209 lines
7.4 KiB
C++
209 lines
7.4 KiB
C++
/***************************************************************************
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* Copyright (c) 2009 Jürgen Riegel <juergen.riegel@web.de> *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#include "PreCompiled.h"
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#include <Gui/Application.h>
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#include <Gui/BitmapFactory.h>
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#include <Gui/Document.h>
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#include "ui_TaskTrajectory.h"
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#include "TaskTrajectory.h"
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using namespace RobotGui;
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using namespace Gui;
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TaskTrajectory::TaskTrajectory(Robot::RobotObject *pcRobotObject,Robot::TrajectoryObject *pcTrajectoryObject,QWidget *parent)
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: TaskBox(Gui::BitmapFactory().pixmap("document-new"),tr("Trajectory"),true, parent),
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sim(pcTrajectoryObject->Trajectory.getValue(),pcRobotObject->getRobot()),
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pcRobot(pcRobotObject),
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Run(false),
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block(false),
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timePos(0.0)
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{
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// we need a separate container widget to add all controls to
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proxy = new QWidget(this);
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ui = new Ui_TaskTrajectory();
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ui->setupUi(proxy);
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QMetaObject::connectSlotsByName(this);
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this->groupLayout()->addWidget(proxy);
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// set Tool
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sim.Tool = pcRobotObject->Tool.getValue();
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ui->trajectoryTable->setSortingEnabled(false);
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Robot::Trajectory trac = pcTrajectoryObject->Trajectory.getValue();
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ui->trajectoryTable->setRowCount(trac.getSize());
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duration = trac.getDuration();
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ui->timeSpinBox->setMaximum(duration);
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for(unsigned int i=0;i<trac.getSize();i++){
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Robot::Waypoint pt = trac.getWaypoint(i);
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switch(pt.Type){
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case Robot::Waypoint::UNDEF: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("UNDEF")));break;
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case Robot::Waypoint::CIRC: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("CIRC")));break;
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case Robot::Waypoint::PTP: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("PTP")));break;
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case Robot::Waypoint::LINE: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("LIN")));break;
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default: ui->trajectoryTable->setItem(i, 0, new QTableWidgetItem(QString::fromLatin1("UNDEF")));break;
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}
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ui->trajectoryTable->setItem(i, 1, new QTableWidgetItem(QString::fromUtf8(pt.Name.c_str())));
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if(pt.Cont)
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ui->trajectoryTable->setItem(i, 2, new QTableWidgetItem(QString::fromLatin1("|")));
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else
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ui->trajectoryTable->setItem(i, 2, new QTableWidgetItem(QString::fromLatin1("-")));
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ui->trajectoryTable->setItem(i, 3, new QTableWidgetItem(QString::number(pt.Velocity)));
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ui->trajectoryTable->setItem(i, 4, new QTableWidgetItem(QString::number(pt.Acceleration)));
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}
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QObject::connect(ui->ButtonStepStart ,SIGNAL(clicked()),this,SLOT(start()));
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QObject::connect(ui->ButtonStepStop ,SIGNAL(clicked()),this,SLOT(stop()));
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QObject::connect(ui->ButtonStepRun ,SIGNAL(clicked()),this,SLOT(run()));
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QObject::connect(ui->ButtonStepBack ,SIGNAL(clicked()),this,SLOT(back()));
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QObject::connect(ui->ButtonStepForward ,SIGNAL(clicked()),this,SLOT(forward()));
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QObject::connect(ui->ButtonStepEnd ,SIGNAL(clicked()),this,SLOT(end()));
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// set up timer
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timer = new QTimer( this );
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timer->setInterval(100);
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QObject::connect(timer ,SIGNAL(timeout ()),this,SLOT(timerDone()));
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QObject::connect( ui->timeSpinBox ,SIGNAL(valueChanged(double)), this, SLOT(valueChanged(double)) );
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QObject::connect( ui->timeSlider ,SIGNAL(valueChanged(int) ), this, SLOT(valueChanged(int)) );
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// get the view provider
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ViewProv = dynamic_cast<ViewProviderRobotObject*>(Gui::Application::Instance->activeDocument()->getViewProvider(pcRobotObject) );
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setTo();
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}
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TaskTrajectory::~TaskTrajectory()
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{
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delete ui;
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}
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void TaskTrajectory::viewTool(const Base::Placement& pos)
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{
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double A,B,C;
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pos.getRotation().getYawPitchRoll(A,B,C);
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QString result = QString::fromLatin1("Pos:(%1, %2, %3, %4, %5, %6)")
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.arg(pos.getPosition().x,0,'f',1)
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.arg(pos.getPosition().y,0,'f',1)
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.arg(pos.getPosition().z,0,'f',1)
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.arg(A,0,'f',1)
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.arg(B,0,'f',1)
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.arg(C,0,'f',1);
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ui->label_Pos->setText(result);
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}
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void TaskTrajectory::setTo()
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{
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sim.Tool = pcRobot->Tool.getValue();
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if(timePos < 0.0001)
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sim.reset();
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else{
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sim.setToTime(timePos);
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}
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ViewProv->setAxisTo(sim.Axis[0],sim.Axis[1],sim.Axis[2],sim.Axis[3],sim.Axis[4],sim.Axis[5],sim.Rob.getTcp());
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Q_EMIT axisChanged(sim.Axis[0],sim.Axis[1],sim.Axis[2],sim.Axis[3],sim.Axis[4],sim.Axis[5],sim.Rob.getTcp());
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viewTool(sim.Rob.getTcp());
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}
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void TaskTrajectory::start()
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{
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timePos = 0.0f;
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ui->timeSpinBox->setValue(timePos);
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ui->timeSlider->setValue(int((timePos/duration)*1000));
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setTo();
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}
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void TaskTrajectory::stop()
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{
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timer->stop();
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Run = false;
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}
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void TaskTrajectory::run()
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{
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timer->start();
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Run = true;
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}
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void TaskTrajectory::back()
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{
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}
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void TaskTrajectory::forward()
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{
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}
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void TaskTrajectory::end()
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{
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timePos = duration;
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ui->timeSpinBox->setValue(timePos);
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ui->timeSlider->setValue(int((timePos/duration)*1000));
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setTo();
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}
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void TaskTrajectory::timerDone()
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{
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if(timePos < duration){
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timePos += .1f;
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ui->timeSpinBox->setValue(timePos);
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ui->timeSlider->setValue(int((timePos/duration)*1000));
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setTo();
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timer->start();
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}else{
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timer->stop();
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Run = false;
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}
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}
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void TaskTrajectory::valueChanged ( int value )
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{
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if(!block){
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timePos = duration*(value/1000.0);
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block=true;
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ui->timeSpinBox->setValue(timePos);
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block=false;
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setTo();
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}
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}
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void TaskTrajectory::valueChanged ( double value )
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{
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if(!block){
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timePos = value;
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block=true;
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ui->timeSlider->setValue(int((timePos/duration)*1000));
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block=false;
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setTo();
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}
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}
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#include "moc_TaskTrajectory.cpp"
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