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QTcpSocket异步通讯控制机械臂

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This commit is contained in:
tangchao0503
2025-04-14 10:02:37 +08:00
parent f32ade7487
commit f6138dd2ed
8 changed files with 744 additions and 6 deletions
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10
HPPA/HPPA.cpp
View File

@ -292,6 +292,14 @@ 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>
RobotArmControl* rac = new RobotArmControl();
QDockWidget* dock_rac = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD>е<EFBFBD>ۿ<EFBFBD><EFBFBD><EFBFBD>"), this);
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);
@ -796,7 +804,7 @@ 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);

1
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"

8
HPPA/HPPA.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>1120</width>
<height>675</height>
<width>1318</width>
<height>882</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>1318</width>
<height>30</height>
</rect>
</property>

5
HPPA/HPPA.vcxproj
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@ -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
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@ -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" />

427
HPPA/RobotArmControl.cpp Normal file
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@ -0,0 +1,427 @@
#include "RobotArmControl.h"
RobotArmControl::RobotArmControl(QWidget* parent): QDialog(parent)
{
ui.setupUi(this);
robotController = new RobotController(this);
connect(robotController, SIGNAL(commandResponse(bool, const QJsonObject)), this, SLOT(onCommandResponse(bool, const QJsonObject)));
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(executeTask()));
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);
//<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>
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(bool success, const QJsonObject& response)
{
if (success)
{
QString re;
if (response.contains("result"))
{
re = response["result"].toVariant().toString();
ui.textEdit->append("Result: " + re);
}
else if (response.contains("error"))
{
auto errorStr = response["error"].toObject()["message"].toString();
ui.textEdit->append("Error: " + errorStr);
}
}
}
void RobotArmControl::getTaskList()
{
QString pythonScript = "D:\\PycharmProjects\\ELITE_ROBOTS\\get_jbi_filename.py";
QProcess process;
process.start("C:\\ProgramData\\anaconda3\\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()
{
robotController->getRobotPose();
}
void RobotArmControl::connectRobotArm()
{
bool re = robotController->connectToRobot("192.168.1.100");
robotMonitor->connectToHost("192.168.1.100");
}
void RobotArmControl::executeTask()
{
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();
robotController->runJbi(fileName);
}
void RobotArmControl::pauseTask()
{
robotController->pauseTask();
}
void RobotArmControl::continueTask()
{
robotController->continueTask();
}
RobotController::RobotController(QObject* parent) : QObject(parent), socket(new QTcpSocket(this))
{
connect(socket, &QTcpSocket::readyRead, this, &RobotController::onReadyRead);
timer = new QTimer(this);
connect(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();
}
}
void RobotController::getPoint()
{
getJbiState();
getCurrentJobLine();
}
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);
}
void RobotController::onReadyRead()
{
QByteArray data = socket->readAll();
QJsonDocument doc = QJsonDocument::fromJson(data);
if (!doc.isNull() && doc.isObject())
{
QJsonObject response = doc.object();
//qDebug() << "Received all:" << response;
if (response.contains("result"))
{
//qDebug() << "Received result:" << response["result"].toVariant();
}
else if (response.contains("error"))
{
//qDebug() << "Received error:" << response["error"];
}
emit commandResponse(true, doc.object());
}
else
{
emit commandResponse(false, QJsonObject());
}
}
void RobotController::getRobotPose()
{
sendCommand("getRobotPose");
}
void RobotController::getRobotState()
{
sendCommand("getRobotState");
}
void RobotController::getJbiState()
{
sendCommand("getJbiState");
}
void RobotController::getCurrentJobLine()
{
sendCommand("getCurrentJobLine");
}
void RobotController::getRobotMode()
{
sendCommand("getRobotMode");
}
void RobotController::runJbi(const QString& jbiFilename)
{
QJsonObject paramsRunJbi;
paramsRunJbi["filename"] = jbiFilename;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ
QJsonObject params_set_servo_status;
params_set_servo_status["status"] = 1;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ
//sendCommand("checkJbiExist", paramsRunJbi);
sendCommand("set_servo_status", params_set_servo_status);
sendCommand("runJbi", paramsRunJbi);
//timer->start(1000);
}
void RobotController::pauseTask()
{
sendCommand("pause");
}
void RobotController::run()
{
sendCommand("run");
}
void RobotController::continueTask()
{
sendCommand("run");
}
void RobotController::setRobotPowerStatus(int status)
{
sendCommand("set_robot_power_status", QJsonArray{ status });
}
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());
}

152
HPPA/RobotArmControl.h Normal file
View File

@ -0,0 +1,152 @@
#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"
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);
void getRobotPose();
void getRobotState();//ֹͣ״̬ 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
void getJbiState();//0 ֹͣ״̬,1 <20><>ͣ״̬,2 <20><>ͣ״̬,3 <20><><EFBFBD><EFBFBD>״̬,4 <20><><EFBFBD><EFBFBD>״̬
void getCurrentJobLine();
void getRobotMode();//ʾ<><CABE>ģʽ 0<><30><EFBFBD>Զ<EFBFBD>ģʽ 1<><31>Զ<EFBFBD><D4B6>ģʽ 2
void runJbi(const QString& jbiFilename);
void pauseTask();
void run();
void continueTask();
void setRobotPowerStatus(int status);
signals:
void commandResponse(bool success, const QJsonObject& response);
private slots:
void onReadyRead();
void getPoint();
private:
QTcpSocket* socket;
QTimer* timer;
};
class RobotArmControl : public QDialog
{
Q_OBJECT
public:
RobotArmControl(QWidget* parent = nullptr);
~RobotArmControl();
RobotController* robotController;
public Q_SLOTS:
void onCommandResponse(bool success, const QJsonObject& response);
void getTaskList();
void getPose();
void connectRobotArm();
void executeTask();
void pauseTask();
void continueTask();
void monitorRobotArm(const ECData& data);
signals:
//void Opened();
//void Closed();
private:
Ui::RobotArmControl_UI ui;
EC8056* robotMonitor;
QStringListModel* m_pModel;
};

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HPPA/RobotArmControl.ui Normal file
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@ -0,0 +1,138 @@
<?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>