From: Michal Sojka <sojkam1@fel.cvut.cz>
Date: Fri, 28 Mar 2014 00:09:54 +0000 (+0100)
Subject: Merge branch 'maint-demo'
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/HEAD

Merge branch 'maint-demo'

Conflicts:
	src/robomon/RobomonAtlantis.h
---

fcc6c171826862e12989410bcd85496255481015
diff --cc src/robomon/RobomonAtlantis.cpp
index 63270a71,6679b8ed..9a2a3098
--- a/src/robomon/RobomonAtlantis.cpp
+++ b/src/robomon/RobomonAtlantis.cpp
@@@ -366,20 -396,11 +372,23 @@@ void RobomonAtlantis::createActions(
  			playgroundScene, SLOT(showObstacle(int)));
  	connect(playgroundScene, SIGNAL(obstacleChanged(QPointF)),
  			this, SLOT(changeObstacle(QPointF)));
+ 
+ 	connect(motorSimulationCheckBox, SIGNAL(stateChanged(int)),
+ 		this, SLOT(setMotorSimulation(int)));
  }
  
 +void RobomonAtlantis::changeStrategy_1()
 +{
 +        orte.robot_switches.strategy = true;
 +        ORTEPublicationSend(orte.publication_robot_switches);
 +}
 +
 +void RobomonAtlantis::changeStrategy_0()
 +{
 +        orte.robot_switches.strategy = false;
 +        ORTEPublicationSend(orte.publication_robot_switches);
 +}
 +
  void RobomonAtlantis::setVoltage33(int state)
  {
  	if (state)
diff --cc src/robomon/RobomonAtlantis.h
index f62fe99c,f7983628..f7239bed
--- a/src/robomon/RobomonAtlantis.h
+++ b/src/robomon/RobomonAtlantis.h
@@@ -38,8 -39,40 +40,41 @@@ class QDial
  class QSlider;
  class QProgressBar;
  class QFont;
 +class QImage;
  
+ class MotorSimulation : QObject {
+     Q_OBJECT
+ 
+     QTimer timer;
+     qint64 last_time;
+     struct robottype_orte_data &orte;
+ public:
+     MotorSimulation(struct robottype_orte_data &orte) : QObject(), timer(this), orte(orte) {}
+     void start()
+     {
+         robottype_publisher_motion_irc_create(&orte, 0, 0);
+         connect(&timer, SIGNAL(timeout()), this, SLOT(updateIRC()));
+         timer.start(50);
+     }
+ 
+     void stop()
+     {
+         robottype_publisher_motion_irc_destroy(&orte);
+         timer.stop();
+         disconnect(&timer, SIGNAL(timeout()), this, SLOT(updateIRC()));
+     }
+ private slots:
+     void updateIRC()
+     {
+         qint64 now = QDateTime::currentMSecsSinceEpoch();
+         orte.motion_irc.left += orte.motion_speed.left * (now - last_time);   // TODO: Find constant for speed to irc conversion
+         orte.motion_irc.right+= orte.motion_speed.right * (now - last_time);
+         ORTEPublicationSend(orte.publication_motion_irc);
+         last_time = now;
+     }
+ };
+ 
+ 
  class RobomonAtlantis : public QWidget
  {
      	Q_OBJECT
@@@ -81,11 -114,10 +116,12 @@@ private slots
  	void changeObstacle(QPointF position);
  	void sendStart(int plug);
  	void setTeamColor(int plug);
 +        void changeStrategy_1();
 +        void changeStrategy_0();
+ 	void setMotorSimulation(int state);
  
  	/************************************************************
 -	 * ORTE 
 +	 * ORTE
  	 ************************************************************/
  	void motionStatusReceived();
  	void actualPositionReceived();
@@@ -201,8 -229,10 +238,10 @@@ private
  	QTimer *obstacleSimulationTimer;
  	Point simulatedObstacle;
  
+ 	class MotorSimulation motorSimulation;
+ 
  	/************************************************************
 -	 * ORTE 
 +	 * ORTE
  	 ************************************************************/
  	void createOrte();