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fix

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1、【相机----马达】双向意外断掉容错 + 提示：（1）ximea、pica l、pica nir（2）1轴/2轴马达，usb串口/wifi的马达通讯方式；
2、提示弹窗美化；
This commit is contained in:
tangchao0503
2026-04-03 17:00:28 +08:00
parent e3a778919a
commit fa6ce1a606
12 changed files with 559 additions and 150 deletions
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127
HPPA/TwoMotorControl.cpp
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@ -18,6 +18,22 @@ TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));
connect(this->ui.xmotor_right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
connect(this->ui.xmotor_right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
connect(this->ui.xmotor_left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
connect(this->ui.xmotor_left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
connect(this->ui.ymotor_forward_btn, SIGNAL(pressed()), this, SLOT(onyMotorforward()));
connect(this->ui.ymotor_forward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
connect(this->ui.move2loc_x_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
connect(this->ui.move2loc_y_pushButton, SIGNAL(pressed()), this, SLOT(onyMove2Loc()));
connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(on_rangeMeasurement()));
}
void TwoMotorControl::setImager(ImagerOperationBase* imager)
@ -34,6 +50,9 @@ void TwoMotorControl::setPosFileName(QString posFileName)
bool TwoMotorControl::getState()
{
if (m_coordinator == nullptr)
return false;
QEventLoop loop;
bool tmp = false;
bool received = false;
@ -86,29 +105,33 @@ void TwoMotorControl::record_white()
void TwoMotorControl::run()
{
if (m_coordinator==nullptr)
{
qRegisterMetaType<QVector<PathLine>>("QVector<PathLine>");
m_coordinator = new TwoMotionCaptureCoordinator(m_multiAxisController, m_Imager);
m_coordinator->moveToThread(&m_coordinatorThread);
connect(&m_coordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator, SLOT(start(QVector<PathLine>)));
connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
connect(m_coordinator, SIGNAL(startRecordLineNumSignal(int)), this, SLOT(receiveStartRecordLineNum(int)));
connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
m_coordinatorThread.start();
}
if (getState())
{
//std::cout << "已经开始运行，请勿重复点击！！！！！！！！" << std::endl;
QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("已经开始运行，请勿重复点击！！！！！！！！！"));
QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("已经开始运行，请勿重复点击！"));
return;
}
QVector<PathLine> pathLines;
int rowCount = ui.recordLine_tableWidget->rowCount();
if(rowCount == 0)
{
QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));
emit sequenceComplete();
return;
}
qRegisterMetaType<QVector<PathLine>>("QVector<PathLine>");
m_coordinator = new TwoMotionCaptureCoordinator(m_multiAxisController, m_Imager);
m_coordinator->moveToThread(&m_coordinatorThread);
connect(&m_coordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator, SLOT(start(QVector<PathLine>)));
connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
connect(m_coordinator, SIGNAL(startRecordLineNumSignal(int)), this, SLOT(receiveStartRecordLineNum(int)));
connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
m_coordinatorThread.start();
QVector<PathLine> pathLines;
//int columnCount = ui.recordLine_tableWidget->columnCount();
for (size_t i = 0; i < rowCount; i++)
{
@ -128,7 +151,7 @@ void TwoMotorControl::run()
{
for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
{
ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor(240, 240, 240));
ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor("#0E1C4C"));
}
}
@ -151,6 +174,30 @@ TwoMotorControl::~TwoMotorControl()
void TwoMotorControl::onConnectMotor()
{
if (getMotorsConnectionStatus())
{
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
msgBox.exec();
return;
}
if (m_multiAxisController != nullptr)
{
disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(std::vector<double>)));
disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
m_motorThread.quit();
m_motorThread.wait();
m_multiAxisController = nullptr;
}
try
{
FileOperation* fileOperation = new FileOperation();
@ -164,34 +211,20 @@ void TwoMotorControl::onConnectMotor()
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
msgBox.exec();
return;
}
m_multiAxisController->moveToThread(&m_motorThread);
connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
connect(this->ui.xmotor_right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
connect(this->ui.xmotor_right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
connect(this->ui.xmotor_left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
connect(this->ui.xmotor_left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
connect(this->ui.ymotor_forward_btn, SIGNAL(pressed()), this, SLOT(onyMotorforward()));
connect(this->ui.ymotor_forward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
connect(this->ui.move2loc_x_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
connect(this->ui.move2loc_y_pushButton, SIGNAL(pressed()), this, SLOT(onyMove2Loc()));
connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(std::vector<double>)));
connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(on_rangeMeasurement()));
connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
@ -223,15 +256,26 @@ void TwoMotorControl::onSequenceComplete()
{
isWritePosFile = false;
fclose(m_posFileHandle);
m_coordinatorThread.quit();
m_coordinatorThread.wait();
m_coordinator = nullptr;
emit sequenceComplete();
}
bool TwoMotorControl::getMotorsConnectionStatus()
{
return m_xMotorConnectionStatus && m_yMotorConnectionStatus;
}
void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
{
//std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
if (connectivity[0])
{
m_xMotorConnectionStatus = true;
this->ui.xMotorStateLabel->setStyleSheet(R"(
QLabel
{
@ -242,6 +286,8 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
}
else
{
m_xMotorConnectionStatus = false;
this->ui.xMotorStateLabel->setStyleSheet(R"(
QLabel
{
@ -253,6 +299,8 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
if (connectivity[1])
{
m_yMotorConnectionStatus = true;
this->ui.yMotorStateLabel->setStyleSheet(R"(
QLabel
{
@ -263,6 +311,8 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
}
else
{
m_yMotorConnectionStatus = false;
this->ui.yMotorStateLabel->setStyleSheet(R"(
QLabel
{
@ -271,6 +321,15 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
}
)");
}
if(getMotorsConnectionStatus())
{
this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
}
else
{
this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
}
}
void TwoMotorControl::onxMotorRight()