partitem.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 PARTITEM_H
#define PARTITEM_H
 
#include "flowlayout.h"
#include "sequencewindow.h"
#include "jointitem.h"
#include "piddlg.h"
#include "yarpmotorgui.h"
 
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Port.h>
#include <yarp/os/Network.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/IControlLimits.h>
#include <yarp/dev/IControlMode.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/Time.h>
#include <yarp/os/ResourceFinder.h>
#include <yarp/os/Stamp.h>
 
#include <QWidget>
#include <QTimer>
 
 
 
using namespace yarp::dev;
using namespace yarp::sig;
using namespace yarp::os;
 
#define     MAX_WIDTH_JOINT 320
 
class PartItem : public QWidget
{
    Q_OBJECT
public:
    explicit PartItem(std::string robotName,
                      int partId,
                      std::string partName,
                      ResourceFinder& _finder,
                      bool debug_param_enabled,
                      bool speedview_param_enabled,
                      bool enable_calib_all,
                      std::string rcb_protocol,
                      QWidget *parent = 0);
 
 
    ~PartItem();
    bool openPolyDrivers();
    void initInterfaces();
    bool openInterfaces();
    bool getInterfaceError();
    void openSequenceWindow();
    void closeSequenceWindow();
    bool cycleAllSeq();
    bool checkAndRunAllSeq();
    bool checkAndRunTimeAllSeq();
    bool checkAndCycleAllSeq();
    bool checkAndCycleTimeAllSeq();
    void runPart();
    void idlePart();
    bool homeJoint(int joint);
    bool homePart();
    bool homeToCustomPosition(const yarp::os::Bottle& positionElement);
    void calibratePart();
    bool checkAndGo();
    void stopSequence();
    void setTreeWidgetModeNode(QTreeWidgetItem *node);
    void loadSequence();
    void saveSequence(QString global_filename);
    QTreeWidgetItem *getTreeWidgetModeNode();
    std::string getPartName();
    const QVector<JointItem::JointState>& getPartModes();
    void resizeWidget(int w);
    int getNumberOfJoints();
    QString getJointName(int joint);
    JointItem* getJointWidget(int jointIndex);
 
 
private:
    void fixedTimeMove(SequenceItem sequence);
 
protected:
    void resizeEvent(QResizeEvent *event) override;
    void changeEvent(QEvent *event) override;
 
private:
    FlowLayout *m_layout;
    SequenceWindow *m_sequenceWindow;
    std::string m_robotPartPort;
    std::string m_robotName;
    std::string m_partName;
    int     m_partId;
    bool   m_mixedEnabled;
    bool   m_positionDirectEnabled;
    bool   m_pwmEnabled;
    bool   m_currentEnabled;
    PidDlg *m_currentPidDlg;
    Stamp  m_sequence_port_stamp;
    QTimer m_runTimer;
    QTimer m_runTimeTimer;
    QTimer m_cycleTimer;
    QTimer m_cycleTimeTimer;
 
    QList<SequenceItem> m_runValues;
    QList<SequenceItem> m_runTimeValues;
    QList<SequenceItem> m_cycleValues;
    QList<SequenceItem> m_cycleTimeValues;
    std::vector<int>    m_controlModes;
    std::vector<double> m_refTrajectorySpeeds;
    std::vector<double> m_refTrajectoryPositions;
    std::vector<double> m_refTorques;
    std::vector<double> m_refVelocitySpeeds;
    std::vector<double> m_refVelocityAccelerations;
    std::vector<double> m_torques;
    std::vector<double> m_positions;
    std::vector<double> m_speeds;
    std::vector<double> m_currents;
    std::vector<double> m_motorPositions;
    std::vector<double> m_dutyCycles;
    std::vector<bool>   m_done;
    std::vector<bool>   m_braked;
    bool    m_part_speedVisible;
    bool    m_part_motorPositionVisible;
    bool    m_part_dutyVisible;
    bool    m_part_currentVisible;
    std::vector<InteractionModeEnum>  m_interactionModes;
    QVector<JointItem::JointState> m_modesList;
 
    ResourceFinder* m_finder = nullptr;
    PolyDriver*     m_partsdd=nullptr;
    Property        m_partOptions;
    Port            m_sequence_port;
    bool            m_interfaceError;
 
    IPositionControl* m_iPos = nullptr;
    IJointBrake* m_ijointbrake = nullptr;
    IPositionDirect* m_iPosDir = nullptr;
    IVelocityControl* m_iVel = nullptr;
    IVelocityDirect* m_iVelDir = nullptr;
    IRemoteVariables* m_iVar = nullptr;
    IEncoders* m_iencs = nullptr;
    IMotorEncoders* m_iMot = nullptr;
    IAmplifierControl* m_iAmp = nullptr;
    IPidControl* m_iPid = nullptr;
    ICurrentControl* m_iCur = nullptr;
    IPWMControl* m_iPWM = nullptr;
    ITorqueControl* m_iTrq = nullptr;
    IImpedanceControl* m_iImp = nullptr;
    IAxisInfo* m_iinfo = nullptr;
    IControlLimits* m_iLim = nullptr;
    IControlCalibration* m_ical = nullptr;
    IControlMode* m_ictrlmode = nullptr;
    IInteractionMode* m_iinteract = nullptr;
    IJointFault* m_ijointfault = nullptr;
    IRemoteCalibrator* m_iremCalib = nullptr;
    int m_slow_k;
 
signals:
    void sendPartJointsValues(int,QList<double>,QList<double>);
    void stoppedSequence();
    void cycleSequence();
    void cycleTimeSequence();
    void runTimeSequence();
    void runSequence();
    void setCurrentIndex(int);
    void sequenceActivated();
    void sequenceStopped();
 
public slots:
    void updateControlMode();
    bool updatePart();
    void onViewSpeedValues(bool);
    void onViewMotorPositions(bool);
    void onViewDutyCycles(bool);
    void onViewCurrentValues(bool);
    void onSetPosSliderOptionPI(int mode, double step, int numOfDec);
    void onSetVelSliderOptionPI(int mode, double step, int numOfDec);
    void onSetAccSliderOptionPI(int mode, double step, int numOfDec);
    void onSetTrqSliderOptionPI(int mode, double step, int numOfDec);
    void onSetCurSliderOptionPI(int mode, double step, int numOfDec);
    void onViewPositionTargetBox(bool);
    void onViewPositionTargetValue(bool);
    void onEnableControlVelocity(bool control);
    void onEnableControlMixed(bool control);
    void onEnableControlPositionDirect(bool control);
    void onEnableControlPWM(bool control);
    void onEnableControlCurrent(bool control);
    void onEnableControlTorque(bool control);
    void onEnableControlVelocityDirect(bool control);
 
private slots:
    void onSequenceActivated();
    void onSequenceStopped();
    void onStopSequence();
    void onCycleTimeTimerTimeout();
    void onCycleTimerTimeout();
    void onRunTimerTimeout();
    void onRunTimeout();
    void onGo(SequenceItem);
    void onOpenSequence();
    void onSaveSequence(QList<SequenceItem> values, QString fileName);
    void onSequenceRunTime(QList<SequenceItem>);
    void onSequenceRun(QList<SequenceItem> values);
    void onSequenceCycle(QList<SequenceItem>);
    void onSequenceCycleTime(QList<SequenceItem>);
    void onCalibClicked(JointItem *joint);
    void onJointChangeMode(int mode,JointItem *joint);
    void onJointInteraction(int interaction,JointItem *joint);
    void onSliderDirectPositionCommand(double dirpos, int index);
    void onSliderMixedPositionCommand(double pos, int index);
    void onSliderMixedVelocityCommand(double vel, int index);
    void onSliderTorqueCommand(double torqueVal, int index);
    void onSliderPosTrajectoryPositionCommand(double pos, int index);
    void onSliderPosTrajectoryVelocityCommand(double speedVal, int index);
    void onSliderPWMCommand(double dutyVal, int index);
    void onSliderCurrentCommand(double current, int index);
    void onSliderVelTrajectoryVelocityCommand(double speedVal, int index);
    void onSliderVelTrajectoryAccelerationCommand(double accVal, int index);
    void onSliderVelocityDirectCommand(double speedVal, int index);
    void onSequenceWindowDoubleClicked(int sequenceNum);
    void onHomeClicked(JointItem *joint);
    void onIdleClicked(JointItem *joint);
    void onRunClicked(JointItem *joint);
    void onPidClicked(JointItem *joint);
    void onSendPositionPid(int jointIndex, Pid newPid);
    void onSendVelocityPid(int jointIndex, Pid newPid);
    void onSendCurrentPid(int jointIndex, Pid newPid);
    void onSendSingleRemoteVariable(std::string key, yarp::os::Bottle val);
    void onUpdateAllRemoteVariables();
    void onSendTorquePid(int jointIndex, Pid newPid, MotorTorqueParameters newTorqueParam);
    void onSendStiffness(int jointIdex, double stiff, double damp, double force);
    void onSendPWM(int jointIndex, double dutyVal);
    void onRefreshPids(int jointIndex);
    void onDumpAllRemoteVariables();
 
 
};
 
#endif // PARTITEM_H