GFODlg::GFODlg(MainWindow *mw, Hand *h, QWidget *parent) : QDialog(parent), mMainWindow(mw), mHand(h)
{
setupUi(this);
statusLabel->setText("Status: optimization off");
optimizationTypeBox->insertItem("Contact force existence");
optimizationTypeBox->insertItem("Contact force optimization");
optimizationTypeBox->insertItem("Grasp force existence");
optimizationTypeBox->insertItem("Grasp force optimization");
optimizationTypeBox->insertItem("Compliant joint equilibrium");
optimizationTypeBox->insertItem("DOF force equilibrium");
if (mHand->isA("McGrip")) {
optimizationTypeBox->insertItem("McGrip tendon route");
optimizationTypeBox->insertItem("McGrip joint equilibrium");
}
QObject::connect(exitButton, SIGNAL(clicked()), this, SLOT(exitButtonClicked()));
QObject::connect(mHand, SIGNAL(configurationChanged()), this, SLOT(handConfigurationChanged()));
QObject::connect(optimizationOnBox, SIGNAL(clicked()), this, SLOT(optimizationOnBoxClicked()));
}
/*!
\param pMainWindow - pointer to MainWindow
*/
StackFramesWidget::StackFramesWidget(MainWindow *pMainWindow)
: QWidget(pMainWindow)
{
mpMainWindow = pMainWindow;
/* continue tool button */
mpResumeToolButton = new QToolButton;
mpResumeToolButton->setEnabled(false);
mpResumeToolButton->setText(Helper::resume);
mpResumeToolButton->setIcon(QIcon(":/Resources/icons/resume.svg"));
mpResumeToolButton->setIconSize(Helper::buttonIconSize);
mpResumeToolButton->setToolTip(Helper::resume);
mpResumeToolButton->setAutoRaise(true);
connect(mpResumeToolButton, SIGNAL(clicked()), SLOT(resumeButtonClicked()));
/* continue tool button */
mpInterruptToolButton = new QToolButton;
mpInterruptToolButton->setEnabled(false);
mpInterruptToolButton->setText(Helper::interrupt);
mpInterruptToolButton->setIcon(QIcon(":/Resources/icons/interrupt.svg"));
mpInterruptToolButton->setIconSize(Helper::buttonIconSize);
mpInterruptToolButton->setToolTip(Helper::interrupt);
mpInterruptToolButton->setAutoRaise(true);
connect(mpInterruptToolButton, SIGNAL(clicked()), SLOT(interruptButtonClicked()));
/* continue tool button */
mpExitToolButton = new QToolButton;
mpExitToolButton->setEnabled(false);
mpExitToolButton->setText(Helper::exit);
mpExitToolButton->setIcon(QIcon(":/Resources/icons/exit.svg"));
mpExitToolButton->setIconSize(Helper::buttonIconSize);
mpExitToolButton->setToolTip(Helper::exit);
mpExitToolButton->setAutoRaise(true);
connect(mpExitToolButton, SIGNAL(clicked()), SLOT(exitButtonClicked()));
/* Control buttons frame */
QFrame *pControlButtonsFrame = new QFrame;
QHBoxLayout *pControlButtonsHorizontalLayout = new QHBoxLayout;
pControlButtonsHorizontalLayout->setContentsMargins(0, 0, 0, 0);
pControlButtonsHorizontalLayout->setSpacing(0);
pControlButtonsHorizontalLayout->addWidget(mpResumeToolButton);
pControlButtonsHorizontalLayout->addWidget(mpInterruptToolButton);
pControlButtonsHorizontalLayout->addWidget(mpExitToolButton);
pControlButtonsFrame->setLayout(pControlButtonsHorizontalLayout);
/* step-into tool button */
mpStepIntoToolButton = new QToolButton;
mpStepIntoToolButton->setEnabled(false);
mpStepIntoToolButton->setText(Helper::stepInto);
mpStepIntoToolButton->setIcon(QIcon(":/Resources/icons/step-into.svg"));
mpStepIntoToolButton->setIconSize(Helper::buttonIconSize);
mpStepIntoToolButton->setToolTip(Helper::stepInto);
mpStepIntoToolButton->setAutoRaise(true);
connect(mpStepIntoToolButton, SIGNAL(clicked()), SLOT(stepIntoButtonClicked()));
/* step-over tool button */
mpStepOverToolButton = new QToolButton;
mpStepOverToolButton->setEnabled(false);
mpStepOverToolButton->setText(Helper::stepOver);
mpStepOverToolButton->setIcon(QIcon(":/Resources/icons/step-over.svg"));
mpStepOverToolButton->setIconSize(Helper::buttonIconSize);
mpStepOverToolButton->setToolTip(Helper::stepOver);
mpStepOverToolButton->setAutoRaise(true);
connect(mpStepOverToolButton, SIGNAL(clicked()), SLOT(stepOverButtonClicked()));
/* step-return tool button */
mpStepReturnToolButton = new QToolButton;
mpStepReturnToolButton->setEnabled(false);
mpStepReturnToolButton->setText(Helper::stepReturn);
mpStepReturnToolButton->setIcon(QIcon(":/Resources/icons/step-return.svg"));
mpStepReturnToolButton->setIconSize(Helper::buttonIconSize);
mpStepReturnToolButton->setToolTip(Helper::stepReturn);
mpStepReturnToolButton->setAutoRaise(true);
connect(mpStepReturnToolButton, SIGNAL(clicked()), SLOT(stepReturnButtonClicked()));
/* Flow buttons frame */
QFrame *pFlowButtonsFrame = new QFrame;
QHBoxLayout *pFlowButtonsHorizontalLayout = new QHBoxLayout;
pFlowButtonsHorizontalLayout->setContentsMargins(0, 0, 0, 0);
pFlowButtonsHorizontalLayout->setSpacing(0);
pFlowButtonsHorizontalLayout->addWidget(mpStepIntoToolButton);
pFlowButtonsHorizontalLayout->addWidget(mpStepOverToolButton);
pFlowButtonsHorizontalLayout->addWidget(mpStepReturnToolButton);
pFlowButtonsFrame->setLayout(pFlowButtonsHorizontalLayout);
/* Threads Label */
mpThreadsLabel = new Label(tr("Threads:"));
/* Threads combo box */
mpThreadsComboBox = new QComboBox;
mpThreadsComboBox->setEnabled(false);
connect(mpThreadsComboBox, SIGNAL(currentIndexChanged(int)), SLOT(threadChanged(int)));
connect(mpMainWindow->getGDBAdapter(), SIGNAL(threadInfo(GDBMIValue*,QString)), SLOT(fillThreadComboBox(GDBMIValue*,QString)));
/* Thread frame */
QFrame *pThreadFrame = new QFrame;
QHBoxLayout *pThreadHorizontalLayout = new QHBoxLayout;
pThreadHorizontalLayout->setContentsMargins(0, 0, 0, 0);
pThreadHorizontalLayout->setSpacing(0);
pThreadHorizontalLayout->addWidget(mpThreadsLabel);
pThreadHorizontalLayout->addWidget(mpThreadsComboBox);
pThreadFrame->setLayout(pThreadHorizontalLayout);
// create project status bar
mpStatusBar = new QStatusBar;
mpStatusBar->setObjectName("ModelStatusBar");
mpStatusBar->setStyleSheet("QStatusBar{border-bottom: none;} QStatusBar::item{margin-bottom: -1px;}");
mpStatusBar->setSizeGripEnabled(false);
mpStatusBar->addPermanentWidget(pControlButtonsFrame, 0);
mpStatusBar->addPermanentWidget(pFlowButtonsFrame, 0);
mpStatusBar->addPermanentWidget(pThreadFrame, 0);
/* Message Label */
mpStatusLabel = new Label;
mpStatusLabel->setElideMode(Qt::ElideMiddle);
mpStatusBar->addPermanentWidget(mpStatusLabel, 1);
/* Stack Frames Tree Widget */
mpStackFramesTreeWidget = new StackFramesTreeWidget(this);
setSelectedThread(1);
setSelectedFrame(0);
/* set layout */
QGridLayout *pMainLayout = new QGridLayout;
pMainLayout->setAlignment(Qt::AlignLeft | Qt::AlignTop);
pMainLayout->setContentsMargins(0, 0, 0, 0);
pMainLayout->setSpacing(0);
pMainLayout->addWidget(mpStatusBar, 0, 0);
pMainLayout->addWidget(mpStackFramesTreeWidget, 1, 0);
setLayout(pMainLayout);
/* Make connections to control the enable/disable of tool buttons */
connect(mpMainWindow->getGDBAdapter(), SIGNAL(GDBProcessStarted()), SLOT(handleGDBProcessStarted()));
connect(mpMainWindow->getGDBAdapter(), SIGNAL(GDBProcessFinished()), SLOT(handleGDBProcessFinished()));
connect(mpMainWindow->getGDBAdapter(), SIGNAL(inferiorSuspended()), SLOT(handleInferiorSuspended()));
connect(mpMainWindow->getGDBAdapter(), SIGNAL(inferiorResumed()), SLOT(handleInferiorResumed()));
}
OptimizerDlg::OptimizerDlg(World *w, QWidget *parent) : QDialog(parent), mWorld(w)
{
setupUi(this);
QObject::connect(exitButton, SIGNAL(clicked()), this, SLOT(exitButtonClicked()));
QObject::connect(torqueButton, SIGNAL(clicked()), this, SLOT(torqueButtonClicked()));
}
