#include "lhywidget.h"
#include "ui_lhywidget.h"

#include<vector>

#include<QFileDialog>
#include<QDebug>
#include <QTimer>



#include<sstream>
#include<fstream>

//构造
lhyWidget::lhyWidget(QWidget *parent)    : QWidget(parent)    , ui(new Ui::lhyWidget)
{
    ui->setupUi(this);

    //ADS初始化
    nPort = AdsPortOpen();        //打开ADS通讯端口
    AdsGetLocalAddress(pAddr); //自动获取本地地址
    pAddr->port = 851;            //TC3的通讯端口为851

    //计时器
    fTimer=new QTimer;
    fTimer->stop();
    fTimer->setInterval (200) ;//设置定时周期，单位：毫秒
    connect(fTimer,SIGNAL(timeout()),this,SLOT(on_ftimerTimeout()));
    fTimer->start () ;

    //override
    int override = 5;
    AdsSyncWriteReq(pAddr, 0x4020, 32, 4, &override);//设置初始override

    //从plc中读取数据类
    readPlcData = new ReadPlcData(pAddr);

    //运动学
    Kin = new kinematics(200);


    ///scalepara
    ///config
    ui->lineEdit_a->setText(Kin->iniFile->value("/RadiusOfSP&MP/a").toString());
    ui->lineEdit_b->setText(Kin->iniFile->value("/RadiusOfSP&MP/b").toString());

    ui->lineEdit_Xmax->setText(Kin->iniFile->value("/LimitOfXY/Xmax").toString());
    ui->lineEdit_Xmin->setText(Kin->iniFile->value("/LimitOfXY/Xmin").toString());
    ui->lineEdit_Ymax->setText(Kin->iniFile->value("/LimitOfXY/Ymax").toString());
    ui->lineEdit_Ymin->setText(Kin->iniFile->value("/LimitOfXY/Ymin").toString());

    ui->lineEdit_ToolType->setText(Kin->iniFile->value("/Tool/Type").toString());
    ui->lineEdit_ToolLength->setText(Kin->iniFile->value("/Tool/Length").toString());
    ui->lineEdit_le_Length->setText(Kin->iniFile->value("/Tool/le_Length").toString());

    ui->lineEdit_R1_min->setText(Kin->iniFile->value("/PassiveJoint/R1_min").toString());
    ui->lineEdit_R1_max->setText(Kin->iniFile->value("/PassiveJoint/R1_max").toString());
    ui->lineEdit_R2_min->setText(Kin->iniFile->value("/PassiveJoint/R2_min").toString());
    ui->lineEdit_R2_max->setText(Kin->iniFile->value("/PassiveJoint/R2_max").toString());
    ui->lineEdit_R3_min->setText(Kin->iniFile->value("/PassiveJoint/R3_min").toString());
    ui->lineEdit_R3_max->setText(Kin->iniFile->value("/PassiveJoint/R3_max").toString());
    ui->lineEdit_R4_min->setText(Kin->iniFile->value("/PassiveJoint/R4_min").toString());
    ui->lineEdit_R4_max->setText(Kin->iniFile->value("/PassiveJoint/R4_max").toString());
    ui->lineEdit_U1_min->setText(Kin->iniFile->value("/PassiveJoint/U1_min").toString());
    ui->lineEdit_U1_max->setText(Kin->iniFile->value("/PassiveJoint/U1_max").toString());
    ui->lineEdit_U2_min->setText(Kin->iniFile->value("/PassiveJoint/U2_min").toString());
    ui->lineEdit_U2_max->setText(Kin->iniFile->value("/PassiveJoint/U2_max").toString());
    ui->lineEdit_S3_min->setText(Kin->iniFile->value("/PassiveJoint/S3_min").toString());
    ui->lineEdit_S3_max->setText(Kin->iniFile->value("/PassiveJoint/S3_max").toString());
    ui->lineEdit_S4_min->setText(Kin->iniFile->value("/PassiveJoint/S4_min").toString());
    ui->lineEdit_S4_max->setText(Kin->iniFile->value("/PassiveJoint/S4_max").toString());
    ui->lineEdit_U12_min->setText(Kin->iniFile->value("/PassiveJoint/U12_min").toString());
    ui->lineEdit_U12_max->setText(Kin->iniFile->value("/PassiveJoint/U12_max").toString());
    ui->lineEdit_U22_min->setText(Kin->iniFile->value("/PassiveJoint/U22_min").toString());
    ui->lineEdit_U22_max->setText(Kin->iniFile->value("/PassiveJoint/U22_max").toString());
    ui->lineEdit_S32_min->setText(Kin->iniFile->value("/PassiveJoint/S32_min").toString());
    ui->lineEdit_S32_max->setText(Kin->iniFile->value("/PassiveJoint/S32_max").toString());
    ui->lineEdit_S42_min->setText(Kin->iniFile->value("/PassiveJoint/S42_min").toString());
    ui->lineEdit_S42_max->setText(Kin->iniFile->value("/PassiveJoint/S42_max").toString());

    ui->lineEdit_d1_min->setText(Kin->iniFile->value("/ActiveJoint/d1_min").toString());
    ui->lineEdit_d1_max->setText(Kin->iniFile->value("/ActiveJoint/d1_max").toString());
    ui->lineEdit_d2_min->setText(Kin->iniFile->value("/ActiveJoint/d2_min").toString());
    ui->lineEdit_d2_max->setText(Kin->iniFile->value("/ActiveJoint/d2_max").toString());
    ui->lineEdit_d3_min->setText(Kin->iniFile->value("/ActiveJoint/d3_min").toString());
    ui->lineEdit_d3_max->setText(Kin->iniFile->value("/ActiveJoint/d3_max").toString());
    ui->lineEdit_d4_min->setText(Kin->iniFile->value("/ActiveJoint/d4_min").toString());
    ui->lineEdit_d4_max->setText(Kin->iniFile->value("/ActiveJoint/d4_max").toString());



    //运动学仿真
    Pkm = new pkm3d(ui->coin3dWidget);

    ///初始化pkm3d

    Pkm->Leg1_Rot->angle = -(Kin->R1_-1.570796);
    Pkm->U1_Rot->angle = Kin->U12_-1.570796;

    Pkm->Leg2_Rot->angle = -(Kin->R2_-1.570796);
    Pkm->U2_Rot->angle = Kin->U22_-1.570796;

    Pkm->R3_Rot->angle = Kin->R3_-1.570796;
    Pkm->S32_Rot->angle = Kin->S3_-1.570796;
    Pkm->S3_Rot->angle = Kin->S32_-1.570796;

    Pkm->R4_Rot->angle = Kin->R4_-1.570796;
    Pkm->S42_Rot->angle = -(Kin->S4_-1.570796);
    Pkm->S4_Rot->angle = (Kin->S42_-1.570796);

    Pkm->U12_form->translation.setValue(0,Kin->d1/1000.0,0);
    Pkm->U22_form->translation.setValue(0,Kin->d2/1000.0,0);
    Pkm->Leg3_form->translation.setValue(0,-Kin->d3/1000.0,0);
    Pkm->Leg4_form->translation.setValue(0,-Kin->d4/1000.0,0);


    Pkm->Mplane_form->translation.setValue(0,-Kin->ZO_/1000.0, Kin->XO_/1000.0 );
    //Pkm->Mplane_Rotp->angle = Kin->PSI;
    //Pkm->Mplane_Rott->angle = -Kin->THETA;

    Pkm->Mplane_Rotp->rotation.setValue(SbVec3f(0,0,1),Kin->PSI);
    Pkm->Mplane_Rott->rotation.setValue(SbVec3f(cos(Kin->PSI),-sin(Kin->PSI),0),-Kin->THETA);




    ////XY绘图

    ui->qwtPlot->setTitle("TrajectorySimulation");
    ui->qwtPlot->setAxisScale(0,-100,100);//y轴尺度
    ui->qwtPlot->setAxisScale(2,-100,100);//x轴尺度
    ui->qwtPlot->setAxisTitle(0,"Y/(mm)");
    ui->qwtPlot->setAxisTitle(2,"X/(mm)");

    //实例化曲线
    curve = new QwtPlotCurve("Acc_X");
    curve->setPen(Qt::blue,2);//设置曲线颜色 粗细
    curve->setRenderHint(QwtPlotItem::RenderAntialiased,true);//线条光滑化
    //加到plot，plot由IDE创建
    curve->attach(ui->qwtPlot);

    //----------------设置栅格线-------------------//
    QwtPlotGrid *grid = new QwtPlotGrid;
    grid->enableX( true );//设置网格线
    grid->enableY( true );
    grid->setMajorPen( Qt::black, 0, Qt::DotLine );
    grid->attach( ui->qwtPlot );

//析构
lhyWidget::~lhyWidget()
{
    delete ui;

    delete readPlcData;

    AdsPortClose(); //关闭ADS通讯端口
}
//使能
void lhyWidget::on_clickPOWER_clicked()
{
    bool rtBool;
    AdsSyncReadReq(pAddr, 0x4020, 192, 0x1, &rtBool);
    if(rtBool)
        ui->clickPOWER->setStyleSheet("");
    else
        ui->clickPOWER->setStyleSheet("background-color: green;");
    rtBool=!rtBool;
    AdsSyncWriteReq(pAddr, 0x4020, 192, 0x1, &rtBool);

}
//重置
void lhyWidget::on_clickRESET_pressed()
{
    bool rtBool=1;
    AdsSyncWriteReq(pAddr, 0x4020, 196, 0x1, &rtBool);
    //ui->clickRESET->setStyleSheet("background-color: green;");
}
void lhyWidget::on_clickRESET_released()
{
    bool rtBool=0;
    AdsSyncWriteReq(pAddr, 0x4020, 196, 0x1, &rtBool);
    //ui->clickRESET->setStyleSheet("");
}
//回零
void lhyWidget::on_clickGOZERO_clicked()
{
    pointAfter[0].clear();pointAfter[1].clear();pointAfter[2].clear();pointAfter[3].clear();pointAfter[4].clear();pointAfter[5].clear();
    pointBefore[0].clear();pointBefore[1].clear();pointBefore[2].clear();pointBefore[3].clear();pointBefore[4].clear();pointBefore[5].clear();

    ui->tableDisplayCAMPoint->clear();
    ui->tableDisplayITPPoint->clear();

    Kin->InverseZ0_ = Kin->ZO_;
    double tem = Kin->InverseZ0_;

    //z
    for (double i = 400.0;i>=0;i--)
    {
        Kin->InverseZ0_ =  (tem-200.0)*i/400.0+200.0;
        Kin->Inverse0(Kin->PSI,Kin->THETA);
        pointAfter[0].push_back(Kin->q[0]);//d1
        pointAfter[1].push_back(Kin->q[1]);//d2
        pointAfter[2].push_back(Kin->q[2]);//d3
        pointAfter[3].push_back(Kin->q[3]);//d4

        ui->tableDisplayITPPoint->setRowCount(ui->tableDisplayITPPoint->rowCount() + 1);//总行数增加1
        ui->tableDisplayITPPoint->setItem(400-i,0,new QTableWidgetItem(QString::number(Kin->q[0])));
        ui->tableDisplayITPPoint->setItem(400-i,1,new QTableWidgetItem(QString::number(Kin->q[1])));
        ui->tableDisplayITPPoint->setItem(400-i,2,new QTableWidgetItem(QString::number(Kin->q[2])));
        ui->tableDisplayITPPoint->setItem(400-i,3,new QTableWidgetItem(QString::number(Kin->q[3])));


    }

    //psi
    for (double i = 400.0;i>=0;i--)
    {
        Kin->Inverse0(Kin->PSI*i/400.0,Kin->THETA);
        pointAfter[0].push_back(Kin->q[0]);//d1
        pointAfter[1].push_back(Kin->q[1]);//d2
        pointAfter[2].push_back(Kin->q[2]);//d3
        pointAfter[3].push_back(Kin->q[3]);//d4

        ui->tableDisplayITPPoint->setRowCount(ui->tableDisplayITPPoint->rowCount() + 1);//总行数增加1
        ui->tableDisplayITPPoint->setItem(801-i,0,new QTableWidgetItem(QString::number(Kin->q[0])));
        ui->tableDisplayITPPoint->setItem(801-i,1,new QTableWidgetItem(QString::number(Kin->q[1])));
        ui->tableDisplayITPPoint->setItem(801-i,2,new QTableWidgetItem(QString::number(Kin->q[2])));
        ui->tableDisplayITPPoint->setItem(801-i,3,new QTableWidgetItem(QString::number(Kin->q[3])));

    }

    //theta
    for (double i = 400.0;i>=0;i--)
    {
        Kin->Inverse0(0,Kin->THETA*i/400.0);
        pointAfter[0].push_back(Kin->q[0]);//d1
        pointAfter[1].push_back(Kin->q[1]);//d2
        pointAfter[2].push_back(Kin->q[2]);//d3
        pointAfter[3].push_back(Kin->q[3]);//d4

        ui->tableDisplayITPPoint->setRowCount(ui->tableDisplayITPPoint->rowCount() + 1);//总行数增加1
        ui->tableDisplayITPPoint->setItem(1202-i,0,new QTableWidgetItem(QString::number(Kin->q[0])));
        ui->tableDisplayITPPoint->setItem(1202-i,1,new QTableWidgetItem(QString::number(Kin->q[1])));
        ui->tableDisplayITPPoint->setItem(1202-i,2,new QTableWidgetItem(QString::number(Kin->q[2])));
        ui->tableDisplayITPPoint->setItem(1202-i,3,new QTableWidgetItem(QString::number(Kin->q[3])));

    }


    int a=1203;
    AdsSyncWriteReq(pAddr, 0x4020, 36, 4, &a);//传入plcFeedpoint数目


    do{//MAIN.pArrayLreal1
    unsigned long lHdlVar2;       //创建句柄
    double* array = pointAfter[0].data();    //定义数组
//    for(int i = 0;i<10;i++)
//    {
//        qDebug()<<"pointBefore[0]["<<i<<"] = "<<array[i];
//    }
    char szVar3[]={"MAIN.pArrayLreal1"};
    //得到Array1的句柄
    AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar2), &lHdlVar2, sizeof(szVar3), szVar3);
    //通过句柄向PLC写入数组
    AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar2, pointAfter[0].size()*8, &array[0]);
    }while(0);

    do{//MAIN.pArrayLreal2
    unsigned long lHdlVar2;       //创建句柄
    double* array = pointAfter[1].data();    //定义数组
//    for(int i = 0;i<10;i++)
//    {
//        qDebug()<<"pointBefore[1]["<<i<<"] = "<<array[i];
//    }
    char szVar3[]={"MAIN.pArrayLreal2"};
    //得到Array1的句柄
    AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar2), &lHdlVar2, sizeof(szVar3), szVar3);
    //通过句柄向PLC写入数组
    AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar2, pointAfter[1].size()*8, &array[0]);
    }while(0);

    do{//MAIN.pArrayLreal3
    unsigned long lHdlVar2;       //创建句柄
    double* array = pointAfter[2].data();    //定义数组
//    for(int i = 0;i<10;i++)
//    {
//        qDebug()<<"pointBefore[3]["<<i<<"] = "<<array[i];
//    }
    char szVar3[]={"MAIN.pArrayLreal3"};
    //得到Array1的句柄
    AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar2), &lHdlVar2, sizeof(szVar3), szVar3);
    //通过句柄向PLC写入数组
    AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar2, pointAfter[2].size()*8, &array[0]);
    }while(0);

    do{//MAIN.pArrayLreal4
    unsigned long lHdlVar2;       //创建句柄
    double* array = pointAfter[3].data();    //定义数组
    char szVar3[]={"MAIN.pArrayLreal4"};
    //得到Array1的句柄
    AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar2), &lHdlVar2, sizeof(szVar3), szVar3);
    //通过句柄向PLC写入数组
    AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar2, pointAfter[3].size()*8, &array[0]);
    }while(0);



    //interpolationEnable
    bool rtBool=1;
    AdsSyncWriteReq(pAddr, 0x4020, 200, 0x1, &rtBool);

    Sleep(1000);

    rtBool=0;
    AdsSyncWriteReq(pAddr, 0x4020, 200, 0x1, &rtBool);
    //allPointOver
    AdsSyncWriteReq(pAddr, 0x4020, 240, 0x1, &rtBool);//allPointOver=false

}
//Z+
void lhyWidget::on_clickZF_pressed()
{
    bool rtBool=1;
    AdsSyncWriteReq(pAddr, 0x4020, 204, 0x1, &rtBool);
    //ui->clickZF->setStyleSheet("background-color: green;");
}
void lhyWidget::on_clickZF_released()
{
    bool rtBool=0;
    AdsSyncWriteReq(pAddr, 0x4020, 204, 0x1, &rtBool);
    //ui->clickZF->setStyleSheet("");
}
//Z-
void lhyWidget::on_clickZB_pressed()
{
    bool rtBool=1;
    AdsSyncWriteReq(pAddr, 0x4020, 208, 0x1, &rtBool);
    //ui->clickZB->setStyleSheet("background-color: green;");
}
void lhyWidget::on_clickZB_released()
{
    bool rtBool=0;
    AdsSyncWriteReq(pAddr, 0x4020, 208, 0x1, &rtBool);
    //ui->clickZB->setStyleSheet("");
}
//X+
void lhyWidget::on_clickXF_pressed()
{
    bool rtBool=1;
    AdsSyncWriteReq(pAddr, 0x4020, 212, 0x1, &rtBool);
    //ui->clickXF->setStyleSheet("background-color: green;");
}
void lhyWidget::on_clickXF_released()
{
    bool rtBool=0;
    AdsSyncWriteReq(pAddr, 0x4020, 212, 0x1, &rtBool);
    //ui->clickXF->setStyleSheet("");
}
//X-
void lhyWidget::on_clickXB_pressed()
{
    bool rtBool=1;
    AdsSyncWriteReq(pAddr, 0x4020, 216, 0x1, &rtBool);
    //ui->clickXB->setStyleSheet("background-color: green;");
}
void lhyWidget::on_clickXB_released()
{
    bool rtBool=0;
    AdsSyncWriteReq(pAddr, 0x4020, 216, 0x1, &rtBool);
    //ui->clickXB->setStyleSheet("");
}
//Y+
void lhyWidget::on_clickYF_pressed()
{
    bool rtBool=1;
    AdsSyncWriteReq(pAddr, 0x4020, 220, 0x1, &rtBool);
    //ui->clickYF->setStyleSheet("background-color: green;");
}
void lhyWidget::on_clickYF_released()
{
    bool rtBool=0;
    AdsSyncWriteReq(pAddr, 0x4020, 220, 0x1, &rtBool);
    //ui->clickYF->setStyleSheet("");
}
//Y-
void lhyWidget::on_clickYB_pressed()
{
    bool rtBool=1;
    AdsSyncWriteReq(pAddr, 0x4020, 224, 0x1, &rtBool);
    //ui->clickYB->setStyleSheet("background-color: green;");
}
void lhyWidget::on_clickYB_released()
{
    bool rtBool=0;
    AdsSyncWriteReq(pAddr, 0x4020, 224, 0x1, &rtBool);
    //ui->clickYB->setStyleSheet("");
}
//SETOVERRIDE
void lhyWidget::on_setOverride_valueChanged(int value)
{
    AdsSyncWriteReq(pAddr, 0x4020, 32, 4, &value);
    //qDebug()<<value;
}
//导入点txt((导入txt到pointBefore并告诉plc pointBefore.size()  ))
void lhyWidget::on_clickFile_clicked()
{
    pointAfter[0].clear();pointAfter[1].clear();pointAfter[2].clear();pointAfter[3].clear();pointAfter[4].clear();pointAfter[5].clear();
    pointBefore[0].clear();pointBefore[1].clear();pointBefore[2].clear();pointBefore[3].clear();pointBefore[4].clear();pointBefore[5].clear();
    file_name = QFileDialog::getOpenFileName(nullptr,"标题",".","*.txt");
    //qDebug() << "点位文件路径" << file_name;
    if(!file_name.isEmpty())
    {
        ui->tableDisplayCAMPoint->clear();
        ui->tableDisplayITPPoint->clear();


        QByteArray file_name_ = file_name.toLatin1();
        std::ifstream is(file_name_.data());

        //QString printTem;(txtBrower)
        int i;//plc中pArrayLreal要new的长度
        for (i = 0; !is.eof(); i++)
        {
            std::string tem;
            getline(is, tem);
            std::istringstream aa(tem);
            double t;

            ui->tableDisplayCAMPoint->setRowCount(ui->tableDisplayCAMPoint->rowCount() + 1);//总行数增加1
            ui->tableDisplayITPPoint->setRowCount(ui->tableDisplayITPPoint->rowCount() + 1);//总行数增加1

            for (int j = 0; j < 6; j++)
            {
                aa >> t;
                pointBefore[j].push_back(t);
                //printTem.append(QString::number(t));(txtBrower)
                if(j!=5)
                    ui->tableDisplayCAMPoint->setItem(i,j,new QTableWidgetItem(QString::number(t)));

            }
            //printTem.append('\n');(txtBrower)
            for (int j = 0; j < 6; j++)
            {
                Kin->Inverse(pointBefore[0][i],pointBefore[1][i],pointBefore[2][i],pointBefore[3][i],pointBefore[4][i]);
                pointAfter[j].push_back(Kin->q[j]);//d1
//                pointAfter[1].push_back(Kin->q[1]);//d2
//                pointAfter[2].push_back(Kin->q[2]);//d3
//                pointAfter[3].push_back(Kin->q[3]);//d4
//                pointAfter[4].push_back(Kin->q[4]);//x
//                pointAfter[5].push_back(Kin->q[5]);//y
                ui->tableDisplayITPPoint->setItem(i,j,new QTableWidgetItem(QString::number(Kin->q[j])));
            }
        }
        //ui->txtDisplay->setText(printTem);(txtBrower)
        Length = i;



        AdsSyncWriteReq(pAddr, 0x4020, 36, 4, &i);//传入plcFeedpoint数目
        qDebug()<< "length" <<i;

    }

    ////pointAfter传入plc..........。。。。。。。。。。。。。。。。。。
    do{//MAIN.pArrayLreal1
    unsigned long lHdlVar2;       //创建句柄
    double* array = pointAfter[0].data();    //定义数组
//    for(int i = 0;i<10;i++)
//    {
//        qDebug()<<"pointBefore[0]["<<i<<"] = "<<array[i];
//    }
    char szVar3[]={"MAIN.pArrayLreal1"};
    //得到Array1的句柄
    AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar2), &lHdlVar2, sizeof(szVar3), szVar3);
    //通过句柄向PLC写入数组
    AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar2, pointAfter[0].size()*8, &array[0]);
    }while(0);

    do{//MAIN.pArrayLreal2
    unsigned long lHdlVar2;       //创建句柄
    double* array = pointAfter[1].data();    //定义数组
//    for(int i = 0;i<10;i++)
//    {
//        qDebug()<<"pointBefore[1]["<<i<<"] = "<<array[i];
//    }
    char szVar3[]={"MAIN.pArrayLreal2"};
    //得到Array1的句柄
    AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar2), &lHdlVar2, sizeof(szVar3), szVar3);
    //通过句柄向PLC写入数组
    AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar2, pointAfter[1].size()*8, &array[0]);
    }while(0);

    do{//MAIN.pArrayLreal3
    unsigned long lHdlVar2;       //创建句柄
    double* array = pointAfter[2].data();    //定义数组
//    for(int i = 0;i<10;i++)
//    {
//        qDebug()<<"pointBefore[3]["<<i<<"] = "<<array[i];
//    }
    char szVar3[]={"MAIN.pArrayLreal3"};
    //得到Array1的句柄
    AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar2), &lHdlVar2, sizeof(szVar3), szVar3);
    //通过句柄向PLC写入数组
    AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar2, pointAfter[2].size()*8, &array[0]);
    }while(0);

    do{//MAIN.pArrayLreal4
    unsigned long lHdlVar2;       //创建句柄
    double* array = pointAfter[3].data();    //定义数组
//    for(int i = 0;i<10;i++)
//    {
//        qDebug()<<"pointBefore[3]["<<i<<"] = "<<array[i];
//    }
    char szVar3[]={"MAIN.pArrayLreal4"};
    //得到Array1的句柄
    AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar2), &lHdlVar2, sizeof(szVar3), szVar3);
    //通过句柄向PLC写入数组
    AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar2, pointAfter[3].size()*8, &array[0]);
    }while(0);

    do{//MAIN.pArrayLrealX
    unsigned long lHdlVar2;       //创建句柄
    double* array = pointAfter[4].data();    //定义数组
    char szVar3[]={"MAIN.pArrayLrealx"};
    //得到Array1的句柄
    AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar2), &lHdlVar2, sizeof(szVar3), szVar3);
    //通过句柄向PLC写入数组
    AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar2, pointBefore[4].size()*8, &array[0]);
    }while(0);

    do{//MAIN.pArrayLrealY
    unsigned long lHdlVar2;       //创建句柄
    double* array = pointAfter[5].data();    //定义数组
    char szVar3[]={"MAIN.pArrayLrealy"};
    //得到Array1的句柄
    AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar2), &lHdlVar2, sizeof(szVar3), szVar3);
    //通过句柄向PLC写入数组
    AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar2, pointBefore[5].size()*8, &array[0]);
    }while(0);

}
//开始interpolation并且令allPointOver=false
void lhyWidget::on_clickINTERPOLATION_clicked()
{
    //interpolationEnable
    bool rtBool=1;
    AdsSyncWriteReq(pAddr, 0x4020, 228, 0x1, &rtBool);

    Sleep(1000);

    rtBool=0;
    AdsSyncWriteReq(pAddr, 0x4020, 228, 0x1, &rtBool);
    //allPointOver
    AdsSyncWriteReq(pAddr, 0x4020, 240, 0x1, &rtBool);//allPointOver=false
}
//HALT
void lhyWidget::on_clickHALT_clicked()
{
    bool rtBool;
    AdsSyncReadReq(pAddr, 0x4020, 244, 0x1, &rtBool);
    if(rtBool)
        ui->clickHALT->setStyleSheet("");
    else
        ui->clickHALT->setStyleSheet("background-color: green;");
    rtBool=!rtBool;
    AdsSyncWriteReq(pAddr, 0x4020, 244, 0x1, &rtBool);
}
//对刀点记录
void lhyWidget::on_clickZPoint_clicked()
{
    Kin->InverseZ0_ = Kin->ZO_;//调用inverse用InverseZ0_

    Kin->ZPoint = Kin->Zp;//ZPoint记录对刀点刀尖的z
    QString a = "ZP=";
    a = a+QString::number(Kin->ZPoint);
    ui->clickZPoint->setText(a);
}
void lhyWidget::on_clickXPoint_clicked()
{
    Kin->XPoint = readPlcData->plc_Data_axisX;
    QString a = "XP=";
    a = a+QString::number(Kin->XPoint);
    ui->clickXPoint->setText(a);
}
void lhyWidget::on_clickYPoint_clicked()
{
    Kin->YPoint = -readPlcData->plc_Data_axisY;
    QString a = "YP=";
    a = a+QString::number(Kin->YPoint);
    ui->clickYPoint->setText(a);
}
//示教psi
void lhyWidget::on_teachTextEdit_A_textChanged()
{
    teachPSI = ui->teachTextEdit_A->toPlainText().toDouble()*Kin->con;
}
//示教theta
void lhyWidget::on_teachTextEdit_B_textChanged()
{
    teachTHETA = ui->teachTextEdit_B->toPlainText().toDouble()*Kin->con;
}
//示教z
void lhyWidget::on_teachTextEdit_Z_textChanged()
{
    teachZ = ui->teachTextEdit_Z->toPlainText().toDouble();
}
//示教触发
void lhyWidget::on_clickTEACH_clicked()
{
    pointAfter[0].clear();pointAfter[1].clear();pointAfter[2].clear();pointAfter[3].clear();pointAfter[4].clear();pointAfter[5].clear();
    pointBefore[0].clear();pointBefore[1].clear();pointBefore[2].clear();pointBefore[3].clear();pointBefore[4].clear();pointBefore[5].clear();

    ui->tableDisplayCAMPoint->clear();
    ui->tableDisplayITPPoint->clear();

    Kin->InverseZ0_ = Kin->ZO_;
    double tem = Kin->InverseZ0_;

    //z
    for (double i = 400.0;i>=0;i--)
    {
        Kin->InverseZ0_ = (tem-teachZ)*i/400.0+teachZ;
        Kin->Inverse0(Kin->PSI,Kin->THETA);
        pointAfter[0].push_back(Kin->q[0]);//d1
        pointAfter[1].push_back(Kin->q[1]);//d2
        pointAfter[2].push_back(Kin->q[2]);//d3
        pointAfter[3].push_back(Kin->q[3]);//d4

        ui->tableDisplayITPPoint->setRowCount(ui->tableDisplayITPPoint->rowCount() + 1);//总行数增加1
        ui->tableDisplayITPPoint->setItem(400-i,0,new QTableWidgetItem(QString::number(Kin->q[0])));
        ui->tableDisplayITPPoint->setItem(400-i,1,new QTableWidgetItem(QString::number(Kin->q[1])));
        ui->tableDisplayITPPoint->setItem(400-i,2,new QTableWidgetItem(QString::number(Kin->q[2])));
        ui->tableDisplayITPPoint->setItem(400-i,3,new QTableWidgetItem(QString::number(Kin->q[3])));


    }

    //psi
    for (double i = 0.0;i<=400;i++)
    {
        Kin->Inverse0((teachPSI-Kin->PSI)*i/400.0+Kin->PSI,Kin->THETA);
        pointAfter[0].push_back(Kin->q[0]);//d1
        pointAfter[1].push_back(Kin->q[1]);//d2
        pointAfter[2].push_back(Kin->q[2]);//d3
        pointAfter[3].push_back(Kin->q[3]);//d4

        ui->tableDisplayITPPoint->setRowCount(ui->tableDisplayITPPoint->rowCount() + 1);//总行数增加1
        ui->tableDisplayITPPoint->setItem(401+i,0,new QTableWidgetItem(QString::number(Kin->q[0])));
        ui->tableDisplayITPPoint->setItem(401+i,1,new QTableWidgetItem(QString::number(Kin->q[1])));
        ui->tableDisplayITPPoint->setItem(401+i,2,new QTableWidgetItem(QString::number(Kin->q[2])));
        ui->tableDisplayITPPoint->setItem(401+i,3,new QTableWidgetItem(QString::number(Kin->q[3])));

    }

    //theta
    for (double i = 0.0;i<=400;i++)
    {
        Kin->Inverse0(teachPSI,(teachTHETA-Kin->THETA)*i/400.0+Kin->THETA);
        pointAfter[0].push_back(Kin->q[0]);//d1
        pointAfter[1].push_back(Kin->q[1]);//d2
        pointAfter[2].push_back(Kin->q[2]);//d3
        pointAfter[3].push_back(Kin->q[3]);//d4

        ui->tableDisplayITPPoint->setRowCount(ui->tableDisplayITPPoint->rowCount() + 1);//总行数增加1
        ui->tableDisplayITPPoint->setItem(802+i,0,new QTableWidgetItem(QString::number(Kin->q[0])));
        ui->tableDisplayITPPoint->setItem(802+i,1,new QTableWidgetItem(QString::number(Kin->q[1])));
        ui->tableDisplayITPPoint->setItem(802+i,2,new QTableWidgetItem(QString::number(Kin->q[2])));
        ui->tableDisplayITPPoint->setItem(802+i,3,new QTableWidgetItem(QString::number(Kin->q[3])));

    }


    int a=1203;
    AdsSyncWriteReq(pAddr, 0x4020, 36, 4, &a);//传入plcFeedpoint数目


    do{//MAIN.pArrayLreal1
    unsigned long lHdlVar2;       //创建句柄
    double* array = pointAfter[0].data();    //定义数组
//    for(int i = 0;i<10;i++)
//    {
//        qDebug()<<"pointBefore[0]["<<i<<"] = "<<array[i];
//    }
    char szVar3[]={"MAIN.pArrayLreal1"};
    //得到Array1的句柄
    AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar2), &lHdlVar2, sizeof(szVar3), szVar3);
    //通过句柄向PLC写入数组
    AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar2, pointAfter[0].size()*8, &array[0]);
    }while(0);

    do{//MAIN.pArrayLreal2
    unsigned long lHdlVar2;       //创建句柄
    double* array = pointAfter[1].data();    //定义数组
//    for(int i = 0;i<10;i++)
//    {
//        qDebug()<<"pointBefore[1]["<<i<<"] = "<<array[i];
//    }
    char szVar3[]={"MAIN.pArrayLreal2"};
    //得到Array1的句柄
    AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar2), &lHdlVar2, sizeof(szVar3), szVar3);
    //通过句柄向PLC写入数组
    AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar2, pointAfter[1].size()*8, &array[0]);
    }while(0);

    do{//MAIN.pArrayLreal3
    unsigned long lHdlVar2;       //创建句柄
    double* array = pointAfter[2].data();    //定义数组
//    for(int i = 0;i<10;i++)
//    {
//        qDebug()<<"pointBefore[3]["<<i<<"] = "<<array[i];
//    }
    char szVar3[]={"MAIN.pArrayLreal3"};
    //得到Array1的句柄
    AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar2), &lHdlVar2, sizeof(szVar3), szVar3);
    //通过句柄向PLC写入数组
    AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar2, pointAfter[2].size()*8, &array[0]);
    }while(0);

    do{//MAIN.pArrayLreal4
    unsigned long lHdlVar2;       //创建句柄
    double* array = pointAfter[3].data();    //定义数组
    char szVar3[]={"MAIN.pArrayLreal4"};
    //得到Array1的句柄
    AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar2), &lHdlVar2, sizeof(szVar3), szVar3);
    //通过句柄向PLC写入数组
    AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar2, pointAfter[3].size()*8, &array[0]);
    }while(0);



    //interpolationEnable
    bool rtBool=1;
    AdsSyncWriteReq(pAddr, 0x4020, 200, 0x1, &rtBool);

    Sleep(1000);

    rtBool=0;
    AdsSyncWriteReq(pAddr, 0x4020, 200, 0x1, &rtBool);
    //allPointOver
    AdsSyncWriteReq(pAddr, 0x4020, 240, 0x1, &rtBool);//allPointOver=false


}

//定时器
void lhyWidget::on_ftimerTimeout()
{
    //定时器中断响
    //ActPos
    ui->textEdit_q1->setText(QString::number(readPlcData->plc_Data_axis1));
    ui->textEdit_q2->setText(QString::number(readPlcData->plc_Data_axis2));
    ui->textEdit_q3->setText(QString::number(readPlcData->plc_Data_axis3));
    ui->textEdit_q4->setText(QString::number(readPlcData->plc_Data_axis4));
    ui->textEdit_x ->setText(QString::number(readPlcData->plc_Data_axisX));
    ui->textEdit_y ->setText(QString::number(readPlcData->plc_Data_axisY));
    //监视interpolation完成情况
    if(readPlcData->allPointOver!=0)
        ui->clickINTERPOLATION->setStyleSheet("background-color: green;");
    else
    {
        ui->clickINTERPOLATION->setStyleSheet("");
        ui->ITPProgress->reset();
    }
    //qDebug()<<q1->plc_Data;


    ///更新pkm3d

    if(readPlcData->plc_Data_axis1!=0)
    {
        Kin->Forward(readPlcData->plc_Data_axis1,readPlcData->plc_Data_axis2,readPlcData->plc_Data_axis3,readPlcData->plc_Data_axis4);
        Kin->rotation();

        Pkm->Leg1_Rot->angle = -(Kin->R1_-1.570796);
        Pkm->U1_Rot->angle = Kin->U12_-1.570796;

        Pkm->Leg2_Rot->angle = -(Kin->R2_-1.570796);
        Pkm->U2_Rot->angle = Kin->U22_-1.570796;

        Pkm->R3_Rot->angle = Kin->R3_-1.570796;
        Pkm->S32_Rot->angle = Kin->S3_-1.570796;
        Pkm->S3_Rot->angle = Kin->S32_-1.570796;

        Pkm->R4_Rot->angle = Kin->R4_-1.570796;
        Pkm->S42_Rot->angle = -(Kin->S4_-1.570796);
        Pkm->S4_Rot->angle = (Kin->S42_-1.570796);

        Pkm->U12_form->translation.setValue(0,Kin->d1/1000.0,0);
        Pkm->U22_form->translation.setValue(0,Kin->d2/1000.0,0);
        Pkm->Leg3_form->translation.setValue(0,-Kin->d3/1000.0,0);
        Pkm->Leg4_form->translation.setValue(0,-Kin->d4/1000.0,0);

        //动平台
        Pkm->Mplane_form->translation.setValue(0,-Kin->ZO_/1000.0, Kin->XO_/1000.0 );//位置-Kin->ZO_/1000.0
        //Pkm->Mplane_Rotp->angle = Kin->PSI;//Rot PSI
        //Pkm->Mplane_Rott->angle = -Kin->THETA;//Rot THETA

        Pkm->Mplane_Rotp->rotation.setValue(SbVec3f(0,0,1),Kin->PSI);//位姿psi
        Pkm->Mplane_Rott->rotation.setValue(SbVec3f(cos(Kin->PSI),-sin(Kin->PSI),0),-Kin->THETA);//位姿theta


        Pkm->Y_form->translation.setValue(0,0,readPlcData->plc_Data_axisX/1000.0);//X
        Pkm->Obj_form->translation.setValue(-readPlcData->plc_Data_axisY/1000.0,0,0);//Y

        ui->textEdit_X ->setText(QString::number(Kin->XO_));
        ui->textEdit_Y ->setText(QString::number(Kin->YO_));
        ui->textEdit_Z ->setText(QString::number(Kin->ZO_));
        ui->textEdit_A ->setText(QString::number(Kin->PSI/Kin->con)+"°");
        ui->textEdit_B ->setText(QString::number(Kin->THETA/Kin->con)+"°");
    }

    curve->setSamples(pointAfter[4].data(),pointAfter[5].data(),readPlcData->plc_Data_pointK) ;
    //QwtPlot重绘，重要，没有这句不起作用
    ui->qwtPlot->replot();
   //进度条
   ui->ITPProgress->setValue(readPlcData->plc_Data_pointK/Length*100);

}




///RadiusOfSP&MP
void lhyWidget::on_lineEdit_a_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/RadiusOfSP&MP/a", arg1.toDouble());
    Kin->la = arg1.toDouble();
}
void lhyWidget::on_lineEdit_b_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/RadiusOfSP&MP/b", arg1.toDouble());
    Kin->lb = arg1.toDouble();
}
///LimitOfXY
void lhyWidget::on_lineEdit_Xmax_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/LimitOfXY/Xmax", arg1.toDouble());
    Kin->Xmax = arg1.toDouble();
}
void lhyWidget::on_lineEdit_Xmin_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/LimitOfXY/Xmin", arg1.toDouble());
    Kin->Xmin = arg1.toDouble();
}
void lhyWidget::on_lineEdit_Ymax_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/LimitOfXY/Ymax", arg1.toDouble());
    Kin->Ymax = arg1.toDouble();
}
void lhyWidget::on_lineEdit_Ymin_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/LimitOfXY/Ymin", arg1.toDouble());
    Kin->Ymin = arg1.toDouble();
}
///Tool
void lhyWidget::on_lineEdit_ToolType_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/Tool/Type", arg1.toDouble());
    Kin->Type = arg1.toDouble();
}
void lhyWidget::on_lineEdit_ToolLength_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/Tool/Length", arg1.toDouble());
    Kin->Length = arg1.toDouble();
}
void lhyWidget::on_lineEdit_le_Length_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/Tool/le_Length", arg1.toDouble());
    Kin->le_Length = arg1.toDouble();
}
///PassiveJoint
void lhyWidget::on_lineEdit_R1_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/R1_min", arg1.toDouble());
    Kin->R1_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_R1_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/R1_max", arg1.toDouble());
    Kin->R1_max = arg1.toDouble();
}
void lhyWidget::on_lineEdit_R2_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/R2_min", arg1.toDouble());
    Kin->R2_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_R2_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/R2_max", arg1.toDouble());
    Kin->R2_max = arg1.toDouble();
}
void lhyWidget::on_lineEdit_R3_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/R3_min", arg1.toDouble());
    Kin->R3_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_R3_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/R3_max", arg1.toDouble());
    Kin->R3_max = arg1.toDouble();
}
void lhyWidget::on_lineEdit_R4_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/R4_min", arg1.toDouble());
    Kin->R4_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_R4_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/R4_max", arg1.toDouble());
    Kin->R4_max = arg1.toDouble();
}
void lhyWidget::on_lineEdit_U1_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/U1_min", arg1.toDouble());
    Kin->U1_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_U1_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/U1_max", arg1.toDouble());
    Kin->U1_max = arg1.toDouble();
}
void lhyWidget::on_lineEdit_U2_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/U2_min", arg1.toDouble());
    Kin->U2_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_U2_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/U2_max", arg1.toDouble());
    Kin->U2_max = arg1.toDouble();
}
void lhyWidget::on_lineEdit_S3_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/S3_min", arg1.toDouble());
    Kin->S3_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_S3_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/S3_max", arg1.toDouble());
    Kin->S3_max = arg1.toDouble();
}
void lhyWidget::on_lineEdit_S4_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/S4_min", arg1.toDouble());
    Kin->S4_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_S4_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/S4_max", arg1.toDouble());
    Kin->S4_max = arg1.toDouble();
}
void lhyWidget::on_lineEdit_U12_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/U12_min", arg1.toDouble());
    Kin->U12_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_U12_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/U12_max", arg1.toDouble());
    Kin->U12_max = arg1.toDouble();
}
void lhyWidget::on_lineEdit_U22_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/U22_min", arg1.toDouble());
    Kin->U22_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_U22_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/U22_max", arg1.toDouble());
    Kin->U22_max = arg1.toDouble();
}
void lhyWidget::on_lineEdit_S32_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/S32_min", arg1.toDouble());
    Kin->S32_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_S32_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/S32_max", arg1.toDouble());
    Kin->S32_max = arg1.toDouble();
}
void lhyWidget::on_lineEdit_S42_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/S42_min", arg1.toDouble());
    Kin->S42_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_S42_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/PassiveJoint/S42_max", arg1.toDouble());
    Kin->S42_max = arg1.toDouble();
}
///ActiveJoint
void lhyWidget::on_lineEdit_d1_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/ActiveJoint/d1_min", arg1.toDouble());
    Kin->d1_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_d1_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/ActiveJoint/d1_max", arg1.toDouble());
    Kin->d1_max = arg1.toDouble();
}
void lhyWidget::on_lineEdit_d2_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/ActiveJoint/d2_min", arg1.toDouble());
    Kin->d2_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_d2_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/ActiveJoint/d2_max", arg1.toDouble());
    Kin->d2_max = arg1.toDouble();
}
void lhyWidget::on_lineEdit_d3_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/ActiveJoint/d3_min", arg1.toDouble());
    Kin->d3_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_d3_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/ActiveJoint/d3_max", arg1.toDouble());
    Kin->d3_max = arg1.toDouble();
}
void lhyWidget::on_lineEdit_d4_min_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/ActiveJoint/d4_min", arg1.toDouble());
    Kin->d4_min = arg1.toDouble();
}
void lhyWidget::on_lineEdit_d4_max_textChanged(const QString &arg1)
{
    Kin->iniFile->setValue("/ActiveJoint/d4_max", arg1.toDouble());
    Kin->d4_max = arg1.toDouble();
}