new hmi for arm :)

Author: aaronrhim

.gitignore

@@ -56,9 +56,6 @@ qtcreator-*
 # Glade temp file
 #*.glade*
 
-#other hmi things
-src/rover_hmi_v2
-
 # Catkin custom files
 CATKIN_IGNORE
 install/

src/rover_hmi_arm/CMakeLists.txt

@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 3.8)
+project(arm_hmi)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rover_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(Qt5 REQUIRED COMPONENTS Widgets)
+find_package(ament_index_cpp REQUIRED)
+
+set(CMAKE_AUTOMOC ON)
+
+include_directories(include)
+
+add_executable(moteus_gui
+    src/moteus_gui.cpp
+    src/moteus_data_bus.cpp
+    src/plot_widget.cpp
+    src/motor_status_module.cpp
+    src/plotting_module.cpp
+    src/send_command_module.cpp
+    src/command_log_module.cpp
+    src/motor_config_module.cpp
+    src/tiling_container.cpp
+    src/rviz_module.cpp
+    include/moteus_data_bus.h
+    include/plot_widget.h
+    include/tiling_container.h
+    include/rviz_module.h
+    include/send_command_module.h
+)
+target_link_libraries(moteus_gui Qt5::Widgets)
+ament_target_dependencies(moteus_gui rclcpp rover_msgs std_msgs ament_index_cpp)
+
+install(TARGETS moteus_gui DESTINATION lib/${PROJECT_NAME})
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+
+ament_package()

src/rover_hmi_arm/config/arm_embedded.rviz

@@ -0,0 +1,106 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 0
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 0.25
+      Class: rviz_default_plugins/Grid
+      Color: 100; 100; 100
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 20
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 30; 30; 46
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.2
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0.25
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.8
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: true
+  Height: 600
+  Hide Left Dock: true
+  Hide Right Dock: true
+  Views:
+    collapsed: true
+  Width: 800

src/rover_hmi_arm/include/catppuccin.h

@@ -0,0 +1,86 @@
+#pragma once
+
+#include <QApplication>
+#include <QString>
+
+// Pure black terminal aesthetic with white borders
+namespace theme {
+
+constexpr const char* Bg         = "#000000";
+constexpr const char* BgPanel    = "#0a0a0a";
+constexpr const char* Border     = "#ffffff";
+constexpr const char* BorderDim  = "#333333";
+constexpr const char* Text       = "#ffffff";
+constexpr const char* TextDim    = "#777777";
+constexpr const char* HeaderBg   = "#111111";
+constexpr const char* Green      = "#00ff88";
+constexpr const char* Red        = "#ff4466";
+constexpr const char* Yellow     = "#ffcc00";
+constexpr const char* Cyan       = "#44ddcc";
+
+constexpr int BorderRadius = 12;
+constexpr int BorderWidth  = 2;
+constexpr int FontSize     = 15;
+constexpr int FontSizeLg   = 18;
+constexpr int FontSizeSm   = 13;
+
+// Per-motor colors (indexed 0-5)
+constexpr const char* MotorColors[] = {
+    "#5599ff",  // blue
+    "#cc77ff",  // purple
+    "#00ff88",  // green
+    "#ff9944",  // orange
+    "#ff4466",  // red
+    "#44ddcc",  // teal
+};
+
+inline void applyGlobalStylesheet(QApplication& app) {
+    app.setStyleSheet(QString(R"(
+        * { font-family: monospace; font-size: %1px; }
+        QMainWindow { background: %2; }
+        QLabel { color: %3; font-size: %1px; }
+        QPushButton {
+            background: %4; color: %3; border: 1px solid %5;
+            border-radius: 6px; padding: 10px 16px; font-weight: bold;
+            font-size: %1px;
+        }
+        QPushButton:hover { background: #1a1a1a; border-color: %3; }
+        QPushButton:pressed { background: #222222; }
+        QComboBox {
+            background: %4; color: %3; border: 1px solid %5;
+            border-radius: 6px; padding: 8px 12px; font-size: %1px;
+        }
+        QComboBox::drop-down { border: none; }
+        QComboBox QAbstractItemView {
+            background: %4; color: %3; selection-background-color: #222222;
+            font-size: %1px;
+        }
+        QDoubleSpinBox, QSpinBox {
+            background: %4; color: %3; border: 1px solid %5;
+            border-radius: 6px; padding: 8px 12px; font-size: %1px;
+        }
+        QCheckBox { color: %3; spacing: 8px; font-size: %1px; }
+        QCheckBox::indicator {
+            width: 18px; height: 18px; border: 1px solid %5;
+            border-radius: 3px; background: %4;
+        }
+        QCheckBox::indicator:checked { background: %3; border-color: %3; }
+        QTabWidget::pane { border: 1px solid %5; background: %2; border-radius: 6px; }
+        QTabBar::tab {
+            background: %4; color: %3; padding: 10px 20px;
+            border: 1px solid %5; border-bottom: none;
+            border-top-left-radius: 6px; border-top-right-radius: 6px;
+            font-size: %1px;
+        }
+        QTabBar::tab:selected { background: %2; border-color: %3; }
+        QTabBar::tab:hover { background: #1a1a1a; }
+        QTextEdit {
+            background: %4; color: %3; border: none;
+            font-family: monospace; font-size: %6px;
+            selection-background-color: #333333;
+        }
+    )")
+    .arg(FontSize).arg(Bg).arg(Text).arg(BgPanel).arg(BorderDim).arg(FontSizeSm));
+}
+
+} // namespace theme

src/rover_hmi_arm/include/command_log_module.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#include "gui_module.h"
+#include "moteus_data_bus.h"
+
+#include <QTextEdit>
+
+class CommandLogModule : public GuiModule {
+public:
+    std::string name() const override { return "Command Log"; }
+    QWidget* createWidget(QWidget* parent) override;
+    void start() override {}
+    void stop() override {}
+
+    void setDataBus(MoteusDataBus* bus) override;
+
+private:
+    QTextEdit* log_ = nullptr;
+};

src/rover_hmi_arm/include/gui_module.h

@@ -0,0 +1,34 @@
+#pragma once
+
+#include <QWidget>
+#include <string>
+#include <functional>
+
+class MoteusDataBus;
+
+// Base class for GUI modules.
+// Subclass this, implement the methods, and add to the modules vector in main.
+struct GuiModule {
+    virtual ~GuiModule() = default;
+
+    // Display name shown in the module's dock widget
+    virtual std::string name() const = 0;
+
+    // Create and return the module's widget. Called once at startup.
+    virtual QWidget* createWidget(QWidget* parent) = 0;
+
+    // Called after the window is shown. Start timers/threads here.
+    virtual void start() = 0;
+
+    // Called on shutdown.
+    virtual void stop() = 0;
+
+    // Override to receive the shared data bus. Called before start().
+    virtual void setDataBus(MoteusDataBus*) {}
+
+    // Override to start hidden (toggled off in sidebar by default).
+    virtual bool defaultVisible() const { return true; }
+
+    // Override to receive sidebar toggle events.
+    virtual std::function<void(bool)> toggleCallback() { return nullptr; }
+};

src/rover_hmi_arm/include/moteus_data_bus.h

@@ -0,0 +1,86 @@
+#pragma once
+
+#include <QObject>
+#include <QTimer>
+#include <QElapsedTimer>
+#include <QString>
+
+#include <array>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rover_msgs/msg/arm_command.hpp"
+#include "rover_msgs/msg/moteus_arm_status.hpp"
+#include "rover_msgs/msg/bldc_servo_config.hpp"
+#include "std_msgs/msg/string.hpp"
+
+constexpr int NUM_MOTORS = 6;
+
+// Command codes (matching driver convention)
+constexpr char CMD_ABS_POS = 'P';
+constexpr char CMD_ABS_VEL = 'V';
+constexpr char CMD_STOP    = 'S';
+constexpr char CMD_ZERO    = 'Z';  // "d exact 0" — resets position reference in place
+
+struct MotorState {
+    int id = 0;
+    int mode = 0;
+    int fault = 0;
+    double position = 0.0;
+    double velocity = 0.0;
+    double torque = 0.0;
+    double voltage = 0.0;
+    double temperature = 0.0;
+    double timestamp = 0.0;
+};
+
+struct MotorConfigInfo {
+    float kp = 0, ki = 0, kd = 0;
+    float max_current = 0;
+    float max_velocity = 0;
+    float max_acceleration = 0;
+    float position_min = 0, position_max = 0;
+    float max_voltage = 0, max_power = 0;
+    float gear_reduction = 0;
+};
+
+class MoteusDataBus : public QObject {
+    Q_OBJECT
+public:
+    explicit MoteusDataBus(rclcpp::Node::SharedPtr node, QObject* parent = nullptr);
+
+    void start();
+    void stop();
+
+    void sendPosition(int motor_id, double position, double velocity = 0.0,
+                      double max_torque = NAN);
+    void sendVelocity(int motor_id, double velocity);
+    void sendStop(int motor_id);
+    void sendStopAll();
+    // Reset position counter to 0 at current physical position (no movement).
+    // Equivalent to "d exact 0" in tview.
+    void sendZero(int motor_id);
+
+    const std::array<MotorConfigInfo, NUM_MOTORS>& configs() const { return configs_; }
+
+signals:
+    void telemetryUpdated(const std::array<MotorState, NUM_MOTORS>& states);
+    void configUpdated(const std::array<MotorConfigInfo, NUM_MOTORS>& configs);
+    void commandLogged(const QString& cmd);
+
+private:
+    void spinOnce();
+    void onFeedback(const rover_msgs::msg::MoteusArmStatus::SharedPtr msg);
+    void onConfigLog(const std_msgs::msg::String::SharedPtr msg);
+    void logCmd(const QString& cmd);
+
+    rclcpp::Node::SharedPtr node_;
+    rclcpp::Subscription<rover_msgs::msg::MoteusArmStatus>::SharedPtr feedback_sub_;
+    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr config_log_sub_;
+    rclcpp::Publisher<rover_msgs::msg::ArmCommand>::SharedPtr command_pub_;
+
+    QTimer* spin_timer_ = nullptr;
+    QElapsedTimer elapsed_;
+    std::array<MotorConfigInfo, NUM_MOTORS> configs_{};
+    bool config_received_ = false;
+};