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Commit 43e3b1bb authored by Jan Hausberg's avatar Jan Hausberg
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Update HandUnitGuiPlugin UI and functionality for the right hand; remove unnecessary header files

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source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
+ 99
− 53
View file @ 43e3b1bb
......@@ -36,8 +36,6 @@
#include <QMessageBox>
#include <QTimer>
#include <QtWidgets/QSlider>
#include <QtWidgets/QGridLayout>
#include <QtWidgets/QLabel>
#include <QtWidgets/QTableWidgetItem>
#include <QString>
......@@ -55,13 +53,14 @@ namespace armarx
rightHandName("NOT SET YET"),
leftHandUnitProxyName(""),
rightHandUnitProxyName(""),
setLeftHandJointAnglesFlag(false)
setLeftHandJointAnglesFlag(false),
setRightHandJointAnglesFlag(false)
{
// init gui
ui.setupUi(getWidget());
setLeftHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setLeftHandJointAngles, 50);
rightHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setRightHandJointAngles, 50);
setRightHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setRightHandJointAngles, 50);
updateInfoTimer = new QTimer(this);
}
......@@ -78,6 +77,8 @@ namespace armarx
{
updateInfoTimer->start(50);
setLeftHandJointAngleUpdateTask->start();
leftHandUnitProxy = getProxy<HandUnitInterfacePrx>(leftHandUnitProxyName);
......@@ -108,12 +109,16 @@ namespace armarx
rightHandJointAngleUpdateTask->start();
setRightHandJointAngleUpdateTask->start();
rightHandUnitProxy = getProxy<HandUnitInterfacePrx>(rightHandUnitProxyName);
rightHandName = rightHandUnitProxy->getHandName();
if (rightHandName != "Hand R" && rightHandName != "TCP R" && rightHandName != "Hand_R_EEF")
if (rightHandName == "Hand R" || rightHandName == "TCP R")
{
rightHandConversionFactor *= M_PI / 2;
}
else if (rightHandName != "Hand_R_EEF")
{
ARMARX_WARNING << "Right hand with name \"" << rightHandName << "\" is not supported.";
}
......@@ -125,6 +130,7 @@ namespace armarx
for (int i = 0; i < rightHandPreshapeCount; ++i)
{
std::string shape = ((rightHandPreshapeStrings->getVariant(i))->get<std::string>());
// ARMARX_INFO << VAROUT(shape);
rightHandList << QString::fromStdString(shape);
}
......@@ -133,7 +139,7 @@ namespace armarx
ARMARX_INFO << "initGUIJointFrames";
// ARMARX_INFO << "initGUIJointFrames";
initGUIJointFrames();
displayJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::updateJointValueTable, 50);
displayJointAngleUpdateTask->start();
......@@ -142,7 +148,7 @@ namespace armarx
void HandUnitWidget::onDisconnectComponent()
{
setLeftHandJointAngleUpdateTask->stop();
rightHandJointAngleUpdateTask->stop();
setRightHandJointAngleUpdateTask->stop();
displayJointAngleUpdateTask->stop();
updateInfoTimer->stop();
}
......@@ -213,19 +219,20 @@ namespace armarx
if (pair.first == currentLeftHandJoint)
{
value = static_cast<float>(ui.horizontalSliderLeftHandJointPos->value() * leftHandConversionFactor);
ARMARX_INFO << VAROUT(value);
// 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()
{
// ARMARX_INFO << "setRightHandJointAngles";
if (!rightHandUnitProxy)
{
ARMARX_WARNING << "invalid proxy";
......@@ -241,26 +248,30 @@ namespace armarx
NameValueMap rightHandJa;
NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
if (rightHandName == "Hand_R_EEF")
float value = 0;
if (rightHandName == "Hand R" || rightHandName == "TCP R")
{
for (const auto& pair : currentRightHandJointValues)
{
rightHandJa[pair.first] = ui.frameRightHand->findChild<QSlider *>("horizontalSlider" + QString::fromUtf8(pair.first.c_str()))->value() / 100.0f;
}
rightHandConversionFactor *= M_PI / 2;
}
else if (rightHandName == "Hand R" || rightHandName == "TCP R")
else if (rightHandName != "Hand_R_EEF")
{
for (const auto& pair : currentRightHandJointValues)
{
rightHandJa[pair.first] = ui.frameRightHand->findChild<QSlider *>("horizontalSlider" + QString::fromUtf8(pair.first.c_str()))->value() / 100.0f * M_PI / 2;
}
ARMARX_WARNING << "Right hand with name \"" << rightHandName << "\" is not supported.";
return;
}
else
for (const auto& pair : currentRightHandJointValues)
{
ARMARX_WARNING << "Right hand with name \"" << rightHandName << "\" is not supported.";
if (pair.first == currentRightHandJoint)
{
value = static_cast<float>(ui.horizontalSliderRightHandJointPos->value() * rightHandConversionFactor);
// ARMARX_INFO << VAROUT(value);
rightHandJa[pair.first] = value;
break;
}
}
// ARMARX_INFO << VAROUT(value / rightHandConversionFactor);
ui.lcdNumberRightHandJointValue->display(value / rightHandConversionFactor);
rightHandUnitProxy->setJointAngles(rightHandJa);
}
......@@ -324,11 +335,26 @@ namespace armarx
ui.tableWidgetLeftHand->setItem(frameLeftHandRowIdx, 1, newItem);
frameLeftHandRowIdx++;
}
NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
// ARMARX_INFO << VAROUT(rightHandUnitProxy->getCurrentJointValues());
int frameRightHandRowIdx = 0;
for (const auto& pair : currentRightHandJointValues)
{
// 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);
frameRightHandRowIdx++;
}
}
void HandUnitWidget::selectLeftHandJoint(int i)
{
ARMARX_INFO << "selectLeftHandJoint " << i;
// ARMARX_INFO << "selectLeftHandJoint " << i;
NameValueMap currentLeftHandJointValues = leftHandUnitProxy->getCurrentJointValues();
int idx = 0;
......@@ -340,7 +366,28 @@ 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)
{
// ARMARX_INFO << "selectRightHandJoint " << i;
NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
int idx = 0;
for (const auto& pair: currentRightHandJointValues)
{
if (idx == i)
{
currentRightHandJoint = pair.first;
int convertedValue = static_cast<int>(pair.second / rightHandConversionFactor);
ui.horizontalSliderRightHandJointPos->setSliderPosition(convertedValue);
ui.lcdNumberRightHandJointValue->display(convertedValue);
// ARMARX_INFO << "Found joint";
break;
}
idx++;
......@@ -349,13 +396,13 @@ namespace armarx
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)
{
ARMARX_INFO << "Setting new right hand shape: " << preshape;
// ARMARX_INFO << "Setting new right hand shape: " << preshape;
rightHandUnitProxy->setShape(preshape);
}
......@@ -411,37 +458,36 @@ namespace armarx
// NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
// QGridLayout* gridLayoutRightHand = new QGridLayout(ui.frameRightHand);
// 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.buttonSetRightHandJointAngles, SIGNAL(clicked()), this, SLOT(requestSetRightHandJointAngles()), Qt::UniqueConnection);
// for (const auto& pair : currentRightHandJointValues)
// {
// QLabel* label = new QLabel(ui.frameRightHand);
// label->setText(QString::fromUtf8(pair.first.c_str()));
// gridLayoutRightHand->addWidget(label, frameRightHandRowIdx, 0, 1, 1);
// QSlider* horizontalSlider = new QSlider(ui.frameRightHand);
// horizontalSlider->setObjectName("horizontalSlider" + QString::fromUtf8(pair.first.c_str()));
// horizontalSlider->setMaximum(1);
// horizontalSlider->setOrientation(Qt::Horizontal);
// connect(horizontalSlider, SIGNAL(sliderMoved(int)), this, SLOT(requestSetRightHandJointAngles()), Qt::UniqueConnection);
// gridLayoutRightHand->addWidget(horizontalSlider, frameRightHandRowIdx, 1, 1, 2);
NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
// ARMARX_INFO << VAROUT(rightHandUnitProxy->getCurrentJointValues());
int frameRightHandRowIdx = 0;
// frameRightHandRowIdx++;
// }
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);
// ui.frameRightHand->setLayout(gridLayoutRightHand);
ui.tableWidgetRightHand->setRowCount(currentRightHandJointValues.size());
ui.tableWidgetRightHand->setColumnCount(2);
ui.comboRightHandJoints->clear();
qRegisterMetaType<QVector<int> >("QVector<int>");
for (const auto& pair : currentRightHandJointValues)
{
// ARMARX_INFO << VAROUT(pair.first);
QString name(pair.first.c_str());
QTableWidgetItem* newItem = new QTableWidgetItem(name);
ui.tableWidgetRightHand->setItem(frameRightHandRowIdx, 0, newItem);
ui.comboRightHandJoints->addItem(name);
frameRightHandRowIdx++;
}
// connect(updateInfoTimer, SIGNAL(timeout()), this, SLOT(updateInfoLabel()));
ui.comboRightHandJoints->setCurrentIndex(-1);
}
......
source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
+ 4
− 1
View file @ 43e3b1bb
......@@ -127,6 +127,7 @@ namespace armarx
void updateInfoLabel();
void updateJointValueTable();
void selectLeftHandJoint(int i);
void selectRightHandJoint(int i);
private:
void setLeftHandPreshape(std::string preshape);
......@@ -151,13 +152,15 @@ namespace armarx
QPointer<HandUnitConfigDialog> dialog;
PeriodicTask<HandUnitWidget>::pointer_type setLeftHandJointAngleUpdateTask;
PeriodicTask<HandUnitWidget>::pointer_type rightHandJointAngleUpdateTask;
PeriodicTask<HandUnitWidget>::pointer_type setRightHandJointAngleUpdateTask;
PeriodicTask<HandUnitWidget>::pointer_type displayJointAngleUpdateTask;
QTimer* updateInfoTimer;
bool setLeftHandJointAnglesFlag;
bool setRightHandJointAnglesFlag;
std::basic_string<char> currentLeftHandJoint;
std::basic_string<char> currentRightHandJoint;
double leftHandConversionFactor= 1.0 / 100.0;
double rightHandConversionFactor = 1.0 / 100.0;
// HandUnitListener interface
......
source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
+ 85
− 38
View file @ 43e3b1bb
......@@ -120,25 +120,6 @@
<string>&lt;Info Here&gt;</string>
</property>
</widget>
<widget class="QFrame" name="frameRightHand">
<property name="enabled">
<bool>true</bool>
</property>
<property name="geometry">
<rect>
<x>330</x>
<y>66</y>
<width>230</width>
<height>321</height>
</rect>
</property>
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
<widget class="Line" name="line">
<property name="geometry">
<rect>
......@@ -152,25 +133,6 @@
<enum>Qt::Vertical</enum>
</property>
</widget>
<widget class="QPushButton" name="buttonSetRightHandJointAngles">
<property name="geometry">
<rect>
<x>570</x>
<y>215</y>
<width>50</width>
<height>25</height>
</rect>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Set</string>
</property>
</widget>
<widget class="QPushButton" name="buttonCloseLeftHand">
<property name="geometry">
<rect>
......@@ -367,6 +329,91 @@
<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>
</widget>
<resources/>
<connections/>
......
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