128 lines
2.7 KiB
C++
128 lines
2.7 KiB
C++
/*
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* This file is part of Pastie
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*
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* Pastie is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* any later version.
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*
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* Pastie is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Pastie. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @copyright 2015 Steffen Vogel
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* @license http://www.gnu.org/licenses/gpl.txt GNU Public License
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* @author Steffen Vogel <steffen.vogel@rwth-aachen.de>
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* @link http://www.steffenvogel.de
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*/
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#ifndef ROBOT_H
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#define ROBOT_H
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#include <opencv2/core.hpp>
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#include <QQueue>
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#include <QHostAddress>
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#include <filters/pathplanner.h>
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#include "filters/pattern.h"
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using namespace cv;
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class GCode
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{
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public:
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GCode(QByteArray cmd);
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GCode & arg(char param, int v);
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GCode & arg(char param, double v);
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GCode & arg(QByteArray arg);
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/* Factories */
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static GCode home();
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static GCode moveZ(double z);
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static GCode moveXY(Point2f pos);
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static GCode move(Point3f pos);
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static GCode calibrate();
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static GCode stop();
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static GCode comment(QString c);
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operator QByteArray();
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protected:
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QByteArray cmd;
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QList<QByteArray> args;
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};
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class Robot : public QObject
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{
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Q_OBJECT
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public:
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enum BedShape {
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BED_CIRCULAR,
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BED_RECTANGULAR
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};
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Robot(Pattern *pa, PathPlanner *pp);
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void prolog();
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void epilog();
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void processPath();
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void moveDelta(Point3f delta);
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/* Transformation between Robot / Image coordinates */
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Point2f map(Point2f);
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Point2f unmap(Point2f);
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public slots:
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/* Setters */
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void setCalibPoints(Point2f p[3]);
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void setPattern(Pattern *p) { pattern = p; }
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void setPath(PathPlanner *p) { planner = p; }
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void setAccel(Point3f a) { accel = a; }
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void setOffsetZ(double o) { zOffset = o; }
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void setSwingZ(double s) { zSwing = s; }
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void setBedShape(enum BedShape s) { bedShape = s; }
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void setBedSize(Size2f s) { bedSize = s; }
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void home();
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void calibrate();
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void stop();
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void start();
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void save(QString fileName);
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void connect(QHostAddress addr, int port, QString key);
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void updateTransformation();
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signals:
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void connected();
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void finished();
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protected:
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Point2f calibPoints[3];
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Mat affine;
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double zOffset;
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double zSwing;
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Point3f accel;
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enum BedShape bedShape;
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Size2f bedSize;
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Pattern *pattern;
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PathPlanner *planner;
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QQueue<GCode> queue;
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};
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#endif // ROBOT_H
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