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Commit 0a31047f authored by Markus Grotz's avatar Markus Grotz
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added copy values button to KinematicUnitGui widget

parent 0250dfcc
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source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+ 44
− 10
View file @ 0a31047f
......@@ -32,6 +32,8 @@
#include <ArmarXCore/core/ArmarXObjectScheduler.h>
#include <ArmarXCore/core/ArmarXManager.h>
#include <ArmarXCore/util/json/JSONObject.h>
#include <VirtualRobot/XML/RobotIO.h>
// Qt headers
......@@ -44,6 +46,7 @@
#include <QTableView>
#include <QCheckBox>
#include <QTableWidget>
#include <QClipboard>
#include <Inventor/SoDB.h>
#include <Inventor/Qt/SoQt.h>
......@@ -160,7 +163,7 @@ void KinematicUnitWidgetController::onConnectComponent()
packages.push_back(Application::GetProjectName());
ARMARX_VERBOSE << "ArmarX packages " << packages;
for (const std::string& projectName : packages)
for (const std::string & projectName : packages)
{
if (projectName.empty())
{
......@@ -336,6 +339,8 @@ void KinematicUnitWidgetController::saveSettings(QSettings* settings)
}
void KinematicUnitWidgetController::showVisuLayers(bool show)
{
if (debugDrawer)
......@@ -351,6 +356,34 @@ void KinematicUnitWidgetController::showVisuLayers(bool show)
}
}
void KinematicUnitWidgetController::copyToClipboard()
{
NameValueMap values;
{
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
if (selectedControlMode == ePositionControl)
{
values = reportedJointAngles;
}
else if (selectedControlMode == eVelocityControl)
{
values = reportedJointVelocities;
}
}
JSONObjectPtr serializer = new JSONObject();
for (auto & kv : values)
{
serializer->setFloat(kv.first, kv.second);
}
const QString json = QString::fromStdString(serializer->asString(true));
QClipboard* clipboard = QApplication::clipboard();
clipboard->setText(json);
QApplication::processEvents();
}
void KinematicUnitWidgetController::updateGuiElements()
{
// modelUpdateCB();
......@@ -380,6 +413,7 @@ void KinematicUnitWidgetController::connectSlots()
connect(ui.radioButtonVelocityControl, SIGNAL(clicked(bool)), this, SLOT(setControlModeVelocity()));
connect(ui.radioButtonTorqueControl, SIGNAL(clicked(bool)), this, SLOT(setControlModeTorque()));
connect(ui.copyToClipboard, SIGNAL(clicked()), this, SLOT(copyToClipboard()));
connect(ui.showDebugLayer, SIGNAL(toggled(bool)), this, SLOT(showVisuLayers(bool)), Qt::QueuedConnection);
connect(this, SIGNAL(jointAnglesReported()), this, SLOT(updateJointAnglesTable()), Qt::QueuedConnection);
......@@ -858,14 +892,14 @@ void KinematicUnitWidgetController::updateControlModesTable()
switch (currentMode)
{
/*case eNoMode:
state = "None";
break;
case eUnknownMode:
state = "Unknown";
break;
*/
/*case eNoMode:
state = "None";
break;
case eUnknownMode:
state = "Unknown";
break;
*/
case eDisabled:
state = "Disabled";
break;
......@@ -1171,7 +1205,7 @@ void KinematicUnitWidgetController::reportControlModeChanged(const NameControlMo
// return;
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
for (auto& e : jointModes)
for (auto & e : jointModes)
{
// ARMARX_INFO << "Setting jointMode of joint " << e.first << " to " << e.second;
......
source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+ 1
− 0
View file @ 0a31047f
......@@ -253,6 +253,7 @@ namespace armarx
protected slots:
void showVisuLayers(bool show);
void copyToClipboard();
private:
boost::recursive_mutex mutexNodeSet;
......
source/RobotAPI/gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui
+ 45
− 38
View file @ 0a31047f
......@@ -46,7 +46,14 @@
</item>
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="2" column="2" colspan="2">
<item row="2" column="0" colspan="2">
<widget class="QLabel" name="label">
<property name="text">
<string>Select Joint</string>
</property>
</widget>
</item>
<item row="2" column="2" colspan="3">
<widget class="QComboBox" name="nodeListComboBox">
<property name="enabled">
<bool>true</bool>
......@@ -59,7 +66,7 @@
</property>
</widget>
</item>
<item row="3" column="2" colspan="2">
<item row="3" column="2" colspan="3">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QRadioButton" name="radioButtonPositionControl">
......@@ -157,10 +164,7 @@
</item>
</layout>
</item>
<item row="4" column="2">
<layout class="QHBoxLayout" name="horizontalLayout_4"/>
</item>
<item row="5" column="3">
<item row="6" column="4">
<widget class="QCheckBox" name="showDebugLayer">
<property name="text">
<string>debug layer</string>
......@@ -170,29 +174,24 @@
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QSlider" name="horizontalSliderKinematicUnitPos">
<property name="enabled">
<bool>true</bool>
</property>
<property name="minimum">
<number>-100</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
<item row="4" column="2">
<layout class="QHBoxLayout" name="horizontalLayout_4"/>
</item>
<item row="3" column="0" colspan="2">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Control Mode</string>
</property>
<property name="tickInterval">
<number>0</number>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="labelUnit">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QLCDNumber" name="lcdNumberKinematicUnitJointValue">
<property name="enabled">
<bool>true</bool>
......@@ -211,24 +210,32 @@
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="labelUnit">
<property name="text">
<string/>
<item row="6" column="2">
<widget class="QSlider" name="horizontalSliderKinematicUnitPos">
<property name="enabled">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0" colspan="2">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Control Mode</string>
<property name="minimum">
<number>-100</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
<number>0</number>
</property>
</widget>
</item>
<item row="2" column="0" colspan="2">
<widget class="QLabel" name="label">
<item row="6" column="3">
<widget class="QPushButton" name="copyToClipboard">
<property name="text">
<string>Select Joint</string>
<string>Copy Values</string>
</property>
</widget>
</item>
......
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