// BEGIN_TUTORIAL
// Here is the implementation of the TeleopPanel class. TeleopPanel
// has these responsibilities:
//
// - Act as a container for GUI elements DriveWidget and QLineEdit.
// - Publish command velocities 10 times per second (whether 0 or not).
// - Saving and restoring internal state from a config file.
//
// We start with the constructor, doing the standard Qt thing of
// passing the optional *parent* argument on to the superclass
// constructor, and also zero-ing the velocities we will be
// publishing.
TeleopPanel::TeleopPanel( QWidget* parent )
: rviz::Panel( parent )
, linear_velocity_( 0 )
, angular_velocity_( 0 )
{
// Next we lay out the "output topic" text entry field using a
// QLabel and a QLineEdit in a QHBoxLayout.
QHBoxLayout* topic_layout = new QHBoxLayout;
topic_layout->addWidget( new QLabel( "Output Topic:" ));
output_topic_editor_ = new QLineEdit;
topic_layout->addWidget( output_topic_editor_ );
// Then create the control widget.
drive_widget_ = new DriveWidget;
// Lay out the topic field above the control widget.
QVBoxLayout* layout = new QVBoxLayout;
layout->addLayout( topic_layout );
layout->addWidget( drive_widget_ );
setLayout( layout );
// Create a timer for sending the output. Motor controllers want to
// be reassured frequently that they are doing the right thing, so
// we keep re-sending velocities even when they aren't changing.
//
// Here we take advantage of QObject's memory management behavior:
// since "this" is passed to the new QTimer as its parent, the
// QTimer is deleted by the QObject destructor when this TeleopPanel
// object is destroyed. Therefore we don't need to keep a pointer
// to the timer.
QTimer* output_timer = new QTimer( this );
// Next we make signal/slot connections.
connect( drive_widget_, SIGNAL( outputVelocity( float, float )), this, SLOT( setVel( float, float )));
connect( output_topic_editor_, SIGNAL( editingFinished() ), this, SLOT( updateTopic() ));
connect( output_timer, SIGNAL( timeout() ), this, SLOT( sendVel() ));
// Start the timer.
output_timer->start( 100 );
// Make the control widget start disabled, since we don't start with an output topic.
drive_widget_->setEnabled( false );
}
//********************************************************
// Initializes the QT user interface, buttons etc
void TeleopPanel::initGUI()
{
QHBoxLayout* hboxStatus = new QHBoxLayout; // Status fields on top
hboxStatus->addWidget( new QLabel( "Status: " ));
labelStatus = new QLabel;
labelStatus->setText("not connected");
hboxStatus->addWidget(labelStatus);
buttonConnect = new QPushButton; // buttons to connect. ..
buttonConnect -> setText("Connect");
buttonReset = new QPushButton;
buttonReset -> setText("Reset");
buttonEnable = new QPushButton;
buttonEnable -> setText("Enable");
labelOverride = new QLabel;
labelOverride->setText(QString::number(override_value));
buttonOverridePlus = new QPushButton;
buttonOverridePlus -> setText("Override Plus");
buttonOverrideMinus = new QPushButton;
buttonOverrideMinus -> setText("Override Minus");
buttonGripperOpen = new QPushButton;
buttonGripperOpen -> setText("Open Gripper");
buttonGripperClose = new QPushButton;
buttonGripperClose -> setText("Close Gripper");
buttonJog0Plus = new QPushButton; // Jog Buttons
buttonJog0Plus -> setText("J1 Plus");
buttonJog0Minus = new QPushButton;
buttonJog0Minus -> setText("J1 Minus");
labelJ0 = new QLabel;
labelJ0 -> setText("0.0");
buttonJog1Plus = new QPushButton;
buttonJog1Plus -> setText("J2 Plus");
buttonJog1Minus = new QPushButton;
buttonJog1Minus -> setText("J2 Minus");
labelJ1 = new QLabel;
labelJ1 -> setText("0.0");
buttonJog2Plus = new QPushButton;
buttonJog2Plus -> setText("J3 Plus");
buttonJog2Minus = new QPushButton;
buttonJog2Minus -> setText("J3 Minus");
labelJ2 = new QLabel;
labelJ2 -> setText("0.0");
buttonJog3Plus = new QPushButton;
buttonJog3Plus -> setText("J4 Plus");
buttonJog3Minus = new QPushButton;
buttonJog3Minus -> setText("J4 Minus");
labelJ3 = new QLabel;
labelJ3 -> setText("0.0");
if(flagMover6){ // if mover6 is defined add two joint buttons
buttonJog4Plus = new QPushButton;
buttonJog4Plus -> setText("J5 Plus");
buttonJog4Minus = new QPushButton;
buttonJog4Minus -> setText("J5 Minus");
labelJ4 = new QLabel;
labelJ4 -> setText("0.0");
buttonJog5Plus = new QPushButton;
buttonJog5Plus -> setText("J6 Plus");
buttonJog5Minus = new QPushButton;
buttonJog5Minus -> setText("J6 Minus");
labelJ5 = new QLabel;
labelJ5 -> setText("0.0");
}
QVBoxLayout* layout = new QVBoxLayout; // the main container
QHBoxLayout * hbox1 = new QHBoxLayout; // Compile a simple layout
hbox1->addWidget(buttonConnect);
hbox1->addWidget(buttonReset);
hbox1->addWidget(buttonEnable);
QHBoxLayout * hboxGripper = new QHBoxLayout;
hboxGripper->addWidget(buttonGripperClose);
hboxGripper->addWidget(buttonGripperOpen);
QHBoxLayout * hboxOverride = new QHBoxLayout;
hboxOverride->addWidget(buttonOverrideMinus);
hboxOverride->addWidget(labelOverride);
hboxOverride->addWidget(buttonOverridePlus);
layout->addLayout(hboxStatus);
layout->addLayout(hbox1);
layout->addLayout(hboxGripper);
layout->addLayout(hboxOverride);
QHBoxLayout * hboxJ0 = new QHBoxLayout;
hboxJ0->addWidget(buttonJog0Minus);
hboxJ0->addWidget(labelJ0);
hboxJ0->addWidget(buttonJog0Plus);
layout->addLayout(hboxJ0);
QHBoxLayout * hboxJ1 = new QHBoxLayout;
hboxJ1->addWidget(buttonJog1Minus);
hboxJ1->addWidget(labelJ1);
hboxJ1->addWidget(buttonJog1Plus);
layout->addLayout(hboxJ1);
QHBoxLayout * hboxJ2 = new QHBoxLayout;
hboxJ2->addWidget(buttonJog2Minus);
hboxJ2->addWidget(labelJ2);
hboxJ2->addWidget(buttonJog2Plus);
layout->addLayout(hboxJ2);
QHBoxLayout * hboxJ3 = new QHBoxLayout;
hboxJ3->addWidget(buttonJog3Minus);
hboxJ3->addWidget(labelJ3);
hboxJ3->addWidget(buttonJog3Plus);
layout->addLayout(hboxJ3);
if(flagMover6){ // if mover6 is defined add two joint buttons
QHBoxLayout * hboxJ4 = new QHBoxLayout;
hboxJ4->addWidget(buttonJog4Minus);
hboxJ4->addWidget(labelJ4);
hboxJ4->addWidget(buttonJog4Plus);
layout->addLayout(hboxJ4);
QHBoxLayout * hboxJ5 = new QHBoxLayout;
hboxJ5->addWidget(buttonJog5Minus);
hboxJ5->addWidget(labelJ5);
hboxJ5->addWidget(buttonJog5Plus);
layout->addLayout(hboxJ5);
}
setLayout( layout );
// Create a timer for sending the output.
output_timer = new QTimer( this );
connect( buttonConnect, SIGNAL( clicked() ), this, SLOT( btPressedConnect() ));
connect( buttonReset, SIGNAL( clicked() ), this, SLOT( btPressedReset() ));
connect( buttonEnable, SIGNAL( clicked() ), this, SLOT( btPressedEnable() ));
connect( buttonGripperClose, SIGNAL( clicked() ), this, SLOT( btPressedGripperClose() ));
connect( buttonGripperOpen, SIGNAL( clicked() ), this, SLOT( btPressedGripperOpen() ));
connect( buttonOverrideMinus, SIGNAL( clicked() ), this, SLOT( btPressedOverrideMinus() ));
connect( buttonOverridePlus, SIGNAL( clicked() ), this, SLOT( btPressedOverridePlus() ));
connect( output_timer, SIGNAL( timeout() ), this, SLOT( sendVel() ));
}
