void ShuttleThread::jogshuttle(unsigned short code, unsigned int value)
{
switch (code) {
case JOG :
jog(value);
break;
case SHUTTLE :
shuttle(value);
break;
}
}
void ShuttleThread::handle_event(EV ev)
{
switch (ev.type) {
case KEY :
key(ev.code, ev.value);
break;
case JOGSHUTTLE :
if (ev.code == JOG)
jog(ev.value);
if (ev.code == SHUTTLE)
shuttle(ev.value);
break;
}
}
void QApplicationCommand::jog(QApplicationCommand::JogType type, int axisIndex, double velocity)
{
jog(type, axisIndex, velocity, 0.0);
}
void QApplicationCommand::jog(QApplicationCommand::JogType type, int axisIndex)
{
jog(type, axisIndex, 0.0, 0.0);
}
void jogging_state_machine(struct jog_state_input* data){
static JOG_STATE state = INIT;
static JOG_STATE next_state = INIT;
static unsigned int delay = 0;
float x = 0;
float y = 0;
float z = 0;
/* sprintf(debug_str, "joy: %d , %d \t", data->x, data->y);
printString(debug_str);
sprintf(debug_str, "but: %d, %d\n", data->button_a, data->button_b);
printString(debug_str);*/
switch(state){
case INIT:
if(!data->button_a && !data->button_b){
next_state = JOG_XY;
printString("Jogging XY\n");
delay = delay_debounce;
state = WAIT;
}
break;
case JOG_XY:
if(data->x == 0){
x = -1;
jog(X, x);
} else if(data->x == 255){
x = 1;
jog(X, x);
}
if(data->y == 0){
y = -1;
jog(Y, y);
} else if(data->y == 255){
y = 1;
jog(Y, y);
}
if(!data->button_a){
next_state = JOG_Z;
printString("Jogging Z\n");
delay = delay_debounce;
state = WAIT;
} else {
next_state = JOG_XY;
delay = delay_debounce;
state = WAIT;
}
break;
case JOG_Z:
if(data->y == 0){
jog(Z, -1);
} else if(data->y == 255){
jog(Z, 1);
}
if(!data->button_b){
next_state = JOG_XY;
printString("Jogging XY\n");
delay = delay_debounce;
state = WAIT;
} else if(!data->button_a){
next_state = ZERO_X;
printString("Reset zero X?\n");
delay = delay_debounce;
state = WAIT;
} else {
next_state = JOG_Z;
delay = delay_debounce;
state = WAIT;
}
break;
case ZERO_X:
if(!data->button_a){
reset_axis(X);
}
if(!data->button_a || !data->button_b){
next_state = ZERO_Y;
printString("Reset zero Y?\n");
delay = delay_debounce;
state = WAIT;
}
break;
case ZERO_Y:
if(!data->button_a){
reset_axis(Y);
}
if(!data->button_a || !data->button_b){
next_state = ZERO_Z;
printString("Reset zero Z?\n");
delay = delay_debounce;
state = WAIT;
}
break;
case ZERO_Z:
if(!data->button_a){
reset_axis(Z);
}
if(!data->button_a || !data->button_b){
next_state = INIT;
printString("Jogging back to init\n");
delay = delay_debounce;
state = WAIT;
}
case WAIT:
if (delay == 0)
state = next_state;
else
delay--;
break;
}
}
WatchDiamondWidget::WatchDiamondWidget(int argc, char **argv, QWidget *parent) :
QMainWindow(parent)
{
setupUi(this);
setFocusPolicy(Qt::StrongFocus);
markWidget = new MarkWidget(argc,argv,wg_mark);
coordinate = new Coordinate(lb_x,lb_y,lb_z,lb_a,lb_b);
setupDialog= new AlgorithmDialog(this);
for(int i=0; i<5; i++)
axisPos[i] = 0;
doubleValidator = new QDoubleValidator(this);
le_setDiamondT->setValidator(doubleValidator);
le_getDiamondT->setValidator(doubleValidator);
le_glueT->setValidator(doubleValidator);
le_afterGlueT->setValidator(doubleValidator);
slowVel = markWidget->get_slow_velocity();
fastVel = markWidget->get_fast_velocity();
currentVel = fastVel;
//QString vel = double_to_qstring(currentVel);
//le_setVelocity->setText(vel);
autoRun = false;
QAction* clear = new QAction(QString::fromUtf8("清除所有"),this);
te_sysMessage->addAction(clear);
te_sysMessage->setContextMenuPolicy(Qt::ActionsContextMenu);
te_sysMessage->setTextColor(QColor(Qt::red));
te_sysMessage->setReadOnly(true);
te_sysMessage->setText(QString("system Message:\n"));
jogButtons[0] = bt_xPlus; jogButtons[1] = bt_xReduce; jogButtons[2] = bt_yPlus; jogButtons[3] = bt_yReduce;
jogButtons[4] = bt_zPlus; jogButtons[5] = bt_zReduce; jogButtons[6] = bt_aPlus; jogButtons[7] = bt_aReduce;
jogButtons[8] = bt_bPlus; jogButtons[9] = bt_bReduce;
ioButtons[0] = tb_1; ioButtons[1] = tb_2; ioButtons[2] = tb_3;
ioButtons[3] = tb_4; ioButtons[4] = tb_5; ioButtons[5] = tb_6;
connect(markWidget,SIGNAL(update_emc_status(MarkEmcStatus)),this,SLOT(update_emc_slot(MarkEmcStatus)));
connect(markWidget,SIGNAL(update_infor(Information&)),this,SLOT(update_infor_slot(Information&)));
connect(bt_machineRun,SIGNAL(toggled(bool)),this,SLOT(machine_open_toggled(bool)));
connect(bt_home,SIGNAL(clicked()),this,SLOT(home()));
connect(bt_zero,SIGNAL(clicked()),this,SLOT(zero()));
connect(bt_changeVelocity,SIGNAL(toggled(bool)),this,SLOT(change_vel_toggled(bool)));
//connect(le_setVelocity,SIGNAL(editingFinished()),this,SLOT(finish_set_velocity()));
connect(bt_scanDiamond,SIGNAL(clicked()),this,SLOT(scan_diamond()));
connect(bt_scanWatch,SIGNAL(toggled(bool)),this,SLOT(scan_watch(bool)));
connect(bt_setGlue,SIGNAL(toggled(bool)),this,SLOT(set_glue(bool)));
connect(bt_setDiamond,SIGNAL(toggled(bool)),this,SLOT(set_diamond(bool)));
connect(action_open,SIGNAL(triggered()),this,SLOT(open_project()));
connect(action_new,SIGNAL(triggered()),this,SLOT(new_project()));
connect(action_halConfig,SIGNAL(triggered()),this,SLOT(hal_config()));
connect(action_halMeter,SIGNAL(triggered()),this,SLOT(hal_meter()));
connect(action_halScope,SIGNAL(triggered()),this,SLOT(hal_scope()));
connect(action_algorithm,SIGNAL(triggered()),this,SLOT(setup_algorithm()));
connect(bt_autoRun,SIGNAL(toggled(bool)),this,SLOT(auto_run(bool)));
connect(bt_pause,SIGNAL(toggled(bool)),this,SLOT(pause(bool)));
connect(bt_stop,SIGNAL(clicked()),this,SLOT(stop()));
connect(clear,SIGNAL(triggered()),this,SLOT(clear_error_message()));
connect(bt_getDiamondZ,SIGNAL(clicked()),this,SLOT(set_height()));
connect(bt_setGlueZ,SIGNAL(clicked()),this,SLOT(set_height()));
connect(bt_setDiamondZ,SIGNAL(clicked()),this,SLOT(set_height()));
connect(sp_getDiamondZ,SIGNAL(editingFinished()),this,SLOT(set_height()));
connect(sp_setDiamondZ,SIGNAL(editingFinished()),this,SLOT(set_height()));
connect(sp_setGlueZ,SIGNAL(editingFinished()),this,SLOT(set_height()));
connect(le_setDiamondT,SIGNAL(editingFinished()),this,SLOT(set_time()));
connect(le_getDiamondT,SIGNAL(editingFinished()),this,SLOT(set_time()));
connect(le_glueT,SIGNAL(editingFinished()),this,SLOT(set_time()));
connect(le_afterGlueT,SIGNAL(editingFinished()),this,SLOT(set_time()));
connect(hs_slowVel,SIGNAL(valueChanged(int)),this,SLOT(set_velocity(int)));
connect(hs_fastVel,SIGNAL(valueChanged(int)),this,SLOT(set_velocity(int)));
connect(sp_pickupOffsetX,SIGNAL(valueChanged(double)),this,SLOT(micro_adjust_offset(double)));
connect(sp_pickupOffsetY,SIGNAL(valueChanged(double)),this,SLOT(micro_adjust_offset(double)));
connect(sp_glueOffsetX,SIGNAL(valueChanged(double)),this,SLOT(micro_adjust_offset(double)));
connect(sp_glueOffsetY,SIGNAL(valueChanged(double)),this,SLOT(micro_adjust_offset(double)));
for(int i=0; i<10; i++){
connect(jogButtons[i],SIGNAL(pressed()),this,SLOT(jog()));
connect(jogButtons[i],SIGNAL(released()),this,SLOT(end_jog()));
}
for(int i=0; i<6; i++){
connect(ioButtons[i],SIGNAL(toggled(bool)),this,SLOT(io_button_toggled(bool)));
}
connect(sp_distance,SIGNAL(valueChanged(double)),this,SLOT(set_diamond_distance(double)));
sp_distance->setValue(0.080);
bt_machineRun->setChecked(true);
timer = new QTimer(this);
connect(timer,SIGNAL(timeout()),this,SLOT(ask_home()));
timer->start(500);
//bt_home->setChecked(true);
}
