From 1ba252ffc18fdbadf648f74abdfaa00ac3fb12ce Mon Sep 17 00:00:00 2001
From: Jan Hausberg <jan.hausberg@kit.edu>
Date: Tue, 21 Jun 2022 16:21:44 +0200
Subject: [PATCH] Update HandUnitGuiPlugin UI and functionality for the left
hand
---
.../HandUnitPlugin/HandUnitGuiPlugin.cpp | 191 +++++++++++-------
.../HandUnitPlugin/HandUnitGuiPlugin.h | 7 +-
.../HandUnitPlugin/HandUnitGuiPlugin.ui | 95 ++++++---
3 files changed, 200 insertions(+), 93 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
index 438e65788..7233e276e 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
@@ -38,6 +38,7 @@
#include <QtWidgets/QSlider>
#include <QtWidgets/QGridLayout>
#include <QtWidgets/QLabel>
+#include <QtWidgets/QTableWidgetItem>
#include <QString>
#include <cmath>
@@ -59,7 +60,7 @@ namespace armarx
// init gui
ui.setupUi(getWidget());
- leftHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setLeftHandJointAngles, 50);
+ setLeftHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setLeftHandJointAngles, 50);
rightHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setRightHandJointAngles, 50);
updateInfoTimer = new QTimer(this);
}
@@ -75,22 +76,21 @@ namespace armarx
void HandUnitWidget::onConnectComponent()
{
- initGUIJointFrames();
updateInfoTimer->start(50);
- leftHandJointAngleUpdateTask->start();
+ setLeftHandJointAngleUpdateTask->start();
leftHandUnitProxy = getProxy<HandUnitInterfacePrx>(leftHandUnitProxyName);
leftHandName = leftHandUnitProxy->getHandName();
- // @@@ In simulation hand is called 'Hand L'/'Hand R'. On 3b Hand is called 'TCP R'
- if (leftHandName != "Hand L" && leftHandName != "TCP L")
+ if (leftHandName == "Hand L" || leftHandName == "TCP L")
{
- //QMessageBox::warning(NULL, "Hand not supported", QString("Hand with name \"") + QString::fromStdString(handName) + " \" is not suppored.");
- ARMARX_WARNING << "Hand with name \"" << leftHandName << "\" is not supported.";
+ leftHandConversionFactor *= M_PI / 2;
+ }
+ else if (leftHandName != "Hand_L_EEF")
+ {
+ ARMARX_WARNING << "Left hand with name \"" << leftHandName << "\" is not supported.";
}
-
- //ui.labelInfo->setText(QString::fromStdString(handUnitProxyName + " :: " + handName));
SingleTypeVariantListPtr leftHandPreshapeStrings = SingleTypeVariantListPtr::dynamicCast(leftHandUnitProxy->getShapeNames());
QStringList leftHandList;
@@ -99,6 +99,7 @@ namespace armarx
for (int i = 0; i < leftHandPreshapeCount; ++i)
{
std::string shape = ((leftHandPreshapeStrings->getVariant(i))->get<std::string>());
+// ARMARX_INFO << VAROUT(shape);
leftHandList << QString::fromStdString(shape);
}
@@ -112,10 +113,9 @@ namespace armarx
rightHandUnitProxy = getProxy<HandUnitInterfacePrx>(rightHandUnitProxyName);
rightHandName = rightHandUnitProxy->getHandName();
- // @@@ In simulation hand is called 'Hand L'/'Hand R'. On 3b Hand is called 'TCP R'
- if (rightHandName != "Hand R" && rightHandName != "TCP R")
+ if (rightHandName != "Hand R" && rightHandName != "TCP R" && rightHandName != "Hand_R_EEF")
{
- ARMARX_WARNING << "Hand with name \"" << rightHandName << "\" is not supported.";
+ ARMARX_WARNING << "Right hand with name \"" << rightHandName << "\" is not supported.";
}
SingleTypeVariantListPtr rightHandPreshapeStrings = SingleTypeVariantListPtr::dynamicCast(rightHandUnitProxy->getShapeNames());
@@ -130,12 +130,20 @@ namespace armarx
ui.comboRightHandPreshapes->clear();
ui.comboRightHandPreshapes->addItems(rightHandList);
+
+
+
+ ARMARX_INFO << "initGUIJointFrames";
+ initGUIJointFrames();
+ displayJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::updateJointValueTable, 50);
+ displayJointAngleUpdateTask->start();
}
void HandUnitWidget::onDisconnectComponent()
{
- leftHandJointAngleUpdateTask->stop();
+ setLeftHandJointAngleUpdateTask->stop();
rightHandJointAngleUpdateTask->stop();
+ displayJointAngleUpdateTask->stop();
updateInfoTimer->stop();
}
@@ -173,6 +181,7 @@ namespace armarx
void HandUnitWidget::setLeftHandJointAngles()
{
+// ARMARX_INFO << "setLeftHandJointAngles";
if (!leftHandUnitProxy)
{
ARMARX_WARNING << "invalid proxy";
@@ -188,26 +197,30 @@ namespace armarx
NameValueMap leftHandJa;
NameValueMap currentLeftHandJointValues = leftHandUnitProxy->getCurrentJointValues();
-
- if (leftHandName == "Hand L EEF")
+ float value = 0;
+ if (leftHandName == "Hand L" || leftHandName == "TCP L")
{
- for (const auto& pair : currentLeftHandJointValues)
- {
- leftHandJa[pair.first] = ui.frameLeftHand->findChild<QSlider *>(pair.first.c_str())->value();
- }
+ leftHandConversionFactor *= M_PI / 2;
}
- else if (leftHandName == "Hand L" || leftHandName == "TCP L")
+ else if (leftHandName != "Hand_L_EEF")
{
- for (const auto& pair : currentLeftHandJointValues)
- {
- leftHandJa[pair.first] = ui.frameLeftHand->findChild<QSlider *>(pair.first.c_str())->value() * M_PI / 2;
- }
+ ARMARX_WARNING << "Left hand with name \"" << leftHandName << "\" is not supported.";
+ return;
}
- else
+
+ for (const auto& pair : currentLeftHandJointValues)
{
- ARMARX_WARNING << "Left hand with name \"" << leftHandName << "\" is not supported.";
+ if (pair.first == currentLeftHandJoint)
+ {
+ value = static_cast<float>(ui.horizontalSliderLeftHandJointPos->value() * leftHandConversionFactor);
+ ARMARX_INFO << VAROUT(value);
+ leftHandJa[pair.first] = value;
+ break;
+ }
}
+ ARMARX_INFO << VAROUT(value / leftHandConversionFactor);
+ ui.lcdNumberLeftHandJointValue->display(value / leftHandConversionFactor);
leftHandUnitProxy->setJointAngles(leftHandJa);
}
@@ -229,18 +242,18 @@ namespace armarx
NameValueMap rightHandJa;
NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
- if (rightHandName == "Hand L EEF")
+ if (rightHandName == "Hand_R_EEF")
{
for (const auto& pair : currentRightHandJointValues)
{
- rightHandJa[pair.first] = ui.frameRightHand->findChild<QSlider *>(pair.first.c_str())->value();
+ rightHandJa[pair.first] = ui.frameRightHand->findChild<QSlider *>("horizontalSlider" + QString::fromUtf8(pair.first.c_str()))->value() / 100.0f;
}
}
- else if (rightHandName == "Hand L" || rightHandName == "TCP L")
+ else if (rightHandName == "Hand R" || rightHandName == "TCP R")
{
for (const auto& pair : currentRightHandJointValues)
{
- rightHandJa[pair.first] = ui.frameRightHand->findChild<QSlider *>(pair.first.c_str())->value() * M_PI / 2;
+ rightHandJa[pair.first] = ui.frameRightHand->findChild<QSlider *>("horizontalSlider" + QString::fromUtf8(pair.first.c_str()))->value() / 100.0f * M_PI / 2;
}
}
else
@@ -297,6 +310,43 @@ namespace armarx
ui.labelInfoRightHand->setText(QString::fromStdString(rightHandUnitProxyName + " :: " + rightHandName + " State: " + rightHandUnitProxy->describeHandState()));
}
+ void HandUnitWidget::updateJointValueTable()
+ {
+ NameValueMap currentLeftHandJointValues = leftHandUnitProxy->getCurrentJointValues();
+// ARMARX_INFO << VAROUT(leftHandUnitProxy->getCurrentJointValues());
+ int frameLeftHandRowIdx = 0;
+
+ for (const auto& pair : currentLeftHandJointValues)
+ {
+// ARMARX_INFO << VAROUT(pair.first);
+ QString name(pair.first.c_str());
+ QTableWidgetItem* newItem = new QTableWidgetItem(QString::number(pair.second));
+ ui.tableWidgetLeftHand->setItem(frameLeftHandRowIdx, 1, newItem);
+ frameLeftHandRowIdx++;
+ }
+ }
+
+ void HandUnitWidget::selectLeftHandJoint(int i)
+ {
+ ARMARX_INFO << "selectLeftHandJoint " << i;
+ NameValueMap currentLeftHandJointValues = leftHandUnitProxy->getCurrentJointValues();
+ int idx = 0;
+
+ for (const auto& pair: currentLeftHandJointValues)
+ {
+ if (idx == i)
+ {
+ currentLeftHandJoint = pair.first;
+ int convertedValue = static_cast<int>(pair.second / leftHandConversionFactor);
+ ui.horizontalSliderLeftHandJointPos->setSliderPosition(convertedValue);
+ ui.lcdNumberLeftHandJointValue->display(convertedValue);
+ ARMARX_INFO << "Found joint";
+ break;
+ }
+ idx++;
+ }
+ }
+
void HandUnitWidget::setLeftHandPreshape(std::string preshape)
{
ARMARX_INFO << "Setting new left hand shape: " << preshape;
@@ -329,66 +379,69 @@ namespace armarx
void HandUnitWidget::initGUIJointFrames()
{
NameValueMap currentLeftHandJointValues = leftHandUnitProxy->getCurrentJointValues();
- QGridLayout* gridLayoutLeftHand = new QGridLayout(ui.frameLeftHand);
+// ARMARX_INFO << VAROUT(leftHandUnitProxy->getCurrentJointValues());
int frameLeftHandRowIdx = 0;
connect(ui.buttonPreshapeLeftHand, SIGNAL(clicked()), this, SLOT(preshapeLeftHand()), Qt::UniqueConnection);
connect(ui.buttonOpenLeftHand, SIGNAL(clicked()), this, SLOT(openLeftHand()), Qt::UniqueConnection);
connect(ui.buttonCloseLeftHand, SIGNAL(clicked()), this, SLOT(closeLeftHand()), Qt::UniqueConnection);
connect(ui.buttonRelaxLeftHand, SIGNAL(clicked()), this, SLOT(relaxLeftHand()), Qt::UniqueConnection);
- connect(ui.buttonSetLeftHandJointAngles, SIGNAL(clicked()), this, SLOT(requestSetLeftHandJointAngles()), Qt::UniqueConnection);
+ ui.horizontalSliderLeftHandJointPos->setMaximum(100);
+ ui.horizontalSliderLeftHandJointPos->setMinimum(0);
+ connect(ui.horizontalSliderLeftHandJointPos, SIGNAL(sliderMoved(int)), this, SLOT(requestSetLeftHandJointAngles()), Qt::UniqueConnection);
+ connect(ui.comboLeftHandJoints, SIGNAL(currentIndexChanged(int)), this, SLOT(selectLeftHandJoint(int)), Qt::UniqueConnection);
- for (const auto& pair : currentLeftHandJointValues)
- {
- QLabel* label = new QLabel(ui.frameLeftHand);
- label->setText(QString::fromUtf8(pair.first.c_str()));
- gridLayoutLeftHand->addWidget(label, frameLeftHandRowIdx, 0, 1, 1);
+ ui.tableWidgetLeftHand->setRowCount(currentLeftHandJointValues.size());
+ ui.tableWidgetLeftHand->setColumnCount(2);
- QSlider* horizontalSlider = new QSlider(ui.frameLeftHand);
- horizontalSlider->setObjectName("horizontalSlider" + QString::fromUtf8(pair.first.c_str()));
- horizontalSlider->setMaximum(1);
- horizontalSlider->setOrientation(Qt::Horizontal);
- connect(horizontalSlider, SIGNAL(sliderMoved(int)), this, SLOT(requestSetLeftHandJointAngles()), Qt::UniqueConnection);
- gridLayoutLeftHand->addWidget(horizontalSlider, frameLeftHandRowIdx, 1, 1, 2);
+ ui.comboLeftHandJoints->clear();
+ qRegisterMetaType<QVector<int> >("QVector<int>");
+ for (const auto& pair : currentLeftHandJointValues)
+ {
+// ARMARX_INFO << VAROUT(pair.first);
+ QString name(pair.first.c_str());
+ QTableWidgetItem* newItem = new QTableWidgetItem(name);
+ ui.tableWidgetLeftHand->setItem(frameLeftHandRowIdx, 0, newItem);
+ ui.comboLeftHandJoints->addItem(name);
frameLeftHandRowIdx++;
}
- ui.frameLeftHand->setLayout(gridLayoutLeftHand);
+ ui.comboLeftHandJoints->setCurrentIndex(-1);
- NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
- QGridLayout* gridLayoutRightHand = new QGridLayout(ui.frameRightHand);
- int frameRightHandRowIdx = 0;
+// NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
+// QGridLayout* gridLayoutRightHand = new QGridLayout(ui.frameRightHand);
+// int frameRightHandRowIdx = 0;
- connect(ui.buttonPreshapeRightHand, SIGNAL(clicked()), this, SLOT(preshapeRightHand()), Qt::UniqueConnection);
- connect(ui.buttonOpenRightHand, SIGNAL(clicked()), this, SLOT(openRightHand()), Qt::UniqueConnection);
- connect(ui.buttonCloseRightHand, SIGNAL(clicked()), this, SLOT(closeRightHand()), Qt::UniqueConnection);
- connect(ui.buttonRelaxRightHand, SIGNAL(clicked()), this, SLOT(relaxRightHand()), Qt::UniqueConnection);
- connect(ui.buttonSetRightHandJointAngles, SIGNAL(clicked()), this, SLOT(requestSetRightHandJointAngles()), Qt::UniqueConnection);
+// connect(ui.buttonPreshapeRightHand, SIGNAL(clicked()), this, SLOT(preshapeRightHand()), Qt::UniqueConnection);
+// connect(ui.buttonOpenRightHand, SIGNAL(clicked()), this, SLOT(openRightHand()), Qt::UniqueConnection);
+// connect(ui.buttonCloseRightHand, SIGNAL(clicked()), this, SLOT(closeRightHand()), Qt::UniqueConnection);
+// connect(ui.buttonRelaxRightHand, SIGNAL(clicked()), this, SLOT(relaxRightHand()), Qt::UniqueConnection);
+// connect(ui.buttonSetRightHandJointAngles, SIGNAL(clicked()), this, SLOT(requestSetRightHandJointAngles()), Qt::UniqueConnection);
- for (const auto& pair : currentRightHandJointValues)
- {
- QLabel* label = new QLabel(ui.frameRightHand);
- label->setText(QString::fromUtf8(pair.first.c_str()));
- gridLayoutRightHand->addWidget(label, frameRightHandRowIdx, 0, 1, 1);
-
- QSlider* horizontalSlider = new QSlider(ui.frameRightHand);
- horizontalSlider->setObjectName("horizontalSlider" + QString::fromUtf8(pair.first.c_str()));
- horizontalSlider->setMaximum(1);
- horizontalSlider->setOrientation(Qt::Horizontal);
- connect(horizontalSlider, SIGNAL(sliderMoved(int)), this, SLOT(requestSetRightHandJointAngles()), Qt::UniqueConnection);
- gridLayoutRightHand->addWidget(horizontalSlider, frameRightHandRowIdx, 1, 1, 2);
-
- frameRightHandRowIdx++;
- }
+// for (const auto& pair : currentRightHandJointValues)
+// {
+// QLabel* label = new QLabel(ui.frameRightHand);
+// label->setText(QString::fromUtf8(pair.first.c_str()));
+// gridLayoutRightHand->addWidget(label, frameRightHandRowIdx, 0, 1, 1);
+
+// QSlider* horizontalSlider = new QSlider(ui.frameRightHand);
+// horizontalSlider->setObjectName("horizontalSlider" + QString::fromUtf8(pair.first.c_str()));
+// horizontalSlider->setMaximum(1);
+// horizontalSlider->setOrientation(Qt::Horizontal);
+// connect(horizontalSlider, SIGNAL(sliderMoved(int)), this, SLOT(requestSetRightHandJointAngles()), Qt::UniqueConnection);
+// gridLayoutRightHand->addWidget(horizontalSlider, frameRightHandRowIdx, 1, 1, 2);
+
+// frameRightHandRowIdx++;
+// }
- ui.frameRightHand->setLayout(gridLayoutRightHand);
+// ui.frameRightHand->setLayout(gridLayoutRightHand);
- connect(updateInfoTimer, SIGNAL(timeout()), this, SLOT(updateInfoLabel()));
+// connect(updateInfoTimer, SIGNAL(timeout()), this, SLOT(updateInfoLabel()));
}
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
index 353156cff..60415021b 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
@@ -125,6 +125,8 @@ namespace armarx
void relaxLeftHand();
void relaxRightHand();
void updateInfoLabel();
+ void updateJointValueTable();
+ void selectLeftHandJoint(int i);
private:
void setLeftHandPreshape(std::string preshape);
@@ -148,11 +150,14 @@ namespace armarx
//QPointer<QWidget> __widget;
QPointer<HandUnitConfigDialog> dialog;
- PeriodicTask<HandUnitWidget>::pointer_type leftHandJointAngleUpdateTask;
+ PeriodicTask<HandUnitWidget>::pointer_type setLeftHandJointAngleUpdateTask;
PeriodicTask<HandUnitWidget>::pointer_type rightHandJointAngleUpdateTask;
+ PeriodicTask<HandUnitWidget>::pointer_type displayJointAngleUpdateTask;
QTimer* updateInfoTimer;
bool setLeftHandJointAnglesFlag;
bool setRightHandJointAnglesFlag;
+ std::basic_string<char> currentLeftHandJoint;
+ double leftHandConversionFactor= 1.0 / 100.0;
// HandUnitListener interface
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
index 7f9fbdc67..cda76d797 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
@@ -36,9 +36,9 @@
<property name="geometry">
<rect>
<x>9</x>
- <y>66</y>
- <width>230</width>
- <height>321</height>
+ <y>156</y>
+ <width>301</width>
+ <height>231</height>
</rect>
</property>
<property name="frameShape">
@@ -47,7 +47,11 @@
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
- <layout class="QGridLayout" name="gridLayout_2"/>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="0" column="0">
+ <widget class="QTableWidget" name="tableWidgetLeftHand"/>
+ </item>
+ </layout>
</widget>
<widget class="QComboBox" name="comboLeftHandPreshapes">
<property name="geometry">
@@ -148,25 +152,6 @@
<enum>Qt::Vertical</enum>
</property>
</widget>
- <widget class="QPushButton" name="buttonSetLeftHandJointAngles">
- <property name="geometry">
- <rect>
- <x>250</x>
- <y>215</y>
- <width>50</width>
- <height>25</height>
- </rect>
- </property>
- <property name="maximumSize">
- <size>
- <width>50</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="text">
- <string>Set</string>
- </property>
- </widget>
<widget class="QPushButton" name="buttonSetRightHandJointAngles">
<property name="geometry">
<rect>
@@ -318,6 +303,70 @@
<enum>Qt::Vertical</enum>
</property>
</widget>
+ <widget class="QLabel" name="labelSelectLeftHandJoint">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>80</y>
+ <width>81</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Select Joint</string>
+ </property>
+ </widget>
+ <widget class="QComboBox" name="comboLeftHandJoints">
+ <property name="geometry">
+ <rect>
+ <x>100</x>
+ <y>75</y>
+ <width>150</width>
+ <height>25</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QLCDNumber" name="lcdNumberLeftHandJointValue">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>117</y>
+ <width>64</width>
+ <height>26</height>
+ </rect>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>100</height>
+ </size>
+ </property>
+ <property name="toolTip">
+ <string/>
+ </property>
+ <property name="smallDecimalPoint">
+ <bool>false</bool>
+ </property>
+ </widget>
+ <widget class="QSlider" name="horizontalSliderLeftHandJointPos">
+ <property name="geometry">
+ <rect>
+ <x>90</x>
+ <y>120</y>
+ <width>221</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>100</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
</widget>
<resources/>
<connections/>
--
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