project_boditech_vidas_a8000_v3
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a8000_pc_qt_upper
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update

master
zhaohe 1 year ago
parent
77cc955e9e
commit
21e3108cc5
18 changed files with 354 additions and 177 deletions
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  1. 7
      .vscode/settings.json
  2. 3
      CMakeLists.txt
  3. 2
      a8000_protocol
  4. 3
      iflytop_canbus/iflytop_canbus_master.cpp
  5. 5
      iflytop_canbus/iflytop_canbus_master.hpp
  6. 4
      libzqt/zui/z_function_list_box.cpp
  7. 6
      libzqt/zui/z_reg_table_list_box.cpp
  8. 4
      libzqt/zui/zqui.cpp
  9. 6
      libzqt/zui/zqui.hpp
  10. 1
      src/main.cpp
  11. 183
      src/mainwindow.cpp
  12. 2
      src/mainwindow.h
  13. 31
      src/qt_serial_datachannel.cpp
  14. 5
      src/qt_serial_datachannel.hpp
  15. 52
      src/tab/module_opera_tab.cpp
  16. 43
      src/tab/module_opera_tab.hpp
  17. 130
      src/tab/step_motor_ctrl_tab.cpp
  18. 44
      src/tab/step_motor_ctrl_tab.hpp

7
.vscode/settings.json
View File

@ -97,7 +97,12 @@
"qtextbrowser": "cpp",
"qchartview": "cpp",
"qgroupbox": "cpp",
"qmenubar": "cpp"
"qmenubar": "cpp",
"qtextedit": "cpp",
"qpushbutton": "cpp",
"qspaceritem": "cpp",
"xlocinfo": "cpp",
"xstring": "cpp"
},
"files.autoGuessEncoding": false,
}

3
CMakeLists.txt
View File

@ -45,6 +45,9 @@ set(PROJECT_SOURCES
libzqt/zui/z_reg_table_list_box.cpp
libzqt/zui/zqui.cpp
src/tab/step_motor_ctrl_tab.cpp
src/tab/module_opera_tab.cpp
a8000_protocol/api/apibasic/errorcode.cpp
)

2
a8000_protocol

@ -1 +1 @@
Subproject commit 00a25ecee58be21d0325226ea677a25f224e388a
Subproject commit f41c0ba7a5ca666a6038621f813001a530316a97

3
iflytop_canbus/iflytop_canbus_master.cpp
View File

@ -104,6 +104,9 @@ void IflytopCanbusMaster::readreg(int32_t device_id, int32_t regaddr, int32_t *v
callcmd1(device_id, kmodule_get_reg, regaddr, 10);
*val = *(int32_t *)(&m_receipt_frame->data[0]);
}
int32_t IflytopCanbusMaster::getAck(int32_t index) { return *(int32_t *)(&m_receipt_frame->data[index]); }
void IflytopCanbusMaster::writereg(int32_t device_id, int32_t regaddr, int32_t val) { callcmd2(device_id, kmodule_set_reg, regaddr, val, 10); }
void IflytopCanbusMaster::callcmd0(int32_t device_id, int32_t cmdid, int32_t overtime) { callcmd(device_id, cmdid, nullptr, 0, overtime); }

5
iflytop_canbus/iflytop_canbus_master.hpp
View File

@ -96,6 +96,8 @@ class IflytopCanbusMaster {
void sendraw(int32_t fromId, uint8_t *data, size_t len);
int32_t getAck(int32_t index);
public:
/***********************************************************************************************************************
* FUNC IMPL *
@ -104,7 +106,6 @@ class IflytopCanbusMaster {
void readreg(int32_t device_id, int32_t regaddr, int32_t *val);
void writereg(int32_t device_id, int32_t regaddr, int32_t val);
void step_motor_enable(int32_t device_id, int32_t enable) { callcmd1(device_id, kstep_motor_enable, enable); }
void step_motor_easy_rotate(int32_t device_id, int32_t direction) { callcmd1(device_id, kstep_motor_easy_rotate, direction); }
void step_motor_easy_move_by(int32_t device_id, int32_t distance) { callcmd1(device_id, kstep_motor_easy_move_by, distance); }
@ -136,3 +137,5 @@ class IflytopCanbusMaster {
};
} // namespace iflytop
#define ICM IflytopCanbusMaster::ins()

4
libzqt/zui/z_function_list_box.cpp
View File

@ -69,9 +69,9 @@ void ZQFunctionListBox::newFunc(QString zh_name, QStringList params, std::functi
try {
ZQUI::ins()->instructionPreviewClear();
onButtonClick(params.size(), (const char **)args);
ZQUI::ins()->instructionPreviewShow("OK");
ZQUI::ins()->ishow("OK");
} catch (const std::zexception &e) {
ZQUI::ins()->instructionPreviewShow("%s", e.what());
ZQUI::ins()->ishow("%s", e.what());
}
});
});

6
libzqt/zui/z_reg_table_list_box.cpp
View File

@ -155,7 +155,7 @@ void ZRegTableList::readAll() {
ZRegItem *item = it.value();
int32_t val;
try {
ZQUI::ins()->instructionPreviewShow("try read reg %s", it.key().toStdString().c_str());
ZQUI::ins()->ishow("try read reg %s", it.key().toStdString().c_str());
m_readreg_fn(item->m_addr, &val);
QString displayval = formatRegVal(val, item->m_flag);
QLineEdit *displayiterm = item->m_val;
@ -164,7 +164,9 @@ void ZRegTableList::readAll() {
displayiterm->setText(displayval);
});
} catch (std::zexception &e) {
ZQUI::ins()->doinui([item]() { item->hide(); });
ZQUI::ins()->doinui([item]() {
// item->hide();
});
}
}
}

4
libzqt/zui/zqui.cpp
View File

@ -11,14 +11,14 @@ ZQUI *ZQUI::ins() {
return &instance;
}
void ZQUI::instructionPreviewShow(const char *fmt, ...) {
void ZQUI::ishow(const char *fmt, ...) {
va_list args;
va_start(args, fmt);
char buf[1024] = {0};
vsnprintf(buf, sizeof(buf), fmt, args);
va_end(args);
QString text(buf);
if (m_instructionPreviewShow) m_instructionPreviewShow(text);
if (m_ishow) m_ishow(text);
}
void ZQUI::instructionPreviewClear() {

6
libzqt/zui/zqui.hpp
View File

@ -41,7 +41,7 @@ class ZQUI : public QObject {
public:
typedef std::function<void(QString)> display_func_t;
std::function<void(QString)> m_instructionPreviewShow;
std::function<void(QString)> m_ishow;
std::function<void(QString)> m_reportPreviewShow;
std::function<void(QString)> m_blockDataUploadPreviewShow;
std::function<void(QString)> m_rawshow;
@ -53,13 +53,13 @@ class ZQUI : public QObject {
void initialize();
void doinui(std::function<void()> dowhat);
void instructionPreviewShow(const char *fmt, ...);
void ishow(const char *fmt, ...);
void reportPreviewShow(const char *fmt, ...);
void blockDataUploadPreviewShow(const char *fmt, ...);
void rawshow(const char *fmt, ...);
void instructionPreviewClear();
void setInstructionPreviewShow(std::function<void(QString)> func) { m_instructionPreviewShow = func; }
void setishow(std::function<void(QString)> func) { m_ishow = func; }
void setReportPreviewShow(std::function<void(QString)> func) { m_reportPreviewShow = func; }
void setBlockDataUploadPreviewShow(std::function<void(QString)> func) { m_blockDataUploadPreviewShow = func; }
void setrawshow(std::function<void(QString)> func) { m_rawshow = func; }

1
src/main.cpp
View File

@ -29,7 +29,6 @@
#define TAG "Main"
using namespace std;
QT_CHARTS_USE_NAMESPACE
int main(int argc, char *argv[]) {
WSADATA wsaData;
WSAStartup(MAKEWORD(2, 2), &wsaData);

183
src/mainwindow.cpp
View File

@ -20,6 +20,9 @@
#include <thread>
#include "zui/zui.hpp"
//
#include "tab/module_opera_tab.hpp"
#include "tab/step_motor_ctrl_tab.hpp"
using namespace std;
using namespace iflytop;
@ -33,20 +36,24 @@ static MainWindow *m_mainWindow;
static QTDataChannel G_QTDataChannel;
static QTDataChannel G_WaveDataChannel;
static int PublicState_DeviceIDVal = 0;
int PublicState_DeviceIDVal = 0;
int getDeviceId() { return PublicState_DeviceIDVal; }
Ui::MainWindow *main_ui;
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;
}
// static inline 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) {
@ -57,7 +64,7 @@ void MainWindow::doinui_slot(QFunction func) {
* PreviewShow *
***********************************************************************************************************************/
void MainWindow::instructionPreviewShow(QString text) {
void MainWindow::ishow(QString text) {
QString info;
info.append(QDateTime::currentDateTime().toString("hh:mm:ss.zzz "));
info.append(" |");
@ -207,6 +214,9 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWi
/**
* @brief QT初始化
*/
main_ui = ui;
ui->setupUi(this);
m_mainWindow = this;
qRegisterMetaType<int32_t>("int32_t");
@ -217,7 +227,7 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWi
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()->setishow([this](QString text) { ishow(text); });
ZQUI::ins()->setReportPreviewShow([this](QString text) { reportPreviewShow(text); });
ZQUI::ins()->setrawshow([this](QString text) { rawshow(text); });
ZQUI::ins()->setInstructionPreviewClear([this]() { instructionPreviewClear(); });
@ -236,12 +246,13 @@ 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) {
if (type == kcmd_cmd) {
zcr_cmd_header_t *frame = (zcr_cmd_header_t *)hex;
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;
int cmdId = frame->cmdMainId * 8 + frame->cmdSubId;
int32_t *param = (int32_t *)frame->data;
int32_t mid = frame->subModuleid;
if (type == kcmd_cmd) {
ZQUI::ins()->rawshow("[CMD ] %s", zhex2str(hex, hexlen).c_str());
if (cmdId == kmodule_set_reg) {
ZQUI::ins()->rawshow(" [-->] module_set_reg %d(mid) %d(reg) %d(val)", mid, param[0], param[1]);
@ -252,7 +263,11 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWi
}
} else if (type == kcmd_receipt) {
ZQUI::ins()->rawshow("[RECEIPT] %s", zhex2str(hex, hexlen).c_str());
if (kptv2_error_ack == packetType) {
ZQUI::ins()->rawshow("[E-RECEI] %s(%d)", err::error2str(param[0]), param[0]);
} else {
ZQUI::ins()->rawshow("[ RECEI] %s", zhex2str(hex, hexlen).c_str());
}
} else if (type == kcmd_report) {
ZQUI::ins()->rawshow("[REPORT ] %s", zhex2str(hex, hexlen).c_str());
}
@ -261,142 +276,16 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWi
MainWindow::~MainWindow() { delete ui; }
void MainWindow::processException(const zexception &e) { //
ZQUI::ins()->instructionPreviewShow("%s", e.what());
ZQUI::ins()->ishow("%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_step_motor_irun, atoi(args[0])); });
box->newFunc("设置IHOLD", {"[0-31]"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->writereg(getDeviceId(), kreg_step_motor_ihold, atoi(args[0])); });
box->newFunc("设置默认速度", {"velocity"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->writereg(getDeviceId(), kreg_step_motor_default_velocity, atoi(args[0])); });
box->newFunc("激活配置", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->step_motor_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);
// });
// }
{
// PublicState_DeviceIDVal = ui->PublicState_DeviceID->toPlainText().toInt();
ZQFunctionListBox *box = new ZQFunctionListBox(tab, "电机操作", 4);
box->newFunc("停止电机", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->step_motor_stop(getDeviceId(), 0); });
box->newFunc("激活配置", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->step_motor_active_cfg(getDeviceId()); });
box->newFunc("电机使能", {"enable"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->step_motor_enable(getDeviceId(), atoi(args[0])); });
box->newFunc("电机旋转", {"direction"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->step_motor_easy_rotate(getDeviceId(), atoi(args[0])); });
box->newFunc("电机移动", {"distance"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->step_motor_easy_move_by(getDeviceId(), atoi(args[0])); });
box->newFunc("电机移动到", {"position"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->step_motor_easy_move_to(getDeviceId(), atoi(args[0])); });
box->newFunc("电机归零", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->step_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()->step_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()->step_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;
});
}
}
ModuleOperaTab::inst()->construct(ui->buttonTabWidget);
/***********************************************************************************************************************
* 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();
// }
StepMotorCtrlTab::inst()->construct(ui->buttonTabWidget);
StepMotorCtrlTab::inst()->constructRegTab(ui->buttonTabWidget);
}
void MainWindow::on_PublicState_ConfirmKey_clicked() {}

2
src/mainwindow.h
View File

@ -99,7 +99,7 @@ signals:
static void log_output(QtMsgType type, const QMessageLogContext &context, const QString &msg);
void instructionPreviewClear();
void instructionPreviewShow(QString info);
void ishow(QString info);
void reportPreviewShow(QString info);
void blockDataUploadPreviewShow(QString info);
void rawshow(QString info);

31
src/qt_serial_datachannel.cpp
View File

@ -1,3 +1,8 @@
#include <winsock2.h>
//
#include <Windows.h>
//
#include "qt_serial_datachannel.hpp"
//
@ -5,8 +10,6 @@
#include <QtSerialPort/QSerialPort>
#include <QtSerialPort/QSerialPortInfo>
#pragma comment(lib, "ws2_32.lib")
#include "logger.hpp"
using namespace iflytop;
@ -127,11 +130,12 @@ bool QTDataChannel::send(const uint8_t *data, size_t len) {
ZLOGI(TAG, "send %s", zhex2str(data, len).c_str());
DWORD dwBytesWrite = len;
BOOL bWriteStat = WriteFile(m_CommHandler, // 串口句柄
(char *)data, // 数据首地址
dwBytesWrite, // 要发送的数据字节数
&dwBytesWrite, // DWORD*，用来接收返回成功发送的数据字节数
NULL); // NULL为同步发送，OVERLAPPED*为异步发送
// BOOL bWriteStat =
WriteFile(m_CommHandler, // 串口句柄
(char *)data, // 数据首地址
dwBytesWrite, // 要发送的数据字节数
&dwBytesWrite, // DWORD*，用来接收返回成功发送的数据字节数
NULL); // NULL为同步发送，OVERLAPPED*为异步发送
return dwBytesWrite;
}
void QTDataChannel::regRxListener(function<void(uint8_t *data, size_t len)> cb) { m_rxcb = cb; }
@ -146,11 +150,12 @@ int QTDataChannel::com_receive(uint8_t *rxbuf, int rxbufsize) {
// PurgeComm(m_CommHandler, PURGE_RXCLEAR);
DWORD wCount = rxbufsize; // 成功读取的数据字节数
BOOL bReadStat = ReadFile(m_CommHandler, // 串口句柄
rxbuf, // 数据首地址
wCount, // 要读取的数据最大字节数
&wCount, // DWORD*,用来接收返回成功读取的数据字节数
NULL);
DWORD wCount = rxbufsize; // 成功读取的数据字节数
// BOOL bReadStat =
ReadFile(m_CommHandler, // 串口句柄
rxbuf, // 数据首地址
wCount, // 要读取的数据最大字节数
&wCount, // DWORD*,用来接收返回成功读取的数据字节数
NULL);
return wCount;
}

5
src/qt_serial_datachannel.hpp
View File

@ -13,9 +13,8 @@
#include <vector>
//
#include <winsock2.h>
//
#include <Windows.h>
//
#include <QtSerialPort/QSerialPort>
#include <QtSerialPort/QSerialPortInfo>

52
src/tab/module_opera_tab.cpp
View File

@ -0,0 +1,52 @@
#include "module_opera_tab.hpp"
#include "iflytop_canbus/iflytop_canbus_master.hpp"
#include "logger.hpp"
#include "qt_serial_datachannel.hpp"
#include "zexception.hpp"
#include "zui/z_function_list_box.hpp"
#include "zui/zq_vtab_page.hpp"
//
#include "./mainwindow.h"
#include "zui\zqui.hpp"
//
using namespace iflytop;
using namespace std;
extern Ui::MainWindow *main_ui;
extern int getDeviceId();
ModuleOperaTab *ModuleOperaTab::inst() {
static ModuleOperaTab *ins = new ModuleOperaTab();
return ins;
}
void ModuleOperaTab::construct(QTabWidget *fathertab) {
/***********************************************************************************************************************
* 模块操作 *
***********************************************************************************************************************/
// main_ui->
ZQVTabPage *tab = new ZQVTabPage(fathertab, "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()->ishow("module :%d isOnline", i);
} catch (const zexception &e) {
if (e.ecode() != ke_overtime) {
ZQUI::ins()->ishow("%s", e.what());
break;
}
}
}
ZQUI::ins()->ishow("ScanModuleEnd");
});
}
tab->addSpacer();
}

43
src/tab/module_opera_tab.hpp
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#pragma once
#include <QDateTime>
#include <QMainWindow>
#include <QMessageBox>
#include <QObject>
#include <QtConcurrent>
#include <QtCore/QVariant>
#include <QtSerialPort/QSerialPort>
#include <QtSerialPort/QSerialPortInfo>
#include <QtWidgets/QAction>
#include <QtWidgets/QApplication>
#include <QtWidgets/QComboBox>
#include <QtWidgets/QFormLayout>
#include <QtWidgets/QGridLayout>
#include <QtWidgets/QGroupBox>
#include <QtWidgets/QHBoxLayout>
#include <QtWidgets/QLabel>
#include <QtWidgets/QLineEdit>
#include <QtWidgets/QMainWindow>
#include <QtWidgets/QMenu>
#include <QtWidgets/QMenuBar>
#include <QtWidgets/QPushButton>
#include <QtWidgets/QSpacerItem>
#include <QtWidgets/QStatusBar>
#include <QtWidgets/QTabWidget>
#include <QtWidgets/QTextBrowser>
#include <QtWidgets/QTextEdit>
#include <QtWidgets/QVBoxLayout>
#include <QtWidgets/QWidget>
//
#include <functional>
namespace iflytop {
using namespace std;
class ModuleOperaTab {
public:
static ModuleOperaTab* inst();
void construct(QTabWidget *fathertab);
};
} // namespace iflytop

130
src/tab/step_motor_ctrl_tab.cpp
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#include "step_motor_ctrl_tab.hpp"
#include "iflytop_canbus/iflytop_canbus_master.hpp"
#include "logger.hpp"
#include "qt_serial_datachannel.hpp"
#include "zexception.hpp"
#include "zui/z_function_list_box.hpp"
#include "zui/z_reg_table_list_box.hpp"
#include "zui/zq_vtab_page.hpp"
//
#include "./mainwindow.h"
#include "zui\zqui.hpp"
//
using namespace iflytop;
using namespace std;
extern Ui::MainWindow *main_ui;
extern int getDeviceId();
StepMotorCtrlTab *StepMotorCtrlTab::inst() {
static StepMotorCtrlTab *ins = new StepMotorCtrlTab();
return ins;
}
void StepMotorCtrlTab::construct(QTabWidget *fathertab) {
/***********************************************************************************************************************
* 模块操作 *
***********************************************************************************************************************/
// kstep_motor_enable = NEW_CMDID(101, 1), // para:{1}, ack:{}
// kstep_motor_read_pos = NEW_CMDID(101, 2), // para:{}, ack:{4}
// kstep_motor_easy_rotate = NEW_CMDID(101, 3), // para:{4}, ack:{}
// kstep_motor_easy_move_by = NEW_CMDID(101, 4), // para:{4}, ack:{}
// kstep_motor_easy_move_to = NEW_CMDID(101, 5), // para:{4}, ack:{}
// kstep_motor_easy_move_to_zero = NEW_CMDID(101, 6), // para:{1}, ack:{}
// kstep_motor_easy_set_current_pos = NEW_CMDID(101, 7), // para:{4}, ack:{}
// kstep_motor_easy_move_to_io = NEW_CMDID(101, 8), // para:{4,4}, ack:{}
// kstep_motor_active_cfg = NEW_CMDID(101, 9), // para:{4,4}, ack:{}
// kstep_motor_stop = NEW_CMDID(101, 10), // para:{4}, ack:{}
// kstep_motor_read_io_state = NEW_CMDID(101, 11), // para:{4}, ack:{4}
ZQVTabPage *tab = new ZQVTabPage(fathertab, "步进电机");
{
ZQFunctionListBox *box = new ZQFunctionListBox(tab, "方法", 4);
// kmodule_get_status = CMDID(1, 4), // para:{}, ack:{4}
// kmodule_stop = CMDID(1, 1), // para:{}, ack:{}
// kmodule_get_error = CMDID(1, 10), // para:{}, ack:{1}
// kmodule_clear_error = CMDID(1, 11), // para:{}, ack:{}
// kmodule_active_cfg = CMDID(1, 16), // para:{}, ack:{}
box->newFunc("M-获取状态", {}, [this](int argn, const char **args) {
int32_t status = 0;
ICM->callcmd0(getDeviceId(), kmodule_get_status);
ZQUI::ins()->ishow("Status:%d", ICM->getAck(0));
});
box->newFunc("M-停止", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kmodule_stop); });
box->newFunc("M-获取错误", {}, [this](int argn, const char **args) {
ICM->callcmd0(getDeviceId(), kmodule_get_error);
ZQUI::ins()->ishow("Error:%d", ICM->getAck(0));
});
box->newFunc("M-清除错误", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kmodule_clear_error); });
box->newFunc("使能", {"enable"}, [this](int argn, const char **args) { ICM->step_motor_enable(getDeviceId(), atoi(args[0])); });
box->newFunc("读取位置", {}, [this](int argn, const char **args) {
int32_t pos = 0;
ICM->step_motor_read_pos(getDeviceId(), &pos);
ZQUI::ins()->ishow("Pos:%d", pos);
});
box->newFunc("旋转", {"direction"}, [this](int argn, const char **args) { ICM->step_motor_easy_rotate(getDeviceId(), atoi(args[0])); });
box->newFunc("相对移动", {"distance"}, [this](int argn, const char **args) { ICM->step_motor_easy_move_by(getDeviceId(), atoi(args[0])); });
box->newFunc("移动到", {"position"}, [this](int argn, const char **args) { ICM->step_motor_easy_move_to(getDeviceId(), atoi(args[0])); });
box->newFunc("归零", {}, [this](int argn, const char **args) { ICM->step_motor_easy_move_to_zero(getDeviceId()); });
box->newFunc("设置当前位置", {"position"}, [this](int argn, const char **args) { ICM->step_motor_easy_set_current_pos(getDeviceId(), atoi(args[0])); });
box->newFunc("移动到IO", {"ioindex"}, [this](int argn, const char **args) { ICM->step_motor_easy_move_to_io(getDeviceId(), atoi(args[0])); });
box->newFunc("激活配置", {}, [this](int argn, const char **args) { ICM->step_motor_active_cfg(getDeviceId()); });
box->newFunc("停止", {}, [this](int argn, const char **args) { ICM->step_motor_stop(getDeviceId(), 0); });
box->newFunc("读取IO状态", {"ioindex"}, [this](int argn, const char **args) {
int32_t io = 0;
ICM->step_motor_read_io_state(getDeviceId(), atoi(args[0]), &io);
ZQUI::ins()->ishow("IO:%d", io);
});
}
tab->addSpacer();
}
void StepMotorCtrlTab::constructRegTab(QTabWidget *fathertab) {
ZQVTabPage *tab = new ZQVTabPage(fathertab, "步进电机-寄存器");
ZRegTableList *tableBox = new ZRegTableList(tab, "寄存器操作");
tableBox->initializeRegOperation(
[this](int32_t add, int32_t val) { //
ICM->writereg(getDeviceId(), add, val);
return true;
},
[this](int32_t add, int32_t *val) { //
ICM->readreg(getDeviceId(), add, val);
return true;
});
tableBox->addReg("mod-version", kreg_module_version, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("mod-type", kreg_module_type, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("mod-status", kreg_module_status, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("mod-errorcode", kreg_module_errorcode, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_pos", kreg_step_motor_pos, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_dpos", kreg_step_motor_dpos, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_shift", kreg_step_motor_shift, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_shaft", kreg_step_motor_shaft, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_one_circle_pulse", kreg_step_motor_one_circle_pulse, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_one_circle_pulse_denominator", kreg_step_motor_one_circle_pulse_denominator, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_default_velocity", kreg_step_motor_default_velocity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_default_acc", kreg_step_motor_default_acc, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_default_dec", kreg_step_motor_default_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_default_break_dec", kreg_step_motor_default_break_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_ihold", kreg_step_motor_ihold, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_irun", kreg_step_motor_irun, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_iholddelay", kreg_step_motor_iholddelay, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_iglobalscaler", kreg_step_motor_iglobalscaler, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_run_to_zero_max_d", kreg_step_motor_run_to_zero_max_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_look_zero_edge_max_d", kreg_step_motor_look_zero_edge_max_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_run_to_zero_speed", kreg_step_motor_run_to_zero_speed, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_run_to_zero_dec", kreg_step_motor_run_to_zero_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_look_zero_edge_speed", kreg_step_motor_look_zero_edge_speed, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_look_zero_edge_dec", kreg_step_motor_look_zero_edge_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_max_d", kreg_step_motor_max_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_min_d", kreg_step_motor_min_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addSpacer();
tab->addSpacer();
}

44
src/tab/step_motor_ctrl_tab.hpp
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#pragma once
#include <QDateTime>
#include <QMainWindow>
#include <QMessageBox>
#include <QObject>
#include <QtConcurrent>
#include <QtCore/QVariant>
#include <QtSerialPort/QSerialPort>
#include <QtSerialPort/QSerialPortInfo>
#include <QtWidgets/QAction>
#include <QtWidgets/QApplication>
#include <QtWidgets/QComboBox>
#include <QtWidgets/QFormLayout>
#include <QtWidgets/QGridLayout>
#include <QtWidgets/QGroupBox>
#include <QtWidgets/QHBoxLayout>
#include <QtWidgets/QLabel>
#include <QtWidgets/QLineEdit>
#include <QtWidgets/QMainWindow>
#include <QtWidgets/QMenu>
#include <QtWidgets/QMenuBar>
#include <QtWidgets/QPushButton>
#include <QtWidgets/QSpacerItem>
#include <QtWidgets/QStatusBar>
#include <QtWidgets/QTabWidget>
#include <QtWidgets/QTextBrowser>
#include <QtWidgets/QTextEdit>
#include <QtWidgets/QVBoxLayout>
#include <QtWidgets/QWidget>
//
#include <functional>
namespace iflytop {
using namespace std;
class StepMotorCtrlTab {
public:
static StepMotorCtrlTab *inst();
void construct(QTabWidget *fathertab);
void constructRegTab(QTabWidget *fathertab);
};
} // namespace iflytop
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