void TrikKitInterpreterPluginBase::init(const kitBase::KitPluginConfigurator &configurer)
{
connect(&configurer.eventsForKitPlugin()
, &kitBase::EventsForKitPluginInterface::robotModelChanged
, [this](const QString &modelName) { mCurrentlySelectedModelName = modelName; });
qReal::gui::MainWindowInterpretersInterface &interpretersInterface
= configurer.qRealConfigurator().mainWindowInterpretersInterface();
mTwoDModel->init(configurer.eventsForKitPlugin()
, configurer.qRealConfigurator().systemEvents()
, configurer.qRealConfigurator().logicalModelApi()
, interpretersInterface
, configurer.qRealConfigurator().projectManager()
, configurer.interpreterControl());
mRealRobotModel->setErrorReporter(*interpretersInterface.errorReporter());
mTwoDRobotModel->setErrorReporter(*interpretersInterface.errorReporter());
connect(mAdditionalPreferences, &TrikAdditionalPreferences::settingsChanged
, mRealRobotModel.data(), &robotModel::TrikRobotModelBase::rereadSettings);
connect(mAdditionalPreferences, &TrikAdditionalPreferences::settingsChanged
, mTwoDRobotModel.data(), &robotModel::twoD::TrikTwoDRobotModel::rereadSettings);
}
void TrikFSharpGeneratorPluginBase::init(const kitBase::KitPluginConfigurator &configurer)
{
const auto errorReporter = configurer.qRealConfigurator().mainWindowInterpretersInterface().errorReporter();
RobotsGeneratorPluginBase::init(configurer);
mCommunicator.reset(new TcpRobotCommunicator("TrikTcpServer"));
NetworkCommunicationErrorReporter::connectErrorReporter(*mCommunicator, *errorReporter);
mStopRobotProtocol.reset(new StopRobotProtocol(*mCommunicator));
connect(mStopRobotProtocol.data(), &StopRobotProtocol::timeout, [this, errorReporter]() {
errorReporter->addError(tr("Stop robot operation timed out"));
});
}
void NxtKitInterpreterPlugin::init(const kitBase::KitPluginConfigurator &configurator)
{
connect(&configurator.eventsForKitPlugin(), &kitBase::EventsForKitPluginInterface::robotModelChanged
, [this](const QString &modelName) { mCurrentlySelectedModelName = modelName; });
qReal::gui::MainWindowInterpretersInterface &interpretersInterface
= configurator.qRealConfigurator().mainWindowInterpretersInterface();
connect(&mUsbRealRobotModel, &robotModel::real::RealRobotModel::errorOccured
, [&interpretersInterface](const QString &message) {
interpretersInterface.errorReporter()->addError(message);
});
connect(&mBluetoothRealRobotModel, &robotModel::real::RealRobotModel::errorOccured
, [&interpretersInterface](const QString &message) {
interpretersInterface.errorReporter()->addError(message);
});
mUsbRealRobotModel.checkConnection();
mBluetoothRealRobotModel.checkConnection();
mTwoDModel->init(configurator.eventsForKitPlugin()
, configurator.qRealConfigurator().systemEvents()
, configurator.qRealConfigurator().logicalModelApi()
, interpretersInterface
, configurator.interpreterControl());
}
void TrikQtsGeneratorPluginBase::init(const kitBase::KitPluginConfigurator &configurer)
{
const auto errorReporter = configurer.qRealConfigurator().mainWindowInterpretersInterface().errorReporter();
RobotsGeneratorPluginBase::init(configurer);
mCommunicator.reset(new TcpRobotCommunicator("TrikTcpServer"));
NetworkCommunicationErrorReporter::connectErrorReporter(*mCommunicator, *errorReporter);
mUploadProgramProtocol.reset(new UploadProgramProtocol(*mCommunicator));
mRunProgramProtocol.reset(new RunProgramProtocol(*mCommunicator, mRobotModel.robotConfigFileVersion()));
mStopRobotProtocol.reset(new StopRobotProtocol(*mCommunicator));
const auto timeout = [this, errorReporter]() {
errorReporter->addError(tr("Network operation timed out"));
onProtocolFinished();
};
connect(mUploadProgramProtocol.data(), &UploadProgramProtocol::timeout, timeout);
connect(mRunProgramProtocol.data(), &RunProgramProtocol::timeout, timeout);
connect(mStopRobotProtocol.data(), &StopRobotProtocol::timeout, timeout);
connect(mUploadProgramProtocol.data(), &UploadProgramProtocol::error
, this, &TrikQtsGeneratorPluginBase::onProtocolFinished);
connect(mRunProgramProtocol.data(), &RunProgramProtocol::error
, this, &TrikQtsGeneratorPluginBase::onProtocolFinished);
connect(mStopRobotProtocol.data(), &StopRobotProtocol::error
, this, &TrikQtsGeneratorPluginBase::onProtocolFinished);
connect(mUploadProgramProtocol.data(), &UploadProgramProtocol::success
, this, &TrikQtsGeneratorPluginBase::onProtocolFinished);
connect(mRunProgramProtocol.data(), &RunProgramProtocol::success
, this, &TrikQtsGeneratorPluginBase::onProtocolFinished);
connect(mStopRobotProtocol.data(), &StopRobotProtocol::success
, this, &TrikQtsGeneratorPluginBase::onProtocolFinished);
connect(mRunProgramProtocol.data(), &RunProgramProtocol::configVersionMismatch
, [this, errorReporter](const QString &expected, const QString &actual) {
Q_UNUSED(expected)
Q_UNUSED(actual)
errorReporter->addError(
QString(tr("Casing model mismatch, check TRIK Studio settings, \"Robots\" page. It seems that "
"TRIK casing version selected in TRIK Studio differs from version on robot.")));
}
);
}
