Obbart/RoboGlue_QT
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Aggiunta parametrizzazione topic mqtt e nomi dei nodi ros

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This commit is contained in:
Emanuele
2019-11-05 15:49:12 +01:00
parent 6b1012348c
commit 187c3ed9fc
7 changed files with 95 additions and 25 deletions
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2
RoboGlue.pro.user
View File

@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 4.8.2, 2019-10-30T17:30:22. -->
<!-- Written by QtCreator 4.8.2, 2019-11-04T15:40:48. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>

8
com/roboglue_com.cpp
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@@ -35,8 +35,12 @@ void RoboGlue_COM::run() {
client->set_callback(*callback);
client->connect()->wait();
// subscrbe to mqtt topics
for (auto it=m->comSettings.subMap.begin(); it != m->comSettings.subMap.end(); ++it){
client->subscribe(it->second,0);
try{
for (auto it=m->comSettings.subMap.begin(); it != m->comSettings.subMap.end(); ++it){
client->subscribe(it->second,0);
}
} catch (mqtt::exception &e) {
modlog->error("MQTT Error {}", e.what());
}
client->start_consuming();

17
gui/roboglue_gui.cpp
View File

@@ -27,7 +27,7 @@ RoboGlue_GUI::RoboGlue_GUI(RoboGlue_SHARED *mem) : m(mem) {
connect(this, SIGNAL(pad_hoverEvent(QEvent *)),
this, SLOT(on_pad_hoverEvent(QEvent *)));
connect(m, SIGNAL(commonStatusChange()),
this, SLOT(on_commonStatusChange));
this, SLOT(on_commonStatusChange()));
/////// READ NAME DEFINITION JSON FILE //////////
try {
@@ -92,6 +92,21 @@ void RoboGlue_GUI::disableLockAxes(){
void RoboGlue_GUI::on_commonStatusChange() {
modlog->trace("on_commonStatusChange Received");
// TODO: aggiungere e interpretare le flag per capire se i nodi ros sono tutti vivi dall'heartbeat
this->ui->lbl_relay->setText(QString().fromStdString(std::to_string(m->commonStatus.relayLast)));
this->ui->lbl_follower->setText(QString().fromStdString(std::to_string(m->commonStatus.followerLast)));
this->ui->lbl_recorder->setText(QString().fromStdString(std::to_string(m->commonStatus.recorderLast)));
if(m->commonStatus.relayLast > m->comSettings.deadTime ||
m->commonStatus.followerLast > m->comSettings.deadTime ||
m->commonStatus.recorderLast > m->comSettings.deadTime) {
this->ui->lbl_relay->setStyleSheet("QLabel { background-color : red; color : white; }");
this->ui->lbl_follower->setStyleSheet("QLabel { background-color : red; color : white; }");
this->ui->lbl_recorder->setStyleSheet("QLabel { background-color : red; color : white; }");
} else {
this->ui->lbl_relay->setStyleSheet("QLabel { background-color : green; color : white; }");
this->ui->lbl_follower->setStyleSheet("QLabel { background-color : green; color : white; }");
this->ui->lbl_recorder->setStyleSheet("QLabel { background-color : green; color : white; }");
}
}
void RoboGlue_GUI::on_pad_hoverEvent(QEvent* e) {

4
init/roboglue_init.cpp
View File

@@ -5,7 +5,6 @@ RoboGlue_INIT::RoboGlue_INIT(QWidget *parent, const char*) : QMainWindow(parent)
//////// SETUP LOGGER //////////
inilog = spdlog::stdout_logger_mt("RoboGlue_inilog");
inilog->info("INIT Started");
//////// SETUP USER INTERFACE ///////
ui = new Ui::RoboGlue_INIT;
@@ -38,6 +37,9 @@ RoboGlue_INIT::RoboGlue_INIT(QWidget *parent, const char*) : QMainWindow(parent)
//////// CONNECT SIGNALS & SLOTS ///////
connect(this, SIGNAL(destroyed()), this, SLOT(deleteLater()), Qt::ConnectionType::QueuedConnection);
//////// SIGNAL STARTED ////////////////
inilog->info("INIT Started");
}
RoboGlue_INIT::~RoboGlue_INIT() {

16
roboglue.conf
View File

@@ -8,7 +8,7 @@ automain=false
autotrack=false
[robot]
connection\autoconnect=true
connection\autoconnect=false
connection\robotip=10.0.0.5
connection\robotport=30002
connection\robotretry=5
@@ -40,3 +40,17 @@ kine\dhtable\size=6
kine\maxreach=@Variant(\0\0\0\x87?\x99\x99\x9a)
kine\prefix=0
kine\suffix=0
[ros]
deadTime=10
ros_nodes\mqtt_publishers\commands=roboglue_com/com2ros/commands
ros_nodes\mqtt_publishers\coordinates=roboglue_com/com2ros/coordinates
ros_nodes\mqtt_publishers\interface=roboglue_com/com2ros/interface
ros_nodes\mqtt_publishers\state=roboglue_com/com2ros/state
ros_nodes\mqtt_subscribers\commands=roboglue_com/ros2com/commands
ros_nodes\mqtt_subscribers\coordinates=roboglue_com/ros2com/coordinates
ros_nodes\mqtt_subscribers\interface=roboglue_com/ros2com/interface
ros_nodes\mqtt_subscribers\state=roboglue_com/ros2com/state
ros_nodes\node_names\follower=roboglue_ros_follower
ros_nodes\node_names\recorder=roboglue_ros_recorder
ros_nodes\node_names\relay=roboglue_ros_relay

71
shared/roboglue_shared.cpp
View File

@@ -4,23 +4,15 @@ RoboGlue_SHARED::RoboGlue_SHARED(QSettings *set){
settings=set;
//FIXME: inserire la lettura di quesste informazioni da un file
robotVariables.insert(std::pair<std::string, int>("RDY",1));
comSettings.subMap["commands"] = "roboglue_com/ros2com/commands";
comSettings.subMap["coordinates"] = "roboglue_com/ros2com/coordinates";
comSettings.subMap["state"] = "roboglue_com/ros2com/state";
comSettings.subMap["interface"] = "roboglue_com/ros2com/interface";
comSettings.pubMap["commands"] = "roboglue_com/com2ros/commands";
comSettings.pubMap["coordinates"] = "roboglue_com/com2ros/coordinates";
comSettings.pubMap["state"] = "roboglue_com/com2ros/state";
comSettings.pubMap["interface"] = "roboglue_com/com2ros/interface";
comSettings.nodeNames["relay"] = "roboglue_ros_relay";
comSettings.nodeNames["follower"] = "roboglue_ros_follower";
comSettings.nodeNames["recorder"] = "roboglue_ros_recorder";
}
////////////////////////////////////////////////////////////////
/////////////////////// RESTORE FUNCTIONS /////////////////////
/////////////////////////////////////////////////////////////
void RoboGlue_SHARED::restoreCommonSettings(){
settings->beginGroup("common");
settings->endGroup();
}
void RoboGlue_SHARED::restoreInitSettings(){
settings->beginGroup("init");
initSettings.size=settings->value("size").toSize();
@@ -61,6 +53,28 @@ void RoboGlue_SHARED::restoreComSettings() {
// TODO something
settings->endGroup();
settings->endGroup();
settings->beginGroup("ros");
comSettings.deadTime = settings->value("deadTime").toDouble();
settings->beginGroup("ros_nodes");
settings->beginGroup("mqtt_publishers");
comSettings.pubMap["commands"] = settings->value("commands").toString().toStdString();
comSettings.pubMap["coordinates"] = settings->value("coordinates").toString().toStdString();
comSettings.pubMap["state"] = settings->value("state").toString().toStdString();
comSettings.pubMap["interface"] = settings->value("interface").toString().toStdString();
settings->endGroup();
settings->beginGroup("mqtt_subscribers");
comSettings.subMap["commands"] = settings->value("commands").toString().toStdString();
comSettings.subMap["coordinates"] = settings->value("coordinates").toString().toStdString();
comSettings.subMap["state"] = settings->value("state").toString().toStdString();
comSettings.subMap["interface"] = settings->value("interface").toString().toStdString();
settings->endGroup();
settings->beginGroup("node_names");
comSettings.nodeNames["relay"] = settings->value("relay").toString().toStdString();
comSettings.nodeNames["follower"] = settings->value("follower").toString().toStdString();
comSettings.nodeNames["recorder"] = settings->value("recorder").toString().toStdString();
settings->endGroup();
settings->endGroup();
settings->endGroup();
}
void RoboGlue_SHARED::restoreGuiSettings() {
@@ -85,7 +99,6 @@ void RoboGlue_SHARED::restoreTrackSettings() {
void RoboGlue_SHARED::saveCommonSettings(){
settings->beginGroup("common");
settings->endGroup();
}
void RoboGlue_SHARED::saveInitSettings() {
@@ -99,11 +112,33 @@ void RoboGlue_SHARED::saveInitSettings() {
void RoboGlue_SHARED::saveComSettings() {
settings->beginGroup("robot");
settings->beginGroup("kine");
settings->setValue("maxreach", comSettings.kine.maxReach);
settings->setValue("prefix", comSettings.connection.prefix);
settings->setValue("suffix", comSettings.connection.suffix);
settings->beginGroup("kine");
settings->setValue("maxreach", comSettings.kine.maxReach);
settings->setValue("prefix", comSettings.connection.prefix);
settings->setValue("suffix", comSettings.connection.suffix);
settings->endGroup();
settings->endGroup();
settings->beginGroup("ros");
settings->setValue("deadTime", comSettings.deadTime);
settings->beginGroup("ros_nodes");
settings->beginGroup("mqtt_publishers");
settings->setValue("commands", QString().fromStdString(comSettings.pubMap.find("commands")->second));
settings->setValue("coordinates", QString().fromStdString(comSettings.pubMap.find("coordinates")->second));
settings->setValue("state", QString().fromStdString(comSettings.pubMap.find("state")->second));
settings->setValue("interface", QString().fromStdString(comSettings.pubMap.find("interface")->second));
settings->endGroup();
settings->beginGroup("mqtt_subscribers");
settings->setValue("commands", QString().fromStdString(comSettings.subMap.find("commands")->second));
settings->setValue("coordinates", QString().fromStdString(comSettings.subMap.find("coordinates")->second));
settings->setValue("state", QString().fromStdString(comSettings.subMap.find("state")->second));
settings->setValue("interface", QString().fromStdString(comSettings.subMap.find("interface")->second));
settings->endGroup();
settings->beginGroup("node_names");
settings->setValue("relay", QString().fromStdString(comSettings.nodeNames.find("relay")->second));
settings->setValue("follower", QString().fromStdString(comSettings.nodeNames.find("follower")->second));
settings->setValue("recorder", QString().fromStdString(comSettings.nodeNames.find("recorder")->second));
settings->endGroup();
settings->endGroup();
settings->endGroup();
}

2
shared/roboglue_shared.h
View File

@@ -86,10 +86,10 @@ public:
kineDH_t DHtable;
float maxReach = 1.2;
} kine;
double deadTime = 10.0; //default value
std::map<std::string, std::string> subMap;
std::map<std::string, std::string> pubMap;
std::map<std::string, std::string> nodeNames;
//FIXME: riempire la mappa dinamicamente da un file, eliminare l'assegnazione manuale
enum {
COMM, COORD, STAT
} tList;