main_window.hpp

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/******************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2021 Veysi ADIN, UST KIST
 *
 *  This file is part of the IgH EtherCAT master userspace program in the ROS2 environment.
 *
 *  The IgH EtherCAT master userspace program in the ROS2 environment is free software; you can
 *  redistribute it and/or modify it under the terms of the GNU General
 *  Public License as published by the Free Software Foundation; version 2
 *  of the License.
 *
 *  The IgH EtherCAT master userspace program in the ROS2 environment is distributed in the hope that
 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with the IgH EtherCAT master userspace program in the ROS environment. If not, see
 *  <http://www.gnu.org/licenses/>.
 *
 *  ---
 *
 *  The license mentioned above concerns the source code only. Using the
 *  EtherCAT technology and brand is only permitted in compliance with the
 *  industrial property and similar rights of Beckhoff Automation GmbH.
 *
 *  Contact information: veysi.adin@kist.re.kr
 *****************************************************************************/
/*****************************************************************************
 * \file  main_window.hpp
 * \brief MainWindow implementation to show slave status and controller commands
 *        and endoscope camera view in GUI in ROS2.
 *        All GUI functionality and updating GUI handled by this MainWindow class.
 *******************************************************************************/
#pragma once
 
//CPP
#include <chrono>
#include <memory>
#include <iostream>
 
//ROS2
#include "rclcpp/rclcpp.hpp"
 
//GUI_Node Headers
#include "gui_node.hpp"
#include "video_capture.hpp"
#include "gui_globals.hpp"
 
// QT
#include "ui_mainwindow.h"
#include <QMainWindow>
#include <QApplication>
#include <QStandardItemModel>
#include <QTableView>
#include <QHeaderView>
#include <QString>
#include <QTextStream>
#include <QTimer>
 
 
using namespace GUI;
namespace Ui {
class MainWindow;
}
  class MainWindow : public QMainWindow {
  Q_OBJECT
  public:
    MainWindow(int argc, char** argv, QWidget *parent = nullptr);
    ~MainWindow();
 
  private slots:
 
    void UpdateGUI();
 
    void ResetControlButtonValues(unsigned char &button_val);
 
    void on_b_enable_cyclic_pos_clicked();
 
    void on_b_enable_cylic_vel_clicked();
 
    void on_b_enable_vel_clicked();
 
    void on_b_enable_pos_clicked();
 
    void on_b_init_ecat_clicked();
 
    void on_b_reinit_ecat_clicked();
 
    void on_b_enable_drives_clicked();
 
    void on_b_disable_drives_clicked();
 
    void on_b_enter_cyclic_pdo_clicked();
 
    void on_b_stop_cyclic_pdo_clicked();
 
    void on_b_emergency_mode_clicked();
 
    void on_b_send_clicked();
 
  private:
    void rosSpinThread();
    void ShowAllMotorStatus();
    void ShowComStatus();
    void ShowEmergencyStatus();
    QString GetReadableStatusWord(int index);
    void CallUnconfiguredStateUI();
 
    void CallInactiveStateUI();
    void CallActiveStateUI();
 
    void SetDisabledStyleSheet(QPushButton *button);
    void SetEnabledStyleSheetSDO(QPushButton *button);
 
    void SetEnabledStyleSheetPDO(QPushButton *button);
 
    void ShowOperationMode();
 
    QString GetDriveErrorMessage(const int& err_code);
    Ui::MainWindow *ui;
    int argc_;
    char** argv_;
    int GetDriveStates(const int & statusWord);
    const QString blue_style_sheet_ ="QPushButton:pressed {background-color: rgb(5, 153, 44);}"
                                    "QPushButton {color: rgb(255, 255, 255);"
                                    "selection-background-color: rgb(238, 238, 236);"
                                    "selection-color: rgb(238, 238, 236);"
                                    "background-color: rgb(19, 61, 128);"
                                    "alternate-background-color: rgb(0, 0, 0);"
                                    "font: bold 75 16pt \"Noto Sans\";}";
    const QString sdo_style_sheet_ = "QPushButton:pressed {background-color: rgb(5, 153, 44);}"
                                    "QPushButton {color: rgb(255, 255, 255);"
                                    "background-color: rgb(252, 119, 3);"
                                    "font: bold 75 15pt \"Noto Sans\";}";
    const QString red_style_sheet = "QPushButton:pressed {background-color: rgb(252, 186, 3);}"
                                          "QPushButton {color: rgb(255, 255, 255);"
                                          "background-color: rgb(252, 0, 0);"
                                          "font: bold 75 15pt \"Noto Sans\";}";
    QTimer my_timer;
    // To get data from gui_node_ .
    std::shared_ptr<GuiNode> gui_node_;
    VideoCapture* opencv_video_cap;
    // Thread for ROS2 spinning.
    std::thread ros_spin_thread_;
    uint8_t em_state_=0;
  };