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
  92         createPositionGroupBox();
  93         createMiscGroupBox();
  94         createFSMGroupBox();
  95         createActuatorsGroupBox();
  96         createPowerGroupBox();
  97
  98         rightLayout->addWidget(positionGroupBox);
  99         rightLayout->addWidget(miscGroupBox);
 100         rightLayout->addWidget(fsmGroupBox);
 101         rightLayout->addWidget(powerGroupBox);
 102         rightLayout->addWidget(actuatorsGroupBox);
 103 }
 104
 105 void RobomonAtlantis::createPlaygroundGroupBox()
 106 {
 107         playgroundGroupBox = new QGroupBox(tr("Playground"));
 108         QHBoxLayout *layout = new QHBoxLayout();
 109
 110         playgroundScene = new PlaygroundScene();
 111         playgroundSceneView = new PlaygroundView(playgroundScene);
 112         //playgroundSceneView->setMinimumWidth(630);
 113         //playgroundSceneView->setMinimumHeight(445);
 114         playgroundSceneView->setMatrix(QMatrix(1,0,0,-1,0,0), true);
 115         playgroundSceneView->fitInView(playgroundScene->itemsBoundingRect());
 116         playgroundSceneView->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
 117         layout->addWidget(playgroundSceneView);
 118
 119         playgroundGroupBox->setLayout(layout);
 120 }
 121
 122 void RobomonAtlantis::createPositionGroupBox()
 123 {
 124         positionGroupBox = new QGroupBox(tr("Position state"));
 125         positionGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Expanding);
 126         QGridLayout *layout = new QGridLayout();
 127
 128         actPosX = new QLineEdit();
 129         actPosY = new QLineEdit();
 130         actPosPhi = new QLineEdit();
 131
 132         estPosX = new QLineEdit();
 133         estPosY = new QLineEdit();
 134         estPosPhi = new QLineEdit();
 135
 136         actPosX->setReadOnly(true);
 137         actPosY->setReadOnly(true);
 138         actPosPhi->setReadOnly(true);
 139
 140         estPosX->setReadOnly(true);
 141         estPosY->setReadOnly(true);
 142         estPosPhi->setReadOnly(true);
 143
 144         layout->addWidget(MiscGui::createLabel("X"), 1, 0);
 145         layout->addWidget(MiscGui::createLabel("Y"), 2, 0);
 146         layout->addWidget(MiscGui::createLabel("Phi"), 3, 0);
 147
 148         layout->addWidget(MiscGui::createLabel("X"), 5, 0);
 149         layout->addWidget(MiscGui::createLabel("Y"), 6, 0);
 150         layout->addWidget(MiscGui::createLabel("Phi"), 7, 0);
 151
 152         layout->addWidget(MiscGui::createLabel("Reference", Qt::AlignLeft), 0, 1);
 153         layout->addWidget(actPosX, 1, 1);
 154         layout->addWidget(actPosY, 2, 1);
 155         layout->addWidget(actPosPhi, 3, 1);
 156
 157         layout->addWidget(MiscGui::createLabel("Estimated (indep. odo.)", Qt::AlignLeft), 4, 1);
 158         layout->addWidget(estPosX, 5, 1);
 159         layout->addWidget(estPosY, 6, 1);
 160         layout->addWidget(estPosPhi, 7, 1);
 161
 162         positionGroupBox->setLayout(layout);
 163 }
 164
 165 void RobomonAtlantis::createMiscGroupBox()
 166 {
 167         miscGroupBox = new QGroupBox(tr("Miscellaneous"));
 168         miscGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 169         QGridLayout *layout = new QGridLayout();
 170
 171         obstacleSimulationCheckBox = new QCheckBox(tr("&Obstacle simulation"));
 172         obstacleSimulationCheckBox->setShortcut(tr("o"));
 173         layout->addWidget(obstacleSimulationCheckBox);
 174
 175         startPlug = new QCheckBox("Start plug");
 176         layout->addWidget(startPlug);
 177
 178         puckInside = new QCheckBox("Puck inside");
 179         layout->addWidget(puckInside);
 180
 181         miscGroupBox->setLayout(layout);
 182 }
 183
 184 void RobomonAtlantis::createFSMGroupBox()
 185 {
 186         fsmGroupBox = new QGroupBox(tr("FSM"));
 187         fsmGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 188         QGridLayout *layout = new QGridLayout();
 189
 190         layout->addWidget(MiscGui::createLabel("Main:"), 1, 0);
 191         fsm_main_state = new QLabel();
 192         fsm_main_state->setMinimumWidth(100);
 193         fsm_main_state->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
 194         layout->addWidget(fsm_main_state, 1, 1);
 195
 196         layout->addWidget(MiscGui::createLabel("Act:"), 2, 0);
 197         fsm_act_state = new QLabel();
 198         layout->addWidget(fsm_act_state, 2, 1);
 199
 200         layout->addWidget(MiscGui::createLabel("Motion:"), 3, 0);
 201         fsm_motion_state = new QLabel();
 202         layout->addWidget(fsm_motion_state, 3, 1);
 203
 204         fsmGroupBox->setLayout(layout);
 205 }
 206
 207 void RobomonAtlantis::createDebugGroupBox()
 208 {
 209         debugGroupBox = new QGroupBox(tr("Debug window"));
 210         debugGroupBox->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Maximum);
 211         QHBoxLayout *layout = new QHBoxLayout();
 212
 213         debugWindow = new QTextEdit();
 214         debugWindow->setReadOnly(true);
 215
 216         layout->addWidget(debugWindow);
 217         debugGroupBox->setLayout(layout);
 218 }
 219
 220 void RobomonAtlantis::createActuatorsGroupBox()
 221 {
 222         actuatorsGroupBox = new QGroupBox(tr("Actuators"));
 223         actuatorsGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred);
 224         QHBoxLayout *layout = new QHBoxLayout();
 225
 226         createMotorsGroupBox();
 227
 228         layout->setAlignment(Qt::AlignLeft);
 229         layout->addWidget(enginesGroupBox);
 230         actuatorsGroupBox->setLayout(layout);
 231 }
 232
 233 void RobomonAtlantis::createPowerGroupBox()
 234 {
 235         powerGroupBox = new QGroupBox(tr("Power management"));
 236         powerGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 237         QGridLayout *layout = new QGridLayout();
 238
 239         voltage33CheckBox = new QCheckBox(tr("&3.3V"));
 240         voltage50CheckBox = new QCheckBox(tr("&5.0V"));
 241         voltage80CheckBox = new QCheckBox(tr("&8.0V"));
 242
 243         voltage33CheckBox->setShortcut(tr("3"));
 244         voltage50CheckBox->setShortcut(tr("5"));
 245         voltage80CheckBox->setShortcut(tr("8"));
 246
 247         layout->addWidget(voltage33CheckBox, 0, 0);
 248         layout->addWidget(voltage50CheckBox, 1, 0);
 249         layout->addWidget(voltage80CheckBox, 2, 0);
 250         layout->addWidget(MiscGui::createLabel("BAT"), 3, 0);
 251
 252         voltage33LineEdit = new QLineEdit();
 253         voltage50LineEdit = new QLineEdit();
 254         voltage80LineEdit = new QLineEdit();
 255         voltageBATLineEdit = new QLineEdit();
 256
 257         voltage33LineEdit->setReadOnly(true);
 258         voltage50LineEdit->setReadOnly(true);
 259         voltage80LineEdit->setReadOnly(true);
 260         voltageBATLineEdit->setReadOnly(true);
 261
 262         layout->addWidget(voltage33LineEdit, 0, 1);
 263         layout->addWidget(voltage50LineEdit, 1, 1);
 264         layout->addWidget(voltage80LineEdit, 2, 1);
 265         layout->addWidget(voltageBATLineEdit, 3, 1);
 266
 267         powerGroupBox->setLayout(layout);
 268 }
 269
 270 void RobomonAtlantis::createMotorsGroupBox()
 271 {
 272         enginesGroupBox = new QGroupBox(tr("Motors"));
 273         QVBoxLayout *layout = new QVBoxLayout();
 274         QHBoxLayout *layout1 = new QHBoxLayout();
 275         QHBoxLayout *layout2 = new QHBoxLayout();
 276
 277         leftMotorSlider = new QSlider(Qt::Vertical);
 278         rightMotorSlider = new QSlider(Qt::Vertical);
 279         bothMotorsCheckBox = new QCheckBox(tr("Lock both"));
 280         stopMotorsPushButton = new QPushButton(tr("Stop Motors"));
 281
 282         leftMotorSlider->setMinimum(-100);
 283         leftMotorSlider->setMaximum(100);
 284         leftMotorSlider->setTracking(false);
 285         leftMotorSlider->setTickPosition(QSlider::TicksLeft);
 286
 287         rightMotorSlider->setMinimum(-100);
 288         rightMotorSlider->setMaximum(100);
 289         rightMotorSlider->setTracking(false);
 290         rightMotorSlider->setTickPosition(QSlider::TicksRight);
 291
 292         stopMotorsPushButton->setMaximumWidth(90);
 293
 294         layout1->addWidget(leftMotorSlider);
 295         layout1->addWidget(MiscGui::createLabel("0"));
 296         layout1->addWidget(rightMotorSlider);
 297
 298         layout2->addWidget(bothMotorsCheckBox);
 299
 300         layout->addWidget(MiscGui::createLabel("100"));
 301         layout->addLayout(layout1);
 302         layout->addWidget(MiscGui::createLabel("-100"));
 303         layout->addLayout(layout2);
 304         layout->addWidget(stopMotorsPushButton);
 305         enginesGroupBox->setLayout(layout);
 306 }
 307
 308 void RobomonAtlantis::createRobots()
 309 {
 310         robotRefPos = new Robot("Ref", QPen(Qt::darkBlue), QBrush(Qt::NoBrush));
 311         robotRefPos->setZValue(11);
 312         trailRefPos = new Trail(QPen(Qt::darkBlue));
 313         trailRefPos->setZValue(11);
 314
 315         robotEstPosBest = new Robot("Est", QPen(), QBrush(Qt::darkGray));
 316         robotEstPosBest->setZValue(10);
 317         trailEstPosBest = new Trail(QPen());
 318         trailEstPosBest->setZValue(10);
 319
 320         robotEstPosOdo = new Robot("Mot", QPen(Qt::white), QBrush(Qt::darkRed));
 321         robotEstPosOdo->setZValue(10);
 322         trailOdoPos = new Trail(QPen(Qt::red));
 323         trailOdoPos->setZValue(10);
 324
 325         robotEstPosIndepOdo = new Robot("Odo", QPen(Qt::white), QBrush(Qt::darkGreen));
 326         robotEstPosIndepOdo->setZValue(10);
 327         trailPosIndepOdo = new Trail(QPen(Qt::green));
 328         trailPosIndepOdo->setZValue(10);
 329
 330         playgroundScene->addItem(robotRefPos);
 331         playgroundScene->addItem(robotEstPosBest);
 332         playgroundScene->addItem(robotEstPosIndepOdo);
 333         playgroundScene->addItem(robotEstPosOdo);
 334
 335         showTrails(false);
 336
 337         playgroundScene->addItem(trailRefPos);
 338         playgroundScene->addItem(trailPosIndepOdo);
 339         playgroundScene->addItem(trailOdoPos);
 340
 341         hokuyoScan = new HokuyoScan();
 342         hokuyoScan->setZValue(10);
 343         playgroundScene->addItem(hokuyoScan);
 344
 345 }
 346
 347 /**********************************************************************
 348  * GUI actions
 349  **********************************************************************/
 350 void RobomonAtlantis::createActions()
 351 {
 352         /* power management */
 353         connect(voltage33CheckBox, SIGNAL(stateChanged(int)),
 354                         this, SLOT(setVoltage33(int)));
 355         connect(voltage50CheckBox, SIGNAL(stateChanged(int)),
 356                         this, SLOT(setVoltage50(int)));
 357         connect(voltage80CheckBox, SIGNAL(stateChanged(int)),
 358                         this, SLOT(setVoltage80(int)));
 359
 360         /* motors */
 361         connect(leftMotorSlider, SIGNAL(valueChanged(int)),
 362                         this, SLOT(setLeftMotor(int)));
 363         connect(rightMotorSlider, SIGNAL(valueChanged(int)),
 364                         this, SLOT(setRightMotor(int)));
 365         connect(stopMotorsPushButton, SIGNAL(clicked()),
 366                         this, SLOT(stopMotors()));
 367
 368         connect(startPlug, SIGNAL(stateChanged(int)), this, SLOT(sendStart(int)));
 369
 370         /* obstacle simulation */
 371         simulationEnabled = 0;
 372         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 373                         this, SLOT(setSimulation(int)));
 374         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 375                         this, SLOT(setObstacleSimulation(int)));
 376         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 377                         playgroundScene, SLOT(showObstacle(int)));
 378         connect(playgroundScene, SIGNAL(obstacleChanged(QPointF)),
 379                         this, SLOT(changeObstacle(QPointF)));
 380 }
 381
 382 void RobomonAtlantis::setVoltage33(int state)
 383 {
 384         if (state)
 385                 orte.pwr_ctrl.voltage33 = true;
 386         else
 387                 orte.pwr_ctrl.voltage33 = false;
 388 }
 389
 390 void RobomonAtlantis::setVoltage50(int state)
 391 {
 392         if (state)
 393                 orte.pwr_ctrl.voltage50 = true;
 394         else
 395                 orte.pwr_ctrl.voltage50 = false;
 396 }
 397
 398 void RobomonAtlantis::setVoltage80(int state)
 399 {
 400         if (state)
 401                 orte.pwr_ctrl.voltage80 = true;
 402         else
 403                 orte.pwr_ctrl.voltage80 = false;
 404 }
 405
 406 void RobomonAtlantis::setLeftMotor(int value)
 407 {
 408         short int leftMotor;
 409         short int rightMotor;
 410
 411         if(bothMotorsCheckBox->isChecked())
 412                 rightMotorSlider->setValue(value);
 413
 414         leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
 415         rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
 416
 417         orte.motion_speed.left = leftMotor;
 418         orte.motion_speed.right = rightMotor;
 419
 420 }
 421
 422 void RobomonAtlantis::setRightMotor(int value)
 423 {
 424         short int leftMotor;
 425         short int rightMotor;
 426
 427         if(bothMotorsCheckBox->isChecked())
 428                 leftMotorSlider->setValue(value);
 429
 430         leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
 431         rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
 432
 433         orte.motion_speed.left = leftMotor;
 434         orte.motion_speed.right = rightMotor;
 435
 436 }
 437
 438 void RobomonAtlantis::stopMotors()
 439 {
 440         leftMotorSlider->setValue(0);
 441         rightMotorSlider->setValue(0);
 442 }
 443
 444 void RobomonAtlantis::showMap(bool show)
 445 {
 446         openSharedMemory();
 447
 448         if (sharedMemoryOpened == false)
 449                 return;
 450
 451         if (show) {
 452                 mapTimer = new QTimer(this);
 453                 connect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
 454                 mapTimer->start(200);
 455         } else {
 456                 mapTimer->stop();
 457                 disconnect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
 458         }
 459         playgroundScene->showMap(show);
 460 }
 461
 462 void RobomonAtlantis::paintMap()
 463 {
 464         using namespace Qt;
 465         struct map *map = ShmapIsMapInit();
 466
 467         if (!map) return;
 468
 469         for(int i=0; i < MAP_WIDTH; i++) {
 470                 for(int j=0; j<MAP_HEIGHT; j++) {
 471                         QColor color;
 472
 473                         struct map_cell *cell = &map->cells[j][i];
 474                         color = lightGray;
 475
 476                         if ((cell->flags & MAP_FLAG_WALL) &&
 477                             (cell->flags & MAP_FLAG_INVALIDATE_WALL) == 0)
 478                                 color = darkYellow;
 479                         if (cell->flags & MAP_FLAG_IGNORE_OBST)
 480                                 color = darkGreen;
 481                         if (cell->flags & MAP_FLAG_SIMULATED_WALL)
 482                                 color = yellow;
 483                         if (cell->flags & MAP_FLAG_PATH)
 484                                 color = darkRed;
 485                         if (cell->flags & MAP_FLAG_START)
 486                                 color = red;
 487                         if (cell->flags & MAP_FLAG_GOAL)
 488                                 color = green;
 489                         if (cell->detected_obstacle) {
 490                                 QColor c1(color), c2(blue);
 491                                 double f = (double)cell->detected_obstacle/MAP_NEW_OBSTACLE*0.7;
 492                                 QColor c(c1.red()   + (int)(f*(c2.red()   - c1.red())),
 493                                          c1.green() + (int)(f*(c2.green() - c1.green())),
 494                                          c1.blue()  + (int)(f*(c2.blue()  - c1.blue())));
 495                                 color = c;
 496                         }
 497                         if (cell->flags & MAP_FLAG_DET_OBST)
 498                                 color = cyan;
 499
 500                         playgroundScene->setMapColor(i, j, color);
 501                 }
 502         }
 503 }
 504
 505 void RobomonAtlantis::setSimulation(int state)
 506 {
 507         if(state) {
 508                 robottype_publisher_hokuyo_scan_create(&orte,
 509                                                        dummy_publisher_callback, this);
 510         } else {
 511                 if (!simulationEnabled)
 512                         return;
 513                 robottype_publisher_hokuyo_scan_destroy(&orte);
 514         }
 515         simulationEnabled = state;
 516 }
 517
 518 /*!
 519         \fn RobomonAtlantis::setObstacleSimulation(int state)
 520  */
 521 void RobomonAtlantis::setObstacleSimulation(int state)
 522 {
 523         if (state) {
 524                 /* TODO Maybe it is possible to attach only once to Shmap */
 525                 ShmapInit(0);
 526                 obstacleSimulationTimer = new QTimer(this);
 527                 connect(obstacleSimulationTimer, SIGNAL(timeout()),
 528                         this, SLOT(simulateObstaclesHokuyo()));
 529                 obstacleSimulationTimer->start(100);
 530                 setMouseTracking(true);
 531         } else {
 532                 if (obstacleSimulationTimer)
 533                         delete obstacleSimulationTimer;
 534                 //double distance = 0.8;
 535         }
 536 }
 537
 538
 539 void RobomonAtlantis::simulateObstaclesHokuyo()
 540 {
 541         double distance, wall_distance;
 542         unsigned int i;
 543         uint16_t *hokuyo = orte.hokuyo_scan.data;
 544
 545         for (i=0; i<HOKUYO_ARRAY_SIZE; i++) {
 546                 wall_distance = distanceToWallHokuyo(i);
 547                 distance = distanceToObstacleHokuyo(i, simulatedObstacle, SIM_OBST_SIZE_M/*meters*/);
 548                 if (wall_distance < distance)
 549                         distance = wall_distance;
 550                 hokuyo[i] = distance*1000;
 551         }
 552         ORTEPublicationSend(orte.publication_hokuyo_scan);
 553
 554 }
 555
 556 void RobomonAtlantis::changeObstacle(QPointF position)
 557 {
 558         if (!simulationEnabled) {
 559                 simulationEnabled = 1;
 560                 obstacleSimulationCheckBox->setChecked(true);
 561         }
 562
 563         simulatedObstacle.x = position.x();
 564         simulatedObstacle.y = position.y();
 565         simulateObstaclesHokuyo();
 566 }
 567
 568 /**********************************************************************
 569  * EVENTS
 570  **********************************************************************/
 571 bool RobomonAtlantis::event(QEvent *event)
 572 {
 573         switch (event->type()) {
 574                 case QEVENT(QEV_MOTION_STATUS):
 575                         emit motionStatusReceivedSignal();
 576                         break;
 577                 case QEVENT(QEV_HOKUYO_SCAN):
 578                         hokuyoScan->newScan(&orte.hokuyo_scan);
 579                         break;
 580                 case QEVENT(QEV_REFERENCE_POSITION):
 581                         emit actualPositionReceivedSignal();
 582                         break;
 583                 case QEVENT(QEV_ESTIMATED_POSITION_INDEP_ODO):
 584                         estPosX->setText(QString("%1").arg(orte.est_pos_indep_odo.x, 0, 'f', 3));
 585                         estPosY->setText(QString("%1").arg(orte.est_pos_indep_odo.y, 0, 'f', 3));
 586                         estPosPhi->setText(QString("%1(%2)")
 587                                         .arg(DEGREES(orte.est_pos_indep_odo.phi), 0, 'f', 0)
 588                                         .arg(orte.est_pos_indep_odo.phi, 0, 'f', 1));
 589                         robotEstPosIndepOdo->moveRobot(orte.est_pos_indep_odo.x,
 590                                 orte.est_pos_indep_odo.y, orte.est_pos_indep_odo.phi);
 591                         trailPosIndepOdo->addPoint(QPointF(orte.est_pos_indep_odo.x,
 592                                               orte.est_pos_indep_odo.y));
 593                         break;
 594                 case QEVENT(QEV_ESTIMATED_POSITION_ODO):
 595                         robotEstPosOdo->moveRobot(orte.est_pos_odo.x,
 596                                         orte.est_pos_odo.y, orte.est_pos_odo.phi);
 597                         trailOdoPos->addPoint(QPointF(orte.est_pos_odo.x,
 598                                               orte.est_pos_odo.y));
 599                         break;
 600                 case QEVENT(QEV_ESTIMATED_POSITION_BEST):
 601                         robotEstPosBest->moveRobot(orte.est_pos_best.x,
 602                                         orte.est_pos_best.y, orte.est_pos_best.phi);
 603                         trailEstPosBest->addPoint(QPointF(orte.est_pos_best.x,
 604                                               orte.est_pos_best.y));
 605                         hokuyoScan->setPosition(orte.est_pos_best.x,
 606                                                 orte.est_pos_best.y,
 607                                                 orte.est_pos_best.phi);
 608                         break;
 609                 case QEVENT(QEV_POWER_VOLTAGE):
 610                         emit powerVoltageReceivedSignal();
 611                         break;
 612                 case QEVENT(QEV_FSM_MAIN):
 613                         fsm_main_state->setText(orte.fsm_main.state_name);
 614                         break;
 615                 case QEVENT(QEV_FSM_ACT):
 616                         fsm_act_state->setText(orte.fsm_act.state_name);
 617                         break;
 618                 case QEVENT(QEV_FSM_MOTION):
 619                         fsm_motion_state->setText(orte.fsm_motion.state_name);
 620                         break;
 621                 default:
 622                         if (event->type() == QEvent::Close)
 623                                 closeEvent((QCloseEvent *)event);
 624                         else if (event->type() == QEvent::KeyPress)
 625                                 keyPressEvent((QKeyEvent *)event);
 626                         else if (event->type() == QEvent::KeyRelease)
 627                                 keyReleaseEvent((QKeyEvent *)event);
 628                         else if (event->type() == QEvent::FocusIn)
 629                                 grabKeyboard();
 630                         else if (event->type() == QEvent::FocusOut)
 631                                 releaseKeyboard();
 632                         else {
 633                                 event->ignore();
 634                                 return false;
 635                         }
 636                         break;
 637         }
 638         event->accept();
 639         return true;
 640 }
 641
 642 void RobomonAtlantis::keyPressEvent(QKeyEvent *event)
 643 {
 644         double peak, gain;
 645
 646         if (event->isAutoRepeat()) {
 647                 switch (event->key()) {
 648                         case Qt::Key_Down:
 649                                 peak = leftMotorSlider->minimum()/2;
 650                                 if (leftMotorValue < peak ||
 651                                         rightMotorValue < peak)
 652                                         gain = 1.01;
 653                                 else
 654                                         gain = 1.3;
 655                                 leftMotorValue *= gain;
 656                                 rightMotorValue *= gain;
 657                                 leftMotorSlider->setValue((int)leftMotorValue);
 658                                 rightMotorSlider->setValue((int)rightMotorValue);
 659                                 break;
 660
 661                         case Qt::Key_Up:
 662                         case Qt::Key_Left:
 663                         case Qt::Key_Right:
 664                                 peak = leftMotorSlider->maximum()/2;
 665                                 if (leftMotorValue > peak ||
 666                                         rightMotorValue > peak)
 667                                         gain = 1.01;
 668                                 else
 669                                         gain = 1.3;
 670                                 leftMotorValue *= gain;
 671                                 rightMotorValue *= gain;
 672                                 leftMotorSlider->setValue((int)leftMotorValue);
 673                                 rightMotorSlider->setValue((int)rightMotorValue);
 674                                 break;
 675
 676                         default:
 677                                 event->ignore();
 678                                 break;
 679                 }
 680                 return;
 681         }
 682
 683         switch (event->key()) {
 684                 case Qt::Key_Up:
 685                         leftMotorValue = 1;
 686                         rightMotorValue = 1;
 687                         bothMotorsCheckBox->setChecked(true);
 688                         leftMotorSlider->setValue((int)leftMotorValue);
 689                         setLeftMotor((int)leftMotorValue);
 690                         break;
 691                 case Qt::Key_Down:
 692                         leftMotorValue = -1;
 693                         rightMotorValue = -1;
 694                         bothMotorsCheckBox->setChecked(true);
 695                         leftMotorSlider->setValue((int)leftMotorValue);
 696                         setLeftMotor((int)leftMotorValue);
 697                         break;
 698                 case Qt::Key_Left:
 699                         leftMotorValue = -1;
 700                         rightMotorValue = 1;
 701                         leftMotorSlider->setValue((int)leftMotorValue);
 702                         rightMotorSlider->setValue((int)rightMotorValue);
 703                         setLeftMotor((int)leftMotorValue);
 704                         setRightMotor((int)leftMotorValue);
 705                         break;
 706                 case Qt::Key_Right:
 707                         leftMotorValue = 1;
 708                         rightMotorValue = -1;
 709                         leftMotorSlider->setValue((int)leftMotorValue);
 710                         rightMotorSlider->setValue((int)rightMotorValue);
 711                         setLeftMotor((int)leftMotorValue);
 712                         setRightMotor((int)rightMotorValue);
 713                         break;
 714                 default:
 715                         event->ignore();
 716                         break;
 717         }
 718         event->accept();
 719 }
 720
 721 void RobomonAtlantis::keyReleaseEvent(QKeyEvent *event)
 722 {
 723         if (event->isAutoRepeat()) {
 724                 event->ignore();
 725                 return;
 726         }
 727
 728         switch (event->key()) {
 729                 case Qt::Key_Up:
 730                 case Qt::Key_Down:
 731                 case Qt::Key_Left:
 732                 case Qt::Key_Right:
 733                         leftMotorValue = 0;
 734                         rightMotorValue = 0;
 735                         bothMotorsCheckBox->setChecked(false);
 736                         leftMotorSlider->setValue((int)leftMotorValue);
 737                         rightMotorSlider->setValue((int)rightMotorValue);
 738                         break;
 739                 default:
 740                         event->ignore();
 741                         break;
 742         }
 743         event->accept();
 744 }
 745
 746 void RobomonAtlantis::closeEvent(QCloseEvent *)
 747 {
 748         robottype_roboorte_destroy(&orte);
 749 }
 750
 751 /**********************************************************************
 752  * ORTE
 753  **********************************************************************/
 754 void RobomonAtlantis::createOrte()
 755 {
 756         int rv;
 757
 758         orte.strength = 11;
 759
 760         rv = robottype_roboorte_init(&orte);
 761         if (rv) {
 762                 printf("RobomonAtlantis: Unable to initialize ORTE\n");
 763         }
 764
 765         /* publishers */
 766         robottype_publisher_motion_speed_create(&orte, dummy_publisher_callback, NULL);
 767
 768         robottype_publisher_pwr_ctrl_create(&orte, dummy_publisher_callback, NULL);
 769         robottype_publisher_robot_cmd_create(&orte, NULL, &orte);
 770
 771         /* subscribers */
 772         robottype_subscriber_pwr_voltage_create(&orte,
 773                                 receivePowerVoltageCallBack, this);
 774         robottype_subscriber_motion_status_create(&orte,
 775                                 receiveMotionStatusCallBack, this);
 776         robottype_subscriber_ref_pos_create(&orte,
 777                                 receiveActualPositionCallBack, this);
 778         robottype_subscriber_est_pos_odo_create(&orte,
 779                         generic_rcv_cb, new OrteCallbackInfo(this, QEV_ESTIMATED_POSITION_ODO));
 780         robottype_subscriber_est_pos_indep_odo_create(&orte,
 781                         generic_rcv_cb, new OrteCallbackInfo(this, QEV_ESTIMATED_POSITION_INDEP_ODO));
 782         robottype_subscriber_est_pos_best_create(&orte,
 783                         generic_rcv_cb, new OrteCallbackInfo(this, QEV_ESTIMATED_POSITION_BEST));
 784         robottype_subscriber_hokuyo_scan_create(&orte,
 785                         generic_rcv_cb, new OrteCallbackInfo(this, QEV_HOKUYO_SCAN));
 786         robottype_subscriber_fsm_main_create(&orte,
 787                                              rcv_fsm_main_cb, this);
 788         robottype_subscriber_fsm_motion_create(&orte,
 789                                              rcv_fsm_motion_cb, this);
 790         robottype_subscriber_fsm_act_create(&orte,
 791                                              rcv_fsm_act_cb, this);
 792
 793         /* motors */
 794         orte.motion_speed.left = 0;
 795         orte.motion_speed.right = 0;
 796
 797         /* power management */
 798         orte.pwr_ctrl.voltage33 = true;
 799         orte.pwr_ctrl.voltage50 = true;
 800         orte.pwr_ctrl.voltage80 = true;
 801         voltage33CheckBox->setChecked(true);
 802         voltage50CheckBox->setChecked(true);
 803         voltage80CheckBox->setChecked(true);
 804
 805         act_init(&orte);
 806
 807         /* set actions to do when we receive data from orte */
 808         connect(this, SIGNAL(motionStatusReceivedSignal()),
 809                         this, SLOT(motionStatusReceived()));
 810         connect(this, SIGNAL(actualPositionReceivedSignal()),
 811                         this, SLOT(actualPositionReceived()));
 812         connect(this, SIGNAL(powerVoltageReceivedSignal()),
 813                         this, SLOT(powerVoltageReceived()));
 814 }
 815
 816 void RobomonAtlantis::motionStatusReceived()
 817 {
 818         WDBG("ORTE received: motion status");
 819 }
 820
 821 void RobomonAtlantis::actualPositionReceived()
 822 {
 823         actPosX->setText(QString("%1").arg(orte.ref_pos.x, 0, 'f', 3));
 824         actPosY->setText(QString("%1").arg(orte.ref_pos.y, 0, 'f', 3));
 825         actPosPhi->setText(QString("%1(%2)")
 826                         .arg(DEGREES(orte.ref_pos.phi), 0, 'f', 0)
 827                         .arg(orte.ref_pos.phi, 0, 'f', 1));
 828         robotRefPos->moveRobot(orte.ref_pos.x,
 829                 orte.ref_pos.y, orte.ref_pos.phi);
 830         trailRefPos->addPoint(QPointF(orte.ref_pos.x, orte.ref_pos.y));
 831 }
 832
 833 void RobomonAtlantis::powerVoltageReceived()
 834 {
 835         voltage33LineEdit->setText(QString("%1").arg(
 836                         orte.pwr_voltage.voltage33, 0, 'f', 3));
 837         voltage50LineEdit->setText(QString("%1").arg(
 838                         orte.pwr_voltage.voltage50, 0, 'f', 3));
 839         voltage80LineEdit->setText(QString("%1").arg(
 840                         orte.pwr_voltage.voltage80, 0, 'f', 3));
 841         voltageBATLineEdit->setText(QString("%1").arg(
 842                         orte.pwr_voltage.voltageBAT, 0, 'f', 3));
 843
 844 }
 845
 846 /**********************************************************************
 847  * MISCELLANEOUS
 848  **********************************************************************/
 849 void RobomonAtlantis::openSharedMemory()
 850 {
 851         int segmentId;
 852         int sharedSegmentSize;
 853
 854         if (sharedMemoryOpened)
 855                 return;
 856
 857         sharedSegmentSize = sizeof(unsigned int) * MAP_WIDTH * MAP_HEIGHT;
 858
 859         /* Get segment identificator in a read only mode  */
 860         segmentId = shmget(SHM_MAP_KEY, sharedSegmentSize, S_IRUSR);
 861         if(segmentId == -1) {
 862                 QMessageBox::critical(this, "robomon",
 863                                 "Unable to open shared memory segment!");
 864                 return;
 865         }
 866
 867         /* Init Shmap */
 868         ShmapInit(0);
 869
 870         /* Attach the shared memory segment */
 871         //map =  (_Map*)shmat (segmentId, (void*) 0, 0);
 872
 873         sharedMemoryOpened = true;
 874 }
 875
 876 double RobomonAtlantis::distanceToWallHokuyo(int beamnum)
 877 {
 878         double distance=4.0, min_distance=4.0;
 879         int i,j;
 880         Point wall;
 881         struct map *map = ShmapIsMapInit();
 882
 883         if (!map) return min_distance;
 884
 885         // Simulate obstacles
 886         for(j=0;j<MAP_HEIGHT;j++) {
 887                 for (i=0;i<MAP_WIDTH;i++) {
 888                         struct map_cell *cell = &map->cells[j][i];
 889                         if( cell->flags & MAP_FLAG_SIMULATED_WALL) {
 890                                 // WALL
 891                                 ShmapCell2Point(i, j, &wall.x, &wall.y);
 892
 893                                 distance = distanceToObstacleHokuyo(beamnum, wall, MAP_CELL_SIZE_M);
 894                                 if (distance<min_distance) min_distance = distance;
 895                         }
 896                 }
 897         }
 898
 899         return min_distance;
 900 }
 901
 902 /**
 903  * Calculation for Hokuyo simulation. Calculates distance that would
 904  * be returned by Hokuyo sensors, if there is only one obstacle (as
 905  * specified by parameters).
 906  *
 907  * @param beamnum Hokuyo's bean number [0..HOKUYO_CLUSTER_CNT]
 908  * @param obstacle Position of the obstacle (x, y in meters).
 909  * @param obstacleSize Size (diameter) of the obstacle in meters.
 910  *
 911  * @return Distance measured by sensors in meters.
 912  */
 913 double RobomonAtlantis::distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize)
 914 {
 915         struct robot_pos_type e = orte.est_pos_best;
 916         double sensor_a;
 917         struct sharp_pos s;
 918
 919         s.x = HOKUYO_CENTER_OFFSET_M;
 920         s.y = 0.0;
 921         s.ang = HOKUYO_INDEX_TO_RAD(beamnum);
 922
 923         Point sensor(e.x + s.x*cos(e.phi) - s.y*sin(e.phi),
 924                      e.y + s.x*sin(e.phi) + s.y*cos(e.phi));
 925         sensor_a = e.phi + s.ang;
 926
 927         const double sensorRange = 4.0; /*[meters]*/
 928
 929         double distance, angle;
 930
 931         angle = sensor.angleTo(obstacle) - sensor_a;
 932         angle = fmod(angle, 2.0*M_PI);
 933         if (angle > +M_PI) angle -= 2.0*M_PI;
 934         if (angle < -M_PI) angle += 2.0*M_PI;
 935         angle = fabs(angle);
 936         distance = sensor.distanceTo(obstacle) - obstacleSize/2.0;
 937         if (angle < atan(obstacleSize/2.0 / distance)) {
 938                 // We can see the obstackle from here.
 939                 if (angle < M_PI/2.0) {
 940                     distance = distance/cos(angle);
 941                 }
 942                 if (distance > sensorRange)
 943                         distance = sensorRange;
 944         } else {
 945                 distance = sensorRange;
 946         }
 947
 948         return distance;
 949 }
 950
 951 void RobomonAtlantis::sendStart(int plug)
 952 {
 953         orte.robot_cmd.start = plug ? 0 : 1;
 954         ORTEPublicationSend(orte.publication_robot_cmd);
 955 }
 956
 957 void RobomonAtlantis::resetTrails()
 958 {
 959         trailRefPos->reset();
 960         trailEstPosBest->reset();
 961         trailPosIndepOdo->reset();
 962         trailOdoPos->reset();
 963 }
 964
 965 void RobomonAtlantis::showTrails(bool show)
 966 {
 967         trailRefPos->setVisible(show && robotRefPos->isVisible());
 968         trailEstPosBest->setVisible(show && robotEstPosBest->isVisible());
 969         trailPosIndepOdo->setVisible(show && robotEstPosIndepOdo->isVisible());
 970         trailOdoPos->setVisible(show && robotEstPosOdo->isVisible());
 971 }