先来张图:

#include "mainwindow.h"
#include "ui_mainwindow.h"QMap<QString,QString>mymap;
QMap<QString,QString>programMap;static QString  sig_on="background-color: rgb(255, 255, 0);border-radius:12px";
static QString  sig_off="background-color: rgb(170, 170, 255);border-radius:12px";QString path_cwProgramList="./cwProgramList.ini";
QString path_toolDirs="./toolDirs.ini";
QString path_signalInfo="./signalInfo.ini";
char* path_config="./config.ini";static long sts;
QString myId;
QString myName;
QString myType;
QString myNum;
QString myAxisX;
QString myAxisY;
QString myAxisZ;
QString myAxisU;short axi_x,axi_y,axi_z,axi_u;double nowPos_x,nowPos_y,nowPos_z,nowPos_u;QString *arrystr[]={&myId,&myName,&myType,&myNum,&myAxisX,&myAxisY,&myAxisZ,&myAxisU};//判断是否取反,1:正常  0:取反
char bg_sigin[17];
char bg_sigout[17];
char bg_sigzheng[9];
char bg_sigfu[9];
char bg_sigyuan[9];
char bg_sigdalarm[9];
char bg_sigtomcan[9];
char bg_sigalclear[9];QStringList mylist;int speedGrade[]={2,4,8,12};static bool initReult=false;  //复位标识void myStop(int flag)       // 1.系统急停 2.轴暂停运动
{GT_Stop(1<<(axi_x-1),1<<(axi_x-1));if(axi_y!=0) GT_Stop(1<<(axi_y-1),1<<(axi_y-1));if(axi_z!=0) GT_Stop(1<<(axi_z-1),1<<(axi_z-1));if(axi_u!=0) GT_Stop(1<<(axi_u-1),1<<(axi_u-1));if(flag==1){GT_AxisOff(axi_x);if(axi_y!=0) GT_AxisOff(axi_y);if(axi_z!=0) GT_AxisOff(axi_z);if(axi_u!=0) GT_AxisOff(axi_u);GT_Close();initReult=FALSE;}
}//写配置信息到文件
bool write_tofile( char* filename)
{FILE *fp=fopen(filename,"w+");if (fp==NULL){QMessageBox::warning(NULL,"error","写配置信息失败!");return false;}char buf[100]={0};QString str;str=QString("ID=")+myId+QString(";\n")+\QString("名称=")+myName+QString(";\n")+\QString("类型=")+myType+QString(";\n")+\QString("轴数量=")+myNum+QString(";\n")+\QString("X轴ID=")+myAxisX+QString(";\n")+\QString("Y轴ID=")+myAxisY+QString(";\n")+\QString("Z轴ID=")+myAxisZ+QString(";\n")+\QString("U轴ID=")+myAxisU+QString(";\n");mymap.insert(myId,str);for(auto it=mymap.begin();it!=mymap.end();it++){strcpy(buf,it.value().toStdString().c_str());int ret=fwrite(buf,strlen(buf),1,fp);if(ret<=0) qDebug()<<"写出数据失败!";}fclose(fp);return true;
}//从配置文件读取信息
bool read_fromfile(char*filename,char*curSelect)
{FILE*fp=fopen(filename,"r");if(fp==NULL){QMessageBox::warning(NULL,"error","读取配置信息失败!");return false;}char buf[100]={0};char tmp1[50],tmp2[50];int i=0;while(fgets(buf,sizeof(buf),fp)){memset(tmp2,0,sizeof(tmp2));sscanf(buf,"%[^=]=%[^;]",tmp1,tmp2);if(strcmp(tmp2, curSelect) == 0 &&strcmp(tmp1,"ID")==0) break;*arrystr[i] = QString(tmp2);i++;if(myId.isEmpty()) myId="0";if (i == 8){QString str= QString("ID=") + myId + QString(";\n") + \QString("名称=") + myName + QString(";\n") + \QString("类型=") + myType + QString(";\n") + \QString("轴数量=") + myNum + QString(";\n") + \QString("X轴ID=") + myAxisX + QString(";\n") + \QString("Y轴ID=") + myAxisY + QString(";\n") + \QString("Z轴ID=") + myAxisZ + QString(";\n")+ \QString("U轴ID=") + myAxisU + QString(";\n");mymap.insert(myId, str);i = 0;}}fclose(fp);return true;
}MainWindow::MainWindow(QWidget *parent) :QMainWindow(parent),ui(new Ui::MainWindow)
{ui->setupUi(this);setWindowTitle("策维项目");// resize(1033,633);  // 设置窗口大小setFixedSize(1025,633);//输入信号createSignalArea(ui->frame_5,btngroup_sigin,"输入信号",16);//输出信号createSignalArea(ui->frame_12,btngroup_sigout,"输出信号",16);//正极限位createSignalArea(ui->frame_4,btngroup_sigzheng,"正极限位",8);//负极限位createSignalArea(ui->frame_7,btngroup_sigfu,"负极限位",8);//原点信号createSignalArea(ui->frame_8,btngroup_sigyuan,"原点信号",8);//驱动报警createSignalArea(ui->frame_9,btngroup_dalarm,"驱动报警",8);//伺服使能createSignalArea(ui->frame_10,btngroup_tomcan,"伺服使能",8);//报警清除createSignalArea(ui->frame_11,btngroup_alclear,"报警清除",8);memset(bg_sigin,'1',16);memset(bg_sigout,'1',16);memset(bg_sigzheng,'1',8);memset(bg_sigfu,'1',8);memset(bg_sigyuan,'1',8);memset(bg_sigdalarm,'1',8);memset(bg_sigtomcan,'1',8);memset(bg_sigalclear,'1',8);//读取信号状态signalFlag();rightMenu=new QMenu();isNormal= rightMenu->addAction(QIcon(":/new/prefix1/select.bmp"),"正常");isOpposite= rightMenu->addAction(QIcon(":/new/prefix1/blank.bmp"),"取反");rightMenu->addSeparator();QAction *saveTofile= rightMenu->addAction(QIcon(":/new/prefix1/add.bmp"),"保存");//设置底部状态栏QStatusBar *statusbar=statusBar();label=new QLabel(statusbar);statusbar->setStyleSheet(QString("QStatusBar::item{border: 0px}"));statusbar->addPermanentWidget(label);statusbar->addWidget(new QLabel("你好,欢迎使用策维系统!!!"));timer=new QTimer();timer->setInterval(200);timer->start();mylist<<"1"<<"2"<<"3"<<"4"<<"5"<<"6"<<"7"<<"8";//获取项目列表intiProgramList();//卡号列表初始化ui->comboBox_exchangeCardid->addItems(mylist);QStringList speedList;speedList<<"1-低速"<<"2-中速"<<"3-高速"<<"4-极速";ui->comboBox_speed->addItems(speedList);//读配置文件on_pushButton_readConfig_clicked();//工站详情workDetail(1);//设置初始速度nowSpeed=speedGrade[0];axi_x=myAxisX.toInt()+1;axi_y=myAxisY.toInt()+1;axi_z=myAxisZ.toInt()+1;axi_u=myAxisU.toInt()+1;//初始化点位运动的点ui->lineEdit_nextPosX->setText("0");ui->lineEdit_nextPosY->setText("0");ui->lineEdit_nextPosZ->setText("0");ui->lineEdit_nextPosU->setText("0");//底部状态栏与信号检测200sec/次connect(timer, SIGNAL(timeout()), this,SLOT(myTimeout()));//保存监测connect(saveTofile,&QAction::triggered,[](){QFile file(path_signalInfo);if(!file.open(QIODevice::WriteOnly | QIODevice::Text)){QMessageBox::warning(NULL,"error","保存失败!");return;}QTextStream txtOutput(&file);txtOutput <<bg_sigin<<endl<<bg_sigout<<endl<<bg_sigzheng<<endl<<bg_sigfu<<endl<<bg_sigyuan<<endl<<bg_sigdalarm<<endl<<bg_sigtomcan<<endl<<bg_sigalclear;file.close();});//是否正常监测connect(isNormal,&QAction::triggered,[=](){isNormal->setIcon(QIcon(":/new/prefix1/select.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/blank.bmp"));for(int i=0;i<16;i++){if(isContain(btngroup_sigin.button(i),ui->frame_5,this->globalPos,0)){bg_sigin[i]='1';}else if(isContain(btngroup_sigout.button(i),ui->frame_12,this->globalPos,0)){bg_sigout[i]='1';}else if((i<8)&& isContain(btngroup_sigzheng.button(i),ui->frame_4,this->globalPos,0)){bg_sigzheng[i]='1';}else if((i<8) && isContain(btngroup_sigfu.button(i),ui->frame_7,this->globalPos,0)){bg_sigfu[i]='1';}else if((i<8) && isContain(btngroup_sigyuan.button(i),ui->frame_8,this->globalPos,0)){bg_sigyuan[i]='1';}else if((i<8) && isContain(btngroup_dalarm.button(i),ui->frame_9,this->globalPos,0)){bg_sigdalarm[i]='1';}else if((i<8) && isContain(btngroup_tomcan.button(i),ui->frame_10,this->globalPos,0)){bg_sigtomcan[i]='1';}else if((i<8) && isContain(btngroup_alclear.button(i),ui->frame_11,this->globalPos,0)){bg_sigalclear[i]='1';}}});//是否取反监测connect(isOpposite,&QAction::triggered,[=](){isNormal->setIcon(QIcon(":/new/prefix1/blank.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/select.bmp"));for(int i=0;i<16;i++){if(isContain(btngroup_sigin.button(i),ui->frame_5,this->globalPos,0)){bg_sigin[i]='0';}else if(isContain(btngroup_sigout.button(i),ui->frame_12,this->globalPos,0)){bg_sigout[i]='0';}else if((i<8)&& isContain(btngroup_sigzheng.button(i),ui->frame_4,this->globalPos,0)){bg_sigzheng[i]='0';}else if((i<8) && isContain(btngroup_sigfu.button(i),ui->frame_7,this->globalPos,0)){bg_sigfu[i]='0';}else if((i<8) && isContain(btngroup_sigyuan.button(i),ui->frame_8,this->globalPos,0)){bg_sigyuan[i]='0';}else if((i<8) && isContain(btngroup_dalarm.button(i),ui->frame_9,this->globalPos,0)){bg_sigdalarm[i]='0';}else if((i<8) && isContain(btngroup_tomcan.button(i),ui->frame_10,this->globalPos,0)){bg_sigtomcan[i]='0';}else if((i<8) && isContain(btngroup_alclear.button(i),ui->frame_11,this->globalPos,0)){bg_sigalclear[i]='0';}}});//对输出信号的按钮监测connect(&btngroup_sigout,static_cast<void(QButtonGroup::*)(int)>(&QButtonGroup::buttonClicked),[=](int index){GT_SetDo(MC_GPO,1<<index);});//对报警清除的按钮监测connect(&btngroup_alclear,static_cast<void(QButtonGroup::*)(int)>(&QButtonGroup::buttonClicked),[=](int index){GT_SetDo(MC_CLEAR,1<<index);});//对使能的按钮监测connect(&btngroup_tomcan,static_cast<void(QButtonGroup::*)(int)>(&QButtonGroup::buttonClicked),[=](int index){GT_SetDo(MC_ENABLE,1<<index);});
}MainWindow::~MainWindow()
{delete ui;
}bool MainWindow::workDetail(int flag)
{//设置工站IDui->lineEdit_Id->setText(myId);//工站名称ui->lineEdit_Name->setText(myName);//电机类型if(flag==1) ui->comboBox_Type->addItem("电机工站");ui->comboBox_Type->setCurrentIndex(myType.toInt());//轴数量设置if (flag == 1){QStringList tmp;tmp<<"1"<<"2"<<"3"<<"4";ui->comboBox_Num->addItems(tmp);}ui->comboBox_Num->setCurrentIndex(myNum.toInt());//轴ID设置if (flag == 1){ui->comboBox_Axi_idx->addItems(mylist);ui->comboBox_Axi_idy->addItems(mylist);ui->comboBox_Axi_idz->addItems(mylist);ui->comboBox_Axi_idu->addItems(mylist);}ui->comboBox_Axi_idx->setCurrentIndex(myAxisX.toInt());ui->comboBox_Axi_idy->setCurrentIndex(myAxisY.toInt());ui->comboBox_Axi_idz->setCurrentIndex(myAxisZ.toInt());ui->comboBox_Axi_idu->setCurrentIndex(myAxisU.toInt());QString arg;on_comboBox_Num_currentIndexChanged(arg);return true;
}bool MainWindow::initWorkspace()
{for(auto it=mymap.begin();it!=mymap.end();it++){QString  str1;QString str, str2,str3;str1 = it.key();str2 = it.value();str3=str2.replace(";","");int slen=str3.indexOf("类型")-(str3.indexOf("名称=")+3);str = str3.mid(8,slen-1); //减1为去掉最后的换行符str1=str1+"-"+str;if(ui->comboBox_workSpace->findText(str1)>=0) continue;ui->comboBox_workSpace->addItem(str1);}ui->comboBox_workSpace->setCurrentIndex(mymap.size()-1);return true;
}bool MainWindow::jogAction(int axId, int flag)
{if(!initReult) return false;TThreadSts thread;short rtn;short funId;TVarInfo speed,axi,count,pclock,flag1,flag2;rtn = GT_Download("myJogaction.bin");// 获取函数IDrtn = GT_GetFunId("jogAction",&funId);// 获取局部变量的IDrtn = GT_GetVarId("jogAction","axi",&axi);rtn = GT_GetVarId("jogAction","speed",&speed);rtn = GT_GetVarId("jogAction","pclock",&pclock);rtn = GT_GetVarId("jogAction","count",&count);rtn = GT_GetVarId("jogAction","flag1",&flag1);rtn = GT_GetVarId("jogAction","flag2",&flag2);// 绑定线程，函数，数据页rtn = GT_Bind(0,funId,0);double value=axId;// 初始化运动程序的全局变量axirtn = GT_SetVarValue(0,&axi,&value);// 初始化运动程序的全局变量speedvalue=flag;rtn = GT_SetVarValue(0,&speed,&value);// 初始化运动程序的全局变量pclockvalue=NULL;rtn = GT_SetVarValue(0,&pclock,&value);// 初始化运动程序的全局变量countvalue=1;rtn = GT_SetVarValue(0,&count,&value);double sts=0;// 启动线程rtn = GT_RunThread(0);do{// 查询线程状态rtn = GT_GetThreadSts(0,&thread);rtn = GT_GetVarValue(0,&flag1,&sts);if(sts){qDebug()<<"运动到负限位!";}rtn = GT_GetVarValue(0,&flag2,&sts);if(sts){qDebug()<<"运动到负限位!";}}while( 1== thread.run );    // 等待线程运行结束return true;
}bool MainWindow::trapAction(int axId, int flag, long aimpos)
{if(!initReult) return false;TThreadSts thread;short rtn;short funId;TVarInfo speed,axi,count,pclock,flag1,flag2,pos;rtn = GT_Download("myTrapaction.bin");// 获取函数IDrtn = GT_GetFunId("myTrapaction",&funId);// 获取局部变量的IDrtn = GT_GetVarId("trapAction","axi",&axi);rtn = GT_GetVarId("trapAction","speed",&speed);rtn = GT_GetVarId("trapAction","pclock",&pclock);rtn = GT_GetVarId("trapAction","count",&count);rtn = GT_GetVarId("trapAction","flag1",&flag1);rtn = GT_GetVarId("trapAction","flag2",&flag2);rtn = GT_GetVarId("trapAction","pos",&pos);// 绑定线程，函数，数据页rtn = GT_Bind(axId,funId,axId);double value=axId;// 初始化运动程序的全局变量axirtn = GT_SetVarValue(axId,&axi,&value);// 初始化运动程序的全局变量speedvalue=flag;rtn = GT_SetVarValue(axId,&speed,&value);// 初始化运动程序的全局变量pclockvalue=NULL;rtn = GT_SetVarValue(axId,&pclock,&value);// 初始化运动程序的全局变量countvalue=1;rtn = GT_SetVarValue(axId,&count,&value);// 初始化运动程序的全局变量posvalue=aimpos;rtn = GT_SetVarValue(axId,&pos,&value);double sts=0;// 启动线程rtn = GT_RunThread(axId);do{// 查询线程状态rtn = GT_GetThreadSts(axId,&thread);rtn = GT_GetVarValue(axId,&flag1,&sts);if(sts){qDebug()<<"运动到负限位!";}rtn = GT_GetVarValue(axId,&flag2,&sts);if(sts){qDebug()<<"运动到正限位!";}}while( 1== thread.run );    // 等待线程运行结束return true;
}//初始化已经添加过的项目列表
bool MainWindow::intiProgramList()
{QFile file(path_cwProgramList);QByteArray readStr;if(!file.open(QIODevice::ReadOnly)){QMessageBox::warning(NULL, "error", "项目列表读取失败!!!");}while(1){readStr=file.readLine();if(readStr.length()<10) break;char kn[50]={0};char ktmp[50]={0};sscanf(readStr.data(),"%[^|]|",kn);strcpy(ktmp,kn);strcat(ktmp,"|");readStr.replace(ktmp,"").replace("\n","");programMap.insert(QString(kn),QString(readStr));ui->comboBox_selProgram->addItem(QString(kn));}
}//信号模块初始化
void MainWindow::createSignalArea(QFrame*frame,QButtonGroup&btngroup,QString signame, int count)
{QHBoxLayout *siginLayout=new QHBoxLayout;frame->setLayout(siginLayout);QLabel *lab_sigin=new QLabel(signame);lab_sigin->setFixedWidth(53);siginLayout->addWidget(lab_sigin);QGridLayout *sigRight=new QGridLayout;for(int i=0;i<count;i++){QToolButton *btn=new QToolButton;btn->setStyleSheet(sig_off); //无信号样式btn->setFixedSize(25,25);if(i<8){sigRight->addWidget(btn,0,i);}else{sigRight->addWidget(btn,1,i-8);}btngroup.addButton(btn,i);}siginLayout->addLayout(sigRight);static int flag_i=1;connect(&btngroup,static_cast<void(QButtonGroup::*)(int)>(&QButtonGroup::buttonClicked),[&](int index){if(flag_i){btngroup.button(index)->setStyleSheet(sig_on);//有信号样式flag_i=0;}else{btngroup.button(index)->setStyleSheet(sig_off);//无信号样式flag_i=1;}});
}//状态栏时间显示部分
void MainWindow::myTimeout()
{//底部状态栏QDateTime time=QDateTime::currentDateTime();label->setText(time.toString("yyyy-MM-dd  hh:mm:ss  ddd"));label->update();//信号检测long lGpiValue_fu=0;long lGpiValue_yuan=0;long lGpiValue_zhen=0;long lGpiValue_dalarm=0;long lGpiValue_sigin=0;long lGpiValue_motcan=0;long lGpiValue_alclear=0;long lGpiValue_sigout=0;//读取IO输入状态GT_GetDi(MC_LIMIT_POSITIVE, &lGpiValue_zhen);GT_GetDi(MC_HOME, &lGpiValue_yuan);GT_GetDi(MC_LIMIT_NEGATIVE, &lGpiValue_fu);GT_GetDi(MC_ALARM, &lGpiValue_dalarm);GT_GetDi(MC_GPI, &lGpiValue_sigin);//读取IO输出状态GT_GetDo(MC_ENABLE, &lGpiValue_motcan);GT_GetDo(MC_CLEAR, &lGpiValue_alclear);GT_GetDo(MC_GPO, &lGpiValue_sigout);for(int i=0,j=0;i<8,j<16;i++,j+=2){//检测正限位if(bg_sigzheng[i]=='1'){if(lGpiValue_zhen&1<<i){btngroup_sigzheng.button(i)->setStyleSheet(sig_on);GT_Stop(1<<i,1<<i);}else btngroup_sigzheng.button(i)->setStyleSheet(sig_off);}else{if(lGpiValue_zhen&1<<i){btngroup_sigzheng.button(i)->setStyleSheet(sig_off);GT_Stop(1<<i,1<<i);}else btngroup_sigzheng.button(i)->setStyleSheet(sig_on);}//检测原点if(bg_sigyuan[i]=='1'){if(lGpiValue_yuan&1<<i) btngroup_sigyuan.button(i)->setStyleSheet(sig_on);else btngroup_sigyuan.button(i)->setStyleSheet(sig_off);}else{if(lGpiValue_yuan&1<<i) btngroup_sigyuan.button(i)->setStyleSheet(sig_off);else btngroup_sigyuan.button(i)->setStyleSheet(sig_on);}//检测负限位if(bg_sigfu[i]=='1'){if(lGpiValue_fu&1<<i){btngroup_sigfu.button(i)->setStyleSheet(sig_on);GT_Stop(1<<i,1<<i);}else btngroup_sigfu.button(i)->setStyleSheet(sig_off);}else{if(lGpiValue_fu&1<<i){btngroup_sigfu.button(i)->setStyleSheet(sig_off);GT_Stop(1<<i,1<<i);}else btngroup_sigfu.button(i)->setStyleSheet(sig_on);}//检测驱动报警if(bg_sigdalarm[i]=='1'){if(lGpiValue_dalarm&1<<i) btngroup_dalarm.button(i)->setStyleSheet(sig_on);else btngroup_dalarm.button(i)->setStyleSheet(sig_off);}else{if(lGpiValue_dalarm&1<<i) btngroup_dalarm.button(i)->setStyleSheet(sig_off);else btngroup_dalarm.button(i)->setStyleSheet(sig_on);}//检测输入信号if(bg_sigin[i]=='1'){if(lGpiValue_sigin&1<<j){btngroup_sigin.button(j)->setStyleSheet(sig_off);btngroup_sigin.button(j+1)->setStyleSheet(sig_on);}else{btngroup_sigin.button(j)->setStyleSheet(sig_on);btngroup_sigin.button(j+1)->setStyleSheet(sig_off);}}else{if(lGpiValue_sigin&1<<j){btngroup_sigin.button(j)->setStyleSheet(sig_on);btngroup_sigin.button(j+1)->setStyleSheet(sig_off);}else{btngroup_sigin.button(j)->setStyleSheet(sig_off);btngroup_sigin.button(j+1)->setStyleSheet(sig_on);}}//检测伺服使能if(bg_sigtomcan[i]=='1'){if(lGpiValue_motcan&1<<i) btngroup_tomcan.button(i)->setStyleSheet(sig_on);else btngroup_tomcan.button(i)->setStyleSheet(sig_off);}else{if(lGpiValue_motcan&1<<i) btngroup_tomcan.button(i)->setStyleSheet(sig_off);else btngroup_tomcan.button(i)->setStyleSheet(sig_on);}//检测报警清除if(bg_sigalclear[i]=='1'){if(lGpiValue_alclear&1<<i) btngroup_alclear.button(i)->setStyleSheet(sig_on);else btngroup_alclear.button(i)->setStyleSheet(sig_off);}else{if(lGpiValue_alclear&1<<i) btngroup_alclear.button(i)->setStyleSheet(sig_off);else btngroup_alclear.button(i)->setStyleSheet(sig_on);}//检测输出信号if(bg_sigout[i]=='1'){if(lGpiValue_sigout&1<<j){btngroup_sigout.button(j)->setStyleSheet(sig_off);btngroup_sigout.button(j+1)->setStyleSheet(sig_on);}else{btngroup_sigout.button(j)->setStyleSheet(sig_on);btngroup_sigout.button(j+1)->setStyleSheet(sig_off);}}else{if(lGpiValue_sigout&1<<j){btngroup_sigout.button(j)->setStyleSheet(sig_on);btngroup_sigout.button(j+1)->setStyleSheet(sig_off);}else{btngroup_sigout.button(j)->setStyleSheet(sig_off);btngroup_sigout.button(j+1)->setStyleSheet(sig_on);}}}//获取当前位置double enc[4]={0};GT_GetEncPos(axi_x,&enc[0],myNum.toShort()+1);nowPos_x=enc[0]/1000;nowPos_y=enc[1]/1000;nowPos_z=enc[2]/1000;nowPos_u=enc[3]/1000;ui->lineEdit_curPosX->setText(QString("%1").arg(nowPos_x));ui->lineEdit_curPosY->setText(QString("%1").arg(nowPos_y));ui->lineEdit_curPosZ->setText(QString("%1").arg(nowPos_z));ui->lineEdit_curPosU->setText(QString("%1").arg(nowPos_u));
}//外部工具
void MainWindow::on_pushButton_commTools_clicked()
{QDialog *toolwidget =new QDialog;toolwidget->setWindowTitle("常用工具");toolwidget->setFixedSize(400,300);QVBoxLayout *mainLayout=new QVBoxLayout;toolwidget->setLayout(mainLayout);mainLayout->setMargin(50);QHBoxLayout *topLayout=new QHBoxLayout;QLabel *lab1=new QLabel("添加工具");topLayout->addWidget(lab1);QLineEdit *toolName=new QLineEdit;topLayout->addWidget(toolName);QPushButton *addTool=new QPushButton;addTool->setIcon(QIcon(":/new/prefix1/add.bmp"));addTool->setMinimumWidth(60);topLayout->addWidget(addTool);QMap<QString,QString>myMap;QFile file(path_toolDirs);QByteArray readStr;if(!file.open(QIODevice::ReadOnly)){QMessageBox::warning(toolwidget, "error", "工具读取失败!!!");}while(1){readStr=file.readLine();if(readStr.length()<10) break;char kn[50]={0};char ktmp[50]={0};sscanf(readStr.data(),"%[^|]|",kn);strcpy(ktmp,kn);strcat(ktmp,"|");readStr.replace(ktmp,"").replace("\n","");myMap.insert(QString(kn),QString(readStr));// qDebug()<<kn<<":"<<readStr;}file.close();connect(addTool, &QPushButton::clicked, [=](){QString filename =QFileDialog::getOpenFileName(NULL, "选择程序","../", "可执行程序 (*.exe);;其它 (*.*)");toolName->setText(filename);QFileInfo fileinfo(filename);QFile file(path_toolDirs);if(!file.open(QIODevice::WriteOnly | QIODevice::Append)){QMessageBox::warning(toolwidget, "error", "添加失败!!!");return;}QTextStream txtOutput(&file);txtOutput << fileinfo.fileName()<<"|"<<fileinfo.filePath()<<endl;file.close();});QGridLayout *bottomLayout=new QGridLayout;int i=0;for( auto it=myMap.begin();it!=myMap.end();it++){QPushButton *btn=new QPushButton(toolwidget);btn->setFixedSize(60,30);if(i<3) bottomLayout->addWidget(btn,0,i,Qt::AlignCenter);else if(i<6) bottomLayout->addWidget(btn,1,i-3,Qt::AlignCenter);else if(i<9) bottomLayout->addWidget(btn,2,i-6,Qt::AlignCenter);QString disText=it.key();btn->setText(disText.replace(".exe",""));btn->setToolTip(it.key());i++;connect(btn,&QPushButton::clicked,[=](){QProcess myprocess;QString program=it.value();if(disText.indexOf("exe")){myprocess.startDetached(program.replace("/","//"),QStringList(program.replace("/","//")));}else{myprocess.startDetached("cmd.exe",QStringList(program.replace("/","//")));};});}mainLayout->addLayout(topLayout);mainLayout->addSpacing(20);mainLayout->addLayout(bottomLayout);toolwidget->exec();//模态显示}//写配置信息到文件
void MainWindow::on_pushButton_writeConfig_clicked()
{if(ui->lineEdit_Name->text().isEmpty()){QMessageBox::warning(this,"error","名称为空，请\n重新输入！");return;}myName=ui->lineEdit_Name->text();myType=QString("%1").arg(ui->comboBox_Type->currentIndex());myNum=QString("%1").arg(ui->comboBox_Num->currentIndex());myAxisX=QString("%1").arg(ui->comboBox_Axi_idx->currentIndex());myAxisY=QString("%1").arg(ui->comboBox_Axi_idy->currentIndex());myAxisZ=QString("%1").arg(ui->comboBox_Axi_idz->currentIndex());myAxisU=QString("%1").arg(ui->comboBox_Axi_idu->currentIndex());if (write_tofile(path_config)){int maplen = mymap.size();myId =QString("%1").arg(maplen);ui->lineEdit_Id->setText(myId);ui->lineEdit_Name->clear();ui->comboBox_Num->setCurrentIndex(0);}
}//从配置信息读取文件
void MainWindow::on_pushButton_readConfig_clicked()
{FILE*fp = fopen(path_config, "r");if (fp == NULL){QMessageBox::warning(NULL,"error","读取配置信息失败!");myId=QString("0");return;}char buf[100] = { 0 };int count = 0;while (fgets(buf, sizeof(buf), fp)){count++;}fclose(fp);count /= 8;memset(buf, 0, sizeof(buf));char* ch = itoa(count, buf, 10);mymap.clear();read_fromfile(path_config, ch);initWorkspace();
}//工站切换
void MainWindow::on_comboBox_workSpace_currentIndexChanged(const QString &arg1)
{int i = ui->comboBox_workSpace->currentIndex();QString val=mymap[QString("%1").arg(i)];char buf[100] = { 0 };strcpy(buf,val.toStdString().c_str());char *p=strtok(buf,";");for(int i=0;i<sizeof(arrystr)/sizeof(arrystr[0]);i++){char kn[50], kv[50];sscanf(p, "%[^=]=%[^;]", kn, kv);*arrystr[i]=QString(kv);p = strtok(NULL, ";");}axi_x=myAxisX.toInt()+1;axi_y=myAxisY.toInt()+1;axi_z=myAxisZ.toInt()+1;axi_u=myAxisU.toInt()+1;workDetail(2);
}//轴数量切换
void MainWindow::on_comboBox_Num_currentIndexChanged(const QString &arg1)
{int j=ui->comboBox_Num->currentIndex();switch(j){case 0:ui->label_idy->hide();ui->label_idz->hide();ui->label_idu->hide();ui->comboBox_Axi_idy->hide();ui->comboBox_Axi_idz->hide();ui->comboBox_Axi_idu->hide();break;case 1:ui->label_idy->show();ui->label_idz->hide();ui->label_idu->hide();ui->comboBox_Axi_idy->show();ui->comboBox_Axi_idz->hide();ui->comboBox_Axi_idu->hide();break;case 2:ui->label_idy->show();ui->label_idz->show();ui->label_idu->hide();ui->comboBox_Axi_idy->show();ui->comboBox_Axi_idz->show();ui->comboBox_Axi_idu->hide();break;case 3:ui->label_idy->show();ui->label_idz->show();ui->label_idu->show();ui->comboBox_Axi_idy->show();ui->comboBox_Axi_idz->show();ui->comboBox_Axi_idu->show();break;default:break;}
}//打开工站配置文件
void MainWindow::on_pushButton_openConfig_clicked()
{QProcess noteProcess;noteProcess.startDetached("notepad.exe",QStringList(path_config));
}//速度切换
void MainWindow::on_comboBox_speed_currentIndexChanged(const QString &arg1)
{int i=ui->comboBox_speed->currentIndex();switch(i){case 0:nowSpeed=speedGrade[0];break;case 1:nowSpeed=speedGrade[1];break;case 2:nowSpeed=speedGrade[2];break;case 4:nowSpeed=speedGrade[3];break;
deault:break;}
}//运动微调模块
void MainWindow::on_pushButton_axix_zheng_pressed()
{if(initReult) jogAction(axi_x,nowSpeed);
}void MainWindow::on_pushButton_axix_zheng_released()
{GT_Stop(1<<(axi_x-1),1<<(axi_x-1));
}void MainWindow::on_pushButton_axix_fu_pressed()
{if(initReult) jogAction(axi_x,-nowSpeed);
}void MainWindow::on_pushButton_axix_fu_released()
{GT_Stop(1<<(axi_x-1),1<<(axi_x-1));
}void MainWindow::on_pushButton_axiy_zheng_pressed()
{if(initReult) jogAction(axi_y,nowSpeed);
}void MainWindow::on_pushButton_axiy_zheng_released()
{GT_Stop(1<<(axi_y-1),1<<(axi_y-1));
}void MainWindow::on_pushButton_axiy_fu_pressed()
{if(initReult) jogAction(axi_y,-nowSpeed);
}void MainWindow::on_pushButton_axiy_fu_released()
{GT_Stop(1<<(axi_y-1),1<<(axi_y-1));
}void MainWindow::on_pushButton_axiz_zheng_pressed()
{if(initReult) jogAction(axi_z,nowSpeed);
}void MainWindow::on_pushButton_axiz_zheng_released()
{GT_Stop(1<<(axi_z-1),1<<(axi_z-1));
}void MainWindow::on_pushButton_axiz_fu_pressed()
{if(initReult) jogAction(axi_z,-nowSpeed);
}void MainWindow::on_pushButton_axiz_fu_released()
{GT_Stop(1<<(axi_z-1),1<<(axi_z-1));
}void MainWindow::on_pushButton_axiu_zheng_pressed()
{if(initReult) jogAction(axi_u,nowSpeed);
}void MainWindow::on_pushButton_axiu_zheng_released()
{GT_Stop(1<<(axi_u-1),1<<(axi_u-1));
}void MainWindow::on_pushButton_axiu_fu_pressed()
{if(initReult) jogAction(axi_u,-nowSpeed);
}void MainWindow::on_pushButton_axiu_fu_released()
{GT_Stop(1<<(axi_u-1),1<<(axi_u-1));
}//复位功能
void MainWindow::on_pushButton_sysInit_clicked()
{short sRtn;TJogPrm  jog;// 打开运动控制器sRtn = GT_Open();// 复位运动控制器sRtn = GT_Reset();if(sRtn!=0){QMessageBox::warning(NULL,"error","程序复位失败！");}// 配置运动控制器// 注意：配置文件取消了各轴的报警和限位sRtn = GT_LoadConfig("./test.cfg");// 清除各轴的报警和限位sRtn = GT_ClrSts(1, 8);// 伺服使能sRtn = GT_AxisOn(axi_x);if(axi_y!=0) sRtn = GT_AxisOn(axi_y);if(axi_z!=0) sRtn = GT_AxisOn(axi_z);if(axi_u!=0) sRtn = GT_AxisOn(axi_u);// 位置清零sRtn = GT_ZeroPos(axi_x);if(axi_y!=0) sRtn = GT_ZeroPos(axi_y);if(axi_z!=0) sRtn = GT_ZeroPos(axi_z);if(axi_u!=0) sRtn = GT_ZeroPos(axi_u);// AXIS轴规划位置清零sRtn = GT_SetPrfPos(axi_x, 0);if(axi_y!=0) sRtn = GT_SetPrfPos(axi_y, 0);if(axi_z!=0) sRtn = GT_SetPrfPos(axi_z, 0);if(axi_u!=0) sRtn = GT_SetPrfPos(axi_u, 0);// 将AXIS轴设为jog模式sRtn =GT_PrfJog(axi_x);if(axi_y!=0) sRtn =GT_PrfJog(axi_y);if(axi_z!=0) sRtn =GT_PrfJog(axi_z);if(axi_u!=0) sRtn =GT_PrfJog(axi_u);// 读取运动参数sRtn =GT_GetJogPrm(axi_x,&jog);if(axi_y!=0) sRtn =GT_GetJogPrm(axi_y,&jog);if(axi_z!=0) sRtn =GT_GetJogPrm(axi_z,&jog);if(axi_u!=0) sRtn =GT_GetJogPrm(axi_u,&jog);jog.acc=0.0625;jog.dec=0.0625;// 设置运动参数sRtn =GT_SetJogPrm(axi_x,&jog);if(axi_y!=0) sRtn =GT_SetJogPrm(axi_y,&jog);if(axi_z!=0) sRtn =GT_SetJogPrm(axi_z,&jog);if(axi_u!=0) sRtn =GT_SetJogPrm(axi_u,&jog);initReult=TRUE;}//系统急停
void MainWindow::on_pushButton_sysStop_clicked()
{myStop(1);
}void MainWindow::on_pushButton_setProgram_clicked()
{QProcess noteProcess;noteProcess.startDetached("notepad.exe",QStringList(path_cwProgramList));
}//启动项目
void MainWindow::on_pushButton_startProgram_clicked()
{QProcess myprocess;QString key=ui->comboBox_selProgram->currentText();QString program=programMap[key];myprocess.startDetached(program.replace("/","//"),QStringList(program.replace("/","//")));}//切换控制卡
void MainWindow::on_comboBox_exchangeCardid_currentIndexChanged(const QString &arg1)
{int cardIndex=ui->comboBox_exchangeCardid->currentIndex();cardId=cardIndex;int ret=GT_SetCardNo(cardId);if(ret!=0) QMessageBox::warning(NULL,"error","切换控制卡失败!");short sRtn;TJogPrm  jog;// 注意：配置文件取消了各轴的报警和限位sRtn = GT_LoadConfig("./test.cfg");// 清除各轴的报警和限位sRtn = GT_ClrSts(1, 8);// 伺服使能sRtn = GT_AxisOn(axi_x);if(axi_y!=0) sRtn = GT_AxisOn(axi_y);if(axi_z!=0) sRtn = GT_AxisOn(axi_z);if(axi_u!=0) sRtn = GT_AxisOn(axi_u);// 位置清零sRtn = GT_ZeroPos(axi_x);if(axi_y!=0) sRtn = GT_ZeroPos(axi_y);if(axi_z!=0) sRtn = GT_ZeroPos(axi_z);if(axi_u!=0) sRtn = GT_ZeroPos(axi_u);// AXIS轴规划位置清零sRtn = GT_SetPrfPos(axi_x, 0);if(axi_y!=0) sRtn = GT_SetPrfPos(axi_y, 0);if(axi_z!=0) sRtn = GT_SetPrfPos(axi_z, 0);if(axi_u!=0) sRtn = GT_SetPrfPos(axi_u, 0);// 将AXIS轴设为jog模式sRtn =GT_PrfJog(axi_x);if(axi_y!=0) sRtn =GT_PrfJog(axi_y);if(axi_z!=0) sRtn =GT_PrfJog(axi_z);if(axi_u!=0) sRtn =GT_PrfJog(axi_u);// 读取运动参数sRtn =GT_GetJogPrm(axi_x,&jog);if(axi_y!=0) sRtn =GT_GetJogPrm(axi_y,&jog);if(axi_z!=0) sRtn =GT_GetJogPrm(axi_z,&jog);if(axi_u!=0) sRtn =GT_GetJogPrm(axi_u,&jog);jog.acc=0.0625;jog.dec=0.0625;// 设置运动参数sRtn =GT_SetJogPrm(axi_x,&jog);if(axi_y!=0) sRtn =GT_SetJogPrm(axi_y,&jog);if(axi_z!=0) sRtn =GT_SetJogPrm(axi_z,&jog);if(axi_u!=0) sRtn =GT_SetJogPrm(axi_u,&jog);initReult=TRUE;
}//点位运动
void MainWindow::on_pushButton_nextGo_clicked()
{double aimpos_x,aimpos_y,aimpos_z,aimpos_u;aimpos_x=ui->lineEdit_nextPosX->text().toDouble()*1000;if(aimpos_x!=0) trapAction(axi_x,nowSpeed,aimpos_x);aimpos_y=ui->lineEdit_nextPosY->text().toDouble()*1000;if(aimpos_y!=0) trapAction(axi_y,nowSpeed,aimpos_y);aimpos_z=ui->lineEdit_nextPosZ->text().toDouble()*1000;if(aimpos_z!=0) trapAction(axi_z,nowSpeed,aimpos_z);aimpos_u=ui->lineEdit_nextPosU->text().toDouble()*1000;if(aimpos_u!=0) trapAction(axi_u,nowSpeed,aimpos_u);
}void MainWindow::on_lineEdit_nextStop_clicked()
{myStop(2);
}//重置运动
void MainWindow::on_pushButton_isStop_clicked()
{myStop(2);
}//工站回原
void MainWindow::on_pushButton_reWorkSpace_clicked()
{//找原点,点位运动模式if(axi_x!=0) trapAction(axi_x,nowSpeed,0);if(axi_y!=0) trapAction(axi_y,nowSpeed,0);if(axi_z!=0) trapAction(axi_z,nowSpeed,0);if(axi_u!=0) trapAction(axi_u,nowSpeed,0);//找原点,jog运动模式
//    double oldpos_x,oldpos_y,oldpos_z,oldpos_u;
//    oldpos_x=oldpos_y=oldpos_z=oldpos_u=0;
//    connect(timer,QTimer::timeout,[&](){
//        if(abs(nowPos_x)-abs(oldpos_x)>50)
//        {
//            nowSpeed=-nowSpeed;
//            jogAction(axi_x,nowSpeed);
//            oldpos_x=nowPos_x;
//        }
//        else GT_Stop(1<<(axi_x-1),1<<(axi_x-1));//        if(abs(nowPos_y)-abs(oldpos_y)>50)
//        {
//            nowSpeed=-nowSpeed;
//            jogAction(axi_y,nowSpeed);
//            oldpos_y=nowPos_y;
//        }
//        else GT_Stop(1<<(axi_y-1),1<<(axi_y-1));//        if(abs(nowPos_z)-abs(oldpos_z)>50)
//        {
//            nowSpeed=-nowSpeed;
//            jogAction(axi_z,nowSpeed);
//            oldpos_z=nowPos_z;
//        }
//        else GT_Stop(1<<(axi_z-1),1<<(axi_z-1));//        if(abs(nowPos_u)-abs(oldpos_u)>50)
//        {
//            nowSpeed=-nowSpeed;
//            jogAction(axi_u,nowSpeed);
//            oldpos_u=nowPos_u;
//        }
//        else GT_Stop(1<<(axi_u-1),1<<(axi_u-1));
//    });
}void MainWindow::on_pushButton_reAix_x_clicked()
{if(axi_x!=0) trapAction(axi_x,nowSpeed,0);
}void MainWindow::on_pushButton_reAix_y_clicked()
{if(axi_y!=0) trapAction(axi_y,nowSpeed,0);
}void MainWindow::on_pushButton_reAix_z_clicked()
{if(axi_z!=0) trapAction(axi_z,nowSpeed,0);
}void MainWindow::on_pushButton_reAix_u_clicked()
{if(axi_u!=0) trapAction(axi_u,nowSpeed,0);
}void MainWindow::contextMenuEvent(QContextMenuEvent *event)
{globalPos=event->globalPos();
//    qDebug()<<ui->frame->parentWidget()->mapToGlobal(ui->frame->pos());
//    qDebug()<<ui->frame->pos();
//    qDebug()<<globalPos;if(isContain(ui->frame,ui->frame->parentWidget(),globalPos,0)){for(int i=0;i<16;i++){if(isContain(btngroup_sigin.button(i),ui->frame_5,this->globalPos,0)){if(bg_sigin[i]=='1'){isNormal->setIcon(QIcon(":/new/prefix1/select.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/blank.bmp"));}else{isNormal->setIcon(QIcon(":/new/prefix1/blank.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/select.bmp"));}}else if(isContain(btngroup_sigout.button(i),ui->frame_12,this->globalPos,0)){if(bg_sigout[i]=='1'){isNormal->setIcon(QIcon(":/new/prefix1/select.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/blank.bmp"));}else{isNormal->setIcon(QIcon(":/new/prefix1/blank.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/select.bmp"));}}else if((i<8)&& isContain(btngroup_sigzheng.button(i),ui->frame_4,this->globalPos,0)){if(bg_sigzheng[i]=='1'){isNormal->setIcon(QIcon(":/new/prefix1/select.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/blank.bmp"));}else{isNormal->setIcon(QIcon(":/new/prefix1/blank.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/select.bmp"));}}else if((i<8) && isContain(btngroup_sigfu.button(i),ui->frame_7,this->globalPos,0)){if(bg_sigfu[i]=='1'){isNormal->setIcon(QIcon(":/new/prefix1/select.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/blank.bmp"));}else{isNormal->setIcon(QIcon(":/new/prefix1/blank.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/select.bmp"));}}else if((i<8) && isContain(btngroup_sigyuan.button(i),ui->frame_8,this->globalPos,0)){if(bg_sigyuan[i]=='1'){isNormal->setIcon(QIcon(":/new/prefix1/select.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/blank.bmp"));}else{isNormal->setIcon(QIcon(":/new/prefix1/blank.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/select.bmp"));}}else if((i<8) && isContain(btngroup_dalarm.button(i),ui->frame_9,this->globalPos,0)){if(bg_sigdalarm[i]=='1'){isNormal->setIcon(QIcon(":/new/prefix1/select.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/blank.bmp"));}else{isNormal->setIcon(QIcon(":/new/prefix1/blank.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/select.bmp"));}}else if((i<8) && isContain(btngroup_tomcan.button(i),ui->frame_10,this->globalPos,0)){if(bg_sigtomcan[i]=='1'){isNormal->setIcon(QIcon(":/new/prefix1/select.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/blank.bmp"));}else{isNormal->setIcon(QIcon(":/new/prefix1/blank.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/select.bmp"));}}else if((i<8) && isContain(btngroup_alclear.button(i),ui->frame_11,this->globalPos,0)){if(bg_sigalclear[i]=='1'){isNormal->setIcon(QIcon(":/new/prefix1/select.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/blank.bmp"));}else{isNormal->setIcon(QIcon(":/new/prefix1/blank.bmp"));isOpposite->setIcon(QIcon(":/new/prefix1/select.bmp"));}}}rightMenu->exec(globalPos);}}bool MainWindow::isContain(QWidget *obj,QWidget*parent,QPoint globalpoint,int border)
{int w=obj->width();int h=obj->height();QPoint leftTop=parent->mapToGlobal(obj->pos());QRect includeArea(leftTop.rx(),leftTop.ry(),w,h);if(includeArea.contains(globalpoint)) return true;return false;
}bool MainWindow::signalFlag()
{QFile file(path_signalInfo);if(!file.open(QIODevice::ReadOnly | QIODevice::Text)){QMessageBox::warning(NULL,"error","打开信号配置文件失败!");return false;}QTextStream txtin(&file);txtin >>bg_sigin>>bg_sigout>>bg_sigzheng>>bg_sigfu>>bg_sigyuan>>bg_sigdalarm>>bg_sigtomcan>>bg_sigalclear;file.close();
}