stv0g/pastie
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fixed more compiler warnings

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This commit is contained in:
Steffen Vogel 2015-01-29 14:30:27 +01:00
parent 15c3aa0d41
commit f86c5ba39c
4 changed files with 39 additions and 18 deletions
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2
imagelist.h
View file

@ -5,7 +5,7 @@
#include <QAbstractTableModel>
#include <QItemSelectionModel>
#include "image.h"
class Image;
class ImageList :
public QAbstractTableModel,

46
robot.cpp
View file

@ -9,6 +9,8 @@ GCode::GCode(QByteArray c) :
cmd(c)
{ }
GCode & GCode::arg(char param, int v)
{
QByteArray arg;
@ -17,6 +19,8 @@ GCode & GCode::arg(char param, int v)
arg.push_back(QByteArray::number(v));
args.push_back(arg);
return *this;
}
GCode & GCode::arg(char param, double v)
@ -27,6 +31,8 @@ GCode & GCode::arg(char param, double v)
arg += QByteArray::number(v);
args += arg;
return *this;
}
GCode::operator QByteArray()
@ -54,22 +60,22 @@ GCode::operator QByteArray()
GCode GCode::moveZ(double z)
{
return GCode("G0")
.arg('Z', z);
.arg('Z', z);
}
GCode GCode::moveXY(Point2f pos)
{
return GCode("G0")
.arg('X', pos.x)
.arg('Y', pos.y);
.arg('X', pos.x)
.arg('Y', pos.y);
}
GCode GCode::move(Point3f pos)
{
return GCode("G0")
.arg('X', pos.x)
.arg('Y', pos.y)
.arg('Z', pos.z);
.arg('X', pos.x)
.arg('Y', pos.y)
.arg('Z', pos.z);
}
GCode GCode::home()
@ -89,7 +95,7 @@ GCode GCode::stop()
GCode GCode::comment(QString c)
{
// return GCode(";" + c);
return GCode(QString(";" + c).toLatin1());
}
/****************** Robot *******************/
@ -191,7 +197,7 @@ void Robot::processPath()
p.y > bedSize.height ||
p.x < 0 ||
p.y < 0
) {
) {
qCritical() << "Pad outside of bed: " << toQt(p);
return;
}
@ -218,14 +224,28 @@ void Robot::processPath()
Point2f Robot::map(Point2f p)
{
//Point2f a = affine * Point3f(p.x, p.y, 1);
Mat src(3, 1, CV_32F);
//return Point3f(a.x, a.y, zOffset);
src.at<float>(0) = p.x;
src.at<float>(1) = p.y;
src.at<float>(2) = 1.0;
Mat dst = affine * src;
return Point2f(dst.at<float>(0), dst.at<float>(1));
}
Point2f Robot::unmap(Point2f p)
{
//return affine.inv() * Point2f(p.x, p.y);
Mat src(3, 1, CV_32F);
src.at<float>(0) = p.x;
src.at<float>(1) = p.y;
src.at<float>(2) = 1.0;
Mat dst = affine.inv() * src;
return Point2f(dst.at<float>(0), dst.at<float>(1));
}
void Robot::updateTransformation()
@ -244,8 +264,8 @@ void Robot::updateTransformation()
dst = pat->getPoints();
qDebug() << "Mapping: " << toQt(src[0]) << "=>" << toQt(dst[0]) << ", "
<< toQt(src[1]) << "=>" << toQt(dst[1]) << ", "
<< toQt(src[2]) << "=>" << toQt(dst[2]);
<< toQt(src[1]) << "=>" << toQt(dst[1]) << ", "
<< toQt(src[2]) << "=>" << toQt(dst[2]);
affine = getAffineTransform(src, dst);

1
robot.h
View file

@ -18,6 +18,7 @@ class GCode
GCode & arg(char param, int v);
GCode & arg(char param, double v);
GCode & arg(QByteArray arg);
/* Factories */
static GCode home();

8
tabrobot.cpp
View file

@ -26,9 +26,9 @@ TabRobot::TabRobot(QWidget *parent) :
connect(ui->btnHome, &QPushButton::clicked, robot, &Robot::home);
connect(ui->btnSave, &QPushButton::clicked, this, &TabRobot::saveFilePicker);
connect(ui->btnConnect, &QPushButton::clicked, this, &TabRobot::connectOctoPrint);
connect(ui->inpAccelXY, SIGNAL(valueChanged()), this, SLOT(setAccel()));
connect(ui->inpAccelZ, SIGNAL(valueChanged()), this, SLOT(setAccel()));
connect(ui->inpBedSizeX, SIGNAL(valueChanged()), this, SLOT(setBedSize()));
connect(ui->inpAccelXY, SIGNAL(valueChanged(double)), this, SLOT(setAccel()));
connect(ui->inpAccelZ, SIGNAL(valueChanged(double)), this, SLOT(setAccel()));
connect(ui->inpBedSizeX, SIGNAL(valueChanged(double)), this, SLOT(setBedSize()));
connect(ui->inpSwingZ, SIGNAL(valueChanged(double)), robot, SLOT(setSwingZ(double)));
connect(ui->inpOffsetZ, SIGNAL(valueChanged(double)), robot, SLOT(setOffsetZ(double)));
connect(ui->cmbBedShape, SIGNAL(currentIndexChanged(int)),robot, SLOT(setBedShape(int)));
@ -45,7 +45,7 @@ TabRobot::TabRobot(QWidget *parent) :
s->setRange(-15, +15);
l->addWidget(s, j+1, i+2);
connect(s, SIGNAL(valueChanged()), this, SLOT(updateCalibPoints));
connect(s, SIGNAL(valueChanged(double)), this, SLOT(updateCalibPoints));
calibWdgs[i][j] = s;
}