diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index b2de2b87fea77a3a109ad5458aa235e0b42e643a..8fee75d4af4069c211149ed54906f03bd8a86139 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -65,11 +65,11 @@
#include <ArmarXCore/observers/filters/MedianFilter.h>
// System
-#include <stdio.h>
+#include <cstdio>
#include <memory>
#include <string>
-#include <string.h>
-#include <stdlib.h>
+#include <string>
+#include <cstdlib>
#include <iostream>
#include <cmath>
@@ -253,15 +253,6 @@ void KinematicUnitWidgetController::onConnectComponent()
initGUIComboBox(robotNodeSet); // init the pull down menu (QT: ComboBox)
initGUIJointListTable(robotNodeSet);
- // Init control mode map
- // try
- // {
- // reportedJointControlModes = kinematicUnitInterfacePrx->getControlModes();
- // }
- // catch (...)
- // {
- // }
-
const auto initialDebugInfo = kinematicUnitInterfacePrx->getDebugInfo();
initializeUi(initialDebugInfo);
@@ -519,46 +510,8 @@ void KinematicUnitWidgetController::initializeUi(const DebugInfo& debugInfo)
ui.widgetSliderFactor->setVisible(false);
fetchData();
-
- // setControlModePosition(); // FIXME purge this!
- // updateControlModesTable();
-
}
-// void KinematicUnitWidgetController::kinematicUnitZeroPosition()
-// {
-// if (!robotNodeSet)
-// {
-// return;
-// }
-
-// std::unique_lock lock(mutexNodeSet);
-// std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
-// NameValueMap jointAngles;
-// NameControlModeMap jointModes;
-
-// for (unsigned int i = 0; i < rn.size(); i++)
-// {
-// jointModes[rn[i]->getName()] = ePositionControl;
-// jointAngles[rn[i]->getName()] = 0.0f;
-// }
-
-// try
-// {
-// kinematicUnitInterfacePrx->switchControlMode(jointModes);
-// kinematicUnitInterfacePrx->setJointAngles(jointAngles);
-// }
-// catch (...)
-// {
-// }
-
-// // Set slider to 0 if position control mode is used.
-// if (selectedControlMode == ePositionControl)
-// {
-// ui.horizontalSliderKinematicUnitPos->setSliderPosition(SLIDER_ZERO_POSITION);
-// }
-// }
-
void KinematicUnitWidgetController::kinematicUnitZeroVelocity()
{
@@ -593,38 +546,7 @@ void KinematicUnitWidgetController::kinematicUnitZeroVelocity()
ui.horizontalSliderKinematicUnitPos->setSliderPosition(SLIDER_ZERO_POSITION);
}
}
-// void KinematicUnitWidgetController::kinematicUnitZeroTorque()
-// {
-// if (!robotNodeSet)
-// {
-// return;
-// }
-
-// std::unique_lock lock(mutexNodeSet);
-// std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
-// NameValueMap tor;
-// NameControlModeMap jointModes;
-
-// for (unsigned int i = 0; i < rn.size(); i++)
-// {
-// jointModes[rn[i]->getName()] = eTorqueControl;
-// tor[rn[i]->getName()] = 0.0f;
-// }
-
-// try
-// {
-// kinematicUnitInterfacePrx->switchControlMode(jointModes);
-// kinematicUnitInterfacePrx->setJointTorques(tor);
-// }
-// catch (...)
-// {
-// }
-
-// if (selectedControlMode == eVelocityControl)
-// {
-// ui.horizontalSliderKinematicUnitPos->setSliderPosition(SLIDER_ZERO_POSITION);
-// }
-// }
+
void KinematicUnitWidgetController::resetSlider()
{
@@ -1027,11 +949,6 @@ void KinematicUnitWidgetController::selectJoint(int i)
currentNode = robotNodeSet->getAllRobotNodes()[i];
ARMARX_IMPORTANT << "Selected joint is `" << currentNode->getName() << "`.";
- /*
- //ui.lcdNumberKinematicUnitJointValue->display(pos*180.0f/(float)M_PI);
- ui.lcdNumberKinematicUnitJointValue->display(posT);
- */
-
const auto controlModes = kinematicUnitInterfacePrx->getControlModes();
if(controlModes.count(currentNode->getName()) == 0)
{
@@ -1039,11 +956,9 @@ void KinematicUnitWidgetController::selectJoint(int i)
return;
}
- // const auto selectedControlMode = getSelectedControlMode();
const auto controlMode = controlModes.at(currentNode->getName());
setControlModeRadioButtonGroup(controlMode);
-
if (controlMode == ePositionControl)
{
setControlModePosition();
@@ -1078,13 +993,8 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
return;
}
- // float ticks = static_cast<float>(ui.horizontalSliderKinematicUnitPos->maximum() - ui.horizontalSliderKinematicUnitPos->minimum()+1);
- float value = static_cast<float>(ui.horizontalSliderKinematicUnitPos->value());
- // float perc = (value - static_cast<float>(ui.horizontalSliderKinematicUnitPos->minimum())) / ticks;
+ const float value = static_cast<float>(ui.horizontalSliderKinematicUnitPos->value());
- // NameControlModeMap::const_iterator it;
- // it = reportedJointControlModes.find(currentNode->getName());
- // const ControlMode currentControlMode = it->second;
const ControlMode currentControlMode = getSelectedControlMode();
const bool isDeg = ui.checkBoxUseDegree->isChecked();
@@ -1094,11 +1004,6 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
{
const auto factor = isRot && ! isDeg ? SLIDER_POS_RAD_MULTIPLIER : SLIDER_POS_DEG_MULTIPLIER;
float conversionFactor = isRot && isDeg ? 180.0 / M_PI : 1.0f;
- // TODO: Joint limits are not respected
- //float lo = currentNode->getJointLimitLo();
- //float hi = currentNode->getJointLimitHi();
- //float result = lo + (hi-lo)*perc;
- //jointAngles[currentNode->getName()] = (perc - 0.5) * 2 * M_PI;
NameValueMap jointAngles;
@@ -1113,7 +1018,6 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
catch (...)
{
}
- // updateModel();
}
}
else if (currentControlMode == eVelocityControl)
@@ -1132,7 +1036,6 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
catch (...)
{
}
- // updateModel();
}
}
else if (currentControlMode == eTorqueControl)
@@ -1151,7 +1054,6 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
catch (...)
{
}
- // updateModel();
}
}
else
@@ -1341,14 +1243,6 @@ void KinematicUnitWidgetController::updateJointAnglesTable(const NameValueMap& r
ui.tableJointList->model()->setData(index, node->getJointLimitHigh() * conversionFactor, eJointHiRole);
ui.tableJointList->model()->setData(index, node->getJointLimitLow() * conversionFactor, eJointLoRole);
}
-
- //update only if values changed
- // if ((fabs(dirty_squaresum_old[0] - dirty_squaresum)) > 0.0000005)
- // {
- // updateModel();
- // dirty_squaresum_old[0] = dirty_squaresum;
- // // ARMARX_INFO << "update model" << flush;
- // }
}
void KinematicUnitWidgetController::updateJointVelocitiesTable(const NameValueMap& reportedJointVelocities)
@@ -1478,93 +1372,6 @@ void KinematicUnitWidgetController::updateMotorTemperaturesTable(const NameValue
}
-// void KinematicUnitWidgetController::reportJointAngles(const NameValueMap& jointAngles, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c)
-// {
-// reportedJointAngles = kinematicUnitInterfacePrx->getJointAngles();
-// emit jointAnglesReported();
-
-// }
-
-// void KinematicUnitWidgetController::reportJointVelocities(const NameValueMap& jointVelocities, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c)
-// {
-// reportedJointVelocities = kinematicUnitInterfacePrx->getJointVelocities();
-// emit jointVelocitiesReported();
-
-// }
-
-// void KinematicUnitWidgetController::reportJointTorques(const NameValueMap& jointTorques, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c)
-// {
-// reportedJointTorques = kinematicUnitInterfacePrx->getJointTorques();
-// emit jointTorquesReported();
-// }
-
-// void KinematicUnitWidgetController::reportJointAccelerations(const NameValueMap& jointAccelerations, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c)
-// {
-
-// }
-
-// void KinematicUnitWidgetController::reportControlModeChanged(const NameControlModeMap& jointModes, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c)
-// {
-// reportedJointControlModes = kinematicUnitInterfacePrx->getControlModes();
-// emit jointControlModesReported();
-// }
-
-// void KinematicUnitWidgetController::reportJointCurrents(const NameValueMap& jointCurrents, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c)
-// {
-// std::unique_lock lock(mutexNodeSet);
-
-// const auto jointCurrents = kinematicUnitInterfacePrx->getJointCurrent();
-
-// if (aValueChanged && jointCurrents.size() > 0)
-// {
-// jointCurrentHistory.push_back(std::pair<Ice::Long, NameValueMap>(timestamp, jointCurrents));
-// }
-
-// while (jointCurrentHistory.size() > 1 && jointCurrentHistory.back().first - jointCurrentHistory.front().first > historyTime)
-// {
-// jointCurrentHistory.pop_front();
-// }
-
-
-// if (jointCurrentHistory.size() > 0)
-// {
-// if (skipper.checkFrequency(c))
-// {
-// emit jointCurrentsReported();
-// }
-// }
-// }
-
-// void KinematicUnitWidgetController::reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c)
-// {
-// if (!aValueChanged && reportedJointStatuses.size() > 0)
-// {
-// return;
-// }
-
-// std::unique_lock lock(mutexNodeSet);
-// mergeMaps(this->reportedJointTemperatures, jointMotorTemperatures);
-// if (skipper.checkFrequency(c))
-// {
-// emit jointMotorTemperaturesReported();
-// }
-// }
-
-// void KinematicUnitWidgetController::reportJointStatuses(const NameStatusMap& jointStatuses, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c)
-// {
-// if (!aValueChanged && reportedJointStatuses.size() > 0)
-// {
-// return;
-// }
-
-// std::unique_lock lock(mutexNodeSet);
-// mergeMaps(reportedJointStatuses, jointStatuses);
-// if (skipper.checkFrequency(c))
-// {
-// emit jointStatusesReported();
-// }
-// }
-
void KinematicUnitWidgetController::updateModel(const NameValueMap& reportedJointAngles)
{
@@ -1746,24 +1553,6 @@ void RangeValueDelegate::paint(QPainter* painter, const QStyleOptionViewItem& op
QApplication::style()->drawControl(QStyle::CE_ProgressBar,
&progressBarOption, painter);
- // QProgressBar renderer;
- // float progressPercentage = (jointValue*180.0f/M_PI-loDeg)/(hiDeg - loDeg);
- // ARMARX_INFO_S << VAROUT(progressPercentage);
- // // Customize style using style-sheet..
- // QColor color((int)(255*progressPercentage), ((int)(255*(1-progressPercentage))), 0);
- // QString style = renderer.styleSheet();
- // style += "QProgressBar::chunk { background-color: " + color.name() + "}";
- // ARMARX_INFO_S << VAROUT(style);
- // renderer.resize(option.rect.size());
- // renderer.setMinimum(loDeg);
- // renderer.setMaximum(hiDeg);
- // renderer.setValue(jointValue*180.0f);
-
- // renderer.setStyleSheet(style);
- // painter->save();
- // painter->translate(option.rect.topLeft());
- // renderer.render(painter);
- // painter->restore();
}
else
{