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取消了自动反馈机制 增加了手动反馈机制 修改了若干bug

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This commit is contained in:
xin
2020-08-27 14:06:45 +08:00
parent 2f67b91000
commit 4f5169ed2f
3 changed files with 166 additions and 20 deletions
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164
vincecontrol.cpp
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@ -2,13 +2,15 @@
#include"QSerialPortInfo"
#include "QDebug"
#include "QThread"
union MyUnion
{
int i;
unsigned char a[4];
};
VinceControl::VinceControl(ProTools proto)
{
protools = proto;
IsMotorInit = false;
RS485ID = "0";
Speednow = 0;
SpeedisSet = false;
initme();
}
@ -60,7 +62,25 @@ bool VinceControl::serialconnect(QString comname, QString bandrate)
void VinceControl::Handshacke(QString motorid)
{
SendCommandtoMotor("dev\n", motorid);
QByteArray buf;
GetCommonRetrun(buf);
if (unsigned char(buf[0])==0xff)
{
if (motorid == "non")
{
motorid = Motorlist[0];
}
buf.remove(0, 3);
buf.remove(buf.length() - 3, 4);
QString str=motorid+":";
str.append(buf);
SendLog(str);
}
}
void VinceControl::SetRS485ID(QString id)
@ -80,6 +100,13 @@ void VinceControl::EnableMotro(QString id )
{
SendCommandtoMotor(str, id);
}
QByteArray buf;
GetCommonRetrun(buf,id);
ByteBack Camback = TranslateBytedata(buf,id);
@ -120,7 +147,7 @@ void VinceControl::SendCommandtoMotor(QString str)
{
tcpSocket[0]->write(str.toUtf8().data());
}
tcpSocket[0]->waitForBytesWritten(1000);
//tcpSocket[0]->waitForBytesWritten(1000);
}
}
@ -239,6 +266,19 @@ void VinceControl::SettingSpeed(unsigned long Speed, QString motornetid /*= "non
//speed
}
void VinceControl::GetCommonRetrun(QByteArray &buf, QString id/*="non"*/)
{
if (id == "non")
{
if (protools==NETTCP)
{
buf.clear();
tcpSocket[0]->waitForReadyRead(10000);
buf = tcpSocket[0]->readAll();
}
}
}
void VinceControl::SettingSpeedByThis( long Speed, QString motornetid)
{
if (motornetid=="non")
@ -252,6 +292,8 @@ void VinceControl::SettingSpeedByThis( long Speed, QString motornetid)
{
Speednow = Speed;
SpeedisSet = true;
// TranslateBytedata(buf);
}
}
@ -266,12 +308,70 @@ void VinceControl::SettingSpeedByThis( long Speed, QString motornetid)
isSettingSpeedlist[i] = true;
Speedlist[i] = Speed;
}
}
}
QString commentosend = "cfg spd=" + QString::number(Speed) + "\n";
SendCommandtoMotor(commentosend, motornetid);
QByteArray buf;
GetCommonRetrun(buf, motornetid);
TranslateBytedata(buf);
}
ByteBack VinceControl::TranslateBytedata(QByteArray buf, QString motornetid)// = "non")
{
ByteBack backdatt;
backdatt.Speed = -1000000;
if (buf.length()!=21)
{
return backdatt;
}
if (unsigned char(buf[0]) == 0xff)
{
buf.remove(0, 3);
buf.remove(buf.length() - 3, 3);
int location;
unsigned char a[15];
memcpy(a, buf.data(), 15);
location = ((a[0] & 0x0f) << 28) | ((a[1] & 0x7f) << 21) | ((a[2] & 0x7f) << 14) | ((a[3] & 0x7f) << 7) | ((a[4] & 0x7f));
float speed;
memcpy(&speed, &location, 4);
backdatt.Speed = speed;
int loc;
loc = ((a[5] & 0x0f) << 28) | ((a[6] & 0x7f) << 21) | ((a[7] & 0x7f) << 14) | ((a[8] & 0x7f) << 7) | ((a[9] & 0x7f));
backdatt.Location = loc;
backdatt.Speed = speed;
location = ((a[10] & 0x0f) << 28) | ((a[11] & 0x7f) << 21) | ((a[12] & 0x7f) << 14) | ((a[13] & 0x7f) << 7) | ((a[14] & 0x7f));
backdatt.Stata = unsigned int(location);
if (motornetid == "non")
{
motornetid = Motorlist[0];
}
//memcpy(buf.data() + 6, &location, 4);
QString str1 = motornetid + ": Speed " + QString::number(backdatt.Speed, 'f', 2) + " location " + QString::number(backdatt.Location);
SendLog(str1);
return backdatt;
//memcpy(buf.data() + 6, &location, 4);
}
return backdatt;
}
void VinceControl::initme()
{
IsMotorInit = false;
RS485ID = "0";
Speednow = 0;
SpeedisSet = false;
}
@ -299,11 +399,26 @@ void VinceControl::StopMotormove(QString motornetid )
{
QString commonstr = "stp\n";
SendCommandtoMotor(commonstr, motornetid);
QByteArray buf;
GetCommonRetrun(buf,motornetid);
TranslateBytedata(buf,motornetid);
}
ByteBack VinceControl::GetState(QString motorid /*= "non"*/)
{
QString commonstr = "cts\n";
SendCommandtoMotor(commonstr, motorid);
QByteArray buf;
GetCommonRetrun(buf,motorid);
ByteBack back = TranslateBytedata(buf, motorid);
return back;
}
VinceControl::VinceControl(ProTools proto, int port)
{
//VinceControl(proto);
initme();
if (proto != NETTCP)
{
return;
@ -329,6 +444,7 @@ void VinceControl::onNewTcpClinetConnet()
QTcpSocket *tcpsocket1;
tcpSocket.append(tcpServer->nextPendingConnection());
// connect(tcpSocket[tcpSocket.length() - 1], &QTcpSocket::readyRead, this, &VinceControl::onReciveFromClinet);
QString ip = tcpSocket[tcpSocket.length() - 1]->peerAddress().toString().split("::ffff:")[1];
Motorlist.append(ip);
@ -337,22 +453,42 @@ void VinceControl::onNewTcpClinetConnet()
int speed = 200;
Speedlist.append(speed);
qint32 port = tcpSocket[tcpSocket.length() - 1]->peerPort();
QString str11 = ip + " Connected The Port Number is "+port+"\n";
QString str11 = ip + " Connected The Port Number is "+QString::number(port)+"\n";
SendLog(str11);
Handshacke(Motorlist[Motorlist.length()-1]);
qDebug() << ip << ":" << port;
IsMotorInit = true;
}
void VinceControl::onReciveFromClinet()
void VinceControl::onReciveFromClinet(QString motornetid)// = "non")
{
QTcpSocket* sc = dynamic_cast<QTcpSocket*>(sender());
QString ip = sc->peerAddress().toString().split("::ffff:")[1];
//QTcpSocket* sc = dynamic_cast<QTcpSocket*>(sender());
//QString ip = sc->peerAddress().toString().split("::ffff:")[1];
//<2F><>ȡ<EFBFBD>Է<EFBFBD><D4B7><EFBFBD><EFBFBD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD><EFBFBD>
if (motornetid=="non")
{
if (protools==NETTCP)
{
QByteArray buf;
tcpSocket[0]->waitForReadyRead(1000);
buf = tcpSocket[0]->readAll();
if (buf.length()==0)
{
return;
}
QString str = Motorlist[0] + ":";
str.append(buf);
SendLog(str);
}
}
#ifdef LOGOUT
QByteArray array = sc->readAll();
QString strofrecive;
strofrecive.append(array);
QString strtosend = "sender " + ip + ":" + strofrecive;
SendLog(strtosend);
// QByteArray array = sc->readAll();
// QString strofrecive;
// strofrecive.append(array);
//QString strtosend = "sender " + ip + ":" + strofrecive;
// SendLog(strtosend);
#endif