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 #include <QDialog>
  17
  18 #include <trgen.h>
  19 #include "PlaygroundScene.h"
  20 #include "playgroundview.h"
  21 #include "Robot.h"
  22 #include <roboorte_robottype.h>
  23 #include "trail.h"
  24 #include "hokuyoscan.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 powerVoltageReceivedSignal();
  58
  59 public slots:
  60         void showMap(bool show);
  61         void useOpenGL(bool use);
  62         void showTrails(bool show);
  63         void resetTrails();
  64 private slots:
  65         /************************************************************
  66          * GUI actions
  67          ************************************************************/
  68         void setVoltage33(int state);
  69         void setVoltage50(int state);
  70         void setVoltage80(int state);
  71 /*      void setLeftMotor(int value); */
  72 /*      void setRightMotor(int value); */
  73 /*      void stopMotors(); */
  74         void paintMap();
  75         void setSimulation(int state);
  76         void setObstacleSimulation(int state);
  77         void simulateObstaclesHokuyo();
  78         void changeObstacle(QPointF position);
  79         void sendStart(int plug);
  80         void setTeamColor(int plug);
  81
  82         /************************************************************
  83          * ORTE
  84          ************************************************************/
  85         void motionStatusReceived();
  86         void actualPositionReceived();
  87         void powerVoltageReceived();
  88
  89 private:
  90         /************************************************************
  91          * GUI
  92          ************************************************************/
  93         void createLeftLayout();
  94         void createRightLayout();
  95
  96         void createPlaygroundGroupBox();
  97         void createPositionGroupBox();
  98         void createMiscGroupBox();
  99         void createDebugGroupBox();
 100         void createActuatorsGroupBox();
 101         void createMotorsGroupBox();
 102         void createDIOGroupBox();
 103         void createSensorsGroupBox();
 104         void createPowerGroupBox();
 105         void createPickerGroupBox();
 106         void createFSMGroupBox();
 107
 108         void createRobots();
 109         void createActions();
 110
 111         QVBoxLayout *leftLayout;
 112         QVBoxLayout *rightLayout;
 113
 114         QGroupBox *playgroundGroupBox;
 115         QGroupBox *positionGroupBox;
 116         QGroupBox *miscGroupBox;
 117         QGroupBox *debugGroupBox;
 118         QGroupBox *actuatorsGroupBox;
 119         QGroupBox *powerGroupBox;
 120         QGroupBox *fsmGroupBox;
 121
 122 public:
 123         PlaygroundScene *playgroundScene;
 124 private:
 125         PlaygroundView *playgroundSceneView;
 126
 127         /* position state */
 128         QLineEdit *actPosX;
 129         QLineEdit *actPosY;
 130         QLineEdit *actPosPhi;
 131
 132         QLineEdit *estPosX;
 133         QLineEdit *estPosY;
 134         QLineEdit *estPosPhi;
 135
 136         /* debug window */
 137         QTextEdit *debugWindow;
 138         bool debugWindowEnabled;
 139
 140         /* actuators */
 141 /*      QSlider *leftMotorSlider; */
 142 /*      QSlider *rightMotorSlider; */
 143 /*      QCheckBox *bothMotorsCheckBox; */
 144 /*      QPushButton *stopMotorsPushButton; */
 145         //QDial *vidle;
 146
 147         /* power management */
 148         QCheckBox *voltage33CheckBox;
 149         QCheckBox *voltage50CheckBox;
 150         QCheckBox *voltage80CheckBox;
 151         QLineEdit *voltage33LineEdit;
 152         QLineEdit *voltage50LineEdit;
 153         QLineEdit *voltage80LineEdit;
 154         QLineEdit *voltageBATLineEdit;
 155
 156         /* misc */
 157         QCheckBox *obstacleSimulationCheckBox;
 158         QLabel *fsm_main_state;
 159         QLabel *fsm_act_state;
 160         QLabel *fsm_motion_state;
 161         QCheckBox *startPlug;
 162         QCheckBox *colorChoser;
 163 public:
 164         /* robot */
 165         Robot *robotRefPos;
 166         Robot *robotEstPosBest;
 167         Robot *robotEstPosIndepOdo;
 168         Robot *robotEstPosOdo;
 169 private:
 170         Trail *trailRefPos;
 171         Trail *trailEstPosBest;
 172         Trail *trailPosIndepOdo;
 173         Trail *trailOdoPos;
 174
 175         HokuyoScan *hokuyoScan;
 176
 177         /* keypad */
 178         double leftMotorValue;
 179         double rightMotorValue;
 180
 181         /* map */
 182         void openSharedMemory();
 183         bool sharedMemoryOpened;
 184         QTimer *mapTimer;
 185
 186         /* obstacle simulation */
 187         double distanceToWallHokuyo(int beamnum);
 188         double distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize);
 189         int simulationEnabled;
 190
 191         QTimer *obstacleSimulationTimer;
 192         Point simulatedObstacle;
 193
 194         /************************************************************
 195          * ORTE
 196          ************************************************************/
 197         void createOrte();
 198
 199         struct robottype_orte_data orte;
 200 };
 201
 202 #endif /* ROBOMON_ATLANTIS_H */