PlatformUnitGuiPlugin.h

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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* \package    ArmarX::Component::ObjectExaminerGuiPlugin
* \author     Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
* \copyright  2012
* \license    http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
 
*/
 
#pragma once
 
/* ArmarX headers */
#include <RobotAPI/gui-plugins/PlatformUnitPlugin/ui_PlatformUnitGuiPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/JoystickControlWidget.h>
#include <ArmarXCore/core/Component.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
 
#include <RobotAPI/interface/core/RobotLocalization.h>
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
 
/* Qt headers */
#include <QMainWindow>
#include <QTimer>
 
#include <string>
 
 
namespace armarx
{
 
    class KeyboardPlatformHookWidget : public QWidget
    {
        Q_OBJECT
    public:
        KeyboardPlatformHookWidget(QWidget* parent = NULL):  QWidget(parent)
        {
            setFocusPolicy(Qt::ClickFocus);
        }
 
    signals:
        void commandKeyPressed(int key);
        void commandKeyReleased(int key);
        // QWidget interface
    protected:
        void keyPressEvent(QKeyEvent* event) override;
 
        void keyReleaseEvent(QKeyEvent* event) override;
    };
 
    class PlatformUnitConfigDialog;
 
    class PlatformUnitGuiPlugin :
        public ArmarXGuiPlugin
    {
        Q_OBJECT
        Q_INTERFACES(ArmarXGuiInterface)
        Q_PLUGIN_METADATA(IID "ArmarXGuiInterface/1.00")
    public:
        PlatformUnitGuiPlugin();
        QString getPluginName() override
        {
            return "PlatformUnitGuiPlugin";
        }
    };
 
    class PlatformUnitWidget :
        public ArmarXComponentWidgetControllerTemplate<PlatformUnitWidget>,
        public GlobalRobotPoseLocalizationListener
    {
        Q_OBJECT
    public:
        PlatformUnitWidget();
        ~PlatformUnitWidget() override
        {}
 
        // inherited from Component
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
        // slice interface implementation
        void reportGlobalRobotPose(const ::armarx::TransformStamped& transformStamped, const ::Ice::Current& = ::Ice::emptyCurrent) override;
     
        // inherited of ArmarXWidget
        static QString GetWidgetName()
        {
            return "RobotControl.PlatformUnitGUI";
        }
        static QIcon GetWidgetIcon()
        {
            return QIcon("://icons/retro_joystick2.svg");
        }
 
        QPointer<QDialog> getConfigDialog(QWidget* parent = 0) override;
        void loadSettings(QSettings* settings) override;
        void saveSettings(QSettings* settings) override;
        void configured() override;
 
    public slots:
 
        void moveTo();
 
        void setNewPlatformPoseLabels(float x, float y, float alpha);
        void setNewTargetPoseLabels(float x, float y, float alpha);
 
        void startControlTimer();
        void stopControlTimer();
 
    protected:
        void connectSlots();
 
        Ui::PlatformUnitGuiPlugin ui;
 
    private slots:
        void controlTimerTick();
 
        void stopPlatform();
        void controlPlatformWithKeyboard(int key);
        void stopPlatformWithKeyboard(int key);
        void keyboardVelocityControl();
 
    private:
        std::string platformUnitProxyName;
        std::string platformName;
 
        PlatformUnitInterfacePrx platformUnitProxy;
 
        QPointer<QWidget> __widget;
        QPointer<PlatformUnitConfigDialog> dialog;
 
        QPointer<JoystickControlWidget> speedCtrl;
 
        QPointer<JoystickControlWidget> rotaCtrl;
 
        QTimer ctrlEvaluationTimer;
        QTimer stopPlatformTimer;
        QTimer keyboardVelocityTimer;
        ::Ice::Float platformRotation;
 
        bool platformMoves;
 
        ::Ice::Float platformRotationAtMoveStart;
 
        static const int CONTROL_TICK_RATE = 50;
 
        QSet<int> pressedKeys;
 
        float currentKeyboardVelocityX = 0;
        float currentKeyboardVelocityY = 0;
        float currentKeyboardVelocityAlpha = 0;
        float acceleration = 0.2;
        float deceleration = 0.8;
 
        // ArmarXWidgetController interface
    public:
        QPointer<QWidget> getWidget() override;
 
    };
    using PlatformUnitGuiPluginPtr = std::shared_ptr<PlatformUnitWidget>;
}