bool TeamCollection::addMember(const Pawn &member)
{
if (size() >= MAX_GROUP_SIZE)
return postError(QString("Can't add more that %1 members").arg(MAX_GROUP_SIZE));
return PawnGroup::addMember(member);
}
/**
* Redefine the origins of the hexapod coordinate-systems
*/
int HXPController::setCS(HXPAxis *pAxis)
{
int status = 0;
int cs; // 0=None,1=Work,2=Tool,3=Base
double x, y, z, u, v, w;
getIntegerParam(0, HXPCoordSysToSet_, &cs);
getDoubleParam(0, HXPCoordSysSetX_, &x);
getDoubleParam(0, HXPCoordSysSetY_, &y);
getDoubleParam(0, HXPCoordSysSetZ_, &z);
getDoubleParam(0, HXPCoordSysSetU_, &u);
getDoubleParam(0, HXPCoordSysSetV_, &v);
getDoubleParam(0, HXPCoordSysSetW_, &w);
if (cs == 1)
{
status = HXPHexapodCoordinateSystemSet(pAxis->moveSocket_, GROUP, "Work", x, y, z, u, v, w);
}
else if (cs == 2)
{
status = HXPHexapodCoordinateSystemSet(pAxis->moveSocket_, GROUP, "Tool", x, y, z, u, v, w);
}
else if (cs == 3)
{
status = HXPHexapodCoordinateSystemSet(pAxis->moveSocket_, GROUP, "Base", x, y, z, u, v, w);
}
postError(pAxis, status);
return status;
}
Pawn PawnConverter::itemToPawn(const PawnGroup *group, const QListWidgetItem *item)
{
if (!group) {
postError("Invalid group selected!");
return Pawn::Null();;
}
if (!item) {
postError("Invalid item selected");
return Pawn::Null();
}
Pawn member = group->getMember(nameFromShortDescription(item->text()));
if (member.isNull())
postError(QString("Can't find member for item %1").arg(item->text()));
return member;
}
void PawnSkin::onMemberDestroyed(QObject *obj)
{
if (obj == m_faceCollection) {
m_faceCollection = nullptr;
postError("Face collection have been destroyed externally, going to recreate it");
createFaceCollection();
return;
}
}
/**
* Reads the Tool, Work, and Base coordinate-system definitions
*/
int HXPController::readAllCS(HXPAxis *pAxis)
{
int status;
double x, y, z, u, v, w;
status = HXPHexapodCoordinateSystemGet(pAxis->moveSocket_, GROUP, "Tool", &x, &y , &z, &u, &v, &w);
setDoubleParam(0, HXPCoordSysToolX_, x);
setDoubleParam(0, HXPCoordSysToolY_, y);
setDoubleParam(0, HXPCoordSysToolZ_, z);
setDoubleParam(0, HXPCoordSysToolU_, u);
setDoubleParam(0, HXPCoordSysToolV_, v);
setDoubleParam(0, HXPCoordSysToolW_, w);
postError(pAxis, status);
status = HXPHexapodCoordinateSystemGet(pAxis->moveSocket_, GROUP, "Work", &x, &y , &z, &u, &v, &w);
setDoubleParam(0, HXPCoordSysWorkX_, x);
setDoubleParam(0, HXPCoordSysWorkY_, y);
setDoubleParam(0, HXPCoordSysWorkZ_, z);
setDoubleParam(0, HXPCoordSysWorkU_, u);
setDoubleParam(0, HXPCoordSysWorkV_, v);
setDoubleParam(0, HXPCoordSysWorkW_, w);
postError(pAxis, status);
status = HXPHexapodCoordinateSystemGet(pAxis->moveSocket_, GROUP, "Base", &x, &y , &z, &u, &v, &w);
setDoubleParam(0, HXPCoordSysBaseX_, x);
setDoubleParam(0, HXPCoordSysBaseY_, y);
setDoubleParam(0, HXPCoordSysBaseZ_, z);
setDoubleParam(0, HXPCoordSysBaseU_, u);
setDoubleParam(0, HXPCoordSysBaseV_, v);
setDoubleParam(0, HXPCoordSysBaseW_, w);
postError(pAxis, status);
/* callParamCallback() is called from postError, so it isn't needed here */
return status;
}
QListWidgetItem *PawnConverter::pawnToItem(const Pawn &pawn)
{
if (pawn.isNull()) {
postError("Can't convert pawn to item: pawn is null");
return nullptr;
}
QListWidgetItem *item = new QListWidgetItem();
if (!updateItem(item, pawn))
return nullptr;
postSuccess(QString("Convertion Pawn %1 to item have been successfull").arg(pawn.name()));
return item;
}
/**
* Moves all hexpod axes to new target positions
*/
int HXPController::moveAll(HXPAxis *pAxis)
{
int status;
double x, y, z, u, v, w;
getDoubleParam(0, HXPMoveAllTargetX_, &x);
getDoubleParam(0, HXPMoveAllTargetY_, &y);
getDoubleParam(0, HXPMoveAllTargetZ_, &z);
getDoubleParam(0, HXPMoveAllTargetU_, &u);
getDoubleParam(0, HXPMoveAllTargetV_, &v);
getDoubleParam(0, HXPMoveAllTargetW_, &w);
status = HXPHexapodMoveAbsolute(pAxis->moveSocket_, GROUP, "Work", x, y, z, u, v, w);
postError(pAxis, status);
/* callParamCallback() is called from postError, so it isn't needed here */
return status;
}
void Codri::JsonResource::postConflictingPayload(int iSessionId, int iRequestId) {
postError(iSessionId, iRequestId, 409, "Conflicting Payload");
}
void Codri::JsonResource::postInvalidPayload(int iSessionId, int iRequestId, QString iErrorMessage) {
postError(iSessionId, iRequestId, 400, iErrorMessage);
}
void Codri::Resource::postUnsupportedMethod(int iSessionId, int iRequestId) {
// TODO: check if this error code conforms the Java
postError(iSessionId, iRequestId, 405, "Method Not Allowed");
}
