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