HPPA/HPPA/RobotArmControl.h

#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"
#include "fileOperation.h"


struct ECData
{
    quint32 msgSize;
    quint64 timeStamp;
    quint8 auto_cycle;
    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;
};

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);
    bool processResponse(QJsonObject response, QString& re);
    bool processResponse_getJbiState(QJsonObject response, QString& result);

    bool getRobotPose(QJsonObject& re);
    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);//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);
    bool pauseTask(QJsonObject& re);
    bool run(QJsonObject& re);
    bool continueTask(QJsonObject& re);
    bool setRobotPowerStatus(int status, QJsonObject& re);

    bool onReadyRead(QJsonObject& re);

private:
    QTcpSocket* socket;

    QTimer* m_timer;
    int m_iTimeout = 3000;
    int m_iCurrentJbiJobLine = 0;
    int m_iFileCounter = 0;

signals:
    void commandResponse(bool success, const QJsonObject& response);
    void hsiRecordSignal(int);

private slots:
    void getPoint();
};

class RobotArmControl : public QDialog
{
	Q_OBJECT

public:
	RobotArmControl(QWidget* parent = nullptr);
	~RobotArmControl();
    RobotController* robotController;

    void onCommandResponse(QString str, const QJsonObject& response);

public Q_SLOTS:
    
    void getTaskList();
    void getPose();

    void connectRobotArm();
    void executeTaskWithHyperImager();
    void executeTaskWithoutHyperImager();
    void pauseTask();
    void continueTask();

    void monitorRobotArm(const ECData& data);

signals:
	//void Opened();
	//void Closed();

private:
	Ui::RobotArmControl_UI ui;

    EC8056* robotMonitor;
    QStringListModel* m_pModel;
};