update

CMakeLists.txt

@@ -47,6 +47,9 @@ set(PROJECT_SOURCES
 
         src/tab/step_motor_ctrl_tab.cpp
         src/tab/module_opera_tab.cpp
+        src/tab/board_ext_tab.cpp
+        src/tab/mini_servo_tab.cpp
+
         a8000_protocol/api/apibasic/errorcode.cpp
 )
 

src/mainwindow.cpp

@@ -21,6 +21,8 @@
 
 #include "zui/zui.hpp"
 //
+#include "tab/board_ext_tab.hpp"
+#include "tab/mini_servo_tab.hpp"
 #include "tab/module_opera_tab.hpp"
 #include "tab/step_motor_ctrl_tab.hpp"
 
@@ -282,11 +284,21 @@ void MainWindow::processException(const zexception &e) {  //
 int32_t MainWindow::getDeviceId() { return PublicState_DeviceIDVal; }
 
 void MainWindow::constructAppUI() {
-  ModuleOperaTab::inst()->construct(ui->buttonTabWidget);
+  ModuleOperaTab::inst()->construct(ui->moduleOpera);
+  BoardExtTab::inst()->construct(ui->buttonTabWidget);
 
   StepMotorCtrlTab::inst()->construct(ui->buttonTabWidget);
   StepMotorCtrlTab::inst()->constructRegTab(ui->buttonTabWidget);
+
+  MiniServoTab::inst()->construct(ui->buttonTabWidget);
 }
 
 void MainWindow::on_PublicState_ConfirmKey_clicked() {}
 void MainWindow::on_PublicState_DeviceID_textChanged() { PublicState_DeviceIDVal = ui->PublicState_DeviceID->toPlainText().toInt(); }
+
+void MainWindow::on_clearPreview_clicked() {
+  doinui_signal(QFunction([this]() { ui->instructionPreview->clear(); }));
+  doinui_signal(QFunction([this]() { ui->reportPreview->clear(); }));
+  doinui_signal(QFunction([this]() { ui->uploadDataPreview->clear(); }));
+  doinui_signal(QFunction([this]() { ui->rawDataPreview->clear(); }));
+}

src/mainwindow.h

@@ -92,6 +92,8 @@ class MainWindow : public QMainWindow {
 
   void on_PublicState_DeviceID_textChanged();
 
+  void on_clearPreview_clicked();
+
 signals:
   void doinui_signal(QFunction);
 

src/mainwindow.ui

@@ -853,14 +853,17 @@ QScrollBar::add-page:vertical, QScrollBar::sub-page:vertical {
            </widget>
           </item>
           <item>
-           <widget class="QTextBrowser" name="textBrowser">
-            <property name="html">
-             <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+           <widget class="QGroupBox" name="moduleOpera">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="title">
+             <string/>
             </property>
+            <layout class="QVBoxLayout" name="verticalLayout_9"/>
            </widget>
           </item>
           <item>

src/tab/board_ext_tab.cpp

@@ -0,0 +1,66 @@
+#include "board_ext_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();
+
+BoardExtTab *BoardExtTab::inst() {
+  static BoardExtTab *ins = new BoardExtTab();
+  return ins;
+}
+
+void BoardExtTab::construct(QTabWidget *fathertab) {
+  ZQVTabPage *tab = new ZQVTabPage(fathertab, "板载扩展资源");
+  /***********************************************************************************************************************
+   *                                                      模块操作                                                       *
+   ***********************************************************************************************************************/
+  {
+    ZQFunctionListBox *box = new ZQFunctionListBox(tab, "方法", 4);
+
+    box->newFunc("读取IO", {"ioindex"}, [this](int argn, const char **args) {
+      int32_t status = 0;
+      ICM->callcmd1(getDeviceId(), kboard_read_ext_io, atoi(args[0]));
+      ZQUI::ins()->ishow("Status:%d", ICM->getAck(0));
+    });
+
+    box->newFunc("写入IO", {"ioindex"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kboard_write_ext_io, atoi(args[0])); });
+  }
+
+  /***********************************************************************************************************************
+   *                                                     寄存器操作                                                      *
+   ***********************************************************************************************************************/
+  {
+    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->addSpacer();
+  }
+
+  tab->addSpacer();
+}

src/tab/board_ext_tab.hpp

@@ -0,0 +1,43 @@
+#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 BoardExtTab {
+ public:
+  static BoardExtTab *inst();
+
+  void construct(QTabWidget *fathertab);
+};
+}  // namespace iflytop

src/tab/mini_servo_tab.cpp

@@ -0,0 +1,79 @@
+#include "mini_servo_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();
+
+MiniServoTab *MiniServoTab::inst() {
+  static MiniServoTab *ins = new MiniServoTab();
+  return ins;
+}
+
+void MiniServoTab::construct(QTabWidget *fathertab) {
+  ZQVTabPage *tab = new ZQVTabPage(fathertab, "舵机");
+  /***********************************************************************************************************************
+   *                                                      模块操作                                                       *
+   ***********************************************************************************************************************/
+  {
+    ZQFunctionListBox *box = new ZQFunctionListBox(tab, "方法", 4);
+
+    box->newFunc("使能", {"enable"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kmini_servo_enable, atoi(args[0])); });
+    box->newFunc("读取位置", {}, [this](int argn, const char **args) {
+      ICM->callcmd0(getDeviceId(), kmini_servo_read_pos);
+      ZQUI::ins()->ishow("Position:%d", ICM->getAck(0));
+    });
+    box->newFunc("激活配置", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kmini_servo_active_cfg); });
+    box->newFunc("停止", {"breakstop"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kmini_servo_stop, atoi(args[0])); });
+    box->newFunc("旋转", {"direction"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kmini_servo_rotate, atoi(args[0])); });
+    box->newFunc("移动到", {"position"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kmini_servo_move_to, atoi(args[0])); });
+    box->newFunc("设置中点", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kmini_servo_set_mid_point); });
+    box->newFunc("读取IO状态", {"ioindex"}, [this](int argn, const char **args) {
+      ICM->callcmd1(getDeviceId(), kmini_servo_read_io_state, atoi(args[0]));
+      ZQUI::ins()->ishow("IO:%d", ICM->getAck(0));
+    });
+  }
+
+  /***********************************************************************************************************************
+   *                                                     寄存器操作                                                      *
+   ***********************************************************************************************************************/
+  {
+    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("pos", kreg_mini_servo_pos, ZRegItem::krw | ZRegItem::kdec);
+    tableBox->addReg("limit-velocity", kreg_mini_servo_limit_velocity, ZRegItem::krw | ZRegItem::kdec);
+    tableBox->addReg("limit-torque", kreg_mini_servo_limit_torque, ZRegItem::krw | ZRegItem::kdec);
+    tableBox->addReg("protective-torque", kreg_mini_servo_protective_torque, ZRegItem::krw | ZRegItem::kdec);
+
+    tableBox->addSpacer();
+  }
+
+  tab->addSpacer();
+}

src/tab/mini_servo_tab.hpp

@@ -0,0 +1,43 @@
+#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 MiniServoTab {
+ public:
+  static MiniServoTab *inst();
+
+  void construct(QTabWidget *fathertab);
+};
+}  // namespace iflytop

src/tab/module_opera_tab.cpp

@@ -17,26 +17,77 @@ extern Ui::MainWindow *main_ui;
 
 extern int getDeviceId();
 
+// typedef enum {
+//   kuniversal_module        = 0,  // 通用模块
+//   khbot_module             = 1,  // hbot模块
+//   kmotor_module            = 2,  // 电机控制
+//   ktemperature_ctrl_module = 3,  // 温度控制
+//   kfan_ctrl_module         = 5,  // 风扇控制
+//   kcode_scaner             = 6,  // 风扇控制
+//   kpipette_ctrl_module     = 7,  // 移液体枪控制
+//   ka8000_optical_module    = 8,  // a8000光学模组
+//   klaster_scaner_module    = 9,  // a8000光学模组
+
+//   ktmc_step_motor          = 10,  // 步进电机
+//   kmini_servo_motor_module = 11,  // 舵机
+//   kboard                   = 12,  // 舵机
+// } module_type_t;
+
+static const char *module_type2_str(int id) {
+  switch (id) {
+    case kuniversal_module:
+      return "通用模块";
+    case khbot_module:
+      return "hbot模块";
+    case kmotor_module:
+      return "电机控制";
+    case ktemperature_ctrl_module:
+      return "温度控制";
+    case kfan_ctrl_module:
+      return "风扇控制";
+    case kcode_scaner:
+      return "风扇控制";
+    case kpipette_ctrl_module:
+      return "移液体枪控制";
+    case ka8000_optical_module:
+      return "a8000光学模组";
+    case klaster_scaner_module:
+      return "a8000光学模组";
+      //
+    case ktmc_step_motor:
+      return "步进电机";
+    case kmini_servo_motor_module:
+      return "舵机";
+    case kboard:
+      return "板子扩展";
+    default:
+      return "未知模块";
+  }
+}
 
 ModuleOperaTab *ModuleOperaTab::inst() {
   static ModuleOperaTab *ins = new ModuleOperaTab();
   return ins;
 }
 
-void ModuleOperaTab::construct(QTabWidget *fathertab) {
+void ModuleOperaTab::construct(QWidget *parent) {
   /***********************************************************************************************************************
    *                                                      模块操作                                                       *
    ***********************************************************************************************************************/
   // main_ui->
-  ZQVTabPage *tab = new ZQVTabPage(fathertab, "模块操作");
+  // ZQVTabPage *tab = new ZQVTabPage(fathertab, "模块操作");
 
   {
-    ZQFunctionListBox *box = new ZQFunctionListBox(tab, "模块基础操作", 4);
+    ZQFunctionListBox *box = new ZQFunctionListBox(parent, "模块基础操作", 1);
     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);
+
+          int moduleType;
+          IflytopCanbusMaster::ins()->readreg(i, kreg_module_type, &moduleType);
+
+          ZQUI::ins()->ishow("module :%d isOnline type:%s", i, module_type2_str(moduleType));
         } catch (const zexception &e) {
           if (e.ecode() != ke_overtime) {
             ZQUI::ins()->ishow("%s", e.what());
@@ -46,7 +97,19 @@ void ModuleOperaTab::construct(QTabWidget *fathertab) {
       }
       ZQUI::ins()->ishow("ScanModuleEnd");
     });
+
+    box->newFunc("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("停止", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kmodule_stop); });
+    box->newFunc("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("清除错误", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kmodule_clear_error); });
   }
 
-  tab->addSpacer();
+  // tab->addSpacer();
 }

src/tab/module_opera_tab.hpp

@@ -38,6 +38,6 @@ class ModuleOperaTab {
  public:
   static ModuleOperaTab* inst();
 
-  void construct(QTabWidget *fathertab);
+  void construct(QWidget *parent);
 };
 }  // namespace iflytop

src/tab/step_motor_ctrl_tab.cpp

@@ -43,23 +43,8 @@ void StepMotorCtrlTab::construct(QTabWidget *fathertab) {
 
   {
     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) {