Restruct
This commit is contained in:
@@ -1,99 +0,0 @@
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#
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# Copyright (c) 2023 Paul Scherrer Institute
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#
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# The program is free software: you can redistribute
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# it and/or modify it under the terms of the GNU General Public License
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# as published by the Free Software Foundation, either version 2 of the
|
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# License, or any newer version.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
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# more details.
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#
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# You should have received a copy of the GNU General Public License along with
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# this program. If not, see https://www.gnu.org/licenses/gpl-2.0.txt
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#
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#
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# Author : anderssandstrom
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# email : anders.sandstroem@psi.ch
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# Date : 2023 July 10
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# version : 0.0.0
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#
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## The following lines are mandatory, please don't change them.
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where_am_I := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))
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include $(E3_REQUIRE_TOOLS)/driver.makefile
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include $(E3_REQUIRE_CONFIG)/DECOUPLE_FLAGS
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ifneq ($(strip $(ASYN_DEP_VERSION)),)
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asyn_VERSION=$(ASYN_DEP_VERSION)
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endif
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ifneq ($(strip $(ECMC_DEP_VERSION)),)
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ecmc_VERSION=$(ECMC_DEP_VERSION)
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endif
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ifneq ($(strip $(RUCKIG_DEP_VERSION)),)
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ruckig_VERSION=$(RUCKIG_DEP_VERSION)
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endif
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ifeq ($(T_A),linux-x86_64)
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# Assume that the etherlab user library is done via
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# https://github.com/icshwi/etherlabmaster
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USR_INCLUDES += -I/opt/etherlab/include
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USR_CFLAGS += -fPIC
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USR_LDFLAGS += -L /opt/etherlab/lib
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USR_LDFLAGS += -lethercat
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USR_LDFLAGS += -Wl,-rpath=/opt/etherlab/lib
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else
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ifeq ($(T_A),linux-arm)
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# Assume that the etherlab user library is done via
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# https://github.com/icshwi/etherlabmaster
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USR_INCLUDES += -I/opt/etherlab/include
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USR_CFLAGS += -fPIC
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USR_LDFLAGS += -L /opt/etherlab/lib
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USR_LDFLAGS += -lethercat
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USR_LDFLAGS += -Wl,-rpath=/opt/etherlab/lib
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else
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# Assume that the etherlab user library is done via
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# Yocto ESS Linux bb recipe
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USR_INCLUDES += -I$(SDKTARGETSYSROOT)/usr/include/etherlab
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USR_CFLAGS += -fPIC
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USR_LDFLAGS += -L $(SDKTARGETSYSROOT)/usr/lib/etherlab
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USR_LDFLAGS += -lethercat
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USR_LDFLAGS += -Wl,-rpath=$(SDKTARGETSYSROOT)/usr/lib/etherlab
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USR_LDFLAGS += -lstdc++
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endif
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endif
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APP:="."
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#APPDB:=$(APP)/Db
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#APPSRC:=$(APP)/src
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APPSRC:=src
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APPDB:=Db
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USR_CFLAGS += -shared -fPIC -Wall -Wextra
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USR_LDFLAGS += -lstdc++
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USR_INCLUDES += -I$(where_am_I)$(APPSRC)
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TEMPLATES += $(wildcard $(APPDB)/*.db)
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TEMPLATES += $(wildcard $(APPDB)/*.template)
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SOURCES += $(APPSRC)/ecmcPluginMotion.c
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SOURCES += $(APPSRC)/ecmcMotionPlgWrap.cpp
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SOURCES += $(APPSRC)/ecmcMotionPlg.cpp
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#SOURCES += $(APPSRC)/ecmcDataBuffer.cpp
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SCRIPTS += startup.cmd
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SCRIPTS += addMotionObj.cmd
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db:
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.PHONY: db
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vlibs:
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.PHONY: vlibs
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###
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543
qt/ecmc_plugin_motion_main.ui
Normal file
543
qt/ecmc_plugin_motion_main.ui
Normal file
@@ -0,0 +1,543 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<class>Dialog</class>
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<widget class="QDialog" name="Dialog">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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||||
<width>1420</width>
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<height>893</height>
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</rect>
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</property>
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<property name="windowTitle">
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<string>ecmc expert axis</string>
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</property>
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<widget class="caStripPlot" name="castripplot">
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<property name="geometry">
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<rect>
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||||
<x>10</x>
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||||
<y>30</y>
|
||||
<width>1200</width>
|
||||
<height>500</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>4</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="Title" stdset="0">
|
||||
<string notr="true">Analog</string>
|
||||
</property>
|
||||
<property name="TitleX">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="TitleY">
|
||||
<string notr="true">Position</string>
|
||||
</property>
|
||||
<property name="channels" stdset="0">
|
||||
<string>$(SYS):Plg-Mtn$(MTN_ID=0)-PosAct-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-PosSet-Arr;</string>
|
||||
</property>
|
||||
<property name="period">
|
||||
<double>30.000000000000000</double>
|
||||
</property>
|
||||
<property name="refreshRate" stdset="0">
|
||||
<enum>caStripPlot::High</enum>
|
||||
</property>
|
||||
<property name="XaxisType">
|
||||
<enum>caStripPlot::TimeScale</enum>
|
||||
</property>
|
||||
<property name="numberOfXticks" stdset="0">
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||||
<number>4</number>
|
||||
</property>
|
||||
<property name="YAxisScaling" stdset="0">
|
||||
<enum>caStripPlot::autoScale</enum>
|
||||
</property>
|
||||
<property name="YaxisLimitsMax_1">
|
||||
<double>600.000000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisLimitsMin_1">
|
||||
<double>200.000000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisScalingMax_1" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisScalingMin_1" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="color_1">
|
||||
<color>
|
||||
<red>255</red>
|
||||
<green>216</green>
|
||||
<blue>217</blue>
|
||||
</color>
|
||||
</property>
|
||||
<property name="YaxisLimitsMin_2">
|
||||
<double>-100.000000000000000</double>
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||||
</property>
|
||||
<property name="YaxisScalingMax_2" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisScalingMin_2" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="color_2">
|
||||
<color>
|
||||
<red>0</red>
|
||||
<green>255</green>
|
||||
<blue>0</blue>
|
||||
</color>
|
||||
</property>
|
||||
<property name="YaxisLimitsMax_3">
|
||||
<double>30.000000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisLimitsMin_3">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisScalingMax_3" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisScalingMin_3" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="color_3">
|
||||
<color>
|
||||
<red>159</red>
|
||||
<green>207</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</property>
|
||||
<property name="foreground">
|
||||
<color alpha="0">
|
||||
<red>133</red>
|
||||
<green>190</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</property>
|
||||
<property name="XaxisEnabled">
|
||||
<bool>false</bool>
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||||
</property>
|
||||
<property name="LegendEnabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="XaxisSyncGroup">
|
||||
<number>1</number>
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||||
</property>
|
||||
</widget>
|
||||
<widget class="caStripPlot" name="castripplot_2">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>680</y>
|
||||
<width>1231</width>
|
||||
<height>200</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>4</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="Title" stdset="0">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="TitleX">
|
||||
<string notr="true">Time</string>
|
||||
</property>
|
||||
<property name="TitleY">
|
||||
<string notr="true">State</string>
|
||||
</property>
|
||||
<property name="channels" stdset="0">
|
||||
<string>$(SYS):Plg-Mtn$(MTN_ID=0)-Ena-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-EnaAct-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-Bsy-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-Exe-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-TrjSrc-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-EncSrc-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-AtTrg-Arr;</string>
|
||||
</property>
|
||||
<property name="period">
|
||||
<double>30.000000000000000</double>
|
||||
</property>
|
||||
<property name="refreshRate" stdset="0">
|
||||
<enum>caStripPlot::High</enum>
|
||||
</property>
|
||||
<property name="XaxisType">
|
||||
<enum>caStripPlot::TimeScaleFix</enum>
|
||||
</property>
|
||||
<property name="numberOfXticks" stdset="0">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="YAxisScaling" stdset="0">
|
||||
<enum>caStripPlot::fixedScale</enum>
|
||||
</property>
|
||||
<property name="YaxisLimitsMax_1">
|
||||
<double>1.200000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisLimitsMin_1">
|
||||
<double>-0.200000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisScalingMax_1" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisScalingMin_1" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="color_1">
|
||||
<color>
|
||||
<red>255</red>
|
||||
<green>216</green>
|
||||
<blue>217</blue>
|
||||
</color>
|
||||
</property>
|
||||
<property name="YaxisLimitsMax_2">
|
||||
<double>1.200000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisLimitsMin_2">
|
||||
<double>-0.200000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisScalingMax_2" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisScalingMin_2" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="color_2">
|
||||
<color>
|
||||
<red>0</red>
|
||||
<green>255</green>
|
||||
<blue>0</blue>
|
||||
</color>
|
||||
</property>
|
||||
<property name="YaxisLimitsMax_3">
|
||||
<double>1.200000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisLimitsMin_3">
|
||||
<double>-0.200000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisScalingMax_3" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisScalingMin_3" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="color_3">
|
||||
<color>
|
||||
<red>159</red>
|
||||
<green>207</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</property>
|
||||
<property name="YaxisLimitsMax_4">
|
||||
<double>1.200000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisLimitsMin_4">
|
||||
<double>-0.200000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisScalingMax_4" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisScalingMin_4" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisLimitsMax_5">
|
||||
<double>1.200000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisLimitsMin_5">
|
||||
<double>-0.200000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisScalingMax_5" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisScalingMin_5" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisLimitsMax_6">
|
||||
<double>1.200000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisLimitsMin_6">
|
||||
<double>-0.200000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisScalingMax_6" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisScalingMin_6" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisLimitsMax_7">
|
||||
<double>1.200000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisLimitsMin_7">
|
||||
<double>-0.200000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisScalingMax_7" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisScalingMin_7" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="foreground">
|
||||
<color alpha="0">
|
||||
<red>133</red>
|
||||
<green>190</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</property>
|
||||
<property name="LegendEnabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="XaxisSyncGroup">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="caStripPlot" name="castripplot_3">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>530</y>
|
||||
<width>1200</width>
|
||||
<height>151</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>4</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="Title" stdset="0">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="TitleX">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="TitleY">
|
||||
<string notr="true">Position Error</string>
|
||||
</property>
|
||||
<property name="channels" stdset="0">
|
||||
<string>$(SYS):Plg-Mtn$(MTN_ID=0)-PosErr-Arr;</string>
|
||||
</property>
|
||||
<property name="period">
|
||||
<double>30.000000000000000</double>
|
||||
</property>
|
||||
<property name="refreshRate" stdset="0">
|
||||
<enum>caStripPlot::High</enum>
|
||||
</property>
|
||||
<property name="XaxisType">
|
||||
<enum>caStripPlot::TimeScale</enum>
|
||||
</property>
|
||||
<property name="numberOfXticks" stdset="0">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="YAxisScaling" stdset="0">
|
||||
<enum>caStripPlot::autoScale</enum>
|
||||
</property>
|
||||
<property name="YaxisLimitsMax_1">
|
||||
<double>600.000000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisLimitsMin_1">
|
||||
<double>200.000000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisScalingMax_1" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisScalingMin_1" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="color_1">
|
||||
<color>
|
||||
<red>255</red>
|
||||
<green>216</green>
|
||||
<blue>217</blue>
|
||||
</color>
|
||||
</property>
|
||||
<property name="YaxisLimitsMin_2">
|
||||
<double>-100.000000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisScalingMax_2" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisScalingMin_2" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="color_2">
|
||||
<color>
|
||||
<red>0</red>
|
||||
<green>255</green>
|
||||
<blue>0</blue>
|
||||
</color>
|
||||
</property>
|
||||
<property name="YaxisLimitsMax_3">
|
||||
<double>30.000000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisLimitsMin_3">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="YaxisScalingMax_3" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="YaxisScalingMin_3" stdset="0">
|
||||
<enum>caStripPlot::User</enum>
|
||||
</property>
|
||||
<property name="color_3">
|
||||
<color>
|
||||
<red>159</red>
|
||||
<green>207</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</property>
|
||||
<property name="foreground">
|
||||
<color alpha="0">
|
||||
<red>133</red>
|
||||
<green>190</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</property>
|
||||
<property name="XaxisEnabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="LegendEnabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="XaxisSyncGroup">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="caToggleButton" name="catogglebutton">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1270</x>
|
||||
<y>80</y>
|
||||
<width>100</width>
|
||||
<height>22</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Enable</string>
|
||||
</property>
|
||||
<property name="channel" stdset="0">
|
||||
<string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-EnaCmd-RB</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="caNumeric" name="canumeric">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1300</x>
|
||||
<y>120</y>
|
||||
<width>100</width>
|
||||
<height>50</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="integerDigits" stdset="0">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="decimalDigits" stdset="0">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="channel" stdset="0">
|
||||
<string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-AxCmd-RB</string>
|
||||
</property>
|
||||
<property name="colorMode">
|
||||
<enum>caNumeric::Alarm</enum>
|
||||
</property>
|
||||
<property name="precisionMode">
|
||||
<enum>caNumeric::User</enum>
|
||||
</property>
|
||||
<property name="fixedFormat">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="limitsMode">
|
||||
<enum>caNumeric::User</enum>
|
||||
</property>
|
||||
<property name="maxValue">
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
<property name="minValue">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1230</x>
|
||||
<y>130</y>
|
||||
<width>63</width>
|
||||
<height>20</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Axis ID:</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="caLineEdit" name="calineedit">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1330</x>
|
||||
<y>190</y>
|
||||
<width>61</width>
|
||||
<height>20</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="channel" stdset="0">
|
||||
<string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-SmpHz</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1230</x>
|
||||
<y>190</y>
|
||||
<width>63</width>
|
||||
<height>20</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Rate [Hz]:</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="caLabel" name="calabel">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1310</x>
|
||||
<y>290</y>
|
||||
<width>90</width>
|
||||
<height>28</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="channel" stdset="0">
|
||||
<string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-SmpHz</string>
|
||||
</property>
|
||||
</widget>
|
||||
</widget>
|
||||
<customwidgets>
|
||||
<customwidget>
|
||||
<class>caNumeric</class>
|
||||
<extends>QFrame</extends>
|
||||
<header>caNumeric</header>
|
||||
</customwidget>
|
||||
<customwidget>
|
||||
<class>caToggleButton</class>
|
||||
<extends>QCheckBox</extends>
|
||||
<header>caToggleButton</header>
|
||||
</customwidget>
|
||||
<customwidget>
|
||||
<class>caLabel</class>
|
||||
<extends>QLabel</extends>
|
||||
<header>caLabel</header>
|
||||
</customwidget>
|
||||
<customwidget>
|
||||
<class>caLineEdit</class>
|
||||
<extends>QLineEdit</extends>
|
||||
<header>caLineEdit</header>
|
||||
</customwidget>
|
||||
<customwidget>
|
||||
<class>caStripPlot</class>
|
||||
<extends>QwtPlot</extends>
|
||||
<header>caStripPlot</header>
|
||||
</customwidget>
|
||||
<customwidget>
|
||||
<class>QwtPlot</class>
|
||||
<extends>QFrame</extends>
|
||||
<header>qwt_plot.h</header>
|
||||
</customwidget>
|
||||
</customwidgets>
|
||||
<resources/>
|
||||
<connections/>
|
||||
</ui>
|
||||
Reference in New Issue
Block a user