laserscanwidget.cpp

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#include "VisualisationUtils/laserscanwidget.h"
#include <iostream>

#include <QtGui/QApplication>
#include <QtConcurrentRun>

#include <qapplication.h>
#ifndef Q_MOC_RUN
#include <sensor_msgs/LaserScan.h>
#include <ros/ros.h>
#include <ros/init.h>
#include <qwt_series_data.h>
#include <qwt_symbol.h>
#endif
#include <QLayout>

using namespace std;
    LaserScanWidget::LaserScanWidget(QWidget *parent, int appearance, unsigned int showData, LaserScanThread *currentThread) :
        QWidget(parent)
    {
        this->currentThread = currentThread;
        connect(currentThread, SIGNAL(valueChanged()),this, SLOT(replot()));
        //plot_polar = 0;
        plot_flat = 0;
        this->appearance = -1;
        setGraph(appearance, showData);
    }

    void LaserScanWidget::setGraph(int appearance, unsigned int showData)
    {
        QPen pen1(Qt::gray, 1, Qt::SolidLine);
        QPen pen2(Qt::red, 1, Qt::SolidLine);
        QPen pen3(Qt::green, 1, Qt::SolidLine);
        QPen pen4(Qt::red, 3, Qt::SolidLine);
        QPen pen5(Qt::red, 3, Qt::SolidLine);

        if (this->appearance != appearance)
        {
            /*if (plot_polar != 0)
            {
                plot_polar->setVisible(false);
                //layout()->removeWidget(plot_polar);
                delete plot_polar;
                plot_polar = 0;
            }*/
            if (plot_flat != 0)
            {
                plot_flat->setVisible(false);
                //layout()->removeWidget(plot_flat);
                delete plot_flat;
                plot_flat = 0;
            }

        this->appearance = appearance;

        if (appearance == APPEARENCE_POLAR)
        {
            /*int value_count;
            value_count = currentThread->data_field_size*(360/currentThread->angle_spread);
            plot_polar = new QwtPolarPlot(this);
            plot_polar->setAzimuthOrigin(0);

            plot_polar->setScale(QwtPolar::Azimuth, 0, value_count);
            plot_polar->setAzimuthOrigin(currentThread->starting_angle*(M_PI/180));
            plot_polar->setScale(QwtPolar::Radius, 0, 4.0);
            curve_roh_polar = new QwtPolarCurve();
            curve_roh_polar->setPen(pen1);
            curve_roh_polar->setSymbol(new QwtSymbol(QwtSymbol::Ellipse,QBrush(Qt::blue),QPen (Qt::blue),QSize(1,1)));
            seriesData_raw = new PolarPointSeriesData(&(currentThread->dx[0]), &(currentThread->data_raw[0]), currentThread->data_field_size);
            curve_roh_polar->setData(seriesData_raw);

            curve_gemittelt_polar = new QwtPolarCurve();
            curve_gemittelt_polar->setPen(pen2);
            curve_gemittelt_polar->setSymbol(new QwtSymbol(QwtSymbol::Ellipse,QBrush(Qt::blue),QPen (Qt::blue),QSize(1,1)));
            seriesData_avg = new PolarPointSeriesData(&(currentThread->dx[0]), &(currentThread->data_avg[0]), currentThread->data_field_size);
            curve_gemittelt_polar->setData(seriesData_avg);

            curve_gauss_polar = new QwtPolarCurve();
            curve_gauss_polar->setPen(pen3);
            curve_gauss_polar->setSymbol(new QwtSymbol(QwtSymbol::Ellipse,QBrush(Qt::blue),QPen (Qt::blue),QSize(1,1)));
            seriesData_filtered = new PolarPointSeriesData(&(currentThread->dx[0]), &(currentThread->data_filtered[0]), currentThread->data_field_size);
            curve_gauss_polar->setData(seriesData_filtered);

            curve_erkannt_polar = new QwtPolarCurve();
            curve_erkannt_polar->setPen(pen4);
            curve_erkannt_polar->setSymbol(new QwtSymbol(QwtSymbol::Ellipse,QBrush(Qt::blue),QPen (Qt::blue),QSize(1,1)));
            seriesData_segments = new PolarPointSeriesData(&(currentThread->dx[0]), &(currentThread->data_segments[0]), currentThread->data_field_size);
            curve_erkannt_polar->setData(seriesData_segments);

            curve_ecke_polar = new QwtPolarCurve();
            curve_ecke_polar->setPen(pen5);
            curve_ecke_polar->setSymbol(new QwtSymbol(QwtSymbol::Ellipse,QBrush(Qt::blue),QPen (Qt::blue),QSize(1,1)));
            seriesData_edges = new PolarPointSeriesData(&(currentThread->dx[0]), &(currentThread->data_edges[0]), currentThread->data_field_size);
            curve_ecke_polar->setData(seriesData_edges);

            plot_polar->setAutoReplot(true);
            plot_polar->show();
            plot_polar->resize(this->width(),this->height());*/
        }
        else if (appearance == APPEARENCE_FLAT)
        {
            plot_flat = new QwtPlot(this);
            plot_flat->setAxisScale(QwtPlot::yLeft, 0,6);
            plot_flat->setAxisScale(QwtPlot::xBottom, currentThread->starting_angle,currentThread->starting_angle + currentThread->angle_spread,30.0);
            //plot_flat->setAxisScale(QwtPlot::xBottom, currentThread->starting_angle,currentThread->starting_angle + currentThread->data_field_size * currentThread->angle_spread);
                curve_roh_flat = new QwtPlotCurve();
                curve_roh_flat->setPen(pen1);
                curve_roh_flat->setRawSamples(currentThread->dx, currentThread->data_raw, currentThread->data_field_size);

                curve_gemittelt_flat = new QwtPlotCurve();
                curve_gemittelt_flat->setPen(pen2);
                curve_gemittelt_flat->setRawSamples(currentThread->dx, currentThread->data_avg, currentThread->data_field_size);

                curve_gauss_flat = new QwtPlotCurve();
                curve_gauss_flat->setPen(pen3);
                curve_gauss_flat->setRawSamples(currentThread->dx, currentThread->data_filtered, currentThread->data_field_size);

                curve_erkannt_flat = new QwtPlotCurve();
                curve_erkannt_flat->setPen(pen4);
                curve_erkannt_flat->setRawSamples(currentThread->dx, currentThread->data_segments, currentThread->data_field_size);

                curve_ecke_flat = new QwtPlotCurve();
                curve_ecke_flat->setPen(pen5);
                curve_ecke_flat->setRawSamples(currentThread->dx, currentThread->data_edges, currentThread->data_field_size);

            plot_flat->setAutoReplot(true);
            plot_flat->show();
            plot_flat->resize(this->width(),this->height());
        }
        setCurves(showData);
        }
    }

    void LaserScanWidget::replot()
    {
        if (this->appearance == APPEARENCE_POLAR)
        {
            /*seriesData_raw->update(&(currentThread->dx[0]), &(currentThread->data_raw[0]), currentThread->data_field_size);
            seriesData_avg->update(&(currentThread->dx[0]), &(currentThread->data_avg[0]), currentThread->data_field_size);
            seriesData_filtered->update(&(currentThread->dx[0]), &(currentThread->data_filtered[0]),currentThread->data_field_size);
            seriesData_segments->update(&(currentThread->dx[0]), &(currentThread->data_segments[0]), currentThread->data_field_size);
            seriesData_edges->update(&(currentThread->dx[0]), &(currentThread->data_edges[0]), currentThread->data_field_size);
            plot_polar->replot();*/
        }
        else if (appearance == APPEARENCE_FLAT)
        {
            plot_flat->replot();
        }
    }


   void LaserScanWidget::setCurves(unsigned int showData)
   {
       if (this->appearance == APPEARENCE_POLAR)
       {
           /*if ((showData & 1) != 0)
           {
               curve_roh_polar->attach(plot_polar);
               curve_roh_polar->show();
           }
           else
           {
               curve_roh_polar->detach();
           }
           if ((showData & 2) != 0)
           {
               curve_gemittelt_polar->attach(plot_polar);
               curve_gemittelt_polar->show();
           }
           else
           {
               curve_gemittelt_polar->detach();
           }
           if ((showData & 4) != 0)
           {
               curve_gauss_polar->attach(plot_polar);
               curve_gauss_polar->show();
           }
           else
           {
               curve_gauss_polar->detach();
           }
           if ((showData & 8) != 0)
           {
               curve_erkannt_polar->attach(plot_polar);
               curve_erkannt_polar->show();
           }
           else
           {
               curve_erkannt_polar->detach();
           }
           if ((showData & 16) != 0)
           {
               curve_ecke_polar->attach(plot_polar);
               curve_ecke_polar->show();
           }
           else
           {
               curve_ecke_polar->detach();
           }
           plot_polar->replot();*/
       }
       else if (appearance == APPEARENCE_FLAT)
       {
           if ((showData & 1) != 0)
           {
               curve_roh_flat->attach(plot_flat);
               curve_roh_flat->show();
           }
           else
           {
               curve_roh_flat->detach();
           }
           if ((showData & 2) != 0)
           {
               curve_gemittelt_flat->attach(plot_flat);
               curve_gemittelt_flat->show();
           }
           else
           {
               curve_gemittelt_flat->detach();
           }
           if ((showData & 4) != 0)
           {
               curve_gauss_flat->attach(plot_flat);
               curve_gauss_flat->show();
           }
           else
           {
               curve_gauss_flat->detach();
           }
           if ((showData & 8) != 0)
           {
               curve_erkannt_flat->attach(plot_flat);
               curve_erkannt_flat->show();
           }
           else
           {
               curve_erkannt_flat->detach();
           }
           if ((showData & 16) != 0)
           {
               curve_ecke_flat->attach(plot_flat);
               curve_ecke_flat->show();
           }
           else
           {
               curve_ecke_flat->detach();
           }
           plot_flat->replot();
       }
   }

   void LaserScanWidget::resizeEvent(QResizeEvent * event)
   {
       if (this->appearance == APPEARENCE_POLAR)
       {
           //plot_polar->resize(this->width(),this->height());
       }
       else
       {
           plot_flat->resize(this->width(),this->height());
       }
       QWidget::resizeEvent(event);
   }