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MainWindow.cpp.cc
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MainWindow.cpp.cc
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/*
* To change this license header, choose License Headers in Project Properties.
* To change this template file, choose Tools | Templates
* and open the template in the editor.
*/
/*
* File: MainWindow.cpp
* Author: serhiy
*
* Created on November 25, 2016, 11:19 AM
*/
#include <qt4/QtGui/qpainterpath.h>
#include "MainWindow.h"
MainWindow::MainWindow() {
widget.setupUi(this);
port_ = 8080;
host_ = "192.168.192.14";
mouseGrabbed_ = false;
mouseBorder_ = 1;
mouseIgnoreMoveRadius_ = 30;
//QFuture<void> gst_ = QtConcurrent::run(streamParser);
setWindowTitle(tr("Robotic Car"));
//-------------------------
QGst::ElementPtr rtpbin = QGst::ElementFactory::make("gstrtpbin");
qDebug() << "created rtpbin";
QGst::ElementPtr source = QGst::ElementFactory::make("udpsrc", "src");
qDebug() << "created source";
QGst::ElementPtr rtph264depay = QGst::ElementFactory::make("rtph264depay");
qDebug() << "created rtph264depay";
QGst::ElementPtr avdec_h264 = QGst::ElementFactory::make("avdec_h264");
qDebug() << "created avdec_h264";
QGst::ElementPtr videoconvert = QGst::ElementFactory::make("videoconvert");
qDebug() << "created videoconvert";
//QGst::ElementPtr sink = widget.testWidget->videoSink();
QGst::ElementPtr sink = QGst::ElementFactory::make("qwidget5videosink");
qDebug() << "created sink";
pipeline_ = QGst::Pipeline::create();
qDebug() << "QGst::Pipeline::create()";
//pipeline_->add(rtpbin);
source->setProperty("port", 9000);
source->setProperty("caps", QGst::Caps::fromString("application/x-rtp,"
" media=(string)video, width=1024, height=768, "
"clock-rate=(int)90000, encoding-name=(string)H264"));
pipeline_->add(source);
//if(rtpbin->link(source) == false)
qDebug("Linked source");
pipeline_->add(rtph264depay);
if(source->link(rtph264depay) == false)
qDebug("Link rtph264depay failed");
else qDebug() << "Linked rtph264depay";
pipeline_->add(avdec_h264);
if(rtph264depay->link(avdec_h264) == false)
qDebug("Link avdec_h264 failed");
else qDebug() << "Linked avdec_h264";
pipeline_->add(videoconvert);
if(avdec_h264->link(videoconvert) == false)
qDebug("Link videoconvert failed");
else qDebug() << "Linked videoconvert";
pipeline_->add(sink);
if(videoconvert->link(sink) == false)
qDebug("Link sink failed");
else qDebug() << "Linked sink";
//widget.testWidget->watchPipeline(pipeline_);
widget.testWidget->setVideoSink(sink);
pipeline_->setState(QGst::StatePlaying);
qDebug() << "Widget->rect()" << widget.testWidget->rect();
//setCentralWidget(testWidget);
//-------------------------
connect(widget.actionConfigure, SIGNAL(triggered()), this, SLOT(configureIP()));
connect(widget.actionConnect, SIGNAL(triggered()), this, SLOT(connectToHost()));
connect(&socket_, SIGNAL(readyRead()), this, SLOT(readyRead()));
connect(&socket_, SIGNAL(disconnected()), this, SLOT(disconnectedFromHost()));
}
MainWindow::~MainWindow() {
}
void MainWindow::keyPressEvent(QKeyEvent* event){
//QWidget * tmpW = QWidget::mouseGrabber();
//qDebug() << "mousegraber = " << tmpW;
switch (event->key()){
case Qt::Key_Right:
this->sendMessage("Right");
break;
case Qt::Key_Left:
this->sendMessage("Left");
break;
case Qt::Key_Up:
this->sendMessage("respond");
break;
case Qt::Key_Enter:
case Qt::Key_Return:
this->sendMessage("exit");
break;
case Qt::Key_Escape:
mouseGrabbed_ = false;
setMouseTracking(false);
releaseMouse();
QCursor::setPos(originalMousePoint_);
this->setCursor(originalMouseCursor_);
break;
}
}
void MainWindow::connectToHost(){
qDebug() << "Connection state: " << socket_.state();
if (socket_.state() != QAbstractSocket::ConnectedState){
qDebug() << "Connecting to host";
socket_.connectToHost(host_, port_);
if (socket_.waitForConnected(3000)){
if (socket_.state() == QAbstractSocket::ConnectedState)
widget.actionConnect->setText("Disconnect");
}
else qDebug() << socket_.errorString();
qDebug() << "Connected";
}
else {
socket_.disconnectFromHost();
widget.actionConnect->setText("Connect");
qDebug() << "Disconnected";
}
this->setFocus();
}
void MainWindow::disconnectedFromHost(){
widget.actionConnect->setText("Connect");
qDebug() << "Disconnected";
}
bool MainWindow::sendMessage(QString message){
char messageSize[5] = {0};
sprintf(messageSize, "%d", message.length());
socket_.write(messageSize, 2);
socket_.write(message.toStdString().c_str(), message.length());
}
QString MainWindow::receiveMessage(){
char messageSize[5] = {0};
socket_.read(messageSize, 2);
int size = atoi(messageSize);
QByteArray buff = socket_.read(size);
return QString(buff);
}
void MainWindow::mousePressEvent(QMouseEvent* event){
//qDebug() << "mouse grabber" << typeid(*(QWidget::mouseGrabber())).name();
if (event->button() == Qt::LeftButton && widget.testWidget->underMouse()){
if (!mouseGrabbed_){
originalMouseCursor_ = this->cursor();
originalMousePoint_ = QCursor::pos();
widgetCenter_.setX(widget.testWidget->width() / 2);
widgetCenter_.setY(widget.testWidget->height() / 2);
QPoint tmpPoint = widget.testWidget->mapToGlobal(widgetCenter_);
QCursor::setPos(tmpPoint);
mouseGrabbed_ = true;
grabMouse();
setMouseTracking(true);
}
}
}
void MainWindow::mouseMoveEvent(QMouseEvent* event){
//QWidget * tmpW = Qwidget.testWidget->mapFromParent(event->pos());
QPoint local_xy = widget.testWidget->mapFromGlobal(event->globalPos());
int x = local_xy.x();
int y = local_xy.y();
int height = widget.testWidget->height();
int width = widget.testWidget->width();
if (mouseGrabbed_){
bool resetPos = false;
if (x > (width - mouseBorder_)){
x = width - mouseBorder_;
resetPos = true;
}
if (x < mouseBorder_){
x = mouseBorder_;
resetPos = true;
}
if (y > (height - mouseBorder_)){
y = height - mouseBorder_;
resetPos = true;
}
if (y < mouseBorder_){
y = mouseBorder_;
resetPos = true;
}
if (resetPos){
QPoint tmpPoint = widget.testWidget->mapToGlobal(QPoint(x,y));
QCursor::setPos(tmpPoint);
}
}
qDebug() << "height=" << height << " width=" << width << "dx=" << x << " dy=" << y << " local" << local_xy << widget.testWidget->mapToGlobal(QPoint(x,y)) << event->pos();
}
void MainWindow::wheelEvent(QWheelEvent* event){
if (!mouseGrabbed_){
int numDegrees = event->delta();
qDebug() << "numDegrees" << numDegrees << "\n";
if (numDegrees > 0){
sendMessage("Forward:200");
}
if (numDegrees < 0){
sendMessage("Backward:200");
}
event->ignore();
}
}
void MainWindow::readyRead(){
qDebug() << "reading...";
qDebug() << receiveMessage();
}
void MainWindow::configureIP(){
QDialog *confDialog = new QDialog(0,0);
Ui_Conf configUi;
configUi.IPaddress = host_;
configUi.IPport = QString::number(port_);
configUi.setupUi(confDialog);
if (confDialog->exec() == QDialog::Accepted){
host_ = configUi.getIP();
port_ = configUi.getPort().toInt();
}
}