source: flair-src/trunk/tools/FlairGCS/src/RangeFinderPlot.cpp@ 9

Last change on this file since 9 was 9, checked in by Sanahuja Guillaume, 7 years ago

gcs

File size: 7.3 KB
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1#include "RangeFinderPlot.h"
2#include "Layout.h"
3#include <stdlib.h>
4#include <qwt_plot_grid.h>
5#include <qwt_plot_magnifier.h>
6#include <qwt_scale_widget.h>
7#include <qwt_plot_panner.h>
8#include <qwt_plot_rescaler.h>
9#include <qwt_plot_shapeitem.h>
10#include <QMouseEvent>
11#include <QMenu>
12#include <QInputDialog>
13#include <qendian.h>
14#include <qmath.h>
15
16RangeFinderPlot::RangeFinderPlot(Layout* parent,int row, int col,QString name,
17 QString x_name,QString y_name,
18 float xmin, float xmax,float ymin, float ymax,
19 float start_angle,float end_angle,uint32_t nb_samples,QString data_type,
20 bool invert_axis,bool enabled,int period):
21 DataRemote(name,"RangeFinderPlot",parent,enabled,period)
22{
23 invert_axis=true;
24 this->start_angle=start_angle;
25 this->end_angle=end_angle;
26 this->nb_samples=nb_samples;
27 this->data_type=data_type;
28 this->invert_axis=invert_axis;
29
30 if(data_type=="float")
31 {
32 receivesize=nb_samples*sizeof(float);
33 }
34 else if(data_type=="int8_t")
35 {
36 receivesize=nb_samples*sizeof(int8_t);
37 }
38 else if(data_type=="int16_t")
39 {
40 receivesize=nb_samples*sizeof(int16_t);
41 }
42 else
43 {
44 printf("RangeFinderPlot::RangeFinderPlot unknown type %s\n",data_type.toLocal8Bit().constData());
45 }
46
47
48 plot=new QwtPlot(NULL);
49 plot->setEnabled(enabled);
50 //plot->setAutoReplot( false );
51
52 parent->addWidget(plot,row,col);
53 visible_widget=plot;
54
55 plot->setTitle(name);
56
57 // grid
58 QwtPlotGrid *grid = new QwtPlotGrid;
59 grid->setPen(QPen(Qt::black, 0, Qt::DotLine));
60 grid->attach(plot);
61
62 plot->updateAxes();
63
64 //zoomer
65 QwtPlotMagnifier * zoomer = new QwtPlotMagnifier(plot->canvas());
66 zoomer->setMouseButton(Qt::RightButton,Qt::ControlModifier);
67
68 //scroller
69 QwtPlotPanner *scroller =new QwtPlotPanner(plot->canvas());
70
71 // Axis
72 if(!invert_axis) {
73 plot->setAxisTitle(QwtPlot::xBottom, x_name);
74 setXAxisScale(xmin,xmax);
75
76 plot->setAxisTitle(QwtPlot::yLeft, y_name);
77 setYAxisScale(ymin,ymax);
78 } else {
79 plot->setAxisTitle(QwtPlot::xBottom, y_name);
80 setXAxisScale(ymin,ymax);
81
82 plot->setAxisTitle(QwtPlot::yLeft, x_name);
83 setYAxisScale(xmin,xmax);
84 }
85
86 QwtPlotRescaler* rescaler = new QwtPlotRescaler( plot->canvas() );
87 rescaler->setRescalePolicy( QwtPlotRescaler::Fixed );
88
89 //( void ) new QwtPlotMagnifier( plot->canvas() );
90
91 plot->canvas()->installEventFilter(this);
92
93 for(uint32_t i=0;i<nb_samples;i++)
94 {
95 addTriangle(start_angle+i*(end_angle-start_angle+1)/nb_samples,start_angle+(i+1)*(end_angle-start_angle+1)/nb_samples);
96 }
97}
98
99RangeFinderPlot::~RangeFinderPlot()
100{
101 delete plot;
102}
103
104void RangeFinderPlot::XmlEvent(QDomElement dom)
105{
106 XmlSetup(dom);
107}
108
109bool RangeFinderPlot::eventFilter(QObject *o, QEvent *e)
110{
111 if (o==plot->canvas())
112 {
113 switch(e->type())
114 {
115 case QEvent::MouseButtonPress:
116 {
117 mousePressEvent((QMouseEvent*)e);
118 break;
119 }
120
121 default:
122 break;
123 }
124 }
125 return plot->eventFilter(o, e);
126}
127
128
129//
130// Set a plain canvas frame and align the scales to it
131//
132void RangeFinderPlot::alignScales(void)
133{
134 // The code below shows how to align the scales to
135 // the canvas frame, but is also a good example demonstrating
136 // why the spreaded API needs polishing.
137/*
138 plot->canvas()->setFrameStyle(QFrame::Box | QFrame::Plain );
139 plot->canvas()->setLineWidth(1);
140*/
141 for ( int i = 0; i < QwtPlot::axisCnt; i++ )
142 {
143 QwtScaleWidget *scaleWidget = (QwtScaleWidget *)plot->axisWidget(i);
144 if ( scaleWidget )
145 scaleWidget->setMargin(0);
146
147 QwtScaleDraw *scaleDraw = (QwtScaleDraw *)plot->axisScaleDraw(i);
148 if ( scaleDraw )
149 scaleDraw->enableComponent(QwtAbstractScaleDraw::Backbone, false);
150 }
151}
152
153void RangeFinderPlot::setXAxisScale(float xmin,float xmax)
154{
155 xmin_orig=xmin;
156 xmax_orig=xmax;
157 plot->setAxisScale(QwtPlot::xBottom, xmin_orig, xmax_orig);
158
159}
160
161void RangeFinderPlot::setYAxisScale(float ymin,float ymax)
162{
163 ymin_orig=ymin;
164 ymax_orig=ymax;
165 plot->setAxisScale(QwtPlot::yLeft, ymin_orig, ymax_orig);
166}
167
168void RangeFinderPlot::BufEvent(char **buf,int *buf_size,uint16_t period,bool big_endian)
169{
170 plot->setEnabled(IsEnabled());
171 if(IsEnabled()==false || RefreshRate_ms()!=period) return;
172
173 for(uint32_t i=0;i<nb_samples;i++)
174 {
175 if(data_type=="float")
176 {
177 uint32_t data_raw;
178 float* data=(float*)&data_raw;
179
180 memcpy((void*)&data_raw,*buf,sizeof(uint32_t));
181 *buf+=sizeof(uint32_t);
182 if(big_endian==true) data_raw=qFromBigEndian(data_raw);
183 SetTriangle(i,*data);
184 }
185 else if(data_type=="int8_t")
186 {
187 int8_t data;
188 memcpy((void*)&data,*buf,sizeof(data));
189 *buf+=sizeof(data);
190 SetTriangle(i,data);
191 }
192 else if(data_type=="int16_t")
193 {
194 int16_t data;
195 memcpy((void*)&data,*buf,sizeof(data));
196 *buf+=sizeof(data);
197 if(big_endian==true) data=qFromBigEndian(data);
198 SetTriangle(i,data);
199 }
200 else
201 {
202 printf("RangeFinderPlot::BufEvent unknown type %s\n",data_type.toLocal8Bit().constData());
203 }
204 }
205
206 plot->replot();
207}
208
209void RangeFinderPlot::addTriangle(float angle_min, float angle_max)
210{
211 QwtPlotShapeItem *item = new QwtPlotShapeItem();
212
213 item->setRenderHint( QwtPlotItem::RenderAntialiased, true );
214 item->attach(plot);
215 triangles.append(item);
216
217}
218
219void RangeFinderPlot::SetTriangle(uint32_t id,float length)
220{
221 QPainterPath path;
222 QPolygonF triangle;
223 float angle_min=start_angle+id*(end_angle-start_angle+1)/nb_samples;
224 float angle_max=start_angle+(id+1)*(end_angle-start_angle+1)/nb_samples;
225
226 if(invert_axis) {
227 angle_min=90-angle_min;
228 angle_max=90-angle_max;
229 }
230
231 triangle += QPointF( 0,0 );
232 triangle += QPointF( length*cos(angle_min*M_PI/180.),length*sin(angle_min*M_PI/180.) );
233 triangle += QPointF( length*cos(angle_max*M_PI/180.),length*sin(angle_max*M_PI/180.) );
234
235 path.addPolygon( triangle );
236
237 path.closeSubpath();
238 triangles.at(id)->setShape(path);
239
240 QColor fillColor = "SandyBrown";
241 fillColor.setAlpha( 200 );
242
243 QPen pen( QColor("SandyBrown"), 1 );
244 pen.setJoinStyle( Qt::MiterJoin );
245 triangles.at(id)->setPen( pen );
246 triangles.at(id)->setBrush( fillColor );
247}
248
249//context menu
250void RangeFinderPlot::mousePressEvent(QMouseEvent *event)
251{
252 if (event->button() == Qt::RightButton)
253 {
254 QMenu *menu = new QMenu("nom", plot);
255 // ajout des actions
256 QAction *a,*z;
257
258 a=menu->addAction("reset y zoom");
259
260 appendmenu(menu);
261 z=execmenu(plot,menu,event->globalPos());
262 delete menu;
263
264 if(z==a)
265 {
266 //zoom to original size
267 if(!invert_axis) {
268 plot->setAxisScale(QwtPlot::yLeft, ymin_orig, ymax_orig);
269 } else {
270 plot->setAxisScale(QwtPlot::yLeft, xmin_orig, xmax_orig);
271 }
272 plot->replot();
273 }
274 }
275}
276
277
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