#include "mainwindow.h"
#include "ui_mainwindow.h"
#define LED_ON setStyleSheet("background-color:lightGreen;")
#define LED_OFF setStyleSheet("background-color:lightBlack;")
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
SingleBoardTestFlag = 0x00;
dnData_MsgLen = 0; //下发数据长度
dnFlag_PowerOff = 0; //主机关机中
dnFlag_DisableWalk = 0; //升降、行走、支脚禁用信号
dnFlag_LargeColumnLimit = 0; //大立柱限位有效标志
dnFlag_LargeColumnProgram = 0; //大立柱TWINCAT程序控制标志
dnFlag_LargeColumnUp = 0; //大立柱向上运动标志
dnFlag_LargeColumnDown = 0; //大立柱向下运动标志
dnFlag_LaserLight = 0; //十字激光点亮标志
dnFlag_ParkBrake = 0; //支脚电机升降控制
dnData_LargeColumnUpLimitVal = 0; //大立柱上限值
dnData_LargeColumnDownLimitVal = 0;//大立柱下限值
dnData_LargeColumnProgramVal = 0; //大立柱TWINCAT程序控制目标值
dnState_SystemReset = 0; //复位按钮灯状态（无效值常零)
dnFlag_LargeColumnCanMove = 0; //横梁立柱动作使能标志
rvFlag_PowerKey = 0; //开关机按键信号(按下为1、抬起为0)
rvData_BMS_SOC = 0; //电池电量
rvState_PowerSta = 0; //1-市电供电且电池满电 2-电池供电 3电池充电状态
rvFlag_LeftRunMotorEn = 0; //左行走驱动器状态
rvFlag_RightRunMotorEn = 0; //右行走驱动器状态
rvFlag_LeftStandMotorEn = 0; //左支脚驱动器状态
rvFlag_RightStandMotorEn = 0; //右支脚驱动器状态
rvFlag_ColumMotorEn = 0; //大立柱驱动器状态
rvFlag_ColumnMoveFlag = 0; //大立柱动作标志
rvData_ColumPosition = 0; //大立柱当前位置
rvData_beam_FrBkValue = 0; //大横梁三轴电位器前后位置
rvData_beam_LeRiValue = 0; //大横梁三轴电位器左右位置
rvData_beam_RotaValue = 0; //大横梁三轴电位器旋转位置
rvFlag_RunMoveFlag = 0; //行走电机工作标识
rvData_ErrCode = 0; //错误代码
rvFlag_UseLineFlag = 0; //线控手柄启用标识
rvData_HandKeyValue = 0; //线控手柄按键值
rvFlag_LeftStandSwitch = 0; //左侧支脚电机光电开关信号
rvFlag_RightStandSwitch = 0; //右侧支脚电机光电开关信号
ui -> setupUi(this);
this -> setWindowTitle("2.0项目台车调试V00-产品电控部");
my_socket = new QTcpSocket();
connectstat = false;
connect(my_socket,&QTcpSocket::readyRead,this,&MainWindow::readyReadSlots);
connect( &m_tData, SIGNAL(timeout()), this, SLOT(SLOT_TimerOver()) );
m_tData.start(10);
}
MainWindow::~MainWindow()
{
delete ui;
}
void MainWindow::readyReadSlots()
{
int RecvLen;
uint8_t TCPRecvBuff[28] = {0};
QByteArray RecvBuff;
RecvLen = my_socket->bytesAvailable();
RecvBuff = my_socket->read(RecvLen>65535?65535:RecvLen);
memcpy(TCPRecvBuff,RecvBuff,RecvLen);
if((TCPRecvBuff[0]==0xEB)&&(TCPRecvBuff[1]==0x90))
{
rvFlag_PowerKey = TCPRecvBuff[6]; //开关机按键信号(按下为1、抬起为0)
rvState_PowerSta = TCPRecvBuff[7]; //1-市电供电且电池满电 2-电池供电 3电池充电状态
rvData_BMS_SOC = TCPRecvBuff[8]; //电量
rvFlag_LeftRunMotorEn = TCPRecvBuff[9]; //左行走驱动器状态
rvFlag_RightRunMotorEn = TCPRecvBuff[10]; //右行走驱动器状态
rvFlag_LeftStandMotorEn = TCPRecvBuff[12]; //左支脚驱动器状态
rvFlag_RightStandMotorEn = TCPRecvBuff[13]; //右支脚驱动器状态
rvFlag_ColumMotorEn = TCPRecvBuff[11]; //大立柱驱动器状态
rvFlag_ColumnMoveFlag = TCPRecvBuff[14];
memcpy(&rvData_ColumPosition,TCPRecvBuff+15,2); //大立柱当前位置
rvData_beam_FrBkValue = TCPRecvBuff[17]; //大横梁三轴电位器前后位置
rvData_beam_LeRiValue = TCPRecvBuff[18]; //大横梁三轴电位器左右位置
rvData_beam_RotaValue = TCPRecvBuff[19]; //大横梁三轴电位器旋转位置
rvFlag_RunMoveFlag = TCPRecvBuff[21]; //行走电机工作标识
rvData_ErrCode = TCPRecvBuff[22]; //错误代码
rvFlag_UseLineFlag = TCPRecvBuff[23]; //线控手柄启用标识
memcpy(&rvData_HandKeyValue,TCPRecvBuff+24,2); //线控手柄按键值
rvFlag_LeftStandSwitch = TCPRecvBuff[26]; //左侧支脚电机光电开关信号
rvFlag_RightStandSwitch = TCPRecvBuff[27]; //右侧支脚电机光电开关信号
}
}
void MainWindow::ShowRecvState()
{
QString strShow;
ui->lcdnumber->setSegmentStyle(QLCDNumber::Flat);
ui->lcdnumber->display(rvData_BMS_SOC);
switch(rvState_PowerSta)
{
case 0x01: ui->label_PowerSta->setText("供电：市电"); break;
case 0x02: ui->label_PowerSta->setText("供电：电池"); break;
case 0x03: ui->label_PowerSta->setText("供电：充电中"); break;
}
rvFlag_PowerKey ? ui->LED1->LED_ON : ui->LED1->LED_OFF;
rvFlag_LeftRunMotorEn ? ui->LED4->LED_ON : ui->LED4->LED_OFF;
rvFlag_RightRunMotorEn ? ui->LED5->LED_ON : ui->LED5->LED_OFF;
rvFlag_LeftStandSwitch ? ui->LED8_4->LED_ON: ui->LED8_4->LED_OFF;
rvFlag_RightStandSwitch ? ui->LED8_3->LED_ON: ui->LED8_3->LED_OFF;
rvFlag_LeftStandMotorEn ? ui->LED8->LED_ON : ui->LED8->LED_OFF;
rvFlag_RightStandMotorEn? ui->LED8_2->LED_ON: ui->LED8_2->LED_OFF;
rvFlag_ColumMotorEn ? ui->LED7->LED_ON : ui->LED7->LED_OFF;
rvFlag_ColumnMoveFlag ? ui->LED6->LED_ON : ui->LED6->LED_OFF;
rvFlag_RunMoveFlag ? ui->LED2->LED_ON : ui->LED2->LED_OFF;
rvFlag_UseLineFlag ? ui->LED3->LED_ON : ui->LED3->LED_OFF;
strShow.setNum(rvData_beam_FrBkValue);
ui->label_20->setText(strShow);
strShow.setNum(rvData_beam_LeRiValue);
ui->label_23->setText(strShow);
strShow.setNum(rvData_beam_RotaValue);
ui->label_24->setText(strShow);
strShow.setNum(rvData_ColumPosition);
ui->label_26->setText(strShow);
ui->lineEdit_ColumCurPosi->setText(strShow);
}
void MainWindow::on_pushButton_clicked()
{
QString ip = ui -> lineEdit -> text();
qint16 port = ui -> lineEdit_2-> text().toInt();
QHostAddress address = QHostAddress(ip);
if(!connectstat)//如果没有连接
{
my_socket -> connectToHost(address,port);
if(!my_socket -> waitForConnected(5000))
{
qDebug()<<my_socket -> errorString();
QMessageBox::critical(this, "连接错误", "以太网连接失败！");
return ;
}
else
{
ui->pushButton->setText("断开连接");
connectstat=true;
}
}
else
{
ui->pushButton->setText("建立连接");
connectstat=false;
}
}
uint16_t GetCRC16(unsigned char * pszBuf, uint16_t unLength)
{
uint16_t i, j, CurVal;
uint16_t CrcReg = 0xFFFF;
for (i = 0; i < unLength; i++)
{
CurVal = pszBuf[i] << 8;
for (j = 0; j < 8; j++)
{
if ((short)(CrcReg ^ CurVal) < 0)
CrcReg = (CrcReg << 1) ^ 0x1021;
else
CrcReg <<= 1;
CurVal <<= 1;
}
}
return CrcReg;
}
void MainWindow::TCP_SendData(QByteArray Data,uint8_t Len)
{
//Data = res.toLocal8Bit();
my_socket->write(QByteArray::fromHex(Data),Len);
// my_socket->write(Data.toHex(),Len);
}
void MainWindow::SLOT_TimerOver()
{
QString StrSend;
uint16_t CRCData = 0;
uint8_t SendBuff[24] = {0};
SendBuff[ 0 ] = 0xEB;
SendBuff[ 1 ] = 0x90;
SendBuff[ 2 ] = 0xFF;
SendBuff[ 3 ] = 0xFF;
SendBuff[ 4 ] = 0xFF;
SendBuff[ 5 ] = 0x10;
SendBuff[ 6 ] = dnFlag_PowerOff;
SendBuff[ 7 ] = dnFlag_DisableWalk; //动作禁用
SendBuff[ 8 ] = dnFlag_LargeColumnLimit; //立柱限位有效
SendBuff[ 9 ] = dnFlag_LargeColumnProgram; //立柱程控标识
SendBuff[ 10] = dnFlag_LargeColumnUp; //立柱向上
SendBuff[ 11] = dnFlag_LargeColumnDown; //立柱向下
SendBuff[ 12] = dnFlag_LaserLight; //激光点亮
SendBuff[ 13] = dnFlag_ParkBrake; //支脚升降
memcpy( SendBuff + 14, &dnData_LargeColumnUpLimitVal, 2 ); //大立柱上限位
memcpy( SendBuff + 16, &dnData_LargeColumnDownLimitVal,2 ); //大立柱下限位
memcpy( SendBuff + 18, &dnData_LargeColumnProgramVal, 2 ); //大立柱程控目标值
SendBuff[ 20] = 0x00;
SendBuff[ 21] = dnFlag_LargeColumnCanMove; //梁柱使能标识
CRCData = GetCRC16(SendBuff,22);
SendBuff[ 22] = CRCData & 0xFF;
SendBuff[ 23] = CRCData >> 8;
for(uint8_t i=0;i<sizeof(SendBuff);i++)
{
StrSend += QString(SendBuff[i]);
}
if(connectstat == true)
{
my_socket->write(StrSend.toLatin1(),24);
}
ShowRecvState();
}
void MainWindow::on_pushButton_Laser_pressed()
{
dnFlag_LaserLight = 0x01;
}
void MainWindow::on_pushButton_Laser_released()
{
dnFlag_LaserLight = 0x00;
}
void MainWindow::on_checkBox_DisMove_clicked(bool checked)
{
dnFlag_DisableWalk = checked;
}
/*****************************驻车********************************************************/
void MainWindow::on_pushButton_ParkKey_clicked()
{
dnFlag_ParkBrake = 0x01;
}
void MainWindow::on_pushButton_DisPark_clicked() //驻车取消
{
dnFlag_ParkBrake = 0x00;
}
/***************************************************************************************/
//关机
void MainWindow::on_pushButton_PowerOff_pressed()
{
dnFlag_PowerOff = 0x01;
}
void MainWindow::on_pushButton_PowerOff_released()
{
dnFlag_PowerOff = 0x00;
}
//----------------------------立柱----------------------------------------------------------
void MainWindow::on_checkBox_3_clicked(bool checked)
{
dnFlag_LargeColumnCanMove = checked;
}
void MainWindow::on_checkBox_clicked(bool checked) //选择程序控制
{
dnFlag_LargeColumnProgram = checked;
qDebug("LargeColumnUp:%d",dnFlag_LargeColumnProgram);
}
void MainWindow::on_checkBox_2_clicked(bool checked)//立柱限位有效标识
{
dnFlag_LargeColumnLimit = checked;
}
void MainWindow::on_pushButton_CulumUp_pressed()
{
dnFlag_LargeColumnUp = 0x01;
qDebug("LargeColumnUp:%d",dnFlag_LargeColumnUp);
}
void MainWindow::on_pushButton_CulumUp_released()
{
dnFlag_LargeColumnUp = 0x00;
qDebug("LargeColumnUp:%d",dnFlag_LargeColumnUp);
}
void MainWindow::on_pushButton_CulumUp_2_pressed()
{
dnFlag_LargeColumnDown = 0x01;
}
void MainWindow::on_pushButton_CulumUp_2_released()
{
dnFlag_LargeColumnDown = 0x00;
}
#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include <QMainWindow>
#include <QTcpServer>
#include <QTcpSocket>
#include <QDebug>
#include <QHostAddress>
#include <QMessageBox>
#include <QTimer>
#include <QKeyEvent>
namespace Ui {
class MainWindow;
}
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
explicit MainWindow(QWidget *parent = 0);
~MainWindow();
public slots:
void SLOT_TimerOver();
private slots:
void readyReadSlots();
void on_pushButton_clicked();
void on_pushButton_ParkKey_clicked();
void on_pushButton_DisPark_clicked();
void on_checkBox_clicked(bool checked);
void on_checkBox_2_clicked(bool checked);
void on_pushButton_CulumUp_pressed();
void on_pushButton_CulumUp_released();
void on_pushButton_CulumUp_2_pressed();
void on_pushButton_CulumUp_2_released();
void on_pushButton_PowerOff_pressed();
void on_pushButton_PowerOff_released();
void on_checkBox_3_clicked(bool checked);
void on_checkBox_DisMove_clicked(bool checked);
void on_pushButton_Laser_pressed();
void on_pushButton_Laser_released();
private:
Ui::MainWindow *ui;
QTcpSocket *my_socket;
bool connectstat;
QTimer m_tData;
uint8_t SingleBoardTestFlag; //单板测试标识
uint8_t dnData_MsgLen; //下发数据长度
uint8_t dnFlag_PowerOff; //主机关机中
uint8_t dnFlag_DisableWalk; //升降、行走、支脚禁用信号
uint8_t dnFlag_LargeColumnLimit; //大立柱限位有效标志
uint8_t dnFlag_LargeColumnProgram; //大立柱TWINCAT程序控制标志
uint8_t dnFlag_LargeColumnUp; //大立柱向上运动标志
uint8_t dnFlag_LargeColumnDown ; //大立柱向下运动标志
uint8_t dnFlag_LaserLight; //十字激光点亮标志
uint8_t dnFlag_ParkBrake; //支脚电机升降控制
uint16_t dnData_LargeColumnUpLimitVal; //大立柱上限值
uint16_t dnData_LargeColumnDownLimitVal;//大立柱下限值
uint16_t dnData_LargeColumnProgramVal; //大立柱TWINCAT程序控制目标值
uint8_t dnState_SystemReset; //复位按钮灯状态（无效值常零)
uint8_t dnFlag_LargeColumnCanMove; //横梁立柱动作使能标志
uint8_t rvFlag_PowerKey; //开关机按键信号(按下为1、抬起为0)
uint8_t rvData_BMS_SOC; //电池电量
uint8_t rvState_PowerSta; //1-市电供电且电池满电 2-电池供电 3电池充电状态
uint8_t rvFlag_LeftRunMotorEn; //左行走驱动器状态
uint8_t rvFlag_RightRunMotorEn; //右行走驱动器状态
uint8_t rvFlag_LeftStandMotorEn; //左支脚驱动器状态
uint8_t rvFlag_RightStandMotorEn; //右支脚驱动器状态
uint8_t rvFlag_ColumMotorEn; //大立柱驱动器状态
uint8_t rvFlag_ColumnMoveFlag; //大立柱动作标志
uint8_t rvData_ColumPosition; //大立柱当前位置
uint8_t rvData_beam_FrBkValue; //大横梁三轴电位器前后位置
uint8_t rvData_beam_LeRiValue; //大横梁三轴电位器左右位置
uint8_t rvData_beam_RotaValue; //大横梁三轴电位器旋转位置
uint8_t rvFlag_RunMoveFlag; //行走电机工作标识
uint8_t rvData_ErrCode; //错误代码
uint8_t rvFlag_UseLineFlag; //线控手柄启用标识
uint16_t rvData_HandKeyValue; //线控手柄按键值
uint8_t rvFlag_LeftStandSwitch; //左侧支脚电机光电开关信号
uint8_t rvFlag_RightStandSwitch; //右侧支脚电机光电开关信号
void TCP_SendData(QByteArray Data,uint8_t Len);
void ShowRecvState();
};
#endif // MAINWINDOW_H