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 "trail.h"
  25
  26 class QHBoxLayout;
  27 class QVBoxLayout;
  28 class QGridLayout;
  29 class QGroupBox;
  30 class QGraphicsView;
  31 class QLabel;
  32 class QPushButton;
  33 class QCheckBox;
  34 class QLineEdit;
  35 class QTextEdit;
  36 class QDial;
  37 class QSlider;
  38 class QProgressBar;
  39 class QFont;
  40
  41 class RobomonAtlantis : public QWidget
  42 {
  43         Q_OBJECT
  44
  45 public:
  46         RobomonAtlantis(QWidget *parent = 0);
  47
  48 protected:
  49         bool event(QEvent *event);
  50         void keyPressEvent(QKeyEvent *event);
  51         void keyReleaseEvent(QKeyEvent *event);
  52         void closeEvent(QCloseEvent *event);
  53
  54 signals:
  55         void motionStatusReceivedSignal();
  56         void actualPositionReceivedSignal();
  57         void powerVoltageReceivedSignal();
  58
  59 public slots:
  60         void showMap(bool show);
  61         void showTrails(bool show);
  62         void resetTrails();
  63 private slots:
  64         /************************************************************
  65          * GUI actions
  66          ************************************************************/
  67         void setVoltage33(int state);
  68         void setVoltage50(int state);
  69         void setVoltage80(int state);
  70         void setLeftMotor(int value);
  71         void setRightMotor(int value);
  72         void stopMotors();
  73         void paintMap();
  74         void setSimulation(int state);
  75         void setObstacleSimulation(int state);
  76         void simulateObstaclesHokuyo();
  77         void changeObstacle(QPointF position);
  78         void sendStart(int plug);
  79
  80         /************************************************************
  81          * ORTE
  82          ************************************************************/
  83         void motionStatusReceived();
  84         void actualPositionReceived();
  85         void powerVoltageReceived();
  86
  87 private:
  88         /************************************************************
  89          * GUI
  90          ************************************************************/
  91         void createLeftLayout();
  92         void createRightLayout();
  93
  94         void createPlaygroundGroupBox();
  95         void createPositionGroupBox();
  96         void createMiscGroupBox();
  97         void createDebugGroupBox();
  98         void createActuatorsGroupBox();
  99         void createMotorsGroupBox();
 100         void createDIOGroupBox();
 101         void createSensorsGroupBox();
 102         void createPowerGroupBox();
 103         void createPickerGroupBox();
 104         void createFSMGroupBox();
 105
 106         void createRobots();
 107         void createActions();
 108
 109         QVBoxLayout *leftLayout;
 110         QVBoxLayout *rightLayout;
 111
 112         QGroupBox *playgroundGroupBox;
 113         QGroupBox *positionGroupBox;
 114         QGroupBox *miscGroupBox;
 115         QGroupBox *debugGroupBox;
 116         QGroupBox *actuatorsGroupBox;
 117         QGroupBox *enginesGroupBox;
 118         QGroupBox *powerGroupBox;
 119         QGroupBox *fsmGroupBox;
 120
 121         PlaygroundScene *playgroundScene;
 122         QGraphicsView *playgroundSceneView;
 123
 124         /* position state */
 125         QLineEdit *actPosX;
 126         QLineEdit *actPosY;
 127         QLineEdit *actPosPhi;
 128
 129         QLineEdit *estPosX;
 130         QLineEdit *estPosY;
 131         QLineEdit *estPosPhi;
 132
 133         /* debug window */
 134         QTextEdit *debugWindow;
 135         bool debugWindowEnabled;
 136
 137         /* actuators */
 138         QSlider *leftMotorSlider;
 139         QSlider *rightMotorSlider;
 140         QCheckBox *bothMotorsCheckBox;
 141         QPushButton *stopMotorsPushButton;
 142
 143         /* power management */
 144         QCheckBox *voltage33CheckBox;
 145         QCheckBox *voltage50CheckBox;
 146         QCheckBox *voltage80CheckBox;
 147         QLineEdit *voltage33LineEdit;
 148         QLineEdit *voltage50LineEdit;
 149         QLineEdit *voltage80LineEdit;
 150         QLineEdit *voltageBATLineEdit;
 151
 152         /* misc */
 153         QCheckBox *obstacleSimulationCheckBox;
 154         QLabel *fsm_main_state;
 155         QLabel *fsm_act_state;
 156         QLabel *fsm_motion_state;
 157         QCheckBox *startPlug;
 158         QCheckBox *puckInside;
 159
 160         /* robot */
 161         Robot *robotActPos;
 162         Robot *robotEstPosIndepOdo;
 163         Robot *robotEstPosOdo;
 164
 165         Trail *trailRefPos;
 166         Trail *trailPosIndepOdo;
 167         Trail *trailOdoPos;
 168
 169         /* keypad */
 170         double leftMotorValue;
 171         double rightMotorValue;
 172
 173         /* map */
 174         void openSharedMemory();
 175         bool sharedMemoryOpened;
 176         QTimer *mapTimer;
 177
 178         /* obstacle simulation */
 179         double distanceToWallHokuyo(int beamnum);
 180         double distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize);
 181         int simulationEnabled;
 182
 183         QTimer *obstacleSimulationTimer;
 184         Point simulatedObstacle;
 185
 186         /************************************************************
 187          * ORTE
 188          ************************************************************/
 189         void createOrte();
 190
 191         struct robottype_orte_data orte;
 192 };
 193
 194 #endif /* ROBOMON_ATLANTIS_H */