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 #include <QDialog>
  17
  18 #include <trgen.h>
  19 #include "PlaygroundScene.h"
  20 #include "playgroundview.h"
  21 #include "Robot.h"
  22 #include "Map.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 class QImage;
  42
  43 class RobomonAtlantis : public QWidget
  44 {
  45         Q_OBJECT
  46
  47 public:
  48         RobomonAtlantis(QWidget *parent = 0);
  49
  50 protected:
  51         bool event(QEvent *event);
  52         void keyPressEvent(QKeyEvent *event);
  53         void keyReleaseEvent(QKeyEvent *event);
  54         void closeEvent(QCloseEvent *event);
  55
  56 signals:
  57         void motionStatusReceivedSignal();
  58         void actualPositionReceivedSignal();
  59         void powerVoltageReceivedSignal();
  60
  61 public slots:
  62         void showMap(bool show);
  63         void useOpenGL(bool use);
  64         void showTrails(bool show);
  65         void showShapeDetect(bool show);
  66         void resetTrails();
  67 private slots:
  68         /************************************************************
  69          * GUI actions
  70          ************************************************************/
  71         void setVoltage33(int state);
  72         void setVoltage50(int state);
  73         void setVoltage80(int state);
  74 /*      void setLeftMotor(int value); */
  75 /*      void setRightMotor(int value); */
  76 /*      void stopMotors(); */
  77         void paintMap();
  78         void setSimulation(int state);
  79         void setObstacleSimulation(int state);
  80         void simulateObstaclesHokuyo();
  81         void changeObstacle(QPointF position);
  82         void sendStart(int plug);
  83         void setTeamColor(int plug);
  84
  85         /************************************************************
  86          * ORTE
  87          ************************************************************/
  88         void motionStatusReceived();
  89         void actualPositionReceived();
  90         void powerVoltageReceived();
  91
  92 private:
  93         /************************************************************
  94          * GUI
  95          ************************************************************/
  96         void createLeftLayout();
  97         void createRightLayout();
  98
  99         void createPlaygroundGroupBox();
 100         void createPositionGroupBox();
 101         void createMiscGroupBox();
 102         void createDebugGroupBox();
 103         void createActuatorsGroupBox();
 104         void createMotorsGroupBox();
 105         void createDIOGroupBox();
 106         void createSensorsGroupBox();
 107         void createPowerGroupBox();
 108         void createPickerGroupBox();
 109         void createFSMGroupBox();
 110
 111         void createRobots();
 112         void createActions();
 113         void createMap();
 114
 115         QVBoxLayout *leftLayout;
 116         QVBoxLayout *rightLayout;
 117
 118         QGroupBox *playgroundGroupBox;
 119         QGroupBox *positionGroupBox;
 120         QGroupBox *miscGroupBox;
 121         QGroupBox *debugGroupBox;
 122         QGroupBox *actuatorsGroupBox;
 123         QGroupBox *powerGroupBox;
 124         QGroupBox *fsmGroupBox;
 125
 126 public:
 127         PlaygroundScene *playgroundScene;
 128 private:
 129         PlaygroundView *playgroundSceneView;
 130
 131         /* position state */
 132         QLineEdit *actPosX;
 133         QLineEdit *actPosY;
 134         QLineEdit *actPosPhi;
 135
 136         QLineEdit *estPosX;
 137         QLineEdit *estPosY;
 138         QLineEdit *estPosPhi;
 139
 140         /* debug window */
 141         QTextEdit *debugWindow;
 142         bool debugWindowEnabled;
 143
 144         /* actuators */
 145 /*      QSlider *leftMotorSlider; */
 146 /*      QSlider *rightMotorSlider; */
 147 /*      QCheckBox *bothMotorsCheckBox; */
 148 /*      QPushButton *stopMotorsPushButton; */
 149         //QDial *vidle;
 150
 151         /* power management */
 152         QCheckBox *voltage33CheckBox;
 153         QCheckBox *voltage50CheckBox;
 154         QCheckBox *voltage80CheckBox;
 155         QLineEdit *voltage33LineEdit;
 156         QLineEdit *voltage50LineEdit;
 157         QLineEdit *voltage80LineEdit;
 158         QLineEdit *voltageBATLineEdit;
 159
 160         /* misc */
 161         QCheckBox *obstacleSimulationCheckBox;
 162         QLabel *fsm_main_state;
 163         QLabel *fsm_act_state;
 164         QLabel *fsm_motion_state;
 165         QCheckBox *startPlug;
 166         QCheckBox *colorChoser;
 167 public:
 168         /* robot */
 169         Robot *robotRefPos;
 170         Robot *robotEstPosBest;
 171         Robot *robotEstPosIndepOdo;
 172         Robot *robotEstPosOdo;
 173
 174         Map *mapImage;
 175 private:
 176         Trail *trailRefPos;
 177         Trail *trailEstPosBest;
 178         Trail *trailPosIndepOdo;
 179         Trail *trailOdoPos;
 180
 181         HokuyoScan *hokuyoScan;
 182
 183         /* keypad */
 184         double leftMotorValue;
 185         double rightMotorValue;
 186
 187         /* map */
 188         void openSharedMemory();
 189         bool sharedMemoryOpened;
 190         QTimer *mapTimer;
 191
 192         /* obstacle simulation */
 193         double distanceToWallHokuyo(int beamnum);
 194         double distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize);
 195         double distanceToCircularObstacleHokuyo(int beamnum, Point center, double diameter);
 196         int simulationEnabled;
 197
 198         QTimer *obstacleSimulationTimer;
 199         Point simulatedObstacle;
 200
 201         /************************************************************
 202          * ORTE
 203          ************************************************************/
 204         void createOrte();
 205
 206         struct robottype_orte_data orte;
 207 };
 208
 209 #endif /* ROBOMON_ATLANTIS_H */