modularization/src/apollo/code/pilot_apollo_bridge_gui/mainwindow.cpp

#include "mainwindow.h"
#include "ui_mainwindow.h"

#include <QProcess>
#include <QTimer>

MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
{
    ui->setupUi(this);

    apollo::cyber::Init("pilot_apollo_bridge_gui");
    pilot_node = apollo::cyber::CreateNode("pilot_apollo_bridge_gui");

    mpthreadtest = new std::thread(&MainWindow::threadtest,this);

    ui->pushButton_StartApollo->setEnabled(true);
    ui->pushButton_StopApollo->setEnabled(false);

    connect(&mProc,SIGNAL(readyReadStandardOutput()),this,SLOT(onReadStandardOutput()));
    connect(&mProc,SIGNAL(readyReadStandardError()),this,SLOT(onReadStandardError()));

    connect(&mProcNode,SIGNAL(readyReadStandardOutput()),this,SLOT(onReadStandardOutput()));
    connect(&mProcNode,SIGNAL(readyReadStandardError()),this,SLOT(onReadStandardError()));
    connect(&mProcNode,SIGNAL(finished(int)),this,SLOT(onProcessFinished(int)));

    connect(&mProcStopDreamview,SIGNAL(readyReadStandardOutput()),this,SLOT(onReadStandardOutput()));
    connect(&mProcStopDreamview,SIGNAL(readyReadStandardError()),this,SLOT(onReadStandardError()));
    connect(&mProcStopDreamview,SIGNAL(finished(int)),this,SLOT(onProcessFinished(int)));

    connect(&mProcStopMonitor,SIGNAL(readyReadStandardOutput()),this,SLOT(onReadStandardOutput()));
    connect(&mProcStopMonitor,SIGNAL(readyReadStandardError()),this,SLOT(onReadStandardError()));
    connect(&mProcStopMonitor,SIGNAL(finished(int)),this,SLOT(onProcessFinished(int)));


    std::string strxmlpath = "/apollo_workspace/code/xml/pilotlaunch.xml";

    //从配置文件中读取当前系统包含的所有模块信息-tjc
    mPM = new ProgMon(strxmlpath.data());

//    connect(mPM,SIGNAL(SigProcStarted(ProgUnit*)),this,SLOT(onProcessStarted(ProgUnit*)));
//    connect(mPM,SIGNAL(SigProcStoped(ProgUnit*)),this,SLOT(onProcessEnd(ProgUnit*)));

    setGeometry(0,0,800,600);

    QTabWidget * p = new QTabWidget(ui->centralwidget);
    p->setGeometry(30,150,800,450);

    mTabMain = p;

    CenterView * pcv = new CenterView(p,mPM);
    mpCV = pcv;
    connect(pcv,SIGNAL(ProgClick(ProgUnit*,ProgramViewUnit * ,bool)),this,SLOT(onProgClick(ProgUnit*,ProgramViewUnit * ,bool)));
    connect(pcv,SIGNAL(ProgLogClick(ProgUnit*,ProgramViewUnit*,bool)),this,SLOT(onProgLogClick(ProgUnit*,ProgramViewUnit*,bool)));

    mPM->start();

    QTimer * timer = new QTimer(this);
    connect(timer,SIGNAL(timeout()),this,SLOT(onTimerState()));
    timer->start(1000);

    setWindowTitle("Pilot Apollo Bridge GUI");
}

MainWindow::~MainWindow()
{
    if(mbMonitorRunning)
    {
        QProcess * pProc = new QProcess(this);
        pProc->start("cyber_launch",QStringList() << "stop"<<"modules/monitor/launch/monitor.launch");
        pProc->waitForFinished();
    }
    if(mbDreamviewRunning)
    {
        QProcess * pProc = new QProcess(this);
        pProc->start("cyber_launch",QStringList() << "stop"<<"modules/dreamview_plus/launch/dreamview_plus.launch");
        pProc->waitForFinished();
    }
    mbtestrun = false;
    mpthreadtest->join();

    mPM->requestInterruption();

    qint64 time;
    time = QDateTime::currentMSecsSinceEpoch();
    while((QDateTime::currentMSecsSinceEpoch() - time)<1500)
    {
        if(mPM->isFinished())
        {
            qDebug("PM finish");
            break;
        }
    }

    delete mPM;


    std::this_thread::sleep_for(std::chrono::milliseconds(10));

    delete ui;
}

void MainWindow::threadtest()
{

    while(mbtestrun && (apollo::cyber::OK())){
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
    }
}


void MainWindow::on_pushButton_StartApollo_clicked()
{

//    mProc.start("cd /apollo_workspace;cyber_launch start modules/dreamview_plus/launch/dreamview_plus.launch;");
    mProc.setWorkingDirectory("/apollo_workspace");
    mProc.start("cyber_launch",QStringList() << "start"<<"modules/dreamview_plus/launch/dreamview_plus.launch");
    mbDreamviewRunning = true;

    mProcMonitor.setWorkingDirectory("/apollo_workspace");
    mProcMonitor.start("cyber_launch",QStringList() << "start"<<"modules/monitor/launch/monitor.launch");
    mbMonitorRunning = true;

    mProcNode.start("cyber_node",QStringList() <<"list");
    mnNodeListRetry = 3;

    ui->pushButton_StartApollo->setEnabled(false);
}


void MainWindow::onReadStandardOutput()
{
    QProcess * proc = (QProcess *)sender();
    QByteArray ba = proc->readAllStandardOutput();

    if(proc == &mProcNode)
    {
        QList<QByteArray> strnode = ba.split('\n');
        std::cout<<strnode.size()<<std::endl;
        int nodesize = static_cast<int>(strnode.size());
        if(nodesize>2)
        {
            QString str(strnode[0]);
            if(str.indexOf("Number of active nodes")>=0)
            {
                int i;
                for(i=1;i<nodesize;i++)
                {
                    QString strnodename(strnode[i]);
                    if(strnodename.indexOf("HMI")>=0)
                    {
   //                     std::cout<<" find hmi "<<i<<" nodename"<<strnodename.toLatin1().data()<<std::endl;
                        ui->pushButton_StopApollo->setEnabled(true);
                        mnNodeListRetry = 0;
                        break;
                    }
                }
            }
 //           std::cout<<"node size: "<<strnode.size()<<std::endl;
        }
    }

    std::cout<<"output: "<<ba.data()<<std::endl;
}

void MainWindow::onReadStandardError()
{
    QProcess * proc = (QProcess *)sender();
    QByteArray ba = proc->readAllStandardError();

    std::cout<<"error: "<<ba.data()<<std::endl;
}

void MainWindow::on_pushButton_StopApollo_clicked()
{
    mProcStopDreamview.setWorkingDirectory("/apollo_workspace");
    mProcStopDreamview.start("cyber_launch",QStringList() << "stop"<<"modules/dreamview_plus/launch/dreamview_plus.launch");
    mProcStopMonitor.setWorkingDirectory("/apollo_workspace");
    mProcStopMonitor.start("cyber_launch",QStringList() << "stop"<<"modules/monitor/launch/monitor.launch");
    mbProcStopApolloRunning = true;
    ui->pushButton_StopApollo->setEnabled(false);
}

void MainWindow::onProcessFinished(int nStatus)
{
    (void)nStatus;
    QProcess * proc = (QProcess *)sender();
    if(proc == &mProcNode)
    {
        std::cout<<"Process Node Finished."<<std::endl;
        if((!ui->pushButton_StopApollo->isEnabled())  && (mnNodeListRetry > 0))
        {
            std::cout<<"Process Node List Retry. Because Not Enable"<<std::endl;
            mProcNode.start("cyber_node",QStringList() <<"list");
            mnNodeListRetry--;
        }
    }

    if(proc == &mProcStopMonitor)
    {
        mbMonitorRunning = false;
        if((mbDreamviewRunning == false)&&(mbMonitorRunning == false))
        {
            ui->pushButton_StartApollo->setEnabled(true);
            mbProcStopApolloRunning = false;
        }
    }

    if(proc == &mProcStopDreamview)
    {
        mbDreamviewRunning = false;
        if((mbDreamviewRunning == false)&&(mbMonitorRunning == false))
        {
            ui->pushButton_StartApollo->setEnabled(true);
            mbProcStopApolloRunning = false;
        }
    }
}

void MainWindow::resizeEvent(QResizeEvent *event)
{
    (void)event;
    QSize sizemain = ui->centralwidget->size();
    mTabMain->setGeometry(30,100,sizemain.width()-60,sizemain.height()-130);


}


void MainWindow::onProgClick(ProgUnit *pu,ProgramViewUnit * pvu, bool bClick)
{
    qDebug(" %s click is  data is %d",pu->strlaunch,bClick);

    pu->mbautostart = false; //if click,not need auto start.
    if(bClick == true)
    {
        mPM->StartProc(pu);
//        mPM->restartProc(pu);
//        mPM->restartProc(pu);
//        mPM->restartProc(pu);

    }
    else
    {
        mPM->StopProc(pu);

    }
}

void MainWindow::onTimerState()
{
//    qDebug("log");
//    int i;
//    for(i=0;i<10000;i++)
//        ivlog->warn("test","adfassssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssadfsadgfgsdfagafdaf");
    mpCV->UpdateState();
}

void MainWindow::onProgLogClick(ProgUnit *pu, ProgramViewUnit *pvu, bool bClick)
{
    pu->mbSavestdout = bClick;
}