| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) CNRS |
| 3 |
|
|
// Authors: Joseph Mirabel |
| 4 |
|
|
// |
| 5 |
|
|
|
| 6 |
|
|
#include "hppwidgetsplugin/pathplayer.hh" |
| 7 |
|
|
|
| 8 |
|
|
#include <assert.h> |
| 9 |
|
|
|
| 10 |
|
|
#include <QProgressDialog> |
| 11 |
|
|
#include <QSlider> |
| 12 |
|
|
#include <sstream> |
| 13 |
|
|
#if (QT_VERSION < QT_VERSION_CHECK(5, 0, 0)) |
| 14 |
|
|
#include <QtCore> |
| 15 |
|
|
#else |
| 16 |
|
|
#include <QtConcurrent> |
| 17 |
|
|
#endif |
| 18 |
|
|
|
| 19 |
|
|
#include <gepetto/gui/action-search-bar.hh> |
| 20 |
|
|
#include <gepetto/gui/osgwidget.hh> |
| 21 |
|
|
#include <gepetto/gui/windows-manager.hh> |
| 22 |
|
|
#include <hpp/corbaserver/client.hh> |
| 23 |
|
|
#include <hppwidgetsplugin/hppwidgetsplugin.hh> |
| 24 |
|
|
|
| 25 |
|
|
#include "gepetto/gui/mainwindow.hh" |
| 26 |
|
|
#include "hppwidgetsplugin/conversions.hh" |
| 27 |
|
|
#include "hppwidgetsplugin/joint-action.hh" |
| 28 |
|
|
#include "hppwidgetsplugin/ui_pathplayerwidget.h" |
| 29 |
|
|
|
| 30 |
|
|
namespace hpp { |
| 31 |
|
|
namespace gui { |
| 32 |
|
|
using gepetto::gui::ActionSearchBar; |
| 33 |
|
|
using gepetto::gui::MainWindow; |
| 34 |
|
|
|
| 35 |
|
✗ |
PathPlayer::PathPlayer(HppWidgetsPlugin* plugin, QWidget* parent) |
| 36 |
|
|
: QWidget(parent), |
| 37 |
|
✗ |
ui_(new ::Ui::PathPlayerWidget), |
| 38 |
|
✗ |
timerId_(0), |
| 39 |
|
✗ |
velocity_(false), |
| 40 |
|
✗ |
plugin_(plugin) { |
| 41 |
|
✗ |
ui_->setupUi(this); |
| 42 |
|
✗ |
pathIndex()->setMaximum(0); |
| 43 |
|
✗ |
connect(pathSlider(), SIGNAL(sliderMoved(int)), this, |
| 44 |
|
|
SLOT(pathSliderChanged(int))); |
| 45 |
|
✗ |
connect(pathIndex(), SIGNAL(valueChanged(int)), this, |
| 46 |
|
|
SLOT(pathIndexChanged(int))); |
| 47 |
|
✗ |
connect(playPause(), SIGNAL(toggled(bool)), this, |
| 48 |
|
|
SLOT(playPauseToggled(bool))); |
| 49 |
|
✗ |
connect(stop(), SIGNAL(clicked()), this, SLOT(stopClicked())); |
| 50 |
|
✗ |
connect(ui_->refreshButton_path, SIGNAL(clicked()), this, SLOT(update())); |
| 51 |
|
|
|
| 52 |
|
✗ |
initSearchActions(); |
| 53 |
|
|
} |
| 54 |
|
|
|
| 55 |
|
✗ |
PathPlayer::~PathPlayer() { delete ui_; } |
| 56 |
|
|
|
| 57 |
|
✗ |
void PathPlayer::initSearchActions() { |
| 58 |
|
✗ |
ActionSearchBar* asb = MainWindow::instance()->actionSearchBar(); |
| 59 |
|
|
JointAction* a; |
| 60 |
|
|
|
| 61 |
|
✗ |
a = new JointAction(tr("Display &waypoints of selected path"), |
| 62 |
|
✗ |
plugin_->jointTreeWidget(), this); |
| 63 |
|
✗ |
connect(a, SIGNAL(triggered(std::string)), |
| 64 |
|
|
SLOT(displayWaypointsOfPath(std::string))); |
| 65 |
|
✗ |
asb->addAction(a); |
| 66 |
|
|
|
| 67 |
|
✗ |
a = new JointAction(tr("Display selected &path"), plugin_->jointTreeWidget(), |
| 68 |
|
✗ |
this); |
| 69 |
|
✗ |
connect(a, SIGNAL(triggered(std::string)), SLOT(displayPath(std::string))); |
| 70 |
|
✗ |
asb->addAction(a); |
| 71 |
|
|
|
| 72 |
|
|
{ |
| 73 |
|
✗ |
QAction* a = new QAction(tr("Play path"), this); |
| 74 |
|
✗ |
playPause()->connect(a, SIGNAL(triggered()), SLOT(toggle())); |
| 75 |
|
✗ |
asb->addAction(a); |
| 76 |
|
|
} |
| 77 |
|
|
} |
| 78 |
|
|
|
| 79 |
|
✗ |
void PathPlayer::displayWaypointsOfPath(const std::string jointName) { |
| 80 |
|
✗ |
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance(); |
| 81 |
|
✗ |
if (!pathIndex()->isEnabled()) { |
| 82 |
|
✗ |
main->logError("There is no path. Did you solve a problem ?"); |
| 83 |
|
✗ |
return; |
| 84 |
|
|
} |
| 85 |
|
✗ |
int pid = pathIndex()->value(); |
| 86 |
|
✗ |
std::stringstream ss; |
| 87 |
|
✗ |
ss << "path" << pid << "_" << jointName; |
| 88 |
|
✗ |
std::string pn = ss.str(); |
| 89 |
|
✗ |
const osgVector4 colorN(0.f, 0.f, 1.f, 1.f), colorE(1.f, 0.f, 0.f, 1.f); |
| 90 |
|
✗ |
gepetto::gui::WindowsManagerPtr_t wsm = main->osg(); |
| 91 |
|
✗ |
HppWidgetsPlugin::HppClient* hpp = plugin_->client(); |
| 92 |
|
✗ |
hpp::floatSeq_var times; |
| 93 |
|
|
hpp::floatSeqSeq_var waypoints = |
| 94 |
|
✗ |
hpp->problem()->getWaypoints((CORBA::ULong)pid, times.out()); |
| 95 |
|
✗ |
if (!wsm->getGroup(pn, false)) { |
| 96 |
|
✗ |
wsm->createGroup(pn); |
| 97 |
|
✗ |
wsm->addToGroup(pn, "hpp-gui"); |
| 98 |
|
|
} |
| 99 |
|
|
// Temporary object to avoid dynamic allocation. |
| 100 |
|
|
// Arguments are max, length, storage, take ownership. |
| 101 |
|
|
char* tmps[1]; |
| 102 |
|
✗ |
hpp::Names_t names(1, 1, tmps, false); |
| 103 |
|
✗ |
gepetto::viewer::Configuration pos; |
| 104 |
|
✗ |
::osg::Vec3ArrayRefPtr posSeq = new ::osg::Vec3Array; |
| 105 |
|
✗ |
for (unsigned int i = 0; i < waypoints->length(); ++i) { |
| 106 |
|
|
// Make name |
| 107 |
|
✗ |
ss.clear(); |
| 108 |
|
✗ |
ss.str(std::string()); |
| 109 |
|
✗ |
ss << pn << "/node" << i; |
| 110 |
|
✗ |
std::string xyzName = ss.str(); |
| 111 |
|
|
// Get positions |
| 112 |
|
✗ |
names[0] = jointName.c_str(); |
| 113 |
|
|
hpp::TransformSeq_var Ts = |
| 114 |
|
✗ |
hpp->robot()->getJointsPosition(waypoints[i], names); |
| 115 |
|
✗ |
fromHPP(Ts[0], pos); |
| 116 |
|
✗ |
posSeq->push_back(pos.position); |
| 117 |
|
|
// Create the nodes |
| 118 |
|
✗ |
if (wsm->nodeExists(xyzName)) wsm->deleteNode(xyzName, false); |
| 119 |
|
✗ |
wsm->addXYZaxis(xyzName, colorN, 0.01f, 0.05f); |
| 120 |
|
✗ |
wsm->applyConfiguration(xyzName, pos); |
| 121 |
|
|
} |
| 122 |
|
✗ |
wsm->addCurve(pn + "/curve", posSeq, colorE); |
| 123 |
|
✗ |
wsm->refresh(); |
| 124 |
|
|
} |
| 125 |
|
|
|
| 126 |
|
✗ |
void PathPlayer::displayPath(const std::string jointName) { |
| 127 |
|
✗ |
QFutureWatcher<void>* fw = new QFutureWatcher<void>(this); |
| 128 |
|
|
QProgressDialog* pd = new QProgressDialog( |
| 129 |
|
✗ |
"Computing curved path. Please wait...", "Cancel", 0, 100, this); |
| 130 |
|
✗ |
connect(this, SIGNAL(displayPath_status(int)), pd, SLOT(setValue(int))); |
| 131 |
|
✗ |
pd->setCancelButton(0); |
| 132 |
|
✗ |
pd->setRange(0, 100); |
| 133 |
|
✗ |
pd->show(); |
| 134 |
|
✗ |
fw->setFuture( |
| 135 |
|
✗ |
QtConcurrent::run(this, &PathPlayer::displayPath_impl, jointName)); |
| 136 |
|
✗ |
connect(fw, SIGNAL(finished()), pd, SLOT(deleteLater())); |
| 137 |
|
✗ |
connect(fw, SIGNAL(finished()), fw, SLOT(deleteLater())); |
| 138 |
|
|
} |
| 139 |
|
|
|
| 140 |
|
✗ |
void PathPlayer::displayPath_impl(const std::string jointName) { |
| 141 |
|
✗ |
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance(); |
| 142 |
|
✗ |
if (!pathIndex()->isEnabled()) { |
| 143 |
|
✗ |
main->logError("There is no path. Did you solve a problem ?"); |
| 144 |
|
✗ |
emit displayPath_status(100); |
| 145 |
|
✗ |
return; |
| 146 |
|
|
} |
| 147 |
|
✗ |
CORBA::ULong pid = (CORBA::ULong)pathIndex()->value(); |
| 148 |
|
✗ |
std::stringstream ss; |
| 149 |
|
✗ |
ss << "curvedpath_" << pid << "_" << jointName; |
| 150 |
|
✗ |
std::string pn = ss.str(); |
| 151 |
|
✗ |
gepetto::viewer::WindowsManager::Color_t colorE(1.f, 0.f, 0.f, 1.f); |
| 152 |
|
✗ |
gepetto::gui::WindowsManagerPtr_t wsm = main->osg(); |
| 153 |
|
✗ |
HppWidgetsPlugin::HppClient* hpp = plugin_->client(); |
| 154 |
|
✗ |
CORBA::Double length = hpp->problem()->pathLength(pid); |
| 155 |
|
✗ |
double dt = lengthBetweenRefresh(); |
| 156 |
|
✗ |
CORBA::ULong nbPos = (CORBA::ULong)(length / dt) + 1; |
| 157 |
|
✗ |
osgVector3 pos; |
| 158 |
|
✗ |
::osg::Vec3ArrayRefPtr posSeq = new ::osg::Vec3Array; |
| 159 |
|
|
// Temporary object to avoid dynamic allocation. |
| 160 |
|
|
// Arguments are max, length, storage, take ownership. |
| 161 |
|
|
char* tmps[1]; |
| 162 |
|
✗ |
hpp::Names_t names(1, 1, tmps, false); |
| 163 |
|
✗ |
float statusStep = 100.f / (float)nbPos; |
| 164 |
|
✗ |
emit displayPath_status(0); |
| 165 |
|
✗ |
for (CORBA::ULong i = 0; i < nbPos; ++i) { |
| 166 |
|
✗ |
double t = std::min(i * dt, length); |
| 167 |
|
✗ |
hpp::floatSeq_var q = hpp->problem()->configAtParam(pid, t); |
| 168 |
|
✗ |
names[0] = jointName.c_str(); |
| 169 |
|
✗ |
hpp::TransformSeq_var Ts = hpp->robot()->getJointsPosition(q.in(), names); |
| 170 |
|
✗ |
fromHPP(Ts[0], pos); |
| 171 |
|
✗ |
posSeq->push_back(pos); |
| 172 |
|
✗ |
emit displayPath_status(qFloor((float)i * statusStep)); |
| 173 |
|
|
} |
| 174 |
|
✗ |
if (wsm->nodeExists(pn)) wsm->deleteNode(pn, true); |
| 175 |
|
✗ |
wsm->addCurve(pn, posSeq, colorE); |
| 176 |
|
✗ |
wsm->addToGroup(pn.c_str(), "hpp-gui"); |
| 177 |
|
✗ |
wsm->refresh(); |
| 178 |
|
✗ |
emit displayPath_status(100); |
| 179 |
|
|
} |
| 180 |
|
|
|
| 181 |
|
✗ |
void PathPlayer::update() { |
| 182 |
|
✗ |
CORBA::Long nbPath = plugin_->client()->problem()->numberPaths(); |
| 183 |
|
✗ |
if (nbPath > 0) { |
| 184 |
|
✗ |
pathIndex()->setEnabled(true); |
| 185 |
|
✗ |
pathSlider()->setEnabled(true); |
| 186 |
|
✗ |
playPause()->setEnabled(true); |
| 187 |
|
✗ |
stop()->setEnabled(true); |
| 188 |
|
✗ |
if (pathIndex()->maximum() == 0) { |
| 189 |
|
|
// If path index value is 0, no signal valueChanged will |
| 190 |
|
|
// be emitted. Force a value changed. |
| 191 |
|
✗ |
if (pathIndex()->value() == 0) pathIndexChanged(0); |
| 192 |
|
|
} |
| 193 |
|
✗ |
pathIndex()->setMaximum(nbPath - 1); |
| 194 |
|
✗ |
pathIndex()->setValue(nbPath - 1); |
| 195 |
|
|
} else { |
| 196 |
|
✗ |
pathIndex()->setEnabled(false); |
| 197 |
|
✗ |
pathSlider()->setEnabled(false); |
| 198 |
|
✗ |
playPause()->setEnabled(false); |
| 199 |
|
✗ |
stop()->setEnabled(false); |
| 200 |
|
|
} |
| 201 |
|
|
} |
| 202 |
|
|
|
| 203 |
|
✗ |
void PathPlayer::setRobotVelocity(bool set) { velocity_ = set; } |
| 204 |
|
|
|
| 205 |
|
✗ |
void PathPlayer::pathIndexChanged(int i) { |
| 206 |
|
✗ |
assert(i >= 0); |
| 207 |
|
✗ |
pathLength_ = plugin_->client()->problem()->pathLength((short unsigned int)i); |
| 208 |
|
✗ |
timeSpinBox()->setValue(pathLength_); |
| 209 |
|
✗ |
currentParam_ = 0; |
| 210 |
|
|
} |
| 211 |
|
|
|
| 212 |
|
✗ |
void PathPlayer::pathSliderChanged(int value) { |
| 213 |
|
|
// The user moved the slider manually. |
| 214 |
|
✗ |
currentParam_ = sliderToLength(value); |
| 215 |
|
✗ |
updateConfiguration(); |
| 216 |
|
|
} |
| 217 |
|
|
|
| 218 |
|
✗ |
void PathPlayer::playPauseToggled(bool toggled) { |
| 219 |
|
✗ |
if (toggled) { |
| 220 |
|
✗ |
if (timerId_ == 0) timerId_ = startTimer(timeBetweenRefresh()); |
| 221 |
|
|
} else { |
| 222 |
|
✗ |
killTimer(timerId_); |
| 223 |
|
✗ |
timerId_ = 0; |
| 224 |
|
|
} |
| 225 |
|
|
} |
| 226 |
|
|
|
| 227 |
|
✗ |
void PathPlayer::stopClicked() { |
| 228 |
|
|
// Pause |
| 229 |
|
✗ |
playPause()->setChecked(false); |
| 230 |
|
|
// Reset current position. |
| 231 |
|
✗ |
currentParam_ = 0; |
| 232 |
|
✗ |
pathSlider()->setSliderPosition(0); |
| 233 |
|
✗ |
updateConfiguration(); |
| 234 |
|
|
} |
| 235 |
|
|
|
| 236 |
|
✗ |
void PathPlayer::pathPulse() { |
| 237 |
|
✗ |
if (playPause()->isChecked()) { |
| 238 |
|
|
// Stil playing |
| 239 |
|
✗ |
currentParam_ += lengthBetweenRefresh(); |
| 240 |
|
✗ |
if (currentParam_ > pathLength_) { |
| 241 |
|
✗ |
currentParam_ = pathLength_; |
| 242 |
|
✗ |
playPause()->setChecked(false); |
| 243 |
|
|
} |
| 244 |
|
✗ |
pathSlider()->setSliderPosition(lengthToSlider(currentParam_)); |
| 245 |
|
✗ |
updateConfiguration(); |
| 246 |
|
|
} |
| 247 |
|
|
} |
| 248 |
|
|
|
| 249 |
|
✗ |
void PathPlayer::setCurrentTime(const double& param) { |
| 250 |
|
✗ |
if (!pathIndex()->isEnabled()) return; |
| 251 |
|
✗ |
if (currentParam_ > pathLength_) currentParam_ = pathLength_; |
| 252 |
|
✗ |
if (0 < currentParam_) currentParam_ = 0; |
| 253 |
|
✗ |
currentParam_ = param; |
| 254 |
|
✗ |
pathSlider()->setSliderPosition(lengthToSlider(currentParam_)); |
| 255 |
|
✗ |
updateConfiguration(); |
| 256 |
|
|
} |
| 257 |
|
|
|
| 258 |
|
✗ |
void PathPlayer::timerEvent(QTimerEvent* event) { |
| 259 |
|
✗ |
if (timerId_ == event->timerId()) { |
| 260 |
|
✗ |
pathPulse(); |
| 261 |
|
|
} |
| 262 |
|
|
} |
| 263 |
|
|
|
| 264 |
|
✗ |
void PathPlayer::updateConfiguration() { |
| 265 |
|
✗ |
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance(); |
| 266 |
|
✗ |
hpp::floatSeq_var config, velocity; |
| 267 |
|
|
try { |
| 268 |
|
✗ |
config = plugin_->client()->problem()->configAtParam( |
| 269 |
|
✗ |
(CORBA::ULong)pathIndex()->value(), currentParam_); |
| 270 |
|
✗ |
if (velocity_) |
| 271 |
|
✗ |
velocity = plugin_->client()->problem()->derivativeAtParam( |
| 272 |
|
✗ |
(CORBA::ULong)pathIndex()->value(), 1, currentParam_); |
| 273 |
|
✗ |
} catch (const hpp::Error& e) { |
| 274 |
|
✗ |
main->logError(e.msg.in()); |
| 275 |
|
✗ |
return; |
| 276 |
|
|
} |
| 277 |
|
✗ |
plugin_->currentConfig() = config.in(); |
| 278 |
|
✗ |
if (velocity_) plugin_->currentVelocity() = velocity.in(); |
| 279 |
|
✗ |
main->requestApplyCurrentConfiguration(); |
| 280 |
|
✗ |
emit appliedConfigAtParam(getCurrentPath(), currentParam_); |
| 281 |
|
|
} |
| 282 |
|
|
|
| 283 |
|
✗ |
inline double PathPlayer::sliderToLength(int v) const { |
| 284 |
|
✗ |
return ((double)v / (double)pathSlider()->maximum()) * pathLength_; |
| 285 |
|
|
} |
| 286 |
|
|
|
| 287 |
|
✗ |
int PathPlayer::lengthToSlider(double l) const { |
| 288 |
|
✗ |
return (int)(pathSlider()->maximum() * l / pathLength_); |
| 289 |
|
|
} |
| 290 |
|
|
|
| 291 |
|
|
inline double PathPlayer::timeToLength(double time) const { |
| 292 |
|
|
if (timeSpinBox()->value() == 0) return time; |
| 293 |
|
|
return time * pathLength_ / timeSpinBox()->value(); |
| 294 |
|
|
} |
| 295 |
|
|
|
| 296 |
|
✗ |
inline int PathPlayer::timeBetweenRefresh() const { |
| 297 |
|
✗ |
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance(); |
| 298 |
|
✗ |
return main->settings_->refreshRate; |
| 299 |
|
|
} |
| 300 |
|
|
|
| 301 |
|
✗ |
double PathPlayer::lengthBetweenRefresh() const { |
| 302 |
|
✗ |
if (timeSpinBox()->value() == 0) return timeBetweenRefresh() / 1000; |
| 303 |
|
✗ |
return pathLength_ * timeBetweenRefresh() / (1000 * timeSpinBox()->value()); |
| 304 |
|
|
} |
| 305 |
|
|
|
| 306 |
|
✗ |
QDoubleSpinBox* PathPlayer::timeSpinBox() const { return ui_->timeSpinBox; } |
| 307 |
|
|
|
| 308 |
|
✗ |
QSpinBox* PathPlayer::pathIndex() const { return ui_->pathIndexSpin; } |
| 309 |
|
|
|
| 310 |
|
✗ |
QSlider* PathPlayer::pathSlider() const { return ui_->pathSlider; } |
| 311 |
|
|
|
| 312 |
|
✗ |
QPushButton* PathPlayer::playPause() const { return ui_->playPauseButton; } |
| 313 |
|
|
|
| 314 |
|
✗ |
QPushButton* PathPlayer::stop() const { return ui_->stopButton; } |
| 315 |
|
|
|
| 316 |
|
✗ |
int PathPlayer::getCurrentPath() const { |
| 317 |
|
✗ |
if (!pathIndex()->isEnabled()) return -1; |
| 318 |
|
✗ |
return pathIndex()->value(); |
| 319 |
|
|
} |
| 320 |
|
|
} // namespace gui |
| 321 |
|
|
} // namespace hpp |
| 322 |
|
|
|