Improved yarpmotorgui labels

doc/release/master/yarpmotorgui_improved_labels.md

@@ -0,0 +1,12 @@
+yarpmotorgui_improved_labels {#master}
+-----------
+
+### `yarpmotorgui`
+
+* improved sliders labels alignment
+* added a new option to set the number of decimal digits of the slider
+
+### devices
+
+* FakeMotionControl added LIMITS::Max and LIMITS::Min options
+

src/devices/fakeMotionControl/fakeMotionControl.cpp

@@ -1401,14 +1401,12 @@ bool FakeMotionControl::fromConfig(yarp::os::Searchable &config)
 */
 
     /////// LIMITS
-/*
     Bottle &limits=config.findGroup("LIMITS");
     if (limits.isNull())
     {
         yCWarning(FAKEMOTIONCONTROL) << "fromConfig() detected that Group LIMITS is not found in configuration file";
-        return false;
     }
-    // current limit
+/*    // current limit
     if (!extractGroup(limits, xtmp, "OverloadCurrents","a list of current limits", _njoints))
         return false;
     else
@@ -1425,19 +1423,19 @@ bool FakeMotionControl::fromConfig(yarp::os::Searchable &config)
         return false;
     else
         for(i=1; i<xtmp.size(); i++) _currentLimits[i-1].peakCurrent=xtmp.get(i).asFloat64();
-
+*/
     // max limit
     if (!extractGroup(limits, xtmp, "Max","a list of maximum angles (in degrees)", _njoints))
-        return false;
+        _limitsMax[i - 1] = 100;
     else
         for(i=1; i<xtmp.size(); i++) _limitsMax[i-1]=xtmp.get(i).asFloat64();
 
     // min limit
     if (!extractGroup(limits, xtmp, "Min","a list of minimum angles (in degrees)", _njoints))
-        return false;
+        _limitsMin[i - 1] = 0;
     else
         for(i=1; i<xtmp.size(); i++) _limitsMin[i-1]=xtmp.get(i).asFloat64();
-
+/*
     // Rotor max limit
     if (!extractGroup(limits, xtmp, "RotorMax","a list of maximum rotor angles (in degrees)", _njoints))
         return false;
@@ -2691,7 +2689,9 @@ bool FakeMotionControl::setLimitsRaw(int j, double min, double max)
 
 bool FakeMotionControl::getLimitsRaw(int j, double *min, double *max)
 {
-    return false;
+    *min = _limitsMin[j];
+    *max = _limitsMax[j];
+    return true;
 }
 
 bool FakeMotionControl::getGearboxRatioRaw(int j, double *gearbox)

src/yarpmotorgui/jointitem.cpp

@@ -1047,6 +1047,16 @@ void JointItem::enablePositionSliderDoubleValue(double value)
     ui->sliderDirectPosition->resetTarget();
 }
 
+void JointItem::setNumberOfPositionSliderDecimals(size_t num)
+{
+    ui->sliderMixedPosition->number_of_decimals=num;
+    ui->sliderTrajectoryPosition->number_of_decimals = num;
+    ui->sliderDirectPosition->number_of_decimals = num;
+    ui->sliderMixedPosition->number_of_decimals = num;
+    ui->sliderTrajectoryPosition->number_of_decimals = num;
+    ui->sliderDirectPosition->number_of_decimals = num;
+}
+
 void JointItem::disablePositionSliderDouble()
 {
     if (fabs(max_position - min_position) < 1.0)

src/yarpmotorgui/jointitem.h

@@ -81,6 +81,8 @@ class JointItem : public QWidget
     void sequenceActivated();
     void sequenceStopped();
 
+    void setNumberOfPositionSliderDecimals(size_t num);
+
     void enablePositionSliderDoubleAuto();
     void enablePositionSliderDoubleValue(double value);
     void disablePositionSliderDouble();

src/yarpmotorgui/mainwindow.cpp

@@ -513,9 +513,9 @@ void MainWindow::onViewPositionTargetValue(bool val)
     emit sig_viewPositionTargetValue(val);
 }
 
-void MainWindow::onSetPosSliderOptionMW(int choice, double val)
+void MainWindow::onSetPosSliderOptionMW(int choice, double val, int digits)
 {
-    emit sig_setPosSliderOptionMW(choice, val);
+    emit sig_setPosSliderOptionMW(choice, val, digits);
 }
 void MainWindow::onSetVelSliderOptionMW(int choice, double val)
 {
@@ -682,7 +682,7 @@ bool MainWindow::init(QStringList enabledParts,
             connect(this, SIGNAL(sig_viewCurrentValues(bool)), part, SLOT(onViewCurrentValues(bool)));
             connect(this, SIGNAL(sig_viewMotorPositions(bool)), part, SLOT(onViewMotorPositions(bool)));
             connect(this, SIGNAL(sig_viewDutyCycles(bool)), part, SLOT(onViewDutyCycles(bool)));
-            connect(this, SIGNAL(sig_setPosSliderOptionMW(int,double)), part, SLOT(onSetPosSliderOptionPI(int,double)));
+            connect(this, SIGNAL(sig_setPosSliderOptionMW(int,double,int)), part, SLOT(onSetPosSliderOptionPI(int,double,int)));
             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_viewPositionTargetBox(bool)), part, SLOT(onViewPositionTargetBox(bool)));

src/yarpmotorgui/mainwindow.h

@@ -125,7 +125,7 @@ private slots:
     void onEnableControlPWM(bool val);
     void onEnableControlCurrent(bool val);
     void onSliderOptionsClicked();
-    void onSetPosSliderOptionMW(int, double);
+    void onSetPosSliderOptionMW(int, double, int);
     void onSetVelSliderOptionMW(int, double);
     void onSetTrqSliderOptionMW(int, double);
     void onJointClicked(int partIndex, int jointIndex);
@@ -142,7 +142,7 @@ private slots:
     void sig_viewCurrentValues(bool);
     void sig_viewMotorPositions(bool);
     void sig_viewDutyCycles(bool);
-    void sig_setPosSliderOptionMW(int, double);
+    void sig_setPosSliderOptionMW(int, double, int);
     void sig_setVelSliderOptionMW(int, double);
     void sig_setTrqSliderOptionMW(int, double);
     void sig_viewPositionTargetBox(bool);

src/yarpmotorgui/partitem.cpp

@@ -249,10 +249,11 @@ PartItem::PartItem(QString robotName, int id, QString partName, ResourceFinder&
             int val_pos_choice = settings.value("val_pos_choice", 0).toInt();
             int val_trq_choice = settings.value("val_trq_choice", 0).toInt();
             int val_vel_choice = settings.value("val_vel_choice", 0).toInt();
+            int num_of_pos_decimals = settings.value("num_of_pos_decimals", 3).toInt();
             double val_pos_custom_step = settings.value("val_pos_custom_step", 1.0).toDouble();
             double val_trq_custom_step = settings.value("val_trq_custom_step", 1.0).toDouble();
             double val_vel_custom_step = settings.value("val_vel_custom_step", 1.0).toDouble();
-            onSetPosSliderOptionPI(val_pos_choice, val_pos_custom_step);
+            onSetPosSliderOptionPI(val_pos_choice, val_pos_custom_step, num_of_pos_decimals);
             onSetVelSliderOptionPI(val_vel_choice, val_vel_custom_step);
             onSetTrqSliderOptionPI(val_trq_choice, val_trq_custom_step);
             onSetCurSliderOptionPI(val_trq_choice, val_trq_custom_step);
@@ -2007,7 +2008,7 @@ void PartItem::onViewPositionTargetValue(bool ena)
     }
 }
 
-void PartItem::onSetPosSliderOptionPI(int mode, double step)
+void PartItem::onSetPosSliderOptionPI(int mode, double step, int numOfDec)
 {
     for (int i = 0; i<m_layout->count(); i++)
     {
@@ -2028,6 +2029,7 @@ void PartItem::onSetPosSliderOptionPI(int mode, double step)
         {
             joint->disablePositionSliderDouble();
         }
+        joint->setNumberOfPositionSliderDecimals(numOfDec);
     }
 }
 void PartItem::onSetVelSliderOptionPI(int mode, double step)

src/yarpmotorgui/partitem.h

@@ -175,7 +175,7 @@ public slots:
     void onViewMotorPositions(bool);
     void onViewDutyCycles(bool);
     void onViewCurrentValues(bool);
-    void onSetPosSliderOptionPI(int mode, double step);
+    void onSetPosSliderOptionPI(int mode, double step, int numOfDec);
     void onSetVelSliderOptionPI(int mode, double step);
     void onSetTrqSliderOptionPI(int mode, double step);
     void onSetCurSliderOptionPI(int mode, double step);

src/yarpmotorgui/sliderOptions.cpp

@@ -21,28 +21,32 @@ sliderOptions::sliderOptions( QWidget *parent) :
     val_pos_choice = settings.value("val_pos_choice", 0).toInt();
     val_trq_choice = settings.value("val_trq_choice", 0).toInt();
     val_vel_choice = settings.value("val_vel_choice", 0).toInt();
+    val_pos_digits = settings.value("num_of_pos_decimals", 3).toInt();
     val_pos_custom_step = settings.value("val_pos_custom_step", 1.0).toDouble();
     val_trq_custom_step = settings.value("val_trq_custom_step", 1.0).toDouble();
     val_vel_custom_step = settings.value("val_vel_custom_step", 1.0).toDouble();
     val_vel_limit       = settings.value("velocity_slider_limit", 100.0).toDouble();
 
+    pos_digits_validator = new QIntValidator(this);
     pos_step_validator = new QDoubleValidator(this);
     vel_step_validator = new QDoubleValidator(this);
     trq_step_validator = new QDoubleValidator(this);
     vel_lims_validator = new QDoubleValidator(this);
     vel_lims_validator->setRange(0 , 100);
 
-    ui->pos_step->setValidator(vel_step_validator);
+    ui->pos_decimal_digits->setValidator(pos_digits_validator);
+    ui->pos_step->setValidator(pos_step_validator);
     ui->vel_step->setValidator(vel_step_validator);
     ui->trq_step->setValidator(trq_step_validator);
     ui->vel_limiter->setValidator(vel_lims_validator);
 
+    ui->pos_decimal_digits->setText(QString("%1").arg(val_pos_digits));
     ui->pos_step->setText(QString("%1").arg(val_pos_custom_step));
     ui->trq_step->setText(QString("%1").arg(val_trq_custom_step));
     ui->vel_step->setText(QString("%1").arg(val_vel_custom_step));
     ui->vel_limiter->setText(QString("%1").arg(val_vel_limit));
 
-    connect(this, SIGNAL(sig_setPosSliderOptionSO(int, double)), parent, SLOT(onSetPosSliderOptionMW(int, double)));
+    connect(this, SIGNAL(sig_setPosSliderOptionSO(int, double, int)), parent, SLOT(onSetPosSliderOptionMW(int, double, int)));
     connect(this, SIGNAL(sig_setVelSliderOptionSO(int, double)), parent, SLOT(onSetVelSliderOptionMW(int, double)));
     connect(this, SIGNAL(sig_setTrqSliderOptionSO(int, double)), parent, SLOT(onSetTrqSliderOptionMW(int, double)));
 
@@ -123,6 +127,7 @@ sliderOptions::~sliderOptions()
     val_vel_custom_step = ui->vel_step->text().toDouble();
     val_trq_custom_step = ui->trq_step->text().toDouble();
     val_vel_limit = ui->vel_limiter->text().toDouble();
+    val_pos_digits = ui->pos_decimal_digits->text().toInt();
 
     QSettings settings("YARP", "yarpmotorgui");
     settings.setValue("val_pos_choice", val_pos_choice);
@@ -132,13 +137,15 @@ sliderOptions::~sliderOptions()
     settings.setValue("val_trq_custom_step", val_trq_custom_step);
     settings.setValue("val_vel_custom_step", val_vel_custom_step);
     settings.setValue("velocity_slider_limit", val_vel_limit);
-    emit sig_setPosSliderOptionSO(val_pos_choice, val_pos_custom_step);
+    settings.setValue("num_of_pos_decimals", val_pos_digits);
+    emit sig_setPosSliderOptionSO(val_pos_choice, val_pos_custom_step, val_pos_digits);
     emit sig_setVelSliderOptionSO(val_vel_choice, val_vel_custom_step);
     emit sig_setTrqSliderOptionSO(val_trq_choice, val_trq_custom_step);
-    disconnect(this, SIGNAL(sig_setPosSliderOptionSO(int, double)), nullptr, nullptr);
+    disconnect(this, SIGNAL(sig_setPosSliderOptionSO(int, double, int)), nullptr, nullptr);
     disconnect(this, SIGNAL(sig_setVelSliderOptionSO(int, double)), nullptr, nullptr);
     disconnect(this, SIGNAL(sig_setTrqSliderOptionSO(int, double)), nullptr, nullptr);
 
+    delete pos_digits_validator;
     delete pos_step_validator;
     delete vel_step_validator;
     delete trq_step_validator;

src/yarpmotorgui/sliderOptions.h

@@ -28,21 +28,23 @@ class sliderOptions : public QDialog
 
 private:
     Ui::sliderOptions *ui;
+    int    val_pos_digits;
     double val_pos_custom_step;
     double val_vel_custom_step;
     double val_trq_custom_step;
     double val_vel_limit;
     int val_pos_choice;
     int val_vel_choice;
     int val_trq_choice;
+    QIntValidator*    pos_digits_validator;
     QDoubleValidator* pos_step_validator;
     QDoubleValidator* vel_step_validator;
     QDoubleValidator* trq_step_validator;
     QDoubleValidator* vel_lims_validator;
 
 
 signals:
-    void sig_setPosSliderOptionSO(int, double);
+    void sig_setPosSliderOptionSO(int, double, int);
     void sig_setVelSliderOptionSO(int, double);
     void sig_setTrqSliderOptionSO(int, double);
 };

src/yarpmotorgui/sliderOptions.ui

@@ -107,6 +107,32 @@
        </rect>
       </property>
      </widget>
+     <widget class="QLabel" name="label_11">
+      <property name="geometry">
+       <rect>
+        <x>20</x>
+        <y>270</y>
+        <width>101</width>
+        <height>51</height>
+       </rect>
+      </property>
+      <property name="text">
+       <string>Number of slider decimal digits:</string>
+      </property>
+      <property name="wordWrap">
+       <bool>true</bool>
+      </property>
+     </widget>
+     <widget class="QLineEdit" name="pos_decimal_digits">
+      <property name="geometry">
+       <rect>
+        <x>130</x>
+        <y>290</y>
+        <width>51</width>
+        <height>20</height>
+       </rect>
+      </property>
+     </widget>
     </widget>
    </item>
    <item>

src/yarpmotorgui/sliderWithTarget.cpp

@@ -105,14 +105,32 @@ void SliderWithTarget::paintEvent(QPaintEvent *e)
     {
         double value = this->value();
         double newX = ((double)w / (double)totValues) * ((double)value + abs(this->minimum()));
-        sliderCurrentLabel->setGeometry(newX, -10, 40, 20);
-        sliderCurrentLabel->setText(QString("%L1").arg((double)value / sliderStep, 0, 'f', 3));
+        QString label_text = QString("%L1").arg((double)value / sliderStep, 0, 'f', number_of_decimals);
+        int label_text_siz = label_text.size();
+        sliderCurrentLabel->setText(label_text);
+        sliderCurrentLabel->setAlignment(Qt::AlignLeft);
+        sliderCurrentLabel->setAlignment(Qt::AlignVCenter);
+        //these adjustment are required to have the label properly aligned and
+        //to avoid overflow
+        double newX2 = newX;
+        if (newX2<0) newX2 = 0;
+        if (newX2>w-30) newX2 = w-30;
+        sliderCurrentLabel->setGeometry(newX2, -10, 60, 20);
     }
     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));
+        QString label_text = QString("Ref:%L1").arg((double)target, 0, 'f', number_of_decimals);
+        int label_text_siz = label_text.size();
+        sliderTargetLabel->setText(label_text);
+        sliderCurrentLabel->setAlignment(Qt::AlignLeft);
+        sliderCurrentLabel->setAlignment(Qt::AlignVCenter);
+        //these adjustment are required to have the label properly aligned and
+        //to avoid overflow
+        double newX2 = newX;
+        if (newX2 < 0) newX2 = 0;
+        if (newX2 > w - 30) newX2 = w - 30;
+        sliderTargetLabel->setGeometry(newX2, +10, 60, 20);
     }
     else
     {

src/yarpmotorgui/sliderWithTarget.h

@@ -20,6 +20,7 @@ class SliderWithTarget : public QSlider
     bool enableViewLabel = true;
     bool enableViewTargetBox = true;
     bool enableViewTargetValue = false;
+    int  number_of_decimals = 0;
     bool disableClickOutOfHandle;
     SliderWithTarget(QWidget * parent = 0);
     ~SliderWithTarget();