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formgps_ui.cpp
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#include <QQuickView>
#include <QQuickWidget>
#include <QQmlContext>
#include <QScreen>
#include "formgps.h"
#include "qmlutil.h"
#include <QTimer>
#include "cvehicle.h"
#include "ccontour.h"
#include "cabline.h"
#include "aogproperty.h"
#include <QGuiApplication>
#include <QQmlEngine>
#include <functional>
#include <assert.h>
#include "aogrenderer.h"
#include "qmlsettings.h"
#include "qmlsectionbuttons.h"
#include "interfaceproperty.h"
#include "cboundarylist.h"
#include <cmath>
#include <cstring>
QString caseInsensitiveFilename(QString directory, QString filename);
extern QMLSettings qml_settings;
void FormGPS::setupGui()
{
/* Load the QML UI and display it in the main area of the GUI */
setProperty("title","QtAgOpenGPS");
connect(this, SIGNAL(objectCreated(QObject*,QUrl)),
this, SLOT(on_qml_created(QObject*,QUrl)), Qt::QueuedConnection);
//tell the QML what OS we are using
#ifdef __ANDROID__
rootContext()->setContextProperty("OS", "ANDROID");
#elif defined(__WIN32)
rootContext()->setContextProperty("OS", "WINDOWS");
#else
rootContext()->setContextProperty("OS", "LINUX");
#endif
//Load the QML into a view
rootContext()->setContextProperty("screenPixelDensity",QGuiApplication::primaryScreen()->physicalDotsPerInch() * QGuiApplication::primaryScreen()->devicePixelRatio());
rootContext()->setContextProperty("mainForm", this);
rootContext()->setContextProperty("settings", &qml_settings);
//populate vehicle_list property in vehicleInterface
vehicle_update_list();
rootContext()->setContextProperty("vehicleInterface", &vehicle);
rootContext()->setContextProperty("trk", &trk);
rootContext()->setContextProperty("tram", &tram);
qmlRegisterSingletonInstance("Interfaces", 1, 0, "TracksInterface", &trk);
qmlRegisterSingletonInstance("Interfaces", 1, 0, "VehicleInterface", &vehicle);
#ifdef LOCAL_QML
// Look for QML files relative to our current directory
QStringList search_pathes = { "..",
"../../",
"../qtaog",
"../QtAgOpenGPS",
"."
};
qWarning() << "Looking for QML.";
for(QString search_path : search_pathes) {
//look relative to current working directory
QDir d = QDir(QDir::currentPath() + "/" + search_path + "/qml/");
if (d.exists("AOGInterface.qml")) {
QDir::addSearchPath("local",QDir::currentPath() + "/" + search_path);
qWarning() << "QML path is " << search_path;
break;
}
//look relative to the executable's directory
d = QDir(QCoreApplication::applicationDirPath() + "/" + search_path + "/qml/");
if (d.exists("AOGInterface.qml")) {
QDir::addSearchPath("local",QCoreApplication::applicationDirPath() + "/" + search_path);
qWarning() << "QML path is " << search_path;
break;
}
}
QObject::connect(this, &QQmlApplicationEngine::warnings, [=] (const QList<QQmlError> &warnings) {
foreach (const QQmlError &error, warnings) {
qWarning() << "warning: " << error.toString();
}
});
rootContext()->setContextProperty("prefix","local:");
load("local:/qml/MainWindow.qml");
#else
rootContext()->setContextProperty("prefix","");
load(QUrl("qrc:/qml/MainWindow.qml"));
#endif
}
void FormGPS::on_qml_created(QObject *object, const QUrl &url)
{
qDebug() << "object is now created. " << url.toString();
//get pointer to root QML object, which is the OpenGLControl,
//store in a member variable for future use.
QList<QObject*> root_context = rootObjects();
if (root_context.length() == 0) {
qWarning() << "MainWindow.qml did not load. Aborting.";
assert(root_context.length() > 0);
}
mainWindow = root_context.first();
mainWindow->setProperty("visible",true);
//have to do this for each Interface and supported data type.
InterfaceProperty<AOGInterface, int>::set_qml_root(qmlItem(mainWindow, "aog"));
InterfaceProperty<AOGInterface, uint>::set_qml_root(qmlItem(mainWindow, "aog"));
InterfaceProperty<AOGInterface, bool>::set_qml_root(qmlItem(mainWindow, "aog"));
InterfaceProperty<AOGInterface, double>::set_qml_root(qmlItem(mainWindow, "aog"));
InterfaceProperty<AOGInterface, btnStates>::set_qml_root(qmlItem(mainWindow, "aog"));
InterfaceProperty<FieldInterface, int>::set_qml_root(qmlItem(mainWindow, "fieldInterface"));
InterfaceProperty<FieldInterface, uint>::set_qml_root(qmlItem(mainWindow, "fieldInterface"));
InterfaceProperty<FieldInterface, bool>::set_qml_root(qmlItem(mainWindow, "fieldInterface"));
InterfaceProperty<FieldInterface, double>::set_qml_root(qmlItem(mainWindow, "fieldInterface"));
InterfaceProperty<FieldInterface, btnStates>::set_qml_root(qmlItem(mainWindow, "fieldInterface"));
InterfaceProperty<BoundaryInterface, int>::set_qml_root(qmlItem(mainWindow, "boundaryInterface"));
InterfaceProperty<BoundaryInterface, uint>::set_qml_root(qmlItem(mainWindow, "boundaryInterface"));
InterfaceProperty<BoundaryInterface, bool>::set_qml_root(qmlItem(mainWindow, "boundaryInterface"));
InterfaceProperty<BoundaryInterface, double>::set_qml_root(qmlItem(mainWindow, "boundaryInterface"));
InterfaceProperty<BoundaryInterface, btnStates>::set_qml_root(qmlItem(mainWindow, "boundaryInterface"));
InterfaceProperty<RecordedPathInterface, int>::set_qml_root(qmlItem(mainWindow, "recordedPathInterface"));
InterfaceProperty<RecordedPathInterface, uint>::set_qml_root(qmlItem(mainWindow, "recordedPathInterface"));
InterfaceProperty<RecordedPathInterface, bool>::set_qml_root(qmlItem(mainWindow, "recordedPathInterface"));
InterfaceProperty<RecordedPathInterface, double>::set_qml_root(qmlItem(mainWindow, "recordedPathInterface"));
InterfaceProperty<RecordedPathInterface, btnStates>::set_qml_root(qmlItem(mainWindow, "recordedPathInterface"));
QMLSectionButtons::set_aog_root(qmlItem(mainWindow, "aog"));
qmlblockage::set_aog_root(qmlItem(mainWindow, "aog"));
//initialize interface properties
isBtnAutoSteerOn = false;
sentenceCounter = 0;
manualBtnState = btnStates::Off;
autoBtnState = btnStates::Off;
isPatchesChangingColor = false;
isOutOfBounds = false;
//hook up our AOGInterface properties
QObject *aog = qmlItem(mainWindow, "aog");
//QObject *vehicleInterface = qmlItem(mainWindow, "vehicleInterface");
QObject *fieldInterface = qmlItem(mainWindow, "fieldInterface");
QObject *boundaryInterface = qmlItem(mainWindow, "boundaryInterface");
//react to UI changing this property
connect(aog,SIGNAL(sectionButtonStateChanged()), &tool.sectionButtonState, SLOT(onStatesUpdated()));
connect(aog,SIGNAL(rowCountChanged()), &tool.blockageRowState, SLOT(onRowsUpdated())); //Dim
openGLControl = mainWindow->findChild<AOGRendererInSG *>("openglcontrol");
//This is a bit hackish, but all rendering is done in this item, so
//we have to give it a way of calling our initialize and draw functions
openGLControl->setProperty("callbackObject",QVariant::fromValue((void *) this));
openGLControl->setProperty("initCallback",QVariant::fromValue<std::function<void (void)>>(std::bind(&FormGPS::openGLControl_Initialized, this)));
openGLControl->setProperty("paintCallback",QVariant::fromValue<std::function<void (void)>>(std::bind(&FormGPS::oglMain_Paint,this)));
openGLControl->setProperty("samples",settings->value("display/antiAliasSamples", 0));
openGLControl->setMirrorVertically(true);
connect(openGLControl,SIGNAL(clicked(QVariant)),this,SLOT(onGLControl_clicked(QVariant)));
connect(openGLControl,SIGNAL(dragged(int,int,int,int)),this,SLOT(onGLControl_dragged(int,int,int,int)));
connect(aog,SIGNAL(sectionButtonStateChanged()), &tool.sectionButtonState, SLOT(onStatesUpdated()));
//on screen buttons
connect(aog,SIGNAL(zoomIn()), this, SLOT(onBtnZoomIn_clicked()));
connect(aog,SIGNAL(zoomOut()), this, SLOT(onBtnZoomOut_clicked()));
connect(aog,SIGNAL(tiltDown()), this, SLOT(onBtnTiltDown_clicked()));
connect(aog,SIGNAL(tiltUp()), this, SLOT(onBtnTiltUp_clicked()));
connect(aog,SIGNAL(btn2D()), this, SLOT(onBtn2D_clicked()));
connect(aog,SIGNAL(btn3D()), this, SLOT(onBtn3D_clicked()));
connect(aog,SIGNAL(n2D()), this, SLOT(onBtnN2D_clicked()));
connect(aog,SIGNAL(n3D()), this, SLOT(onBtnN3D_clicked()));
connect(aog, SIGNAL(isHydLiftOn()), this, SLOT(onBtnHydLift_clicked()));
connect(aog, SIGNAL(btnResetTool()), this, SLOT(onBtnResetTool_clicked()));
connect(aog, SIGNAL(btnHeadland()), this, SLOT(onBtnHeadland_clicked()));
connect(aog, SIGNAL(btnContour()), this, SLOT(onBtnContour_clicked()));
connect(aog, SIGNAL(btnContourLock()), this, SLOT(onBtnContourLock_clicked()));
connect(aog, SIGNAL(btnContourPriority(bool)), this, SLOT(onBtnContourPriority_clicked(bool)));
connect(aog, SIGNAL(btnResetSim()), this, SLOT(onBtnResetSim_clicked()));
connect(aog, SIGNAL(sim_rotate()), this, SLOT(onBtnRotateSim_clicked()));
connect(aog, SIGNAL(reset_direction()), this, SLOT(onBtnResetDirection_clicked()));
connect(aog, SIGNAL(centerOgl()), this, SLOT(onBtnCenterOgl_clicked()));
connect(aog, SIGNAL(deleteAppliedArea()), this, SLOT(onDeleteAppliedArea_clicked()));
//manual youturn buttons
connect(aog,SIGNAL(uturn(bool)), this, SLOT(onBtnManUTurn_clicked(bool)));
connect(aog,SIGNAL(lateral(bool)), this, SLOT(onBtnLateral_clicked(bool)));
connect(aog,SIGNAL(autoYouTurn()), this, SLOT(onBtnAutoYouTurn_clicked()));
connect(aog,SIGNAL(swapAutoYouTurnDirection()), this, SLOT(onBtnSwapAutoYouTurnDirection_clicked()));
connect(mainWindow, SIGNAL(save_everything()), this, SLOT(FileSaveEverythingBeforeClosingField()));
//connect(qml_root,SIGNAL(closing(QQuickCloseEvent *)), this, SLOT(fileSaveEverythingBeforeClosingField(QQuickCloseEvent *)));
//connect settings dialog box
connect(aog,SIGNAL(settings_reload()), this, SLOT(on_settings_reload()));
connect(aog,SIGNAL(settings_save()), this, SLOT(on_settings_save()));
//snap track button
connect(aog,SIGNAL(snapSideways(double)), this, SLOT(onBtnSnapSideways_clicked(double)));
connect(aog,SIGNAL(snapToPivot()), this, SLOT(onBtnSnapToPivot_clicked()));
//vehicle saving and loading
connect(&vehicle,SIGNAL(vehicle_update_list()), this, SLOT(vehicle_update_list()));
connect(&vehicle,SIGNAL(vehicle_load(QString)), this, SLOT(vehicle_load(QString)));
connect(&vehicle,SIGNAL(vehicle_delete(QString)), this, SLOT(vehicle_delete(QString)));
connect(&vehicle,SIGNAL(vehicle_saveas(QString)), this, SLOT(vehicle_saveas(QString)));
//field saving and loading
connect(fieldInterface,SIGNAL(field_update_list()), this, SLOT(field_update_list()));
connect(fieldInterface,SIGNAL(field_close()), this, SLOT(field_close()));
connect(fieldInterface,SIGNAL(field_open(QString)), this, SLOT(field_open(QString)));
connect(fieldInterface,SIGNAL(field_new(QString)), this, SLOT(field_new(QString)));
connect(fieldInterface,SIGNAL(field_new_from(QString,QString,int)), this, SLOT(field_new_from(QString,QString,int)));
connect(fieldInterface,SIGNAL(field_delete(QString)), this, SLOT(field_delete(QString)));
//React to UI changing imuHeading, in order to reset the IMU heading
connect(aog, SIGNAL(changeImuHeading(double)), &ahrs, SLOT(changeImuHeading(double)));
connect(aog, SIGNAL(changeImuRoll(double)), &ahrs, SLOT(changeImuRoll(double)));
//React to UI setting hyd life settings
connect(aog, SIGNAL(modules_send_238()), this, SLOT(modules_send_238()));
connect(aog, SIGNAL(modules_send_251()), this, SLOT(modules_send_251()));
connect(aog, SIGNAL(modules_send_252()), this, SLOT(modules_send_252()));
connect(aog, SIGNAL(doBlockageMonitoring()), this, SLOT(doBlockageMonitoring()));
connect(aog, SIGNAL(sim_bump_speed(bool)), &sim, SLOT(speed_bump(bool)));
connect(aog, SIGNAL(sim_zero_speed()), &sim, SLOT(speed_zero()));
connect(aog, SIGNAL(sim_reset()), &sim, SLOT(reset()));
connect(aog, SIGNAL(btnSteerAngleUp()), this, SLOT(btnSteerAngleUp_clicked()));
connect(aog, SIGNAL(btnSteerAngleDown()), this, SLOT(btnSteerAngleDown_clicked()));
connect(aog, SIGNAL(btnFreeDrive()), this, SLOT(btnFreeDrive_clicked()));
connect(aog, SIGNAL(btnFreeDriveZero()), this, SLOT(btnFreeDriveZero_clicked()));
connect(aog, SIGNAL(btnStartSA()), this, SLOT(btnStartSA_clicked()));
//boundary signals and slots
connect(&yt, SIGNAL(outOfBounds()),boundaryInterface,SLOT(setIsOutOfBoundsTrue()));
connect(boundaryInterface, SIGNAL(calculate_area()), this, SLOT(boundary_calculate_area()));
connect(boundaryInterface, SIGNAL(update_list()), this, SLOT(boundary_update_list()));
connect(boundaryInterface, SIGNAL(start()), this, SLOT(boundary_start()));
connect(boundaryInterface, SIGNAL(stop()), this, SLOT(boundary_stop()));
connect(boundaryInterface, SIGNAL(add_point()), this, SLOT(boundary_add_point()));
connect(boundaryInterface, SIGNAL(delete_last_point()), this, SLOT(boundary_delete_last_point()));
connect(boundaryInterface, SIGNAL(pause()), this, SLOT(boundary_pause()));
connect(boundaryInterface, SIGNAL(record()), this, SLOT(boundary_record()));
connect(boundaryInterface, SIGNAL(reset()), this, SLOT(boundary_restart()));
connect(boundaryInterface, SIGNAL(delete_boundary(int)), this, SLOT(boundary_delete(int)));
connect(boundaryInterface, SIGNAL(set_drive_through(int, bool)), this, SLOT(boundary_set_drivethru(int,bool)));
connect(boundaryInterface, SIGNAL(delete_all()), this, SLOT(boundary_delete_all()));
headland_form.bnd = &bnd;
headland_form.vehicle = &vehicle;
headland_form.hdl = &hdl;
headland_form.tool = &tool;
headland_form.connect_ui(qmlItem(mainWindow, "headlandDesigner"));
connect(&headland_form, SIGNAL(saveHeadland()),this,SLOT(headland_save()));
connect(&headland_form, SIGNAL(timedMessageBox(int,QString,QString)),this,SLOT(TimedMessageBox(int,QString,QString)));
headache_form.bnd = &bnd;
headache_form.vehicle = &vehicle;
headache_form.hdl = &hdl;
headache_form.tool = &tool;
headache_form.connect_ui(qmlItem(mainWindow, "headacheDesigner"));
connect(&headache_form, SIGNAL(saveHeadland()),this,SLOT(headland_save()));
connect(&headache_form, SIGNAL(timedMessageBox(int,QString,QString)),this,SLOT(TimedMessageBox(int,QString,QString)));
connect(&headache_form, SIGNAL(saveHeadlines()), this,SLOT(headlines_save()));
connect(&headache_form, SIGNAL(loadHeadlines()), this,SLOT(headlines_load()));
//connect qml button signals to callbacks (it's not automatic with qml)
/*btnPerimeter = qmlItem(qml_root,"btnPerimeter");
connect(btnPerimeter,SIGNAL(clicked()),this,
SLOT(onBtnPerimeter_clicked()));
*/
btnFlag = qmlItem(mainWindow,"btnFlag");
connect(btnFlag,SIGNAL(clicked()),this,
SLOT(onBtnFlag_clicked()));
//Any objects we don't need to access later we can just store
//temporarily
QObject *temp;
temp = qmlItem(mainWindow,"btnRedFlag");
connect(temp,SIGNAL(clicked()),this,SLOT(onBtnRedFlag_clicked()));
temp = qmlItem(mainWindow,"btnGreenFlag");
connect(temp,SIGNAL(clicked()),this,SLOT(onBtnGreenFlag_clicked()));
temp = qmlItem(mainWindow,"btnYellowFlag");
connect(temp,SIGNAL(clicked()),this,SLOT(onBtnYellowFlag_clicked()));
btnDeleteFlag = qmlItem(mainWindow,"btnDeleteFlag");
connect(btnDeleteFlag,SIGNAL(clicked()),this,SLOT(onBtnDeleteFlag_clicked()));
btnDeleteAllFlags = qmlItem(mainWindow,"btnDeleteAllFlags");
connect(btnDeleteAllFlags,SIGNAL(clicked()),this,SLOT(onBtnDeleteAllFlags_clicked()));
contextFlag = qmlItem(mainWindow, "contextFlag");
//txtDistanceOffABLine = qmlItem(qml_root,"txtDistanceOffABLine");
tmrWatchdog = new QTimer(this);
connect (tmrWatchdog, SIGNAL(timeout()),this,SLOT(tmrWatchdog_timeout()));
tmrWatchdog->start(250); //fire every 50ms.
timer_tick = new QTimer(this);
timer_tick->setSingleShot(false);
timer_tick->setInterval(250);
connect(timer_tick, &QTimer::timeout, this, &FormGPS::Timer1_Tick);
timer_tick->start(250);
//SIM
connect_classes();
loadSettings(); //load settings and properties
isJobStarted = false;
StartLoopbackServer();
if ((bool)property_setMenu_isSimulatorOn == false) {
qDebug() << "Stopping simulator because it's off in settings.";
timerSim.stop();
}
//star Sim
swFrame.start();
stopwatch.start();
vehicle_update_list();
}
void FormGPS::onGLControl_dragged(int pressX, int pressY, int mouseX, int mouseY)
{
QVector3D from,to,offset;
from = mouseClickToPan(pressX, pressY);
to = mouseClickToPan(mouseX, mouseY);
offset = to - from;
camera.panX += offset.x();
camera.panY += offset.y();
openGLControl->update();
}
void FormGPS::onBtnCenterOgl_clicked(){
qDebug()<<"center ogl";
camera.panX = 0;
camera.panY = 0;
openGLControl->update();
}
void FormGPS::onGLControl_clicked(const QVariant &event)
{
QObject *m = event.value<QObject *>();
//Pass the click on to the rendering routine.
//make the bottom left be 0,0
mouseX = m->property("x").toInt();
mouseY = m->property("y").toInt();
QVector3D field = mouseClickToField(mouseX, mouseY);
mouseEasting = field.x();
mouseNorthing = field.y();
leftMouseDownOnOpenGL = true;
openGLControl->update();
}
void FormGPS::onBtnAgIO_clicked(){
qDebug()<<"AgIO";
}
void FormGPS::onBtnResetTool_clicked(){
vehicle.tankPos.heading = vehicle.fixHeading;
vehicle.tankPos.easting = vehicle.hitchPos.easting + (sin(vehicle.tankPos.heading) * (tool.tankTrailingHitchLength));
vehicle.tankPos.northing = vehicle.hitchPos.northing + (cos(vehicle.tankPos.heading) * (tool.tankTrailingHitchLength));
vehicle.toolPivotPos.heading = vehicle.tankPos.heading;
vehicle.toolPivotPos.easting = vehicle.tankPos.easting + (sin(vehicle.toolPivotPos.heading) * (tool.trailingHitchLength));
vehicle.toolPivotPos.northing = vehicle.tankPos.northing + (cos(vehicle.toolPivotPos.heading) * (tool.trailingHitchLength));
}
void FormGPS::onBtnHeadland_clicked(){
qDebug()<<"Headland";
bnd.isHeadlandOn = !bnd.isHeadlandOn;
if (bnd.isHeadlandOn)
{
//btnHeadlandOnOff.Image = Properties.Resources.HeadlandOn;
}
else
{
//btnHeadlandOnOff.Image = Properties.Resources.HeadlandOff;
}
if (vehicle.isHydLiftOn && !bnd.isHeadlandOn) vehicle.isHydLiftOn = false;
if (!bnd.isHeadlandOn)
{
p_239.pgn[p_239.hydLift] = 0;
//btnHydLift.Image = Properties.Resources.HydraulicLiftOff;
}
}
void FormGPS::onBtnHydLift_clicked(){
if (bnd.isHeadlandOn)
{
vehicle.isHydLiftOn = !vehicle.isHydLiftOn;
if (vehicle.isHydLiftOn)
{
}
else
{
p_239.pgn[p_239.hydLift] = 0;
}
}
else
{
p_239.pgn[p_239.hydLift] = 0;
vehicle.isHydLiftOn = false;
}
}
void FormGPS::onBtnTramlines_clicked(){
qDebug()<<"tramline";
}
void FormGPS::onBtnYouSkip_clicked(){
qDebug()<<"you skip";
}
void FormGPS::onBtnResetDirection_clicked(){
qDebug()<<"reset Direction";
// c#Array.Clear(stepFixPts, 0, stepFixPts.Length);
std::memset(stepFixPts, 0, sizeof(stepFixPts));
isFirstHeadingSet = false;
//TODO: most of this should be done in QML
vehicle.setIsReverse(false);
TimedMessageBox(2000, "Reset Direction", "Drive Forward > 1.5 kmh");
}
void FormGPS::onBtnFlag_clicked() {
//TODO if this button is disabled until field is started, we won't
//need this check.
if(isGPSPositionInitialized) {
int nextflag = flagPts.size() + 1;
//CFlag flagPt(pn.latitude, pn.longitude, pn.easting, pn.northing, flagColor, nextflag);
//flagPts.append(flagPt);
flagsBufferCurrent = false;
//TODO: FileSaveFlags();
}
}
void FormGPS::onBtnContour_clicked(){
ct.isContourBtnOn = !ct.isContourBtnOn;
if (ct.isContourBtnOn) {
guidanceLookAheadTime = 0.5;
}else{
//if (ABLine.isBtnABLineOn | curve.isBtnCurveOn){
// ABLine.isABValid = false;
// curve.isCurveValid = false;
//}
guidanceLookAheadTime = property_setAS_guidanceLookAheadTime;
}
}
void FormGPS::onBtnContourPriority_clicked(bool isRight){
ct.isRightPriority = isRight;
qDebug() << "Contour isRight: " << isRight;
}
void FormGPS::onBtnContourLock_clicked(){
ct.SetLockToLine();
}
void FormGPS::onBtnTiltDown_clicked(){
if (camera.camPitch > -59) camera.camPitch = -60;
camera.camPitch += ((camera.camPitch * 0.012) - 1);
if (camera.camPitch < -76) camera.camPitch = -76;
lastHeight = -1; //redraw the sky
property_setDisplay_camPitch = camera.camPitch;
openGLControl->update();
}
void FormGPS::onBtnTiltUp_clicked(){
double camPitch = property_setDisplay_camPitch;
lastHeight = -1; //redraw the sky
camera.camPitch -= ((camera.camPitch * 0.012) - 1);
if (camera.camPitch > -58) camera.camPitch = 0;
property_setDisplay_camPitch = camera.camPitch;
openGLControl->update();
}
void FormGPS::onBtn2D_clicked(){
camera.camFollowing = true;
camera.camPitch = 0;
navPanelCounter = 0;
}
void FormGPS::onBtn3D_clicked(){
camera.camFollowing = true;
camera.camPitch = -65;
navPanelCounter = 0;
}
void FormGPS::onBtnN2D_clicked(){
camera.camFollowing = false;
camera.camPitch = 0;
navPanelCounter = 0;
}
void FormGPS::onBtnN3D_clicked(){
camera.camPitch = -65;
camera.camFollowing = false;
navPanelCounter = 0;
}
void FormGPS::onBtnZoomIn_clicked(){
if (camera.zoomValue <= 20) {
if ((camera.zoomValue -= camera.zoomValue * 0.1) < 3.0)
camera.zoomValue = 3.0;
} else {
if ((camera.zoomValue -= camera.zoomValue * 0.05) < 3.0)
camera.zoomValue = 3.0;
}
camera.camSetDistance = camera.zoomValue * camera.zoomValue * -1;
SetZoom();
//TODO save zoom to properties
openGLControl->update();
}
void FormGPS::onBtnZoomOut_clicked(){
if (camera.zoomValue <= 20) camera.zoomValue += camera.zoomValue * 0.1;
else camera.zoomValue += camera.zoomValue * 0.05;
if (camera.zoomValue > 220) camera.zoomValue = 220;
camera.camSetDistance = camera.zoomValue * camera.zoomValue * -1;
SetZoom();
//todo save to properties
openGLControl->update();
}
void FormGPS::onBtnRedFlag_clicked()
{
flagColor = 0;
contextFlag->setProperty("visible",false);
btnFlag->setProperty("icon","/images/FlagRed.png");
}
void FormGPS::onBtnGreenFlag_clicked()
{
flagColor = 1;
contextFlag->setProperty("visible",false);
btnFlag->setProperty("icon","/images/FlagGrn.png");
}
void FormGPS::onBtnYellowFlag_clicked()
{
flagColor = 2;
contextFlag->setProperty("visible",false);
btnFlag->setProperty("icon","/images/FlagYel.png");
}
void FormGPS::onBtnDeleteFlag_clicked()
{
//delete selected flag and set selected to none
flagPts.remove(flagNumberPicked - 1);
flagsBufferCurrent = false;
flagNumberPicked = 0;
int flagCnt = flagPts.size();
if (flagCnt > 0) {
for (int i = 0; i < flagCnt; i++)
flagPts[i].ID = i + 1;
}
contextFlag->setProperty("visible",false);
}
void FormGPS::onBtnDeleteAllFlags_clicked()
{
contextFlag->setProperty("visible",false);
flagPts.clear();
flagsBufferCurrent = false;
flagNumberPicked = 0;
//TODO: FileSaveFlags
}
void FormGPS::onBtnAutoYouTurn_clicked(){
qDebug()<<"activate youturn";
yt.isTurnCreationTooClose = false;
// if (bnd.bndArr.Count == 0) this needs to be moved to qml
// {
// TimedMessageBox(2000, gStr.gsNoBoundary, gStr.gsCreateABoundaryFirst);
// return;
// }
if (!yt.isYouTurnBtnOn)
{
//new direction so reset where to put turn diagnostic
yt.ResetCreatedYouTurn();
if (!isBtnAutoSteerOn) return;
yt.isYouTurnBtnOn = true;
yt.isTurnCreationTooClose = false;
yt.isTurnCreationNotCrossingError = false;
yt.ResetYouTurn();
//mc.autoSteerData[mc.sdX] = 0;
// mc.machineControlData[mc.cnYouTurn] = 0;
// btnAutoYouTurn.Image = Properties.Resources.Youturn80;
}
else
{
yt.isYouTurnBtnOn = false;
// yt.rowSkipsWidth = Properties.Vehicle.Default.set_youSkipWidth;
// btnAutoYouTurn.Image = Properties.Resources.YouTurnNo;
yt.ResetYouTurn();
//new direction so reset where to put turn diagnostic
yt.ResetCreatedYouTurn();
//mc.autoSteerData[mc.sdX] = 0;commented in aog
// mc.machineControlData[mc.cnYouTurn] = 0;
}
}
void FormGPS::onBtnSwapAutoYouTurnDirection_clicked()
{
if (!yt.isYouTurnTriggered)
{
yt.isYouTurnRight = !yt.isYouTurnRight;
yt.ResetCreatedYouTurn();
}
//else if (yt.isYouTurnBtnOn)
//btnAutoYouTurn.PerformClick();
}
void FormGPS::onBtnManUTurn_clicked(bool right)
{
if (yt.isYouTurnTriggered) {
yt.ResetYouTurn();
}else {
yt.isYouTurnTriggered = true;
yt.BuildManualYouTurn( right, true, vehicle, trk);
}
}
void FormGPS::onBtnLateral_clicked(bool right)
{
yt.BuildManualYouLateral(right, vehicle, trk);
}
void FormGPS::btnSteerAngleUp_clicked(){
vehicle.driveFreeSteerAngle++;
if (vehicle.driveFreeSteerAngle > 40) vehicle.driveFreeSteerAngle = 40;
qDebug()<<"btnSteerAngleUp_clicked";
}
void FormGPS::btnSteerAngleDown_clicked(){
vehicle.driveFreeSteerAngle--;
if (vehicle.driveFreeSteerAngle < -40) vehicle.driveFreeSteerAngle = -40;
qDebug()<<"btnSteerAngleDown_clicked";
}
void FormGPS::btnFreeDrive_clicked(){
if (vehicle.isInFreeDriveMode)
{
//turn OFF free drive mode
vehicle.isInFreeDriveMode = false;
vehicle.driveFreeSteerAngle = 0;
}
else
{
//turn ON free drive mode
vehicle.isInFreeDriveMode = true;
vehicle.driveFreeSteerAngle = 0;
}
qDebug()<<"btnFreeDrive_clicked";
}
void FormGPS::btnFreeDriveZero_clicked(){
if (vehicle.driveFreeSteerAngle == 0)
vehicle.driveFreeSteerAngle = 5;
else vehicle.driveFreeSteerAngle = 0;
qDebug()<<"btnFreeDriveZero_clicked";
}
void FormGPS::btnStartSA_clicked(){
qDebug()<<"btnStartSA_clicked";
if (!isSA)
{
isSA = true;
startFix = vehicle.pivotAxlePos;
dist = 0;
diameter = 0;
cntr = 0;
//lblDiameter.Text = "0";
lblCalcSteerAngleInner = "Drive Steady";
lblCalcSteerAngleOuter = "Consistent Steering Angle!!";
}
else
{
isSA = false;
lblCalcSteerAngleInner = "0.0 + °";
lblCalcSteerAngleOuter = "0.0 + °";
}
}
void FormGPS::TimedMessageBox(int timeout, QString s1, QString s2)
{
qDebug() << "Timed message " << timeout << s1 << ", " << s2 << Qt::endl;
QObject *temp = qmlItem(mainWindow, "timedMessage");
QMetaObject::invokeMethod(temp, "addMessage", Q_ARG(int, timeout), Q_ARG(QString, s1), Q_ARG(QString, s2));
}
void FormGPS::turnOffBoundAlarm()
{
qDebug() << "Bound alarm should be off" << Qt::endl;
//TODO implement sounds
}
void FormGPS::FixTramModeButton()
{
//TODO QML
//unhide button if it should be seen
if (tram.tramList.count() > 0 || tram.tramBndOuterArr.count() > 0)
{
//btnTramDisplayMode.Visible = true;
tram.displayMode = 1;
}
//make sure tram has right icon. DO this through javascript
}
void FormGPS::on_settings_reload() {
loadSettings();
//TODO: if vehicle name is set, write settings out to that
//vehicle json file
}
void FormGPS::on_settings_save() {
settings->sync();
loadSettings();
}
void FormGPS::modules_send_238() {
qDebug() << "Sending 238 message to AgIO";
p_238.pgn[p_238.set0] = (int)property_setArdMac_setting0;
p_238.pgn[p_238.raiseTime] = (int)property_setArdMac_hydRaiseTime;
p_238.pgn[p_238.lowerTime] = (int)property_setArdMac_hydLowerTime;
p_238.pgn[p_238.user1] = (int)property_setArdMac_user1;
p_238.pgn[p_238.user2] = (int)property_setArdMac_user2;
p_238.pgn[p_238.user3] = (int)property_setArdMac_user3;
p_238.pgn[p_238.user4] = (int)property_setArdMac_user4;
qDebug() << (int)property_setArdMac_user1;
SendPgnToLoop(p_238.pgn);
}
void FormGPS::modules_send_251() {
//qDebug() << "Sending 251 message to AgIO";
p_251.pgn[p_251.set0] = (int)property_setArdSteer_setting0;
p_251.pgn[p_251.set1] = (int)property_setArdSteer_setting1;
p_251.pgn[p_251.maxPulse] = (int)property_setArdSteer_maxPulseCounts;
p_251.pgn[p_251.minSpeed] = 5; //0.5 kmh THIS IS CHANGED IN AOG FIXES
if ((int)property_setAS_isConstantContourOn)
p_251.pgn[p_251.angVel] = 1;
else p_251.pgn[p_251.angVel] = 0;
qDebug() << p_251.pgn;
SendPgnToLoop(p_251.pgn);
}
void FormGPS::modules_send_252() {
//qDebug() << "Sending 252 message to AgIO";
p_252.pgn[p_252.gainProportional] = (int)property_setAS_Kp;
p_252.pgn[p_252.highPWM] = (int)property_setAS_highSteerPWM;
p_252.pgn[p_252.lowPWM] = (int)property_setAS_lowSteerPWM;
p_252.pgn[p_252.minPWM] = property_setAS_minSteerPWM;
p_252.pgn[p_252.countsPerDegree] = (int)property_setAS_countsPerDegree;
p_252.pgn[p_252.wasOffsetHi] = (char)((int)property_setAS_wasOffset >> 8);
p_252.pgn[p_252.wasOffsetLo] = (char)property_setAS_wasOffset;
p_252.pgn[p_252.ackerman] = (int)property_setAS_ackerman;
qDebug() << p_252.pgn;
SendPgnToLoop(p_252.pgn);
}
void FormGPS::headland_save() {
//TODO make FileHeadland() a slot so we don't have to have this
//wrapper.
FileSaveHeadland();
}
void FormGPS::headlines_load() {
//TODO make FileLoadHeadLines a slot, skip this wrapper
FileLoadHeadLines();
}
void FormGPS::headlines_save() {
//TODO make FileSaveHeadLines a slot, skip this wrapper
FileSaveHeadLines();
}
void FormGPS::onBtnResetSim_clicked(){
sim.latitude = property_setGPS_SimLatitude;
sim.longitude = property_setGPS_SimLongitude;
}
void FormGPS::onBtnRotateSim_clicked(){
qDebug() << "Rotate Sim";
qDebug() << "But nothing else";
/*qDebug() << sim.headingTrue;
sim.headingTrue += M_PI;
qDebug() << sim.headingTrue;
ABLine.isABValid = false;
curve.isCurveValid = false;*/
//curve.lastHowManyPathsAway = 98888; not in v5
}
//Track Snap buttons
void FormGPS::onBtnSnapToPivot_clicked(){
qDebug()<<"snap to pivot";
}
void FormGPS::onBtnSnapSideways_clicked(double distance){
int blah = distance;
}
void FormGPS::onDeleteAppliedArea_clicked()
{
if (isJobStarted)
{
/*if (autoBtnState == btnStates.Off && manualBtnState == btnStates.Off)
{
DialogResult result3 = MessageBox.Show(gStr.gsDeleteAllContoursAndSections,
gStr.gsDeleteForSure,
MessageBoxButtons.YesNo,
MessageBoxIcon.Question,
MessageBoxDefaultButton.Button2);
if (result3 == DialogResult.Yes)
{
//FileCreateElevation();
if (tool.isSectionsNotZones)
{
//Update the button colors and text
AllSectionsAndButtonsToState(btnStates.Off);
//enable disable manual buttons
LineUpIndividualSectionBtns();
}
else
{
AllZonesAndButtonsToState(btnStates.Off);
LineUpAllZoneButtons();
}
//turn manual button off
manualBtnState = btnStates.Off;
btnSectionMasterManual.Image = Properties.Resources.ManualOff;
//turn auto button off
autoBtnState = btnStates.Off;
btnSectionMasterAuto.Image = Properties.Resources.SectionMasterOff;
*/
//clear out the contour Lists
ct.StopContourLine(contourSaveList);
ct.ResetContour();
fd.workedAreaTotal = 0;
//clear the section lists
for (int j = 0; j < triStrip.count(); j++)
{
//clean out the lists
triStrip[j].patchList.clear();
triStrip[j].triangleList.clear();
}
//patchSaveList.clear();
//shouldn't we clean out triStrip too?
tool.patchSaveList.clear();
FileCreateContour();
FileCreateSections();
/*}
else
{
TimedMessageBox(1500, gStr.gsNothingDeleted, gStr.gsActionHasBeenCancelled);
}
}
else
{
TimedMessageBox(1500, "Sections are on", "Turn Auto or Manual Off First");
}*/
}
}
void FormGPS::Timer1_Tick()
{
if (isSA)
{
dist = glm::Distance(startFix, vehicle.pivotAxlePos);
cntr++;
if (dist > diameter)
{
diameter = dist;
cntr = 0;
}
//lblDiameter = diameter.ToString("N2") + " m";
lblDiameter = locale.toString(diameter, 'g', 3) + tr(" m");
qDebug()<<"diameter ";
qDebug()<<diameter;
if (cntr > 9)
{
steerAngleRight = atan(vehicle.wheelbase / ((diameter - vehicle.trackWidth * 0.5) / 2));
steerAngleRight = glm::toDegrees(steerAngleRight);
//lblCalcSteerAngleInner = steerAngleRight.ToString("N1") + "°";
lblCalcSteerAngleInner = locale.toString(steerAngleRight, 'g', 3) + tr("°");
//lblDiameter.Text = diameter.ToString("N2") + " m";
lblDiameter = locale.toString(diameter, 'g', 3) + tr(" m");
isSA = false;
}
}
/*
double actAng = mc.actualSteerAngleDegrees * 5;
if (actAng > 0)
{
if (actAng > 49) actAng = 49;
//CExtensionMethods.SetProgressNoAnimation(pbarRight, (int)actAng);
//pbarLeft = 0;
}
else
{
if (actAng < -49) actAng = -49;
// pbarRight = 0;
// CExtensionMethods.SetProgressNoAnimation(pbarLeft, (int)-actAng);
}
lblSteerAngle = SetSteerAngle;
lblSteerAngleActual = locale.toString(mc.actualSteerAngleDegrees, 'g', 1) + tr("°");
lblActualSteerAngleUpper = lblSteerAngleActual;
double err = (mc.actualSteerAngleDegrees - guidanceLineSteerAngle * 0.01);
lblError = abs(err).ToString("N1") + "\u00B0";
if (err > 0) lblError.ForeColor = Color.Red;
else lblError.ForeColor = Color.DarkGreen;
lblAV_Act.Text = mf.actAngVel.ToString("N1");
lblAV_Set.Text = mf.setAngVel.ToString("N1");
lblPWMDisplay.Text = mc.pwmDisplay.ToString();
counter++;
if (toSend && counter > 4)
{
p_252.pgn[p_252.countsPerDegree] = (char)hsbarCountsPerDegree;
p_252.pgn[p_252.ackerman] = (char)hsbarAckerman;
p_252.pgn[p_252.wasOffsetHi] = (char)(hsbarWasOffset.Value >> 8);
p_252.pgn[p_252.wasOffsetLo] = (char)(hsbarWasOffset.Value);
p_252.pgn[p_252.highPWM] = (char)hsbarHighSteerPWM;
p_252.pgn[p_252.lowPWM] = (char)(hsbarHighSteerPWM / 3);
p_252.pgn[p_252.gainProportional] = (char)hsbarProportionalGain;
p_252.pgn[p_252.minPWM] = (char)hsbarMinPWM;
SendPgnToLoop(p_252.pgn);
toSend = false;
counter = 0;
}
if (secondCntr++ > 2)