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#include <QApplication>
#include <QNetworkAccessManager>
#include <QNetworkReply>
#include <QQmlApplicationEngine>
#include <QQmlContext>
#include <QTimer>
#include <QtConcurrent/QtConcurrentRun>
#include "QmlCustomPlot.h"
#include <iostream>
// #include <execution>
int main(
int argc, char *argv[])
{
QApplication app(argc, argv);
QQmlApplicationEngine engine;
qmlRegisterType<QmlCustomPlot>("QmlCustomPlot", 1, 0, "QmlCustomPlot");
auto pixelsPlot = new QCustomPlot();
#ifdef QCUSTOMPLOT_USE_OPENGL
pixelsPlot->setOpenGl(true);
#endif
auto profilePlot = new QCustomPlot();
#ifdef QCUSTOMPLOT_USE_OPENGL
profilePlot->setOpenGl(true);
#endif
engine.rootContext()->setContextProperty("pixelsPlot", pixelsPlot);
engine.rootContext()->setContextProperty("profilePlot", profilePlot);
engine.rootContext()->setContextProperty("max_diff", 0.0);
engine.rootContext()->setContextProperty("avg_diff", 0.0);
engine.rootContext()->setContextProperty("median_diff", 0.0);
QVector<qreal> x_pixels;
QVector<qreal> y_pixels;
QVector<qreal> prev_y_profile;
for (int x = -640; x < 640; ++x) {
double y = double(QRandomGenerator::global()->bounded(0, 80000)) / 100.;
x_pixels << x;
y_pixels << y;
}
prev_y_profile = y_pixels;
auto pixelsGraph = pixelsPlot->addGraph();
pixelsGraph->setPen(QPen(QBrush(Qt::red), 2));
pixelsGraph->setLineStyle(QCPGraph::lsNone);
pixelsGraph->setScatterStyle(QCPScatterStyle::ssDot);
pixelsGraph->setData(x_pixels, y_pixels);
auto profileGraph = profilePlot->addGraph();
profileGraph->setPen(QPen(QBrush(Qt::red), 2));
profileGraph->setLineStyle(QCPGraph::lsNone);
profileGraph->setScatterStyle(QCPScatterStyle::ssDot);
profileGraph->setData(x_pixels, y_pixels);
// QNetworkRequest pixelsRequest(QUrl("http://rpi5:8081/v1/pixels"));
// QNetworkRequest profileRequest(QUrl("http://rpi5:8081/v1/profile"));
QNetworkRequest pixelsRequest(QUrl("http://rpizero:8081/v1/pixels"));
QNetworkRequest profileRequest(QUrl("http://rpizero:8081/v1/profile"));
auto manager = new QNetworkAccessManager(&app);
QTimer pixelsAutoRestartTimer(&app);
pixelsAutoRestartTimer.setInterval(500);
pixelsAutoRestartTimer.setSingleShot(false);
QObject::connect(&pixelsAutoRestartTimer, &QTimer::timeout, [&]() {
manager->get(pixelsRequest);
});
QTimer profileAutoRestartTimer(&app);
profileAutoRestartTimer.setInterval(500);
profileAutoRestartTimer.setSingleShot(false);
QObject::connect(&profileAutoRestartTimer, &QTimer::timeout, [&]() {
manager->get(profileRequest);
});
QObject::connect(
manager, &QNetworkAccessManager::finished, [&](QNetworkReply *reply) {
// qDebug() << "replyFinished";
if (reply->error()) {
qDebug() << "replyFinished:" << reply->errorString();
qDebug() << "url was:" << reply->request().url();
reply->deleteLater();
return;
}
if (reply->url().toString().endsWith("pixels")) {
qDebug() << "got pixels";
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_pixels[i] = jsonPixels.at(i).toDouble();
}
QVector<qreal> y_diff(y_pixels.count());
qreal max_diff{0.};
qreal min_diff{1000000.};
size_t max_diff_idx = 0;
size_t min_diff_idx = 0;
qreal avg_diff{0.};
for (size_t i = 0; i < y_pixels.count(); ++i) {
y_diff[i] = y_pixels.at(i) - prev_y_profile.at(i);
if (y_diff.at(i) > max_diff) {
max_diff = y_diff.at(i);
max_diff_idx = i;
}
if (y_diff.at(i) < min_diff) {
min_diff = y_diff.at(i);
min_diff_idx = i;
}
avg_diff += fabs(y_diff.at(i));
}
avg_diff /= y_diff.size();
std::sort(y_diff.begin(), y_diff.end());
const auto median_diff = y_diff.at(y_diff.size() * 3 / 4);
pixelsGraph->setData(x_pixels, y_pixels);
auto jsonLines = json["lines"].toArray();
QList<QLineF> lines(jsonLines.count());
// FIXME: validate
// WARNING
// AHTUNG
// DANGER
std::transform(
// std::execution::par_unseq
jsonLines.cbegin(),
jsonLines.cend(),
lines.begin(),
[](const auto &jsonLine) -> QLineF {
const auto jsonPoints = jsonLine.toArray();
const auto jsonPoint0 = jsonPoints.at(0).toArray();
const auto jsonPoint1 = jsonPoints.at(1).toArray();
return {{jsonPoint0.at(0).toDouble(),
jsonPoint0.at(1).toDouble()},
{jsonPoint1.at(0).toDouble(),
jsonPoint1.at(1).toDouble()}};
});
// lines.append({{6,780},{38,787}});
auto pixelsCustomPlot
= engine.rootObjects().first()->findChild<QmlCustomPlot *>(
"pixelsCustomPlot");
if (!pixelsCustomPlot) {
qWarning() << "no pixelsCustomPlot";
} else {
// qDebug() << "set lines. count is" << lines.count();
pixelsCustomPlot->setLines(lines);
}
// 6 780
// 38 787
engine.rootContext()->setContextProperty("max_diff", max_diff);
engine.rootContext()->setContextProperty("max_diff_idx",
int(max_diff_idx));
engine.rootContext()->setContextProperty("min_diff", min_diff);
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(pixelsRequest);
pixelsAutoRestartTimer.start();
prev_y_profile = y_pixels;
} else if (reply->url().toString().endsWith("profile")) {
qDebug() << "got profile";
auto json = QJsonDocument::fromJson(reply->readAll()).object();
auto jsonProfile = json["profile"].toObject();
auto jsonPointsMm = jsonProfile["pointsMm"].toArray();
QList<qreal> x_profile(size_t(1280), 0.);
QList<qreal> y_profile(size_t(1280), 0.);
static bool done{false};
if (!done) {
qDebug() << "got profile result:";
qDebug() << jsonProfile;
}
for (int i = 0; i < jsonPointsMm.count(); ++i) {
// qDebug() << jsonPointsMm.at(i);
// continue;
const auto x = jsonPointsMm.at(i).toArray()[0].toDouble();
const auto z = jsonPointsMm.at(i).toArray()[1].toDouble();
if (qFuzzyIsNull(z) || std::isnan(z)) {
x_profile[i] = 0;
y_profile[i] = 0;
continue;
}
x_profile[i] = x;
y_profile[i] = z;
if (!done) {
qDebug() << '\t' << x_profile[i] << y_profile[i];
}
}
done = true;
profileGraph->setData(x_profile, y_profile);
// pixelsGraph->setData(x_profile, y_profile);
manager->get(profileRequest);
profileAutoRestartTimer.start();
} else {
qDebug() << "unknown reply type";
}
reply->deleteLater();
});
manager->get(pixelsRequest);
pixelsAutoRestartTimer.start();
manager->get(profileRequest);
profileAutoRestartTimer.start();
// auto pixelsRequestFuture = QtConcurrent::run([&](){
// QThread::sleep(1);
// // x_profile.clear();
// y_profile.clear();
// for(int x = -640; x < 640; ++x)
// {
// double y = double(QRandomGenerator::global()->bounded(0, 80000)) / 100.;
// // x_profile << x;
// y_profile << y;
// }
// graph->setData(x_profile, y_profile);
// });
QObject::connect(
&engine,
&QQmlApplicationEngine::objectCreationFailed,
&app,
[]() { QCoreApplication::exit(-1); },
Qt::QueuedConnection);
engine.loadFromModule("eurydice", "Main");
return app.exec();
}
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