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 #include "trail.h"
  26
  27 class QHBoxLayout;
  28 class QVBoxLayout;
  29 class QGridLayout;
  30 class QGroupBox;
  31 class QGraphicsView;
  32 class QLabel;
  33 class QPushButton;
  34 class QCheckBox;
  35 class QLineEdit;
  36 class QTextEdit;
  37 class QDial;
  38 class QSlider;
  39 class QProgressBar;
  40 class QFont;
  41
  42 class RobomonAtlantis : public QWidget
  43 {
  44         Q_OBJECT
  45
  46 public:
  47         RobomonAtlantis(QWidget *parent = 0);
  48
  49 protected:
  50         bool event(QEvent *event);
  51         void keyPressEvent(QKeyEvent *event);
  52         void keyReleaseEvent(QKeyEvent *event);
  53         void closeEvent(QCloseEvent *event);
  54
  55 signals:
  56         void motionStatusReceivedSignal();
  57         void actualPositionReceivedSignal();
  58         void estimatedPositionReceivedSignal();
  59         void diReceivedSignal();
  60         void accelerometerReceivedSignal();
  61         void accumulatorReceivedSignal();
  62         void powerVoltageReceivedSignal();
  63
  64 public slots:
  65         void showMap(bool show);
  66         void showTrails(bool show);
  67         void resetTrails();
  68 private slots:
  69         /************************************************************
  70          * GUI actions
  71          ************************************************************/
  72         void setVoltage33(int state);
  73         void setVoltage50(int state);
  74         void setVoltage80(int state);
  75         void setLeftMotor(int value);
  76         void setRightMotor(int value);
  77         void stopMotors();
  78         void setDO(int state);
  79         void paintMap();
  80         void setSimulation(int state);
  81         void setObstacleSimulation(int state);
  82         void simulateObstaclesHokuyo();
  83         void changeObstacle(QPointF position);
  84         void pick();
  85         void setBelts(int value);
  86         void setChelae(int value);
  87         void sendStart(int plug);
  88         void sendPuckInside(int value);
  89
  90         /************************************************************
  91          * ORTE
  92          ************************************************************/
  93         void motionStatusReceived();
  94         void actualPositionReceived();
  95         void estimatedPositionReceived();
  96         void diReceived();
  97         void accelerometerReceived();
  98         void accumulatorReceived();
  99         void powerVoltageReceived();
 100
 101 private:
 102         /************************************************************
 103          * GUI
 104          ************************************************************/
 105         void createLeftLayout();
 106         void createRightLayout();
 107
 108         void createPlaygroundGroupBox();
 109         void createPositionGroupBox();
 110         void createMiscGroupBox();
 111         void createDebugGroupBox();
 112         void createActuatorsGroupBox();
 113         void createMotorsGroupBox();
 114         void createDIOGroupBox();
 115         void createSensorsGroupBox();
 116         void createPowerGroupBox();
 117         void createPickerGroupBox();
 118         void createFSMGroupBox();
 119
 120         void createRobots();
 121         void createActions();
 122
 123         QVBoxLayout *leftLayout;
 124         QVBoxLayout *rightLayout;
 125
 126         QGroupBox *playgroundGroupBox;
 127         QGroupBox *positionGroupBox;
 128         QGroupBox *miscGroupBox;
 129         QGroupBox *debugGroupBox;
 130         QGroupBox *actuatorsGroupBox;
 131         QGroupBox *enginesGroupBox;
 132         QGroupBox *dioGroupBox;
 133         QGroupBox *sensorsGroupBox;
 134         QGroupBox *powerGroupBox;
 135         QGroupBox *pickerGroupBox;
 136         QGroupBox *fsmGroupBox;
 137
 138         PlaygroundScene *playgroundScene;
 139         QGraphicsView *playgroundSceneView;
 140
 141         /* position state */
 142         QLineEdit *actPosX;
 143         QLineEdit *actPosY;
 144         QLineEdit *actPosPhi;
 145
 146         QLineEdit *estPosX;
 147         QLineEdit *estPosY;
 148         QLineEdit *estPosPhi;
 149
 150         /* debug window */
 151         QTextEdit *debugWindow;
 152         bool debugWindowEnabled;
 153
 154         /* actuators */
 155         QSlider *leftMotorSlider;
 156         QSlider *rightMotorSlider;
 157         QCheckBox *bothMotorsCheckBox;
 158         QPushButton *stopMotorsPushButton;
 159
 160         QCheckBox *leftBeltCheckBox;
 161         QCheckBox *rightBeltCheckBox;
 162         QCheckBox *leftChelaCheckBox;
 163         QCheckBox *rightChelaCheckBox;
 164
 165         QDial *leftBeltDial;
 166         QDial *rightBeltDial;
 167         QDial *leftChelaDial;
 168         QDial *rightChelaDial;
 169         QPushButton *pickPushButton;
 170
 171         /* power management */
 172         QCheckBox *voltage33CheckBox;
 173         QCheckBox *voltage50CheckBox;
 174         QCheckBox *voltage80CheckBox;
 175         QLineEdit *voltage33LineEdit;
 176         QLineEdit *voltage50LineEdit;
 177         QLineEdit *voltage80LineEdit;
 178         QLineEdit *voltageBATLineEdit;
 179
 180         QCheckBox *diCheckBox[8];
 181         QCheckBox *doCheckBox[8];
 182
 183         /* misc */
 184         QCheckBox *obstacleSimulationCheckBox;
 185         QLabel *fsm_main_state;
 186         QLabel *fsm_act_state;
 187         QLabel *fsm_motion_state;
 188         QCheckBox *startPlug;
 189         QCheckBox *puckInside;
 190
 191         /* robot */
 192         Robot *robotActPos;
 193         Robot *robotEstPosUzv;
 194         Robot *robotEstPosOdo;
 195
 196         Trail *trailRefPos;
 197         Trail *trailUzvPos;
 198         Trail *trailOdoPos;
 199
 200         /* keypad */
 201         double leftMotorValue;
 202         double rightMotorValue;
 203
 204         /* map */
 205         void openSharedMemory();
 206         bool sharedMemoryOpened;
 207         QTimer *mapTimer;
 208
 209         /* sensors */
 210         QProgressBar *sharpPuck;
 211         QProgressBar *liftPos;
 212         QProgressBar *pusherPos;
 213
 214         /* obstacle simulation */
 215         double distanceToWallHokuyo(int beamnum);
 216         double distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize);
 217         int simulationEnabled;
 218
 219         QTimer *obstacleSimulationTimer;
 220         Point simulatedObstacle;
 221
 222         /************************************************************
 223          * ORTE
 224          ************************************************************/
 225         void createOrte();
 226
 227         struct robottype_orte_data orte;
 228 };
 229
 230 #endif /* ROBOMON_ATLANTIS_H */