project_boditech_vidas_a8000_v3
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a8000_pc_qt_upper
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update

master
zhaohe 1 year ago
parent
3f3ac1af7e
commit
1750a1e45c
4 changed files with 62 additions and 37 deletions
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  1. 2
      a8000_protocol
  2. 89
      src/mainwindow.cpp
  3. 6
      src/mainwindow.h
  4. 2
      src/tab/xyrobot_tab.cpp

2
a8000_protocol

@ -1 +1 @@
Subproject commit 59082bcc8c2a856133f693619bbd1fdc64dba0fd
Subproject commit 5c4075ae36cb16b5a1b86fc860a39a8217d2a2c8

89
src/mainwindow.cpp
View File

@ -172,6 +172,39 @@ static const char *fmt(const char *fmt, ...) {
return buf;
}
void MainWindow::parse_ptv2_cmd(zcr_cmd_header_t *frame, int32_t packetlen) {
int cmdId = frame->cmdMainId * 256 + frame->cmdSubId;
int32_t mid = frame->subModuleid;
int32_t *param = (int32_t *)frame->data;
if (cmdId == kmodule_set_reg) {
ZQUI::ins()->rawshow(" [-->] module_set_reg %d(mid) %s(%d) %d(val)", mid, regindex2str(param[0]), param[0], param[1]);
} else if (cmdId == kmodule_get_reg) {
ZQUI::ins()->rawshow(" [-->] module_get_reg %d(mid) %s(%d)", mid, regindex2str(param[0]), param[0]);
} else {
ZQUI::ins()->rawshow("[CMD ] %d cmdid:(%s)0x%04x mid:%d param:%s", frame->packetindex, cmdid2str(cmdId), cmdId, mid, //
zhex2str(frame->data, packetlen - sizeof(zcr_cmd_header_t)).c_str());
}
}
void MainWindow::parse_ptv2_ack(zcr_cmd_header_t *frame, int32_t packetlen) {
int cmdId = frame->cmdMainId * 256 + frame->cmdSubId;
int32_t mid = frame->subModuleid;
int32_t *param = (int32_t *)frame->data;
if (kptv2_error_ack == frame->packetType) {
ZQUI::ins()->rawshow("[E-RECEI] %s(%d)", err::error2str(param[0]), param[0]);
} else {
ZQUI::ins()->rawshow("[ RECEI] %s", zhex2str((uint8_t *)frame, packetlen).c_str());
}
}
void MainWindow::parse_ptv2_event(zcr_cmd_header_t *frame, int32_t packetlen) {
int cmdId = frame->cmdMainId * 256 + frame->cmdSubId;
int32_t mid = frame->subModuleid;
int32_t *param = (int32_t *)frame->data;
int32_t paramLen = packetlen - sizeof(zcr_cmd_header_t);
ZQUI::ins()->rawshow("[EVENT ] id:%d e:%s(%d) p:%s(%d)", mid, cmdid2str(cmdId), cmdId, zhex2str(frame->data,paramLen ), paramLen);
}
MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWindow) {
/**
* @brief QT初始化
@ -196,14 +229,13 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWi
ui->menu_version->setTitle(QApplication::translate("MainWindow", VERSION, nullptr));
ui->boardId_tableWidget->resizeColumnsToContents();
ui->boardId_tableWidget->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); // x先自适应宽度
ui->boardId_tableWidget->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); // x先自适应宽度
// ui->boardId_tableWidget->horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents); // 然后设置要根据内容使用宽度的列
ui->boardId_tableWidget->setAlternatingRowColors(true);
ui->boardId_tableWidget->setStyleSheet("alternate-background-color:rgb( 255,250,240);background-color:rgb(245,245,245)");
ui->ioid_tableWidget->resizeColumnsToContents();
ui->ioid_tableWidget->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); // x先自适应宽度
ui->ioid_tableWidget->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); // x先自适应宽度
// ui->ioid_tableWidget->horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents); // 然后设置要根据内容使用宽度的列
ui->ioid_tableWidget->setAlternatingRowColors(true);
ui->ioid_tableWidget->setStyleSheet("alternate-background-color:rgb( 255,250,240);background-color:rgb(245,245,245)");
@ -222,38 +254,25 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWi
IflytopCanbusMaster::ins()->initialize(&G_QTDataChannel);
IflytopCanbusMaster::ins()->regOnRawData([this](raw_data_type_t type, uint8_t *hex, uint32_t hexlen) {
zcr_cmd_header_t *frame = (zcr_cmd_header_t *)hex;
int cmdId = frame->cmdMainId * 256 + frame->cmdSubId;
int32_t *param = (int32_t *)frame->data;
int32_t mid = frame->subModuleid;
int32_t packetType = frame->packetType;
if (type == kcmd_cmd) {
if (cmdId == kmodule_set_reg) {
// ZQUI::ins()->rawshow("[CMD ] %s", zhex2str(hex, hexlen).c_str());
ZQUI::ins()->rawshow(" [-->] module_set_reg %d(mid) %s(%d) %d(val)", mid, regindex2str(param[0]), param[0], param[1]);
} else if (cmdId == kmodule_get_reg) {
// ZQUI::ins()->rawshow("[CMD ] %s", zhex2str(hex, hexlen).c_str());
ZQUI::ins()->rawshow(" [-->] module_get_reg %d(mid) %s(%d)", mid, regindex2str(param[0]), param[0]);
} else {
if (cmdId != kmodule_get_status) {
ZQUI::ins()->rawshow("[CMD ] %d cmdid:(%s)0x%04x mid:%d param:%s", frame->packetindex, cmdid2str(cmdId), cmdId, mid, zhex2str(frame->data, hexlen - sizeof(zcr_cmd_header_t)).c_str());
} else {
// ZQUI::ins()->rawshow("[CMD ] %s", zhex2str(hex, hexlen).c_str());
}
}
} else if (type == kcmd_receipt) {
if (kptv2_error_ack == packetType) {
ZQUI::ins()->rawshow("[E-RECEI] %s(%d)", err::error2str(param[0]), param[0]);
} else {
if (cmdId != kmodule_get_status) {
ZQUI::ins()->rawshow("[ RECEI] %s", zhex2str(hex, hexlen).c_str());
} else {
}
}
} else if (type == kcmd_report) {
ZQUI::ins()->rawshow("[REPORT ] %s", zhex2str(hex, hexlen).c_str());
zcr_cmd_header_t *frame = (zcr_cmd_header_t *)hex;
int cmdId = frame->cmdMainId * 256 + frame->cmdSubId;
if (cmdId == kmodule_get_status) return; // 过滤掉kmodule_get_status指令
switch (frame->packetType) {
case kptv2_cmd:
parse_ptv2_cmd(frame, hexlen);
break;
case kptv2_ack:
case kptv2_error_ack:
parse_ptv2_ack(frame, hexlen);
break;
case kptv2_event:
parse_ptv2_event(frame, hexlen);
break;
default:
ZQUI::ins()->rawshow("[UNKOWN ] %s", zhex2str((uint8_t *)hex, hexlen).c_str());
break;
}
});
}

6
src/mainwindow.h
View File

@ -39,6 +39,7 @@
#include "qfunction.hpp"
#include "zexception.hpp"
#include "zqthread.hpp"
#include "a8000_protocol\api\apibasic\packet_interface.hpp"
QT_BEGIN_NAMESPACE
namespace Ui {
class MainWindow;
@ -126,5 +127,10 @@ class MainWindow : public QMainWindow {
void endAllocNewTab(QWidget *tab);
int32_t getDeviceId();
private:
void parse_ptv2_cmd(iflytop::zcr::zcr_cmd_header_t *packet, int32_t packetlen);
void parse_ptv2_ack(iflytop::zcr::zcr_cmd_header_t *packet, int32_t packetlen);
void parse_ptv2_event(iflytop::zcr::zcr_cmd_header_t *packet, int32_t packetlen);
};
#endif // MAINWINDOW_H

2
src/tab/xyrobot_tab.cpp
View File

@ -61,7 +61,7 @@ void XYRobotTab::construct(QTabWidget *fathertab) {
box->newFunc("设置位置", {"x", "y"}, [this](int argn, const char **args) { ICM->callcmd2(getDeviceId(), kxymotor_set_pos, atoi(args[0]), atoi(args[1])); });
box->newFunc("相对移动", {"dx", "dy", "velocity"}, [this](int argn, const char **args) { ICM->callcmd3(getDeviceId(), kxymotor_move_by, atoi(args[0]), atoi(args[1]), atoi(args[2])); });
box->newFunc("绝对移动", {"x", "y", "velocity"}, [this](int argn, const char **args) { ICM->callcmd3(getDeviceId(), kxymotor_move_to, atoi(args[0]), atoi(args[1]), atoi(args[2])); });
box->newFunc("直接控制电机相对移动", {"motor1_dpos", "motor2_dpos"}, [this](int argn, const char **args) { ICM->callcmd3(getDeviceId(), kxymotor_motor_move_by_direct, atoi(args[0]), atoi(args[1])); });
box->newFunc("直接控制电机相对移动", {"motor1_dpos", "motor2_dpos"}, [this](int argn, const char **args) { ICM->callcmd2(getDeviceId(), kxymotor_motor_move_by_direct, atoi(args[0]), atoi(args[1])); });
box->newFunc("读取全部输入IO", {}, [this](int argn, const char **args) {
int32_t portState = 0;

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