#ifndef ROBOMON_ATLANTIS_H
#define ROBOMON_ATLANTIS_H
-#define SIM_OBST_SIZE_M 0.5
-
#include <QDialog>
#include <trgen.h>
#include "PlaygroundScene.h"
+#include "playgroundview.h"
#include "Robot.h"
+#include "Map.h"
#include <roboorte_robottype.h>
-#include <roboorte.h>
+#include "trail.h"
+#include "hokuyoscan.h"
class QHBoxLayout;
class QVBoxLayout;
class QSlider;
class QProgressBar;
class QFont;
+class QImage;
class RobomonAtlantis : public QWidget
{
signals:
void motionStatusReceivedSignal();
void actualPositionReceivedSignal();
- void estimatedPositionReceivedSignal();
- void diReceivedSignal();
- void accelerometerReceivedSignal();
- void accumulatorReceivedSignal();
void powerVoltageReceivedSignal();
+public slots:
+ void showMap(bool show);
+ void useOpenGL(bool use);
+ void showTrails(bool show);
+ void showShapeDetect(bool show);
+ void resetTrails();
private slots:
/************************************************************
- * GUI actions
+ * GUI actions
************************************************************/
void setVoltage33(int state);
void setVoltage50(int state);
void setVoltage80(int state);
- void setLeftMotor(int value);
- void setRightMotor(int value);
- void stopMotors();
- void setDO(int state);
- void showMap();
- void showPlayground();
+/* void setLeftMotor(int value); */
+/* void setRightMotor(int value); */
+/* void stopMotors(); */
void paintMap();
void setSimulation(int state);
void setObstacleSimulation(int state);
void simulateObstaclesHokuyo();
void changeObstacle(QPointF position);
- void pick();
- void setBelts(int value);
- void setChelae(int value);
void sendStart(int plug);
- void sendPuckInside(int value);
+ void setTeamColor(int plug);
+ void changeStrategy_1();
+ void changeStrategy_0();
/************************************************************
- * ORTE
+ * ORTE
************************************************************/
void motionStatusReceived();
void actualPositionReceived();
- void estimatedPositionReceived();
- void diReceived();
- void accelerometerReceived();
- void accumulatorReceived();
void powerVoltageReceived();
private:
void createRobots();
void createActions();
+ void createMap();
QVBoxLayout *leftLayout;
QVBoxLayout *rightLayout;
QGroupBox *miscGroupBox;
QGroupBox *debugGroupBox;
QGroupBox *actuatorsGroupBox;
- QGroupBox *enginesGroupBox;
- QGroupBox *dioGroupBox;
- QGroupBox *sensorsGroupBox;
QGroupBox *powerGroupBox;
- QGroupBox *pickerGroupBox;
QGroupBox *fsmGroupBox;
+public:
PlaygroundScene *playgroundScene;
- QGraphicsView *playgroundSceneView;
+private:
+ PlaygroundView *playgroundSceneView;
/* position state */
QLineEdit *actPosX;
bool debugWindowEnabled;
/* actuators */
- QSlider *leftMotorSlider;
- QSlider *rightMotorSlider;
- QCheckBox *bothMotorsCheckBox;
- QPushButton *stopMotorsPushButton;
-
- QCheckBox *leftBeltCheckBox;
- QCheckBox *rightBeltCheckBox;
- QCheckBox *leftChelaCheckBox;
- QCheckBox *rightChelaCheckBox;
-
- QDial *leftBeltDial;
- QDial *rightBeltDial;
- QDial *leftChelaDial;
- QDial *rightChelaDial;
- QPushButton *pickPushButton;
+/* QSlider *leftMotorSlider; */
+/* QSlider *rightMotorSlider; */
+/* QCheckBox *bothMotorsCheckBox; */
+/* QPushButton *stopMotorsPushButton; */
+ //QDial *vidle;
/* power management */
QCheckBox *voltage33CheckBox;
QLineEdit *voltage80LineEdit;
QLineEdit *voltageBATLineEdit;
- QCheckBox *diCheckBox[8];
- QCheckBox *doCheckBox[8];
-
/* misc */
QCheckBox *obstacleSimulationCheckBox;
- QCheckBox *showMapPushButton;
QLabel *fsm_main_state;
QLabel *fsm_act_state;
QLabel *fsm_motion_state;
QCheckBox *startPlug;
- QCheckBox *puckInside;
-
+ QCheckBox *colorChoser;
+ QPushButton *strategyButton;
+public:
/* robot */
- Robot *robotActPos;
- Robot *robotEstPos;
+ Robot *robotRefPos;
+ Robot *robotEstPosBest;
+ Robot *robotEstPosIndepOdo;
+ Robot *robotEstPosOdo;
+
+ Map *mapImage;
+private:
+ Trail *trailRefPos;
+ Trail *trailEstPosBest;
+ Trail *trailPosIndepOdo;
+ Trail *trailOdoPos;
+
+ HokuyoScan *hokuyoScan;
/* keypad */
double leftMotorValue;
void openSharedMemory();
bool sharedMemoryOpened;
QTimer *mapTimer;
-
- /* sensors */
- QProgressBar *sharpPuck;
- QProgressBar *liftPos;
- QProgressBar *pusherPos;
/* obstacle simulation */
double distanceToWallHokuyo(int beamnum);
double distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize);
+ double distanceToCircularObstacleHokuyo(int beamnum, Point center, double diameter);
int simulationEnabled;
QTimer *obstacleSimulationTimer;
Point simulatedObstacle;
/************************************************************
- * ORTE
+ * ORTE
************************************************************/
void createOrte();