QT下的压电陶瓷使用小工具实现

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QT += core gui
QT += network

greaterThan(QT_MAJOR_VERSION, 4): QT += widgets

CONFIG += c++17

# You can make your code fail to compile if it uses deprecated APIs.
# In order to do so, uncomment the following line.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0

SOURCES += \
    main.cpp \
    piezoceramics.cpp

HEADERS += \
    piezoceramics.h

FORMS += \
    piezoceramics.ui

# Default rules for deployment.
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target

#include "piezoceramics.h"

#include <QApplication>

int main(int argc, char *argv[])
{
    QApplication a(argc, argv);
    PiezoCeramics w;
    w.show();
    return a.exec();
}

#ifndef PIEZOCERAMICS_H
#define PIEZOCERAMICS_H

#include <QWidget>
#include <QUdpSocket>
#include <QNetworkDatagram>
#include <QHostAddress>
#include <QTimer>

QT_BEGIN_NAMESPACE
namespace Ui { class PiezoCeramics; }
QT_END_NAMESPACE

class PiezoCeramics : public QWidget
{
    Q_OBJECT

public:
    PiezoCeramics(QWidget *parent = nullptr);
    ~PiezoCeramics();

    static uchar* encode(double ddata, uchar arrdata[4]);
    static double decode(uchar data0, uchar data1, uchar data2, uchar data3);
    static uchar getCheckSum(QByteArray ba);

    void sendSinglePointMotion(double data);
    void readMovingOrVoltage();
    void readOpenOrCloseState();
    void setOpenOrCloseState(bool oFlag);
    void sendDataToPZT(uchar *data, int length);

public slots:
    void readData();

private slots:
    void on_connectBtn_clicked();
    void on_disconnectBtn_clicked();

    void on_closeLoopBtn_clicked();

    void on_openLoopBtn_clicked();

    void on_moveBtn_clicked();

signals:
    void sendIsConnected(bool isConnnected, bool oFlag);
    void sendMovingOrVoltageData(double data);

private:
    Ui::PiezoCeramics *ui;
    QUdpSocket * udpSocket = nullptr;
    QTimer* m_timer = nullptr;

    bool m_bDeviceIsOpen = false;
    bool m_bDeviceIsConnect = false;
    QChar m_OpenOrCloseFlag;
};
#endif // PIEZOCERAMICS_H

#include "piezoceramics.h"
#include "ui_piezoceramics.h"
#include <QMessageBox>
#include <QThread>

PiezoCeramics::PiezoCeramics(QWidget *parent)
    : QWidget(parent)
    , ui(new Ui::PiezoCeramics)
{
    ui->setupUi(this);

    udpSocket = new QUdpSocket(this);
    m_timer = new QTimer(this);

    m_timer->setInterval(1000);
    connect(m_timer, &QTimer::timeout, this, &PiezoCeramics::readMovingOrVoltage);
    m_timer->start();
}

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

uchar *PiezoCeramics::encode(double ddata, uchar arrdata[4])
{
    if (ddata < 0)
    {
        ddata = -ddata;
        int a = int(ddata);
        arrdata[0] = a / 256 + 0x80;
        arrdata[1] = a % 256;
        a = int((ddata - a) * 10000);
        arrdata[2] = a / 256;
        arrdata[3] = a % 256;
    }
    else
    {
        int a = int(ddata);
        arrdata[0] = a / 256;
        arrdata[1] = a % 256;
        a = int((ddata - a + 0.000001) * 10000);
        arrdata[2] = a / 256;
        arrdata[3] = a % 256;
    }
    return arrdata;
}

double PiezoCeramics::decode(uchar data0, uchar data1, uchar data2, uchar data3)
{
    double d;
    if (data0 & 0x80)
    {
        data0 -= 0x80;
        d = (double)(data0 * 256 + data1 + (data2 * 256 + data3) * 0.0001);
        d *= (-1);
    }
    else
    {
        d = (double)(data0 * 256 + data1 + (data2 * 256 + data3) * 0.0001);
    }

    return d;
}

uchar PiezoCeramics::getCheckSum(QByteArray ba)
{
    uchar checkSum = 0x00;
    for (int i = 0; i < ba.size(); i++) {
        uchar ch = ba[i];
        checkSum = ch ^ checkSum;
    }

    return checkSum;
}

void PiezoCeramics::sendSinglePointMotion(double data)
{
    uint8_t command[11] = {0xaa, 0x01, 0x0b, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
    if(m_OpenOrCloseFlag == 'O')
        command[3] = 0x00;

    unsigned char encoderData[4];
    encode(data, encoderData);
    command[6] = encoderData[0];
    command[7] = encoderData[1];
    command[8] = encoderData[2];
    command[9] = encoderData[3];
    QByteArray b;
    for(int i = 0; i < 10; i++ ){
        b.append(command[i]);
    }
    command[10] = getCheckSum(b);
    b.append(command[10]);
    sendDataToPZT(command, 11);
}

void PiezoCeramics::readMovingOrVoltage()
{
    if(m_bDeviceIsConnect){
        uint8_t command[7] = {0xaa, 0x01, 0x07, 0x06, 0x00, 0x00, 0xaa};

        if(m_OpenOrCloseFlag == 'O'){
            command[3] = 0x05;
            command[6] = 0xa9;
        }
        sendDataToPZT(command,7);
        QThread::sleep(20);
        readData();
    }
}

void PiezoCeramics::readOpenOrCloseState()
{
    uint8_t OPenOrCloseCommand[7] = {0xaa, 0x01, 0x07, 0x13, 0x00, 0x00, 0xbf};
    sendDataToPZT(OPenOrCloseCommand, 7);
}

void PiezoCeramics::setOpenOrCloseState(bool oFlag)
{
    uint8_t command[8] = {0xaa, 0x01, 0x08, 0x12, 0x00, 0x00, 0x4f, 0xfe};
    if(!oFlag){
        command[6] = 0x43;
        command[7] = 0xf2;
    }
    sendDataToPZT(command, 8);
}

void PiezoCeramics::sendDataToPZT(uchar *data, int length)
{
    QByteArray ba;
    for(int i = 0; i < length; i++ ){
        ba.append(data[i]);
    }

    udpSocket->writeDatagram(ba, QHostAddress(ui->addressRemote->text()), ui->portRemote->text().toInt());
}

void PiezoCeramics::readData()
{
    QMessageBox msgBox;
    QByteArray ba;
    QString strTemp;

    ba.resize(udpSocket->bytesAvailable());
    udpSocket->readDatagram(ba.data(),ba.size());

    if(!ba.isEmpty()){
        strTemp = QString(ba);
    }

    if((strTemp.size() == 8) && (strTemp[6] == 'C' || strTemp[6] == 'O')){
        m_bDeviceIsConnect = true;
        bool oFlag = strTemp[6] == 'O' ? true :false;
        m_OpenOrCloseFlag = strTemp[6];
        emit sendIsConnected(true, oFlag);
        msgBox.setText("Success on Linking Piezoceramic!");
        msgBox.exec();
        return ;
    }

    if(ba.size() == 11 &&(static_cast<quint8>(ba[3])==0x05|| static_cast<quint8>(ba[3])==0x06))
    {

        double data = decode(ba[6], ba[7], ba[8], ba[9]);
        ui->posCurrent->setText(QString::number(data,10,5));
        emit sendMovingOrVoltageData(data);
    }

    ba.clear();
}

void PiezoCeramics::on_connectBtn_clicked()
{
    QMessageBox qmsbox;
    udpSocket->bind(QHostAddress(ui->addressLocal->text()),ui->portLocal->text().toInt());
    connect(udpSocket, &QUdpSocket::readyRead, this, &PiezoCeramics::readData);

    m_bDeviceIsOpen = (udpSocket->state()==QAbstractSocket::BoundState);

    if(m_bDeviceIsOpen){
        readOpenOrCloseState();
        m_bDeviceIsConnect = true;
    }else{
        qmsbox.setText("Fail to link Piezoceramic!");
        qmsbox.exec();
    }
}

void PiezoCeramics::on_disconnectBtn_clicked()
{
    udpSocket->close();
    m_bDeviceIsOpen = false;
    m_bDeviceIsConnect = false;
    emit sendIsConnected(false, m_OpenOrCloseFlag == 'O');
}

void PiezoCeramics::on_closeLoopBtn_clicked()
{
    setOpenOrCloseState(false);
}


void PiezoCeramics::on_openLoopBtn_clicked()
{
    setOpenOrCloseState(true);
}


void PiezoCeramics::on_moveBtn_clicked()
{
    sendSinglePointMotion(ui->posExpected->text().toDouble());
}


<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <widget name="__qt_fake_top_level">
  <widget class="QLineEdit" name="addressLocal">
   <property name="geometry">
    <rect>
     <x>96</x>
     <y>26</y>
     <width>303</width>
     <height>23</height>
    </rect>
   </property>
   <property name="text">
    <string>192.168.0.2</string>
   </property>
  </widget>
  <widget class="QLineEdit" name="posCurrent">
   <property name="geometry">
    <rect>
     <x>182</x>
     <y>304</y>
     <width>217</width>
     <height>23</height>
    </rect>
   </property>
   <property name="text">
    <string/>
   </property>
  </widget>
  <widget class="QLineEdit" name="portLocal">
   <property name="geometry">
    <rect>
     <x>96</x>
     <y>72</y>
     <width>303</width>
     <height>23</height>
    </rect>
   </property>
   <property name="text">
    <string>7010</string>
   </property>
  </widget>
  <widget class="QLabel" name="label_2">
   <property name="geometry">
    <rect>
     <x>9</x>
     <y>165</y>
     <width>81</width>
     <height>23</height>
    </rect>
   </property>
   <property name="text">
    <string>设备IP地址</string>
   </property>
  </widget>
  <widget class="QLineEdit" name="portRemote">
   <property name="geometry">
    <rect>
     <x>96</x>
     <y>211</y>
     <width>303</width>
     <height>23</height>
    </rect>
   </property>
   <property name="text">
    <string>7010</string>
   </property>
  </widget>
  <widget class="QPushButton" name="moveBtn">
   <property name="geometry">
    <rect>
     <x>182</x>
     <y>396</y>
     <width>217</width>
     <height>24</height>
    </rect>
   </property>
   <property name="text">
    <string>移动到指定位置</string>
   </property>
  </widget>
  <widget class="QLabel" name="label_6">
   <property name="geometry">
    <rect>
     <x>9</x>
     <y>350</y>
     <width>81</width>
     <height>23</height>
    </rect>
   </property>
   <property name="layoutDirection">
    <enum>Qt::LeftToRight</enum>
   </property>
   <property name="text">
    <string>设置PZT位置</string>
   </property>
  </widget>
  <widget class="QLineEdit" name="posExpected">
   <property name="geometry">
    <rect>
     <x>182</x>
     <y>350</y>
     <width>217</width>
     <height>23</height>
    </rect>
   </property>
   <property name="text">
    <string>0</string>
   </property>
  </widget>
  <widget class="QPushButton" name="closeLoopBtn">
   <property name="geometry">
    <rect>
     <x>9</x>
     <y>257</y>
     <width>167</width>
     <height>24</height>
    </rect>
   </property>
   <property name="text">
    <string>闭环</string>
   </property>
  </widget>
  <widget class="QLabel" name="label_3">
   <property name="geometry">
    <rect>
     <x>9</x>
     <y>72</y>
     <width>81</width>
     <height>23</height>
    </rect>
   </property>
   <property name="text">
    <string>本地端口</string>
   </property>
  </widget>
  <widget class="QPushButton" name="openLoopBtn">
   <property name="geometry">
    <rect>
     <x>182</x>
     <y>257</y>
     <width>217</width>
     <height>24</height>
    </rect>
   </property>
   <property name="text">
    <string>开环</string>
   </property>
  </widget>
  <widget class="QLabel" name="label">
   <property name="geometry">
    <rect>
     <x>9</x>
     <y>26</y>
     <width>81</width>
     <height>23</height>
    </rect>
   </property>
   <property name="text">
    <string>本机IP地址</string>
   </property>
  </widget>
  <widget class="QPushButton" name="connectBtn">
   <property name="geometry">
    <rect>
     <x>9</x>
     <y>118</y>
     <width>167</width>
     <height>24</height>
    </rect>
   </property>
   <property name="text">
    <string>连接</string>
   </property>
  </widget>
  <widget class="QLineEdit" name="addressRemote">
   <property name="geometry">
    <rect>
     <x>96</x>
     <y>165</y>
     <width>303</width>
     <height>23</height>
    </rect>
   </property>
   <property name="text">
    <string>192.168.0.100</string>
   </property>
  </widget>
  <widget class="QLabel" name="label_4">
   <property name="geometry">
    <rect>
     <x>9</x>
     <y>211</y>
     <width>81</width>
     <height>23</height>
    </rect>
   </property>
   <property name="text">
    <string>设备端口</string>
   </property>
  </widget>
  <widget class="QPushButton" name="disconnectBtn">
   <property name="geometry">
    <rect>
     <x>182</x>
     <y>118</y>
     <width>217</width>
     <height>24</height>
    </rect>
   </property>
   <property name="text">
    <string>断开连接</string>
   </property>
  </widget>
  <widget class="Spacer" name="horizontalSpacer">
   <property name="geometry">
    <rect>
     <x>9</x>
     <y>396</y>
     <width>167</width>
     <height>23</height>
    </rect>
   </property>
   <property name="orientation">
    <enum>Qt::Horizontal</enum>
   </property>
   <property name="sizeHint" stdset="0">
    <size>
     <width>164</width>
     <height>20</height>
    </size>
   </property>
  </widget>
  <widget class="QLabel" name="label_5">
   <property name="geometry">
    <rect>
     <x>9</x>
     <y>304</y>
     <width>81</width>
     <height>23</height>
    </rect>
   </property>
   <property name="layoutDirection">
    <enum>Qt::LeftToRight</enum>
   </property>
   <property name="text">
    <string>当前PZT位置</string>
   </property>
  </widget>
 </widget>
 <resources/>
</ui>

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