added hand state to info label in hand unit gut

source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp

@@ -33,6 +33,7 @@
 #include <QLabel>
 #include <QLineEdit>
 #include <QMessageBox>
+#include <QTimer>
 
 #include <ArmarXCore/observers/variant/SingleTypeVariantList.h>
 
@@ -54,6 +55,7 @@ HandUnitWidget::HandUnitWidget() :
     ui.setupUi(getWidget());
 
     jointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setJointAngles, 50);
+    updateInfoTimer = new QTimer(this);
 }
 
 
@@ -68,6 +70,7 @@ void HandUnitWidget::onConnectComponent()
 {
     connectSlots();
     jointAngleUpdateTask->start();
+    updateInfoTimer->start(50);
 
     handUnitProxy = getProxy<HandUnitInterfacePrx>(handUnitProxyName);
     handName = handUnitProxy->getHandName();
@@ -79,7 +82,7 @@ void HandUnitWidget::onConnectComponent()
         ARMARX_WARNING << "Hand with name \"" << handName << "\" is not supported.";
     }
 
-    ui.labelInfo->setText(QString::fromStdString(handUnitProxyName + " :: " + handName));
+    //ui.labelInfo->setText(QString::fromStdString(handUnitProxyName + " :: " + handName));
 
     SingleTypeVariantListPtr preshapeStrings = SingleTypeVariantListPtr::dynamicCast(handUnitProxy->getShapeNames());
     QStringList list;
@@ -98,6 +101,7 @@ void HandUnitWidget::onConnectComponent()
 void HandUnitWidget::onDisconnectComponent()
 {
     jointAngleUpdateTask->stop();
+    updateInfoTimer->stop();
 }
 
 void HandUnitWidget::onExitComponent()
@@ -206,6 +210,11 @@ void HandUnitWidget::relaxHand()
     setPreshape("Relax");
 }
 
+void HandUnitWidget::updateInfoLabel()
+{
+    ui.labelInfo->setText(QString::fromStdString(handUnitProxyName + " :: " + handName + " State: " + handUnitProxy->describeHandState()));
+}
+
 void HandUnitWidget::setPreshape(std::string preshape)
 {
     ARMARX_INFO << "Setting new hand shape: " << preshape;
@@ -242,6 +251,7 @@ void HandUnitWidget::connectSlots()
     connect(ui.horizontalSliderPalm, SIGNAL(sliderMoved(int)), this, SLOT(requestSetJointAngles()), Qt::UniqueConnection);
     connect(ui.horizontalSliderThumbJ0, SIGNAL(sliderMoved(int)), this, SLOT(requestSetJointAngles()), Qt::UniqueConnection);
     connect(ui.horizontalSliderThumbJ1, SIGNAL(sliderMoved(int)), this, SLOT(requestSetJointAngles()), Qt::UniqueConnection);
+    connect(updateInfoTimer, SIGNAL(timeout()), this, SLOT(updateInfoLabel()));
 }
 
 

source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h

@@ -117,6 +117,7 @@ namespace armarx
         void closeHand();
         void closeThumb();
         void relaxHand();
+        void updateInfoLabel();
 
     private:
         void setPreshape(std::string preshape);
@@ -137,6 +138,7 @@ namespace armarx
         QPointer<HandUnitConfigDialog> dialog;
 
         PeriodicTask<HandUnitWidget>::pointer_type jointAngleUpdateTask;
+        QTimer* updateInfoTimer;
         bool setJointAnglesFlag;