mirror of
https://github.com/thunderbug1/Spherebot-Host-GUI.git
synced 2026-03-03 08:33:59 +01:00
aec078c865
outsourced the receiving to a seperate thread. This allows us to use much lower baudrates but still have a responsive UI. Set Baudrate to 57600 baud
765 lines
22 KiB
C++
765 lines
22 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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sendState = Idle;
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this->bot = new spherebot();
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Receiver = new rxThread(this->bot);
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Transceiver = new txThread(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( this->bot, SIGNAL(dataSent(QString)),this, SLOT(sendDataUI(QString)));
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connect(Transceiver,SIGNAL(progressChanged(int)),this,SLOT(refreshSendProgress(int)));
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connect(Transceiver,SIGNAL(fileTransmitted()),this,SLOT(finishedTransmission()));
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connect(this->bot,SIGNAL(dataSent(QString)),this,SLOT(interpretSentString(QString)));
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connect(Transceiver,SIGNAL(layerTransmitted()),this,SLOT(finishedLayer()));
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connect(Receiver, SIGNAL(lineReceived(QString)),this, SLOT(processReceivedData(QString)));
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initUI();
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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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qDebug()<<"mainwindow initialised: ";
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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::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::Yes|QMessageBox::No);
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nextLayerMsgBox->setButtonText(QMessageBox::Yes,"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::Yes|QMessageBox::No);
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//restartLayerMsgBox->setButtonText(QMessageBox::Yes,"OK");
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//restartLayerMsgBox->setButtonText(QMessageBox::No,"No");
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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->port->setPortName(SavedPortName);
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on_connectButton_clicked();
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ui->sendButton->setEnabled(true);
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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)
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{
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if(line != "")
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{
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if(line.contains("rs"))
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{
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bot->repeatLastLine();
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}
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ui->rxList->insertItem(0,line);
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delete ui->rxList->item(MAXLISTITEMS);
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}
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}
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void MainWindow::refreshSendProgress(int value)
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{
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ui->fileSendProgressBar->setValue(value);
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}
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void MainWindow::finishedLayer()
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{
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if(layerNames.size() > 1)
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{
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layerIndex++;
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}
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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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switch(nextLayerMsgBox->exec())
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{
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case(QMessageBox::No):
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setState(Idle); //abort
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break;
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case(QMessageBox::Yes):
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break;
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default:
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setState(Idle); //abort
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break;
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}
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}
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}
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void MainWindow::finishedTransmission()
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{
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disconnectTranceiver();
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this->Transceiver->resetState();
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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->resetButton->setEnabled(false);
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ui->fileSendProgressBar->setValue(0);
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ui->fileSendProgressBar->setEnabled(false);
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ui->loadFileButton->setEnabled(true);
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statusBar()->showMessage(tr("File successfully sent"));
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sendState = Idle;
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layerIndex = 0;
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SetBotToHomePosition();
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if (QMessageBox::Yes == restartLayerMsgBox->exec())
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{
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on_sendFileButton_clicked();
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}
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}
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void MainWindow::interpretSentString(QString string)
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{
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if(this->sendState == 1) //if currently sending
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{
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QStringList list = string.split(" ");
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//qDebug()<<"string is : "<<string;
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for(int i = 0;i<list.size();i++)
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{
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if(!list[i].isEmpty())
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{
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if (list[i].startsWith('X'))
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{
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//qDebug()<<"setting eggslidervalue: ";
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ui->eggSlider->setValue(list[i].remove(0,1).toDouble());
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}
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else if (list[i].startsWith('Y'))
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{
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//qDebug()<<"setting penslidervalue";
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ui->penSlider->setValue(list[i].remove(0,1).toDouble());
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}
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else if (list[i].startsWith('M'))
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{
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if(list[i].remove(0,1) == "300")
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{
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//qDebug()<<"setting servoSlider";
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ui->servoSlider->setValue(list[i+1].remove(0,1).toDouble());
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}
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else if(list[i].remove(0,1) == "400")
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{
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// qDebug()<<"setting diameterSlider";
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ui->diameterSlider->setValue(list[i+1].remove(0,1).toDouble());
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}
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}
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else if (list[i].startsWith('F'))
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{
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//qDebug()<<"setting servoFeedrateSlider";
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ui->servoFeedrateSlider->setValue(list[i].remove(0,1).toDouble());
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}
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}
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}
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}
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}
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///////////////////////////////////////////////////////////////////
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void MainWindow::on_connectButton_clicked()
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{
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if(bot->isConnected())
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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->controllBox->setEnabled(false);
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ui->resetButton->setEnabled(true);
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ui->portBox->setEnabled(true);
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ui->sendFileButton->setEnabled(false);
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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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sendState = Idle;
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ui->sendFileButton->setText("Send File");
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ui->sendFileButton->setEnabled(false);
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Receiver->exit();
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}
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else if(bot->connectWithBot(ui->portBox->currentText()))
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{
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//successfully connected
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Receiver->run();
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connect( this->bot->port, SIGNAL(readyRead()), Receiver, SLOT(receiveData()));
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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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}
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else
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{
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}
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}
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void MainWindow::resetPortList()
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{
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QSerialPortInfo info;
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portList = info.availablePorts();
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ui->portBox->clear();
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for(int i=0;i<portList.size();i++)
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{
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ui->portBox->addItem(portList[i].portName());
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}
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}
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void MainWindow::on_resetButton_clicked()
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{
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resetPortList();
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}
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void MainWindow::sendDataUI(QString data)
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{
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ui->txList->insertItem(0,data);
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delete ui->txList->item(MAXLISTITEMS);
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}
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void MainWindow::on_sendString_editingFinished()
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{
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if(!ui->sendString->text().isEmpty())
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{
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if(!bot->send(ui->sendString->text()))
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{
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qDebug()<<bot->port->errorString();
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sendDataUI("Error while sending Data!");
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}
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}
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}
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void MainWindow::on_sendButton_clicked()
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{
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on_sendString_editingFinished();
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ui->sendString->setText("");
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ui->sendButton->setEnabled(false);
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}
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void MainWindow::on_servoSlider_sliderMoved(int position)
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{
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if(sendState != Sending)
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{
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QString tmp = ("M300 S" + QString::number(position));
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bot->send(tmp);
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}
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}
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void MainWindow::on_servospinBox_valueChanged(int arg1)
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{
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if(sendState != Sending)
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{
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ui->servoSlider->setValue(arg1);
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QString tmp = ("M300 S" + QString::number(arg1));
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bot->send(tmp);
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}
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}
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void MainWindow::on_penRotationBox_valueChanged(int arg1)
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{
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if(sendState != Sending)
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{
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QString tmp = ("G1 Y" + QString::number((double)arg1));
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bot->send(tmp);
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ui->penSlider->setValue(arg1);
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}
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}
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void MainWindow::on_penSlider_valueChanged(int value)
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{
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if(sendState != Sending)
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{
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ui->penRotationBox->setValue(value);
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}
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}
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void MainWindow::on_eggSlider_valueChanged(int value)
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{
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if(sendState != Sending)
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{
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ui->eggRotationBox->setValue(value);
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}
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}
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void MainWindow::on_eggRotationBox_valueChanged(int arg1)
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{
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if(sendState != Sending)
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{
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QString tmp = ("G1 X" + QString::number((double)arg1));
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bot->send(tmp);
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ui->eggSlider->setValue(arg1);
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}
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}
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void MainWindow::on_loadFileButton_clicked() //== Abort Button
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{
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if(sendState == Idle)
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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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else //abort print
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{
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setState(Idle);
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}
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}
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void MainWindow::on_saveFileButton_clicked()
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{
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saveFile(curFile);
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ui->saveFileButton->setEnabled(false);
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}
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void MainWindow::on_fileTextEdit_textChanged()
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{
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if(!ui->fileTextEdit->toPlainText().isEmpty())
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{
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setWindowTitle("Spherebot Controll");
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ui->fileName->setText("");
|
||
if(bot->isConnected()) ui->sendFileButton->setEnabled(true);
|
||
else ui->sendButton->setEnabled(false);
|
||
}
|
||
}
|
||
|
||
|
||
void MainWindow::connectTranceiver()
|
||
{
|
||
connect(this->bot->port,SIGNAL(readyRead()),Transceiver,SLOT(sendNext()));
|
||
}
|
||
|
||
void MainWindow::disconnectTranceiver()
|
||
{
|
||
disconnect(this->bot->port,SIGNAL(readyRead()),Transceiver,SLOT(sendNext()));
|
||
}
|
||
|
||
void MainWindow::setState(MainWindow::SendStates state)
|
||
{
|
||
switch(state)
|
||
{
|
||
case(Idle):
|
||
switch(sendState)
|
||
{
|
||
case(Sending): //from Sending to Idle == abort the print
|
||
//same code as below
|
||
ui->fileSendProgressBar->setValue(0);
|
||
ui->sendString->setEnabled(true);
|
||
if(bot->isConnected()){
|
||
ui->sendFileButton->setText("Send File");
|
||
ui->restartButton->setEnabled(true);
|
||
}
|
||
else{
|
||
ui->restartButton->setEnabled(false);
|
||
}
|
||
ui->loadFileButton->setText("Load File");
|
||
ui->loadFileButton->setEnabled(true);
|
||
bot->send("M 18"); //disable motors
|
||
case(Stoped): //from Stoped to Idle
|
||
disconnectTranceiver();
|
||
this->Transceiver->resetState();
|
||
ui->sendFileButton->setText("Send File");
|
||
ui->loadFileButton->setText("Load File");
|
||
ui->restartButton->setEnabled(false);
|
||
ui->controllBox->setEnabled(true);
|
||
ui->fileSendProgressBar->setEnabled(false);
|
||
ui->loadFileButton->setEnabled(true);
|
||
sendState = Idle;
|
||
break;
|
||
}
|
||
break;
|
||
case(Sending):
|
||
switch(sendState)
|
||
{
|
||
case(Idle): //start sending //from Idle to Sending
|
||
sendState = Sending;
|
||
connectTranceiver();
|
||
ui->controllBox->setEnabled(false);
|
||
ui->fileSendProgressBar->setEnabled(true);
|
||
ui->sendFileButton->setText("Stop");
|
||
ui->restartButton->setEnabled(true);
|
||
ui->loadFileButton->setText("Abort");
|
||
ui->loadFileButton->setEnabled(true);
|
||
ui->sendString->setEnabled(false);
|
||
ui->controllBox->setEnabled(false);
|
||
ui->sendButton->setEnabled(false);
|
||
ui->sendString->setEnabled(false);
|
||
Transceiver->set(ui->fileTextEdit->toPlainText());
|
||
Transceiver->run();
|
||
statusBar()->showMessage(tr("Sending File"));
|
||
break;
|
||
case(Stoped): //continue
|
||
sendState = Sending;
|
||
connectTranceiver();
|
||
#ifdef Watchdog
|
||
Transceiver.watchdogTimer->start();
|
||
#endif
|
||
this->Transceiver->sendNext();
|
||
ui->loadFileButton->setEnabled(false);
|
||
ui->resetButton->setEnabled(true);
|
||
ui->loadFileButton->setText("Abort");
|
||
ui->loadFileButton->setEnabled(true);
|
||
ui->sendFileButton->setText("Stop");
|
||
ui->controllBox->setEnabled(false);
|
||
ui->sendButton->setEnabled(false);
|
||
ui->sendString->setEnabled(false);
|
||
statusBar()->showMessage(tr("Sending File"));
|
||
break;
|
||
}
|
||
break;
|
||
case(Stoped):
|
||
switch(sendState)
|
||
{
|
||
case(Idle):
|
||
|
||
break;
|
||
case(Sending): //from Sending to Stoped
|
||
sendState = Stoped;
|
||
disconnectTranceiver();
|
||
ui->restartButton->setEnabled(true);
|
||
ui->sendFileButton->setText("Continue");
|
||
ui->loadFileButton->setText("Abort"); //used as Abort button
|
||
ui->loadFileButton->setEnabled(true);
|
||
ui->controllBox->setEnabled(true);
|
||
ui->sendButton->setEnabled(true);
|
||
ui->sendString->setEnabled(true);
|
||
statusBar()->showMessage(tr("Stoped sending File"));
|
||
//vScrollBar->setSliderPosition(Transceiver.getLineCounter());
|
||
//ui->fileTextEdit->setVerticalScrollBar();
|
||
break;
|
||
}
|
||
break;
|
||
}
|
||
qDebug()<<"state: "<<state;
|
||
}
|
||
|
||
void MainWindow::on_sendFileButton_clicked()
|
||
{
|
||
// QScrollBar *vScrollBar = ui->fileTextEdit->verticalScrollBar();
|
||
switch(sendState)
|
||
{
|
||
case 0: //start to send
|
||
qDebug()<<"start sending";
|
||
setState(Sending);
|
||
break;
|
||
case 1: //stop the print
|
||
qDebug()<< "You have stoped sending";
|
||
setState(Stoped);
|
||
break;
|
||
case 2: //continue
|
||
setState(Sending);
|
||
break;
|
||
}
|
||
}
|
||
|
||
void MainWindow::on_restartButton_clicked()
|
||
{
|
||
sendState = Sending;
|
||
Transceiver->set(ui->fileTextEdit->toPlainText());
|
||
connectTranceiver();
|
||
ui->controllBox->setEnabled(false);
|
||
ui->fileSendProgressBar->setEnabled(true);
|
||
ui->sendFileButton->setText("Stop");
|
||
ui->loadFileButton->setText("Load File");
|
||
ui->controllBox->setEnabled(false);
|
||
ui->sendButton->setEnabled(false);
|
||
ui->sendString->setEnabled(false);
|
||
ui->loadFileButton->setEnabled(false);
|
||
Transceiver->set(ui->fileTextEdit->toPlainText());
|
||
Transceiver->run();
|
||
statusBar()->showMessage(tr("Sending File"));
|
||
}
|
||
|
||
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)
|
||
{
|
||
if(sendState != Sending)
|
||
{
|
||
QString tmp = ("G1 F" + QString::number(value));
|
||
bot->send(tmp);
|
||
}
|
||
}
|
||
|
||
void MainWindow::on_setDiameterButton_clicked()
|
||
{
|
||
if(sendState != Sending)
|
||
{
|
||
QString tmp = ("M400 S" + QString::number(ui->diameterSlider->value()));
|
||
bot->send(tmp);
|
||
tmp.clear();
|
||
tmp = ("M401 S" + QString::number(ui->diameterSlider->value()));
|
||
bot->send(tmp);
|
||
}
|
||
}
|
||
|
||
void MainWindow::on_undoButton_clicked()
|
||
{
|
||
ui->fileTextEdit->undo();
|
||
}
|
||
|
||
void MainWindow::on_redoButton_clicked()
|
||
{
|
||
ui->fileTextEdit->redo();
|
||
}
|
||
|
||
void MainWindow::on_fileTextEdit_undoAvailable(bool b)
|
||
{
|
||
ui->saveFileButton->setEnabled(true);
|
||
if(b) ui->undoButton->setEnabled(true);
|
||
else ui->undoButton->setEnabled(false);
|
||
}
|
||
|
||
void MainWindow::on_fileTextEdit_redoAvailable(bool b)
|
||
{
|
||
if(b) ui->redoButton->setEnabled(true);
|
||
else ui->redoButton->setEnabled(false);
|
||
}
|
||
|
||
void MainWindow::on_sendString_textChanged(const QString &arg1)
|
||
{
|
||
if(!arg1.isEmpty())
|
||
{
|
||
ui->sendButton->setEnabled(true);
|
||
}
|
||
else
|
||
{
|
||
ui->sendButton->setEnabled(false);
|
||
}
|
||
}
|
||
|
||
void MainWindow::on_baudBox_currentIndexChanged(int index)
|
||
{
|
||
|
||
}
|