From a8e7a65ccfc3337c32afda1e72f1acd145783c59 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 24 Sep 2024 11:23:11 +0200
Subject: [PATCH] Hand Unit Gui: reworked GUI + added reloading of preshapes
---
.../HandUnitPlugin/HandUnitGuiPlugin.cpp | 34 +
.../HandUnitPlugin/HandUnitGuiPlugin.h | 3 +-
.../HandUnitPlugin/HandUnitGuiPlugin.ui | 686 ++++++++----------
3 files changed, 325 insertions(+), 398 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
index ea3190228..72ff523b0 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
@@ -57,8 +57,12 @@ namespace armarx
setRightHandJointAnglesFlag(false)
{
// init gui
+ ARMARX_INFO << "Setup UI";
ui.setupUi(getWidget());
+ ARMARX_INFO << "Done: Setup UI";
+
+
setLeftHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setLeftHandJointAngles, 50);
setRightHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setRightHandJointAngles, 50);
updateInfoTimer = new QTimer(this);
@@ -185,6 +189,29 @@ namespace armarx
setRightHandPreshape(ui.comboRightHandPreshapes->currentText().toUtf8().data());
}
+ void HandUnitWidget::reloadPreshapes()
+ {
+ ARMARX_INFO << "Reloading preshapes in robot unit ...";
+
+ // left hand unit
+ {
+ if(leftHandUnitProxy)
+ {
+ ARMARX_INFO << "Left hand unit: reloading preshapes.";
+ leftHandUnitProxy->reloadPreshapes();
+ }
+ }
+
+ // right hand unit
+ {
+ if(rightHandUnitProxy)
+ {
+ ARMARX_INFO << "Right hand unit: reloading preshapes.";
+ rightHandUnitProxy->reloadPreshapes();
+ }
+ }
+ }
+
void HandUnitWidget::setLeftHandJointAngles()
{
// ARMARX_INFO << "setLeftHandJointAngles";
@@ -425,6 +452,8 @@ namespace armarx
void HandUnitWidget::initGUIJointFrames()
{
+ ARMARX_INFO << "initGUIJointFrames";
+
NameValueMap currentLeftHandJointValues = leftHandUnitProxy->getCurrentJointValues();
// ARMARX_INFO << VAROUT(leftHandUnitProxy->getCurrentJointValues());
int frameLeftHandRowIdx = 0;
@@ -488,6 +517,11 @@ namespace armarx
}
ui.comboRightHandJoints->setCurrentIndex(-1);
+
+
+ // reloading of preshapes
+ connect(ui.reloadPreshapesButton, SIGNAL(clicked()), this, SLOT(reloadPreshapes()), Qt::UniqueConnection);
+
}
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
index 24d7900ce..dd68d856f 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
@@ -129,6 +129,8 @@ namespace armarx
void selectLeftHandJoint(int i);
void selectRightHandJoint(int i);
+ void reloadPreshapes();
+
private:
void setLeftHandPreshape(std::string preshape);
void setRightHandPreshape(std::string preshape);
@@ -170,4 +172,3 @@ namespace armarx
};
using HandUnitGuiPluginPtr = std::shared_ptr<HandUnitWidget>;
}
-
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
index cec1e1ea7..79ffd00e8 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>637</width>
- <height>396</height>
+ <width>987</width>
+ <height>802</height>
</rect>
</property>
<property name="sizePolicy">
@@ -19,401 +19,293 @@
<property name="windowTitle">
<string>Form</string>
</property>
- <widget class="Line" name="lineLeftHand">
- <property name="geometry">
- <rect>
- <x>146</x>
- <y>35</y>
- <width>16</width>
- <height>25</height>
- </rect>
- </property>
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- <widget class="QFrame" name="frameLeftHand">
- <property name="geometry">
- <rect>
- <x>9</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_2">
- <item row="0" column="0">
- <widget class="QTableWidget" name="tableWidgetLeftHand"/>
- </item>
- </layout>
- </widget>
- <widget class="QComboBox" name="comboLeftHandPreshapes">
- <property name="geometry">
- <rect>
- <x>9</x>
- <y>35</y>
- <width>60</width>
- <height>25</height>
- </rect>
- </property>
- </widget>
- <widget class="QPushButton" name="buttonPreshapeLeftHand">
- <property name="geometry">
- <rect>
- <x>71</x>
- <y>35</y>
- <width>80</width>
- <height>25</height>
- </rect>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="text">
- <string>Preshape</string>
- </property>
- </widget>
- <widget class="QPushButton" name="buttonOpenLeftHand">
- <property name="geometry">
- <rect>
- <x>157</x>
- <y>35</y>
- <width>50</width>
- <height>25</height>
- </rect>
- </property>
- <property name="text">
- <string>Open</string>
- </property>
- </widget>
- <widget class="QLabel" name="labelInfoLeftHand">
- <property name="geometry">
- <rect>
- <x>9</x>
- <y>9</y>
- <width>85</width>
- <height>17</height>
- </rect>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>20</height>
- </size>
- </property>
- <property name="font">
- <font>
- <weight>75</weight>
- <bold>true</bold>
- </font>
- </property>
- <property name="text">
- <string><Info Here></string>
- </property>
- </widget>
- <widget class="Line" name="line">
- <property name="geometry">
- <rect>
- <x>310</x>
- <y>0</y>
- <width>20</width>
- <height>401</height>
- </rect>
- </property>
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- <widget class="QPushButton" name="buttonCloseLeftHand">
- <property name="geometry">
- <rect>
- <x>209</x>
- <y>35</y>
- <width>50</width>
- <height>25</height>
- </rect>
- </property>
- <property name="text">
- <string>Close</string>
- </property>
- </widget>
- <widget class="QPushButton" name="buttonRelaxLeftHand">
- <property name="geometry">
- <rect>
- <x>261</x>
- <y>35</y>
- <width>50</width>
- <height>25</height>
- </rect>
- </property>
- <property name="text">
- <string>Relax</string>
- </property>
- </widget>
- <widget class="QComboBox" name="comboRightHandPreshapes">
- <property name="geometry">
- <rect>
- <x>330</x>
- <y>35</y>
- <width>60</width>
- <height>25</height>
- </rect>
- </property>
- </widget>
- <widget class="QPushButton" name="buttonOpenRightHand">
- <property name="geometry">
- <rect>
- <x>478</x>
- <y>35</y>
- <width>50</width>
- <height>25</height>
- </rect>
- </property>
- <property name="text">
- <string>Open</string>
- </property>
- </widget>
- <widget class="QPushButton" name="buttonPreshapeRightHand">
- <property name="geometry">
- <rect>
- <x>392</x>
- <y>35</y>
- <width>80</width>
- <height>25</height>
- </rect>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="text">
- <string>Preshape</string>
- </property>
- </widget>
- <widget class="QPushButton" name="buttonCloseRightHand">
- <property name="geometry">
- <rect>
- <x>530</x>
- <y>35</y>
- <width>50</width>
- <height>25</height>
- </rect>
- </property>
- <property name="text">
- <string>Close</string>
- </property>
- </widget>
- <widget class="QPushButton" name="buttonRelaxRightHand">
- <property name="geometry">
- <rect>
- <x>582</x>
- <y>35</y>
- <width>50</width>
- <height>25</height>
- </rect>
- </property>
- <property name="text">
- <string>Relax</string>
- </property>
- </widget>
- <widget class="QLabel" name="labelInfoRightHand">
- <property name="geometry">
- <rect>
- <x>330</x>
- <y>9</y>
- <width>85</width>
- <height>17</height>
- </rect>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>20</height>
- </size>
- </property>
- <property name="font">
- <font>
- <weight>75</weight>
- <bold>true</bold>
- </font>
- </property>
- <property name="text">
- <string><Info Here></string>
- </property>
- </widget>
- <widget class="Line" name="lineRightHand">
- <property name="geometry">
- <rect>
- <x>467</x>
- <y>35</y>
- <width>16</width>
- <height>25</height>
- </rect>
- </property>
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- <widget class="QLabel" name="labelSelectLeftHandJoint">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>80</y>
- <width>81</width>
- <height>17</height>
- </rect>
- </property>
- <property name="text">
- <string>Select Joint</string>
- </property>
- </widget>
- <widget class="QComboBox" name="comboLeftHandJoints">
- <property name="geometry">
- <rect>
- <x>100</x>
- <y>75</y>
- <width>150</width>
- <height>25</height>
- </rect>
- </property>
- </widget>
- <widget class="QLCDNumber" name="lcdNumberLeftHandJointValue">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="geometry">
- <rect>
- <x>10</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="QSlider" name="horizontalSliderLeftHandJointPos">
- <property name="geometry">
- <rect>
- <x>90</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 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>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="3" column="4">
+ <widget class="Line" name="lineLeftHand">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="13">
+ <widget class="Line" name="lineRightHand">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="8" rowspan="5">
+ <widget class="Line" name="line">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <layout class="QHBoxLayout" name="baseContainer">
+ <item>
+ <layout class="QVBoxLayout" name="left">
+ <item>
+ <widget class="QLabel" name="labelInfoLeftHand">
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>20</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string><Info Here></string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QComboBox" name="comboLeftHandPreshapes"/>
+ </item>
+ <item>
+ <widget class="QPushButton" name="buttonOpenLeftHand">
+ <property name="text">
+ <string>Open</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="buttonPreshapeLeftHand">
+ <property name="maximumSize">
+ <size>
+ <width>100</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Preshape</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="buttonCloseLeftHand">
+ <property name="text">
+ <string>Close</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="buttonRelaxLeftHand">
+ <property name="text">
+ <string>Relax</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_3">
+ <item>
+ <widget class="QLabel" name="labelSelectLeftHandJoint">
+ <property name="text">
+ <string>Select Joint</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="comboLeftHandJoints"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_5">
+ <item>
+ <widget class="QLCDNumber" name="lcdNumberLeftHandJointValue">
+ <property name="enabled">
+ <bool>true</bool>
+ </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>
+ </item>
+ <item>
+ <widget class="QSlider" name="horizontalSliderLeftHandJointPos">
+ <property name="maximum">
+ <number>100</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="QTableWidget" name="tableWidgetLeftHand"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QVBoxLayout" name="right">
+ <item>
+ <widget class="QLabel" name="labelInfoRightHand">
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>20</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string><Info Here></string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_4">
+ <item>
+ <widget class="QComboBox" name="comboRightHandPreshapes"/>
+ </item>
+ <item>
+ <widget class="QPushButton" name="buttonOpenRightHand">
+ <property name="text">
+ <string>Open</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="buttonPreshapeRightHand">
+ <property name="maximumSize">
+ <size>
+ <width>100</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Preshape</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="buttonCloseRightHand">
+ <property name="text">
+ <string>Close</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="buttonRelaxRightHand">
+ <property name="text">
+ <string>Relax</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_6">
+ <item>
+ <widget class="QLabel" name="labelSelectRightHandJoint">
+ <property name="text">
+ <string>Select Joint</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="comboRightHandJoints"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_7">
+ <item>
+ <widget class="QLCDNumber" name="lcdNumberRightHandJointValue">
+ <property name="enabled">
+ <bool>true</bool>
+ </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>
+ </item>
+ <item>
+ <widget class="QSlider" name="horizontalSliderRightHandJointPos">
+ <property name="maximum">
+ <number>100</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="QTableWidget" name="tableWidgetRightHand"/>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <layout class="QVBoxLayout" name="general">
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_8">
+ <item>
+ <widget class="QPushButton" name="reloadPreshapesButton">
+ <property name="text">
+ <string>Reload preshapes</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ </layout>
</widget>
<resources/>
<connections/>
--
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