kindred/create
1
1
Fork 0
Code Issues 37 Pull Requests Actions Packages Projects 9 Releases 2 Wiki Activity
Files
3a8f6dff5993e548cedf12cd66ecb688572848a8
create/src/Mod/Robot/Gui/TaskRobot6Axis.cpp
wmayer 120ca87015 + unify DLL export defines to namespace names 
git-svn-id: https://free-cad.svn.sourceforge.net/svnroot/free-cad/trunk@5000 e8eeb9e2-ec13-0410-a4a9-efa5cf37419d
2011-10-10 13:44:52 +00:00

259 lines
10 KiB
C++
Raw Blame History

/***************************************************************************
* Copyright (c) 2009 Jürgen Riegel <juergen.riegel@web.de> *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
#endif
#include <Base/Console.h>
#include <Base/UnitsApi.h>
#include <QString>
#include <qpalette.h>
#include <QSlider>
#include "ui_TaskRobot6Axis.h"
#include "TaskRobot6Axis.h"
#include <Gui/Application.h>
#include <Gui/Document.h>
#include <Gui/BitmapFactory.h>
#include <Gui/ViewProvider.h>
#include <Gui/WaitCursor.h>
#include <Gui/Selection.h>
#include <Gui/Placement.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()
{
// we need a separate container widget to add all controls to
proxy = new QWidget(this);
ui = new Ui_TaskRobot6Axis();
ui->setupUi(proxy);
QMetaObject::connectSlotsByName(this);
this->groupLayout()->addWidget(proxy);
QObject::connect(ui->horizontalSlider_Axis1,SIGNAL(sliderMoved(int)),this,SLOT(changeSliderA1(int)));
QObject::connect(ui->horizontalSlider_Axis2,SIGNAL(sliderMoved(int)),this,SLOT(changeSliderA2(int)));
QObject::connect(ui->horizontalSlider_Axis3,SIGNAL(sliderMoved(int)),this,SLOT(changeSliderA3(int)));
QObject::connect(ui->horizontalSlider_Axis4,SIGNAL(sliderMoved(int)),this,SLOT(changeSliderA4(int)));
QObject::connect(ui->horizontalSlider_Axis5,SIGNAL(sliderMoved(int)),this,SLOT(changeSliderA5(int)));
QObject::connect(ui->horizontalSlider_Axis6,SIGNAL(sliderMoved(int)),this,SLOT(changeSliderA6(int)));
QObject::connect(ui->pushButtonChooseTool,SIGNAL(clicked()),this,SLOT(createPlacementDlg()));
if(pcRobotObject)
setRobot(pcRobotObject);
}
TaskRobot6Axis::~TaskRobot6Axis()
{
delete ui;
}
void TaskRobot6Axis::setRobot(Robot::RobotObject *pcRobotObject)
{
pcRobot = 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_Axis3->setMaximum( (int ) Rob->getMaxAngle(2) );
ui->horizontalSlider_Axis3->setMinimum( (int ) Rob->getMinAngle(2) );
ui->horizontalSlider_Axis4->setMaximum( (int ) Rob->getMaxAngle(3) );
ui->horizontalSlider_Axis4->setMinimum( (int ) Rob->getMinAngle(3) );
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(),
pcRobot->Axis3.getValue(),
pcRobot->Axis4.getValue(),
pcRobot->Axis5.getValue(),
pcRobot->Axis6.getValue(),
pcRobot->Tcp.getValue());
viewTool(pcRobot->Tool.getValue());
}
void TaskRobot6Axis::createPlacementDlg(void)
{
Gui::Dialog::Placement *plc = new Gui::Dialog::Placement();
plc->setPlacement(pcRobot->Tool.getValue());
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);
QString result = QString::fromAscii("TCP:( %1, %2, %3, %4, %5, %6 )")
.arg(Base::UnitsApi::toDblWithUserPrefs(Base::Length,pos.getPosition().x),0,'f',1)
.arg(Base::UnitsApi::toDblWithUserPrefs(Base::Length,pos.getPosition().y),0,'f',1)
.arg(Base::UnitsApi::toDblWithUserPrefs(Base::Length,pos.getPosition().z),0,'f',1)
.arg(Base::UnitsApi::toDblWithUserPrefs(Base::Angle,A),0,'f',1)
.arg(Base::UnitsApi::toDblWithUserPrefs(Base::Angle,B),0,'f',1)
.arg(Base::UnitsApi::toDblWithUserPrefs(Base::Angle,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);
QString result = QString::fromAscii("Tool:( %1, %2, %3, %4, %5, %6 )")
.arg(Base::UnitsApi::toDblWithUserPrefs(Base::Length,pos.getPosition().x),0,'f',1)
.arg(Base::UnitsApi::toDblWithUserPrefs(Base::Length,pos.getPosition().y),0,'f',1)
.arg(Base::UnitsApi::toDblWithUserPrefs(Base::Length,pos.getPosition().z),0,'f',1)
.arg(Base::UnitsApi::toDblWithUserPrefs(Base::Angle,A),0,'f',1)
.arg(Base::UnitsApi::toDblWithUserPrefs(Base::Angle,B),0,'f',1)
.arg(Base::UnitsApi::toDblWithUserPrefs(Base::Angle,C),0,'f',1);
ui->label_Tool->setText(result);
}
void TaskRobot6Axis::changeSliderA1(int value){
pcRobot->Axis1.setValue(float (value));
viewTcp(pcRobot->Tcp.getValue());
ui->lineEdit_Axis1->setText(QString::fromLatin1("%1°").arg((float)value,0,'f',1));
setColor(0,float (value),*(ui->lineEdit_Axis1));
}
void TaskRobot6Axis::changeSliderA2(int value)
{
pcRobot->Axis2.setValue(float (value));
viewTcp(pcRobot->Tcp.getValue());
ui->lineEdit_Axis2->setText(QString::fromLatin1("%1°").arg((float)value,0,'f',1));
setColor(1,float (value),*(ui->lineEdit_Axis2));
}
void TaskRobot6Axis::changeSliderA3(int value)
{
pcRobot->Axis3.setValue(float (value));
viewTcp(pcRobot->Tcp.getValue());
ui->lineEdit_Axis3->setText(QString::fromLatin1("%1°").arg((float)value,0,'f',1));
setColor(2,float (value),*(ui->lineEdit_Axis3));
}
void TaskRobot6Axis::changeSliderA4(int 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));
}
void TaskRobot6Axis::changeSliderA5(int 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));
}
void TaskRobot6Axis::changeSliderA6(int 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));
}
void TaskRobot6Axis::setColor(int i,float angle, QLineEdit &lineEdit){
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
lineEdit.setPalette(p);
}
}
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->horizontalSlider_Axis2->setSliderPosition((int)A2);
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->horizontalSlider_Axis4->setSliderPosition((int)A4);
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->horizontalSlider_Axis6->setSliderPosition((int)A6);
ui->lineEdit_Axis6->setText(QString::fromLatin1("%1°").arg(A6,0,'f',1));
setColor(5,A6,*(ui->lineEdit_Axis6));
viewTcp(Tcp);
}
#include "moc_TaskRobot6Axis.cpp"
Reference in New Issue View Git Blame Copy Permalink