Obbart/RoboGlue_QT
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Obbart:master Obbart:master-devel
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compare: Obbart:e1e80d16c7f208e171b07edd7e06750ad7cf4a61
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2 Commits
bf368d6ac6 ... e1e80d16c7

Author SHA1 Message Date
Emanuele
e1e80d16c7 Inizia implementazione setPlanning Frame 2019-11-12 10:49:52 +01:00
Emanuele
cb2b5fdcbd Correzioni alla gui, riportato livello di log di com a warn 2019-11-12 09:57:55 +01:00
6 changed files with 121 additions and 50 deletions
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2
RoboGlue.pro.user
View File

@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject> <!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 4.8.2, 2019-11-05T16:47:40. --> <!-- Written by QtCreator 4.8.2, 2019-11-12T09:34:56. -->
<qtcreator> <qtcreator>
<data> <data>
<variable>EnvironmentId</variable> <variable>EnvironmentId</variable>

2
com/roboglue_com.cpp
View File

@@ -6,7 +6,7 @@ RoboGlue_COM::RoboGlue_COM (RoboGlue_SHARED *mem): m(mem) {
liblog = spdlog::stdout_logger_mt("URcom_liblog"); liblog = spdlog::stdout_logger_mt("URcom_liblog");
modlog = spdlog::stdout_logger_mt("RoboGlue_comlog"); modlog = spdlog::stdout_logger_mt("RoboGlue_comlog");
liblog->set_level(spdlog::level::warn); liblog->set_level(spdlog::level::warn);
modlog->set_level(spdlog::level::trace); modlog->set_level(spdlog::level::warn);
///////// INITIALIZE TCP SERVER /////////// ///////// INITIALIZE TCP SERVER ///////////
server = new QTcpServer(this); server = new QTcpServer(this);

17
gui/roboglue_gui.cpp
View File

@@ -92,9 +92,9 @@ void RoboGlue_GUI::disableLockAxes(){
void RoboGlue_GUI::on_commonStatusChange() { void RoboGlue_GUI::on_commonStatusChange() {
modlog->trace("on_commonStatusChange Received"); modlog->trace("on_commonStatusChange Received");
// TODO: aggiungere e interpretare le flag per capire se i nodi ros sono tutti vivi dall'heartbeat // 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.relayTime))); 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(std::to_string(m->commonStatus.followerTime))); 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(std::to_string(m->commonStatus.recorderTime))); this->ui->lbl_recorder->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("recorder")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.recorderTime))));
if(m->commonStatus.relayTime > m->comSettings.deadTime || if(m->commonStatus.relayTime > m->comSettings.deadTime ||
m->commonStatus.followerTime > m->comSettings.deadTime || m->commonStatus.followerTime > m->comSettings.deadTime ||
@@ -329,6 +329,16 @@ void RoboGlue_GUI::on_btn_home_clicked() {
emit sendROScommand("HOME", param); emit sendROScommand("HOME", param);
} }
void RoboGlue_GUI::on_btn_setFrame_clicked() {
QVariantMap param;
std::string frametext;
modlog->debug("setFrame");
param["action"]="set";
emit m->commonStatusChange();
emit sendROScommand("SETFRAME", param);
}
//////////////////////////////////////////////// ////////////////////////////////////////////////
////////END INTERNAL PRIVATE SLOTS////////////// ////////END INTERNAL PRIVATE SLOTS//////////////
//////////////////////////////////////////////// ////////////////////////////////////////////////
@@ -374,3 +384,4 @@ void RoboGlue_GUI::on_newRobotData() {
//////// END EXTERNAL PUBLIC SLOTS ///////////// //////// END EXTERNAL PUBLIC SLOTS /////////////
//////////////////////////////////////////////// ////////////////////////////////////////////////
/// ///

2
gui/roboglue_gui.h
View File

@@ -95,6 +95,8 @@ private slots:
void on_btn_home_clicked(); void on_btn_home_clicked();
void on_btn_open_clicked(); void on_btn_open_clicked();
void on_btn_setFrame_clicked();
signals: signals:
void robotConnect(QString, uint port, uchar retry); void robotConnect(QString, uint port, uchar retry);
void robotDisconnect(); void robotDisconnect();

146
gui/roboglue_gui.ui
View File

@@ -6,8 +6,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>1108</width> <width>948</width>
<height>760</height> <height>826</height>
</rect> </rect>
</property> </property>
<property name="mouseTracking"> <property name="mouseTracking">
@@ -441,7 +441,7 @@
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> <set>Qt::AlignCenter</set>
</property> </property>
<property name="textInteractionFlags"> <property name="textInteractionFlags">
<set>Qt::TextSelectableByMouse</set> <set>Qt::TextSelectableByMouse</set>
@@ -460,7 +460,7 @@
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> <set>Qt::AlignCenter</set>
</property> </property>
<property name="textInteractionFlags"> <property name="textInteractionFlags">
<set>Qt::TextSelectableByMouse</set> <set>Qt::TextSelectableByMouse</set>
@@ -479,7 +479,7 @@
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> <set>Qt::AlignCenter</set>
</property> </property>
<property name="textInteractionFlags"> <property name="textInteractionFlags">
<set>Qt::TextSelectableByMouse</set> <set>Qt::TextSelectableByMouse</set>
@@ -501,7 +501,7 @@
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> <set>Qt::AlignCenter</set>
</property> </property>
<property name="textInteractionFlags"> <property name="textInteractionFlags">
<set>Qt::TextSelectableByMouse</set> <set>Qt::TextSelectableByMouse</set>
@@ -520,7 +520,7 @@
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> <set>Qt::AlignCenter</set>
</property> </property>
<property name="textInteractionFlags"> <property name="textInteractionFlags">
<set>Qt::TextSelectableByMouse</set> <set>Qt::TextSelectableByMouse</set>
@@ -539,7 +539,7 @@
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> <set>Qt::AlignCenter</set>
</property> </property>
<property name="textInteractionFlags"> <property name="textInteractionFlags">
<set>Qt::TextSelectableByMouse</set> <set>Qt::TextSelectableByMouse</set>
@@ -591,7 +591,7 @@
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> <set>Qt::AlignCenter</set>
</property> </property>
<property name="textInteractionFlags"> <property name="textInteractionFlags">
<set>Qt::TextSelectableByMouse</set> <set>Qt::TextSelectableByMouse</set>
@@ -610,7 +610,7 @@
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> <set>Qt::AlignCenter</set>
</property> </property>
<property name="textInteractionFlags"> <property name="textInteractionFlags">
<set>Qt::TextSelectableByMouse</set> <set>Qt::TextSelectableByMouse</set>
@@ -629,7 +629,7 @@
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> <set>Qt::AlignCenter</set>
</property> </property>
<property name="textInteractionFlags"> <property name="textInteractionFlags">
<set>Qt::TextSelectableByMouse</set> <set>Qt::TextSelectableByMouse</set>
@@ -648,7 +648,7 @@
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> <set>Qt::AlignCenter</set>
</property> </property>
<property name="textInteractionFlags"> <property name="textInteractionFlags">
<set>Qt::TextSelectableByMouse</set> <set>Qt::TextSelectableByMouse</set>
@@ -667,7 +667,7 @@
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> <set>Qt::AlignCenter</set>
</property> </property>
<property name="textInteractionFlags"> <property name="textInteractionFlags">
<set>Qt::TextSelectableByMouse</set> <set>Qt::TextSelectableByMouse</set>
@@ -686,7 +686,7 @@
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> <set>Qt::AlignCenter</set>
</property> </property>
<property name="textInteractionFlags"> <property name="textInteractionFlags">
<set>Qt::TextSelectableByMouse</set> <set>Qt::TextSelectableByMouse</set>
@@ -920,7 +920,7 @@
</item> </item>
<item row="0" column="0"> <item row="0" column="0">
<layout class="QVBoxLayout" name="verticalLayout_2"> <layout class="QVBoxLayout" name="verticalLayout_2">
<item> <item alignment="Qt::AlignHCenter">
<widget class="QFrame" name="frm_move"> <widget class="QFrame" name="frm_move">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed"> <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -978,6 +978,9 @@
<property name="text"> <property name="text">
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item> <item>
@@ -985,6 +988,9 @@
<property name="text"> <property name="text">
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item> <item>
@@ -992,6 +998,9 @@
<property name="text"> <property name="text">
<string>-</string> <string>-</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
</layout> </layout>
@@ -1212,32 +1221,9 @@
</item> </item>
<item> <item>
<layout class="QHBoxLayout" name="horizontalLayout_6"> <layout class="QHBoxLayout" name="horizontalLayout_6">
<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> <item>
<layout class="QGridLayout" name="gridLayout_2"> <layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0"> <item row="0" column="2">
<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">
<widget class="QLabel" name="label_19"> <widget class="QLabel" name="label_19">
<property name="text"> <property name="text">
<string>dT</string> <string>dT</string>
@@ -1247,7 +1233,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="0"> <item row="1" column="1">
<widget class="QDoubleSpinBox" name="spn_ds"> <widget class="QDoubleSpinBox" name="spn_ds">
<property name="maximum"> <property name="maximum">
<double>100.000000000000000</double> <double>100.000000000000000</double>
@@ -1263,7 +1249,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="1" column="2">
<widget class="QDoubleSpinBox" name="spn_dt"> <widget class="QDoubleSpinBox" name="spn_dt">
<property name="maximum"> <property name="maximum">
<double>240.000000000000000</double> <double>240.000000000000000</double>
@@ -1276,10 +1262,82 @@
</property> </property>
</widget> </widget>
</item> </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> </layout>
</item> </item>
</layout> </layout>
</item> </item>
<item>
<layout class="QGridLayout" name="gridLayout_5">
<item row="0" column="0">
<widget class="QPushButton" name="btn_setFrame">
<property name="text">
<string>SetFrame</string>
</property>
</widget>
</item>
<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="2">
<widget class="QLineEdit" name="txt_frameOr">
<property name="inputMask">
<string>rx:000,ry:000,rz:000 </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="1">
<widget class="QLabel" name="label_21">
<property name="text">
<string>Orientation</string>
</property>
</widget>
</item>
</layout>
</item>
<item> <item>
<spacer name="verticalSpacer_2"> <spacer name="verticalSpacer_2">
<property name="orientation"> <property name="orientation">
@@ -1348,7 +1406,7 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>1108</width> <width>948</width>
<height>22</height> <height>22</height>
</rect> </rect>
</property> </property>
@@ -1370,12 +1428,12 @@
<resources/> <resources/>
<connections/> <connections/>
<buttongroups> <buttongroups>
<buttongroup name="grp_hilo"/>
<buttongroup name="grp_mod"/>
<buttongroup name="gpr_lock"> <buttongroup name="gpr_lock">
<property name="exclusive"> <property name="exclusive">
<bool>false</bool> <bool>false</bool>
</property> </property>
</buttongroup> </buttongroup>
<buttongroup name="grp_hilo"/>
<buttongroup name="grp_mod"/>
</buttongroups> </buttongroups>
</ui> </ui>

2
shared/roboglue_shared.h
View File

@@ -92,7 +92,7 @@ public:
kineDH_t DHtable; kineDH_t DHtable;
float maxReach = 1.2; float maxReach = 1.2;
} kine; } kine;
double deadTime = 10.0; //default value double deadTime = 1.0; //default value
std::map<std::string, std::string> subMap; std::map<std::string, std::string> subMap;
std::map<std::string, std::string> pubMap; std::map<std::string, std::string> pubMap;
std::map<std::string, std::string> nodeNames; std::map<std::string, std::string> nodeNames;