├── .gitignore ├── Image.qrc ├── Image ├── RESET.png ├── STEP.png ├── connect.png ├── connect2.png ├── connect3.png ├── exit.png ├── gamehandle.png ├── home.png ├── home1.png ├── load.png ├── load2.png ├── load3.png ├── machine.png ├── pause2.png ├── pause3.png ├── robot.jpg ├── safe.png ├── save.png ├── save2.png ├── send.png ├── send2.png ├── send3.png ├── start2.png ├── start3.png ├── statu.png ├── stop2.png ├── stop3.png ├── swift.png ├── tutorial.png └── tutorial1.png ├── actionFun.cpp ├── applicationHeader.h ├── commandFun.cpp ├── enumHeader.h ├── evenFilterBox.cpp ├── groupBoxFun1.cpp ├── groupBoxFun2.cpp ├── groupBoxFun3.cpp ├── groupBoxFun4.cpp ├── groupBoxFun5.cpp ├── homesettings.h ├── main.cpp ├── mechanicalarm.cpp ├── mechanicalarm.h ├── otherFun.cpp ├── otherHeader.h ├── serialFun.cpp ├── serialHeader.h ├── timerFun.cpp ├── uppermachine.cpp ├── uppermachine.h ├── uppermachine.pro ├── uppermachine.ui ├── uppermachine_zh_SG.ts ├── upperserial.cpp ├── upperserial.h └── upperstruct.h /.gitignore: -------------------------------------------------------------------------------- 1 | *.filters 2 | *.user 3 | *.txt 4 | *.stash 5 | release 6 | debug 7 | .vs 8 | *.vcxproj 9 | -------------------------------------------------------------------------------- /Image.qrc: -------------------------------------------------------------------------------- 1 | 2 | 3 | Image/gamehandle.png 4 | Image/robot.jpg 5 | Image/machine.png 6 | Image/pause2.png 7 | Image/start2.png 8 | Image/start3.png 9 | Image/stop2.png 10 | Image/stop3.png 11 | Image/STEP.png 12 | Image/RESET.png 13 | Image/exit.png 14 | Image/home.png 15 | Image/home1.png 16 | Image/load.png 17 | Image/safe.png 18 | Image/save.png 19 | Image/save2.png 20 | Image/send.png 21 | Image/send2.png 22 | Image/connect.png 23 | Image/connect2.png 24 | Image/connect3.png 25 | Image/load2.png 26 | Image/load3.png 27 | Image/statu.png 28 | Image/send3.png 29 | Image/swift.png 30 | Image/pause3.png 31 | 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https://raw.githubusercontent.com/2782694792/arduinoArmSystem/c9f475c540dd7851826634b35b221e846f966a04/Image/swift.png -------------------------------------------------------------------------------- /Image/tutorial.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/2782694792/arduinoArmSystem/c9f475c540dd7851826634b35b221e846f966a04/Image/tutorial.png -------------------------------------------------------------------------------- /Image/tutorial1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/2782694792/arduinoArmSystem/c9f475c540dd7851826634b35b221e846f966a04/Image/tutorial1.png -------------------------------------------------------------------------------- /actionFun.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | 4 | 5 | /* 6 | * 判断下一行是否为空 7 | */ 8 | bool UpperMachine :: NextItemEmpty(QTableWidget *t, int x, int y) 9 | { 10 | return t->item(x+1,y) == NULL || (t->item(x+1,y) && t->item(x+1,y)->text() == tr("")); 11 | } 12 | 13 | /* 14 | * 判断当前行是否为空 15 | */ 16 | bool UpperMachine :: CurrentItemEmpty(QTableWidget *t, int x, int y) 17 | { 18 | return t->item(x,y) == NULL || (t->item(x,y) && t->item(x,y)->text() == tr("")); 19 | } 20 | 21 | /* 22 | * 判断是否选中行 23 | */ 24 | bool UpperMachine::selectRow() 25 | { 26 | QList items = ui->tableWidget->selectedItems(); 27 | if(items.empty()) 28 | // qDebug()<<"选中了某行"; 29 | return false; 30 | return true; 31 | } 32 | 33 | /* 34 | * 首位获取 35 | */ 36 | QString UpperMachine :: readFirstAction() 37 | { 38 | if(ui->tableWidget->selectedItems().count() != 0) 39 | { 40 | QString sendCommand; 41 | sendCommand 42 | .append("a" + QString("%1").arg(ui->tableWidget->item(0,0)->text(), 3, QLatin1Char('0'))) 43 | .append("b" + QString("%1").arg(ui->tableWidget->item(0,1)->text(), 3, QLatin1Char('0'))) 44 | .append("c" + QString("%1").arg(ui->tableWidget->item(0,2)->text(), 3, QLatin1Char('0'))) 45 | .append("d" + QString("%1").arg(ui->tableWidget->item(0,3)->text(), 3, QLatin1Char('0'))); 46 | return sendCommand; 47 | } 48 | else { 49 | QMessageBox::critical(this,"恢复首位","首位数据为空，无法获取数据！"); 50 | return ""; 51 | } 52 | } 53 | 54 | /* 55 | * 获取行数据 56 | */ 57 | QString UpperMachine :: readItems(int currentIndex) 58 | { 59 | if(!CurrentItemEmpty(ui->tableWidget,0,0)) 60 | { 61 | QString sendCommand; 62 | sendCommand 63 | .append("a" + QString("%1").arg(ui->tableWidget->item(currentIndex,0)->text(), 3, QLatin1Char('0'))) 64 | .append("b" + QString("%1").arg(ui->tableWidget->item(currentIndex,1)->text(), 3, QLatin1Char('0'))) 65 | .append("c" + QString("%1").arg(ui->tableWidget->item(currentIndex,2)->text(), 3, QLatin1Char('0'))) 66 | .append("d" + QString("%1").arg(ui->tableWidget->item(currentIndex,3)->text(), 3, QLatin1Char('0'))); 67 | return sendCommand; 68 | } 69 | else { 70 | QMessageBox::critical(this,"示教运行","数据为空，无法获取数据进行示教！"); 71 | return ""; 72 | } 73 | } 74 | -------------------------------------------------------------------------------- /applicationHeader.h: -------------------------------------------------------------------------------- 1 | #ifndef APPLICATIONHEADER_H 2 | #define APPLICATIONHEADER_H 3 | 4 | 5 | 6 | //主程序 7 | #include "ui_uppermachine.h" 8 | #include "uppermachine.h" 9 | 10 | //日志打印与消息框提示 11 | #include 12 | #include 13 | 14 | 15 | 16 | 17 | #endif // APPLICATIONHEADER_H 18 | -------------------------------------------------------------------------------- /commandFun.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | 4 | 5 | //获取当前坐标 6 | void UpperMachine :: doDOWN(QString command) 7 | { 8 | setLocation(command); 9 | 10 | //显示爪子坐标 11 | ui->textEdit_ClowObtain->setText(mechanicalArm.getClowLocation()); 12 | 13 | //显示小臂坐标 14 | ui->textEdit_SArmObtain->setText(mechanicalArm.getSmallArmLocation()); 15 | 16 | //显示大臂坐标 17 | ui->textEdit_BArmObtain->setText(mechanicalArm.getBigArmLocation()); 18 | 19 | //显示转台坐标 20 | ui->textEdit_RevolvingStageObtain->setText(mechanicalArm.getRevolvingStageLocation()); 21 | } 22 | 23 | //定义获取的位置 24 | void UpperMachine :: setLocation(QString command) 25 | { 26 | 27 | //指令例子 a:12,b:119,c:45,d:70\r\n a:爪子 b:小臂 c:大臂 d:转台 28 | /*字符串进行按“，“分隔成多个元素结果，存入字符串数组*/ 29 | QStringList elem = command.split(','); 30 | // qDebug() << "转换后的字符一维列表：" << elem; 31 | 32 | //设置爪子 33 | mechanicalArm.setClowLocation(elem[0].split(':')[1]); 34 | 35 | //设置小臂 36 | mechanicalArm.setSmallArmLocation(elem[1].split(':')[1]); 37 | 38 | //设置大臂 39 | mechanicalArm.setBigArmLocation(elem[2].split(':')[1]); 40 | 41 | //设置转台 42 | mechanicalArm.setRevolvingStageLocation(elem[3].split(':')[1]); 43 | } 44 | -------------------------------------------------------------------------------- /enumHeader.h: -------------------------------------------------------------------------------- 1 | #ifndef GROUPBOXFUNCTION_H 2 | #define GROUPBOXFUNCTION_H 3 | 4 | // 动作指令集 5 | enum RobotAction 6 | { 7 | UP = 1, 8 | DOWN, //读取当前坐标 9 | RESET, //复位 10 | ADD_ACTION, //添加动作 11 | REMOVE, //删除动作 12 | REVOLVING_STAGE_LEFT, //转台左转 13 | REVOLVING_STAGE_RIGHT, //转台右转 14 | SMALL_ARM_OUTREACH, //小臂外展 15 | SMALL_ARM_ADDUCTION, //小臂内收 16 | BIG_ARM_OUTREACH, //大臂外展 17 | BIG_ARM_ADDUCTION, //大臂内收 18 | CLOW_GRAB, //爪头抓取 19 | CLOW_RELEASE //爪头释放 20 | }; 21 | 22 | //示教状态指令集 23 | enum PlayStatus 24 | { 25 | PLAY = 1, //播放 26 | PAUSE, //暂停 27 | STOP //停止 28 | }; 29 | 30 | 31 | 32 | 33 | 34 | #endif // GROUPBOXFUNCTION_H 35 | -------------------------------------------------------------------------------- /evenFilterBox.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | 4 | void UpperMachine::groupbox2_eventFilter(QObject *object){ 5 | if (object==ui->textEdit_ClowMin) 6 | { 7 | checkSoftLimit(1); 8 | } 9 | if (object==ui->textEdit_ClowMax) 10 | { 11 | checkSoftLimit(2); 12 | } 13 | if (object==ui->textEdit_SArmMin) 14 | { 15 | checkSoftLimit(3); 16 | } 17 | if (object==ui->textEdit_SArmMax) 18 | { 19 | checkSoftLimit(4); 20 | } 21 | if (object==ui->textEdit_BArmMin) 22 | { 23 | checkSoftLimit(5); 24 | } 25 | if (object==ui->textEdit_BArmMax) 26 | { 27 | checkSoftLimit(6); 28 | } 29 | if (object==ui->textEdit_RStageMin) 30 | { 31 | checkSoftLimit(7); 32 | } 33 | if (object==ui->textEdit_RStageMax) 34 | { 35 | checkSoftLimit(8); 36 | } 37 | } 38 | 39 | /* 40 | * 按键事件 41 | */ 42 | void UpperMachine::groupbox4_eventFilter(QObject *object){ 43 | if (object == ui->pushButton_W) { 44 | // qDebug() <<"W:爪头抓取"; 45 | robotAction = RobotAction::CLOW_GRAB; 46 | key_SerialWrite("M2000"); 47 | } 48 | if (object == ui->pushButton_A) { 49 | // qDebug() <<"A:小臂内收"; 50 | robotAction = RobotAction::SMALL_ARM_ADDUCTION; 51 | key_SerialWrite("M0100"); 52 | } 53 | if (object == ui->pushButton_X) { 54 | // qDebug() <<"X:爪头释放"; 55 | robotAction = RobotAction::CLOW_RELEASE; 56 | key_SerialWrite("M1000"); 57 | } 58 | if (object == ui->pushButton_D) { 59 | // qDebug() <<"D:小臂外展"; 60 | robotAction = RobotAction::SMALL_ARM_OUTREACH; 61 | key_SerialWrite("M0200"); 62 | } 63 | if (object == ui->pushButton_I) { 64 | // qDebug() <<"I:转台右转"; 65 | robotAction = RobotAction::REVOLVING_STAGE_RIGHT; 66 | key_SerialWrite("M0002"); 67 | } 68 | if (object == ui->pushButton_J) { 69 | // qDebug() <<"J:大臂内收"; 70 | robotAction = RobotAction::BIG_ARM_ADDUCTION; 71 | key_SerialWrite("M0010"); 72 | } 73 | if (object == ui->pushButton_M) { 74 | // qDebug() <<"M:转台左转"; 75 | robotAction = RobotAction::REVOLVING_STAGE_LEFT; 76 | key_SerialWrite("M0001"); 77 | } 78 | if (object == ui->pushButton_L) { 79 | // qDebug() <<"L:大臂外展"; 80 | robotAction = RobotAction::BIG_ARM_OUTREACH; 81 | key_SerialWrite("M0020"); 82 | } 83 | } 84 | -------------------------------------------------------------------------------- /groupBoxFun1.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | 6 | 7 | /*获取当前位置*/ 8 | void UpperMachine::readCurrentLocation() 9 | { 10 | if (upperSerial.getL_isOpen()) { 11 | // 清空缓存 12 | // tempBuffer.clear(); 13 | arrayBuffer.clear(); 14 | // 1、设置当前指令为读取当前坐标 15 | robotAction = RobotAction::DOWN; 16 | qDebug() << "++++++++++++++++++++++++++++++++++++++"; 17 | qDebug() << "执行当前指令：" << UpperMachine::robotAction; 18 | // 2、判断串口设备是否可读写 19 | if (upperSerial.getL_isOpen()) 20 | { 21 | try{ 22 | // 3、打开串口元对象所指向的串口设备 23 | // upperSerialPort.open(QIODevice::ReadWrite); 24 | // upperSerial.setL_isOpen(upperSerialPort.isOpen()); 25 | try 26 | { 27 | // 4、发送指定指令 28 | upperSerialPort.write(QString(strAddLine("DOWN")).toUtf8()); 29 | // upperSerialPort.write("DOWN\n"); 30 | qDebug() << "UTF8发送:" << strAddLine("DOWN").toUtf8(); 31 | } 32 | catch (exception ex_write) 33 | { 34 | QMessageBox::critical(this, "发送指令异常", ex_write.what()); 35 | } 36 | } 37 | catch (exception ex_open) 38 | { 39 | QMessageBox::critical(this, "串口设备异常", ex_open.what()); 40 | } 41 | } 42 | else 43 | { 44 | QMessageBox::warning(this,"获取位置","串口不可读写，请重新打开串口或更换串口号"); 45 | return; 46 | } 47 | 48 | } 49 | else { 50 | QMessageBox::warning(this,"获取位置","当前未连接，请进行设备连接！"); 51 | } 52 | } 53 | 54 | 55 | /* 56 | * 关闭当前串口设备 57 | */ 58 | void UpperMachine :: closeSerialDevice() 59 | { 60 | if(upperSerial.getL_isOpen() == 1){ 61 | upperSerialPort.close(); 62 | upperSerialPort.setPortName(""); 63 | upperSerialPort.setBaudRate(QSerialPort::UnknownBaud); 64 | upperSerialPort.setDataBits(QSerialPort::UnknownDataBits); 65 | upperSerialPort.setStopBits(QSerialPort::UnknownStopBits); 66 | upperSerialPort.setFlowControl(QSerialPort::UnknownFlowControl); 67 | upperSerialPort.setParity(QSerialPort::UnknownParity); 68 | 69 | upperSerial.setL_c_protName(""); 70 | upperSerial.setDeviceName(""); 71 | 72 | ui->label_deviceName->setStyleSheet("color:red;"); 73 | ui->label_deviceName->setText("设备已关闭"); 74 | ui->label_connectInfo->setStyleSheet("color:red;"); 75 | ui->label_connectInfo->setText("请进行连接"); 76 | ui->label_StatusInfo->setStyleSheet("color:red;"); 77 | ui->label_StatusInfo->setText("无法获取状态"); 78 | 79 | ui->textEdit_BArmObtain->setText(""); 80 | ui->textEdit_ClowObtain->setText(""); 81 | ui->textEdit_SArmObtain->setText(""); 82 | ui->textEdit_RevolvingStageObtain->setText(""); 83 | 84 | arrayBuffer.clear(); 85 | tempBuffer.clear(); 86 | 87 | upperSerial.setL_isOpen(0); 88 | upperSerial.setWriteSuccess(0); 89 | 90 | QMessageBox::about(this,"关闭串口","串口连接已关闭"); 91 | } 92 | else { 93 | QMessageBox::information(this,"关闭串口","当前未连接，请进行设备连接！"); 94 | } 95 | } 96 | 97 | 98 | /* 99 | * 切换操纵状态 100 | */ 101 | void UpperMachine :: switchSteerStatus() 102 | { 103 | if (upperSerial.getL_isOpen()) { 104 | // 切换状态 105 | robotAction = RobotAction::UP; 106 | // 写入切换指令 107 | upperSerialPort.write(QString(strAddLine("UP")).toUtf8()); 108 | } 109 | else { 110 | QMessageBox::warning(this,"切换状态","当前未连接，请进行设备连接！"); 111 | } 112 | } 113 | 114 | -------------------------------------------------------------------------------- /groupBoxFun2.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | 6 | 7 | /* 8 | * 检查软限位 9 | */ 10 | void UpperMachine::checkSoftLimit(int steerNum) 11 | { 12 | if(mechanicalArm.getStartCheck()){ 13 | // 聚焦更改文本框背景颜色 14 | // QPalette in = QPalette(),out = QPalette(); 15 | // in.setColor(QPalette::Base,Qt::green); 16 | // out.setColor(QPalette::Base,Qt::white); 17 | switch (steerNum) { 18 | case 1: 19 | // 爪头最小软限位 20 | checkSoftLimit_Clow(1); 21 | break; 22 | case 2: 23 | // 爪头最大软限位 24 | checkSoftLimit_Clow(2); 25 | break; 26 | case 3: 27 | // 小臂最小软限位 28 | checkSoftLimit_SArm(1); 29 | break; 30 | case 4: 31 | // 小臂最大软限位 32 | checkSoftLimit_SArm(2); 33 | break; 34 | case 5: 35 | // 大臂最小软限位 36 | checkSoftLimit_BArm(1); 37 | break; 38 | case 6: 39 | // 大臂最大软限位 40 | checkSoftLimit_BArm(2); 41 | break; 42 | case 7: 43 | // 转台最小软限位 44 | checkSoftLimit_RStage(1); 45 | break; 46 | case 8: 47 | // 转台最大软限位 48 | checkSoftLimit_RStage(2); 49 | break; 50 | default: 51 | currentsoftlimitSettings(); 52 | break; 53 | } 54 | } 55 | } 56 | 57 | 58 | /* 59 | * 软限位读取 60 | */ 61 | void UpperMachine :: loadSoftLitmit() 62 | { 63 | QStringList infoList; 64 | QFile file("./softlimit.txt"); 65 | try { 66 | // 1、打开文件读写权限 67 | file.open(QIODevice::ReadWrite | QIODevice::Text); 68 | // 2、文件流指向文本输出流 69 | QTextStream txtInput(&file); 70 | int i = 0; 71 | // 3、指向最后一个指针位置 72 | while (!txtInput.atEnd()) 73 | { 74 | // 4、读取数据 75 | infoList.append(txtInput.readLine()); 76 | QMessageBox::about(this,"文本流读取","\r开始文件写入 \n第 " +QString::number(i) +" 行："+infoList[i]); 77 | i++; 78 | } 79 | 80 | ui->textEdit_ClowMin->setText(infoList[0].split("=")[1].split(";")[0]); 81 | ui->textEdit_ClowMax->setText(infoList[1].split("=")[1].split(";")[0]); 82 | ui->textEdit_SArmMin->setText(infoList[2].split("=")[1].split(";")[0]); 83 | ui->textEdit_SArmMax->setText(infoList[3].split("=")[1].split(";")[0]); 84 | ui->textEdit_BArmMin->setText(infoList[4].split("=")[1].split(";")[0]); 85 | ui->textEdit_BArmMax->setText(infoList[5].split("=")[1].split(";")[0]); 86 | ui->textEdit_RStageMin->setText(infoList[6].split("=")[1].split(";")[0]); 87 | ui->textEdit_RStageMax->setText(infoList[7].split("=")[1].split(";")[0]); 88 | // ui->textEdit_Sleep->setText( info[8].split('=')[1]); 89 | } catch (exception &ex_fileLoad) { 90 | QMessageBox::critical(this,"文件警告","文件打开或写入失败，原因："+QString(ex_fileLoad.what())); 91 | } 92 | } 93 | 94 | /* 95 | * 软限位写入 96 | */ 97 | void UpperMachine :: saveSoftLimit(void) 98 | { 99 | QString txt = ("ClowMin=" + ui->textEdit_ClowMin->toPlainText() + ";\n" + 100 | "ClowMax=" + ui->textEdit_ClowMax->toPlainText() + ";\n" + 101 | "SmallArmMin=" + ui->textEdit_SArmMin->toPlainText() + ";\n" + 102 | "SmallArmMax=" + ui->textEdit_SArmMax->toPlainText() + ";\n" + 103 | "BigArmMin=" + ui->textEdit_BArmMin->toPlainText() + ";\n" + 104 | "BigArmMax=" + ui->textEdit_BArmMax->toPlainText() + ";\n" + 105 | "RevolvingStageMin=" + ui->textEdit_RStageMin->toPlainText() + ";\n" + 106 | "RevolvingStageMax=" + ui->textEdit_RStageMax->toPlainText() + ";"); 107 | // + "\r\n" + 108 | // "Sleep=" + ui->textEdit_Sleep->toPlainText(); 109 | QFile file("./softlimit.txt"); 110 | try { 111 | file.open(QIODevice::ReadWrite | QIODevice::Text); 112 | file.write(txt.toUtf8()); 113 | QMessageBox::about(this,"文件打开成功","文件写入成功，内容：\n"+txt); 114 | } catch (exception &ex_fileWrite) { 115 | QMessageBox::about(this,"文件打开失败","文件写入失败，原因：\n"+QString(ex_fileWrite.what())); 116 | } 117 | } 118 | 119 | /* 120 | * 复位 121 | */ 122 | void UpperMachine :: resetLocation() 123 | { 124 | if (upperSerial.getL_isOpen()) { 125 | 126 | QByteArray command = QString(strAddLine("LEFT")).toUtf8(); 127 | robotAction = RobotAction::RESET; 128 | // try { 129 | upperSerialPort.write(command); 130 | qDebug() << "发送命令：" << command; 131 | } 132 | else { 133 | QMessageBox::warning(this,"切换状态","当前未连接，请进行设备连接！"); 134 | } 135 | 136 | // sleep_MS(50); 137 | // if (upperSerial.getWriteSuccess() == true) { 138 | // QMessageBox::about(this,"复位命令","复位成功！"); 139 | // }else { 140 | // throw exception(); 141 | // } 142 | // } catch (exception &ex_reset) { 143 | // QMessageBox::critical(this,"复位命令","复位失败！"+ QString(ex_reset.what())); 144 | // upperSerialPort.write(QString(strAddLine("UP")).toUtf8()); 145 | // } 146 | } 147 | 148 | /* 149 | * 手爪软限位 150 | */ 151 | void UpperMachine :: checkSoftLimit_Clow(int i){ 152 | if(i == 1){ 153 | //1、属于软限位默认范围 154 | // 1.1、设置最小值 >= 默认最小值 155 | if (ui->textEdit_ClowMin->toPlainText().toInt() < mechanicalArm.getClowMin()) { 156 | QMessageBox::critical(this,"手爪警告","手爪最小软限位不能小于默认最小软限位：须 ≥ " + QString::number(mechanicalArm.getClowMin()) + "°"); 157 | i=0; 158 | } 159 | // 1.2、设置最小值 <= 设置最大值 160 | else if (ui->textEdit_ClowMin->toPlainText().toInt() > ui->textEdit_ClowMax->toPlainText().toInt() ) { 161 | QMessageBox::critical(this,"手爪警告","手爪最小软限位不能大于设置的最大软限位：须 ≤ " + QString::number(ui->textEdit_ClowMax->toPlainText().toInt()) + "°"); 162 | i = 0; 163 | } 164 | if(i == 0) 165 | // 设置默认软限位 166 | ui->textEdit_ClowMin->setText(QString::number(mechanicalArm.getClowMin())); 167 | else 168 | mechanicalArm.setCurrent_CMin(QString::number(mechanicalArm.getClowMin())); 169 | } 170 | else{ 171 | // 1.3、设置最大值 <= 默认最大值 172 | if (ui->textEdit_ClowMax->toPlainText().toInt() > mechanicalArm.getClowMax()) { 173 | QMessageBox::critical(this,"手爪警告","手爪最大软限位不能大于默认最大软限位：须 ≤ " + QString::number(mechanicalArm.getClowMax()) + "°"); 174 | i=0; 175 | } 176 | // 1.4、设置最大值 >= 设置最小值 177 | else if (ui->textEdit_ClowMax->toPlainText().toInt() < ui->textEdit_ClowMin->toPlainText().toInt() ) { 178 | QMessageBox::critical(this,"手爪警告","手爪最大软限位不能小于设置的最小软限位：须 ≥ " + QString::number(ui->textEdit_ClowMin->toPlainText().toInt()) + "°"); 179 | i=0; 180 | } 181 | if(i == 0) 182 | // 设置默认软限位 183 | ui->textEdit_ClowMax->setText(QString::number(mechanicalArm.getClowMax())); 184 | else 185 | mechanicalArm.setCurrent_CMax(QString::number(mechanicalArm.getClowMax())); 186 | } 187 | } 188 | 189 | /* 190 | * 小臂软限位 191 | */ 192 | void UpperMachine :: checkSoftLimit_SArm(int i){ 193 | if(i == 1){ 194 | //1、属于软限位默认范围内 195 | // 1.1、设置最小值 >= 默认最小值 196 | if (ui->textEdit_SArmMin->toPlainText().toInt() < mechanicalArm.getSArmMin()) { 197 | QMessageBox::critical(this," 小臂警告"," 小臂最小软限位不能小于默认最小软限位：须 ≥ " + QString::number(mechanicalArm.getSArmMin()) + "°"); 198 | i=0; 199 | } 200 | // 1.2、设置最小值 <= 设置最大值 201 | else if (ui->textEdit_SArmMin->toPlainText().toInt() > ui->textEdit_SArmMax->toPlainText().toInt() ) { 202 | QMessageBox::critical(this," 小臂警告"," 小臂最小软限位不能大于设置的最大软限位：须 ≤ " + QString::number(ui->textEdit_SArmMax->toPlainText().toInt()) + "°"); 203 | i=0; 204 | } 205 | if(i == 0) 206 | // 设置默认软限位 207 | ui->textEdit_SArmMin->setText(QString::number(mechanicalArm.getSArmMin())); 208 | else 209 | mechanicalArm.setCurrent_SAMin(QString::number(mechanicalArm.getSArmMin())); 210 | } 211 | else{ 212 | // 1.3、设置最大值 <= 默认最大值 213 | if (ui->textEdit_SArmMax->toPlainText().toInt() > mechanicalArm.getSArmMax()) { 214 | QMessageBox::critical(this," 小臂警告"," 小臂最大软限位不能大于默认最大软限位：须 ≤ " + QString::number(mechanicalArm.getSArmMax()) + "°"); 215 | i=0; 216 | } 217 | // 1.4、设置最大值 >= 设置最小值 218 | else if (ui->textEdit_SArmMax->toPlainText().toInt() < ui->textEdit_SArmMin->toPlainText().toInt() ) { 219 | QMessageBox::critical(this," 小臂警告"," 小臂最大软限位不能小于设置的最小软限位：须 ≥ " + QString::number(ui->textEdit_SArmMin->toPlainText().toInt()) + "°"); 220 | i=0; 221 | } 222 | if(i == 0) 223 | // 设置默认软限位 224 | ui->textEdit_SArmMax->setText(QString::number(mechanicalArm.getSArmMax())); 225 | else 226 | mechanicalArm.setCurrent_SAMax(QString::number(mechanicalArm.getSArmMax())); 227 | } 228 | } 229 | 230 | /* 231 | * 大臂软限位 232 | */ 233 | void UpperMachine :: checkSoftLimit_BArm(int i){ 234 | if(i == 1){ 235 | //1、属于软限位默认范围内 236 | // 1.1、设置最小值 >= 默认最小值 237 | if (ui->textEdit_BArmMin->toPlainText().toInt() < mechanicalArm.getBArmMin()) { 238 | QMessageBox::critical(this,"大臂警告","大臂最小软限位不能小于默认最小软限位：须 ≥ " + QString::number(mechanicalArm.getBArmMin()) + "°"); 239 | i=0; 240 | } 241 | // 1.2、设置最小值 <= 设置最大值 242 | else if (ui->textEdit_BArmMin->toPlainText().toInt() > ui->textEdit_BArmMax->toPlainText().toInt() ) { 243 | QMessageBox::critical(this,"大臂警告","大臂最小软限位不能大于设置的最大软限位：须 ≤ " + QString::number(ui->textEdit_BArmMax->toPlainText().toInt()) + "°"); 244 | i=0; 245 | } 246 | if(i == 0) 247 | // 设置默认软限位 248 | ui->textEdit_BArmMin->setText(QString::number(mechanicalArm.getBArmMin())); 249 | else 250 | mechanicalArm.setCurrent_BAMin(QString::number(mechanicalArm.getBArmMin())); 251 | } 252 | else{ 253 | // 1.3、设置最大值 <= 默认最大值 254 | if (ui->textEdit_BArmMax->toPlainText().toInt() > mechanicalArm.getBArmMax()) { 255 | QMessageBox::critical(this,"大臂警告","大臂最大软限位不能大于默认最大软限位：须 ≤ " + QString::number(mechanicalArm.getBArmMax()) + "°"); 256 | i=0; 257 | } 258 | // 1.4、设置最大值 >= 设置最小值 259 | else if (ui->textEdit_BArmMax->toPlainText().toInt() < ui->textEdit_BArmMin->toPlainText().toInt() ) { 260 | QMessageBox::critical(this,"大臂警告","大臂最大软限位不能小于设置的最小软限位：须 ≥ " + QString::number(ui->textEdit_BArmMin->toPlainText().toInt()) + "°"); 261 | i=0; 262 | } 263 | if(i == 0) 264 | // 设置默认软限位 265 | ui->textEdit_BArmMax->setText(QString::number(mechanicalArm.getBArmMax())); 266 | else 267 | mechanicalArm.setCurrent_BAMax(QString::number(mechanicalArm.getBArmMax())); 268 | } 269 | } 270 | 271 | 272 | /* 273 | * 转台软限位 274 | */ 275 | void UpperMachine :: checkSoftLimit_RStage(int i){ 276 | if(i == 1){ 277 | //1、属于软限位默认范围内 278 | // 1.1、设置最小值 >= 默认最小值 279 | if (ui->textEdit_RStageMin->toPlainText().toInt() < mechanicalArm.getRStageMin()) { 280 | QMessageBox::critical(this,"转台警告","转台最小软限位不能小于默认最小软限位：须 ≥ " + QString::number(mechanicalArm.getRStageMin()) + "°"); 281 | i=0; 282 | } 283 | // 1.2、设置最小值 <= 设置最大值 284 | else if (ui->textEdit_RStageMin->toPlainText().toInt() > ui->textEdit_RStageMax->toPlainText().toInt() ) { 285 | QMessageBox::critical(this,"转台警告","转台最小软限位不能大于设置的最大软限位：须 ≤ " + QString::number(ui->textEdit_RStageMax->toPlainText().toInt()) + "°"); 286 | i=0; 287 | } 288 | if(i == 0) 289 | // 设置默认软限位 290 | ui->textEdit_RStageMin->setText(QString::number(mechanicalArm.getRStageMin())); 291 | else 292 | mechanicalArm.setCurrent_RSMin(QString::number(mechanicalArm.getRStageMin())); 293 | } 294 | else{ 295 | // 1.3、设置最大值 <= 默认最大值 296 | if (ui->textEdit_RStageMax->toPlainText().toInt() > mechanicalArm.getRStageMax()) { 297 | QMessageBox::critical(this,"转台警告","转台最大软限位不能大于默认最大软限位：须 ≤ " + QString::number(mechanicalArm.getRStageMax()) + "°"); 298 | i=0; 299 | } 300 | // 1.4、设置最大值 >= 设置最小值 301 | else if (ui->textEdit_RStageMax->toPlainText().toInt() < ui->textEdit_RStageMin->toPlainText().toInt() ) { 302 | QMessageBox::critical(this,"转台警告","转台最大软限位不能小于设置的最小软限位：须 ≥ " + QString::number(ui->textEdit_RStageMin->toPlainText().toInt()) + "°"); 303 | i=0; 304 | } 305 | if(i == 0) 306 | // 设置默认软限位 307 | ui->textEdit_RStageMax->setText(QString::number(mechanicalArm.getRStageMax())); 308 | else 309 | mechanicalArm.setCurrent_RSMax(QString::number(mechanicalArm.getRStageMax())); 310 | } 311 | } 312 | 313 | 314 | /* 315 | * 当前软限位 316 | */ 317 | void UpperMachine :: currentsoftlimitSettings() 318 | { 319 | mechanicalArm.setCurrent_CMin(ui->textEdit_ClowMin->toPlainText()); 320 | mechanicalArm.setCurrent_CMax(ui->textEdit_ClowMax->toPlainText()); 321 | 322 | mechanicalArm.setCurrent_SAMin(ui->textEdit_SArmMin->toPlainText()); 323 | mechanicalArm.setCurrent_SAMax(ui->textEdit_SArmMax->toPlainText()); 324 | 325 | mechanicalArm.setCurrent_BAMin(ui->textEdit_BArmMin->toPlainText()); 326 | mechanicalArm.setCurrent_BAMax(ui->textEdit_BArmMax->toPlainText()); 327 | 328 | mechanicalArm.setCurrent_RSMin(ui->textEdit_RStageMin->toPlainText()); 329 | mechanicalArm.setCurrent_RSMax(ui->textEdit_RStageMax->toPlainText()); 330 | } 331 | 332 | -------------------------------------------------------------------------------- /groupBoxFun3.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | #include 5 | 6 | /* 7 | * 发送位置 8 | */ 9 | void UpperMachine :: sendLocation() 10 | { 11 | if (upperSerial.getL_isOpen()) { 12 | currentsoftlimitSettings(); 13 | 14 | QString sendCommand; 15 | if (ui->textEdit_SendClow->toPlainText().trimmed().size() <= 0 16 | || ui->textEdit_SendClow->toPlainText().toInt() < mechanicalArm.getCurrent_CMin().toInt() || ui->textEdit_SendClow->toPlainText().toInt() > mechanicalArm.getCurrent_CMax().toInt()) { 17 | QMessageBox::critical(this,"发送位置","爪头角度超出当前软限位(" + mechanicalArm.getCurrent_CMin() + "-" + mechanicalArm.getCurrent_CMax() + ")，请重新设置！"); 18 | ui->textEdit_SendClow->setText(mechanicalArm.getClowLocation()); 19 | // ui->textEdit_SendClow->setText("45"); 20 | } 21 | else if (ui->textEdit_SendSArm->toPlainText().trimmed().size() <= 0 22 | || ui->textEdit_SendSArm->toPlainText().toInt() < mechanicalArm.getCurrent_SAMin().toInt() || ui->textEdit_SendSArm->toPlainText().toInt() > mechanicalArm.getCurrent_SAMax().toInt()) { 23 | QMessageBox::critical(this,"发送位置","小臂角度超出当前软限位(" + mechanicalArm.getCurrent_SAMin() + "-" + mechanicalArm.getCurrent_SAMax() + ")，请重新设置！"); 24 | ui->textEdit_SendSArm->setText(mechanicalArm.getSmallArmLocation()); 25 | // ui->textEdit_SendSArm->setText("45"); 26 | } 27 | else if (ui->textEdit_SendBArm->toPlainText().trimmed().size() <= 0 28 | || ui->textEdit_SendBArm->toPlainText().toInt() < mechanicalArm.getCurrent_BAMin().toInt() || ui->textEdit_SendBArm->toPlainText().toInt() > mechanicalArm.getCurrent_BAMax().toInt()) { 29 | QMessageBox::critical(this,"发送位置","大臂角度超出当前软限位(" + mechanicalArm.getCurrent_BAMin() + "-" + mechanicalArm.getCurrent_BAMax() + ")，请重新设置！"); 30 | ui->textEdit_SendBArm->setText(mechanicalArm.getBigArmLocation()); 31 | // ui->textEdit_SendBArm->setText("45"); 32 | } 33 | else if (ui->textEdit_SendRStage->toPlainText().trimmed().size() <= 0 34 | || ui->textEdit_SendRStage->toPlainText().toInt() < mechanicalArm.getCurrent_RSMin().toInt() || ui->textEdit_SendRStage->toPlainText().toInt() > mechanicalArm.getCurrent_RSMax().toInt() ) { 35 | QMessageBox::critical(this,"发送位置","转台角度超出当前软限位(" + mechanicalArm.getCurrent_RSMin() + "-" + mechanicalArm.getCurrent_RSMax() + ")，请重新设置！"); 36 | ui->textEdit_SendRStage->setText(mechanicalArm.getRevolvingStageLocation()); 37 | // ui->textEdit_SendRStage->setText("45"); 38 | } 39 | else{ 40 | QString clowSend = ui->textEdit_SendClow->toPlainText(); 41 | QString sArmSend = ui->textEdit_SendSArm->toPlainText(); 42 | QString bArmSend = ui->textEdit_SendBArm->toPlainText(); 43 | QString rStageSend = ui->textEdit_SendRStage->toPlainText(); 44 | sendCommand 45 | .append("a" + QString("%1").arg(clowSend, 3, QLatin1Char('0'))) 46 | .append("b" + QString("%1").arg(sArmSend, 3, QLatin1Char('0'))) 47 | .append("c" + QString("%1").arg(bArmSend, 3, QLatin1Char('0'))) 48 | .append("d" + QString("%1").arg(rStageSend, 3, QLatin1Char('0'))); 49 | QByteArray command = QString(strAddLine(sendCommand)).toUtf8(); 50 | qDebug() << "发送命令：" << command; 51 | upperSerialPort.write(command); 52 | QMessageBox::about(this,"发送命令","命令：" + command + "发送成功！"); 53 | } 54 | 55 | } 56 | else { 57 | QMessageBox::warning(this,"切换状态","当前未连接，请进行设备连接！"); 58 | } 59 | } 60 | -------------------------------------------------------------------------------- /groupBoxFun4.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | 6 | /* 7 | * 键盘按下事件 8 | */ 9 | void UpperMachine::keyPressEvent(QKeyEvent * event) 10 | { 11 | if(upperSerial.getL_isOpen()) { 12 | 13 | // 单个按键 14 | switch (event->key()) 15 | { 16 | // W键 17 | case Qt::Key_W: 18 | // qDebug() <<"W:爪头抓取"; 19 | robotAction = RobotAction::CLOW_GRAB; 20 | key_SerialWrite("M2000"); 21 | break; 22 | // A键 23 | case Qt::Key_A: 24 | // qDebug() <<"A:小臂内收"; 25 | robotAction = RobotAction::SMALL_ARM_ADDUCTION; 26 | key_SerialWrite("M0100"); 27 | break; 28 | // X键 29 | case Qt::Key_X: 30 | // qDebug() <<"X:爪头释放"; 31 | robotAction = RobotAction::CLOW_RELEASE; 32 | key_SerialWrite("M1000"); 33 | break; 34 | // D键 35 | case Qt::Key_D: 36 | // qDebug() <<"D:小臂外展"; 37 | robotAction = RobotAction::SMALL_ARM_OUTREACH; 38 | key_SerialWrite("M0200"); 39 | break; 40 | // I键 41 | case Qt::Key_I: 42 | // qDebug() <<"I:转台右转"; 43 | robotAction = RobotAction::REVOLVING_STAGE_RIGHT; 44 | key_SerialWrite("M0002"); 45 | break; 46 | // J键 47 | case Qt::Key_J: 48 | // qDebug() <<"J:大臂内收"; 49 | robotAction = RobotAction::BIG_ARM_ADDUCTION; 50 | key_SerialWrite("M0010"); 51 | break; 52 | // M键 53 | case Qt::Key_M: 54 | // qDebug() <<"M:转台左转"; 55 | robotAction = RobotAction::REVOLVING_STAGE_LEFT; 56 | key_SerialWrite("M0001"); 57 | break; 58 | // L键 59 | case Qt::Key_L: 60 | // qDebug() <<"L:大臂外展"; 61 | robotAction = RobotAction::BIG_ARM_OUTREACH; 62 | key_SerialWrite("M0020"); 63 | break; 64 | default: 65 | break; 66 | } 67 | 68 | // 两键组合 69 | if(event->modifiers() == Qt::ControlModifier) { 70 | if(event->key() == Qt::Key_R){ 71 | // Ctrl+R =》复位 72 | robotAction = RobotAction::RESET; 73 | key_SerialWrite("LEFT"); 74 | } 75 | } 76 | if(event->modifiers() == Qt::ControlModifier) { 77 | if(event->key() == Qt::Key_Q){ 78 | // Ctrl+Q =》关闭连接 79 | closeSerialDevice(); 80 | } 81 | } 82 | if(event->modifiers() == Qt::ControlModifier) { 83 | if(event->key() == Qt::Key_U){ 84 | // Ctrl+U =》切换状态 85 | switchSteerStatus(); 86 | } 87 | } 88 | if(event->modifiers() == Qt::ControlModifier) { 89 | if(event->key() == Qt::Key_L){ 90 | // Ctrl+L =》连接串口 91 | connectUM(); 92 | } 93 | } 94 | 95 | // // 三键组合Shift + Ctrl + A的实现 96 | // if (event->modifiers() == (Qt::ShiftModifier | Qt::ControlModifier) && event->key() == Qt::Key_A) { 97 | // qDebug() << "CTRL + Shift + A"; 98 | // } 99 | 100 | } 101 | else{ 102 | QMessageBox::critical(NULL,"串口异常","请先打开串口！"); 103 | upperSerial.setL_isOpen(0); 104 | } 105 | } 106 | 107 | /* 108 | * 键盘释放事件 109 | */ 110 | void UpperMachine::keyReleaseEvent(QKeyEvent *event) 111 | { 112 | // 键释放 113 | switch (event->key()) { 114 | case Qt::Key_W: 115 | case Qt::Key_A: 116 | case Qt::Key_X: 117 | case Qt::Key_D: 118 | case Qt::Key_I: 119 | case Qt::Key_J: 120 | case Qt::Key_M: 121 | case Qt::Key_L: 122 | case Qt::Key_Enter: 123 | case Qt::Key_Tab: 124 | case Qt::Key_Delete: 125 | case Qt::Key_R: 126 | key_SerialWrite("M0000");//发送数据 127 | // actionCount = 0; 128 | // qDebug() << ">> 舵机停下"; 129 | break; 130 | default: 131 | break; 132 | } 133 | 134 | } 135 | 136 | void UpperMachine :: key_SerialWrite(QString keyValue) 137 | { 138 | upperSerialPort.write(QString(strAddLine(keyValue)).toUtf8()); 139 | // QThread::sleep(1); 140 | } 141 | 142 | -------------------------------------------------------------------------------- /groupBoxFun5.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | /* 6 | * 添加动作 7 | */ 8 | void UpperMachine :: addAction() 9 | { 10 | if (upperSerial.getL_isOpen()) { 11 | robotAction = RobotAction::ADD_ACTION; 12 | // 发送指定指令 13 | upperSerialPort.write(QString(strAddLine("DOWN")).toUtf8()); 14 | } 15 | else { 16 | QMessageBox::warning(this,"添加动作","当前未连接，请进行设备连接！"); 17 | } 18 | } 19 | 20 | /* 21 | * 添加机械臂动作 22 | */ 23 | void UpperMachine::addUMAction(QString command) 24 | { 25 | setLocation(command); 26 | QString msg = ""; 27 | //判断当前位置是否安全 28 | if (mechanicalArm.getClowLocation().toInt() < mechanicalArm.getCurrent_CMin().toInt() || mechanicalArm.getClowLocation().toInt() > mechanicalArm.getCurrent_CMax().toInt()) { 29 | msg += "爪头超出设置范围,"; 30 | // qDebug() << mechanicalArm.getClowLocation().toInt() << "_" << mechanicalArm.getCurrent_CMin() << "_" << mechanicalArm.getCurrent_CMax(); 31 | } 32 | if (mechanicalArm.getSmallArmLocation().toInt() < mechanicalArm.getCurrent_SAMin().toInt() || mechanicalArm.getSmallArmLocation().toInt() > mechanicalArm.getCurrent_SAMax().toInt()) { 33 | msg += "小臂超出设置范围,"; 34 | } 35 | if (mechanicalArm.getBigArmLocation().toInt() < mechanicalArm.getCurrent_BAMin().toInt() || mechanicalArm.getBigArmLocation().toInt() > mechanicalArm.getCurrent_BAMax().toInt()) { 36 | msg += "大臂超出设置范围,"; 37 | } 38 | if (mechanicalArm.getRevolvingStageLocation().toInt() < mechanicalArm.getCurrent_RSMin().toInt() || mechanicalArm.getRevolvingStageLocation().toInt() > mechanicalArm.getCurrent_RSMax().toInt()) { 39 | msg += "转台超出设置范围,"; 40 | } 41 | 42 | if (msg != "") 43 | { 44 | QMessageBox::critical(this,"添加动作",msg + "添加失败！"); 45 | return; 46 | } 47 | 48 | // ListViewItem lvi = new ListViewItem(new string[] { 49 | // actionIndex.ToString(), 50 | // robot.ClowLocation.ToString(), 51 | // robot.SmallArmLocation.ToString(), 52 | // robot.BigArmLocation.ToString(), 53 | // robot.RevolvingStageLocation.ToString() 54 | // }); 55 | // qDebug() << "：：" << ui->tableWidget->item() << "——" << ui->tableWidget->columnCount(); 56 | 57 | int add_row = 0,add_column = 0; 58 | int add_index = -1; 59 | QModelIndex current_index = ui->tableWidget->currentIndex(); 60 | qDebug() << "添加前：" << current_index.row(); 61 | 62 | // 以首个单元格作为标记 63 | if ( ui->tableWidget->item(0,0) == NULL ) 64 | { 65 | addAction_Location(add_row,add_column); 66 | } 67 | else 68 | { 69 | if(NextItemEmpty(ui->tableWidget,current_index.row(),current_index.column()) 70 | && !CurrentItemEmpty(ui->tableWidget,current_index.row(),current_index.column())){ 71 | qDebug() << "添加前：" << current_index.row(); 72 | add_index = current_index.row()+1; 73 | addAction_Location(add_index,add_column); 74 | // ui->tableWidget->select 75 | // tableWidget->setCurrentItem(NULL); 76 | // for(int j = 0;j < 4;j++){ 77 | // ui->tableWidget->item(current_index.row(), j)->setFlags(Qt::NoItemFlags); 78 | // } 79 | // key_SerialWrite("DOWN"); 80 | // ui->tableWidget->; 81 | // qDebug() << ui->tableWidget->currentIndex(); 82 | // 取消选中行 83 | ui->tableWidget->clearSelection(); 84 | // 更换选中行，确保只可添加一次 85 | } 86 | else{ 87 | QMessageBox::critical(this,"添加动作","不可空行或重复添加，请重新选择添加的位置"); 88 | return; 89 | } 90 | } 91 | // int index = lstAction.SelectedItems[0].Index; 92 | // lstAction.Items.Insert(index + 1, lvi); 93 | // lstAction.SelectedItems[0].Selected = false; 94 | } 95 | 96 | /* 97 | * 删除动作 98 | */ 99 | void UpperMachine :: deleteAction() 100 | { 101 | if (ui->tableWidget->selectedItems().count() == 0 ) { 102 | QMessageBox::information(this,"删除动作","请先选中行再进行删除操作！"); 103 | qDebug() << "删除失败，选中行：" << ui->tableWidget->currentRow(); 104 | return; 105 | } 106 | else 107 | { 108 | // qDebug() << "删除前：" << ui->tableWidget->currentRow(); 109 | // ui->tableWidget->removeRow(ui->tableWidget->currentRow()); 110 | if(selectRow()) 111 | { 112 | QMessageBox::StandardButton btn = QMessageBox::question(this,"删除动作","确认删除当前选中行：第"+ QString::number(ui->tableWidget->currentRow()+1) +"行的动作记录",QMessageBox::Yes|QMessageBox::No); 113 | if (btn == QMessageBox::Yes) { 114 | // 1.1 重新排列 115 | // 1、获取当前索引 116 | // 2、取往下行数据内容 117 | // 3、取往上行数据内容 118 | // 4、合并数据内容 119 | // 5、清空所有数据 120 | // 6、重新赋值 121 | // 1.2 删除行 122 | ui->tableWidget->removeRow(ui->tableWidget->currentRow()); 123 | qDebug() << "删除动作记录：" << ui->tableWidget->currentRow(); 124 | // 1.2.1 补充行数 125 | int row = ui->tableWidget->rowCount(); 126 | ui->tableWidget->insertRow(row); 127 | } 128 | // else 129 | // { 130 | // return; 131 | // } 132 | } 133 | else{ 134 | QMessageBox::critical(this,"删除动作","请先选中非空行，再进行删除操作！"); 135 | return; 136 | } 137 | } 138 | } 139 | 140 | /* 141 | * 清空动作 142 | */ 143 | void UpperMachine :: clearAction() 144 | { 145 | QMessageBox::StandardButton btn = QMessageBox::question(this,"清空轨迹","确认清空当前所有动作记录",QMessageBox::Yes|QMessageBox::No); 146 | if (btn == QMessageBox::Yes) { 147 | ui->tableWidget->clearContents(); 148 | } 149 | } 150 | 151 | /* 152 | * 恢复首位 153 | */ 154 | void UpperMachine :: firstAction() 155 | { 156 | QByteArray command = QString(strAddLine(readFirstAction())).toUtf8(); 157 | qDebug() << "恢复首位：" << command; 158 | upperSerialPort.write(command); 159 | QMessageBox::about(this,"恢复首位","恢复首位：" + command + "成功！"); 160 | } 161 | 162 | /* 163 | * 示教启动 164 | */ 165 | void UpperMachine::playActions() 166 | { 167 | if(!CurrentItemEmpty(ui->tableWidget,0,0)) 168 | { 169 | playStatus = PlayStatus::PLAY; 170 | 171 | // m_pTimer->start(1000); // 1秒 172 | m_pTimer->start(ui->textEdit_timeOut->toPlainText().toInt()); 173 | } 174 | else { 175 | QMessageBox::critical(this,"示教运行","数据为空，无法获取数据进行示教！"); 176 | return; 177 | } 178 | } 179 | 180 | /* 181 | * 示教暂停 182 | */ 183 | void UpperMachine::pauseActions() 184 | { 185 | if(!CurrentItemEmpty(ui->tableWidget,0,0)) 186 | { 187 | if(m_pTimer->isActive() && playStatus == PlayStatus :: PLAY){ 188 | playStatus = PlayStatus::PAUSE; 189 | m_pTimer->stop(); 190 | ui->tableWidget->setFocus(); 191 | // 选中当前行 192 | ui->tableWidget->setCurrentCell(playIndex,QItemSelectionModel::Select); 193 | } 194 | else { 195 | QMessageBox::information(this,"示教暂停","当前不存在示教活动"); 196 | } 197 | } 198 | else { 199 | QMessageBox::critical(this,"示教运行","数据为空，无法获取数据进行示教！"); 200 | return ; 201 | } 202 | } 203 | 204 | /* 205 | * 示教停止 206 | */ 207 | void UpperMachine::stopActions() 208 | { 209 | if(!CurrentItemEmpty(ui->tableWidget,0,0)) 210 | { 211 | if(m_pTimer->isActive() && playStatus == PlayStatus :: PLAY){ 212 | playIndex = 0; 213 | playStatus = PlayStatus::STOP; 214 | m_pTimer->stop(); 215 | ui->tableWidget->setFocus(); 216 | // 选中当前行 217 | ui->tableWidget->setCurrentCell(playIndex,QItemSelectionModel::Select); 218 | } 219 | else { 220 | QMessageBox::information(this,"示教停止","当前不存在示教活动"); 221 | } 222 | } 223 | else { 224 | QMessageBox::critical(this,"示教运行","数据为空，无法获取数据进行示教！"); 225 | return ; 226 | } 227 | } 228 | 229 | /* 230 | * 单步运行 231 | */ 232 | void UpperMachine::stepActions() 233 | { 234 | if(!CurrentItemEmpty(ui->tableWidget,0,0)) 235 | { 236 | if(!m_pTimer->isActive() && (playStatus == PlayStatus :: PAUSE || playStatus == PlayStatus::STOP)){ 237 | if (playIndex >= actionCount) { 238 | playIndex = 0; 239 | } 240 | else { 241 | ui->tableWidget->setFocus(); 242 | // 选中当前行 243 | ui->tableWidget->setCurrentCell(playIndex,QItemSelectionModel::Select); 244 | QByteArray command = QString(strAddLine(readItems(playIndex))).toUtf8(); 245 | qDebug()<<"单步运行，当前索引：" << playIndex; 246 | upperSerialPort.write(command); 247 | playIndex ++; 248 | // 超出范围跳转并停止 249 | // m_pTimer->stop(); 250 | } 251 | qDebug() << "当前行：" << ui->tableWidget->currentItem(); 252 | } 253 | else { 254 | QMessageBox::information(this,"单步运行","示教活动正在运行或当前不存在示教活动"); 255 | } 256 | } 257 | else { 258 | QMessageBox::critical(this,"示教运行","数据为空，无法获取数据进行示教！"); 259 | return; 260 | } 261 | } 262 | -------------------------------------------------------------------------------- /homesettings.h: -------------------------------------------------------------------------------- 1 | #ifndef HOMESETTINGS_H 2 | #define HOMESETTINGS_H 3 | 4 | #include 5 | #include 6 | 7 | void UpperMachine :: application_UISettings(void) 8 | { 9 | mechanicalArm.setStartCheck(0); 10 | // 菜单栏背景色 11 | ui->menubar->setStyleSheet("background-color:rgb(195, 197, 198)"); 12 | 13 | 14 | // 获取位置只读 15 | ui->textEdit_BArmObtain->setReadOnly(true); 16 | ui->textEdit_ClowObtain->setReadOnly(true); 17 | ui->textEdit_SArmObtain->setReadOnly(true); 18 | ui->textEdit_RevolvingStageObtain->setReadOnly(true); 19 | 20 | // 配置文本框事件过滤器 21 | ui->textEdit_ClowMin->installEventFilter(this); 22 | ui->textEdit_ClowMax->installEventFilter(this); 23 | ui->textEdit_SArmMin->installEventFilter(this); 24 | ui->textEdit_SArmMax->installEventFilter(this); 25 | ui->textEdit_BArmMin->installEventFilter(this); 26 | ui->textEdit_BArmMax->installEventFilter(this); 27 | ui->textEdit_RStageMin->installEventFilter(this); 28 | ui->textEdit_RStageMax->installEventFilter(this); 29 | 30 | 31 | // 配置按钮事件过滤器 32 | ui->pushButton_W->installEventFilter(this); 33 | ui->pushButton_A->installEventFilter(this); 34 | ui->pushButton_X->installEventFilter(this); 35 | ui->pushButton_D->installEventFilter(this); 36 | ui->pushButton_I->installEventFilter(this); 37 | ui->pushButton_J->installEventFilter(this); 38 | ui->pushButton_M->installEventFilter(this); 39 | ui->pushButton_L->installEventFilter(this); 40 | 41 | 42 | // 居中显示 43 | ui->textEdit_ClowObtain->setAlignment(Qt::AlignCenter); 44 | ui->textEdit_SArmObtain->setAlignment(Qt::AlignCenter); 45 | ui->textEdit_BArmObtain->setAlignment(Qt::AlignCenter); 46 | ui->textEdit_RevolvingStageObtain->setAlignment(Qt::AlignCenter); 47 | ui->textEdit_ClowMin->setAlignment(Qt::AlignCenter); 48 | ui->textEdit_ClowMax->setAlignment(Qt::AlignCenter); 49 | ui->textEdit_SArmMin->setAlignment(Qt::AlignCenter); 50 | ui->textEdit_SArmMax->setAlignment(Qt::AlignCenter); 51 | ui->textEdit_BArmMin->setAlignment(Qt::AlignCenter); 52 | ui->textEdit_BArmMax->setAlignment(Qt::AlignCenter); 53 | ui->textEdit_RStageMin->setAlignment(Qt::AlignCenter); 54 | ui->textEdit_RStageMax->setAlignment(Qt::AlignCenter); 55 | ui->textEdit_SendClow->setAlignment(Qt::AlignCenter); 56 | ui->textEdit_SendSArm->setAlignment(Qt::AlignCenter); 57 | ui->textEdit_SendBArm->setAlignment(Qt::AlignCenter); 58 | ui->textEdit_SendRStage->setAlignment(Qt::AlignCenter); 59 | 60 | 61 | 62 | ///设置表格 63 | // 设置列数：限定5列 64 | ui->tableWidget->setColumnCount(4); 65 | // 设置行数：限定10行 66 | ui->tableWidget->setRowCount(10); 67 | // 设置标题 68 | ui->tableWidget->setWindowTitle("示教表格"); 69 | // 设置表头 70 | QStringList tableHeader; 71 | tableHeader << QString("爪头") << QString("小臂") << QString("大臂") << QString("转台"); 72 | ui->tableWidget->setHorizontalHeaderLabels(tableHeader); 73 | // 表头可视化 74 | ui->tableWidget->verticalHeader()->setVisible(true); 75 | ui->tableWidget->horizontalHeader()->setVisible(true); 76 | // 隐藏栅格 77 | // ui->tableWidget->setShowGrid(false); 78 | 79 | // 设置可编辑 80 | // ui->tableWidget->setEditTriggers(QAbstractItemView::AllEditTriggers); 81 | ui->tableWidget->setEditTriggers(QAbstractItemView::NoEditTriggers); 82 | 83 | // 设置表格选择方式：设置表格为整列选中 84 | ui->tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows); 85 | // 选择目标方式 86 | ui->tableWidget->setSelectionMode(QAbstractItemView::SingleSelection); 87 | // 设置选中颜色：粉色 88 | ui->tableWidget->setStyleSheet("selection-background-color:gray"); 89 | // 设置水平滚动条 90 | ui->tableWidget->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOn); 91 | // 设置垂直滚动条 92 | ui->tableWidget->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn); 93 | // 只能选中一行，不可多行 94 | ui->tableWidget->setSelectionMode(QAbstractItemView::SingleSelection); 95 | // 去掉每行的行号 96 | // QHeaderView *headerView = ui->tableWidget->verticalHeader(); 97 | // headerView->setHidden(true); 98 | 99 | // 获取单元格的内容 100 | // QString strText = ui->tableWidget->item(1, 1)->text(); 101 | // 输出单元格内容 102 | // qDebug()<<"单元格内容："<pushButton_STEP->setFlat(1); 107 | // ui->pushButton_STEP->setStyleSheet("outline: none"); 108 | ui->pushButton_PAUSE->setFlat(1); 109 | // ui->pushButton_PAUSE->setStyleSheet("outline: none"); 110 | ui->pushButton_STOP->setFlat(1); 111 | // ui->pushButton_STOP->setStyleSheet("outline: none"); 112 | ui->pushButton_PLAY->setFlat(1); 113 | // ui->pushButton_PLAY->setStyleSheet("outline: none"); 114 | 115 | 116 | 117 | 118 | for(int rows=0;rowstableWidget->rowCount();rows++) 119 | { 120 | for(int columns=0;columnstableWidget->columnCount();columns++) 121 | { 122 | ui->tableWidget->setRowHeight(rows,30); 123 | ui->tableWidget->setColumnWidth(columns,100); 124 | // // 居中显示 125 | // ui->tableWidget->item(rows,columns)->setTextAlignment(Qt::AlignCenter); 126 | // 设置前景颜色 127 | // ui->tableWidget->item(rows,columns)->setBackground(QColor(85,170,255)); 128 | // ui->tableWidget->item(rows,columns)->setTextColor();//设置文本颜色 129 | // 设置字体为黑体 130 | // ui->tableWidget->item(rows,columns)->setFont(QFont("Helvetica")); 131 | } 132 | } 133 | 134 | 135 | // 文本框默认软限位 136 | ui->textEdit_ClowMin->setText(QString::number(mechanicalArm.getClowMin())); 137 | ui->textEdit_ClowMax->setText(QString::number(mechanicalArm.getClowMax())); 138 | ui->textEdit_SArmMin->setText(QString::number(mechanicalArm.getSArmMin())); 139 | ui->textEdit_SArmMax->setText(QString::number(mechanicalArm.getSArmMax())); 140 | ui->textEdit_BArmMin->setText(QString::number(mechanicalArm.getBArmMin())); 141 | ui->textEdit_BArmMax->setText(QString::number(mechanicalArm.getBArmMax())); 142 | ui->textEdit_RStageMin->setText(QString::number(mechanicalArm.getRStageMin())); 143 | ui->textEdit_RStageMax->setText(QString::number(mechanicalArm.getRStageMax())); 144 | 145 | mechanicalArm.setStartCheck(1); 146 | 147 | // 设置软限位默认值 148 | currentsoftlimitSettings(); 149 | 150 | // 默认间隔时间 151 | ui->textEdit_timeOut->setText("2500"); 152 | 153 | 154 | 155 | 156 | } 157 | 158 | //void UpperMachine :: controlsSettings(bool tf) 159 | //{ 160 | // if (upperSerial.getL_isOpen() == true) { 161 | 162 | // } 163 | // else 164 | // { 165 | 166 | // } 167 | // ui->pushButton_CloseSerial->setEnabled(1); 168 | // ui->pushButton_ReadLocation->setEnabled(1); 169 | // ui->pushButton_SwitchStatus->setEnabled(1); 170 | //} 171 | 172 | 173 | #endif // HOMESETTINGS_H 174 | -------------------------------------------------------------------------------- /main.cpp: -------------------------------------------------------------------------------- 1 | #include "uppermachine.h" 2 | 3 | #include 4 | #include 5 | 6 | int main(int argc, char *argv[]) 7 | { 8 | QApplication a(argc, argv); 9 | // 主程序类 10 | UpperMachine upperMachine; 11 | upperMachine.setWindowTitle("上位机349"); 12 | upperMachine.show(); 13 | QMessageBox::aboutQt(NULL, "QtAbout"); 14 | return a.exec(); 15 | 16 | } 17 | -------------------------------------------------------------------------------- /mechanicalarm.cpp: -------------------------------------------------------------------------------- 1 | #include "mechanicalarm.h" 2 | 3 | //机械臂类 4 | MechanicalArm::MechanicalArm() 5 | { 6 | 7 | } 8 | 9 | MechanicalArm::~MechanicalArm() 10 | { 11 | 12 | } 13 | 14 | QString MechanicalArm::getCurrent_SAMin() const 15 | { 16 | return current_SAMin; 17 | } 18 | 19 | void MechanicalArm::setCurrent_SAMin(const QString &value) 20 | { 21 | current_SAMin = value; 22 | } 23 | 24 | QString MechanicalArm::getCurrent_BAMin() const 25 | { 26 | return current_BAMin; 27 | } 28 | 29 | void MechanicalArm::setCurrent_BAMin(const QString &value) 30 | { 31 | current_BAMin = value; 32 | } 33 | 34 | QString MechanicalArm::getCurrent_RSMin() const 35 | { 36 | return current_RSMin; 37 | } 38 | 39 | void MechanicalArm::setCurrent_RSMin(const QString &value) 40 | { 41 | current_RSMin = value; 42 | } 43 | 44 | QString MechanicalArm::getCurrent_RSMax() const 45 | { 46 | return current_RSMax; 47 | } 48 | 49 | void MechanicalArm::setCurrent_RSMax(const QString &value) 50 | { 51 | current_RSMax = value; 52 | } 53 | 54 | QString MechanicalArm::getCurrent_BAMax() const 55 | { 56 | return current_BAMax; 57 | } 58 | 59 | void MechanicalArm::setCurrent_BAMax(const QString &value) 60 | { 61 | current_BAMax = value; 62 | } 63 | 64 | QString MechanicalArm::getCurrent_SAMax() const 65 | { 66 | return current_SAMax; 67 | } 68 | 69 | void MechanicalArm::setCurrent_SAMax(const QString &value) 70 | { 71 | current_SAMax = value; 72 | } 73 | 74 | QString MechanicalArm::getCurrent_CMax() const 75 | { 76 | return current_CMax; 77 | } 78 | 79 | void MechanicalArm::setCurrent_CMax(const QString &value) 80 | { 81 | current_CMax = value; 82 | } 83 | 84 | QString MechanicalArm::getCurrent_CMin() const 85 | { 86 | return current_CMin; 87 | } 88 | 89 | void MechanicalArm::setCurrent_CMin(const QString &value) 90 | { 91 | current_CMin = value; 92 | } 93 | 94 | int MechanicalArm::getStartCheck() const 95 | { 96 | return startCheck; 97 | } 98 | 99 | void MechanicalArm::setStartCheck(int value) 100 | { 101 | startCheck = value; 102 | } 103 | 104 | 105 | QString MechanicalArm::getRevolvingStageLocation() const 106 | { 107 | return RevolvingStageLocation; 108 | } 109 | 110 | void MechanicalArm::setRevolvingStageLocation(const QString &value) 111 | { 112 | RevolvingStageLocation = value; 113 | } 114 | 115 | QString MechanicalArm::getBigArmLocation() const 116 | { 117 | return BigArmLocation; 118 | } 119 | 120 | void MechanicalArm::setBigArmLocation(const QString &value) 121 | { 122 | BigArmLocation = value; 123 | } 124 | 125 | QString MechanicalArm::getSmallArmLocation() const 126 | { 127 | return SmallArmLocation; 128 | } 129 | 130 | void MechanicalArm::setSmallArmLocation(const QString &value) 131 | { 132 | SmallArmLocation = value; 133 | } 134 | 135 | QString MechanicalArm::getClowLocation() const 136 | { 137 | return ClowLocation; 138 | } 139 | 140 | void MechanicalArm::setClowLocation(const QString &value) 141 | { 142 | ClowLocation = value; 143 | } 144 | 145 | int MechanicalArm::getRStageMin() const 146 | { 147 | return RStageMin; 148 | } 149 | 150 | int MechanicalArm::getRStageMax() const 151 | { 152 | return RStageMax; 153 | } 154 | 155 | int MechanicalArm::getBArmMax() const 156 | { 157 | return BArmMax; 158 | } 159 | 160 | int MechanicalArm::getBArmMin() const 161 | { 162 | return BArmMin; 163 | } 164 | 165 | int MechanicalArm::getSArmMin() const 166 | { 167 | return SArmMin; 168 | } 169 | 170 | int MechanicalArm::getSArmMax() const 171 | { 172 | return SArmMax; 173 | } 174 | 175 | int MechanicalArm::getClowMax() const 176 | { 177 | return ClowMax; 178 | } 179 | 180 | int MechanicalArm::getClowMin() const 181 | { 182 | return ClowMin; 183 | } 184 | -------------------------------------------------------------------------------- /mechanicalarm.h: -------------------------------------------------------------------------------- 1 | #ifndef MECHANICALARM_H 2 | #define MECHANICALARM_H 3 | #include 4 | 5 | //机械臂类 6 | class MechanicalArm 7 | { 8 | 9 | public: 10 | MechanicalArm(); 11 | ~MechanicalArm(); 12 | 13 | int startCheck = 0; 14 | 15 | //手爪位置 16 | QString ClowLocation; 17 | // 手爪软限位 18 | const int ClowMin=0,ClowMax=180; 19 | // 当前软限位 20 | QString current_CMin = QString(ClowMin),current_CMax = QString(ClowMax); 21 | 22 | //小臂位置 23 | QString SmallArmLocation; 24 | // 手爪软限位 25 | const int SArmMin= 45 ,SArmMax= 105 ; 26 | // 当前软限位 27 | QString current_SAMin = QString(SArmMin),current_SAMax = QString(SArmMax); 28 | 29 | //大臂位置 30 | QString BigArmLocation; 31 | // 手爪软限位 32 | const int BArmMin= 40 ,BArmMax= 135 ; 33 | // 当前软限位 34 | QString current_BAMin = QString(BArmMin),current_BAMax = QString(BArmMax); 35 | 36 | //转台 37 | QString RevolvingStageLocation; 38 | // 手爪软限位 39 | const int RStageMin= 0 ,RStageMax= 180 ; 40 | // 当前软限位 41 | QString current_RSMin = QString(RStageMin),current_RSMax = QString(RStageMax); 42 | 43 | 44 | 45 | int getClowMin() const; 46 | int getClowMax() const; 47 | int getSArmMax() const; 48 | int getSArmMin() const; 49 | int getBArmMin() const; 50 | int getBArmMax() const; 51 | int getRStageMax() const; 52 | int getRStageMin() const; 53 | QString getClowLocation() const; 54 | void setClowLocation(const QString &value); 55 | QString getSmallArmLocation() const; 56 | void setSmallArmLocation(const QString &value); 57 | QString getBigArmLocation() const; 58 | void setBigArmLocation(const QString &value); 59 | QString getRevolvingStageLocation() const; 60 | void setRevolvingStageLocation(const QString &value); 61 | int getStartCheck() const; 62 | void setStartCheck(int value); 63 | QString getCurrent_CMin() const; 64 | void setCurrent_CMin(const QString &value); 65 | QString getCurrent_CMax() const; 66 | void setCurrent_CMax(const QString &value); 67 | QString getCurrent_SAMax() const; 68 | void setCurrent_SAMax(const QString &value); 69 | QString getCurrent_BAMax() const; 70 | void setCurrent_BAMax(const QString &value); 71 | QString getCurrent_RSMax() const; 72 | void setCurrent_RSMax(const QString &value); 73 | QString getCurrent_RSMin() const; 74 | void setCurrent_RSMin(const QString &value); 75 | QString getCurrent_BAMin() const; 76 | void setCurrent_BAMin(const QString &value); 77 | QString getCurrent_SAMin() const; 78 | void setCurrent_SAMin(const QString &value); 79 | int getIndex_mark() const; 80 | void setIndex_mark(int value); 81 | int getPlayIndex() const; 82 | void setPlayIndex(int value); 83 | }; 84 | 85 | #endif // MECHANICALARM_H 86 | -------------------------------------------------------------------------------- /otherFun.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | 7 | /* 8 | * 添加换行 9 | */ 10 | QString strAddLine(QString str) 11 | { 12 | return str+"\n"; 13 | } 14 | 15 | 16 | /* 17 | * 去除末尾 18 | */ 19 | QString strDelLast(QByteArray command) 20 | { 21 | return command.replace("\r\n",""); 22 | } 23 | 24 | 25 | 26 | /* 27 | * 自定义延时 28 | */ 29 | void sleep_MS(int msec) 30 | { 31 | QTime dieTime = QTime::currentTime().addMSecs(msec); 32 | while( QTime::currentTime() < dieTime ) 33 | QCoreApplication::processEvents(QEventLoop::AllEvents, 50); 34 | } 35 | 36 | 37 | 38 | /* 39 | * 查询状态编码 40 | */ 41 | int findModelNum(QByteArray arrayBuffer) 42 | { 43 | QString command = QString(strDelLast(arrayBuffer)); 44 | QStringList arrayList = command.split("式"); 45 | return arrayList[1].left(1).toInt(); 46 | } 47 | 48 | 49 | 50 | /* 51 | * 查询状态信息 52 | */ 53 | int findModelInfo(QByteArray arrayBuffer) 54 | { 55 | qDebug() << "当前操纵状态：" << QString(arrayBuffer); 56 | QString command = QString(strDelLast(arrayBuffer)); 57 | QStringList arrayList = command.split("模式"); 58 | QMessageBox::StandardButton btn = QMessageBox::question(NULL,"操纵状态",arrayList[1].right(6)+"，继续切换？",QMessageBox::Yes|QMessageBox::No); 59 | if (btn == QMessageBox::Yes) { 60 | return 1; 61 | } 62 | else 63 | { 64 | return 0; 65 | } 66 | } 67 | 68 | 69 | -------------------------------------------------------------------------------- /otherHeader.h: -------------------------------------------------------------------------------- 1 | #ifndef OTHERHEADER_H 2 | #define OTHERHEADER_H 3 | 4 | #include 5 | 6 | 7 | //休眠 8 | void sleep_MS(int); 9 | //加换行 10 | QString strAddLine(QString); 11 | //除去末尾 12 | QString strDelLast(QByteArray); 13 | //寻找状态编码 14 | int findModelNum(QByteArray); 15 | //查询状态信息 16 | int findModelInfo(QByteArray); 17 | 18 | #endif // OTHERHEADER_H 19 | -------------------------------------------------------------------------------- /serialFun.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | 6 | /* 7 | * 设备连接--获取全称 8 | */ 9 | void UpperMachine::connectUM() 10 | { 11 | if (upperSerial.getL_isOpen() == 1) { 12 | QMessageBox::about(this,"打开串口","当前串口已经打开,设备："+upperSerial.getDeviceName()); 13 | } 14 | else{ 15 | //获取设备全称，获取则说明连接成功 Arduino Uno (COM4) 16 | upperSerial.setDeviceName(GetDeviceFullName()); 17 | /*Console.WriteLine("设备信息" + deviceFullName);*/ 18 | if (upperSerial.getDeviceName().contains(upperSerial.getL_deviceFlag())) 19 | { 20 | try { 21 | upperSerialPort.setPortName(QString(upperSerial.getL_c_protName())); 22 | upperSerialPort.setBaudRate(upperSerial.getL_c_baudRate()); 23 | // upperSerialPort.setDataBits(upperSerial.getL_c_dataBits()); 24 | // upperSerialPort.setStopBits(upperSerial.getL_c_stopBits()); 25 | // upperSerialPort.setParity(upperSerial.getL_c_parity()); 26 | upperSerialPort.setDataBits(QSerialPort::Data8); 27 | upperSerialPort.setStopBits(QSerialPort::OneStop); 28 | upperSerialPort.setParity(QSerialPort::NoParity); 29 | upperSerialPort.setFlowControl(QSerialPort::NoFlowControl); 30 | connect(&upperSerialPort, &QSerialPort::readyRead, this, &UpperMachine::serialPort_ReadAvailable); 31 | // do { 32 | upperSerialPort.open(QIODevice::ReadWrite); 33 | // } while ( upperSerialPort.open(QIODevice::ReadWrite) != true); 34 | 35 | // QMessageBox *btn2 = new QMessageBox(QMessageBox::Information,QString("打开串口中"),QString("串口打开中，请稍后......")); 36 | // sleep_MS(10); 37 | // btn2->exec(); 38 | QMessageBox::about(this,"打开串口","串口打开成功"); 39 | upperSerial.setL_isOpen(1); 40 | upperSerial.setL_isOpen(upperSerialPort.isOpen()); 41 | ui->label_deviceName->setText(upperSerial.getDeviceName()); 42 | ui->label_connectInfo->setStyleSheet("color:green;"); 43 | ui->label_connectInfo->setText("连接成功"); 44 | ui->label_StatusInfo->setStyleSheet("color:black;"); 45 | ui->label_StatusInfo->setText("默认状态"); 46 | qDebug() << upperSerial.getL_isOpen() << "\\" << upperSerialPort.portName() 47 | << "\\" << upperSerialPort.baudRate() << "\\" << upperSerialPort.dataBits() 48 | << "\\" << upperSerialPort.stopBits() 49 | << "\\RW:" << upperSerialPort.open(QIODevice::ReadWrite); 50 | // sp.DataReceived += Sp_DataReceived; 51 | // sp.Open(); 52 | //探测一次当前状态 53 | //切换响应状态 54 | // robotAction = RobotAction::UP; 55 | //发送数据 56 | //sp.Write("UP\n"); 57 | 58 | } catch (exception ex_rw) { 59 | qDebug() << "打开串口失败" << QString(ex_rw.what()); 60 | ui->label_deviceName->setText("设备配置有误"); 61 | ui->label_connectInfo->setStyleSheet("color:red;"); 62 | ui->label_connectInfo->setText("打开设备失败！"); 63 | } 64 | } 65 | else 66 | { 67 | qDebug() << "打开串口失败，不存在类似设备名称"; 68 | ui->label_deviceName->setText("不存在类似设备名称"); 69 | ui->label_connectInfo->setStyleSheet("color:red;"); 70 | ui->label_connectInfo->setText("连接设备失败！"); 71 | } 72 | } 73 | } 74 | 75 | 76 | 77 | /* 78 | * 读取接收数据 79 | */ 80 | void UpperMachine :: readAvailableInfo() 81 | { 82 | //接收设备返回的命令 83 | QString command_Recept; 84 | try { 85 | QByteArray buffer; 86 | // arrayBuffer.clear(); 87 | // 1、读取缓冲字节 88 | if (upperSerialPort.bytesAvailable()) { 89 | // 串口收到的数据并非连续的，需要进行缓存在进行解析 90 | // 从串口接收缓冲区中读取所有数据 91 | buffer = upperSerialPort.readAll(); 92 | qDebug() << "已接收：" << buffer; 93 | } 94 | // 2、将字节加入自定义接收输入缓冲区列 95 | // tempBuffer.append(buffer); 96 | arrayBuffer.append(buffer); 97 | qDebug() << "已存入：" << arrayBuffer << "——" + QString::number(arrayBuffer.count(),10); 98 | 99 | // 2.1、接收数据完整，执行指令 100 | if (arrayBuffer.contains("\n")) 101 | { 102 | // 3、解析当前操纵指令 103 | switch (robotAction) { 104 | /* 105 | * 获取当前坐标 106 | */ 107 | case RobotAction::DOWN: 108 | //最小软限位 a:0,b:45,c:40,d:0\n 总共18个字节数 109 | // if (tempBuffer.count() >= 18) 110 | if (arrayBuffer.count() >= 18) 111 | { 112 | //除去换行符 113 | command_Recept = QString(strDelLast(arrayBuffer)); 114 | //清空缓存 115 | arrayBuffer.clear(); 116 | //执行命令 117 | doDOWN(command_Recept); 118 | qDebug() << "操纵指令" << RobotAction::DOWN << "执行成功！"; 119 | qDebug() << "++++++++++++++++++++++++++++++++++++++"; 120 | upperSerial.setWriteSuccess(1); 121 | }else{ 122 | qDebug() << "返回数据长度过低，数据有误，请检查主控制器指令处理与设备安全状态！"; 123 | upperSerial.setWriteSuccess(0); 124 | } 125 | break; 126 | /* 127 | * 状态切换 128 | */ 129 | case RobotAction::UP: 130 | if (arrayBuffer.count() == 27) 131 | { 132 | int modelNum = findModelNum(arrayBuffer); 133 | qDebug() << "状态编码：" << modelNum; 134 | // isBlueLight = modelNum == 0? true:false; 135 | int switchContinue = findModelInfo(arrayBuffer); 136 | if (switchContinue == 1) { 137 | arrayBuffer.clear(); 138 | // 切换状态 139 | robotAction = RobotAction::UP; 140 | // 写入切换指令 141 | upperSerialPort.write(QString(strAddLine("UP")).toUtf8()); 142 | } 143 | else { 144 | QString info = QString(strDelLast(arrayBuffer)).split("模式")[1].right(4); 145 | qDebug() << "切换后的状态：" << info; 146 | arrayBuffer.clear(); 147 | ui->label_StatusInfo->setText(info); 148 | QMessageBox::about(this,"切换命令","状态：" + info + "切换成功！"); 149 | upperSerial.setWriteSuccess(1); 150 | } 151 | } 152 | else{ 153 | qDebug() << "获取信息有误！" << arrayBuffer; 154 | upperSerial.setWriteSuccess(0); 155 | } 156 | break; 157 | case RobotAction::RESET: 158 | // qDebug() << arrayBuffer.count() << isBlueLight; 159 | // if (arrayBuffer.count() == 8 && isBlueLight == true) 160 | if (arrayBuffer.count() == 8 ) 161 | { 162 | qDebug() << "复位成功！"; 163 | QMessageBox::about(this,"复位命令","复位成功！"); 164 | arrayBuffer.clear(); 165 | upperSerial.setWriteSuccess(1); 166 | } 167 | else 168 | QMessageBox::critical(this,"复位命令","复位失败！"); 169 | upperSerial.setWriteSuccess(0); 170 | break; 171 | case RobotAction::ADD_ACTION: 172 | if (arrayBuffer.count() >= 18) 173 | { 174 | //除去末尾符 \r\n 175 | command_Recept = QString(strDelLast(arrayBuffer)); 176 | arrayBuffer.clear(); 177 | // 执行命令，单单获取不进行坐标设置 178 | // doDOWN(command_Recept); 179 | addUMAction(command_Recept); 180 | } 181 | else { 182 | upperSerial.setWriteSuccess(0); 183 | } 184 | break; 185 | default: 186 | // tempBuffer.clear(); 187 | // arrayBuffer.clear(); 188 | // upperSerial.setWriteSuccess(false); 189 | break; 190 | } 191 | } 192 | else { 193 | qDebug() << "数据不完整（元数据以换行符号结束）"; 194 | } 195 | } catch (exception &ex) { 196 | qDebug() << ex.what(); 197 | QMessageBox::critical(this, "串口返回数据解析异常", QString(ex.what())); 198 | } 199 | } 200 | 201 | 202 | 203 | /* 204 | * 获取设备全称、查询可用串口 205 | */ 206 | QString UpperMachine :: GetDeviceFullName() 207 | { 208 | upperSerialPort.reset(); 209 | upperSerialPort.close(); 210 | upperSerial.setL_isOpen(false); 211 | // ui->textEdit_Receipt->append("查询可用串口中......"); 212 | qDebug("查询可用串口中......"); 213 | sleep_MS(50); 214 | int i = QSerialPortInfo::availablePorts().count() , j = i; 215 | // 通过QSerialPortInfo类进行遍历，查找可用串口设备 216 | foreach(const QSerialPortInfo &info, QSerialPortInfo::availablePorts()) 217 | { 218 | QString infoMain = info.portName() + ":" + info.description(); 219 | i--; 220 | QMessageBox::StandardButton btn; 221 | if (info.isBusy()) { 222 | QMessageBox::question(this, "可用串口提示", infoMain + "被占用！寻找下一串口？", QMessageBox::Yes|QMessageBox::No); 223 | } 224 | else{ 225 | if (info.description().contains(upperSerial.getL_deviceFlag())) { 226 | btn = QMessageBox::information(this,"匹配信息","相似设备匹配到一台："+infoMain+"!\n匹配成功！",QMessageBox::Yes); 227 | upperSerial.setL_c_protName(info.portName()); 228 | qDebug() << "相似设备匹配到一台：" << j - i << "、" << infoMain; 229 | return info.description(); 230 | } 231 | else { 232 | qDebug() << "未找到指定匹配串口设备: " << upperSerial.getL_deviceFlag(); 233 | btn = QMessageBox::question(this,"未匹配到相似设备："+upperSerial.getL_deviceFlag()+"!\n匹配失败！", "串口"+ infoMain + "不匹配！继续查询?",QMessageBox::Yes|QMessageBox::No); 234 | } 235 | } 236 | if (btn == QMessageBox::Yes) { 237 | if (i != 0) { 238 | qDebug() << j - i << "、" << infoMain; 239 | continue; 240 | }else{ 241 | qDebug() << j - i << "、" << infoMain; 242 | QMessageBox :: information(this,"搜索提示","结束可用串口设备搜索！",QMessageBox::Ok); 243 | break; 244 | } 245 | }else { 246 | QMessageBox :: information(this,"搜索提示","结束可用串口设备搜索！",QMessageBox::Ok); 247 | break; 248 | } 249 | } 250 | return ""; 251 | } 252 | 253 | 254 | 255 | /* 256 | * 添加动作记录 257 | */ 258 | void UpperMachine :: addAction_Location(int add_row,int add_column) 259 | { 260 | ui->tableWidget->setItem(add_row,add_column + 0,new QTableWidgetItem(mechanicalArm.getClowLocation())); 261 | ui->tableWidget->setItem(add_row,add_column + 1,new QTableWidgetItem(mechanicalArm.getSmallArmLocation())); 262 | ui->tableWidget->setItem(add_row,add_column + 2,new QTableWidgetItem(mechanicalArm.getBigArmLocation())); 263 | ui->tableWidget->setItem(add_row,add_column + 3,new QTableWidgetItem(mechanicalArm.getRevolvingStageLocation())); 264 | qDebug() << "添加成功！"; 265 | upperSerial.setWriteSuccess(1); 266 | QMessageBox::about(this,"添加动作","动作: 添加成功！"); 267 | actionCount ++; 268 | } 269 | 270 | -------------------------------------------------------------------------------- /serialHeader.h: -------------------------------------------------------------------------------- 1 | #ifndef BASICHEADER_H 2 | #define BASICHEADER_H 3 | 4 | //串口与类 5 | #include 6 | #include "upperserial.h" 7 | #include 8 | 9 | 10 | #endif // BASICHEADER_H 11 | -------------------------------------------------------------------------------- /timerFun.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | 6 | /* 7 | * 计时器超时处理 8 | */ 9 | void UpperMachine::handleTimeout() 10 | { 11 | if (playStatus == PlayStatus::PLAY) { 12 | qDebug()<<"示教启动，当前索引：" << playIndex; 13 | ui->tableWidget->setFocus(); 14 | // 选中当前行 15 | ui->tableWidget->setCurrentCell(playIndex,QItemSelectionModel::Select); 16 | qDebug() << "当前行：" << ui->tableWidget->currentItem(); 17 | // 发送指令 18 | QByteArray command = QString(strAddLine(readItems(playIndex))).toUtf8(); 19 | // qDebug() << "恢复首位：" << command; 20 | upperSerialPort.write(command); 21 | qDebug() << command; 22 | // QMessageBox::about(this,"恢复首位","命令：" + command + "发送成功！"); 23 | playIndex ++; 24 | if (playIndex >= actionCount) { 25 | playIndex = 0; 26 | } 27 | } 28 | } 29 | -------------------------------------------------------------------------------- /uppermachine.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | #include 6 | #include 7 | #include "enumHeader.h" 8 | 9 | UpperMachine::UpperMachine(QWidget *parent) : 10 | QMainWindow(parent), 11 | ui(new Ui::UpperMachine) 12 | { 13 | ui->setupUi(this); 14 | // 连接信号和槽：连接函数（指定类《控件》,信号，主体应用，槽函数） 15 | connect(ui->menubar,SIGNAL(triggered(QAction*)), this, SLOT(menuBar_Action(QAction*))); 16 | // connect(&upperSerialPort, &QSerialPort::readyRead, this, &UpperMachine::serialPort_ReadAvailable); 17 | this->setWindowIcon(QIcon(".\\Image\\machine.png")); 18 | // 主程序界面 19 | application_UISettings(); 20 | // qDebug() << "进入主页";` 21 | 22 | //定时器实例化 23 | m_pTimer = new QTimer(this); 24 | //超时槽函数 25 | connect(m_pTimer, SIGNAL(timeout()), this, SLOT(handleTimeout())); 26 | 27 | } 28 | 29 | UpperMachine::~UpperMachine() 30 | { 31 | delete ui; 32 | } 33 | 34 | /* 35 | * 接收串口读取的数据 36 | */ 37 | void UpperMachine::serialPort_ReadAvailable() 38 | { 39 | readAvailableInfo(); 40 | } 41 | 42 | /* 43 | * 获取当前位置 44 | */ 45 | void UpperMachine::on_pushButton_ReadLocation_clicked() 46 | { 47 | readCurrentLocation(); 48 | } 49 | 50 | /* 51 | * 关闭当前串口设备 52 | */ 53 | void UpperMachine::on_pushButton_CloseSerial_clicked() 54 | { 55 | closeSerialDevice(); 56 | } 57 | 58 | /* 59 | * 操纵状态切换 60 | */ 61 | void UpperMachine::on_pushButton_SwitchStatus_clicked() 62 | { 63 | switchSteerStatus(); 64 | } 65 | 66 | /* 67 | * 软限位 68 | */ 69 | bool UpperMachine::eventFilter(QObject *object, QEvent *event) 70 | { 71 | // if (upperSerial.getL_isOpen()) { 72 | // 输入聚焦 73 | if (event->type()==QEvent::FocusOut){ 74 | groupbox2_eventFilter(object); 75 | } 76 | // 鼠标按压 77 | if (event->type()==QEvent::MouseButtonPress){ 78 | groupbox4_eventFilter(object); 79 | } 80 | if (event->type()==QEvent::MouseButtonRelease){ 81 | key_SerialWrite("M0000"); 82 | } 83 | 84 | 85 | 86 | return false; 87 | // } 88 | // else { 89 | // QMessageBox::warning(this,"添加动作","当前未连接，请进行设备连接！"); 90 | // return false; 91 | // } 92 | } 93 | 94 | /* 95 | * 复位 96 | */ 97 | void UpperMachine::on_pushButton_Reset_clicked() 98 | { 99 | resetLocation(); 100 | } 101 | 102 | /* 103 | * 发送位置 104 | */ 105 | void UpperMachine::on_pushButton_SendLocation_clicked() 106 | { 107 | sendLocation(); 108 | } 109 | 110 | /* 111 | * 爪头抓取 112 | */ 113 | void UpperMachine::on_pushButton_W_clicked() 114 | { 115 | groupbox4_eventFilter(ui->pushButton_W); 116 | // qDebug() <<"W:爪头抓取"; 117 | // robotAction = RobotAction::CLOW_GRAB; 118 | // key_SerialWrite("M2000"); 119 | } 120 | 121 | void UpperMachine::on_pushButton_W_released() 122 | { 123 | key_SerialWrite("M0000"); 124 | } 125 | 126 | /* 127 | * 爪头释放 128 | */ 129 | void UpperMachine::on_pushButton_X_clicked() 130 | { 131 | groupbox4_eventFilter(ui->pushButton_X); 132 | } 133 | 134 | void UpperMachine::on_pushButton_X_released() 135 | { 136 | key_SerialWrite("M0000"); 137 | } 138 | 139 | /* 140 | * 小臂外展 141 | */ 142 | void UpperMachine::on_pushButton_A_clicked() 143 | { 144 | groupbox4_eventFilter(ui->pushButton_A); 145 | } 146 | 147 | void UpperMachine::on_pushButton_A_released() 148 | { 149 | key_SerialWrite("M0000"); 150 | } 151 | 152 | /* 153 | * 小臂内收 154 | */ 155 | void UpperMachine::on_pushButton_D_clicked() 156 | { 157 | groupbox4_eventFilter(ui->pushButton_D); 158 | } 159 | 160 | void UpperMachine::on_pushButton_D_released() 161 | { 162 | key_SerialWrite("M0000"); 163 | } 164 | 165 | /* 166 | * 大臂外展 167 | */ 168 | void UpperMachine::on_pushButton_J_clicked() 169 | { 170 | groupbox4_eventFilter(ui->pushButton_J); 171 | } 172 | 173 | void UpperMachine::on_pushButton_J_released() 174 | { 175 | key_SerialWrite("M0000"); 176 | } 177 | 178 | /* 179 | * 大臂内收 180 | */ 181 | void UpperMachine::on_pushButton_L_clicked() 182 | { 183 | groupbox4_eventFilter(ui->pushButton_L); 184 | } 185 | 186 | void UpperMachine::on_pushButton_L_released() 187 | { 188 | key_SerialWrite("M0000"); 189 | } 190 | 191 | 192 | /* 193 | * 转台左移 194 | */ 195 | void UpperMachine::on_pushButton_I_clicked() 196 | { 197 | groupbox4_eventFilter(ui->pushButton_I); 198 | } 199 | 200 | void UpperMachine::on_pushButton_I_released() 201 | { 202 | key_SerialWrite("M0000"); 203 | } 204 | 205 | /* 206 | * 转台右移 207 | */ 208 | void UpperMachine::on_pushButton_M_clicked() 209 | { 210 | groupbox4_eventFilter(ui->pushButton_M); 211 | } 212 | 213 | void UpperMachine::on_pushButton_M_released() 214 | { 215 | key_SerialWrite("M0000"); 216 | } 217 | 218 | /* 219 | * 添加动作 220 | */ 221 | void UpperMachine::on_pushButton_AddAction_clicked() 222 | { 223 | addAction(); 224 | } 225 | 226 | /* 227 | * 删除动作 228 | */ 229 | void UpperMachine::on_pushButton_deleteAction_clicked() 230 | { 231 | deleteAction(); 232 | } 233 | 234 | /* 235 | * 清空轨迹 236 | */ 237 | void UpperMachine::on_pushButton_clearAction_clicked() 238 | { 239 | clearAction(); 240 | } 241 | 242 | /* 243 | * 恢复首位 244 | */ 245 | void UpperMachine::on_pushButton_FirstAction_clicked() 246 | { 247 | firstAction(); 248 | } 249 | 250 | /* 251 | * 示教启动 252 | */ 253 | void UpperMachine::on_pushButton_PLAY_clicked() 254 | { 255 | playActions(); 256 | } 257 | 258 | /* 259 | * 示教暂停 260 | */ 261 | void UpperMachine::on_pushButton_PAUSE_clicked() 262 | { 263 | pauseActions(); 264 | } 265 | 266 | /* 267 | * 示教停止 268 | */ 269 | void UpperMachine::on_pushButton_STOP_clicked() 270 | { 271 | stopActions(); 272 | } 273 | 274 | /* 275 | * 单步运行 276 | */ 277 | void UpperMachine::on_pushButton_STEP_clicked() 278 | { 279 | stepActions(); 280 | } 281 | 282 | 283 | 284 | 285 | 286 | //菜单栏Home回调槽函数 287 | void UpperMachine::menuBar_Action(QAction* a) 288 | { 289 | if(a->text() == "Home"){ 290 | UpperMachine().show(); 291 | qDebug("进入主页"); 292 | }else if(a->text() == "Exit"){ 293 | upperSerialPort.close(); 294 | upperSerial.setL_isOpen(false); 295 | qDebug("退出程序"); 296 | this->close(); 297 | }else if (a->text() == "ConnectUM") { 298 | connectUM(); 299 | qDebug("连接设备"); 300 | }else if (a->text() == "Load") { 301 | loadSoftLitmit(); 302 | qDebug("载入软限位"); 303 | }else if (a->text() == "Save") { 304 | saveSoftLimit(); 305 | qDebug("保存软限位"); 306 | }else if (a->text() == "Tutorial") { 307 | // openTutorial(); 308 | QString qtManulFile = "F:\\机械臂\\0论文资料\\201835010349_郑烁彬_基于Qt技术的机械臂系统的设计与实现_定稿.pdf"; 309 | QDesktopServices::openUrl(QUrl::fromLocalFile(qtManulFile)); 310 | qDebug("打开教程"); 311 | } 312 | 313 | 314 | 315 | } 316 | 317 | 318 | -------------------------------------------------------------------------------- /uppermachine.h: -------------------------------------------------------------------------------- 1 | #ifndef UPPERMACHINE_H 2 | #define UPPERMACHINE_H 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include "enumHeader.h" 9 | #include "upperserial.h" 10 | #include "mechanicalarm.h" 11 | 12 | //#include 13 | //#include 14 | 15 | QT_BEGIN_NAMESPACE 16 | namespace Ui { class UpperMachine; } 17 | using namespace std; 18 | QT_END_NAMESPACE 19 | 20 | class UpperMachine : public QMainWindow 21 | { 22 | Q_OBJECT 23 | 24 | public: 25 | /* 26 | * 主程序---------------------------------- 27 | */ 28 | Ui::UpperMachine *ui; 29 | explicit UpperMachine(QWidget *parent = nullptr); 30 | ~UpperMachine(); 31 | 32 | /* 33 | * 类实例----------------------------------------------------------------------------------------------------- 34 | */ 35 | // 串口通讯 36 | QSerialPort upperSerialPort; 37 | // 串口实体类 38 | UpperSerial upperSerial; 39 | // 机械臂实体类 40 | MechanicalArm mechanicalArm; 41 | // 表格视图 42 | // QStandardItemModel *standItemModel; 43 | 44 | // 创建子类 45 | // class upperserial1 : public UpperSerial{}; 46 | 47 | // 定时器 48 | QTimer *m_pTimer; 49 | 50 | 51 | /* 52 | * 机械臂参数----------------------------------------------------------------------------------------------------- 53 | */ 54 | // 蓝灯：手动模式 55 | bool isBlueLight = false; 56 | // 示教保留文件工程名称 57 | string projectName = ""; 58 | // 机械臂动作指令集 59 | RobotAction robotAction; 60 | // 枚举宏定义 61 | Q_ENUM(RobotAction); 62 | /* 63 | * 定义包装枚举 64 | Q_DECLARE_FLAGS(robotAction,RobotAction); 65 | // 注册枚举元对象 66 | Q_FLAG(robotAction); 67 | QMetaEnum qRobotAction = QMetaEnum::fromType(); 68 | */ 69 | // 播放状态 70 | PlayStatus playStatus; 71 | Q_ENUM(PlayStatus); 72 | 73 | 74 | /* 75 | * 运行方法----------------------------------------------------------------------------------------------------- 76 | */ 77 | ///主页程序 78 | // 主程序界面设置 79 | void application_UISettings(); 80 | 81 | ///0、串口方法 82 | // 0.1、进行设备连接 83 | void connectUM(); 84 | // 0.2、获取设备全称、查询可用串口 85 | QString GetDeviceFullName(); 86 | // 0.3、读取接收数据 87 | void readAvailableInfo(); 88 | 89 | ///1、groupbox1 90 | // 1.1、读取当前位置 91 | void readCurrentLocation(); 92 | // 1.1.1、获取当前坐标 93 | void doDOWN(QString); 94 | void setLocation(QString); 95 | // 1.2、关闭当前串口设备 96 | void closeSerialDevice(); 97 | // 1.3、切换操纵状态 98 | void switchSteerStatus(); 99 | 100 | ///2、groupbox2 101 | void groupbox2_eventFilter(QObject *object); 102 | // 2.0、当前软限位设置 103 | void currentsoftlimitSettings(); 104 | // 2.1、软限位控制 105 | void checkSoftLimit(int); 106 | void checkSoftLimit_Clow(int); 107 | void checkSoftLimit_SArm(int); 108 | void checkSoftLimit_BArm(int); 109 | void checkSoftLimit_RStage(int); 110 | // 2.2、保留软限位文件 111 | void saveSoftLimit(); 112 | // 2.3、读取软限位文件 113 | void loadSoftLitmit(); 114 | // 2.4、复位 115 | void resetLocation(); 116 | 117 | ///3、groupbox3 118 | // 3、发送位置 119 | void sendLocation(); 120 | 121 | ///4、groupbox4 122 | void groupbox4_eventFilter(QObject *object); 123 | // 4.0、按键串口写入函数 124 | void key_SerialWrite(QString); 125 | // 4.1、手柄爪头抓取 126 | void handle_Clow_Grab(); 127 | // 4.2、手柄爪头释放 128 | void handle_Clow_Release(); 129 | // 4.3、手柄小臂外展 130 | void handle_SArm_OutReach(); 131 | // 4.4、手柄小臂内收 132 | void handle_SArm_Adduction(); 133 | // 4.5、手柄大臂外展 134 | void handle_BArm_OutReach(); 135 | // 4.6、手柄大臂臂内收 136 | void handle_BArm_Adduction(); 137 | // 4.7、手柄转台左转 138 | void handle_RStage_Left(); 139 | // 4.7、手柄转台左右转 140 | void handle_RStage_Right(); 141 | 142 | ///groupBox5 143 | // 5.1、添加动作 144 | void addAction(); 145 | void addUMAction(QString); 146 | // 5.2、添加、判断记录 147 | void addAction_Location(int add_row, int add_column); 148 | bool NextItemEmpty(QTableWidget *t, int x, int y); 149 | bool CurrentItemEmpty(QTableWidget *t, int x, int y); 150 | // 5.3、删除动作 151 | void deleteAction(); 152 | bool selectRow(); 153 | // 5.4、清空轨迹 154 | void clearAction(); 155 | // 5.5、恢复首位 156 | void firstAction(); 157 | QString readFirstAction(); 158 | 159 | // 5.6、示教启动 160 | void playActions(); 161 | // 5.7、示教暂停 162 | void pauseActions(); 163 | QString readItems(int); 164 | // 5.8、示教停止 165 | void stopActions(); 166 | // 5.9、单步运行 167 | void stepActions(); 168 | 169 | 170 | private: 171 | // 当前按下的是那个键 172 | // label currLabel = null; 173 | // 指令序列索引 174 | const int actionIndex = 1; 175 | // 播放索引 176 | int playIndex = 0; 177 | // 接收输入缓冲区列表 178 | QList tempBuffer; 179 | // 接收输入缓冲区字节数组 180 | QByteArray arrayBuffer; 181 | // 机械臂操纵状态提醒 182 | // FrmWarning frmWarning; 183 | // 动作添加次数 184 | int actionCount = -1; 185 | 186 | private slots: 187 | ///菜单栏 188 | // 菜单栏监听回调 189 | void menuBar_Action(QAction *a); 190 | // 接收串口读取的数据 191 | void serialPort_ReadAvailable(); 192 | ///groupbox1 193 | // 读取位置 194 | void on_pushButton_ReadLocation_clicked(); 195 | // 关闭当前串口和设备 196 | void on_pushButton_CloseSerial_clicked(); 197 | // 操纵状态切换 198 | void on_pushButton_SwitchStatus_clicked(); 199 | ///groupbox2 200 | // 软限位 201 | bool eventFilter(QObject *object,QEvent *event) ; 202 | // 复位 203 | void on_pushButton_Reset_clicked(); 204 | ///groupbox3 205 | // 发送位置 206 | void on_pushButton_SendLocation_clicked(); 207 | ///groupbox4 208 | // 爪头抓取 209 | void on_pushButton_W_clicked(); 210 | void on_pushButton_W_released(); 211 | // 爪头释放 212 | void on_pushButton_X_clicked(); 213 | void on_pushButton_X_released(); 214 | // 小臂外展 215 | void on_pushButton_A_clicked(); 216 | void on_pushButton_A_released(); 217 | // 小臂内收 218 | void on_pushButton_D_clicked(); 219 | void on_pushButton_D_released(); 220 | // 转台左移 221 | void on_pushButton_I_clicked(); 222 | void on_pushButton_I_released(); 223 | // 转台右移 224 | void on_pushButton_M_clicked(); 225 | void on_pushButton_M_released(); 226 | // 大臂外展 227 | void on_pushButton_J_clicked(); 228 | void on_pushButton_J_released(); 229 | // 大臂内收 230 | void on_pushButton_L_clicked(); 231 | void on_pushButton_L_released(); 232 | ///groupbox5 233 | // 超时处理函数 234 | void handleTimeout(); 235 | // 添加动作 236 | void on_pushButton_AddAction_clicked(); 237 | // 删除动作 238 | void on_pushButton_deleteAction_clicked(); 239 | // 清空轨迹 240 | void on_pushButton_clearAction_clicked(); 241 | // 恢复首位 242 | void on_pushButton_FirstAction_clicked(); 243 | // 示教启动 244 | void on_pushButton_PLAY_clicked(); 245 | // 示教停止 246 | void on_pushButton_STOP_clicked(); 247 | // 示教暂停 248 | void on_pushButton_PAUSE_clicked(); 249 | // 示教单步运行 250 | void on_pushButton_STEP_clicked(); 251 | 252 | protected: 253 | // 保护类，作用为其对象，不能访问，只能由内部类或派生类访问 254 | // 键盘按键按压事件 255 | void keyPressEvent(QKeyEvent *); 256 | // 键盘按键放松事件 257 | void keyReleaseEvent(QKeyEvent *); 258 | 259 | }; 260 | #endif // UPPERMACHINE_H 261 | -------------------------------------------------------------------------------- /uppermachine.pro: -------------------------------------------------------------------------------- 1 | QT += core gui widgets serialport 2 | 3 | greaterThan(QT_MAJOR_VERSION, 4): QT += widgets 4 | 5 | CONFIG += c++11 6 | 7 | # The following define makes your compiler emit warnings if you use 8 | # any Qt feature that has been marked deprecated (the exact warnings 9 | # depend on your compiler). Please consult the documentation of the 10 | # deprecated API in order to know how to port your code away from it. 11 | DEFINES += QT_DEPRECATED_WARNINGS 12 | 13 | # You can also make your code fail to compile if it uses deprecated APIs. 14 | # In order to do so, uncomment the following line. 15 | # You can also select to disable deprecated APIs only up to a certain version of Qt. 16 | #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0 17 | 18 | SOURCES += \ 19 | actionFun.cpp \ 20 | commandFun.cpp \ 21 | evenFilterBox.cpp \ 22 | groupBoxFun1.cpp \ 23 | groupBoxFun2.cpp \ 24 | groupBoxFun3.cpp \ 25 | groupBoxFun4.cpp \ 26 | groupBoxFun5.cpp \ 27 | main.cpp \ 28 | mechanicalarm.cpp \ 29 | otherFun.cpp \ 30 | serialFun.cpp \ 31 | timerFun.cpp \ 32 | uppermachine.cpp \ 33 | upperserial.cpp 34 | 35 | HEADERS += \ 36 | applicationHeader.h \ 37 | enumHeader.h \ 38 | homesettings.h \ 39 | mechanicalarm.h \ 40 | otherHeader.h \ 41 | serialHeader.h \ 42 | uppermachine.h \ 43 | upperserial.h 44 | 45 | FORMS += \ 46 | uppermachine.ui 47 | 48 | TRANSLATIONS += \ 49 | uppermachine_zh_SG.ts 50 | 51 | # Default rules for deployment. 52 | qnx: target.path = /tmp/$${TARGET}/bin 53 | else: unix:!android: target.path = /opt/$${TARGET}/bin 54 | !isEmpty(target.path): INSTALLS += target 55 | 56 | RESOURCES += \ 57 | Image.qrc 58 | -------------------------------------------------------------------------------- /uppermachine.ui: -------------------------------------------------------------------------------- 1 | 2 | 3 | UpperMachine 4 | 5 | 6 | 7 | 0 8 | 0 9 | 1055 10 | 754 11 | 12 | 13 | 14 | 15 | 0 16 | 0 17 | 18 | 19 | 20 | UpperMachine 21 | 22 | 23 | 24 | 25 | 26 | 27 | 30 28 | 30 29 | 30 | 31 | 32 | 33 | 34 | 0 35 | 0 36 | 37 | 38 | 39 | 40 | 16777215 41 | 16777215 42 | 43 | 44 | 45 | true 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | QLayout::SetDefaultConstraint 54 | 55 | 56 | 57 | 58 | QLayout::SetNoConstraint 59 | 60 | 61 | 62 | 63 | true 64 | 65 | 66 | 67 | 0 68 | 0 69 | 70 | 71 | 72 | 73 | 16777215 74 | 220 75 | 76 | 77 | 78 | 79 | 50 80 | false 81 | false 82 | 83 | 84 | 85 | 86 | 87 | 88 | 当前位置 89 | 90 | 91 | false 92 | 93 | 94 | false 95 | 96 | 97 | 98 | 99 | 100 | 0 101 | 102 | 103 | 0 104 | 105 | 106 | 107 | 108 | 109 | 0 110 | 0 111 | 112 | 113 | 114 | 115 | 100 116 | 35 117 | 118 | 119 | 120 | 获取位置 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 30 129 | 20 130 | 131 | 132 | 133 | 爪头 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 0 142 | 0 143 | 144 | 145 | 146 | 147 | 40 148 | 25 149 | 150 | 151 | 152 | true 153 | 154 | 155 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 156 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 157 | p, li { white-space: pre-wrap; } 158 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 159 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 30 168 | 20 169 | 170 | 171 | 172 | 小臂 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 0 181 | 0 182 | 183 | 184 | 185 | 186 | 40 187 | 25 188 | 189 | 190 | 191 | true 192 | 193 | 194 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 195 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 196 | p, li { white-space: pre-wrap; } 197 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 198 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 0 208 | 209 | 210 | 211 | 212 | 213 | 0 214 | 0 215 | 216 | 217 | 218 | 219 | 100 220 | 35 221 | 222 | 223 | 224 | 切换状态 225 | 226 | 227 | 228 | 229 | 230 | 231 | 232 | 0 233 | 0 234 | 235 | 236 | 237 | 238 | 30 239 | 20 240 | 241 | 242 | 243 | 大臂 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 0 252 | 0 253 | 254 | 255 | 256 | 257 | 40 258 | 25 259 | 260 | 261 | 262 | true 263 | 264 | 265 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 266 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 267 | p, li { white-space: pre-wrap; } 268 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 269 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 270 | 271 | 272 | 273 | 274 | 275 | 276 | 277 | 0 278 | 0 279 | 280 | 281 | 282 | 283 | 30 284 | 20 285 | 286 | 287 | 288 | 转台 289 | 290 | 291 | 292 | 293 | 294 | 295 | 296 | 0 297 | 0 298 | 299 | 300 | 301 | 302 | 40 303 | 25 304 | 305 | 306 | 307 | true 308 | 309 | 310 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 311 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 312 | p, li { white-space: pre-wrap; } 313 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 314 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 315 | 316 | 317 | 318 | 319 | 320 | 321 | 322 | 323 | 324 | 325 | 326 | 327 | 0 328 | 0 329 | 330 | 331 | 332 | 333 | 150 334 | 220 335 | 336 | 337 | 338 | 339 | 50 340 | false 341 | 342 | 343 | 344 | true 345 | 346 | 347 | 348 | 349 | 350 | 设备信息 351 | 352 | 353 | 354 | 355 | 356 | 357 | 358 | 359 | 0 360 | 0 361 | 362 | 363 | 364 | 365 | 16777215 366 | 24 367 | 368 | 369 | 370 | <html><head/><body><p align="center">设备信息</p></body></html> 371 | 372 | 373 | Qt::RichText 374 | 375 | 376 | Qt::AlignCenter 377 | 378 | 379 | 6 380 | 381 | 382 | 383 | 384 | 385 | 386 | 387 | 388 | 389 | 390 | 391 | 0 392 | 0 393 | 394 | 395 | 396 | 397 | 16777215 398 | 28 399 | 400 | 401 | 402 | <html><head/><body><p align="center">连接信息</p></body></html> 403 | 404 | 405 | Qt::AlignCenter 406 | 407 | 408 | 7 409 | 410 | 411 | 412 | 413 | 414 | 415 | 416 | 417 | 418 | 419 | 420 | 0 421 | 0 422 | 423 | 424 | 425 | 426 | 16777215 427 | 24 428 | 429 | 430 | 431 | <html><head/><body><p align="center">状态信息</p></body></html> 432 | 433 | 434 | Qt::AlignCenter 435 | 436 | 437 | 6 438 | 439 | 440 | 441 | 442 | 443 | 444 | 445 | 446 | 0 447 | 448 | 449 | QLayout::SetDefaultConstraint 450 | 451 | 452 | 453 | 454 | 455 | 0 456 | 0 457 | 458 | 459 | 460 | 461 | 100 462 | 16777215 463 | 464 | 465 | 466 | 关闭连接 467 | 468 | 469 | 0 470 | 471 | 472 | 0 473 | 474 | 475 | 476 | 477 | 478 | 479 | 480 | 481 | 482 | 483 | 484 | 485 | 486 | QLayout::SetDefaultConstraint 487 | 488 | 489 | 490 | 491 | 492 | 0 493 | 0 494 | 495 | 496 | 497 | 498 | 16777215 499 | 300 500 | 501 | 502 | 503 | 0 504 | 505 | 506 | true 507 | 508 | 509 | 510 | 511 | 512 | 软限位 513 | 514 | 515 | 516 | 517 | 518 | 519 | 520 | 521 | 522 | 523 | 60 524 | 16777215 525 | 526 | 527 | 528 | 529 | 530 | 531 | 532 | 533 | 534 | 535 | 536 | 0 537 | 0 538 | 539 | 540 | 541 | 542 | 35 543 | 50 544 | 545 | 546 | 547 | Min 548 | 549 | 550 | 8 551 | 552 | 553 | 554 | 555 | 556 | 557 | 558 | 12 559 | 16777215 560 | 561 | 562 | 563 | 564 | 565 | 566 | 567 | 568 | 569 | 570 | 571 | 0 572 | 0 573 | 574 | 575 | 576 | 577 | 35 578 | 50 579 | 580 | 581 | 582 | Max 583 | 584 | 585 | 8 586 | 587 | 588 | 589 | 590 | 591 | 592 | 593 | 8 594 | 16777215 595 | 596 | 597 | 598 | 599 | 600 | 601 | 602 | 603 | 604 | 605 | 606 | 607 | 608 | 609 | 610 | 60 611 | 16777215 612 | 613 | 614 | 615 | 爪头 616 | 617 | 618 | 619 | 620 | 621 | 622 | 623 | 0 624 | 0 625 | 626 | 627 | 628 | 629 | 40 630 | 30 631 | 632 | 633 | 634 | true 635 | 636 | 637 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 638 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 639 | p, li { white-space: pre-wrap; } 640 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 641 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 642 | 643 | 644 | 645 | 646 | 647 | 648 | 649 | 8 650 | 3333 651 | 652 | 653 | 654 | 655 | 656 | 657 | 658 | 659 | 660 | 661 | 662 | 0 663 | 0 664 | 665 | 666 | 667 | 668 | 40 669 | 30 670 | 671 | 672 | 673 | true 674 | 675 | 676 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 677 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 678 | p, li { white-space: pre-wrap; } 679 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 680 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 681 | 682 | 683 | 684 | 685 | 686 | 687 | 688 | 5 689 | 16777215 690 | 691 | 692 | 693 | 694 | 695 | 696 | 697 | 698 | 699 | 700 | 701 | 702 | 703 | 704 | 705 | 60 706 | 16777215 707 | 708 | 709 | 710 | 大臂 711 | 712 | 713 | 714 | 715 | 716 | 717 | 718 | 0 719 | 0 720 | 721 | 722 | 723 | 724 | 40 725 | 30 726 | 727 | 728 | 729 | true 730 | 731 | 732 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 733 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 734 | p, li { white-space: pre-wrap; } 735 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 736 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 737 | 738 | 739 | 740 | 741 | 742 | 743 | 744 | 8 745 | 16777215 746 | 747 | 748 | 749 | 750 | 751 | 752 | 753 | 754 | 755 | 756 | 757 | 0 758 | 0 759 | 760 | 761 | 762 | 763 | 40 764 | 30 765 | 766 | 767 | 768 | true 769 | 770 | 771 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 772 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 773 | p, li { white-space: pre-wrap; } 774 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 775 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 776 | 777 | 778 | 779 | 780 | 781 | 782 | 783 | 5 784 | 16777215 785 | 786 | 787 | 788 | 789 | 790 | 791 | 792 | 793 | 794 | 795 | 796 | 797 | 798 | 799 | 800 | 801 | 802 | 803 | 804 | 60 805 | 16777215 806 | 807 | 808 | 809 | 810 | 811 | 812 | 813 | 814 | 815 | 816 | 817 | 35 818 | 50 819 | 820 | 821 | 822 | Min 823 | 824 | 825 | 826 | 827 | 828 | 829 | 830 | 12 831 | 16777215 832 | 833 | 834 | 835 | 836 | 837 | 838 | 839 | 840 | 841 | 842 | 843 | 35 844 | 16777215 845 | 846 | 847 | 848 | Max 849 | 850 | 851 | 852 | 853 | 854 | 855 | 856 | 8 857 | 16777215 858 | 859 | 860 | 861 | 862 | 863 | 864 | 865 | 866 | 867 | 868 | 869 | 870 | 871 | 872 | 873 | 60 874 | 16777215 875 | 876 | 877 | 878 | 小臂 879 | 880 | 881 | 882 | 883 | 884 | 885 | 886 | 0 887 | 0 888 | 889 | 890 | 891 | 892 | 40 893 | 30 894 | 895 | 896 | 897 | true 898 | 899 | 900 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 901 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 902 | p, li { white-space: pre-wrap; } 903 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 904 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 905 | 906 | 907 | 908 | 909 | 910 | 911 | 912 | 8 913 | 16777215 914 | 915 | 916 | 917 | 918 | 919 | 920 | 921 | 922 | 923 | 924 | 925 | 0 926 | 0 927 | 928 | 929 | 930 | 931 | 40 932 | 30 933 | 934 | 935 | 936 | true 937 | 938 | 939 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 940 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 941 | p, li { white-space: pre-wrap; } 942 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 943 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 944 | 945 | 946 | 947 | 948 | 949 | 950 | 951 | 5 952 | 16777215 953 | 954 | 955 | 956 | 957 | 958 | 959 | 960 | 961 | 962 | 963 | 964 | 965 | 966 | 967 | 968 | 60 969 | 16777215 970 | 971 | 972 | 973 | 转台 974 | 975 | 976 | 977 | 978 | 979 | 980 | 981 | 0 982 | 0 983 | 984 | 985 | 986 | 987 | 40 988 | 30 989 | 990 | 991 | 992 | true 993 | 994 | 995 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 996 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 997 | p, li { white-space: pre-wrap; } 998 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 999 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 1000 | 1001 | 1002 | 1003 | 1004 | 1005 | 1006 | 1007 | 8 1008 | 16777215 1009 | 1010 | 1011 | 1012 | 1013 | 1014 | 1015 | 1016 | 1017 | 1018 | 1019 | 1020 | 0 1021 | 0 1022 | 1023 | 1024 | 1025 | 1026 | 40 1027 | 30 1028 | 1029 | 1030 | 1031 | true 1032 | 1033 | 1034 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 1035 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 1036 | p, li { white-space: pre-wrap; } 1037 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 1038 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 1039 | 1040 | 1041 | 1042 | 1043 | 1044 | 1045 | 1046 | 5 1047 | 16777215 1048 | 1049 | 1050 | 1051 | 1052 | 1053 | 1054 | 1055 | 1056 | 1057 | 1058 | 1059 | 1060 | 1061 | 1062 | 1063 | 1064 | 1065 | 1066 | 0 1067 | 0 1068 | 1069 | 1070 | 1071 | 1072 | 135 1073 | 300 1074 | 1075 | 1076 | 1077 | 默认位置 1078 | 1079 | 1080 | 1081 | 5 1082 | 1083 | 1084 | 5 1085 | 1086 | 1087 | 9 1088 | 1089 | 1090 | 9 1091 | 1092 | 1093 | 1094 | 1095 | 0 1096 | 1097 | 1098 | QLayout::SetNoConstraint 1099 | 1100 | 1101 | 30 1102 | 1103 | 1104 | 1105 | 1106 | 1107 | 0 1108 | 0 1109 | 1110 | 1111 | 1112 | 1113 | 50 1114 | 50 1115 | 1116 | 1117 | 1118 | Qt::DefaultContextMenu 1119 | 1120 | 1121 | border-image: url(:/Image/Image/RESET.png); 1122 | 1123 | 1124 | 1125 | 1126 | 1127 | 1128 | 0 1129 | 0 1130 | 1131 | 1132 | 1133 | 0 1134 | 1135 | 1136 | 0 1137 | 1138 | 1139 | false 1140 | 1141 | 1142 | false 1143 | 1144 | 1145 | false 1146 | 1147 | 1148 | 1149 | 1150 | 1151 | 1152 | 1153 | 1154 | 1155 | 1156 | 1157 | 0 1158 | 0 1159 | 1160 | 1161 | 1162 | 1163 | 16777215 1164 | 40 1165 | 1166 | 1167 | 1168 | 1169 | 50 1170 | false 1171 | false 1172 | true 1173 | 1174 | 1175 | 1176 | <html><head/><body><p align="center">修改主控制器</p><p align="center">进行初始位置更改</p></body></html> 1177 | 1178 | 1179 | 1180 | 1181 | 1182 | 1183 | 1184 | 1185 | 1186 | 1187 | 1188 | 1189 | 1190 | 1191 | 1192 | 1193 | 0 1194 | 0 1195 | 1196 | 1197 | 1198 | 1199 | 16777215 1200 | 16777215 1201 | 1202 | 1203 | 1204 | 指定位置 1205 | 1206 | 1207 | 1208 | 9 1209 | 1210 | 1211 | 9 1212 | 1213 | 1214 | 10 1215 | 1216 | 1217 | 9 1218 | 1219 | 1220 | 9 1221 | 1222 | 1223 | 1224 | 1225 | QLayout::SetDefaultConstraint 1226 | 1227 | 1228 | 1229 | 1230 | 1231 | 16777215 1232 | 30 1233 | 1234 | 1235 | 1236 | 爪头 1237 | 1238 | 1239 | 1240 | 1241 | 1242 | 1243 | 1244 | 0 1245 | 0 1246 | 1247 | 1248 | 1249 | 1250 | 50 1251 | 30 1252 | 1253 | 1254 | 1255 | 2 1256 | 1257 | 1258 | true 1259 | 1260 | 1261 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 1262 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 1263 | p, li { white-space: pre-wrap; } 1264 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 1265 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 1266 | 1267 | 1268 | 1269 | 1270 | 1271 | 1272 | 1273 | 8 1274 | 16777215 1275 | 1276 | 1277 | 1278 | 1279 | 1280 | 1281 | 1282 | 1283 | 1284 | 1285 | 1286 | 16777215 1287 | 30 1288 | 1289 | 1290 | 1291 | 小臂 1292 | 1293 | 1294 | 1295 | 1296 | 1297 | 1298 | 1299 | 0 1300 | 0 1301 | 1302 | 1303 | 1304 | 1305 | 50 1306 | 30 1307 | 1308 | 1309 | 1310 | true 1311 | 1312 | 1313 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 1314 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 1315 | p, li { white-space: pre-wrap; } 1316 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 1317 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 1318 | 1319 | 1320 | 1321 | 1322 | 1323 | 1324 | 1325 | 1326 | 1327 | 1328 | 1329 | 1330 | 1331 | 1332 | 16777215 1333 | 30 1334 | 1335 | 1336 | 1337 | 大臂 1338 | 1339 | 1340 | 1341 | 1342 | 1343 | 1344 | 1345 | 0 1346 | 0 1347 | 1348 | 1349 | 1350 | 1351 | 50 1352 | 30 1353 | 1354 | 1355 | 1356 | true 1357 | 1358 | 1359 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 1360 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 1361 | p, li { white-space: pre-wrap; } 1362 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 1363 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 1364 | 1365 | 1366 | 1367 | 1368 | 1369 | 1370 | 1371 | 16777215 1372 | 16777215 1373 | 1374 | 1375 | 1376 | 1377 | 1378 | 1379 | 1380 | 1381 | 1382 | 1383 | 1384 | 16777215 1385 | 30 1386 | 1387 | 1388 | 1389 | 转台 1390 | 1391 | 1392 | 1393 | 1394 | 1395 | 1396 | 1397 | 0 1398 | 0 1399 | 1400 | 1401 | 1402 | 1403 | 50 1404 | 30 1405 | 1406 | 1407 | 1408 | true 1409 | 1410 | 1411 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 1412 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 1413 | p, li { white-space: pre-wrap; } 1414 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 1415 | <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 1416 | 1417 | 1418 | 1419 | 1420 | 1421 | 1422 | 1423 | 1424 | 1425 | 1426 | 1427 | 1428 | 1429 | 1430 | 0 1431 | 0 1432 | 1433 | 1434 | 1435 | 1436 | 40 1437 | 35 1438 | 1439 | 1440 | 1441 | false 1442 | 1443 | 1444 | border-image: url(:/Image/Image/send.png); 1445 | 1446 | 1447 | 1448 | 1449 | 1450 | 1451 | 1452 | 1453 | 1454 | 1455 | 0 1456 | 0 1457 | 1458 | 1459 | 1460 | 1461 | 5 1462 | 16777215 1463 | 1464 | 1465 | 1466 | 1467 | 1468 | 1469 | 1470 | 1471 | 1472 | 1473 | 1474 | 1475 | 1476 | 1477 | 1478 | 1479 | 1480 | 1481 | 1482 | 1483 | 1484 | 1485 | 0 1486 | 0 1487 | 1488 | 1489 | 1490 | 1491 | 16777215 1492 | 16777215 1493 | 1494 | 1495 | 1496 | 操纵手柄 1497 | 1498 | 1499 | 1500 | true 1501 | 1502 | 1503 | 1504 | 10 1505 | 10 1506 | 491 1507 | 311 1508 | 1509 | 1510 | 1511 | 1512 | 0 1513 | 0 1514 | 1515 | 1516 | 1517 | 1518 | 16777215 1519 | 16777215 1520 | 1521 | 1522 | 1523 | 1524 | 1525 | 1526 | 1527 | 1528 | 1529 | Qt::RichText 1530 | 1531 | 1532 | :/Image/Image/gamehandle.png 1533 | 1534 | 1535 | true 1536 | 1537 | 1538 | 1539 | 1540 | 1541 | 100 1542 | 50 1543 | 51 1544 | 41 1545 | 1546 | 1547 | 1548 | 1549 | 0 1550 | 0 1551 | 1552 | 1553 | 1554 | 1555 | 1556 | 1557 | false 1558 | 1559 | 1560 | false 1561 | 1562 | 1563 | false 1564 | 1565 | 1566 | false 1567 | 1568 | 1569 | true 1570 | 1571 | 1572 | 1573 | 1574 | 1575 | 100 1576 | 130 1577 | 51 1578 | 41 1579 | 1580 | 1581 | 1582 | 1583 | 0 1584 | 0 1585 | 1586 | 1587 | 1588 | 1589 | 1590 | 1591 | false 1592 | 1593 | 1594 | false 1595 | 1596 | 1597 | false 1598 | 1599 | 1600 | false 1601 | 1602 | 1603 | true 1604 | 1605 | 1606 | 1607 | 1608 | 1609 | 60 1610 | 90 1611 | 41 1612 | 41 1613 | 1614 | 1615 | 1616 | 1617 | 0 1618 | 0 1619 | 1620 | 1621 | 1622 | 1623 | 1624 | 1625 | false 1626 | 1627 | 1628 | false 1629 | 1630 | 1631 | false 1632 | 1633 | 1634 | false 1635 | 1636 | 1637 | true 1638 | 1639 | 1640 | 1641 | 1642 | 1643 | 360 1644 | 50 1645 | 51 1646 | 41 1647 | 1648 | 1649 | 1650 | 1651 | 0 1652 | 0 1653 | 1654 | 1655 | 1656 | 1657 | 1658 | 1659 | false 1660 | 1661 | 1662 | false 1663 | 1664 | 1665 | false 1666 | 1667 | 1668 | false 1669 | 1670 | 1671 | true 1672 | 1673 | 1674 | 1675 | 1676 | 1677 | 320 1678 | 90 1679 | 41 1680 | 41 1681 | 1682 | 1683 | 1684 | 1685 | 0 1686 | 0 1687 | 1688 | 1689 | 1690 | 1691 | 1692 | 1693 | false 1694 | 1695 | 1696 | false 1697 | 1698 | 1699 | false 1700 | 1701 | 1702 | false 1703 | 1704 | 1705 | true 1706 | 1707 | 1708 | 1709 | 1710 | 1711 | 410 1712 | 90 1713 | 41 1714 | 41 1715 | 1716 | 1717 | 1718 | 1719 | 0 1720 | 0 1721 | 1722 | 1723 | 1724 | 1725 | 1726 | 1727 | false 1728 | 1729 | 1730 | false 1731 | 1732 | 1733 | false 1734 | 1735 | 1736 | false 1737 | 1738 | 1739 | true 1740 | 1741 | 1742 | 1743 | 1744 | 1745 | 360 1746 | 130 1747 | 51 1748 | 41 1749 | 1750 | 1751 | 1752 | 1753 | 0 1754 | 0 1755 | 1756 | 1757 | 1758 | 1759 | 1760 | 1761 | false 1762 | 1763 | 1764 | false 1765 | 1766 | 1767 | false 1768 | 1769 | 1770 | false 1771 | 1772 | 1773 | true 1774 | 1775 | 1776 | 1777 | 1778 | 1779 | 150 1780 | 90 1781 | 41 1782 | 41 1783 | 1784 | 1785 | 1786 | 1787 | 0 1788 | 0 1789 | 1790 | 1791 | 1792 | 1793 | 1794 | 1795 | false 1796 | 1797 | 1798 | false 1799 | 1800 | 1801 | false 1802 | 1803 | 1804 | false 1805 | 1806 | 1807 | true 1808 | 1809 | 1810 | 1811 | 1812 | 1813 | 1814 | 1815 | 1816 | 1817 | 1818 | 1819 | 1820 | 1821 | 1822 | 1823 | QLayout::SetMinimumSize 1824 | 1825 | 1826 | 1827 | 1828 | 1829 | 1830 | 1831 | 0 1832 | 0 1833 | 1834 | 1835 | 1836 | 1837 | 16777215 1838 | 16777215 1839 | 1840 | 1841 | 1842 | true 1843 | 1844 | 1845 | Qt::ImhNone 1846 | 1847 | 1848 | false 1849 | 1850 | 1851 | 10 1852 | 1853 | 1854 | 4 1855 | 1856 | 1857 | true 1858 | 1859 | 1860 | 35 1861 | 1862 | 1863 | 128 1864 | 1865 | 1866 | true 1867 | 1868 | 1869 | true 1870 | 1871 | 1872 | false 1873 | 1874 | 1875 | false 1876 | 1877 | 1878 | false 1879 | 1880 | 1881 | false 1882 | 1883 | 1884 | 1885 | 1886 | 1887 | 1888 | 1889 | 1890 | 1891 | 1892 | 1893 | 1894 | 1895 | 1896 | 1897 | 1898 | 1899 | 1900 | 1901 | 1902 | AlignCenter 1903 | 1904 | 1905 | 1906 | 1907 | 1908 | 1909 | 1910 | 1911 | 1912 | 1913 | 1914 | QLayout::SetMinimumSize 1915 | 1916 | 1917 | 1918 | 1919 | 动作间隔时间 1920 | 1921 | 1922 | Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 1923 | 1924 | 1925 | 1926 | 1927 | 1928 | 1929 | 1930 | 0 1931 | 0 1932 | 1933 | 1934 | 1935 | 1936 | 60 1937 | 30 1938 | 1939 | 1940 | 1941 | 1942 | 1943 | 1944 | 1945 | 1946 | 0 1947 | 0 1948 | 1949 | 1950 | 1951 | 单位（毫秒） 1952 | 1953 | 1954 | 1955 | 1956 | 1957 | 1958 | 1959 | 1960 | QLayout::SetMinimumSize 1961 | 1962 | 1963 | 1964 | 1965 | 1966 | 1967 | true 1968 | 1969 | 1970 | 1971 | 0 1972 | 0 1973 | 1974 | 1975 | 1976 | 1977 | 16777215 1978 | 250 1979 | 1980 | 1981 | 1982 | false 1983 | 1984 | 1985 | false 1986 | 1987 | 1988 | Qt::LeftToRight 1989 | 1990 | 1991 | true 1992 | 1993 | 1994 | 1995 | 1996 | 1997 | Qt::ImhNone 1998 | 1999 | 2000 | 示教操纵 2001 | 2002 | 2003 | Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter 2004 | 2005 | 2006 | false 2007 | 2008 | 2009 | false 2010 | 2011 | 2012 | 2013 | 2014 | 2015 | 2016 | 2017 | 2018 | 2019 | 2020 | 2021 | 2022 | QLayout::SetFixedSize 2023 | 2024 | 2025 | 2026 | 2027 | 6 2028 | 2029 | 2030 | 6 2031 | 2032 | 2033 | 2034 | 2035 | 2036 | 0 2037 | 0 2038 | 2039 | 2040 | 2041 | 2042 | 50 2043 | 50 2044 | 2045 | 2046 | 2047 | false 2048 | 2049 | 2050 | border-image: url(:/Image/Image/start2.png); 2051 | 2052 | 2053 | 2054 | 2055 | 2056 | 2057 | 2058 | 2059 | 2060 | 2061 | 2062 | Qt::Horizontal 2063 | 2064 | 2065 | QSizePolicy::Fixed 2066 | 2067 | 2068 | 2069 | 40 2070 | 30 2071 | 2072 | 2073 | 2074 | 2075 | 2076 | 2077 | 2078 | 6 2079 | 2080 | 2081 | 6 2082 | 2083 | 2084 | 2085 | 2086 | 2087 | 0 2088 | 0 2089 | 2090 | 2091 | 2092 | 2093 | 53 2094 | 53 2095 | 2096 | 2097 | 2098 | false 2099 | 2100 | 2101 | border-image: url(:/Image/Image/pause3.png); 2102 | 2103 | 2104 | Qt::ImhNone 2105 | 2106 | 2107 | 2108 | 2109 | 2110 | false 2111 | 2112 | 2113 | false 2114 | 2115 | 2116 | 2117 | 2118 | 2119 | 2120 | 2121 | 2122 | Qt::Horizontal 2123 | 2124 | 2125 | QSizePolicy::Fixed 2126 | 2127 | 2128 | 2129 | 30 2130 | 20 2131 | 2132 | 2133 | 2134 | 2135 | 2136 | 2137 | 2138 | 6 2139 | 2140 | 2141 | QLayout::SetDefaultConstraint 2142 | 2143 | 2144 | 10 2145 | 2146 | 2147 | 2148 | 2149 | 2150 | 0 2151 | 0 2152 | 2153 | 2154 | 2155 | 2156 | 60 2157 | 60 2158 | 2159 | 2160 | 2161 | false 2162 | 2163 | 2164 | border-image: url(:/Image/Image/stop2.png); 2165 | 2166 | 2167 | 2168 | 2169 | 2170 | 2171 | 2172 | 2173 | 2174 | 2175 | 2176 | Qt::Horizontal 2177 | 2178 | 2179 | QSizePolicy::Fixed 2180 | 2181 | 2182 | 2183 | 35 2184 | 20 2185 | 2186 | 2187 | 2188 | 2189 | 2190 | 2191 | 2192 | 6 2193 | 2194 | 2195 | 2 2196 | 2197 | 2198 | 2199 | 2200 | 2201 | 0 2202 | 0 2203 | 2204 | 2205 | 2206 | 2207 | 60 2208 | 60 2209 | 2210 | 2211 | 2212 | false 2213 | 2214 | 2215 | 2216 | border-image: url(:/Image/Image/STEP.png); 2217 | 2218 | 2219 | 2220 | 2221 | 2222 | 2223 | 2224 | 2225 | 2226 | 2227 | 2228 | 2229 | 2230 | 6 2231 | 2232 | 2233 | 2234 | 2235 | 2236 | 2237 | 2238 | 0 2239 | 0 2240 | 2241 | 2242 | 2243 | 2244 | 16777215 2245 | 35 2246 | 2247 | 2248 | 2249 | 添加动作 2250 | 2251 | 2252 | 2253 | 2254 | 2255 | 2256 | 2257 | 2258 | Qt::Horizontal 2259 | 2260 | 2261 | QSizePolicy::Fixed 2262 | 2263 | 2264 | 2265 | 20 2266 | 20 2267 | 2268 | 2269 | 2270 | 2271 | 2272 | 2273 | 2274 | 2275 | 2276 | 2277 | 0 2278 | 0 2279 | 2280 | 2281 | 2282 | 2283 | 16777215 2284 | 35 2285 | 2286 | 2287 | 2288 | 删除动作 2289 | 2290 | 2291 | 2292 | 2293 | 2294 | 2295 | 2296 | 2297 | Qt::Horizontal 2298 | 2299 | 2300 | QSizePolicy::Fixed 2301 | 2302 | 2303 | 2304 | 20 2305 | 20 2306 | 2307 | 2308 | 2309 | 2310 | 2311 | 2312 | 2313 | 2314 | 2315 | 2316 | 0 2317 | 0 2318 | 2319 | 2320 | 2321 | 2322 | 16777215 2323 | 35 2324 | 2325 | 2326 | 2327 | 清空轨迹 2328 | 2329 | 2330 | 2331 | 2332 | 2333 | 2334 | 2335 | 2336 | Qt::Horizontal 2337 | 2338 | 2339 | QSizePolicy::Fixed 2340 | 2341 | 2342 | 2343 | 20 2344 | 20 2345 | 2346 | 2347 | 2348 | 2349 | 2350 | 2351 | 2352 | 2353 | 2354 | 2355 | 0 2356 | 0 2357 | 2358 | 2359 | 2360 | 2361 | 16777215 2362 | 35 2363 | 2364 | 2365 | 2366 | 恢复首位 2367 | 2368 | 2369 | 2370 | 2371 | 2372 | 2373 | 2374 | 2375 | 2376 | 2377 | 2378 | 2379 | 2380 | 2381 | 2382 | 2383 | 2384 | 2385 | 2386 | 2387 | 2388 | 2389 | 2390 | 0 2391 | 0 2392 | 1055 2393 | 22 2394 | 2395 | 2396 | 2397 | 2398 | Home 2399 | 2400 | 2401 | 2402 | SoftLimit 2403 | 2404 | 2405 | 2406 | 2407 | 2408 | 2409 | 2410 | 2411 | 2412 | 2413 | 2414 | 2415 | 2416 | 2417 | 2418 | 2419 | 2420 | 2421 | 2422 | About 2423 | 2424 | 2425 | 2426 | 2427 | 2428 | 2429 | 2430 | 2431 | 2432 | 2433 | :/Image/Image/home.png:/Image/Image/home.png 2434 | 2435 | 2436 | Home 2437 | 2438 | 2439 | 2440 | 2441 | 2442 | :/Image/Image/statu.png:/Image/Image/statu.png 2443 | 2444 | 2445 | Status 2446 | 2447 | 2448 | 2449 | 2450 | 2451 | :/Image/Image/exit.png:/Image/Image/exit.png 2452 | 2453 | 2454 | Exit 2455 | 2456 | 2457 | 2458 | 2459 | 2460 | :/Image/Image/safe.png:/Image/Image/safe.png 2461 | 2462 | 2463 | SerialPort 2464 | 2465 | 2466 | 2467 | 2468 | 2469 | :/Image/Image/connect3.png:/Image/Image/connect3.png 2470 | 2471 | 2472 | ConnectUM 2473 | 2474 | 2475 | 2476 | 2477 | 2478 | :/Image/Image/load2.png:/Image/Image/load2.png 2479 | 2480 | 2481 | Load 2482 | 2483 | 2484 | 2485 | 2486 | 2487 | :/Image/Image/save.png:/Image/Image/save.png 2488 | 2489 | 2490 | Save 2491 | 2492 | 2493 | 2494 | 2495 | 2496 | :/Image/Image/tutorial1.png:/Image/Image/tutorial1.png 2497 | 2498 | 2499 | Tutorial 2500 | 2501 | 2502 | 2503 | 2504 | 2505 | 2506 | 2507 | 2508 | -------------------------------------------------------------------------------- /uppermachine_zh_SG.ts: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /upperserial.cpp: -------------------------------------------------------------------------------- 1 | #include "upperserial.h" 2 | 3 | UpperSerial::UpperSerial() 4 | { 5 | } 6 | 7 | UpperSerial::~UpperSerial() 8 | { 9 | 10 | } 11 | 12 | bool UpperSerial::getL_isOpen() const 13 | { 14 | return l_isOpen; 15 | } 16 | 17 | void UpperSerial::setL_isOpen(bool value) 18 | { 19 | l_isOpen = value; 20 | } 21 | 22 | string UpperSerial::getL_devicePattern() const 23 | { 24 | return l_devicePattern; 25 | } 26 | 27 | void UpperSerial::setL_devicePattern(const string &value) 28 | { 29 | l_devicePattern = value; 30 | } 31 | 32 | int UpperSerial::getL_c_baudRate() const 33 | { 34 | return l_c_baudRate; 35 | } 36 | 37 | int UpperSerial::getL_c_dataBits() const 38 | { 39 | return l_c_dataBits; 40 | } 41 | 42 | int UpperSerial::getL_c_stopBits() const 43 | { 44 | return l_c_stopBits; 45 | } 46 | 47 | string UpperSerial::getConnectInfo() const 48 | { 49 | return connectInfo; 50 | } 51 | 52 | void UpperSerial::setConnectInfo(const string &value) 53 | { 54 | connectInfo = value; 55 | } 56 | 57 | QString UpperSerial::getL_deviceFlag() const 58 | { 59 | return l_deviceFlag; 60 | } 61 | 62 | void UpperSerial::setL_deviceFlag(const QString &value) 63 | { 64 | l_deviceFlag = value; 65 | } 66 | 67 | QString UpperSerial::getDeviceName() const 68 | { 69 | return deviceName; 70 | } 71 | 72 | void UpperSerial::setDeviceName(const QString &value) 73 | { 74 | deviceName = value; 75 | } 76 | 77 | QString UpperSerial::getL_c_protName() const 78 | { 79 | return l_c_protName; 80 | } 81 | 82 | void UpperSerial::setL_c_protName(const QString &value) 83 | { 84 | l_c_protName = value; 85 | } 86 | 87 | int UpperSerial::getL_c_flowControl() const 88 | { 89 | return l_c_flowControl; 90 | } 91 | 92 | bool UpperSerial::getWriteSuccess() const 93 | { 94 | return writeSuccess; 95 | } 96 | 97 | void UpperSerial::setWriteSuccess(bool value) 98 | { 99 | writeSuccess = value; 100 | } 101 | 102 | int UpperSerial::getL_c_parity() const 103 | { 104 | return l_c_parity; 105 | } 106 | -------------------------------------------------------------------------------- /upperserial.h: -------------------------------------------------------------------------------- 1 | #ifndef UPPERSERIAL_H 2 | #define UPPERSERIAL_H 3 | #include 4 | #include 5 | 6 | using namespace std; 7 | 8 | class UpperSerial 9 | { 10 | public: 11 | UpperSerial(); 12 | ~UpperSerial(); 13 | 14 | bool getL_isOpen() const; 15 | void setL_isOpen(bool value); 16 | 17 | string getL_devicePattern() const; 18 | void setL_devicePattern(const string &value); 19 | 20 | int getL_c_baudRate() const; 21 | 22 | int getL_c_dataBits() const; 23 | 24 | int getL_c_stopBits() const; 25 | 26 | int getL_c_parity() const; 27 | 28 | string getConnectInfo() const; 29 | void setConnectInfo(const string &value); 30 | 31 | QString getL_deviceFlag() const; 32 | void setL_deviceFlag(const QString &value); 33 | 34 | QString getDeviceName() const; 35 | void setDeviceName(const QString &value); 36 | 37 | QString getL_c_protName() const; 38 | void setL_c_protName(const QString &value); 39 | 40 | 41 | int getL_c_flowControl() const; 42 | 43 | bool getWriteSuccess() const; 44 | void setWriteSuccess(bool value); 45 | 46 | private: 47 | //设备串口名称正则表达式 48 | string l_devicePattern = "Arduino Uno (.*)"; 49 | 50 | //设备全名称标志 51 | QString l_deviceFlag = "Arduino Uno"; 52 | 53 | // 设备全名称 54 | QString deviceName = ""; 55 | 56 | //正则表达式 57 | QRegExp l_reg(); 58 | 59 | //串口号 60 | QString l_c_protName = ""; 61 | 62 | //波特率 63 | // const int l_c_baudRate = 57600; 64 | const int l_c_baudRate = QSerialPort::Baud57600; 65 | 66 | //数据位 67 | // const int l_c_dataBits = 8; 68 | const int l_c_dataBits = QSerialPort::Data8; 69 | 70 | //停止位 71 | // const int l_c_stopBits = 1; 72 | const int l_c_stopBits = QSerialPort::OneStop; 73 | 74 | // 校验位 75 | const int l_c_parity = QSerialPort::NoParity; 76 | 77 | // 流控制 78 | const int l_c_flowControl = QSerialPort::NoFlowControl; 79 | 80 | 81 | //串口是否已经打开 82 | bool l_isOpen = false; 83 | 84 | // 连接信息 85 | string connectInfo = "设备未连接"; 86 | 87 | // 接收状态 88 | bool writeSuccess = false; 89 | 90 | }; 91 | 92 | 93 | 94 | #endif // UPPERSERIAL_H 95 | -------------------------------------------------------------------------------- /upperstruct.h: -------------------------------------------------------------------------------- 1 | #ifndef UPPERSTRUCT_H 2 | #define UPPERSTRUCT_H 3 | #include 4 | 5 | struct serial 6 | { 7 | 8 | 9 | 10 | }; 11 | 12 | 13 | 14 | #endif // UPPERSTRUCT_H 15 | --------------------------------------------------------------------------------