main_window.cpp

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/*****************************************************************************
** Includes
*****************************************************************************/

#include <QtGui>
#include <QMessageBox>
#include <QTimer>
#include <iostream>
#include "../include/tibi_dabo_gui/main_window.hpp"
#include <wiimote/State.h>

/*****************************************************************************
** Namespaces
*****************************************************************************/

namespace tibi_dabo_gui {

using namespace Qt;

/*****************************************************************************
** Implementation [MainWindow]
*****************************************************************************/

MainWindow::MainWindow(int argc, char** argv, QWidget *parent)
  : QMainWindow(parent)
  , qnode(argc,argv)
{
  ui.setupUi(this); // Calling this incidentally connects all ui's triggers to on_...() callbacks in this class.
  QObject::connect(ui.actionAbout_Qt, SIGNAL(triggered(bool)), qApp, SLOT(aboutQt())); // qApp is a global variable for the application
  ReadSettings();
  setWindowIcon(QIcon(":/images/logos/iri.png"));
  ui.tab_manager->setCurrentIndex(0); // ensure the first tab is showing - qt-designer should have this already hardwired, but often loses it (settings?).
  QObject::connect(&qnode, SIGNAL(rosShutdown()), this, SLOT(close()));
  QObject::connect(ui.tab_manager, SIGNAL(currentChanged(int)), this, SLOT(changedTab()));

  QTextCodec::setCodecForCStrings(QTextCodec::codecForName("UTF-8"));
  this->playImage = true;

  this->loadTexts();

  /*********************
  ** Auto Start
  **********************/
  qnode.initialize();
  this->setLanguage(1); //English

  //TODO: switch blank/arrow cursor with param?
  qApp->setOverrideCursor(QCursor(Qt::BlankCursor));
  //qApp->setOverrideCursor(QCursor(Qt::ArrowCursor));

  QTimer *timer = new QTimer(this);
  connect(timer, SIGNAL(timeout()), this, SLOT(timerDone()));
  timer->start(100);
}

MainWindow::~MainWindow() {}

/*****************************************************************************
** Implementation [Slots]
*****************************************************************************/

/*
 * These triggers whenever the button is clicked, regardless of whether it
 * is already checked or not.
 */

// void MainWindow::on_button_home_clicked(bool check)
// {
//   qnode.buttonPressed(wiimote::State::MSG_BTN_HOME);
// }


void MainWindow::on_button_question_0_clicked(bool check)
{
  std::string answer;
  answer = qnode.processAnswer(0);
  QString q = answer.c_str();
  ui.label_answer_text->setText(q);
}

void MainWindow::on_button_question_1_clicked(bool check)
{
  std::string answer;
  answer = qnode.processAnswer(1);
  QString q = answer.c_str();
  ui.label_answer_text->setText(q);
}

void MainWindow::on_button_question_2_clicked(bool check)
{
  std::string answer;
  answer = qnode.processAnswer(2);
  QString q = answer.c_str();
  ui.label_answer_text->setText(q);
}

void MainWindow::on_button_question_3_clicked(bool check)
{
  std::string answer;
  answer = qnode.processAnswer(3);
  QString q = answer.c_str();
  ui.label_answer_text->setText(q);
}

void MainWindow::on_button_question_4_clicked(bool check)
{
  std::string answer;
  answer = qnode.processAnswer(4);
  QString q = answer.c_str();
  ui.label_answer_text->setText(q);
}

void MainWindow::on_button_question_5_clicked(bool check)
{
  std::string answer;
  answer = qnode.processAnswer(5);
  QString q = answer.c_str();
  ui.label_answer_text->setText(q);
}

void MainWindow::on_button_cat_clicked(bool check)
{
  this->setLanguage(0);
}

void MainWindow::on_button_eng_clicked(bool check)
{
  this->setLanguage(1);
}

void MainWindow::on_button_esp_clicked(bool check)
{
  this->setLanguage(2);
}

void MainWindow::on_button_pause_clicked(bool check)
{
  if(this->playImage)
  {
    //ui.button_pause->setText("PLAY");
    ui.button_pause->setIcon(QIcon(":/images/icons/play.png"));
    this->playImage = false;
  }
  else
  {
    //ui.button_pause->setText("PAUSE");
    ui.button_pause->setIcon(QIcon(":/images/icons/pause.png"));
    this->playImage = true;
  }
}

void MainWindow::on_button_yes_clicked(bool check)
{
  qnode.haodButtonPressed(wiimote::State::MSG_BTN_1);
}

void MainWindow::on_button_no_clicked(bool check)
{
  qnode.haodButtonPressed(wiimote::State::MSG_BTN_2);
}

void MainWindow::on_button_help_clicked(bool check)
{
  qnode.haodButtonPressed(wiimote::State::MSG_BTN_HOME);
}

void MainWindow::on_button_stop_clicked(bool check)
{
  qnode.haodButtonPressed(wiimote::State::MSG_BTN_B);
  ui.button_yes->setEnabled(false);
  ui.button_no->setEnabled(false);
  ui.button_stop->setEnabled(false);
  ui.button_help->setEnabled(true);
}

void MainWindow::mousePressEvent(QMouseEvent *event)
{
  if(ui.tab_manager->currentIndex()==0 && !qnode.haodRunning())
  {
    //from global (main_window) to local (label_image widget)
    QPoint mappedPos = ui.label_image->mapFrom(this, event->pos());
    //if left click and coordinates inside image
    //label can have different size as image
    int x = mappedPos.x() - (ui.label_image->width()  - this->image_width)/2;
    int y = mappedPos.y() - (ui.label_image->height() - this->image_height)/2;
    if((Qt::LeftButton == event->button()) && 
        x>0 && x<this->image_width && 
        y>0 && y<this->image_height)
    {
      std::vector<int> point(2);
      point[0] = (x*this->image_width_original)/this->image_width;
      point[1] = (y*this->image_height_original)/this->image_height;
      qnode.setImagePoint(point);
      ui.button_stop->setEnabled(true);
      ui.button_help->setEnabled(false);
    }
  }
}

void MainWindow::changedTab()
{
  if(ui.tab_manager->currentIndex()!=0)
  {
    qnode.haodButtonPressed(wiimote::State::MSG_BTN_MINUS);
    ui.button_yes->setEnabled(false);
    ui.button_no->setEnabled(false);
    ui.button_stop->setEnabled(false);
    ui.button_help->setEnabled(true);
  }
  else if(ui.tab_manager->currentIndex()!=1)
  {
    qnode.cancelHri();
  }
}

// void MainWindow::imageLabelClicked(QMouseEvent *event)
// {
//   std::cout << "imageLabelClicked SLOT" << std::endl;
// }

/*****************************************************************************
** Implemenation [Slots][manually connected]
*****************************************************************************/
void MainWindow::timerDone()
{
  this->loadImage();
  this->checkAssistance();
}

void MainWindow::checkAssistance()
{
  if(qnode.needAssistance() && qnode.haodRunning())
  {
    //activate yes/no buttons when assistance is needed
    std::cout << "MainWindow::checkAssistance:: enabling buttons yes/no" << std::endl;
    ui.button_yes->setEnabled(true);
    ui.button_no->setEnabled(true);
  }
  else
  {
    ui.button_yes->setEnabled(false);
    ui.button_no->setEnabled(false);
  }
}

void MainWindow::loadImage()
{
  if(ui.tab_manager->currentIndex()==0 && this->playImage) //Image tab
  {
    uchar* data;
    int width;
    int height;
    std::string encoding;
    bool ok;
    if(!qnode.haodRunning())
      ok=qnode.getImage(data, width, height, encoding);
    else
      ok=qnode.getImageDetect(data,width,height,encoding);

    if(ok)
    {
      QImage::Format format;
      bool format_ok=false;
      if(encoding=="rgb8")
      {
        format=QImage::Format_RGB888;
        format_ok=true;
      }
      else if(encoding=="mono8")
      {
        format=QImage::Format_Mono;
        format_ok=true;
      }
      else if(encoding=="bgr8")
      {
        format=QImage::Format_RGB888;
        format_ok=true;
      }
      else
      {
//        std::cout << "format not expexted:" << encoding << std::endl;
      }
      if(format_ok)
      {
        QImage myImage(data, width, height, format);
        if(encoding=="bgr8")
        {
          QImage swapImg = myImage.rgbSwapped();
          myImage=swapImg;
        }
        //QPixmap p(QPixmap::fromImage(myImage));

        if(!qnode.haodRunning())
        {
          //draw face rectangles on qimage
          QPainter qPainter(&myImage);
          QPen pen(Qt::blue);
          pen.setWidth(3);
          qPainter.setBrush(Qt::NoBrush);
          qPainter.setPen(pen);
          std::vector<std::vector<int> > rects = qnode.getRects();
          for(unsigned int i=0; i<rects.size(); i++)
          {
            int w=rects[i][2];
            int h=rects[i][3];
            int x=rects[i][0]-w/2;
            int y=rects[i][1]-h/2;
            qPainter.drawRect(x,y,w,h);
          }
        }
        
        QPixmap p(QPixmap::fromImage(myImage));
        
        //original image size
        this->image_width_original = p.width();
        this->image_height_original = p.height();
        QPixmap p2= p.scaled(ui.label_image->width(),ui.label_image->height(),Qt::KeepAspectRatio);
        //scaled image size
        this->image_width  = p2.width();
        this->image_height = p2.height();
        ui.label_image->setPixmap(p2);
        ui.label_image->setScaledContents(false);
        //ui.label_image->adjustSize();
      }
    }
  }
}

void MainWindow::setLanguage(int index)
{
  if(index!=this->lastLanguage)
  {
    for(unsigned int i=0; i<this->tabs.size(); i++)
    {
      ui.tab_manager->setTabText(i, this->tabs[i][index].c_str());
    }
    ui.button_question_0->setText(qnode.qas[0].question[index].c_str());
    ui.button_question_1->setText(qnode.qas[1].question[index].c_str());
    ui.button_question_2->setText(qnode.qas[2].question[index].c_str());
    ui.button_question_3->setText(qnode.qas[3].question[index].c_str());
    ui.button_question_4->setText(qnode.qas[4].question[index].c_str());
    ui.button_question_5->setText(qnode.qas[5].question[index].c_str());
    ui.label_answer_text->setText("");
    ui.label_info_title->setText(this->info[0][index].c_str());
    ui.label_info_1->setText(this->info[1][index].c_str());
    ui.label_info_2->setText(this->info[2][index].c_str());
    ui.label_info_3->setText(this->info[3][index].c_str());
    ui.label_info_4->setText(this->info[4][index].c_str());
    ui.label_info_5->setText(this->info[5][index].c_str());
    ui.label_info_title_2->setText(this->info[6][index].c_str());
    ui.label_info_6->setText(this->info[7][index].c_str());
    ui.label_info_7->setText(this->info[8][index].c_str());
    ui.label_info_8->setText(this->info[9][index].c_str());
    ui.label_info_9->setText(this->info[10][index].c_str());
    ui.label_info_10->setText(this->info[11][index].c_str());

    if(index==0)
    {
      std::cout << "Setting language to Catalan" << std::endl;
      ui.button_cat->setIcon(QIcon(":/images/lang/cat.png"));
      ui.button_eng->setIcon(QIcon(":/images/lang/eng_bw.png"));
      ui.button_esp->setIcon(QIcon(":/images/lang/esp_bw.png"));
    }
    else if(index==1)
    {
      std::cout << "Setting language to English" << std::endl;
      ui.button_cat->setIcon(QIcon(":/images/lang/cat_bw.png"));
      ui.button_eng->setIcon(QIcon(":/images/lang/eng.png"));
      ui.button_esp->setIcon(QIcon(":/images/lang/esp_bw.png"));
    }
    else if(index==2)
    {
      std::cout << "Setting language to Spanish" << std::endl;
      ui.button_cat->setIcon(QIcon(":/images/lang/cat_bw.png"));
      ui.button_eng->setIcon(QIcon(":/images/lang/eng_bw.png"));
      ui.button_esp->setIcon(QIcon(":/images/lang/esp.png"));
    }

    qnode.setLanguage(index);
    this->lastLanguage=index;
  }
}

void MainWindow::loadTexts()
{
  std::vector<std::string> tab;
  tab.push_back("Càmara");
  tab.push_back("Camera");
  tab.push_back("Cámara");
  this->tabs.push_back(tab);
  tab.clear();
  tab.push_back("Preguntes");
  tab.push_back("Questions");
  tab.push_back("Preguntas");
  this->tabs.push_back(tab);
  tab.clear();
  tab.push_back("Info");
  tab.push_back("Info");
  tab.push_back("Info");
  this->tabs.push_back(tab);
  tab.clear();
  tab.push_back("Sobre");
  tab.push_back("About");
  tab.push_back("Acerca de");
  this->tabs.push_back(tab);
  tab.clear();
  
  std::vector<std::string> text;
  text.push_back("<b>Tibi i Dabo</b>");
  text.push_back("<b>Tibi and Dabo<b>");
  text.push_back("<b>Tibi y Dabo<b>");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Robots socials i urbans.");
  text.push_back("- Social and urban robots.");
  text.push_back("- Robots sociales y urbanos");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Plataforma <i><b>Segway rmp200</i></b> per navegació en entorns urbans.");
  text.push_back("- <i><b>Segway rmp200</i></b> platform for navigation in urban environments.");
  text.push_back("- Plataforma <i><b>Segway rmp200</i></b> para navegación en entornos urbanos.");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Sensors de rang làser <i><b>Hokuyo</i></b> per localització i detecció d'obstacles.");
  text.push_back("- <i><b>Hokuyo</i></b> range laser sensors for localization and obstacle detection.");
  text.push_back("- Sensores de rango láser <i><b>Hokuyo</i></b> para localización y detección de obstáculos.");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Càmara estèreo <i><b>Bumblebee2</i></b> per visió per computador.");
  text.push_back("- <i><b>Bumblebee2</i></b> Stereo camera for computer visión.");
  text.push_back("- Cámara estéreo <i><b>Bumblebee2</i></b> para visión por computador.");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Cap, braços, pantalla tàctil i parla per la interacció humà robot");
  text.push_back("- Head, arms, touch screen and speech for human robot interaction.");
  text.push_back("- Cabeza, brazos, pantalla táctil y habla para la interacción humano robot.");
  this->info.push_back(text);
  text.clear();
  text.push_back("<b>Cotxe</b>");
  text.push_back("<b>Car</b>");
  text.push_back("<b>Coche</b>");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Vehicle de transport autònom.");
  text.push_back("- Autonomous transport vehicle.");
  text.push_back("- Vehículo de transporte autónomo.");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Plataforma Ackerman tipus cotxe.");
  text.push_back("- Ackerman car-like platform.");
  text.push_back("- Plataforma Ackerman tipo coche");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Sensors de rang làser: parada de seguretat, detecció d'obstacles i localització.");
  text.push_back("- Range laser sensors: security stop, obstacle detection and localization.");
  text.push_back("- Sensores de rango láser para parada de seguridad, detección de obstáculos y localización.");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Làser 3D Velodyne i Càmara 360º Ladybug: percepció de l'entorn.");
  text.push_back("- 3D laser Velodyne and 360 camera Ladybug: environment perception.");
  text.push_back("- Láser 3D Velodyne i cámara 360º Ladybug: percepción del entorno.");
  this->info.push_back(text);
  text.clear();
  text.push_back("- Pantalla tàctil: interacció amb passatgers.");
  text.push_back("- Touchscreen: passengers interaction.");
  text.push_back("- Pantalla táctil: interacción con pasajeros.");
  this->info.push_back(text);
  text.clear();
}

/*****************************************************************************
** Implementation [Menu]
*****************************************************************************/

void MainWindow::on_actionAbout_triggered() {
    QMessageBox::about(this, tr("About ..."),tr("<h2>Tibi Dabo Gui</h2><p>Copyright IRI</p><p>Graphic User Interface for Tibi Dabo robots.</p>"));
}

/*****************************************************************************
** Implementation [Configuration]
*****************************************************************************/

void MainWindow::ReadSettings() {
    QSettings settings("Qt-Ros Package", "tibi_dabo_gui");
    restoreGeometry(settings.value("geometry").toByteArray());
    restoreState(settings.value("windowState").toByteArray());
}

void MainWindow::WriteSettings() {
    QSettings settings("Qt-Ros Package", "tibi_dabo_gui");
    settings.setValue("geometry", saveGeometry());
    settings.setValue("windowState", saveState());
}

void MainWindow::closeEvent(QCloseEvent *event)
{
        WriteSettings();
        QMainWindow::closeEvent(event);
}

}  // namespace tibi_dabo_gui