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458 lines
18 KiB
458 lines
18 KiB
#include "mainwindow.h"
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#include <QDateTime>
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#include <QMessageBox>
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#include <QtConcurrent>
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#include <QtCore/QVariant>
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#include <QtSerialPort/QSerialPort>
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#include <QtSerialPort/QSerialPortInfo>
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#include <QtWidgets/QLineEdit>
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#include "./ui_mainwindow.h"
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#include "iflytop_canbus/iflytop_canbus_master.hpp"
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#include "logger.hpp"
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#include "qt_serial_datachannel.hpp"
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#include "reglist.hpp"
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#include "zexception.hpp"
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#include "zui/z_function_list_box.hpp"
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#include "zui/zq_vtab_page.hpp"
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//
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#include <thread>
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#include "iflytop_canbus\regid.hpp"
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#include "zui/zui.hpp"
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using namespace std;
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using namespace iflytop;
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using namespace zcr;
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typedef enum {
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kone_lead_ecg,
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kthree_lead_ecg,
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} device_type_t;
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static MainWindow *m_mainWindow;
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static QTDataChannel G_QTDataChannel;
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static QTDataChannel G_WaveDataChannel;
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static int PublicState_DeviceIDVal = 0;
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QT_REQUIRE_CONFIG(groupbox);
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#define TAG "MainWindow"
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static const char *fmt(const char *fmt, ...) {
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va_list args;
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va_start(args, fmt);
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static char buf[1024] = {0};
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vsnprintf(buf, sizeof(buf), fmt, args);
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va_end(args);
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return buf;
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}
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void MainWindow::log_output(QtMsgType type, const QMessageLogContext &context, const QString &msg) {}
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void MainWindow::doinui_slot(QFunction func) {
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if (func.get()) func.get()();
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}
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/***********************************************************************************************************************
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* PreviewShow *
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***********************************************************************************************************************/
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void MainWindow::instructionPreviewShow(QString text) {
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QString info;
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info.append(QDateTime::currentDateTime().toString("hh:mm:ss.zzz "));
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info.append(" |");
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info.append(text);
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emit doinui_signal(QFunction([this, info]() { ui->instructionPreview->append(info); }));
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}
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void MainWindow::reportPreviewShow(QString text) {
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QString info;
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info.append(QDateTime::currentDateTime().toString("hh:mm:ss.zzz "));
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info.append(text);
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emit doinui_signal(QFunction([this, info]() {
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if (ui->reportPreview->document()->lineCount() > 1000) {
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ui->reportPreview->document()->clear();
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}
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ui->reportPreview->append(info);
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}));
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}
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void MainWindow::blockDataUploadPreviewShow(QString text) {
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QString info;
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info.append(QDateTime::currentDateTime().toString("hh:mm:ss.zzz "));
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info.append(text);
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emit doinui_signal(QFunction([this, info]() {
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if (ui->uploadDataPreview->document()->lineCount() > 1000) {
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ui->uploadDataPreview->document()->clear();
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}
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ui->uploadDataPreview->append(info);
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}));
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}
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void MainWindow::rawDataPreviewShow(QString text) {
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QString info;
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info.append(QDateTime::currentDateTime().toString("hh:mm:ss.zzz"));
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info.append(text);
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emit doinui_signal(QFunction([this, info]() {
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if (ui->rawDataPreview->document()->lineCount() > 1000) {
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ui->rawDataPreview->document()->clear();
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}
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ui->rawDataPreview->append(info);
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}));
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}
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void MainWindow::instructionPreviewClear() {
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doinui_signal(QFunction([this]() { ui->instructionPreview->clear(); }));
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}
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#pragma pack(push, 1)
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typedef struct {
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uint16_t header;
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int16_t wave1;
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int16_t wave2;
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int16_t wave3;
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int16_t wave4;
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int16_t wave5;
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uint8_t check;
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uint16_t tail;
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} Wave_t;
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#pragma pack(pop)
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void MainWindow::displayWave(int16_t wave1, int16_t wave2, int16_t wave3) {
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// 1. 生成波形数据
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Wave_t wave;
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wave.header = 0xAAAA;
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wave.wave1 = wave1;
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wave.wave2 = wave2;
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wave.wave3 = wave3;
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wave.wave4 = 0;
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wave.wave5 = 0;
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wave.tail = 0x5555;
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wave.check = 0;
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uint8_t check = 0;
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for (size_t i = 2; i < sizeof(wave) - 2; i++) {
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check += ((uint8_t *)&wave)[i];
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}
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wave.check = check;
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// 2. 发送波形数据
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G_WaveDataChannel.send((uint8_t *)&wave, sizeof(wave));
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}
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/***********************************************************************************************************************
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* UI相关构造 *
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***********************************************************************************************************************/
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void MainWindow::constructBaseUI() {
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/**
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* @brief 指令串口UI
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*/
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{
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const auto infos = QSerialPortInfo::availablePorts();
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for (const QSerialPortInfo &info : infos) {
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ui->serialPortCB->addItem(info.portName());
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}
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}
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ui->serialBaudrateCB->addItem("9600");
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ui->serialBaudrateCB->addItem("14400");
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ui->serialBaudrateCB->addItem("19200");
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ui->serialBaudrateCB->addItem("38400");
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ui->serialBaudrateCB->addItem("57600");
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ui->serialBaudrateCB->addItem("115200");
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ui->serialBaudrateCB->addItem("460800");
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ui->serialBaudrateCB->addItem("500000");
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ui->serialBaudrateCB->addItem("2000000");
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ui->serialBaudrateCB->setCurrentIndex(6);
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connect(ui->serialPortRefreshKey, &QPushButton::clicked, this, [this](bool check) {
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ui->serialPortCB->clear();
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const auto infos = QSerialPortInfo::availablePorts();
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for (const QSerialPortInfo &info : infos) {
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ui->serialPortCB->addItem(info.portName());
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}
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});
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connect(ui->serialOpenKey, &QPushButton::clicked, this, [=](bool check) {
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// 打开串口
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if (ui->serialOpenKey->text() == "打开") {
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G_QTDataChannel.setPortName(ui->serialPortCB->currentText().toStdString());
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G_QTDataChannel.setBaudRate(ui->serialBaudrateCB->currentText().toInt());
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G_QTDataChannel.setDataBits(QSerialPort::Data8);
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G_QTDataChannel.setParity(QSerialPort::NoParity);
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G_QTDataChannel.setFlowControl(QSerialPort::NoFlowControl);
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G_QTDataChannel.setStopBits(QSerialPort::OneStop);
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/**
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* @brief 串口打开时，初始化相应参数
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*/
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if (!G_QTDataChannel.open()) {
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QMessageBox::about(NULL, "提示", "串口无法打开，串口不存在或已被占??");
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return;
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}
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ui->serialOpenKey->setText("关闭");
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// 下拉菜单控件使能
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ui->serialBaudrateCB->setEnabled(false);
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ui->serialPortCB->setEnabled(false);
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ui->serialPortRefreshKey->setEnabled(false);
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IflytopCanbusMaster::ins()->updateChannelConfig();
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} else {
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G_QTDataChannel.close();
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ui->serialOpenKey->setText("打开");
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ui->serialBaudrateCB->setEnabled(true);
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ui->serialPortCB->setEnabled(true);
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ui->serialPortRefreshKey->setEnabled(true);
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}
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});
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/**
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* @brief 波形串口UI
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*/
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{
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const auto infos = QSerialPortInfo::availablePorts();
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for (const QSerialPortInfo &info : infos) {
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ui->waveSerialPortCB->addItem(info.portName());
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}
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}
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ui->waveSerialBaudrateCB->addItem("9600");
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ui->waveSerialBaudrateCB->addItem("14400");
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ui->waveSerialBaudrateCB->addItem("19200");
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ui->waveSerialBaudrateCB->addItem("38400");
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ui->waveSerialBaudrateCB->addItem("57600");
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ui->waveSerialBaudrateCB->addItem("115200");
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ui->waveSerialBaudrateCB->addItem("460800");
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ui->waveSerialBaudrateCB->addItem("500000");
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ui->waveSerialBaudrateCB->addItem("2000000");
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// ui->waveSerialBaudrateCB->addItems
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ui->waveSerialBaudrateCB->setCurrentIndex(6);
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connect(ui->waveSerialPortRefreshKey, &QPushButton::clicked, this, [this](bool check) {
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ui->waveSerialPortCB->clear();
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const auto infos = QSerialPortInfo::availablePorts();
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for (const QSerialPortInfo &info : infos) {
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ui->waveSerialPortCB->addItem(info.portName());
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}
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});
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connect(ui->waveSerialOpenKey, &QPushButton::clicked, this, [=](bool check) {
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// 打开串口
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if (ui->waveSerialOpenKey->text() == "打开") {
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G_WaveDataChannel.setPortName(ui->waveSerialPortCB->currentText().toStdString());
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G_WaveDataChannel.setBaudRate(ui->waveSerialBaudrateCB->currentText().toInt());
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G_WaveDataChannel.setDataBits(QSerialPort::Data8);
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G_WaveDataChannel.setParity(QSerialPort::NoParity);
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G_WaveDataChannel.setFlowControl(QSerialPort::NoFlowControl);
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G_WaveDataChannel.setStopBits(QSerialPort::OneStop);
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if (!G_WaveDataChannel.open()) {
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QMessageBox::about(NULL, "提示", "串口无法打开，串口不存在或已被占??");
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return;
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}
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ui->waveSerialOpenKey->setText("关闭");
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// 下拉菜单控件使能
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ui->waveSerialBaudrateCB->setEnabled(false);
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ui->waveSerialPortCB->setEnabled(false);
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ui->waveSerialPortRefreshKey->setEnabled(false);
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} else {
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G_WaveDataChannel.close();
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ui->waveSerialOpenKey->setText("打开");
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ui->waveSerialBaudrateCB->setEnabled(true);
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ui->waveSerialPortCB->setEnabled(true);
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ui->waveSerialPortRefreshKey->setEnabled(true);
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}
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});
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}
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void MainWindow::displayInfo(bool suc, QString info) {}
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MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWindow) {
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/**
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* @brief QT初始化
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*/
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ui->setupUi(this);
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m_mainWindow = this;
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qRegisterMetaType<int32_t>("int32_t");
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qRegisterMetaType<uint32_t>("uint32_t");
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qRegisterMetaType<float>("float");
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qRegisterMetaType<function<void()>>("function<void()>");
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qRegisterMetaType<QFunction>("QFunction");
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connect(this, SIGNAL(doinui_signal(QFunction)), this, SLOT(doinui_slot(QFunction)));
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ZQUI::ins()->initialize();
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ZQUI::ins()->setBlockDataUploadPreviewShow([this](QString text) { blockDataUploadPreviewShow(text); });
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ZQUI::ins()->setInstructionPreviewShow([this](QString text) { instructionPreviewShow(text); });
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ZQUI::ins()->setReportPreviewShow([this](QString text) { reportPreviewShow(text); });
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ZQUI::ins()->setRawDataPreviewShow([this](QString text) { rawDataPreviewShow(text); });
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ZQUI::ins()->setInstructionPreviewClear([this]() { instructionPreviewClear(); });
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/**
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* @brief 页面逻辑初始化
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*/
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constructBaseUI();
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constructAppUI();
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/**
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* @brief 业务逻辑构造
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*/
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G_QTDataChannel.init();
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G_WaveDataChannel.init();
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IflytopCanbusMaster::ins()->initialize(&G_QTDataChannel);
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IflytopCanbusMaster::ins()->regOnRawData([this](raw_data_type_t type, uint8_t *hex, uint32_t hexlen) {
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if (type == kcmd_cmd) {
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iflytop_canbus_frame_t *frame = (iflytop_canbus_frame_t *)hex;
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ZQUI::ins()->rawDataPreviewShow("[CMD ] %s %s [id:%d cmd:%d,%d]", zhex2str(hex, sizeof(iflytop_canbus_frame_t)).c_str(), //
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zhex2str(frame->data, hexlen - sizeof(iflytop_canbus_frame_t)).c_str(), //
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frame->device_id, frame->cmd_main_id, frame->cmd_sub_id //
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);
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} else if (type == kcmd_receipt) {
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ZQUI::ins()->rawDataPreviewShow("[RECEIPT] %s", zhex2str(hex, hexlen).c_str());
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} else if (type == kcmd_report) {
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ZQUI::ins()->rawDataPreviewShow("[REPORT ] %s", zhex2str(hex, hexlen).c_str());
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}
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});
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}
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MainWindow::~MainWindow() { delete ui; }
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void MainWindow::processException(const zexception &e) { //
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ZQUI::ins()->instructionPreviewShow("%s", e.what());
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}
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int32_t MainWindow::getDeviceId() { return PublicState_DeviceIDVal; }
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void MainWindow::constructAppUI() {
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/***********************************************************************************************************************
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* 模块操作 *
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***********************************************************************************************************************/
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{
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ZQVTabPage *tab = new ZQVTabPage(ui->buttonTabWidget, "模块操作");
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{
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ZQFunctionListBox *box = new ZQFunctionListBox(tab, "模块基础操作", 4);
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box->newFunc("扫描模块", {}, [this](int argn, const char **args) { //
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for (size_t i = 1; i < 255; i++) {
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try {
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IflytopCanbusMaster::ins()->ping(i);
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ZQUI::ins()->instructionPreviewShow("module :%d isOnline", i);
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} catch (const zexception &e) {
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if (e.ecode() != ke_overtime) {
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processException(e);
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break;
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}
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}
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}
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ZQUI::ins()->instructionPreviewShow("ScanModuleEnd");
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});
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}
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{
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ZQFunctionListBox *box = new ZQFunctionListBox(tab, "电机配置", 4);
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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])); });
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box->newFunc("设置IRUM", {"[0-31]"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->writereg(getDeviceId(), kreg_stepmotor_irun, atoi(args[0])); });
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box->newFunc("设置IHOLD", {"[0-31]"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->writereg(getDeviceId(), kreg_stepmotor_ihold, atoi(args[0])); });
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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])); });
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box->newFunc("激活配置", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_active_cfg(getDeviceId()); });
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}
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{
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ZQFunctionListBox *box = new ZQFunctionListBox(tab, "电机状态读取", 4);
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box->newFunc("电机读取编码器值", {}, [this](int argn, const char **args) {
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int32_t retval = IflytopCanbusMaster::ins()->motor_read_enc_val(getDeviceId());
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ZQUI::ins()->instructionPreviewShow("encVal %d", retval);
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});
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box->newFunc("电机读取编码器分辨率", {}, [this](int argn, const char **args) {
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int32_t retval = IflytopCanbusMaster::ins()->motor_get_enc_resolution(getDeviceId());
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ZQUI::ins()->instructionPreviewShow("encResolution %d", retval);
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});
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}
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{
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ZQFunctionListBox *box = new ZQFunctionListBox(tab, "电机操作", 4);
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box->newFunc("停止电机", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_stop(getDeviceId()); });
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box->newFunc("急停电机", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_break(getDeviceId()); });
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box->newFunc("激活配置", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_active_cfg(getDeviceId()); });
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box->newFunc("电机使能", {"enable"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_enable(getDeviceId(), atoi(args[0])); });
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box->newFunc("电机旋转", {"direction"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_rotate(getDeviceId(), atoi(args[0])); });
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box->newFunc("电机移动", {"distance"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_by(getDeviceId(), atoi(args[0])); });
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box->newFunc("电机移动到", {"position"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_to(getDeviceId(), atoi(args[0])); });
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box->newFunc("电机归零", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_to_zero(getDeviceId()); });
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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])); });
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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])); });
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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])); });
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box->newFunc("电机读取子设备寄存器", {"regaddr"}, [this](int argn, const char **args) {
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int32_t retval = IflytopCanbusMaster::ins()->motor_get_subdevice_reg(getDeviceId(), atoi(args[0]));
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ZQUI::ins()->instructionPreviewShow("regVal 0x%08x", retval);
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});
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}
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{
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ZQFunctionListBox *box = new ZQFunctionListBox(tab, "驱动底层配置", 4);
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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])); });
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box->newFunc("电机读取子设备寄存器", {"regaddr"}, [this](int argn, const char **args) {
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int32_t retval = IflytopCanbusMaster::ins()->motor_get_subdevice_reg(getDeviceId(), atoi(args[0]));
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ZQUI::ins()->instructionPreviewShow("regVal 0x%08x", retval);
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});
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}
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tab->addSpacer();
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}
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m_testThread.reset(new std::thread([this]() {
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while (true) {
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if (m_testState) {
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try {
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IflytopCanbusMaster::ins()->ping(getDeviceId());
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} catch (const zexception &e) {
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processException(e);
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}
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}
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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(); }
|