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机械臂和光谱仪联动，右下角机械臂控制窗口不会触发相机采集；

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tangchao0503
2025-04-16 16:25:51 +08:00
parent f6138dd2ed
commit 20848bef1a
7 changed files with 530 additions and 210 deletions
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312
HPPA/HPPA.cpp
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@ -267,7 +267,8 @@ HPPA::HPPA(QWidget *parent)
//<2F>켣<EFBFBD>滮 //<2F>켣<EFBFBD>滮
m_pathPlan = new PathPlan(m_xMotor, m_yMotor, ui.xmotor_location_slider, ui.ymotor_location_slider); m_pathPlan = new PathPlan(m_xMotor, m_yMotor, ui.xmotor_location_slider, ui.ymotor_location_slider);
QDockWidget* dock_pathPlan = new QDockWidget(QString::fromLocal8Bit("<EFBFBD>켣<EFBFBD>滮"), this); QDockWidget* dock_pathPlan = new QDockWidget(QString::fromLocal8Bit("<EFBFBD>켣<EFBFBD>滮"), this);
dock_pathPlan->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea); dock_pathPlan->setObjectName("mDockPathPlan");
dock_pathPlan->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea);
dock_pathPlan->setWidget(m_pathPlan); dock_pathPlan->setWidget(m_pathPlan);
tabifyDockWidget(ui.mDockWidgetLinearStage, dock_pathPlan); tabifyDockWidget(ui.mDockWidgetLinearStage, dock_pathPlan);
mPanelMenu->addAction(dock_pathPlan->toggleViewAction()); mPanelMenu->addAction(dock_pathPlan->toggleViewAction());
@ -276,6 +277,7 @@ HPPA::HPPA(QWidget *parent)
adjustTable* adt = new adjustTable(); adjustTable* adt = new adjustTable();
QDockWidget* dock_adt = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"), this); QDockWidget* dock_adt = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"), this);
dock_adt->setObjectName("mDockAdjustTable");
dock_adt->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea); dock_adt->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
dock_adt->setWidget(adt); dock_adt->setWidget(adt);
tabifyDockWidget(dock_pathPlan, dock_adt); tabifyDockWidget(dock_pathPlan, dock_adt);
@ -285,6 +287,7 @@ HPPA::HPPA(QWidget *parent)
PowerControl* pc = new PowerControl(); PowerControl* pc = new PowerControl();
QDockWidget* dock_pc = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"), this); QDockWidget* dock_pc = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"), this);
dock_pc->setObjectName("mDockPowerControl");
dock_pc->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea); dock_pc->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
dock_pc->setWidget(pc); dock_pc->setWidget(pc);
tabifyDockWidget(dock_adt, dock_pc); tabifyDockWidget(dock_adt, dock_pc);
@ -293,8 +296,10 @@ HPPA::HPPA(QWidget *parent)
connect(pc, &PowerControl::powerClosed, this, &HPPA::deleteMotor); connect(pc, &PowerControl::powerClosed, this, &HPPA::deleteMotor);
//<2F><>е<EFBFBD>ۿ<EFBFBD><DBBF><EFBFBD> //<2F><>е<EFBFBD>ۿ<EFBFBD><DBBF><EFBFBD>
RobotArmControl* rac = new RobotArmControl(); rac = new RobotArmControl();
connect(rac->robotController, SIGNAL(hsiRecordSignal(int)), this, SLOT(recordFromRobotArm(int)));
QDockWidget* dock_rac = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD>е<EFBFBD>ۿ<EFBFBD><EFBFBD><EFBFBD>"), this); QDockWidget* dock_rac = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD>е<EFBFBD>ۿ<EFBFBD><EFBFBD><EFBFBD>"), this);
dock_rac->setObjectName("mDockRobotArmControl");
dock_rac->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea); dock_rac->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
dock_rac->setWidget(rac); dock_rac->setWidget(rac);
tabifyDockWidget(dock_adt, dock_rac); tabifyDockWidget(dock_adt, dock_rac);
@ -303,17 +308,37 @@ HPPA::HPPA(QWidget *parent)
createActionGroups(); createActionGroups();
connect(mImagerGroup, &QActionGroup::triggered, this, &HPPA::selectingImager); connect(mImagerGroup, &QActionGroup::triggered, this, &HPPA::selectingImager);
connect(this->ui.mAction_is_motor_enable, SIGNAL(triggered()), this, SLOT(onMotorSwitch())); createMoveplatformActionGroup();
QSettings settings; connect(moveplatformActionGroup, &QActionGroup::triggered, this, &HPPA::selectingMoveplatform);
bool isMotorEnable = settings.value("isMotorEnable").toBool();
this->ui.mAction_is_motor_enable->setChecked(isMotorEnable);
} }
void HPPA::onMotorSwitch() void HPPA::recordFromRobotArm(int fileCounter)
{ {
QSettings settings; qDebug() << "recordFromRobotArm" << fileCounter;
settings.setValue("isMotorEnable", this->ui.mAction_is_motor_enable->isChecked());
settings.sync(); if (fileCounter == -1)
{
m_Imager->setRecordControlState(false);
ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
qDebug() << "recordFromRobotArm: 1111111111111111111111";
return;
}
if (fileCounter - 1 == 0)
{
ui.ImageViewerTabWidget->clear();
}
onCreateTab(fileCounter-1);
m_numberOfRecording = fileCounter - 1;
emit StartRecordSignal();
ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>"));
ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
qDebug() << "recordFromRobotArm: 2222222222222222222222";
} }
void HPPA::createActionGroups() void HPPA::createActionGroups()
@ -357,6 +382,39 @@ void HPPA::selectingImager(QAction* selectedAction)
settings.sync(); settings.sync();
} }
void HPPA::createMoveplatformActionGroup()
{
moveplatformActionGroup = new QActionGroup(this);
moveplatformActionGroup->addAction(ui.mAction_is_no_motor);
moveplatformActionGroup->addAction(ui.mAction_2AxisMotor);
moveplatformActionGroup->addAction(ui.mAction_RobotArm);
// <20><>ȡ<EFBFBD>ϴ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD>
QSettings settings;
QString lastSelectedAction = settings.value("LastSelectedMoveplatform").toString();
// <20>ָ<EFBFBD><D6B8>ϴ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD>
if (lastSelectedAction == "mAction_is_no_motor")
{
ui.mAction_is_no_motor->setChecked(true);
}
else if (lastSelectedAction == "mAction_2AxisMotor")
{
ui.mAction_2AxisMotor->setChecked(true);
}
else if (lastSelectedAction == "mAction_RobotArm")
{
ui.mAction_RobotArm->setChecked(true);
}
}
void HPPA::selectingMoveplatform(QAction* selectedAction)
{
QSettings settings;
settings.setValue("LastSelectedMoveplatform", selectedAction->objectName());
settings.sync();
}
HPPA::~HPPA() HPPA::~HPPA()
{ {
QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini"; QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini";
@ -420,40 +478,52 @@ void HPPA::CalculateIntegratioinTimeRange()
void HPPA::onStartRecordStep1() void HPPA::onStartRecordStep1()
{ {
bool isMotorEnable = this->ui.mAction_is_motor_enable->isChecked(); QAction* checked = moveplatformActionGroup->checkedAction();
if (!isMotorEnable)//ͣ<><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFA3AC><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> if (!checked)
{
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD>ɨ<EFBFBD><EFBFBD>ƽ̨<EFBFBD><EFBFBD>"));
msgBox.exec();
return;
}
//<2F>ж<EFBFBD><D0B6>Ƿ񸲸Ǵ<F1B8B2B8><C7B4>ڵ<EFBFBD><DAB5>ļ<EFBFBD>
FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryFromString();
//string imgPath = directory + "\\tmp_image";
string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString();
int x = _access(imgPath.c_str(), 0);
if (!x)//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>ھ<EFBFBD>ִ<EFBFBD>д<EFBFBD>if<69>Ĵ<EFBFBD><C4B4><EFBFBD>
{
enum QMessageBox::StandardButton response = QMessageBox::question(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><EFBFBD>Ƿ񸲸ǣ<EFBFBD>"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);;
if (response == QMessageBox::Yes)//
{
//std::cout << "<22><><EFBFBD><EFBFBD>" << std::endl;
}
else
{
//std::cout << "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
//m_RecordState -= 1;//<2F><><EFBFBD><EFBFBD><EFBFBD>ǵĻ<C7B5><C4BB><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
return;
}
}
m_Imager->setFrameNumber(this->frame_number->text().toInt());
m_Imager->setFileName2Save(imgPath);
QString checkedName = checked->objectName();
if (checkedName == "mAction_is_no_motor")
{ {
m_RecordState += 1; m_RecordState += 1;
if (m_RecordState % 2 == 1) if (m_RecordState % 2 == 1)
{ {
//<2F>ж<EFBFBD><D0B6>Ƿ񸲸Ǵ<F1B8B2B8><C7B4>ڵ<EFBFBD><DAB5>ļ<EFBFBD>
FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryFromString();
//string imgPath = directory + "\\tmp_image";
string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString() + "_" + std::to_string(1) + ".bil";
int x = _access(imgPath.c_str(), 0);
if (!x)//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>ھ<EFBFBD>ִ<EFBFBD>д<EFBFBD>if<69>Ĵ<EFBFBD><C4B4><EFBFBD>
{
enum QMessageBox::StandardButton response = QMessageBox::question(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><EFBFBD>Ƿ񸲸ǣ<EFBFBD>"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);;
if (response == QMessageBox::Yes)//
{
//std::cout << "<22><><EFBFBD><EFBFBD>" << std::endl;
}
else
{
//std::cout << "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
m_RecordState -= 1;//<2F><><EFBFBD><EFBFBD><EFBFBD>ǵĻ<C7B5><C4BB><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
return;
}
}
ui.ImageViewerTabWidget->clear(); ui.ImageViewerTabWidget->clear();
onCreateTab(0); onCreateTab(0);
m_numberOfRecording = 0; m_numberOfRecording = 0;
m_Imager->setFrameNumber(this->frame_number->text().toInt());
m_Imager->setFileName2Save(imgPath);
emit StartRecordSignal();//<2F><><EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC>ź<EFBFBD> emit StartRecordSignal();//<2F><><EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC>ź<EFBFBD>
ui.action_start_recording->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD>ɼ<EFBFBD>")); ui.action_start_recording->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD>ɼ<EFBFBD>"));
@ -468,98 +538,84 @@ void HPPA::onStartRecordStep1()
} }
return; return;
} }
else if (checkedName == "mAction_2AxisMotor")
//ȷ<><C8B7>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> С<><D0A1> x<><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
int validLineCount = 0;
for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->rowCount(); i++)
{ {
//xx = xx + ui.xmotor_location_slider->value() < m_pathPlan->getRecordLineTableWidget()->item(i, 1)->text().toDouble(); //ȷ<EFBFBD><EFBFBD>x<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD> С<><D0A1> x<><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
int validLineCount = 0;
if (ui.xmotor_location_slider->value() < m_pathPlan->getRecordLineTableWidget()->item(i, 1)->text().toDouble())
{
validLineCount++;
}
}
if (validLineCount < m_pathPlan->getRecordLineTableWidget()->rowCount())
{
QMessageBox::information(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD>켣x<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
return;
}
//ȷ<><C8B7><EFBFBD>ɼ<EFBFBD><C9BC>ߴ<EFBFBD><DFB4><EFBFBD>
if (m_pathPlan->getRecordLineTableWidget()->rowCount() <= 0)
{
QMessageBox::information(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɹ켣<EFBFBD><EFBFBD>"));
return;
}
//<2F><>ʼ<EFBFBD>ɼ<EFBFBD>
m_RecordState += 1;
if (m_RecordState % 2 == 1)
{
//<2F>ж<EFBFBD><D0B6>Ƿ񸲸Ǵ<F1B8B2B8><C7B4>ڵ<EFBFBD><DAB5>ļ<EFBFBD>
FileOperation * fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryFromString();
//string imgPath = directory + "\\tmp_image";
string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString();
int x = _access(imgPath.c_str(), 0);
if (!x)//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>ھ<EFBFBD>ִ<EFBFBD>д<EFBFBD>if<69>Ĵ<EFBFBD><C4B4><EFBFBD>
{
enum QMessageBox::StandardButton response = QMessageBox::question(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><EFBFBD>Ƿ񸲸ǣ<EFBFBD>"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);;
if (response == QMessageBox::Yes)//
{
//std::cout << "<22><><EFBFBD><EFBFBD>" << std::endl;
}
else
{
//std::cout << "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
m_RecordState -= 1;//<2F><><EFBFBD><EFBFBD><EFBFBD>ǵĻ<C7B5><C4BB><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
return;
}
}
//
operateWidget = QObject::sender()->objectName();
//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
m_Imager->setFileName2Save(imgPath);
//ɾ<><C9BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>tab
ui.ImageViewerTabWidget->clear();
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼x<C2BC><78><EFBFBD><EFBFBD>λ<EFBFBD>õ<EFBFBD><C3B5>ļ<EFBFBD>
string x_location = removeFileExtension(imgPath) + "x_location.pos";
m_hTimesFile = fopen(x_location.c_str(), "w+");
//<2F><>ʼѭ<CABC><D1AD>
m_ForLoopControl->setLoopCount(m_pathPlan->getRecordLineTableWidget()->rowCount());//Ϊѭ<CEAA><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD><DFB3><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
emit StartLoopSignal();
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ɫ
for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->rowCount(); i++) for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->rowCount(); i++)
{ {
for (size_t j = 0; j < m_pathPlan->getRecordLineTableWidget()->columnCount(); j++) //xx = xx + ui.xmotor_location_slider->value() < m_pathPlan->getRecordLineTableWidget()->item(i, 1)->text().toDouble();
if (ui.xmotor_location_slider->value() < m_pathPlan->getRecordLineTableWidget()->item(i, 1)->text().toDouble())
{ {
m_pathPlan->getRecordLineTableWidget()->item(i, j)->setBackgroundColor(QColor(240, 240, 240)); validLineCount++;
} }
} }
ui.action_start_recording->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD>ɼ<EFBFBD>")); if (validLineCount < m_pathPlan->getRecordLineTableWidget()->rowCount())
ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}"); {
QMessageBox::information(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD>켣x<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
return;
}
//ȷ<><C8B7><EFBFBD>ɼ<EFBFBD><C9BC>ߴ<EFBFBD><DFB4><EFBFBD>
if (m_pathPlan->getRecordLineTableWidget()->rowCount() <= 0)
{
QMessageBox::information(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɹ켣<EFBFBD><EFBFBD>"));
return;
}
//<2F><>ʼ<EFBFBD>ɼ<EFBFBD>
m_RecordState += 1;
if (m_RecordState % 2 == 1)
{
//
operateWidget = QObject::sender()->objectName();
//ɾ<><C9BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>tab
ui.ImageViewerTabWidget->clear();
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼x<C2BC><78><EFBFBD><EFBFBD>λ<EFBFBD>õ<EFBFBD><C3B5>ļ<EFBFBD>
string x_location = removeFileExtension(imgPath) + "x_location.pos";
m_hTimesFile = fopen(x_location.c_str(), "w+");
//<2F><>ʼѭ<CABC><D1AD>
m_ForLoopControl->setLoopCount(m_pathPlan->getRecordLineTableWidget()->rowCount());//Ϊѭ<CEAA><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD><DFB3><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
emit StartLoopSignal();
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ɫ
for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->rowCount(); i++)
{
for (size_t j = 0; j < m_pathPlan->getRecordLineTableWidget()->columnCount(); j++)
{
m_pathPlan->getRecordLineTableWidget()->item(i, j)->setBackgroundColor(QColor(240, 240, 240));
}
}
ui.action_start_recording->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD>ɼ<EFBFBD>"));
ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
}
else
{
m_Imager->setRecordControlState(false);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
m_ForLoopControl->m_boolQuitLoop = true;//ѭ<><D1AD>ֹͣ
ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
}
return;
} }
else else if (checkedName == "mAction_RobotArm")
{ {
m_Imager->setRecordControlState(false);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD> //<2F><><EFBFBD>ж<EFBFBD><D0B6>Ƿ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ִ<EFBFBD>к<EFBFBD><D0BA><EFBFBD>RobotArmControl::executeTask<EFBFBD><EFBFBD><EFBFBD>޸<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾbug
rac->executeTaskWithHyperImager();
m_ForLoopControl->m_boolQuitLoop = true;//ѭ<><D1AD>ֹͣ return;
ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
} }
} }
@ -822,7 +878,7 @@ void HPPA::timerEvent(QTimerEvent *event)
} }
ByteBack xMotorState = m_xMotor->GetState();//ִ<><D6B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ByteBack xMotorState = m_xMotor->GetState();//ִ<><D6B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
std::cout << "------------------------------------------x<><78><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6>" << xMotorState.Speed << std::endl; //std::cout << "------------------------------------------x<><78><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6>" << xMotorState.Speed << std::endl;
if (xMotorState.Speed == -1000000) if (xMotorState.Speed == -1000000)
{ {
@ -1714,7 +1770,7 @@ void HPPA::onconnect()
} }
else if (imagerSelected == "mActionPika_XC2") else if (imagerSelected == "mActionPika_XC2")
{ {
m_Imager = new ResononPicaLImager();
} }
else if (imagerSelected == "mActionCorning_410") else if (imagerSelected == "mActionCorning_410")
{ {
@ -1911,7 +1967,7 @@ void HPPA::onReference()
msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD>װ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD>")); msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD>װ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD>"));
msgBox.exec(); msgBox.exec();
bool isMotorEnable = this->ui.mAction_is_motor_enable->isChecked(); bool isMotorEnable = this->ui.mAction_2AxisMotor->isChecked();
if (isMotorEnable) if (isMotorEnable)
{ {
//<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD> //<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD>
@ -1933,7 +1989,7 @@ void HPPA::recordWhiteFinish()
{ {
ui.mainToolBar->widgetForAction(ui.action_reference)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}"); ui.mainToolBar->widgetForAction(ui.action_reference)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
bool isMotorEnable = this->ui.mAction_is_motor_enable->isChecked(); bool isMotorEnable = this->ui.mAction_2AxisMotor->isChecked();
if (isMotorEnable) if (isMotorEnable)
{ {
//<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD> //<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD>
@ -1948,6 +2004,7 @@ void HPPA::recordWhiteFinish()
void HPPA::onPlotHyperspectralImageRgbImage() void HPPA::onPlotHyperspectralImageRgbImage()
{ {
//return;
//<2F><>ȡ<EFBFBD><C8A1>ͼ<EFBFBD>ؼ<EFBFBD> //<2F><>ȡ<EFBFBD><C8A1>ͼ<EFBFBD>ؼ<EFBFBD>
QWidget* currentWidget = ui.ImageViewerTabWidget->widget(m_numberOfRecording); QWidget* currentWidget = ui.ImageViewerTabWidget->widget(m_numberOfRecording);
QList<ImageViewer *> currentImageViewer = currentWidget->findChildren<ImageViewer *>(); QList<ImageViewer *> currentImageViewer = currentWidget->findChildren<ImageViewer *>();
@ -2070,6 +2127,19 @@ void HPPA::onRecordFinishedSignal_WhenFrameNumberMeet()
void HPPA::onRecordFinishedSignal_WhenFrameNumberNotMeet() void HPPA::onRecordFinishedSignal_WhenFrameNumberNotMeet()
{ {
QAction* checked = moveplatformActionGroup->checkedAction();
QString checkedName;
if (checked)
{
checkedName = checked->objectName();
}
if (checkedName == "mAction_RobotArm")//<2F><>е<EFBFBD>ۻ<EFBFBD><DBBB><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><CBB2><EFBFBD>ֿ<EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ui.action_start_recording<6E><67>ʾ<EFBFBD>쳣
{
return;
}
std::cout << "ֹͣ<EFBFBD>ɼ<EFBFBD>ԭ<EFBFBD>򣺣<EFBFBD>1<EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>û<EFBFBD>вɼ<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ﵽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>" << std::endl; std::cout << "ֹͣ<EFBFBD>ɼ<EFBFBD>ԭ<EFBFBD>򣺣<EFBFBD>1<EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>û<EFBFBD>вɼ<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ﵽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>" << std::endl;
ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>")); ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));

9
HPPA/HPPA.h
View File

@ -239,6 +239,11 @@ private:
QActionGroup* mImagerGroup = nullptr; QActionGroup* mImagerGroup = nullptr;
void createActionGroups(); void createActionGroups();
void selectingImager(QAction* selectedAction); void selectingImager(QAction* selectedAction);
QActionGroup* moveplatformActionGroup = nullptr;
void createMoveplatformActionGroup();
void selectingMoveplatform(QAction* selectedAction);
RobotArmControl* rac;
PathPlan* m_pathPlan; PathPlan* m_pathPlan;
@ -322,8 +327,6 @@ public Q_SLOTS:
void ontimerMoveXmotor(); void ontimerMoveXmotor();
void ontimerMoveYmotor(); void ontimerMoveYmotor();
void onMotorSwitch();
// //
void onimagerSimulatorMove(int x, int y); void onimagerSimulatorMove(int x, int y);
void OnSendLogToCallClass(QString str); void OnSendLogToCallClass(QString str);
@ -336,6 +339,8 @@ public Q_SLOTS:
void requestFinished(QNetworkReply* reply); void requestFinished(QNetworkReply* reply);
void recordFromRobotArm(int fileCounter);
signals: signals:
void StartFocusSignal(); void StartFocusSignal();
void StartLoopSignal(); void StartLoopSignal();

35
HPPA/HPPA.ui
View File

@ -6,8 +6,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>1318</width> <width>1194</width>
<height>882</height> <height>834</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
@ -84,7 +84,7 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>1318</width> <width>1194</width>
<height>30</height> <height>30</height>
</rect> </rect>
</property> </property>
@ -166,7 +166,9 @@ color:white;
<property name="title"> <property name="title">
<string>扫描平台</string> <string>扫描平台</string>
</property> </property>
<addaction name="mAction_is_motor_enable"/> <addaction name="mAction_is_no_motor"/>
<addaction name="mAction_2AxisMotor"/>
<addaction name="mAction_RobotArm"/>
</widget> </widget>
<addaction name="file"/> <addaction name="file"/>
<addaction name="menuspectrometer"/> <addaction name="menuspectrometer"/>
@ -1550,18 +1552,37 @@ QDockWidget::title {
<string>马达</string> <string>马达</string>
</property> </property>
</action> </action>
<action name="mAction_is_motor_enable"> <action name="mAction_is_no_motor">
<property name="checkable"> <property name="checkable">
<bool>true</bool> <bool>true</bool>
</property> </property>
<property name="checked"> <property name="checked">
<bool>true</bool> <bool>false</bool>
</property> </property>
<property name="enabled"> <property name="enabled">
<bool>true</bool> <bool>true</bool>
</property> </property>
<property name="text"> <property name="text">
<string>开启</string> <string>无</string>
</property>
</action>
<action name="mAction_2AxisMotor">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>2 轴线性马达</string>
</property>
</action>
<action name="mAction_RobotArm">
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<property name="text">
<string>机械臂</string>
</property> </property>
</action> </action>
</widget> </widget>

2
HPPA/ImagerOperationBase.cpp
View File

@ -287,7 +287,7 @@ void ImagerOperationBase::start_record()
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<CDBC><C7B0>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<CDBC><C7B0>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//m_RgbImage //m_RgbImage
emit PlotSignal();//<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɺ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>Է<EFBFBD><EFBFBD>ɼ<EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD>ȫ //emit PlotSignal();//<2F><>1<EFBFBD><31><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɺ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>Է<EFBFBD><EFBFBD>ɼ<EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD>ȫ<EFBFBD><EFBFBD>2<EFBFBD><EFBFBD>ʹ<EFBFBD>û<EFBFBD>е<EFBFBD>۲ɼ<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>俪ʼ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᵼ<EFBFBD><EFBFBD><EFBFBD>ϴβɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD>źŵ<EFBFBD><EFBFBD>õIJۺ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>˼<EFBFBD><EFBFBD>ݣ<EFBFBD>ע<EFBFBD>͵<EFBFBD>
if (m_iFrameCounter >= m_iFrameNumber) if (m_iFrameCounter >= m_iFrameNumber)
{ {

328
HPPA/RobotArmControl.cpp
View File

@ -4,14 +4,12 @@ RobotArmControl::RobotArmControl(QWidget* parent): QDialog(parent)
{ {
ui.setupUi(this); ui.setupUi(this);
robotController = new RobotController(this); robotController = new RobotController(this);
connect(robotController, SIGNAL(commandResponse(bool, const QJsonObject)), this, SLOT(onCommandResponse(bool, const QJsonObject)));
connect(ui.get_task_list_btn, SIGNAL(clicked()), this, SLOT(getTaskList())); connect(ui.get_task_list_btn, SIGNAL(clicked()), this, SLOT(getTaskList()));
connect(ui.get_pose_btn, SIGNAL(clicked()), this, SLOT(getPose())); connect(ui.get_pose_btn, SIGNAL(clicked()), this, SLOT(getPose()));
connect(ui.connect2arm_btn, SIGNAL(clicked()), this, SLOT(connectRobotArm())); connect(ui.connect2arm_btn, SIGNAL(clicked()), this, SLOT(connectRobotArm()));
connect(ui.execute_task_btn, SIGNAL(clicked()), this, SLOT(executeTask())); connect(ui.execute_task_btn, SIGNAL(clicked()), this, SLOT(executeTaskWithoutHyperImager()));
connect(ui.pause_task_btn, SIGNAL(clicked()), this, SLOT(pauseTask())); connect(ui.pause_task_btn, SIGNAL(clicked()), this, SLOT(pauseTask()));
connect(ui.continue_task_btn, SIGNAL(clicked()), this, SLOT(continueTask())); connect(ui.continue_task_btn, SIGNAL(clicked()), this, SLOT(continueTask()));
@ -21,7 +19,6 @@ RobotArmControl::RobotArmControl(QWidget* parent): QDialog(parent)
m_pModel = new QStringListModel(ui.taskList_listView); m_pModel = new QStringListModel(ui.taskList_listView);
//<2F><><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD>б<EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>
ui.taskList_listView->setModel(m_pModel); ui.taskList_listView->setModel(m_pModel);
} }
@ -41,32 +38,37 @@ void RobotArmControl::monitorRobotArm(const ECData& data)
ui.pose_z_label->setText(QString::number(z)); ui.pose_z_label->setText(QString::number(z));
} }
void RobotArmControl::onCommandResponse(bool success, const QJsonObject& response) void RobotArmControl::onCommandResponse(QString str, const QJsonObject& response)
{ {
if (success) //qDebug() << "response:" << response;
{
QString re;
if (response.contains("result"))
{
re = response["result"].toVariant().toString();
ui.textEdit->append("Result: " + re);
}
else if (response.contains("error"))
{
auto errorStr = response["error"].toObject()["message"].toString();
ui.textEdit->append("Error: " + errorStr); QString re;
} if (response.contains("result"))
{
re = response["result"].toVariant().toString();
ui.textEdit->append(str + " Result: " + re);
}
else if (response.contains("error"))
{
//auto delete11 = response["error"].toObject();
//qDebug() << "response[\"error\"]:" << delete11;
auto errorStr = response["error"].toObject()["message"].toString();
ui.textEdit->append(str + " Error: " + errorStr);
} }
} }
void RobotArmControl::getTaskList() void RobotArmControl::getTaskList()
{ {
QString pythonScript = "D:\\PycharmProjects\\ELITE_ROBOTS\\get_jbi_filename.py"; FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryOfExe();
QString pythonScript = QString::fromStdString(directory) + "\\get_jbi_filename.py";
QProcess process; QProcess process;
process.start("C:\\ProgramData\\anaconda3\\python.exe", QStringList() << pythonScript); process.start("python.exe", QStringList() << pythonScript);
process.waitForFinished(); process.waitForFinished();
QString output = process.readAllStandardOutput(); QString output = process.readAllStandardOutput();
@ -94,7 +96,9 @@ void RobotArmControl::getTaskList()
void RobotArmControl::getPose() void RobotArmControl::getPose()
{ {
robotController->getRobotPose(); QJsonObject response;
bool x = robotController->getRobotPose(response);
onCommandResponse("getPose", response);
} }
void RobotArmControl::connectRobotArm() void RobotArmControl::connectRobotArm()
@ -103,7 +107,7 @@ void RobotArmControl::connectRobotArm()
robotMonitor->connectToHost("192.168.1.100"); robotMonitor->connectToHost("192.168.1.100");
} }
void RobotArmControl::executeTask() void RobotArmControl::executeTaskWithHyperImager()
{ {
QModelIndex index = ui.taskList_listView->currentIndex(); QModelIndex index = ui.taskList_listView->currentIndex();
if (-1 == index.row()) if (-1 == index.row())
@ -114,17 +118,83 @@ void RobotArmControl::executeTask()
} }
QString fileName = index.data(Qt::DisplayRole).toString(); QString fileName = index.data(Qt::DisplayRole).toString();
robotController->runJbi(fileName); QJsonObject response;
bool x;
x = robotController->checkJbiExist(fileName, response);
onCommandResponse("checkJbiExist", response);
if (!x)
{
return;
}
x = robotController->setServoStatus(1, response);
onCommandResponse("setServoStatus", response);
if (!x)
{
return;
}
x = robotController->runJbi(fileName, response, true);
onCommandResponse("runJbi", response);
if (!x)
{
return;
}
}
void RobotArmControl::executeTaskWithoutHyperImager()
{
QModelIndex index = ui.taskList_listView->currentIndex();
if (-1 == index.row())
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>û<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>ļ<EFBFBD>
ui.textEdit->append("Please select file on the left!");
return;
}
QString fileName = index.data(Qt::DisplayRole).toString();
QJsonObject response;
bool x;
x = robotController->checkJbiExist(fileName, response);
onCommandResponse("checkJbiExist", response);
if (!x)
{
return;
}
x = robotController->setServoStatus(1, response);
onCommandResponse("setServoStatus", response);
if (!x)
{
return;
}
x = robotController->runJbi(fileName, response, false);
onCommandResponse("runJbi", response);
if (!x)
{
return;
}
} }
void RobotArmControl::pauseTask() void RobotArmControl::pauseTask()
{ {
robotController->pauseTask(); QJsonObject response;
bool x;
x = robotController->pauseTask(response);
onCommandResponse("pauseTask", response);
} }
void RobotArmControl::continueTask() void RobotArmControl::continueTask()
{ {
robotController->continueTask(); QJsonObject response;
bool x;
x = robotController->continueTask(response);
onCommandResponse("continueTask", response);
} }
@ -134,10 +204,10 @@ void RobotArmControl::continueTask()
RobotController::RobotController(QObject* parent) : QObject(parent), socket(new QTcpSocket(this)) RobotController::RobotController(QObject* parent) : QObject(parent), socket(new QTcpSocket(this))
{ {
connect(socket, &QTcpSocket::readyRead, this, &RobotController::onReadyRead); //connect(socket, &QTcpSocket::readyRead, this, &RobotController::onReadyRead);
timer = new QTimer(this); m_timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), this, SLOT(getPoint())); connect(m_timer, SIGNAL(timeout()), this, SLOT(getPoint()));
} }
RobotController::~RobotController() RobotController::~RobotController()
@ -158,7 +228,6 @@ bool RobotController::connectToRobot(const QString& ip, quint16 port)
qDebug() << "Connected successfully!"; qDebug() << "Connected successfully!";
return true; return true;
} }
void RobotController::disconnectFromRobot() void RobotController::disconnectFromRobot()
@ -169,10 +238,97 @@ void RobotController::disconnectFromRobot()
} }
} }
bool RobotController::processResponse(QJsonObject response, QString& result)
{
//qDebug() << "response:" << response;
if (response.contains("result"))
{
result = response["result"].toVariant().toString();
//qDebug() << "result1:" << result;
return true;
}
else if (response.contains("error"))
{
result = response["error"].toObject()["message"].toString();
//qDebug() << "result2:" << result;
return false;
}
}
bool RobotController::processResponse_getJbiState(QJsonObject response, QString& result)
{
//qDebug() << "response:" << response;
if (response.contains("result"))
{
QString resultStr = response["result"].toString();
QJsonDocument resultDoc = QJsonDocument::fromJson(resultStr.toUtf8());
QJsonObject resultObj = resultDoc.object();
//qDebug() << "resultObj:" << resultObj;
int runState = resultObj["runState"].toInt();
//qDebug() << "runState:" << runState;
result = QString::number(runState);
//qDebug() << "result:" << result;
return true;
}
else if (response.contains("error"))
{
result = response["error"].toObject()["message"].toString();
return false;
}
}
void RobotController::getPoint() void RobotController::getPoint()
{ {
getJbiState(); QJsonObject response;
getCurrentJobLine(); getJbiState(response);//0 ֹͣ״̬,1 <20><>ͣ״̬,2 <20><>ͣ״̬,3 <20><><EFBFBD><EFBFBD>״̬,4 <20><><EFBFBD><EFBFBD>״̬
QString result;
bool x = processResponse_getJbiState(response, result);
//qDebug() << "getJbiState:" << result;
if (result.toInt() != 3)
{
m_timer->stop();
m_iCurrentJbiJobLine = 0;
m_iFileCounter = 0;
//<2F><><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
emit hsiRecordSignal(-1);
return;
}
QJsonObject response2;
getCurrentJobLine(response2);
QString result2;
bool x2 = processResponse(response2, result2);
int m_iCurrentJbiJobLine_tmp = result2.toInt();
if (m_iCurrentJbiJobLine_tmp != m_iCurrentJbiJobLine)
{
m_iFileCounter++;
qDebug() << "Changed! CurrentJobLine:" << m_iCurrentJbiJobLine_tmp;
//<2F><><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
emit hsiRecordSignal(-1);
m_iCurrentJbiJobLine = m_iCurrentJbiJobLine_tmp;
//<2F><><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD>
emit hsiRecordSignal(m_iFileCounter);
}
} }
void RobotController::sendCommand(const QString& cmd, const QJsonValue& params, int id) void RobotController::sendCommand(const QString& cmd, const QJsonValue& params, int id)
@ -185,95 +341,151 @@ void RobotController::sendCommand(const QString& cmd, const QJsonValue& params,
QJsonDocument doc(request); QJsonDocument doc(request);
QByteArray data = doc.toJson(QJsonDocument::Compact) + "\n"; QByteArray data = doc.toJson(QJsonDocument::Compact) + "\n";
qDebug() << "send command:" << data.constData(); //qDebug() << "send command:" << data.constData();
socket->write(data); socket->write(data);
socket->waitForBytesWritten();
} }
void RobotController::onReadyRead() bool RobotController::onReadyRead(QJsonObject& re)
{ {
QByteArray data = socket->readAll(); QByteArray data = socket->readAll();
QJsonDocument doc = QJsonDocument::fromJson(data); QJsonDocument doc = QJsonDocument::fromJson(data);
if (!doc.isNull() && doc.isObject()) if (!doc.isNull() && doc.isObject())
{ {
QJsonObject response = doc.object(); re = doc.object();
//qDebug() << "Received all:" << response; //qDebug() << "Received all:" << re;
if (response.contains("result")) if (re.contains("result"))
{ {
//qDebug() << "Received result:" << response["result"].toVariant(); //qDebug() << "Received result:" << re["result"].toVariant();
return true;
} }
else if (response.contains("error")) else if (re.contains("error"))
{ {
//qDebug() << "Received error:" << response["error"]; //qDebug() << "Received error:" << re["error"];
return false;
} }
emit commandResponse(true, doc.object()); //emit commandResponse(true, doc.object());
} }
else else
{ {
emit commandResponse(false, QJsonObject()); //emit commandResponse(false, QJsonObject());
re = QJsonObject();
return false;
} }
} }
void RobotController::getRobotPose() bool RobotController::getRobotPose(QJsonObject& re)
{ {
sendCommand("getRobotPose"); sendCommand("getRobotPose");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
} }
void RobotController::getRobotState() bool RobotController::getRobotState(QJsonObject& re)
{ {
sendCommand("getRobotState"); sendCommand("getRobotState");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
} }
void RobotController::getJbiState() bool RobotController::getJbiState(QJsonObject& re)
{ {
sendCommand("getJbiState"); sendCommand("getJbiState");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
} }
void RobotController::getCurrentJobLine() bool RobotController::getCurrentJobLine(QJsonObject& re)
{ {
sendCommand("getCurrentJobLine"); sendCommand("getCurrentJobLine");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
} }
void RobotController::getRobotMode() bool RobotController::getRobotMode(QJsonObject& re)
{ {
sendCommand("getRobotMode"); sendCommand("getRobotMode");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
} }
void RobotController::runJbi(const QString& jbiFilename) bool RobotController::checkJbiExist(const QString& jbiFilename, QJsonObject& re)
{ {
QJsonObject paramsRunJbi; QJsonObject paramsRunJbi;
paramsRunJbi["filename"] = jbiFilename;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ paramsRunJbi["filename"] = jbiFilename;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ
QJsonObject params_set_servo_status; sendCommand("checkJbiExist", paramsRunJbi);
params_set_servo_status["status"] = 1;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ socket->waitForReadyRead(m_iTimeout);
//sendCommand("checkJbiExist", paramsRunJbi); return onReadyRead(re);
sendCommand("set_servo_status", params_set_servo_status);
sendCommand("runJbi", paramsRunJbi);
//timer->start(1000);
} }
void RobotController::pauseTask() bool RobotController::setServoStatus(int status, QJsonObject& re)
{
QJsonObject params_set_servo_status;
params_set_servo_status["status"] = status;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ
sendCommand("set_servo_status", params_set_servo_status);
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
}
bool RobotController::runJbi(const QString& jbiFilename, QJsonObject& re, bool isRecordHsi)
{
QJsonObject paramsRunJbi;
paramsRunJbi["filename"] = jbiFilename;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ
sendCommand("runJbi", paramsRunJbi);
socket->waitForReadyRead(m_iTimeout);
if (isRecordHsi)
{
m_timer->start(1000);
}
return onReadyRead(re);
}
bool RobotController::pauseTask(QJsonObject& re)
{ {
sendCommand("pause"); sendCommand("pause");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
} }
void RobotController::run() bool RobotController::run(QJsonObject& re)
{ {
sendCommand("run"); sendCommand("run");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
} }
void RobotController::continueTask() bool RobotController::continueTask(QJsonObject& re)
{ {
sendCommand("run"); sendCommand("run");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
} }
void RobotController::setRobotPowerStatus(int status) bool RobotController::setRobotPowerStatus(int status, QJsonObject& re)
{ {
sendCommand("set_robot_power_status", QJsonArray{ status }); sendCommand("set_robot_power_status", QJsonArray{ status });
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
} }

50
HPPA/RobotArmControl.h
View File

@ -18,6 +18,7 @@
#include <QTimer> #include <QTimer>
#include "ui_RobotArmControl.h" #include "ui_RobotArmControl.h"
#include "fileOperation.h"
struct ECData struct ECData
@ -93,29 +94,38 @@ public:
bool connectToRobot(const QString& ip, quint16 port = 8055); bool connectToRobot(const QString& ip, quint16 port = 8055);
void disconnectFromRobot(); void disconnectFromRobot();
void sendCommand(const QString& cmd, const QJsonValue& params = QJsonArray(), int id = 1); void sendCommand(const QString& cmd, const QJsonValue& params = QJsonArray(), int id = 1);
bool processResponse(QJsonObject response, QString& re);
bool processResponse_getJbiState(QJsonObject response, QString& result);
void getRobotPose(); bool getRobotPose(QJsonObject& re);
void getRobotState();//ֹͣ״̬ 0<><30><EFBFBD><EFBFBD>ͣ״̬ 1<><31><EFBFBD><EFBFBD>ͣ״̬ 2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ 3<><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ 4<><34><EFBFBD><EFBFBD>ײ״̬ 5 bool getRobotState(QJsonObject& re);//ֹͣ״̬ 0<><30><EFBFBD><EFBFBD>ͣ״̬ 1<><31><EFBFBD><EFBFBD>ͣ״̬ 2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ 3<><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ 4<><34><EFBFBD><EFBFBD>ײ״̬ 5
void getJbiState();//0 ֹͣ״̬,1 <20><>ͣ״̬,2 <20><>ͣ״̬,3 <20><><EFBFBD><EFBFBD>״̬,4 <20><><EFBFBD><EFBFBD>״̬ bool getJbiState(QJsonObject& re);//0 ֹͣ״̬,1 <20><>ͣ״̬,2 <20><>ͣ״̬,3 <20><><EFBFBD><EFBFBD>״̬,4 <20><><EFBFBD><EFBFBD>״̬
void getCurrentJobLine(); bool getCurrentJobLine(QJsonObject& re);
void getRobotMode();//ʾ<><CABE>ģʽ 0<><30><EFBFBD>Զ<EFBFBD>ģʽ 1<><31>Զ<EFBFBD><D4B6>ģʽ 2 bool getRobotMode(QJsonObject& re);//ʾ<><CABE>ģʽ 0<><30><EFBFBD>Զ<EFBFBD>ģʽ 1<><31>Զ<EFBFBD><D4B6>ģʽ 2
void runJbi(const QString& jbiFilename); bool checkJbiExist(const QString& jbiFilename, QJsonObject& re);
void pauseTask(); bool setServoStatus(int status, QJsonObject& re);
void run(); bool runJbi(const QString& jbiFilename, QJsonObject& re, bool isRecordHsi);
void continueTask(); bool pauseTask(QJsonObject& re);
void setRobotPowerStatus(int status); bool run(QJsonObject& re);
bool continueTask(QJsonObject& re);
bool setRobotPowerStatus(int status, QJsonObject& re);
signals: bool onReadyRead(QJsonObject& re);
void commandResponse(bool success, const QJsonObject& response);
private slots:
void onReadyRead();
void getPoint();
private: private:
QTcpSocket* socket; QTcpSocket* socket;
QTimer* timer; QTimer* m_timer;
int m_iTimeout = 3000;
int m_iCurrentJbiJobLine = 0;
int m_iFileCounter = 0;
signals:
void commandResponse(bool success, const QJsonObject& response);
void hsiRecordSignal(int);
private slots:
void getPoint();
}; };
class RobotArmControl : public QDialog class RobotArmControl : public QDialog
@ -127,14 +137,16 @@ public:
~RobotArmControl(); ~RobotArmControl();
RobotController* robotController; RobotController* robotController;
void onCommandResponse(QString str, const QJsonObject& response);
public Q_SLOTS: public Q_SLOTS:
void onCommandResponse(bool success, const QJsonObject& response);
void getTaskList(); void getTaskList();
void getPose(); void getPose();
void connectRobotArm(); void connectRobotArm();
void executeTask(); void executeTaskWithHyperImager();
void executeTaskWithoutHyperImager();
void pauseTask(); void pauseTask();
void continueTask(); void continueTask();

2
HPPA/about.ui
View File

@ -70,7 +70,7 @@
</rect> </rect>
</property> </property>
<property name="text"> <property name="text">
<string>版本：1.8.7</string> <string>版本：1.8.8</string>
</property> </property>
</widget> </widget>
<widget class="QLabel" name="label_4"> <widget class="QLabel" name="label_4">