def __init__(self, lDriver, rDriver, robotStateModel, robotStateJointController, view):
self.robotStateModel = robotStateModel
self.robotStateJointController = robotStateJointController
self.drivers = {}
self.drivers['left'] = lDriver
self.drivers['right'] = rDriver
self.storedCommand = {'left': None, 'right': None}
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddHandControl.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self._updateBlocked = True
self.widget.advanced.sendButton.setEnabled(True)
# Store calibration for wrist f/t sensors
self.wristftvis = WristForceTorqueVisualizer(robotStateModel, robotStateJointController, view)
# connect the callbacks
self.widget.basic.openButton.clicked.connect(self.openClicked)
self.widget.basic.closeButton.clicked.connect(self.closeClicked)
self.widget.basic.waitOpenButton.clicked.connect(self.waitOpenClicked)
self.widget.basic.waitCloseButton.clicked.connect(self.waitCloseClicked)
self.widget.advanced.sendButton.clicked.connect(self.sendClicked)
self.widget.advanced.calibrateButton.clicked.connect(self.calibrateClicked)
self.widget.advanced.setModeButton.clicked.connect(self.setModeClicked)
self.widget.advanced.regraspButton.clicked.connect(self.regraspClicked)
self.widget.advanced.dropButton.clicked.connect(self.dropClicked)
self.widget.advanced.repeatRateSpinner.valueChanged.connect(self.rateSpinnerChanged)
self.ui.fingerControlButton.clicked.connect(self.fingerControlButton)
self.widget.sensors.rightTareButton.clicked.connect(self.wristftvis.tareRightFT)
self.widget.sensors.leftTareButton.clicked.connect(self.wristftvis.tareLeftFT)
self.widget.sensors.rightCalibButton.clicked.connect(self.wristftvis.calibRightFT)
self.widget.sensors.leftCalibButton.clicked.connect(self.wristftvis.calibLeftFT)
self.widget.sensors.rightCalibClearButton.clicked.connect(self.wristftvis.calibRightClearFT)
self.widget.sensors.leftCalibClearButton.clicked.connect(self.wristftvis.calibLeftClearFT)
self.widget.sensors.rightVisCheck.clicked.connect(self.updateWristFTVis)
self.widget.sensors.leftVisCheck.clicked.connect(self.updateWristFTVis)
self.widget.sensors.torqueVisCheck.clicked.connect(self.updateWristFTVis)
PythonQt.dd.ddGroupBoxHider(self.ui.sensors)
PythonQt.dd.ddGroupBoxHider(self.ui.fingerControl)
# Bug fix... for some reason one slider is set as disabled
self.ui.fingerASlider.setEnabled(True)
# create a timer to repeat commands
self.updateTimer = TimerCallback()
self.updateTimer.callback = self.updatePanel
self.updateTimer.targetFps = 3
self.updateTimer.start()
class HandControlPanel(object):
def __init__(self, lDriver, rDriver, robotStateModel, robotStateJointController, view):
self.robotStateModel = robotStateModel
self.robotStateJointController = robotStateJointController
self.drivers = {}
self.drivers['left'] = lDriver
self.drivers['right'] = rDriver
self.storedCommand = {'left': None, 'right': None}
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddHandControl.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self._updateBlocked = True
self.widget.advanced.sendButton.setEnabled(True)
# Store calibration for wrist f/t sensors
self.wristftvis = WristForceTorqueVisualizer(robotStateModel, robotStateJointController, view)
# connect the callbacks
self.widget.basic.openButton.clicked.connect(self.openClicked)
self.widget.basic.closeButton.clicked.connect(self.closeClicked)
self.widget.basic.waitOpenButton.clicked.connect(self.waitOpenClicked)
self.widget.basic.waitCloseButton.clicked.connect(self.waitCloseClicked)
self.widget.advanced.sendButton.clicked.connect(self.sendClicked)
self.widget.advanced.calibrateButton.clicked.connect(self.calibrateClicked)
self.widget.advanced.setModeButton.clicked.connect(self.setModeClicked)
self.widget.advanced.regraspButton.clicked.connect(self.regraspClicked)
self.widget.advanced.dropButton.clicked.connect(self.dropClicked)
self.widget.advanced.repeatRateSpinner.valueChanged.connect(self.rateSpinnerChanged)
self.ui.fingerControlButton.clicked.connect(self.fingerControlButton)
self.widget.sensors.rightTareButton.clicked.connect(self.wristftvis.tareRightFT)
self.widget.sensors.leftTareButton.clicked.connect(self.wristftvis.tareLeftFT)
self.widget.sensors.rightCalibButton.clicked.connect(self.wristftvis.calibRightFT)
self.widget.sensors.leftCalibButton.clicked.connect(self.wristftvis.calibLeftFT)
self.widget.sensors.rightCalibClearButton.clicked.connect(self.wristftvis.calibRightClearFT)
self.widget.sensors.leftCalibClearButton.clicked.connect(self.wristftvis.calibLeftClearFT)
self.widget.sensors.rightVisCheck.clicked.connect(self.updateWristFTVis)
self.widget.sensors.leftVisCheck.clicked.connect(self.updateWristFTVis)
self.widget.sensors.torqueVisCheck.clicked.connect(self.updateWristFTVis)
PythonQt.dd.ddGroupBoxHider(self.ui.sensors)
PythonQt.dd.ddGroupBoxHider(self.ui.fingerControl)
# Bug fix... for some reason one slider is set as disabled
self.ui.fingerASlider.setEnabled(True)
# create a timer to repeat commands
self.updateTimer = TimerCallback()
self.updateTimer.callback = self.updatePanel
self.updateTimer.targetFps = 3
self.updateTimer.start()
def getModeInt(self, inputStr):
if inputStr == 'Basic':
return 0
if inputStr == 'Pinch':
return 1
if inputStr == 'Wide':
return 2
if inputStr == 'Scissor':
return 3
return 0
def openClicked(self):
if self.widget.handSelect.leftButton.checked:
side = 'left'
else:
side = 'right'
self.widget.advanced.closePercentSpinner.setValue(0.0)
position = 0.0
force = float(self.widget.advanced.forcePercentSpinner.value)
velocity = float(self.widget.advanced.velocityPercentSpinner.value)
mode = self.getModeInt(self.widget.advanced.modeBox.currentText)
self.drivers[side].sendCustom(position, force, velocity, mode)
self.storedCommand[side] = (position, force, velocity, mode)
def closeClicked(self):
if self.widget.handSelect.leftButton.checked:
side = 'left'
else:
side = 'right'
self.widget.advanced.closePercentSpinner.setValue(100.0)
position = 100.0
force = float(self.widget.advanced.forcePercentSpinner.value)
velocity = float(self.widget.advanced.velocityPercentSpinner.value)
mode = self.getModeInt(self.widget.advanced.modeBox.currentText)
self.drivers[side].sendCustom(position, force, velocity, mode)
self.storedCommand[side] = (position, force, velocity, mode)
def waitOpenClicked(self):
sleep(10)
self.openClicked()
def waitCloseClicked(self):
sleep(10)
self.closeClicked()
def sendClicked(self):
if self.widget.handSelect.leftButton.checked:
side = 'left'
else:
side = 'right'
position = float(self.widget.advanced.closePercentSpinner.value)
force = float(self.widget.advanced.forcePercentSpinner.value)
velocity = float(self.widget.advanced.velocityPercentSpinner.value)
mode = self.getModeInt(self.widget.advanced.modeBox.currentText)
self.drivers[side].sendCustom(position, force, velocity, mode)
self.storedCommand[side] = (position, force, velocity, mode)
def setModeClicked(self):
if self.widget.handSelect.leftButton.checked:
side = 'left'
else:
side = 'right'
mode = self.getModeInt(self.widget.advanced.modeBox.currentText)
self.drivers[side].setMode(mode)
self.storedCommand[side] = None
def calibrateClicked(self):
if self.widget.handSelect.leftButton.checked:
side = 'left'
else:
side = 'right'
self.drivers[side].sendCalibrate()
self.storedCommand[side] = None
def dropClicked(self):
if self.widget.handSelect.leftButton.checked:
side = 'left'
else:
side = 'right'
self.drivers[side].sendDrop()
self.storedCommand[side] = None
def regraspClicked(self):
if self.widget.handSelect.leftButton.checked:
side = 'left'
else:
side = 'right'
position = float(self.widget.advanced.closePercentSpinner.value)
force = float(self.widget.advanced.forcePercentSpinner.value)
velocity = float(self.widget.advanced.velocityPercentSpinner.value)
mode = self.getModeInt(self.widget.advanced.modeBox.currentText)
self.drivers[side].sendRegrasp(position, force, velocity, mode)
self.storedCommand[side] = (position, force, velocity, mode)
def rateSpinnerChanged(self):
self.updateTimer.targetFps = self.ui.repeatRateSpinner.value
def fingerControlButton(self):
if self.widget.handSelect.leftButton.checked:
side = 'left'
else:
side = 'right'
if not self.ui.scissorControl.isChecked():
self.drivers[side].sendFingerControl(int(self.ui.fingerAValue.text),
int(self.ui.fingerBValue.text),
int(self.ui.fingerCValue.text),
float(self.widget.advanced.forcePercentSpinner.value),
float(self.widget.advanced.velocityPercentSpinner.value),
None,
self.getModeInt(self.widget.advanced.modeBox.currentText))
else:
self.drivers[side].sendFingerControl(int(self.ui.fingerAValue.text),
int(self.ui.fingerBValue.text),
int(self.ui.fingerCValue.text),
float(self.widget.advanced.forcePercentSpinner.value),
float(self.widget.advanced.velocityPercentSpinner.value),
int(self.ui.scissorValue.text),
0) # can ignore mode because scissor will override
self.storedCommand[side] = None
def updateWristFTVis(self):
self.wristftvis.updateDrawSettings(self.ui.leftVisCheck.checked, self.ui.rightVisCheck.checked, self.ui.torqueVisCheck.checked);
def updatePanel(self):
if self.ui.repeaterCheckBox.checked and self.storedCommand['left']:
position, force, velocity, mode = self.storedCommand['left']
self.drivers['left'].sendCustom(position, force, velocity, mode)
if self.ui.repeaterCheckBox.checked and self.storedCommand['right']:
position, force, velocity, mode = self.storedCommand['right']
self.drivers['right'].sendCustom(position, force, velocity, mode)
