debugwindow.cpp

#include "debugwindow.h"
#include "ui_debugwindow.h"

/*#include "strategieV2.h"
#include "table.h"*/

#include <QDebug>

DebugWindow* DebugWindow::_instance = NULL;

DebugWindow* DebugWindow::getInstance()
{
    if (_instance == NULL)
        _instance = new DebugWindow();
    return _instance;
}

DebugWindow::DebugWindow() :
    QMainWindow(), parent(NULL), attached(true), ready(false), ui(new Ui::DebugWindow)
#ifdef USE_PLOT
  , plotWidget(0)
#endif
{
    ui->setupUi(this);

    this->setWindowTitle("Krabi Debug");
    setGeometry(0, 0, 240, 600);

/*
    connect(ui->actionRemove_objects, SIGNAL(triggered()), Table::getMainInstance(), SLOT(removeAllObjects()));
    connect(ui->actionReset_objects, SIGNAL(triggered()), Table::getMainInstance(), SLOT(createObjects()));
    connect(ui->actionHide_table, SIGNAL(toggled(bool)), Table::getMainInstance(), SLOT(hideTable(bool)));
    connect(ui->actionDisplay_route, SIGNAL(toggled(bool)), Table::getMainInstance(), SLOT(displayRoute(bool)));
    connect(ui->actionDisplay_strategy, SIGNAL(toggled(bool)), Table::getMainInstance(), SLOT(displayStrategy(bool)));
    connect(ui->actionRemote_Mod, SIGNAL(toggled(bool)), Table::getMainInstance(), SLOT(setRemoteMod(bool))); */

    connect(ui->actionBluetooth, SIGNAL(toggled(bool)), this, SLOT(displayBluetoothWindow(bool)));
    connect(ui->actionBluetooth_Interface, SIGNAL(toggled(bool)), this, SLOT(displayBluetoothInterface(bool)));
    connect(ui->actionOdometrie, SIGNAL(toggled(bool)), this, SLOT(displayOdometrieWindow(bool)));
    connect(ui->actionAsserv_Window, SIGNAL(toggled(bool)), this, SLOT(displayAsservWindow(bool)));
    connect(ui->actionSharps, SIGNAL(toggled(bool)), this, SLOT(displaySharpWindow(bool)));
    connect(ui->actionWatches, SIGNAL(toggled(bool)), this, SLOT(displayWatchWindow(bool)));

    connect(ui->actionSimulateur, SIGNAL(triggered(bool)), this, SLOT(perspectiveSimulateur()));
    connect(ui->actionAsservissement, SIGNAL(triggered(bool)), this, SLOT(perspectiveAsserv()));
    connect(ui->actionOdom_trie, SIGNAL(triggered(bool)), this, SLOT(perspectiveOdometrie()));

    _instance = this;

   /* bluetoothWindow = new BluetoothWindow();
    bluetoothInterface = new BluetoothInterface();*/
    odometrieWindow = new OdometrieWindow();
    asservWindow = new AsservWindow();
    //sharpWindow = new SharpWindow();
    watchWindow = new WatchWindow();

    ui->statusbar->insertWidget(0, statusLabel = new QLabel("..."));
    ui->statusbar->insertWidget(1, statusButton = new QPushButton("On"));

    QPushButton* bt = new QPushButton("Clear Plots");
    ui->statusbar->insertWidget(2, bt);
    connect(bt, SIGNAL(clicked(bool)), this, SLOT(clearPlots()));

    statusButton->setFixedWidth(32);
    //connect(statusButton, SIGNAL(pressed()), bluetoothWindow, SLOT(bluetoothToggle()));

    update();
}

void DebugWindow::setParent(MainWindow* parent)
{
    this->parent = parent;
}

void DebugWindow::hideWindows()
{
    asservWindow->hide();
    odometrieWindow->hide();
    /*bluetoothWindow->hide();
    bluetoothInterface->hide();*/
    //sharpWindow->hide();
    watchWindow->hide();
}

void DebugWindow::clearPlots()
{
#ifdef USE_PLOT
    for(QMap<int, PlotCurve*>::iterator it = plotCurves.begin(); it != plotCurves.end(); ++it)
    {
        it.value()->curve->detach();
        delete it.value()->curve;
    }
    plotCurves.clear();
#endif
}

void DebugWindow::perspectiveAsserv()
{
    hideWindows();
    asservWindow->move(mapToGlobal(QPoint(width() + 16, 0)));
    asservWindow->show();

    /*Table::getMainInstance()->displayRoute(true);
    Table::getMainInstance()->displayStrategy(false);
    Table::getMainInstance()->hideTable(true);

    Table::getMainInstance()->removeAllObjects();

    Table::getMainInstance()->clearRoute();*/
}

void DebugWindow::perspectiveOdometrie()
{
    hideWindows();
    odometrieWindow->move(mapToGlobal(QPoint(width() + 16, 0)));
    odometrieWindow->show();

    /*Table::getMainInstance()->displayRoute(true);
    Table::getMainInstance()->displayStrategy(false);
    Table::getMainInstance()->hideTable(true);

    Table::getMainInstance()->removeAllObjects();

    Table::getMainInstance()->clearRoute();*/
}

void DebugWindow::perspectiveSimulateur()
{
    hideWindows();

    /*Table::getMainInstance()->displayRoute(false);
    Table::getMainInstance()->displayStrategy(true);
    Table::getMainInstance()->hideTable(false);

    Table::getMainInstance()->createObjects();

    Table::getMainInstance()->clearRoute();*/
}

void DebugWindow::update()
{
#ifdef BLUETOOTH
  /*  if (bluetoothWindow->isConnecting())
    {
        statusLabel->setText("Bluetooth connecting...");
        statusButton->setText("X");
    }
    else if (bluetoothWindow->isConnected())
    {
        statusLabel->setText("Bluetooth connected");
        statusButton->setText("Off");
    }
    else
    {
        statusLabel->setText("No connection");
        statusButton->setText("On");
    }*/
#else
    statusLabel->setText("Bluetooth not implemented in Qt4");
    statusButton->hide();
#endif
}

bool DebugWindow::isAttached()
{
    return attached;
}

void DebugWindow::setReady(bool ready)
{
    this->ready = ready;
}

void DebugWindow::moveEvent(QMoveEvent*)
{
    if (ready)
        attached = false;
}

void DebugWindow::moveWithoutEvent(QPoint pos)
{
    bool currentReady = ready;
    ready = false;

    move(pos);

    ready = currentReady;
}

void DebugWindow::setText(QString text)
{
    ui->infoField->setText(text);
}

void DebugWindow::displayBluetoothWindow(bool)
{
    //toggleWindow(bluetoothWindow, ui->actionBluetooth);
}

void DebugWindow::displayBluetoothInterface(bool)
{
    //toggleWindow(bluetoothInterface, ui->actionBluetooth_Interface);
}

void DebugWindow::displayOdometrieWindow(bool)
{
    toggleWindow(odometrieWindow, ui->actionOdometrie);
}

void DebugWindow::displayAsservWindow(bool)
{
    toggleWindow(asservWindow, ui->actionAsserv_Window);
}

void DebugWindow::displaySharpWindow(bool)
{
    //toggleWindow(sharpWindow, ui->actionSharps);
}

void DebugWindow::displayWatchWindow(bool)
{
    toggleWindow(watchWindow, ui->actionWatches);
}

void DebugWindow::toggleWindow(QWidget* window, QAction* action)
{
    if (window->isHidden())
    {
        if (action != NULL)
            action->setChecked(true);
        window->show();

        window->move(mapToGlobal(QPoint(width() + 16, 0)));
    }
    else
    {
        if (action != NULL)
            action->setChecked(false);
        window->hide();
    }
}

void DebugWindow::closeEvent(QCloseEvent*)
{
    /*bluetoothWindow->close();
    bluetoothInterface->close();*/
    odometrieWindow->close();
    asservWindow->close();
    //sharpWindow->close();
    watchWindow->close();
}
/*
BluetoothWindow* DebugWindow::getBluetoothWindow()
{
    return 0;//bluetoothWindow;
}

BluetoothInterface* DebugWindow::getBluetoothInterface()
{
    return bluetoothInterface;
}*/

OdometrieWindow* DebugWindow::getOdometrieWindow()
{
    return odometrieWindow;
}

AsservWindow* DebugWindow::getAsservWindow()
{
    return asservWindow;
}
/*
SharpWindow* DebugWindow::getSharpWindow()
{
    return sharpWindow;
}
*/
WatchWindow* DebugWindow::getWatchWindow()
{
    return watchWindow;
}

void DebugWindow::plot(int /*index*/, QString /*title*/, float /*data*/, int /*timeTick*/)
{
#ifdef USE_PLOT
    if (plotWidget == NULL)
    {
        plotWidget = new QwtPlot();
        plotWidget->show();

        ui->centralwidget->layout()->addWidget(plotWidget);
        //plotWidget->setTitle("<font color='#444'>title</font>");
        plotWidget->setCanvasBackground(QColor(Qt::white));

        QwtLegend *legend = new QwtLegend;
        legend->setFrameStyle(QFrame::Box);
        plotWidget->insertLegend(legend, QwtPlot::BottomLegend);

        plotWidget->setAxisTitle(QwtPlot::xBottom, "<font color='#000'>t (s)</font>");
        //plotWidget->setAxisTitle(QwtPlot::yLeft, "<font color='#000'>v</font>");

        plotWidget->setAxisAutoScale(QwtPlot::xBottom, true);
        plotWidget->setAxisAutoScale(QwtPlot::yLeft, true);
    }

    QColor color[9] = {Qt::red, Qt::green, Qt::blue, Qt::magenta, Qt::gray, Qt::yellow, Qt::cyan, Qt::darkYellow, Qt::magenta};

    if (!plotCurves.contains(index))
    {
        plotCurves[index] = new PlotCurve(new QwtPlotCurve(title));
        plotCurves[index]->curve->attach(plotWidget);
        plotCurves[index]->curve->setPen(QPen( color[index % 9] ));
    }

    bool draw = true;
    /*if (data < 0.05f)
    {
        if (plotCurves[index]->nonSignificant)
            draw = false;
        plotCurves[index]->nonSignificant = true;
    }
    else
    {
        if (plotCurves[index]->nonSignificant)
            plotCurves[index]->add(timeTick >= 0 ? (float)timeTick * 0.05f : Table::getMainInstance()->getCurrentTime() - 0.005, 0.f);
        plotCurves[index]->nonSignificant = false;
    }*/

    if (draw)
    {
        plotCurves[index]->add(Table::getMainInstance()->getCurrentTime(), data);
        plotCurves[index]->plot();
    }



    plotWidget->replot();
    plotWidget->update();
#endif
}

#ifdef USE_PLOT
void PlotCurve::plot()
{
    curve->setData(new QwtPointArrayData(&x[0],&y[0],(size_t)x.size()));
}

void PlotCurve::add(double x, double y)
{
    this->x.push_back(x);
    this->y.push_back(y);
}

#endif