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dataplot.cpp
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/*
* This application is visualizes data from imu-utils over tcp
*
* Copyright (C) 2013 Simon Stürz ([email protected])
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "dataplot.h"
DataPlot::DataPlot(QWidget *parent) :
QWidget(parent)
{
m_accPlot = new QCustomPlot(this);
m_gyrPlot = new QCustomPlot(this);
m_magPlot = new QCustomPlot(this);
m_anglePlot = new QCustomPlot(this);
m_timer = new QTimer(this);
m_timer->setInterval(20);
m_tickCounter = 0;
connect(m_timer,SIGNAL(timeout()),this,SLOT(timerCounter()));
}
QWidget *DataPlot::createAccPlot()
{
// setup plot
m_accPlot->yAxis->setRange(-256,256);
m_accPlot->xAxis->setTickLength(1);
// set some pens, brushes and backgrounds:
m_accPlot->xAxis->setBasePen(QPen(Qt::white, 1));
m_accPlot->yAxis->setBasePen(QPen(Qt::white, 1));
m_accPlot->xAxis->setTickPen(QPen(Qt::white, 1));
m_accPlot->yAxis->setTickPen(QPen(Qt::white, 1));
m_accPlot->xAxis->setSubTickPen(QPen(Qt::white, 1));
m_accPlot->yAxis->setSubTickPen(QPen(Qt::white, 1));
m_accPlot->xAxis->setTickLabelColor(Qt::white);
m_accPlot->yAxis->setTickLabelColor(Qt::white);
m_accPlot->xAxis->grid()->setPen(QPen(QColor(140, 140, 140), 1, Qt::DotLine));
m_accPlot->yAxis->grid()->setPen(QPen(QColor(140, 140, 140), 1, Qt::DotLine));
m_accPlot->xAxis->grid()->setSubGridPen(QPen(QColor(80, 80, 80), 1, Qt::DotLine));
m_accPlot->yAxis->grid()->setSubGridPen(QPen(QColor(80, 80, 80), 1, Qt::DotLine));
m_accPlot->xAxis->grid()->setSubGridVisible(true);
m_accPlot->yAxis->grid()->setSubGridVisible(true);
m_accPlot->xAxis->grid()->setZeroLinePen(Qt::NoPen);
m_accPlot->yAxis->grid()->setZeroLinePen(Qt::NoPen);
m_accPlot->xAxis->setUpperEnding(QCPLineEnding::esSpikeArrow);
m_accPlot->yAxis->setUpperEnding(QCPLineEnding::esSpikeArrow);
QLinearGradient plotGradient;
plotGradient.setStart(0, 0);
plotGradient.setFinalStop(0, 350);
plotGradient.setColorAt(0, QColor(80, 80, 80));
plotGradient.setColorAt(1, QColor(50, 50, 50));
m_accPlot->setBackground(plotGradient);
QLinearGradient axisRectGradient;
axisRectGradient.setStart(0, 0);
axisRectGradient.setFinalStop(0, 350);
axisRectGradient.setColorAt(0, QColor(80, 80, 80));
axisRectGradient.setColorAt(1, QColor(30, 30, 30));
m_accPlot->axisRect()->setBackground(axisRectGradient);
// create graphs
// Acc x graph
m_accPlot->addGraph();
m_accPlot->graph(0)->setData(m_acc_x_Values,m_timestamps);
m_accPlot->graph(0)->setPen(QPen(Qt::blue));
// Acc y graph
m_accPlot->addGraph();
m_accPlot->graph(1)->setData(m_acc_y_Values,m_timestamps);
m_accPlot->graph(1)->setPen(QPen(Qt::red));
// Acc z graph
m_accPlot->addGraph();
m_accPlot->graph(2)->setData(m_acc_z_Values,m_timestamps);
m_accPlot->graph(2)->setPen(QPen(Qt::green));
m_accPlot->replot();
return m_accPlot;
}
QWidget *DataPlot::createGyrPlot()
{
// setup plot
m_gyrPlot->yAxis->setRange(-2000,2000);
m_gyrPlot->xAxis->setTickStep(2);
// set some pens, brushes and backgrounds:
m_gyrPlot->xAxis->setBasePen(QPen(Qt::white, 1));
m_gyrPlot->yAxis->setBasePen(QPen(Qt::white, 1));
m_gyrPlot->xAxis->setTickPen(QPen(Qt::white, 1));
m_gyrPlot->yAxis->setTickPen(QPen(Qt::white, 1));
m_gyrPlot->xAxis->setSubTickPen(QPen(Qt::white, 1));
m_gyrPlot->yAxis->setSubTickPen(QPen(Qt::white, 1));
m_gyrPlot->xAxis->setTickLabelColor(Qt::white);
m_gyrPlot->yAxis->setTickLabelColor(Qt::white);
m_gyrPlot->xAxis->grid()->setPen(QPen(QColor(140, 140, 140), 1, Qt::DotLine));
m_gyrPlot->yAxis->grid()->setPen(QPen(QColor(140, 140, 140), 1, Qt::DotLine));
m_gyrPlot->xAxis->grid()->setSubGridPen(QPen(QColor(80, 80, 80), 1, Qt::DotLine));
m_gyrPlot->yAxis->grid()->setSubGridPen(QPen(QColor(80, 80, 80), 1, Qt::DotLine));
m_gyrPlot->xAxis->grid()->setSubGridVisible(true);
m_gyrPlot->yAxis->grid()->setSubGridVisible(true);
m_gyrPlot->xAxis->grid()->setZeroLinePen(Qt::NoPen);
m_gyrPlot->yAxis->grid()->setZeroLinePen(Qt::NoPen);
m_gyrPlot->xAxis->setUpperEnding(QCPLineEnding::esSpikeArrow);
m_gyrPlot->yAxis->setUpperEnding(QCPLineEnding::esSpikeArrow);
QLinearGradient plotGradient;
plotGradient.setStart(0, 0);
plotGradient.setFinalStop(0, 350);
plotGradient.setColorAt(0, QColor(80, 80, 80));
plotGradient.setColorAt(1, QColor(50, 50, 50));
m_gyrPlot->setBackground(plotGradient);
QLinearGradient axisRectGradient;
axisRectGradient.setStart(0, 0);
axisRectGradient.setFinalStop(0, 350);
axisRectGradient.setColorAt(0, QColor(80, 80, 80));
axisRectGradient.setColorAt(1, QColor(30, 30, 30));
m_gyrPlot->axisRect()->setBackground(axisRectGradient);
// create graphs
m_gyrPlot->addGraph();
m_gyrPlot->graph(0)->setData(m_gyr_x_Values,m_timestamps);
m_gyrPlot->graph(0)->setPen(QPen(Qt::blue));
// gyr y graph
m_gyrPlot->addGraph();
m_gyrPlot->graph(1)->setData(m_gyr_y_Values,m_timestamps);
m_gyrPlot->graph(1)->setPen(QPen(Qt::red));
// gyr z graph
m_gyrPlot->addGraph();
m_gyrPlot->graph(2)->setData(m_gyr_z_Values,m_timestamps);
m_gyrPlot->graph(2)->setPen(QPen(Qt::green));
m_gyrPlot->replot();
return m_gyrPlot;
}
QWidget *DataPlot::createMagPlot()
{
// setup plot
m_magPlot->yAxis->setRange(-600,600);
// set some pens, brushes and backgrounds:
m_magPlot->xAxis->setBasePen(QPen(Qt::white, 1));
m_magPlot->yAxis->setBasePen(QPen(Qt::white, 1));
m_magPlot->xAxis->setTickPen(QPen(Qt::white, 1));
m_magPlot->yAxis->setTickPen(QPen(Qt::white, 1));
m_magPlot->xAxis->setSubTickPen(QPen(Qt::white, 1));
m_magPlot->yAxis->setSubTickPen(QPen(Qt::white, 1));
m_magPlot->xAxis->setTickLabelColor(Qt::white);
m_magPlot->yAxis->setTickLabelColor(Qt::white);
m_magPlot->xAxis->grid()->setPen(QPen(QColor(140, 140, 140), 1, Qt::DotLine));
m_magPlot->yAxis->grid()->setPen(QPen(QColor(140, 140, 140), 1, Qt::DotLine));
m_magPlot->xAxis->grid()->setSubGridPen(QPen(QColor(80, 80, 80), 1, Qt::DotLine));
m_magPlot->yAxis->grid()->setSubGridPen(QPen(QColor(80, 80, 80), 1, Qt::DotLine));
m_magPlot->xAxis->grid()->setSubGridVisible(true);
m_magPlot->yAxis->grid()->setSubGridVisible(true);
m_magPlot->xAxis->grid()->setZeroLinePen(Qt::NoPen);
m_magPlot->yAxis->grid()->setZeroLinePen(Qt::NoPen);
m_magPlot->xAxis->setUpperEnding(QCPLineEnding::esSpikeArrow);
m_magPlot->yAxis->setUpperEnding(QCPLineEnding::esSpikeArrow);
QLinearGradient plotGradient;
plotGradient.setStart(0, 0);
plotGradient.setFinalStop(0, 350);
plotGradient.setColorAt(0, QColor(80, 80, 80));
plotGradient.setColorAt(1, QColor(50, 50, 50));
m_magPlot->setBackground(plotGradient);
QLinearGradient axisRectGradient;
axisRectGradient.setStart(0, 0);
axisRectGradient.setFinalStop(0, 350);
axisRectGradient.setColorAt(0, QColor(80, 80, 80));
axisRectGradient.setColorAt(1, QColor(30, 30, 30));
m_magPlot->axisRect()->setBackground(axisRectGradient);
// create graphs
m_magPlot->addGraph();
m_magPlot->graph(0)->setData(m_mag_x_Values,m_timestamps);
m_magPlot->graph(0)->setPen(QPen(Qt::blue));
// mag y graph
m_magPlot->addGraph();
m_magPlot->graph(1)->setData(m_mag_y_Values,m_timestamps);
m_magPlot->graph(1)->setPen(QPen(Qt::red));
// mag z graph
m_magPlot->addGraph();
m_magPlot->graph(2)->setData(m_mag_z_Values,m_timestamps);
m_magPlot->graph(2)->setPen(QPen(Qt::green));
m_magPlot->replot();
return m_magPlot;
}
QWidget *DataPlot::createAnglePlot()
{
// setup plot
m_anglePlot->yAxis->setRange(-180,180);
// set some pens, brushes and backgrounds:
m_anglePlot->xAxis->setBasePen(QPen(Qt::white, 1));
m_anglePlot->yAxis->setBasePen(QPen(Qt::white, 1));
m_anglePlot->xAxis->setTickPen(QPen(Qt::white, 1));
m_anglePlot->yAxis->setTickPen(QPen(Qt::white, 1));
m_anglePlot->xAxis->setSubTickPen(QPen(Qt::white, 1));
m_anglePlot->yAxis->setSubTickPen(QPen(Qt::white, 1));
m_anglePlot->xAxis->setTickLabelColor(Qt::white);
m_anglePlot->yAxis->setTickLabelColor(Qt::white);
m_anglePlot->xAxis->grid()->setPen(QPen(QColor(140, 140, 140), 1, Qt::DotLine));
m_anglePlot->yAxis->grid()->setPen(QPen(QColor(140, 140, 140), 1, Qt::DotLine));
m_anglePlot->xAxis->grid()->setSubGridPen(QPen(QColor(80, 80, 80), 1, Qt::DotLine));
m_anglePlot->yAxis->grid()->setSubGridPen(QPen(QColor(80, 80, 80), 1, Qt::DotLine));
m_anglePlot->xAxis->grid()->setSubGridVisible(true);
m_anglePlot->yAxis->grid()->setSubGridVisible(true);
m_anglePlot->xAxis->grid()->setZeroLinePen(Qt::NoPen);
m_anglePlot->yAxis->grid()->setZeroLinePen(Qt::NoPen);
m_anglePlot->xAxis->setUpperEnding(QCPLineEnding::esSpikeArrow);
m_anglePlot->yAxis->setUpperEnding(QCPLineEnding::esSpikeArrow);
QLinearGradient plotGradient;
plotGradient.setStart(0, 0);
plotGradient.setFinalStop(0, 350);
plotGradient.setColorAt(0, QColor(80, 80, 80));
plotGradient.setColorAt(1, QColor(50, 50, 50));
m_anglePlot->setBackground(plotGradient);
QLinearGradient axisRectGradient;
axisRectGradient.setStart(0, 0);
axisRectGradient.setFinalStop(0, 350);
axisRectGradient.setColorAt(0, QColor(80, 80, 80));
axisRectGradient.setColorAt(1, QColor(30, 30, 30));
m_anglePlot->axisRect()->setBackground(axisRectGradient);
// create graphs
m_anglePlot->addGraph();
m_anglePlot->graph(0)->setData(m_angle_x_Values,m_timestamps);
m_anglePlot->graph(0)->setPen(QPen(Qt::blue));
// angle y graph
m_anglePlot->addGraph();
m_anglePlot->graph(1)->setData(m_angle_y_Values,m_timestamps);
m_anglePlot->graph(1)->setPen(QPen(Qt::red));
// angle z graph
m_anglePlot->addGraph();
m_anglePlot->graph(2)->setData(m_angle_z_Values,m_timestamps);
m_anglePlot->graph(2)->setPen(QPen(Qt::green));
m_anglePlot->replot();
return m_anglePlot;
}
void DataPlot::timerCounter()
{
m_tickCounter+= 0.025;
m_accPlot->xAxis->setRange(m_tickCounter-10,m_tickCounter +2);
m_gyrPlot->xAxis->setRange(m_tickCounter-10,m_tickCounter +2);
m_magPlot->xAxis->setRange(m_tickCounter-10,m_tickCounter +2);
m_anglePlot->xAxis->setRange(m_tickCounter-10,m_tickCounter +2);
m_accPlot->replot();
m_gyrPlot->replot();
m_magPlot->replot();
m_anglePlot->replot();
}
void DataPlot::plotting(const bool &enable)
{
if(enable){
m_timer->start();
}else{
m_timer->stop();
}
}
void DataPlot::updateSensorData(const QVector3D &accData, const QVector3D &gyrData, const QVector3D &magData)
{
int dataLength = 500;
// save timestamp
m_timestamps.append(m_tickCounter);
// acc
m_acc_x_Values.append(accData.x());
m_acc_y_Values.append(accData.y());
m_acc_z_Values.append(accData.z());
m_accPlot->graph(0)->setData(m_timestamps,m_acc_x_Values);
m_accPlot->graph(1)->setData(m_timestamps,m_acc_y_Values);
m_accPlot->graph(2)->setData(m_timestamps,m_acc_z_Values);
//gyr
m_gyr_x_Values.append(gyrData.x());
m_gyr_y_Values.append(gyrData.y());
m_gyr_z_Values.append(gyrData.z());
m_gyrPlot->graph(0)->setData(m_timestamps,m_gyr_x_Values);
m_gyrPlot->graph(1)->setData(m_timestamps,m_gyr_y_Values);
m_gyrPlot->graph(2)->setData(m_timestamps,m_gyr_z_Values);
// mag
m_mag_x_Values.append(magData.x());
m_mag_y_Values.append(magData.y());
m_mag_z_Values.append(magData.z());
m_magPlot->graph(0)->setData(m_timestamps,m_mag_x_Values);
m_magPlot->graph(1)->setData(m_timestamps,m_mag_y_Values);
m_magPlot->graph(2)->setData(m_timestamps,m_mag_z_Values);
// change vector leght
if(m_timestamps.count() > dataLength){
m_timestamps.remove(0);
}
if(m_acc_x_Values.count() > dataLength){
m_acc_x_Values.remove(0);
}
if(m_acc_y_Values.count() > dataLength){
m_acc_y_Values.remove(0);
}
if(m_acc_z_Values.count() > dataLength){
m_acc_z_Values.remove(0);
}
if(m_gyr_x_Values.count() > dataLength){
m_gyr_x_Values.remove(0);
}
if(m_gyr_y_Values.count() > dataLength){
m_gyr_y_Values.remove(0);
}
if(m_gyr_z_Values.count() > dataLength){
m_gyr_z_Values.remove(0);
}
if(m_mag_x_Values.count() > dataLength){
m_mag_x_Values.remove(0);
}
if(m_mag_y_Values.count() > dataLength){
m_mag_y_Values.remove(0);
}
if(m_mag_z_Values.count() > dataLength){
m_mag_z_Values.remove(0);
}
}
void DataPlot::updateAngleData(const QVector3D &angleData)
{
int dataLength = 500;
// angle
m_angle_x_Values.append(angleData.x());
m_angle_y_Values.append(angleData.y());
m_angle_z_Values.append(angleData.z());
m_anglePlot->graph(0)->setData(m_timestamps,m_angle_x_Values);
m_anglePlot->graph(1)->setData(m_timestamps,m_angle_y_Values);
m_anglePlot->graph(2)->setData(m_timestamps,m_angle_z_Values);
if(m_angle_x_Values.count() > dataLength){
m_angle_x_Values.remove(0);
}
if(m_angle_y_Values.count() > dataLength){
m_angle_y_Values.remove(0);
}
if(m_angle_z_Values.count() > dataLength){
m_angle_z_Values.remove(0);
}
}