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_single_motor_move::wgt_single_motor_move(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::single_motor::UiRobot *>(_robot);
connect(this, SIGNAL(synchro_depended_init_signal()), this, SLOT(synchro_depended_init_slot()), Qt::QueuedConnection);
connect(this, SIGNAL(init_and_copy_signal()), this, SLOT(init_and_copy_slot()), Qt::QueuedConnection);
// ui.doubleSpinBox_des_p0->setMaximum(robot->kinematic_params.upper_motor_pos_limits[0]);
// ui.doubleSpinBox_des_p0->setMinimum(robot->kinematic_params.lower_motor_pos_limits[0]);
}
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_base::wgt_base(QString _widget_label, mrrocpp::ui::common::Interface& _interface, mrrocpp::ui::common::UiRobot *robo, QWidget *parent) :
QWidget(parent), widget_label(_widget_label), interface(_interface), robot(robo)
{
dwgt = new QDockWidget((QMainWindow *) interface.get_main_window());
//dwgt_pc->setAllowedAreas(Qt::TopDockWidgetArea);
dwgt->setWindowTitle(widget_label);
//vl = new QVBoxLayout();
//dwgt->setLayout(vl);
// vl->addWidget(this);
dwgt->setWidget(this);
dwgt->hide();
//dwgt->setFloating(true);
interface.get_main_window()->addDockWidget(Qt::LeftDockWidgetArea, dwgt);
connect(this, SIGNAL(synchro_depended_init_signal()), this, SLOT(synchro_depended_init_slot()), Qt::QueuedConnection);
connect(this, SIGNAL(init_and_copy_signal()), this, SLOT(init_and_copy_slot()), Qt::QueuedConnection);
}
wgt_irp6_m_tool_euler::wgt_irp6_m_tool_euler(QString _widget_label, mrrocpp::ui::common::Interface& _interface, mrrocpp::ui::irp6_m::UiRobot& _robot, QWidget *parent) :
wgt_base(_widget_label, _interface, parent), robot(_robot)
{
ui.setupUi(this);
connect(this, SIGNAL(synchro_depended_init_signal()), this, SLOT(synchro_depended_init_slot()), Qt::QueuedConnection);
connect(this, SIGNAL(init_and_copy_signal()), this, SLOT(init_and_copy_slot()), Qt::QueuedConnection);
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_cur_Vector.append(ui.doubleSpinBox_cur_p6);
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_des_Vector.append(ui.doubleSpinBox_des_p6);
}
wgt_irp6_m_motors::wgt_irp6_m_motors(QString _widget_label, mrrocpp::ui::common::Interface& _interface, mrrocpp::ui::irp6_m::UiRobot& _robot, QWidget *parent) :
wgt_base(_widget_label, _interface, parent), robot(_robot)
{
ui.setupUi(this);
connect(this, SIGNAL(synchro_depended_init_signal()), this, SLOT(synchro_depended_init_slot()), Qt::QueuedConnection);
connect(this, SIGNAL(init_and_copy_signal()), this, SLOT(init_and_copy_slot()), Qt::QueuedConnection);
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_cur_Vector.append(ui.doubleSpinBox_cur_p6);
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_des_Vector.append(ui.doubleSpinBox_des_p6);
if (robot.robot_name == lib::irp6ot_m::ROBOT_NAME) {
doubleSpinBox_cur_Vector.append(ui.doubleSpinBox_cur_p7);
doubleSpinBox_des_Vector.append(ui.doubleSpinBox_des_p7);
}
if (robot.robot_name == lib::irp6p_m::ROBOT_NAME) {
ui.label_2->hide();
ui.doubleSpinBox_cur_p7->hide();
ui.doubleSpinBox_des_p7->hide();
ui.pushButton_7l->hide();
ui.pushButton_7r->hide();
}
}
void wgt_base::synchro_depended_init()
{
emit synchro_depended_init_signal();
}
void wgt_irp6_m_motors::synchro_depended_init()
{
emit synchro_depended_init_signal();
}
void wgt_spkm_inc::synchro_depended_init()
{
emit synchro_depended_init_signal();
}
void wgt_smb_command::synchro_depended_init()
{
emit synchro_depended_init_signal();
}
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);
}
void wgt_single_motor_move::synchro_depended_init()
{
emit synchro_depended_init_signal();
}
void wgt_irp6_m_tool_euler::synchro_depended_init()
{
emit synchro_depended_init_signal();
}
wgt_bird_hand_command::wgt_bird_hand_command(mrrocpp::ui::common::Interface& _interface, mrrocpp::ui::bird_hand::UiRobot& _robot, QWidget *parent) :
wgt_base("Bird hand incremental motion", _interface, parent),
ui(new Ui::wgt_bird_hand_commandClass()),
robot(_robot)
{
//ui = new Ui::wgt_bird_hand_commandClass::wgt_bird_hand_commandClass();
ui->setupUi(this);
connect(this, SIGNAL(synchro_depended_init_signal()), this, SLOT(synchro_depended_init_slot()), Qt::QueuedConnection);
connect(this, SIGNAL(init_and_copy_signal()), this, SLOT(init_and_copy_slot()), Qt::QueuedConnection);
doubleSpinBox_curpos_Vector.append(ui->doubleSpinBox_curpos_thumb_0);
doubleSpinBox_curpos_Vector.append(ui->doubleSpinBox_curpos_thumb_1);
doubleSpinBox_curpos_Vector.append(ui->doubleSpinBox_curpos_index_0);
doubleSpinBox_curpos_Vector.append(ui->doubleSpinBox_curpos_index_1);
doubleSpinBox_curpos_Vector.append(ui->doubleSpinBox_curpos_index_2);
doubleSpinBox_curpos_Vector.append(ui->doubleSpinBox_curpos_ring_0);
doubleSpinBox_curpos_Vector.append(ui->doubleSpinBox_curpos_ring_1);
doubleSpinBox_curpos_Vector.append(ui->doubleSpinBox_curpos_ring_2);
doubleSpinBox_despos_Vector.append(ui->doubleSpinBox_despos_thumb_0);
doubleSpinBox_despos_Vector.append(ui->doubleSpinBox_despos_thumb_1);
doubleSpinBox_despos_Vector.append(ui->doubleSpinBox_despos_index_0);
doubleSpinBox_despos_Vector.append(ui->doubleSpinBox_despos_index_1);
doubleSpinBox_despos_Vector.append(ui->doubleSpinBox_despos_index_2);
doubleSpinBox_despos_Vector.append(ui->doubleSpinBox_despos_ring_0);
doubleSpinBox_despos_Vector.append(ui->doubleSpinBox_despos_ring_1);
doubleSpinBox_despos_Vector.append(ui->doubleSpinBox_despos_ring_2);
doubleSpinBox_destor_Vector.append(ui->doubleSpinBox_destor_thumb_0);
doubleSpinBox_destor_Vector.append(ui->doubleSpinBox_destor_thumb_1);
doubleSpinBox_destor_Vector.append(ui->doubleSpinBox_destor_index_0);
doubleSpinBox_destor_Vector.append(ui->doubleSpinBox_destor_index_1);
doubleSpinBox_destor_Vector.append(ui->doubleSpinBox_destor_index_2);
doubleSpinBox_destor_Vector.append(ui->doubleSpinBox_destor_ring_0);
doubleSpinBox_destor_Vector.append(ui->doubleSpinBox_destor_ring_1);
doubleSpinBox_destor_Vector.append(ui->doubleSpinBox_destor_ring_2);
doubleSpinBox_curtor_Vector.append(ui->doubleSpinBox_curtor_thumb_0);
doubleSpinBox_curtor_Vector.append(ui->doubleSpinBox_curtor_thumb_1);
doubleSpinBox_curtor_Vector.append(ui->doubleSpinBox_curtor_index_0);
doubleSpinBox_curtor_Vector.append(ui->doubleSpinBox_curtor_index_1);
doubleSpinBox_curtor_Vector.append(ui->doubleSpinBox_curtor_index_2);
doubleSpinBox_curtor_Vector.append(ui->doubleSpinBox_curtor_ring_0);
doubleSpinBox_curtor_Vector.append(ui->doubleSpinBox_curtor_ring_1);
doubleSpinBox_curtor_Vector.append(ui->doubleSpinBox_curtor_ring_2);
doubleSpinBox_rdamp_Vector.append(ui->doubleSpinBox_rdamp_thumb_0);
doubleSpinBox_rdamp_Vector.append(ui->doubleSpinBox_rdamp_thumb_1);
doubleSpinBox_rdamp_Vector.append(ui->doubleSpinBox_rdamp_index_0);
doubleSpinBox_rdamp_Vector.append(ui->doubleSpinBox_rdamp_index_1);
doubleSpinBox_rdamp_Vector.append(ui->doubleSpinBox_rdamp_index_2);
doubleSpinBox_rdamp_Vector.append(ui->doubleSpinBox_rdamp_ring_0);
doubleSpinBox_rdamp_Vector.append(ui->doubleSpinBox_rdamp_ring_1);
doubleSpinBox_rdamp_Vector.append(ui->doubleSpinBox_rdamp_ring_2);
doubleSpinBox_mcur_Vector.append(ui->doubleSpinBox_mcur_thumb_0);
doubleSpinBox_mcur_Vector.append(ui->doubleSpinBox_mcur_thumb_1);
doubleSpinBox_mcur_Vector.append(ui->doubleSpinBox_mcur_index_0);
doubleSpinBox_mcur_Vector.append(ui->doubleSpinBox_mcur_index_1);
doubleSpinBox_mcur_Vector.append(ui->doubleSpinBox_mcur_index_2);
doubleSpinBox_mcur_Vector.append(ui->doubleSpinBox_mcur_ring_0);
doubleSpinBox_mcur_Vector.append(ui->doubleSpinBox_mcur_ring_1);
doubleSpinBox_mcur_Vector.append(ui->doubleSpinBox_mcur_ring_2);
buttonGroup_Vector.append(ui->buttonGroup_thumb_0);
buttonGroup_Vector.append(ui->buttonGroup_thumb_1);
buttonGroup_Vector.append(ui->buttonGroup_index_0);
buttonGroup_Vector.append(ui->buttonGroup_index_1);
buttonGroup_Vector.append(ui->buttonGroup_index_2);
buttonGroup_Vector.append(ui->buttonGroup_ring_0);
buttonGroup_Vector.append(ui->buttonGroup_ring_1);
buttonGroup_Vector.append(ui->buttonGroup_ring_2);
checkboxButtonGroup_Vector.append(ui->buttonGroup_checkbox_thumb_0);
checkboxButtonGroup_Vector.append(ui->buttonGroup_checkbox_thumb_1);
checkboxButtonGroup_Vector.append(ui->buttonGroup_checkbox_index_0);
checkboxButtonGroup_Vector.append(ui->buttonGroup_checkbox_index_1);
checkboxButtonGroup_Vector.append(ui->buttonGroup_checkbox_index_2);
checkboxButtonGroup_Vector.append(ui->buttonGroup_checkbox_ring_0);
checkboxButtonGroup_Vector.append(ui->buttonGroup_checkbox_ring_1);
checkboxButtonGroup_Vector.append(ui->buttonGroup_checkbox_ring_2);
for(int i=0; i<robot.number_of_servos; i++)
{
checkboxButtonGroup_Vector[i]->setExclusive(false);
doubleSpinBox_curtor_Vector[i]->setEnabled(false);
doubleSpinBox_mcur_Vector[i]->setEnabled(false);
doubleSpinBox_curpos_Vector[i]->setEnabled(false);
QList<QAbstractButton*> buttons_in_group = checkboxButtonGroup_Vector[i]->buttons();
for(int j=0; j<buttons_in_group.size(); j++)
{
buttons_in_group[j]->setEnabled(false);
}
}
}
void wgt_bird_hand_command::synchro_depended_init()
{
emit synchro_depended_init_signal();
}
