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Commit c8f8d45b authored by Nikolaus Vahrenkamp's avatar Nikolaus Vahrenkamp
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added DebugDrawer to KinematicUnitGUI

parent f27e7d58
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with 146 additions and 88 deletions
scenarios/deprecated/MotionControlTest/CMakeLists.txt
+ 1
− 1
View file @ c8f8d45b
......@@ -11,7 +11,7 @@ set(SCENARIO_COMPONENTS
)
# optional 3rd parameter: "path/to/global/config.cfg"
armarx_scenario("MotionControlTest" "${SCENARIO_COMPONENTS}" "./configs/Global.cfg")
armarx_scenario("MotionControlTest" "${SCENARIO_COMPONENTS}" "./config/Global.cfg")
#set(SCENARIO_CONFIGS
# config/ComponentName.optionalString.cfg
......
source/RobotAPI/gui_plugins/KinematicUnitPlugin/CMakeLists.txt
+ 1
− 1
View file @ c8f8d45b
......@@ -36,7 +36,7 @@ set(GUI_UIS
KinematicUnitConfigDialog.ui
)
set(COMPONENT_LIBS RobotAPIUnits ${Simox_LIBRARIES})
set(COMPONENT_LIBS RobotAPIUnits DebugDrawer ${Simox_LIBRARIES})
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
......
source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+ 82
− 44
View file @ c8f8d45b
......@@ -3,6 +3,7 @@
#include <RobotAPI/gui_plugins/KinematicUnitPlugin/ui_KinematicUnitConfigDialog.h>
#include <Core/core/system/ArmarXDataPath.h>
#include <Core/core/ArmarXObjectScheduler.h>
#include <Core/core/ArmarXManager.h>
// Qt headers
#include <Qt>
......@@ -48,8 +49,10 @@ KinematicUnitWidgetController::KinematicUnitWidgetController() :
kinematicUnitNode(nullptr),
selectedControlMode(ePositionControl)
{
// init gui
rootVisu = NULL;
debugLayerVisu = NULL;
// init gui
ui.setupUi(getWidget());
getWidget()->setEnabled(false);
}
......@@ -96,12 +99,34 @@ void KinematicUnitWidgetController::onInitComponent()
std::cout << "returning" << std::endl;
return;
}
rootVisu = new SoSeparator();
rootVisu->ref();
kinematicUnitVisualization = getCoinVisualization(robot);
kinematicUnitNode = kinematicUnitVisualization->getCoinVisualization();
kinematicUnitNode->ref();
rootVisu->addChild(kinematicUnitNode);
robotNodeSet = getRobotNodeSet(robot, robotNodeSetName);
// create the debugdrawer component
std::string debugDrawerComponentName = "KinemticUnitGUIDebugDrawer_" + getName();
ARMARX_INFO << "Creating component " << debugDrawerComponentName;
debugDrawer = Component::create<DebugDrawerComponent>(properties,debugDrawerComponentName);
if (mutex3D)
debugDrawer->setMutex(mutex3D);
else
ARMARX_ERROR << " No 3d mutex available...";
ArmarXManagerPtr m = getArmarXManager();
m->addObject(debugDrawer);
{
boost::recursive_mutex::scoped_lock lock(*mutex3D);
debugLayerVisu = new SoSeparator();
debugLayerVisu->ref();
debugLayerVisu->addChild(debugDrawer->getVisualization());
rootVisu->addChild(debugLayerVisu);
}
string widgetLabel = "KinematicUnit: " + kinematicUnitName;
......@@ -109,6 +134,7 @@ void KinematicUnitWidgetController::onInitComponent()
initGUIComboBox(robotNodeSet); // init the pull down menu (QT: ComboBox)
initGUIJointListTable(robotNodeSet);
/*
connect(this, SIGNAL(jointAnglesReported()), this, SLOT(updateJointAnglesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointVelocitiesReported()), this, SLOT(updateJointVelocitiesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointTorquesReported()), this, SLOT(updateJointTorquesTable()), Qt::QueuedConnection);
......@@ -116,7 +142,7 @@ void KinematicUnitWidgetController::onInitComponent()
connect(this, SIGNAL(jointControlModesReported()), this, SLOT(updateControlModesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointMotorTemperaturesReported()), this, SLOT(updateJointMotorTemperaturesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointStatusesReported()), this, SLOT(updateJointStatusesTable()), Qt::QueuedConnection);
*/
usingTopic(topicName);
usingProxy(kinematicUnitName);
......@@ -141,8 +167,32 @@ void KinematicUnitWidgetController::onExitComponent()
{
enableMainWidgetAsync(false);
if (kinematicUnitNode)
kinematicUnitNode->unref();
{
boost::recursive_mutex::scoped_lock lock(*mutex3D);
if (debugLayerVisu)
{
debugLayerVisu->removeAllChildren();
debugLayerVisu->unref();
debugLayerVisu = NULL;
}
if (rootVisu)
{
rootVisu->removeAllChildren();
rootVisu->unref();
rootVisu = NULL;
}
}
if (debugDrawer)
{
ARMARX_INFO << "Removing DebugDrawer component...";
debugDrawer->getObjectScheduler()->terminate();
ARMARX_INFO << "Removing DebugDrawer component...done";
}
}
QPointer<QDialog> KinematicUnitWidgetController::getConfigDialog(QWidget* parent)
......@@ -192,6 +242,20 @@ void KinematicUnitWidgetController::saveSettings(QSettings *settings)
}
void KinematicUnitWidgetController::showVisuLayers(bool show)
{
if (debugDrawer)
{
if(show)
{
debugDrawer->enableAllLayers();
}
else
{
debugDrawer->disableAllLayers();
}
}
}
void KinematicUnitWidgetController::updateGuiElements()
{
......@@ -201,49 +265,13 @@ void KinematicUnitWidgetController::updateGuiElements()
void KinematicUnitWidgetController::modelUpdateCB()
{
/*
if (data->getDirtyFlag())
{
FloatVector angles;
FloatVector velocities;
Armar3ControlMode m;
Armar3ComponentState s;
if (data->getDirtyFlagAngles())
{
data->getDataAngles(angles);
reportKinematicUnitJointAnglesDegree(angles);
}
if (data->getDirtyFlagComponentState())
{
data->getDataComponentState(s);
reportKinematicUnitStateChanged(s);
}
if (data->getDirtyFlagControlMode())
{
data->getDataControlMode(m);if (!currentNode)
return;
float ticks = (float)(ui.horizontalSliderKinematicUnitPos->maximum() - ui.horizontalSliderKinematicUnitPos->minimum()+1);
float value = (float)ui.horizontalSliderKinematicUnitPos->value();
float perc = (value - (float)ui.horizontalSliderKinematicUnitPos->minimum()) / ticks;
float lo = currentNode->getJointLimitLo();
float hi = currentNode->getJointLimitHi();
float result = lo + (hi-lo)*perc;
if (KinematicUnitPrx)
KinematicUnitPrx->begin_setJoint(currentNodeType,result*180.0f/(float)M_PI);
reportKinematicUnitControlModeChanged(m);
}
}
*/
}
SoNode *KinematicUnitWidgetController::getScene()
{
if(kinematicUnitNode)
std::cout << "returning scene=" << kinematicUnitNode->getName() << std::endl;
return kinematicUnitNode;
//if(kinematicUnitNode)
// std::cout << "returning scene=" << kinematicUnitNode->getName() << std::endl;
return rootVisu;
}
......@@ -262,12 +290,22 @@ void KinematicUnitWidgetController::connectSlots()
connect(ui.radioButtonVelocityControl, SIGNAL(clicked(bool)), this, SLOT(setControlModeVelocity()));
connect(ui.radioButtonTorqueControl, SIGNAL(clicked(bool)), this, SLOT(setControlModeTorque()));
connect(ui.showDebugLayer, SIGNAL(toggled(bool)), this, SLOT(showVisuLayers(bool)), Qt::QueuedConnection);
/* connect(this, SIGNAL(jointAnglesReported()), this, SLOT(updateJointAnglesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointVelocitiesReported()), this, SLOT(updateJointVelocitiesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointTorquesReported()), this, SLOT(updateJointTorquesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointControlModesReported()), this, SLOT(updateControlModesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointMotorTemperaturesReported()), this, SLOT(updateJointMotorTemperaturesTable()), Qt::QueuedConnection);
*/
connect(this, SIGNAL(jointAnglesReported()), this, SLOT(updateJointAnglesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointVelocitiesReported()), this, SLOT(updateJointVelocitiesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointTorquesReported()), this, SLOT(updateJointTorquesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointCurrentsReported()), this, SLOT(updateJointCurrentsTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointControlModesReported()), this, SLOT(updateControlModesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointMotorTemperaturesReported()), this, SLOT(updateJointMotorTemperaturesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointStatusesReported()), this, SLOT(updateJointStatusesTable()), Qt::QueuedConnection);
connect(ui.tableJointList, SIGNAL(cellDoubleClicked(int,int)), this, SLOT(selectJointFromTableWidget(int,int)), Qt::QueuedConnection);
......
source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+ 7
− 0
View file @ c8f8d45b
......@@ -28,6 +28,7 @@
/* ArmarX headers */
#include <RobotAPI/gui_plugins/KinematicUnitPlugin/ui_kinematicunitguiplugin.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
#include <RobotAPI/components/DebugDrawer/DebugDrawerComponent.h>
#include <Core/core/Component.h>
#include <Gui/ArmarXGuiLib/ArmarXGuiPlugin.h>
#include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
......@@ -185,6 +186,10 @@ namespace armarx
CoinVisualizationPtr kinematicUnitVisualization;
SoNode* kinematicUnitNode;
SoSeparator* rootVisu;
SoSeparator* debugLayerVisu;
armarx::DebugDrawerComponentPtr debugDrawer;
// interface implementation
void reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged, const Ice::Current& c);
......@@ -199,6 +204,8 @@ namespace armarx
void updateModel();
protected slots:
void showVisuLayers(bool show);
private:
boost::recursive_mutex mutexNodeSet;
......
source/RobotAPI/gui_plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui
+ 55
− 42
View file @ c8f8d45b
......@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>810</width>
<width>900</width>
<height>547</height>
</rect>
</property>
......@@ -60,25 +60,6 @@
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLCDNumber" name="lcdNumberKinematicUnitJointValue">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>100</height>
</size>
</property>
<property name="toolTip">
<string>Value in percent between low and high limit of joint</string>
</property>
<property name="smallDecimalPoint">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="1" colspan="2">
<widget class="QComboBox" name="nodeListComboBox">
<property name="enabled">
......@@ -92,28 +73,6 @@
</property>
</widget>
</item>
<item row="4" column="1" colspan="2">
<widget class="QSlider" name="horizontalSliderKinematicUnitPos">
<property name="enabled">
<bool>true</bool>
</property>
<property name="minimum">
<number>-100</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
<number>0</number>
</property>
</widget>
</item>
<item row="3" column="1" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
......@@ -212,6 +171,60 @@
</item>
</layout>
</item>
<item row="4" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_4"/>
</item>
<item row="5" column="2">
<widget class="QCheckBox" name="showDebugLayer">
<property name="text">
<string>debug layer</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QSlider" name="horizontalSliderKinematicUnitPos">
<property name="enabled">
<bool>true</bool>
</property>
<property name="minimum">
<number>-100</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
<number>0</number>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLCDNumber" name="lcdNumberKinematicUnitJointValue">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>100</height>
</size>
</property>
<property name="toolTip">
<string>Value in percent between low and high limit of joint</string>
</property>
<property name="smallDecimalPoint">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
......
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