#include "playgroundview.h"
#include "trail.h"
+
#include <QCoreApplication>
#include <QEvent>
#include <QKeyEvent>
#include <QDebug>
#include <QMessageBox>
-RobomonAtlantis::RobomonAtlantis(QWidget *parent)
- : QWidget(parent), motorSimulation(orte)
+RobomonAtlantis::RobomonAtlantis(QStatusBar *_statusBar)
+ : QWidget(0), statusBar(_statusBar), motorSimulation(orte)
{
QFont font;
font.setPointSize(7);
createOrte();
createRobots();
createActions();
+ createMap();
// connect(vidle, SIGNAL(valueChanged(int)),
// robotEstPosBest, SLOT(setVidle(int)));
motorSimulationCheckBox->setToolTip("Subscribes to motion_speed and\nbased on this publishes motion_irc.");
layout->addWidget(motorSimulationCheckBox);
- startPlug = new QCheckBox("&Start plug");
- layout->addWidget(startPlug);
+// startPlug = new QCheckBox("&Start plug");
+// layout->addWidget(startPlug);
colorChoser = new QCheckBox("&Team color");
layout->addWidget(colorChoser);
void RobomonAtlantis::createActuatorsGroupBox()
{
- actuatorsGroupBox = new QGroupBox(tr("Actuators"));
- actuatorsGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred);
- QHBoxLayout *layout = new QHBoxLayout();
-// vidle = new QDial();
-
-// vidle->setMinimum(VIDLE_VYSIP);
-// vidle->setMaximum((VIDLE_UP-VIDLE_VYSIP)+VIDLE_VYSIP);
-// vidle->setEnabled(true);
+ actuatorsGroupBox = new QGroupBox(tr("Status"));
+ actuatorsGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Maximum);
+ QGridLayout *layout = new QGridLayout();
- //createMotorsGroupBox();
+ layout->addWidget(MiscGui::createLabel("APP:"), 1, 0);
+ system_status = new QLabel();
+ system_status->setMinimumWidth(100);
+ system_status->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
+ layout->addWidget(system_status, 1, 1);
- layout->setAlignment(Qt::AlignLeft);
-// layout->addWidget(vidle);
- //layout->addWidget(enginesGroupBox);
- actuatorsGroupBox->setLayout(layout);
+ actuatorsGroupBox->setLayout(layout);
}
void RobomonAtlantis::createPowerGroupBox()
powerGroupBox->setLayout(layout);
}
-#if 0
-void RobomonAtlantis::createMotorsGroupBox()
-{
- enginesGroupBox = new QGroupBox(tr("Motors"));
- QVBoxLayout *layout = new QVBoxLayout();
- QHBoxLayout *layout1 = new QHBoxLayout();
- QHBoxLayout *layout2 = new QHBoxLayout();
-
- leftMotorSlider = new QSlider(Qt::Vertical);
- rightMotorSlider = new QSlider(Qt::Vertical);
- bothMotorsCheckBox = new QCheckBox(tr("Lock both"));
- stopMotorsPushButton = new QPushButton(tr("Stop Motors"));
-
- leftMotorSlider->setMinimum(-100);
- leftMotorSlider->setMaximum(100);
- leftMotorSlider->setTracking(false);
- leftMotorSlider->setTickPosition(QSlider::TicksLeft);
-
- rightMotorSlider->setMinimum(-100);
- rightMotorSlider->setMaximum(100);
- rightMotorSlider->setTracking(false);
- rightMotorSlider->setTickPosition(QSlider::TicksRight);
-
- stopMotorsPushButton->setMaximumWidth(90);
-
- layout1->addWidget(leftMotorSlider);
- layout1->addWidget(MiscGui::createLabel("0"));
- layout1->addWidget(rightMotorSlider);
-
- layout2->addWidget(bothMotorsCheckBox);
-
- layout->addWidget(MiscGui::createLabel("100"));
- layout->addLayout(layout1);
- layout->addWidget(MiscGui::createLabel("-100"));
- layout->addLayout(layout2);
- layout->addWidget(stopMotorsPushButton);
- enginesGroupBox->setLayout(layout);
-}
-#endif
-
void RobomonAtlantis::createRobots()
{
robotRefPos = new Robot("Ref", QPen(Qt::darkBlue), QBrush(Qt::NoBrush));
}
+void RobomonAtlantis::createMap()
+{
+ mapImage = new Map();
+ mapImage->setZValue(3);
+ mapImage->setTransform(QTransform().scale(MAP_CELL_SIZE_MM, MAP_CELL_SIZE_MM), true);
+
+
+ playgroundScene->addItem(mapImage);
+}
+
/**********************************************************************
* GUI actions
**********************************************************************/
// connect(stopMotorsPushButton, SIGNAL(clicked()),
// this, SLOT(stopMotors()));
- connect(startPlug, SIGNAL(stateChanged(int)), this, SLOT(sendStart(int)));
- connect(colorChoser, SIGNAL(stateChanged(int)), this, SLOT(setTeamColor(int)));
+// connect(startPlug, SIGNAL(stateChanged(int)), this, SLOT(sendStart(int)));
/* obstacle simulation */
simulationEnabled = 0;
disconnect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
}
}
- playgroundScene->showMap(show);
+ mapImage->setVisible(show);
}
void RobomonAtlantis::paintMap()
if (!map) return;
- for(int i=0; i < MAP_WIDTH; i++) {
- for(int j=0; j<MAP_HEIGHT; j++) {
+ for(int i = 0; i < MAP_WIDTH; i++) {
+ for(int j = 0; j < MAP_HEIGHT; j++) {
QColor color;
struct map_cell *cell = &map->cells[j][i];
color = lightGray;
- if ((cell->flags & MAP_FLAG_WALL) &&
- (cell->flags & MAP_FLAG_INVALIDATE_WALL) == 0)
+ if (cell->flags & MAP_FLAG_WALL)
color = darkYellow;
if (cell->flags & MAP_FLAG_IGNORE_OBST)
color = darkGreen;
if (cell->flags & MAP_FLAG_DET_OBST)
color = cyan;
- playgroundScene->setMapColor(i, j, color);
+ color.setAlpha(200);
+ mapImage->setPixelColor(i, MAP_HEIGHT - j - 1, color);
}
}
}
this, SLOT(simulateObstaclesHokuyo()));
obstacleSimulationTimer->start(100);
setMouseTracking(true);
+ hokuyoScan->setVisible(true);
+
+
} else {
if (obstacleSimulationTimer)
delete obstacleSimulationTimer;
- //double distance = 0.8;
+
+ hokuyoScan->setVisible(false); /* hide hokuyo scan*/
+
}
}
case QEVENT(QEV_HOKUYO_SCAN):
hokuyoScan->newScan(&orte.hokuyo_scan);
break;
- case QEVENT(QEV_VIDLE_CMD):
- robotEstPosBest->setVidle(orte.vidle_cmd.req_pos);
+ case QEVENT(QEV_CRANE_CMD):
+ robotEstPosBest->setCrane(orte.crane_cmd.req_pos);
break;
case QEVENT(QEV_REFERENCE_POSITION):
emit actualPositionReceivedSignal();
case QEVENT(QEV_FSM_MOTION):
fsm_motion_state->setText(orte.fsm_motion.state_name);
break;
+ case QEVENT(QEV_STSTEM_STATUS):
+ if (orte.system_status.system_condition)
+ system_status->setText("WARNING");
+ else
+ system_status->setText("OK");
+ break;
default:
if (event->type() == QEvent::Close)
closeEvent((QCloseEvent *)event);
generic_rcv_cb, new OrteCallbackInfo(this, QEV_ESTIMATED_POSITION_INDEP_ODO));
robottype_subscriber_est_pos_best_create(&orte,
generic_rcv_cb, new OrteCallbackInfo(this, QEV_ESTIMATED_POSITION_BEST));
+ robottype_subscriber_system_status_create(&orte,
+ generic_rcv_cb, new OrteCallbackInfo(this, QEV_STSTEM_STATUS));
robottype_subscriber_hokuyo_scan_create(&orte,
generic_rcv_cb, new OrteCallbackInfo(this, QEV_HOKUYO_SCAN));
- robottype_subscriber_vidle_cmd_create(&orte,
- generic_rcv_cb, new OrteCallbackInfo(this, QEV_VIDLE_CMD));
+ robottype_subscriber_crane_cmd_create(&orte,
+ generic_rcv_cb, new OrteCallbackInfo(this, QEV_CRANE_CMD));
robottype_subscriber_fsm_main_create(&orte,
rcv_fsm_main_cb, this);
robottype_subscriber_fsm_motion_create(&orte,
rcv_fsm_motion_cb, this);
robottype_subscriber_fsm_act_create(&orte,
rcv_fsm_act_cb, this);
- robottype_subscriber_motion_speed_create(&orte, NULL, NULL);
+ robottype_subscriber_motion_speed_create(&orte, NULL, NULL);
/* power management */
orte.pwr_ctrl.voltage33 = true;
/* Get segment identificator in a read only mode */
segmentId = shmget(SHM_MAP_KEY, sharedSegmentSize, S_IRUSR);
if(segmentId == -1) {
- QMessageBox::critical(this, "robomon",
- "Unable to open shared memory segment!");
- return;
+ statusBar->showMessage("No external map found - creating a new map.");
}
/* Init Shmap */
{
struct robot_pos_type e = orte.est_pos_best;
double sensor_a;
- struct sharp_pos s;
+ struct robot_pos_type s;
s.x = HOKUYO_CENTER_OFFSET_M;
s.y = 0.0;
- s.ang = HOKUYO_INDEX_TO_RAD(beamnum);
+ s.phi = HOKUYO_INDEX_TO_RAD(beamnum);
Point sensor(e.x + s.x*cos(e.phi) - s.y*sin(e.phi),
e.y + s.x*sin(e.phi) + s.y*cos(e.phi));
- sensor_a = e.phi + s.ang;
+ sensor_a = e.phi + s.phi;
const double sensorRange = 4.0; /*[meters]*/
ORTEPublicationSend(orte.publication_robot_cmd);
}
-void RobomonAtlantis::setTeamColor(int plug)
-{
- orte.robot_switches.team_color = plug ? 1 : 0;
- ORTEPublicationSend(orte.publication_robot_switches);
-}
-
void RobomonAtlantis::setMotorSimulation(int state)
{
if (state) {
projects / eurobot / public.git / blobdiff