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
  81         /************************************************************
  82          * ORTE
  83          ************************************************************/
  84         void motionStatusReceived();
  85         void actualPositionReceived();
  86         void powerVoltageReceived();
  87
  88 private:
  89         /************************************************************
  90          * GUI
  91          ************************************************************/
  92         void createLeftLayout();
  93         void createRightLayout();
  94
  95         void createPlaygroundGroupBox();
  96         void createPositionGroupBox();
  97         void createMiscGroupBox();
  98         void createDebugGroupBox();
  99         void createActuatorsGroupBox();
 100         void createMotorsGroupBox();
 101         void createDIOGroupBox();
 102         void createSensorsGroupBox();
 103         void createPowerGroupBox();
 104         void createPickerGroupBox();
 105         void createFSMGroupBox();
 106
 107         void createRobots();
 108         void createActions();
 109
 110         QVBoxLayout *leftLayout;
 111         QVBoxLayout *rightLayout;
 112
 113         QGroupBox *playgroundGroupBox;
 114         QGroupBox *positionGroupBox;
 115         QGroupBox *miscGroupBox;
 116         QGroupBox *debugGroupBox;
 117         QGroupBox *actuatorsGroupBox;
 118         QGroupBox *powerGroupBox;
 119         QGroupBox *fsmGroupBox;
 120
 121         PlaygroundScene *playgroundScene;
 122         PlaygroundView *playgroundSceneView;
 123
 124         /* position state */
 125         QLineEdit *actPosX;
 126         QLineEdit *actPosY;
 127         QLineEdit *actPosPhi;
 128
 129         QLineEdit *estPosX;
 130         QLineEdit *estPosY;
 131         QLineEdit *estPosPhi;
 132
 133         /* debug window */
 134         QTextEdit *debugWindow;
 135         bool debugWindowEnabled;
 136
 137         /* actuators */
 138 /*      QSlider *leftMotorSlider; */
 139 /*      QSlider *rightMotorSlider; */
 140 /*      QCheckBox *bothMotorsCheckBox; */
 141 /*      QPushButton *stopMotorsPushButton; */
 142
 143         /* power management */
 144         QCheckBox *voltage33CheckBox;
 145         QCheckBox *voltage50CheckBox;
 146         QCheckBox *voltage80CheckBox;
 147         QLineEdit *voltage33LineEdit;
 148         QLineEdit *voltage50LineEdit;
 149         QLineEdit *voltage80LineEdit;
 150         QLineEdit *voltageBATLineEdit;
 151
 152         /* misc */
 153         QCheckBox *obstacleSimulationCheckBox;
 154         QLabel *fsm_main_state;
 155         QLabel *fsm_act_state;
 156         QLabel *fsm_motion_state;
 157         QCheckBox *startPlug;
 158         QCheckBox *puckInside;
 159 public:
 160         /* robot */
 161         Robot *robotRefPos;
 162         Robot *robotEstPosBest;
 163         Robot *robotEstPosIndepOdo;
 164         Robot *robotEstPosOdo;
 165 private:
 166         Trail *trailRefPos;
 167         Trail *trailEstPosBest;
 168         Trail *trailPosIndepOdo;
 169         Trail *trailOdoPos;
 170
 171         HokuyoScan *hokuyoScan;
 172
 173         /* keypad */
 174         double leftMotorValue;
 175         double rightMotorValue;
 176
 177         /* map */
 178         void openSharedMemory();
 179         bool sharedMemoryOpened;
 180         QTimer *mapTimer;
 181
 182         /* obstacle simulation */
 183         double distanceToWallHokuyo(int beamnum);
 184         double distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize);
 185         int simulationEnabled;
 186
 187         QTimer *obstacleSimulationTimer;
 188         Point simulatedObstacle;
 189
 190         /************************************************************
 191          * ORTE
 192          ************************************************************/
 193         void createOrte();
 194
 195         struct robottype_orte_data orte;
 196 };
 197
 198 #endif /* ROBOMON_ATLANTIS_H */