source: flair-src/trunk/tools/FlairGCS/src/RangeFinderPlot.cpp@ 10

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 6 years ago

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File size: 7.5 KB
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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5#include "RangeFinderPlot.h"
6#include "Layout.h"
7#include <stdlib.h>
8#include <qwt_plot_grid.h>
9#include <qwt_plot_magnifier.h>
10#include <qwt_scale_widget.h>
11#include <qwt_plot_panner.h>
12#include <qwt_plot_rescaler.h>
13#include <qwt_plot_shapeitem.h>
14#include <QMouseEvent>
15#include <QMenu>
16#include <QInputDialog>
17#include <qendian.h>
18#include <qmath.h>
19
20RangeFinderPlot::RangeFinderPlot(Layout* parent,int row, int col,QString name,
21 QString x_name,QString y_name,
22 float xmin, float xmax,float ymin, float ymax,
23 float start_angle,float end_angle,uint32_t nb_samples,QString data_type,
24 bool invert_axis,bool enabled,int period):
25 DataRemote(name,"RangeFinderPlot",parent,enabled,period)
26{
27 invert_axis=true;
28 this->start_angle=start_angle;
29 this->end_angle=end_angle;
30 this->nb_samples=nb_samples;
31 this->data_type=data_type;
32 this->invert_axis=invert_axis;
33
34 if(data_type=="float")
35 {
36 receivesize=nb_samples*sizeof(float);
37 }
38 else if(data_type=="int8_t")
39 {
40 receivesize=nb_samples*sizeof(int8_t);
41 }
42 else if(data_type=="int16_t")
43 {
44 receivesize=nb_samples*sizeof(int16_t);
45 }
46 else
47 {
48 printf("RangeFinderPlot::RangeFinderPlot unknown type %s\n",data_type.toLocal8Bit().constData());
49 }
50
51
52 plot=new QwtPlot(NULL);
53 plot->setEnabled(enabled);
54 //plot->setAutoReplot( false );
55
56 parent->addWidget(plot,row,col);
57 visible_widget=plot;
58
59 plot->setTitle(name);
60
61 // grid
62 QwtPlotGrid *grid = new QwtPlotGrid;
63 grid->setPen(QPen(Qt::black, 0, Qt::DotLine));
64 grid->attach(plot);
65
66 plot->updateAxes();
67
68 //zoomer
69 QwtPlotMagnifier * zoomer = new QwtPlotMagnifier(plot->canvas());
70 zoomer->setMouseButton(Qt::RightButton,Qt::ControlModifier);
71
72 //scroller
73 QwtPlotPanner *scroller =new QwtPlotPanner(plot->canvas());
74
75 // Axis
76 if(!invert_axis) {
77 plot->setAxisTitle(QwtPlot::xBottom, x_name);
78 setXAxisScale(xmin,xmax);
79
80 plot->setAxisTitle(QwtPlot::yLeft, y_name);
81 setYAxisScale(ymin,ymax);
82 } else {
83 plot->setAxisTitle(QwtPlot::xBottom, y_name);
84 setXAxisScale(ymin,ymax);
85
86 plot->setAxisTitle(QwtPlot::yLeft, x_name);
87 setYAxisScale(xmin,xmax);
88 }
89
90 QwtPlotRescaler* rescaler = new QwtPlotRescaler( plot->canvas() );
91 rescaler->setRescalePolicy( QwtPlotRescaler::Fixed );
92
93 //( void ) new QwtPlotMagnifier( plot->canvas() );
94
95 plot->canvas()->installEventFilter(this);
96
97 for(uint32_t i=0;i<nb_samples;i++)
98 {
99 addTriangle(start_angle+i*(end_angle-start_angle+1)/nb_samples,start_angle+(i+1)*(end_angle-start_angle+1)/nb_samples);
100 }
101}
102
103RangeFinderPlot::~RangeFinderPlot()
104{
105 delete plot;
106}
107
108void RangeFinderPlot::XmlEvent(QDomElement dom)
109{
110 XmlSetup(dom);
111}
112
113bool RangeFinderPlot::eventFilter(QObject *o, QEvent *e)
114{
115 if (o==plot->canvas())
116 {
117 switch(e->type())
118 {
119 case QEvent::MouseButtonPress:
120 {
121 mousePressEvent((QMouseEvent*)e);
122 break;
123 }
124
125 default:
126 break;
127 }
128 }
129 return plot->eventFilter(o, e);
130}
131
132
133//
134// Set a plain canvas frame and align the scales to it
135//
136void RangeFinderPlot::alignScales(void)
137{
138 // The code below shows how to align the scales to
139 // the canvas frame, but is also a good example demonstrating
140 // why the spreaded API needs polishing.
141/*
142 plot->canvas()->setFrameStyle(QFrame::Box | QFrame::Plain );
143 plot->canvas()->setLineWidth(1);
144*/
145 for ( int i = 0; i < QwtPlot::axisCnt; i++ )
146 {
147 QwtScaleWidget *scaleWidget = (QwtScaleWidget *)plot->axisWidget(i);
148 if ( scaleWidget )
149 scaleWidget->setMargin(0);
150
151 QwtScaleDraw *scaleDraw = (QwtScaleDraw *)plot->axisScaleDraw(i);
152 if ( scaleDraw )
153 scaleDraw->enableComponent(QwtAbstractScaleDraw::Backbone, false);
154 }
155}
156
157void RangeFinderPlot::setXAxisScale(float xmin,float xmax)
158{
159 xmin_orig=xmin;
160 xmax_orig=xmax;
161 plot->setAxisScale(QwtPlot::xBottom, xmin_orig, xmax_orig);
162
163}
164
165void RangeFinderPlot::setYAxisScale(float ymin,float ymax)
166{
167 ymin_orig=ymin;
168 ymax_orig=ymax;
169 plot->setAxisScale(QwtPlot::yLeft, ymin_orig, ymax_orig);
170}
171
172void RangeFinderPlot::BufEvent(char **buf,int *buf_size,uint16_t period,bool big_endian)
173{
174 plot->setEnabled(IsEnabled());
175 if(IsEnabled()==false || RefreshRate_ms()!=period) return;
176
177 for(uint32_t i=0;i<nb_samples;i++)
178 {
179 if(data_type=="float")
180 {
181 uint32_t data_raw;
182 float* data=(float*)&data_raw;
183
184 memcpy((void*)&data_raw,*buf,sizeof(uint32_t));
185 *buf+=sizeof(uint32_t);
186 if(big_endian==true) data_raw=qFromBigEndian(data_raw);
187 SetTriangle(i,*data);
188 }
189 else if(data_type=="int8_t")
190 {
191 int8_t data;
192 memcpy((void*)&data,*buf,sizeof(data));
193 *buf+=sizeof(data);
194 SetTriangle(i,data);
195 }
196 else if(data_type=="int16_t")
197 {
198 int16_t data;
199 memcpy((void*)&data,*buf,sizeof(data));
200 *buf+=sizeof(data);
201 if(big_endian==true) data=qFromBigEndian(data);
202 SetTriangle(i,data);
203 }
204 else
205 {
206 printf("RangeFinderPlot::BufEvent unknown type %s\n",data_type.toLocal8Bit().constData());
207 }
208 }
209
210 plot->replot();
211}
212
213void RangeFinderPlot::addTriangle(float angle_min, float angle_max)
214{
215 QwtPlotShapeItem *item = new QwtPlotShapeItem();
216
217 item->setRenderHint( QwtPlotItem::RenderAntialiased, true );
218 item->attach(plot);
219 triangles.append(item);
220
221}
222
223void RangeFinderPlot::SetTriangle(uint32_t id,float length)
224{
225 QPainterPath path;
226 QPolygonF triangle;
227 float angle_min=start_angle+id*(end_angle-start_angle+1)/nb_samples;
228 float angle_max=start_angle+(id+1)*(end_angle-start_angle+1)/nb_samples;
229
230 if(invert_axis) {
231 angle_min=90-angle_min;
232 angle_max=90-angle_max;
233 }
234
235 triangle += QPointF( 0,0 );
236 triangle += QPointF( length*cos(angle_min*M_PI/180.),length*sin(angle_min*M_PI/180.) );
237 triangle += QPointF( length*cos(angle_max*M_PI/180.),length*sin(angle_max*M_PI/180.) );
238
239 path.addPolygon( triangle );
240
241 path.closeSubpath();
242 triangles.at(id)->setShape(path);
243
244 QColor fillColor = "SandyBrown";
245 fillColor.setAlpha( 200 );
246
247 QPen pen( QColor("SandyBrown"), 1 );
248 pen.setJoinStyle( Qt::MiterJoin );
249 triangles.at(id)->setPen( pen );
250 triangles.at(id)->setBrush( fillColor );
251}
252
253//context menu
254void RangeFinderPlot::mousePressEvent(QMouseEvent *event)
255{
256 if (event->button() == Qt::RightButton)
257 {
258 QMenu *menu = new QMenu("nom", plot);
259 // ajout des actions
260 QAction *a,*z;
261
262 a=menu->addAction("reset y zoom");
263
264 appendmenu(menu);
265 z=execmenu(plot,menu,event->globalPos());
266 delete menu;
267
268 if(z==a)
269 {
270 //zoom to original size
271 if(!invert_axis) {
272 plot->setAxisScale(QwtPlot::yLeft, ymin_orig, ymax_orig);
273 } else {
274 plot->setAxisScale(QwtPlot::yLeft, xmin_orig, xmax_orig);
275 }
276 plot->replot();
277 }
278 }
279}
280
281
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