qgraphpainter.cpp

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/*****************************************************************
 *
 * This file is part of the GMAPPING project
 *
 * GMAPPING Copyright (c) 2004 Giorgio Grisetti, 
 * Cyrill Stachniss, and Wolfram Burgard
 *
 * This software is licensed under the 3-Clause BSD License
 * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, 
 * and Wolfram Burgard.
 * 
 * Further information on this license can be found at:
 * https://opensource.org/licenses/BSD-3-Clause
 * 
 * GMAPPING is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied 
 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 * PURPOSE.  
 *
 *****************************************************************/


#include <iostream>
#include "gmapping/gui/qgraphpainter.h"
#include "moc_qgraphpainter.cpp"
using namespace std;

QGraphPainter::QGraphPainter( QWidget * parent, const char * name, WFlags f):
        QWidget(parent, name, f|WRepaintNoErase|WResizeNoErase){
        m_pixmap=new QPixmap(size());
        m_pixmap->fill(Qt::white);
        autoscale=false;
        m_useYReference = false;
}

void QGraphPainter::resizeEvent(QResizeEvent * sizeev){
        m_pixmap->resize(sizeev->size());
}

QGraphPainter::~QGraphPainter(){
        delete m_pixmap;
}

void QGraphPainter::clear(){
        values.clear();
}

void QGraphPainter::valueAdded(double v){
        values.push_back(v);
}

void QGraphPainter::valueAdded(double v, double _min, double _max){
        setRange(_min, _max);
        values.push_back(v);
}

void QGraphPainter::setYReference(double y){
  m_useYReference = true;
        reference=y;
}

void QGraphPainter::disableYReference(){
  m_useYReference = false;
}


void QGraphPainter::setTitle(const char* t){
        title=t;
}

void QGraphPainter::setRange(double _min, double _max){
        min=_min;
        max=_max;
}

void QGraphPainter::setAutoscale(bool a) {
        autoscale=a;
}

bool QGraphPainter::getAutoscale() const {
        return autoscale;
}

void QGraphPainter::timerEvent(QTimerEvent * te) {
        if (te->timerId()==timer) 
                update();
}

void QGraphPainter::start(int period){
        timer=startTimer(period);
}



void QGraphPainter::paintEvent ( QPaintEvent * ){
        m_pixmap->fill(Qt::white);
        QPainter painter(m_pixmap);
        double _min=MAXDOUBLE, _max=-MAXDOUBLE;
        if (autoscale){
                for (unsigned int i=0; i<(unsigned int)width() && i<values.size(); i++){
                        _min=_min<values[i]?_min:values[i];
                        _max=_max>values[i]?_max:values[i];
                }
        } else {
                _min=min;
                _max=max;
        }
        

        painter.setPen(Qt::black);
        painter.drawRect(0, 0, width(), height());
        const int boundary=2;
        int xoffset=40;
        double scale=((double)height()-2*boundary-2)/(_max-_min);

        if (m_useYReference) {
          painter.setPen(Qt::green);
          painter.drawLine(xoffset+boundary/2, height()-(int)(scale*(reference-_min)), 
                           width()-boundary/2, height()-(int)(scale*(reference-_min)));
        }
        painter.setPen(Qt::blue);
        unsigned int start=0;
        if (values.size()>(unsigned int)width()-2*boundary-xoffset)
                start=values.size()-width()+2*boundary+xoffset;
        int oldv=0;
        if ((unsigned int)width()-2*boundary-xoffset>1 && values.size()>1)
          oldv = (int)(scale*(values[1+start]-_min)) + boundary;
        
        for (unsigned int i=1; i<(unsigned int)width()-2*boundary-xoffset && i<values.size(); i++){
                int v=(int)(scale*(values[i+start]-_min)) + boundary;
                painter.drawLine(i-1+boundary+xoffset, height()-boundary-oldv, 
                                 xoffset+i+boundary, height()-boundary-v);
                oldv=v;
        }
        painter.setPen(Qt::black);
        painter.drawText( 3, height()/2, title);
        QFont sansFont( "Helvetica [Cronyx]", 6);       
        painter.setFont(sansFont);
        bitBlt(this,0,0,m_pixmap,0,0,m_pixmap->width(),m_pixmap->height(),CopyROP);
}