src/Mod/Robot/Gui/TaskTrajectory.h

// SPDX-License-Identifier: LGPL-2.1-or-later

/***************************************************************************
 *   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