/** automatically do data exchange, if not otherwise specified */
int friRemote::doPositionControl(float newJntPosition[LBR_MNJ], bool flagDataExchange)
{
// Helper, if not properly initialized or the like...
cmd.cmd.cmdFlags=FRI_CMD_JNTPOS;
// Note:: If the interface is not in Command mode,
// The commands have to be "mirrored" to get in sync
// Note:: If the interface is not in Command mode,
// The commands have to be "mirrored" to get in sync
if ((getState() != FRI_STATE_CMD) || (!isPowerOn()))
{
for (int i = 0; i < LBR_MNJ; i++)
{
cmd.cmd.jntPos[i]=msr.data.cmdJntPos[i]+msr.data.cmdJntPosFriOffset[i];
}
}
else
{
// compute new values here ...
for (int i = 0; i < LBR_MNJ; i++)
cmd.cmd.jntPos[i]=newJntPosition[i];
}
if (flagDataExchange)
{
return doDataExchange();
}
return 1;
}
void ContactView::onEdit()
{
setAddingNewContact(false); //editing
doDataExchange (false);
keyEdit(true); //and set focus on the first field
ui->contact_pages->setCurrentIndex(info);
ui->info_stack->setCurrentWidget(ui->info_edit);
}
/** automatically do data exchange, if not otherwise specified
if flagDataExchange is set to false, call doDataExchange()
or doReceiveData()/doSendData() on your own
IN: newJntPosition - joint positions
newJntStiff - joint stiffness (Spring factor)
newJntDamp - joint damping (Damping factor)
newJntAddTorque - additional torque
Note: If any of the pointers (newJntPosition, newJntStiff, newJntDamp, newJntAddTorque) is NULL, the
value is ignored -> the respective cmd.cmd.cmdFlags field is set properly
Note: It is possible to change cmd.cmd.cmdFlags in monitor mode only !!
*/
int friRemote::doJntImpedanceControl(const float newJntPosition[LBR_MNJ],
const float newJntStiff[LBR_MNJ],
const float newJntDamp[LBR_MNJ],
const float newJntAddTorque[LBR_MNJ],
bool flagDataExchange)
{
// Helper, if not properly initialized or the like...
cmd.cmd.cmdFlags=0;
if (newJntPosition)
{
cmd.cmd.cmdFlags|=FRI_CMD_JNTPOS;
// Note:: If the interface is not in Command mode,
// The commands have to be "mirrored" to get in sync
if ((getState() != FRI_STATE_CMD) || (!isPowerOn()))
{
for (int i = 0; i < LBR_MNJ; i++)
{
cmd.cmd.jntPos[i]=msr.data.cmdJntPos[i]+msr.data.cmdJntPosFriOffset[i];
}
}
else
{
// compute new values here ...
for (int i = 0; i < LBR_MNJ; i++)
cmd.cmd.jntPos[i]=newJntPosition[i];
}
}
if (newJntStiff)
{
cmd.cmd.cmdFlags|=FRI_CMD_JNTSTIFF;
for (int i = 0; i < LBR_MNJ; i++)
cmd.cmd.jntStiffness[i]=newJntStiff[i];
}
if (newJntDamp)
{
cmd.cmd.cmdFlags|=FRI_CMD_JNTDAMP;
for (int i = 0; i < LBR_MNJ; i++)
cmd.cmd.jntDamping[i]=newJntDamp[i];
}
if (newJntAddTorque)
{
cmd.cmd.cmdFlags|=FRI_CMD_JNTTRQ;
for (int i = 0; i < LBR_MNJ; i++)
cmd.cmd.addJntTrq[i]=newJntAddTorque[i];
}
if (flagDataExchange)
{
return doDataExchange();
}
return 1;
}
void ContactView::onCancel()
{
setModyfied(false);
doDataExchange (false);
keyEdit(false);
if (isAddingNewContact())
{
emit canceledNewContact();
}
else //editing contact
{
}
}
void ContactView::onSave()
{
try
{
if (doDataExchange (true))
{
if (_current_record)
{
//_current_contact.bit_id_hash = _current_record->name_hash;
if (!_current_contact.public_key.valid() )
{
_current_contact.public_key = _current_record->active_key;
FC_ASSERT(_current_contact.public_key.valid() );
}
// TODO: lookup block id / timestamp that registered this ID
// _current_contact.known_since.setMSecsSinceEpoch( );
}
else if (!_current_record) /// note: user is entering manual public key
{
elog("!current record??\n");
/*
if( _current_contact.known_since == QDateTime() )
{
_current_contact.known_since = QDateTime::currentDateTime();
}
*/
std::string enteredPKey = ui->public_key->text().toStdString();
if (enteredPKey.empty() == false)
{
bool publicKeySemanticallyValid = false;
assert(public_key_address::is_valid(enteredPKey, &publicKeySemanticallyValid));
assert(publicKeySemanticallyValid);
public_key_address key_address(enteredPKey);
_current_contact.public_key = key_address.key;
}
}
_current_contact.privacy_setting = bts::addressbook::secret_contact;
int idxNewContact = _address_book->storeContact(_current_contact);
keyEdit(false);
emit savedNewContact(idxNewContact);
}
}
FC_RETHROW_EXCEPTIONS(warn, "onSave")
}
/** automatically do data exchange, if not otherwise specified
if flagDataExchange is set to false, call doDataExchange()
or doReceiveData()/doSendData() on your own
IN: newJntPosition - joint positions
newJntStiff - joint stiffness (Spring factor)
newJntDamp - joint damping (Damping factor)
newJntAddTorque - additional torque
Note: If any of the pointers (newJntPosition, newJntStiff, newJntDamp, newJntAddTorque) is NULL, the
value is ignored -> the respective cmd.cmd.cmdFlags field is set properly
Note: It is possible to change cmd.cmd.cmdFlags in monitor mode only !!
*/
int friRemote::doCartesianImpedanceControl(const float newCartPosition[FRI_CART_FRM_DIM],
const float newCartStiff[FRI_CART_VEC],
const float newCartDamp[FRI_CART_VEC],
const float newAddTcpFT[FRI_CART_VEC],
const float newJntNullspace[LBR_MNJ],
bool flagDataExchange)
{
// Helper, if not properly initialized or the like...
cmd.cmd.cmdFlags=0;
if ( newCartPosition )
{
cmd.cmd.cmdFlags|=FRI_CMD_CARTPOS;
for ( int i = 0; i < FRI_CART_FRM_DIM; i++)
{
cmd.cmd.cartPos[i]=newCartPosition[i];
}
}
if ( newCartStiff)
{
cmd.cmd.cmdFlags|=FRI_CMD_CARTSTIFF;
for ( int i = 0; i < FRI_CART_VEC; i++)
{
cmd.cmd.cartStiffness[i]=newCartStiff[i];
}
}
if ( newCartDamp)
{
cmd.cmd.cmdFlags|=FRI_CMD_CARTDAMP;
;
for ( int i = 0; i < FRI_CART_VEC; i++)
{
cmd.cmd.cartDamping[i]=newCartDamp[i];
}
}
if ( newAddTcpFT)
{
cmd.cmd.cmdFlags|=FRI_CMD_TCPFT;
;
for ( int i = 0; i < FRI_CART_VEC; i++)
{
cmd.cmd.addTcpFT[i]=newAddTcpFT[i];
}
}
if (newJntNullspace)
{
cmd.cmd.cmdFlags|=FRI_CMD_JNTPOS;
// Note:: If the interface is not in Command mode,
// The commands have to be "mirrored" to get in sync
// compute new values here ...
for (int i = 0; i < LBR_MNJ; i++)
cmd.cmd.jntPos[i]=newJntNullspace[i];
}
if (flagDataExchange)
{
return doDataExchange();
}
return 1;
}
void ContactView::setContact(const Contact& current_contact)
{
_current_contact = current_contact;
doDataExchange (false);
}
void ContactView::addNewContact ()
{
doDataExchange (false);
keyEdit(true);
}
