void MainWindow::createActions() { m_autonamtonMode = new QActionGroup(this); m_autonamtonMode->setExclusive(true); m_autonamtonMode->addAction(ui->actEditAutomaton); m_autonamtonMode->addAction(ui->actRunSimulation); m_autonamtonMode->addAction(ui->actRunwithHardware); ui->actEditAutomaton->setChecked(true); ui->menuAutomata->setEnabled(false); ui->actDeleteAutomaton->setEnabled(false); ui->actImportAutomaton->setEnabled(false); ui->actEditHWConnection->setEnabled(false); m_controllerState= new QActionGroup(this); m_controllerState->setExclusive(true); m_controllerState->addAction(ui->actStartController); m_controllerState->addAction(ui->actStopController); m_controllerState->addAction(ui->actPauseController); ui->actStopController->setChecked(true); ui->menuToggleToolBars->addAction(ui->mainToolBar->toggleViewAction()); ui->menuToggleToolBars->addAction(ui->controllerToolBar->toggleViewAction()); connect(ui->actAboutQt, SIGNAL(triggered()), qApp, SLOT(aboutQt())); connect(ui->actStartController, SIGNAL(triggered()), m_controller, SLOT(startController())); connect(ui->actStopController, SIGNAL(triggered()), m_controller, SLOT(stopController())); connect(ui->actPauseController, SIGNAL(triggered(bool)), m_controller, SLOT(pauseController(bool))); }
void taskReceive(void *p){ for(;;){ if (isRXReady()){ uint8_t header = readByte(); switch(header){ case HEADER_READY: { setControllerReady(); setSendReady(); break; } break; case HEADER_STOP: { stopController(); stopSending(); break; } case HEADER_SET_PARAMETERS: { uint8_t newSetpoint; uint8_t newSampleTime; double newKp; double newKi; double newKd; waitRXReady(); newSetpoint = readByte(); waitRXReady(); newSampleTime = readByte(); waitRXReady(); newKp = readDouble(); waitRXReady(); newKi = readDouble(); waitRXReady(); newKd = readDouble(); setParameters(newSetpoint, newSampleTime, newKp, newKi, newKd); break; } case HEADER_CHANGE_DUTY: { uint8_t duty; waitRXReady(); duty = readByte(); changeDutyCycle(34, duty); break; } } } } }
void JointControllerManager::stopHook() { // Stop running controllers stopController(getControllerNames(getRunningControllers()), BEST_EFFORT); // Stop joint interface if (!joint_iface_->stop()) { PAL_ERROR("Failed to successfully stop component: Could not stop low level joint access."); } }