Commit Iniziale

init/roboglue_init.cpp

@@ -0,0 +1,196 @@
+#include "roboglue_init.h"
+#include "ui_roboglue_init.h"
+
+RoboGlue_INIT::RoboGlue_INIT(QWidget *parent, const char*) : QMainWindow(parent) {
+
+    //////// SETUP LOGGER //////////
+    inilog = spdlog::stdout_logger_mt("RoboGlue_inilog");
+    inilog->info("INIT Started");
+
+    //////// SETUP USER INTERFACE ///////
+    ui = new Ui::RoboGlue_INIT;
+    ui->setupUi(this);
+
+    //////// INITIALIZE MEMORY MODULE ////////////
+    QCoreApplication::setOrganizationName("ETsoft");
+    QCoreApplication::setApplicationName("RoboGlue");
+    settings = new QSettings("../RoboGlue/roboglue.conf", QSettings::IniFormat);
+    sharedmem = new RoboGlue_SHARED(settings);
+
+    //////// RESTORE SETTINGS FOR ALL MODULES ////////////
+    sharedmem->restoreInitSettings();
+    sharedmem->restoreComSettings();
+    sharedmem->restoreGuiSettings();
+    sharedmem->restoreMainSettings();
+    sharedmem->restoreTrackSettings();
+
+    //////// RESTORE UI STATE ////////////
+    ui->chk_comAuto->setChecked(sharedmem->initSettings.autoCom);
+    ui->chk_guiAuto->setChecked(sharedmem->initSettings.autoGui);
+    ui->chk_mainAuto->setChecked(sharedmem->initSettings.autoMain);
+    ui->chk_trackAuto->setChecked(sharedmem->initSettings.autoTrack);
+
+    //////// AUTO START MODULES //////////
+    if (sharedmem->initSettings.autoGui) this->on_btn_guiStart_clicked();
+    if (sharedmem->initSettings.autoMain) this->on_btn_mainStart_clicked();
+    if (sharedmem->initSettings.autoCom) this->on_btn_comStart_clicked();
+    if (sharedmem->initSettings.autoTrack) this->on_btn_trackStart_clicked();
+
+    //////// CONNECT SIGNALS & SLOTS ///////
+    connect(this, SIGNAL(destroyed()), this, SLOT(deleteLater()), Qt::ConnectionType::QueuedConnection);
+}
+
+RoboGlue_INIT::~RoboGlue_INIT() {
+    // close order must be opposite of opening one
+    on_btn_trackStop_clicked();
+    on_btn_comStop_clicked();
+    on_btn_mainStop_clicked();
+    on_btn_guistop_clicked();
+
+    sharedmem->saveInitSettings();
+    sharedmem->saveMainSettings();
+    sharedmem->saveTrackSettings();
+    sharedmem->saveComSettings();
+    sharedmem->saveGuiSettings();
+
+    delete robot;
+    delete gui;
+    delete main;
+    delete track;
+    delete settings;
+    delete sharedmem;
+    delete ui;
+}
+
+
+///////////////////////////////////////////////////
+/////////////// HEARTBEAT SLOTS ///////////////////
+///////////////////////////////////////////////////
+void RoboGlue_INIT::on_robotHeartBeat(){
+
+}
+void RoboGlue_INIT::on_guiHeartBeat(){
+
+}
+
+void RoboGlue_INIT::on_mainHeartBeat(){
+
+}
+
+void RoboGlue_INIT::on_trackHeartBeat(){
+
+}
+///////////////////////////////////////////////////
+/////////////// BUTTON SLOTS //////////////////////
+///////////////////////////////////////////////////
+void RoboGlue_INIT::on_btn_comStart_clicked(){
+    if (robot == nullptr) {
+        robot = new RoboGlue_COM(sharedmem);
+        robot->start();
+        // connect signals
+        if (gui != nullptr){
+            // robot to gui
+            connect(robot, SIGNAL(com_newData(void)),
+                    gui, SLOT(on_newRobotData(void)), Qt::ConnectionType::QueuedConnection);
+            //gui to robot
+            connect(gui, SIGNAL(sendROScommand(QString, QVariantMap)),
+                    robot, SLOT(on_sendROScommand(QString,QVariantMap)),
+                    Qt::ConnectionType::QueuedConnection);
+            connect(gui, SIGNAL(sendROScoordinates(QList<double>)),
+                    robot, SLOT(on_sendROScoordinates(QList<double>)),
+                    Qt::ConnectionType::QueuedConnection);
+            connect(gui, SIGNAL(sendROSstate(QMap<std::string, bool>, QMap<std::string, uint16_t>)),
+                    robot, SLOT(on_sendROSstate(QMap<std::string, bool>, QMap<std::string, uint16_t>)),
+                    Qt::ConnectionType::QueuedConnection);
+            connect(gui, SIGNAL(robotSendURscript(QString)),
+                    robot, SLOT(on_sendURscript(QString)),
+                    Qt::ConnectionType::QueuedConnection);
+            connect(gui, SIGNAL(robotConnect(QString, uint, uchar)),
+                    robot, SLOT(on_connect(QString, uint, uchar)),
+                    Qt::ConnectionType::QueuedConnection);
+            connect(gui, SIGNAL(robotDisconnect()),
+                    robot, SLOT(on_disconnect()),
+                    Qt::ConnectionType::QueuedConnection);
+        }
+        // robot to init
+        connect(robot, SIGNAL(com_heartBeat(void)),
+                this, SLOT(on_robotHeartBeat(void)), Qt::ConnectionType::QueuedConnection);
+        // shared memory to robot
+        connect(sharedmem, SIGNAL(commonStatusChange(void)),
+                robot, SLOT(on_commonStatusChange(void)));
+    }
+}
+
+void RoboGlue_INIT::on_btn_comStop_clicked() {
+    if (robot == nullptr) return;
+    robot->on_quit();
+    while (!robot->isFinished()){
+        QThread::msleep(100);
+    }
+    robot->deleteLater();
+    robot=nullptr;
+}
+
+void RoboGlue_INIT::on_btn_guiStart_clicked() {
+    if (gui == nullptr) {
+        gui = new RoboGlue_GUI(sharedmem);
+        gui->show();
+        // shared memory to robot
+        connect(sharedmem, SIGNAL(commonStatusChange(void)),
+                gui, SLOT(on_commonStatusChange(void)));
+        if (robot != nullptr){
+        }
+    }
+}
+
+void RoboGlue_INIT::on_btn_guistop_clicked() {
+    if (gui == nullptr) return;
+    gui->deleteLater();
+    gui = nullptr;
+}
+
+void RoboGlue_INIT::on_btn_mainStart_clicked() {
+    if (main == nullptr){
+        main = new RoboGlue_MAIN(sharedmem);
+        main->start();
+        // connect signals
+        // connect()
+    }
+}
+
+void RoboGlue_INIT::on_btn_mainStop_clicked(){
+    if (main == nullptr) return;
+    main->deleteLater();
+    main = nullptr;
+}
+
+void RoboGlue_INIT::on_btn_trackStart_clicked() {
+    if (track == nullptr){
+        track = new RoboGlue_TRACK(sharedmem);
+        track->start();
+        // connect signals
+        // connect()
+    }
+}
+
+void RoboGlue_INIT::on_btn_trackStop_clicked() {
+    if (track == nullptr) return;
+    track->deleteLater();
+    track = nullptr;
+}
+
+void RoboGlue_INIT::on_chk_comAuto_clicked(bool checked) {
+    sharedmem->initSettings.autoCom=checked;
+}
+
+void RoboGlue_INIT::on_chk_guiAuto_clicked(bool checked) {
+    sharedmem->initSettings.autoGui=checked;
+}
+
+void RoboGlue_INIT::on_chk_trackAuto_clicked(bool checked) {
+    sharedmem->initSettings.autoTrack=checked;
+}
+
+void RoboGlue_INIT::on_chk_mainAuto_clicked(bool checked){
+    sharedmem->initSettings.autoMain=checked;
+}

init/roboglue_init.h

@@ -0,0 +1,61 @@
+#ifndef ROBOGLUE_INIT_H
+#define ROBOGLUE_INIT_H
+
+#include <QMainWindow>
+#include <QThread>
+#include <QSettings>
+#include <spdlog/logger.h>
+#include <spdlog/sinks/stdout_sinks.h>
+#include <shared/roboglue_shared.h>
+#include <gui/roboglue_gui.h>
+#include <com/roboglue_com.h>
+#include <track/roboglue_track.h>
+#include <main/roboglue_main.h>
+
+namespace Ui {
+class RoboGlue_INIT;
+}
+
+class RoboGlue_INIT : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    explicit RoboGlue_INIT(QWidget *parent = nullptr, const char* settingsFile = nullptr);
+    virtual ~RoboGlue_INIT();
+
+private:
+    shared_ptr<spdlog::logger> inilog;
+
+    Ui::RoboGlue_INIT *ui;
+
+    QSettings *settings;
+    RoboGlue_SHARED *sharedmem;
+    RoboGlue_COM *robot = nullptr;
+    RoboGlue_GUI *gui = nullptr;
+    RoboGlue_MAIN *main = nullptr;
+    RoboGlue_TRACK *track = nullptr;
+
+private slots:
+    // modules heartbeat slots
+    void on_robotHeartBeat();
+    void on_guiHeartBeat();
+    void on_mainHeartBeat();
+    void on_trackHeartBeat();
+    // button slots
+    void on_btn_comStart_clicked();
+    void on_btn_guiStart_clicked();
+    void on_btn_comStop_clicked();
+    void on_btn_guistop_clicked();
+    void on_btn_mainStart_clicked();
+    void on_btn_trackStart_clicked();
+    void on_btn_mainStop_clicked();
+    void on_btn_trackStop_clicked();
+    // checkbox slots
+    void on_chk_comAuto_clicked(bool checked);
+    void on_chk_guiAuto_clicked(bool checked);
+    void on_chk_trackAuto_clicked(bool checked);
+    void on_chk_mainAuto_clicked(bool checked);
+};
+
+#endif // ROBOGLUE_INIT_H

init/roboglue_init.ui

@@ -0,0 +1,279 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>RoboGlue_INIT</class>
+ <widget class="QMainWindow" name="RoboGlue_INIT">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>499</width>
+    <height>248</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>RoboGlue_INIT</string>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <layout class="QVBoxLayout" name="verticalLayout">
+    <item>
+     <widget class="QLabel" name="lbl_title">
+      <property name="text">
+       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:20pt;&quot;&gt;RoboGlue_INIT&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      </property>
+      <property name="textFormat">
+       <enum>Qt::RichText</enum>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <item row="5" column="3">
+       <widget class="QLabel" name="lbl_guiStatus">
+        <property name="maximumSize">
+         <size>
+          <width>50</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="2">
+       <widget class="QPushButton" name="btn_comStop">
+        <property name="text">
+         <string>STOP</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>Module</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="4">
+       <widget class="QCheckBox" name="chk_mainAuto">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string notr="true">Auto</string>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="1">
+       <widget class="QPushButton" name="btn_guiStart">
+        <property name="text">
+         <string>START</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_3">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string>RoboGlue_MAIN</string>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="4">
+       <widget class="QCheckBox" name="chk_guiAuto">
+        <property name="text">
+         <string>Auto</string>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="0">
+       <widget class="QLabel" name="label_2">
+        <property name="text">
+         <string>RoboGlue_GUI</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="3">
+       <widget class="QLabel" name="lbl_mainStatus">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>50</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QPushButton" name="btn_mainStart">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string>START</string>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="2">
+       <widget class="QPushButton" name="btn_guistop">
+        <property name="text">
+         <string>STOP</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="0">
+       <widget class="QLabel" name="label">
+        <property name="text">
+         <string>RoboGlue_COM</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="3">
+       <widget class="QLabel" name="label_6">
+        <property name="text">
+         <string>Status</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QPushButton" name="btn_comStart">
+        <property name="text">
+         <string>START</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QPushButton" name="btn_mainStop">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string>STOP</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="4">
+       <widget class="QLabel" name="label_7">
+        <property name="text">
+         <string>AutoStart</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="4">
+       <widget class="QCheckBox" name="chk_comAuto">
+        <property name="text">
+         <string>Auto</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="3">
+       <widget class="QLabel" name="lbl_comStatus">
+        <property name="maximumSize">
+         <size>
+          <width>50</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_4">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string>RoboGlue_TRACK</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QPushButton" name="btn_trackStart">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string>START</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QPushButton" name="btn_trackStop">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string>STOP</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="4">
+       <widget class="QCheckBox" name="chk_trackAuto">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string>Auto</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="3">
+       <widget class="QLabel" name="lbl_trackStatus">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>50</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <spacer name="verticalSpacer">
+      <property name="orientation">
+       <enum>Qt::Vertical</enum>
+      </property>
+      <property name="sizeHint" stdset="0">
+       <size>
+        <width>20</width>
+        <height>40</height>
+       </size>
+      </property>
+     </spacer>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>