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Robot: Apply clang format

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This commit is contained in:
wmayer
2023-09-11 10:53:40 +02:00
committed by wwmayer
parent 3acb817ee7
commit 4bc2b1b03c
47 changed files with 1592 additions and 1263 deletions
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18
src/Mod/Robot/Gui/AppRobotGui.cpp
View File

@@ -50,13 +50,15 @@ void loadRobotResource()
Gui::Translator::instance()->refresh();
}
namespace RobotGui {
class Module : public Py::ExtensionModule<Module>
namespace RobotGui
{
class Module: public Py::ExtensionModule<Module>
{
public:
Module() : Py::ExtensionModule<Module>("RobotGui")
Module()
: Py::ExtensionModule<Module>("RobotGui")
{
initialize("This module is the RobotGui module."); // register with Python
initialize("This module is the RobotGui module.");// register with Python
}
private:
@@ -67,7 +69,7 @@ PyObject* initModule()
return Base::Interpreter().addModule(new Module);
}
} // namespace RobotGui
}// namespace RobotGui
/* Python entry */
@@ -93,7 +95,7 @@ PyMOD_INIT_FUNC(RobotGui)
// default displacement while e.g. picking
Base::Interpreter().runString("_DefDisplacement = FreeCAD.Vector(0,0,0)");
}
catch(const Base::Exception& e) {
catch (const Base::Exception& e) {
PyErr_SetString(PyExc_ImportError, e.what());
PyMOD_Return(nullptr);
}
@@ -106,6 +108,7 @@ PyMOD_INIT_FUNC(RobotGui)
CreateRobotCommandsInsertRobots();
CreateRobotCommandsTrajectory();
// clang-format off
// addition objects
RobotGui::Workbench ::init();
RobotGui::ViewProviderRobotObject ::init();
@@ -113,8 +116,9 @@ PyMOD_INIT_FUNC(RobotGui)
RobotGui::ViewProviderEdge2TracObject ::init();
RobotGui::ViewProviderTrajectoryCompound ::init();
RobotGui::ViewProviderTrajectoryDressUp ::init();
// clang-format on
// add resources and reloads the translators
// add resources and reloads the translators
loadRobotResource();
PyMOD_Return(mod);

190
src/Mod/Robot/Gui/Command.cpp
View File

@@ -22,7 +22,7 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <QMessageBox>
#include <QMessageBox>
#endif
#include <Gui/Application.h>
@@ -45,31 +45,31 @@ using namespace RobotGui;
DEF_STD_CMD_A(CmdRobotSetHomePos)
CmdRobotSetHomePos::CmdRobotSetHomePos()
:Command("Robot_SetHomePos")
: Command("Robot_SetHomePos")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Set the home position");
sToolTipText = QT_TR_NOOP("Set the home position");
sWhatsThis = "Robot_SetHomePos";
sStatusTip = sToolTipText;
sPixmap = "Robot_SetHomePos";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Set the home position");
sToolTipText = QT_TR_NOOP("Set the home position");
sWhatsThis = "Robot_SetHomePos";
sStatusTip = sToolTipText;
sPixmap = "Robot_SetHomePos";
}
void CmdRobotSetHomePos::activated(int)
{
const char * SelFilter =
"SELECT Robot::RobotObject COUNT 1 ";
const char* SelFilter = "SELECT Robot::RobotObject COUNT 1 ";
Gui::SelectionFilter filter(SelFilter);
Robot::RobotObject *pcRobotObject;
Robot::RobotObject* pcRobotObject;
if (filter.match()) {
pcRobotObject = static_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
}
else {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select one Robot to set home position"));
QMessageBox::warning(Gui::getMainWindow(),
QObject::tr("Wrong selection"),
QObject::tr("Select one Robot to set home position"));
return;
}
@@ -78,10 +78,20 @@ void CmdRobotSetHomePos::activated(int)
const char* n = FeatName.c_str();
openCommand("Set home");
doCommand(Doc,"App.activeDocument().%s.Home = [App.activeDocument().%s.Axis1,App.activeDocument().%s.Axis2,App.activeDocument().%s.Axis3,App.activeDocument().%s.Axis4,App.activeDocument().%s.Axis5,App.activeDocument().%s.Axis6]",n,n,n,n,n,n,n);
doCommand(Doc,
"App.activeDocument().%s.Home = "
"[App.activeDocument().%s.Axis1,App.activeDocument().%s.Axis2,App.activeDocument().%"
"s.Axis3,App.activeDocument().%s.Axis4,App.activeDocument().%s.Axis5,App."
"activeDocument().%s.Axis6]",
n,
n,
n,
n,
n,
n,
n);
updateActive();
commitCommand();
}
bool CmdRobotSetHomePos::isActive()
@@ -94,31 +104,31 @@ bool CmdRobotSetHomePos::isActive()
DEF_STD_CMD_A(CmdRobotRestoreHomePos)
CmdRobotRestoreHomePos::CmdRobotRestoreHomePos()
:Command("Robot_RestoreHomePos")
: Command("Robot_RestoreHomePos")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Move to home");
sToolTipText = QT_TR_NOOP("Move to home");
sWhatsThis = "Robot_RestoreHomePos";
sStatusTip = sToolTipText;
sPixmap = "Robot_RestoreHomePos";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Move to home");
sToolTipText = QT_TR_NOOP("Move to home");
sWhatsThis = "Robot_RestoreHomePos";
sStatusTip = sToolTipText;
sPixmap = "Robot_RestoreHomePos";
}
void CmdRobotRestoreHomePos::activated(int)
{
const char * SelFilter =
"SELECT Robot::RobotObject COUNT 1 ";
const char* SelFilter = "SELECT Robot::RobotObject COUNT 1 ";
Gui::SelectionFilter filter(SelFilter);
Robot::RobotObject *pcRobotObject;
Robot::RobotObject* pcRobotObject;
if (filter.match()) {
pcRobotObject = static_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
}
else {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select one Robot"));
QMessageBox::warning(Gui::getMainWindow(),
QObject::tr("Wrong selection"),
QObject::tr("Select one Robot"));
return;
}
@@ -127,15 +137,14 @@ void CmdRobotRestoreHomePos::activated(int)
const char* n = FeatName.c_str();
openCommand("Move to home");
doCommand(Doc,"App.activeDocument().%s.Axis1 = App.activeDocument().%s.Home[0]",n,n);
doCommand(Doc,"App.activeDocument().%s.Axis2 = App.activeDocument().%s.Home[1]",n,n);
doCommand(Doc,"App.activeDocument().%s.Axis3 = App.activeDocument().%s.Home[2]",n,n);
doCommand(Doc,"App.activeDocument().%s.Axis4 = App.activeDocument().%s.Home[3]",n,n);
doCommand(Doc,"App.activeDocument().%s.Axis5 = App.activeDocument().%s.Home[4]",n,n);
doCommand(Doc,"App.activeDocument().%s.Axis6 = App.activeDocument().%s.Home[5]",n,n);
doCommand(Doc, "App.activeDocument().%s.Axis1 = App.activeDocument().%s.Home[0]", n, n);
doCommand(Doc, "App.activeDocument().%s.Axis2 = App.activeDocument().%s.Home[1]", n, n);
doCommand(Doc, "App.activeDocument().%s.Axis3 = App.activeDocument().%s.Home[2]", n, n);
doCommand(Doc, "App.activeDocument().%s.Axis4 = App.activeDocument().%s.Home[3]", n, n);
doCommand(Doc, "App.activeDocument().%s.Axis5 = App.activeDocument().%s.Home[4]", n, n);
doCommand(Doc, "App.activeDocument().%s.Axis6 = App.activeDocument().%s.Home[5]", n, n);
updateActive();
commitCommand();
}
bool CmdRobotRestoreHomePos::isActive()
@@ -148,15 +157,15 @@ bool CmdRobotRestoreHomePos::isActive()
DEF_STD_CMD_A(CmdRobotConstraintAxle)
CmdRobotConstraintAxle::CmdRobotConstraintAxle()
:Command("Robot_Create")
: Command("Robot_Create")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Place robot...");
sToolTipText = QT_TR_NOOP("Place a robot (experimental!)");
sWhatsThis = "Robot_Create";
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateRobot";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Place robot...");
sToolTipText = QT_TR_NOOP("Place a robot (experimental!)");
sWhatsThis = "Robot_Create";
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateRobot";
}
@@ -167,15 +176,22 @@ void CmdRobotConstraintAxle::activated(int)
std::string KinematicPath = "Mod/Robot/Lib/Kuka/kr500_1.csv";
openCommand("Place robot");
doCommand(Doc,"App.activeDocument().addObject(\"Robot::RobotObject\",\"%s\")",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.RobotVrmlFile = App.getResourceDir()+\"%s\"",FeatName.c_str(),RobotPath.c_str());
doCommand(Doc,"App.activeDocument().%s.RobotKinematicFile = App.getResourceDir()+\"%s\"",FeatName.c_str(),KinematicPath.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis2 = -90",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis3 = 90",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis5 = 45",FeatName.c_str());
doCommand(Doc,
"App.activeDocument().addObject(\"Robot::RobotObject\",\"%s\")",
FeatName.c_str());
doCommand(Doc,
"App.activeDocument().%s.RobotVrmlFile = App.getResourceDir()+\"%s\"",
FeatName.c_str(),
RobotPath.c_str());
doCommand(Doc,
"App.activeDocument().%s.RobotKinematicFile = App.getResourceDir()+\"%s\"",
FeatName.c_str(),
KinematicPath.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis2 = -90", FeatName.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis3 = 90", FeatName.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis5 = 45", FeatName.c_str());
updateActive();
commitCommand();
}
bool CmdRobotConstraintAxle::isActive()
@@ -189,68 +205,74 @@ bool CmdRobotConstraintAxle::isActive()
DEF_STD_CMD_A(CmdRobotSimulate)
CmdRobotSimulate::CmdRobotSimulate()
:Command("Robot_Simulate")
: Command("Robot_Simulate")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Simulate a trajectory");
sToolTipText = QT_TR_NOOP("Run a simulation on a trajectory");
sWhatsThis = "Robot_Simulate";
sStatusTip = sToolTipText;
sPixmap = "Robot_Simulate";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Simulate a trajectory");
sToolTipText = QT_TR_NOOP("Run a simulation on a trajectory");
sWhatsThis = "Robot_Simulate";
sStatusTip = sToolTipText;
sPixmap = "Robot_Simulate";
}
void CmdRobotSimulate::activated(int)
{
#if 1
const char * SelFilter =
"SELECT Robot::RobotObject \n"
"SELECT Robot::TrajectoryObject ";
const char* SelFilter = "SELECT Robot::RobotObject \n"
"SELECT Robot::TrajectoryObject ";
Gui::SelectionFilter filter(SelFilter);
Robot::RobotObject *pcRobotObject;
Robot::TrajectoryObject *pcTrajectoryObject;
Robot::RobotObject* pcRobotObject;
Robot::TrajectoryObject* pcTrajectoryObject;
if (filter.match()) {
pcRobotObject = static_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(filter.Result[1][0].getObject());;
pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(filter.Result[1][0].getObject());
;
}
else {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select one Robot and one Trajectory object."));
QMessageBox::warning(Gui::getMainWindow(),
QObject::tr("Wrong selection"),
QObject::tr("Select one Robot and one Trajectory object."));
return;
}
if(pcTrajectoryObject->Trajectory.getValue().getSize() < 2){
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Trajectory not valid"),
if (pcTrajectoryObject->Trajectory.getValue().getSize() < 2) {
QMessageBox::warning(
Gui::getMainWindow(),
QObject::tr("Trajectory not valid"),
QObject::tr("You need at least two waypoints in a trajectory to simulate."));
return;
}
Gui::TaskView::TaskDialog* dlg = new TaskDlgSimulate(pcRobotObject,pcTrajectoryObject);
Gui::TaskView::TaskDialog* dlg = new TaskDlgSimulate(pcRobotObject, pcTrajectoryObject);
Gui::Control().showDialog(dlg);
#else
const char * SelFilter =
"SELECT Robot::RobotObject \n"
"SELECT Robot::TrajectoryObject ";
const char* SelFilter = "SELECT Robot::RobotObject \n"
"SELECT Robot::TrajectoryObject ";
Gui::SelectionFilter filter(SelFilter);
Robot::RobotObject *pcRobotObject;
Robot::TrajectoryObject *pcTrajectoryObject;
Robot::RobotObject* pcRobotObject;
Robot::TrajectoryObject* pcTrajectoryObject;
if(filter.match()){
if (filter.match()) {
pcRobotObject = dynamic_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
pcTrajectoryObject = dynamic_cast<Robot::TrajectoryObject*>(filter.Result[1][0].getObject());;
}else{
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select one Robot and one Trajectory object."));
pcTrajectoryObject =
dynamic_cast<Robot::TrajectoryObject*>(filter.Result[1][0].getObject());
;
}
else {
QMessageBox::warning(Gui::getMainWindow(),
QObject::tr("Wrong selection"),
QObject::tr("Select one Robot and one Trajectory object."));
}
RobotGui::TrajectorySimulate dlg(pcRobotObject,pcTrajectoryObject,Gui::getMainWindow());
RobotGui::TrajectorySimulate dlg(pcRobotObject, pcTrajectoryObject, Gui::getMainWindow());
dlg.exec();
#endif
}
@@ -261,17 +283,15 @@ bool CmdRobotSimulate::isActive()
}
// #####################################################################################################
void CreateRobotCommands()
{
Gui::CommandManager &rcCmdMgr = Gui::Application::Instance->commandManager();
Gui::CommandManager& rcCmdMgr = Gui::Application::Instance->commandManager();
rcCmdMgr.addCommand(new CmdRobotRestoreHomePos());
rcCmdMgr.addCommand(new CmdRobotSetHomePos());
rcCmdMgr.addCommand(new CmdRobotConstraintAxle());
rcCmdMgr.addCommand(new CmdRobotSimulate());
}
}

119
src/Mod/Robot/Gui/CommandExport.cpp
View File

@@ -22,7 +22,7 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <QMessageBox>
#include <QMessageBox>
#endif
#include <Gui/Application.h>
@@ -40,15 +40,15 @@ using namespace std;
DEF_STD_CMD_A(CmdRobotExportKukaCompact)
CmdRobotExportKukaCompact::CmdRobotExportKukaCompact()
:Command("Robot_ExportKukaCompact")
: Command("Robot_ExportKukaCompact")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Kuka compact subroutine...");
sToolTipText = QT_TR_NOOP("Export the trajectory as a compact KRL subroutine.");
sWhatsThis = "Robot_ExportKukaCompact";
sStatusTip = sToolTipText;
sPixmap = "Robot_Export";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Kuka compact subroutine...");
sToolTipText = QT_TR_NOOP("Export the trajectory as a compact KRL subroutine.");
sWhatsThis = "Robot_ExportKukaCompact";
sStatusTip = sToolTipText;
sPixmap = "Robot_Export";
}
@@ -58,37 +58,50 @@ void CmdRobotExportKukaCompact::activated(int)
unsigned int n2 = getSelection().countObjectsOfType(Robot::TrajectoryObject::getClassTypeId());
if (n1 != 1 || n2 != 1) {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select one Robot and one Trajectory object."));
QMessageBox::warning(Gui::getMainWindow(),
QObject::tr("Wrong selection"),
QObject::tr("Select one Robot and one Trajectory object."));
return;
}
std::vector<Gui::SelectionSingleton::SelObj> Sel = getSelection().getSelection();
Robot::RobotObject *pcRobotObject=nullptr;
if(Sel[0].pObject->getTypeId() == Robot::RobotObject::getClassTypeId())
Robot::RobotObject* pcRobotObject = nullptr;
if (Sel[0].pObject->getTypeId() == Robot::RobotObject::getClassTypeId()) {
pcRobotObject = static_cast<Robot::RobotObject*>(Sel[0].pObject);
else if(Sel[1].pObject->getTypeId() == Robot::RobotObject::getClassTypeId())
}
else if (Sel[1].pObject->getTypeId() == Robot::RobotObject::getClassTypeId()) {
pcRobotObject = static_cast<Robot::RobotObject*>(Sel[1].pObject);
}
std::string RoboName = pcRobotObject->getNameInDocument();
Robot::TrajectoryObject *pcTrajectoryObject=nullptr;
if(Sel[0].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId())
Robot::TrajectoryObject* pcTrajectoryObject = nullptr;
if (Sel[0].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId()) {
pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(Sel[0].pObject);
else if(Sel[1].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId())
}
else if (Sel[1].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId()) {
pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(Sel[1].pObject);
//std::string TrakName = pcTrajectoryObject->getNameInDocument();
}
// std::string TrakName = pcTrajectoryObject->getNameInDocument();
QStringList filter;
filter << QString::fromLatin1("%1 (*.src)").arg(QObject::tr("KRL file"));
filter << QString::fromLatin1("%1 (*.*)").arg(QObject::tr("All Files"));
QString fn = Gui::FileDialog::getSaveFileName(Gui::getMainWindow(), QObject::tr("Export program"), QString(), filter.join(QLatin1String(";;")));
if (fn.isEmpty())
QString fn = Gui::FileDialog::getSaveFileName(Gui::getMainWindow(),
QObject::tr("Export program"),
QString(),
filter.join(QLatin1String(";;")));
if (fn.isEmpty()) {
return;
}
doCommand(Doc,"from KukaExporter import ExportCompactSub");
doCommand(Doc,"ExportCompactSub(App.activeDocument().%s,App.activeDocument().%s,'%s')",pcRobotObject->getNameInDocument(),pcTrajectoryObject->getNameInDocument(),(const char*)fn.toLatin1());
doCommand(Doc, "from KukaExporter import ExportCompactSub");
doCommand(Doc,
"ExportCompactSub(App.activeDocument().%s,App.activeDocument().%s,'%s')",
pcRobotObject->getNameInDocument(),
pcTrajectoryObject->getNameInDocument(),
(const char*)fn.toLatin1());
}
bool CmdRobotExportKukaCompact::isActive()
@@ -102,15 +115,15 @@ bool CmdRobotExportKukaCompact::isActive()
DEF_STD_CMD_A(CmdRobotExportKukaFull)
CmdRobotExportKukaFull::CmdRobotExportKukaFull()
:Command("Robot_ExportKukaFull")
: Command("Robot_ExportKukaFull")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Kuka full subroutine...");
sToolTipText = QT_TR_NOOP("Export the trajectory as a full KRL subroutine.");
sWhatsThis = "Robot_ExportKukaFull";
sStatusTip = sToolTipText;
sPixmap = "Robot_Export";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Kuka full subroutine...");
sToolTipText = QT_TR_NOOP("Export the trajectory as a full KRL subroutine.");
sWhatsThis = "Robot_ExportKukaFull";
sStatusTip = sToolTipText;
sPixmap = "Robot_Export";
}
@@ -120,37 +133,50 @@ void CmdRobotExportKukaFull::activated(int)
unsigned int n2 = getSelection().countObjectsOfType(Robot::TrajectoryObject::getClassTypeId());
if (n1 != 1 || n2 != 1) {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select one Robot and one Trajectory object."));
QMessageBox::warning(Gui::getMainWindow(),
QObject::tr("Wrong selection"),
QObject::tr("Select one Robot and one Trajectory object."));
return;
}
std::vector<Gui::SelectionSingleton::SelObj> Sel = getSelection().getSelection();
Robot::RobotObject *pcRobotObject=nullptr;
if(Sel[0].pObject->getTypeId() == Robot::RobotObject::getClassTypeId())
Robot::RobotObject* pcRobotObject = nullptr;
if (Sel[0].pObject->getTypeId() == Robot::RobotObject::getClassTypeId()) {
pcRobotObject = static_cast<Robot::RobotObject*>(Sel[0].pObject);
else if(Sel[1].pObject->getTypeId() == Robot::RobotObject::getClassTypeId())
}
else if (Sel[1].pObject->getTypeId() == Robot::RobotObject::getClassTypeId()) {
pcRobotObject = static_cast<Robot::RobotObject*>(Sel[1].pObject);
//std::string RoboName = pcRobotObject->getNameInDocument();
}
// std::string RoboName = pcRobotObject->getNameInDocument();
Robot::TrajectoryObject *pcTrajectoryObject=nullptr;
if(Sel[0].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId())
Robot::TrajectoryObject* pcTrajectoryObject = nullptr;
if (Sel[0].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId()) {
pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(Sel[0].pObject);
else if(Sel[1].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId())
}
else if (Sel[1].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId()) {
pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(Sel[1].pObject);
//std::string TrakName = pcTrajectoryObject->getNameInDocument();
}
// std::string TrakName = pcTrajectoryObject->getNameInDocument();
QStringList filter;
filter << QString::fromLatin1("%1 (*.src)").arg(QObject::tr("KRL file"));
filter << QString::fromLatin1("%1 (*.*)").arg(QObject::tr("All Files"));
QString fn = Gui::FileDialog::getSaveFileName(Gui::getMainWindow(), QObject::tr("Export program"), QString(), filter.join(QLatin1String(";;")));
if (fn.isEmpty())
QString fn = Gui::FileDialog::getSaveFileName(Gui::getMainWindow(),
QObject::tr("Export program"),
QString(),
filter.join(QLatin1String(";;")));
if (fn.isEmpty()) {
return;
}
doCommand(Doc,"from KukaExporter import ExportFullSub");
doCommand(Doc,"ExportFullSub(App.activeDocument().%s,App.activeDocument().%s,'%s')",pcRobotObject->getNameInDocument(),pcTrajectoryObject->getNameInDocument(),(const char*)fn.toLatin1());
doCommand(Doc, "from KukaExporter import ExportFullSub");
doCommand(Doc,
"ExportFullSub(App.activeDocument().%s,App.activeDocument().%s,'%s')",
pcRobotObject->getNameInDocument(),
pcTrajectoryObject->getNameInDocument(),
(const char*)fn.toLatin1());
}
bool CmdRobotExportKukaFull::isActive()
@@ -161,11 +187,10 @@ bool CmdRobotExportKukaFull::isActive()
// #####################################################################################################
void CreateRobotCommandsExport()
{
Gui::CommandManager &rcCmdMgr = Gui::Application::Instance->commandManager();
Gui::CommandManager& rcCmdMgr = Gui::Application::Instance->commandManager();
rcCmdMgr.addCommand(new CmdRobotExportKukaFull());
rcCmdMgr.addCommand(new CmdRobotExportKukaCompact());
}
}

206
src/Mod/Robot/Gui/CommandInsertRobot.cpp
View File

@@ -22,7 +22,7 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <QMessageBox>
#include <QMessageBox>
#endif
#include <Gui/Application.h>
@@ -40,15 +40,15 @@ using namespace std;
DEF_STD_CMD_A(CmdRobotInsertKukaIR500)
CmdRobotInsertKukaIR500::CmdRobotInsertKukaIR500()
:Command("Robot_InsertKukaIR500")
: Command("Robot_InsertKukaIR500")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Kuka IR500");
sToolTipText = QT_TR_NOOP("Insert a Kuka IR500 into the document.");
sWhatsThis = "Robot_InsertKukaIR500";
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateRobot";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Kuka IR500");
sToolTipText = QT_TR_NOOP("Insert a Kuka IR500 into the document.");
sWhatsThis = "Robot_InsertKukaIR500";
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateRobot";
}
@@ -59,16 +59,25 @@ void CmdRobotInsertKukaIR500::activated(int)
std::string KinematicPath = "Mod/Robot/Lib/Kuka/kr500_1.csv";
openCommand("Place robot");
doCommand(Doc,"App.activeDocument().addObject(\"Robot::RobotObject\",\"%s\")",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.RobotVrmlFile = App.getResourceDir()+\"%s\"",FeatName.c_str(),RobotPath.c_str());
doCommand(Doc,"App.activeDocument().%s.RobotKinematicFile = App.getResourceDir()+\"%s\"",FeatName.c_str(),KinematicPath.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis2 = -90",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis3 = 90",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis5 = 45",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.Home = [0.0,-90.0,90.0,0.0,45.0,0.0]",FeatName.c_str());
doCommand(Doc,
"App.activeDocument().addObject(\"Robot::RobotObject\",\"%s\")",
FeatName.c_str());
doCommand(Doc,
"App.activeDocument().%s.RobotVrmlFile = App.getResourceDir()+\"%s\"",
FeatName.c_str(),
RobotPath.c_str());
doCommand(Doc,
"App.activeDocument().%s.RobotKinematicFile = App.getResourceDir()+\"%s\"",
FeatName.c_str(),
KinematicPath.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis2 = -90", FeatName.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis3 = 90", FeatName.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis5 = 45", FeatName.c_str());
doCommand(Doc,
"App.activeDocument().%s.Home = [0.0,-90.0,90.0,0.0,45.0,0.0]",
FeatName.c_str());
updateActive();
commitCommand();
}
bool CmdRobotInsertKukaIR500::isActive()
@@ -82,15 +91,15 @@ bool CmdRobotInsertKukaIR500::isActive()
DEF_STD_CMD_A(CmdRobotInsertKukaIR16)
CmdRobotInsertKukaIR16::CmdRobotInsertKukaIR16()
:Command("Robot_InsertKukaIR16")
: Command("Robot_InsertKukaIR16")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Kuka IR16");
sToolTipText = QT_TR_NOOP("Insert a Kuka IR16 into the document.");
sWhatsThis = "Robot_InsertKukaIR16";
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateRobot";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Kuka IR16");
sToolTipText = QT_TR_NOOP("Insert a Kuka IR16 into the document.");
sWhatsThis = "Robot_InsertKukaIR16";
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateRobot";
}
@@ -101,15 +110,22 @@ void CmdRobotInsertKukaIR16::activated(int)
std::string KinematicPath = "Mod/Robot/Lib/Kuka/kr_16.csv";
openCommand("Place robot");
doCommand(Doc,"App.activeDocument().addObject(\"Robot::RobotObject\",\"%s\")",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.RobotVrmlFile = App.getResourceDir()+\"%s\"",FeatName.c_str(),RobotPath.c_str());
doCommand(Doc,"App.activeDocument().%s.RobotKinematicFile = App.getResourceDir()+\"%s\"",FeatName.c_str(),KinematicPath.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis2 = -90",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis3 = 90",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis5 = 45",FeatName.c_str());
doCommand(Doc,
"App.activeDocument().addObject(\"Robot::RobotObject\",\"%s\")",
FeatName.c_str());
doCommand(Doc,
"App.activeDocument().%s.RobotVrmlFile = App.getResourceDir()+\"%s\"",
FeatName.c_str(),
RobotPath.c_str());
doCommand(Doc,
"App.activeDocument().%s.RobotKinematicFile = App.getResourceDir()+\"%s\"",
FeatName.c_str(),
KinematicPath.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis2 = -90", FeatName.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis3 = 90", FeatName.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis5 = 45", FeatName.c_str());
updateActive();
commitCommand();
}
bool CmdRobotInsertKukaIR16::isActive()
@@ -123,15 +139,15 @@ bool CmdRobotInsertKukaIR16::isActive()
DEF_STD_CMD_A(CmdRobotInsertKukaIR210)
CmdRobotInsertKukaIR210::CmdRobotInsertKukaIR210()
:Command("Robot_InsertKukaIR210")
: Command("Robot_InsertKukaIR210")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Kuka IR210");
sToolTipText = QT_TR_NOOP("Insert a Kuka IR210 into the document.");
sWhatsThis = "Robot_InsertKukaIR210";
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateRobot";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Kuka IR210");
sToolTipText = QT_TR_NOOP("Insert a Kuka IR210 into the document.");
sWhatsThis = "Robot_InsertKukaIR210";
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateRobot";
}
@@ -142,15 +158,22 @@ void CmdRobotInsertKukaIR210::activated(int)
std::string KinematicPath = "Mod/Robot/Lib/Kuka/kr_210_2.csv";
openCommand("Place robot");
doCommand(Doc,"App.activeDocument().addObject(\"Robot::RobotObject\",\"%s\")",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.RobotVrmlFile = App.getResourceDir()+\"%s\"",FeatName.c_str(),RobotPath.c_str());
doCommand(Doc,"App.activeDocument().%s.RobotKinematicFile = App.getResourceDir()+\"%s\"",FeatName.c_str(),KinematicPath.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis2 = -90",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis3 = 90",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis5 = 45",FeatName.c_str());
doCommand(Doc,
"App.activeDocument().addObject(\"Robot::RobotObject\",\"%s\")",
FeatName.c_str());
doCommand(Doc,
"App.activeDocument().%s.RobotVrmlFile = App.getResourceDir()+\"%s\"",
FeatName.c_str(),
RobotPath.c_str());
doCommand(Doc,
"App.activeDocument().%s.RobotKinematicFile = App.getResourceDir()+\"%s\"",
FeatName.c_str(),
KinematicPath.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis2 = -90", FeatName.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis3 = 90", FeatName.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis5 = 45", FeatName.c_str());
updateActive();
commitCommand();
}
bool CmdRobotInsertKukaIR210::isActive()
@@ -163,15 +186,15 @@ bool CmdRobotInsertKukaIR210::isActive()
DEF_STD_CMD_A(CmdRobotInsertKukaIR125)
CmdRobotInsertKukaIR125::CmdRobotInsertKukaIR125()
:Command("Robot_InsertKukaIR125")
: Command("Robot_InsertKukaIR125")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Kuka IR125");
sToolTipText = QT_TR_NOOP("Insert a Kuka IR125 into the document.");
sWhatsThis = "Robot_InsertKukaIR125";
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateRobot";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Kuka IR125");
sToolTipText = QT_TR_NOOP("Insert a Kuka IR125 into the document.");
sWhatsThis = "Robot_InsertKukaIR125";
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateRobot";
}
@@ -182,15 +205,22 @@ void CmdRobotInsertKukaIR125::activated(int)
std::string KinematicPath = "Mod/Robot/Lib/Kuka/kr_125.csv";
openCommand("Place robot");
doCommand(Doc,"App.activeDocument().addObject(\"Robot::RobotObject\",\"%s\")",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.RobotVrmlFile = App.getResourceDir()+\"%s\"",FeatName.c_str(),RobotPath.c_str());
doCommand(Doc,"App.activeDocument().%s.RobotKinematicFile = App.getResourceDir()+\"%s\"",FeatName.c_str(),KinematicPath.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis2 = -90",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis3 = 90",FeatName.c_str());
doCommand(Doc,"App.activeDocument().%s.Axis5 = 45",FeatName.c_str());
doCommand(Doc,
"App.activeDocument().addObject(\"Robot::RobotObject\",\"%s\")",
FeatName.c_str());
doCommand(Doc,
"App.activeDocument().%s.RobotVrmlFile = App.getResourceDir()+\"%s\"",
FeatName.c_str(),
RobotPath.c_str());
doCommand(Doc,
"App.activeDocument().%s.RobotKinematicFile = App.getResourceDir()+\"%s\"",
FeatName.c_str(),
KinematicPath.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis2 = -90", FeatName.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis3 = 90", FeatName.c_str());
doCommand(Doc, "App.activeDocument().%s.Axis5 = 45", FeatName.c_str());
updateActive();
commitCommand();
}
bool CmdRobotInsertKukaIR125::isActive()
@@ -204,60 +234,66 @@ bool CmdRobotInsertKukaIR125::isActive()
DEF_STD_CMD_A(CmdRobotAddToolShape)
CmdRobotAddToolShape::CmdRobotAddToolShape()
:Command("Robot_AddToolShape")
: Command("Robot_AddToolShape")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Add tool");
sToolTipText = QT_TR_NOOP("Add a tool shape to the robot");
sWhatsThis = "Robot_AddToolShape";
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateRobot";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Add tool");
sToolTipText = QT_TR_NOOP("Add a tool shape to the robot");
sWhatsThis = "Robot_AddToolShape";
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateRobot";
}
void CmdRobotAddToolShape::activated(int)
{
std::vector<App::DocumentObject*> robots = getSelection()
.getObjectsOfType(Robot::RobotObject::getClassTypeId());
std::vector<App::DocumentObject*> shapes = getSelection()
.getObjectsOfType(Base::Type::fromName("Part::Feature"));
std::vector<App::DocumentObject*> VRMLs = getSelection()
.getObjectsOfType(Base::Type::fromName("App::VRMLObject"));
std::vector<App::DocumentObject*> robots =
getSelection().getObjectsOfType(Robot::RobotObject::getClassTypeId());
std::vector<App::DocumentObject*> shapes =
getSelection().getObjectsOfType(Base::Type::fromName("Part::Feature"));
std::vector<App::DocumentObject*> VRMLs =
getSelection().getObjectsOfType(Base::Type::fromName("App::VRMLObject"));
if (robots.size() != 1 || (shapes.size() != 1 && VRMLs.size() != 1)) {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select one robot and one shape or VRML object."));
QMessageBox::warning(Gui::getMainWindow(),
QObject::tr("Wrong selection"),
QObject::tr("Select one robot and one shape or VRML object."));
return;
}
std::string RoboName = robots.front()->getNameInDocument();
std::string ShapeName;
if(shapes.size() == 1)
if (shapes.size() == 1) {
ShapeName = shapes.front()->getNameInDocument();
else
}
else {
ShapeName = VRMLs.front()->getNameInDocument();
}
openCommand("Add tool to robot");
doCommand(Doc,"App.activeDocument().%s.ToolShape = App.activeDocument().%s",RoboName.c_str(),ShapeName.c_str());
//doCommand(Gui,"Gui.activeDocument().hide(\"%s\")",ShapeName.c_str());
doCommand(Doc,
"App.activeDocument().%s.ToolShape = App.activeDocument().%s",
RoboName.c_str(),
ShapeName.c_str());
// doCommand(Gui,"Gui.activeDocument().hide(\"%s\")",ShapeName.c_str());
updateActive();
commitCommand();
}
bool CmdRobotAddToolShape::isActive()
{
//return false; // not yet implemented and thus not active
// return false; // not yet implemented and thus not active
return hasActiveDocument();
}
void CreateRobotCommandsInsertRobots()
{
Gui::CommandManager &rcCmdMgr = Gui::Application::Instance->commandManager();
Gui::CommandManager& rcCmdMgr = Gui::Application::Instance->commandManager();
rcCmdMgr.addCommand(new CmdRobotInsertKukaIR16());
rcCmdMgr.addCommand(new CmdRobotInsertKukaIR500());
rcCmdMgr.addCommand(new CmdRobotInsertKukaIR210());
rcCmdMgr.addCommand(new CmdRobotInsertKukaIR125());
rcCmdMgr.addCommand(new CmdRobotAddToolShape());
}
}

383
src/Mod/Robot/Gui/CommandTrajectory.cpp
View File

@@ -22,8 +22,8 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <QInputDialog>
# include <QMessageBox>
#include <QInputDialog>
#include <QMessageBox>
#endif
#include <Gui/Application.h>
@@ -49,15 +49,15 @@ using namespace RobotGui;
DEF_STD_CMD_A(CmdRobotCreateTrajectory)
CmdRobotCreateTrajectory::CmdRobotCreateTrajectory()
:Command("Robot_CreateTrajectory")
: Command("Robot_CreateTrajectory")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Create trajectory");
sToolTipText = QT_TR_NOOP("Create a new empty trajectory");
sWhatsThis = "Robot_CreateTrajectory";
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateTrajectory";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Create trajectory");
sToolTipText = QT_TR_NOOP("Create a new empty trajectory");
sWhatsThis = "Robot_CreateTrajectory";
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateTrajectory";
}
@@ -66,10 +66,11 @@ void CmdRobotCreateTrajectory::activated(int)
std::string FeatName = getUniqueObjectName("Trajectory");
openCommand("Create trajectory");
doCommand(Doc,"App.activeDocument().addObject(\"Robot::TrajectoryObject\",\"%s\")",FeatName.c_str());
doCommand(Doc,
"App.activeDocument().addObject(\"Robot::TrajectoryObject\",\"%s\")",
FeatName.c_str());
updateActive();
commitCommand();
}
bool CmdRobotCreateTrajectory::isActive()
@@ -82,16 +83,16 @@ bool CmdRobotCreateTrajectory::isActive()
DEF_STD_CMD_A(CmdRobotInsertWaypoint)
CmdRobotInsertWaypoint::CmdRobotInsertWaypoint()
:Command("Robot_InsertWaypoint")
: Command("Robot_InsertWaypoint")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Insert in trajectory");
sToolTipText = QT_TR_NOOP("Insert robot Tool location into trajectory");
sWhatsThis = "Robot_InsertWaypoint";
sStatusTip = sToolTipText;
sPixmap = "Robot_InsertWaypoint";
sAccel = "A";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Insert in trajectory");
sToolTipText = QT_TR_NOOP("Insert robot Tool location into trajectory");
sWhatsThis = "Robot_InsertWaypoint";
sStatusTip = sToolTipText;
sPixmap = "Robot_InsertWaypoint";
sAccel = "A";
}
@@ -101,32 +102,44 @@ void CmdRobotInsertWaypoint::activated(int)
unsigned int n2 = getSelection().countObjectsOfType(Robot::TrajectoryObject::getClassTypeId());
if (n1 != 1 || n2 != 1) {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select one Robot and one Trajectory object."));
QMessageBox::warning(Gui::getMainWindow(),
QObject::tr("Wrong selection"),
QObject::tr("Select one Robot and one Trajectory object."));
return;
}
std::vector<Gui::SelectionSingleton::SelObj> Sel = getSelection().getSelection();
Robot::RobotObject *pcRobotObject=nullptr;
if(Sel[0].pObject->getTypeId() == Robot::RobotObject::getClassTypeId())
Robot::RobotObject* pcRobotObject = nullptr;
if (Sel[0].pObject->getTypeId() == Robot::RobotObject::getClassTypeId()) {
pcRobotObject = static_cast<Robot::RobotObject*>(Sel[0].pObject);
else if(Sel[1].pObject->getTypeId() == Robot::RobotObject::getClassTypeId())
}
else if (Sel[1].pObject->getTypeId() == Robot::RobotObject::getClassTypeId()) {
pcRobotObject = static_cast<Robot::RobotObject*>(Sel[1].pObject);
}
std::string RoboName = pcRobotObject->getNameInDocument();
Robot::TrajectoryObject *pcTrajectoryObject=nullptr;
if(Sel[0].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId())
Robot::TrajectoryObject* pcTrajectoryObject = nullptr;
if (Sel[0].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId()) {
pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(Sel[0].pObject);
else if(Sel[1].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId())
}
else if (Sel[1].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId()) {
pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(Sel[1].pObject);
}
std::string TrakName = pcTrajectoryObject->getNameInDocument();
openCommand("Insert waypoint");
doCommand(Doc,"App.activeDocument().%s.Trajectory = App.activeDocument().%s.Trajectory.insertWaypoints(Robot.Waypoint(App.activeDocument().%s.Tcp.multiply(App.activeDocument().%s.Tool),type='LIN',name='Pt',vel=_DefSpeed,cont=_DefCont,acc=_DefAcceleration,tool=1))",TrakName.c_str(),TrakName.c_str(),RoboName.c_str(),RoboName.c_str());
doCommand(Doc,
"App.activeDocument().%s.Trajectory = "
"App.activeDocument().%s.Trajectory.insertWaypoints(Robot.Waypoint(App."
"activeDocument().%s.Tcp.multiply(App.activeDocument().%s.Tool),type='LIN',name='Pt',"
"vel=_DefSpeed,cont=_DefCont,acc=_DefAcceleration,tool=1))",
TrakName.c_str(),
TrakName.c_str(),
RoboName.c_str(),
RoboName.c_str());
updateActive();
commitCommand();
}
bool CmdRobotInsertWaypoint::isActive()
@@ -139,58 +152,71 @@ bool CmdRobotInsertWaypoint::isActive()
DEF_STD_CMD_A(CmdRobotInsertWaypointPreselect)
CmdRobotInsertWaypointPreselect::CmdRobotInsertWaypointPreselect()
:Command("Robot_InsertWaypointPreselect")
: Command("Robot_InsertWaypointPreselect")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Insert in trajectory");
sToolTipText = QT_TR_NOOP("Insert preselection position into trajectory (W)");
sWhatsThis = "Robot_InsertWaypointPreselect";
sStatusTip = sToolTipText;
sPixmap = "Robot_InsertWaypointPre";
sAccel = "W";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Insert in trajectory");
sToolTipText = QT_TR_NOOP("Insert preselection position into trajectory (W)");
sWhatsThis = "Robot_InsertWaypointPreselect";
sStatusTip = sToolTipText;
sPixmap = "Robot_InsertWaypointPre";
sAccel = "W";
}
void CmdRobotInsertWaypointPreselect::activated(int)
{
if (getSelection().size() != 1 ) {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select one Trajectory object."));
if (getSelection().size() != 1) {
QMessageBox::warning(Gui::getMainWindow(),
QObject::tr("Wrong selection"),
QObject::tr("Select one Trajectory object."));
return;
}
std::vector<Gui::SelectionSingleton::SelObj> Sel = getSelection().getSelection();
const Gui::SelectionChanges & PreSel = getSelection().getPreselection();
const Gui::SelectionChanges& PreSel = getSelection().getPreselection();
float x = PreSel.x;
float y = PreSel.y;
float z = PreSel.z;
Robot::TrajectoryObject *pcTrajectoryObject;
if (Sel[0].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId())
Robot::TrajectoryObject* pcTrajectoryObject;
if (Sel[0].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId()) {
pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(Sel[0].pObject);
}
else {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select one Trajectory object."));
QMessageBox::warning(Gui::getMainWindow(),
QObject::tr("Wrong selection"),
QObject::tr("Select one Trajectory object."));
return;
}
std::string TrakName = pcTrajectoryObject->getNameInDocument();
if (!PreSel.pDocName) {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("No preselection"),
QObject::tr("You have to hover above a geometry (Preselection) with the mouse to use this command. See documentation for details."));
QMessageBox::warning(
Gui::getMainWindow(),
QObject::tr("No preselection"),
QObject::tr("You have to hover above a geometry (Preselection) with the mouse to use "
"this command. See documentation for details."));
return;
}
openCommand("Insert waypoint");
doCommand(Doc,"App.activeDocument().%s.Trajectory = App.activeDocument().%s.Trajectory.insertWaypoints(Robot.Waypoint(FreeCAD.Placement(FreeCAD.Vector(%f,%f,%f)+_DefDisplacement,_DefOrientation),type='LIN',name='Pt',vel=_DefSpeed,cont=_DefCont,acc=_DefAcceleration,tool=1))",TrakName.c_str(),TrakName.c_str(),x,y,z);
doCommand(Doc,
"App.activeDocument().%s.Trajectory = "
"App.activeDocument().%s.Trajectory.insertWaypoints(Robot.Waypoint(FreeCAD.Placement("
"FreeCAD.Vector(%f,%f,%f)+_DefDisplacement,_DefOrientation),type='LIN',name='Pt',vel="
"_DefSpeed,cont=_DefCont,acc=_DefAcceleration,tool=1))",
TrakName.c_str(),
TrakName.c_str(),
x,
y,
z);
updateActive();
commitCommand();
}
bool CmdRobotInsertWaypointPreselect::isActive()
@@ -203,16 +229,16 @@ bool CmdRobotInsertWaypointPreselect::isActive()
DEF_STD_CMD_A(CmdRobotSetDefaultOrientation)
CmdRobotSetDefaultOrientation::CmdRobotSetDefaultOrientation()
:Command("Robot_SetDefaultOrientation")
: Command("Robot_SetDefaultOrientation")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Set default orientation");
sToolTipText = QT_TR_NOOP("Set the default orientation for subsequent commands for waypoint creation");
sWhatsThis = "Robot_SetDefaultOrientation";
sStatusTip = sToolTipText;
sPixmap = nullptr;
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Set default orientation");
sToolTipText =
QT_TR_NOOP("Set the default orientation for subsequent commands for waypoint creation");
sWhatsThis = "Robot_SetDefaultOrientation";
sStatusTip = sToolTipText;
sPixmap = nullptr;
}
@@ -223,12 +249,17 @@ void CmdRobotSetDefaultOrientation::activated(int)
Dlg.setSelection(Gui::Selection().getSelectionEx());
Base::Placement place;
Dlg.setPlacement(place);
if (Dlg.exec() == QDialog::Accepted ){
if (Dlg.exec() == QDialog::Accepted) {
place = Dlg.getPlacement();
Base::Rotation rot = place.getRotation();
Base::Vector3d disp = place.getPosition();
doCommand(Doc,"_DefOrientation = FreeCAD.Rotation(%f,%f,%f,%f)",rot[0],rot[1],rot[2],rot[3]);
doCommand(Doc,"_DefDisplacement = FreeCAD.Vector(%f,%f,%f)",disp[0],disp[1],disp[2]);
doCommand(Doc,
"_DefOrientation = FreeCAD.Rotation(%f,%f,%f,%f)",
rot[0],
rot[1],
rot[2],
rot[3]);
doCommand(Doc, "_DefDisplacement = FreeCAD.Vector(%f,%f,%f)", disp[0], disp[1], disp[2]);
}
}
@@ -242,16 +273,16 @@ bool CmdRobotSetDefaultOrientation::isActive()
DEF_STD_CMD_A(CmdRobotSetDefaultValues)
CmdRobotSetDefaultValues::CmdRobotSetDefaultValues()
:Command("Robot_SetDefaultValues")
: Command("Robot_SetDefaultValues")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Set default values");
sToolTipText = QT_TR_NOOP("Set the default values for speed, acceleration and continuity for subsequent commands of waypoint creation");
sWhatsThis = "Robot_SetDefaultValues";
sStatusTip = sToolTipText;
sPixmap = nullptr;
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Set default values");
sToolTipText = QT_TR_NOOP("Set the default values for speed, acceleration and continuity for "
"subsequent commands of waypoint creation");
sWhatsThis = "Robot_SetDefaultValues";
sStatusTip = sToolTipText;
sPixmap = nullptr;
}
@@ -259,43 +290,58 @@ void CmdRobotSetDefaultValues::activated(int)
{
bool ok;
QString text = QInputDialog::getText(nullptr, QObject::tr("Set default speed"),
QObject::tr("speed: (e.g. 1 m/s or 3 cm/s)"), QLineEdit::Normal,
QString::fromLatin1("1 m/s"), &ok, Qt::MSWindowsFixedSizeDialogHint);
if ( ok && !text.isEmpty() ) {
doCommand(Doc,"_DefSpeed = '%s'",text.toLatin1().constData());
QString text = QInputDialog::getText(nullptr,
QObject::tr("Set default speed"),
QObject::tr("speed: (e.g. 1 m/s or 3 cm/s)"),
QLineEdit::Normal,
QString::fromLatin1("1 m/s"),
&ok,
Qt::MSWindowsFixedSizeDialogHint);
if (ok && !text.isEmpty()) {
doCommand(Doc, "_DefSpeed = '%s'", text.toLatin1().constData());
}
QStringList items;
items << QString::fromLatin1("False") << QString::fromLatin1("True");
items << QString::fromLatin1("False") << QString::fromLatin1("True");
QString item = QInputDialog::getItem(nullptr, QObject::tr("Set default continuity"),
QObject::tr("continuous ?"), items, 0, false, &ok, Qt::MSWindowsFixedSizeDialogHint);
if (ok && !item.isEmpty())
doCommand(Doc,"_DefCont = %s",item.toLatin1().constData());
QString item = QInputDialog::getItem(nullptr,
QObject::tr("Set default continuity"),
QObject::tr("continuous ?"),
items,
0,
false,
&ok,
Qt::MSWindowsFixedSizeDialogHint);
if (ok && !item.isEmpty()) {
doCommand(Doc, "_DefCont = %s", item.toLatin1().constData());
}
text.clear();
text = QInputDialog::getText(nullptr, QObject::tr("Set default acceleration"),
QObject::tr("acceleration: (e.g. 1 m/s^2 or 3 cm/s^2)"), QLineEdit::Normal,
QString::fromLatin1("1 m/s^2"), &ok, Qt::MSWindowsFixedSizeDialogHint);
if ( ok && !text.isEmpty() ) {
doCommand(Doc,"_DefAcceleration = '%s'",text.toLatin1().constData());
text = QInputDialog::getText(nullptr,
QObject::tr("Set default acceleration"),
QObject::tr("acceleration: (e.g. 1 m/s^2 or 3 cm/s^2)"),
QLineEdit::Normal,
QString::fromLatin1("1 m/s^2"),
&ok,
Qt::MSWindowsFixedSizeDialogHint);
if (ok && !text.isEmpty()) {
doCommand(Doc, "_DefAcceleration = '%s'", text.toLatin1().constData());
}
// create placement dialog
//Gui::Dialog::Placement *Dlg = new Gui::Dialog::Placement();
//Base::Placement place;
//Dlg->setPlacement(place);
//if(Dlg->exec() == QDialog::Accepted ){
// Gui::Dialog::Placement *Dlg = new Gui::Dialog::Placement();
// Base::Placement place;
// Dlg->setPlacement(place);
// if(Dlg->exec() == QDialog::Accepted ){
// place = Dlg->getPlacement();
// Base::Rotation rot = place.getRotation();
// Base::Vector3d disp = place.getPosition();
// doCommand(Doc,"_DefOrientation = FreeCAD.Rotation(%f,%f,%f,%f)",rot[0],rot[1],rot[2],rot[3]);
// doCommand(Doc,"_DefOrientation =
// FreeCAD.Rotation(%f,%f,%f,%f)",rot[0],rot[1],rot[2],rot[3]);
// doCommand(Doc,"_DefDisplacement = FreeCAD.Vector(%f,%f,%f)",disp[0],disp[1],disp[2]);
//}
}
bool CmdRobotSetDefaultValues::isActive()
@@ -308,58 +354,60 @@ bool CmdRobotSetDefaultValues::isActive()
DEF_STD_CMD_A(CmdRobotEdge2Trac)
CmdRobotEdge2Trac::CmdRobotEdge2Trac()
:Command("Robot_Edge2Trac")
: Command("Robot_Edge2Trac")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Edge to Trajectory...");
sToolTipText = QT_TR_NOOP("Generate a Trajectory from a set of edges");
sWhatsThis = "Robot_Edge2Trac";
sStatusTip = sToolTipText;
sPixmap = "Robot_Edge2Trac";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Edge to Trajectory...");
sToolTipText = QT_TR_NOOP("Generate a Trajectory from a set of edges");
sWhatsThis = "Robot_Edge2Trac";
sStatusTip = sToolTipText;
sPixmap = "Robot_Edge2Trac";
}
void CmdRobotEdge2Trac::activated(int)
{
/* App::DocumentObject *obj = this->getDocument()->getObject(FeatName.c_str());
App::Property *prop = &(dynamic_cast<Robot::Edge2TracObject *>(obj)->Source);
/* App::DocumentObject *obj = this->getDocument()->getObject(FeatName.c_str());
App::Property *prop = &(dynamic_cast<Robot::Edge2TracObject *>(obj)->Source);
Gui::TaskView::TaskDialog* dlg = new TaskDlgEdge2Trac(dynamic_cast<Robot::Edge2TracObject *>(obj));
Gui::Control().showDialog(dlg);*/
Gui::TaskView::TaskDialog* dlg = new TaskDlgEdge2Trac(dynamic_cast<Robot::Edge2TracObject
*>(obj)); Gui::Control().showDialog(dlg);*/
Gui::SelectionFilter ObjectFilter("SELECT Robot::Edge2TracObject COUNT 1");
Gui::SelectionFilter EdgeFilter ("SELECT Part::Feature SUBELEMENT Edge COUNT 1..");
Gui::SelectionFilter EdgeFilter("SELECT Part::Feature SUBELEMENT Edge COUNT 1..");
if (ObjectFilter.match()) {
Robot::Edge2TracObject *EdgeObj = static_cast<Robot::Edge2TracObject*>(ObjectFilter.Result[0][0].getObject());
Robot::Edge2TracObject* EdgeObj =
static_cast<Robot::Edge2TracObject*>(ObjectFilter.Result[0][0].getObject());
openCommand("Edit Edge2TracObject");
doCommand(Gui,"Gui.activeDocument().setEdit('%s')",EdgeObj->getNameInDocument());
}else if (EdgeFilter.match()) {
doCommand(Gui, "Gui.activeDocument().setEdit('%s')", EdgeObj->getNameInDocument());
}
else if (EdgeFilter.match()) {
// get the selected object
//Part::Feature *part = static_cast<Part::Feature*>(EdgeFilter.Result[0][0].getObject());
// Part::Feature *part = static_cast<Part::Feature*>(EdgeFilter.Result[0][0].getObject());
std::string obj_sub = EdgeFilter.Result[0][0].getAsPropertyLinkSubString();
std::string FeatName = getUniqueObjectName("Edge2Trac");
openCommand("Create a new Edge2TracObject");
doCommand(Doc,"App.activeDocument().addObject('Robot::Edge2TracObject','%s')",FeatName.c_str());
doCommand(Gui,"App.activeDocument().%s.Source = %s",FeatName.c_str(),obj_sub.c_str());
doCommand(Gui,"Gui.activeDocument().setEdit('%s')",FeatName.c_str());
}else {
doCommand(Doc,
"App.activeDocument().addObject('Robot::Edge2TracObject','%s')",
FeatName.c_str());
doCommand(Gui, "App.activeDocument().%s.Source = %s", FeatName.c_str(), obj_sub.c_str());
doCommand(Gui, "Gui.activeDocument().setEdit('%s')", FeatName.c_str());
}
else {
std::string FeatName = getUniqueObjectName("Edge2Trac");
openCommand("Create a new Edge2TracObject");
doCommand(Doc,"App.activeDocument().addObject('Robot::Edge2TracObject','%s')",FeatName.c_str());
doCommand(Gui,"Gui.activeDocument().setEdit('%s')",FeatName.c_str());
doCommand(Doc,
"App.activeDocument().addObject('Robot::Edge2TracObject','%s')",
FeatName.c_str());
doCommand(Gui, "Gui.activeDocument().setEdit('%s')", FeatName.c_str());
}
}
bool CmdRobotEdge2Trac::isActive()
@@ -372,16 +420,16 @@ bool CmdRobotEdge2Trac::isActive()
DEF_STD_CMD_A(CmdRobotTrajectoryDressUp)
CmdRobotTrajectoryDressUp::CmdRobotTrajectoryDressUp()
:Command("Robot_TrajectoryDressUp")
: Command("Robot_TrajectoryDressUp")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Dress-up trajectory...");
sToolTipText = QT_TR_NOOP("Create a dress-up object which overrides some aspects of a trajectory");
sWhatsThis = "Robot_TrajectoryDressUp";
sStatusTip = sToolTipText;
sPixmap = "Robot_TrajectoryDressUp";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Dress-up trajectory...");
sToolTipText =
QT_TR_NOOP("Create a dress-up object which overrides some aspects of a trajectory");
sWhatsThis = "Robot_TrajectoryDressUp";
sStatusTip = sToolTipText;
sPixmap = "Robot_TrajectoryDressUp";
}
@@ -391,23 +439,33 @@ void CmdRobotTrajectoryDressUp::activated(int)
Gui::SelectionFilter ObjectFilter("SELECT Robot::TrajectoryObject COUNT 1");
if (ObjectFilterDressUp.match()) {
Robot::TrajectoryDressUpObject *Object = static_cast<Robot::TrajectoryDressUpObject*>(ObjectFilterDressUp.Result[0][0].getObject());
Robot::TrajectoryDressUpObject* Object = static_cast<Robot::TrajectoryDressUpObject*>(
ObjectFilterDressUp.Result[0][0].getObject());
openCommand("Edit Sketch");
doCommand(Gui,"Gui.activeDocument().setEdit('%s')",Object->getNameInDocument());
}else if (ObjectFilter.match()) {
doCommand(Gui, "Gui.activeDocument().setEdit('%s')", Object->getNameInDocument());
}
else if (ObjectFilter.match()) {
std::string FeatName = getUniqueObjectName("DressUpObject");
Robot::TrajectoryObject *Object = static_cast<Robot::TrajectoryObject*>(ObjectFilter.Result[0][0].getObject());
Robot::TrajectoryObject* Object =
static_cast<Robot::TrajectoryObject*>(ObjectFilter.Result[0][0].getObject());
openCommand("Create a new TrajectoryDressUp");
doCommand(Doc,"App.activeDocument().addObject('Robot::TrajectoryDressUpObject','%s')",FeatName.c_str());
doCommand(Gui,"App.activeDocument().%s.Source = App.activeDocument().%s",FeatName.c_str(),Object->getNameInDocument());
doCommand(Gui,"Gui.activeDocument().hide(\"%s\")",Object->getNameInDocument());
doCommand(Gui,"Gui.activeDocument().setEdit('%s')",FeatName.c_str());
}else {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select the Trajectory which you want to dress up."));
doCommand(Doc,
"App.activeDocument().addObject('Robot::TrajectoryDressUpObject','%s')",
FeatName.c_str());
doCommand(Gui,
"App.activeDocument().%s.Source = App.activeDocument().%s",
FeatName.c_str(),
Object->getNameInDocument());
doCommand(Gui, "Gui.activeDocument().hide(\"%s\")", Object->getNameInDocument());
doCommand(Gui, "Gui.activeDocument().setEdit('%s')", FeatName.c_str());
}
else {
QMessageBox::warning(Gui::getMainWindow(),
QObject::tr("Wrong selection"),
QObject::tr("Select the Trajectory which you want to dress up."));
return;
}
}
}
bool CmdRobotTrajectoryDressUp::isActive()
{
@@ -419,16 +477,15 @@ bool CmdRobotTrajectoryDressUp::isActive()
DEF_STD_CMD_A(CmdRobotTrajectoryCompound)
CmdRobotTrajectoryCompound::CmdRobotTrajectoryCompound()
:Command("Robot_TrajectoryCompound")
: Command("Robot_TrajectoryCompound")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Trajectory compound...");
sToolTipText = QT_TR_NOOP("Group and connect some trajectories to one");
sWhatsThis = "Robot_TrajectoryCompound";
sStatusTip = sToolTipText;
sPixmap = "Robot_TrajectoryCompound";
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Trajectory compound...");
sToolTipText = QT_TR_NOOP("Group and connect some trajectories to one");
sWhatsThis = "Robot_TrajectoryCompound";
sStatusTip = sToolTipText;
sPixmap = "Robot_TrajectoryCompound";
}
@@ -437,15 +494,19 @@ void CmdRobotTrajectoryCompound::activated(int)
Gui::SelectionFilter ObjectFilter("SELECT Robot::TrajectoryCompound COUNT 1");
if (ObjectFilter.match()) {
Robot::TrajectoryCompound *Object = static_cast<Robot::TrajectoryCompound*>(ObjectFilter.Result[0][0].getObject());
Robot::TrajectoryCompound* Object =
static_cast<Robot::TrajectoryCompound*>(ObjectFilter.Result[0][0].getObject());
openCommand("Edit TrajectoryCompound");
doCommand(Gui,"Gui.activeDocument().setEdit('%s')",Object->getNameInDocument());
}else {
doCommand(Gui, "Gui.activeDocument().setEdit('%s')", Object->getNameInDocument());
}
else {
std::string FeatName = getUniqueObjectName("TrajectoryCompound");
openCommand("Create a new TrajectoryDressUp");
doCommand(Doc,"App.activeDocument().addObject('Robot::TrajectoryCompound','%s')",FeatName.c_str());
doCommand(Gui,"Gui.activeDocument().setEdit('%s')",FeatName.c_str());
doCommand(Doc,
"App.activeDocument().addObject('Robot::TrajectoryCompound','%s')",
FeatName.c_str());
doCommand(Gui, "Gui.activeDocument().setEdit('%s')", FeatName.c_str());
}
}
@@ -455,14 +516,12 @@ bool CmdRobotTrajectoryCompound::isActive()
}
// #####################################################################################################
void CreateRobotCommandsTrajectory()
{
Gui::CommandManager &rcCmdMgr = Gui::Application::Instance->commandManager();
Gui::CommandManager& rcCmdMgr = Gui::Application::Instance->commandManager();
rcCmdMgr.addCommand(new CmdRobotCreateTrajectory());
rcCmdMgr.addCommand(new CmdRobotInsertWaypoint());
@@ -472,4 +531,4 @@ void CreateRobotCommandsTrajectory()
rcCmdMgr.addCommand(new CmdRobotEdge2Trac());
rcCmdMgr.addCommand(new CmdRobotTrajectoryDressUp());
rcCmdMgr.addCommand(new CmdRobotTrajectoryCompound());
}
}

34
src/Mod/Robot/Gui/PreCompiled.h
View File

@@ -27,22 +27,22 @@
// Importing of App classes
#ifdef FC_OS_WIN32
# define RobotExport __declspec(dllimport)
# define PartExport __declspec(dllimport)
# define PartGuiExport __declspec(dllimport)
# define RobotGuiExport __declspec(dllexport)
#else // for Linux
# define PartExport
# define RobotExport
# define PartGuiExport
# define RobotGuiExport
#define RobotExport __declspec(dllimport)
#define PartExport __declspec(dllimport)
#define PartGuiExport __declspec(dllimport)
#define RobotGuiExport __declspec(dllexport)
#else// for Linux
#define PartExport
#define RobotExport
#define PartGuiExport
#define RobotGuiExport
#endif
#include <Standard_math.hxx>
#ifdef _MSC_VER
# pragma warning(disable : 4005)
# pragma warning(disable : 4273)
#pragma warning(disable : 4005)
#pragma warning(disable : 4273)
#endif
#ifdef _PreComp_
@@ -59,15 +59,16 @@
#include <QInputDialog>
#include <QMenu>
#include <QMessageBox>
#include <qobject.h>
#include <qpalette.h>
#include <QString>
#include <QTimer>
#include <qobject.h>
#include <qpalette.h>
// Inventor
#include <Inventor/SbVec3f.h>
#include <Inventor/SoDB.h>
#include <Inventor/SoInput.h>
#include <Inventor/SbVec3f.h>
#include <Inventor/VRMLnodes/SoVRMLTransform.h>
#include <Inventor/actions/SoSearchAction.h>
#include <Inventor/draggers/SoJackDragger.h>
#include <Inventor/nodes/SoBaseColor.h>
@@ -76,8 +77,7 @@
#include <Inventor/nodes/SoLineSet.h>
#include <Inventor/nodes/SoMarkerSet.h>
#include <Inventor/nodes/SoSeparator.h>
#include <Inventor/VRMLnodes/SoVRMLTransform.h>
#endif //_PreComp_
#endif//_PreComp_
#endif // ROBOTGUI_PRECOMPILED_H
#endif// ROBOTGUI_PRECOMPILED_H

4
src/Mod/Robot/Gui/Resources/Robot.qrc
View File

@@ -1,5 +1,5 @@
<RCC>
<qresource>
<qresource>
<file>icons/Robot_CreateRobot.svg</file>
<file>icons/Robot_CreateTrajectory.svg</file>
<file>icons/Robot_Edge2Trac.svg</file>
@@ -15,4 +15,4 @@
<file>icons/Robot_TrajectoryDressUp.svg</file>
<file>icons/RobotWorkbench.svg</file>
</qresource>
</RCC>
</RCC>

41
src/Mod/Robot/Gui/TaskDlgEdge2Trac.cpp
View File

@@ -22,7 +22,7 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <QApplication>
#include <QApplication>
#endif
#include <Base/Console.h>
@@ -42,11 +42,14 @@ using namespace RobotGui;
// TaskDialog
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
TaskDlgEdge2Trac::TaskDlgEdge2Trac(Robot::Edge2TracObject *obj)
: TaskDialog(),Edge2TaskObject(obj)
TaskDlgEdge2Trac::TaskDlgEdge2Trac(Robot::Edge2TracObject* obj)
: TaskDialog()
, Edge2TaskObject(obj)
{
param = new TaskEdge2TracParameter(obj);
select = new Gui::TaskView::TaskSelectLinkProperty("SELECT Part::Feature SUBELEMENT Edge COUNT 1..",&(obj->Source));
param = new TaskEdge2TracParameter(obj);
select =
new Gui::TaskView::TaskSelectLinkProperty("SELECT Part::Feature SUBELEMENT Edge COUNT 1..",
&(obj->Source));
Content.push_back(param);
Content.push_back(select);
@@ -59,23 +62,23 @@ void TaskDlgEdge2Trac::open()
{
select->activate();
Edge2TaskObject->execute();
param->setEdgeAndClusterNbr(Edge2TaskObject->NbrOfEdges,Edge2TaskObject->NbrOfCluster);
param->setEdgeAndClusterNbr(Edge2TaskObject->NbrOfEdges, Edge2TaskObject->NbrOfCluster);
}
void TaskDlgEdge2Trac::clicked(int button)
{
try {
if(QDialogButtonBox::Apply == button)
{
if (select->isSelectionValid()){
if (QDialogButtonBox::Apply == button) {
if (select->isSelectionValid()) {
select->sendSelection2Property();
// May throw an exception which we must handle here
Edge2TaskObject->execute();
param->setEdgeAndClusterNbr(Edge2TaskObject->NbrOfEdges,Edge2TaskObject->NbrOfCluster);
} else {
param->setEdgeAndClusterNbr(Edge2TaskObject->NbrOfEdges,
Edge2TaskObject->NbrOfCluster);
}
else {
QApplication::beep();
param->setEdgeAndClusterNbr(0,0);
param->setEdgeAndClusterNbr(0, 0);
}
}
}
@@ -87,16 +90,18 @@ void TaskDlgEdge2Trac::clicked(int button)
bool TaskDlgEdge2Trac::accept()
{
try {
if (select->isSelectionValid()){
if (select->isSelectionValid()) {
select->accept();
Edge2TaskObject->recomputeFeature();
Gui::Document* doc = Gui::Application::Instance->activeDocument();
if(doc)
if (doc) {
doc->resetEdit();
}
return true;
}
else
else {
QApplication::beep();
}
}
catch (const Base::Exception& e) {
Base::Console().Warning("TaskDlgEdge2Trac::accept(): %s\n", e.what());
@@ -113,9 +118,7 @@ bool TaskDlgEdge2Trac::reject()
}
void TaskDlgEdge2Trac::helpRequested()
{
}
{}
#include "moc_TaskDlgEdge2Trac.cpp"

34
src/Mod/Robot/Gui/TaskDlgEdge2Trac.h
View File

@@ -30,17 +30,24 @@
// forward
namespace Gui { namespace TaskView { class TaskSelectLinkProperty;}}
namespace Gui
{
namespace TaskView
{
class TaskSelectLinkProperty;
}
}// namespace Gui
namespace RobotGui {
namespace RobotGui
{
/// simulation dialog for the TaskView
class RobotGuiExport TaskDlgEdge2Trac : public Gui::TaskView::TaskDialog
class RobotGuiExport TaskDlgEdge2Trac: public Gui::TaskView::TaskDialog
{
Q_OBJECT
public:
explicit TaskDlgEdge2Trac(Robot::Edge2TracObject *);
explicit TaskDlgEdge2Trac(Robot::Edge2TracObject*);
public:
/// is called the TaskView when the dialog is opened
@@ -51,21 +58,22 @@ public:
bool accept() override;
/// is called by the framework if the dialog is rejected (Cancel)
bool reject() override;
/// is called by the framework if the user press the help button
/// is called by the framework if the user press the help button
void helpRequested() override;
/// returns for Close and Help button
/// returns for Close and Help button
QDialogButtonBox::StandardButtons getStandardButtons() const override
{ return QDialogButtonBox::Ok|QDialogButtonBox::Apply|QDialogButtonBox::Cancel; }
{
return QDialogButtonBox::Ok | QDialogButtonBox::Apply | QDialogButtonBox::Cancel;
}
protected:
TaskEdge2TracParameter *param;
Gui::TaskView::TaskSelectLinkProperty *select;
Robot::Edge2TracObject *Edge2TaskObject;
TaskEdge2TracParameter* param;
Gui::TaskView::TaskSelectLinkProperty* select;
Robot::Edge2TracObject* Edge2TaskObject;
};
}// namespace RobotGui
} //namespace RobotGui
#endif // ROBOTGUI_TASKDLGSIMULATE_H
#endif// ROBOTGUI_TASKDLGSIMULATE_H

19
src/Mod/Robot/Gui/TaskDlgSimulate.cpp
View File

@@ -32,14 +32,15 @@ using namespace RobotGui;
// TaskDialog
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
TaskDlgSimulate::TaskDlgSimulate(Robot::RobotObject *pcRobotObject,Robot::TrajectoryObject *pcTrajectoryObject)
TaskDlgSimulate::TaskDlgSimulate(Robot::RobotObject* pcRobotObject,
Robot::TrajectoryObject* pcTrajectoryObject)
: TaskDialog()
{
rob = new TaskRobot6Axis(pcRobotObject);
ctr = new TaskRobotControl(pcRobotObject);
rob = new TaskRobot6Axis(pcRobotObject);
ctr = new TaskRobotControl(pcRobotObject);
trac = new TaskTrajectory(pcRobotObject,pcTrajectoryObject);
msg = new TaskRobotMessages(pcRobotObject);
trac = new TaskTrajectory(pcRobotObject, pcTrajectoryObject);
msg = new TaskRobotMessages(pcRobotObject);
QObject::connect(trac, &TaskTrajectory::axisChanged, rob, &TaskRobot6Axis::setAxis);
@@ -59,9 +60,7 @@ void TaskDlgSimulate::open()
}
void TaskDlgSimulate::clicked(int)
{
}
{}
bool TaskDlgSimulate::accept()
{
@@ -74,9 +73,7 @@ bool TaskDlgSimulate::reject()
}
void TaskDlgSimulate::helpRequested()
{
}
{}
#include "moc_TaskDlgSimulate.cpp"

29
src/Mod/Robot/Gui/TaskDlgSimulate.h
View File

@@ -33,15 +33,16 @@
#include "TaskTrajectory.h"
namespace RobotGui {
namespace RobotGui
{
/// simulation dialog for the TaskView
class RobotGuiExport TaskDlgSimulate : public Gui::TaskView::TaskDialog
class RobotGuiExport TaskDlgSimulate: public Gui::TaskView::TaskDialog
{
Q_OBJECT
public:
TaskDlgSimulate(Robot::RobotObject *pcRobotObject,Robot::TrajectoryObject *pcTrajectoryObject);
TaskDlgSimulate(Robot::RobotObject* pcRobotObject, Robot::TrajectoryObject* pcTrajectoryObject);
public:
/// is called the TaskView when the dialog is opened
@@ -52,23 +53,23 @@ public:
bool accept() override;
/// is called by the framework if the dialog is rejected (Cancel)
bool reject() override;
/// is called by the framework if the user press the help button
/// is called by the framework if the user press the help button
void helpRequested() override;
/// returns for Close and Help button
/// returns for Close and Help button
QDialogButtonBox::StandardButtons getStandardButtons() const override
{ return QDialogButtonBox::Close|QDialogButtonBox::Help; }
{
return QDialogButtonBox::Close | QDialogButtonBox::Help;
}
protected:
TaskRobot6Axis *rob;
TaskRobotControl *ctr ;
TaskTrajectory *trac;
TaskRobotMessages *msg ;
TaskRobot6Axis* rob;
TaskRobotControl* ctr;
TaskTrajectory* trac;
TaskRobotMessages* msg;
};
}// namespace RobotGui
} //namespace RobotGui
#endif // ROBOTGUI_TASKDLGSIMULATE_H
#endif// ROBOTGUI_TASKDLGSIMULATE_H

29
src/Mod/Robot/Gui/TaskDlgTrajectoryCompound.cpp
View File

@@ -22,7 +22,7 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <QApplication>
#include <QApplication>
#endif
#include <Gui/Application.h>
@@ -39,10 +39,12 @@ using namespace RobotGui;
// TaskDialog
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
TaskDlgTrajectoryCompound::TaskDlgTrajectoryCompound(Robot::TrajectoryCompound *obj)
: TaskDialog(),TrajectoryCompound(obj)
TaskDlgTrajectoryCompound::TaskDlgTrajectoryCompound(Robot::TrajectoryCompound* obj)
: TaskDialog()
, TrajectoryCompound(obj)
{
select = new Gui::TaskView::TaskSelectLinkProperty("SELECT Robot::TrajectoryObject COUNT 1..",&(obj->Source));
select = new Gui::TaskView::TaskSelectLinkProperty("SELECT Robot::TrajectoryObject COUNT 1..",
&(obj->Source));
Content.push_back(select);
}
@@ -53,20 +55,23 @@ TaskDlgTrajectoryCompound::TaskDlgTrajectoryCompound(Robot::TrajectoryCompound *
void TaskDlgTrajectoryCompound::open()
{
select->activate();
}
bool TaskDlgTrajectoryCompound::accept()
{
if(select->isSelectionValid()){
if (select->isSelectionValid()) {
select->accept();
TrajectoryCompound->execute();
Gui::Document* doc = Gui::Application::Instance->activeDocument();
if(doc) doc->resetEdit();
if (doc) {
doc->resetEdit();
}
return true;
}else
}
else {
QApplication::beep();
}
return false;
}
@@ -76,14 +81,14 @@ bool TaskDlgTrajectoryCompound::reject()
select->reject();
TrajectoryCompound->execute();
Gui::Document* doc = Gui::Application::Instance->activeDocument();
if(doc) doc->resetEdit();
if (doc) {
doc->resetEdit();
}
return true;
}
void TaskDlgTrajectoryCompound::helpRequested()
{
}
{}
#include "moc_TaskDlgTrajectoryCompound.cpp"

32
src/Mod/Robot/Gui/TaskDlgTrajectoryCompound.h
View File

@@ -28,17 +28,24 @@
// forward
namespace Gui { namespace TaskView { class TaskSelectLinkProperty;}}
namespace Gui
{
namespace TaskView
{
class TaskSelectLinkProperty;
}
}// namespace Gui
namespace RobotGui {
namespace RobotGui
{
/// simulation dialog for the TaskView
class RobotGuiExport TaskDlgTrajectoryCompound : public Gui::TaskView::TaskDialog
class RobotGuiExport TaskDlgTrajectoryCompound: public Gui::TaskView::TaskDialog
{
Q_OBJECT
public:
TaskDlgTrajectoryCompound(Robot::TrajectoryCompound *);
TaskDlgTrajectoryCompound(Robot::TrajectoryCompound*);
public:
/// is called the TaskView when the dialog is opened
@@ -47,20 +54,21 @@ public:
bool accept() override;
/// is called by the framework if the dialog is rejected (Cancel)
bool reject() override;
/// is called by the framework if the user press the help button
/// is called by the framework if the user press the help button
void helpRequested() override;
/// returns for Close and Help button
/// returns for Close and Help button
QDialogButtonBox::StandardButtons getStandardButtons() const override
{ return QDialogButtonBox::Ok|QDialogButtonBox::Cancel; }
{
return QDialogButtonBox::Ok | QDialogButtonBox::Cancel;
}
protected:
Gui::TaskView::TaskSelectLinkProperty *select;
Robot::TrajectoryCompound *TrajectoryCompound;
Gui::TaskView::TaskSelectLinkProperty* select;
Robot::TrajectoryCompound* TrajectoryCompound;
};
}// namespace RobotGui
} //namespace RobotGui
#endif // ROBOTGUI_TASKDLGSIMULATE_H
#endif// ROBOTGUI_TASKDLGSIMULATE_H

25
src/Mod/Robot/Gui/TaskDlgTrajectoryDressUp.cpp
View File

@@ -35,10 +35,11 @@ using namespace RobotGui;
// TaskDialog
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
TaskDlgTrajectoryDressUp::TaskDlgTrajectoryDressUp(Robot::TrajectoryDressUpObject *obj)
: TaskDialog(),pcObject(obj)
TaskDlgTrajectoryDressUp::TaskDlgTrajectoryDressUp(Robot::TrajectoryDressUpObject* obj)
: TaskDialog()
, pcObject(obj)
{
param = new TaskTrajectoryDressUpParameter(obj);
param = new TaskTrajectoryDressUpParameter(obj);
Content.push_back(param);
}
@@ -47,14 +48,11 @@ TaskDlgTrajectoryDressUp::TaskDlgTrajectoryDressUp(Robot::TrajectoryDressUpObjec
void TaskDlgTrajectoryDressUp::open()
{
}
{}
void TaskDlgTrajectoryDressUp::clicked(int button)
{
if(QDialogButtonBox::Apply == button)
{
if (QDialogButtonBox::Apply == button) {
// transfer the values to the object
param->writeValues();
// May throw an exception which we must handle here
@@ -68,24 +66,23 @@ bool TaskDlgTrajectoryDressUp::accept()
pcObject->recomputeFeature();
Gui::Document* doc = Gui::Application::Instance->activeDocument();
if(doc)
if (doc) {
doc->resetEdit();
}
return true;
}
bool TaskDlgTrajectoryDressUp::reject()
{
Gui::Document* doc = Gui::Application::Instance->activeDocument();
if(doc)
if (doc) {
doc->resetEdit();
}
return true;
}
void TaskDlgTrajectoryDressUp::helpRequested()
{
}
{}
#include "moc_TaskDlgTrajectoryDressUp.cpp"

32
src/Mod/Robot/Gui/TaskDlgTrajectoryDressUp.h
View File

@@ -30,17 +30,24 @@
// forward
namespace Gui { namespace TaskView { class TaskSelectLinkProperty;}}
namespace Gui
{
namespace TaskView
{
class TaskSelectLinkProperty;
}
}// namespace Gui
namespace RobotGui {
namespace RobotGui
{
/// simulation dialog for the TaskView
class RobotGuiExport TaskDlgTrajectoryDressUp : public Gui::TaskView::TaskDialog
class RobotGuiExport TaskDlgTrajectoryDressUp: public Gui::TaskView::TaskDialog
{
Q_OBJECT
public:
explicit TaskDlgTrajectoryDressUp(Robot::TrajectoryDressUpObject *);
explicit TaskDlgTrajectoryDressUp(Robot::TrajectoryDressUpObject*);
public:
/// is called the TaskView when the dialog is opened
@@ -51,20 +58,21 @@ public:
bool accept() override;
/// is called by the framework if the dialog is rejected (Cancel)
bool reject() override;
/// is called by the framework if the user press the help button
/// is called by the framework if the user press the help button
void helpRequested() override;
/// returns for Close and Help button
/// returns for Close and Help button
QDialogButtonBox::StandardButtons getStandardButtons() const override
{ return QDialogButtonBox::Ok|QDialogButtonBox::Apply|QDialogButtonBox::Cancel; }
{
return QDialogButtonBox::Ok | QDialogButtonBox::Apply | QDialogButtonBox::Cancel;
}
protected:
TaskTrajectoryDressUpParameter *param;
Robot::TrajectoryDressUpObject *pcObject;
TaskTrajectoryDressUpParameter* param;
Robot::TrajectoryDressUpObject* pcObject;
};
}// namespace RobotGui
} //namespace RobotGui
#endif // ROBOTGUI_TASKDLGSIMULATE_H
#endif// ROBOTGUI_TASKDLGSIMULATE_H

70
src/Mod/Robot/Gui/TaskEdge2TracParameter.cpp
View File

@@ -22,7 +22,7 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <QString>
#include <QString>
#endif
#include <Gui/Application.h>
@@ -30,20 +30,20 @@
#include <Gui/Document.h>
#include <Gui/ViewProvider.h>
#include "ui_TaskEdge2TracParameter.h"
#include "TaskEdge2TracParameter.h"
#include "ui_TaskEdge2TracParameter.h"
using namespace RobotGui;
using namespace Gui;
TaskEdge2TracParameter::TaskEdge2TracParameter(Robot::Edge2TracObject *pcObject,QWidget *parent)
TaskEdge2TracParameter::TaskEdge2TracParameter(Robot::Edge2TracObject* pcObject, QWidget* parent)
: TaskBox(Gui::BitmapFactory().pixmap("Robot_Edge2Trac"),
tr("TaskEdge2TracParameter"),
true,
parent),
pcObject(pcObject),
HideShowObj(nullptr)
tr("TaskEdge2TracParameter"),
true,
parent)
, pcObject(pcObject)
, HideShowObj(nullptr)
{
// we need a separate container widget to add all controls to
proxy = new QWidget(this);
@@ -53,23 +53,26 @@ TaskEdge2TracParameter::TaskEdge2TracParameter(Robot::Edge2TracObject *pcObject,
this->groupLayout()->addWidget(proxy);
QObject::connect(ui->pushButton_HideShow, &QPushButton::clicked, this, &TaskEdge2TracParameter::hideShow);
QObject::connect(ui->doubleSpinBoxSizing, qOverload<double>(&QDoubleSpinBox::valueChanged),
this, &TaskEdge2TracParameter::sizingValueChanged);
QObject::connect(ui->checkBoxOrientation, &QCheckBox::toggled,
this, &TaskEdge2TracParameter::orientationToggled);
// clang-format off
connect(ui->pushButton_HideShow, &QPushButton::clicked,
this, &TaskEdge2TracParameter::hideShow);
connect(ui->doubleSpinBoxSizing, qOverload<double>(&QDoubleSpinBox::valueChanged),
this, &TaskEdge2TracParameter::sizingValueChanged);
connect(ui->checkBoxOrientation, &QCheckBox::toggled,
this, &TaskEdge2TracParameter::orientationToggled);
// clang-format on
setHideShowObject();
}
void TaskEdge2TracParameter::setHideShowObject()
{
HideShowObj = pcObject->Source.getValue();
if(HideShowObj){
if (HideShowObj) {
QString ObjectName = QString::fromUtf8(HideShowObj->Label.getValue());
ui->lineEdit_ObjectName->setText(ObjectName);
}else{
}
else {
ui->lineEdit_ObjectName->setText(QString());
}
}
@@ -78,12 +81,14 @@ void TaskEdge2TracParameter::hideShow()
{
setHideShowObject();
if(HideShowObj){
if (HideShowObj) {
Gui::Document* doc = Gui::Application::Instance->activeDocument();
if(doc->getViewProvider(HideShowObj)->isVisible())
if (doc->getViewProvider(HideShowObj)->isVisible()) {
doc->getViewProvider(HideShowObj)->setVisible(false);
else
}
else {
doc->getViewProvider(HideShowObj)->setVisible(true);
}
}
}
@@ -97,18 +102,19 @@ void TaskEdge2TracParameter::orientationToggled(bool Value)
pcObject->UseRotation.setValue(Value);
}
void TaskEdge2TracParameter::setEdgeAndClusterNbr(int NbrEdges,int NbrClusters)
void TaskEdge2TracParameter::setEdgeAndClusterNbr(int NbrEdges, int NbrClusters)
{
QPalette palette(QApplication::palette());
QString text;
QString text;
const int a=200,p=0;
const int a = 200, p = 0;
// set the text and the background color for the Edges label
if(NbrEdges > 0){
palette.setBrush(QPalette::WindowText,QColor(p,a,p));
}else{
palette.setBrush(QPalette::WindowText,QColor(a,p,p));
if (NbrEdges > 0) {
palette.setBrush(QPalette::WindowText, QColor(p, a, p));
}
else {
palette.setBrush(QPalette::WindowText, QColor(a, p, p));
}
text = QString::fromLatin1("Edges: %1").arg(NbrEdges);
@@ -116,18 +122,16 @@ void TaskEdge2TracParameter::setEdgeAndClusterNbr(int NbrEdges,int NbrClusters)
ui->label_Edges->setText(text);
// set the text and the background color for the Clusters label
if(NbrClusters == 1){
palette.setBrush(QPalette::WindowText,QColor(p,a,p));
}else{
palette.setBrush(QPalette::WindowText,QColor(a,p,p));
if (NbrClusters == 1) {
palette.setBrush(QPalette::WindowText, QColor(p, a, p));
}
else {
palette.setBrush(QPalette::WindowText, QColor(a, p, p));
}
text = QString::fromLatin1("Cluster: %1").arg(NbrClusters);
ui->label_Cluster->setPalette(palette);
ui->label_Cluster->setText(text);
}

28
src/Mod/Robot/Gui/TaskEdge2TracParameter.h
View File

@@ -27,27 +27,29 @@
#include <Mod/Robot/App/Edge2TracObject.h>
class Ui_TaskEdge2TracParameter;
namespace App {
namespace App
{
class Property;
}
namespace Gui {
namespace Gui
{
class ViewProvider;
}
namespace RobotGui {
namespace RobotGui
{
class TaskEdge2TracParameter : public Gui::TaskView::TaskBox
class Ui_TaskEdge2TracParameter;
class TaskEdge2TracParameter: public Gui::TaskView::TaskBox
{
Q_OBJECT
public:
explicit TaskEdge2TracParameter(Robot::Edge2TracObject *pcObject,QWidget *parent = nullptr);
explicit TaskEdge2TracParameter(Robot::Edge2TracObject* pcObject, QWidget* parent = nullptr);
~TaskEdge2TracParameter() override;
void setEdgeAndClusterNbr(int NbrEdges,int NbrClusters);
void setEdgeAndClusterNbr(int NbrEdges, int NbrClusters);
private Q_SLOTS:
void hideShow();
@@ -55,17 +57,17 @@ private Q_SLOTS:
void orientationToggled(bool Value);
protected:
Robot::Edge2TracObject *pcObject;
App::DocumentObject *HideShowObj;
Robot::Edge2TracObject* pcObject;
App::DocumentObject* HideShowObj;
void setHideShowObject();
private:
private:
private:
QWidget* proxy;
Ui_TaskEdge2TracParameter* ui;
};
} //namespace PartDesignGui
}// namespace RobotGui
#endif // GUI_TASKVIEW_TASKAPPERANCE_H
#endif// GUI_TASKVIEW_TASKAPPERANCE_H

2
src/Mod/Robot/Gui/TaskEdge2TracParameter.ui
View File

@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>TaskEdge2TracParameter</class>
<class>RobotGui::TaskEdge2TracParameter</class>
<widget class="QWidget" name="TaskEdge2TracParameter">
<property name="geometry">
<rect>

197
src/Mod/Robot/Gui/TaskRobot6Axis.cpp
View File

@@ -22,24 +22,25 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <qpalette.h>
# include <QString>
#include <QString>
#include <qpalette.h>
#endif
#include <Gui/BitmapFactory.h>
#include <Gui/Placement.h>
#include <Gui/Selection.h>
#include "ui_TaskRobot6Axis.h"
#include "TaskRobot6Axis.h"
#include "ui_TaskRobot6Axis.h"
using namespace RobotGui;
using namespace Gui;
TaskRobot6Axis::TaskRobot6Axis(Robot::RobotObject *pcRobotObject,QWidget *parent)
: TaskBox(Gui::BitmapFactory().pixmap("Robot_CreateRobot"),tr("TaskRobot6Axis"),true, parent),
pcRobot(pcRobotObject),Rob()
TaskRobot6Axis::TaskRobot6Axis(Robot::RobotObject* pcRobotObject, QWidget* parent)
: TaskBox(Gui::BitmapFactory().pixmap("Robot_CreateRobot"), tr("TaskRobot6Axis"), true, parent)
, pcRobot(pcRobotObject)
, Rob()
{
// we need a separate container widget to add all controls to
proxy = new QWidget(this);
@@ -49,13 +50,22 @@ TaskRobot6Axis::TaskRobot6Axis(Robot::RobotObject *pcRobotObject,QWidget *parent
this->groupLayout()->addWidget(proxy);
QObject::connect(ui->horizontalSlider_Axis1, &QSlider::sliderMoved, this, &TaskRobot6Axis::changeSliderA1);
QObject::connect(ui->horizontalSlider_Axis2, &QSlider::sliderMoved, this, &TaskRobot6Axis::changeSliderA2);
QObject::connect(ui->horizontalSlider_Axis3, &QSlider::sliderMoved, this, &TaskRobot6Axis::changeSliderA3);
QObject::connect(ui->horizontalSlider_Axis4, &QSlider::sliderMoved, this, &TaskRobot6Axis::changeSliderA4);
QObject::connect(ui->horizontalSlider_Axis5, &QSlider::sliderMoved, this, &TaskRobot6Axis::changeSliderA5);
QObject::connect(ui->horizontalSlider_Axis6, &QSlider::sliderMoved, this, &TaskRobot6Axis::changeSliderA6);
QObject::connect(ui->pushButtonChooseTool, &QPushButton::clicked, this, &TaskRobot6Axis::createPlacementDlg);
// clang-format off
connect(ui->horizontalSlider_Axis1, &QSlider::sliderMoved,
this, &TaskRobot6Axis::changeSliderA1);
connect(ui->horizontalSlider_Axis2, &QSlider::sliderMoved,
this, &TaskRobot6Axis::changeSliderA2);
connect(ui->horizontalSlider_Axis3, &QSlider::sliderMoved,
this, &TaskRobot6Axis::changeSliderA3);
connect(ui->horizontalSlider_Axis4, &QSlider::sliderMoved,
this, &TaskRobot6Axis::changeSliderA4);
connect(ui->horizontalSlider_Axis5, &QSlider::sliderMoved,
this, &TaskRobot6Axis::changeSliderA5);
connect(ui->horizontalSlider_Axis6, &QSlider::sliderMoved,
this, &TaskRobot6Axis::changeSliderA6);
connect(ui->pushButtonChooseTool, &QPushButton::clicked,
this, &TaskRobot6Axis::createPlacementDlg);
// clang-format on
if (pcRobotObject) {
setRobot(pcRobotObject);
@@ -67,32 +77,32 @@ TaskRobot6Axis::~TaskRobot6Axis()
delete ui;
}
void TaskRobot6Axis::setRobot(Robot::RobotObject *pcRobotObject)
void TaskRobot6Axis::setRobot(Robot::RobotObject* pcRobotObject)
{
pcRobot = pcRobotObject;
if(!pcRobotObject){
if (!pcRobotObject) {
delete Rob;
return;
}
Rob = new Robot::Robot6Axis(pcRobot->getRobot());
ui->horizontalSlider_Axis1->setMaximum( (int ) Rob->getMaxAngle(0) );
ui->horizontalSlider_Axis1->setMinimum( (int ) Rob->getMinAngle(0) );
ui->horizontalSlider_Axis2->setMaximum( (int ) Rob->getMaxAngle(1) );
ui->horizontalSlider_Axis2->setMinimum( (int ) Rob->getMinAngle(1) );
ui->horizontalSlider_Axis1->setMaximum((int)Rob->getMaxAngle(0));
ui->horizontalSlider_Axis1->setMinimum((int)Rob->getMinAngle(0));
ui->horizontalSlider_Axis3->setMaximum( (int ) Rob->getMaxAngle(2) );
ui->horizontalSlider_Axis3->setMinimum( (int ) Rob->getMinAngle(2) );
ui->horizontalSlider_Axis2->setMaximum((int)Rob->getMaxAngle(1));
ui->horizontalSlider_Axis2->setMinimum((int)Rob->getMinAngle(1));
ui->horizontalSlider_Axis4->setMaximum( (int ) Rob->getMaxAngle(3) );
ui->horizontalSlider_Axis4->setMinimum( (int ) Rob->getMinAngle(3) );
ui->horizontalSlider_Axis3->setMaximum((int)Rob->getMaxAngle(2));
ui->horizontalSlider_Axis3->setMinimum((int)Rob->getMinAngle(2));
ui->horizontalSlider_Axis5->setMaximum( (int ) Rob->getMaxAngle(4) );
ui->horizontalSlider_Axis5->setMinimum( (int ) Rob->getMinAngle(4) );
ui->horizontalSlider_Axis4->setMaximum((int)Rob->getMaxAngle(3));
ui->horizontalSlider_Axis4->setMinimum((int)Rob->getMinAngle(3));
ui->horizontalSlider_Axis6->setMaximum( (int ) Rob->getMaxAngle(5) );
ui->horizontalSlider_Axis6->setMinimum( (int ) Rob->getMinAngle(5) );
ui->horizontalSlider_Axis5->setMaximum((int)Rob->getMaxAngle(4));
ui->horizontalSlider_Axis5->setMinimum((int)Rob->getMinAngle(4));
ui->horizontalSlider_Axis6->setMaximum((int)Rob->getMaxAngle(5));
ui->horizontalSlider_Axis6->setMinimum((int)Rob->getMinAngle(5));
setAxis(pcRobot->Axis1.getValue(),
pcRobot->Axis2.getValue(),
@@ -109,140 +119,141 @@ void TaskRobot6Axis::createPlacementDlg()
Gui::Dialog::Placement plc;
plc.setSelection(Gui::Selection().getSelectionEx());
plc.setPlacement(pcRobot->Tool.getValue());
if (plc.exec()==QDialog::Accepted)
if (plc.exec() == QDialog::Accepted) {
pcRobot->Tool.setValue(plc.getPlacement());
}
viewTool(pcRobot->Tool.getValue());
}
void TaskRobot6Axis::viewTcp(const Base::Placement& pos)
{
double A,B,C;
pos.getRotation().getYawPitchRoll(A,B,C);
double A, B, C;
pos.getRotation().getYawPitchRoll(A, B, C);
QString result = QString::fromLatin1("TCP:( %1, %2, %3, %4, %5, %6 )")
.arg(pos.getPosition().x,0,'f',1)
.arg(pos.getPosition().y,0,'f',1)
.arg(pos.getPosition().z,0,'f',1)
.arg(A,0,'f',1)
.arg(B,0,'f',1)
.arg(C,0,'f',1);
.arg(pos.getPosition().x, 0, 'f', 1)
.arg(pos.getPosition().y, 0, 'f', 1)
.arg(pos.getPosition().z, 0, 'f', 1)
.arg(A, 0, 'f', 1)
.arg(B, 0, 'f', 1)
.arg(C, 0, 'f', 1);
ui->label_TCP->setText(result);
}
void TaskRobot6Axis::viewTool(const Base::Placement& pos)
{
double A,B,C;
pos.getRotation().getYawPitchRoll(A,B,C);
double A, B, C;
pos.getRotation().getYawPitchRoll(A, B, C);
QString result = QString::fromLatin1("Tool:( %1, %2, %3, %4, %5, %6 )")
.arg(pos.getPosition().x,0,'f',1)
.arg(pos.getPosition().y,0,'f',1)
.arg(pos.getPosition().z,0,'f',1)
.arg(A,0,'f',1)
.arg(B,0,'f',1)
.arg(C,0,'f',1);
.arg(pos.getPosition().x, 0, 'f', 1)
.arg(pos.getPosition().y, 0, 'f', 1)
.arg(pos.getPosition().z, 0, 'f', 1)
.arg(A, 0, 'f', 1)
.arg(B, 0, 'f', 1)
.arg(C, 0, 'f', 1);
ui->label_Tool->setText(result);
}
void TaskRobot6Axis::changeSliderA1(int value){
pcRobot->Axis1.setValue(float (value));
void TaskRobot6Axis::changeSliderA1(int value)
{
pcRobot->Axis1.setValue(float(value));
viewTcp(pcRobot->Tcp.getValue());
ui->lineEdit_Axis1->setText(QString::fromUtf8("%1\xc2\xb0").arg((float)value,0,'f',1));
setColor(0,float (value),*(ui->lineEdit_Axis1));
ui->lineEdit_Axis1->setText(QString::fromUtf8("%1\xc2\xb0").arg((float)value, 0, 'f', 1));
setColor(0, float(value), *(ui->lineEdit_Axis1));
}
void TaskRobot6Axis::changeSliderA2(int value)
{
pcRobot->Axis2.setValue(float (value));
pcRobot->Axis2.setValue(float(value));
viewTcp(pcRobot->Tcp.getValue());
ui->lineEdit_Axis2->setText(QString::fromUtf8("%1\xc2\xb0").arg((float)value,0,'f',1));
setColor(1,float (value),*(ui->lineEdit_Axis2));
ui->lineEdit_Axis2->setText(QString::fromUtf8("%1\xc2\xb0").arg((float)value, 0, 'f', 1));
setColor(1, float(value), *(ui->lineEdit_Axis2));
}
void TaskRobot6Axis::changeSliderA3(int value)
{
pcRobot->Axis3.setValue(float (value));
pcRobot->Axis3.setValue(float(value));
viewTcp(pcRobot->Tcp.getValue());
ui->lineEdit_Axis3->setText(QString::fromUtf8("%1\xc2\xb0").arg((float)value,0,'f',1));
setColor(2,float (value),*(ui->lineEdit_Axis3));
ui->lineEdit_Axis3->setText(QString::fromUtf8("%1\xc2\xb0").arg((float)value, 0, 'f', 1));
setColor(2, float(value), *(ui->lineEdit_Axis3));
}
void TaskRobot6Axis::changeSliderA4(int value)
{
pcRobot->Axis4.setValue(float (value));
pcRobot->Axis4.setValue(float(value));
viewTcp(pcRobot->Tcp.getValue());
ui->lineEdit_Axis4->setText(QString::fromLatin1("%1°").arg((float)value,0,'f',1));
setColor(3,float (value),*(ui->lineEdit_Axis4));
ui->lineEdit_Axis4->setText(QString::fromLatin1("%1°").arg((float)value, 0, 'f', 1));
setColor(3, float(value), *(ui->lineEdit_Axis4));
}
void TaskRobot6Axis::changeSliderA5(int value)
{
pcRobot->Axis5.setValue(float (value));
pcRobot->Axis5.setValue(float(value));
viewTcp(pcRobot->Tcp.getValue());
ui->lineEdit_Axis5->setText(QString::fromLatin1("%1°").arg((float)value,0,'f',1));
setColor(4,float (value),*(ui->lineEdit_Axis5));
ui->lineEdit_Axis5->setText(QString::fromLatin1("%1°").arg((float)value, 0, 'f', 1));
setColor(4, float(value), *(ui->lineEdit_Axis5));
}
void TaskRobot6Axis::changeSliderA6(int value)
{
pcRobot->Axis6.setValue(float (value));
pcRobot->Axis6.setValue(float(value));
viewTcp(pcRobot->Tcp.getValue());
ui->lineEdit_Axis6->setText(QString::fromLatin1("%1°").arg((float)value,0,'f',1));
setColor(5,float (value),*(ui->lineEdit_Axis6));
ui->lineEdit_Axis6->setText(QString::fromLatin1("%1°").arg((float)value, 0, 'f', 1));
setColor(5, float(value), *(ui->lineEdit_Axis6));
}
void TaskRobot6Axis::setColor(int i,float angle, QLineEdit &lineEdit){
void TaskRobot6Axis::setColor(int i, float angle, QLineEdit& lineEdit)
{
if( angle > Rob->getMaxAngle(i) || angle < Rob->getMinAngle(i)){
if (angle > Rob->getMaxAngle(i) || angle < Rob->getMinAngle(i)) {
QPalette p = lineEdit.palette();
p.setColor(QPalette::Base, QColor(255,220,220));//green color
lineEdit.setPalette(p);
}else{
QPalette p = lineEdit.palette();
p.setColor(QPalette::Base, QColor(220,255,220));//green color
p.setColor(QPalette::Base, QColor(255, 220, 220));// green color
lineEdit.setPalette(p);
}
else {
QPalette p = lineEdit.palette();
p.setColor(QPalette::Base, QColor(220, 255, 220));// green color
lineEdit.setPalette(p);
}
}
void TaskRobot6Axis::setAxis(float A1,float A2,float A3,float A4,float A5,float A6,const Base::Placement &Tcp)
void TaskRobot6Axis::setAxis(float A1,
float A2,
float A3,
float A4,
float A5,
float A6,
const Base::Placement& Tcp)
{
ui->horizontalSlider_Axis1->setSliderPosition((int)A1);
ui->lineEdit_Axis1->setText(QString::fromLatin1("%1°").arg(A1,0,'f',1));
setColor(0,A1,*(ui->lineEdit_Axis1));
ui->lineEdit_Axis1->setText(QString::fromLatin1("%1°").arg(A1, 0, 'f', 1));
setColor(0, A1, *(ui->lineEdit_Axis1));
ui->horizontalSlider_Axis2->setSliderPosition((int)A2);
ui->lineEdit_Axis2->setText(QString::fromLatin1("%1°").arg(A2,0,'f',1));
setColor(1,A2,*(ui->lineEdit_Axis2));
ui->lineEdit_Axis2->setText(QString::fromLatin1("%1°").arg(A2, 0, 'f', 1));
setColor(1, A2, *(ui->lineEdit_Axis2));
ui->horizontalSlider_Axis3->setSliderPosition((int)A3);
ui->lineEdit_Axis3->setText(QString::fromLatin1("%1°").arg(A3,0,'f',1));
setColor(2,A3,*(ui->lineEdit_Axis3));
ui->lineEdit_Axis3->setText(QString::fromLatin1("%1°").arg(A3, 0, 'f', 1));
setColor(2, A3, *(ui->lineEdit_Axis3));
ui->horizontalSlider_Axis4->setSliderPosition((int)A4);
ui->lineEdit_Axis4->setText(QString::fromLatin1("%1°").arg(A4,0,'f',1));
setColor(3,A4,*(ui->lineEdit_Axis4));
ui->lineEdit_Axis4->setText(QString::fromLatin1("%1°").arg(A4, 0, 'f', 1));
setColor(3, A4, *(ui->lineEdit_Axis4));
ui->horizontalSlider_Axis5->setSliderPosition((int)A5);
ui->lineEdit_Axis5->setText(QString::fromLatin1("%1°").arg(A5,0,'f',1));
setColor(4,A5,*(ui->lineEdit_Axis5));
ui->lineEdit_Axis5->setText(QString::fromLatin1("%1°").arg(A5, 0, 'f', 1));
setColor(4, A5, *(ui->lineEdit_Axis5));
ui->horizontalSlider_Axis6->setSliderPosition((int)A6);
ui->lineEdit_Axis6->setText(QString::fromLatin1("%1°").arg(A6,0,'f',1));
setColor(5,A6,*(ui->lineEdit_Axis6));
ui->lineEdit_Axis6->setText(QString::fromLatin1("%1°").arg(A6, 0, 'f', 1));
setColor(5, A6, *(ui->lineEdit_Axis6));
viewTcp(Tcp);
}
#include "moc_TaskRobot6Axis.cpp"

33
src/Mod/Robot/Gui/TaskRobot6Axis.h
View File

@@ -27,33 +27,36 @@
#include <Mod/Robot/App/RobotObject.h>
class Ui_TaskRobot6Axis;
class QLineEdit;
namespace App {
namespace App
{
class Property;
}
namespace Gui {
namespace Gui
{
class ViewProvider;
}
namespace RobotGui {
namespace RobotGui
{
class TaskRobot6Axis : public Gui::TaskView::TaskBox
class Ui_TaskRobot6Axis;
class TaskRobot6Axis: public Gui::TaskView::TaskBox
{
Q_OBJECT
public:
explicit TaskRobot6Axis(Robot::RobotObject *pcRobotObject,QWidget *parent = nullptr);
explicit TaskRobot6Axis(Robot::RobotObject* pcRobotObject, QWidget* parent = nullptr);
~TaskRobot6Axis() override;
void setRobot(Robot::RobotObject *pcRobotObject);
void setRobot(Robot::RobotObject* pcRobotObject);
public Q_SLOTS:
void setAxis(float A1,float A2,float A3,float A4,float A5,float A6,const Base::Placement &Tcp);
void
setAxis(float A1, float A2, float A3, float A4, float A5, float A6, const Base::Placement& Tcp);
void changeSliderA1(int value);
void changeSliderA2(int value);
void changeSliderA3(int value);
@@ -63,18 +66,18 @@ public Q_SLOTS:
void createPlacementDlg();
protected:
Robot::RobotObject *pcRobot;
Robot::RobotObject* pcRobot;
void viewTcp(const Base::Placement& pos);
void viewTool(const Base::Placement& pos);
void setColor(int i,float angle, QLineEdit &lineEdit);
private:
void setColor(int i, float angle, QLineEdit& lineEdit);
private:
private:
QWidget* proxy;
Ui_TaskRobot6Axis* ui;
Robot::Robot6Axis *Rob;
Robot::Robot6Axis* Rob;
};
} //namespace PartDesignGui
}// namespace RobotGui
#endif // GUI_TASKVIEW_TASKAPPERANCE_H
#endif// GUI_TASKVIEW_TASKAPPERANCE_H

17
src/Mod/Robot/Gui/TaskRobotControl.cpp
View File

@@ -24,16 +24,19 @@
#include <Gui/BitmapFactory.h>
#include "ui_TaskRobotControl.h"
#include "TaskRobotControl.h"
#include "ui_TaskRobotControl.h"
using namespace RobotGui;
using namespace Gui;
TaskRobotControl::TaskRobotControl(Robot::RobotObject *pcRobotObject,QWidget *parent)
: TaskBox(Gui::BitmapFactory().pixmap("Robot_CreateRobot"),tr("TaskRobotControl"),true, parent),
pcRobot(pcRobotObject)
TaskRobotControl::TaskRobotControl(Robot::RobotObject* pcRobotObject, QWidget* parent)
: TaskBox(Gui::BitmapFactory().pixmap("Robot_CreateRobot"),
tr("TaskRobotControl"),
true,
parent)
, pcRobot(pcRobotObject)
{
// we need a separate container widget to add all controls to
proxy = new QWidget(this);
@@ -43,12 +46,12 @@ TaskRobotControl::TaskRobotControl(Robot::RobotObject *pcRobotObject,QWidget *pa
this->groupLayout()->addWidget(proxy);
if(pcRobotObject)
if (pcRobotObject) {
setRobot(pcRobotObject);
}
}
void TaskRobotControl::setRobot(Robot::RobotObject *pcRobotObject)
void TaskRobotControl::setRobot(Robot::RobotObject* pcRobotObject)
{
pcRobot = pcRobotObject;
}

27
src/Mod/Robot/Gui/TaskRobotControl.h
View File

@@ -28,41 +28,42 @@
#include <Mod/Robot/App/RobotObject.h>
class Ui_TaskRobotControl;
namespace App {
namespace App
{
class Property;
}
namespace Gui {
namespace Gui
{
class ViewProvider;
}
namespace RobotGui {
namespace RobotGui
{
class TaskRobotControl : public Gui::TaskView::TaskBox
class Ui_TaskRobotControl;
class TaskRobotControl: public Gui::TaskView::TaskBox
{
Q_OBJECT
public:
explicit TaskRobotControl(Robot::RobotObject *pcRobotObject,QWidget *parent = nullptr);
explicit TaskRobotControl(Robot::RobotObject* pcRobotObject, QWidget* parent = nullptr);
~TaskRobotControl() override;
void setRobot(Robot::RobotObject *pcRobotObject);
void setRobot(Robot::RobotObject* pcRobotObject);
private Q_SLOTS:
protected:
Robot::RobotObject *pcRobot;
Robot::RobotObject* pcRobot;
private:
private:
QWidget* proxy;
Ui_TaskRobotControl* ui;
};
} //namespace PartDesignGui
}// namespace RobotGui
#endif // GUI_TASKVIEW_TASKAPPERANCE_H
#endif// GUI_TASKVIEW_TASKAPPERANCE_H

2
src/Mod/Robot/Gui/TaskRobotControl.ui
View File

@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>TaskRobotControl</class>
<class>RobotGui::TaskRobotControl</class>
<widget class="QWidget" name="TaskRobotControl">
<property name="geometry">
<rect>

8
src/Mod/Robot/Gui/TaskRobotMessages.cpp
View File

@@ -24,16 +24,16 @@
#include <Gui/BitmapFactory.h>
#include "ui_TaskRobotMessages.h"
#include "TaskRobotMessages.h"
#include "ui_TaskRobotMessages.h"
using namespace RobotGui;
using namespace Gui;
TaskRobotMessages::TaskRobotMessages(Robot::RobotObject *pcRobotObject,QWidget *parent)
: TaskBox(Gui::BitmapFactory().pixmap("document-new"),tr("TaskRobotMessages"),true, parent),
pcRobot(pcRobotObject)
TaskRobotMessages::TaskRobotMessages(Robot::RobotObject* pcRobotObject, QWidget* parent)
: TaskBox(Gui::BitmapFactory().pixmap("document-new"), tr("TaskRobotMessages"), true, parent)
, pcRobot(pcRobotObject)
{
// we need a separate container widget to add all controls to
proxy = new QWidget(this);

26
src/Mod/Robot/Gui/TaskRobotMessages.h
View File

@@ -27,41 +27,41 @@
#include <Mod/Robot/App/RobotObject.h>
class Ui_TaskRobotMessages;
namespace App {
namespace App
{
class Property;
}
namespace Gui {
namespace Gui
{
class ViewProvider;
}
namespace RobotGui {
namespace RobotGui
{
class TaskRobotMessages : public Gui::TaskView::TaskBox
class Ui_TaskRobotMessages;
class TaskRobotMessages: public Gui::TaskView::TaskBox
{
Q_OBJECT
public:
explicit TaskRobotMessages(Robot::RobotObject *pcRobotObject,QWidget *parent = nullptr);
explicit TaskRobotMessages(Robot::RobotObject* pcRobotObject, QWidget* parent = nullptr);
~TaskRobotMessages() override;
private Q_SLOTS:
protected:
Robot::RobotObject *pcRobot;
Robot::RobotObject* pcRobot;
private:
private:
QWidget* proxy;
Ui_TaskRobotMessages* ui;
};
} //namespace PartDesignGui
}// namespace RobotGui
#endif // GUI_TASKVIEW_TASKAPPERANCE_H
#endif// GUI_TASKVIEW_TASKAPPERANCE_H

2
src/Mod/Robot/Gui/TaskRobotMessages.ui
View File

@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>TaskRobotMessages</class>
<class>RobotGui::TaskRobotMessages</class>
<widget class="QWidget" name="TaskRobotMessages">
<property name="geometry">
<rect>

146
src/Mod/Robot/Gui/TaskTrajectory.cpp
View File

@@ -26,20 +26,22 @@
#include <Gui/BitmapFactory.h>
#include <Gui/Document.h>
#include "ui_TaskTrajectory.h"
#include "TaskTrajectory.h"
#include "ui_TaskTrajectory.h"
using namespace RobotGui;
using namespace Gui;
TaskTrajectory::TaskTrajectory(Robot::RobotObject *pcRobotObject,Robot::TrajectoryObject *pcTrajectoryObject,QWidget *parent)
: TaskBox(Gui::BitmapFactory().pixmap("document-new"),tr("Trajectory"),true, parent),
sim(pcTrajectoryObject->Trajectory.getValue(),pcRobotObject->getRobot()),
pcRobot(pcRobotObject),
Run(false),
block(false),
timePos(0.0)
TaskTrajectory::TaskTrajectory(Robot::RobotObject* pcRobotObject,
Robot::TrajectoryObject* pcTrajectoryObject,
QWidget* parent)
: TaskBox(Gui::BitmapFactory().pixmap("document-new"), tr("Trajectory"), true, parent)
, sim(pcTrajectoryObject->Trajectory.getValue(), pcRobotObject->getRobot())
, pcRobot(pcRobotObject)
, Run(false)
, block(false)
, timePos(0.0)
{
// we need a separate container widget to add all controls to
proxy = new QWidget(this);
@@ -49,7 +51,7 @@ TaskTrajectory::TaskTrajectory(Robot::RobotObject *pcRobotObject,Robot::Trajecto
this->groupLayout()->addWidget(proxy);
// set Tool
// set Tool
sim.Tool = pcRobotObject->Tool.getValue();
ui->trajectoryTable->setSortingEnabled(false);
@@ -59,25 +61,49 @@ TaskTrajectory::TaskTrajectory(Robot::RobotObject *pcRobotObject,Robot::Trajecto
duration = trac.getDuration();
ui->timeSpinBox->setMaximum(duration);
for(unsigned int i=0;i<trac.getSize();i++){
for (unsigned int i = 0; i < trac.getSize(); i++) {
Robot::Waypoint pt = trac.getWaypoint(i);
switch(pt.Type){
case Robot::Waypoint::UNDEF: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("UNDEF")));break;
case Robot::Waypoint::CIRC: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("CIRC")));break;
case Robot::Waypoint::PTP: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("PTP")));break;
case Robot::Waypoint::LINE: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("LIN")));break;
default: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("UNDEF")));break;
switch (pt.Type) {
case Robot::Waypoint::UNDEF:
ui->trajectoryTable->setItem(i,
0,
new QTableWidgetItem(QString::fromLatin1("UNDEF")));
break;
case Robot::Waypoint::CIRC:
ui->trajectoryTable->setItem(i,
0,
new QTableWidgetItem(QString::fromLatin1("CIRC")));
break;
case Robot::Waypoint::PTP:
ui->trajectoryTable->setItem(i,
0,
new QTableWidgetItem(QString::fromLatin1("PTP")));
break;
case Robot::Waypoint::LINE:
ui->trajectoryTable->setItem(i,
0,
new QTableWidgetItem(QString::fromLatin1("LIN")));
break;
default:
ui->trajectoryTable->setItem(i,
0,
new QTableWidgetItem(QString::fromLatin1("UNDEF")));
break;
}
ui->trajectoryTable->setItem(i, 1, new QTableWidgetItem(QString::fromUtf8(pt.Name.c_str())));
if(pt.Cont)
ui->trajectoryTable->setItem(i,
1,
new QTableWidgetItem(QString::fromUtf8(pt.Name.c_str())));
if (pt.Cont) {
ui->trajectoryTable->setItem(i, 2, new QTableWidgetItem(QString::fromLatin1("|")));
else
}
else {
ui->trajectoryTable->setItem(i, 2, new QTableWidgetItem(QString::fromLatin1("-")));
}
ui->trajectoryTable->setItem(i, 3, new QTableWidgetItem(QString::number(pt.Velocity)));
ui->trajectoryTable->setItem(i, 4, new QTableWidgetItem(QString::number(pt.Acceleration)));
}
// clang-format off
QObject::connect(ui->ButtonStepStart , &QPushButton::clicked, this, &TaskTrajectory::start);
QObject::connect(ui->ButtonStepStop , &QPushButton::clicked, this, &TaskTrajectory::stop);
QObject::connect(ui->ButtonStepRun , &QPushButton::clicked, this, &TaskTrajectory::run);
@@ -95,9 +121,11 @@ TaskTrajectory::TaskTrajectory(Robot::RobotObject *pcRobotObject,Robot::Trajecto
this, qOverload<double>(&TaskTrajectory::valueChanged));
QObject::connect(ui->timeSlider, qOverload<int>(&QSlider::valueChanged),
this, qOverload<int>(&TaskTrajectory::valueChanged));
// clang-format on
// get the view provider
ViewProv = dynamic_cast<ViewProviderRobotObject*>(Gui::Application::Instance->activeDocument()->getViewProvider(pcRobotObject) );
ViewProv = dynamic_cast<ViewProviderRobotObject*>(
Gui::Application::Instance->activeDocument()->getViewProvider(pcRobotObject));
setTo();
}
@@ -105,21 +133,20 @@ TaskTrajectory::TaskTrajectory(Robot::RobotObject *pcRobotObject,Robot::Trajecto
TaskTrajectory::~TaskTrajectory()
{
delete ui;
}
void TaskTrajectory::viewTool(const Base::Placement& pos)
{
double A,B,C;
pos.getRotation().getYawPitchRoll(A,B,C);
double A, B, C;
pos.getRotation().getYawPitchRoll(A, B, C);
QString result = QString::fromLatin1("Pos:(%1, %2, %3, %4, %5, %6)")
.arg(pos.getPosition().x,0,'f',1)
.arg(pos.getPosition().y,0,'f',1)
.arg(pos.getPosition().z,0,'f',1)
.arg(A,0,'f',1)
.arg(B,0,'f',1)
.arg(C,0,'f',1);
.arg(pos.getPosition().x, 0, 'f', 1)
.arg(pos.getPosition().y, 0, 'f', 1)
.arg(pos.getPosition().z, 0, 'f', 1)
.arg(A, 0, 'f', 1)
.arg(B, 0, 'f', 1)
.arg(C, 0, 'f', 1);
ui->label_Pos->setText(result);
}
@@ -128,13 +155,26 @@ void TaskTrajectory::setTo()
{
sim.Tool = pcRobot->Tool.getValue();
if(timePos < 0.0001)
if (timePos < 0.0001) {
sim.reset();
else{
}
else {
sim.setToTime(timePos);
}
ViewProv->setAxisTo(sim.Axis[0],sim.Axis[1],sim.Axis[2],sim.Axis[3],sim.Axis[4],sim.Axis[5],sim.Rob.getTcp());
Q_EMIT axisChanged(sim.Axis[0],sim.Axis[1],sim.Axis[2],sim.Axis[3],sim.Axis[4],sim.Axis[5],sim.Rob.getTcp());
ViewProv->setAxisTo(sim.Axis[0],
sim.Axis[1],
sim.Axis[2],
sim.Axis[3],
sim.Axis[4],
sim.Axis[5],
sim.Rob.getTcp());
Q_EMIT axisChanged(sim.Axis[0],
sim.Axis[1],
sim.Axis[2],
sim.Axis[3],
sim.Axis[4],
sim.Axis[5],
sim.Rob.getTcp());
viewTool(sim.Rob.getTcp());
}
@@ -142,9 +182,8 @@ void TaskTrajectory::start()
{
timePos = 0.0f;
ui->timeSpinBox->setValue(timePos);
ui->timeSlider->setValue(int((timePos/duration)*1000));
ui->timeSlider->setValue(int((timePos / duration) * 1000));
setTo();
}
void TaskTrajectory::stop()
{
@@ -157,51 +196,50 @@ void TaskTrajectory::run()
Run = true;
}
void TaskTrajectory::back()
{
}
{}
void TaskTrajectory::forward()
{
}
{}
void TaskTrajectory::end()
{
timePos = duration;
ui->timeSpinBox->setValue(timePos);
ui->timeSlider->setValue(int((timePos/duration)*1000));
ui->timeSlider->setValue(int((timePos / duration) * 1000));
setTo();
}
void TaskTrajectory::timerDone()
{
if(timePos < duration){
if (timePos < duration) {
timePos += .1f;
ui->timeSpinBox->setValue(timePos);
ui->timeSlider->setValue(int((timePos/duration)*1000));
ui->timeSlider->setValue(int((timePos / duration) * 1000));
setTo();
timer->start();
}else{
}
else {
timer->stop();
Run = false;
}
}
void TaskTrajectory::valueChanged ( int value )
void TaskTrajectory::valueChanged(int value)
{
if(!block){
timePos = duration*(value/1000.0);
block=true;
if (!block) {
timePos = duration * (value / 1000.0);
block = true;
ui->timeSpinBox->setValue(timePos);
block=false;
block = false;
setTo();
}
}
void TaskTrajectory::valueChanged ( double value )
void TaskTrajectory::valueChanged(double value)
{
if(!block){
if (!block) {
timePos = value;
block=true;
ui->timeSlider->setValue(int((timePos/duration)*1000));
block=false;
block = true;
ui->timeSlider->setValue(int((timePos / duration) * 1000));
block = false;
setTo();
}
}

43
src/Mod/Robot/Gui/TaskTrajectory.h
View File

@@ -32,29 +32,32 @@
#include "ViewProviderRobotObject.h"
class Ui_TaskTrajectory;
namespace App {
namespace App
{
class Property;
}
namespace Gui {
namespace Gui
{
class ViewProvider;
}
namespace RobotGui {
namespace RobotGui
{
class TaskTrajectory : public Gui::TaskView::TaskBox
class Ui_TaskTrajectory;
class TaskTrajectory: public Gui::TaskView::TaskBox
{
Q_OBJECT
public:
TaskTrajectory(Robot::RobotObject *pcRobotObject,Robot::TrajectoryObject *pcTrajectoryObject,QWidget *parent = nullptr);
TaskTrajectory(Robot::RobotObject* pcRobotObject,
Robot::TrajectoryObject* pcTrajectoryObject,
QWidget* parent = nullptr);
~TaskTrajectory() override;
/// Observer message from the Selection
void OnChange(Gui::SelectionSingleton::SubjectType &rCaller,
void OnChange(Gui::SelectionSingleton::SubjectType& rCaller,
Gui::SelectionSingleton::MessageType Reason);
private Q_SLOTS:
@@ -66,21 +69,27 @@ private Q_SLOTS:
void end();
void timerDone();
void valueChanged ( int value );
void valueChanged ( double d );
void valueChanged(int value);
void valueChanged(double d);
Q_SIGNALS:
void axisChanged(float A1,float A2,float A3,float A4,float A5,float A6,const Base::Placement &Tcp);
void axisChanged(float A1,
float A2,
float A3,
float A4,
float A5,
float A6,
const Base::Placement& Tcp);
protected:
void setTo();
void viewTool(const Base::Placement& pos);
QTimer *timer;
QTimer* timer;
Robot::Simulation sim;
Robot::RobotObject *pcRobot;
ViewProviderRobotObject *ViewProv;
Robot::RobotObject* pcRobot;
ViewProviderRobotObject* ViewProv;
bool Run;
bool block;
@@ -93,6 +102,6 @@ private:
Ui_TaskTrajectory* ui;
};
} //namespace PartDesignGui
}// namespace RobotGui
#endif // GUI_TASKVIEW_TASKAPPERANCE_H
#endif// GUI_TASKVIEW_TASKAPPERANCE_H

62
src/Mod/Robot/Gui/TaskTrajectoryDressUpParameter.cpp
View File

@@ -22,7 +22,7 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <QString>
#include <QString>
#endif
#include <Gui/BitmapFactory.h>
@@ -36,12 +36,13 @@
using namespace RobotGui;
using namespace Gui;
TaskTrajectoryDressUpParameter::TaskTrajectoryDressUpParameter(Robot::TrajectoryDressUpObject *obj,QWidget *parent)
TaskTrajectoryDressUpParameter::TaskTrajectoryDressUpParameter(Robot::TrajectoryDressUpObject* obj,
QWidget* parent)
: TaskBox(Gui::BitmapFactory().pixmap("Robot_TrajectoryDressUp"),
tr("Dress Up Parameter"),
true,
parent),
pcObject(obj)
tr("Dress Up Parameter"),
true,
parent)
, pcObject(obj)
{
// we need a separate container widget to add all controls to
proxy = new QWidget(this);
@@ -52,23 +53,23 @@ TaskTrajectoryDressUpParameter::TaskTrajectoryDressUpParameter(Robot::Trajectory
this->groupLayout()->addWidget(proxy);
// pump the actual values in the Gui
ui->doubleSpinBoxSpeed->setValue (pcObject->Speed.getValue() / 1000.0) ;
ui->doubleSpinBoxAccel->setValue (pcObject->Acceleration.getValue() / 1000.0) ;
ui->checkBoxUseSpeed ->setChecked (pcObject->UseSpeed.getValue()) ;
ui->checkBoxUseAccel ->setChecked (pcObject->UseAcceleration.getValue()) ;
ui->comboBoxCont ->setCurrentIndex (pcObject->ContType.getValue()) ;
ui->comboBoxOrientation->setCurrentIndex (pcObject->AddType.getValue()) ;
ui->doubleSpinBoxSpeed->setValue(pcObject->Speed.getValue() / 1000.0);
ui->doubleSpinBoxAccel->setValue(pcObject->Acceleration.getValue() / 1000.0);
ui->checkBoxUseSpeed->setChecked(pcObject->UseSpeed.getValue());
ui->checkBoxUseAccel->setChecked(pcObject->UseAcceleration.getValue());
ui->comboBoxCont->setCurrentIndex(pcObject->ContType.getValue());
ui->comboBoxOrientation->setCurrentIndex(pcObject->AddType.getValue());
PosAdd = pcObject->PosAdd.getValue();
viewPlacement();
QObject::connect(ui->toolButtonChoosePlacement, &QToolButton::clicked,
this, &TaskTrajectoryDressUpParameter::createPlacementDlg);
QObject::connect(ui->toolButtonChoosePlacement,
&QToolButton::clicked,
this,
&TaskTrajectoryDressUpParameter::createPlacementDlg);
}
TaskTrajectoryDressUpParameter::~TaskTrajectoryDressUpParameter()
{
delete ui;
@@ -76,12 +77,12 @@ TaskTrajectoryDressUpParameter::~TaskTrajectoryDressUpParameter()
void TaskTrajectoryDressUpParameter::writeValues()
{
pcObject->Speed.setValue ( ui->doubleSpinBoxSpeed->value()*1000.0);
pcObject->Acceleration.setValue ( ui->doubleSpinBoxAccel->value()*1000.0);
pcObject->UseSpeed.setValue ( ui->checkBoxUseSpeed ->isChecked() );
pcObject->UseAcceleration.setValue( ui->checkBoxUseAccel ->isChecked() );
pcObject->ContType.setValue ( ui->comboBoxCont ->currentIndex());
pcObject->AddType.setValue ( ui->comboBoxOrientation->currentIndex());
pcObject->Speed.setValue(ui->doubleSpinBoxSpeed->value() * 1000.0);
pcObject->Acceleration.setValue(ui->doubleSpinBoxAccel->value() * 1000.0);
pcObject->UseSpeed.setValue(ui->checkBoxUseSpeed->isChecked());
pcObject->UseAcceleration.setValue(ui->checkBoxUseAccel->isChecked());
pcObject->ContType.setValue(ui->comboBoxCont->currentIndex());
pcObject->AddType.setValue(ui->comboBoxOrientation->currentIndex());
pcObject->PosAdd.setValue(PosAdd);
}
@@ -94,22 +95,21 @@ void TaskTrajectoryDressUpParameter::createPlacementDlg()
PosAdd = plc.getPlacement();
viewPlacement();
}
}
void TaskTrajectoryDressUpParameter::viewPlacement()
{
double A,B,C;
double A, B, C;
Base::Vector3d pos = PosAdd.getPosition();
PosAdd.getRotation().getYawPitchRoll(A,B,C);
PosAdd.getRotation().getYawPitchRoll(A, B, C);
QString val = QString::fromLatin1("(%1,%2,%3),(%4,%5,%6)\n")
.arg(pos.x,0,'g',6)
.arg(pos.y,0,'g',6)
.arg(pos.z,0,'g',6)
.arg(A,0,'g',6)
.arg(B,0,'g',6)
.arg(C,0,'g',6);
.arg(pos.x, 0, 'g', 6)
.arg(pos.y, 0, 'g', 6)
.arg(pos.z, 0, 'g', 6)
.arg(A, 0, 'g', 6)
.arg(B, 0, 'g', 6)
.arg(C, 0, 'g', 6);
ui->lineEditPlacement->setText(val);
}

21
src/Mod/Robot/Gui/TaskTrajectoryDressUpParameter.h
View File

@@ -27,26 +27,27 @@
#include <Mod/Robot/App/TrajectoryDressUpObject.h>
class Ui_TaskTrajectoryDressUpParameter;
namespace RobotGui {
namespace RobotGui
{
class TaskTrajectoryDressUpParameter : public Gui::TaskView::TaskBox
class Ui_TaskTrajectoryDressUpParameter;
class TaskTrajectoryDressUpParameter: public Gui::TaskView::TaskBox
{
Q_OBJECT
public:
explicit TaskTrajectoryDressUpParameter(Robot::TrajectoryDressUpObject *obj,QWidget *parent = nullptr);
explicit TaskTrajectoryDressUpParameter(Robot::TrajectoryDressUpObject* obj,
QWidget* parent = nullptr);
~TaskTrajectoryDressUpParameter() override;
/// this methode write the values from the Gui to the object, usually in accept()
void writeValues();
private Q_SLOTS:
/// edit the placement
void createPlacementDlg();
protected:
Base::Placement PosAdd;
@@ -55,9 +56,9 @@ protected:
private:
QWidget* proxy;
Ui_TaskTrajectoryDressUpParameter* ui;
Robot::TrajectoryDressUpObject *pcObject;
Robot::TrajectoryDressUpObject* pcObject;
};
} //namespace PartDesignGui
}// namespace RobotGui
#endif // GUI_TASKVIEW_TASKAPPERANCE_H
#endif// GUI_TASKVIEW_TASKAPPERANCE_H

2
src/Mod/Robot/Gui/TaskTrajectoryDressUpParameter.ui
View File

@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>TaskTrajectoryDressUpParameter</class>
<class>RobotGui::TaskTrajectoryDressUpParameter</class>
<widget class="QWidget" name="TaskTrajectoryDressUpParameter">
<property name="geometry">
<rect>

13
src/Mod/Robot/Gui/TaskWatcher.cpp
View File

@@ -35,27 +35,24 @@ using namespace RobotGui;
TaskWatcherRobot::TaskWatcherRobot()
: Gui::TaskView::TaskWatcher("SELECT Robot::RobotObject COUNT 1")
{
rob = new TaskRobot6Axis(nullptr);
ctr = new TaskRobotControl(nullptr);
rob = new TaskRobot6Axis(nullptr);
ctr = new TaskRobotControl(nullptr);
Content.push_back(rob);
Content.push_back(ctr);
}
//==== calls from the TaskView ===============================================================
bool TaskWatcherRobot::shouldShow()
{
if(match()){
rob->setRobot((Robot::RobotObject *)Result[0][0].getObject());
ctr->setRobot((Robot::RobotObject *)Result[0][0].getObject());
if (match()) {
rob->setRobot((Robot::RobotObject*)Result[0][0].getObject());
ctr->setRobot((Robot::RobotObject*)Result[0][0].getObject());
return true;
}
return false;
}
#include "moc_TaskWatcher.cpp"

15
src/Mod/Robot/Gui/TaskWatcher.h
View File

@@ -29,27 +29,28 @@
#include "TaskRobotControl.h"
namespace RobotGui {
namespace RobotGui
{
class TaskContent;
/// Father class of watcher classes
class RobotGuiExport TaskWatcherRobot : public Gui::TaskView::TaskWatcher
class RobotGuiExport TaskWatcherRobot: public Gui::TaskView::TaskWatcher
{
Q_OBJECT
public:
TaskWatcherRobot();
/// is called when the document or the selection changes.
/// is called when the document or the selection changes.
bool shouldShow() override;
protected:
TaskRobot6Axis *rob;
TaskRobotControl *ctr ;
TaskRobot6Axis* rob;
TaskRobotControl* ctr;
};
} //namespace RobotGui
}// namespace RobotGui
#endif // ROBOTGUI_TASKWATCHER_H
#endif// ROBOTGUI_TASKWATCHER_H

108
src/Mod/Robot/Gui/TrajectorySimulate.cpp
View File

@@ -22,23 +22,25 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <QTimer>
#include <QTimer>
#endif
#include <Gui/Application.h>
#include <Gui/Document.h>
#include <Mod/Robot/App/Waypoint.h>
#include "ui_TrajectorySimulate.h"
#include "TrajectorySimulate.h"
#include "ui_TrajectorySimulate.h"
using namespace RobotGui;
using namespace Gui;
TrajectorySimulate::TrajectorySimulate(Robot::RobotObject *pcRobotObject,Robot::TrajectoryObject *pcTrajectoryObject,QWidget *parent)
: QDialog( parent)
, sim(pcTrajectoryObject->Trajectory.getValue(),pcRobotObject->getRobot())
TrajectorySimulate::TrajectorySimulate(Robot::RobotObject* pcRobotObject,
Robot::TrajectoryObject* pcTrajectoryObject,
QWidget* parent)
: QDialog(parent)
, sim(pcTrajectoryObject->Trajectory.getValue(), pcRobotObject->getRobot())
, Run(false)
, block(false)
, timePos(0.0)
@@ -57,25 +59,49 @@ TrajectorySimulate::TrajectorySimulate(Robot::RobotObject *pcRobotObject,Robot::
duration = trac.getDuration();
ui->timeSpinBox->setMaximum(duration);
for(unsigned int i=0;i<trac.getSize();i++){
for (unsigned int i = 0; i < trac.getSize(); i++) {
Robot::Waypoint pt = trac.getWaypoint(i);
switch(pt.Type){
case Robot::Waypoint::UNDEF: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("UNDEF")));break;
case Robot::Waypoint::CIRC: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("CIRC")));break;
case Robot::Waypoint::PTP: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("PTP")));break;
case Robot::Waypoint::LINE: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("LIN")));break;
default: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("UNDEF")));break;
switch (pt.Type) {
case Robot::Waypoint::UNDEF:
ui->trajectoryTable->setItem(i,
0,
new QTableWidgetItem(QString::fromLatin1("UNDEF")));
break;
case Robot::Waypoint::CIRC:
ui->trajectoryTable->setItem(i,
0,
new QTableWidgetItem(QString::fromLatin1("CIRC")));
break;
case Robot::Waypoint::PTP:
ui->trajectoryTable->setItem(i,
0,
new QTableWidgetItem(QString::fromLatin1("PTP")));
break;
case Robot::Waypoint::LINE:
ui->trajectoryTable->setItem(i,
0,
new QTableWidgetItem(QString::fromLatin1("LIN")));
break;
default:
ui->trajectoryTable->setItem(i,
0,
new QTableWidgetItem(QString::fromLatin1("UNDEF")));
break;
}
ui->trajectoryTable->setItem(i, 1, new QTableWidgetItem(QString::fromUtf8(pt.Name.c_str())));
if(pt.Cont)
ui->trajectoryTable->setItem(i,
1,
new QTableWidgetItem(QString::fromUtf8(pt.Name.c_str())));
if (pt.Cont) {
ui->trajectoryTable->setItem(i, 2, new QTableWidgetItem(QString::fromLatin1("|")));
else
}
else {
ui->trajectoryTable->setItem(i, 2, new QTableWidgetItem(QString::fromLatin1("-")));
}
ui->trajectoryTable->setItem(i, 3, new QTableWidgetItem(QString::number(pt.Velocity)));
ui->trajectoryTable->setItem(i, 4, new QTableWidgetItem(QString::number(pt.Acceleration)));
}
// clang-format off
QObject::connect(ui->ButtonStepStart, &QPushButton::clicked, this, &TrajectorySimulate::start);
QObject::connect(ui->ButtonStepStop, &QPushButton::clicked, this, &TrajectorySimulate::stop);
QObject::connect(ui->ButtonStepRun, &QPushButton::clicked, this, &TrajectorySimulate::run);
@@ -91,9 +117,11 @@ TrajectorySimulate::TrajectorySimulate(Robot::RobotObject *pcRobotObject,Robot::
this, qOverload<double>(&TrajectorySimulate::valueChanged));
QObject::connect(ui->timeSlider, qOverload<int>(&QSlider::valueChanged),
this, qOverload<int>(&TrajectorySimulate::valueChanged));
// clang-format on
// get the view provider
ViewProv = static_cast<ViewProviderRobotObject*>(Gui::Application::Instance->activeDocument()->getViewProvider(pcRobotObject) );
ViewProv = static_cast<ViewProviderRobotObject*>(
Gui::Application::Instance->activeDocument()->getViewProvider(pcRobotObject));
setTo();
}
@@ -103,16 +131,21 @@ TrajectorySimulate::~TrajectorySimulate() = default;
void TrajectorySimulate::setTo()
{
sim.setToTime(timePos);
ViewProv->setAxisTo(sim.Axis[0],sim.Axis[1],sim.Axis[2],sim.Axis[3],sim.Axis[4],sim.Axis[5],sim.Rob.getTcp());
ViewProv->setAxisTo(sim.Axis[0],
sim.Axis[1],
sim.Axis[2],
sim.Axis[3],
sim.Axis[4],
sim.Axis[5],
sim.Rob.getTcp());
}
void TrajectorySimulate::start()
{
timePos = 0.0f;
ui->timeSpinBox->setValue(timePos);
ui->timeSlider->setValue(int((timePos/duration)*1000));
ui->timeSlider->setValue(int((timePos / duration) * 1000));
setTo();
}
void TrajectorySimulate::stop()
{
@@ -125,51 +158,50 @@ void TrajectorySimulate::run()
Run = true;
}
void TrajectorySimulate::back()
{
}
{}
void TrajectorySimulate::forward()
{
}
{}
void TrajectorySimulate::end()
{
timePos = duration;
ui->timeSpinBox->setValue(timePos);
ui->timeSlider->setValue(int((timePos/duration)*1000));
ui->timeSlider->setValue(int((timePos / duration) * 1000));
setTo();
}
void TrajectorySimulate::timerDone()
{
if(timePos < duration){
if (timePos < duration) {
timePos += .1f;
ui->timeSpinBox->setValue(timePos);
ui->timeSlider->setValue(int((timePos/duration)*1000));
ui->timeSlider->setValue(int((timePos / duration) * 1000));
setTo();
timer->start();
}else{
}
else {
timer->stop();
Run = false;
}
}
void TrajectorySimulate::valueChanged ( int value )
void TrajectorySimulate::valueChanged(int value)
{
if(!block){
timePos = duration*(value/1000.0);
block=true;
if (!block) {
timePos = duration * (value / 1000.0);
block = true;
ui->timeSpinBox->setValue(timePos);
block=false;
block = false;
setTo();
}
}
void TrajectorySimulate::valueChanged ( double value )
void TrajectorySimulate::valueChanged(double value)
{
if(!block){
if (!block) {
timePos = value;
block=true;
ui->timeSlider->setValue(int((timePos/duration)*1000));
block=false;
block = true;
ui->timeSlider->setValue(int((timePos / duration) * 1000));
block = false;
setTo();
}
}

23
src/Mod/Robot/Gui/TrajectorySimulate.h
View File

@@ -23,8 +23,8 @@
#ifndef GUI_TASKVIEW_TrajectorySimulate_H
#define GUI_TASKVIEW_TrajectorySimulate_H
#include <memory>
#include <QDialog>
#include <memory>
#include <Mod/Robot/App/RobotObject.h>
#include <Mod/Robot/App/Simulation.h>
@@ -33,16 +33,19 @@
#include "ViewProviderRobotObject.h"
namespace RobotGui {
namespace RobotGui
{
class Ui_DlgTrajectorySimulate;
class TrajectorySimulate : public QDialog
class TrajectorySimulate: public QDialog
{
Q_OBJECT
public:
TrajectorySimulate(Robot::RobotObject *pcRobotObject,Robot::TrajectoryObject *pcTrajectoryObject,QWidget *parent = nullptr);
TrajectorySimulate(Robot::RobotObject* pcRobotObject,
Robot::TrajectoryObject* pcTrajectoryObject,
QWidget* parent = nullptr);
~TrajectorySimulate() override;
private Q_SLOTS:
@@ -54,17 +57,17 @@ private Q_SLOTS:
void end();
void timerDone();
void valueChanged ( int value );
void valueChanged ( double d );
void valueChanged(int value);
void valueChanged(double d);
protected:
void setTo();
QTimer *timer;
QTimer* timer;
Robot::Simulation sim;
ViewProviderRobotObject *ViewProv;
ViewProviderRobotObject* ViewProv;
bool Run;
bool block;
@@ -76,6 +79,6 @@ private:
std::unique_ptr<Ui_DlgTrajectorySimulate> ui;
};
} //namespace PartDesignGui
}// namespace RobotGui
#endif // GUI_TASKVIEW_TrajectorySimulate_H
#endif// GUI_TASKVIEW_TrajectorySimulate_H

10
src/Mod/Robot/Gui/ViewProviderEdge2TracObject.cpp
View File

@@ -35,7 +35,8 @@ PROPERTY_SOURCE(RobotGui::ViewProviderEdge2TracObject, RobotGui::ViewProviderTra
bool ViewProviderEdge2TracObject::doubleClicked()
{
Gui::TaskView::TaskDialog* dlg = new TaskDlgEdge2Trac(static_cast<Robot::Edge2TracObject *>(getObject()));
Gui::TaskView::TaskDialog* dlg =
new TaskDlgEdge2Trac(static_cast<Robot::Edge2TracObject*>(getObject()));
Gui::Control().showDialog(dlg);
return true;
}
@@ -43,12 +44,11 @@ bool ViewProviderEdge2TracObject::doubleClicked()
bool ViewProviderEdge2TracObject::setEdit(int)
{
Gui::TaskView::TaskDialog* dlg = new TaskDlgEdge2Trac(static_cast<Robot::Edge2TracObject *>(getObject()));
Gui::TaskView::TaskDialog* dlg =
new TaskDlgEdge2Trac(static_cast<Robot::Edge2TracObject*>(getObject()));
Gui::Control().showDialog(dlg);
return true;
}
void ViewProviderEdge2TracObject::unsetEdit(int)
{
}
{}

14
src/Mod/Robot/Gui/ViewProviderEdge2TracObject.h
View File

@@ -29,19 +29,19 @@
namespace RobotGui
{
class RobotGuiExport ViewProviderEdge2TracObject : public ViewProviderTrajectory
class RobotGuiExport ViewProviderEdge2TracObject: public ViewProviderTrajectory
{
PROPERTY_HEADER_WITH_OVERRIDE(RobotGui::ViewProviderEdge2TracObject);
public:
bool doubleClicked() override;
protected:
bool setEdit(int ModNum) override;
void unsetEdit(int ModNum) override;
bool doubleClicked() override;
protected:
bool setEdit(int ModNum) override;
void unsetEdit(int ModNum) override;
};
} //namespace RobotGui
}// namespace RobotGui
#endif // ROBOT_VIEWPROVIDEREDGE2TRACOBJECT_H
#endif// ROBOT_VIEWPROVIDEREDGE2TRACOBJECT_H

446
src/Mod/Robot/Gui/ViewProviderRobotObject.cpp
View File

@@ -22,23 +22,23 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <sstream>
# include <QFile>
#include <QFile>
#include <sstream>
# include <Inventor/SoDB.h>
# include <Inventor/SoInput.h>
# include <Inventor/SbVec3f.h>
# include <Inventor/actions/SoSearchAction.h>
# include <Inventor/draggers/SoJackDragger.h>
# include <Inventor/nodes/SoSeparator.h>
# include <Inventor/VRMLnodes/SoVRMLTransform.h>
#include <Inventor/SbVec3f.h>
#include <Inventor/SoDB.h>
#include <Inventor/SoInput.h>
#include <Inventor/VRMLnodes/SoVRMLTransform.h>
#include <Inventor/actions/SoSearchAction.h>
#include <Inventor/draggers/SoJackDragger.h>
#include <Inventor/nodes/SoSeparator.h>
#endif
#include <App/Document.h>
#include <App/VRMLObject.h>
#include <Gui/Application.h>
#include <Mod/Robot/App/RobotObject.h>
#include <Mod/Part/Gui/ViewProvider.h>
#include <Mod/Robot/App/RobotObject.h>
#include "ViewProviderRobotObject.h"
@@ -50,17 +50,17 @@ PROPERTY_SOURCE(RobotGui::ViewProviderRobotObject, Gui::ViewProviderGeometryObje
ViewProviderRobotObject::ViewProviderRobotObject()
{
ADD_PROPERTY(Manipulator,(0));
ADD_PROPERTY(Manipulator, (0));
pcRobotRoot = new Gui::SoFCSelection();
pcRobotRoot->highlightMode = Gui::SoFCSelection::OFF;
//pcRobotRoot->selectionMode = Gui::SoFCSelection::SEL_OFF;
//pcRobotRoot->style = Gui::SoFCSelection::BOX;
// pcRobotRoot->selectionMode = Gui::SoFCSelection::SEL_OFF;
// pcRobotRoot->style = Gui::SoFCSelection::BOX;
pcRobotRoot->ref();
pcSimpleRoot = new Gui::SoFCSelection();
pcSimpleRoot->highlightMode = Gui::SoFCSelection::OFF;
//pcSimpleRoot->selectionMode = Gui::SoFCSelection::SEL_OFF;
// pcSimpleRoot->selectionMode = Gui::SoFCSelection::SEL_OFF;
pcSimpleRoot->ref();
pcOffRoot = new SoGroup();
@@ -86,17 +86,19 @@ void ViewProviderRobotObject::setDragger()
{
assert(!pcDragger);
pcDragger = new SoJackDragger();
pcDragger->addMotionCallback(sDraggerMotionCallback,this);
pcDragger->addMotionCallback(sDraggerMotionCallback, this);
pcTcpRoot->addChild(pcDragger);
// set the actual TCP position
Robot::RobotObject* robObj = static_cast<Robot::RobotObject*>(pcObject);
Base::Placement loc = robObj->Tcp.getValue();
SbMatrix M;
M.setTransform(SbVec3f(loc.getPosition().x,loc.getPosition().y,loc.getPosition().z),
SbRotation(loc.getRotation()[0],loc.getRotation()[1],loc.getRotation()[2],loc.getRotation()[3]),
SbVec3f(150,150,150)
);
SbMatrix M;
M.setTransform(SbVec3f(loc.getPosition().x, loc.getPosition().y, loc.getPosition().z),
SbRotation(loc.getRotation()[0],
loc.getRotation()[1],
loc.getRotation()[2],
loc.getRotation()[3]),
SbVec3f(150, 150, 150));
pcDragger->setMotionMatrix(M);
}
@@ -107,7 +109,7 @@ void ViewProviderRobotObject::resetDragger()
pcDragger = nullptr;
}
void ViewProviderRobotObject::attach(App::DocumentObject *pcObj)
void ViewProviderRobotObject::attach(App::DocumentObject* pcObj)
{
ViewProviderGeometryObject::attach(pcObj);
@@ -129,13 +131,16 @@ void ViewProviderRobotObject::attach(App::DocumentObject *pcObj)
void ViewProviderRobotObject::setDisplayMode(const char* ModeName)
{
if ( strcmp("VRML",ModeName)==0 )
if (strcmp("VRML", ModeName) == 0) {
setDisplayMaskMode("VRML");
if ( strcmp("Simple",ModeName)==0 )
}
if (strcmp("Simple", ModeName) == 0) {
setDisplayMaskMode("Simple");
if ( strcmp("Off",ModeName)==0 )
}
if (strcmp("Off", ModeName) == 0) {
setDisplayMaskMode("Off");
ViewProviderGeometryObject::setDisplayMode( ModeName );
}
ViewProviderGeometryObject::setDisplayMode(ModeName);
}
std::vector<std::string> ViewProviderRobotObject::getDisplayModes() const
@@ -151,12 +156,14 @@ void ViewProviderRobotObject::onChanged(const App::Property* prop)
{
if (prop == &Manipulator) {
if (Manipulator.getValue()) {
if (!this->pcDragger)
if (!this->pcDragger) {
this->setDragger();
}
}
else {
if (this->pcDragger)
if (this->pcDragger) {
this->resetDragger();
}
}
}
else {
@@ -176,198 +183,269 @@ void ViewProviderRobotObject::updateData(const App::Property* prop)
Gui::coinRemoveAllChildren(pcRobotRoot);
if (!fn.isEmpty() && file.open(QFile::ReadOnly)) {
QByteArray buffer = file.readAll();
in.setBuffer((void *)buffer.constData(), buffer.length());
SoSeparator * node = SoDB::readAll(&in);
if (node) pcRobotRoot->addChild(node);
in.setBuffer((void*)buffer.constData(), buffer.length());
SoSeparator* node = SoDB::readAll(&in);
if (node) {
pcRobotRoot->addChild(node);
}
pcRobotRoot->addChild(pcTcpRoot);
}
// search for the connection points +++++++++++++++++++++++++++++++++++++++++++++++++
Axis1Node = Axis2Node = Axis3Node = Axis4Node = Axis5Node = Axis6Node = nullptr;
SoSearchAction searchAction;
SoPath * path;
// search for the connection points +++++++++++++++++++++++++++++++++++++++++++++++++
Axis1Node = Axis2Node = Axis3Node = Axis4Node = Axis5Node = Axis6Node = nullptr;
SoSearchAction searchAction;
SoPath* path;
// Axis 1
searchAction.setName("FREECAD_AXIS1");
searchAction.setInterest(SoSearchAction::FIRST);
searchAction.setSearchingAll(false);
searchAction.apply(pcRobotRoot);
path = searchAction.getPath();
if(path){
SoNode* node = path->getTail();
if (node && node->getTypeId() == SoVRMLTransform::getClassTypeId())
Axis1Node = static_cast<SoVRMLTransform *>(node);
}
// Axis 2
searchAction.setName("FREECAD_AXIS2");
searchAction.setInterest(SoSearchAction::FIRST);
searchAction.setSearchingAll(false);
searchAction.apply(pcRobotRoot);
path = searchAction.getPath();
if(path){
SoNode* node = path->getTail();
if (node && node->getTypeId() == SoVRMLTransform::getClassTypeId())
Axis2Node = static_cast<SoVRMLTransform *>(node);
}
// Axis 3
searchAction.setName("FREECAD_AXIS3");
searchAction.setInterest(SoSearchAction::FIRST);
searchAction.setSearchingAll(false);
searchAction.apply(pcRobotRoot);
path = searchAction.getPath();
if(path){
SoNode* node = path->getTail();
if (node && node->getTypeId() == SoVRMLTransform::getClassTypeId())
Axis3Node = static_cast<SoVRMLTransform *>(node);
}
// Axis 4
searchAction.setName("FREECAD_AXIS4");
searchAction.setInterest(SoSearchAction::FIRST);
searchAction.setSearchingAll(false);
searchAction.apply(pcRobotRoot);
path = searchAction.getPath();
if(path){
SoNode* node = path->getTail();
if (node && node->getTypeId() == SoVRMLTransform::getClassTypeId())
Axis4Node = static_cast<SoVRMLTransform *>(node);
}
// Axis 5
searchAction.setName("FREECAD_AXIS5");
searchAction.setInterest(SoSearchAction::FIRST);
searchAction.setSearchingAll(false);
searchAction.apply(pcRobotRoot);
path = searchAction.getPath();
if(path){
SoNode* node = path->getTail();
if (node && node->getTypeId() == SoVRMLTransform::getClassTypeId())
Axis5Node = static_cast<SoVRMLTransform *>(node);
}
// Axis 6
searchAction.setName("FREECAD_AXIS6");
searchAction.setInterest(SoSearchAction::FIRST);
searchAction.setSearchingAll(false);
searchAction.apply(pcRobotRoot);
path = searchAction.getPath();
if(path){
SoNode* node = path->getTail();
if (node && node->getTypeId() == SoVRMLTransform::getClassTypeId())
Axis6Node = static_cast<SoVRMLTransform *>(node);
}
if(Axis1Node)
Axis1Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis1.getValue()*(M_PI/180));
if(Axis2Node)
Axis2Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis2.getValue()*(M_PI/180));
if(Axis3Node)
Axis3Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis3.getValue()*(M_PI/180));
if(Axis4Node)
Axis4Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis4.getValue()*(M_PI/180));
if(Axis5Node)
Axis5Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis5.getValue()*(M_PI/180));
if(Axis6Node)
Axis6Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis6.getValue()*(M_PI/180));
}else if (prop == &robObj->Axis1) {
if(Axis1Node){
Axis1Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis1.getValue()*(M_PI/180));
if(toolShape)
toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
// Axis 1
searchAction.setName("FREECAD_AXIS1");
searchAction.setInterest(SoSearchAction::FIRST);
searchAction.setSearchingAll(false);
searchAction.apply(pcRobotRoot);
path = searchAction.getPath();
if (path) {
SoNode* node = path->getTail();
if (node && node->getTypeId() == SoVRMLTransform::getClassTypeId()) {
Axis1Node = static_cast<SoVRMLTransform*>(node);
}
}
}else if (prop == &robObj->Axis2) {
if(Axis2Node){
Axis2Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis2.getValue()*(M_PI/180));
if(toolShape)
toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
// Axis 2
searchAction.setName("FREECAD_AXIS2");
searchAction.setInterest(SoSearchAction::FIRST);
searchAction.setSearchingAll(false);
searchAction.apply(pcRobotRoot);
path = searchAction.getPath();
if (path) {
SoNode* node = path->getTail();
if (node && node->getTypeId() == SoVRMLTransform::getClassTypeId()) {
Axis2Node = static_cast<SoVRMLTransform*>(node);
}
}
}else if (prop == &robObj->Axis3) {
if(Axis3Node){
Axis3Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis3.getValue()*(M_PI/180));
if(toolShape)
toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
// Axis 3
searchAction.setName("FREECAD_AXIS3");
searchAction.setInterest(SoSearchAction::FIRST);
searchAction.setSearchingAll(false);
searchAction.apply(pcRobotRoot);
path = searchAction.getPath();
if (path) {
SoNode* node = path->getTail();
if (node && node->getTypeId() == SoVRMLTransform::getClassTypeId()) {
Axis3Node = static_cast<SoVRMLTransform*>(node);
}
}
}else if (prop == &robObj->Axis4) {
if(Axis4Node){
Axis4Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis4.getValue()*(M_PI/180));
if(toolShape)
toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
// Axis 4
searchAction.setName("FREECAD_AXIS4");
searchAction.setInterest(SoSearchAction::FIRST);
searchAction.setSearchingAll(false);
searchAction.apply(pcRobotRoot);
path = searchAction.getPath();
if (path) {
SoNode* node = path->getTail();
if (node && node->getTypeId() == SoVRMLTransform::getClassTypeId()) {
Axis4Node = static_cast<SoVRMLTransform*>(node);
}
}
}else if (prop == &robObj->Axis5) {
if(Axis5Node){
Axis5Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis5.getValue()*(M_PI/180));
if(toolShape)
toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
// Axis 5
searchAction.setName("FREECAD_AXIS5");
searchAction.setInterest(SoSearchAction::FIRST);
searchAction.setSearchingAll(false);
searchAction.apply(pcRobotRoot);
path = searchAction.getPath();
if (path) {
SoNode* node = path->getTail();
if (node && node->getTypeId() == SoVRMLTransform::getClassTypeId()) {
Axis5Node = static_cast<SoVRMLTransform*>(node);
}
}
}else if (prop == &robObj->Axis6) {
if(Axis6Node){
Axis6Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis6.getValue()*(M_PI/180));
if(toolShape)
toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
// Axis 6
searchAction.setName("FREECAD_AXIS6");
searchAction.setInterest(SoSearchAction::FIRST);
searchAction.setSearchingAll(false);
searchAction.apply(pcRobotRoot);
path = searchAction.getPath();
if (path) {
SoNode* node = path->getTail();
if (node && node->getTypeId() == SoVRMLTransform::getClassTypeId()) {
Axis6Node = static_cast<SoVRMLTransform*>(node);
}
}
}else if (prop == &robObj->Tcp) {
if (Axis1Node) {
Axis1Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis1.getValue() * (M_PI / 180));
}
if (Axis2Node) {
Axis2Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis2.getValue() * (M_PI / 180));
}
if (Axis3Node) {
Axis3Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis3.getValue() * (M_PI / 180));
}
if (Axis4Node) {
Axis4Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis4.getValue() * (M_PI / 180));
}
if (Axis5Node) {
Axis5Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis5.getValue() * (M_PI / 180));
}
if (Axis6Node) {
Axis6Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis6.getValue() * (M_PI / 180));
}
}
else if (prop == &robObj->Axis1) {
if (Axis1Node) {
Axis1Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis1.getValue() * (M_PI / 180));
if (toolShape) {
toolShape->setTransformation(
(robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
}
}
}
else if (prop == &robObj->Axis2) {
if (Axis2Node) {
Axis2Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis2.getValue() * (M_PI / 180));
if (toolShape) {
toolShape->setTransformation(
(robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
}
}
}
else if (prop == &robObj->Axis3) {
if (Axis3Node) {
Axis3Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis3.getValue() * (M_PI / 180));
if (toolShape) {
toolShape->setTransformation(
(robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
}
}
}
else if (prop == &robObj->Axis4) {
if (Axis4Node) {
Axis4Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis4.getValue() * (M_PI / 180));
if (toolShape) {
toolShape->setTransformation(
(robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
}
}
}
else if (prop == &robObj->Axis5) {
if (Axis5Node) {
Axis5Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis5.getValue() * (M_PI / 180));
if (toolShape) {
toolShape->setTransformation(
(robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
}
}
}
else if (prop == &robObj->Axis6) {
if (Axis6Node) {
Axis6Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis6.getValue() * (M_PI / 180));
if (toolShape) {
toolShape->setTransformation(
(robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
}
}
}
else if (prop == &robObj->Tcp) {
Base::Placement loc = robObj->Tcp.getValue();
SbMatrix M;
M.setTransform(SbVec3f(loc.getPosition().x,loc.getPosition().y,loc.getPosition().z),
SbRotation(loc.getRotation()[0],loc.getRotation()[1],loc.getRotation()[2],loc.getRotation()[3]),
SbVec3f(150,150,150)
);
if(pcDragger)
SbMatrix M;
M.setTransform(SbVec3f(loc.getPosition().x, loc.getPosition().y, loc.getPosition().z),
SbRotation(loc.getRotation()[0],
loc.getRotation()[1],
loc.getRotation()[2],
loc.getRotation()[3]),
SbVec3f(150, 150, 150));
if (pcDragger) {
pcDragger->setMotionMatrix(M);
if(toolShape)
toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
//pcTcpTransform->translation = SbVec3f(loc.getPosition().x,loc.getPosition().y,loc.getPosition().z);
//pcTcpTransform->rotation = SbRotation(loc.getRotation()[0],loc.getRotation()[1],loc.getRotation()[2],loc.getRotation()[3]);
}else if (prop == &robObj->ToolShape) {
}
if (toolShape) {
toolShape->setTransformation(
(robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
}
// pcTcpTransform->translation =
// SbVec3f(loc.getPosition().x,loc.getPosition().y,loc.getPosition().z);
// pcTcpTransform->rotation =
// SbRotation(loc.getRotation()[0],loc.getRotation()[1],loc.getRotation()[2],loc.getRotation()[3]);
}
else if (prop == &robObj->ToolShape) {
App::DocumentObject* o = robObj->ToolShape.getValue<App::DocumentObject*>();
if(o && (o->isDerivedFrom(Part::Feature::getClassTypeId()) || o->isDerivedFrom(App::VRMLObject::getClassTypeId())) ){
//Part::Feature *p = dynamic_cast<Part::Feature *>(o);
if (o
&& (o->isDerivedFrom(Part::Feature::getClassTypeId())
|| o->isDerivedFrom(App::VRMLObject::getClassTypeId()))) {
// Part::Feature *p = dynamic_cast<Part::Feature *>(o);
toolShape = Gui::Application::Instance->getViewProvider(o);
toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
}else
toolShape->setTransformation(
(robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
}
else {
toolShape = nullptr;
}
}
}
}
void ViewProviderRobotObject::setAxisTo(float A1,float A2,float A3,float A4,float A5,float A6,const Base::Placement &Tcp)
void ViewProviderRobotObject::setAxisTo(float A1,
float A2,
float A3,
float A4,
float A5,
float A6,
const Base::Placement& Tcp)
{
Robot::RobotObject* robObj = static_cast<Robot::RobotObject*>(pcObject);
if(Axis1Node)
// FIXME Ugly hack for the wrong transformation of the Kuka 500 robot VRML the minus sign on Axis 1
Axis1Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),A1*(M_PI/180));
if(Axis2Node)
Axis2Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),A2*(M_PI/180));
if(Axis3Node)
Axis3Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),A3*(M_PI/180));
if(Axis4Node)
Axis4Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),A4*(M_PI/180));
if(Axis5Node)
Axis5Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),A5*(M_PI/180));
if(Axis6Node)
Axis6Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),A6*(M_PI/180));
if (Axis1Node) {
// FIXME Ugly hack for the wrong transformation of the Kuka 500 robot VRML the minus sign on
// Axis 1
Axis1Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), A1 * (M_PI / 180));
}
if (Axis2Node) {
Axis2Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), A2 * (M_PI / 180));
}
if (Axis3Node) {
Axis3Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), A3 * (M_PI / 180));
}
if (Axis4Node) {
Axis4Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), A4 * (M_PI / 180));
}
if (Axis5Node) {
Axis5Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), A5 * (M_PI / 180));
}
if (Axis6Node) {
Axis6Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), A6 * (M_PI / 180));
}
// update tool position
if(toolShape)
if (toolShape) {
toolShape->setTransformation((Tcp * (robObj->ToolBase.getValue().inverse())).toMatrix());
}
}
void ViewProviderRobotObject::sDraggerMotionCallback(void *data, SoDragger *dragger)
void ViewProviderRobotObject::sDraggerMotionCallback(void* data, SoDragger* dragger)
{
static_cast<ViewProviderRobotObject*>(data)->DraggerMotionCallback(dragger);
}
void ViewProviderRobotObject::DraggerMotionCallback(SoDragger *dragger)
void ViewProviderRobotObject::DraggerMotionCallback(SoDragger* dragger)
{
float q0, q1, q2, q3;
Robot::RobotObject* robObj = static_cast<Robot::RobotObject*>(pcObject);
Base::Placement Tcp = robObj->Tcp.getValue();
const SbMatrix & M = dragger->getMotionMatrix ();
SbVec3f translation;
const SbMatrix& M = dragger->getMotionMatrix();
SbVec3f translation;
SbRotation rotation;
SbVec3f scaleFactor;
SbVec3f scaleFactor;
SbRotation scaleOrientation;
SbVec3f center(Tcp.getPosition().x,Tcp.getPosition().y,Tcp.getPosition().z);
SbVec3f center(Tcp.getPosition().x, Tcp.getPosition().y, Tcp.getPosition().z);
M.getTransform(translation, rotation, scaleFactor, scaleOrientation);
rotation.getValue(q0, q1, q2, q3);
//Base::Console().Message("M %f %f %f\n", M[3][0], M[3][1], M[3][2]);
// Base::Console().Message("M %f %f %f\n", M[3][0], M[3][1], M[3][2]);
Base::Rotation rot(q0, q1, q2, q3);
Base::Vector3d pos(translation[0],translation[1],translation[2]);
robObj->Tcp.setValue(Base::Placement(pos,rot));
Base::Vector3d pos(translation[0], translation[1], translation[2]);
robObj->Tcp.setValue(Base::Placement(pos, rot));
}

50
src/Mod/Robot/Gui/ViewProviderRobotObject.h
View File

@@ -37,7 +37,7 @@ class SoTrackballDragger;
namespace RobotGui
{
class RobotGuiExport ViewProviderRobotObject : public Gui::ViewProviderGeometryObject
class RobotGuiExport ViewProviderRobotObject: public Gui::ViewProviderGeometryObject
{
PROPERTY_HEADER_WITH_OVERRIDE(RobotGui::ViewProviderRobotObject);
@@ -50,7 +50,7 @@ public:
App::PropertyBool Manipulator;
void attach(App::DocumentObject *pcObject) override;
void attach(App::DocumentObject* pcObject) override;
void setDisplayMode(const char* ModeName) override;
std::vector<std::string> getDisplayModes() const override;
void updateData(const App::Property*) override;
@@ -58,38 +58,44 @@ public:
void onChanged(const App::Property* prop) override;
/// for simulation without changing the document:
void setAxisTo(float A1,float A2,float A3,float A4,float A5,float A6,const Base::Placement &Tcp);
void setAxisTo(float A1,
float A2,
float A3,
float A4,
float A5,
float A6,
const Base::Placement& Tcp);
protected:
static void sDraggerMotionCallback(void *data, SoDragger *dragger);
void DraggerMotionCallback(SoDragger *dragger);
static void sDraggerMotionCallback(void* data, SoDragger* dragger);
void DraggerMotionCallback(SoDragger* dragger);
void setDragger();
void resetDragger();
Gui::SoFCSelection * pcRobotRoot;
Gui::SoFCSelection * pcSimpleRoot;
SoGroup * pcOffRoot;
Gui::SoFCSelection* pcRobotRoot;
Gui::SoFCSelection* pcSimpleRoot;
SoGroup* pcOffRoot;
SoGroup * pcTcpRoot;
//SoTransform * pcTcpTransform;
SoGroup* pcTcpRoot;
// SoTransform * pcTcpTransform;
//SoTrackballDragger * pcDragger;
SoJackDragger * pcDragger{nullptr};
// SoTrackballDragger * pcDragger;
SoJackDragger* pcDragger {nullptr};
// view provider of the toolshape if set
Gui::ViewProvider *toolShape{nullptr};
Gui::ViewProvider* toolShape {nullptr};
// Pointers to the robot axis nodes in the VRML model
SoVRMLTransform *Axis1Node;
SoVRMLTransform *Axis2Node;
SoVRMLTransform *Axis3Node;
SoVRMLTransform *Axis4Node;
SoVRMLTransform *Axis5Node;
SoVRMLTransform *Axis6Node;
// Pointers to the robot axis nodes in the VRML model
SoVRMLTransform* Axis1Node;
SoVRMLTransform* Axis2Node;
SoVRMLTransform* Axis3Node;
SoVRMLTransform* Axis4Node;
SoVRMLTransform* Axis5Node;
SoVRMLTransform* Axis6Node;
};
} //namespace RobotGui
}// namespace RobotGui
#endif // ROBOT_VIEWPROVIDERROBOTOBJECT_H
#endif// ROBOT_VIEWPROVIDERROBOTOBJECT_H

56
src/Mod/Robot/Gui/ViewProviderTrajectory.cpp
View File

@@ -22,16 +22,16 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <sstream>
# include <QAction>
# include <QMenu>
#include <QAction>
#include <QMenu>
#include <sstream>
# include <Inventor/nodes/SoBaseColor.h>
# include <Inventor/nodes/SoCoordinate3.h>
# include <Inventor/nodes/SoDrawStyle.h>
# include <Inventor/nodes/SoLineSet.h>
# include <Inventor/nodes/SoMarkerSet.h>
# include <Inventor/nodes/SoSeparator.h>
#include <Inventor/nodes/SoBaseColor.h>
#include <Inventor/nodes/SoCoordinate3.h>
#include <Inventor/nodes/SoDrawStyle.h>
#include <Inventor/nodes/SoLineSet.h>
#include <Inventor/nodes/SoMarkerSet.h>
#include <Inventor/nodes/SoSeparator.h>
#endif
#include <App/Application.h>
@@ -51,10 +51,10 @@ PROPERTY_SOURCE(RobotGui::ViewProviderTrajectory, Gui::ViewProviderGeometryObjec
ViewProviderTrajectory::ViewProviderTrajectory()
{
pcTrajectoryRoot = new Gui::SoFCSelection();
pcTrajectoryRoot = new Gui::SoFCSelection();
pcTrajectoryRoot->highlightMode = Gui::SoFCSelection::OFF;
pcTrajectoryRoot->selectionMode = Gui::SoFCSelection::SEL_OFF;
//pcRobotRoot->style = Gui::SoFCSelection::BOX;
// pcRobotRoot->style = Gui::SoFCSelection::BOX;
pcTrajectoryRoot->ref();
pcCoords = new SoCoordinate3();
@@ -66,8 +66,6 @@ ViewProviderTrajectory::ViewProviderTrajectory()
pcLines = new SoLineSet;
pcLines->ref();
}
ViewProviderTrajectory::~ViewProviderTrajectory()
@@ -76,26 +74,29 @@ ViewProviderTrajectory::~ViewProviderTrajectory()
pcCoords->unref();
pcDrawStyle->unref();
pcLines->unref();
}
void ViewProviderTrajectory::attach(App::DocumentObject *pcObj)
void ViewProviderTrajectory::attach(App::DocumentObject* pcObj)
{
ViewProviderGeometryObject::attach(pcObj);
// Draw trajectory lines
SoSeparator* linesep = new SoSeparator;
SoBaseColor * basecol = new SoBaseColor;
basecol->rgb.setValue( 1.0f, 0.5f, 0.0f );
SoBaseColor* basecol = new SoBaseColor;
basecol->rgb.setValue(1.0f, 0.5f, 0.0f);
linesep->addChild(basecol);
linesep->addChild(pcCoords);
linesep->addChild(pcLines);
// Draw markers
SoBaseColor * markcol = new SoBaseColor;
markcol->rgb.setValue( 1.0f, 1.0f, 0.0f );
SoBaseColor* markcol = new SoBaseColor;
markcol->rgb.setValue(1.0f, 1.0f, 0.0f);
SoMarkerSet* marker = new SoMarkerSet;
marker->markerIndex=Gui::Inventor::MarkerBitmaps::getMarkerIndex("CROSS", App::GetApplication().GetParameterGroupByPath("User parameter:BaseApp/Preferences/View")->GetInt("MarkerSize", 5));
marker->markerIndex = Gui::Inventor::MarkerBitmaps::getMarkerIndex(
"CROSS",
App::GetApplication()
.GetParameterGroupByPath("User parameter:BaseApp/Preferences/View")
->GetInt("MarkerSize", 5));
linesep->addChild(markcol);
linesep->addChild(marker);
@@ -105,14 +106,14 @@ void ViewProviderTrajectory::attach(App::DocumentObject *pcObj)
pcTrajectoryRoot->objectName = pcObj->getNameInDocument();
pcTrajectoryRoot->documentName = pcObj->getDocument()->getName();
pcTrajectoryRoot->subElementName = "Main";
}
void ViewProviderTrajectory::setDisplayMode(const char* ModeName)
{
if ( strcmp("Waypoints",ModeName)==0 )
if (strcmp("Waypoints", ModeName) == 0) {
setDisplayMaskMode("Waypoints");
ViewProviderGeometryObject::setDisplayMode( ModeName );
}
ViewProviderGeometryObject::setDisplayMode(ModeName);
}
std::vector<std::string> ViewProviderTrajectory::getDisplayModes() const
@@ -126,22 +127,20 @@ void ViewProviderTrajectory::updateData(const App::Property* prop)
{
Robot::TrajectoryObject* pcTracObj = static_cast<Robot::TrajectoryObject*>(pcObject);
if (prop == &pcTracObj->Trajectory) {
const Trajectory &trak = pcTracObj->Trajectory.getValue();
const Trajectory& trak = pcTracObj->Trajectory.getValue();
pcCoords->point.deleteValues(0);
pcCoords->point.setNum(trak.getSize());
for(unsigned int i=0;i<trak.getSize();++i){
for (unsigned int i = 0; i < trak.getSize(); ++i) {
Base::Vector3d pos = trak.getWaypoint(i).EndPos.getPosition();
pcCoords->point.set1Value(i,pos.x,pos.y,pos.z);
pcCoords->point.set1Value(i, pos.x, pos.y, pos.z);
}
pcLines->numVertices.set1Value(0, trak.getSize());
}
else if (prop == &pcTracObj->Base) {
Base::Placement loc = *(&pcTracObj->Base.getValue());
}
}
void ViewProviderTrajectory::setupContextMenu(QMenu* menu, QObject* receiver, const char* member)
@@ -149,4 +148,3 @@ void ViewProviderTrajectory::setupContextMenu(QMenu* menu, QObject* receiver, co
QAction* act = menu->addAction(QObject::tr("Modify"), receiver, member);
act->setData(QVariant((int)ViewProvider::Default));
}

20
src/Mod/Robot/Gui/ViewProviderTrajectory.h
View File

@@ -37,7 +37,7 @@ class SoLineSet;
namespace RobotGui
{
class RobotGuiExport ViewProviderTrajectory : public Gui::ViewProviderGeometryObject
class RobotGuiExport ViewProviderTrajectory: public Gui::ViewProviderGeometryObject
{
PROPERTY_HEADER_WITH_OVERRIDE(RobotGui::ViewProviderTrajectory);
@@ -48,22 +48,20 @@ public:
/// destructor.
~ViewProviderTrajectory() override;
void attach(App::DocumentObject *pcObject) override;
void attach(App::DocumentObject* pcObject) override;
void setDisplayMode(const char* ModeName) override;
std::vector<std::string> getDisplayModes() const override;
void updateData(const App::Property*) override;
void setupContextMenu(QMenu* menu, QObject* receiver, const char* member) override;
protected:
Gui::SoFCSelection* pcTrajectoryRoot;
SoCoordinate3* pcCoords;
SoDrawStyle* pcDrawStyle;
SoLineSet* pcLines;
};
Gui::SoFCSelection * pcTrajectoryRoot;
SoCoordinate3 * pcCoords;
SoDrawStyle * pcDrawStyle;
SoLineSet * pcLines;
};
} //namespace RobotGui
}// namespace RobotGui
#endif // ROBOT_VIEWPROVIDERROBOTOBJECT_H
#endif// ROBOT_VIEWPROVIDERROBOTOBJECT_H

23
src/Mod/Robot/Gui/ViewProviderTrajectoryCompound.cpp
View File

@@ -23,8 +23,8 @@
#include "PreCompiled.h"
#include <Gui/Control.h>
#include <Mod/Robot/Gui/TaskDlgTrajectoryCompound.h>
#include <Mod/Robot/App/TrajectoryCompound.h>
#include <Mod/Robot/Gui/TaskDlgTrajectoryCompound.h>
#include "ViewProviderTrajectoryCompound.h"
@@ -34,31 +34,30 @@ using namespace RobotGui;
PROPERTY_SOURCE(RobotGui::ViewProviderTrajectoryCompound, RobotGui::ViewProviderTrajectory)
//bool ViewProviderTrajectoryCompound::doubleClicked(void)
// bool ViewProviderTrajectoryCompound::doubleClicked(void)
//{
// Gui::TaskView::TaskDialog* dlg = new TaskDlgTrajectoryCompound(dynamic_cast<Robot::TrajectoryCompound *>(getObject()));
// Gui::Control().showDialog(dlg);
// return true;
//}
// Gui::TaskView::TaskDialog* dlg = new
// TaskDlgTrajectoryCompound(dynamic_cast<Robot::TrajectoryCompound *>(getObject()));
// Gui::Control().showDialog(dlg);
// return true;
// }
bool ViewProviderTrajectoryCompound::setEdit(int)
{
Gui::TaskView::TaskDialog* dlg = new TaskDlgTrajectoryCompound(dynamic_cast<Robot::TrajectoryCompound *>(getObject()));
Gui::TaskView::TaskDialog* dlg =
new TaskDlgTrajectoryCompound(dynamic_cast<Robot::TrajectoryCompound*>(getObject()));
Gui::Control().showDialog(dlg);
return true;
}
void ViewProviderTrajectoryCompound::unsetEdit(int)
{
// when pressing ESC make sure to close the dialog
Gui::Control().closeDialog();
}
std::vector<App::DocumentObject*> ViewProviderTrajectoryCompound::claimChildren()const
std::vector<App::DocumentObject*> ViewProviderTrajectoryCompound::claimChildren() const
{
return static_cast<Robot::TrajectoryCompound *>(getObject())->Source.getValues();
return static_cast<Robot::TrajectoryCompound*>(getObject())->Source.getValues();
}

7
src/Mod/Robot/Gui/ViewProviderTrajectoryCompound.h
View File

@@ -34,16 +34,15 @@ class RobotGuiExport ViewProviderTrajectoryCompound: public ViewProviderTrajecto
PROPERTY_HEADER_WITH_OVERRIDE(RobotGui::ViewProviderTrajectoryCompound);
public:
/// grouping handling
/// grouping handling
std::vector<App::DocumentObject*> claimChildren() const override;
protected:
bool setEdit(int ModNum) override;
void unsetEdit(int ModNum) override;
};
} //namespace RobotGui
}// namespace RobotGui
#endif // ROBOT_ViewProviderTrajectoryCompound_H
#endif// ROBOT_ViewProviderTrajectoryCompound_H

18
src/Mod/Robot/Gui/ViewProviderTrajectoryDressUp.cpp
View File

@@ -33,17 +33,19 @@ using namespace RobotGui;
PROPERTY_SOURCE(RobotGui::ViewProviderTrajectoryDressUp, RobotGui::ViewProviderTrajectory)
//bool ViewProviderTrajectoryDressUp::doubleClicked(void)
// bool ViewProviderTrajectoryDressUp::doubleClicked(void)
//{
// Gui::TaskView::TaskDialog* dlg = new TaskDlgTrajectoryDressUp(dynamic_cast<Robot::TrajectoryDressUpObject *>(getObject()));
// Gui::Control().showDialog(dlg);
// return true;
//}
// Gui::TaskView::TaskDialog* dlg = new
// TaskDlgTrajectoryDressUp(dynamic_cast<Robot::TrajectoryDressUpObject *>(getObject()));
// Gui::Control().showDialog(dlg);
// return true;
// }
//
bool ViewProviderTrajectoryDressUp::setEdit(int)
{
Gui::TaskView::TaskDialog* dlg = new TaskDlgTrajectoryDressUp(static_cast<Robot::TrajectoryDressUpObject *>(getObject()));
Gui::TaskView::TaskDialog* dlg =
new TaskDlgTrajectoryDressUp(static_cast<Robot::TrajectoryDressUpObject*>(getObject()));
Gui::Control().showDialog(dlg);
return true;
}
@@ -52,11 +54,9 @@ void ViewProviderTrajectoryDressUp::unsetEdit(int)
{
// when pressing ESC make sure to close the dialog
Gui::Control().closeDialog();
}
std::vector<App::DocumentObject*> ViewProviderTrajectoryDressUp::claimChildren()const
std::vector<App::DocumentObject*> ViewProviderTrajectoryDressUp::claimChildren() const
{
std::vector<App::DocumentObject*> temp;
temp.push_back(static_cast<Robot::TrajectoryDressUpObject*>(getObject())->Source.getValue());

9
src/Mod/Robot/Gui/ViewProviderTrajectoryDressUp.h
View File

@@ -29,12 +29,12 @@
namespace RobotGui
{
class RobotGuiExport ViewProviderTrajectoryDressUp : public ViewProviderTrajectory
class RobotGuiExport ViewProviderTrajectoryDressUp: public ViewProviderTrajectory
{
PROPERTY_HEADER_WITH_OVERRIDE(RobotGui::ViewProviderTrajectoryDressUp);
public:
//virtual bool doubleClicked(void);
// virtual bool doubleClicked(void);
/// grouping handling
std::vector<App::DocumentObject*> claimChildren() const override;
@@ -42,10 +42,9 @@ public:
protected:
bool setEdit(int ModNum) override;
void unsetEdit(int ModNum) override;
};
} //namespace RobotGui
}// namespace RobotGui
#endif // ROBOT_ViewProviderTrajectoryDressUp_H
#endif// ROBOT_ViewProviderTrajectoryDressUp_H

143
src/Mod/Robot/Gui/Workbench.cpp
View File

@@ -22,28 +22,28 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <QDir>
# include <qobject.h>
# include <QFileInfo>
# include <QMessageBox>
#include <QDir>
#include <QFileInfo>
#include <QMessageBox>
#include <qobject.h>
#endif
#include <App/Application.h>
#include <Gui/Control.h>
#include <Gui/MainWindow.h>
#include <Gui/MenuManager.h>
#include <Gui/ToolBarManager.h>
#include <Gui/WaitCursor.h>
#include <Gui/TaskView/TaskView.h>
#include <Gui/TaskView/TaskWatcher.h>
#include <Gui/ToolBarManager.h>
#include <Gui/WaitCursor.h>
#include "Workbench.h"
#include "TaskWatcher.h"
#include "Workbench.h"
using namespace RobotGui;
#if 0 // needed for Qt's lupdate utility
#if 0// needed for Qt's lupdate utility
qApp->translate("Workbench", "Robot");
qApp->translate("Workbench", "Insert Robots");
qApp->translate("Workbench", "&Robot");
@@ -63,8 +63,7 @@ Workbench::~Workbench() = default;
void Workbench::activated()
{
std::string res = App::Application::getResourceDir();
QString dir = QString::fromLatin1("%1/Mod/Robot/Lib/Kuka")
.arg(QString::fromUtf8(res.c_str()));
QString dir = QString::fromLatin1("%1/Mod/Robot/Lib/Kuka").arg(QString::fromUtf8(res.c_str()));
QFileInfo fi(dir, QString::fromLatin1("kr_16.csv"));
if (!fi.exists()) {
@@ -74,81 +73,63 @@ void Workbench::activated()
Gui::getMainWindow(),
QObject::tr("No robot files installed"),
QObject::tr("Please visit %1 and copy the files to %2")
.arg(QString::fromLatin1(
"https://github.com/FreeCAD/FreeCAD/tree/master"
"/src/Mod/Robot/Lib/Kuka"), dir)
);
.arg(QString::fromLatin1("https://github.com/FreeCAD/FreeCAD/tree/master"
"/src/Mod/Robot/Lib/Kuka"),
dir));
wc.setWaitCursor();
}
Gui::Workbench::activated();
const char* RobotAndTrac[] = {
"Robot_InsertWaypoint",
"Robot_InsertWaypointPreselect",
nullptr};
const char* RobotAndTrac[] = {"Robot_InsertWaypoint", "Robot_InsertWaypointPreselect", nullptr};
const char* Robot[] = {
"Robot_AddToolShape",
"Robot_SetHomePos",
"Robot_RestoreHomePos",
nullptr};
const char* Robot[] = {"Robot_AddToolShape",
"Robot_SetHomePos",
"Robot_RestoreHomePos",
nullptr};
const char* Empty[] = {
"Robot_InsertKukaIR500",
"Robot_InsertKukaIR16",
"Robot_InsertKukaIR210",
"Robot_InsertKukaIR125",
nullptr};
const char* Empty[] = {"Robot_InsertKukaIR500",
"Robot_InsertKukaIR16",
"Robot_InsertKukaIR210",
"Robot_InsertKukaIR125",
nullptr};
const char* TracSingle[] = {
"Robot_TrajectoryDressUp",
nullptr};
const char* TracSingle[] = {"Robot_TrajectoryDressUp", nullptr};
const char* TracMore[] = {
"Robot_TrajectoryCompound",
nullptr};
const char* TracMore[] = {"Robot_TrajectoryCompound", nullptr};
std::vector<Gui::TaskView::TaskWatcher*> Watcher;
Watcher.push_back(new Gui::TaskView::TaskWatcherCommands(
"SELECT Robot::TrajectoryObject COUNT 1"
"SELECT Robot::RobotObject COUNT 1",
RobotAndTrac,
"Trajectory tools",
"Robot_InsertWaypoint"
));
Watcher.push_back(
new Gui::TaskView::TaskWatcherCommands("SELECT Robot::TrajectoryObject COUNT 1"
"SELECT Robot::RobotObject COUNT 1",
RobotAndTrac,
"Trajectory tools",
"Robot_InsertWaypoint"));
Watcher.push_back(new TaskWatcherRobot);
Watcher.push_back(new Gui::TaskView::TaskWatcherCommands(
"SELECT Robot::RobotObject COUNT 1",
Robot,
"Robot tools",
"Robot_CreateRobot"
));
Watcher.push_back(new Gui::TaskView::TaskWatcherCommands("SELECT Robot::RobotObject COUNT 1",
Robot,
"Robot tools",
"Robot_CreateRobot"));
Watcher.push_back(new Gui::TaskView::TaskWatcherCommands(
"SELECT Robot::TrajectoryObject COUNT 1",
TracSingle,
"Trajectory tools",
"Robot_CreateRobot"
));
Watcher.push_back(
new Gui::TaskView::TaskWatcherCommands("SELECT Robot::TrajectoryObject COUNT 1",
TracSingle,
"Trajectory tools",
"Robot_CreateRobot"));
Watcher.push_back(new Gui::TaskView::TaskWatcherCommands(
"SELECT Robot::TrajectoryObject COUNT 2..",
TracMore,
"Trajectory tools",
"Robot_CreateRobot"
));
Watcher.push_back(
new Gui::TaskView::TaskWatcherCommands("SELECT Robot::TrajectoryObject COUNT 2..",
TracMore,
"Trajectory tools",
"Robot_CreateRobot"));
Watcher.push_back(
new Gui::TaskView::TaskWatcherCommandsEmptyDoc(Empty, "Insert Robot", "Robot_CreateRobot"));
Watcher.push_back(new Gui::TaskView::TaskWatcherCommandsEmptyDoc(
Empty,
"Insert Robot",
"Robot_CreateRobot"
));
addTaskWatcher(Watcher);
Gui::Control().showTaskView();
}
@@ -158,7 +139,6 @@ void Workbench::deactivated()
{
Gui::Workbench::deactivated();
removeTaskWatcher();
}
@@ -176,7 +156,7 @@ Gui::ToolBarItem* Workbench::setupToolBars() const
*part << "Robot_Edge2Trac";
*part << "Robot_TrajectoryDressUp";
*part << "Robot_TrajectoryCompound";
*part << "Separator";
*part << "Separator";
*part << "Robot_SetHomePos";
*part << "Robot_RestoreHomePos";
*part << "Separator";
@@ -189,29 +169,26 @@ Gui::MenuItem* Workbench::setupMenuBar() const
Gui::MenuItem* root = StdWorkbench::setupMenuBar();
Gui::MenuItem* item = root->findItem("&Windows");
Gui::MenuItem* robot = new Gui::MenuItem;
root->insertItem( item, robot );
root->insertItem(item, robot);
// analyze
Gui::MenuItem* insertRobots = new Gui::MenuItem;
insertRobots->setCommand("Insert Robots");
*insertRobots << "Robot_InsertKukaIR500"
<< "Robot_InsertKukaIR210"
<< "Robot_InsertKukaIR125"
<< "Robot_InsertKukaIR16"
*insertRobots << "Robot_InsertKukaIR500"
<< "Robot_InsertKukaIR210"
<< "Robot_InsertKukaIR125"
<< "Robot_InsertKukaIR16"
<< "Separator"
<< "Robot_AddToolShape"
;
<< "Robot_AddToolShape";
// boolean
Gui::MenuItem* exportM = new Gui::MenuItem;
exportM->setCommand("Export trajectory");
*exportM << "Robot_ExportKukaCompact"
<< "Robot_ExportKukaFull"
;
*exportM << "Robot_ExportKukaCompact"
<< "Robot_ExportKukaFull";
robot->setCommand("&Robot");
*robot << insertRobots
<< "Robot_CreateTrajectory"
*robot << insertRobots << "Robot_CreateTrajectory"
<< "Separator"
<< "Robot_CreateTrajectory"
<< "Robot_InsertWaypoint"
@@ -224,8 +201,6 @@ Gui::MenuItem* Workbench::setupMenuBar() const
<< "Robot_SetDefaultOrientation"
<< "Robot_SetDefaultValues"
<< "Separator"
<< "Robot_Simulate"
<< exportM
;
<< "Robot_Simulate" << exportM;
return root;
}

19
src/Mod/Robot/Gui/Workbench.h
View File

@@ -20,20 +20,21 @@
* *
***************************************************************************/
#ifndef IMAGE_WORKBENCH_H
#define IMAGE_WORKBENCH_H
#ifndef ROBOT_WORKBENCH_H
#define ROBOT_WORKBENCH_H
#include <Gui/Workbench.h>
#include <Gui/TaskView/TaskWatcher.h>
#include <Gui/Workbench.h>
#include <Mod/Robot/RobotGlobal.h>
namespace RobotGui {
namespace RobotGui
{
/**
* @author Werner Mayer
*/
class RobotGuiExport Workbench : public Gui::StdWorkbench
class RobotGuiExport Workbench: public Gui::StdWorkbench
{
TYPESYSTEM_HEADER_WITH_OVERRIDE();
@@ -41,7 +42,7 @@ public:
Workbench();
~Workbench() override;
/** Run some actions when the workbench gets activated. */
/** Run some actions when the workbench gets activated. */
void activated() override;
/** Run some actions when the workbench gets deactivated. */
void deactivated() override;
@@ -49,12 +50,12 @@ public:
protected:
Gui::ToolBarItem* setupToolBars() const override;
Gui::MenuItem* setupMenuBar() const override;
Gui::MenuItem* setupMenuBar() const override;
std::vector<Gui::TaskView::TaskWatcher*> Watcher;
};
} // namespace RobotGui
}// namespace RobotGui
#endif // IMAGE_WORKBENCH_H
#endif// ROBOT_WORKBENCH_H