robomon: Working start plug

diff --git a/src/robomon/RobomonAtlantis.cpp b/src/robomon/RobomonAtlantis.cpp
index 87ef3df2599b13085a57bc24b594d011ecde07fa..bf1adb72e067dc8884ae66ded6b5946ba38aa37b 100644 (file)
--- a/src/robomon/RobomonAtlantis.cpp
+++ b/src/robomon/RobomonAtlantis.cpp
@@ -184,8 +184,8 @@ void RobomonAtlantis::createMiscGroupBox()
        obstacleSimulationCheckBox->setShortcut(tr("o"));
        layout->addWidget(obstacleSimulationCheckBox);
 
-       startBtn = new QPushButton("Start");
-       layout->addWidget(startBtn);
+       startPlug = new QCheckBox("Start plug");
+       layout->addWidget(startPlug);
        
        miscGroupBox->setLayout(layout);
 }
@@ -452,8 +452,8 @@ void RobomonAtlantis::createActions()
        connect(showMapPushButton, SIGNAL(clicked()),
                        this, SLOT(showMap()));
        
-       connect(startBtn, SIGNAL(clicked()), this, SLOT(sendStart()));
-
+       connect(startPlug, SIGNAL(stateChanged(int)), this, SLOT(sendStart(int)));
+       
        /* obstacle simulation */
        simulationEnabled = 0;
        connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
@@ -1118,8 +1118,8 @@ double RobomonAtlantis::distanceToObstacleHokuyo(int beamnum, Point obstacle, do
        return distance;
 }
 
-void RobomonAtlantis::sendStart()
+void RobomonAtlantis::sendStart(int plug)
 {
-       orte.robot_cmd.start = 1;
+       orte.robot_cmd.start = plug ? 0 : 1;
        ORTEPublicationSend(orte.publication_robot_cmd);
 }

diff --git a/src/robomon/RobomonAtlantis.h b/src/robomon/RobomonAtlantis.h
index d5b354fddafe8a15f169e90e9e95e93b3c51ff3e..16df9dad7a5c268296c597edac709447b00d34b9 100644 (file)
--- a/src/robomon/RobomonAtlantis.h
+++ b/src/robomon/RobomonAtlantis.h
@@ -81,7 +81,7 @@ private slots:
        void pick();
        void setBelts(int value);
        void setChelae(int value);
-       void sendStart();
+       void sendStart(int plug);
 
        /************************************************************
         * ORTE 
@@ -182,7 +182,7 @@ private:
        QLabel *fsm_main_state;
        QLabel *fsm_act_state;
        QLabel *fsm_motion_state;
-       QPushButton *startBtn;
+       QCheckBox *startPlug;
 
        /* robot */
        Robot *robotActPos;