取消了自动反馈机制 增加了手动反馈机制 修改了若干bug

vincecontrol.cpp

@@ -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;
+	initme();
-	RS485ID = "0";
-	Speednow = 0;
-	SpeedisSet = false;
 }
 
 
@@ -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());
+	//QTcpSocket* sc = dynamic_cast<QTcpSocket*>(sender());
-	QString ip = sc->peerAddress().toString().split("::ffff:")[1];
+	//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();
+//	QByteArray array = sc->readAll();
-	QString strofrecive;
+//	QString strofrecive;
-	strofrecive.append(array);
+//	strofrecive.append(array);
-	QString strtosend = "sender " + ip + ":" + strofrecive;
+	//QString strtosend = "sender " + ip + ":" + strofrecive;
-	SendLog(strtosend);
+//	SendLog(strtosend);
 
 #endif		
 

vincecontrol.h

@@ -57,6 +57,13 @@ enum ProTools
 	RS232 = 0,
 RS485 = 1,
 NETTCP=2
+};
+struct ByteBack
+{
+	float Speed;
+	int Location;
+	unsigned int Stata;
+
 };
 /********************************************************************
 * 描述：马达控制程序
@@ -224,19 +231,19 @@ public:
 	void SettingUpandDownSpeed(int addspeed, int downspeed);
 
 	void StopMotormove(QString motornetid = "non");
-
+	ByteBack GetState(QString motorid = "non");
-
 	QStringList Motorlist;
+	bool IsMotorInit;
 signals:
 	void SendLogToCallClass(QString str);
 	public slots :
 		void onNewTcpClinetConnet();
-	void onReciveFromClinet();
+
 	void onClinetDisConnet();
 private:
 	QSerialPort *serial; 
+	void onReciveFromClinet(QString motornetid = "non");
 	
-	bool IsMotorInit;
 	ProTools protools;
 	QString RS485ID;
 	unsigned long speed;
@@ -247,8 +254,11 @@ private:
 	QList<int> Speedlist;
 	bool SpeedisSet;
 	int Speednow;
+	void GetCommonRetrun(QByteArray &buf,QString id="non");
 	//
 	void SettingSpeedByThis(long Speed, QString motornetid = "non");
+	ByteBack TranslateBytedata(QByteArray buf, QString motornetid = "non");
+	void initme();
 	
 };
 

vincecontrol.vcxproj.user

@@ -3,10 +3,10 @@
   <PropertyGroup />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <QTDIR>C:\Qt\Qt5.8.0\5.8\msvc2013_64</QTDIR>
-    <LocalDebuggerEnvironment>PATH=$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>
+    <LocalDebuggerEnvironment>PATH=$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <QTDIR>C:\Qt\Qt5.8.0\5.8\msvc2013_64</QTDIR>
-    <LocalDebuggerEnvironment>PATH=$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>
+    <LocalDebuggerEnvironment>PATH=$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>
   </PropertyGroup>
 </Project>