gui: added working levels

tools/QtGAITGui/CMakeLists.txt

@@ -19,15 +19,13 @@ find_package(Qt5Charts CONFIG REQUIRED)
 add_executable(qt-gait-gui
 	main.cpp
 	WindowBase.hpp
-	Training_mode.cpp
 	Training_mode.hpp
 	CircleWidget.cpp
 	CircleWidget.hpp
 	progressbar.cpp
 	progressbar.hpp
 	intro_window.cpp
 	intro_window.hpp
-	Level_weight_shifting.cpp
 	Level_weight_shifting.hpp
 	MainWindow.cpp
 	MainWindow.hpp

tools/QtGAITGui/CircleWidget.cpp

@@ -26,10 +26,10 @@ float CircleWidget::getDiameter()
   return this->diameter;
 }
 
-void CircleWidget::setTarget(float lower, float upper)
+void CircleWidget::setTarget(Target t)
 {
-  m_targetLow = lower;
-  m_targetHigh = upper;
+  m_targetLow = t.low;
+  m_targetHigh = t.high;
 }
 
 void CircleWidget::checkStatus()

tools/QtGAITGui/CircleWidget.hpp

@@ -5,6 +5,7 @@
 
 #include <QWidget>
 #include "MainWindow.hpp"
+#include "TargetBase.h"
 #include "common_types.h"
 
 class CircleWidget : public QWidget {
@@ -28,8 +29,10 @@ class CircleWidget : public QWidget {
  public slots:
   void setDiameter(float d);
   float getDiameter();
-  void setTarget(float lower, float upper);  // NEW
-  void checkStatus();                        // NEW
+
+  void setTarget(Target t);
+  void checkStatus();
+
   void onNewFSRData(fsr_data p) { setDiameter(p.toe + p.heel); }
 
  private:

tools/QtGAITGui/FinalWindow.hpp

@@ -2,8 +2,9 @@
 #define FinalWindow_hpp
 #include <stdio.h>
 #include <QLabel>
+#include "WindowBase.hpp"
 
-class FinalWindow : public QWidget {
+class FinalWindow : public WindowBase {
  public:
   FinalWindow();
   ~FinalWindow();

tools/QtGAITGui/Level_weight_shifting.hpp

@@ -2,47 +2,129 @@
 #define Level_weight_shifting_hpp
 
 #include <stdio.h>
+#include <QFile>
+#include <QJsonDocument>
 #include <QJsonObject>
+#include <QMessageBox>
 #include <QObject>
 #include <QTimer>
 #include <chrono>
+#include "TargetBase.h"
 
-class ProgressBar;
-
-struct Target {
-  float low;
-  float high;
-};
+template <class>
+class TrainingMode;
 
+template <class TargetT>
 class LevelWS : public QObject {
-  Q_OBJECT
  public:
-  LevelWS(ProgressBar *left, ProgressBar *right);
+  LevelWS(TrainingMode<TargetT> *parent,
+          TargetT *left,
+          TargetT *right,
+          QLabel *label)
+      : m_parent(parent), m_leftBar(left), m_rightBar(right), m_label(label)
+  {
+    connect(left, &TargetT::onTarget, this, &LevelWS::onLeftFSRChanged);
+    connect(right, &TargetT::onTarget, this, &LevelWS::onRightFSRChanged);
+
+    m_timer.setSingleShot(true);
+
+    connect(&m_timer, &QTimer::timeout, this, &LevelWS::levelComplete);
+  }
+
   void setLvlRequirements(Target left,
                           Target right,
-                          std::chrono::seconds timeRequirement);
-  void loadJsonFile(QString file);
+                          std::chrono::seconds timeRequirement)
+  {
+    m_leftBar->setTarget(left);
+    m_rightBar->setTarget(right);
+    m_timeRequirement = timeRequirement;
+  }
+
+  void loadJsonFile(QString file)
+  {
+    QFile dataFile(file);
+
+    if (!dataFile.open(QFile::ReadOnly)) {
+      QMessageBox().critical(0, "File Error", "Data file does not exist");
+      return;
+    }
+
+    auto jsonDoc = QJsonDocument::fromJson(dataFile.readAll());
+
+    levelsRoot = jsonDoc.object();
+  }
+
  public slots:
-  void onLeftFSRChanged(bool onTarget);
-  void onRightFSRChanged(bool onTarget);
+  void onLeftFSRChanged(bool onTarget)
+  {
+    m_leftOnTgt = onTarget;
+    checkTgtStatus();
+  }
 
-  void start();
+  void onRightFSRChanged(bool onTarget)
+  {
+    m_rightOnTgt = onTarget;
+    checkTgtStatus();
+  }
 
-  void runLevel();
+  void levelComplete()
+  {
+    auto levelIdx = levelsRoot.keys().indexOf(currentLevel);
+    if (levelIdx == levelsRoot.keys().size() - 1) {
+      // This was the last level
+      m_parent->emitWindowDone();
+      return;
+    }
+    currentLevel = levelsRoot.keys()[levelIdx + 1];
+    runLevel();
+  }
 
- private:
-  void levelComplete();
+  void start()
+  {
+    currentLevel = levelsRoot.keys()[0];
+
+    runLevel();
+  }
+
+  void runLevel()
+  {
+    m_label->setText(currentLevel);
+    auto levelData = levelsRoot[currentLevel].toObject();
+
+    long duration = levelData["Time"].toDouble();
+
+    auto leftArray = levelData["Left"].toArray();
+    auto rightArray = levelData["Right"].toArray();
+
+    setLvlRequirements({leftArray[0].toDouble(), leftArray[1].toDouble()},
+                       {rightArray[0].toDouble(), rightArray[1].toDouble()},
+                       std::chrono::seconds(duration));
+
+    m_timer.start(m_timeRequirement);
+  }
 
  private:
-  void checkTgtStatus();
+  void checkTgtStatus()
+  {
+    if (m_rightOnTgt && m_leftOnTgt) {
+      m_timer.start(m_timeRequirement);
+    }
+    else {
+      m_timer.stop();
+    }
+  }
 
  private:
   QJsonObject levelsRoot;
   QString currentLevel;
   QTimer m_timer;
 
-  ProgressBar *m_leftBar;
-  ProgressBar *m_rightBar;
+  TargetT *m_leftBar;
+  TargetT *m_rightBar;
+
+  QLabel *m_label;
+
+  TrainingMode<TargetT> *m_parent;
 
   Target m_tgtLeft;
   Target m_tgtRight;

tools/QtGAITGui/MainWindow.cpp

@@ -52,7 +52,9 @@ void MainWindow::onWindowDone(WindowKind wk, int extra)
                                                     this);
         ;
       }
-
+      break;
+    case WindowKind::Training:
+      nextWindow = new FinalWindow();
       break;
   }
   connect(nextWindow, &WindowBase::windowDone, this, &MainWindow::onWindowDone);

tools/QtGAITGui/TargetBase.h

@@ -0,0 +1,8 @@
+#ifndef RTEP_TEAM18_TARGETBASE_H
+#define RTEP_TEAM18_TARGETBASE_H
+
+struct Target {
+  float low, high;
+};
+
+#endif  // RTEP_TEAM18_TARGETBASE_H

tools/QtGAITGui/Training_mode.hpp

@@ -4,6 +4,7 @@
 #include <stdio.h>
 #include <CircleWidget.hpp>
 #include <QGridLayout>
+#include <QJsonArray>
 #include <QLabel>
 #include <QLineEdit>
 #include <QPainter>
@@ -13,6 +14,7 @@
 #include <QVBoxLayout>
 #include <QtWidgets/QMainWindow>
 #include <chrono>
+#include "Level_weight_shifting.hpp"
 #include "WindowBase.hpp"
 #include "progressbar.hpp"
 #include "telemetry/client.h"
@@ -27,7 +29,8 @@ class TrainingMode : public WindowBase {
       : widget_r(new WidgetT()),
         widget_l(new WidgetT()),
         level_label(new QLabel()),
-        instruction_label(new QLabel(instructions))
+        instruction_label(new QLabel(instructions)),
+        level_manager(this, widget_l, widget_r, level_label)
 
   {
     QPalette pal = palette();
@@ -73,8 +76,13 @@ class TrainingMode : public WindowBase {
             widget_l, &WidgetT::onNewFSRData);
     connect(static_cast<MainWindow *>(parent), &MainWindow::newFSRDataR,
             widget_r, &WidgetT::onNewFSRData);
+
+    level_manager.loadJsonFile("levels.json");
+    level_manager.start();
   }
 
+  void emitWindowDone() { emit windowDone(WindowKind::Training, 0); }
+
  private:
   WidgetT *widget_r;
   WidgetT *widget_l;
@@ -84,6 +92,8 @@ class TrainingMode : public WindowBase {
 
   QLabel *level_label;
   QLabel *instruction_label;
+
+  LevelWS<WidgetT> level_manager;
 };
 
 #endif /* Training_mode_hpp */