diff --git a/source/RobotAPI/components/units/HandUnit.cpp b/source/RobotAPI/components/units/HandUnit.cpp
index 0b19a5566bbf07fdd4f6805ff0cbcedc181a150b..237ea2180bd5ec2ed68e6750f0f360984f0884d7 100644
--- a/source/RobotAPI/components/units/HandUnit.cpp
+++ b/source/RobotAPI/components/units/HandUnit.cpp
@@ -25,19 +25,19 @@
#include "HandUnit.h"
-#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <vector>
-#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/EndEffector/EndEffector.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/XML/RobotIO.h>
-#include <vector>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
using namespace armarx;
using namespace VirtualRobot;
-
-void HandUnit::onInitComponent()
+void
+HandUnit::onInitComponent()
{
std::string endeffectorFile = getProperty<std::string>("RobotFileName").getValue();
std::string endeffectorName = getProperty<std::string>("EndeffectorName").getValue();
@@ -50,7 +50,8 @@ void HandUnit::onInitComponent()
try
{
- robot = VirtualRobot::RobotIO::loadRobot(endeffectorFile, VirtualRobot::RobotIO::eStructure);
+ robot =
+ VirtualRobot::RobotIO::loadRobot(endeffectorFile, VirtualRobot::RobotIO::eStructure);
}
catch (VirtualRobot::VirtualRobotException& e)
{
@@ -86,7 +87,7 @@ void HandUnit::onInitComponent()
for (size_t i = 0; i < actors.size(); i++)
{
EndEffectorActorPtr a = actors[i];
- std::vector<EndEffectorActor::ActorDefinition> ads;// = a->getDefinition();
+ std::vector<EndEffectorActor::ActorDefinition> ads; // = a->getDefinition();
for (size_t j = 0; j < ads.size(); j++)
{
@@ -99,7 +100,8 @@ void HandUnit::onInitComponent()
}
}
- const std::vector<std::string> endeffectorPreshapes = robot->getEndEffector(endeffectorName)->getPreshapes();
+ const std::vector<std::string> endeffectorPreshapes =
+ robot->getEndEffector(endeffectorName)->getPreshapes();
shapeNames = new SingleTypeVariantList(VariantType::String);
std::vector<std::string>::const_iterator iter = endeffectorPreshapes.begin();
@@ -120,8 +122,8 @@ void HandUnit::onInitComponent()
this->onInitHandUnit();
}
-
-void HandUnit::onConnectComponent()
+void
+HandUnit::onConnectComponent()
{
ARMARX_INFO << "setting report topic to " << listenerChannelName << flush;
listenerPrx = getTopic<HandUnitListenerPrx>(listenerChannelName);
@@ -129,45 +131,48 @@ void HandUnit::onConnectComponent()
this->onStartHandUnit();
}
-
-void HandUnit::onExitComponent()
+void
+HandUnit::onExitComponent()
{
this->onExitHandUnit();
}
-
-
-void HandUnit::setShape(const std::string& shapeName, const Ice::Current& c)
+void
+HandUnit::setShape(const std::string& shapeName, const Ice::Current& c)
{
}
-void HandUnit::setShapeWithObjectInstance(const std::string& shapeName, const std::string& objectInstanceName, const Ice::Current& c)
+void
+HandUnit::setShapeWithObjectInstance(const std::string& shapeName,
+ const std::string& objectInstanceName,
+ const Ice::Current& c)
{
ARMARX_WARNING << "setShapeWithObjectInstance Function not implemented!";
}
-
-SingleTypeVariantListBasePtr HandUnit::getShapeNames(const Ice::Current& c)
+SingleTypeVariantListBasePtr
+HandUnit::getShapeNames(const Ice::Current& c)
{
return shapeNames;
}
-
-PropertyDefinitionsPtr HandUnit::createPropertyDefinitions()
+PropertyDefinitionsPtr
+HandUnit::createPropertyDefinitions()
{
- return PropertyDefinitionsPtr(new HandUnitPropertyDefinitions(
- getConfigIdentifier()));
+ return PropertyDefinitionsPtr(new HandUnitPropertyDefinitions(getConfigIdentifier()));
}
-
-NameValueMap HandUnit::getShapeJointValues(const std::string& shapeName, const Ice::Current&)
+NameValueMap
+HandUnit::getShapeJointValues(const std::string& shapeName, const Ice::Current&)
{
- EndEffectorPtr efp = robot->getEndEffector(getProperty<std::string>("EndeffectorName").getValue());
+ EndEffectorPtr efp =
+ robot->getEndEffector(getProperty<std::string>("EndeffectorName").getValue());
RobotConfigPtr rc = efp->getPreshape(shapeName);
return rc->getRobotNodeJointValueMap();
}
-NameValueMap HandUnit::getCurrentJointValues(const Ice::Current& c)
+NameValueMap
+HandUnit::getCurrentJointValues(const Ice::Current& c)
{
NameValueMap result;
@@ -179,42 +184,44 @@ NameValueMap HandUnit::getCurrentJointValues(const Ice::Current& c)
return result;
}
-void HandUnit::setObjectGrasped(const std::string& objectName, const Ice::Current&)
+void
+HandUnit::setObjectGrasped(const std::string& objectName, const Ice::Current&)
{
ARMARX_INFO << "Object grasped " << objectName << flush;
graspedObject = objectName;
}
-void HandUnit::setObjectReleased(const std::string& objectName, const Ice::Current&)
+void
+HandUnit::setObjectReleased(const std::string& objectName, const Ice::Current&)
{
ARMARX_INFO << "Object released " << objectName << flush;
graspedObject = "";
}
-
-
-std::string armarx::HandUnit::getHandName(const Ice::Current&)
+std::string
+armarx::HandUnit::getHandName(const Ice::Current&)
{
return eef->getName();
}
-void HandUnit::setJointForces(const NameValueMap& targetJointForces, const Ice::Current&)
+void
+HandUnit::setJointForces(const NameValueMap& targetJointForces, const Ice::Current&)
{
-
}
-void HandUnit::sendJointCommands(const NameCommandMap& targetJointCommands, const Ice::Current&)
+void
+HandUnit::sendJointCommands(const NameCommandMap& targetJointCommands, const Ice::Current&)
{
-
}
-
-void armarx::HandUnit::setJointAngles(const armarx::NameValueMap& targetJointAngles, const Ice::Current& c)
+void
+armarx::HandUnit::setJointAngles(const armarx::NameValueMap& targetJointAngles,
+ const Ice::Current& c)
{
-
}
-std::string HandUnit::describeHandState(const Ice::Current&)
+std::string
+HandUnit::describeHandState(const Ice::Current&)
{
return "not implemented";
}
@@ -224,3 +231,15 @@ armarx::HandUnit::reloadPreshapes(const Ice::Current&)
{
ARMARX_WARNING << "`reloadPreshapes` not implemented for this hand unit!";
}
+
+void
+armarx::HandUnit::tare(const Ice::Current&)
+{
+ ARMARX_WARNING << "Taring is not supported by this hand.";
+}
+
+void
+armarx::HandUnit::resetFirmware(const Ice::Current&)
+{
+ ARMARX_WARNING << "Resetting firmware is not supported by this hand.";
+}
diff --git a/source/RobotAPI/components/units/HandUnit.h b/source/RobotAPI/components/units/HandUnit.h
index c68f915579890d59fb96a1c4d811041477a13ec6..43fb4d00c9799905df3a063a8a51a50f727d6c5f 100644
--- a/source/RobotAPI/components/units/HandUnit.h
+++ b/source/RobotAPI/components/units/HandUnit.h
@@ -24,16 +24,14 @@
#pragma once
-#include <RobotAPI/components/units/SensorActorUnit.h>
-
-#include <RobotAPI/interface/units/HandUnitInterface.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <ArmarXCore/core/application/properties/Properties.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXCore/observers/variant/SingleTypeVariantList.h>
-#include <VirtualRobot/VirtualRobot.h>
-
+#include <RobotAPI/components/units/SensorActorUnit.h>
+#include <RobotAPI/interface/units/HandUnitInterface.h>
namespace armarx
{
@@ -41,19 +39,20 @@ namespace armarx
* \class HandUnitPropertyDefinitions
* \brief Defines all necessary properties for armarx::HandUnit
*/
- class HandUnitPropertyDefinitions:
- public ComponentPropertyDefinitions
+ class HandUnitPropertyDefinitions : public ComponentPropertyDefinitions
{
public:
- HandUnitPropertyDefinitions(std::string prefix):
- ComponentPropertyDefinitions(prefix)
+ HandUnitPropertyDefinitions(std::string prefix) : ComponentPropertyDefinitions(prefix)
{
- defineRequiredProperty<std::string>("RobotFileName", "VirtualRobot XML file in which the endeffector is is stored.");
- defineRequiredProperty<std::string>("EndeffectorName", "Name of the endeffector as stored in the XML file (will publish values on EndeffectorName + 'State')");
+ defineRequiredProperty<std::string>(
+ "RobotFileName", "VirtualRobot XML file in which the endeffector is is stored.");
+ defineRequiredProperty<std::string>(
+ "EndeffectorName",
+ "Name of the endeffector as stored in the XML file (will publish values on "
+ "EndeffectorName + 'State')");
}
};
-
/**
* @ingroup Component-HandUnit HandUnit
* \brief Base unit for high-level access to robot hands.
@@ -68,13 +67,12 @@ namespace armarx
* @brief The HandUnit class
* @ingroup Component-HandUnit
*/
- class HandUnit :
- virtual public HandUnitInterface,
- virtual public SensorActorUnit
+ class HandUnit : virtual public HandUnitInterface, virtual public SensorActorUnit
{
public:
// inherited from Component
- std::string getDefaultName() const override
+ std::string
+ getDefaultName() const override
{
return "HandUnit";
}
@@ -112,7 +110,8 @@ namespace armarx
/**
* Send command to the hand to form a specific shape position. The shapes are defined in the robot.xml file.
*/
- void setShape(const std::string& shapeName, const Ice::Current& c = Ice::emptyCurrent) override;
+ void setShape(const std::string& shapeName,
+ const Ice::Current& c = Ice::emptyCurrent) override;
/**
* @brief setShapeWithObjectInstance Send command to the hand to form a specific shape position.
@@ -122,14 +121,18 @@ namespace armarx
* @param shapeName Name of the well known shape that the hand should form
* @param graspedObjectInstanceName name of the object instance which is used to check for collisions while setting the shape
*/
- void setShapeWithObjectInstance(const std::string& shapeName, const std::string& objectInstanceName, const Ice::Current& c = Ice::emptyCurrent) override;
+ void setShapeWithObjectInstance(const std::string& shapeName,
+ const std::string& objectInstanceName,
+ const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \return a list of strings for shape positions which can be used together with HandUnit::shape().
*/
- SingleTypeVariantListBasePtr getShapeNames(const Ice::Current& c = Ice::emptyCurrent) override;
+ SingleTypeVariantListBasePtr
+ getShapeNames(const Ice::Current& c = Ice::emptyCurrent) override;
- NameValueMap getShapeJointValues(const std::string& shapeName, const Ice::Current& c = Ice::emptyCurrent) override;
+ NameValueMap getShapeJointValues(const std::string& shapeName,
+ const Ice::Current& c = Ice::emptyCurrent) override;
NameValueMap getCurrentJointValues(const Ice::Current& c = Ice::emptyCurrent) override;
void setObjectGrasped(const std::string& objectName, const Ice::Current&) override;
@@ -145,6 +148,10 @@ namespace armarx
void reloadPreshapes(const Ice::Current&) override;
+ void tare(const Ice::Current&) override;
+
+ void resetFirmware(const Ice::Current&) override;
+
protected:
/**
* HandUnitListener proxy for publishing state updates
@@ -167,7 +174,7 @@ namespace armarx
std::string robotName;
std::string tcpName;
- std::map <std::string, float> handJoints;
+ std::map<std::string, float> handJoints;
std::string graspedObject;
@@ -176,6 +183,7 @@ namespace armarx
public:
std::string getHandName(const Ice::Current& = Ice::emptyCurrent) override;
void setJointForces(const NameValueMap& targetJointForces, const Ice::Current&) override;
- void sendJointCommands(const NameCommandMap& targetJointCommands, const Ice::Current&) override;
+ void sendJointCommands(const NameCommandMap& targetJointCommands,
+ const Ice::Current&) override;
};
-}
+} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
index 72ff523b09b5e5282d1caff1b5ae92f559cbceee..fec96cb89cc635119afe1d1e260a805c7a850936 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
@@ -22,24 +22,27 @@
* GNU General Public License
*/
#include "HandUnitGuiPlugin.h"
-#include "HandUnitConfigDialog.h"
-#include <RobotAPI/gui-plugins/HandUnitPlugin/ui_HandUnitConfigDialog.h>
+
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/observers/variant/SingleTypeVariantList.h>
+#include <RobotAPI/gui-plugins/HandUnitPlugin/ui_HandUnitConfigDialog.h>
+
+#include "HandUnitConfigDialog.h"
+
// Qt headers
-#include <Qt>
-#include <QtGlobal>
-#include <QPushButton>
+#include <cmath>
+
#include <QLabel>
#include <QLineEdit>
#include <QMessageBox>
+#include <QPushButton>
+#include <QString>
#include <QTimer>
+#include <Qt>
+#include <QtGlobal>
#include <QtWidgets/QSlider>
#include <QtWidgets/QTableWidgetItem>
-#include <QString>
-
-#include <cmath>
namespace armarx
{
@@ -63,13 +66,15 @@ namespace armarx
ARMARX_INFO << "Done: Setup UI";
- setLeftHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setLeftHandJointAngles, 50);
- setRightHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setRightHandJointAngles, 50);
+ setLeftHandJointAngleUpdateTask =
+ new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setLeftHandJointAngles, 50);
+ setRightHandJointAngleUpdateTask =
+ new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setRightHandJointAngles, 50);
updateInfoTimer = new QTimer(this);
}
-
- void HandUnitWidget::onInitComponent()
+ void
+ HandUnitWidget::onInitComponent()
{
usingProxy(leftHandUnitProxyName);
usingProxy(rightHandUnitProxyName);
@@ -77,12 +82,12 @@ namespace armarx
//ARMARX_WARNING << "Listening on Topic: " << handName + "State";
}
- void HandUnitWidget::onConnectComponent()
+ void
+ HandUnitWidget::onConnectComponent()
{
updateInfoTimer->start(50);
-
setLeftHandJointAngleUpdateTask->start();
leftHandUnitProxy = getProxy<HandUnitInterfacePrx>(leftHandUnitProxyName);
@@ -97,14 +102,15 @@ namespace armarx
ARMARX_WARNING << "Left hand with name \"" << leftHandName << "\" is not supported.";
}
- SingleTypeVariantListPtr leftHandPreshapeStrings = SingleTypeVariantListPtr::dynamicCast(leftHandUnitProxy->getShapeNames());
+ SingleTypeVariantListPtr leftHandPreshapeStrings =
+ SingleTypeVariantListPtr::dynamicCast(leftHandUnitProxy->getShapeNames());
QStringList leftHandList;
int leftHandPreshapeCount = leftHandPreshapeStrings->getSize();
for (int i = 0; i < leftHandPreshapeCount; ++i)
{
std::string shape = ((leftHandPreshapeStrings->getVariant(i))->get<std::string>());
-// ARMARX_INFO << VAROUT(shape);
+ // ARMARX_INFO << VAROUT(shape);
leftHandList << QString::fromStdString(shape);
}
@@ -112,7 +118,6 @@ namespace armarx
ui.comboLeftHandPreshapes->addItems(leftHandList);
-
setRightHandJointAngleUpdateTask->start();
rightHandUnitProxy = getProxy<HandUnitInterfacePrx>(rightHandUnitProxyName);
@@ -127,14 +132,15 @@ namespace armarx
ARMARX_WARNING << "Right hand with name \"" << rightHandName << "\" is not supported.";
}
- SingleTypeVariantListPtr rightHandPreshapeStrings = SingleTypeVariantListPtr::dynamicCast(rightHandUnitProxy->getShapeNames());
+ SingleTypeVariantListPtr rightHandPreshapeStrings =
+ SingleTypeVariantListPtr::dynamicCast(rightHandUnitProxy->getShapeNames());
QStringList rightHandList;
int rightHandPreshapeCount = rightHandPreshapeStrings->getSize();
for (int i = 0; i < rightHandPreshapeCount; ++i)
{
std::string shape = ((rightHandPreshapeStrings->getVariant(i))->get<std::string>());
-// ARMARX_INFO << VAROUT(shape);
+ // ARMARX_INFO << VAROUT(shape);
rightHandList << QString::fromStdString(shape);
}
@@ -142,14 +148,17 @@ namespace armarx
ui.comboRightHandPreshapes->addItems(rightHandList);
-
-// ARMARX_INFO << "initGUIJointFrames";
+ // ARMARX_INFO << "initGUIJointFrames";
initGUIJointFrames();
- displayJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::updateJointValueTable, 50);
+ displayJointAngleUpdateTask =
+ new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::updateJointValueTable, 50);
displayJointAngleUpdateTask->start();
+
+ updateInfoLabel();
}
- void HandUnitWidget::onDisconnectComponent()
+ void
+ HandUnitWidget::onDisconnectComponent()
{
setLeftHandJointAngleUpdateTask->stop();
setRightHandJointAngleUpdateTask->stop();
@@ -157,11 +166,13 @@ namespace armarx
updateInfoTimer->stop();
}
- void HandUnitWidget::onExitComponent()
+ void
+ HandUnitWidget::onExitComponent()
{
}
- QPointer<QDialog> HandUnitWidget::getConfigDialog(QWidget* parent)
+ QPointer<QDialog>
+ HandUnitWidget::getConfigDialog(QWidget* parent)
{
if (!dialog)
{
@@ -173,29 +184,33 @@ namespace armarx
return qobject_cast<HandUnitConfigDialog*>(dialog);
}
- void HandUnitWidget::configured()
+ void
+ HandUnitWidget::configured()
{
leftHandUnitProxyName = dialog->proxyFinderLeftHand->getSelectedProxyName().toStdString();
rightHandUnitProxyName = dialog->proxyFinderRightHand->getSelectedProxyName().toStdString();
}
- void HandUnitWidget::preshapeLeftHand()
+ void
+ HandUnitWidget::preshapeLeftHand()
{
setLeftHandPreshape(ui.comboLeftHandPreshapes->currentText().toUtf8().data());
}
- void HandUnitWidget::preshapeRightHand()
+ void
+ HandUnitWidget::preshapeRightHand()
{
setRightHandPreshape(ui.comboRightHandPreshapes->currentText().toUtf8().data());
}
- void HandUnitWidget::reloadPreshapes()
+ void
+ HandUnitWidget::reloadPreshapes()
{
ARMARX_INFO << "Reloading preshapes in robot unit ...";
// left hand unit
{
- if(leftHandUnitProxy)
+ if (leftHandUnitProxy)
{
ARMARX_INFO << "Left hand unit: reloading preshapes.";
leftHandUnitProxy->reloadPreshapes();
@@ -204,7 +219,7 @@ namespace armarx
// right hand unit
{
- if(rightHandUnitProxy)
+ if (rightHandUnitProxy)
{
ARMARX_INFO << "Right hand unit: reloading preshapes.";
rightHandUnitProxy->reloadPreshapes();
@@ -212,9 +227,10 @@ namespace armarx
}
}
- void HandUnitWidget::setLeftHandJointAngles()
- {
-// ARMARX_INFO << "setLeftHandJointAngles";
+ void
+ HandUnitWidget::setLeftHandJointAngles()
+ {
+ // ARMARX_INFO << "setLeftHandJointAngles";
if (!leftHandUnitProxy)
{
ARMARX_WARNING << "invalid proxy";
@@ -245,21 +261,23 @@ namespace armarx
{
if (pair.first == currentLeftHandJoint)
{
- value = static_cast<float>(ui.horizontalSliderLeftHandJointPos->value() * leftHandConversionFactor);
-// ARMARX_INFO << VAROUT(value);
+ value = static_cast<float>(ui.horizontalSliderLeftHandJointPos->value() *
+ leftHandConversionFactor);
+ // ARMARX_INFO << VAROUT(value);
leftHandJa[pair.first] = value;
break;
}
}
-// ARMARX_INFO << VAROUT(value / leftHandConversionFactor);
+ // ARMARX_INFO << VAROUT(value / leftHandConversionFactor);
ui.lcdNumberLeftHandJointValue->display(value / leftHandConversionFactor);
leftHandUnitProxy->setJointAngles(leftHandJa);
}
- void HandUnitWidget::setRightHandJointAngles()
+ void
+ HandUnitWidget::setRightHandJointAngles()
{
-// ARMARX_INFO << "setRightHandJointAngles";
+ // ARMARX_INFO << "setRightHandJointAngles";
if (!rightHandUnitProxy)
{
ARMARX_WARNING << "invalid proxy";
@@ -290,73 +308,88 @@ namespace armarx
{
if (pair.first == currentRightHandJoint)
{
- value = static_cast<float>(ui.horizontalSliderRightHandJointPos->value() * rightHandConversionFactor);
-// ARMARX_INFO << VAROUT(value);
+ value = static_cast<float>(ui.horizontalSliderRightHandJointPos->value() *
+ rightHandConversionFactor);
+ // ARMARX_INFO << VAROUT(value);
rightHandJa[pair.first] = value;
break;
}
}
-// ARMARX_INFO << VAROUT(value / rightHandConversionFactor);
+ // ARMARX_INFO << VAROUT(value / rightHandConversionFactor);
ui.lcdNumberRightHandJointValue->display(value / rightHandConversionFactor);
rightHandUnitProxy->setJointAngles(rightHandJa);
}
- void HandUnitWidget::requestSetLeftHandJointAngles()
+ void
+ HandUnitWidget::requestSetLeftHandJointAngles()
{
setLeftHandJointAnglesFlag = true;
}
- void HandUnitWidget::requestSetRightHandJointAngles()
+ void
+ HandUnitWidget::requestSetRightHandJointAngles()
{
setRightHandJointAnglesFlag = true;
}
- void HandUnitWidget::openLeftHand()
+ void
+ HandUnitWidget::openLeftHand()
{
setLeftHandPreshape("Open");
}
- void HandUnitWidget::openRightHand()
+ void
+ HandUnitWidget::openRightHand()
{
setRightHandPreshape("Open");
}
- void HandUnitWidget::closeLeftHand()
+ void
+ HandUnitWidget::closeLeftHand()
{
setLeftHandPreshape("Close");
}
- void HandUnitWidget::closeRightHand()
+ void
+ HandUnitWidget::closeRightHand()
{
setRightHandPreshape("Close");
}
- void HandUnitWidget::relaxLeftHand()
+ void
+ HandUnitWidget::relaxLeftHand()
{
setLeftHandPreshape("Relax");
}
- void HandUnitWidget::relaxRightHand()
+ void
+ HandUnitWidget::relaxRightHand()
{
setRightHandPreshape("Relax");
}
- void HandUnitWidget::updateInfoLabel()
+ void
+ HandUnitWidget::updateInfoLabel()
{
- ui.labelInfoLeftHand->setText(QString::fromStdString(leftHandUnitProxyName + " :: " + leftHandName + " State: " + leftHandUnitProxy->describeHandState()));
- ui.labelInfoRightHand->setText(QString::fromStdString(rightHandUnitProxyName + " :: " + rightHandName + " State: " + rightHandUnitProxy->describeHandState()));
+ ui.labelInfoLeftHand->setText(
+ QString::fromStdString(leftHandUnitProxyName + " :: " + leftHandName +
+ " State: " + leftHandUnitProxy->describeHandState()));
+ ui.labelInfoRightHand->setText(
+ QString::fromStdString(rightHandUnitProxyName + " :: " + rightHandName +
+ " State: " + rightHandUnitProxy->describeHandState()));
}
- void HandUnitWidget::updateJointValueTable()
+ void
+ HandUnitWidget::updateJointValueTable()
{
NameValueMap currentLeftHandJointValues = leftHandUnitProxy->getCurrentJointValues();
-// ARMARX_INFO << VAROUT(leftHandUnitProxy->getCurrentJointValues());
+ // ARMARX_INFO << VAROUT(leftHandUnitProxy->getCurrentJointValues());
int frameLeftHandRowIdx = 0;
for (const auto& pair : currentLeftHandJointValues)
{
-// ARMARX_INFO << VAROUT(pair.first);
+ // ARMARX_INFO << VAROUT(pair.first);
QString name(pair.first.c_str());
QTableWidgetItem* newItem = new QTableWidgetItem(QString::number(pair.second));
ui.tableWidgetLeftHand->setItem(frameLeftHandRowIdx, 1, newItem);
@@ -364,14 +397,13 @@ namespace armarx
}
-
NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
-// ARMARX_INFO << VAROUT(rightHandUnitProxy->getCurrentJointValues());
+ // ARMARX_INFO << VAROUT(rightHandUnitProxy->getCurrentJointValues());
int frameRightHandRowIdx = 0;
for (const auto& pair : currentRightHandJointValues)
{
-// ARMARX_INFO << VAROUT(pair.first);
+ // ARMARX_INFO << VAROUT(pair.first);
QString name(pair.first.c_str());
QTableWidgetItem* newItem = new QTableWidgetItem(QString::number(pair.second));
ui.tableWidgetRightHand->setItem(frameRightHandRowIdx, 1, newItem);
@@ -379,13 +411,73 @@ namespace armarx
}
}
- void HandUnitWidget::selectLeftHandJoint(int i)
+ void
+ HandUnitWidget::setExpertMode(side side, int state)
+ {
+ bool const isExpert = state == Qt::Checked;
+
+ if (side == side::left)
+ {
+ ui.leftTare->setEnabled(isExpert);
+ ui.leftReset->setEnabled(isExpert);
+ }
+ else if (side == side::right)
+ {
+ ui.rightTare->setEnabled(isExpert);
+ ui.rightReset->setEnabled(isExpert);
+ }
+ else
+ {
+ ARMARX_WARNING << "Invalid side to set expert mode.";
+ }
+ }
+
+ void
+ HandUnitWidget::tareHand(side side)
{
-// ARMARX_INFO << "selectLeftHandJoint " << i;
+ if (side == side::left)
+ {
+ ARMARX_INFO << "Trigger taring left hand now...";
+ leftHandUnitProxy->tare();
+ }
+ else if (side == side::right)
+ {
+ ARMARX_INFO << "Trigger taring right hand now...";
+ rightHandUnitProxy->tare();
+ }
+ else
+ {
+ ARMARX_WARNING << "Invalid side to tare hand.";
+ }
+ }
+
+ void
+ HandUnitWidget::resetHand(side side)
+ {
+ if (side == side::left)
+ {
+ ARMARX_INFO << "Trigger resetting left hand firmware now...";
+ leftHandUnitProxy->resetFirmware();
+ }
+ else if (side == side::right)
+ {
+ ARMARX_INFO << "Trigger resetting right hand firmware now...";
+ rightHandUnitProxy->resetFirmware();
+ }
+ else
+ {
+ ARMARX_WARNING << "Invalid side to reset hand firmware.";
+ }
+ }
+
+ void
+ HandUnitWidget::selectLeftHandJoint(int i)
+ {
+ // ARMARX_INFO << "selectLeftHandJoint " << i;
NameValueMap currentLeftHandJointValues = leftHandUnitProxy->getCurrentJointValues();
int idx = 0;
- for (const auto& pair: currentLeftHandJointValues)
+ for (const auto& pair : currentLeftHandJointValues)
{
if (idx == i)
{
@@ -393,20 +485,21 @@ namespace armarx
int convertedValue = static_cast<int>(pair.second / leftHandConversionFactor);
ui.horizontalSliderLeftHandJointPos->setSliderPosition(convertedValue);
ui.lcdNumberLeftHandJointValue->display(convertedValue);
-// ARMARX_INFO << "Found joint";
+ // ARMARX_INFO << "Found joint";
break;
}
idx++;
}
}
- void HandUnitWidget::selectRightHandJoint(int i)
+ void
+ HandUnitWidget::selectRightHandJoint(int i)
{
-// ARMARX_INFO << "selectRightHandJoint " << i;
+ // ARMARX_INFO << "selectRightHandJoint " << i;
NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
int idx = 0;
- for (const auto& pair: currentRightHandJointValues)
+ for (const auto& pair : currentRightHandJointValues)
{
if (idx == i)
{
@@ -414,68 +507,113 @@ namespace armarx
int convertedValue = static_cast<int>(pair.second / rightHandConversionFactor);
ui.horizontalSliderRightHandJointPos->setSliderPosition(convertedValue);
ui.lcdNumberRightHandJointValue->display(convertedValue);
-// ARMARX_INFO << "Found joint";
+ // ARMARX_INFO << "Found joint";
break;
}
idx++;
}
}
- void HandUnitWidget::setLeftHandPreshape(std::string preshape)
+ void
+ HandUnitWidget::setLeftHandPreshape(std::string preshape)
{
-// ARMARX_INFO << "Setting new left hand shape: " << preshape;
+ // ARMARX_INFO << "Setting new left hand shape: " << preshape;
leftHandUnitProxy->setShape(preshape);
}
- void HandUnitWidget::setRightHandPreshape(std::string preshape)
+ void
+ HandUnitWidget::setRightHandPreshape(std::string preshape)
{
-// ARMARX_INFO << "Setting new right hand shape: " << preshape;
+ // ARMARX_INFO << "Setting new right hand shape: " << preshape;
rightHandUnitProxy->setShape(preshape);
}
- void HandUnitWidget::loadSettings(QSettings* settings)
+ void
+ HandUnitWidget::loadSettings(QSettings* settings)
{
- leftHandUnitProxyName = settings->value("leftHandUnitProxyName", QString::fromStdString(leftHandUnitProxyName)).toString().toStdString();
- leftHandName = settings->value("leftHandName", QString::fromStdString(leftHandName)).toString().toStdString();
- rightHandUnitProxyName = settings->value("rightHandUnitProxyName", QString::fromStdString(rightHandUnitProxyName)).toString().toStdString();
- rightHandName = settings->value("rightHandName", QString::fromStdString(rightHandName)).toString().toStdString();
+ leftHandUnitProxyName =
+ settings->value("leftHandUnitProxyName", QString::fromStdString(leftHandUnitProxyName))
+ .toString()
+ .toStdString();
+ leftHandName = settings->value("leftHandName", QString::fromStdString(leftHandName))
+ .toString()
+ .toStdString();
+ rightHandUnitProxyName =
+ settings
+ ->value("rightHandUnitProxyName", QString::fromStdString(rightHandUnitProxyName))
+ .toString()
+ .toStdString();
+ rightHandName = settings->value("rightHandName", QString::fromStdString(rightHandName))
+ .toString()
+ .toStdString();
}
- void HandUnitWidget::saveSettings(QSettings* settings)
+ void
+ HandUnitWidget::saveSettings(QSettings* settings)
{
settings->setValue("leftHandUnitProxyName", QString::fromStdString(leftHandUnitProxyName));
settings->setValue("leftHandName", QString::fromStdString(leftHandName));
- settings->setValue("rightHandUnitProxyName", QString::fromStdString(rightHandUnitProxyName));
+ settings->setValue("rightHandUnitProxyName",
+ QString::fromStdString(rightHandUnitProxyName));
settings->setValue("rightHandName", QString::fromStdString(rightHandName));
}
-
- void HandUnitWidget::initGUIJointFrames()
+ void
+ HandUnitWidget::initGUIJointFrames()
{
ARMARX_INFO << "initGUIJointFrames";
-
+
NameValueMap currentLeftHandJointValues = leftHandUnitProxy->getCurrentJointValues();
-// ARMARX_INFO << VAROUT(leftHandUnitProxy->getCurrentJointValues());
+ // ARMARX_INFO << VAROUT(leftHandUnitProxy->getCurrentJointValues());
int frameLeftHandRowIdx = 0;
- connect(ui.buttonPreshapeLeftHand, SIGNAL(clicked()), this, SLOT(preshapeLeftHand()), Qt::UniqueConnection);
- connect(ui.buttonOpenLeftHand, SIGNAL(clicked()), this, SLOT(openLeftHand()), Qt::UniqueConnection);
- connect(ui.buttonCloseLeftHand, SIGNAL(clicked()), this, SLOT(closeLeftHand()), Qt::UniqueConnection);
- connect(ui.buttonRelaxLeftHand, SIGNAL(clicked()), this, SLOT(relaxLeftHand()), Qt::UniqueConnection);
+ connect(ui.buttonPreshapeLeftHand,
+ SIGNAL(clicked()),
+ this,
+ SLOT(preshapeLeftHand()),
+ Qt::UniqueConnection);
+ connect(ui.buttonOpenLeftHand,
+ SIGNAL(clicked()),
+ this,
+ SLOT(openLeftHand()),
+ Qt::UniqueConnection);
+ connect(ui.buttonCloseLeftHand,
+ SIGNAL(clicked()),
+ this,
+ SLOT(closeLeftHand()),
+ Qt::UniqueConnection);
+ connect(ui.buttonRelaxLeftHand,
+ SIGNAL(clicked()),
+ this,
+ SLOT(relaxLeftHand()),
+ Qt::UniqueConnection);
ui.horizontalSliderLeftHandJointPos->setMaximum(100);
ui.horizontalSliderLeftHandJointPos->setMinimum(0);
- connect(ui.horizontalSliderLeftHandJointPos, SIGNAL(sliderMoved(int)), this, SLOT(requestSetLeftHandJointAngles()), Qt::UniqueConnection);
- connect(ui.comboLeftHandJoints, SIGNAL(currentIndexChanged(int)), this, SLOT(selectLeftHandJoint(int)), Qt::UniqueConnection);
+ connect(ui.horizontalSliderLeftHandJointPos,
+ SIGNAL(sliderMoved(int)),
+ this,
+ SLOT(requestSetLeftHandJointAngles()),
+ Qt::UniqueConnection);
+ connect(ui.comboLeftHandJoints,
+ SIGNAL(currentIndexChanged(int)),
+ this,
+ SLOT(selectLeftHandJoint(int)),
+ Qt::UniqueConnection);
+ connect(ui.leftExpertMode,
+ &QCheckBox::stateChanged,
+ [&](int state) { setExpertMode(side::left, state); });
+ connect(ui.leftTare, &QPushButton::clicked, [&] { tareHand(side::left); });
+ connect(ui.leftReset, &QPushButton::clicked, [&] { resetHand(side::left); });
ui.tableWidgetLeftHand->setRowCount(currentLeftHandJointValues.size());
ui.tableWidgetLeftHand->setColumnCount(2);
ui.comboLeftHandJoints->clear();
- qRegisterMetaType<QVector<int> >("QVector<int>");
+ qRegisterMetaType<QVector<int>>("QVector<int>");
for (const auto& pair : currentLeftHandJointValues)
{
-// ARMARX_INFO << VAROUT(pair.first);
+ // ARMARX_INFO << VAROUT(pair.first);
QString name(pair.first.c_str());
QTableWidgetItem* newItem = new QTableWidgetItem(name);
ui.tableWidgetLeftHand->setItem(frameLeftHandRowIdx, 0, newItem);
@@ -486,29 +624,57 @@ namespace armarx
ui.comboLeftHandJoints->setCurrentIndex(-1);
-
NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
-// ARMARX_INFO << VAROUT(rightHandUnitProxy->getCurrentJointValues());
+ // ARMARX_INFO << VAROUT(rightHandUnitProxy->getCurrentJointValues());
int frameRightHandRowIdx = 0;
- connect(ui.buttonPreshapeRightHand, SIGNAL(clicked()), this, SLOT(preshapeRightHand()), Qt::UniqueConnection);
- connect(ui.buttonOpenRightHand, SIGNAL(clicked()), this, SLOT(openRightHand()), Qt::UniqueConnection);
- connect(ui.buttonCloseRightHand, SIGNAL(clicked()), this, SLOT(closeRightHand()), Qt::UniqueConnection);
- connect(ui.buttonRelaxRightHand, SIGNAL(clicked()), this, SLOT(relaxRightHand()), Qt::UniqueConnection);
+ connect(ui.buttonPreshapeRightHand,
+ SIGNAL(clicked()),
+ this,
+ SLOT(preshapeRightHand()),
+ Qt::UniqueConnection);
+ connect(ui.buttonOpenRightHand,
+ SIGNAL(clicked()),
+ this,
+ SLOT(openRightHand()),
+ Qt::UniqueConnection);
+ connect(ui.buttonCloseRightHand,
+ SIGNAL(clicked()),
+ this,
+ SLOT(closeRightHand()),
+ Qt::UniqueConnection);
+ connect(ui.buttonRelaxRightHand,
+ SIGNAL(clicked()),
+ this,
+ SLOT(relaxRightHand()),
+ Qt::UniqueConnection);
ui.horizontalSliderRightHandJointPos->setMaximum(100);
ui.horizontalSliderRightHandJointPos->setMinimum(0);
- connect(ui.horizontalSliderRightHandJointPos, SIGNAL(sliderMoved(int)), this, SLOT(requestSetRightHandJointAngles()), Qt::UniqueConnection);
- connect(ui.comboRightHandJoints, SIGNAL(currentIndexChanged(int)), this, SLOT(selectRightHandJoint(int)), Qt::UniqueConnection);
+ connect(ui.horizontalSliderRightHandJointPos,
+ SIGNAL(sliderMoved(int)),
+ this,
+ SLOT(requestSetRightHandJointAngles()),
+ Qt::UniqueConnection);
+ connect(ui.comboRightHandJoints,
+ SIGNAL(currentIndexChanged(int)),
+ this,
+ SLOT(selectRightHandJoint(int)),
+ Qt::UniqueConnection);
+ connect(ui.rightExpertMode,
+ &QCheckBox::stateChanged,
+ [&](int state) { setExpertMode(side::right, state); });
+ connect(ui.rightTare, &QPushButton::clicked, [&] { tareHand(side::right); });
+ connect(ui.rightReset, &QPushButton::clicked, [&] { resetHand(side::right); });
ui.tableWidgetRightHand->setRowCount(currentRightHandJointValues.size());
ui.tableWidgetRightHand->setColumnCount(2);
ui.comboRightHandJoints->clear();
- qRegisterMetaType<QVector<int> >("QVector<int>");
+ qRegisterMetaType<QVector<int>>("QVector<int>");
for (const auto& pair : currentRightHandJointValues)
{
-// ARMARX_INFO << VAROUT(pair.first);
+ // ARMARX_INFO << VAROUT(pair.first);
QString name(pair.first.c_str());
QTableWidgetItem* newItem = new QTableWidgetItem(name);
ui.tableWidgetRightHand->setItem(frameRightHandRowIdx, 0, newItem);
@@ -520,31 +686,38 @@ namespace armarx
// reloading of preshapes
- connect(ui.reloadPreshapesButton, SIGNAL(clicked()), this, SLOT(reloadPreshapes()), Qt::UniqueConnection);
-
+ connect(ui.reloadPreshapesButton,
+ SIGNAL(clicked()),
+ this,
+ SLOT(reloadPreshapes()),
+ Qt::UniqueConnection);
}
-
-
-
-
- void armarx::HandUnitWidget::reportHandShaped(const std::string& handName, const std::string& handShapeName, const Ice::Current&)
+ void
+ armarx::HandUnitWidget::reportHandShaped(const std::string& handName,
+ const std::string& handShapeName,
+ const Ice::Current&)
{
ARMARX_IMPORTANT << handName << ": " << handShapeName;
}
- void armarx::HandUnitWidget::reportNewHandShapeName(const std::string& handName, const std::string& handShapeName, const Ice::Current&)
+ void
+ armarx::HandUnitWidget::reportNewHandShapeName(const std::string& handName,
+ const std::string& handShapeName,
+ const Ice::Current&)
{
ARMARX_IMPORTANT << handName << ": " << handShapeName;
}
- void armarx::HandUnitWidget::reportJointAngles(const armarx::NameValueMap& actualJointAngles, const Ice::Current& c)
+ void
+ armarx::HandUnitWidget::reportJointAngles(const armarx::NameValueMap& actualJointAngles,
+ const Ice::Current& c)
{
-
}
- void armarx::HandUnitWidget::reportJointPressures(const armarx::NameValueMap& actualJointPressures, const Ice::Current& c)
+ void
+ armarx::HandUnitWidget::reportJointPressures(const armarx::NameValueMap& actualJointPressures,
+ const Ice::Current& c)
{
-
}
-}
+} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
index dd68d856fad0cfbf0aa215d607826683927ad9f4..a4be90635175282654b604fa7a25c561debe8101 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
@@ -24,20 +24,20 @@
#pragma once
/* ArmarX headers */
-#include <RobotAPI/gui-plugins/HandUnitPlugin/ui_HandUnitGuiPlugin.h>
#include <ArmarXCore/core/Component.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <RobotAPI/gui-plugins/HandUnitPlugin/ui_HandUnitGuiPlugin.h>
#include <RobotAPI/interface/units/HandUnitInterface.h>
/* Qt headers */
-#include <QMainWindow>
-
#include <string>
-#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
+#include <QMainWindow>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
namespace armarx
{
@@ -48,15 +48,16 @@ namespace armarx
\brief This plugin offers a widget witch which the HandUnit can be controlled.
\see HandUnitWidget
*/
- class HandUnitGuiPlugin :
- public ArmarXGuiPlugin
+ class HandUnitGuiPlugin : public ArmarXGuiPlugin
{
Q_OBJECT
Q_INTERFACES(ArmarXGuiInterface)
Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
public:
HandUnitGuiPlugin();
- QString getPluginName() override
+
+ QString
+ getPluginName() override
{
return "HandUnitGuiPlugin";
}
@@ -81,8 +82,10 @@ namespace armarx
Q_OBJECT
public:
HandUnitWidget();
+
~HandUnitWidget() override
- {}
+ {
+ }
// inherited from Component
void onInitComponent() override;
@@ -92,15 +95,19 @@ namespace armarx
// HandUnitListener interface
void reportHandShaped(const std::string&, const std::string&, const Ice::Current&) override;
- void reportNewHandShapeName(const std::string&, const std::string&, const Ice::Current&) override;
-
+ void reportNewHandShapeName(const std::string&,
+ const std::string&,
+ const Ice::Current&) override;
// inherited of ArmarXWidget
- static QString GetWidgetName()
+ static QString
+ GetWidgetName()
{
return "RobotControl.HandUnitGUI";
}
- static QIcon GetWidgetIcon()
+
+ static QIcon
+ GetWidgetIcon()
{
return QIcon("://icons/hand.svg");
}
@@ -110,6 +117,12 @@ namespace armarx
void saveSettings(QSettings* settings) override;
void configured() override;
+ enum class side
+ {
+ left,
+ right
+ };
+
public slots:
void preshapeLeftHand();
@@ -126,6 +139,9 @@ namespace armarx
void relaxRightHand();
void updateInfoLabel();
void updateJointValueTable();
+ void setExpertMode(side side, int state);
+ void tareHand(side side);
+ void resetHand(side side);
void selectLeftHandJoint(int i);
void selectRightHandJoint(int i);
@@ -161,14 +177,17 @@ namespace armarx
bool setRightHandJointAnglesFlag;
std::basic_string<char> currentLeftHandJoint;
std::basic_string<char> currentRightHandJoint;
- double leftHandConversionFactor= 1.0 / 100.0;
+ double leftHandConversionFactor = 1.0 / 100.0;
double rightHandConversionFactor = 1.0 / 100.0;
// HandUnitListener interface
public:
- void reportJointAngles(const::armarx::NameValueMap& actualJointAngles, const Ice::Current&) override;
- void reportJointPressures(const::armarx::NameValueMap& actualJointPressures, const Ice::Current&) override;
+ void reportJointAngles(const ::armarx::NameValueMap& actualJointAngles,
+ const Ice::Current&) override;
+ void reportJointPressures(const ::armarx::NameValueMap& actualJointPressures,
+ const Ice::Current&) override;
};
+
using HandUnitGuiPluginPtr = std::shared_ptr<HandUnitWidget>;
-}
+} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
index 79ffd00e83b842c062a61e9860f92f92eeda7d5b..031253abc93df81d1c27531bd4e07be27535a0eb 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
@@ -57,7 +57,6 @@
</property>
<property name="font">
<font>
- <weight>75</weight>
<bold>true</bold>
</font>
</property>
@@ -154,6 +153,40 @@
</item>
</layout>
</item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QCheckBox" name="leftExpertMode">
+ <property name="text">
+ <string>I know what I'm doing</string>
+ </property>
+ <property name="checked">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="leftTare">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>tare</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="leftReset">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>reset</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
<item>
<widget class="QTableWidget" name="tableWidgetLeftHand"/>
</item>
@@ -171,7 +204,6 @@
</property>
<property name="font">
<font>
- <weight>75</weight>
<bold>true</bold>
</font>
</property>
@@ -268,6 +300,40 @@
</item>
</layout>
</item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_9">
+ <item>
+ <widget class="QCheckBox" name="rightExpertMode">
+ <property name="text">
+ <string>I know what I'm doing</string>
+ </property>
+ <property name="checked">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="rightTare">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>tare</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="rightReset">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>reset</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
<item>
<widget class="QTableWidget" name="tableWidgetRightHand"/>
</item>
diff --git a/source/RobotAPI/interface/units/HandUnitInterface.ice b/source/RobotAPI/interface/units/HandUnitInterface.ice
index 76a1000820a4f85b0fd21194aa72b13cb88bcc75..2badb58fdedf6ac7052ff0a4738deab7d5393314 100644
--- a/source/RobotAPI/interface/units/HandUnitInterface.ice
+++ b/source/RobotAPI/interface/units/HandUnitInterface.ice
@@ -24,25 +24,25 @@
#pragma once
-#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
-#include <ArmarXCore/interface/observers/VariantContainers.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/observers/VariantContainers.ice>
+
+#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
module armarx
{
dictionary<string, string> NameCommandMap;
- /**
+ /**
* Implements an interface to a HandUnit.
*/
interface HandUnitInterface extends SensorActorUnitInterface
{
- /**
+ /**
* setShape sets the name of a known hand shape for the hand unit.
* @param shapeName Name of the hand shape.
*/
@@ -71,7 +71,7 @@ module armarx
* E.g. a state that verifies if a grasp was successful can call this routine.
*/
void setObjectReleased(string objectName);
- /**
+ /**
* setJointAngles controls the joints of the hand unit.
* @param targetJointAngles Map of joint names and corresponding joint angle values.
*/
@@ -82,13 +82,35 @@ module armarx
void sendJointCommands(NameCommandMap targetJointCommands);
void reloadPreshapes();
+
+ /**
+ * @brief Will tare the relative encoders of the hand.
+ *
+ * For hands with relative encoders that support this function. No-op if not supported.
+ *
+ * This will change the relative encoder calibration! Make sure the hand is fully opened
+ * before taring.
+ */
+ void tare();
+
+ /**
+ * @brief Will reset the firmware of the hand, enforcing a reboot.
+ *
+ * For hands that support this function. No-op if not supported.
+ *
+ * This is a very disruptive operation and will result in the firmware rebooting for up to
+ * several seconds, potentially dropping objects in the hand or homing procedures of the
+ * hand motors. This is only meant to be used in cases where the hand is lost due to
+ * connection issues and reconnections.
+ */
+ void resetFirmware();
};
- /**
+ /**
* Implements an interface to a HandUnitListener.
*/
interface HandUnitListener
{
- /**
+ /**
* reportNewHandShapeName reports the current hand shape name.
* @param handName Name of the hand to be controlled.
* @param handName Name of the current hand shape name.
@@ -110,13 +132,9 @@ module armarx
* @param actualJointPressures Map of joint names and corresponding sensed pressure values.
**/
void reportJointPressures(NameValueMap actualJointPressures);
-
};
- /**
+ /**
* Implements an interface to a HandUnitObserver.
*/
- interface HandUnitObserverInterface extends ObserverInterface, HandUnitListener
- {
- };
-
+ interface HandUnitObserverInterface extends ObserverInterface, HandUnitListener{};
};