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
  39 #include <QCoreApplication>
  40 #include <QEvent>
  41 #include <QKeyEvent>
  42 #include <QDebug>
  43 #include <QMessageBox>
  44 #include <servos.h>
  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
  83         leftLayout->addWidget(playgroundGroupBox);
  84         leftLayout->addWidget(debugGroupBox);
  85 }
  86
  87 void RobomonAtlantis::createRightLayout()
  88 {
  89         rightLayout = new QVBoxLayout();
  90         QGridLayout *layout = new QGridLayout();
  91         QVBoxLayout *vlayout = new QVBoxLayout();
  92
  93         createPositionGroupBox();
  94         createMiscGroupBox();
  95         createActuatorsGroupBox();
  96         createDIOGroupBox();
  97         createPowerGroupBox();
  98         createSensorsGroupBox();
  99
 100         vlayout->addWidget(positionGroupBox);
 101         vlayout->addWidget(miscGroupBox);
 102         layout->addLayout(vlayout, 0, 0);
 103         layout->addWidget(actuatorsGroupBox, 0, 1);
 104 //      layout->addWidget(dioGroupBox, 0, 2);
 105
 106         rightLayout->addLayout(layout);
 107         rightLayout->addWidget(powerGroupBox);
 108         rightLayout->addWidget(sensorsGroupBox);
 109 }
 110
 111 void RobomonAtlantis::createPlaygroundGroupBox()
 112 {
 113         playgroundGroupBox = new QGroupBox(tr("Playground"));
 114         QHBoxLayout *layout = new QHBoxLayout();
 115
 116         playgroundScene =
 117                 new PlaygroundScene(PlaygroundScene::PLAYGROUND_EUROBOT2008);
 118         playgroundSceneView = new QGraphicsView(playgroundScene);
 119         playgroundSceneView->setMinimumWidth((int)(playgroundScene->width())+15);
 120         playgroundSceneView->setMinimumHeight((int)(playgroundScene->height())+15);
 121         layout->addWidget(playgroundSceneView);
 122
 123         playgroundGroupBox->setLayout(layout);
 124 }
 125
 126 void RobomonAtlantis::createPositionGroupBox()
 127 {
 128         positionGroupBox = new QGroupBox(tr("Position state"));
 129         QGridLayout *layout = new QGridLayout();
 130
 131         actPosX = new QLineEdit();
 132         actPosY = new QLineEdit();
 133         actPosPhi = new QLineEdit();
 134
 135         estPosX = new QLineEdit();
 136         estPosY = new QLineEdit();
 137         estPosPhi = new QLineEdit();
 138
 139         actPosX->setReadOnly(true);
 140         actPosY->setReadOnly(true);
 141         actPosPhi->setReadOnly(true);
 142
 143         estPosX->setReadOnly(true);
 144         estPosY->setReadOnly(true);
 145         estPosPhi->setReadOnly(true);
 146
 147         layout->addWidget(MiscGui::createLabel("X"), 1, 0);
 148         layout->addWidget(MiscGui::createLabel("Y"), 2, 0);
 149         layout->addWidget(MiscGui::createLabel("Phi"), 3, 0);
 150
 151         layout->addWidget(MiscGui::createLabel("X"), 5, 0);
 152         layout->addWidget(MiscGui::createLabel("Y"), 6, 0);
 153         layout->addWidget(MiscGui::createLabel("Phi"), 7, 0);
 154
 155         layout->addWidget(MiscGui::createLabel("Actual", Qt::AlignLeft), 0, 1);
 156         layout->addWidget(actPosX, 1, 1);
 157         layout->addWidget(actPosY, 2, 1);
 158         layout->addWidget(actPosPhi, 3, 1);
 159
 160         layout->addWidget(MiscGui::createLabel("Estimated", Qt::AlignLeft), 4, 1);
 161         layout->addWidget(estPosX, 5, 1);
 162         layout->addWidget(estPosY, 6, 1);
 163         layout->addWidget(estPosPhi, 7, 1);
 164
 165         positionGroupBox->setLayout(layout);
 166 }
 167
 168 void RobomonAtlantis::createMiscGroupBox()
 169 {
 170         miscGroupBox = new QGroupBox(tr("Miscellaneous"));
 171         QGridLayout *layout = new QGridLayout();
 172
 173         showMapPushButton = new QPushButton(tr("Show &map"));
 174         showMapPushButton->setShortcut(tr("m"));
 175
 176         laserEngineCheckBox = new QCheckBox(tr("L&aser"));
 177         laserEngineCheckBox->setShortcut(tr("a"));
 178
 179         layout->addWidget(showMapPushButton, 0, 0);
 180         layout->addWidget(laserEngineCheckBox, 1, 0);
 181
 182         miscGroupBox->setLayout(layout);
 183 }
 184
 185 void RobomonAtlantis::createDebugGroupBox()
 186 {
 187         debugGroupBox = new QGroupBox(tr("Debug window"));
 188         QHBoxLayout *layout = new QHBoxLayout();
 189
 190         debugWindow = new QTextEdit();
 191         debugWindow->setReadOnly(true);
 192
 193         layout->addWidget(debugWindow);
 194         debugGroupBox->setLayout(layout);
 195 }
 196
 197 void RobomonAtlantis::createActuatorsGroupBox()
 198 {
 199         actuatorsGroupBox = new QGroupBox(tr("Actuators"));
 200         QHBoxLayout *layout = new QHBoxLayout();
 201
 202         createMotorsGroupBox();
 203         createServosGroupBox();
 204         createDrivesGroupBox();
 205
 206         layout->setAlignment(Qt::AlignLeft);
 207         layout->addWidget(enginesGroupBox);
 208         layout->addWidget(servosGroupBox);
 209         layout->addWidget(drivesGroupBox);
 210         actuatorsGroupBox->setLayout(layout);
 211 }
 212
 213 void RobomonAtlantis::createDIOGroupBox()
 214 {
 215         dioGroupBox = new QGroupBox(tr("DIO"));
 216         QGridLayout *layout = new QGridLayout();
 217         QFont font;
 218
 219         font.setPointSize(5);
 220         dioGroupBox->setFont(font);
 221
 222         for (int i=0; i<8; i++) {
 223                 diCheckBox[i] = new QCheckBox(QString("DI%1").arg(i));
 224                 doCheckBox[i] = new QCheckBox(QString("D0%1").arg(i));
 225                 layout->addWidget(diCheckBox[i], i, 0);
 226                 layout->addWidget(doCheckBox[i], i+8, 0);
 227         }
 228
 229         dioGroupBox->setMaximumWidth(70);
 230         dioGroupBox->setLayout(layout);
 231 }
 232
 233 void RobomonAtlantis::createPowerGroupBox()
 234 {
 235         powerGroupBox = new QGroupBox(tr("Power management"));
 236         QGridLayout *layout = new QGridLayout();
 237
 238         voltage33CheckBox = new QCheckBox(tr("&3.3V"));
 239         voltage50CheckBox = new QCheckBox(tr("&5.0V"));
 240         voltage80CheckBox = new QCheckBox(tr("&8.0V"));
 241
 242         voltage33CheckBox->setShortcut(tr("3"));
 243         voltage50CheckBox->setShortcut(tr("5"));
 244         voltage80CheckBox->setShortcut(tr("8"));
 245
 246         layout->addWidget(voltage33CheckBox, 0, 0);
 247         layout->addWidget(voltage50CheckBox, 0, 2);
 248         layout->addWidget(voltage80CheckBox, 0, 4); //1, 0);
 249         layout->addWidget(MiscGui::createLabel("BAT"), 0, 6); //1, 2);
 250
 251         voltage33LineEdit = new QLineEdit();
 252         voltage50LineEdit = new QLineEdit();
 253         voltage80LineEdit = new QLineEdit();
 254         voltageBATLineEdit = new QLineEdit();
 255
 256         voltage33LineEdit->setReadOnly(true);
 257         voltage50LineEdit->setReadOnly(true);
 258         voltage80LineEdit->setReadOnly(true);
 259         voltageBATLineEdit->setReadOnly(true);
 260
 261         layout->addWidget(voltage33LineEdit, 0, 1);
 262         layout->addWidget(voltage50LineEdit, 0, 3);
 263         layout->addWidget(voltage80LineEdit, 0, 5); //1, 1);
 264         layout->addWidget(voltageBATLineEdit, 0, 7); //1, 3);
 265
 266         powerGroupBox->setLayout(layout);
 267 }
 268
 269 void RobomonAtlantis::createSensorsGroupBox()
 270 {
 271         sensorsGroupBox = new QGroupBox(tr("Sensors"));
 272         QVBoxLayout *layout = new QVBoxLayout();
 273
 274         createSharpSensorsLayout();
 275
 276         layout->addLayout(sharpSensorsLayout);
 277         sensorsGroupBox->setLayout(layout);
 278 }
 279
 280 void RobomonAtlantis::createMotorsGroupBox()
 281 {
 282         enginesGroupBox = new QGroupBox(tr("Motors"));
 283         QVBoxLayout *layout = new QVBoxLayout();
 284         QHBoxLayout *layout1 = new QHBoxLayout();
 285         QHBoxLayout *layout2 = new QHBoxLayout();
 286
 287         leftMotorSlider = new QSlider(Qt::Vertical);
 288         rightMotorSlider = new QSlider(Qt::Vertical);
 289         bothMotorsCheckBox = new QCheckBox(tr("Lock both"));
 290         stopMotorsPushButton = new QPushButton(tr("Stop Motors"));
 291
 292         leftMotorSlider->setMinimum(-100);
 293         leftMotorSlider->setMaximum(100);
 294         leftMotorSlider->setTracking(false);
 295         leftMotorSlider->setTickPosition(QSlider::TicksLeft);
 296
 297         rightMotorSlider->setMinimum(-100);
 298         rightMotorSlider->setMaximum(100);
 299         rightMotorSlider->setTracking(false);
 300         rightMotorSlider->setTickPosition(QSlider::TicksRight);
 301
 302         stopMotorsPushButton->setMaximumWidth(90);
 303
 304         layout1->addWidget(leftMotorSlider);
 305         layout1->addWidget(MiscGui::createLabel("0"));
 306         layout1->addWidget(rightMotorSlider);
 307
 308         layout2->addWidget(bothMotorsCheckBox);
 309
 310         layout->addWidget(MiscGui::createLabel("100"));
 311         layout->addLayout(layout1);
 312         layout->addWidget(MiscGui::createLabel("-100"));
 313         layout->addLayout(layout2);
 314         layout->addWidget(stopMotorsPushButton);
 315         enginesGroupBox->setLayout(layout);
 316 }
 317
 318 void RobomonAtlantis::createServosGroupBox()
 319 {
 320         servosGroupBox = new QGroupBox(tr("Servos"));
 321         QGridLayout *layout = new QGridLayout();
 322
 323         leftBrushCheckBox = new QCheckBox(tr("&Left Brush"));
 324         rightBrushCheckBox = new QCheckBox(tr("&Right Brush"));
 325         pusherCheckBox = new QCheckBox(tr("&Pusher"));
 326
 327         leftBrushCheckBox->setShortcut(tr("l"));
 328         rightBrushCheckBox->setShortcut(tr("r"));
 329         pusherCheckBox->setShortcut(tr("p"));
 330
 331         layout->addWidget(leftBrushCheckBox, 0, 0);
 332         layout->addWidget(rightBrushCheckBox, 1, 0);
 333         layout->addWidget(pusherCheckBox, 2, 0);
 334         servosGroupBox->setLayout(layout);
 335 }
 336
 337
 338 void RobomonAtlantis::createDrivesGroupBox()
 339 {
 340         drivesGroupBox = new QGroupBox(tr("Drives"));
 341         QGridLayout *layout = new QGridLayout();
 342
 343         leftBrushDial = new QDial();
 344         rightBrushDial = new QDial();
 345         lift_posDial = new QDial();
 346         pusherDial = new QDial();
 347
 348         leftBrushDriveCheckBox = new QCheckBox(tr("L&eft brush"));
 349         rightBrushDriveCheckBox = new QCheckBox(tr("Ri&ght brush"));
 350         lift_posDriveCheckBox = new QCheckBox(tr("B&agr"));
 351
 352         leftBrushDial->setRange(0,200);
 353         leftBrushDial->setValue(100);
 354         rightBrushDial->setRange(0,200);
 355         rightBrushDial->setValue(100);
 356         lift_posDial->setRange(0,200);
 357         lift_posDial->setValue(100);
 358         pusherDial->setRange(0,4);
 359         pusherDial->setNotchesVisible(1);
 360
 361         layout->addWidget(leftBrushDial, 0, 0);
 362         layout->addWidget(leftBrushDriveCheckBox, 0, 1);
 363         layout->addWidget(rightBrushDial, 1, 0);
 364         layout->addWidget(rightBrushDriveCheckBox, 1, 1);
 365         layout->addWidget(lift_posDial, 2, 0);
 366         layout->addWidget(lift_posDriveCheckBox, 2, 1);
 367         layout->addWidget(pusherDial, 3, 0);
 368         drivesGroupBox->setLayout(layout);
 369 }
 370
 371 void RobomonAtlantis::createSharpSensorsLayout()
 372 {
 373         sharpSensorsLayout = new QVBoxLayout();
 374         QGridLayout *layout3 = new QGridLayout();
 375
 376         obstacleSimulationCheckBox = new QCheckBox(tr("&Obstacle simulation"));
 377
 378         obstacleSimulationCheckBox->setShortcut(tr("o"));
 379
 380         layout3->addWidget(obstacleSimulationCheckBox, 0, 1);
 381
 382         sharpSensorsLayout->addLayout(layout3);
 383 }
 384
 385 void RobomonAtlantis::createRobots()
 386 {
 387         robotActPos = new Robot(NULL, playgroundScene, Qt::black);
 388         robotActPos->setZValue(10);
 389         robotEstPos = new Robot(NULL, playgroundScene, Qt::green);
 390         robotEstPos->setZValue(10);
 391
 392         playgroundScene->addItem(robotActPos);
 393         playgroundScene->addItem(robotEstPos);
 394 }
 395
 396 /**********************************************************************
 397  * GUI actions
 398  **********************************************************************/
 399 void RobomonAtlantis::createActions()
 400 {
 401         /* power management */
 402         connect(voltage33CheckBox, SIGNAL(stateChanged(int)),
 403                         this, SLOT(setVoltage33(int)));
 404         connect(voltage50CheckBox, SIGNAL(stateChanged(int)),
 405                         this, SLOT(setVoltage50(int)));
 406         connect(voltage80CheckBox, SIGNAL(stateChanged(int)),
 407                         this, SLOT(setVoltage80(int)));
 408
 409         /* motors */
 410         connect(leftMotorSlider, SIGNAL(valueChanged(int)),
 411                         this, SLOT(setLeftMotor(int)));
 412         connect(rightMotorSlider, SIGNAL(valueChanged(int)),
 413                         this, SLOT(setRightMotor(int)));
 414         connect(stopMotorsPushButton, SIGNAL(clicked()),
 415                         this, SLOT(stopMotors()));
 416
 417         /* servos */
 418         connect(leftBrushCheckBox, SIGNAL(stateChanged(int)),
 419                         this, SLOT(moveLeftBrush(int)));
 420         connect(rightBrushCheckBox, SIGNAL(stateChanged(int)),
 421                         this, SLOT(moveRightBrush(int)));
 422
 423         /* drives */
 424         connect(leftBrushDial, SIGNAL(valueChanged(int)),
 425                         this, SLOT(setDrives(int)));
 426         connect(rightBrushDial, SIGNAL(valueChanged(int)),
 427                         this, SLOT(setDrives(int)));
 428         connect(lift_posDial, SIGNAL(valueChanged(int)),
 429                         this, SLOT(setDrives(int)));
 430         connect(pusherDial, SIGNAL(valueChanged(int)),
 431                         this, SLOT(setDrives(int)));
 432         connect(leftBrushDriveCheckBox, SIGNAL(stateChanged(int)),
 433                         this, SLOT(setLeftBrushDriveCB(int)));
 434         connect(rightBrushDriveCheckBox, SIGNAL(stateChanged(int)),
 435                         this, SLOT(setRightBrushDriveCB(int)));
 436         connect(lift_posDriveCheckBox, SIGNAL(stateChanged(int)),
 437                         this, SLOT(setlift_posDriveCB(int)));
 438         /* DIO */
 439         for (int i=0; i<8; i++)
 440                 connect(doCheckBox[0], SIGNAL(stateChanged(int)),
 441                                         this, SLOT(setDO(int)));
 442
 443         /* laser control */
 444         connect(laserEngineCheckBox, SIGNAL(stateChanged(int)),
 445                         this, SLOT(setLaser(int)));
 446
 447         /* path planning map */
 448         connect(showMapPushButton, SIGNAL(clicked()),
 449                         this, SLOT(showMap()));
 450
 451         /* obstacle simulation */
 452         simulationEnabled = 0;
 453         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 454                         this, SLOT(setSimulation(int)));
 455         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 456                         this, SLOT(setObstacleSimulation(int)));
 457         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 458                         playgroundScene, SLOT(showObstacle(int)));
 459         connect(playgroundScene, SIGNAL(obstacleChanged(QPointF)),
 460                         this, SLOT(changeObstacle(QPointF)));
 461 }
 462
 463 void RobomonAtlantis::setVoltage33(int state)
 464 {
 465         if (state)
 466                 orte.pwr_ctrl.voltage33 = true;
 467         else
 468                 orte.pwr_ctrl.voltage33 = false;
 469 }
 470
 471 void RobomonAtlantis::setVoltage50(int state)
 472 {
 473         if (state)
 474                 orte.pwr_ctrl.voltage50 = true;
 475         else
 476                 orte.pwr_ctrl.voltage50 = false;
 477 }
 478
 479 void RobomonAtlantis::setVoltage80(int state)
 480 {
 481         if (state)
 482                 orte.pwr_ctrl.voltage80 = true;
 483         else
 484                 orte.pwr_ctrl.voltage80 = false;
 485 }
 486
 487 void RobomonAtlantis::setLeftMotor(int value)
 488 {
 489         short int leftMotor;
 490         short int rightMotor;
 491
 492         if(bothMotorsCheckBox->isChecked())
 493                 rightMotorSlider->setValue(value);
 494
 495         leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
 496         rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
 497
 498         orte.motion_speed.left = leftMotor;
 499         orte.motion_speed.right = rightMotor;
 500
 501 }
 502
 503 void RobomonAtlantis::setRightMotor(int value)
 504 {
 505         short int leftMotor;
 506         short int rightMotor;
 507
 508         if(bothMotorsCheckBox->isChecked())
 509                 leftMotorSlider->setValue(value);
 510
 511         leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
 512         rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
 513
 514         orte.motion_speed.left = leftMotor;
 515         orte.motion_speed.right = rightMotor;
 516
 517 }
 518
 519 void RobomonAtlantis::stopMotors()
 520 {
 521         leftMotorSlider->setValue(0);
 522         rightMotorSlider->setValue(0);
 523 }
 524
 525 void RobomonAtlantis::moveServos(int value)
 526 {
 527         /* FIXME: servos action comes here */
 528 }
 529
 530 void RobomonAtlantis::moveLeftBrush(int state)
 531 {
 532         if (state)
 533                 actlib_servos_brush_left_open();
 534         else
 535                 actlib_servos_brush_left_close();
 536 }
 537
 538 void RobomonAtlantis::moveRightBrush(int state)
 539 {
 540         if (state)
 541                 actlib_servos_brush_right_open();
 542         else
 543                 actlib_servos_brush_right_close();
 544 }
 545
 546 void RobomonAtlantis::setDrives(int state)
 547 {
 548         orte.drives.brush_left = leftBrushDial->value();
 549         orte.drives.brush_right = rightBrushDial->value();
 550         orte.drives.lift_pos = lift_posDial->value();
 551         orte.drives.pusher = pusherDial->value();
 552 }
 553
 554 void RobomonAtlantis::setLeftBrushDriveCB(int state) {
 555
 556         if(state)
 557                 actlib_drives_brush_left_on();
 558         else
 559                 actlib_drives_brush_left_off();
 560 }
 561
 562
 563 void RobomonAtlantis::setRightBrushDriveCB(int state) {
 564
 565         if(state)
 566                 actlib_drives_brush_right_on();
 567         else
 568                 actlib_drives_brush_right_off();
 569 }
 570
 571
 572 void RobomonAtlantis::setlift_posDriveCB(int state) {
 573
 574         if(state)
 575                 orte.drives.lift_pos = 1;
 576         else
 577                 orte.drives.lift_pos = 2;
 578 }
 579
 580 void RobomonAtlantis::setDO(int state)
 581 {
 582         /* FIXME: digital output control comes here */
 583 }
 584
 585 void RobomonAtlantis::setLaser(int state) {
 586
 587         if(state)
 588                 actlib_laser_on();
 589         else
 590                 actlib_laser_off();
 591 }
 592
 593 void RobomonAtlantis::showMap()
 594 {
 595         openSharedMemory();
 596
 597         if (sharedMemoryOpened == false)
 598                 return;
 599
 600         mapTimer = new QTimer(this);
 601         connect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
 602         mapTimer->start(200);
 603
 604         showMapPushButton->setText(tr("Show Playground"));
 605         showMapPushButton->setShortcut(tr("p"));
 606         disconnect(showMapPushButton, SIGNAL(clicked()), this, SLOT(showMap()));
 607         connect(showMapPushButton, SIGNAL(clicked()),
 608                                 this, SLOT(showPlayground()));
 609 }
 610
 611 void RobomonAtlantis::showPlayground()
 612 {
 613         mapTimer->stop();
 614         disconnect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
 615
 616         /* FIXME: */
 617
 618         showMapPushButton->setText(tr("Show &map"));
 619         showMapPushButton->setShortcut(tr("m"));
 620         disconnect(showMapPushButton, SIGNAL(clicked()),
 621                                 this, SLOT(showPlayground()));
 622         connect(showMapPushButton, SIGNAL(clicked()), this, SLOT(showMap()));
 623 }
 624
 625 void RobomonAtlantis::paintMap()
 626 {
 627         using namespace Qt;
 628         static QGraphicsRectItem *rects[MAP_WIDTH][MAP_HEIGHT];
 629         static bool firstMap = true;
 630         int x, y;
 631         struct map *map = ShmapIsMapInit();
 632
 633         if (!map) return;
 634
 635         for(int i=0; i < MAP_WIDTH; i++) {
 636                 for(int j=0; j<MAP_HEIGHT; j++) {
 637                         x = TOP_LEFT_X+i*cellSize;
 638                         y = TOP_LEFT_Y+j*cellSize;
 639
 640                         if(firstMap) {
 641                                 rects[i][j] = playgroundScene->addRect(
 642                                                 QRectF(x,y,cellSize,cellSize),
 643                                                 QPen(QBrush(Qt::black),
 644                                                 1,
 645                                                 Qt::SolidLine,
 646                                                 Qt::FlatCap,
 647                                                 Qt::BevelJoin),
 648                                                 QBrush(Qt::lightGray));
 649                                 rects[i][j]->setZValue(4);
 650                         }
 651
 652                         QColor color;
 653
 654                         struct map_cell *cell = &map->cells[j][i];
 655                         color = lightGray;
 656                         if (cell->flags & MAP_FLAG_WALL)
 657                                 color = darkYellow;
 658                         if (cell->flags & MAP_FLAG_IGNORE_OBST)
 659                                 color = darkGreen;
 660                         if (cell->flags & MAP_FLAG_SIMULATED_WALL)
 661                                 color = yellow;
 662                         if (cell->flags & MAP_FLAG_PATH)
 663                                 color = darkRed;
 664                         if (cell->flags & MAP_FLAG_START)
 665                                 color = red;
 666                         if (cell->flags & MAP_FLAG_GOAL)
 667                                 color = green;
 668                         if (cell->detected_obstacle) {
 669                                 QColor c1(color), c2(blue);
 670                                 double f = (double)cell->detected_obstacle/MAP_NEW_OBSTACLE*0.7;
 671                                 QColor c(c1.red()   + (int)(f*(c2.red()   - c1.red())),
 672                                          c1.green() + (int)(f*(c2.green() - c1.green())),
 673                                          c1.blue()  + (int)(f*(c2.blue()  - c1.blue())));
 674                                 color = c;
 675                         }
 676                         if (cell->flags & MAP_FLAG_DET_OBST)
 677                                 color = cyan;
 678
 679                         rects[i][j]->setBrush(QBrush(color));
 680                 }
 681         }
 682         firstMap = false;
 683 }
 684
 685 void RobomonAtlantis::setSimulation(int state)
 686 {
 687         if(state) {
 688                 robottype_publisher_hokuyo_scan_create(&orte,
 689                                                        dummy_publisher_callback, this);
 690         } else {
 691                 if (!simulationEnabled)
 692                         return;
 693                 robottype_publisher_hokuyo_scan_destroy(&orte);
 694         }
 695         simulationEnabled = state;
 696 }
 697
 698 /*!
 699         \fn RobomonAtlantis::setObstacleSimulation(int state)
 700  */
 701 void RobomonAtlantis::setObstacleSimulation(int state)
 702 {
 703         if (state) {
 704                 /* TODO Maybe it is possible to attach only once to Shmap */
 705                 ShmapInit(0);
 706                 obstacleSimulationTimer = new QTimer(this);
 707                 connect(obstacleSimulationTimer, SIGNAL(timeout()),
 708                         this, SLOT(simulateObstaclesHokuyo()));
 709                 obstacleSimulationTimer->start(100);
 710                 setMouseTracking(true);
 711         } else {
 712                 if (obstacleSimulationTimer)
 713                         delete obstacleSimulationTimer;
 714                 double distance = 0.8;
 715         }
 716 }
 717
 718
 719 void RobomonAtlantis::simulateObstaclesHokuyo()
 720 {
 721         double distance, wall_distance;
 722         int i;
 723         uint16_t *hokuyo[34] = { // FIXME should be HOKUYO_CLUSTER_CNT
 724                 &orte.hokuyo_scan.data1,
 725                 &orte.hokuyo_scan.data2,
 726                 &orte.hokuyo_scan.data3,
 727                 &orte.hokuyo_scan.data4,
 728                 &orte.hokuyo_scan.data5,
 729                 &orte.hokuyo_scan.data6,
 730                 &orte.hokuyo_scan.data7,
 731                 &orte.hokuyo_scan.data8,
 732                 &orte.hokuyo_scan.data9,
 733                 &orte.hokuyo_scan.data10,
 734                 &orte.hokuyo_scan.data11,
 735                 &orte.hokuyo_scan.data12,
 736                 &orte.hokuyo_scan.data13,
 737                 &orte.hokuyo_scan.data14,
 738                 &orte.hokuyo_scan.data15,
 739                 &orte.hokuyo_scan.data16,
 740                 &orte.hokuyo_scan.data17,
 741                 &orte.hokuyo_scan.data18,
 742                 &orte.hokuyo_scan.data19,
 743                 &orte.hokuyo_scan.data20,
 744                 &orte.hokuyo_scan.data21,
 745                 &orte.hokuyo_scan.data22,
 746                 &orte.hokuyo_scan.data23,
 747                 &orte.hokuyo_scan.data24,
 748                 &orte.hokuyo_scan.data25,
 749                 &orte.hokuyo_scan.data26,
 750                 &orte.hokuyo_scan.data27,
 751                 &orte.hokuyo_scan.data28,
 752                 &orte.hokuyo_scan.data29,
 753                 &orte.hokuyo_scan.data30,
 754                 &orte.hokuyo_scan.data31,
 755                 &orte.hokuyo_scan.data32,
 756                 &orte.hokuyo_scan.data33,
 757                 &orte.hokuyo_scan.data34,
 758         };
 759
 760
 761         for (i=0; i<HOKUYO_CLUSTER_CNT; i++) {
 762                 wall_distance = distanceToWallHokuyo(i);
 763                 distance = distanceToObstacleHokuyo(i, simulatedObstacle, SIM_OBST_SIZE_M/*meters*/);
 764                 if (wall_distance < distance)
 765                         distance = wall_distance;
 766                 *hokuyo[i] = (uint16_t)(distance*1000);
 767         }
 768         ORTEPublicationSend(orte.publication_hokuyo_scan);
 769
 770 }
 771
 772 void RobomonAtlantis::changeObstacle(QPointF position)
 773 {
 774         if (!simulationEnabled) {
 775                 simulationEnabled = 1;
 776                 obstacleSimulationCheckBox->setChecked(true);
 777         }
 778
 779         simulatedObstacle.x = position.x();
 780         simulatedObstacle.y = position.y();
 781         simulateObstaclesHokuyo();
 782 }
 783
 784 /**********************************************************************
 785  * EVENTS
 786  **********************************************************************/
 787 bool RobomonAtlantis::event(QEvent *event)
 788 {
 789         switch (event->type()) {
 790                 case QEVENT(QEV_MOTION_STATUS):
 791                         emit motionStatusReceivedSignal();
 792                         break;
 793                 case QEVENT(QEV_ACTUAL_POSITION):
 794                         emit actualPositionReceivedSignal();
 795                         break;
 796                 case QEVENT(QEV_ESTIMATED_POSITION):
 797                         emit estimatedPositionReceivedSignal();
 798                         break;
 799                 case QEVENT(QEV_DI):
 800                         emit diReceivedSignal();
 801                         break;
 802                 case QEVENT(QEV_ACCELEROMETER):
 803                         emit accelerometerReceivedSignal();
 804                         break;
 805                 case QEVENT(QEV_ACCUMULATOR):
 806                         emit accumulatorReceivedSignal();
 807                         break;
 808                 case QEVENT(QEV_POWER_VOLTAGE):
 809                         emit powerVoltageReceivedSignal();
 810                         break;
 811                 default:
 812                         if (event->type() == QEvent::Close)
 813                                 closeEvent((QCloseEvent *)event);
 814                         else if (event->type() == QEvent::KeyPress)
 815                                 keyPressEvent((QKeyEvent *)event);
 816                         else if (event->type() == QEvent::KeyRelease)
 817                                 keyReleaseEvent((QKeyEvent *)event);
 818                         else if (event->type() == QEvent::FocusIn)
 819                                 grabKeyboard();
 820                         else if (event->type() == QEvent::FocusOut)
 821                                 releaseKeyboard();
 822                         else {
 823                                 event->ignore();
 824                                 return false;
 825                         }
 826                         break;
 827         }
 828         event->accept();
 829         return true;
 830 }
 831
 832 void RobomonAtlantis::keyPressEvent(QKeyEvent *event)
 833 {
 834         double peak, gain;
 835
 836         if (event->isAutoRepeat()) {
 837                 switch (event->key()) {
 838                         case Qt::Key_Down:
 839                                 peak = leftMotorSlider->minimum()/2;
 840                                 if (leftMotorValue < peak ||
 841                                         rightMotorValue < peak)
 842                                         gain = 1.01;
 843                                 else
 844                                         gain = 1.3;
 845                                 leftMotorValue *= gain;
 846                                 rightMotorValue *= gain;
 847                                 leftMotorSlider->setValue((int)leftMotorValue);
 848                                 rightMotorSlider->setValue((int)rightMotorValue);
 849                                 break;
 850
 851                         case Qt::Key_Up:
 852                         case Qt::Key_Left:
 853                         case Qt::Key_Right:
 854                                 peak = leftMotorSlider->maximum()/2;
 855                                 if (leftMotorValue > peak ||
 856                                         rightMotorValue > peak)
 857                                         gain = 1.01;
 858                                 else
 859                                         gain = 1.3;
 860                                 leftMotorValue *= gain;
 861                                 rightMotorValue *= gain;
 862                                 leftMotorSlider->setValue((int)leftMotorValue);
 863                                 rightMotorSlider->setValue((int)rightMotorValue);
 864                                 break;
 865
 866                         default:
 867                                 event->ignore();
 868                                 break;
 869                 }
 870                 return;
 871         }
 872
 873         switch (event->key()) {
 874                 case Qt::Key_Up:
 875                         leftMotorValue = 1;
 876                         rightMotorValue = 1;
 877                         bothMotorsCheckBox->setChecked(true);
 878                         leftMotorSlider->setValue((int)leftMotorValue);
 879                         setLeftMotor((int)leftMotorValue);
 880                         break;
 881                 case Qt::Key_Down:
 882                         leftMotorValue = -1;
 883                         rightMotorValue = -1;
 884                         bothMotorsCheckBox->setChecked(true);
 885                         leftMotorSlider->setValue((int)leftMotorValue);
 886                         setLeftMotor((int)leftMotorValue);
 887                         break;
 888                 case Qt::Key_Left:
 889                         leftMotorValue = -1;
 890                         rightMotorValue = 1;
 891                         leftMotorSlider->setValue((int)leftMotorValue);
 892                         rightMotorSlider->setValue((int)rightMotorValue);
 893                         setLeftMotor((int)leftMotorValue);
 894                         setRightMotor((int)leftMotorValue);
 895                         break;
 896                 case Qt::Key_Right:
 897                         leftMotorValue = 1;
 898                         rightMotorValue = -1;
 899                         leftMotorSlider->setValue((int)leftMotorValue);
 900                         rightMotorSlider->setValue((int)rightMotorValue);
 901                         setLeftMotor((int)leftMotorValue);
 902                         setRightMotor((int)rightMotorValue);
 903                         break;
 904                 default:
 905                         event->ignore();
 906                         break;
 907         }
 908         event->accept();
 909 }
 910
 911 void RobomonAtlantis::keyReleaseEvent(QKeyEvent *event)
 912 {
 913         if (event->isAutoRepeat()) {
 914                 event->ignore();
 915                 return;
 916         }
 917
 918         switch (event->key()) {
 919                 case Qt::Key_Up:
 920                 case Qt::Key_Down:
 921                 case Qt::Key_Left:
 922                 case Qt::Key_Right:
 923                         leftMotorValue = 0;
 924                         rightMotorValue = 0;
 925                         bothMotorsCheckBox->setChecked(false);
 926                         leftMotorSlider->setValue((int)leftMotorValue);
 927                         rightMotorSlider->setValue((int)rightMotorValue);
 928                         break;
 929                 default:
 930                         event->ignore();
 931                         break;
 932         }
 933         event->accept();
 934 }
 935
 936 void RobomonAtlantis::closeEvent(QCloseEvent *event)
 937 {
 938         robottype_roboorte_destroy(&orte);
 939 }
 940
 941 /**********************************************************************
 942  * ORTE
 943  **********************************************************************/
 944 void RobomonAtlantis::createOrte()
 945 {
 946         int rv;
 947
 948         orte.strength = 11;
 949
 950         rv = robottype_roboorte_init(&orte);
 951         if (rv) {
 952                 printf("RobomonAtlantis: Unable to initialize ORTE\n");
 953         }
 954
 955         /* publishers */
 956         robottype_publisher_motion_speed_create(&orte, dummy_publisher_callback, NULL);
 957
 958         robottype_publisher_pwr_ctrl_create(&orte, dummy_publisher_callback, NULL);
 959
 960         robottype_publisher_servos_create(&orte, dummy_publisher_callback, NULL);
 961         robottype_publisher_drives_create(&orte, dummy_publisher_callback, NULL);
 962         robottype_publisher_laser_cmd_create(&orte, NULL, NULL);
 963
 964         /* subscribers */
 965         robottype_subscriber_pwr_voltage_create(&orte,
 966                                 receivePowerVoltageCallBack, this);
 967         robottype_subscriber_motion_status_create(&orte,
 968                                 receiveMotionStatusCallBack, this);
 969         robottype_subscriber_ref_pos_create(&orte,
 970                                 receiveActualPositionCallBack, this);
 971         robottype_subscriber_est_pos_create(&orte,
 972                                 receiveEstimatedPositionCallBack, this);
 973
 974         /*createDISubscriber(this, &orteData);*/
 975         /*createAccelerometerSubscriber(this, &orteData);*/
 976         /*createAccumulatorSubscriber(this, &orteData);*/
 977         /* motors */
 978         orte.motion_speed.left = 0;
 979         orte.motion_speed.right = 0;
 980         /* power management */
 981         orte.pwr_ctrl.voltage33 = true;
 982         orte.pwr_ctrl.voltage50 = true;
 983         orte.pwr_ctrl.voltage80 = true;
 984         voltage33CheckBox->setChecked(true);
 985         voltage50CheckBox->setChecked(true);
 986         voltage80CheckBox->setChecked(true);
 987
 988         /* servos */
 989         leftBrushCheckBox->setChecked(false);
 990         rightBrushCheckBox->setChecked(false);
 991
 992         setDrives(0);
 993         setLaser(0);
 994
 995         actlib_init(&orte);
 996
 997         /* set actions to do when we receive data from orte */
 998         connect(this, SIGNAL(motionStatusReceivedSignal()),
 999                         this, SLOT(motionStatusReceived()));
1000         connect(this, SIGNAL(actualPositionReceivedSignal()),
1001                         this, SLOT(actualPositionReceived()));
1002         connect(this, SIGNAL(estimatedPositionReceivedSignal()),
1003                         this, SLOT(estimatedPositionReceived()));
1004         connect(this, SIGNAL(diReceivedSignal()),
1005                         this, SLOT(diReceived()));
1006         connect(this, SIGNAL(accelerometerReceivedSignal()),
1007                         this, SLOT(accelerometerReceived()));
1008         connect(this, SIGNAL(accumulatorReceivedSignal()),
1009                         this, SLOT(accumulatorReceived()));
1010         connect(this, SIGNAL(powerVoltageReceivedSignal()),
1011                         this, SLOT(powerVoltageReceived()));
1012 }
1013
1014 void RobomonAtlantis::motionStatusReceived()
1015 {
1016         WDBG("ORTE received: motion status");
1017 }
1018
1019 void RobomonAtlantis::actualPositionReceived()
1020 {
1021         actPosX->setText(QString("%1").arg(orte.ref_pos.x, 0, 'f', 3));
1022         actPosY->setText(QString("%1").arg(orte.ref_pos.y, 0, 'f', 3));
1023         actPosPhi->setText(QString("%1(%2)")
1024                         .arg(DEGREES(orte.ref_pos.phi), 0, 'f', 0)
1025                         .arg(orte.ref_pos.phi, 0, 'f', 1));
1026         robotActPos->moveRobot(orte.ref_pos.x,
1027                 orte.ref_pos.y, orte.ref_pos.phi);
1028 }
1029
1030 void RobomonAtlantis::estimatedPositionReceived()
1031 {
1032         estPosX->setText(QString("%1").arg(orte.est_pos.x, 0, 'f', 3));
1033         estPosY->setText(QString("%1").arg(orte.est_pos.y, 0, 'f', 3));
1034         estPosPhi->setText(QString("%1(%2)")
1035                         .arg(DEGREES(orte.est_pos.phi), 0, 'f', 0)
1036                         .arg(orte.est_pos.phi, 0, 'f', 1));
1037         robotEstPos->moveRobot(orte.est_pos.x,
1038                 orte.est_pos.y, orte.est_pos.phi);
1039 }
1040
1041 void RobomonAtlantis::diReceived()
1042 {
1043         WDBG("ORTE received: DI");
1044 }
1045
1046 void RobomonAtlantis::accelerometerReceived()
1047 {
1048         WDBG("ORTE received: accelerometer");
1049 }
1050
1051 void RobomonAtlantis::accumulatorReceived()
1052 {
1053         WDBG("ORTE received: accumulator");
1054 }
1055
1056 void RobomonAtlantis::powerVoltageReceived()
1057 {
1058         voltage33LineEdit->setText(QString("%1").arg(
1059                         orte.pwr_voltage.voltage33, 0, 'f', 3));
1060         voltage50LineEdit->setText(QString("%1").arg(
1061                         orte.pwr_voltage.voltage50, 0, 'f', 3));
1062         voltage80LineEdit->setText(QString("%1").arg(
1063                         orte.pwr_voltage.voltage80, 0, 'f', 3));
1064         voltageBATLineEdit->setText(QString("%1").arg(
1065                         orte.pwr_voltage.voltageBAT, 0, 'f', 3));
1066
1067 }
1068
1069 /**********************************************************************
1070  * MISCELLANEOUS
1071  **********************************************************************/
1072 void RobomonAtlantis::openSharedMemory()
1073 {
1074         int segmentId;
1075         int sharedSegmentSize;
1076
1077         if (sharedMemoryOpened)
1078                 return;
1079
1080         cellSize = PG_X / MAP_WIDTH;
1081
1082         sharedSegmentSize = sizeof(char) * MAP_WIDTH * MAP_HEIGHT;
1083
1084         /* Get segment identificator in a read only mode  */
1085         segmentId = shmget(SHM_MAP_KEY, sharedSegmentSize, S_IRUSR);
1086         if(segmentId == -1) {
1087                 QMessageBox::critical(this, "robomon",
1088                                 "Unable to open shared memory segment!");
1089                 return;
1090         }
1091
1092         /* Init Shmap */
1093         ShmapInit(0);
1094
1095         /* Attach the shared memory segment */
1096         //map =  (_Map*)shmat (segmentId, (void*) 0, 0);
1097
1098         sharedMemoryOpened = true;
1099 }
1100
1101 double RobomonAtlantis::distanceToWallHokuyo(int beamnum)
1102 {
1103         double distance=4.0, min_distance=4.0;
1104         int i,j;
1105         Point wall;
1106         struct map *map = ShmapIsMapInit();
1107
1108         if (!map) return min_distance;
1109
1110         // Simulate obstacles
1111         for(j=0;j<MAP_HEIGHT;j++) {
1112                 for (i=0;i<MAP_WIDTH;i++) {
1113                         struct map_cell *cell = &map->cells[j][i];
1114                         if( cell->flags & MAP_FLAG_SIMULATED_WALL) {
1115                                 // WALL
1116                                 ShmapCell2Point(i, j, &wall.x, &wall.y);
1117
1118                                 distance = distanceToObstacleHokuyo(beamnum, wall, MAP_CELL_SIZE_M);
1119                                 if (distance<min_distance) min_distance = distance;
1120                         }
1121                 }
1122         }
1123
1124         return min_distance;
1125 }
1126
1127 /**
1128  * Calculation for Hokuyo simulation. Calculates distance that would
1129  * be returned by Hokuyo sensors, if there is only one obstacle (as
1130  * specified by parameters).
1131  *
1132  * @param beamnum Hokuyo's bean number [0..HOKUYO_CLUSTER_CNT]
1133  * @param obstacle Position of the obstacle (x, y in meters).
1134  * @param obstacleSize Size (diameter) of the obstacle in meters.
1135  *
1136  * @return Distance measured by sensors in meters.
1137  */
1138 double RobomonAtlantis::distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize)
1139 {
1140         struct est_pos_type e = orte.est_pos;
1141         double sensor_a;
1142         struct sharp_pos s;
1143
1144         s.x = HOKUYO_CENTER_OFFSET_M;
1145         s.y = 0.0;
1146         s.ang = HOKUYO_CLUSTER_TO_RAD(beamnum);
1147
1148         Point sensor(e.x + s.x*cos(e.phi) - s.y*sin(e.phi),
1149                      e.y + s.x*sin(e.phi) + s.y*cos(e.phi));
1150         sensor_a = e.phi + s.ang;
1151
1152         const double sensorRange = 4.0; /*[meters]*/
1153
1154         double distance, angle;
1155
1156         angle = sensor.angleTo(obstacle) - sensor_a;
1157         angle = fmod(angle, 2.0*M_PI);
1158         if (angle > +M_PI) angle -= 2.0*M_PI;
1159         if (angle < -M_PI) angle += 2.0*M_PI;
1160         angle = fabs(angle);
1161         distance = sensor.distanceTo(obstacle)-0.11;
1162         if (angle < atan(obstacleSize/2.0 / (distance+0.001))) {
1163                 // We can see the obstackle from here.
1164                 if (angle < M_PI/2.0) {
1165                     distance = distance/cos(angle);
1166                 }
1167                 if (distance > sensorRange)
1168                         distance = sensorRange;
1169         } else {
1170                 distance = sensorRange;
1171         }
1172
1173         return distance;
1174 }