void runExample(std::ostream& out)
{
static const AmsNetId remoteNetId { 192, 168, 0, 231, 1, 1 };
static const char remoteIpV4[] = "ads-server";
// uncomment and adjust if automatic AmsNetId deduction is not working as expected
//AdsSetLocalAddress({192, 168, 0, 1, 1, 1});
// add local route to your EtherCAT Master
if (AdsAddRoute(remoteNetId, remoteIpV4)) {
out << "Adding ADS route failed, did you specify valid addresses?\n";
return;
}
// open a new ADS port
const long port = AdsPortOpenEx();
if (!port) {
out << "Open ADS port failed\n";
return;
}
const AmsAddr remote { remoteNetId, AMSPORT_R0_PLC_TC3 };
notificationExample(out, port, remote);
notificationByNameExample(out, port, remote);
readExample(out, port, remote);
readByNameExample(out, port, remote);
readStateExample(out, port, remote);
const long closeStatus = AdsPortCloseEx(port);
if (closeStatus) {
out << "Close ADS port failed with: " << std::dec << closeStatus << '\n';
}
#ifdef _WIN32
// WORKAROUND: On Win7 std::thread::join() called in destructors
// of static objects might wait forever...
AdsDelRoute(remoteNetId);
#endif
}
MainWindow::MainWindow()
{
tree_view=new VarTreeView(); //construct the GUI widget:
tmodel=new VarTreeModel(); //construct the GUI widget's datamodel:
tree_view->setModel(tmodel); //link the two together
//=====================================================
//=======BEGIN OF DATA-TREE CONSTRUCTION===============
//=====================================================
//instanciate the root:
VarListPtr root(new VarList("root node"));
//add a sub-node:
VarListPtr v_list1(new VarList("a subtree"));
root->addChild(v_list1); //let it be a child of the root
//create a trigger-button
VarTriggerPtr v_trigger1(new VarTrigger("trigger","click me"));
v_list1->addChild(v_trigger1); //add it to the tree
//create a slider bar
VarShortPtr v_short1(new VarShort("short integer", 1, 0, 100));
v_short1->addFlags(VARTYPE_FLAG_PERSISTENT);
v_list1->addChild(v_short1);
//create a variable of type double:
VarDoublePtr v_double1(new VarDouble("my double"));
v_list1->addChild(v_double1); //add it to the tree
//create another variable of type double, with a default value:
VarDoublePtr v_double2(new VarDouble("double w/ default", 20.0));
v_list1->addChild(v_double2); //add it to the tree
VarDoublePtr v_double3(new VarDouble("double w/ persistent editor"));
v_double3->addFlags(VARTYPE_FLAG_PERSISTENT);
v_list1->addChild(v_double3); //add it to the tree
//create another variable of type double, with a default value
//and min/max ranges
VarDoublePtr v_double4(new VarDouble("double with min/max", 0.5, 0.0, 1.0));
v_list1->addChild(v_double4); //add it to the tree
VarListPtr v_list2(new VarList("another subtree"));
root->addChild(v_list2);
v_list2->addChild(VarStringPtr(new VarString("a string")));
v_list2->addChild(VarStringPtr(new VarString("string w/ default", "foobar")));
VarListPtr v_list3(new VarList("a sub-sub tree"));
v_list2->addChild(v_list3);
v_list3->addChild(VarIntPtr(new VarInt("an integer")));
v_list3->addChild(VarBoolPtr(new VarBool("a boolean")));
VarStringEnumPtr v_string_enum(new VarStringEnum("food-selector", "French Fries"));
v_string_enum->addFlags(VARTYPE_FLAG_PERSISTENT);
v_string_enum->addItem("Cheeseburger");
v_string_enum->addItem("French Fries");
v_string_enum->addItem("Ice Cream");
v_list1->addChild(v_string_enum);
//some example access
printf("old value of node '%s': %f\n", v_double1->getName().c_str(), v_double1->getDouble());
//some example mutation
v_double1->setDouble(30.0);
printf("new value of node '%s': %f\n", v_double1->getName().c_str(), v_double1->getDouble());
//instead of using accessors/mutators you can also wait for user-input
//by using QT event-handling
//in this example we link a node to a local event function
//Note that each vartype has two events:
// "hasChanged()" will be triggered whenever the internal data changes,
// no matter whether this happened programmatically or through the GUI
// "wasEdited(VarPtr)" will be triggered only if the data was changed by the user
// through the GUI. This is usually what you want.
//For this event-example, first let's create a standard node:
VarDoublePtr v_double(new VarDouble("Event Example (change my value and see console!)"));
root->addChild(v_double);
//now let's hook up the wasEdited event to a local function 'notificationExample'
//which is defined further below in this file
//we do so using QT's 'connect' function
//qt will make sure that everytime a user changes the node, the event will fire.
connect(v_double.get(),SIGNAL(wasEdited(VarPtr)),this,SLOT(notificationExample(VarPtr)));
//finally an example of a subtree that's stored in a separate XML file:
//simply use VarExternal instead of VarList and provide a filename as constructor.
//that's it!
VarExternalPtr v_ext(new VarExternal("other_settings.xml", "this tree has its own XML file"));
root->addChild(v_ext);
v_ext->addChild(VarIntPtr(new VarInt("another int")));
v_ext->addChild(VarBoolPtr(new VarBool("a bool value defaulting to true",true)));
//=====================================================
//=======END OF DATA-TREE CONSTRUCTION=================
//=====================================================
//the root is our only toplevel node
//(you can have multiple roots if desired):
world.push_back(root);
//read settings from XML file
world=VarXML::read(world,"settings.xml");
//tell our gui what toplevel node(s) we want to visualize
tmodel->setRootItems(world);
//optional: expand the root node:
//Hint: you can call this on any node:
tree_view->expandAndFocus(root);
//optional: fit columns to maximum data-width:
tree_view->fitColumns();
//make the tree view the application's one and only widget:
setCentralWidget(tree_view);
//give this window a decent size
resize(640,480);
}
