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core.cpp
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#include "core.h"
#include <QSettings>
#include <ctime>
#include "bottomtrack.h"
#ifdef Q_OS_WINDOWS
#include <Windows.h>
#endif
Core::Core() :
QObject(),
consolePtr_(new Console),
deviceManagerWrapperPtr_(std::make_unique<DeviceManagerWrapper>(this)),
linkManagerWrapperPtr_(std::make_unique<LinkManagerWrapper>(this)),
qmlAppEnginePtr_(nullptr),
datasetPtr_(new Dataset),
scene3dViewPtr_(nullptr),
openedfilePath_(),
isLoggingKlf_(false),
isLoggingCsv_(false),
filePath_(),
isFileOpening_(false),
isMosaicUpdatingInThread_(false),
isSideScanPerformanceMode_(false)
{
logger_.setDatasetPtr(datasetPtr_);
createDeviceManagerConnections();
createLinkManagerConnections();
createControllers();
}
Core::~Core()
{
saveLLARefToSettings();
removeLinkManagerConnections();
#ifdef SEPARATE_READING
removeDeviceManagerConnections();
#endif
}
void Core::setEngine(QQmlApplicationEngine *engine)
{
qmlAppEnginePtr_ = engine;
QObject::connect(qmlAppEnginePtr_, &QQmlApplicationEngine::objectCreated, this, &Core::UILoad, Qt::QueuedConnection);
qmlAppEnginePtr_->rootContext()->setContextProperty("BoatTrackControlMenuController", boatTrackControlMenuController_.get());
qmlAppEnginePtr_->rootContext()->setContextProperty("BottomTrackControlMenuController", bottomTrackControlMenuController_.get());
qmlAppEnginePtr_->rootContext()->setContextProperty("SurfaceControlMenuController", surfaceControlMenuController_.get());
qmlAppEnginePtr_->rootContext()->setContextProperty("SideScanViewControlMenuController", sideScanViewControlMenuController_.get());
qmlAppEnginePtr_->rootContext()->setContextProperty("ImageViewControlMenuController", imageViewControlMenuController_.get());
qmlAppEnginePtr_->rootContext()->setContextProperty("MapViewControlMenuController", mapViewControlMenuController_.get());
qmlAppEnginePtr_->rootContext()->setContextProperty("PointGroupControlMenuController", pointGroupControlMenuController_.get());
qmlAppEnginePtr_->rootContext()->setContextProperty("PolygonGroupControlMenuController", polygonGroupControlMenuController_.get());
qmlAppEnginePtr_->rootContext()->setContextProperty("MpcFilterControlMenuController", mpcFilterControlMenuController_.get());
qmlAppEnginePtr_->rootContext()->setContextProperty("NpdFilterControlMenuController", npdFilterControlMenuController_.get());
qmlAppEnginePtr_->rootContext()->setContextProperty("Scene3DControlMenuController", scene3dControlMenuController_.get());
qmlAppEnginePtr_->rootContext()->setContextProperty("Scene3dToolBarController", scene3dToolBarController_.get());
qmlAppEnginePtr_->rootContext()->setContextProperty("UsblViewControlMenuController", usblViewControlMenuController_.get());
}
Console* Core::getConsolePtr()
{
return consolePtr_;
}
Dataset* Core::getDatasetPtr()
{
return datasetPtr_;
}
DeviceManagerWrapper* Core::getDeviceManagerWrapperPtr() const
{
return deviceManagerWrapperPtr_.get();
}
LinkManagerWrapper* Core::getLinkManagerWrapperPtr() const
{
return linkManagerWrapperPtr_.get();
}
void Core::stopLinkManagerTimer() const
{
emit linkManagerWrapperPtr_->sendStopTimer();
}
void Core::consoleInfo(QString msg)
{
getConsolePtr()->put(QtMsgType::QtInfoMsg, msg);
}
void Core::consoleWarning(QString msg)
{
getConsolePtr()->put(QtMsgType::QtWarningMsg, msg);
}
void Core::consoleProto(FrameParser &parser, bool isIn)
{
QString str_mode;
QString comment = "";
switch (parser.type()) {
case CONTENT:
str_mode = "DATA";
if (parser.resp()) {
switch(parser.frame()[6]) {
case respNone: comment = "[respNone]"; break;
case respOk: comment = "[respOk]"; break;
case respErrorCheck: comment = "[respErrorCheck]"; break;
case respErrorPayload: comment = "[respErrorPayload]"; break;
case respErrorID: comment = "[respErrorID]"; break;
case respErrorVersion: comment = "[respErrorVersion]"; break;
case respErrorType: comment = "[respErrorType]"; break;
case respErrorKey: comment = "[respErrorKey]"; break;
case respErrorRuntime: comment = "[respErrorRuntime]"; break;
default:
comment = QString("[resp %1]").arg((int)parser.frame()[6]);
break;
}
}
else {
if (parser.id() == ID_EVENT) {
comment = QString("Event ID %1").arg(*(uint32_t*)(&parser.frame()[10]));
}
}
break;
case SETTING:
str_mode = "SET";
break;
case GETTING:
str_mode = "GET";
break;
default:
str_mode = "NAN";
break;
}
QString str_dir;
isIn ? str_dir = "-->> " : str_dir = "<<-- ";
try {
QString str_data = QByteArray((char*)parser.frame(), parser.frameLen()).toHex();
consoleInfo(QString("%1KG[%2]: id %3 v%4, %5, len %6; %7 [ %8 ]").arg(str_dir).arg(parser.route()).arg(parser.id()).arg(parser.ver()).arg(str_mode).arg(parser.payloadLen()).arg(comment).arg(str_data));
}
catch(std::bad_alloc& ex) {
qCritical().noquote() << __func__ << " --> " << ex.what();
}
}
#ifdef FLASHER
void Core::getFlasherPtr() const
{
return &flasher;
}
#endif
#ifdef SEPARATE_READING
void Core::openLogFile(const QString &filePath, bool isAppend, bool onCustomEvent)
{
QString localfilePath = filePath;
if (onCustomEvent) {
fixFilePathString(localfilePath);
filePath_ = localfilePath;
emit filePathChanged();
}
linkManagerWrapperPtr_->closeOpenedLinks();
removeLinkManagerConnections();
QCoreApplication::processEvents(QEventLoop::AllEvents);
if (!isAppend)
datasetPtr_->resetDataset();
if (scene3dViewPtr_) {
if (!isAppend) {
scene3dViewPtr_->clear();
}
scene3dViewPtr_->setNavigationArrowState(false);
}
QStringList splitname = localfilePath.split(QLatin1Char('.'), Qt::SkipEmptyParts);
if (splitname.size() > 1) {
QString format = splitname.last();
if (format.contains("xtf", Qt::CaseInsensitive)) {
QFile file;
QUrl url(localfilePath);
url.isLocalFile() ? file.setFileName(url.toLocalFile()) : file.setFileName(url.toString());
if (file.open(QIODevice::ReadOnly)) {
openXTF(file.readAll());
}
return;
}
}
tryOpenedfilePath_ = filePath;
if (closeLogFile(true) && !fileIsCompleteOpened_) {
return;
}
fileIsCompleteOpened_ = false;
openedfilePath_ = filePath;
if (scene3dViewPtr_) {
scene3dViewPtr_->getSideScanViewPtr()->setWorkMode(SideScanView::Mode::kRealtime);
}
datasetPtr_->setState(Dataset::DatasetState::kFile);
emit deviceManagerWrapperPtr_->sendOpenFile(localfilePath);
}
bool Core::closeLogFile(bool onOpen)
{
if (isOpenedFile()) {
emit sendCloseLogFile(onOpen ? !tryOpenedfilePath_.isEmpty() : false);
openedfilePath_.clear();
if (datasetPtr_) {
datasetPtr_->resetDataset();
}
if (scene3dViewPtr_) {
scene3dViewPtr_->clear();
//scene3dViewPtr_->getSideScanViewPtr()->setWorkMode(SideScanView::Mode::kUndefined);
}
if (!onOpen) {
createLinkManagerConnections();
linkManagerWrapperPtr_->openClosedLinks();
}
return true;
}
return false;
}
void Core::onFileStartOpening()
{
qDebug() << "file start opening!";
isFileOpening_ = true;
emit sendIsFileOpening();
if (scene3dViewPtr_) {
scene3dViewPtr_->getSideScanViewPtr()->updateChannelsIds(); // TODO: not effect(
scene3dViewPtr_->forceUpdateDatasetRef();
//scene3dViewPtr_->setMapView();
}
}
void Core::onFileOpened()
{
qDebug() << "file opened!";
tryOpenedfilePath_.clear();
fileIsCompleteOpened_ = true;
if (scene3dViewPtr_) {
scene3dViewPtr_->forceUpdateDatasetRef();
//scene3dViewPtr_->getSideScanViewPtr()->setWorkMode(SideScanView::Mode::kUndefined);
};
}
void Core::onFileReadEnough()
{
datasetPtr_->setRefPositionByFirstValid();
// datasetPtr_->usblProcessing();
if (scene3dViewPtr_) {
scene3dViewPtr_->forceUpdateDatasetRef();
//scene3dViewPtr_->addPoints(datasetPtr_->beaconTrack(), QColor(255, 0, 0), 10);
//scene3dViewPtr_->addPoints(datasetPtr_->beaconTrack1(), QColor(0, 255, 0), 10);
}
QList<DatasetChannel> chs = datasetPtr_->channelsList().values();
for (int i = 0; i < plot2dList_.size(); i++) {
if (i == 0 && plot2dList_.at(i) != NULL) {
if (chs.size() >= 2) {
plot2dList_.at(i)->setDataChannel(chs[0].channel, chs[1].channel);
}
if (chs.size() == 1) {
plot2dList_.at(i)->setDataChannel(chs[0].channel);
}
}
}
}
void Core::onFileOpenBreaked(bool onOpen)
{
fileIsCompleteOpened_ = false;
if (datasetPtr_) {
datasetPtr_->resetDataset();
}
if (scene3dViewPtr_) {
scene3dViewPtr_->clear();
//scene3dViewPtr_->getSideScanViewPtr()->setWorkMode(SideScanView::Mode::kUndefined);
}
if (onOpen && !tryOpenedfilePath_.isEmpty()) {
openLogFile(tryOpenedfilePath_, false, false);
tryOpenedfilePath_.clear();
}
}
#else
void Core::openLogFile(const QString& filePath, bool isAppend, bool onCustomEvent)
{
isFileOpening_ = true;
emit sendIsFileOpening();
QTimer::singleShot(15, this, [this, filePath, isAppend, onCustomEvent]() ->void { // 15 ms delay
QString localfilePath = filePath;
if (onCustomEvent) {
fixFilePathString(localfilePath);
filePath_ = localfilePath;
emit filePathChanged();
}
linkManagerWrapperPtr_->closeOpenedLinks();
removeLinkManagerConnections();
QCoreApplication::processEvents(QEventLoop::AllEvents);
if (!isAppend)
datasetPtr_->resetDataset();
if (scene3dViewPtr_) {
if (!isAppend)
scene3dViewPtr_->clear();
scene3dViewPtr_->setNavigationArrowState(false);
scene3dViewPtr_->getSideScanViewPtr()->setWorkMode(SideScanView::Mode::kPerformance);
}
QStringList splitname = localfilePath.split(QLatin1Char('.'), Qt::SkipEmptyParts);
if (splitname.size() > 1) {
QString format = splitname.last();
if (format.contains("xtf", Qt::CaseInsensitive)) {
QFile file;
QUrl url(localfilePath);
url.isLocalFile() ? file.setFileName(url.toLocalFile()) : file.setFileName(url.toString());
if (file.open(QIODevice::ReadOnly)) {
openXTF(file.readAll());
}
return;
}
}
datasetPtr_->setState(Dataset::DatasetState::kFile);
emit deviceManagerWrapperPtr_->sendOpenFile(localfilePath);
openedfilePath_ = localfilePath;
if (scene3dViewPtr_)
scene3dViewPtr_->fitAllInView();
datasetPtr_->setRefPositionByFirstValid();
datasetPtr_->usblProcessing();
if (scene3dViewPtr_) {
scene3dViewPtr_->addPoints(datasetPtr_->beaconTrack(), QColor(255, 0, 0), 10);
scene3dViewPtr_->addPoints(datasetPtr_->beaconTrack1(), QColor(0, 255, 0), 10);
}
QList<DatasetChannel> chs = datasetPtr_->channelsList().values();
for (int i = 0; i < plot2dList_.size(); i++) {
if (i == 0 &&plot2dList_.at(i) != NULL) {
if (chs.size() >= 2) {
plot2dList_.at(i)->setDataChannel(chs[0].channel, chs[1].channel);
}
if (chs.size() == 1) {
plot2dList_.at(i)->setDataChannel(chs[0].channel);
}
}
}
});
}
bool Core::closeLogFile()
{
if (!isOpenedFile())
return false;
emit deviceManagerWrapperPtr_->sendCloseFile();
createLinkManagerConnections();
if (datasetPtr_)
datasetPtr_->resetDataset();
if (scene3dViewPtr_) {
scene3dViewPtr_->clear();
scene3dViewPtr_->setNavigationArrowState(true);
//scene3dViewPtr_->getSideScanViewPtr()->setWorkMode(SideScanView::Mode::kUndefined);
}
openedfilePath_.clear();
linkManagerWrapperPtr_->openClosedLinks();
return true;
}
void Core::onFileOpened()
{
qDebug() << "file opened!";
if (scene3dViewPtr_) {
//scene3dViewPtr_->getSideScanViewPtr()->setWorkMode(SideScanView::Mode::kUndefined);
};
}
#endif
bool Core::openXTF(QByteArray data)
{
datasetPtr_->resetDataset();
datasetPtr_->setState(Dataset::DatasetState::kFile);
converterXtf_.toDataset(data, getDatasetPtr());
consoleInfo("XTF note:" + QString(converterXtf_.header.NoteString));
consoleInfo("XTF programm name:" + QString(converterXtf_.header.RecordingProgramName));
consoleInfo("XTF sonar name:" + QString(converterXtf_.header.SonarName));
QMap<int, DatasetChannel> chs = datasetPtr_->channelsList();
for (int i = 0; i < plot2dList_.size(); i++) {
if (plot2dList_.at(i) != NULL && i < chs.size()) {
if (i == 0) {
plot2dList_.at(i)->setDataChannel(chs[0].channel, chs[1].channel);
}
}
}
return true;
}
bool Core::openCSV(QString name, int separatorType, int firstRow, int colTime, bool isUtcTime, int colLat, int colLon, int colAltitude, int colNorth, int colEast, int colUp)
{
QFile file;
QUrl url(name);
url.isLocalFile() ? file.setFileName(url.toLocalFile()) : file.setFileName(url.toString());
if (!file.open(QIODevice::ReadOnly))
return false;
QString separator("");
switch (separatorType) {
case 0: separator = ","; break;
case 1: separator = " "; break;
case 2: separator = " "; break;
case 3: separator = ";"; break;
default: separator = QString((char)separatorType); break;
}
QList<Position> track;
QTextStream in(&file);
int skip_rows = firstRow - 1;
while (!in.atEnd()) {
QString row = in.readLine();
if (skip_rows > 0) {
skip_rows--;
continue;
}
if (row[0] == '%' || row[0] == '#')
continue;
QStringList columns = row.split(separator);
track.append(Position());
if (colTime > 0 && (colTime-1 < columns.size())) {
int year = -1, month = -1, day = -1, hour = -1, minute = -1;
double sec = -1;
columns[colTime-1].replace(QLatin1Char('/'), QLatin1Char('-'));
QStringList date_time = columns[colTime-1].split(' ');
QString date, time;
if (date_time.size() > 0) {
if (date_time[0].contains('-'))
date = date_time[0];
}
if (date_time.size() == 2) {
if (date_time[1].contains(':'))
time = date_time[1];
}
else if (date_time.size() == 1) {
if (colTime < columns.size()) {
if (columns[colTime].contains(':')) {
time = columns[colTime];
}
}
}
QStringList data_sep = date.split('-');
if (data_sep.size() >= 3) {
year = data_sep[0].toInt();
month = data_sep[1].toInt();
day = data_sep[2].toInt();
}
QStringList time_sep = time.split(':');
if (time_sep.size() >= 3) {
hour = time_sep[0].toInt();
minute = time_sep[1].toInt();
sec = time_sep[2].replace(QLatin1Char(','), QLatin1Char('.')).toDouble();
}
if (year >= 0 && month >= 0 && day >= 0 && hour >= 0 && minute >= 0 && sec >= 0) {
int sec_int = (int)sec;
double nano_sec = (sec - sec_int)*1e9;
track.last().time = DateTime(year, month, day, hour, minute, sec_int, round(nano_sec));
if (!isUtcTime) {
track.last().time.addSecs(-18);
}
}
}
if(colLat > 0 && colLat-1 < columns.size())
track.last().lla.latitude = columns[colLat-1].replace(QLatin1Char(','), QLatin1Char('.')).toDouble();
if(colLon > 0 && colLon-1 < columns.size())
track.last().lla.longitude = columns[colLon-1].replace(QLatin1Char(','), QLatin1Char('.')).toDouble();
if(colAltitude > 0 && colAltitude-1 < columns.size())
track.last().lla.altitude = columns[colAltitude-1].replace(QLatin1Char(','), QLatin1Char('.')).toDouble();
if(colNorth > 0 && colNorth-1 < columns.size())
track.last().ned.n = columns[colNorth-1].replace(QLatin1Char(','), QLatin1Char('.')).toDouble();
if(colEast > 0 && colEast-1 < columns.size())
track.last().ned.e = columns[colEast-1].replace(QLatin1Char(','), QLatin1Char('.')).toDouble();
if(colUp > 0 && colUp-1 < columns.size())
track.last().ned.d = -columns[colUp-1].replace(QLatin1Char(','), QLatin1Char('.')).toDouble();;
}
datasetPtr_->mergeGnssTrack(track);
return true;
}
bool Core::openProxy(const QString& address, const int port, bool isTcp)
{
Q_UNUSED(address);
Q_UNUSED(port);
Q_UNUSED(isTcp);
return false;
}
bool Core::closeProxy()
{
return false;
}
bool Core::upgradeFW(const QString& name, QObject* dev)
{
QUrl url(name);
QFile m_file;
url.isLocalFile() ? m_file.setFileName(url.toLocalFile()) : m_file.setFileName(name);
bool is_open = false;
is_open = m_file.open(QIODevice::ReadOnly);
if(is_open == false) { return false; }
DevQProperty* dev_q = (DevQProperty*)(dev);
dev_q->sendUpdateFW(m_file.readAll());
return true;
}
void Core::upgradeChanged(int progressStatus)
{
if(progressStatus == DevDriver::successUpgrade) {
// restoreBaudrate();
}
}
void Core::setKlfLogging(bool isLogging)
{
if (isLogging == this->getIsKlfLogging())
return;
this->getIsKlfLogging() ? logger_.stopKlfLogging() : logger_.startNewKlfLog();
isLoggingKlf_ = isLogging;
}
bool Core::getIsKlfLogging()
{
return isLoggingKlf_;
}
void Core::setCsvLogging(bool isLogging)
{
if (isLogging == this->getIsCsvLogging())
return;
this->getIsCsvLogging() ? logger_.stopCsvLogging() : logger_.startNewCsvLog();
isLoggingCsv_ = isLogging;
}
bool Core::getIsCsvLogging()
{
return isLoggingCsv_;
}
bool Core::exportComplexToCSV(QString file_path) {
QString export_file_name = isOpenedFile() ? openedfilePath_.section('/', -1).section('.', 0, 0) : QDateTime::currentDateTime().toString("yyyy.MM.dd_hh:mm:ss").replace(':', '.');
logger_.creatExportStream(file_path + "/" + export_file_name + ".csv");
//QMap<int, DatasetChannel> ch_list = datasetPtr_->channelsList();
// _dataset->setRefPosition(1518);
for(int i = 0; i < datasetPtr_->size(); i++) {
Epoch* epoch = datasetPtr_->fromIndex(i);
if(epoch == NULL) { continue; }
if(epoch->isComplexSignalAvail()) {
ComplexSignals sigs = epoch->complexSignals();
for (auto ch = sigs.cbegin(), end = sigs.cend(); ch != end; ++ch) {
ComplexSignal signal = ch.value();
ComplexF* data = signal.data.data();
int data_size = signal.data.size();
QString row_data;
row_data.append(QString("%1,%2").arg(i).arg(ch.key()));
row_data.append(QString(",%1").arg(signal.globalOffset));
row_data.append(QString(",%1").arg(signal.sampleRate));
if(data != NULL && data_size > 0) {
for(int ci = 0; ci < data_size; ci++) {
row_data.append(QString(",%1,%2").arg(data[ci].real).arg(data[ci].imag));
}
}
row_data.append("\n");
logger_.dataExport(row_data);
}
}
}
logger_.endExportStream();
return true;
}
bool Core::exportUSBLToCSV(QString filePath)
{
QString export_file_name = isOpenedFile() ? openedfilePath_.section('/', -1).section('.', 0, 0) : QDateTime::currentDateTime().toString("yyyy.MM.dd_hh:mm:ss").replace(':', '.');
logger_.creatExportStream(filePath + "/" + export_file_name + ".csv");
QMap<int, DatasetChannel> ch_list = datasetPtr_->channelsList();
Q_UNUSED(ch_list);
// _dataset->setRefPosition(1518);
logger_.dataExport("epoch,yaw,pitch,roll,north,east,ping_counter,carrier_counter,snr,azimuth_deg,elevation_deg,distance_m\n");
for (int i = 0; i < datasetPtr_->size(); i += 1) {
Epoch* epoch = datasetPtr_->fromIndex(i);
if (epoch == NULL)
continue;
Position pos = epoch->getPositionGNSS();
// pos.ned.isCoordinatesValid() && epoch->isAttAvail() &&
if( epoch->isUsblSolutionAvailable()) {
QString row_data;
row_data.append(QString("%1").arg(i));
row_data.append(QString(",%1,%2,%3").arg(epoch->yaw()).arg(epoch->pitch()).arg(epoch->roll()));
row_data.append(QString(",%1,%2").arg(pos.ned.n).arg(pos.ned.e));
row_data.append(QString(",%1,%2,%3").arg(epoch->usblSolution().ping_counter).arg(epoch->usblSolution().carrier_counter).arg(epoch->usblSolution().snr));
row_data.append(QString(",%1,%2,%3").arg(epoch->usblSolution().azimuth_deg).arg(epoch->usblSolution().elevation_deg).arg(epoch->usblSolution().distance_m));
row_data.append("\n");
logger_.dataExport(row_data);
}
}
logger_.endExportStream();
return true;
}
bool Core::exportPlotAsCVS(QString filePath, int channel, float decimation)
{
QString export_file_name = isOpenedFile() ? openedfilePath_.section('/', -1).section('.', 0, 0) : QDateTime::currentDateTime().toString("yyyy.MM.dd_hh:mm:ss").replace(':', '.');
logger_.creatExportStream(filePath + "/" + export_file_name + ".csv");
bool meas_nbr = true;
bool event_id = true;
bool rangefinder = false;
bool bottom_depth = true;
bool pos_lat_lon = true;
bool pos_time = true;
bool external_pos_lla = true;
bool external_pos_neu = true;
bool sonar_height = true;
bool bottom_height = true;
bool ext_pos_lla_find = false;
bool ext_pos_ned_find = false;
bool contactInfo = true;
bool contactDistance = true;
int row_cnt = datasetPtr_->size();
datasetPtr_->spatialProcessing();
for (int i = 0; i < row_cnt; i++) {
Epoch* epoch = datasetPtr_->fromIndex(i);
Position position = epoch->getExternalPosition();
ext_pos_lla_find |= position.lla.isValid();
ext_pos_ned_find |= position.ned.isValid();
}
if (meas_nbr)
logger_.dataExport("Number,");
if (event_id) {
logger_.dataExport("Event UNIX,");
logger_.dataExport("Event timestamp,");
logger_.dataExport("Event ID,");
}
if (rangefinder)
logger_.dataExport("Rangefinder,");
if (bottom_depth)
logger_.dataExport("Beam distance,");
if (pos_lat_lon) {
logger_.dataExport("Latitude,");
logger_.dataExport("Longitude,");
if (pos_time) {
logger_.dataExport("GNSS UTC Date,");
logger_.dataExport("GNSS UTC Time,");
}
}
if (external_pos_lla && ext_pos_lla_find) {
logger_.dataExport("ExtLatitude,");
logger_.dataExport("ExtLongitude,");
logger_.dataExport("ExtAltitude,");
}
if (external_pos_neu && ext_pos_ned_find) {
logger_.dataExport("ExtNorth,");
logger_.dataExport("ExtEast,");
logger_.dataExport("ExtHeight,");
}
if (sonar_height)
logger_.dataExport("SonarHeight,");
if (bottom_height)
logger_.dataExport("BottomHeight,");
if (contactInfo) {
logger_.dataExport("ContactTitle,");
}
if (contactDistance) {
logger_.dataExport("ContactDistance");
}
logger_.dataExport("\n");
int prev_timestamp = 0;
int prev_unix = 0;
int prev_event_id = 0;
float prev_dist_proc = 0;
double prev_lat = 0, prev_lon = 0;
float decimation_m = decimation;
float decimation_path = 0;
LLARef lla_ref;
NED last_pos_ned;
for (int i = 0; i < row_cnt; i++) {
Epoch* epoch = datasetPtr_->fromIndex(i);
if (!epoch->contact_.isValid()) {
if (decimation_m > 0) {
if (!epoch->isPosAvail())
continue;
Position pos = epoch->getPositionGNSS();
if (pos.lla.isCoordinatesValid()) {
if (!lla_ref.isInit) {
lla_ref = LLARef(pos.lla);
pos.LLA2NED(&lla_ref);
last_pos_ned = pos.ned;
}
else {
pos.LLA2NED(&lla_ref);
float dif_n = pos.ned.n - last_pos_ned.n;
float dif_e = pos.ned.e - last_pos_ned.e;
last_pos_ned = pos.ned;
decimation_path += sqrtf(dif_n*dif_n + dif_e*dif_e);
if(decimation_path < decimation_m)
continue;
decimation_path -= decimation_m;
}
}
else {
continue;
}
}
}
QString row_data;
if (meas_nbr)
row_data.append(QString("%1,").arg(i));
if (event_id) {
if (epoch->eventAvail()) {
prev_timestamp = epoch->eventTimestamp();
prev_event_id = epoch->eventID();
prev_unix = epoch->eventUnix();
}
row_data.append(QString("%1,%2,%3,").arg(prev_unix).arg(prev_timestamp).arg(prev_event_id));
}
if (rangefinder)
epoch->distAvail() ? row_data.append(QString("%1,").arg((float)epoch->rangeFinder())) : row_data.append("0,");
if (bottom_depth) {
prev_dist_proc = epoch->distProccesing(channel);
row_data.append(QString("%1,").arg((float)(prev_dist_proc)));
}
if (pos_lat_lon) {
if (epoch->isPosAvail()) {
prev_lat = epoch->lat();
prev_lon = epoch->lon();
}
row_data.append(QString::number(prev_lat, 'f', 8));
row_data.append(",");
row_data.append(QString::number(prev_lon, 'f', 8));
row_data.append(",");
if (pos_time) {
if (epoch->isPosAvail() && epoch->positionTimeUnix() != 0) {
DateTime time_epoch = *epoch->time();
DateTime* dt = epoch->time();
if (time_epoch.sec > 0) {
time_epoch.sec -= 18;
dt = &time_epoch;
}
// DateTime* dt = epoch->positionTime();
volatile tm t_sep = dt->getDateTime();
t_sep.tm_year += 1900;
t_sep.tm_mon += 1;
row_data.append(QString("%1-%2-%3").arg(t_sep.tm_year).arg(t_sep.tm_mon).arg(t_sep.tm_mday));
row_data.append(",");
row_data.append(QString("%1:%2:%3").arg(t_sep.tm_hour).arg(t_sep.tm_min).arg((double)t_sep.tm_sec+(double)dt->nanoSec/1e9));
row_data.append(",");
}
else {
row_data.append(",");
row_data.append(",");
}
}
}
Position position = epoch->getExternalPosition();
if (external_pos_lla && ext_pos_lla_find) {
row_data.append(QString::number(position.lla.latitude, 'f', 10));
row_data.append(",");
row_data.append(QString::number(position.lla.longitude, 'f', 10));
row_data.append(",");
row_data.append(QString::number(position.lla.altitude, 'f', 3));
row_data.append(",");
}
if (external_pos_neu && ext_pos_ned_find) {
row_data.append(QString::number(position.ned.n, 'f', 10));
row_data.append(",");
row_data.append(QString::number(position.ned.e, 'f', 10));
row_data.append(",");
row_data.append(QString::number(-position.ned.d, 'f', 3));
row_data.append(",");
}
Epoch::Echogram* sensor = epoch->chart(channel);
if (sonar_height) {
if (sensor != NULL && isfinite(sensor->sensorPosition.ned.d)) {
row_data.append(QString::number(-sensor->sensorPosition.ned.d, 'f', 3));
}
else if (sensor != NULL && isfinite(sensor->sensorPosition.lla.altitude)) {
row_data.append(QString::number(sensor->sensorPosition.lla.altitude, 'f', 3));
}
row_data.append(",");
}
if (bottom_height) {
if(sensor != NULL && isfinite(sensor->bottomProcessing.bottomPoint.ned.d)) {
row_data.append(QString::number(-sensor->bottomProcessing.bottomPoint.ned.d, 'f', 3));
}
else if (sensor != NULL && isfinite(sensor->bottomProcessing.bottomPoint.lla.altitude)) {
row_data.append(QString::number(sensor->bottomProcessing.bottomPoint.lla.altitude, 'f', 3));
}
row_data.append(",");
}
auto& contact = epoch->contact_;
if (contact.isValid()) {
if (contactInfo) {
row_data.append(contact.info_);
row_data.append(",");
}
if (contactDistance) {
row_data.append(QString::number(contact.distance_, 'f', 4));
}
}
row_data.append("\n");
logger_.dataExport(row_data);
}
logger_.endExportStream();
return true;
}
bool Core::exportPlotAsXTF(QString filePath)
{
QString export_file_name = isOpenedFile() ? openedfilePath_.section('/', -1).section('.', 0, 0) : QDateTime::currentDateTime().toString("yyyy.MM.dd_hh:mm:ss").replace(':', '.');
logger_.creatExportStream(filePath + "/_" + export_file_name + ".xtf");
QMap<int, DatasetChannel> chs = datasetPtr_->channelsList();
Q_UNUSED(chs);
QByteArray data_export = converterXtf_.toXTF(getDatasetPtr(), plot2dList_[0]->plotDatasetChannel(), plot2dList_[0]->plotDatasetChannel2());
logger_.dataByteExport(data_export);
logger_.endExportStream();
return true;
}
void Core::setPlotStartLevel(int level)
{
for (int i = 0; i < plot2dList_.size(); i++) {
if (plot2dList_.at(i) != NULL) {
plot2dList_.at(i)->setEchogramLowLevel(level);
}
}
}
void Core::setPlotStopLevel(int level)
{
for (int i = 0; i < plot2dList_.size(); i++) {
if (plot2dList_.at(i) != NULL)
plot2dList_.at(i)->setEchogramHightLevel(level);
}
}
void Core::setTimelinePosition(double position)
{
for (int i = 0; i < plot2dList_.size(); i++) {
if (plot2dList_.at(i) != NULL)
plot2dList_.at(i)->setTimelinePosition(position);
}
}
void Core::resetAim()
{
for (int i = 0; i < plot2dList_.size(); i++) {
if (plot2dList_.at(i) != NULL)
plot2dList_.at(i)->resetAim();
}
}
void Core::UILoad(QObject* object, const QUrl& url)
{
Q_UNUSED(url)
loadLLARefFromSettings();
scene3dViewPtr_ = object->findChild<GraphicsScene3dView*> ();
plot2dList_ = object->findChildren<qPlot2D*>();
scene3dViewPtr_->setDataset(datasetPtr_);
datasetPtr_->setScene3D(scene3dViewPtr_);
for (int i = 0; i < plot2dList_.size(); i++) {
if (plot2dList_.at(i) != NULL) {
plot2dList_.at(i)->setPlot(datasetPtr_);
scene3dViewPtr_->bottomTrack()->installEventFilter(plot2dList_.at(i));
scene3dViewPtr_->boatTrack()->installEventFilter(plot2dList_.at(i));
scene3dViewPtr_->getContactsPtr()->installEventFilter(plot2dList_.at(i));
plot2dList_.at(i)->installEventFilter(scene3dViewPtr_->bottomTrack().get());
plot2dList_.at(i)->installEventFilter(scene3dViewPtr_->boatTrack().get());
plot2dList_.at(i)->installEventFilter(scene3dViewPtr_->getContactsPtr().get());
}
}