bool MainWindow::connectRobot (const QString& address) {
if (m_connectedRobots.end() != m_connectedRobots.find(address)) {
/* The requested robot is already connected */
return true;
}
auto newrobot = new mobot_t;
Mobot_init(newrobot);
/* extract the 8-bit byte array from QString, from which we can then extract
* the C-string */
auto baAddress = address.toLocal8Bit();
if (-1 == Mobot_connectWithAddress(newrobot, baAddress.data(), 1)) {
delete newrobot;
qDebug() << "(barobolab) ERROR: Mobot_connectWithTTY failed\n";
return false;
}
Mobot_enableButtonCallback(newrobot, strdup(baAddress.data()), JsInterface::robotButtonCallback);
auto l = new RobotListener(newrobot, address);
QObject::connect(l, SIGNAL(scrollUp(QString)), m_interface, SLOT(scrollUpSlot(QString)));
QObject::connect(l, SIGNAL(scrollDown(QString)), m_interface, SLOT(scrollDownSlot(QString)));
QThread *thread = new QThread(this);
l->moveToThread(thread);
thread->start();
QMetaObject::invokeMethod(l, "startWork", Qt::QueuedConnection);
m_connectedRobots.insert(std::make_pair(address, newrobot));
m_robotListeners.insert(std::make_pair(address, l));
return true;
}
void on_notebook1_switch_page(GtkNotebook* notebook, gpointer page, guint page_num, gpointer userdata)
{
static int lastPage = 0;
static bool buttonCallbackEnabled = false;
int i;
int connectPage, controlPage, controlPage2, programPage, posePage;
GtkWidget *w;
/* Figure out the page numbers by the number of total pages */
w = GTK_WIDGET(gtk_builder_get_object(g_builder, "notebook1"));
int numPages = gtk_notebook_get_n_pages(GTK_NOTEBOOK(w));
if(numPages == 4) {
connectPage = 0;
controlPage = 1;
controlPage2 = 2;
posePage = 3;
programPage = 99;
} else if (numPages == 5) {
connectPage = 0;
controlPage = 1;
controlPage2 = 2;
programPage = 3;
posePage = 4;
}
mobot_t* mobot;
refreshConnectDialog();
/* If the teaching dialog gets selected, we should initialize all connected
* Mobots to use our custom button handler. */
if(page_num == posePage) {
/* Enable all button handlers */
for(i = 0; i < g_robotManager->numConnected(); i++) {
mobot = (mobot_t*)g_robotManager->getMobot(i);
Mobot_enableButtonCallback(mobot, mobot, on_mobotButtonPress);
buttonCallbackEnabled = true;
}
} else {
if(buttonCallbackEnabled) {
/* Disable all button callbacks */
for(i = 0; i < g_robotManager->numConnected(); i++) {
mobot = (mobot_t*)g_robotManager->getMobot(i);
Mobot_disableButtonCallback(mobot);
}
}
}
/* If the control dialog is selected... */
if(
(page_num == controlPage) ||
(page_num == controlPage2)
)
{
w = GTK_WIDGET(gtk_builder_get_object(g_builder, "combobox_connectedRobots"));
if(g_selectedRobot == -1) {
g_selectedRobot = 0;
}
gtk_combo_box_set_active(GTK_COMBO_BOX(w), g_selectedRobot);
if(page_num == controlPage) {
g_controlMode = 0;
} else {
g_controlMode = 1;
}
} else {
w = GTK_WIDGET(gtk_builder_get_object(g_builder, "combobox_connectedRobots"));
gtk_combo_box_set_active(GTK_COMBO_BOX(w), -1);
}
/* If the connect dialog is selected, refresh the dialog */
if(page_num == connectPage) {
refreshConnectDialog();
}
lastPage = page_num;
}
