init files
This commit is contained in:
rci
@@ -0,0 +1,68 @@
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# »ñÈ¡»ñÈ¡µ±Ç°Ä¿Â¼Ãû
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get_filename_component(CURRENT_FOLDER ${CMAKE_CURRENT_SOURCE_DIR} NAME)
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string(TIMESTAMP RUN_TIME)
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message( " model start : " ${CURRENT_FOLDER}:${RUN_TIME})
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set(DLL_NAMES "opencv")
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foreach(child ${DLL_NAMES})
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LIST(APPEND ENV_INCLUDE ${${child}_include})
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LIST(APPEND ENV_LIB ${${child}_lib})
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LIST(APPEND ENV_TARGET ${${child}_target_link})
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endforeach()
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message(" ENV_INCLUDE : " ${ENV_INCLUDE} )
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message(" ENV_LIB : " ${ENV_LIB} )
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message(" ENV_TARGET : " ${ENV_TARGET} )
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include_directories(
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${ENV_INCLUDE}
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)
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link_directories (
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${ENV_LIB}
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)
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set(CMAKE_INCLUDE_CURRENT_DIR ON)
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SET(CMAKE_CXX_STANDARD 11)
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SET(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_AUTOMOC ON)
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SET(CMAKE_AUTOUIC ON)
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set(CMAKE_AUTORCC ON)
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FILE(GLOB HEAD_FILES "./*.h" )
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FILE(GLOB SRC_FILES "./*.cpp")
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FILE(GLOB UI_FILES "./*.ui")
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#find_package(Qt5 COMPONENTS Core REQUIRED)
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find_package(QT NAMES Qt6 Qt5 COMPONENTS Core REQUIRED)
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find_package(Qt${QT_VERSION_MAJOR} COMPONENTS Core Network REQUIRED)
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add_library(${CURRENT_FOLDER} SHARED
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${HEAD_FILES}
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${SRC_FILES}
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${UI_FILES}
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)
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set_target_properties(${CURRENT_FOLDER} PROPERTIES LINKER_LANGUAGE C
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RUNTIME_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}
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ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}
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)
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target_link_libraries(${CURRENT_FOLDER} PRIVATE
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${ENV_TARGET}
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Qt${QT_VERSION_MAJOR}::Core
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Qt${QT_VERSION_MAJOR}::Network
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)
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string(TIMESTAMP RUN_TIME)
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message( " model end : " ${CURRENT_FOLDER}:${RUN_TIME})
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@@ -0,0 +1,358 @@
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#include "Hd_SocketModule_FanucTcpClient.h"
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#include "qcoreapplication.h"
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//读到的信息列表
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QQueue< QByteArray> readDataList;
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QByteArray readResult = "";
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QMutex* r_Mutex = new QMutex();
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QMutex* write_Mutex = new QMutex();
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QMutex* read_Mutex = new QMutex();
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QMutex* recive_Mutex = new QMutex();
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bool connectStatus = true;
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Hd_SocketModule_FanucTcpClient* create()
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{
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qDebug() << "[INFO] " << "Hd_SocketModule_FanucTcpClient create success!";
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return new Hd_SocketModule_FanucTcpClient;
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}
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void destory(Hd_SocketModule_FanucTcpClient* ptr)
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{
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if (ptr)
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{
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delete ptr;
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ptr = nullptr;
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}
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qDebug() << "[INFO] " << " Hd_SocketModule_FanucTcpClient destory success!";
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}
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Hd_SocketModule_FanucTcpClient::Hd_SocketModule_FanucTcpClient()
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{
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read_Mutex = new QMutex;
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recive_Mutex = new QMutex();
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m_Thread = new MyThread(this);
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m_Thread->setMutexLock(read_Mutex);
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}
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Hd_SocketModule_FanucTcpClient::~Hd_SocketModule_FanucTcpClient()
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{
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m_Thread->setRunStop();
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m_Thread->wait();
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m_Thread->quit();
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if (m_Thread)
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{
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qDebug() << "[INFO] " << "~m_Thread()";
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delete m_Thread;
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m_Thread = nullptr;
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}
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qDebug() << "[INFO] " << "~Hd_SocketModule_FanucTcpClient success!";
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}
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//从类中读数据到实例对象
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bool Hd_SocketModule_FanucTcpClient::readData(std::vector<cv::Mat>& vec_mat, QByteArray& data)
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{
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Q_UNUSED(vec_mat);
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/*if (ReadPack.isEmpty())
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return true;*/
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// 发送数据包
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/*QMutexLocker locker(read_Mutex);
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QByteArray m_byte = ReadPack.dequeue();*/
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QByteArray m_byte = "";
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int times = 0;
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while (m_byte == "")
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{
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//读超时，退出
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times++;
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if (times > 2)
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{
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//qDebug() << "[TCP] " << "ABBTcpClient readCmd fail";
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return false;
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}
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read_Mutex->lock();
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if(readDataList.size()>0)
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m_byte = readDataList.dequeue();
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read_Mutex->unlock();
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Sleep(5);
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}
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/*m_byte.remove(0, 30);*/
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data = m_byte;
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//qDebug() << __FUNCTION__ << "line:" << __LINE__ << "result:" << data.size();
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return true;
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}
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//实例对象把数据写入到类
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bool Hd_SocketModule_FanucTcpClient::writeData(std::vector<cv::Mat>& vec_mat, QByteArray& data)
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{
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Q_UNUSED(vec_mat);
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recive_Mutex->lock();
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if (data.isEmpty())
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{
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qCritical() << "[Hd_SocketModule_FanucTcpClient] " << " str is null";
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recive_Mutex->unlock();
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return false;
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}
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QList<QByteArray> m_list = data.split('_');
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QString commond = m_list.at(0);
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if (commond == "init")
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{
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m_host = m_list.at(1);
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m_pot = m_list.at(2);
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if (!m_Thread->setIpAndPort(m_host, m_pot))
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{
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qDebug() << "[Hd_SocketModule_FanucTcpClient] " << "m_IP:" << m_host << " m_host:" << m_pot << " connectToHost failed!";
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recive_Mutex->unlock();
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return false;
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}
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}
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else
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{
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m_Thread->WritePLCPack.enqueue(data);
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}
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recive_Mutex->unlock();
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return true;
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}
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//初始化
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bool Hd_SocketModule_FanucTcpClient::initParas(QByteArray& data)
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{
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qDebug() << "[Hd_SocketModule_FanucTcpClient] " << "DATA: " << data;
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if (data.isEmpty())
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{
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qCritical() << "[Hd_SocketModule_FanucTcpClient] " << " str is null";
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recive_Mutex->unlock();
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return false;
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}
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QList<QByteArray> m_list = data.split('_');
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QString commond = m_list.at(0);
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if (commond == "init")
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{
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m_host = m_list.at(1);
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m_pot = m_list.at(2);
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if (!m_Thread->setIpAndPort(m_host, m_pot))
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{
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qDebug() << "[Hd_SocketModule_FanucTcpClient] " << "m_IP:" << m_host << " m_host:" << m_pot << " connectToHost failed!";
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return false;
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}
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}
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m_Thread->start();
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Sleep(500);
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if (!m_Thread->getInitSuccessFlag())
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{
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qCritical() << "[Hd_SocketModule_FanucTcpClient] " << "TCP init failed!";
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return false;
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}
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// 开启线程循环
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m_Thread->start();
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return true;
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}
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bool Hd_SocketModule_FanucTcpClient::run()
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{
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if (connectStatus)
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connectStatus = true;
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//qDebug() << "[info] " << __FUNCTION__ << " line:" << __LINE__ << " success!";
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return connectStatus;
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}
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//检查异常标志
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bool Hd_SocketModule_FanucTcpClient::checkStatus()
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{
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read_Mutex->lock();
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bool connectStatus1 = connectStatus;
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read_Mutex->unlock();
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return connectStatus1;
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}
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MyThread::~MyThread()
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{
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if (tcpsocket) {
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tcpsocket->deleteLater();
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} // tcp通信的socket
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if (m_mutex_lock) {
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delete m_mutex_lock;
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m_mutex_lock = nullptr;
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}
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}
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void MyThread::closeSocket()
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{
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if (tcpsocket)
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{
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tcpsocket->abort();
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tcpsocket->disconnect();
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tcpsocket->close();
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}
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qDebug() << "[Hd_SocketModule_FanucTcpClient] " << " Hd_SocketModule_FanucTcpClient close tcpsocket success!";
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}
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//断线重连函数
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bool MyThread::disReconnects()
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{
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bool reResult = false;
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if (!(tcpsocket->state() == QAbstractSocket::ConnectedState))
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{
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read_Mutex->lock();
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connectStatus = false;
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read_Mutex->unlock();
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qCritical() << "[Hd_SocketModule_FanucTcpClient] " << QString("tcp disconected");
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//QMessageBox::information(MyThreadWidget,"连接断开", "Hd_SocketModule_FanucTcpClient连接断开，开始自动重连");
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while(1)
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{
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if (init_flag == 2)break;
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tcpsocket->bind(QHostAddress::Any);
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tcpsocket->connectToHost(m_IP, m_Port.toInt());
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if (tcpsocket->waitForConnected(5))
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{
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qWarning() << "[Hd_SocketModule_FanucTcpClient] " << " You have connected to the server again";
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//QMessageBox::information(MyThreadWidget, "自动重连", "Hd_SocketModule_FanucTcpClient自动重连成功");
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reResult = true;
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read_Mutex->lock();
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connectStatus = true;
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read_Mutex->unlock();
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break;
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}
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Sleep(200);
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qApp->processEvents();
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}
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}
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else
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reResult = true;
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return reResult;
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}
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//线程 run 中初始化 socket
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void MyThread::run()
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{
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qDebug() << "[TCP] " << " run start";
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static int count;
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if (init_flag == 0)
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{
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tcpsocket = new QTcpSocket(this);
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tcpsocket->bind(QHostAddress::Any);
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tcpsocket->abort();
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if (tcpsocket->state() == QAbstractSocket::ConnectedState)
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{
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qCritical() << "[Hd_SocketModule_FanucTcpClient] " << QString("[%1:%2] server has been linked").arg(m_IP).arg(m_Port);
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return;
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}
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tcpsocket->connectToHost(m_IP, m_Port.toInt());
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if (tcpsocket->waitForConnected(5))
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{
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qWarning() << "[Hd_SocketModule_FanucTcpClient] " << " You have connected to the server ";
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connectStatus = true;
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}
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else
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{
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qWarning() << "[Hd_SocketModule_FanucTcpClient] " << " Hd_SocketModule_FanucTcpClient :: Server not connected";
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init_success = false;
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read_Mutex->lock();
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connectStatus = false;
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read_Mutex->unlock();
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return;
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}
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init_flag = 1;
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qDebug() << "[Hd_SocketModule_FanucTcpClient] " << " run end ----------";
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}
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else if (init_flag == 1)
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{
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//开启wile循环来读写
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while (true)
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{
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if (init_flag == 2) {
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break;
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}
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if (!writeSocketData())
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{
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count++;
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if (count > 5)
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{
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qDebug() << "[Hd_SocketModule_ABBTcpClient] " << " write fail";
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}
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}
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qApp->processEvents();
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Sleep(20);
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readSocketData();
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qApp->processEvents();
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Sleep(20);
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}
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}
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if (init_flag == 2) {
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QThread::msleep(10);
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closeSocket();
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}
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}
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bool MyThread::setIpAndPort(QString ip, QString port)
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{
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m_IP = ip;
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m_Port = port;
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return true;
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}
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//读取数据
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void MyThread::readSocketData()
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{
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qApp->processEvents();
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QByteArray readData = tcpsocket->readAll();
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if (readData.isEmpty())
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return;
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read_Mutex->lock();
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readDataList.append(readData);
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read_Mutex->unlock();
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readData.clear();
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}
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//往Robot发报文
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bool MyThread::writeSocketData()
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{
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if (WritePLCPack.isEmpty())
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return false;
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//写PLC
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if (!WritePLCPack.isEmpty())
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{
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for (int i = 0; i < WritePLCPack.size(); i++)
|
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{
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||||
recive_Mutex->lock();
|
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if (!(WritePLCPack.size() > 0))
|
||||
{
|
||||
recive_Mutex->unlock();
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break;
|
||||
}
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QByteArray byte = WritePLCPack.dequeue(); // 取出包
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recive_Mutex->unlock();
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if (!disReconnects())
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{
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qDebug() << "[Hd_SocketModule_FanucTcpClient] " << QString("The server cannot be connected. Check the network port");
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//init_flag = 2;
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return false;
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||||
}
|
||||
tcpsocket->write(byte);
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tcpsocket->waitForBytesWritten(3000);
|
||||
tcpsocket->flush();
|
||||
qApp->processEvents();
|
||||
}
|
||||
|
||||
}
|
||||
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||||
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||||
return true;
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||||
}
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||||
@@ -0,0 +1,116 @@
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#ifndef Hd_SocketModule_FanucTcpClient_H
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#define Hd_SocketModule_FanucTcpClient_H
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||||
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||||
#include <QtCore/qglobal.h>
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#include <QByteArray>
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#include <QThread>
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||||
#include <iostream>
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#include <QTcpSocket>
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||||
#include <QHostAddress>
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||||
#include <QtWidgets/qmessagebox.h>
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||||
#include <QMutex>
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||||
#include <QObject>
|
||||
#include <QQueue>
|
||||
#include <QDebug>
|
||||
#include <Windows.h>
|
||||
|
||||
#include "base.h"
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||||
|
||||
class MyThread;
|
||||
class Hd_SocketModule_FanucTcpClient :public Base
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
//创建，这里new一下锁
|
||||
Hd_SocketModule_FanucTcpClient();
|
||||
//释放，删除连接，释放锁
|
||||
virtual ~Hd_SocketModule_FanucTcpClient();
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||||
//向主线程发送数据，通信Mat为空
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||||
//主线程调用sendData函数，把读报文的数据段发送回来。 //注意，只要数据段。
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||||
//主线程根据通信流程解析数据段。
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||||
//先writeData，再readData；
|
||||
//从类中读数据到实例对象。通信类返回的内容，只包含数据段，不含包头。
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||||
bool readData(std::vector<cv::Mat>& vec_mat, QByteArray& data);//readData将PLC读取或者发送的返回值发回给主线程，通过全局变量的方式逐条发送
|
||||
//接收主线程发来的数据，通信Mat为空
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||||
//例：write_DM1300_9，写寄存器DM1300为9；
|
||||
//例：writeAll_DM1700_14_1,1,1,1,1,1,1,1,1,1,1,1,1,1，写寄存器DM1700-DM1713的14个寄存器,均为1
|
||||
//例：readAll_DM1400_100，读DM1400-DM1499的100个寄存器；
|
||||
//例：readAll_DM1001_1，读DM1001
|
||||
//例：writeString_DM1340_12_2023-0217-1650-03-0899,写寄存器DM1340-DM1351时间戳，一个寄存器里面含2个字符；
|
||||
//其它通信方式可参考，并添加解析协议。如：writeFloat_DM10000_-1.1,指令函数增加bool writeFloat(QString DM,QString value);
|
||||
//实例对象把数据写入到类。通信类包含读、写指令。
|
||||
bool writeData(std::vector<cv::Mat>& vec_mat, QByteArray& data); //writeData调用PLC的收发，将需要的数据发给寄存器，返回OK/NG
|
||||
//把通信创建需要的参数传进去，不同协议不同，例：init_192.168.1.50_9600_24；
|
||||
//连接通信，可以在run函数里进行
|
||||
bool initParas(QByteArray&);
|
||||
//运行
|
||||
bool run();
|
||||
//检查异常标志
|
||||
bool checkStatus();
|
||||
//private:
|
||||
// QString UShortToHex(int value); // 只转 ushort 类型
|
||||
// QString ShortToHex(int value); // 只转 short 类型
|
||||
// void setSleepTimeAndReadNum(int time,int num);
|
||||
// bool writeCommond(QString DM,QString m_value); // 写入单个值； //例：write_DM1300_9
|
||||
// bool readCommond(QString DM,QString Num);
|
||||
// bool readAllCommond(QString DM,QString Num); // 写入连续的值
|
||||
// bool readStringCommond(QString DM, QString Num);
|
||||
// bool writeAllCommond(QString DM,QString write_Num,QVector<short> vec_value);
|
||||
// bool writeResultCommond(QString DM,QString write_Num,QVector<QString> vec_value); // 写入起始位结果值,要做解析再写入
|
||||
// bool writeStringCommond(QString DM, QString write_num, QString vec_value);
|
||||
// bool decodeWriteResult(QByteArray resultByte,QVector<QString> &vec_ret);
|
||||
// bool tcpServer(QByteArray cmd, QByteArray& resultPack);
|
||||
// void decodePack(QByteArray resultArray);
|
||||
private:
|
||||
int m_sleepTime = 100; // 延迟时间
|
||||
QString m_host;
|
||||
QString m_pot;
|
||||
MyThread *m_Thread = nullptr;
|
||||
|
||||
};
|
||||
|
||||
//自己创建线程
|
||||
class MyThread : public QThread
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit MyThread(QObject* parent = nullptr) :QThread(parent) {}
|
||||
~MyThread();
|
||||
bool setIpAndPort(QString ip, QString port);
|
||||
void run();
|
||||
void readSocketData(); //读取数据
|
||||
bool writeSocketData(); //写入数据
|
||||
void decodePack();
|
||||
void setMutexLock(QMutex* lock) { m_mutex_lock = lock; }
|
||||
void setRunStop() { init_flag = 2; }
|
||||
void setReadPackValue(int value);
|
||||
void closeSocket();
|
||||
bool getInitSuccessFlag() { return init_success; }
|
||||
bool disReconnects();
|
||||
void setSocketIp(QString m_socketIp) { socketIp = m_socketIp; }
|
||||
|
||||
QQueue<QByteArray> WritePLCPack;
|
||||
QQueue<QByteArray> ReadPack;
|
||||
private:
|
||||
QString m_IP;
|
||||
QString m_Port;
|
||||
QMutex m_Mutex;
|
||||
QByteArray reciveData;
|
||||
QString socketIp;
|
||||
bool init_success = true; // 初始化成功 返回true;失败返回false
|
||||
int init_flag = 0; // false为完整数据包，true为非完整数据包
|
||||
int m_readPackValue = 122; // 接受50个数据包的长度 为 122 ，加包头一起为 130, 如果是 100的话就是 222 加包头为230
|
||||
QMutex* m_mutex_lock = nullptr;
|
||||
QTcpSocket* tcpsocket = nullptr; // tcp通信的socket
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
extern "C"
|
||||
{
|
||||
Q_DECL_EXPORT Hd_SocketModule_FanucTcpClient * create();
|
||||
Q_DECL_EXPORT void destory(Hd_SocketModule_FanucTcpClient * ptr);
|
||||
}
|
||||
|
||||
#endif // Hd_SocketModule_FanucTcpClient_H
|
||||
@@ -0,0 +1,31 @@
|
||||
#ifndef __BASECLASS_H__
|
||||
#define __BASECLASS_H__
|
||||
|
||||
#include <iostream>
|
||||
#include <QObject>
|
||||
#include <QByteArray>
|
||||
#include <opencv2/opencv.hpp>
|
||||
#include <opencv2/core.hpp>
|
||||
#include <opencv2/imgproc.hpp>
|
||||
|
||||
class Base :public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
bool init_flag; //是否初始化,false,true
|
||||
bool status = true; //相机状态（判断相机是否断开连接）
|
||||
std::string paras; //传输数据
|
||||
std::vector<cv::Mat> m_mat; //传输图片
|
||||
std::string moduleName; //模块名称
|
||||
public:
|
||||
Base(){}
|
||||
virtual ~Base(){}
|
||||
virtual bool readData(std::vector<cv::Mat>&,QByteArray&){return true;}
|
||||
virtual bool writeData(std::vector<cv::Mat>&,QByteArray&){return true;}
|
||||
virtual bool initParas(QByteArray&){return true;}
|
||||
virtual bool run() {return true;}
|
||||
virtual bool checkStatus() { return true; }
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user