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         QGridLayout *layout = new QGridLayout();
 176
 177         showMapPushButton = new QCheckBox(tr("Show &map"));
 178         showMapPushButton->setShortcut(tr("m"));
 179
 180         layout->addWidget(showMapPushButton, 0, 0);
 181
 182         obstacleSimulationCheckBox = new QCheckBox(tr("&Obstacle simulation"));
 183         obstacleSimulationCheckBox->setShortcut(tr("o"));
 184         layout->addWidget(obstacleSimulationCheckBox);
 185
 186         miscGroupBox->setLayout(layout);
 187 }
 188
 189 void RobomonAtlantis::createFSMGroupBox()
 190 {
 191         fsmGroupBox = new QGroupBox(tr("FSM"));
 192         QGridLayout *layout = new QGridLayout();
 193
 194         layout->addWidget(MiscGui::createLabel("Main:"), 1, 0);
 195         fsm_main_state = new QLabel();
 196         layout->addWidget(fsm_main_state, 1, 1);
 197
 198         layout->addWidget(MiscGui::createLabel("Act:"), 2, 0);
 199         fsm_act_state = new QLabel();
 200         layout->addWidget(fsm_act_state, 2, 1);
 201
 202         layout->addWidget(MiscGui::createLabel("Motion:"), 3, 0);
 203         fsm_motion_state = new QLabel();
 204         layout->addWidget(fsm_motion_state, 3, 1);
 205
 206         fsmGroupBox->setLayout(layout);
 207 }
 208
 209 void RobomonAtlantis::createDebugGroupBox()
 210 {
 211         debugGroupBox = new QGroupBox(tr("Debug window"));
 212         QHBoxLayout *layout = new QHBoxLayout();
 213
 214         debugWindow = new QTextEdit();
 215         debugWindow->setReadOnly(true);
 216
 217         layout->addWidget(debugWindow);
 218         debugGroupBox->setLayout(layout);
 219 }
 220
 221 void RobomonAtlantis::createActuatorsGroupBox()
 222 {
 223         actuatorsGroupBox = new QGroupBox(tr("Actuators"));
 224         QHBoxLayout *layout = new QHBoxLayout();
 225
 226         createMotorsGroupBox();
 227         createPickerGroupBox();
 228
 229         layout->setAlignment(Qt::AlignLeft);
 230         layout->addWidget(enginesGroupBox);
 231         layout->addWidget(pickerGroupBox);
 232         actuatorsGroupBox->setLayout(layout);
 233 }
 234
 235 void RobomonAtlantis::createDIOGroupBox()
 236 {
 237         dioGroupBox = new QGroupBox(tr("DIO"));
 238         QGridLayout *layout = new QGridLayout();
 239         QFont font;
 240
 241         font.setPointSize(5);
 242         dioGroupBox->setFont(font);
 243
 244         for (int i=0; i<8; i++) {
 245                 diCheckBox[i] = new QCheckBox(QString("DI%1").arg(i));
 246                 doCheckBox[i] = new QCheckBox(QString("D0%1").arg(i));
 247                 layout->addWidget(diCheckBox[i], i, 0);
 248                 layout->addWidget(doCheckBox[i], i+8, 0);
 249         }
 250
 251         dioGroupBox->setMaximumWidth(70);
 252         dioGroupBox->setLayout(layout);
 253 }
 254
 255 void RobomonAtlantis::createPowerGroupBox()
 256 {
 257         powerGroupBox = new QGroupBox(tr("Power management"));
 258         QGridLayout *layout = new QGridLayout();
 259
 260         voltage33CheckBox = new QCheckBox(tr("&3.3V"));
 261         voltage50CheckBox = new QCheckBox(tr("&5.0V"));
 262         voltage80CheckBox = new QCheckBox(tr("&8.0V"));
 263
 264         voltage33CheckBox->setShortcut(tr("3"));
 265         voltage50CheckBox->setShortcut(tr("5"));
 266         voltage80CheckBox->setShortcut(tr("8"));
 267
 268         layout->addWidget(voltage33CheckBox, 0, 0);
 269         layout->addWidget(voltage50CheckBox, 0, 2);
 270         layout->addWidget(voltage80CheckBox, 0, 4); //1, 0);
 271         layout->addWidget(MiscGui::createLabel("BAT"), 0, 6); //1, 2);
 272
 273         voltage33LineEdit = new QLineEdit();
 274         voltage50LineEdit = new QLineEdit();
 275         voltage80LineEdit = new QLineEdit();
 276         voltageBATLineEdit = new QLineEdit();
 277
 278         voltage33LineEdit->setReadOnly(true);
 279         voltage50LineEdit->setReadOnly(true);
 280         voltage80LineEdit->setReadOnly(true);
 281         voltageBATLineEdit->setReadOnly(true);
 282
 283         layout->addWidget(voltage33LineEdit, 0, 1);
 284         layout->addWidget(voltage50LineEdit, 0, 3);
 285         layout->addWidget(voltage80LineEdit, 0, 5); //1, 1);
 286         layout->addWidget(voltageBATLineEdit, 0, 7); //1, 3);
 287
 288         powerGroupBox->setLayout(layout);
 289 }
 290
 291 void RobomonAtlantis::createSensorsGroupBox()
 292 {
 293         sensorsGroupBox = new QGroupBox(tr("Sensors"));
 294         QVBoxLayout *layout = new QVBoxLayout();
 295
 296         createSharpSensorsLayout();
 297
 298         layout->addLayout(sharpSensorsLayout);
 299         sensorsGroupBox->setLayout(layout);
 300 }
 301
 302 void RobomonAtlantis::createMotorsGroupBox()
 303 {
 304         enginesGroupBox = new QGroupBox(tr("Motors"));
 305         QVBoxLayout *layout = new QVBoxLayout();
 306         QHBoxLayout *layout1 = new QHBoxLayout();
 307         QHBoxLayout *layout2 = new QHBoxLayout();
 308
 309         leftMotorSlider = new QSlider(Qt::Vertical);
 310         rightMotorSlider = new QSlider(Qt::Vertical);
 311         bothMotorsCheckBox = new QCheckBox(tr("Lock both"));
 312         stopMotorsPushButton = new QPushButton(tr("Stop Motors"));
 313
 314         leftMotorSlider->setMinimum(-100);
 315         leftMotorSlider->setMaximum(100);
 316         leftMotorSlider->setTracking(false);
 317         leftMotorSlider->setTickPosition(QSlider::TicksLeft);
 318
 319         rightMotorSlider->setMinimum(-100);
 320         rightMotorSlider->setMaximum(100);
 321         rightMotorSlider->setTracking(false);
 322         rightMotorSlider->setTickPosition(QSlider::TicksRight);
 323
 324         stopMotorsPushButton->setMaximumWidth(90);
 325
 326         layout1->addWidget(leftMotorSlider);
 327         layout1->addWidget(MiscGui::createLabel("0"));
 328         layout1->addWidget(rightMotorSlider);
 329
 330         layout2->addWidget(bothMotorsCheckBox);
 331
 332         layout->addWidget(MiscGui::createLabel("100"));
 333         layout->addLayout(layout1);
 334         layout->addWidget(MiscGui::createLabel("-100"));
 335         layout->addLayout(layout2);
 336         layout->addWidget(stopMotorsPushButton);
 337         enginesGroupBox->setLayout(layout);
 338 }
 339
 340 void RobomonAtlantis::createPickerGroupBox()
 341 {
 342         pickerGroupBox = new QGroupBox(tr("Picker"));
 343         QVBoxLayout *layout = new QVBoxLayout();
 344
 345         leftBeltCheckBox = new QCheckBox(tr("L Belt"));
 346         rightBeltCheckBox = new QCheckBox(tr("R Belt"));
 347         leftChelaCheckBox = new QCheckBox(tr("L Chela"));
 348         rightChelaCheckBox = new QCheckBox(tr("R Chela"));
 349         leftBeltDial = new QDial();
 350         rightBeltDial = new QDial();
 351         leftChelaDial = new QDial();
 352         rightChelaDial = new QDial();
 353         pickPushButton = new QPushButton(tr("Pick!"));
 354
 355         leftBeltDial->setMinimum(0);
 356         leftBeltDial->setMaximum(200);
 357         leftBeltDial->setValue(100);
 358
 359         rightBeltDial->setMinimum(0);
 360         rightBeltDial->setMaximum(200);
 361         rightBeltDial->setValue(100);
 362
 363         leftChelaDial->setMinimum(0);
 364         leftChelaDial->setMaximum(255);
 365         leftChelaDial->setValue(127);
 366
 367         rightChelaDial->setMinimum(0);
 368         rightChelaDial->setMaximum(255);
 369         rightChelaDial->setValue(127);
 370
 371         layout->addWidget(leftChelaDial);
 372         layout->addWidget(leftChelaCheckBox);
 373         layout->addWidget(rightChelaDial);
 374         layout->addWidget(rightChelaCheckBox);
 375         layout->addWidget(leftBeltDial);
 376         layout->addWidget(leftBeltCheckBox);
 377         layout->addWidget(rightBeltDial);
 378         layout->addWidget(rightBeltCheckBox);
 379         layout->addWidget(pickPushButton);
 380
 381         pickerGroupBox->setLayout(layout);
 382 }
 383
 384 void RobomonAtlantis::createSharpSensorsLayout()
 385 {
 386         sharpSensorsLayout = new QVBoxLayout();
 387         QGridLayout *layout3 = new QGridLayout();
 388
 389         sharpSensorsLayout->addLayout(layout3);
 390 }
 391
 392 void RobomonAtlantis::createRobots()
 393 {
 394         robotActPos = new Robot(QPen(), QBrush(Qt::darkGray));
 395         robotActPos->setZValue(10);
 396         robotEstPos = new Robot(QPen(Qt::darkBlue), QBrush(Qt::NoBrush));
 397         robotEstPos->setZValue(11);
 398
 399         playgroundScene->addItem(robotActPos);
 400         playgroundScene->addItem(robotEstPos);
 401 }
 402
 403 /**********************************************************************
 404  * GUI actions
 405  **********************************************************************/
 406 void RobomonAtlantis::createActions()
 407 {
 408         /* power management */
 409         connect(voltage33CheckBox, SIGNAL(stateChanged(int)),
 410                         this, SLOT(setVoltage33(int)));
 411         connect(voltage50CheckBox, SIGNAL(stateChanged(int)),
 412                         this, SLOT(setVoltage50(int)));
 413         connect(voltage80CheckBox, SIGNAL(stateChanged(int)),
 414                         this, SLOT(setVoltage80(int)));
 415
 416         /* motors */
 417         connect(leftMotorSlider, SIGNAL(valueChanged(int)),
 418                         this, SLOT(setLeftMotor(int)));
 419         connect(rightMotorSlider, SIGNAL(valueChanged(int)),
 420                         this, SLOT(setRightMotor(int)));
 421         connect(stopMotorsPushButton, SIGNAL(clicked()),
 422                         this, SLOT(stopMotors()));
 423
 424         /* DIO */
 425         for (int i=0; i<8; i++)
 426                 connect(doCheckBox[0], SIGNAL(stateChanged(int)),
 427                                         this, SLOT(setDO(int)));
 428
 429         /* path planning map */
 430         connect(showMapPushButton, SIGNAL(clicked()),
 431                         this, SLOT(showMap()));
 432
 433         /* obstacle simulation */
 434         simulationEnabled = 0;
 435         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 436                         this, SLOT(setSimulation(int)));
 437         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 438                         this, SLOT(setObstacleSimulation(int)));
 439         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 440                         playgroundScene, SLOT(showObstacle(int)));
 441         connect(playgroundScene, SIGNAL(obstacleChanged(QPointF)),
 442                         this, SLOT(changeObstacle(QPointF)));
 443
 444         /* Actuators */
 445         connect(pickPushButton, SIGNAL(clicked()), this, SLOT(pick()));
 446         connect(leftBeltCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setBelts(int)));
 447         connect(rightBeltCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setBelts(int)));
 448         connect(leftChelaCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setChelae(int)));
 449         connect(rightChelaCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setChelae(int)));
 450         connect(leftBeltDial, SIGNAL(valueChanged(int)), this, SLOT(setBelts(int)));
 451         connect(rightBeltDial, SIGNAL(valueChanged(int)), this, SLOT(setBelts(int)));
 452         connect(leftChelaDial, SIGNAL(valueChanged(int)), this, SLOT(setChelae(int)));
 453         connect(rightChelaDial, SIGNAL(valueChanged(int)), this, SLOT(setChelae(int)));
 454 }
 455
 456 void RobomonAtlantis::setVoltage33(int state)
 457 {
 458         if (state)
 459                 orte.pwr_ctrl.voltage33 = true;
 460         else
 461                 orte.pwr_ctrl.voltage33 = false;
 462 }
 463
 464 void RobomonAtlantis::setVoltage50(int state)
 465 {
 466         if (state)
 467                 orte.pwr_ctrl.voltage50 = true;
 468         else
 469                 orte.pwr_ctrl.voltage50 = false;
 470 }
 471
 472 void RobomonAtlantis::setVoltage80(int state)
 473 {
 474         if (state)
 475                 orte.pwr_ctrl.voltage80 = true;
 476         else
 477                 orte.pwr_ctrl.voltage80 = false;
 478 }
 479
 480 void RobomonAtlantis::setLeftMotor(int value)
 481 {
 482         short int leftMotor;
 483         short int rightMotor;
 484
 485         if(bothMotorsCheckBox->isChecked())
 486                 rightMotorSlider->setValue(value);
 487
 488         leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
 489         rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
 490
 491         orte.motion_speed.left = leftMotor;
 492         orte.motion_speed.right = rightMotor;
 493
 494 }
 495
 496 void RobomonAtlantis::setRightMotor(int value)
 497 {
 498         short int leftMotor;
 499         short int rightMotor;
 500
 501         if(bothMotorsCheckBox->isChecked())
 502                 leftMotorSlider->setValue(value);
 503
 504         leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
 505         rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
 506
 507         orte.motion_speed.left = leftMotor;
 508         orte.motion_speed.right = rightMotor;
 509
 510 }
 511
 512 void RobomonAtlantis::stopMotors()
 513 {
 514         leftMotorSlider->setValue(0);
 515         rightMotorSlider->setValue(0);
 516 }
 517
 518
 519 void RobomonAtlantis::setDO(int state)
 520 {
 521         Q_UNUSED(state);
 522         /* FIXME: digital output control comes here */
 523 }
 524
 525 void RobomonAtlantis::pick()
 526 {
 527         // TODO: send signal to the fsmact
 528 }
 529
 530 void RobomonAtlantis::setBelts(int value)
 531 {
 532         Q_UNUSED(value);
 533         unsigned char leftBelt;
 534         unsigned char rightBelt;
 535
 536         leftBelt = (unsigned char)leftBeltDial->value();
 537         rightBelt = (unsigned char)rightBeltDial->value();
 538
 539         act_belts(leftBelt, rightBelt);
 540 }
 541
 542 void RobomonAtlantis::setChelae(int value)
 543 {
 544         Q_UNUSED(value);
 545         unsigned char leftChela;
 546         unsigned char rightChela;
 547
 548         leftChela = (unsigned char)leftChelaDial->value();
 549         rightChela = (unsigned char)rightChelaDial->value();
 550
 551         act_chelae(leftChela, rightChela);
 552 }
 553
 554 void RobomonAtlantis::showMap()
 555 {
 556         openSharedMemory();
 557
 558         if (sharedMemoryOpened == false)
 559                 return;
 560
 561         mapTimer = new QTimer(this);
 562         connect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
 563         mapTimer->start(200);
 564
 565         disconnect(showMapPushButton, SIGNAL(clicked()), this, SLOT(showMap()));
 566         connect(showMapPushButton, SIGNAL(clicked()),
 567                                 this, SLOT(showPlayground()));
 568         playgroundScene->showMap(true);
 569 }
 570
 571 void RobomonAtlantis::showPlayground()
 572 {
 573         mapTimer->stop();
 574         disconnect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
 575
 576         disconnect(showMapPushButton, SIGNAL(clicked()),
 577                                 this, SLOT(showPlayground()));
 578         connect(showMapPushButton, SIGNAL(clicked()), this, SLOT(showMap()));
 579         playgroundScene->showMap(false);
 580 }
 581
 582 void RobomonAtlantis::paintMap()
 583 {
 584         using namespace Qt;
 585         int x, y;
 586         struct map *map = ShmapIsMapInit();
 587
 588         if (!map) return;
 589
 590         for(int i=0; i < MAP_WIDTH; i++) {
 591                 for(int j=0; j<MAP_HEIGHT; j++) {
 592                         QColor color;
 593
 594                         struct map_cell *cell = &map->cells[j][i];
 595                         color = lightGray;
 596                         if (cell->flags & MAP_FLAG_WALL)
 597                                 color = darkYellow;
 598                         if (cell->flags & MAP_FLAG_IGNORE_OBST)
 599                                 color = darkGreen;
 600                         if (cell->flags & MAP_FLAG_SIMULATED_WALL)
 601                                 color = yellow;
 602                         if (cell->flags & MAP_FLAG_PATH)
 603                                 color = darkRed;
 604                         if (cell->flags & MAP_FLAG_START)
 605                                 color = red;
 606                         if (cell->flags & MAP_FLAG_GOAL)
 607                                 color = green;
 608                         if (cell->detected_obstacle) {
 609                                 QColor c1(color), c2(blue);
 610                                 double f = (double)cell->detected_obstacle/MAP_NEW_OBSTACLE*0.7;
 611                                 QColor c(c1.red()   + (int)(f*(c2.red()   - c1.red())),
 612                                          c1.green() + (int)(f*(c2.green() - c1.green())),
 613                                          c1.blue()  + (int)(f*(c2.blue()  - c1.blue())));
 614                                 color = c;
 615                         }
 616                         if (cell->flags & MAP_FLAG_DET_OBST)
 617                                 color = cyan;
 618
 619                         playgroundScene->setMapColor(i, j, color);
 620                 }
 621         }
 622 }
 623
 624 void RobomonAtlantis::setSimulation(int state)
 625 {
 626         if(state) {
 627                 robottype_publisher_hokuyo_scan_create(&orte,
 628                                                        dummy_publisher_callback, this);
 629         } else {
 630                 if (!simulationEnabled)
 631                         return;
 632                 robottype_publisher_hokuyo_scan_destroy(&orte);
 633         }
 634         simulationEnabled = state;
 635 }
 636
 637 /*!
 638         \fn RobomonAtlantis::setObstacleSimulation(int state)
 639  */
 640 void RobomonAtlantis::setObstacleSimulation(int state)
 641 {
 642         if (state) {
 643                 /* TODO Maybe it is possible to attach only once to Shmap */
 644                 ShmapInit(0);
 645                 obstacleSimulationTimer = new QTimer(this);
 646                 connect(obstacleSimulationTimer, SIGNAL(timeout()),
 647                         this, SLOT(simulateObstaclesHokuyo()));
 648                 obstacleSimulationTimer->start(100);
 649                 setMouseTracking(true);
 650         } else {
 651                 if (obstacleSimulationTimer)
 652                         delete obstacleSimulationTimer;
 653                 //double distance = 0.8;
 654         }
 655 }
 656
 657
 658 void RobomonAtlantis::simulateObstaclesHokuyo()
 659 {
 660         double distance, wall_distance;
 661         int i;
 662         uint16_t *hokuyo = orte.hokuyo_scan.data;
 663
 664         for (i=0; i<HOKUYO_CLUSTER_CNT; i++) {
 665                 wall_distance = distanceToWallHokuyo(i);
 666                 distance = distanceToObstacleHokuyo(i, simulatedObstacle, SIM_OBST_SIZE_M/*meters*/);
 667                 if (wall_distance < distance)
 668                         distance = wall_distance;
 669                 hokuyo[i] = distance*1000;
 670         }
 671         ORTEPublicationSend(orte.publication_hokuyo_scan);
 672
 673 }
 674
 675 void RobomonAtlantis::changeObstacle(QPointF position)
 676 {
 677         if (!simulationEnabled) {
 678                 simulationEnabled = 1;
 679                 obstacleSimulationCheckBox->setChecked(true);
 680         }
 681
 682         simulatedObstacle.x = position.x();
 683         simulatedObstacle.y = position.y();
 684         simulateObstaclesHokuyo();
 685 }
 686
 687 /**********************************************************************
 688  * EVENTS
 689  **********************************************************************/
 690 bool RobomonAtlantis::event(QEvent *event)
 691 {
 692         switch (event->type()) {
 693                 case QEVENT(QEV_MOTION_STATUS):
 694                         emit motionStatusReceivedSignal();
 695                         break;
 696                 case QEVENT(QEV_ACTUAL_POSITION):
 697                         emit actualPositionReceivedSignal();
 698                         break;
 699                 case QEVENT(QEV_ESTIMATED_POSITION):
 700                         emit estimatedPositionReceivedSignal();
 701                         break;
 702                 case QEVENT(QEV_DI):
 703                         emit diReceivedSignal();
 704                         break;
 705                 case QEVENT(QEV_ACCELEROMETER):
 706                         emit accelerometerReceivedSignal();
 707                         break;
 708                 case QEVENT(QEV_ACCUMULATOR):
 709                         emit accumulatorReceivedSignal();
 710                         break;
 711                 case QEVENT(QEV_POWER_VOLTAGE):
 712                         emit powerVoltageReceivedSignal();
 713                         break;
 714                 case QEVENT(QEV_FSM_MAIN):
 715                         fsm_main_state->setText(orte.fsm_main.state_name);
 716                         break;
 717                 case QEVENT(QEV_FSM_ACT):
 718                         fsm_act_state->setText(orte.fsm_act.state_name);
 719                         break;
 720                 case QEVENT(QEV_FSM_MOTION):
 721                         fsm_motion_state->setText(orte.fsm_motion.state_name);
 722                         break;
 723                 default:
 724                         if (event->type() == QEvent::Close)
 725                                 closeEvent((QCloseEvent *)event);
 726                         else if (event->type() == QEvent::KeyPress)
 727                                 keyPressEvent((QKeyEvent *)event);
 728                         else if (event->type() == QEvent::KeyRelease)
 729                                 keyReleaseEvent((QKeyEvent *)event);
 730                         else if (event->type() == QEvent::FocusIn)
 731                                 grabKeyboard();
 732                         else if (event->type() == QEvent::FocusOut)
 733                                 releaseKeyboard();
 734                         else {
 735                                 event->ignore();
 736                                 return false;
 737                         }
 738                         break;
 739         }
 740         event->accept();
 741         return true;
 742 }
 743
 744 void RobomonAtlantis::keyPressEvent(QKeyEvent *event)
 745 {
 746         double peak, gain;
 747
 748         if (event->isAutoRepeat()) {
 749                 switch (event->key()) {
 750                         case Qt::Key_Down:
 751                                 peak = leftMotorSlider->minimum()/2;
 752                                 if (leftMotorValue < peak ||
 753                                         rightMotorValue < peak)
 754                                         gain = 1.01;
 755                                 else
 756                                         gain = 1.3;
 757                                 leftMotorValue *= gain;
 758                                 rightMotorValue *= gain;
 759                                 leftMotorSlider->setValue((int)leftMotorValue);
 760                                 rightMotorSlider->setValue((int)rightMotorValue);
 761                                 break;
 762
 763                         case Qt::Key_Up:
 764                         case Qt::Key_Left:
 765                         case Qt::Key_Right:
 766                                 peak = leftMotorSlider->maximum()/2;
 767                                 if (leftMotorValue > peak ||
 768                                         rightMotorValue > peak)
 769                                         gain = 1.01;
 770                                 else
 771                                         gain = 1.3;
 772                                 leftMotorValue *= gain;
 773                                 rightMotorValue *= gain;
 774                                 leftMotorSlider->setValue((int)leftMotorValue);
 775                                 rightMotorSlider->setValue((int)rightMotorValue);
 776                                 break;
 777
 778                         default:
 779                                 event->ignore();
 780                                 break;
 781                 }
 782                 return;
 783         }
 784
 785         switch (event->key()) {
 786                 case Qt::Key_Up:
 787                         leftMotorValue = 1;
 788                         rightMotorValue = 1;
 789                         bothMotorsCheckBox->setChecked(true);
 790                         leftMotorSlider->setValue((int)leftMotorValue);
 791                         setLeftMotor((int)leftMotorValue);
 792                         break;
 793                 case Qt::Key_Down:
 794                         leftMotorValue = -1;
 795                         rightMotorValue = -1;
 796                         bothMotorsCheckBox->setChecked(true);
 797                         leftMotorSlider->setValue((int)leftMotorValue);
 798                         setLeftMotor((int)leftMotorValue);
 799                         break;
 800                 case Qt::Key_Left:
 801                         leftMotorValue = -1;
 802                         rightMotorValue = 1;
 803                         leftMotorSlider->setValue((int)leftMotorValue);
 804                         rightMotorSlider->setValue((int)rightMotorValue);
 805                         setLeftMotor((int)leftMotorValue);
 806                         setRightMotor((int)leftMotorValue);
 807                         break;
 808                 case Qt::Key_Right:
 809                         leftMotorValue = 1;
 810                         rightMotorValue = -1;
 811                         leftMotorSlider->setValue((int)leftMotorValue);
 812                         rightMotorSlider->setValue((int)rightMotorValue);
 813                         setLeftMotor((int)leftMotorValue);
 814                         setRightMotor((int)rightMotorValue);
 815                         break;
 816                 default:
 817                         event->ignore();
 818                         break;
 819         }
 820         event->accept();
 821 }
 822
 823 void RobomonAtlantis::keyReleaseEvent(QKeyEvent *event)
 824 {
 825         if (event->isAutoRepeat()) {
 826                 event->ignore();
 827                 return;
 828         }
 829
 830         switch (event->key()) {
 831                 case Qt::Key_Up:
 832                 case Qt::Key_Down:
 833                 case Qt::Key_Left:
 834                 case Qt::Key_Right:
 835                         leftMotorValue = 0;
 836                         rightMotorValue = 0;
 837                         bothMotorsCheckBox->setChecked(false);
 838                         leftMotorSlider->setValue((int)leftMotorValue);
 839                         rightMotorSlider->setValue((int)rightMotorValue);
 840                         break;
 841                 default:
 842                         event->ignore();
 843                         break;
 844         }
 845         event->accept();
 846 }
 847
 848 void RobomonAtlantis::closeEvent(QCloseEvent *)
 849 {
 850         robottype_roboorte_destroy(&orte);
 851 }
 852
 853 /**********************************************************************
 854  * ORTE
 855  **********************************************************************/
 856 void RobomonAtlantis::createOrte()
 857 {
 858         int rv;
 859
 860         orte.strength = 11;
 861
 862         rv = robottype_roboorte_init(&orte);
 863         if (rv) {
 864                 printf("RobomonAtlantis: Unable to initialize ORTE\n");
 865         }
 866
 867         /* publishers */
 868         robottype_publisher_motion_speed_create(&orte, dummy_publisher_callback, NULL);
 869
 870         robottype_publisher_pwr_ctrl_create(&orte, dummy_publisher_callback, NULL);
 871         robottype_publisher_lift_create(&orte, NULL, &orte);
 872         robottype_publisher_pusher_create(&orte, NULL, &orte);
 873         robottype_publisher_chelae_create(&orte, NULL, &orte);
 874         robottype_publisher_belts_create(&orte, NULL, &orte);
 875         robottype_publisher_holder_create(&orte, NULL, &orte);
 876
 877         /* subscribers */
 878         robottype_subscriber_pwr_voltage_create(&orte,
 879                                 receivePowerVoltageCallBack, this);
 880         robottype_subscriber_motion_status_create(&orte,
 881                                 receiveMotionStatusCallBack, this);
 882         robottype_subscriber_ref_pos_create(&orte,
 883                                 receiveActualPositionCallBack, this);
 884         robottype_subscriber_est_pos_create(&orte,
 885                                 receiveEstimatedPositionCallBack, this);
 886         robottype_subscriber_fsm_main_create(&orte,
 887                                              rcv_fsm_main_cb, this);
 888         robottype_subscriber_fsm_motion_create(&orte,
 889                                              rcv_fsm_motion_cb, this);
 890         robottype_subscriber_fsm_act_create(&orte,
 891                                              rcv_fsm_act_cb, this);
 892
 893         //robottype_subscriber_actuator_status_create(orte, receiveActuatorStatusCallBack, this);
 894
 895
 896         /*createDISubscriber(this, &orteData);*/
 897         /*createAccelerometerSubscriber(this, &orteData);*/
 898         /*createAccumulatorSubscriber(this, &orteData);*/
 899         /* motors */
 900         orte.motion_speed.left = 0;
 901         orte.motion_speed.right = 0;
 902         /* power management */
 903         orte.pwr_ctrl.voltage33 = true;
 904         orte.pwr_ctrl.voltage50 = true;
 905         orte.pwr_ctrl.voltage80 = true;
 906         voltage33CheckBox->setChecked(true);
 907         voltage50CheckBox->setChecked(true);
 908         voltage80CheckBox->setChecked(true);
 909
 910         act_init(&orte);
 911
 912         /* set actions to do when we receive data from orte */
 913         connect(this, SIGNAL(motionStatusReceivedSignal()),
 914                         this, SLOT(motionStatusReceived()));
 915         connect(this, SIGNAL(actualPositionReceivedSignal()),
 916                         this, SLOT(actualPositionReceived()));
 917         connect(this, SIGNAL(estimatedPositionReceivedSignal()),
 918                         this, SLOT(estimatedPositionReceived()));
 919         connect(this, SIGNAL(diReceivedSignal()),
 920                         this, SLOT(diReceived()));
 921         connect(this, SIGNAL(accelerometerReceivedSignal()),
 922                         this, SLOT(accelerometerReceived()));
 923         connect(this, SIGNAL(accumulatorReceivedSignal()),
 924                         this, SLOT(accumulatorReceived()));
 925         connect(this, SIGNAL(powerVoltageReceivedSignal()),
 926                         this, SLOT(powerVoltageReceived()));
 927 }
 928
 929 void RobomonAtlantis::motionStatusReceived()
 930 {
 931         WDBG("ORTE received: motion status");
 932 }
 933
 934 void RobomonAtlantis::actualPositionReceived()
 935 {
 936         actPosX->setText(QString("%1").arg(orte.ref_pos.x, 0, 'f', 3));
 937         actPosY->setText(QString("%1").arg(orte.ref_pos.y, 0, 'f', 3));
 938         actPosPhi->setText(QString("%1(%2)")
 939                         .arg(DEGREES(orte.ref_pos.phi), 0, 'f', 0)
 940                         .arg(orte.ref_pos.phi, 0, 'f', 1));
 941         robotActPos->moveRobot(orte.ref_pos.x,
 942                 orte.ref_pos.y, orte.ref_pos.phi);
 943 }
 944
 945 void RobomonAtlantis::estimatedPositionReceived()
 946 {
 947         estPosX->setText(QString("%1").arg(orte.est_pos.x, 0, 'f', 3));
 948         estPosY->setText(QString("%1").arg(orte.est_pos.y, 0, 'f', 3));
 949         estPosPhi->setText(QString("%1(%2)")
 950                         .arg(DEGREES(orte.est_pos.phi), 0, 'f', 0)
 951                         .arg(orte.est_pos.phi, 0, 'f', 1));
 952         robotEstPos->moveRobot(orte.est_pos.x,
 953                 orte.est_pos.y, orte.est_pos.phi);
 954 }
 955
 956 void RobomonAtlantis::diReceived()
 957 {
 958         WDBG("ORTE received: DI");
 959 }
 960
 961 void RobomonAtlantis::accelerometerReceived()
 962 {
 963         WDBG("ORTE received: accelerometer");
 964 }
 965
 966 void RobomonAtlantis::accumulatorReceived()
 967 {
 968         WDBG("ORTE received: accumulator");
 969 }
 970
 971 void RobomonAtlantis::powerVoltageReceived()
 972 {
 973         voltage33LineEdit->setText(QString("%1").arg(
 974                         orte.pwr_voltage.voltage33, 0, 'f', 3));
 975         voltage50LineEdit->setText(QString("%1").arg(
 976                         orte.pwr_voltage.voltage50, 0, 'f', 3));
 977         voltage80LineEdit->setText(QString("%1").arg(
 978                         orte.pwr_voltage.voltage80, 0, 'f', 3));
 979         voltageBATLineEdit->setText(QString("%1").arg(
 980                         orte.pwr_voltage.voltageBAT, 0, 'f', 3));
 981
 982 }
 983
 984 /**********************************************************************
 985  * MISCELLANEOUS
 986  **********************************************************************/
 987 void RobomonAtlantis::openSharedMemory()
 988 {
 989         int segmentId;
 990         int sharedSegmentSize;
 991
 992         if (sharedMemoryOpened)
 993                 return;
 994
 995         sharedSegmentSize = sizeof(char) * MAP_WIDTH * MAP_HEIGHT;
 996
 997         /* Get segment identificator in a read only mode  */
 998         segmentId = shmget(SHM_MAP_KEY, sharedSegmentSize, S_IRUSR);
 999         if(segmentId == -1) {
1000                 QMessageBox::critical(this, "robomon",
1001                                 "Unable to open shared memory segment!");
1002                 return;
1003         }
1004
1005         /* Init Shmap */
1006         ShmapInit(0);
1007
1008         /* Attach the shared memory segment */
1009         //map =  (_Map*)shmat (segmentId, (void*) 0, 0);
1010
1011         sharedMemoryOpened = true;
1012 }
1013
1014 double RobomonAtlantis::distanceToWallHokuyo(int beamnum)
1015 {
1016         double distance=4.0, min_distance=4.0;
1017         int i,j;
1018         Point wall;
1019         struct map *map = ShmapIsMapInit();
1020
1021         if (!map) return min_distance;
1022
1023         // Simulate obstacles
1024         for(j=0;j<MAP_HEIGHT;j++) {
1025                 for (i=0;i<MAP_WIDTH;i++) {
1026                         struct map_cell *cell = &map->cells[j][i];
1027                         if( cell->flags & MAP_FLAG_SIMULATED_WALL) {
1028                                 // WALL
1029                                 ShmapCell2Point(i, j, &wall.x, &wall.y);
1030
1031                                 distance = distanceToObstacleHokuyo(beamnum, wall, MAP_CELL_SIZE_M);
1032                                 if (distance<min_distance) min_distance = distance;
1033                         }
1034                 }
1035         }
1036
1037         return min_distance;
1038 }
1039
1040 /**
1041  * Calculation for Hokuyo simulation. Calculates distance that would
1042  * be returned by Hokuyo sensors, if there is only one obstacle (as
1043  * specified by parameters).
1044  *
1045  * @param beamnum Hokuyo's bean number [0..HOKUYO_CLUSTER_CNT]
1046  * @param obstacle Position of the obstacle (x, y in meters).
1047  * @param obstacleSize Size (diameter) of the obstacle in meters.
1048  *
1049  * @return Distance measured by sensors in meters.
1050  */
1051 double RobomonAtlantis::distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize)
1052 {
1053         struct est_pos_type e = orte.est_pos;
1054         double sensor_a;
1055         struct sharp_pos s;
1056
1057         s.x = HOKUYO_CENTER_OFFSET_M;
1058         s.y = 0.0;
1059         s.ang = HOKUYO_CLUSTER_TO_RAD(beamnum);
1060
1061         Point sensor(e.x + s.x*cos(e.phi) - s.y*sin(e.phi),
1062                      e.y + s.x*sin(e.phi) + s.y*cos(e.phi));
1063         sensor_a = e.phi + s.ang;
1064
1065         const double sensorRange = 4.0; /*[meters]*/
1066
1067         double distance, angle;
1068
1069         angle = sensor.angleTo(obstacle) - sensor_a;
1070         angle = fmod(angle, 2.0*M_PI);
1071         if (angle > +M_PI) angle -= 2.0*M_PI;
1072         if (angle < -M_PI) angle += 2.0*M_PI;
1073         angle = fabs(angle);
1074         distance = sensor.distanceTo(obstacle)-0.11;
1075         if (angle < atan(obstacleSize/2.0 / (distance+0.001))) {
1076                 // We can see the obstackle from here.
1077                 if (angle < M_PI/2.0) {
1078                     distance = distance/cos(angle);
1079                 }
1080                 if (distance > sensorRange)
1081                         distance = sensorRange;
1082         } else {
1083                 distance = sensorRange;
1084         }
1085
1086         return distance;
1087 }