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
  41 #include <QCoreApplication>
  42 #include <QEvent>
  43 #include <QKeyEvent>
  44 #include <QDebug>
  45 #include <QMessageBox>
  46
  47 RobomonAtlantis::RobomonAtlantis(QWidget *parent)
  48         : QWidget(parent)
  49 {
  50         QFont font;
  51         font.setPointSize(7);
  52         setFont(font);
  53
  54         debugWindowEnabled = false;
  55
  56         createLeftLayout();
  57         createRightLayout();
  58
  59         QHBoxLayout *mainLayout = new QHBoxLayout;
  60         mainLayout->addLayout(leftLayout);
  61         mainLayout->addLayout(rightLayout);
  62         setLayout(mainLayout);
  63
  64         createOrte();
  65         createRobots();
  66         createActions();
  67
  68         setFocusPolicy(Qt::StrongFocus);
  69         sharedMemoryOpened = false;
  70         WDBG("Youuuhouuuu!!");
  71 }
  72
  73 /**********************************************************************
  74  * GUI
  75  **********************************************************************/
  76 void RobomonAtlantis::createLeftLayout()
  77 {
  78         leftLayout = new QVBoxLayout();
  79
  80         createDebugGroupBox();
  81         debugWindowEnabled = true;
  82         createPlaygroundGroupBox();
  83         leftLayout->addWidget(playgroundGroupBox);
  84         leftLayout->addWidget(debugGroupBox);
  85 }
  86
  87 void RobomonAtlantis::createRightLayout()
  88 {
  89         rightLayout = new QVBoxLayout();
  90         QGridLayout *layout = new QGridLayout();
  91         QVBoxLayout *vlayout = new QVBoxLayout();
  92
  93         createPositionGroupBox();
  94         createMiscGroupBox();
  95         createFSMGroupBox();
  96         createActuatorsGroupBox();
  97         createDIOGroupBox();
  98         createPowerGroupBox();
  99         createSensorsGroupBox();
 100
 101         vlayout->addWidget(positionGroupBox);
 102         vlayout->addWidget(miscGroupBox);
 103         vlayout->addWidget(fsmGroupBox);
 104         layout->addLayout(vlayout, 0, 0);
 105         layout->addWidget(actuatorsGroupBox, 0, 1);
 106 //      layout->addWidget(dioGroupBox, 0, 2);
 107
 108         rightLayout->addLayout(layout);
 109         rightLayout->addWidget(powerGroupBox);
 110         rightLayout->addWidget(sensorsGroupBox);
 111 }
 112
 113 void RobomonAtlantis::createPlaygroundGroupBox()
 114 {
 115         playgroundGroupBox = new QGroupBox(tr("Playground"));
 116         QHBoxLayout *layout = new QHBoxLayout();
 117
 118         playgroundScene = new PlaygroundScene();
 119         playgroundSceneView = new PlaygroundView(playgroundScene);
 120         //playgroundSceneView->setMinimumWidth(630);
 121         //playgroundSceneView->setMinimumHeight(445);
 122         playgroundSceneView->setMatrix(QMatrix(1,0,0,-1,0,0), true);
 123         playgroundSceneView->fitInView(playgroundScene->itemsBoundingRect());
 124         playgroundSceneView->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
 125         layout->addWidget(playgroundSceneView);
 126
 127         playgroundGroupBox->setLayout(layout);
 128 }
 129
 130 void RobomonAtlantis::createPositionGroupBox()
 131 {
 132         positionGroupBox = new QGroupBox(tr("Position state"));
 133         positionGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 134         QGridLayout *layout = new QGridLayout();
 135
 136         actPosX = new QLineEdit();
 137         actPosY = new QLineEdit();
 138         actPosPhi = new QLineEdit();
 139
 140         estPosX = new QLineEdit();
 141         estPosY = new QLineEdit();
 142         estPosPhi = new QLineEdit();
 143
 144         actPosX->setReadOnly(true);
 145         actPosY->setReadOnly(true);
 146         actPosPhi->setReadOnly(true);
 147
 148         estPosX->setReadOnly(true);
 149         estPosY->setReadOnly(true);
 150         estPosPhi->setReadOnly(true);
 151
 152         layout->addWidget(MiscGui::createLabel("X"), 1, 0);
 153         layout->addWidget(MiscGui::createLabel("Y"), 2, 0);
 154         layout->addWidget(MiscGui::createLabel("Phi"), 3, 0);
 155
 156         layout->addWidget(MiscGui::createLabel("X"), 5, 0);
 157         layout->addWidget(MiscGui::createLabel("Y"), 6, 0);
 158         layout->addWidget(MiscGui::createLabel("Phi"), 7, 0);
 159
 160         layout->addWidget(MiscGui::createLabel("Reference", Qt::AlignLeft), 0, 1);
 161         layout->addWidget(actPosX, 1, 1);
 162         layout->addWidget(actPosY, 2, 1);
 163         layout->addWidget(actPosPhi, 3, 1);
 164
 165         layout->addWidget(MiscGui::createLabel("Estimated", Qt::AlignLeft), 4, 1);
 166         layout->addWidget(estPosX, 5, 1);
 167         layout->addWidget(estPosY, 6, 1);
 168         layout->addWidget(estPosPhi, 7, 1);
 169
 170         positionGroupBox->setLayout(layout);
 171 }
 172
 173 void RobomonAtlantis::createMiscGroupBox()
 174 {
 175         miscGroupBox = new QGroupBox(tr("Miscellaneous"));
 176         miscGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 177         QGridLayout *layout = new QGridLayout();
 178
 179         showMapPushButton = new QCheckBox(tr("Show &map"));
 180         showMapPushButton->setShortcut(tr("m"));
 181
 182         layout->addWidget(showMapPushButton, 0, 0);
 183
 184         obstacleSimulationCheckBox = new QCheckBox(tr("&Obstacle simulation"));
 185         obstacleSimulationCheckBox->setShortcut(tr("o"));
 186         layout->addWidget(obstacleSimulationCheckBox);
 187
 188         startBtn = new QPushButton("Start");
 189         layout->addWidget(startBtn);
 190
 191         miscGroupBox->setLayout(layout);
 192 }
 193
 194 void RobomonAtlantis::createFSMGroupBox()
 195 {
 196         fsmGroupBox = new QGroupBox(tr("FSM"));
 197         fsmGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 198         QGridLayout *layout = new QGridLayout();
 199
 200         layout->addWidget(MiscGui::createLabel("Main:"), 1, 0);
 201         fsm_main_state = new QLabel();
 202         fsm_main_state->setMinimumWidth(100);
 203         layout->addWidget(fsm_main_state, 1, 1);
 204
 205         layout->addWidget(MiscGui::createLabel("Act:"), 2, 0);
 206         fsm_act_state = new QLabel();
 207         layout->addWidget(fsm_act_state, 2, 1);
 208
 209         layout->addWidget(MiscGui::createLabel("Motion:"), 3, 0);
 210         fsm_motion_state = new QLabel();
 211         layout->addWidget(fsm_motion_state, 3, 1);
 212
 213         fsmGroupBox->setLayout(layout);
 214 }
 215
 216 void RobomonAtlantis::createDebugGroupBox()
 217 {
 218         debugGroupBox = new QGroupBox(tr("Debug window"));
 219         debugGroupBox->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Maximum);
 220         QHBoxLayout *layout = new QHBoxLayout();
 221
 222         debugWindow = new QTextEdit();
 223         debugWindow->setReadOnly(true);
 224
 225         layout->addWidget(debugWindow);
 226         debugGroupBox->setLayout(layout);
 227 }
 228
 229 void RobomonAtlantis::createActuatorsGroupBox()
 230 {
 231         actuatorsGroupBox = new QGroupBox(tr("Actuators"));
 232         actuatorsGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred);
 233         QHBoxLayout *layout = new QHBoxLayout();
 234
 235         createMotorsGroupBox();
 236         createPickerGroupBox();
 237
 238         layout->setAlignment(Qt::AlignLeft);
 239         layout->addWidget(enginesGroupBox);
 240         layout->addWidget(pickerGroupBox);
 241         actuatorsGroupBox->setLayout(layout);
 242 }
 243
 244 void RobomonAtlantis::createDIOGroupBox()
 245 {
 246         dioGroupBox = new QGroupBox(tr("DIO"));
 247         QGridLayout *layout = new QGridLayout();
 248         QFont font;
 249
 250         font.setPointSize(5);
 251         dioGroupBox->setFont(font);
 252
 253         for (int i=0; i<8; i++) {
 254                 diCheckBox[i] = new QCheckBox(QString("DI%1").arg(i));
 255                 doCheckBox[i] = new QCheckBox(QString("D0%1").arg(i));
 256                 layout->addWidget(diCheckBox[i], i, 0);
 257                 layout->addWidget(doCheckBox[i], i+8, 0);
 258         }
 259
 260         dioGroupBox->setMaximumWidth(70);
 261         dioGroupBox->setLayout(layout);
 262 }
 263
 264 void RobomonAtlantis::createPowerGroupBox()
 265 {
 266         powerGroupBox = new QGroupBox(tr("Power management"));
 267         powerGroupBox->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Minimum);
 268         powerGroupBox->setMaximumWidth(450);
 269         QGridLayout *layout = new QGridLayout();
 270
 271         voltage33CheckBox = new QCheckBox(tr("&3.3V"));
 272         voltage50CheckBox = new QCheckBox(tr("&5.0V"));
 273         voltage80CheckBox = new QCheckBox(tr("&8.0V"));
 274
 275         voltage33CheckBox->setShortcut(tr("3"));
 276         voltage50CheckBox->setShortcut(tr("5"));
 277         voltage80CheckBox->setShortcut(tr("8"));
 278
 279         layout->addWidget(voltage33CheckBox, 0, 0);
 280         layout->addWidget(voltage50CheckBox, 0, 2);
 281         layout->addWidget(voltage80CheckBox, 0, 4); //1, 0);
 282         layout->addWidget(MiscGui::createLabel("BAT"), 0, 6); //1, 2);
 283
 284         voltage33LineEdit = new QLineEdit();
 285         voltage50LineEdit = new QLineEdit();
 286         voltage80LineEdit = new QLineEdit();
 287         voltageBATLineEdit = new QLineEdit();
 288
 289         voltage33LineEdit->setReadOnly(true);
 290         voltage50LineEdit->setReadOnly(true);
 291         voltage80LineEdit->setReadOnly(true);
 292         voltageBATLineEdit->setReadOnly(true);
 293
 294         layout->addWidget(voltage33LineEdit, 0, 1);
 295         layout->addWidget(voltage50LineEdit, 0, 3);
 296         layout->addWidget(voltage80LineEdit, 0, 5); //1, 1);
 297         layout->addWidget(voltageBATLineEdit, 0, 7); //1, 3);
 298
 299         powerGroupBox->setLayout(layout);
 300 }
 301
 302 void RobomonAtlantis::createSensorsGroupBox()
 303 {
 304         sensorsGroupBox = new QGroupBox(tr("Sensors"));
 305         sensorsGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
 306         sensorsGroupBox->setMaximumWidth(450);
 307         QHBoxLayout *layout = new QHBoxLayout();
 308
 309         layout->addWidget(MiscGui::createLabel("Puck Sharp"));
 310         sharpPuck = new QProgressBar();
 311         sharpPuck->setFormat("%v mm");
 312         sharpPuck->setTextVisible(true);
 313         sharpPuck->setMaximum(250);
 314         layout->addWidget(sharpPuck);
 315
 316         layout->addWidget(MiscGui::createLabel("Lift"));
 317         liftPos = new QProgressBar();
 318         liftPos->setFormat("%v IRC");
 319         liftPos->setTextVisible(true);
 320         liftPos->setMaximum(1000);
 321         layout->addWidget(liftPos);
 322
 323         layout->addWidget(MiscGui::createLabel("Pusher"));
 324         pusherPos = new QProgressBar();
 325         pusherPos->setFormat("%v IRC");
 326         pusherPos->setTextVisible(true);
 327         pusherPos->setMaximum(250);
 328         layout->addWidget(pusherPos);
 329
 330         sensorsGroupBox->setLayout(layout);
 331 }
 332
 333 void RobomonAtlantis::createMotorsGroupBox()
 334 {
 335         enginesGroupBox = new QGroupBox(tr("Motors"));
 336         QVBoxLayout *layout = new QVBoxLayout();
 337         QHBoxLayout *layout1 = new QHBoxLayout();
 338         QHBoxLayout *layout2 = new QHBoxLayout();
 339
 340         leftMotorSlider = new QSlider(Qt::Vertical);
 341         rightMotorSlider = new QSlider(Qt::Vertical);
 342         bothMotorsCheckBox = new QCheckBox(tr("Lock both"));
 343         stopMotorsPushButton = new QPushButton(tr("Stop Motors"));
 344
 345         leftMotorSlider->setMinimum(-100);
 346         leftMotorSlider->setMaximum(100);
 347         leftMotorSlider->setTracking(false);
 348         leftMotorSlider->setTickPosition(QSlider::TicksLeft);
 349
 350         rightMotorSlider->setMinimum(-100);
 351         rightMotorSlider->setMaximum(100);
 352         rightMotorSlider->setTracking(false);
 353         rightMotorSlider->setTickPosition(QSlider::TicksRight);
 354
 355         stopMotorsPushButton->setMaximumWidth(90);
 356
 357         layout1->addWidget(leftMotorSlider);
 358         layout1->addWidget(MiscGui::createLabel("0"));
 359         layout1->addWidget(rightMotorSlider);
 360
 361         layout2->addWidget(bothMotorsCheckBox);
 362
 363         layout->addWidget(MiscGui::createLabel("100"));
 364         layout->addLayout(layout1);
 365         layout->addWidget(MiscGui::createLabel("-100"));
 366         layout->addLayout(layout2);
 367         layout->addWidget(stopMotorsPushButton);
 368         enginesGroupBox->setLayout(layout);
 369 }
 370
 371 void RobomonAtlantis::createPickerGroupBox()
 372 {
 373         pickerGroupBox = new QGroupBox(tr("Picker"));
 374         QVBoxLayout *layout = new QVBoxLayout();
 375
 376         leftBeltCheckBox = new QCheckBox(tr("L Belt"));
 377         rightBeltCheckBox = new QCheckBox(tr("R Belt"));
 378         leftChelaCheckBox = new QCheckBox(tr("L Chela"));
 379         rightChelaCheckBox = new QCheckBox(tr("R Chela"));
 380         leftBeltDial = new QDial();
 381         rightBeltDial = new QDial();
 382         leftChelaDial = new QDial();
 383         rightChelaDial = new QDial();
 384         pickPushButton = new QPushButton(tr("Pick!"));
 385
 386         leftBeltDial->setMinimum(0);
 387         leftBeltDial->setMaximum(200);
 388         leftBeltDial->setValue(100);
 389
 390         rightBeltDial->setMinimum(0);
 391         rightBeltDial->setMaximum(200);
 392         rightBeltDial->setValue(100);
 393
 394         leftChelaDial->setMinimum(0);
 395         leftChelaDial->setMaximum(255);
 396         leftChelaDial->setValue(127);
 397
 398         rightChelaDial->setMinimum(0);
 399         rightChelaDial->setMaximum(255);
 400         rightChelaDial->setValue(127);
 401
 402         layout->addWidget(leftChelaDial);
 403         layout->addWidget(leftChelaCheckBox);
 404         layout->addWidget(rightChelaDial);
 405         layout->addWidget(rightChelaCheckBox);
 406         layout->addWidget(leftBeltDial);
 407         layout->addWidget(leftBeltCheckBox);
 408         layout->addWidget(rightBeltDial);
 409         layout->addWidget(rightBeltCheckBox);
 410         layout->addWidget(pickPushButton);
 411
 412         pickerGroupBox->setLayout(layout);
 413 }
 414
 415 void RobomonAtlantis::createRobots()
 416 {
 417         robotActPos = new Robot(QPen(Qt::darkBlue), QBrush(Qt::NoBrush));
 418         robotActPos->setZValue(11);
 419         robotEstPos = new Robot(QPen(), QBrush(Qt::darkGray));
 420         robotEstPos->setZValue(10);
 421
 422         playgroundScene->addItem(robotActPos);
 423         playgroundScene->addItem(robotEstPos);
 424 }
 425
 426 /**********************************************************************
 427  * GUI actions
 428  **********************************************************************/
 429 void RobomonAtlantis::createActions()
 430 {
 431         /* power management */
 432         connect(voltage33CheckBox, SIGNAL(stateChanged(int)),
 433                         this, SLOT(setVoltage33(int)));
 434         connect(voltage50CheckBox, SIGNAL(stateChanged(int)),
 435                         this, SLOT(setVoltage50(int)));
 436         connect(voltage80CheckBox, SIGNAL(stateChanged(int)),
 437                         this, SLOT(setVoltage80(int)));
 438
 439         /* motors */
 440         connect(leftMotorSlider, SIGNAL(valueChanged(int)),
 441                         this, SLOT(setLeftMotor(int)));
 442         connect(rightMotorSlider, SIGNAL(valueChanged(int)),
 443                         this, SLOT(setRightMotor(int)));
 444         connect(stopMotorsPushButton, SIGNAL(clicked()),
 445                         this, SLOT(stopMotors()));
 446
 447         /* DIO */
 448         for (int i=0; i<8; i++)
 449                 connect(doCheckBox[0], SIGNAL(stateChanged(int)),
 450                                         this, SLOT(setDO(int)));
 451
 452         /* path planning map */
 453         connect(showMapPushButton, SIGNAL(clicked()),
 454                         this, SLOT(showMap()));
 455
 456         connect(startBtn, SIGNAL(clicked()), this, SLOT(sendStart()));
 457
 458         /* obstacle simulation */
 459         simulationEnabled = 0;
 460         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 461                         this, SLOT(setSimulation(int)));
 462         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 463                         this, SLOT(setObstacleSimulation(int)));
 464         connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
 465                         playgroundScene, SLOT(showObstacle(int)));
 466         connect(playgroundScene, SIGNAL(obstacleChanged(QPointF)),
 467                         this, SLOT(changeObstacle(QPointF)));
 468
 469         /* Actuators */
 470         connect(pickPushButton, SIGNAL(clicked()), this, SLOT(pick()));
 471         connect(leftBeltCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setBelts(int)));
 472         connect(rightBeltCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setBelts(int)));
 473         connect(leftChelaCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setChelae(int)));
 474         connect(rightChelaCheckBox, SIGNAL(stateChanged(int)), this, SLOT(setChelae(int)));
 475         connect(leftBeltDial, SIGNAL(valueChanged(int)), this, SLOT(setBelts(int)));
 476         connect(rightBeltDial, SIGNAL(valueChanged(int)), this, SLOT(setBelts(int)));
 477         connect(leftChelaDial, SIGNAL(valueChanged(int)), this, SLOT(setChelae(int)));
 478         connect(rightChelaDial, SIGNAL(valueChanged(int)), this, SLOT(setChelae(int)));
 479 }
 480
 481 void RobomonAtlantis::setVoltage33(int state)
 482 {
 483         if (state)
 484                 orte.pwr_ctrl.voltage33 = true;
 485         else
 486                 orte.pwr_ctrl.voltage33 = false;
 487 }
 488
 489 void RobomonAtlantis::setVoltage50(int state)
 490 {
 491         if (state)
 492                 orte.pwr_ctrl.voltage50 = true;
 493         else
 494                 orte.pwr_ctrl.voltage50 = false;
 495 }
 496
 497 void RobomonAtlantis::setVoltage80(int state)
 498 {
 499         if (state)
 500                 orte.pwr_ctrl.voltage80 = true;
 501         else
 502                 orte.pwr_ctrl.voltage80 = false;
 503 }
 504
 505 void RobomonAtlantis::setLeftMotor(int value)
 506 {
 507         short int leftMotor;
 508         short int rightMotor;
 509
 510         if(bothMotorsCheckBox->isChecked())
 511                 rightMotorSlider->setValue(value);
 512
 513         leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
 514         rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
 515
 516         orte.motion_speed.left = leftMotor;
 517         orte.motion_speed.right = rightMotor;
 518
 519 }
 520
 521 void RobomonAtlantis::setRightMotor(int value)
 522 {
 523         short int leftMotor;
 524         short int rightMotor;
 525
 526         if(bothMotorsCheckBox->isChecked())
 527                 leftMotorSlider->setValue(value);
 528
 529         leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
 530         rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
 531
 532         orte.motion_speed.left = leftMotor;
 533         orte.motion_speed.right = rightMotor;
 534
 535 }
 536
 537 void RobomonAtlantis::stopMotors()
 538 {
 539         leftMotorSlider->setValue(0);
 540         rightMotorSlider->setValue(0);
 541 }
 542
 543
 544 void RobomonAtlantis::setDO(int state)
 545 {
 546         Q_UNUSED(state);
 547         /* FIXME: digital output control comes here */
 548 }
 549
 550 void RobomonAtlantis::pick()
 551 {
 552         // TODO: send signal to the fsmact
 553 }
 554
 555 void RobomonAtlantis::setBelts(int value)
 556 {
 557         Q_UNUSED(value);
 558         unsigned char leftBelt;
 559         unsigned char rightBelt;
 560
 561         leftBelt = (unsigned char)leftBeltDial->value();
 562         rightBelt = (unsigned char)rightBeltDial->value();
 563
 564         act_belts(leftBelt, rightBelt);
 565 }
 566
 567 void RobomonAtlantis::setChelae(int value)
 568 {
 569         Q_UNUSED(value);
 570         unsigned char leftChela;
 571         unsigned char rightChela;
 572
 573         leftChela = (unsigned char)leftChelaDial->value();
 574         rightChela = (unsigned char)rightChelaDial->value();
 575
 576         act_chelae(leftChela, rightChela);
 577 }
 578
 579 void RobomonAtlantis::showMap()
 580 {
 581         openSharedMemory();
 582
 583         if (sharedMemoryOpened == false)
 584                 return;
 585
 586         mapTimer = new QTimer(this);
 587         connect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
 588         mapTimer->start(200);
 589
 590         disconnect(showMapPushButton, SIGNAL(clicked()), this, SLOT(showMap()));
 591         connect(showMapPushButton, SIGNAL(clicked()),
 592                                 this, SLOT(showPlayground()));
 593         playgroundScene->showMap(true);
 594 }
 595
 596 void RobomonAtlantis::showPlayground()
 597 {
 598         mapTimer->stop();
 599         disconnect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
 600
 601         disconnect(showMapPushButton, SIGNAL(clicked()),
 602                                 this, SLOT(showPlayground()));
 603         connect(showMapPushButton, SIGNAL(clicked()), this, SLOT(showMap()));
 604         playgroundScene->showMap(false);
 605 }
 606
 607 void RobomonAtlantis::paintMap()
 608 {
 609         using namespace Qt;
 610         int x, y;
 611         struct map *map = ShmapIsMapInit();
 612
 613         if (!map) return;
 614
 615         for(int i=0; i < MAP_WIDTH; i++) {
 616                 for(int j=0; j<MAP_HEIGHT; j++) {
 617                         QColor color;
 618
 619                         struct map_cell *cell = &map->cells[j][i];
 620                         color = lightGray;
 621
 622                         if ((cell->flags & MAP_FLAG_WALL) &&
 623                             (cell->flags & MAP_FLAG_INVALIDATE_WALL) == 0)
 624                                 color = darkYellow;
 625                         if (cell->flags & MAP_FLAG_IGNORE_OBST)
 626                                 color = darkGreen;
 627                         if (cell->flags & MAP_FLAG_SIMULATED_WALL)
 628                                 color = yellow;
 629                         if (cell->flags & MAP_FLAG_PATH)
 630                                 color = darkRed;
 631                         if (cell->flags & MAP_FLAG_START)
 632                                 color = red;
 633                         if (cell->flags & MAP_FLAG_GOAL)
 634                                 color = green;
 635                         if (cell->detected_obstacle) {
 636                                 QColor c1(color), c2(blue);
 637                                 double f = (double)cell->detected_obstacle/MAP_NEW_OBSTACLE*0.7;
 638                                 QColor c(c1.red()   + (int)(f*(c2.red()   - c1.red())),
 639                                          c1.green() + (int)(f*(c2.green() - c1.green())),
 640                                          c1.blue()  + (int)(f*(c2.blue()  - c1.blue())));
 641                                 color = c;
 642                         }
 643                         if (cell->flags & MAP_FLAG_DET_OBST)
 644                                 color = cyan;
 645
 646                         playgroundScene->setMapColor(i, j, color);
 647                 }
 648         }
 649 }
 650
 651 void RobomonAtlantis::setSimulation(int state)
 652 {
 653         if(state) {
 654                 robottype_publisher_hokuyo_scan_create(&orte,
 655                                                        dummy_publisher_callback, this);
 656         } else {
 657                 if (!simulationEnabled)
 658                         return;
 659                 robottype_publisher_hokuyo_scan_destroy(&orte);
 660         }
 661         simulationEnabled = state;
 662 }
 663
 664 /*!
 665         \fn RobomonAtlantis::setObstacleSimulation(int state)
 666  */
 667 void RobomonAtlantis::setObstacleSimulation(int state)
 668 {
 669         if (state) {
 670                 /* TODO Maybe it is possible to attach only once to Shmap */
 671                 ShmapInit(0);
 672                 obstacleSimulationTimer = new QTimer(this);
 673                 connect(obstacleSimulationTimer, SIGNAL(timeout()),
 674                         this, SLOT(simulateObstaclesHokuyo()));
 675                 obstacleSimulationTimer->start(100);
 676                 setMouseTracking(true);
 677         } else {
 678                 if (obstacleSimulationTimer)
 679                         delete obstacleSimulationTimer;
 680                 //double distance = 0.8;
 681         }
 682 }
 683
 684
 685 void RobomonAtlantis::simulateObstaclesHokuyo()
 686 {
 687         double distance, wall_distance;
 688         int i;
 689         uint16_t *hokuyo = orte.hokuyo_scan.data;
 690
 691         for (i=0; i<HOKUYO_CLUSTER_CNT; i++) {
 692                 wall_distance = distanceToWallHokuyo(i);
 693                 distance = distanceToObstacleHokuyo(i, simulatedObstacle, SIM_OBST_SIZE_M/*meters*/);
 694                 if (wall_distance < distance)
 695                         distance = wall_distance;
 696                 hokuyo[i] = distance*1000;
 697         }
 698         ORTEPublicationSend(orte.publication_hokuyo_scan);
 699
 700 }
 701
 702 void RobomonAtlantis::changeObstacle(QPointF position)
 703 {
 704         if (!simulationEnabled) {
 705                 simulationEnabled = 1;
 706                 obstacleSimulationCheckBox->setChecked(true);
 707         }
 708
 709         simulatedObstacle.x = position.x();
 710         simulatedObstacle.y = position.y();
 711         simulateObstaclesHokuyo();
 712 }
 713
 714 /**********************************************************************
 715  * EVENTS
 716  **********************************************************************/
 717 bool RobomonAtlantis::event(QEvent *event)
 718 {
 719         switch (event->type()) {
 720                 case QEVENT(QEV_MOTION_STATUS):
 721                         emit motionStatusReceivedSignal();
 722                         break;
 723                 case QEVENT(QEV_ACTUAL_POSITION):
 724                         emit actualPositionReceivedSignal();
 725                         break;
 726                 case QEVENT(QEV_ESTIMATED_POSITION):
 727                         emit estimatedPositionReceivedSignal();
 728                         break;
 729                 case QEVENT(QEV_DI):
 730                         emit diReceivedSignal();
 731                         break;
 732                 case QEVENT(QEV_ACCELEROMETER):
 733                         emit accelerometerReceivedSignal();
 734                         break;
 735                 case QEVENT(QEV_ACCUMULATOR):
 736                         emit accumulatorReceivedSignal();
 737                         break;
 738                 case QEVENT(QEV_POWER_VOLTAGE):
 739                         emit powerVoltageReceivedSignal();
 740                         break;
 741                 case QEVENT(QEV_FSM_MAIN):
 742                         fsm_main_state->setText(orte.fsm_main.state_name);
 743                         break;
 744                 case QEVENT(QEV_FSM_ACT):
 745                         fsm_act_state->setText(orte.fsm_act.state_name);
 746                         break;
 747                 case QEVENT(QEV_FSM_MOTION):
 748                         fsm_motion_state->setText(orte.fsm_motion.state_name);
 749                         break;
 750                 case QEVENT(QEV_PUCK_DISTANCE):
 751                         sharpPuck->setValue(orte.puck_distance.distance*1000);
 752                         break;
 753                 case QEVENT(QEV_LIFT_PUSHER):
 754                         liftPos->setValue(orte.actuator_status.lift_pos);
 755                         pusherPos->setValue(orte.actuator_status.pusher_pos);
 756                         break;
 757                 default:
 758                         if (event->type() == QEvent::Close)
 759                                 closeEvent((QCloseEvent *)event);
 760                         else if (event->type() == QEvent::KeyPress)
 761                                 keyPressEvent((QKeyEvent *)event);
 762                         else if (event->type() == QEvent::KeyRelease)
 763                                 keyReleaseEvent((QKeyEvent *)event);
 764                         else if (event->type() == QEvent::FocusIn)
 765                                 grabKeyboard();
 766                         else if (event->type() == QEvent::FocusOut)
 767                                 releaseKeyboard();
 768                         else {
 769                                 event->ignore();
 770                                 return false;
 771                         }
 772                         break;
 773         }
 774         event->accept();
 775         return true;
 776 }
 777
 778 void RobomonAtlantis::keyPressEvent(QKeyEvent *event)
 779 {
 780         double peak, gain;
 781
 782         if (event->isAutoRepeat()) {
 783                 switch (event->key()) {
 784                         case Qt::Key_Down:
 785                                 peak = leftMotorSlider->minimum()/2;
 786                                 if (leftMotorValue < peak ||
 787                                         rightMotorValue < peak)
 788                                         gain = 1.01;
 789                                 else
 790                                         gain = 1.3;
 791                                 leftMotorValue *= gain;
 792                                 rightMotorValue *= gain;
 793                                 leftMotorSlider->setValue((int)leftMotorValue);
 794                                 rightMotorSlider->setValue((int)rightMotorValue);
 795                                 break;
 796
 797                         case Qt::Key_Up:
 798                         case Qt::Key_Left:
 799                         case Qt::Key_Right:
 800                                 peak = leftMotorSlider->maximum()/2;
 801                                 if (leftMotorValue > peak ||
 802                                         rightMotorValue > peak)
 803                                         gain = 1.01;
 804                                 else
 805                                         gain = 1.3;
 806                                 leftMotorValue *= gain;
 807                                 rightMotorValue *= gain;
 808                                 leftMotorSlider->setValue((int)leftMotorValue);
 809                                 rightMotorSlider->setValue((int)rightMotorValue);
 810                                 break;
 811
 812                         default:
 813                                 event->ignore();
 814                                 break;
 815                 }
 816                 return;
 817         }
 818
 819         switch (event->key()) {
 820                 case Qt::Key_Up:
 821                         leftMotorValue = 1;
 822                         rightMotorValue = 1;
 823                         bothMotorsCheckBox->setChecked(true);
 824                         leftMotorSlider->setValue((int)leftMotorValue);
 825                         setLeftMotor((int)leftMotorValue);
 826                         break;
 827                 case Qt::Key_Down:
 828                         leftMotorValue = -1;
 829                         rightMotorValue = -1;
 830                         bothMotorsCheckBox->setChecked(true);
 831                         leftMotorSlider->setValue((int)leftMotorValue);
 832                         setLeftMotor((int)leftMotorValue);
 833                         break;
 834                 case Qt::Key_Left:
 835                         leftMotorValue = -1;
 836                         rightMotorValue = 1;
 837                         leftMotorSlider->setValue((int)leftMotorValue);
 838                         rightMotorSlider->setValue((int)rightMotorValue);
 839                         setLeftMotor((int)leftMotorValue);
 840                         setRightMotor((int)leftMotorValue);
 841                         break;
 842                 case Qt::Key_Right:
 843                         leftMotorValue = 1;
 844                         rightMotorValue = -1;
 845                         leftMotorSlider->setValue((int)leftMotorValue);
 846                         rightMotorSlider->setValue((int)rightMotorValue);
 847                         setLeftMotor((int)leftMotorValue);
 848                         setRightMotor((int)rightMotorValue);
 849                         break;
 850                 default:
 851                         event->ignore();
 852                         break;
 853         }
 854         event->accept();
 855 }
 856
 857 void RobomonAtlantis::keyReleaseEvent(QKeyEvent *event)
 858 {
 859         if (event->isAutoRepeat()) {
 860                 event->ignore();
 861                 return;
 862         }
 863
 864         switch (event->key()) {
 865                 case Qt::Key_Up:
 866                 case Qt::Key_Down:
 867                 case Qt::Key_Left:
 868                 case Qt::Key_Right:
 869                         leftMotorValue = 0;
 870                         rightMotorValue = 0;
 871                         bothMotorsCheckBox->setChecked(false);
 872                         leftMotorSlider->setValue((int)leftMotorValue);
 873                         rightMotorSlider->setValue((int)rightMotorValue);
 874                         break;
 875                 default:
 876                         event->ignore();
 877                         break;
 878         }
 879         event->accept();
 880 }
 881
 882 void RobomonAtlantis::closeEvent(QCloseEvent *)
 883 {
 884         robottype_roboorte_destroy(&orte);
 885 }
 886
 887 /**********************************************************************
 888  * ORTE
 889  **********************************************************************/
 890 void RobomonAtlantis::createOrte()
 891 {
 892         int rv;
 893
 894         orte.strength = 11;
 895
 896         rv = robottype_roboorte_init(&orte);
 897         if (rv) {
 898                 printf("RobomonAtlantis: Unable to initialize ORTE\n");
 899         }
 900
 901         /* publishers */
 902         robottype_publisher_motion_speed_create(&orte, dummy_publisher_callback, NULL);
 903
 904         robottype_publisher_pwr_ctrl_create(&orte, dummy_publisher_callback, NULL);
 905         robottype_publisher_lift_create(&orte, NULL, &orte);
 906         robottype_publisher_pusher_create(&orte, NULL, &orte);
 907         robottype_publisher_chelae_create(&orte, NULL, &orte);
 908         robottype_publisher_belts_create(&orte, NULL, &orte);
 909         robottype_publisher_holder_create(&orte, NULL, &orte);
 910         robottype_publisher_robot_cmd_create(&orte, NULL, &orte);
 911
 912         /* subscribers */
 913         robottype_subscriber_pwr_voltage_create(&orte,
 914                                 receivePowerVoltageCallBack, this);
 915         robottype_subscriber_motion_status_create(&orte,
 916                                 receiveMotionStatusCallBack, this);
 917         robottype_subscriber_ref_pos_create(&orte,
 918                                 receiveActualPositionCallBack, this);
 919         robottype_subscriber_est_pos_create(&orte,
 920                                 receiveEstimatedPositionCallBack, this);
 921         robottype_subscriber_fsm_main_create(&orte,
 922                                              rcv_fsm_main_cb, this);
 923         robottype_subscriber_fsm_motion_create(&orte,
 924                                              rcv_fsm_motion_cb, this);
 925         robottype_subscriber_fsm_act_create(&orte,
 926                                              rcv_fsm_act_cb, this);
 927         robottype_subscriber_puck_distance_create(&orte, generic_rcv_cb, new OrteCallbackInfo(this, QEV_PUCK_DISTANCE));
 928         robottype_subscriber_actuator_status_create(&orte, generic_rcv_cb, new OrteCallbackInfo(this, QEV_LIFT_PUSHER));
 929
 930
 931         /*createDISubscriber(this, &orteData);*/
 932         /*createAccelerometerSubscriber(this, &orteData);*/
 933         /*createAccumulatorSubscriber(this, &orteData);*/
 934         /* motors */
 935         orte.motion_speed.left = 0;
 936         orte.motion_speed.right = 0;
 937         /* power management */
 938         orte.pwr_ctrl.voltage33 = true;
 939         orte.pwr_ctrl.voltage50 = true;
 940         orte.pwr_ctrl.voltage80 = true;
 941         voltage33CheckBox->setChecked(true);
 942         voltage50CheckBox->setChecked(true);
 943         voltage80CheckBox->setChecked(true);
 944
 945         act_init(&orte);
 946
 947         /* set actions to do when we receive data from orte */
 948         connect(this, SIGNAL(motionStatusReceivedSignal()),
 949                         this, SLOT(motionStatusReceived()));
 950         connect(this, SIGNAL(actualPositionReceivedSignal()),
 951                         this, SLOT(actualPositionReceived()));
 952         connect(this, SIGNAL(estimatedPositionReceivedSignal()),
 953                         this, SLOT(estimatedPositionReceived()));
 954         connect(this, SIGNAL(diReceivedSignal()),
 955                         this, SLOT(diReceived()));
 956         connect(this, SIGNAL(accelerometerReceivedSignal()),
 957                         this, SLOT(accelerometerReceived()));
 958         connect(this, SIGNAL(accumulatorReceivedSignal()),
 959                         this, SLOT(accumulatorReceived()));
 960         connect(this, SIGNAL(powerVoltageReceivedSignal()),
 961                         this, SLOT(powerVoltageReceived()));
 962 }
 963
 964 void RobomonAtlantis::motionStatusReceived()
 965 {
 966         WDBG("ORTE received: motion status");
 967 }
 968
 969 void RobomonAtlantis::actualPositionReceived()
 970 {
 971         actPosX->setText(QString("%1").arg(orte.ref_pos.x, 0, 'f', 3));
 972         actPosY->setText(QString("%1").arg(orte.ref_pos.y, 0, 'f', 3));
 973         actPosPhi->setText(QString("%1(%2)")
 974                         .arg(DEGREES(orte.ref_pos.phi), 0, 'f', 0)
 975                         .arg(orte.ref_pos.phi, 0, 'f', 1));
 976         robotActPos->moveRobot(orte.ref_pos.x,
 977                 orte.ref_pos.y, orte.ref_pos.phi);
 978 }
 979
 980 void RobomonAtlantis::estimatedPositionReceived()
 981 {
 982         estPosX->setText(QString("%1").arg(orte.est_pos.x, 0, 'f', 3));
 983         estPosY->setText(QString("%1").arg(orte.est_pos.y, 0, 'f', 3));
 984         estPosPhi->setText(QString("%1(%2)")
 985                         .arg(DEGREES(orte.est_pos.phi), 0, 'f', 0)
 986                         .arg(orte.est_pos.phi, 0, 'f', 1));
 987         robotEstPos->moveRobot(orte.est_pos.x,
 988                 orte.est_pos.y, orte.est_pos.phi);
 989 }
 990
 991 void RobomonAtlantis::diReceived()
 992 {
 993         WDBG("ORTE received: DI");
 994 }
 995
 996 void RobomonAtlantis::accelerometerReceived()
 997 {
 998         WDBG("ORTE received: accelerometer");
 999 }
1000
1001 void RobomonAtlantis::accumulatorReceived()
1002 {
1003         WDBG("ORTE received: accumulator");
1004 }
1005
1006 void RobomonAtlantis::powerVoltageReceived()
1007 {
1008         voltage33LineEdit->setText(QString("%1").arg(
1009                         orte.pwr_voltage.voltage33, 0, 'f', 3));
1010         voltage50LineEdit->setText(QString("%1").arg(
1011                         orte.pwr_voltage.voltage50, 0, 'f', 3));
1012         voltage80LineEdit->setText(QString("%1").arg(
1013                         orte.pwr_voltage.voltage80, 0, 'f', 3));
1014         voltageBATLineEdit->setText(QString("%1").arg(
1015                         orte.pwr_voltage.voltageBAT, 0, 'f', 3));
1016
1017 }
1018
1019 /**********************************************************************
1020  * MISCELLANEOUS
1021  **********************************************************************/
1022 void RobomonAtlantis::openSharedMemory()
1023 {
1024         int segmentId;
1025         int sharedSegmentSize;
1026
1027         if (sharedMemoryOpened)
1028                 return;
1029
1030         sharedSegmentSize = sizeof(unsigned int) * MAP_WIDTH * MAP_HEIGHT;
1031
1032         /* Get segment identificator in a read only mode  */
1033         segmentId = shmget(SHM_MAP_KEY, sharedSegmentSize, S_IRUSR);
1034         if(segmentId == -1) {
1035                 QMessageBox::critical(this, "robomon",
1036                                 "Unable to open shared memory segment!");
1037                 return;
1038         }
1039
1040         /* Init Shmap */
1041         ShmapInit(0);
1042
1043         /* Attach the shared memory segment */
1044         //map =  (_Map*)shmat (segmentId, (void*) 0, 0);
1045
1046         sharedMemoryOpened = true;
1047 }
1048
1049 double RobomonAtlantis::distanceToWallHokuyo(int beamnum)
1050 {
1051         double distance=4.0, min_distance=4.0;
1052         int i,j;
1053         Point wall;
1054         struct map *map = ShmapIsMapInit();
1055
1056         if (!map) return min_distance;
1057
1058         // Simulate obstacles
1059         for(j=0;j<MAP_HEIGHT;j++) {
1060                 for (i=0;i<MAP_WIDTH;i++) {
1061                         struct map_cell *cell = &map->cells[j][i];
1062                         if( cell->flags & MAP_FLAG_SIMULATED_WALL) {
1063                                 // WALL
1064                                 ShmapCell2Point(i, j, &wall.x, &wall.y);
1065
1066                                 distance = distanceToObstacleHokuyo(beamnum, wall, MAP_CELL_SIZE_M);
1067                                 if (distance<min_distance) min_distance = distance;
1068                         }
1069                 }
1070         }
1071
1072         return min_distance;
1073 }
1074
1075 /**
1076  * Calculation for Hokuyo simulation. Calculates distance that would
1077  * be returned by Hokuyo sensors, if there is only one obstacle (as
1078  * specified by parameters).
1079  *
1080  * @param beamnum Hokuyo's bean number [0..HOKUYO_CLUSTER_CNT]
1081  * @param obstacle Position of the obstacle (x, y in meters).
1082  * @param obstacleSize Size (diameter) of the obstacle in meters.
1083  *
1084  * @return Distance measured by sensors in meters.
1085  */
1086 double RobomonAtlantis::distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize)
1087 {
1088         struct est_pos_type e = orte.est_pos;
1089         double sensor_a;
1090         struct sharp_pos s;
1091
1092         s.x = HOKUYO_CENTER_OFFSET_M;
1093         s.y = 0.0;
1094         s.ang = HOKUYO_CLUSTER_TO_RAD(beamnum);
1095
1096         Point sensor(e.x + s.x*cos(e.phi) - s.y*sin(e.phi),
1097                      e.y + s.x*sin(e.phi) + s.y*cos(e.phi));
1098         sensor_a = e.phi + s.ang;
1099
1100         const double sensorRange = 4.0; /*[meters]*/
1101
1102         double distance, angle;
1103
1104         angle = sensor.angleTo(obstacle) - sensor_a;
1105         angle = fmod(angle, 2.0*M_PI);
1106         if (angle > +M_PI) angle -= 2.0*M_PI;
1107         if (angle < -M_PI) angle += 2.0*M_PI;
1108         angle = fabs(angle);
1109         distance = sensor.distanceTo(obstacle)-0.11;
1110         if (angle < atan(obstacleSize/2.0 / (distance+0.001))) {
1111                 // We can see the obstackle from here.
1112                 if (angle < M_PI/2.0) {
1113                     distance = distance/cos(angle);
1114                 }
1115                 if (distance > sensorRange)
1116                         distance = sensorRange;
1117         } else {
1118                 distance = sensorRange;
1119         }
1120
1121         return distance;
1122 }
1123
1124 void RobomonAtlantis::sendStart()
1125 {
1126         orte.robot_cmd.start = 1;
1127         ORTEPublicationSend(orte.publication_robot_cmd);
1128 }