added motor config module

src/rover_arm_hmi_modules/include/motor_config_module.h

@@ -0,0 +1,38 @@
+// motor_config_module.h
+// Displays the per-motor PID gains and limits pushed to firmware at startup.
+// Config is read once from the first feedback message that includes config
+// data — the driver embeds config in every feedback message, but we only need
+// to populate the table once.
+
+#pragma once
+
+#include <rover_hmi_core/gui_module.h>
+#include "arm_types.h"
+
+#include <QLabel>
+#include <array>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rover_msgs/msg/moteus_arm_status.hpp"
+
+class MotorConfigModule : public rover_hmi_core::GuiModule {
+public:
+    std::string name() const override { return "Motor Config"; }
+    std::string layoutHint() const override { return "main"; }
+    QWidget* createWidget(QWidget* parent) override;
+    void setNode(rclcpp::Node::SharedPtr node) override;
+    void start() override {}
+    void stop() override {}
+
+private:
+    void onFeedback(const rover_msgs::msg::MoteusArmStatus::SharedPtr msg);
+
+    static constexpr int NUM_FIELDS = 8;
+    QLabel* cells_[NUM_MOTORS][NUM_FIELDS] = {};
+    QLabel* status_ = nullptr;
+    // Set to true after the first valid config message is processed. Subsequent
+    // feedback messages are ignored so the table isn't re-written on every tick.
+    bool config_received_ = false;
+
+    rclcpp::Subscription<rover_msgs::msg::MoteusArmStatus>::SharedPtr sub_;
+};

src/rover_arm_hmi_modules/src/motor_config_module.cpp

@@ -0,0 +1,125 @@
+// motor_config_module.cpp
+// See motor_config_module.h for module overview.
+
+#include "motor_config_module.h"
+#include <rover_hmi_core/catppuccin.h>
+
+#include <QGridLayout>
+#include <QFont>
+
+#include <pluginlib/class_list_macros.hpp>
+
+static const char* JOINT_NAMES[] = {
+    "Base", "Shoulder", "Elbow", "Wrist Pitch", "Wrist Roll", "End Effector"
+};
+
+static const char* FIELD_HEADERS[] = {
+    "Kp", "Kd", "Max I (A)", "Max Vel (rev/s)",
+    "Pos Min (rev)", "Pos Max (rev)", "Max V (V)", "Gear Ratio"
+};
+
+QWidget* MotorConfigModule::createWidget(QWidget* parent) {
+    auto* widget = new QWidget(parent);
+    auto* grid = new QGridLayout(widget);
+    grid->setSpacing(2);
+
+    QFont mono("monospace", theme::FontSize);
+    QFont monoBold("monospace", theme::FontSize, QFont::Bold);
+
+    auto headerStyle = QString("background: %1; color: %2; padding: 8px;")
+        .arg(theme::HeaderBg).arg(theme::Text);
+    auto cellStyle = QString("background: %1; color: %2; padding: 8px;")
+        .arg(theme::Bg).arg(theme::Text);
+
+    auto* corner = new QLabel("Joint");
+    corner->setFont(monoBold);
+    corner->setStyleSheet(headerStyle);
+    corner->setAlignment(Qt::AlignCenter);
+    grid->addWidget(corner, 0, 0);
+
+    for (int c = 0; c < NUM_FIELDS; c++) {
+        auto* lbl = new QLabel(FIELD_HEADERS[c]);
+        lbl->setFont(monoBold);
+        lbl->setStyleSheet(headerStyle);
+        lbl->setAlignment(Qt::AlignCenter);
+        grid->addWidget(lbl, 0, c + 1);
+    }
+
+    for (int r = 0; r < NUM_MOTORS; r++) {
+        auto* jname = new QLabel(JOINT_NAMES[r]);
+        jname->setFont(monoBold);
+        jname->setStyleSheet(
+            QString("background: %1; color: %2; padding: 8px;")
+            .arg(theme::Bg).arg(theme::MotorColors[r]));
+        grid->addWidget(jname, r + 1, 0);
+
+        for (int c = 0; c < NUM_FIELDS; c++) {
+            auto* lbl = new QLabel("--");
+            lbl->setFont(mono);
+            lbl->setStyleSheet(cellStyle);
+            lbl->setAlignment(Qt::AlignCenter);
+            grid->addWidget(lbl, r + 1, c + 1);
+            cells_[r][c] = lbl;
+        }
+    }
+
+    status_ = new QLabel("Waiting for config from driver...");
+    status_->setFont(mono);
+    status_->setStyleSheet(
+        QString("background: %1; color: %2; padding: 8px;")
+        .arg(theme::Bg).arg(theme::TextDim));
+    grid->addWidget(status_, NUM_MOTORS + 1, 0, 1, NUM_FIELDS + 1);
+
+    for (int c = 0; c <= NUM_FIELDS; c++)
+        grid->setColumnStretch(c, 1);
+
+    return widget;
+}
+
+void MotorConfigModule::setNode(rclcpp::Node::SharedPtr node) {
+    auto qos = rclcpp::QoS(1).reliable().durability_volatile();
+    sub_ = node->create_subscription<rover_msgs::msg::MoteusArmStatus>(
+        "/arm/moteus_feedback", qos,
+        [this](const rover_msgs::msg::MoteusArmStatus::SharedPtr msg) {
+            onFeedback(msg);
+        });
+}
+
+void MotorConfigModule::onFeedback(const rover_msgs::msg::MoteusArmStatus::SharedPtr msg) {
+    // config_received_ is checked first so this function becomes a no-op after
+    // the table has been populated. The driver sends config in every feedback
+    // message; we only need it once.
+    if (config_received_ || !cells_[0][0]) return;
+    if ((int)msg->config.size() < NUM_MOTORS) return;
+
+    auto cellStyle = QString("background: %1; color: %2; padding: 8px;")
+        .arg(theme::Bg).arg(theme::Text);
+
+    for (int r = 0; r < NUM_MOTORS; r++) {
+        const auto& c = msg->config[r];
+        cells_[r][0]->setText(QString::number(c.kp, 'f', 0));
+        cells_[r][1]->setText(QString::number(c.kd, 'f', 0));
+        cells_[r][2]->setText(QString::number(c.max_current_amps, 'f', 1));
+        cells_[r][3]->setText(QString::number(c.max_velocity, 'f', 3));
+        cells_[r][4]->setText(QString::number(c.min_position, 'f', 2));
+        cells_[r][5]->setText(QString::number(c.max_position, 'f', 2));
+        cells_[r][6]->setText(QString::number(c.max_voltage_volts, 'f', 1));
+        cells_[r][7]->setText(c.gear_reduction > 0
+            ? QString("1/%1").arg(qRound(1.0f / c.gear_reduction))
+            : "--");
+
+        for (int col = 0; col < NUM_FIELDS; col++)
+            cells_[r][col]->setStyleSheet(cellStyle);
+    }
+
+    if (status_) {
+        status_->setText("Config received from driver");
+        status_->setStyleSheet(
+            QString("background: %1; color: %2; padding: 8px;")
+            .arg(theme::Bg).arg(theme::Green));
+    }
+
+    config_received_ = true;
+}
+
+PLUGINLIB_EXPORT_CLASS(MotorConfigModule, rover_hmi_core::GuiModule)