#include <ui_piano.h>

Inheritance diagram for UI::PianoUI:

Collaboration diagram for UI::PianoUI:

Public Member Functions
	PianoUI ()
	Hybrid Qt-ROS2 Class for managing the User Interface of the MIDI-to-UR3 system.

	~PianoUI ()
	Standard Destructor for PianoUI Class.

Private Slots
void	play_pause ()
	Toggles the playback state and notifies the /MIPI/play_pause service.

void	open_midi_file ()
	UI Slot for opening a file dialog to process a raw .mid file.

void	toggle_direction ()
	Toggles between Forward and Reverse playback logic.

void	set_direction_forward ()
	Explicitly sets playback direction to Forward via the /MIPI/direction service.

void	set_direction_reverse ()
	Explicitly sets playback direction to Reverse via the /MIPI/direction service.

void	send_time_scale ()
	Transmits the current speed slider value as a time scale factor (0.01-1.0) to the robot.

void	send_channel_selection (int index)
	Transmits the selected MIDI channel to the robot controller.

void	load_existing_mipi (int index)
	UI Slot for loading a file selected from the dropdown menu.

void	send_debug_request ()
	Sends a trigger request to the debug service for development testing.

Private Member Functions
void	update_status_info ()
	Refreshes all status labels in the UI with the latest system state information.

void	force_pause_and_reset ()
	Immediate helper method to halt UI playback tracking and reset visual sliders.

void	populate_mipi_combobox ()
	Scans the ~/mipi_files directory to refresh the dropdown list.

void	update_channel_radio_buttons ()
	Rebuilds the radio button group based on the currently loaded MIDI processor data.

void	image_callback (const sensor_msgs::msg::Image::SharedPtr msg)
	ROS 2 Subscriber callback for camera feed.

Private Attributes
bool	is_playing = false

PlaybackDirection	current_dir = PlaybackDirection::Forward

QString	_midi_file_path

QLabel *	_title

QSlider *	_track_slider

QPushButton *	_play_pause_button

QPushButton *	_direction_button

QLabel *	_channel_title

QRadioButton *	_channel_select

QSlider *	_speed_control

QLabel *	_new_file_label

QPushButton *	_new_file_button

QLabel *	_old_file_label

QComboBox *	_old_file_button

QLabel *	_status_val

QLabel *	_speed_val

QLabel *	_time_val

QVBoxLayout *	_channel_layout

QButtonGroup *	_channel_group

rclcpp::Client< jamc::srv::Func >::SharedPtr	playback_client

rclcpp::Client< jamc::srv::Func >::SharedPtr	direction_client

rclcpp::Client< jamc::srv::TimeScale >::SharedPtr	time_scale_client

rclcpp::Client< jamc::srv::Load >::SharedPtr	channel_client

rclcpp::Client< jamc::srv::Func >::SharedPtr	debug_client

MidiProcessor	processor

QLabel *	_camera_view

rclcpp::Subscription< sensor_msgs::msg::Image >::SharedPtr	_camera_sub

QPushButton *	_debug_button

Constructor & Destructor Documentation

◆ PianoUI()

UI::PianoUI::PianoUI ( )

Hybrid Qt-ROS2 Class for managing the User Interface of the MIDI-to-UR3 system.

This class inherits from QWidget and rclcpp::Node. It contains the following ROS2 I/O:
Service Clients
/MIPI/play_pause (jamc/srv/Func): Triggers a play/pause state change on the robot.
/MIPI/direction (jamc/srv/Func): Toggles the playback direction (Forward/Reverse).
/MIPI/time_scale (jamc/srv/TimeScale): Sends a float (0.01 to 1.0) to scale robot velocity.
/MIPI/load (jamc/srv/Load): Sends the filepath and instrument index to the controller.
Subscriptions
/camera/camera/color/image_raw (sensor_msgs/msg/Image): Receives live feed for UI visualization.

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◆ ~PianoUI()

UI::PianoUI::~PianoUI ( )

Standard Destructor for PianoUI Class.

Member Function Documentation

◆ force_pause_and_reset()

void UI::PianoUI::force_pause_and_reset ( )

private

Immediate helper method to halt UI playback tracking and reset visual sliders.

Sends a PAUSE request to the robot and resets the track slider to zero. Always enforces a Forward direction state.

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◆ image_callback()

void UI::PianoUI::image_callback ( const sensor_msgs::msg::Image::SharedPtr msg )

private

ROS 2 Subscriber callback for camera feed.

Callback function for processing incoming ROS 2 image messages.

Parameters

msg	Shared pointer to the image message.

Note: Uses QMetaObject::invokeMethod to ensure thread-safety when updating the UI thread from the ROS executor thread.

Parameters

msg	A shared pointer to the incoming sensor_msgs::msg::Image.

Note: This uses QMetaObject::invokeMethod to ensure the UI update happens on the main thread, avoiding thread collisions with the ROS executor.

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◆ load_existing_mipi

void UI::PianoUI::load_existing_mipi ( int index )

privateslot

UI Slot for loading a file selected from the dropdown menu.

Parameters

index The index of the selected file in the QComboBox.

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◆ open_midi_file

void UI::PianoUI::open_midi_file ( )

privateslot

UI Slot for opening a file dialog to process a raw .mid file.

Converts the file to .mipi and automatically selects the first available channel for loading.

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◆ play_pause

void UI::PianoUI::play_pause ( )

privateslot

Toggles the playback state and notifies the /MIPI/play_pause service.

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◆ populate_mipi_combobox()

void UI::PianoUI::populate_mipi_combobox ( )

private

Scans the ~/mipi_files directory to refresh the dropdown list.

Note: Blocks signals during execution to prevent recursive load triggers.

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◆ send_channel_selection

void UI::PianoUI::send_channel_selection ( int button_id )

privateslot

Transmits the selected MIDI channel to the robot controller.

Sends a load request to the robot controller for a specific instrument channel.

Parameters

button_id The ID of the clicked radio button (mapped to MIDI channel).

Precondition: A .mipi file must be loaded.

Postcondition: Resets playback to ensure the robot starts the new channel from a safe state.

Parameters

button_id The ID of the radio button corresponding to the instrument index.

Clears the current playback state before sending the new file data to the robot.

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◆ send_debug_request

void UI::PianoUI::send_debug_request ( )

privateslot

Sends a trigger request to the debug service for development testing.

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◆ send_time_scale

void UI::PianoUI::send_time_scale ( )

privateslot

Transmits the current speed slider value as a time scale factor (0.01-1.0) to the robot.

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◆ set_direction_forward

void UI::PianoUI::set_direction_forward ( )

privateslot

Explicitly sets playback direction to Forward via the /MIPI/direction service.

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◆ set_direction_reverse

void UI::PianoUI::set_direction_reverse ( )

privateslot

Explicitly sets playback direction to Reverse via the /MIPI/direction service.

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◆ toggle_direction

void UI::PianoUI::toggle_direction ( )

privateslot

Toggles between Forward and Reverse playback logic.

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◆ update_channel_radio_buttons()

void UI::PianoUI::update_channel_radio_buttons ( )

private

Rebuilds the radio button group based on the currently loaded MIDI processor data.

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◆ update_status_info()

void UI::PianoUI::update_status_info ( )

private

Refreshes all status labels in the UI with the latest system state information.

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Member Data Documentation

◆ _camera_sub

rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr UI::PianoUI::_camera_sub

private

◆ _camera_view

QLabel* UI::PianoUI::_camera_view

private

◆ _channel_group

QButtonGroup* UI::PianoUI::_channel_group

private

◆ _channel_layout

QVBoxLayout* UI::PianoUI::_channel_layout

private

◆ _channel_select

QRadioButton* UI::PianoUI::_channel_select

private

◆ _channel_title

QLabel* UI::PianoUI::_channel_title

private

◆ _debug_button

QPushButton* UI::PianoUI::_debug_button

private

◆ _direction_button

QPushButton* UI::PianoUI::_direction_button

private

◆ _midi_file_path

QString UI::PianoUI::_midi_file_path

private

◆ _new_file_button

QPushButton* UI::PianoUI::_new_file_button

private

◆ _new_file_label

QLabel* UI::PianoUI::_new_file_label

private

◆ _old_file_button

QComboBox* UI::PianoUI::_old_file_button

private

◆ _old_file_label

QLabel* UI::PianoUI::_old_file_label

private

◆ _play_pause_button

QPushButton* UI::PianoUI::_play_pause_button

private

◆ _speed_control

QSlider* UI::PianoUI::_speed_control

private

◆ _speed_val

QLabel* UI::PianoUI::_speed_val

private

◆ _status_val

QLabel* UI::PianoUI::_status_val

private

◆ _time_val

QLabel* UI::PianoUI::_time_val

private

◆ _title

QLabel* UI::PianoUI::_title

private

◆ _track_slider

QSlider* UI::PianoUI::_track_slider

private

◆ channel_client

rclcpp::Client<jamc::srv::Load>::SharedPtr UI::PianoUI::channel_client

private

◆ current_dir

PlaybackDirection UI::PianoUI::current_dir = PlaybackDirection::Forward

private

◆ debug_client

rclcpp::Client<jamc::srv::Func>::SharedPtr UI::PianoUI::debug_client

private

◆ direction_client

rclcpp::Client<jamc::srv::Func>::SharedPtr UI::PianoUI::direction_client

private

◆ is_playing

bool UI::PianoUI::is_playing = false

private

◆ playback_client

rclcpp::Client<jamc::srv::Func>::SharedPtr UI::PianoUI::playback_client

private

◆ processor

MidiProcessor UI::PianoUI::processor

private

◆ time_scale_client

rclcpp::Client<jamc::srv::TimeScale>::SharedPtr UI::PianoUI::time_scale_client

private

The documentation for this class was generated from the following files:

include/ui/ui_piano.h
src/ui/ui_piano.cpp

Public Member Functions

Private Slots

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ PianoUI()

◆ ~PianoUI()

Member Function Documentation

◆ force_pause_and_reset()

◆ image_callback()

◆ load_existing_mipi

◆ open_midi_file

◆ play_pause

◆ populate_mipi_combobox()

◆ send_channel_selection

◆ send_debug_request

◆ send_time_scale

◆ set_direction_forward

◆ set_direction_reverse

◆ toggle_direction

◆ update_channel_radio_buttons()

◆ update_status_info()

Member Data Documentation

◆ _camera_sub

◆ _camera_view

◆ _channel_group

◆ _channel_layout

◆ _channel_select

◆ _channel_title

◆ _debug_button

◆ _direction_button

◆ _midi_file_path

◆ _new_file_button

◆ _new_file_label

◆ _old_file_button

◆ _old_file_label

◆ _play_pause_button

◆ _speed_control

◆ _speed_val

◆ _status_val

◆ _time_val

◆ _title

◆ _track_slider

◆ channel_client

◆ current_dir

◆ debug_client

◆ direction_client

◆ is_playing

◆ playback_client

◆ processor

◆ time_scale_client