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 #include <QDialog>
  17 #include <QDateTime>
  18 #include <QTimer>
  19
  20 #include <trgen.h>
  21 #include "PlaygroundScene.h"
  22 #include "playgroundview.h"
  23 #include "Robot.h"
  24 #include "Map.h"
  25 #include <roboorte_robottype.h>
  26 #include "trail.h"
  27 #include "hokuyoscan.h"
  28 #include <QMainWindow>
  29
  30 class QHBoxLayout;
  31 class QVBoxLayout;
  32 class QGridLayout;
  33 class QGroupBox;
  34 class QGraphicsView;
  35 class QLabel;
  36 class QPushButton;
  37 class QCheckBox;
  38 class QLineEdit;
  39 class QTextEdit;
  40 class QDial;
  41 class QSlider;
  42 class QProgressBar;
  43 class QFont;
  44 class QImage;
  45
  46 class MotorSimulation : QObject {
  47     Q_OBJECT
  48
  49     QTimer timer;
  50     qint64 last_time;
  51     struct robottype_orte_data &orte;
  52 public:
  53     MotorSimulation(struct robottype_orte_data &orte) : QObject(), timer(this), orte(orte) {}
  54     void start()
  55     {
  56         robottype_publisher_motion_irc_create(&orte, 0, 0);
  57         connect(&timer, SIGNAL(timeout()), this, SLOT(updateIRC()));
  58         timer.start(50);
  59     }
  60
  61     void stop()
  62     {
  63         robottype_publisher_motion_irc_destroy(&orte);
  64         timer.stop();
  65         disconnect(&timer, SIGNAL(timeout()), this, SLOT(updateIRC()));
  66     }
  67 private slots:
  68     void updateIRC()
  69     {
  70         qint64 now = QDateTime::currentMSecsSinceEpoch();
  71         orte.motion_irc.left += orte.motion_speed.left * (now - last_time);   // TODO: Find constant for speed to irc conversion
  72         orte.motion_irc.right+= orte.motion_speed.right * (now - last_time);
  73         ORTEPublicationSend(orte.publication_motion_irc);
  74         last_time = now;
  75     }
  76 };
  77
  78
  79 class RobomonAtlantis : public QWidget
  80 {
  81         Q_OBJECT
  82
  83 public:
  84         RobomonAtlantis(QStatusBar *_statusBar = 0);
  85
  86 protected:
  87         bool event(QEvent *event);
  88         void keyPressEvent(QKeyEvent *event);
  89         void keyReleaseEvent(QKeyEvent *event);
  90         void closeEvent(QCloseEvent *event);
  91
  92 signals:
  93         void motionStatusReceivedSignal();
  94         void actualPositionReceivedSignal();
  95         void powerVoltageReceivedSignal();
  96
  97 public slots:
  98         void showMap(bool show);
  99         void useOpenGL(bool use);
 100         void showTrails(bool show);
 101         void showShapeDetect(bool show);
 102         void resetTrails();
 103 private slots:
 104         /************************************************************
 105          * GUI actions
 106          ************************************************************/
 107         void setVoltage33(int state);
 108         void setVoltage50(int state);
 109         void setVoltage80(int state);
 110 /*      void setLeftMotor(int value); */
 111 /*      void setRightMotor(int value); */
 112 /*      void stopMotors(); */
 113         void paintMap();
 114         void setSimulation(int state);
 115         void setObstacleSimulation(int state);
 116         void simulateObstaclesHokuyo();
 117         void changeObstacle(QPointF position);
 118         void sendStart(int plug);
 119         void setMotorSimulation(int state);
 120
 121         /************************************************************
 122          * ORTE
 123          ************************************************************/
 124         void motionStatusReceived();
 125         void actualPositionReceived();
 126         void powerVoltageReceived();
 127
 128 private:
 129         /************************************************************
 130          * GUI
 131          ************************************************************/
 132         void createLeftLayout();
 133         void createRightLayout();
 134
 135         void createPlaygroundGroupBox();
 136         void createPositionGroupBox();
 137         void createMiscGroupBox();
 138         void createDebugGroupBox();
 139         void createActuatorsGroupBox();
 140         void createMotorsGroupBox();
 141         void createDIOGroupBox();
 142         void createSensorsGroupBox();
 143         void createPowerGroupBox();
 144         void createPickerGroupBox();
 145         void createFSMGroupBox();
 146
 147         void createRobots();
 148         void createActions();
 149         void createMap();
 150
 151         QStatusBar *statusBar;
 152
 153         QVBoxLayout *leftLayout;
 154         QVBoxLayout *rightLayout;
 155
 156         QGroupBox *playgroundGroupBox;
 157         QGroupBox *positionGroupBox;
 158         QGroupBox *miscGroupBox;
 159         QGroupBox *debugGroupBox;
 160         QGroupBox *actuatorsGroupBox;
 161         QGroupBox *powerGroupBox;
 162         QGroupBox *fsmGroupBox;
 163
 164 public:
 165         PlaygroundScene *playgroundScene;
 166 private:
 167         PlaygroundView *playgroundSceneView;
 168
 169         /* position state */
 170         QLineEdit *actPosX;
 171         QLineEdit *actPosY;
 172         QLineEdit *actPosPhi;
 173
 174         QLineEdit *estPosX;
 175         QLineEdit *estPosY;
 176         QLineEdit *estPosPhi;
 177
 178         /* debug window */
 179         QTextEdit *debugWindow;
 180         bool debugWindowEnabled;
 181
 182         /* actuators */
 183 /*      QSlider *leftMotorSlider; */
 184 /*      QSlider *rightMotorSlider; */
 185 /*      QCheckBox *bothMotorsCheckBox; */
 186 /*      QPushButton *stopMotorsPushButton; */
 187         //QDial *vidle;
 188
 189         /* power management */
 190         QCheckBox *voltage33CheckBox;
 191         QCheckBox *voltage50CheckBox;
 192         QCheckBox *voltage80CheckBox;
 193         QLineEdit *voltage33LineEdit;
 194         QLineEdit *voltage50LineEdit;
 195         QLineEdit *voltage80LineEdit;
 196         QLineEdit *voltageBATLineEdit;
 197
 198         /* misc */
 199         QCheckBox *obstacleSimulationCheckBox;
 200         QCheckBox *motorSimulationCheckBox;
 201         QLabel *fsm_main_state;
 202         QLabel *fsm_act_state;
 203         QLabel *fsm_motion_state;
 204         QLabel *system_status;
 205         QCheckBox *startPlug;
 206         QCheckBox *colorChoser;
 207 public:
 208         /* robot */
 209         Robot *robotRefPos;
 210         Robot *robotEstPosBest;
 211         Robot *robotEstPosIndepOdo;
 212         Robot *robotEstPosOdo;
 213
 214         Map *mapImage;
 215 private:
 216         Trail *trailRefPos;
 217         Trail *trailEstPosBest;
 218         Trail *trailPosIndepOdo;
 219         Trail *trailOdoPos;
 220
 221         HokuyoScan *hokuyoScan;
 222
 223         /* keypad */
 224         double leftMotorValue;
 225         double rightMotorValue;
 226
 227         /* map */
 228         void openSharedMemory();
 229         bool sharedMemoryOpened;
 230         QTimer *mapTimer;
 231
 232         /* obstacle simulation */
 233         double distanceToWallHokuyo(int beamnum);
 234         double distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize);
 235         int simulationEnabled;
 236
 237         QTimer *obstacleSimulationTimer;
 238         Point simulatedObstacle;
 239
 240         class MotorSimulation motorSimulation;
 241
 242         /************************************************************
 243          * ORTE
 244          ************************************************************/
 245         void createOrte();
 246
 247         struct robottype_orte_data orte;
 248 };
 249
 250 #endif /* ROBOMON_ATLANTIS_H */