From: Michal Sojka <sojkam1@fel.cvut.cz>
Date: Fri, 24 Apr 2009 18:42:55 +0000 (+0200)
Subject: robomon: Working start plug
X-Git-Tag: eb2009~22^2~6^2~1
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/dfe7ba44aef213f03dc9cc7b0e36935ac332cc5e

robomon: Working start plug
---

diff --git a/src/robomon/RobomonAtlantis.cpp b/src/robomon/RobomonAtlantis.cpp
index 87ef3df2..bf1adb72 100644
--- 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 d5b354fd..16df9dad 100644
--- 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;