--- /dev/null
+/*
+ * RobomonTuning.cpp 07/10/31
+ *
+ * Robot`s visualization and control GUI for robot of the
+ * Eurobot 2008 (Mission to Mars).
+ *
+ * Copyright: (c) 2008 DCE Eurobot Dragon Team
+ * CTU FEE - Department of Control Engineering
+ * Authors: Martin Zidek, Michal Sojka, Tran Duy Khanh
+ * License: GNU GPL v.2
+ */
+
+#include <QtGui>
+#include <queue>
+#include <cstdlib>
+#include <sys/shm.h>
+#include <sys/stat.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <math.h>
+
+#include <orte.h>
+#include <path_planner.h>
+#include <robodim.h>
+#include <sharp.h>
+#include <trgen.h>
+#include <map.h>
+#include <robomath.h>
+#include "PlaygroundScene.h"
+#include "MiscGui.h"
+#include "RobomonTuning.h"
+
+#include <QCoreApplication>
+#include <QEvent>
+#include <QKeyEvent>
+#include <QDebug>
+#include <QMessageBox>
+
+RobomonTuning::RobomonTuning(QWidget *parent)
+ : QWidget(parent)
+{
+ QFont font;
+ font.setPointSize(7);
+ setFont(font);
+
+
+ createLeftLayout();
+// createRightLayout();
+
+ QHBoxLayout *mainLayout = new QHBoxLayout;
+ mainLayout->addLayout(leftLayout);
+// mainLayout->addLayout(rightLayout);
+ setLayout(mainLayout);
+
+ createOrte();
+ createActions();
+
+ setFocusPolicy(Qt::StrongFocus);
+}
+
+/**********************************************************************
+ * GUI
+ **********************************************************************/
+void RobomonTuning::createLeftLayout()
+{
+ leftLayout = new QVBoxLayout();
+
+ createMotorsGroupBox();
+ createServosGroupBox();
+ createPwrGroupBox();
+ createCanGroupBox();
+
+
+ leftLayout->addWidget(enginesGroupBox);
+ leftLayout->addWidget(servosGroupBox);
+ leftLayout->addWidget(pwrGroupBox);
+ leftLayout->addWidget(canGroupBox);
+}
+
+
+void RobomonTuning::createMotorsGroupBox()
+{
+ enginesGroupBox = new QGroupBox(tr("Motors"));
+ QGridLayout *layout = new QGridLayout();
+
+ brushLeft = new QDial();
+ brushRight = new QDial();
+ roboBagr = new QDial();
+ carousel = new QDial();
+
+ brushLeftLEdit = new QLineEdit();
+ brushRightLEdit = new QLineEdit();
+ roboBagrLEdit = new QLineEdit();
+ carouselLEdit = new QLineEdit();
+
+ brushLeft->setMinimum(0);
+ brushLeft->setMaximum(200);
+ brushLeft->setValue(100);
+
+ brushRight->setMinimum(0);
+ brushRight->setMaximum(200);
+ brushRight->setValue(100);
+
+ roboBagr->setMinimum(0);
+ roboBagr->setMaximum(200);
+ roboBagr->setValue(100);
+
+ carousel->setMinimum(1);
+ carousel->setMaximum(5);
+ carousel->setValue(1);
+ carousel->setNotchesVisible(1);
+
+ layout->addWidget(brushLeft,0,0);
+ layout->addWidget(MiscGui::createLabel("Left brush", Qt::AlignLeft), 1, 0);
+ layout->addWidget(brushLeftLEdit, 2, 0);
+ layout->addWidget(brushRight,0,1);
+ layout->addWidget(MiscGui::createLabel("Right brush", Qt::AlignLeft), 1, 1);
+ layout->addWidget(brushRightLEdit, 2, 1);
+ layout->addWidget(roboBagr,3,0);
+ layout->addWidget(MiscGui::createLabel("Robo bagr", Qt::AlignLeft), 4, 0);
+ layout->addWidget(roboBagrLEdit, 5, 0);
+ layout->addWidget(carousel,3,1);
+ layout->addWidget(MiscGui::createLabel("Carousel", Qt::AlignLeft), 4, 1);
+ layout->addWidget(carouselLEdit, 5, 1);
+
+
+ enginesGroupBox->setLayout(layout);
+}
+
+void RobomonTuning::createPwrGroupBox()
+{
+ pwrGroupBox = new QGroupBox(tr("Pwr"));
+ QGridLayout *layout = new QGridLayout();
+
+ pwrAlertCBox = new QCheckBox();
+
+ layout->addWidget(pwrAlertCBox,0,0);
+
+
+ pwrGroupBox->setLayout(layout);
+}
+
+void RobomonTuning::createCanGroupBox()
+{
+ canGroupBox = new QGroupBox(tr("Can"));
+ QHBoxLayout *layout = new QHBoxLayout();
+
+ canData1 = new QLineEdit(tr("data1"));
+ canData2 = new QLineEdit(tr("data2"));
+ canData3 = new QLineEdit(tr("data3"));
+ canData4 = new QLineEdit(tr("data4"));
+ canData5 = new QLineEdit(tr("data5"));
+ canData6 = new QLineEdit(tr("data6"));
+ canData7 = new QLineEdit(tr("data7"));
+ canData8 = new QLineEdit(tr("data8"));
+ canMsgLen = new QLineEdit(tr("len"));
+ canId = new QLineEdit(tr("ID"));
+
+ canSendPButton = new QPushButton(tr("Send"));
+
+ layout->addWidget(canData1);
+ layout->addWidget(canData2);
+ layout->addWidget(canData3);
+ layout->addWidget(canData4);
+ layout->addWidget(canData5);
+ layout->addWidget(canData6);
+ layout->addWidget(canData7);
+ layout->addWidget(canData8);
+ layout->addWidget(canMsgLen);
+ layout->addWidget(canId);
+ layout->addWidget(canSendPButton);
+
+ canGroupBox->setLayout(layout);
+}
+
+void RobomonTuning::createServosGroupBox()
+{
+ servosGroupBox = new QGroupBox(tr("Servos"));
+ QGridLayout *layout = new QGridLayout();
+
+ servoBrushLeft = new QDial();
+ servoBrushRight = new QDial();
+ servoDoorTop = new QDial();
+ servoDoorBottom = new QDial();
+ servoDoorBack = new QDial();
+ servoReserve = new QDial();
+
+ servoBrushLeftLEdit = new QLineEdit();
+ servoBrushRightLEdit = new QLineEdit();
+ servoDoorTopLEdit = new QLineEdit();
+ servoDoorBackLEdit = new QLineEdit();
+ servoDoorBottomLEdit = new QLineEdit();
+
+ servoBrushLeft->setMinimum(0);
+ servoBrushLeft->setMaximum(255);
+ servoBrushLeft->setValue(127);
+
+ servoBrushRight->setMinimum(0);
+ servoBrushRight->setMaximum(255);
+ servoBrushRight->setValue(127);
+
+ servoDoorTop->setMinimum(0);
+ servoDoorTop->setMaximum(255);
+ servoDoorTop->setValue(127);
+
+ servoDoorBottom->setMinimum(0);
+ servoDoorBottom->setMaximum(255);
+ servoDoorBottom->setValue(127);
+
+ servoDoorBack->setMinimum(0);
+ servoDoorBack->setMaximum(255);
+ servoDoorBack->setValue(127);
+
+ servoReserve->setMinimum(0);
+ servoReserve->setMaximum(255);
+ servoReserve->setValue(127);
+
+ layout->addWidget(servoBrushLeft, 0, 0);
+ layout->addWidget(MiscGui::createLabel("Left brush", Qt::AlignLeft), 1, 0);
+ layout->addWidget(servoBrushLeftLEdit, 2, 0);
+ layout->addWidget(servoBrushRight, 0, 1);
+ layout->addWidget(MiscGui::createLabel("Right brush", Qt::AlignLeft), 1, 1);
+ layout->addWidget(servoBrushRightLEdit, 2, 1);
+ layout->addWidget(servoDoorTop, 0, 2);
+ layout->addWidget(MiscGui::createLabel("Top door", Qt::AlignLeft), 1, 2);
+ layout->addWidget(servoDoorTopLEdit, 2, 2);
+ layout->addWidget(servoDoorBottom, 3, 0);
+ layout->addWidget(MiscGui::createLabel("Bottom Door", Qt::AlignLeft), 4, 0);
+ layout->addWidget(servoDoorBottomLEdit, 5, 0);
+ layout->addWidget(servoDoorBack, 3, 1);
+ layout->addWidget(MiscGui::createLabel("Back door", Qt::AlignLeft), 4, 1);
+ layout->addWidget(servoDoorBackLEdit, 5, 1);
+ layout->addWidget(servoReserve, 3, 2);
+ layout->addWidget(MiscGui::createLabel("Reserve", Qt::AlignLeft), 4, 2);
+ servosGroupBox->setLayout(layout);
+}
+
+
+
+/**********************************************************************
+ * GUI actions
+ **********************************************************************/
+void RobomonTuning::createActions()
+{
+ /* motors */
+ connect(brushLeft, SIGNAL(valueChanged(int)),
+ this, SLOT(setMotors(int)));
+ connect(brushRight, SIGNAL(valueChanged(int)),
+ this, SLOT(setMotors(int)));
+ connect(roboBagr, SIGNAL(valueChanged(int)),
+ this, SLOT(setMotors(int)));
+ connect(carousel, SIGNAL(valueChanged(int)),
+ this, SLOT(setMotors(int)));
+
+
+ /* servos */
+ connect(servoBrushLeft, SIGNAL(valueChanged(int)),
+ this, SLOT(setServos(int)));
+ connect(servoBrushRight, SIGNAL(valueChanged(int)),
+ this, SLOT(setServos(int)));
+ connect(servoDoorTop, SIGNAL(valueChanged(int)),
+ this, SLOT(setServos(int)));
+ connect(servoDoorBack, SIGNAL(valueChanged(int)),
+ this, SLOT(setServos(int)));
+ connect(servoDoorBottom, SIGNAL(valueChanged(int)),
+ this, SLOT(setServos(int)));
+
+ connect(pwrAlertCBox, SIGNAL(stateChanged(int)),
+ this, SLOT(setPwrAlert(int)));
+
+ connect(canSendPButton, SIGNAL(clicked()),
+ this, SLOT(setCanMsg()));
+}
+
+void RobomonTuning::setServos(int value)
+{
+
+ orte.servos.door_top = (u_int8_t)servoDoorTop->value();
+ servoDoorTopLEdit->setText(QString("%1").arg(orte.servos.door_top));
+ orte.servos.door_back = (u_int8_t)servoDoorBack->value();
+ servoDoorBackLEdit->setText(QString("%1").arg(orte.servos.door_back));
+ orte.servos.door_bottom = (u_int8_t)servoDoorBottom->value();
+ servoDoorBottomLEdit->setText(QString("%1").arg(orte.servos.door_bottom));
+ orte.servos.brush_left = (u_int8_t)servoBrushLeft->value();
+ servoBrushLeftLEdit->setText(QString("%1").arg(orte.servos.brush_left));
+ orte.servos.brush_right = (u_int8_t)servoBrushRight->value();
+ servoBrushRightLEdit->setText(QString("%1").arg(orte.servos.brush_right));
+
+ printf("setting servos: %d, %d, %d, %d, %d\n",orte.servos.door_top,orte.servos.door_back,
+ orte.servos.door_bottom,orte.servos.brush_left,orte.servos.brush_right);
+
+ ORTEPublicationSend(orte.publication_servos);
+}
+
+void RobomonTuning::setPwrAlert(int value)
+{
+ if(value) {
+ orte.pwr_alert.value = 2;
+ }
+ else {
+ orte.pwr_alert.value = 0;
+ }
+
+
+}
+
+void RobomonTuning::setCanMsg()
+{
+ orte.can_msg.data1 = canData1->text().toInt();
+ orte.can_msg.data2 = canData2->text().toInt();
+ orte.can_msg.data3 = canData3->text().toInt();
+ orte.can_msg.data4 = canData4->text().toInt();
+ orte.can_msg.data5 = canData5->text().toInt();
+ orte.can_msg.data6 = canData6->text().toInt();
+ orte.can_msg.data7 = canData7->text().toInt();
+ orte.can_msg.data8 = canData8->text().toInt();
+
+ orte.can_msg.len = canMsgLen->text().toInt();
+ orte.can_msg.id = canId->text().toInt();
+
+ ORTEPublicationSend(orte.publication_can_msg);
+
+}
+void RobomonTuning::setMotors(int state)
+{
+ orte.drives.brush_left = brushLeft->value();
+ orte.drives.brush_right = brushRight->value();
+ orte.drives.bagr = roboBagr->value();
+ orte.drives.carousel_pos = carousel->value();
+ ORTEPublicationSend(orte.publication_drives);
+
+ brushLeftLEdit->setText(QString("%1").arg(orte.drives.brush_left));
+ brushRightLEdit->setText(QString("%1").arg(orte.drives.brush_right));
+ roboBagrLEdit->setText(QString("%1").arg(orte.drives.bagr));
+ carouselLEdit->setText(QString("%1").arg(orte.drives.carousel_pos));
+}
+
+
+/**********************************************************************
+ * EVENTS
+ **********************************************************************/
+bool RobomonTuning::event(QEvent *event)
+{
+ switch (event->type()) {
+ case QEVENT(QEV_MOTION_STATUS):
+ break;
+ case QEVENT(QEV_ACTUAL_POSITION):
+ break;
+ case QEVENT(QEV_ESTIMATED_POSITION):
+ break;
+ case QEVENT(QEV_SHARP_LONGS):
+ break;
+ case QEVENT(QEV_SHARP_SHORTS):
+ break;
+ case QEVENT(QEV_DI):
+ break;
+ case QEVENT(QEV_ACCELEROMETER):
+ break;
+ case QEVENT(QEV_ACCUMULATOR):
+ break;
+ case QEVENT(QEV_POWER_VOLTAGE):
+ break;
+ default:
+ if (event->type() == QEvent::Close)
+ closeEvent((QCloseEvent *)event);
+ else if (event->type() == QEvent::KeyPress)
+ keyPressEvent((QKeyEvent *)event);
+ else if (event->type() == QEvent::KeyRelease)
+ keyReleaseEvent((QKeyEvent *)event);
+ else if (event->type() == QEvent::FocusIn)
+ grabKeyboard();
+ else if (event->type() == QEvent::FocusOut)
+ releaseKeyboard();
+ else {
+ event->ignore();
+ return false;
+ }
+ break;
+ }
+ event->accept();
+ return true;
+}
+
+void RobomonTuning::keyPressEvent(QKeyEvent *event)
+{
+ double peak, gain;
+
+ if (event->isAutoRepeat()) {
+ switch (event->key()) {
+ case Qt::Key_Down:
+ break;
+
+ case Qt::Key_Up:
+ case Qt::Key_Left:
+ case Qt::Key_Right:
+ break;
+
+ default:
+ event->ignore();
+ break;
+ }
+ return;
+ }
+
+ switch (event->key()) {
+ case Qt::Key_Up:
+ break;
+ case Qt::Key_Down:
+ break;
+ case Qt::Key_Left:
+ break;
+ case Qt::Key_Right:
+ break;
+ default:
+ event->ignore();
+ break;
+ }
+ event->accept();
+}
+
+void RobomonTuning::keyReleaseEvent(QKeyEvent *event)
+{
+ if (event->isAutoRepeat()) {
+ event->ignore();
+ return;
+ }
+
+ switch (event->key()) {
+ case Qt::Key_Up:
+ case Qt::Key_Down:
+ case Qt::Key_Left:
+ case Qt::Key_Right:
+ break;
+ default:
+ event->ignore();
+ break;
+ }
+ event->accept();
+}
+
+void RobomonTuning::closeEvent(QCloseEvent *event)
+{
+ robottype_roboorte_destroy(&orte);
+}
+
+/**********************************************************************
+ * ORTE
+ **********************************************************************/
+void RobomonTuning::createOrte()
+{
+
+ orte.strength = 12;
+
+ robottype_roboorte_init(&orte);
+
+ orte.pwr_alert.value = 0;
+
+ /* publishers */
+ robottype_publisher_can_msg_create(&orte, NULL, NULL);
+ robottype_publisher_pwr_ctrl_create(&orte, NULL, NULL);
+ robottype_publisher_pwr_alert_create(&orte, dummy_publisher_callback, NULL);
+
+ robottype_publisher_servos_create(&orte, NULL, NULL);
+ robottype_publisher_drives_create(&orte, NULL, NULL);
+
+ /*Power supply hack*/
+ orte.pwr_ctrl.voltage33 = true;
+ orte.pwr_ctrl.voltage50 = true;
+ orte.pwr_ctrl.voltage80 = true;
+}
+
+/**********************************************************************
+ * MISCELLANEOUS
+ **********************************************************************/
+
+
projects / eurobot / public.git / blobdiff