#include <trgen.h>
#include <map.h>
#include <robomath.h>
-#include <hokuyo.h>
+#include <lidar_params.h>
#include <actuators.h>
#include "PlaygroundScene.h"
#include "MiscGui.h"
#include <QDebug>
#include <QMessageBox>
-RobomonAtlantis::RobomonAtlantis(QWidget *parent)
- : QWidget(parent)
+RobomonAtlantis::RobomonAtlantis(QStatusBar *_statusBar)
+ : QWidget(0), statusBar(_statusBar)
{
QFont font;
font.setPointSize(7);
createOrte();
createRobots();
createActions();
+ createMap();
setFocusPolicy(Qt::StrongFocus);
sharedMemoryOpened = false;
void RobomonAtlantis::createLeftLayout()
{
leftLayout = new QVBoxLayout();
-
+
createDebugGroupBox();
debugWindowEnabled = true;
createPlaygroundGroupBox();
void RobomonAtlantis::createRightLayout()
{
rightLayout = new QVBoxLayout();
-
+
createPositionGroupBox();
+ createObstSimGroupBox();
createMiscGroupBox();
createFSMGroupBox();
createActuatorsGroupBox();
createPowerGroupBox();
rightLayout->addWidget(positionGroupBox);
+ rightLayout->addWidget(obstSimGroupBox);
rightLayout->addWidget(miscGroupBox);
rightLayout->addWidget(fsmGroupBox);
- rightLayout->addWidget(powerGroupBox);
rightLayout->addWidget(actuatorsGroupBox);
}
playgroundScene = new PlaygroundScene();
playgroundSceneView = new PlaygroundView(playgroundScene);
- //playgroundSceneView->setMinimumWidth(630);
- //playgroundSceneView->setMinimumHeight(445);
- playgroundSceneView->setMatrix(QMatrix(1,0,0,-1,0,0), true);
+ 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);
void RobomonAtlantis::createPositionGroupBox()
{
positionGroupBox = new QGroupBox(tr("Position state"));
- positionGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Expanding);
+ positionGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
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);
miscGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
QGridLayout *layout = new QGridLayout();
- obstacleSimulationCheckBox = new QCheckBox(tr("&Obstacle simulation"));
- obstacleSimulationCheckBox->setShortcut(tr("o"));
- layout->addWidget(obstacleSimulationCheckBox);
-
- startPlug = new QCheckBox("Start plug");
+ startPlug = new QCheckBox("&Start plug");
layout->addWidget(startPlug);
-
- puckInside = new QCheckBox("Puck inside");
- layout->addWidget(puckInside);
-
+
+ colorChoser = new QCheckBox("&Team color");
+ layout->addWidget(colorChoser);
+
+ strategyButton= new QPushButton(tr("Strategy"));
+ layout->addWidget(strategyButton);
+
miscGroupBox->setLayout(layout);
}
+void RobomonAtlantis::createObstSimGroupBox()
+{
+ obstSimGroupBox = new QGroupBox(tr("Obstacle simulation"));
+ obstSimGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
+ QGridLayout *layout = new QGridLayout();
+
+ hokuyoSimCheckBox = new QCheckBox(tr("&Hokuyo lidar simulation"));
+ hokuyoSimCheckBox->setShortcut(tr("h"));
+ layout->addWidget(hokuyoSimCheckBox);
+
+ sick331SimCheckBox = new QCheckBox(tr("Sick Tim &331 lidar simulation"));
+ sick331SimCheckBox->setShortcut(tr("3"));
+ layout->addWidget(sick331SimCheckBox);
+
+ sick551SimCheckBox = new QCheckBox(tr("Sick Tim &551 lidar simulation"));
+ sick551SimCheckBox->setShortcut(tr("5"));
+ layout->addWidget(sick551SimCheckBox);
+
+ obstSimGroupBox->setLayout(layout);
+}
+
void RobomonAtlantis::createFSMGroupBox()
{
fsmGroupBox = new QGroupBox(tr("FSM"));
actuatorsGroupBox->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred);
QHBoxLayout *layout = new QHBoxLayout();
- createMotorsGroupBox();
-
layout->setAlignment(Qt::AlignLeft);
- layout->addWidget(enginesGroupBox);
actuatorsGroupBox->setLayout(layout);
}
powerGroupBox->setLayout(layout);
}
-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);
-}
-
void RobomonAtlantis::createRobots()
{
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(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 = new LidarScan(hokuyo_params);
hokuyoScan->setZValue(10);
playgroundScene->addItem(hokuyoScan);
-
+
+ sickScan = new LidarScan(sick_params);
+ sickScan->setZValue(10);
+ playgroundScene->addItem(sickScan);
+
+ sick551Scan = new LidarScan(sick551_params);
+ sick551Scan->setZValue(10);
+ playgroundScene->addItem(sick551Scan);
+}
+
+void RobomonAtlantis::createMap()
+{
+ mapImage = new Map();
+ mapImage->setZValue(5);
+ mapImage->setTransform(QTransform().scale(MAP_CELL_SIZE_MM, MAP_CELL_SIZE_MM), true);
+
+ playgroundScene->addItem(mapImage);
}
/**********************************************************************
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(startPlug, SIGNAL(stateChanged(int)), this, SLOT(sendStart(int)));
-
+ connect(colorChoser, SIGNAL(stateChanged(int)), this, SLOT(setTeamColor(int)));
+ connect(strategyButton, SIGNAL(pressed()), this, SLOT(changeStrategy_1()));
+ connect(strategyButton, SIGNAL(released()), this, SLOT(changeStrategy_0()));
+
/* obstacle simulation */
- simulationEnabled = 0;
- connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
- this, SLOT(setSimulation(int)));
- connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
- this, SLOT(setObstacleSimulation(int)));
- connect(obstacleSimulationCheckBox, SIGNAL(stateChanged(int)),
- playgroundScene, SLOT(showObstacle(int)));
- connect(playgroundScene, SIGNAL(obstacleChanged(QPointF)),
+ hokuyoSimEnabled = 0;
+ sickSimEnabled = 0;
+ sick551SimEnabled = 0;
+
+ connect(hokuyoSimCheckBox, SIGNAL(stateChanged(int)),
+ this, SLOT(setHokuyoSimulation(int)));
+ connect(hokuyoSimCheckBox, SIGNAL(stateChanged(int)),
+ this, SLOT(setHokuyoObstacleSimulation(int)));
+
+ connect(sick331SimCheckBox, SIGNAL(stateChanged(int)),
+ this, SLOT(setSick331Simulation(int)));
+ connect(sick331SimCheckBox, SIGNAL(stateChanged(int)),
+ this, SLOT(setSick331ObstacleSimulation(int)));
+
+ connect(sick551SimCheckBox, SIGNAL(stateChanged(int)),
+ this, SLOT(setSick551Simulation(int)));
+ connect(sick551SimCheckBox, SIGNAL(stateChanged(int)),
+ this, SLOT(setSick551ObstacleSimulation(int)));
+
+ connect(playgroundScene, SIGNAL(obstacleChanged(QPointF)),
this, SLOT(changeObstacle(QPointF)));
}
+void RobomonAtlantis::changeStrategy_1()
+{
+ orte.robot_switches.strategy = true;
+ ORTEPublicationSend(orte.publication_robot_switches);
+}
+
+void RobomonAtlantis::changeStrategy_0()
+{
+ orte.robot_switches.strategy = false;
+ ORTEPublicationSend(orte.publication_robot_switches);
+}
+
void RobomonAtlantis::setVoltage33(int state)
{
if (state)
orte.pwr_ctrl.voltage80 = false;
}
-void RobomonAtlantis::setLeftMotor(int value)
-{
- short int leftMotor;
- short int rightMotor;
-
- if(bothMotorsCheckBox->isChecked())
- rightMotorSlider->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::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::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()));
mapTimer->start(200);
} else {
- mapTimer->stop();
- disconnect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
+ if(mapTimer != NULL) {
+ mapTimer->stop();
+ disconnect(mapTimer, SIGNAL(timeout()), this, SLOT(paintMap()));
+ }
}
- playgroundScene->showMap(show);
+ mapImage->setVisible(show);
}
void RobomonAtlantis::paintMap()
{
- using namespace Qt;
- 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_WALL) &&
- (cell->flags & MAP_FLAG_INVALIDATE_WALL) == 0)
- color = darkYellow;
- if (cell->flags & MAP_FLAG_IGNORE_OBST)
- color = darkGreen;
- if (cell->flags & MAP_FLAG_SIMULATED_WALL)
- color = yellow;
- if (cell->flags & MAP_FLAG_PATH)
- color = darkRed;
- if (cell->flags & MAP_FLAG_START)
- color = red;
- if (cell->flags & MAP_FLAG_GOAL)
- color = green;
- if (cell->detected_obstacle) {
- QColor c1(color), c2(blue);
- double f = (double)cell->detected_obstacle/MAP_NEW_OBSTACLE*0.7;
- QColor c(c1.red() + (int)(f*(c2.red() - c1.red())),
- c1.green() + (int)(f*(c2.green() - c1.green())),
- c1.blue() + (int)(f*(c2.blue() - c1.blue())));
- color = c;
- }
- if (cell->flags & MAP_FLAG_DET_OBST)
- color = cyan;
-
- playgroundScene->setMapColor(i, j, color);
- }
+ using namespace Qt;
+ 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_WALL)
+ color = darkYellow;
+ if (cell->flags & MAP_FLAG_IGNORE_OBST)
+ color = darkGreen;
+ if (cell->flags & MAP_FLAG_SIMULATED_WALL)
+ color = yellow;
+ if (cell->flags & MAP_FLAG_PATH)
+ color = darkRed;
+ if (cell->flags & MAP_FLAG_START)
+ color = red;
+ if (cell->flags & MAP_FLAG_GOAL)
+ color = green;
+ if (cell->flags & MAP_FLAG_PLAN_MARGIN) {
+ QColor c(240, 170, 50); /* orange */
+ color = c;
+ }
+ if (cell->detected_obstacle) {
+ QColor c1(color), c2(blue);
+ double f = (double)cell->detected_obstacle/MAP_NEW_OBSTACLE*0.7;
+ QColor c(c1.red() + (int)(f*(c2.red() - c1.red())),
+ c1.green() + (int)(f*(c2.green() - c1.green())),
+ c1.blue() + (int)(f*(c2.blue() - c1.blue())));
+ color = c;
+ }
+ if (cell->flags & MAP_FLAG_DET_OBST)
+ color = cyan;
+
+ color.setAlpha(200);
+ mapImage->setPixelColor(i, MAP_HEIGHT - j - 1, color);
+ }
}
}
-void RobomonAtlantis::setSimulation(int state)
+void RobomonAtlantis::setHokuyoSimulation(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)
+ if (!hokuyoSimEnabled)
return;
robottype_publisher_hokuyo_scan_destroy(&orte);
}
- simulationEnabled = state;
+ hokuyoSimEnabled = state;
}
-/*!
- \fn RobomonAtlantis::setObstacleSimulation(int state)
- */
-void RobomonAtlantis::setObstacleSimulation(int state)
+void RobomonAtlantis::setSick331Simulation(int state)
+{
+ if(state) {
+ robottype_publisher_sick_scan_create(&orte, NULL, this);
+ } else {
+ if (!sickSimEnabled)
+ return;
+ robottype_publisher_sick_scan_destroy(&orte);
+ }
+ sickSimEnabled = state;
+}
+
+void RobomonAtlantis::setSick551Simulation(int state)
+{
+ if(state) {
+ robottype_publisher_sick551_scan_create(&orte, NULL, this);
+ } else {
+ if (!sick551SimEnabled)
+ return;
+ robottype_publisher_sick551_scan_destroy(&orte);
+ }
+ sick551SimEnabled = state;
+}
+
+void RobomonAtlantis::setHokuyoObstacleSimulation(int state)
{
if (state) {
- /* TODO Maybe it is possible to attach only once to Shmap */
- ShmapInit(0);
- obstacleSimulationTimer = new QTimer(this);
- connect(obstacleSimulationTimer, SIGNAL(timeout()),
+ /* TODO Maybe it is possible to attach only once to Shmap */
+ ShmapInit(0);
+ obstacleSimulationTimerHokuyo = new QTimer(this);
+ connect(obstacleSimulationTimerHokuyo, SIGNAL(timeout()),
this, SLOT(simulateObstaclesHokuyo()));
- obstacleSimulationTimer->start(100);
- setMouseTracking(true);
+ obstacleSimulationTimerHokuyo->start(100);
+ setMouseTracking(true);
+ hokuyoScan->setVisible(true);
} else {
- if (obstacleSimulationTimer)
- delete obstacleSimulationTimer;
- //double distance = 0.8;
+ if (obstacleSimulationTimerHokuyo)
+ delete obstacleSimulationTimerHokuyo;
+ // Hide scans of lidars
+ hokuyoScan->setVisible(false);
}
}
+void RobomonAtlantis::setSick331ObstacleSimulation(int state)
+{
+ if (state) {
+ /* TODO Maybe it is possible to attach only once to Shmap */
+ ShmapInit(0);
+ obstacleSimulationTimerSick331 = new QTimer(this);
+ connect(obstacleSimulationTimerSick331, SIGNAL(timeout()),
+ this, SLOT(simulateObstaclesSick()));
+ obstacleSimulationTimerSick331->start(100);
+ setMouseTracking(true);
+ sickScan->setVisible(true);
+ } else {
+ if (obstacleSimulationTimerSick331)
+ delete obstacleSimulationTimerSick331;
+ // Hide scans of lidars
+ sickScan->setVisible(false);
+ }
+}
-void RobomonAtlantis::simulateObstaclesHokuyo()
+void RobomonAtlantis::setSick551ObstacleSimulation(int state)
+{
+ if (state) {
+ /* TODO Maybe it is possible to attach only once to Shmap */
+ ShmapInit(0);
+ obstacleSimulationTimerSick551 = new QTimer(this);
+ connect(obstacleSimulationTimerSick551, SIGNAL(timeout()),
+ this, SLOT(simulateObstaclesSick551()));
+ obstacleSimulationTimerSick551->start(100);
+ setMouseTracking(true);
+ sick551Scan->setVisible(true);
+ } else {
+ if (obstacleSimulationTimerSick551)
+ delete obstacleSimulationTimerSick551;
+ // Hide scans of lidars
+ sick551Scan->setVisible(false);
+ }
+}
+
+void RobomonAtlantis::simulateObstaclesLidar(const struct lidar_params lidar)
{
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)
+ unsigned int data_lenght = 0;
+ uint16_t *lidar_data = NULL;
+ switch (lidar.type) {
+ case HOKUYO:
+ lidar_data = orte.hokuyo_scan.data;
+ data_lenght = hokuyo_params.data_lenght;
+ break;
+ case SICK_TIM3XX:
+ lidar_data = orte.sick_scan.data;
+ data_lenght = sick_params.data_lenght;
+ break;
+ case SICK_TIM551:
+ lidar_data = orte.sick551_scan.data;
+ data_lenght = sick551_params.data_lenght;
+ break;
+ default:
+ return;
+ }
+
+ for (i = 0; i < data_lenght; i++) {
+ wall_distance = distanceToWallLidar(lidar, i);
+ distance = distanceToCircularObstacleLidar(lidar, i, simulatedObstacle, SIM_OBST_SIZE_M);
+ if (wall_distance < distance)
distance = wall_distance;
- hokuyo[i] = distance*1000;
+ lidar_data[i] = distance*1000;
+ }
+
+ switch (lidar.type) {
+ case HOKUYO:
+ orte.hokuyo_scan.data_lenght = hokuyo_params.data_lenght;
+ orte.hokuyo_scan.lidar_type = hokuyo_params.type;
+ ORTEPublicationSend(orte.publication_hokuyo_scan);
+ break;
+ case SICK_TIM3XX:
+ orte.sick_scan.data_lenght = sick_params.data_lenght;
+ orte.sick_scan.lidar_type = sick_params.type;
+ ORTEPublicationSend(orte.publication_sick_scan);
+ break;
+ case SICK_TIM551:
+ orte.sick551_scan.data_lenght = sick551_params.data_lenght;
+ orte.sick551_scan.lidar_type = sick551_params.type;
+ ORTEPublicationSend(orte.publication_sick551_scan);
+ break;
+ default:
+ return;
}
- ORTEPublicationSend(orte.publication_hokuyo_scan);
-
+}
+
+void RobomonAtlantis::simulateObstaclesHokuyo()
+{
+ simulateObstaclesLidar(hokuyo_params);
+}
+
+void RobomonAtlantis::simulateObstaclesSick()
+{
+ simulateObstaclesLidar(sick_params);
+}
+
+void RobomonAtlantis::simulateObstaclesSick551()
+{
+ simulateObstaclesLidar(sick551_params);
}
void RobomonAtlantis::changeObstacle(QPointF position)
{
- if (!simulationEnabled) {
- simulationEnabled = 1;
- obstacleSimulationCheckBox->setChecked(true);
+ if (!hokuyoSimEnabled && !sickSimEnabled && !sick551SimEnabled) {
+ hokuyoSimEnabled = 1;
+ sickSimEnabled = 1;
+ sick551SimEnabled = 1;
+ hokuyoSimCheckBox->setChecked(true);
+ sick331SimCheckBox->setChecked(true);
+ sick551SimCheckBox->setChecked(true);
}
simulatedObstacle.x = position.x();
simulatedObstacle.y = position.y();
- simulateObstaclesHokuyo();
-}
+}
/**********************************************************************
* EVENTS
case QEVENT(QEV_MOTION_STATUS):
emit motionStatusReceivedSignal();
break;
+ case QEVENT(QEV_SICK_SCAN):
+ sickScan->newScan(&orte.sick_scan);
+ break;
+ case QEVENT(QEV_SICK551_SCAN):
+ sick551Scan->newScan(&orte.sick551_scan);
+ break;
case QEVENT(QEV_HOKUYO_SCAN):
hokuyoScan->newScan(&orte.hokuyo_scan);
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,
- 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);
+ trailPosIndepOdo->addPoint(QPointF(orte.est_pos_indep_odo.x,
+ orte.est_pos_indep_odo.y));
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,
- orte.est_pos_odo.y));
+ 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);
+ sickScan->setPosition(orte.est_pos_best.x,
+ orte.est_pos_best.y,
+ orte.est_pos_best.phi);
+ sick551Scan->setPosition(orte.est_pos_best.x,
+ orte.est_pos_best.y,
+ orte.est_pos_best.phi);
break;
case QEVENT(QEV_POWER_VOLTAGE):
emit powerVoltageReceivedSignal();
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");
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,
- generic_rcv_cb, new OrteCallbackInfo(this, QEV_HOKUYO_SCAN));
- 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_est_pos_best_create(&orte,
+ generic_rcv_cb, new OrteCallbackInfo(this, QEV_ESTIMATED_POSITION_BEST));
+ robottype_subscriber_sick_scan_create(&orte,
+ generic_rcv_cb, new OrteCallbackInfo(this, QEV_SICK_SCAN));
+ robottype_subscriber_sick551_scan_create(&orte,
+ generic_rcv_cb, new OrteCallbackInfo(this, QEV_SICK551_SCAN));
+ robottype_subscriber_hokuyo_scan_create(&orte,
+ generic_rcv_cb, new OrteCallbackInfo(this, QEV_HOKUYO_SCAN));
+ 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);
/* motors */
orte.motion_speed.left = 0;
orte.motion_speed.right = 0;
/* power management */
- orte.pwr_ctrl.voltage33 = true;
- orte.pwr_ctrl.voltage50 = true;
- orte.pwr_ctrl.voltage80 = true;
+ orte.pwr_ctrl.voltage33 = true;
+ orte.pwr_ctrl.voltage50 = true;
+ orte.pwr_ctrl.voltage80 = true;
voltage33CheckBox->setChecked(true);
voltage50CheckBox->setChecked(true);
voltage80CheckBox->setChecked(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));
- robotRefPos->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) {
- QMessageBox::critical(this, "robomon",
- "Unable to open shared memory segment!");
- return;
+ statusBar->showMessage("No external map found - creating a new map.");
}
-
+
/* Init Shmap */
ShmapInit(0);
-
+
/* Attach the shared memory segment */
//map = (_Map*)shmat (segmentId, (void*) 0, 0);
sharedMemoryOpened = true;
}
-double RobomonAtlantis::distanceToWallHokuyo(int beamnum)
+double RobomonAtlantis::distanceToWallLidar(const struct lidar_params lidar, int beamnum)
{
- double distance=4.0, min_distance=4.0;
- int i,j;
+ double distance = 4.0, min_distance = 4.0;
+ int i, j;
Point wall;
struct map *map = ShmapIsMapInit();
- if (!map) return min_distance;
-
+ if (!map)
+ return min_distance;
+
// Simulate obstacles
- for(j=0;j<MAP_HEIGHT;j++) {
- for (i=0;i<MAP_WIDTH;i++) {
+ for(j = 0; j < MAP_HEIGHT; j++) {
+ for (i = 0; i < MAP_WIDTH; i++) {
struct map_cell *cell = &map->cells[j][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;
+
+ distance = distanceToObstacleLidar(lidar, 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
+double RobomonAtlantis::distanceToCircularObstacleLidar(const struct lidar_params lidar, int beamnum, Point center, double diameter)
+{
+ struct robot_pos_type e = orte.est_pos_best;
+ double sensor_a;
+ struct sharp_pos s;
+
+ s.x = lidar.center_offset_m;
+ s.y = 0.0;
+ s.ang = index2rad(lidar, 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;
+
+ const double sensorRange = 4.0; /*[meters]*/
+
+ double distance = sensorRange;
+ double angle;
+
+ angle = sensor.angleTo(center) - 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);
+
+ double k = tan(sensor_a);
+ double r = diameter / 2.0;
+
+ double A = 1 + k * k;
+ double B = 2 * (sensor.y * k - center.x - k * k * sensor.x - center.y * k);
+ double C = center.x * center.x + center.y * center.y +
+ k * k * sensor.x * sensor.x - 2*sensor.y*k*sensor.x +
+ sensor.y * sensor.y + 2 * k * sensor.x *center.y -
+ 2 * sensor.y * center.y - r * r;
+
+ double D = B * B - 4 * A * C;
+
+ if (D > 0) {
+ Point ob1, ob2;
+
+ ob1.x = (-B + sqrt(D)) / (2 * A);
+ ob2.x = (-B - sqrt(D)) / (2 * A);
+ ob1.y = k * (ob1.x - sensor.x) + sensor.y;
+ ob2.y = k * (ob2.x - sensor.x) + sensor.y;
+
+ double distance1 = sensor.distanceTo(ob1);
+ double distance2 = sensor.distanceTo(ob2);
+ distance = (distance1 < distance2) ? distance1 : distance2;
+ } else if (D == 0) {
+ Point ob;
+ ob.x = -B / (2 * A);
+ ob.y = k * (ob.x - sensor.x) + sensor.y;
+ distance = sensor.distanceTo(ob);
+ }
+ distance = distance + (drand48() - 0.5) * 3.0e-2;
+ if (D < 0 || angle > atan(r / distance))
+ distance = sensorRange;
+ if (distance > sensorRange)
+ distance = sensorRange;
+
+ return distance;
+}
+
+/**
+ * Calculation for Lidar simulation. Calculates distance that would
+ * be returned by Lidar sensors, if there is only one obstacle (as
* specified by parameters).
*
- * @param beamnum Hokuyo's bean number [0..HOKUYO_CLUSTER_CNT]
+ * @param beamnum Lidar's bean number [0..LIDAR_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;
+ */
+double RobomonAtlantis::distanceToObstacleLidar(const struct lidar_params lidar, int beamnum, Point obstacle, double obstacleSize)
+{
+ struct robot_pos_type e = orte.est_pos_best;
double sensor_a;
struct sharp_pos s;
- s.x = HOKUYO_CENTER_OFFSET_M;
+ s.x = lidar.center_offset_m;
s.y = 0.0;
- s.ang = HOKUYO_INDEX_TO_RAD(beamnum);
+ s.ang = index2rad(lidar, 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));
+ 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 = 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);
+ 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::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