added send command module

Author: aaronrhim

src/rover_arm_hmi_modules/include/send_command_module.h

@@ -0,0 +1,75 @@
+// send_command_module.h
+// Motor command panel — send position/stop commands, hold-to-jog, and
+// multi-axis zero.
+//
+// JogButton implements a hold-to-move pattern: jogPressed fires when the mouse
+// button goes down and triggers a continuous velocity command; jogReleased fires
+// on mouse-up and sends velocity 0 to stop the motor. Standard QPushButton
+// clicked() is not used because it only fires on release.
+//
+// Commands are published to /arm/hmi_log as formatted strings (via log_pub_)
+// so CommandLogModule can display them without any direct coupling between
+// modules.
+
+#pragma once
+
+#include <rover_hmi_core/gui_module.h>
+#include "arm_types.h"
+
+#include <QComboBox>
+#include <QDoubleSpinBox>
+#include <QPushButton>
+#include <QCheckBox>
+#include <QMouseEvent>
+#include <array>
+#include <cmath>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rover_msgs/msg/arm_command.hpp"
+#include "std_msgs/msg/string.hpp"
+
+constexpr int NUM_ZERO_AXES = 6;
+
+class JogButton : public QPushButton {
+    Q_OBJECT
+public:
+    JogButton(const QString& text, QWidget* parent = nullptr);
+signals:
+    void jogPressed();
+    void jogReleased();
+protected:
+    void mousePressEvent(QMouseEvent* e) override;
+    void mouseReleaseEvent(QMouseEvent* e) override;
+};
+
+class SendCommandModule : public rover_hmi_core::GuiModule {
+public:
+    std::string name() const override { return "Send Command"; }
+    std::string layoutHint() const override { return "right"; }
+    QWidget* createWidget(QWidget* parent) override;
+    void setNode(rclcpp::Node::SharedPtr node) override;
+    void start() override {}
+    void stop() override {}
+
+private:
+    void sendPosition(int motor_id, double pos, double vel, double max_torque);
+    void sendVelocity(int motor_id, double velocity);
+    void sendStop(int motor_id);
+    void sendStopAll();
+    void sendZero(int motor_id);
+    void logCmd(const QString& cmd);
+
+    rclcpp::Publisher<rover_msgs::msg::ArmCommand>::SharedPtr cmd_pub_;
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr log_pub_;
+
+    QComboBox* motor_select_ = nullptr;
+    QComboBox* cmd_type_ = nullptr;
+    QDoubleSpinBox* position_spin_ = nullptr;
+    QDoubleSpinBox* velocity_spin_ = nullptr;
+    QDoubleSpinBox* torque_spin_ = nullptr;
+    QDoubleSpinBox* jog_speed_spin_ = nullptr;
+    QCheckBox* pos_enable_ = nullptr;
+    QCheckBox* vel_enable_ = nullptr;
+    QCheckBox* torque_enable_ = nullptr;
+    std::array<QCheckBox*, NUM_ZERO_AXES> zero_checks_{};
+};