add encoder

5 files changed, 154 insertions, 45 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 61c0414..2923a7b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,6 +3,9 @@ cmake_minimum_required(VERSION 3.16)
 project(eurydice VERSION 0.1 LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX20_STANDARD_COMPILE_OPTION "-std:c++latest")
+set(CMAKE_CXX20_EXTENSION_COMPILE_OPTION "-std:c++latest")
 
 find_package(Qt6 6.5 REQUIRED COMPONENTS
     Widgets
diff --git a/Main.qml b/Main.qml
index d2ca11d..8d87aab 100644
--- a/Main.qml
+++ b/Main.qml
@@ -6,6 +6,8 @@ import QmlCustomPlot 1.0
 
 import "request.js" as XHR
 
+import eurydice
+
 ApplicationWindow {
     id: mainWindowRoot
 
@@ -13,7 +15,8 @@ ApplicationWindow {
     height: 480
     visible: true
     // visibility: Window.Maximized
-    visibility: ApplicationWindow.Maximized
+    // visibility: ApplicationWindow.Maximized
+    visibility: ApplicationWindow.FullScreen
 
     title: qsTr("Hello World")
 
@@ -122,6 +125,23 @@ ApplicationWindow {
         }, JSON.stringify(json));
     }
 
+    function resetEncoder() {
+        var url = apiRoot + "/commands/resetEncoder";
+        console.log("resetEncoder:", url);
+
+        XHR.sendRequest("POST", url, function(response) {
+
+            if (response.status != "200") {
+                console.log("response status: ", response.status);
+                return;
+            }
+
+            // console.log("resetEncoder result:", response.content);
+
+            // var json = JSON.parse(response.content);
+        });
+    }
+
     RowLayout {
         id: horizontalLayout
 
@@ -219,6 +239,28 @@ ApplicationWindow {
                 }
 
                 Label {
+                    Layout.fillWidth: true
+                    Layout.alignment: Qt.AlignTop
+
+                    text: "Pos: " + (parseFloat(encoderPosition) / 200.).toFixed(3)
+                }
+
+                Label {
+                    Layout.fillWidth: true
+                    Layout.alignment: Qt.AlignTop
+
+                    text: "Measurement: " + measurementCounter
+                }
+
+                Label {
+                    Layout.fillWidth: true
+                    Layout.alignment: Qt.AlignTop
+
+                    text: "Timestamp (ms): " +
+                          (parseFloat(timestampUs % (1000 * 1000 * 1000)) / 1000.).toFixed(1)
+                }
+
+                Label {
                     text: qsTr("Exposure time (us):")
                 }
 
@@ -232,7 +274,7 @@ ApplicationWindow {
                     stepSize: 100
                     editable: true
 
-                    value: 200
+                    value: 1000
                     onValueChanged: writeParams()
                 }
 
@@ -258,50 +300,75 @@ ApplicationWindow {
                     onCheckedChanged: writeParams()
                 }
 
+                Button {
+                    text: qsTr("Reset encoder")
+                    onClicked: resetEncoder()
+                }
+
                 Item {
                     Layout.fillHeight: true
                 }
             }
         }
 
-        ImageViewer {
-            id: image
+        ColumnLayout {
 
-            Layout.fillHeight: true
-            Layout.fillWidth: true
-            Layout.minimumWidth: 200
-        }
+            TabBar {
+                id: tabBar
 
-        Item {
+                Layout.fillWidth: true
 
-            Layout.fillHeight: true
-            Layout.fillWidth: true
-            Layout.minimumWidth: 900
-            Layout.minimumHeight: 600
+                currentIndex: 0
+
+                Shortcut {
+                    sequence: "alt+1"
+                    onActivated: tabBar.currentIndex = 0
+                }
+
+                Shortcut {
+                    sequence: "alt+2"
+                    onActivated: tabBar.currentIndex = 1
+                }
 
-            Rectangle {
-                color: "red"
-                opacity: 0.1
-                z: 101
+                TabButton {
+                    text: qsTr("Image")
+                }
+
+                TabButton {
+                    text: qsTr("Pixels")
+                }
             }
 
-            QmlCustomPlot {
-                id: qmlPlot
+            SwipeView {
+                Layout.fillHeight: true
+                Layout.fillWidth: true
+                Layout.minimumWidth: mainWindowRoot.width * 0.8
 
-                anchors.fill: parent
+                currentIndex: tabBar.currentIndex
+                clip: true
+                interactive: false
 
-                Label {
-                    anchors {
-                        top: parent.top
-                        topMargin: 8 * 2
-                        horizontalCenter: parent.horizontalCenter
-                    }
-                    text: qmlPlot.fps
-                    color: Material.color(Material.accent)
+                ImageViewer {
+                    id: image
                 }
 
-                plot: myPlot
-                // Component.onCompleted: initCustomPlot()
+                QmlCustomPlot {
+                    id: qmlPlot
+
+                    Label {
+                        anchors {
+                            top: parent.top
+                            topMargin: 8 * 2
+                            horizontalCenter: parent.horizontalCenter
+                        }
+                        text: qmlPlot.fps
+                        color: Material.accent
+                    }
+
+                    plot: myPlot
+                    // Component.onCompleted: setRange(Qt.rect(-640, 0, 1280, 800))
+                    // Component.onCompleted: initCustomPlot()
+                }
             }
         }
     }
diff --git a/QmlCustomPlot.cpp b/QmlCustomPlot.cpp
index 48ec917..ef30b3f 100644
--- a/QmlCustomPlot.cpp
+++ b/QmlCustomPlot.cpp
@@ -58,6 +58,8 @@ void QmlCustomPlot::setPlot(QCustomPlot *plot)
     m_plot->yAxis->setLabel("y");
     m_plot->xAxis->setRange(-50, 50);
     m_plot->yAxis->setRange(0, 100);
+    m_plot->xAxis->setRange(-640, 640);
+    m_plot->yAxis->setRange(0, 800);
     m_plot ->setInteractions(QCP::iRangeDrag |
                             QCP::iRangeZoom |
                             QCP::iSelectPlottables |
@@ -73,11 +75,13 @@ void QmlCustomPlot::setPlot(QCustomPlot *plot)
         m_profileGraph->setPen(QPen(QColor(Qt::red)));
     }
 
-    startTimer(1000 / 24);
+    startTimer(std::chrono::milliseconds(1000/60));
 
     connect(m_plot, &QCustomPlot::afterReplot, this, &QmlCustomPlot::onCustomReplot);
 
     m_plot->replot();
+
+    // m_plot->setPlottingHints(QCP::phNone);
 }
 
 void QmlCustomPlot::setPoints(const QVector<QVector2D> points)
@@ -333,3 +337,9 @@ void QmlCustomPlot::onCustomReplot()
     m_fpsCounter++;
     update();
 }
+
+void QmlCustomPlot::setRange(const QRectF &range)
+{
+    m_plot->xAxis->setRange(range.left(), range.right());
+    m_plot->yAxis->setRange(range.bottom(), range.top());
+}
diff --git a/QmlCustomPlot.h b/QmlCustomPlot.h
index c56038c..3354619 100644
--- a/QmlCustomPlot.h
+++ b/QmlCustomPlot.h
@@ -34,6 +34,7 @@ public slots:
     void setLines(const QVector<QLineF> lines);
     void setContours(const QVector<Points2D> contours);
 	void setFps(int fps);
+    void setRange(const QRectF &range);
 
 signals:
 	void plotChanged();
diff --git a/main.cpp b/main.cpp
index 6ea0a15..377fc84 100644
--- a/main.cpp
+++ b/main.cpp
@@ -8,6 +8,12 @@
 
 #include "QmlCustomPlot.h"
 
+template <typename T>
+T& median3(const T& a, const T& b, const T& c) {
+    using namespace std;
+    return max(min(a,b), min(max(a,b),c));
+}
+
 int main(int argc, char *argv[])
 {
     QApplication app(argc, argv);
@@ -38,7 +44,7 @@ int main(int argc, char *argv[])
 
     auto graph = plot->addGraph();
     graph->setPen(QPen(QBrush(Qt::red), 2));
-    graph->setLineStyle(QCPGraph::lsLine);
+    graph->setLineStyle(QCPGraph::lsNone);
     graph->setScatterStyle(QCPScatterStyle::ssDot);
     graph->setData(x_profile, y_profile);
 
@@ -46,7 +52,7 @@ int main(int argc, char *argv[])
     auto manager = new QNetworkAccessManager(&app);
 
     QTimer pixelsAutoRestartTimer(&app);
-    pixelsAutoRestartTimer.setInterval(1000);
+    pixelsAutoRestartTimer.setInterval(500);
     pixelsAutoRestartTimer.setSingleShot(false);
     QObject::connect(&pixelsAutoRestartTimer, &QTimer::timeout,
                      [&](){
@@ -61,17 +67,19 @@ int main(int argc, char *argv[])
                              return;
                          }
 
-                         auto jsonPixels = QJsonDocument::fromJson(reply->readAll())
-                                               .object()["pixels"].toArray();
+                         auto json = QJsonDocument::fromJson(reply->readAll())
+                                         .object();
+                         auto jsonPixels = json["pixels"].toArray();
+                         auto encoderPosition = json["encoderPosition"].toInteger();
+                         auto measurementCounter = json["measurementCounter"].toInteger();
+                         auto timestampUs = json["timestampUs"].toInteger();
 
                          // y_profile.clear();
 
                          for (int i = 0; i < jsonPixels.count(); ++i) {
-                             y_profile[i] = jsonPixels[i].toDouble();
+                             y_profile[i] = jsonPixels.at(i).toDouble();
                          }
 
-                         graph->setData(x_profile, y_profile);
-
                          QVector<qreal> y_diff(y_profile.count());
                          qreal max_diff { 0. };
                          qreal min_diff { 1000000. };
@@ -80,19 +88,19 @@ int main(int argc, char *argv[])
                          qreal avg_diff { 0. };
 
                          for (size_t i = 0; i < y_profile.count(); ++i) {
-                             y_diff[i] = y_profile[i] - prev_y_profile[i];
+                             y_diff[i] = y_profile.at(i) - prev_y_profile.at(i);
 
-                             if (y_diff[i] > max_diff) {
-                                 max_diff = y_diff[i];
+                             if (y_diff.at(i) > max_diff) {
+                                 max_diff = y_diff.at(i);
                                  max_diff_idx = i;
                              }
 
-                             if (y_diff[i] < min_diff) {
-                                 min_diff = y_diff[i];
+                             if (y_diff.at(i) < min_diff) {
+                                 min_diff = y_diff.at(i);
                                  min_diff_idx = i;
                              }
 
-                             avg_diff += fabs(y_diff[i]);
+                             avg_diff += fabs(y_diff.at(i));
                          }
 
                          avg_diff /= y_diff.size();
@@ -104,7 +112,24 @@ int main(int argc, char *argv[])
                          // // const auto max_diff = std::max_element(y_diff.begin(), y_diff.end());
                          // const auto avg_diff = std::accumulate(y_diff.begin(), y_diff.end(), 0.0) / y_diff.size();
                          std::sort(y_diff.begin(), y_diff.end());
-                         const auto median_diff = y_diff[y_diff.size() * 3 / 4];
+                         const auto median_diff = y_diff.at(y_diff.size() * 3 / 4);
+
+                         // if (qFuzzyIsNull(max_diff)) {
+                         //     qDebug() << "max_diff is null";
+
+                         //     static bool done = [&]() -> bool {
+                         //         for (const auto & y : y_profile) {
+                         //             qDebug() << y;
+                         //         }
+                         //         return true;
+                         //     }();
+
+                         //     manager->get(request);
+
+                         //     return;
+                         // }
+
+                         graph->setData(x_profile, y_profile);
 
                          engine.rootContext()->setContextProperty("max_diff", max_diff);
                          engine.rootContext()->setContextProperty("max_diff_idx", int(max_diff_idx));
@@ -112,6 +137,9 @@ int main(int argc, char *argv[])
                          engine.rootContext()->setContextProperty("min_diff_idx", int(min_diff_idx));
                          engine.rootContext()->setContextProperty("avg_diff", avg_diff);
                          engine.rootContext()->setContextProperty("median_diff", median_diff);
+                         engine.rootContext()->setContextProperty("encoderPosition", encoderPosition);
+                         engine.rootContext()->setContextProperty("measurementCounter", measurementCounter);
+                         engine.rootContext()->setContextProperty("timestampUs", timestampUs);
 
                          manager->get(request);
                          pixelsAutoRestartTimer.start();