// ******************************************************************************************
// Call when joints edit sceen is done and needs to be saved
// ******************************************************************************************
void ROSControllersWidget::saveJointsGroupsScreen()
{
// Find the controller we are editing based on the controller name string
moveit_setup_assistant::ROSControlConfig* searched_controller =
config_data_->findROSControllerByName(current_edit_controller_);
// Clear the old data
searched_controller->joints_.clear();
// Copy the data
for (int i = 0; i < joint_groups_widget_->selected_data_table_->rowCount(); ++i)
{
// Get list of associated joints
const robot_model::JointModelGroup* joint_model_group = config_data_->getRobotModel()->getJointModelGroup(
joint_groups_widget_->selected_data_table_->item(i, 0)->text().toStdString());
const std::vector<const robot_model::JointModel*>& joint_models = joint_model_group->getActiveJointModels();
// Iterate through the joints
for (const robot_model::JointModel* joint : joint_models)
{
if (joint->isPassive() || joint->getMimic() != nullptr || joint->getType() == robot_model::JointModel::FIXED)
continue;
searched_controller->joints_.push_back(joint->getName());
}
}
// Switch to main screen
showMainScreen();
// Reload main screen table
loadControllersTree();
}
// ******************************************************************************************
// Call when joints edit sceen is done and needs to be saved
// ******************************************************************************************
void ROSControllersWidget::saveControllerScreenEdit()
{
// Save the controller
if (!saveControllerScreen())
return;
// Switch to main screen
showMainScreen();
}
void toggleScreen()
{
if(currentScreen == 0) {
DISPLAY_ON;
showMainScreen();
} else {
currentScreen = 0;
DISPLAY_OFF;
}
}
bool BackGroundLayer::init()
{
if ( !Layer::init() )
{
return false;
}
Log::getInstance()->debug("BackGroundLayer");
showMainScreen();
return true;
}
// ******************************************************************************************
// Delete a controller
// ******************************************************************************************
void ROSControllersWidget::deleteController()
{
std::string controller_name = current_edit_controller_;
if (controller_name.empty())
{
QTreeWidgetItem* item = controllers_tree_->currentItem();
// Check that something was actually selected
if (item == nullptr)
return;
// Get the user custom properties of the currently selected row
int type = item->data(0, Qt::UserRole).value<int>();
if (type == 0)
controller_name = item->text(0).toUtf8().constData();
}
// Confirm user wants to delete controller
if (QMessageBox::question(
this, "Confirm Controller Deletion",
QString("Are you sure you want to delete the controller '").append(controller_name.c_str()).append(" ?"),
QMessageBox::Ok | QMessageBox::Cancel) == QMessageBox::Cancel)
{
return;
}
// Delete actual controller
if (config_data_->deleteROSController(controller_name))
{
ROS_INFO_STREAM_NAMED("Setup Assistant", "Controller " << controller_name << " deleted succefully");
}
else
{
ROS_WARN_STREAM_NAMED("Setup Assistant", "Couldn't delete Controller " << controller_name);
}
current_edit_controller_.clear();
// Switch to main screen
showMainScreen();
// Reload main screen table
loadControllersTree();
}
// ******************************************************************************************
// Call when joints edit sceen is done and needs to be saved
// ******************************************************************************************
void ROSControllersWidget::saveJointsScreen()
{
// Find the controller we are editing based on the controller name string
moveit_setup_assistant::ROSControlConfig* searched_controller =
config_data_->findROSControllerByName(current_edit_controller_);
// Clear the old data
searched_controller->joints_.clear();
// Copy the data
for (int i = 0; i < joints_widget_->selected_data_table_->rowCount(); ++i)
{
searched_controller->joints_.push_back(joints_widget_->selected_data_table_->item(i, 0)->text().toStdString());
}
// Switch to main screen
showMainScreen();
// Reload main screen table
loadControllersTree();
}
// ******************************************************************************************
// Call when edit screen is canceled
// ******************************************************************************************
void ROSControllersWidget::cancelEditing()
{
if (!current_edit_controller_.empty() && adding_new_controller_)
{
moveit_setup_assistant::ROSControlConfig* editing = config_data_->findROSControllerByName(current_edit_controller_);
if (editing && editing->joints_.empty())
{
config_data_->deleteROSController(current_edit_controller_);
current_edit_controller_.clear();
// Load the data to the tree
loadControllersTree();
}
}
else
{
current_edit_controller_.clear();
}
// Switch to main screen
showMainScreen();
}
int main(void)
{
uint8_t cmd;
uint8_t dispMode = MODE_MAIN;
static int8_t direction = PARAM_UP;
hwInit();
showTimeMasked();
ds18x20Process();
sensTimer = TEMP_MEASURE_TIME;
while(1) {
// Update sensors with SENSOR_POLL_INTERVAL period
if (!sensTimer == 0) {
sensTimer = SENSOR_POLL_INTERVAL;
ds18x20Process();
if (bmp180HaveSensor())
bmp180Convert();
dht22Read();
}
// Check alarm
checkAlarm();
// Update brightness only when not in brightness setup
if (dispMode != MODE_BRIGHTNESS)
calcBrightness();
// Get command from buttons
cmd = getBtnCmd();
// Beep on button pressed
if (cmd != BTN_STATE_0) {
if (cmd < BTN_0_LONG)
startBeeper(BEEP_SHORT);
else
startBeeper(BEEP_LONG);
}
// Stop scrolling on any button pressed
if (cmd != BTN_STATE_0)
matrixHwScroll(MATRIX_SCROLL_STOP);
// Handle command
switch (cmd) {
case BTN_0:
direction = PARAM_UP;
switch (dispMode) {
case MODE_EDIT_TIME:
rtcNextEditParam();
break;
case MODE_EDIT_ALARM:
alarmNextEditParam();
break;
}
break;
case BTN_1:
direction = PARAM_UP;
case BTN_2:
if (cmd == BTN_2)
direction = PARAM_DOWN;
switch (dispMode) {
case MODE_MAIN:
startScroll(cmd - BTN_1);
break;
case MODE_EDIT_TIME:
rtcChangeTime(direction);
break;
case MODE_EDIT_ALARM:
alarmChange(direction);
break;
case MODE_BRIGHTNESS:
changeBrightness(direction);
break;
case MODE_TEST:
displayChangeRotate(direction);
break;
}
break;
case BTN_0_LONG:
if (dispMode == MODE_MAIN) {
dispMode = MODE_EDIT_TIME;
rtcNextEditParam();
} else {
rtc.etm = RTC_NOEDIT;
alarmSave();
alarm.eam = ALARM_NOEDIT;
dispMode = MODE_MAIN;
showTimeMasked();
}
break;
case BTN_1_LONG:
if (dispMode == MODE_MAIN) {
dispMode = MODE_EDIT_ALARM;
alarmNextEditParam();
}
break;
case BTN_2_LONG:
if (dispMode == MODE_MAIN) {
dispMode = MODE_BRIGHTNESS;
showBrightness(direction, MASK_ALL);
}
break;
case BTN_0_LONG | BTN_1_LONG:
displaySwitchHourZero();
dispMode = MODE_MAIN;
showTimeMasked();
break;
case BTN_1_LONG | BTN_2_LONG:
displaySwitchBigNum();
dispMode = MODE_MAIN;
showTimeMasked();
break;
case BTN_0_LONG | BTN_2_LONG:
displaySwitchHourSignal();
dispMode = MODE_MAIN;
showTimeMasked();
break;
case BTN_0_LONG | BTN_1_LONG | BTN_2_LONG:
dispMode = MODE_TEST;
break;
}
// Show things
switch (dispMode) {
case MODE_MAIN:
showMainScreen();
break;
case MODE_EDIT_TIME:
showTimeEdit(direction);
break;
case MODE_EDIT_ALARM:
showAlarmEdit(direction);
break;
case MODE_BRIGHTNESS:
showBrightness(direction, MASK_NONE);
break;
case MODE_TEST:
showTest();
break;
}
}
return 0;
}
