Line data Source code
1 : #include "../include/mainwindow.h"
2 :
3 : //adding layouts and widgets to main window
4 8 : MainWindow::MainWindow(QWidget *parent)
5 8 : : QMainWindow(parent), client(new QMqttClient(this))
6 : {
7 8 : left_dial = new Speed(this);
8 8 : right_dial = new Battery(this);
9 8 : object = new Object(this);
10 8 : temp = new Temperature(this);
11 8 : autonomy = new Autonomy(this);
12 8 : center_dial = new Lane(this);
13 8 : QVBoxLayout* mainlayout = new QVBoxLayout();
14 8 : QHBoxLayout* layout = new QHBoxLayout();
15 8 : QVBoxLayout* lane_layout = new QVBoxLayout();
16 8 : QHBoxLayout* centerbar = new QHBoxLayout();
17 8 : QWidget* centralWidget = new QWidget(this);
18 :
19 8 : layout->addWidget(left_dial, 1, Qt::AlignTop | Qt::AlignLeft);
20 8 : lane_layout->addWidget(center_dial, 0, Qt::AlignCenter);
21 8 : lane_layout->setStretch(0, 1);
22 8 : layout->addLayout(lane_layout, 1);
23 8 : layout->addWidget(right_dial, 1, Qt::AlignTop | Qt::AlignRight);
24 :
25 : // Create layouts
26 8 : object->setFixedSize(60, 60);
27 :
28 : // Create a main container for the entire bar
29 8 : QWidget *barContainer = new QWidget();
30 8 : QHBoxLayout *barLayout = new QHBoxLayout(barContainer);
31 8 : barLayout->setContentsMargins(20, 0, 80, 0); // Left/right margins
32 :
33 : // Left section with object
34 8 : barLayout->addWidget(object, 0, Qt::AlignLeft);
35 :
36 : // Center section with temp and autonomy
37 8 : QWidget *centerWidget = new QWidget();
38 8 : QHBoxLayout *centerLayout = new QHBoxLayout(centerWidget);
39 8 : centerLayout->setContentsMargins(0, 0, 0, 0);
40 8 : centerLayout->addStretch(1);
41 8 : temp->setFixedHeight(80); // or whatever looks right
42 8 : autonomy->setFixedHeight(80); // match temp
43 : // temp->setStyleSheet("border: 1px solid red;");
44 : // autonomy->setStyleSheet("border: 1px solid blue;");
45 :
46 8 : centerLayout->addWidget(temp, 0, Qt::AlignTop);
47 8 : centerLayout->addSpacing(30);
48 8 : centerLayout->addWidget(autonomy, 0, Qt::AlignTop);
49 8 : centerLayout->addStretch(1);
50 :
51 8 : barLayout->addWidget(centerWidget, 1); // Take remaining space
52 :
53 8 : mainlayout->addLayout(layout, 2);
54 8 : mainlayout->addWidget(barContainer, 1); // Add the container widget
55 :
56 8 : centralWidget->setLayout(mainlayout);
57 8 : setCentralWidget(centralWidget);
58 8 : setStyleSheet("background-color: rgb(0, 0, 20);");
59 8 : init_mqtt();
60 8 : }
61 :
62 : //close main window at destruction
63 16 : MainWindow::~MainWindow()
64 : {
65 8 : std::cout << "Remove Window" << std::endl;
66 8 : close();
67 16 : }
68 :
69 : //connecting to mqtt via cloud or localhost or to jetracer via network
70 8 : void MainWindow::init_mqtt()
71 : {
72 : // client->setHostname("972e24210b544ba49bfb9c1d3164d02b.s1.eu.hivemq.cloud"); //cloud
73 : // client->setPort(8883);
74 8 : QString user = qgetenv("user");
75 8 : client->setUsername(user);
76 8 : QString pass = qgetenv("password");
77 8 : client->setPassword(pass);
78 8 : client->setHostname("10.21.221.67"); //when on the same network
79 8 : client->setPort(1883); //cross compiling
80 : // client->setHostname("127.0.0.1"); //when cross-compiling with jetracer
81 :
82 8 : connect(client, &QMqttClient::connected, this, &MainWindow::connected);
83 8 : connect(client, &QMqttClient::messageReceived, this, &MainWindow::message_received);
84 8 : connect(client, &QMqttClient::errorChanged, this, [](QMqttClient::ClientError error) {
85 0 : qDebug() << "MQTT Client error:" << error;
86 0 : });
87 8 : client->connectToHostEncrypted(); //for cloud needs to be encrypted, for jetracer network or localhost its not encrypted
88 8 : }
89 :
90 : //subscribing to topic of mqtt
91 0 : void MainWindow::connected()
92 : {
93 0 : QMqttTopicFilter topic("jetracer/speed");
94 0 : auto speed_sub = client->subscribe(topic);
95 0 : QMqttTopicFilter battery("jetracer/battery");
96 0 : auto bat_sub = client->subscribe(battery);
97 0 : QMqttTopicFilter temp("jetracer/temperature");
98 0 : auto temp_sub = client->subscribe(temp);
99 0 : QMqttTopicFilter autono("jetracer/autonomy");
100 0 : auto autono_sub = client->subscribe(autono);
101 0 : QMqttTopicFilter lane("jetracer/lane_touch");
102 0 : auto lane_sub = client->subscribe(lane);
103 0 : QMqttTopicFilter speed50("jetracer/speed_50");
104 0 : auto speed50_sub = client->subscribe(speed50);
105 0 : QMqttTopicFilter speed80("jetracer/speed_80");
106 0 : auto speed80_sub = client->subscribe(speed80);
107 0 : if (!speed_sub || !bat_sub | !autono_sub || !temp_sub || !lane_sub || !speed50_sub || !speed80_sub) {
108 0 : qDebug() << "Failed to subscribe to topic";
109 : }
110 0 : }
111 :
112 : //receiving message and updating current
113 7 : void MainWindow::message_received(const QByteArray &message, const QMqttTopicName &topic)
114 : {
115 7 : qDebug() << topic.name() << ":" << message;
116 : bool ok;
117 7 : double msg = message.toDouble(&ok);
118 7 : if (ok) {
119 7 : if (topic.name() == "jetracer/speed") {
120 1 : QMetaObject::invokeMethod(this, [this, msg]() {
121 1 : left_dial->set_current(static_cast<float>(msg));
122 1 : }, Qt::AutoConnection);
123 : }
124 6 : else if (topic.name() == "jetracer/battery") {
125 1 : QMetaObject::invokeMethod(this, [this, msg]() {
126 1 : right_dial->set_current(msg);
127 1 : }, Qt::AutoConnection);
128 : }
129 5 : else if (topic.name() == "jetracer/temperature") {
130 1 : QMetaObject::invokeMethod(this, [this, msg]() {
131 1 : temp->set_temperature(msg);
132 1 : }, Qt::AutoConnection);
133 : }
134 4 : else if (topic.name() == "jetracer/autonomy") {
135 1 : QMetaObject::invokeMethod(this, [this, msg]() {
136 1 : autonomy->set_autonomy(msg);
137 1 : }, Qt::AutoConnection);
138 : }
139 3 : else if (topic.name() == "jetracer/lane_touch") {
140 1 : QMetaObject::invokeMethod(this, [this, msg]() {
141 1 : center_dial->set_lane(msg);
142 1 : }, Qt::AutoConnection);
143 : }
144 2 : else if (topic.name() == "jetracer/speed_50" || topic.name() == "jetracer/speed_80") {
145 2 : QMetaObject::invokeMethod(this, [this, msg, topic]() {
146 2 : object->set_object(msg, topic.name());
147 2 : }, Qt::AutoConnection);
148 : }
149 : } else {
150 0 : qDebug() << "Invalid data received";
151 : }
152 7 : }
153 :
154 8 : QMqttClient* MainWindow::get_client()
155 : {
156 8 : return client;
157 : }
158 :
159 2 : Battery* MainWindow::get_battery()
160 : {
161 2 : return right_dial;
162 : }
163 :
164 1 : Speed* MainWindow::get_speed()
165 : {
166 1 : return left_dial;
167 : }
168 :
169 2 : Autonomy* MainWindow::get_autonomy()
170 : {
171 2 : std::cout << "Getting autonomy\n";
172 2 : return autonomy;
173 : }
174 :
175 2 : Temperature* MainWindow::get_temperature()
176 : {
177 2 : return temp;
178 : }
179 :
180 4 : Lane* MainWindow::get_lane()
181 : {
182 4 : return center_dial;
183 : }
184 :
185 3 : Object* MainWindow::get_object()
186 : {
187 3 : return object;
188 : }
|
