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