How would you design a real time application for cnc control in c / c++ ???

Grotius
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5 years 4 months ago #211615 by Grotius

Replied by Grotius on topic How would you design a real time application for cnc control in c / c++ ???

Hi,

Just leave the opencascade.h untouched.

I want to connect slider to 3d model, but this string crash all compile
Ah. This make sence.

For example how to connect a button, the .cpp file :

Code:

void Robot::onClicked(const QString& in1, const QString& in2, const QString& in3)

has a slot in the .h file:

Code:

public slots:
    void onClicked(const QString& in1,const QString& in2,const QString& in3);
t

is controlled by the .qml file :

Code:

Button {
            robot.onClicked(input1.text,input2.text,input3.text)
    }

Personally i never pass argument's in button's themself. Qt has no interface for this. But if above example works it's ok for me.

For a slider you have information like a float value for the slider value. It is no string value !
You just use a float value. Hal has no double value's present.
For info : It's not always a good idea to use onClicked. the "on" is used by qt internals.

Try to integrate the slider function first make it work in the cpp an h file.
Pass some value's with the existing buttonpress function.
After that create the connection to the qml.

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TheRoslyak
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5 years 4 months ago #211621 by TheRoslyak

Replied by TheRoslyak on topic How would you design a real time application for cnc control in c / c++ ???

Ok
I connect slider to interface. It counts in both directions. But if I use opencascade function - project is crash.
dropmefiles.com/Cammf

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Grotius
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5 years 4 months ago #211639 by Grotius

Replied by Grotius on topic How would you design a real time application for cnc control in c / c++ ???

Hi,

In the main.cpp the opencascade is named occ.

Code:

engine.rootContext()->setContextProperty("occ", new Opencascade);

In main.qml you create the robot scene by calling :

Code:

occ.createrobotscene();

So for passing the slider values to occ it would be something like :

Code:

occ.setslidervalue(10);

(calling that from your qml code)

What you did is calling a c++ opencascade function directly. An sich this is no problem. This methode can be used, but not alway's.
Why not then?
Opencascade has to be initialized, started etc before it can be used.

Normally this is done once in a program loop. For c++ :

Code:

Opencascadewidget *occ = new Opencascadewidget;

Then in your program you call a function like :

Code:

occ->setslidervalue(10);

Then it will show no error.
I hope this give you an idea how to handle this. In the beginning it can be quite confusing. But when you have practiced
a little more, you will begin to understand how things work in c++.

P.s.
Very nice to see, you are using qt design studio.
Can you tell us your experience with this program? Is it nice to use? Is it difficult?

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TheRoslyak
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5 years 4 months ago #211678 by TheRoslyak

Replied by TheRoslyak on topic How would you design a real time application for cnc control in c / c++ ???

I thought of doing this, but as soon as I start writing in Robot.h:
include <opencascade.h>
project not compile

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Grotius
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5 years 4 months ago #211687 by Grotius

Replied by Grotius on topic How would you design a real time application for cnc control in c / c++ ???

Hi,

You can add the code to your project.
Mention creating the slot signal in opencascade.h and then call it from qml with : occ.yourslotsignal()
Now you can happely go on with coding !

In the main.qml:

Warning: Spoiler!

Opencascade.h:

Warning: Spoiler!

Opencascade.cpp:

Warning: Spoiler!

And your robot is moving !
You have to check your model rotation-translation yourself.

You can look at this function to rotate your model. It's based on a quaternion. But first try to get it correct using the
existing example.

Warning: Spoiler!

Attachment not found

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TheRoslyak
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5 years 4 months ago #211688 by TheRoslyak

Replied by TheRoslyak on topic How would you design a real time application for cnc control in c / c++ ???

Thank you so much.
I know about rotation problem. I think I can do it

How you can hide yellow cross?

PS Can you check "LinuxCNC S-Curve Accelerations" topic

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Grotius
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5 years 4 months ago #211868 by Grotius

Replied by Grotius on topic How would you design a real time application for cnc control in c / c++ ???

Hi,

For reading a stepfile, there are different options. Try this example :

Warning: Spoiler!

Code:

bool Opencascade::Readstepfile(const std::string& theStepName)
{
    SegmentVec.push_back(Segment);

    STEPCAFControl_Controller::Init();

    Handle(TDocStd_Document) aDoc;
    Handle(XCAFApp_Application) anApp = XCAFApp_Application::GetApplication();
    anApp->NewDocument("MDTV-XCAF", aDoc);

    STEPCAFControl_Reader aStepReader;
    aStepReader.SetColorMode(true);
    aStepReader.SetNameMode(true);
    aStepReader.SetLayerMode(true);
    aStepReader.SetPropsMode(true);

    aStepReader.ReadFile (theStepName.c_str());
    aStepReader.Transfer (aDoc);

    TDF_Label aRootLabel = aDoc->Main();

    aShapeTool = XCAFDoc_DocumentTool::ShapeTool(aRootLabel);
    aColorTool = XCAFDoc_DocumentTool::ColorTool(aRootLabel);

    Visit(aRootLabel);

    m_view->FitAll();

    return 1;
}

void Opencascade::Visit(const TDF_Label& theLabel)
{
    //theLabel.EntryDump(std::cout);
    Quantity_Color aColor;
    TopoDS_Shape aShape;

    Handle(TDataStd_Name) aName;
    if (theLabel.FindAttribute(TDataStd_Name::GetID(), aName))
    {
        //std::cout << "  Name: " << aName->Get() << std::endl;
    }

    bool skip=0;
    if (aShapeTool->IsShape(theLabel))
    {
        //TopoDS_Shape aShape;
        //if a shape can be made from the current label, look for the color of that label:
        if(aShapeTool->GetShape(theLabel, aShape)){
            //std::cout<<"made a shape"<<std::endl;

            if(aColorTool->GetColor(aShape,XCAFDoc_ColorSurf,aColor)){
                skip=0;
            } else { skip=1;}

        }

        if(skip==0){

            SegmentVec.back().Ais_ShapeVec.push_back(new AIS_Shape(aShape));
            //if(aColor.Name()!=Quantity_NOC_YELLOW && aColor.Name()!=Quantity_NOC_RED){
            SegmentVec.back().Ais_ShapeVec.back()->SetColor(aColor);
            //}
            SegmentVec.back().Ais_ShapeVec.back()->SetDisplayMode(AIS_Shaded);
            SegmentVec.back().Ais_ShapeVec.back()->Attributes()->SetFaceBoundaryDraw(true);
            SegmentVec.back().Ais_ShapeVec.back()->Attributes()->SetFaceBoundaryAspect(
                        new Prs3d_LineAspect(Quantity_NOC_BLACK, Aspect_TOL_SOLID, 1.));
            SegmentVec.back().Ais_ShapeVec.back()->Attributes()->SetIsoOnTriangulation(true);
            m_context->Display(SegmentVec.back().Ais_ShapeVec.back(),Standard_False);

        }
    }

    /*! Repeat the visit function for each childmember. */
    for (TDF_ChildIterator c(theLabel); c.More(); c.Next())
    {
        Visit(c.Value());
    }
}

PS Can you check "LinuxCNC S-Curve Accelerations" topic
If you have problem's with a nice motion output. Try to integrate a stepgen component between your motion command and
motor drives. The stepgen component can finetune the acceleration-deacceleartion very nice.

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udoS
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5 years 2 months ago #218142 by udoS

Replied by udoS on topic How would you design a real time application for cnc control in c / c++ ???

Hi Grotius... remember me ?

In reference to your "Qt_C-_Lcnc_Gui"

there is a section ...toolpos.x=emcStatus->motion.traj.position.tran.x; in get_position.h
Where do I find things like distance_to_go.x and/or other related values or maybe a relevant documentation.

Oh... and how to index if I have a gantry like I realy do.

Best regards

udo

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Grotius
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5 years 2 months ago #218239 by Grotius

Replied by Grotius on topic How would you design a real time application for cnc control in c / c++ ???

Hi, i "duckducked".

Motion distance-to-go is inside the motion controller.
linuxcnc.org/docs/2.7/html/man/man9/motion.9.html

motion.distance−to−go OUT FLOAT
Distance remaining in the current move

You can retrieve this value by reading the halpin of the motion ..
In c++ you can setup a gui component with a hal-in pin of type float.

In the current repository their seems not to be a gui-component. The
level of coding was quite low at that time.

Then connect in the .hal file the motion-halpin type::hal_out to your gui input pin.
Examples how to setup this, see the attachements. rename .txt to .cpp

Oh... and how to index if I have a gantry like I realy do.
You mean activate the home sequence?

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udoS
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5 years 2 months ago #218332 by udoS

Replied by udoS on topic How would you design a real time application for cnc control in c / c++ ???

Hi, thanks.
That’s not it.
The distance-to-go is ok but that is the total move.
I‘m looking for .dtg that comes as a tuple from the nml emcSatus.
So it should be available somewhere at:
std:get<0>(emcSatus-> ........ .dtg);
Using Qtcreator 4.8

Best regards

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