diff --git a/source/ArmarXGui/applications/ArmarXGui/ArmarXGuiApp.h b/source/ArmarXGui/applications/ArmarXGui/ArmarXGuiApp.h
index 99998cb83406455e91d4060e5b393ce40f11afce..59014ea8ce3897f374ed9a5d34117e6580ac51f9 100644
--- a/source/ArmarXGui/applications/ArmarXGui/ArmarXGuiApp.h
+++ b/source/ArmarXGui/applications/ArmarXGui/ArmarXGuiApp.h
@@ -23,22 +23,16 @@
#pragma once
-// ArmarX
-
-#include <ArmarXCore/core/system/ImportExportComponent.h>
-#include <ArmarXGui/applications/ArmarXGui/Widgets/ui_ExceptionDialog.h>
-
-//SoQt
-#include <Inventor/Qt/SoQt.h>
+#include <string>
-//Qt
#include <QApplication>
-#include "ArmarXMainWindow.h"
-
-#include <string>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+#include <ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h>
+#include <ArmarXGui/applications/ArmarXGui/Widgets/ui_ExceptionDialog.h>
+#include <Inventor/Qt/SoQt.h>
namespace armarx
{
@@ -48,16 +42,13 @@ namespace armarx
/**
* ArmarXGuiApp property definition container.
*/
- class ArmarXGuiAppPropertyDefinitions:
- public ApplicationPropertyDefinitions
+ class ArmarXGuiAppPropertyDefinitions : public ApplicationPropertyDefinitions
{
public:
ArmarXGuiAppPropertyDefinitions(std::string prefix);
};
-
- class ArmarXQApplication :
- public QApplication
+ class ArmarXQApplication : public QApplication
{
Q_OBJECT
public:
@@ -70,12 +61,12 @@ namespace armarx
public slots:
void showException(QString exceptionReason);
+
protected:
QDialog exceptionDialog;
Ui_ExceptionDialog exceptionDialogHandler;
};
-
/**
\class ArmarXGuiApp
\brief The main ArmarX gui application.
@@ -103,7 +94,8 @@ namespace armarx
/**
* Configures the app, sets Qt up
*/
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties) override;
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
+ Ice::PropertiesPtr properties) override;
int run(int argc, char* argv[]) override;
/**
@@ -114,9 +106,11 @@ namespace armarx
/**
* @see PropertyUser::createPropertyDefinitions()
*/
- armarx::PropertyDefinitionsPtr createPropertyDefinitions() override
+ armarx::PropertyDefinitionsPtr
+ createPropertyDefinitions() override
{
- return armarx::PropertyDefinitionsPtr(new ArmarXGuiAppPropertyDefinitions(getDomainName()));
+ return armarx::PropertyDefinitionsPtr(
+ new ArmarXGuiAppPropertyDefinitions(getDomainName()));
}
private slots:
@@ -136,5 +130,4 @@ namespace armarx
int argc;
char** argv;
};
-}
-
+} // namespace armarx
diff --git a/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.cpp b/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.cpp
index 299e2841bd8c8ff1104c8580ae75e6e80ff959b8..15efec06d8841eba075db4c008c5fc597a04ced9 100644
--- a/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.cpp
+++ b/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.cpp
@@ -21,24 +21,9 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include "ArmarXMainWindow.h"
-
-#include <ArmarXGui/applications/ArmarXGui/ui_ArmarXMainWindow.h>
-
-#include "Widgets/TitlebarWidget.h"
-#include "Widgets/ViewerWidget.h"
-#include "Widgets/WidgetNameDialog.h"
-// ArmarX
-#include <ArmarXCore/core/ArmarXObjectScheduler.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/LogSender.h>
-#include <ArmarXCore/core/system/ArmarXDataPath.h>
-#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
-
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include "ArmarXMainWindow.h"
-// Qt
#include <filesystem>
#include <optional>
#include <sstream>
@@ -89,11 +74,22 @@
#include <SimoxUtility/algorithm/string/string_tools.h>
+#include <ArmarXCore/core/ArmarXObjectScheduler.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/LogSender.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
+
#include <ArmarXGui/applications/ArmarXGui/Widgets/GuiUseCaseSelector.h>
+#include <ArmarXGui/applications/ArmarXGui/ui_ArmarXMainWindow.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/InfixCompleter.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/InfixFilterModel.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/TipDialog.h>
+#include "Widgets/TitlebarWidget.h"
+#include "Widgets/ViewerWidget.h"
+#include "Widgets/WidgetNameDialog.h"
#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
#include <Inventor/nodes/SoPerspectiveCamera.h>
//#include <omp.h>
@@ -191,6 +187,11 @@ namespace armarx
ArmarXComponentWidgetController::createInstance<EmergencyStopWidget>());
this->registry->addObject(ManagedIceObjectPtr::dynamicCast(emergencyStopWidget));
+ // Battery widget
+ batteryWidget = BatteryWidgetPtr::dynamicCast(
+ ArmarXComponentWidgetController::createInstance<BatteryWidget>());
+ this->registry->addObject(ManagedIceObjectPtr::dynamicCast(batteryWidget));
+
// plugins
QSet<QString> pluginDirs;
@@ -1250,6 +1251,11 @@ namespace armarx
// EmergencyStop
ui->toolBar->addWidget(emergencyStopWidget->getButtonWidget());
+ // Battery Widget
+ ui->toolBar->addWidget(batteryWidget->getBatteryWidget());
+
+ ui->toolBar->addSeparator();
+
ui->toolBar->setIconSize(QSize(256, 24));
QMap<QString, QAction*> actionsForToolBar;
diff --git a/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h b/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h
index d274cba2c857ead6947f8d977c4c92e87b62e2f1..b3152ba29fdf939c713bc5e2caff351d683c2255 100644
--- a/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h
+++ b/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h
@@ -23,29 +23,25 @@
*/
#pragma once
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/PluginCache.h>
-
-// Qt
#include <QAction>
#include <QDir>
#include <QDockWidget>
#include <QMainWindow>
#include <QPluginLoader>
-
-// Coin3D & SoQt
-#include <Inventor/nodes/SoNode.h>
-#include <Inventor/nodes/SoSeparator.h>
-
-// ArmarX
#include <QSplashScreen>
#include <ArmarXCore/core/application/Application.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
-#include "Widgets/EmergencyStopWidget.h"
-#include "Widgets/ViewerWidget.h"
+#include <ArmarXGui/applications/ArmarXGui/Widgets/BatteryWidget.h>
+#include <ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.h>
+#include <ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/PluginCache.h>
+
+#include <Inventor/nodes/SoNode.h>
+#include <Inventor/nodes/SoSeparator.h>
class QToolButton;
class QLabel;
@@ -246,6 +242,7 @@ namespace armarx
// Emergency Stop
EmergencyStopWidgetPtr emergencyStopWidget;
+ BatteryWidgetPtr batteryWidget;
QAction* leaveFullScreenActionF11;
QAction* leaveFullScreenActionEsc;
diff --git a/source/ArmarXGui/applications/ArmarXGui/CMakeLists.txt b/source/ArmarXGui/applications/ArmarXGui/CMakeLists.txt
index a060898531cd9d9de8c35d087a99bfa395f0ba96..48a5431048eb7c0dcbb33af3d3f74f5809a55683 100644
--- a/source/ArmarXGui/applications/ArmarXGui/CMakeLists.txt
+++ b/source/ArmarXGui/applications/ArmarXGui/CMakeLists.txt
@@ -21,6 +21,7 @@ set(SOURCES ArmarXGuiApp.cpp
Widgets/UseCaseSelectorItem.cpp
Widgets/GuiUseCaseSelector.cpp
Widgets/EmergencyStopWidget.cpp
+ Widgets/BatteryWidget.cpp
)
set(HEADERS ArmarXGuiApp.h
@@ -31,6 +32,7 @@ set(HEADERS ArmarXGuiApp.h
Widgets/UseCaseSelectorItem.h
Widgets/GuiUseCaseSelector.h
Widgets/EmergencyStopWidget.h
+ Widgets/BatteryWidget.h
ArmarXMainWindow.ui
Widgets/ViewerWidget.ui
diff --git a/source/ArmarXGui/applications/ArmarXGui/Widgets/BatteryWidget.cpp b/source/ArmarXGui/applications/ArmarXGui/Widgets/BatteryWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ad94bcbb62724831ef69a5461a398544283480ab
--- /dev/null
+++ b/source/ArmarXGui/applications/ArmarXGui/Widgets/BatteryWidget.cpp
@@ -0,0 +1,364 @@
+#include "BatteryWidget.h"
+
+#include <QToolTip>
+
+namespace armarx
+{
+
+ constexpr std::string_view battery_master_default_name = "DiagnosticsUnit";
+
+ BatteryIcon::BatteryIcon(QWidget* parent) : QWidget(parent)
+ {
+ QSizePolicy policy{QSizePolicy::Policy::Fixed, QSizePolicy::Policy::Fixed};
+ setSizePolicy(policy);
+ }
+
+ void
+ BatteryIcon::paintEvent(QPaintEvent* event)
+ {
+ QWidget::paintEvent(event);
+
+ int filled = std::clamp(percentage, 0, 100); // between 0 and 100
+ QColor fg(0, 200, 0);
+
+ if (filled < 15)
+ {
+ fg = QColor(200, 0, 0);
+ }
+ else if (filled < 45)
+ {
+ fg = QColor(200, 100, 0);
+ }
+
+ if (state != dto::BatteryState::discharging)
+ {
+ fg = QColor(255, 255, 255);
+ }
+
+ // Draw inner and cap.
+ QColor bg(fg.red() * .6, fg.green() * .6, fg.blue() * .6);
+ int ht = event->rect().height();
+ int wd = ht / 2 - 1;
+ QPainter painter;
+ painter.setRenderHint(QPainter::Antialiasing, true);
+ painter.begin(this);
+ int m = 1 * ht / 10 + 1;
+ QRect cap(QPoint(m, m), QPoint(wd - m, 2 * m));
+ painter.fillRect(cap, filled == 100 ? fg : bg);
+ QRect body(QPoint(0, 2 * m), QPoint(wd, ht - m));
+ painter.fillRect(body, bg);
+ float dist = (1.0 - filled * .01);
+ QRect bodyFull(QPoint(0, 2 * m + dist * (ht - 3 * m)), QPoint(wd, ht - m));
+ painter.fillRect(bodyFull, fg);
+
+ // Draw a border.
+ int lWd = ht / 40;
+ QRect a;
+ a = QRect(QPoint(m, m), QPoint(wd - m, m + lWd));
+ painter.fillRect(a, bg);
+ a = QRect(QPoint(wd - m - lWd, m), QPoint(wd - m, 2 * m + lWd));
+ painter.fillRect(a, bg);
+ a = QRect(QPoint(wd - m - lWd, 2 * m), QPoint(wd, 2 * m + lWd));
+ painter.fillRect(a, bg);
+ a = QRect(QPoint(wd - lWd, 2 * m), QPoint(wd, ht - m));
+ painter.fillRect(a, bg);
+ a = QRect(QPoint(0, ht - m - lWd), QPoint(wd, ht - m));
+ painter.fillRect(a, bg);
+ a = QRect(QPoint(0, 2 * m), QPoint(lWd, ht - m));
+ painter.fillRect(a, bg);
+ a = QRect(QPoint(0, 2 * m), QPoint(m + lWd, 2 * m + lWd));
+ painter.fillRect(a, bg);
+ a = QRect(QPoint(m, m), QPoint(m + lWd, 2 * m + lWd));
+ painter.fillRect(a, bg);
+
+ // Draw lightning if charging.
+ if (state == dto::BatteryState::charging)
+ {
+ QPolygon poly;
+ float lHeight = .6 * ht;
+ int xOff = .1 * ht + 1;
+ int yOff = .2 * ht + 1;
+ poly << QPoint(xOff + 7 * lHeight / 20, yOff)
+ << QPoint(xOff + 5 * lHeight / 20, yOff + 4.5 * lHeight / 10)
+ << QPoint(xOff + 10 * lHeight / 20, yOff + 4.5 * lHeight / 10)
+ << QPoint(xOff + 3 * lHeight / 20, yOff + lHeight)
+ << QPoint(xOff + 5 * lHeight / 20, yOff + 5.5 * lHeight / 10)
+ << QPoint(xOff + 0 * lHeight / 20, yOff + 5.5 * lHeight / 10)
+ << QPoint(xOff + 7 * lHeight / 20, yOff);
+ QPainterPath path;
+ path.addPolygon(poly);
+ painter.fillPath(path, QColor(40, 40, 40));
+ }
+
+ // Draw cross if unavailable.
+ if (state == dto::BatteryState::unavailable)
+ {
+ int u = .1 * wd;
+ QPolygon poly;
+ poly << QPoint(u, .1 * ht) << QPoint(wd - 2 * u, .9 * ht) << QPoint(wd - u, .9 * ht)
+ << QPoint(2 * u, .1 * ht) << QPoint(u, .1 * ht);
+ QPainterPath path;
+ path.addPolygon(poly);
+ painter.fillPath(path, QColor(200, 0, 0));
+ QPolygon poly2;
+ poly2 << QPoint(wd - 2 * u, .1 * ht) << QPoint(wd - u, .1 * ht)
+ << QPoint(2 * u, .9 * ht) << QPoint(u, .9 * ht) << QPoint(wd - 2 * u, .1 * ht);
+ QPainterPath path2;
+ path2.addPolygon(poly2);
+ painter.fillPath(path2, QColor(200, 0, 0));
+ }
+
+ painter.end();
+ }
+
+ void
+ BatteryIcon::setPercentage(int percentage)
+ {
+ this->percentage = std::clamp(percentage, 0, 100);
+ }
+
+ void
+ BatteryIcon::setState(dto::BatteryState state)
+ {
+ this->state = state;
+ }
+
+ QSize
+ BatteryIcon::sizeHint() const
+ {
+ return QSize{16, 32};
+ }
+
+ BatteryWidget::BatteryWidget(QWidget* parent, ArmarXMainWindow* mainWindow) :
+ mainWindow(mainWindow), timer(new QTimer(this))
+ {
+ qRegisterMetaType<dto::BatteryStatus>("dto::BatteryStatus");
+ QGridLayout* layout = new QGridLayout(this->getWidget());
+ this->getWidget()->setContentsMargins(4, 0, 0, 0);
+ icon = new BatteryIcon();
+ layout->addWidget(icon, 0, 0);
+ layout->setContentsMargins(0, 0, 0, 0);
+ this->getWidget()->setLayout(layout);
+ icon->setVisible(true);
+ lbl = new QLabel();
+ txtPercentage = QString("%1%").arg(lastStatus.energyFromFullCharge_pct);
+ lbl->setText(txtPercentage);
+ lbl->setVisible(false);
+ layout->addWidget(lbl, 0, 1);
+
+ qRegisterMetaType<dto::BatteryState>("BatteryState");
+
+ timer->setInterval(std::chrono::milliseconds(1'000));
+ connect(timer, &QTimer::timeout, this, &BatteryWidget::updateBatteryStatus);
+ connect(this, &BatteryWidget::startPeriodicStateUpdate, timer, qOverload<>(&QTimer::start));
+ connect(this, &BatteryWidget::stopPeriodicStateUpdate, timer, &QTimer::stop);
+
+ QString style = QString("QToolTip {"
+ // StyleSheet for tool tip
+ " background: white;"
+ " padding: 3px;"
+ "}");
+ getWidget()->setStyleSheet(style);
+
+ updateTooltip();
+ }
+
+ QWidget*
+ BatteryWidget::getBatteryWidget()
+ {
+ return this->getWidget();
+ }
+
+ void
+ BatteryWidget::updateTooltip()
+ {
+ dto::BatteryState state = lastStatus.state;
+
+ QString text;
+
+ if (state == dto::BatteryState::unavailable)
+ {
+ text = "No battery detected.";
+ }
+ else if (state == dto::BatteryState::full)
+ {
+ text = "Battery fully charged.";
+ }
+ else
+ {
+ QString status;
+ switch (state)
+ {
+ case dto::BatteryState::charging:
+ status = "charging";
+ break;
+ case dto::BatteryState::discharging:
+ status = "discharging";
+ break;
+ case dto::BatteryState::full:
+ status = "full";
+ break;
+ case dto::BatteryState::notCharging:
+ status = "not charging";
+ break;
+ case dto::BatteryState::unavailable:
+ status = "unavailable";
+ break;
+ }
+
+ QString detailedReport;
+ {
+ QString charge = QString(" - Charge: %1<br>").arg(txtPercentage);
+
+ QString energy = QString(" - Energy: %2 Wh / %3 Wh<br>")
+ .arg(lastStatus.energy_Wh, 0, 'f', 1)
+ .arg(lastStatus.fullChargeEnergy_Wh, 0, 'f', 1);
+
+ QString power = QString(" - %1: %2 W (%3 A, %4 V)<br>")
+ .arg(state == dto::BatteryState::charging ? "Charging power"
+ : "Provided power")
+ .arg(std::abs(lastStatus.power_W), 0, 'f', 1)
+ .arg(std::abs(lastStatus.current_A), 0, 'f', 1)
+ .arg(lastStatus.voltage_V, 0, 'f', 1);
+
+ bool showPrognosis =
+ state == dto::BatteryState::charging or state == dto::BatteryState::discharging;
+ QString prognosis = "";
+ if (showPrognosis)
+ {
+ QString fullOrEmpty = state == dto::BatteryState::charging ? "Full" : "Empty";
+ prognosis = QString(" - %1 in: ≈ %2 h <br>")
+ .arg(fullOrEmpty)
+ .arg(lastStatus.remainingTime_h, 0, 'f', 1);
+ }
+
+ QString temperature = QString(" - Temperature: %6 °C<br>")
+ .arg(lastStatus.temperature_degC, 0, 'f', 1);
+
+ QString health = QString(" - Health: %7%")
+ .arg(lastStatus.fullEnergyFromDesignEnergy_pct, 0, 'f', 1);
+
+ detailedReport = QString("%1%2%3%4%5%6")
+ .arg(charge, energy, power, prognosis, temperature, health);
+ }
+
+ QString errorsText =
+ lastStatus.hasError
+ ? "<br><b><font color='red'>Battery error occured! Check the logs.</font></b>"
+ : "";
+
+ text = QString("Battery %1.<br>%2%3").arg(status).arg(detailedReport).arg(errorsText);
+ }
+
+ getWidget()->setToolTip(text);
+
+ if (not QToolTip::isVisible())
+ {
+ return;
+ }
+
+ QPoint p = getWidget()->mapFromGlobal(QCursor::pos());
+
+ if (p.x() >= 0 and p.y() >= 0 and p.x() < getWidget()->width() and
+ p.y() < getWidget()->height())
+ {
+ QToolTip::showText(QCursor::pos(), text);
+ }
+ }
+
+ void
+ BatteryWidget::onInitComponent()
+ {
+ usingProxy(std::string{battery_master_default_name});
+ }
+
+ void
+ BatteryWidget::onConnectComponent()
+ {
+ QMetaObject::invokeMethod(icon, "setVisible", Qt::QueuedConnection, Q_ARG(bool, true));
+
+ ARMARX_INFO << "Battery widget connected.";
+ batteryManagement = getProxy<armarx::BatteryManagementInterfacePrx>(
+ std::string{battery_master_default_name});
+
+ emit startPeriodicStateUpdate();
+ }
+
+ void
+ BatteryWidget::onDisconnectComponent()
+ {
+ ARMARX_IMPORTANT
+ << "Battery widget disconnected. This is expected if the earlier connected "
+ "robot unit shut down.";
+
+ QMetaObject::invokeMethod(this,
+ "setBatteryStatus",
+ Qt::QueuedConnection,
+ Q_ARG(dto::BatteryStatus, invalidStatus));
+
+ emit stopPeriodicStateUpdate();
+ }
+
+ void
+ BatteryWidget::loadSettings(QSettings* settings)
+ {
+ ;
+ }
+
+ void
+ BatteryWidget::saveSettings(QSettings* settings)
+ {
+ ;
+ }
+
+ void
+ BatteryWidget::updateBatteryStatus()
+ {
+ dto::BatteryStatus newStatus;
+
+ try
+ {
+ newStatus = batteryManagement->getBatteryStatus();
+ }
+ catch (...)
+ {
+ ARMARX_DEBUG << deactivateSpam(60) << "Failed to get current battery percentage";
+ newStatus.state = dto::BatteryState::unavailable;
+ }
+
+ QMetaObject::invokeMethod(
+ this, "setBatteryStatus", Qt::QueuedConnection, Q_ARG(dto::BatteryStatus, newStatus));
+ }
+
+ void
+ BatteryWidget::setBatteryStatus(dto::BatteryStatus batteryStatus)
+ {
+ lastStatus = batteryStatus;
+
+ icon->setPercentage(lastStatus.energyFromFullCharge_pct);
+ txtPercentage = QString("%1%").arg(lastStatus.energyFromFullCharge_pct, 0, 'f', 1);
+ lbl->setText(txtPercentage);
+
+ dto::BatteryState state = lastStatus.state;
+
+ icon->setState(state);
+ if (state == dto::BatteryState::unavailable)
+ {
+ lbl->setVisible(false);
+ }
+ else
+ {
+ lbl->setVisible(true);
+ }
+
+ updateTooltip();
+ icon->update();
+ }
+
+ std::string
+ BatteryWidget::getDefaultName() const
+ {
+ return "BatteryWidget" + iceNameUUID;
+ }
+
+} // namespace armarx
diff --git a/source/ArmarXGui/applications/ArmarXGui/Widgets/BatteryWidget.h b/source/ArmarXGui/applications/ArmarXGui/Widgets/BatteryWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..a05f3d5552de88bb678a6fca9f1a371f4f0c9f7f
--- /dev/null
+++ b/source/ArmarXGui/applications/ArmarXGui/Widgets/BatteryWidget.h
@@ -0,0 +1,111 @@
+#pragma once
+
+#include <QGridLayout>
+#include <QLabel>
+#include <QPaintEvent>
+#include <QPainter>
+#include <QPainterPath>
+#include <QTimer>
+#include <QWidget>
+
+#include <IceUtil/UUID.h>
+
+#include <ArmarXCore/core/IceGridAdmin.h>
+#include <ArmarXCore/interface/components/BatteryManagementInterface.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+
+Q_DECLARE_METATYPE(armarx::dto::BatteryStatus)
+
+namespace armarx
+{
+ class ArmarXMainWindow;
+
+ class BatteryIcon : public QWidget
+ {
+ Q_OBJECT
+ public:
+ explicit BatteryIcon(QWidget* parent = 0);
+
+ void paintEvent(QPaintEvent* event) Q_DECL_OVERRIDE;
+
+ void setPercentage(int percentage);
+
+ void setState(dto::BatteryState state);
+
+ QSize sizeHint() const Q_DECL_OVERRIDE;
+
+ private:
+ int percentage = 0;
+ dto::BatteryState state = dto::BatteryState::unavailable;
+ };
+
+ class BatteryWidget : public ArmarXComponentWidgetControllerTemplate<BatteryWidget>
+ {
+ Q_OBJECT
+ public:
+ explicit BatteryWidget(QWidget* parent = 0, ArmarXMainWindow* mainWindow = 0);
+
+ QWidget* getBatteryWidget();
+
+ signals:
+ void startPeriodicStateUpdate();
+ void stopPeriodicStateUpdate();
+
+ public slots:
+ void updateBatteryStatus();
+
+ void updateTooltip();
+
+ void setBatteryStatus(dto::BatteryStatus batteryStatus);
+
+ // ManagedIceObject interface
+ protected:
+ void onInitComponent() override;
+ void onConnectComponent() override;
+ void onDisconnectComponent() override;
+ std::string getDefaultName() const override;
+
+ private:
+ ArmarXMainWindow* mainWindow;
+ QGridLayout* layout;
+ BatteryIcon* icon;
+ QLabel* lbl;
+ QString txtPercentage;
+ QTimer* timer;
+
+ armarx::BatteryManagementInterfacePrx batteryManagement;
+
+ dto::BatteryStatus const invalidStatus{.name = "invalid",
+ .state = dto::BatteryState::unavailable,
+ .designEnergy_Wh = -1,
+ .fullChargeEnergy_Wh = -1,
+ .energy_Wh = -1,
+ .energyFromFullCharge_pct = 0,
+ .fullEnergyFromDesignEnergy_pct = 0,
+ .temperature_degC = -1,
+ .ratedVoltage_V = -1,
+ .voltage_V = -1,
+ .current_A = -1,
+ .power_W = -1,
+ .remainingTime_h = -1,
+ .hasError = false,
+ .error = ""};
+
+ dto::BatteryStatus lastStatus = invalidStatus;
+
+ // ArmarXWidgetController interface
+ public:
+ static QString
+ GetWidgetName()
+ {
+ return "BatteryWidget";
+ }
+
+ void loadSettings(QSettings* settings) override;
+ void saveSettings(QSettings* settings) override;
+ std::string iceNameUUID = IceUtil::generateUUID();
+ };
+
+ using BatteryWidgetPtr = IceInternal::Handle<BatteryWidget>;
+} // namespace armarx