Skip to content

Commit

Permalink
yarpmotorgui: improved slider graphics, with displayed reference valu…
Browse files Browse the repository at this point in the history 
…e (optional, enabled from the menu, default off)
  • Loading branch information
@randaz81
randaz81 committed Nov 18, 2021
1 parent ef45a02 commit 48fec55
Show file tree
Hide file tree
Showing 9 changed files with 131 additions and 70 deletions.
9 changes: 9 additions & 0 deletions doc/release/master/yarpmotogui_slider.md
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
yarpmotorgui_slider {#master}
-----------------------

### GUIs

#### yarpmotorgui

* Improved slider graphics, with displayed reference value (optional, enabled from the menu, default off)

55 changes: 29 additions & 26 deletions src/yarpmotorgui/jointitem.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -24,24 +24,12 @@ void JointItem::resetTarget()

void JointItem::updateTrajectoryPositionTarget(double val)
{
int w = ui->sliderTrajectoryPosition->width()- 30;
double mmin = this->min_position;
double mmax = this->max_position;
double totValues = fabs(mmax - mmin);
double cursor = fabs(val - mmin);
double newX = cursor * (double)w / (double)totValues;
ui->sliderTrajectoryPosition->updateSliderTarget(newX);
ui->sliderTrajectoryPosition->updateSliderTarget(val);
}

void JointItem::updateMixedPositionTarget(double val)
{
int w = ui->sliderMixedPosition->width() - 30;
double mmin = this->min_position;
double mmax = this->max_position;
double totValues = fabs(mmax - mmin);
double cursor = fabs(val - mmin);
double newX = cursor * (double)w / (double)totValues;
ui->sliderMixedPosition->updateSliderTarget(newX);
ui->sliderMixedPosition->updateSliderTarget(val);
}

JointItem::JointItem(int index,QWidget *parent) :
Expand Down Expand Up @@ -101,55 +89,64 @@ JointItem::JointItem(int index,QWidget *parent) :
connect(ui->sliderTrajectoryPosition,SIGNAL(sliderPressed()),this,SLOT(onSliderTrajectoryPositionPressed()));
connect(ui->sliderTrajectoryPosition, SIGNAL(sliderReleased()), this, SLOT(onSliderTrajectoryPositionReleased()));
ui->sliderTrajectoryPosition->disableClickOutOfHandle=true;
ui->sliderTrajectoryPosition->enableViewTarget = true;
ui->sliderTrajectoryPosition->enableViewTargetBox = true;
ui->sliderTrajectoryPosition->enableViewTargetValue = false;

ui->sliderTorqueTorque->installEventFilter(this);
connect(ui->sliderTorqueTorque,SIGNAL(sliderPressed()),this,SLOT(onSliderTorquePressed()));
connect(ui->sliderTorqueTorque,SIGNAL(sliderReleased()),this,SLOT(onSliderTorqueReleased()));
ui->sliderTorqueTorque->disableClickOutOfHandle = true;
ui->sliderTorqueTorque->enableViewTarget = false;
ui->sliderTorqueTorque->enableViewTargetBox = false;
ui->sliderTorqueTorque->enableViewTargetValue = false;

ui->sliderPWMOutput->installEventFilter(this);
connect(ui->sliderPWMOutput, SIGNAL(sliderPressed()), this, SLOT(onSliderPWMPressed()));
connect(ui->sliderPWMOutput, SIGNAL(sliderReleased()), this, SLOT(onSliderPWMReleased()));
ui->sliderPWMOutput->disableClickOutOfHandle = true;
ui->sliderPWMOutput->enableViewTarget = false;
ui->sliderPWMOutput->enableViewTargetBox = false;
ui->sliderPWMOutput->enableViewTargetValue = false;

ui->sliderCurrentOutput->installEventFilter(this);
connect(ui->sliderCurrentOutput, SIGNAL(sliderPressed()), this, SLOT(onSliderCurrentPressed()));
connect(ui->sliderCurrentOutput, SIGNAL(sliderReleased()), this, SLOT(onSliderCurrentReleased()));
ui->sliderCurrentOutput->disableClickOutOfHandle = true;
ui->sliderCurrentOutput->enableViewTarget = false;
ui->sliderCurrentOutput->enableViewTargetBox = false;
ui->sliderCurrentOutput->enableViewTargetValue = false;

ui->sliderDirectPosition->installEventFilter(this);
connect(ui->sliderDirectPosition, SIGNAL(sliderPressed()), this, SLOT(onSliderDirectPositionPressed()));
connect(ui->sliderDirectPosition, SIGNAL(sliderReleased()), this, SLOT(onSliderDirectPositionReleased()));
ui->sliderDirectPosition->disableClickOutOfHandle = true;
ui->sliderDirectPosition->enableViewTarget = false;
ui->sliderDirectPosition->enableViewTargetBox = false;
ui->sliderDirectPosition->enableViewTargetValue = false;

ui->sliderMixedPosition->installEventFilter(this);
connect(ui->sliderMixedPosition, SIGNAL(sliderPressed()), this, SLOT(onSliderMixedPositionPressed()));
connect(ui->sliderMixedPosition, SIGNAL(sliderReleased()), this, SLOT(onSliderMixedPositionReleased()));
ui->sliderMixedPosition->disableClickOutOfHandle = true;
ui->sliderMixedPosition->enableViewTarget = true;
ui->sliderMixedPosition->enableViewTargetBox = true;
ui->sliderMixedPosition->enableViewTargetValue = false;

ui->sliderVelocityVelocity->installEventFilter(this);
connect(ui->sliderVelocityVelocity,SIGNAL(sliderPressed()),this,SLOT(onSliderVelocityPressed()));
connect(ui->sliderVelocityVelocity,SIGNAL(sliderReleased()),this,SLOT(onSliderVelocityReleased()));
ui->sliderVelocityVelocity->disableClickOutOfHandle = true;
ui->sliderVelocityVelocity->enableViewTarget = false;
ui->sliderVelocityVelocity->enableViewTargetBox = false;
ui->sliderVelocityVelocity->enableViewTargetValue = false;

ui->sliderTrajectoryVelocity->installEventFilter(this);
connect(ui->sliderTrajectoryVelocity, SIGNAL(sliderPressed()), this, SLOT(onSliderTrajectoryVelocityPressed()));
connect(ui->sliderTrajectoryVelocity, SIGNAL(sliderReleased()), this, SLOT(onSliderTrajectoryVelocityReleased()));
ui->sliderTrajectoryVelocity->disableClickOutOfHandle = true;
ui->sliderTrajectoryVelocity->enableViewTarget = false;
ui->sliderTrajectoryVelocity->enableViewTargetBox = false;
ui->sliderTrajectoryVelocity->enableViewTargetValue = false;

ui->sliderMixedVelocity->installEventFilter(this);
connect(ui->sliderMixedVelocity, SIGNAL(sliderPressed()), this, SLOT(onSliderMixedVelocityPressed()));
connect(ui->sliderMixedVelocity, SIGNAL(sliderReleased()), this, SLOT(onSliderMixedVelocityReleased()));
ui->sliderMixedVelocity->disableClickOutOfHandle = true;
ui->sliderMixedVelocity->enableViewTarget = false;
ui->sliderMixedVelocity->enableViewTargetBox = false;
ui->sliderMixedVelocity->enableViewTargetValue = false;

connect(ui->buttonHome,SIGNAL(clicked()),this,SLOT(onHomeClicked()));
connect(ui->buttonIdle,SIGNAL(clicked()),this,SLOT(onIdleClicked()));
Expand Down Expand Up @@ -379,10 +376,16 @@ void JointItem::enableControlCurrent(bool control)
ui->stackedWidget->widget(CURRENT)->setEnabled(control);
}

void JointItem::viewPositionTarget(bool visible)
void JointItem::viewPositionTargetBox(bool visible)
{
ui->sliderTrajectoryPosition->enableViewTarget = visible;
ui->sliderMixedPosition->enableViewTarget = visible;
ui->sliderTrajectoryPosition->enableViewTargetBox = visible;
ui->sliderMixedPosition->enableViewTargetBox = visible;
}

void JointItem::viewPositionTargetValue(bool visible)
{
ui->sliderTrajectoryPosition->enableViewTargetValue = visible;
ui->sliderMixedPosition->enableViewTargetValue = visible;
}

void JointItem::setUnits(yarp::dev::JointTypeEnum t)
Expand Down
3 changes: 2 additions & 1 deletion src/yarpmotorgui/jointitem.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,8 @@ class JointItem : public QWidget
void setDutyVisible(bool);
void setCurrentsVisible(bool);
void setUnits(yarp::dev::JointTypeEnum t);
void viewPositionTarget(bool);
void viewPositionTargetBox(bool);
void viewPositionTargetValue(bool);
void enableControlVelocity(bool control);
void enableControlMixed(bool control);
void enableControlPositionDirect(bool control);
Expand Down
30 changes: 22 additions & 8 deletions src/yarpmotorgui/mainwindow.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -250,7 +250,8 @@ MainWindow::MainWindow(QWidget *parent) :
QAction *viewCurrentValues = windows->addAction("View Current Values");
QAction *viewMotorPosition = windows->addAction("View Motor Position");
QAction *viewDutyCycles = windows->addAction("View Duty Cycles");
QAction *viewPositionTarget = windows->addAction("View Position Target");
QAction *viewPositionTargetBox = windows->addAction("View Position Target Box");
QAction* viewPositionTargetValue = windows->addAction("View Position Target Value");
QAction *enableControlVelocity = windows->addAction("Enable Velocity Control");
QAction *enableControlMixed = windows->addAction("Enable Mixed Control");
QAction *enableControlPositionDirect = windows->addAction("Enable Position Direct Control");
Expand All @@ -269,13 +270,15 @@ MainWindow::MainWindow(QWidget *parent) :
enableControlPositionDirect->setCheckable(true);
enableControlPWM->setCheckable(true);
enableControlCurrent->setCheckable(true);
viewPositionTarget->setCheckable(true);
viewPositionTargetBox->setCheckable(true);
viewPositionTargetValue->setCheckable(true);

QSettings settings("YARP","yarpmotorgui");
bool bViewGlobalToolbar = settings.value("GlobalToolVisible",true).toBool();
bool bViewPartToolbar = settings.value("PartToolVisible",true).toBool();
bool bSpeedValues = settings.value("SpeedValuesVisible",false).toBool();
bool bViewPositionTarget = settings.value("ViewPositionTarget", true).toBool();
bool bViewPositionTargetBox = settings.value("ViewPositionTargetBox", true).toBool();
bool bViewPositionTargetValue = settings.value("ViewPositionTargetValue", false).toBool();
bool bviewMotorPosition = settings.value("MotorPositionVisible", false).toBool();
bool bviewDutyCycles = settings.value("DutyCycleVisible", false).toBool();
bool bCurrentValues = settings.value("CurrentsVisible", false).toBool();
Expand All @@ -286,7 +289,8 @@ MainWindow::MainWindow(QWidget *parent) :
viewCurrentValues->setChecked(bCurrentValues);
viewMotorPosition->setChecked(bviewMotorPosition);
viewDutyCycles->setChecked(bviewDutyCycles);
viewPositionTarget->setChecked(bViewPositionTarget);
viewPositionTargetBox->setChecked(bViewPositionTargetBox);
viewPositionTargetValue->setChecked(bViewPositionTargetValue);
enableControlVelocity->setChecked(false);
enableControlMixed->setChecked(false);
enableControlPositionDirect->setChecked(false);
Expand All @@ -302,7 +306,8 @@ MainWindow::MainWindow(QWidget *parent) :
connect(viewCurrentValues, SIGNAL(triggered(bool)), this, SLOT(onViewCurrents(bool)));
connect(viewMotorPosition, SIGNAL(triggered(bool)), this, SLOT(onViewMotorPositions(bool)));
connect(viewDutyCycles, SIGNAL(triggered(bool)), this, SLOT(onViewDutyCycles(bool)));
connect(viewPositionTarget, SIGNAL(triggered(bool)), this, SLOT(onViewPositionTarget(bool)));
connect(viewPositionTargetBox, SIGNAL(triggered(bool)), this, SLOT(onViewPositionTargetBox(bool)));
connect(viewPositionTargetValue, SIGNAL(triggered(bool)), this, SLOT(onViewPositionTargetValue(bool)));
connect(enableControlVelocity, SIGNAL(triggered(bool)), this, SLOT(onEnableControlVelocity(bool)));
connect(enableControlMixed, SIGNAL(triggered(bool)), this, SLOT(onEnableControlMixed(bool)));
connect(enableControlPositionDirect, SIGNAL(triggered(bool)), this, SLOT(onEnableControlPositionDirect(bool)));
Expand Down Expand Up @@ -477,12 +482,20 @@ void MainWindow::onViewDutyCycles(bool val)
emit sig_viewDutyCycles(val);
}

void MainWindow::onViewPositionTarget(bool val)
void MainWindow::onViewPositionTargetBox(bool val)
{
QSettings settings("YARP", "yarpmotorgui");
settings.setValue("ViewPositionTarget", val);

emit sig_viewPositionTarget(val);
emit sig_viewPositionTargetBox(val);
}

void MainWindow::onViewPositionTargetValue(bool val)
{
QSettings settings("YARP", "yarpmotorgui");
settings.setValue("ViewPositionTarget", val);

emit sig_viewPositionTargetValue(val);
}

void MainWindow::onSetPosSliderOptionMW(int choice, double val)
Expand Down Expand Up @@ -632,7 +645,8 @@ bool MainWindow::init(QStringList enabledParts,
connect(this, SIGNAL(sig_setPosSliderOptionMW(int, double)), part, SLOT(onSetPosSliderOptionPI(int, double)));
connect(this, SIGNAL(sig_setVelSliderOptionMW(int, double)), part, SLOT(onSetVelSliderOptionPI(int, double)));
connect(this, SIGNAL(sig_setTrqSliderOptionMW(int, double)), part, SLOT(onSetTrqSliderOptionPI(int, double)));
connect(this,SIGNAL(sig_viewPositionTarget(bool)), part, SLOT(onViewPositionTarget(bool)));
connect(this, SIGNAL(sig_viewPositionTargetBox(bool)), part, SLOT(onViewPositionTargetBox(bool)));
connect(this, SIGNAL(sig_viewPositionTargetValue(bool)), part, SLOT(onViewPositionTargetValue(bool)));
connect(this, SIGNAL(sig_enableControlVelocity(bool)), part, SLOT(onEnableControlVelocity(bool)));
connect(this, SIGNAL(sig_enableControlMixed(bool)), part, SLOT(onEnableControlMixed(bool)));
connect(this, SIGNAL(sig_enableControlPositionDirect(bool)), part, SLOT(onEnableControlPositionDirect(bool)));
Expand Down
6 changes: 4 additions & 2 deletions src/yarpmotorgui/mainwindow.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -116,7 +116,8 @@ private slots:
void onViewCurrents(bool);
void onViewMotorPositions(bool);
void onViewDutyCycles(bool);
void onViewPositionTarget(bool);
void onViewPositionTargetBox(bool);
void onViewPositionTargetValue(bool);
void onEnableControlVelocity(bool val);
void onEnableControlMixed(bool val);
void onEnableControlPositionDirect(bool val);
Expand All @@ -140,7 +141,8 @@ private slots:
void sig_setPosSliderOptionMW(int, double);
void sig_setVelSliderOptionMW(int, double);
void sig_setTrqSliderOptionMW(int, double);
void sig_viewPositionTarget(bool);
void sig_viewPositionTargetBox(bool);
void sig_viewPositionTargetValue(bool);
void sig_internalClose();

};
Expand Down
13 changes: 11 additions & 2 deletions src/yarpmotorgui/partitem.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1959,12 +1959,21 @@ void PartItem::onViewCurrentValues(bool view)
}
}

void PartItem::onViewPositionTarget(bool ena)
void PartItem::onViewPositionTargetBox(bool ena)
{
for (int i = 0; i<m_layout->count(); i++)
{
auto* joint = (JointItem*)m_layout->itemAt(i)->widget();
joint->viewPositionTarget(ena);
joint->viewPositionTargetBox(ena);
}
}

void PartItem::onViewPositionTargetValue(bool ena)
{
for (int i = 0; i < m_layout->count(); i++)
{
auto* joint = (JointItem*)m_layout->itemAt(i)->widget();
joint->viewPositionTargetValue(ena);
}
}

Expand Down
3 changes: 2 additions & 1 deletion src/yarpmotorgui/partitem.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -174,7 +174,8 @@ public slots:
void onSetVelSliderOptionPI(int mode, double step);
void onSetTrqSliderOptionPI(int mode, double step);
void onSetCurSliderOptionPI(int mode, double step);
void onViewPositionTarget(bool);
void onViewPositionTargetBox(bool);
void onViewPositionTargetValue(bool);
void onEnableControlVelocity(bool control);
void onEnableControlMixed(bool control);
void onEnableControlPositionDirect(bool control);
Expand Down
67 changes: 44 additions & 23 deletions src/yarpmotorgui/sliderWithTarget.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -16,23 +16,27 @@ double my_round(double number)
return number < 0.0 ? ceil(number - 0.5) : floor(number + 0.5);
}

SliderWithTarget::SliderWithTarget(QWidget * parent, bool _hasTargetOption) : QSlider(Qt::Horizontal, nullptr)
SliderWithTarget::SliderWithTarget(QWidget * parent) : QSlider(Qt::Horizontal, nullptr)
{
sliderLabel = new QLabel(this);
sliderLabel->setObjectName(QStringLiteral("sliderLabel"));
sliderLabel->setGeometry(QRect(0, 0, 41, 20));
sliderLabel->setMinimumSize(QSize(40, 20));
sliderLabel->setMaximumSize(QSize(16777215, 20));
sliderLabel->setAlignment(Qt::AlignCenter);
sliderLabel->setStyleSheet("background-color: rgba(0,0,0,0%)");

hasTargetOption = _hasTargetOption;
enableViewTarget = true;
enableViewLabel = true;
sliderCurrentLabel = new QLabel(this);
sliderCurrentLabel->setObjectName(QStringLiteral("sliderLabel"));
sliderCurrentLabel->setGeometry(QRect(0, 0, 100, 20));
sliderCurrentLabel->setMinimumSize(QSize(40, 20));
sliderCurrentLabel->setMaximumSize(QSize(16777215, 20));
sliderCurrentLabel->setAlignment(Qt::AlignCenter);
sliderCurrentLabel->setStyleSheet("background-color: rgba(0,0,0,0%)");

sliderTargetLabel = new QLabel(this);
sliderTargetLabel->setObjectName(QStringLiteral("sliderTargetLabel"));
sliderTargetLabel->setGeometry(QRect(0, 0, 100, 20));
sliderTargetLabel->setMinimumSize(QSize(40, 20));
sliderTargetLabel->setMaximumSize(QSize(16777215, 20));
sliderTargetLabel->setAlignment(Qt::AlignCenter);
sliderTargetLabel->setStyleSheet("background-color: rgba(0,0,0,0%)");

disableClickOutOfHandle = true;
target=-1e50; //default value is intensionally set out of the slider
width_at_target = this->width() - 30;
sliderStep=1;
isDouble = false;
}

Expand Down Expand Up @@ -73,35 +77,46 @@ void SliderWithTarget::updateSliderTarget(double t)
{
target = t;
width_at_target= this->width()-30;
this->update(); //force the reapint of the widget
this->update(); //force the repaint of the widget
}

void SliderWithTarget::resetTarget()
{
target = -1e50;
width_at_target = this->width() - 30;
this->update(); //force the reapint of the widget
this->update(); //force the repaint of the widget
}

void SliderWithTarget::paintEvent(QPaintEvent *e)
{
QSlider::paintEvent(e);
if (hasTargetOption && enableViewTarget)
double w = this->width() - 30;
int totValues = this->maximum() + abs(this->minimum());

if (enableViewTargetBox)
{
QPainter p(this);
double current_width = this->width()-30;
QRect r(target / width_at_target * current_width, 17, 30, 15);
double newX = ((double)w / (double)totValues) * ((double)target + abs(this->minimum()));
QRect r(newX, 17, 30, 15);
p.fillRect(r, QBrush(QColor(128, 128, 255, 128)));
p.drawRect(r);
}
if (enableViewLabel)
{
double value = this->value();
int w = this->width() - 30;
int totValues = this->maximum() + abs(this->minimum());
double value = this->value();
double newX = ((double)w / (double)totValues) * ((double)value + abs(this->minimum()));
sliderLabel->setGeometry(newX, -10, 40, 20);
sliderLabel->setText(QString("%L1").arg((double)value / sliderStep, 0, 'f', 3));
sliderCurrentLabel->setGeometry(newX, -10, 40, 20);
sliderCurrentLabel->setText(QString("%L1").arg((double)value / sliderStep, 0, 'f', 3));
}
if (enableViewTargetValue)
{
double newX = ((double)w / (double)totValues) * ((double)target + abs(this->minimum()));
sliderTargetLabel->setGeometry(newX, +10, 80, 20);
sliderTargetLabel->setText(QString("Ref:%L1").arg((double)target, 0, 'f', 3));
}
else
{
sliderTargetLabel->setText("");
}
}

Expand All @@ -128,3 +143,9 @@ void SliderWithTarget::mousePressEvent(QMouseEvent * event)
}
QSlider::mousePressEvent(event);
}

SliderWithTarget::~SliderWithTarget()
{
if (sliderCurrentLabel) { delete sliderCurrentLabel; sliderCurrentLabel = nullptr; }
if (sliderTargetLabel) { delete sliderTargetLabel; sliderTargetLabel = nullptr; }
}
Loading

0 comments on commit 48fec55

Please sign in to comment.