TutorialUnitGui::TutorialUnitGui(TutorialUnit *control, GraphicsView *scene) :
ui(new Ui::TutorialUnitGui),
mController(control),
mScene(scene)
{
ui->setupUi(this);
connect(mController, SIGNAL(connectStatusChanged(bool)), SLOT(updateStatus(bool)));
connect(mController, SIGNAL(positionUpdated(QPointF,qreal)), SLOT(onPositionUpdate(QPointF, qreal)));
connect(this, SIGNAL(connectClicked()), mController, SLOT(acquireHardware()));
connect(this, SIGNAL(disconnectClicked()), mController, SLOT(releaseHardware()));
connect(this, SIGNAL(resetSystem()), mController, SLOT(resetSetup()));
connect(this, SIGNAL(resetSystemRandom()), mController, SLOT(resetSetupRandom()));
scene->show();
scene->hide();
}
void AMPIC887EpicsCoordinator::onAllConnected(bool connectedState)
{
if(connectedState) {
if(!controller_->isInValidState()) {
qDebug() << "Initialization: Setting Axes status to Error";
xAxisStatus_->move(4);
yAxisStatus_->move(4);
zAxisStatus_->move(4);
uAxisStatus_->move(4);
vAxisStatus_->move(4);
wAxisStatus_->move(4);
} else if (!connectedOnce_) {
connectedOnce_ = true;
// Initializing x Axis
if(!xAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::XAxis))) {
qDebug() << "Initialization: Setting x Axis position to " << controller_->currentPosition(AMGCS2::XAxis);
xAxisFeedback_->move(controller_->currentPosition(AMGCS2::XAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::XAxisIsMoving) && !xAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting x Axis status to moving";
xAxisStatus_->move(1);
} else if (!xAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting x Axis status to move done";
xAxisStatus_->move(0);
}
// Initializing y Axis
if(!yAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::YAxis))) {
qDebug() << "Initialzation: Setting y Axis position to " << controller_->currentPosition(AMGCS2::YAxis);
yAxisFeedback_->move(controller_->currentPosition(AMGCS2::YAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::YAxisIsMoving) && !yAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting y Axis status to moving";
yAxisStatus_->move(1);
} else if (!yAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting y Axis status to move done";
yAxisStatus_->move(0);
}
// Initializing z Axis
if(!zAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::ZAxis))) {
qDebug() << "Initialzation: Setting z Axis position to " << controller_->currentPosition(AMGCS2::ZAxis);
zAxisFeedback_->move(controller_->currentPosition(AMGCS2::ZAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::ZAxisIsMoving) && !zAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting z Axis status to moving";
zAxisStatus_->move(1);
} else if (!zAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting z Axis status to move done";
zAxisStatus_->move(0);
}
// Initializing u Axis
if(!uAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::UAxis))) {
qDebug() << "Initialzation: Setting u Axis position to " << controller_->currentPosition(AMGCS2::UAxis);
uAxisFeedback_->move(controller_->currentPosition(AMGCS2::UAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::UAxisIsMoving) && !uAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting u Axis status to moving";
uAxisStatus_->move(1);
} else if (!uAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting u Axis status to move done";
uAxisStatus_->move(0);
}
// Initializing v Axis
if(!vAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::VAxis))) {
qDebug() << "Initialzation: Setting v Axis position to " << controller_->currentPosition(AMGCS2::VAxis);
vAxisFeedback_->move(controller_->currentPosition(AMGCS2::VAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::VAxisIsMoving) && !vAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting v Axis status to moving";
vAxisStatus_->move(1);
} else if (!vAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting v Axis status to move done";
vAxisStatus_->move(0);
}
// Initializing w Axis
if(!wAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::WAxis))) {
qDebug() << "Initialzation: Setting w Axis position to " << controller_->currentPosition(AMGCS2::WAxis);
wAxisFeedback_->move(controller_->currentPosition(AMGCS2::WAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::WAxisIsMoving) && !wAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting w Axis status to moving";
wAxisStatus_->move(1);
} else if (!wAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting w Axis status to move done";
wAxisStatus_->move(0);
}
// Initialize system velocity
if(!systemVelocityFeedback_->withinTolerance(controller_->systemVelocity())) {
qDebug() << "Initialization: Setting system velocity to " << controller_->systemVelocity();
systemVelocityFeedback_->move(controller_->systemVelocity());
}
if(!systemVelocitySetpoint_->withinTolerance(controller_->systemVelocity())) {
qDebug() << "Initialization: Setting system velocity setpoint to " << controller_->systemVelocity();
systemVelocitySetpoint_->move(controller_->systemVelocity());
}
// Initialize the record rate.
if(!recordRateFeedback_->withinTolerance(controller_->recordRate())) {
qDebug() << "Initialization: Setting record rate to " << controller_->recordRate();
recordRateFeedback_->move(controller_->recordRate());
}
if(!recordRateSetpoint_->withinTolerance(controller_->recordRate())) {
qDebug() << "Initialization: Setting record rate setpoint to " << controller_->recordRate();
recordRateSetpoint_->move(controller_->recordRate());
}
// Initialize data recorder active state
double dataRecorderActiveValue = controller_->isDataRecorderActive() ? 1.0 : 0.0;
if(dataRecorderActive_->withinTolerance(dataRecorderActiveValue)) {
qDebug() << "Initialization: Setting data recorder active status to " << dataRecorderActiveValue;
dataRecorderActive_->move(dataRecorderActiveValue);
}
}
connect(systemVelocitySetpoint_, SIGNAL(valueChanged(double)), this, SLOT(onSystemVelocitySetpointChanged(double)));
connect(recordRateSetpoint_, SIGNAL(valueChanged(double)), this, SLOT(onRecordRateSetpointPVChanged(double)));
connect(dataRecorderActive_, SIGNAL(valueChanged(double)), this, SLOT(onDataRecorderActivePVChanged(double)));
connect(stopAll_, SIGNAL(valueChanged(double)), this, SLOT(onStopAll(double)));
connect(controller_, SIGNAL(moveStarted(AMGCS2::AxisMovementStatuses)), this, SLOT(onMotionStartedChanged(AMGCS2::AxisMovementStatuses)));
connect(controller_, SIGNAL(moveFailed(AMGCS2::AxisMovementStatuses)), this, SLOT(onMotionFailed(AMGCS2::AxisMovementStatuses)));
connect(controller_, SIGNAL(moveComplete()), this, SLOT(onMotionCompleted()));
connect(controller_, SIGNAL(positionUpdate(AMPIC887AxisMap<double>)), this, SLOT(onPositionUpdate(AMPIC887AxisMap<double>)));
connect(controller_, SIGNAL(systemVelocityChanged(double)), this, SLOT(onSystemVelocityChanged(double)));
connect(controller_, SIGNAL(recordRateChanged(double)), this, SLOT(onControllerRecordRateChanged(double)));
connect(controller_, SIGNAL(dataRecorderActiveStateChanged(bool)), this, SLOT(onControllerDataRecorderActiveChanged(bool)));
}
}
