src/display-qt/ortesignals.cpp

   1 #include "ortesignals.h"
   2
   3
   4 OrteSignals::OrteSignals()
   5 {
   6         createOrte();
   7 }
   8
   9
  10 void OrteSignals::createOrte()
  11 {
  12         memset(&orte, 0, sizeof(orte));
  13         robottype_roboorte_init(&orte); //kontrola uspechu ?
  14
  15         //subscribers
  16         robottype_subscriber_odo_data_create(&orte, rcv_odo_data_cb, this);
  17         robottype_subscriber_motion_status_create(&orte, rcv_motion_status_cb, this);
  18         robottype_subscriber_lift_status_create(&orte, rcv_lift_status_cb, this);
  19         robottype_subscriber_jaws_status_create(&orte, rcv_jaws_status_cb, this);
  20         robottype_subscriber_pwr_voltage_create(&orte, rcv_pwr_voltage_cb, this);
  21         robottype_subscriber_est_pos_best_create(&orte, rcv_est_pos_best_cb, this);
  22         robottype_subscriber_hokuyo_scan_create(&orte, rcv_hokuyo_scan_cb, this);
  23         robottype_subscriber_camera_result_create(&orte, rcv_camera_result_cb, &orte); //nebude uzito
  24         robottype_subscriber_fsm_main_create(&orte, rcv_fsm_main_cb, this);
  25         robottype_subscriber_fsm_act_create(&orte, rcv_fsm_act_cb, this);
  26         robottype_subscriber_fsm_motion_create(&orte, rcv_fsm_motion_cb, this);
  27         robottype_subscriber_robot_cmd_create(&orte, rcv_robot_cmd_cb, this);
  28         robottype_subscriber_robot_switches_create(&orte, rcv_robot_swicthes_cb, this);
  29         robottype_subscriber_match_time_create(&orte, rcv_match_time_cb, this);
  30 }
  31
  32 void OrteSignals::fsm_con(UDE_fsm_t fsm, QString state)
  33 {
  34         emit fsm_sig(fsm, state);
  35 }
  36
  37 void OrteSignals::status_con(UDE_component_t c, UDE_hw_status_t s)
  38 {
  39         emit status_sig(c, s);
  40 }
  41
  42 void OrteSignals::position_con(void)
  43 {
  44         emit position_sig(orte.est_pos_best.x, orte.est_pos_best.y, orte.est_pos_best.phi);
  45 }
  46
  47 void OrteSignals::pwr_con(void)
  48 {
  49         emit pwr_sig(orte.pwr_voltage.voltage33, orte.pwr_voltage.voltage50,
  50                                 orte.pwr_voltage.voltage80, orte.pwr_voltage.voltageBAT);
  51 }
  52
  53 void OrteSignals::color_con(char color)
  54 {
  55         emit color_sig(color);
  56 }
  57
  58 void OrteSignals::time_con(void)
  59 {
  60         emit time_sig(orte.match_time.time);
  61 }