src/robomon/RobomonAtlantis.h

   1 /*
   2  * RobomonAtlantis.h                    07/10/31
   3  *
   4  * Robot's visualization and control GUI for robot of the
   5  * Eurobot 2008 competition (Mission to Mars).
   6  *
   7  * Copyright: (c) 2008 CTU Dragons
   8  *            CTU FEE - Department of Control Engineering
   9  * Authors: Martin Zidek, Michal Sojka, Tran Duy Khanh
  10  * License: GNU GPL v.2
  11  */
  12
  13 #ifndef ROBOMON_ATLANTIS_H
  14 #define ROBOMON_ATLANTIS_H
  15
  16 #define SIM_OBST_SIZE_M 0.5
  17
  18 #include <QDialog>
  19
  20 #include <trgen.h>
  21 #include "PlaygroundScene.h"
  22 #include "Robot.h"
  23 #include <roboorte_robottype.h>
  24 #include <roboorte.h>
  25 #include "trail.h"
  26
  27 class QHBoxLayout;
  28 class QVBoxLayout;
  29 class QGridLayout;
  30 class QGroupBox;
  31 class QGraphicsView;
  32 class QLabel;
  33 class QPushButton;
  34 class QCheckBox;
  35 class QLineEdit;
  36 class QTextEdit;
  37 class QDial;
  38 class QSlider;
  39 class QProgressBar;
  40 class QFont;
  41
  42 class RobomonAtlantis : public QWidget
  43 {
  44         Q_OBJECT
  45
  46 public:
  47         RobomonAtlantis(QWidget *parent = 0);
  48
  49 protected:
  50         bool event(QEvent *event);
  51         void keyPressEvent(QKeyEvent *event);
  52         void keyReleaseEvent(QKeyEvent *event);
  53         void closeEvent(QCloseEvent *event);
  54
  55 signals:
  56         void motionStatusReceivedSignal();
  57         void actualPositionReceivedSignal();
  58         void estimatedPositionReceivedSignal();
  59         void diReceivedSignal();
  60         void accelerometerReceivedSignal();
  61         void accumulatorReceivedSignal();
  62         void powerVoltageReceivedSignal();
  63
  64 private slots:
  65         /************************************************************
  66          * GUI actions
  67          ************************************************************/
  68         void setVoltage33(int state);
  69         void setVoltage50(int state);
  70         void setVoltage80(int state);
  71         void setLeftMotor(int value);
  72         void setRightMotor(int value);
  73         void stopMotors();
  74         void setDO(int state);
  75         void showMap();
  76         void showPlayground();
  77         void paintMap();
  78         void setSimulation(int state);
  79         void setObstacleSimulation(int state);
  80         void simulateObstaclesHokuyo();
  81         void changeObstacle(QPointF position);
  82         void pick();
  83         void setBelts(int value);
  84         void setChelae(int value);
  85         void sendStart(int plug);
  86         void sendPuckInside(int value);
  87
  88         /************************************************************
  89          * ORTE
  90          ************************************************************/
  91         void motionStatusReceived();
  92         void actualPositionReceived();
  93         void estimatedPositionReceived();
  94         void diReceived();
  95         void accelerometerReceived();
  96         void accumulatorReceived();
  97         void powerVoltageReceived();
  98
  99 private:
 100         /************************************************************
 101          * GUI
 102          ************************************************************/
 103         void createLeftLayout();
 104         void createRightLayout();
 105
 106         void createPlaygroundGroupBox();
 107         void createPositionGroupBox();
 108         void createMiscGroupBox();
 109         void createDebugGroupBox();
 110         void createActuatorsGroupBox();
 111         void createMotorsGroupBox();
 112         void createDIOGroupBox();
 113         void createSensorsGroupBox();
 114         void createPowerGroupBox();
 115         void createPickerGroupBox();
 116         void createFSMGroupBox();
 117
 118         void createRobots();
 119         void createActions();
 120
 121         QVBoxLayout *leftLayout;
 122         QVBoxLayout *rightLayout;
 123
 124         QGroupBox *playgroundGroupBox;
 125         QGroupBox *positionGroupBox;
 126         QGroupBox *miscGroupBox;
 127         QGroupBox *debugGroupBox;
 128         QGroupBox *actuatorsGroupBox;
 129         QGroupBox *enginesGroupBox;
 130         QGroupBox *dioGroupBox;
 131         QGroupBox *sensorsGroupBox;
 132         QGroupBox *powerGroupBox;
 133         QGroupBox *pickerGroupBox;
 134         QGroupBox *fsmGroupBox;
 135
 136         PlaygroundScene *playgroundScene;
 137         QGraphicsView *playgroundSceneView;
 138
 139         /* position state */
 140         QLineEdit *actPosX;
 141         QLineEdit *actPosY;
 142         QLineEdit *actPosPhi;
 143
 144         QLineEdit *estPosX;
 145         QLineEdit *estPosY;
 146         QLineEdit *estPosPhi;
 147
 148         /* debug window */
 149         QTextEdit *debugWindow;
 150         bool debugWindowEnabled;
 151
 152         /* actuators */
 153         QSlider *leftMotorSlider;
 154         QSlider *rightMotorSlider;
 155         QCheckBox *bothMotorsCheckBox;
 156         QPushButton *stopMotorsPushButton;
 157
 158         QCheckBox *leftBeltCheckBox;
 159         QCheckBox *rightBeltCheckBox;
 160         QCheckBox *leftChelaCheckBox;
 161         QCheckBox *rightChelaCheckBox;
 162
 163         QDial *leftBeltDial;
 164         QDial *rightBeltDial;
 165         QDial *leftChelaDial;
 166         QDial *rightChelaDial;
 167         QPushButton *pickPushButton;
 168
 169         /* power management */
 170         QCheckBox *voltage33CheckBox;
 171         QCheckBox *voltage50CheckBox;
 172         QCheckBox *voltage80CheckBox;
 173         QLineEdit *voltage33LineEdit;
 174         QLineEdit *voltage50LineEdit;
 175         QLineEdit *voltage80LineEdit;
 176         QLineEdit *voltageBATLineEdit;
 177
 178         QCheckBox *diCheckBox[8];
 179         QCheckBox *doCheckBox[8];
 180
 181         /* misc */
 182         QCheckBox *obstacleSimulationCheckBox;
 183         QCheckBox *showMapPushButton;
 184         QLabel *fsm_main_state;
 185         QLabel *fsm_act_state;
 186         QLabel *fsm_motion_state;
 187         QCheckBox *startPlug;
 188         QCheckBox *puckInside;
 189
 190         /* robot */
 191         Robot *robotActPos;
 192         Robot *robotEstPosUzv;
 193         Robot *robotEstPosOdo;
 194
 195         Trail *trailRefPos;
 196         Trail *trailUzvPos;
 197         Trail *trailOdoPos;
 198
 199         /* keypad */
 200         double leftMotorValue;
 201         double rightMotorValue;
 202
 203         /* map */
 204         void openSharedMemory();
 205         bool sharedMemoryOpened;
 206         QTimer *mapTimer;
 207
 208         /* sensors */
 209         QProgressBar *sharpPuck;
 210         QProgressBar *liftPos;
 211         QProgressBar *pusherPos;
 212
 213         /* obstacle simulation */
 214         double distanceToWallHokuyo(int beamnum);
 215         double distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize);
 216         int simulationEnabled;
 217
 218         QTimer *obstacleSimulationTimer;
 219         Point simulatedObstacle;
 220
 221         /************************************************************
 222          * ORTE
 223          ************************************************************/
 224         void createOrte();
 225
 226         struct robottype_orte_data orte;
 227 };
 228
 229 #endif /* ROBOMON_ATLANTIS_H */