#include <QMessageBox>
RobomonAtlantis::RobomonAtlantis(QWidget *parent)
- : QWidget(parent)
+ : QWidget(parent), motorSimulation(orte)
{
QFont font;
font.setPointSize(7);
createRobots();
createActions();
+// connect(vidle, SIGNAL(valueChanged(int)),
+// robotEstPosBest, SLOT(setVidle(int)));
+
setFocusPolicy(Qt::StrongFocus);
sharedMemoryOpened = false;
WDBG("Youuuhouuuu!!");
void RobomonAtlantis::createLeftLayout()
{
leftLayout = new QVBoxLayout();
-
+
createDebugGroupBox();
debugWindowEnabled = true;
createPlaygroundGroupBox();
void RobomonAtlantis::createRightLayout()
{
rightLayout = new QVBoxLayout();
-
+
createPositionGroupBox();
createMiscGroupBox();
createFSMGroupBox();
playgroundSceneView->setMatrix(QMatrix(1,0,0,-1,0,0), true);
playgroundSceneView->fitInView(playgroundScene->itemsBoundingRect());
playgroundSceneView->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+ playgroundSceneView->setMouseTracking(true);
layout->addWidget(playgroundSceneView);
playgroundGroupBox->setLayout(layout);
positionGroupBox = new QGroupBox(tr("Position state"));
positionGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Expanding);
QGridLayout *layout = new QGridLayout();
-
+
actPosX = new QLineEdit();
actPosY = new QLineEdit();
actPosPhi = new QLineEdit();
estPosX = new QLineEdit();
estPosY = new QLineEdit();
estPosPhi = new QLineEdit();
-
+
actPosX->setReadOnly(true);
actPosY->setReadOnly(true);
actPosPhi->setReadOnly(true);
layout->addWidget(actPosY, 2, 1);
layout->addWidget(actPosPhi, 3, 1);
- layout->addWidget(MiscGui::createLabel("Estimated", Qt::AlignLeft), 4, 1);
+ layout->addWidget(MiscGui::createLabel("Estimated (indep. odo.)", Qt::AlignLeft), 4, 1);
layout->addWidget(estPosX, 5, 1);
layout->addWidget(estPosY, 6, 1);
layout->addWidget(estPosPhi, 7, 1);
obstacleSimulationCheckBox = new QCheckBox(tr("&Obstacle simulation"));
obstacleSimulationCheckBox->setShortcut(tr("o"));
+ obstacleSimulationCheckBox->setToolTip("When enabled, simulates an obstacle,\npublishes simlated hokuyo data and \ndisplays robot's map by using shared memory.");
layout->addWidget(obstacleSimulationCheckBox);
- startPlug = new QCheckBox("Start plug");
+ motorSimulationCheckBox = new QCheckBox(tr("&Motor simulation"));
+ motorSimulationCheckBox->setShortcut(tr("m"));
+ motorSimulationCheckBox->setToolTip("Subscribes to motion_speed and\nbased on this publishes motion_irc.");
+ layout->addWidget(motorSimulationCheckBox);
+
+ startPlug = new QCheckBox("&Start plug");
layout->addWidget(startPlug);
-
- puckInside = new QCheckBox("Puck inside");
- layout->addWidget(puckInside);
-
+
+ colorChoser = new QCheckBox("&Team color");
+ layout->addWidget(colorChoser);
+
miscGroupBox->setLayout(layout);
}
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);
- createMotorsGroupBox();
+ //createMotorsGroupBox();
layout->setAlignment(Qt::AlignLeft);
- layout->addWidget(enginesGroupBox);
+// layout->addWidget(vidle);
+ //layout->addWidget(enginesGroupBox);
actuatorsGroupBox->setLayout(layout);
}
powerGroupBox->setLayout(layout);
}
+#if 0
void RobomonAtlantis::createMotorsGroupBox()
{
enginesGroupBox = new QGroupBox(tr("Motors"));
layout->addWidget(stopMotorsPushButton);
enginesGroupBox->setLayout(layout);
}
+#endif
void RobomonAtlantis::createRobots()
{
- robotActPos = new Robot("Ref", QPen(Qt::darkBlue), QBrush(Qt::NoBrush));
- robotActPos->setZValue(11);
+ robotRefPos = new Robot("Ref", QPen(Qt::darkBlue), QBrush(Qt::NoBrush));
+ robotRefPos->setZValue(11);
trailRefPos = new Trail(QPen(Qt::darkBlue));
trailRefPos->setZValue(11);
-
+
+ robotEstPosBest = new Robot("Est", QPen(), QBrush(Qt::darkGray));
+ robotEstPosBest->setZValue(10);
+ trailEstPosBest = new Trail(QPen());
+ trailEstPosBest->setZValue(10);
+
robotEstPosOdo = new Robot("Mot", QPen(Qt::white), QBrush(Qt::darkRed));
robotEstPosOdo->setZValue(10);
- trailOdoPos = new Trail(QPen(Qt::white));
+ trailOdoPos = new Trail(QPen(Qt::red));
trailOdoPos->setZValue(10);
- robotEstPosIndepOdo = new Robot("Odo", QPen(), QBrush(Qt::darkGray));
+
+ robotEstPosIndepOdo = new Robot("Odo", QPen(Qt::white), QBrush(Qt::darkGreen));
robotEstPosIndepOdo->setZValue(10);
- trailPosIndepOdo = new Trail(QPen());
+ trailPosIndepOdo = new Trail(QPen(Qt::green));
trailPosIndepOdo->setZValue(10);
- playgroundScene->addItem(robotActPos);
+ playgroundScene->addItem(robotRefPos);
+ playgroundScene->addItem(robotEstPosBest);
playgroundScene->addItem(robotEstPosIndepOdo);
playgroundScene->addItem(robotEstPosOdo);
-
+
showTrails(false);
-
+
playgroundScene->addItem(trailRefPos);
playgroundScene->addItem(trailPosIndepOdo);
playgroundScene->addItem(trailOdoPos);
hokuyoScan = new HokuyoScan();
hokuyoScan->setZValue(10);
playgroundScene->addItem(hokuyoScan);
-
+
}
/**********************************************************************
void RobomonAtlantis::createActions()
{
/* power management */
- connect(voltage33CheckBox, SIGNAL(stateChanged(int)),
+ connect(voltage33CheckBox, SIGNAL(stateChanged(int)),
this, SLOT(setVoltage33(int)));
- connect(voltage50CheckBox, SIGNAL(stateChanged(int)),
+ connect(voltage50CheckBox, SIGNAL(stateChanged(int)),
this, SLOT(setVoltage50(int)));
- connect(voltage80CheckBox, SIGNAL(stateChanged(int)),
+ connect(voltage80CheckBox, SIGNAL(stateChanged(int)),
this, SLOT(setVoltage80(int)));
/* motors */
- connect(leftMotorSlider, SIGNAL(valueChanged(int)),
- this, SLOT(setLeftMotor(int)));
- connect(rightMotorSlider, SIGNAL(valueChanged(int)),
- this, SLOT(setRightMotor(int)));
- connect(stopMotorsPushButton, SIGNAL(clicked()),
- this, SLOT(stopMotors()));
+// connect(leftMotorSlider, SIGNAL(valueChanged(int)),
+// this, SLOT(setLeftMotor(int)));
+// connect(rightMotorSlider, SIGNAL(valueChanged(int)),
+// this, SLOT(setRightMotor(int)));
+// 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)));
+
/* obstacle simulation */
simulationEnabled = 0;
connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
this, SLOT(setObstacleSimulation(int)));
connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
playgroundScene, SLOT(showObstacle(int)));
- connect(playgroundScene, SIGNAL(obstacleChanged(QPointF)),
+ connect(playgroundScene, SIGNAL(obstacleChanged(QPointF)),
this, SLOT(changeObstacle(QPointF)));
+
+ connect(motorSimulationCheckBox, SIGNAL(stateChanged(int)),
+ this, SLOT(setMotorSimulation(int)));
}
void RobomonAtlantis::setVoltage33(int state)
orte.pwr_ctrl.voltage80 = false;
}
-void RobomonAtlantis::setLeftMotor(int value)
-{
- short int leftMotor;
- short int rightMotor;
-
- if(bothMotorsCheckBox->isChecked())
- rightMotorSlider->setValue(value);
+// void RobomonAtlantis::setLeftMotor(int value)
+// {
+// short int leftMotor;
+// short int rightMotor;
- leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
- rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
-
- orte.motion_speed.left = leftMotor;
- orte.motion_speed.right = rightMotor;
-
-}
+// if(bothMotorsCheckBox->isChecked())
+// rightMotorSlider->setValue(value);
-void RobomonAtlantis::setRightMotor(int value)
-{
- short int leftMotor;
- short int rightMotor;
-
- if(bothMotorsCheckBox->isChecked())
- leftMotorSlider->setValue(value);
+// leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
+// rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
- leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
- rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
-
- orte.motion_speed.left = leftMotor;
- orte.motion_speed.right = rightMotor;
-
-}
+// orte.motion_speed.left = leftMotor;
+// orte.motion_speed.right = rightMotor;
+
+// }
+
+// void RobomonAtlantis::setRightMotor(int value)
+// {
+// short int leftMotor;
+// short int rightMotor;
+
+// if(bothMotorsCheckBox->isChecked())
+// leftMotorSlider->setValue(value);
+
+// leftMotor = (short int)(MOTOR_LIMIT * (leftMotorSlider->value()/100.0));
+// rightMotor = (short int)(MOTOR_LIMIT * (rightMotorSlider->value()/100.0));
+
+// orte.motion_speed.left = leftMotor;
+// orte.motion_speed.right = rightMotor;
+
+// }
-void RobomonAtlantis::stopMotors()
+// void RobomonAtlantis::stopMotors()
+// {
+// leftMotorSlider->setValue(0);
+// rightMotorSlider->setValue(0);
+// }
+
+void RobomonAtlantis::useOpenGL(bool use)
{
- leftMotorSlider->setValue(0);
- rightMotorSlider->setValue(0);
+ playgroundSceneView->useOpenGL(&use);
}
void RobomonAtlantis::showMap(bool show)
if (sharedMemoryOpened == false)
return;
-
+
if (show) {
mapTimer = new QTimer(this);
connect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
struct map *map = ShmapIsMapInit();
if (!map) return;
-
+
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_DET_OBST)
color = cyan;
-
+
playgroundScene->setMapColor(i, j, color);
}
}
void RobomonAtlantis::setSimulation(int state)
{
- if(state) {
- robottype_publisher_hokuyo_scan_create(&orte,
- dummy_publisher_callback, this);
+ if(state) {
+ robottype_publisher_hokuyo_scan_create(&orte, NULL, this);
} else {
if (!simulationEnabled)
return;
simulationEnabled = state;
}
-/*!
+/*!
\fn RobomonAtlantis::setObstacleSimulation(int state)
*/
void RobomonAtlantis::setObstacleSimulation(int state)
/* TODO Maybe it is possible to attach only once to Shmap */
ShmapInit(0);
obstacleSimulationTimer = new QTimer(this);
- connect(obstacleSimulationTimer, SIGNAL(timeout()),
+ connect(obstacleSimulationTimer, SIGNAL(timeout()),
this, SLOT(simulateObstaclesHokuyo()));
obstacleSimulationTimer->start(100);
setMouseTracking(true);
} else {
- if (obstacleSimulationTimer)
+ if (obstacleSimulationTimer)
delete obstacleSimulationTimer;
//double distance = 0.8;
}
double distance, wall_distance;
unsigned int i;
uint16_t *hokuyo = orte.hokuyo_scan.data;
-
+
for (i=0; i<HOKUYO_ARRAY_SIZE; i++) {
wall_distance = distanceToWallHokuyo(i);
distance = distanceToObstacleHokuyo(i, simulatedObstacle, SIM_OBST_SIZE_M/*meters*/);
- if (wall_distance < distance)
+ if (wall_distance < distance)
distance = wall_distance;
hokuyo[i] = distance*1000;
}
ORTEPublicationSend(orte.publication_hokuyo_scan);
-
+
}
void RobomonAtlantis::changeObstacle(QPointF position)
simulatedObstacle.x = position.x();
simulatedObstacle.y = position.y();
simulateObstaclesHokuyo();
-}
+}
/**********************************************************************
* EVENTS
case QEVENT(QEV_HOKUYO_SCAN):
hokuyoScan->newScan(&orte.hokuyo_scan);
break;
+ case QEVENT(QEV_VIDLE_CMD):
+ robotEstPosBest->setVidle(orte.vidle_cmd.req_pos);
+ break;
case QEVENT(QEV_REFERENCE_POSITION):
emit actualPositionReceivedSignal();
break;
estPosPhi->setText(QString("%1(%2)")
.arg(DEGREES(orte.est_pos_indep_odo.phi), 0, 'f', 0)
.arg(orte.est_pos_indep_odo.phi, 0, 'f', 1));
- robotEstPosIndepOdo->moveRobot(orte.est_pos_indep_odo.x,
+ robotEstPosIndepOdo->moveRobot(orte.est_pos_indep_odo.x,
orte.est_pos_indep_odo.y, orte.est_pos_indep_odo.phi);
- trailPosIndepOdo->addPoint(QPointF(orte.est_pos_indep_odo.x,
+ trailPosIndepOdo->addPoint(QPointF(orte.est_pos_indep_odo.x,
orte.est_pos_indep_odo.y));
-
-// hokuyoScan->setPosition(orte.est_pos_indep_odo.x,
-// orte.est_pos_indep_odo.y,
-// orte.est_pos_indep_odo.phi);
break;
case QEVENT(QEV_ESTIMATED_POSITION_ODO):
- robotEstPosOdo->moveRobot(orte.est_pos_odo.x,
+ robotEstPosOdo->moveRobot(orte.est_pos_odo.x,
orte.est_pos_odo.y, orte.est_pos_odo.phi);
- trailOdoPos->addPoint(QPointF(orte.est_pos_odo.x,
+ trailOdoPos->addPoint(QPointF(orte.est_pos_odo.x,
orte.est_pos_odo.y));
break;
+ case QEVENT(QEV_ESTIMATED_POSITION_BEST):
+ robotEstPosBest->moveRobot(orte.est_pos_best.x,
+ orte.est_pos_best.y, orte.est_pos_best.phi);
+ trailEstPosBest->addPoint(QPointF(orte.est_pos_best.x,
+ orte.est_pos_best.y));
+ hokuyoScan->setPosition(orte.est_pos_best.x,
+ orte.est_pos_best.y,
+ orte.est_pos_best.phi);
+ break;
case QEVENT(QEV_POWER_VOLTAGE):
emit powerVoltageReceivedSignal();
break;
void RobomonAtlantis::keyPressEvent(QKeyEvent *event)
{
- double peak, gain;
+// double peak, gain;
if (event->isAutoRepeat()) {
switch (event->key()) {
- case Qt::Key_Down:
- peak = leftMotorSlider->minimum()/2;
- if (leftMotorValue < peak ||
- rightMotorValue < peak)
- gain = 1.01;
- else
- gain = 1.3;
- leftMotorValue *= gain;
- rightMotorValue *= gain;
- leftMotorSlider->setValue((int)leftMotorValue);
- rightMotorSlider->setValue((int)rightMotorValue);
- break;
-
- case Qt::Key_Up:
- case Qt::Key_Left:
- case Qt::Key_Right:
- peak = leftMotorSlider->maximum()/2;
- if (leftMotorValue > peak ||
- rightMotorValue > peak)
- gain = 1.01;
- else
- gain = 1.3;
- leftMotorValue *= gain;
- rightMotorValue *= gain;
- leftMotorSlider->setValue((int)leftMotorValue);
- rightMotorSlider->setValue((int)rightMotorValue);
- break;
+// case Qt::Key_Down:
+// peak = leftMotorSlider->minimum()/2;
+// if (leftMotorValue < peak ||
+// rightMotorValue < peak)
+// gain = 1.01;
+// else
+// gain = 1.3;
+// leftMotorValue *= gain;
+// rightMotorValue *= gain;
+// leftMotorSlider->setValue((int)leftMotorValue);
+// rightMotorSlider->setValue((int)rightMotorValue);
+// break;
+
+// case Qt::Key_Up:
+// case Qt::Key_Left:
+// case Qt::Key_Right:
+// peak = leftMotorSlider->maximum()/2;
+// if (leftMotorValue > peak ||
+// rightMotorValue > peak)
+// gain = 1.01;
+// else
+// gain = 1.3;
+// leftMotorValue *= gain;
+// rightMotorValue *= gain;
+// leftMotorSlider->setValue((int)leftMotorValue);
+// rightMotorSlider->setValue((int)rightMotorValue);
+// break;
default:
event->ignore();
}
switch (event->key()) {
- case Qt::Key_Up:
- leftMotorValue = 1;
- rightMotorValue = 1;
- bothMotorsCheckBox->setChecked(true);
- leftMotorSlider->setValue((int)leftMotorValue);
- setLeftMotor((int)leftMotorValue);
- break;
- case Qt::Key_Down:
- leftMotorValue = -1;
- rightMotorValue = -1;
- bothMotorsCheckBox->setChecked(true);
- leftMotorSlider->setValue((int)leftMotorValue);
- setLeftMotor((int)leftMotorValue);
- break;
- case Qt::Key_Left:
- leftMotorValue = -1;
- rightMotorValue = 1;
- leftMotorSlider->setValue((int)leftMotorValue);
- rightMotorSlider->setValue((int)rightMotorValue);
- setLeftMotor((int)leftMotorValue);
- setRightMotor((int)leftMotorValue);
- break;
- case Qt::Key_Right:
- leftMotorValue = 1;
- rightMotorValue = -1;
- leftMotorSlider->setValue((int)leftMotorValue);
- rightMotorSlider->setValue((int)rightMotorValue);
- setLeftMotor((int)leftMotorValue);
- setRightMotor((int)rightMotorValue);
- break;
+// case Qt::Key_Up:
+// leftMotorValue = 1;
+// rightMotorValue = 1;
+// bothMotorsCheckBox->setChecked(true);
+// leftMotorSlider->setValue((int)leftMotorValue);
+// setLeftMotor((int)leftMotorValue);
+// break;
+// case Qt::Key_Down:
+// leftMotorValue = -1;
+// rightMotorValue = -1;
+// bothMotorsCheckBox->setChecked(true);
+// leftMotorSlider->setValue((int)leftMotorValue);
+// setLeftMotor((int)leftMotorValue);
+// break;
+// case Qt::Key_Left:
+// leftMotorValue = -1;
+// rightMotorValue = 1;
+// leftMotorSlider->setValue((int)leftMotorValue);
+// rightMotorSlider->setValue((int)rightMotorValue);
+// setLeftMotor((int)leftMotorValue);
+// setRightMotor((int)leftMotorValue);
+// break;
+// case Qt::Key_Right:
+// leftMotorValue = 1;
+// rightMotorValue = -1;
+// leftMotorSlider->setValue((int)leftMotorValue);
+// rightMotorSlider->setValue((int)rightMotorValue);
+// setLeftMotor((int)leftMotorValue);
+// setRightMotor((int)rightMotorValue);
+// break;
default:
event->ignore();
break;
}
switch (event->key()) {
- case Qt::Key_Up:
- case Qt::Key_Down:
- case Qt::Key_Left:
- case Qt::Key_Right:
- leftMotorValue = 0;
- rightMotorValue = 0;
- bothMotorsCheckBox->setChecked(false);
- leftMotorSlider->setValue((int)leftMotorValue);
- rightMotorSlider->setValue((int)rightMotorValue);
- break;
+// case Qt::Key_Up:
+// case Qt::Key_Down:
+// case Qt::Key_Left:
+// case Qt::Key_Right:
+// leftMotorValue = 0;
+// rightMotorValue = 0;
+// bothMotorsCheckBox->setChecked(false);
+// leftMotorSlider->setValue((int)leftMotorValue);
+// rightMotorSlider->setValue((int)rightMotorValue);
+// break;
default:
event->ignore();
break;
int rv;
orte.strength = 11;
-
+
+ memset(&orte, 0, sizeof(orte));
rv = robottype_roboorte_init(&orte);
if (rv) {
printf("RobomonAtlantis: Unable to initialize ORTE\n");
}
- /* publishers */
- robottype_publisher_motion_speed_create(&orte, dummy_publisher_callback, NULL);
-
robottype_publisher_pwr_ctrl_create(&orte, dummy_publisher_callback, NULL);
robottype_publisher_robot_cmd_create(&orte, NULL, &orte);
+ robottype_publisher_robot_switches_create(&orte, dummy_publisher_callback, &orte);
/* subscribers */
- robottype_subscriber_pwr_voltage_create(&orte,
+ robottype_subscriber_pwr_voltage_create(&orte,
receivePowerVoltageCallBack, this);
- robottype_subscriber_motion_status_create(&orte,
+ robottype_subscriber_motion_status_create(&orte,
receiveMotionStatusCallBack, this);
- robottype_subscriber_ref_pos_create(&orte,
+ robottype_subscriber_ref_pos_create(&orte,
receiveActualPositionCallBack, this);
- robottype_subscriber_est_pos_odo_create(&orte,
+ robottype_subscriber_est_pos_odo_create(&orte,
generic_rcv_cb, new OrteCallbackInfo(this, QEV_ESTIMATED_POSITION_ODO));
- robottype_subscriber_est_pos_indep_odo_create(&orte,
+ robottype_subscriber_est_pos_indep_odo_create(&orte,
generic_rcv_cb, new OrteCallbackInfo(this, QEV_ESTIMATED_POSITION_INDEP_ODO));
- robottype_subscriber_hokuyo_scan_create(&orte,
+ robottype_subscriber_est_pos_best_create(&orte,
+ generic_rcv_cb, new OrteCallbackInfo(this, QEV_ESTIMATED_POSITION_BEST));
+ robottype_subscriber_hokuyo_scan_create(&orte,
generic_rcv_cb, new OrteCallbackInfo(this, QEV_HOKUYO_SCAN));
- robottype_subscriber_fsm_main_create(&orte,
+ robottype_subscriber_vidle_cmd_create(&orte,
+ generic_rcv_cb, new OrteCallbackInfo(this, QEV_VIDLE_CMD));
+ robottype_subscriber_fsm_main_create(&orte,
rcv_fsm_main_cb, this);
- robottype_subscriber_fsm_motion_create(&orte,
+ robottype_subscriber_fsm_motion_create(&orte,
rcv_fsm_motion_cb, this);
- robottype_subscriber_fsm_act_create(&orte,
+ robottype_subscriber_fsm_act_create(&orte,
rcv_fsm_act_cb, this);
-
- /* motors */
- orte.motion_speed.left = 0;
- orte.motion_speed.right = 0;
+ robottype_subscriber_motion_speed_create(&orte, NULL, NULL);
/* power management */
orte.pwr_ctrl.voltage33 = true;
act_init(&orte);
/* set actions to do when we receive data from orte */
- connect(this, SIGNAL(motionStatusReceivedSignal()),
+ connect(this, SIGNAL(motionStatusReceivedSignal()),
this, SLOT(motionStatusReceived()));
- connect(this, SIGNAL(actualPositionReceivedSignal()),
+ connect(this, SIGNAL(actualPositionReceivedSignal()),
this, SLOT(actualPositionReceived()));
- connect(this, SIGNAL(powerVoltageReceivedSignal()),
+ connect(this, SIGNAL(powerVoltageReceivedSignal()),
this, SLOT(powerVoltageReceived()));
}
actPosPhi->setText(QString("%1(%2)")
.arg(DEGREES(orte.ref_pos.phi), 0, 'f', 0)
.arg(orte.ref_pos.phi, 0, 'f', 1));
- robotActPos->moveRobot(orte.ref_pos.x,
+ robotRefPos->moveRobot(orte.ref_pos.x,
orte.ref_pos.y, orte.ref_pos.phi);
trailRefPos->addPoint(QPointF(orte.ref_pos.x, orte.ref_pos.y));
}
return;
sharedSegmentSize = sizeof(unsigned int) * MAP_WIDTH * MAP_HEIGHT;
-
+
/* Get segment identificator in a read only mode */
segmentId = shmget(SHM_MAP_KEY, sharedSegmentSize, S_IRUSR);
if(segmentId == -1) {
"Unable to open shared memory segment!");
return;
}
-
+
/* Init Shmap */
ShmapInit(0);
-
+
/* Attach the shared memory segment */
//map = (_Map*)shmat (segmentId, (void*) 0, 0);
struct map *map = ShmapIsMapInit();
if (!map) return min_distance;
-
+
// Simulate obstacles
for(j=0;j<MAP_HEIGHT;j++) {
for (i=0;i<MAP_WIDTH;i++) {
if( cell->flags & MAP_FLAG_SIMULATED_WALL) {
// WALL
ShmapCell2Point(i, j, &wall.x, &wall.y);
-
+
distance = distanceToObstacleHokuyo(beamnum, wall, MAP_CELL_SIZE_M);
if (distance<min_distance) min_distance = distance;
}
return min_distance;
}
-/**
+/**
* Calculation for Hokuyo simulation. Calculates distance that would
* be returned by Hokuyo sensors, if there is only one obstacle (as
* specified by parameters).
* @param beamnum Hokuyo's bean number [0..HOKUYO_CLUSTER_CNT]
* @param obstacle Position of the obstacle (x, y in meters).
* @param obstacleSize Size (diameter) of the obstacle in meters.
- *
+ *
* @return Distance measured by sensors in meters.
- */
+ */
double RobomonAtlantis::distanceToObstacleHokuyo(int beamnum, Point obstacle, double obstacleSize)
-{
- struct robot_pos_type e = orte.est_pos_indep_odo;
+{
+ struct robot_pos_type e = orte.est_pos_best;
double sensor_a;
struct sharp_pos s;
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;
-
+
const double sensorRange = 4.0; /*[meters]*/
-
+
double distance, angle;
-
+
angle = sensor.angleTo(obstacle) - sensor_a;
angle = fmod(angle, 2.0*M_PI);
if (angle > +M_PI) angle -= 2.0*M_PI;
if (angle < -M_PI) angle += 2.0*M_PI;
angle = fabs(angle);
- distance = sensor.distanceTo(obstacle)-0.11;
- if (angle < atan(obstacleSize/2.0 / (distance+0.001))) {
+ distance = sensor.distanceTo(obstacle) - obstacleSize/2.0;
+ if (angle < atan(obstacleSize/2.0 / distance)) {
// We can see the obstackle from here.
if (angle < M_PI/2.0) {
distance = distance/cos(angle);
}
- if (distance > sensorRange)
+ if (distance > sensorRange)
distance = sensorRange;
} else {
distance = sensorRange;
void RobomonAtlantis::sendStart(int plug)
{
- orte.robot_cmd.start = plug ? 0 : 1;
+ orte.robot_cmd.start_condition = plug ? 0 : 1;
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) {
+ motorSimulation.start();
+ } else {
+ motorSimulation.stop();
+ }
+}
+
void RobomonAtlantis::resetTrails()
{
trailRefPos->reset();
+ trailEstPosBest->reset();
trailPosIndepOdo->reset();
trailOdoPos->reset();
}
void RobomonAtlantis::showTrails(bool show)
{
- trailRefPos->setVisible(show);
- trailPosIndepOdo->setVisible(show);
- trailOdoPos->setVisible(show);
+ trailRefPos->setVisible(show && robotRefPos->isVisible());
+ trailEstPosBest->setVisible(show && robotEstPosBest->isVisible());
+ trailPosIndepOdo->setVisible(show && robotEstPosIndepOdo->isVisible());
+ trailOdoPos->setVisible(show && robotEstPosOdo->isVisible());
+}
+
+void RobomonAtlantis::showShapeDetect(bool show)
+{
+ hokuyoScan->showShapeDetect = show;
}
projects / eurobot / public.git / blobdiff