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/***************************************************************************
* Copyright (c) 2009 Jürgen Riegel <juergen.riegel@web.de> *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#ifndef GUI_TASKVIEW_TaskTrajectory_H
#define GUI_TASKVIEW_TaskTrajectory_H
#include <Gui/Selection/Selection.h>
#include <Gui/TaskView/TaskView.h>
#include <Mod/Robot/App/RobotObject.h>
#include <Mod/Robot/App/Simulation.h>
#include <Mod/Robot/App/TrajectoryObject.h>
#include "ViewProviderRobotObject.h"
namespace App
{
class Property;
}
namespace Gui
{
class ViewProvider;
}
namespace RobotGui
{
class Ui_TaskTrajectory;
class TaskTrajectory: public Gui::TaskView::TaskBox
{
Q_OBJECT
public:
TaskTrajectory(
Robot::RobotObject* pcRobotObject,
Robot::TrajectoryObject* pcTrajectoryObject,
QWidget* parent = nullptr
);
~TaskTrajectory() override;
/// Observer message from the Selection
void OnChange(
Gui::SelectionSingleton::SubjectType& rCaller,
Gui::SelectionSingleton::MessageType Reason
);
private Q_SLOTS:
void start();
void stop();
void run();
void back();
void forward();
void end();
void timerDone();
void valueChanged(int value);
void valueChanged(double d);
Q_SIGNALS:
void axisChanged(float A1, float A2, float A3, float A4, float A5, float A6, const Base::Placement& Tcp);
protected:
void setTo();
void viewTool(const Base::Placement& pos);
QTimer* timer;
Robot::Simulation sim;
Robot::RobotObject* pcRobot;
ViewProviderRobotObject* ViewProv;
bool Run;
bool block;
float timePos;
float duration;
private:
QWidget* proxy;
Ui_TaskTrajectory* ui;
};
} // namespace RobotGui
#endif // GUI_TASKVIEW_TASKAPPERANCE_H
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