diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 748b40a784ab4d6176bf73a494282a5416de8c9e..b04f22369c2d16013d97c12dd9478614d5633e05 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -32,6 +32,8 @@
#include <ArmarXCore/core/ArmarXObjectScheduler.h>
#include <ArmarXCore/core/ArmarXManager.h>
+#include <ArmarXCore/util/json/JSONObject.h>
+
#include <VirtualRobot/XML/RobotIO.h>
// Qt headers
@@ -44,6 +46,7 @@
#include <QTableView>
#include <QCheckBox>
#include <QTableWidget>
+#include <QClipboard>
#include <Inventor/SoDB.h>
#include <Inventor/Qt/SoQt.h>
@@ -160,7 +163,7 @@ void KinematicUnitWidgetController::onConnectComponent()
packages.push_back(Application::GetProjectName());
ARMARX_VERBOSE << "ArmarX packages " << packages;
- for (const std::string& projectName : packages)
+ for (const std::string & projectName : packages)
{
if (projectName.empty())
{
@@ -336,6 +339,8 @@ void KinematicUnitWidgetController::saveSettings(QSettings* settings)
}
+
+
void KinematicUnitWidgetController::showVisuLayers(bool show)
{
if (debugDrawer)
@@ -351,6 +356,34 @@ void KinematicUnitWidgetController::showVisuLayers(bool show)
}
}
+void KinematicUnitWidgetController::copyToClipboard()
+{
+ NameValueMap values;
+ {
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+
+ if (selectedControlMode == ePositionControl)
+ {
+ values = reportedJointAngles;
+ }
+ else if (selectedControlMode == eVelocityControl)
+ {
+ values = reportedJointVelocities;
+ }
+ }
+
+ JSONObjectPtr serializer = new JSONObject();
+ for (auto & kv : values)
+ {
+ serializer->setFloat(kv.first, kv.second);
+ }
+ const QString json = QString::fromStdString(serializer->asString(true));
+ QClipboard* clipboard = QApplication::clipboard();
+ clipboard->setText(json);
+ QApplication::processEvents();
+}
+
+
void KinematicUnitWidgetController::updateGuiElements()
{
// modelUpdateCB();
@@ -380,6 +413,7 @@ void KinematicUnitWidgetController::connectSlots()
connect(ui.radioButtonVelocityControl, SIGNAL(clicked(bool)), this, SLOT(setControlModeVelocity()));
connect(ui.radioButtonTorqueControl, SIGNAL(clicked(bool)), this, SLOT(setControlModeTorque()));
+ connect(ui.copyToClipboard, SIGNAL(clicked()), this, SLOT(copyToClipboard()));
connect(ui.showDebugLayer, SIGNAL(toggled(bool)), this, SLOT(showVisuLayers(bool)), Qt::QueuedConnection);
connect(this, SIGNAL(jointAnglesReported()), this, SLOT(updateJointAnglesTable()), Qt::QueuedConnection);
@@ -858,14 +892,14 @@ void KinematicUnitWidgetController::updateControlModesTable()
switch (currentMode)
{
- /*case eNoMode:
- state = "None";
- break;
-
- case eUnknownMode:
- state = "Unknown";
- break;
- */
+ /*case eNoMode:
+ state = "None";
+ break;
+
+ case eUnknownMode:
+ state = "Unknown";
+ break;
+ */
case eDisabled:
state = "Disabled";
break;
@@ -1171,7 +1205,7 @@ void KinematicUnitWidgetController::reportControlModeChanged(const NameControlMo
// return;
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
- for (auto& e : jointModes)
+ for (auto & e : jointModes)
{
// ARMARX_INFO << "Setting jointMode of joint " << e.first << " to " << e.second;
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 8ad61492751cd192b24fb7ceaec68dd7f901d1ea..7675b133b391f489aeb9f8d4a4d82067e2a653d9 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -253,6 +253,7 @@ namespace armarx
protected slots:
void showVisuLayers(bool show);
+ void copyToClipboard();
private:
boost::recursive_mutex mutexNodeSet;
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui
index 0df7579fe4607e0a75623700567cfc792e3ea7ac..333937df642d635cd235f3433a7637232601e0ac 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui
@@ -46,7 +46,14 @@
</item>
<item>
<layout class="QGridLayout" name="gridLayout">
- <item row="2" column="2" colspan="2">
+ <item row="2" column="0" colspan="2">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Select Joint</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2" colspan="3">
<widget class="QComboBox" name="nodeListComboBox">
<property name="enabled">
<bool>true</bool>
@@ -59,7 +66,7 @@
</property>
</widget>
</item>
- <item row="3" column="2" colspan="2">
+ <item row="3" column="2" colspan="3">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QRadioButton" name="radioButtonPositionControl">
@@ -157,10 +164,7 @@
</item>
</layout>
</item>
- <item row="4" column="2">
- <layout class="QHBoxLayout" name="horizontalLayout_4"/>
- </item>
- <item row="5" column="3">
+ <item row="6" column="4">
<widget class="QCheckBox" name="showDebugLayer">
<property name="text">
<string>debug layer</string>
@@ -170,29 +174,24 @@
</property>
</widget>
</item>
- <item row="5" column="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>
+ <item row="4" column="2">
+ <layout class="QHBoxLayout" name="horizontalLayout_4"/>
+ </item>
+ <item row="3" column="0" colspan="2">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Control Mode</string>
</property>
- <property name="tickInterval">
- <number>0</number>
+ </widget>
+ </item>
+ <item row="6" column="1">
+ <widget class="QLabel" name="labelUnit">
+ <property name="text">
+ <string/>
</property>
</widget>
</item>
- <item row="5" column="0">
+ <item row="6" column="0">
<widget class="QLCDNumber" name="lcdNumberKinematicUnitJointValue">
<property name="enabled">
<bool>true</bool>
@@ -211,24 +210,32 @@
</property>
</widget>
</item>
- <item row="5" column="1">
- <widget class="QLabel" name="labelUnit">
- <property name="text">
- <string/>
+ <item row="6" column="2">
+ <widget class="QSlider" name="horizontalSliderKinematicUnitPos">
+ <property name="enabled">
+ <bool>true</bool>
</property>
- </widget>
- </item>
- <item row="3" column="0" colspan="2">
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Control Mode</string>
+ <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="2" column="0" colspan="2">
- <widget class="QLabel" name="label">
+ <item row="6" column="3">
+ <widget class="QPushButton" name="copyToClipboard">
<property name="text">
- <string>Select Joint</string>
+ <string>Copy Values</string>
</property>
</widget>
</item>