578 lines
19 KiB
C++
578 lines
19 KiB
C++
#include "OneMotorControl.h"
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OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
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{
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ui.setupUi(this);
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connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
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connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
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connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
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connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
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connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
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connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
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connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
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connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
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// 从 AppSettings 读取速度参数
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AppSettings& settings = AppSettings::instance();
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ui.speed_lineEdit->setText(QString::number(settings.scanSpeed()));
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ui.return_speed_lineEdit->setText(QString::number(settings.returnSpeed()));
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// 连接信号，当控件数值变化时保存到 AppSettings
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connect(ui.speed_lineEdit, &QLineEdit::editingFinished, [this]() {
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AppSettings::instance().setScanSpeed(ui.speed_lineEdit->text().toDouble());
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});
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connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
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AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
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});
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}
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OneMotorControl::~OneMotorControl()
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{
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m_motorThread.quit();
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m_motorThread.wait();
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}
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void OneMotorControl::onConnectMotor()
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{
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connectMotor(true);
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}
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void OneMotorControl::setScanSpeed(double speed)
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{
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ui.speed_lineEdit->setText(QString::number(speed));
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}
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void OneMotorControl::connectMotor(bool isNotification)
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{
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if (getMotorsConnectionStatus())
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{
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if (isNotification)
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{
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QMessageBox msgBox;
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msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
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msgBox.exec();
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}
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return;
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}
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if (m_multiAxisController != nullptr)
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{
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disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl::display_x_loc);
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disconnect(this, &OneMotorControl::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
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disconnect(this, qOverload<int, double, double, int>(&OneMotorControl::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
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disconnect(this, &OneMotorControl::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
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disconnect(this, &OneMotorControl::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
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disconnect(this, &OneMotorControl::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
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disconnect(this, &OneMotorControl::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
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disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl::display_motors_connectivity);
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m_motorThread.quit();
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m_motorThread.wait();
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m_multiAxisController = nullptr;
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}
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try
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{
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FileOperation* fileOperation = new FileOperation();
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string directory = fileOperation->getDirectoryOfExe();
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QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile.cfg";
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m_multiAxisController = new IrisMultiMotorController(configFilePath);
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}
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catch (std::exception const& e)
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{
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QMessageBox msgBox;
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msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
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msgBox.exec();
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return;
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}
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m_multiAxisController->moveToThread(&m_motorThread);
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connect(&m_motorThread, &QThread::finished, m_multiAxisController, &QObject::deleteLater);
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connect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl::display_x_loc);
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connect(this, &OneMotorControl::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
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connect(this, qOverload<int, double, double, int>(&OneMotorControl::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
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connect(this, &OneMotorControl::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
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connect(this, &OneMotorControl::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
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connect(this, &OneMotorControl::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
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connect(this, &OneMotorControl::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
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connect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl::display_motors_connectivity);
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m_motorThread.start();
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emit testConnectivitySignal(0, 1000);
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}
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void OneMotorControl::display_x_loc(std::vector<double> loc)
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{
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double tmp = round(loc[0] * 100) / 100;
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this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
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emit broadcastLocationSignal(loc);
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}
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void OneMotorControl::display_motors_connectivity(std::vector<int> connectivity)
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{
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//std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
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if (connectivity[0])
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{
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m_xMotorConnectionStatus = true;
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this->ui.motor_state_label->setStyleSheet(R"(
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QLabel
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{
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background-color: #08FACE;
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border-radius: 4px;
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}
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)");
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}
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else
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{
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m_xMotorConnectionStatus = false;
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this->ui.motor_state_label->setStyleSheet(R"(
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QLabel
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{
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background-color: red;
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border-radius: 4px;
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}
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)");
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}
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if (getMotorsConnectionStatus())
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{
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this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
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}
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else
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{
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this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
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}
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}
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void OneMotorControl::zeroStart()
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{
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zeroStartSignal(0);
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}
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void OneMotorControl::onx_rangeMeasurement()
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{
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double s0 = ui.speed_lineEdit->text().toDouble();
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emit rangeMeasurement(0, s0, 1000);
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}
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void OneMotorControl::onxMove2Loc()
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{
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double s = ui.speed_lineEdit->text().toDouble();
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double l = ui.move2loc_lineEdit->text().toDouble();
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emit move2LocSignal(0, l, s, 1000);
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}
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void OneMotorControl::onxMotorRight()
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{
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double s = ui.speed_lineEdit->text().toDouble();
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emit moveSignal(0, abs(s), 1000);
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}
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void OneMotorControl::onxMotorLeft()
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{
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double s = ui.speed_lineEdit->text().toDouble();
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emit moveSignal(0, abs(s)*-1, 1000);
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}
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void OneMotorControl::onxMotorStop()
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{
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emit stopSignal(0);
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}
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void OneMotorControl::setImager(ImagerOperationBase* imager)
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{
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m_Imager = imager;
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}
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void OneMotorControl::record_dark()
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{
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double s = ui.speed_lineEdit->text().toDouble();
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if (m_darkCaptureCoordinator == nullptr)
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{
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m_darkCaptureCoordinator = new DarkAndWhiteCaptureCoordinator(0, m_multiAxisController, m_Imager);
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}
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m_darkCaptureCoordinator->startStepMotion(s);
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}
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void OneMotorControl::record_white()
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{
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double s = ui.speed_lineEdit->text().toDouble();
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if (m_whiteCaptureCoordinator == nullptr)
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{
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m_whiteCaptureCoordinator = new DarkAndWhiteCaptureCoordinator(1, m_multiAxisController, m_Imager);
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}
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m_whiteCaptureCoordinator->startStepMotion(s);
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}
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void OneMotorControl::run()
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{
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if (m_coordinator)//当高光谱相机停止采集后，马达还未回到原点时，上次任务的m_coordinator还没有被销毁
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{
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onSequenceComplete_motorBack2Origin(0);
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}
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qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
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m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
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m_coordinator->setObjectName("testOneMotionCaptureCoordinator");
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connect(this, &OneMotorControl::start, m_coordinator, &OneMotionCaptureCoordinator::startStepMotion);
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connect(this, &OneMotorControl::stopStepMotionSignal, m_coordinator, &OneMotionCaptureCoordinator::stopStepMotion);
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connect(m_coordinator, &OneMotionCaptureCoordinator::sequenceCompleteSignal_hyperImagerStopRecord,
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this, &OneMotorControl::sequenceCompleteSignal_hyperImagerStopRecord);
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connect(m_coordinator, &OneMotionCaptureCoordinator::sequenceCompleteSignal_motorBack2Origin,
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this, &OneMotorControl::onSequenceComplete_motorBack2Origin);
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OneMotionCapturePathLine tmp;
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tmp.speedRecord = ui.speed_lineEdit->text().toDouble();
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tmp.speedBack = ui.return_speed_lineEdit->text().toDouble();
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emit start(tmp);
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}
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void OneMotorControl::stop()
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{
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emit stopStepMotionSignal();
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}
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void OneMotorControl::multiPosHyperAutoExposure()
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{
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//所有该自动曝光的位置
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std::vector<double> maxRangeLocations = m_multiAxisController->getMaxPos();
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double maxPos = maxRangeLocations[0];
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std::vector<double> locations;
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locations.push_back(maxPos * 0.2);
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locations.push_back(maxPos * 0.5);
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locations.push_back(maxPos * 0.8);
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//创建协调器，并连接信号槽
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m_coordinator_gonggashan_autoexpose = new OneMotorMultiPosCoordinator(m_multiAxisController, m_Imager);
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//connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator_gonggashan_autoexpose, SLOT(stopStepMotion()));
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connect(m_coordinator_gonggashan_autoexpose, &OneMotorMultiPosCoordinator::sequenceComplete, this, &OneMotorControl::onSequenceComplete_gonggashan_autoexpose);
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connect(m_coordinator_gonggashan_autoexpose, &OneMotorMultiPosCoordinator::hyperAutoExposureDoneSignal, this, &OneMotorControl::hyperAutoExposureDoneSignal_gonggashan);
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m_coordinator_gonggashan_autoexpose->startStepMotion(ui.speed_lineEdit->text().toDouble(), locations);
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}
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void OneMotorControl::onSequenceComplete_gonggashan_autoexpose(int state)
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{
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emit multiPosAutoexposeSequenceCompleteSignal();
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m_coordinator_gonggashan_autoexpose->deleteLater();
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}
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void OneMotorControl::onSequenceComplete_motorBack2Origin(int state)
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{
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emit sequenceComplete_motorBack2Origin();
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// Use deleteLater() instead of delete: this slot may have been called directly
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// from OneMotionCaptureCoordinator's call stack (direct connection), so deleting
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// the object here would cause a crash when execution returns to the destroyed object.
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m_coordinator->deleteLater();
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m_coordinator = nullptr;
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}
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bool OneMotorControl::getMotorsConnectionStatus()
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{
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return m_xMotorConnectionStatus;
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}
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//------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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OneMotorControl_LiftingPlatform::OneMotorControl_LiftingPlatform(QWidget* parent) : QDialog(parent)
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{
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ui.setupUi(this);
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connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
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connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
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connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
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connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
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connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
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connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
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connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
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connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
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// 从 AppSettings 读取速度参数
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AppSettings& settings = AppSettings::instance();
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ui.speed_lineEdit->setText(QString::number(settings.scanSpeed()));
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ui.return_speed_lineEdit->setText(QString::number(settings.returnSpeed()));
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// 连接信号，当控件数值变化时保存到 AppSettings
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connect(ui.speed_lineEdit, &QLineEdit::editingFinished, [this]() {
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AppSettings::instance().setScanSpeed(ui.speed_lineEdit->text().toDouble());
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});
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connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
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AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
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});
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}
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OneMotorControl_LiftingPlatform::~OneMotorControl_LiftingPlatform()
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{
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m_motorThread.quit();
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m_motorThread.wait();
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}
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void OneMotorControl_LiftingPlatform::onConnectMotor()
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{
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connectMotor(true);
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}
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void OneMotorControl_LiftingPlatform::connectMotor(bool isNotification)
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{
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if (getMotorsConnectionStatus())
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{
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if (isNotification)
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{
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QMessageBox msgBox;
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msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
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msgBox.exec();
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}
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return;
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}
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if (m_multiAxisController != nullptr)
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{
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disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl_LiftingPlatform::display_x_loc);
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disconnect(this, &OneMotorControl_LiftingPlatform::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
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disconnect(this, qOverload<int, double, double, int>(&OneMotorControl_LiftingPlatform::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
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disconnect(this, &OneMotorControl_LiftingPlatform::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
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disconnect(this, &OneMotorControl_LiftingPlatform::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
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disconnect(this, &OneMotorControl_LiftingPlatform::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
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disconnect(this, &OneMotorControl_LiftingPlatform::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
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disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl_LiftingPlatform::display_motors_connectivity);
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m_motorThread.quit();
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m_motorThread.wait();
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m_multiAxisController = nullptr;
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}
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try
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{
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FileOperation* fileOperation = new FileOperation();
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string directory = fileOperation->getDirectoryOfExe();
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QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_LiftingPlatform.cfg";
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m_multiAxisController = new IrisMultiMotorController(configFilePath);
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}
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catch (std::exception const& e)
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{
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QMessageBox msgBox;
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msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
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msgBox.exec();
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return;
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}
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m_multiAxisController->moveToThread(&m_motorThread);
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connect(&m_motorThread, &QThread::finished, m_multiAxisController, &QObject::deleteLater);
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connect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl_LiftingPlatform::display_x_loc);
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connect(this, &OneMotorControl_LiftingPlatform::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
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connect(this, qOverload<int, double, double, int>(&OneMotorControl_LiftingPlatform::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
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connect(this, &OneMotorControl_LiftingPlatform::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
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connect(this, &OneMotorControl_LiftingPlatform::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
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connect(this, &OneMotorControl_LiftingPlatform::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
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connect(this, &OneMotorControl_LiftingPlatform::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
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connect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl_LiftingPlatform::display_motors_connectivity);
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m_motorThread.start();
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emit testConnectivitySignal(0, 1000);
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}
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void OneMotorControl_LiftingPlatform::display_x_loc(std::vector<double> loc)
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{
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double tmp = round(loc[0] * 100) / 100;
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this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
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emit broadcastLocationSignal(loc);
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}
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void OneMotorControl_LiftingPlatform::display_motors_connectivity(std::vector<int> connectivity)
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{
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//std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
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if (connectivity[0])
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{
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m_xMotorConnectionStatus = true;
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this->ui.motor_state_label->setStyleSheet(R"(
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QLabel
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{
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background-color: #08FACE;
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border-radius: 4px;
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}
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)");
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}
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else
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{
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m_xMotorConnectionStatus = false;
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this->ui.motor_state_label->setStyleSheet(R"(
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QLabel
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||
{
|
||
background-color: red;
|
||
border-radius: 4px;
|
||
}
|
||
)");
|
||
}
|
||
|
||
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 OneMotorControl_LiftingPlatform::zeroStart()
|
||
{
|
||
zeroStartSignal(0);
|
||
}
|
||
|
||
void OneMotorControl_LiftingPlatform::onx_rangeMeasurement()
|
||
{
|
||
double s0 = ui.speed_lineEdit->text().toDouble();
|
||
emit rangeMeasurement(0, s0, 1000);
|
||
}
|
||
|
||
void OneMotorControl_LiftingPlatform::onxMove2Loc()
|
||
{
|
||
double s = ui.speed_lineEdit->text().toDouble();
|
||
double l = ui.move2loc_lineEdit->text().toDouble();
|
||
|
||
emit move2LocSignal(0, l, s, 1000);
|
||
}
|
||
|
||
void OneMotorControl_LiftingPlatform::onxMotorRight()
|
||
{
|
||
double s = ui.speed_lineEdit->text().toDouble();
|
||
|
||
emit moveSignal(0, abs(s), 1000);
|
||
}
|
||
|
||
void OneMotorControl_LiftingPlatform::onxMotorLeft()
|
||
{
|
||
double s = ui.speed_lineEdit->text().toDouble();
|
||
|
||
emit moveSignal(0, abs(s)*-1, 1000);
|
||
}
|
||
|
||
void OneMotorControl_LiftingPlatform::onxMotorStop()
|
||
{
|
||
emit stopSignal(0);
|
||
}
|
||
|
||
void OneMotorControl_LiftingPlatform::run()
|
||
{
|
||
m_coordinator = new OneMotionCoordinator(m_multiAxisController,this);
|
||
connect(m_coordinator, &OneMotionCoordinator::sequenceComplete, this, &OneMotorControl_LiftingPlatform::sequenceComplete);
|
||
connect(m_coordinator, &OneMotionCoordinator::ArrivalSignal, this, &OneMotorControl_LiftingPlatform::onBack2Origin);
|
||
|
||
double plantDepthValue = DepthValueLogger::instance().readLatestPlantDepthValue();
|
||
double liftingPlatformDepthValue = DepthValueLogger::instance().readLatestLiftingPlatformDepthValue();
|
||
double targetDepth = liftingPlatformDepthValue - plantDepthValue;
|
||
|
||
if (targetDepth < 0)
|
||
{
|
||
return;
|
||
}
|
||
|
||
m_coordinator->moveToTarget(targetDepth, ui.speed_lineEdit->text().toDouble());
|
||
}
|
||
|
||
void OneMotorControl_LiftingPlatform::stop()
|
||
{
|
||
emit stopStepMotionSignal();
|
||
}
|
||
|
||
void OneMotorControl_LiftingPlatform::onBack2Origin(double pos)
|
||
{
|
||
emit back2OriginSignal_TimedDataCollection();
|
||
|
||
m_coordinator->deleteLater();
|
||
m_coordinator = nullptr;
|
||
}
|
||
|
||
bool OneMotorControl_LiftingPlatform::getMotorsConnectionStatus()
|
||
{
|
||
return m_xMotorConnectionStatus;
|
||
}
|