From 76bd6f22900387a4c7d352646c626e065ac75a0e Mon Sep 17 00:00:00 2001
From: robdekon <kevin.hitzler@kit.edu>
Date: Wed, 18 Sep 2019 15:48:45 +0200
Subject: [PATCH] Add NJointCartesianWaypointControllerConfig/RemoteGui.h

---
 .../ControllerUIUtility/CMakeLists.txt        |  2 +
 .../RemoteGui.cpp                             | 52 +++++++++++++++++++
 .../RemoteGui.h                               | 39 ++++++++++++++
 3 files changed, 93 insertions(+)
 create mode 100644 source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.cpp
 create mode 100644 source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.h

diff --git a/source/RobotAPI/libraries/ControllerUIUtility/CMakeLists.txt b/source/RobotAPI/libraries/ControllerUIUtility/CMakeLists.txt
index cb553d815..9f6635157 100644
--- a/source/RobotAPI/libraries/ControllerUIUtility/CMakeLists.txt
+++ b/source/RobotAPI/libraries/ControllerUIUtility/CMakeLists.txt
@@ -7,9 +7,11 @@ set(LIBS ArmarXCore RobotAPIInterfaces RemoteGui)
 
 set(LIB_FILES
     CartesianWaypointControllerConfig/RemoteGui.h
+    NJointCartesianWaypointControllerConfig/RemoteGui.h
 )
 set(LIB_HEADERS
     CartesianWaypointControllerConfig/RemoteGui.cpp
+    NJointCartesianWaypointControllerConfig/RemoteGui.cpp
 )
 
 armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.cpp b/source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.cpp
new file mode 100644
index 000000000..2bd5c3cae
--- /dev/null
+++ b/source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.cpp
@@ -0,0 +1,52 @@
+/*
+ * 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::ArmarXObjects::ControllerUIUtility
+ * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date       2019
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "RemoteGui.h"
+namespace armarx::RemoteGui
+{
+    detail::GroupBoxBuilder makeConfigGui(
+        const std::string& name,
+        const CartesianWaypointControllerConfigWithForceLimit& val)
+    {
+        detail::GroupBoxBuilder builder = makeConfigGui(name, val.wpCfg);
+        auto& cs = builder.child(0)->children;
+        cs.emplace_back(RemoteGui::makeTextLabel("Force limit:"));
+        cs.emplace_back(RemoteGui::makeFloatSpinBox(name + "_forceThreshold")
+                        .min(-1)
+                        .max(1000)
+                        .value(val.forceThreshold)
+                        .decimals(3));
+        cs.emplace_back(new RemoteGui::HSpacer);
+        return builder;
+    }
+
+    template <>
+    CartesianWaypointControllerConfigWithForceLimit getValue<CartesianWaypointControllerConfigWithForceLimit>(
+        ValueMap const& values,
+        std::string const& name)
+    {
+        CartesianWaypointControllerConfigWithForceLimit cfg;
+        getValue(cfg.wpCfg,          values, name);
+        getValue(cfg.forceThreshold, values, name + "_forceThreshold");
+        return cfg;
+    }
+}
diff --git a/source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.h b/source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.h
new file mode 100644
index 000000000..4951d5efa
--- /dev/null
+++ b/source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.h
@@ -0,0 +1,39 @@
+/*
+ * 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::ArmarXObjects::ControllerUIUtility
+ * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date       2019
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include "../CartesianWaypointControllerConfig/RemoteGui.h"
+#include <RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.h>
+
+//make
+namespace armarx::RemoteGui
+{
+    detail::GroupBoxBuilder makeConfigGui(
+        const std::string& name,
+        const CartesianWaypointControllerConfigWithForceLimit& val);
+
+    template <>
+    CartesianWaypointControllerConfigWithForceLimit getValue<CartesianWaypointControllerConfigWithForceLimit>(
+        ValueMap const& values,
+        std::string const& name);
+}
-- 
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