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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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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();
}
}