GUI Skeleton Finished -- Needs guts

Author: mxgrey

CMakeLists.txt

@@ -17,9 +17,6 @@ catkin_package(
     CATKIN_DEPENDS roscpp rospy
     DEPENDS ach QtCore QtGui )
 
-## I prefer the Qt signals and slots to avoid defining "emit", "slots",
-## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here.
-add_definitions(-DQT_NO_KEYWORDS)
 
 
 ## Here we specify which header files need to be run through "moc",
@@ -33,6 +30,7 @@ qt4_wrap_cpp(MOC_FILES
 ## the previous command which is stored in ``${MOC_FILES}``.
 set(SOURCE_FILES
   src/hubo_walk.cpp
+  src/hubo_walk_slots.cpp
   include/hubo_walk.h
   ${MOC_FILES}
 )

include/hubo_walk.h

@@ -63,7 +63,9 @@
 #include <QClipboard>
 #include <QPalette>
 #include <QColor>
+#include <QThread>
 #include <QCheckBox>
+#include <QComboBox>
 
 #include <vector>
 
@@ -75,11 +77,13 @@
 namespace hubo_walk_space
 {
 
+class HuboWalkWidget;
+
 class HuboRefreshManager : public QThread
 {
 Q_OBJECT
 public:
-    HuboInitWidget* parentWidget;
+    HuboWalkWidget* parentWidget;
     bool alive;
     int waitTime;
 
@@ -112,6 +116,7 @@ Q_OBJECT
   // someone using the class for something else to pass in a parent
   // widget as they normally would with Qt.
   HuboWalkWidget( QWidget* parent = 0 );
+  ~HuboWalkWidget();
 
   QString groupStyleSheet;
 
@@ -148,6 +153,11 @@ Q_OBJECT
   struct hubo_param h_param;
 
 
+  // Handling profiles TODO
+  //std::vector<zmp_params> profiles;
+  std::vector<QString> profileNames;
+  void fillProfileSelect();
+  
 protected:
   int ipAddrA;
   int ipAddrB;
@@ -160,7 +170,20 @@ Q_OBJECT
   // Slots will be "connected" to signals in order to respond to user events
 protected Q_SLOTS:
 
+  // Handle button events
+  void handleProfileSave();
+  void handleProfileDelete();
+  void handleProfileSaveAs();
+  void handleJoyLaunch();
+  void handleContinuous();
 
+  void handleForward();
+  void handleLeft();
+  void handleTurnLeft();
+  void handleRight();
+  void handleTurnRight();
+  void handleBackward();
+  void handleStop();
 
   // Update all state information
   void refreshState();
@@ -204,72 +227,53 @@ protected Q_SLOTS:
 
 
     QDoubleSpinBox* strideBox;
-    QSpinBox* stepBox;
+    QSpinBox* stepCountBox;
+    QDoubleSpinBox* radiusBox;
     QCheckBox* continuousBox;
     QPushButton* forwardButton;
     QPushButton* leftButton;
     QPushButton* rightButton;
     QPushButton* backButton;
     QPushButton* stopButton;
+    QPushButton* turnLeftButton;
+    QPushButton* turnRightButton;
   ///////////////
 
 
 // TODO: Update all the following
   ///////////////
-  void initializeJointStateTab();
-  QWidget* jointStateTab;
-
-    QLineEdit* stateFlags;
-
-    QButtonGroup* jointStateGroup;
-    std::vector<QPushButton*> jointStateButtons;
-    QPushButton* copyJoints;
-
-    QButtonGroup* radSelectGroup;
-    QRadioButton* radSelect;
-    QRadioButton* degSelect;
-  ///////////////
-
-  std::vector<QString> ftName;
-
-
-  ///////////////
-  void initializeSensorCmdTab();
-  QWidget* sensorCmdTab;
-
-    QButtonGroup* radioSensorButtons;
-    QRadioButton* nullSensor;
-    QRadioButton* initSensor; // Note: Not used... feels dangerous
-                              // It can change board settings in bad ways
-
-    QPushButton* rhFTButton;
-    QPushButton* lhFTButton;
-    QPushButton* rfFTButton;
-    QPushButton* lfFTButton;
-    QPushButton* imuButton;
+  void initializeZmpParamTab();
+  QWidget* zmpParamTab;
+  
+    QComboBox* profileSelect;
+    QPushButton* saveProfile;
+    QPushButton* deleteProfile;
+    QPushButton* saveAsProfile;
+    QLineEdit* saveAsEdit;
+    
+    QDoubleSpinBox* xOffsetBox;
+    QDoubleSpinBox* yOffsetBox;
+    QDoubleSpinBox* jerkPenalBox;
+    QDoubleSpinBox* lookAheadBox;
+    
+    QDoubleSpinBox* startupTimeBox;
+    QDoubleSpinBox* shutdownTimeBox;
+    QDoubleSpinBox* doubleSupportBox;
+    QDoubleSpinBox* singleSupportBox;
+    
+    QComboBox* walkTypeSelect;
+    QComboBox* ikSenseSelect;
+    
+    QDoubleSpinBox* liftoffHeightBox;
+    QDoubleSpinBox* stepDistanceBox;
+    QDoubleSpinBox* lateralDistanceBox;
+    QDoubleSpinBox* sideStepDistanceBox;
+    
+    QDoubleSpinBox* comHeightBox;
+    QDoubleSpinBox* comIKAngleWeightBox;
   ///////////////
 
 
-  ///////////////
-  void initializeSensorStateTab();
-  QWidget* sensorStateTab;
-
-    QGroupBox* ftBox;
-    std::vector<QLineEdit*> ft_mx;
-    std::vector<QLineEdit*> ft_my;
-    std::vector<QLineEdit*> ft_fz;
-    QPushButton* copyFT;
-
-    QGroupBox* imuBox;
-    QLineEdit* a_x;
-    QLineEdit* a_y;
-    QLineEdit* a_z;
-
-    QLineEdit* w_x;
-    QLineEdit* w_y;
-    QLineEdit* w_z;
-    QPushButton* copyIMU;
-  ///////////////
 
 };
 

plugin_description.xml

@@ -0,0 +1,16 @@
+<library path="${prefix}/lib/libhubo_walk">
+  <class name="HuboWalkPanel"
+         type="hubo_walk_space::HuboWalkPanel"
+         base_class_type="rviz::Panel">
+    <description>
+      A panel widget to interface with commanding Hubo to walk
+    </description>
+  </class>
+  <class name="HuboWalkWidget"
+         type="hubo_walk_space::HuboWalkWidget"
+         base_class_type="QTabWidget">
+    <description>
+      The widget which is laid on top of the HuboWalkPanel
+    </description>
+  </class>
+</library>