X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/blobdiff_plain/2d70ee4d0d71dac682be0b6b289288ab85920f06..d3f518a5fcbbd8c4fe0a19c20d6a4162403b8ae0:/src/robomon/RobomonAtlantis.h

diff --git a/src/robomon/RobomonAtlantis.h b/src/robomon/RobomonAtlantis.h
index 695ba356..f62fe99c 100644
--- a/src/robomon/RobomonAtlantis.h
+++ b/src/robomon/RobomonAtlantis.h
@@ -13,15 +13,16 @@
 #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;
@@ -37,6 +38,7 @@ class QDial;
 class QSlider;
 class QProgressBar;
 class QFont;
+class QImage;
 
 class RobomonAtlantis : public QWidget
 {
@@ -54,45 +56,39 @@ protected:
 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:
@@ -116,6 +112,7 @@ private:
 
 	void createRobots();
 	void createActions();
+	void createMap();
 
 	QVBoxLayout *leftLayout;
 	QVBoxLayout *rightLayout;
@@ -125,15 +122,13 @@ private:
 	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;
@@ -149,21 +144,11 @@ private:
 	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;
@@ -174,21 +159,29 @@ private:
 	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;
@@ -198,22 +191,18 @@ private:
 	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();