From 09c89f6242ecf2495f86140a3f53ef4678f8563b Mon Sep 17 00:00:00 2001 From: SudhakarKuma Date: Wed, 25 Oct 2017 15:53:45 +0530 Subject: Updated OSP-plugin --- CMakeLists.txt | 35 + COPYING | 340 +++ .../TwoNema17-2DM542-OSP-Plugin-Test/OSP.cpp | 280 ++ .../TwoNema17-2DM542-OSP-Plugin-Test/OSP.h | 234 ++ .../TwoNema17-2DM542-OSP-Plugin-Test/Readme | 15 + .../TwoNema17-2DM542-OSP-Plugin-Test.ino | 229 ++ CodesArduino-for-plugin/TwoRelay/OSP.cpp | 280 ++ CodesArduino-for-plugin/TwoRelay/OSP.h | 234 ++ CodesArduino-for-plugin/TwoRelay/Readme | 12 + CodesArduino-for-plugin/TwoRelay/TwoRelay.ino | 264 ++ .../Steps for installing OSP Plugin.odt | Bin 0 -> 22821 bytes OSP | 2427 +++++++++++++++++ OSP.config | 2 + OSP.creator | 1 + OSP.creator.user | 217 ++ OSP.creator.user.bde316c | 217 ++ OSP.creator.user.ded1ca5 | 217 ++ OSP.files | 85 + OSP.includes | 1 + OpenSkyPlanetarium.qrc | 6 + Other Arduino Codes | 1 + README.md | 35 + Study Materials/Matrix_method_rev_d.pdf | Bin 0 -> 964080 bytes 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0000000..3f5f1dd --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,35 @@ +# This is the cmake config file for the OpenSkyPlanetarium +CMAKE_MINIMUM_REQUIRED(VERSION 3.5) +SET(OPENSKYPLANETARIUM_VERSION "0.1.0") +FIND_PACKAGE(Qt5Core REQUIRED) +FIND_PACKAGE(Qt5Gui REQUIRED) +FIND_PACKAGE(Qt5OpenGL REQUIRED) + +SET(STELLARIUM_SOURCE_DIR $ENV{STELROOT}) + +INCLUDE_DIRECTORIES( + ${CMAKE_BINARY_DIR} + ${CMAKE_SOURCE_DIR}/src + ${CMAKE_SOURCE_DIR}/src/gui + ${STELLARIUM_SOURCE_DIR}/src + ${STELLARIUM_SOURCE_DIR}/src/core + ${STELLARIUM_SOURCE_DIR}/src/core/modules + ${STELLARIUM_SOURCE_DIR}/src/core/planetsephems + ${STELLARIUM_SOURCE_DIR}/src/core/external + ${STELLARIUM_SOURCE_DIR}/src/core/external/qtcompress + ${STELLARIUM_SOURCE_DIR}/src/core/external/glues_stel/source/ + ${STELLARIUM_SOURCE_DIR}/src/core/external/glues_stel/source/libtess + ${STELLARIUM_SOURCE_DIR}/src/gui + ${STELLARIUM_SOURCE_DIR}/src/scripting + ${INTL_INCLUDE_DIR} + ${CMAKE_BINARY_DIR}/src + ${ZLIB_INCLUDE_DIR} +) + +ADD_SUBDIRECTORY( src ) + +SET(QT_LINK_PARAMETERS Qt5::Core Qt5::Gui Qt5::OpenGL) + +SET(CMAKE_INSTALL_PREFIX $ENV{HOME}/.stellarium) + +install(FILES builds/unix/src/libOpenSkyPlanetarium.so DESTINATION modules/OpenSkyPlanetarium/) diff --git a/COPYING b/COPYING new file mode 100755 index 0000000..b35f35c --- /dev/null +++ b/COPYING @@ -0,0 +1,340 @@ + GNU GENERAL PUBLIC LICENSE + Version 2, June 1991 + + Copyright (C) 1989, 1991 Free Software Foundation, Inc. + 51 Franklin Street, Suite 500, Boston, MA 02110-1335 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The licenses for most software are designed to take away your +freedom to share and change it. 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See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 51 Franklin Street, Suite 500, Boston, MA 02110-1335 USA + + +Also add information on how to contact you by electronic and paper mail. + +If the program is interactive, make it output a short notice like this +when it starts in an interactive mode: + + Gnomovision version 69, Copyright (C) year name of author + Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, the commands you use may +be called something other than `show w' and `show c'; they could even be +mouse-clicks or menu items--whatever suits your program. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the program, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the program + `Gnomovision' (which makes passes at compilers) written by James Hacker. + + , 1 April 1989 + Ty Coon, President of Vice + +This General Public License does not permit incorporating your program into +proprietary programs. If your program is a subroutine library, you may +consider it more useful to permit linking proprietary applications with the +library. If this is what you want to do, use the GNU Library General +Public License instead of this License. diff --git a/CodesArduino-for-plugin/TwoNema17-2DM542-OSP-Plugin-Test/OSP.cpp b/CodesArduino-for-plugin/TwoNema17-2DM542-OSP-Plugin-Test/OSP.cpp new file mode 100644 index 0000000..3238c9b --- /dev/null +++ b/CodesArduino-for-plugin/TwoNema17-2DM542-OSP-Plugin-Test/OSP.cpp @@ -0,0 +1,280 @@ +// #include "WProgram.h" // Arduino < 1.0 +#include //Arduino >= 1.0 +#include "OSP.h" + + +int dir1, step1, dir2, step2; +int stepx; +int stepy; +int low; +int high; +int x_rev_set = 0; +int y_rev_set = 0; +float valx; +float valy; +float _pgrad_x; +float _pgrad_y; + +int stepx_new; +int stepy_new; +float degsH; +float degsV; +float degsH_new; +float degsV_new; + + +OSP::OSP(){ + stopper=0; +} + +void OSP::setMotorsPins(int step1, int dir1, int enable1, int step2, int dir2, int enable2) +{ + pinMode(step1, OUTPUT); + pinMode(dir1, OUTPUT); + pinMode(enable1, OUTPUT); + pinMode(step2, OUTPUT); + pinMode(dir2, OUTPUT); + pinMode(enable2, OUTPUT); + + digitalWrite(step1, LOW); + digitalWrite(step2, LOW); + digitalWrite(enable1, LOW); + digitalWrite(enable2, LOW); + delayMicroseconds(50); + digitalWrite(dir1, HIGH); + digitalWrite(dir2, HIGH); + + + Serial.println("Setting up Motor pins..done"); + + digitalWrite(enable1, HIGH); + delay(100); + digitalWrite(enable1, LOW); + digitalWrite(enable2, HIGH); + delay(100); + digitalWrite(enable2, LOW); + delay(1000); +} + + +void OSP::init() +{ + low = 0; + high = 25600; //Motor driver switch setting; + + _pgrad_x=(float)((float)(high-low)/360); + _pgrad_y=(float)((float)(high-low)/180); + + stepx=0; + stepy=0; + low = 0; + high = 0; + x_rev_set = 0; + y_rev_set = 0; + valx = 0; + valy = 0; + _pgrad_x = 0; + _pgrad_y = 0; + stepx_new = 0; + stepy_new = 0; + degsH = 0; + degsV = 0; + degsH_new = 0; + degsV_new = 0; +} + +int OSP::getPX() //Steps per revolution on X axis +{ + return x_rev_set = 25600; //Change this as per the switch setting on the driver +} + + +int OSP::getPY() //Steps per revolution on Y axis +{ + return y_rev_set = 25600; //Change this as per the switch setting on the driver +} + +bool OSP::movx(bool dir, int step1, int dir1) + { + int bytes_recv = 0; + char comm[5]="nost"; + comm[bytes_recv++] = Serial.read(); + while(strcmp(comm, "stop")!=0 || stopper) + { + if(dir==1) + { + if(stepx>=25600) + stepx=25600; + + else { + digitalWrite(dir1, HIGH); + digitalWrite(step1, HIGH); + delay(delayValue); + digitalWrite(step1, LOW); + delay(delayValue); + stepx++; + } + } + else + { + if(stepx<=0) + stepx = 0; + else { + digitalWrite(dir1, LOW); + digitalWrite(step1, HIGH); + delay(delayValue); + digitalWrite(step1, LOW); + delay(delayValue); + stepx--; + } + } + while(Serial.available() > 0) + comm[bytes_recv++] = Serial.read(); + if(bytes_recv>4) + break; +} + return true; +} + +bool OSP::movy(bool dir, int step2, int dir2) +{ + int bytes_recv = 0; + char comm[5]="nost"; + + comm[bytes_recv++] = Serial.read(); + while(strcmp(comm, "stop")!=0) + { + if(dir==0) + { + if(stepy>=25600/4) + stepy=25600/4; + else { + digitalWrite(dir2, LOW); + digitalWrite(step2, HIGH); + delay(delayValue); + digitalWrite(step2, LOW); + delay(delayValue); + stepy++; + } + } + else + { + if(stepy<=0) + stepy=0; + else { + digitalWrite(dir2, HIGH); + digitalWrite(step2, HIGH); + delay(delayValue); + digitalWrite(step2, LOW); + delay(delayValue); + stepy--; + } + } + + while(Serial.available() > 0) + comm[bytes_recv++] = Serial.read(); + if(bytes_recv>4) + break; +} + return true; +} + +float OSP::getX() +{ + float valx; + valx = stepx*(float)(360.00/25600.00); + valx = (float)(M_PI/180)*valx; + return valx; +} + + +float OSP::getY() +{ + float valy; + valy = stepy*(float)(360.00/25600.00); + valy = (float)(M_PI/180)*valy; + return valy; +} + + +int OSP::getPx() +{ + return stepx; +} + + +int OSP::getPy() +{ + return stepy; +} + + +float OSP::_rad2deg(float rad){ + return (float) (180.00/M_PI)*rad; +} + +float OSP::_deg2rad(float deg){ + return (float) (M_PI/180.00)*deg; +} + +void OSP::goToRads(float x_rad, float y_rad) +{ + + float degsH = _rad2deg(x_rad); + float degsV = _rad2deg(y_rad); + +_moveTo(degsH,degsV); + +} + +void OSP::_moveTo(float x, float y, char* method) +{ + stepx_new = (25600*x)/360; //map to counts + stepy_new = (25600*y)/360; //map to counts + + stepx=stepx_new-stepx; + stepy=stepy_new-stepy; + + _moveXY(stepx,stepy,true); + stepx=stepx_new; + stepy=stepy_new; +} + +void OSP::_moveXY(int x, int y, bool nodelay) +{ + if(y>25600/4) + y = 25600/4; // This is to limit the tilt Motor to 90 degrees. + + for(int count=0;count +#include + + /** + * \brief Class that manages movements and the laser of the device + * + * Uses the stepper motors and sensors to positioning the device at a given horizontal coordinates, + * within a range of 360º degrees in horizontal, and 180º on vertical. + * To the movements uses the DDA algorithm (Digital Differential Algorithm). + */ + +class OSP{ + public: + int delayValue; + int step1, dir1, enable1, step2, dir2, enable2; + int stepx, stepy; + int low; + int high; + int stopper; + float degsH; + float degsV; + + /** + * Pins to control the stepper motors + */ + + /** + * Steps per degree on each axis + */ + float _pgrad_x, _pgrad_y; + + /** + * Current position of each axis (in radians) + */ + float _rx, _ry; + + /** + * Auxiliary variables, maximum theoric values, and steps per revolution respectively + */ + int _x, _y, _X, _Y, _pv_x, _pv_y; + + /** + * Theoric central values of each axis + */ + int _revx, _topy; + + /** + * Indicates if X axis has been "reverted" (Y is between 90º and 180º) + */ + bool _x_rev; + + /** + * Sensor pins + */ + int _s0Pin_x, _s360Pin_x, _sbottomPin_y, _stopPin_y; + + /** + * Transforms radian to degrees + * + * \param rad Radians + * \return degrees + */ + float _rad2deg(float rad); + + /** + * Degrees to radians + * + * \param deg Degrees + * \return radians + */ + float _deg2rad(float deg); + + /** + * Moves one of the motors a given number of steps + * + * \param axis Pin of the motor to move + * \param dir Direction: True means clockwise direction on X, and upwards on Y + * \param steps Number of steps (if limit sensor is not reached) + * \param sensor Pin of the sensor that can be reached towards that direction + * \param nodelay Skip the initial delay (useful to DDA algorithm) + * \return Number of steps (distinct of the steps parameter if the sensor has been reached) + */ + //int _step(int axis, bool dir, int steps, int sensor, bool nodelay=false); + + /** + * Enables the motors power supply + */ + void _enableMotors(); + + /** + * Disables the motors power supply + */ + void _disableMotors(); + + /** + * Moves the device to the given position + * + * \param x Number of steps from 0 to the desired position on X axis + * \param y Number of steps from 0 to the desired position on Y axis + * \param method Algorithm selection: DDA or XY (first X axis, then Y), by default is DDA + */ + void _moveTo(float x, float y, char* method = "DDA"); + + /** + * Moves the device to the given position, first X axis and then Y axis + * + * \param x Number of steps from 0 to the desired position on X axis + * \param y Number of steps from 0 to the desired position on Y axis + * \param nodelay Omits the delay on changes of axis or direction + */ + void _moveXY(int x, int y, bool nodelay=false); + + /** + * Moves the device to the given position using DDA algorithm + * + * \param x Number of steps from 0 to the desired position on X axis + * \param y Number of steps from 0 to the desired position on Y axis + */ + void _moveDDA(int x, int y); + //void _moveDDA(int x, int y, float dirx, float diry); + + public: + /** + * Class constructor + */ + OSP(); + + /** + * Initializes the device + * + * Along the process obtains the number of steps on each axis, and calculates the steps + * per degree for positioning + */ + void init(); + + /** + * Returns current position on X axis + * + * \return X position as radians + */ + float getX(); + + /** + * Returns current position on Y axis + * + * \return Y position as radians + */ + float getY(); + + /** + * Return the number of steps per revolution of the X axis + * + * \return Steps per revolution + */ + int getPX(); + + /** + * Number of steps from 0º to current position on X axis + * + * \return Current position on X + */ + int getPx(); + + /** + * Return the number of steps per revolution of the Y axis + * + * \return Steps per revolution + */ + int getPY(); + + /** + * Number of steps from 0º to current position on Y axis + * + * \return Current position on Y + */ + int getPy(); + + /** + * Sets the pins to control the stepper motors + * + * \param stPin_x Pin to move the X axis + * \param stPin_y Pin to move the Y axis + * \param dirPin Direction: True means clockwise direction on X axis, and downwards on Y + * \param enable_x Turn On/Off power supply on X axis motor + * \param enable_y Turn On/Off power supply on Y axis motor + * + */ + +void setMotorsPins(int step1, int dir1, int enable1, int step2, int dir2, int enable2); + + + /** + * Sets the pins connected to the sensors + * + * \param s0Pin_x Pin for the 0º limit sensor on X axis + * \param s360Pin_x Pir for the 360º limit sensor on X axis + * \param sbottomPin_y Pin for the 0º limit sensor on Y axis + * \param stopPin_y Sensor for the 90º limit sensor on Y axis + */ + void setSensorsPins(int s0Pin_x, int s360Pin_x, int sbottomPin_y, int stopPin_y); + + /** + * Points the device towards the given coordinates + * + * \param rx Radians for the X axis, on range of 0 - 2*Pi + * \param ry Radians for the Y axis: on range of 0 - Pi + */ + void goToRads(float rx, float ry); + + /** + * Accelerated movement for X axis + * + * The movement stops when a 'stop' command is received by the serial port + * + * \param dir Direction: True means clockwise direction + * \return Returns true in case of reaches a limit sensor + */ + + bool movx(bool dir, int step1, int dir1); + /** + * Accelerated movement for Y axis + * + * The movement stops when a 'stop' command is received by the serial port + * + * \param dir Direction: True means upwards + * \return Returns true in case of reaches a limit sensor + */ + + bool movy(bool dir, int step2, int dir2); + void OSP::_moveEqua(int x, int y); + }; +#endif diff --git a/CodesArduino-for-plugin/TwoNema17-2DM542-OSP-Plugin-Test/Readme b/CodesArduino-for-plugin/TwoNema17-2DM542-OSP-Plugin-Test/Readme new file mode 100644 index 0000000..d48f957 --- /dev/null +++ b/CodesArduino-for-plugin/TwoNema17-2DM542-OSP-Plugin-Test/Readme @@ -0,0 +1,15 @@ +This code is used to test OSP plugin with NEMA17 motors and 2DM542 microstep driver. + +The connections for one motor are as under: +1. The pins A+ A- B+ and B- are connected with the four pins of NEMA17. +2. V+ and GND are connected to 24V power supply terminals. GND is shorted with the GND of Arduino. +3. ENA- DIR- and PLS- are connected to GND of Arduino. +4. PLS+ --> D10 of Arduino. +5. DIR+ --> D11 of Arduino. +6. ENA+ --> D12 of Arduino. +7. RS232 pins were completely OFF. +8. The swicthes on the drivers were adjusted for 3200 steps per revolution and 1A current supply. + +Both the drivers were powered by a single 24V DC supply. + + diff --git a/CodesArduino-for-plugin/TwoNema17-2DM542-OSP-Plugin-Test/TwoNema17-2DM542-OSP-Plugin-Test.ino b/CodesArduino-for-plugin/TwoNema17-2DM542-OSP-Plugin-Test/TwoNema17-2DM542-OSP-Plugin-Test.ino new file mode 100644 index 0000000..17c7a08 --- /dev/null +++ b/CodesArduino-for-plugin/TwoNema17-2DM542-OSP-Plugin-Test/TwoNema17-2DM542-OSP-Plugin-Test.ino @@ -0,0 +1,229 @@ +#include +#include +#include +#include "OSP.h" + +/** + * Declarations for stepper motor 1 (at the base) + * All the pins below are connected to digital pins of Arduino Nano. + */ + +#define dir1 11 +#define step1 12 +#define enable1 10 + +#define relay1 2 +#define relay2 4 +#define relay3 5 +#define relay4 6 + +/** + * Declarations for stepper motor 2 (at top holding LASER) + */ +#define dir2 8 +#define step2 9 +#define enable2 7 + +/** + * Digital pin to control the LASER + * This pin is connected to gate (G) of IRF540 + */ +int laserPin = 3; + + +/** + * Library for control the device. + */ +OSP Axes = OSP(); +String m_data, sac_data, salt_data; // to store LASER coorinates + +void setup(){ + Serial.begin(9600); + pinMode(relay1,OUTPUT); + pinMode(relay2,OUTPUT); + pinMode(relay3,OUTPUT); + pinMode(relay4,OUTPUT); + + digitalWrite(relay1, HIGH); + digitalWrite(relay2, HIGH); + digitalWrite(relay3, HIGH); + digitalWrite(relay4, HIGH); + pinMode(laserPin, OUTPUT); + laserOff(); + Axes.setMotorsPins(dir1, step1, enable1, dir2, step2, enable2); + Axes.delayValue = 30; // to adjust motor speed as Coarse and Fine + + } + + +/** + * Turn LASER on at given intensity + */ +void laserOn(int intensity){ + analogWrite(laserPin, intensity); + } + +/** + * Turn LASER Off + */ +void laserOff(){ + digitalWrite(laserPin, LOW); +} + + +void getAcAlt(){ + char bytes[40]; + int nbytes = 0; + bool recv=false; + while(!recv){ + while(nbytes < 17){ + if(Serial.available() > 0){ + bytes[nbytes] = Serial.read(); + nbytes++; + } + recv=true; + } + } + + +/** + * As LASER coordinates, we receive string like movem_-4.5434_-2.5254. + * This string is chunked to extract ac and alt values. + */ + + String data= String(bytes); + data.trim(); + int len=data.length(); + m_data=data; + sac_data=data; + salt_data=data; + m_data.remove(1,len-1); + sac_data.remove(0,2); + len=sac_data.length(); + sac_data.remove(7,len-7); + len=salt_data.length(); + salt_data=salt_data.substring(10,17); +} + + +void loop(){ + + + float ac, alt; + char comm[5]; + int bytes_recv = 0; + bool mov_end; + comm[4]='\0'; + while(bytes_recv < 4){ + //Waiting for a command from serial monitor + if (Serial.available() > 0) + comm[bytes_recv++] = Serial.read(); + //Serial.println("here"); + //Serial.println(analogRead(smps)); + } + + + if(strcmp(comm, "move")==0){ + Serial.println("float"); + getAcAlt(); + Serial.println("done_move"); + Axes.goToRads(sac_data.toFloat(),salt_data.toFloat()); + } + + if(strcmp(comm, "movl")==0){ + mov_end=Axes.movx(false,step1,dir1); + if(mov_end) + Serial.println("done_movl"); + } + + else if(strcmp(comm, "movr")==0){ + mov_end=Axes.movx(true,step1,dir1); + if(mov_end) + Serial.println("done_movr"); + } + + else if(strcmp(comm, "movu")==0){ + mov_end=Axes.movy(false,step2,dir2); + if(mov_end) + Serial.println("done_movu"); + } + + else if(strcmp(comm, "movd")==0){ + mov_end=Axes.movy(true,step2,dir2); + if(mov_end) + Serial.println("done_movd"); + } + + else if(strcmp(comm, "init")==0){ + delay(1000); + digitalWrite(relay1,LOW); + digitalWrite(relay2,LOW); + digitalWrite(relay3,LOW); + digitalWrite(relay4,LOW); + Axes.init(); + Serial.println("done_init"); + } + + else if(strcmp(comm, "laon")==0){ + laserOn(50); + Serial.println("done_laon"); + } + + else if(strcmp(comm, "loff")==0){ + laserOff(); + Serial.println("done_loff"); + } + else if(strcmp(comm, "post")==0){ + ac=Axes.getX(); + alt=Axes.getY(); + Serial.print("t_"); + Serial.print(ac,6); + Serial.print("_"); + Serial.println(alt,6); + } + + else if(strcmp(comm,"stop")==0){ + Axes.stopper=1; + } + + else if(strcmp(comm,"coad")==0){ + Axes.delayValue = 3; + Serial.println("done_high_speed"); + } + + else if(strcmp(comm,"fiad")==0){ + Axes.delayValue = 30; + Serial.println("done_low_speed"); + } + else if(strcmp(comm,"clos")==0){ + digitalWrite(relay1, HIGH); + digitalWrite(relay2, HIGH); + digitalWrite(relay3, HIGH); + digitalWrite(relay4, HIGH); + laserOff(); + Serial.println("done_close"); + + } + else if(strcmp(comm,"lase")==0){ + Serial.println("done_lase"); + char bytes[40]; + int nbytes = 0; + bool recv=false; + while(!recv){ + while(nbytes < 4){ + if(Serial.available() > 0){ + bytes[nbytes] = Serial.read(); + nbytes++; + } + recv=true; + } + } + String data= String(bytes); + int intensity=data.toInt(); + laserOn(intensity); + } + + else{ + } +} + diff --git a/CodesArduino-for-plugin/TwoRelay/OSP.cpp b/CodesArduino-for-plugin/TwoRelay/OSP.cpp new file mode 100644 index 0000000..21c5f28 --- /dev/null +++ b/CodesArduino-for-plugin/TwoRelay/OSP.cpp @@ -0,0 +1,280 @@ +// #include "WProgram.h" // Arduino < 1.0 +#include //Arduino >= 1.0 +#include "OSP.h" + + +int dir1, step1, dir2, step2; +int stepx; +int stepy; +int low; +int high; +int x_rev_set = 0; +int y_rev_set = 0; +float valx; +float valy; +float _pgrad_x; +float _pgrad_y; + +int stepx_new; +int stepy_new; +float degsH; +float degsV; +float degsH_new; +float degsV_new; + + +OSP::OSP(){ + stopper=0; +} + +void OSP::setMotorsPins(int step1, int dir1, int enable1, int step2, int dir2, int enable2) +{ + pinMode(step1, OUTPUT); + pinMode(dir1, OUTPUT); + pinMode(enable1, OUTPUT); + pinMode(step2, OUTPUT); + pinMode(dir2, OUTPUT); + pinMode(enable2, OUTPUT); + + digitalWrite(step1, LOW); + digitalWrite(step2, LOW); + digitalWrite(enable1, LOW); + digitalWrite(enable2, LOW); + delayMicroseconds(50); + digitalWrite(dir1, HIGH); + digitalWrite(dir2, HIGH); + + + Serial.println("Setting up Motor pins..done"); + + digitalWrite(enable1, HIGH); + delay(100); + digitalWrite(enable1, LOW); + digitalWrite(enable2, HIGH); + delay(100); + digitalWrite(enable2, LOW); + delay(1000); +} + + +void OSP::init() +{ + low = 0; + high = 25600; //Motor driver switch setting; + + _pgrad_x=(float)((float)(high-low)/360); + _pgrad_y=(float)((float)(high-low)/180); + + stepx=0; + stepy=0; + low = 0; + high = 0; + x_rev_set = 0; + y_rev_set = 0; + valx = 0; + valy = 0; + _pgrad_x = 0; + _pgrad_y = 0; + stepx_new = 0; + stepy_new = 0; + degsH = 0; + degsV = 0; + degsH_new = 0; + degsV_new = 0; +} + +int OSP::getPX() //Steps per revolution on X axis +{ + return x_rev_set = 25600; //Change this as per the switch setting on the driver +} + + +int OSP::getPY() //Steps per revolution on Y axis +{ + return y_rev_set = 25600; //Change this as per the switch setting on the driver +} + +bool OSP::movx(bool dir, int step1, int dir1) + { + int bytes_recv = 0; + char comm[5]="nost"; + comm[bytes_recv++] = Serial.read(); + while(strcmp(comm, "stop")!=0 || stopper) + { + if(dir==1) + { + if(stepx>=25600) + stepx=25600; + + else { + digitalWrite(dir1, LOW); + digitalWrite(step1, HIGH); + delay(delayValue); + digitalWrite(step1, LOW); + delay(delayValue); + stepx++; + } + } + else + { + if(stepx<=0) + stepx = 0; + else { + digitalWrite(dir1, HIGH); + digitalWrite(step1, HIGH); + delay(delayValue); + digitalWrite(step1, LOW); + delay(delayValue); + stepx--; + } + } + while(Serial.available() > 0) + comm[bytes_recv++] = Serial.read(); + if(bytes_recv>4) + break; +} + return true; +} + +bool OSP::movy(bool dir, int step2, int dir2) +{ + int bytes_recv = 0; + char comm[5]="nost"; + + comm[bytes_recv++] = Serial.read(); + while(strcmp(comm, "stop")!=0) + { + if(dir==0) + { + if(stepy>=25600/4) + stepy=25600/4; + else { + digitalWrite(dir2, HIGH); + digitalWrite(step2, HIGH); + delay(delayValue); + digitalWrite(step2, LOW); + delay(delayValue); + stepy++; + } + } + else + { + if(stepy<=0) + stepy=0; + else { + digitalWrite(dir2, LOW); + digitalWrite(step2, HIGH); + delay(delayValue); + digitalWrite(step2, LOW); + delay(delayValue); + stepy--; + } + } + + while(Serial.available() > 0) + comm[bytes_recv++] = Serial.read(); + if(bytes_recv>4) + break; +} + return true; +} + +float OSP::getX() +{ + float valx; + valx = stepx*(float)(360.00/25600.00); + valx = (float)(M_PI/180)*valx; + return valx; +} + + +float OSP::getY() +{ + float valy; + valy = stepy*(float)(360.00/25600.00); + valy = (float)(M_PI/180)*valy; + return valy; +} + + +int OSP::getPx() +{ + return stepx; +} + + +int OSP::getPy() +{ + return stepy; +} + + +float OSP::_rad2deg(float rad){ + return (float) (180.00/M_PI)*rad; +} + +float OSP::_deg2rad(float deg){ + return (float) (M_PI/180.00)*deg; +} + +void OSP::goToRads(float x_rad, float y_rad) +{ + + float degsH = _rad2deg(x_rad); + float degsV = _rad2deg(y_rad); + +_moveTo(degsH,degsV); + +} + +void OSP::_moveTo(float x, float y, char* method) +{ + stepx_new = (25600*x)/360; //map to counts + stepy_new = (25600*y)/360; //map to counts + + stepx=stepx_new-stepx; + stepy=stepy_new-stepy; + + _moveXY(stepx,stepy,true); + stepx=stepx_new; + stepy=stepy_new; +} + +void OSP::_moveXY(int x, int y, bool nodelay) +{ + if(y>25600/4) + y = 25600/4; // This is to limit the tilt Motor to 90 degrees. + + for(int count=0;count +#include + + /** + * \brief Class that manages movements and the laser of the device + * + * Uses the stepper motors and sensors to positioning the device at a given horizontal coordinates, + * within a range of 360º degrees in horizontal, and 180º on vertical. + * To the movements uses the DDA algorithm (Digital Differential Algorithm). + */ + +class OSP{ + public: + int delayValue; + int step1, dir1, enable1, step2, dir2, enable2; + int stepx, stepy; + int low; + int high; + int stopper; + float degsH; + float degsV; + + /** + * Pins to control the stepper motors + */ + + /** + * Steps per degree on each axis + */ + float _pgrad_x, _pgrad_y; + + /** + * Current position of each axis (in radians) + */ + float _rx, _ry; + + /** + * Auxiliary variables, maximum theoric values, and steps per revolution respectively + */ + int _x, _y, _X, _Y, _pv_x, _pv_y; + + /** + * Theoric central values of each axis + */ + int _revx, _topy; + + /** + * Indicates if X axis has been "reverted" (Y is between 90º and 180º) + */ + bool _x_rev; + + /** + * Sensor pins + */ + int _s0Pin_x, _s360Pin_x, _sbottomPin_y, _stopPin_y; + + /** + * Transforms radian to degrees + * + * \param rad Radians + * \return degrees + */ + float _rad2deg(float rad); + + /** + * Degrees to radians + * + * \param deg Degrees + * \return radians + */ + float _deg2rad(float deg); + + /** + * Moves one of the motors a given number of steps + * + * \param axis Pin of the motor to move + * \param dir Direction: True means clockwise direction on X, and upwards on Y + * \param steps Number of steps (if limit sensor is not reached) + * \param sensor Pin of the sensor that can be reached towards that direction + * \param nodelay Skip the initial delay (useful to DDA algorithm) + * \return Number of steps (distinct of the steps parameter if the sensor has been reached) + */ + //int _step(int axis, bool dir, int steps, int sensor, bool nodelay=false); + + /** + * Enables the motors power supply + */ + void _enableMotors(); + + /** + * Disables the motors power supply + */ + void _disableMotors(); + + /** + * Moves the device to the given position + * + * \param x Number of steps from 0 to the desired position on X axis + * \param y Number of steps from 0 to the desired position on Y axis + * \param method Algorithm selection: DDA or XY (first X axis, then Y), by default is DDA + */ + void _moveTo(float x, float y, char* method = "DDA"); + + /** + * Moves the device to the given position, first X axis and then Y axis + * + * \param x Number of steps from 0 to the desired position on X axis + * \param y Number of steps from 0 to the desired position on Y axis + * \param nodelay Omits the delay on changes of axis or direction + */ + void _moveXY(int x, int y, bool nodelay=false); + + /** + * Moves the device to the given position using DDA algorithm + * + * \param x Number of steps from 0 to the desired position on X axis + * \param y Number of steps from 0 to the desired position on Y axis + */ + void _moveDDA(int x, int y); + //void _moveDDA(int x, int y, float dirx, float diry); + + public: + /** + * Class constructor + */ + OSP(); + + /** + * Initializes the device + * + * Along the process obtains the number of steps on each axis, and calculates the steps + * per degree for positioning + */ + void init(); + + /** + * Returns current position on X axis + * + * \return X position as radians + */ + float getX(); + + /** + * Returns current position on Y axis + * + * \return Y position as radians + */ + float getY(); + + /** + * Return the number of steps per revolution of the X axis + * + * \return Steps per revolution + */ + int getPX(); + + /** + * Number of steps from 0º to current position on X axis + * + * \return Current position on X + */ + int getPx(); + + /** + * Return the number of steps per revolution of the Y axis + * + * \return Steps per revolution + */ + int getPY(); + + /** + * Number of steps from 0º to current position on Y axis + * + * \return Current position on Y + */ + int getPy(); + + /** + * Sets the pins to control the stepper motors + * + * \param stPin_x Pin to move the X axis + * \param stPin_y Pin to move the Y axis + * \param dirPin Direction: True means clockwise direction on X axis, and downwards on Y + * \param enable_x Turn On/Off power supply on X axis motor + * \param enable_y Turn On/Off power supply on Y axis motor + * + */ + +void setMotorsPins(int step1, int dir1, int enable1, int step2, int dir2, int enable2); + + + /** + * Sets the pins connected to the sensors + * + * \param s0Pin_x Pin for the 0º limit sensor on X axis + * \param s360Pin_x Pir for the 360º limit sensor on X axis + * \param sbottomPin_y Pin for the 0º limit sensor on Y axis + * \param stopPin_y Sensor for the 90º limit sensor on Y axis + */ + void setSensorsPins(int s0Pin_x, int s360Pin_x, int sbottomPin_y, int stopPin_y); + + /** + * Points the device towards the given coordinates + * + * \param rx Radians for the X axis, on range of 0 - 2*Pi + * \param ry Radians for the Y axis: on range of 0 - Pi + */ + void goToRads(float rx, float ry); + + /** + * Accelerated movement for X axis + * + * The movement stops when a 'stop' command is received by the serial port + * + * \param dir Direction: True means clockwise direction + * \return Returns true in case of reaches a limit sensor + */ + + bool movx(bool dir, int step1, int dir1); + /** + * Accelerated movement for Y axis + * + * The movement stops when a 'stop' command is received by the serial port + * + * \param dir Direction: True means upwards + * \return Returns true in case of reaches a limit sensor + */ + + bool movy(bool dir, int step2, int dir2); + void OSP::_moveEqua(int x, int y); + }; +#endif diff --git a/CodesArduino-for-plugin/TwoRelay/Readme b/CodesArduino-for-plugin/TwoRelay/Readme new file mode 100644 index 0000000..c8e83bd --- /dev/null +++ b/CodesArduino-for-plugin/TwoRelay/Readme @@ -0,0 +1,12 @@ +This code is updated on July 18, 2017 and tested on one 2DM542 and one TB6560 driver. + +It has following features: +1. One relay is used to connect SMPS to loads (LASER and motors). This relay is driven by Arduino board. + digitalWrite(13, LOW); + +2. Second relay is turned on automatically when SMPS is found to be ON. + if(analogRead(smps)>=300) + +3. Second relay is driven by the output of step down module (4v). Earlier it was driven by Arduino board. +4. "Start Calibrate" does not switch ON second relay. + diff --git a/CodesArduino-for-plugin/TwoRelay/TwoRelay.ino b/CodesArduino-for-plugin/TwoRelay/TwoRelay.ino new file mode 100644 index 0000000..bb8dc34 --- /dev/null +++ b/CodesArduino-for-plugin/TwoRelay/TwoRelay.ino @@ -0,0 +1,264 @@ +#include +#include +#include +#include "OSP.h" + +/** + * Declarations for stepper motor 1 (at the base) + * All the pins below are connected to digital pins of Arduino Nano. + */ + +#define dir1 11 +#define step1 12 +#define enable1 10 + +#define relay1 2 +#define relay2 4 +#define relay3 5 +#define relay4 6 + +/* + * The output of step down module (4 Volts) is connected to analog pin A0. + * This is to check whether SMPS is ON or OFF. + * + */ + +int smps = A0; +int smps_on; + +/** + * Declarations for stepper motor 2 (at top holding LASER) + */ +#define dir2 8 +#define step2 9 +#define enable2 7 + +/** + * Digital pin to control the LASER + * This pin is connected to gate (G) of IRF540 + */ +int laserPin = 3; + + +/** + * Library for control the device. + */ +OSP Axes = OSP(); +String m_data, sac_data, salt_data; // to store LASER coorinates + +void setup(){ + Serial.begin(9600); + pinMode(relay1,OUTPUT); + pinMode(relay2,OUTPUT); + pinMode(relay3,OUTPUT); + pinMode(relay4,OUTPUT); + pinMode(A1,OUTPUT); + digitalWrite(A1, LOW); + pinMode(smps,INPUT); + digitalWrite(relay1, HIGH); + digitalWrite(relay2, HIGH); + digitalWrite(relay3, HIGH); + digitalWrite(relay4, HIGH); + pinMode(laserPin, OUTPUT); + laserOff(); + Axes.setMotorsPins(dir1, step1, enable1, dir2, step2, enable2); + Axes.delayValue = 30; // to adjust motor speed as Coarse and Fine + + } + + +/** + * Turn LASER on at given intensity + */ +void laserOn(int intensity){ + analogWrite(laserPin, intensity); + } + +/** + * Turn LASER Off + */ +void laserOff(){ + digitalWrite(laserPin, LOW); +} + + +void getAcAlt(){ + char bytes[40]; + int nbytes = 0; + bool recv=false; + while(!recv){ + while(nbytes < 17){ + if(Serial.available() > 0){ + bytes[nbytes] = Serial.read(); + nbytes++; + } + recv=true; + } + } + + +/** + * As LASER coordinates, we receive string like movem_-4.5434_-2.5254. + * This string is chunked to extract ac and alt values. + */ + + String data= String(bytes); + data.trim(); + int len=data.length(); + m_data=data; + sac_data=data; + salt_data=data; + m_data.remove(1,len-1); + sac_data.remove(0,2); + len=sac_data.length(); + sac_data.remove(7,len-7); + len=salt_data.length(); + salt_data=salt_data.substring(10,17); +} + + +void loop(){ + + + float ac, alt; + char comm[5]; + int bytes_recv = 0; + bool mov_end; + comm[4]='\0'; + while(bytes_recv < 4){ + //Waiting for a command from serial monitor + if (Serial.available() > 0) + comm[bytes_recv++] = Serial.read(); + + digitalWrite(A1, HIGH); + if(analogRead(smps)>=300) + { + if(smps_on==0) + //Serial.println("turning on motor relay"); + { + delay(1000); + digitalWrite(relay1, LOW); + digitalWrite(relay2, LOW); + digitalWrite(relay3, LOW); + digitalWrite(relay4, LOW); + smps_on=1; + } + } + else + { + + // Serial.println("turning off motor relay"); + digitalWrite(relay1, HIGH); + digitalWrite(relay2, HIGH); + digitalWrite(relay3, HIGH); + digitalWrite(relay4, HIGH); + smps_on=0; + } + } + + + if(strcmp(comm, "move")==0){ + Serial.println("float"); + getAcAlt(); + Serial.println("done_move"); + Axes.goToRads(sac_data.toFloat(),salt_data.toFloat()); + } + + if(strcmp(comm, "movl")==0){ + mov_end=Axes.movx(false,step1,dir1); + if(mov_end) + Serial.println("done_movl"); + } + + else if(strcmp(comm, "movr")==0){ + mov_end=Axes.movx(true,step1,dir1); + if(mov_end) + Serial.println("done_movr"); + } + + else if(strcmp(comm, "movu")==0){ + mov_end=Axes.movy(false,step2,dir2); + if(mov_end) + Serial.println("done_movu"); + } + + else if(strcmp(comm, "movd")==0){ + mov_end=Axes.movy(true,step2,dir2); + if(mov_end) + Serial.println("done_movd"); + } + + else if(strcmp(comm, "init")==0){ +// delay(1000); +// digitalWrite(relay1,LOW); +// digitalWrite(relay2,LOW); +// digitalWrite(relay3,LOW); +// digitalWrite(relay4,LOW); + Axes.init(); + Serial.println("done_init"); + } + + else if(strcmp(comm, "laon")==0){ + laserOn(50); + Serial.println("done_laon"); + } + + else if(strcmp(comm, "loff")==0){ + laserOff(); + Serial.println("done_loff"); + } + else if(strcmp(comm, "post")==0){ + ac=Axes.getX(); + alt=Axes.getY(); + Serial.print("t_"); + Serial.print(ac,6); + Serial.print("_"); + Serial.println(alt,6); + } + + else if(strcmp(comm,"stop")==0){ + Axes.stopper=1; + } + + else if(strcmp(comm,"coad")==0){ + Axes.delayValue = 3; + Serial.println("done_high_speed"); + } + + else if(strcmp(comm,"fiad")==0){ + Axes.delayValue = 30; + Serial.println("done_low_speed"); + } + else if(strcmp(comm,"clos")==0){ + //digitalWrite(relay1, HIGH); + //digitalWrite(relay2, HIGH); + //digitalWrite(relay3, HIGH); + //digitalWrite(relay4, HIGH); + //digitalWrite(13, HIGH); + laserOff(); + Serial.println("done_close"); + + } + else if(strcmp(comm,"lase")==0){ + Serial.println("done_lase"); + char bytes[40]; + int nbytes = 0; + bool recv=false; + while(!recv){ + while(nbytes < 4){ + if(Serial.available() > 0){ + bytes[nbytes] = Serial.read(); + nbytes++; + } + recv=true; + } + } + String data= String(bytes); + int intensity=data.toInt(); + laserOn(intensity); + } + + else{ + } +} + diff --git a/Installation Guide/Steps for installing OSP Plugin.odt b/Installation Guide/Steps for installing OSP Plugin.odt new file mode 100644 index 0000000..02bfb29 Binary files /dev/null and b/Installation Guide/Steps for installing OSP Plugin.odt differ diff --git a/OSP b/OSP new file mode 100755 index 0000000..b770932 --- /dev/null +++ b/OSP @@ -0,0 +1,2427 @@ +# Doxyfile 1.8.11 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. 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Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding "class=itcl::class" +# will allow you to use the command class in the itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, Javascript, +# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: +# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: +# Fortran. In the later case the parser tries to guess whether the code is fixed +# or free formatted code, this is the default for Fortran type files), VHDL. For +# instance to make doxygen treat .inc files as Fortran files (default is PHP), +# and .f files as C (default is Fortran), use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See http://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# (class|struct|union) declarations. If set to NO, these declarations will be +# included in the documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES, upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: http://www.gnu.org/software/libiconv) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl, +# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js. + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# function all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see http://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the +# cost of reduced performance. This can be particularly helpful with template +# rich C++ code for which doxygen's built-in parser lacks the necessary type +# information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse-libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = NO + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: http://developer.apple.com/tools/xcode/), introduced with +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the master .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# http://www.mathjax.org) which uses client side Javascript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from http://www.mathjax.org before deployment. +# The default value is: http://cdn.mathjax.org/mathjax/latest. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /