robomon.h

#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 <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_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)


class robomon : public QWidget, private Ui::Form
{
  Q_OBJECT

public:

        int shared_segment_size;
        

        int segment_id;
        

    PlaygroundScene* scene;
        

        robot *rob;
        

        sharpShorts sharpyLahve;
        

        sharpLongs sharpySouper;
        

        QTimer *timer;
        

        _Map *map;      
        

        int size;


        robomon(QWidget* parent = 0, Qt::WFlags fl = 0);
        

        ~robomon();
        

        bool event(QEvent *evet);
        

        void setDI(stateDigIn);
        

        void setSharp();
        
        
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);
        

        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

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