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；
This commit is contained in:
tangchao0503
@ -3,15 +3,13 @@
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RobotArmControl::RobotArmControl(QWidget* parent): QDialog(parent)
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{
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ui.setupUi(this);
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robotController = new RobotController(this);
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connect(robotController, SIGNAL(commandResponse(bool, const QJsonObject)), this, SLOT(onCommandResponse(bool, const QJsonObject)));
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robotController = new RobotController(this);
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connect(ui.get_task_list_btn, SIGNAL(clicked()), this, SLOT(getTaskList()));
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connect(ui.get_pose_btn, SIGNAL(clicked()), this, SLOT(getPose()));
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connect(ui.connect2arm_btn, SIGNAL(clicked()), this, SLOT(connectRobotArm()));
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connect(ui.execute_task_btn, SIGNAL(clicked()), this, SLOT(executeTask()));
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connect(ui.execute_task_btn, SIGNAL(clicked()), this, SLOT(executeTaskWithoutHyperImager()));
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connect(ui.pause_task_btn, SIGNAL(clicked()), this, SLOT(pauseTask()));
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connect(ui.continue_task_btn, SIGNAL(clicked()), this, SLOT(continueTask()));
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@ -21,7 +19,6 @@ RobotArmControl::RobotArmControl(QWidget* parent): QDialog(parent)
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m_pModel = new QStringListModel(ui.taskList_listView);
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//<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>
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ui.taskList_listView->setModel(m_pModel);
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}
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@ -41,32 +38,37 @@ void RobotArmControl::monitorRobotArm(const ECData& data)
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ui.pose_z_label->setText(QString::number(z));
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}
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void RobotArmControl::onCommandResponse(bool success, const QJsonObject& response)
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void RobotArmControl::onCommandResponse(QString str, const QJsonObject& response)
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{
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if (success)
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//qDebug() << "response:" << response;
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QString re;
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if (response.contains("result"))
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{
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QString re;
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if (response.contains("result"))
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{
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re = response["result"].toVariant().toString();
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ui.textEdit->append("Result: " + re);
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}
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else if (response.contains("error"))
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{
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auto errorStr = response["error"].toObject()["message"].toString();
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ui.textEdit->append("Error: " + errorStr);
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}
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re = response["result"].toVariant().toString();
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ui.textEdit->append(str + " Result: " + re);
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}
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else if (response.contains("error"))
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{
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//auto delete11 = response["error"].toObject();
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//qDebug() << "response[\"error\"]:" << delete11;
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auto errorStr = response["error"].toObject()["message"].toString();
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ui.textEdit->append(str + " Error: " + errorStr);
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}
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}
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void RobotArmControl::getTaskList()
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{
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QString pythonScript = "D:\\PycharmProjects\\ELITE_ROBOTS\\get_jbi_filename.py";
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FileOperation* fileOperation = new FileOperation();
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string directory = fileOperation->getDirectoryOfExe();
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QString pythonScript = QString::fromStdString(directory) + "\\get_jbi_filename.py";
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QProcess process;
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process.start("C:\\ProgramData\\anaconda3\\python.exe", QStringList() << pythonScript);
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process.start("python.exe", QStringList() << pythonScript);
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process.waitForFinished();
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QString output = process.readAllStandardOutput();
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@ -94,7 +96,9 @@ void RobotArmControl::getTaskList()
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void RobotArmControl::getPose()
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{
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robotController->getRobotPose();
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QJsonObject response;
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bool x = robotController->getRobotPose(response);
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onCommandResponse("getPose", response);
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}
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void RobotArmControl::connectRobotArm()
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@ -103,7 +107,7 @@ void RobotArmControl::connectRobotArm()
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robotMonitor->connectToHost("192.168.1.100");
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}
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void RobotArmControl::executeTask()
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void RobotArmControl::executeTaskWithHyperImager()
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{
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QModelIndex index = ui.taskList_listView->currentIndex();
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if (-1 == index.row())
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@ -114,17 +118,83 @@ void RobotArmControl::executeTask()
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}
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QString fileName = index.data(Qt::DisplayRole).toString();
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robotController->runJbi(fileName);
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QJsonObject response;
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bool x;
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x = robotController->checkJbiExist(fileName, response);
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onCommandResponse("checkJbiExist", response);
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if (!x)
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{
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return;
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}
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x = robotController->setServoStatus(1, response);
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onCommandResponse("setServoStatus", response);
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if (!x)
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{
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return;
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}
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x = robotController->runJbi(fileName, response, true);
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onCommandResponse("runJbi", response);
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if (!x)
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{
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return;
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}
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}
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void RobotArmControl::executeTaskWithoutHyperImager()
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{
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QModelIndex index = ui.taskList_listView->currentIndex();
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if (-1 == index.row())
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{
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>û<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>ļ<EFBFBD>
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ui.textEdit->append("Please select file on the left!");
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return;
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}
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QString fileName = index.data(Qt::DisplayRole).toString();
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QJsonObject response;
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bool x;
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x = robotController->checkJbiExist(fileName, response);
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onCommandResponse("checkJbiExist", response);
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if (!x)
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{
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return;
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}
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x = robotController->setServoStatus(1, response);
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onCommandResponse("setServoStatus", response);
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if (!x)
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{
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return;
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}
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x = robotController->runJbi(fileName, response, false);
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onCommandResponse("runJbi", response);
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if (!x)
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{
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return;
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}
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}
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void RobotArmControl::pauseTask()
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{
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robotController->pauseTask();
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QJsonObject response;
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bool x;
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x = robotController->pauseTask(response);
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onCommandResponse("pauseTask", response);
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}
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void RobotArmControl::continueTask()
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{
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robotController->continueTask();
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QJsonObject response;
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bool x;
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x = robotController->continueTask(response);
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onCommandResponse("continueTask", response);
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}
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@ -134,10 +204,10 @@ void RobotArmControl::continueTask()
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RobotController::RobotController(QObject* parent) : QObject(parent), socket(new QTcpSocket(this))
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{
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connect(socket, &QTcpSocket::readyRead, this, &RobotController::onReadyRead);
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//connect(socket, &QTcpSocket::readyRead, this, &RobotController::onReadyRead);
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timer = new QTimer(this);
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connect(timer, SIGNAL(timeout()), this, SLOT(getPoint()));
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m_timer = new QTimer(this);
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connect(m_timer, SIGNAL(timeout()), this, SLOT(getPoint()));
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}
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RobotController::~RobotController()
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@ -158,7 +228,6 @@ bool RobotController::connectToRobot(const QString& ip, quint16 port)
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qDebug() << "Connected successfully!";
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return true;
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}
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void RobotController::disconnectFromRobot()
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@ -169,10 +238,97 @@ void RobotController::disconnectFromRobot()
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}
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}
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bool RobotController::processResponse(QJsonObject response, QString& result)
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{
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//qDebug() << "response:" << response;
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if (response.contains("result"))
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{
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result = response["result"].toVariant().toString();
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//qDebug() << "result1:" << result;
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return true;
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}
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else if (response.contains("error"))
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{
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result = response["error"].toObject()["message"].toString();
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//qDebug() << "result2:" << result;
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return false;
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}
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}
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bool RobotController::processResponse_getJbiState(QJsonObject response, QString& result)
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{
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//qDebug() << "response:" << response;
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if (response.contains("result"))
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{
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QString resultStr = response["result"].toString();
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QJsonDocument resultDoc = QJsonDocument::fromJson(resultStr.toUtf8());
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QJsonObject resultObj = resultDoc.object();
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//qDebug() << "resultObj:" << resultObj;
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int runState = resultObj["runState"].toInt();
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//qDebug() << "runState:" << runState;
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result = QString::number(runState);
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//qDebug() << "result:" << result;
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return true;
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}
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else if (response.contains("error"))
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{
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result = response["error"].toObject()["message"].toString();
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return false;
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}
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}
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void RobotController::getPoint()
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{
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getJbiState();
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getCurrentJobLine();
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QJsonObject response;
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getJbiState(response);//0 ֹͣ״̬,1 <20><>ͣ״̬,2 <20><>ͣ״̬,3 <20><><EFBFBD><EFBFBD>״̬,4 <20><><EFBFBD><EFBFBD>״̬
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QString result;
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bool x = processResponse_getJbiState(response, result);
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//qDebug() << "getJbiState:" << result;
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if (result.toInt() != 3)
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{
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m_timer->stop();
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m_iCurrentJbiJobLine = 0;
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m_iFileCounter = 0;
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//<2F><><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
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emit hsiRecordSignal(-1);
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return;
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}
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QJsonObject response2;
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getCurrentJobLine(response2);
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QString result2;
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bool x2 = processResponse(response2, result2);
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int m_iCurrentJbiJobLine_tmp = result2.toInt();
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if (m_iCurrentJbiJobLine_tmp != m_iCurrentJbiJobLine)
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{
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m_iFileCounter++;
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qDebug() << "Changed! CurrentJobLine:" << m_iCurrentJbiJobLine_tmp;
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//<2F><><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
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emit hsiRecordSignal(-1);
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m_iCurrentJbiJobLine = m_iCurrentJbiJobLine_tmp;
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//<2F><><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD>
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emit hsiRecordSignal(m_iFileCounter);
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}
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}
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void RobotController::sendCommand(const QString& cmd, const QJsonValue& params, int id)
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@ -185,95 +341,151 @@ void RobotController::sendCommand(const QString& cmd, const QJsonValue& params,
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QJsonDocument doc(request);
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QByteArray data = doc.toJson(QJsonDocument::Compact) + "\n";
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qDebug() << "send command:" << data.constData();
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//qDebug() << "send command:" << data.constData();
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socket->write(data);
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socket->waitForBytesWritten();
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}
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void RobotController::onReadyRead()
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bool RobotController::onReadyRead(QJsonObject& re)
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{
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QByteArray data = socket->readAll();
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QJsonDocument doc = QJsonDocument::fromJson(data);
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if (!doc.isNull() && doc.isObject())
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{
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QJsonObject response = doc.object();
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//qDebug() << "Received all:" << response;
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re = doc.object();
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//qDebug() << "Received all:" << re;
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if (response.contains("result"))
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if (re.contains("result"))
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{
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//qDebug() << "Received result:" << response["result"].toVariant();
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//qDebug() << "Received result:" << re["result"].toVariant();
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return true;
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}
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else if (response.contains("error"))
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else if (re.contains("error"))
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{
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//qDebug() << "Received error:" << response["error"];
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//qDebug() << "Received error:" << re["error"];
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return false;
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}
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emit commandResponse(true, doc.object());
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//emit commandResponse(true, doc.object());
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}
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else
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{
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emit commandResponse(false, QJsonObject());
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//emit commandResponse(false, QJsonObject());
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re = QJsonObject();
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return false;
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}
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}
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void RobotController::getRobotPose()
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bool RobotController::getRobotPose(QJsonObject& re)
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{
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sendCommand("getRobotPose");
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socket->waitForReadyRead(m_iTimeout);
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return onReadyRead(re);
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}
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void RobotController::getRobotState()
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bool RobotController::getRobotState(QJsonObject& re)
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{
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sendCommand("getRobotState");
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socket->waitForReadyRead(m_iTimeout);
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return onReadyRead(re);
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}
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void RobotController::getJbiState()
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bool RobotController::getJbiState(QJsonObject& re)
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{
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sendCommand("getJbiState");
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socket->waitForReadyRead(m_iTimeout);
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return onReadyRead(re);
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}
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void RobotController::getCurrentJobLine()
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bool RobotController::getCurrentJobLine(QJsonObject& re)
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{
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sendCommand("getCurrentJobLine");
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socket->waitForReadyRead(m_iTimeout);
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return onReadyRead(re);
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}
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void RobotController::getRobotMode()
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bool RobotController::getRobotMode(QJsonObject& re)
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{
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sendCommand("getRobotMode");
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socket->waitForReadyRead(m_iTimeout);
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return onReadyRead(re);
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}
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void RobotController::runJbi(const QString& jbiFilename)
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bool RobotController::checkJbiExist(const QString& jbiFilename, QJsonObject& re)
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{
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QJsonObject paramsRunJbi;
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paramsRunJbi["filename"] = jbiFilename;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ
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QJsonObject params_set_servo_status;
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params_set_servo_status["status"] = 1;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ
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sendCommand("checkJbiExist", paramsRunJbi);
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socket->waitForReadyRead(m_iTimeout);
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//sendCommand("checkJbiExist", paramsRunJbi);
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sendCommand("set_servo_status", params_set_servo_status);
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sendCommand("runJbi", paramsRunJbi);
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//timer->start(1000);
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return onReadyRead(re);
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}
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void RobotController::pauseTask()
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bool RobotController::setServoStatus(int status, QJsonObject& re)
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{
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QJsonObject params_set_servo_status;
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params_set_servo_status["status"] = status;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ
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sendCommand("set_servo_status", params_set_servo_status);
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socket->waitForReadyRead(m_iTimeout);
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return onReadyRead(re);
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}
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bool RobotController::runJbi(const QString& jbiFilename, QJsonObject& re, bool isRecordHsi)
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{
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QJsonObject paramsRunJbi;
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paramsRunJbi["filename"] = jbiFilename;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ
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sendCommand("runJbi", paramsRunJbi);
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socket->waitForReadyRead(m_iTimeout);
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if (isRecordHsi)
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{
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m_timer->start(1000);
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}
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return onReadyRead(re);
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}
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bool RobotController::pauseTask(QJsonObject& re)
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{
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sendCommand("pause");
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socket->waitForReadyRead(m_iTimeout);
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return onReadyRead(re);
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}
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void RobotController::run()
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bool RobotController::run(QJsonObject& re)
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{
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sendCommand("run");
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socket->waitForReadyRead(m_iTimeout);
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return onReadyRead(re);
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}
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void RobotController::continueTask()
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bool RobotController::continueTask(QJsonObject& re)
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{
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sendCommand("run");
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socket->waitForReadyRead(m_iTimeout);
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return onReadyRead(re);
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}
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void RobotController::setRobotPowerStatus(int status)
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bool RobotController::setRobotPowerStatus(int status, QJsonObject& re)
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{
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sendCommand("set_robot_power_status", QJsonArray{ status });
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socket->waitForReadyRead(m_iTimeout);
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return onReadyRead(re);
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}
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Block a user