mirror of
https://github.com/thunderbug1/Spherebot-Host-GUI.git
synced 2026-03-03 00:23:59 +01:00
669 lines
21 KiB
C++
669 lines
21 KiB
C++
#include "mainwindow.h"
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#include "ui_mainwindow.h"
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QString removeComments(QString intext);
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MainWindow::MainWindow(QWidget *parent) :
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QMainWindow(parent),
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ui(new Ui::MainWindow)
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{
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ui->setupUi(this);
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resetPortList();
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//////////////////////////////////////////////////// for .svg display
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scene = new QGraphicsScene(this);
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ui->graphicsView->setScene(scene);
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////////////////////////////////////////////////////
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this->bot = new spherebot();
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Receiver = new rxThread(this->bot);
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penDownAngle = DEFAULTPENDOWN;
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penUpAngle = DEFAULTPENUP;
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layerIndex = 0;
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connect(bot->port, SIGNAL(readyRead()), Receiver, SLOT(receiveData()));
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connect(bot, SIGNAL(dataSent(QString)),this, SLOT(sendDataUI(QString)));
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connect(bot, SIGNAL(progressChanged(int)),this, SLOT(refreshSendProgress(int)));
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//connect(bot, SIGNAL(fileTransmitted()),this, SLOT(finishedTransmission()));
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connect(Receiver, SIGNAL(lineReceived(QString)),this, SLOT(processReceivedData(QString)));
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connect(Receiver, SIGNAL(lineReceived(QString)),this->bot, SLOT(processAnswer(QString)));
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initUI();
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initSateMachine();
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if(LoadSettings())
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{
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FitInTimer.setInterval(10);
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FitInTimer.setSingleShot(true);
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connect(&FitInTimer,SIGNAL(timeout()),this,SLOT(fitgraphicsView()));
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FitInTimer.start();
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}
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setWindowTitle("Spherebot Controll");
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qDebug()<<"mainwindow initialised: ";
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connect(restartLayerMsgBox,SIGNAL(accepted()),this,SLOT(hey()));
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}
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void MainWindow::fitgraphicsView() ////function to trigger the fitIn function for the graphics view. Actually this shouldn´t be necessary!
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{
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QGraphicsItem *item = ui->graphicsView->items().first();
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ui->graphicsView->fitInView(item);
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ui->graphicsView->ensureVisible(item);
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qDebug()<<"fit in";
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}
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void MainWindow::entry_connected()
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{
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qDebug() << " run connected1"<<endl;
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if(bot->connectWithBot(ui->portBox->currentText()))
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{
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//successfully connected
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qDebug() << " run connected2"<<endl;
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Receiver->run();
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ui->connectButton->setChecked(true);
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ui->controllBox->setEnabled(true);
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ui->portBox->setEnabled(false);
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ui->resetButton->setEnabled(false);
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ui->connectButton->setText("Disconnect");
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if(!ui->fileTextEdit->toPlainText().isEmpty()) ui->sendFileButton->setEnabled(true);
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statusBar()->showMessage(tr("Successfully connected to bot!"),4000);
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}
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else
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{
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statusBar()->showMessage(tr("Could not connect to bot!"),4000);
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}
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}
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void MainWindow::entry_disconnected()
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{
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//disconnect
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bot->disconnectWithBot();
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ui->connectButton->setChecked(false);
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ui->connectButton->setText("Connect");
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ui->loadFileButton->setText("Load File");
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ui->sendFileButton->setText("Send File");
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ui->controllBox->setEnabled(false);
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ui->portBox->setEnabled(true);
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ui->sendFileButton->setEnabled(false);
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ui->loadFileButton->setEnabled(false);
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ui->restartButton->setEnabled(false);
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ui->resetButton->setEnabled(true);
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Receiver->exit();
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ui->eggSlider->setValue(0);
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ui->diameterSlider->setValue(DEFAULTDIAMETER);
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ui->penSlider->setValue(0);
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ui->servoSlider->setValue(DEFAULTPENUP);
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ui->FeedratespinBox->setValue(DEFAULTFEEDRATE);
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ui->fileSendProgressBar->setValue(0);
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}
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void MainWindow::entry_transmitting()
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{
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qDebug()<< "entry_transmitting"<< endl;
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ui->loadFileButton->setText("Abort"); //used as Abort button
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ui->fileSendProgressBar->setEnabled(true);
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ui->restartButton->setEnabled(true);
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ui->loadFileButton->setEnabled(true); //=abort button
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}
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void MainWindow::entry_sending() //substate of transmitting
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{
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qDebug()<< "entry sending"<< endl;
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connect(this->bot, SIGNAL(dataSent(QString)),this, SLOT(interpretSentString(QString)));
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ui->controllBox->setEnabled(false);
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ui->sendFileButton->setText("Stop");
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bot->sendingFile = true;
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statusBar()->showMessage(tr("Sending File"));
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}
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void MainWindow::entry_start_sending() //substate of transmitting
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{
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qDebug()<< "entry_start_sending"<< endl;
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bot->resetState();
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bot->set(ui->fileTextEdit->toPlainText());
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bot->sendNext();
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}
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void MainWindow::leave_sending() //substate of transmitting
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{
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qDebug()<< "leave sending"<< endl;
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disconnect(this->bot,SIGNAL(dataSent(QString)),this,SLOT(interpretSentString(QString)));
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bot->sendingFile = false;
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}
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void MainWindow::entry_stopped() //substate of transmitting
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{
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qDebug()<< "entry_stopped"<< endl;
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ui->sendFileButton->setText("Continue");
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statusBar()->showMessage(tr("Stoped sending File"));
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}
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void MainWindow::entry_idle()
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{
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qDebug()<< "entry_idle"<< endl;
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ui->fileSendProgressBar->setValue(0);
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ui->sendFileButton->setText("Send File");
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ui->loadFileButton->setText("Load File");
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ui->controllBox->setEnabled(true);
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ui->restartButton->setEnabled(false);
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ui->loadFileButton->setEnabled(true);
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ui->fileSendProgressBar->setEnabled(false);
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bot->send("M 18"); //disable motors
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}
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void MainWindow::entry_abort()
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{
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qDebug()<< "entry_abort"<< endl;
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}
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void MainWindow::entry_restart()
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{
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qDebug()<< "entry restart"<< endl;
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layerIndex = 0;
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}
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void MainWindow::entry_ask_for_restart()
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{
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qDebug()<< "entry_ask_for_restart"<< endl;
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statusBar()->showMessage(tr("File successfully sent"));
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SetBotToHomePosition();
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if(restartLayerMsgBox->exec() == QMessageBox::Ok) //workaround cause the signals don´t fire
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emit restartLayerMsgBox->accept();
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else
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emit restartLayerMsgBox->reject();
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}
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void MainWindow::entry_ask_for_next_layer()
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{
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qDebug()<< "entry_ask_for_next_layer"<< endl;
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if(layerNames.size() > 1) layerIndex++;
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qDebug()<<"layerIndex: "<<layerIndex;
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qDebug()<<"layerNames: "<<layerNames;
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qDebug()<<"layerNames.size(): "<<layerNames.size();
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if(layerIndex < layerNames.size()) //next layer
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{
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nextLayerMsgBox->setText("Please change the tool for layer: " + layerNames[layerIndex]);
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SetBotToHomePosition();
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nextLayerMsgBox->exec();
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}
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}
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void MainWindow::entry_load_file_dialog()
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{
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QString fileName;
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if(!curDir.absolutePath().isEmpty())
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{
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fileName = QFileDialog::getOpenFileName(this,"",curDir.absolutePath());
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ui->saveFileButton->setEnabled(false);
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}
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else
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{
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fileName = QFileDialog::getOpenFileName(this);
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}
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if (!fileName.isEmpty())
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{
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loadFile(fileName);
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}
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}
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void MainWindow::initSateMachine()
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{
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connected = new QState();
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disconnected = new QState();
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transmitting = new QState(connected); //transmitting means sending or stopped
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sending = new QState(transmitting);
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stopped = new QState(transmitting);
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idle = new QState(connected);
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abort = new QState(connected);
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ask_for_restart = new QState(connected);
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restart = new QState(connected);
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ask_for_next_layer=new QState(connected);
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load_file_dialog = new QState(connected);
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start_sending = new QState(connected);
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/////////////////////////////////////////////////// Transitions
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connected->addTransition(ui->connectButton, SIGNAL(clicked()),disconnected);
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disconnected->addTransition(ui->connectButton, SIGNAL(clicked()),connected);
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connected->setInitialState(idle);
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idle->addTransition(ui->sendFileButton,SIGNAL(clicked()),start_sending);
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idle->addTransition(ui->loadFileButton,SIGNAL(clicked()),load_file_dialog);
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transmitting->addTransition(ui->loadFileButton, SIGNAL(clicked()),abort);
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transmitting->addTransition(ui->restartButton, SIGNAL(clicked()),restart);
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//
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sending->addTransition(ui->sendFileButton,SIGNAL(clicked()),stopped);
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sending->addTransition(this->bot, SIGNAL(fileTransmitted()),ask_for_restart);
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sending->addTransition(this->bot, SIGNAL(layerTransmitted()),ask_for_next_layer);
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stopped->addTransition(ui->sendFileButton,SIGNAL(clicked()),start_sending);
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//
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start_sending->addTransition(start_sending,SIGNAL(entered()),sending);
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ask_for_restart->addTransition(restartLayerMsgBox,SIGNAL(accepted()),restart);
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ask_for_restart->addTransition(restartLayerMsgBox,SIGNAL(rejected()),idle);
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connect(ask_for_restart,SIGNAL(exited()),this,SLOT(hey()));
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ask_for_next_layer->addTransition(nextLayerMsgBox,SIGNAL(accepted()),sending);
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load_file_dialog->addTransition(load_file_dialog,SIGNAL(entered()),idle);
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abort->addTransition(abort,SIGNAL(entered()),idle);
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restart->addTransition(restart,SIGNAL(entered()),start_sending);
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/////////////////////////////////////////////////// Functions executed in states
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connect(connected, SIGNAL(entered()),this,SLOT(entry_connected()));
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connect(disconnected, SIGNAL(entered()),this,SLOT(entry_disconnected()));
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connect(transmitting, SIGNAL(entered()),this,SLOT(entry_transmitting()));
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connect(idle, SIGNAL(entered()),this,SLOT(entry_idle()));
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connect(sending, SIGNAL(entered()),this,SLOT(entry_sending()));
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connect(start_sending, SIGNAL(entered()),this,SLOT(entry_start_sending()));
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connect(stopped, SIGNAL(entered()),this,SLOT(entry_stopped()));
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connect(restart, SIGNAL(entered()),this,SLOT(entry_restart()));
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connect(ask_for_restart,SIGNAL(entered()),this,SLOT(entry_ask_for_restart()));
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connect(ask_for_next_layer,SIGNAL(entered()),this,SLOT(entry_ask_for_next_layer()));
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connect(load_file_dialog,SIGNAL(entered()),this,SLOT(entry_load_file_dialog()));
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connect(sending, SIGNAL(exited()), this,SLOT(leave_sending()));
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///////////////////////////////////////////////////
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machine.addState(connected);
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machine.addState(disconnected);
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machine.setInitialState(disconnected);
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machine.start();
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}
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void MainWindow::initUI()
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{
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nextLayerMsgBox = new QMessageBox(QMessageBox::Information,
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"Next Layer",
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"The Layer has been finished!\nplease insert the tool for the layer: " + QString::number(layerIndex),
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QMessageBox::Ok|QMessageBox::No);
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nextLayerMsgBox->setButtonText(QMessageBox::Ok,"OK");
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nextLayerMsgBox->setButtonText(QMessageBox::No,"Abort");
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restartLayerMsgBox = new QMessageBox(QMessageBox::Information,
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"Restart?",
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"Do you want to restart the print?",
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QMessageBox::Ok|QMessageBox::No);
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connect(ui->undoButton,SIGNAL(clicked()),ui->fileTextEdit,SLOT(undo()));
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connect(ui->redoButton,SIGNAL(clicked()),ui->fileTextEdit,SLOT(redo()));
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connect(ui->fileTextEdit,SIGNAL(undoAvailable(bool)),ui->saveFileButton,SLOT(setEnabled(bool)));
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connect(ui->fileTextEdit,SIGNAL(undoAvailable(bool)),ui->undoButton,SLOT(setEnabled(bool)));
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connect(ui->fileTextEdit,SIGNAL(redoAvailable(bool)),ui->redoButton,SLOT(setEnabled(bool)));
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connect(ui->eggSlider,SIGNAL(valueChanged(int)),ui->eggRotationBox,SLOT(setValue(int)));
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connect(ui->penSlider,SIGNAL(valueChanged(int)),ui->penRotationBox,SLOT(setValue(int)));
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//ui->baudBox->setEnabled(true);
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//init the baudBox
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}
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MainWindow::~MainWindow()
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{
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qDebug()<<"delete main window";
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SaveSettings();
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delete ui;
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}
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///////////////////////////////////////////////////////////////////////////////
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bool MainWindow::LoadSettings()
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{
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bool returnvalue = false;
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QSettings settings("thunderbug","SpherebotSettings");
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settings.beginGroup("settings");
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curFile = settings.value("fileName", "").toString();
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curDir = settings.value("currentDirectory", "").toString();
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qDebug() << "curdir"<< curDir<<endl;
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if(!curFile.isEmpty())
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{
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if(QFile::exists(curFile))
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{
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qDebug()<<"load last file.";
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loadFile(curFile);
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returnvalue = true;
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}
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}
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qDebug()<<"load: "<<curFile;
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QString SavedPortName = settings.value("PortName", "").toString();
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QSerialPortInfo info;
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portList = info.availablePorts();
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for(int i = 0; i < portList.size();i++)
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{
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if(QString::compare(portList.at(i).portName(),SavedPortName) == 0)
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{
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ui->portBox->setCurrentIndex(i);
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bot->connectWithBot(SavedPortName);
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}
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}
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settings.endGroup();
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qDebug()<<"settings loaded: ";
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return returnvalue;
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}
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void MainWindow::SaveSettings()
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{
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QSettings settings("thunderbug","SpherebotSettings");
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settings.beginGroup("settings");
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settings.setValue("fileName", curFile);
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settings.setValue("currentDirectory",curDir.absolutePath());
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settings.setValue("PortName", ui->portBox->currentText());
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settings.endGroup();
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}
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///////////////////////////////////////////////////////////////////////////////
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int getOption(QString string,QString searchString)
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{
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int index = string.indexOf(searchString);
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if(index != -1)
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{
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int i = index;
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while(string.at(i) != ' ')
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i++;
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qDebug()<<"index: "<<index+searchString.length()<<"i"<<i;
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QString subsection = string.mid(index+searchString.length(),(i - (index+searchString.length())));
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qDebug()<<subsection;
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return subsection.toInt();
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}
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return -1;
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}
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void MainWindow::extractOptions(QString file)
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{
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penUpAngle = getOption(file,"--pen-up-angle=");
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penDownAngle = getOption(file,"--pen-down-angle=");
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qDebug()<<"penup: "<<penUpAngle;
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qDebug()<<"pendown: "<<penDownAngle;
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}
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void MainWindow::loadFile(const QString &fileName)
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{
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qDebug()<<"loading file: "<<fileName;
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QFile file(fileName);
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if (!file.open(QFile::ReadOnly | QFile::Text)) {
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QMessageBox::warning(this, tr("Application"),
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tr("Cannot read file %1:\n%2.")
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.arg(fileName)
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.arg(file.errorString()));
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return;
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}
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curFile = QFileInfo(fileName).absoluteFilePath();
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curDir = QFileInfo(fileName).absoluteDir();
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statusBar()->showMessage(tr("File loaded"), 2000);
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QString code = file.readAll();
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extractOptions(code);
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interpretGcode(code);
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refreshLayerNames(code);
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ui->fileTextEdit->setText(code);
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qDebug()<<removeComments(code);
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scene->clear();
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QString picPath = QFileInfo(fileName).absoluteFilePath();
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picPath.chop(5); //cut .gcode
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picPath.append("svg");
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QGraphicsSvgItem *item = new QGraphicsSvgItem(picPath);
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scene->addItem(item);
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ui->graphicsView->setEnabled(true);
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ui->graphicsView->fitInView(item);
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if(!ui->fileTextEdit->toPlainText().isEmpty())
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{
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setWindowTitle("Spherebot Control File: " + fileName);
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ui->fileName->setText(QFileInfo(fileName).fileName());
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}
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else ui->sendButton->setEnabled(false);
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}
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bool MainWindow::saveFile(const QString &fileName)
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{
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QFile file(fileName);
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if (!file.open(QFile::WriteOnly | QFile::Text)) {
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QMessageBox::warning(this, tr("Application"),
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tr("Cannot write file %1:\n%2.")
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.arg(fileName)
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.arg(file.errorString()));
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return false;
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}
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QTextStream out(&file);
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out<<ui->fileTextEdit->toPlainText();
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statusBar()->showMessage(tr("File saved"), 2000);
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return true;
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}
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void MainWindow::interpretGcode(QString code) //for future gcode interpretation
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{
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code = removeComments(code);
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QStringList lines = code.split("\n");
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QStringList line;
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int state = 0; // 0 = pen up , 1 = pen down
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for(int i = 0;i<lines.length();i++)
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{
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//qDebug()<<lines[i];
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line = lines[i].split(" ");
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if(lines[i].contains("M300 S" + QString::number(penUpAngle) +".00"))
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state = 0;
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else if(lines[i].contains("M300 S" + QString::number(penDownAngle) +".00"))
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state = 1;
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if(state == 1)//drawing
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{
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//to do (Gcode drawer widget)
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}
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}
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}
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void MainWindow::refreshLayerNames(QString file)
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{
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QList<QString> lines = file.split("\n");
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int layerchange = 0;
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for(int i=0;i<lines.size();i++)
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{
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qDebug()<<lines[i];
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if(lines[i].contains("M01"))
|
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{
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||
if(layerchange != 0)
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{
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qDebug()<<"This is the Split Line: " << lines[i].split("'");
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layerNames.append(lines[i].split("'")[1]);
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}
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layerchange++;
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}
|
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}
|
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qDebug()<<"This are the layernames: "<< layerNames;
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||
}
|
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|
||
void MainWindow::processReceivedData(QString line)
|
||
{
|
||
if(line != "")
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||
{
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||
ui->rxList->insertItem(0,line);
|
||
delete ui->rxList->item(MAXLISTITEMS);
|
||
}
|
||
}
|
||
|
||
void MainWindow::refreshSendProgress(int value)
|
||
{
|
||
ui->fileSendProgressBar->setValue(value);
|
||
}
|
||
|
||
void MainWindow::interpretSentString(QString string)
|
||
{
|
||
QStringList list = string.split(" ");
|
||
//qDebug()<<"string is : "<<string;
|
||
for(int i = 0;i<list.size();i++)
|
||
{
|
||
if(!list[i].isEmpty())
|
||
{
|
||
if (list[i].startsWith('X'))
|
||
{
|
||
//qDebug()<<"setting eggslidervalue: ";
|
||
ui->eggSlider->setValue(list[i].remove(0,1).toDouble());
|
||
}
|
||
else if (list[i].startsWith('Y'))
|
||
{
|
||
//qDebug()<<"setting penslidervalue";
|
||
ui->penSlider->setValue(list[i].remove(0,1).toDouble());
|
||
}
|
||
else if (list[i].startsWith('M'))
|
||
{
|
||
if(list[i].remove(0,1) == "300")
|
||
{
|
||
//qDebug()<<"setting servoSlider";
|
||
ui->servoSlider->setValue(list[i+1].remove(0,1).toDouble());
|
||
}
|
||
else if(list[i].remove(0,1) == "400")
|
||
{
|
||
// qDebug()<<"setting diameterSlider";
|
||
ui->diameterSlider->setValue(list[i+1].remove(0,1).toDouble());
|
||
}
|
||
}
|
||
else if (list[i].startsWith('F'))
|
||
{
|
||
//qDebug()<<"setting servoFeedrateSlider";
|
||
ui->servoFeedrateSlider->setValue(list[i].remove(0,1).toDouble());
|
||
}
|
||
}
|
||
}
|
||
}
|
||
///////////////////////////////////////////////////////////////////
|
||
|
||
void MainWindow::resetPortList()
|
||
{
|
||
QSerialPortInfo info;
|
||
portList = info.availablePorts();
|
||
ui->portBox->clear();
|
||
for(int i=0;i<portList.size();i++)
|
||
{
|
||
ui->portBox->addItem(portList[i].portName());
|
||
}
|
||
}
|
||
|
||
void MainWindow::on_resetButton_clicked()
|
||
{
|
||
resetPortList();
|
||
ui->loadFileButton->setEnabled(true);
|
||
ui->loadFileButton->setText("Load File");
|
||
}
|
||
|
||
void MainWindow::sendDataUI(QString data)
|
||
{
|
||
while(data.endsWith('\n')) data.chop(1);
|
||
|
||
ui->txList->insertItem(0,data);
|
||
delete ui->txList->item(MAXLISTITEMS);
|
||
}
|
||
|
||
void MainWindow::on_sendString_editingFinished()
|
||
{
|
||
if(!ui->sendString->text().isEmpty())
|
||
{
|
||
if(!bot->send(ui->sendString->text()))
|
||
{
|
||
qDebug()<<bot->port->errorString();
|
||
sendDataUI("Error while sending Data!");
|
||
}
|
||
}
|
||
}
|
||
|
||
void MainWindow::on_sendButton_clicked()
|
||
{
|
||
on_sendString_editingFinished();
|
||
ui->sendString->setText("");
|
||
ui->sendButton->setEnabled(false);
|
||
}
|
||
|
||
void MainWindow::on_servoSlider_sliderMoved(int position)
|
||
{
|
||
bot->send("M300 S" + QString::number(position));
|
||
}
|
||
|
||
void MainWindow::on_servospinBox_valueChanged(int arg1)
|
||
{
|
||
ui->servoSlider->setValue(arg1);
|
||
bot->send("M300 S" + QString::number(arg1));
|
||
}
|
||
|
||
void MainWindow::on_penRotationBox_valueChanged(int arg1)
|
||
{
|
||
bot->send("G1 Y" + QString::number((double)arg1));
|
||
ui->penSlider->setValue(arg1);
|
||
}
|
||
|
||
void MainWindow::on_eggRotationBox_valueChanged(int arg1)
|
||
{
|
||
bot->send("G1 X" + QString::number((double)arg1));
|
||
ui->eggSlider->setValue(arg1);
|
||
}
|
||
|
||
void MainWindow::on_saveFileButton_clicked()
|
||
{
|
||
saveFile(curFile);
|
||
ui->saveFileButton->setEnabled(false);
|
||
}
|
||
|
||
void MainWindow::on_fileTextEdit_textChanged()
|
||
{
|
||
if(!ui->fileTextEdit->toPlainText().isEmpty())
|
||
{
|
||
ui->fileName->setText("");
|
||
if(bot->isConnected()) ui->sendFileButton->setEnabled(true);
|
||
else ui->sendButton->setEnabled(false);
|
||
}
|
||
}
|
||
|
||
void MainWindow::SetBotToHomePosition()
|
||
{
|
||
QString tmp = ("G1 Y0");
|
||
bot->send(tmp);
|
||
tmp.clear();
|
||
tmp.append("M300 S" + QString::number(penUpAngle));
|
||
bot->send(tmp);
|
||
}
|
||
|
||
void MainWindow::on_servoFeedrateSlider_valueChanged(int value)
|
||
{
|
||
bot->send("G1 F" + QString::number(value));
|
||
}
|
||
|
||
void MainWindow::on_setDiameterButton_clicked()
|
||
{
|
||
bot->send("M400 S" + QString::number(ui->diameterSlider->value()));
|
||
bot->send("M401 S" + QString::number(ui->diameterSlider->value()));
|
||
}
|
||
|
||
void MainWindow::on_sendString_textChanged(const QString &arg1)
|
||
{
|
||
if(!arg1.isEmpty())
|
||
{
|
||
ui->sendButton->setEnabled(true);
|
||
}
|
||
else
|
||
{
|
||
ui->sendButton->setEnabled(false);
|
||
}
|
||
}
|