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