DriveView.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
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 */

#ifndef _MIRA_DRIVEVIEW_H_
#define _MIRA_DRIVEVIEW_H_

#include <QPushButton>
#include <QTimer>
#include <QKeyEvent>

#include <serialization/SetterNotify.h>
#include <rcp/ViewPart.h>
#include <views/PropertyViewPage.h>
#include <fw/Framework.h>
#include <fw/ServiceProperty.h>
#include <visualization/ChannelProperty.h>

#include <ui_DriveView.h>

namespace mira { namespace robot {


class DriveView : public ViewPart
{
    MIRA_META_OBJECT(DriveView,
                     ("Category",    "Robot")
                     ("Name",        "DriveView")
                     ("Description", "View for driving a robot around"))

public:
    DriveView();

    virtual ~DriveView();

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        r.property("VelocityIncrement", velocityIncrement,
                   "Increment for velocity in [m/s]", 0.1f);
        r.property("WatchdogTimeout", watchdogTimeout,
                   "Watchdog for stopping when no commands are signaled for "
                   "a given time", Duration::seconds(5));
        r.property("DriveService", driveService,
                   setterNotify(driveService, &DriveView::driveServiceChanged, this),
                   "Service used for driving", ServiceProperty("IDrive"));
        ChannelProperty<bool>::channelProperty(r, "MotorStopChannel", motorstopChannel,
                                               "The channel used to check motorstop status", ui);
    }

    virtual Object* getAdapter(const Class& adapter);

protected:
    virtual QWidget* createPartControl();

    void driveServiceChanged();

protected:
    float velocityIncrement;

    Duration watchdogTimeout;

    ServiceProperty driveService;

    ChannelProperty<bool> motorstopChannel;

private:
    PropertyViewPage* mControl;
    class UI;
    UI* ui;
};



class DriveView::UI : public QWidget, public IAuthorityProvider, protected Ui::DriveViewWidget
{
    Q_OBJECT
public:
    UI(DriveView* parent);

public slots:
    void onForward();
    void onBackward();
    void onLeft();
    void onRight();
    void onStop();
    void onResetMotorStop();
    void onSuspendBumper();
    void onResetOdometry();
    void onEnableMotors();
    void onDisableMotors();
    void tick();
    void updateService(bool serviceChanged = false);
    void onGrabKeyboard(bool activate);
    void onMute(bool mute);

public:
    virtual Authority& getAuthority() { return mAuthority; }
    void onMotorstop(ChannelRead<bool> status);

public:
    float mTransSpeed;
    float mRotSpeed;

    QTimer* mCommandTimer;
    QTimer* mServiceTimer;
    Authority mAuthority;
    std::string mService;
    Time mLastCommand;
    bool mMute;

protected:
    bool mWaitingForSuspendBumperEnabled;
    RPCFuture<bool> mSuspendBumperEnabledFuture;

    void waitForSuspendBumperEnabled();

protected:
    virtual void keyPressEvent(QKeyEvent *pEvent);

    void enableDriveButtons(bool enable);
    void enableMotorButtons(bool enable);
    void enableBumperButton(bool enable);

    void muteAllINavigation(bool mute);

private:
    QTabBar* getTabBar(QTabWidget* widget);

private:
    DriveView* mParent;

    bool mServiceQueried;
};



}}

#endif