feat(simulator): render the robot arm panel through ui-cpp by gabrielfrasantos · Pull Request #17 · embedded-pro/robotics-toolbox-cpp

gabrielfrasantos · 2026-09-21T09:04:00Z

Completes this repository's migration. #16 moved the 3D view onto Canvas; the panel, the window and the entry point were what remained.

The degree-of-freedom switch is a condition, not a handler

Worth stating plainly because an earlier design note got this wrong. It claimed this panel grew and shrank its control count at runtime — the one case a fixed std::span<const FieldSpec> cannot express, and the reason a dynamic extension to FormModel looked necessary.

It does not. RobotArmConfigurationPanel built all three link groups unconditionally against static constexpr int maxDof = 3 and OnDofChanged only called setVisible. A Condition with a selection mask over the DOF choice expresses that exactly, so the third link's group and its three controls simply carry that mask. No model extension was needed.

Sliders stayed sliders

The six dragged controls — three joint torques, three initial positions — use FieldKind::Slider from ui-cpp#7, added for this. They keep their tick marks and drag feel rather than being downgraded to spin boxes.

Their scaling stays in the application layer, where the panel had it: torques are tenths of a newton metre (value / 10.0f, so the ±200 slider is ±20 N·m in steps of 0.1), positions are degrees converted to radians on the way to the simulator. Nothing about either unit reaches ui-cpp.

Applying stays on Start and Reset

Deliberate, and a decision rather than an oversight. Link length, mass and damping had no valueChanged connection in the panel — they were read only when Start or Reset was pressed. ApplyConfiguration recomputes the 120 Hz timer interval and calls SetInitialPositions, so wiring onFieldChanged would reset a running simulation on every keystroke. It is left unwired for those fields.

Smaller changes

The three buttons take the Start, Stop and Reset roles, which removes the three inline setStyleSheet colours they carried — the last ones in this repository's simulator.

Main.cpp becomes one simulator::shell::Run<RobotArmMainWindow>() call against a new simulator/shell/, still setting the Instrument theme rather than Light.

RobotArmMainWindow keeps its explicit destructor. QtPaintedWidget clears a callback on the scene view when destroyed, and that view is a by-value member, so the widget has to go first — the same ordering #16 established.

Tests

This simulator had no application-layer test. TestRobotArmForm adds nine cases: the transcribed defaults, the third link appearing and reaching the configuration only when the spatial robot is chosen, the degree count coming from option data rather than position, the torque and position scalings, the vectors following the selected count, the slider kinds with their tick intervals, and that a hidden third link keeps its values across a switch.

The 15 scene-view tests from #16 are untouched.

Verification

host, host-single-Debug and coverage built from clean. 4/4 tests on host — up from 3 — and 2/2 on host-single-Debug, which shows no ui entry in _deps, confirming the simulator-off path still never fetches ui-cpp. The app launches headless.

Built twice: once against a local ui-cpp checkout and once with no FETCHCONTENT_SOURCE_DIR override, where CMake cloned ui-cpp at main (9ebfb95) and passed 4/4 — so the new slider field kind is confirmed end-to-end through a real fetch rather than a local path.

🤖 Generated with Claude Code

https://claude.ai/code/session_01YQEnuDHtCQb5UyddnMup3Q

Generated by Claude Code

Completes this repository's migration. The 3D view already drew through Canvas; the panel, the window and the entry point were the remainder. The degree-of-freedom switch is a condition rather than a handler. The panel built all three link groups against a fixed maximum and toggled their visibility from OnDofChanged, so a selection mask over the choice expresses it exactly, and the third link's group and its three controls now carry that mask instead. The six dragged controls use the slider field kind added in ui-cpp#7, so they keep their tick marks rather than becoming spin boxes. Their scaling stays in the application layer where the panel had it: torques are tenths of a newton metre, positions are degrees converted to radians on the way to the simulator. The three buttons take the Start, Stop and Reset roles, which removes the three inline setStyleSheet colours they carried. Configuration is still applied on Start and Reset only, not on change. ApplyConfiguration recomputes the timer interval and calls SetInitialPositions, so applying per keystroke would reset a running simulation; onFieldChanged is left unwired for that reason. Adds the first application-layer test for this simulator. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01YQEnuDHtCQb5UyddnMup3Q

github-actions · 2026-09-21T09:05:14Z

✅⚠️MegaLinter analysis: Success with warnings

Descriptor	Linter	Files	Fixed	Errors	Elapsed time
✅ ACTION	actionlint	7		0	0.7s
✅ CPP	clang-format	34	6	0	0.73s
✅ CPP	cppcheck	34		0	1.26s
✅ DOCKERFILE	hadolint	1		0	0.61s
✅ JSON	jsonlint	8		0	0.12s
✅ JSON	prettier	8	3	0	0.6s
⚠️ MARKDOWN	markdownlint	101	0	138	1.94s
✅ MARKDOWN	markdown-table-formatter	101	4	0	0.2s
⚠️ SPELL	lychee	135		14	1.55s
✅ YAML	prettier	12	0	0	0.61s
✅ YAML	yamllint	12		0	0.62s

Detailed Issues

⚠️ SPELL / lychee - 14 errors

[ERROR] failed to verify TLS certificate: invalid peer certificate: UnknownIssuer
📝 Summary
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🔍 Total...........84
🔗 Unique..........43
✅ Successful......60
⏳ Timeouts.........0
🔀 Redirected.......4
👻 Excluded.........9
❓ Unknown..........0
🚫 Errors..........14
⛔ Unsupported.....14

Errors in .github/workflows/static-analysis.yml
[403] https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-$ (at 37:21) | Rejected status code: 403 Forbidden

Errors in doc/dynamics/ArticulatedBodyAlgorithm.md
[ERROR] file://doc/solvers/GaussianElimination.md (at 91:3) | File not found. Check if file exists and path is correct

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[ERROR] file://doc/controllers/Lqr.md (at 136:23) | File not found. Check if file exists and path is correct
[ERROR] file://doc/solvers/DiscreteAlgebraicRiccatiEquation.md (at 138:13) | File not found. Check if file exists and path is correct
[ERROR] file://doc/solvers/GaussianElimination.md (at 135:29) | File not found. Check if file exists and path is correct

Errors in doc/dynamics/NewtonEuler.md
[ERROR] file://doc/solvers/GaussianElimination.md (at 131:29) | File not found. Check if file exists and path is correct

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[ERROR] file://doc/math/Geometry3D.md (at 66:71) | File not found. Check if file exists and path is correct

Errors in doc/kinematics/InverseKinematics.md
[ERROR] file://doc/solvers/GaussianElimination.md (at 114:3) | File not found. Check if file exists and path is correct
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Errors in README.md
[ERROR] file:///releases/latest (at 46:14) | File not found. Check if file exists and path is correct

Errors in ROADMAP.md
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Errors in roadmap/README.md
[ERROR] file://roadmap/filters/passive/ExponentialMovingAverage/implementation.md (at 24:1) | File not found. Check if file exists and path is correct

Hint: Followed 4 redirects. You might want to consider replacing redirecting URLs with the resolved URLs. Use verbose mode (`-v`/`-vv`) to see redirection details.
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⚠️ MARKDOWN / markdownlint - 138 errors

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roadmap/controllers/manipulator/OperationalSpaceControl/implementation.md:31 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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roadmap/dynamics/FrictionCompensation/implementation.md:7 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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roadmap/kinematics/AnalyticalIkPieper/implementation.md:7 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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roadmap/kinematics/ManipulabilityIndex/implementation.md:7 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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roadmap/kinematics/MobileManipulatorKinematics/implementation.md:7 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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roadmap/kinematics/ParallelManipulatorKinematics/implementation.md:7 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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roadmap/kinematics/ProductOfExponentials/implementation.md:7 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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roadmap/kinematics/SpatialJacobian/implementation.md:7 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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roadmap/kinematics/SpatialJacobian/implementation.md:26 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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roadmap/README.md:11 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/README.md:32:96 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
roadmap/README.md:33:96 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
roadmap/trajectory/CartesianSlerpInterpolation/implementation.md:7 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/trajectory/CartesianSlerpInterpolation/implementation.md:23 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/trajectory/CartesianSlerpInterpolation/implementation.md:32 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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roadmap/trajectory/CartesianSlerpInterpolation/tests.md:17 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/trajectory/PolynomialTrajectory/implementation.md:7 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/trajectory/PolynomialTrajectory/implementation.md:27 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/trajectory/PolynomialTrajectory/implementation.md:36 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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roadmap/trajectory/SCurveProfile/implementation.md:7 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/trajectory/SCurveProfile/implementation.md:26 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/trajectory/SCurveProfile/implementation.md:35 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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roadmap/trajectory/SCurveProfile/tests.md:16 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/trajectory/TimeOptimalPathParameterization/implementation.md:7 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/trajectory/TimeOptimalPathParameterization/implementation.md:28 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/trajectory/TimeOptimalPathParameterization/implementation.md:37 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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roadmap/trajectory/TimeOptimalPathParameterization/tests.md:17 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/trajectory/TrapezoidalProfile/implementation.md:7 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/trajectory/TrapezoidalProfile/implementation.md:26 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01YQEnuDHtCQb5UyddnMup3Q

sonarqubecloud · 2026-09-21T09:10:44Z

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style: drop the FetchContent rationale comments

6669b6d

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01YQEnuDHtCQb5UyddnMup3Q

gabrielfrasantos merged commit 4689156 into main Sep 21, 2026
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gabrielfrasantos deleted the claude/focused-faraday-fpdj6z branch September 21, 2026 09:24

gabrielfrasantos mentioned this pull request Sep 21, 2026

chore(main): release 1.1.0 #8

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feat(simulator): render the robot arm panel through ui-cpp - #17

feat(simulator): render the robot arm panel through ui-cpp#17
gabrielfrasantos merged 2 commits into
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gabrielfrasantos commented Sep 21, 2026

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edited

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gabrielfrasantos commented Sep 21, 2026

The degree-of-freedom switch is a condition, not a handler

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sonarqubecloud Bot commented Sep 21, 2026

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github-actions Bot commented Sep 21, 2026 •

edited

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