src/robomon/RobomonAtlantis.h

   1 /*
   2  * RobomonAtlantis.h                    07/10/31
   3  *
   4  * Robot's visualization and control GUI for robot of the
   5  * Eurobot 2008 competition (Mission to Mars).
   6  *
   7  * Copyright: (c) 2008 CTU Dragons
   8  *            CTU FEE - Department of Control Engineering
   9  * Authors: Martin Zidek, Michal Sojka, Tran Duy Khanh
  10  * License: GNU GPL v.2
  11  */
  12
  13 #ifndef ROBOMON_ATLANTIS_H
  14 #define ROBOMON_ATLANTIS_H
  15
  16 #define SIM_OBST_SIZE_M 0.5
  17
  18 #include <QDialog>
  19
  20 #include <trgen.h>
  21 #include "PlaygroundScene.h"
  22 #include "Robot.h"
  23 #include <roboorte_robottype.h>
  24 #include "trail.h"
  25 #include "hokuyoscan.h"
  26
  27 class QHBoxLayout;
  28 class QVBoxLayout;
  29 class QGridLayout;
  30 class QGroupBox;
  31 class QGraphicsView;
  32 class QLabel;
  33 class QPushButton;
  34 class QCheckBox;
  35 class QLineEdit;
  36 class QTextEdit;
  37 class QDial;
  38 class QSlider;
  39 class QProgressBar;
  40 class QFont;
  41
  42 class RobomonAtlantis : public QWidget
  43 {
  44         Q_OBJECT
  45
  46 public:
  47         RobomonAtlantis(QWidget *parent = 0);
  48
  49 protected:
  50         bool event(QEvent *event);
  51         void keyPressEvent(QKeyEvent *event);
  52         void keyReleaseEvent(QKeyEvent *event);
  53         void closeEvent(QCloseEvent *event);
  54
  55 signals:
  56         void motionStatusReceivedSignal();
  57         void actualPositionReceivedSignal();
  58         void powerVoltageReceivedSignal();
  59
  60 public slots:
  61         void showMap(bool show);
  62         void showTrails(bool show);
  63         void resetTrails();
  64 private slots:
  65         /************************************************************
  66          * GUI actions
  67          ************************************************************/
  68         void setVoltage33(int state);
  69         void setVoltage50(int state);
  70         void setVoltage80(int state);
  71         void setLeftMotor(int value);
  72         void setRightMotor(int value);
  73         void stopMotors();
  74         void paintMap();
  75         void setSimulation(int state);
  76         void setObstacleSimulation(int state);
  77         void simulateObstaclesHokuyo();
  78         void changeObstacle(QPointF position);
  79         void sendStart(int plug);
  80
  81         /************************************************************
  82          * ORTE
  83          ************************************************************/
  84         void motionStatusReceived();
  85         void actualPositionReceived();
  86         void powerVoltageReceived();
  87
  88 private:
  89         /************************************************************
  90          * GUI
  91          ************************************************************/
  92         void createLeftLayout();
  93         void createRightLayout();
  94
  95         void createPlaygroundGroupBox();
  96         void createPositionGroupBox();
  97         void createMiscGroupBox();
  98         void createDebugGroupBox();
  99         void createActuatorsGroupBox();
 100         void createMotorsGroupBox();
 101         void createDIOGroupBox();
 102         void createSensorsGroupBox();
 103         void createPowerGroupBox();
 104         void createPickerGroupBox();
 105         void createFSMGroupBox();
 106
 107         void createRobots();
 108         void createActions();
 109
 110         QVBoxLayout *leftLayout;
 111         QVBoxLayout *rightLayout;
 112
 113         QGroupBox *playgroundGroupBox;
 114         QGroupBox *positionGroupBox;
 115         QGroupBox *miscGroupBox;
 116         QGroupBox *debugGroupBox;
 117         QGroupBox *actuatorsGroupBox;
 118         QGroupBox *enginesGroupBox;
 119         QGroupBox *powerGroupBox;
 120         QGroupBox *fsmGroupBox;
 121
 122         PlaygroundScene *playgroundScene;
 123         QGraphicsView *playgroundSceneView;
 124
 125         /* position state */
 126         QLineEdit *actPosX;
 127         QLineEdit *actPosY;
 128         QLineEdit *actPosPhi;
 129
 130         QLineEdit *estPosX;
 131         QLineEdit *estPosY;
 132         QLineEdit *estPosPhi;
 133
 134         /* debug window */
 135         QTextEdit *debugWindow;
 136         bool debugWindowEnabled;
 137
 138         /* actuators */
 139         QSlider *leftMotorSlider;
 140         QSlider *rightMotorSlider;
 141         QCheckBox *bothMotorsCheckBox;
 142         QPushButton *stopMotorsPushButton;
 143
 144         /* power management */
 145         QCheckBox *voltage33CheckBox;
 146         QCheckBox *voltage50CheckBox;
 147         QCheckBox *voltage80CheckBox;
 148         QLineEdit *voltage33LineEdit;
 149         QLineEdit *voltage50LineEdit;
 150         QLineEdit *voltage80LineEdit;
 151         QLineEdit *voltageBATLineEdit;
 152
 153         /* misc */
 154         QCheckBox *obstacleSimulationCheckBox;
 155         QLabel *fsm_main_state;
 156         QLabel *fsm_act_state;
 157         QLabel *fsm_motion_state;
 158         QCheckBox *startPlug;
 159         QCheckBox *puckInside;
 160
 161         /* robot */
 162         Robot *robotRefPos;
 163         Robot *robotEstPosBest;
 164         Robot *robotEstPosIndepOdo;
 165         Robot *robotEstPosOdo;
 166
 167         Trail *trailRefPos;
 168         Trail *trailEstPosBest;
 169         Trail *trailPosIndepOdo;
 170         Trail *trailOdoPos;
 171
 172         HokuyoScan *hokuyoScan;
 173
 174         /* keypad */
 175         double leftMotorValue;
 176         double rightMotorValue;
 177
 178         /* map */
 179         void openSharedMemory();
 180         bool sharedMemoryOpened;
 181         QTimer *mapTimer;
 182
 183         /* obstacle simulation */
 184         double distanceToWallHokuyo(int beamnum);
 185         double distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize);
 186         int simulationEnabled;
 187
 188         QTimer *obstacleSimulationTimer;
 189         Point simulatedObstacle;
 190
 191         /************************************************************
 192          * ORTE
 193          ************************************************************/
 194         void createOrte();
 195
 196         struct robottype_orte_data orte;
 197 };
 198
 199 #endif /* ROBOMON_ATLANTIS_H */