src/robomon/RobomonAtlantis.h

   1 /*
   2  * RobomonAtlantis.h                    07/10/31
   3  *
   4  * Robot's visualization and control GUI for robot of the
   5  * Eurobot 2008 competition (Mission to Mars).
   6  *
   7  * Copyright: (c) 2008 CTU Dragons
   8  *            CTU FEE - Department of Control Engineering
   9  * Authors: Martin Zidek, Michal Sojka, Tran Duy Khanh
  10  * License: GNU GPL v.2
  11  */
  12
  13 #ifndef ROBOMON_ATLANTIS_H
  14 #define ROBOMON_ATLANTIS_H
  15
  16 #define SIM_OBST_SIZE_M 0.5
  17
  18 #include <QDialog>
  19
  20 #include <trgen.h>
  21 #include "PlaygroundScene.h"
  22 #include "Robot.h"
  23 #include <roboorte_robottype.h>
  24 #include <roboorte.h>
  25
  26 class QHBoxLayout;
  27 class QVBoxLayout;
  28 class QGridLayout;
  29 class QGroupBox;
  30 class QGraphicsView;
  31 class QLabel;
  32 class QPushButton;
  33 class QCheckBox;
  34 class QLineEdit;
  35 class QTextEdit;
  36 class QDial;
  37 class QSlider;
  38 class QProgressBar;
  39 class QFont;
  40
  41 class RobomonAtlantis : public QWidget
  42 {
  43         Q_OBJECT
  44
  45 public:
  46         RobomonAtlantis(QWidget *parent = 0);
  47
  48 protected:
  49         bool event(QEvent *event);
  50         void keyPressEvent(QKeyEvent *event);
  51         void keyReleaseEvent(QKeyEvent *event);
  52         void closeEvent(QCloseEvent *event);
  53
  54 signals:
  55         void motionStatusReceivedSignal();
  56         void actualPositionReceivedSignal();
  57         void estimatedPositionReceivedSignal();
  58         void diReceivedSignal();
  59         void accelerometerReceivedSignal();
  60         void accumulatorReceivedSignal();
  61         void powerVoltageReceivedSignal();
  62
  63 private slots:
  64         /************************************************************
  65          * GUI actions
  66          ************************************************************/
  67         void setVoltage33(int state);
  68         void setVoltage50(int state);
  69         void setVoltage80(int state);
  70         void setLeftMotor(int value);
  71         void setRightMotor(int value);
  72         void stopMotors();
  73         void setDO(int state);
  74         void showMap();
  75         void showPlayground();
  76         void paintMap();
  77         void setSimulation(int state);
  78         void setObstacleSimulation(int state);
  79         void simulateObstaclesHokuyo();
  80         void changeObstacle(QPointF position);
  81         void pick();
  82         void setBelts(int value);
  83         void setChelae(int value);
  84         void sendStart(int plug);
  85
  86         /************************************************************
  87          * ORTE
  88          ************************************************************/
  89         void motionStatusReceived();
  90         void actualPositionReceived();
  91         void estimatedPositionReceived();
  92         void diReceived();
  93         void accelerometerReceived();
  94         void accumulatorReceived();
  95         void powerVoltageReceived();
  96
  97 private:
  98         /************************************************************
  99          * GUI
 100          ************************************************************/
 101         void createLeftLayout();
 102         void createRightLayout();
 103
 104         void createPlaygroundGroupBox();
 105         void createPositionGroupBox();
 106         void createMiscGroupBox();
 107         void createDebugGroupBox();
 108         void createActuatorsGroupBox();
 109         void createMotorsGroupBox();
 110         void createDIOGroupBox();
 111         void createSensorsGroupBox();
 112         void createPowerGroupBox();
 113         void createPickerGroupBox();
 114         void createFSMGroupBox();
 115
 116         void createRobots();
 117         void createActions();
 118
 119         QVBoxLayout *leftLayout;
 120         QVBoxLayout *rightLayout;
 121
 122         QGroupBox *playgroundGroupBox;
 123         QGroupBox *positionGroupBox;
 124         QGroupBox *miscGroupBox;
 125         QGroupBox *debugGroupBox;
 126         QGroupBox *actuatorsGroupBox;
 127         QGroupBox *enginesGroupBox;
 128         QGroupBox *dioGroupBox;
 129         QGroupBox *sensorsGroupBox;
 130         QGroupBox *powerGroupBox;
 131         QGroupBox *pickerGroupBox;
 132         QGroupBox *fsmGroupBox;
 133
 134         PlaygroundScene *playgroundScene;
 135         QGraphicsView *playgroundSceneView;
 136
 137         /* position state */
 138         QLineEdit *actPosX;
 139         QLineEdit *actPosY;
 140         QLineEdit *actPosPhi;
 141
 142         QLineEdit *estPosX;
 143         QLineEdit *estPosY;
 144         QLineEdit *estPosPhi;
 145
 146         /* debug window */
 147         QTextEdit *debugWindow;
 148         bool debugWindowEnabled;
 149
 150         /* actuators */
 151         QSlider *leftMotorSlider;
 152         QSlider *rightMotorSlider;
 153         QCheckBox *bothMotorsCheckBox;
 154         QPushButton *stopMotorsPushButton;
 155
 156         QCheckBox *leftBeltCheckBox;
 157         QCheckBox *rightBeltCheckBox;
 158         QCheckBox *leftChelaCheckBox;
 159         QCheckBox *rightChelaCheckBox;
 160
 161         QDial *leftBeltDial;
 162         QDial *rightBeltDial;
 163         QDial *leftChelaDial;
 164         QDial *rightChelaDial;
 165         QPushButton *pickPushButton;
 166
 167         /* power management */
 168         QCheckBox *voltage33CheckBox;
 169         QCheckBox *voltage50CheckBox;
 170         QCheckBox *voltage80CheckBox;
 171         QLineEdit *voltage33LineEdit;
 172         QLineEdit *voltage50LineEdit;
 173         QLineEdit *voltage80LineEdit;
 174         QLineEdit *voltageBATLineEdit;
 175
 176         QCheckBox *diCheckBox[8];
 177         QCheckBox *doCheckBox[8];
 178
 179         /* misc */
 180         QCheckBox *obstacleSimulationCheckBox;
 181         QCheckBox *showMapPushButton;
 182         QLabel *fsm_main_state;
 183         QLabel *fsm_act_state;
 184         QLabel *fsm_motion_state;
 185         QCheckBox *startPlug;
 186
 187         /* robot */
 188         Robot *robotActPos;
 189         Robot *robotEstPos;
 190
 191         /* keypad */
 192         double leftMotorValue;
 193         double rightMotorValue;
 194
 195         /* map */
 196         void openSharedMemory();
 197         bool sharedMemoryOpened;
 198         QTimer *mapTimer;
 199
 200         /* sensors */
 201         QProgressBar *sharpPuck;
 202         QProgressBar *liftPos;
 203         QProgressBar *pusherPos;
 204
 205         /* obstacle simulation */
 206         double distanceToWallHokuyo(int beamnum);
 207         double distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize);
 208         int simulationEnabled;
 209
 210         QTimer *obstacleSimulationTimer;
 211         Point simulatedObstacle;
 212
 213         /************************************************************
 214          * ORTE
 215          ************************************************************/
 216         void createOrte();
 217
 218         struct robottype_orte_data orte;
 219 };
 220
 221 #endif /* ROBOMON_ATLANTIS_H */