Client::Client(QString server_address, QString _name, QString _password, QObject *parent) :
QObject(parent)
{
this->manager = new QNetworkAccessManager(this);
this->server_address = server_address;
this->name = _name;
this->password = _password;
this->authenticate();
if (this->is_authenticated())
{
this->active = true;
this->timer = new QTimer(this);
connect(this->timer, SIGNAL(timeout()),
this, SLOT(timer_slot()));
this->timer->start(PERIODIC_TIME_DEFAULT);
this->get_projects();
this->get_tasks();
this->current_project = this->tasks_to_projects[this->current_task];
if (this->current_task.length() > 0)
this->send_action("resume");
}
}
wgt_shead_command::wgt_shead_command(const QString & _widget_label, mrrocpp::ui::common::Interface& _interface, mrrocpp::ui::common::UiRobot *_robot, QWidget *parent) :
wgt_base(_widget_label, _interface, parent)
{
ui.setupUi(this);
robot = dynamic_cast <mrrocpp::ui::shead::UiRobot *>(_robot);
// utworzenie list widgetow
checkBox_m_mip_Vector.append(ui.checkBox_ml_mip);
doubleSpinBox_m_current_position_Vector.append(ui.doubleSpinBox_ml_current_position);
doubleSpinBox_m_absolute_Vector.append(ui.doubleSpinBox_ml_absolute);
doubleSpinBox_m_relative_Vector.append(ui.doubleSpinBox_ml_relative);
// uruchomienei timera
timer = (boost::shared_ptr <QTimer>) new QTimer(this);
connect(timer.get(), SIGNAL(timeout()), this, SLOT(timer_slot()));
timer->start(interface.position_refresh_interval);
// podpiecie pozostalych sygnalow do slotow
connect(this, SIGNAL(synchro_depended_init_signal()), this, SLOT(synchro_depended_init_slot()), Qt::QueuedConnection);
}
wgt_spkm_inc::wgt_spkm_inc(QString _widget_label, mrrocpp::ui::common::Interface& _interface, mrrocpp::ui::common::UiRobot *_robot, QWidget *parent) :
wgt_base(_widget_label, _interface, parent)
{
ui.setupUi(this);
robot = dynamic_cast <mrrocpp::ui::spkm::UiRobot *>(_robot);
doubleSpinBox_cur_Vector.append(ui.doubleSpinBox_cur_p0);
doubleSpinBox_cur_Vector.append(ui.doubleSpinBox_cur_p1);
doubleSpinBox_cur_Vector.append(ui.doubleSpinBox_cur_p2);
doubleSpinBox_cur_Vector.append(ui.doubleSpinBox_cur_p3);
doubleSpinBox_cur_Vector.append(ui.doubleSpinBox_cur_p4);
doubleSpinBox_cur_Vector.append(ui.doubleSpinBox_cur_p5);
doubleSpinBox_des_Vector.append(ui.doubleSpinBox_des_p0);
doubleSpinBox_des_Vector.append(ui.doubleSpinBox_des_p1);
doubleSpinBox_des_Vector.append(ui.doubleSpinBox_des_p2);
doubleSpinBox_des_Vector.append(ui.doubleSpinBox_des_p3);
doubleSpinBox_des_Vector.append(ui.doubleSpinBox_des_p4);
doubleSpinBox_des_Vector.append(ui.doubleSpinBox_des_p5);
doubleSpinBox_mcur_Vector.append(ui.doubleSpinBox_mcur_0);
doubleSpinBox_mcur_Vector.append(ui.doubleSpinBox_mcur_1);
doubleSpinBox_mcur_Vector.append(ui.doubleSpinBox_mcur_2);
doubleSpinBox_mcur_Vector.append(ui.doubleSpinBox_mcur_3);
doubleSpinBox_mcur_Vector.append(ui.doubleSpinBox_mcur_4);
doubleSpinBox_mcur_Vector.append(ui.doubleSpinBox_mcur_5);
radioButton_mip_Vector.append(ui.radioButton_mip_0);
radioButton_mip_Vector.append(ui.radioButton_mip_1);
radioButton_mip_Vector.append(ui.radioButton_mip_2);
radioButton_mip_Vector.append(ui.radioButton_mip_3);
radioButton_mip_Vector.append(ui.radioButton_mip_4);
radioButton_mip_Vector.append(ui.radioButton_mip_5);
timer = (boost::shared_ptr <QTimer>) new QTimer(this);
connect(timer.get(), SIGNAL(timeout()), this, SLOT(timer_slot()));
timer->start(interface.position_refresh_interval);
ui.radioButton_non_sync_trapezoidal->setChecked(true);
connect(this, SIGNAL(synchro_depended_init_signal()), this, SLOT(synchro_depended_init_slot()), Qt::QueuedConnection);
for (int i = 0; i < robot->number_of_servos; i++) {
doubleSpinBox_des_Vector[i]->setMaximum(robot->kinematic_params.upper_motor_pos_limits[i]);
doubleSpinBox_des_Vector[i]->setMinimum(robot->kinematic_params.lower_motor_pos_limits[i]);
}
}
wgt_spkm_ext::wgt_spkm_ext(mrrocpp::ui::common::Interface& _interface, mrrocpp::ui::spkm::UiRobot& _robot, QWidget *parent) :
wgt_base("Spkm external motion", _interface, parent), robot(_robot)
{
ui.setupUi(this);
doubleSpinBox_cur_Vector.append(ui.doubleSpinBox_cur_p0);
doubleSpinBox_cur_Vector.append(ui.doubleSpinBox_cur_p1);
doubleSpinBox_cur_Vector.append(ui.doubleSpinBox_cur_p2);
doubleSpinBox_cur_Vector.append(ui.doubleSpinBox_cur_p3);
doubleSpinBox_cur_Vector.append(ui.doubleSpinBox_cur_p4);
doubleSpinBox_cur_Vector.append(ui.doubleSpinBox_cur_p5);
doubleSpinBox_des_Vector.append(ui.doubleSpinBox_des_p0);
doubleSpinBox_des_Vector.append(ui.doubleSpinBox_des_p1);
doubleSpinBox_des_Vector.append(ui.doubleSpinBox_des_p2);
doubleSpinBox_des_Vector.append(ui.doubleSpinBox_des_p3);
doubleSpinBox_des_Vector.append(ui.doubleSpinBox_des_p4);
doubleSpinBox_des_Vector.append(ui.doubleSpinBox_des_p5);
doubleSpinBox_mcur_Vector.append(ui.doubleSpinBox_mcur_0);
doubleSpinBox_mcur_Vector.append(ui.doubleSpinBox_mcur_1);
doubleSpinBox_mcur_Vector.append(ui.doubleSpinBox_mcur_2);
doubleSpinBox_mcur_Vector.append(ui.doubleSpinBox_mcur_3);
doubleSpinBox_mcur_Vector.append(ui.doubleSpinBox_mcur_4);
doubleSpinBox_mcur_Vector.append(ui.doubleSpinBox_mcur_5);
radioButton_mip_Vector.append(ui.radioButton_mip_0);
radioButton_mip_Vector.append(ui.radioButton_mip_1);
radioButton_mip_Vector.append(ui.radioButton_mip_2);
radioButton_mip_Vector.append(ui.radioButton_mip_3);
radioButton_mip_Vector.append(ui.radioButton_mip_4);
radioButton_mip_Vector.append(ui.radioButton_mip_5);
timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), this, SLOT(timer_slot()));
timer->start(interface.position_refresh_interval);
ui.radioButton_non_sync_trapezoidal->setChecked(true);
}
wgt_smb_command::wgt_smb_command(const QString & _widget_label, mrrocpp::ui::common::Interface& _interface, mrrocpp::ui::common::UiRobot *_robot, QWidget *parent) :
wgt_base(_widget_label, _interface, parent)
{
ui.setupUi(this);
robot = dynamic_cast <mrrocpp::ui::smb::UiRobot *>(_robot);
// utworzenie list widgetow
checkBox_fl_in_Vector.append(ui.checkBox_fl1_in);
checkBox_fl_in_Vector.append(ui.checkBox_fl2_in);
checkBox_fl_in_Vector.append(ui.checkBox_fl3_in);
checkBox_fl_out_Vector.append(ui.checkBox_fl1_out);
checkBox_fl_out_Vector.append(ui.checkBox_fl2_out);
checkBox_fl_out_Vector.append(ui.checkBox_fl3_out);
checkBox_fl_undetachable_Vector.append(ui.checkBox_fl1_udetachable);
checkBox_fl_undetachable_Vector.append(ui.checkBox_fl2_udetachable);
checkBox_fl_undetachable_Vector.append(ui.checkBox_fl3_udetachable);
checkBox_fl_attached_Vector.append(ui.checkBox_fl1_attached);
checkBox_fl_attached_Vector.append(ui.checkBox_fl2_attached);
checkBox_fl_attached_Vector.append(ui.checkBox_fl3_attached);
checkBox_m_mip_Vector.append(ui.checkBox_ml_mip);
checkBox_m_mip_Vector.append(ui.checkBox_ms_mip);
radioButton_fl_in_Vector.append(ui.radioButton_fl1_in);
radioButton_fl_in_Vector.append(ui.radioButton_fl2_in);
radioButton_fl_in_Vector.append(ui.radioButton_fl3_in);
radioButton_fl_out_Vector.append(ui.radioButton_fl1_out);
radioButton_fl_out_Vector.append(ui.radioButton_fl2_out);
radioButton_fl_out_Vector.append(ui.radioButton_fl3_out);
doubleSpinBox_m_current_position_Vector.append(ui.doubleSpinBox_ml_current_position);
doubleSpinBox_m_current_position_Vector.append(ui.doubleSpinBox_ms_current_position);
doubleSpinBox_m_absolute_Vector.append(ui.doubleSpinBox_ml_absolute);
doubleSpinBox_m_absolute_Vector.append(ui.doubleSpinBox_ms_absolute);
doubleSpinBox_m_relative_Vector.append(ui.doubleSpinBox_ml_relative);
doubleSpinBox_m_relative_Vector.append(ui.doubleSpinBox_ms_relative);
// uruchomienei timera
timer = (boost::shared_ptr <QTimer>) new QTimer(this);
connect(timer.get(), SIGNAL(timeout()), this, SLOT(timer_slot()));
timer->start(interface.position_refresh_interval);
// podpiecie pozostalych sygnalow do slotow
connect(this, SIGNAL(synchro_depended_init_signal()), this, SLOT(synchro_depended_init_slot()), Qt::QueuedConnection);
// Set decimal properties for the motor-based control.
ui.doubleSpinBox_ml_absolute->setMinimum(-1200000);
ui.doubleSpinBox_ml_absolute->setMaximum(1200000);
ui.doubleSpinBox_ml_absolute->setSingleStep(10000);
ui.doubleSpinBox_ml_absolute->setDecimals(0);
ui.doubleSpinBox_ml_relative->setMinimum(0);
ui.doubleSpinBox_ml_relative->setMaximum(1200000);
ui.doubleSpinBox_ml_relative->setSingleStep(10000);
ui.doubleSpinBox_ml_relative->setDecimals(0);
ui.doubleSpinBox_ms_absolute->setMinimum(-120000);
ui.doubleSpinBox_ms_absolute->setMaximum(120000);
ui.doubleSpinBox_ms_absolute->setSingleStep(1000);
ui.doubleSpinBox_ms_absolute->setDecimals(0);
ui.doubleSpinBox_ms_relative->setMinimum(0);
ui.doubleSpinBox_ms_relative->setMaximum(120000);
ui.doubleSpinBox_ms_relative->setSingleStep(1000);
ui.doubleSpinBox_ms_relative->setDecimals(0);
// Set precision of widgets with current positions.
ui.doubleSpinBox_ml_current_position->setDecimals(0);
ui.doubleSpinBox_ms_current_position->setDecimals(0);
ui.doubleSpinBox_ml_current_position->setMinimum(-1200000);
ui.doubleSpinBox_ml_current_position->setMaximum(1200000);
ui.doubleSpinBox_ms_current_position->setMinimum(-120000);
ui.doubleSpinBox_ms_current_position->setMaximum(120000);
}
