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Obbart:master Obbart:master-devel
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compare: Obbart:master-devel
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Obbart:master-devel Obbart:master

12 Commits
bf368d6ac6 ... master-dev

Author SHA1 Message Date
Emanuele
13a4942562 Modifiche interfaccia 2019-11-19 17:54:09 +01:00
Emanuele
5942c9b21a Corretta logica colorazione etichette stato nodi ROS 2019-11-18 11:37:04 +01:00
Emanuele
57c2b4ed3a Collegato bottone per spegnimento graceful nod ROS 2019-11-18 11:29:48 +01:00
Emanuele
2f59630197 Modificato il modo di colorare le label per nodi ROS 2019-11-18 11:25:51 +01:00
Emanuele
069fa97b40 Aggiornamento callback MQTT per nodo broadcaster 2019-11-15 16:44:21 +01:00
Emanuele
66bf6d5710 aggiunto broadcaster a interfaccia e configurazione 2019-11-15 14:50:07 +01:00
Emanuele
5c7caa3259 Aggiunto nodo broadcaster a interfaccia e shared memory 2019-11-15 14:49:45 +01:00
Emanuele
623ae0bedb Aggiunto checkbox per il plot del percorso caricato 2019-11-14 15:45:18 +01:00
Emanuele
04ae933f6e Modifiche interfaccia per frame riferimento 2019-11-13 15:55:55 +01:00
Emanuele
4970162ed5 correzioni interfaccia 2019-11-12 11:37:31 +01:00
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
9 changed files with 231 additions and 76 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, 2019-11-05T16:47:40. -->
<!-- Written by QtCreator 4.8.2, 2019-11-18T18:58:05. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>

8
com/mqtt_callback.cpp
View File

@@ -40,7 +40,11 @@ void mqtt_callback::message_arrived(mqtt::const_message_ptr msg) {
} 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);
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());
}
@@ -53,7 +57,7 @@ void mqtt_callback::message_arrived(mqtt::const_message_ptr msg) {
} 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");
log_->error("Unrecognized topic: {}", msg->get_topic().c_str());
}
}

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");
modlog = spdlog::stdout_logger_mt("RoboGlue_comlog");
liblog->set_level(spdlog::level::warn);
modlog->set_level(spdlog::level::trace);
modlog->set_level(spdlog::level::warn);
///////// INITIALIZE TCP SERVER ///////////
server = new QTcpServer(this);

54
gui/roboglue_gui.cpp
View File

@@ -91,22 +91,18 @@ 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.relayTime)));
this->ui->lbl_follower->setText(QString().fromStdString(std::to_string(m->commonStatus.followerTime)));
this->ui->lbl_recorder->setText(QString().fromStdString(std::to_string(m->commonStatus.recorderTime)));
if(m->commonStatus.relayTime > m->comSettings.deadTime ||
m->commonStatus.followerTime > m->comSettings.deadTime ||
m->commonStatus.recorderTime > 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; }");
}
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) {
@@ -271,7 +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);
@@ -329,6 +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//////////////
////////////////////////////////////////////////

4
gui/roboglue_gui.h
View File

@@ -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();

207
gui/roboglue_gui.ui
View File

@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>1108</width>
<height>760</height>
<width>1018</width>
<height>826</height>
</rect>
</property>
<property name="mouseTracking">
@@ -441,7 +441,7 @@
<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>
@@ -460,7 +460,7 @@
<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>
@@ -479,7 +479,7 @@
<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>
@@ -501,7 +501,7 @@
<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>
@@ -520,7 +520,7 @@
<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>
@@ -539,7 +539,7 @@
<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>
@@ -591,7 +591,7 @@
<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>
@@ -610,7 +610,7 @@
<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>
@@ -629,7 +629,7 @@
<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>
@@ -648,7 +648,7 @@
<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>
@@ -667,7 +667,7 @@
<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>
@@ -686,7 +686,7 @@
<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">
@@ -978,6 +978,9 @@
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
@@ -985,6 +988,9 @@
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
@@ -992,6 +998,9 @@
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
@@ -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>
@@ -1210,34 +1233,18 @@
</item>
</layout>
</item>
<item>
<widget class="Line" name="line_12">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<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>
<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 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">
@@ -1339,6 +1444,20 @@
</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>
@@ -1348,7 +1467,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>1108</width>
<width>1018</width>
<height>22</height>
</rect>
</property>
@@ -1371,11 +1490,11 @@
<connections/>
<buttongroups>
<buttongroup name="grp_hilo"/>
<buttongroup name="grp_mod"/>
<buttongroup name="gpr_lock">
<property name="exclusive">
<bool>false</bool>
</property>
</buttongroup>
<buttongroup name="grp_mod"/>
</buttongroups>
</ui>

3
roboglue.conf
View File

@@ -8,7 +8,7 @@ automain=false
autotrack=false
[robot]
connection\autoconnect=false
connection\autoconnect=true
connection\robotip=10.0.0.5
connection\robotport=30002
connection\robotretry=5
@@ -51,6 +51,7 @@ 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

9
shared/roboglue_shared.cpp
View File

@@ -16,9 +16,10 @@ RoboGlue_SHARED::~RoboGlue_SHARED(){
void RoboGlue_SHARED::on_statusTimer(void){
double curTime = static_cast<double>(std::time(NULL));
commonStatus.relayTime = fabs(commonStatus.relayLast - curTime);
commonStatus.followerTime = fabs(commonStatus.followerLast - curTime);
commonStatus.recorderTime = fabs(commonStatus.recorderLast - curTime);
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();
}
////////////////////////////////////////////////////////////////
@@ -88,6 +89,7 @@ void RoboGlue_SHARED::restoreComSettings() {
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();
@@ -153,6 +155,7 @@ void RoboGlue_SHARED::saveComSettings() {
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();

18
shared/roboglue_shared.h
View File

@@ -30,6 +30,7 @@
#include <QSize>
#include <QTimer>
#include <stdexcept>
#include <ctime>
#include <libJson/json.hpp>
#include <libURcom/URCLinterface.h>
#include <boost/algorithm/string.hpp>
@@ -55,13 +56,16 @@ public:
bool relayRunning = false;
bool followerRunning = false;
bool recorderRunning = false;
bool broadcasterRunning = false;
// ROS node last seen
double relayLast = 0.0;
double followerLast = 0.0;
double recorderLast = 0.0;
double relayTime = 0.0;
double followerTime = 0.0;
double recorderTime = 0.0;
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 /////////
@@ -92,7 +96,7 @@ public:
kineDH_t DHtable;
float maxReach = 1.2;
} 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> pubMap;
std::map<std::string, std::string> nodeNames;