ACS系列（6） ACS QT版SPiiPlusClibraryDemo

Posted on by hackdl
  1. 工程文件
QT       += core gui

greaterThan(QT_MAJOR_VERSION, 4): QT += widgets

CONFIG += c++17

# You can make your code fail to compile if it uses deprecated APIs.
# In order to do so, uncomment the following line.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0

SOURCES += 
    main.cpp 
    widget.cpp

HEADERS += 
    widget.h

FORMS += 
    widget.ui

# Default rules for deployment.
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target

RESOURCES += 
    spiipldemo.qrc

win32:CONFIG(release, debug|release): LIBS += -L$$PWD/SDK/ -lACSCL_x64

INCLUDEPATH += $$PWD/SDK
DEPENDPATH += $$PWD/SDK

LIBS +=-L$$PWD/SDK -lACSCL_x64

win32:!win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/SDK/ACSCL_x64.lib
  1. 主程序
#include "widget.h"

#include 

int main(int argc, char *argv[])
{
    QApplication a(argc, argv);
    Widget w;
    w.show();
    return a.exec();
}
  1. 窗体程序
#ifndef WIDGET_H
#define WIDGET_H

#include "SDK/ACSC.h"
#include 
#include 

QT_BEGIN_NAMESPACE
namespace Ui { class Widget; }
QT_END_NAMESPACE

const int MAX_AXIS_COUNT = 128;服务器托管网
const int MAX_BUFF_COUNT = 64;
const int UPDATE_TIMER_INTERVAL = 500;
const int GPIO_PORT_NO = 0;
const int MAX_GPIO_COUNT = 8;
const int TIMEOUT_MOTOR_ENABLED = 3000;
const int TIMEOUT_MOTOR_DISABLE	= 3000;

static int g_nTotalAxes, g_nTotalBuffer;

class Widget : public QWidget
{
    Q_OBJECT

public:
    Widget(QWidget *parent = nullptr);
    ~Widget();

private slots:
    void on_pushButtonConnect_clicked();

    void on_pushButtonDisconnect_clicked();

    void on_pushButtonEnable_clicked();

    void on_pushButtonDisable_clicked();

    void on_pushButtonDisableAll_clicked();

    void on_pushButtonBuffStart_clicked();

    void on_pushButtonBuffStop_clicked();

    void on_pushButtonSetZeroAPOS_clicked();

    void on_pushButtonStop_clicked();

    void on_pushButtonStopAll_clicked();

    void on_pushButtonMoveToPosition_clicked();

    void on_pushButtonMoveDec_clicked();

    void on_pushButtonMoveInc_clicked();

    void on_pushButtonNegtive_clicked();

    void on_pushButtonPositive_clicked();

    void on_pushButtonMotinEnd_clicked();

    void on_pushButtonProgramEnd_clicked();

    void on_pushButtonInput_clicked();

    void on_pushButtonSend_clicked();

    void slotClickedBtnGroup();

public slots:
    void timerOut();

private:
    Ui::Widget *ui;

    int		m_nConnectType;
    HANDLE m_hAcsComm;				// ACS Communication handle
    BOOL m_bConnected;

    int m_nSelectedAxisNo;

    double m_RPosition[MAX_AXIS_COUNT];		// Reference Position
    double m_FPosition[MAX_AXIS_COUNT];		// Feedback Position
    double m_FVelocity[MAX_AXIS_COUNT];		// Feedback Velocity
    double m_PositionErr[MAX_AXIS_COUNT];	// Position Error
    int    m_MotorStatus[MAX_AXIS_COUNT];	// Motor Status
    int    m_MotorError[MAX_AXIS_COUNT];	// Motor Error

    int m_nTimerID;
    QTimer* m_Timer;

    void initImageLabel();
    void initRadioButton();

    void terminatePrevConnect();
    void updateParameters(int nAxisIndex);
};
#endif // WIDGET_H

#include "widget.h"
#include "ui_widget.h"

Widget::Widget(QWidget *parent)
    : QWidget(parent)
    , ui(new Ui::Widget)
    ,m_nSelectedAxisNo(0)
{
    ui->setupUi(this);

    initImageLabel();
    initRadioButton();

    m_Timer = new QTimer(this);
    m_Timer->start(UPDATE_TIMER_INTERVAL);
    connect(m_Timer,&QTimer::timeout, this, &Widget::timerOut);
}

Widget::~Widget()
{
    delete ui;
}

void Widget::initRadioButton()
{
    ui->buttonGroup->addButton(ui->radioButtonSimulator,0);
    ui->buttonGroup->addButton(ui->radioButtonTcpIp ,1);
    connect(ui->radioButtonSimulator, SIGNAL(clicked()), this,SLOT(slotClickedBtnGroup()));
    connect(ui->radioButtonTcpIp, SIGNAL(clicked()), this,SLOT(slotClickedBtnGroup()));
}

void Widget::initImageLabel()
{
    QString filename(":/images/Images/Off.bmp");
    QImage* img=new QImage;
    img->load(filename);

    ui->lbl_sys_left0->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_sys_left1->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_sys_left2->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_sys_left3->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_sys_left4->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_sys_left5->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_sys_left6->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_sys_left7->setPixmap(QPixmap::fromImage(*img));

    ui->lbl_sys_right0->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_sys_right1->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_sys_right2->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_sys_right3->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_sys_right4->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_sys_right5->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_sys_right6->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_sys_right7->setPixmap(QPixmap::fromImage(*img));

    ui->lbl_sys_emergency->setPixmap(QPixmap::fromImage(*img));

    ui->lbl_gen_input0->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_gen_input1->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_gen_input2->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_gen_input3->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_gen_input4->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_gen_input5->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_gen_input6->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_gen_input7->setPixmap(QPixmap::fromImage(*img));

    ui->lbl_gen_output0->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_gen_output1->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_gen_output2->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_gen_output3->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_gen_output4->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_gen_output5->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_gen_output6->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_gen_output7->setPixmap(QPixmap::fromImage(*img));

    ui->lbl_motorStatus_moving->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_motorStatus_acceleration->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_motorStatus_inPosition->setPixmap(QPixmap::fromImage(*img));
    ui->lbl_motorStatus_enabled->setPixmap(QPixmap::fromImage(*img));

    delete img;
}

void Widget::on_pushButtonConnect_clicked()
{
    double SysInfo = 0.0;

    terminatePrevConnect();
    switch(m_nConnectType)
    {
    // Simulation Mode
    case 0:
        m_hAcsComm = acsc_OpenCommSimulator();
        break;

        // Ethernet
    case 1:
        // Connect to the controller via TCP socket
        int port = ui->lineEditPort->text().toInt() == 0 ? ACSC_SOCKET_STREAM_PORT:ui->lineEditPort->text().toInt();
        m_hAcsComm = acsc_OpenCommEthernetTCP((char*)ui->lineEditIpAddr->text().toLatin1().data(), port);

        // UDP Socket (ACS is supporting only 1 UDP channel)
        //m_hAcsComm = acsc_OpenCommEthernetUDP((char*)LPCTSTR(m_strIPAddress), ACSC_SOCKET_DGRAM_PORT);
        break;
    }

    // After connecting, if you got an inv服务器托管网alid handle
    if(m_hAcsComm == ACSC_INVALID)
    {
        qDebug() comboBoxAxis->addItem(QString::number(i));
    }
    ui->comboBoxAxis->setCurrentIndex(0);

    m_nSelectedAxisNo = 0;

    // Get total number of buffers
    SysInfo = 0.0;
    acsc_SysInfo(m_hAcsComm, 10, &SysInfo, NULL);
    g_nTotalBuffer = (int)SysInfo;

    for(int i=0; icomboBoxBuffer->addItem(QString::number(i));
    }
    ui->comboBoxBuffer->setCurrentIndex(0);

    updateParameters(0);

    m_Timer->start(UPDATE_TIMER_INTERVAL);
}

void Widget::updateParameters(int nAxisIndex)
{
    double Vel, Acc, Dec, Jerk, KDec; // , FPos, RPos, FVel, PE;

    //==================================================================================
    // Velocity
    //==================================================================================
    if(acsc_GetVelocity(m_hAcsComm, nAxisIndex, &Vel, NULL))
    {
        QString strVelocity = QString::number(Vel,'f',4);
        ui->lineEditVeloccity->setText(strVelocity);
    }
    else
    {
        qDebug() lineEditAcceleration->setText(strAcc);
    }
    else
    {
        qDebug() lineEditDeceleration->setText(strDec);
    }
    else
    {
        qDebug() lineEditKillDeceleration->setText(strKillDec);
    }
    else
    {
        qDebug() lineEditJerk->setText(strJerk);
    }
    else
    {
        qDebug() buttonGroup->checkedId())
    {
    case 0:
        m_nConnectType = 0;
        qDebug() lineEditRPOS->setText(strTemp);

    strTemp = QString::number(m_FPosition[m_nSelectedAxisNo] , 'f' ,4);
    ui->lineEditApos->setText(strTemp);

    strTemp = QString::number(m_FVelocity[m_nSelectedAxisNo] , 'f' ,4);
    ui->lineEditAVelocity->setText(strTemp);

    strTemp = QString::number(m_PositionErr[m_nSelectedAxisNo] , 'f' ,4);
    ui->lineEditPositionError->setText(strTemp);

//    //==================================================================================
//    // Update dialog : Motor Status
//    //==================================================================================
//    if(m_MotorStatus[m_nSelectedAxisNo] & ACSC_MST_ENABLE) m_picEnable.SetBitmap(BITMAP_ON);
//    else m_picEnable.SetBitmap(BITMAP_OFF);

//    if(m_MotorStatus[m_nSelectedAxisNo] & ACSC_MST_MOVE) m_picMove.SetBitmap(BITMAP_ON);
//    else m_picMove.SetBitmap(BITMAP_OFF);

//    if(m_MotorStatus[m_nSelectedAxisNo] & ACSC_MST_ACC) m_picAcc.SetBitmap(BITMAP_ON);
//    else m_picAcc.SetBitmap(BITMAP_OFF);

//    if(m_MotorStatus[m_nSelectedAxisNo] & ACSC_MST_INPOS) m_picInpos.SetBitmap(BITMAP_ON);
//    else m_picInpos.SetBitmap(BITMAP_OFF);
//    //==================================================================================
//    // Read General Input 8 bits, Output 8 bits at once (ACSPL Variable : IN(0), OUT(0))
//    //==================================================================================
//    acsc_GetInputPort(m_hAcsComm,  GPIO_PORT_NO, &m_GeneralInput,  NULL);
//    acsc_GetOutputPort(m_hAcsComm, GPIO_PORT_NO, &m_GeneralOutput, NULL);
//    UpdateGeneralIO();

//    //==================================================================================
//    // Left, Right Limit state
//    //  - ACSPL Variable : FAULT(MAX_AXIS_COUNT)
//    //  - acsc_GetFault : this function is reading fault informaton one by one
//    //  - if you are using acsc_ReadInteger function, you can read all informations at once
//    //==================================================================================
//    for(int iAxis = 0; iAxis stop();

    if(m_hAcsComm != ACSC_INVALID)
    {
        if(acsc_CloseComm(m_hAcsComm))
        {
            m_hAcsComm = ACSC_INVALID;
            m_bConnected = FALSE;

            qDebug()  0)
        {
            if (acsc_GetErrorString(m_hAcsComm, Error, ErrorStr, 255, &Received))
            {
                ErrorStr[Received] = '';
                sprintf_s(MsgsStr, "Error = % d ,%s", Error, ErrorStr);
                qDebug() lineEditPosOrDistance->text().toDouble();
    if(!acsc_ToPoint(m_hAcsComm, 0, m_nSelectedAxisNo, distance, NULL))
    {
        qDebug() lineEditPosOrDistance->text().toDouble();
    // Move relative position (from current position)
    if(!acsc_ToPoint(m_hAcsComm, ACSC_AMF_RELATIVE, m_nSelectedAxisNo, distance * (-1), NULL))
    {
        qDebug() lineEditPosOrDistance->text().toDouble();
    // Move relative position (from current position)
    if(!acsc_ToPoint(m_hAcsComm, ACSC_AMF_RELATIVE, m_nSelectedAxisNo, distance, NULL))
    {
        qDebug()
  1. 运行结果

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