p_graphite_digester_upper/mainwindow.cpp

#include "mainwindow.h"

#include <QDateTime>
#include <QMessageBox>
#include <QtConcurrent>
#include <QtCore/QVariant>
#include <QtSerialPort/QSerialPort>
#include <QtSerialPort/QSerialPortInfo>
#include <QtWidgets/QLineEdit>

#include "./ui_mainwindow.h"
#include "iflytop_canbus/iflytop_canbus_master.hpp"
#include "logger.hpp"
#include "qt_serial_datachannel.hpp"
#include "reglist.hpp"
#include "zexception.hpp"
#include "zui/z_function_list_box.hpp"
#include "zui/zq_vtab_page.hpp"
//
#include <thread>

#include "iflytop_canbus\regid.hpp"
#include "zui/zui.hpp"

using namespace std;
using namespace iflytop;
using namespace zcr;
typedef enum {
  kone_lead_ecg,
  kthree_lead_ecg,
} device_type_t;

static MainWindow   *m_mainWindow;
static QTDataChannel G_QTDataChannel;
static QTDataChannel G_WaveDataChannel;

static int PublicState_DeviceIDVal = 0;

QT_REQUIRE_CONFIG(groupbox);

#define TAG "MainWindow"

static const char *fmt(const char *fmt, ...) {
  va_list args;
  va_start(args, fmt);
  static char buf[1024] = {0};
  vsnprintf(buf, sizeof(buf), fmt, args);
  va_end(args);
  return buf;
}

void MainWindow::log_output(QtMsgType type, const QMessageLogContext &context, const QString &msg) {}
void MainWindow::doinui_slot(QFunction func) {
  if (func.get()) func.get()();
}

/***********************************************************************************************************************
 *                                                     PreviewShow                                                     *
 ***********************************************************************************************************************/

void MainWindow::instructionPreviewShow(QString text) {
  QString info;
  info.append(QDateTime::currentDateTime().toString("hh:mm:ss.zzz "));
  info.append(" |");
  info.append(text);
  emit doinui_signal(QFunction([this, info]() { ui->instructionPreview->append(info); }));
}
void MainWindow::reportPreviewShow(QString text) {
  QString info;

  info.append(QDateTime::currentDateTime().toString("hh:mm:ss.zzz "));
  info.append(text);
  emit doinui_signal(QFunction([this, info]() {
    if (ui->reportPreview->document()->lineCount() > 1000) {
      ui->reportPreview->document()->clear();
    }
    ui->reportPreview->append(info);
  }));
}
void MainWindow::blockDataUploadPreviewShow(QString text) {
  QString info;

  info.append(QDateTime::currentDateTime().toString("hh:mm:ss.zzz "));
  info.append(text);
  emit doinui_signal(QFunction([this, info]() {
    if (ui->uploadDataPreview->document()->lineCount() > 1000) {
      ui->uploadDataPreview->document()->clear();
    }
    ui->uploadDataPreview->append(info);
  }));
}
void MainWindow::rawDataPreviewShow(QString text) {
  QString info;

  info.append(QDateTime::currentDateTime().toString("hh:mm:ss.zzz"));
  info.append(text);
  emit doinui_signal(QFunction([this, info]() {
    if (ui->rawDataPreview->document()->lineCount() > 1000) {
      ui->rawDataPreview->document()->clear();
    }
    ui->rawDataPreview->append(info);
  }));
}

void MainWindow::instructionPreviewClear() {
  doinui_signal(QFunction([this]() { ui->instructionPreview->clear(); }));
}

#pragma pack(push, 1)
typedef struct {
  uint16_t header;
  int16_t  wave1;
  int16_t  wave2;
  int16_t  wave3;
  int16_t  wave4;
  int16_t  wave5;
  uint8_t  check;
  uint16_t tail;
} Wave_t;
#pragma pack(pop)

void MainWindow::displayWave(int16_t wave1, int16_t wave2, int16_t wave3) {
  // 1. 生成波形数据
  Wave_t wave;
  wave.header = 0xAAAA;
  wave.wave1  = wave1;
  wave.wave2  = wave2;
  wave.wave3  = wave3;
  wave.wave4  = 0;
  wave.wave5  = 0;
  wave.tail   = 0x5555;
  wave.check  = 0;

  uint8_t check = 0;
  for (size_t i = 2; i < sizeof(wave) - 2; i++) {
    check += ((uint8_t *)&wave)[i];
  }
  wave.check = check;
  // 2. 发送波形数据
  G_WaveDataChannel.send((uint8_t *)&wave, sizeof(wave));
}

/***********************************************************************************************************************
 *                                                     UI相关构造                                                      *
 ***********************************************************************************************************************/

void MainWindow::constructBaseUI() {
  /**
   * @brief 指令串口UI
   */
  {
    const auto infos = QSerialPortInfo::availablePorts();
    for (const QSerialPortInfo &info : infos) {
      ui->serialPortCB->addItem(info.portName());
    }
  }

  ui->serialBaudrateCB->addItem("9600");
  ui->serialBaudrateCB->addItem("14400");
  ui->serialBaudrateCB->addItem("19200");
  ui->serialBaudrateCB->addItem("38400");
  ui->serialBaudrateCB->addItem("57600");
  ui->serialBaudrateCB->addItem("115200");
  ui->serialBaudrateCB->addItem("460800");
  ui->serialBaudrateCB->addItem("500000");
  ui->serialBaudrateCB->addItem("2000000");
  ui->serialBaudrateCB->setCurrentIndex(6);

  connect(ui->serialPortRefreshKey, &QPushButton::clicked, this, [this](bool check) {
    ui->serialPortCB->clear();
    const auto infos = QSerialPortInfo::availablePorts();
    for (const QSerialPortInfo &info : infos) {
      ui->serialPortCB->addItem(info.portName());
    }
  });

  connect(ui->serialOpenKey, &QPushButton::clicked, this, [=](bool check) {
    // 打开串口
    if (ui->serialOpenKey->text() == "打开") {
      G_QTDataChannel.setPortName(ui->serialPortCB->currentText().toStdString());
      G_QTDataChannel.setBaudRate(ui->serialBaudrateCB->currentText().toInt());
      G_QTDataChannel.setDataBits(QSerialPort::Data8);
      G_QTDataChannel.setParity(QSerialPort::NoParity);
      G_QTDataChannel.setFlowControl(QSerialPort::NoFlowControl);
      G_QTDataChannel.setStopBits(QSerialPort::OneStop);

      /**
       * @brief 串口打开时，初始化相应参数
       */

      if (!G_QTDataChannel.open()) {
        QMessageBox::about(NULL, "提示", "串口无法打开，串口不存在或已被占??");
        return;
      }
      ui->serialOpenKey->setText("关闭");
      // 下拉菜单控件使能
      ui->serialBaudrateCB->setEnabled(false);
      ui->serialPortCB->setEnabled(false);
      ui->serialPortRefreshKey->setEnabled(false);

      IflytopCanbusMaster::ins()->updateChannelConfig();
    } else {
      G_QTDataChannel.close();
      ui->serialOpenKey->setText("打开");
      ui->serialBaudrateCB->setEnabled(true);
      ui->serialPortCB->setEnabled(true);
      ui->serialPortRefreshKey->setEnabled(true);
    }
  });

  /**
   * @brief 波形串口UI
   */
  {
    const auto infos = QSerialPortInfo::availablePorts();
    for (const QSerialPortInfo &info : infos) {
      ui->waveSerialPortCB->addItem(info.portName());
    }
  }

  ui->waveSerialBaudrateCB->addItem("9600");
  ui->waveSerialBaudrateCB->addItem("14400");
  ui->waveSerialBaudrateCB->addItem("19200");
  ui->waveSerialBaudrateCB->addItem("38400");
  ui->waveSerialBaudrateCB->addItem("57600");
  ui->waveSerialBaudrateCB->addItem("115200");
  ui->waveSerialBaudrateCB->addItem("460800");
  ui->waveSerialBaudrateCB->addItem("500000");
  ui->waveSerialBaudrateCB->addItem("2000000");
  // ui->waveSerialBaudrateCB->addItems
  ui->waveSerialBaudrateCB->setCurrentIndex(6);

  connect(ui->waveSerialPortRefreshKey, &QPushButton::clicked, this, [this](bool check) {
    ui->waveSerialPortCB->clear();
    const auto infos = QSerialPortInfo::availablePorts();
    for (const QSerialPortInfo &info : infos) {
      ui->waveSerialPortCB->addItem(info.portName());
    }
  });

  connect(ui->waveSerialOpenKey, &QPushButton::clicked, this, [=](bool check) {
    // 打开串口
    if (ui->waveSerialOpenKey->text() == "打开") {
      G_WaveDataChannel.setPortName(ui->waveSerialPortCB->currentText().toStdString());
      G_WaveDataChannel.setBaudRate(ui->waveSerialBaudrateCB->currentText().toInt());
      G_WaveDataChannel.setDataBits(QSerialPort::Data8);
      G_WaveDataChannel.setParity(QSerialPort::NoParity);
      G_WaveDataChannel.setFlowControl(QSerialPort::NoFlowControl);
      G_WaveDataChannel.setStopBits(QSerialPort::OneStop);

      if (!G_WaveDataChannel.open()) {
        QMessageBox::about(NULL, "提示", "串口无法打开，串口不存在或已被占??");
        return;
      }
      ui->waveSerialOpenKey->setText("关闭");
      // 下拉菜单控件使能
      ui->waveSerialBaudrateCB->setEnabled(false);
      ui->waveSerialPortCB->setEnabled(false);
      ui->waveSerialPortRefreshKey->setEnabled(false);
    } else {
      G_WaveDataChannel.close();
      ui->waveSerialOpenKey->setText("打开");
      ui->waveSerialBaudrateCB->setEnabled(true);
      ui->waveSerialPortCB->setEnabled(true);
      ui->waveSerialPortRefreshKey->setEnabled(true);
    }
  });
}

void MainWindow::displayInfo(bool suc, QString info) {}

MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWindow) {
  /**
   * @brief QT初始化
   */
  ui->setupUi(this);
  m_mainWindow = this;
  qRegisterMetaType<int32_t>("int32_t");
  qRegisterMetaType<uint32_t>("uint32_t");
  qRegisterMetaType<float>("float");
  qRegisterMetaType<function<void()>>("function<void()>");
  qRegisterMetaType<QFunction>("QFunction");
  connect(this, SIGNAL(doinui_signal(QFunction)), this, SLOT(doinui_slot(QFunction)));
  ZQUI::ins()->initialize();
  ZQUI::ins()->setBlockDataUploadPreviewShow([this](QString text) { blockDataUploadPreviewShow(text); });
  ZQUI::ins()->setInstructionPreviewShow([this](QString text) { instructionPreviewShow(text); });
  ZQUI::ins()->setReportPreviewShow([this](QString text) { reportPreviewShow(text); });
  ZQUI::ins()->setRawDataPreviewShow([this](QString text) { rawDataPreviewShow(text); });
  ZQUI::ins()->setInstructionPreviewClear([this]() { instructionPreviewClear(); });

  /**
   * @brief 页面逻辑初始化
   */
  constructBaseUI();
  constructAppUI();

  /**
   * @brief 业务逻辑构造
   */
  G_QTDataChannel.init();
  G_WaveDataChannel.init();
  IflytopCanbusMaster::ins()->initialize(&G_QTDataChannel);

  IflytopCanbusMaster::ins()->regOnRawData([this](raw_data_type_t type, uint8_t *hex, uint32_t hexlen) {
    if (type == kcmd_cmd) {
      iflytop_canbus_frame_t *frame = (iflytop_canbus_frame_t *)hex;
      ZQUI::ins()->rawDataPreviewShow("[CMD    ] %s %s [id:%d cmd:%d,%d]", zhex2str(hex, sizeof(iflytop_canbus_frame_t)).c_str(),  //
                                      zhex2str(frame->data, hexlen - sizeof(iflytop_canbus_frame_t)).c_str(),                      //
                                      frame->device_id, frame->cmd_main_id, frame->cmd_sub_id                                      //
      );
    } else if (type == kcmd_receipt) {
      ZQUI::ins()->rawDataPreviewShow("[RECEIPT] %s", zhex2str(hex, hexlen).c_str());
    } else if (type == kcmd_report) {
      ZQUI::ins()->rawDataPreviewShow("[REPORT ] %s", zhex2str(hex, hexlen).c_str());
    }
  });
}
MainWindow::~MainWindow() { delete ui; }

void MainWindow::processException(const zexception &e) {  //
  ZQUI::ins()->instructionPreviewShow("%s", e.what());
}

int32_t MainWindow::getDeviceId() { return PublicState_DeviceIDVal; }

void MainWindow::constructAppUI() {
  /***********************************************************************************************************************
   *                                                      模块操作                                                       *
   ***********************************************************************************************************************/

  {
    ZQVTabPage *tab = new ZQVTabPage(ui->buttonTabWidget, "模块操作");

    {
      ZQFunctionListBox *box = new ZQFunctionListBox(tab, "模块基础操作", 4);
      box->newFunc("扫描模块", {}, [this](int argn, const char **args) {  //
        for (size_t i = 1; i < 255; i++) {
          try {
            IflytopCanbusMaster::ins()->ping(i);
            ZQUI::ins()->instructionPreviewShow("module :%d isOnline", i);
          } catch (const zexception &e) {
            if (e.ecode() != ke_overtime) {
              processException(e);
              break;
            }
          }
        }
        ZQUI::ins()->instructionPreviewShow("ScanModuleEnd");
      });
    }

    {
      ZQFunctionListBox *box = new ZQFunctionListBox(tab, "电机配置", 4);
      box->newFunc("电机设置编码器分辨率", {"resolution"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_set_enc_resolution(getDeviceId(), atoi(args[0])); });
      box->newFunc("设置IRUM", {"[0-31]"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->writereg(getDeviceId(), kreg_stepmotor_irun, atoi(args[0])); });
      box->newFunc("设置IHOLD", {"[0-31]"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->writereg(getDeviceId(), kreg_stepmotor_ihold, atoi(args[0])); });
      box->newFunc("设置默认速度", {"velocity"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->writereg(getDeviceId(), kreg_motor_default_velocity, atoi(args[0])); });
      box->newFunc("激活配置", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_active_cfg(getDeviceId()); });
    }

    {
      ZQFunctionListBox *box = new ZQFunctionListBox(tab, "电机状态读取", 4);
      box->newFunc("电机读取编码器值", {}, [this](int argn, const char **args) {
        int32_t retval = IflytopCanbusMaster::ins()->motor_read_enc_val(getDeviceId());
        ZQUI::ins()->instructionPreviewShow("encVal %d", retval);
      });
      box->newFunc("电机读取编码器分辨率", {}, [this](int argn, const char **args) {
        int32_t retval = IflytopCanbusMaster::ins()->motor_get_enc_resolution(getDeviceId());
        ZQUI::ins()->instructionPreviewShow("encResolution %d", retval);
      });
    }

    {
      ZQFunctionListBox *box = new ZQFunctionListBox(tab, "电机操作", 4);
      box->newFunc("停止电机", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_stop(getDeviceId()); });
      box->newFunc("急停电机", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_break(getDeviceId()); });
      box->newFunc("激活配置", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_active_cfg(getDeviceId()); });
      box->newFunc("电机使能", {"enable"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_enable(getDeviceId(), atoi(args[0])); });
      box->newFunc("电机旋转", {"direction"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_rotate(getDeviceId(), atoi(args[0])); });
      box->newFunc("电机移动", {"distance"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_by(getDeviceId(), atoi(args[0])); });
      box->newFunc("电机移动到", {"position"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_to(getDeviceId(), atoi(args[0])); });
      box->newFunc("电机归零", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_to_zero(getDeviceId()); });
      box->newFunc("电机设置当前位置", {"position"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_set_current_pos(getDeviceId(), atoi(args[0])); });
      box->newFunc("电机移动到IO", {"io"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_to_io(getDeviceId(), atoi(args[0])); });
      box->newFunc("电机设置子设备寄存器", {"regaddr", "val"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_set_subdevice_reg(getDeviceId(), atoi(args[0]), atoi(args[1])); });
      box->newFunc("电机读取子设备寄存器", {"regaddr"}, [this](int argn, const char **args) {
        int32_t retval = IflytopCanbusMaster::ins()->motor_get_subdevice_reg(getDeviceId(), atoi(args[0]));
        ZQUI::ins()->instructionPreviewShow("regVal 0x%08x", retval);
      });
    }
    {
      ZQFunctionListBox *box = new ZQFunctionListBox(tab, "驱动底层配置", 4);
      box->newFunc("电机设置子设备寄存器", {"regaddr", "val"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_set_subdevice_reg(getDeviceId(), atoi(args[0]), atoi(args[1])); });
      box->newFunc("电机读取子设备寄存器", {"regaddr"}, [this](int argn, const char **args) {
        int32_t retval = IflytopCanbusMaster::ins()->motor_get_subdevice_reg(getDeviceId(), atoi(args[0]));
        ZQUI::ins()->instructionPreviewShow("regVal 0x%08x", retval);
      });
    }

    tab->addSpacer();
  }

  m_testThread.reset(new std::thread([this]() {
    while (true) {
      if (m_testState) {
        try {
          IflytopCanbusMaster::ins()->ping(getDeviceId());
        } catch (const zexception &e) {
          processException(e);
        }
      }
      std::this_thread::sleep_for(std::chrono::milliseconds(10));
    }
  }));

  {
    ZQVTabPage *tab = new ZQVTabPage(ui->buttonTabWidget, "暴力测试");
    // static
    {
      ZQFunctionListBox *box = new ZQFunctionListBox(tab, "模块基础操作", 4);
      box->newFunc("开始测试", {"间隔"}, [this](int argn, const char **args) {  //
        int interval = atoi(args[0]);
        m_testState  = true;
      });

      box->newFunc("停止测试", {}, [this](int argn, const char **args) {  //
        m_testState = false;
      });
    }
  }

  /***********************************************************************************************************************
   *                                                     寄存器列表                                                      *
   ***********************************************************************************************************************/
  {
    ZQVTabPage *tab = new ZQVTabPage(ui->buttonTabWidget, "寄存器操作");

    ZRegTableList *tableBox = new ZRegTableList(tab, "寄存器操作");
    tableBox->initializeRegOperation(
        [this](int32_t add, int32_t val) {  //
          IflytopCanbusMaster::ins()->writereg(getDeviceId(), add, val);
          return true;
        },
        [this](int32_t add, int32_t *val) {  //
          IflytopCanbusMaster::ins()->readreg(getDeviceId(), add, val);
          return true;
        });

    tableBox->newFunc("激活配置", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_active_cfg(getDeviceId()); });
    for (auto &var : GetRegList()) {
      tableBox->addReg(var.title.c_str(), var.addr, var.flag);
    }
    tableBox->addSpacer();
    tab->addSpacer();
  }
}

void MainWindow::on_PublicState_ConfirmKey_clicked() { PublicState_DeviceIDVal = ui->PublicState_DeviceID->toPlainText().toInt(); }