diff --git a/source/Navigation/components/Navigator/Navigator.cpp b/source/Navigation/components/Navigator/Navigator.cpp
index 98d80fc4aa38d7c1651c7b2731987cc8861eabbd..a98856e9ab7bd64997057242bd405ecdb27ae57a 100644
--- a/source/Navigation/components/Navigator/Navigator.cpp
+++ b/source/Navigation/components/Navigator/Navigator.cpp
@@ -22,6 +22,7 @@
#include "Navigator.h"
+#include <cmath>
#include <iterator>
#include <boost/uuid/uuid.hpp>
@@ -198,32 +199,121 @@ void armarx::nav::components::Navigator::createRemoteGuiTab()
// Setup the widgets.
- tab.boxLayerName.setValue(0);
- tab.numBoxes.setValue(1);
- tab.numBoxes.setRange(0, 100);
+ {
+ tab.targetPoseGroup.group.setLabel("Target pose");
+
+ {
+ float max = 10'000;
+ tab.targetPoseGroup.targetPoseX.setRange(-max, max);
+ tab.targetPoseGroup.targetPoseX.setDecimals(0);
+ tab.targetPoseGroup.targetPoseX.setSteps(int(max / 10));
+ tab.targetPoseGroup.targetPoseX.setValue(0.F);
+ }
+
+ {
+ float max = 10'000;
+ tab.targetPoseGroup.targetPoseY.setRange(-max, max);
+ tab.targetPoseGroup.targetPoseY.setDecimals(0);
+ tab.targetPoseGroup.targetPoseY.setSteps(int(max / 10));
+ tab.targetPoseGroup.targetPoseY.setValue(0.F);
+ }
+
+ {
+ float max = 10'000;
+ tab.targetPoseGroup.targetPoseZ.setRange(-max, max);
+ tab.targetPoseGroup.targetPoseZ.setDecimals(0);
+ tab.targetPoseGroup.targetPoseZ.setSteps(int(max / 10));
+ tab.targetPoseGroup.targetPoseZ.setValue(0.F);
+ }
+
+ {
+ float max = 180;
+ tab.targetPoseGroup.targetPoseRoll.setRange(-max, max);
+ tab.targetPoseGroup.targetPoseRoll.setDecimals(0);
+ tab.targetPoseGroup.targetPoseRoll.setSteps(2 * max);
+ tab.targetPoseGroup.targetPoseRoll.setValue(0.F);
+ }
+
+ {
+ float max = 180;
+ tab.targetPoseGroup.targetPosePitch.setRange(-max, max);
+ tab.targetPoseGroup.targetPosePitch.setDecimals(0);
+ tab.targetPoseGroup.targetPosePitch.setSteps(2 * max);
+ tab.targetPoseGroup.targetPosePitch.setValue(0.F);
+ }
+
+ {
+ float max = 180;
+ tab.targetPoseGroup.targetPoseYaw.setRange(-max, max);
+ tab.targetPoseGroup.targetPoseYaw.setDecimals(0);
+ tab.targetPoseGroup.targetPoseYaw.setSteps(2 * max);
+ tab.targetPoseGroup.targetPoseYaw.setValue(0.F);
+ }
+
+ // tab.boxLayerName.setValue(0);
+ // tab.numBoxes.setValue(1);
+ // tab.numBoxes.setRange(0, 100);
+
+ // tab.drawBoxes.setLabel("Draw Boxes");
+
+ // Setup the layout.
+
+ GridLayout grid;
+ int row = 0;
+ {
+ grid.add(Label("X"), {row, 0}).add(tab.targetPoseGroup.targetPoseX, {row, 1});
+ ++row;
+
+ grid.add(Label("Y"), {row, 0}).add(tab.targetPoseGroup.targetPoseY, {row, 1});
+ ++row;
+
+ grid.add(Label("Z"), {row, 0}).add(tab.targetPoseGroup.targetPoseZ, {row, 1});
+ ++row;
+
+ grid.add(Label("Roll"), {row, 0}).add(tab.targetPoseGroup.targetPoseRoll, {row, 1});
+ ++row;
+
+ grid.add(Label("Pitch"), {row, 0}).add(tab.targetPoseGroup.targetPosePitch, {row, 1});
+ ++row;
+
+ grid.add(Label("Yaw"), {row, 0}).add(tab.targetPoseGroup.targetPoseYaw, {row, 1});
+ ++row;
+
+ // grid.add(Label("Num Boxes"), {row, 0}).add(tab.numBoxes, {row, 1});
+ // ++row;
+
+ // grid.add(tab.drawBoxes, {row, 0}, {2, 1});
+ // ++row;
+ }
+
+ VBoxLayout root = {grid, VSpacer()};
+
+ tab.targetPoseGroup.group.addChild(root);
+ }
- tab.drawBoxes.setLabel("Draw Boxes");
+ {
+ tab.controlGroup.group.setLabel("Control");
- // Setup the layout.
+ GridLayout grid;
+ int row = 0;
+ {
+ grid.add(tab.controlGroup.moveToButton, {row, 1});
+ ++row;
- GridLayout grid;
- int row = 0;
- {
- grid.add(Label("Box Layer"), {row, 0}).add(tab.boxLayerName, {row, 1});
- ++row;
+ grid.add(tab.controlGroup.pauseButton, {row, 1});
+ ++row;
- grid.add(Label("Num Boxes"), {row, 0}).add(tab.numBoxes, {row, 1});
- ++row;
+ grid.add(tab.controlGroup.continueButton, {row, 1});
+ ++row;
+ }
- grid.add(tab.drawBoxes, {row, 0}, {2, 1});
- ++row;
+ VBoxLayout root = {grid, VSpacer()};
+ tab.controlGroup.group.addChild(root);
}
- VBoxLayout root = {grid, VSpacer()};
-
ARMARX_TRACE;
- RemoteGui_createTab(getName(), root, &tab);
+ RemoteGui_createTab(getName(), tab.targetPoseGroup.group, &tab);
}
void armarx::nav::components::Navigator::RemoteGui_update()
@@ -242,12 +332,13 @@ void armarx::nav::components::Navigator::RemoteGui_update()
// sendDebugObserverBatch();
// }
// }
- if (tab.drawBoxes.wasClicked())
- {
- // Lock shared variables in methods running in seperate threads
- // and pass them to functions. This way, the called functions do
- // not need to think about locking.
- std::scoped_lock lock(propertiesMutex);
- // drawBoxes(properties, arviz);
- }
+ // if (tab.drawBoxes.wasClicked())
+ // {
+ // ARMARX_INFO << "Navigator control requested from remote GUI";
+ // // Lock shared variables in methods running in seperate threads
+ // // and pass them to functions. This way, the called functions do
+ // // not need to think about locking.
+ // std::scoped_lock lock(propertiesMutex);
+ // // drawBoxes(properties, arviz);
+ // }
}
diff --git a/source/Navigation/components/Navigator/Navigator.h b/source/Navigation/components/Navigator/Navigator.h
index 16ad98af456be7461d78847456433a9836e0c072..a3ec542b7884cc5d1e862ccd5d36232802c7d4dc 100644
--- a/source/Navigation/components/Navigator/Navigator.h
+++ b/source/Navigation/components/Navigator/Navigator.h
@@ -114,11 +114,9 @@ namespace armarx::nav::components
VirtualRobot::RobotPtr getRobot();
-
void createRemoteGuiTab();
void RemoteGui_update() override;
-
private:
// TODO update context periodically
@@ -128,17 +126,32 @@ namespace armarx::nav::components
server::PlatformUnitExecutor executor;
std::map<std::string, server::Navigator> navigators;
-
-
std::mutex propertiesMutex;
struct RemoteGuiTab : armarx::RemoteGui::Client::Tab
{
- armarx::RemoteGui::Client::LineEdit boxLayerName;
- armarx::RemoteGui::Client::IntSpinBox numBoxes;
+ struct
+ {
+ armarx::RemoteGui::Client::GroupBox group;
+
+ armarx::RemoteGui::Client::FloatSpinBox targetPoseX;
+ armarx::RemoteGui::Client::FloatSpinBox targetPoseY;
+ armarx::RemoteGui::Client::FloatSpinBox targetPoseZ;
+ armarx::RemoteGui::Client::FloatSpinBox targetPoseRoll;
+ armarx::RemoteGui::Client::FloatSpinBox targetPosePitch;
+ armarx::RemoteGui::Client::FloatSpinBox targetPoseYaw;
+ } targetPoseGroup;
+
+ struct
+ {
+ armarx::RemoteGui::Client::GroupBox group;
+
+ armarx::RemoteGui::Client::Button moveToButton;
+ armarx::RemoteGui::Client::Button pauseButton;
+ armarx::RemoteGui::Client::Button continueButton;
+ } controlGroup;
- armarx::RemoteGui::Client::Button drawBoxes;
};
RemoteGuiTab tab;
};