123 lines
2.7 KiB
C++
123 lines
2.7 KiB
C++
#include "CommunicationViaTCP.h"
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using namespace MotorParams;
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CommunicationViaTCP::CommunicationViaTCP(MotorParams::TCPConnectionParams connectionParams, QObject* parent)
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:MotorParams::CommunicationInterfaceBase(parent)
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{
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m_bConnected = false;
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m_tcpServer = new QTcpServer(this);
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connect(m_tcpServer, SIGNAL(newConnection()), this, SLOT(onNewConnection()));
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m_tcpServer->listen(QHostAddress::Any, connectionParams.port);
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}
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CommunicationViaTCP::~CommunicationViaTCP()
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{
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m_tcpServer->close();
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delete m_tcpServer;
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//这两行代码要报错，为啥呢？？？？？？？？？？？？？？？？？
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//m_tcpSocket->disconnectFromHost();
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//delete m_tcpSocket;
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}
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bool CommunicationViaTCP::connect2Motor()
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{
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return true;
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}
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void CommunicationViaTCP::onNewConnection()
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{
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m_bConnected = true;
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m_tcpSocket = m_tcpServer->nextPendingConnection();
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connect(m_tcpSocket, SIGNAL(disconnected()), this, SLOT(onTcpSocketDisconnected()));
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connect(m_tcpSocket, &QTcpSocket::readyRead, this, &CommunicationViaTCP::receiveData);
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emit connected();
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}
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bool CommunicationViaTCP::isConnected() const
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{
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return m_bConnected;
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}
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//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
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void CommunicationViaTCP::onTcpSocketDisconnected()
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{
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int a = 1;
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m_bConnected = false;
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m_tcpSocket->deleteLater();
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}
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void CommunicationViaTCP::receiveData()
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{
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if (!isConnected())
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{
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qWarning() << "receiveData: No client connected";
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return;
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}
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QByteArray data = m_tcpSocket->readAll();
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if (data.isEmpty())
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{
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return;
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}
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bool ok;
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int position = QString::fromUtf8(data).toInt(&ok);
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if (ok)
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{
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qDebug() << "Received position:" << position;
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emit positionReceived(position);
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} else
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{
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qWarning() << "Failed to parse position data:" << data;
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}
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}
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int CommunicationViaTCP::sendCommand(const QString cmd)
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{
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if (!isConnected()) {
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QString error = "No client connected";
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emit commandSendResult(-1, error);
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qWarning() << error << "command:" << cmd;
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return -1;
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}
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qint64 bytesWritten = m_tcpSocket->write(cmd.toUtf8().data());
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m_tcpSocket->waitForBytesWritten(50);
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return bytesWritten;
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}
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int CommunicationViaTCP::recvData(QByteArray& dataRecv)
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{
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if (!isConnected()) {
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QString error = "No client connected";
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return -1;
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}
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dataRecv.clear();
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QByteArray temp;
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temp = m_tcpSocket->readAll();
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dataRecv.append(temp);
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int counter = 0;
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while (dataRecv.size() < 21)
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{
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counter++;
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m_tcpSocket->waitForReadyRead(100);
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temp = m_tcpSocket->readAll();
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dataRecv.append(temp);
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if (counter >= 5)
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break;
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}
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//qDebug() << "Hex:" << dataRecv.toHex();
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return dataRecv.size();
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}
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