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mainwindow.cpp
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mainwindow.cpp
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#include "mainwindow.h"
#include "ui_mainwindow.h"
MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWindow)
{
/*
* To change the default font of the MainWindow:------------------------------------------
* Link: http://stackoverflow.com/questions/27257442/qt-apply-a-font-change-on-an-entire-form
*/
QFont font = QFont("Fira Mono", 10, 1);
QApplication::setFont(font);
QString styleSheet = QString("font-size:%1px;").arg(QApplication::font().pointSize());
this->setStyleSheet(styleSheet);
//----------------------------------------------------------------------------------------
ui->setupUi(this);
//Initially, set the name of the motion file to an empty string
motionFileName = "";
//related to menu items
connect(ui->actionAbout, SIGNAL(triggered()),
SLOT(About()));
connect(ui->actionOpen_motion_file, SIGNAL(triggered()),
SLOT(OpenFile()));
connect(ui->actionSave_motion_file_as, SIGNAL(triggered()),
SLOT(SaveFileAs()));
connect(ui->actionSave_motion_file, SIGNAL(triggered()),
SLOT(SaveFile()));
//related to keyframe list view
ui->keyFramesListView->setModel(new QStringListModel(keyFrameStrList));
connect(ui->keyFramesListView, SIGNAL(clicked(QModelIndex)),
SLOT(keyFrameListViewItemClicked(QModelIndex)));
//get up button
connect(ui->Getup_butt, SIGNAL(clicked()),
SLOT(getupButtClicked()));
//auto fall recovery checkbox
connect(ui->autoFallRecoverChBx, SIGNAL(stateChanged(int)),
SLOT(autoFallRecoverChBxStateChanged(int)));
//set body type button
connect(ui->setBodyTypeButt, SIGNAL(clicked()),
SLOT(setBodyTypeButtClicked()));
//reset monitor button
connect(ui->resetMonitorButt, SIGNAL(clicked()),
SLOT(resetMonitorButtClicked()));
//play keyframe button
connect(ui->playKeyframesButt, SIGNAL(clicked()),
SLOT(playKeyframeButtClicked()));
//add keyframe button
connect(ui->addKeyFrameButt, SIGNAL(clicked()),
SLOT(addKeyFrameButtClicked()));
//delete keyframe button
connect(ui->deleteKeyFrameButt, SIGNAL(clicked()),
SLOT(deleteKeyFrameButtClicked()));
//connect keyframeTimeT signal to event handler
connect(ui->keyframeTimeT, SIGNAL(textChanged(QString)),
SLOT(KeyframeTimeTextChanged(QString)));
//connect slider signal to event handler
connect(ui->he1_slider, SIGNAL(valueChanged(int)),
SLOT(He1ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->he1_slider, SIGNAL(valueChanged(int)),
ui->he1_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->he1_spinBox, SIGNAL(valueChanged(int)),
SLOT(He1ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->he1_spinBox, SIGNAL(valueChanged(int)),
ui->he1_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->he2_slider, SIGNAL(valueChanged(int)),
SLOT(He2ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->he2_slider, SIGNAL(valueChanged(int)),
ui->he2_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->he2_spinBox, SIGNAL(valueChanged(int)),
SLOT(He2ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->he2_spinBox, SIGNAL(valueChanged(int)),
ui->he2_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->lae1_slider, SIGNAL(valueChanged(int)),
SLOT(Lae1ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->lae1_slider, SIGNAL(valueChanged(int)),
ui->lae1_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->lae1_spinBox, SIGNAL(valueChanged(int)),
SLOT(Lae1ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->lae1_spinBox, SIGNAL(valueChanged(int)),
ui->lae1_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->lae2_slider, SIGNAL(valueChanged(int)),
SLOT(Lae2ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->lae2_slider, SIGNAL(valueChanged(int)),
ui->lae2_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->lae2_spinBox, SIGNAL(valueChanged(int)),
SLOT(Lae2ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->lae2_spinBox, SIGNAL(valueChanged(int)),
ui->lae2_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->lae3_slider, SIGNAL(valueChanged(int)),
SLOT(Lae3ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->lae3_slider, SIGNAL(valueChanged(int)),
ui->lae3_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->lae3_spinBox, SIGNAL(valueChanged(int)),
SLOT(Lae3ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->lae3_spinBox, SIGNAL(valueChanged(int)),
ui->lae3_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->lae4_slider, SIGNAL(valueChanged(int)),
SLOT(Lae4ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->lae4_slider, SIGNAL(valueChanged(int)),
ui->lae4_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->lae4_spinBox, SIGNAL(valueChanged(int)),
SLOT(Lae4ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->lae4_spinBox, SIGNAL(valueChanged(int)),
ui->lae4_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->rae1_slider, SIGNAL(valueChanged(int)),
SLOT(Rae1ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->rae1_slider, SIGNAL(valueChanged(int)),
ui->rae1_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->rae1_spinBox, SIGNAL(valueChanged(int)),
SLOT(Rae1ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->rae1_spinBox, SIGNAL(valueChanged(int)),
ui->rae1_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->rae2_slider, SIGNAL(valueChanged(int)),
SLOT(Rae2ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->rae2_slider, SIGNAL(valueChanged(int)),
ui->rae2_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->rae2_spinBox, SIGNAL(valueChanged(int)),
SLOT(Rae2ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->rae2_spinBox, SIGNAL(valueChanged(int)),
ui->rae2_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->rae3_slider, SIGNAL(valueChanged(int)),
SLOT(Rae3ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->rae3_slider, SIGNAL(valueChanged(int)),
ui->rae3_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->rae3_spinBox, SIGNAL(valueChanged(int)),
SLOT(Rae3ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->rae3_spinBox, SIGNAL(valueChanged(int)),
ui->rae3_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->rae4_slider, SIGNAL(valueChanged(int)),
SLOT(Rae4ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->rae4_slider, SIGNAL(valueChanged(int)),
ui->rae4_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->rae4_spinBox, SIGNAL(valueChanged(int)),
SLOT(Rae4ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->rae4_spinBox, SIGNAL(valueChanged(int)),
ui->rae4_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->lle1_slider, SIGNAL(valueChanged(int)),
SLOT(Lle1ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->lle1_slider, SIGNAL(valueChanged(int)),
ui->lle1_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->lle1_spinBox, SIGNAL(valueChanged(int)),
SLOT(Lle1ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->lle1_spinBox, SIGNAL(valueChanged(int)),
ui->lle1_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->lle2_slider, SIGNAL(valueChanged(int)),
SLOT(Lle2ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->lle2_slider, SIGNAL(valueChanged(int)),
ui->lle2_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->lle2_spinBox, SIGNAL(valueChanged(int)),
SLOT(Lle2ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->lle2_spinBox, SIGNAL(valueChanged(int)),
ui->lle2_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->lle3_slider, SIGNAL(valueChanged(int)),
SLOT(Lle3ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->lle3_slider, SIGNAL(valueChanged(int)),
ui->lle3_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->lle3_spinBox, SIGNAL(valueChanged(int)),
SLOT(Lle3ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->lle3_spinBox, SIGNAL(valueChanged(int)),
ui->lle3_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->lle4_slider, SIGNAL(valueChanged(int)),
SLOT(Lle4ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->lle4_slider, SIGNAL(valueChanged(int)),
ui->lle4_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->lle4_spinBox, SIGNAL(valueChanged(int)),
SLOT(Lle4ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->lle4_spinBox, SIGNAL(valueChanged(int)),
ui->lle4_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->lle5_slider, SIGNAL(valueChanged(int)),
SLOT(Lle5ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->lle5_slider, SIGNAL(valueChanged(int)),
ui->lle5_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->lle5_spinBox, SIGNAL(valueChanged(int)),
SLOT(Lle5ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->lle5_spinBox, SIGNAL(valueChanged(int)),
ui->lle5_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->lle6_slider, SIGNAL(valueChanged(int)),
SLOT(Lle6ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->lle6_slider, SIGNAL(valueChanged(int)),
ui->lle6_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->lle6_spinBox, SIGNAL(valueChanged(int)),
SLOT(Lle6ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->lle6_spinBox, SIGNAL(valueChanged(int)),
ui->lle6_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->lle7_slider, SIGNAL(valueChanged(int)),
SLOT(Lle7ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->lle7_slider, SIGNAL(valueChanged(int)),
ui->lle7_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->lle7_spinBox, SIGNAL(valueChanged(int)),
SLOT(Lle7ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->lle7_spinBox, SIGNAL(valueChanged(int)),
ui->lle7_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->rle1_slider, SIGNAL(valueChanged(int)),
SLOT(Rle1ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->rle1_slider, SIGNAL(valueChanged(int)),
ui->rle1_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->rle1_spinBox, SIGNAL(valueChanged(int)),
SLOT(Rle1ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->rle1_spinBox, SIGNAL(valueChanged(int)),
ui->rle1_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->rle2_slider, SIGNAL(valueChanged(int)),
SLOT(Rle2ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->rle2_slider, SIGNAL(valueChanged(int)),
ui->rle2_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->rle2_spinBox, SIGNAL(valueChanged(int)),
SLOT(Rle2ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->rle2_spinBox, SIGNAL(valueChanged(int)),
ui->rle2_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->rle3_slider, SIGNAL(valueChanged(int)),
SLOT(Rle3ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->rle3_slider, SIGNAL(valueChanged(int)),
ui->rle3_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->rle3_spinBox, SIGNAL(valueChanged(int)),
SLOT(Rle3ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->rle3_spinBox, SIGNAL(valueChanged(int)),
ui->rle3_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->rle4_slider, SIGNAL(valueChanged(int)),
SLOT(Rle4ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->rle4_slider, SIGNAL(valueChanged(int)),
ui->rle4_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->rle4_spinBox, SIGNAL(valueChanged(int)),
SLOT(Rle4ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->rle4_spinBox, SIGNAL(valueChanged(int)),
ui->rle4_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->rle5_slider, SIGNAL(valueChanged(int)),
SLOT(Rle5ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->rle5_slider, SIGNAL(valueChanged(int)),
ui->rle5_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->rle5_spinBox, SIGNAL(valueChanged(int)),
SLOT(Rle5ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->rle5_spinBox, SIGNAL(valueChanged(int)),
ui->rle5_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->rle6_slider, SIGNAL(valueChanged(int)),
SLOT(Rle6ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->rle6_slider, SIGNAL(valueChanged(int)),
ui->rle6_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->rle6_spinBox, SIGNAL(valueChanged(int)),
SLOT(Rle6ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->rle6_spinBox, SIGNAL(valueChanged(int)),
ui->rle6_slider, SLOT(setValue(int)));
//connect slider signal to event handler
connect(ui->rle7_slider, SIGNAL(valueChanged(int)),
SLOT(Rle7ValChanged(int)));
//connect slider signal to corresponding spinbox slot
connect(ui->rle7_slider, SIGNAL(valueChanged(int)),
ui->rle7_spinBox, SLOT(setValue(int)));
//connect spinbox signal to event handler
connect(ui->rle7_spinBox, SIGNAL(valueChanged(int)),
SLOT(Rle7ValChanged(int)));
//connect spinbox signal to corresponding slider slot
connect(ui->rle7_spinBox, SIGNAL(valueChanged(int)),
ui->rle7_slider, SLOT(setValue(int)));
}
MainWindow::~MainWindow()
{
delete ui;
}
void MainWindow::getupButtClicked()
{
sts->getBehavior()->setBGetup(true);
}
void MainWindow::autoFallRecoverChBxStateChanged(int state)
{
if(state == Qt::Checked)
sts->getBehavior()->setBAutoGetup(true);
else
sts->getBehavior()->setBAutoGetup(false);
}
void MainWindow::SetJointsActivationState(bool state)
{
ui->keyframeTimeT->setEnabled(state);
ui->he1_slider->setEnabled(false); // (state);
ui->he1_spinBox->setEnabled(false); // (state);
ui->he2_slider->setEnabled(false); // (state);
ui->he2_spinBox->setEnabled(false); // (state);
ui->lae1_slider->setEnabled(state);
ui->lae1_spinBox->setEnabled(state);
ui->lae2_slider->setEnabled(state);
ui->lae2_spinBox->setEnabled(state);
ui->lae3_slider->setEnabled(state);
ui->lae3_spinBox->setEnabled(state);
ui->lae4_slider->setEnabled(state);
ui->lae4_spinBox->setEnabled(state);
ui->rae1_slider->setEnabled(state);
ui->rae1_spinBox->setEnabled(state);
ui->rae2_slider->setEnabled(state);
ui->rae2_spinBox->setEnabled(state);
ui->rae3_slider->setEnabled(state);
ui->rae3_spinBox->setEnabled(state);
ui->rae4_slider->setEnabled(state);
ui->rae4_spinBox->setEnabled(state);
ui->lle1_slider->setEnabled(state);
ui->lle1_spinBox->setEnabled(state);
ui->lle2_slider->setEnabled(state);
ui->lle2_spinBox->setEnabled(state);
ui->lle2_slider->setEnabled(state);
ui->lle2_spinBox->setEnabled(state);
ui->lle3_slider->setEnabled(state);
ui->lle3_spinBox->setEnabled(state);
ui->lle4_slider->setEnabled(state);
ui->lle4_spinBox->setEnabled(state);
ui->lle5_slider->setEnabled(state);
ui->lle5_spinBox->setEnabled(state);
ui->lle6_slider->setEnabled(state);
ui->lle6_spinBox->setEnabled(state);
ui->rle1_slider->setEnabled(state);
ui->rle1_spinBox->setEnabled(state);
ui->rle2_slider->setEnabled(state);
ui->rle2_spinBox->setEnabled(state);
ui->rle3_slider->setEnabled(state);
ui->rle3_spinBox->setEnabled(state);
ui->rle4_slider->setEnabled(state);
ui->rle4_spinBox->setEnabled(state);
ui->rle5_slider->setEnabled(state);
ui->rle5_spinBox->setEnabled(state);
ui->rle6_slider->setEnabled(state);
ui->rle6_spinBox->setEnabled(state);
// Only type 4 agent has toes, so enable toe controls only if the agent is of type 4
if( state == false ||
(state == true && sts->getAgentBodyType() == 4) )
{
ui->lle7_slider->setEnabled(state);
ui->lle7_spinBox->setEnabled(state);
ui->rle7_slider->setEnabled(state);
ui->rle7_spinBox->setEnabled(state);
}
}
void MainWindow::setBodyTypeButtClicked()
{
int agentBodyType = ui->agentBodyTypeCbx->currentText().toInt();
ui->addKeyFrameButt->setEnabled(true);
ui->deleteKeyFrameButt->setEnabled(true);
ui->moveKeyFrameDownButt->setEnabled(true);
ui->moveKeyFrameUpButt->setEnabled(true);
ui->autoFallRecoverChBx->setEnabled(true);
ui->actionOpen_motion_file->setEnabled(true);
ui->actionSave_motion_file->setEnabled(true);
ui->actionSave_motion_file_as->setEnabled(true);
ui->resetMonitorButt->setEnabled(true);
ui->Getup_butt->setEnabled(true);
ui->playKeyframesButt->setEnabled(true);
//disable agent body type selection after the user has selected it once
ui->agentBodyTypeCbx->setEnabled(false);
ui->setBodyTypeButt->setEnabled(false);
//allocate sender to server object
sts = new SenderToServer(agentBodyType);
sts->start();
}
void MainWindow::resetMonitorButtClicked()
{
bResetMonitor = true;
}
void MainWindow::playKeyframeButtClicked()
{
// Set the keyframes to negative so that all keyframes will executed in order
sts->lockMutex();
sts->getBehavior()->resetSkill(SKILL_MOTION_EDITOR);
sts->getBehavior()->setKeyframeToExecuteIndex(SKILL_MOTION_EDITOR, -1);
sts->unlockMutex();
}
shared_ptr<KeyFrame> MainWindow::createKeyframe(JointSet &js)
{
shared_ptr<KeyFrame> keyframe = shared_ptr<KeyFrame>(new KeyFrame());
keyframe->setWaitTime(js.keyframeTime);
vector<int> effIndices;
effIndices.push_back(_he1);
effIndices.push_back(_he2);
effIndices.push_back(_lae1);
effIndices.push_back(_lae2);
effIndices.push_back(_lae3);
effIndices.push_back(_lae4);
effIndices.push_back(_rae1);
effIndices.push_back(_rae2);
effIndices.push_back(_rae3);
effIndices.push_back(_rae4);
effIndices.push_back(_lle1);
effIndices.push_back(_lle2);
effIndices.push_back(_lle3);
effIndices.push_back(_lle4);
effIndices.push_back(_lle5);
effIndices.push_back(_lle6);
effIndices.push_back(_lle7);
effIndices.push_back(_rle1);
effIndices.push_back(_rle2);
effIndices.push_back(_rle3);
effIndices.push_back(_rle4);
effIndices.push_back(_rle5);
effIndices.push_back(_rle6);
effIndices.push_back(_rle7);
vector<double> effValues;
effValues.push_back(js.joints[_he1]);
effValues.push_back(js.joints[_he2]);
effValues.push_back(js.joints[_lae1]);
effValues.push_back(js.joints[_lae2]);
effValues.push_back(js.joints[_lae3]);
effValues.push_back(js.joints[_lae4]);
effValues.push_back(js.joints[_rae1]);
effValues.push_back(js.joints[_rae2]);
effValues.push_back(js.joints[_rae3]);
effValues.push_back(js.joints[_rae4]);
effValues.push_back(js.joints[_lle1]);
effValues.push_back(js.joints[_lle2]);
effValues.push_back(js.joints[_lle3]);
effValues.push_back(js.joints[_lle4]);
effValues.push_back(js.joints[_lle5]);
effValues.push_back(js.joints[_lle6]);
effValues.push_back(js.joints[_lle7]);
effValues.push_back(js.joints[_rle1]);
effValues.push_back(js.joints[_rle2]);
effValues.push_back(js.joints[_rle3]);
effValues.push_back(js.joints[_rle4]);
effValues.push_back(js.joints[_rle5]);
effValues.push_back(js.joints[_rle6]);
effValues.push_back(js.joints[_rle7]);
shared_ptr< Macro > setTarMacro( new SetTar( effIndices, effValues ) );
keyframe->appendMacro(setTarMacro);
return keyframe;
}
void MainWindow::addKeyFrameButtClicked()
{
JointSet js;
if (!ui->keyframeTimeT->text().isEmpty())
{
js.keyframeTime = ui->keyframeTimeT->text().toDouble();
}
else
{
QMessageBox Msgbox;
Msgbox.setText("Keyframe time can't be empty!");
Msgbox.exec();
return;
}
//now insert the new keyframe into the list:
stringstream ss;
ss << "Keyframe " << keyFrameStrList.size();
// The following two lines will add an item to the list view in the motion editor UI window
keyFrameStrList.append( ss.str().c_str() );
((QStringListModel*) ui->keyFramesListView->model())->setStringList(keyFrameStrList);
//add an item to keyframe sequence list
js.keyframeIndex = keyFrameStrList.size()-1;
js.joints[_he1] = ui->he1_slider->value();
js.joints[_he2] = ui->he2_slider->value();
js.joints[_lae1] = ui->lae1_slider->value();
js.joints[_lae2] = ui->lae2_slider->value();
js.joints[_lae3] = ui->lae3_slider->value();
js.joints[_lae4] = ui->lae4_slider->value();
js.joints[_rae1] = ui->rae1_slider->value();
js.joints[_rae2] = ui->rae2_slider->value();
js.joints[_rae3] = ui->rae3_slider->value();
js.joints[_rae4] = ui->rae4_slider->value();
js.joints[_lle1] = ui->lle1_slider->value();
js.joints[_lle2] = ui->lle2_slider->value();
js.joints[_lle3] = ui->lle3_slider->value();
js.joints[_lle4] = ui->lle4_slider->value();
js.joints[_lle5] = ui->lle5_slider->value();
js.joints[_lle6] = ui->lle6_slider->value();
js.joints[_lle7] = ui->lle7_slider->value();
js.joints[_rle1] = ui->rle1_slider->value();
js.joints[_rle2] = ui->rle2_slider->value();
js.joints[_rle3] = ui->rle3_slider->value();
js.joints[_rle4] = ui->rle4_slider->value();
js.joints[_rle5] = ui->rle5_slider->value();
js.joints[_rle6] = ui->rle6_slider->value();
js.joints[_rle7] = ui->rle7_slider->value();
keyFrameSequence.push_back(js);
shared_ptr<KeyFrame> keyframe = createKeyframe(js);
sts->lockMutex();
sts->getBehavior()->addKeyframeToSkill(SKILL_MOTION_EDITOR, keyframe);
sts->getBehavior()->setKeyframeToExecuteIndex(SKILL_MOTION_EDITOR, keyFrameStrList.length()-1);
keyframe.reset(); // This is done according to comment in skill::editkeyframe
sts->unlockMutex();
}
void MainWindow::deleteKeyFrameButtClicked()
{
//link: http://stackoverflow.com/questions/12551889/how-to-remove-an-item-from-a-list-view
list<int> deletedKeyFramesIndices;
QModelIndexList selected = ui->keyFramesListView->selectionModel()->selectedIndexes();
if (selected.isEmpty())
return;
sts->lockMutex();
qSort(selected);
for (int i = 0; i < selected.count(); i++)
{
//save the index of the key frame in deletedKeyFramesIndices list before actually deleting it
deletedKeyFramesIndices.push_back( selected.at(i).row()-i );
keyFrameStrList.removeAt(selected.at(i).row()-i);
}
((QStringListModel*) ui->keyFramesListView->model())->setStringList(keyFrameStrList);
//delete the items from keyframe sequence list that correspond to the deleted keyframes from keyFrameStrList
list<int>::iterator indexIter;
list<JointSet>::iterator iter;
for(indexIter = deletedKeyFramesIndices.begin(); indexIter != deletedKeyFramesIndices.end(); indexIter++)
{
int keyframeInd = 0;
for(iter = keyFrameSequence.begin(); iter != keyFrameSequence.end(); iter++, keyframeInd++)
{
if(keyframeInd == *indexIter)
{
// The keyframe to be deleted has been found so delete it from keyFrameSequence list
keyFrameSequence.erase(iter);
// Also delete the corresponding keyframe from SKILL_MOTION_EDITOR
//QString deletedKeyframeInd(strIter->c_str());
sts->getBehavior()->deleteKeyframeFromSkill(SKILL_MOTION_EDITOR, keyframeInd);
break;
}
}
}
// Disable all the joint controls and tell the motion editor skill to execute all of its
// keyframes in order, Any better Option?---------------
SetJointsActivationState(false);
sts->getBehavior()->setKeyframeToExecuteIndex(SKILL_MOTION_EDITOR, 0);
//------------------------------------------------------
sts->unlockMutex();
}
void MainWindow::moveKeyFrameUpButtClicked()
{}
void MainWindow::moveKeyFrameDownButtClicked()
{}
void MainWindow::keyFrameListViewItemClicked(QModelIndex qmIndex)
{
//when an item in the keyframe list view is clicked, we must set the joint controls
//according to the values dictated by the clicked item:
// Instead of content of the clicked item (string keyframeName( qmIndex.data().toString().toStdString() );)
// we will use the index of the clicked item:
int clickedKeyframeIndex = qmIndex.row();
list<JointSet>::iterator iter;
int keyframeIndex = 0;
for(iter = keyFrameSequence.begin(); iter != keyFrameSequence.end(); iter++, keyframeIndex++)
{
if(keyframeIndex == clickedKeyframeIndex)
{
//the keyframe has been found
stringstream ss;
ss << iter->keyframeTime;
QString timeStr(ss.str().c_str());
ui->keyframeTimeT->setText(timeStr);
ui->he1_slider->setValue(iter->joints[_he1]);
ui->he2_slider->setValue(iter->joints[_he2]);
ui->lae1_slider->setValue(iter->joints[_lae1]);
ui->lae2_slider->setValue(iter->joints[_lae2]);
ui->lae3_slider->setValue(iter->joints[_lae3]);
ui->lae4_slider->setValue(iter->joints[_lae4]);
ui->rae1_slider->setValue(iter->joints[_rae1]);
ui->rae2_slider->setValue(iter->joints[_rae2]);
ui->rae3_slider->setValue(iter->joints[_rae3]);
ui->rae4_slider->setValue(iter->joints[_rae4]);
ui->lle1_slider->setValue(iter->joints[_lle1]);
ui->lle2_slider->setValue(iter->joints[_lle2]);
ui->lle3_slider->setValue(iter->joints[_lle3]);
ui->lle4_slider->setValue(iter->joints[_lle4]);
ui->lle5_slider->setValue(iter->joints[_lle5]);
ui->lle6_slider->setValue(iter->joints[_lle6]);
ui->lle7_slider->setValue(iter->joints[_lle7]);
ui->rle1_slider->setValue(iter->joints[_rle1]);
ui->rle2_slider->setValue(iter->joints[_rle2]);
ui->rle3_slider->setValue(iter->joints[_rle3]);
ui->rle4_slider->setValue(iter->joints[_rle4]);
ui->rle5_slider->setValue(iter->joints[_rle5]);
ui->rle6_slider->setValue(iter->joints[_rle6]);
ui->rle7_slider->setValue(iter->joints[_rle7]);
break;
}
}
//enable the joint controls so that the user can edit the keyframe
SetJointsActivationState(true);
sts->getBehavior()->setKeyframeToExecuteIndex(SKILL_MOTION_EDITOR, keyframeIndex);
}
void MainWindow::UpdateKeyFrameSequenceEntry(joints jointIndex, double jointVal)
{
//extract the currently selected keyframe name from the QListView:
QModelIndex qmInd = ui->keyFramesListView->currentIndex();
int selectedKeyframeInd = qmInd.row();
//find the corresponding item in keyframe sequence list and update the appropriate joint value
list<JointSet>::iterator iter;
int keyframeIndex = 0;
for(iter = keyFrameSequence.begin(); iter != keyFrameSequence.end(); iter++, keyframeIndex++)
{
if(keyframeIndex == selectedKeyframeInd)
{
//the corresponding item has been found
iter->joints[jointIndex] = jointVal;
break;
}
}
shared_ptr<KeyFrame> modifiedKeyframe = createKeyframe(*iter);
sts->getBehavior()->editSkill(SKILL_MOTION_EDITOR, keyframeIndex, modifiedKeyframe);
modifiedKeyframe.reset(); // This is done according to comment in skill::editkeyframe
sts->getBehavior()->setKeyframeToExecuteIndex(SKILL_MOTION_EDITOR, keyframeIndex);
}
void MainWindow::UpdateKeyFrameSequenceEntry(double time)
{
//extract the currently selected keyframe name from the QListView:
QModelIndex qmInd = ui->keyFramesListView->currentIndex();
int selectedKeyframeInd = qmInd.row();
//find the corresponding item in keyframe sequence list and update the time value
list<JointSet>::iterator iter;
int keyframeIndex = 0;
for(iter = keyFrameSequence.begin(); iter != keyFrameSequence.end(); iter++, keyframeIndex++)
{
if(keyframeIndex == selectedKeyframeInd)
{
//the corresponding item has been found
iter->keyframeTime = time;
break;
}
}
shared_ptr<KeyFrame> modifiedKeyframe = createKeyframe(*iter);
sts->getBehavior()->editSkill(SKILL_MOTION_EDITOR, keyframeIndex, modifiedKeyframe);
modifiedKeyframe.reset(); // This is done according to comment in skill::editkeyframe
sts->getBehavior()->setKeyframeToExecuteIndex(SKILL_MOTION_EDITOR, keyframeIndex);
}
void MainWindow::KeyframeTimeTextChanged(QString val)
{
//update the keyframe time
double v = 0.001;
if(val.toDouble() > 0.001)
v = val.toDouble();
UpdateKeyFrameSequenceEntry(v);
}
void MainWindow::He1ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_he1, val);
}
void MainWindow::He2ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_he2, val);
}
void MainWindow::Lae1ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_lae1, val);
}
void MainWindow::Lae2ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_lae2, val);
}
void MainWindow::Lae3ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_lae3, val);
}
void MainWindow::Lae4ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_lae4, val);
}
void MainWindow::Rae1ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_rae1, val);
}
void MainWindow::Rae2ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_rae2, val);
}
void MainWindow::Rae3ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_rae3, val);
}
void MainWindow::Rae4ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_rae4, val);
}
void MainWindow::Lle1ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_lle1, val);
}
void MainWindow::Lle2ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_lle2, val);
}
void MainWindow::Lle3ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_lle3, val);
}
void MainWindow::Lle4ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_lle4, val);
}
void MainWindow::Lle5ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_lle5, val);
}
void MainWindow::Lle6ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_lle6, val);
}
void MainWindow::Lle7ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_lle7, val);
}
void MainWindow::Rle1ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_rle1, val);
}
void MainWindow::Rle2ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_rle2, val);
}
void MainWindow::Rle3ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_rle3, val);
}
void MainWindow::Rle4ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_rle4, val);
}
void MainWindow::Rle5ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_rle5, val);
}
void MainWindow::Rle6ValChanged(int val)
{
//update the appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_rle6, val);
}
void MainWindow::Rle7ValChanged(int val)
{
//update teh appropriate item in keyframe sequence list as well
UpdateKeyFrameSequenceEntry(_rle7, val);
}
void MainWindow::SaveFileRoboNewbieFormat(string fileName)
{
stringstream ss;
ofstream motionFile;
motionFile.open(fileName.c_str(), ios::trunc | ios::out);
if(!motionFile)
{
ss << "Could not save file " << fileName;
QString mbtext(ss.str().c_str());
QMessageBox qmb;
qmb.setText(mbtext);
qmb.show();
}
list<JointSet>::iterator iter;
for(iter = keyFrameSequence.begin(); iter != keyFrameSequence.end(); iter++)
{
ss.str(""); ss.clear();
ss << iter->keyframeTime * 1000 << " "; // save time in miliseconds
ss << iter->joints[_he1] << " "
<< iter->joints[_he2] << " "