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#include "magiks.h"
#ifdef BLUETOOTH_USING_WINSOCK
#include "bluetoothproxy/bluetoothproxywinsock.h"
#else
#include "bluetoothproxy/bluetoothproxyqt5.h"
#endif
#include <QTabWidget>
#include <QVBoxLayout>
#include <QDebug>
#include "subwindows/bluetoothmanagementwidget.h"
#include "subwindows/odometrywindow.h"
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#include "subwindows/asservwindow.h"
#include "subwindows/watchwindow.h"
#include "subwindows/loggerwidget.h"
#include "subwindows/plotwidget.h"
#include "subwindows/tablewidget.h"
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#include "packetprocessor.h"
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Magiks::Magiks(QWidget *parent): QWidget(parent)
{
setWindowTitle(tr("Magiks - Robot remote"));
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#ifdef BLUETOOTH_USING_WINSOCK
m_bluetoothProxy = new BluetoothProxyWinsock(this);
#else
m_bluetoothProxy = new BluetoothProxyQt5(this);
#endif
m_bluetoothManagement = new BluetoothManagementWidget(m_bluetoothProxy);
m_odometry = new OdometryWindow(m_bluetoothProxy);
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m_asserv = new AsservWindow(m_bluetoothProxy);
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m_logger = new LoggerWidget();
m_plots = new PlotWidget();
m_table = new TableWidget(m_bluetoothProxy);
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m_packetProcessor = new PacketProcessor(this);
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connect(m_packetProcessor, &PacketProcessor::odometrySettingsReceived, m_odometry, &OdometryWindow::settingsReceived);
connect(m_packetProcessor, &PacketProcessor::linearPIDSettingsReceived, m_asserv, &AsservWindow::settingsReceivedLinear);
connect(m_packetProcessor, &PacketProcessor::angularPIDSettingsReceived, m_asserv, &AsservWindow::settingsReceivedAngular);
connect(m_packetProcessor, &PacketProcessor::logReceived, m_logger, &LoggerWidget::log);
connect(m_packetProcessor, &PacketProcessor::watchesSyncFinished, m_watches, &WatchWindow::syncFinished);
connect(m_packetProcessor, &PacketProcessor::plotDataReceived, m_plots, &PlotWidget::addDataToPlot);
connect(m_packetProcessor, &PacketProcessor::robotPositionReceived, m_table, &TableWidget::setRobotPosition);
connect(m_packetProcessor, &PacketProcessor::robotAngleReceived, m_table, &TableWidget::setRobotAngle);
connect(m_packetProcessor, &PacketProcessor::robotPositionReceived, m_odometry, &OdometryWindow::setCurrentRobotPosition);
connect(m_packetProcessor, &PacketProcessor::robotAngleReceived, m_odometry, &OdometryWindow::setCurrentRobotAngle);
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connect(m_bluetoothProxy, &BluetoothProxy::connected, this, &Magiks::connected);
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connect(m_bluetoothProxy, &BluetoothProxy::dataReceived, m_packetProcessor, &PacketProcessor::processData);
connect(m_odometry, &OdometryWindow::reseted, m_plots, &PlotWidget::clear);
connect(m_packetProcessor, &PacketProcessor::reseted, m_plots, &PlotWidget::clear);
connect(m_bluetoothProxy, &BluetoothProxy::disconnected, m_plots, &PlotWidget::clear);
m_remoteControlTab = new QTabWidget();
m_remoteControlTab->addTab(m_table, tr("Absolu"));
m_robotSettingsTab = new QTabWidget();
m_robotSettingsTab->addTab(m_odometry, tr("Odometrie"));
m_robotSettingsTab->addTab(m_asserv, tr("Asservissement"));
m_robotSettingsTab->addTab(m_watches, tr("Watches"));
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m_tabs = new QTabWidget(this);
m_tabs->addTab(m_bluetoothManagement, tr("Bluetooth"));
m_tabs->addTab(m_robotSettingsTab, tr("Réglages"));
m_tabs->addTab(m_remoteControlTab, tr("Déplacements"));
m_tabs->addTab(m_plots, tr("Graphes"));
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m_tabs->addTab(m_logger, tr("Logs"));
QVBoxLayout* layout = new QVBoxLayout(this);
layout->addWidget(m_tabs);
BluetoothTestServer* server = new BluetoothTestServer(this);