void KiloWindow::sendMessage(int type_int) {
unsigned char type = (unsigned char)type_int;
QByteArray packet(PACKET_SIZE, 0);
if (type == COMMAND_STOP) {
sending = false;
packet[0] = PACKET_HEADER;
packet[1] = PACKET_STOP;
packet[PACKET_SIZE-1]=PACKET_HEADER^PACKET_STOP;
} else {
if (sending) {
stopSending();
return;
}
if (type == COMMAND_LEDTOGGLE) {
sending = false;
packet[0] = PACKET_HEADER;
packet[1] = PACKET_LEDTOGGLE;
packet[PACKET_SIZE-1]=PACKET_HEADER^PACKET_LEDTOGGLE;
} else {
sending = true;
packet[0] = PACKET_HEADER;
packet[1] = PACKET_FORWARDMSG;
packet[11] = type;
packet[PACKET_SIZE-1]=PACKET_HEADER^PACKET_FORWARDMSG^type;
}
}
if (device == 0)
ftdi_conn->sendCommand(packet);
else if (device == 1)
vusb_conn->sendCommand(packet);
else
serial_conn->sendCommand(packet);
}
void taskReceive(void *p){
for(;;){
if (isRXReady()){
uint8_t header = readByte();
switch(header){
case HEADER_READY:
{
setControllerReady();
setSendReady();
break;
}
break;
case HEADER_STOP:
{
stopController();
stopSending();
break;
}
case HEADER_SET_PARAMETERS:
{
uint8_t newSetpoint;
uint8_t newSampleTime;
double newKp;
double newKi;
double newKd;
waitRXReady();
newSetpoint = readByte();
waitRXReady();
newSampleTime = readByte();
waitRXReady();
newKp = readDouble();
waitRXReady();
newKi = readDouble();
waitRXReady();
newKd = readDouble();
setParameters(newSetpoint, newSampleTime, newKp, newKi, newKd);
break;
}
case HEADER_CHANGE_DUTY:
{
uint8_t duty;
waitRXReady();
duty = readByte();
changeDutyCycle(34, duty);
break;
}
}
}
}
}
void KiloWindow::uploadProgram() {
if (sending) {
stopSending();
}
if (program_file.isEmpty()) {
QMessageBox::critical(this, "Kilobots Toolkit", "You must select a program file to upload.");
}
else {
sending = true;
if (device == 0)
ftdi_conn->sendProgram(program_file);
else if (device == 1)
vusb_conn->sendProgram(program_file);
else
serial_conn->sendProgram(program_file);
}
}
sender& sender::operator<<(std::istream& str){
char c;
// std::cout<<"xxx: "<<str<<std::endl;
//membaca seluruh str dan menyimpan ke string
startSending();
std::string msg="";
while(str.get(c)){
msg+=c;
if (msg.length()>=charperframe){
*this<<msg;
msg="";
}
}
msg+=Endfile;
*this<<msg;
stopSending(); //harusnya dipanggil waktu baca EOF
closefd();
return *this;
}
void KiloWindow::sendDataMessage(uint8_t *payload, uint8_t type) {
if (sending)
stopSending();
QByteArray packet(PACKET_SIZE, 0);
uint8_t checksum = PACKET_HEADER^PACKET_FORWARDMSG^type;
packet[0] = PACKET_HEADER;
packet[1] = PACKET_FORWARDMSG;
for (int i = 0; i < 9; i++) {
packet[2+i] = payload[i];
checksum ^= payload[i];
}
packet[11] = type;
packet[PACKET_SIZE-1] = checksum;
sending = true;
if (device == 0)
ftdi_conn->sendCommand(packet);
else if (device == 1)
vusb_conn->sendCommand(packet);
else
serial_conn->sendCommand(packet);
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow),
absoluteAfterAxisAdj(false),
checkLogWrite(false),
sliderPressed(false),
sliderTo(0.0),
sliderZCount(0)
{
// Setup our application information to be used by QSettings
QCoreApplication::setOrganizationName(COMPANY_NAME);
QCoreApplication::setOrganizationDomain(DOMAIN_NAME);
QCoreApplication::setApplicationName(APPLICATION_NAME);
// required if passing the object by reference into signals/slots
qRegisterMetaType<Coord3D>("Coord3D");
qRegisterMetaType<PosItem>("PosItem");
qRegisterMetaType<ControlParams>("ControlParams");
ui->setupUi(this);
readSettings();
info("%s has started", GRBL_CONTROLLER_NAME_AND_VERSION);
// see http://blog.qt.digia.com/2010/06/17/youre-doing-it-wrong/
// The thread points out that the documentation for QThread is wrong :) and
// you should NOT subclass from QThread and override run(), rather,
// attach your QOBJECT to a thread and use events (signals/slots) to communicate.
gcode.moveToThread(&gcodeThread);
timer.moveToThread(&timerThread);
ui->lcdWorkNumberX->setDigitCount(8);
ui->lcdMachNumberX->setDigitCount(8);
ui->lcdWorkNumberY->setDigitCount(8);
ui->lcdMachNumberY->setDigitCount(8);
ui->lcdWorkNumberZ->setDigitCount(8);
ui->lcdMachNumberZ->setDigitCount(8);
//buttons
connect(ui->btnOpenPort,SIGNAL(clicked()),this,SLOT(openPort()));
connect(ui->btnGRBL,SIGNAL(clicked()),this,SLOT(setGRBL()));
connect(ui->DecXBtn,SIGNAL(clicked()),this,SLOT(decX()));
connect(ui->DecYBtn,SIGNAL(clicked()),this,SLOT(decY()));
connect(ui->DecZBtn,SIGNAL(clicked()),this,SLOT(decZ()));
connect(ui->IncXBtn,SIGNAL(clicked()),this,SLOT(incX()));
connect(ui->IncYBtn,SIGNAL(clicked()),this,SLOT(incY()));
connect(ui->IncZBtn,SIGNAL(clicked()),this,SLOT(incZ()));
connect(ui->btnSetHome,SIGNAL(clicked()),this,SLOT(setHome()));
connect(ui->Command,SIGNAL(editingFinished()),this,SLOT(gotoXYZ()));
connect(ui->Begin,SIGNAL(clicked()),this,SLOT(begin()));
connect(ui->openFile,SIGNAL(clicked()),this,SLOT(openFile()));
connect(ui->Stop,SIGNAL(clicked()),this,SLOT(stop()));
connect(ui->SpindleOn,SIGNAL(toggled(bool)),this,SLOT(toggleSpindle()));
connect(ui->chkRestoreAbsolute,SIGNAL(toggled(bool)),this,SLOT(toggleRestoreAbsolute()));
connect(ui->actionOptions,SIGNAL(triggered()),this,SLOT(getOptions()));
connect(ui->actionExit,SIGNAL(triggered()),this,SLOT(close()));
connect(ui->actionAbout,SIGNAL(triggered()),this,SLOT(showAbout()));
connect(ui->btnResetGrbl,SIGNAL(clicked()),this,SLOT(grblReset()));
connect(ui->btnUnlockGrbl,SIGNAL(clicked()),this,SLOT(grblUnlock()));
connect(ui->btnGoHomeSafe,SIGNAL(clicked()),this,SLOT(goHomeSafe()));
connect(ui->verticalSliderZJog,SIGNAL(valueChanged(int)),this,SLOT(zJogSliderDisplay(int)));
connect(ui->verticalSliderZJog,SIGNAL(sliderPressed()),this,SLOT(zJogSliderPressed()));
connect(ui->verticalSliderZJog,SIGNAL(sliderReleased()),this,SLOT(zJogSliderReleased()));
connect(this, SIGNAL(sendFile(QString)), &gcode, SLOT(sendFile(QString)));
connect(this, SIGNAL(openPort(QString,QString)), &gcode, SLOT(openPort(QString,QString)));
connect(this, SIGNAL(closePort(bool)), &gcode, SLOT(closePort(bool)));
connect(this, SIGNAL(sendGcode(QString)), &gcode, SLOT(sendGcode(QString)));
connect(this, SIGNAL(gotoXYZ(QString)), &gcode, SLOT(gotoXYZ(QString)));
connect(this, SIGNAL(axisAdj(char, float, bool, bool, int)), &gcode, SLOT(axisAdj(char, float, bool, bool, int)));
connect(this, SIGNAL(setResponseWait(ControlParams)), &gcode, SLOT(setResponseWait(ControlParams)));
connect(this, SIGNAL(shutdown()), &gcodeThread, SLOT(quit()));
connect(this, SIGNAL(shutdown()), &timerThread, SLOT(quit()));
connect(this, SIGNAL(setProgress(int)), ui->progressFileSend, SLOT(setValue(int)));
connect(this, SIGNAL(setRuntime(QString)), ui->outputRuntime, SLOT(setText(QString)));
connect(this, SIGNAL(sendSetHome()), &gcode, SLOT(grblSetHome()));
connect(this, SIGNAL(sendGrblReset()), &gcode, SLOT(sendGrblReset()));
connect(this, SIGNAL(sendGrblUnlock()), &gcode, SLOT(sendGrblUnlock()));
connect(this, SIGNAL(goToHome()), &gcode, SLOT(goToHome()));
connect(this, SIGNAL(setItems(QList<PosItem>)), ui->wgtVisualizer, SLOT(setItems(QList<PosItem>)));
connect(&gcode, SIGNAL(sendMsg(QString)),this,SLOT(receiveMsg(QString)));
connect(&gcode, SIGNAL(portIsClosed(bool)), this, SLOT(portIsClosed(bool)));
connect(&gcode, SIGNAL(portIsOpen(bool)), this, SLOT(portIsOpen(bool)));
connect(&gcode, SIGNAL(addList(QString)),this,SLOT(receiveList(QString)));
connect(&gcode, SIGNAL(addListFull(QStringList)),this,SLOT(receiveListFull(QStringList)));
connect(&gcode, SIGNAL(addListOut(QString)),this,SLOT(receiveListOut(QString)));
connect(&gcode, SIGNAL(stopSending()), this, SLOT(stopSending()));
connect(&gcode, SIGNAL(setCommandText(QString)), ui->Command, SLOT(setText(QString)));
connect(&gcode, SIGNAL(setProgress(int)), ui->progressFileSend, SLOT(setValue(int)));
connect(&gcode, SIGNAL(adjustedAxis()), this, SLOT(adjustedAxis()));
connect(&gcode, SIGNAL(resetTimer(bool)), &timer, SLOT(resetTimer(bool)));
connect(&gcode, SIGNAL(enableGrblDialogButton()), this, SLOT(enableGrblDialogButton()));
connect(&gcode, SIGNAL(updateCoordinates(Coord3D,Coord3D)), this, SLOT(updateCoordinates(Coord3D,Coord3D)));
connect(&gcode, SIGNAL(setLastState(QString)), ui->outputLastState, SLOT(setText(QString)));
connect(&gcode, SIGNAL(setUnitsWork(QString)), ui->outputUnitsWork, SLOT(setText(QString)));
connect(&gcode, SIGNAL(setUnitsMachine(QString)), ui->outputUnitsMachine, SLOT(setText(QString)));
connect(&gcode, SIGNAL(setLivePoint(double, double, bool)), ui->wgtVisualizer, SLOT(setLivePoint(double, double, bool)));
connect(&gcode, SIGNAL(setVisCurrLine(int)), ui->wgtVisualizer, SLOT(setVisCurrLine(int)));
connect(&timer, SIGNAL(setRuntime(QString)), ui->outputRuntime, SLOT(setText(QString)));
timerThread.start();
gcodeThread.start();
ui->comboStep->addItem("0.01");
ui->comboStep->addItem("0.1");
ui->comboStep->addItem("1");
ui->comboStep->addItem("10");
ui->comboStep->setCurrentIndex(2);
ui->statusList->setUniformItemSizes(true);
// Does not work correctly for horizontal scrollbar:
//MyItemDelegate *scrollDelegate = new MyItemDelegate(ui->statusList);
//scrollDelegate->setWidth(600);
//ui->statusList->setItemDelegate(scrollDelegate);
scrollStatusTimer.start();
// Cool utility class off Google code that enumerates COM ports in platform-independent manner
QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();
int portIndex = -1;
for (int i = 0; i < ports.size(); i++)
{
ui->cmbPort->addItem(ports.at(i).portName.toLocal8Bit().constData());
if (ports.at(i).portName == lastOpenPort)
portIndex = i;
//diag("port name: %s\n", ports.at(i).portName.toLocal8Bit().constData());
//diag("friendly name: %s\n", ports.at(i).friendName.toLocal8Bit().constData());
//diag("physical name: %s\n", ports.at(i).physName.toLocal8Bit().constData());
//diag("enumerator name: %s\n", ports.at(i).enumName.toLocal8Bit().constData());
//diag("===================================\n\n");
}
if (portIndex >= 0)
{
// found matching port
ui->cmbPort->setCurrentIndex(portIndex);
}
else if (lastOpenPort.size() > 0)
{
// did not find matching port
// This code block is used to restore a port to view that isn't visible to QextSerialEnumerator
ui->cmbPort->addItem(lastOpenPort.toLocal8Bit().constData());
if (ports.size() > 0)
ui->cmbPort->setCurrentIndex(ports.size());
else
ui->cmbPort->setCurrentIndex(0);
}
int baudRates[] = { 9600, 19200, 38400, 57600, 115200 };
int baudRateCount = sizeof baudRates / sizeof baudRates[0];
int baudRateIndex = 0;
for (int i = 0; i < baudRateCount; i++)
{
QString baudRate = QString::number(baudRates[i]);
ui->comboBoxBaudRate->addItem(baudRate);
if (baudRate == lastBaudRate)
{
baudRateIndex = i;
}
}
ui->comboBoxBaudRate->setCurrentIndex(baudRateIndex);
ui->tabAxisVisualizer->setEnabled(false);
ui->groupBoxSendFile->setEnabled(true);
ui->groupBoxManualGCode->setEnabled(false);
ui->Begin->setEnabled(false);
ui->Stop->setEnabled(false);
ui->progressFileSend->setEnabled(false);
ui->outputRuntime->setEnabled(false);
ui->labelRuntime->setEnabled(false);
ui->btnGRBL->setEnabled(false);
ui->btnSetHome->setEnabled(false);
ui->btnResetGrbl->setEnabled(false);
ui->btnUnlockGrbl->setEnabled(false);
ui->btnGoHomeSafe->setEnabled(false);
styleSheet = ui->btnOpenPort->styleSheet();
ui->statusList->setEnabled(true);
ui->openFile->setEnabled(true);
this->setWindowTitle(GRBL_CONTROLLER_NAME_AND_VERSION);
QSettings settings;
QString useAggrPreload = settings.value(SETTINGS_USE_AGGRESSIVE_PRELOAD, "true").value<QString>();
controlParams.useAggressivePreload = useAggrPreload == "true";
if (!controlParams.useAggressivePreload && !promptedAggrPreload)
{
QMessageBox msgBox;
msgBox.setText("You appear to have upgraded to the latest version of Grbl Controller. "
"Please be aware that as of version 3.4 the default behavior of sending commands "
"to Grbl has been changed to send them as fast as possible (Aggressive preload mode).\n\n"
"Your settings have been changed to enable this mode. Why? Because it provides the most "
"optimal use of Grbl and greatly reduces the time to finish a typical job.\n\n"
"What does this mean to you? "
"Arc commands will now run smoother and faster than before, which may "
"cause your spindle to work slightly harder, so please run some tests first. "
"Alternately, go to the Options dialog and manually disable Aggressive Preload");
msgBox.exec();
controlParams.useAggressivePreload = true;
settings.setValue(SETTINGS_USE_AGGRESSIVE_PRELOAD, controlParams.useAggressivePreload);
}
promptedAggrPreload = true;
emit setResponseWait(controlParams);
}
