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Added "Cancel goal" action

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This commit is contained in:
matlabbe
2015-06-21 20:16:56 -04:00
parent a5efee20bc
commit 87063cf357
6 changed files with 27 additions and 3 deletions
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corelib/include/rtabmap/core/RtabmapEvent.h
+2 -1
View File
@@ -76,7 +76,8 @@ public:
kCmdPublishTOROGraphLocal, // params: optimized
kCmdTriggerNewMap,
kCmdPause,
kCmdGoal}; // params: label or location ID
kCmdGoal, // params: label or location ID
kCmdCancelGoal};
public:
RtabmapEventCmd(Cmd cmd, const std::string & strValue = "", int intValue = 0, const ParametersMap & parameters = ParametersMap()) :
UEvent(0),
corelib/include/rtabmap/core/RtabmapThread.h
+2 -1
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@@ -74,7 +74,8 @@ public:
kStatePublishingTOROGraphGlobal,
kStateTriggeringMap,
kStateAddingUserData,
kStateSettingGoal
kStateSettingGoal,
kStateCancellingGoal
};
public:
corelib/src/RtabmapThread.cpp
+8
View File
@@ -286,6 +286,9 @@ void RtabmapThread::mainLoop()
}
this->post(new RtabmapGlobalPathEvent(id, _rtabmap->getPath()));
break;
case kStateCancellingGoal:
_rtabmap->clearPath();
break;
default:
UFATAL("Invalid state !?!?");
break;
@@ -492,6 +495,11 @@ void RtabmapThread::handleEvent(UEvent* event)
param.insert(ParametersPair("goal_id", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStateSettingGoal, param);
}
else if(cmd == RtabmapEventCmd::kCmdCancelGoal)
{
ULOGGER_DEBUG("CMD_CANCEL_GOAL");
pushNewState(kStateCancellingGoal);
}
else
{
UWARN("Cmd %d unknown!", cmd);
guilib/include/rtabmap/gui/MainWindow.h
+1
View File
@@ -156,6 +156,7 @@ private slots:
void dumpTheMemory();
void dumpThePrediction();
void sendGoal();
void cancelGoal();
void downloadAllClouds();
void downloadPoseGraph();
void clearTheCache();
guilib/src/MainWindow.cpp
+7
View File
@@ -294,6 +294,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionDump_the_memory, SIGNAL(triggered()), this, SLOT(dumpTheMemory()));
connect(_ui->actionDump_the_prediction_matrix, SIGNAL(triggered()), this, SLOT(dumpThePrediction()));
connect(_ui->actionSend_goal, SIGNAL(triggered()), this, SLOT(sendGoal()));
connect(_ui->actionCancel_goal, SIGNAL(triggered()), this, SLOT(cancelGoal()));
connect(_ui->actionClear_cache, SIGNAL(triggered()), this, SLOT(clearTheCache()));
connect(_ui->actionAbout, SIGNAL(triggered()), _aboutDialog , SLOT(exec()));
connect(_ui->actionPrint_loop_closure_IDs_to_console, SIGNAL(triggered()), this, SLOT(printLoopClosureIds()));
@@ -3870,6 +3871,12 @@ void MainWindow::sendGoal()
}
}
void MainWindow::cancelGoal()
{
UINFO("Cancelling goal...");
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdCancelGoal));
}
void MainWindow::downloadAllClouds()
{
QStringList items;
guilib/src/ui/mainWindow.ui
+7 -1
View File
@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>22</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -64,6 +64,7 @@
<addaction name="actionExport_poses_txt"/>
<addaction name="actionPrint_loop_closure_IDs_to_console"/>
<addaction name="actionSend_goal"/>
<addaction name="actionCancel_goal"/>
</widget>
<addaction name="actionDownload_all_clouds"/>
<addaction name="actionDownload_graph"/>
@@ -1209,6 +1210,11 @@
<string>Export poses (*.txt)...</string>
</property>
</action>
<action name="actionCancel_goal">
<property name="text">
<string>Cancel goal</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>