display.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifdef MSVC
    #define _USE_MATH_DEFINES
#endif
#include <cmath>
 
#include <yarp/os/Time.h>
#include <yarp/os/Log.h>
#include <yarp/os/LogStream.h>
 
#include "display.h"
#include <QGraphicsPixmapItem>
#include <QBitmap>
 
 
 
MainWindow::~MainWindow()
{
    if (mainTimer)
    {
        delete mainTimer;
        mainTimer = nullptr;
    }
    if (ui)
    {
        delete ui;
        ui = nullptr;
    }
    if (scene)
    {
        delete scene;
        scene = nullptr;
    }
}
 
void MainWindow::updateMain()
{
    if (ibat)
    {
        //yDebug("received battery info");
        bool ret = true;
        ret &= ibat->getBatteryVoltage(voltage);
        ret &= ibat->getBatteryCurrent(current);
        ret &= ibat->getBatteryCharge(charge);
        if (enable_ask_info)
        {
            ret &= ibat->getBatteryInfo(info);
            char buff[5000];
            sprintf(buff, "%s", info.c_str());
            yDebug("info: %s",buff);
        }
        connected = ret;
    }
    else
    {
        connected = false;
        yError("TIMEOUT: unable to receive data from battery manager ");
    }
 
    scene->clear();
    scene->setSceneRect(0, 0, 200, 180);
 
    //For debug purpose only
    //connected = true;
    //charge = 100;
    //voltage = 40.1;
    //current = -10.3;
 
    //the background
    if (connected && charge > 12)
    {
        QRect rect(0, 0, 200, 180);
        QPixmap qpm = img_background1.copy(rect);
        QGraphicsPixmapItem *p1 = scene->addPixmap(qpm);
        p1->setScale(1);
        p1->setPos(0, 0);
    }
    else
    {
        QRect rect(0, 0, 200, 180);
        QPixmap qpm = img_background2.copy(rect);
        QGraphicsPixmapItem *p1 = scene->addPixmap(qpm);
        p1->setScale(1);
        p1->setPos(0, 0);
    }
 
    //the charge text
    {
        if (current<-0.3)
        {
            QRect rect(0, 8, 48, 8);
            QPixmap qpm = img_charge.copy(rect);
            QGraphicsPixmapItem *p1 = scene->addPixmap(qpm);
            p1->setScale(1);
            p1->setPos(56, 77);
        }
        else
        {
            QRect rect(0, 0, 48, 8);
            QPixmap qpm = img_charge.copy(rect);
            QGraphicsPixmapItem *p1 = scene->addPixmap(qpm);
            p1->setScale(1);
            p1->setPos(56, 77);
        }
    }
 
    //the charge indicator
    {
        QRect rect0(0, 0, 14, 7);
        QRect rect1(0, 15, 14, 7);
        QRect rect2(0, 30, 14, 7);
        QPixmap  qpm0 = img_blocks.copy(rect0);
        QPixmap  qpm1 = img_blocks.copy(rect1);
        QPixmap  qpm2 = img_blocks.copy(rect2);
        QPixmap* qpp = &qpm2;
        int n_blocks = int(charge * 11 / 100.0);
        for (int i = 0; i < n_blocks; i++)
        {
            if (current < -0.3) {
                qpp = &qpm0; //draw charging arrows
            } else {
                qpp = &qpm1; //draw standard boxes
            }
 
            int xpos = 166;
            int ypos = 135 - i * 6;
 
            QGraphicsPixmapItem *p1 = scene->addPixmap(*qpp);
            p1->setScale(1);
            p1->setPos(xpos, ypos);
        }
    }
 
    //the voltage
    {
        char buff[10];
        sprintf(buff, "%4.1f", voltage);
        int len = strlen(buff);
        int point_off = 0;
        for (int i = 0; i < len; i++)
        {
            if (buff[i] == '.') {
                point_off = 17;
            }
            if (buff[i] >= '0' && buff[i] <= '9')
            {
                QRect rect((buff[i] - '0') * 29, 0, 29, 52);
                QPixmap  qpm = img_numbers.copy(rect);
                QGraphicsPixmapItem *p1 = scene->addPixmap(qpm);
                p1->setScale(1);
                p1->setPos(19 + i * 29 - point_off, 21);
            }
        }
    }
 
    //the current
    {
        char buff[10];
        sprintf(buff, "%4.1f", fabs(current));
        int len = strlen(buff);
        int point_off = 0;
        for (int i = 0; i < len; i++)
        {
            if (buff[i] == '.') {
                point_off = 17;
            }
            if (buff[i] >= '0' && buff[i] <= '9')
            {
                QRect rect((buff[i] - '0') * 29, 0, 29, 52);
                QPixmap  qpm = img_numbers.copy(rect);
                QGraphicsPixmapItem *p1 = scene->addPixmap(qpm);
                p1->setScale(1);
                p1->setPos(19 + i * 29 - point_off, 88);
            }
        }
    }
    ui->graphicsView->setScene(scene);
 
    return;
}
 
MainWindow::MainWindow(const yarp::os::ResourceFinder& rf, yarp::dev::IBattery* p_ibat, QWidget *parent, double refresh_period) : QMainWindow(parent),
    ibat(p_ibat),
    drv(nullptr),
    ui(new Ui::MainWindow),
    connected(false),
    enable_ask_info(false),
    voltage(0),
    current(0),
    charge(0)
{
    ui->setupUi(this);
    mainTimer = new QTimer(this);
    connect(mainTimer, SIGNAL(timeout()), this, SLOT(updateMain()));
    mainTimer->start(1000*refresh_period); //10 seconds
 
    //this->setWindowFlags(Qt::BypassWindowManagerHint); //Set window with no title bar
    //this->setWindowFlags(Qt::CustomizeWindowHint); //Set window with no title bar
    this->setWindowFlags(Qt::MSWindowsFixedSizeDialogHint); //Set window to fixed size
    //this->setWindowFlags(Qt::FramelessWindowHint); //Set a frameless window
    //this->setWindowFlags(Qt::WindowStaysOnTopHint); //Always on  top
 
    bool ret_load = true;
    ret_load &= img_background1.load(":/images/background.bmp");
    ret_load &= img_background2.load(":/images/background2.bmp");
    ret_load &= img_blocks.load(":/images/batt_blocks.bmp");
    ret_load &= img_charge.load(":/images/charge.bmp");
    ret_load &= img_numbers.load(":/images/numbers.bmp");
    if (ret_load == false)
    {
        yError("Failed loading graphics");
    }
 
    img_blocks.setMask(img_blocks.createMaskFromColor(QColor(255,0,255)));
    img_charge.setMask(img_charge.createMaskFromColor(QColor(255, 0, 255)));
    img_numbers.setMask(img_numbers.createMaskFromColor(QColor(255, 0, 255)));
 
    scene = new QGraphicsScene;
    QTimer::singleShot(0, this, &MainWindow::updateMain);
}