Modifiche interfaccia

funzioni aggiunte nelle callback mqtt che segnalano il cambiamento con
l'emit di commonStatusChange

RoboGlue.pro.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.8.2, 2019-10-23T17:47:47. -->
+<!-- Written by QtCreator 4.8.2, 2019-11-18T18:58:05. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

com/mqtt_callback.cpp

@@ -1,9 +1,10 @@
 #include "mqtt_callback.h"
 
-mqtt_callback::mqtt_callback(mqtt::async_client *cli, std::shared_ptr<spdlog::logger> log) {
+mqtt_callback::mqtt_callback(mqtt::async_client *cli, std::shared_ptr<spdlog::logger> log, RoboGlue_SHARED *mem) {
     //initialize client pointer
  cli_=cli;
  log_=log;
+ mem_= mem;
 }
 
 void mqtt_callback::connected(const mqtt::string &cause) {
@@ -17,6 +18,47 @@ void mqtt_callback::connection_lost(const mqtt::string &cause) {
 void mqtt_callback::message_arrived(mqtt::const_message_ptr msg) {
     log_->debug("Message Arrived: topic->{} - message->{}",
                msg->get_topic(), msg->to_string());
+    if(msg->get_topic() == mem_->comSettings.subMap.find("interface")->second) {
+        log_->debug("MQTT: Interface Message: {}", msg->get_payload().c_str());
+        // Gestione dei messaggi di interfaccia
+        std::vector<std::string> intMsg;
+        boost::split(intMsg, static_cast<const std::string>(msg->to_string()), boost::is_any_of(":"));
+        if (!intMsg[mem_->comSettings.TYPE].compare("STARTUP") ||
+                !intMsg[mem_->comSettings.TYPE].compare("HB")){
+            // Received Startup Message
+            log_->debug("Startup/Heartbeat from node, ts: {},[{}]",
+                       intMsg[mem_->comSettings.NODE].c_str(),
+                        intMsg[mem_->comSettings.TS]);
+            if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["relay"])){
+                mem_->commonStatus.relayRunning = true;
+                mem_->commonStatus.relayLast = std::stod(intMsg[mem_->comSettings.TS]);
+                log_->trace("HB RELAY time: [{}]", mem_->commonStatus.relayLast);
+            } else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["follower"])) {
+                mem_->commonStatus.followerRunning = true;
+                mem_->commonStatus.followerLast = std::stod(intMsg[mem_->comSettings.TS]);
+                log_->trace("HB FOLLOWER time: [{}]", mem_->commonStatus.followerLast);
+            } else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["recorder"])) {
+                mem_->commonStatus.recorderRunning = true;
+                mem_->commonStatus.recorderLast = std::stod(intMsg[mem_->comSettings.TS]);
+                log_->trace("HB RECORDER time: [{}]", mem_->commonStatus.recorderLast); 
+            } else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["broadcaster"])) {
+                mem_->commonStatus.broadcasterRunning = true;
+                mem_->commonStatus.broadcasterLast = std::stod(intMsg[mem_->comSettings.TS]);
+                log_->trace("HB BROADCASTER time: [{}]", mem_->commonStatus.broadcasterLast);
+            } else {
+                log_->error("Node {} unknown", intMsg[mem_->comSettings.NODE].c_str());
+            }
+            //emit mem_->commonStatusChange();
+        }
+    } else if (msg->get_topic() == mem_->comSettings.subMap.find("state")->second){
+        log_->debug("MQTT: State Message: {}", msg->get_payload().c_str());
+    } else if (msg->get_topic() == mem_->comSettings.subMap.find("commands")->second){
+        log_->debug("MQTT: Command Message: {}", msg->get_payload().c_str());
+    } else if (msg->get_topic() == mem_->comSettings.subMap.find("coordinates")->second){
+        log_->debug("MQTT: Coordinate Message: {}", msg->get_payload().c_str());
+    } else {
+        log_->error("Unrecognized topic: {}", msg->get_topic().c_str());
+    }
 }
 
 void mqtt_callback::delivery_complete(mqtt::delivery_token_ptr tok) {

com/mqtt_callback.h

@@ -4,15 +4,17 @@
 #include <mqtt/client.h>
 #include <mqtt/callback.h>
 #include <spdlog/logger.h>
+#include <shared/roboglue_shared.h>
 
 class mqtt_callback : public virtual mqtt::callback {
 
 private:
+    RoboGlue_SHARED *mem_;
     mqtt::async_client *cli_ = nullptr;
     std::shared_ptr<spdlog::logger> log_;
 
 public:
-    mqtt_callback(mqtt::async_client *cli, std::shared_ptr<spdlog::logger> log);
+    mqtt_callback(mqtt::async_client *cli, std::shared_ptr<spdlog::logger> log,RoboGlue_SHARED *m);
 
     void connected(const mqtt::string &cause) override;
     void connection_lost(const mqtt::string &cause) override;

com/roboglue_com.cpp

@@ -5,8 +5,8 @@ RoboGlue_COM::RoboGlue_COM (RoboGlue_SHARED *mem): m(mem) {
     //////// SETUP LOGGER //////////
     liblog = spdlog::stdout_logger_mt("URcom_liblog");
     modlog = spdlog::stdout_logger_mt("RoboGlue_comlog");
-    liblog->set_level(spdlog::level::debug);
+    liblog->set_level(spdlog::level::warn);
-    modlog->set_level(spdlog::level::debug);
+    modlog->set_level(spdlog::level::warn);
 
     ///////// INITIALIZE TCP SERVER ///////////
     server = new QTcpServer(this);
@@ -16,7 +16,7 @@ RoboGlue_COM::RoboGlue_COM (RoboGlue_SHARED *mem): m(mem) {
 
     //////// INITIALIZE MQTT CONNECTOR ///////
     client = new mqtt::async_client(std::string("tcp://localhost:1883"),"");
-    callback = new mqtt_callback(client,modlog);////////////////////////////////////////////////
+    callback = new mqtt_callback(client,modlog,m);////////////////////////////////////////////////
     //////// END EXTERNAL PUBLIC SLOTS /////////////
     ////////////////////////////////////////////////
     baseMsg = m->commonSettings.baseMessage;
@@ -35,9 +35,12 @@ void RoboGlue_COM::run() {
     client->set_callback(*callback);
     client->connect()->wait();
     // subscrbe to mqtt topics
-    std::vector<std::string> subList = m->comSettings.subList;
+    try{
-    for (uint i=0; i < subList.size(); i++){
+        for (auto it=m->comSettings.subMap.begin(); it != m->comSettings.subMap.end(); ++it){
-        client->subscribe(subList[i],0);
+            client->subscribe(it->second,0);
+        }
+    } catch (mqtt::exception &e) {
+        modlog->error("MQTT Error {}", e.what());
     }
     client->start_consuming();
 
@@ -270,7 +273,7 @@ void RoboGlue_COM::timed_sendCoordinates(){
         baseMsg["value"]["rx"] = sp[3];
         baseMsg["value"]["ry"] = sp[4];
         baseMsg["value"]["rz"] = sp[5];
-        MQTTpublish(baseMsg, m->comSettings.pubList[m->comSettings.COORD]);
+        MQTTpublish(baseMsg, m->comSettings.pubMap.find("coordinates")->second);
     }
 }
 ////////////////////////////////////////////////
@@ -329,7 +332,7 @@ void RoboGlue_COM::on_sendROScommand(QString command, QVariantMap params) {
     baseMsg["command"] = command.toStdString();
     QJsonDocument jparam = QJsonDocument(QJsonObject::fromVariantMap(params));
     baseMsg["params"] = json::parse(jparam.toJson().data());
-    MQTTpublish(baseMsg, m->comSettings.pubList[m->comSettings.COMM]);
+    MQTTpublish(baseMsg, m->comSettings.pubMap.find("commands")->second);
 }
 
 void RoboGlue_COM::on_sendROScoordinates(QList<double> sp) {
@@ -350,41 +353,3 @@ void RoboGlue_COM::on_sendROSstate(QMap<std::string,bool> digital, QMap<std::str
 ////////////////////////////////////////////////
 //////// END EXTERNAL PUBLIC SLOTS /////////////
 ////////////////////////////////////////////////
-//void RoboGlue_COM::on_sendSetpointOLD(QList<double> sp) {
-//    std::string setpoint;
-//    struct {
-//        union{
-//            struct{
-//                uint32_t x,y,z,a,b,c,keepalive;
-//            };
-//            char bytes[28];
-//        };
-//    } setPointBytes;
-//    setPointBytes.keepalive=1;
-//    int32_t v;
-//    setpoint = "(";
-//    for(uchar i=0; i<JOINT_NUMBER; i++){
-//        v=static_cast<int32_t>(sp[i]*1000);
-//        if (i>2) v=boost::algorithm::clamp(v, -2680,2680);
-//        setpoint.append(std::to_string(v));
-//        boost::algorithm::replace_all(setpoint, ",",".");
-//        if(i<JOINT_NUMBER) setpoint.append("|");
-//    }
-//    setpoint.append("1");
-//    boost::algorithm::replace_all(setpoint,"|",",");
-//    setpoint.append(")");
-
-//    setPointBytes.x=htonl(static_cast<uint32_t>(sp[0]*1000));
-//    setPointBytes.y=htonl(static_cast<uint32_t>(sp[1]*1000));
-//    setPointBytes.z=htonl(static_cast<uint32_t>(sp[2]*1000));
-//    setPointBytes.a=htonl(static_cast<uint32_t>(sp[3]*1000));
-//    setPointBytes.b=htonl(static_cast<uint32_t>(sp[4]*1000));
-//    setPointBytes.c=htonl(static_cast<uint32_t>(sp[5]*1000));
-//    setPointBytes.keepalive=htonl(setPointBytes.keepalive);
-
-//    if(robotIN->write(setPointBytes.bytes,28))
-//        modlog->trace("Sent Setpoint {}",setpoint.c_str());
-//    robotIN->flush();
-//}
-
-

com/roboglue_com.h

@@ -44,6 +44,7 @@
  *              della coda di destinazione.
  * 20190311 - La pubblicazione dei messaggi di coordinate verso ros deve essere a rateo costante
  *              indipendentemente dalla frequenza di ingresso
+ * 20191030 - Spostata la documentazione su GIT
 */
 
 #include <QObject>

gui/roboglue_gui.cpp

@@ -26,6 +26,8 @@ RoboGlue_GUI::RoboGlue_GUI(RoboGlue_SHARED *mem) : m(mem) {
             this, SLOT(deleteLater()), Qt::ConnectionType::QueuedConnection);
     connect(this, SIGNAL(pad_hoverEvent(QEvent *)),
             this, SLOT(on_pad_hoverEvent(QEvent *)));
+    connect(m, SIGNAL(commonStatusChange()),
+            this, SLOT(on_commonStatusChange()));
 
     /////// READ NAME DEFINITION JSON FILE //////////
     try {
@@ -89,6 +91,18 @@ void RoboGlue_GUI::disableLockAxes(){
 ////////////////////////////////////////////////
 void RoboGlue_GUI::on_commonStatusChange() {
     modlog->trace("on_commonStatusChange Received");
+    this->ui->lbl_relay->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("relay")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.relayTime))));
+    this->ui->lbl_follower->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("follower")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.followerTime))));
+    this->ui->lbl_recorder->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("recorder")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.recorderTime))));
+    this->ui->lbl_broadcaster->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("broadcaster")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.broadcasterTime))));
+    if (!m->commonStatus.relayRunning) this->ui->lbl_relay->setStyleSheet("QLabel { background-color : red; color : white; }");
+    else this->ui->lbl_relay->setStyleSheet("QLabel { background-color : green; color : white; }");
+    if (!m->commonStatus.recorderRunning) this->ui->lbl_recorder->setStyleSheet("QLabel { background-color : red; color : white; }");
+    else this->ui->lbl_recorder->setStyleSheet("QLabel { background-color : green; color : white; }");
+    if (!m->commonStatus.followerRunning) this->ui->lbl_follower->setStyleSheet("QLabel { background-color : red; color : white; }");
+    else this->ui->lbl_follower->setStyleSheet("QLabel { background-color : green; color : white; }");
+    if (!m->commonStatus.broadcasterRunning) this->ui->lbl_broadcaster->setStyleSheet("QLabel { background-color : red; color : white; }");
+    else this->ui->lbl_broadcaster->setStyleSheet("QLabel { background-color : green; color : white; }");
 }
 
 void RoboGlue_GUI::on_pad_hoverEvent(QEvent* e) {
@@ -253,7 +267,7 @@ void RoboGlue_GUI::on_btn_open_clicked() {
         m->commonStatus.isFileOpen = true;
         fileOpen = true;
         metadata["name"] = ui->txt_fileName->text();
-        metadata["plot"] = true;
+        metadata["plot"] = ui->chk_plot->isChecked();
         param["action"] = "open";
         param["metadata"] = metadata;
         ui->btn_record->setEnabled(false);
@@ -311,6 +325,30 @@ void RoboGlue_GUI::on_btn_home_clicked() {
     emit sendROScommand("HOME", param);
 }
 
+void RoboGlue_GUI::on_btn_setFrame_clicked() {
+    QVariantMap param, frm;
+    QList<QString> tempPos, TempOr;
+    modlog->debug("setFrame");
+    param["action"]="set";
+    param["framename"]=ui->txt_frameName->text();
+    for(auto tp : ui->txt_framePos->text().split(",")){
+        frm[tp.split(":").first()]=tp.split(":").last().replace(" ", "").toDouble();
+    }
+    for(auto tp : ui->txt_frameOr->text().split(",")){
+        frm[tp.split(":").first()]=tp.split(":").last().replace(" ", "").toDouble();
+    }
+    param["frame"]=frm;
+    emit m->commonStatusChange();
+    emit sendROScommand("SETFRAME", param);
+}
+
+void RoboGlue_GUI::on_btn_stopRos_clicked() {
+    QVariantMap param;
+    modlog->debug("stopRos");
+    param["action"]=false;
+    emit m->commonStatusChange();
+    emit sendROScommand("QUIT", param);
+}
 ////////////////////////////////////////////////
 ////////END INTERNAL PRIVATE SLOTS//////////////
 ////////////////////////////////////////////////

gui/roboglue_gui.h

@@ -95,6 +95,10 @@ private slots:
     void on_btn_home_clicked();
     void on_btn_open_clicked();
 
+    void on_btn_setFrame_clicked();
+
+    void on_btn_stopRos_clicked();
+
 signals:
     void robotConnect(QString, uint port, uchar retry);
     void robotDisconnect();

gui/roboglue_gui.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1108</width>
+    <width>1018</width>
-    <height>760</height>
+    <height>826</height>
    </rect>
   </property>
   <property name="mouseTracking">
@@ -438,10 +438,10 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -457,10 +457,10 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -476,10 +476,10 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -498,10 +498,10 @@
                <number>0</number>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -517,10 +517,10 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -536,10 +536,10 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -588,10 +588,10 @@
                <number>0</number>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -607,10 +607,10 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -626,10 +626,10 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -645,10 +645,10 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -664,10 +664,10 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -683,10 +683,10 @@
                </size>
               </property>
               <property name="text">
-               <string/>
+               <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -920,7 +920,7 @@
         </item>
         <item row="0" column="0">
          <layout class="QVBoxLayout" name="verticalLayout_2">
-          <item>
+          <item alignment="Qt::AlignHCenter">
            <widget class="QFrame" name="frm_move">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -976,21 +976,30 @@
             <item>
              <widget class="QLabel" name="lbl_posX">
               <property name="text">
-               <string>TextLabel</string>
+               <string>-</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QLabel" name="lbl_posY">
               <property name="text">
-               <string>TextLabel</string>
+               <string>-</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QLabel" name="lbl_posZ">
               <property name="text">
-               <string>TextLabel</string>
+               <string>-</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
               </property>
              </widget>
             </item>
@@ -1037,7 +1046,21 @@
              </widget>
             </item>
             <item>
-             <widget class="QLineEdit" name="txt_fileName"/>
+             <widget class="QLineEdit" name="txt_fileName">
+              <property name="minimumSize">
+               <size>
+                <width>50</width>
+                <height>0</height>
+               </size>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QCheckBox" name="chk_plot">
+              <property name="text">
+               <string>Plot</string>
+              </property>
+             </widget>
             </item>
            </layout>
           </item>
@@ -1211,33 +1234,17 @@
            </layout>
           </item>
           <item>
-           <layout class="QHBoxLayout" name="horizontalLayout_6">
+           <widget class="Line" name="line_12">
-            <item>
-             <spacer name="horizontalSpacer_4">
             <property name="orientation">
              <enum>Qt::Horizontal</enum>
             </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>40</width>
-                <height>20</height>
-               </size>
-              </property>
-             </spacer>
-            </item>
-            <item>
-             <layout class="QGridLayout" name="gridLayout_2">
-              <item row="0" column="0">
-               <widget class="QLabel" name="label_18">
-                <property name="text">
-                 <string>dS</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
            </widget>
           </item>
-              <item row="0" column="1">
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_6">
+            <item>
+             <layout class="QGridLayout" name="gridLayout_2">
+              <item row="0" column="2">
                <widget class="QLabel" name="label_19">
                 <property name="text">
                  <string>dT</string>
@@ -1247,7 +1254,7 @@
                 </property>
                </widget>
               </item>
-              <item row="1" column="0">
+              <item row="1" column="1">
                <widget class="QDoubleSpinBox" name="spn_ds">
                 <property name="maximum">
                  <double>100.000000000000000</double>
@@ -1263,7 +1270,7 @@
                 </property>
                </widget>
               </item>
-              <item row="1" column="1">
+              <item row="1" column="2">
                <widget class="QDoubleSpinBox" name="spn_dt">
                 <property name="maximum">
                  <double>240.000000000000000</double>
@@ -1276,10 +1283,108 @@
                 </property>
                </widget>
               </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_18">
+                <property name="text">
+                 <string>dS</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <spacer name="horizontalSpacer_4">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="0">
+               <widget class="QLabel" name="label_22">
+                <property name="text">
+                 <string>Point Record Distance/Time</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
              </layout>
             </item>
            </layout>
           </item>
+          <item>
+           <widget class="Line" name="line_13">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <layout class="QGridLayout" name="gridLayout_5">
+            <item row="0" column="2">
+             <widget class="QLineEdit" name="txt_framePos">
+              <property name="inputMask">
+               <string>\x:000,y:000,z:000 </string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QLabel" name="label_21">
+              <property name="text">
+               <string>Orientation</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QLabel" name="label_20">
+              <property name="text">
+               <string>Position</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="2">
+             <widget class="QLineEdit" name="txt_frameOr">
+              <property name="inputMask">
+               <string>r\x:#00.0,ry:#00.0,rz:#00.0 </string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="0">
+             <widget class="QPushButton" name="btn_setFrame">
+              <property name="text">
+               <string>SetFrame</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="3">
+             <widget class="QLabel" name="label_24">
+              <property name="minimumSize">
+               <size>
+                <width>150</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="text">
+               <string>Name</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="3">
+             <widget class="QLineEdit" name="txt_frameName"/>
+            </item>
+           </layout>
+          </item>
           <item>
            <spacer name="verticalSpacer_2">
             <property name="orientation">
@@ -1309,6 +1414,52 @@
       </widget>
      </widget>
     </item>
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout_9">
+      <item>
+       <widget class="QLabel" name="label_23">
+        <property name="text">
+         <string>ROS Status</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="lbl_relay">
+        <property name="text">
+         <string>-</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="lbl_follower">
+        <property name="text">
+         <string>-</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="lbl_recorder">
+        <property name="text">
+         <string>-</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="lbl_broadcaster">
+        <property name="text">
+         <string>-</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="btn_stopRos">
+        <property name="text">
+         <string>Stop_ROS</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
    </layout>
   </widget>
   <widget class="QMenuBar" name="menubar">
@@ -1316,7 +1467,7 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>1108</width>
+     <width>1018</width>
      <height>22</height>
     </rect>
    </property>
@@ -1338,12 +1489,12 @@
  <resources/>
  <connections/>
  <buttongroups>
-  <buttongroup name="grp_mod"/>
+  <buttongroup name="grp_hilo"/>
   <buttongroup name="gpr_lock">
    <property name="exclusive">
     <bool>false</bool>
    </property>
   </buttongroup>
-  <buttongroup name="grp_hilo"/>
+  <buttongroup name="grp_mod"/>
  </buttongroups>
 </ui>

init/roboglue_init.cpp

@@ -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() {

roboglue.conf

@@ -8,35 +8,50 @@ automain=false
 autotrack=false
 
 [robot]
-connection\autoconnect=false
+connection\autoconnect=true
 connection\robotip=10.0.0.5
 connection\robotport=30002
 connection\robotretry=5
-kine\dhtable\1\dha=6.94460589082162e-310
+kine\dhtable\1\dha=0
-kine\dhtable\1\dhalpha=6.9446058912971e-310
+kine\dhtable\1\dhalpha=0
-kine\dhtable\1\dhd=1.099340831232476e+248
+kine\dhtable\1\dhd=0
-kine\dhtable\1\dhtheta=1.332e-320
+kine\dhtable\1\dhtheta=0
 kine\dhtable\2\dha=0
-kine\dhtable\2\dhalpha=6.9446058912884e-310
+kine\dhtable\2\dhalpha=0
-kine\dhtable\2\dhd=1.3849777432376169e+219
+kine\dhtable\2\dhd=0
-kine\dhtable\2\dhtheta=6.9446058913382e-310
+kine\dhtable\2\dhtheta=0
 kine\dhtable\3\dha=0
-kine\dhtable\3\dhalpha=5.53e-322
+kine\dhtable\3\dhalpha=0
-kine\dhtable\3\dhd=2.44861994589e-312
+kine\dhtable\3\dhd=0
-kine\dhtable\3\dhtheta=8e-323
+kine\dhtable\3\dhtheta=0
-kine\dhtable\4\dha=2.37e-322
+kine\dhtable\4\dha=0
-kine\dhtable\4\dhalpha=2.37e-322
+kine\dhtable\4\dhalpha=0
 kine\dhtable\4\dhd=0
 kine\dhtable\4\dhtheta=0
-kine\dhtable\5\dha=2.57e-322
+kine\dhtable\5\dha=0
-kine\dhtable\5\dhalpha=2.57e-322
+kine\dhtable\5\dhalpha=0
-kine\dhtable\5\dhd=2.06e-321
+kine\dhtable\5\dhd=0
-kine\dhtable\5\dhtheta=8.74e-322
+kine\dhtable\5\dhtheta=0
-kine\dhtable\6\dha=6.9446058915066e-310
+kine\dhtable\6\dha=0
-kine\dhtable\6\dhalpha=6.9446058913493e-310
+kine\dhtable\6\dhalpha=0
-kine\dhtable\6\dhd=6.94460589137854e-310
+kine\dhtable\6\dhd=0
-kine\dhtable\6\dhtheta=6.94460589137854e-310
+kine\dhtable\6\dhtheta=0
 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\broadcaster=roboglue_ros_broadcaster
+ros_nodes\node_names\follower=roboglue_ros_follower
+ros_nodes\node_names\recorder=roboglue_ros_recorder
+ros_nodes\node_names\relay=roboglue_ros_relay

shared/roboglue_shared.cpp

@@ -2,14 +2,34 @@
 
 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));
+    statusTimer = new QTimer(this);
+    connect(statusTimer, SIGNAL(timeout()), this, SLOT(on_statusTimer()));
+    statusTimer->start(static_cast<int>(comSettings.deadTime*1000));
+}
 
+RoboGlue_SHARED::~RoboGlue_SHARED(){
+    statusTimer->stop();
+    delete statusTimer;
+}
 
+void RoboGlue_SHARED::on_statusTimer(void){
+    double curTime = static_cast<double>(std::time(NULL));
+    commonStatus.relayRunning = (commonStatus.relayTime = fabs(commonStatus.relayLast - curTime)) < comSettings.deadTime;
+    commonStatus.followerRunning = (commonStatus.followerTime = fabs(commonStatus.followerLast - curTime)) < comSettings.deadTime;
+    commonStatus.recorderRunning = (commonStatus.recorderTime = fabs(commonStatus.recorderLast - curTime)) < comSettings.deadTime;
+    commonStatus.broadcasterRunning = (commonStatus.broadcasterTime = fabs(commonStatus.broadcasterLast - curTime)) < comSettings.deadTime;
+    emit this->commonStatusChange();
 }
 ////////////////////////////////////////////////////////////////
 /////////////////////// RESTORE FUNCTIONS /////////////////////
 /////////////////////////////////////////////////////////////
+void RoboGlue_SHARED::restoreCommonSettings(){
+    settings->beginGroup("common");
+    settings->endGroup();
+}
+
 void RoboGlue_SHARED::restoreInitSettings(){
     settings->beginGroup("init");
         initSettings.size=settings->value("size").toSize();
@@ -50,6 +70,29 @@ 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();
+                 comSettings.nodeNames["broadcaster"] = settings->value("broadcaster").toString().toStdString();
+             settings->endGroup();
+         settings->endGroup();
+    settings->endGroup();
 }
 
 void RoboGlue_SHARED::restoreGuiSettings() {
@@ -74,7 +117,6 @@ void RoboGlue_SHARED::restoreTrackSettings() {
 void RoboGlue_SHARED::saveCommonSettings(){
     settings->beginGroup("common");
     settings->endGroup();
-
 }
 
 void RoboGlue_SHARED::saveInitSettings() {
@@ -94,6 +136,29 @@ void RoboGlue_SHARED::saveComSettings() {
             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->setValue("broadcaster", QString().fromStdString(comSettings.nodeNames.find("broadcaster")->second));
+            settings->endGroup();
+        settings->endGroup();
+    settings->endGroup();
 }
 
 void RoboGlue_SHARED::saveGuiSettings() {

shared/roboglue_shared.h

@@ -21,16 +21,19 @@
 *               QUESTA COSA VA GIÀ CAMBIATA PERCHÈ È TROPPO CONFUSIONARIA!!
 *  20190124 - Implementati tutti i metodi che salvano e ripristinano le configurazioni.
 *  20190311 - Aggiunta la struttura che tiene gli stati che devono rimanere comuni ai moduli.
-*
+*  20191030 - Documentazione spostata in GIT
 */
 
 #include <QMutex>
 #include <QSettings>
 #include <QPoint>
 #include <QSize>
+#include <QTimer>
 #include <stdexcept>
+#include <ctime>
 #include <libJson/json.hpp>
 #include <libURcom/URCLinterface.h>
+#include <boost/algorithm/string.hpp>
 
 using namespace nlohmann;
 
@@ -39,7 +42,9 @@ class RoboGlue_SHARED : public QObject{
 
 public:
     RoboGlue_SHARED(QSettings *set);
+    virtual ~RoboGlue_SHARED();
     QMutex mutex;
+    QTimer* statusTimer;
 
     //////////// COMMON MODULES STATUS ///////////////
     struct {
@@ -47,6 +52,20 @@ public:
         bool isPlaying = false;
         bool isRealtime = false;
         bool isFileOpen = false;
+        // ROS node status
+        bool relayRunning = false;
+        bool followerRunning = false;
+        bool recorderRunning = false;
+        bool broadcasterRunning = false;
+        // ROS node last seen
+        double relayLast = static_cast<double>(time(NULL));
+        double followerLast = static_cast<double>(time(NULL));
+        double recorderLast = static_cast<double>(time(NULL));
+        double broadcasterLast = static_cast<double>(time(NULL));
+        double relayTime = static_cast<double>(time(NULL));
+        double followerTime = static_cast<double>(time(NULL));
+        double recorderTime = static_cast<double>(time(NULL));
+        double broadcasterTime = static_cast<double>(time(NULL));
     } commonStatus;
 
     /////////// PERMANENT SETTINGS VARIABLES /////////
@@ -66,7 +85,7 @@ public:
 
     struct {
         struct {
-            std::string robotIp = std::string("192.168.0.31");
+            std::string robotIp = std::string("localhost");
             uint robotPort = 30002;
             unsigned char retry = 5;
             bool autoConnect = false;
@@ -77,19 +96,16 @@ public:
             kineDH_t DHtable;
             float maxReach = 1.2;
         } kine;
-        std::vector<std::string> subList {
+        double deadTime = 1.0; //default value
-              {"roboglue_com/ros2com/commands"},
+        std::map<std::string, std::string> subMap;
-              {"roboglue_com/ros2com/coordinates"},
+        std::map<std::string, std::string> pubMap;
-              {"roboglue_com/ros2com/state"}
+        std::map<std::string, std::string> nodeNames;
-        };
-        std::vector<std::string> pubList {
-            {"roboglue_com/com2ros/commands"},
-            {"roboglue_com/com2ros/coordinates"},
-            {"roboglue_com/com2ros/state"}
-        };
         enum {
             COMM, COORD, STAT
         } tList;
+        enum {
+            TYPE, NODE, TS
+        };
     } comSettings;
 
     struct {
@@ -124,6 +140,9 @@ public:
 
 signals:
     void commonStatusChange(void);
+
+private slots:
+    void on_statusTimer(void);
 };
 
 #endif // ROBOGLUE_SHARED_H