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添加了析构函数

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This commit is contained in:
xin
2020-10-13 17:16:24 +08:00
parent e90f5da3f6
commit 1f0df65a50
2 changed files with 68 additions and 12 deletions
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76
vincecontrol.cpp
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@ -28,6 +28,12 @@ VinceControl::~VinceControl()
serial->close();
IsMotorInit = false;
}
if (protools==NETTCP)
{
tcpServer->close();
delete tcpServer;
}
}
@ -189,7 +195,7 @@ void VinceControl::SendCommandtoMotor(QString str, QString modor)
str = "0 " + str;
}
tcpSocket[i]->write(str.toUtf8().data());
tcpSocket[i]->waitForBytesWritten(1000);
tcpSocket[i]->waitForBytesWritten(50);
return;
}
@ -272,7 +278,7 @@ void VinceControl::MoveMotar(bool direction, QString motornetid )
}
}
QThread::msleep(100);
//QThread::msleep(100);
QString commendtosend = "mov\n";
SendCommandtoMotor(commendtosend, motornetid);
@ -290,9 +296,26 @@ void VinceControl::GetCommonRetrun(QByteArray &buf, QString id/*="non"*/)
{
if (protools==NETTCP)
{
if (!IsMotorInit)
{
return;
}
buf.clear();
tcpSocket[0]->waitForReadyRead(10000);
buf = tcpSocket[0]->readAll();
if (tcpSocket.size() == 0)
{
return;
}
tcpSocket[0]->waitForReadyRead(4000);
if (tcpSocket.size() == 0)
{
return;
}
if (tcpSocket[0]->bytesAvailable())
{
buf = tcpSocket[0]->readAll();
}
}
}
}
@ -397,10 +420,15 @@ void VinceControl::initme()
void VinceControl::initMotor(QString motornetid /*= "non"*/)
{
QByteArray buf;
//<2F><><EFBFBD><EFBFBD>s1<73>½<EFBFBD>ʱֹͣ<CDA3><D6B9>ת
QString commonstr = "cfg s1f=2\n";
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
//<2F><><EFBFBD><EFBFBD>ϸ<EFBFBD><CFB8>
commonstr = "cfg mcs=7\n";
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
commonstr = "cfg zmd=1\n";//<2F><><EFBFBD>㳢<EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>
SendCommandtoMotor(commonstr, motornetid);
@ -436,18 +464,22 @@ void VinceControl::initMotor(QString motornetid /*= "non"*/)
commonstr = "cfg psv=0\n";
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
commonstr = "cfg acc=10000\n";
//<2F><><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>Ϊ10000
commonstr = "cfg acc=20000\n";
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
commonstr = "cfg dec=10000\n";
//<2F><><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>Ϊ10000
commonstr = "cfg dec=20000\n";
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ4
commonstr = "cfg crn=4\n";
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
commonstr = "cfg cra=4\n";
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
}
@ -504,11 +536,28 @@ void VinceControl::StopMotormove(QString motornetid )
ByteBack VinceControl::GetState(QString motorid /*= "non"*/)
{
ByteBack back;
if (!IsMotorInit)
{
back.Speed = -1000000;
}
QString commonstr = "cts\n";
SendCommandtoMotor(commonstr, motorid);
QByteArray buf;
GetCommonRetrun(buf,motorid);
ByteBack back = TranslateBytedata(buf, motorid);
if (buf.size()==0)
{
back.Speed = -1000000;
IsMotorInit = false;
emit SendLogToCallClass("motor " + QString::number(tcpServer->serverPort())+ " may be disconnect!!!");
}
else
{
back = TranslateBytedata(buf, motorid);
}
return back;
}
@ -541,6 +590,7 @@ VinceControl::VinceControl(ProTools proto, int port)
connect(tcpServer, &QTcpServer::newConnection, this, &VinceControl::onNewTcpClinetConnet);
}
void VinceControl::onNewTcpClinetConnet()
{
@ -552,7 +602,8 @@ void VinceControl::onNewTcpClinetConnet()
tcpSocket.append(tcpServer->nextPendingConnection());
// connect(tcpSocket[tcpSocket.length() - 1], &QTcpSocket::readyRead, this, &VinceControl::onReciveFromClinet);
connect(tcpSocket[tcpSocket.length() - 1], &QTcpSocket::disconnected, this, &VinceControl::onClinetDisConnet);
//connect(tcpSocket[tcpSocket.length() - 1], SIGNAL(error(QAbstractSocket::SocketError)), this,SLOT(onClinetDisConnet()));
QString ip = tcpSocket[tcpSocket.length() - 1]->peerAddress().toString().split("::ffff:")[1];
Motorlist.append(ip);
bool statofmotor = false;
@ -610,19 +661,24 @@ void VinceControl::onClinetDisConnet()
int lenth = Motorlist.length();
for (size_t i = 0; i < lenth; i++)
{
emit SendLogToCallClass(ip + "is disconnect");
if (Motorlist[i]==ip)
{
Motorlist.removeAt(i);
isSettingSpeedlist.removeAt(i);
Speedlist.removeAt(i);
delete tcpSocket[i];
//delete tcpSocket[i];
tcpSocket.removeAt(i);
IsMotorInit = false;
return;
}
}
}//<2F>ഫ<EFBFBD><E0B4AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>޸<EFBFBD>
IsMotorInit = false;
}
void VinceControl::SendLog(QString str)
{
#ifdef LOGOUT