C++ QTabWidget::show方法代码示例

void tst_QWidget_window::tst_recreateWindow_QTBUG40817()
{
    QTabWidget tab;

    QWidget *w = new QWidget;
    tab.addTab(w, "Tab1");
    QVBoxLayout *vl = new QVBoxLayout(w);
    QLabel *lbl = new QLabel("HELLO1");
    lbl->setObjectName("label1");
    vl->addWidget(lbl);
    w = new QWidget;
    tab.addTab(w, "Tab2");
    vl = new QVBoxLayout(w);
    lbl = new QLabel("HELLO2");
    lbl->setAttribute(Qt::WA_NativeWindow);
    lbl->setObjectName("label2");
    vl->addWidget(lbl);

    tab.show();

    QVERIFY(QTest::qWaitForWindowExposed(&tab));

    QWindow *win = tab.windowHandle();
    win->destroy();
    QWindowPrivate *p = qt_window_private(win);
    p->create(true);
    win->show();

    tab.setCurrentIndex(1);
}

int main(int argc, char *argv[])
{
	QApplication app(argc, argv);
//#define ABC
#ifdef ABC
	ParameterWidget *pw = new ParameterWidget();
	pw->setProperties( "a", FloatParameterProperties() );
	pw->setProperties( "b", FloatParameterProperties() );
	pw->setProperties( "c", FloatParameterProperties() );
	pw->setProperties( "d", FloatParameterProperties() );
	pw->show();
#else
	QTabWidget *tw = new QTabWidget();

	QScrollArea *sa = new QScrollArea( );
	sa->setWidgetResizable( true );

	QWidget *w = new QWidget(  );
	w->setLayout( new QVBoxLayout() );
	w->layout()->addWidget( new CoordinateSystemWidget( "a", FloatParameterProperties(), "b", FloatParameterProperties(), w ) );
	( ( QVBoxLayout * ) w->layout() )->addStretch();

	sa->setWidget( w );

	tw->addTab( sa, "bla" );
	tw->show();

	app.processEvents();
	w->layout()->addWidget( new CoordinateSystemWidget() );
#endif

	return app.exec();
}

int main ( int argc, char **argv )
{
    QApplication a( argc, argv );

    QTabWidget tabWidget;

    SliderTab *sliderTab = new SliderTab();
    sliderTab->setAutoFillBackground( true );
    sliderTab->setPalette( QColor( "DimGray" ) );

    WheelTab *wheelTab = new WheelTab();
    wheelTab->setAutoFillBackground( true );
    wheelTab->setPalette( QColor( "Silver" ) );

    KnobTab *knobTab = new KnobTab();
    knobTab->setAutoFillBackground( true );
    knobTab->setPalette( Qt::darkGray );

    DialTab *dialTab = new DialTab();
    dialTab->setAutoFillBackground( true );
    dialTab->setPalette( Qt::darkGray );

    tabWidget.addTab( new SliderTab, "Slider" );
    tabWidget.addTab( new WheelTab, "Wheel/Thermo" );
    tabWidget.addTab( knobTab, "Knob" );
    tabWidget.addTab( dialTab, "Dial" );

    tabWidget.resize( 800, 600 );
    tabWidget.show();

    return a.exec();
}

void menuconfigproject::showsql()
{
    QTabWidget *win = new QTabWidget();

    win->addTab(new sqldatatable(QString("groupname, groupparent, type"), "project_" + this->name + "_groupe", 3), "groupe");
    win->addTab(new sqldatatable(QString("lastname, firstname, email, groupid, refbool, questionbool"), "project_" + this->name + "_project", 6), "personne");
    win->addTab(new sqldatatable(QString("question, groupid, type, note, sujet, qgroupid, typef, ref_only, splitchar"), "project_" + this->name + "_question", 9), "question");
    win->setWindowModality(Qt::ApplicationModal);
    win->show();
}

int main (int argc, char **argv)
{
    QApplication a(argc, argv);

    QTabWidget tabWidget;
    tabWidget.addTab(new CompassGrid, "Compass");
    tabWidget.addTab(new CockpitGrid, "Cockpit");

    tabWidget.show();

    return a.exec();
}

int main(int argc,char **argv) {
	QApplication app(argc,argv);

	QLabel *label_first = new QLabel("first");
	QLabel *label_second = new QLabel("second");

	QTabWidget w;
	w.addTab(label_first,"first");
	w.addTab(label_second,"second");
	w.setWindowTitle("test for QTabWidget");
	w.show();

	return app.exec();
}

int main ( int argc, char **argv )
{
    QApplication a( argc, argv );

    QTabWidget w;
    w.addTab( new PlotTab( false, &w ), "Non Parametric" );
    w.addTab( new PlotTab( true, &w ), "Parametric" );

    const QSize sz = 0.6 * QApplication::desktop()->size();
    w.resize( sz.boundedTo( QSize( 800, 600 ) ) );
    w.show();

    return a.exec();
}

int main(int argc, char *argv[])
{
    QApplication a(argc, argv);

    Widget w1;
    Widget w2;

    QTabWidget tabWidget;
    tabWidget.setTabPosition(QTabWidget::South);

    tabWidget.addTab(&w1, "Instance 1");
    tabWidget.addTab(&w2, "Instance 2");

    tabWidget.show();
    return a.exec();
}

int main(int argc, char *argv[])
{
    QApplication a(argc, argv);

    QTabWidget *tab = new QTabWidget;
    QTextEdit *edit = new QTextEdit;
    Widget *w = new Widget;

    tab->addTab(w, "edit");
    tab->addTab(edit, "recv");

    QObject::connect(w, SIGNAL(message(QString)), edit, SLOT(append(QString)));
    edit->append("plain text");
    tab->show();
//    Widget w;
//    w.show();

    return a.exec();
}

int main( int argc, char **argv )
{
    QApplication a( argc, argv );
    QTabWidget tab;
    Scribble scribble(&tab, "scribble");
    TabletStats tabStats( &tab, "tablet stats" );
    
    scribble.setMinimumSize( 500, 350 );
    tabStats.setMinimumSize( 500, 350 );
    tab.addTab(&scribble, "Scribble" );
    tab.addTab(&tabStats, "Tablet Stats" );
    
    a.setMainWidget( &tab );
    if ( QApplication::desktop()->width() > 550
	 && QApplication::desktop()->height() > 366 )
	tab.show();
    else
	tab.showMaximized();
    return a.exec();
}

static int dynamicNormalizerGuiMain(int argc, char* argv[])
{
	uint32_t versionMajor, versionMinor, versionPatch;
	MDynamicAudioNormalizer::getVersionInfo(versionMajor, versionMinor, versionPatch);

	//initialize application
	QApplication app(argc, argv);
	app.setWindowIcon(QIcon(":/res/chart_curve.png"));
	app.setStyle(new QPlastiqueStyle());

	//create basic tab widget
	QTabWidget window;
	window.setWindowTitle(QString("Dynamic Audio Normalizer - Log Viewer [%1]").arg(QString().sprintf("v%u.%02u-%u", versionMajor, versionMinor, versionPatch)));
	window.setMinimumSize(640, 480);
	window.show();

	//get arguments
	const QStringList args = app.arguments();
	
	//choose input file
	const QString logFileName = (args.size() < 2) ? QFileDialog::getOpenFileName(&window, "Open Log File", QString(), QString("Log File (*.log)")) : args.at(1);
	if(logFileName.isEmpty())
	{
		return EXIT_FAILURE;
	}

	//check for existence
	if(!(QFileInfo(logFileName).exists() && QFileInfo(logFileName).isFile()))
	{
		QMessageBox::critical(&window, QString().sprintf("Dynamic Audio Normalizer"), QString("Error: The specified log file could not be found!"));
		return EXIT_FAILURE;
	}

	//open the input file
	QFile logFile(logFileName);
	if(!logFile.open(QIODevice::ReadOnly | QIODevice::Text))
	{
		QMessageBox::critical(&window, QString().sprintf("Dynamic Audio Normalizer"), QString("Error: The selected log file could not opened for reading!"));
		return EXIT_FAILURE;
	}

	//wrap into text stream
	QTextStream textStream(&logFile);
	textStream.setCodec("UTF-8");

	double minValue = DBL_MAX;
	double maxValue = 0.0;
	unsigned int channels = 0;

	//parse header
	if(!parseHeader(textStream, channels))
	{
		QMessageBox::critical(&window, QString("Dynamic Audio Normalizer"), QString("Error: Failed to parse the header of the log file!\nProbably the file is of an unsupported type."));
		return EXIT_FAILURE;
	}

	//allocate buffers
	LogFileData *data = new LogFileData[channels];
	QCustomPlot *plot = new QCustomPlot[channels];

	//load data
	parseData(textStream, channels, data, minValue, maxValue);
	logFile.close();

	//check data
	if((data[0].original.size() < 1) || (data[0].minimal.size() < 1) || (data[0].smoothed.size() < 1))
	{
		QMessageBox::critical(&window, QString("Dynamic Audio Normalizer"), QString("Error: Failed to load data. Log file countains no valid data!"));
		delete [] data;
		delete [] plot;
		return EXIT_FAILURE;
	}

	//determine length of data
	unsigned int length = UINT_MAX;
	for(unsigned int c = 0; c < channels; c++)
	{
		length = qMin(length, (unsigned int) data[c].original.count());
		length = qMin(length, (unsigned int) data[c].minimal .count());
		length = qMin(length, (unsigned int) data[c].smoothed.count());
	}

	//create x-axis steps
	QVector<double> steps(length);
	for(unsigned int i = 0; i < length; i++)
	{
		steps[i] = double(i);
	}

	//now create the plots
	for(unsigned int c = 0; c < channels; c++)
	{
		//init the legend
		plot[c].legend->setVisible(true);
		plot[c].legend->setFont(QFont("Helvetica", 9));

		//create graph and assign data to it:
		createGraph(&plot[c], steps, data[c].original, Qt::blue,  Qt::SolidLine, 1);
		createGraph(&plot[c], steps, data[c].minimal,  Qt::green, Qt::SolidLine, 1);
		createGraph(&plot[c], steps, data[c].smoothed, Qt::red,   Qt::DashLine,  2);
//.........这里部分代码省略.........

//.........这里部分代码省略.........
        // PID Master GUI
        std::string masterPIDName = masterName + " PID";
        mtsPIDQtWidget * pidMasterGUI = new mtsPIDQtWidget(masterPIDName, 8);
        pidMasterGUI->Configure();
        componentManager->AddComponent(pidMasterGUI);
        componentManager->Connect(pidMasterGUI->GetName(), "Controller", mtm->PIDComponentName(), "Controller");
        tabWidget->addTab(pidMasterGUI, masterPIDName.c_str());

        // PID Slave GUI
        std::string slavePIDName = slaveName + " PID";
        mtsPIDQtWidget * pidSlaveGUI = new mtsPIDQtWidget(slavePIDName, 7);
        pidSlaveGUI->Configure();
        componentManager->AddComponent(pidSlaveGUI);
        componentManager->Connect(pidSlaveGUI->GetName(), "Controller", psm->PIDComponentName(), "Controller");
        tabWidget->addTab(pidSlaveGUI, slavePIDName.c_str());

        // Master GUI
        mtsIntuitiveResearchKitArmQtWidget * masterGUI = new mtsIntuitiveResearchKitArmQtWidget(mtm->Name() + "GUI");
        masterGUI->Configure();
        componentManager->AddComponent(masterGUI);
        tabWidget->addTab(masterGUI, mtm->Name().c_str());
        // connect masterGUI to master
        componentManager->Connect(masterGUI->GetName(), "Manipulator", mtm->Name(), "Robot");

        // Slave GUI
        mtsIntuitiveResearchKitArmQtWidget * slaveGUI = new mtsIntuitiveResearchKitArmQtWidget(psm->Name() + "GUI");
        slaveGUI->Configure();
        componentManager->AddComponent(slaveGUI);
        tabWidget->addTab(slaveGUI, psm->Name().c_str());
        // connect slaveGUI to slave
        componentManager->Connect(slaveGUI->GetName(), "Manipulator", psm->Name(), "Robot");

        // Teleoperation
        std::string teleName = masterName + "-" + slaveName;
        mtsTeleOperationQtWidget * teleGUI = new mtsTeleOperationQtWidget(teleName + "GUI");
        teleGUI->Configure();
        componentManager->AddComponent(teleGUI);
        tabWidget->addTab(teleGUI, teleName.c_str());
        mtsTeleOperation * tele = new mtsTeleOperation(teleName, periodTeleop);
        // Default orientation between master and slave
        vctMatRot3 master2slave;
        master2slave.From(vctAxAnRot3(vct3(0.0, 0.0, 1.0), 180.0 * cmnPI_180));
        tele->SetRegistrationRotation(master2slave);
        componentManager->AddComponent(tele);
        // connect teleGUI to tele
        componentManager->Connect(teleGUI->GetName(), "TeleOperation", tele->GetName(), "Setting");

        componentManager->Connect(tele->GetName(), "Master", mtm->Name(), "Robot");
        componentManager->Connect(tele->GetName(), "Slave", psm->Name(), "Robot");
        componentManager->Connect(tele->GetName(), "Clutch", "io", "CLUTCH");
        componentManager->Connect(tele->GetName(), "OperatorPresent", operatorPresentComponent, operatorPresentInterface);
        console->AddTeleOperation(tele->GetName());
    }

    // configure data collection if needed
    if (options.IsSet("collection-config")) {
        // make sure the json config file exists
        fileExists("JSON data collection configuration", jsonCollectionConfigFile);

        mtsCollectorFactory * collectorFactory = new mtsCollectorFactory("collectors");
        collectorFactory->Configure(jsonCollectionConfigFile);
        componentManager->AddComponent(collectorFactory);
        collectorFactory->Connect();

        mtsCollectorQtWidget * collectorQtWidget = new mtsCollectorQtWidget();
        tabWidget->addTab(collectorQtWidget, "Collection");

        mtsCollectorQtFactory * collectorQtFactory = new mtsCollectorQtFactory("collectorsQt");
        collectorQtFactory->SetFactory("collectors");
        componentManager->AddComponent(collectorQtFactory);
        collectorQtFactory->Connect();
        collectorQtFactory->ConnectToWidget(collectorQtWidget);
    }

    // show all widgets
    tabWidget->show();

    //-------------- create the components ------------------
    io->CreateAndWait(2.0 * cmn_s); // this will also create the pids as they are in same thread
    io->StartAndWait(2.0 * cmn_s);

    // start all other components
    componentManager->CreateAllAndWait(2.0 * cmn_s);
    componentManager->StartAllAndWait(2.0 * cmn_s);

    // QtApplication will run in main thread and return control
    // when exited.

    componentManager->KillAllAndWait(2.0 * cmn_s);
    componentManager->Cleanup();

    // delete dvgc robot
    delete io;
    delete robotWidgetFactory;

    // stop all logs
    cmnLogger::Kill();

    return 0;
}

//.........这里部分代码省略.........
    // IO
    mtsRobotIO1394 * io = new mtsRobotIO1394("io", ioPeriod, firewirePort);
    io->Configure(config_io);
    componentManager->AddComponent(io);

    // connect ioGUIMaster to io
    mtsRobotIO1394QtWidgetFactory * robotWidgetFactory = new mtsRobotIO1394QtWidgetFactory("robotWidgetFactory");
    componentManager->AddComponent(robotWidgetFactory);
    componentManager->Connect("robotWidgetFactory", "RobotConfiguration", "io", "Configuration");
    robotWidgetFactory->Configure();

    // mtsPID
    mtsPID* pid = new mtsPID("pid", ioPeriod); // periodicity will be ignore because ExecIn/Out are connected
    pid->Configure(config_pid);
    componentManager->AddComponent(pid);
    componentManager->Connect(pid->GetName(), "RobotJointTorqueInterface", "io", config_name);
    componentManager->Connect(pid->GetName(), "ExecIn", "io", "ExecOut");

    // PID GUI
    mtsPIDQtWidget * pidMasterGUI = new mtsPIDQtWidget("pid master", 7);
    pidMasterGUI->Configure();
    componentManager->AddComponent(pidMasterGUI);
    componentManager->Connect(pidMasterGUI->GetName(), "Controller", pid->GetName(), "Controller");

    // psm
    mtsIntuitiveResearchKitPSM * psm = new mtsIntuitiveResearchKitPSM(config_name, armPeriod);
    psm->Configure(config_kinematics);
    componentManager->AddComponent(psm);
    componentManager->Connect(psm->GetName(), "PID", pid->GetName(), "Controller");
    componentManager->Connect(psm->GetName(), "RobotIO", "io", config_name);
    componentManager->Connect(psm->GetName(), "Adapter", "io", psm->GetName() + "-Adapter");
    componentManager->Connect(psm->GetName(), "Tool", "io", psm->GetName() + "-Tool");
    componentManager->Connect(psm->GetName(), "ManipClutch", "io", psm->GetName() + "-ManipClutch");

    // psm GUI
    mtsIntuitiveResearchKitArmQtWidget * psmGUI = new mtsIntuitiveResearchKitArmQtWidget(config_name + "GUI");
    componentManager->AddComponent(psmGUI);
    componentManager->Connect(psmGUI->GetName(), "Manipulator", psm->GetName(), "Robot");

    ROS_INFO("\n Name is :%s \n :%s \n :%s \n :%s \n ",config_name.c_str(),config_pid.c_str(),config_io.c_str()
             ,config_kinematics.c_str());

    // ros wrapper
    mtsROSBridge robotBridge("RobotBridge", rosPeriod, true);

    // populate interfaces
    const dvrk_topics_version::version version = dvrk_topics_version::v1_3_0;
    dvrk::add_topics_psm(robotBridge, "/dvrk/" + config_name, psm->GetName(), version);
    if (options.IsSet("io-ros")) {
        dvrk::add_topics_io(robotBridge, "/dvrk/" + config_name + "/io", psm->GetName(), version);
    }
    // add component and connect
    componentManager->AddComponent(&robotBridge);
    dvrk::connect_bridge_psm(robotBridge, psm->GetName());
    if (options.IsSet("io-ros")) {
        dvrk::connect_bridge_io(robotBridge, io->GetName(), psm->GetName());
    }

    // organize all widgets in a tab widget
    QTabWidget * tabWidget = new QTabWidget;
    // io gui
    mtsRobotIO1394QtWidgetFactory::WidgetListType::const_iterator iterator;
    for (iterator = robotWidgetFactory->Widgets().begin();
         iterator != robotWidgetFactory->Widgets().end();
         ++iterator) {
            tabWidget->addTab(*iterator, (*iterator)->GetName().c_str());
        }
    // pid gui
    tabWidget->addTab(pidMasterGUI, (config_name + " PID").c_str());
    // psm gui
    tabWidget->addTab(psmGUI, psm->GetName().c_str());
    // button gui
    tabWidget->addTab(robotWidgetFactory->ButtonsWidget(), "Buttons");
    // show widget
    tabWidget->show();


    //-------------- create the components ------------------
    io->CreateAndWait(2.0 * cmn_s); // this will also create the pids as they are in same thread
    io->StartAndWait(2.0 * cmn_s);
    pid->StartAndWait(2.0 * cmn_s);

    // start all other components
    componentManager->CreateAllAndWait(2.0 * cmn_s);
    componentManager->StartAllAndWait(2.0 * cmn_s);

    // QtApp is now running

    componentManager->KillAllAndWait(2.0 * cmn_s);
    componentManager->Cleanup();

    // delete dvgc robot
    delete pid;
    delete pidMasterGUI;
    delete psm;
    delete psmGUI;

    // stop all logs
    cmnLogger::Kill();
}

//.........这里部分代码省略.........
  console->Connect();

  // psm GUI
  mtsIntuitiveResearchKitArmQtWidget* psmGUI = new mtsIntuitiveResearchKitArmQtWidget(config_name+"GUI");
  psmGUI->Configure();
  componentManager->AddComponent(psmGUI);
  componentManager->Connect(psmGUI->GetName(), "Manipulator", psm->Name(), "Robot");


  //-------------------------------------------------------
  // Start ROS Bridge
  // ------------------------------------------------------
  ROS_INFO("\n Name is :%s \n :%s \n :%s \n :%s \n ",config_name.c_str(),config_pid.c_str(),config_io.c_str()
           ,config_kinematics.c_str());
  // ros wrapper
  mtsROSBridge robotBridge("RobotBridge", 20 * cmn_ms, true);
  // connect to psm

  robotBridge.AddPublisherFromReadCommand<prmPositionCartesianGet, geometry_msgs::Pose>(
        config_name, "GetPositionCartesian", "/dvrk_psm/cartesian_pose_current");
  robotBridge.AddPublisherFromReadCommand<vctDoubleVec, cisst_msgs::vctDoubleVec>(
        pid->GetName(), "GetEffortJointDesired", "/dvrk_psm/joint_effort_current");
  robotBridge.AddPublisherFromReadCommand<prmPositionJointGet, sensor_msgs::JointState>(
        pid->GetName(), "GetPositionJoint", "/dvrk_psm/joint_position_current");
  robotBridge.AddPublisherFromEventWrite<prmEventButton, std_msgs::Bool>(
  "ManipClutch","Button","/dvrk_psm/manip_clutch_state");
  robotBridge.AddPublisherFromReadCommand<std::string, std_msgs::String>(
        config_name,"GetRobotControlState","/dvrk_psm/robot_state_current");


  // Finally Working Form; However it is still unsafe since there is no safety check.
  // Use with caution and with your hand on the E-Stop.
  robotBridge.AddSubscriberToWriteCommand<prmForceTorqueJointSet , sensor_msgs::JointState>(
        pid->GetName(), "SetTorqueJoint", "/dvrk_psm/set_joint_effort");
  robotBridge.AddSubscriberToWriteCommand<std::string, std_msgs::String>(
        config_name, "SetRobotControlState", "/dvrk_psm/set_robot_state");
  robotBridge.AddSubscriberToWriteCommand<bool, std_msgs::Bool>(
        pid->GetName(),"Enable","/dvrk_psm/enable_pid");
  robotBridge.AddSubscriberToWriteCommand<prmPositionJointSet, sensor_msgs::JointState>(
        pid->GetName(),"SetPositionJoint","/dvrk_psm/set_position_joint");
  robotBridge.AddSubscriberToWriteCommand<prmPositionCartesianSet, geometry_msgs::Pose>(
        config_name, "SetPositionCartesian", "/dvrk_psm/set_position_cartesian");

  componentManager->AddComponent(&robotBridge);
  componentManager->Connect(robotBridge.GetName(), config_name, psm->Name(), "Robot");
  componentManager->Connect(robotBridge.GetName(), pid->GetName(), pid->GetName(),"Controller");
  componentManager->Connect(robotBridge.GetName(), "ManipClutch", "io", config_name + "-ManipClutch");

//  componentManager->Connect(robotBridge.GetName(), "Clutch", "io", "CLUTCH");

  //-------------------------------------------------------
  // End ROS Bridge
  // ------------------------------------------------------


  // organize all widgets in a tab widget
  QTabWidget * tabWidget = new QTabWidget;
  // io gui
  mtsRobotIO1394QtWidgetFactory::WidgetListType::const_iterator iterator;
  for (iterator = robotWidgetFactory->Widgets().begin();
       iterator != robotWidgetFactory->Widgets().end();
       ++iterator)
  {
    tabWidget->addTab(*iterator, (*iterator)->GetName().c_str());
  }
  tabWidget->addTab(consoleGUI, "Main");
  // pid gui
  tabWidget->addTab(pidMasterGUI, (config_name + "PID").c_str());
  // psm gui
  tabWidget->addTab(psmGUI, psm->Name().c_str());
  // button gui
  tabWidget->addTab(robotWidgetFactory->ButtonsWidget(), "Buttons");
  // show widget
  tabWidget->show();


  //-------------- create the components ------------------

  io->CreateAndWait(2.0 * cmn_s); // this will also create the pids as they are in same thread
  io->StartAndWait(2.0 * cmn_s);
  pid->StartAndWait(2.0 * cmn_s);

  // start all other components
  componentManager->CreateAllAndWait(2.0 * cmn_s);
  componentManager->StartAllAndWait(2.0 * cmn_s);  

  // QtApp will run here
  componentManager->KillAllAndWait(2.0 * cmn_s);
  componentManager->Cleanup();

  // delete dvgc robot
  delete pid;
  delete pidMasterGUI;
  delete psm;
  delete psmGUI;
  delete robotWidgetFactory;

  // stop all logs
  cmnLogger::Kill();
}

//.........这里部分代码省略.........
    componentManager->AddComponent(pidMasterGUI);
    componentManager->Connect(pidMasterGUI->GetName(), "Controller", mtm->PIDComponentName(), "Controller");

    mtsPIDQtWidget * pidMasterGUI2 = new mtsPIDQtWidget("PID MTML", 8);
    pidMasterGUI2->Configure();
    componentManager->AddComponent(pidMasterGUI2);
    componentManager->Connect(pidMasterGUI2->GetName(), "Controller", mtml->PIDComponentName(), "Controller");

    // PID Slave GUI
    mtsPIDQtWidget * pidSlaveGUI = new mtsPIDQtWidget("PID Slave", 7);
    pidSlaveGUI->Configure();
    componentManager->AddComponent(pidSlaveGUI);
    componentManager->Connect(pidSlaveGUI->GetName(), "Controller", psm->PIDComponentName(), "Controller");

    mtsPIDQtWidget * pidSlaveGUI2 = new mtsPIDQtWidget("PID PSM2", 7);
    pidSlaveGUI2->Configure();
    componentManager->AddComponent(pidSlaveGUI2);
    componentManager->Connect(pidSlaveGUI2->GetName(), "Controller", psm2->PIDComponentName(), "Controller");

    // Teleoperation
    mtsTeleOperationQtWidget * teleGUI = new mtsTeleOperationQtWidget("teleGUI");
    teleGUI->Configure();
    componentManager->AddComponent(teleGUI);
    mtsTeleOperation * tele = new mtsTeleOperation("tele", 5.0 * cmn_ms);
    componentManager->AddComponent(tele);
    // connect teleGUI to tele
    componentManager->Connect("teleGUI", "TeleOperation", "tele", "Setting");

    mtsTeleOperationQtWidget * teleGUI2 = new mtsTeleOperationQtWidget("teleGUI2");
    teleGUI2->Configure();
    componentManager->AddComponent(teleGUI2);
    mtsTeleOperation * tele2 = new mtsTeleOperation("tele2", 5.0 * cmn_ms);
    componentManager->AddComponent(tele2);
    // connect teleGUI to tele
    componentManager->Connect("teleGUI2", "TeleOperation", "tele2", "Setting");

    // TextToSpeech
    mtsTextToSpeech* textToSpeech = new mtsTextToSpeech;
    textToSpeech->AddInterfaceRequiredForEventString("ErrorMsg", "RobotErrorMsg");
    componentManager->AddComponent(textToSpeech);
    componentManager->Connect(textToSpeech->GetName(), "ErrorMsg", psm->Name(), "Robot");

    // connect teleop to Master + Slave + Clutch
    componentManager->Connect("tele", "Master", mtm->Name(), "Robot");
    componentManager->Connect("tele", "Slave", psm->Name(), "Robot");
    componentManager->Connect("tele", "CLUTCH", "io", "CLUTCH");
    componentManager->Connect("tele", "COAG", "io", "COAG");

    componentManager->Connect("tele2", "Master", mtml->Name(), "Robot");
    componentManager->Connect("tele2", "Slave", psm2->Name(), "Robot");
    componentManager->Connect("tele2", "CLUTCH", "io", "CLUTCH");
    componentManager->Connect("tele2", "COAG", "io", "COAG");

    // organize all widgets in a tab widget
    QTabWidget * tabWidget = new QTabWidget;
    tabWidget->addTab(consoleGUI, "Main");
    tabWidget->addTab(teleGUI, "Tele-op");
    tabWidget->addTab(teleGUI2, "Tele-op2");
    tabWidget->addTab(pidMasterGUI, "PID Master");
    tabWidget->addTab(pidMasterGUI2, "PID MTML");
    tabWidget->addTab(pidSlaveGUI, "PID Slave");
    tabWidget->addTab(pidSlaveGUI2, "PID PSM2");
    mtsRobotIO1394QtWidgetFactory::WidgetListType::const_iterator iterator;
    for (iterator = robotWidgetFactory->Widgets().begin();
         iterator != robotWidgetFactory->Widgets().end();
         ++iterator) {
        tabWidget->addTab(*iterator, (*iterator)->GetName().c_str());
    }
    tabWidget->addTab(robotWidgetFactory->ButtonsWidget(), "Buttons");
    tabWidget->show();

    //-------------- create the components ------------------
    io->CreateAndWait(2.0 * cmn_s); // this will also create the pids as they are in same thread

    // start all other components
    componentManager->CreateAllAndWait(2.0 * cmn_s);
    componentManager->StartAllAndWait(2.0 * cmn_s);

    // QtApplication will run in main thread and return control
    // when exited.
    qtAppTask.exec();

    componentManager->KillAllAndWait(2.0 * cmn_s);
    componentManager->Cleanup();

    // delete dvgc robot
    delete tele;
    delete tele2;
    delete pidMasterGUI;
    delete pidMasterGUI2;
    delete pidSlaveGUI;
    delete pidSlaveGUI2;
    delete io;
    delete robotWidgetFactory;

    // stop all logs
    cmnLogger::Kill();

    return 0;
}