kindred/create
1
1
Fork 0
Code Issues 37 Pull Requests Actions Packages Projects 9 Releases 2 Wiki Activity

Robot: Apply clang format

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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();
}
}