src/robomon/RobomonAtlantis.h

   1 /*
   2  * RobomonAtlantis.h                    07/10/31
   3  *
   4  * Robot's visualization and control GUI for robot of the
   5  * Eurobot 2008 competition (Mission to Mars).
   6  *
   7  * Copyright: (c) 2008 CTU Dragons
   8  *            CTU FEE - Department of Control Engineering
   9  * Authors: Martin Zidek, Michal Sojka, Tran Duy Khanh
  10  * License: GNU GPL v.2
  11  */
  12
  13 #ifndef ROBOMON_ATLANTIS_H
  14 #define ROBOMON_ATLANTIS_H
  15
  16 #include <QDialog>
  17
  18 #include <trgen.h>
  19 #include "PlaygroundScene.h"
  20 #include "playgroundview.h"
  21 #include "Robot.h"
  22 #include "Map.h"
  23 #include <roboorte_robottype.h>
  24 #include "trail.h"
  25 #include "hokuyoscan.h"
  26
  27 class QHBoxLayout;
  28 class QVBoxLayout;
  29 class QGridLayout;
  30 class QGroupBox;
  31 class QGraphicsView;
  32 class QLabel;
  33 class QPushButton;
  34 class QCheckBox;
  35 class QLineEdit;
  36 class QTextEdit;
  37 class QDial;
  38 class QSlider;
  39 class QProgressBar;
  40 class QFont;
  41 class QImage;
  42
  43 class RobomonAtlantis : public QWidget
  44 {
  45         Q_OBJECT
  46
  47 public:
  48         RobomonAtlantis(QWidget *parent = 0);
  49
  50 protected:
  51         bool event(QEvent *event);
  52         void keyPressEvent(QKeyEvent *event);
  53         void keyReleaseEvent(QKeyEvent *event);
  54         void closeEvent(QCloseEvent *event);
  55
  56 signals:
  57         void motionStatusReceivedSignal();
  58         void actualPositionReceivedSignal();
  59         void powerVoltageReceivedSignal();
  60
  61 public slots:
  62         void showMap(bool show);
  63         void useOpenGL(bool use);
  64         void showTrails(bool show);
  65         void showShapeDetect(bool show);
  66         void resetTrails();
  67 private slots:
  68         /************************************************************
  69          * GUI actions
  70          ************************************************************/
  71         void setVoltage33(int state);
  72         void setVoltage50(int state);
  73         void setVoltage80(int state);
  74 /*      void setLeftMotor(int value); */
  75 /*      void setRightMotor(int value); */
  76 /*      void stopMotors(); */
  77         void paintMap();
  78         void setSimulation(int state);
  79         void setObstacleSimulation(int state);
  80         void simulateObstaclesHokuyo();
  81         void changeObstacle(QPointF position);
  82         void sendStart(int plug);
  83         void setTeamColor(int plug);
  84         void changeStrategy_1();
  85         void changeStrategy_0();
  86
  87         /************************************************************
  88          * ORTE
  89          ************************************************************/
  90         void motionStatusReceived();
  91         void actualPositionReceived();
  92         void powerVoltageReceived();
  93
  94 private:
  95         /************************************************************
  96          * GUI
  97          ************************************************************/
  98         void createLeftLayout();
  99         void createRightLayout();
 100
 101         void createPlaygroundGroupBox();
 102         void createPositionGroupBox();
 103         void createMiscGroupBox();
 104         void createDebugGroupBox();
 105         void createActuatorsGroupBox();
 106         void createMotorsGroupBox();
 107         void createDIOGroupBox();
 108         void createSensorsGroupBox();
 109         void createPowerGroupBox();
 110         void createPickerGroupBox();
 111         void createFSMGroupBox();
 112
 113         void createRobots();
 114         void createActions();
 115         void createMap();
 116
 117         QVBoxLayout *leftLayout;
 118         QVBoxLayout *rightLayout;
 119
 120         QGroupBox *playgroundGroupBox;
 121         QGroupBox *positionGroupBox;
 122         QGroupBox *miscGroupBox;
 123         QGroupBox *debugGroupBox;
 124         QGroupBox *actuatorsGroupBox;
 125         QGroupBox *powerGroupBox;
 126         QGroupBox *fsmGroupBox;
 127
 128 public:
 129         PlaygroundScene *playgroundScene;
 130 private:
 131         PlaygroundView *playgroundSceneView;
 132
 133         /* position state */
 134         QLineEdit *actPosX;
 135         QLineEdit *actPosY;
 136         QLineEdit *actPosPhi;
 137
 138         QLineEdit *estPosX;
 139         QLineEdit *estPosY;
 140         QLineEdit *estPosPhi;
 141
 142         /* debug window */
 143         QTextEdit *debugWindow;
 144         bool debugWindowEnabled;
 145
 146         /* actuators */
 147 /*      QSlider *leftMotorSlider; */
 148 /*      QSlider *rightMotorSlider; */
 149 /*      QCheckBox *bothMotorsCheckBox; */
 150 /*      QPushButton *stopMotorsPushButton; */
 151         //QDial *vidle;
 152
 153         /* power management */
 154         QCheckBox *voltage33CheckBox;
 155         QCheckBox *voltage50CheckBox;
 156         QCheckBox *voltage80CheckBox;
 157         QLineEdit *voltage33LineEdit;
 158         QLineEdit *voltage50LineEdit;
 159         QLineEdit *voltage80LineEdit;
 160         QLineEdit *voltageBATLineEdit;
 161
 162         /* misc */
 163         QCheckBox *obstacleSimulationCheckBox;
 164         QLabel *fsm_main_state;
 165         QLabel *fsm_act_state;
 166         QLabel *fsm_motion_state;
 167         QCheckBox *startPlug;
 168         QCheckBox *colorChoser;
 169         QPushButton *strategyButton;
 170 public:
 171         /* robot */
 172         Robot *robotRefPos;
 173         Robot *robotEstPosBest;
 174         Robot *robotEstPosIndepOdo;
 175         Robot *robotEstPosOdo;
 176
 177         Map *mapImage;
 178 private:
 179         Trail *trailRefPos;
 180         Trail *trailEstPosBest;
 181         Trail *trailPosIndepOdo;
 182         Trail *trailOdoPos;
 183
 184         HokuyoScan *hokuyoScan;
 185
 186         /* keypad */
 187         double leftMotorValue;
 188         double rightMotorValue;
 189
 190         /* map */
 191         void openSharedMemory();
 192         bool sharedMemoryOpened;
 193         QTimer *mapTimer;
 194
 195         /* obstacle simulation */
 196         double distanceToWallHokuyo(int beamnum);
 197         double distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize);
 198         double distanceToCircularObstacleHokuyo(int beamnum, Point center, double diameter);
 199         int simulationEnabled;
 200
 201         QTimer *obstacleSimulationTimer;
 202         Point simulatedObstacle;
 203
 204         /************************************************************
 205          * ORTE
 206          ************************************************************/
 207         void createOrte();
 208
 209         struct robottype_orte_data orte;
 210 };
 211
 212 #endif /* ROBOMON_ATLANTIS_H */