src/robomon/MainWindow.cpp

   1 /*
   2  * MainWindow.cpp                       07/10/31
   3  *
   4  * Top window layer. All tabs will be added to this main window.
   5  *
   6  * Copyright: (c) 2007 CTU Dragons
   7  *            CTU FEE - Department of Control Engineering
   8  * Authors: Martin Zidek, Michal Sojka, Tran Duy Khanh
   9  * License: GNU GPL v.2
  10  */
  11
  12 #include <QtGui>
  13
  14 #include "MainWindow.h"
  15 #include "RobomonTuning.h"
  16 #include "RobomonAtlantis.h"
  17
  18 MainWindow::MainWindow()
  19 {
  20         QFont font;
  21         font.setPointSize(8);
  22         setFont(font);
  23
  24         createTabs();
  25         createActions();
  26         createMenus();
  27         createStatusBar();
  28
  29         setCentralWidget(tabWidget);
  30
  31         addRobomonAtlantisTab();
  32 }
  33
  34 void MainWindow::closeEvent(QCloseEvent *event)
  35 {
  36         while (closeCurrentTab() != -1) ;
  37         event->accept();
  38 }
  39
  40 void MainWindow::addRobomonTuningTab()
  41 {
  42         RobomonTuning *robomonTuning = new RobomonTuning();
  43         tabWidget->addTab(robomonTuning, tr("Robomon Tuning"));
  44         tabWidget->setCurrentWidget(robomonTuning);
  45 }
  46
  47 void MainWindow::addRobomonAtlantisTab()
  48 {
  49         RobomonAtlantis *robomonAtlantis = new RobomonAtlantis();
  50         tabWidget->addTab(robomonAtlantis, tr("Robomon - Temples of Atlantis"));
  51         tabWidget->setCurrentWidget(robomonAtlantis);
  52         connect(showMap, SIGNAL(toggled( bool )), robomonAtlantis, SLOT(showMap(bool)));
  53         connect(showTrails, SIGNAL(toggled( bool )), robomonAtlantis, SLOT(showTrails(bool)));
  54         connect(resetTrails, SIGNAL(triggered()), robomonAtlantis, SLOT(resetTrails()));
  55         connect(useOpenGL, SIGNAL(toggled( bool )), robomonAtlantis, SLOT(useOpenGL(bool)));
  56
  57         connect(showRobotRef, SIGNAL(toggled(bool)), robomonAtlantis->robotRefPos, SLOT(mySetVisible(bool)));
  58         connect(showRobotEst, SIGNAL(toggled(bool)), robomonAtlantis->robotEstPosBest, SLOT(mySetVisible(bool)));
  59         connect(showRobotEstOdo, SIGNAL(toggled(bool)), robomonAtlantis->robotEstPosOdo, SLOT(mySetVisible(bool)));
  60         connect(showRobotEstIndepOdo, SIGNAL(toggled(bool)), robomonAtlantis->robotEstPosIndepOdo, SLOT(mySetVisible(bool)));
  61         connect(robomonAtlantis->playgroundScene, SIGNAL(mouseMoved(QPointF)), this, SLOT(showCoordinates(QPointF)));
  62
  63         showRobotRef->setChecked(true);
  64         showRobotEst->setChecked(true);
  65         showRobotEstOdo->setChecked(false);
  66         showRobotEstIndepOdo->setChecked(false);
  67 }
  68
  69 void MainWindow::showCoordinates(QPointF pos)
  70 {
  71         QString s = QString("X=%1 m, Y=%2 m").arg(pos.x(), 0, 'f', 3).arg(pos.y(), 0, 'f', 3);
  72         coordinates->setText(s);
  73 }
  74
  75 void MainWindow::about()
  76 {
  77         QMessageBox::about(this, tr("About Robomon"),
  78                 tr(
  79                 "<center>"
  80                 "<h1>Robomon 2.0</h1><br /><br />"
  81                 "<b>Robomon</b> is an application for graphic "
  82                 "visualization and control of the robot.<br /><br />"
  83                 "<b>Authors:</b> "
  84                 "Martin &#381;&#205;DEK, "
  85                 "Michal SOJKA, "
  86                 "TRAN Duy Khanh"
  87                 "<br />"
  88                 "<br />"
  89                 "<a href=\"http://rtime.felk.cvut.cz/dragons\">CTU Dragons</a>"
  90                 "<br />"
  91                 "<br />"
  92                 "<b>License:</b> GNU GPL v.2<br /></center>"
  93                 ));
  94 }
  95
  96 void MainWindow::help()
  97 {
  98         QMessageBox::about(this, tr("Help"),
  99                 tr("Here will be the help of the Robomon"));
 100 }
 101
 102 void MainWindow::createActions()
 103 {
 104         exitAct = new QAction(tr("E&xit"), this);
 105         exitAct->setShortcut(tr("Ctrl+Q"));
 106         exitAct->setStatusTip(tr("Exit the application"));
 107         connect(exitAct, SIGNAL(triggered()), this, SLOT(close()));
 108
 109         robomonTuningAct = new QAction(QIcon(":/images/tuning.png"),
 110                                                 tr("Robot &Tuning"), this);
 111         robomonTuningAct->setShortcut(tr("Ctrl+T"));
 112         robomonTuningAct->setStatusTip(tr("Robomon of the Robot Explorer - tuning panel"));
 113         connect(robomonTuningAct, SIGNAL(triggered()),
 114                         this, SLOT(addRobomonTuningTab()));
 115
 116         robomonAtlantisAct = new QAction(QIcon(":/images/robomon_atlantis.png"),
 117                                                 tr("Robot &Atlantis"), this);
 118         robomonAtlantisAct->setShortcut(tr("Ctrl+A"));
 119         robomonAtlantisAct->setStatusTip(tr("Robomon of the Robot Atlantis"));
 120         connect(robomonAtlantisAct, SIGNAL(triggered()),
 121                         this, SLOT(addRobomonAtlantisTab()));
 122
 123         helpAct = new QAction(tr("&Help"), this);
 124         helpAct->setStatusTip(tr("Show the Qt library's About box"));
 125         connect(helpAct, SIGNAL(triggered()), this, SLOT(help()));
 126
 127         aboutAct = new QAction(tr("&About"), this);
 128         aboutAct->setStatusTip(tr("Show information about the application"));
 129         connect(aboutAct, SIGNAL(triggered()), this, SLOT(about()));
 130
 131         connect(closeToolButton, SIGNAL(clicked()), this, SLOT(closeCurrentTab()));
 132
 133         showTrails = new QAction("Show &trails", this);
 134         showTrails->setCheckable(true);
 135         showMap = new QAction("Show &map", this);
 136         showMap->setCheckable(true);
 137         resetTrails = new QAction("Re&set trails", this);
 138
 139         useOpenGL = new QAction("Use &OpenGL", this);
 140         useOpenGL->setCheckable(true);
 141
 142
 143         showRobotRef = new QAction("&Reference position", this);
 144         showRobotRef->setCheckable(true);
 145         showRobotEst = new QAction("&Best available estimated position", this);
 146         showRobotEst->setCheckable(true);
 147         showRobotEstOdo = new QAction("&Motor odometry", this);
 148         showRobotEstOdo->setCheckable(true);
 149         showRobotEstIndepOdo = new QAction("&Independent odometry", this);
 150         showRobotEstIndepOdo->setCheckable(true);
 151 }
 152
 153 void MainWindow::createMenus()
 154 {
 155         fileMenu = menuBar()->addMenu(tr("&File"));
 156         fileMenu->addSeparator();
 157         fileMenu->addAction(exitAct);
 158
 159         QMenu *m;
 160         m = menuBar()->addMenu(tr("&View"));
 161         m->addAction(showMap);
 162         m->addAction(showTrails);
 163         m->addAction(resetTrails);
 164         QMenu *robot = m->addMenu(tr("&Robot"));
 165         m->addAction(useOpenGL);
 166
 167         robot->addAction(showRobotRef);
 168         robot->addAction(showRobotEst);
 169         robot->addAction(showRobotEstOdo);
 170         robot->addAction(showRobotEstIndepOdo);
 171
 172         toolsMenu = menuBar()->addMenu(tr("&Tools"));
 173         toolsMenu->addAction(robomonTuningAct);
 174         toolsMenu->addAction(robomonAtlantisAct);
 175
 176         menuBar()->addSeparator();
 177
 178         helpMenu = menuBar()->addMenu(tr("&Help"));
 179         helpMenu->addAction(helpAct);
 180         helpMenu->addAction(aboutAct);
 181 }
 182
 183 void MainWindow::createStatusBar()
 184 {
 185         coordinates = new QLabel();
 186         statusBar()->showMessage(tr("Ready"));
 187         statusBar()->addPermanentWidget(coordinates);
 188 }
 189
 190 void MainWindow::createTabs()
 191 {
 192         tabWidget = new QTabWidget;
 193         closeToolButton = new QToolButton();
 194
 195         closeToolButton->setIcon(QIcon(":/images/close.png"));
 196         closeToolButton->setIconSize(QSize(14, 14));
 197         closeToolButton->setShortcut(tr("Ctrl+W"));
 198         closeToolButton->setToolTip(tr("Close tab (Ctrl+W)"));
 199         tabWidget->setCornerWidget(closeToolButton);
 200 }
 201
 202 int MainWindow::closeCurrentTab()
 203 {
 204         int index = tabWidget->currentIndex();
 205         if (index < 0)
 206                 return -1;
 207         QWidget* tabPage = tabWidget->widget(index);
 208         tabPage->close();
 209         tabWidget->removeTab(index);
 210         delete tabPage;
 211
 212         return 0;
 213 }