#ifndef ROMEOMAINWINDOW_H #define ROMEOMAINWINDOW_H // QT Includes #include #include #include #include #include #include #include // Romeo HMI Includes #include "ui_MainWindow_HMI2.h" #include "scaledialog.h" #include "trajectoryDialog.h" #include "mapscene.h" // YARP Includes #include #include // OpenCV Includes #undef HAVE_IPL // #ifndef HAVE_IPL // #define HAVE_IPL #include #include // URUS Includes #include "../../dcx/comms.h" #include "../../ekfloc/comms.h" #include "../../ekfloc6d/comms.h" #include "../../common/communications/Comms.h" #include "../../common/trajectory/Trajectory.h" #include "../../purpur/comms.h" // Namespaces using namespace yarp::sig; using namespace yarp::sig::draw; using namespace yarp::sig::file; class RomeoMainWindow : public QMainWindow, private Ui::MainWindow { Q_OBJECT public: /*$PUBLIC_FUNCTIONS$*/ RomeoMainWindow(QWidget* parent = 0, Qt::WFlags fl = 0 ); ~RomeoMainWindow(); public slots: /*$PUBLIC_SLOTS$*/ signals: /*$SIGNAL$*/ void message(QString); // info text message signal protected: /*$PROTECTED_FUNCTIONS$*/ void closeEvent(QCloseEvent *event); protected slots: /*$PROTECTED_SLOTS$*/ private slots: /*$PRIVATE_SLOTS$*/ void about(); void aboutQt(); void exitApplication(); void openMap(); void loadMap(QString mapName); void read_odometry_values(); void check_YARP_network(); void read_system_status(); void initialtrajectorypoint(); // Signals for Control Trajectory and void nexttrajectorypoint(); // graphic view. void changeThetaInit(); void showMessage(QString); // Show message on status bar void showTrajectory(QString); // Show trajectory on Map void changeRobotPosition(QPoint position); void ungrabRomeo(); void zooming(int value); void zoomFit(); void openTraject(); void loadTrajectory(QString trajectoryName); void loadSemanticSpots(QString mapname); void mapPressEvent(QPointF clickedPoint); void trashtrajectory(); void upArrow(); void downArrow(); void leftArrow(); void rightArrow(); void panicEvent(); void launchEvent(); void trajetoryFinalized(); void graphicview2romeo(double *x_graph,double *y_graph); void romeo2graphicview(double *x_graph,double *y_graph); void map2graphicview(double *x,double *y); void graphicview2map(double *x,double *y); void launch_LAUNCHER_Process(); void stop_LAUNCHER_Process(); void stop_ALL_CONTROL_Process(); // Sensors Views void connect_LASER2D_sensor(); void disconnect_LASER2D_sensor(); void connect_ELEVATIONMAP_sensor(); void disconnect_ELEVATIONMAP_sensor(); void connect_TRANSMAP_sensor(); void disconnect_TRANSMAP_sensor(); void IplImage2QImage(IplImage *src,QGraphicsPixmapItem * pixmapElement, QGraphicsScene *sensorScene); void switchElevationView(); void switchTransView(); private: void createActions(); void initialValues(); void createGraphicsView(); void startYarpCommunications(); // CONTROL PROCESS QSplashScreen *splash; QProcess *LAUNCHER_Process; QString LAUNCHER_Program; QString LAUNCHER_Directory; // Main Graphic View MapScene scene; QPixmap map; int zoomPreviousValue; ScaleDialog MapScale; trajectoryDialog SelectTrajectory; QList spots; QList semanticSpotsList; QList semanticSpotsText; QList semanticInfo; QList maps; QList lines; QList absolutLines; QList waypoints; QList absolutWaypoints; QList trajectory_lines; QBrush romeo_brush; QPen romeo_pen; QGraphicsPixmapItem *romeo; QGraphicsPixmapItem romeo_local; // Boolean variables to indicate the actual mode of the Romeo GUI // Both variables at TRUE not allowed. bool trajectory_edit_mode; bool trajectory_executing_mode; bool setting_initial_point; bool theta_edit_mode; bool trajectoriesBYinterface; // Boolean variable indicating if Yarp Network is UP bool yarpRunning; // Trajectory points to use the GUI QPointF last_trajectory_point; QPointF initial_trajectory_point; QPointF global_init_point; int trajectory_points_number; // File and textstream for Test Trajectory QFile file; QTextStream test_trajectory_line; double map_width; // in Pixels double map_height; // in Pixels double map_x_axis_length; // in meters double map_y_axis_length; // in meters double map_X_scale; // Pixels/meter double map_Y_scale; // Pixels/meter double scene_x_axis_length; double scene_y_axis_length; double x_ini_global; // Romeo Graphic View Initial Position double y_ini_global; double x_ini_local; // Romeo Graphic View Initial Position double y_ini_local; double theta; double previous_theta; double theta_offset; double locale_romeo_x_ref; double locale_romeo_y_ref; double romeo_speed_reference; double m_stats[4]; // Values from /proc/stat double m_stats_new[4]; // For CPU Usage evaluation double m_stats_CPU1[7]; // Values from /proc/stat double m_stats_new_CPU1[7]; // For CPU Usage evaluation double m_stats_CPU2[7]; // Values from /proc/stat double m_stats_new_CPU2[7]; // For CPU Usage evaluation double CPU1_usage; double CPU2_usage; double physical_mem_usage; double swap_mem_usage; double tx_net_stats; // Values from /proc/dev/net double tx_net_stats_new; double rx_net_stats; // Values from /proc/dev/net double rx_net_stats_new; double x_ref; // From EKFLOC double y_ref; // From EKFLOC double orient_ref; // From EKFLOC double previous_orient_ref; double speed_ref; // From DCX double curv_ref; // From EKFLOC double yaw_ref; double pitch_ref; double roll_ref; // YARP Devices and Pointers for reading from the ports CDcxData * pyarpDcx; // Reading fron DCX // CLoc6DData * pyarpEkf; // Reading from EkFloc CLocData * pyarpEkf; // Reading from EkFloc // yarp::os::BufferedPort locInput; yarp::os::BufferedPort locInput; yarp::os::BufferedPort odomInput; yarp::os::BufferedPort purpurStatePort; CPurpurState * pyarpPurpur; int purpurState; int previousPurpurState; yarp::os::BufferedPort < yarp::sig::ImageOf > laser2DImageInput; yarp::sig::ImageOf * laser2DImage; IplImage *cvLaser2DImage; QGraphicsScene laser2Dscene; QGraphicsTextItem *laser2DInfoText; QGraphicsPixmapItem *laser2DPixmap; QGraphicsPixmapItem laser2DPixmap_local; QGraphicsEllipseItem *laserRange; QGraphicsPixmapItem *romeoImage; bool readLaser2DImage; double laser2D_x_axis_length; double laser2D_y_axis_length; yarp::os::BufferedPort < yarp::sig::ImageOf > elevationMapImageInput; yarp::sig::ImageOf * elevationMapImage; IplImage *cvelevationMapImage; QGraphicsScene elevationMapscene; QGraphicsTextItem *elevationMapInfoText; QGraphicsPixmapItem *elevationMapPixmap; QGraphicsPixmapItem elevationMapPixmap_local; bool readElevationMapImage; bool elevationMapMainView; double elevationMap_x_axis_length; double elevationMap_y_axis_length; yarp::os::BufferedPort < yarp::sig::ImageOf > transMapImageInput; yarp::sig::ImageOf * transMapImage; IplImage *cvTransMapImage; QGraphicsScene transMapscene; QGraphicsTextItem *transMapInfoText; QGraphicsPixmapItem *transMapPixmap; QGraphicsPixmapItem transMapPixmap_local; bool readTransMapImage; bool transMapMainView; double transMap_x_axis_length; double transMap_y_axis_length; QFont infoFont; }; #endif e-REdING. Biblioteca de la Escuela Superior de Ingenieros de Sevilla.


DISEÑO E IMPLEMENTACIÓN DE INTERFAZ PERSONA MÁQUINA Y SISTEMA DE ANÁLISIS POST-MISIÓN PARA ROBOT AUTÓNOMO MÓVIL ROMEO-4R

: PÉREZ DOMÍNGUEZ, DANIEL
: Ingeniería Telecomunicación
Contenido del proyecto:
Directorio raíz  >  CODE  >  hmi3  >  src  >  romeomainwindow.h