Make logging nicer

source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp

@@ -47,6 +47,7 @@ PlatformUnitGuiPlugin::PlatformUnitGuiPlugin()
     addWidget<PlatformUnitWidget>();
 }
 
+
 PlatformUnitWidget::PlatformUnitWidget() :
     platformUnitProxyName("PlatformUnit"),  // overwritten in loadSettings() anyway?
     platformName("Platform"),
@@ -79,7 +80,6 @@ PlatformUnitWidget::PlatformUnitWidget() :
 
     connect(getWidget().data(), SIGNAL(commandKeyPressed(int)), this, SLOT(controlPlatformWithKeyboard(int)));
     connect(getWidget().data(), SIGNAL(commandKeyReleased(int)), this, SLOT(stopPlatformWithKeyboard(int)));
-
 }
 
 
@@ -91,23 +91,25 @@ void PlatformUnitWidget::onInitComponent()
 
 }
 
+
 void PlatformUnitWidget::onConnectComponent()
 {
     platformUnitProxy = getProxy<PlatformUnitInterfacePrx>(platformUnitProxyName);
     connectSlots();
-
 }
 
+
 void PlatformUnitWidget::onDisconnectComponent()
 {
     stopControlTimer();
-
 }
 
+
 void PlatformUnitWidget::onExitComponent()
 {
 }
 
+
 QPointer<QDialog> PlatformUnitWidget::getConfigDialog(QWidget* parent)
 {
     if (!dialog)
@@ -119,6 +121,7 @@ QPointer<QDialog> PlatformUnitWidget::getConfigDialog(QWidget* parent)
     return qobject_cast<PlatformUnitConfigDialog*>(dialog);
 }
 
+
 void PlatformUnitWidget::configured()
 {
     platformUnitProxyName = dialog->finder->getSelectedProxyName().toStdString();
@@ -132,6 +135,7 @@ void PlatformUnitWidget::loadSettings(QSettings* settings)
     platformName = settings->value("platformName", QString::fromStdString(platformName)).toString().toStdString();
 }
 
+
 void PlatformUnitWidget::saveSettings(QSettings* settings)
 {
     settings->setValue("platformUnitProxyName", QString::fromStdString(platformUnitProxyName));
@@ -153,11 +157,9 @@ void PlatformUnitWidget::connectSlots()
     connect(rotaCtrl, SIGNAL(released()), this, SLOT(stopPlatform()), Qt::UniqueConnection);
     connect(rotaCtrl, SIGNAL(released()), this, SLOT(stopControlTimer()), Qt::UniqueConnection);
     connect(ui.buttonStopPlatform, SIGNAL(pressed()), this, SLOT(stopPlatform()), Qt::UniqueConnection);
-
-
-
 }
 
+
 void PlatformUnitWidget::moveTo()
 {
     ARMARX_LOG << "Moving Platform";
@@ -169,6 +171,7 @@ void PlatformUnitWidget::moveTo()
     platformUnitProxy->moveTo(positionX, positionY, rotation, posAcc, rotAcc);
 }
 
+
 void PlatformUnitWidget::setNewPlatformPoseLabels(float x, float y, float alpha)
 {
     ui.labelCurrentPositionX->setText(QString::number(x));
@@ -177,6 +180,7 @@ void PlatformUnitWidget::setNewPlatformPoseLabels(float x, float y, float alpha)
 
 }
 
+
 void PlatformUnitWidget::setNewTargetPoseLabels(float x, float y, float alpha)
 {
     ui.editTargetPositionX->setText(QString::number(x));
@@ -184,13 +188,13 @@ void PlatformUnitWidget::setNewTargetPoseLabels(float x, float y, float alpha)
     ui.editTargetRotation->setText(QString::number(alpha));
 }
 
+
 void PlatformUnitWidget::startControlTimer()
 {
-
-    ctrlEvaluationTimer.start(CONTROL_TICK_RATE);//tickrate in ms
-
+    ctrlEvaluationTimer.start(CONTROL_TICK_RATE);  //tickrate in ms
 }
 
+
 void PlatformUnitWidget::stopControlTimer()
 {
     ctrlEvaluationTimer.stop();
@@ -198,6 +202,7 @@ void PlatformUnitWidget::stopControlTimer()
     rotaCtrl->setNibble({0, 0});
 }
 
+
 void PlatformUnitWidget::reportPlatformPose(PlatformPose const& currentPose, const Ice::Current& c)
 {
     // moved to qt thread for thread safety
@@ -205,6 +210,7 @@ void PlatformUnitWidget::reportPlatformPose(PlatformPose const& currentPose, con
     platformRotation = currentPose.rotationAroundZ;
 }
 
+
 void PlatformUnitWidget::reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c)
 {
     // moved to qt thread for thread safety
@@ -219,14 +225,15 @@ void PlatformUnitWidget::reportPlatformVelocity(::Ice::Float currentPlatformVelo
 
 }
 
+
 void PlatformUnitWidget::stopPlatform()
 {
     platformUnitProxy->stopPlatform();
 }
 
+
 void PlatformUnitWidget::controlPlatformWithKeyboard(int key)
 {
-
     pressedKeys.insert(key);
     if (!ctrlEvaluationTimer.isActive())
     {
@@ -237,13 +244,11 @@ void PlatformUnitWidget::controlPlatformWithKeyboard(int key)
         keyboardVelocityControl();
         keyboardVelocityTimer.start();
     }
-
 }
 
+
 void PlatformUnitWidget::stopPlatformWithKeyboard(int key)
 {
-
-
     pressedKeys.remove(key);
 
     if (!keyboardVelocityTimer.isActive())
@@ -251,9 +256,9 @@ void PlatformUnitWidget::stopPlatformWithKeyboard(int key)
         keyboardVelocityControl();
         keyboardVelocityTimer.start();
     }
-
 }
 
+
 void PlatformUnitWidget::keyboardVelocityControl()
 {
     if (!pressedKeys.contains(Qt::Key_A) && !pressedKeys.contains(Qt::Key_D))
@@ -307,6 +312,7 @@ void PlatformUnitWidget::keyboardVelocityControl()
                 break;
         }
     }
+
     currentKeyboardVelocityAlpha = std::max(-1.f, currentKeyboardVelocityAlpha);
     currentKeyboardVelocityAlpha = std::min(1.f, currentKeyboardVelocityAlpha);
     currentKeyboardVelocityX = std::max(-1.f, currentKeyboardVelocityX);
@@ -317,13 +323,9 @@ void PlatformUnitWidget::keyboardVelocityControl()
     float y = sin(acos(currentKeyboardVelocityAlpha));
     speedCtrl->setNibble(QPointF(currentKeyboardVelocityX, currentKeyboardVelocityY));
     rotaCtrl->setNibble(QPointF(currentKeyboardVelocityAlpha, -y));
-
-
-
 }
 
 
-
 QPointer<QWidget> PlatformUnitWidget::getWidget()
 {
     if (!__widget)
@@ -335,27 +337,29 @@ QPointer<QWidget> PlatformUnitWidget::getWidget()
 }
 
 
-
 void PlatformUnitWidget::controlTimerTick()
 {
     float translationFactor = ui.maxTranslationSpeed->value();
     float rotationFactor = ui.maxRotationSpeed->value() * -1;
     float rotationVel =  rotaCtrl->getRotation() / M_PI_2 * rotationFactor;
-    ARMARX_INFO << deactivateSpam(0.5) << speedCtrl->getPosition().x()*translationFactor << ", " << speedCtrl->getPosition().y()*translationFactor;
-    ARMARX_INFO << deactivateSpam(0.5) << "Rotation Speed: "  << (rotationVel);
-    platformUnitProxy->move(speedCtrl->getPosition().x()*translationFactor, -1 * speedCtrl->getPosition().y()*translationFactor, rotationVel);
+    ARMARX_INFO << deactivateSpam(0.5)
+                << "Translation speed: (" << speedCtrl->getPosition().x() * translationFactor
+                << ", " << speedCtrl->getPosition().y() * translationFactor << ")"
+                << ", \t rotation speed: "  << (rotationVel);
+
+    platformUnitProxy->move(speedCtrl->getPosition().x() * translationFactor,
+                            -1 * speedCtrl->getPosition().y() * translationFactor,
+                            rotationVel);
 
     if (speedCtrl->getPosition().x() == 0
-        &&  speedCtrl->getPosition().y() == 0
-        &&  rotaCtrl->getRotation() == 0)
+        && speedCtrl->getPosition().y() == 0
+        && rotaCtrl->getRotation() == 0)
     {
         stopControlTimer();
     }
-
 }
 
 
-
 void KeyboardPlatformHookWidget::keyPressEvent(QKeyEvent* event)
 {
     switch (event->key())
@@ -374,6 +378,7 @@ void KeyboardPlatformHookWidget::keyPressEvent(QKeyEvent* event)
     QWidget::keyPressEvent(event);
 }
 
+
 void KeyboardPlatformHookWidget::keyReleaseEvent(QKeyEvent* event)
 {
     switch (event->key())
@@ -392,6 +397,7 @@ void KeyboardPlatformHookWidget::keyReleaseEvent(QKeyEvent* event)
     QWidget::keyReleaseEvent(event);
 }
 
+
 void armarx::PlatformUnitWidget::reportPlatformOdometryPose(Ice::Float, Ice::Float, Ice::Float, const Ice::Current&)
 {
     // ignore for now