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