src/robomon/RobomonAtlantis.cpp

   1 /*
   2  * RobomonAtlantis.cpp                  07/10/31
   3  *
   4  * Robot`s visualization and control GUI for robot of the
   5  * Eurobot 2008 (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 #include <QtGui>
  14 #include <queue>
  15 #include <cstdlib>
  16 #include <sys/shm.h>
  17 #include <sys/stat.h>
  18 #include <sys/socket.h>
  19 #include <netinet/in.h>
  20 #include <arpa/inet.h>
  21 #include <stdio.h>
  22 #include <unistd.h>
  23 #include <math.h>
  24
  25 #include <orte.h>
  26 #include <path_planner.h>
  27 #include <robodim.h>
  28 #include <sharp.h>
  29 #include <trgen.h>
  30 #include <map.h>
  31 #include <robomath.h>
  32 #include <hokuyo.h>
  33 #include <actuators.h>
  34 #include "PlaygroundScene.h"
  35 #include "MiscGui.h"
  36 #include "robomon_orte.h"
  37 #include "RobomonAtlantis.h"
  38 #include "playgroundview.h"
  39
  40 #include <QCoreApplication>
  41 #include <QEvent>
  42 #include <QKeyEvent>
  43 #include <QDebug>
  44 #include <QMessageBox>
  45
  46 RobomonAtlantis::RobomonAtlantis(QWidget *parent)
  47         : QWidget(parent)
  48 {
  49         QFont font;
  50         font.setPointSize(7);
  51         setFont(font);
  52
  53         debugWindowEnabled = false;
  54
  55         createLeftLayout();
  56         createRightLayout();
  57
  58         QHBoxLayout *mainLayout = new QHBoxLayout;
  59         mainLayout->addLayout(leftLayout);
  60         mainLayout->addLayout(rightLayout);
  61         setLayout(mainLayout);
  62
  63         createOrte();
  64         createRobots();
  65         createActions();
  66
  67         setFocusPolicy(Qt::StrongFocus);
  68         sharedMemoryOpened = false;
  69         WDBG("Youuuhouuuu!!");
  70 }
  71
  72 /**********************************************************************
  73  * GUI
  74  **********************************************************************/
  75 void RobomonAtlantis::createLeftLayout()
  76 {
  77         leftLayout = new QVBoxLayout();
  78
  79         createDebugGroupBox();
  80         debugWindowEnabled = true;
  81         createPlaygroundGroupBox();
  82         leftLayout->addWidget(playgroundGroupBox);
  83         leftLayout->addWidget(debugGroupBox);
  84 }
  85
  86 void RobomonAtlantis::createRightLayout()
  87 {
  88         rightLayout = new QVBoxLayout();
  89         QGridLayout *layout = new QGridLayout();
  90         QVBoxLayout *vlayout = new QVBoxLayout();
  91
  92         createPositionGroupBox();
  93         createMiscGroupBox();
  94         createFSMGroupBox();
  95         createActuatorsGroupBox();
  96         createDIOGroupBox();
  97         createPowerGroupBox();
  98         createSensorsGroupBox();
  99
 100         vlayout->addWidget(positionGroupBox);
 101         vlayout->addWidget(miscGroupBox);
 102         vlayout->addWidget(fsmGroupBox);
 103         layout->addLayout(vlayout, 0, 0);
 104         layout->addWidget(actuatorsGroupBox, 0, 1);
 105 //      layout->addWidget(dioGroupBox, 0, 2);
 106
 107         rightLayout->addLayout(layout);
 108         rightLayout->addWidget(powerGroupBox);
 109         rightLayout->addWidget(sensorsGroupBox);
 110 }
 111
 112 void RobomonAtlantis::createPlaygroundGroupBox()
 113 {
 114         playgroundGroupBox = new QGroupBox(tr("Playground"));
 115         QHBoxLayout *layout = new QHBoxLayout();
 116
 117         playgroundScene = new PlaygroundScene();
 118         playgroundSceneView = new PlaygroundView(playgroundScene);
 119         //playgroundSceneView->setMinimumWidth(630);
 120         //playgroundSceneView->setMinimumHeight(445);
 121         playgroundSceneView->setMatrix(QMatrix(1,0,0,-1,0,0), true);
 122         playgroundSceneView->fitInView(playgroundScene->itemsBoundingRect());
 123         playgroundSceneView->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
 124         layout->addWidget(playgroundSceneView);
 125
 126         playgroundGroupBox->setLayout(layout);
 127 }
 128
 129 void RobomonAtlantis::createPositionGroupBox()
 130 {
 131         positionGroupBox = new QGroupBox(tr("Position state"));
 132         positionGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 133         QGridLayout *layout = new QGridLayout();
 134
 135         actPosX = new QLineEdit();
 136         actPosY = new QLineEdit();
 137         actPosPhi = new QLineEdit();
 138
 139         estPosX = new QLineEdit();
 140         estPosY = new QLineEdit();
 141         estPosPhi = new QLineEdit();
 142
 143         actPosX->setReadOnly(true);
 144         actPosY->setReadOnly(true);
 145         actPosPhi->setReadOnly(true);
 146
 147         estPosX->setReadOnly(true);
 148         estPosY->setReadOnly(true);
 149         estPosPhi->setReadOnly(true);
 150
 151         layout->addWidget(MiscGui::createLabel("X"), 1, 0);
 152         layout->addWidget(MiscGui::createLabel("Y"), 2, 0);
 153         layout->addWidget(MiscGui::createLabel("Phi"), 3, 0);
 154
 155         layout->addWidget(MiscGui::createLabel("X"), 5, 0);
 156         layout->addWidget(MiscGui::createLabel("Y"), 6, 0);
 157         layout->addWidget(MiscGui::createLabel("Phi"), 7, 0);
 158
 159         layout->addWidget(MiscGui::createLabel("Reference", Qt::AlignLeft), 0, 1);
 160         layout->addWidget(actPosX, 1, 1);
 161         layout->addWidget(actPosY, 2, 1);
 162         layout->addWidget(actPosPhi, 3, 1);
 163
 164         layout->addWidget(MiscGui::createLabel("Estimated", Qt::AlignLeft), 4, 1);
 165         layout->addWidget(estPosX, 5, 1);
 166         layout->addWidget(estPosY, 6, 1);
 167         layout->addWidget(estPosPhi, 7, 1);
 168
 169         positionGroupBox->setLayout(layout);
 170 }
 171
 172 void RobomonAtlantis::createMiscGroupBox()
 173 {
 174         miscGroupBox = new QGroupBox(tr("Miscellaneous"));
 175         miscGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 176         QGridLayout *layout = new QGridLayout();
 177
 178         showMapPushButton = new QCheckBox(tr("Show &map"));
 179         showMapPushButton->setShortcut(tr("m"));
 180
 181         layout->addWidget(showMapPushButton, 0, 0);
 182
 183         obstacleSimulationCheckBox = new QCheckBox(tr("&Obstacle simulation"));
 184         obstacleSimulationCheckBox->setShortcut(tr("o"));
 185         layout->addWidget(obstacleSimulationCheckBox);
 186
 187         miscGroupBox->setLayout(layout);
 188 }
 189
 190 void RobomonAtlantis::createFSMGroupBox()
 191 {
 192         fsmGroupBox = new QGroupBox(tr("FSM"));
 193         fsmGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 194         QGridLayout *layout = new QGridLayout();
 195
 196         layout->addWidget(MiscGui::createLabel("Main:"), 1, 0);
 197         fsm_main_state = new QLabel();
 198         fsm_main_state->setMinimumWidth(100);
 199         layout->addWidget(fsm_main_state, 1, 1);
 200
 201         layout->addWidget(MiscGui::createLabel("Act:"), 2, 0);
 202         fsm_act_state = new QLabel();
 203         layout->addWidget(fsm_act_state, 2, 1);
 204
 205         layout->addWidget(MiscGui::createLabel("Motion:"), 3, 0);
 206         fsm_motion_state = new QLabel();
 207         layout->addWidget(fsm_motion_state, 3, 1);
 208
 209         fsmGroupBox->setLayout(layout);
 210 }
 211
 212 void RobomonAtlantis::createDebugGroupBox()
 213 {
 214         debugGroupBox = new QGroupBox(tr("Debug window"));
 215         QHBoxLayout *layout = new QHBoxLayout();
 216
 217         debugWindow = new QTextEdit();
 218         debugWindow->setReadOnly(true);
 219
 220         layout->addWidget(debugWindow);
 221         debugGroupBox->setLayout(layout);
 222 }
 223
 224 void RobomonAtlantis::createActuatorsGroupBox()
 225 {
 226         actuatorsGroupBox = new QGroupBox(tr("Actuators"));
 227         QHBoxLayout *layout = new QHBoxLayout();
 228
 229         createMotorsGroupBox();
 230         createPickerGroupBox();
 231
 232         layout->setAlignment(Qt::AlignLeft);
 233         layout->addWidget(enginesGroupBox);
 234         layout->addWidget(pickerGroupBox);
 235         actuatorsGroupBox->setLayout(layout);
 236 }
 237
 238 void RobomonAtlantis::createDIOGroupBox()
 239 {
 240         dioGroupBox = new QGroupBox(tr("DIO"));
 241         QGridLayout *layout = new QGridLayout();
 242         QFont font;
 243
 244         font.setPointSize(5);
 245         dioGroupBox->setFont(font);
 246
 247         for (int i=0; i<8; i++) {
 248                 diCheckBox[i] = new QCheckBox(QString("DI%1").arg(i));
 249                 doCheckBox[i] = new QCheckBox(QString("D0%1").arg(i));
 250                 layout->addWidget(diCheckBox[i], i, 0);
 251                 layout->addWidget(doCheckBox[i], i+8, 0);
 252         }
 253
 254         dioGroupBox->setMaximumWidth(70);
 255         dioGroupBox->setLayout(layout);
 256 }
 257
 258 void RobomonAtlantis::createPowerGroupBox()
 259 {
 260         powerGroupBox = new QGroupBox(tr("Power management"));
 261         QGridLayout *layout = new QGridLayout();
 262
 263         voltage33CheckBox = new QCheckBox(tr("&3.3V"));
 264         voltage50CheckBox = new QCheckBox(tr("&5.0V"));
 265         voltage80CheckBox = new QCheckBox(tr("&8.0V"));
 266
 267         voltage33CheckBox->setShortcut(tr("3"));
 268         voltage50CheckBox->setShortcut(tr("5"));
 269         voltage80CheckBox->setShortcut(tr("8"));
 270
 271         layout->addWidget(voltage33CheckBox, 0, 0);
 272         layout->addWidget(voltage50CheckBox, 0, 2);
 273         layout->addWidget(voltage80CheckBox, 0, 4); //1, 0);
 274         layout->addWidget(MiscGui::createLabel("BAT"), 0, 6); //1, 2);
 275
 276         voltage33LineEdit = new QLineEdit();
 277         voltage50LineEdit = new QLineEdit();
 278         voltage80LineEdit = new QLineEdit();
 279         voltageBATLineEdit = new QLineEdit();
 280
 281         voltage33LineEdit->setReadOnly(true);
 282         voltage50LineEdit->setReadOnly(true);
 283         voltage80LineEdit->setReadOnly(true);
 284         voltageBATLineEdit->setReadOnly(true);
 285
 286         layout->addWidget(voltage33LineEdit, 0, 1);
 287         layout->addWidget(voltage50LineEdit, 0, 3);
 288         layout->addWidget(voltage80LineEdit, 0, 5); //1, 1);
 289         layout->addWidget(voltageBATLineEdit, 0, 7); //1, 3);
 290
 291         powerGroupBox->setLayout(layout);
 292 }
 293
 294 void RobomonAtlantis::createSensorsGroupBox()
 295 {
 296         sensorsGroupBox = new QGroupBox(tr("Sensors"));
 297         sensorsGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 298         QHBoxLayout *layout = new QHBoxLayout();
 299
 300         layout->addWidget(MiscGui::createLabel("Puck Sharp"));
 301         sharpPuck = new QProgressBar();
 302         sharpPuck->setFormat("%v mm");
 303         sharpPuck->setTextVisible(true);
 304         sharpPuck->setMaximum(250);
 305         layout->addWidget(sharpPuck);
 306
 307         sensorsGroupBox->setLayout(layout);
 308 }
 309
 310 void RobomonAtlantis::createMotorsGroupBox()
 311 {
 312         enginesGroupBox = new QGroupBox(tr("Motors"));
 313         QVBoxLayout *layout = new QVBoxLayout();
 314         QHBoxLayout *layout1 = new QHBoxLayout();
 315         QHBoxLayout *layout2 = new QHBoxLayout();
 316
 317         leftMotorSlider = new QSlider(Qt::Vertical);
 318         rightMotorSlider = new QSlider(Qt::Vertical);
 319         bothMotorsCheckBox = new QCheckBox(tr("Lock both"));
 320         stopMotorsPushButton = new QPushButton(tr("Stop Motors"));
 321
 322         leftMotorSlider->setMinimum(-100);
 323         leftMotorSlider->setMaximum(100);
 324         leftMotorSlider->setTracking(false);
 325         leftMotorSlider->setTickPosition(QSlider::TicksLeft);
 326
 327         rightMotorSlider->setMinimum(-100);
 328         rightMotorSlider->setMaximum(100);
 329         rightMotorSlider->setTracking(false);
 330         rightMotorSlider->setTickPosition(QSlider::TicksRight);
 331
 332         stopMotorsPushButton->setMaximumWidth(90);
 333
 334         layout1->addWidget(leftMotorSlider);
 335         layout1->addWidget(MiscGui::createLabel("0"));
 336         layout1->addWidget(rightMotorSlider);
 337
 338         layout2->addWidget(bothMotorsCheckBox);
 339
 340         layout->addWidget(MiscGui::createLabel("100"));
 341         layout->addLayout(layout1);
 342         layout->addWidget(MiscGui::createLabel("-100"));
 343         layout->addLayout(layout2);
 344         layout->addWidget(stopMotorsPushButton);
 345         enginesGroupBox->setLayout(layout);
 346 }
 347
 348 void RobomonAtlantis::createPickerGroupBox()
 349 {
 350         pickerGroupBox = new QGroupBox(tr("Picker"));
 351         QVBoxLayout *layout = new QVBoxLayout();
 352
 353         leftBeltCheckBox = new QCheckBox(tr("L Belt"));
 354         rightBeltCheckBox = new QCheckBox(tr("R Belt"));
 355         leftChelaCheckBox = new QCheckBox(tr("L Chela"));
 356         rightChelaCheckBox = new QCheckBox(tr("R Chela"));
 357         leftBeltDial = new QDial();
 358         rightBeltDial = new QDial();
 359         leftChelaDial = new QDial();
 360         rightChelaDial = new QDial();
 361         pickPushButton = new QPushButton(tr("Pick!"));
 362
 363         leftBeltDial->setMinimum(0);
 364         leftBeltDial->setMaximum(200);
 365         leftBeltDial->setValue(100);
 366
 367         rightBeltDial->setMinimum(0);
 368         rightBeltDial->setMaximum(200);
 369         rightBeltDial->setValue(100);
 370
 371         leftChelaDial->setMinimum(0);
 372         leftChelaDial->setMaximum(255);
 373         leftChelaDial->setValue(127);
 374
 375         rightChelaDial->setMinimum(0);
 376         rightChelaDial->setMaximum(255);
 377         rightChelaDial->setValue(127);
 378
 379         layout->addWidget(leftChelaDial);
 380         layout->addWidget(leftChelaCheckBox);
 381         layout->addWidget(rightChelaDial);
 382         layout->addWidget(rightChelaCheckBox);
 383         layout->addWidget(leftBeltDial);
 384         layout->addWidget(leftBeltCheckBox);
 385         layout->addWidget(rightBeltDial);
 386         layout->addWidget(rightBeltCheckBox);
 387         layout->addWidget(pickPushButton);
 388
 389         pickerGroupBox->setLayout(layout);
 390 }
 391
 392 void RobomonAtlantis::createRobots()
 393 {
 394         robotActPos = new Robot(QPen(), QBrush(Qt::darkGray));
 395         robotActPos->setZValue(10);
 396         robotEstPos = new Robot(QPen(Qt::darkBlue), QBrush(Qt::NoBrush));
 397         robotEstPos->setZValue(11);
 398
 399         playgroundScene->addItem(robotActPos);
 400         playgroundScene->addItem(robotEstPos);
 401 }
 402
 403 /**********************************************************************
 404  * GUI actions
 405  **********************************************************************/
 406 void RobomonAtlantis::createActions()
 407 {
 408         /* power management */
 409         connect(voltage33CheckBox, SIGNAL(stateChanged(int)),
 410                         this, SLOT(setVoltage33(int)));
 411         connect(voltage50CheckBox, SIGNAL(stateChanged(int)),
 412                         this, SLOT(setVoltage50(int)));
 413         connect(voltage80CheckBox, SIGNAL(stateChanged(int)),
 414                         this, SLOT(setVoltage80(int)));
 415
 416         /* motors */
 417         connect(leftMotorSlider, SIGNAL(valueChanged(int)),
 418                         this, SLOT(setLeftMotor(int)));
 419         connect(rightMotorSlider, SIGNAL(valueChanged(int)),
 420                         this, SLOT(setRightMotor(int)));
 421         connect(stopMotorsPushButton, SIGNAL(clicked()),
 422                         this, SLOT(stopMotors()));
 423
 424         /* DIO */
 425         for (int i=0; i<8; i++)
 426                 connect(doCheckBox[0], SIGNAL(stateChanged(int)),
 427                                         this, SLOT(setDO(int)));
 428
 429         /* path planning map */
 430         connect(showMapPushButton, SIGNAL(clicked()),
 431                         this, SLOT(showMap()));
 432
 433         /* obstacle simulation */
 434         simulationEnabled = 0;
 435         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 436                         this, SLOT(setSimulation(int)));
 437         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 438                         this, SLOT(setObstacleSimulation(int)));
 439         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 440                         playgroundScene, SLOT(showObstacle(int)));
 441         connect(playgroundScene, SIGNAL(obstacleChanged(QPointF)),
 442                         this, SLOT(changeObstacle(QPointF)));
 443
 444         /* Actuators */
 445         connect(pickPushButton, SIGNAL(clicked()), this, SLOT(pick()));
 446         connect(leftBeltCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setBelts(int)));
 447         connect(rightBeltCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setBelts(int)));
 448         connect(leftChelaCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setChelae(int)));
 449         connect(rightChelaCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setChelae(int)));
 450         connect(leftBeltDial, SIGNAL(valueChanged(int)), this, SLOT(setBelts(int)));
 451         connect(rightBeltDial, SIGNAL(valueChanged(int)), this, SLOT(setBelts(int)));
 452         connect(leftChelaDial, SIGNAL(valueChanged(int)), this, SLOT(setChelae(int)));
 453         connect(rightChelaDial, SIGNAL(valueChanged(int)), this, SLOT(setChelae(int)));
 454 }
 455
 456 void RobomonAtlantis::setVoltage33(int state)
 457 {
 458         if (state)
 459                 orte.pwr_ctrl.voltage33 = true;
 460         else
 461                 orte.pwr_ctrl.voltage33 = false;
 462 }
 463
 464 void RobomonAtlantis::setVoltage50(int state)
 465 {
 466         if (state)
 467                 orte.pwr_ctrl.voltage50 = true;
 468         else
 469                 orte.pwr_ctrl.voltage50 = false;
 470 }
 471
 472 void RobomonAtlantis::setVoltage80(int state)
 473 {
 474         if (state)
 475                 orte.pwr_ctrl.voltage80 = true;
 476         else
 477                 orte.pwr_ctrl.voltage80 = false;
 478 }
 479
 480 void RobomonAtlantis::setLeftMotor(int value)
 481 {
 482         short int leftMotor;
 483         short int rightMotor;
 484
 485         if(bothMotorsCheckBox->isChecked())
 486                 rightMotorSlider->setValue(value);
 487
 488         leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
 489         rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
 490
 491         orte.motion_speed.left = leftMotor;
 492         orte.motion_speed.right = rightMotor;
 493
 494 }
 495
 496 void RobomonAtlantis::setRightMotor(int value)
 497 {
 498         short int leftMotor;
 499         short int rightMotor;
 500
 501         if(bothMotorsCheckBox->isChecked())
 502                 leftMotorSlider->setValue(value);
 503
 504         leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
 505         rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
 506
 507         orte.motion_speed.left = leftMotor;
 508         orte.motion_speed.right = rightMotor;
 509
 510 }
 511
 512 void RobomonAtlantis::stopMotors()
 513 {
 514         leftMotorSlider->setValue(0);
 515         rightMotorSlider->setValue(0);
 516 }
 517
 518
 519 void RobomonAtlantis::setDO(int state)
 520 {
 521         Q_UNUSED(state);
 522         /* FIXME: digital output control comes here */
 523 }
 524
 525 void RobomonAtlantis::pick()
 526 {
 527         // TODO: send signal to the fsmact
 528 }
 529
 530 void RobomonAtlantis::setBelts(int value)
 531 {
 532         Q_UNUSED(value);
 533         unsigned char leftBelt;
 534         unsigned char rightBelt;
 535
 536         leftBelt = (unsigned char)leftBeltDial->value();
 537         rightBelt = (unsigned char)rightBeltDial->value();
 538
 539         act_belts(leftBelt, rightBelt);
 540 }
 541
 542 void RobomonAtlantis::setChelae(int value)
 543 {
 544         Q_UNUSED(value);
 545         unsigned char leftChela;
 546         unsigned char rightChela;
 547
 548         leftChela = (unsigned char)leftChelaDial->value();
 549         rightChela = (unsigned char)rightChelaDial->value();
 550
 551         act_chelae(leftChela, rightChela);
 552 }
 553
 554 void RobomonAtlantis::showMap()
 555 {
 556         openSharedMemory();
 557
 558         if (sharedMemoryOpened == false)
 559                 return;
 560
 561         mapTimer = new QTimer(this);
 562         connect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
 563         mapTimer->start(200);
 564
 565         disconnect(showMapPushButton, SIGNAL(clicked()), this, SLOT(showMap()));
 566         connect(showMapPushButton, SIGNAL(clicked()),
 567                                 this, SLOT(showPlayground()));
 568         playgroundScene->showMap(true);
 569 }
 570
 571 void RobomonAtlantis::showPlayground()
 572 {
 573         mapTimer->stop();
 574         disconnect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
 575
 576         disconnect(showMapPushButton, SIGNAL(clicked()),
 577                                 this, SLOT(showPlayground()));
 578         connect(showMapPushButton, SIGNAL(clicked()), this, SLOT(showMap()));
 579         playgroundScene->showMap(false);
 580 }
 581
 582 void RobomonAtlantis::paintMap()
 583 {
 584         using namespace Qt;
 585         int x, y;
 586         struct map *map = ShmapIsMapInit();
 587
 588         if (!map) return;
 589
 590         for(int i=0; i < MAP_WIDTH; i++) {
 591                 for(int j=0; j<MAP_HEIGHT; j++) {
 592                         QColor color;
 593
 594                         struct map_cell *cell = &map->cells[j][i];
 595                         color = lightGray;
 596                         if (cell->flags & MAP_FLAG_WALL)
 597                                 color = darkYellow;
 598                         if (cell->flags & MAP_FLAG_IGNORE_OBST)
 599                                 color = darkGreen;
 600                         if (cell->flags & MAP_FLAG_SIMULATED_WALL)
 601                                 color = yellow;
 602                         if (cell->flags & MAP_FLAG_PATH)
 603                                 color = darkRed;
 604                         if (cell->flags & MAP_FLAG_START)
 605                                 color = red;
 606                         if (cell->flags & MAP_FLAG_GOAL)
 607                                 color = green;
 608                         if (cell->detected_obstacle) {
 609                                 QColor c1(color), c2(blue);
 610                                 double f = (double)cell->detected_obstacle/MAP_NEW_OBSTACLE*0.7;
 611                                 QColor c(c1.red()   + (int)(f*(c2.red()   - c1.red())),
 612                                          c1.green() + (int)(f*(c2.green() - c1.green())),
 613                                          c1.blue()  + (int)(f*(c2.blue()  - c1.blue())));
 614                                 color = c;
 615                         }
 616                         if (cell->flags & MAP_FLAG_DET_OBST)
 617                                 color = cyan;
 618
 619                         playgroundScene->setMapColor(i, j, color);
 620                 }
 621         }
 622 }
 623
 624 void RobomonAtlantis::setSimulation(int state)
 625 {
 626         if(state) {
 627                 robottype_publisher_hokuyo_scan_create(&orte,
 628                                                        dummy_publisher_callback, this);
 629         } else {
 630                 if (!simulationEnabled)
 631                         return;
 632                 robottype_publisher_hokuyo_scan_destroy(&orte);
 633         }
 634         simulationEnabled = state;
 635 }
 636
 637 /*!
 638         \fn RobomonAtlantis::setObstacleSimulation(int state)
 639  */
 640 void RobomonAtlantis::setObstacleSimulation(int state)
 641 {
 642         if (state) {
 643                 /* TODO Maybe it is possible to attach only once to Shmap */
 644                 ShmapInit(0);
 645                 obstacleSimulationTimer = new QTimer(this);
 646                 connect(obstacleSimulationTimer, SIGNAL(timeout()),
 647                         this, SLOT(simulateObstaclesHokuyo()));
 648                 obstacleSimulationTimer->start(100);
 649                 setMouseTracking(true);
 650         } else {
 651                 if (obstacleSimulationTimer)
 652                         delete obstacleSimulationTimer;
 653                 //double distance = 0.8;
 654         }
 655 }
 656
 657
 658 void RobomonAtlantis::simulateObstaclesHokuyo()
 659 {
 660         double distance, wall_distance;
 661         int i;
 662         uint16_t *hokuyo = orte.hokuyo_scan.data;
 663
 664         for (i=0; i<HOKUYO_CLUSTER_CNT; i++) {
 665                 wall_distance = distanceToWallHokuyo(i);
 666                 distance = distanceToObstacleHokuyo(i, simulatedObstacle, SIM_OBST_SIZE_M/*meters*/);
 667                 if (wall_distance < distance)
 668                         distance = wall_distance;
 669                 hokuyo[i] = distance*1000;
 670         }
 671         ORTEPublicationSend(orte.publication_hokuyo_scan);
 672
 673 }
 674
 675 void RobomonAtlantis::changeObstacle(QPointF position)
 676 {
 677         if (!simulationEnabled) {
 678                 simulationEnabled = 1;
 679                 obstacleSimulationCheckBox->setChecked(true);
 680         }
 681
 682         simulatedObstacle.x = position.x();
 683         simulatedObstacle.y = position.y();
 684         simulateObstaclesHokuyo();
 685 }
 686
 687 /**********************************************************************
 688  * EVENTS
 689  **********************************************************************/
 690 bool RobomonAtlantis::event(QEvent *event)
 691 {
 692         switch (event->type()) {
 693                 case QEVENT(QEV_MOTION_STATUS):
 694                         emit motionStatusReceivedSignal();
 695                         break;
 696                 case QEVENT(QEV_ACTUAL_POSITION):
 697                         emit actualPositionReceivedSignal();
 698                         break;
 699                 case QEVENT(QEV_ESTIMATED_POSITION):
 700                         emit estimatedPositionReceivedSignal();
 701                         break;
 702                 case QEVENT(QEV_DI):
 703                         emit diReceivedSignal();
 704                         break;
 705                 case QEVENT(QEV_ACCELEROMETER):
 706                         emit accelerometerReceivedSignal();
 707                         break;
 708                 case QEVENT(QEV_ACCUMULATOR):
 709                         emit accumulatorReceivedSignal();
 710                         break;
 711                 case QEVENT(QEV_POWER_VOLTAGE):
 712                         emit powerVoltageReceivedSignal();
 713                         break;
 714                 case QEVENT(QEV_FSM_MAIN):
 715                         fsm_main_state->setText(orte.fsm_main.state_name);
 716                         break;
 717                 case QEVENT(QEV_FSM_ACT):
 718                         fsm_act_state->setText(orte.fsm_act.state_name);
 719                         break;
 720                 case QEVENT(QEV_FSM_MOTION):
 721                         fsm_motion_state->setText(orte.fsm_motion.state_name);
 722                         break;
 723                 case QEVENT(QEV_PUCK_DISTANCE):
 724                         sharpPuck->setValue(orte.puck_distance.distance*1000);
 725                         break;
 726                 default:
 727                         if (event->type() == QEvent::Close)
 728                                 closeEvent((QCloseEvent *)event);
 729                         else if (event->type() == QEvent::KeyPress)
 730                                 keyPressEvent((QKeyEvent *)event);
 731                         else if (event->type() == QEvent::KeyRelease)
 732                                 keyReleaseEvent((QKeyEvent *)event);
 733                         else if (event->type() == QEvent::FocusIn)
 734                                 grabKeyboard();
 735                         else if (event->type() == QEvent::FocusOut)
 736                                 releaseKeyboard();
 737                         else {
 738                                 event->ignore();
 739                                 return false;
 740                         }
 741                         break;
 742         }
 743         event->accept();
 744         return true;
 745 }
 746
 747 void RobomonAtlantis::keyPressEvent(QKeyEvent *event)
 748 {
 749         double peak, gain;
 750
 751         if (event->isAutoRepeat()) {
 752                 switch (event->key()) {
 753                         case Qt::Key_Down:
 754                                 peak = leftMotorSlider->minimum()/2;
 755                                 if (leftMotorValue < peak ||
 756                                         rightMotorValue < peak)
 757                                         gain = 1.01;
 758                                 else
 759                                         gain = 1.3;
 760                                 leftMotorValue *= gain;
 761                                 rightMotorValue *= gain;
 762                                 leftMotorSlider->setValue((int)leftMotorValue);
 763                                 rightMotorSlider->setValue((int)rightMotorValue);
 764                                 break;
 765
 766                         case Qt::Key_Up:
 767                         case Qt::Key_Left:
 768                         case Qt::Key_Right:
 769                                 peak = leftMotorSlider->maximum()/2;
 770                                 if (leftMotorValue > peak ||
 771                                         rightMotorValue > peak)
 772                                         gain = 1.01;
 773                                 else
 774                                         gain = 1.3;
 775                                 leftMotorValue *= gain;
 776                                 rightMotorValue *= gain;
 777                                 leftMotorSlider->setValue((int)leftMotorValue);
 778                                 rightMotorSlider->setValue((int)rightMotorValue);
 779                                 break;
 780
 781                         default:
 782                                 event->ignore();
 783                                 break;
 784                 }
 785                 return;
 786         }
 787
 788         switch (event->key()) {
 789                 case Qt::Key_Up:
 790                         leftMotorValue = 1;
 791                         rightMotorValue = 1;
 792                         bothMotorsCheckBox->setChecked(true);
 793                         leftMotorSlider->setValue((int)leftMotorValue);
 794                         setLeftMotor((int)leftMotorValue);
 795                         break;
 796                 case Qt::Key_Down:
 797                         leftMotorValue = -1;
 798                         rightMotorValue = -1;
 799                         bothMotorsCheckBox->setChecked(true);
 800                         leftMotorSlider->setValue((int)leftMotorValue);
 801                         setLeftMotor((int)leftMotorValue);
 802                         break;
 803                 case Qt::Key_Left:
 804                         leftMotorValue = -1;
 805                         rightMotorValue = 1;
 806                         leftMotorSlider->setValue((int)leftMotorValue);
 807                         rightMotorSlider->setValue((int)rightMotorValue);
 808                         setLeftMotor((int)leftMotorValue);
 809                         setRightMotor((int)leftMotorValue);
 810                         break;
 811                 case Qt::Key_Right:
 812                         leftMotorValue = 1;
 813                         rightMotorValue = -1;
 814                         leftMotorSlider->setValue((int)leftMotorValue);
 815                         rightMotorSlider->setValue((int)rightMotorValue);
 816                         setLeftMotor((int)leftMotorValue);
 817                         setRightMotor((int)rightMotorValue);
 818                         break;
 819                 default:
 820                         event->ignore();
 821                         break;
 822         }
 823         event->accept();
 824 }
 825
 826 void RobomonAtlantis::keyReleaseEvent(QKeyEvent *event)
 827 {
 828         if (event->isAutoRepeat()) {
 829                 event->ignore();
 830                 return;
 831         }
 832
 833         switch (event->key()) {
 834                 case Qt::Key_Up:
 835                 case Qt::Key_Down:
 836                 case Qt::Key_Left:
 837                 case Qt::Key_Right:
 838                         leftMotorValue = 0;
 839                         rightMotorValue = 0;
 840                         bothMotorsCheckBox->setChecked(false);
 841                         leftMotorSlider->setValue((int)leftMotorValue);
 842                         rightMotorSlider->setValue((int)rightMotorValue);
 843                         break;
 844                 default:
 845                         event->ignore();
 846                         break;
 847         }
 848         event->accept();
 849 }
 850
 851 void RobomonAtlantis::closeEvent(QCloseEvent *)
 852 {
 853         robottype_roboorte_destroy(&orte);
 854 }
 855
 856 /**********************************************************************
 857  * ORTE
 858  **********************************************************************/
 859 void RobomonAtlantis::createOrte()
 860 {
 861         int rv;
 862
 863         orte.strength = 11;
 864
 865         rv = robottype_roboorte_init(&orte);
 866         if (rv) {
 867                 printf("RobomonAtlantis: Unable to initialize ORTE\n");
 868         }
 869
 870         /* publishers */
 871         robottype_publisher_motion_speed_create(&orte, dummy_publisher_callback, NULL);
 872
 873         robottype_publisher_pwr_ctrl_create(&orte, dummy_publisher_callback, NULL);
 874         robottype_publisher_lift_create(&orte, NULL, &orte);
 875         robottype_publisher_pusher_create(&orte, NULL, &orte);
 876         robottype_publisher_chelae_create(&orte, NULL, &orte);
 877         robottype_publisher_belts_create(&orte, NULL, &orte);
 878         robottype_publisher_holder_create(&orte, NULL, &orte);
 879
 880         /* subscribers */
 881         robottype_subscriber_pwr_voltage_create(&orte,
 882                                 receivePowerVoltageCallBack, this);
 883         robottype_subscriber_motion_status_create(&orte,
 884                                 receiveMotionStatusCallBack, this);
 885         robottype_subscriber_ref_pos_create(&orte,
 886                                 receiveActualPositionCallBack, this);
 887         robottype_subscriber_est_pos_create(&orte,
 888                                 receiveEstimatedPositionCallBack, this);
 889         robottype_subscriber_fsm_main_create(&orte,
 890                                              rcv_fsm_main_cb, this);
 891         robottype_subscriber_fsm_motion_create(&orte,
 892                                              rcv_fsm_motion_cb, this);
 893         robottype_subscriber_fsm_act_create(&orte,
 894                                              rcv_fsm_act_cb, this);
 895         robottype_subscriber_puck_distance_create(&orte, rcv_puck_distance_cb, this);
 896         //robottype_subscriber_actuator_status_create(orte, receiveActuatorStatusCallBack, this);
 897
 898
 899         /*createDISubscriber(this, &orteData);*/
 900         /*createAccelerometerSubscriber(this, &orteData);*/
 901         /*createAccumulatorSubscriber(this, &orteData);*/
 902         /* motors */
 903         orte.motion_speed.left = 0;
 904         orte.motion_speed.right = 0;
 905         /* power management */
 906         orte.pwr_ctrl.voltage33 = true;
 907         orte.pwr_ctrl.voltage50 = true;
 908         orte.pwr_ctrl.voltage80 = true;
 909         voltage33CheckBox->setChecked(true);
 910         voltage50CheckBox->setChecked(true);
 911         voltage80CheckBox->setChecked(true);
 912
 913         act_init(&orte);
 914
 915         /* set actions to do when we receive data from orte */
 916         connect(this, SIGNAL(motionStatusReceivedSignal()),
 917                         this, SLOT(motionStatusReceived()));
 918         connect(this, SIGNAL(actualPositionReceivedSignal()),
 919                         this, SLOT(actualPositionReceived()));
 920         connect(this, SIGNAL(estimatedPositionReceivedSignal()),
 921                         this, SLOT(estimatedPositionReceived()));
 922         connect(this, SIGNAL(diReceivedSignal()),
 923                         this, SLOT(diReceived()));
 924         connect(this, SIGNAL(accelerometerReceivedSignal()),
 925                         this, SLOT(accelerometerReceived()));
 926         connect(this, SIGNAL(accumulatorReceivedSignal()),
 927                         this, SLOT(accumulatorReceived()));
 928         connect(this, SIGNAL(powerVoltageReceivedSignal()),
 929                         this, SLOT(powerVoltageReceived()));
 930 }
 931
 932 void RobomonAtlantis::motionStatusReceived()
 933 {
 934         WDBG("ORTE received: motion status");
 935 }
 936
 937 void RobomonAtlantis::actualPositionReceived()
 938 {
 939         actPosX->setText(QString("%1").arg(orte.ref_pos.x, 0, 'f', 3));
 940         actPosY->setText(QString("%1").arg(orte.ref_pos.y, 0, 'f', 3));
 941         actPosPhi->setText(QString("%1(%2)")
 942                         .arg(DEGREES(orte.ref_pos.phi), 0, 'f', 0)
 943                         .arg(orte.ref_pos.phi, 0, 'f', 1));
 944         robotActPos->moveRobot(orte.ref_pos.x,
 945                 orte.ref_pos.y, orte.ref_pos.phi);
 946 }
 947
 948 void RobomonAtlantis::estimatedPositionReceived()
 949 {
 950         estPosX->setText(QString("%1").arg(orte.est_pos.x, 0, 'f', 3));
 951         estPosY->setText(QString("%1").arg(orte.est_pos.y, 0, 'f', 3));
 952         estPosPhi->setText(QString("%1(%2)")
 953                         .arg(DEGREES(orte.est_pos.phi), 0, 'f', 0)
 954                         .arg(orte.est_pos.phi, 0, 'f', 1));
 955         robotEstPos->moveRobot(orte.est_pos.x,
 956                 orte.est_pos.y, orte.est_pos.phi);
 957 }
 958
 959 void RobomonAtlantis::diReceived()
 960 {
 961         WDBG("ORTE received: DI");
 962 }
 963
 964 void RobomonAtlantis::accelerometerReceived()
 965 {
 966         WDBG("ORTE received: accelerometer");
 967 }
 968
 969 void RobomonAtlantis::accumulatorReceived()
 970 {
 971         WDBG("ORTE received: accumulator");
 972 }
 973
 974 void RobomonAtlantis::powerVoltageReceived()
 975 {
 976         voltage33LineEdit->setText(QString("%1").arg(
 977                         orte.pwr_voltage.voltage33, 0, 'f', 3));
 978         voltage50LineEdit->setText(QString("%1").arg(
 979                         orte.pwr_voltage.voltage50, 0, 'f', 3));
 980         voltage80LineEdit->setText(QString("%1").arg(
 981                         orte.pwr_voltage.voltage80, 0, 'f', 3));
 982         voltageBATLineEdit->setText(QString("%1").arg(
 983                         orte.pwr_voltage.voltageBAT, 0, 'f', 3));
 984
 985 }
 986
 987 /**********************************************************************
 988  * MISCELLANEOUS
 989  **********************************************************************/
 990 void RobomonAtlantis::openSharedMemory()
 991 {
 992         int segmentId;
 993         int sharedSegmentSize;
 994
 995         if (sharedMemoryOpened)
 996                 return;
 997
 998         sharedSegmentSize = sizeof(char) * MAP_WIDTH * MAP_HEIGHT;
 999
1000         /* Get segment identificator in a read only mode  */
1001         segmentId = shmget(SHM_MAP_KEY, sharedSegmentSize, S_IRUSR);
1002         if(segmentId == -1) {
1003                 QMessageBox::critical(this, "robomon",
1004                                 "Unable to open shared memory segment!");
1005                 return;
1006         }
1007
1008         /* Init Shmap */
1009         ShmapInit(0);
1010
1011         /* Attach the shared memory segment */
1012         //map =  (_Map*)shmat (segmentId, (void*) 0, 0);
1013
1014         sharedMemoryOpened = true;
1015 }
1016
1017 double RobomonAtlantis::distanceToWallHokuyo(int beamnum)
1018 {
1019         double distance=4.0, min_distance=4.0;
1020         int i,j;
1021         Point wall;
1022         struct map *map = ShmapIsMapInit();
1023
1024         if (!map) return min_distance;
1025
1026         // Simulate obstacles
1027         for(j=0;j<MAP_HEIGHT;j++) {
1028                 for (i=0;i<MAP_WIDTH;i++) {
1029                         struct map_cell *cell = &map->cells[j][i];
1030                         if( cell->flags & MAP_FLAG_SIMULATED_WALL) {
1031                                 // WALL
1032                                 ShmapCell2Point(i, j, &wall.x, &wall.y);
1033
1034                                 distance = distanceToObstacleHokuyo(beamnum, wall, MAP_CELL_SIZE_M);
1035                                 if (distance<min_distance) min_distance = distance;
1036                         }
1037                 }
1038         }
1039
1040         return min_distance;
1041 }
1042
1043 /**
1044  * Calculation for Hokuyo simulation. Calculates distance that would
1045  * be returned by Hokuyo sensors, if there is only one obstacle (as
1046  * specified by parameters).
1047  *
1048  * @param beamnum Hokuyo's bean number [0..HOKUYO_CLUSTER_CNT]
1049  * @param obstacle Position of the obstacle (x, y in meters).
1050  * @param obstacleSize Size (diameter) of the obstacle in meters.
1051  *
1052  * @return Distance measured by sensors in meters.
1053  */
1054 double RobomonAtlantis::distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize)
1055 {
1056         struct est_pos_type e = orte.est_pos;
1057         double sensor_a;
1058         struct sharp_pos s;
1059
1060         s.x = HOKUYO_CENTER_OFFSET_M;
1061         s.y = 0.0;
1062         s.ang = HOKUYO_CLUSTER_TO_RAD(beamnum);
1063
1064         Point sensor(e.x + s.x*cos(e.phi) - s.y*sin(e.phi),
1065                      e.y + s.x*sin(e.phi) + s.y*cos(e.phi));
1066         sensor_a = e.phi + s.ang;
1067
1068         const double sensorRange = 4.0; /*[meters]*/
1069
1070         double distance, angle;
1071
1072         angle = sensor.angleTo(obstacle) - sensor_a;
1073         angle = fmod(angle, 2.0*M_PI);
1074         if (angle > +M_PI) angle -= 2.0*M_PI;
1075         if (angle < -M_PI) angle += 2.0*M_PI;
1076         angle = fabs(angle);
1077         distance = sensor.distanceTo(obstacle)-0.11;
1078         if (angle < atan(obstacleSize/2.0 / (distance+0.001))) {
1079                 // We can see the obstackle from here.
1080                 if (angle < M_PI/2.0) {
1081                     distance = distance/cos(angle);
1082                 }
1083                 if (distance > sensorRange)
1084                         distance = sensorRange;
1085         } else {
1086                 distance = sensorRange;
1087         }
1088
1089         return distance;
1090 }