diff --git a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CMakeLists.txt b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CMakeLists.txt
index 1b2caffb7f5f818c18e1ee068b6e9d7e0745eabc..55b06608d60a5a3f09f6805a20039177f0bb8fc3 100644
--- a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CMakeLists.txt
@@ -1,25 +1,17 @@
armarx_set_target("CartesianWaypointControlGuiGuiPlugin")
-
armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
set(SOURCES
CartesianWaypointControlGuiGuiPlugin.cpp
CartesianWaypointControlGuiWidgetController.cpp
)
-
set(HEADERS
CartesianWaypointControlGuiGuiPlugin.h
CartesianWaypointControlGuiWidgetController.h
)
-
set(GUI_MOC_HDRS ${HEADERS})
-
set(GUI_UIS CartesianWaypointControlGuiWidget.ui)
-
-set(COMPONENT_LIBS
- SimpleConfigDialog
- RobotAPIComponentPlugins
-)
+set(COMPONENT_LIBS NJointControllerGuiPluginUtility)
if(ArmarXGui_FOUND)
armarx_gui_library(CartesianWaypointControlGuiGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}")
diff --git a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
index 5348bcaaa944c72d5b05f85afa0cd5253ca5ce9c..20e9273ab1aaa54297af953fce840432dbb32576 100644
--- a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
@@ -32,54 +32,34 @@
namespace armarx
{
- CartesianWaypointControlGuiWidgetController::CartesianWaypointControlGuiWidgetController()
+ CartesianWaypointControlGuiWidgetController::CartesianWaypointControlGuiWidgetController() :
+ NJointControllerGuiPluginBase("NJointCartesianWaypointController")
{
+ using T = CartesianWaypointControlGuiWidgetController;
std::lock_guard g{_allMutex};
_ui.setupUi(getWidget());
- connect(_ui.radioButtonWPJson, SIGNAL(clicked()), this, SLOT(triggerParsing()));
- connect(_ui.radioButton4f, SIGNAL(clicked()), this, SLOT(triggerParsing()));
- connect(_ui.textEditWPs, SIGNAL(textChanged()), this, SLOT(triggerParsing()));
+ connect(_ui.radioButtonWPJson, &QPushButton::clicked, this, &T::triggerParsing);
+ connect(_ui.radioButton4f, &QPushButton::clicked, this, &T::triggerParsing);
+ connect(_ui.textEditWPs, &QTextEdit::textChanged, this, &T::triggerParsing);
- connect(_ui.pushButtonStop, SIGNAL(clicked()), this, SLOT(on_pushButtonStop_clicked()));
- connect(_ui.pushButtonExecute, SIGNAL(clicked()), this, SLOT(on_pushButtonExecute_clicked()));
- connect(_ui.pushButtonZeroFT, SIGNAL(clicked()), this, SLOT(on_pushButtonZeroFT_clicked()));
- connect(_ui.pushButtonSendSettings, SIGNAL(clicked()), this, SLOT(on_pushButtonSendSettings_clicked()));
- connect(_ui.pushButtonCreateController, SIGNAL(clicked()), this, SLOT(on_pushButtonCreateController_clicked()));
+ connect(_ui.pushButtonExecute, &QPushButton::clicked, this, &T::on_pushButtonExecute_clicked);
+ connect(_ui.pushButtonZeroFT, &QPushButton::clicked, this, &T::on_pushButtonZeroFT_clicked);
+ connect(_ui.pushButtonSendSettings, &QPushButton::clicked, this, &T::on_pushButtonSendSettings_clicked);
- _ui.widgetSpacer->setVisible(false);
- _timer = startTimer(100);
- }
-
- CartesianWaypointControlGuiWidgetController::~CartesianWaypointControlGuiWidgetController()
- {
- killTimer(_timer);
- }
-
- void CartesianWaypointControlGuiWidgetController::loadSettings(QSettings* settings)
- {
- std::lock_guard g{_allMutex};
- getRobotStateComponentPlugin().setRobotStateComponentName(settings->value("rsc", "Armar6StateComponent").toString().toStdString());
- getRobotUnitComponentPlugin().setRobotUnitName(settings->value("ru", "Armar6Unit").toString().toStdString());
- }
-
- void CartesianWaypointControlGuiWidgetController::saveSettings(QSettings* settings)
- {
- std::lock_guard g{_allMutex};
- settings->setValue("rsc", QString::fromStdString(getRobotStateComponentPlugin().getRobotStateComponentName()));
- settings->setValue("ru", QString::fromStdString(getRobotUnitComponentPlugin().getRobotUnitName()));
- }
+ connectCreateAcivateDeactivateDelete(
+ _ui.pushButtonCreateController,
+ nullptr,
+ _ui.pushButtonStop,
+ nullptr
+ );
- void CartesianWaypointControlGuiWidgetController::onInitComponent()
- {
+ _ui.widgetSpacer->setVisible(false);
}
void CartesianWaypointControlGuiWidgetController::onConnectComponent()
{
std::lock_guard g{_allMutex};
- //robot
- {
- _robot = addRobot("state robot", VirtualRobot::RobotIO::eStructure);
- }
+ NJointControllerGuiPluginBase::onConnectComponent();
//fill rns combo box
{
bool found = false;
@@ -98,40 +78,12 @@ namespace armarx
}
}
}
- void CartesianWaypointControlGuiWidgetController::onDisconnectComponent()
- {
- std::lock_guard g{_allMutex};
- deleteOldController();
- }
- void CartesianWaypointControlGuiWidgetController::on_pushButtonCreateController_clicked()
+
+ void CartesianWaypointControlGuiWidgetController::createController()
{
std::lock_guard g{_allMutex};
- deleteOldController();
-
- static const std::string njointControllerClassName = "NJointCartesianWaypointController";
-
- NJointCartesianWaypointControllerConfigPtr cfg = new NJointCartesianWaypointControllerConfig;
- cfg->rns = _ui.comboBoxChain->currentText().toStdString();
- cfg->ftName = _ui.lineEditFTName->text().toStdString();
- cfg->runCfg = readRunCfg();
- _supportsFT = !cfg->ftName.empty();
-
- _controllerName = getName() + "_" + njointControllerClassName +
- std::to_string(std::random_device{}());
- std::replace(_controllerName.begin(), _controllerName.end(), '.', '_');
- std::replace(_controllerName.begin(), _controllerName.end(), ':', '_');
-
- _ui.labelCurrentControllerChain->setText(QString::fromStdString(cfg->rns));
- _ui.labelCurrentControllerFT->setText(QString::fromStdString(cfg->ftName));
-
- ARMARX_IMPORTANT << "Creating " << njointControllerClassName << " '"
- << _controllerName << "'";
- _controller = NJointCartesianWaypointControllerInterfacePrx::checkedCast(
- getRobotUnit()->createNJointController(
- njointControllerClassName,
- _controllerName,
- cfg));
- ARMARX_CHECK_NOT_NULL(_controller);
+ NJointControllerGuiPluginBase::createController();
+ _supportsFT = !_ui.lineEditFTName->text().toStdString().empty();
}
void CartesianWaypointControlGuiWidgetController::on_pushButtonSendSettings_clicked()
@@ -166,35 +118,6 @@ namespace armarx
}
}
- void CartesianWaypointControlGuiWidgetController::on_pushButtonStop_clicked()
- {
- std::lock_guard g{_allMutex};
- if (_controller)
- {
- ARMARX_IMPORTANT << "sending stop command to controller " << _controllerName;
- _controller->stopMovement();
- }
- }
-
- QPointer<QDialog> CartesianWaypointControlGuiWidgetController::getConfigDialog(QWidget* parent)
- {
- std::lock_guard g{_allMutex};
- if (!_dialog)
- {
- _dialog = new SimpleConfigDialog(parent);
- _dialog->addProxyFinder<RobotUnitInterfacePrx>({"ru", "Robot Unit", "*Unit"});
- _dialog->addProxyFinder<RobotStateComponentInterfacePrx>({"rsc", "Robot State Component", "*Component"});
- }
- return qobject_cast<SimpleConfigDialog*>(_dialog);
- }
-
- void CartesianWaypointControlGuiWidgetController::configured()
- {
- std::lock_guard g{_allMutex};
- getRobotStateComponentPlugin().setRobotStateComponentName(_dialog->getProxyName("rsc"));
- getRobotUnitComponentPlugin().setRobotUnitName(_dialog->getProxyName("ru"));
- }
-
void CartesianWaypointControlGuiWidgetController::triggerParsing()
{
std::lock_guard g{_allMutex};
@@ -257,21 +180,6 @@ namespace armarx
return cfg;
}
- void CartesianWaypointControlGuiWidgetController::deleteOldController()
- {
- std::lock_guard g{_allMutex};
- if (_controller)
- {
- ARMARX_IMPORTANT << "deleting old controller '" << _controllerName << "'";
- try
- {
- _controller->deactivateAndDeleteController();
- }
- catch (...) {}
- _controller = nullptr;
- }
- }
-
void CartesianWaypointControlGuiWidgetController::timerEvent(QTimerEvent*)
{
std::lock_guard g{_allMutex};
@@ -286,4 +194,13 @@ namespace armarx
_controller->setVisualizationRobotGlobalPose(_robot->getGlobalPose());
}
}
+
+ NJointControllerConfigPtr CartesianWaypointControlGuiWidgetController::readFullCFG() const
+ {
+ NJointCartesianWaypointControllerConfigPtr cfg = new NJointCartesianWaypointControllerConfig;
+ cfg->rns = _ui.comboBoxChain->currentText().toStdString();
+ cfg->ftName = _ui.lineEditFTName->text().toStdString();
+ cfg->runCfg = readRunCfg();
+ return NJointControllerConfigPtr::dynamicCast(cfg);
+ }
}
diff --git a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.h b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.h
index fc6b1936d3abe105a02c8fdf2ca72439dcf8d84f..8430e1e167bcbc3b7b39df400e57e89344908d5e 100644
--- a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.h
+++ b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.h
@@ -21,22 +21,8 @@
*/
#pragma once
-#include <mutex>
-
-#include <VirtualRobot/Robot.h>
-
-#include <ArmarXCore/core/system/ImportExportComponent.h>
-
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
-
-#include <RobotAPI/interface/core/RobotState.h>
-#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
+#include <RobotAPI/libraries/NJointControllerGuiPluginUtility/NJointControllerGuiPluginBase.h>
#include <RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.h>
-#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
-#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h>
-
#include <RobotAPI/gui-plugins/CartesianWaypointControlGui/ui_CartesianWaypointControlGuiWidget.h>
namespace armarx
@@ -61,22 +47,15 @@ namespace armarx
*/
class ARMARXCOMPONENT_IMPORT_EXPORT
CartesianWaypointControlGuiWidgetController:
- public armarx::ArmarXComponentWidgetControllerTemplate < CartesianWaypointControlGuiWidgetController >,
- public virtual RobotUnitComponentPluginUser,
- public virtual RobotStateComponentPluginUser
+ public NJointControllerGuiPluginBase <
+ CartesianWaypointControlGuiWidgetController,
+ NJointCartesianWaypointControllerInterfacePrx
+ >
{
Q_OBJECT
-
public:
/// Controller Constructor
explicit CartesianWaypointControlGuiWidgetController();
- /// Controller destructor
- virtual ~CartesianWaypointControlGuiWidgetController();
-
- /// @see ArmarXWidgetController::loadSettings()
- void loadSettings(QSettings* settings) override;
- /// @see ArmarXWidgetController::saveSettings()
- void saveSettings(QSettings* settings) override;
/**
* Returns the Widget name displayed in the ArmarXGui to create an
@@ -87,36 +66,24 @@ namespace armarx
return "RobotControl.NJointControllers.CartesianWaypointControlGui";
}
- void onInitComponent() override;
void onConnectComponent() override;
- void onDisconnectComponent() override;
-
- QPointer<QDialog> getConfigDialog(QWidget* parent) override;
- void configured() override;
+ NJointControllerConfigPtr readFullCFG() const override;
private slots:
- void on_pushButtonStop_clicked();
void on_pushButtonExecute_clicked();
void on_pushButtonZeroFT_clicked();
void on_pushButtonSendSettings_clicked();
- void on_pushButtonCreateController_clicked();
+ void createController() override;
void triggerParsing();
private:
NJointCartesianWaypointControllerRuntimeConfig readRunCfg() const;
- void deleteOldController();
void timerEvent(QTimerEvent*) override;
private:
Ui::CartesianWaypointControlGuiWidget _ui;
- QPointer<SimpleConfigDialog> _dialog;
- NJointCartesianWaypointControllerInterfacePrx _controller;
- std::string _controllerName;
- VirtualRobot::RobotPtr _robot;
std::vector<Eigen::Matrix4f> _lastParsedWPs;
bool _supportsFT{false};
- mutable std::recursive_mutex _allMutex;
- int _timer;
};
}