jointitem.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef JOINTITEM_H
#define JOINTITEM_H
 
#include <QWidget>
#include <QSlider>
#include <QLabel>
#include <QTimer>
#include <yarp/dev/ControlBoardInterfaces.h>
#include "sliderWithTarget.h"
 
namespace Ui {
class JointItem;
}
 
class WheelEventFilter;
 
 
 
#define     STIFF           0
#define     COMPLIANT       1
 
class JointItem : public QWidget
{
    Q_OBJECT
 
    public:
    enum JointState {Idle = 0,Position,PositionDirect,Mixed,Velocity,VelocityDirect, Torque,Pwm,Current,
                     Disconnected, HwFault, Calibrating, CalibDone, NotConfigured, Configured,Unknown, StateStarting} ;
    enum JointInteraction {Stiff, Compliant, InteractionStarting} ;
    explicit JointItem(int index, QWidget *parent = 0);
    ~JointItem();
    void setJointInteraction(JointInteraction interaction);
    void setJointState(JointState);
    void setPosition(double val);
    void setTorque(double meas);
    void setRefTorque(double ref);
    void setVelTrajectory_ReferenceSpeed(double ref);
    void setVelTrajectory_ReferenceAcceleration(double ref);
    void setPosTrajectory_ReferenceSpeed(double ref);
    void setPosTrajectory_ReferencePosition(double ref);
    void setSpeed(double val);
    void setMotorPosition(double meas);
    void setDutyCycles(double duty);
    void setRefPWM(double ref);
    void setCurrent(double meas);
    void setRefCurrent(double ref);
    void updateMotionDone(bool done);
    void updateBraked(bool brk);
    void updateJointFault(int i, std::string message);
    void setJointName(QString name);
    QString getJointName();
    int getJointIndex();
    void setPositionRange(double min, double max);
    void setVelocityRange(double min, double max);
    void setAccelerationRange(double min, double max);
    void setPWMRange(double min, double max);
    void setCurrentRange(double min, double max);
    void setTorqueRange(double max);
    double getTrajectoryPositionValue();
    double getTrajectoryVelocityValue();
    void setEnabledOptions(bool debug_param_enabled,
                           bool speedview_param_enabled,
                           bool enable_calib_all);
 
    void setSpeedVisible(bool);
    void setMotorPositionVisible(bool);
    void setDutyVisible(bool);
    void setCurrentsVisible(bool);
    void setUnits(yarp::dev::JointTypeEnum t);
    void viewPositionTargetBox(bool);
    void viewPositionTargetValue(bool);
    void enableControlVelocity(bool control);
    void enableControlVelocityDirect(bool control);
    void enableControlMixed(bool control);
    void enableControlPositionDirect(bool control);
    void enableControlPWM(bool control);
    void enableControlCurrent(bool control);
    void enableControlTorque(bool control);
    void sequenceActivated();
    void sequenceStopped();
 
    void setNumberOfPositionSliderDecimals(size_t num);
    void setNumberOfVelocitySliderDecimals(size_t num);
    void setNumberOfAccelerationSliderDecimals(size_t num);
    void setNumberOfTorqueSliderDecimals(size_t num);
    void setNumberOfCurrentSliderDecimals(size_t num);
 
    // valid for all position sliders
    void enablePositionSliderDoubleAuto();
    void enablePositionSliderDoubleValue(double value);
    void disablePositionSliderDouble();
 
    // valid for all velocity sliders
    void enableVelocitySliderDoubleAuto();
    void enableVelocitySliderDoubleValue(double value);
    void disableVelocitySliderDouble();
 
    void enableAccelerationSliderDoubleAuto();
    void enableAccelerationSliderDoubleValue(double value);
    void disableAccelerationSliderDouble();
 
    void enableTorqueSliderDoubleAuto();
    void enableTorqueSliderDoubleValue(double value);
    void disableTorqueSliderDouble();
 
    void enableCurrentSliderDoubleAuto();
    void enableCurrentSliderDoubleValue(double value);
    void disableCurrentSliderDouble();
 
    void resetTarget();
 
    void home();
    void run();
    void idle();
    void showPID();
 
    static QColor GetModeColor(JointState mode);
    static QString GetModeString(JointState mode);
 
protected:
    bool eventFilter(QObject *obj, QEvent *event) override;
 
private:
    void enableAll();
    void installFilter();
    void setJointInternalState(int mode);
    void setJointInternalInteraction(int interaction);
 
    void updateSliderPosTrajectoryPosition      (double val);
    void updateSliderPosTrajectoryVelocity      (double val);
    void updateSliderVelTrajectoryVelocity      (double val);
    void updateSliderVelTrajectoryAcceleration  (double val);
    void updateSliderMixedPosition           (double val);
    void updateSliderPositionDirect          (double val);
    void updateSliderVelocityDirect          (double val);
    void updateSliderPWM                     (double val);
    void updateSliderCurrent                 (double val);
    void updateSliderTorque                  (double val);
 
    void updateTrajectoryPositionTarget      (double val);
    void updateMixedPositionTarget           (double val);
 
private:
    Ui::JointItem *ui;
    QString comboStyle1;
    QString comboStyle2;
    int jointIndex;
    QString jointName;
    bool sliderVelocityDirectPressed = false;
    bool sliderDirectPositionPressed = false;
    bool sliderMixedPositionPressed = false;
    bool sliderMixedVelocityPressed = false;
    bool sliderVelTrajectory_VelocityPressed = false;
    bool sliderVelTrajectory_AccelerationPressed = false;
    bool sliderPosTrajectory_VelocityPressed = false;
    bool sliderPosTrajectory_PositionPressed = false;
    bool sliderTorquePressed = false;
    bool sliderPWMPressed = false;
    bool sliderCurrentPressed = false;
    bool motionDone = true;
    bool enableCalib = true;
    bool joint_speedVisible = false;
    bool joint_motorPositionVisible = false;
    bool joint_currentVisible = false;
    bool joint_dutyVisible = false;
    QTimer velocityTimer;
    QTimer velocityDirectTimer;
    double lastVelocity = 0;
    double lastVelocityDirect = 0;
    bool velocityModeEnabled = false;
    bool velocityDirectModeEnabled = false;
    QTimer pwmTimer;
    double lastPwm = 0;
    bool pwmModeEnabled = false;
    QTimer currentTimer;
    double lastCurrent = 0;
    bool currentModeEnabled = false;
    QTimer torqueTimer;
    double lastTorque = 0;
    bool torqueModeEnabled = false;
 
    int     IDLE = 0;
    int     POSITION = 1;
    int     POSITION_DIR = 2;
    int     MIXED = 3;
    int     VELOCITY = 4;
    int     VELOCITY_DIR =5;
    int     TORQUE =6;
    int     PWM =7;
    int     CURRENT=8;
    int     HW_FAULT= 9;
 
    int shiftPositions;
 
    JointState internalState;
    JointInteraction internalInteraction;
 
    double m_max_current = 0;
    double m_min_current = 0;
    double m_max_torque = 0;
    double m_min_torque = 0;
    double m_max_position = 0;
    double m_min_position = 0;
    double m_max_velocity = 0;
    double m_min_velocity = 0;
    double m_max_acceleration = 0;
    double m_min_acceleration = 0;
 
    //double speed = 0;
    double m_ref_speed = 0;
    double m_ref_torque = 0;
    double m_ref_pwm = 0;
    double m_ref_current = 0;
    double m_ref_PosTrajectory_velocity = 0;
    double m_ref_VelTrajectory_acceleration = 0;
 
 
 
private slots:
    void onModeChanged(int index);
    void onInteractionChanged(int index);
 
    void onSliderPosTrajectory_PositionPressed();
    void onSliderPosTrajectory_PositionReleased();
 
    void onSliderDirectPositionPressed();
    void onSliderDirectPositionReleased();
 
    void onSliderMixedPositionPressed();
    void onSliderMixedPositionReleased();
 
    void onSliderPosTrajectory_VelocityReleased();
    void onSliderPosTrajectory_VelocityPressed();
 
    void onSliderVelTrajectory_AccelerationReleased();
    void onSliderVelTrajectory_AccelerationPressed();
 
    void onSliderMixedVelocityReleased();
    void onSliderMixedVelocityPressed();
 
    void onSliderTorquePressed();
    void onSliderTorqueReleased();
 
    void onSliderCurrentPressed();
    void onSliderCurrentReleased();
 
    void onSliderPWMPressed();
    void onSliderPWMReleased();
 
    void onSliderVelTrajectory_VelocityReleased();
    void onSliderVelTrajectory_VelocityPressed();
 
    void onSliderVelocityDirectReleased();
    void onSliderVelocityDirectPressed();
 
    void onCalibClicked();
    void onHomeClicked();
    void onIdleClicked();
    void onRunClicked();
    void onPidClicked();
    void onVelocityTimer();
    void onVelocityDirectTimer();
    void onPwmTimer();
    void onCurrentTimer();
    void onTorqueTimer();
    void onStackedWidgetChanged(int);
 
signals:
    void calibClicked(JointItem *joint);
    void pidClicked(JointItem *joint);
    void homeClicked(JointItem *joint);
    void idleClicked(JointItem *joint);
    void runClicked(JointItem *joint);
    void changeMode(int mode,JointItem *joint);
    void changeInteraction(int interaction,JointItem *joint);
 
    void sliderPosTrajectoryPositionCommand(double val, int jointIndex);
    void sliderPosTrajectoryVelocityCommand(double val, int jointIndex);
 
    void sliderVelTrajectoryVelocityCommand(double val, int jointIndex);
    void sliderVelTrajectoryAccelerationCommand(double val, int jointIndex);
 
    void sliderMixedPositionCommand(double val,  int jointIndex);
    void sliderMixedVelocityCommand(double val, int jointIndex);
    void sliderDirectPositionCommand(double val, int jointIndex);
 
    void sliderTorqueCommand(double val, int jointIndex);
    void sliderPWMCommand(double val, int jointIndex);
    void sliderCurrentCommand(double val, int jointIndex);
 
    void sliderVelocityDirectCommand(double val, int jointIndex);
};
 
 
class WheelEventFilter : public QObject
{
    Q_OBJECT
 
 
protected:
    bool eventFilter(QObject *obj, QEvent *event) override;
};
 
 
#endif // JOINTITEM_H