From 770a13c3b48415ee4fce00089122d309b43c84e1 Mon Sep 17 00:00:00 2001
From: Michal Sojka <sojkam1@fel.cvut.cz>
Date: Sat, 1 May 2010 11:45:24 +0200
Subject: [PATCH] robomon: Add color chooser

---
 src/robomon/RobomonAtlantis.cpp | 12 ++++++++++--
 src/robomon/RobomonAtlantis.h   |  3 ++-
 2 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/src/robomon/RobomonAtlantis.cpp b/src/robomon/RobomonAtlantis.cpp
index 176bb33a..cbc835b3 100644
--- a/src/robomon/RobomonAtlantis.cpp
+++ b/src/robomon/RobomonAtlantis.cpp
@@ -176,8 +176,8 @@ void RobomonAtlantis::createMiscGroupBox()
 	startPlug = new QCheckBox("Start plug");
 	layout->addWidget(startPlug);
 	
-	puckInside = new QCheckBox("Puck inside");
-	layout->addWidget(puckInside);
+	colorChoser = new QCheckBox("Team color");
+	layout->addWidget(colorChoser);
 	
 	miscGroupBox->setLayout(layout);
 }
@@ -369,6 +369,7 @@ void RobomonAtlantis::createActions()
 // 			this, SLOT(stopMotors()));
 
 	connect(startPlug, SIGNAL(stateChanged(int)), this, SLOT(sendStart(int)));
+	connect(colorChoser, SIGNAL(stateChanged(int)), this, SLOT(setTeamColor(int)));
 	
 	/* obstacle simulation */
 	simulationEnabled = 0;
@@ -780,6 +781,7 @@ void RobomonAtlantis::createOrte()
 
 	robottype_publisher_pwr_ctrl_create(&orte, dummy_publisher_callback, NULL);
 	robottype_publisher_robot_cmd_create(&orte, NULL, &orte);
+	robottype_publisher_robot_switches_create(&orte, dummy_publisher_callback, &orte);
 
 	/* subscribers */
 	robottype_subscriber_pwr_voltage_create(&orte, 
@@ -967,6 +969,12 @@ void RobomonAtlantis::sendStart(int plug)
 	ORTEPublicationSend(orte.publication_robot_cmd);
 }
 
+void RobomonAtlantis::setTeamColor(int plug)
+{
+	orte.robot_switches.team_color = plug ? 1 : 0;
+	ORTEPublicationSend(orte.publication_robot_switches);
+}
+
 void RobomonAtlantis::resetTrails()
 {
 	trailRefPos->reset();
diff --git a/src/robomon/RobomonAtlantis.h b/src/robomon/RobomonAtlantis.h
index dca085fc..8a762c70 100644
--- a/src/robomon/RobomonAtlantis.h
+++ b/src/robomon/RobomonAtlantis.h
@@ -77,6 +77,7 @@ private slots:
 	void simulateObstaclesHokuyo();
 	void changeObstacle(QPointF position);
 	void sendStart(int plug);
+	void setTeamColor(int plug);
 
 	/************************************************************
 	 * ORTE 
@@ -157,7 +158,7 @@ private:
 	QLabel *fsm_act_state;
 	QLabel *fsm_motion_state;
 	QCheckBox *startPlug;
-	QCheckBox *puckInside;
+	QCheckBox *colorChoser;
 public:
 	/* robot */
 	Robot *robotRefPos;
-- 
2.39.2