Differences

This shows you the differences between two versions of the page.

--- new_podo_al [2018/09/14 14:31] – created yuhanghe
+++ new_podo_al [2018/10/25 15:33] (current) – [Create a New AL] yuhanghe
@@ Line 5: / Line 5: @@
 **Email:** <[email protected]>
 \\
-**Date:** Last modified on <09/14/18>
+**Date:** Last modified on <10/25/18>
 \\
 **Keywords:** Hubo 2, PODO 3, Ubuntu, AL, QT GUI
@@ Line 42: / Line 42: @@
   *Right click on PODOGUI project -> Add new -> QT -> Click Qt Designer Form Class.
 {{ :yuhang:hubo2:800px-screenshot_from_2018-06-29_13-39-20.png |}}
+  *Choose a Form Template -> Dialog without Buttons. Set the class name to be related to the AL to be created.
+{{ :yuhang:hubo2:screenshot_from_2018-06-29_13-42-06.png |}}
+  *Create one test button by dragging the Push Button on the left panel onto GUI.
+{{ :yuhang:hubo2:screenshot_from_2018-06-29_13-43-08.png |}}
+  *Change text on the button by double clicking.
+  *Right click on button -> go to slot -> clicked().
+{{ :yuhang:hubo2:screenshot_from_2018-06-29_13-43-47.png |}}
+  *This will create a function that is called every time the button is pressed.
+  *Add header files at the top of GUI dialog.cpp file
+    *''#include "CommonHeader.h"''
+    *''#include "BasicFiles/PODOALDialog.h"''
+  *Editing the GUI dialog.h file. Found under project PODOGUI/Headers.
+    *''#include "CommonHeader.h"''
+  *Declaring private objects in the GUI dialog.h file, basic variables for communicating with Al
+    *''private:''
+    *''LANDialog * lanData; ////Communication with Daemon''\\
+    *''int AlnumXXXX; //// Choose the name of AL you want to use or create''\\
+    *''int AlnumOmniWheel; //For example''
+    *''int AlnumWalkReady; //or this''
 ===== Create New AL =====
+This section will demonstrate how to create a new AL for PODO.
+  *Within QT Creator, ''right click on ALPrograms -> project -> New Subproject.''
+  *In New Project window ''-> Application -> Select Qt Console Application.''
+{{ :yuhang:hubo2:screenshot_from_2018-06-29_13-55-42.png |}}
+  *Name the project similar to the GUI project name you created earlier.
+  *Using Files Navigator, go to the file ''PODO/DRC_HUBO/PODO_DRC/src/ALPrograms/ALTutorial'' and Copy the BasicFiles folder into the folder of new AL that was created.
+  *Open the ALTutorial/main.cpp and copy the content of Line 1::80 into main.cpp of the new AL. Overwrite the Existing content.
+  *Right click on the new AL project created in ''QT -> Add Existing Directory''. In the new window ''click -> Browse -> Click on BasicFIles folder ''that was copied into the new AL project folder.
+{{ :yuhang:hubo2:screenshot_from_2018-06-29_14-15-46.png |}}
+  *Trying building the project. Ignore the error for now.
+  *Next, modify the project management file. QT's project management is implemented with an extension file called ''[project name].pro''.
+  *Copy the content of the ALTutorial.pro file in ALTutorial project folder and overwrite the contents of [new AL name].pro.
+  *Modify the .pro file by insert the following codes between CONFIG setting and QMAKE setting.
+    *''CONFIG (debug, debug | release) {''
+    *''DESTDIR = ../PODO_PROC_Build''
+    *''} else {''
+    *''DESTDIR = ../PODO_PROC_Build''
+    *''}''
+  *Return to new AL/main.cpp and delete or comment out the FingerControl function on line 25.
+  *''Important!''Modify line 38 with name of new AL. The name must be unique and matches the name that will be add to the DB file later.
+    *''sprintf(__AL_NAME, "ALTutorial");''
+  *From line 64::70 delete or comment out the switch case TUTORIAL_FINGER_CONTROL.
+  *Finally, imported the RBTaskThread and RBFlagThread functions from ALTutorial/main.cpp by copy and paste.
+  *Before Rebuilding, open Projects tab and configure the build directory.
+  *Right click on project -> Run qmake.
+  *Right click on project again -> Rebuild.
+  *Change enum TUTORIAL_COMMAND at the top of Main.cpp
+  *Note: Always set NO_ACT at the beginning and set the initial value to 100.
+  *The naming convention is to use AL name_COMMAND for command and AL name_function for function.
+{{ :yuhang:hubo2:screenshot_from_2018-07-02_13-38-00.png |}}
+  *Change the enum name used in the switch-case statement in the main statement, just as you did in Enum.
+  *It is more convenient and clear to use an enum than to declare a number like 999.
+{{ :yuhang:hubo2:screenshot_from_2018-07-02_13-37-48.png |}}
 ===== Edit GUI Code =====
+  *Copy the [AL]_COMMAND enum created in AL to the top of [GUI]dialog.cpp.
+  *Assigning the value of AlnumXXXX (AL used or new AL created):
+    *Inside the [AL]dialog.cpp UI constructor, after ui->setupUi(this);
+    *AlnumXXXX = PODOALDialog :: GetALNumFromFileName ("ALFILENAME");Write the correct AL file name
+    *For the new AL created, input the AL name you picked.
+{{ :yuhang:hubo2:screenshot_from_2018-07-02_14-29-08.png |}}
+  *Use Qtimer if you want to display variables in the GUI.
+  *Declare a Qtimer variable in [new AL]dialog.h:
+    *under private:
+    *''QTimer *displayTimer;''
+  *Inside the UI constructor:
+    *''displayTimer = new QTimer(this);''
+    *''connect(displayTimer, SIGNAL(timeout()), this, SLOT(DisplayUpdate())); function inside SLOT() will be updated according to the interval set''
+    *''displayTimer->start(50); set the time interval (50 ms) for the function inside SLOT() to be updated
+Create a DisplayUpdate() function to update the variables on GUI.''
+{{ :yuhang:hubo2:screenshot_from_2018-07-02_14-47-27.png |}}
+  *Add the following code inside the event function that occurs when the button is clicked:
+    *''USER_COMMAND cmd;''
+    *''cmd.COMMAND_DATA.USER_COMMAND = (Enter one of the variables declared in the enum);''
+    *''cmd.COMMAND_TARGET = (variable with name of AL to use ex) AlnumManualMove);''
+    *''pLAN-> SendCommand (cmd);''
+  *Edit GUIMainWindow.h
+    *#include "your own gui header file"
+    *Declare a Gui object
+    *ex) TestDialog *dialogTest;
+{{ :yuhang:hubo2:screenshot_from_2018-07-02_15-06-19.png |}}
+  *Modify GUIMainWindow.cpp
+    *''Declare [new AL]dialog object = new Classname(this);''
+    *''ui-> MAIN_TAB-> addTab ((Qwidget *) declared dialog, "TABNAME");''
+{{ :yuhang:hubo2:screenshot_from_2018-07-02_15-09-41.png |}}
+  *Rebuild.
 ===== Modify DB File =====
+  *Download SQLiteStudio from its official download site.
+  *Extract the compressed file and open sqlitestudio executable inside the folder.
+  *The Core_config.db file we will modify is in the /exe folder within the PODO path
+  *In SQLiteStudio, click on Database in upper left corner -> Add a Database.
+  *Navigate to Core_config.db file and open the database.
+{{ :yuhang:hubo2:screenshot_from_2018-07-02_15-45-15.png |}}
+  *Under Core_Config -> Tables -> double click AL.
+{{ :yuhang:hubo2:screenshot_from_2018-07-02_15-45-46.png |}}
+  *Go to Data tab, click green plus button to create a new entry and enter new ALName, FileName, and PathName.
+  *click green check button to commit the new changes.
+{{ :yuhang:hubo2:screenshot_from_2018-07-02_15-46-11.png |}}
+  *Double click on General table -> Data tab -> change the No. of PODO AL'.
+{{ :yuhang:hubo2:screenshot_from_2018-07-02_15-57-07.png |}}
+  *Open PODO_DRC/share/Headers/RBSharedMemory.h and fix MAX_AL if necessary.
 ===== Final Words =====
-The purpose of this tutorial was to guide reader through the process of installing Ubuntu and set up Xenomai environment in preparation for working with Hubo 2.
-\\ \\
 For questions and comments, email <[email protected]>
-Creating a new AL
-The necessary files for this tutorial can be found in the Github repository. There are three components for creating a new AL in PODO.
-UI Creation
-AL Program Creation
-DB File Modification
-The steps for creating a new AL is as follows:
-Creating a main GUI
-Creating AL program
-Create basic program structure
-Add communication functions
-Implement GUI communication function
-Adding AL program to Daemon
-DB file modification
-Creating a GUI in QT
-This section will demonstrate how to create a GUI file for PODOGUI in QT Creator.
-Open the PODOGUI and ALPrograms project in QT Creator. Both are located under src/ folder of repository.
-Right click on PODOGUI project -> Add new -> QT -> Click Qt Designer Form Class.
-Screenshot from 2018-06-29 13-39-20.png
-Choose a Form Template -> Dialog without Buttons. Set the class name to be related to the AL to be created.
-Screenshot from 2018-06-29 13-42-06.png
-Create one test button by dragging the Push Button on the left panel onto GUI.
-Screenshot from 2018-06-29 13-43-08.png
-. Change text on the button by double clicking.
-Right click on button -> go to slot -> clicked().
-Screenshot from 2018-06-29 13-43-47.png
-This will create a function that is called every time the button is pressed.
-Add header files at the top of GUI dialog.cpp file
-#include "CommonHeader.h"
-#include "BasicFiles/PODOALDialog.h"
-Editing the GUI dialog.h file. Found under project PODOGUI/Headers.
-#include "CommonHeader.h"
-Declaring private objects in the GUI dialog.h file, basic variables for communicating with Al
-private:
-LANDialog * lanData; //Communication with Daemon
-int AlnumXXXX; // Choose the name of AL you want to use or create
-int AlnumOmniWheel; //For example
-int AlnumWalkReady; //or this
-Creating New AL
-Right click on ALPrograms project -> New Subproject.
-In New Subproject -> Application -> Select Qt Console Application.
-Screenshot from 2018-06-29 13-55-42.png
-Name the project similar to the GUI project name you created earlier.
-Using Files Navigator, go to the file downloaded through GitHub, PODO/DRC_HUBO/PODO_DRC/src/ALPrograms/ALTutorial and Copy the BasicFiles folder into the folder of new AL that was created.
-Open the ALTutorial/main.cpp and copy the content of Line 1::80 into main.cpp of the new AL. Overwrite the Existing content.
-Right click on the new AL project created in QT -> Add Existing Directory. In the new window click -> Browse -> Click on BasicFIles folder that was copied into the new AL project folder.
-Screenshot from 2018-06-29 14-15-46.png
-Trying building the project. Ignore the error for now.
-Next, modify the project management file. QT's project management is implemented with an extension file called [project name].pro.
-Copy the content of the ALTutorial.pro file in ALTutorial project folder and overwrite the contents of [new AL name].pro.
-Modify the .pro file by insert the following codes between CONFIG setting and QMAKE setting.
-CONFIG (debug, debug | release) {
-DESTDIR = ../PODO_PROC_Build
-} else {
-DESTDIR = ../PODO_PROC_Build
-}
-Return to new AL/main.cpp and delete or comment out the FingerControl function on line 25.
-Important!Modify line 38 with name of new AL. The name must be unique and matches the name that will be add to the DB file later.
-sprintf(__AL_NAME, "ALTutorial");
-From line 64::70 delete or comment out the switch case TUTORIAL_FINGER_CONTROL.
-Finally, imported the RBTaskThread and RBFlagThread functions from ALTutorial/main.cpp.
-Before Rebuilding, open Projects tab and configure the build directory.
-Right click on project -> Run qmake.
-Right click on project again -> Rebuild.
-Change enum TUTORIAL_COMMAND at the top of Main.cpp
-Note: Always set NO_ACT at the beginning and set the initial value to 100.
-The naming convention is to use AL name_COMMAND for command and AL name_function for function.
-Screenshot from 2018-07-02 13-38-00.png
-Change the enum name used in the switch-case statement in the main statement, just as you did in Enum.
-It is more convenient and clear to use an enum than to declare a number like 999.
-Screenshot from 2018-07-02 13-37-48.png
-Editing GUI Code
-Copy the [AL]_COMMAND enum created in AL to the top of [GUI]dialog.cpp.
-Assigning the value of AlnumXXXX (AL used or new AL created):
-Inside the [AL]dialog.cpp UI constructor, after ui->setupUi(this);
-AlnumXXXX = PODOALDialog :: GetALNumFromFileName ("ALFILENAME");Write the correct AL file name
-For the new AL created, input the AL name you picked.
-Screenshot from 2018-07-02 14-29-08.png
-Use Qtimer if you want to display variables in the GUI.
-Declare a Qtimer variable in [new AL]dialog.h:
-under private:
-QTimer *displayTimer;
-Inside the UI constructor:
-displayTimer = new QTimer(this);
-connect(displayTimer, SIGNAL(timeout()), this, SLOT(DisplayUpdate()));//function inside SLOT() will be updated according to the interval set
-displayTimer->start(50);//set the time interval (50 ms) for the function inside SLOT() to be updated
-Create a DisplayUpdate() function to update the variables on GUI.
-Screenshot from 2018-07-02 14-47-27.png
-Add the following code inside the event function that occurs when the button is clicked:
-USER_COMMAND cmd;
-cmd.COMMAND_DATA.USER_COMMAND = (Enter one of the variables declared in the enum)
-cmd.COMMAND_TARGET = (variable with name of AL to use ex) AlnumManualMove);
-pLAN-> SendCommand (cmd);
-Edit GUIMainWindow.h
-#include "your own gui header file"
-Declare a Gui object
-ex) TestDialog *dialogTest;
-Screenshot from 2018-07-02 15-06-19.png
-Modify GUIMainWindow.cpp
-Declare [new AL]dialog object = new Classname(this);
-ui-> MAIN_TAB-> addTab ((Qwidget *) declared dialog, "TABNAME");
-Screenshot from 2018-07-02 15-09-41.png
-Rebuild.
-Modifying the DB file
-Download SQLiteStudio from its official download site.
-Extract the compressed file and open sqlitestudio executable inside the folder.
-The Core_config.db file in the exe folder within the Podo path
-In SQLiteStudio, click on Database in upper left corner -> Add a Database.
-Navigate to Core_config.db file and open the database.
-Screenshot from 2018-07-02 15-45-15.png
-Under Core_Config -> Tables -> double click AL.
-Screenshot from 2018-07-02 15-45-46.png
-Go to Data tab, click green plus button to create a new entry and enter new ALName, FileName, and PathName. click green check button to commit the new changes.
-Screenshot from 2018-07-02 15-46-11.png
-Double click on General table -> Data tab -> change the No. of PODO AL'.
-Screenshot from 2018-07-02 15-57-07.png
-Open PODO_DRC/share/Headers/RBSharedMemory.h and fix MAX_AL if necessary.