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369 lines (298 loc) · 13.1 KB
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#include "pluginexample.h"
#include "robodktools.h"
#include "irobodk.h"
#include "iitem.h"
#include "formrobotpilot.h"
#include <QMainWindow>
#include <QToolBar>
#include <QDebug>
#include <QAction>
#include <QStatusBar>
#include <QMenuBar>
#include <QTextEdit>
#include <QDateTime>
#include <QIcon>
#include <QDesktopServices>
#include <QElapsedTimer>
//------------------------------- RoboDK Plug-in commands ------------------------------
QString PluginExample::PluginName(){
return "Realtime Plugin";
}
QString PluginExample::PluginLoad(QMainWindow *mw, QMenuBar *menubar, QStatusBar *statusbar, RoboDK *rdk, const QString &settings){
RDK = rdk;
MainWindow = mw;
StatusBar = statusbar;
qDebug() << "Loading plugin " << PluginName();
qDebug() << "Using settings: " << settings; // reserved for future compatibility
// it is highly recommended to use the statusbar for debugging purposes (pass /DEBUG as an argument to see debug result in RoboDK)
qDebug() << "Setting up the status bar";
StatusBar->showMessage(tr("RoboDK Plugin %1 is being loaded").arg(PluginName()));
// initialize resources for the plugin (if required):
Q_INIT_RESOURCE(resources1);
// Here you can add all the "Actions": these actions are callbacks from buttons selected from the menu or the toolbar
action_information = new QAction(QIcon(":/resources/information.png"), tr("Plugin Speed Information"));
action_robotpilot = new QAction(QIcon(":/resources/code.png"), tr("Robot Pilot Form"));
action_help = new QAction(QIcon(":/resources/help.png"), tr("RoboDK Plugins - Help"));
action_realtime = new QAction(QIcon(":/resources/red-button.png"), tr("Activate/deactivate Real Time loop"));
action_realtime->setCheckable(true);
timer_realtime.setInterval(0);
//Robot = nullptr;
connect(&timer_realtime, SIGNAL(timeout()), this, SLOT(callback_realtime_process()));
// Make sure to connect the action to your callback (slot)
connect(action_information, SIGNAL(triggered()), this, SLOT(callback_information()), Qt::QueuedConnection);
connect(action_robotpilot, SIGNAL(triggered()), this, SLOT(callback_robotpilot()), Qt::QueuedConnection);
connect(action_help, SIGNAL(triggered()), this, SLOT(callback_help()), Qt::QueuedConnection);
connect(action_realtime, SIGNAL(triggered(bool)), this, SLOT(callback_realtime(bool)), Qt::QueuedConnection);
// Here you can add one or more actions in the menu
menu1 = menubar->addMenu("Real Time Plugin Example Menu");
qDebug() << "Setting up the menu bar";
menu1->addAction(action_information);
menu1->addAction(action_robotpilot);
menu1->addAction(action_help);
menu1->addAction(action_realtime);
// Important: reset the robot pilot dock/form pointer so that it is created the first time
dock_robotpilot = nullptr;
form_robotpilot = nullptr;
// If desired, trigger the real time operation here:
action_realtime->setChecked(false);
callback_realtime(false);
// return string is reserverd for future compatibility
return "";
};
void PluginExample::PluginUnload(){
// Cleanup the plugin
qDebug() << "Unloading plugin " << PluginName();
// remove the menu
menu1->deleteLater();
menu1 = nullptr;
// remove the toolbar
toolbar1->deleteLater();
toolbar1 = nullptr;
toolbar2->deleteLater();
toolbar2 = nullptr;
if (dock_robotpilot != nullptr){
dock_robotpilot->close();
dock_robotpilot = nullptr;
form_robotpilot = nullptr;
}
// remove resources
Q_CLEANUP_RESOURCE(resources1);
}
void PluginExample::PluginLoadToolbar(QMainWindow *mw, int icon_size){
// Create a new toolbar:
toolbar1 = mw->addToolBar("Real time Plugin Example Toolbar");
toolbar1->setIconSize(QSize(icon_size, icon_size));
// Important: It is highly recommended to set an object name on toolbars. This allows saving the preferred location of the toolbar by the user
toolbar1->setObjectName(PluginName() + "-Toolbar1");
// Add a new button to the toolbar
toolbar1->addAction(action_information);
toolbar1->addAction(action_robotpilot);
toolbar1->addAction(action_help);
toolbar2 = new QToolBar(("RealTime Toolbar"));
mw->addToolBar(Qt::ToolBarArea::RightToolBarArea, toolbar2);
toolbar2->setIconSize(QSize(icon_size*2, icon_size*2));
// Important: It is highly recommended to set an object name on toolbars. This allows saving the preferred location of the toolbar by the user
toolbar2->setObjectName(PluginName() + "-Toolbar2");
// Add a new button to the toolbar
toolbar2->addAction(action_realtime);
}
bool PluginExample::PluginItemClick(Item item, QMenu *menu, TypeClick click_type){
qDebug() << "Selected item: " << item->Name() << " of type " << item->Type() << " click type: " << click_type;
if (item->Type() == IItem::ITEM_TYPE_OBJECT){
//menu->actions().insert(0, action_btn1); // add action at the beginning
menu->addAction(action_information); // add action at the end
qDebug() << "Done";
return false;
} else if (item->Type() == IItem::ITEM_TYPE_ROBOT){
//menu->actions().insert(0, action_robotpilot); // add action at the beginning
menu->addAction(action_robotpilot); // add action at the end
qDebug() << "Done";
return false;
}
return false;
}
QString PluginExample::PluginCommand(const QString &command, const QString &value){
qDebug() << "Sent command: " << command << " With value: " << value;
if (command.compare("Information", Qt::CaseInsensitive) == 0){
callback_information();
return "Done";
} else if (command.compare("RobotPilot", Qt::CaseInsensitive) == 0){
callback_robotpilot();
return "Done";
} else if (command.compare("ActivateRealtime", Qt::CaseInsensitive) == 0){
callback_realtime(value.contains("true"));
return "Done";
} else if (command.startsWith("SetParam", Qt::CaseInsensitive)){
QStringList command_param = command.split("-");
if (command_param.length() >= 2){
QString name(command_param.at(1));
RDK->setParam(name, value);
}
return "Done";
}
return "";
}
// Render your own graphics here. This function is called every time the OpenGL window is displayed. The RoboDK OpenGL context is active at this moment.
// Make sure to make this code as fast as possible to not provoke render lags
void PluginExample::PluginEvent(TypeEvent event_type){
switch (event_type) {
case EventChanged:
//qDebug() << "An item has been added or deleted. Current station: " << RDK->getActiveStation()->Name();
// Use: RDK->getActiveStation() to get the open station. This call always returns a valid pointer
// Use: RDK->Valid(item ) to check if an item exists (it could have been deleted! Therefore, provoke a crash when using a method)
/*if (!RDK->Valid(Robot)){
Robot = nullptr;
}*/
/*if (!RDK->Valid(Robot)) {
Robot = nullptr;
}*/
RobotList = RDK->getItemList(IItem::ITEM_TYPE_ROBOT);
if (form_robotpilot != nullptr){
form_robotpilot->SelectRobot();
}
break;
case EventChangedStation:
case EventAbout2ChangeStation:
case EventAbout2CloseStation:
RobotList.clear();
if (dock_robotpilot) {
dock_robotpilot->close();
dock_robotpilot = nullptr;
}
if (form_robotpilot) {
delete form_robotpilot;
form_robotpilot = nullptr;
}
break;
case EventMoved:
RDK->setSimulationSpeed(1.0);
//qDebug() << "Something has moved, such as a robot, reference frame, object or tool (usually, a render event follows)";
break;
case EventRender:
//qDebug() << "Render event";
break;
default:
qDebug() << "Unknown/future event: " << event_type;
}
}
//----------------------------------------------------------------------------------
// Define your own button callbacks here
void PluginExample::callback_information(){
// Perform some timing tests using the RoboDK API
RDK->ShowMessage("Starting timing tests", false);
QString text_message_html("<strong>Plugin Timing Tests Summary on " + QDateTime::currentDateTime().toString() + ":</strong><br>");
int ntests=10000;
//Item robot = RDK->getItem("", IItem::ITEM_TYPE_ROBOT);
Item robot = RDK->ItemUserPick("Pick a robot", IItem::ITEM_TYPE_ROBOT);
if (ItemValid(robot)){
Mat pose_fk;
tJoints joints_ik;
QList<tJoints> joints_ik_all;
qint64 tstart;
qint64 tend;
text_message_html += + "<br>" + QString("Using robot %1").arg(robot->Name());
// Test Forward Kinematics
tstart = QDateTime::currentMSecsSinceEpoch();
for (int i=0; i<ntests; i++){
pose_fk = robot->SolveFK(robot->Joints());
}
tend = QDateTime::currentMSecsSinceEpoch();
text_message_html += + "<br>" + QString("Forward Kinematics: %1 micro seconds").arg(((double)(tend-tstart)*1000)/ntests, 0, 'f', 2);
// Test Inverse Kinematics
tstart = QDateTime::currentMSecsSinceEpoch();
for (int i=0; i<ntests; i++){
joints_ik = robot->SolveIK(pose_fk);
}
tend = QDateTime::currentMSecsSinceEpoch();
text_message_html += "<br>" + QString("Inverse Kinematics: %1 micro seconds").arg(((double)(tend-tstart)*1000)/ntests, 0, 'f', 2);
// Test Forward Kinematics
tstart = QDateTime::currentMSecsSinceEpoch();
for (int i=0; i<ntests; i++){
joints_ik_all = robot->SolveIK_All(pose_fk);
}
tend = QDateTime::currentMSecsSinceEpoch();
text_message_html += "<br>" + QString("Inverse Kinematics: %1 micro seconds (all solutions)").arg(((double)(tend-tstart)*1000)/ntests, 0, 'f', 2);
} else {
text_message_html += + "<br>No robot available to run Kinematic tests";
}
// output through debug console
qDebug() << text_message_html;
RDK->ShowMessage("Retrieving all station items", false);
QStringList item_list_names = RDK->getItemListNames();
qDebug() << "Available items in the current station: " << item_list_names;
QList<Item> item_list = RDK->getItemList();
RDK->ShowMessage("Displaying list of station items", false);
text_message_html += QString("<br>Open station <strong>%1</strong> items:").arg(RDK->getActiveStation()->Name());
foreach (Item itm, item_list){
Item item_parent = itm->Parent();
if (!ItemValid(item_parent)){
// station items do not have a parent
text_message_html += QString("<br>%1 (station)").arg(itm->Name());
} else {
text_message_html += QString("<br>%1 -> <i>parent: %2</i>").arg(itm->Name()).arg(item_parent->Name());
}
}
QTextEdit *text_editor = new QTextEdit("Plugin timing summary");
text_editor->setHtml(text_message_html);
AddDockWidget(MainWindow, text_editor, "Dock Plugin timing summary");
}
void PluginExample::callback_robotpilot(){
if (dock_robotpilot != nullptr){
// prevent opening more than 1 form
RDK->ShowMessage("Robot pilot form is already open", false);
return;
}
RDK->ShowMessage("Opening robot pilot form...", false);
form_robotpilot = new FormRobotPilot(RDK, MainWindow);
dock_robotpilot = AddDockWidget(MainWindow, form_robotpilot, "Robot Pilot");
connect(form_robotpilot, SIGNAL(destroyed()), this, SLOT(callback_robotpilot_closed()));
}
void PluginExample::callback_robotpilot_closed(){
// it is important
dock_robotpilot = nullptr;
form_robotpilot = nullptr;
RDK->ShowMessage("Closed robot pilot", false);
}
void PluginExample::callback_help(){
// it is important
QDesktopServices::openUrl(QUrl("https://robodk.com/doc/CreatePlugin"));
}
void PluginExample::callback_realtime(bool realtime){
qDebug() << "Running Real Time: " << realtime;
if (realtime) {
timer_realtime.start();
} else {
timer_realtime.stop();
}
}
void PluginExample::callback_realtime_process(){
static int time_last = QDateTime::currentMSecsSinceEpoch();
int time_now = QDateTime::currentMSecsSinceEpoch();
if (time_now - time_last < 1){
return;
}
time_last = time_now;
if (RobotList.length() == 0){
qDebug() << "No robots selected or loaded";
return;
}
foreach (Item robot, RobotList){
tJoints joints(robot->Joints());
qDebug() << "Robot: " << robot->Name();
qDebug() << " Current robot joints are: " << joints;
qDebug() << " Calculated forward kinematcs: " << robot->SolveFK(joints);
}
// If you have one robot you can do:
/*if (!ItemValid(Robot)) {
//RDK->AddFile("filename")
Robot = RDK->ItemUserPick("Select one robot", IItem::ITEM_TYPE_ROBOT);
if (!ItemValid(Robot)){
qDebug() << "Robot pointer not valid!";
return;
}
}
tJoints joints(Robot->Joints());
qDebug() << "Current robot joints are: " << joints.ToString();
qDebug() << "Caluclated forward kinematcs: " << Robot->SolveFK(joints).ToString();
*/
}
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