Commit Iniziale

2019-10-21 11:37:31 +02:00
commit 44ac6e8802
56 changed files with 32022 additions and 0 deletions
--- a/shared/roboglue_shared.cpp
+++ b/shared/roboglue_shared.cpp
@@ -0,0 +1,113 @@
+#include "roboglue_shared.h"
+
+RoboGlue_SHARED::RoboGlue_SHARED(QSettings *set){
+    settings=set;
+
+    robotVariables.insert(std::pair<std::string, int>("RDY",1));
+
+
+}
+////////////////////////////////////////////////////////////////
+/////////////////////// RESTORE FUNCTIONS /////////////////////
+/////////////////////////////////////////////////////////////
+void RoboGlue_SHARED::restoreInitSettings(){
+    settings->beginGroup("init");
+        initSettings.size=settings->value("size").toSize();
+        initSettings.pos=settings->value("pos").toPoint();
+        initSettings.autoMain=settings->value("automain").toBool();
+        initSettings.autoCom=settings->value("autocom").toBool();
+        initSettings.autoTrack=settings->value("autotrack").toBool();
+        initSettings.autoGui=settings->value("autogui").toBool();
+    settings->endGroup();
+}
+
+void RoboGlue_SHARED::restoreComSettings() {
+    settings->beginGroup("robot");
+        // connection parameters
+        settings->beginGroup("connection");
+            comSettings.connection.robotIp=settings->value("robotip").toString().toStdString();
+            comSettings.connection.robotPort=settings->value("robotport").toUInt();
+            comSettings.connection.retry=static_cast<uchar>(settings->value("robotretry").toUInt());
+            comSettings.connection.autoConnect=settings->value("autoconnect").toBool();
+            comSettings.connection.prefix=settings->value("prefix").toChar().toLatin1();
+            comSettings.connection.suffix=settings->value("suffix").toChar().toLatin1();
+            settings->endGroup();
+        // kinematic parameters
+        settings->beginGroup("kine");
+            int ksize=settings->beginReadArray("dhtable");
+            for(int i=0; i<ksize; i++){
+                settings->setArrayIndex(i);
+                comSettings.kine.DHtable.DHa[i] = settings->value("dha").toDouble();
+                comSettings.kine.DHtable.DHd[i] = settings->value("dhd").toDouble();
+                comSettings.kine.DHtable.DHalpha[i] = settings->value("dhaplha").toDouble();
+                comSettings.kine.DHtable.DHtheta[i] = settings->value("dhtheta").toDouble();
+            }
+            settings->endArray();
+            comSettings.kine.maxReach = settings->value("maxreach").toFloat();
+       settings->endGroup();
+       // exchange variables
+       settings->beginGroup("variables");
+            // TODO something
+       settings->endGroup();
+    settings->endGroup();
+}
+
+void RoboGlue_SHARED::restoreGuiSettings() {
+    settings->beginGroup("gui");
+        guiSettings.namePath=settings->value("namepath").toString().toStdString();
+    settings->endGroup();
+}
+
+void RoboGlue_SHARED::restoreMainSettings() {
+    settings->beginGroup("main");
+    settings->endGroup();
+}
+
+void RoboGlue_SHARED::restoreTrackSettings() {
+    settings->beginGroup("track");
+    settings->endGroup();
+}
+
+////////////////////////////////////////////////////////////////
+/////////////////////// SAVE FUNCTIONS ////////////////////////
+//////////////////////////////////////////////////////////////
+void RoboGlue_SHARED::saveCommonSettings(){
+    settings->beginGroup("common");
+    settings->endGroup();
+
+}
+
+void RoboGlue_SHARED::saveInitSettings() {
+    settings->beginGroup("init");
+        settings->setValue("autocom",initSettings.autoCom);
+        settings->setValue("autogui",initSettings.autoGui);
+        settings->setValue("autotrack",initSettings.autoTrack);
+        settings->setValue("automain",initSettings.autoMain);
+    settings->endGroup();
+}
+
+void RoboGlue_SHARED::saveComSettings() {
+    settings->beginGroup("robot");
+    settings->beginGroup("kine");
+        settings->setValue("maxreach", comSettings.kine.maxReach);
+        settings->setValue("prefix", comSettings.connection.prefix);
+        settings->setValue("suffix", comSettings.connection.suffix);
+    settings->endGroup();
+    settings->endGroup();
+}
+
+void RoboGlue_SHARED::saveGuiSettings() {
+    settings->beginGroup("gui");
+        settings->setValue("namepath", QString(guiSettings.namePath.c_str()));
+    settings->endGroup();
+}
+
+void RoboGlue_SHARED::saveMainSettings() {
+    settings->beginGroup("main");
+    settings->endGroup();
+}
+
+void RoboGlue_SHARED::saveTrackSettings() {
+    settings->beginGroup("track");
+    settings->endGroup();
+}