src/robomon/src2/RobomonExplorer.h

   1 /*
   2  * RobomonExplorer.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_EXPLORER_H
  14 #define ROBOMON_EXPLORER_H
  15
  16 #define SHARP_LONG_CNT 4
  17 #define SHARP_SHORT_CNT 2
  18
  19 #define SIM_OBST_SIZE_M 0.5
  20
  21 #include <QDialog>
  22
  23 #include <sharp.h>
  24 #include <trgen.h>
  25 #include "PlaygroundScene.h"
  26 #include "Robot.h"
  27 #include <roboorte_generic.h>
  28 #include <roboorte_eb2008.h>
  29
  30 class QHBoxLayout;
  31 class QVBoxLayout;
  32 class QGridLayout;
  33 class QGroupBox;
  34 class QGraphicsView;
  35 class QLabel;
  36 class QPushButton;
  37 class QCheckBox;
  38 class QLineEdit;
  39 class QTextEdit;
  40 class QDial;
  41 class QSlider;
  42 class QProgressBar;
  43 class QFont;
  44
  45 #define PG_X 600
  46 #define PG_Y 420
  47
  48 #define TOP_LEFT QPointF(10,0)
  49 #define TOP_LEFT_X 10
  50 #define TOP_LEFT_Y 0
  51
  52 class RobomonExplorer : public QWidget
  53 {
  54         Q_OBJECT
  55
  56 public:
  57         RobomonExplorer(QWidget *parent = 0);
  58
  59 protected:
  60         bool event(QEvent *event);
  61         void keyPressEvent(QKeyEvent *event);
  62         void keyReleaseEvent(QKeyEvent *event);
  63         void closeEvent(QCloseEvent *event);
  64
  65 signals:
  66         void motionStatusReceivedSignal();
  67         void actualPositionReceivedSignal();
  68         void estimatedPositionReceivedSignal();
  69         void sharpsReceivedSignal();
  70         void sharpLongsReceivedSignal(); //FIXME rm
  71         void sharpShortsReceivedSignal(); //FIXME rm
  72         void diReceivedSignal();
  73         void accelerometerReceivedSignal();
  74         void accumulatorReceivedSignal();
  75         void powerVoltageReceivedSignal();
  76
  77 private slots:
  78         /************************************************************
  79          * GUI actions
  80          ************************************************************/
  81         void setVoltage33(int state);
  82         void setVoltage50(int state);
  83         void setVoltage80(int state);
  84         void setLeftMotor(int value);
  85         void setRightMotor(int value);
  86         void setDrives(int value);
  87         void setLeftBrushDriveCB(int value);
  88         void setRightBrushDriveCB(int value);
  89         void setBagrDriveCB(int value);
  90         void stopMotors();
  91         void moveServos(int value);
  92         void moveFrontDoor(int state);
  93         void moveTopDoor(int state);
  94         void moveBackDoor(int state);
  95         void moveLeftBrush(int state);
  96         void moveRightBrush(int state);
  97         void setDO(int state);
  98         void setLaser(int state);
  99         void showMap();
 100         void showPlayground();
 101         void paintMap();
 102         void setSharpValues(int value);
 103         void setSimulation(int state);
 104         void setObstacleSimulation(int state);
 105         void simulateObstacles();
 106         void changeObstacle(QPointF position);
 107
 108         /************************************************************
 109          * ORTE
 110          ************************************************************/
 111         void motionStatusReceived();
 112         void actualPositionReceived();
 113         void estimatedPositionReceived();
 114         void sharpsReceived();
 115         void diReceived();
 116         void accelerometerReceived();
 117         void accumulatorReceived();
 118         void powerVoltageReceived();
 119
 120 private:
 121         /************************************************************
 122          * GUI
 123          ************************************************************/
 124         void createLeftLayout();
 125         void createRightLayout();
 126
 127         void createPlaygroundGroupBox();
 128         void createPositionGroupBox();
 129         void createMiscGroupBox();
 130         void createDebugGroupBox();
 131         void createActuatorsGroupBox();
 132         void createMotorsGroupBox();
 133         void createServosGroupBox();
 134         void createDrivesGroupBox();
 135         void createDIOGroupBox();
 136         void createSensorsGroupBox();
 137         void createPowerGroupBox();
 138
 139         void createSharpSensorsLayout();
 140
 141         void createRobots();
 142         void createActions();
 143
 144         QVBoxLayout *leftLayout;
 145         QVBoxLayout *rightLayout;
 146         QVBoxLayout *sharpSensorsLayout;
 147
 148         QGroupBox *playgroundGroupBox;
 149         QGroupBox *positionGroupBox;
 150         QGroupBox *miscGroupBox;
 151         QGroupBox *debugGroupBox;
 152         QGroupBox *actuatorsGroupBox;
 153         QGroupBox *enginesGroupBox;
 154         QGroupBox *servosGroupBox;
 155         QGroupBox *drivesGroupBox;
 156         QGroupBox *dioGroupBox;
 157         QGroupBox *sensorsGroupBox;
 158         QGroupBox *powerGroupBox;
 159
 160         PlaygroundScene *playgroundScene;
 161         QGraphicsView *playgroundSceneView;
 162
 163         /* position state */
 164         QLineEdit *actPosX;
 165         QLineEdit *actPosY;
 166         QLineEdit *actPosPhi;
 167
 168         QLineEdit *estPosX;
 169         QLineEdit *estPosY;
 170         QLineEdit *estPosPhi;
 171
 172         /* debug window */
 173         QTextEdit *debugWindow;
 174         bool debugWindowEnabled;
 175
 176         /* actuators */
 177         QSlider *leftMotorSlider;
 178         QSlider *rightMotorSlider;
 179         QCheckBox *bothMotorsCheckBox;
 180         QPushButton *stopMotorsPushButton;
 181
 182         QCheckBox *bottomDoorCheckBox;
 183         QCheckBox *backDoorCheckBox;
 184         QCheckBox *topDoorCheckBox;
 185         QCheckBox *leftBrushCheckBox;
 186         QCheckBox *rightBrushCheckBox;
 187
 188         QDial *leftBrushDial;
 189         QDial *rightBrushDial;
 190         QDial *bagrDial;
 191         QDial *carouselDial;
 192
 193         QCheckBox *leftBrushDriveCheckBox;
 194         QCheckBox *rightBrushDriveCheckBox;
 195         QCheckBox *bagrDriveCheckBox;
 196
 197         /* power management */
 198         QCheckBox *voltage33CheckBox;
 199         QCheckBox *voltage50CheckBox;
 200         QCheckBox *voltage80CheckBox;
 201         QLineEdit *voltage33LineEdit;
 202         QLineEdit *voltage50LineEdit;
 203         QLineEdit *voltage80LineEdit;
 204         QLineEdit *voltageBATLineEdit;
 205
 206         /* sensors */
 207         QLabel *sharpLongsLabel[SHARP_LONG_CNT];
 208         QLabel *sharpShortsLabel[SHARP_SHORT_CNT];
 209         QProgressBar *sharpLongsProgressBar[SHARP_LONG_CNT];
 210         QProgressBar *sharpShortsProgressBar[SHARP_SHORT_CNT];
 211         QCheckBox *sensorsSimulationCheckBox;
 212         QSlider *sharpLongsSlider[SHARP_LONG_CNT];
 213         QSlider *sharpShortsSlider[SHARP_SHORT_CNT];
 214
 215         QCheckBox *diCheckBox[8];
 216         QCheckBox *doCheckBox[8];
 217
 218         /* misc */
 219         QCheckBox *sensorSimulationCheckBox;
 220         QCheckBox *obstacleSimulationCheckBox;
 221         QPushButton *showMapPushButton;
 222         QCheckBox *laserEngineCheckBox;
 223
 224         /* robot */
 225         Robot *robotActPos;
 226         Robot *robotEstPos;
 227
 228         /* keypad */
 229         double leftMotorValue;
 230         double rightMotorValue;
 231
 232         /* map */
 233         void openSharedMemory();
 234         bool sharedMemoryOpened;
 235         int cellSize;
 236         QTimer *mapTimer;
 237
 238         /* obstacle simulation */
 239         double distanceToWall(int sharpnum);
 240         double distanceToObstacle(int sharpnum, Point obstacle, double obstacleSize);
 241         int simulationEnabled;
 242
 243         QTimer *obstacleSimulationTimer;
 244         Point simulatedObstacle;
 245
 246         /************************************************************
 247          * ORTE
 248          ************************************************************/
 249         void createOrte();
 250
 251         struct generic_orte_data orte_generic;
 252         struct eb2008_orte_data orte_eb2008;
 253 };
 254
 255 #endif /* ROBOMON_EXPLORER_H */