mainwindow.cpp

#include "mainwindow.h"
#include <string>

MainWindow::MainWindow(yarp::os::Network* yarp, QWidget *parent) : QMainWindow(parent), save_action(tr("&Save"),parent)
{
    file_menu = menuBar()->addMenu(tr("&File"));
    file_menu->addAction(&save_action);

    connect(&save_action,SIGNAL(triggered()),this,SLOT(on_save_menu_clicked()));

    QSignalMapper* switch_signalMapper = new QSignalMapper(this);
    QSignalMapper* saving_signalMapper = new QSignalMapper(this);
    QSignalMapper* timeredit_signalMapper = new QSignalMapper(this);

    int j=0;
    int port=1230;

    while(glob_id<8)
    {
        QVBoxLayout* video_layout = new QVBoxLayout();
	QHBoxLayout* control_layout = new QHBoxLayout();
	QLabel* video_label = new QLabel("cam. "+QString::fromStdString(std::to_string(glob_id))+" [fps 1-30]:");

	video_port[glob_id] = port;

	video_switch[glob_id] = new QPushButton("Running");
	video_switch.at(glob_id)->setCheckable(true);
	video_switch.at(glob_id)->setChecked(true);
	video_saving[glob_id] = new QPushButton("Saving");
	video_saving.at(glob_id)->setCheckable(true);
	video_saving.at(glob_id)->setChecked(true);
	video_timer_edit[glob_id] = new QLineEdit();
	video_timer_edit[glob_id]->setEnabled(false);
	video_timer_edit.at(glob_id)->setFixedSize(60,30);
	video_timer_edit.at(glob_id)->setText(QString::number(1));
	video_display[glob_id] = new gstqtwidget(this);
	video_display.at(glob_id)->setPipeline(video_port[glob_id]);
	video_fps[glob_id] = video_timer_edit.at(glob_id)->text().toInt();

	video_layout->addWidget(video_display.at(glob_id));
	control_layout->addWidget(video_switch.at(glob_id));
	control_layout->addWidget(video_saving.at(glob_id));
	control_layout->addWidget(video_label);
	control_layout->addWidget(video_timer_edit.at(glob_id));
	video_layout->addLayout(control_layout);

	if(j<4)main_layout1.addLayout(video_layout);
	else main_layout2.addLayout(video_layout);
	j++;

	command_map[glob_id] = "./camera_rec video"+std::to_string(glob_id)+" "+std::to_string(video_port.at(glob_id))+" &";
// 	system(command_map.at(glob_id).c_str());
	command_port[glob_id] = new yarp::os::Port();
	command_port.at(glob_id)->open("/camera_gui/video"+std::to_string(glob_id));
	yarp::os::Network::connect("/camera_gui/video"+std::to_string(glob_id),"/camera_rec/video"+std::to_string(glob_id));

	connect(video_switch.at(glob_id), SIGNAL(clicked(bool)), switch_signalMapper, SLOT(map()));
	switch_signalMapper->setMapping(video_switch.at(glob_id), glob_id);
	connect(video_saving.at(glob_id), SIGNAL(clicked(bool)), saving_signalMapper, SLOT(map()));
	saving_signalMapper->setMapping(video_saving.at(glob_id), glob_id);
	connect(video_timer_edit.at(glob_id), SIGNAL(returnPressed()), timeredit_signalMapper, SLOT(map()));
	timeredit_signalMapper->setMapping(video_timer_edit.at(glob_id), glob_id);
	glob_id++;
	port++;
    }
    
    out_layout.addLayout(&main_layout1);
    out_layout.addLayout(&main_layout2);

    connect(switch_signalMapper, SIGNAL(mapped(int)), this, SLOT(on_video_switch_clicked(int)));
    connect(saving_signalMapper, SIGNAL(mapped(int)), this, SLOT(on_video_saving_clicked(int)));
    connect(timeredit_signalMapper, SIGNAL(mapped(int)), this, SLOT(on_video_fps_changed(int)));
    
    setCentralWidget(new QWidget);
    centralWidget()->setLayout(&out_layout);
}

WId MainWindow::getWinId(int index)
{
    return video_display.at(index)->winId();
}

int MainWindow::getPort(int index)
{
    return video_port.at(index);
}

void MainWindow::on_video_saving_clicked(const int& id)
{
    if(video_saving.at(id)->isChecked())
    {
	video_saving.at(id)->setText("Saving");
	yarp::os::Bottle command;
	command.addString("saving");
	command_port.at(id)->write(command);
    }
    else
    {
        video_saving.at(id)->setText("Not Saving");
	yarp::os::Bottle command;
	command.addString("nosaving");
	command_port.at(id)->write(command);
    }
}

void MainWindow::on_video_switch_clicked(const int& id)
{
    if(video_switch.at(id)->isChecked())
    {
	video_switch.at(id)->setText("Running");
	system(command_map.at(id).c_str());
    }
    else
    {
        video_switch.at(id)->setText("Stopped");
	yarp::os::Bottle command;
	command.addString("quit");
	command_port.at(id)->write(command);
    }
}

void MainWindow::on_video_fps_changed(const int& id)
{
    video_fps.at(id) = video_timer_edit.at(id)->text().toInt();\
    if(video_fps.at(id)>30) video_fps.at(id)=30;
    if(video_fps.at(id)<1) video_fps.at(id)=1;
    video_timer_edit.at(id)->setText(QString::number(video_fps.at(id)));
    yarp::os::Bottle command;
    command.addString("period "+ std::to_string(video_fps.at(id)));
    command_port.at(id)->write(command);
}

void MainWindow::on_save_menu_clicked()
{
    yarp::os::Bottle command;
    command.addString("save");
    for(auto item:command_port) item.second->write(command);
}

MainWindow::~MainWindow()
{

}