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