DispenserControl::DispenserControl ( const PinName homePin, const PinName endPin, const PinName motorStepPin, const PinName motorDirPin )
: homeSwitchPin ( homePin ), endSwitchPin ( endPin ), dispenserStepPin ( motorStepPin ), dispenserDirPin ( motorDirPin )
{
inMotion = false;
atEnd = false;
atHome = false;
maximumNumberOfSteps = 0;
dispenserCurrentPosition = 0;
listener = NULL;
goToHome ();
goToEnd ();
moveDispenserHead ( ( maximumNumberOfSteps / 2 ), HOME );
}
unsigned int DispenserControl::moveToPosition ( const unsigned int position )
{
unsigned int stepsTaken = 0;
if ( !isInMotion () )
{
goToHome ();
stepsTaken = moveDispenserHead ( position, END );
if ( listener != NULL )
{
listener->reachedToPosition ( position, stepsTaken );
}
}
return stepsTaken;
}
/**
* Perform a task on the resident by making a service call to them.
*/
void MedicationRobot::performTask() {
// Generate the service call
elderly_care_simulation::PerformTask performTaskSrv;
performTaskSrv.request.taskType = MY_TASK;
// Make the call using the client
if (!performTaskClient.call(performTaskSrv)) {
throw std::runtime_error("MedicationRobot: Service call to the initiate task with Resident failed");
}
switch (performTaskSrv.response.result) {
case PERFORM_TASK_RESULT_ACCEPTED:
{
// Resident has accepted the task but isn't finished yet
startSpinning(false);
break;
}
case PERFORM_TASK_RESULT_FINISHED:
{
// Resident accepted the task and has had enough
performingTask = false;
std_msgs::Empty emptyMessage;
goToHome(emptyMessage);
stopSpinning();
eventTriggerReply();
break;
}
case PERFORM_TASK_RESULT_BUSY:
{
// Resident is busy, do nothing
break;
}
}
}
int webPage::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QMainWindow::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: loading((*reinterpret_cast< QString(*)>(_a[1]))); break;
case 1: isLoading((*reinterpret_cast< QPixmap(*)>(_a[1]))); break;
case 2: titleChanged((*reinterpret_cast< QString(*)>(_a[1]))); break;
case 3: pageChanged((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 4: showSources((*reinterpret_cast< QString(*)>(_a[1]))); break;
case 5: speedDial(); break;
case 6: needPrint((*reinterpret_cast< QPrinter*(*)>(_a[1]))); break;
case 7: openTab((*reinterpret_cast< webPage*(*)>(_a[1]))); break;
case 8: setFullScreen((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 9: startLoading(); break;
case 10: finishLoading((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 11: changeTitle((*reinterpret_cast< QString(*)>(_a[1]))); break;
case 12: changeUrl((*reinterpret_cast< QUrl(*)>(_a[1]))); break;
case 13: goToHome(); break;
case 14: loadUrl(); break;
case 15: loadUrl((*reinterpret_cast< QUrl(*)>(_a[1]))); break;
case 16: loadUrl((*reinterpret_cast< QString(*)>(_a[1]))); break;
case 17: addToBookMark(); break;
case 18: downloadFile((*reinterpret_cast< const QNetworkRequest(*)>(_a[1]))); break;
case 19: downloadFile((*reinterpret_cast< QNetworkReply*(*)>(_a[1]))); break;
case 20: loadBookMark(); break;
case 21: showBookMark(); break;
case 22: sources(); break;
case 23: defineHome(); break;
case 24: findNext(); break;
case 25: findPrevious(); break;
case 26: print(); break;
case 27: createNewPage((*reinterpret_cast< WebView*(*)>(_a[1]))); break;
case 28: createNewPage(); break;
case 29: updateIcon(); break;
case 30: copy(); break;
case 31: authentification((*reinterpret_cast< QNetworkReply*(*)>(_a[1])),(*reinterpret_cast< QAuthenticator*(*)>(_a[2]))); break;
case 32: inspectPage(); break;
case 33: goToDial(); break;
case 34: updateUrlIcon((*reinterpret_cast< QPixmap(*)>(_a[1]))); break;
case 35: updateBookMark(); break;
case 36: updateOptions(); break;
case 37: showBar(); break;
case 38: showPage(); break;
case 39: showDial(); break;
case 40: inCache(); break;
case 41: showConsole(); break;
case 42: zoomIn(); break;
case 43: zoomOut(); break;
case 44: restoreZoom(); break;
case 45: savePage(); break;
case 46: back(); break;
case 47: forward(); break;
default: ;
}
_id -= 48;
}
return _id;
}
void MainWindow::goHomeSafe()
{
emit goToHome();
}
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);
}
