code

https://3l1m185427.imdo.co/JinLM/F407_TrolleyRTOS_V00.git
https://www.waveshare.net/wiki/Tinker_Board_2S_Manual
http://lixian.xunlei.com/xl9/space.html

#include "mainwindow.h"
#include "ui_mainwindow.h"

#define LED_ON    setStyleSheet("background-color:lightGreen;")
#define LED_OFF   setStyleSheet("background-color:lightBlack;")



MainWindow::MainWindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainWindow)
{
    SingleBoardTestFlag = 0x00;
    dnData_MsgLen = 0;                 //下发数据长度
    dnFlag_PowerOff = 0;               //主机关机中
    dnFlag_DisableWalk = 0;            //升降、行走、支脚禁用信号
    dnFlag_LargeColumnLimit = 0;       //大立柱限位有效标志
    dnFlag_LargeColumnProgram = 0;     //大立柱TWINCAT程序控制标志
    dnFlag_LargeColumnUp = 0;          //大立柱向上运动标志
    dnFlag_LargeColumnDown  = 0;       //大立柱向下运动标志
    dnFlag_LaserLight = 0;             //十字激光点亮标志
    dnFlag_ParkBrake = 0;              //支脚电机升降控制
    dnData_LargeColumnUpLimitVal = 0;  //大立柱上限值
    dnData_LargeColumnDownLimitVal = 0;//大立柱下限值
    dnData_LargeColumnProgramVal = 0;  //大立柱TWINCAT程序控制目标值
    dnState_SystemReset = 0;           //复位按钮灯状态（无效值常零)
    dnFlag_LargeColumnCanMove = 0;     //横梁立柱动作使能标志

    rvFlag_PowerKey = 0;                //开关机按键信号(按下为1、抬起为0)
    rvData_BMS_SOC = 0;                 //电池电量
    rvState_PowerSta = 0;               //1-市电供电且电池满电  2-电池供电   3电池充电状态
    rvFlag_LeftRunMotorEn = 0;          //左行走驱动器状态
    rvFlag_RightRunMotorEn = 0;         //右行走驱动器状态
    rvFlag_LeftStandMotorEn = 0;        //左支脚驱动器状态
    rvFlag_RightStandMotorEn = 0;       //右支脚驱动器状态
    rvFlag_ColumMotorEn = 0;            //大立柱驱动器状态
    rvFlag_ColumnMoveFlag = 0;          //大立柱动作标志
    rvData_ColumPosition = 0;           //大立柱当前位置
    rvData_beam_FrBkValue = 0;          //大横梁三轴电位器前后位置
    rvData_beam_LeRiValue = 0;          //大横梁三轴电位器左右位置
    rvData_beam_RotaValue = 0;          //大横梁三轴电位器旋转位置
    rvFlag_RunMoveFlag = 0;             //行走电机工作标识
    rvData_ErrCode = 0;                 //错误代码
    rvFlag_UseLineFlag = 0;             //线控手柄启用标识
    rvData_HandKeyValue = 0;            //线控手柄按键值
    rvFlag_LeftStandSwitch = 0;         //左侧支脚电机光电开关信号
    rvFlag_RightStandSwitch = 0;        //右侧支脚电机光电开关信号

    ui -> setupUi(this);
    this -> setWindowTitle("2.0项目台车调试V00-产品电控部");
    my_socket = new QTcpSocket();
    connectstat = false;
    connect(my_socket,&QTcpSocket::readyRead,this,&MainWindow::readyReadSlots);
    connect( &m_tData, SIGNAL(timeout()), this, SLOT(SLOT_TimerOver()) );
    m_tData.start(10);
}

MainWindow::~MainWindow()
{
    delete ui;
}


void MainWindow::readyReadSlots()
{
     int RecvLen;
     uint8_t TCPRecvBuff[28] = {0};
     QByteArray RecvBuff;
     RecvLen = my_socket->bytesAvailable();
     RecvBuff = my_socket->read(RecvLen>65535?65535:RecvLen);
     memcpy(TCPRecvBuff,RecvBuff,RecvLen);

     if((TCPRecvBuff[0]==0xEB)&&(TCPRecvBuff[1]==0x90))
     {
         rvFlag_PowerKey          = TCPRecvBuff[6];       //开关机按键信号(按下为1、抬起为0)
         rvState_PowerSta         = TCPRecvBuff[7];       //1-市电供电且电池满电  2-电池供电   3电池充电状态
         rvData_BMS_SOC           = TCPRecvBuff[8];       //电量
         rvFlag_LeftRunMotorEn    = TCPRecvBuff[9];       //左行走驱动器状态
         rvFlag_RightRunMotorEn   = TCPRecvBuff[10];      //右行走驱动器状态
         rvFlag_LeftStandMotorEn  = TCPRecvBuff[12];      //左支脚驱动器状态
         rvFlag_RightStandMotorEn = TCPRecvBuff[13];      //右支脚驱动器状态
         rvFlag_ColumMotorEn      = TCPRecvBuff[11];      //大立柱驱动器状态
         rvFlag_ColumnMoveFlag    = TCPRecvBuff[14];
         memcpy(&rvData_ColumPosition,TCPRecvBuff+15,2);  //大立柱当前位置
         rvData_beam_FrBkValue    = TCPRecvBuff[17];      //大横梁三轴电位器前后位置
         rvData_beam_LeRiValue    = TCPRecvBuff[18];      //大横梁三轴电位器左右位置
         rvData_beam_RotaValue    = TCPRecvBuff[19];      //大横梁三轴电位器旋转位置
         rvFlag_RunMoveFlag       = TCPRecvBuff[21];      //行走电机工作标识
         rvData_ErrCode           = TCPRecvBuff[22];      //错误代码
         rvFlag_UseLineFlag       = TCPRecvBuff[23];      //线控手柄启用标识
         memcpy(&rvData_HandKeyValue,TCPRecvBuff+24,2);   //线控手柄按键值
         rvFlag_LeftStandSwitch   = TCPRecvBuff[26];      //左侧支脚电机光电开关信号
         rvFlag_RightStandSwitch  = TCPRecvBuff[27];      //右侧支脚电机光电开关信号
      }
}
void MainWindow::ShowRecvState()
{
   QString strShow;
   ui->lcdnumber->setSegmentStyle(QLCDNumber::Flat);
   ui->lcdnumber->display(rvData_BMS_SOC);
   switch(rvState_PowerSta)
   {
     case 0x01: ui->label_PowerSta->setText("供电：市电");  break;
     case 0x02: ui->label_PowerSta->setText("供电：电池");  break;
     case 0x03: ui->label_PowerSta->setText("供电：充电中"); break;
   }
   rvFlag_PowerKey         ? ui->LED1->LED_ON  : ui->LED1->LED_OFF;
   rvFlag_LeftRunMotorEn   ? ui->LED4->LED_ON  : ui->LED4->LED_OFF;
   rvFlag_RightRunMotorEn  ? ui->LED5->LED_ON  : ui->LED5->LED_OFF;
   rvFlag_LeftStandSwitch  ? ui->LED8_4->LED_ON: ui->LED8_4->LED_OFF;
   rvFlag_RightStandSwitch ? ui->LED8_3->LED_ON: ui->LED8_3->LED_OFF;
   rvFlag_LeftStandMotorEn ? ui->LED8->LED_ON  : ui->LED8->LED_OFF;
   rvFlag_RightStandMotorEn? ui->LED8_2->LED_ON: ui->LED8_2->LED_OFF;
   rvFlag_ColumMotorEn     ? ui->LED7->LED_ON  : ui->LED7->LED_OFF;
   rvFlag_ColumnMoveFlag   ? ui->LED6->LED_ON  : ui->LED6->LED_OFF;
   rvFlag_RunMoveFlag      ? ui->LED2->LED_ON  : ui->LED2->LED_OFF;
   rvFlag_UseLineFlag      ? ui->LED3->LED_ON  : ui->LED3->LED_OFF;
   strShow.setNum(rvData_beam_FrBkValue);
   ui->label_20->setText(strShow);
   strShow.setNum(rvData_beam_LeRiValue);
   ui->label_23->setText(strShow);
   strShow.setNum(rvData_beam_RotaValue);
   ui->label_24->setText(strShow);
   strShow.setNum(rvData_ColumPosition);
   ui->label_26->setText(strShow);
   ui->lineEdit_ColumCurPosi->setText(strShow);
}
void MainWindow::on_pushButton_clicked()
{
    QString ip  = ui -> lineEdit  -> text();
    qint16 port = ui -> lineEdit_2-> text().toInt();

    QHostAddress address = QHostAddress(ip);

    if(!connectstat)//如果没有连接
    {
        my_socket -> connectToHost(address,port);
        if(!my_socket -> waitForConnected(5000))
        {
            qDebug()<<my_socket -> errorString();
            QMessageBox::critical(this, "连接错误", "以太网连接失败！");
            return ;
        }
        else
        {
            ui->pushButton->setText("断开连接");
            connectstat=true;
        }
    }
    else
    {
        ui->pushButton->setText("建立连接");
        connectstat=false;
    }
}
uint16_t GetCRC16(unsigned char * pszBuf, uint16_t unLength)
{
  uint16_t i, j, CurVal;
  uint16_t CrcReg = 0xFFFF;

  for (i = 0; i < unLength; i++)
  {
    CurVal = pszBuf[i] << 8;

    for (j = 0; j < 8; j++)
    {
      if ((short)(CrcReg ^ CurVal) < 0)
        CrcReg = (CrcReg << 1) ^ 0x1021;
      else
        CrcReg <<= 1;

      CurVal <<= 1;
    }
  }
  return CrcReg;
}
void MainWindow::TCP_SendData(QByteArray Data,uint8_t Len)
{
  //Data = res.toLocal8Bit();
  my_socket->write(QByteArray::fromHex(Data),Len);
 //  my_socket->write(Data.toHex(),Len);
}
void MainWindow::SLOT_TimerOver()
{
    QString StrSend;
    uint16_t CRCData = 0;
    uint8_t  SendBuff[24] = {0};
    SendBuff[ 0 ] = 0xEB;
    SendBuff[ 1 ] = 0x90;
    SendBuff[ 2 ] = 0xFF;
    SendBuff[ 3 ] = 0xFF;
    SendBuff[ 4 ] = 0xFF;
    SendBuff[ 5 ] = 0x10;
    SendBuff[ 6 ] = dnFlag_PowerOff;
    SendBuff[ 7 ] = dnFlag_DisableWalk;         //动作禁用
    SendBuff[ 8 ] = dnFlag_LargeColumnLimit;    //立柱限位有效
    SendBuff[ 9 ] = dnFlag_LargeColumnProgram;  //立柱程控标识
    SendBuff[ 10] = dnFlag_LargeColumnUp;       //立柱向上
    SendBuff[ 11] = dnFlag_LargeColumnDown;     //立柱向下
    SendBuff[ 12] = dnFlag_LaserLight;          //激光点亮
    SendBuff[ 13] = dnFlag_ParkBrake;           //支脚升降
    memcpy( SendBuff + 14, &dnData_LargeColumnUpLimitVal,  2 ); //大立柱上限位
    memcpy( SendBuff + 16, &dnData_LargeColumnDownLimitVal,2 ); //大立柱下限位
    memcpy( SendBuff + 18, &dnData_LargeColumnProgramVal,  2 ); //大立柱程控目标值
    SendBuff[ 20] = 0x00;
    SendBuff[ 21] = dnFlag_LargeColumnCanMove;  //梁柱使能标识
    CRCData = GetCRC16(SendBuff,22);
    SendBuff[ 22] = CRCData & 0xFF;
    SendBuff[ 23] = CRCData >> 8;
    for(uint8_t i=0;i<sizeof(SendBuff);i++)
    {
       StrSend += QString(SendBuff[i]);
    }

    if(connectstat == true)
    {
       my_socket->write(StrSend.toLatin1(),24);
    }
    ShowRecvState();

}

void MainWindow::on_pushButton_Laser_pressed()
{
   dnFlag_LaserLight = 0x01;
}
void MainWindow::on_pushButton_Laser_released()
{
   dnFlag_LaserLight = 0x00;
}
void MainWindow::on_checkBox_DisMove_clicked(bool checked)
{
   dnFlag_DisableWalk =  checked;
}
/*****************************驻车********************************************************/

void MainWindow::on_pushButton_ParkKey_clicked()
{
    dnFlag_ParkBrake = 0x01;
}
void MainWindow::on_pushButton_DisPark_clicked()  //驻车取消
{
    dnFlag_ParkBrake = 0x00;
}
/***************************************************************************************/
//关机
void MainWindow::on_pushButton_PowerOff_pressed()
{
   dnFlag_PowerOff = 0x01;
}
void MainWindow::on_pushButton_PowerOff_released()
{
   dnFlag_PowerOff = 0x00;
}
//----------------------------立柱----------------------------------------------------------
void MainWindow::on_checkBox_3_clicked(bool checked)
{
    dnFlag_LargeColumnCanMove = checked;
}
void MainWindow::on_checkBox_clicked(bool checked)  //选择程序控制
{
   dnFlag_LargeColumnProgram = checked;
   qDebug("LargeColumnUp:%d",dnFlag_LargeColumnProgram);
}

void MainWindow::on_checkBox_2_clicked(bool checked)//立柱限位有效标识
{
  dnFlag_LargeColumnLimit = checked;
}
void MainWindow::on_pushButton_CulumUp_pressed()
{
   dnFlag_LargeColumnUp = 0x01;

   qDebug("LargeColumnUp:%d",dnFlag_LargeColumnUp);
}
void MainWindow::on_pushButton_CulumUp_released()
{
   dnFlag_LargeColumnUp = 0x00;
   qDebug("LargeColumnUp:%d",dnFlag_LargeColumnUp);
}
void MainWindow::on_pushButton_CulumUp_2_pressed()
{
    dnFlag_LargeColumnDown = 0x01;
}
void MainWindow::on_pushButton_CulumUp_2_released()
{
    dnFlag_LargeColumnDown = 0x00;
}

 

 

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include <QTcpServer>
#include <QTcpSocket>
#include <QDebug>
#include <QHostAddress>
#include <QMessageBox>
#include <QTimer>
#include <QKeyEvent>

namespace Ui {
class MainWindow;
}


class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    explicit MainWindow(QWidget *parent = 0);
    ~MainWindow();

public slots:

    void SLOT_TimerOver();

private slots:

    void readyReadSlots();
    void on_pushButton_clicked();

    void on_pushButton_ParkKey_clicked();
    void on_pushButton_DisPark_clicked();

    void on_checkBox_clicked(bool checked);
    void on_checkBox_2_clicked(bool checked);

    void on_pushButton_CulumUp_pressed();
    void on_pushButton_CulumUp_released();

    void on_pushButton_CulumUp_2_pressed();
    void on_pushButton_CulumUp_2_released();

    void on_pushButton_PowerOff_pressed();
    void on_pushButton_PowerOff_released();

    void on_checkBox_3_clicked(bool checked);
    void on_checkBox_DisMove_clicked(bool checked);

    void on_pushButton_Laser_pressed();
    void on_pushButton_Laser_released();



private:
    Ui::MainWindow                *ui;
    QTcpSocket                    *my_socket;
    bool                          connectstat;
    QTimer                        m_tData;

    uint8_t   SingleBoardTestFlag;           //单板测试标识

    uint8_t   dnData_MsgLen;                 //下发数据长度
    uint8_t   dnFlag_PowerOff;               //主机关机中
    uint8_t   dnFlag_DisableWalk;            //升降、行走、支脚禁用信号
    uint8_t   dnFlag_LargeColumnLimit;       //大立柱限位有效标志
    uint8_t   dnFlag_LargeColumnProgram;     //大立柱TWINCAT程序控制标志
    uint8_t   dnFlag_LargeColumnUp;          //大立柱向上运动标志
    uint8_t   dnFlag_LargeColumnDown ;       //大立柱向下运动标志
    uint8_t   dnFlag_LaserLight;             //十字激光点亮标志
    uint8_t   dnFlag_ParkBrake;              //支脚电机升降控制
    uint16_t  dnData_LargeColumnUpLimitVal;  //大立柱上限值
    uint16_t  dnData_LargeColumnDownLimitVal;//大立柱下限值
    uint16_t  dnData_LargeColumnProgramVal;  //大立柱TWINCAT程序控制目标值
    uint8_t   dnState_SystemReset;           //复位按钮灯状态（无效值常零)
    uint8_t   dnFlag_LargeColumnCanMove;     //横梁立柱动作使能标志

    uint8_t   rvFlag_PowerKey;                //开关机按键信号(按下为1、抬起为0)
    uint8_t   rvData_BMS_SOC;                 //电池电量
    uint8_t   rvState_PowerSta;               //1-市电供电且电池满电  2-电池供电   3电池充电状态
    uint8_t   rvFlag_LeftRunMotorEn;          //左行走驱动器状态
    uint8_t   rvFlag_RightRunMotorEn;         //右行走驱动器状态
    uint8_t   rvFlag_LeftStandMotorEn;        //左支脚驱动器状态
    uint8_t   rvFlag_RightStandMotorEn;       //右支脚驱动器状态
    uint8_t   rvFlag_ColumMotorEn;            //大立柱驱动器状态
    uint8_t   rvFlag_ColumnMoveFlag;          //大立柱动作标志
    uint8_t   rvData_ColumPosition;           //大立柱当前位置
    uint8_t   rvData_beam_FrBkValue;          //大横梁三轴电位器前后位置
    uint8_t   rvData_beam_LeRiValue;          //大横梁三轴电位器左右位置
    uint8_t   rvData_beam_RotaValue;          //大横梁三轴电位器旋转位置
    uint8_t   rvFlag_RunMoveFlag;             //行走电机工作标识
    uint8_t   rvData_ErrCode;                 //错误代码
    uint8_t   rvFlag_UseLineFlag;             //线控手柄启用标识
    uint16_t  rvData_HandKeyValue;            //线控手柄按键值
    uint8_t   rvFlag_LeftStandSwitch;         //左侧支脚电机光电开关信号
    uint8_t   rvFlag_RightStandSwitch;        //右侧支脚电机光电开关信号
    void TCP_SendData(QByteArray Data,uint8_t Len);
    void ShowRecvState();
};

#endif // MAINWINDOW_H