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displaydata.cpp
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displaydata.cpp
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#include "displaydata.h"
#include "ui_displaydata.h"
DisplayData::DisplayData(QWidget *parent) : QMainWindow(parent), ui(new Ui::DisplayData){
ui->setupUi(this);
const int w = 400; // 400...2000
vDraw = new VisImage(this);
vDraw->setFixedSize(w, w / aspect);
ui->sAVisual->setWidget(vDraw);
ui->sAVisual->verticalScrollBar()->setValue(vDraw->height());
for(int i = 0; i < RADAR_NUM; i++)
ui->cBRadNum->addItem("Radar " + QString::number(i));
// --- colors properties ---
vDraw->colorsDynProp = std::vector<QColor>(ui->gridTypes->rowCount(), Qt::gray);
if(vDraw->colorsDynProp.size() >= 8){
vDraw->colorsDynProp[0] = Qt::red;
vDraw->colorsDynProp[1] = Qt::yellow;
vDraw->colorsDynProp[2] = Qt::blue;
vDraw->colorsDynProp[3] = QColor(70, 220, 70); // green
vDraw->colorsDynProp[4] = Qt::darkGray;
vDraw->colorsDynProp[5] = Qt::darkGreen;
vDraw->colorsDynProp[6] = QColor(255, 140, 0); // orange
vDraw->colorsDynProp[7] = Qt::black;
}
// set colors
int sz = 50;
QPixmap px(sz, sz);
for (int i = 0; i < ui->gridTypes->rowCount(); i++) {
px.fill(vDraw->colorsDynProp[i]);
QToolButton* tButton = static_cast<QToolButton*>(ui->gridTypes->itemAtPosition(i, 0)->widget());
tButton->setIcon(px);
}
// --- config ---
dConfig = new DialogConfig(this);
// --- bindings ---
uint8_t transp = 140;
vDraw->colorsWarnLevel[0] = QColor(160, 255, 160, transp); // no warn
vDraw->colorsWarnLevel[1] = QColor(255, 140, 140, transp); // warn
vDraw->colorsWarnLevel[2] = QColor(128, 128, 128, transp); // unused
vDraw->colorsWarnLevel[3] = QColor(255, 150, 50, transp); // left
dConfig->colorsWarnLevel = &vDraw->colorsWarnLevel;
vDraw->regions = &dConfig->regions;
// --- connections ---
connect(ui->pBConfigRadar, SIGNAL(clicked()), this, SLOT(slotConfigRadarCall()));
connect(ui->pBPathReset, SIGNAL(clicked()), this, SLOT(slotPathReset()));
connect(ui->cBInfo, SIGNAL(clicked(bool)), this, SLOT(slotInfo(bool)));
connect(ui->cBRadNum, SIGNAL(currentIndexChanged(int)), this, SLOT(slotRadNum(int)));
connect(this, SIGNAL(signRadarWarningsUI()), this, SLOT(slotUpdateWarningsUI()));
connect(this, SIGNAL(signUpdRegionList()), dConfig, SLOT(updRegListUI()));
// --- visual ---
connect(ui->hSZoom, SIGNAL(valueChanged(int)), this, SLOT(slotZoomChanged(int)));
connect(ui->sAVisual->verticalScrollBar(), SIGNAL(valueChanged(int)), this, SLOT(slotSAVertChanged(int)));
connect(ui->sAVisual->horizontalScrollBar(), SIGNAL(valueChanged(int)), this, SLOT(slotSAHorizChanged(int)));
// --- post events ---
ui->cBInfo->click();
#ifdef __WIN32
QFont font = ui->lSpeed_M_KM->font();
font.setPointSize(10);
ui->lSpeed_M_KM->setFont(font);
ui->lPath_m->setFont(font);
#endif
}
DisplayData::~DisplayData(){
delete ui;
}
void DisplayData::receiveCanLine(const CanLine &canLine){
// --- ------ CLUSTERS --- --- ---
if(canLine.messId[0] == '6' && canLine.messId[2] == '0'){ // CLUST LIST
calcSpeed();
calcPath();
if(speedVehicle >= HIGH_SPEED) statusSpeed = StatusSpeed::backward;
if(speedVehicle < HIGH_SPEED && speedVehicle > LOW_SPEED) statusSpeed = StatusSpeed::slowSpeed;
if(speedVehicle <= LOW_SPEED) statusSpeed = StatusSpeed::forward;
showSpeedPathUI();
// NOTE: Send cluster frame to visual
updateShowFlags();
applyFilters();
vDraw->clusters = clustersFiltered;
vDraw->clustList = clustList;
vDraw->update();
// ---
clustersAll.clear();
// ---
clustList.numExpectNear = Converter::getDecData(canLine.messData, 0, 8);
clustList.numExpectFar = Converter::getDecData(canLine.messData, 8, 8);
clustList.numExpectSumm = clustList.numExpectNear + clustList.numExpectFar;
clustList.measCount = Converter::getDecData(canLine.messData, 16, 16);
clustList.interfVers = Converter::getDecData(canLine.messData, 32, 4);
}
if(canLine.messId[0] == '7' && canLine.messId[2] == '0'){ // SOFT VERSION
versID->major = Converter::getDecData(canLine.messData, 0, 8);
versID->minor = Converter::getDecData(canLine.messData, 8, 8);
versID->patch = Converter::getDecData(canLine.messData, 16, 8);
versID->extended = Converter::getDecData(canLine.messData, 30, 1);
versID->country = Converter::getDecData(canLine.messData, 31, 1);
}
if(canLine.messId[0] == '7' && canLine.messId[2] == '1'){ // GENERAL INFO
ClusterInfo cluster;
// ID
cluster.id = Converter::getDecData(canLine.messData, 0, 8);
// RCS
cluster.RCS = Converter::getDecData(canLine.messData, 56, 8);
cluster.RCS *= resClustRCS;
cluster.RCS += offsetClustRCS;
// VRelLong
cluster.vRelLong = Converter::getDecData(canLine.messData, 32, 10);
cluster.vRelLong *= resClustVRelLong;
cluster.vRelLong += offsetClustVRelLong;
// VRelLat
cluster.vRelLat = Converter::getDecData(canLine.messData, 42, 9);
cluster.vRelLat *= resClustVRelLat;
cluster.vRelLat += offsetClustVRelLat;
// DistLong
cluster.distLong = Converter::getDecData(canLine.messData, 8, 13);
cluster.distLong *= resClustDistLong;
cluster.distLong += offsetClustDistLong;
// DistLat
cluster.distLat = Converter::getDecData(canLine.messData, 22, 10);
cluster.distLat *= resClustDistLat;
cluster.distLat += offsetClustDistLat;
if(isMirrored)
cluster.distLat = -cluster.distLat;// NOTE: clusters left/right?
// Type
uint8_t numType = Converter::getDecData(canLine.messData, 53, 3);
cluster.type = static_cast<DynProp>(numType);
// Azimuth
cluster.clacAzimuth();
// ---
clustersAll.push_back(cluster);
}
if(canLine.messId[0] == '7' && canLine.messId[2] == '2'){ // QUALITY
uint8_t idCl = Converter::getDecData(canLine.messData, 0, 8);
for(auto &cl : clustersAll)
if(idCl == cl.id){
uint8_t pDh0Cl = Converter::getDecData(canLine.messData, 29, 3);
switch (pDh0Cl) {
case 0:
cl.Pdh0 = 0.0f;
break;
case 1:
cl.Pdh0 = 25.0f;
break;
case 2:
cl.Pdh0 = 50.0f;
break;
case 3:
cl.Pdh0 = 75.0f;
break;
case 4:
cl.Pdh0 = 90.0f;
break;
case 5:
cl.Pdh0 = 99.0f;
break;
case 6:
cl.Pdh0 = 99.9f;
break;
case 7:
cl.Pdh0 = 100.0f;
break;
default:
break;
}
}
}
// --- RADAR STATE & FILTERS---
if(canLine.messId[0] == '2' && canLine.messId[2] == '1'){ // RADAR STATE
// --- can num ---
dConfig->configRadar.canNum = std::atoi(&canLine.canNum.toStdString().back());
// --- write ---
dConfig->configRadar.writeStatus = Converter::getDecData(canLine.messData, 0, 1);
// --- read ---
dConfig->configRadar.readStatus = Converter::getDecData(canLine.messData, 1, 1);
// --- dist ---
dConfig->configRadar.setFarZone(Converter::getDecData(canLine.messData, 8, 10));
dConfig->configRadar.setFarZone(dConfig->configRadar.getFarZone() * resConfRadMaxDist);
// --- pers error ---
dConfig->configRadar.persistErr = Converter::getDecData(canLine.messData, 18, 1);
// --- interfer ---
dConfig->configRadar.interference = Converter::getDecData(canLine.messData, 19, 1);
// --- temper ---
dConfig->configRadar.temperatErr = Converter::getDecData(canLine.messData, 20, 1);
// --- tempor ---
dConfig->configRadar.temporarErr = Converter::getDecData(canLine.messData, 21, 1);
// --- volt ---
dConfig->configRadar.voltErr = Converter::getDecData(canLine.messData, 22, 1);
// --- sort ---
dConfig->configRadar.sortInd = Converter::getDecData(canLine.messData, 33, 3);
// --- power ---
dConfig->configRadar.power = Converter::getDecData(canLine.messData, 30, 3);
// --- relay ---
dConfig->configRadar.relay = Converter::getDecData(canLine.messData, 46, 1);
// --- output type ---
dConfig->configRadar.outputType = Converter::getDecData(canLine.messData, 44, 2);
// --- send qual ---
dConfig->configRadar.sendQual = Converter::getDecData(canLine.messData, 43, 1);
// --- send ext ---
dConfig->configRadar.sendExt = Converter::getDecData(canLine.messData, 42, 1);
// --- motion ---
dConfig->configRadar.motionRxState = Converter::getDecData(canLine.messData, 40, 2);
// --- threshold ---
dConfig->configRadar.thrRcs = Converter::getDecData(canLine.messData, 59, 3);
// --- --- ---
vDraw->configRadar = dConfig->configRadar;
dConfig->updateConfigUI();
emit signRadarWarningsUI();
}
if(canLine.messId[0] == '2' && canLine.messId[2] == '3'){ // FILTERS
dConfig->is203Got = true;
dConfig->fltClust = Converter::getDecData(canLine.messData, 0, 5);
dConfig->fltObj = Converter::getDecData(canLine.messData, 8, 5);
dConfig->updateConfigUI();
}
// --- ------ OBJECTS --- --- ---
if(canLine.messId[0] == '6' && (canLine.messId[2] == 'a' || canLine.messId[2] == 'A')){ // OBJS LIST
// --- time for clearing ---
uint64_t diffCollState = GET_CUR_TIME_MILLI - dConfig->prev408GotMs;
if(diffCollState > dConfig->period408GotMs){
if(dConfig->is408Got){
dConfig->is408Got = false;
}
else{
dConfig->regions.clear();
emit signUpdRegionList();
}
dConfig->prev408GotMs = GET_CUR_TIME_MILLI;
}
// NOTE: Send object frame to visual
updateShowFlags();
applyFilters();
vDraw->objects = objectsFiltered;
vDraw->objList = objList;
vDraw->update();
// ---
objectsAll.clear();
// ---
objList.numExpect = Converter::getDecData(canLine.messData, 0, 8);
objList.measCount = Converter::getDecData(canLine.messData, 8, 16);
objList.interfVers = Converter::getDecData(canLine.messData, 24, 4);
}
if(canLine.messId[0] == '6' && (canLine.messId[2] == 'b' || canLine.messId[2] == 'B')){ // GENERAL INFO
ObjectInfo object;
// ID
object.id = Converter::getDecData(canLine.messData, 0, 8);
// RCS
object.RCS = Converter::getDecData(canLine.messData, 56, 8);
object.RCS *= resObjRCS;
object.RCS += offsetObjRCS;
// VRelLong
object.vRelLong = Converter::getDecData(canLine.messData, 32, 10);
object.vRelLong *= resObjVRelLong;
object.vRelLong += offsetObjVRelLong;
// VRelLat
object.vRelLat = Converter::getDecData(canLine.messData, 42, 9);
object.vRelLat *= resObjVRelLat;
object.vRelLat += offsetObjVRelLat;
// DistLong
object.distLong = Converter::getDecData(canLine.messData, 8, 13);
object.distLong *= resObjDistLong;
object.distLong += offsetObjDistLong;
// DistLat
object.distLat = Converter::getDecData(canLine.messData, 21, 11);
object.distLat *= resObjDistLat;
object.distLat += offsetObjDistLat;
if(isMirrored)
object.distLat = -object.distLat; // NOTE: objects left/right?
// Type
uint8_t numType = Converter::getDecData(canLine.messData, 53, 3);
object.type = static_cast<DynProp>(numType);
// Azimuth
object.clacAzimuth();
// ---
objectsAll.push_back(object);
}
if(canLine.messId[0] == '6' && (canLine.messId[2] == 'c' || canLine.messId[2] == 'C')){ // QUALITY
uint8_t idObj = Converter::getDecData(canLine.messData, 0, 8);
uint8_t pDh0Obj = Converter::getDecData(canLine.messData, 48, 3);
if(objectsAll.size() > idObj){
switch (pDh0Obj) {
case 0:
objectsAll[idObj].Pdh0 = 0.0f;
break;
case 1:
objectsAll[idObj].Pdh0 = 24.99f;
break;
case 2:
objectsAll[idObj].Pdh0 = 49.99f;
break;
case 3:
objectsAll[idObj].Pdh0 = 74.99f;
break;
case 4:
objectsAll[idObj].Pdh0 = 89.99f;
break;
case 5:
objectsAll[idObj].Pdh0 = 98.99f;
break;
case 6:
objectsAll[idObj].Pdh0 = 99.89f;
break;
case 7:
objectsAll[idObj].Pdh0 = 100.0f;
break;
default:
break;
}
}
}
if(canLine.messId[0] == '6' && (canLine.messId[2] == 'd' || canLine.messId[2] == 'D')){ // EXTENDED
uint8_t idObj = Converter::getDecData(canLine.messData, 0, 8);
for(auto& obj : objectsAll)
if(idObj == obj.id){
// Class
uint8_t clss = Converter::getDecData(canLine.messData, 29, 3);
obj.objClass = static_cast<ObjectClass>(clss);
// Angle
obj.angle = Converter::getDecData(canLine.messData, 32, 10);
obj.angle *= resObjAngle;
obj.angle += offsetObjAngle;
// Length
obj.length = Converter::getDecData(canLine.messData, 48, 8);
obj.length *= resObjLenght;
obj.length += offsetObjLenght;
// Width
obj.width = Converter::getDecData(canLine.messData, 56, 8);
obj.width *= resObjWidth;
obj.width += offsetObjWidth;
}
}
if(canLine.messId[0] == '6' && (canLine.messId[2] == 'e' || canLine.messId[2] == 'E')){ // COLLISION
uint8_t idObj = Converter::getDecData(canLine.messData, 0, 8);
for(auto& obj : objectsAll)
if(idObj == obj.id){
uint8_t regBits = Converter::getDecData(canLine.messData, 8, 8);
QString strBits = Converter::decToBin(QString::number(regBits), COLL_REG_NUM);
for (int i = 0; i < strBits.length(); i++)
if(strBits[i] == QChar('1')) obj.collRegs[i] = true;
}
}
// --- COLLISIONS ---
if(canLine.messId[0] == '4' && canLine.messId[2] == '2'){ // REGION DATA
// --- time for clearing ---
uint64_t diffTimeReg = GET_CUR_TIME_MILLI - dConfig->prev402GotMs;
if(diffTimeReg > dConfig->period402GotMs){
dConfig->prev402GotMs = GET_CUR_TIME_MILLI;
dConfig->regions.clear();
}
// ---
CollRegion collRegion;
// --- id ---
collRegion.id = Converter::getDecData(canLine.messData, 0, 3);
// --- warn level ---
uint8_t warn = Converter::getDecData(canLine.messData, 3, 2);
collRegion.warnLevel = static_cast<WarningLevel>(warn);
// --- X1 ---
collRegion.pt1X = Converter::getDecData(canLine.messData, 45, 11); // 21?
collRegion.pt1X *= resCollPt1X;
collRegion.pt1X += offsetCollPt1X;
// --- Y1 ---
collRegion.pt1Y = Converter::getDecData(canLine.messData, 8, 13);
collRegion.pt1Y *= resCollPt1Y;
collRegion.pt1Y += offsetCollPt1Y;
// --- X2 ---
collRegion.pt2X = Converter::getDecData(canLine.messData, 21, 11); // 45?
collRegion.pt2X *= resCollPt2X;
collRegion.pt2X += offsetCollPt2X;
// --- Y2 ---
collRegion.pt2Y = Converter::getDecData(canLine.messData, 32, 13);
collRegion.pt2Y *= resCollPt2Y;
collRegion.pt2Y += offsetCollPt2Y;
// --- nof ---
collRegion.nofObj = Converter::getDecData(canLine.messData, 56, 8);
// ---
dConfig->regions.push_back(collRegion);
emit signUpdRegionList();
}
if(canLine.messId[0] == '4' && canLine.messId[2] == '8'){ // COLLISION STATE
dConfig->is408Got = true;
dConfig->collDetState.isActive = Converter::getDecData(canLine.messData, 6, 1);
dConfig->collDetState.nofRegs = Converter::getDecData(canLine.messData, 0, 4);
dConfig->collDetState.detectTimeSec = Converter::getDecData(canLine.messData, 8, 8);
dConfig->collDetState.detectTimeSec *= resCollDetTime;
dConfig->collDetState.measCount = Converter::getDecData(canLine.messData, 16, 16);
dConfig->updateCollDetStateUI();
// --- 0 regions left ---
if(dConfig->collDetState.nofRegs == 0){
dConfig->regions.clear();
emit signUpdRegionList();
}
}
}
void DisplayData::applyFilters(){
clustersFiltered.clear();
objectsFiltered.clear();
// ---
std::vector<bool> types{ui->cBClMov->isChecked(), ui->cBClStat->isChecked(),
ui->cBClOnCom->isChecked(), ui->cBClStatCond->isChecked(),
ui->cBClUnkn->isChecked(), ui->cBClCrossStat->isChecked(),
ui->cBClCrossMov->isChecked(), ui->cBClStop->isChecked()};
// ---
int minRcs = ui->sBRcsMin->value();
int maxRcs = ui->sBRcsMax->value();
int minDLong = ui->sBDistLongMin->value();
int maxDLong = ui->sBDistLongMax->value();
int minDLat = ui->sBDistLatMin->value();
int maxDLat = ui->sBDistLatMax->value();
int minVLong = ui->sBVelLongMin->value();
int maxVLong = ui->sBVelLongMax->value();
int minVLat = ui->sBVelLatMin->value();
int maxVLat = ui->sBVelLatMax->value();
int minPdh0 = ui->sBPdh0Min->value();
int maxPdh0 = ui->sBPdh0Max->value();
int minAzmth = ui->sBAzMin->value();
int maxAzmth = ui->sBAzMax->value();
for(const auto &cl : clustersAll){
if((cl.RCS >= minRcs && cl.RCS <= maxRcs) && (cl.distLong >= minDLong && cl.distLong <= maxDLong)
&& (cl.distLat >= minDLat && cl.distLat <= maxDLat) &&(cl.vRelLong >= minVLong && cl.vRelLong <= maxVLong)
&& (cl.vRelLat >= minVLat && cl.vRelLat <= maxVLat) && (cl.azimuth >= minAzmth && cl.azimuth <= maxAzmth)
&& (cl.Pdh0 >= minPdh0 && cl.Pdh0 <= maxPdh0) && (types[static_cast<uint8_t>(cl.type)]))
clustersFiltered.push_back(cl);
}
for(const auto &obj : objectsAll){
if((obj.RCS >= minRcs && obj.RCS <= maxRcs) && (obj.distLong >= minDLong && obj.distLong <= maxDLong)
&& (obj.distLat >= minDLat && obj.distLat <= maxDLat) &&(obj.vRelLong >= minVLong && obj.vRelLong <= maxVLong)
&& (obj.vRelLat >= minVLat && obj.vRelLat <= maxVLat) && (obj.azimuth >= minAzmth && obj.azimuth <= maxAzmth)
&& (obj.Pdh0 >= minPdh0 && obj.Pdh0 <= maxPdh0) && (types[static_cast<uint8_t>(obj.type)]))
objectsFiltered.push_back(obj);
}
}
void DisplayData::updateShowFlags(){
int flagSize = ui->gridProps->rowCount();
vDraw->showProperties.resize(flagSize);
for (int i = 0; i < flagSize; i++) {
QRadioButton* rb = static_cast<QRadioButton*>(ui->gridProps->itemAtPosition(i, 0)->widget());
vDraw->showProperties[i] = rb->isChecked();
}
}
int DisplayData::calcSpeed(){
uint8_t indMaxValInHist = 127;
uint8_t valMaxInHist = 0;
uint8_t valForHist = 0;
float koeff = 60.0f;
float averSpeedRes = 0.0f;
float qualitySpeed = 60.0f;
uint8_t* pHistoArray = histoVLong.data();
uint8_t pointMax = 0;
uint8_t point1LMax = 0;
uint8_t point2LMax = 0;
uint8_t point1RMax = 0;
uint8_t point2RMax = 0;
histoVLong.fill(0x00);
for (size_t i = 0; i < clustersAll.size(); i++)
m_dataInfo[i] = clustersAll[i];
if(statusSpeed == StatusSpeed::forward)
for (uint8_t a = 1; a < 0xFF; a++)
if (m_dataInfo[a].type == DynProp::oncoming){
valForHist = static_cast<uint8_t>(127.f + m_dataInfo[a].vRelLong * 4.0f + 0.5f);
pHistoArray[valForHist]++;
}
if(statusSpeed == StatusSpeed::slowSpeed)
for (uint8_t a = 1; a < 0xFF; a++)
if (m_dataInfo[a].type == DynProp::oncoming ||
m_dataInfo[a].type == DynProp::stationary ||
m_dataInfo[a].type == DynProp::moving ||
m_dataInfo[a].type == DynProp::stationaryCandidate){
valForHist = static_cast<uint8_t>(127.f + m_dataInfo[a].vRelLong * 4.0f + 0.5f);
pHistoArray[valForHist]++;
}
if(statusSpeed == StatusSpeed::backward)
for (uint8_t a = 1; a < 0xFF; a++)
if (m_dataInfo[a].type == DynProp::moving){
valForHist = static_cast<uint8_t>(127.f + m_dataInfo[a].vRelLong * 4.0f + 0.5f);
pHistoArray[valForHist]++;
}
for (uint8_t i = 4; i < 0xFF - 4; i++)
if (pHistoArray[i] > 0)
if (valMaxInHist < pHistoArray[i]){
valMaxInHist = pHistoArray[i];
indMaxValInHist = i;
}
// --- --- ---
if(valMaxInHist == 0){
speedVehicle = 0.0f;
return 0;
}
// --- --- ---
pointMax = pHistoArray[indMaxValInHist];
point1LMax = pHistoArray[indMaxValInHist-1];
point2LMax = pHistoArray[indMaxValInHist-2];
point1RMax = pHistoArray[indMaxValInHist+1];
point2RMax = pHistoArray[indMaxValInHist+2];
valMaxInHist = point1LMax + pointMax + point1RMax;
if (point1LMax + point1RMax)
koeff = static_cast<float>(pointMax) / static_cast<float>(point1LMax + point1RMax);
if (valMaxInHist > 8 && clustList.numExpectSumm > 8){
float averSpeed4 = 0.0f;
float valMax4 = 0.0f;
float averSpeed = (point1LMax * (indMaxValInHist - 1) + pointMax * (indMaxValInHist) + point1RMax * (indMaxValInHist + 1))
/ static_cast<float>(point1LMax+pointMax+point1RMax);
if (point1LMax > point1RMax){
valMax4 = point2LMax + point1LMax + pointMax + point1RMax;
averSpeed4 = (point2LMax * (indMaxValInHist - 2) + point1LMax * (indMaxValInHist - 1) + pointMax * (indMaxValInHist) +
point1RMax * (indMaxValInHist + 1)) / static_cast<float>(valMax4);
}
else{
valMax4 = point1LMax + pointMax + point1RMax + point2RMax;
averSpeed4 = (point1LMax * (indMaxValInHist - 1) + pointMax * (indMaxValInHist) + point1RMax * (indMaxValInHist + 1) +
point2RMax * (indMaxValInHist + 2)) / static_cast<float>(valMax4);
}
if (koeff > 3) averSpeedRes = averSpeed;
else averSpeedRes = averSpeed4;
// --- --- ---
/*if (fabs(averSpeedKalman - 127) > 0.01f){
averSpeedKalman = (averSpeedRes * koeffKalmanSpeed + averSpeedKalman * (1 - koeffKalmanSpeed));
std::cout << "averSpeedKalman1: " << averSpeedKalman <<std::endl;
}
else{
averSpeedKalman = averSpeedRes;
}*/
averSpeedKalman = averSpeedRes;
// --- QUALITY ---
if (indMaxValInHist >= zonaAnalyseQuality && indMaxValInHist < DATA_SIZE - zonaAnalyseQuality){
float var3 = 0.0f;
float summ3 = 0.0f;
pHistoArray[indMaxValInHist - 1] += 2;
pHistoArray[indMaxValInHist + 1] += 2;
for (int16_t i = -zonaAnalyseQuality; i <= zonaAnalyseQuality; ++i){
var3 += pHistoArray[indMaxValInHist + i] * i * i;
summ3 += pHistoArray[indMaxValInHist + i];
}
var3 /= summ3;
qualitySpeed = (5 * var3) / valMaxInHist;
}
else{
qualitySpeed = 60.0f;
}
if (averQuality < 59)
averQuality = (1 - koeffKalmanQuality) * averQuality + koeffKalmanQuality * qualitySpeed;
else
averQuality = qualitySpeed;
speedVehicle = (averSpeedKalman - 127.f) * 0.25f;
speedQuality = averQuality;
//std::cout << "speedVehicle: " << speedVehicle <<std::endl;
}
else{
speedQuality = 60.0f;
speedVehicle = 0;
return 0;
}
return 0;
}
void DisplayData::calcPath(){
uint64_t differTime = GET_CUR_TIME_MILLI - lastRadar600Ms;
lastRadar600Ms = GET_CUR_TIME_MILLI;
if(differTime > (RADAR_TIME_DATA_MS + RADAR_TIME_GAP_MS))
differTime = RADAR_TIME_DATA_MS;
uint32_t smallDistCm = speedVehicle * 100 * (differTime/1000.0);
radarPathCm += smallDistCm;
}
void DisplayData::showSpeedPathUI(){
// --- SPEED ---
QString strSpeed = "Speed: " + Converter::floatCutOff(speedVehicle, 1) + "m/s (" +
Converter::floatCutOff(speedVehicle * 3.6f, 1) + "km/h)";
ui->lSpeed_M_KM->setText(strSpeed);
// --- PATH ---
float spentPath = radarPathCm/100.0f;
QString spentFloat = Converter::floatCutOff(spentPath, 1);
QString strPath = "Distance: " + spentFloat + "m";
ui->lPath_m->setText(strPath);
}
void DisplayData::slotUpdateWarningsUI(){
QString strNoWarn = "<--- no errors --->";
// --- temper ---
if(dConfig->configRadar.temperatErr){
QString errorString = "<-TEMPERATURE ERROR!->";
ui->lWarning->setStyleSheet("background-color: red");
ui->lWarning->text() == errorString ?
ui->lWarning->setText("----- ----- ----- ----- -----") :
ui->lWarning->setText(errorString);
}
// --- tempor ---
else if(dConfig->configRadar.temporarErr){
QString errorString = "<-TEMPORARY ERROR!->";
ui->lWarning->setStyleSheet("background-color: red");
ui->lWarning->text() == errorString ?
ui->lWarning->setText("----- ----- ----- ----- -----") :
ui->lWarning->setText(errorString);
}
// --- persist ---
else if(dConfig->configRadar.persistErr){
QString errorString = "<-PERSISTENT ERROR!->";
ui->lWarning->setStyleSheet("background-color: red");
ui->lWarning->text() == errorString ?
ui->lWarning->setText("----- ----- ----- ----- -----") :
ui->lWarning->setText(errorString);
}
// --- interf ---
else if(dConfig->configRadar.interference){
QString errorString = "<-INTERFERENCE DETECTED->";
ui->lWarning->setStyleSheet("background-color: red");
ui->lWarning->text() == errorString ?
ui->lWarning->setText("----- ----- ----- ----- -----") :
ui->lWarning->setText(errorString);
}
else{
ui->lWarning->setStyleSheet("background-color: green");
ui->lWarning->setText(strNoWarn);
}
}
void DisplayData::slotZoomChanged(int val){
QPoint oldCent(saCentr.x() * vDraw->width(), saCentr.y() * vDraw->height());
int hei = val / aspect;
vDraw->setFixedSize(val, hei);
QPoint newCent(saCentr.x() * vDraw->width(), saCentr.y() * vDraw->height());
ui->sAVisual->horizontalScrollBar()->setValue(newCent.x() - (ui->sAVisual->width() / 2));
ui->sAVisual->verticalScrollBar()->setValue(newCent.y() - (ui->sAVisual->height() / 2));
if(vDraw->width() >= ui->sAVisual->width())
vDraw->sAObj.setX(vDraw->sACls.x() + ui->sAVisual->width() / 2);
else
vDraw->sAObj.setX(vDraw->width() / 2);
}
void DisplayData::slotSAHorizChanged(int val){
vDraw->sACls.setX(val);
vDraw->sAObj.setX(val + ui->sAVisual->width() / 2);
saCentr.setX((ui->sAVisual->horizontalScrollBar()->value() + ui->sAVisual->width() / 2) / (float)vDraw->width());
}
void DisplayData::slotSAVertChanged(int val){
vDraw->sACls.setY(val);
vDraw->sAObj.setY(val);
saCentr.setY((ui->sAVisual->verticalScrollBar()->value() + ui->sAVisual->height() / 2) / (float)vDraw->height());
}
void DisplayData::resizeEvent(QResizeEvent *event){
if(countStartResize > 0){
if(vDraw->width() >= ui->sAVisual->width())
vDraw->sAObj.setX(vDraw->sACls.x() + ui->sAVisual->width() / 2);
}
else{
vDraw->sAObj.setX(200);
countStartResize++;
}
}
void DisplayData::slotRadNum(int index){
dConfig->configRadar.id = index;
clustersFiltered.clear();
}
void DisplayData::slotInfo(bool checked){
vDraw->isShowInfo = checked;
}
void DisplayData::slotConfigRadarCall(){
dConfig->setWindowTitle("Radar " + QString::number(dConfig->configRadar.id));
dConfig->show();
}