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dialog.cpp
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#include "dialog.h"
#include "ui_dialog.h"
#include "LogHandler.h"
#include <QDebug>
//调用WIN API需要用到的头文件与库
#ifdef Q_OS_WIN
#pragma comment(lib, "user32.lib")
#include <qt_windows.h>
#endif
static Joy_Thread *joy_thread;
Dialog::Dialog(QWidget *parent)
: QDialog(parent)
, ui(new Ui::Dialog)
{
ui->setupUi(this);
joy_thread = new Joy_Thread();
qRegisterMetaType<joyinfoex_tag>("joyinfoex_tag");//注册一种信号的参数类型
connect(joy_thread, SIGNAL(JoySignal_row(joyinfoex_tag)), this, SLOT(display_slot_row(joyinfoex_tag)));
joy_thread->start();
initForm(); //框
m_timerid=-1;
m_timerid_3D=-1;
g_handle=nullptr;
/**************设置窗口**********/
this->setWindowTitle("未连接");//窗口标题
ui->labTitle->setText(QString("运动控制器上位机（%1） 手柄（%2）").arg("未连接","已连接"));
/**************设置弹窗**********/
QPixmap p(":/image/msg_error.png");
p=p.scaled(30,30);
messagebox_warning.setIconPixmap(p);
messagebox_warning.setWindowTitle("提示");
/***********设置连接功能box***********/
groupbox_link=new QGroupBox(widget_canshu);
groupbox_link->setTitle("连接");
combobox_ip=new QComboBox(groupbox_link);//ip下拉列表
QStringList ip;
ip<<"127.0.0.1"<<"192.168.0.11";
combobox_ip->addItems(ip);//添加项目
combobox_ip->setEditable(true);
combobox_ip->setMaxCount(5);
pushbutton_lianjie=new QPushButton(groupbox_link);//连接按钮
pushbutton_lianjie->setText("连接");
QIcon button_iconl(":/image/connect.png");
pushbutton_lianjie->setIcon(button_iconl);
pushbutton_lianjie->setIconSize(QSize(24,24));
//pushbutton_lianjie->setEnabled(false);
pushbutton_lianjie->setMaximumWidth(100);
connect(pushbutton_lianjie, SIGNAL(clicked()), this, SLOT(lianjie()));
pushbutton_duankai=new QPushButton(groupbox_link);//断开按钮
pushbutton_duankai->setText("断开");
QIcon button_icond(":/image/disconnect.png");
pushbutton_duankai->setIcon(button_icond);
pushbutton_duankai->setIconSize(QSize(24,24));
pushbutton_duankai->setEnabled(false);
pushbutton_duankai->setMaximumWidth(100);
pushbutton_duankai->setEnabled(false);
connect(pushbutton_duankai, SIGNAL(clicked()), this, SLOT(duankai()));
//groupbox_link->setFont(font);
//groupbox_link->setStyleSheet("QGroupBox{font-size:9pt}");
groupbox_link->setMaximumHeight(60);
QHBoxLayout* hboxlayout_link=new QHBoxLayout(groupbox_link);//布局
QFormLayout* formlayout_ip=new QFormLayout();
formlayout_ip->addRow("IP:",combobox_ip);
hboxlayout_link->addLayout(formlayout_ip,0);
hboxlayout_link->addWidget(pushbutton_lianjie,1);
hboxlayout_link->addWidget(pushbutton_duankai,2);
hboxlayout_link->setAlignment(Qt::AlignCenter);//居中
/*******设置状态box***********/
QFormLayout* formlayout_axis[3];
for(int i=0;i<3;i++)//三个轴的状态 x(0) y(1) z(2)
{
groupbox_axis[i]=new QGroupBox(ui->widget_status);
formlayout_axis[i]=new QFormLayout(groupbox_axis[i]);
for (int j=0;j<3;j++)
{
label_status[i][j]=new QLabel(widget_canshu);
}
formlayout_axis[i]->addRow("状态:",label_status[i][0]);
formlayout_axis[i]->addRow("位置:",label_status[i][1]);
formlayout_axis[i]->addRow("速度:",label_status[i][2]);
formlayout_axis[i]->setAlignment(Qt::AlignCenter);//居中
}
groupbox_axis[0]->setTitle("X轴");
groupbox_axis[0]->setStyleSheet("color:rgb(0,0,255)");
groupbox_axis[1]->setTitle("Y轴");
groupbox_axis[1]->setStyleSheet("color:rgb(255,0,0)");
groupbox_axis[2]->setTitle("Z轴");
groupbox_axis[2]->setStyleSheet("color:rgb(0,255,0)");
/************参数设置***************/
groupbox_setspeed=new QGroupBox(widget_canshu);
groupbox_setspeed->setTitle("参数设置");
QFormLayout* formlayout_set=new QFormLayout(groupbox_setspeed);
for(int i=0;i<6;i++)
{
lineedit_setspeed[i]=new QLineEdit(groupbox_setspeed);
}
formlayout_set->addRow("加工速度(mm/s):",lineedit_setspeed[0]);
formlayout_set->addRow("最大速度(mm/s):",lineedit_setspeed[1]);
formlayout_set->addRow("加速度(mm/s/s):",lineedit_setspeed[2]);
formlayout_set->addRow("减速度(mm/s/s):",lineedit_setspeed[3]);
formlayout_set->addRow("过渡时间(ms):",lineedit_setspeed[4]);
formlayout_set->addRow("爬行速度(mm/s):",lineedit_setspeed[5]);
lineedit_setspeed[0]->setText("10");//默认值
lineedit_setspeed[1]->setText("25");
lineedit_setspeed[2]->setText("10");
lineedit_setspeed[3]->setText("10");
lineedit_setspeed[4]->setText("10");
lineedit_setspeed[5]->setText("2");
groupbox_setspeed->setMaximumHeight(190);
lineedit_jiting=new QLineEdit(widget_canshu);// /////wgy
lineedit_jiting->setText("-1");
formlayout_set->addRow("急停IO:",lineedit_jiting);
groupbox_pid=new QGroupBox(widget_canshu);
QFormLayout* formlayout_pid[3];
QGridLayout* gridlayout_pid=new QGridLayout(groupbox_pid);
for (int i=0;i<3;i++) {
formlayout_pid[i]=new QFormLayout();
lineedit_pid[i]=new QLineEdit(groupbox_pid);
gridlayout_pid->addLayout(formlayout_pid[i],0,i);
}
gridlayout_pid->setAlignment(Qt::AlignCenter);//居中
formlayout_pid[0]->addRow("P:",lineedit_pid[0]);
formlayout_pid[1]->addRow("I:",lineedit_pid[1]);
formlayout_pid[2]->addRow("D:",lineedit_pid[2]);
lineedit_pid[0]->setText("40");//默认pid参数
lineedit_pid[1]->setText("20");
lineedit_pid[2]->setText("1");
groupbox_pid->setTitle("PID");
//groupbox_pid->setFont(font);
//groupbox_pid->setStyleSheet("QGroupBox{font-size:9pt}");
groupbox_pid->setMaximumHeight(60);
/************脉冲当量与限位设置***************/
QFormLayout* formlayout_mcdl[3];
for(int i=0;i<3;i++)//三个轴的状态 x(0) y(1) z(2)
{
groupbox_limit[i]=new QGroupBox(widget_canshu);
formlayout_mcdl[i]=new QFormLayout(groupbox_limit[i]);
for (int j=0;j<6;j++)
{
lineedit_limit[i][j]=new QLineEdit(groupbox_limit[i]);
}
formlayout_mcdl[i]->addRow("脉冲当量(p/mm):",lineedit_limit[i][0]);
formlayout_mcdl[i]->addRow("正限位(mm):+",lineedit_limit[i][1]);
formlayout_mcdl[i]->addRow("负限位(mm):-",lineedit_limit[i][2]);
formlayout_mcdl[i]->addRow("正限位IO:",lineedit_limit[i][3]);
formlayout_mcdl[i]->addRow("负限位IO:",lineedit_limit[i][4]);
formlayout_mcdl[i]->addRow("回零IO:",lineedit_limit[i][5]);
lineedit_limit[i][0]->setText("26214.4");
lineedit_limit[i][1]->setText("200");
lineedit_limit[i][2]->setText("200");
lineedit_limit[i][3]->setText("-1");
lineedit_limit[i][4]->setText("-1");
lineedit_limit[i][5]->setText(QString::number(i));
groupbox_limit[i]->setMaximumHeight(180);
}
groupbox_limit[0]->setTitle("X轴");
//groupbox_limit[0]->setStyleSheet("color:rgb(255,0,0)");
groupbox_limit[1]->setTitle("Y轴");
//groupbox_limit[1]->setStyleSheet("color:rgb(0,255,0)");
groupbox_limit[2]->setTitle("Z轴");
//groupbox_limit[2]->setStyleSheet("color:rgb(0,0,255)");
/***********保存设置按钮****************/
pushbutton_saveset=new QPushButton(widget_canshu);
pushbutton_saveset->setText("保存设置");
QIcon button_icon3(":/image/save.png");
pushbutton_saveset->setIcon(button_icon3);
pushbutton_saveset->setIconSize(QSize(24,24));
pushbutton_saveset->setEnabled(false);
connect(pushbutton_saveset, SIGNAL(clicked()), this, SLOT(setstatus()));
/***************是否有输入检测*************/
QList<QLineEdit *> alledit = widget_canshu->findChildren<QLineEdit *>();
foreach (QLineEdit * edit, alledit)
{
connect(edit, SIGNAL(textChanged(QString)), this, SLOT(editchange()));
}
/**************布局***********************/
QGridLayout* middle[2]={new QGridLayout(),new QGridLayout()};
middle[0]->addWidget(groupbox_limit[0],0,0);//X轴
middle[0]->addWidget(groupbox_limit[1],0,1);//Y轴
middle[1]->addWidget(groupbox_limit[2],0,0);//Z轴
middle[1]->addWidget(groupbox_setspeed,0,1);//速度设置
QVBoxLayout* vboxlayout_canshu=new QVBoxLayout(widget_canshu);
vboxlayout_canshu->addWidget(groupbox_link,0);
vboxlayout_canshu->addWidget(groupbox_pid,1);
vboxlayout_canshu->addLayout(middle[0],2);
vboxlayout_canshu->addLayout(middle[1],3);
vboxlayout_canshu->addWidget(pushbutton_saveset,4);
QGridLayout* gridlayout_status=new QGridLayout(ui->widget_status);
gridlayout_status->addWidget(groupbox_axis[0],0,1);
gridlayout_status->addWidget(groupbox_axis[1],0,2);
gridlayout_status->addWidget(groupbox_axis[2],0,3);
/************吴炼***************/
// 创建字体
QFont ifont;
ifont.setFamily("FontAwesome");
ifont.setPointSize(20);
/************Message***************/
groupbox_message=new QGroupBox(widget_shoudong);
groupbox_message->setTitle("Message");
QGridLayout* gridlayout_message=new QGridLayout(groupbox_message);
textedit_message=new QTextEdit(groupbox_message);
textedit_message->append("报警记录");
textedit_message->setReadOnly(true);
gridlayout_message->addWidget(textedit_message);
/************变频器参数***************/
groupbox_bpqcanshu=new QGroupBox(widget_shoudong);
groupbox_bpqcanshu->setTitle("变频器参数");
groupbox_bpqcanshu->setMaximumHeight(80);
//groupbox_bpqcanshu->setFont(font);
label_pinlv=new QLabel(groupbox_bpqcanshu);
//label_pinlv->setText("频率");
label_pinlv->setMinimumWidth(15);
QPixmap button_pix(":/image/freq.png");
label_pinlv->setPixmap(button_pix);
lineedit_pinlv=new QLineEdit(groupbox_bpqcanshu);
lineedit_pinlv->setMinimumWidth(320);
pushbutton_yunxing=new QPushButton(groupbox_bpqcanshu);
pushbutton_yunxing->setText("运行");
QIcon button_icony(":/image/startprocess.png");
pushbutton_yunxing->setIcon(button_icony);
pushbutton_yunxing->setIconSize(QSize(18,18));
pushbutton_yunxing->setFlat(true);
pushbutton_yunxing->setMaximumHeight(40);
pushbutton_yunxing->setMaximumWidth(70);
pushbutton_tingzhi=new QPushButton(groupbox_bpqcanshu);
pushbutton_tingzhi->setText("停止");
QIcon button_icont(":/image/stopprocess.png");
pushbutton_tingzhi->setIcon(button_icont);
pushbutton_tingzhi->setIconSize(QSize(18,18));
pushbutton_tingzhi->setFlat(true);
pushbutton_yunxing->setMaximumHeight(40);
pushbutton_tingzhi->setMaximumWidth(70);
radiobutton_zhengxiang=new QRadioButton(groupbox_bpqcanshu);
radiobutton_zhengxiang->setText("正向");
radiobutton_fanxiang=new QRadioButton(groupbox_bpqcanshu);
radiobutton_fanxiang->setText("反向");
buttongroup_zhengfan=new QButtonGroup(groupbox_bpqcanshu);
buttongroup_zhengfan->setId(radiobutton_zhengxiang,0);
buttongroup_zhengfan->setId(radiobutton_fanxiang,1);
buttongroup_zhengfan->addButton(radiobutton_zhengxiang);
buttongroup_zhengfan->addButton(radiobutton_fanxiang);
connect(pushbutton_yunxing, SIGNAL(clicked()), this, SLOT(bpqyunxing()));
connect(pushbutton_tingzhi, SIGNAL(clicked()), this, SLOT(bpqtingzhi()));
QGridLayout* gridlayout_plzf=new QGridLayout;
gridlayout_plzf->addWidget(label_pinlv,0,0);
gridlayout_plzf->addWidget(lineedit_pinlv,0,1,1,2);
gridlayout_plzf->addWidget(radiobutton_zhengxiang,0,3);
gridlayout_plzf->addWidget(radiobutton_fanxiang,0,4);
QGridLayout* gridlayout_yxtz=new QGridLayout;
gridlayout_yxtz->addWidget(pushbutton_yunxing,0,0);
gridlayout_yxtz->addWidget(pushbutton_tingzhi,0,1);
QGridLayout* gridlayout_bpqcanshu=new QGridLayout(groupbox_bpqcanshu);
gridlayout_bpqcanshu->addLayout(gridlayout_plzf,0,0);
gridlayout_bpqcanshu->addLayout(gridlayout_yxtz,1,0);
/************轴限位状态***************/
groupbox_zhouxianwei=new QGroupBox(widget_shoudong);
groupbox_zhouxianwei->setTitle("轴限位状态");
for(int i=0;i<8;i++)
{
label_led_zxw[i]=new QLabel(groupbox_zhouxianwei);
label_led_name[i]=new QLabel(groupbox_zhouxianwei);
label_led_zxw[i]->setFont(ifont);
label_led_zxw[i]->setStyleSheet("color:rgb(90,240,170)");
label_led_zxw[i]->setAlignment(Qt::AlignCenter);
label_led_name[i]->setAlignment(Qt::AlignCenter);
label_led_zxw[i]->setProperty("round","true");
QPixmap pic(":/image/state.png");
label_led_zxw[i]->setPixmap(pic);
}
label_led_zxw[1]->setStyleSheet("color:rgb(240,120,160)");
label_led_name[0]->setText("紧急制动");
label_led_name[1]->setText("门限位");
label_led_name[2]->setText("X+");
label_led_name[3]->setText("X-");
label_led_name[4]->setText("Y+");
label_led_name[5]->setText("Y-");
label_led_name[6]->setText("Z+");
label_led_name[7]->setText("Z-");
checkbox_zhidongfanzhuan=new QCheckBox(widget_shoudong);
checkbox_xianweifanzhuan=new QCheckBox(widget_shoudong);
checkbox_zhidongfanzhuan->setText("制动电平反转");
checkbox_xianweifanzhuan->setText("限位电平反转");
connect(checkbox_zhidongfanzhuan, SIGNAL(clicked()), this, SLOT(handcontrol_zhidongfanzhuan()));
connect(checkbox_xianweifanzhuan, SIGNAL(clicked()), this, SLOT(handcontrol_xianweifanzhuan()));
QGridLayout* gridlayout_zhouxianwei=new QGridLayout(groupbox_zhouxianwei);
QVBoxLayout* vboxlayout_led[8];
for(int i=0;i<8;i++){
vboxlayout_led[i]=new QVBoxLayout;
vboxlayout_led[i]->addWidget(label_led_zxw[i],0);
vboxlayout_led[i]->addWidget(label_led_name[i],1);
}
gridlayout_zhouxianwei->addLayout(vboxlayout_led[label_led_jinjizhidong],0,0,2,1);
gridlayout_zhouxianwei->addLayout(vboxlayout_led[label_led_menxianwei],0,1,2,1);
gridlayout_zhouxianwei->addWidget(checkbox_zhidongfanzhuan,0,2,2,2);
gridlayout_zhouxianwei->addWidget(checkbox_xianweifanzhuan,0,4,2,2);
gridlayout_zhouxianwei->addLayout(vboxlayout_led[label_led_xplus],2,0,2,1);
gridlayout_zhouxianwei->addLayout(vboxlayout_led[label_led_xsub],2,1,2,1);
gridlayout_zhouxianwei->addLayout(vboxlayout_led[label_led_yplus],2,2,2,1);
gridlayout_zhouxianwei->addLayout(vboxlayout_led[label_led_ysub],2,3,2,1);
gridlayout_zhouxianwei->addLayout(vboxlayout_led[label_led_zplus],2,4,2,1);
gridlayout_zhouxianwei->addLayout(vboxlayout_led[label_led_zsub],2,5,2,1);
/************三维手动控制***************/
groupbox_handcontrol=new QGroupBox(widget_shoudong);
groupbox_handcontrol->setTitle("三维手动控制(已支持手柄)");
QGridLayout* gridlayout_handcontrol=new QGridLayout(widget_shoudong);
pushbutton_xzhouhuiling=new QPushButton(groupbox_handcontrol);
pushbutton_xzhouhuiling->setText("X轴回零");
pushbutton_yzhouhuiling=new QPushButton(groupbox_handcontrol);
pushbutton_yzhouhuiling->setText("Y轴回零");
pushbutton_zzhouhuiling=new QPushButton(groupbox_handcontrol);
pushbutton_zzhouhuiling->setText("Z轴回零");
pushbutton_xzhouhuiling->setEnabled(false);
pushbutton_yzhouhuiling->setEnabled(false);
pushbutton_zzhouhuiling->setEnabled(false);
pushbutton_shoudongjiting=new QPushButton(groupbox_handcontrol);
QIcon button_ico(":/image/zero.png");
pushbutton_shoudongjiting->setIcon(button_ico);
pushbutton_shoudongjiting->setIconSize(QSize(20,20));
pushbutton_shoudongjiting->setFlat(true);
pushbutton_shoudongjiting->setText("坐标回零");
for(int i=0;i<6;i++){
pushbutton_handcontrol[i]=new QPushButton(groupbox_handcontrol);
pushbutton_handcontrol[i]->setFont(ifont);
pushbutton_handcontrol[i]->setStyleSheet("color: rgb(150, 240, 240);"); //矢量图颜色
pushbutton_handcontrol[i]->setProperty("round","true");
}
gridlayout_handcontrol->addWidget(pushbutton_handcontrol[0],1,1);
gridlayout_handcontrol->addWidget(pushbutton_handcontrol[1],2,1);
gridlayout_handcontrol->addWidget(pushbutton_handcontrol[2],2,0);
gridlayout_handcontrol->addWidget(pushbutton_handcontrol[3],2,2);
gridlayout_handcontrol->addWidget(pushbutton_handcontrol[4],1,3);
gridlayout_handcontrol->addWidget(pushbutton_handcontrol[5],2,3);
gridlayout_handcontrol->addWidget(pushbutton_xzhouhuiling,0,0);
gridlayout_handcontrol->addWidget(pushbutton_yzhouhuiling,0,1);
gridlayout_handcontrol->addWidget(pushbutton_zzhouhuiling,0,2);
gridlayout_handcontrol->addWidget(pushbutton_shoudongjiting,0,3);
groupbox_handcontrol->setLayout(gridlayout_handcontrol);
QIcon button_ico0(":/image/up.png");
pushbutton_handcontrol[0]->setIcon(button_ico0);
pushbutton_handcontrol[0]->setIconSize(QSize(24,24));
pushbutton_handcontrol[0]->setFlat(true);
QIcon button_ico1(":/image/down.png");
pushbutton_handcontrol[1]->setIcon(button_ico1);
pushbutton_handcontrol[1]->setIconSize(QSize(24,24));
pushbutton_handcontrol[1]->setFlat(true);
QIcon button_ico2(":/image/left.png");
pushbutton_handcontrol[2]->setIcon(button_ico2);
pushbutton_handcontrol[2]->setIconSize(QSize(24,24));
pushbutton_handcontrol[2]->setFlat(true);
QIcon button_ico3(":/image/right.png");
pushbutton_handcontrol[3]->setIcon(button_ico3);
pushbutton_handcontrol[3]->setIconSize(QSize(24,24));
pushbutton_handcontrol[3]->setFlat(true);
QIcon button_ico4(":/image/lift.png");
pushbutton_handcontrol[4]->setIcon(button_ico4);
pushbutton_handcontrol[4]->setIconSize(QSize(24,24));
pushbutton_handcontrol[4]->setFlat(true);
QIcon button_ico5(":/image/decrease.png");
pushbutton_handcontrol[5]->setIcon(button_ico5);
pushbutton_handcontrol[5]->setIconSize(QSize(24,24));
pushbutton_handcontrol[5]->setFlat(true);
connect(pushbutton_handcontrol[0], SIGNAL(pressed()), this, SLOT(handcontrol_yplus()));
connect(pushbutton_handcontrol[0], SIGNAL(released()), this, SLOT(handcontrol_yplus_cancel()));
connect(pushbutton_handcontrol[1], SIGNAL(pressed()), this, SLOT(handcontrol_ysub()));
connect(pushbutton_handcontrol[1], SIGNAL(released()), this, SLOT(handcontrol_ysub_cancel()));
connect(pushbutton_handcontrol[2], SIGNAL(pressed()), this, SLOT(handcontrol_xsub()));
connect(pushbutton_handcontrol[2], SIGNAL(released()), this, SLOT(handcontrol_xsub_cancel()));
connect(pushbutton_handcontrol[3], SIGNAL(pressed()), this, SLOT(handcontrol_xplus()));
connect(pushbutton_handcontrol[3], SIGNAL(released()), this, SLOT(handcontrol_xplus_cancel()));
connect(pushbutton_handcontrol[4], SIGNAL(pressed()), this, SLOT(handcontrol_zplus()));
connect(pushbutton_handcontrol[4], SIGNAL(released()), this, SLOT(handcontrol_zplus_cancel()));
connect(pushbutton_handcontrol[5], SIGNAL(pressed()), this, SLOT(handcontrol_zsub()));
connect(pushbutton_handcontrol[5], SIGNAL(released()), this, SLOT(handcontrol_zsub_cancel()));
connect(pushbutton_xzhouhuiling, SIGNAL(clicked()), this, SLOT(handcontrol_xzhouhuiling()));
connect(pushbutton_yzhouhuiling, SIGNAL(clicked()), this, SLOT(handcontrol_yzhouhuiling()));
connect(pushbutton_zzhouhuiling, SIGNAL(clicked()), this, SLOT(handcontrol_zzhouhuiling()));
connect(pushbutton_shoudongjiting, SIGNAL(clicked()), this, SLOT(handcontrol_shoudongjiting()));
QVBoxLayout* vboxlayout_shoudong=new QVBoxLayout(widget_shoudong);
vboxlayout_shoudong->addWidget(groupbox_handcontrol,0);
vboxlayout_shoudong->addWidget(groupbox_zhouxianwei,1);
vboxlayout_shoudong->addWidget(groupbox_bpqcanshu,2);
vboxlayout_shoudong->addWidget(groupbox_message,3);
//hcy********************************************************************************************************************************开始
/***********自动模式***********/
zhongduan_biaozhi=0;
groupbox_file=new QGroupBox(widget_zidong);
groupbox_file->setTitle("文件导入");
/***********导入文件***********/
pushbutton_daoruwenjian=new QPushButton(groupbox_file);//导入文件按钮
pushbutton_daoruwenjian->setText("导入文件");
QIcon button_icondis(":/image/load.png");
pushbutton_daoruwenjian->setIcon(button_icondis);
pushbutton_daoruwenjian->setIconSize(QSize(20,20));
pushbutton_daoruwenjian->setFlat(true);
pushbutton_daoruwenjian->setEnabled(false);
connect(pushbutton_daoruwenjian, SIGNAL(clicked()), this, SLOT(daoruwenjian()));
/***********启动***********/
pushbutton_qidong=new QPushButton(groupbox_file);//qidong
pushbutton_qidong->setText("启动");
QIcon button_iconq(":/image/begin.png");
pushbutton_qidong->setIcon(button_iconq);
pushbutton_qidong->setIconSize(QSize(20,20));
pushbutton_qidong->setFlat(true);
pushbutton_qidong->setEnabled(false);
connect(pushbutton_qidong, SIGNAL(clicked()), this, SLOT(qidong()));
/***********继续***********/
pushbutton_jixu=new QPushButton(groupbox_file);//
pushbutton_jixu->setText("继续");
QIcon button_iconj(":/image/continue.png");
pushbutton_jixu->setIcon(button_iconj);
pushbutton_jixu->setIconSize(QSize(20,20));
pushbutton_jixu->setFlat(true);
pushbutton_jixu->setEnabled(false);
pushbutton_jixu->setEnabled(false);
connect(pushbutton_jixu, SIGNAL(clicked()), this, SLOT(Continue()));
/***********坐标清零+清屏***********/
pushbutton_zuobiaoqingling=new QPushButton(groupbox_file);//
pushbutton_zuobiaoqingling->setText("坐标清零+清屏");
connect(pushbutton_zuobiaoqingling, SIGNAL(clicked()), this, SLOT(zuobiaoqingling()));
//pushbutton_zuobiaoqingling->setGeometry(140,70,100,40);
/***********暂停***********/
pushbutton_zanting=new QPushButton(groupbox_file);//
pushbutton_zanting->setText("暂停");
QIcon button_iconz(":/image/stop.png");
pushbutton_zanting->setIcon(button_iconz);
pushbutton_zanting->setIconSize(QSize(20,20));
pushbutton_zanting->setFlat(true);
pushbutton_zanting->setEnabled(false);
connect(pushbutton_zanting, SIGNAL(clicked()), this, SLOT(Pause()));
/***********对刀点记忆***********/
pushbutton_duidaodianjiyi=new QPushButton(groupbox_file);//
pushbutton_duidaodianjiyi->setText("对刀点记忆");
//pushbutton_duidaodianjiyi->setGeometry(250,70,100,40);
connect(pushbutton_duidaodianjiyi, SIGNAL(clicked()), this, SLOT(duidaodianjiyi()));
/***********对刀点恢复***********/
pushbutton_duidaodianhuifu=new QPushButton(groupbox_file);//
pushbutton_duidaodianhuifu->setText("对刀点恢复");
//pushbutton_duidaodianhuifu->setGeometry(250,120,100,40);
connect(pushbutton_duidaodianhuifu, SIGNAL(clicked()), this, SLOT(duidaodianhuifu()));
/***********选择文件***********/
lineedit_file=new QLineEdit(groupbox_file);
//lineedit_file->setFont(font);
//lineedit_file->setGeometry(110,30,380,30);
/***********设置G代码box***********/
groupbox_G=new QGroupBox(widget_zidong);
groupbox_G->setTitle("G代码");
//groupbox_G->setGeometry(10,160,470,400);
/***********文件内容***********/
textedit_file=new QTextEdit(groupbox_G);
//textedit_file->setFont(font);
//textedit_file->setGeometry(30,120,380,260);
Gdaimazongshu=new QLabel(groupbox_G);
Gdaimazongshu->setText("G代码总数:");
//Gdaimazongshu->setGeometry(10,10,80,40);
num_Gdaimazongshu=new QLabel(groupbox_G);
num_Gdaimazongshu->setText(QString::number(hangshu));
//num_Gdaimazongshu->setGeometry(100,10,80,40);
jindu=new QLabel(groupbox_G);
jindu->setText("进度:");
//jindu->setGeometry(10,40,80,40);
yiyongshijian=new QLabel(groupbox_G);
yiyongshijian->setText("已用时间:");
//yiyongshijian->setGeometry(10,80,80,40);
num_yiyongshijian=new QLabel(groupbox_G);
//num_yiyongshijian->setGeometry(90,80,80,40);
shengyushijian=new QLabel(groupbox_G);
shengyushijian->setText("剩余时间:");
//shengyushijian->setGeometry(300,80,80,40);
num_shengyushijian=new QLabel(groupbox_G);
//num_shengyushijian->setGeometry(380,80,80,40);
/***********进度条x***********/
jindutiao = new QProgressBar(widget_zidong);
jindutiao->setRange(0,100); //设置进度条最小值和最大值(取值范围)
//jindutiao->setGeometry(80,210,400,30);
QGridLayout* gridlayout_file=new QGridLayout(groupbox_file);
gridlayout_file->addWidget(pushbutton_daoruwenjian,0,0);
gridlayout_file->addWidget(lineedit_file,0,1,1,2);
gridlayout_file->addWidget(pushbutton_qidong,1,0);
gridlayout_file->addWidget(pushbutton_zuobiaoqingling,1,1);
gridlayout_file->addWidget(pushbutton_duidaodianjiyi,1,2);
gridlayout_file->addWidget(pushbutton_jixu,2,0);
gridlayout_file->addWidget(pushbutton_zanting,2,1);
gridlayout_file->addWidget(pushbutton_duidaodianhuifu,2,2);
QGridLayout* gridlayout_G=new QGridLayout(groupbox_G);
gridlayout_G->addWidget(Gdaimazongshu,0,0);
gridlayout_G->addWidget(num_Gdaimazongshu,0,1);
gridlayout_G->addWidget(jindu,1,0);
gridlayout_G->addWidget(jindutiao,1,1,1,5);
gridlayout_G->addWidget(yiyongshijian,2,0);
gridlayout_G->addWidget(num_yiyongshijian,2,1);
gridlayout_G->addWidget(shengyushijian,2,5);
gridlayout_G->addWidget(num_shengyushijian,2,6);
gridlayout_G->addWidget(textedit_file,3,0,1,7);
QVBoxLayout* VBox_zidong=new QVBoxLayout(widget_zidong);
VBox_zidong->addWidget(groupbox_file,0);
VBox_zidong->addWidget(groupbox_G,1);
//3D图放置
// groupbox_3D=new QGroupBox(this);
// groupbox_3D->setTitle("3D图");
// groupbox_3D->setGeometry(100,160,470,400);
glwidget=new GLWidget(ui->widget_3D);
//glwidget->setGeometry(0,0,300,300);
QGridLayout* gridlayout_3D=new QGridLayout(ui->widget_3D);
gridlayout_3D->addWidget(glwidget,0,0);
// VBox_zidong->addWidget(groupbox_3D,2);
//制作人员名单
QVBoxLayout* vboxlayout_staff=new QVBoxLayout(widget_staff);
QGroupBox* staff[6];
QHBoxLayout* layout_staff[6];
QLabel* label_staff[6];
for(int i=0;i<6;i++){
staff[i]=new QGroupBox(widget_staff);
label_staff[i]=new QLabel(staff[i]);
layout_staff[i]=new QHBoxLayout(staff[i]);
layout_staff[i]->addWidget(label_staff[i]);
layout_staff[i]->setAlignment(Qt::AlignCenter);
vboxlayout_staff->addWidget(staff[i]);
staff[i]->setMaximumHeight(50);
//staff[i]->setAlignment(Qt::AlignHCenter);
staff[i]->setProperty("tt","true");
}
staff[0]->setTitle("制作人员");
staff[1]->setTitle("制作人员");
staff[2]->setTitle("制作人员");
staff[3]->setTitle("制作人员");
staff[4]->setTitle("制作人员");
staff[5]->setTitle("开发版本");
label_staff[0]->setText("刘江宇");
label_staff[1]->setText("吕昕宇");
label_staff[2]->setText("付文斌");
label_staff[3]->setText("许瑞奇");
label_staff[4]->setText("吴涛");
label_staff[5]->setText("Qt5.12");
status_in();//读取本地数据
//大模型相关
// 创建TCP套接字
m_socket = new QTcpSocket(this);
// 连接到服务器
connect(m_socket, &QTcpSocket::connected, this, &Dialog::onConnected);
connect(m_socket, &QTcpSocket::disconnected, this, &Dialog::onDisconnected);
connect(m_socket, &QTcpSocket::readyRead, this, &Dialog::onReadyRead);
m_socket->connectToHost("127.0.0.1", 12345); // 连接到本地服务器
// 初始化讯飞API
m_appId = "d790db02";
m_apiKey = "f43f78b7d6b02cf53ef9231bf351aac8";
m_apiSecret = "MThlOGZiMmJmNWUzNDI0OWQzMzJhZGU0";
m_accessToken = "";
m_expireTime = QDateTime();
// 获取访问令牌
getAccessToken();
// 发送聊天信息
connect(m_sendButton, &QPushButton::clicked, this, &Dialog::sendMessage);
// 处理@机器人事件
connect(m_textEdit, &QTextEdit::textChanged, this, &Dialog::onTextChange);
}
Dialog::~Dialog()
{
delete ui;
}
void Dialog::status_out()
{
QFile file("Data.dat");
file.open(QIODevice::WriteOnly|QIODevice::Text);
QDataStream out(&file);
QList<QLineEdit*> lines = widget_canshu->findChildren<QLineEdit*>();
foreach (QLineEdit *line, lines) {//遍历的每个元素
out<<line->text();
}
out<<combobox_ip->currentText();
file.close();
}
void Dialog::status_in()
{
QString a;
QFile file("Data.dat");
if(!file.open(QIODevice::ReadOnly))
return;
QDataStream in(&file);
QList<QLineEdit*> lines = widget_canshu->findChildren<QLineEdit*>();
foreach (QLineEdit *line, lines) {//遍历的每个元素
in>>a;
line->setText(a);
}
in>>a;
if(a!=combobox_ip->currentText()){
combobox_ip->insertItem(0,a);
combobox_ip->setCurrentText(a);
}
file.close();
}
void Dialog::initForm()
{
widget_canshu=new QWidget(this);
widget_zidong=new QWidget(this);
widget_shoudong=new QWidget(this);
widget_staff=new QWidget(this);
widget_canshu->setObjectName("widget_canshu");
widget_zidong->setObjectName("widget_zidong");
widget_shoudong->setObjectName("widget_shoudong");
widget_staff->setObjectName("widget_staff");
ui->stackedWidget->addWidget(widget_canshu);
ui->stackedWidget->addWidget(widget_zidong);
ui->stackedWidget->addWidget(widget_shoudong);
ui->stackedWidget->addWidget(widget_staff);
connect(ui->btnMenu_Min, SIGNAL(clicked(bool)), this, SLOT(onClicked()));
connect(ui->btnMenu_Max, SIGNAL(clicked(bool)), this, SLOT(onClicked()));
connect(ui->btnMenu_Close, SIGNAL(clicked(bool)), this, SLOT(onClicked()));
setWindowFlags(Qt::FramelessWindowHint);//隐藏原标题栏
//添加自定义属性,用于切换ico用
ui->btn_canshu->setProperty("icoName", "para");
ui->btn_zidong->setProperty("icoName", "auto");
ui->btn_shoudong->setProperty("icoName", "manual");
ui->btn_staff->setProperty("icoName", "staff");
//获取所有的btn
QList<QToolButton *> btns = ui->widgetLeft->findChildren<QToolButton *>();
foreach (QToolButton *btn, btns) {//遍历btns的每个元素
btn->setMaximumHeight(80);
btn->setCheckable(true);//可选中
connect(btn, SIGNAL(clicked(bool)), this, SLOT(buttonClick()));
}
ui->btn_canshu->click();
//double dpi=QGuiApplication::primaryScreen()->logicalDotsPerInch()/96;
}
void Dialog::buttonClick()
{
QToolButton *b = qobject_cast<QToolButton *>(sender());
//QToolButton *b = (QToolButton *)sender();
QString text = b->text();
//widgetLeft的所有子控件
QList<QToolButton *> btns = ui->widgetLeft->findChildren<QToolButton *>();
foreach (QToolButton *btn, btns) {
QString icoName = btn->property("icoName").toString();
if (btn != b) { //点下切换图标
btn->setChecked(false);
btn->setIcon(QIcon(QString(":/image/%1.png").arg(icoName)));
} else {
btn->setChecked(true);
btn->setIcon(QIcon(QString(":/image/%1_focus.png").arg(icoName)));
}
}
if(b==ui->btn_canshu)
ui->stackedWidget->setCurrentIndex(0);
else if(b==ui->btn_zidong)
ui->stackedWidget->setCurrentIndex(1);
else if(b==ui->btn_shoudong)
ui->stackedWidget->setCurrentIndex(2);
else if(b==ui->btn_staff)
ui->stackedWidget->setCurrentIndex(3);
//ui->label->setText(text);
}
void Dialog::mouseDoubleClickEvent(QMouseEvent *event)
{
Q_UNUSED(event)
QPoint p=event->pos();;
if(p.y()>50) return;//只在title响应
emit ui->btnMenu_Max->clicked();
}
//进行界面的拖动 界面随着标题栏的移动而移动,windows起作用,其他未定义
void Dialog::mousePressEvent(QMouseEvent *event)
{
#ifdef Q_OS_WIN
QPoint p=event->pos();;
if(p.y()>50) return;//只在title响应
if (ReleaseCapture())
{
QWidget *pWindow = this->window();
if (pWindow->isTopLevel())
{
SendMessage(HWND(pWindow->winId()), WM_SYSCOMMAND, SC_MOVE + HTCAPTION, 0);
}
}
//event->ignore();
#else
#endif
}
//使用事件过滤器监听标题栏所在的窗体，所以当窗体标题、图标等信息发生改变时，标题栏也应该随之改变
bool Dialog::eventFilter(QObject *obj, QEvent *event)
{
switch ( event->type() ) //判断发生事件的类型
{
case QEvent::WindowTitleChange: //窗口标题改变事件
{
QWidget *pWidget = qobject_cast<QWidget *>(obj); //获得发生事件的窗口对象
if (pWidget)
{
//窗体标题改变，则标题栏标题也随之改变
ui->labTitle->setText(pWidget->windowTitle());
return true;
}
}
break;
default:
return QWidget::eventFilter(obj, event);
}
return QWidget::eventFilter(obj, event);
}
//进行最小化、最大化/还原、关闭操作
void Dialog::onClicked()
{
QPushButton *pButton = qobject_cast<QPushButton *>(sender());
QWidget *pWindow = this->window(); //获得标题栏所在的窗口
if (pWindow->isTopLevel())
{
//判断发送信号的对象使哪个按钮
if (pButton == ui->btnMenu_Min)
{
pWindow->showMinimized(); //窗口最小化显示
}
else if (pButton == ui->btnMenu_Max)
{
if(pWindow->isMaximized()){
pWindow->showNormal();//还原显示
ui->btnMenu_Max->setIcon(QIcon(":/image/title_max.png"));
}
else{
pWindow->showMaximized(); //窗口最大化
ui->btnMenu_Max->setIcon(QIcon(":/image/title_reset.png"));
}
}
else if (pButton == ui->btnMenu_Close)
{
pWindow->close(); //窗口关闭
}
}
}
void Dialog::timerEvent(QTimerEvent *event)
{
if(m_timerid == event->timerId())
{
int idle[3]={1,1,1};
float fdpos(0);
float fvspeed(0);
static bool biaozhi1[3];
static bool biaozhi2[3];
for(int i=0;i<3;i++)//x(0) y(1) z(2)
{
ZAux_Direct_GetIfIdle(g_handle,i,&idle[i]);//获得轴状态
if(idle[i])
{
label_status[i][0]->setText("停止");
label_status[i][0]->setStyleSheet("color:rgb(240,120,160)");
}
else
{
label_status[i][0]->setText("运行");
label_status[i][0]->setStyleSheet("color:rgb(150, 240, 240)");
}
ZAux_Direct_GetDpos(g_handle,i,&fdpos);//获得轴位置
label_status[i][1]->setText(QString("%1mm").arg(fdpos));
//label_status[i][1]->setText(QString::number(fdpos));
//保存点位置，用来画3D
switch(i)
{
case 0:glwidget->points_x.push_back(fdpos/1000);break;
case 1:glwidget->points_y.push_back(fdpos/1000);break;
case 2:glwidget->points_z.push_back(fdpos/1000);
//xyz坐标采集结束，判断其在快速移动还是直线插补
switch( glwidget->g_mode00or01)
{
case 0:glwidget->xyz_mode.push_back(0); qDebug()<<0;break;
case 1:glwidget->xyz_mode.push_back(1); qDebug()<<1;break;
default:break;
}
break;
}
//hcy*********************************************************************************************开始
ZAux_Direct_GetMspeed(g_handle,i,&fvspeed);
//label_status[i][2]->setText(QString::number(fvspeed));
label_status[i][2]->setText(QString("%1mm/s").arg(fvspeed));
// [[1]] 安装消息处理函数
LogHandler::Get().installMessageHandler();
switch(i){
case 0:
qInfo()<<"X轴"<<"当前位置"<<fdpos<<"当前速度"<<fvspeed;
case 1:
qInfo()<<"Y轴"<<"当前位置"<<fdpos<<"当前速度"<<fvspeed;
case 2:
qInfo()<<"Z轴"<<"当前位置"<<fdpos<<"当前速度"<<fvspeed;
default: break;
}
float zhengxianwei;
float fuxianwei;
ZAux_Direct_GetFsLimit(g_handle,i,&zhengxianwei);
ZAux_Direct_GetRsLimit(g_handle,i,&fuxianwei);
if(fdpos>zhengxianwei){
label_led_zxw[2*i+2]->setStyleSheet("color:rgb(240,120,160)");
if(biaozhi1[i]==0){
textedit_message->append("@轴正向限位警告");
biaozhi1[i]=1;
}
}
else{
label_led_zxw[2*i+2]->setStyleSheet("color:rgb(90,240,170)");
biaozhi1[i]=0;
}
if(fdpos<fuxianwei){
label_led_zxw[2*i+3]->setStyleSheet("color:rgb(240,120,160)");
if(biaozhi2[i]==0){
textedit_message->append("@轴负向限位警告");
biaozhi2[i]=1;
}
}
else{
label_led_zxw[2*i+3]->setStyleSheet("color:rgb(90,240,170)");
biaozhi2[i]=0;
}
}
if(zhongduan_biaozhi==1&&idle[0]&&idle[1]&&idle[2])
{
if(fileFull=="No file"){textedit_file->setPlainText("No file");}
else
{
QTextCodec *codec = QTextCodec::codecForName("GBK");//指定为GBK,因为file.readLine()无法读取中文
static char* fileat;//用来指向每行的某个字符
static QString str;
if(iiiii<=hangshu)
{
textedit_file->setTextColor("black");
fmt.setForeground(QColor(Qt::green));
//移动光标到某行行首
QTextBlock block = textedit_file->document()->findBlockByNumber(iiiii-1);
textedit_file->setTextCursor(QTextCursor(block));
//上色
cursor = textedit_file->textCursor();
cursor.select(QTextCursor::LineUnderCursor); //选中要着色的内容
cursor.mergeCharFormat(fmt); //设置文本格式
cursor.clearSelection(); //撤销选中
//获取光标所在行列
row=cursor.blockNumber();
lie=cursor.columnNumber();
//qDebug()<<row<<lie;
//读取一行文本数据
QByteArray lineread = fileread->readLine();
//将读取到的行数据转换为Unicode
str = codec->toUnicode(lineread); //文件每一行内容
//qDebug()<<str;
QByteArray ba = str.toUtf8();
fileat = ba.data();
//qDebug()<<fileat;
for(;*fileat;fileat++)//依次对各个字符进行解析
{
switch(*fileat)
{
case 'G':
if(g_0full==0)
{ g_command[0] = atoi(fileat+1);g_0full=1;}
else if(g_1full==0)
{ g_command[1]= atoi(fileat+1); g_1full=1;}
break;
case 'F':
m_aspeed = atof(fileat+1);
break;
case 'X':
xyz_pos[0] = atof(fileat+1);
break;
case 'Y':
xyz_pos[1] = atof(fileat+1);
break;
case 'Z':
xyz_pos[2] = atof(fileat+1);
break;
case'M':
Modbus=atoi(fileat+1);//command_M();//开刀或关刀
default: break;
}
}
num_yiyongshijian->setText(QString::number(iiiii));//已用时间
num_shengyushijian->setText(QString::number(hangshu-iiiii));//剩余时间
//qDebug()<<g_command;
//qDebug()<<m_aspeed;
//qDebug()<<xyz_pos[0]<<xyz_pos[1]<<xyz_pos[2];
jindutiao->setValue((iiiii/hangshu)*100);