From 3f64986f22bac046fa11ccab14c45404f9c1f9ad Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Wed, 8 Mar 2017 14:56:53 +0100
Subject: [PATCH] Hokuyo: Added simple GUI plugin
---
.../HokuyoLaserUnit/HokuyoLaserUnit.cpp | 5 +
.../drivers/HokuyoLaserUnit/HokuyoLaserUnit.h | 3 +-
source/RobotAPI/gui-plugins/CMakeLists.txt | 2 +
.../LaserScannerPlugin/CMakeLists.txt | 40 +++++
.../LaserScannerPluginGuiPlugin.cpp | 34 +++++
.../LaserScannerPluginGuiPlugin.h | 51 +++++++
.../LaserScannerPluginWidget.ui | 63 ++++++++
.../LaserScannerPluginWidgetController.cpp | 138 ++++++++++++++++++
.../LaserScannerPluginWidgetController.h | 131 +++++++++++++++++
.../interface/units/LaserScannerUnit.ice | 2 +
10 files changed, 468 insertions(+), 1 deletion(-)
create mode 100644 source/RobotAPI/gui-plugins/LaserScannerPlugin/CMakeLists.txt
create mode 100644 source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.cpp
create mode 100644 source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h
create mode 100644 source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidget.ui
create mode 100644 source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
create mode 100644 source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
index ac411a211..fc78cf268 100644
--- a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
@@ -134,6 +134,11 @@ armarx::PropertyDefinitionsPtr HokuyoLaserUnit::createPropertyDefinitions()
getConfigIdentifier()));
}
+std::string HokuyoLaserUnit::getReportTopicName(const Ice::Current& c) const
+{
+ return topicName;
+}
+
void HokuyoLaserUnit::updateScanData()
{
LaserScan scan;
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
index e8d018f39..2445d3a03 100644
--- a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
@@ -111,6 +111,8 @@ namespace armarx
*/
virtual armarx::PropertyDefinitionsPtr createPropertyDefinitions();
+ std::string getReportTopicName(const Ice::Current& c) const override;
+
private:
void updateScanData();
@@ -121,7 +123,6 @@ namespace armarx
float angleOffset = 0.0f;
std::vector<HokuyoLaserScanDevice> devices;
PeriodicTask<HokuyoLaserUnit>::pointer_type task;
-
};
}
diff --git a/source/RobotAPI/gui-plugins/CMakeLists.txt b/source/RobotAPI/gui-plugins/CMakeLists.txt
index 8e1b05f0d..fc363790a 100644
--- a/source/RobotAPI/gui-plugins/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/CMakeLists.txt
@@ -10,3 +10,5 @@ add_subdirectory(RobotViewerPlugin)
add_subdirectory(DebugDrawerViewer)
add_subdirectory(ViewSelection)
+
+add_subdirectory(LaserScannerPlugin)
\ No newline at end of file
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/LaserScannerPlugin/CMakeLists.txt
new file mode 100644
index 000000000..1c1e4e282
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/CMakeLists.txt
@@ -0,0 +1,40 @@
+
+armarx_set_target("LaserScannerPluginGuiPlugin")
+
+find_package(Qt4 COMPONENTS QtCore QtGui QtDesigner)
+
+armarx_build_if(QT_FOUND "Qt not available")
+# ArmarXGui gets included through depends_on_armarx_package(ArmarXGui "OPTIONAL")
+# in the toplevel CMakeLists.txt
+armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
+
+
+# all include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+if(QT_FOUND)
+ include(${QT_USE_FILE})
+endif()
+
+set(SOURCES
+./LaserScannerPluginGuiPlugin.cpp ./LaserScannerPluginWidgetController.cpp
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@GuiPlugin.cpp @COMPONENT_PATH@/@COMPONENT_NAME@WidgetController.cpp
+)
+
+set(HEADERS
+./LaserScannerPluginGuiPlugin.h ./LaserScannerPluginWidgetController.h
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@GuiPlugin.h @COMPONENT_PATH@/@COMPONENT_NAME@WidgetController.h
+)
+
+set(GUI_MOC_HDRS ${HEADERS})
+
+set(GUI_UIS
+./LaserScannerPluginWidget.ui
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@Widget.ui
+)
+
+# Add more libraries you depend on here, e.g. ${QT_LIBRARIES}.
+set(COMPONENT_LIBS HokuyoLaserUnit SimpleConfigDialog ${QT_LIBRARIES})
+
+if(ArmarXGui_FOUND)
+ armarx_gui_library(LaserScannerPluginGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}")
+endif()
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.cpp b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.cpp
new file mode 100644
index 000000000..c391a0ff6
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.cpp
@@ -0,0 +1,34 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package RobotAPI::gui-plugins::LaserScannerPluginGuiPlugin
+ * \author Fabian Paus ( fabian dot paus at kit dot edu )
+ * \date 2017
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "LaserScannerPluginGuiPlugin.h"
+
+#include "LaserScannerPluginWidgetController.h"
+
+using namespace armarx;
+
+LaserScannerPluginGuiPlugin::LaserScannerPluginGuiPlugin()
+{
+ addWidget < LaserScannerPluginWidgetController > ();
+}
+
+Q_EXPORT_PLUGIN2(armarx_gui_LaserScannerPluginGuiPlugin, LaserScannerPluginGuiPlugin)
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h
new file mode 100644
index 000000000..1a5c4214e
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h
@@ -0,0 +1,51 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package RobotAPI::gui-plugins::LaserScannerPlugin
+ * \author Fabian Paus ( fabian dot paus at kit dot edu )
+ * \date 2017
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_RobotAPI_LaserScannerPlugin_GuiPlugin_H
+#define _ARMARX_RobotAPI_LaserScannerPlugin_GuiPlugin_H
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+
+namespace armarx
+{
+ /**
+ * \class LaserScannerPluginGuiPlugin
+ * \ingroup ArmarXGuiPlugins
+ * \brief LaserScannerPluginGuiPlugin brief description
+ *
+ * Detailed description
+ */
+ class ARMARXCOMPONENT_IMPORT_EXPORT LaserScannerPluginGuiPlugin:
+ public armarx::ArmarXGuiPlugin
+ {
+ public:
+ /**
+ * All widgets exposed by this plugin are added in the constructor
+ * via calls to addWidget()
+ */
+ LaserScannerPluginGuiPlugin();
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidget.ui b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidget.ui
new file mode 100644
index 000000000..097f7d74a
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidget.ui
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>LaserScannerPluginWidget</class>
+ <widget class="QWidget" name="LaserScannerPluginWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>490</width>
+ <height>379</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>LaserScannerPluginWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <property name="sizeConstraint">
+ <enum>QLayout::SetMinAndMaxSize</enum>
+ </property>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0">
+ <property name="spacing">
+ <number>6</number>
+ </property>
+ <item>
+ <widget class="QLabel" name="label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Ignored" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Device:</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="deviceComboBox"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="QGraphicsView" name="graphicsView">
+ <property name="verticalScrollBarPolicy">
+ <enum>Qt::ScrollBarAlwaysOff</enum>
+ </property>
+ <property name="horizontalScrollBarPolicy">
+ <enum>Qt::ScrollBarAlwaysOff</enum>
+ </property>
+ <property name="resizeAnchor">
+ <enum>QGraphicsView::AnchorViewCenter</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
new file mode 100644
index 000000000..233f94be9
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
@@ -0,0 +1,138 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package RobotAPI::gui-plugins::LaserScannerPluginWidgetController
+ * \author Fabian Paus ( fabian dot paus at kit dot edu )
+ * \date 2017
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "LaserScannerPluginWidgetController.h"
+
+#include <QGraphicsView>
+#include <QGraphicsLineItem>
+
+#include <string>
+
+using namespace armarx;
+
+LaserScannerPluginWidgetController::LaserScannerPluginWidgetController()
+{
+ widget.setupUi(getWidget());
+
+ widget.graphicsView->setScene(&scene);
+}
+
+
+LaserScannerPluginWidgetController::~LaserScannerPluginWidgetController()
+{
+
+}
+
+
+void LaserScannerPluginWidgetController::loadSettings(QSettings* settings)
+{
+
+}
+
+void LaserScannerPluginWidgetController::saveSettings(QSettings* settings)
+{
+
+}
+
+
+void LaserScannerPluginWidgetController::onInitComponent()
+{
+ usingProxy(laserScannerUnitName);
+
+ connect(this, SIGNAL(newSensorValuesReported()), this, SLOT(onNewSensorValuesReported()), Qt::QueuedConnection);
+}
+
+
+void LaserScannerPluginWidgetController::onConnectComponent()
+{
+ laserScannerUnit = getProxy<LaserScannerUnitInterfacePrx>(laserScannerUnitName);
+ std::string topicName = laserScannerUnit->getReportTopicName();
+ usingTopic(topicName);
+}
+
+QPointer<QDialog> LaserScannerPluginWidgetController::getConfigDialog(QWidget *parent)
+{
+ if (!dialog)
+ {
+ dialog = new SimpleConfigDialog(parent);
+ dialog->addProxyFinder<LaserScannerUnitInterfacePrx>({"LaserScannerUnit", "", "*LaserUnit"});
+ }
+ return qobject_cast<SimpleConfigDialog*>(dialog);
+}
+
+void LaserScannerPluginWidgetController::configured()
+{
+ if (dialog)
+ {
+ laserScannerUnitName = dialog->getProxyName("LaserScannerUnit");
+ }
+}
+
+void LaserScannerPluginWidgetController::reportSensorValues(const std::string &device, const std::string &name, const LaserScan &newScan, const TimestampBasePtr ×tamp, const Ice::Current &c)
+{
+ {
+ boost::mutex::scoped_lock lock(scanMutex);
+
+ LaserScan& scan = scans[device];
+ // TODO: Do some filtering? aggregation?
+ scan = newScan;
+ }
+
+ emit newSensorValuesReported();
+}
+
+void LaserScannerPluginWidgetController::onNewSensorValuesReported()
+{
+ // TODO: Draw something on the canvas
+
+ QComboBox* deviceBox = widget.deviceComboBox;
+
+ boost::mutex::scoped_lock lock(scanMutex);
+ for (auto& pair : scans)
+ {
+ QString deviceName(QString::fromStdString(pair.first.c_str()));
+ if (deviceBox->findText(deviceName) < 0)
+ {
+ deviceBox->addItem(deviceName);
+ }
+ }
+
+ std::string deviceName(deviceBox->currentText().toUtf8().data());
+
+ QGraphicsView* view = widget.graphicsView;
+ int outerR =std::min(view->width() / 2, view->height() / 2);
+ int r = outerR - 10;
+
+
+ scene.clear();
+ scene.addEllipse(-outerR, -outerR, 2*outerR,2*outerR, QPen(QColor(255,255,255)));
+ scene.addEllipse(-r, -r, 2*r,2*r, QPen(QColor(200,200,200)));
+ auto line = [&](float angle, float d){ scene.addLine(0, 0, std::cos(angle) * d * r, std::sin(angle) * d * r); };
+
+ LaserScan& scan = scans[deviceName];
+ for (LaserScanStep& step : scan)
+ {
+ line(step.angle, step.distance / 30000.0f);
+ }
+
+ view->fitInView(scene.itemsBoundingRect(), Qt::KeepAspectRatio);
+}
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
new file mode 100644
index 000000000..0ee3571d0
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
@@ -0,0 +1,131 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::gui-plugins::LaserScannerPluginWidgetController
+ * @author Fabian Paus ( fabian dot paus at kit dot edu )
+ * @date 2017
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_RobotAPI_LaserScannerPlugin_WidgetController_H
+#define _ARMARX_RobotAPI_LaserScannerPlugin_WidgetController_H
+
+#include "ui_LaserScannerPluginWidget.h"
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
+#include <RobotAPI/interface/units/LaserScannerUnit.h>
+
+namespace armarx
+{
+ /**
+ \page ArmarXGui-GuiPlugins-LaserScannerPlugin LaserScannerPlugin
+ \brief The LaserScannerPlugin allows visualizing ...
+
+ \image html LaserScannerPlugin.png
+ The user can
+
+ API Documentation \ref LaserScannerPluginWidgetController
+
+ \see LaserScannerPluginGuiPlugin
+ */
+
+ /**
+ * \class LaserScannerPluginWidgetController
+ * \brief LaserScannerPluginWidgetController brief one line description
+ *
+ * Detailed description
+ */
+ class ARMARXCOMPONENT_IMPORT_EXPORT
+ LaserScannerPluginWidgetController:
+ public armarx::ArmarXComponentWidgetController,
+ public armarx::LaserScannerUnitListener
+ {
+ Q_OBJECT
+
+ public:
+ /**
+ * Controller Constructor
+ */
+ explicit LaserScannerPluginWidgetController();
+
+ /**
+ * Controller destructor
+ */
+ virtual ~LaserScannerPluginWidgetController();
+
+ /**
+ * @see ArmarXWidgetController::loadSettings()
+ */
+ virtual void loadSettings(QSettings* settings);
+
+ /**
+ * @see ArmarXWidgetController::saveSettings()
+ */
+ virtual void saveSettings(QSettings* settings);
+
+ /**
+ * Returns the Widget name displayed in the ArmarXGui to create an
+ * instance of this class.
+ */
+ virtual QString getWidgetName() const
+ {
+ return "LaserScannerPlugin";
+ }
+
+ /**
+ * \see armarx::Component::onInitComponent()
+ */
+ virtual void onInitComponent();
+
+ /**
+ * \see armarx::Component::onConnectComponent()
+ */
+ virtual void onConnectComponent();
+
+ QPointer<QDialog> getConfigDialog(QWidget *parent) override;
+
+ void configured() override;
+
+ void reportSensorValues(const std::string & device, const std::string & name,
+ const LaserScan & scan, const TimestampBasePtr & timestamp,
+ const Ice::Current & c) override;
+ public slots:
+ void onNewSensorValuesReported();
+
+ signals:
+ void newSensorValuesReported();
+
+ private:
+ /**
+ * Widget Form
+ */
+ Ui::LaserScannerPluginWidget widget;
+ QPointer<SimpleConfigDialog> dialog;
+
+ std::string laserScannerUnitName;
+ LaserScannerUnitInterfacePrx laserScannerUnit;
+
+ Mutex scanMutex;
+ std::unordered_map<std::string, LaserScan> scans;
+
+ QGraphicsScene scene;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/interface/units/LaserScannerUnit.ice b/source/RobotAPI/interface/units/LaserScannerUnit.ice
index c8ea86f95..113d5331f 100644
--- a/source/RobotAPI/interface/units/LaserScannerUnit.ice
+++ b/source/RobotAPI/interface/units/LaserScannerUnit.ice
@@ -54,6 +54,8 @@ module armarx
interface LaserScannerUnitInterface extends armarx::SensorActorUnitInterface
{
+ ["cpp:const"]
+ idempotent string getReportTopicName() throws NotInitializedException;
};
interface LaserScannerUnitListener
--
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