src/robomon/src2/RobomonExplorer.h

   1 /*
   2  * RobomonExplorer.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_EXPLORER_H
  14 #define ROBOMON_EXPLORER_H
  15
  16 #define SHARP_LONG_CNT 4
  17 #define SHARP_SHORT_CNT 2
  18
  19 #include <QDialog>
  20
  21 #include <sharp.h>
  22 #include <trgen.h>
  23 #include "PlaygroundScene.h"
  24 #include "Robot.h"
  25 #include <roboorte_generic.h>
  26 #include <roboorte_eb2008.h>
  27
  28 class QHBoxLayout;
  29 class QVBoxLayout;
  30 class QGridLayout;
  31 class QGroupBox;
  32 class QGraphicsView;
  33 class QLabel;
  34 class QPushButton;
  35 class QCheckBox;
  36 class QLineEdit;
  37 class QTextEdit;
  38 class QDial;
  39 class QSlider;
  40 class QProgressBar;
  41 class QFont;
  42
  43 #define PG_X 600
  44 #define PG_Y 420
  45
  46 #define TOP_LEFT QPointF(10,0)
  47 #define TOP_LEFT_X 10
  48 #define TOP_LEFT_Y 0
  49
  50 class RobomonExplorer : public QWidget
  51 {
  52         Q_OBJECT
  53
  54 public:
  55         RobomonExplorer(QWidget *parent = 0);
  56
  57 protected:
  58         bool event(QEvent *event);
  59         void keyPressEvent(QKeyEvent *event);
  60         void keyReleaseEvent(QKeyEvent *event);
  61         void closeEvent(QCloseEvent *event);
  62
  63 signals:
  64         void motionStatusReceivedSignal();
  65         void actualPositionReceivedSignal();
  66         void estimatedPositionReceivedSignal();
  67         void sharpsReceivedSignal();
  68         void sharpLongsReceivedSignal(); //FIXME rm
  69         void sharpShortsReceivedSignal(); //FIXME rm
  70         void diReceivedSignal();
  71         void accelerometerReceivedSignal();
  72         void accumulatorReceivedSignal();
  73         void powerVoltageReceivedSignal();
  74
  75 private slots:
  76         /************************************************************
  77          * GUI actions
  78          ************************************************************/
  79         void setVoltage33(int state);
  80         void setVoltage50(int state);
  81         void setVoltage80(int state);
  82         void setLeftMotor(int value);
  83         void setRightMotor(int value);
  84         void setDrives(int value);
  85         void setLeftBrushDriveCB(int value);
  86         void setRightBrushDriveCB(int value);
  87         void setBagrDriveCB(int value);
  88         void stopMotors();
  89         void moveServos(int value);
  90         void moveFrontDoor(int state);
  91         void moveTopDoor(int state);
  92         void moveBackDoor(int state);
  93         void moveLeftBrush(int state);
  94         void moveRightBrush(int state);
  95         void setDO(int state);
  96         void setLaser(int state);
  97         void showMap();
  98         void showPlayground();
  99         void paintMap();
 100         void setSharpValues(int value);
 101         void setSimulation(int state);
 102         void setObstacleSimulation(int state);
 103         void simulateObstacles();
 104         void changeObstacle(QPointF position);
 105
 106         /************************************************************
 107          * ORTE
 108          ************************************************************/
 109         void motionStatusReceived();
 110         void actualPositionReceived();
 111         void estimatedPositionReceived();
 112         void sharpsReceived();
 113         void diReceived();
 114         void accelerometerReceived();
 115         void accumulatorReceived();
 116         void powerVoltageReceived();
 117
 118 private:
 119         /************************************************************
 120          * GUI
 121          ************************************************************/
 122         void createLeftLayout();
 123         void createRightLayout();
 124
 125         void createPlaygroundGroupBox();
 126         void createPositionGroupBox();
 127         void createMiscGroupBox();
 128         void createDebugGroupBox();
 129         void createActuatorsGroupBox();
 130         void createMotorsGroupBox();
 131         void createServosGroupBox();
 132         void createDrivesGroupBox();
 133         void createDIOGroupBox();
 134         void createSensorsGroupBox();
 135         void createPowerGroupBox();
 136
 137         void createSharpSensorsLayout();
 138
 139         void createRobots();
 140         void createActions();
 141
 142         QVBoxLayout *leftLayout;
 143         QVBoxLayout *rightLayout;
 144         QVBoxLayout *sharpSensorsLayout;
 145
 146         QGroupBox *playgroundGroupBox;
 147         QGroupBox *positionGroupBox;
 148         QGroupBox *miscGroupBox;
 149         QGroupBox *debugGroupBox;
 150         QGroupBox *actuatorsGroupBox;
 151         QGroupBox *enginesGroupBox;
 152         QGroupBox *servosGroupBox;
 153         QGroupBox *drivesGroupBox;
 154         QGroupBox *dioGroupBox;
 155         QGroupBox *sensorsGroupBox;
 156         QGroupBox *powerGroupBox;
 157
 158         PlaygroundScene *playgroundScene;
 159         QGraphicsView *playgroundSceneView;
 160
 161         /* position state */
 162         QLineEdit *actPosX;
 163         QLineEdit *actPosY;
 164         QLineEdit *actPosPhi;
 165
 166         QLineEdit *estPosX;
 167         QLineEdit *estPosY;
 168         QLineEdit *estPosPhi;
 169
 170         /* debug window */
 171         QTextEdit *debugWindow;
 172         bool debugWindowEnabled;
 173
 174         /* actuators */
 175         QSlider *leftMotorSlider;
 176         QSlider *rightMotorSlider;
 177         QCheckBox *bothMotorsCheckBox;
 178         QPushButton *stopMotorsPushButton;
 179
 180         QCheckBox *bottomDoorCheckBox;
 181         QCheckBox *backDoorCheckBox;
 182         QCheckBox *topDoorCheckBox;
 183         QCheckBox *leftBrushCheckBox;
 184         QCheckBox *rightBrushCheckBox;
 185
 186         QDial *leftBrushDial;
 187         QDial *rightBrushDial;
 188         QDial *bagrDial;
 189         QDial *carouselDial;
 190
 191         QCheckBox *leftBrushDriveCheckBox;
 192         QCheckBox *rightBrushDriveCheckBox;
 193         QCheckBox *bagrDriveCheckBox;
 194
 195         /* power management */
 196         QCheckBox *voltage33CheckBox;
 197         QCheckBox *voltage50CheckBox;
 198         QCheckBox *voltage80CheckBox;
 199         QLineEdit *voltage33LineEdit;
 200         QLineEdit *voltage50LineEdit;
 201         QLineEdit *voltage80LineEdit;
 202         QLineEdit *voltageBATLineEdit;
 203
 204         /* sensors */
 205         QLabel *sharpLongsLabel[SHARP_LONG_CNT];
 206         QLabel *sharpShortsLabel[SHARP_SHORT_CNT];
 207         QProgressBar *sharpLongsProgressBar[SHARP_LONG_CNT];
 208         QProgressBar *sharpShortsProgressBar[SHARP_SHORT_CNT];
 209         QCheckBox *sensorsSimulationCheckBox;
 210         QSlider *sharpLongsSlider[SHARP_LONG_CNT];
 211         QSlider *sharpShortsSlider[SHARP_SHORT_CNT];
 212
 213         QCheckBox *diCheckBox[8];
 214         QCheckBox *doCheckBox[8];
 215
 216         /* misc */
 217         QCheckBox *sensorSimulationCheckBox;
 218         QCheckBox *obstacleSimulationCheckBox;
 219         QPushButton *showMapPushButton;
 220         QCheckBox *laserEngineCheckBox;
 221
 222         /* robot */
 223         Robot *robotActPos;
 224         Robot *robotEstPos;
 225
 226         /* keypad */
 227         double leftMotorValue;
 228         double rightMotorValue;
 229
 230         /* map */
 231         void openSharedMemory();
 232         bool sharedMemoryOpened;
 233         int cellSize;
 234         QTimer *mapTimer;
 235
 236         /* obstacle simulation */
 237         double distanceToWall(int sharpnum);
 238         double distanceToObstacle(int sharpnum, Point obstacle, double obstacleSize);
 239         int simulationEnabled;
 240
 241         QTimer *obstacleSimulationTimer;
 242         Point simulatedObstacle;
 243
 244         /************************************************************
 245          * ORTE
 246          ************************************************************/
 247         void createOrte();
 248
 249         struct generic_orte_data orte_generic;
 250         struct eb2008_orte_data orte_eb2008;
 251 };
 252
 253 #endif /* ROBOMON_EXPLORER_H */