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add，计划采集8：

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实现部分计划采集功能：电源通断控制
This commit is contained in:
tangchao0503
2026-06-05 18:01:38 +08:00
parent 467bebe9dd
commit 4a62d9a007
11 changed files with 681 additions and 1 deletions
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14
HPPA/CommunicationInterfaceBase.cpp Normal file
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@ -0,0 +1,14 @@
#include "CommunicationInterfaceBase.h"
using namespace MotorParams;
CommunicationInterfaceBase::CommunicationInterfaceBase(QObject* parent)
:QObject(parent)
{
}
CommunicationInterfaceBase::~CommunicationInterfaceBase()
{
}

36
HPPA/CommunicationInterfaceBase.h Normal file
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@ -0,0 +1,36 @@
#pragma once
#include <QObject>
#include <QString>
#include "motorParams.h"
namespace MotorParams {
struct TCPConnectionParams
{
QString serverIP;
int port;
};
class CommunicationInterfaceBase :public QObject
{
Q_OBJECT
public:
CommunicationInterfaceBase(QObject* parent = nullptr);
~CommunicationInterfaceBase();
virtual bool connect2Motor() = 0;
//virtual void disconnect() = 0;
//virtual bool isConnected() const = 0;
virtual int sendCommand(const QString command) = 0;
//virtual void sendCommandAsync(const QString& command) = 0;
virtual int recvData(QByteArray& dataRecv) = 0;
signals:
void dataReceived(const QByteArray& data);
void connected(); // <20><><EFBFBD>ܴ<EFBFBD><DCB4>ڻ<EFBFBD><DABB><EFBFBD>TCP<43><50><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
void disconnected();
void errorOccurred(QString msg);
};
} // namespace MotorParams

95
HPPA/CommunicationViaTCP.cpp Normal file
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@ -0,0 +1,95 @@
#include "CommunicationViaTCP.h"
using namespace MotorParams;
CommunicationViaTCP::CommunicationViaTCP(MotorParams::TCPConnectionParams connectionParams, QObject* parent)
:MotorParams::CommunicationInterfaceBase(parent)
{
m_bConnected = false;
m_tcpServer = new QTcpServer(this);
connect(m_tcpServer, SIGNAL(newConnection()), this, SLOT(onNewConnection()));
m_tcpServer->listen(QHostAddress::Any, connectionParams.port);
}
CommunicationViaTCP::~CommunicationViaTCP()
{
m_tcpServer->close();
delete m_tcpServer;
//这两行代码要报错，为啥呢？？？？？？？？？？？？？？？？？
//m_tcpSocket->disconnectFromHost();
//delete m_tcpSocket;
}
bool CommunicationViaTCP::connect2Motor()
{
return true;
}
void CommunicationViaTCP::onNewConnection()
{
m_bConnected = true;
m_tcpSocket = m_tcpServer->nextPendingConnection();
connect(m_tcpSocket, SIGNAL(disconnected()), this, SLOT(onTcpSocketDisconnected()));
emit connected();
}
bool CommunicationViaTCP::isConnected() const
{
return m_bConnected;
}
//从拔掉客户端的电源（客户端m_tcpSocket断开连接）到这个函数被调用有延迟，所以这个函数调用也有延迟，导致拔掉电源后的一小段时间函数isConnected()还是返回true
void CommunicationViaTCP::onTcpSocketDisconnected()
{
int a = 1;
m_bConnected = false;
m_tcpSocket->deleteLater();
}
int CommunicationViaTCP::sendCommand(const QString cmd)
{
if (!isConnected()) {
QString error = "No client connected";
emit commandSendResult(-1, error);
qWarning() << error << "command:" << cmd;
return -1;
}
qint64 bytesWritten = m_tcpSocket->write(cmd.toUtf8().data());
m_tcpSocket->waitForBytesWritten(50);
return bytesWritten;
}
int CommunicationViaTCP::recvData(QByteArray& dataRecv)
{
if (!isConnected()) {
QString error = "No client connected";
return -1;
}
dataRecv.clear();
QByteArray temp;
temp = m_tcpSocket->readAll();
dataRecv.append(temp);
int counter = 0;
while (dataRecv.size() < 21)
{
counter++;
m_tcpSocket->waitForReadyRead(100);
temp = m_tcpSocket->readAll();
dataRecv.append(temp);
if (counter >= 5)
break;
}
//qDebug() << "Hex:" << dataRecv.toHex();
return dataRecv.size();
}

45
HPPA/CommunicationViaTCP.h Normal file
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@ -0,0 +1,45 @@
#pragma once
#include <QObject>
#include <QThread>
#include <QDebug>
#include <QTcpServer>
#include <QTcpSocket>
#include "CommunicationInterfaceBase.h"
namespace MotorParams {
class CommunicationViaTCP :
public CommunicationInterfaceBase
{
Q_OBJECT
public:
CommunicationViaTCP(TCPConnectionParams connectionParams, QObject* parent = nullptr);
~CommunicationViaTCP();
//继承基类
bool connect2Motor();
//void disconnect();
//bool isConnected() const;
int sendCommand(const QString cmd);
//void sendCommandAsync(const QString& command);
int recvData(QByteArray& dataRecv);
private:
QTcpServer* m_tcpServer;
QTcpSocket* m_tcpSocket;
int m_iCommunicationProtocol;
bool m_bConnected;
bool isConnected() const;
public Q_SLOTS:
void onNewConnection();
void onTcpSocketDisconnected();
signals:
void commandSendResult(int bytesWritten, const QString& error = QString());
};
}

8
HPPA/HPPA.cpp
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@ -965,6 +965,11 @@ void HPPA::initControlTabwidget()
m_pc->setWindowFlags(Qt::Widget);
ui.controlTabWidget->addTab(m_pc, QString::fromLocal8Bit("电源控制"));
//电源控制3D
m_pc3D = new PowerControl3D();
m_pc3D->setWindowFlags(Qt::Widget);
ui.controlTabWidget->addTab(m_pc3D, QString::fromLocal8Bit("电源控制3D"));
//机械臂控制
m_rac = new RobotArmControl();
connect(m_rac->robotController, SIGNAL(hsiRecordSignal(int)), this, SLOT(recordFromRobotArm(int)));
@ -1514,7 +1519,8 @@ void HPPA::create3DPlantPhenotypeScenario()
m_tabManager->showTab(m_singleLensReflexCameraWindow);
//m_tabManager->showTab(m_rgbCameraControlWindow);
m_tabManager->showTab(m_adt);
m_tabManager->showTab(m_pc);
//m_tabManager->showTab(m_pc);
m_tabManager->showTab(m_pc3D);
m_tabManager->showTab(m_tmc);
m_view3DModelManager->switchScenario(View3DModelManager::ScenarioType::PlantPhenotype);

3
HPPA/HPPA.h
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@ -85,6 +85,8 @@
#include "TimedDataCollection.h"
#include "PowerControl3D.h"
#define PI 3.1415926
QT_CHARTS_USE_NAMESPACE//QChartView 使用 需要加宏， 否则无法使用
@ -290,6 +292,7 @@ private:
SingleLensReflexCameraWindow* m_singleLensReflexCameraWindow;
adjustTable* m_adt;
PowerControl* m_pc;
PowerControl3D* m_pc3D;
RobotArmControl* m_rac;
OneMotorControl* m_omc;
TwoMotorControl* m_tmc;

7
HPPA/HPPA.vcxproj
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@ -112,6 +112,8 @@
<ClCompile Include="AspectRatioLabel.cpp" />
<ClCompile Include="CaptureCoordinator.cpp" />
<ClCompile Include="Carousel.cpp" />
<ClCompile Include="CommunicationInterfaceBase.cpp" />
<ClCompile Include="CommunicationViaTCP.cpp" />
<ClCompile Include="Corning410Imager.cpp" />
<ClCompile Include="CustomDockWidgetBase.cpp" />
<ClCompile Include="DepthCameraWindow.cpp" />
@ -140,6 +142,7 @@
<ClCompile Include="OneMotorControl.cpp" />
<ClCompile Include="path_tc.cpp" />
<ClCompile Include="PowerControl.cpp" />
<ClCompile Include="PowerControl3D.cpp" />
<ClCompile Include="QDoubleSlider.cpp" />
<ClCompile Include="QMotorDoubleSlider.cpp" />
<ClCompile Include="RasterDataProvider.cpp" />
@ -189,6 +192,7 @@
<QtUic Include="oneMotorControl.ui" />
<QtUic Include="PathPlan.ui" />
<QtUic Include="PowerControl.ui" />
<QtUic Include="PowerControl3D.ui" />
<QtUic Include="RadianceConversion.ui" />
<QtUic Include="ReflectanceConversion.ui" />
<QtUic Include="rgbCamera.ui" />
@ -223,6 +227,8 @@
<ClInclude Include="AppSettings.h" />
<QtMoc Include="FileNameLineEdit.h" />
<QtMoc Include="DepthCameraWindow.h" />
<QtMoc Include="CommunicationViaTCP.h" />
<QtMoc Include="CommunicationInterfaceBase.h" />
<ClInclude Include="imager_base.h" />
<ClInclude Include="irisximeaimager.h" />
<QtMoc Include="OneMotorControl.h" />
@ -244,6 +250,7 @@
<QtMoc Include="MapToolSpectral.h" />
<QtMoc Include="MapTools.h" />
<ClInclude Include="MotorWindowBase.h" />
<QtMoc Include="PowerControl3D.h" />
<ClInclude Include="RasterDataProvider.h" />
<ClInclude Include="MultibandRasterRenderer.h" />
<ClInclude Include="RasterImageLayer.h" />

21
HPPA/HPPA.vcxproj.filters
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@ -238,6 +238,15 @@
<ClCompile Include="TimedDataCollectionDataStructures.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="CommunicationViaTCP.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="CommunicationInterfaceBase.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="PowerControl3D.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup>
<ItemGroup>
<QtMoc Include="fileOperation.h">
@ -387,6 +396,15 @@
<QtMoc Include="TimedDataCollectionDataStructures.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="CommunicationViaTCP.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="CommunicationInterfaceBase.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="PowerControl3D.h">
<Filter>Header Files</Filter>
</QtMoc>
</ItemGroup>
<ItemGroup>
<ClInclude Include="imageProcessor.h">
@ -496,6 +514,9 @@
<QtUic Include="TimedDataCollection_ui.ui">
<Filter>Form Files</Filter>
</QtUic>
<QtUic Include="PowerControl3D.ui">
<Filter>Form Files</Filter>
</QtUic>
</ItemGroup>
<ItemGroup>
<None Include="cpp.hint" />

64
HPPA/PowerControl3D.cpp Normal file
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@ -0,0 +1,64 @@
#include "PowerControl3D.h"
using namespace MotorParams;
PowerControl3D::PowerControl3D(QWidget* parent)
: QDialog(parent)
{
ui.setupUi(this);
connect(ui.halogenLampPowerOn_btn, &QPushButton::clicked, this, &PowerControl3D::halogenLampPowerOn);
connect(ui.halogenLampPowerDown_btn, &QPushButton::clicked, this, &PowerControl3D::halogenLampPowerDown);
connect(ui.d65LampPowerOn_btn, &QPushButton::clicked, this, &PowerControl3D::d65LampPowerOn);
connect(ui.d65LampPowerDown_btn, &QPushButton::clicked, this, &PowerControl3D::d65LampPowerDown);
connect(ui.slrPowerOn_btn, &QPushButton::clicked, this, &PowerControl3D::slrPowerOn);
connect(ui.slrPowerDown_btn, &QPushButton::clicked, this, &PowerControl3D::slrPowerDown);
MotorParams::TCPConnectionParams tcpConnectionParams6003;
tcpConnectionParams6003.port = 6003;
tcpConnectionParams6003.serverIP = "192.168.1.2";
tcpServer6003 = new CommunicationViaTCP(tcpConnectionParams6003, this);
MotorParams::TCPConnectionParams tcpConnectionParams6004;
tcpConnectionParams6004.port = 6004;
tcpConnectionParams6004.serverIP = "192.168.1.2";
tcpServer6004 = new CommunicationViaTCP(tcpConnectionParams6004, this);
}
PowerControl3D::~PowerControl3D()
{
delete tcpServer6003;
delete tcpServer6004;
}
void PowerControl3D::halogenLampPowerOn()
{
tcpServer6003->sendCommand(R"({"key1":1,"type":"event"})");
}
void PowerControl3D::halogenLampPowerDown()
{
tcpServer6003->sendCommand(R"({"key1":0,"type":"event"})");
}
void PowerControl3D::d65LampPowerOn()
{
tcpServer6004->sendCommand(R"({"key1":1,"type":"event"})");
}
void PowerControl3D::d65LampPowerDown()
{
tcpServer6004->sendCommand(R"({"key1":0,"type":"event"})");
}
void PowerControl3D::slrPowerOn()
{
tcpServer6003->sendCommand(R"({"key2":1,"type":"event"})");
}
void PowerControl3D::slrPowerDown()
{
tcpServer6003->sendCommand(R"({"key2":0,"type":"event"})");
}

39
HPPA/PowerControl3D.h Normal file
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@ -0,0 +1,39 @@
#pragma once
#include <QDialog>
#include <QNetworkRequest>
#include <QNetworkReply>
#include <QNetworkAccessManager>
#include "ui_PowerControl3D.h"
#include "CommunicationViaTCP.h"
//using namespace MotorParams;
class PowerControl3D : public QDialog
{
Q_OBJECT
public:
PowerControl3D(QWidget* parent = nullptr);
~PowerControl3D();
public Q_SLOTS:
void halogenLampPowerOn();
void halogenLampPowerDown();
void d65LampPowerOn();
void d65LampPowerDown();
void slrPowerOn();
void slrPowerDown();
signals:
//void powerOpened();
private:
Ui::PowerControl3D_UI ui;
MotorParams::CommunicationViaTCP* tcpServer6003;
MotorParams::CommunicationViaTCP* tcpServer6004;
};

350
HPPA/PowerControl3D.ui Normal file
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@ -0,0 +1,350 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>PowerControl3D_UI</class>
<widget class="QDialog" name="PowerControl3D_UI">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>493</width>
<height>369</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>PowerControl3D</string>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox
{
border: 12px solid transparent;
/*border-top: 12px solid transparent;
border-right: 0px solid transparent;
border-bottom: 0px solid transparent;
border-left: 0px solid transparent;*/
color: #ACCDFF;
}
QPushButton
{
/*width: 172px;
height: 56px;*/
font: 19pt &quot;新宋体&quot;;
background-color: qlineargradient(
spread:pad,
x1:0.5, y1:0, x2:0.5, y2:1,
stop:0 #283D86,
stop:1 #0F1A40
);
color: white;
border: none;
padding: 8px 16px;
border-radius: 4px;
}
QPushButton:hover
{
background-color: qlineargradient(
spread:pad,
x1:0, y1:0, x2:1, y2:0,
stop:0 #3A4875,
stop:1 #5F6B91
);
}
/* 按下时的效果 */
QPushButton:pressed
{
background-color: qlineargradient(
spread:pad,
x1:0, y1:0, x2:1, y2:0,
stop:0 #1A254F,
stop:1 #3A466B
);
/* 可选：添加下压效果 */
padding-top: 9px;
padding-bottom: 7px;
}</string>
</property>
<layout class="QGridLayout" name="gridLayout_4" rowstretch="1,2,2,2,1" columnstretch="1,10,1">
<item row="0" column="1">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>66</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="0">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>63</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="1">
<widget class="QGroupBox" name="groupBox_8">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>卤素灯</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>10</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<property name="horizontalSpacing">
<number>18</number>
</property>
<item row="0" column="0">
<widget class="QPushButton" name="halogenLampPowerOn_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>打 开</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="halogenLampPowerDown_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>关 闭</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="1" column="2">
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>63</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="0">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>63</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="1">
<widget class="QGroupBox" name="groupBox_7">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>D65灯</string>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>10</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<property name="horizontalSpacing">
<number>18</number>
</property>
<item row="0" column="0">
<widget class="QPushButton" name="d65LampPowerOn_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>打 开</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="d65LampPowerDown_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>关 闭</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="2" column="2">
<spacer name="horizontalSpacer_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>63</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="3" column="0">
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>63</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="3" column="1">
<widget class="QGroupBox" name="groupBox_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>单反</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>10</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<property name="horizontalSpacing">
<number>18</number>
</property>
<item row="0" column="1">
<widget class="QPushButton" name="slrPowerDown_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>下 电</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QPushButton" name="slrPowerOn_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>上 电</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="3" column="2">
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>63</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="1">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>65</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<layoutdefault spacing="6" margin="11"/>
<resources/>
<connections/>
</ui>