Sv 4 battery indicator

qt-gui.workspace.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.2.1, 2018-06-09T13:50:58. -->
+<!-- Written by QtCreator 4.2.1, 2018-08-28T00:13:24. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

src/gui/resources/main_window.qml

@@ -13,7 +13,37 @@ Window {
     minimumWidth: 600
 
     //Battery indicator
-    Rectangle {
+    Item {
+        id: battery_indicator_container
+        anchors.left: parent.left
+        anchors.rightMargin: 76
+        anchors.top: parent.top
+        anchors.topMargin: 0
+        anchors.right: logo.left
+        anchors.leftMargin: 0
+        //anchors.bottom: videoStream.top
+        anchors.bottom: video_pane.top
+        anchors.bottomMargin: 90
+        ROSBatteryIndicator {
+            // @disable-check M16
+            objectName: "battery_indicator"
+            id: battery_indicator
+            // @disable-check M16`
+            anchors.bottom: parent.bottom
+            // @disable-check M16
+            anchors.bottomMargin: 0
+            // @disable-check M16
+            anchors.top: parent.top
+            // @disable-check M16
+            anchors.left: parent.left
+            // @disable-check M16
+            anchors.right: parent.right
+            // @disable-check M16
+            topic: qsTr("/rover/signal")
+        }
+    }
+
+    /*Rectangle {
         id: battery_indicator
         property var charge: 33
         property var full_charge: 33
@@ -82,7 +112,7 @@ Window {
 
 
         }
-}
+}*/
     Image {
         id: logo
         source: "/images/bluesatLogo.png"

src/gui/src/main_application.cpp

@@ -16,7 +16,6 @@ void Main_Application::run() {
     qmlRegisterType<ROS_Video_Component>("bluesat.owr", 1, 0, "ROSVideoComponent");
     qmlRegisterType<ROS_Signal_Strength>("bluesat.owr", 1, 0, "ROSSignalStrength");
     qmlRegisterType<ROS_Battery_Indicator>("bluesat.owr", 1, 0, "ROSBatteryIndicator"); //added
-    //qmlRegisterSingletonType<ROS_Battery_Indicator>("bluesat.owr.singleton", 1, 0, "ROSBatterryIndicator",  &ros_battery_indicator::qml_instance);
 
     // this loads the qml file we are about to create
     this->load(QUrl(QStringLiteral("qrc:/main_window.qml")));

src/ros_video_components/include/ros_video_components/ros_battery_indicator.hpp

@@ -4,7 +4,6 @@
 //QT
 #include <QQuickPaintedItem>
 #include <QPainter>
-#include <QObject>
 
 //ROS
 #include <ros/ros.h>
@@ -21,7 +20,7 @@ class  ROS_Battery_Indicator: public QQuickPaintedItem {
         // Constructor, takes parent widget, which defaults to null
         ROS_Battery_Indicator(QQuickItem * parent = 0);
 
-        //void paint(QPainter *painter);
+        void paint(QPainter *painter);
         void setup(ros::NodeHandle * nh);
 
         //getters and setters
@@ -40,7 +39,7 @@ class  ROS_Battery_Indicator: public QQuickPaintedItem {
         QString topic_value;
         bool ros_ready;
 
-    int charge; //the battery charge
+    float charge; //the battery charge
 };
 
 

src/ros_video_components/src/ros_battery_indicator.cpp

@@ -1,31 +1,74 @@
-#include "ros_video_components/ros_battery_indicator.hpp" //added
+#include "ros_video_components/ros_battery_indicator.hpp"
 
+#define RECT_X 10
+#define RECT_Y 10
 #define FULL_CHARGE 33
+#define GREEN (FULL_CHARGE / 3) * 2
+#define YELLOW FULL_CHARGE / 3
+#define INDICATOR_HEIGHT 15
+#define NOB_X RECT_X + FULL_CHARGE
+#define NOB_Y RECT_Y + (RECT_Y / 2)
+#define NOB_WIDTH 4
+#define NOB_HEIGHT 5
+#define TEXT_X RECT_X + FULL_CHARGE + ((RECT_X/2) + 1)
+#define TEXT_Y RECT_Y + 12
+#define BAR_WIDTH 1
 
 ROS_Battery_Indicator::ROS_Battery_Indicator(QQuickItem * parent) :
     QQuickPaintedItem(parent),
-    topic_value("/rover/signal"),
+    topic_value("/rover/batttery"),
     ros_ready(false),
     charge(33) {
 }
 
 void ROS_Battery_Indicator::setup(ros::NodeHandle * nh) {
 
     signal_sub = nh->subscribe(
-        "/rover/signal", //TODO
+        "/rover/battery", //TODO
         1,
         &ROS_Battery_Indicator::receive_signal,
         this
     );
     ros_ready = true;
 }
 
-/*void ROS_Battery_Indicator::paint(QPainter * painter) {
-    int x = 20;
-    int y = 20;
-    painter->drawRect(x,y,FULL_CHARGE,15);
+void ROS_Battery_Indicator::paint(QPainter * painter) {
 
-}*/
+    painter->drawRect(RECT_X, RECT_Y, FULL_CHARGE, INDICATOR_HEIGHT); //Draws outer rectangle
+    QLinearGradient linearGradient(0, 0, 100, 100);
+    linearGradient.setColorAt(0.0, Qt::black);
+    painter->setBrush(linearGradient);
+    painter->drawRect(NOB_X, NOB_Y, NOB_WIDTH, NOB_HEIGHT);  //Draws it at the end of the rectangle
+
+    float charge_p = charge; //Done to easily be able to adjust values of charge from subscriber
+    float bat = 0; //Used to limit how far the battery meter can if there is too much charge
+    if (charge_p > FULL_CHARGE) {
+        linearGradient.setColorAt(0.0, Qt::red);
+        bat = FULL_CHARGE;
+    } else if (charge_p > GREEN) {
+        linearGradient.setColorAt(0.0, Qt::green);
+        bat = charge_p;
+    } else if (charge_p > YELLOW) {
+        linearGradient.setColorAt(0.0, Qt::yellow);
+        bat = charge_p;
+    } else {
+        linearGradient.setColorAt(0.0, Qt::red);
+        bat = charge_p;
+    }
+    painter->setBrush(linearGradient);  //Setting the right color
+    painter->drawRect(RECT_X, RECT_Y, bat, INDICATOR_HEIGHT);  //Draws bar showing charge
+
+    linearGradient.setColorAt(0.0, Qt::black);
+    painter->setBrush(linearGradient);
+    painter->drawRect(RECT_X + YELLOW, RECT_Y, 1, INDICATOR_HEIGHT);  //Draws a bar on the indicator
+    painter->drawRect(RECT_X + GREEN, RECT_Y, 1, INDICATOR_HEIGHT);   //Draws a bar on the indicator
+
+    char percentage[6];
+    charge_p = (charge_p / 33) * 100;
+    sprintf(percentage, "%d%%", (int) charge_p);
+    percentage[5] = '\0';
+    painter->drawText(TEXT_X, TEXT_Y, percentage);  //Draws battery percentage
+}
 
 void ROS_Battery_Indicator::set_topic(const QString & new_value) {
     ROS_INFO("set_topic");
@@ -44,16 +87,14 @@ void ROS_Battery_Indicator::set_topic(const QString & new_value) {
     }
 }
 
-QString battery_indicator::get_topic() const {
+QString ROS_Battery_Indicator::get_topic() const {
     return topic_value;
 }
 
-void battery_indicator::
+void ROS_Battery_Indicator::
         receive_signal(const std_msgs::Float32::ConstPtr & msg) {
-    charge = msg->charge;
-    ROS_INFO("Received signal message");
+    charge = msg->data;
+    ROS_INFO("Received battery message");
     update();
 }
 
-ROS_Battery_Indicator * ROS_Battery_Indicator::instance = NULL;
-