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