YARP
Yet Another Robot Platform
 
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jointitem.cpp
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
4 * SPDX-License-Identifier: LGPL-2.1-or-later
5 */
6
7#include "jointitem.h"
8#include "ui_jointitem.h"
9
10#include "log.h"
11#include "yarpmotorgui.h"
12
13#include <cmath>
14
15#include <yarp/os/Log.h>
16#include <yarp/os/LogStream.h>
17
18#include <QDebug>
19#include <QKeyEvent>
20
21void JointItem::resetTarget()
22{
23 ui->sliderPosTrajectory_Position->resetTarget();
24 ui->sliderMixedPosition->resetTarget();
25}
26
27void JointItem::home()
28{
29 if (this->internalState == Velocity)
30 {
31 velocityTimer.stop();
32 }
33 else if (this->internalState == VelocityDirect)
34 {
35 velocityDirectTimer.stop();
36 }
37 else if(this->internalState == Pwm)
38 {
39 pwmTimer.stop();
40 }
41 else if(this->internalState == Current)
42 {
43 currentTimer.stop();
44 }
45 else if(this->internalState == Torque)
46 {
47 torqueTimer.stop();
48 }
49 emit homeClicked(this);
50}
51
52void JointItem::run()
53{
54 if (this->internalState == Velocity)
55 {
56 velocityTimer.stop();
57 }
58 else if (this->internalState == VelocityDirect)
59 {
60 velocityDirectTimer.stop();
61 }
62 else if(this->internalState == Pwm)
63 {
64 pwmTimer.stop();
65 }
66 else if(this->internalState == Current)
67 {
68 currentTimer.stop();
69 }
70 else if(this->internalState == Torque)
71 {
72 torqueTimer.stop();
73 }
74 emit runClicked(this);
75}
76
77void JointItem::idle()
78{
79 if (this->internalState == Velocity)
80 {
81 velocityTimer.stop();
82 }
83 else if (this->internalState == VelocityDirect)
84 {
85 velocityDirectTimer.stop();
86 }
87 else if(this->internalState == Pwm)
88 {
89 pwmTimer.stop();
90 }
91 else if(this->internalState == Current)
92 {
93 currentTimer.stop();
94 }
95 else if(this->internalState == Torque)
96 {
97 torqueTimer.stop();
98 }
99 emit idleClicked(this);
100}
101
102void JointItem::showPID()
103{
104 emit pidClicked(this);
105}
106
107QColor JointItem::GetModeColor(JointState mode)
108{
109 QColor output;
110 switch (mode) {
111 case JointItem::Idle:{
112 output = idleColor;
113 break;
114 }
115 case JointItem::Position:{
116 output = positionColor;
117 break;
118 }
119 case JointItem::PositionDirect:{
120 output = positionDirectColor;
121 break;
122 }
123 case JointItem::Mixed:{
124 output = mixedColor;
125 break;
126 }
127 case JointItem::Velocity:{
128 output = velocityColor;
129 break;
130 }
131 case JointItem::VelocityDirect:{
132 output = velocityDirectColor;
133 break;
134 }
135 case JointItem::Torque:{
136 output = torqueColor;
137 break;
138 }
139 case JointItem::Pwm:{
140 output = pwmColor;
141 break;
142 }
143 case JointItem::Current:{
144 output = currentColor;
145 break;
146 }
147
148 case JointItem::Disconnected:{
149 output = disconnectColor;
150 break;
151 }
152 case JointItem::HwFault:{
153 output = hwFaultColor;
154 break;
155 }
156 case JointItem::Calibrating:{
157 output = calibratingColor;
158 break;
159 }
160 case JointItem::NotConfigured:{
161 output = calibratingColor;
162 break;
163 }
164 case JointItem::Configured:{
165 output = calibratingColor;
166 break;
167 }
168
169 default:
170 output = calibratingColor;
171 break;
172 }
173
174 return output;
175
176}
177
178QString JointItem::GetModeString(JointState mode)
179{
180 QString output;
181 switch (mode) {
182 case JointItem::Idle:{
183 output = "Idle";
184 break;
185 }
186 case JointItem::Position:{
187 output = "Position";
188 break;
189 }
190 case JointItem::PositionDirect:{
191 output = "Position Direct";
192 break;
193 }
194 case JointItem::Mixed:{
195 output = "Mixed";
196 break;
197 }
198 case JointItem::Velocity:{
199 output = "Velocity";
200 break;
201 }
202 case JointItem::VelocityDirect:{
203 output = "Velocity Direct";
204 break;
205 }
206 case JointItem::Torque:{
207 output = "Torque";
208 break;
209 }
210 case JointItem::Pwm:{
211 output = "PWM";
212 break;
213 }
214 case JointItem::Current:{
215 output = "Current";
216 break;
217 }
218
219 case JointItem::Disconnected:{
220 output = "Disconnected";
221 break;
222 }
223 case JointItem::HwFault:{
224 output = "Hardware Fault";
225 break;
226 }
227 case JointItem::Calibrating:{
228 output = "Calibrating";
229 break;
230 }
231 case JointItem::NotConfigured:{
232 output = "Not Configured";
233 break;
234 }
235 case JointItem::Configured:{
236 output = "Configured";
237 break;
238 }
239
240 default:
241 output = "Unknown";
242 break;
243 }
244
245 return output;
246
247}
248
249void JointItem::updateTrajectoryPositionTarget(double val)
250{
251 ui->sliderPosTrajectory_Position->updateSliderTarget(val);
252}
253
254void JointItem::updateMixedPositionTarget(double val)
255{
256 ui->sliderMixedPosition->updateSliderTarget(val);
257}
258
259JointItem::JointItem(int index,QWidget *parent) :
260 QWidget(parent),
261 ui(new Ui::JointItem)
262{
263 ui->setupUi(this);
264 internalState = StateStarting;
265 internalInteraction = InteractionStarting;
266 jointIndex = index;
267
268 connect(ui->comboMode,SIGNAL(currentIndexChanged(int)),this,SLOT(onModeChanged(int)));
269 connect(ui->comboInteraction,SIGNAL(currentIndexChanged(int)),this,SLOT(onInteractionChanged(int)));
270
271 ui->sliderPosTrajectory_Position->installEventFilter(this);
272 connect(ui->sliderPosTrajectory_Position,SIGNAL(sliderPressed()),this,SLOT(onSliderPosTrajectory_PositionPressed()));
273 connect(ui->sliderPosTrajectory_Position, SIGNAL(sliderReleased()), this, SLOT(onSliderPosTrajectory_PositionReleased()));
274 ui->sliderPosTrajectory_Position->disableClickOutOfHandle=true;
275 ui->sliderPosTrajectory_Position->enableViewTargetBox = true;
276 ui->sliderPosTrajectory_Position->enableViewTargetValue = false;
277
278 ui->sliderTorqueTorque->installEventFilter(this);
279 connect(ui->sliderTorqueTorque,SIGNAL(sliderPressed()),this,SLOT(onSliderTorquePressed()));
280 connect(ui->sliderTorqueTorque,SIGNAL(sliderReleased()),this,SLOT(onSliderTorqueReleased()));
281 ui->sliderTorqueTorque->disableClickOutOfHandle = true;
282 ui->sliderTorqueTorque->enableViewTargetBox = false;
283 ui->sliderTorqueTorque->enableViewTargetValue = false;
284
285 ui->sliderPWMOutput->installEventFilter(this);
286 connect(ui->sliderPWMOutput, SIGNAL(sliderPressed()), this, SLOT(onSliderPWMPressed()));
287 connect(ui->sliderPWMOutput, SIGNAL(sliderReleased()), this, SLOT(onSliderPWMReleased()));
288 ui->sliderPWMOutput->disableClickOutOfHandle = true;
289 ui->sliderPWMOutput->enableViewTargetBox = false;
290 ui->sliderPWMOutput->enableViewTargetValue = false;
291
292 ui->sliderCurrentOutput->installEventFilter(this);
293 connect(ui->sliderCurrentOutput, SIGNAL(sliderPressed()), this, SLOT(onSliderCurrentPressed()));
294 connect(ui->sliderCurrentOutput, SIGNAL(sliderReleased()), this, SLOT(onSliderCurrentReleased()));
295 ui->sliderCurrentOutput->disableClickOutOfHandle = true;
296 ui->sliderCurrentOutput->enableViewTargetBox = false;
297 ui->sliderCurrentOutput->enableViewTargetValue = false;
298
299 ui->sliderDirectPosition->installEventFilter(this);
300 connect(ui->sliderDirectPosition, SIGNAL(sliderPressed()), this, SLOT(onSliderDirectPositionPressed()));
301 connect(ui->sliderDirectPosition, SIGNAL(sliderReleased()), this, SLOT(onSliderDirectPositionReleased()));
302 ui->sliderDirectPosition->disableClickOutOfHandle = true;
303 ui->sliderDirectPosition->enableViewTargetBox = false;
304 ui->sliderDirectPosition->enableViewTargetValue = false;
305
306 ui->sliderVelocityDirectVelocityDirect->installEventFilter(this);
307 connect(ui->sliderVelocityDirectVelocityDirect, SIGNAL(sliderPressed()), this, SLOT(onSliderVelocityDirectPressed()));
308 connect(ui->sliderVelocityDirectVelocityDirect, SIGNAL(sliderReleased()), this, SLOT(onSliderVelocityDirectReleased()));
309 ui->sliderVelocityDirectVelocityDirect->disableClickOutOfHandle = true;
310 ui->sliderVelocityDirectVelocityDirect->enableViewTargetBox = false;
311 ui->sliderVelocityDirectVelocityDirect->enableViewTargetValue = false;
312
313 ui->sliderMixedPosition->installEventFilter(this);
314 connect(ui->sliderMixedPosition, SIGNAL(sliderPressed()), this, SLOT(onSliderMixedPositionPressed()));
315 connect(ui->sliderMixedPosition, SIGNAL(sliderReleased()), this, SLOT(onSliderMixedPositionReleased()));
316 ui->sliderMixedPosition->disableClickOutOfHandle = true;
317 ui->sliderMixedPosition->enableViewTargetBox = true;
318 ui->sliderMixedPosition->enableViewTargetValue = false;
319
320 ui->sliderVelTrajectory_Velocity->installEventFilter(this);
321 connect(ui->sliderVelTrajectory_Velocity,SIGNAL(sliderPressed()),this,SLOT(onSliderVelTrajectory_VelocityPressed()));
322 connect(ui->sliderVelTrajectory_Velocity,SIGNAL(sliderReleased()),this,SLOT(onSliderVelTrajectory_VelocityReleased()));
323 ui->sliderVelTrajectory_Velocity->disableClickOutOfHandle = true;
324 ui->sliderVelTrajectory_Velocity->enableViewTargetBox = false;
325 ui->sliderVelTrajectory_Velocity->enableViewTargetValue = false;
326
327 ui->sliderPosTrajectory_Velocity->installEventFilter(this);
328 connect(ui->sliderPosTrajectory_Velocity, SIGNAL(sliderPressed()), this, SLOT(onSliderPosTrajectory_VelocityPressed()));
329 connect(ui->sliderPosTrajectory_Velocity, SIGNAL(sliderReleased()), this, SLOT(onSliderPosTrajectory_VelocityReleased()));
330 ui->sliderPosTrajectory_Velocity->disableClickOutOfHandle = true;
331 ui->sliderPosTrajectory_Velocity->enableViewTargetBox = false;
332 ui->sliderPosTrajectory_Velocity->enableViewTargetValue = false;
333
334 ui->sliderVelTrajectory_Acceleration->installEventFilter(this);
335 connect(ui->sliderVelTrajectory_Acceleration, SIGNAL(sliderPressed()), this, SLOT(onSliderVelTrajectory_AccelerationPressed()));
336 connect(ui->sliderVelTrajectory_Acceleration, SIGNAL(sliderReleased()), this, SLOT(onSliderVelTrajectory_AccelerationReleased()));
337 ui->sliderVelTrajectory_Acceleration->disableClickOutOfHandle = true;
338 ui->sliderVelTrajectory_Acceleration->enableViewTargetBox = false;
339 ui->sliderVelTrajectory_Acceleration->enableViewTargetValue = false;
340
341 ui->sliderMixedVelocity->installEventFilter(this);
342 connect(ui->sliderMixedVelocity, SIGNAL(sliderPressed()), this, SLOT(onSliderMixedVelocityPressed()));
343 connect(ui->sliderMixedVelocity, SIGNAL(sliderReleased()), this, SLOT(onSliderMixedVelocityReleased()));
344 ui->sliderMixedVelocity->disableClickOutOfHandle = true;
345 ui->sliderMixedVelocity->enableViewTargetBox = false;
346 ui->sliderMixedVelocity->enableViewTargetValue = false;
347
348 connect(ui->buttonHome,SIGNAL(clicked()),this,SLOT(onHomeClicked()));
349 connect(ui->buttonIdle,SIGNAL(clicked()),this,SLOT(onIdleClicked()));
350 connect(ui->buttonRun,SIGNAL(clicked()),this,SLOT(onRunClicked()));
351 connect(ui->buttonPid,SIGNAL(clicked()),this,SLOT(onPidClicked()));
352 connect(ui->buttonCalib,SIGNAL(clicked()),this,SLOT(onCalibClicked()));
353
354 ui->groupBox->setTitle(QString("JOINT %1 (%2)").arg(index).arg(jointName));
355 // ui->groupBox->setAlignment(Qt::AlignHCenter);
356
357
358
359
360 comboStyle1 = "QComboBox {"
361 "border: 1px solid gray;"
362 "border-radius: 3px;"
363 "padding: 1px 18px 1px 3px;"
364 "min-width: 6em;}"
365 "QComboBox:editable {"
366 "background: white;"
367 "foreground: rgb(35, 38, 41);}"
368 "QComboBox::down-arrow {"
369 "image: url(:/images/downArrow.png);}";
370
371
372 comboStyle2 = "QComboBox:on { "
373 "padding-top: 3px;"
374 "padding-left: 4px;}"
375 "QComboBox::drop-down {"
376 "subcontrol-origin: padding;"
377 "subcontrol-position: top right;"
378 "width: 15px;"
379 "border-left-width: 1px;"
380 "border-left-color: darkgray;"
381 "border-left-style: solid; "
382 "border-top-right-radius: 3px; "
383 "border-bottom-right-radius: 3px;"
384 "background-color: darkgray;}";
385
386
387
388 installFilter();
389
390 ui->comboInteraction->setItemData(0,QColor(Qt::darkGray), Qt::BackgroundRole);
391 ui->comboInteraction->setItemData(1,QColor(0,80,255), Qt::BackgroundRole);
392 ui->comboInteraction->setItemData(1,QColor(35, 38, 41), Qt::ForegroundRole);
393
394 ui->comboMode->setItemData( IDLE, idleColor, Qt::BackgroundRole );
395 ui->comboMode->setItemData( POSITION, positionColor, Qt::BackgroundRole );
396 ui->comboMode->setItemData( POSITION_DIR, positionDirectColor, Qt::BackgroundRole );
397 ui->comboMode->setItemData( MIXED, mixedColor, Qt::BackgroundRole );
398 ui->comboMode->setItemData( VELOCITY, velocityColor, Qt::BackgroundRole );
399 ui->comboMode->setItemData( VELOCITY_DIR, velocityDirectColor, Qt::BackgroundRole );
400 ui->comboMode->setItemData( TORQUE, torqueColor, Qt::BackgroundRole );
401 ui->comboMode->setItemData( PWM, pwmColor, Qt::BackgroundRole );
402 ui->comboMode->setItemData( CURRENT, currentColor, Qt::BackgroundRole);
403
404 ui->comboMode->setItemData( IDLE, QColor(35, 38, 41), Qt::ForegroundRole );
405 ui->comboMode->setItemData( POSITION, QColor(35, 38, 41), Qt::ForegroundRole );
406 ui->comboMode->setItemData( POSITION_DIR, QColor(35, 38, 41), Qt::ForegroundRole );
407 ui->comboMode->setItemData( MIXED, QColor(35, 38, 41), Qt::ForegroundRole );
408 ui->comboMode->setItemData( VELOCITY, QColor(35, 38, 41), Qt::ForegroundRole );
409 ui->comboMode->setItemData( VELOCITY_DIR, QColor(35, 38, 41), Qt::ForegroundRole );
410 ui->comboMode->setItemData( TORQUE, QColor(35, 38, 41), Qt::ForegroundRole );
411 ui->comboMode->setItemData( PWM, QColor(35, 38, 41), Qt::ForegroundRole );
412 ui->comboMode->setItemData( CURRENT, QColor(35, 38, 41), Qt::ForegroundRole );
413
414 ui->comboMode->setItemData( IDLE, Idle, Qt::UserRole);
415 ui->comboMode->setItemData( POSITION, Position, Qt::UserRole );
416 ui->comboMode->setItemData( POSITION_DIR, PositionDirect, Qt::UserRole );
417 ui->comboMode->setItemData( MIXED, Mixed, Qt::UserRole );
418 ui->comboMode->setItemData( VELOCITY, Velocity, Qt::UserRole );
419 ui->comboMode->setItemData( VELOCITY_DIR, VelocityDirect, Qt::UserRole );
420 ui->comboMode->setItemData( TORQUE, Torque, Qt::UserRole );
421 ui->comboMode->setItemData( PWM, Pwm, Qt::UserRole);
422 ui->comboMode->setItemData( CURRENT, Current, Qt::UserRole);
423
424 setJointInternalState(IDLE);
425
426 ui->stackedWidget->widget(VELOCITY)->setEnabled(false);
427 velocityTimer.setInterval(50);
428 velocityTimer.setSingleShot(false);
429 connect(&velocityTimer,SIGNAL(timeout()),this,SLOT(onVelocityTimer()));
430
431 ui->stackedWidget->widget(VELOCITY_DIR)->setEnabled(false);
432 velocityDirectTimer.setInterval(50);
433 velocityDirectTimer.setSingleShot(false);
434 connect(&velocityDirectTimer,SIGNAL(timeout()),this,SLOT(onVelocityDirectTimer()));
435
436 ui->stackedWidget->widget(PWM)->setEnabled(false);
437 pwmTimer.setInterval(50);
438 pwmTimer.setSingleShot(false);
439 connect(&pwmTimer,SIGNAL(timeout()),this,SLOT(onPwmTimer()));
440
441 ui->stackedWidget->widget(CURRENT)->setEnabled(false);
442 currentTimer.setInterval(50);
443 currentTimer.setSingleShot(false);
444 connect(&currentTimer,SIGNAL(timeout()),this,SLOT(onCurrentTimer()));
445
446 ui->stackedWidget->widget(TORQUE)->setEnabled(false);
447 torqueTimer.setInterval(50);
448 torqueTimer.setSingleShot(false);
449 connect(&torqueTimer,SIGNAL(timeout()),this,SLOT(onTorqueTimer()));
450}
451
452bool JointItem::eventFilter(QObject *obj, QEvent *event)
453{
454 if (event->type() == QEvent::KeyPress || event->type() == QEvent::KeyRelease) {
455 auto* keyEvent = static_cast<QKeyEvent *>(event);
456 int key = keyEvent->key();
457 if(key == Qt::Key_Left || key == Qt::Key_Right || key == Qt::Key_Up ||
458 key == Qt::Key_Down || key == Qt::Key_PageUp || key == Qt::Key_PageDown){
459
460 //SliderWithTarget *slider=0;
461 QSlider* slider = nullptr;
462
463 if(obj == ui->sliderPosTrajectory_Position){
464 slider = ui->sliderPosTrajectory_Position;
465 if(keyEvent->type() == QEvent::KeyPress){
466 onSliderPosTrajectory_PositionPressed();
467 }
468 if(keyEvent->type() == QEvent::KeyRelease){
469 onSliderPosTrajectory_PositionReleased();
470 }
471 }
472 if(obj == ui->sliderPosTrajectory_Velocity){
473 slider = ui->sliderPosTrajectory_Velocity;
474 if (keyEvent->type() == QEvent::KeyPress){
475 onSliderPosTrajectory_VelocityPressed();
476 }
477 if (keyEvent->type() == QEvent::KeyRelease){
478 onSliderPosTrajectory_VelocityReleased();
479 }
480 }
481 if(obj == ui->sliderDirectPosition){
482 slider = ui->sliderDirectPosition;
483 if(keyEvent->type() == QEvent::KeyPress){
484 onSliderDirectPositionPressed();
485 }
486 if(keyEvent->type() == QEvent::KeyRelease){
487 onSliderDirectPositionReleased();
488 }
489 }
490 if(obj == ui->sliderMixedPosition){
491 slider = ui->sliderMixedPosition;
492 if(keyEvent->type() == QEvent::KeyPress){
493 onSliderMixedPositionPressed();
494 }
495 if(keyEvent->type() == QEvent::KeyRelease){
496 onSliderMixedPositionReleased();
497 }
498 }
499 if(obj == ui->sliderMixedVelocity){
500 slider = ui->sliderMixedVelocity;
501 }
502 if(obj == ui->sliderTorqueTorque){
503 slider = ui->sliderTorqueTorque;
504 if(keyEvent->type() == QEvent::KeyPress){
505 onSliderTorquePressed();
506 }
507 if(keyEvent->type() == QEvent::KeyRelease){
508 onSliderTorqueReleased();
509 }
510 }
511 if (obj == ui->sliderPWMOutput){
512 slider = ui->sliderPWMOutput;
513 if(keyEvent->type() == QEvent::KeyPress){
514 onSliderPWMPressed();
515 }
516 if(keyEvent->type() == QEvent::KeyRelease){
517 onSliderPWMReleased();
518 }
519 }
520 if (obj == ui->sliderCurrentOutput){
521 slider = ui->sliderCurrentOutput;
522 if (keyEvent->type() == QEvent::KeyPress){
523 onSliderCurrentPressed();
524 }
525 if (keyEvent->type() == QEvent::KeyRelease){
526 onSliderCurrentReleased();
527 }
528 }
529 if(obj == ui->sliderVelTrajectory_Velocity){
530 slider = ui->sliderVelTrajectory_Velocity;
531 if(keyEvent->type() == QEvent::KeyPress){
532 onSliderVelTrajectory_VelocityPressed();
533 }
534 if(keyEvent->type() == QEvent::KeyRelease){
535 onSliderVelTrajectory_VelocityReleased();
536 }
537 }
538 if(obj == ui->sliderVelTrajectory_Acceleration){
539 slider = ui->sliderVelTrajectory_Acceleration;
540 if(keyEvent->type() == QEvent::KeyPress){
541 onSliderVelTrajectory_AccelerationPressed();
542 }
543 if(keyEvent->type() == QEvent::KeyRelease){
544 onSliderVelTrajectory_AccelerationPressed();
545 }
546 }
547
548 if (slider == nullptr) {
549 return false;
550 }
551
552
553 if(keyEvent->type() == QEvent::KeyPress){
554 if(key == Qt::Key_Left || key == Qt::Key_Down){
555 slider->setValue(slider->value() - 1);
556 }
557 if(key == Qt::Key_Right || key == Qt::Key_Up){
558 slider->setValue(slider->value() + 1);
559 }
560 if(key == Qt::Key_PageUp){
561 slider->setValue(slider->value() + 10);
562 }
563 if(key == Qt::Key_PageDown){
564 slider->setValue(slider->value() - 10);
565 }
566 }
567
568
569 return true;
570 }
571 return QObject::eventFilter(obj, event);
572
573 } else {
574 // standard event processing
575 return QObject::eventFilter(obj, event);
576 }
577}
578
579void JointItem::enableControlVelocity(bool control)
580{
581 velocityModeEnabled = control;
582 ui->stackedWidget->widget(VELOCITY)->setEnabled(velocityModeEnabled);
583 if(ui->stackedWidget->currentIndex() == VELOCITY && velocityModeEnabled){
584 velocityTimer.start();
585 }
586}
587
588void JointItem::enableControlVelocityDirect(bool control)
589{
590 velocityDirectModeEnabled = control;
591 ui->stackedWidget->widget(VELOCITY_DIR)->setEnabled(velocityDirectModeEnabled);
592 if(ui->stackedWidget->currentIndex() == VELOCITY_DIR && velocityDirectModeEnabled){
593 velocityDirectTimer.start();
594 }
595}
596
597void JointItem::enableControlMixed(bool control)
598{
599 ui->stackedWidget->widget(MIXED)->setEnabled(control);
600}
601
602void JointItem::enableControlPositionDirect(bool control)
603{
604 ui->stackedWidget->widget(POSITION_DIR)->setEnabled(control);
605}
606
607void JointItem::enableControlPWM(bool control)
608{
609 pwmModeEnabled = control;
610 ui->stackedWidget->widget(PWM)->setEnabled(pwmModeEnabled);
611 if(ui->stackedWidget->currentIndex() == PWM && pwmModeEnabled)
612 {
613 pwmTimer.start();
614 }
615}
616
617void JointItem::enableControlCurrent(bool control)
618{
619 currentModeEnabled = control;
620 ui->stackedWidget->widget(CURRENT)->setEnabled(currentModeEnabled);
621 if(ui->stackedWidget->currentIndex() == CURRENT && currentModeEnabled)
622 {
623 currentTimer.start();
624 }
625}
626
627void JointItem::enableControlTorque(bool control)
628{
629 torqueModeEnabled = control;
630 ui->stackedWidget->widget(TORQUE)->setEnabled(torqueModeEnabled);
631 if(ui->stackedWidget->currentIndex() == TORQUE && torqueModeEnabled)
632 {
633 torqueTimer.start();
634 }
635}
636
637void JointItem::viewPositionTargetBox(bool visible)
638{
639 ui->sliderPosTrajectory_Position->enableViewTargetBox = visible;
640 ui->sliderMixedPosition->enableViewTargetBox = visible;
641}
642
643void JointItem::viewPositionTargetValue(bool visible)
644{
645 ui->sliderPosTrajectory_Position->enableViewTargetValue = visible;
646 ui->sliderMixedPosition->enableViewTargetValue = visible;
647}
648
649void JointItem::setUnits(yarp::dev::JointTypeEnum t)
650{
651 QString pos_metric_revolute("deg");
652 QString trq_metric_revolute("Nm");
653 QString trq_metric_revolute_title("Torque:");
654 QString vel_metric_revolute("deg/s");
655 QString pos_metric_prism("m");
656 QString trq_metric_prism("N");
657 QString trq_metric_prism_title("Force:");
658 QString vel_metric_prism("m/s");
659
660 if (t == yarp::dev::VOCAB_JOINTTYPE_REVOLUTE)
661 {
662 ui->labelIdlevelUnits->setText(vel_metric_revolute);
663 ui->labelPositionvelUnits->setText(vel_metric_revolute);
664 ui->labelPositionDirvelUnits->setText(vel_metric_revolute);
665 ui->labelMixedvelUnits->setText(vel_metric_revolute);
666 ui->labelTorquevelUnits->setText(vel_metric_revolute);
667 ui->labelPWMvelUnits->setText(vel_metric_revolute);
668 ui->labelCurrentvelUnits->setText(vel_metric_revolute);
669 ui->labelVelocityvelUnits->setText(vel_metric_revolute);
670 ui->labelVelocityDirvelUnits->setText(vel_metric_revolute);
671
672 ui->labelIdleTorque->setText(trq_metric_revolute_title);
673 ui->labelPositionTorque->setText(trq_metric_revolute_title);
674 ui->labelPositionDirTorque->setText(trq_metric_revolute_title);
675 ui->labelMixedTorque->setText(trq_metric_revolute_title);
676 ui->labelTorqueTorque->setText(trq_metric_revolute_title);
677 ui->labelPWMTorque->setText(trq_metric_revolute_title);
678 ui->labelCurrentTorque->setText(trq_metric_revolute_title);
679 ui->labelVelocityTorque->setText(trq_metric_revolute_title);
680 ui->labelVelocityDirTorque->setText(trq_metric_revolute_title);
681
682 ui->labelIdleposUnits->setText(pos_metric_revolute);
683 ui->labelPositionposUnits->setText(pos_metric_revolute);
684 ui->labelPositionDirposUnits->setText(pos_metric_revolute);
685 ui->labelMixedposUnits->setText(pos_metric_revolute);
686 ui->labelTorqueposUnits->setText(pos_metric_revolute);
687 ui->labelPWMposUnits->setText(pos_metric_revolute);
688 ui->labelCurrentposUnits->setText(pos_metric_revolute);
689 ui->labelVelocityposUnits->setText(pos_metric_revolute);
690 ui->labelVelocityDirposUnits->setText(pos_metric_revolute);
691 ui->labelFaultposUnits->setText(pos_metric_revolute);
692
693 //ui->labelIdleMotorPosUnits->setText(pos_metric_revolute);
694 //ui->labelFaultMotorPosUnits->setText(pos_metric_revolute);
695
696 ui->labelIdletrqUnits->setText(trq_metric_revolute);
697 ui->labelPositiontrqUnits->setText(trq_metric_revolute);
698 ui->labelPositionDirtrqUnits->setText(trq_metric_revolute);
699 ui->labelMixedtrqUnits->setText(trq_metric_revolute);
700 ui->labelTorquetrqUnits->setText(trq_metric_revolute);
701 ui->labelPWMtrqUnits->setText(trq_metric_revolute);
702 ui->labelCurrenttrqUnits->setText(pos_metric_revolute);
703 ui->labelVelocitytrqUnits->setText(trq_metric_revolute);
704 ui->labelVelocityDirtrqUnits->setText(trq_metric_revolute);
705 }
706 else if (t == yarp::dev::VOCAB_JOINTTYPE_PRISMATIC)
707 {
708 ui->labelIdlevelUnits->setText(vel_metric_prism);
709 ui->labelPositionvelUnits->setText(vel_metric_prism);
710 ui->labelPositionDirvelUnits->setText(vel_metric_prism);
711 ui->labelMixedvelUnits->setText(vel_metric_prism);
712 ui->labelTorquevelUnits->setText(vel_metric_prism);
713 ui->labelPWMvelUnits->setText(vel_metric_prism);
714 ui->labelCurrentvelUnits->setText(vel_metric_prism);
715 ui->labelVelocityvelUnits->setText(vel_metric_prism);
716 ui->labelVelocityDirvelUnits->setText(vel_metric_prism);
717
718 ui->labelIdleTorque->setText(trq_metric_prism_title);
719 ui->labelPositionTorque->setText(trq_metric_prism_title);
720 ui->labelPositionDirTorque->setText(trq_metric_prism_title);
721 ui->labelMixedTorque->setText(trq_metric_prism_title);
722 ui->labelTorqueTorque->setText(trq_metric_prism_title);
723 ui->labelPWMTorque->setText(trq_metric_prism_title);
724 ui->labelCurrentTorque->setText(trq_metric_prism_title);
725 ui->labelVelocityTorque->setText(trq_metric_prism_title);
726 ui->labelVelocityDirTorque->setText(vel_metric_prism);
727
728 ui->labelIdleposUnits->setText(pos_metric_prism);
729 ui->labelPositionposUnits->setText(pos_metric_prism);
730 ui->labelPositionDirposUnits->setText(pos_metric_prism);
731 ui->labelMixedposUnits->setText(pos_metric_prism);
732 ui->labelTorqueposUnits->setText(pos_metric_prism);
733 ui->labelPWMposUnits->setText(pos_metric_prism);
734 ui->labelCurrentposUnits->setText(pos_metric_prism);
735 ui->labelVelocityposUnits->setText(pos_metric_prism);
736 ui->labelVelocityDirposUnits->setText(pos_metric_prism);
737 ui->labelFaultposUnits->setText(pos_metric_prism);
738
739 //ui->labelIdleMotorPosUnits->setText(pos_metric_prism);
740 //ui->labelFaultMotorPosUnits->setText(pos_metric_prism);
741
742 ui->labelIdletrqUnits->setText(trq_metric_prism);
743 ui->labelPositiontrqUnits->setText(trq_metric_prism);
744 ui->labelPositionDirtrqUnits->setText(trq_metric_prism);
745 ui->labelMixedtrqUnits->setText(trq_metric_prism);
746 ui->labelTorquetrqUnits->setText(trq_metric_prism);
747 ui->labelPWMtrqUnits->setText(trq_metric_prism);
748 ui->labelCurrenttrqUnits->setText(trq_metric_prism);
749 ui->labelVelocitytrqUnits->setText(trq_metric_prism);
750 ui->labelVelocityDirtrqUnits->setText(trq_metric_prism);
751 }
752 else
753 {
754 yFatal("Unspecified joint type");
755 }
756}
757
758void JointItem::setMotorPositionVisible(bool visible)
759{
760 joint_motorPositionVisible = visible;
761 ui->editIdleMotorPos->setVisible(visible);
762 ui->editPositionMotorPos->setVisible(visible);
763 ui->editPositionDirMotorPos->setVisible(visible);
764 ui->editMixedMotorPos->setVisible(visible);
765 ui->editTorqueMotorPos->setVisible(visible);
766 ui->editPWMMotorPos->setVisible(visible);
767 ui->editCurrentMotorPos->setVisible(visible);
768 ui->editVelocityMotorPos->setVisible(visible);
769 ui->editVelocityDirMotorPos->setVisible(visible);
770 ui->editFaultMotorPos->setVisible(visible);
771
772 ui->labelIdleMotorPos->setVisible(visible);
773 ui->labelPositionMotorPos->setVisible(visible);
774 ui->labelPositionDirMotorPos->setVisible(visible);
775 ui->labelMixedMotorPos->setVisible(visible);
776 ui->labelTorqueMotorPos->setVisible(visible);
777 ui->labelPWMMotorPos->setVisible(visible);
778 ui->labelCurrentMotorPos->setVisible(visible);
779 ui->labelVelocityMotorPos->setVisible(visible);
780 ui->labelVelocityDirMotorPos->setVisible(visible);
781 ui->labelFaultMotorPos->setVisible(visible);
782
783 ui->labelIdleMotorPosUnits->setVisible(visible);
784 ui->labelPositionMotorPosUnits->setVisible(visible);
785 ui->labelPositionDirMotorPosUnits->setVisible(visible);
786 ui->labelMixedMotorPosUnits->setVisible(visible);
787 ui->labelTorqueMotorPosUnits->setVisible(visible);
788 ui->labelPWMMotorPosUnits->setVisible(visible);
789 ui->labelCurrentMotorPosUnits->setVisible(visible);
790 ui->labelVelocityMotorPosUnits->setVisible(visible);
791 ui->labelVelocityDirMotorPosUnits->setVisible(visible);
792 ui->labelFaultMotorPosUnits->setVisible(visible);
793
794 if (!visible) {
795 ui->editIdleMotorPos->setMinimumHeight(0);
796 ui->editPositionMotorPos->setMinimumHeight(0);
797 ui->editPositionDirMotorPos->setMinimumHeight(0);
798 ui->editMixedMotorPos->setMinimumHeight(0);
799 ui->editTorqueMotorPos->setMinimumHeight(0);
800 ui->editPWMMotorPos->setMinimumHeight(0);
801 ui->editCurrentMotorPos->setMinimumHeight(0);
802 ui->editVelocityMotorPos->setMinimumHeight(0);
803 ui->editVelocityDirMotorPos->setMinimumHeight(0);
804 ui->editFaultMotorPos->setMinimumHeight(0);
805
806 ui->labelPositionMotorPos->setMinimumHeight(0);
807 ui->labelPositionMotorPosUnits->setMinimumHeight(0);
808 ui->labelPositionDirMotorPos->setMinimumHeight(0);
809 ui->labelPositionDirMotorPosUnits->setMinimumHeight(0);
810 ui->labelMixedMotorPos->setMinimumHeight(0);
811 ui->labelMixedMotorPosUnits->setMinimumHeight(0);
812 ui->labelTorqueMotorPos->setMinimumHeight(0);
813 ui->labelTorqueMotorPosUnits->setMinimumHeight(0);
814 ui->labelPWMMotorPos->setMinimumHeight(0);
815 ui->labelPWMMotorPosUnits->setMinimumHeight(0);
816 ui->labelCurrentMotorPos->setMinimumHeight(0);
817 ui->labelCurrentMotorPosUnits->setMinimumHeight(0);
818 ui->labelVelocityMotorPos->setMinimumHeight(0);
819 ui->labelVelocityMotorPosUnits->setMinimumHeight(0);
820 ui->labelVelocityDirMotorPos->setMinimumHeight(0);
821 ui->labelVelocityDirMotorPosUnits->setMinimumHeight(0);
822 ui->labelIdleMotorPos->setMinimumHeight(0);
823 ui->labelIdleMotorPosUnits->setMinimumHeight(0);
824 ui->labelFaultMotorPos->setMinimumHeight(0);
825 ui->labelFaultMotorPosUnits->setMinimumHeight(0);
826 }
827 else {
828 ui->editIdleMotorPos->setMinimumHeight(20);
829 ui->editPositionMotorPos->setMinimumHeight(20);
830 ui->editPositionDirMotorPos->setMinimumHeight(20);
831 ui->editMixedMotorPos->setMinimumHeight(20);
832 ui->editTorqueMotorPos->setMinimumHeight(20);
833 ui->editPWMMotorPos->setMinimumHeight(20);
834 ui->editCurrentMotorPos->setMinimumHeight(20);
835 ui->editVelocityMotorPos->setMinimumHeight(20);
836 ui->editVelocityDirMotorPos->setMinimumHeight(20);
837 ui->editFaultMotorPos->setMinimumHeight(20);
838
839 ui->labelPositionMotorPos->setMinimumHeight(20);
840 ui->labelPositionMotorPosUnits->setMinimumHeight(20);
841 ui->labelPositionDirMotorPos->setMinimumHeight(20);
842 ui->labelPositionDirMotorPosUnits->setMinimumHeight(20);
843 ui->labelMixedMotorPos->setMinimumHeight(20);
844 ui->labelMixedMotorPosUnits->setMinimumHeight(20);
845 ui->labelTorqueMotorPos->setMinimumHeight(20);
846 ui->labelTorqueMotorPosUnits->setMinimumHeight(20);
847 ui->labelPWMMotorPos->setMinimumHeight(20);
848 ui->labelPWMMotorPosUnits->setMinimumHeight(20);
849 ui->labelCurrentMotorPos->setMinimumHeight(20);
850 ui->labelCurrentMotorPosUnits->setMinimumHeight(20);
851 ui->labelVelocityMotorPos->setMinimumHeight(20);
852 ui->labelVelocityMotorPosUnits->setMinimumHeight(20);
853 ui->labelVelocityDirMotorPos->setMinimumHeight(20);
854 ui->labelVelocityDirMotorPosUnits->setMinimumHeight(20);
855 ui->labelIdleMotorPos->setMinimumHeight(20);
856 ui->labelIdleMotorPosUnits->setMinimumHeight(20);
857 ui->labelFaultMotorPos->setMinimumHeight(20);
858 ui->labelFaultMotorPosUnits->setMinimumHeight(20);
859 }
860}
861
862void JointItem::setDutyVisible(bool visible)
863{
864 joint_dutyVisible = visible;
865 //ui->editIdleDuty->setVisible(visible);
866 //ui->editPositionDuty->setVisible(visible);
867 //ui->editPositionDirDuty->setVisible(visible);
868 // ui->editMixedDuty->setVisible(visible);
869 ui->editTorqueDuty->setVisible(visible);
870 ui->editCurrentDuty->setVisible(visible);
871 //ui->editPWMDuty->setVisible(visible);
872 //ui->editDutyDuty->setVisible(visible);
873 //ui->editVelocityDuty->setVisible(visible);
874
875 //ui->labelIdleDuty->setVisible(visible);
876 //ui->labelIdleDutyUnits->setVisible(visible);
877 //ui->labelPositionDuty->setVisible(visible);
878 //ui->labelPositionDutyUnits->setVisible(visible);
879 //ui->labelPositionDirDuty->setVisible(visible);
880 //ui->labelPositionDirDutyUnits->setVisible(visible);
881 //ui->labelMixedDuty->setVisible(visible);
882 //ui->labelMixedDutyUnits->setVisible(visible);
883 ui->labelTorqueDuty->setVisible(visible);
884 ui->labelTorqueDutyUnits->setVisible(visible);
885 //ui->labelPWMDuty->setVisible(visible);
886 ui->labelCurrentDuty->setVisible(visible);
887 //ui->labelPWMDutyUnits->setVisible(visible);
888 ui->labelCurrentDutyUnits->setVisible(visible);
889 //ui->labelVelocityDuty->setVisible(visible);
890 //ui->labelVelocityDutyUnits->setVisible(visible);
891
892
893 if (!visible) {
894 //ui->editIdleDuty->setMinimumHeight(0);
895 //ui->editPositionDuty->setMinimumHeight(0);
896 //ui->editPositionDirDuty->setMinimumHeight(0);
897 //ui->editMixedDuty->setMinimumHeight(0);
898 //ui->editTorqueDuty->setMinimumHeight(0);
899 //ui->editPWMDuty->setMinimumHeight(0);
900 //ui->editDutyDuty->setMinimumHeight(0);
901 //ui->editVelocityDuty->setMinimumHeight(0);
902
903 //ui->labelPositionDuty->setMinimumHeight(0);
904 //ui->labelPositionDutyUnits->setMinimumHeight(0);
905 //ui->labelPositionDirDuty->setMinimumHeight(0);
906 //ui->labelPositionDirDutyUnits->setMinimumHeight(0);
907 //ui->labelMixedDuty->setMinimumHeight(0);
908 //ui->labelMixedDutyUnits->setMinimumHeight(0);
909 ui->labelTorqueDuty->setMinimumHeight(0);
910 ui->labelTorqueDutyUnits->setMinimumHeight(0);
911 //ui->labelPWMDuty->setMinimumHeight(0);
912 //ui->labelPWMDutyUnits->setMinimumHeight(0);
913 ui->labelCurrentDuty->setMinimumHeight(0);
914 ui->labelCurrentDutyUnits->setMinimumHeight(0);
915 //ui->labelVelocityDuty->setMinimumHeight(0);
916 //ui->labelVelocityDutyUnits->setMinimumHeight(0);
917 //ui->labelIdleDuty->setMinimumHeight(0);
918 //ui->labelIdleDutyUnits->setMinimumHeight(0);
919 }
920 else {
921 //ui->editIdleDuty->setMinimumHeight(20);
922 //ui->editPositionDuty->setMinimumHeight(20);
923 //ui->editPositionDirDuty->setMinimumHeight(20);
924 //ui->editMixedDuty->setMinimumHeight(20);
925 ui->editTorqueDuty->setMinimumHeight(20);
926 //ui->editPWMDuty->setMinimumHeight(20);
927 ui->editCurrentDuty->setMinimumHeight(20);
928 //ui->editVelocityDuty->setMinimumHeight(20);
929
930 //ui->labelPositionDuty->setMinimumHeight(20);
931 //ui->labelPositionDutyUnits->setMinimumHeight(20);
932 //ui->labelPositionDirDuty->setMinimumHeight(20);
933 //ui->labelPositionDirDutyUnits->setMinimumHeight(20);
934 //ui->labelMixedDuty->setMinimumHeight(20);
935 //ui->labelMixedDutyUnits->setMinimumHeight(20);
936 ui->labelTorqueDuty->setMinimumHeight(20);
937 ui->labelTorqueDutyUnits->setMinimumHeight(20);
938 //ui->labelPWMDuty->setMinimumHeight(20);
939 //ui->labelPWMDutyUnits->setMinimumHeight(20);
940 ui->labelCurrentDuty->setMinimumHeight(20);
941 ui->labelCurrentDutyUnits->setMinimumHeight(20);
942 //ui->labelVelocityDuty->setMinimumHeight(20);
943 //ui->labelVelocityDutyUnits->setMinimumHeight(20);
944 //ui->labelIdleDuty->setMinimumHeight(20);
945 //ui->labelIdleDutyUnits->setMinimumHeight(20);
946 }
947}
948
949void JointItem::setCurrentsVisible(bool visible)
950{
951 joint_currentVisible = visible;
952 ui->editIdleCurrent->setVisible(visible);
953 ui->editPositionCurrent->setVisible(visible);
954 ui->editPositionDirCurrent->setVisible(visible);
955 ui->editMixedCurrent->setVisible(visible);
956 ui->editTorqueCurrent->setVisible(visible);
957 ui->editPWMCurrent->setVisible(visible);
958 //ui->editCurrentCurrent->setVisible(visible);
959 ui->editVelocityCurrent->setVisible(visible);
960 ui->editVelocityDirCurrent->setVisible(visible);
961
962 ui->labelIdleCurrent->setVisible(visible);
963 ui->labelIdleCurrentUnits->setVisible(visible);
964 ui->labelPositionCurrent->setVisible(visible);
965 ui->labelPositionCurrentUnits->setVisible(visible);
966 ui->labelPositionDirCurrent->setVisible(visible);
967 ui->labelPositionDirCurrentUnits->setVisible(visible);
968 ui->labelMixedCurrent->setVisible(visible);
969 ui->labelMixedCurrentUnits->setVisible(visible);
970 ui->labelTorqueCurrent->setVisible(visible);
971 ui->labelTorqueCurrentUnits->setVisible(visible);
972 ui->labelPWMCurrent->setVisible(visible);
973 //ui->labelCurrentCurrent->setVisible(visible);
974 ui->labelPWMCurrentUnits->setVisible(visible);
975 //ui->labelCurrentCurrentUnits->setVisible(visible);
976 ui->labelVelocityCurrent->setVisible(visible);
977 ui->labelVelocityCurrentUnits->setVisible(visible);
978 ui->labelVelocityDirCurrent->setVisible(visible);
979 ui->labelVelocityDirCurrentUnits->setVisible(visible);
980
981 if (!visible) {
982 ui->editIdleCurrent->setMinimumHeight(0);
983 ui->editPositionCurrent->setMinimumHeight(0);
984 ui->editPositionDirCurrent->setMinimumHeight(0);
985 ui->editMixedCurrent->setMinimumHeight(0);
986 ui->editTorqueCurrent->setMinimumHeight(0);
987 ui->editPWMCurrent->setMinimumHeight(0);
988 //ui->editCurrentCurrent->setMinimumHeight(0);
989 ui->editVelocityCurrent->setMinimumHeight(0);
990 ui->editVelocityDirCurrent->setMinimumHeight(0);
991
992 ui->labelPositionCurrent->setMinimumHeight(0);
993 ui->labelPositionCurrentUnits->setMinimumHeight(0);
994 ui->labelPositionDirCurrent->setMinimumHeight(0);
995 ui->labelPositionDirCurrentUnits->setMinimumHeight(0);
996 ui->labelMixedCurrent->setMinimumHeight(0);
997 ui->labelMixedCurrentUnits->setMinimumHeight(0);
998 ui->labelTorqueCurrent->setMinimumHeight(0);
999 ui->labelTorqueCurrentUnits->setMinimumHeight(0);
1000 ui->labelPWMCurrent->setMinimumHeight(0);
1001 ui->labelPWMCurrentUnits->setMinimumHeight(0);
1002 //ui->labelCurrentCurrent->setMinimumHeight(0);
1003 //ui->labelCurrentCurrentUnits->setMinimumHeight(0);
1004 ui->labelVelocityCurrent->setMinimumHeight(0);
1005 ui->labelVelocityCurrentUnits->setMinimumHeight(0);
1006 ui->labelVelocityDirCurrent->setMinimumHeight(0);
1007 ui->labelVelocityDirCurrentUnits->setMinimumHeight(0);
1008 ui->labelIdleCurrent->setMinimumHeight(0);
1009 ui->labelIdleCurrentUnits->setMinimumHeight(0);
1010 }
1011 else {
1012 ui->editIdleCurrent->setMinimumHeight(20);
1013 ui->editPositionCurrent->setMinimumHeight(20);
1014 ui->editPositionDirCurrent->setMinimumHeight(20);
1015 ui->editMixedCurrent->setMinimumHeight(20);
1016 ui->editTorqueCurrent->setMinimumHeight(20);
1017 ui->editPWMCurrent->setMinimumHeight(20);
1018 //ui->editCurrentCurrent->setMinimumHeight(20);
1019 ui->editVelocityCurrent->setMinimumHeight(20);
1020 ui->editVelocityDirCurrent->setMinimumHeight(20);
1021
1022 ui->labelPositionCurrent->setMinimumHeight(20);
1023 ui->labelPositionCurrentUnits->setMinimumHeight(20);
1024 ui->labelPositionDirCurrent->setMinimumHeight(20);
1025 ui->labelPositionDirCurrentUnits->setMinimumHeight(20);
1026 ui->labelMixedCurrent->setMinimumHeight(20);
1027 ui->labelMixedCurrentUnits->setMinimumHeight(20);
1028 ui->labelTorqueCurrent->setMinimumHeight(20);
1029 ui->labelTorqueCurrentUnits->setMinimumHeight(20);
1030 ui->labelPWMCurrent->setMinimumHeight(20);
1031 ui->labelPWMCurrentUnits->setMinimumHeight(20);
1032 //ui->labelCurrentCurrent->setMinimumHeight(20);
1033 //ui->labelCurrentCurrentUnits->setMinimumHeight(20);
1034 ui->labelVelocityCurrent->setMinimumHeight(20);
1035 ui->labelVelocityCurrentUnits->setMinimumHeight(20);
1036 ui->labelVelocityDirCurrent->setMinimumHeight(20);
1037 ui->labelVelocityDirCurrentUnits->setMinimumHeight(20);
1038 ui->labelIdleCurrent->setMinimumHeight(20);
1039 ui->labelIdleCurrentUnits->setMinimumHeight(20);
1040 }
1041}
1042
1043void JointItem::setSpeedVisible(bool visible)
1044{
1045 joint_speedVisible = visible;
1046 ui->editIdleSpeed->setVisible(visible);
1047 ui->editPositionSpeed->setVisible(visible);
1048 ui->editPositionDirSpeed->setVisible(visible);
1049 ui->editMixedSpeed->setVisible(visible);
1050 ui->editTorqueSpeed->setVisible(visible);
1051 ui->editPWMSpeed->setVisible(visible);
1052 ui->editCurrentSpeed->setVisible(visible);
1053 ui->editVelocitySpeed->setVisible(visible);
1054 ui->editVelocityDirSpeed->setVisible(visible);
1055
1056 ui->labelIdleSpeed->setVisible(visible);
1057 ui->labelIdlevelUnits->setVisible(visible);
1058 ui->labelPositionSpeed->setVisible(visible);
1059 ui->labelPositionvelUnits->setVisible(visible);
1060 ui->labelPositionDirSpeed->setVisible(visible);
1061 ui->labelPositionDirvelUnits->setVisible(visible);
1062 ui->labelMixedSpeed->setVisible(visible);
1063 ui->labelMixedvelUnits->setVisible(visible);
1064 ui->labelTorqueSpeed->setVisible(visible);
1065 ui->labelTorquevelUnits->setVisible(visible);
1066 ui->labelPWMSpeed->setVisible(visible);
1067 ui->labelCurrentSpeed->setVisible(visible);
1068 ui->labelPWMvelUnits->setVisible(visible);
1069 ui->labelCurrentvelUnits->setVisible(visible);
1070 ui->labelVelocitySpeed->setVisible(visible);
1071 ui->labelVelocityDirSpeed->setVisible(visible);
1072 ui->labelVelocityvelUnits->setVisible(visible);
1073 ui->labelVelocityDirvelUnits->setVisible(visible);
1074
1075 if(!visible){
1076 ui->editIdleSpeed->setMinimumHeight(0);
1077 ui->editPositionSpeed->setMinimumHeight(0);
1078 ui->editPositionDirSpeed->setMinimumHeight(0);
1079 ui->editMixedSpeed->setMinimumHeight(0);
1080 ui->editTorqueSpeed->setMinimumHeight(0);
1081 ui->editPWMSpeed->setMinimumHeight(0);
1082 ui->editCurrentSpeed->setMinimumHeight(0);
1083 ui->editVelocitySpeed->setMinimumHeight(0);
1084 ui->editVelocityDirSpeed->setMinimumHeight(0);
1085
1086 ui->labelPositionSpeed->setMinimumHeight(0);
1087 ui->labelPositionvelUnits->setMinimumHeight(0);
1088 ui->labelPositionDirSpeed->setMinimumHeight(0);
1089 ui->labelPositionDirvelUnits->setMinimumHeight(0);
1090 ui->labelMixedSpeed->setMinimumHeight(0);
1091 ui->labelMixedvelUnits->setMinimumHeight(0);
1092 ui->labelTorqueSpeed->setMinimumHeight(0);
1093 ui->labelTorquevelUnits->setMinimumHeight(0);
1094 ui->labelPWMSpeed->setMinimumHeight(0);
1095 ui->labelPWMvelUnits->setMinimumHeight(0);
1096 ui->labelCurrentSpeed->setMinimumHeight(0);
1097 ui->labelCurrentvelUnits->setMinimumHeight(0);
1098 ui->labelVelocitySpeed->setMinimumHeight(0);
1099 ui->labelVelocityvelUnits->setMinimumHeight(0);
1100 ui->labelIdleSpeed->setMinimumHeight(0);
1101 ui->labelIdlevelUnits->setMinimumHeight(0);
1102 }else{
1103 ui->editIdleSpeed->setMinimumHeight(20);
1104 ui->editPositionSpeed->setMinimumHeight(20);
1105 ui->editPositionDirSpeed->setMinimumHeight(20);
1106 ui->editMixedSpeed->setMinimumHeight(20);
1107 ui->editTorqueSpeed->setMinimumHeight(20);
1108 ui->editPWMSpeed->setMinimumHeight(20);
1109 ui->editCurrentSpeed->setMinimumHeight(20);
1110 ui->editVelocitySpeed->setMinimumHeight(20);
1111 ui->editVelocityDirSpeed->setMinimumHeight(20);
1112
1113 ui->labelPositionSpeed->setMinimumHeight(20);
1114 ui->labelPositionvelUnits->setMinimumHeight(20);
1115 ui->labelPositionDirSpeed->setMinimumHeight(20);
1116 ui->labelPositionDirvelUnits->setMinimumHeight(20);
1117 ui->labelMixedSpeed->setMinimumHeight(20);
1118 ui->labelMixedvelUnits->setMinimumHeight(20);
1119 ui->labelTorqueSpeed->setMinimumHeight(20);
1120 ui->labelTorquevelUnits->setMinimumHeight(20);
1121 ui->labelPWMSpeed->setMinimumHeight(20);
1122 ui->labelPWMvelUnits->setMinimumHeight(20);
1123 ui->labelCurrentSpeed->setMinimumHeight(20);
1124 ui->labelCurrentvelUnits->setMinimumHeight(20);
1125 ui->labelVelocitySpeed->setMinimumHeight(20);
1126 ui->labelVelocityDirSpeed->setMinimumHeight(20);
1127 ui->labelVelocityvelUnits->setMinimumHeight(20);
1128 ui->labelVelocityDirvelUnits->setMinimumHeight(20);
1129 ui->labelIdleSpeed->setMinimumHeight(20);
1130 ui->labelIdlevelUnits->setMinimumHeight(20);
1131 }
1132}
1133
1134void JointItem::enablePositionSliderDoubleAuto()
1135{
1136 double positionSliderStep = 1 / (fabs(m_min_position - m_max_position) / 100.0);
1137 ui->sliderMixedPosition->setSliderStep(positionSliderStep);
1138 ui->sliderPosTrajectory_Position->setSliderStep(positionSliderStep);
1139 ui->sliderDirectPosition->setSliderStep(positionSliderStep);
1140 ui->sliderMixedPosition->setIsDouble(true);
1141 ui->sliderPosTrajectory_Position->setIsDouble(true);
1142 ui->sliderDirectPosition->setIsDouble(true);
1143 int sliderMin = m_min_position*positionSliderStep;
1144 int sliderMax = m_max_position*positionSliderStep;
1145 ui->sliderMixedPosition->setRange(sliderMin, sliderMax);
1146 ui->sliderPosTrajectory_Position->setRange(sliderMin, sliderMax);
1147 ui->sliderDirectPosition->setRange(sliderMin, sliderMax);
1148 ui->sliderMixedPosition->resetTarget();
1149 ui->sliderPosTrajectory_Position->resetTarget();
1150 ui->sliderDirectPosition->resetTarget();
1151}
1152
1153void JointItem::enablePositionSliderDoubleValue(double value)
1154{
1155 double positionSliderStep = 1 / value;
1156 ui->sliderMixedPosition->setSliderStep(positionSliderStep);
1157 ui->sliderPosTrajectory_Position->setSliderStep(positionSliderStep);
1158 ui->sliderDirectPosition->setSliderStep(positionSliderStep);
1159 ui->sliderMixedPosition->setIsDouble(true);
1160 ui->sliderPosTrajectory_Position->setIsDouble(true);
1161 ui->sliderDirectPosition->setIsDouble(true);
1162 int sliderMin = m_min_position*positionSliderStep;
1163 int sliderMax = m_max_position*positionSliderStep;
1164 ui->sliderMixedPosition->setRange(sliderMin, sliderMax);
1165 ui->sliderPosTrajectory_Position->setRange(sliderMin, sliderMax);
1166 ui->sliderDirectPosition->setRange(sliderMin, sliderMax);
1167 ui->sliderMixedPosition->resetTarget();
1168 ui->sliderPosTrajectory_Position->resetTarget();
1169 ui->sliderDirectPosition->resetTarget();
1170}
1171
1172void JointItem::disablePositionSliderDouble()
1173{
1174 if (fabs(m_max_position - m_min_position) < 1.0)
1175 {
1176 yError("Unable to set integer position slider");
1177 return;
1178 }
1179 double positionSliderStep = 1;
1180 ui->sliderMixedPosition->setSliderStep(positionSliderStep);
1181 ui->sliderPosTrajectory_Position->setSliderStep(positionSliderStep);
1182 ui->sliderDirectPosition->setSliderStep(positionSliderStep);
1183 ui->sliderMixedPosition->setIsDouble(false);
1184 ui->sliderPosTrajectory_Position->setIsDouble(false);
1185 ui->sliderDirectPosition->setIsDouble(false);
1186 int sliderMin = m_min_position;
1187 int sliderMax = m_max_position;
1188 ui->sliderMixedPosition->setRange(sliderMin, sliderMax);
1189 ui->sliderPosTrajectory_Position->setRange(sliderMin, sliderMax);
1190 ui->sliderDirectPosition->setRange(sliderMin, sliderMax);
1191 ui->sliderMixedPosition->resetTarget();
1192 ui->sliderPosTrajectory_Position->resetTarget();
1193 ui->sliderDirectPosition->resetTarget();
1194}
1195
1196void JointItem::enableVelocitySliderDoubleAuto()
1197{
1198 double velocitySliderStep = 1 / (fabs(-m_max_velocity - m_max_velocity) / 100.0); //note that we are using -max_velocity
1199 ui->sliderPosTrajectory_Velocity->setSliderStep(velocitySliderStep);
1200 ui->sliderPosTrajectory_Velocity->setIsDouble(true);
1201 ui->sliderVelTrajectory_Velocity->setSliderStep(velocitySliderStep);
1202 ui->sliderVelTrajectory_Velocity->setIsDouble(true);
1203 int sliderMin = -m_max_velocity*velocitySliderStep;
1204 int sliderMax = m_max_velocity*velocitySliderStep;
1205 ui->sliderPosTrajectory_Velocity->setRange(0, sliderMax);
1206 ui->sliderVelTrajectory_Velocity->setRange(sliderMin, sliderMax);
1207 int v = ui->sliderVelTrajectory_Velocity->value();
1208 if (v > sliderMax) {}
1209 if (v < sliderMin) {}
1210 setVelTrajectory_ReferenceSpeed(m_ref_speed);
1211}
1212
1213void JointItem::enableVelocitySliderDoubleValue(double value)
1214{
1215 double velocitySliderStep = 1 / value;
1216 ui->sliderPosTrajectory_Velocity->setSliderStep(velocitySliderStep);
1217 ui->sliderPosTrajectory_Velocity->setIsDouble(true);
1218 ui->sliderVelTrajectory_Velocity->setSliderStep(velocitySliderStep);
1219 ui->sliderVelTrajectory_Velocity->setIsDouble(true);
1220 int sliderMin = -m_max_velocity*velocitySliderStep;
1221 int sliderMax = m_max_velocity*velocitySliderStep;
1222 ui->sliderPosTrajectory_Velocity->setRange(0, sliderMax);
1223 ui->sliderVelTrajectory_Velocity->setRange(sliderMin, sliderMax);
1224 int v = ui->sliderVelTrajectory_Velocity->value();
1225 if (v > sliderMax) {}
1226 if (v < sliderMin) {}
1227 setVelTrajectory_ReferenceSpeed(m_ref_speed);
1228}
1229
1230void JointItem::disableVelocitySliderDouble()
1231{
1232 if (fabs(m_max_velocity) < 1.0)
1233 {
1234 yError("Unable to set integer velocity slider");
1235 return;
1236 }
1237 double velocitySliderStep = 1;
1238 ui->sliderPosTrajectory_Velocity->setSliderStep(velocitySliderStep);
1239 ui->sliderPosTrajectory_Velocity->setIsDouble(false);
1240 ui->sliderVelTrajectory_Velocity->setSliderStep(velocitySliderStep);
1241 ui->sliderVelTrajectory_Velocity->setIsDouble(false);
1242 int sliderMin = -m_max_velocity;
1243 int sliderMax = m_max_velocity;
1244 ui->sliderPosTrajectory_Velocity->setRange(0, sliderMax);
1245 ui->sliderVelTrajectory_Velocity->setRange(sliderMin, sliderMax);
1246 int v = ui->sliderVelTrajectory_Velocity->value();
1247 if (v > sliderMax) {}
1248 if (v < sliderMin) {}
1249 setVelTrajectory_ReferenceSpeed(m_ref_speed);
1250}
1251
1252void JointItem::enableAccelerationSliderDoubleAuto()
1253{
1254 double accelerationSliderStep = 1 / (fabs(-m_max_acceleration - m_max_acceleration) / 100.0); //note that we are using -max_velocity
1255 ui->sliderVelTrajectory_Acceleration->setSliderStep(accelerationSliderStep);
1256 ui->sliderVelTrajectory_Acceleration->setIsDouble(true);
1257 int sliderMin = 0;
1258 int sliderMax = m_max_acceleration*accelerationSliderStep;
1259 ui->sliderVelTrajectory_Acceleration->setRange(sliderMin, sliderMax);
1260 int v = ui->sliderVelTrajectory_Acceleration->value();
1261 if (v > sliderMax) {}
1262 if (v < sliderMin) {}
1263 setVelTrajectory_ReferenceAcceleration(m_ref_VelTrajectory_acceleration);
1264}
1265
1266void JointItem::enableAccelerationSliderDoubleValue(double value)
1267{
1268 double accelerationSliderStep = 1 / value;
1269 ui->sliderVelTrajectory_Acceleration->setSliderStep(accelerationSliderStep);
1270 ui->sliderVelTrajectory_Acceleration->setIsDouble(true);
1271 int sliderMin = 0;
1272 int sliderMax = m_max_acceleration*accelerationSliderStep;
1273 ui->sliderVelTrajectory_Acceleration->setRange(0, sliderMax);
1274 int v = ui->sliderVelTrajectory_Acceleration->value();
1275 if (v > sliderMax) {}
1276 if (v < sliderMin) {}
1277 setVelTrajectory_ReferenceAcceleration(m_ref_VelTrajectory_acceleration);
1278}
1279
1280void JointItem::disableAccelerationSliderDouble()
1281{
1282 if (fabs(m_max_acceleration) < 1.0)
1283 {
1284 yError("Unable to set integer acceleration slider");
1285 return;
1286 }
1287 double accelerationSliderStep = 1;
1288 ui->sliderVelTrajectory_Acceleration->setSliderStep(accelerationSliderStep);
1289 ui->sliderVelTrajectory_Acceleration->setIsDouble(false);
1290 int sliderMin = -m_max_acceleration;
1291 int sliderMax = m_max_acceleration;
1292 ui->sliderVelTrajectory_Velocity->setRange(0, sliderMax);
1293 int v = ui->sliderVelTrajectory_Acceleration->value();
1294 if (v > sliderMax) {}
1295 if (v < sliderMin) {}
1296 setVelTrajectory_ReferenceAcceleration(m_ref_VelTrajectory_acceleration);
1297}
1298
1299void JointItem::enableTorqueSliderDoubleAuto()
1300{
1301 double torqueSliderStep = 1 / (fabs(-m_max_torque - m_max_torque) / 100.0); //note that we are using -max_velocity
1302 ui->sliderTorqueTorque->setSliderStep(torqueSliderStep);
1303 ui->sliderTorqueTorque->setIsDouble(true);
1304 int sliderMin = -m_max_torque*torqueSliderStep; //note that we are using -max_torque
1305 int sliderMax = m_max_torque*torqueSliderStep;
1306 ui->sliderTorqueTorque->setRange(sliderMin, sliderMax);
1307 int v = ui->sliderTorqueTorque->value();
1308 if (v > sliderMax) {}
1309 if (v < sliderMin) {}
1310 setRefTorque(m_ref_torque);
1311}
1312
1313void JointItem::enableTorqueSliderDoubleValue(double value)
1314{
1315 double torqueSliderStep = 1 / value;
1316 ui->sliderTorqueTorque->setSliderStep(torqueSliderStep);
1317 ui->sliderTorqueTorque->setIsDouble(true);
1318 int sliderMin = -m_max_torque*torqueSliderStep; //note that we are using -max_torque
1319 int sliderMax = m_max_torque*torqueSliderStep;
1320 ui->sliderTorqueTorque->setRange(sliderMin, sliderMax);
1321 int v = ui->sliderTorqueTorque->value();
1322 if (v > sliderMax) {}
1323 if (v < sliderMin) {}
1324 setRefTorque(m_ref_torque);
1325}
1326
1327void JointItem::disableTorqueSliderDouble()
1328{
1329 if (fabs(m_max_torque) < 1.0)
1330 {
1331 yError("Unable to set integer torque slider");
1332 return;
1333 }
1334 double torqueSliderStep = 1;
1335 ui->sliderTorqueTorque->setSliderStep(torqueSliderStep);
1336 ui->sliderTorqueTorque->setIsDouble(false);
1337 int sliderMin = -m_max_torque; //note that we are using -max_torque
1338 int sliderMax = m_max_torque;
1339 ui->sliderTorqueTorque->setRange(sliderMin, sliderMax);
1340 int v = ui->sliderTorqueTorque->value();
1341 if (v > sliderMax) {}
1342 if (v < sliderMin) {}
1343 setRefTorque(m_ref_torque);
1344}
1345
1346void JointItem::enableCurrentSliderDoubleAuto()
1347{
1348 double currentSliderStep = 1 / (fabs(-m_max_current - m_max_current) / 100.0); //note that we are using -max_velocity
1349 ui->sliderCurrentOutput->setSliderStep(currentSliderStep);
1350 ui->sliderCurrentOutput->setIsDouble(true);
1351 int sliderMin = -m_max_current*currentSliderStep; //note that we are using -max_current
1352 int sliderMax = m_max_current*currentSliderStep;
1353 ui->sliderCurrentOutput->setRange(sliderMin, sliderMax);
1354 int v = ui->sliderCurrentOutput->value();
1355 if (v > sliderMax) {}
1356 if (v < sliderMin) {}
1357 setRefCurrent(m_ref_current);
1358}
1359
1360void JointItem::enableCurrentSliderDoubleValue(double value)
1361{
1362 double currentSliderStep = 1 / value;
1363 ui->sliderCurrentOutput->setSliderStep(currentSliderStep);
1364 ui->sliderCurrentOutput->setIsDouble(true);
1365 int sliderMin = -m_max_current*currentSliderStep; //note that we are using -max_current
1366 int sliderMax = m_max_current*currentSliderStep;
1367 ui->sliderCurrentOutput->setRange(sliderMin, sliderMax);
1368 int v = ui->sliderCurrentOutput->value();
1369 if (v > sliderMax) {}
1370 if (v < sliderMin) {}
1371 setRefCurrent(m_ref_current);
1372}
1373
1374void JointItem::disableCurrentSliderDouble()
1375{
1376 if (fabs(m_max_velocity) < 1.0)
1377 {
1378 yError("Unable to set integer velocity slider");
1379 return;
1380 }
1381 double currentSliderStep = 1;
1382 ui->sliderCurrentOutput->setSliderStep(currentSliderStep);
1383 ui->sliderCurrentOutput->setIsDouble(false);
1384 int sliderMin = -m_max_current; //note that we are using -max_current
1385 int sliderMax = m_max_current;
1386 ui->sliderCurrentOutput->setRange(sliderMin, sliderMax);
1387 int v = ui->sliderCurrentOutput->value();
1388 if (v > sliderMax) {}
1389 if (v < sliderMin) {}
1390 setRefCurrent(m_ref_current);
1391}
1392
1393/* void JointItem::enableTrajectoryVelocitySliderDoubleAuto()
1394{
1395 double trajectoryVelocitySliderStep = 1 / (fabs(0 - m_max_trajectory_velocity) / 100.0); //note that we are using 0
1396 ui->sliderPosTrajectory_Velocity->setSliderStep(trajectoryVelocitySliderStep);
1397 ui->sliderPosTrajectory_Velocity->setIsDouble(true);
1398 int sliderMin = 0 * trajectoryVelocitySliderStep; //note that we are using 0
1399 int sliderMax = m_max_trajectory_velocity*trajectoryVelocitySliderStep;
1400 ui->sliderPosTrajectory_Velocity->setRange(sliderMin, sliderMax);
1401 int v = ui->sliderPosTrajectory_Velocity->value();
1402 if (v > sliderMax) {}
1403 if (v < sliderMin) {}
1404 setPosTrajectory_ReferenceSpeed(ref_trajectory_velocity);
1405}
1406
1407void JointItem::enablePosTrajectoryVelocitySliderDoubleValue(double value)
1408{
1409 double trajectoryVelocitySliderStep = 1 / value;
1410 ui->sliderPosTrajectory_Velocity->setSliderStep(trajectoryVelocitySliderStep);
1411 ui->sliderPosTrajectory_Velocity->setIsDouble(true);
1412 int sliderMin = 0 * trajectoryVelocitySliderStep; //note that we are using 0
1413 int sliderMax = m_max_trajectory_velocity*trajectoryVelocitySliderStep;
1414 ui->sliderPosTrajectory_Velocity->setRange(sliderMin, sliderMax);
1415 int v = ui->sliderPosTrajectory_Velocity->value();
1416 if (v > sliderMax) {}
1417 if (v < sliderMin) {}
1418 setPosTrajectory_ReferenceSpeed(ref_trajectory_velocity);
1419}
1420
1421void JointItem::disableTrajectoryVelocitySliderDouble()
1422{
1423 int sliderMin = 0; //note that we are using 0
1424 int sliderMax = max_trajectory_velocity;
1425 double trajectoryVelocitySliderStep = 1;
1426 ui->sliderPosTrajectory_Velocity->setSliderStep(trajectoryVelocitySliderStep);
1427 ui->sliderPosTrajectory_Velocity->setRange(sliderMin, sliderMax);
1428 ui->sliderPosTrajectory_Velocity->setIsDouble(false);
1429 int v = ui->sliderPosTrajectory_Velocity->value();
1430 if (v > sliderMax) {}
1431 if (v < sliderMin) {}
1432 setPosTrajectory_ReferenceSpeed(m_ref_trajectory_velocity);
1433}
1434*/
1435
1436
1437void JointItem::setNumberOfPositionSliderDecimals(size_t num)
1438{
1439 ui->sliderMixedPosition->number_of_decimals=num;
1440 ui->sliderPosTrajectory_Position->number_of_decimals = num;
1441 ui->sliderDirectPosition->number_of_decimals = num;
1442 ui->sliderMixedPosition->number_of_decimals = num;
1443 ui->sliderPosTrajectory_Position->number_of_decimals = num;
1444 ui->sliderDirectPosition->number_of_decimals = num;
1445}
1446void JointItem::setNumberOfVelocitySliderDecimals(size_t num)
1447{
1448 ui->sliderMixedVelocity->number_of_decimals=num;
1449 ui->sliderPosTrajectory_Velocity->number_of_decimals = num;
1450 ui->sliderVelTrajectory_Velocity->number_of_decimals = num;
1451 ui->sliderVelocityDirectVelocityDirect->number_of_decimals = num;
1452}
1453void JointItem::setNumberOfAccelerationSliderDecimals(size_t num)
1454{
1455 ui->sliderVelTrajectory_Acceleration->number_of_decimals = num;
1456}
1457void JointItem::setNumberOfTorqueSliderDecimals(size_t num)
1458{
1459 ui->sliderTorqueTorque->number_of_decimals = num;
1460}
1461void JointItem::setNumberOfCurrentSliderDecimals(size_t num)
1462{
1463 ui->sliderCurrentOutput->number_of_decimals = num;
1464}
1465
1466void JointItem::setEnabledOptions(bool debug_param_enabled,
1467 bool speedview_param_enabled,
1468 bool enable_calib_all)
1469{
1470 Q_UNUSED(debug_param_enabled);
1471 Q_UNUSED(speedview_param_enabled);
1472
1473 enableCalib = enable_calib_all;
1474 if (!enable_calib_all){
1475 ui->buttonCalib->setEnabled(false);
1476 }
1477
1478 connect(ui->stackedWidget, SIGNAL(currentChanged(int)), this, SLOT(onStackedWidgetChanged(int)));
1479}
1480
1481JointItem::~JointItem()
1482{
1483 disconnect(ui->comboMode,SIGNAL(currentIndexChanged(int)),this,SLOT(onModeChanged(int)));
1484 disconnect(ui->comboInteraction,SIGNAL(currentIndexChanged(int)),this,SLOT(onInteractionChanged(int)));
1485
1486 disconnect(ui->sliderPosTrajectory_Position,SIGNAL(sliderPressed()),this,SLOT(onSliderPosTrajectory_PositionPressed()));
1487 disconnect(ui->sliderPosTrajectory_Position,SIGNAL(sliderReleased()),this,SLOT(onSliderPosTrajectory_PositionReleased()));
1488
1489 disconnect(ui->sliderPosTrajectory_Velocity, SIGNAL(sliderPressed()), this, SLOT(onSliderPosTrajectory_VelocityPressed()));
1490 disconnect(ui->sliderPosTrajectory_Velocity, SIGNAL(sliderReleased()), this, SLOT(onSliderPosTrajectory_VelocityReleased()));
1491
1492 disconnect(ui->sliderVelTrajectory_Velocity,SIGNAL(sliderPressed()),this,SLOT(onSliderVelTrajectory_VelocityPressed()));
1493 disconnect(ui->sliderVelTrajectory_Velocity,SIGNAL(sliderReleased()),this,SLOT(onSliderVelTrajectory_VelocityReleased()));
1494
1495 disconnect(ui->sliderVelTrajectory_Acceleration, SIGNAL(sliderPressed()), this, SLOT(onSliderVelTrajectory_AccelerationPressed()));
1496 disconnect(ui->sliderVelTrajectory_Acceleration, SIGNAL(sliderReleased()), this, SLOT(onSliderVelTrajectory_AccelerationReleased()));
1497
1498 disconnect(ui->sliderTorqueTorque,SIGNAL(sliderPressed()),this,SLOT(onSliderTorquePressed()));
1499 disconnect(ui->sliderTorqueTorque,SIGNAL(sliderReleased()),this,SLOT(onSliderTorqueReleased()));
1500
1501 disconnect(ui->sliderPWMOutput, SIGNAL(sliderPressed()), this, SLOT(onSliderPWMPressed()));
1502 disconnect(ui->sliderPWMOutput, SIGNAL(sliderReleased()), this, SLOT(onSliderPWMReleased()));
1503
1504 disconnect(ui->sliderCurrentOutput, SIGNAL(sliderPressed()), this, SLOT(onSliderCurrentPressed()));
1505 disconnect(ui->sliderCurrentOutput, SIGNAL(sliderReleased()), this, SLOT(onSliderCurrentPressed()));
1506
1507 disconnect(ui->sliderDirectPosition, SIGNAL(sliderPressed()), this, SLOT(onSliderDirectPositionPressed()));
1508 disconnect(ui->sliderDirectPosition, SIGNAL(sliderReleased()), this, SLOT(onSliderDirectPositionReleased()));
1509
1510 disconnect(ui->sliderMixedPosition,SIGNAL(sliderPressed()),this,SLOT(onSliderMixedPositionPressed()));
1511 disconnect(ui->sliderMixedPosition,SIGNAL(sliderReleased()),this,SLOT(onSliderMixedPositionReleased()));
1512
1513 disconnect(ui->sliderMixedVelocity, SIGNAL(sliderPressed()), this, SLOT(onSliderMixedVelocityPressed()));
1514 disconnect(ui->sliderMixedVelocity, SIGNAL(sliderReleased()), this, SLOT(onSliderMixedVelocityReleased()));
1515
1516 disconnect(ui->buttonHome,SIGNAL(clicked()),this,SLOT(onHomeClicked()));
1517 disconnect(ui->buttonIdle,SIGNAL(clicked()),this,SLOT(onIdleClicked()));
1518 disconnect(ui->buttonRun,SIGNAL(clicked()),this,SLOT(onRunClicked()));
1519 disconnect(ui->buttonPid,SIGNAL(clicked()),this,SLOT(onPidClicked()));
1520 disconnect(ui->buttonCalib,SIGNAL(clicked()),this,SLOT(onCalibClicked()));
1521 delete ui;
1522}
1523
1524int JointItem::getJointIndex()
1525{
1526 return jointIndex;
1527}
1528
1529void JointItem::installFilter()
1530{
1531 auto* filter = new WheelEventFilter();
1532 filter->setParent(this);
1533 ui->comboMode->installEventFilter(filter);
1534 ui->comboInteraction->installEventFilter(filter);
1535
1536 ui->sliderMixedPosition->installEventFilter(filter);
1537 ui->sliderMixedVelocity->installEventFilter(filter);
1538 ui->sliderDirectPosition->installEventFilter(filter);
1539 ui->sliderPosTrajectory_Position->installEventFilter(filter);
1540 ui->sliderPosTrajectory_Velocity->installEventFilter(filter);
1541 ui->sliderTorqueTorque->installEventFilter(filter);
1542}
1543
1544
1545void JointItem::onStackedWidgetChanged(int index)
1546{
1547 if(index == VELOCITY)
1548 {
1549 if(velocityModeEnabled)
1550 {
1551 velocityTimer.start();
1552 }
1553 }
1554 else if(index == VELOCITY_DIR)
1555 {
1556 if(velocityDirectModeEnabled)
1557 {
1558 velocityDirectTimer.start();
1559 }
1560 }
1561 else if(index == PWM)
1562 {
1563 if(pwmModeEnabled)
1564 {
1565 pwmTimer.start();
1566 }
1567 }
1568 else if(index == CURRENT)
1569 {
1570 if(currentModeEnabled)
1571 {
1572 currentTimer.start();
1573 }
1574 }
1575 else if(index == TORQUE)
1576 {
1577 if(torqueModeEnabled)
1578 {
1579 torqueTimer.start();
1580 }
1581 }
1582 else
1583 {
1584 if(velocityModeEnabled)
1585 {
1586 velocityTimer.stop();
1587 lastVelocity = 0;
1588 updateSliderVelTrajectoryVelocity(0);
1589 }
1590 if(velocityDirectModeEnabled)
1591 {
1592 velocityDirectTimer.stop();
1593 lastVelocityDirect = 0;
1594 updateSliderVelocityDirect(0);
1595 }
1596 if(pwmModeEnabled)
1597 {
1598 pwmTimer.stop();
1599 lastPwm = 0;
1600 updateSliderPWM(0);
1601 }
1602 if(currentModeEnabled)
1603 {
1604 currentTimer.stop();
1605 lastCurrent = 0;
1606 updateSliderCurrent(0);
1607 }
1608 if(torqueModeEnabled)
1609 {
1610 torqueTimer.stop();
1611 lastTorque = 0;
1612 updateSliderTorque(0);
1613 }
1614 }
1615}
1616
1617void JointItem::onModeChanged(int index)
1618{
1619 // Stop all timers, the correct one will be enabled by onStackedWidgetChanged()
1620 velocityTimer.stop();
1621 velocityDirectTimer.stop();
1622 pwmTimer.stop();
1623 currentTimer.stop();
1624 torqueTimer.stop();
1625 Q_UNUSED(index);
1626 int mode = ui->comboMode->currentData(Qt::UserRole).toInt();
1627 emit changeMode(mode,this);
1628}
1629
1630
1631void JointItem::onInteractionChanged(int index)
1632{
1633 emit changeInteraction(index,this);
1634}
1635
1636void JointItem::setJointName(QString name)
1637{
1638 jointName = name;
1639}
1640
1641QString JointItem::getJointName()
1642{
1643 return jointName;
1644}
1645
1646void JointItem::onSliderVelTrajectory_VelocityPressed()
1647{
1648 sliderVelTrajectory_VelocityPressed = true;
1649}
1650
1651void JointItem::onSliderVelTrajectory_VelocityReleased()
1652{
1653 lastVelocity = (double)ui->sliderVelTrajectory_Velocity->value() / ui->sliderVelTrajectory_Velocity->getSliderStep();
1654 sliderVelTrajectory_VelocityPressed = false;
1655}
1656
1657void JointItem::onSliderVelocityDirectPressed()
1658{
1659 sliderVelocityDirectPressed = true;
1660}
1661
1662void JointItem::onSliderVelocityDirectReleased()
1663{
1664 lastVelocityDirect = (double)ui->sliderVelocityDirectVelocityDirect->value() / ui->sliderVelocityDirectVelocityDirect->getSliderStep();
1665 sliderVelocityDirectPressed = false;
1666}
1667
1668
1669void JointItem::onSliderMixedVelocityPressed()
1670{
1671 sliderMixedVelocityPressed = true;
1672}
1673
1674void JointItem::onSliderMixedVelocityReleased()
1675{
1676 lastVelocity = ui->sliderMixedVelocity->value();
1677
1678 if (ui->sliderMixedVelocity->getIsDouble())
1679 {
1680 double val = ui->sliderMixedVelocity->value();
1681 emit sliderMixedVelocityCommand(val / ui->sliderMixedVelocity->getSliderStep(), jointIndex);
1682 }
1683 else
1684 {
1685 emit sliderMixedVelocityCommand(ui->sliderMixedVelocity->value(), jointIndex);
1686 }
1687
1688 sliderMixedVelocityPressed = false;
1689}
1690
1691
1692void JointItem::onVelocityTimer()
1693{
1694 if(velocityModeEnabled)
1695 {
1696 emit sliderVelTrajectoryVelocityCommand(lastVelocity,jointIndex);
1697 }
1698}
1699
1700void JointItem::onVelocityDirectTimer()
1701{
1702 if(velocityDirectModeEnabled)
1703 {
1704 emit sliderVelocityDirectCommand(lastVelocityDirect,jointIndex);
1705 }
1706}
1707
1708void JointItem::onPwmTimer()
1709{
1710 if(pwmModeEnabled)
1711 {
1712 emit sliderPWMCommand(lastPwm,jointIndex);
1713 }
1714}
1715
1716void JointItem::onCurrentTimer()
1717{
1718 if(currentModeEnabled)
1719 {
1720 emit sliderCurrentCommand(lastCurrent,jointIndex);
1721 }
1722}
1723
1724void JointItem::onTorqueTimer()
1725{
1726 if(torqueModeEnabled)
1727 {
1728 emit sliderTorqueCommand(lastTorque, jointIndex);
1729 }
1730}
1731
1732void JointItem::onSliderPosTrajectory_PositionPressed()
1733{
1734 sliderPosTrajectory_PositionPressed = true;
1735}
1736
1737void JointItem::onSliderPosTrajectory_PositionReleased()
1738{
1739 if (ui->sliderPosTrajectory_Position->getIsDouble())
1740 {
1741 double val = ui->sliderPosTrajectory_Position->value();
1742 emit sliderPosTrajectoryPositionCommand(val / ui->sliderPosTrajectory_Position->getSliderStep(), jointIndex);
1743 updateTrajectoryPositionTarget(val / ui->sliderPosTrajectory_Position->getSliderStep());
1744 }
1745 else
1746 {
1747 double val = ui->sliderPosTrajectory_Position->value();
1748 emit sliderPosTrajectoryPositionCommand(val, jointIndex);
1749 updateTrajectoryPositionTarget(val);
1750 }
1751 sliderPosTrajectory_PositionPressed = false;
1752 motionDone = false;
1753}
1754
1755void JointItem::onSliderMixedPositionPressed()
1756{
1757 sliderMixedPositionPressed = true;
1758}
1759
1760void JointItem::onSliderMixedPositionReleased()
1761{
1762 if (ui->sliderMixedPosition->getIsDouble())
1763 {
1764 double val = ui->sliderMixedPosition->value();
1765 emit sliderMixedPositionCommand(val / ui->sliderMixedPosition->getSliderStep(), jointIndex);
1766 updateMixedPositionTarget(val / ui->sliderMixedPosition->getSliderStep());
1767 }
1768 else
1769 {
1770 double val = ui->sliderMixedPosition->value();
1771 emit sliderMixedPositionCommand(val, jointIndex);
1772 updateMixedPositionTarget(val);
1773 }
1774
1775 sliderMixedPositionPressed = false;
1776 motionDone = false;
1777}
1778
1779void JointItem::onSliderDirectPositionPressed()
1780{
1781 sliderDirectPositionPressed = true;
1782}
1783
1784void JointItem::onSliderDirectPositionReleased()
1785{
1786 double ref_direct_position = (double)ui->sliderDirectPosition->value() / ui->sliderDirectPosition->getSliderStep();
1787 emit sliderDirectPositionCommand(ref_direct_position, jointIndex);
1788 sliderDirectPositionPressed = false;
1789 motionDone = false;
1790}
1791
1792void JointItem::onSliderPosTrajectory_VelocityPressed()
1793{
1794 sliderPosTrajectory_VelocityPressed = true;
1795}
1796
1797void JointItem::onSliderPosTrajectory_VelocityReleased()
1798{
1799 m_ref_PosTrajectory_velocity = (double)ui->sliderPosTrajectory_Velocity->value() / ui->sliderPosTrajectory_Velocity->getSliderStep();
1800 emit sliderPosTrajectoryVelocityCommand(m_ref_PosTrajectory_velocity, jointIndex);
1801 sliderPosTrajectory_VelocityPressed = false;
1802}
1803
1804void JointItem::onSliderVelTrajectory_AccelerationPressed()
1805{
1806 sliderVelTrajectory_AccelerationPressed = true;
1807}
1808
1809void JointItem::onSliderVelTrajectory_AccelerationReleased()
1810{
1811 m_ref_VelTrajectory_acceleration = (double)ui->sliderVelTrajectory_Acceleration->value() / ui->sliderVelTrajectory_Acceleration->getSliderStep();
1812 emit sliderVelTrajectoryAccelerationCommand(m_ref_VelTrajectory_acceleration, jointIndex);
1813 sliderVelTrajectory_AccelerationPressed = false;
1814}
1815
1816void JointItem::onSliderPWMPressed()
1817{
1818 sliderPWMPressed = true;
1819}
1820
1821void JointItem::onSliderPWMReleased()
1822{
1823 lastPwm = (double)ui->sliderPWMOutput->value() / ui->sliderPWMOutput->getSliderStep();
1824 sliderPWMPressed = false;
1825}
1826
1827void JointItem::onSliderCurrentPressed()
1828{
1829 sliderCurrentPressed = true;
1830}
1831
1832void JointItem::onSliderCurrentReleased()
1833{
1834 lastCurrent = (double)ui->sliderCurrentOutput->value() / ui->sliderCurrentOutput->getSliderStep();
1835 sliderCurrentPressed = false;
1836}
1837
1838void JointItem::onSliderTorquePressed()
1839{
1840 sliderTorquePressed = true;
1841}
1842
1843void JointItem::onSliderTorqueReleased()
1844{
1845 lastTorque = (double)ui->sliderTorqueTorque->value() / ui->sliderTorqueTorque->getSliderStep();
1846 sliderTorquePressed = false;
1847}
1848
1849
1850double JointItem::getTrajectoryPositionValue()
1851{
1852 //this function is mainly used used by the sequencer
1853 double pos = (double)ui->sliderPosTrajectory_Position->value() / ui->sliderPosTrajectory_Position->getSliderStep();
1854 if (fabs(pos) < 1e-6) {
1855 pos = 0;
1856 }
1857 return pos;
1858}
1859
1860double JointItem::getTrajectoryVelocityValue()
1861{
1862 //this function is mainly used used by the sequencer
1863 double vel = (double)ui->sliderPosTrajectory_Velocity->value() / ui->sliderPosTrajectory_Velocity->getSliderStep();
1864 if (fabs(vel) < 1e-6) {
1865 vel = 0;
1866 }
1867 return vel;
1868}
1869
1870void JointItem::updateBraked(bool brk)
1871{
1872 ui->BrakeLabel->setText(brk ? "Braked" : "");
1873 if (brk) {
1874 ui->BrakeLabel->setStyleSheet("background-color: black; color: rgb(255, 38, 41); font-weight: bold;");
1875 ui->BrakeLabel->setAlignment(Qt::AlignCenter);
1876 } else {
1877 ui->BrakeLabel->setStyleSheet("background-color: transparent; color: rgb(35, 38, 41); font-weight: normal;");
1878 ui->BrakeLabel->setAlignment(Qt::AlignCenter);
1879 }
1880}
1881
1882 void JointItem::updateMotionDone(bool done)
1883{
1884 motionDone = done;
1885 int index = ui->stackedWidget->currentIndex();
1886 if (index == POSITION) {
1887 if(!done){
1888 ui->editPositionJointPos->setStyleSheet("background-color: rgb(255, 38, 41); color: rgb(35, 38, 41);");
1889 }else{
1890 ui->editPositionJointPos->setStyleSheet("background-color: rgb(255, 255, 255); color: rgb(35, 38, 41);");
1891 }
1892 } else if (index == POSITION_DIR) {
1893 if(!done){
1894 ui->editPositionDirJointPos->setStyleSheet("background-color: rgb(255, 38, 41); color: rgb(35, 38, 41);");
1895 }else{
1896 ui->editPositionDirJointPos->setStyleSheet("background-color: rgb(255, 255, 255); color: rgb(35, 38, 41);");
1897 }
1898 } else if (index == MIXED) {
1899 if(!done){
1900 ui->editMixedJointPos->setStyleSheet("background-color: rgb(255, 38, 41); color: rgb(35, 38, 41);");
1901 }else{
1902 ui->editMixedJointPos->setStyleSheet("background-color: rgb(255, 255, 255); color: rgb(35, 38, 41);");
1903 }
1904 }
1905}
1906
1907void JointItem::updateSliderPosTrajectoryPosition(double val)
1908{
1909 if(sliderPosTrajectory_PositionPressed)
1910 {
1911 return;
1912 }
1913 ui->sliderPosTrajectory_Position->setValue(val);
1914}
1915
1916void JointItem::updateSliderPositionDirect(double val)
1917{
1918 if(sliderDirectPositionPressed)
1919 {
1920 return;
1921 }
1922 ui->sliderDirectPosition->setValue(val);
1923}
1924
1925void JointItem::updateSliderMixedPosition(double val)
1926{
1927 if(sliderMixedPositionPressed)
1928 {
1929 return;
1930 }
1931 ui->sliderMixedPosition->setValue(val);
1932}
1933
1934void JointItem::updateSliderPosTrajectoryVelocity(double val)
1935{
1936 if (sliderPosTrajectory_VelocityPressed)
1937 {
1938 return;
1939 }
1940 ui->sliderPosTrajectory_Velocity->setValue(val);
1941}
1942
1943void JointItem::updateSliderVelocityDirect(double val)
1944{
1945 if (sliderVelocityDirectPressed)
1946 {
1947 return;
1948 }
1949 ui->sliderVelocityDirectVelocityDirect->setValue(val);
1950}
1951
1952void JointItem::updateSliderPWM(double val)
1953{
1954 if (sliderPWMPressed) {
1955 return;
1956 }
1957 ui->sliderPWMOutput->setValue(val);
1958}
1959
1960void JointItem::updateSliderCurrent(double val)
1961{
1962 if (sliderCurrentPressed) {
1963 return;
1964 }
1965 ui->sliderCurrentOutput->setValue(val);
1966}
1967
1968void JointItem::updateJointFault(int i, std::string message)
1969{
1970 std::string entryc = std::to_string(i);
1971 QString q1(entryc.c_str());
1972 QString q2(message.c_str());
1973 ui->labelFaultCodeEntry->setText(q1);
1974 ui->labelFaultMessageEntry->setText(q2);
1975}
1976
1977void JointItem::updateSliderTorque(double val)
1978{
1979 if(sliderTorquePressed){
1980 return;
1981 }
1982 ui->sliderTorqueTorque->setValue(val);
1983}
1984
1985void JointItem::updateSliderVelTrajectoryVelocity(double val)
1986{
1987 if (sliderVelTrajectory_VelocityPressed){
1988 return;
1989 }
1990 ui->sliderVelTrajectory_Velocity->setValue(val);
1991}
1992
1993void JointItem::updateSliderVelTrajectoryAcceleration(double val)
1994{
1995 if (sliderVelTrajectory_AccelerationPressed){
1996 return;
1997 }
1998 ui->sliderVelTrajectory_Acceleration->setValue(val);
1999}
2000
2001void JointItem::setRefPWM(double pwmValue)
2002{
2003 if(sliderPWMPressed){
2004 return;
2005 }
2006 if(ui->stackedWidget->currentIndex() == PWM){
2007 updateSliderPWM(pwmValue);
2008 QString sVal;
2009 sVal = QString("%L1").arg(pwmValue, 0, 'f', 3);
2010 ui->editPWMDuty->setText(sVal);
2011 }
2012}
2013
2014void JointItem::setRefCurrent(double currentValue)
2015{
2016 if (sliderCurrentPressed){
2017 return;
2018 }
2019 if (ui->stackedWidget->currentIndex() == CURRENT){
2020 updateSliderCurrent(currentValue);
2021 QString sVal;
2022 sVal = QString("%L1").arg(currentValue, 0, 'f', 3);
2023 ui->editCurrentCurrent->setText(sVal);
2024 }
2025}
2026
2027void JointItem::setPosition(double val)
2028{
2029 QString sVal;
2030 if (ui->sliderPosTrajectory_Position->getIsDouble())
2031 {
2032 double pos = val;
2033 sVal = QString("%L1").arg(pos, 0, 'f', 3);
2034 }
2035 else
2036 {
2037 double pos = floor(val * 10) / 10;
2038 sVal = QString("%1").arg(pos);
2039 }
2040
2041 if(ui->stackedWidget->currentIndex() == IDLE){
2042 ui->editIdleJointPos->setText(sVal);
2043 }
2044
2045 if (ui->stackedWidget->currentIndex() == HW_FAULT) {
2046 ui->editFaultJointPos->setText(sVal);
2047 }
2048
2049 if(ui->stackedWidget->currentIndex() == POSITION){
2050 ui->editPositionJointPos->setText(sVal);
2051 updateSliderPosTrajectoryPosition(val);
2052 }
2053
2054 if(ui->stackedWidget->currentIndex() == POSITION_DIR){
2055 ui->editPositionDirJointPos->setText(sVal);
2056 updateSliderPositionDirect(val);
2057 }
2058
2059 if(ui->stackedWidget->currentIndex() == MIXED){
2060 ui->editMixedJointPos->setText(sVal);
2061 updateSliderMixedPosition(val);
2062 }
2063
2064 if(ui->stackedWidget->currentIndex() == VELOCITY){
2065 ui->editVelocityJointPos->setText(sVal);
2066 }
2067 if(ui->stackedWidget->currentIndex() == VELOCITY_DIR){
2068 ui->editVelocityDirJointPos->setText(sVal);
2069 }
2070 if(ui->stackedWidget->currentIndex() == TORQUE){
2071 ui->editTorqueJointPos->setText(sVal);
2072 }
2073 if(ui->stackedWidget->currentIndex() == PWM){
2074 ui->editPWMJointPos->setText(sVal);
2075 }
2076 if (ui->stackedWidget->currentIndex() == CURRENT){
2077 ui->editCurrentJointPos->setText(sVal);
2078 }
2079
2080}
2081
2082void JointItem::setRefTorque(double val)
2083{
2084 if(ui->stackedWidget->currentIndex() == TORQUE){
2085 updateSliderTorque(val);
2086 m_ref_torque = val;
2087 }
2088}
2089
2090void JointItem::setVelTrajectory_ReferenceSpeed(double val)
2091{
2092 if (ui->stackedWidget->currentIndex() == VELOCITY){
2093 updateSliderVelTrajectoryVelocity(val);
2094 m_ref_speed = val;
2095 }
2096}
2097
2098void JointItem::setVelTrajectory_ReferenceAcceleration(double val)
2099{
2100 if (ui->stackedWidget->currentIndex() == VELOCITY){
2101 updateSliderVelTrajectoryAcceleration(val);
2102 m_ref_VelTrajectory_acceleration = val;
2103
2104 if (val < 0.001)
2105 {
2106 ui->groupBox_2->setStyleSheet("background-color:orange; color: rgb(35, 38, 41);");
2107 ui->groupBox_2->setTitle("Acceleration is ZERO!");
2108 }
2109 else
2110 {
2111 ui->groupBox_2->setStyleSheet("background-color:transparent; color: rgb(35, 38, 41);");
2112 ui->groupBox_2->setTitle("Acceleration");
2113 }
2114 }
2115}
2116void JointItem::setPosTrajectory_ReferenceSpeed(double val)
2117{
2118 if (ui->stackedWidget->currentIndex() == POSITION){
2119 updateSliderPosTrajectoryVelocity(val);
2120 m_ref_PosTrajectory_velocity = val;
2121
2122 if (val < 0.001)
2123 {
2124 ui->groupBox_12->setStyleSheet("background-color:orange; color: rgb(35, 38, 41);");
2125 ui->groupBox_12->setTitle("Velocity is ZERO!");
2126 }
2127 else
2128 {
2129 ui->groupBox_12->setStyleSheet("background-color:transparent; color: rgb(35, 38, 41);");
2130 ui->groupBox_12->setTitle("Velocity");
2131 }
2132 }
2133}
2134
2135void JointItem::setPosTrajectory_ReferencePosition(double val)
2136{
2137 if (ui->stackedWidget->currentIndex() == POSITION){
2138 updateTrajectoryPositionTarget(val);
2139 }
2140}
2141
2142void JointItem::setTorque(double val)
2143{
2144 QString sVal = QString("%L1").arg(val,0,'f',3);
2145
2146 if(ui->stackedWidget->currentIndex() == IDLE){
2147 ui->editIdleTorque->setText(sVal);
2148 }
2149
2150 if(ui->stackedWidget->currentIndex() == POSITION){
2151 ui->editPositionTorque->setText(sVal);
2152 }
2153
2154 if(ui->stackedWidget->currentIndex() == POSITION_DIR){
2155 ui->editPositionDirTorque->setText(sVal);
2156 }
2157
2158 if(ui->stackedWidget->currentIndex() == MIXED){
2159 ui->editMixedTorque->setText(sVal);
2160 }
2161
2162 if(ui->stackedWidget->currentIndex() == VELOCITY){
2163 ui->editVelocityTorque->setText(sVal);
2164 }
2165 if(ui->stackedWidget->currentIndex() == VELOCITY_DIR){
2166 ui->editVelocityDirTorque->setText(sVal);
2167 }
2168 if(ui->stackedWidget->currentIndex() == TORQUE){
2169 ui->editTorqueTorque->setText(sVal);
2170 }
2171 if(ui->stackedWidget->currentIndex() == PWM){
2172 ui->editPWMTorque->setText(sVal);
2173 }
2174 if (ui->stackedWidget->currentIndex() == CURRENT){
2175 ui->editCurrentTorque->setText(sVal);
2176 }
2177}
2178
2179void JointItem::setMotorPosition(double val)
2180{
2181 if (!joint_motorPositionVisible){
2182 return;
2183 }
2184
2185 double mot = val;
2186 QString sVal = QString("%1").arg(mot, 0, 'f', 1);
2187
2188 if (ui->stackedWidget->currentIndex() == HW_FAULT) {
2189 ui->editFaultMotorPos->setText(sVal);
2190 }
2191
2192 if (ui->stackedWidget->currentIndex() == IDLE){
2193 ui->editIdleMotorPos->setText(sVal);
2194 }
2195
2196 if (ui->stackedWidget->currentIndex() == POSITION){
2197 ui->editPositionMotorPos->setText(sVal);
2198 }
2199
2200 if (ui->stackedWidget->currentIndex() == POSITION_DIR) {
2201 ui->editPositionDirMotorPos->setText(sVal);
2202 }
2203
2204 if (ui->stackedWidget->currentIndex() == MIXED) {
2205 ui->editMixedMotorPos->setText(sVal);
2206 }
2207
2208 if (ui->stackedWidget->currentIndex() == VELOCITY) {
2209 ui->editVelocityMotorPos->setText(sVal);
2210 }
2211
2212 if (ui->stackedWidget->currentIndex() == VELOCITY_DIR) {
2213 ui->editVelocityDirMotorPos->setText(sVal);
2214 }
2215
2216 if (ui->stackedWidget->currentIndex() == TORQUE) {
2217 ui->editTorqueMotorPos->setText(sVal);
2218 }
2219
2220 if (ui->stackedWidget->currentIndex() == PWM) {
2221 ui->editPWMMotorPos->setText(sVal);
2222 }
2223
2224 if (ui->stackedWidget->currentIndex() == CURRENT) {
2225 ui->editCurrentMotorPos->setText(sVal);
2226 }
2227}
2228
2229void JointItem::setDutyCycles(double val)
2230{
2231 if (!joint_dutyVisible) {
2232 return;
2233 }
2234
2235 double mot = val;
2236 QString sVal = QString("%1").arg(mot, 0, 'f', 1);
2237
2238 //if (ui->stackedWidget->currentIndex() == IDLE) {
2239 // ui->editIdleDuty->setText(sVal);
2240 //}
2241
2242 //if (ui->stackedWidget->currentIndex() == POSITION) {
2243 // ui->editPositionDuty->setText(sVal);
2244 //}
2245
2246 //if (ui->stackedWidget->currentIndex() == POSITION_DIR) {
2247 // ui->editPositionDirDuty->setText(sVal);
2248 //}
2249
2250 //if (ui->stackedWidget->currentIndex() == MIXED) {
2251 // ui->editMixedDuty->setText(sVal);
2252 //}
2253
2254 //if (ui->stackedWidget->currentIndex() == VELOCITY) {
2255 // ui->editVelocityDuty->setText(sVal);
2256 //}
2257
2258 if (ui->stackedWidget->currentIndex() == TORQUE) {
2259 ui->editTorqueDuty->setText(sVal);
2260 }
2261
2262 if (ui->stackedWidget->currentIndex() == PWM) {
2263 ui->editPWMDuty->setText(sVal);
2264 }
2265
2266 if (ui->stackedWidget->currentIndex() == CURRENT) {
2267 ui->editCurrentDuty->setText(sVal);
2268 }
2269}
2270
2271void JointItem::setSpeed(double meas)
2272{
2273 if (!joint_speedVisible){
2274 return;
2275 }
2276 //TODO
2277
2278 double speed = meas;
2279 QString sVal = QString("%1").arg(speed,0,'f',1);
2280
2281 if(ui->stackedWidget->currentIndex() == IDLE){
2282 ui->editIdleSpeed->setText(sVal);
2283 }
2284
2285 if(ui->stackedWidget->currentIndex() == POSITION){
2286 ui->editPositionSpeed->setText(sVal);
2287 }
2288
2289 if(ui->stackedWidget->currentIndex() == POSITION_DIR){
2290 ui->editPositionDirSpeed->setText(sVal);
2291 }
2292
2293 if(ui->stackedWidget->currentIndex() == MIXED){
2294 ui->editMixedSpeed->setText(sVal);
2295 }
2296
2297 if(ui->stackedWidget->currentIndex() == VELOCITY){
2298 if(!sliderVelTrajectory_VelocityPressed){
2299 ui->editVelocitySpeed->setText(sVal);
2300 //updateSlider(ui->sliderVelocityVelocity,ui->labelVelocityVelocity,val);
2301 }
2302 }
2303
2304 if(ui->stackedWidget->currentIndex() == VELOCITY_DIR){
2305 if(!sliderVelocityDirectPressed){
2306 ui->editVelocityDirSpeed->setText(sVal);
2307 //updateSlider(ui->sliderVelocityVelocity,ui->labelVelocityVelocity,val);
2308 }
2309 }
2310 if(ui->stackedWidget->currentIndex() == TORQUE){
2311 ui->editTorqueSpeed->setText(sVal);
2312 //updateSliderTorque(val);
2313 }
2314 if(ui->stackedWidget->currentIndex() == PWM){
2315 ui->editPWMSpeed->setText(sVal);
2316 }
2317 if (ui->stackedWidget->currentIndex() == CURRENT){
2318 ui->editCurrentSpeed->setText(sVal);
2319 }
2320
2321}
2322
2323void JointItem::setCurrent(double meas)
2324{
2325 if (!joint_currentVisible) {
2326 return;
2327 }
2328 //TODO
2329
2330 double current = meas;
2331 QString sVal = QString("%1").arg(current, 0, 'f', 3);
2332
2333 if (ui->stackedWidget->currentIndex() == IDLE) {
2334 ui->editIdleCurrent->setText(sVal);
2335 }
2336
2337 if (ui->stackedWidget->currentIndex() == POSITION) {
2338 ui->editPositionCurrent->setText(sVal);
2339 }
2340
2341 if (ui->stackedWidget->currentIndex() == POSITION_DIR) {
2342 ui->editPositionDirCurrent->setText(sVal);
2343 }
2344
2345 if (ui->stackedWidget->currentIndex() == MIXED) {
2346 ui->editMixedCurrent->setText(sVal);
2347 }
2348
2349 if (ui->stackedWidget->currentIndex() == VELOCITY) {
2350 ui->editVelocityCurrent->setText(sVal);
2351 }
2352 if (ui->stackedWidget->currentIndex() == VELOCITY_DIR) {
2353 ui->editVelocityDirCurrent->setText(sVal);
2354 }
2355 if (ui->stackedWidget->currentIndex() == TORQUE) {
2356 ui->editTorqueCurrent->setText(sVal);
2357 }
2358 if (ui->stackedWidget->currentIndex() == PWM) {
2359 ui->editPWMCurrent->setText(sVal);
2360 }
2361 if (ui->stackedWidget->currentIndex() == CURRENT) {
2362 ui->editCurrentCurrent->setText(sVal);
2363 }
2364
2365}
2366
2367
2368
2369
2370void JointItem::setJointInternalInteraction(int interaction)
2371{
2372 disconnect(ui->comboInteraction,SIGNAL(currentIndexChanged(int)),this,SLOT(onInteractionChanged(int)));
2373 ui->comboInteraction->setCurrentIndex(interaction);
2374 connect(ui->comboInteraction,SIGNAL(currentIndexChanged(int)),this,SLOT(onInteractionChanged(int)));
2375}
2376
2377void JointItem::setJointInternalState(int mode)
2378{
2379 disconnect(ui->comboMode,SIGNAL(currentIndexChanged(int)),this,SLOT(onModeChanged(int)));
2380 ui->comboMode->setCurrentIndex(mode);
2381 connect(ui->comboMode,SIGNAL(currentIndexChanged(int)),this,SLOT(onModeChanged(int)));
2382
2383 ui->stackedWidget->setCurrentIndex(mode);
2384 if(ui->stackedWidget->widget(mode)){
2385 QVariant variant = ui->comboMode->itemData(mode,Qt::BackgroundRole);
2386 QColor c;
2387 switch(internalState)
2388 {
2389 case Disconnected:
2390 c = disconnectColor;
2391 break;
2392 case HwFault:
2393 ui->groupBox->setTitle(QString("JOINT %1 (%2) - HARDWARE FAULT").arg(jointIndex).arg(jointName));
2394 c = hwFaultColor;
2395 ui->stackedWidget->setEnabled(false);
2396 //ui->buttonsContainer->setEnabled(false);
2397 ui->buttonHome->setEnabled(false);
2398 ui->buttonCalib->setEnabled(false);
2399 ui->buttonRun->setEnabled(false);
2400 ui->comboMode->setEnabled(false);
2401 ui->comboInteraction->setEnabled(false);
2402 ui->buttonIdle->setEnabled(true);
2403 ui->buttonPid->setEnabled(true);
2404 break;
2405 case Unknown:
2406 case NotConfigured:
2407 case Configured:
2408 case CalibDone:
2409 case Calibrating:
2410 c = calibratingColor;
2411 break;
2412
2413 default:{
2414 enableAll();
2415 c = variant.value<QColor>();
2416 if(ui->groupBox->title() != QString("JOINT %1 (%2)").arg(jointIndex).arg(jointName))
2417 {
2418 ui->groupBox->setTitle(QString("JOINT %1 (%2)").arg(jointIndex).arg(jointName));
2419 }
2420 ui->stackedWidget->setEnabled(true);
2421 ui->buttonsContainer->setEnabled(true);
2422 break;
2423 }
2424 }
2425
2426 setStyleSheet(QString("font: 8pt; background-color: rgb(%1,%2,%3); color: rgb(35, 38, 41);").arg(c.red()).arg(c.green()).arg(c.blue()));
2427 }
2428}
2429
2430void JointItem::setJointInteraction(JointInteraction interaction)
2431{
2432 if(internalInteraction == interaction){
2433 return;
2434 }
2435
2436 internalInteraction = interaction;
2437
2438 switch (internalInteraction) {
2439 case Stiff:
2440 setJointInternalInteraction(STIFF);
2441 break;
2442 case COMPLIANT:
2443 setJointInternalInteraction(COMPLIANT);
2444 break;
2445 default:
2446 break;
2447 }
2448}
2449
2450
2451void JointItem::setJointState(JointState newState)
2452{
2453 if(internalState == newState){
2454 return;
2455 }
2456
2457 internalState = newState;
2458
2459 switch (internalState) {
2460 case Unknown:{
2461 ui->groupBox->setTitle(QString("JOINT %1 (%2) - UNKNOWN").arg(jointIndex).arg(jointName));
2462 ui->stackedWidget->setEnabled(false);
2463 ui->buttonsContainer->setEnabled(false);
2464
2465 int index = ui->stackedWidget->currentIndex();
2466 if(ui->stackedWidget->widget(index)){
2467 QColor c = calibratingColor;
2468 setStyleSheet(QString("font: 8pt; background-color: rgb(%1,%2,%3); color: rgb(35, 38, 41);").arg(c.red()).arg(c.green()).arg(c.blue()));
2469 }
2470 break;
2471 }
2472 case Configured:{
2473 ui->groupBox->setTitle(QString("JOINT %1 (%2) - CONFIGURED").arg(jointIndex).arg(jointName));
2474 ui->stackedWidget->setEnabled(true);
2475 ui->buttonsContainer->setEnabled(true);
2476
2477 int index = ui->stackedWidget->currentIndex();
2478 if(ui->stackedWidget->widget(index)){
2479 QColor c = calibratingColor;
2480 setStyleSheet(QString("font: 8pt; background-color: rgb(%1,%2,%3); color: rgb(35, 38, 41);").arg(c.red()).arg(c.green()).arg(c.blue()));
2481 }
2482 break;
2483 }
2484
2485 case NotConfigured:{
2486 ui->groupBox->setTitle(QString("JOINT %1 (%2) - NOT CONFIGURED").arg(jointIndex).arg(jointName));
2487 ui->stackedWidget->setEnabled(false);
2488 //activating only calib button
2489 if(enableCalib)
2490 {
2491
2492 ui->buttonsContainer->setEnabled(true);
2493 ui->buttonIdle->setEnabled(false);
2494 ui->buttonPid->setEnabled(true);
2495 ui->buttonHome->setEnabled(false);
2496 ui->buttonCalib->setEnabled(true);
2497 ui->buttonRun->setEnabled(false);
2498 ui->comboMode->setEnabled(false);
2499 ui->comboInteraction->setEnabled(false);
2500 }
2501 //nothing must be activated
2502 else
2503 {
2504 ui->buttonsContainer->setEnabled(false);
2505 }
2506
2507 int index = ui->stackedWidget->currentIndex();
2508 if(ui->stackedWidget->widget(index)){
2509 QColor c = calibratingColor;
2510 setStyleSheet(QString("font: 8pt; background-color: rgb(%1,%2,%3); color: rgb(35, 38, 41);").arg(c.red()).arg(c.green()).arg(c.blue()));
2511 }
2512 break;
2513 }
2514
2515 case CalibDone:{
2516 ui->groupBox->setTitle(QString("JOINT %1 (%2) - CALIBRATING DONE").arg(jointIndex).arg(jointName));
2517 ui->stackedWidget->setEnabled(true);
2518 ui->buttonsContainer->setEnabled(true);
2519
2520 int index = ui->stackedWidget->currentIndex();
2521 if(ui->stackedWidget->widget(index)){
2522 QColor c = calibratingColor;
2523 setStyleSheet(QString("font: 8pt; background-color: rgb(%1,%2,%3); color: rgb(35, 38, 41);").arg(c.red()).arg(c.green()).arg(c.blue()));
2524 }
2525 break;
2526 }
2527 case Calibrating:{
2528 ui->groupBox->setTitle(QString("JOINT %1 (%2) - CALIBRATING").arg(jointIndex).arg(jointName));
2529 ui->stackedWidget->setEnabled(false);
2530 ui->buttonsContainer->setEnabled(false);
2531
2532 int index = ui->stackedWidget->currentIndex();
2533 if(ui->stackedWidget->widget(index)){
2534 QColor c = calibratingColor;
2535 setStyleSheet(QString("font: 8pt; background-color: rgb(%1,%2,%3); color: rgb(35, 38, 41);").arg(c.red()).arg(c.green()).arg(c.blue()));
2536 }
2537 break;
2538 }
2539 case HwFault:{
2540 setJointInternalState(HW_FAULT);
2541 break;
2542 }
2543 case Disconnected:{
2544 ui->groupBox->setTitle(QString("JOINT %1 (%2) - DISCONNECTED").arg(jointIndex).arg(jointName));
2545 ui->stackedWidget->setEnabled(false);
2546 ui->buttonsContainer->setEnabled(false);
2547
2548 int index = ui->stackedWidget->currentIndex();
2549 if(ui->stackedWidget->widget(index)){
2550 QColor c = disconnectColor;
2551 setStyleSheet(QString("font: 8pt; background-color: rgb(%1,%2,%3); color: rgb(35, 38, 41);").arg(c.red()).arg(c.green()).arg(c.blue()));
2552 }
2553 break;
2554 }
2555 case Idle:{
2556 setJointInternalState(IDLE);
2557 break;
2558 }
2559 case Position:{
2560 setJointInternalState(POSITION);
2561 break;
2562 }
2563 case PositionDirect:{
2564 setJointInternalState(POSITION_DIR);
2565 break;
2566 }
2567 case Mixed:{
2568 setJointInternalState(MIXED);
2569 break;
2570 }
2571 case Velocity:{
2572 setJointInternalState(VELOCITY);
2573 break;
2574 }
2575 case VelocityDirect:{
2576 setJointInternalState(VELOCITY_DIR);
2577 break;
2578 }
2579 case Torque:{
2580 setJointInternalState(TORQUE);
2581 break;
2582 }
2583 case Pwm:{
2584 setJointInternalState(PWM);
2585 break;
2586 }
2587 case Current:{
2588 setJointInternalState(CURRENT);
2589 break;
2590 }
2591 default:
2592 break;
2593 }
2594
2595}
2596
2597void JointItem::enableAll()
2598{
2599 ui->stackedWidget->setEnabled(true);
2600 ui->buttonsContainer->setEnabled(true);
2601 ui->buttonIdle->setEnabled(true);
2602 ui->buttonPid->setEnabled(true);
2603 ui->buttonHome->setEnabled(true);
2604 if(enableCalib){
2605 ui->buttonCalib->setEnabled(true);
2606 }
2607 ui->buttonRun->setEnabled(true);
2608 ui->comboMode->setEnabled(true);
2609 ui->comboInteraction->setEnabled(true);
2610
2611}
2612
2613void JointItem::setPWMRange(double min, double max)
2614{
2615 ui->sliderPWMOutput->setRange(min,max);
2616}
2617
2618void JointItem::setCurrentRange(double min, double max)
2619{
2620 if (min < max)
2621 {
2622 m_min_current = min;
2623 m_max_current = max;
2624 }
2625 else
2626 {
2627 //Error
2628 }
2629 ui->sliderCurrentOutput->setRange(min, max);
2630}
2631
2632void JointItem::setPositionRange(double min, double max)
2633{
2634 m_min_position = 1;
2635 m_max_position = 2;
2636 if(min < max)
2637 {
2638 m_min_position = min;
2639 m_max_position = max;
2640 }
2641 else
2642 {
2643 //Error
2644 }
2645}
2646
2647void JointItem::setVelocityRange(double min, double max)
2648{
2649 m_min_velocity = -100;
2650 m_max_velocity = 100;
2651 if (min < max)
2652 {
2653 m_min_velocity = min;
2654 m_max_velocity = max;
2655 }
2656 else
2657 {
2658 //Error
2659 }
2660}
2661
2662void JointItem::setAccelerationRange(double min, double max)
2663{
2664 m_min_acceleration = -100;
2665 m_max_acceleration = 100;
2666 if (min < max)
2667 {
2668 m_min_acceleration = min;
2669 m_max_acceleration = max;
2670 }
2671 else
2672 {
2673 //Error
2674 }
2675}
2676
2677void JointItem::setTorqueRange(double max)
2678{
2679 m_max_torque = 5;
2680 if (max >= 0)
2681 {
2682 m_max_torque = max;
2683 }
2684 else
2685 {
2686 //Error
2687 }
2688}
2689
2690void JointItem::onCalibClicked()
2691{
2692 if (this->internalState == Velocity)
2693 {
2694 velocityTimer.stop();
2695 }
2696 if (this->internalState == VelocityDirect)
2697 {
2698 velocityDirectTimer.stop();
2699 }
2700 else if(this->internalState == Pwm)
2701 {
2702 pwmTimer.stop();
2703 }
2704 else if(this->internalState == Current)
2705 {
2706 currentTimer.stop();
2707 }
2708 else if(this->internalState == Torque)
2709 {
2710 torqueTimer.stop();
2711 }
2712 emit calibClicked(this);
2713}
2714
2715void JointItem::onHomeClicked()
2716{
2717 home();
2718}
2719
2720void JointItem::onIdleClicked()
2721{
2722 idle();
2723}
2724
2725void JointItem::onRunClicked()
2726{
2727 run();
2728}
2729
2730void JointItem::onPidClicked()
2731{
2732 showPID();
2733}
2734
2735void JointItem::sequenceActivated()
2736{
2737 ui->sliderMixedPosition->setEnabled(false);
2738 ui->sliderMixedVelocity->setEnabled(false);
2739 ui->sliderPWMOutput->setEnabled(false);
2740 ui->sliderCurrentOutput->setEnabled(false);
2741 ui->sliderDirectPosition->setEnabled(false);
2742 ui->sliderPosTrajectory_Position->setEnabled(false);
2743 ui->sliderPosTrajectory_Velocity->setEnabled(false);
2744 ui->sliderTorqueTorque->setEnabled(false);
2745
2746}
2747
2748void JointItem::sequenceStopped()
2749{
2750 ui->sliderMixedPosition->setEnabled(true);
2751 ui->sliderMixedVelocity->setEnabled(true);
2752 ui->sliderPWMOutput->setEnabled(true);
2753 ui->sliderCurrentOutput->setEnabled(true);
2754 ui->sliderDirectPosition->setEnabled(true);
2755 ui->sliderPosTrajectory_Position->setEnabled(true);
2756 ui->sliderPosTrajectory_Velocity->setEnabled(true);
2757 ui->sliderTorqueTorque->setEnabled(true);
2758}
2759
2760
2761bool WheelEventFilter::eventFilter(QObject *obj, QEvent *event)
2762{
2763 if (event->type() == QEvent::Wheel) {
2764 return true;
2765 } else {
2766 // standard event processing
2767 return QObject::eventFilter(obj, event);
2768 }
2769}
mode
FeatureMode mode
Definition FakeFrameGrabber_Controls.cpp:33
yError
#define yError(...)
Definition Log.h:361
yFatal
#define yFatal(...)
Definition Log.h:382
SIGNAL
int SIGNAL(int pid, int signum)
Definition RunProcManager.cpp:76
JointItem::setMotorPosition
void setMotorPosition(double meas)
Definition jointitem.cpp:2179
JointItem::viewPositionTargetValue
void viewPositionTargetValue(bool)
Definition jointitem.cpp:643
JointItem::setVelocityRange
void setVelocityRange(double min, double max)
Definition jointitem.cpp:2647
JointItem::setDutyVisible
void setDutyVisible(bool)
Definition jointitem.cpp:862
JointItem::sliderVelocityDirectCommand
void sliderVelocityDirectCommand(double val, int jointIndex)
JointItem::sequenceActivated
void sequenceActivated()
Definition jointitem.cpp:2735
JointItem::updateJointFault
void updateJointFault(int i, std::string message)
Definition jointitem.cpp:1968
JointItem::disableAccelerationSliderDouble
void disableAccelerationSliderDouble()
Definition jointitem.cpp:1280
JointItem::enableControlPositionDirect
void enableControlPositionDirect(bool control)
Definition jointitem.cpp:602
JointItem::enableVelocitySliderDoubleAuto
void enableVelocitySliderDoubleAuto()
Definition jointitem.cpp:1196
JointItem::setCurrentsVisible
void setCurrentsVisible(bool)
Definition jointitem.cpp:949
JointItem::setUnits
void setUnits(yarp::dev::JointTypeEnum t)
Definition jointitem.cpp:649
JointItem::GetModeColor
static QColor GetModeColor(JointState mode)
Definition jointitem.cpp:107
JointItem::setPositionRange
void setPositionRange(double min, double max)
Definition jointitem.cpp:2632
JointItem::enableControlMixed
void enableControlMixed(bool control)
Definition jointitem.cpp:597
JointItem::resetTarget
void resetTarget()
Definition jointitem.cpp:21
JointItem::enablePositionSliderDoubleValue
void enablePositionSliderDoubleValue(double value)
Definition jointitem.cpp:1153
JointItem::sliderVelTrajectoryAccelerationCommand
void sliderVelTrajectoryAccelerationCommand(double val, int jointIndex)
JointItem::sliderCurrentCommand
void sliderCurrentCommand(double val, int jointIndex)
JointItem::enableAccelerationSliderDoubleValue
void enableAccelerationSliderDoubleValue(double value)
Definition jointitem.cpp:1266
JointItem::enableCurrentSliderDoubleValue
void enableCurrentSliderDoubleValue(double value)
Definition jointitem.cpp:1360
JointItem::viewPositionTargetBox
void viewPositionTargetBox(bool)
Definition jointitem.cpp:637
JointItem::setJointState
void setJointState(JointState)
Definition jointitem.cpp:2451
JointItem::sliderPosTrajectoryPositionCommand
void sliderPosTrajectoryPositionCommand(double val, int jointIndex)
JointItem::enableControlPWM
void enableControlPWM(bool control)
Definition jointitem.cpp:607
JointItem::disablePositionSliderDouble
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Definition jointitem.cpp:1172
JointItem::setNumberOfAccelerationSliderDecimals
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Definition jointitem.cpp:1453
JointItem::disableCurrentSliderDouble
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Definition jointitem.cpp:1374
JointItem::enableTorqueSliderDoubleValue
void enableTorqueSliderDoubleValue(double value)
Definition jointitem.cpp:1313
JointItem::homeClicked
void homeClicked(JointItem *joint)
JointItem::setPosition
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Definition jointitem.cpp:2027
JointItem::sliderPWMCommand
void sliderPWMCommand(double val, int jointIndex)
JointItem::GetModeString
static QString GetModeString(JointState mode)
Definition jointitem.cpp:178
JointItem::enableControlVelocityDirect
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Definition jointitem.cpp:588
JointItem::setCurrentRange
void setCurrentRange(double min, double max)
Definition jointitem.cpp:2618
JointItem::setJointName
void setJointName(QString name)
Definition jointitem.cpp:1636
JointItem::pidClicked
void pidClicked(JointItem *joint)
JointItem::getJointName
QString getJointName()
Definition jointitem.cpp:1641
JointItem::setPWMRange
void setPWMRange(double min, double max)
Definition jointitem.cpp:2613
JointItem::updateMotionDone
void updateMotionDone(bool done)
Definition jointitem.cpp:1882
JointItem::setRefCurrent
void setRefCurrent(double ref)
Definition jointitem.cpp:2014
JointItem::setNumberOfCurrentSliderDecimals
void setNumberOfCurrentSliderDecimals(size_t num)
Definition jointitem.cpp:1461
JointItem::InteractionStarting
@ InteractionStarting
Definition jointitem.h:35
JointItem::getTrajectoryVelocityValue
double getTrajectoryVelocityValue()
Definition jointitem.cpp:1860
JointItem::setVelTrajectory_ReferenceSpeed
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Definition jointitem.cpp:2090
JointItem::setSpeed
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Definition jointitem.cpp:2271
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Definition jointitem.cpp:1346
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bool eventFilter(QObject *obj, QEvent *event) override
Definition jointitem.cpp:452
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Definition jointitem.cpp:1524
JointItem::sliderMixedPositionCommand
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JointItem::sliderDirectPositionCommand
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Definition jointitem.cpp:2430
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JointItem::runClicked
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Definition jointitem.cpp:758
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Definition jointitem.cpp:579
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Definition jointitem.cpp:1457
JointItem::setDutyCycles
void setDutyCycles(double duty)
Definition jointitem.cpp:2229
JointItem::getTrajectoryPositionValue
double getTrajectoryPositionValue()
Definition jointitem.cpp:1850
JointItem::sliderPosTrajectoryVelocityCommand
void sliderPosTrajectoryVelocityCommand(double val, int jointIndex)
JointItem::setCurrent
void setCurrent(double meas)
Definition jointitem.cpp:2323
JointItem::idle
void idle()
Definition jointitem.cpp:77
JointItem::disableVelocitySliderDouble
void disableVelocitySliderDouble()
Definition jointitem.cpp:1230
JointItem::setPosTrajectory_ReferenceSpeed
void setPosTrajectory_ReferenceSpeed(double ref)
Definition jointitem.cpp:2116
JointItem::updateBraked
void updateBraked(bool brk)
Definition jointitem.cpp:1870
JointItem::sliderVelTrajectoryVelocityCommand
void sliderVelTrajectoryVelocityCommand(double val, int jointIndex)
JointItem::setRefPWM
void setRefPWM(double ref)
Definition jointitem.cpp:2001
JointItem::run
void run()
Definition jointitem.cpp:52
JointItem::sliderTorqueCommand
void sliderTorqueCommand(double val, int jointIndex)
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Definition jointitem.cpp:617
JointItem::setEnabledOptions
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Definition jointitem.cpp:1466
JointItem::setAccelerationRange
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Definition jointitem.cpp:2662
JointItem::sequenceStopped
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Definition jointitem.cpp:2748
JointItem::changeMode
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JointItem::enableTorqueSliderDoubleAuto
void enableTorqueSliderDoubleAuto()
Definition jointitem.cpp:1299
JointItem::setVelTrajectory_ReferenceAcceleration
void setVelTrajectory_ReferenceAcceleration(double ref)
Definition jointitem.cpp:2098
JointItem::setSpeedVisible
void setSpeedVisible(bool)
Definition jointitem.cpp:1043
JointItem::showPID
void showPID()
Definition jointitem.cpp:102
JointItem::home
void home()
Definition jointitem.cpp:27
JointItem::JointItem
JointItem(int index, QWidget *parent=0)
Definition jointitem.cpp:259
JointItem::setNumberOfPositionSliderDecimals
void setNumberOfPositionSliderDecimals(size_t num)
Definition jointitem.cpp:1437
JointItem::PositionDirect
@ PositionDirect
Definition jointitem.h:33
JointItem::Disconnected
@ Disconnected
Definition jointitem.h:34
JointItem::StateStarting
@ StateStarting
Definition jointitem.h:34
JointItem::VelocityDirect
@ VelocityDirect
Definition jointitem.h:33
JointItem::Calibrating
@ Calibrating
Definition jointitem.h:34
JointItem::NotConfigured
@ NotConfigured
Definition jointitem.h:34
JointItem::enableVelocitySliderDoubleValue
void enableVelocitySliderDoubleValue(double value)
Definition jointitem.cpp:1213
JointItem::enablePositionSliderDoubleAuto
void enablePositionSliderDoubleAuto()
Definition jointitem.cpp:1134
JointItem::disableTorqueSliderDouble
void disableTorqueSliderDouble()
Definition jointitem.cpp:1327
JointItem::setPosTrajectory_ReferencePosition
void setPosTrajectory_ReferencePosition(double ref)
Definition jointitem.cpp:2135
JointItem::enableAccelerationSliderDoubleAuto
void enableAccelerationSliderDoubleAuto()
Definition jointitem.cpp:1252
JointItem::enableControlTorque
void enableControlTorque(bool control)
Definition jointitem.cpp:627
JointItem::setTorque
void setTorque(double meas)
Definition jointitem.cpp:2142
JointItem::setNumberOfVelocitySliderDecimals
void setNumberOfVelocitySliderDecimals(size_t num)
Definition jointitem.cpp:1446
JointItem::sliderMixedVelocityCommand
void sliderMixedVelocityCommand(double val, int jointIndex)
JointItem::idleClicked
void idleClicked(JointItem *joint)
JointItem::setTorqueRange
void setTorqueRange(double max)
Definition jointitem.cpp:2677
JointItem::setRefTorque
void setRefTorque(double ref)
Definition jointitem.cpp:2082
JointItem::changeInteraction
void changeInteraction(int interaction, JointItem *joint)
WheelEventFilter::eventFilter
bool eventFilter(QObject *obj, QEvent *event) override
Definition jointitem.cpp:2761
speedview_param_enabled
bool speedview_param_enabled
Definition main.cpp:35
debug_param_enabled
bool debug_param_enabled
Definition main.cpp:34
enable_calib_all
bool enable_calib_all
Definition main.cpp:36
STIFF
#define STIFF
Definition jointitem.h:25
COMPLIANT
#define COMPLIANT
Definition jointitem.h:26
Ui
Definition aboutdlg.h:11
yarp::dev::VOCAB_JOINTTYPE_REVOLUTE
@ VOCAB_JOINTTYPE_REVOLUTE
Definition IAxisInfo.h:24
yarp::dev::VOCAB_JOINTTYPE_PRISMATIC
@ VOCAB_JOINTTYPE_PRISMATIC
Definition IAxisInfo.h:25
velocityDirectColor
const QColor velocityDirectColor
Definition yarpmotorgui.h:18
idleColor
const QColor idleColor
Definition yarpmotorgui.h:13
disconnectColor
const QColor disconnectColor
Definition yarpmotorgui.h:23
hwFaultColor
const QColor hwFaultColor
Definition yarpmotorgui.h:24
torqueColor
const QColor torqueColor
Definition yarpmotorgui.h:19
positionColor
const QColor positionColor
Definition yarpmotorgui.h:14
pwmColor
const QColor pwmColor
Definition yarpmotorgui.h:20
positionDirectColor
const QColor positionDirectColor
Definition yarpmotorgui.h:15
mixedColor
const QColor mixedColor
Definition yarpmotorgui.h:16
velocityColor
const QColor velocityColor
Definition yarpmotorgui.h:17
calibratingColor
const QColor calibratingColor
Definition yarpmotorgui.h:26
currentColor
const QColor currentColor
Definition yarpmotorgui.h:21