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@@ -1,6 +1,12 @@
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#include "mainwindow.h"
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#include "ui_mainwindow.h"
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+#include <QFileDialog>
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+#include <QFile>
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+#include <QMessageBox>
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+
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+#include <math.h>
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+
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MainWindow::MainWindow(QWidget *parent)
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: QMainWindow(parent)
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, ui(new Ui::MainWindow)
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@@ -12,6 +18,7 @@ MainWindow::MainWindow(QWidget *parent)
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ui->lineEdit_speedlimit->setText(QString::number(mfSpeedLimit));
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ui->lineEdit_torqueatlimit->setText(QString::number(mfTorqueAtLimit));
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ui->lineEdit_TorqueStart->setText(QString::number(mfTorqueStart));
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+ ui->lineEdit_VelStep->setText(QString::number(mfVelStep));
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mpa = iv::modulecomm::RegisterSend("torquebrake",1000,1);
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ModuleFun fungpsimu =std::bind(&MainWindow::UpdateGPSIMU,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
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@@ -77,6 +84,8 @@ void MainWindow::on_checkBox_clicked()
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if(ui->checkBox->isChecked())
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{
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mbEnable = true;
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+ mfAvgSpeed = 0.0;
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+ mfVectorAcc.clear();
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}
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else
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{
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@@ -87,6 +96,8 @@ void MainWindow::on_checkBox_clicked()
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mfSpeedLimit = ui->lineEdit_speedlimit->text().toDouble();
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mfTorqueAtLimit = ui->lineEdit_torqueatlimit->text().toDouble();
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mfTorqueStart = ui->lineEdit_TorqueStart->text().toDouble();
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+ mfVelStep = ui->lineEdit_VelStep->text().toDouble();
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+ if(mfVelStep == 0.0)mfVelStep = 1.0;
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}
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@@ -112,18 +123,141 @@ void MainWindow::UpdateGPSIMU(const char *strdata, const unsigned int nSize, con
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void MainWindow::UpdatePlainText(iv::gps::gpsimu &xgpsimu)
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{
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char strout[1000];
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- snprintf(strout,1000,"%6.3f\t%6.3f\t%6.3f\t%6.3f\t%6.3f\t%6.3f\t%6.3f\t",
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- xgpsimu.speed(),xgpsimu.acce_x(),mfTorque,mfBrake,
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- xgpsimu.acc_calc(),xgpsimu.acce_y(),xgpsimu.acce_z());
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+
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+ double fspeed = 3.6 * sqrt(pow(xgpsimu.ve(),2) + pow(xgpsimu.vn(),2));
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+ snprintf(strout,1000,"%6.3f\t%6.3f\t%6.3f\t%6.3f",
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+ fspeed,xgpsimu.acce_x() * 9.8,mfTorque,mfBrake);
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ui->plainTextEdit->appendPlainText(strout);
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+
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+ double froundspeed = mfVelStep * std::round(fspeed/mfVelStep);
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+ if(froundspeed != mfAvgSpeed)
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+ {
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+ if(mfVectorAcc.size()> 0)
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+ {
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+ double fAvgAcc = 0.0;
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+ unsigned int i;
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+ for(i=0;i<mfVectorAcc.size();i++)
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+ {
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+ fAvgAcc = fAvgAcc + mfVectorAcc[i];
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+
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+ }
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+ fAvgAcc = fAvgAcc/mfVectorAcc.size();
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+ snprintf(strout,1000,"%6.3f\t%6.3f\t%6.3f\t%6.3f",
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+ mfAvgSpeed,fAvgAcc,mfTorque,mfBrake);
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+ ui->plainTextEdit_AvgAcc->appendPlainText(strout);
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+ }
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+ mfAvgSpeed = froundspeed;
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+ mfVectorAcc.clear();
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+ }
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+ else
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+ {
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+ mfVectorAcc.push_back(xgpsimu.acce_x()*9.8);
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+ }
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}
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void MainWindow::on_pushButton_ClearRecord_clicked()
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{
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ui->plainTextEdit->clear();
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+ ui->plainTextEdit_AvgAcc->clear();
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}
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-void MainWindow::on_pushButton_SaveRecord_clicked()
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+
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+void MainWindow::on_pushButton_SortTable_clicked()
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{
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+ QString str = QFileDialog::getOpenFileName(this,"Load Table",".","*.txt");
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+ if(str.isEmpty())return;
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+
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+ std::vector<iv::tableunit> xvectorunit;
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+ std::vector<iv::tableunit> xvectorunitsave;
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+
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+ QFile xFile;
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+ xFile.setFileName(str);
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+ if(xFile.open(QIODevice::ReadOnly))
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+ {
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+ QByteArray ba = xFile.readAll();
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+ QString strba;
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+ strba.append(ba);
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+ QStringList strlinelist =strba.split("\n");// strba.split(QRegExp("[\t ;]+"));
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+ int nline = strlinelist.size();
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+ int i;
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+ for(i=0;i<nline;i++)
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+ {
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+ QString str = strlinelist.at(i);
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+ QStringList strvaluelist = str.split(QRegExp("[\t ;]+"));
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+ if(strvaluelist.size()>=4)
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+ {
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+ double vel,acc,torque,brake;
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+ vel = QString(strvaluelist.at(0)).toDouble();
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+ acc = QString(strvaluelist.at(1)).toDouble();
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+ torque = QString(strvaluelist.at(2)).toDouble();
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+ brake = QString(strvaluelist.at(3)).toDouble();
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+ iv::tableunit xunit;
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+ xunit.mfVel = vel;
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+ xunit.mfAcc = acc;
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+ xunit.mfTorque = torque;
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+ xunit.mfBrake = brake;
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+ xvectorunit.push_back(xunit);
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+ }
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+ }
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+
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+ }
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+ xFile.close();
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+ if(xvectorunit.size()<1)
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+ {
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+ QMessageBox::warning(this,"Warning","No Table Found.",QMessageBox::YesAll);
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+ return;
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+ }
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+
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+ while(xvectorunit.size()>0)
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+ {
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+ iv::tableunit xunit = xvectorunit[0];
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+ xvectorunit.erase(xvectorunit.begin());
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+ unsigned int i = 0;
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+ for(i=0;i<xvectorunitsave.size();i++)
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+ {
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+ if(xunit.mfVel==xvectorunitsave[i].mfVel)
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+ {
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+ if(xunit.mfAcc < xvectorunitsave[i].mfAcc)
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+ {
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+ xvectorunitsave.insert(xvectorunitsave.begin()+i,xunit);
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+ break;
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+ }
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+ }
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+ else
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+ {
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+ if(xunit.mfVel < xvectorunitsave[i].mfVel)
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+ {
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+ xvectorunitsave.insert(xvectorunitsave.begin()+i,xunit);
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+ break;
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+ }
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+ }
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+ }
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+ if(i == xvectorunitsave.size())xvectorunitsave.push_back(xunit);
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+ }
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+
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+
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+ QString strsavename = QFileDialog::getSaveFileName(this,"Save Table",".","*.txt");
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+ if(strsavename.isEmpty())return;
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+
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+ QFile xFileSave;
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+ xFileSave.setFileName(strsavename);
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+ if(xFileSave.open(QIODevice::ReadWrite))
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+ {
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+ unsigned int i;
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+ for(i=0;i<xvectorunitsave.size();i++)
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+ {
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+ char strout[1000];
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+ snprintf(strout,1000,"%6.3f\t%6.3f\t%6.3f\t%6.3f\n",
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+ xvectorunitsave[i].mfVel,xvectorunitsave[i].mfAcc,
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+ xvectorunitsave[i].mfTorque,xvectorunitsave[i].mfBrake);
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+ xFileSave.write(strout,strnlen(strout,1000));
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+ }
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+
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+ }
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+ else
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+ {
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+ QMessageBox::warning(this,"Warning","Save File Error.",QMessageBox::YesAll);
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+ }
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+ xFileSave.close();
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}
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