pluginexample.cpp

      
      
      #include "pluginexample.h"
     

      
      
      #include "robodktools.h"
     

      
      
      #include "irobodk.h"
     

      
      
      #include "iitem.h"
     

      
      
     

      
      
      #include "formrobotpilot.h"
     

      
      
     

      
      
      #include 
     

      
      
      #include 
     

      
      
      #include 
     

      
      
      #include 
     

      
      
      #include 
     

      
      
      #include 
     

      
      
      #include 
     

      
      
      #include 
     

      
      
      #include 
     

      
      
      #include 
     

      
      
     

      
      
      //------------------------------- RoboDK Plug-in commands ------------------------------
     

      
      
     

      
      
     

      
      QStringPluginExample::PluginName(){

      
      
      return
      "Example Plugin";

      
      }

      
      
     

      
      
     

      
      QStringPluginExample::PluginLoad(QMainWindow *mw, QMenuBar *menubar, QStatusBar *statusbar,RoboDK*rdk,constQString &settings){

      
      
      RDK= rdk;

      
      
      MainWindow= mw;

      
      
      StatusBar= statusbar;

      
      qDebug() <<"Loading plugin "<<PluginName();

      
      qDebug() <<"Using settings: "<< settings;// reserved for future compatibility
     

      
      
     

      
      
      // it is highly recommended to use the statusbar for debugging purposes (pass /DEBUG as an argument to see debug result in RoboDK)
     

      
      qDebug() <<"Setting up the status bar";

      
      
      StatusBar->showMessage(tr("RoboDK Plugin %1 is being loaded").arg(PluginName()));

      
      
     

      
      
      // initialize resources for the plugin (if required):
     

      
      Q_INIT_RESOURCE(resources1);

      
      
     

      
      
      // Here you can add all the "Actions": these actions are callbacks from buttons selected from the menu or the toolbar
     

      
      
      action_information=newQAction(QIcon(":/resources/information.png"), tr("Plugin Speed Information"));

      
      
      action_robotpilot=newQAction(QIcon(":/resources/code.png"), tr("Robot Pilot Form"));

      
      
      action_help=newQAction(QIcon(":/resources/help.png"), tr("RoboDK Plugins - Help"));

      
      
      // Make sure to connect the action to your callback (slot)
     

      
      connect(action_information, SIGNAL(triggered()),this, SLOT(callback_information()), Qt::QueuedConnection);

      
      connect(action_robotpilot, SIGNAL(triggered()),this, SLOT(callback_robotpilot()), Qt::QueuedConnection);

      
      connect(action_help, SIGNAL(triggered()),this, SLOT(callback_help()), Qt::QueuedConnection);

      
      
     

      
      
      // Here you can add one or more actions in the menu
     

      
      
      menu1= menubar->addMenu("Plugin Example Menu");

      
      qDebug() <<"Setting up the menu bar";

      
      
      menu1->addAction(action_information);

      
      
      menu1->addAction(action_robotpilot);

      
      
      menu1->addAction(action_help);

      
      
     

      
      
      // Important: reset the robot pilot dock/form pointer so that it is created the first time
     

      
      
      dock_robotpilot=nullptr;

      
      
      form_robotpilot=nullptr;

      
      
     

      
      
      // return string is reserverd for future compatibility
     

      
      
      return
      "";

      
      };

      
      
     

      
      
     

      
      
      void
      PluginExample::PluginUnload(){

      
      
      // Cleanup the plugin
     

      
      qDebug() <<"Unloading plugin "<<PluginName();

      
      
     

      
      
      // remove the menu
     

      
      
      menu1->deleteLater();

      
      
      menu1=nullptr;

      
      
      // remove the toolbar
     

      
      
      toolbar1->deleteLater();

      
      
      toolbar1=nullptr;

      
      
     

      
      
      if(dock_robotpilot!=nullptr){

      
      
      dock_robotpilot->close();

      
      
      dock_robotpilot=nullptr;

      
      
      form_robotpilot=nullptr;

      
      }

      
      
     

      
      
      // remove resources
     

      
      Q_CLEANUP_RESOURCE(resources1);

      
      }

      
      
     

      
      
      void
      PluginExample::PluginLoadToolbar(QMainWindow *mw,inticon_size){

      
      
      // Create a new toolbar:
     

      
      
      toolbar1= mw->addToolBar("Plugin Example Toolbar");

      
      
      toolbar1->setIconSize(QSize(icon_size, icon_size));

      
      
     

      
      
      // Important: It is highly recommended to set an object name on toolbars. This allows saving the preferred location of the toolbar by the user
     

      
      
      toolbar1->setObjectName(PluginName() +"-Toolbar1");

      
      
     

      
      
      // Add a new button to the toolbar
     

      
      
      toolbar1->addAction(action_information);

      
      
      toolbar1->addAction(action_robotpilot);

      
      
      toolbar1->addAction(action_help);

      
      }

      
      
     

      
      
     

      
      
      bool
      PluginExample::PluginItemClick(Itemitem, QMenu *menu,TypeClickclick_type){

      
      qDebug() <<"Selected item: "<< item->Name() <<" of type "<< item->Type() <<" click type: "<< click_type;

      
      
     

      
      
      if(item->Type() ==IItem::ITEM_TYPE_OBJECT){

      
      
      //menu->actions().insert(0, action_btn1); // add action at the beginning
     

      
      menu->addAction(action_information);// add action at the end
     

      
      qDebug() <<"Done";

      
      
      return
      true;

      
      }else
      if(item->Type() ==IItem: ITEM_TYPE_ROBOT){

      
      
      //menu->actions().insert(0, action_robotpilot); // add action at the beginning
     

      
      menu->addAction(action_robotpilot);// add action at the end
     

      
      qDebug() <<"Done";

      
      
      return
      true;

      
      }

      
      
      return
      false;

      
      }

      
      
     

      
      QStringPluginExample::PluginCommand(constQString &command,constQString &value){

      
      qDebug() <<"Sent command: "<< command <<" With value: "<< value;

      
      
      if(command.compare("Information", Qt::CaseInsensitive) == 0){

      
      
      callback_information();

      
      
      return
      "Done";

      
      }else
      if(command.compare("RobotPilot", Qt::CaseInsensitive) == 0){

      
      
      callback_robotpilot();

      
      
      return
      "Done";

      
      }

      
      
     

      
      
      return
      "";

      
      }

      
      
     

      
      
      void
      PluginExample::PluginEvent(TypeEventevent_type){

      
      
      switch(event_type) {

      
      
      case
      EventRender:

      
      
      //qDebug() << "(EventRender)";
     

      
      
      break;

      
      
      case
      EventMoved:

      
      
      break;

      
      
      case
      EventChanged:

      
      
     

      
      
      //if (RDK->getActiveStation() != STATION){
     

      
      
      // SetDefaultSettings();
     

      
      
      / /台= RDK - > getActiveStation();
     

      
      
      // LoadSettings(); // will select the robot if there are settings.
     

      
      
      //}
     

      
      qDebug() <<"==== EventChanged ====";

      
      
      if(form_robotpilot!=nullptr){

      
      
      form_robotpilot->SelectRobot();

      
      }

      
      
      break;

      
      
      case
      EventAbout2Save:

      
      qDebug() <<"==== EventAbout2Save ====";

      
      
      //SaveSettings();
     

      
      
      break;

      
      
      case
      EventAbout2ChangeStation:

      
      qDebug() <<"==== EventAbout2ChangeStation ====";

      
      
      //SaveSettings();
     

      
      
      break;

      
      
      case
      EventAbout2CloseStation:

      
      qDebug() <<"==== EventAbout2CloseStation ====";

      
      
      //SaveSettings();
     

      
      
      //ROBOT = nullptr;
     

      
      
      break;

      
      
      default:

      
      qDebug() <<"Unknown/future event: "<< event_type;

      
      
     

      
      }

      
      }

      
      
     

      
      
      //----------------------------------------------------------------------------------
     

      
      
      // Define your own button callbacks here
     

      
      
     

      
      
      void
      PluginExample::callback_information(){

      
      
     

      
      
      // Perform some timing tests using the RoboDK API
     

      
      
      RDK->ShowMessage("Starting timing tests",false);

      
      QString text_message_html("Plugin Timing Tests Summary on "+ QDateTime::currentDateTime().toString(Qt::SystemLocaleLongDate) +":");

      
      
     

      
      
      intntests=10000;

      
      
      //Item robot = RDK->getItem("", IItem::ITEM_TYPE_ROBOT);
     

      
      
      Itemrobot =RDK->ItemUserPick("Pick a robot",IItem: ITEM_TYPE_ROBOT);

      
      
      if(ItemValid(robot)){

      
      
      Matpose_fk;

      
      
      tJointsjoints_ik;

      
      QList joints_ik_all;

      
      qint64 tstart;

      
      qint64 tend;

      
      
     

      
      text_message_html += +""+ QString("Using robot %1").arg(robot->Name());

      
      
     

      
      
      // Test Forward Kinematics
     

      
      tstart = QDateTime::currentMSecsSinceEpoch();

      
      
      for(inti=0; i
     
      
      pose_fk = robot->SolveFK(robot->Joints());
     
      
      }
     
      
      tend = QDateTime::currentMSecsSinceEpoch();
     
      
      text_message_html += +""+ QString("Forward Kinematics: %1 micro seconds").arg(((double)(tend-tstart)*1000)/ntests, 0,'f', 2);
     
      
      
     
     
      
      
      // Test Inverse Kinematics
     
     
      
      tstart = QDateTime::currentMSecsSinceEpoch();
     
      
      
      for(inti=0; i
     
      
      joints_ik = robot->SolveIK(pose_fk);
     
      
      }
     
      
      tend = QDateTime::currentMSecsSinceEpoch();
     
      
      text_message_html +=""+ QString("Inverse Kinematics: %1 micro seconds").arg(((double)(tend-tstart)*1000)/ntests, 0,'f', 2);
     
      
      
     
     
      
      
      // Test Forward Kinematics
     
     
      
      tstart = QDateTime::currentMSecsSinceEpoch();
     
      
      
      for(inti=0; i
     
      
      joints_ik_all = robot->SolveIK_All(pose_fk);
     
      
      }
     
      
      tend = QDateTime::currentMSecsSinceEpoch();
     
      
      text_message_html +=""+ QString("Inverse Kinematics: %1 micro seconds (all solutions)").arg(((double)(tend-tstart)*1000)/ntests, 0,'f', 2);
     
      
      }else{
     
      
      text_message_html += +"No robot available to run Kinematic tests";
     
      
      }
     
      
      
     
     
      
      
     
     
      
      
      // output through debug console
     
     
      
      qDebug() << text_message_html;
     
      
      
     
     
      
      
     
     
      
      
      RDK->ShowMessage("Retrieving all station items",false);
     
      
      QStringList item_list_names =RDK->getItemListNames();
     
      
      qDebug() <<"Available items in the current station: "<< item_list_names;
     
      
      
     
     
      
      QList item_list =RDK->getItemList();
     
      
      
     
     
      
      
      RDK->ShowMessage("Displaying list of station items",false);
     
      
      text_message_html += QString("Open station %1 items:").arg(RDK->getActiveStation()->Name());
     
      
      
      foreach(Itemitm, item_list){
     
      
      
      Itemitem_parent = itm->Parent();
     
      
      
      if(!ItemValid(item_parent)){
     
      
      
      // station items do not have a parent
     
     
      
      text_message_html += QString("%1 (station)").arg(itm->Name());
     
      
      }else{
     
      
      text_message_html += QString("%1 -> parent: %2").arg(itm->Name()).arg(item_parent->Name());
     
      
      }
     
      
      
     
     
      
      }
     
      
      
     
     
      
      
     
     
      
      QTextEdit *text_editor =newQTextEdit("Plugin timing summary");
     
      
      QDockWidget *dockwidget = AddDockWidget(MainWindow, text_editor,"Dock Plugin timing summary");
     
      
      text_editor->setHtml(text_message_html);
     
      
      
      //text_editor->show();
     
     
      
      
     
     
      
      
      // close the dock:
     
     
      
      
      //dockwidget->close();
     
     
      
      
     
     
      
      }
     
      
      
     
     
      
      
      void
      PluginExample::callback_robotpilot(){
     
      
      
      if(dock_robotpilot!=nullptr){
     
      
      
      // prevent opening more than 1 form
     
     
      
      
      RDK->ShowMessage("Robot pilot form is already open",false);
     
      
      
      return;
     
      
      }
     
      
      
      RDK->ShowMessage("Opening robot pilot form...",false);
     
      
      
      form_robotpilot=new
      FormRobotPilot(RDK,MainWindow);
     
      
      
      dock_robotpilot= AddDockWidget(MainWindow,form_robotpilot,"Robot Pilot");
     
      
      connect(form_robotpilot, SIGNAL(destroyed()),this, SLOT(callback_robotpilot_closed()));
     
      
      }
     
      
      
      void
      PluginExample::callback_robotpilot_closed(){
     
      
      
      // it is important to reset pointers when the form is closed (deleted)
     
     
      
      
      dock_robotpilot=nullptr;
     
      
      
      form_robotpilot=nullptr;
     
      
      
      RDK->ShowMessage("Closed robot pilot",false);
     
      
      }
     
      
      
      void
      PluginExample::callback_help(){
     
      
      QDesktopServices::openUrl(QUrl("//www.sinclairbody.com/CreatePlugin"));
     
      
      }
     
      
      
     
     
      
      
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
    
    
   
   
  

      
      pose_fk = robot->SolveFK(robot->Joints());

      
      }

      
      tend = QDateTime::currentMSecsSinceEpoch();

      
      text_message_html += +""+ QString("Forward Kinematics: %1 micro seconds").arg(((double)(tend-tstart)*1000)/ntests, 0,'f', 2);

      
      
     

      
      
      // Test Inverse Kinematics
     

      
      tstart = QDateTime::currentMSecsSinceEpoch();

      
      
      for(inti=0; i
     
      
      joints_ik = robot->SolveIK(pose_fk);
     
      
      }
     
      
      tend = QDateTime::currentMSecsSinceEpoch();
     
      
      text_message_html +=""+ QString("Inverse Kinematics: %1 micro seconds").arg(((double)(tend-tstart)*1000)/ntests, 0,'f', 2);
     
      
      
     
     
      
      
      // Test Forward Kinematics
     
     
      
      tstart = QDateTime::currentMSecsSinceEpoch();
     
      
      
      for(inti=0; i
     
      
      joints_ik_all = robot->SolveIK_All(pose_fk);
     
      
      }
     
      
      tend = QDateTime::currentMSecsSinceEpoch();
     
      
      text_message_html +=""+ QString("Inverse Kinematics: %1 micro seconds (all solutions)").arg(((double)(tend-tstart)*1000)/ntests, 0,'f', 2);
     
      
      }else{
     
      
      text_message_html += +"No robot available to run Kinematic tests";
     
      
      }
     
      
      
     
     
      
      
     
     
      
      
      // output through debug console
     
     
      
      qDebug() << text_message_html;
     
      
      
     
     
      
      
     
     
      
      
      RDK->ShowMessage("Retrieving all station items",false);
     
      
      QStringList item_list_names =RDK->getItemListNames();
     
      
      qDebug() <<"Available items in the current station: "<< item_list_names;
     
      
      
     
     
      
      QList item_list =RDK->getItemList();
     
      
      
     
     
      
      
      RDK->ShowMessage("Displaying list of station items",false);
     
      
      text_message_html += QString("Open station %1 items:").arg(RDK->getActiveStation()->Name());
     
      
      
      foreach(Itemitm, item_list){
     
      
      
      Itemitem_parent = itm->Parent();
     
      
      
      if(!ItemValid(item_parent)){
     
      
      
      // station items do not have a parent
     
     
      
      text_message_html += QString("%1 (station)").arg(itm->Name());
     
      
      }else{
     
      
      text_message_html += QString("%1 -> parent: %2").arg(itm->Name()).arg(item_parent->Name());
     
      
      }
     
      
      
     
     
      
      }
     
      
      
     
     
      
      
     
     
      
      QTextEdit *text_editor =newQTextEdit("Plugin timing summary");
     
      
      QDockWidget *dockwidget = AddDockWidget(MainWindow, text_editor,"Dock Plugin timing summary");
     
      
      text_editor->setHtml(text_message_html);
     
      
      
      //text_editor->show();
     
     
      
      
     
     
      
      
      // close the dock:
     
     
      
      
      //dockwidget->close();
     
     
      
      
     
     
      
      }
     
      
      
     
     
      
      
      void
      PluginExample::callback_robotpilot(){
     
      
      
      if(dock_robotpilot!=nullptr){
     
      
      
      // prevent opening more than 1 form
     
     
      
      
      RDK->ShowMessage("Robot pilot form is already open",false);
     
      
      
      return;
     
      
      }
     
      
      
      RDK->ShowMessage("Opening robot pilot form...",false);
     
      
      
      form_robotpilot=new
      FormRobotPilot(RDK,MainWindow);
     
      
      
      dock_robotpilot= AddDockWidget(MainWindow,form_robotpilot,"Robot Pilot");
     
      
      connect(form_robotpilot, SIGNAL(destroyed()),this, SLOT(callback_robotpilot_closed()));
     
      
      }
     
      
      
      void
      PluginExample::callback_robotpilot_closed(){
     
      
      
      // it is important to reset pointers when the form is closed (deleted)
     
     
      
      
      dock_robotpilot=nullptr;
     
      
      
      form_robotpilot=nullptr;
     
      
      
      RDK->ShowMessage("Closed robot pilot",false);
     
      
      }
     
      
      
      void
      PluginExample::callback_help(){
     
      
      QDesktopServices::openUrl(QUrl("//www.sinclairbody.com/CreatePlugin"));
     
      
      }
     
      
      
     
     
      
      
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
    
    
   

      
      joints_ik = robot->SolveIK(pose_fk);

      
      }

      
      tend = QDateTime::currentMSecsSinceEpoch();

      
      text_message_html +=""+ QString("Inverse Kinematics: %1 micro seconds").arg(((double)(tend-tstart)*1000)/ntests, 0,'f', 2);

      
      
     

      
      
      // Test Forward Kinematics
     

      
      tstart = QDateTime::currentMSecsSinceEpoch();

      
      
      for(inti=0; i
     
      
      joints_ik_all = robot->SolveIK_All(pose_fk);
     
      
      }
     
      
      tend = QDateTime::currentMSecsSinceEpoch();
     
      
      text_message_html +=""+ QString("Inverse Kinematics: %1 micro seconds (all solutions)").arg(((double)(tend-tstart)*1000)/ntests, 0,'f', 2);
     
      
      }else{
     
      
      text_message_html += +"No robot available to run Kinematic tests";
     
      
      }
     
      
      
     
     
      
      
     
     
      
      
      // output through debug console
     
     
      
      qDebug() << text_message_html;
     
      
      
     
     
      
      
     
     
      
      
      RDK->ShowMessage("Retrieving all station items",false);
     
      
      QStringList item_list_names =RDK->getItemListNames();
     
      
      qDebug() <<"Available items in the current station: "<< item_list_names;
     
      
      
     
     
      
      QList item_list =RDK->getItemList();
     
      
      
     
     
      
      
      RDK->ShowMessage("Displaying list of station items",false);
     
      
      text_message_html += QString("Open station %1 items:").arg(RDK->getActiveStation()->Name());
     
      
      
      foreach(Itemitm, item_list){
     
      
      
      Itemitem_parent = itm->Parent();
     
      
      
      if(!ItemValid(item_parent)){
     
      
      
      // station items do not have a parent
     
     
      
      text_message_html += QString("%1 (station)").arg(itm->Name());
     
      
      }else{
     
      
      text_message_html += QString("%1 -> parent: %2").arg(itm->Name()).arg(item_parent->Name());
     
      
      }
     
      
      
     
     
      
      }
     
      
      
     
     
      
      
     
     
      
      QTextEdit *text_editor =newQTextEdit("Plugin timing summary");
     
      
      QDockWidget *dockwidget = AddDockWidget(MainWindow, text_editor,"Dock Plugin timing summary");
     
      
      text_editor->setHtml(text_message_html);
     
      
      
      //text_editor->show();
     
     
      
      
     
     
      
      
      // close the dock:
     
     
      
      
      //dockwidget->close();
     
     
      
      
     
     
      
      }
     
      
      
     
     
      
      
      void
      PluginExample::callback_robotpilot(){
     
      
      
      if(dock_robotpilot!=nullptr){
     
      
      
      // prevent opening more than 1 form
     
     
      
      
      RDK->ShowMessage("Robot pilot form is already open",false);
     
      
      
      return;
     
      
      }
     
      
      
      RDK->ShowMessage("Opening robot pilot form...",false);
     
      
      
      form_robotpilot=new
      FormRobotPilot(RDK,MainWindow);
     
      
      
      dock_robotpilot= AddDockWidget(MainWindow,form_robotpilot,"Robot Pilot");
     
      
      connect(form_robotpilot, SIGNAL(destroyed()),this, SLOT(callback_robotpilot_closed()));
     
      
      }
     
      
      
      void
      PluginExample::callback_robotpilot_closed(){
     
      
      
      // it is important to reset pointers when the form is closed (deleted)
     
     
      
      
      dock_robotpilot=nullptr;
     
      
      
      form_robotpilot=nullptr;
     
      
      
      RDK->ShowMessage("Closed robot pilot",false);
     
      
      }
     
      
      
      void
      PluginExample::callback_help(){
     
      
      QDesktopServices::openUrl(QUrl("//www.sinclairbody.com/CreatePlugin"));
     
      
      }
     
      
      
     
     
      
      
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
    

      
      joints_ik_all = robot->SolveIK_All(pose_fk);

      
      }

      
      tend = QDateTime::currentMSecsSinceEpoch();

      
      text_message_html +=""+ QString("Inverse Kinematics: %1 micro seconds (all solutions)").arg(((double)(tend-tstart)*1000)/ntests, 0,'f', 2);

      
      }else{

      
      text_message_html += +"No robot available to run Kinematic tests";

      
      }

      
      
     

      
      
     

      
      
      // output through debug console
     

      
      qDebug() << text_message_html;

      
      
     

      
      
     

      
      
      RDK->ShowMessage("Retrieving all station items",false);

      
      QStringList item_list_names =RDK->getItemListNames();

      
      qDebug() <<"Available items in the current station: "<< item_list_names;

      
      
     

      
      QList item_list =RDK->getItemList();

      
      
     

      
      
      RDK->ShowMessage("Displaying list of station items",false);

      
      text_message_html += QString("Open station %1 items:").arg(RDK->getActiveStation()->Name());

      
      
      foreach(Itemitm, item_list){

      
      
      Itemitem_parent = itm->Parent();

      
      
      if(!ItemValid(item_parent)){

      
      
      // station items do not have a parent
     

      
      text_message_html += QString("%1 (station)").arg(itm->Name());

      
      }else{

      
      text_message_html += QString("%1 -> parent: %2").arg(itm->Name()).arg(item_parent->Name());

      
      }

      
      
     

      
      }

      
      
     

      
      
     

      
      QTextEdit *text_editor =newQTextEdit("Plugin timing summary");

      
      QDockWidget *dockwidget = AddDockWidget(MainWindow, text_editor,"Dock Plugin timing summary");

      
      text_editor->setHtml(text_message_html);

      
      
      //text_editor->show();
     

      
      
     

      
      
      // close the dock:
     

      
      
      //dockwidget->close();
     

      
      
     

      
      }

      
      
     

      
      
      void
      PluginExample::callback_robotpilot(){

      
      
      if(dock_robotpilot!=nullptr){

      
      
      // prevent opening more than 1 form
     

      
      
      RDK->ShowMessage("Robot pilot form is already open",false);

      
      
      return;

      
      }

      
      
      RDK->ShowMessage("Opening robot pilot form...",false);

      
      
      form_robotpilot=new
      FormRobotPilot(RDK,MainWindow);

      
      
      dock_robotpilot= AddDockWidget(MainWindow,form_robotpilot,"Robot Pilot");

      
      connect(form_robotpilot, SIGNAL(destroyed()),this, SLOT(callback_robotpilot_closed()));

      
      }

      
      
      void
      PluginExample::callback_robotpilot_closed(){

      
      
      // it is important to reset pointers when the form is closed (deleted)
     

      
      
      dock_robotpilot=nullptr;

      
      
      form_robotpilot=nullptr;

      
      
      RDK->ShowMessage("Closed robot pilot",false);

      
      }

      
      
      void
      PluginExample::callback_help(){

      
      QDesktopServices::openUrl(QUrl("//www.sinclairbody.com/CreatePlugin"));

      
      }