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 <roboorte_robottype.h>
  23 #include "trail.h"
  24 #include "hokuyoscan.h"
  25
  26 class QHBoxLayout;
  27 class QVBoxLayout;
  28 class QGridLayout;
  29 class QGroupBox;
  30 class QGraphicsView;
  31 class QLabel;
  32 class QPushButton;
  33 class QCheckBox;
  34 class QLineEdit;
  35 class QTextEdit;
  36 class QDial;
  37 class QSlider;
  38 class QProgressBar;
  39 class QFont;
  40
  41 class RobomonAtlantis : public QWidget
  42 {
  43         Q_OBJECT
  44
  45 public:
  46         RobomonAtlantis(QWidget *parent = 0);
  47
  48 protected:
  49         bool event(QEvent *event);
  50         void keyPressEvent(QKeyEvent *event);
  51         void keyReleaseEvent(QKeyEvent *event);
  52         void closeEvent(QCloseEvent *event);
  53
  54 signals:
  55         void motionStatusReceivedSignal();
  56         void actualPositionReceivedSignal();
  57         void powerVoltageReceivedSignal();
  58
  59 public slots:
  60         void showMap(bool show);
  61         void useOpenGL(bool use);
  62         void showTrails(bool show);
  63         void showShapeDetect(bool show);
  64         void resetTrails();
  65 private slots:
  66         /************************************************************
  67          * GUI actions
  68          ************************************************************/
  69         void setVoltage33(int state);
  70         void setVoltage50(int state);
  71         void setVoltage80(int state);
  72 /*      void setLeftMotor(int value); */
  73 /*      void setRightMotor(int value); */
  74 /*      void stopMotors(); */
  75         void paintMap();
  76         void setSimulation(int state);
  77         void setObstacleSimulation(int state);
  78         void simulateObstaclesHokuyo();
  79         void changeObstacle(QPointF position);
  80         void sendStart(int plug);
  81         void setTeamColor(int plug);
  82
  83         /************************************************************
  84          * ORTE
  85          ************************************************************/
  86         void motionStatusReceived();
  87         void actualPositionReceived();
  88         void powerVoltageReceived();
  89
  90 private:
  91         /************************************************************
  92          * GUI
  93          ************************************************************/
  94         void createLeftLayout();
  95         void createRightLayout();
  96
  97         void createPlaygroundGroupBox();
  98         void createPositionGroupBox();
  99         void createMiscGroupBox();
 100         void createDebugGroupBox();
 101         void createActuatorsGroupBox();
 102         void createMotorsGroupBox();
 103         void createDIOGroupBox();
 104         void createSensorsGroupBox();
 105         void createPowerGroupBox();
 106         void createPickerGroupBox();
 107         void createFSMGroupBox();
 108
 109         void createRobots();
 110         void createActions();
 111
 112         QVBoxLayout *leftLayout;
 113         QVBoxLayout *rightLayout;
 114
 115         QGroupBox *playgroundGroupBox;
 116         QGroupBox *positionGroupBox;
 117         QGroupBox *miscGroupBox;
 118         QGroupBox *debugGroupBox;
 119         QGroupBox *actuatorsGroupBox;
 120         QGroupBox *powerGroupBox;
 121         QGroupBox *fsmGroupBox;
 122
 123 public:
 124         PlaygroundScene *playgroundScene;
 125 private:
 126         PlaygroundView *playgroundSceneView;
 127
 128         /* position state */
 129         QLineEdit *actPosX;
 130         QLineEdit *actPosY;
 131         QLineEdit *actPosPhi;
 132
 133         QLineEdit *estPosX;
 134         QLineEdit *estPosY;
 135         QLineEdit *estPosPhi;
 136
 137         /* debug window */
 138         QTextEdit *debugWindow;
 139         bool debugWindowEnabled;
 140
 141         /* actuators */
 142 /*      QSlider *leftMotorSlider; */
 143 /*      QSlider *rightMotorSlider; */
 144 /*      QCheckBox *bothMotorsCheckBox; */
 145 /*      QPushButton *stopMotorsPushButton; */
 146         //QDial *vidle;
 147
 148         /* power management */
 149         QCheckBox *voltage33CheckBox;
 150         QCheckBox *voltage50CheckBox;
 151         QCheckBox *voltage80CheckBox;
 152         QLineEdit *voltage33LineEdit;
 153         QLineEdit *voltage50LineEdit;
 154         QLineEdit *voltage80LineEdit;
 155         QLineEdit *voltageBATLineEdit;
 156
 157         /* misc */
 158         QCheckBox *obstacleSimulationCheckBox;
 159         QLabel *fsm_main_state;
 160         QLabel *fsm_act_state;
 161         QLabel *fsm_motion_state;
 162         QCheckBox *startPlug;
 163         QCheckBox *colorChoser;
 164 public:
 165         /* robot */
 166         Robot *robotRefPos;
 167         Robot *robotEstPosBest;
 168         Robot *robotEstPosIndepOdo;
 169         Robot *robotEstPosOdo;
 170 private:
 171         Trail *trailRefPos;
 172         Trail *trailEstPosBest;
 173         Trail *trailPosIndepOdo;
 174         Trail *trailOdoPos;
 175
 176         HokuyoScan *hokuyoScan;
 177
 178         /* keypad */
 179         double leftMotorValue;
 180         double rightMotorValue;
 181
 182         /* map */
 183         void openSharedMemory();
 184         bool sharedMemoryOpened;
 185         QTimer *mapTimer;
 186
 187         /* obstacle simulation */
 188         double distanceToWallHokuyo(int beamnum);
 189         double distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize);
 190         int simulationEnabled;
 191
 192         QTimer *obstacleSimulationTimer;
 193         Point simulatedObstacle;
 194
 195         /************************************************************
 196          * ORTE
 197          ************************************************************/
 198         void createOrte();
 199
 200         struct robottype_orte_data orte;
 201 };
 202
 203 #endif /* ROBOMON_ATLANTIS_H */