+++ /dev/null
- GNU GENERAL PUBLIC LICENSE
- Version 2, June 1991
-
- Copyright (C) 1989, 1991 Free Software Foundation, Inc.
- 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
- Preamble
-
- The licenses for most software are designed to take away your
-freedom to share and change it. By contrast, the GNU General Public
-License is intended to guarantee your freedom to share and change free
-software--to make sure the software is free for all its users. This
-General Public License applies to most of the Free Software
-Foundation's software and to any other program whose authors commit to
-using it. (Some other Free Software Foundation software is covered by
-the GNU Library General Public License instead.) You can apply it to
-your programs, too.
-
- When we speak of free software, we are referring to freedom, not
-price. Our General Public Licenses are designed to make sure that you
-have the freedom to distribute copies of free software (and charge for
-this service if you wish), that you receive source code or can get it
-if you want it, that you can change the software or use pieces of it
-in new free programs; and that you know you can do these things.
-
- To protect your rights, we need to make restrictions that forbid
-anyone to deny you these rights or to ask you to surrender the rights.
-These restrictions translate to certain responsibilities for you if you
-distribute copies of the software, or if you modify it.
-
- For example, if you distribute copies of such a program, whether
-gratis or for a fee, you must give the recipients all the rights that
-you have. You must make sure that they, too, receive or can get the
-source code. And you must show them these terms so they know their
-rights.
-
- We protect your rights with two steps: (1) copyright the software, and
-(2) offer you this license which gives you legal permission to copy,
-distribute and/or modify the software.
-
- Also, for each author's protection and ours, we want to make certain
-that everyone understands that there is no warranty for this free
-software. If the software is modified by someone else and passed on, we
-want its recipients to know that what they have is not the original, so
-that any problems introduced by others will not reflect on the original
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-
- Finally, any free program is threatened constantly by software
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-program proprietary. To prevent this, we have made it clear that any
-patent must be licensed for everyone's free use or not licensed at all.
-
- The precise terms and conditions for copying, distribution and
-modification follow.
-\f
- GNU GENERAL PUBLIC LICENSE
- TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
-
- 0. This License applies to any program or other work which contains
-a notice placed by the copyright holder saying it may be distributed
-under the terms of this General Public License. The "Program", below,
-refers to any such program or work, and a "work based on the Program"
-means either the Program or any derivative work under copyright law:
-that is to say, a work containing the Program or a portion of it,
-either verbatim or with modifications and/or translated into another
-language. (Hereinafter, translation is included without limitation in
-the term "modification".) Each licensee is addressed as "you".
-
-Activities other than copying, distribution and modification are not
-covered by this License; they are outside its scope. The act of
-running the Program is not restricted, and the output from the Program
-is covered only if its contents constitute a work based on the
-Program (independent of having been made by running the Program).
-Whether that is true depends on what the Program does.
-
- 1. You may copy and distribute verbatim copies of the Program's
-source code as you receive it, in any medium, provided that you
-conspicuously and appropriately publish on each copy an appropriate
-copyright notice and disclaimer of warranty; keep intact all the
-notices that refer to this License and to the absence of any warranty;
-and give any other recipients of the Program a copy of this License
-along with the Program.
-
-You may charge a fee for the physical act of transferring a copy, and
-you may at your option offer warranty protection in exchange for a fee.
-
- 2. You may modify your copy or copies of the Program or any portion
-of it, thus forming a work based on the Program, and copy and
-distribute such modifications or work under the terms of Section 1
-above, provided that you also meet all of these conditions:
-
- a) You must cause the modified files to carry prominent notices
- stating that you changed the files and the date of any change.
-
- b) You must cause any work that you distribute or publish, that in
- whole or in part contains or is derived from the Program or any
- part thereof, to be licensed as a whole at no charge to all third
- parties under the terms of this License.
-
- c) If the modified program normally reads commands interactively
- when run, you must cause it, when started running for such
- interactive use in the most ordinary way, to print or display an
- announcement including an appropriate copyright notice and a
- notice that there is no warranty (or else, saying that you provide
- a warranty) and that users may redistribute the program under
- these conditions, and telling the user how to view a copy of this
- License. (Exception: if the Program itself is interactive but
- does not normally print such an announcement, your work based on
- the Program is not required to print an announcement.)
-\f
-These requirements apply to the modified work as a whole. If
-identifiable sections of that work are not derived from the Program,
-and can be reasonably considered independent and separate works in
-themselves, then this License, and its terms, do not apply to those
-sections when you distribute them as separate works. But when you
-distribute the same sections as part of a whole which is a work based
-on the Program, the distribution of the whole must be on the terms of
-this License, whose permissions for other licensees extend to the
-entire whole, and thus to each and every part regardless of who wrote it.
-
-Thus, it is not the intent of this section to claim rights or contest
-your rights to work written entirely by you; rather, the intent is to
-exercise the right to control the distribution of derivative or
-collective works based on the Program.
-
-In addition, mere aggregation of another work not based on the Program
-with the Program (or with a work based on the Program) on a volume of
-a storage or distribution medium does not bring the other work under
-the scope of this License.
-
- 3. You may copy and distribute the Program (or a work based on it,
-under Section 2) in object code or executable form under the terms of
-Sections 1 and 2 above provided that you also do one of the following:
-
- a) Accompany it with the complete corresponding machine-readable
- source code, which must be distributed under the terms of Sections
- 1 and 2 above on a medium customarily used for software interchange; or,
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- b) Accompany it with a written offer, valid for at least three
- years, to give any third party, for a charge no more than your
- cost of physically performing source distribution, a complete
- machine-readable copy of the corresponding source code, to be
- distributed under the terms of Sections 1 and 2 above on a medium
- customarily used for software interchange; or,
-
- c) Accompany it with the information you received as to the offer
- to distribute corresponding source code. (This alternative is
- allowed only for noncommercial distribution and only if you
- received the program in object code or executable form with such
- an offer, in accord with Subsection b above.)
-
-The source code for a work means the preferred form of the work for
-making modifications to it. For an executable work, complete source
-code means all the source code for all modules it contains, plus any
-associated interface definition files, plus the scripts used to
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-
-If distribution of executable or object code is made by offering
-access to copy from a designated place, then offering equivalent
-access to copy the source code from the same place counts as
-distribution of the source code, even though third parties are not
-compelled to copy the source along with the object code.
-\f
- 4. You may not copy, modify, sublicense, or distribute the Program
-except as expressly provided under this License. Any attempt
-otherwise to copy, modify, sublicense or distribute the Program is
-void, and will automatically terminate your rights under this License.
-However, parties who have received copies, or rights, from you under
-this License will not have their licenses terminated so long as such
-parties remain in full compliance.
-
- 5. You are not required to accept this License, since you have not
-signed it. However, nothing else grants you permission to modify or
-distribute the Program or its derivative works. These actions are
-prohibited by law if you do not accept this License. Therefore, by
-modifying or distributing the Program (or any work based on the
-Program), you indicate your acceptance of this License to do so, and
-all its terms and conditions for copying, distributing or modifying
-the Program or works based on it.
-
- 6. Each time you redistribute the Program (or any work based on the
-Program), the recipient automatically receives a license from the
-original licensor to copy, distribute or modify the Program subject to
-these terms and conditions. You may not impose any further
-restrictions on the recipients' exercise of the rights granted herein.
-You are not responsible for enforcing compliance by third parties to
-this License.
-
- 7. If, as a consequence of a court judgment or allegation of patent
-infringement or for any other reason (not limited to patent issues),
-conditions are imposed on you (whether by court order, agreement or
-otherwise) that contradict the conditions of this License, they do not
-excuse you from the conditions of this License. If you cannot
-distribute so as to satisfy simultaneously your obligations under this
-License and any other pertinent obligations, then as a consequence you
-may not distribute the Program at all. For example, if a patent
-license would not permit royalty-free redistribution of the Program by
-all those who receive copies directly or indirectly through you, then
-the only way you could satisfy both it and this License would be to
-refrain entirely from distribution of the Program.
-
-If any portion of this section is held invalid or unenforceable under
-any particular circumstance, the balance of the section is intended to
-apply and the section as a whole is intended to apply in other
-circumstances.
-
-It is not the purpose of this section to induce you to infringe any
-patents or other property right claims or to contest validity of any
-such claims; this section has the sole purpose of protecting the
-integrity of the free software distribution system, which is
-implemented by public license practices. Many people have made
-generous contributions to the wide range of software distributed
-through that system in reliance on consistent application of that
-system; it is up to the author/donor to decide if he or she is willing
-to distribute software through any other system and a licensee cannot
-impose that choice.
-
-This section is intended to make thoroughly clear what is believed to
-be a consequence of the rest of this License.
-\f
- 8. If the distribution and/or use of the Program is restricted in
-certain countries either by patents or by copyrighted interfaces, the
-original copyright holder who places the Program under this License
-may add an explicit geographical distribution limitation excluding
-those countries, so that distribution is permitted only in or among
-countries not thus excluded. In such case, this License incorporates
-the limitation as if written in the body of this License.
-
- 9. The Free Software Foundation may publish revised and/or new versions
-of the General Public License from time to time. Such new versions will
-be similar in spirit to the present version, but may differ in detail to
-address new problems or concerns.
-
-Each version is given a distinguishing version number. If the Program
-specifies a version number of this License which applies to it and "any
-later version", you have the option of following the terms and conditions
-either of that version or of any later version published by the Free
-Software Foundation. If the Program does not specify a version number of
-this License, you may choose any version ever published by the Free Software
-Foundation.
-
- 10. If you wish to incorporate parts of the Program into other free
-programs whose distribution conditions are different, write to the author
-to ask for permission. For software which is copyrighted by the Free
-Software Foundation, write to the Free Software Foundation; we sometimes
-make exceptions for this. Our decision will be guided by the two goals
-of preserving the free status of all derivatives of our free software and
-of promoting the sharing and reuse of software generally.
-
- NO WARRANTY
-
- 11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
-FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
-OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
-PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
-OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
-MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
-TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
-PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
-REPAIR OR CORRECTION.
-
- 12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
-WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
-REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
-INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
-OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
-TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
-YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
-PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
-POSSIBILITY OF SUCH DAMAGES.
-
- END OF TERMS AND CONDITIONS
-\f
- How to Apply These Terms to Your New Programs
-
- If you develop a new program, and you want it to be of the greatest
-possible use to the public, the best way to achieve this is to make it
-free software which everyone can redistribute and change under these terms.
-
- To do so, attach the following notices to the program. It is safest
-to attach them to the start of each source file to most effectively
-convey the exclusion of warranty; and each file should have at least
-the "copyright" line and a pointer to where the full notice is found.
-
- <one line to give the program's name and a brief idea of what it does.>
- Copyright (C) <year> <name of author>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-
-
-Also add information on how to contact you by electronic and paper mail.
-
-If the program is interactive, make it output a short notice like this
-when it starts in an interactive mode:
-
- Gnomovision version 69, Copyright (C) year name of author
- Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
- This is free software, and you are welcome to redistribute it
- under certain conditions; type `show c' for details.
-
-The hypothetical commands `show w' and `show c' should show the appropriate
-parts of the General Public License. Of course, the commands you use may
-be called something other than `show w' and `show c'; they could even be
-mouse-clicks or menu items--whatever suits your program.
-
-You should also get your employer (if you work as a programmer) or your
-school, if any, to sign a "copyright disclaimer" for the program, if
-necessary. Here is a sample; alter the names:
-
- Yoyodyne, Inc., hereby disclaims all copyright interest in the program
- `Gnomovision' (which makes passes at compilers) written by James Hacker.
-
- <signature of Ty Coon>, 1 April 1989
- Ty Coon, President of Vice
-
-This General Public License does not permit incorporating your program into
-proprietary programs. If your program is a subroutine library, you may
-consider it more useful to permit linking proprietary applications with the
-library. If this is what you want to do, use the GNU Library General
-Public License instead of this License.
+++ /dev/null
-# Doxyfile 1.5.1-KDevelop
-
-#---------------------------------------------------------------------------
-# Project related configuration options
-#---------------------------------------------------------------------------
-PROJECT_NAME = robomon
-PROJECT_NUMBER = 0.1
-OUTPUT_DIRECTORY =
-CREATE_SUBDIRS = NO
-OUTPUT_LANGUAGE = English
-USE_WINDOWS_ENCODING = NO
-BRIEF_MEMBER_DESC = YES
-REPEAT_BRIEF = YES
-ABBREVIATE_BRIEF = "The $name class" \
- "The $name widget" \
- "The $name file" \
- is \
- provides \
- specifies \
- contains \
- represents \
- a \
- an \
- the
-ALWAYS_DETAILED_SEC = NO
-INLINE_INHERITED_MEMB = NO
-FULL_PATH_NAMES = YES
-STRIP_FROM_PATH = /home/martin/.local/share/Trash/files/robomon_1/
-STRIP_FROM_INC_PATH =
-SHORT_NAMES = NO
-JAVADOC_AUTOBRIEF = NO
-MULTILINE_CPP_IS_BRIEF = NO
-DETAILS_AT_TOP = NO
-INHERIT_DOCS = YES
-SEPARATE_MEMBER_PAGES = NO
-TAB_SIZE = 8
-ALIASES =
-OPTIMIZE_OUTPUT_FOR_C = NO
-OPTIMIZE_OUTPUT_JAVA = NO
-BUILTIN_STL_SUPPORT = NO
-DISTRIBUTE_GROUP_DOC = NO
-SUBGROUPING = YES
-#---------------------------------------------------------------------------
-# Build related configuration options
-#---------------------------------------------------------------------------
-EXTRACT_ALL = NO
-EXTRACT_PRIVATE = NO
-EXTRACT_STATIC = NO
-EXTRACT_LOCAL_CLASSES = YES
-EXTRACT_LOCAL_METHODS = NO
-HIDE_UNDOC_MEMBERS = NO
-HIDE_UNDOC_CLASSES = NO
-HIDE_FRIEND_COMPOUNDS = NO
-HIDE_IN_BODY_DOCS = NO
-INTERNAL_DOCS = NO
-CASE_SENSE_NAMES = YES
-HIDE_SCOPE_NAMES = NO
-SHOW_INCLUDE_FILES = YES
-INLINE_INFO = YES
-SORT_MEMBER_DOCS = YES
-SORT_BRIEF_DOCS = NO
-SORT_BY_SCOPE_NAME = NO
-GENERATE_TODOLIST = YES
-GENERATE_TESTLIST = YES
-GENERATE_BUGLIST = YES
-GENERATE_DEPRECATEDLIST= YES
-ENABLED_SECTIONS =
-MAX_INITIALIZER_LINES = 30
-SHOW_USED_FILES = YES
-SHOW_DIRECTORIES = NO
-FILE_VERSION_FILTER =
-#---------------------------------------------------------------------------
-# configuration options related to warning and progress messages
-#---------------------------------------------------------------------------
-QUIET = NO
-WARNINGS = YES
-WARN_IF_UNDOCUMENTED = YES
-WARN_IF_DOC_ERROR = YES
-WARN_NO_PARAMDOC = NO
-WARN_FORMAT = "$file:$line: $text"
-WARN_LOGFILE =
-#---------------------------------------------------------------------------
-# configuration options related to the input files
-#---------------------------------------------------------------------------
-INPUT = /home/martin/svn-eurobot/soft/app/robomon/src
-FILE_PATTERNS = *.c \
- *.cc \
- *.cxx \
- *.cpp \
- *.c++ \
- *.d \
- *.java \
- *.ii \
- *.ixx \
- *.ipp \
- *.i++ \
- *.inl \
- *.h \
- *.hh \
- *.hxx \
- *.hpp \
- *.h++ \
- *.idl \
- *.odl \
- *.cs \
- *.php \
- *.php3 \
- *.inc \
- *.m \
- *.mm \
- *.dox \
- *.py \
- *.C \
- *.CC \
- *.C++ \
- *.II \
- *.I++ \
- *.H \
- *.HH \
- *.H++ \
- *.CS \
- *.PHP \
- *.PHP3 \
- *.M \
- *.MM \
- *.PY \
- *.C \
- *.H \
- *.tlh \
- *.diff \
- *.patch \
- *.moc \
- *.xpm \
- *.dox
-RECURSIVE = YES
-EXCLUDE =
-EXCLUDE_SYMLINKS = NO
-EXCLUDE_PATTERNS =
-EXAMPLE_PATH =
-EXAMPLE_PATTERNS = *
-EXAMPLE_RECURSIVE = NO
-IMAGE_PATH =
-INPUT_FILTER =
-FILTER_PATTERNS =
-FILTER_SOURCE_FILES = NO
-#---------------------------------------------------------------------------
-# configuration options related to source browsing
-#---------------------------------------------------------------------------
-SOURCE_BROWSER = NO
-INLINE_SOURCES = NO
-STRIP_CODE_COMMENTS = YES
-REFERENCED_BY_RELATION = YES
-REFERENCES_RELATION = YES
-REFERENCES_LINK_SOURCE = YES
-USE_HTAGS = NO
-VERBATIM_HEADERS = YES
-#---------------------------------------------------------------------------
-# configuration options related to the alphabetical class index
-#---------------------------------------------------------------------------
-ALPHABETICAL_INDEX = NO
-COLS_IN_ALPHA_INDEX = 5
-IGNORE_PREFIX =
-#---------------------------------------------------------------------------
-# configuration options related to the HTML output
-#---------------------------------------------------------------------------
-GENERATE_HTML = YES
-HTML_OUTPUT = html
-HTML_FILE_EXTENSION = .html
-HTML_HEADER =
-HTML_FOOTER =
-HTML_STYLESHEET =
-HTML_ALIGN_MEMBERS = YES
-GENERATE_HTMLHELP = NO
-CHM_FILE =
-HHC_LOCATION =
-GENERATE_CHI = NO
-BINARY_TOC = NO
-TOC_EXPAND = NO
-DISABLE_INDEX = NO
-ENUM_VALUES_PER_LINE = 4
-GENERATE_TREEVIEW = NO
-TREEVIEW_WIDTH = 250
-#---------------------------------------------------------------------------
-# configuration options related to the LaTeX output
-#---------------------------------------------------------------------------
-GENERATE_LATEX = NO
-LATEX_OUTPUT = latex
-LATEX_CMD_NAME = latex
-MAKEINDEX_CMD_NAME = makeindex
-COMPACT_LATEX = NO
-PAPER_TYPE = a4wide
-EXTRA_PACKAGES =
-LATEX_HEADER =
-PDF_HYPERLINKS = NO
-USE_PDFLATEX = NO
-LATEX_BATCHMODE = NO
-LATEX_HIDE_INDICES = NO
-#---------------------------------------------------------------------------
-# configuration options related to the RTF output
-#---------------------------------------------------------------------------
-GENERATE_RTF = NO
-RTF_OUTPUT = rtf
-COMPACT_RTF = NO
-RTF_HYPERLINKS = NO
-RTF_STYLESHEET_FILE =
-RTF_EXTENSIONS_FILE =
-#---------------------------------------------------------------------------
-# configuration options related to the man page output
-#---------------------------------------------------------------------------
-GENERATE_MAN = NO
-MAN_OUTPUT = man
-MAN_EXTENSION = .3
-MAN_LINKS = NO
-#---------------------------------------------------------------------------
-# configuration options related to the XML output
-#---------------------------------------------------------------------------
-GENERATE_XML = NO
-XML_OUTPUT = xml
-XML_SCHEMA =
-XML_DTD =
-XML_PROGRAMLISTING = YES
-#---------------------------------------------------------------------------
-# configuration options for the AutoGen Definitions output
-#---------------------------------------------------------------------------
-GENERATE_AUTOGEN_DEF = NO
-#---------------------------------------------------------------------------
-# configuration options related to the Perl module output
-#---------------------------------------------------------------------------
-GENERATE_PERLMOD = NO
-PERLMOD_LATEX = NO
-PERLMOD_PRETTY = YES
-PERLMOD_MAKEVAR_PREFIX =
-#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor
-#---------------------------------------------------------------------------
-ENABLE_PREPROCESSING = YES
-MACRO_EXPANSION = NO
-EXPAND_ONLY_PREDEF = NO
-SEARCH_INCLUDES = YES
-INCLUDE_PATH =
-INCLUDE_FILE_PATTERNS =
-PREDEFINED =
-EXPAND_AS_DEFINED =
-SKIP_FUNCTION_MACROS = YES
-#---------------------------------------------------------------------------
-# Configuration::additions related to external references
-#---------------------------------------------------------------------------
-TAGFILES =
-GENERATE_TAGFILE = robomon.tag
-ALLEXTERNALS = NO
-EXTERNAL_GROUPS = YES
-PERL_PATH = /usr/bin/perl
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool
-#---------------------------------------------------------------------------
-CLASS_DIAGRAMS = YES
-HIDE_UNDOC_RELATIONS = YES
-HAVE_DOT = NO
-CLASS_GRAPH = YES
-COLLABORATION_GRAPH = YES
-GROUP_GRAPHS = YES
-UML_LOOK = NO
-TEMPLATE_RELATIONS = NO
-INCLUDE_GRAPH = YES
-INCLUDED_BY_GRAPH = YES
-CALL_GRAPH = NO
-CALLER_GRAPH = NO
-GRAPHICAL_HIERARCHY = YES
-DIRECTORY_GRAPH = YES
-DOT_IMAGE_FORMAT = png
-DOT_PATH =
-DOTFILE_DIRS =
-MAX_DOT_GRAPH_WIDTH = 1024
-MAX_DOT_GRAPH_HEIGHT = 1024
-MAX_DOT_GRAPH_DEPTH = 1000
-DOT_TRANSPARENT = NO
-DOT_MULTI_TARGETS = NO
-GENERATE_LEGEND = YES
-DOT_CLEANUP = YES
-#---------------------------------------------------------------------------
-# Configuration::additions related to the search engine
-#---------------------------------------------------------------------------
-SEARCHENGINE = NO
+++ /dev/null
-<?xml version = '1.0'?>
-<kdevelop>
- <general>
- <author>Martin Zidek,,,</author>
- <email>martin@martin-laptop</email>
- <version>0.1</version>
- <projectmanagement>KDevTrollProject</projectmanagement>
- <primarylanguage>C++</primarylanguage>
- <keywords>
- <keyword>Qt</keyword>
- </keywords>
- <ignoreparts/>
- <projectname>robomon</projectname>
- <projectdirectory>.</projectdirectory>
- <absoluteprojectpath>false</absoluteprojectpath>
- <description/>
- <defaultencoding/>
- <versioncontrol/>
- </general>
- <kdevfileview>
- <groups>
- <group pattern="*.cpp;*.cxx;*.h" name="Sources" />
- <group pattern="*.ui" name="User Interface" />
- <group pattern="*.png" name="Icons" />
- <group pattern="*" name="Others" />
- <hidenonprojectfiles>false</hidenonprojectfiles>
- <hidenonlocation>false</hidenonlocation>
- </groups>
- <tree>
- <hidenonprojectfiles>false</hidenonprojectfiles>
- <hidepatterns>*.o,*.lo,CVS</hidepatterns>
- </tree>
- </kdevfileview>
- <kdevcppsupport>
- <qt>
- <used>true</used>
- <version>4</version>
- <includestyle>4</includestyle>
- <designerintegration>ExternalDesigner</designerintegration>
- <qmake>/usr/bin/qmake-qt4</qmake>
- <designer>/usr/bin/designer-qt4</designer>
- <root>/usr/lib/qt4</root>
- <designerpluginpaths/>
- </qt>
- <references/>
- <codecompletion>
- <automaticCodeCompletion>false</automaticCodeCompletion>
- <automaticArgumentsHint>true</automaticArgumentsHint>
- <automaticHeaderCompletion>true</automaticHeaderCompletion>
- <codeCompletionDelay>250</codeCompletionDelay>
- <argumentsHintDelay>400</argumentsHintDelay>
- <headerCompletionDelay>250</headerCompletionDelay>
- <showOnlyAccessibleItems>false</showOnlyAccessibleItems>
- <completionBoxItemOrder>0</completionBoxItemOrder>
- <howEvaluationContextMenu>true</howEvaluationContextMenu>
- <showCommentWithArgumentHint>true</showCommentWithArgumentHint>
- <statusBarTypeEvaluation>false</statusBarTypeEvaluation>
- <namespaceAliases>std=_GLIBCXX_STD;__gnu_cxx=std</namespaceAliases>
- <processPrimaryTypes>true</processPrimaryTypes>
- <processFunctionArguments>false</processFunctionArguments>
- <preProcessAllHeaders>false</preProcessAllHeaders>
- <parseMissingHeaders>false</parseMissingHeaders>
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-SUBDIRS += src2
-TEMPLATE = subdirs
+QT += opengl
+SOURCES += main.cpp \
+ MainWindow.cpp \
+ RobomonAtlantis.cpp \
+ RobomonTuning.cpp \
+ SimMcl.cpp \
+ SimLaser.cpp \
+ PlaygroundScene.cpp \
+ Robot.cpp \
+ SmallRobot.cpp \
+ MclPainter.cpp \
+ AnglesHistogramPainter.cpp \
+ Widget.cpp \
+ GlWidget.cpp \
+ MiscGui.cpp \
+ robomon_orte.cpp
+
+TEMPLATE = app
CONFIG += warn_on \
+ thread \
qt \
- thread
+ debug
+
+TARGET = ../bin/robomon2
+
+INCLUDEPATH += ../../build/linux/_compiled/include
+LIBPATH += ../../build/linux/_compiled/lib
+RESOURCES = robomon.qrc
+
+HEADERS += MainWindow.h \
+ RobomonAtlantis.h \
+ RobomonTuning.h \
+ SimMcl.h \
+ SimLaser.h \
+ PlaygroundScene.h \
+ Robot.h \
+ SmallRobot.h \
+ Painter.h \
+ MclPainter.h \
+ AnglesHistogramPainter.h \
+ Widget.h \
+ GlWidget.h \
+ MiscGui.h \
+ robomon_orte.h
+
+LIBS += -lm -lpthread -lmcl -llaser-nav -lrobodim -lrobomath -lroboorte -lrobottype -lorte -lsharp -lmap
+
+OBJECTS_DIR = ../../build/linux/_build/user/robomon2/
+MOC_DIR = ../../build/linux/_build/user/robomon2/
+UI_DIR = ../../build/linux/_build/user/robomon2/
+DESTDIR = ../../build/linux/_compiled/bin
+++ /dev/null
-READ THIS IN ORDER TO COMPILE THE Qt4 TEMPLATE
-----------------------------------------------
-
-Before compiling, check the Qt Options, go to
-Project->Project Options->C++ Support and open the Qt Options tab.
-
-Check that the Qt installation directory is correct for the Qt version you've chosen.
-
-------------------
-Andreas Pakulat
-July 2006
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-"=X c #82B1DB",
-"-X c #81B7EC",
-";X c #88BBED",
-":X c #86BAED",
-">X c #AEBBC8",
-",X c #A6BDCD",
-"<X c #BBBCC3",
-"1X c #81C1F6",
-"2X c #83C2FA",
-"3X c #89C4FA",
-"4X c #8CC8FC",
-"5X c #95C2EF",
-"6X c #93CBFD",
-"7X c #9BCFFF",
-"8X c #97D0FC",
-"9X c #9CD3FE",
-"0X c #BEC0C1",
-"qX c #A3C7E7",
-"wX c #A2CAF1",
-"eX c #A1D4FF",
-"rX c #A3D8FF",
-"tX c #AADBFF",
-"yX c #B0D1F2",
-"uX c #BDD9F4",
-"iX c #AAE0FF",
-"pX c #B3E1FF",
-"aX c #B9E6FF",
-"sX c #BEE9FF",
-"dX c #C4C4C4",
-"fX c #C6C5CD",
-"gX c #C6C8CB",
-"hX c #CAC7C4",
-"jX c #CAC8C6",
-"kX c #CBCCCB",
-"lX c #D1D0CE",
-"zX c #D3D3D3",
-"xX c #D4D7D9",
-"cX c #D8D8D7",
-"vX c #DBDBDB",
-"bX c #C4ECFF",
-"nX c #C9E0F6",
-"mX c #C4F5FF",
-"MX c #CCF2FF",
-"NX c #D5E6F7",
-"BX c #DDEBF9",
-"VX c #DCFDFF",
-"CX c #D3F1F5",
-"ZX c #E1E0DE",
-"AX c #E4E3E3",
-"SX c #E4E7EA",
-"DX c #E7E8E9",
-"FX c #E8E6E4",
-"GX c #EDE9E5",
-"HX c #EBEBEB",
-"JX c #E7EEF5",
-"KX c #EAF2FA",
-"LX c #F1EEEA",
-"PX c #F3F3F3",
-"IX c #F4F8FC",
-"UX c #FDFDFC",
-"YX c None",
-/* pixels */
-"YXYXYXYXYXYXYXYXYXYXYXYXYXYXYXYXYXy y e 6 6 2 < < , , 1 YXYX",
-"YXYXYX2 < , , q w 2 e r r r w e w r e 2 6 1 6 s :.f.L.y YXYX",
-"YXYXYXx d.s.:.a # $ $ % - 5 3 8 u h k B S J ).,XF.b.7.r YXYX",
-"YXYXYX&.mX~.8.V #X#X%XdXfXzXxXvXZXZXDXFXFXDXLXDX>.U i 9 YXYX",
-"YXYXYXo.2X] L C UXDXcXzXkXkXkXjXjXdXdX%X%X&X%X*XN.' ~ 6 YXYX",
-"YXYXYXo.1X] P k hXoXXXXXoXoX#X#X*X%X&X%X%XdXkXxXx.[ ~ 6 YXYX",
-"YXYXYXO.3X[ I m FXkXjXjXkXkXkXkXkXkXzXzXzXcXZXSXx.{ ! 6 YXYX",
-"YXYXYXo.3X{ I S UXvXxXzXkXkXkXkXkXjXdX*X%X#X&X%XZ.1.^ 9 YXYX",
-"YXYXYXO.4X>.U j jX#X#X#X%XdXdXkXzXkXzXzXcXvXDXJXA.1.| 6 YXYX",
-"YXYXYXO.6X>.T V PXZXZXZXAXSXDXDXFXHXDXHXHXHXHXSXI.2.| 9 YXYX",
-"YXYXYXO.6X2.T G UXLXDXDXAXZXZXAXZXvXcXzXkXkXkXgXY.3. .6 YXYX",
-"YXYXYXO.9X4.R m zXdXdXkXzXvXAXDXHXLXPXPXIXUXUXUXQ.6. .9 YXYX",
-"YXYXYXO.9X5.R H UXIXUXUXUXUXUXUXUXUXUXUXIXKXJXBX-XC.#.9 YXYX",
-"YXYXYXO.eXM./ h.UXUXIXKXBXNXnXuXyXwX5X:X!.Y.Y.Y.D.H.9.6 YXYX",
-"YXYXYX+.rXB.<.x.Q.;X-XQ.Y.U.U.D.Z.Z.B.B.C.V.V.B.B.T.0.9 YXYX",
-"YXYXYX+.tXB.N.B.B.B.B.C.V.V.H.H.H.D.N.z.8._ ( <.D.R.0.9 YXYX",
-"YXYXYX+.tXS.Z.F.D.m.z.l.` ) Q W p s } @.r.[. X>XG.E.0.9 YXYX",
-"YXYXYX+.pXU.m.) p d ..*.u.|.+X<XzXZXGXLXGXZXzXjX/.~.p.r YXYX",
-"YXYXYX%.aXT.k.*.GXlX&X.X`..XhXlXzXvXvXvXvXxXkXgX2X^.a.w YXYX",
-"YXYXYX%.aXE.k.r.LXoXl f l F *XlXzXvXvXvXvXcXzXgX4X:Xa.w YXYX",
-"YXYXYX%.bX~.c.y.LX'.f D K D 0XkXzXvXvXvXvXvXzXfX6X4Xg.9 YXYX",
-"YXYXYX%.bX^.c.y.LX'.l D K D 0XlXzXcXvXvXvXxXkXkX9X6Xw.r YXYX",
-"YXYXYX%.bX2Xv.u.LX'.l K K K 0XlXzXcXvXvXvXvXkXfX9XP.M = YXYX",
-"YXYXYX%.bX2XK.u.LX'.l K K D 0XlXxXcXvXZXvXxXzXkXqXZ : . YXYX",
-"YXYXYX%.MX6XK.u.LX'.f F D D 0XkXzXcXvXvXvXvXcXkX_.: o YXYX",
-"YXYXYX%.MX6XK.u.LXXX(.XX&XdXkXzXvXZXDXAXzX<X+X}.N O YXYX",
-"YXYXYX%.VXiX=X{.FXzXkXkXjXdX<X$XOX].;.$.z 0 7 & X YXYXYX",
-"YXYXYX=.CXq.A ).fX+X|.).-.N z 0 * + o YXYXYXYX",
-"YXYXYXn $.t 6 , 4 0 * + . YXYXYXYXYXYX",
-"YXYXYX> @ o YXYXYXYXYXYXYXYXYXYXYXYX",
-"YXYXYX YXYXYXYXYXYXYXYXYXYXYXYXYXYXYXYXYXYX",
-"YXYXYX YXYXYXYXYXYXYXYXYXYXYXYXYXYXYXYXYXYXYXYXYXYXYXYX"
-};
+++ /dev/null
-
-
-
-#include <QApplication>
-#include "robomon.h"
-
-int main(int argc, char *argv[])
-{
- Q_INIT_RESOURCE(application);
- QApplication app(argc, argv);
- robomon * mw = new robomon();
-
- mw->show();
- return app.exec();
-}
-
+++ /dev/null
-#include "mapthread.h"
-#include "robomon.h"
-
-robomon *window;
-
-MapThread::MapThread()
-{
-
-}
-
-void MapThread::setWindow(void *ptr)
-{
- window = (robomon*)ptr;
-}
-
-void MapThread::run()
-{
- forever {
- QEvent* event = new QEvent(EVENT_MAP);
- QCoreApplication::postEvent(window, event);
- sleep(1);
- exec();
- }
-
-}
+++ /dev/null
-//
-// C++ Interface: mapthread
-//
-// Description:
-//
-//
-// Author: Martin Zidek,,, <martin@martin-laptop>, (C) 2007
-//
-// Copyright: See COPYING file that comes with this distribution
-//
-//
-#ifndef MAPTHREAD_H
-#define MAPTHREAD_H
-
-
-#include <QThread>
-#include "ui_robomon.h"
-
-#include "robomon.h"
-#include <map.h>
-
-class MapThread : public QThread
-{
- //Q_OBJECT
-
- public:
- MapThread();
- int shared_segment_size;
- int segment_id;
- //~MapThread();
- void run();
- void setWindow(void *ptr);
-};
-#endif
+++ /dev/null
-int signum(double x)
-{
- if(x>0) return 1;
- else if(x==0) return 0;
- else return -1;
-}
+++ /dev/null
-int signum(double x);
-double abs(double x);
-double min(double x, double y);
+++ /dev/null
-//
-// C++ Implementation: playgroundscene
-//
-// Description:
-//
-//
-// Author: Martin Zidek,,, <martin@martin-laptop>, (C) 2007
-//
-// Copyright: See COPYING file that comes with this distribution
-//
-//
-#include "playgroundscene.h"
-#include <QPointF>
-#include <QGraphicsSceneMouseEvent>
-#include <QGraphicsScene>
-#include <QGraphicsRectItem>
-#include "robomon.h"
-
-PlaygroundScene::PlaygroundScene(QObject *parent)
- : QGraphicsScene(parent)
-{
- QGraphicsRectItem *tempRect;
- setSceneRect(0,0,615,430);
-
- //Okraj hriste
- addLine(QLineF(TOP_LEFT,TOP_MIDDLE),QPen(QBrush(Qt::red),2,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin));
- addLine(QLineF(TOP_MIDDLE,TOP_RIGHT),QPen(QBrush(Qt::blue),2,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin));
- addLine(QLineF(TOP_LEFT,BOTTOM_LEFT),QPen(QBrush(Qt::red),2,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin));
- addLine(QLineF(BOTTOM_LEFT,BOTTOM_MIDDLE),QPen(QBrush(Qt::red),2,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin));
- addLine(QLineF(BOTTOM_MIDDLE,BOTTOM_RIGHT),QPen(QBrush(Qt::blue),2,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin));
- addLine(QLineF(BOTTOM_RIGHT,TOP_RIGHT),QPen(QBrush(Qt::blue),2,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin));
-
- //Kose vlevo dole
- addLine(QLineF(BIN_LEFT_BOTTLE_START,BIN_LEFT_BOTTLE_END),QPen(QBrush(Qt::red),10,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin));
- addLine(QLineF(BIN_LEFT_CAN_START,BIN_LEFT_CAN_END),QPen(QBrush(Qt::red),10,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin));
-
- //Kose vpravo dole
- addLine(QLineF(BIN_RIGHT_BOTTLE_START,BIN_RIGHT_BOTTLE_END),QPen(QBrush(Qt::blue),10,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin));
- addLine(QLineF(BIN_RIGHT_CAN_START,BIN_RIGHT_CAN_END),QPen(QBrush(Qt::blue),10,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin));
-
- //Plocha
- tempRect = addRect(QRectF(11,1,597,417),QPen(QBrush(Qt::lightGray),1,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin),QBrush(Qt::lightGray));
- tempRect->setZValue(1);
-
- //Modre startovni pole
- tempRect = addRect(QRectF(11,1,100,100),QPen(QBrush(Qt::blue),1,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin),QBrush(Qt::blue));
- tempRect->setZValue(3);
-
- //Cervene startovni pole
- tempRect = addRect(QRectF(508,1,100,100),QPen(QBrush(Qt::red),1,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin),QBrush(Qt::red));
- tempRect->setZValue(3);
-
- obstacle = new QGraphicsEllipseItem(0, 0, 10, 10);
- obstacle->setZValue(5);
- obstacle->setBrush(QBrush(Qt::blue));
- obstacle->setVisible(false);
- this->addItem(obstacle);
-}
-
-
-PlaygroundScene::~PlaygroundScene()
-{
-}
-
-void PlaygroundScene::mousePressEvent(QGraphicsSceneMouseEvent * mouseEvent)
-{
- QGraphicsScene::mousePressEvent(mouseEvent);
- QPointF pos = scene2world(mouseEvent->scenePos());
- obstacle->setPos(mouseEvent->scenePos().x()-5, mouseEvent->scenePos().y()-5);
- obstacleChanged(pos);
-}
-
-
-
-/*!
- \fn PlaygroundScene::scene2world(QPointF scenePos)
- */
-QPointF PlaygroundScene::scene2world(QPointF scenePos)
-{
- return QPointF((scenePos.x()-10)/200.0, (420-scenePos.y()+1)/200.0);
-}
-
-
-/*!
- \fn PlaygroundScene::world2scene(QPointF worldPos)
- */
-QPointF PlaygroundScene::world2scene(QPointF worldPos)
-{
- return QPointF(worldPos.x()*200+10, 1+420-worldPos.y());
-}
-
-
-/*!
- \fn PlaygroundScene::showObstacle(int val)
- */
-void PlaygroundScene::showObstacle(int val)
-{
- if (val)
- obstacle->setVisible(true);
- else
- obstacle->setVisible(false);
-
-}
+++ /dev/null
-#ifndef PLAYGROUNDSCENE_H
-#define PLAYGROUNDSCENE_H
-
-#include <QGraphicsScene>
-
-/**
- @author Michal Sojka
-*/
-class PlaygroundScene : public QGraphicsScene
-{
-Q_OBJECT
-public:
- PlaygroundScene(QObject *parent = 0);
-
- ~PlaygroundScene();
- virtual void mousePressEvent(QGraphicsSceneMouseEvent * mouseEvent);
- static QPointF scene2world(QPointF scenePos);
- static QPointF world2scene(QPointF worldPos);
-
-signals:
- void obstacleChanged(QPointF pos);
-private:
- QGraphicsEllipseItem *obstacle;
-public slots:
- void showObstacle(int val);
-};
-
-#endif
+++ /dev/null
-
-#include "posregcmu.h"
-#include <math.h>
-#include "mymath.h"
-
-PosRegCmu::PosRegCmu()
-{
-}
-
-
-PosRegCmu::~PosRegCmu()
-{
-}
-
-int* PosRegCmu::CMUnited(double v, double aktPos[], double nextPos[], double nextPos2[])
- {
- double thetaD, theta, alfa, d, fi, delta, t, r;
- const int c = 5;
- double x1, x2, y1, y2;
- int rychlosti[4];// = new int[4];
-
- x1 = nextPos[0] - aktPos[0];
- y1 = nextPos[1] - aktPos[1];
-
- x2 = nextPos2[0] - nextPos[0];
- y2 = nextPos2[1] - nextPos[1];
-
- fi = aktPos[2];
-
- d = sqrt(pow(nextPos[0] - aktPos[0], 2) + (pow(nextPos[1] - aktPos[1], 2)));
-
-
- alfa = acos((x1 * x2 + y1 * y2) / (sqrt(x1 * x1 + y1 * y1) * sqrt(x2 * x2 + y2 * y2)));
- if ((x1 > 0) && (y1 < 0)) alfa = 2 * M_PI - alfa;
-
-
-
- theta = acos(x1 / (sqrt(x1 * x1 + y1 * y1)));
- if ((x1 > 0) && (y1 < 0)) theta = 2 * M_PI - theta;
-
- if ((x1 < 0) && (y1 < 0)) theta = 2 * M_PI - theta;
-
- thetaD = theta + min(alfa, atan(c / d));
- delta = thetaD - fi;
- t = pow(cos(delta), 2) * signum(cos(delta));
- r = pow(sin(delta), 2) * signum(sin(delta));
-
-
-
-
-
- //konvertim na byte, potencialni zdroj pruseru
-
- double a = (1 * (t - r));
- double b = (1 * (t + r));
-
- if ((a > 0.5) & (b < -0.5)) v = 50;
- if ((a < 0.5) & (b > -0.5)) v = 50;
- a *= v;
- b *= v;
-
-
- rychlosti[0] = (int)abs(v * (t - r)); // leve kolo
- rychlosti[1] = (int)abs(v * (t + r)); // prave kolo
- if ((v * (t - r)) < 0) rychlosti[2] = 1;
- if ((v * (t + r)) < 0) rychlosti[3] = 1;
-
-
-// sw.WriteLine(aktPos[0].ToString() + ";" + aktPos[1].ToString() + ";" + aktPos[2].ToString() + ";" + a.ToString() + ";" + b.ToString());
-
-
- return rychlosti;
- }
+++ /dev/null
-
-#ifndef POSREGCMU_H
-#define POSREGCMU_H
-
-/**
- @author Martin Zidek
-*/
-class PosRegCmu{
-public:
- PosRegCmu();
-
- ~PosRegCmu();
- int* CMUnited(double v, double aktPos[], double nextPos[], double nextPos2[]);
-
-};
-
-#endif
+++ /dev/null
-#include <math.h>
-#include "robomon.h"
-#include "robomon_orte.h"
-#include "robot.h"
-#include <pthread.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <path_planner.h>
-#include <robodim_eb2007.h>
-
-#include <QCoreApplication>
-#include <QEvent>
-#include <QDebug>
-#include <QMessageBox>
-#include <sharp.h>
-#include <fstream>
-#include <iostream>
-#include <trgen.h>
-
-#define SHARP_MM 1
-
-bool robomon::event(QEvent *event)
-{
- char buffer[20];
- switch(event->type()) {
- case QEvent::GraphicsSceneMousePress:
- break;
- case EVENT_POS:
- sprintf(buffer,"%f",pozice.x);
- this->tbX->setText(buffer);
- sprintf(buffer,"%f",pozice.y);
- this->tbY->setText(buffer);
- sprintf(buffer,"%f",pozice.phi);
- this->tbPhi->setText(buffer);
- if(!isnan(pozice.x) || !isnan(pozice.y) || !isnan(pozice.phi))
- this->rob->moveRobot(pozice.x,pozice.y,pozice.phi);
- return TRUE;
- break;
- case EVENT_EST_POS:
- sprintf(buffer,"%f",est_pos.x);
- this->tbX2->setText(buffer);
- sprintf(buffer,"%f",est_pos.y);
- this->tbY2->setText(buffer);
- sprintf(buffer,"%f",est_pos.phi);
- this->tbPhi2->setText(buffer);
- if(!isnan(pozice.x) || !isnan(est_pos.y) || !isnan(est_pos.phi))
- this->est_rob->moveRobot(est_pos.x,est_pos.y,est_pos.phi);
- return TRUE;
- break;
- case EVENT_IR:
- this->setIR(stateIR);
- return TRUE;
- break;
- case EVENT_SHARP:
- this->setSharp();
- return TRUE;
- break;
- case EVENT_DI:
- this->setDI(stateDI);
- return TRUE;
- break;
- case EVENT_ACCU:
- this->updateAccu();
- return TRUE;
- break;
- default:
- return FALSE;
- }
- return FALSE;
-}
-
-void robomon::setDI(stateDigIn stateDI)
-{
- this->cbDI0->setChecked((stateDI.state & (1<<0)));
- this->cbDI1->setChecked((stateDI.state & (1<<1)));
- this->cbDI2->setChecked((stateDI.state & (1<<2)));
- this->cbDI3->setChecked((stateDI.state & (1<<3)));
- this->cbDI4->setChecked((stateDI.state & (1<<4)));
- this->cbDI5->setChecked((stateDI.state & (1<<5)));
- this->cbDI6->setChecked((stateDI.state & (1<<6)));
- this->cbDI7->setChecked((stateDI.state & (1<<7)));
-}
-
-void robomon::updateAccu()
-{
- static QGraphicsEllipseItem *waste[4];
- static accumulator_type prevState;
- static bool first=true;
-
- if(first) {
- int i;
- for(i=0; i<4; i++)
- waste[i] = this->sceneAccu->addEllipse(0,0,0,0,QPen(Qt::white),QBrush(Qt::white));
- first = false;
- }
-
- if(prevState.position1!=accu.position1)
- switch(accu.position1) {
- case BOTTLE:
- this->sceneAccu->removeItem(waste[0]);
- waste[0] = this->sceneAccu->addEllipse(41,41,80,80,QPen(Qt::green),QBrush(Qt::green));
- break;
- case CAN:
- this->sceneAccu->removeItem(waste[0]);
- waste[0] = this->sceneAccu->addEllipse(41,41,80,80,QPen(Qt::red),QBrush(Qt::red));
- break;
- case UNKNOWN:
- this->sceneAccu->removeItem(waste[0]);
- waste[0] = this->sceneAccu->addEllipse(41,41,80,80,QPen(Qt::gray),QBrush(Qt::gray));
- break;
- default:
- break;
- }
-
- if(prevState.position2!=accu.position2)
- switch(accu.position2) {
- case BOTTLE:
- this->sceneAccu->removeItem(waste[1]);
- waste[1] = this->sceneAccu->addEllipse(121,41,80,80,QPen(Qt::green),QBrush(Qt::green));
- break;
- case CAN:
- this->sceneAccu->removeItem(waste[1]);
- waste[1] = this->sceneAccu->addEllipse(121,41,80,80,QPen(Qt::red),QBrush(Qt::red));
- break;
- case UNKNOWN:
- this->sceneAccu->removeItem(waste[1]);
- waste[1] = this->sceneAccu->addEllipse(121,41,80,80,QPen(Qt::gray),QBrush(Qt::gray));
- default:
- break;
- }
-
- if(prevState.position3!=accu.position3)
- switch(accu.position3) {
- case BOTTLE:
- this->sceneAccu->removeItem(waste[2]);
- waste[2] = this->sceneAccu->addEllipse(201,41,80,80,QPen(Qt::green),QBrush(Qt::green));
- break;
- case CAN:
- this->sceneAccu->removeItem(waste[2]);
- waste[2] = this->sceneAccu->addEllipse(201,41,80,80,QPen(Qt::red),QBrush(Qt::red));
- break;
- case UNKNOWN:
- this->sceneAccu->removeItem(waste[2]);
- waste[2] = this->sceneAccu->addEllipse(201,41,80,80,QPen(Qt::gray),QBrush(Qt::gray));
- break;
- default:
- break;
- }
-
- if(prevState.position4!=accu.position4)
- switch(accu.position4) {
- case BOTTLE:
- this->sceneAccu->removeItem(waste[3]);
- waste[3] = this->sceneAccu->addEllipse(281,41,80,80,QPen(Qt::green),QBrush(Qt::green));
- break;
- case CAN:
- this->sceneAccu->removeItem(waste[3]);
- waste[3] = this->sceneAccu->addEllipse(281,41,80,80,QPen(Qt::red),QBrush(Qt::red));
- break;
- case UNKNOWN:
- this->sceneAccu->removeItem(waste[3]);
- waste[3] = this->sceneAccu->addEllipse(281,41,80,80,QPen(Qt::gray),QBrush(Qt::gray));
- default:
- break;
- }
-}
-
-void robomon::setIR(unsigned short int stateIR)
-{
- this->cbIR1->setChecked((sir.front & (1<<7)));
- this->cbIR2->setChecked((sir.front & (1<<6)));
- this->cbIR3->setChecked((sir.front & (1<<5)));
- this->cbIR4->setChecked((sir.front & (1<<4)));
- this->cbIR5->setChecked((sir.front & (1<<3)));
- this->cbIR6->setChecked((sir.front & (1<<2)));
- this->cbIR7->setChecked((sir.front & (1<<1)));
- this->cbIR8->setChecked((sir.front & (1<<0)));
- this->cbIR9->setChecked((sir.back & (1<<0)));
- this->cbIR10->setChecked((sir.back & (1<<1)));
- this->cbIR11->setChecked((sir.back & (1<<2)));
- this->cbIR12->setChecked((sir.back & (1<<3)));
- this->cbIR13->setChecked((sir.back & (1<<4)));
- this->cbIR14->setChecked((sir.back & (1<<5)));
- this->cbIR15->setChecked((sir.back & (1<<6)));
- this->cbIR16->setChecked((sir.back & (1<<7)));
-}
-
-robomon::robomon(QWidget* parent, Qt::WFlags fl)
-: QWidget( parent, fl ), Ui::Form()
-{
- setupUi(this);
-
- QObject::connect(this->btStopMotors, SIGNAL(clicked()), this, SLOT(stopMotors()));
-
- QObject::connect(this->dServo3, SIGNAL(valueChanged(int)), this, SLOT(moveServo(int)));
- QObject::connect(this->dServo4, SIGNAL(valueChanged(int)), this, SLOT(moveServo(int)));
-
- QObject::connect(this->cbFrontDoor, SIGNAL(stateChanged(int)), this, SLOT(frontDoor(int)));
- QObject::connect(this->cbInnerDoor, SIGNAL(stateChanged(int)), this, SLOT(innerDoor(int)));
- QObject::connect(this->cbBackDoor, SIGNAL(stateChanged(int)), this, SLOT(backDoor(int)));
- QObject::connect(this->cbLaunch, SIGNAL(stateChanged(int)), this, SLOT(launchFront(int)));
-
-
- QObject::connect(this->btDopravnikFront, SIGNAL(clicked()), this, SLOT(stopDopravnikFront()));
-
- QObject::connect(this->btDopravnikBack, SIGNAL(clicked()), this, SLOT(stopDopravnikBack()));
- QObject::connect(this->btMap, SIGNAL(clicked()), this, SLOT(showMap()));
-
- QObject::connect(this->cbDO0, SIGNAL(stateChanged(int)), this, SLOT(setDO(int)));
- QObject::connect(this->cbDO1, SIGNAL(stateChanged(int)), this, SLOT(setDO(int)));
- QObject::connect(this->cbDO2, SIGNAL(stateChanged(int)), this, SLOT(setDO(int)));
- QObject::connect(this->cbDO3, SIGNAL(stateChanged(int)), this, SLOT(setDO(int)));
- QObject::connect(this->cbDO4, SIGNAL(stateChanged(int)), this, SLOT(setDO(int)));
- QObject::connect(this->cbDO5, SIGNAL(stateChanged(int)), this, SLOT(setDO(int)));
- QObject::connect(this->cbDO6, SIGNAL(stateChanged(int)), this, SLOT(setDO(int)));
- QObject::connect(this->cbDO7, SIGNAL(stateChanged(int)), this, SLOT(setDO(int)));
-
- QObject::connect(this->slMotorLeft, SIGNAL(valueChanged(int)), this, SLOT(setMotor(int)));
- QObject::connect(this->slMotorRight, SIGNAL(valueChanged(int)), this, SLOT(setMotor(int)));
-
- QObject::connect(this->cbSimulation, SIGNAL(stateChanged(int)), this, SLOT(setSimul(int)));
-
- QObject::connect(this->slB1, SIGNAL(valueChanged(int)), this, SLOT(setSharpVal(int)));
- QObject::connect(this->slB2, SIGNAL(valueChanged(int)), this, SLOT(setSharpVal(int)));
- QObject::connect(this->slB3, SIGNAL(valueChanged(int)), this, SLOT(setSharpVal(int)));
-
- QObject::connect(this->slA1, SIGNAL(valueChanged(int)), this, SLOT(setSharpVal(int)));
- QObject::connect(this->slA2, SIGNAL(valueChanged(int)), this, SLOT(setSharpVal(int)));
- QObject::connect(this->slA3, SIGNAL(valueChanged(int)), this, SLOT(setSharpVal(int)));
- QObject::connect(this->slA4, SIGNAL(valueChanged(int)), this, SLOT(setSharpVal(int)));
-
-
- this->scene = new PlaygroundScene();
- this->sceneAccu = new QGraphicsScene();
- this->sceneAccu->setSceneRect(QRectF(0,0,311,50));
- this->gvPlayground->setScene(this->scene);
- this->gvAcc->setScene(this->sceneAccu);
-
-
- QObject::connect(this->cbObstackle, SIGNAL(stateChanged(int)), this, SLOT(setSimul(int)));
- QObject::connect(this->cbObstackle, SIGNAL(stateChanged(int)), this, SLOT(obstackleSimulation(int)));
- connect(this->cbObstackle, SIGNAL(stateChanged(int)), this->scene, SLOT(showObstacle(int)));
- connect(this->scene, SIGNAL(obstacleChanged(QPointF)), this, SLOT(changeObstacle(QPointF)));
-
- rob = new robot(NULL, scene, 0);
- rob->setZValue(10);
- est_rob = new robot(NULL, scene, 1);
- est_rob->setZValue(10);
-
- scene->addItem(rob);
- scene->addItem(est_rob);
-// rob->moveRobot(pos.x,pos.y,pos.phi);
-
- orte_function(this);
- serva.transporterInner = TRANSPORTER_OFF;
- serva.transporterFront = TRANSPORTER_OFF;
- serva.frontDoor = FRONT_DOOR_UP;
- serva.backDoor = BACK_DOOR_UP;
- serva.innerDoor = INNER_DOOR_UP;
-}
-
-
-robomon::~robomon()
-{
- ShmapDt();
- //shmdt((void*)map);
-
- ORTEDomainAppDestroy(d);
-}
-
-void robomon::setSimul(int value)
-{
- if(value) {
- publisherCreateSensShort(this);
- publisherCreateSensLong(this);
- }
- else {
- ORTEPublicationDestroy(publisherSharpShort);
- ORTEPublicationDestroy(publisherSharpLong);
- }
-}
-
-void robomon::moveServo(int value)
-{
- serva.transporterInner = this->dServo3->value();
- serva.transporterFront = this->dServo4->value();
- ORTEPublicationSend(publisherServa);
-}
-
-void robomon::frontDoor(int state)
-{
- if(state) serva.frontDoor = FRONT_DOOR_UP;
- else serva.frontDoor = FRONT_DOOR_DOWN;
- ORTEPublicationSend(publisherServa);
-}
-
-void robomon::launchFront(int state)
-{
- if(state) serva.release = 255;
- else serva.release = 50;
- ORTEPublicationSend(publisherServa);
-}
-
-void robomon::innerDoor(int state)
-{
- if(state) serva.innerDoor = INNER_DOOR_UP;
- else serva.innerDoor = INNER_DOOR_DOWN;
- ORTEPublicationSend(publisherServa);
-}
-
-void robomon::backDoor(int state)
-{
- if(state) serva.backDoor = BACK_DOOR_UP;
- else serva.backDoor = BACK_DOOR_DOWN;
- ORTEPublicationSend(publisherServa);
-}
-
-void robomon::stopDopravnikFront(void)
-{
- serva.transporterInner = TRANSPORTER_OFF;
- this->dServo3->setValue(TRANSPORTER_OFF);
- ORTEPublicationSend(publisherServa);
-}
-
-void robomon::stopDopravnikBack(void)
-{
- serva.transporterFront = TRANSPORTER_OFF;
- this->dServo4->setValue(TRANSPORTER_OFF);
- ORTEPublicationSend(publisherServa);
-}
-
-void robomon::setSharpVal(int x)
-{
- sharpyLahve.short1 = this->slA1->value();
- sharpyLahve.short2 = this->slA2->value();
- sharpyLahve.short3 = this->slA3->value();
- sharpyLahve.short4 = this->slA4->value();
- ORTEPublicationSend(publisherSharpShort);
- sharpySouper.longSharpDist1 = this->slB1->value()/1000.0;
- sharpySouper.longSharpDist2 = this->slB2->value()/1000.0;
- sharpySouper.longSharpDist3 = this->slB3->value()/1000.0;
- ORTEPublicationSend(publisherSharpLong);
-}
-
-void robomon::setDO(int x)
-{
- stateDO[0] = this->cbDO0->isChecked();
- stateDO[1] = this->cbDO1->isChecked();
- stateDO[2] = this->cbDO2->isChecked();
- stateDO[3] = this->cbDO3->isChecked();
- stateDO[4] = this->cbDO4->isChecked();
- stateDO[5] = this->cbDO5->isChecked();
- stateDO[6] = this->cbDO6->isChecked();
- stateDO[7] = this->cbDO7->isChecked();
- ORTEPublicationSend(publisherDO);
-}
-
-void robomon::setSharp()
-{
- char buffer[20];
- int val;
- val = ss1.longSharpDist1*1000;
- sprintf(buffer,"%dmm",val);
- this->tbSharpLong1->setText(buffer);
- if (val > pbSharpLong1->maximum()) val = pbSharpLong1->maximum();
- this->pbSharpLong1->setValue(val);
-
- val = ss1.longSharpDist2*1000;
-// sprintf(buffer,"%d", ss1.longSharpDist2);
- sprintf(buffer,"%dmm",val);
- this->tbSharpLong2->setText(buffer);
- if (val > pbSharpLong2->maximum()) val = pbSharpLong2->maximum();
- this->pbSharpLong2->setValue(val);
-
- val = ss1.longSharpDist3*1000;
-// sprintf(buffer,"%d", ss1.longSharpDist3);
- sprintf(buffer,"%dmm",val);
- this->tbSharpLong3->setText(buffer);
- if (val > pbSharpLong3->maximum()) val = pbSharpLong3->maximum();
- this->pbSharpLong3->setValue(val);
-
- this->pbSharpShort1->setValue(s_ir2mmShort(ss2.short1));
-#if SHARP_MM
- sprintf(buffer,"%d",s_gp2d120_ir2mmShort(ss2.short1));
-#else
- sprintf(buffer,"%d",(ss2.short1));
-#endif
- this->tbSharpShort1->setText(buffer);
-
- this->pbSharpShort2->setValue(s_ir2mmShort(ss2.short2));
-#if SHARP_MM
- sprintf(buffer,"%d",s_gp2d120_ir2mmShort(ss2.short2));
-#else
- sprintf(buffer,"%d",(ss2.short2));
-#endif
- this->tbSharpShort2->setText(buffer);
-
- this->pbSharpShort3->setValue(s_ir2mmShort(ss2.short3));
-#if SHARP_MM
- sprintf(buffer,"%d",s_gp2d120_ir2mmShort(ss2.short3));
-#else
- sprintf(buffer,"%d",(ss2.short3));
-#endif
- this->tbSharpShort3->setText(buffer);
-
- this->pbSharpShort4->setValue(s_ir2mmShort(ss2.short4));
-#if SHARP_MM
- sprintf(buffer,"%d",s_gp2d120_ir2mmShort(ss2.short4));
-#else
- sprintf(buffer,"%d",(ss2.short4));
-#endif
- this->tbSharpShort4->setText(buffer);
-}
-
-void robomon::setMotor(int x)
-{
- short int motorL;
- short int motorR;
-
- if(this->cbJoinMotors->isChecked()) {
- slMotorRight->setValue(slMotorLeft->value());
- }
- motorL = (short int)(MOTOR_LIMIT * (slMotorLeft->value()/100.0));
- motorR = (short int)(MOTOR_LIMIT * (slMotorRight->value()/100.0));
-
- mspeed.left = motorL;
- mspeed.right = motorR;
-
- ORTEPublicationSend(publisherMotor);
-}
-
-void robomon::stopMotors()
-{
- slMotorLeft->setValue(0);
- slMotorRight->setValue(0);
-}
-
-void robomon::showMap()
-{
- size = PG_X / MAP_WIDTH;
-
- shared_segment_size = sizeof(char) * MAP_WIDTH * MAP_HEIGHT;
-
- /* Get segment identificator in a read only mode */
- segment_id = shmget (SHM_MAP_KEY, shared_segment_size, S_IRUSR );
- if(segment_id==-1) {
- QMessageBox::critical(this,"robomon","Unable to open shared memory segment!");
- return;
- }
-
- /* Init Shmap */
- ShmapInit(0);
-
- /* Attach the shared memory segment */
- //map = (_Map*)shmat (segment_id, (void*) 0, 0);
-
- timer = new QTimer(this);
- connect(timer, SIGNAL(timeout()), this, SLOT(paintMap()));
- timer->start(200);
-
-}
-
-void robomon::paintMap()
-{
- using namespace Qt;
- static QGraphicsRectItem *rects[MAP_WIDTH][MAP_HEIGHT];
- static bool firstMap = true;
- int x,y;
- struct map *map = ShmapIsMapInit();
- if (!map) return;
-
- for(int i=0; i < MAP_WIDTH; i++) {
- for(int j=0; j<MAP_HEIGHT; j++) {
- x = TOP_LEFT_X+i*size;
- y = TOP_LEFT_Y+j*size;
-
- if(firstMap) {
- rects[i][j] = this->scene->addRect(QRectF(x,y,size,size),QPen(QBrush(Qt::black),1,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin),QBrush(Qt::lightGray));
-
- rects[i][j]->setZValue(4);
- }
-
- 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_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;
-
- rects[i][j]->setBrush(QBrush(color));
- }
- }
- firstMap = false;
-
-}
-
-
-
-/*$SPECIALIZATION$*/
-
-
-/*!
- \fn robomon::obstackleSimulation(int state)
- */
-void robomon::obstackleSimulation(int state)
-{
- if (state) {
- /* TODO Maybe it is possible to attach only once to Shmap */
- ShmapInit(0);
- obstSimTimer = new QTimer(this);
- connect(obstSimTimer, SIGNAL(timeout()), this, SLOT(simulateObstackles()));
- obstSimTimer->start(100);
- this->setMouseTracking(true);
- } else {
- if (obstSimTimer) delete obstSimTimer;
- double distance = 0.8;
- sharpySouper.longSharpDist1 = distance;
- sharpySouper.longSharpDist2 = distance;
- sharpySouper.longSharpDist3 = distance;
- ORTEPublicationSend(publisherSharpLong);
-
- }
-}
-
-/**
- * Calculation for sensor simulation. Calculates distance that would
- * be returned by IR sensors, if there is only one obstacle (as
- * specified by parameters).
- *
- * @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.
- */
-static double distanceToObstacle(Point obstacle, double obstacleSize)
-{
- Point robot(pozice.x, pozice.y);
- const double sensorRange = 1.0; /*[meters]*/
-
- double distance, angle;
-
- angle = robot.angleTo(obstacle) - pozice.phi;
- 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 = robot.distanceTo(obstacle)-0.11;
- if (angle < atan(obstacleSize/2.0 / (distance+0.001))) {
- // We can see the obstackle from here.
- if (angle < M_PI/2.0) {
- distance = distance/cos(angle);
- }
- distance -= ROBOT_AXIS_TO_BELT_M;
- if (distance > sensorRange) distance = sensorRange;
- } else {
- distance = sensorRange;
- }
- return distance;
-}
-
-static double distanceToWall(){
- double distance=1.0, min_distance=1.0;
- int i,j;
- Point wall;
- 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++){
- struct map_cell *cell = &map->cells[j][i];
- if( cell->flags & MAP_FLAG_SIMULATED_WALL) {
- // WALL
- ShmapCell2Point(i, j, &wall.x, &wall.y);
-
- distance = distanceToObstacle(wall, MAP_CELL_SIZE_M);
- if (distance<min_distance) min_distance = distance;
- }
- }
- }
- return min_distance;
-}
-
-
-/*!
- \fn robomon::simulateObstackles()
- */
-void robomon::simulateObstackles()
-{
- double distance, wall_distance;
-
-
- wall_distance = distanceToWall();
- distance = distanceToObstacle(simulatedObstacle, 0.5/*meters*/);
- if (wall_distance<distance) distance = wall_distance;
-
- sharpySouper.longSharpDist1 = distance;
- sharpySouper.longSharpDist2 = distance;
- sharpySouper.longSharpDist3 = distance;
- ORTEPublicationSend(publisherSharpLong);
-
-
-}
-
-
-void robomon::changeObstacle(QPointF pos)
-{
- simulatedObstacle.x = pos.x();
- simulatedObstacle.y = pos.y();
- simulateObstackles();
-}
+++ /dev/null
-#ifndef ROBOMON_H
-#define ROBOMON_H
-
-#include <QWidget>
-#include <QTimer>
-#include <QMouseEvent>
-#include "ui_robomon.h"
-#include "robot.h"
-#include "mapthread.h"
-#include <queue>
-#include <cstdlib>
-#include <sys/shm.h>
-#include <sys/stat.h>
-
-
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
-#include <stdio.h>
-#include <unistd.h>
-
-#include <robottype.h>
-#include <robottype_eb2007.h>
-#include <robottype.h>
-#include <trgen.h>
-#include "playgroundscene.h"
-
-#include <orte.h>
-
-#include <map.h>
-
-#define RES_FACTOR 5
-#define RES_X 300 / RES_FACTOR
-#define RES_Y 210 / RES_FACTOR
-
-#define PG_X 600
-#define PG_Y 420
-
-#define TOP_LEFT QPointF(10,0)
-#define TOP_LEFT_X 10
-#define TOP_LEFT_Y 0
-#define TOP_MIDDLE QPointF(310,0)
-#define TOP_RIGHT QPointF(610,0)
-#define BOTTOM_LEFT QPointF(10,420)
-#define BOTTOM_MIDDLE QPointF(310,420)
-#define BOTTOM_RIGHT QPointF(610,420)
-#define BIN_LEFT_BOTTLE_START QPointF(5,320)
-#define BIN_LEFT_BOTTLE_END QPointF(5,420)
-#define BIN_LEFT_CAN_START QPointF(10,425)
-#define BIN_LEFT_CAN_END QPointF(110,425)
-#define BIN_RIGHT_BOTTLE_START QPointF(615,320)
-#define BIN_RIGHT_BOTTLE_END QPointF(615,420)
-#define BIN_RIGHT_CAN_START QPointF(510,425)
-#define BIN_RIGHT_CAN_END QPointF(610,425)
-
-#define FRONT_DOOR 1
-#define INNER_DOOR 4
-#define BACK_DOOR 0
-#define FRONT_LAUNCH 5
-#define TRANSPORTER_FRONT 2
-#define TRANSPORTER_INNER 3
-
-#define FRONT_DOOR_UP 20
-#define FRONT_DOOR_DOWN 251
-#define INNER_DOOR_UP 255
-#define INNER_DOOR_DOWN 1
-#define BACK_DOOR_UP 180
-#define BACK_DOOR_DOWN 1
-#define TRANSPORTER_OFF 127
-#define FRONT_LAUNCH_LOCK 195
-#define FRONT_LAUNCH_OPEN 66
-
-#define MOTOR_LIMIT 10000.0
-
-#define EVENT_POS (QEvent::Type)(QEvent::User)
-#define EVENT_EST_POS (QEvent::Type)(QEvent::User+6)
-#define EVENT_IR (QEvent::Type)(QEvent::User+1)
-#define EVENT_SHARP (QEvent::Type)(QEvent::User+2)
-#define EVENT_DI (QEvent::Type)(QEvent::User+3)
-#define EVENT_MAP (QEvent::Type)(QEvent::User+4)
-#define EVENT_ACCU (QEvent::Type)(QEvent::User+5)
-
-
-//! Main Robomon application class.
-/*!
- This class serves to set up GUI.
-*/
-
-class robomon : public QWidget, private Ui::Form
-{
- Q_OBJECT
-
-public:
- //! Size of the shared memory segment
- /*!
- The size computed in showMap() function as a size of char variable multiplied by MAP_WIDTH and MAP_HEIGHT from map_definitions.h
- */
- int shared_segment_size;
-
- //! ID of the shared memory segment
- /*!
- * Shared memory segment ID is saved to this variable.
- * \sa showMap()
- */
- int segment_id;
-
- //! Graphics scene used to paint the graphic objects
- /*!
- * This scene is painted in #gvPlaygroud GraphicsView. All the graphical obejcts to be painted should be added to this scene.
- */
- PlaygroundScene* scene;
- QGraphicsScene* sceneAccu;
-
- //! Robot graphical object
- /*!
- * This is a pointer to the graphical representation of robot on the playground.
- */
- robot *rob;
- /* graphical presentation of the estimated position of the robot */
- robot *est_rob;
-
- //! Structure for saving sensor values during sensor simulation
- /*!
- * This structure is used to save IR sensor values from sliding bars during sensor simulation. It is then published on ORTE.
- */
- struct sharpShorts_type sharpyLahve;
-
- //! Structure for saving sensor values during sensor simulation
- /*!
- * This structure is used to save IR sensor values from sliding bars during sensor simulation. It is then published on ORTE.
- */
- struct sharpLongs_type sharpySouper;
-
- //! Timer for automatic map display refresh
- /*!
- * This timer serves for periodic calling of map display refreshing function (paintMap()). It is initialized in showMap(). Timer value is set to 2000 miliseconds.
- */
- QTimer *timer;
-
- //! Pointer to map representation in shared memory
- /*!
- * This pointer contains the address of the map variable in shared memory. It is initialized in showMap().
- */
- //_Map *map;
-
- //! Size of a map cell in px
- /*!
- * This variable contains size of map cells on the screen in px. It is calculated as PG_X / MAP_WIDTH in showMap() and is used in paintMap().
- * \sa showMap(), paintMap()
- */
-
- int size;
-
- //! Robomon class constructor
- /*!
- * This is the robomon class constructor. First signals from all the controls on the main panel are connected to appropriate slots. Then the GraphicsScene object is created (#scene). When the scene is set up, the playgroung graphics are added to it. After the playground is painted, new instance of robot class is created and the pointer to it is saved to #rob. ORTE initialization function is also called from the constructor and pointer to this instance of robomon is passed to it. In the end, all servos are set to initial position.
- */
- robomon(QWidget* parent = 0, Qt::WFlags fl = 0);
-
- //! Robomon class destructor
- /*!
- * This is the robomon class destructor. It is used to detach the shared memory segment and to destroy ORTE application domain.
- */
- ~robomon();
-
- //! QT event processing
- /*!
- * This function serves for processing of all QT events. If the event is one of user defined ones, appropriate function is called to process it, otherwise the event is passed on to the QT engine.
- *\sa setIR(), setSharp(), setDI(), paintMap()
- */
- bool event(QEvent *evet);
-
- //! Digital inputs visualization
- /*!
- * This function sets the checkboxes that represent digital inputs according DI data received from ORTE. It is called from event() when EVENT_DI is received (from DI subscriber callback from ORTE).
- * \sa event()
- */
- void setDI(struct stateDigIn_type);
-
- //! Sharp IR sensors data visualization
- /*!
- * This function sets the progress bars that represent IR sensors values according to data received from ORTE. It is called from event() when EVENT_SHARP is received (from sharp data subscriber from ORTE).
- * \sa event()
- */
- void setSharp();
-
- void updateAccu();
-
-
-public slots:
- /*$PUBLIC_SLOTS$*/
- void moveServo(int value);
- void frontDoor(int value);
- void innerDoor(int value);
- void backDoor(int value);
- void launchFront(int value);
-
- void stopDopravnikFront();
- void stopDopravnikBack();
- void setDO(int x);
- void setIR(unsigned short int);
- void setMotor(int);
- void setSimul(int);
- void setSharpVal(int);
- void stopMotors(void);
- void changeObstacle(QPointF pos);
-
- //! This function sets-up the application to load map from shared memory and display it
- /*!
- * The function finds out the size of map square representation on the screen (in px) and the size of the shared memory segment. Then the function tries to get the shm id and in case of failure an error message is displayed. If the function could get the segment id (#segment_id), the segment is attached to #map pointer.
- */
- void showMap(void);
- void paintMap(void);
-
-protected:
- /*$PROTECTED_FUNCTIONS$*/
-
-protected slots:
- /*$PROTECTED_SLOTS$*/
- void obstackleSimulation(int state);
- void simulateObstackles();
-
-protected:
- QTimer * obstSimTimer;
- Point simulatedObstacle;
-};
-
-#endif
-
+++ /dev/null
-<ui version="4.0" >
- <class>Form</class>
- <widget class="QWidget" name="Form" >
- <property name="geometry" >
- <rect>
- <x>0</x>
- <y>0</y>
- <width>1024</width>
- <height>690</height>
- </rect>
- </property>
- <property name="sizePolicy" >
- <sizepolicy vsizetype="Fixed" hsizetype="Fixed" >
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize" >
- <size>
- <width>1024</width>
- <height>690</height>
- </size>
- </property>
- <property name="maximumSize" >
- <size>
- <width>1024</width>
- <height>690</height>
- </size>
- </property>
- <property name="baseSize" >
- <size>
- <width>640</width>
- <height>480</height>
- </size>
- </property>
- <property name="windowTitle" >
- <string>Robomon</string>
- </property>
- <property name="toolTip" >
- <string>Mouse in plaground simulates an obstackle</string>
- </property>
- <widget class="QLabel" name="label" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>90</y>
- <width>71</width>
- <height>17</height>
- </rect>
- </property>
- <property name="text" >
- <string>Playground</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_2" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>10</y>
- <width>121</width>
- <height>20</height>
- </rect>
- </property>
- <property name="text" >
- <string>Accumulator</string>
- </property>
- </widget>
- <widget class="QGraphicsView" name="gvAcc" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>30</y>
- <width>322</width>
- <height>82</height>
- </rect>
- </property>
- <property name="sizePolicy" >
- <sizepolicy vsizetype="Fixed" hsizetype="Fixed" >
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- <widget class="QGroupBox" name="groupDO" >
- <property name="geometry" >
- <rect>
- <x>950</x>
- <y>190</y>
- <width>71</width>
- <height>191</height>
- </rect>
- </property>
- <property name="title" >
- <string>DO</string>
- </property>
- <widget class="QCheckBox" name="cbDO1" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>40</y>
- <width>51</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DO1</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbDO3" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>80</y>
- <width>51</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DO3</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbDO4" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>100</y>
- <width>51</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DO4</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbDO5" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>120</y>
- <width>51</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DO5</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbDO6" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>140</y>
- <width>51</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DO6</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbDO7" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>160</y>
- <width>51</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DO7</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbDO0" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>20</y>
- <width>51</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DO0</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbDO2" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>60</y>
- <width>51</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DO2</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- </widget>
- <widget class="QGraphicsView" name="gvPlayground" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>130</y>
- <width>631</width>
- <height>441</height>
- </rect>
- </property>
- <property name="sizePolicy" >
- <sizepolicy vsizetype="Fixed" hsizetype="Fixed" >
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- <widget class="QGroupBox" name="groupDI" >
- <property name="geometry" >
- <rect>
- <x>950</x>
- <y>0</y>
- <width>71</width>
- <height>191</height>
- </rect>
- </property>
- <property name="title" >
- <string>DI</string>
- </property>
- <widget class="QCheckBox" name="cbDI2" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>60</y>
- <width>41</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DI2</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbDI3" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>80</y>
- <width>41</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DI3</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbDI4" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>100</y>
- <width>41</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DI4</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbDI5" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>120</y>
- <width>41</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DI5</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbDI6" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>140</y>
- <width>41</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DI6</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbDI7" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>160</y>
- <width>41</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DI7</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbDI1" >
- <property name="enabled" >
- <bool>true</bool>
- </property>
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>40</y>
- <width>41</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DI1</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbDI0" >
- <property name="enabled" >
- <bool>true</bool>
- </property>
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>20</y>
- <width>41</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>DI0</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- </widget>
- </widget>
- <widget class="QGroupBox" name="groupMotors" >
- <property name="geometry" >
- <rect>
- <x>340</x>
- <y>0</y>
- <width>591</width>
- <height>111</height>
- </rect>
- </property>
- <property name="title" >
- <string>Motion control</string>
- </property>
- <widget class="QLabel" name="label_22" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>50</y>
- <width>31</width>
- <height>20</height>
- </rect>
- </property>
- <property name="text" >
- <string>-100</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_21" >
- <property name="geometry" >
- <rect>
- <x>20</x>
- <y>70</y>
- <width>16</width>
- <height>20</height>
- </rect>
- </property>
- <property name="text" >
- <string>R</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_20" >
- <property name="geometry" >
- <rect>
- <x>20</x>
- <y>30</y>
- <width>16</width>
- <height>20</height>
- </rect>
- </property>
- <property name="text" >
- <string>L</string>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbJoinMotors" >
- <property name="geometry" >
- <rect>
- <x>530</x>
- <y>60</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QLabel" name="label_23" >
- <property name="geometry" >
- <rect>
- <x>240</x>
- <y>50</y>
- <width>21</width>
- <height>17</height>
- </rect>
- </property>
- <property name="text" >
- <string>0</string>
- </property>
- <property name="alignment" >
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- <widget class="QPushButton" name="btStopMotors" >
- <property name="geometry" >
- <rect>
- <x>500</x>
- <y>30</y>
- <width>80</width>
- <height>27</height>
- </rect>
- </property>
- <property name="text" >
- <string>STOP</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_24" >
- <property name="geometry" >
- <rect>
- <x>460</x>
- <y>50</y>
- <width>31</width>
- <height>17</height>
- </rect>
- </property>
- <property name="text" >
- <string>100</string>
- </property>
- </widget>
- <widget class="QSlider" name="slMotorLeft" >
- <property name="geometry" >
- <rect>
- <x>40</x>
- <y>30</y>
- <width>421</width>
- <height>16</height>
- </rect>
- </property>
- <property name="minimum" >
- <number>-100</number>
- </property>
- <property name="maximum" >
- <number>100</number>
- </property>
- <property name="tracking" >
- <bool>false</bool>
- </property>
- <property name="orientation" >
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- <widget class="QSlider" name="slMotorRight" >
- <property name="geometry" >
- <rect>
- <x>40</x>
- <y>70</y>
- <width>421</width>
- <height>16</height>
- </rect>
- </property>
- <property name="minimum" >
- <number>-100</number>
- </property>
- <property name="maximum" >
- <number>100</number>
- </property>
- <property name="tracking" >
- <bool>false</bool>
- </property>
- <property name="orientation" >
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </widget>
- <widget class="QDial" name="dServo4" >
- <property name="geometry" >
- <rect>
- <x>650</x>
- <y>120</y>
- <width>50</width>
- <height>64</height>
- </rect>
- </property>
- <property name="palette" >
- <palette>
- <active>
- <colorrole role="Button" >
- <brush brushstyle="SolidPattern" >
- <color alpha="255" >
- <red>0</red>
- <green>255</green>
- <blue>0</blue>
- </color>
- </brush>
- </colorrole>
- </active>
- <inactive>
- <colorrole role="Button" >
- <brush brushstyle="SolidPattern" >
- <color alpha="255" >
- <red>0</red>
- <green>255</green>
- <blue>0</blue>
- </color>
- </brush>
- </colorrole>
- </inactive>
- <disabled>
- <colorrole role="Button" >
- <brush brushstyle="SolidPattern" >
- <color alpha="255" >
- <red>0</red>
- <green>255</green>
- <blue>0</blue>
- </color>
- </brush>
- </colorrole>
- </disabled>
- </palette>
- </property>
- <property name="minimum" >
- <number>1</number>
- </property>
- <property name="maximum" >
- <number>255</number>
- </property>
- <property name="value" >
- <number>127</number>
- </property>
- <property name="orientation" >
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- <widget class="QDial" name="dServo3" >
- <property name="geometry" >
- <rect>
- <x>650</x>
- <y>180</y>
- <width>50</width>
- <height>64</height>
- </rect>
- </property>
- <property name="palette" >
- <palette>
- <active>
- <colorrole role="Button" >
- <brush brushstyle="SolidPattern" >
- <color alpha="255" >
- <red>0</red>
- <green>255</green>
- <blue>0</blue>
- </color>
- </brush>
- </colorrole>
- </active>
- <inactive>
- <colorrole role="Button" >
- <brush brushstyle="SolidPattern" >
- <color alpha="255" >
- <red>0</red>
- <green>255</green>
- <blue>0</blue>
- </color>
- </brush>
- </colorrole>
- </inactive>
- <disabled>
- <colorrole role="Button" >
- <brush brushstyle="SolidPattern" >
- <color alpha="255" >
- <red>0</red>
- <green>255</green>
- <blue>0</blue>
- </color>
- </brush>
- </colorrole>
- </disabled>
- </palette>
- </property>
- <property name="minimum" >
- <number>1</number>
- </property>
- <property name="maximum" >
- <number>255</number>
- </property>
- <property name="value" >
- <number>127</number>
- </property>
- <property name="orientation" >
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- <widget class="QProgressBar" name="pbSharpLong3" >
- <property name="geometry" >
- <rect>
- <x>910</x>
- <y>570</y>
- <width>111</width>
- <height>23</height>
- </rect>
- </property>
- <property name="maximum" >
- <number>800</number>
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- <property name="value" >
- <number>0</number>
- </property>
- <property name="orientation" >
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="format" >
- <string>%v mm</string>
- </property>
- </widget>
- <widget class="QProgressBar" name="pbSharpLong2" >
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- <rect>
- <x>780</x>
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- <property name="maximum" >
- <number>800</number>
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- <property name="value" >
- <number>0</number>
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- <property name="orientation" >
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="format" >
- <string>%v mm</string>
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- </widget>
- <widget class="QProgressBar" name="pbSharpLong1" >
- <property name="geometry" >
- <rect>
- <x>650</x>
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- <property name="maximum" >
- <number>800</number>
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- </property>
- <property name="orientation" >
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- </property>
- <property name="format" >
- <string>%v mm</string>
- </property>
- </widget>
- <widget class="QProgressBar" name="pbSharpShort1" >
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- <rect>
- <x>650</x>
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- <property name="maximum" >
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- <property name="orientation" >
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- <widget class="QProgressBar" name="pbSharpShort3" >
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- <property name="maximum" >
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- <property name="value" >
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- <widget class="QProgressBar" name="pbSharpShort2" >
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- <widget class="QLabel" name="tbSharpLong1" >
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- <property name="text" >
- <string>B1</string>
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- <property name="alignment" >
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- </widget>
- <widget class="QLabel" name="tbSharpLong2" >
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- <property name="text" >
- <string>B2</string>
- </property>
- <property name="alignment" >
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- </property>
- </widget>
- <widget class="QLabel" name="tbSharpLong3" >
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- <y>550</y>
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- <height>20</height>
- </rect>
- </property>
- <property name="text" >
- <string>B3</string>
- </property>
- <property name="alignment" >
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- <widget class="QLabel" name="tbSharpShort2" >
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- <property name="text" >
- <string>A2</string>
- </property>
- <property name="alignment" >
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- <widget class="QLabel" name="tbSharpShort1" >
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- <rect>
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- <property name="text" >
- <string>A1</string>
- </property>
- <property name="alignment" >
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- </widget>
- <widget class="QLabel" name="tbSharpShort3" >
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- <rect>
- <x>840</x>
- <y>660</y>
- <width>81</width>
- <height>20</height>
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- </property>
- <property name="text" >
- <string>A3</string>
- </property>
- <property name="alignment" >
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- <widget class="QLabel" name="tbSharpShort4" >
- <property name="geometry" >
- <rect>
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- <y>660</y>
- <width>81</width>
- <height>20</height>
- </rect>
- </property>
- <property name="text" >
- <string>A4</string>
- </property>
- <property name="alignment" >
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- <widget class="QProgressBar" name="pbSharpShort4" >
- <property name="geometry" >
- <rect>
- <x>940</x>
- <y>630</y>
- <width>81</width>
- <height>23</height>
- </rect>
- </property>
- <property name="maximum" >
- <number>300</number>
- </property>
- <property name="value" >
- <number>0</number>
- </property>
- <property name="orientation" >
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- <widget class="QTextEdit" name="tbTelnet" >
- <property name="geometry" >
- <rect>
- <x>10</x>
- <y>587</y>
- <width>631</width>
- <height>94</height>
- </rect>
- </property>
- </widget>
- <widget class="QPushButton" name="btMap" >
- <property name="geometry" >
- <rect>
- <x>650</x>
- <y>430</y>
- <width>101</width>
- <height>30</height>
- </rect>
- </property>
- <property name="text" >
- <string>Show &map</string>
- </property>
- </widget>
- <widget class="QSlider" name="slB1" >
- <property name="geometry" >
- <rect>
- <x>650</x>
- <y>540</y>
- <width>111</width>
- <height>16</height>
- </rect>
- </property>
- <property name="maximum" >
- <number>800</number>
- </property>
- <property name="singleStep" >
- <number>10</number>
- </property>
- <property name="pageStep" >
- <number>100</number>
- </property>
- <property name="value" >
- <number>800</number>
- </property>
- <property name="orientation" >
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- <widget class="QSlider" name="slA1" >
- <property name="geometry" >
- <rect>
- <x>650</x>
- <y>610</y>
- <width>81</width>
- <height>16</height>
- </rect>
- </property>
- <property name="maximum" >
- <number>1200</number>
- </property>
- <property name="orientation" >
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- <widget class="QSlider" name="slB2" >
- <property name="geometry" >
- <rect>
- <x>780</x>
- <y>540</y>
- <width>111</width>
- <height>16</height>
- </rect>
- </property>
- <property name="maximum" >
- <number>800</number>
- </property>
- <property name="singleStep" >
- <number>10</number>
- </property>
- <property name="pageStep" >
- <number>100</number>
- </property>
- <property name="value" >
- <number>800</number>
- </property>
- <property name="orientation" >
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- <widget class="QSlider" name="slB3" >
- <property name="geometry" >
- <rect>
- <x>910</x>
- <y>540</y>
- <width>111</width>
- <height>16</height>
- </rect>
- </property>
- <property name="maximum" >
- <number>800</number>
- </property>
- <property name="singleStep" >
- <number>10</number>
- </property>
- <property name="pageStep" >
- <number>100</number>
- </property>
- <property name="value" >
- <number>800</number>
- </property>
- <property name="orientation" >
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- <widget class="QSlider" name="slA2" >
- <property name="geometry" >
- <rect>
- <x>750</x>
- <y>610</y>
- <width>81</width>
- <height>16</height>
- </rect>
- </property>
- <property name="maximum" >
- <number>1200</number>
- </property>
- <property name="orientation" >
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- <widget class="QSlider" name="slA3" >
- <property name="geometry" >
- <rect>
- <x>840</x>
- <y>610</y>
- <width>81</width>
- <height>16</height>
- </rect>
- </property>
- <property name="maximum" >
- <number>1200</number>
- </property>
- <property name="orientation" >
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- <widget class="QSlider" name="slA4" >
- <property name="geometry" >
- <rect>
- <x>940</x>
- <y>610</y>
- <width>81</width>
- <height>16</height>
- </rect>
- </property>
- <property name="maximum" >
- <number>1200</number>
- </property>
- <property name="orientation" >
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbSimulation" >
- <property name="geometry" >
- <rect>
- <x>650</x>
- <y>510</y>
- <width>201</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>Allow sensor &simulation</string>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbFrontDoor" >
- <property name="geometry" >
- <rect>
- <x>840</x>
- <y>140</y>
- <width>101</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>Front Door</string>
- </property>
- <property name="checked" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbInnerDoor" >
- <property name="geometry" >
- <rect>
- <x>840</x>
- <y>160</y>
- <width>101</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>Inner Door</string>
- </property>
- <property name="checked" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbBackDoor" >
- <property name="geometry" >
- <rect>
- <x>840</x>
- <y>180</y>
- <width>101</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>Back Door</string>
- </property>
- <property name="checkable" >
- <bool>true</bool>
- </property>
- <property name="checked" >
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbLaunch" >
- <property name="geometry" >
- <rect>
- <x>840</x>
- <y>200</y>
- <width>101</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string>Open Front</string>
- </property>
- </widget>
- <widget class="QGroupBox" name="groupBox" >
- <property name="geometry" >
- <rect>
- <x>660</x>
- <y>250</y>
- <width>271</width>
- <height>91</height>
- </rect>
- </property>
- <property name="title" >
- <string>Inner IRs</string>
- </property>
- <widget class="QCheckBox" name="cbIR1" >
- <property name="geometry" >
- <rect>
- <x>200</x>
- <y>60</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR12" >
- <property name="geometry" >
- <rect>
- <x>100</x>
- <y>20</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR2" >
- <property name="geometry" >
- <rect>
- <x>180</x>
- <y>60</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR13" >
- <property name="geometry" >
- <rect>
- <x>70</x>
- <y>20</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR14" >
- <property name="geometry" >
- <rect>
- <x>170</x>
- <y>40</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR6" >
- <property name="geometry" >
- <rect>
- <x>100</x>
- <y>60</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR16" >
- <property name="geometry" >
- <rect>
- <x>90</x>
- <y>40</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR3" >
- <property name="geometry" >
- <rect>
- <x>160</x>
- <y>60</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR10" >
- <property name="geometry" >
- <rect>
- <x>160</x>
- <y>20</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR4" >
- <property name="geometry" >
- <rect>
- <x>140</x>
- <y>60</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR9" >
- <property name="geometry" >
- <rect>
- <x>190</x>
- <y>20</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR5" >
- <property name="geometry" >
- <rect>
- <x>120</x>
- <y>60</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR15" >
- <property name="geometry" >
- <rect>
- <x>130</x>
- <y>40</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR11" >
- <property name="geometry" >
- <rect>
- <x>130</x>
- <y>20</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR7" >
- <property name="geometry" >
- <rect>
- <x>80</x>
- <y>60</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbIR8" >
- <property name="geometry" >
- <rect>
- <x>60</x>
- <y>60</y>
- <width>16</width>
- <height>22</height>
- </rect>
- </property>
- <property name="text" >
- <string/>
- </property>
- </widget>
- </widget>
- <widget class="QPushButton" name="btDopravnikFront" >
- <property name="geometry" >
- <rect>
- <x>700</x>
- <y>200</y>
- <width>121</width>
- <height>27</height>
- </rect>
- </property>
- <property name="text" >
- <string>Stop vyhazovac</string>
- </property>
- </widget>
- <widget class="QPushButton" name="btDopravnikBack" >
- <property name="geometry" >
- <rect>
- <x>700</x>
- <y>140</y>
- <width>121</width>
- <height>27</height>
- </rect>
- </property>
- <property name="text" >
- <string>Stop nabirac</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_3" >
- <property name="geometry" >
- <rect>
- <x>830</x>
- <y>400</y>
- <width>20</width>
- <height>20</height>
- </rect>
- </property>
- <property name="text" >
- <string>x</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_4" >
- <property name="geometry" >
- <rect>
- <x>830</x>
- <y>440</y>
- <width>20</width>
- <height>20</height>
- </rect>
- </property>
- <property name="text" >
- <string>y</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_5" >
- <property name="geometry" >
- <rect>
- <x>830</x>
- <y>480</y>
- <width>21</width>
- <height>20</height>
- </rect>
- </property>
- <property name="text" >
- <string>phi</string>
- </property>
- </widget>
- <widget class="QLineEdit" name="tbX" >
- <property name="geometry" >
- <rect>
- <x>942</x>
- <y>390</y>
- <width>81</width>
- <height>28</height>
- </rect>
- </property>
- </widget>
- <widget class="QLineEdit" name="tbY" >
- <property name="geometry" >
- <rect>
- <x>942</x>
- <y>430</y>
- <width>81</width>
- <height>28</height>
- </rect>
- </property>
- </widget>
- <widget class="QLineEdit" name="tbPhi" >
- <property name="geometry" >
- <rect>
- <x>942</x>
- <y>470</y>
- <width>81</width>
- <height>28</height>
- </rect>
- </property>
- </widget>
- <widget class="QLineEdit" name="tbX2" >
- <property name="geometry" >
- <rect>
- <x>855</x>
- <y>390</y>
- <width>81</width>
- <height>28</height>
- </rect>
- </property>
- </widget>
- <widget class="QLineEdit" name="tbY2" >
- <property name="geometry" >
- <rect>
- <x>855</x>
- <y>430</y>
- <width>81</width>
- <height>28</height>
- </rect>
- </property>
- </widget>
- <widget class="QLineEdit" name="tbPhi2" >
- <property name="geometry" >
- <rect>
- <x>855</x>
- <y>470</y>
- <width>81</width>
- <height>28</height>
- </rect>
- </property>
- </widget>
- <widget class="QCheckBox" name="cbObstackle" >
- <property name="geometry" >
- <rect>
- <x>850</x>
- <y>510</y>
- <width>171</width>
- <height>21</height>
- </rect>
- </property>
- <property name="text" >
- <string>&Obstacle simulation</string>
- </property>
- </widget>
- </widget>
- <tabstops>
- <tabstop>gvAcc</tabstop>
- <tabstop>slMotorLeft</tabstop>
- <tabstop>slMotorRight</tabstop>
- <tabstop>btStopMotors</tabstop>
- <tabstop>cbJoinMotors</tabstop>
- <tabstop>gvPlayground</tabstop>
- <tabstop>dServo4</tabstop>
- <tabstop>btDopravnikBack</tabstop>
- <tabstop>dServo3</tabstop>
- <tabstop>btDopravnikFront</tabstop>
- <tabstop>cbFrontDoor</tabstop>
- <tabstop>cbInnerDoor</tabstop>
- <tabstop>cbBackDoor</tabstop>
- <tabstop>cbLaunch</tabstop>
- <tabstop>cbIR13</tabstop>
- <tabstop>cbIR12</tabstop>
- <tabstop>cbIR11</tabstop>
- <tabstop>cbIR10</tabstop>
- <tabstop>cbIR9</tabstop>
- <tabstop>cbIR16</tabstop>
- <tabstop>cbIR15</tabstop>
- <tabstop>cbIR14</tabstop>
- <tabstop>cbIR8</tabstop>
- <tabstop>cbIR7</tabstop>
- <tabstop>cbIR6</tabstop>
- <tabstop>cbIR5</tabstop>
- <tabstop>cbIR4</tabstop>
- <tabstop>cbIR3</tabstop>
- <tabstop>cbIR2</tabstop>
- <tabstop>cbIR1</tabstop>
- <tabstop>cbDI0</tabstop>
- <tabstop>cbDI1</tabstop>
- <tabstop>cbDI2</tabstop>
- <tabstop>cbDI3</tabstop>
- <tabstop>cbDI4</tabstop>
- <tabstop>cbDI5</tabstop>
- <tabstop>cbDI6</tabstop>
- <tabstop>cbDI7</tabstop>
- <tabstop>cbDO0</tabstop>
- <tabstop>cbDO1</tabstop>
- <tabstop>cbDO2</tabstop>
- <tabstop>cbDO3</tabstop>
- <tabstop>cbDO4</tabstop>
- <tabstop>cbDO5</tabstop>
- <tabstop>cbDO6</tabstop>
- <tabstop>cbDO7</tabstop>
- <tabstop>tbX</tabstop>
- <tabstop>tbY</tabstop>
- <tabstop>tbPhi</tabstop>
- <tabstop>tbX2</tabstop>
- <tabstop>tbY2</tabstop>
- <tabstop>tbPhi2</tabstop>
- <tabstop>btMap</tabstop>
- <tabstop>cbSimulation</tabstop>
- <tabstop>cbObstackle</tabstop>
- <tabstop>slB1</tabstop>
- <tabstop>slB2</tabstop>
- <tabstop>slB3</tabstop>
- <tabstop>slA1</tabstop>
- <tabstop>slA2</tabstop>
- <tabstop>slA3</tabstop>
- <tabstop>slA4</tabstop>
- <tabstop>tbTelnet</tabstop>
- </tabstops>
- <resources/>
- <connections/>
-</ui>
+++ /dev/null
-//
-// C++ Interface: robomon_orte
-//
-// Description:
-//
-//
-// Author: Martin Zidek,,, <martin@martin-laptop>, (C) 2007
-//
-// Copyright: See COPYING file that comes with this distribution
-//
-//
-#include <orte.h>
-#ifdef CONFIG_ORTE_RTL
- #include <linux/module.h>
- #include <posix/pthread.h>
- #define printf rtl_printf
-#elif defined CONFIG_ORTE_RTAI
- #include <linux/module.h>
- #include <rtai/compat.h>
- #define printf rt_printk
-#else
- #include <stdio.h>
-#endif
-
-#include <robottype.h>
-#include <robottype_eb2007.h>
-
-ORTEDomain *d;
-ORTEPublication *publisherDO;
-ORTEPublication *publisherMotor;
-ORTEPublication *publisherServa;
-ORTEPublication *publisherSharpShort;
-ORTEPublication *publisherSharpLong;
-
-
-
-unsigned int accelRecv[3];
-struct stateDigIn_type stateDI;
-uint16_t stateIR;
-unsigned char stateIR2;
-bool stateDO[8];
-short int motorSpeedCmd[2];
-uint16_t sharpToRecv[4];
-//uint8_t serva[8];
-
-struct motion_status_type ms;
-struct motion_speed_type mspeed;
-struct stateInnerIR_type sir;
-struct sharpLongs_type ss1;
-struct sharpShorts_type ss2;
-struct stateServa_type serva;
-struct position_type pozice;
-struct position_type est_pos;
-struct accumulator_type accu;
-
-enum {
- BOTTLE = 0,
- CAN,
- UNKNOWN
-};
-
-void recvPositionCallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam);
-void recvSharp1CallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam);
-void recvSharp2CallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam);
-void recvDICallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam);
-void recvIRCallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam);
-void recvAccelCallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam);
-void sendCallBackServo(const ORTESendInfo *info,void *vinstance, void *sendCallBackParam);
-void recvPosCallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam);
-void recvEstPosCallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam);
-void recvMsCallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam);
-void recvAccuCallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam);
-
-void sendCallBackSensLong(const ORTESendInfo *info,void *vinstance, void *sendCallBackParam) {
- struct sharpLongs_type *instance=(struct sharpLongs_type*)vinstance;
-
- switch (info->status) {
- case NEED_DATA:
- break;
- case CQL: //criticalQueueLevel
- break;
- }
-}
-
-void *publisherCreateSensLong(void *arg) {
- NtpTime persistence, delay;
- robomon* ptr = (robomon*)arg;
-
- sharpLongs_type_register(d);
- NTPTIME_BUILD(persistence,3);
- NTPTIME_BUILD(delay,1);
- publisherSharpLong=ORTEPublicationCreate(d, "sharpSouper", "sharpLongs", &(ptr->sharpySouper), &persistence, 2, sendCallBackSensLong, arg, &delay);
- return arg;
-}
-
-void sendCallBackSensShort(const ORTESendInfo *info,void *vinstance, void *sendCallBackParam) {
- struct sharpShorts_type *instance=(struct sharpShorts_type*)vinstance;
-
- switch (info->status) {
- case NEED_DATA:
- break;
- case CQL: //criticalQueueLevel
- break;
- }
-}
-
-void *publisherCreateSensShort(void *arg) {
- NtpTime persistence, delay;
- robomon* ptr = (robomon*)arg;
-
- sharpShorts_type_register(d);
- NTPTIME_BUILD(persistence,3);
- NTPTIME_BUILD(delay,1);
- publisherSharpShort=ORTEPublicationCreate(d, "sharpLahve", "sharpShorts", &(ptr->sharpyLahve), &persistence, 2, sendCallBackSensShort, arg, &delay);
- return arg;
-}
-
-void sendCallBackServo(const ORTESendInfo *info,void *vinstance, void *sendCallBackParam) {
- struct stateServa_type *instance=(struct stateServa_type*)vinstance;
-
- switch (info->status) {
- case NEED_DATA:
- break;
- case CQL: //criticalQueueLevel
- break;
- }
-}
-
-void *publisherCreateServo(void *arg) {
- NtpTime persistence, delay;
-
- stateServa_type_register(d);
- NTPTIME_BUILD(persistence,3);
- NTPTIME_BUILD(delay,1);
- publisherServa=ORTEPublicationCreate(d, "serva", "stateServa", &serva, &persistence, 1, sendCallBackServo, arg, &delay);
- return arg;
-}
-
-
-void *publisherDOCreate(void *arg) {
- NtpTime persistence, delay;
-
- ORTETypeRegisterAdd(d,"DOMsg",NULL,NULL,NULL,sizeof(stateDO));
- NTPTIME_BUILD(persistence,3);
- NTPTIME_BUILD(delay,1);
- publisherDO=ORTEPublicationCreate(d, "DO", "DOMsg", &stateDO, &persistence, 1, NULL, NULL, &delay);
- return arg;
-}
-
-void sendCallBackMotor(const ORTESendInfo *info,void *vinstance, void *sendCallBackParam) {
- struct motion_speed_type *instance=(struct motion_speed_type*)vinstance;
-
- switch (info->status) {
- case NEED_DATA:
- break;
- case CQL: //criticalQueueLevel
- break;
- }
-}
-
-void *publisherMotorCreate(void *arg) {
- NtpTime persistence, delay;
-
- motion_speed_type_register(d);
- NTPTIME_BUILD(persistence,3);
- NTPTIME_BUILD(delay,1);
- publisherMotor=ORTEPublicationCreate(d, "motor", "motion_speed", &mspeed, &persistence, 1, sendCallBackMotor, NULL, &delay);
- return arg;
-}
-
-void *subscriberAccuCreate(void *arg) {
- ORTESubscription *s;
- NtpTime deadline,minimumSeparation;
-
- accumulator_type_register(d);
- NTPTIME_BUILD(deadline,10);
- NTPTIME_BUILD(minimumSeparation,0);
- s=ORTESubscriptionCreate(d, IMMEDIATE, BEST_EFFORTS, "accu", "accumulator", &accu, &deadline, &minimumSeparation, recvAccuCallBack, arg, IPADDRESS_INVALID);
- return arg;
-}
-
-void *subscriberPositionCreate(void *arg) {
- ORTESubscription *s;
- NtpTime deadline,minimumSeparation;
-
- position_type_register(d);
- NTPTIME_BUILD(deadline,10);
- NTPTIME_BUILD(minimumSeparation,0);
- s=ORTESubscriptionCreate(d, IMMEDIATE, BEST_EFFORTS, "pos", "position", &pozice, &deadline, &minimumSeparation, recvPosCallBack, arg, IPADDRESS_INVALID);
- return arg;
-}
-
-void *subscriberEstPositionCreate(void *arg) {
- ORTESubscription *s;
- NtpTime deadline,minimumSeparation;
-
- position_type_register(d);
- NTPTIME_BUILD(deadline,10);
- NTPTIME_BUILD(minimumSeparation,0);
- s=ORTESubscriptionCreate(d, IMMEDIATE, BEST_EFFORTS, "est_pos", "position", &est_pos, &deadline, &minimumSeparation, recvEstPosCallBack, arg, IPADDRESS_INVALID);
- return arg;
-}
-
-
-void *subscriberSharp1Create(void *arg) {
- ORTESubscription *s;
- NtpTime deadline,minimumSeparation;
-
- sharpLongs_type_register(d);
- NTPTIME_BUILD(deadline,10);
- NTPTIME_BUILD(minimumSeparation,0);
- s=ORTESubscriptionCreate(d, IMMEDIATE, BEST_EFFORTS, "sharpSouper", "sharpLongs", &ss1, //FIXME
- &deadline, &minimumSeparation, recvSharp1CallBack, arg, IPADDRESS_INVALID);
- return arg;
-}
-
-void * subscriberSharp2Create(void *arg) {
- ORTESubscription *s;
- NtpTime deadline,minimumSeparation;
-
- sharpShorts_type_register(d);
- NTPTIME_BUILD(deadline,10);
- NTPTIME_BUILD(minimumSeparation,0);
- s=ORTESubscriptionCreate(d, IMMEDIATE, BEST_EFFORTS, "sharpLahve", "sharpShorts", &ss2, &deadline, &minimumSeparation, recvSharp2CallBack, arg, IPADDRESS_INVALID);
- return arg;
-}
-
-void *subscriberCreateDI(void *arg) {
- ORTESubscription *s;
- NtpTime deadline,minimumSeparation;
-
- stateDigIn_type_register(d);
- NTPTIME_BUILD(deadline,10);
- NTPTIME_BUILD(minimumSeparation,0);
- s=ORTESubscriptionCreate(d, IMMEDIATE, BEST_EFFORTS, "DI", "stateDigIn", &stateDI, &deadline, &minimumSeparation, recvDICallBack, arg, IPADDRESS_INVALID);
- return arg;
-}
-
-void *subscriberCreateIR(void *arg) {
- ORTESubscription *s;
- NtpTime deadline,minimumSeparation;
-
- stateInnerIR_type_register(d);
- NTPTIME_BUILD(deadline,10);
- NTPTIME_BUILD(minimumSeparation,0);
- s=ORTESubscriptionCreate(d, IMMEDIATE, BEST_EFFORTS, "IR", "stateInnerIR", &sir, &deadline, &minimumSeparation, recvIRCallBack, arg, IPADDRESS_INVALID);
- return arg;
-}
-
-
-void *subscriberCreateMotionStatus(void *arg) {
- ORTESubscription *s;
- NtpTime deadline,minimumSeparation;
-
- motion_status_type_register(d);
- NTPTIME_BUILD(deadline,10);
- NTPTIME_BUILD(minimumSeparation,0);
- s=ORTESubscriptionCreate(d, IMMEDIATE, BEST_EFFORTS, "motion_status", "motion_status", &ms, &deadline, &minimumSeparation, recvMsCallBack, arg, IPADDRESS_INVALID);
- return arg;
-}
-
-void *subscriberAccelCreate(void *arg) {
- ORTESubscription *s;
- NtpTime deadline,minimumSeparation;
-
- ORTETypeRegisterAdd(d,"AccelMsg",NULL,NULL,NULL,sizeof(accelRecv));
- NTPTIME_BUILD(deadline,10);
- NTPTIME_BUILD(minimumSeparation,0);
- s=ORTESubscriptionCreate(d, IMMEDIATE, BEST_EFFORTS, "accel", "AccelMsg", &accelRecv, &deadline, &minimumSeparation, recvAccelCallBack, arg, IPADDRESS_INVALID);
- return arg;
-}
-
-void recvAccuCallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam) {
- robomon* ptr = (robomon*)recvCallBackParam;
- QEvent* event = new QEvent(EVENT_ACCU);
- switch (info->status) {
- case NEW_DATA:
- QCoreApplication::postEvent(ptr, event);
- break;
- case DEADLINE:
- printf("accu deadline occurred\n");
- break;
- }
-}
-
-void recvPosCallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam) {
- robomon* ptr = (robomon*)recvCallBackParam;
- QEvent* event = new QEvent(EVENT_POS);
- switch (info->status) {
- case NEW_DATA:
- QCoreApplication::postEvent(ptr, event);
- break;
- case DEADLINE:
- printf("pos deadline occurred\n");
- break;
- }
-}
-
-void recvEstPosCallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam) {
- robomon* ptr = (robomon*)recvCallBackParam;
- QEvent* event = new QEvent(EVENT_EST_POS);
- switch (info->status) {
- case NEW_DATA:
- QCoreApplication::postEvent(ptr, event);
- break;
- case DEADLINE:
- printf("est_pos deadline occurred\n");
- break;
- }
-}
-
-void recvSharp1CallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam) {
- robomon* ptr = (robomon*)recvCallBackParam;
- QEvent* event = new QEvent(EVENT_SHARP);
- switch (info->status) {
- case NEW_DATA:
- QCoreApplication::postEvent(ptr, event);
- break;
- case DEADLINE:
- printf("sharp1 deadline occurred\n");
- break;
- }
-}
-
-void recvSharp2CallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam) {
- robomon* ptr = (robomon*)recvCallBackParam;
- QEvent* event = new QEvent(EVENT_SHARP);
- switch (info->status) {
- case NEW_DATA:
- QCoreApplication::postEvent(ptr, event);
- break;
- case DEADLINE:
- printf("sharp2 deadline occurred\n");
- break;
- }
-}
-
-void recvDICallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam) {
- robomon* ptr = (robomon*)recvCallBackParam;
- QEvent* event = new QEvent(EVENT_DI);
- switch (info->status) {
- case NEW_DATA:
- QCoreApplication::postEvent(ptr, event);
- break;
- case DEADLINE:
- printf("DI deadline occurred\n");
- break;
- }
-}
-
-void recvIRCallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam) {
- robomon* ptr = (robomon*)recvCallBackParam;
- QEvent* event = new QEvent(EVENT_IR);
- switch (info->status) {
- case NEW_DATA:
- QCoreApplication::postEvent(ptr, event);
- break;
- case DEADLINE:
- printf("IR deadline occurred\n");
- break;
- }
-}
-
-void recvMsCallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam) {
-// robomon* ptr = (robomon*)recvCallBackParam;
-// QEvent* event = new QEvent(EVENT_IR);
- switch (info->status) {
- case NEW_DATA:
-// printf("motion status left=%x, right=%x\n",ms.err_left,ms.err_right);
-// QCoreApplication::postEvent(ptr, event);
- break;
- case DEADLINE:
- printf("motion status deadline occurred\n");
- break;
- }
-}
-
-void recvAccelCallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam) {
- unsigned int *instance=(unsigned int*)vinstance;
-// robomon* ptr = (robomon*)recvCallBackParam;
-// QEvent* event = new QEvent(QEvent::User);
- switch (info->status) {
- case NEW_DATA:
- printf("accel: %d, %d, %d\n",instance[0]>>16,instance[1]>>16,instance[2]>>16);
- //QCoreApplication::postEvent(ptr, event);
- //printf("data: %d\n",instance[0][0]);
- break;
- case DEADLINE:
- printf("accel deadline occurred\n");
- break;
- }
-}
-
-void recvMotionStatusCallBack(const ORTERecvInfo *info,void *vinstance, void *recvCallBackParam) {
-// robomon* ptr = (robomon*)recvCallBackParam;
-// QEvent* event = new QEvent(QEvent::User);
- switch (info->status) {
- case NEW_DATA:
- printf("motion status: %x, %x\n",ms.err_left,ms.err_right);
- //QCoreApplication::postEvent(ptr, event);
- //printf("data: %d\n",instance[0][0]);
- break;
- case DEADLINE:
- printf("motion status deadline occurred\n");
- break;
- }
-}
-
-void *orte_function( void *ptr )
-{
- ORTEInit();
- ORTEVerbositySetOptions("ALL.0");
- d=ORTEDomainAppCreate(ORTE_DEFAULT_DOMAIN,NULL,NULL,ORTE_FALSE);
-
- if (!d) {
- printf("ORTEDomainAppCreate failed!\n");
- }
- publisherCreateServo(ptr);
-// subscriberAccelCreate(NULL);
- publisherDOCreate(NULL);
- publisherMotorCreate(NULL);
- subscriberCreateDI(ptr);
- subscriberCreateIR(ptr);
- subscriberSharp1Create(ptr);
- subscriberSharp2Create(ptr);
- subscriberPositionCreate(ptr);
- subscriberEstPositionCreate(ptr);
- subscriberCreateDI(ptr);
-// subscriberCreateMotionStatus(NULL);
- return NULL;
-}
+++ /dev/null
-
-#include "robot.h"
-#include <math.h>
-#include <QPen>
-#include "playgroundscene.h"
-
-robot::robot(QGraphicsItem *parent, QGraphicsScene *scene, int color) : QGraphicsItem(parent)
-{
- actPhi = M_PI/2;
-
- this->scene = scene;
-
- this->robotBody = new QGraphicsRectItem(QRectF(OFFSET_X,OFFSET_Y,ROBOT_SIZE_X,ROBOT_SIZE_Y),parent,scene);
- this->robotBody->setPen(QPen(QBrush(Qt::black),1,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin));
- switch (color) {
- case 0:
- this->robotBody->setBrush(QBrush(Qt::black));
- break;
- case 1:
- this->robotBody->setBrush(QBrush(Qt::green));
- break;
- case 2:
- this->robotBody->setBrush(QBrush(Qt::yellow));
- break;
- case 3:
- this->robotBody->setBrush(QBrush(Qt::gray));
- break;
- default:
- this->robotBody->setBrush(QBrush(Qt::black));
- break;
- }
- this->robotBody->setParentItem(this);
- this->robotBody->setZValue(10);
- ;
- this->sensShort[0] = new QGraphicsLineItem(OFFSET_X+2*2,OFFSET_Y,OFFSET_X+2*2,OFFSET_Y-30*2,parent,scene);
-
- this->sensShort[1] = new QGraphicsLineItem(OFFSET_X+9.5*2,OFFSET_Y,OFFSET_X+9.5*2,OFFSET_Y-30*2,parent,scene);
-
- this->sensShort[2] = new QGraphicsLineItem(OFFSET_X+17*2,OFFSET_Y,OFFSET_X+17*2,OFFSET_Y-30*2,parent,scene);
-
- this->sensShort[3] = new QGraphicsLineItem(OFFSET_X+28*2,OFFSET_Y,OFFSET_X+28*2,OFFSET_Y-30*2,parent,scene);
-
- this->sensShort[4] = new QGraphicsLineItem(OFFSET_X+25*2,OFFSET_Y+ROBOT_SIZE_Y,OFFSET_X+25*2,OFFSET_Y+ROBOT_SIZE_Y+30*2,parent,scene);
-
- this->sensShort[5] = new QGraphicsLineItem(OFFSET_X+5*2,OFFSET_Y+ROBOT_SIZE_Y,OFFSET_X+5*2,OFFSET_Y+ROBOT_SIZE_Y+30*2,parent,scene);
-
- for(int i=0;i<6;i++) {
- this->sensShort[i]->setParentItem(this);
- this->sensShort[i]->setPen(QPen(QBrush(Qt::red),2,Qt::DashLine,Qt::FlatCap,Qt::BevelJoin));
- }
-
- this->sensLong[0] = new QGraphicsLineItem(OFFSET_X+5*2,OFFSET_Y,OFFSET_X+5*2,OFFSET_Y-80*2,parent,scene);
-
- this->sensLong[1] = new QGraphicsLineItem(OFFSET_X+15*2,OFFSET_Y,OFFSET_X+15*2,OFFSET_Y-80*2,parent,scene);
-
- this->sensLong[2] = new QGraphicsLineItem(OFFSET_X+25*2,OFFSET_Y,OFFSET_X+25*2,OFFSET_Y-80*2,parent,scene);
-
- this->setZValue(10);
-
-// for(int i=0; i<3; i++) {
-// beacons[i] = new QGraphicsLineItem(parent, scene);
-// // beacon1->setLine(QLineF(OFFSET_X+ROBOT_SIZE_X/2,OFFSET_Y+ROBOT_SIZE_Y/2,BEACON1_X,BEACON1_Y));
-// beacons[i]->setPen(QPen(QBrush(Qt::cyan),2,Qt::SolidLine,Qt::SquareCap,Qt::BevelJoin));
-// beacons[i]->setZValue(20);
-// }
-// beacon2 = new QGraphicsLineItem(parent, scene);
-// beacon2->setLine(QLineF(OFFSET_X+ROBOT_SIZE_X/2,OFFSET_Y+ROBOT_SIZE_Y/2,BEACON2_X,BEACON2_Y));
-// beacon2->setPen(QPen(QBrush(Qt::cyan),2,Qt::SolidLine,Qt::SquareCap,Qt::BevelJoin));
-// beacon2->setZValue(20);
-
-// beacon3 = new QGraphicsLineItem(parent, scene);
-// beacon3->setLine(QLineF(OFFSET_X+ROBOT_SIZE_X/2,OFFSET_Y+ROBOT_SIZE_Y/2,BEACON3_X,BEACON3_Y));
-// beacon3->setPen(QPen(QBrush(Qt::cyan),2,Qt::SolidLine,Qt::SquareCap,Qt::BevelJoin));
-// beacon3->setZValue(20);
-
- this->pCenter = new QPoint(OFFSET_X+ROBOT_SIZE_X/2, 420 - OFFSET_Y -ROBOT_SIZE_Y);
-}
-
-void robot::initBeacons() {
-
- setBeaconAngle(0,M_PI/4);
- beacons[0]->setLine(this->pos().x()+ROBOT_SIZE_X/2,this->pos().y()+ROBOT_SIZE_Y/2,BEACON1_X,BEACON1_Y);
- beacons[1]->setLine(this->pos().x()+ROBOT_SIZE_X/2,this->pos().y()+ROBOT_SIZE_Y/2,BEACON2_X,BEACON2_Y);
- beacons[2]->setLine(this->pos().x()+ROBOT_SIZE_X/2,this->pos().y()+ROBOT_SIZE_Y/2,BEACON3_X,BEACON3_Y);
-}
-
-void robot::setBeaconAngle(int idx, double angle) {
- double y,x;
- double c = 800;
- angle+=actPhi;
- y = c*(sin(angle));
- x = c*(cos(angle));
- if(angle>M_PI) y = -y;
- if((angle>M_PI/2)&&(angle<3*M_PI/2)) x = -x;
- printf("x %d, y %d\n",pCenter->x(),pCenter->y());
-// printf("x %f, y %f, c %f, sin %f, cos %f\n",a,b,c,sin(angle),cos(angle));
- beacons[idx]->setLine(0,0,(int)x,(int)y);
- beacons[idx]->moveBy(pCenter->x(),420-pCenter->y());
-}
-
-robot::~robot()
-{
-}
-
-QRectF robot::boundingRect() const
- {
- return QRectF(this->pos().x(), this->pos().y(), ROBOT_SIZE_X+80, ROBOT_SIZE_Y+80);
- }
-
-void robot::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
- {
- Q_UNUSED(option);
- Q_UNUSED(widget);
-// Q_UNUSED(painter);
-
-// painter->setPen(QPen(QBrush(Qt::black),1,Qt::SolidLine,Qt::FlatCap,Qt::BevelJoin));
-// painter->setBrush(QBrush(Qt::black));
-// painter->drawRect(QRectF(OFFSET_X,OFFSET_Y,ROBOT_SIZE_X,ROBOT_SIZE_Y));
-}
-
-void robot::rotateRobot ( qreal angle )
-{
- this->translate(ROBOT_SIZE_X/2,ROBOT_SIZE_Y/2);
- this->rotate(angle);
- this->translate(-ROBOT_SIZE_X/2,-ROBOT_SIZE_Y/2);
-}
-
-void robot::sensorRange(qreal size, int sens_id)
-{
- qreal x1 = this->sensShort[sens_id]->line().x1();
- qreal y1 = this->sensShort[sens_id]->line().y1();
- qreal x2 = this->sensShort[sens_id]->line().x2();
- qreal y2 = this->sensShort[sens_id]->line().y2();
-
- qreal dx = x1+size*(x2-x1);
- qreal dy = y1+size*(y2-y1);
-
- this->sensShort[sens_id]->setLine(x1,y1,dx,dy);
-}
-
-void robot::moveRobot(double x, double y, double phi)
-{
- QPointF pos(x,y);
- pos = PlaygroundScene::world2scene(pos);
- //TODO use this transpormation function
-
- this->setPos(x*100*2-(ROBOT_SIZE_X/2),420-ROBOT_SIZE_Y-(y*100*2)+(ROBOT_SIZE_Y/2));
-// this->setPos(x*100*2-(ROBOT_SIZE_X),420-ROBOT_SIZE_Y-(y*100*2)+(ROBOT_SIZE_Y/2));
- this->rotateRobot((actPhi-phi)*180/M_PI);
- actPhi = phi;
-}
+++ /dev/null
-
-#ifndef ROBOT_H
-#define ROBOT_H
-
-#include <QGraphicsItem>
-#include <QGraphicsLineItem>
-#include <QPainter>
-
-#define ROBOT_SIZE_X 30 * 2
-#define ROBOT_SIZE_Y 30 * 2
-#define OFFSET_X 10
-#define OFFSET_Y 0
-#define SENSOR_SHORT_COUNT 6
-#define SENSOR_LONG_COUNT 10
-
-#define BEACON1_X 600 + OFFSET_X
-#define BEACON1_Y 210 + OFFSET_Y
-#define BEACON2_X 0 + OFFSET_X
-#define BEACON2_Y 420 + OFFSET_Y
-#define BEACON3_X 0 + OFFSET_X
-#define BEACON3_Y 0 + OFFSET_Y
-
-/**
- @author Martin Zidek
-*/
-
-/*struct position {
- qreal x;
- qreal y;
- qreal angle;
-};*/
-
-class robot : public QGraphicsItem
-{
-
-//Q_OBJECT
-public:
- QGraphicsScene *scene;
- robot(QGraphicsItem *parent = 0, QGraphicsScene *scene = 0, int color = 0);
-
- ~robot();
- //robotSensor *sens;
- QGraphicsLineItem *sensShort[SENSOR_SHORT_COUNT];
- QGraphicsLineItem *sensLong[SENSOR_LONG_COUNT];
- QGraphicsRectItem *robotBody;
- QGraphicsLineItem *beacons[3];
- QPoint *pCenter;
- QRectF boundingRect() const;
- void initBeacons();
- void setBeaconAngle(int,double);
- void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
- void rotateRobot (qreal angle);
- void sensorRange(qreal size, int sens_id);
- void moveRobot(double,double,double);
- char id;
- qreal actPhi;
-};
-
-#endif
+++ /dev/null
-SOURCES += robomon.cpp \
- robot.cpp \
- main.cpp \
- playgroundscene.cpp
-TEMPLATE = app
-CONFIG += warn_on \
- thread \
- qt \
- debug
-TARGET = ../bin/robomon
-RESOURCES = application.qrc
-FORMS += robomon.ui
-
-HEADERS += robomon.h \
-ui_robomon.h \
-robot.h \
-posregcmu.h \
-mymath.h \
-robomon_orte.h \
-mapthread.h \
- playgroundscene.h
-LIBS += -lpthread -lorte -lrobottype -lrobottype_eb2007 -lsharp -lmap
-
-OBJECTS_DIR=../../../build/linux/_build/user/robomon
-DESTDIR=../../../build/linux/_compiled/bin
+++ /dev/null
-QT += opengl
-SOURCES += main.cpp \
- MainWindow.cpp \
- RobomonAtlantis.cpp \
- RobomonTuning.cpp \
- SimMcl.cpp \
- SimLaser.cpp \
- PlaygroundScene.cpp \
- Robot.cpp \
- SmallRobot.cpp \
- MclPainter.cpp \
- AnglesHistogramPainter.cpp \
- Widget.cpp \
- GlWidget.cpp \
- MiscGui.cpp \
- robomon_orte.cpp
-
-TEMPLATE = app
-CONFIG += warn_on \
- thread \
- qt \
- debug
-
-TARGET = ../bin/robomon2
-
-INCLUDEPATH += ../../../build/linux/_compiled/include
-LIBPATH += ../../../build/linux/_compiled/lib
-RESOURCES = robomon.qrc
-
-HEADERS += MainWindow.h \
- RobomonAtlantis.h \
- RobomonTuning.h \
- SimMcl.h \
- SimLaser.h \
- PlaygroundScene.h \
- Robot.h \
- SmallRobot.h \
- Painter.h \
- MclPainter.h \
- AnglesHistogramPainter.h \
- Widget.h \
- GlWidget.h \
- MiscGui.h \
- robomon_orte.h
-
-LIBS += -lm -lpthread -lmcl -llaser-nav -lrobodim -lrobomath -lroboorte -lrobottype -lorte -lsharp -lmap
-
-OBJECTS_DIR = ../../../build/linux/_build/user/robomon2/
-MOC_DIR = ../../../build/linux/_build/user/robomon2/
-UI_DIR = ../../../build/linux/_build/user/robomon2/
-DESTDIR = ../../../build/linux/_compiled/bin
projects / eurobot / public.git / commitdiff
