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lauodomwidget.h
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lauodomwidget.h
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#ifndef LAUODOMWIDGET_H
#define LAUODOMWIDGET_H
#include <QMenu>
#include <QWidget>
#include <QGroupBox>
#include <QMouseEvent>
#include <QQuaternion>
#include <QMessageBox>
#include <QPushButton>
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QFileDialog>
#include <QApplication>
#include <QInputDialog>
#include <QTime>
#include <QList>
#include <QtCore>
#include <QDebug>
#include <QTimer>
#include <QThread>
#include <QPainter>
#include <QVector4D>
#include <QSettings>
#include <QSerialPort>
#include <QStandardPaths>
#include <QSerialPortInfo>
#include "lautcpserialportwidget.h"
#include "lautcprosportwidget.h"
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
class LAUOdomObject : public LAUTCPSerialPortClient
{
Q_OBJECT
public:
LAUOdomObject(QString portString, QObject *parent = 0) : LAUTCPSerialPortClient(portString, parent) { ; }
LAUOdomObject(QString ipAddr, int portNum, QObject *parent = 0) : LAUTCPSerialPortClient(ipAddr, portNum, QString(LAUTCPROSPORTSERVERIDSTRING), parent) { ; }
~LAUOdomObject();
public slots:
void onReadyRead();
void onSendMessage(int message, void *argument);
void onError(QString error)
{
emit emitError(error);
}
private:
QByteArray processMessage(QByteArray byteArray);
signals:
void emitError(QString string);
void emitOdometry(QQuaternion pose, QVector3D position);
};
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
class LAUOdomLabel : public QLabel
{
Q_OBJECT
public:
LAUOdomLabel(QWidget *parent = 0);
public slots:
void onSavePoints();
void onEnableSavePoints(bool state);
void onUpdateOdometry(QQuaternion pose, QVector3D position);
protected:
void paintEvent(QPaintEvent *);
void mousePressEvent(QMouseEvent *event);
private:
bool savePointsFlag;
QList<QQuaternion> poses;
QList<QVector3D> points;
QVector3D topLeft;
QVector3D bottomRight;
QMenu *contextMenu;
int counter;
QTime time;
};
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
class LAUOdomWidget : public QWidget
{
Q_OBJECT
public:
LAUOdomWidget(QString portString = QString(), QWidget *parent = 0);
LAUOdomWidget(QString ipAddr, int portNum, QWidget *parent = 0);
~LAUOdomWidget();
bool isValid()
{
return (object && object->isValid());
}
private:
LAUOdomObject *object;
LAUOdomLabel *label;
};
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
class LAUOdomDialog : public QDialog
{
Q_OBJECT
public:
LAUOdomDialog(QString portString = QString(), QWidget *parent = 0) : QDialog(parent)
{
this->setLayout(new QVBoxLayout());
this->layout()->setContentsMargins(6, 6, 6, 6);
this->setWindowTitle(QString("LAUOdom Dialog"));
widget = new LAUOdomWidget(portString);
this->layout()->addWidget(widget);
QDialogButtonBox *box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
connect(box->button(QDialogButtonBox::Ok), SIGNAL(clicked()), this, SLOT(accept()));
connect(box->button(QDialogButtonBox::Cancel), SIGNAL(clicked()), this, SLOT(reject()));
this->layout()->addWidget(box);
}
LAUOdomDialog(QString ipAddr, int portNum, QWidget *parent = 0) : QDialog(parent)
{
this->setLayout(new QVBoxLayout());
this->layout()->setContentsMargins(6, 6, 6, 6);
this->setWindowTitle(QString("LAUOdom Dialog"));
widget = new LAUOdomWidget(ipAddr, portNum);
this->layout()->addWidget(widget);
QDialogButtonBox *box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
connect(box->button(QDialogButtonBox::Ok), SIGNAL(clicked()), this, SLOT(accept()));
connect(box->button(QDialogButtonBox::Cancel), SIGNAL(clicked()), this, SLOT(reject()));
this->layout()->addWidget(box);
}
bool isValid()
{
return (widget->isValid());
}
public slots:
private:
LAUOdomWidget *widget;
};
#endif // LAUODOMWIDGET_H