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         createMap();
  69
  70 //      connect(vidle, SIGNAL(valueChanged(int)),
  71 //              robotEstPosBest, SLOT(setVidle(int)));
  72
  73         setFocusPolicy(Qt::StrongFocus);
  74         sharedMemoryOpened = false;
  75         WDBG("Youuuhouuuu!!");
  76 }
  77
  78 /**********************************************************************
  79  * GUI
  80  **********************************************************************/
  81 void RobomonAtlantis::createLeftLayout()
  82 {
  83         leftLayout = new QVBoxLayout();
  84
  85         createDebugGroupBox();
  86         debugWindowEnabled = true;
  87         createPlaygroundGroupBox();
  88         leftLayout->addWidget(playgroundGroupBox);
  89         //leftLayout->addWidget(debugGroupBox); // FIXME: move this to separate tab
  90 }
  91
  92 void RobomonAtlantis::createRightLayout()
  93 {
  94         rightLayout = new QVBoxLayout();
  95
  96         createPositionGroupBox();
  97         createMiscGroupBox();
  98         createFSMGroupBox();
  99         createActuatorsGroupBox();
 100         createPowerGroupBox();
 101
 102         rightLayout->addWidget(positionGroupBox);
 103         rightLayout->addWidget(miscGroupBox);
 104         rightLayout->addWidget(fsmGroupBox);
 105         rightLayout->addWidget(powerGroupBox);
 106         rightLayout->addWidget(actuatorsGroupBox);
 107 }
 108
 109 void RobomonAtlantis::createPlaygroundGroupBox()
 110 {
 111         playgroundGroupBox = new QGroupBox(tr("Playground"));
 112         QHBoxLayout *layout = new QHBoxLayout();
 113
 114         playgroundScene = new PlaygroundScene();
 115         playgroundSceneView = new PlaygroundView(playgroundScene);
 116         //playgroundSceneView->setMinimumWidth(630);
 117         //playgroundSceneView->setMinimumHeight(445);
 118         playgroundSceneView->setMatrix(QMatrix(1,0,0,-1,0,0), true);
 119         playgroundSceneView->fitInView(playgroundScene->itemsBoundingRect());
 120         playgroundSceneView->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
 121         playgroundSceneView->setMouseTracking(true);
 122         layout->addWidget(playgroundSceneView);
 123
 124         playgroundGroupBox->setLayout(layout);
 125 }
 126
 127 void RobomonAtlantis::createPositionGroupBox()
 128 {
 129         positionGroupBox = new QGroupBox(tr("Position state"));
 130         positionGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Expanding);
 131         QGridLayout *layout = new QGridLayout();
 132
 133         actPosX = new QLineEdit();
 134         actPosY = new QLineEdit();
 135         actPosPhi = new QLineEdit();
 136
 137         estPosX = new QLineEdit();
 138         estPosY = new QLineEdit();
 139         estPosPhi = new QLineEdit();
 140
 141         actPosX->setReadOnly(true);
 142         actPosY->setReadOnly(true);
 143         actPosPhi->setReadOnly(true);
 144
 145         estPosX->setReadOnly(true);
 146         estPosY->setReadOnly(true);
 147         estPosPhi->setReadOnly(true);
 148
 149         layout->addWidget(MiscGui::createLabel("X"), 1, 0);
 150         layout->addWidget(MiscGui::createLabel("Y"), 2, 0);
 151         layout->addWidget(MiscGui::createLabel("Phi"), 3, 0);
 152
 153         layout->addWidget(MiscGui::createLabel("X"), 5, 0);
 154         layout->addWidget(MiscGui::createLabel("Y"), 6, 0);
 155         layout->addWidget(MiscGui::createLabel("Phi"), 7, 0);
 156
 157         layout->addWidget(MiscGui::createLabel("Reference", Qt::AlignLeft), 0, 1);
 158         layout->addWidget(actPosX, 1, 1);
 159         layout->addWidget(actPosY, 2, 1);
 160         layout->addWidget(actPosPhi, 3, 1);
 161
 162         layout->addWidget(MiscGui::createLabel("Estimated (indep. odo.)", Qt::AlignLeft), 4, 1);
 163         layout->addWidget(estPosX, 5, 1);
 164         layout->addWidget(estPosY, 6, 1);
 165         layout->addWidget(estPosPhi, 7, 1);
 166
 167         positionGroupBox->setLayout(layout);
 168 }
 169
 170 void RobomonAtlantis::createMiscGroupBox()
 171 {
 172         miscGroupBox = new QGroupBox(tr("Miscellaneous"));
 173         miscGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 174         QGridLayout *layout = new QGridLayout();
 175
 176         obstacleSimulationCheckBox = new QCheckBox(tr("&Obstacle simulation"));
 177         obstacleSimulationCheckBox->setShortcut(tr("o"));
 178         layout->addWidget(obstacleSimulationCheckBox);
 179
 180         startPlug = new QCheckBox("&Start plug");
 181         layout->addWidget(startPlug);
 182
 183         colorChoser = new QCheckBox("&Team color");
 184         layout->addWidget(colorChoser);
 185
 186         strategyButton= new QPushButton(tr("Strategy"));
 187         layout->addWidget(strategyButton);
 188
 189         miscGroupBox->setLayout(layout);
 190 }
 191
 192 void RobomonAtlantis::createFSMGroupBox()
 193 {
 194         fsmGroupBox = new QGroupBox(tr("FSM"));
 195         fsmGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 196         QGridLayout *layout = new QGridLayout();
 197
 198         layout->addWidget(MiscGui::createLabel("Main:"), 1, 0);
 199         fsm_main_state = new QLabel();
 200         fsm_main_state->setMinimumWidth(100);
 201         fsm_main_state->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
 202         layout->addWidget(fsm_main_state, 1, 1);
 203
 204         layout->addWidget(MiscGui::createLabel("Act:"), 2, 0);
 205         fsm_act_state = new QLabel();
 206         layout->addWidget(fsm_act_state, 2, 1);
 207
 208         layout->addWidget(MiscGui::createLabel("Motion:"), 3, 0);
 209         fsm_motion_state = new QLabel();
 210         layout->addWidget(fsm_motion_state, 3, 1);
 211
 212         fsmGroupBox->setLayout(layout);
 213 }
 214
 215 void RobomonAtlantis::createDebugGroupBox()
 216 {
 217         debugGroupBox = new QGroupBox(tr("Debug window"));
 218         debugGroupBox->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Maximum);
 219         QHBoxLayout *layout = new QHBoxLayout();
 220
 221         debugWindow = new QTextEdit();
 222         debugWindow->setReadOnly(true);
 223
 224         layout->addWidget(debugWindow);
 225         debugGroupBox->setLayout(layout);
 226 }
 227
 228 void RobomonAtlantis::createActuatorsGroupBox()
 229 {
 230         actuatorsGroupBox = new QGroupBox(tr("Actuators"));
 231         actuatorsGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred);
 232         QHBoxLayout *layout = new QHBoxLayout();
 233 //      vidle = new QDial();
 234
 235 //      vidle->setMinimum(VIDLE_VYSIP);
 236 //      vidle->setMaximum((VIDLE_UP-VIDLE_VYSIP)+VIDLE_VYSIP);
 237 //      vidle->setEnabled(true);
 238
 239         //createMotorsGroupBox();
 240
 241         layout->setAlignment(Qt::AlignLeft);
 242 //      layout->addWidget(vidle);
 243         //layout->addWidget(enginesGroupBox);
 244         actuatorsGroupBox->setLayout(layout);
 245 }
 246
 247 void RobomonAtlantis::createPowerGroupBox()
 248 {
 249         powerGroupBox = new QGroupBox(tr("Power management"));
 250         powerGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 251         QGridLayout *layout = new QGridLayout();
 252
 253         voltage33CheckBox = new QCheckBox(tr("&3.3V"));
 254         voltage50CheckBox = new QCheckBox(tr("&5.0V"));
 255         voltage80CheckBox = new QCheckBox(tr("&8.0V"));
 256
 257         voltage33CheckBox->setShortcut(tr("3"));
 258         voltage50CheckBox->setShortcut(tr("5"));
 259         voltage80CheckBox->setShortcut(tr("8"));
 260
 261         layout->addWidget(voltage33CheckBox, 0, 0);
 262         layout->addWidget(voltage50CheckBox, 1, 0);
 263         layout->addWidget(voltage80CheckBox, 2, 0);
 264         layout->addWidget(MiscGui::createLabel("BAT"), 3, 0);
 265
 266         voltage33LineEdit = new QLineEdit();
 267         voltage50LineEdit = new QLineEdit();
 268         voltage80LineEdit = new QLineEdit();
 269         voltageBATLineEdit = new QLineEdit();
 270
 271         voltage33LineEdit->setReadOnly(true);
 272         voltage50LineEdit->setReadOnly(true);
 273         voltage80LineEdit->setReadOnly(true);
 274         voltageBATLineEdit->setReadOnly(true);
 275
 276         layout->addWidget(voltage33LineEdit, 0, 1);
 277         layout->addWidget(voltage50LineEdit, 1, 1);
 278         layout->addWidget(voltage80LineEdit, 2, 1);
 279         layout->addWidget(voltageBATLineEdit, 3, 1);
 280
 281         powerGroupBox->setLayout(layout);
 282 }
 283
 284 void RobomonAtlantis::createRobots()
 285 {
 286         robotRefPos = new Robot("Ref", QPen(Qt::darkBlue), QBrush(Qt::NoBrush));
 287         robotRefPos->setZValue(11);
 288         trailRefPos = new Trail(QPen(Qt::darkBlue));
 289         trailRefPos->setZValue(11);
 290
 291         robotEstPosBest = new Robot("Est", QPen(), QBrush(Qt::darkGray));
 292         robotEstPosBest->setZValue(10);
 293         trailEstPosBest = new Trail(QPen());
 294         trailEstPosBest->setZValue(10);
 295
 296         robotEstPosOdo = new Robot("Mot", QPen(Qt::white), QBrush(Qt::darkRed));
 297         robotEstPosOdo->setZValue(10);
 298         trailOdoPos = new Trail(QPen(Qt::red));
 299         trailOdoPos->setZValue(10);
 300
 301         robotEstPosIndepOdo = new Robot("Odo", QPen(Qt::white), QBrush(Qt::darkGreen));
 302         robotEstPosIndepOdo->setZValue(10);
 303         trailPosIndepOdo = new Trail(QPen(Qt::green));
 304         trailPosIndepOdo->setZValue(10);
 305
 306         playgroundScene->addItem(robotRefPos);
 307         playgroundScene->addItem(robotEstPosBest);
 308         playgroundScene->addItem(robotEstPosIndepOdo);
 309         playgroundScene->addItem(robotEstPosOdo);
 310
 311         showTrails(false);
 312
 313         playgroundScene->addItem(trailRefPos);
 314         playgroundScene->addItem(trailPosIndepOdo);
 315         playgroundScene->addItem(trailOdoPos);
 316
 317         hokuyoScan = new HokuyoScan();
 318         hokuyoScan->setZValue(10);
 319         playgroundScene->addItem(hokuyoScan);
 320
 321 }
 322
 323 void RobomonAtlantis::createMap()
 324 {
 325         mapImage = new Map();
 326         mapImage->setZValue(5);
 327         mapImage->setTransform(QTransform().scale(MAP_CELL_SIZE_MM, MAP_CELL_SIZE_MM), true);
 328
 329
 330         playgroundScene->addItem(mapImage);
 331 }
 332
 333 /**********************************************************************
 334  * GUI actions
 335  **********************************************************************/
 336 void RobomonAtlantis::createActions()
 337 {
 338         /* power management */
 339         connect(voltage33CheckBox, SIGNAL(stateChanged(int)),
 340                         this, SLOT(setVoltage33(int)));
 341         connect(voltage50CheckBox, SIGNAL(stateChanged(int)),
 342                         this, SLOT(setVoltage50(int)));
 343         connect(voltage80CheckBox, SIGNAL(stateChanged(int)),
 344                         this, SLOT(setVoltage80(int)));
 345
 346         /* motors */
 347 //      connect(leftMotorSlider, SIGNAL(valueChanged(int)),
 348 //                      this, SLOT(setLeftMotor(int)));
 349 //      connect(rightMotorSlider, SIGNAL(valueChanged(int)),
 350 //                      this, SLOT(setRightMotor(int)));
 351 //      connect(stopMotorsPushButton, SIGNAL(clicked()),
 352 //                      this, SLOT(stopMotors()));
 353
 354         connect(startPlug, SIGNAL(stateChanged(int)), this, SLOT(sendStart(int)));
 355         connect(colorChoser, SIGNAL(stateChanged(int)), this, SLOT(setTeamColor(int)));
 356         connect(strategyButton, SIGNAL(pressed()), this, SLOT(changeStrategy_1()));
 357         connect(strategyButton, SIGNAL(released()), this, SLOT(changeStrategy_0()));
 358
 359         /* obstacle simulation */
 360         simulationEnabled = 0;
 361         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 362                         this, SLOT(setSimulation(int)));
 363         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 364                         this, SLOT(setObstacleSimulation(int)));
 365         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 366                         playgroundScene, SLOT(showObstacle(int)));
 367         connect(playgroundScene, SIGNAL(obstacleChanged(QPointF)),
 368                         this, SLOT(changeObstacle(QPointF)));
 369 }
 370
 371 void RobomonAtlantis::changeStrategy_1()
 372 {
 373         orte.robot_switches.strategy = true;
 374         ORTEPublicationSend(orte.publication_robot_switches);
 375 }
 376
 377 void RobomonAtlantis::changeStrategy_0()
 378 {
 379         orte.robot_switches.strategy = false;
 380         ORTEPublicationSend(orte.publication_robot_switches);
 381 }
 382
 383 void RobomonAtlantis::setVoltage33(int state)
 384 {
 385         if (state)
 386                 orte.pwr_ctrl.voltage33 = true;
 387         else
 388                 orte.pwr_ctrl.voltage33 = false;
 389 }
 390
 391 void RobomonAtlantis::setVoltage50(int state)
 392 {
 393         if (state)
 394                 orte.pwr_ctrl.voltage50 = true;
 395         else
 396                 orte.pwr_ctrl.voltage50 = false;
 397 }
 398
 399 void RobomonAtlantis::setVoltage80(int state)
 400 {
 401         if (state)
 402                 orte.pwr_ctrl.voltage80 = true;
 403         else
 404                 orte.pwr_ctrl.voltage80 = false;
 405 }
 406
 407 // void RobomonAtlantis::setLeftMotor(int value)
 408 // {
 409 //      short int leftMotor;
 410 //      short int rightMotor;
 411
 412 //      if(bothMotorsCheckBox->isChecked())
 413 //              rightMotorSlider->setValue(value);
 414
 415 //      leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
 416 //      rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
 417
 418 //      orte.motion_speed.left = leftMotor;
 419 //      orte.motion_speed.right = rightMotor;
 420
 421 // }
 422
 423 // void RobomonAtlantis::setRightMotor(int value)
 424 // {
 425 //      short int leftMotor;
 426 //      short int rightMotor;
 427
 428 //      if(bothMotorsCheckBox->isChecked())
 429 //              leftMotorSlider->setValue(value);
 430
 431 //      leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
 432 //      rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
 433
 434 //      orte.motion_speed.left = leftMotor;
 435 //      orte.motion_speed.right = rightMotor;
 436
 437 // }
 438
 439 // void RobomonAtlantis::stopMotors()
 440 // {
 441 //      leftMotorSlider->setValue(0);
 442 //      rightMotorSlider->setValue(0);
 443 // }
 444
 445 void RobomonAtlantis::useOpenGL(bool use)
 446 {
 447         playgroundSceneView->useOpenGL(&use);
 448 }
 449
 450 void RobomonAtlantis::showMap(bool show)
 451 {
 452         openSharedMemory();
 453
 454         if (sharedMemoryOpened == false)
 455                 return;
 456
 457         if (show) {
 458                 mapTimer = new QTimer(this);
 459                 connect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
 460                 mapTimer->start(200);
 461         } else {
 462                 if(mapTimer != NULL) {
 463                         mapTimer->stop();
 464                         disconnect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
 465                 }
 466         }
 467         mapImage->setVisible(show);
 468 }
 469
 470 void RobomonAtlantis::paintMap()
 471 {
 472         using namespace Qt;
 473         struct map *map = ShmapIsMapInit();
 474
 475         if (!map) return;
 476
 477         for(int i = 0; i < MAP_WIDTH; i++) {
 478                 for(int j = 0; j < MAP_HEIGHT; j++) {
 479                         QColor color;
 480
 481                         struct map_cell *cell = &map->cells[j][i];
 482                         color = lightGray;
 483
 484                         if ((cell->flags & MAP_FLAG_WALL) &&
 485                             (cell->flags & MAP_FLAG_INVALIDATE_WALL) == 0)
 486                                 color = darkYellow;
 487                         if (cell->flags & MAP_FLAG_IGNORE_OBST)
 488                                 color = darkGreen;
 489                         if (cell->flags & MAP_FLAG_SIMULATED_WALL)
 490                                 color = yellow;
 491                         if (cell->flags & MAP_FLAG_PATH)
 492                                 color = darkRed;
 493                         if (cell->flags & MAP_FLAG_START)
 494                                 color = red;
 495                         if (cell->flags & MAP_FLAG_GOAL)
 496                                 color = green;
 497                         if (cell->flags & MAP_FLAG_PLAN_MARGIN) {
 498                                 QColor c(240, 170, 50); /* orange */
 499                                 color = c;
 500                         }
 501                         if (cell->detected_obstacle) {
 502                                 QColor c1(color), c2(blue);
 503                                 double f = (double)cell->detected_obstacle/MAP_NEW_OBSTACLE*0.7;
 504                                 QColor c(c1.red()   + (int)(f*(c2.red()   - c1.red())),
 505                                          c1.green() + (int)(f*(c2.green() - c1.green())),
 506                                          c1.blue()  + (int)(f*(c2.blue()  - c1.blue())));
 507                                 color = c;
 508                         }
 509                         if (cell->flags & MAP_FLAG_DET_OBST)
 510                                 color = cyan;
 511
 512                         color.setAlpha(200);
 513                         mapImage->setPixelColor(i, MAP_HEIGHT - j - 1, color);
 514                 }
 515         }
 516 }
 517
 518 void RobomonAtlantis::setSimulation(int state)
 519 {
 520         if(state) {
 521                 robottype_publisher_hokuyo_scan_create(&orte, NULL, this);
 522         } else {
 523                 if (!simulationEnabled)
 524                         return;
 525                 robottype_publisher_hokuyo_scan_destroy(&orte);
 526         }
 527         simulationEnabled = state;
 528 }
 529
 530 /*!
 531         \fn RobomonAtlantis::setObstacleSimulation(int state)
 532  */
 533 void RobomonAtlantis::setObstacleSimulation(int state)
 534 {
 535         if (state) {
 536                 /* TODO Maybe it is possible to attach only once to Shmap */
 537                 ShmapInit(0);
 538                 obstacleSimulationTimer = new QTimer(this);
 539                 connect(obstacleSimulationTimer, SIGNAL(timeout()),
 540                         this, SLOT(simulateObstaclesHokuyo()));
 541                 obstacleSimulationTimer->start(100);
 542                 setMouseTracking(true);
 543         } else {
 544                 if (obstacleSimulationTimer)
 545                         delete obstacleSimulationTimer;
 546                 //double distance = 0.8;
 547         }
 548 }
 549
 550
 551 void RobomonAtlantis::simulateObstaclesHokuyo()
 552 {
 553         double distance, wall_distance;
 554         unsigned int i;
 555         uint16_t *hokuyo = orte.hokuyo_scan.data;
 556
 557         for (i=0; i<HOKUYO_ARRAY_SIZE; i++) {
 558                 wall_distance = distanceToWallHokuyo(i);
 559
 560                 distance = distanceToCircularObstacleHokuyo(i, simulatedObstacle, SIM_OBST_SIZE_M);
 561                 if (wall_distance < distance)
 562                         distance = wall_distance;
 563                 hokuyo[i] = distance*1000;
 564         }
 565         ORTEPublicationSend(orte.publication_hokuyo_scan);
 566
 567 }
 568
 569 void RobomonAtlantis::changeObstacle(QPointF position)
 570 {
 571         if (!simulationEnabled) {
 572                 simulationEnabled = 1;
 573                 obstacleSimulationCheckBox->setChecked(true);
 574         }
 575
 576         simulatedObstacle.x = position.x();
 577         simulatedObstacle.y = position.y();
 578         simulateObstaclesHokuyo();
 579 }
 580
 581 /**********************************************************************
 582  * EVENTS
 583  **********************************************************************/
 584 bool RobomonAtlantis::event(QEvent *event)
 585 {
 586         switch (event->type()) {
 587                 case QEVENT(QEV_MOTION_STATUS):
 588                         emit motionStatusReceivedSignal();
 589                         break;
 590                 case QEVENT(QEV_HOKUYO_SCAN):
 591                         hokuyoScan->newScan(&orte.hokuyo_scan);
 592                         break;
 593                 case QEVENT(QEV_JAWS_CMD):
 594                         robotEstPosBest->setJaws(orte.jaws_cmd.req_pos.left);
 595                         robotRefPos->setJaws(orte.jaws_cmd.req_pos.left);
 596                         robotEstPosIndepOdo->setJaws(orte.jaws_cmd.req_pos.left);
 597                         robotEstPosOdo->setJaws(orte.jaws_cmd.req_pos.left);
 598                         break;
 599                 case QEVENT(QEV_REFERENCE_POSITION):
 600                         emit actualPositionReceivedSignal();
 601                         break;
 602                 case QEVENT(QEV_ESTIMATED_POSITION_INDEP_ODO):
 603                         estPosX->setText(QString("%1").arg(orte.est_pos_indep_odo.x, 0, 'f', 3));
 604                         estPosY->setText(QString("%1").arg(orte.est_pos_indep_odo.y, 0, 'f', 3));
 605                         estPosPhi->setText(QString("%1(%2)")
 606                                         .arg(DEGREES(orte.est_pos_indep_odo.phi), 0, 'f', 0)
 607                                         .arg(orte.est_pos_indep_odo.phi, 0, 'f', 1));
 608                         robotEstPosIndepOdo->moveRobot(orte.est_pos_indep_odo.x,
 609                                 orte.est_pos_indep_odo.y, orte.est_pos_indep_odo.phi);
 610                         trailPosIndepOdo->addPoint(QPointF(orte.est_pos_indep_odo.x,
 611                                               orte.est_pos_indep_odo.y));
 612                         break;
 613                 case QEVENT(QEV_ESTIMATED_POSITION_ODO):
 614                         robotEstPosOdo->moveRobot(orte.est_pos_odo.x,
 615                                         orte.est_pos_odo.y, orte.est_pos_odo.phi);
 616                         trailOdoPos->addPoint(QPointF(orte.est_pos_odo.x,
 617                                               orte.est_pos_odo.y));
 618                         break;
 619                 case QEVENT(QEV_ESTIMATED_POSITION_BEST):
 620                         robotEstPosBest->moveRobot(orte.est_pos_best.x,
 621                                         orte.est_pos_best.y, orte.est_pos_best.phi);
 622                         trailEstPosBest->addPoint(QPointF(orte.est_pos_best.x,
 623                                               orte.est_pos_best.y));
 624                         hokuyoScan->setPosition(orte.est_pos_best.x,
 625                                                 orte.est_pos_best.y,
 626                                                 orte.est_pos_best.phi);
 627                         break;
 628                 case QEVENT(QEV_POWER_VOLTAGE):
 629                         emit powerVoltageReceivedSignal();
 630                         break;
 631                 case QEVENT(QEV_FSM_MAIN):
 632                         fsm_main_state->setText(orte.fsm_main.state_name);
 633                         break;
 634                 case QEVENT(QEV_FSM_ACT):
 635                         fsm_act_state->setText(orte.fsm_act.state_name);
 636                         break;
 637                 case QEVENT(QEV_FSM_MOTION):
 638                         fsm_motion_state->setText(orte.fsm_motion.state_name);
 639                         break;
 640                 default:
 641                         if (event->type() == QEvent::Close)
 642                                 closeEvent((QCloseEvent *)event);
 643                         else if (event->type() == QEvent::KeyPress)
 644                                 keyPressEvent((QKeyEvent *)event);
 645                         else if (event->type() == QEvent::KeyRelease)
 646                                 keyReleaseEvent((QKeyEvent *)event);
 647                         else if (event->type() == QEvent::FocusIn)
 648                                 grabKeyboard();
 649                         else if (event->type() == QEvent::FocusOut)
 650                                 releaseKeyboard();
 651                         else {
 652                                 event->ignore();
 653                                 return false;
 654                         }
 655                         break;
 656         }
 657         event->accept();
 658         return true;
 659 }
 660
 661 void RobomonAtlantis::keyPressEvent(QKeyEvent *event)
 662 {
 663 //      double peak, gain;
 664
 665         if (event->isAutoRepeat()) {
 666                 switch (event->key()) {
 667 //                      case Qt::Key_Down:
 668 //                              peak = leftMotorSlider->minimum()/2;
 669 //                              if (leftMotorValue < peak ||
 670 //                                      rightMotorValue < peak)
 671 //                                      gain = 1.01;
 672 //                              else
 673 //                                      gain = 1.3;
 674 //                              leftMotorValue *= gain;
 675 //                              rightMotorValue *= gain;
 676 //                              leftMotorSlider->setValue((int)leftMotorValue);
 677 //                              rightMotorSlider->setValue((int)rightMotorValue);
 678 //                              break;
 679
 680 //                      case Qt::Key_Up:
 681 //                      case Qt::Key_Left:
 682 //                      case Qt::Key_Right:
 683 //                              peak = leftMotorSlider->maximum()/2;
 684 //                              if (leftMotorValue > peak ||
 685 //                                      rightMotorValue > peak)
 686 //                                      gain = 1.01;
 687 //                              else
 688 //                                      gain = 1.3;
 689 //                              leftMotorValue *= gain;
 690 //                              rightMotorValue *= gain;
 691 //                              leftMotorSlider->setValue((int)leftMotorValue);
 692 //                              rightMotorSlider->setValue((int)rightMotorValue);
 693 //                              break;
 694
 695                         default:
 696                                 event->ignore();
 697                                 break;
 698                 }
 699                 return;
 700         }
 701
 702         switch (event->key()) {
 703 //              case Qt::Key_Up:
 704 //                      leftMotorValue = 1;
 705 //                      rightMotorValue = 1;
 706 //                      bothMotorsCheckBox->setChecked(true);
 707 //                      leftMotorSlider->setValue((int)leftMotorValue);
 708 //                      setLeftMotor((int)leftMotorValue);
 709 //                      break;
 710 //              case Qt::Key_Down:
 711 //                      leftMotorValue = -1;
 712 //                      rightMotorValue = -1;
 713 //                      bothMotorsCheckBox->setChecked(true);
 714 //                      leftMotorSlider->setValue((int)leftMotorValue);
 715 //                      setLeftMotor((int)leftMotorValue);
 716 //                      break;
 717 //              case Qt::Key_Left:
 718 //                      leftMotorValue = -1;
 719 //                      rightMotorValue = 1;
 720 //                      leftMotorSlider->setValue((int)leftMotorValue);
 721 //                      rightMotorSlider->setValue((int)rightMotorValue);
 722 //                      setLeftMotor((int)leftMotorValue);
 723 //                      setRightMotor((int)leftMotorValue);
 724 //                      break;
 725 //              case Qt::Key_Right:
 726 //                      leftMotorValue = 1;
 727 //                      rightMotorValue = -1;
 728 //                      leftMotorSlider->setValue((int)leftMotorValue);
 729 //                      rightMotorSlider->setValue((int)rightMotorValue);
 730 //                      setLeftMotor((int)leftMotorValue);
 731 //                      setRightMotor((int)rightMotorValue);
 732 //                      break;
 733                 default:
 734                         event->ignore();
 735                         break;
 736         }
 737         event->accept();
 738 }
 739
 740 void RobomonAtlantis::keyReleaseEvent(QKeyEvent *event)
 741 {
 742         if (event->isAutoRepeat()) {
 743                 event->ignore();
 744                 return;
 745         }
 746
 747         switch (event->key()) {
 748 //              case Qt::Key_Up:
 749 //              case Qt::Key_Down:
 750 //              case Qt::Key_Left:
 751 //              case Qt::Key_Right:
 752 //                      leftMotorValue = 0;
 753 //                      rightMotorValue = 0;
 754 //                      bothMotorsCheckBox->setChecked(false);
 755 //                      leftMotorSlider->setValue((int)leftMotorValue);
 756 //                      rightMotorSlider->setValue((int)rightMotorValue);
 757 //                      break;
 758                 default:
 759                         event->ignore();
 760                         break;
 761         }
 762         event->accept();
 763 }
 764
 765 void RobomonAtlantis::closeEvent(QCloseEvent *)
 766 {
 767         robottype_roboorte_destroy(&orte);
 768 }
 769
 770 /**********************************************************************
 771  * ORTE
 772  **********************************************************************/
 773 void RobomonAtlantis::createOrte()
 774 {
 775         int rv;
 776
 777         memset(&orte, 0, sizeof(orte));
 778         rv = robottype_roboorte_init(&orte);
 779         if (rv) {
 780                 printf("RobomonAtlantis: Unable to initialize ORTE\n");
 781         }
 782
 783         /* publishers */
 784         robottype_publisher_motion_speed_create(&orte, dummy_publisher_callback, NULL);
 785
 786         robottype_publisher_pwr_ctrl_create(&orte, dummy_publisher_callback, NULL);
 787         robottype_publisher_robot_cmd_create(&orte, NULL, &orte);
 788         robottype_publisher_robot_switches_create(&orte, dummy_publisher_callback, &orte);
 789
 790         /* subscribers */
 791         robottype_subscriber_pwr_voltage_create(&orte,
 792                                 receivePowerVoltageCallBack, this);
 793         robottype_subscriber_motion_status_create(&orte,
 794                                 receiveMotionStatusCallBack, this);
 795         robottype_subscriber_ref_pos_create(&orte,
 796                                 receiveActualPositionCallBack, this);
 797         robottype_subscriber_est_pos_odo_create(&orte,
 798                         generic_rcv_cb, new OrteCallbackInfo(this, QEV_ESTIMATED_POSITION_ODO));
 799         robottype_subscriber_est_pos_indep_odo_create(&orte,
 800                         generic_rcv_cb, new OrteCallbackInfo(this, QEV_ESTIMATED_POSITION_INDEP_ODO));
 801         robottype_subscriber_est_pos_best_create(&orte,
 802                         generic_rcv_cb, new OrteCallbackInfo(this, QEV_ESTIMATED_POSITION_BEST));
 803         robottype_subscriber_hokuyo_scan_create(&orte,
 804                         generic_rcv_cb, new OrteCallbackInfo(this, QEV_HOKUYO_SCAN));
 805         robottype_subscriber_jaws_cmd_create(&orte,
 806                        generic_rcv_cb, new OrteCallbackInfo(this, QEV_JAWS_CMD));
 807         robottype_subscriber_fsm_main_create(&orte,
 808                                              rcv_fsm_main_cb, this);
 809         robottype_subscriber_fsm_motion_create(&orte,
 810                                              rcv_fsm_motion_cb, this);
 811         robottype_subscriber_fsm_act_create(&orte,
 812                                              rcv_fsm_act_cb, this);
 813
 814         /* motors */
 815         orte.motion_speed.left = 0;
 816         orte.motion_speed.right = 0;
 817
 818         /* power management */
 819         orte.pwr_ctrl.voltage33 = true;
 820         orte.pwr_ctrl.voltage50 = true;
 821         orte.pwr_ctrl.voltage80 = true;
 822         voltage33CheckBox->setChecked(true);
 823         voltage50CheckBox->setChecked(true);
 824         voltage80CheckBox->setChecked(true);
 825
 826         act_init(&orte);
 827
 828         /* set actions to do when we receive data from orte */
 829         connect(this, SIGNAL(motionStatusReceivedSignal()),
 830                         this, SLOT(motionStatusReceived()));
 831         connect(this, SIGNAL(actualPositionReceivedSignal()),
 832                         this, SLOT(actualPositionReceived()));
 833         connect(this, SIGNAL(powerVoltageReceivedSignal()),
 834                         this, SLOT(powerVoltageReceived()));
 835 }
 836
 837 void RobomonAtlantis::motionStatusReceived()
 838 {
 839         WDBG("ORTE received: motion status");
 840 }
 841
 842 void RobomonAtlantis::actualPositionReceived()
 843 {
 844         actPosX->setText(QString("%1").arg(orte.ref_pos.x, 0, 'f', 3));
 845         actPosY->setText(QString("%1").arg(orte.ref_pos.y, 0, 'f', 3));
 846         actPosPhi->setText(QString("%1(%2)")
 847                         .arg(DEGREES(orte.ref_pos.phi), 0, 'f', 0)
 848                         .arg(orte.ref_pos.phi, 0, 'f', 1));
 849         robotRefPos->moveRobot(orte.ref_pos.x,
 850                 orte.ref_pos.y, orte.ref_pos.phi);
 851         trailRefPos->addPoint(QPointF(orte.ref_pos.x, orte.ref_pos.y));
 852 }
 853
 854 void RobomonAtlantis::powerVoltageReceived()
 855 {
 856         voltage33LineEdit->setText(QString("%1").arg(
 857                         orte.pwr_voltage.voltage33, 0, 'f', 3));
 858         voltage50LineEdit->setText(QString("%1").arg(
 859                         orte.pwr_voltage.voltage50, 0, 'f', 3));
 860         voltage80LineEdit->setText(QString("%1").arg(
 861                         orte.pwr_voltage.voltage80, 0, 'f', 3));
 862         voltageBATLineEdit->setText(QString("%1").arg(
 863                         orte.pwr_voltage.voltageBAT, 0, 'f', 3));
 864
 865 }
 866
 867 /**********************************************************************
 868  * MISCELLANEOUS
 869  **********************************************************************/
 870 void RobomonAtlantis::openSharedMemory()
 871 {
 872         int segmentId;
 873         int sharedSegmentSize;
 874
 875         if (sharedMemoryOpened)
 876                 return;
 877
 878         sharedSegmentSize = sizeof(unsigned int) * MAP_WIDTH * MAP_HEIGHT;
 879
 880         /* Get segment identificator in a read only mode  */
 881         segmentId = shmget(SHM_MAP_KEY, sharedSegmentSize, S_IRUSR);
 882         if(segmentId == -1) {
 883                 QMessageBox::critical(this, "robomon",
 884                                 "Unable to open shared memory segment!");
 885                 return;
 886         }
 887
 888         /* Init Shmap */
 889         ShmapInit(0);
 890
 891         /* Attach the shared memory segment */
 892         //map =  (_Map*)shmat (segmentId, (void*) 0, 0);
 893
 894         sharedMemoryOpened = true;
 895 }
 896
 897 double RobomonAtlantis::distanceToWallHokuyo(int beamnum)
 898 {
 899         double distance=4.0, min_distance=4.0;
 900         int i,j;
 901         Point wall;
 902         struct map *map = ShmapIsMapInit();
 903
 904         if (!map) return min_distance;
 905
 906         // Simulate obstacles
 907         for(j=0;j<MAP_HEIGHT;j++) {
 908                 for (i=0;i<MAP_WIDTH;i++) {
 909                         struct map_cell *cell = &map->cells[j][i];
 910                         if( cell->flags & MAP_FLAG_SIMULATED_WALL) {
 911                                 // WALL
 912                                 ShmapCell2Point(i, j, &wall.x, &wall.y);
 913
 914                                 distance = distanceToObstacleHokuyo(beamnum, wall, MAP_CELL_SIZE_M);
 915                                 if (distance<min_distance) min_distance = distance;
 916                         }
 917                 }
 918         }
 919
 920         return min_distance;
 921 }
 922
 923 double RobomonAtlantis::distanceToCircularObstacleHokuyo(int beamnum, Point center, double diameter)
 924 {
 925         struct robot_pos_type e = orte.est_pos_best;
 926         double sensor_a;
 927         struct sharp_pos s;
 928
 929         s.x = HOKUYO_CENTER_OFFSET_M;
 930         s.y = 0.0;
 931         s.ang = HOKUYO_INDEX_TO_RAD(beamnum);
 932
 933         Point sensor(e.x + s.x*cos(e.phi) - s.y*sin(e.phi),
 934                      e.y + s.x*sin(e.phi) + s.y*cos(e.phi));
 935         sensor_a = e.phi + s.ang;
 936
 937         const double sensorRange = 4.0; /*[meters]*/
 938
 939         double distance = sensorRange;
 940         double angle;
 941
 942         angle = sensor.angleTo(center) - sensor_a;
 943         angle = fmod(angle, 2.0*M_PI);
 944         if (angle > +M_PI) angle -= 2.0*M_PI;
 945         if (angle < -M_PI) angle += 2.0*M_PI;
 946         angle = fabs(angle);
 947
 948         double k = tan(sensor_a);
 949         double r = diameter / 2.0;
 950
 951         double A = 1 + k*k;
 952         double B = 2 * (sensor.y*k - center.x - k*k*sensor.x - center.y*k);
 953         double C = center.x*center.x + center.y*center.y +
 954                 k*k*sensor.x*sensor.x - 2*sensor.y*k*sensor.x +
 955                 sensor.y*sensor.y + 2*k*sensor.x*center.y -
 956                 2*sensor.y*center.y - r*r;
 957
 958         double D = B*B - 4*A*C;
 959
 960         if (D > 0) {
 961                 Point ob1, ob2;
 962
 963                 ob1.x = (-B + sqrt(D)) / (2*A);
 964                 ob2.x = (-B - sqrt(D)) / (2*A);
 965                 ob1.y = k * (ob1.x - sensor.x) + sensor.y;
 966                 ob2.y = k * (ob2.x - sensor.x) + sensor.y;
 967
 968                 double distance1 = sensor.distanceTo(ob1);
 969                 double distance2 = sensor.distanceTo(ob2);
 970                 distance = (distance1 < distance2) ? distance1 : distance2;
 971         } else if (D == 0) {
 972                 Point ob;
 973                 ob.x = -B / (2*A);
 974                 ob.y = k * (ob.x - sensor.x) + sensor.y;
 975                 distance = sensor.distanceTo(ob);
 976         }
 977         distance = distance + (drand48()-0.5)*3.0e-2;
 978         if (D < 0 || angle > atan(r / distance))
 979                 distance = sensorRange;
 980         if (distance > sensorRange)
 981                 distance = sensorRange;
 982
 983         return distance;
 984 }
 985
 986 /**
 987  * Calculation for Hokuyo simulation. Calculates distance that would
 988  * be returned by Hokuyo sensors, if there is only one obstacle (as
 989  * specified by parameters).
 990  *
 991  * @param beamnum Hokuyo's bean number [0..HOKUYO_CLUSTER_CNT]
 992  * @param obstacle Position of the obstacle (x, y in meters).
 993  * @param obstacleSize Size (diameter) of the obstacle in meters.
 994  *
 995  * @return Distance measured by sensors in meters.
 996  */
 997 double RobomonAtlantis::distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize)
 998 {
 999         struct robot_pos_type e = orte.est_pos_best;
1000         double sensor_a;
1001         struct sharp_pos s;
1002
1003         s.x = HOKUYO_CENTER_OFFSET_M;
1004         s.y = 0.0;
1005         s.ang = HOKUYO_INDEX_TO_RAD(beamnum);
1006
1007         Point sensor(e.x + s.x*cos(e.phi) - s.y*sin(e.phi),
1008                      e.y + s.x*sin(e.phi) + s.y*cos(e.phi));
1009         sensor_a = e.phi + s.ang;
1010
1011         const double sensorRange = 4.0; /*[meters]*/
1012
1013         double distance, angle;
1014
1015         angle = sensor.angleTo(obstacle) - sensor_a;
1016         angle = fmod(angle, 2.0*M_PI);
1017         if (angle > +M_PI) angle -= 2.0*M_PI;
1018         if (angle < -M_PI) angle += 2.0*M_PI;
1019         angle = fabs(angle);
1020         distance = sensor.distanceTo(obstacle) - obstacleSize/2.0;
1021         if (angle < atan(obstacleSize/2.0 / distance)) {
1022                 // We can see the obstackle from here.
1023                 if (angle < M_PI/2.0) {
1024                     distance = distance/cos(angle);
1025                 }
1026                 if (distance > sensorRange)
1027                         distance = sensorRange;
1028         } else {
1029                 distance = sensorRange;
1030         }
1031
1032         return distance;
1033 }
1034
1035 void RobomonAtlantis::sendStart(int plug)
1036 {
1037         orte.robot_cmd.start_condition = plug ? 0 : 1;
1038         ORTEPublicationSend(orte.publication_robot_cmd);
1039 }
1040
1041 void RobomonAtlantis::setTeamColor(int plug)
1042 {
1043         orte.robot_switches.team_color = plug ? 1 : 0;
1044         ORTEPublicationSend(orte.publication_robot_switches);
1045 }
1046
1047 void RobomonAtlantis::resetTrails()
1048 {
1049         trailRefPos->reset();
1050         trailEstPosBest->reset();
1051         trailPosIndepOdo->reset();
1052         trailOdoPos->reset();
1053 }
1054
1055 void RobomonAtlantis::showTrails(bool show)
1056 {
1057         trailRefPos->setVisible(show && robotRefPos->isVisible());
1058         trailEstPosBest->setVisible(show && robotEstPosBest->isVisible());
1059         trailPosIndepOdo->setVisible(show && robotEstPosIndepOdo->isVisible());
1060         trailOdoPos->setVisible(show && robotEstPosOdo->isVisible());
1061 }
1062
1063 void RobomonAtlantis::showShapeDetect(bool show)
1064 {
1065     hokuyoScan->showShapeDetect = show;
1066 }