QSearchEdit::QSearchEdit(QWidget *parent) :
QLineEdit(parent)
{
Interval = 2;
Timer = new QTimer(this);
connect(this,SIGNAL(textChanged(QString)),this,SLOT(SlotTextChanged(QString)));
connect(Timer,SIGNAL(timeout()),this,SLOT(SlotStartSearch()));
connect(this,SIGNAL(returnPressed()),this,SLOT(SlotStartSearch()));
}
void mtsIntuitiveResearchKitArmQtWidget::setupUi(void)
{
QVBoxLayout * mainLayout = new QVBoxLayout;
QHBoxLayout * topLayout = new QHBoxLayout;
mainLayout->addLayout(topLayout);
// 3D position
QFRPositionWidget = new vctQtWidgetFrameDoubleRead(vctQtWidgetRotationDoubleRead::OPENGL_WIDGET);
topLayout->addWidget(QFRPositionWidget, 0, 0);
// timing
QVBoxLayout * timingLayout = new QVBoxLayout();
QMIntervalStatistics = new mtsQtWidgetIntervalStatistics();
timingLayout->addWidget(QMIntervalStatistics);
timingLayout->addStretch();
topLayout->addLayout(timingLayout);
// state
QHBoxLayout * stateLayout = new QHBoxLayout;
mainLayout->addLayout(stateLayout);
QCBEnableDirectControl = new QCheckBox("Direct control");
stateLayout->addWidget(QCBEnableDirectControl);
QPBHome = new QPushButton("Home");
stateLayout->addWidget(QPBHome);
QLabel * stateLabel = new QLabel("State:");
stateLayout->addWidget(stateLabel);
QLEState = new QLineEdit("");
QLEState->setReadOnly(true);
stateLayout->addWidget(QLEState);
// messages
QTEMessages = new QTextEdit();
QTEMessages->setReadOnly(true);
QTEMessages->ensureCursorVisible();
mainLayout->addWidget(QTEMessages);
setLayout(mainLayout);
setWindowTitle("Manipulator");
resize(sizeHint());
connect(this, SIGNAL(SignalAppendMessage(QString)),
QTEMessages, SLOT(append(QString)));
connect(this, SIGNAL(SignalSetColor(QColor)),
QTEMessages, SLOT(setTextColor(QColor)));
connect(QTEMessages, SIGNAL(textChanged()),
this, SLOT(SlotTextChanged()));
connect(QCBEnableDirectControl, SIGNAL(toggled(bool)),
this, SLOT(SlotEnableDirectControl(bool)));
connect(QPBHome, SIGNAL(clicked()),
this, SLOT(SlotHome()));
// set initial values
QCBEnableDirectControl->setChecked(DirectControl);
SlotEnableDirectControl(DirectControl);
}
void mtsIntuitiveResearchKitConsoleQtWidget::setupUi(void)
{
QGridLayout * frameLayout = new QGridLayout;
QGroupBox * groupBox = new QGroupBox("Desired state");
QRadioButton * idleButton = new QRadioButton("Idle");
QRadioButton * homeButton = new QRadioButton("Home");
QRadioButton * teleOpButton = new QRadioButton("Teleop");
// QRadioButton * gcButton = new QRadioButton("Gravity");
// QRadioButton * clutchButton = new QRadioButton("Clutch");
idleButton->setChecked(true);
QButtonGroup * group = new QButtonGroup;
group->addButton(idleButton);
group->addButton(homeButton);
group->addButton(teleOpButton);
// group->addButton(gcButton);
// group->addButton(clutchButton);
group->setExclusive(true);
QVBoxLayout * vbox = new QVBoxLayout;
vbox->addWidget(idleButton);
vbox->addWidget(homeButton);
vbox->addWidget(teleOpButton);
// vbox->addWidget(gcButton);
// vbox->addWidget(clutchButton);
vbox->addStretch(1);
groupBox->setLayout(vbox);
frameLayout->addWidget(groupBox, 0, 0);
QTEMessages = new QTextEdit();
QTEMessages->setReadOnly(true);
QTEMessages->ensureCursorVisible();
frameLayout->addWidget(QTEMessages, 0, 1);
QVBoxLayout * mainLayout = new QVBoxLayout;
mainLayout->addLayout(frameLayout);
setLayout(mainLayout);
setWindowTitle("Intuitive Research Kit");
resize(sizeHint());
connect(group, SIGNAL(buttonClicked(QAbstractButton*)),
this, SLOT(SlotSetStateButton(QAbstractButton*)));
connect(this, SIGNAL(SignalAppendMessage(QString)),
QTEMessages, SLOT(append(QString)));
connect(this, SIGNAL(SignalSetColor(QColor)),
QTEMessages, SLOT(setTextColor(QColor)));
connect(QTEMessages, SIGNAL(textChanged()),
this, SLOT(SlotTextChanged()));
}
void mtsTeleOperationPSMQtWidget::setupUi(void)
{
// 3D frames
QGridLayout * frameLayout = new QGridLayout;
QLabel * masterLabel = new QLabel("<b>MTM</b>");
masterLabel->setAlignment(Qt::AlignCenter);
frameLayout->addWidget(masterLabel, 0, 0);
QFRPositionMTMWidget = new vctQtWidgetFrameDoubleRead(vctQtWidgetRotationDoubleRead::OPENGL_WIDGET);
frameLayout->addWidget(QFRPositionMTMWidget, 1, 0);
QLabel * slaveLabel = new QLabel("<b>PSM</b>");
slaveLabel->setAlignment(Qt::AlignCenter);
frameLayout->addWidget(slaveLabel, 2, 0);
QFRPositionPSMWidget = new vctQtWidgetFrameDoubleRead(vctQtWidgetRotationDoubleRead::OPENGL_WIDGET);
frameLayout->addWidget(QFRPositionPSMWidget, 3, 0);
// right side
QVBoxLayout * controlLayout = new QVBoxLayout;
QLabel * instructionsLabel = new QLabel("To start tele-operation you must first insert the tool past the cannula tip (push tool clutch button and manually insert tool).\nOperator must be present to operate (sometime using COAG pedal).\nYou can use the clutch pedal to re-position your masters.");
instructionsLabel->setWordWrap(true);
controlLayout->addWidget(instructionsLabel);
// scale/lock/unlock/messages
QHBoxLayout * buttonsLayout = new QHBoxLayout;
controlLayout->addLayout(buttonsLayout);
// scale
QSBScale = new QDoubleSpinBox();
QSBScale->setRange(0.1, 1.0);
QSBScale->setSingleStep(0.1);
QSBScale->setPrefix("scale ");
QSBScale->setValue(0.2);
buttonsLayout->addWidget(QSBScale);
// enable/disable rotation/translation
QCBLockRotation = new QCheckBox("Lock Rotation");
buttonsLayout->addWidget(QCBLockRotation);
QCBLockTranslation = new QCheckBox("Lock Translation");
buttonsLayout->addWidget(QCBLockTranslation);
// messages on/off
QPBLog = new QPushButton("Messages");
QPBLog->setCheckable(true);
buttonsLayout->addWidget(QPBLog);
// state info
QHBoxLayout * stateLayout = new QHBoxLayout;
controlLayout->addLayout(stateLayout);
QLabel * label = new QLabel("Desired");
stateLayout->addWidget(label);
QLEDesiredState = new QLineEdit("");
QLEDesiredState->setReadOnly(true);
stateLayout->addWidget(QLEDesiredState);
label = new QLabel("Current");
stateLayout->addWidget(label);
QLECurrentState = new QLineEdit("");
QLECurrentState->setReadOnly(true);
stateLayout->addWidget(QLECurrentState);
// Timing
QMIntervalStatistics = new mtsQtWidgetIntervalStatistics();
controlLayout->addWidget(QMIntervalStatistics);
// messages
QTEMessages = new QTextEdit();
QTEMessages->setReadOnly(true);
QTEMessages->ensureCursorVisible();
controlLayout->addWidget(QTEMessages);
// add stretch
controlLayout->addStretch();
QWidget * leftWidget = new QWidget();
leftWidget->setLayout(frameLayout);
addWidget(leftWidget);
QWidget * rightWidget = new QWidget();
rightWidget->setLayout(controlLayout);
addWidget(rightWidget);
setWindowTitle("TeleOperation Controller");
resize(sizeHint());
// setup Qt Connection
connect(this, SIGNAL(SignalDesiredState(QString)),
this, SLOT(SlotDesiredStateEventHandler(QString)));
connect(this, SIGNAL(SignalCurrentState(QString)),
this, SLOT(SlotCurrentStateEventHandler(QString)));
connect(QSBScale, SIGNAL(valueChanged(double)),
this, SLOT(SlotSetScale(double)));
connect(this, SIGNAL(SignalScale(double)),
this, SLOT(SlotScaleEventHandler(double)));
connect(QCBLockRotation, SIGNAL(clicked(bool)),
this, SLOT(SlotLockRotation(bool)));
connect(this, SIGNAL(SignalRotationLocked(bool)),
this, SLOT(SlotRotationLockedEventHandler(bool)));
connect(QCBLockTranslation, SIGNAL(clicked(bool)),
this, SLOT(SlotLockTranslation(bool)));
connect(this, SIGNAL(SignalTranslationLocked(bool)),
this, SLOT(SlotTranslationLockedEventHandler(bool)));
// messages
connect(QPBLog, SIGNAL(clicked()),
this, SLOT(SlotLogEnabled()));
connect(this, SIGNAL(SignalAppendMessage(QString)),
QTEMessages, SLOT(append(QString)));
connect(this, SIGNAL(SignalSetColor(QColor)),
QTEMessages, SLOT(setTextColor(QColor)));
connect(QTEMessages, SIGNAL(textChanged()),
this, SLOT(SlotTextChanged()));
}
