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.");
}
}
