asebaros: /opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/targets/playground/playground.h Source File

00001 /*
00002         Playground - An active arena to learn multi-robots programming
00003         Copyright (C) 1999 - 2008:
00004                 Stephane Magnenat <stephane at magnenat dot net>
00005                 (http://stephane.magnenat.net)
00006         3D models
00007         Copyright (C) 2008:
00008                 Basilio Noris
00009         Aseba - an event-based framework for distributed robot control
00010         Copyright (C) 2007--2009:
00011                 Stephane Magnenat <stephane at magnenat dot net>
00012                 (http://stephane.magnenat.net)
00013                 Mobots group (http://mobots.epfl.ch)
00014                 Laboratory of Robotics Systems (http://lsro.epfl.ch)
00015                 EPFL, Lausanne (http://www.epfl.ch)
00016         
00017         This program is free software: you can redistribute it and/or modify
00018         it under the terms of the GNU General Public License as published by
00019         the Free Software Foundation, either version 3 of the License, or
00020         any other version as decided by the two original authors
00021         Stephane Magnenat and Valentin Longchamp.
00022         
00023         This program is distributed in the hope that it will be useful,
00024         but WITHOUT ANY WARRANTY; without even the implied warranty of
00025         MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00026         GNU General Public License for more details.
00027         
00028         You should have received a copy of the GNU General Public License
00029         along with this program.  If not, see <http://www.gnu.org/licenses/>.
00030 */
00031 
00032 #ifndef __CHALLENGE_H
00033 #define __CHALLENGE_H
00034 
00035 #include <viewer/Viewer.h>
00036 #include <dashel/dashel.h>
00037 #include <QVector>
00038 
00039 class QPushButton;
00040 class QCheckBox;
00041 #ifdef USE_SDL
00042 typedef struct _SDL_Joystick SDL_Joystick;
00043 #endif
00044 
00045 namespace Enki
00046 {
00047         class PlaygroundViewer : public ViewerWidget, public Dashel::Hub
00048         {
00049         public:
00050                 // these have to be public for the aseba C interface
00051                 Dashel::Stream* stream;
00052                 uint16 lastMessageSource;
00053                 std::valarray<uint8> lastMessageData;
00054                 QFont font;
00055                 unsigned energyPool;
00056                 #ifdef USE_SDL
00057                 QVector<SDL_Joystick *> joysticks;
00058                 #endif // USE_SDL
00059                 
00060         public:
00061                 PlaygroundViewer(World* world);
00062                 virtual ~PlaygroundViewer();
00063                 World* getWorld() { return world; }
00064                 
00065         protected:
00066                 virtual void renderObjectsTypesHook();
00067                 virtual void sceneCompletedHook();
00068                 
00069                 virtual void connectionCreated(Dashel::Stream *stream);
00070                 virtual void incomingData(Dashel::Stream *stream);
00071                 virtual void connectionClosed(Dashel::Stream *stream, bool abnormal);
00072                 
00073                 virtual void timerEvent(QTimerEvent * event);
00074         };
00075 }
00076 
00077 #endif
00078