opentcs与仿真车辆tcp通信界面

#include "mainwindow.h" #include "ui_mainwindow.h" MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent) , ui(new Ui::MainWindow) { ui->setupUi(this); Server = new TcpServer(this); tcpSocket = new QTcpSocket; //有数据 connect(Server,SIGNAL(sig_hasData(qintptr,QString,int,QByteArray)), this,SLOT(slot_updateData(qintptr,QString,int,QByteArray))); } MainWindow::~MainWindow() { delete ui; } #include<QComboBox> #include<QLineEdit> //=============接收数据=============================================================== #include<QMessageBox> void MainWindow::slot_updateData(qintptr serverSocketID,QString IP,int Port,QByteArray data) { QString DATA; for(int i=0;i<data.size();i++) { DATA+=QString::number((unsigned char)data.at(i),16).toUpper().rightJustified(2,QChar('0'))+" "; } // QString str=QString("socket: %1,ip: %2,port:%3 收到->: %4\n").arg(serverSocketID).arg(IP).arg(Port).arg(DATA); QString str=QString("\n接收原始数据： %1").arg(DATA); ui->plainTextEdit_show->appendPlainText(str); uint8_t telegramData[17]={0}; int dataSize=0; if(data.at(2)==0x01)//state { //发来的 数据解析 const unsigned char * p= (const unsigned char *)data.constData(); // Start of each telegram uint16_t count = ((uint16_t)p[3])<<8 | p[4]; //计数 //数据发送 dataSize=17; telegramData[0] = 0x02; telegramData[1] = 0x0d;//0D telegramData[2] = 0x01;//01 // set telegram counter telegramData[3] = p[3];//((char*)&count)[0]; telegramData[4] = p[4];//((char*)&count)[1]; // set pos id uint16_t curPos=ui->lineEditPositionID->text().toInt() ; //当前位置 手动切换 telegramData[5] = ((char*)&curPos)[1]; telegramData[6] = ((char*)&curPos)[0]; // set op mode // case 'A': ACTING; // case 'I': IDLE; // case 'M': MOVING; // case 'E': ERROR; // case 'C': CHARGING; // default: UNKNOWN; char operMode=ui->comboBoxMode->currentText().toUtf8().at(0);// 操作模式？ M=executing telegramData[7] =operMode; // op_mode; // set load state // case 'E' EMPTY; // case 'F' FULL; // default: UNKNOWN; char load=ui->comboBoxLoad->currentText().toUtf8().at(0);// 负载 手动切换 telegramData[8] = load; //load_state; // set last received order id uint16_t last_recv_order_id=ui->lineEditRecvedOrderID->text().toUInt();//lastReceivedOrder telegramData[9] = ((char*)&last_recv_order_id)[1];//高低字节位置不同 telegramData[10] = ((char*)&last_recv_order_id)[0]; // set current order id uint16_t currentID=ui->lineEditOrderID->text().toUInt();//订单id，收到订单ID时自动填充 telegramData[11] = ((char*)&currentID)[1];//((char*)&current_order_id)[0]; telegramData[12] = ((char*)&currentID)[0]; //((char*)&current_order_id)[1]; // set last finished order id uint16_t lastfinished_order_id=ui->lineEditFinishedOrderID->text().toUInt();//lastFinishedOrder telegramData[13] = ((char*)&lastfinished_order_id)[1];//高低字节位置不同 telegramData[14] = ((char*)&lastfinished_order_id)[0]; // set checksum telegramData[15] = checkSum(telegramData); telegramData[16] = 0x03; //03 QString ss=QString(" 收到状态请求：counter=%1。\n" " 发出数据解析：counter=%2,当前位置=%3，操作=%4，负载=%5，收到订单=%6，当前订单=%7，完成订单=%8 ") .arg(count).arg(count).arg(curPos).arg(operMode) .arg(load).arg(last_recv_order_id).arg(currentID).arg(lastfinished_order_id); ui->plainTextEdit_show->appendPlainText(ss); } else if(data.at(2)==0x02)//order { //发来的 数据解析 const unsigned char * p= (const unsigned char *)data.constData(); ui->comboBoxMode->setCurrentText("M");//设置为executing 。A 这个先不管 // Start of each telegram uint16_t count = (uint16_t)p[3]<<8 | p[4]; //计数 高低字节位置不同 uint16_t orderID=(uint16_t)p[5]<<8 | p[6]; //order id 高低字节位置不同 uint16_t destinationID=(uint16_t)p[7]<<8 | p[8]; static int init=0; if(!init) {//第一次配置的时候，将最后收到的订单设置为当前订单 init=1; ui->lineEditOrderID->setText(QString::number(orderID));//设置当前订单 ui->lineEditDestinationID->setText(QString::number(destinationID));//destination id 配置目的地 } //设置最后收到的订单 ui->lineEditRecvedOrderID->setText(QString::number(orderID));//设置控件，作为数据保存 ui->lineEditRecvedDestinationID->setText(QString::number(destinationID));//设置，作为数据保存 /*N none;L load;U unload; C Charge */ char destinationAction=p[9];//到了目的地的动作,这个先不管 //数据发送 dataSize=9; telegramData[0] = 0x02;//02 telegramData[1] = 0x05;//05 telegramData[2] = 0x02;//02 // set telegram counter telegramData[3] = p[3]; telegramData[4] = p[4]; // set last received order id 最后收到的订单 telegramData[5] = ((char*)&orderID)[1];//p[5]; telegramData[6] = ((char*)&orderID)[0];//p[6]; // set checksum telegramData[7] = checkSum(telegramData); telegramData[8] = 0x03;//03 QString ss=QString(" 收到订单请求：counter=%1，订单=%2，目的地ID=%3，目的地动作=%4，\n" " 发出数据解析：counter=%5,最后收到的订单=%6 ").arg(count).arg(orderID).arg(destinationID).arg(destinationAction) .arg(count).arg(orderID); ui->plainTextEdit_show->appendPlainText(ss); } else { QMessageBox::critical(this,"错误","收到了错误的数据帧"); return; } DATA.clear(); QByteArray datatosend; for(int i=0;i<dataSize;i++) { DATA+=QString::number(telegramData[i],16).toUpper().rightJustified(2,QChar('0'))+" "; } str=QString("发送原始数据：%1").arg(DATA); ui->plainTextEdit_show->appendPlainText(str); datatosend.append((char *)telegramData,dataSize); // datatosend=DATA.toUtf8(); m_data=datatosend; BroadCast(datatosend); } uint8_t MainWindow::checkSum(uint8_t *buf) { uint8_t cs = 0; for (int i = 0; i < buf[1]; i++) { cs ^= buf[2 + i]; } return cs; } //============广播信息========================================================= void MainWindow::BroadCast(QByteArray data) { QMap <int,TcpSocket *>::const_iterator Device; for(Device=Server->IDSocketMap.constBegin();Device!=Server->IDSocketMap.constEnd();++Device) { Device.value()->write(data); } } //===================================================================== void MainWindow::on_pushButton_open_clicked() //启动服务器 { ui->pushButton_open->setEnabled(false); ui->pushButton_close->setEnabled(true); int Port = 2000; Server->listen(QHostAddress::Any,Port);//监听客户端连接 ui->label_IP->setText("192.168.43.163"); ui->label_Port->setText(QString::number(Port)); ui->label_status->setText("运行中！"); } void MainWindow::on_pushButton_close_clicked() //关闭服务器 { Server->close(); ui->pushButton_close->setEnabled(false); ui->pushButton_open->setEnabled(true)