QT编写的机器人单步、自动运行和单次执行下的实现方法

#include "widget.h" #include "ui_widget.h" #include "serial_rev_pthread.h" void Widget::readyRead() { // buf = serial.readAll(); // qDebug() << "Z Com Data:"<<serial.readAll(); } void Widget::listWidgetsetPushButtonEnable() { } void Widget::controll_run_button() { one_step->setEnabled(true); one_time->setEnabled(false); all_run->setEnabled(false); stop_button->setEnabled(false); } void Widget::release_run_button() { } void Widget::threadresume() { commandonetime->commandonetimeresume(); } void Widget::threadpause() { commandonetime->commandonetimepause(); } void Widget::threadstart() { commandonetime = new CommandOneTime(); connect(commandonetime,&CommandOneTime::finished,commandonetime,&CommandOneTime::deleteLater); commandonetime->commandonetimestart(); commandonetime->start(); one_step->setEnabled(false); one_time->setEnabled(true); all_run->setEnabled(true); stop_button->setEnabled(true); } void Widget::threadstop() { commandonetime->commandonetimestop(); commandonetime->quit(); one_step->setEnabled(true); one_time->setEnabled(false); all_run->setEnabled(false); stop_button->setEnabled(false); } void Widget::Add_RedCommand_To_ListWidget() { cclCodeProcess.uiCodeProcessNum = cclCodeProcess.uiCodeProcessNum + 1; codeqlistwidgetitem = new QListWidgetItem(cclCodeProcess.ProcessCodeNuc(cclCodeProcess.uiCodeProcessNum,1),listWidget); listWidget->addItem(codeqlistwidgetitem); } void Widget::Add_GreenCommand_To_ListWidget() { cclCodeProcess.uiCodeProcessNum = cclCodeProcess.uiCodeProcessNum + 1; codeqlistwidgetitem = new QListWidgetItem(cclCodeProcess.ProcessCodeNuc(cclCodeProcess.uiCodeProcessNum,2),listWidget); listWidget->addItem(codeqlistwidgetitem); } void Widget::Add_BlueCommand_To_ListWidget() { cclCodeProcess.uiCodeProcessNum = cclCodeProcess.uiCodeProcessNum + 1; codeqlistwidgetitem = new QListWidgetItem(cclCodeProcess.ProcessCodeNuc(cclCodeProcess.uiCodeProcessNum,3),listWidget); listWidget->addItem(codeqlistwidgetitem); } void Widget::Insert_Command_To_ListWidget() { unsigned int uiItem = 0; unsigned int uiItemCheck = 0; for(uiItem=0;uiItem<(unsigned int)listWidget->count();uiItem++) { if(listWidget->item(uiItem)->isSelected()) uiItemCheck = 1; } if(uiItemCheck==1) { InsertCommand = new InsertCommandChoose(NULL); InsertCommand->setWindowModality(Qt::ApplicationModal); InsertCommand->childlist = listWidget; InsertCommand->childqlistwidgetitem =codeqlistwidgetitem; cclCodeProcess.uiCodeProcessNum=cclCodeProcess.uiCodeProcessNum+1; InsertCommand->show(); }else { QMessageBox msgBox; msgBox.setText("Choose a code!"); msgBox.exec(); } } void Widget::Delete_Command_From_ListWidget() { unsigned int uiItem = 0; unsigned int uiItemCheck = 0; for(uiItem=0;uiItem<(unsigned int)listWidget->count();uiItem++) { if(listWidget->item(uiItem)->isSelected()) uiItemCheck = 1; } if(uiItemCheck==1) { cclCodeProcess.uiCodeProcessNum = cclCodeProcess.uiCodeProcessNum - 1; listWidget->takeItem(listWidget->currentRow()); cclCodeProcess.ProcessDeleteData(listWidget); }else { QMessageBox msgBox; msgBox.setText("Choose a code!"); msgBox.exec(); } } void Widget::Delete_All_Command_From_ListWidget() { listWidget->clear(); cclCodeProcess.uiCodeProcessNum = 0; } void Widget::List_All_ListWidget() { int row = 0; QString line_test; while(row<listWidget->count()) { line_test=listWidget->item(row)->text(); row++; // qDebug()<<"list :"<<line_test; if(QString::compare(line_test,"Red")==0) { serial.write("A",1); } } } void Widget::RevRedCommand_From_Mcu() { qDebug() << "Z1 Com Data:"<<serial.readAll(); ledit->setText(serial.read(1)); serial.clear(); } void Widget::RevGreenCommand_From_Mcu() { //qDebug() << "Com2 Data:"<<serial.read(2); ledit -> setText(serial.read(2)); } void Widget::RevBlueCommand_From_Mcu() { //qDebug() << "Com3 Data:"<<serial.read(2); ledit -> setText(serial.read(2)); } void Widget::Send_RedCommand_To_Mcu() { // ledit->clear(); char sendcode[8] = {0}; sendcode[0] = 0x01; sendcode[1] = 0x06; sendcode[2] = 0x00; sendcode[3] = 0x01; sendcode[4] = 0x00; sendcode[5] = 0x00; sendcode[6] = 0x0A; sendcode[7] = 0xD8; serial.write(sendcode,8); } void Widget::Send_GreenCommand_To_Mcu() { //ledit->clear(); // serial.write("B",1); char sendcode[8] = {0}; sendcode[0] = 0x01; sendcode[1] = 0x06; sendcode[2] = 0x00; sendcode[3] = 0x02; sendcode[4] = 0x00; sendcode[5] = 0x32; sendcode[6] = 0xDF; sendcode[7] = 0xA9; serial.write(sendcode,8); } void Widget::Send_BlueCommand_To_Mcu() { serial.write("C",1); } Widget::Widget(QWidget *parent) : QWidget(parent), ui(new Ui::Widget) { ucComSign=0; setMinimumSize(560,800); setMaximumSize(560,800);//240 b1= new QPushButton("Red",this); b1->setGeometry(20,20,160,160); b2= new QPushButton("Green",this); b2->setGeometry(200,20,160,160); b3= new QPushButton("Blue",this); b3->setGeometry(380,20,160,160); label = new QLabel(this); label->setGeometry(20,180,200,20); label->setText("Message form mcu:"); ledit = new QLineEdit("This is line of text",this); ledit -> setGeometry(20,200,520,20); one_step = new QPushButton("OneStep",this); one_step->setGeometry(20,700,100,20); one_time = new QPushButton("OneTime",this); one_time->setGeometry(20,730,100,20); all_run = new QPushButton("AllRun",this); all_run->setGeometry(20,760,100,20); stop_button = new QPushButton("Stop",this); stop_button->setGeometry(140,710,100,20); suspend_button=new QPushButton("Suspend",this); suspend_button->setGeometry(140,740,100,20); insert_button = new QPushButton("Insert",this); insert_button->setGeometry(400,710,100,20); delete_button = new QPushButton("Delete",this); delete_button->setGeometry(400,740,100,20); delete_all_button = new QPushButton("DeleteAll",this); delete_all_button->setGeometry(400,770,100,20); RedButton = new QPushButton("Red",this); RedButton->setGeometry(455,310,100,20); GreenButton = new QPushButton("Green",this); GreenButton->setGeometry(455,340,100,20); BlueButton = new QPushButton("Blue",this); BlueButton->setGeometry(455,370,100,20); suspend_button=new QPushButton("Suspend",this); suspend_button->setGeometry(140,740,100,20); //QPushButton *robot_run_state; //QPushButton *robot_teach_state; robot_run_state = new QPushButton("RobotRun",this); robot_run_state->setGeometry(20,310,100,20); robot_teach_state = new QPushButton("RobotTeach",this); robot_teach_state->setGeometry(20,340,100,20); listWidget = new QListWidget(this); listWidget->setGeometry(150,250,300,400); connect(b1,SIGNAL(clicked()),this,SLOT(Send_RedCommand_To_Mcu())); connect(b2,SIGNAL(clicked()),this,SLOT(Send_GreenCommand_To_Mcu())); connect(b3,SIGNAL(clicked()),this,SLOT(Send_BlueCommand_To_Mcu())); connect(RedButton,SIGNAL(clicked()),this,SLOT(Add_RedCommand_To_ListWidget())); connect(GreenButton,SIGNAL(clicked()),this,SLOT(Add_GreenCommand_To_ListWidget())); connect(BlueButton,SIGNAL(clicked()),this,SLOT(Add_BlueCommand_To_ListWidget())); connect(insert_button,SIGNAL(clicked()),this,SLOT(Insert_Command_To_ListWidget())); connect(delete_button,SIGNAL(clicked()),this,SLOT(Delete_Command_From_ListWidget())); connect(delete_all_button,SIGNAL(clicked()),this,SLOT(Delete_All_Command_From_ListWidget())); connect(all_run,SIGNAL(clicked()),this,SLOT(List_All_ListW