benny/grbl-sender
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Introduced machine state handlers (check and run still need work).

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Added proper init handler, fetching settings and parameters and exposing them to UI.
Added spindle rendering.
This commit is contained in:
Adrian Scripca
2023-05-04 14:15:33 +03:00
parent a63d58a1ec
commit cacbe1b8aa
5 changed files with 842 additions and 200 deletions
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main.cpp
+173 -79
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@@ -1,16 +1,3 @@
/*
src/example1.cpp -- C++ version of an example application that shows
how to use the various widget classes. For a Python implementation, see
'../python/example1.py'.
NanoGUI was developed by Wenzel Jakob <wenzel.jakob@epfl.ch>.
The widget drawing code is based on the NanoVG demo application
by Mikko Mononen.
All rights reserved. Use of this source code is governed by a
BSD-style license that can be found in the LICENSE.txt file.
*/
#include <nanogui/opengl.h>
#include <nanogui/screen.h>
#include <nanogui/window.h>
@@ -22,6 +9,8 @@
#include <nanogui/messagedialog.h>
#include <nanogui/texture.h>
#include <nanogui/textarea.h>
#include <nanogui/textbox.h>
#include <nanogui/tabwidget.h>
#include <nanogui/shader.h>
#include <nanogui/renderpass.h>
#include <iostream>
@@ -43,6 +32,7 @@
#include "string_utils.h"
#include "render.h"
#include "glm/gtx/quaternion.hpp"
#include "nanogui/nanogui.h"
#include <glm/ext/quaternion_float.hpp>
#include <glm/ext/quaternion_trigonometric.hpp>
#include <glm/vec3.hpp> // glm::vec3
@@ -77,58 +67,152 @@ public:
float cam_zoom = 0;
glm::quat cam_src_rotation = glm::quat(1.0, 0.0, 0.0, 0.0); // identity quaternion
void init_program_geometry() {
renderer.update(pgm, cnc);
TabWidget *tab_widget;
VScrollPanel *settings_vscroll;
Widget *settings_layer;
auto max_pos = renderer.get_extents_max();
auto min_pos = renderer.get_extents_min();
VScrollPanel *parameters_vscroll;
Widget *parameters_layer;
TextBox *mpos_x_text, *mpos_y_text, *mpos_z_text;
cam_target = (max_pos - min_pos) / 2.0f;
cam_zoom = (max_pos.x - min_pos.x);
cam_src_rotation = glm::quat(1.0, 0.0, 0.0, 0.0);
void fill_in_settings() {
settings_vscroll = new VScrollPanel(tab_widget);
tab_widget->append_tab("Settings", settings_vscroll);
settings_layer = new Widget(settings_vscroll);
settings_layer->set_layout(new GridLayout(Orientation::Horizontal, 1, Alignment::Middle));
auto& settings = cnc.get_settings();
for (auto& s: settings) {
auto w = settings_layer->add<Widget>();
w->set_layout(new BoxLayout(Orientation::Horizontal, Alignment::Middle, 2, 2));
auto x = w->add<Label>(s.first, "sans-bold", 20);
x->set_fixed_width(40);
auto desc = grbl::setting_description(std::stoi(s.first.substr(1)));
auto y = w->add<TextBox>(s.second);
y->set_editable(true);
y->set_tooltip(desc);
y->set_fixed_width(200);
auto z = w->add<ToolButton>(FA_SAVE);
z->set_flags(Button::Flags::NormalButton); // no toggle, please
z->set_tooltip("save");
auto t = w->add<TextArea>();
t->set_fixed_width(200);
t->set_fixed_height(20);
t->clear();
t->append(desc.substr(0, desc.find_first_of('\n')));
}
}
void fill_in_parameters() {
parameters_vscroll = new VScrollPanel(tab_widget);
tab_widget->append_tab("Parameters", parameters_vscroll);
parameters_layer = new Widget(parameters_vscroll);
parameters_layer->set_layout(new GridLayout(Orientation::Horizontal, 1, Alignment::Middle));
auto& parameters = cnc.get_parameters();
for (auto& entry: parameters) {
auto w = parameters_layer->add<Widget>();
w->set_layout(new BoxLayout(Orientation::Horizontal, Alignment::Middle, 2, 2));
auto x = w->add<Label>(entry.first, "sans-bold", 20);
x->set_fixed_width(50);
auto y = w->add<TextBox>(entry.second);
y->set_editable(true);
y->set_fixed_width(200);
auto z = w->add<ToolButton>(FA_SAVE);
z->set_flags(Button::Flags::NormalButton); // no toggle, please
z->set_tooltip("save");
}
}
SenderApp() : Screen(Vector2i(1024, 768), "GRBL Sender") {
inc_ref();
window = new Window(this, "Machine status");
// window->set_fixed_height(Screen::size().y());
window->set_position(Vector2i(0, 0));
window->set_layout(new GroupLayout());
// window->set_size(Screen::size());
// save regular button color
auto b = new Button(this);
colBg = b->background_color();
b->set_visible(false);
colBg = theme()->m_button_gradient_bot_focused;
// create main window
window = new Window(this, "Machine status");
window->set_fixed_height((Screen::size().y() - 40) / 2);
window->set_position(Vector2i(0, 0));
window->set_layout(new BoxLayout(nanogui::Orientation::Vertical));
tab_widget = window->add<TabWidget>();
tab_widget->set_callback([&](int index) {
if (index == 1 || index == 2) {
perform_layout();
}
tab_widget->set_selected_index(index);
});
tab_widget->set_fixed_height((this->height() - 100) / 2);
Widget *layer = new Widget(tab_widget);
layer->set_layout(new GroupLayout());
tab_widget->append_tab("Info", layer);
// Widget *layer3 = new Widget(tab_widget);
// tab_widget->append_tab("Offsets", layer3);
// layer3->set_layout(new GroupLayout());
// layer3->add<Label>("Parameters");
// layer3->add<TextBox>();
new Label(window, "Status", "sans-bold");
Widget *status_holder = new Widget(window);
new Label(layer, "Status", "sans-bold");
Widget *status_holder = new Widget(layer);
status_holder->set_layout(new GridLayout());
lblStatus = new TextArea(window);
lblStatus = new TextArea(layer);
lblStatus->set_fixed_height(20);
lblStatus->set_font("sans");
lblSubstatus = new TextArea(window);
lblSubstatus = new TextArea(layer);
lblSubstatus->set_font("sans");
lblSubstatus->set_fixed_height(50);
// Machine pos
new Label(window, "Machine pos", "sans-bold");
Widget *mpos = new Widget(window);
mpos->set_layout(new GridLayout());
layer->add<Label>("Machine pos", "sans-bold");
Widget *mpos = new Widget(layer);
mpos->set_layout(new GridLayout(Orientation::Horizontal, 1, Alignment::Middle));
new Label(mpos, "X");
m_pos_x = new Label(mpos, std::to_string(cnc.get_status().machine_pos[0]));
new Label(mpos, "Y");
m_pos_y = new Label(mpos, std::to_string(cnc.get_status().machine_pos[1]));
new Label(mpos, "Z");
m_pos_z = new Label(mpos, std::to_string(cnc.get_status().machine_pos[2]));
auto x_holder = mpos->add<Widget>();
x_holder->set_layout(new BoxLayout(Orientation::Horizontal));
auto lbl = x_holder->add<Label>("X");
lbl->set_font_size(20);
lbl->set_fixed_width(50);
mpos_x_text = x_holder->add<TextBox>(std::to_string(cnc.get_status().work_pos[0]));
mpos_x_text->set_fixed_width(200);
auto y_holder = mpos->add<Widget>();
y_holder->set_layout(new BoxLayout(Orientation::Horizontal));
lbl = y_holder->add<Label>("Y");
lbl->set_font_size(20);
lbl->set_fixed_width(50);
mpos_y_text = y_holder->add<TextBox>(std::to_string(cnc.get_status().work_pos[1]));
mpos_y_text->set_fixed_width(200);
auto z_holder = mpos->add<Widget>();
z_holder->set_layout(new BoxLayout(Orientation::Horizontal));
lbl = z_holder->add<Label>("Z");
lbl->set_font_size(20);
lbl->set_fixed_width(50);
mpos_z_text = z_holder->add<TextBox>(std::to_string(cnc.get_status().work_pos[0]));
mpos_z_text->set_fixed_width(200);
// buttons to change state
new Label(window, "Actions", "sans-bold");
Widget *actions = new Widget(window);
new Label(layer, "Actions", "sans-bold");
Widget *actions = new Widget(layer);
actions->set_layout(new BoxLayout(Orientation::Horizontal));
Button *btnUnlock = new Button(actions, "Unlock");
@@ -155,9 +239,9 @@ public:
// No need to store a pointer, the data structure will be automatically
// freed when the parent window is deleted
new Label(window, "Program", "sans-bold");
new Label(layer, "Program", "sans-bold");
Widget *pgm_actions = new Widget(window);
Widget *pgm_actions = new Widget(layer);
pgm_actions->set_layout(new BoxLayout(Orientation::Horizontal));
@@ -196,6 +280,7 @@ public:
});
btnRunProgram->set_tooltip("Execute program");
// // Alternative construction notation using variadic template
// btnLoadProgram = window->add<Button>("Styled", FA_ROCKET);
// btnLoadProgram->set_background_color(Color(0, 0, 255, 25));
@@ -257,6 +342,17 @@ public:
m_render_pass->set_cull_mode(RenderPass::CullMode::Disabled);
}
void init_program_geometry() {
renderer.update(pgm, cnc);
auto max_pos = renderer.get_extents_max();
auto min_pos = renderer.get_extents_min();
cam_target = (max_pos - min_pos) / 2.0f;
cam_zoom = (max_pos.x - min_pos.x);
cam_src_rotation = glm::quat(1.0, 0.0, 0.0, 0.0);
}
bool resize_event(const Vector2i& size) override {
return Screen::resize_event(size);
}
@@ -270,6 +366,11 @@ public:
grbl::realtime_status_report last_report;
void on_init_completed() override {
fill_in_settings();
fill_in_parameters();
}
void on_realtime_status_report(grbl::realtime_status_report report) override {
if (report == last_report) return;
@@ -285,9 +386,10 @@ public:
}
}
m_pos_x->set_caption(std::to_string(cnc.get_status().machine_pos[0]));
m_pos_y->set_caption(std::to_string(cnc.get_status().machine_pos[1]));
m_pos_z->set_caption(std::to_string(cnc.get_status().machine_pos[2]));
mpos_x_text->set_value(std::to_string(cnc.get_status().work_pos[0]));
mpos_y_text->set_value(std::to_string(cnc.get_status().work_pos[1]));
mpos_z_text->set_value(std::to_string(cnc.get_status().work_pos[2]));
last_report = report;
}
@@ -341,6 +443,11 @@ public:
// return true;
// }
if (key == GLFW_KEY_SPACE && action == GLFW_PRESS && !window->mouse_focused()) {
// reset trackball rotation
cam_src_rotation = glm::quat(1, 0, 0, 0);
}
auto new_jog = jog;
if (key == GLFW_KEY_LEFT_SHIFT) {
@@ -443,50 +550,37 @@ public:
return Widget::scroll_event(p, rel);
} else {
// std::cout << "Scroll event: p:" << p << ", rel:" << rel << std::endl;
cam_zoom -= rel.y() * cam_zoom/10.0f;
cam_zoom -= rel.y() * cam_zoom / 10.0f;
cam_zoom = std::max(cam_zoom, 0.1f);
return true;
}
}
virtual void draw(NVGcontext *ctx) {
// Animate the scrollbar
// m_progress->set_value(std::fmod((float) glfwGetTime() / 10, 1.0f));
// Draw the user interface
Screen::draw(ctx);
}
virtual void draw_contents() {
auto fb_size = framebuffer_size();
renderer.update(pgm, cnc);
// compute mvp
glm::mat4 projection = glm::perspective(45.0f * glm::pi<float>() / 180.0f, (float) fb_size.x() / (float) fb_size.y(), 0.1f, 1000.f);
glm::vec3 cam_src = cam_target + glm::vec3(glm::vec4(0, 0, cam_zoom, 1) * cam_src_rotation);
// glm::mat4 view = glm::lookAt(cam_src, cam_target, glm::vec3{0.0f, 1.0f, 0.0f});
// glm::mat4 view = glm::rotate(glm::mat4(1.0f), glm::pi<float>()/2.0f, glm::vec3(1, 0, 0));
// glm::mat4 view = glm::toMat4(cam_src_rotation) * glm::rotate(glm::mat4(1.0f), glm::pi<float>()/2.0f, glm::vec3(1, 0, 0)) * glm::translate(glm::mat4(1.0f), -cam_target);
// glm::mat4 view = glm::translate(glm::mat4(1.0f), glm::vec3(0, 0, -cam_zoom)) * glm::toMat4(cam_src_rotation) * glm::rotate(glm::mat4(1.0f), glm::pi<float>()/2.0f, glm::vec3(1, 0, 0)) * glm::translate(glm::mat4(1.0f), -cam_target);
glm::mat4 view = glm::translate(glm::mat4(1.0f), glm::vec3(0, 0, -cam_zoom)) *
glm::toMat4(cam_src_rotation) *
// glm::rotate(glm::mat4(1.0f), glm::pi<float>()/2.0f, glm::vec3(1, 0, 0)) *
glm::translate(glm::mat4(1.0f), -cam_target);
// glm::mat4 view = glm::rotate(glm::mat4(1.0f), -glm::pi<float>()/2.0f, glm::vec3(1, 0, 0)) * glm::translate(glm::mat4(1.0f), -cam_src);
glm::mat4 model = glm::mat4(1.0f);
auto mvp = projection * view * model;
// start rendering
m_render_pass->resize(framebuffer_size());
m_render_pass->begin();
renderer.render(mvp, glm::vec2(fb_size.x(), fb_size.y()));
if (pgm.is_loaded) {
renderer.update(pgm, cnc);
// compute mvp
glm::mat4 projection = glm::perspective(45.0f * glm::pi<float>() / 180.0f,
(float) fb_size.x() / (float) fb_size.y(),
0.1f,
10000.f);
glm::mat4 view = glm::translate(glm::mat4(1.0f), glm::vec3(0, 0, -cam_zoom)) *
glm::toMat4(cam_src_rotation) *
glm::translate(glm::mat4(1.0f), -cam_target);
glm::mat4 model = glm::mat4(1.0f);
auto mvp = projection * view * model;
renderer.render(mvp, glm::vec2(fb_size.x(), fb_size.y()));
}
m_render_pass->end();
}