641 lines
18 KiB
C++
641 lines
18 KiB
C++
#include "CommandBox.h"
|
|
#include "ui_CommandBox.h"
|
|
|
|
CommandBox::CommandBox(QWidget *parent) :
|
|
QWidget(parent),
|
|
ui(new Ui::CommandBox)
|
|
{
|
|
ui->setupUi(this);
|
|
|
|
m_parent = parent;
|
|
|
|
ui->comboBox_Full->addItem("基准档",0x85);
|
|
ui->comboBox_Full->addItem("1档",0x16);
|
|
ui->comboBox_Full->addItem("2档",0x26);
|
|
ui->comboBox_Full->addItem("3档",0x36);
|
|
ui->comboBox_Full->addItem("4档",0x46);
|
|
ui->comboBox_Full->addItem("5档",0x56);
|
|
ui->comboBox_Full->addItem("6档",0x66);
|
|
ui->comboBox_Full->addItem("7档",0x76);
|
|
ui->comboBox_Full->addItem("8档",0x86);
|
|
ui->comboBox_Full->addItem("9档",0x96);
|
|
ui->comboBox_Full->setCurrentIndex(0);
|
|
|
|
|
|
ui->comboBox_Half->addItem("基准档",0x75);
|
|
ui->comboBox_Half->addItem("1档",0x1c);
|
|
ui->comboBox_Half->addItem("2档",0x2c);
|
|
ui->comboBox_Half->addItem("3档",0x3c);
|
|
ui->comboBox_Half->addItem("4档",0x4c);
|
|
ui->comboBox_Half->addItem("5档",0x5c);
|
|
ui->comboBox_Half->addItem("6档",0x6c);
|
|
ui->comboBox_Half->addItem("7档",0x7c);
|
|
ui->comboBox_Half->addItem("8档",0x8c);
|
|
ui->comboBox_Half->addItem("9档",0x9c);
|
|
ui->comboBox_Half->setCurrentIndex(0);
|
|
|
|
ui->comboBox_rate->addItem("10000",10000);
|
|
ui->comboBox_rate->addItem("15000",15000);
|
|
ui->comboBox_rate->addItem("20000",20000);
|
|
ui->comboBox_rate->addItem("25000",25000);
|
|
ui->comboBox_rate->addItem("30000",30000);
|
|
ui->comboBox_rate->addItem("35000",35000);
|
|
ui->comboBox_rate->addItem("40000",40000);
|
|
ui->comboBox_rate->addItem("46000",46000);
|
|
ui->comboBox_rate->setEditable(true);
|
|
ui->comboBox_rate->setCurrentIndex(-1);
|
|
|
|
|
|
ui->comboBox_TestPoint->addItem("核心机主燃油泵",0x19);
|
|
ui->comboBox_TestPoint->addItem("加力主燃油泵",0x29);
|
|
ui->comboBox_TestPoint->addItem("加力点火燃油泵",0x49);
|
|
ui->comboBox_TestPoint->addItem("尾喷口舵机",0x79);
|
|
ui->comboBox_TestPoint->addItem("点火器",0x89);
|
|
ui->comboBox_TestPoint->addItem("起动控制1",0xb9);
|
|
ui->comboBox_TestPoint->addItem("起动控制2",0xd9);
|
|
ui->comboBox_TestPoint->addItem("核心机点火油阀",0x1a);
|
|
ui->comboBox_TestPoint->addItem("核心机优先油阀",0x2a);
|
|
ui->comboBox_TestPoint->addItem("核心机轻吹油阀",0x4a);
|
|
ui->comboBox_TestPoint->addItem("核心机起动气阀",0x7a);
|
|
ui->comboBox_TestPoint->addItem("核心机主油阀",0x8a);
|
|
ui->comboBox_TestPoint->addItem("加力主油阀",0xba);
|
|
ui->comboBox_TestPoint->addItem("加力轻吹阀",0xda);
|
|
ui->comboBox_TestPoint->addItem("加力点火快速阀",0xea);
|
|
ui->comboBox_TestPoint->addItem("手动转速控制",0xd5);
|
|
ui->comboBox_TestPoint->setCurrentIndex(-1);
|
|
|
|
ui->comboBox_TestValue->show();
|
|
ui->comboBox_TestValue->setCurrentIndex(-1);
|
|
|
|
|
|
//use_ext_ins参数名称
|
|
ui->comboBox_IMU->addItem("内置惯导",0x00);
|
|
ui->comboBox_IMU->addItem("SBG",0x01);
|
|
ui->comboBox_IMU->setCurrentIndex(0);
|
|
|
|
ui->comboBox_ServoType->addItem("左副翼",0x01);
|
|
ui->comboBox_ServoType->addItem("右副翼",0x02);
|
|
ui->comboBox_ServoType->addItem("左升降",0x03);
|
|
ui->comboBox_ServoType->addItem("右升降",0x04);
|
|
ui->comboBox_ServoType->addItem("方向舵",0x05);
|
|
ui->comboBox_ServoType->setCurrentIndex(0);
|
|
|
|
|
|
|
|
}
|
|
|
|
CommandBox::~CommandBox()
|
|
{
|
|
delete ui;
|
|
}
|
|
|
|
|
|
|
|
void CommandBox::closeEvent(QCloseEvent *event)
|
|
{
|
|
setFloat();
|
|
event->ignore();
|
|
}
|
|
|
|
void CommandBox::contextMenuEvent(QContextMenuEvent *event)
|
|
{
|
|
if(floatflag)
|
|
{
|
|
QMenu *menu = new QMenu(this);
|
|
|
|
QAction *pAction = new QAction("float",this);
|
|
|
|
connect(pAction,SIGNAL(triggered(bool)),
|
|
this,SLOT(setFloat()));
|
|
|
|
menu->addAction(pAction);
|
|
menu->move(cursor().pos());
|
|
menu->show();
|
|
}
|
|
}
|
|
|
|
|
|
void CommandBox::setFloat(void)
|
|
{
|
|
if(floatflag)
|
|
{
|
|
if(this->parent())
|
|
{
|
|
this->setParent(nullptr);
|
|
this->show();
|
|
}
|
|
else
|
|
{
|
|
this->setParent(m_parent);
|
|
this->move(0,0);
|
|
this->hide();
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
void CommandBox::setFloatFlag(bool flag)
|
|
{
|
|
floatflag = flag;
|
|
}
|
|
|
|
void CommandBox::commandAccepted(bool flag,uint16_t command,uint8_t result)
|
|
{
|
|
bool isFundSender = false;
|
|
QString string;
|
|
//找到消息的发送者
|
|
|
|
|
|
|
|
QObjectList list = ui->frame->children();
|
|
|
|
|
|
|
|
//qDebug() << CommandBox.findChildren();
|
|
|
|
if(command == m_command)
|
|
{
|
|
/*
|
|
foreach (QObject *obj, list)
|
|
{
|
|
QPushButton *btn = qobject_cast<QPushButton *>(obj);
|
|
if(btn)
|
|
{
|
|
QString btn_name = btn->text();
|
|
qDebug() << btn_name << m_name;
|
|
if(btn_name.contains(m_name))//查到正在等待回复的按键
|
|
{
|
|
isFundSender = true;
|
|
*/
|
|
|
|
switch (result) {
|
|
case MAV_RESULT_ACCEPTED:
|
|
string.append(tr("%1,%2 accepted and executed").arg(command).arg(m_name));
|
|
break;
|
|
case MAV_RESULT_TEMPORARILY_REJECTED:
|
|
string.append(tr("%1,%2 rejected").arg(command).arg(m_name));
|
|
break;
|
|
case MAV_RESULT_DENIED:
|
|
string.append(tr("%1,%2 permanently denied").arg(command).arg(m_name));
|
|
break;
|
|
case MAV_RESULT_UNSUPPORTED:
|
|
string.append(tr("%1,%2 unsupported").arg(command).arg(m_name));
|
|
break;
|
|
case MAV_RESULT_FAILED:
|
|
string.append(tr("%1,%2 failed").arg(command).arg(m_name));
|
|
break;
|
|
case MAV_RESULT_IN_PROGRESS:
|
|
string.append(tr("%1,%2 being executed").arg(command).arg(m_name));
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
//btn->style()->unpolish(btn);
|
|
//btn->style()->polish(btn);
|
|
// }
|
|
//}
|
|
//}
|
|
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
if(isFundSender == false)
|
|
{
|
|
switch (result) {
|
|
case MAV_RESULT_ACCEPTED:
|
|
string.append(tr("%1 accepted and executed").arg(command));
|
|
break;
|
|
case MAV_RESULT_TEMPORARILY_REJECTED:
|
|
string.append(tr("%1 rejected").arg(command));
|
|
break;
|
|
case MAV_RESULT_DENIED:
|
|
string.append(tr("%1 permanently denied").arg(command));
|
|
break;
|
|
case MAV_RESULT_UNSUPPORTED:
|
|
string.append(tr("%1 unsupported").arg(command));
|
|
break;
|
|
case MAV_RESULT_FAILED:
|
|
string.append(tr("%1 failed").arg(command));
|
|
break;
|
|
case MAV_RESULT_IN_PROGRESS:
|
|
string.append(tr("%1 being executed").arg(command));
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
*/
|
|
|
|
|
|
if(string.size() > 0)
|
|
{
|
|
QTextToSpeech *tts = new QTextToSpeech();
|
|
tts->say(string);
|
|
tts->deleteLater();
|
|
emit showMessage(string);
|
|
}
|
|
}
|
|
|
|
|
|
void CommandBox::on_comboBox_TestPoint_currentIndexChanged(int index)
|
|
{
|
|
|
|
switch (index) {
|
|
case 0:
|
|
case 1:
|
|
case 2:
|
|
case 3:
|
|
case 15:
|
|
ui->label_TestValue->show();
|
|
ui->label_TestValue->setText("转速");
|
|
|
|
ui->comboBox_TestValue->show();
|
|
ui->comboBox_TestValue->clear();
|
|
ui->comboBox_TestValue->addItem("10000",10000);
|
|
ui->comboBox_TestValue->addItem("15000",15000);
|
|
ui->comboBox_TestValue->addItem("20000",20000);
|
|
ui->comboBox_TestValue->addItem("25000",25000);
|
|
ui->comboBox_TestValue->addItem("30000",30000);
|
|
ui->comboBox_TestValue->addItem("35000",35000);
|
|
ui->comboBox_TestValue->addItem("40000",40000);
|
|
if(index != 3)
|
|
{
|
|
ui->comboBox_TestValue->addItem("45000",45000);
|
|
}
|
|
ui->comboBox_TestValue->setCurrentIndex(0);
|
|
|
|
break;
|
|
|
|
case 5:
|
|
case 6:
|
|
case 7:
|
|
case 8:
|
|
case 9:
|
|
case 10:
|
|
case 11:
|
|
case 12:
|
|
case 13:
|
|
case 14:
|
|
ui->label_TestValue->show();
|
|
ui->label_TestValue->setText("电平");
|
|
|
|
ui->comboBox_TestValue->show();
|
|
ui->comboBox_TestValue->clear();
|
|
ui->comboBox_TestValue->addItem("低电平",0);
|
|
ui->comboBox_TestValue->addItem("高电平",1);
|
|
ui->comboBox_TestValue->setEditable(true);
|
|
ui->comboBox_TestValue->setCurrentIndex(1);
|
|
|
|
break;
|
|
|
|
case 4:
|
|
ui->label_TestValue->hide();
|
|
ui->comboBox_TestValue->hide();
|
|
break;
|
|
|
|
|
|
}
|
|
}
|
|
|
|
//二次确认
|
|
void CommandBox::setSecondConfirm(QVariant value)
|
|
{
|
|
if(value.toBool() == true)
|
|
{
|
|
emit cmd_long(m_param1,m_param2,m_param3,m_param4,m_param5,m_param6,m_param7,m_command,m_confirm);
|
|
}
|
|
else
|
|
{
|
|
m_param1 = 0;
|
|
m_param2 = 0;
|
|
m_param3 = 0;
|
|
m_param4 = 0;
|
|
m_param5 = 0;
|
|
m_param6 = 0;
|
|
m_param7 = 0;
|
|
m_command = 0;
|
|
m_confirm = 0;
|
|
}
|
|
}
|
|
|
|
void CommandBox::on_pushButton_SendCommand_clicked()
|
|
{
|
|
if(cmdType == 0)
|
|
{
|
|
emit showMessage(tr("发送指令 ") + m_name + " " + QString::number(m_command),5000);
|
|
emit cmd_long(m_param1,m_param2,m_param3,m_param4,m_param5,m_param6,m_param7,m_command,m_confirm);
|
|
}
|
|
else if(cmdType == 1)
|
|
{
|
|
emit showMessage(tr("修改参数 ") + " " + ui->comboBox_IMU->itemText(m_value),5000);
|
|
emit WriteCmd(m_sysid,m_compid,m_id.toLatin1().data(),m_type,m_value);
|
|
qDebug() << m_type << m_value;
|
|
}
|
|
|
|
|
|
}
|
|
|
|
void CommandBox::on_pushButton_Cancel_clicked()
|
|
{
|
|
m_param1 = 0;
|
|
m_param2 = 0;
|
|
m_param3 = 0;
|
|
m_param4 = 0;
|
|
m_param5 = 0;
|
|
m_param6 = 0;
|
|
m_param7 = 0;
|
|
m_command = 0;
|
|
m_confirm = 0;
|
|
}
|
|
|
|
|
|
void CommandBox::on_commandClicked(QString name,
|
|
float param1,float param2,float param3,float param4,
|
|
float param5,float param6,float param7,
|
|
uint16_t command,uint8_t confirmation)
|
|
{
|
|
|
|
m_name = name;
|
|
m_param1 = param1;
|
|
m_param2 = param2;
|
|
m_param3 = param3;
|
|
m_param4 = param4;
|
|
m_param5 = param5;
|
|
m_param6 = param6;
|
|
m_param7 = param7;
|
|
m_command = command;
|
|
m_confirm = confirmation;
|
|
|
|
ui->lineEdit_CommandName->setText(name);
|
|
|
|
cmdType = 0;
|
|
}
|
|
|
|
void CommandBox::on_paramClicked(uint8_t sysid, uint8_t compid , QString id, uint8_t type, float value)
|
|
{
|
|
|
|
m_sysid = sysid;
|
|
m_compid = compid;
|
|
m_id = id;
|
|
m_type = type;
|
|
m_value = value;
|
|
|
|
ui->lineEdit_CommandName->setText(id + " " + QString::number(value));
|
|
|
|
cmdType = 1;
|
|
}
|
|
|
|
|
|
//测试指令
|
|
void CommandBox::on_pushButton_SendTest_clicked()
|
|
{
|
|
//判断 两个 内容是否是空，
|
|
|
|
float testPoint = 0;
|
|
float testValue = 0;
|
|
|
|
if(!ui->comboBox_TestValue->isHidden())//如果显示
|
|
{
|
|
testPoint = ui->comboBox_TestPoint->currentData(Qt::UserRole).toFloat();
|
|
testValue = ui->comboBox_TestValue->currentData(Qt::UserRole).toFloat();
|
|
|
|
if((ui->comboBox_TestPoint->currentIndex() != -1)&&(ui->comboBox_TestValue->currentIndex() != -1))
|
|
{
|
|
on_commandClicked(ui->comboBox_TestPoint->currentText() + " " + ui->comboBox_TestValue->currentText() ,
|
|
103,testPoint,testValue,0,0,0,0,180,0);
|
|
}
|
|
else
|
|
{
|
|
QMessageBox *box = new QMessageBox(this);
|
|
|
|
box->setWindowTitle(tr("警告"));
|
|
box->setText(tr("请选择测试项和测试点"));
|
|
box->show();
|
|
}
|
|
|
|
}
|
|
else
|
|
{
|
|
if(ui->comboBox_TestPoint->currentIndex() != -1)
|
|
{
|
|
testPoint = ui->comboBox_TestPoint->currentData(Qt::UserRole).toFloat();
|
|
on_commandClicked(ui->comboBox_TestPoint->currentText(),
|
|
103,testPoint,0,0,0,0,0,180,0);
|
|
}
|
|
else
|
|
{
|
|
QMessageBox *box = new QMessageBox(this);
|
|
|
|
box->setWindowTitle(tr("警告"));
|
|
box->setText(tr("请选择测试项和测试点"));
|
|
box->show();
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
//伺服指令
|
|
void CommandBox::on_pushButton_AirHeatOn_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_AirHeatOn->text(),
|
|
105,1,0,0,0,0,0,180,0);
|
|
}
|
|
|
|
void CommandBox::on_pushButton_AirHeatOff_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_AirHeatOff->text(),
|
|
105,0,0,0,0,0,0,180,0);
|
|
}
|
|
|
|
|
|
//舵机指令
|
|
void CommandBox::on_pushButton_Servo_Check_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_Servo_Check->text(),
|
|
1,0,0,0,0,0,0,20004,0);
|
|
}
|
|
|
|
void CommandBox::on_pushButton_Servo_Read_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_Servo_Read->text(),
|
|
2,0,0,0,0,0,0,20004,0);
|
|
}
|
|
|
|
void CommandBox::on_pushButton_Servo_Zero_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_Servo_Zero->text(),
|
|
3,0,0,0,0,0,0,20004,0);
|
|
}
|
|
|
|
void CommandBox::on_pushButton_Servo_Work_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_Servo_Work->text(),
|
|
4,0,0,0,0,0,0,20004,0);
|
|
}
|
|
|
|
|
|
void CommandBox::on_pushButton_coldrun_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_coldrun->text(),
|
|
103,0x13,0,0,0,0,0,180,0);
|
|
}
|
|
|
|
void CommandBox::on_pushButton_groundstartup_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_groundstartup->text(),
|
|
103,0x15,0,0,0,0,0,180,0);
|
|
}
|
|
|
|
void CommandBox::on_pushButton_Afterburner_off_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_Afterburner_off->text(),
|
|
103,0xb5,0,0,0,0,0,180,0);
|
|
}
|
|
|
|
void CommandBox::on_pushButton_stop_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_stop->text(),
|
|
103,0x43,0,0,0,0,0,180,0);
|
|
}
|
|
|
|
void CommandBox::on_pushButton_EmergencyStop_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_EmergencyStop->text(),
|
|
103,0x73,0,0,0,0,0,180,0);
|
|
}
|
|
|
|
void CommandBox::on_pushButton_Afterburner_on_clicked()
|
|
{
|
|
//根据档位选择
|
|
float Level = ui->comboBox_Full->currentData(Qt::UserRole).toFloat();
|
|
|
|
on_commandClicked(ui->pushButton_Afterburner_on->text() + " " + ui->comboBox_Full->currentText(),
|
|
103,0x85,Level,0,0,0,0,180,0);
|
|
}
|
|
|
|
void CommandBox::on_pushButton_Afterburner_half_clicked()
|
|
{
|
|
float Level = ui->comboBox_Half->currentData(Qt::UserRole).toFloat();
|
|
|
|
on_commandClicked(ui->pushButton_Afterburner_half->text() + " " + ui->comboBox_Half->currentText(),
|
|
103,0x75,Level,0,0,0,0,180,0);
|
|
}
|
|
|
|
void CommandBox::on_pushButton_setRPM_clicked()
|
|
{
|
|
if(ui->comboBox_rate->currentIndex() != -1)
|
|
{
|
|
float rpm = ui->comboBox_rate->currentData(Qt::UserRole).toFloat();
|
|
|
|
on_commandClicked(ui->pushButton_setRPM->text() + " " + ui->comboBox_rate->currentText(),
|
|
103,0x45,rpm,0,0,0,0,180,0);
|
|
}
|
|
else
|
|
{
|
|
QMessageBox *box = new QMessageBox(this);
|
|
|
|
box->setWindowTitle(tr("警告"));
|
|
box->setText(tr("请设定给定转速"));
|
|
box->show();
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void CommandBox::on_pushButton_IMU_clicked()
|
|
{
|
|
if((ui->comboBox_IMU->currentIndex() != -1)&&(ui->comboBox_sys->currentIndex() != -1))
|
|
{
|
|
|
|
uint8_t value = ui->comboBox_IMU->currentData(Qt::UserRole).toInt();
|
|
uint8_t sysid = ui->comboBox_sys->currentData(Qt::UserRole).toInt();
|
|
uint8_t compid = 1;
|
|
QString id;
|
|
uint8_t type = MAV_PARAM_TYPE_UINT8;
|
|
|
|
id.clear();
|
|
id.append("use_ext_ins");
|
|
|
|
on_paramClicked(sysid,compid,id,type,value);
|
|
|
|
}
|
|
else
|
|
{
|
|
QMessageBox *box = new QMessageBox(this);
|
|
|
|
box->setWindowTitle(tr("警告"));
|
|
box->setText(tr("请设定目标"));
|
|
box->show();
|
|
}
|
|
}
|
|
|
|
|
|
void CommandBox::addVehicles(int sysid, int compid)
|
|
{
|
|
Q_UNUSED(compid)
|
|
|
|
if(ui->comboBox_sys->findData(sysid) == -1)
|
|
{
|
|
ui->comboBox_sys->addItem(QString::number(sysid),sysid);
|
|
}
|
|
}
|
|
|
|
void CommandBox::on_pushButton_ServoSet_clicked()
|
|
{
|
|
float ra = 0;
|
|
float la = 0;
|
|
float ru = 0;
|
|
float re = 0;
|
|
float le = 0;
|
|
|
|
if(ui->comboBox_ServoType->currentIndex() != -1)
|
|
{
|
|
switch(ui->comboBox_ServoType->currentData(Qt::UserRole).toInt())
|
|
{
|
|
case 1:
|
|
{
|
|
la = ui->spinBox_Servo->value();
|
|
}break;
|
|
case 2:
|
|
{
|
|
ra = ui->spinBox_Servo->value();
|
|
}break;
|
|
case 3:
|
|
{
|
|
le = ui->spinBox_Servo->value();
|
|
}break;
|
|
case 4:
|
|
{
|
|
re = ui->spinBox_Servo->value();
|
|
}break;
|
|
case 5:
|
|
{
|
|
ru = ui->spinBox_Servo->value();
|
|
}break;
|
|
}
|
|
|
|
|
|
on_commandClicked(tr("设定舵机 %1").arg(ui->spinBox_Servo->value()),
|
|
106,ra,re,ru,la,le,0,180,0);
|
|
|
|
qDebug() << ra << re << ru << la << le;
|
|
|
|
}
|
|
else
|
|
{
|
|
QMessageBox *box = new QMessageBox(this);
|
|
|
|
box->setWindowTitle(tr("警告"));
|
|
box->setText(tr("请设定"));
|
|
box->show();
|
|
}
|
|
}
|