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Commit e410d102 authored by Fabian Reister's avatar Fabian Reister
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Merge remote-tracking branch 'origin/master' into feat/revolute-head

parents c82b1dba 1a97bf0e
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source/RobotAPI/components/units/HandUnit.cpp
+ 6
− 0
View file @ e410d102
......@@ -218,3 +218,9 @@ std::string HandUnit::describeHandState(const Ice::Current&)
{
return "not implemented";
}
void
armarx::HandUnit::reloadPreshapes(const Ice::Current&)
{
ARMARX_WARNING << "`reloadPreshapes` not implemented for this hand unit!";
}
source/RobotAPI/components/units/HandUnit.h
+ 2
− 1
View file @ e410d102
......@@ -143,6 +143,8 @@ namespace armarx
*/
PropertyDefinitionsPtr createPropertyDefinitions() override;
void reloadPreshapes(const Ice::Current&) override;
protected:
/**
* HandUnitListener proxy for publishing state updates
......@@ -177,4 +179,3 @@ namespace armarx
void sendJointCommands(const NameCommandMap& targetJointCommands, const Ice::Current&) override;
};
}
source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
+ 34
− 0
View file @ e410d102
......@@ -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);
}
......
source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
+ 2
− 1
View file @ e410d102
......@@ -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>;
}
source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
+ 289
− 397
View file @ e410d102
......@@ -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>&lt;Info Here&gt;</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>&lt;Info Here&gt;</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>&lt;Info Here&gt;</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>&lt;Info Here&gt;</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/>
......
source/RobotAPI/interface/units/HandUnitInterface.ice
+ 2
− 1
View file @ e410d102
......@@ -80,6 +80,8 @@ module armarx
void setJointForces(NameValueMap targetJointForces);
void sendJointCommands(NameCommandMap targetJointCommands);
void reloadPreshapes();
};
/**
* Implements an interface to a HandUnitListener.
......@@ -118,4 +120,3 @@ module armarx
};
};
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