src/robomon/RobomonAtlantis.cpp

   1 /*
   2  * RobomonAtlantis.cpp                  07/10/31
   3  *
   4  * Robot`s visualization and control GUI for robot of the
   5  * Eurobot 2008 (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 #include <QtGui>
  14 #include <queue>
  15 #include <cstdlib>
  16 #include <sys/shm.h>
  17 #include <sys/stat.h>
  18 #include <sys/socket.h>
  19 #include <netinet/in.h>
  20 #include <arpa/inet.h>
  21 #include <stdio.h>
  22 #include <unistd.h>
  23 #include <math.h>
  24
  25 #include <orte.h>
  26 #include <path_planner.h>
  27 #include <robodim.h>
  28 #include <sharp.h>
  29 #include <trgen.h>
  30 #include <map.h>
  31 #include <robomath.h>
  32 #include <hokuyo.h>
  33 #include <actuators.h>
  34 #include "PlaygroundScene.h"
  35 #include "MiscGui.h"
  36 #include "robomon_orte.h"
  37 #include "RobomonAtlantis.h"
  38 #include "playgroundview.h"
  39
  40 #include <QCoreApplication>
  41 #include <QEvent>
  42 #include <QKeyEvent>
  43 #include <QDebug>
  44 #include <QMessageBox>
  45
  46 RobomonAtlantis::RobomonAtlantis(QWidget *parent)
  47         : QWidget(parent)
  48 {
  49         QFont font;
  50         font.setPointSize(7);
  51         setFont(font);
  52
  53         debugWindowEnabled = false;
  54
  55         createLeftLayout();
  56         createRightLayout();
  57
  58         QHBoxLayout *mainLayout = new QHBoxLayout;
  59         mainLayout->addLayout(leftLayout);
  60         mainLayout->addLayout(rightLayout);
  61         setLayout(mainLayout);
  62
  63         createOrte();
  64         createRobots();
  65         createActions();
  66
  67         setFocusPolicy(Qt::StrongFocus);
  68         sharedMemoryOpened = false;
  69         WDBG("Youuuhouuuu!!");
  70 }
  71
  72 /**********************************************************************
  73  * GUI
  74  **********************************************************************/
  75 void RobomonAtlantis::createLeftLayout()
  76 {
  77         leftLayout = new QVBoxLayout();
  78
  79         createDebugGroupBox();
  80         debugWindowEnabled = true;
  81         createPlaygroundGroupBox();
  82         leftLayout->addWidget(playgroundGroupBox);
  83         leftLayout->addWidget(debugGroupBox);
  84 }
  85
  86 void RobomonAtlantis::createRightLayout()
  87 {
  88         rightLayout = new QVBoxLayout();
  89         QGridLayout *layout = new QGridLayout();
  90         QVBoxLayout *vlayout = new QVBoxLayout();
  91
  92         createPositionGroupBox();
  93         createMiscGroupBox();
  94         createFSMGroupBox();
  95         createActuatorsGroupBox();
  96         createDIOGroupBox();
  97         createPowerGroupBox();
  98         createSensorsGroupBox();
  99
 100         vlayout->addWidget(positionGroupBox);
 101         vlayout->addWidget(miscGroupBox);
 102         vlayout->addWidget(fsmGroupBox);
 103         layout->addLayout(vlayout, 0, 0);
 104         layout->addWidget(actuatorsGroupBox, 0, 1);
 105 //      layout->addWidget(dioGroupBox, 0, 2);
 106
 107         rightLayout->addLayout(layout);
 108         rightLayout->addWidget(powerGroupBox);
 109         rightLayout->addWidget(sensorsGroupBox);
 110 }
 111
 112 void RobomonAtlantis::createPlaygroundGroupBox()
 113 {
 114         playgroundGroupBox = new QGroupBox(tr("Playground"));
 115         QHBoxLayout *layout = new QHBoxLayout();
 116
 117         playgroundScene = new PlaygroundScene();
 118         playgroundSceneView = new PlaygroundView(playgroundScene);
 119         //playgroundSceneView->setMinimumWidth(630);
 120         //playgroundSceneView->setMinimumHeight(445);
 121         playgroundSceneView->setMatrix(QMatrix(1,0,0,-1,0,0), true);
 122         playgroundSceneView->fitInView(playgroundScene->itemsBoundingRect());
 123         playgroundSceneView->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
 124         layout->addWidget(playgroundSceneView);
 125
 126         playgroundGroupBox->setLayout(layout);
 127 }
 128
 129 void RobomonAtlantis::createPositionGroupBox()
 130 {
 131         positionGroupBox = new QGroupBox(tr("Position state"));
 132         positionGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 133         QGridLayout *layout = new QGridLayout();
 134
 135         actPosX = new QLineEdit();
 136         actPosY = new QLineEdit();
 137         actPosPhi = new QLineEdit();
 138
 139         estPosX = new QLineEdit();
 140         estPosY = new QLineEdit();
 141         estPosPhi = new QLineEdit();
 142
 143         actPosX->setReadOnly(true);
 144         actPosY->setReadOnly(true);
 145         actPosPhi->setReadOnly(true);
 146
 147         estPosX->setReadOnly(true);
 148         estPosY->setReadOnly(true);
 149         estPosPhi->setReadOnly(true);
 150
 151         layout->addWidget(MiscGui::createLabel("X"), 1, 0);
 152         layout->addWidget(MiscGui::createLabel("Y"), 2, 0);
 153         layout->addWidget(MiscGui::createLabel("Phi"), 3, 0);
 154
 155         layout->addWidget(MiscGui::createLabel("X"), 5, 0);
 156         layout->addWidget(MiscGui::createLabel("Y"), 6, 0);
 157         layout->addWidget(MiscGui::createLabel("Phi"), 7, 0);
 158
 159         layout->addWidget(MiscGui::createLabel("Reference", Qt::AlignLeft), 0, 1);
 160         layout->addWidget(actPosX, 1, 1);
 161         layout->addWidget(actPosY, 2, 1);
 162         layout->addWidget(actPosPhi, 3, 1);
 163
 164         layout->addWidget(MiscGui::createLabel("Estimated", Qt::AlignLeft), 4, 1);
 165         layout->addWidget(estPosX, 5, 1);
 166         layout->addWidget(estPosY, 6, 1);
 167         layout->addWidget(estPosPhi, 7, 1);
 168
 169         positionGroupBox->setLayout(layout);
 170 }
 171
 172 void RobomonAtlantis::createMiscGroupBox()
 173 {
 174         miscGroupBox = new QGroupBox(tr("Miscellaneous"));
 175         miscGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 176         QGridLayout *layout = new QGridLayout();
 177
 178         showMapPushButton = new QCheckBox(tr("Show &map"));
 179         showMapPushButton->setShortcut(tr("m"));
 180
 181         layout->addWidget(showMapPushButton, 0, 0);
 182
 183         obstacleSimulationCheckBox = new QCheckBox(tr("&Obstacle simulation"));
 184         obstacleSimulationCheckBox->setShortcut(tr("o"));
 185         layout->addWidget(obstacleSimulationCheckBox);
 186
 187         miscGroupBox->setLayout(layout);
 188 }
 189
 190 void RobomonAtlantis::createFSMGroupBox()
 191 {
 192         fsmGroupBox = new QGroupBox(tr("FSM"));
 193         fsmGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 194         QGridLayout *layout = new QGridLayout();
 195
 196         layout->addWidget(MiscGui::createLabel("Main:"), 1, 0);
 197         fsm_main_state = new QLabel();
 198         fsm_main_state->setMinimumWidth(100);
 199         layout->addWidget(fsm_main_state, 1, 1);
 200
 201         layout->addWidget(MiscGui::createLabel("Act:"), 2, 0);
 202         fsm_act_state = new QLabel();
 203         layout->addWidget(fsm_act_state, 2, 1);
 204
 205         layout->addWidget(MiscGui::createLabel("Motion:"), 3, 0);
 206         fsm_motion_state = new QLabel();
 207         layout->addWidget(fsm_motion_state, 3, 1);
 208
 209         fsmGroupBox->setLayout(layout);
 210 }
 211
 212 void RobomonAtlantis::createDebugGroupBox()
 213 {
 214         debugGroupBox = new QGroupBox(tr("Debug window"));
 215         debugGroupBox->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Maximum);
 216         QHBoxLayout *layout = new QHBoxLayout();
 217
 218         debugWindow = new QTextEdit();
 219         debugWindow->setReadOnly(true);
 220
 221         layout->addWidget(debugWindow);
 222         debugGroupBox->setLayout(layout);
 223 }
 224
 225 void RobomonAtlantis::createActuatorsGroupBox()
 226 {
 227         actuatorsGroupBox = new QGroupBox(tr("Actuators"));
 228         actuatorsGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred);
 229         QHBoxLayout *layout = new QHBoxLayout();
 230
 231         createMotorsGroupBox();
 232         createPickerGroupBox();
 233
 234         layout->setAlignment(Qt::AlignLeft);
 235         layout->addWidget(enginesGroupBox);
 236         layout->addWidget(pickerGroupBox);
 237         actuatorsGroupBox->setLayout(layout);
 238 }
 239
 240 void RobomonAtlantis::createDIOGroupBox()
 241 {
 242         dioGroupBox = new QGroupBox(tr("DIO"));
 243         QGridLayout *layout = new QGridLayout();
 244         QFont font;
 245
 246         font.setPointSize(5);
 247         dioGroupBox->setFont(font);
 248
 249         for (int i=0; i<8; i++) {
 250                 diCheckBox[i] = new QCheckBox(QString("DI%1").arg(i));
 251                 doCheckBox[i] = new QCheckBox(QString("D0%1").arg(i));
 252                 layout->addWidget(diCheckBox[i], i, 0);
 253                 layout->addWidget(doCheckBox[i], i+8, 0);
 254         }
 255
 256         dioGroupBox->setMaximumWidth(70);
 257         dioGroupBox->setLayout(layout);
 258 }
 259
 260 void RobomonAtlantis::createPowerGroupBox()
 261 {
 262         powerGroupBox = new QGroupBox(tr("Power management"));
 263         powerGroupBox->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Minimum);
 264         powerGroupBox->setMaximumWidth(450);
 265         QGridLayout *layout = new QGridLayout();
 266
 267         voltage33CheckBox = new QCheckBox(tr("&3.3V"));
 268         voltage50CheckBox = new QCheckBox(tr("&5.0V"));
 269         voltage80CheckBox = new QCheckBox(tr("&8.0V"));
 270
 271         voltage33CheckBox->setShortcut(tr("3"));
 272         voltage50CheckBox->setShortcut(tr("5"));
 273         voltage80CheckBox->setShortcut(tr("8"));
 274
 275         layout->addWidget(voltage33CheckBox, 0, 0);
 276         layout->addWidget(voltage50CheckBox, 0, 2);
 277         layout->addWidget(voltage80CheckBox, 0, 4); //1, 0);
 278         layout->addWidget(MiscGui::createLabel("BAT"), 0, 6); //1, 2);
 279
 280         voltage33LineEdit = new QLineEdit();
 281         voltage50LineEdit = new QLineEdit();
 282         voltage80LineEdit = new QLineEdit();
 283         voltageBATLineEdit = new QLineEdit();
 284
 285         voltage33LineEdit->setReadOnly(true);
 286         voltage50LineEdit->setReadOnly(true);
 287         voltage80LineEdit->setReadOnly(true);
 288         voltageBATLineEdit->setReadOnly(true);
 289
 290         layout->addWidget(voltage33LineEdit, 0, 1);
 291         layout->addWidget(voltage50LineEdit, 0, 3);
 292         layout->addWidget(voltage80LineEdit, 0, 5); //1, 1);
 293         layout->addWidget(voltageBATLineEdit, 0, 7); //1, 3);
 294
 295         powerGroupBox->setLayout(layout);
 296 }
 297
 298 void RobomonAtlantis::createSensorsGroupBox()
 299 {
 300         sensorsGroupBox = new QGroupBox(tr("Sensors"));
 301         sensorsGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 302         sensorsGroupBox->setMaximumWidth(450);
 303         QHBoxLayout *layout = new QHBoxLayout();
 304
 305         layout->addWidget(MiscGui::createLabel("Puck Sharp"));
 306         sharpPuck = new QProgressBar();
 307         sharpPuck->setFormat("%v mm");
 308         sharpPuck->setTextVisible(true);
 309         sharpPuck->setMaximum(250);
 310         layout->addWidget(sharpPuck);
 311
 312         sensorsGroupBox->setLayout(layout);
 313 }
 314
 315 void RobomonAtlantis::createMotorsGroupBox()
 316 {
 317         enginesGroupBox = new QGroupBox(tr("Motors"));
 318         QVBoxLayout *layout = new QVBoxLayout();
 319         QHBoxLayout *layout1 = new QHBoxLayout();
 320         QHBoxLayout *layout2 = new QHBoxLayout();
 321
 322         leftMotorSlider = new QSlider(Qt::Vertical);
 323         rightMotorSlider = new QSlider(Qt::Vertical);
 324         bothMotorsCheckBox = new QCheckBox(tr("Lock both"));
 325         stopMotorsPushButton = new QPushButton(tr("Stop Motors"));
 326
 327         leftMotorSlider->setMinimum(-100);
 328         leftMotorSlider->setMaximum(100);
 329         leftMotorSlider->setTracking(false);
 330         leftMotorSlider->setTickPosition(QSlider::TicksLeft);
 331
 332         rightMotorSlider->setMinimum(-100);
 333         rightMotorSlider->setMaximum(100);
 334         rightMotorSlider->setTracking(false);
 335         rightMotorSlider->setTickPosition(QSlider::TicksRight);
 336
 337         stopMotorsPushButton->setMaximumWidth(90);
 338
 339         layout1->addWidget(leftMotorSlider);
 340         layout1->addWidget(MiscGui::createLabel("0"));
 341         layout1->addWidget(rightMotorSlider);
 342
 343         layout2->addWidget(bothMotorsCheckBox);
 344
 345         layout->addWidget(MiscGui::createLabel("100"));
 346         layout->addLayout(layout1);
 347         layout->addWidget(MiscGui::createLabel("-100"));
 348         layout->addLayout(layout2);
 349         layout->addWidget(stopMotorsPushButton);
 350         enginesGroupBox->setLayout(layout);
 351 }
 352
 353 void RobomonAtlantis::createPickerGroupBox()
 354 {
 355         pickerGroupBox = new QGroupBox(tr("Picker"));
 356         QVBoxLayout *layout = new QVBoxLayout();
 357
 358         leftBeltCheckBox = new QCheckBox(tr("L Belt"));
 359         rightBeltCheckBox = new QCheckBox(tr("R Belt"));
 360         leftChelaCheckBox = new QCheckBox(tr("L Chela"));
 361         rightChelaCheckBox = new QCheckBox(tr("R Chela"));
 362         leftBeltDial = new QDial();
 363         rightBeltDial = new QDial();
 364         leftChelaDial = new QDial();
 365         rightChelaDial = new QDial();
 366         pickPushButton = new QPushButton(tr("Pick!"));
 367
 368         leftBeltDial->setMinimum(0);
 369         leftBeltDial->setMaximum(200);
 370         leftBeltDial->setValue(100);
 371
 372         rightBeltDial->setMinimum(0);
 373         rightBeltDial->setMaximum(200);
 374         rightBeltDial->setValue(100);
 375
 376         leftChelaDial->setMinimum(0);
 377         leftChelaDial->setMaximum(255);
 378         leftChelaDial->setValue(127);
 379
 380         rightChelaDial->setMinimum(0);
 381         rightChelaDial->setMaximum(255);
 382         rightChelaDial->setValue(127);
 383
 384         layout->addWidget(leftChelaDial);
 385         layout->addWidget(leftChelaCheckBox);
 386         layout->addWidget(rightChelaDial);
 387         layout->addWidget(rightChelaCheckBox);
 388         layout->addWidget(leftBeltDial);
 389         layout->addWidget(leftBeltCheckBox);
 390         layout->addWidget(rightBeltDial);
 391         layout->addWidget(rightBeltCheckBox);
 392         layout->addWidget(pickPushButton);
 393
 394         pickerGroupBox->setLayout(layout);
 395 }
 396
 397 void RobomonAtlantis::createRobots()
 398 {
 399         robotActPos = new Robot(QPen(), QBrush(Qt::darkGray));
 400         robotActPos->setZValue(10);
 401         robotEstPos = new Robot(QPen(Qt::darkBlue), QBrush(Qt::NoBrush));
 402         robotEstPos->setZValue(11);
 403
 404         playgroundScene->addItem(robotActPos);
 405         playgroundScene->addItem(robotEstPos);
 406 }
 407
 408 /**********************************************************************
 409  * GUI actions
 410  **********************************************************************/
 411 void RobomonAtlantis::createActions()
 412 {
 413         /* power management */
 414         connect(voltage33CheckBox, SIGNAL(stateChanged(int)),
 415                         this, SLOT(setVoltage33(int)));
 416         connect(voltage50CheckBox, SIGNAL(stateChanged(int)),
 417                         this, SLOT(setVoltage50(int)));
 418         connect(voltage80CheckBox, SIGNAL(stateChanged(int)),
 419                         this, SLOT(setVoltage80(int)));
 420
 421         /* motors */
 422         connect(leftMotorSlider, SIGNAL(valueChanged(int)),
 423                         this, SLOT(setLeftMotor(int)));
 424         connect(rightMotorSlider, SIGNAL(valueChanged(int)),
 425                         this, SLOT(setRightMotor(int)));
 426         connect(stopMotorsPushButton, SIGNAL(clicked()),
 427                         this, SLOT(stopMotors()));
 428
 429         /* DIO */
 430         for (int i=0; i<8; i++)
 431                 connect(doCheckBox[0], SIGNAL(stateChanged(int)),
 432                                         this, SLOT(setDO(int)));
 433
 434         /* path planning map */
 435         connect(showMapPushButton, SIGNAL(clicked()),
 436                         this, SLOT(showMap()));
 437
 438         /* obstacle simulation */
 439         simulationEnabled = 0;
 440         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 441                         this, SLOT(setSimulation(int)));
 442         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 443                         this, SLOT(setObstacleSimulation(int)));
 444         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 445                         playgroundScene, SLOT(showObstacle(int)));
 446         connect(playgroundScene, SIGNAL(obstacleChanged(QPointF)),
 447                         this, SLOT(changeObstacle(QPointF)));
 448
 449         /* Actuators */
 450         connect(pickPushButton, SIGNAL(clicked()), this, SLOT(pick()));
 451         connect(leftBeltCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setBelts(int)));
 452         connect(rightBeltCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setBelts(int)));
 453         connect(leftChelaCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setChelae(int)));
 454         connect(rightChelaCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setChelae(int)));
 455         connect(leftBeltDial, SIGNAL(valueChanged(int)), this, SLOT(setBelts(int)));
 456         connect(rightBeltDial, SIGNAL(valueChanged(int)), this, SLOT(setBelts(int)));
 457         connect(leftChelaDial, SIGNAL(valueChanged(int)), this, SLOT(setChelae(int)));
 458         connect(rightChelaDial, SIGNAL(valueChanged(int)), this, SLOT(setChelae(int)));
 459 }
 460
 461 void RobomonAtlantis::setVoltage33(int state)
 462 {
 463         if (state)
 464                 orte.pwr_ctrl.voltage33 = true;
 465         else
 466                 orte.pwr_ctrl.voltage33 = false;
 467 }
 468
 469 void RobomonAtlantis::setVoltage50(int state)
 470 {
 471         if (state)
 472                 orte.pwr_ctrl.voltage50 = true;
 473         else
 474                 orte.pwr_ctrl.voltage50 = false;
 475 }
 476
 477 void RobomonAtlantis::setVoltage80(int state)
 478 {
 479         if (state)
 480                 orte.pwr_ctrl.voltage80 = true;
 481         else
 482                 orte.pwr_ctrl.voltage80 = false;
 483 }
 484
 485 void RobomonAtlantis::setLeftMotor(int value)
 486 {
 487         short int leftMotor;
 488         short int rightMotor;
 489
 490         if(bothMotorsCheckBox->isChecked())
 491                 rightMotorSlider->setValue(value);
 492
 493         leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
 494         rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
 495
 496         orte.motion_speed.left = leftMotor;
 497         orte.motion_speed.right = rightMotor;
 498
 499 }
 500
 501 void RobomonAtlantis::setRightMotor(int value)
 502 {
 503         short int leftMotor;
 504         short int rightMotor;
 505
 506         if(bothMotorsCheckBox->isChecked())
 507                 leftMotorSlider->setValue(value);
 508
 509         leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
 510         rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
 511
 512         orte.motion_speed.left = leftMotor;
 513         orte.motion_speed.right = rightMotor;
 514
 515 }
 516
 517 void RobomonAtlantis::stopMotors()
 518 {
 519         leftMotorSlider->setValue(0);
 520         rightMotorSlider->setValue(0);
 521 }
 522
 523
 524 void RobomonAtlantis::setDO(int state)
 525 {
 526         Q_UNUSED(state);
 527         /* FIXME: digital output control comes here */
 528 }
 529
 530 void RobomonAtlantis::pick()
 531 {
 532         // TODO: send signal to the fsmact
 533 }
 534
 535 void RobomonAtlantis::setBelts(int value)
 536 {
 537         Q_UNUSED(value);
 538         unsigned char leftBelt;
 539         unsigned char rightBelt;
 540
 541         leftBelt = (unsigned char)leftBeltDial->value();
 542         rightBelt = (unsigned char)rightBeltDial->value();
 543
 544         act_belts(leftBelt, rightBelt);
 545 }
 546
 547 void RobomonAtlantis::setChelae(int value)
 548 {
 549         Q_UNUSED(value);
 550         unsigned char leftChela;
 551         unsigned char rightChela;
 552
 553         leftChela = (unsigned char)leftChelaDial->value();
 554         rightChela = (unsigned char)rightChelaDial->value();
 555
 556         act_chelae(leftChela, rightChela);
 557 }
 558
 559 void RobomonAtlantis::showMap()
 560 {
 561         openSharedMemory();
 562
 563         if (sharedMemoryOpened == false)
 564                 return;
 565
 566         mapTimer = new QTimer(this);
 567         connect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
 568         mapTimer->start(200);
 569
 570         disconnect(showMapPushButton, SIGNAL(clicked()), this, SLOT(showMap()));
 571         connect(showMapPushButton, SIGNAL(clicked()),
 572                                 this, SLOT(showPlayground()));
 573         playgroundScene->showMap(true);
 574 }
 575
 576 void RobomonAtlantis::showPlayground()
 577 {
 578         mapTimer->stop();
 579         disconnect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
 580
 581         disconnect(showMapPushButton, SIGNAL(clicked()),
 582                                 this, SLOT(showPlayground()));
 583         connect(showMapPushButton, SIGNAL(clicked()), this, SLOT(showMap()));
 584         playgroundScene->showMap(false);
 585 }
 586
 587 void RobomonAtlantis::paintMap()
 588 {
 589         using namespace Qt;
 590         int x, y;
 591         struct map *map = ShmapIsMapInit();
 592
 593         if (!map) return;
 594
 595         for(int i=0; i < MAP_WIDTH; i++) {
 596                 for(int j=0; j<MAP_HEIGHT; j++) {
 597                         QColor color;
 598
 599                         struct map_cell *cell = &map->cells[j][i];
 600                         color = lightGray;
 601                         if (cell->flags & MAP_FLAG_WALL)
 602                                 color = darkYellow;
 603                         if (cell->flags & MAP_FLAG_IGNORE_OBST)
 604                                 color = darkGreen;
 605                         if (cell->flags & MAP_FLAG_SIMULATED_WALL)
 606                                 color = yellow;
 607                         if (cell->flags & MAP_FLAG_PATH)
 608                                 color = darkRed;
 609                         if (cell->flags & MAP_FLAG_START)
 610                                 color = red;
 611                         if (cell->flags & MAP_FLAG_GOAL)
 612                                 color = green;
 613                         if (cell->detected_obstacle) {
 614                                 QColor c1(color), c2(blue);
 615                                 double f = (double)cell->detected_obstacle/MAP_NEW_OBSTACLE*0.7;
 616                                 QColor c(c1.red()   + (int)(f*(c2.red()   - c1.red())),
 617                                          c1.green() + (int)(f*(c2.green() - c1.green())),
 618                                          c1.blue()  + (int)(f*(c2.blue()  - c1.blue())));
 619                                 color = c;
 620                         }
 621                         if (cell->flags & MAP_FLAG_DET_OBST)
 622                                 color = cyan;
 623
 624                         playgroundScene->setMapColor(i, j, color);
 625                 }
 626         }
 627 }
 628
 629 void RobomonAtlantis::setSimulation(int state)
 630 {
 631         if(state) {
 632                 robottype_publisher_hokuyo_scan_create(&orte,
 633                                                        dummy_publisher_callback, this);
 634         } else {
 635                 if (!simulationEnabled)
 636                         return;
 637                 robottype_publisher_hokuyo_scan_destroy(&orte);
 638         }
 639         simulationEnabled = state;
 640 }
 641
 642 /*!
 643         \fn RobomonAtlantis::setObstacleSimulation(int state)
 644  */
 645 void RobomonAtlantis::setObstacleSimulation(int state)
 646 {
 647         if (state) {
 648                 /* TODO Maybe it is possible to attach only once to Shmap */
 649                 ShmapInit(0);
 650                 obstacleSimulationTimer = new QTimer(this);
 651                 connect(obstacleSimulationTimer, SIGNAL(timeout()),
 652                         this, SLOT(simulateObstaclesHokuyo()));
 653                 obstacleSimulationTimer->start(100);
 654                 setMouseTracking(true);
 655         } else {
 656                 if (obstacleSimulationTimer)
 657                         delete obstacleSimulationTimer;
 658                 //double distance = 0.8;
 659         }
 660 }
 661
 662
 663 void RobomonAtlantis::simulateObstaclesHokuyo()
 664 {
 665         double distance, wall_distance;
 666         int i;
 667         uint16_t *hokuyo = orte.hokuyo_scan.data;
 668
 669         for (i=0; i<HOKUYO_CLUSTER_CNT; i++) {
 670                 wall_distance = distanceToWallHokuyo(i);
 671                 distance = distanceToObstacleHokuyo(i, simulatedObstacle, SIM_OBST_SIZE_M/*meters*/);
 672                 if (wall_distance < distance)
 673                         distance = wall_distance;
 674                 hokuyo[i] = distance*1000;
 675         }
 676         ORTEPublicationSend(orte.publication_hokuyo_scan);
 677
 678 }
 679
 680 void RobomonAtlantis::changeObstacle(QPointF position)
 681 {
 682         if (!simulationEnabled) {
 683                 simulationEnabled = 1;
 684                 obstacleSimulationCheckBox->setChecked(true);
 685         }
 686
 687         simulatedObstacle.x = position.x();
 688         simulatedObstacle.y = position.y();
 689         simulateObstaclesHokuyo();
 690 }
 691
 692 /**********************************************************************
 693  * EVENTS
 694  **********************************************************************/
 695 bool RobomonAtlantis::event(QEvent *event)
 696 {
 697         switch (event->type()) {
 698                 case QEVENT(QEV_MOTION_STATUS):
 699                         emit motionStatusReceivedSignal();
 700                         break;
 701                 case QEVENT(QEV_ACTUAL_POSITION):
 702                         emit actualPositionReceivedSignal();
 703                         break;
 704                 case QEVENT(QEV_ESTIMATED_POSITION):
 705                         emit estimatedPositionReceivedSignal();
 706                         break;
 707                 case QEVENT(QEV_DI):
 708                         emit diReceivedSignal();
 709                         break;
 710                 case QEVENT(QEV_ACCELEROMETER):
 711                         emit accelerometerReceivedSignal();
 712                         break;
 713                 case QEVENT(QEV_ACCUMULATOR):
 714                         emit accumulatorReceivedSignal();
 715                         break;
 716                 case QEVENT(QEV_POWER_VOLTAGE):
 717                         emit powerVoltageReceivedSignal();
 718                         break;
 719                 case QEVENT(QEV_FSM_MAIN):
 720                         fsm_main_state->setText(orte.fsm_main.state_name);
 721                         break;
 722                 case QEVENT(QEV_FSM_ACT):
 723                         fsm_act_state->setText(orte.fsm_act.state_name);
 724                         break;
 725                 case QEVENT(QEV_FSM_MOTION):
 726                         fsm_motion_state->setText(orte.fsm_motion.state_name);
 727                         break;
 728                 case QEVENT(QEV_PUCK_DISTANCE):
 729                         sharpPuck->setValue(orte.puck_distance.distance*1000);
 730                         break;
 731                 default:
 732                         if (event->type() == QEvent::Close)
 733                                 closeEvent((QCloseEvent *)event);
 734                         else if (event->type() == QEvent::KeyPress)
 735                                 keyPressEvent((QKeyEvent *)event);
 736                         else if (event->type() == QEvent::KeyRelease)
 737                                 keyReleaseEvent((QKeyEvent *)event);
 738                         else if (event->type() == QEvent::FocusIn)
 739                                 grabKeyboard();
 740                         else if (event->type() == QEvent::FocusOut)
 741                                 releaseKeyboard();
 742                         else {
 743                                 event->ignore();
 744                                 return false;
 745                         }
 746                         break;
 747         }
 748         event->accept();
 749         return true;
 750 }
 751
 752 void RobomonAtlantis::keyPressEvent(QKeyEvent *event)
 753 {
 754         double peak, gain;
 755
 756         if (event->isAutoRepeat()) {
 757                 switch (event->key()) {
 758                         case Qt::Key_Down:
 759                                 peak = leftMotorSlider->minimum()/2;
 760                                 if (leftMotorValue < peak ||
 761                                         rightMotorValue < peak)
 762                                         gain = 1.01;
 763                                 else
 764                                         gain = 1.3;
 765                                 leftMotorValue *= gain;
 766                                 rightMotorValue *= gain;
 767                                 leftMotorSlider->setValue((int)leftMotorValue);
 768                                 rightMotorSlider->setValue((int)rightMotorValue);
 769                                 break;
 770
 771                         case Qt::Key_Up:
 772                         case Qt::Key_Left:
 773                         case Qt::Key_Right:
 774                                 peak = leftMotorSlider->maximum()/2;
 775                                 if (leftMotorValue > peak ||
 776                                         rightMotorValue > peak)
 777                                         gain = 1.01;
 778                                 else
 779                                         gain = 1.3;
 780                                 leftMotorValue *= gain;
 781                                 rightMotorValue *= gain;
 782                                 leftMotorSlider->setValue((int)leftMotorValue);
 783                                 rightMotorSlider->setValue((int)rightMotorValue);
 784                                 break;
 785
 786                         default:
 787                                 event->ignore();
 788                                 break;
 789                 }
 790                 return;
 791         }
 792
 793         switch (event->key()) {
 794                 case Qt::Key_Up:
 795                         leftMotorValue = 1;
 796                         rightMotorValue = 1;
 797                         bothMotorsCheckBox->setChecked(true);
 798                         leftMotorSlider->setValue((int)leftMotorValue);
 799                         setLeftMotor((int)leftMotorValue);
 800                         break;
 801                 case Qt::Key_Down:
 802                         leftMotorValue = -1;
 803                         rightMotorValue = -1;
 804                         bothMotorsCheckBox->setChecked(true);
 805                         leftMotorSlider->setValue((int)leftMotorValue);
 806                         setLeftMotor((int)leftMotorValue);
 807                         break;
 808                 case Qt::Key_Left:
 809                         leftMotorValue = -1;
 810                         rightMotorValue = 1;
 811                         leftMotorSlider->setValue((int)leftMotorValue);
 812                         rightMotorSlider->setValue((int)rightMotorValue);
 813                         setLeftMotor((int)leftMotorValue);
 814                         setRightMotor((int)leftMotorValue);
 815                         break;
 816                 case Qt::Key_Right:
 817                         leftMotorValue = 1;
 818                         rightMotorValue = -1;
 819                         leftMotorSlider->setValue((int)leftMotorValue);
 820                         rightMotorSlider->setValue((int)rightMotorValue);
 821                         setLeftMotor((int)leftMotorValue);
 822                         setRightMotor((int)rightMotorValue);
 823                         break;
 824                 default:
 825                         event->ignore();
 826                         break;
 827         }
 828         event->accept();
 829 }
 830
 831 void RobomonAtlantis::keyReleaseEvent(QKeyEvent *event)
 832 {
 833         if (event->isAutoRepeat()) {
 834                 event->ignore();
 835                 return;
 836         }
 837
 838         switch (event->key()) {
 839                 case Qt::Key_Up:
 840                 case Qt::Key_Down:
 841                 case Qt::Key_Left:
 842                 case Qt::Key_Right:
 843                         leftMotorValue = 0;
 844                         rightMotorValue = 0;
 845                         bothMotorsCheckBox->setChecked(false);
 846                         leftMotorSlider->setValue((int)leftMotorValue);
 847                         rightMotorSlider->setValue((int)rightMotorValue);
 848                         break;
 849                 default:
 850                         event->ignore();
 851                         break;
 852         }
 853         event->accept();
 854 }
 855
 856 void RobomonAtlantis::closeEvent(QCloseEvent *)
 857 {
 858         robottype_roboorte_destroy(&orte);
 859 }
 860
 861 /**********************************************************************
 862  * ORTE
 863  **********************************************************************/
 864 void RobomonAtlantis::createOrte()
 865 {
 866         int rv;
 867
 868         orte.strength = 11;
 869
 870         rv = robottype_roboorte_init(&orte);
 871         if (rv) {
 872                 printf("RobomonAtlantis: Unable to initialize ORTE\n");
 873         }
 874
 875         /* publishers */
 876         robottype_publisher_motion_speed_create(&orte, dummy_publisher_callback, NULL);
 877
 878         robottype_publisher_pwr_ctrl_create(&orte, dummy_publisher_callback, NULL);
 879         robottype_publisher_lift_create(&orte, NULL, &orte);
 880         robottype_publisher_pusher_create(&orte, NULL, &orte);
 881         robottype_publisher_chelae_create(&orte, NULL, &orte);
 882         robottype_publisher_belts_create(&orte, NULL, &orte);
 883         robottype_publisher_holder_create(&orte, NULL, &orte);
 884
 885         /* subscribers */
 886         robottype_subscriber_pwr_voltage_create(&orte,
 887                                 receivePowerVoltageCallBack, this);
 888         robottype_subscriber_motion_status_create(&orte,
 889                                 receiveMotionStatusCallBack, this);
 890         robottype_subscriber_ref_pos_create(&orte,
 891                                 receiveActualPositionCallBack, this);
 892         robottype_subscriber_est_pos_create(&orte,
 893                                 receiveEstimatedPositionCallBack, this);
 894         robottype_subscriber_fsm_main_create(&orte,
 895                                              rcv_fsm_main_cb, this);
 896         robottype_subscriber_fsm_motion_create(&orte,
 897                                              rcv_fsm_motion_cb, this);
 898         robottype_subscriber_fsm_act_create(&orte,
 899                                              rcv_fsm_act_cb, this);
 900         robottype_subscriber_puck_distance_create(&orte, rcv_puck_distance_cb, this);
 901         //robottype_subscriber_actuator_status_create(orte, receiveActuatorStatusCallBack, this);
 902
 903
 904         /*createDISubscriber(this, &orteData);*/
 905         /*createAccelerometerSubscriber(this, &orteData);*/
 906         /*createAccumulatorSubscriber(this, &orteData);*/
 907         /* motors */
 908         orte.motion_speed.left = 0;
 909         orte.motion_speed.right = 0;
 910         /* power management */
 911         orte.pwr_ctrl.voltage33 = true;
 912         orte.pwr_ctrl.voltage50 = true;
 913         orte.pwr_ctrl.voltage80 = true;
 914         voltage33CheckBox->setChecked(true);
 915         voltage50CheckBox->setChecked(true);
 916         voltage80CheckBox->setChecked(true);
 917
 918         act_init(&orte);
 919
 920         /* set actions to do when we receive data from orte */
 921         connect(this, SIGNAL(motionStatusReceivedSignal()),
 922                         this, SLOT(motionStatusReceived()));
 923         connect(this, SIGNAL(actualPositionReceivedSignal()),
 924                         this, SLOT(actualPositionReceived()));
 925         connect(this, SIGNAL(estimatedPositionReceivedSignal()),
 926                         this, SLOT(estimatedPositionReceived()));
 927         connect(this, SIGNAL(diReceivedSignal()),
 928                         this, SLOT(diReceived()));
 929         connect(this, SIGNAL(accelerometerReceivedSignal()),
 930                         this, SLOT(accelerometerReceived()));
 931         connect(this, SIGNAL(accumulatorReceivedSignal()),
 932                         this, SLOT(accumulatorReceived()));
 933         connect(this, SIGNAL(powerVoltageReceivedSignal()),
 934                         this, SLOT(powerVoltageReceived()));
 935 }
 936
 937 void RobomonAtlantis::motionStatusReceived()
 938 {
 939         WDBG("ORTE received: motion status");
 940 }
 941
 942 void RobomonAtlantis::actualPositionReceived()
 943 {
 944         actPosX->setText(QString("%1").arg(orte.ref_pos.x, 0, 'f', 3));
 945         actPosY->setText(QString("%1").arg(orte.ref_pos.y, 0, 'f', 3));
 946         actPosPhi->setText(QString("%1(%2)")
 947                         .arg(DEGREES(orte.ref_pos.phi), 0, 'f', 0)
 948                         .arg(orte.ref_pos.phi, 0, 'f', 1));
 949         robotActPos->moveRobot(orte.ref_pos.x,
 950                 orte.ref_pos.y, orte.ref_pos.phi);
 951 }
 952
 953 void RobomonAtlantis::estimatedPositionReceived()
 954 {
 955         estPosX->setText(QString("%1").arg(orte.est_pos.x, 0, 'f', 3));
 956         estPosY->setText(QString("%1").arg(orte.est_pos.y, 0, 'f', 3));
 957         estPosPhi->setText(QString("%1(%2)")
 958                         .arg(DEGREES(orte.est_pos.phi), 0, 'f', 0)
 959                         .arg(orte.est_pos.phi, 0, 'f', 1));
 960         robotEstPos->moveRobot(orte.est_pos.x,
 961                 orte.est_pos.y, orte.est_pos.phi);
 962 }
 963
 964 void RobomonAtlantis::diReceived()
 965 {
 966         WDBG("ORTE received: DI");
 967 }
 968
 969 void RobomonAtlantis::accelerometerReceived()
 970 {
 971         WDBG("ORTE received: accelerometer");
 972 }
 973
 974 void RobomonAtlantis::accumulatorReceived()
 975 {
 976         WDBG("ORTE received: accumulator");
 977 }
 978
 979 void RobomonAtlantis::powerVoltageReceived()
 980 {
 981         voltage33LineEdit->setText(QString("%1").arg(
 982                         orte.pwr_voltage.voltage33, 0, 'f', 3));
 983         voltage50LineEdit->setText(QString("%1").arg(
 984                         orte.pwr_voltage.voltage50, 0, 'f', 3));
 985         voltage80LineEdit->setText(QString("%1").arg(
 986                         orte.pwr_voltage.voltage80, 0, 'f', 3));
 987         voltageBATLineEdit->setText(QString("%1").arg(
 988                         orte.pwr_voltage.voltageBAT, 0, 'f', 3));
 989
 990 }
 991
 992 /**********************************************************************
 993  * MISCELLANEOUS
 994  **********************************************************************/
 995 void RobomonAtlantis::openSharedMemory()
 996 {
 997         int segmentId;
 998         int sharedSegmentSize;
 999
1000         if (sharedMemoryOpened)
1001                 return;
1002
1003         sharedSegmentSize = sizeof(char) * MAP_WIDTH * MAP_HEIGHT;
1004
1005         /* Get segment identificator in a read only mode  */
1006         segmentId = shmget(SHM_MAP_KEY, sharedSegmentSize, S_IRUSR);
1007         if(segmentId == -1) {
1008                 QMessageBox::critical(this, "robomon",
1009                                 "Unable to open shared memory segment!");
1010                 return;
1011         }
1012
1013         /* Init Shmap */
1014         ShmapInit(0);
1015
1016         /* Attach the shared memory segment */
1017         //map =  (_Map*)shmat (segmentId, (void*) 0, 0);
1018
1019         sharedMemoryOpened = true;
1020 }
1021
1022 double RobomonAtlantis::distanceToWallHokuyo(int beamnum)
1023 {
1024         double distance=4.0, min_distance=4.0;
1025         int i,j;
1026         Point wall;
1027         struct map *map = ShmapIsMapInit();
1028
1029         if (!map) return min_distance;
1030
1031         // Simulate obstacles
1032         for(j=0;j<MAP_HEIGHT;j++) {
1033                 for (i=0;i<MAP_WIDTH;i++) {
1034                         struct map_cell *cell = &map->cells[j][i];
1035                         if( cell->flags & MAP_FLAG_SIMULATED_WALL) {
1036                                 // WALL
1037                                 ShmapCell2Point(i, j, &wall.x, &wall.y);
1038
1039                                 distance = distanceToObstacleHokuyo(beamnum, wall, MAP_CELL_SIZE_M);
1040                                 if (distance<min_distance) min_distance = distance;
1041                         }
1042                 }
1043         }
1044
1045         return min_distance;
1046 }
1047
1048 /**
1049  * Calculation for Hokuyo simulation. Calculates distance that would
1050  * be returned by Hokuyo sensors, if there is only one obstacle (as
1051  * specified by parameters).
1052  *
1053  * @param beamnum Hokuyo's bean number [0..HOKUYO_CLUSTER_CNT]
1054  * @param obstacle Position of the obstacle (x, y in meters).
1055  * @param obstacleSize Size (diameter) of the obstacle in meters.
1056  *
1057  * @return Distance measured by sensors in meters.
1058  */
1059 double RobomonAtlantis::distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize)
1060 {
1061         struct est_pos_type e = orte.est_pos;
1062         double sensor_a;
1063         struct sharp_pos s;
1064
1065         s.x = HOKUYO_CENTER_OFFSET_M;
1066         s.y = 0.0;
1067         s.ang = HOKUYO_CLUSTER_TO_RAD(beamnum);
1068
1069         Point sensor(e.x + s.x*cos(e.phi) - s.y*sin(e.phi),
1070                      e.y + s.x*sin(e.phi) + s.y*cos(e.phi));
1071         sensor_a = e.phi + s.ang;
1072
1073         const double sensorRange = 4.0; /*[meters]*/
1074
1075         double distance, angle;
1076
1077         angle = sensor.angleTo(obstacle) - sensor_a;
1078         angle = fmod(angle, 2.0*M_PI);
1079         if (angle > +M_PI) angle -= 2.0*M_PI;
1080         if (angle < -M_PI) angle += 2.0*M_PI;
1081         angle = fabs(angle);
1082         distance = sensor.distanceTo(obstacle)-0.11;
1083         if (angle < atan(obstacleSize/2.0 / (distance+0.001))) {
1084                 // We can see the obstackle from here.
1085                 if (angle < M_PI/2.0) {
1086                     distance = distance/cos(angle);
1087                 }
1088                 if (distance > sensorRange)
1089                         distance = sensorRange;
1090         } else {
1091                 distance = sensorRange;
1092         }
1093
1094         return distance;
1095 }