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 estimatedPositionReceivedSignal();
  58         void diReceivedSignal();
  59         void accelerometerReceivedSignal();
  60         void accumulatorReceivedSignal();
  61         void powerVoltageReceivedSignal();
  62
  63 public slots:
  64         void showMap(bool show);
  65         void showTrails(bool show);
  66         void resetTrails();
  67 private slots:
  68         /************************************************************
  69          * GUI actions
  70          ************************************************************/
  71         void setVoltage33(int state);
  72         void setVoltage50(int state);
  73         void setVoltage80(int state);
  74         void setLeftMotor(int value);
  75         void setRightMotor(int value);
  76         void stopMotors();
  77         void setDO(int state);
  78         void paintMap();
  79         void setSimulation(int state);
  80         void setObstacleSimulation(int state);
  81         void simulateObstaclesHokuyo();
  82         void changeObstacle(QPointF position);
  83         void pick();
  84         void setBelts(int value);
  85         void setChelae(int value);
  86         void sendStart(int plug);
  87         void sendPuckInside(int value);
  88
  89         /************************************************************
  90          * ORTE
  91          ************************************************************/
  92         void motionStatusReceived();
  93         void actualPositionReceived();
  94         void estimatedPositionReceived();
  95         void diReceived();
  96         void accelerometerReceived();
  97         void accumulatorReceived();
  98         void powerVoltageReceived();
  99
 100 private:
 101         /************************************************************
 102          * GUI
 103          ************************************************************/
 104         void createLeftLayout();
 105         void createRightLayout();
 106
 107         void createPlaygroundGroupBox();
 108         void createPositionGroupBox();
 109         void createMiscGroupBox();
 110         void createDebugGroupBox();
 111         void createActuatorsGroupBox();
 112         void createMotorsGroupBox();
 113         void createDIOGroupBox();
 114         void createSensorsGroupBox();
 115         void createPowerGroupBox();
 116         void createPickerGroupBox();
 117         void createFSMGroupBox();
 118
 119         void createRobots();
 120         void createActions();
 121
 122         QVBoxLayout *leftLayout;
 123         QVBoxLayout *rightLayout;
 124
 125         QGroupBox *playgroundGroupBox;
 126         QGroupBox *positionGroupBox;
 127         QGroupBox *miscGroupBox;
 128         QGroupBox *debugGroupBox;
 129         QGroupBox *actuatorsGroupBox;
 130         QGroupBox *enginesGroupBox;
 131         QGroupBox *dioGroupBox;
 132         QGroupBox *sensorsGroupBox;
 133         QGroupBox *powerGroupBox;
 134         QGroupBox *pickerGroupBox;
 135         QGroupBox *fsmGroupBox;
 136
 137         PlaygroundScene *playgroundScene;
 138         QGraphicsView *playgroundSceneView;
 139
 140         /* position state */
 141         QLineEdit *actPosX;
 142         QLineEdit *actPosY;
 143         QLineEdit *actPosPhi;
 144
 145         QLineEdit *estPosX;
 146         QLineEdit *estPosY;
 147         QLineEdit *estPosPhi;
 148
 149         /* debug window */
 150         QTextEdit *debugWindow;
 151         bool debugWindowEnabled;
 152
 153         /* actuators */
 154         QSlider *leftMotorSlider;
 155         QSlider *rightMotorSlider;
 156         QCheckBox *bothMotorsCheckBox;
 157         QPushButton *stopMotorsPushButton;
 158
 159         QCheckBox *leftBeltCheckBox;
 160         QCheckBox *rightBeltCheckBox;
 161         QCheckBox *leftChelaCheckBox;
 162         QCheckBox *rightChelaCheckBox;
 163
 164         QDial *leftBeltDial;
 165         QDial *rightBeltDial;
 166         QDial *leftChelaDial;
 167         QDial *rightChelaDial;
 168         QPushButton *pickPushButton;
 169
 170         /* power management */
 171         QCheckBox *voltage33CheckBox;
 172         QCheckBox *voltage50CheckBox;
 173         QCheckBox *voltage80CheckBox;
 174         QLineEdit *voltage33LineEdit;
 175         QLineEdit *voltage50LineEdit;
 176         QLineEdit *voltage80LineEdit;
 177         QLineEdit *voltageBATLineEdit;
 178
 179         QCheckBox *diCheckBox[8];
 180         QCheckBox *doCheckBox[8];
 181
 182         /* misc */
 183         QCheckBox *obstacleSimulationCheckBox;
 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 */