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#include "magiks.h"
#ifdef BLUETOOTH_USING_WINSOCK
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#else
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#endif
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#include <QTabWidget>
#include <QVBoxLayout>
#include "subwindows/bluetoothmanagementwidget.h"
#ifdef SERIAL_ENABLED
#include "subwindows/serialportmanagementwidget.h"
#endif
#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"
#include "subwindows/remotewidget.h"
#include "subwindows/movementsettingswidget.h"
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#include "packetprocessor.h"
#include <QMessageBox>
#include <QDebug>
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Magiks::Magiks(QWidget *parent): QWidget(parent)
{
setWindowTitle(tr("Magiks - Robot remote"));
bool bluetoothMode = (QMessageBox::question(this, tr("Mode"), tr("Do you want to use Majiks in Bluetooth mode?"))
== QMessageBox::Yes);
if(bluetoothMode)
{
#ifdef BLUETOOTH_USING_WINSOCK
m_serialProxy = new BluetoothProxyWinsock(this);
#else
m_serialProxy = new BluetoothProxyQt5(this);
#endif
}
else
{
m_serialProxy = new SerialProxy(9600, this);
m_serialManagement = new BluetoothManagementWidget(bluetoothMode?static_cast<BluetoothProxy*>(m_serialProxy):nullptr);
else
m_serialManagement = new SerialPortManagementWidget(bluetoothMode?nullptr:static_cast<SerialProxy*>(m_serialProxy));
m_odometry = new OdometryWindow(m_serialProxy);
m_asserv = new AsservWindow(m_serialProxy);
m_watches = new WatchWindow(m_serialProxy);
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m_logger = new LoggerWidget();
m_plots = new PlotWidget();
m_table = new TableWidget(m_serialProxy);
m_remote = new RemoteWidget(m_serialProxy);
m_remoteSettings = new MovementSettingsWidget();
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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::robotPositionReceived, m_odometry, &OdometryWindow::setCurrentRobotPosition);
connect(m_packetProcessor, &PacketProcessor::robotAngleReceived, m_odometry, &OdometryWindow::setCurrentRobotAngle);
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::reseted, m_plots, &PlotWidget::clear);
connect(m_packetProcessor, &PacketProcessor::robotPositionReceived, m_table, &TableWidget::setRobotPosition);
connect(m_packetProcessor, &PacketProcessor::robotAngleReceived, m_table, &TableWidget::setRobotAngle);
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connect(m_serialProxy, &AbstractSerialProxy::connected, this, [&]() { m_logger->log("Connected"); } );
connect(m_serialProxy, &AbstractSerialProxy::disconnected, this, [&]() { m_logger->log("Disconnected"); });
connect(m_serialProxy, &AbstractSerialProxy::dataReceived, m_packetProcessor, &PacketProcessor::processData);
connect(m_serialProxy, &AbstractSerialProxy::disconnected, m_plots, &PlotWidget::clear);
connect(m_odometry, &OdometryWindow::reseted, m_plots, &PlotWidget::clear);
connect(m_remoteSettings, &MovementSettingsWidget::stepsUpdated, m_remote, &RemoteWidget::setSteps);
connect(m_remoteSettings, &MovementSettingsWidget::tableOrientationChanged, m_table, &TableWidget::setTableOrientation);
m_remoteControlTab = new QTabWidget();
m_remoteControlTab->addTab(m_table, tr("Absolute"));
m_remoteControlTab->addTab(m_remote, tr("Relative"));
m_remoteControlTab->addTab(m_remoteSettings,tr("Settings"));
m_robotSettingsTab = new QTabWidget();
m_robotSettingsTab->addTab(m_odometry, tr("Odometry"));
m_robotSettingsTab->addTab(m_asserv, tr("Control"));
m_robotSettingsTab->addTab(m_watches, tr("Watches"));
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m_tabs = new QTabWidget(this);
m_tabs->addTab(m_serialManagement, tr("Connection"));
m_tabs->addTab(m_robotSettingsTab, tr("Robot settings"));
m_tabs->addTab(m_remoteControlTab, tr("Movements"));
m_tabs->addTab(m_plots, tr("Graphs"));
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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);