260 lines
9.8 KiB
C++
260 lines
9.8 KiB
C++
/***************************************************************************
|
|
* 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_
|
|
#include <QString>
|
|
#include <qpalette.h>
|
|
#endif
|
|
|
|
#include <Gui/BitmapFactory.h>
|
|
#include <Gui/Placement.h>
|
|
#include <Gui/Selection.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()
|
|
{
|
|
// 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);
|
|
|
|
// 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);
|
|
}
|
|
}
|
|
|
|
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()
|
|
{
|
|
Gui::Dialog::Placement plc;
|
|
plc.setSelection(Gui::Selection().getSelectionEx());
|
|
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::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);
|
|
|
|
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::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);
|
|
|
|
ui->label_Tool->setText(result);
|
|
}
|
|
|
|
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));
|
|
}
|
|
|
|
void TaskRobot6Axis::changeSliderA2(int 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));
|
|
}
|
|
|
|
void TaskRobot6Axis::changeSliderA3(int 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));
|
|
}
|
|
|
|
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"
|