改变文件编码：utf-8带bom

HPPA/RobotArmControl.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <qdialog.h>
 #include <QTcpSocket>
 #include <QJsonDocument>
@@ -26,33 +26,33 @@ struct ECData
     quint32 msgSize;
     quint64 timeStamp;
     quint8 auto_cycle;
-    double machinePos[8];//<EFBFBD>ؽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double machinePose[6];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double machineUserPose[6];//<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double torque[8];//<EFBFBD>ؽڶ<EFBFBD><EFBFBD><EFBFBD>ذٷֱ<EFBFBD>
-    quint32 robotState;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
-    quint32 servoReady;//<EFBFBD>ŷ<EFBFBD>ʹ<EFBFBD><EFBFBD>״̬
-    quint32 can_motor_run;//ͬ<EFBFBD><EFBFBD>״̬
-    qint32 motor_speed[8];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
-    quint32 robotMode;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ
-    double analog_ioInput[3];//ģ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double analog_ioOutput[5];//ģ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    quint64 digital_ioInput;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
-    quint64 digital_ioOutput;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
-    quint8 collision;//<EFBFBD><EFBFBD>ײ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
-    double machineFlangePose[6];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µķ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
-    double machineUserFlangePose[6];//<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µķ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
-    quint8 emergencyStopState;//<EFBFBD><EFBFBD>ǰ<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڼ<EFBFBD>ͣ״̬
-    double tcpSpeed;//tcp<EFBFBD>˶<EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double joIntSpeed[8];//<EFBFBD>ؽ<EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD>¸<EFBFBD><EFBFBD>ؽ<EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double tcpAcc;//tcp<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double joIntAcc[8];//<EFBFBD>ؽ<EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD>¸<EFBFBD><EFBFBD>ؽڼ<EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double joIntTemperature[6];//<EFBFBD>¶<EFBFBD>
-    double joIntTorque[6];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ť<EFBFBD><EFBFBD>
-    double extJoIntTorques[6];//<EFBFBD>ⲿ<EFBFBD>ؽ<EFBFBD>Ť<EFBFBD><EFBFBD>ֵ
-    double exTcpForceIntool[6];//<EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µ<EFBFBD><EFBFBD>ⲿĩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>ع<EFBFBD><D8B9><EFBFBD>ֵ
-    quint8 dragState;//<EFBFBD>϶<EFBFBD>ʹ<EFBFBD><EFBFBD>״̬
-    quint8 sensor_connected_state;//<EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
+    double machinePos[8];//关节坐标
+    double machinePose[6];//基座坐标
+    double machineUserPose[6];//用户坐标
+    double torque[8];//关节额定力矩百分比
+    quint32 robotState;//机器人状态
+    quint32 servoReady;//伺服使能状态
+    quint32 can_motor_run;//同步状态
+    qint32 motor_speed[8];//各轴电机转速
+    quint32 robotMode;//机器人模式
+    double analog_ioInput[3];//模拟量输入口数据
+    double analog_ioOutput[5];//模拟量输出口数据
+    quint64 digital_ioInput;//数字量输入口数据的二进制形式
+    quint64 digital_ioOutput;//数字量输出口数据的二进制形式
+    quint8 collision;//碰撞报警状态
+    double machineFlangePose[6];//基座坐标系下的法兰盘中心位姿
+    double machineUserFlangePose[6];//用户坐标系下的法兰盘中心位姿
+    quint8 emergencyStopState;//当前是否处于急停状态
+    double tcpSpeed;//tcp运动速度
+    double joIntSpeed[8];//关节运动下各关节运动速度
+    double tcpAcc;//tcp加速度
+    double joIntAcc[8];//关节运动下各关节加速度
+    double joIntTemperature[6];//温度
+    double joIntTorque[6];//输出扭矩
+    double extJoIntTorques[6];//外部关节扭矩值
+    double exTcpForceIntool[6];//当前工具坐标系下的外部末端力/力矩估计值
+    quint8 dragState;//拖动使能状态
+    quint8 sensor_connected_state;//力控传感器连接状态
     quint8 reserved;
     quint32 matchingWord;
 };
@@ -98,10 +98,10 @@ public:
     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 getRobotState(QJsonObject& re);//停止状态 0，暂停状态 1，急停状态 2，运行状态 3，报警状态 4，碰撞状态 5
+    bool getJbiState(QJsonObject& re);//0 停止状态,1 暂停状态,2 急停状态,3 运行状态,4 错误状态
     bool getCurrentJobLine(QJsonObject& re);
-    bool getRobotMode(QJsonObject& re);//ʾ<EFBFBD><EFBFBD>ģʽ 0<><30><EFBFBD>Զ<EFBFBD>ģʽ 1<><31>Զ<EFBFBD><D4B6>ģʽ 2
+    bool getRobotMode(QJsonObject& re);//示教模式 0，自动模式 1，远程模式 2
     bool checkJbiExist(const QString& jbiFilename, QJsonObject& re);
     bool setServoStatus(int status, QJsonObject& re);
     bool runJbi(const QString& jbiFilename, QJsonObject& re, bool isRecordHsi);