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motorform.cpp
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#include "motorform.h"
#include "ui_motorform.h"
#include "innfosutil.h"
#include <QEvent>
#include <QMouseEvent>
#include "innfostoolbar.h"
#include <QGridLayout>
#include "framelesshelper.h"
#include <QLabel>
#include <QIcon>
#include <QButtonGroup>
#include "innfosproxy.h"
#include "innfoswindow.h"
#include "innfosutil.h"
#include "innfosproxy.h"
#include "motordata.h"
#include "dataUtil.h"
#include <QTimer>
#include "mediator.h"
#include <QXmlStreamReader>
#include <QXmlStreamWriter>
#include <QFileDialog>
#include <QDebug>
#include <QApplication>
#include <QHBoxLayout>
#include <QButtonGroup>
#include <QTextStream>
#include "editorwidget.h"
#include "angleclock.h"
#include <QLCDNumber>
#include <QComboBox>
#include <QDesktopWidget>
#include "msgbox.h"
#include "launchwindow.h"
#include "filter.h"
#include <QRegExpValidator>
#define MOTION_EDIT
const int nTotalCount = 1;
const int nChartCount = 1;
const int nMaxErrorCnt = 30;
MotorForm::MotorForm(const quint8 nDeviceId, const quint32 nDeviceMac, QWidget *parent) :
QWidget(parent),
ui(new Ui::MotorForm),
m_deviceId(nDeviceId),
m_deviceMac(nDeviceMac),
m_xPercent(0.5),
m_yPercent(0.5),
m_status(Status_Normal),
m_requestModeId(Mode_None),
m_bPressed(false),
m_pDetail(nullptr),
m_nHeartFailCnt(0),
m_motorCode(tr("innfos%1").arg(nDeviceMac)),
m_oldDeviceId(-1),
m_bCalibrating(false),
m_bRequestActual(true),
m_curErrorId(0)
{
ui->setupUi(this);
for(int i=CUR_IQ_SET;i<DATA_CNT;++i)
m_motorData[i] = 0;
m_motorData[CURRENT_SCALE]= curScale;
m_motorData[VELOCITY_SCALE] = velScale;
connect(this,&MotorForm::dataChange,this,&MotorForm::refreshCurShow);
//connect(this,&MotorForm::beSelected,this,&MotorForm::enableChildren);
ui->local_Id->setValidator(new QIntValidator(0,99,this));
ui->local_Id->setText(tr("%1").arg(m_deviceId,2,10,QLatin1Char('0')));
ui->sn->setText(tr("%1").arg(m_deviceMac));
connect(ui->local_Id,&QLineEdit::editingFinished,[=]{
quint8 nId = ui->local_Id->text().toInt();
if(!MotorMgr::getInstance()->deviceIdHasExist(nId))
{
changeDeviceId(nId);
}
else
{
//change id failed
ui->local_Id->setText(tr("%1").arg(m_deviceId,2,10,QLatin1Char('0')));
}
});
connect(this,&MotorForm::onlineChange,this,&MotorForm::setOnlineStatus);
m_pHeartTimer = new QTimer(this);
connect(m_pHeartTimer,&QTimer::timeout,[=]{
if(!isOnline())
{
emit onlineChange(false);
m_pHeartTimer->stop();
m_pValueTimer->stop();
}
else
{
if(!m_bRequestActual)
return;
InnfosProxy::SendProxy(m_deviceId,D_HANDSHAKE);
++ m_nHeartFailCnt;
}
});
m_pValueTimer = new QTimer(this);
connect(m_pValueTimer,&QTimer::timeout,this,&MotorForm::requestActualValue);
connect(this,&MotorForm::onlineChange,[=](bool bOnline){
if(bOnline)
ui->status->setText("Online");
else
ui->status->setText("Offline");
});
connect(ui->clear,&QPushButton::clicked,[=]{
if(m_curErrorId > 0)
Mediator::getInstance()->clearDeviceError();
});
connect(ui->detail,&QPushButton::clicked,[=]{
MotorMgr::getInstance()->enterDetailWindow();
});
connect(ui->motorSwitch,&QPushButton::clicked,[=]{
ui->motorSwitch->setEnabled(false);
if(ui->motorSwitch->text() == "OFF")
{
setValueByUser(MOTOR_SWITCH,1);
launchWindow::launchTip(nullptr);
}
else
{
setValueByUser(MOTOR_SWITCH,0);
}
});
//ui->macEdit->setValidator(new QRegExpValidator(QRegExp("^[0-9]*[1-9][0-9]*$"),this));
#ifdef NO_MAC_EDITOR
//ui->macEdit->setVisible(false);
#endif
enableChildren(false);
#ifdef RECORD_DATA
//log file
m_pFileLog = new QFile(tr("./%1.csv").arg(m_deviceId),this);
if(m_pFileLog->open(QFile::WriteOnly|QFile::Text|QFile::Truncate))
connect(this,&MotorForm::dataChange,this,&MotorForm::logData);
#endif
InnfosProxy::SendProxy(m_deviceId,D_READ_MOTORS_SWITCH);
//InnfosProxy::SendProxy(m_deviceId,D_READ_VERSION);
}
MotorForm::~MotorForm()
{
#ifdef RECORD_DATA
m_pFileLog->close();
#endif
delete ui;
}
void MotorForm::setDeviceIdSuccessfully()
{
m_oldDeviceId = -1;
}
bool MotorForm::deviceIdIsAvailable() const
{
return m_oldDeviceId < 0;
}
void MotorForm::setDetailWnd(InnfosWindow *pDetail)
{
if(pDetail)
{
m_pDetail = pDetail;
connect(m_pDetail,&QWidget::destroyed,this,&MotorForm::detailClosed);
}
}
void MotorForm::mouseDoubleClickEvent(QMouseEvent * event)
{
Q_UNUSED(event);
if(m_motorData[MOTOR_MODE] != Mode_None)
{
selectMotor();//be sure that when enter detail layer,there has selected motor
if(isOnline())
{
// if(!m_pDetail)
// {
// m_pDetail = new InnfosWindow(nullptr,m_modeId,tr("Node %1").arg(m_deviceId));
// connect(m_pDetail,&QWidget::destroyed,this,&MotorForm::detailClosed);
// }
// const QRect rc = QApplication::desktop()->screenGeometry();
// //m_pDetail->move((rc.width()-m_pDetail->size().width())/2,(rc.height()-m_pDetail->size().height())/2);
// m_pDetail->show();
// QSize size = m_pDetail->size();
// MotorMgr::getInstance()->hide();
// requestAllValue();
MotorMgr::getInstance()->enterDetailWindow();
}
else
{
reconnect();
}
}
}
void MotorForm::mouseMoveEvent(QMouseEvent * event)
{
if(m_bPressed)
move(MotorMgr::getInstance()->availablePos(event->globalPos()-m_ptDragPoint,size()));
}
void MotorForm::mousePressEvent(QMouseEvent *event)
{
m_bPressed = true;
m_ptDragPoint = event->globalPos() - frameGeometry().topLeft();
}
void MotorForm::mouseReleaseEvent(QMouseEvent *event)
{
Q_UNUSED(event);
selectMotor();
m_bPressed = false;
MotorMgr::getInstance()->updateMotorPosPercent(this);
}
void MotorForm::focusInEvent(QFocusEvent *event)
{
selectMotor();
QWidget::focusInEvent(event);
}
void MotorForm::focusOutEvent(QFocusEvent *event)
{
if(!MotorMgr::getInstance()->isMultiSelected(this))
unselectMotor();
QWidget::focusOutEvent(event);
}
void MotorForm::showVersion()
{
int nVersionF = (int)(m_motorData[MOTOR_VERSION]/1000000);
int nVersionS = ((int)m_motorData[MOTOR_VERSION])%1000000/1000;
int nVersionT = ((int)m_motorData[MOTOR_VERSION])%1000;
ui->version->setText(tr(" %1.%2.%3").arg(nVersionF).arg(nVersionS).arg(nVersionT));
}
void MotorForm::switchMotorSuccessfully(bool bOn)
{
QString txt = bOn ? "ON":"OFF";
ui->motorSwitch->setText(txt);
ui->motorSwitch->setEnabled(true);
enableChildren(bOn);
}
void MotorForm::changeDemand(qreal value)
{
switch ((int)m_motorData[MOTOR_MODE]) {
case Mode_Cur:
// m_motorData[CUR_DEMAND] = value;
// emit dataChange(CUR_DEMAND);
setValueByUser(CUR_IQ_SET,value);
break;
case Mode_Vel:
case Mode_Profile_Vel:
// m_motorData[VEL_DEMAND] = value;
// emit dataChange(VEL_DEMAND);
setValueByUser(VEL_SET,value);
break;
case Mode_Pos:
case Mode_Profile_Pos:
// m_motorData[POS_DEMAND] = value;
// emit dataChange(POS_DEMAND);
setValueByUser(POS_SET,value);
break;
default:
break;
}
}
void MotorForm::showGraph()
{
if(m_pDetail)
m_pDetail->showGraph();
}
void MotorForm::closeGraph()
{
if(m_pDetail)
m_pDetail->closeGraph();
}
void MotorForm::buttonChanged(const int nMode)
{
selectMotor();
activeMode(nMode);
}
void MotorForm::activeMode(const int nMode)
{
if(nMode < Mode_None || nMode > Mode_Homing/* || nMode==m_modeId*/)
return;
m_requestModeId = nMode;
//active mode
quint8 uMode = m_requestModeId;
InnfosProxy::SendProxy(m_deviceId,D_SET_MODE,uMode);
}
void MotorForm::activeModeSuccessfully()
{
m_motorData[MOTOR_MODE] = m_requestModeId;
switch ((int)m_motorData[MOTOR_MODE]) {
case Mode_Cur:
setValueByUser(CUR_IQ_SET,0,false);//reset demand
refreshCurShow(CUR_ACTURAL);
ui->mode->setText("current");
break;
case Mode_Vel:
setValueByUser(VEL_SET,0,false);//reset demand
refreshCurShow(VEL_ACTURAL);
ui->mode->setText("velocity");
break;
case Mode_Pos:
//setValueByUser(POS_SET,0,false);//reset demand
refreshCurShow(POS_ACTURAL);
ui->mode->setText("position");
break;
case Mode_Profile_Pos:
//setValueByUser(POS_SET,0,false);//reset demand
refreshCurShow(POS_ACTURAL);
ui->mode->setText("pro_position");
break;
case Mode_Profile_Vel:
setValueByUser(VEL_SET,0,false);//reset demand
ui->mode->setText("pro_velocity");
break;
case Mode_Homing:
ui->mode->setText("homing");
break;
default:
break;
}
}
void MotorForm::detailClosed()
{
m_pDetail = nullptr;
MotorMgr::getInstance()->show();
}
void MotorForm::refreshCurShow(MotorForm::Motor_Data_Id Id)
{
QRegExp rx;
rx.setPattern("(\\.){0,1}0+$");
switch (Id) {
case CUR_ACTURAL:
ui->label_6->setText(QString::number(m_motorData[CUR_ACTURAL],'f',6).replace(rx,""));
break;
case VEL_ACTURAL:
ui->label_7->setText(QString::number(m_motorData[VEL_ACTURAL],'f',6).replace(rx,""));
break;
case POS_ACTURAL:
ui->label_8->setText(QString::number(m_motorData[POS_ACTURAL],'f',6).replace(rx,""));
break;
case MOTOR_VERSION:
showVersion();
break;
case MOTOR_SWITCH:
switchMotorSuccessfully(m_motorData[MOTOR_SWITCH] == 1);
break;
default:
break;
}
Mediator::getInstance()->deviceDataChange(m_deviceId,Id);//notify mediator data has change
}
void MotorForm::logData(MotorForm::Motor_Data_Id Id)
{
#ifdef RECORD_DATA
if(Id == POS_ACTURAL)
{
QTextStream out(m_pFileLog);
out<<tr("%1").arg(m_motorData[CUR_ACTURAL])<<","<<tr("%1").arg(m_motorData[VEL_ACTURAL])<<","<<tr("%1").arg(m_motorData[POS_ACTURAL])<<","
<<tr("%1").arg(m_motorData[TEMP_MOTOR])<<","<<QTime::currentTime().toString("hh:mm:ss.zzz");
endl(out);
out.flush();
}
#endif
}
void MotorForm::enableChildren(bool bEnable)
{
ui->local_Id->setEnabled(bEnable);
ui->clear->setEnabled(bEnable);
ui->detail->setEnabled(bEnable);
}
void MotorForm::requestActualValue()
{
if(!m_bRequestActual)
return;
InnfosProxy::SendProxy(m_deviceId,D_READ_CUR_CURRENT);
InnfosProxy::SendProxy(m_deviceId,D_READ_CUR_VELOCITY);
InnfosProxy::SendProxy(m_deviceId,D_READ_CUR_POSITION);
InnfosProxy::SendProxy(m_deviceId,D_READ_VOLTAGE);
InnfosProxy::SendProxy(m_deviceId,D_READ_TEMP_INVERTER);
InnfosProxy::SendProxy(m_deviceId,D_READ_TEMP_MOTOR);
if(m_curErrorId == 0)//if error occur, do not check error again
InnfosProxy::SendProxy(m_deviceId,D_ERROR);
}
void MotorForm::setOnlineStatus(bool bOnline)
{
Mediator::getInstance()->deviceOnlineStatus(m_deviceId,bOnline);
if(!bOnline)
{
changeStatus(Status_Offline);
}
else
{
m_status = m_status &(~Status_Offline);
changeColor();
}
}
void MotorForm::saveData()
{
QFileDialog dialog(this,tr("Save as"),QDir::currentPath());
dialog.setFileMode(QFileDialog::AnyFile);
dialog.setAcceptMode(QFileDialog::AcceptSave);
dialog.setNameFilter(tr("Innfos(*.innfos)"));
if(dialog.exec() == QDialog::Accepted)
{
QString path = dialog.selectedFiles().first();
if(path.size() > 0)
{
saveDataToFile(path);
}
}
}
void MotorForm::loadData()
{
QFileDialog dialog(this,tr("Load"),QDir::currentPath());
dialog.setFileMode(QFileDialog::ExistingFile);
dialog.setNameFilter(tr("Innfos(*.innfos)"));
if(dialog.exec() == QDialog::Accepted)
{
QString path = dialog.selectedFiles().first();
if(path.size() > 0)
{
readDataFromFile(path);
}
}
}
void MotorForm::reconnect()
{
m_nHeartFailCnt = 0;
if(m_pHeartTimer)
{
m_pHeartTimer->start();
}
if(m_pValueTimer)
{
m_pValueTimer->start();
}
}
void MotorForm::changeDeviceId(quint8 nNewDeviceId)
{
m_oldDeviceId = m_deviceId;
InnfosProxy::SendProxy(m_deviceId,m_deviceMac,D_SET_DEVICE_ID,nNewDeviceId);
m_deviceId = nNewDeviceId;
ui->local_Id->setText(tr("%1").arg(m_deviceId,2,10,QLatin1Char('0')));
}
void MotorForm::saveDataToFile(QString fileName)
{
QFile file(fileName);
if(!file.open(QFile::WriteOnly | QFile::Text | QFile::Truncate))
{
qDebug() << tr("Cannot write file %1 %2").arg(fileName).arg(file.errorString());
return;
}
QXmlStreamWriter writer(&file);
writer.setAutoFormatting(true);
writer.writeStartDocument("1.0",true);
writer.writeStartElement("ServoData");
writer.writeAttribute("Version","1.0");
for(int i=0;i<DATA_CNT;++i)
{
writer.writeTextElement(tr("Attr%1").arg(i),tr("%1").arg(m_motorData[i]));
}
writer.writeEndElement();
writer.writeEndDocument();
file.close();
}
void MotorForm::readDataFromFile(QString fileName)
{
QFile file(fileName);
if(file.open(QIODevice::ReadOnly | QIODevice::Text))
{
QXmlStreamReader reader(&file);
while(!reader.atEnd())
{
QXmlStreamReader::TokenType nType = reader.readNext();
switch (nType)
{
case QXmlStreamReader::StartDocument:
break;
case QXmlStreamReader::StartElement:
{
QString strElementName = reader.name().toString();
if(strElementName == "ServoData")
{
QXmlStreamAttributes attributes = reader.attributes();
if(attributes.hasAttribute("Version") && attributes.value("Version").toString() == "1.0")
{
readParams(&reader);
}
}
}
break;
default:
break;
}
}
if(reader.hasError())
{
qDebug() << tr("Errorinfo:%1 line:%2 column:%3 character offset:%4").arg(reader.errorString()).arg(reader.lineNumber()).arg(reader.columnNumber()).arg(reader.characterOffset());
}
file.close();
}
}
void MotorForm::readParams(QXmlStreamReader *reader)
{
while (!reader->atEnd()) {
reader->readNext();
if(reader->isStartElement())
{
QString strElementName = reader->name().toString();
int nIdx = strElementName.indexOf("Attr");
if(nIdx >=0)
{
int nAttrId = strElementName.right(strElementName.size()-4).toInt();
if(nAttrId>=0 && nAttrId<DATA_CNT)
{
qreal readValue = reader->readElementText().toDouble();
if(m_motorData[nAttrId] != readValue)
{
m_motorData[nAttrId] = readValue;
emit dataChange((Motor_Data_Id)nAttrId);
}
}
}
}
}
}
quint8 MotorForm::deviceId() const
{
// if(m_oldDeviceId >=0)
// return m_oldDeviceId;
return m_deviceId;
}
QString MotorForm::motorCode() const
{
//return m_motorCode;
return tr("%1").arg(m_deviceMac);
}
void MotorForm::setValueByProxy(const int nProxyId, const qreal value)
{
//responseHeart(true);
if(!isOnline())
responseHeart(true);
else
m_nHeartFailCnt = 0;
switch (nProxyId) {
case D_READ_CUR_CURRENT:
m_acturalCurs.push_back(value);
if(m_acturalCurs.size() == nTotalCount)
{
qreal total = 0;
foreach (qreal perValue, m_acturalCurs) {
total += perValue;
}
m_motorData[CUR_ACTURAL] = total/nTotalCount;
emit dataChange(CUR_ACTURAL);
m_acturalCurs.clear();
}
break;
case D_READ_CUR_VELOCITY:
m_acturalVels.push_back(value);
if(m_acturalVels.size() == nTotalCount)
{
qreal total = 0;
foreach (qreal perValue, m_acturalVels) {
total += perValue;
}
m_motorData[VEL_ACTURAL] = total/nTotalCount;
emit dataChange(VEL_ACTURAL);
m_acturalVels.clear();
}
break;
case D_READ_CUR_POSITION:
m_acturalPoss.push_back(value);
if(m_acturalPoss.size() == nTotalCount)
{
qreal total = 0;
foreach (qreal perValue, m_acturalPoss) {
total += perValue;
}
m_motorData[POS_ACTURAL] = total/nTotalCount;
emit dataChange(POS_ACTURAL);
m_acturalPoss.clear();
}
break;
case D_READ_CHANNEL_2:
m_chartCurs.push_back(value);
if(m_chartCurs.size() == nChartCount)
{
emit acturalVauleChange(Mode_Cur,m_chartCurs);
m_chartCurs.clear();
}
break;
case D_READ_CHANNEL_3:
m_chartVels.push_back(value);
if(m_chartVels.size() == nChartCount)
{
emit acturalVauleChange(Mode_Vel,m_chartVels);
m_chartVels.clear();
}
break;
case D_READ_CHANNEL_4:
m_chartPoss.push_back(value);
if(m_chartPoss.size() == nChartCount)
{
emit acturalVauleChange(Mode_Pos,m_chartPoss);
m_chartPoss.clear();
}
break;
case D_READ_MOTORS_SWITCH:
if((int)value == 1 && (int)m_motorData[MOTOR_SWITCH]==0)
{
m_motorData[MOTOR_SWITCH] = value;
emit dataChange(MOTOR_SWITCH);
requestAllValue();
}
break;
case D_READ_CUR_P:
case D_READ_CUR_I:
case D_READ_VEL_P:
case D_READ_VEL_I:
case D_READ_POS_P:
case D_READ_POS_I:
case D_READ_POS_D:
case D_READ_PROFILE_POS_ACC:
case D_READ_PROFILE_POS_MAX_SPEED:
case D_READ_PROFILE_POS_DEC:
case D_READ_PROFILE_VEL_ACC:
case D_READ_PROFILE_VEL_MAX_SPEED:
case D_READ_PROFILE_VEL_DEC:
case D_READ_CURRENT_PID_MAX:
case D_READ_CURRENT_PID_MIN:
case D_READ_VELOCITY_PID_MAX:
case D_READ_VELOCITY_PID_MIN:
case D_READ_POSITION_PID_MAX:
case D_READ_POSITION_PID_MIN:
case D_READ_CHART_FREQUENCY:
case D_READ_CHART_THRESHOLD:
{
Directives proxy = (Directives)nProxyId;
Motor_Data_Id id = DataUtil::convertToMotorDataId(proxy);
if(id != DIRECTIVES_INVALID)
{
m_motorData[id] = value;
emit dataChange(id);
}
}
break;
case D_READ_POS_OFFSET:
{
Directives proxy = (Directives)nProxyId;
Motor_Data_Id id = DataUtil::convertToMotorDataId(proxy);
if(id != DIRECTIVES_INVALID)
{
m_motorData[id] = value;
emit dataChange(id);
}
}
break;
case D_READ_VERSION:
{
Directives proxy = (Directives)nProxyId;
Motor_Data_Id id = DataUtil::convertToMotorDataId(proxy);
if(id != DIRECTIVES_INVALID)
{
m_motorData[id] = value;
showVersion();
emit dataChange(id);
}
}
break;
case D_READ_MOTOR_MODE:
{
//这里读取模式，收到后就当做激活成功处理
m_requestModeId = value;
activeModeSuccessfully();
}
break;
default:
{
Directives proxy = (Directives)nProxyId;
Motor_Data_Id id = DataUtil::convertToMotorDataId(proxy);
if(id != DIRECTIVES_INVALID)
{
m_motorData[id] = value;
emit dataChange(id);
}
}
break;
}
}
void MotorForm::requestAllValue()
{
// activeMode(Mode_Cur);
// for (int i=D_READ_CUR_CURRENT;i<=D_READ_CUR_POSITION;++i)
// {
// InnfosProxy::SendProxy(m_deviceId,i);
// }
for (int i=D_READ_CUR_P;i<=D_READ_PROFILE_POS_DEC;++i)
{
InnfosProxy::SendProxy(m_deviceId,i);
}
for (int i=D_READ_PROFILE_VEL_MAX_SPEED;i<=D_READ_PROFILE_VEL_DEC;++i)
{
InnfosProxy::SendProxy(m_deviceId,i);
}
for (int i=D_READ_CURRENT_PID_MIN;i<=D_READ_POSITION_PID_MAX;++i)
{
InnfosProxy::SendProxy(m_deviceId,i);
}
for (int i=D_READ_CHART_THRESHOLD;i<=D_READ_CHART_FREQUENCY;++i)
{
InnfosProxy::SendProxy(m_deviceId,i);
}
InnfosProxy::SendProxy(m_deviceId,D_READ_VOLTAGE);
InnfosProxy::SendProxy(m_deviceId,D_READ_CURRENT_SCALE);
for (int i=D_READ_MAX_POS;i<=D_READ_MIN_POS;++i)
{
InnfosProxy::SendProxy(m_deviceId,i);
}
for (int i=D_READ_POS_OFFSET;i<=D_READ_HOMING_LIMIT;++i)
{
InnfosProxy::SendProxy(m_deviceId,i);
}
InnfosProxy::SendProxy(m_deviceId,D_READ_VERSION);
InnfosProxy::SendProxy(m_deviceId,D_READ_HOMING_CUR_MIN);
InnfosProxy::SendProxy(m_deviceId,D_READ_HOMING_CUR_MAX);
InnfosProxy::SendProxy(m_deviceId,D_READ_FILTER_C_STATUS);
InnfosProxy::SendProxy(m_deviceId,D_READ_FILTER_C_VALUE);
InnfosProxy::SendProxy(m_deviceId,D_READ_FILTER_V_STATUS);
InnfosProxy::SendProxy(m_deviceId,D_READ_FILTER_V_VALUE);
InnfosProxy::SendProxy(m_deviceId,D_READ_FILTER_P_STATUS);
InnfosProxy::SendProxy(m_deviceId,D_READ_FILTER_P_VALUE);
InnfosProxy::SendProxy(m_deviceId,D_READ_INERTIA);
InnfosProxy::SendProxy(m_deviceId,D_READ_LOCK_ENERGY);
InnfosProxy::SendProxy(m_deviceId,D_READ_TEMP_MOTOR);
InnfosProxy::SendProxy(m_deviceId,D_READ_TEMP_INVERTER);
InnfosProxy::SendProxy(m_deviceId,D_READ_TEMP_PROTECT);
InnfosProxy::SendProxy(m_deviceId,D_READ_TEMP_RECOVERY);
InnfosProxy::SendProxy(m_deviceId,D_READ_CALIBRATION_SWITCH);
InnfosProxy::SendProxy(m_deviceId,D_READ_CALIBRATION_ANGLE);
InnfosProxy::SendProxy(m_deviceId,D_READ_MOTORS_SWITCH);
InnfosProxy::SendProxy(m_deviceId,D_READ_CURRENT_MAX_VEL);
InnfosProxy::SendProxy(m_deviceId,D_READ_MOTOR_MODE);
#ifndef NO_HEART_BEAT
m_pHeartTimer->start(1000);
m_pValueTimer->start(1000);
#endif
}
void MotorForm::setPosPercent(const qreal xPercent, const qreal yPercent)
{
m_xPercent = xPercent;
m_yPercent = yPercent;
}
void MotorForm::getPosPercent(qreal &xPercent, qreal &yPercent)
{
xPercent = m_xPercent;
yPercent = m_yPercent;
}
void MotorForm::changeStatus(MotorStatus status)
{
if (status & m_status)
return;
if ((m_status&Status_Normal) && (status&Status_Select))
{
m_status = m_status &(~Status_Normal);
}
if ((status&Status_Normal) && (m_status&Status_Select))
{
m_status = m_status &(~Status_Select);
}
m_status |= status;
changeColor();
}
void MotorForm::selectMotor()
{
changeStatus(Status_Select);
// if(m_modeId == Mode_None/* && m_requestModeId==Mode_None*/)
// {
// activeMode(/*Mode_Cur*/m_pBtnGroup->checkedId());
// }
emit beSelected(true);
}
void MotorForm::unselectMotor()
{
changeStatus(Status_Normal);
//to do deacitve mode
}
qreal MotorForm::getValue(MotorForm::Motor_Data_Id nDataId) const
{
Q_ASSERT(nDataId < DATA_CNT);
if(nDataId < DATA_CNT)
{
return m_motorData[nDataId];
}
return -1;
}
void MotorForm::setValueByUser(MotorForm::Motor_Data_Id nDataId, qreal value, bool bSendProxy)
{
if (/*getValue(nDataId) != value*/true)
{
Directives pId = DataUtil::convertToSetProxyId(nDataId);
m_motorData[nDataId] = value;
if(pId != DIRECTIVES_INVALID)
{
//
if(bSendProxy)
{
switch (pId) {
case D_SET_CHART_FREQUENCY:// these values are qint16
{
qint16 nValue = value;
InnfosProxy::SendProxy(m_deviceId,pId,nValue);
}
break;
case D_SET_LOCK_ENERGY://
{
qint32 nValue = value*75.225;
InnfosProxy::SendProxy(m_deviceId,pId,nValue);
}
break;
case D_SET_FILTER_C_VALUE:
case D_SET_FILTER_V_VALUE:
case D_SET_FILTER_P_VALUE:
case D_SET_TEMP_PROTECT:
case D_SET_TEMP_RECOVERY:
{
qint16 nValue = value*(1<<8);
InnfosProxy::SendProxy(m_deviceId,pId,nValue);
}
break;
case D_SET_HOMING_LIMIT:
case D_SET_FILTER_C_STATUS:
case D_SET_FILTER_V_STATUS:
case D_SET_FILTER_P_STATUS:
case D_SWITCH_CALIBRATION:
{
quint8 limit = value;
InnfosProxy::SendProxy(m_deviceId,pId,limit);
}
break;
default:
InnfosProxy::SendQrealProxy(m_deviceId,pId,value);
break;
}
}
}
emit dataChange(nDataId);
}
}
void MotorForm::responseHeart(bool bSuccess)
{
if(bSuccess && isOnline())
{
m_nHeartFailCnt = 0;
emit onlineChange(true);
}
}
bool MotorForm::isOnline() const
{
#ifdef MY_DEBUG
return true;
#endif
return m_nHeartFailCnt < 5;
}
bool MotorForm::isSelected() const
{
return m_status&Status_Select;
}
void MotorForm::errorOccur(const int nErrorId)
{
if(nErrorId > 0)
{
m_curErrorId = nErrorId;
if(m_errorHistory.size() == nMaxErrorCnt)
m_errorHistory.pop_back();
m_errorHistory.push_front(nErrorId);
emit Mediator::getInstance()->curErrorChange(m_curErrorId);
changeStatus(Status_Error);
//change error ui
QString key = "0x";
key += QString("%1").arg(nErrorId,4,16,QLatin1Char('0'));
ui->error->setText(key);
// pop error messagebox
QMap<int,QString> errorInfo;
errorInfo.insert(0x01,QString::fromLocal8Bit("ID:%1 voltage:%2 Overvoltage error!").arg(m_deviceId).arg(m_motorData[VOLTAGE]));
errorInfo.insert(0x02,QString::fromLocal8Bit("ID:%1 voltage:%2 Undervoltage error!").arg(m_deviceId).arg(m_motorData[VOLTAGE]));
errorInfo.insert(0x04,QString::fromLocal8Bit("ID:%1 Locked-rotor error!").arg(m_deviceId));
errorInfo.insert(0x08,QString::fromLocal8Bit("ID:%1 Temperture:%2 Overheating error!").arg(m_deviceId).arg(m_motorData[TEMP_MOTOR]));
errorInfo.insert(0x10,QString::fromLocal8Bit("ID:%1 Read or write params error!").arg(m_deviceId));
errorInfo.insert(0x20,QString::fromLocal8Bit("ID:%1 Multi-turn count error!").arg(m_deviceId));
errorInfo.insert(0x40,QString::fromLocal8Bit("ID:%1 Temperature sensor error!").arg(m_deviceId));
errorInfo.insert(0x80,QString::fromLocal8Bit("ID:%1 Can communication error!").arg(m_deviceId));
errorInfo.insert(0x400,QString::fromLocal8Bit("ID:%1 Driver has been protected!").arg(m_deviceId));
QList<int> keys = errorInfo.uniqueKeys();
QString errorStr;
for(int i=0;i<keys.size();++i)
{
if(nErrorId&keys.at(i))
{
errorStr += errorInfo.value(keys.at(i));
errorStr += "\n";
}
}
if(errorStr.length() > 0)
{
MsgBox::Error(nullptr,tr("Error"),errorStr,nErrorId);
}
}
}
void MotorForm::clearError()
{
m_curErrorId = 0;