From 43e3b1bb150c9ccf1d430ca60c7eda10156e7c1e Mon Sep 17 00:00:00 2001
From: Jan Hausberg <jan.hausberg@kit.edu>
Date: Wed, 22 Jun 2022 10:20:47 +0200
Subject: [PATCH] Update HandUnitGuiPlugin UI and functionality for the right
hand; remove unnecessary header files
---
.../HandUnitPlugin/HandUnitGuiPlugin.cpp | 152 ++++++++++++------
.../HandUnitPlugin/HandUnitGuiPlugin.h | 5 +-
.../HandUnitPlugin/HandUnitGuiPlugin.ui | 123 +++++++++-----
3 files changed, 188 insertions(+), 92 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
index 7233e276e..ea3190228 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
@@ -36,8 +36,6 @@
#include <QMessageBox>
#include <QTimer>
#include <QtWidgets/QSlider>
-#include <QtWidgets/QGridLayout>
-#include <QtWidgets/QLabel>
#include <QtWidgets/QTableWidgetItem>
#include <QString>
@@ -55,13 +53,14 @@ namespace armarx
rightHandName("NOT SET YET"),
leftHandUnitProxyName(""),
rightHandUnitProxyName(""),
- setLeftHandJointAnglesFlag(false)
+ setLeftHandJointAnglesFlag(false),
+ setRightHandJointAnglesFlag(false)
{
// init gui
ui.setupUi(getWidget());
setLeftHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setLeftHandJointAngles, 50);
- rightHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setRightHandJointAngles, 50);
+ setRightHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setRightHandJointAngles, 50);
updateInfoTimer = new QTimer(this);
}
@@ -78,6 +77,8 @@ namespace armarx
{
updateInfoTimer->start(50);
+
+
setLeftHandJointAngleUpdateTask->start();
leftHandUnitProxy = getProxy<HandUnitInterfacePrx>(leftHandUnitProxyName);
@@ -108,12 +109,16 @@ namespace armarx
- rightHandJointAngleUpdateTask->start();
+ setRightHandJointAngleUpdateTask->start();
rightHandUnitProxy = getProxy<HandUnitInterfacePrx>(rightHandUnitProxyName);
rightHandName = rightHandUnitProxy->getHandName();
- if (rightHandName != "Hand R" && rightHandName != "TCP R" && rightHandName != "Hand_R_EEF")
+ if (rightHandName == "Hand R" || rightHandName == "TCP R")
+ {
+ rightHandConversionFactor *= M_PI / 2;
+ }
+ else if (rightHandName != "Hand_R_EEF")
{
ARMARX_WARNING << "Right hand with name \"" << rightHandName << "\" is not supported.";
}
@@ -125,6 +130,7 @@ namespace armarx
for (int i = 0; i < rightHandPreshapeCount; ++i)
{
std::string shape = ((rightHandPreshapeStrings->getVariant(i))->get<std::string>());
+// ARMARX_INFO << VAROUT(shape);
rightHandList << QString::fromStdString(shape);
}
@@ -133,7 +139,7 @@ namespace armarx
- ARMARX_INFO << "initGUIJointFrames";
+// ARMARX_INFO << "initGUIJointFrames";
initGUIJointFrames();
displayJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::updateJointValueTable, 50);
displayJointAngleUpdateTask->start();
@@ -142,7 +148,7 @@ namespace armarx
void HandUnitWidget::onDisconnectComponent()
{
setLeftHandJointAngleUpdateTask->stop();
- rightHandJointAngleUpdateTask->stop();
+ setRightHandJointAngleUpdateTask->stop();
displayJointAngleUpdateTask->stop();
updateInfoTimer->stop();
}
@@ -213,19 +219,20 @@ namespace armarx
if (pair.first == currentLeftHandJoint)
{
value = static_cast<float>(ui.horizontalSliderLeftHandJointPos->value() * leftHandConversionFactor);
- ARMARX_INFO << VAROUT(value);
+// ARMARX_INFO << VAROUT(value);
leftHandJa[pair.first] = value;
break;
}
}
- ARMARX_INFO << VAROUT(value / leftHandConversionFactor);
+// ARMARX_INFO << VAROUT(value / leftHandConversionFactor);
ui.lcdNumberLeftHandJointValue->display(value / leftHandConversionFactor);
leftHandUnitProxy->setJointAngles(leftHandJa);
}
void HandUnitWidget::setRightHandJointAngles()
{
+// ARMARX_INFO << "setRightHandJointAngles";
if (!rightHandUnitProxy)
{
ARMARX_WARNING << "invalid proxy";
@@ -241,26 +248,30 @@ namespace armarx
NameValueMap rightHandJa;
NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
-
- if (rightHandName == "Hand_R_EEF")
+ float value = 0;
+ if (rightHandName == "Hand R" || rightHandName == "TCP R")
{
- for (const auto& pair : currentRightHandJointValues)
- {
- rightHandJa[pair.first] = ui.frameRightHand->findChild<QSlider *>("horizontalSlider" + QString::fromUtf8(pair.first.c_str()))->value() / 100.0f;
- }
+ rightHandConversionFactor *= M_PI / 2;
}
- else if (rightHandName == "Hand R" || rightHandName == "TCP R")
+ else if (rightHandName != "Hand_R_EEF")
{
- for (const auto& pair : currentRightHandJointValues)
- {
- rightHandJa[pair.first] = ui.frameRightHand->findChild<QSlider *>("horizontalSlider" + QString::fromUtf8(pair.first.c_str()))->value() / 100.0f * M_PI / 2;
- }
+ ARMARX_WARNING << "Right hand with name \"" << rightHandName << "\" is not supported.";
+ return;
}
- else
+
+ for (const auto& pair : currentRightHandJointValues)
{
- ARMARX_WARNING << "Right hand with name \"" << rightHandName << "\" is not supported.";
+ if (pair.first == currentRightHandJoint)
+ {
+ value = static_cast<float>(ui.horizontalSliderRightHandJointPos->value() * rightHandConversionFactor);
+// ARMARX_INFO << VAROUT(value);
+ rightHandJa[pair.first] = value;
+ break;
+ }
}
+// ARMARX_INFO << VAROUT(value / rightHandConversionFactor);
+ ui.lcdNumberRightHandJointValue->display(value / rightHandConversionFactor);
rightHandUnitProxy->setJointAngles(rightHandJa);
}
@@ -324,11 +335,26 @@ namespace armarx
ui.tableWidgetLeftHand->setItem(frameLeftHandRowIdx, 1, newItem);
frameLeftHandRowIdx++;
}
+
+
+
+ NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
+// ARMARX_INFO << VAROUT(rightHandUnitProxy->getCurrentJointValues());
+ int frameRightHandRowIdx = 0;
+
+ for (const auto& pair : currentRightHandJointValues)
+ {
+// ARMARX_INFO << VAROUT(pair.first);
+ QString name(pair.first.c_str());
+ QTableWidgetItem* newItem = new QTableWidgetItem(QString::number(pair.second));
+ ui.tableWidgetRightHand->setItem(frameRightHandRowIdx, 1, newItem);
+ frameRightHandRowIdx++;
+ }
}
void HandUnitWidget::selectLeftHandJoint(int i)
{
- ARMARX_INFO << "selectLeftHandJoint " << i;
+// ARMARX_INFO << "selectLeftHandJoint " << i;
NameValueMap currentLeftHandJointValues = leftHandUnitProxy->getCurrentJointValues();
int idx = 0;
@@ -340,7 +366,28 @@ namespace armarx
int convertedValue = static_cast<int>(pair.second / leftHandConversionFactor);
ui.horizontalSliderLeftHandJointPos->setSliderPosition(convertedValue);
ui.lcdNumberLeftHandJointValue->display(convertedValue);
- ARMARX_INFO << "Found joint";
+// ARMARX_INFO << "Found joint";
+ break;
+ }
+ idx++;
+ }
+ }
+
+ void HandUnitWidget::selectRightHandJoint(int i)
+ {
+// ARMARX_INFO << "selectRightHandJoint " << i;
+ NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
+ int idx = 0;
+
+ for (const auto& pair: currentRightHandJointValues)
+ {
+ if (idx == i)
+ {
+ currentRightHandJoint = pair.first;
+ int convertedValue = static_cast<int>(pair.second / rightHandConversionFactor);
+ ui.horizontalSliderRightHandJointPos->setSliderPosition(convertedValue);
+ ui.lcdNumberRightHandJointValue->display(convertedValue);
+// ARMARX_INFO << "Found joint";
break;
}
idx++;
@@ -349,13 +396,13 @@ namespace armarx
void HandUnitWidget::setLeftHandPreshape(std::string preshape)
{
- ARMARX_INFO << "Setting new left hand shape: " << preshape;
+// ARMARX_INFO << "Setting new left hand shape: " << preshape;
leftHandUnitProxy->setShape(preshape);
}
void HandUnitWidget::setRightHandPreshape(std::string preshape)
{
- ARMARX_INFO << "Setting new right hand shape: " << preshape;
+// ARMARX_INFO << "Setting new right hand shape: " << preshape;
rightHandUnitProxy->setShape(preshape);
}
@@ -411,37 +458,36 @@ namespace armarx
-// 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);
-
-// 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);
+ NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
+// ARMARX_INFO << VAROUT(rightHandUnitProxy->getCurrentJointValues());
+ int frameRightHandRowIdx = 0;
-// frameRightHandRowIdx++;
-// }
+ 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);
+ ui.horizontalSliderRightHandJointPos->setMaximum(100);
+ ui.horizontalSliderRightHandJointPos->setMinimum(0);
+ connect(ui.horizontalSliderRightHandJointPos, SIGNAL(sliderMoved(int)), this, SLOT(requestSetRightHandJointAngles()), Qt::UniqueConnection);
+ connect(ui.comboRightHandJoints, SIGNAL(currentIndexChanged(int)), this, SLOT(selectRightHandJoint(int)), Qt::UniqueConnection);
-// ui.frameRightHand->setLayout(gridLayoutRightHand);
+ ui.tableWidgetRightHand->setRowCount(currentRightHandJointValues.size());
+ ui.tableWidgetRightHand->setColumnCount(2);
+ ui.comboRightHandJoints->clear();
+ qRegisterMetaType<QVector<int> >("QVector<int>");
+ for (const auto& pair : currentRightHandJointValues)
+ {
+// ARMARX_INFO << VAROUT(pair.first);
+ QString name(pair.first.c_str());
+ QTableWidgetItem* newItem = new QTableWidgetItem(name);
+ ui.tableWidgetRightHand->setItem(frameRightHandRowIdx, 0, newItem);
+ ui.comboRightHandJoints->addItem(name);
+ frameRightHandRowIdx++;
+ }
-// connect(updateInfoTimer, SIGNAL(timeout()), this, SLOT(updateInfoLabel()));
+ ui.comboRightHandJoints->setCurrentIndex(-1);
}
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
index 60415021b..24d7900ce 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
@@ -127,6 +127,7 @@ namespace armarx
void updateInfoLabel();
void updateJointValueTable();
void selectLeftHandJoint(int i);
+ void selectRightHandJoint(int i);
private:
void setLeftHandPreshape(std::string preshape);
@@ -151,13 +152,15 @@ namespace armarx
QPointer<HandUnitConfigDialog> dialog;
PeriodicTask<HandUnitWidget>::pointer_type setLeftHandJointAngleUpdateTask;
- PeriodicTask<HandUnitWidget>::pointer_type rightHandJointAngleUpdateTask;
+ PeriodicTask<HandUnitWidget>::pointer_type setRightHandJointAngleUpdateTask;
PeriodicTask<HandUnitWidget>::pointer_type displayJointAngleUpdateTask;
QTimer* updateInfoTimer;
bool setLeftHandJointAnglesFlag;
bool setRightHandJointAnglesFlag;
std::basic_string<char> currentLeftHandJoint;
+ std::basic_string<char> currentRightHandJoint;
double leftHandConversionFactor= 1.0 / 100.0;
+ double rightHandConversionFactor = 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 cda76d797..cec1e1ea7 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
@@ -120,25 +120,6 @@
<string><Info Here></string>
</property>
</widget>
- <widget class="QFrame" name="frameRightHand">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="geometry">
- <rect>
- <x>330</x>
- <y>66</y>
- <width>230</width>
- <height>321</height>
- </rect>
- </property>
- <property name="frameShape">
- <enum>QFrame::StyledPanel</enum>
- </property>
- <property name="frameShadow">
- <enum>QFrame::Raised</enum>
- </property>
- </widget>
<widget class="Line" name="line">
<property name="geometry">
<rect>
@@ -152,25 +133,6 @@
<enum>Qt::Vertical</enum>
</property>
</widget>
- <widget class="QPushButton" name="buttonSetRightHandJointAngles">
- <property name="geometry">
- <rect>
- <x>570</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="buttonCloseLeftHand">
<property name="geometry">
<rect>
@@ -367,6 +329,91 @@
<enum>Qt::Horizontal</enum>
</property>
</widget>
+ <widget class="QLCDNumber" name="lcdNumberRightHandJointValue">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>330</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="QLabel" name="labelSelectRightHandJoint">
+ <property name="geometry">
+ <rect>
+ <x>330</x>
+ <y>80</y>
+ <width>81</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Select Joint</string>
+ </property>
+ </widget>
+ <widget class="QFrame" name="frameRightHand">
+ <property name="geometry">
+ <rect>
+ <x>329</x>
+ <y>156</y>
+ <width>301</width>
+ <height>231</height>
+ </rect>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_4">
+ <item row="0" column="0">
+ <widget class="QTableWidget" name="tableWidgetRightHand"/>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QComboBox" name="comboRightHandJoints">
+ <property name="geometry">
+ <rect>
+ <x>420</x>
+ <y>75</y>
+ <width>150</width>
+ <height>25</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QSlider" name="horizontalSliderRightHandJointPos">
+ <property name="geometry">
+ <rect>
+ <x>410</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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