From 67b8b7c189930bfc4f46c39756b93479ba3091a5 Mon Sep 17 00:00:00 2001 From: Jonan CM Date: Wed, 9 Oct 2013 11:46:39 +0100 Subject: [PATCH] Initial commit of MarkCommander. This is the source code for the MarkCommander application as it was handed in for the Robotics course at ULPGC. This version is the full GUI with icons, and provides the following functionality: * Terminal for sending raw commands to the Mark IV controller. * Direct kinematics solving, for positioning the end effector by providing the joint angles. * Inverse kinematics solving, for positioning the end effector by providing the coordinates of the TCP (Tool Center Point) and a rotation matrix that expreses the orientation of the end effector. * Configuration dialog for configuring the Mark IV controller. This version of the application may still have some errors, particularly in the inverse kinematics, but does a fairly good job and is quite usable. The code has been licensed under the terms of the Apache License. --- .gitignore | 2 + CHANGELOG | 19 + ERRORS | 7 + INFO | 4 + LICENSE | 13 + MarkCommander.pro | 63 + MarkCommander.rc | 1 + TODO | 3 + appicon.icns | Bin 0 -> 119321 bytes appicon.ico | Bin 0 -> 10134 bytes cmdlineedit.cpp | 60 + cmdlineedit.hpp | 38 + errorcodes.cpp | 133 ++ errorcodes.hpp | 126 ++ exception.cpp | 46 + exception.hpp | 34 + files.qrc | 7 + files/mark-iv-commands.html | 1 + files/mark-iv-commands.pdf | Bin 0 -> 72622 bytes files/mark-iv-error-codes.txt | 105 ++ icons.qrc | 54 + icons/1300233017_eraser.png | Bin 0 -> 1714 bytes icons/1300233114_utilities-terminal.png | Bin 0 -> 1022 bytes icons/1300233134_eraser.png | Bin 0 -> 1200 bytes icons/1300233417_document-save.png | Bin 0 -> 1024 bytes icons/1300233418_document-save.png | Bin 0 -> 656 bytes icons/1300233422_document-save-as.png | Bin 0 -> 1660 bytes icons/1300233423_document-save-as.png | Bin 0 -> 1095 bytes icons/1300233427_save-all.png | Bin 0 -> 1029 bytes icons/1300233428_save-all.png | Bin 0 -> 958 bytes icons/1300233544_document-save.png | Bin 0 -> 515 bytes icons/Rhino XR-3 128x128.png | Bin 0 -> 28594 bytes icons/Rhino XR-3 16x16.png | Bin 0 -> 3539 bytes icons/Rhino XR-3 256x256.png | Bin 0 -> 85807 bytes icons/Rhino XR-3 256x256.psd | Bin 0 -> 391478 bytes icons/Rhino XR-3 32x32.png | Bin 0 -> 5195 bytes icons/Rhino XR-3 48x48.png | Bin 0 -> 7710 bytes icons/Rhino XR-3.psd | Bin 0 -> 386840 bytes icons/appicon.icns | Bin 0 -> 119321 bytes icons/appicon.ico | Bin 0 -> 10134 bytes icons/appicon1.png | Bin 0 -> 119248 bytes icons/appicon2.png | Bin 0 -> 85807 bytes icons/appicon3.png | Bin 0 -> 28611 bytes icons/clear_term.png | Bin 0 -> 1822 bytes icons/clear_term.xcf | Bin 0 -> 4729 bytes icons/close_term.png | Bin 0 -> 1486 bytes icons/close_term.xcf | Bin 0 -> 4501 bytes icons/document-new.png | Bin 0 -> 1474 bytes icons/document-open.png | Bin 0 -> 2152 bytes icons/document-save.png | Bin 0 -> 1158 bytes icons/down.png | Bin 0 -> 2031 bytes icons/edit-copy.png | Bin 0 -> 1397 bytes icons/edit-cut.png | Bin 0 -> 1939 bytes icons/edit-paste.png | Bin 0 -> 1387 bytes icons/edit-redo.png | Bin 0 -> 1851 bytes icons/edit-select-all.png | Bin 0 -> 1084 bytes icons/edit-undo.png | Bin 0 -> 1857 bytes icons/editcopy.png | Bin 0 -> 1397 bytes icons/editcut.png | Bin 0 -> 1939 bytes icons/editpaste.png | Bin 0 -> 1387 bytes icons/filenew.png | Bin 0 -> 1474 bytes icons/fileopen.png | Bin 0 -> 2152 bytes icons/filesave.png | Bin 0 -> 1158 bytes icons/filesaveas.png | Bin 0 -> 1394 bytes icons/format-indent-less.png | Bin 0 -> 1339 bytes icons/format-indent-more.png | Bin 0 -> 1324 bytes icons/gnome-terminal.png | Bin 0 -> 1346 bytes icons/gtk-cancel.png | Bin 0 -> 1904 bytes icons/gtk-close-16x16.png | Bin 0 -> 605 bytes icons/gtk-close-22x22.png | Bin 0 -> 844 bytes icons/gtk-close-24x24.png | Bin 0 -> 903 bytes icons/gtk-close.png | Bin 0 -> 1194 bytes icons/gtk-copy.png | Bin 0 -> 1397 bytes icons/gtk-cut.png | Bin 0 -> 1939 bytes icons/gtk-save-as.png | Bin 0 -> 1394 bytes icons/gtk-save.png | Bin 0 -> 1158 bytes icons/gtk-stop.png | Bin 0 -> 1904 bytes icons/markiv.jpg | Bin 0 -> 6668 bytes icons/openterm.png | Bin 0 -> 1346 bytes icons/rhino_robot_white.jpg | Bin 0 -> 20680 bytes icons/save_term_buffer.png | Bin 0 -> 1302 bytes icons/save_term_buffer.xcf | Bin 0 -> 3988 bytes icons/stock_exit.png | Bin 0 -> 1419 bytes icons/terminal.png | Bin 0 -> 1346 bytes icons/tp4.jpg | Bin 0 -> 5594 bytes icons/up.png | Bin 0 -> 1997 bytes icons/url.txt | 1 + main.cpp | 27 + mainwindow.cpp | 1922 +++++++++++++++++++++++ mainwindow.hpp | 173 ++ mainwindow.ui | 1719 ++++++++++++++++++++ matrix.cpp | 155 ++ matrix.hpp | 54 + rhino_xr4.cpp | 408 +++++ rhino_xr4.hpp | 67 + rhinolang.cpp | 60 + rhinolang.hpp | 43 + rhinoprog.cpp | 47 + rhinoprog.hpp | 31 + terminal.cpp | 294 ++++ terminal.hpp | 105 ++ 101 files changed, 5822 insertions(+) create mode 100644 .gitignore create mode 100644 CHANGELOG create mode 100644 ERRORS create mode 100644 INFO create mode 100644 LICENSE create mode 100644 MarkCommander.pro create mode 100644 MarkCommander.rc create mode 100644 TODO create mode 100644 appicon.icns create mode 100644 appicon.ico create mode 100644 cmdlineedit.cpp create mode 100644 cmdlineedit.hpp create mode 100644 errorcodes.cpp create mode 100644 errorcodes.hpp create mode 100644 exception.cpp create mode 100644 exception.hpp create mode 100644 files.qrc create mode 100644 files/mark-iv-commands.html create mode 100644 files/mark-iv-commands.pdf create mode 100644 files/mark-iv-error-codes.txt create mode 100644 icons.qrc create mode 100644 icons/1300233017_eraser.png create mode 100644 icons/1300233114_utilities-terminal.png create mode 100644 icons/1300233134_eraser.png create mode 100644 icons/1300233417_document-save.png create mode 100644 icons/1300233418_document-save.png create mode 100644 icons/1300233422_document-save-as.png create mode 100644 icons/1300233423_document-save-as.png create mode 100644 icons/1300233427_save-all.png create mode 100644 icons/1300233428_save-all.png create mode 100644 icons/1300233544_document-save.png create mode 100644 icons/Rhino XR-3 128x128.png create mode 100644 icons/Rhino XR-3 16x16.png create mode 100644 icons/Rhino XR-3 256x256.png create mode 100644 icons/Rhino XR-3 256x256.psd create mode 100644 icons/Rhino XR-3 32x32.png create mode 100644 icons/Rhino XR-3 48x48.png create mode 100644 icons/Rhino XR-3.psd create mode 100644 icons/appicon.icns create mode 100644 icons/appicon.ico create mode 100644 icons/appicon1.png create mode 100644 icons/appicon2.png create mode 100644 icons/appicon3.png create mode 100644 icons/clear_term.png create mode 100644 icons/clear_term.xcf create mode 100644 icons/close_term.png create mode 100644 icons/close_term.xcf create mode 100644 icons/document-new.png create mode 100644 icons/document-open.png create mode 100644 icons/document-save.png create mode 100644 icons/down.png create mode 100644 icons/edit-copy.png create mode 100644 icons/edit-cut.png create mode 100644 icons/edit-paste.png create mode 100644 icons/edit-redo.png create mode 100644 icons/edit-select-all.png create mode 100644 icons/edit-undo.png create mode 100644 icons/editcopy.png create mode 100644 icons/editcut.png create mode 100644 icons/editpaste.png create mode 100644 icons/filenew.png create mode 100644 icons/fileopen.png create mode 100644 icons/filesave.png create mode 100644 icons/filesaveas.png create mode 100644 icons/format-indent-less.png create mode 100644 icons/format-indent-more.png create mode 100644 icons/gnome-terminal.png create mode 100644 icons/gtk-cancel.png create mode 100644 icons/gtk-close-16x16.png create mode 100644 icons/gtk-close-22x22.png create mode 100644 icons/gtk-close-24x24.png create mode 100644 icons/gtk-close.png create mode 100644 icons/gtk-copy.png create mode 100644 icons/gtk-cut.png create mode 100644 icons/gtk-save-as.png create mode 100644 icons/gtk-save.png create mode 100644 icons/gtk-stop.png create mode 100644 icons/markiv.jpg create mode 100644 icons/openterm.png create mode 100644 icons/rhino_robot_white.jpg create mode 100644 icons/save_term_buffer.png create mode 100644 icons/save_term_buffer.xcf create mode 100644 icons/stock_exit.png create mode 100644 icons/terminal.png create mode 100644 icons/tp4.jpg create mode 100644 icons/up.png create mode 100644 icons/url.txt create mode 100644 main.cpp create mode 100644 mainwindow.cpp create mode 100644 mainwindow.hpp create mode 100644 mainwindow.ui create mode 100644 matrix.cpp create mode 100644 matrix.hpp create mode 100644 rhino_xr4.cpp create mode 100644 rhino_xr4.hpp create mode 100644 rhinolang.cpp create mode 100644 rhinolang.hpp create mode 100644 rhinoprog.cpp create mode 100644 rhinoprog.hpp create mode 100644 terminal.cpp create mode 100644 terminal.hpp diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..170be8b --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +*.pro.user +*.sh \ No newline at end of file diff --git a/CHANGELOG b/CHANGELOG new file mode 100644 index 0000000..47c8560 --- /dev/null +++ b/CHANGELOG @@ -0,0 +1,19 @@ +Initial commit of MarkCommander. + +This is the source code for the MarkCommander application as it was handed +in for the Robotics course at ULPGC. This version is the full GUI with +icons, and provides the following functionality: + +* Terminal for sending raw commands to the Mark IV controller. +* Direct kinematics solving, for positioning the end effector by providing + the joint angles. +* Inverse kinematics solving, for positioning the end effector by + providing the coordinates of the TCP (Tool Center Point) and a rotation + matrix that expreses the orientation of the end effector. +* Configuration dialog for configuring the Mark IV controller. + +This version of the application may still have some errors, particularly +in the inverse kinematics, but does a fairly good job and is quite usable. + +The code has been licensed under the terms of the Apache License. + diff --git a/ERRORS b/ERRORS new file mode 100644 index 0000000..5c650ac --- /dev/null +++ b/ERRORS @@ -0,0 +1,7 @@ +* En la configuración del controlador, la opción para habilitar/deshabilitar la pinza no sirve, y la de joint/XYZ mode tampoco. [La de la pinza ahora sí debería servir. En cualquier caso, hay que comprobar ambas, pero ahora sí deberían servir las dos.] +* Hay problemas al conectar signals y slots: + QMetaObject::connectSlotsByName: No matching signal for on_actionApplyConfiguration_triggered() + QMetaObject::connectSlotsByName: No matching signal for on_actionRevertConfiguration_triggered() + QMetaObject::connectSlotsByName: No matching signal for on_actionCloseConfiguration_triggered() +* El programa se queda colgado cuando se intenta salir, y la única forma de cerrarlo es matar el proceso (pero sólo pasa a veces). +* Las funciones "moveMotor" tienen un error: hay que convertir los ángulos a pasos y los pasos a grados [está corregido, pero conviene revisar que está bien hecho]. diff --git a/INFO b/INFO new file mode 100644 index 0000000..dbcbe36 --- /dev/null +++ b/INFO @@ -0,0 +1,4 @@ +* Tras la revisión 20, se volvió a la revisión 19 para eliminar el Segmentation Fault, pero parece ser que el Segmentation Fault no se debía a los cambios hechos para implementar el editor, sino a algún problema con el puerto serie (por ejemplo, la ausencia de un controlador Mark IV). [Al menos en Windows 7 y en la máquina de Windows XP. En el laboratorio la revisión 20 también daba un Segmentation Fault, pero no pude probar la revisión 19.] + Ayer me funcionaba esta revisión (con lo de la configuración y todo), y hoy me da el segmentation fault (>.<) Da cuando se abre el puerto serie en la clase 'Terminal' (en el método de QextSerialPort), así que parece que no es problema mío, sino de QextSerialport (o del SO), porque en el programa de la entrega 1 (revisión 19) no da el segmentation fault. + Me he pasado a un portátil, y ya no da el segmentation fault. Debía ser por culpa del puerto serie en el PC host. + Ahora en Windows 7 tampoco peta. ¿Puede que fuera que en la versión "debug" de MarkCommander se estaba usando la compilación "release" de QextSerialPort? \ No newline at end of file diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..7895e01 --- /dev/null +++ b/LICENSE @@ -0,0 +1,13 @@ +Copyright 2011 Jonan Cruz-Martin + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. \ No newline at end of file diff --git a/MarkCommander.pro b/MarkCommander.pro new file mode 100644 index 0000000..251ad71 --- /dev/null +++ b/MarkCommander.pro @@ -0,0 +1,63 @@ +#------------------------------------------------- +# +# Project created by QtCreator 2011-03-16T22:14:07 +# +#------------------------------------------------- + +QT += core gui webkit + +TARGET = MarkCommander +TEMPLATE = app + + +SOURCES += main.cpp\ + mainwindow.cpp \ + exception.cpp \ + errorcodes.cpp \ + terminal.cpp \ + rhinolang.cpp \ + cmdlineedit.cpp \ + rhinoprog.cpp \ + rhino_xr4.cpp \ + matrix.cpp + +HEADERS += \ + rhino_xr4.hpp \ + matrix.hpp \ + cmdlineedit.hpp \ + errorcodes.hpp \ + exception.hpp \ + mainwindow.hpp \ + rhinolang.hpp \ + rhinoprog.hpp \ + terminal.hpp + +FORMS += mainwindow.ui + +RESOURCES += \ + icons.qrc \ + files.qrc + +INCLUDEPATH += ../qextserialport/src + +#LIBS += -L../qextserialport/src-build-desktop/build -lqextserialportd1 +#LIBS += -L../qextserialport/src-build-desktop/build -lqextserialport1 +#macx:LIBS += -L../qextserialport-build-desktop-Desktop_Qt_4_7_4_for_GCC__Qt_SDK__Debug/src/build -lqextserialportd +macx:LIBS += -L../qextserialport-build-desktop-Desktop_Qt_4_7_4_for_GCC__Qt_SDK__Release/src/build -lqextserialport + +win32:RC_FILE = MarkCommander.rc +macx:ICON = appicon.icns + + + + + + + + + + + + + + diff --git a/MarkCommander.rc b/MarkCommander.rc new file mode 100644 index 0000000..d4298d4 --- /dev/null +++ b/MarkCommander.rc @@ -0,0 +1 @@ +IDI_ICON1 ICON DISCARDABLE "appicon.ico" \ No newline at end of file diff --git a/TODO b/TODO new file mode 100644 index 0000000..13c9f3c --- /dev/null +++ b/TODO @@ -0,0 +1,3 @@ +* Supuestamente, debería poderse parar el timer de polling una vez se recibe el Carriage Return del controlador. +* Añadir una barra de progreso a la barra de estado para indicar que se está esperando la respuesta del controlador. +* Corregir el control manual en el espacio de las articulaciones para que sea más fluido. diff --git a/appicon.icns b/appicon.icns new 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Martín +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "cmdlineedit.hpp" + +#include + +CmdLineEdit::CmdLineEdit(QWidget *parent) : QLineEdit(parent) +{ + historyIndex = 0; +} + +void CmdLineEdit::addCmdToHistory(QString cmd) +{ + _cmdHistory.append(cmd); + historyIndex++; +} + +QStringList CmdLineEdit::cmdHistory() +{ + return _cmdHistory; +} + +void CmdLineEdit::keyPressEvent(QKeyEvent *event) +{ + if (event->key() == Qt::Key_Up) + { + if (!_cmdHistory.isEmpty() && historyIndex > 0) + { + historyIndex--; + setText(_cmdHistory.at(historyIndex)); + } + } + else if (event->key() == Qt::Key_Down) + { + if (!_cmdHistory.isEmpty()) + { + if (++historyIndex < _cmdHistory.size()) + setText(_cmdHistory.at(historyIndex)); + else + { + historyIndex = _cmdHistory.size(); + setText(currentCmd); + } + } + } + else + QLineEdit::keyPressEvent(event); +} diff --git a/cmdlineedit.hpp b/cmdlineedit.hpp new file mode 100644 index 0000000..48fb033 --- /dev/null +++ b/cmdlineedit.hpp @@ -0,0 +1,38 @@ +// Copyright 2011 Jonán C. Martín +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef CMDLINEEDIT_H +#define CMDLINEEDIT_H + +#include + +class CmdLineEdit : public QLineEdit +{ + Q_OBJECT + +public: + CmdLineEdit(QWidget *parent=0); + void addCmdToHistory(QString cmd); + QStringList cmdHistory(); + +protected: + void keyPressEvent(QKeyEvent *event); + +private: + QStringList _cmdHistory; + int historyIndex; + QString currentCmd; +}; + +#endif // CMDLINEEDIT_H diff --git a/errorcodes.cpp b/errorcodes.cpp new file mode 100644 index 0000000..d428fd9 --- /dev/null +++ b/errorcodes.cpp @@ -0,0 +1,133 @@ +// Copyright 2011 Jonán C. Martín +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "errorcodes.hpp" + +// Reg exp for Notepad++'s Ctrl-H (Search & Replace): +// >>(\#define)( )([A-Z\_]+)([ ]+[0-9]+[ ]+//[ ])([A-Za-z0-9 \'\(\)\,\.=]+)<< +// >> case \3: return "\5";<< + +const char * errcode_meaning(int errorno) +{ + switch (errorno) + { + /*********************************************************************** + * COMMAND ERRORS + ***********************************************************************/ + + case INV_CMD: return "Invalid command"; + case PAR_OUT: return "Parameter out of bounds"; + case MIS_PAR: return "Missing parameter"; + case NO_DLIM: return "Expected delimiter not seen"; + case TOO_MNY: return "Command string too long"; + case TP_ACTV: return "The teach pendant is active or busy"; + + /*********************************************************************** + * COMMUNICATION ERRORS + ***********************************************************************/ + + case HST_OVF: return "Host input buffer overflow"; + case HST_TMO: return "Host USART timed out"; + case HST_ERR: return "Host USART error (framing, parity, etc.)"; + case TP_OVF: return "Teach pendant input buffer overflow"; + case TP_TMO: return "Teach pendant USART timed out"; + case TP_ERRO: return "Teach pendant USART error (framing, parity, etc.)"; + case TP_OVRN: return "Teach pendant USART overrun"; + case HST_OVR: return "Host USART overrun"; + + /*********************************************************************** + * DIAGNOSTIC ERRORS + ***********************************************************************/ + + case BAD_RAM: return "Bad RAM location"; + case TP_ERR: return "Teach pendant returned diagnostic error"; + case NO_TP: return "Teach pendant not present"; + + /*********************************************************************** + * TEACH PENDANT PROGRAM ERRORS + ***********************************************************************/ + + case LAB_ERR: return "Missing label"; + case NO_PGRM: return "No program in memory"; + case MEM_FUL: return "Insufficient teach pendant memory"; + case EPM_FUL: return "Insufficient EEPROM memory"; + case RPL_ERR: return "Can't replace first record"; + case PROGRAM: return "A pendant program already exists"; + + /*********************************************************************** + * EXECUTION ERRORS + ***********************************************************************/ + + case HRD_ERR: return "Hard home routine failed"; + case NO_HARD: return "Hard home not set"; + case NO_SOFT: return "Soft home not set"; + case AR_OVFL: return "Arithmetic overflow"; + case TRG_ERR: return "Trig function return error"; + case STK_ERR: return "Error stack overflow"; + case BUSY: return "Still executing a trapezoidal move"; + case NO_MOTR: return "Inactive motor referenced"; + case MOV_DAT: return "Insufficient move data (velocity or acceleration = 0)"; + case BAD_MOD: return "Improper motor mode for command"; + case NO_A_SW: return "Limit switch A not found"; + case NO_B_SW: return "Limit switch B not found"; + case NO_C_SW: return "Limit switch C not found"; + case NO_D_SW: return "Limit switch D not found"; + case NO_E_SW: return "Limit switch E not found"; + case NO_F_SW: return "Limit switch F not found"; + case NO_G_SW: return "Limit switch G not found"; + case NO_H_SW: return "Limit switch H not found"; + case IMODE: return "Interpolation move out of bounds"; + case POS_OUT: return "XYZ position out of bounds"; + case STK_A_S: return "Limit switch A stuck"; + case STK_B_S: return "Limit switch B stuck"; + case STK_C_S: return "Limit switch C stuck"; + case STK_D_S: return "Limit switch D stuck"; + case STK_E_S: return "Limit switch E stuck"; + case STK_F_S: return "Limit switch F stuck"; + case STK_G_S: return "Limit switch G stuck"; + case STK_H_S: return "Limit switch H stuck"; + case INV_RBT: return "Invalid robot type specifier"; + case INV_MOT: return "Invalid motor specifier"; + case INV_CTL: return "Invalid controller type"; + case INV_PND: return "Invalid pendant mode"; + case STOP: return "Emergency stop"; + case INV_XYZ: return "Invalid xyz specifier"; + case XYZ_PAR: return "Invalid xyz parameter"; + + /*********************************************************************** + * MOTOR ERRORS + ***********************************************************************/ + + case A_STALL: return "Motor A stalled"; + case B_STALL: return "Motor B stalled"; + case C_STALL: return "Motor C stalled"; + case D_STALL: return "Motor D stalled"; + case E_STALL: return "Motor E stalled"; + case F_STALL: return "Motor F stalled"; + case G_STALL: return "Motor G stalled"; + case H_STALL: return "Motor H stalled"; + case A_CURLIM: return "Motor A's current limit circuit was activated"; + case B_CURLIM: return "Motor B's current limit circuit was activated"; + case C_CURLIM: return "Motor C's current limit circuit was activated"; + case D_CURLIM: return "Motor D's current limit circuit was activated"; + case E_CURLIM: return "Motor E's current limit circuit was activated"; + case F_CURLIM: return "Motor F's current limit circuit was activated"; + case G_CURLIM: return "Motor G's current limit circuit was activated"; + case H_CURLIM: return "Motor H's current limit circuit was activated"; + case I_CURLIM: return "Aux Port 1's current limit circuit was activated"; + case J_CURLIM: return "Aux Port 2's current limit circuit was activated"; + + default: return "Unknown error code"; + } +} diff --git a/errorcodes.hpp b/errorcodes.hpp new file mode 100644 index 0000000..91258a9 --- /dev/null +++ b/errorcodes.hpp @@ -0,0 +1,126 @@ +// Copyright 2011 Jonán C. Martín +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef ERRORCODES_H +#define ERRORCODES_H + +/*********************************************************************** + * COMMAND ERRORS + ***********************************************************************/ + +#define INV_CMD 10 // Invalid command +#define PAR_OUT 11 // Parameter out of bounds +#define MIS_PAR 12 // Missing parameter +#define NO_DLIM 13 // Expected delimiter not seen +#define TOO_MNY 14 // Command string too long +#define TP_ACTV 16 // The teach pendant is active or busy + +/*********************************************************************** + * COMMUNICATION ERRORS + ***********************************************************************/ + +#define HST_OVF 20 // Host input buffer overflow +#define HST_TMO 21 // Host USART timed out +#define HST_ERR 22 // Host USART error (framing, parity, etc.) +#define TP_OVF 23 // Teach pendant input buffer overflow +#define TP_TMO 24 // Teach pendant USART timed out +#define TP_ERRO 25 // Teach pendant USART error (framing, parity, etc.) +#define TP_OVRN 26 // Teach pendant USART overrun +#define HST_OVR 27 // Host USART overrun + +/*********************************************************************** + * DIAGNOSTIC ERRORS + ***********************************************************************/ + +#define BAD_RAM 30 // Bad RAM location +#define TP_ERR 32 // Teach pendant returned diagnostic error +#define NO_TP 34 // Teach pendant not present + +/*********************************************************************** + * TEACH PENDANT PROGRAM ERRORS + ***********************************************************************/ + +#define LAB_ERR 40 // Missing label +#define NO_PGRM 41 // No program in memory +#define MEM_FUL 42 // Insufficient teach pendant memory +#define EPM_FUL 43 // Insufficient EEPROM memory +#define RPL_ERR 44 // Can't replace first record +#define PROGRAM 45 // A pendant program already exists + +/*********************************************************************** + * EXECUTION ERRORS + ***********************************************************************/ + +#define HRD_ERR 50 // Hard home routine failed +#define NO_HARD 51 // Hard home not set +#define NO_SOFT 52 // Soft home not set +#define AR_OVFL 53 // Arithmetic overflow +#define TRG_ERR 54 // Trig function return error +#define STK_ERR 55 // Error stack overflow +#define BUSY 56 // Still executing a trapezoidal move +#define NO_MOTR 57 // Inactive motor referenced +#define MOV_DAT 58 // Insufficient move data (velocity or acceleration = 0) +#define BAD_MOD 59 // Improper motor mode for command +#define NO_A_SW 60 // Limit switch A not found +#define NO_B_SW 61 // Limit switch B not found +#define NO_C_SW 62 // Limit switch C not found +#define NO_D_SW 63 // Limit switch D not found +#define NO_E_SW 64 // Limit switch E not found +#define NO_F_SW 65 // Limit switch F not found +#define NO_G_SW 66 // Limit switch G not found +#define NO_H_SW 67 // Limit switch H not found +#define IMODE 69 // Interpolation move out of bounds +#define POS_OUT 70 // XYZ position out of bounds +#define STK_A_S 80 // Limit switch A stuck +#define STK_B_S 81 // Limit switch B stuck +#define STK_C_S 82 // Limit switch C stuck +#define STK_D_S 83 // Limit switch D stuck +#define STK_E_S 84 // Limit switch E stuck +#define STK_F_S 85 // Limit switch F stuck +#define STK_G_S 86 // Limit switch G stuck +#define STK_H_S 87 // Limit switch H stuck +#define INV_RBT 91 // Invalid robot type specifier +#define INV_MOT 92 // Invalid motor specifier +#define INV_CTL 93 // Invalid controller type +#define INV_PND 94 // Invalid pendant mode +#define STOP 95 // Emergency stop +#define INV_XYZ 96 // Invalid xyz specifier +#define XYZ_PAR 97 // Invalid xyz parameter + +/*********************************************************************** + * MOTOR ERRORS + ***********************************************************************/ + +#define A_STALL 100 // Motor A stalled +#define B_STALL 101 // Motor B stalled +#define C_STALL 102 // Motor C stalled +#define D_STALL 103 // Motor D stalled +#define E_STALL 104 // Motor E stalled +#define F_STALL 105 // Motor F stalled +#define G_STALL 106 // Motor G stalled +#define H_STALL 107 // Motor H stalled +#define A_CURLIM 110 // Motor A's current limit circuit was activated +#define B_CURLIM 111 // Motor B's current limit circuit was activated +#define C_CURLIM 112 // Motor C's current limit circuit was activated +#define D_CURLIM 113 // Motor D's current limit circuit was activated +#define E_CURLIM 114 // Motor E's current limit circuit was activated +#define F_CURLIM 115 // Motor F's current limit circuit was activated +#define G_CURLIM 116 // Motor G's current limit circuit was activated +#define H_CURLIM 117 // Motor H's current limit circuit was activated +#define I_CURLIM 118 // Aux Port 1's current limit circuit was activated +#define J_CURLIM 119 // Aux Port 2's current limit circuit was activated + +const char * errcode_meaning(int errorno); + +#endif // ERRORCODES_H diff --git a/exception.cpp b/exception.cpp new file mode 100644 index 0000000..e476b15 --- /dev/null +++ b/exception.cpp @@ -0,0 +1,46 @@ +// Copyright 2011 Jonán C. Martín +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "exception.hpp" + +#include + +#include +using namespace std; + +Exception::Exception(QString newMsg) +{ + _description = QObject::tr("Generic exception"); + setMessage(newMsg); +} + +QString Exception::description() +{ + return _description; +} + +QString Exception::message() +{ + return _message; +} + +void Exception::setMessage(QString newMsg) +{ + _message = newMsg; +} + +void Exception::printMessage() +{ + cout << message().toStdString() << endl; +} diff --git a/exception.hpp b/exception.hpp new file mode 100644 index 0000000..336f76f --- /dev/null +++ b/exception.hpp @@ -0,0 +1,34 @@ +// Copyright 2011 Jonán C. Martín +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef EXCEPTION_H +#define EXCEPTION_H + +#include +#include + +class Exception +{ +protected: + QString _description; // brief description (or name) of the exception + QString _message; // longer message describing the exception +public: + Exception(QString newMsg=""); + QString description(); + QString message(); + void setMessage(QString newMsg); + void printMessage(); +}; + +#endif // EXCEPTION_H diff --git a/files.qrc b/files.qrc new file mode 100644 index 0000000..de37373 --- /dev/null +++ b/files.qrc @@ -0,0 +1,7 @@ + + + files/mark-iv-commands.html + files/mark-iv-commands.pdf + files/mark-iv-error-codes.txt + + diff --git a/files/mark-iv-commands.html b/files/mark-iv-commands.html new file mode 100644 index 0000000..cb44307 --- /dev/null +++ b/files/mark-iv-commands.html @@ -0,0 +1 @@ +Comandos de Rhino Mark IV

System Commands

SA

Read motor status.

SC

Read system configuration.

Bit 7:    1 = host mode               0 = pendant mode

Bit 6:    1 = pendant enabled     0 = pendant disabled

Bit 5:    1 = generic controller    0 = robot controller

Bit 4:    1 = SCARA mode         0 = XR-3 mode

Bit 3:    1 = gripper disabled      0 = gripper enabled

Bit 2:    1 = xyz coordinate        0 = joint coordinate

Bit 1 and 0 are always 0.

SD,d

Stop/start delay timer.

0 <= d <= 3000.

SE

Read host error stack.

SM,m

Read motor mode.

0 = Idle mode

1 = Trapezoidal mode

2 = Velocity mode

3 = Open loop mode

SP

Read teach pendant error byte.

SR

Reset motor current limit circuitry.

SS

Read system status.

Bit 7:    1 = At least one motor is busy.

Bit 6:    1 = A system error has occurred.

Bit 5:    1 = The delay timer is active.

Bit 4:    1 = Wait on input/switch still pending.

Bit 3:    1 = No teach pendant is connected.

Bit 2:    1 = The ENTER key has been pressed.

Bit 1: The ESCAPE key has been pressed.

Bit 0: A teach pendant error has occurred.

ST

Execute diagnostics.

SU

Read usage time.

SV

Read version and I.D. number.

SX

Execute diagnostics and return results.

SZ

Read the delay timer.

Configuration Commands

CC,d

Set coordinate position.

CG,s

Enable (1) gripper mode (0) disable.

CM,m,d

Set motor mode.

0 = Idle mode

1 = Trapezoidal mode

2 = Velocity mode

3 = Open loop mode

CR,d

Set robot type.

0 = XR-3 robot mode.

1 = SCARA robot mode.

2 = GENERIC controller mode.

Motor Read Commands

AR

Read system acceleration.

DR,m

Read motor pwm level and direction

GS

Read gripper status.

HR,m

Read soft home position.

PA,m

Read actual position.

PW,m

Read destination position.

PZ,x

Read xyz destination position.

RL

Read limit switches.

UA

Read xyz rotation angle.

UH,x

Read xyz home position.

UO,x

Read xyz offset.

UT

Read xyz tool length.

UY

Read xyz height of the elbow rotation axis (H0).

VA,m

Read motor actual velocity.

VR,m

Read motor desired velocity.

VX

Read system velocity.

XR,m

Read auxiliary port level and direction.

1 <= d <= 2

Motor Set Commands

AC,m

Clear motor actual position.

AS,d

Set system acceleration.

DS,m,d

Set motor pwm level and direction.

GC

Close gripper.

GO

Open gripper.

HA

Go to the hard home position.

HG

Go to the soft home position.

HH

Execute a hard home.

HL,m

Hard home on limit switch.

HS

Set soft home.

MA

Stop all motors and auxiliary ports.

MC

Start all motors, coordinated.

MI

Start all motor, independent.

MM,m

Stop single motor.

MS,m

Start single motor.

MX

Start xyz move.

PD,m,d

Set motor destination position, absolute.

PR,m,d

Set motor destination position, relative.

PX,x,f

Set axis destination position, absolute.

PY,x,f

Set axis destination position, relative.

VG,d

Set system velocity.

VS,m,d

Set motor velocity.

XA,f

Set xyz rotation angle.

XH,x,f

Set xyz home position.

XO,x,f

Set xyz offset.

XS,m,d

Set auxiliary port level and direction.

1 <= m <= 2

XT,f

Set xyz tool length.

XY,f

Set xyz height of the elbow rotation axis (H0).

Teach Pendant Commands

FR

Receive teach pendant file from host.

FT

Transmit teach pendant file to host.

FX

Execute teach pendant program.

TA

Abort/terminate teach pendant program.

TC

Clear teach pendant display.

TD,”msg”

Print to teach pendant display.

TE,d

Enable(1)\disable (0) teach pendant to move motors.

TH

Give control to host.

TK

Return to host the next key code.

TL

Return to host the last key code.

TR

Reset the teach pendant.

TS,r,c

Set teach pendant display cursor.

TT

Execute teach pendant diagnostics and return results.

TX

Give control to teach pendant.

Gain Commands

KA,m,d

Set propotional gain.

KB,m,d

Set differential gain.

KC,m,d

Set integral gain.

RA,m

Read proportional gain.

RB,m

Read differential gain.

RC,m

Read integral gain.

KR

Restore user gains from EEPROM.

KS

Store user gains to EEPROM.

KX

Restore factory gains.

Input and Output Commands

IB,b

Read input or switch bit.

IP

Read input port.

IX

Read switch port.

OB,b,s

Set output bit.

OP,d

Set output port.

OR

Read output port.

OT,b,s

Toggle output bit.

WA

Abort all wait on inputs and switches.

WI,b,s

Wait on input or switch bit.

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b/files/mark-iv-error-codes.txt new file mode 100644 index 0000000..a88a125 --- /dev/null +++ b/files/mark-iv-error-codes.txt @@ -0,0 +1,105 @@ +####################################################################### +# COMMAND ERRORS +####################################################################### + +INV_CMD 10 Invalid command +PAR_OUT 11 Parameter out of bounds +MIS_PAR 12 Missing parameter +NO_DLIM 13 Expected delimiter not seen +TOO_MNY 14 Command string too long +TP_ACTV 16 The teach pendant is active or busy + +####################################################################### +# COMMUNICATION ERRORS +####################################################################### + +HST_OVF 20 Host input buffer overflow +HST_TMO 21 Host USART timed out +HST_ERR 22 Host USART error (framing, parity, etc.) +TP_OVF 23 Teach pendant input buffer overflow +TP_TMO 24 Teach pendant USART timed out +TP_ERRO 25 Teach pendant USART error (framing, parity, etc.) +TP_OVRN 26 Teach pendant USART overrun +HST_OVR 27 Host USART overrun + +####################################################################### +# DIAGNOSTIC ERRORS +####################################################################### + +BAD_RAM 30 Bad RAM location +TP_ERR 32 Teach pendant returned diagnostic error +NO_TP 34 Teach pendant not present + +####################################################################### +# TEACH PENDANT PROGRAM ERRORS +####################################################################### + +LAB_ERR 40 Missing label +NO_PGRM 41 No program in memory +MEM_FUL 42 Insufficient teach pendant memory +EPM_FUL 43 Insufficient EEPROM memory +RPL_ERR 44 Can't replace first record +PROGRAM 45 A pendant program already exists + +####################################################################### +# EXECUTION ERRORS +####################################################################### + +HRD_ERR 50 Hard home routine failed +NO_HARD 51 Hard home not set +NO_SOFT 52 Soft home not set +AR_OVFL 53 Arithmetic overflow +TRG_ERR 54 Trig function return error +STK_ERR 55 Error stack overflow +BUSY 56 Still executing a trapezoidal move +NO_MOTR 57 Inactive motor referenced +MOV_DAT 58 Insufficient move data (velocity or acceleration = 0) +BAD_MOD 59 Improper motor mode for command +NO_A_SW 60 Limit switch A not found +NO_B_SW 61 Limit switch B not found +NO_C_SW 62 Limit switch C not found +NO_D_SW 63 Limit switch D not found +NO_E_SW 64 Limit switch E not found +NO_F_SW 65 Limit switch F not found +NO_G_SW 66 Limit switch G not found +NO_H_SW 67 Limit switch H not found +IMODE 69 Interpolation move out of bounds +POS_OUT 70 XYZ position out of bounds +STK_A_S 80 Limit switch A stuck +STK_B_S 81 Limit switch B stuck +STK_C_S 82 Limit switch C stuck +STK_D_S 83 Limit switch D stuck +STK_E_S 84 Limit switch E stuck +STK_F_S 85 Limit switch F stuck +STK_G_S 86 Limit switch G stuck +STK_H_S 87 Limit switch H stuck +INV_RBT 91 Invalid robot type specifier +INV_MOT 92 Invalid motor specifier +INV_CTL 93 Invalid controller type +INV_PND 94 Invalid pendant mode +STOP 95 Emergency stop +INV_XYZ 96 Invalid xyz specifier +XYZ_PAR 97 Invalid xyz parameter + +####################################################################### +# MOTOR ERRORS +####################################################################### + +A_STALL 100 Motor A stalled +B_STALL 101 Motor B stalled +C_STALL 102 Motor C stalled +D_STALL 103 Motor D stalled +E_STALL 104 Motor E stalled +F_STALL 105 Motor F stalled +G_STALL 106 Motor G stalled +H_STALL 107 Motor H stalled +A_CURLIM 110 Motor A's current limit circuit was activated +B_CURLIM 111 Motor B's current limit circuit was activated +C_CURLIM 112 Motor C's current limit circuit was activated +D_CURLIM 113 Motor D's current limit circuit was activated +E_CURLIM 114 Motor E's current limit circuit was activated +F_CURLIM 115 Motor F's current limit circuit was activated +G_CURLIM 116 Motor G's current limit circuit was activated +H_CURLIM 117 Motor H's current limit circuit was activated +I_CURLIM 118 Aux Port 1's current limit circuit was activated +J_CURLIM 119 Aux Port 2's current limit circuit was activated \ No newline at end of file diff --git a/icons.qrc b/icons.qrc new file mode 100644 index 0000000..c0106f0 --- /dev/null +++ b/icons.qrc @@ -0,0 +1,54 @@ + + + icons/document-new.png + icons/document-open.png + icons/document-save.png + icons/down.png + icons/editcopy.png + icons/edit-copy.png + icons/editcut.png + icons/edit-cut.png + icons/editpaste.png + icons/edit-paste.png + icons/edit-redo.png + icons/edit-select-all.png + icons/edit-undo.png + icons/filenew.png + icons/fileopen.png + icons/filesave.png + icons/filesaveas.png + icons/format-indent-less.png + icons/format-indent-more.png + icons/gnome-terminal.png + icons/gtk-cancel.png + icons/gtk-close.png + icons/gtk-copy.png + icons/gtk-cut.png + icons/gtk-save.png + icons/gtk-save-as.png + icons/gtk-stop.png + icons/openterm.png 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Referencia de comandos del controlador Mark IV