obstDet.cpp

/* Obstacle Detection Program
    Code of main constructor.
*/
#include "obstDet.h"
#include <qwt_plot.h>

obstDet::obstDet(QWidget *parent)
{
    mf.setupUi(&w);
    // Connect some signals and slots
    QObject::connect(mf.action_Open_File, SIGNAL( activated() ), this, SLOT( openFile() ) );
    QObject::connect(mf.action_About, SIGNAL( activated() ), this, SLOT( about() ) );
    QObject::connect(mf.intervalBox, SIGNAL( valueChanged(int) ), this, SLOT( updateCaptureInt(int) ) );
    QObject::connect(mf.captureBool, SIGNAL( stateChanged(int) ), this, SLOT( toggleCapture(int) ) );
    QObject::connect(&fs, SIGNAL( frameReady(QImage*) ), mf.video1, SLOT( displayImage(QImage*) ) );
    QObject::connect(mf.algCheck, SIGNAL( stateChanged(int) ), this, SLOT( algToggle(int) ) );
    QObject::connect(mf.playButton, SIGNAL( clicked() ), this, SLOT( togglePause() ) );
    //mf.obsplot->setAxisScale( mf.obsplot::xLeft, -90.0, 90.0);
    //mf.obsplot->setAxisScale( mf.obsplot::yBottom,-110.0, 110.0);
    fs.setCaptureRate(mf.intervalBox->value());
    w.showMaximized();
    w.show();

        // Now add our agorithm(s) to the list of available choices
        mf.algSelector->addItem(tsAlg.getName());
        
        //     
    //testing code
    
    test();
}
void obstDet::openFile()
{
    QString s = QFileDialog::getOpenFileName( this,"Choose a video file","/home","Videos (*.avi *.mpg *.mpeg)");
    if ( !s.isNull() )
    {
    if ( fs.attachSource(&s) )
        {
                QMessageBox::warning(this, "VisualODF",
                                    "Could not open the specified video source.\n");
        }
    else
    {
        mf.captureBool->setEnabled(true);
        mf.algCheck->setEnabled(true);
        fs.togglePause();
    }
        
    }
         
        
}
void obstDet::togglePause()
{
        fs.togglePause();
}

void obstDet::about()
{
    QMessageBox::about( this, "About...","Contributors:\nRob Russell (robbie _-dot-_ russell _-at-_ gmail _-dot_- com)" );
}
void obstDet::test()
{
    // A utility function that will be removed later to test some aspects of the program
    //QString f = "example.png";
    //mf.video1->loadImage(&f);
    //QString msg;
    //msg="Opening video file 'test_flight.avi' ...\nVideo file opened successfully.\nUsing algorithm: NONE for obstacle detection.\nPlaying video at 30.23 fps.";
    //addVideoMessage(&msg);
    //msg="Obstacle detected: 98m @ 9deg left of heading\nObstacle type: THREAT";
    //addTcasMessage(&msg);
    
    // Add the threat
    unsigned long mkey;
    //mf.tcas->addThreat(threatReal, descending, -1,275, 80, mkey);
    //mf.pieDisp->addThreat(threatReal,-1,45,-135, mkey);
    
    // Ok, let's start a video.
    //mf.qtffplayer->grabWindow();
//    mf.qtffplayer->init();
    
}

void obstDet::addVideoMessage(QString *str)
{
    mf.vidMsgTxt->append(*str);
}

void obstDet::addTcasMessage(QString *str)
{
    mf.tcasMsgTxt->append(*str);
}

void obstDet::updateCaptureInt(int i)
{
        fs.setCaptureRate(i);
        QString str = "Updated capture interval to every ";
        str.append(QString::number(i));
        str.append("ms");
        addVideoMessage(&str);
        
}

void obstDet::toggleCapture(int i)
{
        QString str;
        if ( i == Qt::Checked )
                {
                        fs.startCapture();
                        str="Capture started.";
                }
        else if ( i == Qt::Unchecked )
                {
                        fs.stopCapture();
                        str="Capture stopped.";
                }
                addVideoMessage(&str);
        
}

void obstDet::algToggle(int i)
{
        QString str;
        QString tmpstr =  mf.algSelector->currentText();
        if ( i == Qt::Checked )
                {
                         // Disable the algorithm chooser so it cant be changed unless you disable the current one
                         mf.algSelector->setEnabled(false);
                        if (tmpstr == tsAlg.getName())
                        {
                                        // connect the signal and slot between the frameserver and the processing slot of the algorithm
                                        QObject::connect(&fs, SIGNAL( frameReady(QImage*) ), &tsAlg, SLOT( processFrame(QImage*) ) );
                                        // connect the signal and slot between the algorithm and processed video
                                        QObject::connect(&tsAlg, SIGNAL( imageReady(QImage*) ), mf.video2, SLOT( displayImage(QImage*) ) );
                                        // connect the signal and slot between the algorithm and TCAS display
                                        QObject::connect(&tsAlg, SIGNAL(foundObstacle(threatType, trendDir, int , int , int, unsigned long& ) ), mf.tcas, SLOT( addThreat(threatType, trendDir, int, int, int, unsigned long&)) );
                                QObject::connect(&tsAlg, SIGNAL(foundObstacle(threatType, trendDir, int , int , int, unsigned long& ) ), mf.pieDisp, SLOT( addThreat(threatType, trendDir, int, int, int, unsigned long&)) );

                                        QObject::connect(&tsAlg, SIGNAL( displayMessage(QString*) ), this, SLOT( addTcasMessage(QString*) ) );
                                        // connect the signal and slot between the algorithm and pie display
                                        // connect the signal and slot between the algorithm and the plot display
                        }
                        else if (tmpstr == "Pretend Second Algorithm Goes Here")
                        {}
                        
                        str="Algorithm enabled.";
                }
        else if ( i == Qt::Unchecked )
                {
                 // Re-enable switching between algorithms
                mf.algSelector->setEnabled(true);
                
                if (tmpstr == tsAlg.getName())
                {
                        QObject::disconnect(&fs, SIGNAL( frameReady(QImage*) ), &tsAlg, SLOT( processFrame(QImage*) ) );
                        QObject::disconnect(&tsAlg, SIGNAL( imageReady(QImage*) ), mf.video2, SLOT( displayImage(QImage*) ) );
                        QObject::disconnect(&tsAlg, SIGNAL(foundObstacle(threatType, trendDir, int , int , int, unsigned long& ) ), mf.tcas, SLOT( addThreat(threatType, trendDir, int, int, int,unsigned long&) ));
                        QObject::disconnect(&tsAlg, SIGNAL( displayMessage(QString*) ), this, SLOT( addTcasMessage(QString*) ) );
                        QObject::disconnect(&tsAlg, SIGNAL(foundObstacle(threatType, trendDir, int , int , int, unsigned long& ) ), mf.pieDisp, SLOT( addThreat(threatType, trendDir, int, int, int, unsigned long&)) );
                }
                else if (tmpstr == "Pretend Second Algorithm Goes Here")
                        {}
                str="Algorithm disabled.";
                }
                addVideoMessage(&str);
}

---