Added JuankaEmika to sas_robot_driver_franka

qt/configuration_window/mainwindow.h

@@ -0,0 +1,124 @@
+#pragma once
+#include "QtWidgets/qlabel.h"
+#include "QtWidgets/qslider.h"
+#include "qpushbutton.h"
+#include <memory>
+#include <eigen3/Eigen/Dense>
+
+#include <QMainWindow>
+#include "qspinbox.h"
+#include "robot_interface_franka.h"
+
+QT_BEGIN_NAMESPACE
+namespace Ui { class MainWindow; }
+QT_END_NAMESPACE
+
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    MainWindow(QWidget *parent = nullptr);
+    ~MainWindow();
+
+    void set_reference_sliders(const VectorXd& q_initial);
+    void enable_reference_sliders(const bool& status);
+    void set_push_button_color(QPushButton* push_button, const QColor& color);
+    void enable_push_button(QPushButton* push_button, const bool& state);
+    void blink_button(QPushButton* push_button, const bool& state, const QColor& color_on, const QColor& color_off);
+    void update_read_joints(const VectorXd& q, const VectorXd& q_dot);
+    void update_led_timer_status();
+    void enable_check_boxes(const bool& state);
+    void update_status_bar(const std::string& message);
+
+
+private slots:
+
+
+
+    void on_pushButton_connect_clicked();
+
+    void on_reference_joint_1_valueChanged(int value);
+    void on_reference_joint_2_valueChanged(int value);
+    void on_reference_joint_3_valueChanged(int value);
+    void on_reference_joint_4_valueChanged(int value);
+    void on_reference_joint_5_valueChanged(int value);
+    void on_reference_joint_6_valueChanged(int value);
+    void on_reference_joint_7_valueChanged(int value);
+
+    void on_pushButton_default_ref_clicked();
+
+    //void on_checkBox_joint_commands_clicked(bool checked);
+    //void on_checkBox_homingGripper_clicked(bool checked);
+    //void on_checkBox_robotHoming_clicked(bool checked);
+    //void on_checkBox_move_hand_clicked(bool checked);
+
+    void on_horizontalSlider_gripper_valueChanged(int value);
+
+
+    void on_checkBox_homingGripper_clicked(bool checked);
+
+    void on_checkBox_move_hand_clicked(bool checked);
+
+    void on_checkBox_robotHoming_clicked(bool checked);
+
+    void on_checkBox_joint_commands_clicked(bool checked);
+
+    void on_checkBox_joint_commands_stateChanged();
+
+    void on_checkBox_move_hand_stateChanged();
+
+    void on_checkBox_robotHoming_stateChanged();
+
+    void on_checkBox_homingGripper_stateChanged();
+
+    void on_pushButton_disconnect_clicked();
+
+    void on_pushButton_initialize_clicked();
+
+    void on_pushButton_deinitialize_clicked();
+
+    void on_pushButton_robotHoming_clicked();
+
+
+
+    void on_pushButton_joint_commands_clicked();
+
+
+
+    void on_pushButton_handHoming_clicked();
+
+    void on_pushButton_move_hand_clicked();
+
+private:
+    Ui::MainWindow *ui;
+    //std::shared_ptr<Ui::MainWindow> ui;
+    std::vector<QSlider*> reference_joint_x_;
+    std::vector<QLabel*> label_ref_joint_x_;
+    std::vector<QDoubleSpinBox*> spin_box_read_joint_x_;
+    std::vector<QDoubleSpinBox*> spin_box_read_deg_joint_x_;
+    std::vector<QDoubleSpinBox*> spin_box_read_deg_joint_vel_x_;
+
+    QColor green_color_ = QColor::fromRgb(144,238,144);
+
+    QColor green_led_color_ = QColor::fromRgb(0,255,0);
+    QColor gray_color_ = QColor::fromRgb(180,180,180);
+
+    std::shared_ptr<RobotInterfaceFranka> robot_driver_franka_sptr_ = nullptr;
+    int timerId;
+
+    VectorXd q_target_ =(VectorXd(7)<<0, -0.3, 0, -1.92, 0, M_PI_2, M_PI_4).finished();
+    VectorXd q_rest_configuration_= (VectorXd(7)<<0, -0.3, 0, -1.92, 0, M_PI_2, M_PI_4).finished();
+
+    double command_gripper_ = 0.05;
+
+    double time_from_robot_;
+
+    bool connect_flag_      = false;
+    bool initialize_flag_   = false;
+    bool deinitialize_flag_ = false;
+    bool disconnect_flag_   = false;
+
+protected:
+    void timerEvent(QTimerEvent *event);
+};