基于上海仙知AGV主控盒做的二次开发

/** * @meaning :主界面控制 * @author :zhongjianxiong * @date :2017-5 */ #include "mainwindow.h" static int Button_X = 1020; //280 static int Button_Y = -220; static int Button_W = 50; static int Button_H = 60; static int Button_x_Space = 130; static int Button_y_Space = 90; //设置Button之间的距离 //static QString arrive_station_path = "../arrivestation/到达站点"; static QString arrive_station_path = "../arrivestation/"; static QString goto_station_path = "../gotostatiom/去站点"; static QString map_station_dir = "../map_station/"; static QString maps_dir = "../maps/"; static QString block_music_dir = "../block_sound/"; static QString run_time_dir = "./run_num.dll"; static QString wharf_station = "../tmp/wharf.txt"; static QString charge_file_dir = "../tmp/charge.txt"; static QString area_file = "../tmp/regulateArea.txt"; static QString Ultrason_area_file = "../tmp/ultrason.txt"; static QString Shelf_station = "../tmp/shelf.txt"; static QString add_station = "../tmp/addStation.txt"; static QString full_empty_shelf = "../tmp/fullEmptyShelf.txt"; static QString Shelf_size = "../tmp/shelfSize.txt"; static QString regulatStation_dir = "../tmp/regulateStationArea.txt"; static QString muchArea_dir = "../tmp/muchArea.txt"; static QString autoDoor_file = "../tmp/autoDoor.txt"; static qint8 charge_times = 0; //保存充电成功次数,超过三次认为充电成功 static qint8 area_leave = 0; //判断是否是第一次进入区域 static QString send_gotoStationNum = "0"; //保存要发送站点的站点ID,确保机器在充电站时先出充电站，再执行其它站点任务 static QString AGVS_sendto_stationNum = "-1";//保存中控发来的站点ID static bool isShelf_task = false; //AGVS发送的是升降货架任务 static bool close_auto_flag = false; //关闭自动门 static bool last_autoDoot_cleal_flag = false; static bool autoDoor_flag = false; //自动门开关标志 static bool in_autoDoor_room = false; //true表示AGV在自动门房间内 static bool out_autoDoor_room = true; //true表示AGV在自动门房间外 static QString leaveRoom_station = ""; //出自动门房间后 AGV的目标点 static int loop_time_save = -1; //保存要循环的次数 static int button_state = 0; //按键状态，0表示所有任务按钮都没有按下 static bool route_stat = false; static int central_task_num = 0; static int waitTask_time = 0; //中控发送等待任务的等待时间 static int task_randnum_flag = -1; static int num = 0; static double charge_back_distance = 0; static int current_floor_pos = 2; //AGV正处于的楼层编号 static int task_floor_pos = 1; //任务目的地的楼层编号 static QString run_time_num = "20180801"; //体验版本时间设置 int days = 60; int hours = 0; int minutes = 0; int run_time_true = minutes + hours*60 + days*24*60; //static int charge_count = 0;//zhongjianxiong //static int charge_fail_count = 0; /* 1021和1022是success时候，切换模式才能切换成功 1021查询机器人当前的重定位状态 1022查询机器人当前的载如地图状态 要使1021为success，必须重定位后用2003确认定位正确 2003确认重定位正确 从机器人上下载地图功能暂时没有用 */ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent),SendStationPoint(false) { robot_status_set = new TcpClient(19204); robot_control = new TcpClient(19205); robot_task = new TcpClient(19206); robot_core = new TcpClient(19207); //配置API restart_shutdonw = new TcpClient(19208); // out_server1 = new Server(NULL,19204); // out_server2 = new Server(NULL,19205); // out_server3 = new Server(NULL,19206); // out_server4 = new Server(NULL,19207); // out_server5 = new Server(NULL,19208); //Download_map_client = new TcpClient(8080); //QPalette palette; //QPixmap pixmap("1.jpg"); // palette.setBrush(QPalette::Window, QBrush(pixmap)); this->setFixedSize(1280,800); this->setWindowTitle("激光机器人控制系统"); //this->setPalette(palette); // this->setStyleSheet("background-image:url(../picture/mainPicture.jpg)"); background_label = new QLabel(this); background_label->resize(1280,800);//(1280,725);1280 // QMovie* GifBackgound = new QMovie(":/picture/mainPicture.gif"); // GifBackgound->start(); // background_label->setMovie(GifBackgound); // background_label->setStyleSheet("background-image:url(../picture/mainPicture.jpg)"); background_label->setStyleSheet("border-image: url(:/picture/mainPicture.jpg)"); //this->setWindowFlags(Qt::FramelessWindowHint); this->setFont(QFont("方正兰亭黑_GBK", 11, QFont::Black)); Button_init(); Label_init(); dialog_st = new QDialog; combox_st = new QComboBox(dialog_st); configure_route_ = new path_run; music_player = new MusicPlayer; // music_player->player->play(); regulate_player = new QMediaPlayer; station_player = new QMediaPlayer; // connect(Mute_,SIGNAL(clicked(bool)),music_player,SLOT(togglePlayback())); //静音函数 connect(buttonArry[MUSIC],SIGNAL(clicked(bool)),music_player,SLOT(togglePlayback())); //静音函数 Delay_Send_Date= new QTimer;; //延时发送命令定时器 -- 因这个接口板命令冲突 - 故加 ---虎雷加2021-09-07 connect(Delay_Send_Date,SIGNAL(timeout()),this,SLOT(Delay_Send_Date_slot())); task_route_timer = new QTimer; connect(task_route_timer,SIGNAL(timeout()),this,SLOT(task_route_slot())); wait_time_timer = new QTimer; connect(wait_time_timer,SIGNAL(timeout()),this,SLOT(wait_time_timer_slot())); connect(robot_status_set,SIGNAL(robot_status_set_signal(QByteArray)),this,SLOT(robot_status_set_slot(QByteArray))); get_robot_stat_timer = new QTimer; connect(get_robot_stat_timer,SIGNAL(timeout()),this,SLOT(get_robot_stat_slot())); connect(robot_task,SIGNAL(station_back_msg()),this,SLOT(station_back_msg_slot())); connect(robot_task,SIGNAL(turn_round_back()),this,SLOT(turn_round_back_slot())); load_map_name = new QDialog(this); //加载地图界面 load_map_box = new QComboBox(load_map_name); //显示存储的地图名字 connect(robot_status_set,SIGNAL(connect_stat(QString)),this,SLOT(connect_stat_slot(QString))); read_autoDoor_area(); read_shelf_station(); read_add_station(); read_full_empty_shelf(); read_shelf_size(); detection_arrive_shelf = new QTimer; //检测AGV是否已钻入货架 connect(detection_arrive_shelf,SIGNAL(timeout()),this,SLOT(arrive_shelf_timer_slot())); litre_drop_timer = new QTimer; connect(litre_drop_timer,SIGNAL(timeout()),this,SLOT(litre_drop_timer_slot())); read_wharf_station(); read_charge_station(); // myserial = new MySerial; serialToLanTcp = new serial_to_lan(8080); myserial_timer = new QTimer; connect(myserial_timer,SIGNAL(timeout()),this,SLOT(myserial_timer_slot())); if(!myserial_timer->isActive()) myserial_timer->start(500); connect(serialToLanTcp,SIGNAL(red_line(QByteArray)),this,SLOT(handle_charge_slot(QByteArray))); connect(serialToLanTcp,SIGNAL(connect_stat(QString)),this,SLOT(SLconnect_stat_slot(QString))); Beeper_serial = new Beeper_Serial; //呼叫器类 connect(Beeper_serial,SIGNAL(send_beeper_st(QByteArray)),this,SLOT(beeper_call_slot(QByteArray)));//保存呼叫器发来的站点 location_Dialog = new QDialog; location_box = new QComboBox(location_Dialog); transfer_station_inform(); //读取地图中的站点信息到另一个文件中 charge_timer = new QTimer; //检测是否配置了自动充�