diff --git a/source/RobotAPI/components/EarlyVisionGraph/IntensityGraph.cpp b/source/RobotAPI/components/EarlyVisionGraph/IntensityGraph.cpp
index 6d48757d107bc3f69b5aa174e772c72d8b96cb86..bfaa095cb80bb5db055e0e2fb63f4943dfad362c 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/IntensityGraph.cpp
+++ b/source/RobotAPI/components/EarlyVisionGraph/IntensityGraph.cpp
@@ -154,7 +154,7 @@ bool CIntensityGraph::read(istream& infile)
}
}
- catch (istream::failure e)
+ catch (istream::failure&)
{
printf("ERROR: failed to write FeatureGraph to file\n");
return false;
@@ -229,7 +229,7 @@ bool CIntensityGraph::write(ostream& outfile)
}
}
- catch (ostream::failure e)
+ catch (ostream::failure&)
{
printf("ERROR: failed to write FeatureGraph to file\n");
return false;
diff --git a/source/RobotAPI/components/EarlyVisionGraph/SphericalGraph.cpp b/source/RobotAPI/components/EarlyVisionGraph/SphericalGraph.cpp
index 31b5b39a48ff36b62df0af05491778fe63690218..bfc4f3c8961490cc4fb3c6e6044d07396fd21dbd 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/SphericalGraph.cpp
+++ b/source/RobotAPI/components/EarlyVisionGraph/SphericalGraph.cpp
@@ -207,7 +207,7 @@ bool CSphericalGraph::read(istream& infile)
}
}
- catch (istream::failure e)
+ catch (istream::failure&)
{
printf("ERROR: failed to write FeatureGraph to file\n");
return false;
@@ -279,7 +279,7 @@ bool CSphericalGraph::write(ostream& outfile)
}
}
- catch (ostream::failure e)
+ catch (ostream::failure&)
{
printf("ERROR: failed to write FeatureGraph to file\n");
return false;
diff --git a/source/RobotAPI/components/units/RobotUnit/util.h b/source/RobotAPI/components/units/RobotUnit/util.h
index de41855a1d8f6e0f6b760d2ef07c3ed85181bec1..e9bc00916c61b211b5e98f36ebe197ecd8ff090e 100644
--- a/source/RobotAPI/components/units/RobotUnit/util.h
+++ b/source/RobotAPI/components/units/RobotUnit/util.h
@@ -24,6 +24,7 @@
#define _ARMARX_UNIT_RobotAPI_RobotUnit_util_H
#include <ArmarXCore/core/util/PropagateConst.h>
+#include <ArmarXCore/core/ManagedIceObject.h>
#include "util/EigenForwardDeclarations.h"
#include "util/KeyValueVector.h"
@@ -33,16 +34,4 @@
#include <type_traits>
-// ------------------------------------------------------------------------------- //
-// --------------------------- macros to typedef ptrs ---------------------------- //
-// ------------------------------------------------------------------------------- //
-#define TYPEDEF_PTRS_SHARED(T) \
- class T; \
- using T##Ptr = ::std::shared_ptr<T>; \
- using T##PropagateConstPtr = ::armarx::PropagateConst<T##Ptr>; \
- using Const##T##Ptr = ::std::shared_ptr<const T>
-
-#define TYPEDEF_PTRS_HANDLE(T) \
- class T; \
- using T##Ptr = IceUtil::Handle<T>
#endif
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
index 614b0dbf17787eb2eb7bd8fe1e87f815b94d806a..fd31e894b7d45aeac3bd706866c4188fb5ec2cc2 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
@@ -15,9 +15,9 @@
* 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
- * @author
- * @date
+ * @package
+ * @author
+ * @date
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -199,7 +199,7 @@ void WeissHapticSensor::frameAcquisitionTaskLoop()
lastFrameTime = now;
}
}
- catch (ChecksumErrorException)
+ catch (ChecksumErrorException&)
{
ARMARX_WARNING << "Caught ChecksumErrorException on " << device << ", skipping frame";
}
@@ -219,11 +219,6 @@ void WeissHapticSensor::frameAcquisitionTaskLoop()
ARMARX_INFO << "[" << device << "] Starting periodic frame aquisition";
sensor->startPeriodicFrameAcquisition(0);
}
-
- //usleep(3000);
-
- //usleep(3000);
- //usleep(1000000);
}
ARMARX_LOG << device << ": stopPeriodicFrameAcquisition";
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.cpp b/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.cpp
index cad622231046e90bb58b19abb4bbd23c712670f7..0df989f59170ce18d613205ad8f52cc97c54e73b 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.cpp
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.cpp
@@ -277,7 +277,7 @@ namespace IMU
return (m_retVal = MTRV_OK);
#else
- char chPort[15];
+ char chPort[32];
struct termios options;
/* Open port */
@@ -1226,7 +1226,7 @@ namespace IMU
}
// Keep reading until an Ack or Error message is received (or timeout)
- clock_t clkStart , clkOld;
+ clock_t clkStart, clkOld;
bool msgRead = false;
clkStart = clockms(); // Get current processor time
@@ -1333,7 +1333,7 @@ namespace IMU
// Keep reading until an Ack or Error message is received (or timeout)
bool msgRead = false;
- clock_t clkStart , clkOld;
+ clock_t clkStart, clkOld;
clkStart = clockms(); // Get current processor time
clkOld = m_clkEnd;
@@ -1400,7 +1400,7 @@ namespace IMU
unsigned char buffer[MAXMSGLEN ];
short buflen;
- clock_t clkStart , clkOld;
+ clock_t clkStart, clkOld;
if (!(m_fileOpen || m_portOpen))
{
@@ -2395,7 +2395,7 @@ namespace IMU
//
short CXsensMTiModule::getDeviceMode(unsigned short* numDevices)
{
- unsigned char mid = 0 , data[MAXMSGLEN ];
+ unsigned char mid = 0, data[MAXMSGLEN ];
short datalen;
if (numDevices != NULL)
@@ -3130,7 +3130,7 @@ namespace IMU
break;
default:
- for (int i = 0 , j = length - 1 ; i < length ; i++ , j--)
+ for (int i = 0, j = length - 1 ; i < length ; i++, j--)
{
output[j] = input[i];
}
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.h b/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.h
index 54ba05d75115b066cbdf6adb377df62b2a3422cb..0a7bde26a7d0636970735d6a4a5ca9881a237712 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.h
@@ -150,217 +150,217 @@ namespace IMU
// Maximum number of sensors supported
#define MAXDEVICES 20
-#define PREAMBLE (const unsigned char)0xFA
-#define BID_MASTER (const unsigned char)0xFF
-#define BID_MT (const unsigned char)0x01
+#define PREAMBLE (unsigned char)0xFA
+#define BID_MASTER (unsigned char)0xFF
+#define BID_MT (unsigned char)0x01
#define EXTLENCODE 0xFF
-#define LEN_MSGHEADER (const unsigned short)4
-#define LEN_MSGEXTHEADER (const unsigned short)6
-#define LEN_MSGHEADERCS (const unsigned short)5
-#define LEN_MSGEXTHEADERCS (const unsigned short)7
-#define LEN_CHECKSUM (const unsigned short)1
-#define LEN_UNSIGSHORT (const unsigned short)2
-#define LEN_UNSIGINT (const unsigned short)4
-#define LEN_FLOAT (const unsigned short)4
+#define LEN_MSGHEADER (unsigned short)4
+#define LEN_MSGEXTHEADER (unsigned short)6
+#define LEN_MSGHEADERCS (unsigned short)5
+#define LEN_MSGEXTHEADERCS (unsigned short)7
+#define LEN_CHECKSUM (unsigned short)1
+#define LEN_UNSIGSHORT (unsigned short)2
+#define LEN_UNSIGINT (unsigned short)4
+#define LEN_FLOAT (unsigned short)4
// Maximum message/data length
-#define MAXDATALEN (const unsigned short)2048
-#define MAXSHORTDATALEN (const unsigned short)254
-#define MAXMSGLEN (const unsigned short)(MAXDATALEN+7)
-#define MAXSHORTMSGLEN (const unsigned short)(MAXSHORTDATALEN+5)
+#define MAXDATALEN (unsigned short)2048
+#define MAXSHORTDATALEN (unsigned short)254
+#define MAXMSGLEN (unsigned short)(MAXDATALEN+7)
+#define MAXSHORTMSGLEN (unsigned short)(MAXSHORTDATALEN+5)
// DID Type (high nibble)
-#define DID_TYPEH_MASK (const unsigned long)0x00F00000
-#define DID_TYPEH_MT (const unsigned long)0x00000000
-#define DID_TYPEH_XM (const unsigned long)0x00100000
-#define DID_TYPEH_MTI_MTX (const unsigned long)0x00300000
+#define DID_TYPEH_MASK (unsigned long)0x00F00000
+#define DID_TYPEH_MT (unsigned long)0x00000000
+#define DID_TYPEH_XM (unsigned long)0x00100000
+#define DID_TYPEH_MTI_MTX (unsigned long)0x00300000
// All Message identifiers
// WakeUp state messages
-#define MID_WAKEUP (const unsigned char)0x3E
-#define MID_WAKEUPACK (const unsigned char)0x3F
+#define MID_WAKEUP (unsigned char)0x3E
+#define MID_WAKEUPACK (unsigned char)0x3F
// Config state messages
-#define MID_REQDID (const unsigned char)0x00
-#define MID_DEVICEID (const unsigned char)0x01
-#define LEN_DEVICEID (const unsigned short)4
-#define MID_INITBUS (const unsigned char)0x02
-#define MID_INITBUSRESULTS (const unsigned char)0x03
-#define LEN_INITBUSRESULTS (const unsigned short)4
-#define MID_REQPERIOD (const unsigned char)0x04
-#define MID_REQPERIODACK (const unsigned char)0x05
-#define LEN_PERIOD (const unsigned short)2
-#define MID_SETPERIOD (const unsigned char)0x04
-#define MID_SETPERIODACK (const unsigned char)0x05
+#define MID_REQDID (unsigned char)0x00
+#define MID_DEVICEID (unsigned char)0x01
+#define LEN_DEVICEID (unsigned short)4
+#define MID_INITBUS (unsigned char)0x02
+#define MID_INITBUSRESULTS (unsigned char)0x03
+#define LEN_INITBUSRESULTS (unsigned short)4
+#define MID_REQPERIOD (unsigned char)0x04
+#define MID_REQPERIODACK (unsigned char)0x05
+#define LEN_PERIOD (unsigned short)2
+#define MID_SETPERIOD (unsigned char)0x04
+#define MID_SETPERIODACK (unsigned char)0x05
// XbusMaster
-#define MID_SETBID (const unsigned char)0x06
-#define MID_SETBIDACK (const unsigned char)0x07
-#define MID_AUTOSTART (const unsigned char)0x06
-#define MID_AUTOSTARTACK (const unsigned char)0x07
-#define MID_BUSPWROFF (const unsigned char)0x08
-#define MID_BUSPWROFFACK (const unsigned char)0x09
+#define MID_SETBID (unsigned char)0x06
+#define MID_SETBIDACK (unsigned char)0x07
+#define MID_AUTOSTART (unsigned char)0x06
+#define MID_AUTOSTARTACK (unsigned char)0x07
+#define MID_BUSPWROFF (unsigned char)0x08
+#define MID_BUSPWROFFACK (unsigned char)0x09
// End XbusMaster
-#define MID_REQDATALENGTH (const unsigned char)0x0A
-#define MID_DATALENGTH (const unsigned char)0x0B
-#define LEN_DATALENGTH (const unsigned short)2
-#define MID_REQCONFIGURATION (const unsigned char)0x0C
-#define MID_CONFIGURATION (const unsigned char)0x0D
-#define LEN_CONFIGURATION (const unsigned short)118
-#define MID_RESTOREFACTORYDEF (const unsigned char)0x0E
-#define MID_RESTOREFACTORYDEFACK (const unsigned char)0x0F
-
-#define MID_GOTOMEASUREMENT (const unsigned char)0x10
-#define MID_GOTOMEASUREMENTACK (const unsigned char)0x11
-#define MID_REQFWREV (const unsigned char)0x12
-#define MID_FIRMWAREREV (const unsigned char)0x13
-#define LEN_FIRMWAREREV (const unsigned short)3
+#define MID_REQDATALENGTH (unsigned char)0x0A
+#define MID_DATALENGTH (unsigned char)0x0B
+#define LEN_DATALENGTH (unsigned short)2
+#define MID_REQCONFIGURATION (unsigned char)0x0C
+#define MID_CONFIGURATION (unsigned char)0x0D
+#define LEN_CONFIGURATION (unsigned short)118
+#define MID_RESTOREFACTORYDEF (unsigned char)0x0E
+#define MID_RESTOREFACTORYDEFACK (unsigned char)0x0F
+
+#define MID_GOTOMEASUREMENT (unsigned char)0x10
+#define MID_GOTOMEASUREMENTACK (unsigned char)0x11
+#define MID_REQFWREV (unsigned char)0x12
+#define MID_FIRMWAREREV (unsigned char)0x13
+#define LEN_FIRMWAREREV (unsigned short)3
// XbusMaster
-#define MID_REQBTDISABLE (const unsigned char)0x14
-#define MID_REQBTDISABLEACK (const unsigned char)0x15
-#define MID_DISABLEBT (const unsigned char)0x14
-#define MID_DISABLEBTACK (const unsigned char)0x15
-#define MID_REQOPMODE (const unsigned char)0x16
-#define MID_REQOPMODEACK (const unsigned char)0x17
-#define MID_SETOPMODE (const unsigned char)0x16
-#define MID_SETOPMODEACK (const unsigned char)0x17
+#define MID_REQBTDISABLE (unsigned char)0x14
+#define MID_REQBTDISABLEACK (unsigned char)0x15
+#define MID_DISABLEBT (unsigned char)0x14
+#define MID_DISABLEBTACK (unsigned char)0x15
+#define MID_REQOPMODE (unsigned char)0x16
+#define MID_REQOPMODEACK (unsigned char)0x17
+#define MID_SETOPMODE (unsigned char)0x16
+#define MID_SETOPMODEACK (unsigned char)0x17
// End XbusMaster
-#define MID_REQBAUDRATE (const unsigned char)0x18
-#define MID_REQBAUDRATEACK (const unsigned char)0x19
-#define LEN_BAUDRATE (const unsigned short)1
-#define MID_SETBAUDRATE (const unsigned char)0x18
-#define MID_SETBAUDRATEACK (const unsigned char)0x19
+#define MID_REQBAUDRATE (unsigned char)0x18
+#define MID_REQBAUDRATEACK (unsigned char)0x19
+#define LEN_BAUDRATE (unsigned short)1
+#define MID_SETBAUDRATE (unsigned char)0x18
+#define MID_SETBAUDRATEACK (unsigned char)0x19
// XbusMaster
-#define MID_REQSYNCMODE (const unsigned char)0x1A
-#define MID_REQSYNCMODEACK (const unsigned char)0x1B
-#define MID_SETSYNCMODE (const unsigned char)0x1A
-#define MID_SETSYNCMODEACK (const unsigned char)0x1B
+#define MID_REQSYNCMODE (unsigned char)0x1A
+#define MID_REQSYNCMODEACK (unsigned char)0x1B
+#define MID_SETSYNCMODE (unsigned char)0x1A
+#define MID_SETSYNCMODEACK (unsigned char)0x1B
// End XbusMaster
-#define MID_REQPRODUCTCODE (const unsigned char)0x1C
-#define MID_PRODUCTCODE (const unsigned char)0x1D
-
-#define MID_REQOUTPUTMODE (const unsigned char)0xD0
-#define MID_REQOUTPUTMODEACK (const unsigned char)0xD1
-#define LEN_OUTPUTMODE (const unsigned short)2
-#define MID_SETOUTPUTMODE (const unsigned char)0xD0
-#define MID_SETOUTPUTMODEACK (const unsigned char)0xD1
-
-#define MID_REQOUTPUTSETTINGS (const unsigned char)0xD2
-#define MID_REQOUTPUTSETTINGSACK (const unsigned char)0xD3
-#define LEN_OUTPUTSETTINGS (const unsigned short)4
-#define MID_SETOUTPUTSETTINGS (const unsigned char)0xD2
-#define MID_SETOUTPUTSETTINGSACK (const unsigned char)0xD3
-
-#define MID_REQOUTPUTSKIPFACTOR (const unsigned char)0xD4
-#define MID_REQOUTPUTSKIPFACTORACK (const unsigned char)0xD5
-#define LEN_OUTPUTSKIPFACTOR (const unsigned short)2
-#define MID_SETOUTPUTSKIPFACTOR (const unsigned char)0xD4
-#define MID_SETOUTPUTSKIPFACTORACK (const unsigned char)0xD5
-
-#define MID_REQSYNCINSETTINGS (const unsigned char)0xD6
-#define MID_REQSYNCINSETTINGSACK (const unsigned char)0xD7
-#define LEN_SYNCINMODE (const unsigned short)2
-#define LEN_SYNCINSKIPFACTOR (const unsigned short)2
-#define LEN_SYNCINOFFSET (const unsigned short)4
-#define MID_SETSYNCINSETTINGS (const unsigned char)0xD6
-#define MID_SETSYNCINSETTINGSACK (const unsigned char)0xD7
-
-#define MID_REQSYNCOUTSETTINGS (const unsigned char)0xD8
-#define MID_REQSYNCOUTSETTINGSACK (const unsigned char)0xD9
-#define LEN_SYNCOUTMODE (const unsigned short)2
-#define LEN_SYNCOUTSKIPFACTOR (const unsigned short)2
-#define LEN_SYNCOUTOFFSET (const unsigned short)4
-#define LEN_SYNCOUTPULSEWIDTH (const unsigned short)4
-#define MID_SETSYNCOUTSETTINGS (const unsigned char)0xD8
-#define MID_SETSYNCOUTSETTINGSACK (const unsigned char)0xD9
-
-#define MID_REQERRORMODE (const unsigned char)0xDA
-#define MID_REQERRORMODEACK (const unsigned char)0xDB
-#define LEN_ERRORMODE (const unsigned short)2
-#define MID_SETERRORMODE (const unsigned char)0xDA
-#define MID_SETERRORMODEACK (const unsigned char)0xDB
-
-#define MID_REQTRANSMITDELAY (const unsigned char)0xDC
-#define MID_REQTRANSMITDELAYACK (const unsigned char)0xDD
-#define LEN_TRANSMITDELAY (const unsigned short)2
-#define MID_SETTRANSMITDELAY (const unsigned char)0xDC
-#define MID_SETTRANSMITDELAYACK (const unsigned char)0xDD
+#define MID_REQPRODUCTCODE (unsigned char)0x1C
+#define MID_PRODUCTCODE (unsigned char)0x1D
+
+#define MID_REQOUTPUTMODE (unsigned char)0xD0
+#define MID_REQOUTPUTMODEACK (unsigned char)0xD1
+#define LEN_OUTPUTMODE (unsigned short)2
+#define MID_SETOUTPUTMODE (unsigned char)0xD0
+#define MID_SETOUTPUTMODEACK (unsigned char)0xD1
+
+#define MID_REQOUTPUTSETTINGS (unsigned char)0xD2
+#define MID_REQOUTPUTSETTINGSACK (unsigned char)0xD3
+#define LEN_OUTPUTSETTINGS (unsigned short)4
+#define MID_SETOUTPUTSETTINGS (unsigned char)0xD2
+#define MID_SETOUTPUTSETTINGSACK (unsigned char)0xD3
+
+#define MID_REQOUTPUTSKIPFACTOR (unsigned char)0xD4
+#define MID_REQOUTPUTSKIPFACTORACK (unsigned char)0xD5
+#define LEN_OUTPUTSKIPFACTOR (unsigned short)2
+#define MID_SETOUTPUTSKIPFACTOR (unsigned char)0xD4
+#define MID_SETOUTPUTSKIPFACTORACK (unsigned char)0xD5
+
+#define MID_REQSYNCINSETTINGS (unsigned char)0xD6
+#define MID_REQSYNCINSETTINGSACK (unsigned char)0xD7
+#define LEN_SYNCINMODE (unsigned short)2
+#define LEN_SYNCINSKIPFACTOR (unsigned short)2
+#define LEN_SYNCINOFFSET (unsigned short)4
+#define MID_SETSYNCINSETTINGS (unsigned char)0xD6
+#define MID_SETSYNCINSETTINGSACK (unsigned char)0xD7
+
+#define MID_REQSYNCOUTSETTINGS (unsigned char)0xD8
+#define MID_REQSYNCOUTSETTINGSACK (unsigned char)0xD9
+#define LEN_SYNCOUTMODE (unsigned short)2
+#define LEN_SYNCOUTSKIPFACTOR (unsigned short)2
+#define LEN_SYNCOUTOFFSET (unsigned short)4
+#define LEN_SYNCOUTPULSEWIDTH (unsigned short)4
+#define MID_SETSYNCOUTSETTINGS (unsigned char)0xD8
+#define MID_SETSYNCOUTSETTINGSACK (unsigned char)0xD9
+
+#define MID_REQERRORMODE (unsigned char)0xDA
+#define MID_REQERRORMODEACK (unsigned char)0xDB
+#define LEN_ERRORMODE (unsigned short)2
+#define MID_SETERRORMODE (unsigned char)0xDA
+#define MID_SETERRORMODEACK (unsigned char)0xDB
+
+#define MID_REQTRANSMITDELAY (unsigned char)0xDC
+#define MID_REQTRANSMITDELAYACK (unsigned char)0xDD
+#define LEN_TRANSMITDELAY (unsigned short)2
+#define MID_SETTRANSMITDELAY (unsigned char)0xDC
+#define MID_SETTRANSMITDELAYACK (unsigned char)0xDD
// Xbus Master
-#define MID_REQXMERRORMODE (const unsigned char)0x82
-#define MID_REQXMERRORMODEACK (const unsigned char)0x83
-#define LEN_XMERRORMODE (const unsigned short)2
-#define MID_SETXMERRORMODE (const unsigned char)0x82
-#define MID_SETXMERRORMODEACK (const unsigned char)0x83
-
-#define MID_REQBUFFERSIZE (const unsigned char)0x84
-#define MID_REQBUFFERSIZEACK (const unsigned char)0x85
-#define LEN_BUFFERSIZE (const unsigned short)2
-#define MID_SETBUFFERSIZE (const unsigned char)0x84
-#define MID_SETBUFFERSIZEACK (const unsigned char)0x85
+#define MID_REQXMERRORMODE (unsigned char)0x82
+#define MID_REQXMERRORMODEACK (unsigned char)0x83
+#define LEN_XMERRORMODE (unsigned short)2
+#define MID_SETXMERRORMODE (unsigned char)0x82
+#define MID_SETXMERRORMODEACK (unsigned char)0x83
+
+#define MID_REQBUFFERSIZE (unsigned char)0x84
+#define MID_REQBUFFERSIZEACK (unsigned char)0x85
+#define LEN_BUFFERSIZE (unsigned short)2
+#define MID_SETBUFFERSIZE (unsigned char)0x84
+#define MID_SETBUFFERSIZEACK (unsigned char)0x85
// End Xbus Master
-#define MID_REQHEADING (const unsigned char)0x82
-#define MID_REQHEADINGACK (const unsigned char)0x83
-#define LEN_HEADING (const unsigned short)4
-#define MID_SETHEADING (const unsigned char)0x82
-#define MID_SETHEADINGACK (const unsigned char)0x83
+#define MID_REQHEADING (unsigned char)0x82
+#define MID_REQHEADINGACK (unsigned char)0x83
+#define LEN_HEADING (unsigned short)4
+#define MID_SETHEADING (unsigned char)0x82
+#define MID_SETHEADINGACK (unsigned char)0x83
-#define MID_REQLOCATIONID (const unsigned char)0x84
-#define MID_REQLOCATIONIDACK (const unsigned char)0x85
-#define LEN_LOCATIONID (const unsigned short)2
-#define MID_SETLOCATIONID (const unsigned char)0x84
-#define MID_SETLOCATIONIDACK (const unsigned char)0x85
+#define MID_REQLOCATIONID (unsigned char)0x84
+#define MID_REQLOCATIONIDACK (unsigned char)0x85
+#define LEN_LOCATIONID (unsigned short)2
+#define MID_SETLOCATIONID (unsigned char)0x84
+#define MID_SETLOCATIONIDACK (unsigned char)0x85
-#define MID_REQEXTOUTPUTMODE (const unsigned char)0x86
-#define MID_REQEXTOUTPUTMODEACK (const unsigned char)0x87
-#define LEN_EXTOUTPUTMODE (const unsigned short)2
-#define MID_SETEXTOUTPUTMODE (const unsigned char)0x86
-#define MID_SETEXTOUTPUTMODEACK (const unsigned char)0x87
+#define MID_REQEXTOUTPUTMODE (unsigned char)0x86
+#define MID_REQEXTOUTPUTMODEACK (unsigned char)0x87
+#define LEN_EXTOUTPUTMODE (unsigned short)2
+#define MID_SETEXTOUTPUTMODE (unsigned char)0x86
+#define MID_SETEXTOUTPUTMODEACK (unsigned char)0x87
// XbusMaster
-#define MID_REQBATLEVEL (const unsigned char)0x88
-#define MID_BATLEVEL (const unsigned char)0x89
+#define MID_REQBATLEVEL (unsigned char)0x88
+#define MID_BATLEVEL (unsigned char)0x89
// End XbusMaster
-#define MID_REQINITTRACKMODE (const unsigned char)0x88
-#define MID_REQINITTRACKMODEACK (const unsigned char)0x89
-#define LEN_INITTRACKMODE (const unsigned short)2
-#define MID_SETINITTRACKMODE (const unsigned char)0x88
-#define MID_SETINITTRACKMODEACK (const unsigned char)0x89
+#define MID_REQINITTRACKMODE (unsigned char)0x88
+#define MID_REQINITTRACKMODEACK (unsigned char)0x89
+#define LEN_INITTRACKMODE (unsigned short)2
+#define MID_SETINITTRACKMODE (unsigned char)0x88
+#define MID_SETINITTRACKMODEACK (unsigned char)0x89
-#define MID_STOREFILTERSTATE (const unsigned char)0x8A
-#define MID_STOREFILTERSTATEACK (const unsigned char)0x8B
+#define MID_STOREFILTERSTATE (unsigned char)0x8A
+#define MID_STOREFILTERSTATEACK (unsigned char)0x8B
// Measurement state
-#define MID_GOTOCONFIG (const unsigned char)0x30
-#define MID_GOTOCONFIGACK (const unsigned char)0x31
-#define MID_BUSDATA (const unsigned char)0x32
-#define MID_MTDATA (const unsigned char)0x32
+#define MID_GOTOCONFIG (unsigned char)0x30
+#define MID_GOTOCONFIGACK (unsigned char)0x31
+#define MID_BUSDATA (unsigned char)0x32
+#define MID_MTDATA (unsigned char)0x32
// Manual
-#define MID_PREPAREDATA (const unsigned char)0x32
-#define MID_REQDATA (const unsigned char)0x34
-#define MID_REQDATAACK (const unsigned char)0x35
+#define MID_PREPAREDATA (unsigned char)0x32
+#define MID_REQDATA (unsigned char)0x34
+#define MID_REQDATAACK (unsigned char)0x35
// MTData defines
// Length of data blocks in bytes
-#define LEN_RAWDATA (const unsigned short)20
-#define LEN_CALIBDATA (const unsigned short)36
-#define LEN_CALIB_ACCDATA (const unsigned short)12
-#define LEN_CALIB_GYRDATA (const unsigned short)12
-#define LEN_CALIB_MAGDATA (const unsigned short)12
-#define LEN_ORIENT_QUATDATA (const unsigned short)16
-#define LEN_ORIENT_EULERDATA (const unsigned short)12
-#define LEN_ORIENT_MATRIXDATA (const unsigned short)36
-#define LEN_SAMPLECNT (const unsigned short)2
-#define LEN_TEMPDATA (const unsigned short)4
+#define LEN_RAWDATA (unsigned short)20
+#define LEN_CALIBDATA (unsigned short)36
+#define LEN_CALIB_ACCDATA (unsigned short)12
+#define LEN_CALIB_GYRDATA (unsigned short)12
+#define LEN_CALIB_MAGDATA (unsigned short)12
+#define LEN_ORIENT_QUATDATA (unsigned short)16
+#define LEN_ORIENT_EULERDATA (unsigned short)12
+#define LEN_ORIENT_MATRIXDATA (unsigned short)36
+#define LEN_SAMPLECNT (unsigned short)2
+#define LEN_TEMPDATA (unsigned short)4
// Length of data blocks in floats
-#define LEN_CALIBDATA_FLT (const unsigned short)9
-#define LEN_ORIENT_QUATDATA_FLT (const unsigned short)4
-#define LEN_ORIENT_EULERDATA_FLT (const unsigned short)3
-#define LEN_ORIENT_MATRIXDATA_FLT (const unsigned short)9
+#define LEN_CALIBDATA_FLT (unsigned short)9
+#define LEN_ORIENT_QUATDATA_FLT (unsigned short)4
+#define LEN_ORIENT_EULERDATA_FLT (unsigned short)3
+#define LEN_ORIENT_MATRIXDATA_FLT (unsigned short)9
// Indices of fields in DATA field of MTData message in bytes
// use in combination with LEN_CALIB etc
@@ -508,27 +508,27 @@ namespace IMU
#define INVALIDSETTINGVALUE 0xFFFFFFFF
// Valid in all states
-#define MID_RESET (const unsigned char)0x40
-#define MID_RESETACK (const unsigned char)0x41
-#define MID_ERROR (const unsigned char)0x42
-#define LEN_ERROR (const unsigned short)1
+#define MID_RESET (unsigned char)0x40
+#define MID_RESETACK (unsigned char)0x41
+#define MID_ERROR (unsigned char)0x42
+#define LEN_ERROR (unsigned short)1
// XbusMaster
-#define MID_XMPWROFF (const unsigned char)0x44
+#define MID_XMPWROFF (unsigned char)0x44
// End XbusMaster
-#define MID_REQFILTERSETTINGS (const unsigned char)0xA0
-#define MID_REQFILTERSETTINGSACK (const unsigned char)0xA1
-#define LEN_FILTERSETTINGS (const unsigned short)4
-#define MID_SETFILTERSETTINGS (const unsigned char)0xA0
-#define MID_SETFILTERSETTINGSACK (const unsigned char)0xA1
-#define MID_REQAMD (const unsigned char)0xA2
-#define MID_REQAMDACK (const unsigned char)0xA3
-#define LEN_AMD (const unsigned short)2
-#define MID_SETAMD (const unsigned char)0xA2
-#define MID_SETAMDACK (const unsigned char)0xA3
-#define MID_RESETORIENTATION (const unsigned char)0xA4
-#define MID_RESETORIENTATIONACK (const unsigned char)0xA5
-#define LEN_RESETORIENTATION (const unsigned short)2
+#define MID_REQFILTERSETTINGS (unsigned char)0xA0
+#define MID_REQFILTERSETTINGSACK (unsigned char)0xA1
+#define LEN_FILTERSETTINGS (unsigned short)4
+#define MID_SETFILTERSETTINGS (unsigned char)0xA0
+#define MID_SETFILTERSETTINGSACK (unsigned char)0xA1
+#define MID_REQAMD (unsigned char)0xA2
+#define MID_REQAMDACK (unsigned char)0xA3
+#define LEN_AMD (unsigned short)2
+#define MID_SETAMD (unsigned char)0xA2
+#define MID_SETAMDACK (unsigned char)0xA3
+#define MID_RESETORIENTATION (unsigned char)0xA4
+#define MID_RESETORIENTATIONACK (unsigned char)0xA5
+#define LEN_RESETORIENTATION (unsigned short)2
// All Messages
// WakeUp state messages
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerViewer/CMakeLists.txt b/source/RobotAPI/gui-plugins/DebugDrawerViewer/CMakeLists.txt
index 485f1ddde149f153d5b5b11ffb4765c8a080f60d..544e42db7e2fc93ae9da5a5981bfcb091b968866 100644
--- a/source/RobotAPI/gui-plugins/DebugDrawerViewer/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/DebugDrawerViewer/CMakeLists.txt
@@ -2,7 +2,7 @@ armarx_set_target("DebugDrawerViewerGuiPlugin")
set(SOURCES DebugDrawerViewerGuiPlugin.cpp DebugDrawerViewerWidgetController.cpp)
set(HEADERS DebugDrawerViewerGuiPlugin.h DebugDrawerViewerWidgetController.h)
-set(GUI_MOC_HDRS DebugDrawerViewerWidgetController.h)
+set(GUI_MOC_HDRS DebugDrawerViewerGuiPlugin.h DebugDrawerViewerWidgetController.h)
set(GUI_UIS DebugDrawerViewerWidget.ui)
set(COMPONENT_LIBS DebugDrawer)
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h
index 25c3246e68a33dd37fdebb6c1f908da2932ad642..4dc7932a617d5b7a48f00e7fa0f372904e91d6c4 100644
--- a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h
@@ -39,7 +39,9 @@ namespace armarx
class ARMARXCOMPONENT_IMPORT_EXPORT DebugDrawerViewerGuiPlugin:
public armarx::ArmarXGuiPlugin
{
+ Q_OBJECT
#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
+ Q_INTERFACES(ArmarXGuiInterface)
Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
#endif
public:
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
index 1ce93d8fd833546d26a3a03748f03f827bce02e6..84bfe72bae61a634ac7471a7def83b6c088d029b 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
@@ -52,7 +52,9 @@ namespace armarx
class HandUnitGuiPlugin :
public ArmarXGuiPlugin
{
+ Q_OBJECT
#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
+ Q_INTERFACES(ArmarXGuiInterface)
Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
#endif
public:
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
index e91226fbc96234c7f0c11f5af72bc73dbd340659..d44551c516d3109aaa1eafea89984cbc8e8ea3a6 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
@@ -48,7 +48,9 @@ namespace armarx
class HapticUnitGuiPlugin :
public ArmarXGuiPlugin
{
+ Q_OBJECT
#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
+ Q_INTERFACES(ArmarXGuiInterface)
Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
#endif
public:
diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/CMakeLists.txt b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/CMakeLists.txt
index c82e46125f351ddb1ff5ab5de3054e3ee057fd2e..e20e7bf935408a9c7a0d7d3eb0c2e671188b724a 100644
--- a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/CMakeLists.txt
@@ -22,7 +22,7 @@ set(HEADERS
HomogeneousMatrixCalculatorWidgetController.h
)
-set(GUI_MOC_HDRS HomogeneousMatrixCalculatorWidgetController.h)
+set(GUI_MOC_HDRS HomogeneousMatrixCalculatorGuiPlugin.h HomogeneousMatrixCalculatorWidgetController.h)
set(GUI_UIS HomogeneousMatrixCalculatorWidget.ui)
set(GUI_RCS icons.qrc)
diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h
index d36d3b1eddb6e7d7272b03efe3977e69c51b5a40..7d54a3399171d0626fdddcf5968e0cda748cf6dc 100644
--- a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h
@@ -39,7 +39,9 @@ namespace armarx
class ARMARXCOMPONENT_IMPORT_EXPORT HomogeneousMatrixCalculatorGuiPlugin:
public armarx::ArmarXGuiPlugin
{
+ Q_OBJECT
#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
+ Q_INTERFACES(ArmarXGuiInterface)
Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
#endif
public:
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 4f8b7b3352826a52112ee1712ab6119b0edb8c12..6a86de2dcb7e62d43115ee4bb914d9b262fdc86c 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -72,7 +72,9 @@ namespace armarx
class KinematicUnitGuiPlugin :
public ArmarXGuiPlugin
{
+ Q_OBJECT
#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
+ Q_INTERFACES(ArmarXGuiInterface)
Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
#endif
public:
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/LaserScannerPlugin/CMakeLists.txt
index da9cd6bc3e82a071a09b63d982f6fdbf2af9e3b9..83a541da34230c8763977adcb49e82b5605ebe56 100644
--- a/source/RobotAPI/gui-plugins/LaserScannerPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/CMakeLists.txt
@@ -2,7 +2,7 @@ armarx_set_target("LaserScannerPluginGuiPlugin")
set(SOURCES LaserScannerPluginGuiPlugin.cpp LaserScannerPluginWidgetController.cpp)
set(HEADERS LaserScannerPluginGuiPlugin.h LaserScannerPluginWidgetController.h)
-set(GUI_MOC_HDRS LaserScannerPluginWidgetController.h)
+set(GUI_MOC_HDRS LaserScannerPluginGuiPlugin.h LaserScannerPluginWidgetController.h)
set(GUI_UIS LaserScannerPluginWidget.ui)
set(COMPONENT_LIBS RobotAPICore SimpleConfigDialog)
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h
index baec543bd565bff609fb1ac2210533e7bb02f4ed..29630e9e5923531d7f4468caede62c65d4473fd7 100644
--- a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h
@@ -39,7 +39,9 @@ namespace armarx
class ARMARXCOMPONENT_IMPORT_EXPORT LaserScannerPluginGuiPlugin:
public armarx::ArmarXGuiPlugin
{
+ Q_OBJECT
#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
+ Q_INTERFACES(ArmarXGuiInterface)
Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
#endif
public:
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
index 370b02cd4d4e29ad000c037cd39569da123d5d40..dd629640d34bfca89d30ee23c04a20c3d98146ac 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
@@ -72,7 +72,9 @@ namespace armarx
class PlatformUnitGuiPlugin :
public ArmarXGuiPlugin
{
+ Q_OBJECT
#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
+ Q_INTERFACES(ArmarXGuiInterface)
Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
#endif
public:
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/RobotUnitPlugin/CMakeLists.txt
index c96b118c426dc15c5dbf99a54a23f2b840c58891..8acf13526082b0f2158ddee8a222583c41e32a78 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/CMakeLists.txt
@@ -22,6 +22,7 @@ set(HEADERS
)
set(GUI_MOC_HDRS
+ RobotUnitPluginGuiPlugin.h
RobotUnitPlugin/RobotUnitPluginWidgetController.h
QWidgets/RobotUnitWidgetBase.h
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp
index 9c46fca5746daea2af6d67f8078e3cbf67ec57f9..0d7911871493b5d79b86678631914ffd9f17da2b 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp
@@ -109,9 +109,9 @@ void RobotUnitPluginWidgetController::onConnectComponent()
{
robotUnitPrx = getProxy<RobotUnitInterfacePrx>(robotUnitProxyName);
listenerTopicName = robotUnitPrx->getListenerTopicName();
- onConnectTimerId = startTimer(100);
usingTopic(listenerTopicName);
updateToolBarActionCheckedState();
+ QMetaObject::invokeMethod(this, "startOnConnectTimer", Qt::QueuedConnection);
}
void RobotUnitPluginWidgetController::onDisconnectComponent()
@@ -156,7 +156,7 @@ QPointer<QWidget> RobotUnitPluginWidgetController::getCustomTitlebarWidget(QWidg
showCDevs = new QAction {"Control Devices", customToolbar};
showCDevs->setCheckable(true);
showCDevs->setToolTip("Hide/Show the list of Control Devices");
- connect(showCDevs, SIGNAL(toggled(bool)), widget.groupBoxCDev, SLOT(setShown(bool)));
+ connect(showCDevs, SIGNAL(toggled(bool)), widget.groupBoxCDev, SLOT(setVisible(bool)));
customToolbar->addAction(showCDevs);
customToolbar->addSeparator();
@@ -165,7 +165,7 @@ QPointer<QWidget> RobotUnitPluginWidgetController::getCustomTitlebarWidget(QWidg
showSDevs = new QAction {"Sensor Devices", customToolbar};
showSDevs->setCheckable(true);
showSDevs->setToolTip("Hide/Show the list of Sensor Devices");
- connect(showSDevs, SIGNAL(toggled(bool)), widget.groupBoxSDev, SLOT(setShown(bool)));
+ connect(showSDevs, SIGNAL(toggled(bool)), widget.groupBoxSDev, SLOT(setVisible(bool)));
customToolbar->addAction(showSDevs);
customToolbar->addSeparator();
@@ -174,7 +174,7 @@ QPointer<QWidget> RobotUnitPluginWidgetController::getCustomTitlebarWidget(QWidg
showNJoint = new QAction {"NJointControllers", customToolbar};
showNJoint->setCheckable(true);
showNJoint->setToolTip("Hide/Show the list of NJointControllers");
- connect(showNJoint, SIGNAL(toggled(bool)), widget.groupBoxNJointCtrl, SLOT(setShown(bool)));
+ connect(showNJoint, SIGNAL(toggled(bool)), widget.groupBoxNJointCtrl, SLOT(setVisible(bool)));
customToolbar->addAction(showNJoint);
customToolbar->addSeparator();
@@ -183,7 +183,7 @@ QPointer<QWidget> RobotUnitPluginWidgetController::getCustomTitlebarWidget(QWidg
showNJointClasses = new QAction {"NJointController Classes", customToolbar};
showNJointClasses->setCheckable(true);
showNJointClasses->setToolTip("Hide/Show the list of NJointControllers Classes");
- connect(showNJointClasses, SIGNAL(toggled(bool)), widget.groupBoxNJointCtrlClasses, SLOT(setShown(bool)));
+ connect(showNJointClasses, SIGNAL(toggled(bool)), widget.groupBoxNJointCtrlClasses, SLOT(setVisible(bool)));
customToolbar->addAction(showNJointClasses);
customToolbar->addSeparator();
@@ -249,6 +249,11 @@ void RobotUnitPluginWidgetController::writeLogClicked()
robotUnitPrx->writeRecentIterationsToFile("/tmp/RobotUnitLog-{DateTime}");
}
+void RobotUnitPluginWidgetController::startOnConnectTimer()
+{
+ onConnectTimerId = startTimer(100);
+}
+
void RobotUnitPluginWidgetController::updateToolBarActionCheckedState()
{
if (customToolbar)
@@ -261,18 +266,18 @@ void RobotUnitPluginWidgetController::updateToolBarActionCheckedState()
}
-void armarx::RobotUnitPluginWidgetController::timerEvent(QTimerEvent *)
+void armarx::RobotUnitPluginWidgetController::timerEvent(QTimerEvent*)
{
- if(!robotUnitPrx)
+ if (!robotUnitPrx)
{
killTimer(onConnectTimerId);
}
- if(robotUnitPrx->isRunning())
+ if (robotUnitPrx->isRunning())
{
- QMetaObject::invokeMethod(this, "refreshNJointControllersClicked", Qt::QueuedConnection);
- QMetaObject::invokeMethod(this, "refreshNJointControllerClassesClicked", Qt::QueuedConnection);
- QMetaObject::invokeMethod(this, "refreshControlDevicesClicked", Qt::QueuedConnection);
- QMetaObject::invokeMethod(this, "refreshSensorDevicesClicked", Qt::QueuedConnection);
+ refreshNJointControllersClicked();
+ refreshNJointControllerClassesClicked();
+ refreshControlDevicesClicked();
+ refreshSensorDevicesClicked();
killTimer(onConnectTimerId);
}
}
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h
index f5673acaad40bb761db47e5b8c4fcafb0db4a11d..094a95fc6f785af605f7016299e1fa8c62db188d 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h
@@ -136,6 +136,8 @@ namespace armarx
void writeLogClicked();
+ void startOnConnectTimer();
+
private:
virtual void timerEvent(QTimerEvent*) override;
void updateToolBarActionCheckedState();
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPluginGuiPlugin.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPluginGuiPlugin.h
index 5765be2776c83ea333598d455716fa45eaec2060..3021b4d75bea3fd4ae9b4ea7eef086e319362a8c 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPluginGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPluginGuiPlugin.h
@@ -39,7 +39,9 @@ namespace armarx
class ARMARXCOMPONENT_IMPORT_EXPORT RobotUnitPluginGuiPlugin:
public armarx::ArmarXGuiPlugin
{
+ Q_OBJECT
#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
+ Q_INTERFACES(ArmarXGuiInterface)
Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
#endif
public:
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
index 217301da564f4d3d0a82cf6b673b6aa1fc8375d6..c88592c3a72852d43549ceca96d5a925e719574b 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
@@ -64,7 +64,9 @@ namespace armarx
class RobotViewerGuiPlugin :
public ArmarXGuiPlugin
{
+ Q_OBJECT
#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
+ Q_INTERFACES(ArmarXGuiInterface)
Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
#endif
public:
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt
index 71cd02600f6c542138f905613a4bd3e0e48c3d57..a9eb9a8d5a10012032f6f113f263f0c93634e211 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt
@@ -33,6 +33,7 @@ set(HEADERS
)
set(GUI_MOC_HDRS
+ SensorActorWidgetsPlugin.h
ArmarXTCPMover/TCPMover.h
ArmarXTCPMover/TCPMoverConfigDialog.h
)
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
index fb7bec0c9496f9796177ee749f302cb9e1ed5607..995d9503c6a9f00e622b32f7654499a5d4678f65 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
@@ -39,7 +39,9 @@ namespace armarx
class ARMARXCOMPONENT_IMPORT_EXPORT SensorActorPlugin :
public ArmarXGuiPlugin
{
+ Q_OBJECT
#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
+ Q_INTERFACES(ArmarXGuiInterface)
Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
#endif
public:
diff --git a/source/RobotAPI/gui-plugins/ViewSelection/CMakeLists.txt b/source/RobotAPI/gui-plugins/ViewSelection/CMakeLists.txt
index 66107b6876aab63067b216f06243c72ce5bf7720..ef5a076922ed38c9977120703849550fcaa4fc7f 100644
--- a/source/RobotAPI/gui-plugins/ViewSelection/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/ViewSelection/CMakeLists.txt
@@ -2,7 +2,7 @@ armarx_set_target("ViewSelectionGuiPlugin")
set(SOURCES ViewSelectionGuiPlugin.cpp ViewSelectionWidgetController.cpp ViewSelectionConfigDialog.cpp)
set(HEADERS ViewSelectionGuiPlugin.h ViewSelectionWidgetController.h ViewSelectionConfigDialog.h)
-set(GUI_MOC_HDRS ViewSelectionWidgetController.h ViewSelectionConfigDialog.h)
+set(GUI_MOC_HDRS ViewSelectionGuiPlugin.h ViewSelectionWidgetController.h ViewSelectionConfigDialog.h)
set(GUI_UIS ViewSelectionWidget.ui ViewSelectionConfigDialog.ui)
# Add more libraries you depend on here, e.g. ${QT_LIBRARIES}.
diff --git a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionGuiPlugin.h b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionGuiPlugin.h
index 28596d8fc9ff46fb0a7759601f9c835d6a42af60..ec6e2923fd7897a10414ad015977d447554b1b57 100644
--- a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionGuiPlugin.h
@@ -39,7 +39,9 @@ namespace armarx
class ARMARXCOMPONENT_IMPORT_EXPORT ViewSelectionGuiPlugin:
public armarx::ArmarXGuiPlugin
{
+ Q_OBJECT
#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
+ Q_INTERFACES(ArmarXGuiInterface)
Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
#endif
public:
diff --git a/source/RobotAPI/interface/core/PoseBaseStdOverloads.h b/source/RobotAPI/interface/core/PoseBaseStdOverloads.h
index ebeda958f088b2f07cfade5169e83b0bcf45561c..873c5033ff94fbca618ff37d57c4a0cd9187013d 100644
--- a/source/RobotAPI/interface/core/PoseBaseStdOverloads.h
+++ b/source/RobotAPI/interface/core/PoseBaseStdOverloads.h
@@ -25,6 +25,8 @@
#ifndef _ARMARX_ROBOTAPI_POSE_SLICE_STD_OVERLOADS_
#define _ARMARX_ROBOTAPI_POSE_SLICE_STD_OVERLOADS_
+#include <cmath>
+
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
namespace std
diff --git a/source/RobotAPI/interface/visualization/DebugDrawerInterfaceStdOverloads.h b/source/RobotAPI/interface/visualization/DebugDrawerInterfaceStdOverloads.h
index c9b027134878d5d0890ba036812584f04982a2b5..324d8a7f892a215be306c411abf17bc7e0cd379d 100644
--- a/source/RobotAPI/interface/visualization/DebugDrawerInterfaceStdOverloads.h
+++ b/source/RobotAPI/interface/visualization/DebugDrawerInterfaceStdOverloads.h
@@ -26,6 +26,7 @@
#define _ARMARX_API_DEBUGDRAWERLAYER_SLICE_STD_OVERLOADS_
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
+#include <cmath>
namespace std
{