAL "0") - message(FATAL_ERROR "Conan remote failed='${return_code}'") - endif() -endfunction() - -macro(conan_config_install) - # install a full configuration from a local or remote zip file - # Argument ITEM is required, arguments TYPE, SOURCE, TARGET and VERIFY_SSL are optional - # Example usage: - # conan_config_install(ITEM https://github.com/conan-io/cmake-conan.git - # TYPE git SOURCE source-folder TARGET target-folder VERIFY_SSL false) - set(oneValueArgs ITEM TYPE SOURCE TARGET VERIFY_SSL) - set(multiValueArgs ARGS) - cmake_parse_arguments(CONAN "" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) - - if(DEFINED CONAN_COMMAND) - set(CONAN_CMD ${CONAN_COMMAND}) - else() - conan_check(REQUIRED) - endif() - - if(DEFINED CONAN_VERIFY_SSL) - set(CONAN_VERIFY_SSL_ARG "--verify-ssl=${CONAN_VERIFY_SSL}") - endif() - - if(DEFINED CONAN_TYPE) - set(CONAN_TYPE_ARG "--type=${CONAN_TYPE}") - endif() - - if(DEFINED CONAN_ARGS) - set(CONAN_ARGS_ARGS "--args=\"${CONAN_ARGS}\"") - endif() - - if(DEFINED CONAN_SOURCE) - set(CONAN_SOURCE_ARGS "--source-folder=${CONAN_SOURCE}") - endif() - - if(DEFINED CONAN_TARGET) - set(CONAN_TARGET_ARGS "--target-folder=${CONAN_TARGET}") - endif() - - set (CONAN_CONFIG_INSTALL_ARGS ${CONAN_VERIFY_SSL_ARG} - ${CONAN_TYPE_ARG} - ${CONAN_ARGS_ARGS} - ${CONAN_SOURCE_ARGS} - ${CONAN_TARGET_ARGS}) - - message(STATUS "Conan: Installing config from ${CONAN_ITEM}") - execute_process(COMMAND ${CONAN_CMD} config install ${CONAN_ITEM} ${CONAN_CONFIG_INSTALL_ARGS} - RESULT_VARIABLE return_code) - if(NOT "${return_code}" STREQUAL "0") - message(FATAL_ERROR "Conan config failed='${return_code}'") - endif() -endmacro() diff --git a/build/.qtc/package-manager/conan_support.cmake b/build/.qtc/package-manager/conan_support.cmake deleted file mode 100644 index f1dbccf..0000000 --- a/build/.qtc/package-manager/conan_support.cmake +++ /dev/null @@ -1,211 +0,0 @@ -# https://github.com/conan-io/cmake-conan/blob/develop2/conan_support.cmake -# commit: 3e088cd3e1d9d69e04b5250d565c1b8b55b0400b -# -# The MIT License (MIT) -# -# Copyright (c) 2019 JFrog -# -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in all -# copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -# SOFTWARE. - -function(detect_os OS) - # it could be cross compilation - message(STATUS "Conan-cmake: cmake_system_name=${CMAKE_SYSTEM_NAME}") - if(CMAKE_SYSTEM_NAME AND NOT CMAKE_SYSTEM_NAME STREQUAL "Generic") - if(${CMAKE_SYSTEM_NAME} STREQUAL "Darwin") - set(${OS} Macos PARENT_SCOPE) - elseif(${CMAKE_SYSTEM_NAME} STREQUAL "QNX") - set(${OS} Neutrino PARENT_SCOPE) - else() - set(${OS} ${CMAKE_SYSTEM_NAME} PARENT_SCOPE) - endif() - endif() -endfunction() - - -function(detect_cxx_standard CXX_STANDARD) - set(${CXX_STANDARD} ${CMAKE_CXX_STANDARD} PARENT_SCOPE) - if (CMAKE_CXX_EXTENSIONS) - set(${CXX_STANDARD} "gnu${CMAKE_CXX_STANDARD}" PARENT_SCOPE) - endif() -endfunction() - - -function(detect_compiler COMPILER COMPILER_VERSION) - if(DEFINED CMAKE_CXX_COMPILER_ID) - set(_COMPILER ${CMAKE_CXX_COMPILER_ID}) - set(_COMPILER_VERSION ${CMAKE_CXX_COMPILER_VERSION}) - else() - if(NOT DEFINED CMAKE_C_COMPILER_ID) - message(FATAL_ERROR "C or C++ compiler not defined") - endif() - set(_COMPILER ${CMAKE_C_COMPILER_ID}) - set(_COMPILER_VERSION ${CMAKE_C_COMPILER_VERSION}) - endif() - - message(STATUS "Conan-cmake: CMake compiler=${_COMPILER}") - message(STATUS "Conan-cmake: CMake cmpiler version=${_COMPILER_VERSION}") - - if(_COMPILER MATCHES MSVC) - set(_COMPILER "msvc") - string(SUBSTRING ${MSVC_VERSION} 0 3 _COMPILER_VERSION) - elseif(_COMPILER MATCHES AppleClang) - set(_COMPILER "apple-clang") - string(REPLACE "." ";" VERSION_LIST ${CMAKE_CXX_COMPILER_VERSION}) - list(GET VERSION_LIST 0 _COMPILER_VERSION) - elseif(_COMPILER MATCHES Clang) - set(_COMPILER "clang") - string(REPLACE "." ";" VERSION_LIST ${CMAKE_CXX_COMPILER_VERSION}) - list(GET VERSION_LIST 0 _COMPILER_VERSION) - elseif(_COMPILER MATCHES GNU) - set(_COMPILER "gcc") - string(REPLACE "." ";" VERSION_LIST ${CMAKE_CXX_COMPILER_VERSION}) - list(GET VERSION_LIST 0 _COMPILER_VERSION) - endif() - - message(STATUS "Conan-cmake: [settings] compiler=${_COMPILER}") - message(STATUS "Conan-cmake: [settings] compiler.version=${_COMPILER_VERSION}") - - set(${COMPILER} ${_COMPILER} PARENT_SCOPE) - set(${COMPILER_VERSION} ${_COMPILER_VERSION} PARENT_SCOPE) -endfunction() - -function(detect_build_type BUILD_TYPE) - if(NOT CMAKE_CONFIGURATION_TYPES) - # Only set when we know we are in a single-configuration generator - # Note: we may want to fail early if `CMAKE_BUILD_TYPE` is not defined - set(${BUILD_TYPE} ${CMAKE_BUILD_TYPE} PARENT_SCOPE) - endif() -endfunction() - - -function(detect_host_profile output_file) - detect_os(MYOS) - detect_compiler(MYCOMPILER MYCOMPILER_VERSION) - detect_cxx_standard(MYCXX_STANDARD) - detect_build_type(MYBUILD_TYPE) - - set(PROFILE "") - string(APPEND PROFILE "include(default)\n") - string(APPEND PROFILE "[settings]\n") - if(MYOS) - string(APPEND PROFILE os=${MYOS} "\n") - endif() - if(MYCOMPILER) - string(APPEND PROFILE compiler=${MYCOMPILER} "\n") - endif() - if(MYCOMPILER_VERSION) - string(APPEND PROFILE compiler.version=${MYCOMPILER_VERSION} "\n") - endif() - if(MYCXX_STANDARD) - string(APPEND PROFILE compiler.cppstd=${MYCXX_STANDARD} "\n") - endif() - if(MYBUILD_TYPE) - string(APPEND PROFILE "build_type=${MYBUILD_TYPE}\n") - endif() - - if(NOT DEFINED output_file) - set(_FN "${CMAKE_BINARY_DIR}/profile") - else() - set(_FN ${output_file}) - endif() - - string(APPEND PROFILE "[conf]\n") - string(APPEND PROFILE "tools.cmake.cmaketoolchain:generator=${CMAKE_GENERATOR}\n") - - message(STATUS "Conan-cmake: Creating profile ${_FN}") - file(WRITE ${_FN} ${PROFILE}) - message(STATUS "Conan-cmake: Profile: \n${PROFILE}") -endfunction() - - -function(conan_profile_detect_default) - message(STATUS "Conan-cmake: Checking if a default profile exists") - execute_process(COMMAND conan profile path default - RESULT_VARIABLE return_code - OUTPUT_VARIABLE conan_stdout - ERROR_VARIABLE conan_stderr - ECHO_ERROR_VARIABLE # show the text output regardless - ECHO_OUTPUT_VARIABLE - WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}) - if(NOT ${return_code} EQUAL "0") - message(STATUS "Conan-cmake: The default profile doesn't exist, detecting it.") - execute_process(COMMAND conan profile detect - RESULT_VARIABLE return_code - OUTPUT_VARIABLE conan_stdout - ERROR_VARIABLE conan_stderr - ECHO_ERROR_VARIABLE # show the text output regardless - ECHO_OUTPUT_VARIABLE - WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}) - endif() -endfunction() - - -function(conan_install) - cmake_parse_arguments(ARGS CONAN_ARGS ${ARGN}) - set(CONAN_OUTPUT_FOLDER ${CMAKE_BINARY_DIR}/conan) - # Invoke "conan install" with the provided arguments - set(CONAN_ARGS ${CONAN_ARGS} -of=${CONAN_OUTPUT_FOLDER}) - message(STATUS "CMake-conan: conan install ${CMAKE_SOURCE_DIR} ${CONAN_ARGS} ${ARGN}") - execute_process(COMMAND conan install ${CMAKE_SOURCE_DIR} ${CONAN_ARGS} ${ARGN} --format=json - RESULT_VARIABLE return_code - OUTPUT_VARIABLE conan_stdout - ERROR_VARIABLE conan_stderr - ECHO_ERROR_VARIABLE # show the text output regardless - WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}) - if(NOT "${return_code}" STREQUAL "0") - message(FATAL_ERROR "Conan install failed='${return_code}'") - else() - # the files are generated in a folder that depends on the layout used, if - # one if specified, but we don't know a priori where this is. - # TODO: this can be made more robust if Conan can provide this in the json output - string(JSON CONAN_GENERATORS_FOLDER GET ${conan_stdout} graph nodes 0 generators_folder) - # message("conan stdout: ${conan_stdout}") - message(STATUS "CMake-conan: CONAN_GENERATORS_FOLDER=${CONAN_GENERATORS_FOLDER}") - set(CONAN_GENERATORS_FOLDER "${CONAN_GENERATORS_FOLDER}" PARENT_SCOPE) - set(CONAN_INSTALL_SUCCESS TRUE CACHE BOOL "Conan install has been invoked and was successful") - endif() -endfunction() - - -function(conan_provide_dependency package_name) - if(NOT CONAN_INSTALL_SUCCESS) - message(STATUS "CMake-conan: first find_package() found. Installing dependencies with Conan") - conan_profile_detect_default() - detect_host_profile(${CMAKE_BINARY_DIR}/conan_host_profile) - if(NOT CMAKE_CONFIGURATION_TYPES) - message(STATUS "CMake-conan: Installing single configuration ${CMAKE_BUILD_TYPE}") - conan_install(-pr ${CMAKE_BINARY_DIR}/conan_host_profile --build=missing -g CMakeDeps) - else() - message(STATUS "CMake-conan: Installing both Debug and Release") - conan_install(-pr ${CMAKE_BINARY_DIR}/conan_host_profile -s build_type=Release --build=missing -g CMakeDeps) - conan_install(-pr ${CMAKE_BINARY_DIR}/conan_host_profile -s build_type=Debug --build=missing -g CMakeDeps) - endif() - if (CONAN_INSTALL_SUCCESS) - set(CONAN_GENERATORS_FOLDER "${CONAN_GENERATORS_FOLDER}" CACHE PATH "Conan generators folder") - endif() - else() - message(STATUS "CMake-conan: find_package(${package_name}) found, 'conan install' aready ran") - endif() - - if (CONAN_GENERATORS_FOLDER) - list(PREPEND CMAKE_PREFIX_PATH "${CONAN_GENERATORS_FOLDER}") - endif() - - find_package(${ARGN} BYPASS_PROVIDER) -endfunction() diff --git a/build/CMakeCache.txt b/build/CMakeCache.txt deleted file mode 100644 index dc48b37..0000000 --- a/build/CMakeCache.txt +++ /dev/null @@ -1,1399 +0,0 @@ -# This is the CMakeCache file. -# For build in directory: /home/shakuevda/Desktop/UMAS/UMAS_GUI/build -# It was generated by CMake: /usr/bin/cmake -# You can edit this file to change values found and used by cmake. -# If you do not want to change any of the values, simply exit the editor. -# If you do want to change a value, simply edit, save, and exit the editor. -# The syntax for the file is as follows: -# KEY:TYPE=VALUE -# KEY is the name of a variable in the cache. -# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. -# VALUE is the current value for the KEY. - -######################## -# EXTERNAL cache entries -######################## - -//Path to a program. -CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line - -//Path to a program. -CMAKE_AR:FILEPATH=/usr/bin/ar - -//No help, variable specified on the command line. -CMAKE_BUILD_TYPE:STRING=Debug - -//No help, variable specified on the command line. -CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/g++ - -//A wrapper around 'ar' adding the appropriate '--plugin' option -// for the GCC compiler -CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9 - -//A wrapper around 'ranlib' adding the appropriate '--plugin' option -// for the GCC compiler -CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9 - -//Flags used by the CXX compiler during all build types. -CMAKE_CXX_FLAGS:STRING= - -//Flags used by the CXX compiler during DEBUG builds. -CMAKE_CXX_FLAGS_DEBUG:STRING=-g - -//No help, variable specified on the command line. -CMAKE_CXX_FLAGS_INIT:STRING= - -//Flags used by the CXX compiler during MINSIZEREL builds. -CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG - -//Flags used by the CXX compiler during RELEASE builds. -CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG - -//Flags used by the CXX compiler during RELWITHDEBINFO builds. -CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG - -//No help, variable specified on the command line. -CMAKE_C_COMPILER:FILEPATH=/usr/bin/gcc - -//Path to a program. -CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND - -//Flags used by the linker during all build types. -CMAKE_EXE_LINKER_FLAGS:STRING= - -//Flags used by the linker during DEBUG builds. -CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING= - -//Flags used by the linker during MINSIZEREL builds. -CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING= - -//Flags used by the linker during RELEASE builds. -CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= - -//Flags used by the linker during RELWITHDEBINFO builds. -CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= - -//Enable/Disable output of compile commands during generation. -CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF - -//No help, variable specified on the command line. -CMAKE_GENERATOR:STRING=Ninja - -//User executables (bin) -CMAKE_INSTALL_BINDIR:PATH=bin - -//Read-only architecture-independent data (DATAROOTDIR) -CMAKE_INSTALL_DATADIR:PATH= - -//Read-only architecture-independent data root (share) -CMAKE_INSTALL_DATAROOTDIR:PATH=share - 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-QT_FEATURE_abstractbutton:INTERNAL=ON -//Qt feature: abstractslider (from target Qt6::Widgets) -QT_FEATURE_abstractslider:INTERNAL=ON -//Qt feature: accessibility (from target Qt6::Gui) -QT_FEATURE_accessibility:INTERNAL=ON -//Qt feature: accessibility_atspi_bridge (from target Qt6::Gui) -QT_FEATURE_accessibility_atspi_bridge:INTERNAL=ON -//Qt feature: action (from target Qt6::Gui) -QT_FEATURE_action:INTERNAL=ON -//Qt feature: aesni (from target Qt6::Core) -QT_FEATURE_aesni:INTERNAL=ON -//Qt feature: alloca (from target Qt6::Core) -QT_FEATURE_alloca:INTERNAL=ON -//Qt feature: alloca_h (from target Qt6::Core) -QT_FEATURE_alloca_h:INTERNAL=ON -//Qt feature: alloca_malloc_h (from target Qt6::Core) -QT_FEATURE_alloca_malloc_h:INTERNAL=OFF -//Qt feature: android_style_assets (from target Qt6::Core) -QT_FEATURE_android_style_assets:INTERNAL=OFF -//Qt feature: animation (from target Qt6::Core) -QT_FEATURE_animation:INTERNAL=ON -//Qt feature: appstore_compliant (from target Qt6::Core) 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-QT_FEATURE_avx512vbmi:INTERNAL=ON -//Qt feature: avx512vbmi2 (from target Qt6::Core) -QT_FEATURE_avx512vbmi2:INTERNAL=ON -//Qt feature: avx512vl (from target Qt6::Core) -QT_FEATURE_avx512vl:INTERNAL=ON -//Qt feature: backtrace (from target Qt6::Core) -QT_FEATURE_backtrace:INTERNAL=ON -//Qt feature: brotli (from target Qt6::Network) -QT_FEATURE_brotli:INTERNAL=OFF -//Qt feature: buttongroup (from target Qt6::Widgets) -QT_FEATURE_buttongroup:INTERNAL=ON -//Qt feature: c11 (from target Qt6::Core) -QT_FEATURE_c11:INTERNAL=ON -//Qt feature: c99 (from target Qt6::Core) -QT_FEATURE_c99:INTERNAL=ON -//Qt feature: calendarwidget (from target Qt6::Widgets) -QT_FEATURE_calendarwidget:INTERNAL=ON -//Qt feature: cborstreamreader (from target Qt6::Core) -QT_FEATURE_cborstreamreader:INTERNAL=ON -//Qt feature: cborstreamwriter (from target Qt6::Core) -QT_FEATURE_cborstreamwriter:INTERNAL=ON -//Qt feature: charts_area_chart (from target Qt6::Charts) -QT_FEATURE_charts_area_chart:INTERNAL=ON -//Qt feature: charts_bar_chart (from target Qt6::Charts) -QT_FEATURE_charts_bar_chart:INTERNAL=ON -//Qt feature: charts_boxplot_chart (from target Qt6::Charts) -QT_FEATURE_charts_boxplot_chart:INTERNAL=ON -//Qt feature: charts_candlestick_chart (from target Qt6::Charts) -QT_FEATURE_charts_candlestick_chart:INTERNAL=ON -//Qt feature: charts_datetime_axis (from target Qt6::Charts) -QT_FEATURE_charts_datetime_axis:INTERNAL=ON -//Qt feature: charts_line_chart (from target Qt6::Charts) -QT_FEATURE_charts_line_chart:INTERNAL=ON -//Qt feature: charts_pie_chart (from target Qt6::Charts) -QT_FEATURE_charts_pie_chart:INTERNAL=ON -//Qt feature: charts_scatter_chart (from target Qt6::Charts) -QT_FEATURE_charts_scatter_chart:INTERNAL=ON -//Qt feature: charts_spline_chart (from target Qt6::Charts) -QT_FEATURE_charts_spline_chart:INTERNAL=ON -//Qt feature: checkbox (from target Qt6::Widgets) -QT_FEATURE_checkbox:INTERNAL=ON -//Qt feature: clipboard (from target Qt6::Gui) -QT_FEATURE_clipboard:INTERNAL=ON -//Qt feature: clock_gettime (from target Qt6::Core) -QT_FEATURE_clock_gettime:INTERNAL=ON -//Qt feature: clock_monotonic (from target Qt6::Core) -QT_FEATURE_clock_monotonic:INTERNAL=ON -//Qt feature: colordialog (from target Qt6::Widgets) -QT_FEATURE_colordialog:INTERNAL=ON -//Qt feature: colornames (from target Qt6::Gui) -QT_FEATURE_colornames:INTERNAL=ON -//Qt feature: columnview (from target Qt6::Widgets) -QT_FEATURE_columnview:INTERNAL=ON -//Qt feature: combobox (from target Qt6::Widgets) -QT_FEATURE_combobox:INTERNAL=ON -//Qt feature: commandlineparser (from target Qt6::Core) -QT_FEATURE_commandlineparser:INTERNAL=ON -//Qt feature: commandlinkbutton (from target Qt6::Widgets) -QT_FEATURE_commandlinkbutton:INTERNAL=ON -//Qt feature: completer (from target Qt6::Widgets) -QT_FEATURE_completer:INTERNAL=ON -//Qt feature: concatenatetablesproxymodel (from target Qt6::Core) -QT_FEATURE_concatenatetablesproxymodel:INTERNAL=ON -//Qt feature: concurrent (from target Qt6::Core) -QT_FEATURE_concurrent:INTERNAL=ON -//Qt feature: contextmenu (from target Qt6::Widgets) -QT_FEATURE_contextmenu:INTERNAL=ON -//Qt feature: cpp_winrt (from target Qt6::Core) -QT_FEATURE_cpp_winrt:INTERNAL=OFF -//Qt feature: cross_compile (from target Qt6::Core) -QT_FEATURE_cross_compile:INTERNAL=OFF -//Qt feature: cssparser (from target Qt6::Gui) -QT_FEATURE_cssparser:INTERNAL=ON -//Qt feature: cursor (from target Qt6::Gui) -QT_FEATURE_cursor:INTERNAL=ON -//Qt feature: cxx11 (from target Qt6::Core) -QT_FEATURE_cxx11:INTERNAL=ON -//Qt feature: cxx11_future (from target Qt6::Core) -QT_FEATURE_cxx11_future:INTERNAL=ON -//Qt feature: cxx14 (from target Qt6::Core) -QT_FEATURE_cxx14:INTERNAL=ON -//Qt feature: cxx17 (from target Qt6::Core) -QT_FEATURE_cxx17:INTERNAL=ON -//Qt feature: cxx17_filesystem (from target Qt6::Core) -QT_FEATURE_cxx17_filesystem:INTERNAL=ON -//Qt feature: cxx1z (from target Qt6::Core) -QT_FEATURE_cxx1z:INTERNAL=ON -//Qt feature: cxx20 (from target Qt6::Core) -QT_FEATURE_cxx20:INTERNAL=OFF -//Qt feature: cxx2a (from target Qt6::Core) -QT_FEATURE_cxx2a:INTERNAL=OFF -//Qt feature: cxx2b (from target Qt6::Core) -QT_FEATURE_cxx2b:INTERNAL=OFF -//Qt feature: datawidgetmapper (from target Qt6::Widgets) -QT_FEATURE_datawidgetmapper:INTERNAL=ON -//Qt feature: datestring (from target Qt6::Core) -QT_FEATURE_datestring:INTERNAL=ON -//Qt feature: datetimeedit (from target Qt6::Widgets) -QT_FEATURE_datetimeedit:INTERNAL=ON -//Qt feature: datetimeparser (from target Qt6::Core) -QT_FEATURE_datetimeparser:INTERNAL=ON -//Qt feature: dbus (from target Qt6::Core) -QT_FEATURE_dbus:INTERNAL=ON -//Qt feature: dbus_linked (from target Qt6::Core) -QT_FEATURE_dbus_linked:INTERNAL=ON -//Qt feature: debug (from target Qt6::Core) -QT_FEATURE_debug:INTERNAL=OFF -//Qt feature: debug_and_release (from target Qt6::Core) -QT_FEATURE_debug_and_release:INTERNAL=OFF -//Qt feature: desktopservices (from target Qt6::Gui) -QT_FEATURE_desktopservices:INTERNAL=ON -//Qt feature: developer_build (from target Qt6::Core) -QT_FEATURE_developer_build:INTERNAL=OFF -//Qt feature: dial (from target Qt6::Widgets) -QT_FEATURE_dial:INTERNAL=ON -//Qt feature: dialog (from target Qt6::Widgets) -QT_FEATURE_dialog:INTERNAL=ON -//Qt feature: dialogbuttonbox (from target Qt6::Widgets) -QT_FEATURE_dialogbuttonbox:INTERNAL=ON -//Qt feature: direct2d (from target Qt6::Gui) -QT_FEATURE_direct2d:INTERNAL=OFF -//Qt feature: direct2d1_1 (from target Qt6::Gui) -QT_FEATURE_direct2d1_1:INTERNAL=OFF -//Qt feature: directfb (from target Qt6::Gui) -QT_FEATURE_directfb:INTERNAL=OFF -//Qt feature: directwrite (from target Qt6::Gui) -QT_FEATURE_directwrite:INTERNAL=OFF -//Qt feature: directwrite3 (from target Qt6::Gui) -QT_FEATURE_directwrite3:INTERNAL=OFF -//Qt feature: dladdr (from target Qt6::Core) -QT_FEATURE_dladdr:INTERNAL=ON -//Qt feature: dlopen (from target Qt6::Core) -QT_FEATURE_dlopen:INTERNAL=ON -//Qt feature: dnslookup (from target Qt6::Network) -QT_FEATURE_dnslookup:INTERNAL=ON -//Qt feature: dockwidget (from target Qt6::Widgets) -QT_FEATURE_dockwidget:INTERNAL=ON -//Qt feature: doubleconversion (from target Qt6::Core) -QT_FEATURE_doubleconversion:INTERNAL=ON -//Qt feature: draganddrop (from target Qt6::Gui) -QT_FEATURE_draganddrop:INTERNAL=ON -//Qt feature: drm_atomic (from target Qt6::Gui) -QT_FEATURE_drm_atomic:INTERNAL=ON -//Qt feature: dtls (from target Qt6::Network) -QT_FEATURE_dtls:INTERNAL=ON -//Qt feature: dynamicgl (from target Qt6::Gui) -QT_FEATURE_dynamicgl:INTERNAL=OFF -//Qt feature: easingcurve (from target Qt6::Core) -QT_FEATURE_easingcurve:INTERNAL=ON -//Qt feature: effects (from target Qt6::Widgets) -QT_FEATURE_effects:INTERNAL=ON -//Qt feature: egl (from target Qt6::Gui) -QT_FEATURE_egl:INTERNAL=ON -//Qt feature: egl_x11 (from target Qt6::Gui) -QT_FEATURE_egl_x11:INTERNAL=ON -//Qt feature: eglfs (from target Qt6::Gui) -QT_FEATURE_eglfs:INTERNAL=ON -//Qt feature: eglfs_brcm (from target Qt6::Gui) -QT_FEATURE_eglfs_brcm:INTERNAL=OFF -//Qt feature: eglfs_egldevice (from target Qt6::Gui) -QT_FEATURE_eglfs_egldevice:INTERNAL=ON -//Qt feature: eglfs_gbm (from target Qt6::Gui) -QT_FEATURE_eglfs_gbm:INTERNAL=OFF -//Qt feature: eglfs_mali (from target Qt6::Gui) -QT_FEATURE_eglfs_mali:INTERNAL=OFF -//Qt feature: eglfs_openwfd (from target Qt6::Gui) -QT_FEATURE_eglfs_openwfd:INTERNAL=OFF -//Qt feature: eglfs_rcar (from target Qt6::Gui) -QT_FEATURE_eglfs_rcar:INTERNAL=OFF -//Qt feature: eglfs_viv (from target Qt6::Gui) -QT_FEATURE_eglfs_viv:INTERNAL=OFF -//Qt feature: eglfs_viv_wl (from target Qt6::Gui) -QT_FEATURE_eglfs_viv_wl:INTERNAL=OFF -//Qt feature: eglfs_vsp2 (from target Qt6::Gui) -QT_FEATURE_eglfs_vsp2:INTERNAL=OFF -//Qt feature: eglfs_x11 (from target Qt6::Gui) -QT_FEATURE_eglfs_x11:INTERNAL=ON -//Qt feature: enable_new_dtags (from target Qt6::Core) -QT_FEATURE_enable_new_dtags:INTERNAL=ON -//Qt feature: errormessage (from target Qt6::Widgets) -QT_FEATURE_errormessage:INTERNAL=ON -//Qt feature: etw (from target Qt6::Core) -QT_FEATURE_etw:INTERNAL=OFF -//Qt feature: evdev (from target Qt6::Gui) -QT_FEATURE_evdev:INTERNAL=ON -//Qt feature: eventfd (from target Qt6::Core) -QT_FEATURE_eventfd:INTERNAL=ON -//Qt feature: f16c (from target Qt6::Core) -QT_FEATURE_f16c:INTERNAL=ON -//Qt feature: filedialog (from target Qt6::Widgets) -QT_FEATURE_filedialog:INTERNAL=ON -//Qt feature: filesystemiterator (from target Qt6::Core) -QT_FEATURE_filesystemiterator:INTERNAL=ON -//Qt feature: filesystemmodel (from target Qt6::Gui) -QT_FEATURE_filesystemmodel:INTERNAL=ON -//Qt feature: filesystemwatcher (from target Qt6::Core) -QT_FEATURE_filesystemwatcher:INTERNAL=ON -//Qt feature: fontcombobox (from target Qt6::Widgets) -QT_FEATURE_fontcombobox:INTERNAL=ON -//Qt feature: fontconfig (from target Qt6::Gui) -QT_FEATURE_fontconfig:INTERNAL=ON -//Qt feature: fontdialog (from target Qt6::Widgets) -QT_FEATURE_fontdialog:INTERNAL=ON -//Qt feature: force_asserts (from target Qt6::Core) -QT_FEATURE_force_asserts:INTERNAL=OFF -//Qt feature: force_debug_info (from target Qt6::Core) -QT_FEATURE_force_debug_info:INTERNAL=ON -//Qt feature: forkfd_pidfd (from target Qt6::Core) -QT_FEATURE_forkfd_pidfd:INTERNAL=ON -//Qt feature: formlayout (from target Qt6::Widgets) -QT_FEATURE_formlayout:INTERNAL=ON -//Qt feature: framework (from target Qt6::Core) -QT_FEATURE_framework:INTERNAL=OFF -//Qt feature: freetype (from target Qt6::Gui) -QT_FEATURE_freetype:INTERNAL=ON -//Qt feature: fscompleter (from target Qt6::Widgets) -QT_FEATURE_fscompleter:INTERNAL=ON -//Qt feature: futimens (from target Qt6::Core) -QT_FEATURE_futimens:INTERNAL=ON -//Qt feature: futimes (from target Qt6::Core) -QT_FEATURE_futimes:INTERNAL=OFF -//Qt feature: future (from target Qt6::Core) -QT_FEATURE_future:INTERNAL=ON -//Qt feature: gc_binaries (from target Qt6::Core) -QT_FEATURE_gc_binaries:INTERNAL=OFF -//Qt feature: gestures (from target Qt6::Core) -QT_FEATURE_gestures:INTERNAL=ON -//Qt feature: getauxval (from target Qt6::Core) -QT_FEATURE_getauxval:INTERNAL=ON -//Qt feature: getentropy (from target Qt6::Core) -QT_FEATURE_getentropy:INTERNAL=ON -//Qt feature: getifaddrs (from target Qt6::Network) -QT_FEATURE_getifaddrs:INTERNAL=ON -//Qt feature: gif (from target Qt6::Gui) -QT_FEATURE_gif:INTERNAL=ON -//Qt feature: glib (from target Qt6::Core) -QT_FEATURE_glib:INTERNAL=ON -//Qt feature: glibc (from target Qt6::Core) -QT_FEATURE_glibc:INTERNAL=ON -//Qt feature: graphicseffect (from target Qt6::Widgets) -QT_FEATURE_graphicseffect:INTERNAL=ON -//Qt feature: graphicsview (from target Qt6::Widgets) -QT_FEATURE_graphicsview:INTERNAL=ON -//Qt feature: groupbox (from target Qt6::Widgets) -QT_FEATURE_groupbox:INTERNAL=ON -//Qt feature: gssapi (from target Qt6::Network) -QT_FEATURE_gssapi:INTERNAL=ON -//Qt feature: gtk3 (from target Qt6::Widgets) -QT_FEATURE_gtk3:INTERNAL=ON -//Qt feature: gui (from target Qt6::Core) -QT_FEATURE_gui:INTERNAL=ON -//Qt feature: harfbuzz (from target Qt6::Gui) -QT_FEATURE_harfbuzz:INTERNAL=ON -//Qt feature: headersclean (from target Qt6::Core) -QT_FEATURE_headersclean:INTERNAL=ON -//Qt feature: highdpiscaling (from target Qt6::Gui) -QT_FEATURE_highdpiscaling:INTERNAL=ON -//Qt feature: hijricalendar (from target Qt6::Core) -QT_FEATURE_hijricalendar:INTERNAL=ON -//Qt feature: http (from target Qt6::Network) -QT_FEATURE_http:INTERNAL=ON -//Qt feature: ico (from target Qt6::Gui) -QT_FEATURE_ico:INTERNAL=ON -//Qt feature: icu (from target Qt6::Core) -QT_FEATURE_icu:INTERNAL=ON -//Qt feature: identityproxymodel (from target Qt6::Core) -QT_FEATURE_identityproxymodel:INTERNAL=ON -//Qt feature: ifr_index (from target Qt6::Network) -QT_FEATURE_ifr_index:INTERNAL=OFF -//Qt feature: im (from target Qt6::Gui) -QT_FEATURE_im:INTERNAL=ON -//Qt feature: image_heuristic_mask (from target Qt6::Gui) -QT_FEATURE_image_heuristic_mask:INTERNAL=ON -//Qt feature: image_text (from target Qt6::Gui) -QT_FEATURE_image_text:INTERNAL=ON -//Qt feature: imageformat_bmp (from target Qt6::Gui) -QT_FEATURE_imageformat_bmp:INTERNAL=ON -//Qt feature: imageformat_jpeg (from target Qt6::Gui) -QT_FEATURE_imageformat_jpeg:INTERNAL=ON -//Qt feature: imageformat_png (from target Qt6::Gui) -QT_FEATURE_imageformat_png:INTERNAL=ON -//Qt feature: imageformat_ppm (from target Qt6::Gui) -QT_FEATURE_imageformat_ppm:INTERNAL=ON -//Qt feature: imageformat_xbm (from target Qt6::Gui) -QT_FEATURE_imageformat_xbm:INTERNAL=ON -//Qt feature: imageformat_xpm (from target Qt6::Gui) -QT_FEATURE_imageformat_xpm:INTERNAL=ON -//Qt feature: imageformatplugin (from target Qt6::Gui) -QT_FEATURE_imageformatplugin:INTERNAL=ON -//Qt feature: imageio_text_loading (from target Qt6::Gui) -QT_FEATURE_imageio_text_loading:INTERNAL=ON -//Qt feature: inotify (from target Qt6::Core) -QT_FEATURE_inotify:INTERNAL=ON -//Qt feature: inputdialog (from target Qt6::Widgets) -QT_FEATURE_inputdialog:INTERNAL=ON -//Qt feature: integrityfb (from target Qt6::Gui) -QT_FEATURE_integrityfb:INTERNAL=OFF -//Qt feature: integrityhid (from target Qt6::Gui) -QT_FEATURE_integrityhid:INTERNAL=OFF -//Qt feature: intelcet (from target Qt6::Core) -QT_FEATURE_intelcet:INTERNAL=OFF -//Qt feature: ipv6ifname (from target Qt6::Network) -QT_FEATURE_ipv6ifname:INTERNAL=ON -//Qt feature: islamiccivilcalendar (from target Qt6::Core) -QT_FEATURE_islamiccivilcalendar:INTERNAL=ON -//Qt feature: itemmodel (from target Qt6::Core) -QT_FEATURE_itemmodel:INTERNAL=ON -//Qt feature: itemviews (from target Qt6::Widgets) -QT_FEATURE_itemviews:INTERNAL=ON -//Qt feature: jalalicalendar (from target Qt6::Core) -QT_FEATURE_jalalicalendar:INTERNAL=ON -//Qt feature: journald (from target Qt6::Core) -QT_FEATURE_journald:INTERNAL=OFF -//Qt feature: jpeg (from target Qt6::Gui) -QT_FEATURE_jpeg:INTERNAL=ON -//Qt feature: keysequenceedit (from target Qt6::Widgets) -QT_FEATURE_keysequenceedit:INTERNAL=ON -//Qt feature: kms (from target Qt6::Gui) -QT_FEATURE_kms:INTERNAL=ON -//Qt feature: label (from target Qt6::Widgets) -QT_FEATURE_label:INTERNAL=ON -//Qt feature: largefile (from target Qt6::Core) -QT_FEATURE_largefile:INTERNAL=ON -//Qt feature: lcdnumber (from target Qt6::Widgets) -QT_FEATURE_lcdnumber:INTERNAL=ON -//Qt feature: libinput (from target Qt6::Gui) -QT_FEATURE_libinput:INTERNAL=OFF -//Qt feature: libinput_axis_api (from target Qt6::Gui) -QT_FEATURE_libinput_axis_api:INTERNAL=OFF -//Qt feature: libinput_hires_wheel_support (from target Qt6::Gui) -QT_FEATURE_libinput_hires_wheel_support:INTERNAL=OFF -//Qt feature: libproxy (from target Qt6::Network) -QT_FEATURE_libproxy:INTERNAL=OFF -//Qt feature: library (from target Qt6::Core) -QT_FEATURE_library:INTERNAL=ON -//Qt feature: libudev (from target Qt6::Core) -QT_FEATURE_libudev:INTERNAL=OFF -//Qt feature: lineedit (from target Qt6::Widgets) -QT_FEATURE_lineedit:INTERNAL=ON -//Qt feature: linkat (from target Qt6::Core) -QT_FEATURE_linkat:INTERNAL=ON -//Qt feature: linux_netlink (from target Qt6::Network) -QT_FEATURE_linux_netlink:INTERNAL=ON -//Qt feature: linuxfb (from target Qt6::Gui) -QT_FEATURE_linuxfb:INTERNAL=ON -//Qt feature: listview (from target Qt6::Widgets) -QT_FEATURE_listview:INTERNAL=ON -//Qt feature: listwidget (from target Qt6::Widgets) -QT_FEATURE_listwidget:INTERNAL=ON -//Qt feature: localserver (from target Qt6::Network) -QT_FEATURE_localserver:INTERNAL=ON -//Qt feature: lttng (from target Qt6::Core) -QT_FEATURE_lttng:INTERNAL=OFF -//Qt feature: mainwindow (from target Qt6::Widgets) -QT_FEATURE_mainwindow:INTERNAL=ON -//Qt feature: mdiarea (from target Qt6::Widgets) -QT_FEATURE_mdiarea:INTERNAL=ON -//Qt feature: menu (from target Qt6::Widgets) -QT_FEATURE_menu:INTERNAL=ON -//Qt feature: menubar (from target Qt6::Widgets) -QT_FEATURE_menubar:INTERNAL=ON -//Qt feature: messagebox (from target Qt6::Widgets) -QT_FEATURE_messagebox:INTERNAL=ON -//Qt feature: mimetype (from target Qt6::Core) -QT_FEATURE_mimetype:INTERNAL=ON -//Qt feature: mimetype_database (from target Qt6::Core) -QT_FEATURE_mimetype_database:INTERNAL=ON -//Qt feature: mips_dsp (from target Qt6::Core) -QT_FEATURE_mips_dsp:INTERNAL=OFF -//Qt feature: mips_dspr2 (from target Qt6::Core) -QT_FEATURE_mips_dspr2:INTERNAL=OFF -//Qt feature: movie (from target Qt6::Gui) -QT_FEATURE_movie:INTERNAL=ON -//Qt feature: mtdev (from target Qt6::Gui) -QT_FEATURE_mtdev:INTERNAL=OFF -//Qt feature: multiprocess (from target Qt6::Gui) -QT_FEATURE_multiprocess:INTERNAL=ON -//Qt feature: neon (from target Qt6::Core) -QT_FEATURE_neon:INTERNAL=OFF -//Qt feature: network (from target Qt6::Core) -QT_FEATURE_network:INTERNAL=ON -//Qt feature: networkdiskcache (from target Qt6::Network) -QT_FEATURE_networkdiskcache:INTERNAL=ON -//Qt feature: networkinterface (from target Qt6::Network) -QT_FEATURE_networkinterface:INTERNAL=ON -//Qt feature: networklistmanager (from target Qt6::Network) -QT_FEATURE_networklistmanager:INTERNAL=OFF -//Qt feature: networkproxy (from target Qt6::Network) -QT_FEATURE_networkproxy:INTERNAL=ON -//Qt feature: no_direct_extern_access (from target Qt6::Core) -QT_FEATURE_no_direct_extern_access:INTERNAL=OFF -//Qt feature: no_prefix (from target Qt6::Core) -QT_FEATURE_no_prefix:INTERNAL=OFF -//Qt feature: ocsp (from target Qt6::Network) -QT_FEATURE_ocsp:INTERNAL=ON -//Qt feature: opengl (from target Qt6::Gui) -QT_FEATURE_opengl:INTERNAL=ON -//Qt feature: opengles2 (from target Qt6::Gui) -QT_FEATURE_opengles2:INTERNAL=OFF -//Qt feature: opengles3 (from target Qt6::Gui) -QT_FEATURE_opengles3:INTERNAL=OFF -//Qt feature: opengles31 (from target Qt6::Gui) -QT_FEATURE_opengles31:INTERNAL=OFF -//Qt feature: opengles32 (from target Qt6::Gui) -QT_FEATURE_opengles32:INTERNAL=OFF -//Qt feature: openssl (from target Qt6::Network) -QT_FEATURE_openssl:INTERNAL=ON -//Qt feature: openssl_linked (from target Qt6::Network) -QT_FEATURE_openssl_linked:INTERNAL=OFF -//Qt feature: opensslv11 (from target Qt6::Network) -QT_FEATURE_opensslv11:INTERNAL=ON -//Qt feature: openvg (from target Qt6::Gui) -QT_FEATURE_openvg:INTERNAL=OFF -//Qt feature: pcre2 (from target Qt6::Core) -QT_FEATURE_pcre2:INTERNAL=ON -//Qt feature: pdf (from target Qt6::Gui) -QT_FEATURE_pdf:INTERNAL=ON -//Qt feature: picture (from target Qt6::Gui) -QT_FEATURE_picture:INTERNAL=ON -//Qt feature: pkg_config (from target Qt6::Core) -QT_FEATURE_pkg_config:INTERNAL=ON -//Qt feature: plugin_manifest (from target Qt6::Core) -QT_FEATURE_plugin_manifest:INTERNAL=ON -//Qt feature: png (from target Qt6::Gui) -QT_FEATURE_png:INTERNAL=ON -//Qt feature: poll_poll (from target Qt6::Core) -QT_FEATURE_poll_poll:INTERNAL=OFF -//Qt feature: poll_pollts (from target Qt6::Core) -QT_FEATURE_poll_pollts:INTERNAL=OFF -//Qt feature: poll_ppoll (from target Qt6::Core) -QT_FEATURE_poll_ppoll:INTERNAL=ON -//Qt feature: poll_select (from target Qt6::Core) -QT_FEATURE_poll_select:INTERNAL=OFF -//Qt feature: posix_fallocate (from target Qt6::Core) -QT_FEATURE_posix_fallocate:INTERNAL=ON -//Qt feature: precompile_header (from target 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re-running cmake. - -rule RERUN_CMAKE - command = /usr/bin/cmake -S/home/shakuevda/Qt/6.4.2/gcc_64/lib/cmake/Qt6/config.tests/static_link_order -B/home/shakuevda/Desktop/UMAS/UMAS_GUI/build/config.tests/static_link_order - description = Re-running CMake... - generator = 1 - - -############################################# -# Rule for cleaning all built files. - -rule CLEAN - command = /home/shakuevda/Qt/Tools/Ninja/ninja -t clean - description = Cleaning all built files... - - -############################################# -# Rule for printing all primary targets available. - -rule HELP - command = /home/shakuevda/Qt/Tools/Ninja/ninja -t targets - description = All primary targets available: - diff --git a/build/qtcsettings.cmake b/build/qtcsettings.cmake deleted file mode 100644 index e5a2c16..0000000 --- a/build/qtcsettings.cmake +++ /dev/null @@ -1,10 +0,0 @@ -# This file is managed by Qt Creator, do not edit! - -set("CMAKE_GENERATOR" "Ninja" CACHE "STRING" "" FORCE) -set("CMAKE_BUILD_TYPE" "Debug" CACHE "STRING" "" FORCE) -set("CMAKE_PROJECT_INCLUDE_BEFORE" "/home/shakuevda/Desktop/UMAS/UMAS_GUI/build/.qtc/package-manager/auto-setup.cmake" CACHE "FILEPATH" "" FORCE) -set("QT_QMAKE_EXECUTABLE" "/home/shakuevda/Qt/6.4.2/gcc_64/bin/qmake" CACHE "FILEPATH" "" FORCE) -set("CMAKE_PREFIX_PATH" "/home/shakuevda/Qt/6.4.2/gcc_64" CACHE "PATH" "" FORCE) -set("CMAKE_C_COMPILER" "/usr/bin/gcc" CACHE "FILEPATH" "" FORCE) -set("CMAKE_CXX_COMPILER" "/usr/bin/g++" CACHE "FILEPATH" "" FORCE) -set("CMAKE_CXX_FLAGS_INIT" "" CACHE "STRING" "" FORCE) \ No newline at end of file diff --git a/build/rules.ninja b/build/rules.ninja deleted file mode 100644 index 8f8f056..0000000 --- a/build/rules.ninja +++ /dev/null @@ -1,72 +0,0 @@ -# CMAKE generated file: DO NOT EDIT! -# Generated by "Ninja" Generator, CMake Version 3.16 - -# This file contains all the rules used to get the outputs files -# built from the input files. -# It is included in the main 'build.ninja'. - -# ============================================================================= -# Project: UMAS_GUI -# Configuration: Debug -# ============================================================================= -# ============================================================================= - -############################################# -# Rule for running custom commands. - -rule CUSTOM_COMMAND - command = $COMMAND - description = $DESC - - -############################################# -# Rule for compiling CXX files. - -rule CXX_COMPILER__UMAS_GUI - depfile = $DEP_FILE - deps = gcc - command = /usr/bin/g++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in - description = Building CXX object $out - - -############################################# -# Rule for linking CXX executable. - -rule CXX_EXECUTABLE_LINKER__UMAS_GUI - command = $PRE_LINK && /usr/bin/g++ $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD - description = Linking CXX executable $TARGET_FILE - restat = $RESTAT - - -############################################# -# Rule for re-running cmake. - -rule RERUN_CMAKE - command = /usr/bin/cmake -S/home/shakuevda/Desktop/UMAS/UMAS_GUI -B/home/shakuevda/Desktop/UMAS/UMAS_GUI/build - description = Re-running CMake... - generator = 1 - - -############################################# -# Rule for cleaning additional files. - -rule CLEAN_ADDITIONAL - command = /usr/bin/cmake -P CMakeFiles/clean_additional.cmake - description = Cleaning additional files... - - -############################################# -# Rule for cleaning all built files. - -rule CLEAN - command = /home/shakuevda/Qt/Tools/Ninja/ninja -t clean - description = Cleaning all built files... - - -############################################# -# Rule for printing all primary targets available. - -rule HELP - command = /home/shakuevda/Qt/Tools/Ninja/ninja -t targets - description = All primary targets available: - diff --git a/communication/pc_protocol.h b/communication/pc_protocol.h index e0a4503..3643927 100644 --- a/communication/pc_protocol.h +++ b/communication/pc_protocol.h @@ -11,17 +11,19 @@ class PC_Protocol: public QObject, public MetaUdpProtocol { Q_OBJECT public: explicit PC_Protocol(QHostAddress _receiverIP, int _receiverPort, QHostAddress _senderIP, \ - int _senderPort, int freq, QObject *parent = 0) + int _senderPort, int freq, int selectAgent, QObject *parent = 0) { udpProtocol = new UdpProtocol (_receiverIP, _receiverPort, _senderIP, _senderPort, \ - freq, parent); + freq, selectAgent, parent); connect(timer,SIGNAL(timeout()),SLOT(sendData())); connect(udpProtocol->getReceiveSocket(),SIGNAL(readyRead()),SLOT(receiveData())); set_ip_receiver(udpProtocol->ip_receiver()); set_ip_sender (udpProtocol->ip_sender()); set_port_receiver(udpProtocol->port_receiver()); set_port_sender (udpProtocol->port_sender()); + nmbAgent = selectAgent; } + int nmbAgent; signals: void dataReceived(); public slots: @@ -34,18 +36,17 @@ public slots: timer->stop(); } void sendData(){ - // qDebug()<<"send data"; - send_data = uv_server.generateFullMessage(); + send_data = uv_server.generateFullMessage(nmbAgent); udpProtocol->send_data = send_data; + qDebug() << (int)(send_data.cSMode); udpProtocol->sendData(); } void receiveData(){ udpProtocol->receiveData(); rec_data = udpProtocol->rec_data; - uv_server.parseFullMessage(rec_data); + uv_server.parseFullMessage(rec_data, nmbAgent); emit dataReceived(); -// static_cast(rec_data.cSMode); } public: ToPult rec_data; diff --git a/communication/protocol_pult.h b/communication/protocol_pult.h deleted file mode 100644 index 05670da..0000000 --- a/communication/protocol_pult.h +++ /dev/null @@ -1,56 +0,0 @@ -#ifndef PC_PROTOCOL_H -#define PC_PROTOCOL_H - -#include "udp_protocol.h" -#include "protocol.h" - - -namespace Pult { -class PC_Protocol: public QObject, public MetaUdpProtocol { - Q_OBJECT -public: -explicit PC_Protocol(const QString & config = "protocols.conf", - const QString & name = "pult", QObject *parent = 0) -{ - udpProtocol = new UdpProtocol (config, name, parent); - connect(timer,SIGNAL(timeout()),SLOT(sendData())); - connect(udpProtocol->getReceiveSocket(),SIGNAL(readyRead()),SLOT(receiveData())); - set_ip_receiver(udpProtocol->ip_receiver()); - set_ip_sender (udpProtocol->ip_sender()); - set_port_receiver(udpProtocol->port_receiver()); - set_port_sender (udpProtocol->port_sender()); -} -signals: - void dataReceived(); -public slots: - //запуск обмена - void startExchange(){ - timer->start(1000/udpProtocol->getFrequency()); - } - //остановить обмен - void stopExhange(){ - timer->stop(); - } - void sendData(){ - // qDebug()<<"send data"; - udpProtocol->send_data = send_data; - udpProtocol->sendData(); - } - - void receiveData(){ - udpProtocol->receiveData(); - rec_data = udpProtocol->rec_data; - emit dataReceived(); -// static_cast(rec_data.cSMode); - } -public: - ToPult rec_data; - FromPult send_data; - UdpProtocol *udpProtocol; - - bool bindState(){return udpProtocol->bindState();} -}; -} //namespace Pult - - -#endif // PC_PROTOCOL_H diff --git a/communication/udp_protocol.h b/communication/udp_protocol.h index 9622649..b3675c9 100644 --- a/communication/udp_protocol.h +++ b/communication/udp_protocol.h @@ -14,7 +14,7 @@ class UdpProtocol : public QObject { ReceiveStruct rec_data; //структура для приема данных SendStruct send_data; //структура для отпарвки данных explicit UdpProtocol(QHostAddress _receiverIP, int _receiverPort, QHostAddress _senderIP, \ - int _senderPort, int freq, QObject *parent = 0) : QObject(parent) { + int _senderPort, int freq, int selectAgent, QObject *parent = 0) : QObject(parent) { m_ip_sender = _senderIP; //ip ПУ m_ip_receiver = _receiverIP; //ip ROV_Model m_port_sender = _senderPort; //порт ПУ @@ -93,7 +93,7 @@ class UdpProtocol : public QObject { } void aboutSend() { send_data.checksum = checksum_i(&send_data, sizeof(send_data) - 4); - } //функция, которая вычисляет контроьную сумму и записывает + } //функция, которая вычисляет контрольную сумму и записывает //ее в переменную checksum структуры отправки public slots: diff --git a/compass/compass.cpp b/compass/compass.cpp index d1e7b5c..7164b47 100644 --- a/compass/compass.cpp +++ b/compass/compass.cpp @@ -4,7 +4,7 @@ Compass::Compass(QWidget *parent) : QFrame(parent) { setupUi(this); setYaw(0); - setYawDesirable(0, 0, 0); + setYawDesirable(0, 0, e_CSMode::MODE_MANUAL); } void Compass::paintEvent(QPaintEvent *e) { @@ -14,7 +14,7 @@ void Compass::paintEvent(QPaintEvent *e) { painter.setRenderHint(QPainter::Antialiasing, true); // сглаживание painter.translate(width() / 2, height() / 2); // перенос системы координат int side = qMin(width(), height()); - painter.scale(side / 200, side / 200); // масштабирование СК + painter.scale(side / 170, side / 170); // масштабирование СК painter.save(); painter.rotate(yaw); painter.drawConvexPolygon(arrowCompass, 6); @@ -33,7 +33,7 @@ void Compass::paintEvent(QPaintEvent *e) { painter.drawLine(0, -55, 0, -60); else { painter.drawLine(0, -50, 0, -60); - font.setPointSize(5); + font.setPointSize(3); painter.setFont(font); painter.drawText(-20, -85, 40, 40, Qt::AlignCenter | Qt::AlignTop, QString::number(i * 6)); } @@ -51,8 +51,8 @@ void Compass::setYaw(double yawNew) { update(); } -void Compass::setYawDesirable(double yawDesirableNew, double YawFromIMU, bool mode) { - if (mode == 0) +void Compass::setYawDesirable(double yawDesirableNew, double YawFromIMU, e_CSMode mode) { + if (mode == e_CSMode::MODE_AUTOMATED) yawDesirable = yawDesirableNew + YawFromIMU; else yawDesirable = yawDesirableNew; diff --git a/compass/compass.h b/compass/compass.h index 12e6f45..50a0850 100644 --- a/compass/compass.h +++ b/compass/compass.h @@ -6,7 +6,7 @@ #include #include #include - +#include "uv_state.h" class Compass : public QFrame, private Ui::Compass{ Q_OBJECT @@ -15,8 +15,18 @@ Q_OBJECT explicit Compass(QWidget *parent = nullptr); public slots: + /*! + * \brief setYaw метод установки текущего значения компаса. + * \param yawNew текущее значение компаса. + */ void setYaw(double yawNew); - void setYawDesirable(double yawDesirableNew, double YawFromIMU, bool mode); + /*! + * \brief setYawDesirable метод установки управляющего значения компаса. + * \param yawDesirableNew управляющего значения компаса + * \param YawFromIMU текущее значение курса. + * \param mode ручной или + */ + void setYawDesirable(double yawDesirableNew, double YawFromIMU, e_CSMode mode); protected: void paintEvent(QPaintEvent *e); diff --git a/execute_algorithm.py b/execute_algorithm.py new file mode 100644 index 0000000..3e47268 --- /dev/null +++ b/execute_algorithm.py @@ -0,0 +1,32 @@ +import sys +import warnings + +# Игнорировать предупреждения Matplotlib +warnings.filterwarnings("ignore", category=UserWarning, module='matplotlib') + +sys.path.append('./algorithm_cpp') +from coveragePathPlanningAlgorithm import coverage_path_planning_algorithm + +def parse_points(points_str): + points = [] + pairs = points_str.split(" ") + for pair in pairs: + x, y = map(float, pair.split(",")) + points.append((x, y)) # Округление до целых чисел + return points + +def execute_algorithm(points, distance_tack): + # print(f"Executing algorithm with points: {points} and distance_tack: {distance_tack}") + result, ax = coverage_path_planning_algorithm(points, distance_tack) + return result + +if __name__ == "__main__": + if len(sys.argv) != 3: + print("Usage: python execute_algorithm.py ") + sys.exit(1) + + points_string = sys.argv[1] + distance_tack = float(sys.argv[2]) + points = parse_points(points_string) + result = execute_algorithm(points, distance_tack) + print(f"{result}") diff --git a/img.qrc b/img.qrc index cedf7f0..6daea15 100644 --- a/img.qrc +++ b/img.qrc @@ -1,5 +1,6 @@ img/setupIMU_for_agent.png + map/map.qml diff --git a/interface/i_basic_data.cpp b/interface/i_basic_data.cpp index 934f091..43f5c66 100644 --- a/interface/i_basic_data.cpp +++ b/interface/i_basic_data.cpp @@ -1,6 +1,8 @@ #include "i_basic_data.h" -UVState IBasicData::agent; +UVState IBasicData::agent[1]; +int IBasicData::currentAgent; + IBasicData::IBasicData(QObject *parent) : QObject{parent} diff --git a/interface/i_basic_data.h b/interface/i_basic_data.h index 233b8c7..56c2a61 100644 --- a/interface/i_basic_data.h +++ b/interface/i_basic_data.h @@ -6,15 +6,19 @@ #include "uv_state.h" +/*! + * \brief IBasicData базовый информационный класс, имеющий глобальную переменную, + * которая хранит получаемую и передаваемую информацию о всех состояниях аппарата. + */ class IBasicData : public QObject { Q_OBJECT public: explicit IBasicData(QObject *parent = nullptr); -protected: // Static UV_State variable, which we will be accessing - static UVState agent; + static UVState agent[1]; + static int currentAgent; }; #endif // IBASICDATA_H diff --git a/interface/i_control_data.cpp b/interface/i_control_data.cpp index 68e212f..d0536d7 100644 --- a/interface/i_control_data.cpp +++ b/interface/i_control_data.cpp @@ -6,41 +6,51 @@ IControlData::IControlData() : } void IControlData::setControlData(ControlData data) { - agent.control = data; + agent[getCurrentAgent()].control = data; } void IControlData::setMarch(double march) { - agent.control.march = march; + agent[getCurrentAgent()].control.march = march; } void IControlData::setLag(double lag) { - agent.control.lag = lag; + agent[getCurrentAgent()].control.lag = lag; } void IControlData::setDepth(double depth) { - agent.control.depth = depth; + agent[getCurrentAgent()].control.depth = depth; } void IControlData::setRoll(double roll) { - agent.control.roll = roll; + agent[getCurrentAgent()].control.roll = roll; } void IControlData::setPitch(double pitch) { - agent.control.pitch = pitch; + agent[getCurrentAgent()].control.pitch = pitch; } void IControlData::setYaw(double yaw) { - agent.control.yaw = yaw; + agent[getCurrentAgent()].control.yaw = yaw; +} + +int IControlData::getCurrentAgent() +{ + return currentAgent; } bool IControlData::getCSMode() { - if (agent.cSMode == e_CSMode::MODE_AUTOMATED) + if (agent[getCurrentAgent()].cSMode == e_CSMode::MODE_AUTOMATED) return true; else return false; } DataAH127C IControlData::getImuData() { - return agent.imuData; + return agent[getCurrentAgent()].imuData; +} + +ControlData IControlData::getControlData() +{ + return agent[getCurrentAgent()].control; } diff --git a/interface/i_control_data.h b/interface/i_control_data.h index af163e1..1fccf60 100644 --- a/interface/i_control_data.h +++ b/interface/i_control_data.h @@ -3,23 +3,28 @@ #include "i_basic_data.h" - +/*! + * \brief IControlData class класс для получения и установки данных связанных + * с управляющими воздействиями и пультом управления. + */ class IControlData : public IBasicData { public: IControlData(); - void setControlData(ControlData data); + void setControlData(ControlData data); - void setMarch(double march); - void setLag(double lag); - void setDepth(double depth); - void setRoll(double roll); - void setPitch(double pitch); - void setYaw(double yaw); + void setMarch(double march); + void setLag(double lag); + void setDepth(double depth); + void setRoll(double roll); + void setPitch(double pitch); + void setYaw(double yaw); - bool getCSMode(); - DataAH127C getImuData(); + int getCurrentAgent(); + bool getCSMode(); + DataAH127C getImuData(); + ControlData getControlData(); }; #endif // ICONTROLDATA_H diff --git a/interface/i_server_data.cpp b/interface/i_server_data.cpp index a4bd133..052212e 100644 --- a/interface/i_server_data.cpp +++ b/interface/i_server_data.cpp @@ -5,33 +5,47 @@ IServerData::IServerData() } -FromPult IServerData::generateFullMessage() { +FromPult IServerData::generateFullMessage(int nmbAgent) { FromPult data; - data.controlData = agent.control; - data.cSMode = agent.cSMode; - data.controlContoursFlags = agent.controlContoursFlags; - data.modeAUV_selection = agent.modeAUV_selection; - data.pMode = agent.pMode; - data.flagAH127C_pult = agent.flagAH127C_pult; - qDebug() << "data: " << sizeof(data); + data.controlData = agent[nmbAgent].control; + data.cSMode = agent[nmbAgent].cSMode; + data.controlContoursFlags = agent[nmbAgent].controlContoursFlags; + data.modeAUV_selection = agent[nmbAgent].modeAUV_selection; + data.pMode = agent[nmbAgent].pMode; + data.flagAH127C_pult = agent[nmbAgent].flagAH127C_pult; + data.reper = agent[nmbAgent].reper; + data.mission = agent[nmbAgent].missionListFromPult; + data.mission_param = agent[nmbAgent].mission_param; + data.missionControl = agent[nmbAgent].missionControl; + + agent[nmbAgent].checksum_msg_gui_send = sizeof(data); + return data; } -void IServerData::parseFullMessage(ToPult message) { - agent.header = message.header; - - agent.imuData = message.dataAH127C; - agent.dataPressure = message.dataPressure; - agent.dataUWB = message.dataUWB; - agent.flagAH127C_bort = message.flagAH127C_bort; - - agent.auvData.modeReal = message.auvData.modeReal; - agent.auvData.controlReal = message.auvData.controlReal; - agent.auvData.modeAUV_Real = message.auvData.modeAUV_Real; - agent.auvData.signalVMA_real = message.auvData.signalVMA_real; - agent.auvData.ControlDataReal = message.auvData.ControlDataReal; - qDebug() << "message: " << sizeof(message); - qDebug() << message.auvData.modeReal; - qDebug() << message.dataAH127C.yaw; +void IServerData::parseFullMessage(ToPult message, int nmbAgent) { + qDebug() << "hello"; + agent[nmbAgent].header = message.header; + + agent[nmbAgent].auvData.modeReal = message.auvData.modeReal; + agent[nmbAgent].auvData.controlReal = message.auvData.controlReal; + agent[nmbAgent].auvData.modeAUV_Real = message.auvData.modeAUV_Real; + agent[nmbAgent].auvData.signalVMA_real = message.auvData.signalVMA_real; + agent[nmbAgent].auvData.ControlDataReal = message.auvData.ControlDataReal; + + agent[nmbAgent].imuData = message.dataAH127C; + agent[nmbAgent].flagAH127C_bort = message.flagAH127C_bort; + + agent[nmbAgent].dataGANS = message.dataGANS; + agent[nmbAgent].angularGPS = message.angularGPS; + agent[nmbAgent].coordinateGPS = message.coordinateGPS; + agent[nmbAgent].diagnostics = message.diagnostics; + + agent[nmbAgent].missionListToPult = message.missionList; + agent[nmbAgent].missionStatus = message.missionStatus; + agent[nmbAgent].first_point_complete = message.first_point_complete; + + agent[nmbAgent].checksum_msg_agent_send = message.checksum; + agent[nmbAgent].checksum_msg_gui_received = sizeof(message); } diff --git a/interface/i_server_data.h b/interface/i_server_data.h index bb85669..ae65eee 100644 --- a/interface/i_server_data.h +++ b/interface/i_server_data.h @@ -7,14 +7,25 @@ #include "i_basic_data.h" +/*! + * \brief IServerData class класс обработки принимаемых и отправляемых значений. + */ class IServerData : public IBasicData { public: IServerData(); - FromPult generateFullMessage(); + /*! + * \brief generateFullMessage метод формирование посылки на агента. + * \return сформированная к отправке посылка. + */ + FromPult generateFullMessage(int nmbAgent); - void parseFullMessage(ToPult message); + /*! + * \brief parseFullMessage метод распоковки посылки от агента. + * \param message посылка от агента. + */ + void parseFullMessage(ToPult message, int nmbAgent); }; #endif // ISERVERDATA_H diff --git a/interface/i_user_interface_data.cpp b/interface/i_user_interface_data.cpp index 344df1f..8e2ce9b 100644 --- a/interface/i_user_interface_data.cpp +++ b/interface/i_user_interface_data.cpp @@ -5,99 +5,240 @@ IUserInterfaceData::IUserInterfaceData() : IBasicData() } +// set-функции + +void IUserInterfaceData::setCurrentAgent(int newAgent) +{ + currentAgent = newAgent; +} + void IUserInterfaceData::setFlagAH127C_pult(FlagAH127C_pult flagAH127C_pult) { - agent.flagAH127C_pult = flagAH127C_pult; + agent[getCurrentAgent()].flagAH127C_pult = flagAH127C_pult; } void IUserInterfaceData::setPowerMode(power_Mode mode) { - agent.pMode = mode; + agent[getCurrentAgent()].pMode = mode; + //displayText_toConsole("Включен " + QString::number(static_cast(mode) + 2) + " режим питания"); } void IUserInterfaceData::setControlContoursFlags(e_StabilizationContours contour, bool value) { switch (contour) { case e_StabilizationContours::CONTOUR_DEPTH: - agent.controlContoursFlags.depth = value; + agent[getCurrentAgent()].controlContoursFlags.depth = value; + if (value) + emit displayText_toConsole("Контур глубины замкнут"); + else + emit displayText_toConsole("Контур глубины разомкнут"); break; case e_StabilizationContours::CONTOUR_LAG: - agent.controlContoursFlags.lag = value; + agent[getCurrentAgent()].controlContoursFlags.lag = value; + if (value){ + emit displayText_toConsole("Контур лага замкнут"); + }else + emit displayText_toConsole("Контур лага разомкнут"); break; case e_StabilizationContours::CONTOUR_MARCH: - agent.controlContoursFlags.march = value; + agent[getCurrentAgent()].controlContoursFlags.march = value; + if (value) + emit displayText_toConsole("Контур марша замкнут"); + else + emit displayText_toConsole("Контур марша разомкнут"); break; case e_StabilizationContours::CONTOUR_PITCH: - agent.controlContoursFlags.pitch = value; + agent[getCurrentAgent()].controlContoursFlags.pitch = value; + if (value) + emit displayText_toConsole("Контур дифферента замкнут"); + else + emit displayText_toConsole("Контур дифферента разомкнут"); break; case e_StabilizationContours::CONTOUR_ROLL: - agent.controlContoursFlags.roll = value; + agent[getCurrentAgent()].controlContoursFlags.roll = value; + if (value) + emit displayText_toConsole("Контур крена замкнут"); + else + emit displayText_toConsole("Контур крена разомкнут"); break; case e_StabilizationContours::CONTOUR_YAW: - agent.controlContoursFlags.yaw = value; + agent[getCurrentAgent()].controlContoursFlags.yaw = value; + if (value) + emit displayText_toConsole("Контур курса замкнут"); + else + emit displayText_toConsole("Контур курса разомкнут"); break; } } void IUserInterfaceData::setCSMode(e_CSMode mode) { - agent.cSMode = mode; + agent[getCurrentAgent()].cSMode = mode; + switch (static_cast(mode)) { + case 0: + emit displayText_toConsole("Включен ручной режим"); + break; + case 1: + emit displayText_toConsole("Включен автоматизированный режим"); + break; + case 2: + emit displayText_toConsole("Включен автоматический режим"); + break; + } +} + +void IUserInterfaceData::setModeSelection(bool mode) +{ + agent[getCurrentAgent()].modeAUV_selection = mode; + if (static_cast(mode)) + emit displayText_toConsole("Установлен вывод данных на модель"); + else + emit displayText_toConsole("Установлен вывод данных на агента"); +} + +void IUserInterfaceData::setMissionControl(mission_Control missionControl) +{ + agent[getCurrentAgent()].missionControl = missionControl; + switch (static_cast(missionControl)) { + case 0: + emit displayText_toConsole("Включен режим ожидания команд в автоматическом режиме"); + break; + case 1: + emit displayText_toConsole("Отправлен запрос на выполнение миссии"); + break; + case 2: + emit displayText_toConsole("Выполнение миссии отменено"); + break; + case 3: + emit displayText_toConsole("Выполнение миссии приостановлено"); + break; + } +} + +void IUserInterfaceData::setReper(CoordinatePoint reper) +{ + agent[getCurrentAgent()].reper = reper; +} + +void IUserInterfaceData::setMissionFromPult(mission_List missionListFromPult) +{ + agent[getCurrentAgent()].missionListFromPult = missionListFromPult; +} + +void IUserInterfaceData::setMissionParam(MissionParam mission_param) +{ + agent[getCurrentAgent()].mission_param = mission_param; +} + +// get-функции + +int IUserInterfaceData::getCurrentAgent() +{ + return currentAgent; } -void IUserInterfaceData::setModeSelection(bool mode) { - agent.modeAUV_selection = mode; +int IUserInterfaceData::getChecksumMsgAgentSend() { + return agent[getCurrentAgent()].checksum_msg_agent_send; +} + +int IUserInterfaceData::getChecksumMsgGuiSend() { + return agent[getCurrentAgent()].checksum_msg_gui_send; +} + +int IUserInterfaceData::getChecksumMsgGuiReceived() { + return agent[getCurrentAgent()].checksum_msg_gui_received; } ControlContoursFlags IUserInterfaceData::getControlContoursFlags() { - return agent.controlContoursFlags; + return agent[getCurrentAgent()].controlContoursFlags; } bool IUserInterfaceData::getModeSelection() { - return agent.modeAUV_selection; + return agent[getCurrentAgent()].modeAUV_selection; } FlagAH127C_bort IUserInterfaceData::getFlagAH127C_bort() { - return agent.flagAH127C_bort; + return agent[getCurrentAgent()].flagAH127C_bort; +} + +FlagAH127C_pult IUserInterfaceData::getFlagAH127C_pult() +{ + return agent[getCurrentAgent()].flagAH127C_pult; } power_Mode IUserInterfaceData::getPowerMode() { - return agent.pMode; + return agent[getCurrentAgent()].pMode; } -bool IUserInterfaceData::getCSMode() +e_CSMode IUserInterfaceData::getCSMode() { - if (agent.cSMode == e_CSMode::MODE_AUTOMATED) - return true; - else - return false; + return agent[getCurrentAgent()].cSMode; } ControlData IUserInterfaceData::getControlData() { - return agent.control; + return agent[getCurrentAgent()].control; } DataAH127C IUserInterfaceData::getImuData() { - return agent.imuData; + return agent[getCurrentAgent()].imuData; } Header IUserInterfaceData::getHeader() { - return agent.header; + return agent[getCurrentAgent()].header; } AUVCurrentData IUserInterfaceData::getAUVCurrentData() { - return agent.auvData; + return agent[getCurrentAgent()].auvData; } -DataPressure IUserInterfaceData::getDataPressure() { - return agent.dataPressure; +mission_Status IUserInterfaceData::getMissionStatus() +{ + return agent[getCurrentAgent()].missionStatus; } -DataUWB IUserInterfaceData::getDataUWB() { - return agent.dataUWB; - } +DataGANS IUserInterfaceData::getDataGANS() +{ + return agent[getCurrentAgent()].dataGANS; + +} + +GPS_angular IUserInterfaceData::getAngularGPS() +{ + return agent[getCurrentAgent()].angularGPS; +} + +GPS_coordinate IUserInterfaceData::getCoordinateGPS() +{ + return agent[getCurrentAgent()].coordinateGPS; +} + +Diagnostic IUserInterfaceData::getDiagnostics() +{ + return agent[getCurrentAgent()].diagnostics; +} + +mission_List IUserInterfaceData::getMissionListToPult() +{ + return agent[getCurrentAgent()].missionListToPult; +} + +mission_Status IUserInterfaceData::getissionStatus() +{ + return agent[getCurrentAgent()].missionStatus; +} + +quint8 IUserInterfaceData::getFirstPointComplete() +{ + return agent[getCurrentAgent()].first_point_complete; +} + +mission_List IUserInterfaceData::getMissionFromPult() +{ + return agent[getCurrentAgent()].missionListFromPult; +} diff --git a/interface/i_user_interface_data.h b/interface/i_user_interface_data.h index 4b81ae0..3d0c25c 100644 --- a/interface/i_user_interface_data.h +++ b/interface/i_user_interface_data.h @@ -5,28 +5,58 @@ #include +/*! + * \brief IUserInterfaceData class класс для взаимодействия глобальной переменной + * состояний с главной формой. + */ class IUserInterfaceData : public IBasicData { + Q_OBJECT +signals: + void displayText_toConsole(QString str); + public: IUserInterfaceData(); - void setFlagAH127C_pult(FlagAH127C_pult flagAH127C_pult); - void setPowerMode(power_Mode mode); - void setControlContoursFlags(e_StabilizationContours contour, bool value); - void setCSMode(e_CSMode mode); - void setModeSelection(bool mode); + void setCurrentAgent(int newAgent); + void setFlagAH127C_pult(FlagAH127C_pult flagAH127C_pult); + void setPowerMode(power_Mode mode); + void setControlContoursFlags(e_StabilizationContours contour, bool value); + void setCSMode(e_CSMode mode); + void setModeSelection(bool mode); + void setMissionControl(mission_Control missionControl); + void setReper(CoordinatePoint reper); + void setMissionFromPult(mission_List missionListFromPult); + void setMissionParam(MissionParam mission_param); + + + int getCurrentAgent(); + int getChecksumMsgAgentSend(); + int getChecksumMsgGuiSend(); + int getChecksumMsgGuiReceived(); ControlContoursFlags getControlContoursFlags(); bool getModeSelection(); FlagAH127C_bort getFlagAH127C_bort(); + FlagAH127C_pult getFlagAH127C_pult(); power_Mode getPowerMode(); - bool getCSMode(); + e_CSMode getCSMode(); ControlData getControlData(); DataAH127C getImuData(); Header getHeader(); AUVCurrentData getAUVCurrentData(); - DataPressure getDataPressure(); - DataUWB getDataUWB(); + mission_Status getMissionStatus(); + DataGANS getDataGANS(); + GPS_angular getAngularGPS(); + GPS_coordinate getCoordinateGPS(); + Diagnostic getDiagnostics(); + mission_List getMissionListToPult(); + mission_Status getissionStatus(); + quint8 getFirstPointComplete(); + mission_List getMissionFromPult(); + + + }; #endif // IUSERINTERFACEDATA_H diff --git a/interface/python_interface.cpp b/interface/python_interface.cpp new file mode 100644 index 0000000..da31d6b --- /dev/null +++ b/interface/python_interface.cpp @@ -0,0 +1,19 @@ +#include "python_interface.h" +#include + +namespace py = pybind11; +using namespace py::literals; + +std::string call_execute_algorithm(const std::string &arg1, const std::string &arg2) { + py::scoped_interpreter guard{}; + try { + py::module sys = py::module::import("sys"); + sys.attr("path").attr("append")("."); + + py::module execute_algorithm = py::module::import("execute_algorithm"); + py::object result = execute_algorithm.attr("execute_algorithm")(arg1, arg2); + return result.cast(); + } catch (const std::exception &e) { + return std::string("Error occurred: ") + e.what(); + } +} diff --git a/interface/python_interface.h b/interface/python_interface.h new file mode 100644 index 0000000..91fa27f --- /dev/null +++ b/interface/python_interface.h @@ -0,0 +1,10 @@ +#ifndef PYTHON_INTERFACE_H +#define PYTHON_INTERFACE_H + +#include +#include + +std::string call_execute_algorithm(const std::string &arg1, const std::string &arg2); + + +#endif // PYTHON_INTERFACE_H diff --git a/mainwindow.cpp b/mainwindow.cpp index d102904..42c1c06 100644 --- a/mainwindow.cpp +++ b/mainwindow.cpp @@ -7,331 +7,518 @@ MainWindow::MainWindow(QWidget *parent) { ui->setupUi(this); + setWidget(); + setInterface(); + setGUI_reper(); + setConsole(); + setTimer_updateImpact(20); + setBottom(); + setTab(); + setUpdateUI(); +} - timerUpdateImpact(joystick.periodUpdateMsec); -// установка всех кнопок и слотов к ним - setBottom(ui, this); +void MainWindow::setWidget() +{ + powerSystem = new PowerSystem(this); + ui->horizontalLayout_for_powerSystem->addWidget(powerSystem); + checkMsg = new CheckMsg(this); + ui->horizontalLayout_for_checkMsg->addWidget(checkMsg); + checkImu = new CheckImu(this); + ui->horizontalLayout_for_checkImu->addWidget(checkImu); + modeAutomatic = new ModeAutomatic(this); + ui->verticalLayout_modeAutomatic->addWidget(modeAutomatic); + diagnostic_board = new Diagnostic_board(this); + ui->horizontalLayout_diagnosticBoard->addWidget(diagnostic_board); + videowidget = new Videowidget(this); + ui->horizontalLayout_video->addWidget(videowidget); + + // setMission_map + connect( + modeAutomatic->ui->pushButton_missionPlanning_goto_on_trajectory, &QPushButton::clicked, + ui->map, &Map::updateUi_missionPlanning_goto_traj_onoff); + connect( + modeAutomatic->ui->pushButton_missionPlanning_goto_on_trajectory_clear, &QPushButton::clicked, + ui->map, &Map::updateUi_missionPlanning_goto_traj_clear); + // setMission_goTo + connect( + modeAutomatic, &ModeAutomatic::signal_pushButton_missionPlanning_goto_updateMap, + ui->map, &Map::updateUi_missionPlanning_goto_goal); + // setMission_go_trajectory + connect( + modeAutomatic, &ModeAutomatic::signal_pushButton_missionPlanning_go_trajectory_updateMap, + ui->map, &Map::updateUi_missionPlanning_goto_goal); + // setMission_cpp + connect( + ui->map, &Map::pointAdded, + modeAutomatic, &ModeAutomatic::addPointToTable); + connect( + modeAutomatic, &ModeAutomatic::requestUpdateChart, + ui->map, &Map::updateChart); + connect( + modeAutomatic, &ModeAutomatic::requestClearLines, + ui->map, &Map::clearLines); + connect( + modeAutomatic, &ModeAutomatic::plotLineSeries, + ui->map, &Map::onPlotLineSeries); + // Подключение кнопки для переключения состояния + connect( + modeAutomatic->ui->pushButton_missionPlanning_cpp_on_off, &QPushButton::toggled, + ui->map, &Map::setMissionPlanning_cpp_Enabled); + connect( + modeAutomatic,&ModeAutomatic::displayText_toConsole, + this, &MainWindow::displayText); + connect( + modeAutomatic, &ModeAutomatic::set_stackedWidget_mode, + ui->stackedWidget_mode, &QStackedWidget::setCurrentIndex); -// установка названий к вкладкам - setTab(ui); + mapWidget = new MapWidget(this); + ui->horizontalLayout_mapWidget->addWidget(mapWidget); + connect( + modeAutomatic->ui->pushButton_missionPlanning_cpp_on_off, &QPushButton::toggled, + mapWidget, &MapWidget::toggleAddPointMode_for_cpp); + connect( + modeAutomatic, &ModeAutomatic::requestClearLines, + mapWidget, &MapWidget::clearMapItems); + connect( + mapWidget, &MapWidget::signal_addPointToTable, + modeAutomatic, &ModeAutomatic::addPointToTable); + connect( + modeAutomatic, &ModeAutomatic::requestAddLine, + mapWidget, &MapWidget::addLine); + connect( + this, &MainWindow::signal_sendCurrentPos, + mapWidget, &MapWidget::setCurrentPos); + connect( + ui->pushButton_sendReper_map_onoff, &QPushButton::toggled, + mapWidget, &MapWidget::toggleAddPointMode_for_marker); - connect(this, SIGNAL(updateCompass(float)), - this, SLOT(updateUi_Compass(float))); - connect(this, SIGNAL(updateIMU(DataAH127C)), - this, SLOT(updateUi_IMU(DataAH127C))); - connect(this, SIGNAL(updateSetupMsg()), - this, SLOT(updateUi_SetupMsg())); -} + connect( + mapWidget, &MapWidget::signal_addPoint_to_gui, + modeAutomatic, &ModeAutomatic::slot_addPoint_to_gui); + connect( + modeAutomatic->ui->pushButton_missionPlanning_goto_point_onoff, &QPushButton::toggled, + mapWidget, &MapWidget::toggleAddPointMode_for_goto_point); -void MainWindow::setBottom(Ui::MainWindow *ui, QObject *ts) { - ui->pushButton_modeManual->setCheckable(true); - ui->pushButton_modeAutomated->setCheckable(true); - QButtonGroup *mode = new QButtonGroup(ts); - mode->addButton(ui->pushButton_modeManual); - mode->addButton(ui->pushButton_modeAutomated); - mode->setExclusive(true); - ui->pushButton_modeManual->setChecked(true); + connect( + modeAutomatic->ui->pushButton_missionPlanning_go_circle_onoff, &QPushButton::toggled, + mapWidget, &MapWidget::toggleAddPointMode_for_go_circle_point); - ui->pushButton_modeAutomated_march->setCheckable(true); - ui->pushButton_modeAutomated_lag->setCheckable(true); - ui->pushButton_modeAutomated_psi->setCheckable(true); - ui->pushButton_modeAutomated_tetta->setCheckable(true); - ui->pushButton_modeAutomated_gamma->setCheckable(true); - QButtonGroup *modeAutomated = new QButtonGroup(ts); - modeAutomated->addButton(ui->pushButton_modeAutomated_march); - modeAutomated->addButton(ui->pushButton_modeAutomated_lag); - modeAutomated->addButton(ui->pushButton_modeAutomated_psi); - modeAutomated->addButton(ui->pushButton_modeAutomated_tetta); - modeAutomated->addButton(ui->pushButton_modeAutomated_gamma); - modeAutomated->setExclusive(false); - setBottom_powerMode(ui, ts); + connect( + modeAutomatic->ui->lineEdit_missionPlanning_go_circle_radius, &QLineEdit::textChanged, + mapWidget, &MapWidget::setRadius_circle); + mapWidget->setRadius_circle(modeAutomatic->ui->lineEdit_missionPlanning_go_circle_radius->text()); - setBottom_connect(ui, ts); } -void MainWindow::setBottom_powerMode(Ui::MainWindow *ui, QObject *ts) +void MainWindow::setGUI_reper() { - QButtonGroup *powerMode = new QButtonGroup(ts); - powerMode->addButton(ui->pushButton_powerMode_2); - powerMode->addButton(ui->pushButton_powerMode_3); - powerMode->addButton(ui->pushButton_powerMode_4); - powerMode->addButton(ui->pushButton_powerMode_5); - - ui->pushButton_powerMode_2->setCheckable(true); - ui->pushButton_powerMode_3->setCheckable(true); - ui->pushButton_powerMode_4->setCheckable(true); - ui->pushButton_powerMode_5->setCheckable(true); + connect( + ui->pushButton_sendReper, &QPushButton::clicked, + this, &MainWindow::slot_pushButton_sendReper); + connect( + this, &MainWindow::signal_setMarker, + mapWidget, &MapWidget::setMarker); + connect( + mapWidget, &MapWidget::signal_addMarker_to_gui, + this, &MainWindow::slot_addMarker_to_gui); - ui->pushButton_powerMode_2->setChecked(true); +} - uv_interface.setPowerMode(power_Mode::MODE_2); +void MainWindow::slot_pushButton_sendReper() +{ + qDebug() << "hello"; + // Получение текста из QLineEdit + QString latitudeStr = ui->lineEdit_reper_latitude->text(); // Широта + QString longitudeStr = ui->lineEdit_reper_longitude->text(); // Долгота - connect( - ui->pushButton_powerMode_2, SIGNAL(clicked()), - ts, SLOT(pushButton_on_powerMode_2())); + // Преобразование текста в double + double latitude = latitudeStr.toDouble(); + double longitude = longitudeStr.toDouble(); - connect( - ui->pushButton_powerMode_3, SIGNAL(clicked()), - ts, SLOT(pushButton_on_powerMode_3())); + // Создание объекта координат + QGeoCoordinate reperCoordinate(latitude, longitude); - connect( - ui->pushButton_powerMode_4, SIGNAL(clicked()), - ts, SLOT(pushButton_on_powerMode_4())); + // Отправка сигнала с координатами + emit signal_setMarker(reperCoordinate); - connect( - ui->pushButton_powerMode_5, SIGNAL(clicked()), - ts, SLOT(pushButton_on_powerMode_5())); + // Отправка репера на борт + CoordinatePoint msg; + msg.x_point = latitude; + msg.y_point = longitude; + uv_interface.setReper(msg); } -void MainWindow::pushButton_on_powerMode_2() +void MainWindow::slot_addMarker_to_gui(double latitude, double longitude) { - uv_interface.setPowerMode(power_Mode::MODE_2); + ui->lineEdit_reper_latitude->setText(QString::number(latitude, 'd', 14)); // Широта + ui->lineEdit_reper_longitude->setText(QString::number(longitude, 'd', 14)); // Долгота + + CoordinatePoint msg; + msg.x_point = latitude; + msg.y_point = longitude; + uv_interface.setReper(msg); } -void MainWindow::pushButton_on_powerMode_3() + +void MainWindow::setInterface() { - uv_interface.setPowerMode(power_Mode::MODE_3); + connect( + this, &MainWindow::signal_setInterface, + powerSystem, &PowerSystem::slot_getInterface); + connect( + this, &MainWindow::signal_setInterface, + checkMsg, &CheckMsg::slot_getInterface); + connect( + this, &MainWindow::signal_setInterface, + modeAutomatic, &ModeAutomatic::slot_getInterface); + + signal_setInterface(&uv_interface); + } -void MainWindow::pushButton_on_powerMode_4() +void MainWindow::setConsole() { - uv_interface.setPowerMode(power_Mode::MODE_4); + displayText("Приложение работает"); + displayText("Установите соединение для работы с агентом"); + + connect(&uv_interface, SIGNAL(displayText_toConsole(QString)), + this, SLOT(displayText(QString))); } -void MainWindow::pushButton_on_powerMode_5() +void MainWindow::displayText(QString str) { - uv_interface.setPowerMode(power_Mode::MODE_5); + QString currentTime = QTime::currentTime().toString("HH:mm:ss"); + qInfo() << currentTime << str; + ui->textEdit_console->append(currentTime + " " + str); } -void MainWindow::setBottom_connect(Ui::MainWindow *ui, QObject *ts) +// + +void MainWindow::setTimer_updateImpact(int periodUpdateMsec) { + joyStick = new JoyStick(this); + connect(ui->radioButton_useJoyStick, &QRadioButton::clicked, + this, &MainWindow::useJoyStick); + connect(ui->radioButton_useKeyBoard, &QRadioButton::clicked, + this, &MainWindow::useKeyBoard); + QTimer *updateTimer = new QTimer(this); connect( - ui->pushButton_modeManual, SIGNAL(clicked()), - ts, SLOT(e_CSModeManualToggled())); + updateTimer, SIGNAL(timeout()), + this, SLOT(updateUi_fromControl()) + ); + updateTimer->start(periodUpdateMsec); + displayText("Таймер обновления джойстика запущен"); +} - connect( - ui->pushButton_modeAutomated, SIGNAL(clicked()), - ts, SLOT(e_CSModeAutomatedToggled())); +void MainWindow::useKeyBoard() +{ - connect( - ui->pushButton_modeAutomated_gamma, SIGNAL(toggled(bool)), - ts, SLOT(stabilizeRollToggled(bool))); + if (joyStick != nullptr) { + qDebug() << "Deleting joyStick"; + delete joyStick; + joyStick = nullptr; + } + + if (keyBoard != nullptr) { + qDebug() << "Deleting existing keyBoard"; + delete keyBoard; + keyBoard = nullptr; + } + + qDebug() << "Creating new keyBoard"; + keyBoard = new KeyBoard(this); + displayText("Используемые клавиши..."); + + + keyBoard = new KeyBoard(this); + displayText("Используемые клавиши(должна быть английская раскладка):\n" + "Клавиша O - вперед по маршу\n" + "Клавиша L - назад по маршу\n" + "Клавиша W - вниз по дифференту\n" + "Клавиша S - вверх по дифференту\n" + "Клавиша A - влево по курсу\n" + "Клавиша D - вправо по курсу\n" + "Клавиша C - вниз по глубине\n" + "Клавиша V - вверх по глубине\n" + "Клавиша Q - влево по крену\n" + "Клавиша E - вправо по крену\n" + "Клавиша K - влево по лагу\n" + "Клавиша ; - вправо по лагу\n"); - connect( - ui->pushButton_modeAutomated_lag, SIGNAL(toggled(bool)), - ts, SLOT(stabilizeLagToggled(bool))); +} - connect( - ui->pushButton_modeAutomated_march, SIGNAL(toggled(bool)), - ts, SLOT(stabilizeMarchToggled(bool))); +void MainWindow::useJoyStick() +{ - connect( - ui->pushButton_modeAutomated_psi, SIGNAL(toggled(bool)), - ts, SLOT(stabilizeYawToggled(bool))); + if (joyStick != nullptr) { + qDebug() << "Deleting joyStick"; + delete joyStick; + joyStick = nullptr; + } - connect( - ui->pushButton_modeAutomated_tetta, SIGNAL(toggled(bool)), - ts, SLOT(stabilizePitchToggled(bool))); + if (keyBoard != nullptr) { + qDebug() << "Deleting existing keyBoard"; + delete keyBoard; + keyBoard = nullptr; + } - connect( - ui->comboBox_modeSelection, SIGNAL(activated(int)), - ts, SLOT(setModeSelection(int))); + qDebug() << "Creating new keyBoard"; + keyBoard = new KeyBoard(this); + displayText("Используемые клавиши..."); - connect( - ui->pushButton_connection, SIGNAL(clicked()), - ts, SLOT(setConnection())); - connect( - ui->pushButton_setupIMU, SIGNAL(clicked()), - ts, SLOT(setupIMU())); + joyStick = new JoyStick(this); } -void MainWindow::setTab(Ui::MainWindow *ui) +void MainWindow::keyPressEvent(QKeyEvent *event) { - ui->tabWidget->setTabText(0, "Карта"); - ui->tabWidget->setTabText(1, "БСО"); - ui->tabWidget->setTabText(2, "Контроль сообщений"); - ui->tabWidget->setTabText(3, "Режимы питания"); + keyBoard->keyPressEvent(event); } +void MainWindow::keyReleaseEvent(QKeyEvent *event) +{ + keyBoard->keyReleaseEvent(event); +} +void MainWindow::updateUi_fromControl(){ + ControlData control = uv_interface.getControlData(); + DataAH127C imuData = uv_interface.getImuData(); + ui->compass->setYawDesirable(control.yaw, imuData.yaw, uv_interface.getCSMode()); + ui->label_controlYaw->setNum(control.yaw); + ui->label_controlMarch->setNum(control.march); +} - -MainWindow::~MainWindow() +void MainWindow::updateUi_Map() { - delete ui; + GPS_coordinate gps_coordinate = uv_interface.getCoordinateGPS(); + emit signal_sendCurrentPos(gps_coordinate.latitude, gps_coordinate.longitude); // Отправка сигнала с текущими координатами + } -void MainWindow::timerUpdateImpact(int periodUpdateMsec){ - QTimer *updateTimer = new QTimer(this); - connect( - updateTimer, SIGNAL(timeout()), - this, SLOT(updateUi_fromControl()) - ); - updateTimer->start(periodUpdateMsec); +// +void MainWindow::setBottom() +{ + setBottom_mode(); + setBottom_connection(); + setBottom_modeSelection(); + setBottom_selectAgent(); } -void MainWindow::updateUi_fromControl(){ - ControlData control = uv_interface.getControlData(); - DataAH127C imuData = uv_interface.getImuData(); - bool mode = uv_interface.getCSMode(); +void MainWindow::setBottom_mode() +{ + ui->pushButton_modeManual->setCheckable(true); + ui->pushButton_modeAutomated->setCheckable(true); + ui->pushButton_modeAutomatic->setCheckable(true); + QButtonGroup *mode = new QButtonGroup(this); + mode->addButton(ui->pushButton_modeManual); + mode->addButton(ui->pushButton_modeAutomated); + mode->addButton(ui->pushButton_modeAutomatic); + mode->setExclusive(true); + + ui->pushButton_modeManual->setChecked(true); + e_CSModeManualToggled(); - ui->label_impactDataDepth->setText(QString::number(control.depth, 'f', 2)); - ui->label_impactDataRoll->setText(QString::number(control.roll, 'f', 2)); - ui->label_impactDataPitch->setText(QString::number(control.pitch, 'f', 2)); - ui->label_impactDataYaw->setText(QString::number(control.yaw, 'f', 2)); - ui->label_impactDataMarch->setText(QString::number(control.march, 'f', 2)); - ui->label_impactDataLag->setText(QString::number(control.lag, 'f', 2)); + connect( + ui->pushButton_modeManual, SIGNAL(clicked()), + this, SLOT(e_CSModeManualToggled())); - ui->compass->setYawDesirable(control.yaw, imuData.yaw, mode); + connect( + ui->pushButton_modeAutomated, SIGNAL(clicked()), + this, SLOT(e_CSModeAutomatedToggled())); + + connect( + ui->pushButton_modeAutomatic, SIGNAL(clicked()), + this, SLOT(e_CSModeAutomaticToggled())); } -void MainWindow::updateUi_Compass(float yaw) { - ui->compass->setYaw(yaw); +void MainWindow::e_CSModeManualToggled() { + uv_interface.setCSMode(e_CSMode::MODE_MANUAL); } -void MainWindow::updateUi_IMU(DataAH127C imuData){ - ui->label_IMUdata_accel_X->setText(QString::number(imuData.X_accel, 'f', 2)); - ui->label_IMUdata_accel_Y->setText(QString::number(imuData.Y_accel, 'f', 2)); - ui->label_IMUdata_accel_Z->setText(QString::number(imuData.Z_accel, 'f', 2)); +void MainWindow::e_CSModeAutomatedToggled() { + uv_interface.setCSMode(e_CSMode::MODE_AUTOMATED); +} - ui->label_IMUdata_rate_X->setText(QString::number(imuData.X_rate, 'f', 2)); - ui->label_IMUdata_rate_Y->setText(QString::number(imuData.Y_rate, 'f', 2)); - ui->label_IMUdata_rate_Z->setText(QString::number(imuData.Z_rate, 'f', 2)); +void MainWindow::e_CSModeAutomaticToggled() +{ + uv_interface.setCSMode(e_CSMode::MODE_AUTOMATIC); + ui->stackedWidget_mode->setCurrentIndex(1); +} - ui->label_IMUdata_magn_X->setText(QString::number(imuData.X_magn, 'f', 2)); - ui->label_IMUdata_magn_Y->setText(QString::number(imuData.Y_magn, 'f', 2)); - ui->label_IMUdata_magn_Z->setText(QString::number(imuData.Z_magn, 'f', 2)); - ui->label_IMUdata_q0->setText(QString::number(imuData.quat[0], 'f', 2)); - ui->label_IMUdata_q1->setText(QString::number(imuData.quat[1], 'f', 2)); - ui->label_IMUdata_q2->setText(QString::number(imuData.quat[2], 'f', 2)); - ui->label_IMUdata_q3->setText(QString::number(imuData.quat[3], 'f', 2)); +void MainWindow::setBottom_connection() +{ + ui->pushButton_breakConnection->setEnabled(false); - ui->label_IMUdata_yaw->setText(QString::number(imuData.yaw, 'f', 2)); - ui->label_IMUdata_pitch->setText(QString::number(imuData.pitch, 'f', 2)); - ui->label_IMUdata_roll->setText(QString::number(imuData.roll, 'f', 2)); + connect( + ui->pushButton_connection, SIGNAL(clicked()), + this, SLOT(setConnection())); + connect( + ui->pushButton_breakConnection, SIGNAL(clicked()), + this, SLOT(breakConnection())); } -void MainWindow::updateUi_SetupMsg() +void MainWindow::setConnection() { - power_Mode pMode = uv_interface.getPowerMode(); - bool modeSelection = uv_interface.getModeSelection(); - bool CsMode = uv_interface.getCSMode(); - ControlContoursFlags controlContoursFlags = uv_interface.getControlContoursFlags(); - ControlData control = uv_interface.getControlData(); - AUVCurrentData auvData = uv_interface.getAUVCurrentData(); - - ui->label_tab_setupMsg_send_powerMode_count->setNum(static_cast(pMode)); - ui->label_tab_setupMsg_send_modeAUV_selection_mode->setText(QString::number(modeSelection, 'f', 2)); - ui->label_tab_setupMsg_send_cSMode_count->setNum(static_cast(CsMode)); - ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_yaw->setNum(controlContoursFlags.yaw); - ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_pitch->setNum(controlContoursFlags.pitch); - ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_roll->setNum(controlContoursFlags.roll); - ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_march->setNum(controlContoursFlags.march); - ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_lag->setNum(controlContoursFlags.lag); - ui->label_tab_setupMsg_send_Impact_data_count_yaw->setNum(control.yaw); - ui->label_tab_setupMsg_send_Impact_data_count_pitch->setNum(control.pitch); - ui->label_tab_setupMsg_send_Impact_data_count_roll->setNum(control.roll); - ui->label_tab_setupMsg_send_Impact_data_count_march->setNum(control.march); - ui->label_tab_setupMsg_send_Impact_data_count_lag->setNum(control.lag); - ui->label_tab_setupMsg_send_Impact_data_count_depth->setNum(control.depth); - - ui->labelt_tab_setupMsg_received_modeAUV_selection_mode->setNum(auvData.modeAUV_Real); - ui->label_tab_setupMsg_received_cSMode_count->setNum(auvData.modeReal); - ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_yaw->setNum(auvData.controlReal.yaw); - ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_pitch->setNum(auvData.controlReal.pitch); - ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_roll->setNum(auvData.controlReal.roll); - ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_march->setNum(auvData.controlReal.march); - ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_lag->setNum(auvData.controlReal.lag); -// ui->label_tab_setupMsg_received_Impact_data_count_yaw->setNum(auvData.signalVMA_real.yaw); -// ui->label_tab_setupMsg_received_Impact_data_count_pitch->setNum(auvData.signalVMA_real.pitch); -// ui->label_tab_setupMsg_received_Impact_data_count_roll->setNum(auvData.signalVMA_real.roll); -// ui->label_tab_setupMsg_received_Impact_data_count_march->setNum(auvData.signalVMA_real.march); -// ui->label_tab_setupMsg_received_Impact_data_count_lag->setNum(auvData.signalVMA_real.lag); -// ui->label_tab_setupMsg_received_Impact_data_count_depth->setNum(auvData.signalVMA_real.depth); + ui->pushButton_connection->setEnabled(false); + ui->pushButton_breakConnection->setEnabled(true); + QString ip_pult = ui->lineEdit_ip_pult->text(); + QString ip_agent = ui->lineEdit_ip_agent->text(); + communicationAgent1 = new Pult::PC_Protocol(QHostAddress(ip_pult), 13053, + QHostAddress(ip_agent), 13052, 10, 0); + communicationAgent1->startExchange(); + + if (communicationAgent1->bindState()) { + displayText("Соединение установлено"); + ui->pushButton_selectAgent1->setStyleSheet("background-color: green"); + connect(communicationAgent1, SIGNAL(dataReceived()), + this, SLOT(updateUi_fromAgent1())); + updateStatePushButton(); + } else { + ui->pushButton_connection->setEnabled(true); + ui->pushButton_breakConnection->setEnabled(false); + ui->pushButton_selectAgent1->setStyleSheet("background-color: red"); + displayText("Попробуйте снова"); + } } -void MainWindow::setConnection() +void MainWindow::updateUi_fromAgent1() { + DataAH127C imuData = uv_interface.getImuData(); + + emit updateCompass(imuData.yaw); + emit updateIMU(imuData); + emit updateSetupMsg(); + emit updateDataMission(); + emit updateMap(); +} + + +void MainWindow::breakConnection() { - ui->pushButton_connection->setEnabled(false); + ui->pushButton_connection->setEnabled(true); - pultProtocol = new Pult::PC_Protocol(QHostAddress("192.168.137.2"), 13051, - QHostAddress("192.168.137.11"), 13050, 10); + displayText("Соединение разорвано"); + communicationAgent1->stopExhange(); - qDebug() << "-----start exchange"; - pultProtocol->startExchange(); + delete communicationAgent1; - connect(pultProtocol, SIGNAL(dataReceived()), - this, SLOT(updateUi_fromAgent())); + ui->pushButton_breakConnection->setEnabled(false); } -void MainWindow::stabilizeMarchToggled(bool state) { - uv_interface.setControlContoursFlags(e_StabilizationContours::CONTOUR_MARCH, state); -} +// -void MainWindow::stabilizeYawToggled(bool state) { - uv_interface.setControlContoursFlags(e_StabilizationContours::CONTOUR_YAW, state); +void MainWindow::setBottom_modeSelection() +{ + setModeSelection(0); + connect( + ui->comboBox_modeSelection, SIGNAL(activated(int)), + this, SLOT(setModeSelection(int))); } -void MainWindow::stabilizePitchToggled(bool state) { - uv_interface.setControlContoursFlags(e_StabilizationContours::CONTOUR_PITCH, state); -} +void MainWindow::setModeSelection(int index) +{ -void MainWindow::stabilizeRollToggled(bool state) { - uv_interface.setControlContoursFlags(e_StabilizationContours::CONTOUR_ROLL, state); + if (index == 1){ + uv_interface.setModeSelection(0); //агент + } + else{ + uv_interface.setModeSelection(1); //модель + } } -void MainWindow::stabilizeLagToggled(bool state) { - uv_interface.setControlContoursFlags(e_StabilizationContours::CONTOUR_LAG, state); -} +// -void MainWindow::e_CSModeManualToggled() { - uv_interface.setCSMode(e_CSMode::MODE_MANUAL); -} -void MainWindow::e_CSModeAutomatedToggled() { - ui->pushButton_modeAutomated_gamma->setChecked(true); - ui->pushButton_modeAutomated_lag->setChecked(true); - ui->pushButton_modeAutomated_march->setChecked(true); - ui->pushButton_modeAutomated_psi->setChecked(true); - ui->pushButton_modeAutomated_tetta->setChecked(true); - uv_interface.setCSMode(e_CSMode::MODE_AUTOMATED); +void MainWindow::setBottom_selectAgent() +{ + ui->pushButton_selectAgent1->setCheckable(true); + QButtonGroup *buttonGroup_selectAgent = new QButtonGroup(this); + buttonGroup_selectAgent->addButton(ui->pushButton_selectAgent1); + buttonGroup_selectAgent->setExclusive(true); + + ui->pushButton_selectAgent1->setChecked(true); + + connect(ui->pushButton_selectAgent1, &QAbstractButton::toggled, + this, &MainWindow::pushButton_selectAgent1); + connect(this, &MainWindow::updateStatePushButton, + this, &MainWindow::updateUi_statePushButton); } +void MainWindow::pushButton_selectAgent1(bool stateBottom) +{ + if (stateBottom){ + uv_interface.setCurrentAgent(0); + displayText("Установлен ввод и вывод данных с агента 1"); + } + updateStatePushButton(); +} -void MainWindow::setModeSelection(int index) + +void MainWindow::updateUi_statePushButton() { - if (index == 1) - uv_interface.setModeSelection(false); + // вывод данных: модель/агент + if (uv_interface.getModeSelection()) + ui->comboBox_modeSelection->setCurrentIndex(0); else - uv_interface.setModeSelection(true); - + ui->comboBox_modeSelection->setCurrentIndex(1); + + + // + switch (uv_interface.getCSMode()) { + case e_CSMode::MODE_MANUAL: + ui->pushButton_modeManual->setChecked(true); + break; + case e_CSMode::MODE_AUTOMATED: + ui->pushButton_modeAutomated->setChecked(true); + break; + case e_CSMode::MODE_AUTOMATIC: + ui->pushButton_modeAutomatic->setChecked(true); + break; + } } -void MainWindow::updateUi_fromAgent() { - DataAH127C imuData = uv_interface.getImuData(); +void MainWindow::setTab() +{ + ui->tabWidget->setTabText(0, "Карта"); + ui->tabWidget->setTabText(1, "БСО"); + ui->tabWidget->setTabText(2, "Контроль сообщений"); + ui->tabWidget->setTabText(3, "Режимы питания"); + ui->tabWidget->setTabText(4, "Карта ГИC"); + //ui->tabWidget->setCurrentIndex(4); + ui->tabWidget->setTabText(5, "Видео"); //виджет с видео - emit updateCompass(imuData.yaw); - emit updateIMU(imuData); - emit updateSetupMsg(); } -void MainWindow::setupIMU() +void MainWindow::setUpdateUI() { - SetupIMU window_setupIMU; - window_setupIMU.setModal(false); - window_setupIMU.exec(); + connect(this, SIGNAL(updateCompass(float)), + this, SLOT(updateUi_Compass(float))); + connect(this, SIGNAL(updateIMU(DataAH127C)), + checkImu, SLOT(updateUi_imu(DataAH127C))); + connect(this, SIGNAL(updateSetupMsg()), + checkMsg, SLOT(updateUi_checkMsg())); + connect(this, SIGNAL(updateDataMission()), + modeAutomatic, SLOT(updateUi_DataMission())); + connect(this, &MainWindow::updateMap, + this, &MainWindow::updateUi_Map); } +void MainWindow::updateUi_Compass(float yaw) { + ui->compass->setYaw(yaw); +} + +MainWindow::~MainWindow() +{ + delete ui; +} diff --git a/mainwindow.h b/mainwindow.h index c84585a..3f5e3bb 100644 --- a/mainwindow.h +++ b/mainwindow.h @@ -4,82 +4,248 @@ #include #include #include - +#include +#include #include +#include +#include +#include + + #include "remote_control.h" #include "uv_state.h" #include "i_user_interface_data.h" #include "pc_protocol.h" #include "i_server_data.h" -#include "setup_imu.h" +#include "map.h" +#include "i_basic_data.h" +#include "joy_stick.h" +#include "key_board.h" +#include "power_system.h" +#include "check_msg.h" +#include "check_imu.h" +#include "mode_automatic.h" +#include "map_widget.h" +#include "diagnostic_board.h" +#include "videowidget.h" QT_BEGIN_NAMESPACE namespace Ui { class MainWindow; } QT_END_NAMESPACE +/*! + * \brief MainWindow - класс формы главного окна, в котором + * реализованы основные методы для работы с ним. + */ + class MainWindow : public QMainWindow { Q_OBJECT public: + /*! + * \brief MainWindow конструктор, в котором создается главная UI форма. + */ MainWindow(QWidget *parent = nullptr); ~MainWindow(); -// оптимизация места - void setBottom(Ui::MainWindow *ui, QObject *ts); - void setBottom_powerMode(Ui::MainWindow *ui, QObject *ts); - void setBottom_connect(Ui::MainWindow *ui, QObject *ts); - void setTab(Ui::MainWindow *ui); -// void setLable_setupMsg(Ui::MainWindow *ui, QObject *ts); + /*! + * \brief setConsole устанавливает настройки для консоли. + */ + void setConsole(); + +private: + /*! + * \brief setTimer_updateImpact устанавливает таймер + * обработки пульта управления. + * \param periodUpdateMsec период обновления таймера + * обработки значений пульта управления. + */ + void setTimer_updateImpact(int periodUpdateMsec); + + /*! + * \brief setBottom устанавливает все используемые кнопки. + */ + void setBottom(); + /*! + * \brief setBottom_mode устанавливает кнопки и слоты, + * связанные с режимами управления. + */ + void setBottom_mode(); + + void setBottom_connection(); + /*! + * \brief setBottom_modeSelection устанавливает кнопки и слоты, + * связанные с режимом вывода данных. + */ + void setBottom_modeSelection(); + + void setBottom_selectAgent(); + + /*! + * \brief setTab устанавливает названия вкладкам. + */ + void setTab(); + + /*! + * \brief setUpdateUI устанавливает слоты обновления для UI формы. + */ + void setUpdateUI(); + + void setModeAutomatic_mission_cpp(); + + void setWidget(); + void setGUI_reper(); + + void setInterface(); + PowerSystem *powerSystem; + CheckMsg *checkMsg; + CheckImu *checkImu; + ModeAutomatic *modeAutomatic; + MapWidget *mapWidget; + Diagnostic_board *diagnostic_board; + Videowidget *videowidget; + -// - void timerUpdateImpact(int periodUpdateMsec); private slots: + /*! + * \brief displayText слот для вывода сообщений в консоль. + * \param str является выводимой строкой. + */ + void displayText(QString str); + + /*! + * \brief updateUi_fromControl слот для обновления на UI форме + * данных управляющих воздействий. + */ void updateUi_fromControl(); - void stabilizeYawToggled(bool state); - void stabilizePitchToggled(bool state); - void stabilizeRollToggled(bool state); - void stabilizeMarchToggled(bool state); - void stabilizeLagToggled(bool state); + void updateUi_Map(); + + /*! + * \brief e_CSModeManualToggled слот для установки ручного режима + * управления. + */ void e_CSModeManualToggled(); + /*! + * \brief e_CSModeAutomatedToggled слот для установки автоматизированного + * режима управления. + */ void e_CSModeAutomatedToggled(); - - void pushButton_on_powerMode_2(); - void pushButton_on_powerMode_3(); - void pushButton_on_powerMode_4(); - void pushButton_on_powerMode_5(); - + /*! + * \brief e_CSModeAutomaticToggled слот для установки автоматического + * режима управления. + */ + void e_CSModeAutomaticToggled(); + + /*! + * \brief setConnection слот установления соединения. + */ + void setConnection(); + /*! + * \brief updateUi_fromAgent1 слот вызова сигналов обновления UI формы. + */ + void updateUi_fromAgent1(); + + /*! + * \brief breakConnection слот разрыва соединения. + */ + void breakConnection(); + + /*! + * \brief setModeSelection слот установления вывода данных. + * \param index выбор вывода данных. + */ void setModeSelection(int index); - void updateUi_fromAgent(); + /*! + * \brief updateUi_Compass слот обновления компаса на UI форме. + * \param yaw новое значение курса. + */ void updateUi_Compass(float yaw); - void updateUi_IMU(DataAH127C imuData); - void updateUi_SetupMsg(); - void setConnection(); + void useKeyBoard(); + void useJoyStick(); + + void pushButton_selectAgent1(bool stateBottom); + + void updateUi_statePushButton(); + + void slot_pushButton_sendReper(); + + void slot_addMarker_to_gui(double x, double y); + + //void on_pushButton_Play_Pause_clicked(); + - void setupIMU(); signals: + /*! + * \brief updateCompass сигнал запуска обновления компаса на UI форме. + * \param yaw новое значение курса. + */ void updateCompass(float yaw); + /*! + * \brief updateIMU сигнал запуска обновления данных с БСО на UI форме. + * \param imuData структура данных с обновленными значениями с БСО. + */ void updateIMU(DataAH127C imuData); + /*! + * \brief updateSetupMsg сигнал запуска обновления отправленных и полученных + * данных на UI форме. + */ void updateSetupMsg(); -private: + void updateDataMission(); + + void updateStatePushButton(); + + void updateMap(); + + void pointAdded(qreal x, qreal y); + + void toggleMissionPlanning_cppPointsEnabled(); + + void signal_setInterface(IUserInterfaceData *uv_interface); + void signal_setMarker(const QGeoCoordinate &coordinate); + void signal_sendCurrentPos(double latitude, double longitude); + +protected: + /*! + * \brief ui указатель на главную форму. + */ Ui::MainWindow *ui; + + /*! + * \brief updateTimer таймер обновления данных от пульта управления. + */ QTimer *updateTimer = nullptr; + JoyStick *joyStick = nullptr; + KeyBoard *keyBoard = nullptr; + void keyPressEvent(QKeyEvent *event); + void keyReleaseEvent(QKeyEvent *event); + + /*! + * \brief uv_interface интерфейс взаимодействия с глобальной переменной, + * с принимаемыми и отправляемыми сообщениями. + */ IUserInterfaceData uv_interface; - Pult::PC_Protocol* pultProtocol; + /*! + * \brief communicationAgent1 указатель на объект класса для UDP соединения. + */ + Pult::PC_Protocol *communicationAgent1; + + /*! + * \brief pult объект класса для обновления задающих воздействий + */ + RemoteControl pult; - RemoteControl joystick; - IServerData data; }; #endif // MAINWINDOW_H diff --git a/mainwindow.ui b/mainwindow.ui index 10a3856..4621e1c 100644 --- a/mainwindow.ui +++ b/mainwindow.ui @@ -6,8 +6,8 @@ 0 0 - 923 - 661 + 3840 + 2400 @@ -16,13 +16,13 @@ - + - + - + 0 0 @@ -42,7 +42,7 @@ - + 0 0 @@ -52,6 +52,81 @@ + + + + + + + 0 + 0 + + + + ip пульта: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + 192.168.1.111 + + + 100 + + + Qt::AlignCenter + + + + + + + + + + + + 0 + 0 + + + + ip агента: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + 192.168.1.11 + + + Qt::AlignCenter + + + + + @@ -65,2475 +140,245 @@ - - - - - - 2 - - - - Tab 1 - - - - - - - - - - - - 0 - 0 - - - - Нажми меня! - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - - 0 - - - - - - - З - - - - - - - y - - - - - - - x - - - - - - - 0 - - - - - - - Т - - - - - - - 0 - - - - - - - 0 - - - - - - - - - - - - Tab 2 - - - - - 9 - 9 - 351 - 241 - - - - - - - - - Bx = - - - - - - - 0 - - - - - - - By = - - - - - - - 0 - - - - - - - Bz = - - - - - - - 0 - - - - - - - - - Гироскоп: - - - - - - - - - Ax = - - - - - - - 0 - - - - - - - Ay = - - - - - - - 0 - - - - - - - Az = - - - - - - - 0 - - - - - - - - - - - Wx = - - - - - - - 0 - - - - - - - 0 - - - - - - - Wz = - - - - - - - 0 - - - - - - - Wy = - - - - - - - - - - - q0 = - - - - - - - 0 - - - - - - - q1 = - - - - - - - 0 - - - - - - - q2 = - - - - - - - 0 - - - - - - - q3 = - - - - - - - 0 - - - - - - - - - Акселерометр: - - - - - - - Магнитометр: - - - - - - - Кватернионы: - - - - - - - - - 10 - 280 - 351 - 51 - - + + - + 0 0 - Настроить БСО + Разорвать соединение - - - - Page - - + + + + + + + - - - - - Qt::Horizontal - - - - - - - - - - 0 - 0 - - - - Количество отправленных: - - - + + + true + + + + 0 + 0 + + + + + 50 + 50 + + + + 1 + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + + 5 + + + + Tab 1 + + - - - - 0 - 0 - - - - 0 - - - Qt::AlignCenter - - + - - - - - Qt::Horizontal - - - - - - - - 0 - 0 - - - - Полученные - - - Qt::AlignCenter - - - - - - - 5 - - - QLayout::SetDefaultConstraint - - - - - - 0 - 0 - - - - Количество: - - - + + + + Tab 2 + + - - - - 0 - 0 - - - - 0 - - - Qt::AlignCenter - - + - - - - - Флаги 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<html><head/><body><p align="center"><span style=" font-size:28pt; color:#cc0000;">-</span></p></body></html> - - - Qt::AlignCenter + + + + + + + + + true - + false - - - - Qt::Horizontal - - - - - - - Qt::Vertical - - - - - - - Qt::Vertical - - - - - - - Qt::Vertical - - - - - - - Qt::Vertical - - - - - - - Qt::Vertical - - - - - - - Qt::Vertical - - + + + + + + Выставка репера + + + + + + + Тыкнуть по карте + + + true + + + + + + + + + Широта: + + + + + + + Долгота + + + + + + + 55.71752739610301 + + + + + + + 37.84747427460488 + + + + + + + + + Установить репер + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + - - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - + + + 0 + + + Информация + + Qt::AlignCenter + @@ -2547,116 +392,120 @@ - - - - - γ - - - - - - - - - - - - - - 0 - - - - - - - З - - - - - - - ψ + + + Qt::Horizontal + + + + + + + + + true - - - - - θ + Джойстик - - - - - - Т + + true - - - - - - z + + true - - - - - - 0 + + false - - + + - 0 + Клавиатура - - - - - - 0 + + false - - - - 0 + + + + Qt::Horizontal - - - - - - 0 + + + 40 + 20 + - + - - - - 0 - - + + + + + + Управляющие воздействия + + + Qt::AlignCenter + + + + + + + + + Марш + + + + + + + 0 + + + + + + + Курс + + + + + + + 0 + + + + + + - - - - 0 - - + + + + + + Qt::Horizontal + + + + + + + - + @@ -2703,82 +552,42 @@ - - - - - true - - - - 0 - 0 - - - - ψ - - - - - - - - 0 - 0 - - - - θ - - - - - - - - 0 - 0 - - - - γ - - - - - - - - 0 - 0 - - - - x - - - - - - - - 0 - 0 - - - - y - - - - + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + 0 + 0 + + + + Автоматический + + - + + + + + + + @@ -2788,8 +597,8 @@ 0 0 - 923 - 22 + 3840 + 24 diff --git a/map/map.cpp b/map/map.cpp index c4dbc83..46ea854 100644 --- a/map/map.cpp +++ b/map/map.cpp @@ -1,5 +1,7 @@ #include "map.h" #include "ui_map.h" +#include "math.h" +#include Map::Map(QWidget *parent) : QWidget(parent), @@ -7,24 +9,211 @@ Map::Map(QWidget *parent) : { ui->setupUi(this); - auto series0 = new QScatterSeries; - series0->setName("Агент - 1"); - series0->setMarkerShape(QScatterSeries::MarkerShapeCircle); - series0->setMarkerSize(15.0); + db = new DataBase("list_uwb.db", "Location_UWB", "Color", "x", "y"); + db->connectToDataBase(); + db->createTable(ui->tableWidget_listUWB); - series0->append(3, 8); + range[0] = 1; + range[1] = 1; + range[2] = 1; + createPlot(); + + connect(ui->pushButton_addUWB, &QPushButton::clicked, + this, &Map::addRowUWB); + connect(ui->pushButton_updateLocationUWB, &QPushButton::clicked, + this, &Map::updateLocationUWB); +} + +void Map::createPlot() +{ + beacon1 = new QScatterSeries(); + beacon2 = new QScatterSeries(); + beacon3 = new QScatterSeries(); + + agent1Coords = new QScatterSeries(); + agent2Coords = new QScatterSeries(); + missionPlanning_goto_goal = new QScatterSeries(); + missionPlanning_goto_goal->setColor(QColor(255, 51, 153)); + + circle1 = new QLineSeries(); + circle1->setColor(QColor(0, 0, 255)); + circle2 = new QLineSeries(); + circle2->setColor(QColor(0, 255, 0)); + circle3 = new QLineSeries(); + circle3->setColor(QColor(255, 165, 0)); + missionPlanning_goto_goal_radius = new QLineSeries(); + missionPlanning_goto_goal_radius->setColor(QColor(255, 51, 153)); + missionPlanning_goto_traj = new QLineSeries(); + missionPlanning_goto_traj->setColor(QColor(255, 0, 0)); + + chart = new QChart(); + + chart->addSeries(beacon1); + chart->addSeries(beacon2); + chart->addSeries(beacon3); + chart->addSeries(circle1); + chart->addSeries(circle2); + chart->addSeries(circle3); + chart->addSeries(missionPlanning_goto_goal_radius); + chart->addSeries(missionPlanning_goto_traj); + chart->addSeries(agent1Coords); + chart->addSeries(agent2Coords); + chart->addSeries(missionPlanning_goto_goal); + + // cpp start + series = new QScatterSeries(); + chart->addSeries(series); + //cpp end - auto chart = new QChart; - chart->addSeries(series0); chart->createDefaultAxes(); - chart->setDropShadowEnabled(false); - chart->legend()->setMarkerShape(QLegend::MarkerShapeFromSeries); + chart->axes(Qt::Vertical).first()->setRange(0,50); + chart->axes(Qt::Vertical).first()->setTitleText("Y, см"); + chart->axes(Qt::Horizontal).first()->setRange(0, 50); + chart->axes(Qt::Horizontal).first()->setTitleText("X, см"); + - QChartView *chartView = new QChartView(chart); + chartView = new QChartView(chart); ui->verticalLayout_map->addWidget(chartView); + + connect(ui->pushButton_scaling, &QPushButton::toggled, + this, &Map::plotScaling); +} + +void Map::mousePressEvent(QMouseEvent *event) { + if (event->button() == Qt::LeftButton && missionPlanningEnabled) { + QPointF point = chartView->mapToScene(event->pos()); + QPointF value = chart->mapToValue(point, series); + addPointToChart(value.x(), value.y()); + emit pointAdded(value.x(), value.y()); + } +} + +void Map::addPointToChart(qreal x, qreal y) { + series->append(x, y); +} + +void Map::updateChart(QLineSeries *lineSeries) { +// chart->removeAllSeries(); +// chart->addSeries(series); + chart->addSeries(lineSeries); + chart->createDefaultAxes(); +} + +void Map::clearLines() { + QList allSeries = chart->series(); + for (QAbstractSeries *s : allSeries) { + if (dynamic_cast(s)) { + chart->removeSeries(s); + } + } + series->clear(); +} + +void Map::onPlotLineSeries(QLineSeries* series_cpp) { + chart->addSeries(series_cpp); + chart->createDefaultAxes(); +} + + +void Map::updateUi_missionPlanning_goto_goal(double x, double y, double r, int flag_clear) +{ +// drawCurrentCoords(missionPlanning_goto_goal, x, y); + drawCircle( missionPlanning_goto_goal_radius, missionPlanning_goto_goal, x, y, r, flag_clear); +} + +void Map::updateUi_missionPlanning_goto_goal_clear() +{ + missionPlanning_goto_goal->clear(); + missionPlanning_goto_goal_radius->clear(); +} + +void Map::addRowUWB() +{ + int countRows = ui->tableWidget_listUWB->rowCount(); + if (countRows == 2) + ui->pushButton_addUWB->setEnabled(false); + ui->tableWidget_listUWB->insertRow(countRows); + ui->tableWidget_listUWB->setItem(countRows, 0, new QTableWidgetItem(color.at(countRows))); + ui->tableWidget_listUWB->resizeColumnsToContents(); +} + +void Map::updateLocationUWB() +{ + int countRows = ui->tableWidget_listUWB->rowCount(); + for (int row = 0; row < countRows; row++) + { + QTableWidgetItem *item_color = ui->tableWidget_listUWB->item(row, 0); + QTableWidgetItem *item_x = ui->tableWidget_listUWB->item(row, 1); + QTableWidgetItem *item_y = ui->tableWidget_listUWB->item(row, 2); + if (item_x && item_y) { + x[row] = item_x->text().toInt(nullptr, 10); + y[row] = item_y->text().toInt(nullptr, 10); + db->inserIntoDeviceTable(item_color->text(), x[row], y[row]); + } + } + emit sendLocationUWB(&x[0],&y[0]); + drawCircle(circle1, beacon1, x[0], y[0], range[0], 1); + drawCircle(circle2, beacon2, x[1], y[1], range[1], 1); + drawCircle(circle3, beacon3, x[2], y[2], range[2], 1); +} + +void Map::plotScaling(bool state) +{ + if (state) + chartView->setRubberBand(QChartView::RectangleRubberBand); + else + chartView->setRubberBand(QChartView::NoRubberBand); + +} + +void Map::updateUi_missionPlanning_goto_traj_onoff() +{ + if (flag_traj) + flag_traj = 0; + else + flag_traj = 1; +} + +void Map::updateUi_missionPlanning_goto_traj_clear() +{ + missionPlanning_goto_traj->clear(); +} + +void Map::drawCircle(QLineSeries *circle, QScatterSeries *point, double x, double y, double R, int flag_clear) +{ + if (flag_clear) { + circle->clear(); + point->clear(); + } + +// circle = new QLineSeries(); +// circle->setColor(QColor(0, 0, 255)); +// chart->addSeries(circle); + + point->append(x,y); + + for(int i=0; i<=360; i++){ + double alpha = i*M_PI/180; + double plot_x = x+R*cos(alpha); + double plot_y = y+R*sin(alpha); + circle->append(plot_x,plot_y); + } +} + +void Map::drawCurrentCoords(QScatterSeries *agentCoords, QLineSeries *traj, double x, double y) +{ + agentCoords->clear(); + agentCoords->append(x,y); + if (flag_traj) + traj->append(x,y); +} + +void Map::setMissionPlanning_cpp_Enabled(bool enabled) +{ + missionPlanningEnabled = enabled; } Map::~Map() diff --git a/map/map.h b/map/map.h index fca7548..9d6002d 100644 --- a/map/map.h +++ b/map/map.h @@ -2,6 +2,7 @@ #define MAP_H #include +#include #include #include @@ -10,11 +11,21 @@ #include #include #include +#include +#include +#include + +#include "uv_state.h" +#include "database.h" namespace Ui { class Map; } +using namespace QtCharts; +/*! + * \brief Map class класс отображения данных об UWB и агентов. + */ class Map : public QWidget { Q_OBJECT @@ -23,8 +34,120 @@ class Map : public QWidget explicit Map(QWidget *parent = nullptr); ~Map(); -private: + /*! + * \brief drawCircle метод рисования расстояние от модуля до агента. + * \param circle окружность. + * \param R расстояние от модуля до агетна. + */ + void drawCircle(QLineSeries *circle, QScatterSeries *point, double x, double y, double R, int flag_clear); + /*! + * \brief drawCurrentCoords метод отображения агента. + * \param x координата агента по оси X. + * \param y координата агента по оси Y. + */ + void drawCurrentCoords(QScatterSeries *agentCoords, QLineSeries *traj, double x, double y); + +protected: + /*! + * \brief x координаты модулей по оси X. + */ + double x[3]; + /*! + * \brief y координаты модулей по оси Y. + */ + double y[3]; + /*! + * \brief range текущее расстояние от агетна до модуля. + */ + double range[3]; + + /*! + * \brief ui указатель на форму map.ui + */ Ui::Map *ui; + + + QScatterSeries *series = nullptr; + + QChartView *chartView = nullptr; + QChart *chart = nullptr; + QScatterSeries *beacon1 = nullptr; + QScatterSeries *beacon2 = nullptr; + QScatterSeries *beacon3 = nullptr; + QScatterSeries *agent1Coords = nullptr; + QScatterSeries *agent2Coords = nullptr; + QScatterSeries *missionPlanning_goto_goal = nullptr; + QLineSeries *missionPlanning_goto_goal_radius = nullptr; + QLineSeries *missionPlanning_goto_traj = nullptr; + QLineSeries *circle1 = nullptr; + QLineSeries *circle2 = nullptr; + QLineSeries *circle3 = nullptr; + int flag_traj=0; + + QStringList color = { "Синий", "Зеленый", "Оранжевый" }; + + //cpp + void mousePressEvent(QMouseEvent *event) override; + + +private: + DataBase *db; + + void createPlot(); + + //cpp + void addPointToChart(qreal x, qreal y); + bool missionPlanningEnabled = 0; + + + + +public slots: + /*! + * \brief updateUi_map слот обновления данных о расположении UWB и агента. + * \param dataUWB структура с информацией об расположении агента. + */ + void updateUi_missionPlanning_goto_goal(double x, double y, double r, int flag_clear); + void updateUi_missionPlanning_goto_goal_clear(); + + /*! + * \brief addRowUWB слот добавления строк и цветов модулей в таблицу. + */ + void addRowUWB(); + /*! + * \brief updateLocationUWB метод обновления по кнопке данных о UWB модулях. + */ + void updateLocationUWB(); + /*! + * \brief plotScaling слот переключения. масштабирования графика. + * \param state состояние нажатия кнопки. + */ + void plotScaling(bool state); + + void updateUi_missionPlanning_goto_traj_onoff(); + void updateUi_missionPlanning_goto_traj_clear(); + + //cpp + void updateChart(QLineSeries *lineSeries); + void clearLines(); + void onPlotLineSeries(QLineSeries* series); + void setMissionPlanning_cpp_Enabled(bool enabled); + + + + + +signals: + /*! + * \brief sendLocationUWB сигнал отправки расположения UWB модулей + * \param x координаты модулей по оси X. + * \param y координаты модулей по оси Y. + */ + void sendLocationUWB(double *x, double *y); + + //cpp + void pointAdded(qreal x, qreal y); + }; #endif // MAP_H diff --git a/map/map.html b/map/map.html new file mode 100644 index 0000000..012e76e --- /dev/null +++ b/map/map.html @@ -0,0 +1,39 @@ + + + + + Leaflet OpenStreetMap + + + + + + + + + +
+ + + + diff --git a/map/map.qml b/map/map.qml new file mode 100644 index 0000000..6287bff --- /dev/null +++ b/map/map.qml @@ -0,0 +1,290 @@ +import QtQuick 2.12 +import QtQuick.Controls 2.12 +import QtLocation 5.12 +import QtPositioning 5.12 + +Rectangle { + anchors.fill: parent + + Plugin { + name: "osm" + id: mapPlugin + + PluginParameter { + name: "osm.mapping.custom.host" + value: "http://tile.thunderforest.com/landscape/%z/%x/%y.png?apikey=73984ea8870e4de395ed43ef621aa14f&fake=.png" + } + } + + Map { + id: map + anchors.fill: parent + plugin: mapPlugin + center: QtPositioning.coordinate(55.72015929613467, 37.85236374546281) + zoomLevel: 18 + activeMapType: supportedMapTypes[supportedMapTypes.length - 1] + + MouseArea { + anchors.fill: parent + onClicked: { + if (addPointEnabled) { + // Получаем координаты клика + var coordinate = map.toCoordinate(Qt.point(mouse.x, mouse.y)); + var latitude = coordinate.latitude; + var longitude = coordinate.longitude; + + // Создаем объект точки + var point = { latitude: latitude, longitude: longitude }; + if (addPointEnabled == 1) + { + // Вызываем функцию для добавления точки на карту + addMapPoint(point); + + // Вызываем сигнал для передачи координат в C++ + pointClicked(latitude, longitude); + } else if (addPointEnabled == 2) { + console.log("Adding point to map:", point.latitude, point.longitude); + + setMarker(point) + pointClicked(point.latitude, point.longitude); + } else if (addPointEnabled == 3) { + console.log("Adding point to map:", point.latitude, point.longitude); + + setGotoPoint(point) + pointClicked(point.latitude, point.longitude); + } else if (addPointEnabled == 4) { + console.log("Adding point to map:", point.latitude, point.longitude); + setPointWithCircle(point.latitude, point.longitude, radius_move_circle) + pointClicked(point.latitude, point.longitude); + } + + } else { + console.log("Adding points is disabled."); + } + } + } + + + // Массив для хранения точек и линий + MapItemView { + id: pointsView + model: ListModel { id: pointsModel } + delegate: MapQuickItem { + coordinate: QtPositioning.coordinate(model.latitude, model.longitude) + sourceItem: Rectangle { + width: 10 + height: 10 + color: "red" + radius: 5 + } + } + } + + MapPolyline { + id: polyline + line.width: 3 + line.color: "blue" + path: [] // Инициализация пустого пути + } + + // Массив для хранения репера (специального маркера) + MapItemView { + id: markerView + model: ListModel { id: markerModel } + delegate: MapQuickItem { + coordinate: QtPositioning.coordinate(model.latitude, model.longitude) + sourceItem: Rectangle { + width: 12 + height: 12 + color: "green" // Цвет репера + radius: 6 + } + } + } + + // Массив для хранения маркера агента + MapItemView { + id: agentView + model: ListModel { id: agentModel } + delegate: MapQuickItem { + coordinate: QtPositioning.coordinate(model.latitude, model.longitude) + sourceItem: Rectangle { + width: 12 + height: 12 + color: "red" // Цвет маркера агента + radius: 6 + } + } + } + + // Массив для хранения выхода в точку + MapItemView { + id: missionGoto + model: ListModel { id: goto_point } + delegate: MapQuickItem { + coordinate: QtPositioning.coordinate(model.latitude, model.longitude) + sourceItem: Rectangle { + width: 10 + height: 10 + color: "black" // Цвет маркера агента + radius: 6 + } + } + } + + MapItemView { + id: pointWithCircleView + model: ListModel { id: pointWithCircleModel } + delegate: MapQuickItem { + coordinate: QtPositioning.coordinate(model.latitude, model.longitude) + sourceItem: Item { + width: model.radius * 2 // Ширина окружности на основе радиуса + height: model.radius * 2 // Высота окружности на основе радиуса + anchors.centerIn: parent + + // Окружность + Rectangle { + width: model.radius * 2 // Диаметр окружности + height: model.radius * 2 + color: "transparent" + border.color: "blue" + border.width: 2 + radius: model.radius // Закругляем углы для создания окружности + } + + // Точка в центре окружности + Rectangle { + width: 10 + height: 10 + color: "blue" + radius: 5 + anchors.centerIn: parent + } + } + } + } + + } + + // Переменная для контроля возможности добавления точек + property int addPointEnabled: 0 + property double radius_move_circle: 1 + + signal pointClicked(double latitude, double longitude) + signal pointsRetrieved(var points) + + // Функция для включения/выключения режима добавления точек + // 1 - точки для покрытия + // 2 - точки для + function setAddPointMode(enable) { + addPointEnabled = enable; + console.log("Add point mode:", addPointEnabled); + } + + // Функция для добавления точки на карту + function addMapPoint(point) { + console.log("Adding point to map:", point.latitude, point.longitude); + pointsModel.append({ latitude: point.latitude, longitude: point.longitude }); + } + + // Функция для добавления линии на карту + function addMapLine(path) { + console.log("Path length:", path.length); + + // Создаем новый массив для координат + var newPath = []; + for (var i = 0; i < path.length; ++i) { + var coord = QtPositioning.coordinate(path[i].latitude, path[i].longitude); + console.log("Adding coordinate:", coord.latitude, coord.longitude); // Отладочный вывод + newPath.push(coord); // Добавляем координаты в новый массив + } + + polyline.path = newPath; // Присваиваем новый массив + console.log("Polyline path:", polyline.path); // Вывод текущего пути + } + + // Функция для очистки всех точек и линий, кроме репера + function clearMapItems() { + pointsModel.clear(); // Очищаем модель точек + polyline.path = []; // Очищаем линию + console.log("All points and lines cleared, except the marker."); + } + + // Функция для получения всех точек + function getAllPoints() { + var allPoints = []; + for (var i = 0; i < pointsModel.count; i++) { + var point = { + latitude: pointsModel.get(i).latitude, + longitude: pointsModel.get(i).longitude + }; + allPoints.push(point); + } + console.log("All points:", allPoints); // Вывод всех точек в консоль + pointsRetrieved(allPoints); // Сигнал для передачи точек обратно + } + + // Функция для добавления репера + function setMarker(point) { + markerModel.clear(); // Очищаем старый репер + markerModel.append({ latitude: point.latitude, longitude: point.longitude }); + } + + // Функция для удаления репера (если необходимо) + function removeMarker() { + markerModel.clear(); // Очищаем репер + } + + // Функция для добавления репера + function setGotoPoint(point) { + goto_point.clear(); // Очищаем старый репер + goto_point.append({ latitude: point.latitude, longitude: point.longitude }); + } + + // Функция для удаления репера (если необходимо) + function removeGotoPoint() { + goto_point.clear(); // Очищаем репер + } + + function addAgentPosition(latitude, longitude) { + // Очищаем предыдущую позицию агента, если она существует + if (agentModel.count > 0) { + agentModel.clear(); // Удаляем предыдущий маркер агента + } + + // Добавляем новую позицию агента + agentModel.append({ latitude: latitude, longitude: longitude }); + console.log("Agent position updated:", latitude, longitude); + } + + function setCircleRadius(radius) { + radius_move_circle = radius + console.log("set radius:", radius_move_circle); + } + + // Функция для конвертации радиуса из метров в пиксели в зависимости от уровня зума + function metersToPixels(radiusInMeters, zoomLevel) { + var earthCircumference = 40075017; // Окружность Земли в метрах + var mapWidthInPixels = Math.pow(2, zoomLevel) * 256; // Ширина карты на данном уровне зума в пикселях + var metersPerPixel = earthCircumference / mapWidthInPixels; // Метров на один пиксель + return radiusInMeters / metersPerPixel; // Радиус в пикселях + } + + // Метод для установки точки и окружности с радиусом в метрах + function setPointWithCircle(latitude, longitude, radiusInMeters) { + // Конвертируем радиус из метров в пиксели + var radiusInPixels = metersToPixels(radiusInMeters, map.zoomLevel); + + // Очищаем старые точки и окружности, если они есть + pointWithCircleModel.clear(); + + // Добавляем новую точку с окружностью и конвертированным радиусом + pointWithCircleModel.append({ + latitude: latitude, + longitude: longitude, + radius: radiusInPixels + }); + + console.log("Set point with circle at:", latitude, longitude, "with radius in meters:", radiusInMeters, "converted to pixels:", radiusInPixels); + } +} diff --git a/map/map.ui b/map/map.ui index 30dda76..7659d34 100644 --- a/map/map.ui +++ b/map/map.ui @@ -6,16 +6,102 @@ 0 0 - 400 - 300 + 1149 + 775 Form - + - + + + + + + + + + + Расположение UWB - модулей + + + Qt::AlignCenter + + + + + + + + + + + + Добавить модуль + + + + + + + Обновить + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + + + + Месторасположение + + + + + + + Масштабирование + + + true + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + diff --git a/map/map_widget.cpp b/map/map_widget.cpp new file mode 100644 index 0000000..be6c4c9 --- /dev/null +++ b/map/map_widget.cpp @@ -0,0 +1,278 @@ +#include "map_widget.h" +#include "ui_map_widget.h" + +#include +#include +#include +#include + + +// Радиус Земли в метрах +constexpr double EARTH_RADIUS = 6378137.0; + +MapWidget::MapWidget(QWidget *parent) + : QWidget(parent), + m_quickView(new QQuickView()) +{ + // Устанавливаем путь к QML файлу + m_quickView->setSource(QUrl(QStringLiteral("qrc:/map/map.qml"))); + + // Встраиваем QQuickView в QWidget + m_container = QWidget::createWindowContainer(m_quickView, this); + m_container->setMinimumSize(800, 600); + m_container->setFocusPolicy(Qt::TabFocus); + + // Устанавливаем layout + QVBoxLayout *layout = new QVBoxLayout(this); + layout->addWidget(m_container); + + connect(m_quickView->rootObject(), SIGNAL(pointsRetrieved(QVariant)), this, SLOT(onPointsRetrieved(QVariant))); + // Подключаем сигнал QML к C++ слоту + connect(m_quickView->rootObject(), SIGNAL(pointClicked(double, double)), + this, SLOT(onPointClicked(double, double))); + + setLayout(layout); +} + +MapWidget::~MapWidget() +{ + delete m_quickView; +} + +void MapWidget::addPoint(const QGeoCoordinate &coordinate) +{ + QVariantMap point; + point["latitude"] = coordinate.latitude(); + point["longitude"] = coordinate.longitude(); + + // Передаем точку в QML + QMetaObject::invokeMethod(m_quickView->rootObject(), "addMapPoint", Q_ARG(QVariant, QVariant::fromValue(point))); +} + +void MapWidget::addLine(const QVector &coordinates) +{ + if (coordinates.isEmpty()) { + qDebug() << "No coordinates provided to draw a line."; + return; // Не делаем ничего, если координат нет + } + + QVariantList path; + for (const QPointF &meters : coordinates) { + // Переводим из метров в широту и долготу + QGeoCoordinate convertedCoord = metersToLatLon(meters); + + // Создаем точку для QML + QVariantMap point; + point["latitude"] = convertedCoord.latitude(); + point["longitude"] = convertedCoord.longitude(); + path.append(point); + + // Логирование + qDebug() << "Adding point in meters: X =" << meters.x() << ", Y =" << meters.y(); + qDebug() << "Converted to: latitude =" << convertedCoord.latitude() << ", longitude =" << convertedCoord.longitude(); + } + + // Передаем линию в QML + QMetaObject::invokeMethod(m_quickView->rootObject(), "addMapLine", Q_ARG(QVariant, QVariant::fromValue(path))); + + qDebug() << "Line added with" << coordinates.size() << "points."; +} + +void MapWidget::toggleAddPointMode_for_cpp(bool checked) +{ + if (checked) { + if (m_canAddPoints != 1) + m_canAddPoints = 1; + } else { + m_canAddPoints = 0; + } + + // Вы можете также передать это состояние в QML, если это нужно + QMetaObject::invokeMethod(m_quickView->rootObject(), "setAddPointMode", Q_ARG(QVariant, m_canAddPoints)); +} + +void MapWidget::toggleAddPointMode_for_marker(bool checked) +{ + if (checked) { + if (m_canAddPoints != 2) + m_canAddPoints = 2; + } else { + m_canAddPoints = 0; + } + + // Вы можете также передать это состояние в QML, если это нужно + QMetaObject::invokeMethod(m_quickView->rootObject(), "setAddPointMode", Q_ARG(QVariant, m_canAddPoints)); +} + +void MapWidget::toggleAddPointMode_for_goto_point(bool checked) +{ + if (checked) { + if (m_canAddPoints != 3) + m_canAddPoints = 3; + } else { + m_canAddPoints = 0; + } + + // Вы можете также передать это состояние в QML, если это нужно + QMetaObject::invokeMethod(m_quickView->rootObject(), "setAddPointMode", Q_ARG(QVariant, m_canAddPoints)); +} + +void MapWidget::toggleAddPointMode_for_go_circle_point(bool checked) +{ + if (checked) { + if (m_canAddPoints != 4) + m_canAddPoints = 4; + } else { + m_canAddPoints = 0; + } + + // Вы можете также передать это состояние в QML, если это нужно + QMetaObject::invokeMethod(m_quickView->rootObject(), "setAddPointMode", Q_ARG(QVariant, m_canAddPoints)); +} + + +void MapWidget::clearMapItems() +{ + // Вызываем метод в QML для очистки точек и линий + QMetaObject::invokeMethod(m_quickView->rootObject(), "clearMapItems"); +} + +void MapWidget::getAllPoints() { + // Инициализируем переменную для получения значений + QVariant returnedPoints; + + // Вызываем метод в QML для получения всех точек и сохраняем результат + QMetaObject::invokeMethod(m_quickView->rootObject(), "getAllPoints", Q_RETURN_ARG(QVariant, returnedPoints)); + + // Теперь вы можете использовать returnedPoints для дальнейшей обработки + points = returnedPoints; // Сохраняем результат в переменную класса, если нужно + qDebug() << "Received points:" << points; // Выводим полученные точки в консоль +} + + +void MapWidget::onPointsRetrieved(const QVariant &points) { + QVariantList pointList = points.toList(); + for (const QVariant &point : pointList) { + double latitude = point.toMap().value("latitude").toDouble(); + double longitude = point.toMap().value("longitude").toDouble(); + + // Переводим в метры + double x, y; + convertLatLonToMeters(latitude, longitude, x, y); + // Выводим результат + qDebug() << "Point in meters: X = " << x << ", Y = " << y; + } +} + +void MapWidget::onPointClicked(double latitude, double longitude) { + if (m_canAddPoints == 1) + { + // Преобразуем широту и долготу в объект QGeoCoordinate + QGeoCoordinate coord(latitude, longitude); + + // Используем метод latLonToMeters для преобразования в метры + QPointF meters = latLonToMeters(coord); + + // Получаем координаты X и Y + double x = meters.x(); + double y = meters.y(); + + // Логируем координаты или выполняем дальнейшую обработку + qDebug() << "Clicked point: Latitude =" << latitude << ", Longitude =" << longitude; + qDebug() << "Converted to meters: X =" << x << ", Y =" << y; + + // Дополнительно можно использовать сигнал для передачи координат в другие части программы + emit signal_addPointToTable(x, y); + } else if (m_canAddPoints == 2) { + signal_addMarker_to_gui(latitude, longitude); + } else if (m_canAddPoints == 3 || m_canAddPoints == 4) { + signal_addPoint_to_gui(latitude, longitude); + } +} + + + +// Преобразование широты и долготы в метры +void MapWidget::convertLatLonToMeters(double latitude, double longitude, double& x, double& y) { + // Преобразуем широту и долготу в радианы + double latRad = latitude * M_PI / 180.0; + double lonRad = longitude * M_PI / 180.0; + + // Центрируем на нулевом меридиане и экваторе + x = lonRad * EARTH_RADIUS * cos(latRad); + y = latRad * EARTH_RADIUS; +} + +void MapWidget::convertMetersToLatLon(double x, double y, double& latitude, double& longitude) { + // Преобразование из метров обратно в радианы + double latRad = y / EARTH_RADIUS; + double lonRad = x / (EARTH_RADIUS * cos(latRad)); + + // Преобразование радианов в градусы + latitude = latRad * 180.0 / M_PI; + longitude = lonRad * 180.0 / M_PI; +} + +// Перевод широты и долготы в метры +QPointF MapWidget::latLonToMeters(const QGeoCoordinate& coord) const { + double lat0 = qDegreesToRadians(origin.latitude()); + double lon0 = qDegreesToRadians(origin.longitude()); + + double lat = qDegreesToRadians(coord.latitude()); + double lon = qDegreesToRadians(coord.longitude()); + + // Вычисление изменения координат + double x = (lon - lon0) * R * qCos(lat0); + double y = (lat - lat0) * R; + + return QPointF(x, y); +} + +// Перевод из метров обратно в широту и долготу +QGeoCoordinate MapWidget::metersToLatLon(const QPointF& meters) const { + double lat0 = qDegreesToRadians(origin.latitude()); + double lon0 = qDegreesToRadians(origin.longitude()); + + // Обратное преобразование + double deltaLat = meters.y() / R; + double deltaLon = meters.x() / (R * qCos(lat0)); + + double lat = lat0 + deltaLat; + double lon = lon0 + deltaLon; + + return QGeoCoordinate(qRadiansToDegrees(lat), qRadiansToDegrees(lon)); +} + +// Метод для установки начальной точки +void MapWidget::setOrigin(const QGeoCoordinate& newOrigin) { + origin = newOrigin; +} + +void MapWidget::setMarker(const QGeoCoordinate &coordinate) { + QVariantMap marker; + marker["latitude"] = coordinate.latitude(); + marker["longitude"] = coordinate.longitude(); + + // Передаем координаты нового маркера в QML + QMetaObject::invokeMethod(m_quickView->rootObject(), "setMarker", Q_ARG(QVariant, QVariant::fromValue(marker))); + + setOrigin(coordinate); +} + +void MapWidget::setCurrentPos(double latitude, double longitude) { + // Вызываем метод в QML для обновления позиции агента + QMetaObject::invokeMethod(m_quickView->rootObject(), "addAgentPosition", + Q_ARG(QVariant, latitude), + Q_ARG(QVariant, longitude)); +} + +// слот для установки радиуса для движения по окружности +void MapWidget::setRadius_circle(const QString &text) +{ + // Преобразуем строку в double + double radius = text.toDouble(); // Преобразуем строку в double + + // Вызываем метод в QML для установки радиуса окружности + QMetaObject::invokeMethod(m_quickView->rootObject(), "setCircleRadius", + Q_ARG(QVariant, radius)); +} diff --git a/map/map_widget.h b/map/map_widget.h new file mode 100644 index 0000000..7c622d6 --- /dev/null +++ b/map/map_widget.h @@ -0,0 +1,70 @@ +#ifndef MAP_WIDGET_H +#define MAP_WIDGET_H + +#include +#include +#include +#include +#include +#include +#include + +QT_FORWARD_DECLARE_CLASS(QQuickView) + +class MapWidget : public QWidget +{ + Q_OBJECT + +public: + explicit MapWidget(QWidget *parent = nullptr); + ~MapWidget(); + void convertLatLonToMeters(double latitude, double longitude, double& x, double& y); + void convertMetersToLatLon(double x, double y, double& latitude, double& longitude); + + // Перевод широты и долготы в метры + QPointF latLonToMeters(const QGeoCoordinate& coord) const; + + // Перевод из метров обратно в широту и долготу + QGeoCoordinate metersToLatLon(const QPointF& meters) const; + + void setOrigin(const QGeoCoordinate& newOrigin); + + + +public slots: + void addPoint(const QGeoCoordinate &coordinate); // Слот для добавления точки + void addLine(const QVector &coordinates); // Слот для добавления линии + void toggleAddPointMode_for_cpp(bool checked); // Метод для переключения режима добавления точек для покрытия + void toggleAddPointMode_for_marker(bool checked); // Метод для переключения режима добавления точек для маркера + void toggleAddPointMode_for_goto_point(bool checked); // Метод для переключения режима добавления точек выхода в точку + void toggleAddPointMode_for_go_circle_point(bool checked); + void clearMapItems(); // Метод для очистки всех точек и линий + void getAllPoints(); // Метод для получения всех точек + void onPointsRetrieved(const QVariant &points); // Слот для обработки полученных точек + void onPointClicked(double latitude, double longitude); // Слот для обработки кликов + void setMarker(const QGeoCoordinate &coordinate); // Слот для установки репера + void setCurrentPos(double latitude, double longitude); // слот для установки текущей позиции + void setRadius_circle(const QString &text); // слот для установки радиуса для движения по окружности + +signals: + void signal_addPointToTable(qreal x, qreal y); + void signal_addMarker_to_gui(double x, double y); + void signal_addPoint_to_gui(double latitude, double longitude); + + + void pointClicked(double latitude, double longitude); + +private: + QQuickView *m_quickView; + QWidget *m_container; + int m_canAddPoints = 0; // Переменная для контроля возможности добавления точек + QVariant points; // Переменная для хранения полученных координат + + QGeoCoordinate origin = QGeoCoordinate(55.76547524252744, 37.8163097457828); // базовая точка (центр карты) + const double R = 6378137.0; // Средний радиус Земли в метрах + + +}; + +#endif // MAP_WIDGET_H + diff --git a/map/map_widget.ui b/map/map_widget.ui new file mode 100644 index 0000000..e1b6530 --- /dev/null +++ b/map/map_widget.ui @@ -0,0 +1,22 @@ + + + MapWidget + + + + 0 + 0 + 800 + 600 + + + + + + + + + + + + diff --git a/missions/test.py b/missions/test.py new file mode 100644 index 0000000..fcb605f --- /dev/null +++ b/missions/test.py @@ -0,0 +1,4 @@ +# This Python file uses the following encoding: utf-8 + +# if __name__ == "__main__": +# pass diff --git a/mods/mode_automatic.cpp b/mods/mode_automatic.cpp new file mode 100644 index 0000000..7596cae --- /dev/null +++ b/mods/mode_automatic.cpp @@ -0,0 +1,437 @@ +#include "mode_automatic.h" +#include "ui_mode_automatic.h" + +ModeAutomatic::ModeAutomatic(QWidget *parent) : + QWidget(parent), + ui(new Ui::ModeAutomatic) +{ + ui->setupUi(this); + setBottom_modeAutomatic(); +} + +void ModeAutomatic::setBottom_modeAutomatic() +{ + //! выход из автоматического режима + connect( + ui->pushButton_after, SIGNAL(clicked()), + this, SLOT(test_automatic_after())); + connect( + ui->pushButton_missionPlanning_keepPos, &QPushButton::toggled, + this, &ModeAutomatic::slot_pushButton_missionPlanning_keepPos); + + setMission_control(); + setMission_goTo(); + setMission_go_circle(); + setMission_cpp(); +} + +void ModeAutomatic::setMission_control() +{ + connect( + ui->pushButton_missionControl_modeIdle, &QPushButton::clicked, + this, &ModeAutomatic::slot_pushButton_missionControl_modeIdle); + connect( + ui->pushButton_missionControl_modeStart, &QPushButton::clicked, + this, &ModeAutomatic::slot_pushButton_missionControl_modeStart); + connect( + ui->pushButton_missionControl_modeComplete, &QPushButton::clicked, + this, &ModeAutomatic::slot_pushButton_missionControl_modeComplete); +} + +void ModeAutomatic::setMission_go_circle() +{ + connect( + ui->pushButton_missionPlanning_go_circle, &QPushButton::clicked, + this, &ModeAutomatic::slot_pushButton_missionPlanning_go_circle); + connect( + ui->pushButton_missionPlanning_go_circle_back, &QPushButton::clicked, + this, &ModeAutomatic::slot_pushButton_missionPlanning_back); + connect( + ui->pushButton_missionPlanning_go_circle_update, &QPushButton::clicked, + this, &ModeAutomatic::slot_pushButton_missionPlanning_go_circle_update); +} + +void ModeAutomatic::setMission_goTo() +{ + connect( + ui->pushButton_missionPlanning_goto, &QPushButton::clicked, + this, &ModeAutomatic::slot_pushButton_missionPlanning_goto); + connect( + ui->pushButton_missionPlanning_goto_back, &QPushButton::clicked, + this, &ModeAutomatic::slot_pushButton_missionPlanning_back); +} + +//cpp start + +void ModeAutomatic::setMission_cpp() +{ + ui->tableWidget_missionPlanning_cpp_zonaResearch->setColumnCount(2); + ui->tableWidget_missionPlanning_cpp_zonaResearch->setHorizontalHeaderLabels(QStringList() << "X" << "Y"); + ui->pushButton_missionPlanning_cpp_on_off->setCheckable(true); + + connect( + ui->pushButton_missionPlanning_cpp_make, &QPushButton::clicked, + this, &ModeAutomatic::slot_pushButton_missionPlanning_cpp_make); + connect( + ui->pushButton_missionPlanning_cpp_make_clean, &QPushButton::clicked, + this, &ModeAutomatic::slot_pushButton_missionPlanning_cpp_make_clean); + connect( + ui->pushButton_missionPlanning_cpp_back, &QPushButton::clicked, + this, &ModeAutomatic::slot_pushButton_missionPlanning_back); + connect( + ui->pushButton_missionPlanning_cpp, &QPushButton::clicked, + this, &ModeAutomatic::slot_pushButton_missionPlanning_cpp); +} + +void ModeAutomatic::addPointToTable(qreal x, qreal y) { + int row = ui->tableWidget_missionPlanning_cpp_zonaResearch->rowCount(); + ui->tableWidget_missionPlanning_cpp_zonaResearch->insertRow(row); + ui->tableWidget_missionPlanning_cpp_zonaResearch->setItem(row, 0, new QTableWidgetItem(QString::number(x))); + ui->tableWidget_missionPlanning_cpp_zonaResearch->setItem(row, 1, new QTableWidgetItem(QString::number(y))); +} + +//void ModeAutomatic::slot_pushButton_missionPlanning_cpp_make() { +// QLineSeries *lineSeries = new QLineSeries(); +// int rowCount = ui->tableWidget_missionPlanning_cpp_zonaResearch->rowCount(); + +// QStringList pointList; + +// for (int i = 0; i < rowCount; ++i) { +// qreal x = ui->tableWidget_missionPlanning_cpp_zonaResearch->item(i, 0)->text().toDouble(); +// qreal y = ui->tableWidget_missionPlanning_cpp_zonaResearch->item(i, 1)->text().toDouble(); +// lineSeries->append(x, y); + +// pointList.append(QString::number(x) + "," + QString::number(y)); +// } + +// if (rowCount > 0) { +// // Замкнуть фигуру, соединяя последнюю точку с первой +// qreal firstX = ui->tableWidget_missionPlanning_cpp_zonaResearch->item(0, 0)->text().toDouble(); +// qreal firstY = ui->tableWidget_missionPlanning_cpp_zonaResearch->item(0, 1)->text().toDouble(); +// lineSeries->append(firstX, firstY); +// } +// emit requestUpdateChart(lineSeries); + +// QString pointsString = pointList.join(" "); + +// // Получение значения из doubleSpinBox +// double distanceTack = ui->doubleSpinBox_missionPlanning_cpp_distanceTack->value(); +// QString distanceTackStr = QString::number(distanceTack); + +// qDebug() << "Python start:"; +// qDebug() << "Generated points string:" << pointsString; +// qDebug() << "Distance Tack:" << distanceTackStr; + + + +// // Создание и настройка QProcess +// QProcess process; +// QString program = "python3"; +// QStringList arguments; +// arguments << "execute_algorithm.py" << pointsString << distanceTackStr; + +// process.setProgram(program); +// process.setArguments(arguments); +// process.setWorkingDirectory("/home/shakuevda/Desktop/pult/UMAS_GUI"); // Укажите путь к директории скрипта + +// process.start(); + +// // Проверка запуска процесса +// if (!process.waitForStarted()) { +// qDebug() << "Failed to start process:" << process.errorString(); +// return; +// } + +// // Ожидание завершения процесса +// process.waitForFinished(); + +// // Чтение стандартного вывода и ошибок +// QString output(process.readAllStandardOutput()); +// QString error(process.readAllStandardError()); + +// if (!error.isEmpty()) { +// qDebug() << "Python error:" << error; +// } else { +// qDebug() << "Python output:" << output; + +// // Парсинг результата и создание QLineSeries +// QLineSeries *resultSeries = new QLineSeries(); +// output.remove('[').remove(']').replace("(", "").replace(")", "").replace(" ", ""); +// QStringList pointStrings = output.split(','); + +// for (int i = 0; i < pointStrings.size(); i += 2) { +// qreal x = pointStrings[i].toDouble(); +// qreal y = pointStrings[i + 1].toDouble(); +// resultSeries->append(x, y); +// } + +// emit plotLineSeries(resultSeries); // Отправка сигнала с QLineSeries +// } +// qDebug() << "Python finish"; + +//} + +void ModeAutomatic::slot_pushButton_missionPlanning_cpp_make() { + QVector coordinates; // Вектор для хранения исходных координат в метрах + int rowCount = ui->tableWidget_missionPlanning_cpp_zonaResearch->rowCount(); + + QStringList pointList; + + for (int i = 0; i < rowCount; ++i) { + qreal x = ui->tableWidget_missionPlanning_cpp_zonaResearch->item(i, 0)->text().toDouble(); + qreal y = ui->tableWidget_missionPlanning_cpp_zonaResearch->item(i, 1)->text().toDouble(); + + // Добавление координат в вектор + coordinates.append(QPointF(x, y)); // Координаты в метрах + + pointList.append(QString::number(x) + "," + QString::number(y)); + } + + // Замкнуть фигуру, соединяя последнюю точку с первой + if (rowCount > 0) { + qreal firstX = ui->tableWidget_missionPlanning_cpp_zonaResearch->item(0, 0)->text().toDouble(); + qreal firstY = ui->tableWidget_missionPlanning_cpp_zonaResearch->item(0, 1)->text().toDouble(); + coordinates.append(QPointF(firstX, firstY)); // Добавление первой точки в конец + } + + // Эмитируем сигнал для добавления линии на карте с координатами в метрах + emit requestAddLine(coordinates); // Эмитируем сигнал с координатами в метрах + + QString pointsString = pointList.join(" "); + + // Получение значения из doubleSpinBox + double distanceTack = ui->doubleSpinBox_missionPlanning_cpp_distanceTack->value(); + QString distanceTackStr = QString::number(distanceTack); + + qDebug() << "Python start:"; + qDebug() << "Generated points string:" << pointsString; + qDebug() << "Distance Tack:" << distanceTackStr; + + // Создание и настройка QProcess + QProcess process; + QString program = "python3"; + QStringList arguments; + arguments << "execute_algorithm.py" << pointsString << distanceTackStr; + + process.setProgram(program); + process.setArguments(arguments); + process.setWorkingDirectory("/home/shakuevda/Desktop/pult/UMAS_GUI"); // Укажите путь к директории скрипта + + process.start(); + + // Проверка запуска процесса + if (!process.waitForStarted()) { + qDebug() << "Failed to start process:" << process.errorString(); + return; + } + + // Ожидание завершения процесса + process.waitForFinished(); + + // Чтение стандартного вывода и ошибок + QString output(process.readAllStandardOutput()); + QString error(process.readAllStandardError()); + + if (!error.isEmpty()) { + qDebug() << "Python error:" << error; + } else { + qDebug() << "Python output:" << output; + + // Парсинг результата и создание вектора координат + QVector resultCoordinates; // Вектор для хранения результата + output.remove('[').remove(']').replace("(", "").replace(")", "").replace(" ", ""); + QStringList pointStrings = output.split(','); + + for (int i = 0; i < pointStrings.size(); i += 2) { + qreal x = pointStrings[i].toDouble(); + qreal y = pointStrings[i + 1].toDouble(); + resultCoordinates.append(QPointF(x, y)); // Добавление координат в метрах + } + + emit requestAddLine(resultCoordinates); // Эмитируем сигнал с результатом + } + qDebug() << "Python finish"; +} + + + +void ModeAutomatic::slot_pushButton_missionPlanning_cpp_make_clean() { + ui->tableWidget_missionPlanning_cpp_zonaResearch->clearContents(); + ui->tableWidget_missionPlanning_cpp_zonaResearch->setRowCount(0); + emit requestClearLines(); +} +void ModeAutomatic::slot_pushButton_missionPlanning_cpp() +{ + ui->stackedWidget_missionPlanning->setCurrentIndex(2); + displayText_toConsole("Задайте параметры для покрытия области"); + uv_interface->setMissionFromPult(mission_List::MOVE_TACK); +} + +//cpp finish + +void ModeAutomatic::test_automatic_after() +{ + set_stackedWidget_mode(0); + ui->stackedWidget_missionPlanning->setCurrentIndex(0); +} + +void ModeAutomatic::slot_pushButton_missionControl_modeIdle() +{ + uv_interface->setMissionControl(mission_Control::MODE_IDLE); +} +void ModeAutomatic::slot_pushButton_missionControl_modeStart() +{ + uv_interface->setMissionControl(mission_Control::MODE_START); +} + +void ModeAutomatic::slot_pushButton_missionControl_modeComplete() +{ + uv_interface->setMissionControl(mission_Control::MODE_COMPLETE); +} + +void ModeAutomatic::slot_pushButton_missionPlanning_goto() +{ + ui->stackedWidget_missionPlanning->setCurrentIndex(1); + displayText_toConsole("Задайте параметры для выхода в точку"); + uv_interface->setMissionFromPult(mission_List::MOVE_TO_POINT); +} + +void ModeAutomatic::slot_pushButton_missionPlanning_go_circle() +{ + ui->stackedWidget_missionPlanning->setCurrentIndex(3); + displayText_toConsole("Задайте параметры для движения по окружности"); + uv_interface->setMissionFromPult(mission_List::MOVE_CIRCLE); +} + +void ModeAutomatic::slot_pushButton_missionPlanning_back() +{ + ui->stackedWidget_missionPlanning->setCurrentIndex(0); + uv_interface->setMissionFromPult(mission_List::NO_MISSION); +} + + +void ModeAutomatic::updateUi_DataMission() +{ + int missionStatus = static_cast(uv_interface->getMissionStatus()); + switch (missionStatus) { + case 0: + ui->label_missonStatus->setText("ожидание"); + break; + case 1: + ui->label_missonStatus->setText("ошибка инициализации миссии"); + break; + case 2: + ui->label_missonStatus->setText("миссия запущена и выполняется"); + break; + case 3: + ui->label_missonStatus->setText("миссия приостановлена, на паузе"); + break; + case 4: + ui->label_missonStatus->setText("миссия завершена"); + break; + } + switch (uv_interface->getMissionFromPult()) { + case mission_List::NO_MISSION: + ui->label_missonCurrent->setText("NO_MISSION"); + break; + case mission_List::MOVE_TO_POINT: + ui->label_missonCurrent->setText("MOVE_TO_POINT"); + break; + case mission_List::KEEP_POS: + ui->label_missonCurrent->setText("KEEP_POS"); + break; + case mission_List::MOVE_CIRCLE: + ui->label_missonCurrent->setText("MOVE_CIRCLE"); + break; + case mission_List::MOVE_TACK: + ui->label_missonCurrent->setText("MOVE_TACK"); + break; + } + switch (uv_interface->getMissionListToPult()) { + case mission_List::NO_MISSION: + ui->label_missonCurrent_toPult->setText("NO_MISSION"); + break; + case mission_List::MOVE_TO_POINT: + ui->label_missonCurrent_toPult->setText("MOVE_TO_POINT"); + break; + case mission_List::KEEP_POS: + ui->label_missonCurrent_toPult->setText("KEEP_POS"); + break; + case mission_List::MOVE_CIRCLE: + ui->label_missonCurrent_toPult->setText("MOVE_CIRCLE"); + break; + case mission_List::MOVE_TACK: + ui->label_missonCurrent_toPult->setText("MOVE_TACK"); + break; + } +} + +void ModeAutomatic::slot_pushButton_missionPlanning_keepPos(bool checked) +{ + if (checked){ + uv_interface->setMissionFromPult(mission_List::KEEP_POS); + MissionParam msg; + QString text_radius = ui->lineEdit_missionPlanning_keepPos_radius->text(); + float value_radius = text_radius.toFloat(); + msg.radius = value_radius; + uv_interface->setMissionParam(msg); + } + else + uv_interface->setMissionFromPult(mission_List::NO_MISSION); +} + +void ModeAutomatic::slot_getInterface(IUserInterfaceData *interface) +{ + uv_interface = interface; +} + +void ModeAutomatic::slot_addPoint_to_gui(double latitude, double longitude) +{ + MissionParam msg; + qDebug() << static_cast(uv_interface->getMissionFromPult()); + switch (uv_interface->getMissionFromPult()) { + case mission_List::MOVE_TO_POINT: + qDebug() << "hello"; + ui->lineEdit_missionPlanning_goto_latitude->setText(QString::number(latitude, 'd', 14)); // Широта + ui->lineEdit_missionPlanning_goto_longitude->setText(QString::number(longitude, 'd', 14)); // Долгота + break; + case mission_List::MOVE_CIRCLE: + ui->lineEdit_missionPlanning_go_circle_latitude->setText(QString::number(latitude, 'd', 14)); // Широта + ui->lineEdit_missionPlanning_go_circle_longitude->setText(QString::number(longitude, 'd', 14)); // Долгота + QString text_radius = ui->lineEdit_missionPlanning_go_circle_radius->text(); + float value_radius = text_radius.toFloat(); + msg.radius = value_radius; + break; + } + + msg.point_mission.x_point = latitude; + msg.point_mission.y_point = longitude; + uv_interface->setMissionParam(msg); +} + +void ModeAutomatic::slot_pushButton_missionPlanning_go_circle_update() +{ + MissionParam msg; + QString latitude = ui->lineEdit_missionPlanning_go_circle_latitude->text(); // Широта + QString longitude = ui->lineEdit_missionPlanning_go_circle_longitude->text(); // Долгота + QString text_radius = ui->lineEdit_missionPlanning_go_circle_radius->text(); + float value_radius = text_radius.toFloat(); + double latitude_d = latitude.toDouble(); + double longitude_d = longitude.toDouble(); + msg.radius = value_radius; + msg.point_mission.x_point = latitude_d; + msg.point_mission.y_point = longitude_d; + uv_interface->setMissionParam(msg); + // Создаем QString для логирования + QString logMessage = QString("Mission planning updated: Latitude: %1, Longitude: %2, Radius: %3") + .arg(QString::number(latitude_d, 'f', 14)) + .arg(QString::number(longitude_d, 'f', 14)) + .arg(QString::number(value_radius, 'f', 2)); + + displayText_toConsole(logMessage); +} + +ModeAutomatic::~ModeAutomatic() +{ + delete ui; +} diff --git a/mods/mode_automatic.h b/mods/mode_automatic.h new file mode 100644 index 0000000..8bdb01e --- /dev/null +++ b/mods/mode_automatic.h @@ -0,0 +1,77 @@ +#ifndef MODE_AUTOMATIC_H +#define MODE_AUTOMATIC_H +#include "ui_mode_automatic.h" + +#include +#include +#include +#include +#include + +#include "i_user_interface_data.h" +#include "map.h" + + +namespace Ui { +class ModeAutomatic; +} + +class ModeAutomatic : public QWidget +{ + Q_OBJECT + +public: + explicit ModeAutomatic(QWidget *parent = nullptr); + ~ModeAutomatic(); + Ui::ModeAutomatic *ui; + +signals: + void signal_pushButton_missionPlanning_goto_updateMap(double x, double y, double r, int flag_clear); + void signal_pushButton_missionPlanning_go_trajectory_updateMap(double x, double y, double r, int flag_clear); + + void requestUpdateChart(QLineSeries *lineSeries); + void requestClearLines(); + void plotLineSeries(QLineSeries* series); + void displayText_toConsole(QString str); + + void set_stackedWidget_mode(int index); + void requestAddLine(const QVector &coordinates); + +private: + IUserInterfaceData *uv_interface; + + void setBottom_modeAutomatic(); + + void setMission_control(); + void setMission_goTo(); + void setMission_go_circle(); + void setMission_cpp(); + +private slots: + void slot_pushButton_missionPlanning_cpp_make(); + void slot_pushButton_missionPlanning_cpp_make_clean(); + void slot_pushButton_missionPlanning_cpp(); + void test_automatic_after(); + void slot_pushButton_missionControl_modeIdle(); + + + void slot_pushButton_missionControl_modeStart(); + void slot_pushButton_missionControl_modeComplete(); + void slot_pushButton_missionPlanning_goto(); + void slot_pushButton_missionPlanning_back(); + void slot_pushButton_missionPlanning_go_circle(); + void updateUi_DataMission(); + + void slot_pushButton_missionPlanning_keepPos(bool checked); + void slot_pushButton_missionPlanning_go_circle_update(); + + + +public slots: + void addPointToTable(qreal x, qreal y); + void slot_getInterface(IUserInterfaceData *interface); + void slot_addPoint_to_gui(double latitude, double longitude); + +}; + +#endif // MODE_AUTOMATIC_H diff --git a/mods/mode_automatic.ui b/mods/mode_automatic.ui new file mode 100644 index 0000000..1c0f03d --- /dev/null +++ b/mods/mode_automatic.ui @@ -0,0 +1,484 @@ + + + ModeAutomatic + + + + 0 + 0 + 481 + 783 + + + + Form + + + + + + + + + 0 + 0 + + + + Автоматический режим + + + Qt::AlignCenter + + + + + + + Qt::Horizontal + + + + + + + 0 + + + + + + + + 0 + 0 + + + + Выбор миссии + + + Qt::AlignCenter + + + + + + + Выход в точку + + + + + + + Движение по окружности + + + + + + + Покрытие акватории + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + + Введите параметры точки + + + Qt::AlignCenter + + + + + + + Тыкнуть по карте + + + true + + + + + + + + + + + + + + + Широта + + + + + + + Долгота + + + + + + + + + Вернуться к выбору миссий + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + + + + Межгалсовое расстояние + + + + + + + 1.000000000000000 + + + + + + + + + Расствить границы осмотра акватории + + + + + + + + + + + + Построить + + + + + + + Очистить + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + Вернуться к выбору миссий + + + + + + + + + + + Введите параметры точки + + + Qt::AlignCenter + + + + + + + Тыкнуть по карте + + + true + + + + + + + + + + + + + + + Широта + + + + + + + Долгота + + + + + + + Радиус + + + + + + + 5 + + + + + + + + + Обновить данные (на всякий случай) + + + + + + + Вернуться к выбору миссий + + + + + + + Qt::Vertical + + + + 20 + 22 + + + + + + + + + + + + Удержание + + + true + + + + + + + 4 + + + + + + + Включить/выключить запись траектории + + + + + + + Очистить траекторию + + + + + + + Qt::Horizontal + + + + + + + + + Состояние агента + + + + + + + + + Ожидание + + + + + + + Старт + + + + + + + Завершение + + + + + + + + + + + + + Текущие состояние: + + + + + + + - Отсутствует + + + + + + + + + + + Текущая миссия: + + + + + + + - Отсутствует + + + + + + + + + + + Текущая от борта: + + + + + + + - Отсутствует + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + Обратно + + + + + + + + + + diff --git a/remote_control/joy_stick.cpp b/remote_control/joy_stick.cpp new file mode 100644 index 0000000..4151f4b --- /dev/null +++ b/remote_control/joy_stick.cpp @@ -0,0 +1,37 @@ +#include "joy_stick.h" + +JoyStick::JoyStick(QObject *parent) +{ + id = 0; + int periodUpdateMsec = 20; + + updateTimer = new QTimer(this); + connect(updateTimer, &QTimer::timeout, this, &JoyStick::updateImpact); + updateTimer->start(periodUpdateMsec); + + impactAxisMarch = sf::Joystick::Y; + impactAxisDepth = sf::Joystick::Z; + impactAxisRoll = sf::Joystick::PovX; + impactAxisPitch = sf::Joystick::PovY; + impactAxisYaw = sf::Joystick::R; + impactAxisLag = sf::Joystick::X; +} + +JoyStick::~JoyStick() +{ +} + +void JoyStick::updateImpact() { + sf::Joystick::update(); + DataAH127C imuData = getImuData(); + + if (sf::Joystick::isConnected(id)) { + setMarch(-sf::Joystick::getAxisPosition(id, impactAxisMarch)/2); + setLag(sf::Joystick::getAxisPosition(id, impactAxisLag)/2); +// setDepth(3*sf::Joystick::getAxisPosition(id, impactAxisDepth)/4); + setRoll(sf::Joystick::getAxisPosition(id, impactAxisRoll)/4); + setPitch(sf::Joystick::getAxisPosition(id, impactAxisPitch)/10); + setYaw((sf::Joystick::getAxisPosition(id, impactAxisYaw)/4)); + } +} + diff --git a/remote_control/joy_stick.h b/remote_control/joy_stick.h new file mode 100644 index 0000000..2f7371f --- /dev/null +++ b/remote_control/joy_stick.h @@ -0,0 +1,23 @@ +#ifndef JOYSTICK_H +#define JOYSTICK_H + +#include +#include + +#include "remote_control.h" +#include "SFML/Window.hpp" + + + +class JoyStick : public RemoteControl +{ + Q_OBJECT +public: + JoyStick(QObject *parent = nullptr); + ~JoyStick(); + +private slots: + void updateImpact(); +}; + +#endif // JOYSTICK_H diff --git a/remote_control/key_board.cpp b/remote_control/key_board.cpp new file mode 100644 index 0000000..242287b --- /dev/null +++ b/remote_control/key_board.cpp @@ -0,0 +1,95 @@ +#include "key_board.h" + +KeyBoard::KeyBoard(QObject *parent) +{ + +} + +KeyBoard::~KeyBoard() +{ +} + +void KeyBoard::keyPressEvent(QKeyEvent *event) +{ + ControlData control = getControlData(); + switch (event->key()) { + case Qt::Key_O: + setMarch(50); + break; + case Qt::Key_L: + setMarch(-50); + break; + case Qt::Key_W: + setPitch(1); + break; + case Qt::Key_S: + setPitch(-1); + break; + case Qt::Key_A: + setYaw(-50); + break; + case Qt::Key_D: + setYaw(50); + break; + case Qt::Key_C: + setDepth(1); + break; + case Qt::Key_V: + setDepth(-1); + break; + case Qt::Key_Q: + setRoll(1); + break; + case Qt::Key_E: + setRoll(-1); + break; + case Qt::Key_K: + setLag(1); + break; + case Qt::Key_Semicolon: + setLag(-1); + break; + } +} + +void KeyBoard::keyReleaseEvent(QKeyEvent *event) +{ + switch (event->key()) { + case Qt::Key_O: + setMarch(0); + break; + case Qt::Key_L: + setMarch(0); + break; + case Qt::Key_W: + setPitch(0); + break; + case Qt::Key_S: + setPitch(0); + break; + case Qt::Key_A: + setYaw(0); + break; + case Qt::Key_D: + setYaw(0); + break; + case Qt::Key_C: + setDepth(0); + break; + case Qt::Key_V: + setDepth(0); + break; + case Qt::Key_Q: + setRoll(0); + break; + case Qt::Key_E: + setRoll(0); + break; + case Qt::Key_K: + setLag(0); + break; + case Qt::Key_Semicolon: + setLag(0); + break; + } +} diff --git a/remote_control/key_board.h b/remote_control/key_board.h new file mode 100644 index 0000000..b879064 --- /dev/null +++ b/remote_control/key_board.h @@ -0,0 +1,24 @@ +#ifndef KEYBOARD_H +#define KEYBOARD_H + +#include +#include + +#include "remote_control.h" + +class KeyBoard : public RemoteControl +{ +public: + explicit KeyBoard(QObject *parent = nullptr); + ~KeyBoard(); + + +public: + void keyPressEvent(QKeyEvent *event); + void keyReleaseEvent(QKeyEvent *event); + +private slots: + void updateImpact(); +}; + +#endif // KEYBOARD_H diff --git a/remote_control/remote_control.cpp b/remote_control/remote_control.cpp index f16c39f..98b2824 100644 --- a/remote_control/remote_control.cpp +++ b/remote_control/remote_control.cpp @@ -1,53 +1,11 @@ #include "remote_control.h" -RemoteControl::RemoteControl(int joy_id, int update_time, QObject *parent) : QObject(parent) +RemoteControl::RemoteControl() { - id = 0; - periodUpdateMsec = 20; - updateTimer = new QTimer(this); - connect(updateTimer, &QTimer::timeout, this, &RemoteControl::updateImpact); - updateTimer->start(periodUpdateMsec); - - impactAxisMarch = sf::Joystick::Y; - impactAxisDepth = sf::Joystick::Z; - impactAxisRoll = sf::Joystick::PovX; - impactAxisPitch = sf::Joystick::PovY; - impactAxisYaw = sf::Joystick::R; -} - -void RemoteControl::updateImpact() { - sf::Joystick::update(); - DataAH127C imuData = interface.getImuData(); - - if (sf::Joystick::isConnected(id)) { - setMarch(); - setDepth(); - setRoll(imuData.roll); - setPitch(imuData.pitch); - setYaw(imuData.yaw); - } -} - -void RemoteControl::setMarch(){ - interface.setMarch(-sf::Joystick::getAxisPosition(id, impactAxisMarch)); } -void RemoteControl::setDepth(){ - interface.setDepth(sf::Joystick::getAxisPosition(id, impactAxisDepth)); -} - -void RemoteControl::setRoll(float roll){ - interface.setRoll(sf::Joystick::getAxisPosition(id, impactAxisRoll) + roll * interface.getCSMode()); -} -void RemoteControl::setPitch(float pitch){ - interface.setPitch(sf::Joystick::getAxisPosition(id, impactAxisPitch) + pitch * interface.getCSMode()); -} - -void RemoteControl::setYaw(float yaw){ - interface.setYaw(sf::Joystick::getAxisPosition(id, impactAxisYaw) + yaw * interface.getCSMode()); -} RemoteControl::~RemoteControl(){ } diff --git a/remote_control/remote_control.h b/remote_control/remote_control.h index 209ec14..35c1056 100644 --- a/remote_control/remote_control.h +++ b/remote_control/remote_control.h @@ -6,29 +6,19 @@ #include #include - #include "SFML/Window.hpp" +//#include "joy_stick.h" +//#include "key_board.h" -class RemoteControl : public QObject +class RemoteControl : public IControlData { Q_OBJECT public: - explicit RemoteControl(int joy_id = 0, int update_time = 0, QObject *parent = 0); + explicit RemoteControl(); ~RemoteControl(); - int id; - int periodUpdateMsec; - - void setMarch(); - void setDepth(); - void setRoll(float roll); - void setPitch(float pitch); - void setYaw(float yaw); - -public slots: - void updateImpact(); - -signals: + int id; + QTimer *updateTimer; protected: sf::Joystick::Axis impactAxisMarch; @@ -36,11 +26,7 @@ public slots: sf::Joystick::Axis impactAxisRoll; sf::Joystick::Axis impactAxisPitch; sf::Joystick::Axis impactAxisYaw; - -private: - - IControlData interface; - QTimer *updateTimer; + sf::Joystick::Axis impactAxisLag; }; diff --git a/tabs/check_imu.cpp b/tabs/check_imu.cpp new file mode 100644 index 0000000..9105121 --- /dev/null +++ b/tabs/check_imu.cpp @@ -0,0 +1,66 @@ +#include "check_imu.h" +#include "ui_check_imu.h" + +CheckImu::CheckImu(QWidget *parent) : + QWidget(parent), + ui(new Ui::CheckImu) +{ + ui->setupUi(this); + + setBottom_setupIMU(); + setBottom_setupIMU_check(); +} + +void CheckImu::setBottom_setupIMU() +{ + connect( + ui->pushButton_setupIMU, SIGNAL(clicked()), + this, SLOT(getWindow_setupIMU())); +} + +void CheckImu::setBottom_setupIMU_check() +{ + connect( + ui->pushButton_setupIMU_check, SIGNAL(clicked()), + this, SLOT(getWindow_setupIMU_check())); +} + +void CheckImu::updateUi_imu(DataAH127C imuData){ + ui->label_IMUdata_accel_X->setText(QString::number(imuData.X_accel, 'f', 2)); + ui->label_IMUdata_accel_Y->setText(QString::number(imuData.Y_accel, 'f', 2)); + ui->label_IMUdata_accel_Z->setText(QString::number(imuData.Z_accel, 'f', 2)); + + ui->label_IMUdata_rate_X->setText(QString::number(imuData.X_rate, 'f', 2)); + ui->label_IMUdata_rate_Y->setText(QString::number(imuData.Y_rate, 'f', 2)); + ui->label_IMUdata_rate_Z->setText(QString::number(imuData.Z_rate, 'f', 2)); + + ui->label_IMUdata_magn_X->setText(QString::number(imuData.X_magn, 'f', 2)); + ui->label_IMUdata_magn_Y->setText(QString::number(imuData.Y_magn, 'f', 2)); + ui->label_IMUdata_magn_Z->setText(QString::number(imuData.Z_magn, 'f', 2)); + + ui->label_IMUdata_q0->setText(QString::number(imuData.quat[0], 'f', 2)); + ui->label_IMUdata_q1->setText(QString::number(imuData.quat[1], 'f', 2)); + ui->label_IMUdata_q2->setText(QString::number(imuData.quat[2], 'f', 2)); + ui->label_IMUdata_q3->setText(QString::number(imuData.quat[3], 'f', 2)); + +} + +void CheckImu::getWindow_setupIMU() +{ + SetupIMU window_setupIMU; + window_setupIMU.setModal(false); + window_setupIMU.exec(); +} + + +void CheckImu::getWindow_setupIMU_check() +{ + SetupIMU_check window_setupIMU_check; + window_setupIMU_check.setModal(false); + window_setupIMU_check.exec(); +} + +CheckImu::~CheckImu() +{ + delete ui; +} diff --git a/tabs/check_imu.h b/tabs/check_imu.h new file mode 100644 index 0000000..2f0ee8a --- /dev/null +++ b/tabs/check_imu.h @@ -0,0 +1,38 @@ +#ifndef CHECK_IMU_H +#define CHECK_IMU_H + +#include +#include +#include + +#include "i_user_interface_data.h" +#include "setup_imu.h" +#include "setupimu_check.h" + +namespace Ui { +class CheckImu; +} + +class CheckImu : public QWidget +{ + Q_OBJECT + +public: + explicit CheckImu(QWidget *parent = nullptr); + ~CheckImu(); + +public slots: + void updateUi_imu(DataAH127C imuData); + +private: + Ui::CheckImu *ui; + + void setBottom_setupIMU(); + void setBottom_setupIMU_check(); + +private slots: + void getWindow_setupIMU(); + void getWindow_setupIMU_check(); +}; + +#endif // CHECK_IMU_H diff --git a/tabs/check_imu.ui b/tabs/check_imu.ui new file mode 100644 index 0000000..4ddaf81 --- /dev/null +++ b/tabs/check_imu.ui @@ -0,0 +1,311 @@ + + + CheckImu + + + + 0 + 0 + 629 + 456 + + + + Form + + + + + + + + + + + + Гироскоп: + + + + + + + + + q0 = + + + + + + + 0 + + + + + + + q1 = + + + + + + + 0 + + + + + + + q2 = + + + + + + + 0 + + + + + + + q3 = + + + + + + + 0 + + + + + + + + + Магнитометр: + + + + + + + + + Ax = + + + + + + + 0 + + + + + + + Ay = + + + + + + + 0 + + + + + + + Az = + + + + + + + 0 + + + + + + + + + + + Bx = + + + + + + + 0 + + + + + + + By = + + + + + + + 0 + + + + + + + Bz = + + + + + + + 0 + + + + + + + + + Кватернионы: + + + + + + + Акселерометр: + + + + + + + + + Wx = + + + + + + + 0 + + + + + + + 0 + + + + + + + Wz = + + + + + + + 0 + + + + + + + Wy = + + + + + + + + + + + + 0 + 0 + + + + Настроить БСО + + + + + + + + 0 + 0 + + + + Проверить настройку БСО + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + + diff --git a/tabs/check_msg.cpp b/tabs/check_msg.cpp new file mode 100644 index 0000000..56024de --- /dev/null +++ b/tabs/check_msg.cpp @@ -0,0 +1,153 @@ +#include "check_msg.h" +#include "ui_check_msg.h" + +CheckMsg::CheckMsg(QWidget *parent) : + QWidget(parent), + ui(new Ui::CheckMsg) +{ + ui->setupUi(this); +} + +void CheckMsg::updateUi_checkMsg() +{ + power_Mode pMode = uv_interface->getPowerMode(); + bool modeSelection = uv_interface->getModeSelection(); + + ControlContoursFlags controlContoursFlags = uv_interface->getControlContoursFlags(); + ControlData control = uv_interface->getControlData(); + AUVCurrentData auvData = uv_interface->getAUVCurrentData(); + FlagAH127C_bort flagAH127C_bort = uv_interface->getFlagAH127C_bort(); + FlagAH127C_pult flagAH127C_pult = uv_interface->getFlagAH127C_pult(); + int checksum_msg_gui_send = uv_interface->getChecksumMsgGuiSend(); + int checksum_msg_agent_send = uv_interface->getChecksumMsgAgentSend(); + int checksum_msg_gui_received = uv_interface->getChecksumMsgGuiReceived(); + +// send + + ui->label_tab_setupMsg_send_powerMode_count->setNum(2+static_cast(pMode)); + + if (modeSelection == 1) + ui->label_tab_setupMsg_send_modeAUV_selection_mode->setText("модель"); + else + ui->label_tab_setupMsg_send_modeAUV_selection_mode->setText("агент"); + + switch (uv_interface->getCSMode()) { + case e_CSMode::MODE_MANUAL: + ui->label_tab_setupMsg_send_cSMode_count->setText("ручной"); + break; + case e_CSMode::MODE_AUTOMATED: + ui->label_tab_setupMsg_send_cSMode_count->setText("автоматизированный"); + break; + case e_CSMode::MODE_AUTOMATIC: + ui->label_tab_setupMsg_send_cSMode_count->setText("автоматический"); + break; + } + + if (controlContoursFlags.yaw) { + ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_yaw->setText("замкнут"); + } else { + ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_yaw->setText("незамкнут"); + } + + if (controlContoursFlags.pitch) { + ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_pitch->setText("замкнут"); + } else { + ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_pitch->setText("незамкнут"); + } + + if (controlContoursFlags.roll) { + ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_roll->setText("замкнут"); + } else { + ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_roll->setText("незамкнут"); + } + + if (controlContoursFlags.march) { + ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_march->setText("замкнут"); + } else { + ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_march->setText("незамкнут"); + } + + if (controlContoursFlags.lag) { + ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_lag->setText("замкнут"); + } else { + ui->label_tab_setupMsg_send_controlContoursFlags_data_flags_lag->setText("незамкнут"); + } + + ui->label_tab_setupMsg_send_Impact_data_count_yaw->setNum(control.yaw); + ui->label_tab_setupMsg_send_Impact_data_count_pitch->setNum(control.pitch); + ui->label_tab_setupMsg_send_Impact_data_count_roll->setNum(control.roll); + ui->label_tab_setupMsg_send_Impact_data_count_march->setNum(control.march); + ui->label_tab_setupMsg_send_Impact_data_count_lag->setNum(control.lag); + ui->label_tab_setupMsg_send_Impact_data_count_depth->setNum(control.depth); + +// received + + if (auvData.modeAUV_Real == 1) + ui->labelt_tab_setupMsg_received_modeAUV_selection_mode->setText("модель"); + else + ui->labelt_tab_setupMsg_received_modeAUV_selection_mode->setText("агент"); + + if (auvData.modeReal) { + ui->label_tab_setupMsg_received_cSMode_count->setText("автоматизированный"); + } else { + ui->label_tab_setupMsg_received_cSMode_count->setText("ручной"); + } + + if (auvData.controlReal.yaw) { + ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_yaw->setText("замкнут"); + } else { + ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_yaw->setText("незамкнут"); + } + + if (auvData.controlReal.pitch) { + ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_pitch->setText("замкнут"); + } else { + ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_pitch->setText("незамкнут"); + } + + if (auvData.controlReal.roll) { + ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_roll->setText("замкнут"); + } else { + ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_roll->setText("незамкнут"); + } + + if (auvData.controlReal.march) { + ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_march->setText("замкнут"); + } else { + ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_march->setText("незамкнут"); + } + + if (auvData.controlReal.lag) { + ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_lag->setText("замкнут"); + } else { + ui->label_tab_setupMsg_received_controlContoursFlags_data_flags_lag->setText("незамкнут"); + } + + ui->label_tab_setupMsg_received_Impact_data_count_vma1->setNum(auvData.signalVMA_real.VMA1); + ui->label_tab_setupMsg_received_Impact_data_count_vma2->setNum(auvData.signalVMA_real.VMA2); + ui->label_tab_setupMsg_received_Impact_data_count_vma3->setNum(auvData.signalVMA_real.VMA3); + ui->label_tab_setupMsg_received_Impact_data_count_vma4->setNum(auvData.signalVMA_real.VMA4); + +// флаги для настройки БСО + + ui->label_tab_setupMsg_flagsSetupIMU_pult_init->setNum(flagAH127C_pult.initCalibration); + ui->label_tab_setupMsg_flagsSetupIMU_pult_save->setNum(flagAH127C_pult.saveCalibration); + ui->label_tab_setupMsg_flagsSetupIMU_bort_end->setNum(flagAH127C_bort.startCalibration); + ui->label_tab_setupMsg_flagsSetupIMU_bort_start->setNum(flagAH127C_bort.endCalibration); + +// количество посылок + + ui->label_tab_setupMsg_send_checksum_count->setNum(checksum_msg_gui_send); + ui->label_tab_setupMsg_received_checksum_send_count->setNum(checksum_msg_agent_send); + ui->labe_tab_setupMsg_received_checksum_received_count_->setNum(checksum_msg_gui_received); +} + +void CheckMsg::slot_getInterface(IUserInterfaceData *interface) +{ + uv_interface = interface; +} + +CheckMsg::~CheckMsg() +{ + delete ui; +} diff --git a/tabs/check_msg.h b/tabs/check_msg.h new file mode 100644 index 0000000..7228f3d --- /dev/null +++ b/tabs/check_msg.h @@ -0,0 +1,32 @@ +#ifndef CHECK_MSG_H +#define CHECK_MSG_H + +#include +#include +#include + +#include "i_user_interface_data.h" + +namespace Ui { +class CheckMsg; +} + +class CheckMsg : public QWidget +{ + Q_OBJECT + +public: + explicit CheckMsg(QWidget *parent = nullptr); + ~CheckMsg(); + +public slots: + void updateUi_checkMsg(); + void slot_getInterface(IUserInterfaceData *interface); +private: + Ui::CheckMsg *ui; + IUserInterfaceData *uv_interface; + + +}; + +#endif // CHECK_MSG_H diff --git a/tabs/check_msg.ui b/tabs/check_msg.ui new file mode 100644 index 0000000..33f2405 --- /dev/null +++ b/tabs/check_msg.ui @@ -0,0 +1,1367 @@ + + + CheckMsg + + + + 0 + 0 + 876 + 523 + + + + Form + + + + + + + + Qt::Horizontal + + + + + + + + + + 0 + 0 + + + + Количество отправленных: + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + + Qt::Horizontal + + + + + + + + 0 + 0 + + + + Полученные + + + Qt::AlignCenter + + + + + + + 5 + + + QLayout::SetDefaultConstraint + + + + + + 0 + 0 + + + + Количество: + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + + Флаги настройки БСО + + + Qt::AlignCenter + + + + + + + Qt::Horizontal + + + + + + + Qt::Horizontal + + + + + + + + + + 0 + 0 + + + + Текущий режим: + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + + + + + 0 + 0 + + + + Замкнутые контуры: + + + + + + + + + + 0 + 0 + + + + ψ: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + θ: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + γ: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + x: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + y: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + + + + Qt::Horizontal + + + + + + + + 0 + 0 + + + + Отправленные + + + Qt::AlignCenter + + + + + + + + + + 0 + 0 + + + + Задающие воздействия: + + + + + + + + + + 0 + 0 + + + + ψ: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + θ: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + γ: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + x: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + y: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + z: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + + + + Qt::Vertical + + + + + + + Qt::Horizontal + + + + + + + Qt::Vertical + + + + + + + Qt::Horizontal + + + + + + + Qt::Horizontal + + + + + + + Qt::Vertical + + + + + + + Qt::Horizontal + + + + + + + + + + 0 + 0 + + + + Количество полученных: + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + + + + + 0 + 0 + + + + Режим: + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + + + + + 0 + 0 + + + + Текущий вывод данных: + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + + Qt::Vertical + + + + + + + 5 + + + QLayout::SetDefaultConstraint + + + + + + 0 + 0 + + + + Режим питания: + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + + Qt::Vertical + + + + + + + + + + + pult_init: + + + + + + + нет сигнала + + + + + + + pult_save: + + + + + + + нет сигнала + + + + + + + + + + + bort_start: + + + + + + + нет сигнала + + + + + + + bort_end: + + + + + + + нет сигнала + + + + + + + + + + + Qt::Horizontal + + + + + + + Qt::Horizontal + + + + + + + Qt::Vertical + + + + + + + + + + 0 + 0 + + + + Текущие замкнутые контуры: + + + + + + + + + + 0 + 0 + + + + ψ: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + θ: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + γ: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + x: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + y: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + + + + Qt::Horizontal + + + + + + + Qt::Horizontal + + + + + + + Qt::Vertical + + + + + + + Qt::Vertical + + + + + + + + + + 0 + 0 + + + + Текущие воздействия на ВМА: + + + + + + + + + + 0 + 0 + + + + ВМА1: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + ВМА2: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + ВМА3: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + ВМА4: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + ВМА5: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + ВМА6: + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + + + + + + + 0 + 0 + + + + Вывод данных: + + + + + + + + 0 + 0 + + + + нет сигнала + + + Qt::AlignCenter + + + + + + + + + Qt::Horizontal + + + + + + + Qt::Vertical + + + + + + + Qt::Vertical + + + + + + + + + + diff --git a/tabs/power_system.cpp b/tabs/power_system.cpp new file mode 100644 index 0000000..dbc7766 --- /dev/null +++ b/tabs/power_system.cpp @@ -0,0 +1,109 @@ +#include "power_system.h" +#include "ui_power_system.h" + +PowerSystem::PowerSystem(QWidget *parent) : + QWidget(parent), + ui(new Ui::PowerSystem) +{ + ui->setupUi(this); + // режим питания + switch (uv_interface->getPowerMode()) { + case power_Mode::MODE_2: + ui->pushButton_powerMode_2->setChecked(true); + break; + case power_Mode::MODE_3: + ui->pushButton_powerMode_3->setChecked(true); + break; + } + setBottom_powerMode(); +} + +void PowerSystem::setBottom_powerMode() +{ + QButtonGroup *powerMode = new QButtonGroup(this); + powerMode->addButton(ui->pushButton_powerMode_2); + powerMode->addButton(ui->pushButton_powerMode_3); + powerMode->addButton(ui->pushButton_powerMode_4); + powerMode->addButton(ui->pushButton_powerMode_5); + + ui->pushButton_powerMode_2->setCheckable(true); + ui->pushButton_powerMode_3->setCheckable(true); + ui->pushButton_powerMode_4->setCheckable(true); + ui->pushButton_powerMode_5->setCheckable(true); + + uv_interface->setPowerMode(power_Mode::MODE_2); + ui->pushButton_powerMode_2->setChecked(true); + + connect( + ui->pushButton_powerMode_2, SIGNAL(clicked()), + this, SLOT(pushButton_on_powerMode_2())); + + connect( + ui->pushButton_powerMode_3, SIGNAL(clicked()), + this, SLOT(pushButton_on_powerMode_3())); + + connect( + ui->pushButton_powerMode_5, SIGNAL(clicked()), + this, SLOT(pushButton_on_powerMode_5())); +} + +void PowerSystem::pushButton_on_powerMode_2() +{ + uv_interface->setPowerMode(power_Mode::MODE_2); +} + +void PowerSystem::pushButton_on_powerMode_3() +{ + uv_interface->setPowerMode(power_Mode::MODE_3); +} + + +void PowerSystem::pushButton_on_powerMode_5() +{ + before_powerMode = uv_interface->getPowerMode(); +// uv_interface->setPowerMode(power_Mode::MODE_5); + + ui->pushButton_powerMode_2->setEnabled(false); + ui->pushButton_powerMode_3->setEnabled(false); + ui->pushButton_powerMode_4->setEnabled(false); + ui->pushButton_powerMode_5->setEnabled(false); + + timer_off_powerMode_5 = new QTimer(this); + connect( + timer_off_powerMode_5, SIGNAL(timeout()), + this, SLOT(off_powerMode_5())); + timer_off_powerMode_5->start(5000); +} + +void PowerSystem::off_powerMode_5() +{ + timer_off_powerMode_5->stop(); + uv_interface->setPowerMode(before_powerMode); + + switch (before_powerMode) { + case power_Mode::MODE_2: + ui->pushButton_powerMode_2->setChecked(true); + break; + + case power_Mode::MODE_3: + ui->pushButton_powerMode_3->setChecked(true); + break; + } + + ui->pushButton_powerMode_2->setEnabled(true); + ui->pushButton_powerMode_3->setEnabled(true); + ui->pushButton_powerMode_4->setEnabled(true); + ui->pushButton_powerMode_5->setEnabled(true); +} + +void PowerSystem::slot_getInterface(IUserInterfaceData *interface) +{ + uv_interface = interface; +} + + + +PowerSystem::~PowerSystem() +{ + delete ui; +} diff --git a/tabs/power_system.h b/tabs/power_system.h new file mode 100644 index 0000000..e3ed4d7 --- /dev/null +++ b/tabs/power_system.h @@ -0,0 +1,45 @@ +#ifndef POWER_SYSTEM_H +#define POWER_SYSTEM_H + +#include +#include +#include + +#include "i_user_interface_data.h" + +namespace Ui { +class PowerSystem; +} + +class PowerSystem : public QWidget +{ + Q_OBJECT + +public: + explicit PowerSystem(QWidget *parent = nullptr); + ~PowerSystem(); + +private: + Ui::PowerSystem *ui; + IUserInterfaceData *uv_interface; + + // таймеры + QTimer *timer_off_powerMode_5; + + power_Mode before_powerMode; + + void setBottom_powerMode(); + +private slots: + void pushButton_on_powerMode_2(); + void pushButton_on_powerMode_3(); + void pushButton_on_powerMode_5(); + + void off_powerMode_5(); + +public slots: + void slot_getInterface(IUserInterfaceData *uv_interface); + +}; + +#endif // POWER_SYSTEM_H diff --git a/tabs/power_system.ui b/tabs/power_system.ui new file mode 100644 index 0000000..5ea835b --- /dev/null +++ b/tabs/power_system.ui @@ -0,0 +1,731 @@ + + + PowerSystem + + + + 0 + 0 + 725 + 499 + + + + Form + + + + + + + + Qt::Vertical + + + + + + + Qt::Vertical + + + + + + + Qt::Horizontal + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#cc0000;">-</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#cc0000;">-</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#73d216;">+</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Vertical + + + + + + + Qt::Horizontal + + + + + + + Qt::Horizontal + + + + + + + Qt::Horizontal + + + + + + + UWB + + + Qt::AlignCenter + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#73d216;">+</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Horizontal + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#73d216;">+</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Horizontal + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#cc0000;">-</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Vertical + + + + + + + Qt::Vertical + + + + + + + Qt::Vertical + + + + + + + Гидроакустика + + + Qt::AlignCenter + + + + + + + ВМА + + + Qt::AlignCenter + + + + + + + Qt::Vertical + + + + + + + Qt::Horizontal + + + + + + + + 0 + 0 + + + + Перезагрузка +5 секунд + + + + + + + Вычислитель + + + Qt::AlignCenter + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#73d216;">+</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Horizontal + + + + + + + Qt::Vertical + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#73d216;">+</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Vertical + + + + + + + Qt::Horizontal + + + + + + + + 0 + 0 + + + + 4 + + + + + + + Qt::Vertical + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#73d216;">+</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Horizontal + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#cc0000;">-</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Vertical + + + + + + + Qt::Vertical + + + + + + + Qt::Vertical + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#cc0000;">-</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Horizontal + + + + + + + Qt::Horizontal + + + + + + + Qt::Horizontal + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#73d216;">+</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Horizontal + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#73d216;">+</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Horizontal + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#cc0000;">-</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Vertical + + + + + + + Qt::Horizontal + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#73d216;">+</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Wi-fi + + + Qt::AlignCenter + + + + + + + Qt::Vertical + + + + + + + Qt::Vertical + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#cc0000;">-</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Horizontal + + + + + + + Qt::Horizontal + + + + + + + Qt::Vertical + + + + + + + + 0 + 0 + + + + 3 + + + + + + + Qt::Horizontal + + + + + + + + 0 + 0 + + + + 2 + + + + + + + Qt::Horizontal + + + + + + + Qt::Horizontal + + + + + + + Qt::Horizontal + + + + + + + Qt::Vertical + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#73d216;">+</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Horizontal + + + + + + + Qt::Vertical + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#73d216;">+</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#73d216;">+</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + <html><head/><body><p align="center"><span style=" font-size:28pt; color:#cc0000;">-</span></p></body></html> + + + Qt::AlignCenter + + + false + + + + + + + Qt::Horizontal + + + + + + + Qt::Vertical + + + + + + + Qt::Vertical + + + + + + + Qt::Vertical + + + + + + + Qt::Vertical + + + + + + + Qt::Vertical + + + + + + + Qt::Vertical + + + + + + + + + + diff --git a/transformation/transformation.cpp b/transformation/transformation.cpp deleted file mode 100644 index cf55958..0000000 --- a/transformation/transformation.cpp +++ /dev/null @@ -1,33 +0,0 @@ -#include "transformation.h" -#include - -Transformation::Transformation() -{ - //connect(&timer, &QTimer::timeout, this, &Transformation::getdpsi); - timer.start(50); - yaw[0]=yaw[1]=0; -} - -double Transformation::gradToRadian(double grad) { - return grad*3.14/180; -} - -void Transformation::integrate(double &input, double &output, double &prevOutput, double dt) { - output = prevOutput + dt*input; - prevOutput = output; -} - -void Transformation::getdpsi(DataAH127C imuData) -{ - float wx = imuData.X_rate; - float wy = imuData.Y_rate; - float wz = imuData.Z_rate; - - float tetta = gradToRadian(imuData.pitch); - float gamma = gradToRadian(imuData.roll); - double dPsi = (wy) * sin(gamma)/cos(tetta) + cos(gamma) * wz/cos(tetta); - qDebug()<<"dPsi = "< -#include - - -class Transformation : public QObject -{ - Q_OBJECT -public: - Transformation(); - - double gradToRadian(double grad); - void integrate(double &input, double &output, double &prevOutput, double dt); -public slots: - void getdpsi(DataAH127C imuData); -public: - QTimer timer; - double yaw[2]; - - - - - -}; - -#endif // TRANSFORMATION_H diff --git a/ui_utils/dataIMU_magn.db b/ui_utils/dataIMU_magn.db new file mode 100644 index 0000000..6cc7723 Binary files /dev/null and b/ui_utils/dataIMU_magn.db differ diff --git a/ui_utils/database.cpp b/ui_utils/database.cpp new file mode 100644 index 0000000..7260d0e --- /dev/null +++ b/ui_utils/database.cpp @@ -0,0 +1,128 @@ +#include "database.h" + +DataBase::DataBase(QString name, + QString tableName, + QString nameColumn1, QString nameColumn2, QString nameColumn3, + QObject *parent) : QObject(parent) +{ + nameDB = name; + tableNameDB = tableName; + nameColumn1DB = nameColumn1; + nameColumn2DB = nameColumn2; + nameColumn3DB = nameColumn3; +} + +DataBase::~DataBase() +{ +} + +/*! + * \brief DataBase::connectToDataBase Перед подключением к базе данных производим + * проверку на её существование.В зависимости от результата производим открытие + * базы данных или её восстановление. + */ +void DataBase::connectToDataBase() +{ + if(!QFile("./ui_utils/" + nameDB).exists()){ + qDebug() << "createDeviceTable" << this->restoreDataBase(); + } else { + this->openDataBase(); + } +} + +bool DataBase::restoreDataBase() +{ + if(this->openDataBase()){ + if(!this->createDeviceTable()){ + return false; + } else { + return true; + } + } else { + qDebug() << "Не удалось восстановить базу данных"; + return false; + } + return false; +} + +/*! + * \brief DataBase::openDataBase База данных открывается по заданному пути и + * имени базы данных, если она существует. + */ +bool DataBase::openDataBase() +{ + db = QSqlDatabase::addDatabase("QSQLITE"); + db.setDatabaseName("./ui_utils/" + nameDB); + if(db.open()){ + return true; + } else { + return false; + } +} + +void DataBase::closeDataBase() +{ + db.close(); +} + +/*! + * \brief DataBase::createDeviceTable В данном случае используется формирование + * сырого SQL-запроса с последующим его выполнением. + */ +bool DataBase::createDeviceTable() +{ + QSqlQuery query; + if(!query.exec( "CREATE TABLE " + tableNameDB + " (" + "id INTEGER PRIMARY KEY AUTOINCREMENT, " + + nameColumn1DB + " STRING NOT NULL," + + nameColumn2DB + " FLOAT NOT NULL," + + nameColumn3DB + " FLOAT NOT NULL" + " )" + )){ + qDebug() << "DataBase: error of create " << tableNameDB; + qDebug() << query.lastError().text(); + return false; + } else { + return true; + } + return false; +} + +bool DataBase::inserIntoDeviceTable(QString str, float value1, float value2) +{ + QSqlQuery query; + + query.prepare("INSERT INTO " + tableNameDB + " ( " + nameColumn1DB + ", " + + nameColumn2DB + ", " + nameColumn3DB + " ) " + "VALUES (?, ?, ?)"); + + query.addBindValue(str); + query.addBindValue(value1); + query.addBindValue(value2); + + if(!query.exec()){ + qDebug() << "error insert into " << tableNameDB; + qDebug() << query.lastError().text(); + return false; + } else { + return true; + } + return false; +} + +void DataBase::createTable(QTableWidget* table) +{ + table->setColumnCount(3); // Указываем число колонок + table->setShowGrid(true); // Включаем сетку + // Разрешаем выделение только одного элемента + table->setSelectionMode(QAbstractItemView::SingleSelection); + // Разрешаем выделение построчно + table->setSelectionBehavior(QAbstractItemView::SelectRows); + // Устанавливаем заголовки колонок + table->setHorizontalHeaderLabels(QStringList() << nameColumn1DB + << nameColumn2DB + << nameColumn3DB + ); + // Обновляем ширину столбцов + table->resizeColumnsToContents(); +} diff --git a/ui_utils/database.h b/ui_utils/database.h new file mode 100644 index 0000000..536f4d3 --- /dev/null +++ b/ui_utils/database.h @@ -0,0 +1,98 @@ +#ifndef DATABASE_H +#define DATABASE_H + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +/* Директивы имен таблицы, полей таблицы и базы данных */ + +#define DATABASE_NAME "dataIMU_magn.db" + +#define TABLENAME "IMUDATA_magn" +#define TIME "Time" +#define DATAIMU_MAGN_X "Magn_x" +#define DATAIMU_MAGN_Y "Magn_y" + +/*! + * \brief DataBase class вспомогательный класс для работы с таблицами и базами данных. + */ +class DataBase : public QObject +{ + Q_OBJECT +public: + /*! + * \brief DataBase конструктор класса, определяет структуру ДБ. + * \param name название файла ".db". + * \param tableName название таблицы. + * \param nameColumn1 название первой колонки. + * \param nameColumn2 название второй колонки. + * \param nameColumn3 название третей колонки. + */ + explicit DataBase(QString name, + QString tableName, + QString nameColumn1, QString nameColumn2, QString nameColumn3, + QObject *parent = 0); + ~DataBase(); + + /*! + * \brief connectToDataBase метод подключение к ДБ. + */ + void connectToDataBase(); + /*! + * \brief inserIntoDeviceTable метод заполнения ДБ + * \param str строка для первой колонки + * \param value1 значение для второй колонки. + * \param value2 значение для третей колонки. + * \return false в случае неудачи. + */ + bool inserIntoDeviceTable(QString str, float value1, float value2); + /*! + * \brief createTable метод созания таблицы в QTableWidget. + * \param table указатель на QTableWidget. + */ + void createTable(QTableWidget* table); + + +private: + /*! + * \brief db объект базы данных, с которым будет производиться работа + */ + QSqlDatabase db; + + QString nameDB; + QString tableNameDB; + QString nameColumn1DB; + QString nameColumn2DB; + QString nameColumn3DB; + +private: + /*! + * \brief openDataBase метод открытия ДБ. + * \return false в случае неудачи. + */ + bool openDataBase(); + /*! + * \brief restoreDataBase метод восстановления ДБ. + * \return false в случае неудачи. + */ + bool restoreDataBase(); + /*! + * \brief closeDataBase метод закрытия ДБ. + */ + void closeDataBase(); + /*! + * \brief createDeviceTable метод создания таблицы в ДБ. + * \return false в случае неудачи. + */ + bool createDeviceTable(); +}; + +#endif // DATABASE_H diff --git a/build/CMakeFiles/3.16.3/CMakeDetermineCompilerABI_CXX.bin b/ui_utils/list_uwb.db old mode 100755 new mode 100644 similarity index 54% rename from build/CMakeFiles/3.16.3/CMakeDetermineCompilerABI_CXX.bin rename to ui_utils/list_uwb.db index 156cfcf..5e3910b Binary files a/build/CMakeFiles/3.16.3/CMakeDetermineCompilerABI_CXX.bin and b/ui_utils/list_uwb.db differ diff --git a/ui_utils/setup_imu.h b/ui_utils/setup_imu.h index d9de330..9eecdf0 100644 --- a/ui_utils/setup_imu.h +++ b/ui_utils/setup_imu.h @@ -10,6 +10,9 @@ namespace Ui { class SetupIMU; } +/*! + * \brief SetupIMU class класс UI формы подготовки к настройке БСО. + */ class SetupIMU : public QDialog { Q_OBJECT @@ -19,10 +22,16 @@ class SetupIMU : public QDialog ~SetupIMU(); public slots: + /*! + * \brief setupIMU_nextStep1 слот открытия окна старта настройки БСО. + */ void setupIMU_nextStep1(); private: + /*! + * \brief ui окно этой формы. + */ Ui::SetupIMU *ui; }; diff --git a/ui_utils/setupimu_check.cpp b/ui_utils/setupimu_check.cpp new file mode 100644 index 0000000..8e40a57 --- /dev/null +++ b/ui_utils/setupimu_check.cpp @@ -0,0 +1,238 @@ +#include "setupimu_check.h" +#include "ui_setupimu_check.h" + + +SetupIMU_check::SetupIMU_check(QWidget *parent) : + QDialog(parent), + ui(new Ui::SetupIMU_check) +{ + ui->setupUi(this); + + ui->pushButton_setupIMU_check_stop->setEnabled(false); + ui->pushButton_setupIMU_check_pause->setEnabled(false); + ui->pushButton_setupIMU_check_reset->setEnabled(false); + + + db = new DataBase("dataIMU_magn.db", "IMUDATA_magn", "Time", "Magn_x", "Magn_y"); + db->connectToDataBase(); + db->createTable(ui->tableWidget); + + this->createPlot(); + + + connect( + ui->pushButton_setupIMU_check_start, SIGNAL(clicked()), + this, SLOT(startCheck())); + + connect( + ui->pushButton_setupIMU_check_reset, SIGNAL(clicked()), + this, SLOT(resetTable())); + + connect( + ui->pushButton_setupIMU_check_stop, SIGNAL(clicked()), + this, SLOT(stopCheck())); + +} + +SetupIMU_check::~SetupIMU_check() +{ + delete ui; +} + +void SetupIMU_check::startCheck() +{ + time = ui->spinBox_time->value(); + periodicity = ui->doubleSpinBox_periodicity->value(); + i = 0; + + + if (time && periodicity) + { + ui->pushButton_setupIMU_check_start->setEnabled(false); + ui->pushButton_setupIMU_check_stop->setEnabled(true); + ui->pushButton_setupIMU_check_pause->setEnabled(true); + + rowCount_beforeStart = ui->tableWidget->rowCount(); + + timer_updateUI_check = new QTimer(this); + connect( + timer_updateUI_check, SIGNAL(timeout()), + this, SLOT(updateUI_table())); + timer_updateUI_check->start(periodicity*1000); + + ui->label_setupIMU_check_timer->setNum(time); + + timer_setupIMU_check = new QTimer(this); + connect( + timer_setupIMU_check, SIGNAL(timeout()), + this, SLOT(timer_setupIMU_check_timeStart())); + timer_setupIMU_check->start(1000); + } + else + qInfo() << "Необходимо выставить длительность и периодичность записи"; +} + +void SetupIMU_check::timer_setupIMU_check_timeStart() +{ + ui->label_setupIMU_check_timer->setNum(--time); + if (time == 0) { + timer_setupIMU_check->stop(); + timer_updateUI_check->stop(); + ui->pushButton_setupIMU_check_reset->setEnabled(true); + ui->pushButton_setupIMU_check_start->setEnabled(true); + + ui->pushButton_setupIMU_check_pause->setEnabled(false); + ui->pushButton_setupIMU_check_stop->setEnabled(false); + + updateUI_setPlot(); + } +} + +void SetupIMU_check::updateUI_table() +{ + DataAH127C imuData = uv_interface.getImuData(); + float X_magn = imuData.X_magn; + float Y_magn = imuData.Y_magn; + + QString currentTime = QTime::currentTime().toString("HH:mm:ss"); + + db->inserIntoDeviceTable(currentTime, X_magn, Y_magn); + + QSqlQuery query("SELECT " + TABLENAME "." TIME ", " + TABLENAME "." DATAIMU_MAGN_X ", " + TABLENAME "." DATAIMU_MAGN_Y + " FROM " TABLENAME); + query.last(); + ui->tableWidget->insertRow(i + rowCount_beforeStart); + ui->tableWidget->setItem(i + rowCount_beforeStart, 0, new QTableWidgetItem(query.value(0).toString())); + ui->tableWidget->setItem(i + rowCount_beforeStart, 1, new QTableWidgetItem(query.value(1).toString())); + ui->tableWidget->setItem(i + rowCount_beforeStart, 2, new QTableWidgetItem(query.value(2).toString())); + i++; + + ui->tableWidget->resizeColumnsToContents(); +} + +void SetupIMU_check::resetTable() +{ + ui->pushButton_setupIMU_check_reset->setEnabled(false); + ui->pushButton_setupIMU_check_start->setEnabled(true); + + int rowCount = ui->tableWidget->rowCount(); + for (int r = rowCount; r >= 0; r--) + ui->tableWidget->removeRow(r); +} + +void SetupIMU_check::stopCheck() +{ + timer_setupIMU_check->stop(); + timer_updateUI_check->stop(); + ui->pushButton_setupIMU_check_reset->setEnabled(true); + ui->pushButton_setupIMU_check_start->setEnabled(true); + + ui->pushButton_setupIMU_check_pause->setEnabled(false); + ui->pushButton_setupIMU_check_stop->setEnabled(false); + + resetTable(); +} + +void SetupIMU_check::createPlot() +{ + // Построить ряд как источник данных диаграммы и добавить к нему 6 координатных точек + series = new QSplineSeries; + + // Построить график + chart = new QChart(); + chart->legend()->hide(); // скрыть легенду + chart->addSeries(series); // добавить серию на график + chart->setTitle("Построение магнитной характеристики"); // Устанавливаем заголовок графика + + QValueAxis *axisX = new QValueAxis(); + axisX->setTitleText("Magn x"); + axisX->setLabelFormat("%g"); + axisX->setTickCount(5); + chart->addAxis(axisX, Qt::AlignBottom); + series->attachAxis(axisX); + + QValueAxis *axisY = new QValueAxis(); + axisY->setTitleText("Magn y"); + axisY->setLabelFormat("%g"); + axisY->setTickCount(5); + chart->addAxis(axisY, Qt::AlignLeft); + series->attachAxis(axisY); + + // Создаем QChartView и устанавливаем сглаживание, заголовок, размер + chartView = new QChartView(chart); + + // Добавляем его в горизонтальный Layout + ui->verticalLayout_map->addWidget(chartView); + chartView->setRenderHint(QPainter::Antialiasing); +} + +void SetupIMU_check::updateUI_setPlot() +{ + ui->verticalLayout_map->removeWidget(chartView); + + series = new QSplineSeries; + + float magnX_max = 0; + float magnY_max = 0; + float magnX_min = 0; + float magnY_min = 0; + + for (int r = 0; r < ui->tableWidget->rowCount(); r++) + { + QString magn_x = ui->tableWidget->item(r,1)->text(); + QString magn_y = ui->tableWidget->item(r,2)->text(); + + if (magnX_max < magn_x.toFloat()) + magnX_max = magn_x.toFloat(); + if (magnY_max < magn_y.toFloat()) + magnY_max = magn_y.toFloat(); + if (magnX_min > magn_x.toFloat()) + magnX_min = magn_x.toFloat(); + if (magnY_min > magn_y.toFloat()) + magnY_min = magn_y.toFloat(); + + series->append(magn_x.toFloat() , magn_y.toFloat()); + } + + QString magn_x = ui->tableWidget->item(0,1)->text(); + QString magn_y = ui->tableWidget->item(0,2)->text(); + + series->append(magn_x.toFloat() , magn_y.toFloat()); + + float bb_x = (magnX_max-magnX_min) * 0.1; + float bb_y = (magnY_max-magnY_min) * 0.1; + + + // Построить график + chart = new QChart(); + chart->legend()->hide(); // скрыть легенду + chart->addSeries(series); // добавить серию на график + chart->setTitle("Построение магнитной характеристики"); // Устанавливаем заголовок графика + + QValueAxis *axisX = new QValueAxis(); + axisX->setTitleText("Magn x"); + axisX->setLabelFormat("%g"); + axisX->setTickCount(5); + axisX->setRange(magnX_min - bb_x , magnX_max + bb_x); + chart->addAxis(axisX, Qt::AlignBottom); + series->attachAxis(axisX); + + QValueAxis *axisY = new QValueAxis(); + axisY->setTitleText("Magn y"); + axisY->setLabelFormat("%g"); + axisY->setTickCount(5); + axisY->setRange(magnY_min - bb_y, magnY_max + bb_y); + chart->addAxis(axisY, Qt::AlignLeft); + series->attachAxis(axisY); + + // Создаем QChartView и устанавливаем сглаживание, заголовок, размер + chartView = new QChartView(chart); + + // Добавляем его в горизонтальный Layout + ui->verticalLayout_map->addWidget(chartView); + chartView->setRenderHint(QPainter::Antialiasing); + +} diff --git a/ui_utils/setupimu_check.h b/ui_utils/setupimu_check.h new file mode 100644 index 0000000..4dabfe6 --- /dev/null +++ b/ui_utils/setupimu_check.h @@ -0,0 +1,128 @@ +#ifndef SETUPIMU_CHECK_H +#define SETUPIMU_CHECK_H + +#include +#include +#include +#include + + +#include + + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include + +#include "database.h" +#include "i_user_interface_data.h" + +namespace Ui { +class SetupIMU_check; +} +using namespace QtCharts; + +/*! + * \brief SetupIMU_check class класс проверки настройки БСО. + */ +class SetupIMU_check : public QDialog +{ + Q_OBJECT + +public: + explicit SetupIMU_check(QWidget *parent = nullptr); + ~SetupIMU_check(); + + +private slots: + /*! + * \brief startCheck слот старта проверки. + */ + void startCheck(); + /*! + * \brief timer_setupIMU_check_timeStart слот окончания записи данных и + * и последующего построения графиков + */ + void timer_setupIMU_check_timeStart(); + /*! + * \brief updateUI_table слот заполнения таблицы. + */ + void updateUI_table(); + /*! + * \brief resetTable слот очистки таблицы. + */ + void resetTable(); + /*! + * \brief stopCheck слот окончания проверки и стерания данных. + */ + void stopCheck(); + + +private: + /*! + * \brief ui указатель на форму проверки настройки БСО. + */ + Ui::SetupIMU_check *ui; + + /*! + * \brief timer_setupIMU_check таймер окончания записи данных и + * и последующего построения графиков + */ + QTimer *timer_setupIMU_check; + /*! + * \brief timer_updateUI_check таймер заполнения таблицы. + */ + QTimer *timer_updateUI_check; + + /*! + * \brief time длительность записи. + */ + float time; + /*! + * \brief periodicity периодичность записи данныз + */ + float periodicity; + /*! + * \brief количество строк в таблице. + */ + int i; + /*! + * \brief rowCount_beforeStart количество строк в таблице до начала записи. + */ + int rowCount_beforeStart; + + /*! + * \brief uv_interface получения данных + */ + IUserInterfaceData uv_interface; + + /*! + * \brief db база данных для хранения значений магнитометров. + */ + DataBase *db; + + QChart *chart; + QChartView *chartView; + QSplineSeries *series; + + /*! + * \brief createPlot метод построение графика. + */ + void createPlot(); + /*! + * \brief updateUI_setPlot метод повторного построение графика. + */ + void updateUI_setPlot(); +}; + +#endif // SETUPIMU_CHECK_H diff --git a/ui_utils/setupimu_check.ui b/ui_utils/setupimu_check.ui new file mode 100644 index 0000000..6ecb0a6 --- /dev/null +++ b/ui_utils/setupimu_check.ui @@ -0,0 +1,196 @@ + + + SetupIMU_check + + + + 0 + 0 + 920 + 613 + + + + Проверка настройки БСО + + + + + + + + + + Введите данные для +проверки настройки БСО + + + + + + + Qt::Horizontal + + + + + + + + + Длительность, с: + + + + + + + 5 + + + + + + + Периодичность записи, с: + + + + + + + 1.000000000000000 + + + + + + + + + Qt::Horizontal + + + + + + + Установите аппарат в +горизонтальное положение. + + + + + + + Qt::Horizontal + + + + + + + Начать запись + + + + + + + + + Приостановить + + + + + + + Завершить + + + + + + + + + Qt::Horizontal + + + + + + + Поворачивайте вокруг +вертикальной оси. + + + + + + + Qt::Horizontal + + + + + + + + + До окончания записи: + + + + + + + + 0 + 0 + + + + 0 + + + + + + + Qt::Horizontal + + + + + + + + + Qt::Horizontal + + + + + + + + + + Очистить значения + + + + + + + + + + + + + + + diff --git a/ui_utils/setupimu_start.cpp b/ui_utils/setupimu_start.cpp index de4b1bf..b1c4014 100644 --- a/ui_utils/setupimu_start.cpp +++ b/ui_utils/setupimu_start.cpp @@ -12,7 +12,6 @@ SetupIMU_start::SetupIMU_start(QWidget *parent) : connect( ui->pushButton_setupIMU_startTimer, SIGNAL(clicked()), this, SLOT(pushButton_startTimer1())); - connect( this, SIGNAL(on_t2()), this, SLOT(pushButton_startTimer2())); @@ -118,9 +117,7 @@ void SetupIMU_start::isCheckedFlagBort_end() ui->pushButton_setupIMU_end->setEnabled(true); ui->SetupIMU_start_statusBar->setStyleSheet("color: rgb(0, 153, 76)"); ui->SetupIMU_start_statusBar->setText("Данные сохранились, можно завершать настройку "); - } - else - { + } else { ui->SetupIMU_start_statusBar->setStyleSheet("color: rgb(255, 0, 0)"); ui->SetupIMU_start_statusBar->setText("Данные сохраняются"); } diff --git a/ui_utils/setupimu_start.h b/ui_utils/setupimu_start.h index 5a01fca..4c9858a 100644 --- a/ui_utils/setupimu_start.h +++ b/ui_utils/setupimu_start.h @@ -4,7 +4,6 @@ #include #include #include -#include #include "i_user_interface_data.h" @@ -12,36 +11,75 @@ namespace Ui { class SetupIMU_start; } +/*! + * \brief SetupIMU_start class класс настройки БСО. + */ class SetupIMU_start : public QDialog { Q_OBJECT public: + /*! + * \brief SetupIMU_start конструктор, в котором задаются начальные настройки + * интерфейса и подключаются слоты. + */ explicit SetupIMU_start(QWidget *parent = nullptr); ~SetupIMU_start(); private slots: + /*! + * \brief pushButton_startTimer1 слот старта настройки и запуска таймера. + * Срабатывает по нажатию кнопки. + */ void pushButton_startTimer1(); + /*! + * \brief pushButton_startTimer2 слот старта второго таймера. + */ void pushButton_startTimer2(); + /*! + * \brief updateUi_sec_t1 слот отчета первого таймера. + */ void updateUi_sec_t1(); + /*! + * \brief updateUi_sec_t2 слот отчета второго таймера и сохранение результатов. + */ void updateUi_sec_t2(); + /*! + * \brief isCheckedFlagBort_start слот проверки начала настройки от БСО. + */ void isCheckedFlagBort_start(); + /*! + * \brief isCheckedFlagBort_end слот проверки сохранения данных настройки. + */ void isCheckedFlagBort_end(); signals: + /*! + * \brief on_t2 сигнал запуска второго таймера. + */ void on_t2(); private: + /*! + * \brief ui указатель на форму настройки БСО. + */ Ui::SetupIMU_start *ui; + /*! + * \brief uv_interface интерфейс получения приходящих на аппарат данных + */ IUserInterfaceData uv_interface; + /*! + * \brief flagAH127C_pult флаги старта и окончания настройки. + */ FlagAH127C_pult flagAH127C_pult; + /*! + * \brief flagAH127C_bort флаги подтверждения старта и сохранения данных + * после окончания настройки. + */ FlagAH127C_bort flagAH127C_bort; - -// QStatusBar *statusBar; - QTimer *updateTimerSec; QTimer *timer_checkFlag; diff --git a/uv/uv_state.cpp b/uv/uv_state.cpp index 67873bf..4b18178 100644 --- a/uv/uv_state.cpp +++ b/uv/uv_state.cpp @@ -3,6 +3,19 @@ UVState::UVState() { modeAUV_selection = true; + cSMode = e_CSMode::MODE_MANUAL; + + controlContoursFlags.depth = 1; + controlContoursFlags.lag = 1; + controlContoursFlags.march = 1; + controlContoursFlags.pitch = 1; + controlContoursFlags.roll = 1; + controlContoursFlags.yaw = 1; + + pMode = power_Mode::MODE_2; + + + } ControlData::ControlData() { @@ -15,27 +28,12 @@ ControlData::ControlData() { } ControlContoursFlags::ControlContoursFlags() { - yaw = 0; - pitch = 0; - roll = 0; - march = 0; - depth = 0; - lag = 0; + yaw = 1; + pitch = 1; + roll = 1; + march = 1; + depth = 1; + lag = 1; } -DataPressure::DataPressure() { //структура данных с датчика давления - temperature = 0; //Temperature returned in deg C. - depth = 0; //Depth returned in meters - pressure = 0; // Pressure returned in mbar or mbar*conversion rate. -} -DataUWB::DataUWB() { - locationX = 0; - locationY = 0; - - for (int i = 0; i < 5; i++) - distanceToBeacon [i] = 0; - - for (int i = 0; i < 11; i++) - distanceToAgent [i] = 0; -} diff --git a/uv/uv_state.h b/uv/uv_state.h index 29b7ba9..9e9ebc4 100644 --- a/uv/uv_state.h +++ b/uv/uv_state.h @@ -2,15 +2,24 @@ #define UVSTATE_H #include +#include +#include -enum class e_CSMode : quint8 { //режим работы - MODE_MANUAL = 0, //ручной - MODE_AUTOMATED, //автоматизированный - MODE_AUTOMATIC, //автоматический - MODE_GROUP //групповой + +/*! + * \brief e_CSMode enum класс режимов работы системы управления. + */ +enum class e_CSMode : quint8 { + MODE_MANUAL = 0, //! Ручной + MODE_AUTOMATED, //! Автоматизированный + MODE_AUTOMATIC, //! Автоматический }; -enum class e_StabilizationContours: unsigned char { +/*! + * \brief e_StabilizationContours enum класс для работы с замыканием и + * размыканием контуров управления. + */ +enum class e_StabilizationContours : unsigned char { CONTOUR_DEPTH = 0, CONTOUR_MARCH, CONTOUR_LAG, @@ -19,31 +28,78 @@ enum class e_StabilizationContours: unsigned char { CONTOUR_PITCH }; +/*! + * \brief power_Mode enum класс режимов работы системы питания. + */ enum class power_Mode : quint8 { //режим работы - MODE_2 = 0, //включены вычислитель, wifi, uwb - MODE_3, //включены вычислитель, wifi, uwb, гидроакустика - MODE_4, //включены вычислитель, wifi, uwb, гидроакустика, ВМА - MODE_5 //выключить вычислитель на 5 секунд и включить обратно + MODE_2 = 0, //! На ВМА не идет ШИМ + MODE_3, //! На ВМА идет ШИМ }; #pragma pack(push,1) -//структура данных, которая передается из Северова в Пульт -//тут описаны данные, которые Пульт принимает от Северова +enum class mission_List : quint8 +{ //список миссий + NO_MISSION = 0, //нет миссии + MOVE_TO_POINT, //выход в точку + KEEP_POS, //удержание в точке + MOVE_CIRCLE, //движение по окружности + MOVE_TACK //движение галсами +}; + +struct CoordinatePoint +{ + double x_point; + double y_point; +}; + +struct MissionParam +{ + float radius; + CoordinatePoint point_mission; + CoordinatePoint first_point_tack; + CoordinatePoint second_point_tack; +}; + +enum class mission_Control : quint8 +{ //команды управления миссией + MODE_IDLE = 0, //ожидание + MODE_START, //отправка запроса на выполнение миссии + MODE_COMPLETE //завершить миссию +}; + +enum class mission_Status : quint8 +{ //состояние миссии + MODE_IDLE = 0, //ожидание + MODE_RUNNING, //миссия запущена и выполняется + MODE_PERFOMED, //миссия завершена +}; + +/*! + * \brief FlagAH127C_bort class структура, передаваемая на пульт. + * Используется для калибровки БСО. + */ struct FlagAH127C_bort { - quint8 startCalibration = false; - quint8 endCalibration = false; + quint8 startCalibration = false; //! Флаг подтверждает старт калибровки. + quint8 endCalibration = false; //! Флаг подтверждает завершение калибровки. }; +/*! + * \brief The FlagAH127C_pult class структура, передаваемая на агента. + * Используется для калибровки БСО. + */ struct FlagAH127C_pult { - quint8 initCalibration = false; - quint8 saveCalibration = false; + quint8 initCalibration = false; //! Флаг запуска калибровки. + quint8 saveCalibration = false; //! Флаг сохранения калибровки. }; -struct ControlData { //данные, которые идут с пульта в СУ +/*! + * \brief ControlData class управляющие воздействия с пульта управления. + */ +struct ControlData { ControlData(); float yaw; float pitch; @@ -51,19 +107,29 @@ struct ControlData { //данные, которые идут с пульта в float march; float depth; float lag; + quint8 gripping = 0; + quint8 opening = 0; + quint8 rotmanlf = 0; + quint8 rotmanrt = 0; + quint8 powoff = 0; }; +/*! + * \brief ControlVMA class управляющие воздействия на каждый ВМА. + */ struct ControlVMA -{ //данные, которые идут на каждый ВМА +{ float VMA1 = 0; float VMA2 = 0; float VMA3 = 0; float VMA4 = 0; - float VMA5 = 0; - float VMA6 = 0; }; -struct ControlContoursFlags { //флаги замыкания контуров (если 1, то замкнуты, 0 - разомкнуты) +/*! + * \brief ControlContoursFlags class структура со значениями замкутости контуров + * (если 1, то замкнуты, 0 - разомкнуты). + */ +struct ControlContoursFlags { ControlContoursFlags(); quint8 yaw; quint8 pitch; @@ -73,14 +139,17 @@ struct ControlContoursFlags { //флаги замыкания контуров ( quint8 lag; }; +/*! + * \brief AUVCurrentData class структура, передаваемая на пульт. + * Имеет текущие параметры агента. + */ struct AUVCurrentData { -// !!тут все текущие параметры АНПА - quint8 modeReal;//текущий режим - ControlContoursFlags controlReal;//текущее состояние контуров - quint8 modeAUV_Real;//текущий выбор модель/реальный НПА - ControlData ControlDataReal;//текущие курс, дифферент, крен - ControlVMA signalVMA_real;//управление на ВМА (текущие управляющие сигнлы на движители) + quint8 modeReal; //! Текущий режим. + ControlContoursFlags controlReal; //! Текущее состояние контуров. + quint8 modeAUV_Real; //! Текущий выбор модель/реальный НПА. + ControlData ControlDataReal; //! Текущие курс, дифферент, крен. + ControlVMA signalVMA_real; //! Управление на ВМА. }; struct Header { @@ -89,11 +158,14 @@ struct Header { int msgSize; }; -struct DataAH127C { //структура данных с датчика бесплатформенной системы ориентации - // DataAH127C(); +/*! + * \brief DataAH127C class структура данных с датчика БСО. + * Курс измеряется в градусах +/- 180 и т.д. + */ +struct DataAH127C { - float yaw; //курс градусы +/- 180 - float pitch; //... + float yaw; + float pitch; float roll; float X_accel; @@ -111,21 +183,66 @@ struct DataAH127C { //структура данных с датчика бесп float quat [4]; }; -struct DataPressure { //структура данных с датчика давления - DataPressure(); - float temperature; //Temperature returned in deg C. - float depth; //Depth returned in meters - float pressure; // Pressure returned in mbar or mbar*conversion rate. +struct DataGANS +{ //структура данных с ГАНСА + + double azimuth = 0; // Горизонтальный угол на ответчик, град. + double distance = 0; // Дистанция до ответчика, м + double dataValue = 0; // Значение запрошенного параметра + + double temperature = 0; // Температура воды, °С + double depth = 0; // Глубина базовой станции от поверхности, м + + double roll_GANS = 0; // Крен, °. 0 - вертикальное положение, 0..+90 - поворот на правый борт, 0..-90 - поворот на левый борт + double pitch_GANS = 0; // Дифферент, °. 0 - вертикальное положение, 0..+90 - крен на нос, 0..-90 - крен на корму +}; + +struct GPS_angular +{ + QTime time_UTC; // Время UTC + double yaw = 0; // Курс (рысканье) + double pitch; // Килевая качка + double roll; // Бортовая качка + char dataType; // Тип данных (N - курс от GPS, G - гиро курс) }; -struct DataUWB { //структура данных с сверхширокополосного модуля - DataUWB(); - float locationX; //координата аппарата по оси X - float locationY; //координата аппарата по оси Y - float distanceToBeacon[4]; //расстоние до i-го маяка - float distanceToAgent[10]; //расстояние до i-го агента +struct GPS_coordinate +{ + QTime time; // UTC Время обсервации + double latitude; // Широта + char latHemisphere; // Полушарие (N/S) + double longitude; // Долгота + char lonHemisphere; // Полушарие (E/W) + int quality; // Индикатор качества обсервации + int satellitesUsed; // Количество спутников + double hdop; // Величина горизонтального геометрического фактора (HDOP) + double altitude; // Высота антенны над уровнем моря (геоидом) + char altitudeUnit; // Единица измерения высоты (м) + double geoidHeight; // Превышение геоида над эллипсоидом WGS84 + char geoidUnit; // Единица измерения превышения геоида (м) + double dgpsAge = 0; // Возраст дифференциальной поправки + int dgpsStationId = 0; // Идентификатор ККС }; +struct Diagnostic { + quint16 voltage_bat; + quint16 voltage_5v; + quint16 voltage_12v; + quint16 voltage_4; + quint16 current_1; + quint16 current_2; + quint16 current_3; + quint16 current_4; + quint8 PMW1; + quint8 PMW2; + quint8 PMW3; + quint8 PMW4; +}; + + +/*! + * \brief ToPult class структура данных, принимаемых на пульте. + */ struct ToPult { ToPult(int auvID=0) @@ -135,38 +252,53 @@ struct ToPult header.msgSize = sizeof (ToPult); } Header header; - AUVCurrentData auvData;// данные о текущих параметрах - DataAH127C dataAH127C;// данные с БСО - DataPressure dataPressure; //данные с датчика давления - DataUWB dataUWB;//данные с UWB - FlagAH127C_bort flagAH127C_bort; + AUVCurrentData auvData; //! Данные о текущих параметрах + DataAH127C dataAH127C; //! Данные с БСО + FlagAH127C_bort flagAH127C_bort; //! Флаги для настрой + DataGANS dataGANS; + GPS_angular angularGPS; + GPS_coordinate coordinateGPS; + Diagnostic diagnostics; + mission_List missionList = mission_List::NO_MISSION; //выбор миссии + mission_Status missionStatus = mission_Status::MODE_IDLE; //состояние выполнения миссии + quint8 first_point_complete; //флаг прохождения точки для движения галсами uint checksum; }; -//структура данных, которая передается из пульта в АНПА +/*! + * \brief FromPult class структура данных, передаваемая из пульта на агент. + */ struct FromPult { - ControlData controlData; //данные, которые идут с пульта при замыканиии контуров - e_CSMode cSMode; //режим работы - ControlContoursFlags controlContoursFlags; //флаги замыкания контуров (если больше 0, то замкнуты - quint8 modeAUV_selection;//текущий выбор модель/реальный НПА - power_Mode pMode; //режим работы системы питания, структура с желаемыми параметрами системы питания + ControlData controlData; //! Данные, которые идут с пульта при замыканиии контуров + e_CSMode cSMode; //! Режим работы + ControlContoursFlags controlContoursFlags; //! Флаги замыкания контуров (1 - замкнуты) + quint8 modeAUV_selection; //! Текущий выбор модель/реальный НПА + power_Mode pMode; //! Режим работы системы питания FlagAH127C_pult flagAH127C_pult; + CoordinatePoint reper; //координаты выставленного на карте репера + mission_List mission = mission_List::NO_MISSION; //выбор миссии + MissionParam mission_param; //параметры для задания миссии + mission_Control missionControl = mission_Control::MODE_IDLE; //команды запуска миссии uint checksum; }; #pragma pack (pop) +/*! + * \brief UVState class класс всех возможных состояний при работе с ПА. + */ class UVState : public QObject { Q_OBJECT public: UVState(); -// ~UV_State(); Header header; DataAH127C imuData; - DataPressure dataPressure; - DataUWB dataUWB; + DataGANS dataGANS; + GPS_angular angularGPS; + GPS_coordinate coordinateGPS; + Diagnostic diagnostics; AUVCurrentData auvData; @@ -178,6 +310,19 @@ class UVState : public QObject ControlContoursFlags controlContoursFlags; ControlData control; power_Mode pMode; + + mission_List missionListToPult; + mission_List missionListFromPult; + mission_Status missionStatus; + quint8 first_point_complete; + CoordinatePoint reper; + MissionParam mission_param; + mission_Control missionControl; + + + int checksum_msg_gui_send; + int checksum_msg_agent_send; + int checksum_msg_gui_received; }; #endif // UVSTATE_H diff --git a/videowidget/videowidget.cpp b/videowidget/videowidget.cpp new file mode 100644 index 0000000..61f7248 --- /dev/null +++ b/videowidget/videowidget.cpp @@ -0,0 +1,143 @@ +#include "videowidget.h" +#include "ui_videowidget.h" + +#include +#include +#include #include +#include + + +Videowidget::Videowidget(QWidget *parent) + : QWidget(parent), + ui(new Ui::Videowidget), + pipeline(nullptr), + pendingStart(false) +{ + ui->setupUi(this); + + gst_init(nullptr, nullptr); + + qDebug() << "Platform:" << QGuiApplication::platformName(); + + connect(ui->pushButton_Play_Pause, &QPushButton::clicked, + this, &Videowidget::togglePipeline); + + // появление winId + ui->videoWidget->installEventFilter(this); + + ui->pushButton_Play_Pause->setText("Начать прием"); +} + +Videowidget::~Videowidget() +{ + if (pipeline) { + gst_element_set_state(pipeline, GST_STATE_NULL); + gst_object_unref(pipeline); + pipeline = nullptr; + } + delete ui; +} + +bool Videowidget::eventFilter(QObject *watched, QEvent *event) +{ + if (watched == ui->videoWidget) { + // QEvent::WinIdChange сработает, когда Qt создаст/изменит winId + if (event->type() == QEvent::WinIdChange) { + qDebug() << "videoWidget WinIdChange event, winId() =" << ui->videoWidget->winId(); + if (pendingStart) { + // как только winId появился — запускаем пайплайн + pendingStart = false; + startPipelineNow(); + } + } + // также можно ловить Show если нужно: + if (event->type() == QEvent::Show) { + qDebug() << "videoWidget Show event, winId() =" << ui->videoWidget->winId(); + if (pendingStart) { + pendingStart = false; + startPipelineNow(); + } + } + } + return QWidget::eventFilter(watched, event); +} + +void Videowidget::togglePipeline() +{ + if (!pipeline) { + // Попробуем принудительно создать winId и windowHandle + ui->videoWidget->createWinId(); // запрос на создание native window + QWindow *w = ui->videoWidget->windowHandle(); + if (!w) { + // окна ещё нет — пометим и дождёмся события WinIdChange (eventFilter) + qDebug() << "No windowHandle yet — deferring pipeline start"; + pendingStart = true; + return; + } + + // если windowHandle уже есть — запускаем здесь + startPipelineNow(); + } else { + // Останов пайплайна + qDebug() << "Stopping pipeline..."; + gst_element_set_state(pipeline, GST_STATE_NULL); + gst_object_unref(pipeline); + pipeline = nullptr; + ui->pushButton_Play_Pause->setText("Начать прием"); + } +} + +void Videowidget::startPipelineNow() +{ + // Здесь гарантированно есть windowHandle / winId + QWindow *window = ui->videoWidget->windowHandle(); + if (!window) { + qWarning() << "startPipelineNow: still no windowHandle!"; + return; + } + + WId wid = window->winId(); + qDebug() << "startPipelineNow: using window id =" << wid; + + // Отправка (ssh) — если нужно + QString command = + "ssh -X agent1@192.168.1.11 " + "\"gst-launch-1.0 v4l2src device=/dev/video0 ! " + "image/jpeg,framerate=30/1 ! " + "jpegparse ! rtpjpegpay ! udpsink host=192.168.1.111 port=5000\""; + + QProcess *sshProcess = new QProcess(this); + sshProcess->start(command); + + // Создаём пайплайн + const char *pipeline_str = + "udpsrc port=5000 ! application/x-rtp,encoding-name=JPEG,payload=96 ! " + "rtpjpegdepay ! jpegdec ! videoconvert ! xvimagesink name=sink"; + + GError *error = nullptr; + pipeline = gst_parse_launch(pipeline_str, &error); + if (error) { + qWarning() << "Failed to create pipeline:" << error->message; + g_error_free(error); + pipeline = nullptr; + return; + } + + GstElement *sink = gst_bin_get_by_name(GST_BIN(pipeline), "sink"); + if (!sink) { + qWarning() << "Could not find sink element"; + gst_object_unref(pipeline); + pipeline = nullptr; + return; + } + + if (GST_IS_VIDEO_OVERLAY(sink)) { + gst_video_overlay_set_window_handle(GST_VIDEO_OVERLAY(sink), (guintptr)wid); + } else { + qWarning() << "Sink is not video overlay capable!"; + } + gst_object_unref(sink); + + gst_element_set_state(pipeline, GST_STATE_PLAYING); + ui->pushButton_Play_Pause->setText("Остановить прием"); +} diff --git a/videowidget/videowidget.h b/videowidget/videowidget.h new file mode 100644 index 0000000..7a3ed7e --- /dev/null +++ b/videowidget/videowidget.h @@ -0,0 +1,38 @@ +#ifndef VIDEOWIDGET_H +#define VIDEOWIDGET_H + +#include +#include +#include +#include +#include +#include +#include + +QT_BEGIN_NAMESPACE +namespace Ui { class Videowidget; } +QT_END_NAMESPACE + +class Videowidget : public QWidget +{ + Q_OBJECT + +public: + explicit Videowidget(QWidget *parent = nullptr); + ~Videowidget(); + +private slots: + void togglePipeline(); + +protected: + bool eventFilter(QObject *watched, QEvent *event) override; + +private: + void startPipelineNow(); // реальное создание/запуск пайплайна + + Ui::Videowidget *ui; + GstElement *pipeline; + bool pendingStart; // ждем winId +}; + +#endif // VIDEOWIDGET_H diff --git a/videowidget/videowidget.ui b/videowidget/videowidget.ui new file mode 100644 index 0000000..3e9fb73 --- /dev/null +++ b/videowidget/videowidget.ui @@ -0,0 +1,42 @@ + + + Videowidget + + + + 0 + 0 + 948 + 596 + + + + Form + + + + + 30 + 20 + 701 + 561 + + + + + + + 740 + 20 + 201 + 571 + + + + PushButton + + + + + +