105 lines
2.6 KiB
C++
105 lines
2.6 KiB
C++
#include <QGridLayout>
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#include <QFileDialog>
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#include <opencv2/core.hpp>
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#include "mainwindow.h"
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#include "tabrobot.h"
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#include "ui_tabrobot.h"
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#include "robot.h"
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using namespace cv;
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extern MainWindow *mwindow;
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extern Robot *robot;
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TabRobot::TabRobot(QWidget *parent) :
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QWidget(parent),
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ui(new Ui::TabRobot)
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{
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ui->setupUi(this);
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/* Connect signals */
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connect(ui->btnStart, &QPushButton::clicked, robot, &Robot::start);
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connect(ui->btnAbort, &QPushButton::clicked, robot, &Robot::stop);
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connect(ui->btnCalibrate, &QPushButton::clicked, robot, &Robot::calibrate);
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connect(ui->btnHome, &QPushButton::clicked, robot, &Robot::home);
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connect(ui->btnSave, &QPushButton::clicked, this, &TabRobot::saveFilePicker);
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connect(ui->btnConnect, &QPushButton::clicked, this, &TabRobot::connectOctoPrint);
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connect(ui->inpAccelXY, SIGNAL(valueChanged()), this, SLOT(setAccel()));
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connect(ui->inpAccelZ, SIGNAL(valueChanged()), this, SLOT(setAccel()));
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connect(ui->inpBedSizeX, SIGNAL(valueChanged()), this, SLOT(setBedSize()));
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connect(ui->inpSwingZ, SIGNAL(valueChanged(double)), robot, SLOT(setSwingZ(double)));
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connect(ui->inpOffsetZ, SIGNAL(valueChanged(double)), robot, SLOT(setOffsetZ(double)));
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connect(ui->cmbBedShape, SIGNAL(currentIndexChanged(int)),robot, SLOT(setBedShape(int)));
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/* Complete Ui */
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QGridLayout *l = qobject_cast<QGridLayout*>(ui->wdgCalibPoints->layout());
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if (!l)
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return;
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for (int i = 0; i < 3; i++) {
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for (int j = 0; j < 2; j++) {
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QDoubleSpinBox *s = new QDoubleSpinBox(ui->wdgCalibPoints);
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s->setRange(-15, +15);
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l->addWidget(s, j+1, i+2);
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connect(s, SIGNAL(valueChanged()), this, SLOT(updateCalibPoints));
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calibWdgs[i][j] = s;
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}
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}
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}
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void TabRobot::saveFilePicker()
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{
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QString path = QFileDialog::getSaveFileName(mwindow,
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tr("Save GCode"), QString(),
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tr("GCode File (*.gco *.gcode *.g *gc)"));
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robot->save(path);
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}
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void TabRobot::connectOctoPrint()
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{
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robot->connect(QHostAddress(ui->inpHost->text()), ui->inpPort->text().toUInt(), ui->inpApiKey->text());
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}
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void TabRobot::setAccel()
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{
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Point3f accel(
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ui->inpAccelXY->value(),
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ui->inpAccelXY->value(),
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ui->inpAccelZ->value()
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);
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robot->setAccel(accel);
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}
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void TabRobot::setBedSize()
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{
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Size2f size(
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ui->inpBedSizeX->value(),
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ui->inpBedSizeY->value()
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);
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robot->setBedSize(size);
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}
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void TabRobot::updateCalibPoints()
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{
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Point2f calibPoints[3];
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for (int i = 0; i < 3; i++) {
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calibPoints[i].x = calibWdgs[i][0]->value();
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calibPoints[i].x = calibWdgs[i][0]->value();
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}
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robot->setCalibPoints(calibPoints);
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}
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TabRobot::~TabRobot()
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{
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delete ui;
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}
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