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tangchao0503:2.0 tangchao0503:1.9.0 tangchao0503:1.8.8 tangchao0503:1.8.7 tangchao0503:1.8.6 tangchao0503:1.8.5 tangchao0503:1.8.4 tangchao0503:1.8.2 tangchao0503:1.8 tangchao0503:1.7 tangchao0503:1.5 tangchao0503:1.6

2 Commits
1.8.7 ... 1.8.8

Author SHA1 Message Date
tangchao0503
20848bef1a 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； 2025-04-16 16:25:51 +08:00
tangchao0503
f6138dd2ed QTcpSocket异步通讯控制机械臂 2025-04-14 10:02:37 +08:00
10 changed files with 1192 additions and 134 deletions
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320
HPPA/HPPA.cpp
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@ -267,7 +267,8 @@ HPPA::HPPA(QWidget *parent)
//<2F>켣<EFBFBD>滮
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);
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);
tabifyDockWidget(ui.mDockWidgetLinearStage, dock_pathPlan);
mPanelMenu->addAction(dock_pathPlan->toggleViewAction());
@ -276,6 +277,7 @@ HPPA::HPPA(QWidget *parent)
adjustTable* adt = new adjustTable();
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->setWidget(adt);
tabifyDockWidget(dock_pathPlan, dock_adt);
@ -285,6 +287,7 @@ HPPA::HPPA(QWidget *parent)
PowerControl* pc = new PowerControl();
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->setWidget(pc);
tabifyDockWidget(dock_adt, dock_pc);
@ -292,20 +295,50 @@ HPPA::HPPA(QWidget *parent)
connect(pc, &PowerControl::powerOpened, this, &HPPA::newMotor);
connect(pc, &PowerControl::powerClosed, this, &HPPA::deleteMotor);
//<2F><>е<EFBFBD>ۿ<EFBFBD><DBBF><EFBFBD>
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);
dock_rac->setObjectName("mDockRobotArmControl");
dock_rac->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
dock_rac->setWidget(rac);
tabifyDockWidget(dock_adt, dock_rac);
mPanelMenu->addAction(dock_rac->toggleViewAction());
createActionGroups();
connect(mImagerGroup, &QActionGroup::triggered, this, &HPPA::selectingImager);
connect(this->ui.mAction_is_motor_enable, SIGNAL(triggered()), this, SLOT(onMotorSwitch()));
QSettings settings;
bool isMotorEnable = settings.value("isMotorEnable").toBool();
this->ui.mAction_is_motor_enable->setChecked(isMotorEnable);
createMoveplatformActionGroup();
connect(moveplatformActionGroup, &QActionGroup::triggered, this, &HPPA::selectingMoveplatform);
}
void HPPA::onMotorSwitch()
void HPPA::recordFromRobotArm(int fileCounter)
{
QSettings settings;
settings.setValue("isMotorEnable", this->ui.mAction_is_motor_enable->isChecked());
settings.sync();
qDebug() << "recordFromRobotArm" << fileCounter;
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()
@ -349,6 +382,39 @@ void HPPA::selectingImager(QAction* selectedAction)
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()
{
QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini";
@ -412,40 +478,52 @@ void HPPA::CalculateIntegratioinTimeRange()
void HPPA::onStartRecordStep1()
{
bool isMotorEnable = this->ui.mAction_is_motor_enable->isChecked();
if (!isMotorEnable)//ͣ<><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFA3AC><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
QAction* checked = moveplatformActionGroup->checkedAction();
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;
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();
onCreateTab(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>
ui.action_start_recording->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD>ɼ<EFBFBD>"));
@ -460,98 +538,84 @@ void HPPA::onStartRecordStep1()
}
return;
}
//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++)
else if (checkedName == "mAction_2AxisMotor")
{
//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())
{
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
//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;
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>"));
ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
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)
{
//
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>ֹͣ
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;
}
}
@ -796,7 +860,7 @@ void HPPA::timerEvent(QTimerEvent *event)
{
if (m_xMotor == nullptr || m_yMotor == nullptr)
{
qDebug() << "Motor pointer is null!!!!!";
//qDebug() << "Motor pointer is null!!!!!";
xmotor_state_label1->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
SetXMotorWidgetEnable(false);
@ -814,7 +878,7 @@ void HPPA::timerEvent(QTimerEvent *event)
}
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)
{
@ -1706,7 +1770,7 @@ void HPPA::onconnect()
}
else if (imagerSelected == "mActionPika_XC2")
{
m_Imager = new ResononPicaLImager();
}
else if (imagerSelected == "mActionCorning_410")
{
@ -1903,7 +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.exec();
bool isMotorEnable = this->ui.mAction_is_motor_enable->isChecked();
bool isMotorEnable = this->ui.mAction_2AxisMotor->isChecked();
if (isMotorEnable)
{
//<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD>
@ -1925,7 +1989,7 @@ void HPPA::recordWhiteFinish()
{
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)
{
//<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD>
@ -1940,6 +2004,7 @@ void HPPA::recordWhiteFinish()
void HPPA::onPlotHyperspectralImageRgbImage()
{
//return;
//<2F><>ȡ<EFBFBD><C8A1>ͼ<EFBFBD>ؼ<EFBFBD>
QWidget* currentWidget = ui.ImageViewerTabWidget->widget(m_numberOfRecording);
QList<ImageViewer *> currentImageViewer = currentWidget->findChildren<ImageViewer *>();
@ -2062,6 +2127,19 @@ void HPPA::onRecordFinishedSignal_WhenFrameNumberMeet()
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;
ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));

10
HPPA/HPPA.h
View File

@ -33,6 +33,7 @@
#include "adjustTable.h"
#include "PowerControl.h"
#include "PathPlan.h"
#include "RobotArmControl.h"
#include "hppaConfigFile.h"
#include "path_tc.h"
@ -238,6 +239,11 @@ private:
QActionGroup* mImagerGroup = nullptr;
void createActionGroups();
void selectingImager(QAction* selectedAction);
QActionGroup* moveplatformActionGroup = nullptr;
void createMoveplatformActionGroup();
void selectingMoveplatform(QAction* selectedAction);
RobotArmControl* rac;
PathPlan* m_pathPlan;
@ -321,8 +327,6 @@ public Q_SLOTS:
void ontimerMoveXmotor();
void ontimerMoveYmotor();
void onMotorSwitch();
//
void onimagerSimulatorMove(int x, int y);
void OnSendLogToCallClass(QString str);
@ -335,6 +339,8 @@ public Q_SLOTS:
void requestFinished(QNetworkReply* reply);
void recordFromRobotArm(int fileCounter);
signals:
void StartFocusSignal();
void StartLoopSignal();

37
HPPA/HPPA.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>1120</width>
<height>675</height>
<width>1194</width>
<height>834</height>
</rect>
</property>
<property name="windowTitle">
@ -46,7 +46,7 @@
</sizepolicy>
</property>
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="tab_4">
<attribute name="title">
@ -84,7 +84,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>1120</width>
<width>1194</width>
<height>30</height>
</rect>
</property>
@ -166,7 +166,9 @@ color:white;
<property name="title">
<string>扫描平台</string>
</property>
<addaction name="mAction_is_motor_enable"/>
<addaction name="mAction_is_no_motor"/>
<addaction name="mAction_2AxisMotor"/>
<addaction name="mAction_RobotArm"/>
</widget>
<addaction name="file"/>
<addaction name="menuspectrometer"/>
@ -1550,18 +1552,37 @@ QDockWidget::title {
<string>马达</string>
</property>
</action>
<action name="mAction_is_motor_enable">
<action name="mAction_is_no_motor">
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>true</bool>
<bool>false</bool>
</property>
<property name="enabled">
<bool>true</bool>
</property>
<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>
</action>
</widget>

5
HPPA/HPPA.vcxproj
View File

@ -86,7 +86,7 @@
<RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
</ClCompile>
<Link>
<SubSystem>Windows</SubSystem>
<SubSystem>Console</SubSystem>
<GenerateDebugInformation>true</GenerateDebugInformation>
</Link>
</ItemDefinitionGroup>
@ -116,6 +116,7 @@
<ClCompile Include="resononImager.cpp" />
<ClCompile Include="ResononNirImager.cpp" />
<ClCompile Include="RgbCameraOperation.cpp" />
<ClCompile Include="RobotArmControl.cpp" />
<ClCompile Include="stdafx.cpp">
<PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
<PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
@ -139,6 +140,7 @@
<ClCompile Include="main.cpp" />
<QtUic Include="PathPlan.ui" />
<QtUic Include="PowerControl.ui" />
<QtUic Include="RobotArmControl.ui" />
</ItemGroup>
<ItemGroup>
<QtMoc Include="fileOperation.h" />
@ -153,6 +155,7 @@
<QtMoc Include="adjustTable.h" />
<QtMoc Include="PowerControl.h" />
<QtMoc Include="PathPlan.h" />
<QtMoc Include="RobotArmControl.h" />
<ClInclude Include="utility_tc.h" />
<QtMoc Include="aboutWindow.h" />
<ClInclude Include="hppaConfigFile.h" />

9
HPPA/HPPA.vcxproj.filters
View File

@ -106,6 +106,9 @@
<ClCompile Include="PathPlan.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="RobotArmControl.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup>
<ItemGroup>
<QtMoc Include="fileOperation.h">
@ -153,6 +156,9 @@
<QtMoc Include="PathPlan.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="RobotArmControl.h">
<Filter>Header Files</Filter>
</QtMoc>
</ItemGroup>
<ItemGroup>
<ClInclude Include="imageProcessor.h">
@ -196,6 +202,9 @@
<QtUic Include="PathPlan.ui">
<Filter>Form Files</Filter>
</QtUic>
<QtUic Include="RobotArmControl.ui">
<Filter>Form Files</Filter>
</QtUic>
</ItemGroup>
<ItemGroup>
<None Include="cpp.hint" />

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>
//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)
{

639
HPPA/RobotArmControl.cpp Normal file
View File

@ -0,0 +1,639 @@
#include "RobotArmControl.h"
RobotArmControl::RobotArmControl(QWidget* parent): QDialog(parent)
{
ui.setupUi(this);
robotController = new RobotController(this);
connect(ui.get_task_list_btn, SIGNAL(clicked()), this, SLOT(getTaskList()));
connect(ui.get_pose_btn, SIGNAL(clicked()), this, SLOT(getPose()));
connect(ui.connect2arm_btn, SIGNAL(clicked()), this, SLOT(connectRobotArm()));
connect(ui.execute_task_btn, SIGNAL(clicked()), this, SLOT(executeTaskWithoutHyperImager()));
connect(ui.pause_task_btn, SIGNAL(clicked()), this, SLOT(pauseTask()));
connect(ui.continue_task_btn, SIGNAL(clicked()), this, SLOT(continueTask()));
robotMonitor = new EC8056;
connect(robotMonitor, &EC8056::dataReceived, this, &RobotArmControl::monitorRobotArm);
m_pModel = new QStringListModel(ui.taskList_listView);
ui.taskList_listView->setModel(m_pModel);
}
RobotArmControl::~RobotArmControl()
{
}
void RobotArmControl::monitorRobotArm(const ECData& data)
{
double x = data.machinePose[0];
double y = data.machinePose[1];
double z = data.machinePose[2];
ui.pose_x_label->setText(QString::number(x));
ui.pose_y_label->setText(QString::number(y));
ui.pose_z_label->setText(QString::number(z));
}
void RobotArmControl::onCommandResponse(QString str, const QJsonObject& response)
{
//qDebug() << "response:" << response;
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()
{
FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryOfExe();
QString pythonScript = QString::fromStdString(directory) + "\\get_jbi_filename.py";
QProcess process;
process.start("python.exe", QStringList() << pythonScript);
process.waitForFinished();
QString output = process.readAllStandardOutput();
QStringList files;
//files.append("tc20250324down.jbi");
//files.append("tc20250324circle.jbi");
//files.append("tc20250324side.jbi");
QStringList lines = output.split('\n', QString::SkipEmptyParts);
for (const QString& line : lines)
{
files.append(line.trimmed());
}
////<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD>Ȼ<EFBFBD><C8BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//for (size_t i = 0; i < files.length(); i++)
//{
// int row = m_pModel->rowCount();
// m_pModel->insertRow(row);
// QModelIndex index = m_pModel->index(row);
// m_pModel->setData(index, files[i]);
//}
m_pModel->setStringList(files);
}
void RobotArmControl::getPose()
{
QJsonObject response;
bool x = robotController->getRobotPose(response);
onCommandResponse("getPose", response);
}
void RobotArmControl::connectRobotArm()
{
bool re = robotController->connectToRobot("192.168.1.100");
robotMonitor->connectToHost("192.168.1.100");
}
void RobotArmControl::executeTaskWithHyperImager()
{
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, 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()
{
QJsonObject response;
bool x;
x = robotController->pauseTask(response);
onCommandResponse("pauseTask", response);
}
void RobotArmControl::continueTask()
{
QJsonObject response;
bool x;
x = robotController->continueTask(response);
onCommandResponse("continueTask", response);
}
RobotController::RobotController(QObject* parent) : QObject(parent), socket(new QTcpSocket(this))
{
//connect(socket, &QTcpSocket::readyRead, this, &RobotController::onReadyRead);
m_timer = new QTimer(this);
connect(m_timer, SIGNAL(timeout()), this, SLOT(getPoint()));
}
RobotController::~RobotController()
{
disconnectFromRobot();
}
bool RobotController::connectToRobot(const QString& ip, quint16 port)
{
socket->setProxy(QNetworkProxy::NoProxy);
socket->connectToHost(ip, port);
if (!socket->waitForConnected(3000)) {
qDebug() << "Connection failed:" << socket->errorString();
return false;
}
qDebug() << "Connected successfully!";
return true;
}
void RobotController::disconnectFromRobot()
{
if (socket->isOpen())
{
socket->close();
}
}
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()
{
QJsonObject response;
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)
{
QJsonObject request;
request["method"] = cmd;
request["params"] = params;
request["jsonrpc"] = "2.0";
request["id"] = id;
QJsonDocument doc(request);
QByteArray data = doc.toJson(QJsonDocument::Compact) + "\n";
//qDebug() << "send command:" << data.constData();
socket->write(data);
socket->waitForBytesWritten();
}
bool RobotController::onReadyRead(QJsonObject& re)
{
QByteArray data = socket->readAll();
QJsonDocument doc = QJsonDocument::fromJson(data);
if (!doc.isNull() && doc.isObject())
{
re = doc.object();
//qDebug() << "Received all:" << re;
if (re.contains("result"))
{
//qDebug() << "Received result:" << re["result"].toVariant();
return true;
}
else if (re.contains("error"))
{
//qDebug() << "Received error:" << re["error"];
return false;
}
//emit commandResponse(true, doc.object());
}
else
{
//emit commandResponse(false, QJsonObject());
re = QJsonObject();
return false;
}
}
bool RobotController::getRobotPose(QJsonObject& re)
{
sendCommand("getRobotPose");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
}
bool RobotController::getRobotState(QJsonObject& re)
{
sendCommand("getRobotState");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
}
bool RobotController::getJbiState(QJsonObject& re)
{
sendCommand("getJbiState");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
}
bool RobotController::getCurrentJobLine(QJsonObject& re)
{
sendCommand("getCurrentJobLine");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
}
bool RobotController::getRobotMode(QJsonObject& re)
{
sendCommand("getRobotMode");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
}
bool RobotController::checkJbiExist(const QString& jbiFilename, QJsonObject& re)
{
QJsonObject paramsRunJbi;
paramsRunJbi["filename"] = jbiFilename;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ
sendCommand("checkJbiExist", paramsRunJbi);
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
}
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");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
}
bool RobotController::run(QJsonObject& re)
{
sendCommand("run");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
}
bool RobotController::continueTask(QJsonObject& re)
{
sendCommand("run");
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
}
bool RobotController::setRobotPowerStatus(int status, QJsonObject& re)
{
sendCommand("set_robot_power_status", QJsonArray{ status });
socket->waitForReadyRead(m_iTimeout);
return onReadyRead(re);
}
EC8056::EC8056(QObject* parent) : QObject(parent), socket(new QTcpSocket(this))
{
connect(socket, &QTcpSocket::readyRead, this, &EC8056::onReadyRead);
/*connect(socket, QOverload<QAbstractSocket::SocketError>::of(&QTcpSocket::errorOccurred),
this, &EC8056::onSocketError);*/
//connect(socket, SIGNAL(error(QAbstractSocket::SocketError)),
// this, SLOT(onSocketError(QAbstractSocket::SocketError)));
}
void EC8056::connectToHost(const QString& host, quint16 port)
{
socket->setProxy(QNetworkProxy::NoProxy);
socket->connectToHost(QHostAddress(host), port);
if (!socket->waitForConnected(3000)) {
qDebug() << "Connection failed:" << socket->errorString();
return;
}
qDebug() << "Connected successfully!";
}
quint8 EC8056::readUInt8(const QByteArray& buf, int& offset)
{
return static_cast<quint8>(buf[offset++]);
}
quint32 EC8056::readUInt32(const QByteArray& buf, int& offset)
{
quint32 val;
memcpy(&val, buf.constData() + offset, sizeof(val));
offset += sizeof(val);
return qFromBigEndian(val);
}
qint32 EC8056::readInt32(const QByteArray& buf, int& offset)
{
qint32 val;
memcpy(&val, buf.constData() + offset, sizeof(val));
offset += sizeof(val);
return qFromBigEndian(val);
}
quint64 EC8056::readUInt64(const QByteArray& buf, int& offset)
{
quint64 val;
memcpy(&val, buf.constData() + offset, sizeof(val));
offset += sizeof(val);
return qFromBigEndian(val);
}
double EC8056::readDouble(const QByteArray& buf, int& offset)
{
QByteArray b = buf.mid(offset, sizeof(double));
offset += sizeof(double);
if (QSysInfo::ByteOrder == QSysInfo::LittleEndian)
std::reverse(b.begin(), b.end());
double val;
memcpy(&val, b.constData(), sizeof(double));
return val;
}
void EC8056::onReadyRead()
{
buffer.append(socket->readAll());
if (buffer.size() < 1024)
return;
int offset = 0;
ECData data;
data.msgSize = readUInt32(buffer, offset);
offset = 1020;
data.matchingWord = readUInt32(buffer, offset);
if ((data.msgSize == 1024)/* && (data.matchingWord == 3967833836)*/)
{
offset = 0;
data.msgSize = readUInt32(buffer, offset);
data.timeStamp = readUInt64(buffer, offset);
data.auto_cycle = readUInt8(buffer, offset);
for (int i = 0; i < 8; ++i) data.machinePos[i] = readDouble(buffer, offset);
for (int i = 0; i < 6; ++i) data.machinePose[i] = readDouble(buffer, offset);
for (int i = 0; i < 6; ++i) data.machineUserPose[i] = readDouble(buffer, offset);
for (int i = 0; i < 8; ++i) data.torque[i] = readDouble(buffer, offset);
data.robotState = readUInt32(buffer, offset);
data.servoReady = readUInt32(buffer, offset);
data.can_motor_run = readUInt32(buffer, offset);
for (int i = 0; i < 8; ++i) data.motor_speed[i] = readInt32(buffer, offset);
data.robotMode = readUInt32(buffer, offset);
for (int i = 0; i < 3; ++i) data.analog_ioInput[i] = readDouble(buffer, offset);
for (int i = 0; i < 5; ++i) data.analog_ioOutput[i] = readDouble(buffer, offset);
data.digital_ioInput = readUInt64(buffer, offset);
data.digital_ioOutput = readUInt64(buffer, offset);
data.collision = readUInt8(buffer, offset);
for (int i = 0; i < 6; ++i) data.machineFlangePose[i] = readDouble(buffer, offset);
for (int i = 0; i < 6; ++i) data.machineUserFlangePose[i] = readDouble(buffer, offset);
data.emergencyStopState = readUInt8(buffer, offset);
data.tcpSpeed = readDouble(buffer, offset);
for (int i = 0; i < 8; ++i) data.joIntSpeed[i] = readDouble(buffer, offset);
data.tcpAcc = readDouble(buffer, offset);
for (int i = 0; i < 8; ++i) data.joIntAcc[i] = readDouble(buffer, offset);
for (int i = 0; i < 6; ++i) data.joIntTemperature[i] = readDouble(buffer, offset);
for (int i = 0; i < 6; ++i) data.joIntTorque[i] = readDouble(buffer, offset);
for (int i = 0; i < 6; ++i) data.extJoIntTorques[i] = readDouble(buffer, offset);
for (int i = 0; i < 6; ++i) data.exTcpForceIntool[i] = readDouble(buffer, offset);
data.dragState = readUInt8(buffer, offset);
data.sensor_connected_state = readUInt8(buffer, offset);
data.reserved = readUInt8(buffer, offset);
data.matchingWord = readUInt32(buffer, offset);
/*if (data.msgSize != 1024 || data.matchingWord != 0xec8056ec) {
buffer.clear();
emit errorOccurred("Invalid packet received");
return;
}*/
emit dataReceived(data);
}
buffer.clear();
}
void EC8056::onSocketError(QAbstractSocket::SocketError socketError)
{
Q_UNUSED(socketError)
emit errorOccurred(socket->errorString());
}

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#pragma once
#include <qdialog.h>
#include <QTcpSocket>
#include <QJsonDocument>
#include <QJsonObject>
#include <QJsonArray>
#include <QDebug>
#include <QThread>
#include <QNetworkProxy>
#include <QtEndian>
#include <QNetworkAccessManager>
#include <QNetworkReply>
#include <QAuthenticator>
#include <QDebug>
#include <QRegularExpression>
#include <QProcess>
#include <QStringListModel>
#include <QTimer>
#include "ui_RobotArmControl.h"
#include "fileOperation.h"
struct ECData
{
quint32 msgSize;
quint64 timeStamp;
quint8 auto_cycle;
double machinePos[8];//<2F>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD><EFBFBD>
double machinePose[6];//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
double machineUserPose[6];//<2F>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
double torque[8];//<2F>ؽڶ<DAB6><EEB6A8><EFBFBD>ذٷֱ<D9B7>
quint32 robotState;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
quint32 servoReady;//<2F>ŷ<EFBFBD>ʹ<EFBFBD><CAB9>״̬
quint32 can_motor_run;//ͬ<><CDAC>״̬
qint32 motor_speed[8];//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>
quint32 robotMode;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ
double analog_ioInput[3];//ģ<><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
double analog_ioOutput[5];//ģ<><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
quint64 digital_ioInput;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĶ<DDB5><C4B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
quint64 digital_ioOutput;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĶ<DDB5><C4B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
quint8 collision;//<2F><>ײ<EFBFBD><D7B2><EFBFBD><EFBFBD>״̬
double machineFlangePose[6];//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µķ<C2B5><C4B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
double machineUserFlangePose[6];//<2F>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µķ<C2B5><C4B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
quint8 emergencyStopState;//<2F><>ǰ<EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ڼ<EFBFBD>ͣ״̬
double tcpSpeed;//tcp<63>˶<EFBFBD><CBB6>ٶ<EFBFBD>
double joIntSpeed[8];//<2F>ؽ<EFBFBD><D8BD>˶<EFBFBD><CBB6>¸<EFBFBD><C2B8>ؽ<EFBFBD><D8BD>˶<EFBFBD><CBB6>ٶ<EFBFBD>
double tcpAcc;//tcp<63><70><EFBFBD>ٶ<EFBFBD>
double joIntAcc[8];//<2F>ؽ<EFBFBD><D8BD>˶<EFBFBD><CBB6>¸<EFBFBD><C2B8>ؽڼ<D8BD><DABC>ٶ<EFBFBD>
double joIntTemperature[6];//<2F><EFBFBD>
double joIntTorque[6];//<2F><><EFBFBD><EFBFBD>Ť<EFBFBD><C5A4>
double extJoIntTorques[6];//<2F>ⲿ<EFBFBD>ؽ<EFBFBD>Ť<EFBFBD><C5A4>ֵ
double exTcpForceIntool[6];//<2F><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µ<EFBFBD><C2B5>ⲿĩ<E2B2BF><C4A9><EFBFBD><EFBFBD>/<2F><><EFBFBD>ع<EFBFBD><D8B9><EFBFBD>ֵ
quint8 dragState;//<2F>϶<EFBFBD>ʹ<EFBFBD><CAB9>״̬
quint8 sensor_connected_state;//<2F><><EFBFBD>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
quint8 reserved;
quint32 matchingWord;
};
class EC8056 : public QObject
{
Q_OBJECT
public:
explicit EC8056(QObject* parent = nullptr);
void connectToHost(const QString& host, quint16 port= 8056);
signals:
void dataReceived(const ECData& data);
void errorOccurred(const QString& error);
private slots:
void onReadyRead();
void onSocketError(QAbstractSocket::SocketError socketError);
private:
QTcpSocket* socket;
QByteArray buffer;
double readDouble(const QByteArray& buf, int& offset);
quint64 readUInt64(const QByteArray& buf, int& offset);
quint32 readUInt32(const QByteArray& buf, int& offset);
qint32 readInt32(const QByteArray& buf, int& offset);
quint8 readUInt8(const QByteArray& buf, int& offset);
};
class RobotController : public QObject
{
Q_OBJECT
public:
explicit RobotController(QObject* parent = nullptr);
~RobotController();
bool connectToRobot(const QString& ip, quint16 port = 8055);
void disconnectFromRobot();
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);
bool getRobotPose(QJsonObject& re);
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
bool getJbiState(QJsonObject& re);//0 ֹͣ״̬,1 <20><>ͣ״̬,2 <20><>ͣ״̬,3 <20><><EFBFBD><EFBFBD>״̬,4 <20><><EFBFBD><EFBFBD>״̬
bool getCurrentJobLine(QJsonObject& re);
bool getRobotMode(QJsonObject& re);//ʾ<><CABE>ģʽ 0<><30><EFBFBD>Զ<EFBFBD>ģʽ 1<><31>Զ<EFBFBD><D4B6>ģʽ 2
bool checkJbiExist(const QString& jbiFilename, QJsonObject& re);
bool setServoStatus(int status, QJsonObject& re);
bool runJbi(const QString& jbiFilename, QJsonObject& re, bool isRecordHsi);
bool pauseTask(QJsonObject& re);
bool run(QJsonObject& re);
bool continueTask(QJsonObject& re);
bool setRobotPowerStatus(int status, QJsonObject& re);
bool onReadyRead(QJsonObject& re);
private:
QTcpSocket* socket;
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
{
Q_OBJECT
public:
RobotArmControl(QWidget* parent = nullptr);
~RobotArmControl();
RobotController* robotController;
void onCommandResponse(QString str, const QJsonObject& response);
public Q_SLOTS:
void getTaskList();
void getPose();
void connectRobotArm();
void executeTaskWithHyperImager();
void executeTaskWithoutHyperImager();
void pauseTask();
void continueTask();
void monitorRobotArm(const ECData& data);
signals:
//void Opened();
//void Closed();
private:
Ui::RobotArmControl_UI ui;
EC8056* robotMonitor;
QStringListModel* m_pModel;
};

138
HPPA/RobotArmControl.ui Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>RobotArmControl_UI</class>
<widget class="QDialog" name="RobotArmControl_UI">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>424</width>
<height>364</height>
</rect>
</property>
<property name="windowTitle">
<string>Dialog</string>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="2" column="1">
<widget class="QPushButton" name="pause_task_btn">
<property name="text">
<string>暂停任务</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="connect2arm_btn">
<property name="text">
<string>连接机械臂</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QPushButton" name="execute_task_btn">
<property name="text">
<string>执行任务</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QPushButton" name="get_pose_btn">
<property name="text">
<string>获取pose</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QPushButton" name="continue_task_btn">
<property name="text">
<string>继续任务</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QTextEdit" name="textEdit"/>
</item>
<item row="0" column="0" rowspan="6">
<widget class="QFrame" name="frame_2">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<property name="horizontalSpacing">
<number>0</number>
</property>
<item row="0" column="0">
<widget class="QPushButton" name="get_task_list_btn">
<property name="text">
<string>获取任务列表</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QListView" name="taskList_listView"/>
</item>
</layout>
</widget>
</item>
<item row="6" column="0" colspan="2">
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="2">
<widget class="QLabel" name="pose_z_label">
<property name="text">
<string>z</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="pose_x_label">
<property name="text">
<string>x</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="pose_y_label">
<property name="text">
<string>y</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

2
HPPA/about.ui
View File

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