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主要调通了modbus协议，页面工作日志显示内容

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This commit is contained in:
杰仔 2025-06-20 01:28:00 +08:00
parent 84b39dc16d
commit 43cfe03d1a
7 changed files with 237 additions and 274 deletions
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2
GrabBagApp/Presenter/Inc/GrabBagPresenter.h
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@ -50,7 +50,7 @@ private:
// 机械臂协议回调函数
void OnRobotConnectionChanged(bool connected);
void OnRobotWorkSignal(bool startWork, int cameraIndex);
bool OnRobotWorkSignal(bool startWork, int cameraIndex);
// 连接状态检查和更新
void CheckAndUpdateWorkStatus();

2
GrabBagApp/Presenter/Inc/RobotProtocol.h
View File

@ -46,7 +46,7 @@ public:
* @param startWork true-开始工作，false-停止工作
* @param cameraIndex 相机索引，-1表示所有相机，0/1/2...表示特定相机
*/
using WorkSignalCallback = std::function<void(bool startWork, int cameraIndex)>;
using WorkSignalCallback = std::function<bool(bool startWork, int cameraIndex)>;
public:
RobotProtocol();

33
GrabBagApp/Presenter/Src/GrabBagPresenter.cpp
View File

@ -203,7 +203,7 @@ int GrabBagPresenter::InitRobotProtocol()
// 设置工作信号回调
m_pRobotProtocol->SetWorkSignalCallback([this](bool startWork, int cameraIndex) {
this->OnRobotWorkSignal(startWork, cameraIndex);
return this->OnRobotWorkSignal(startWork, cameraIndex);
});
@ -307,33 +307,28 @@ void GrabBagPresenter::OnRobotConnectionChanged(bool connected)
CheckAndUpdateWorkStatus();
}
void GrabBagPresenter::OnRobotWorkSignal(bool startWork, int cameraIndex)
bool GrabBagPresenter::OnRobotWorkSignal(bool startWork, int cameraIndex)
{
cameraIndex += 1;
LOG_INFO("Received robot work signal: %s for camera index: %d\n", (startWork ? "start work" : "stop work"), cameraIndex);
if (nullptr == m_pStatus) {
return;
}
int nRet = SUCCESS;
if (startWork) {
QString message;
if (cameraIndex == -1) {
message = "收到开始工作信号，启动所有相机检测";
} else {
message = QString("收到开始工作信号，启动相机 %1 检测").arg(cameraIndex + 1);
QString message = QString("收到开始工作信号，启动相机 %1 检测").arg(cameraIndex);
if (nullptr != m_pStatus) {
m_pStatus->OnStatusUpdate(message.toStdString());
}
m_pStatus->OnStatusUpdate(message.toStdString());
StartDetection(cameraIndex);
nRet = StartDetection(cameraIndex + 1);
} else {
QString message;
if (cameraIndex == -1) {
message = "收到停止工作信号，停止所有相机检测";
} else {
message = QString("收到停止工作信号，停止相机 %1 检测").arg(cameraIndex + 1);
QString message = QString("收到停止工作信号，停止相机 %1 检测").arg(cameraIndex);
if (nullptr != m_pStatus) {
m_pStatus->OnStatusUpdate(message.toStdString());
}
m_pStatus->OnStatusUpdate(message.toStdString());
StopDetection();
nRet = StopDetection();
}
return nRet == SUCCESS;
}
void GrabBagPresenter::SetStatusCallback(IYGrabBagStatus* status)

48
GrabBagApp/Presenter/Src/RobotProtocol.cpp
View File

@ -126,8 +126,7 @@ void RobotProtocol::StopModbusTCPServer()
LOG_INFO("ModbusTCP server stopped\n");
}
IYModbusTCPServer::ErrorCode RobotProtocol::OnWriteCoils(uint8_t unitId, uint16_t startAddress,
uint16_t quantity, const uint8_t* values)
IYModbusTCPServer::ErrorCode RobotProtocol::OnWriteCoils(uint8_t unitId, uint16_t startAddress, uint16_t quantity, const uint8_t* values)
{
LOG_DEBUG("Write coils - UnitID:%d, StartAddress:%d, Quantity:%d\n", unitId, startAddress, quantity);
@ -139,50 +138,39 @@ IYModbusTCPServer::ErrorCode RobotProtocol::OnWriteCoils(uint8_t unitId, uint16_
// 触发工作信号回调
if (m_workSignalCallback) {
m_workSignalCallback(coilIndex, workSignal);
m_workSignalCallback(workSignal, coilIndex);
}
return IYModbusTCPServer::ErrorCode::SUCCESS;
}
IYModbusTCPServer::ErrorCode RobotProtocol::OnWriteRegisters(uint8_t unitId, uint16_t startAddress,
uint16_t quantity, const uint16_t* values)
IYModbusTCPServer::ErrorCode RobotProtocol::OnWriteRegisters(uint8_t unitId, uint16_t startAddress, uint16_t quantity, const uint16_t* values)
{
LOG_DEBUG("Write registers - UnitID:%d, StartAddress:%d, Quantity:%d\n", unitId, startAddress, quantity);
// 处理坐标寄存器更新
if (startAddress >= COORD_X_ADDR && startAddress < STATUS_ADDR) {
RobotCoordinate newCoordinate = m_robotCoordinate;
if(quantity > 1) return IYModbusTCPServer::ErrorCode::ILLEGAL_DATA_VALUE;
for (uint16_t i = 0; i < quantity; i++) {
uint16_t addr = startAddress + i;
uint16_t value = values[i];
// 根据地址更新相应的坐标分量
if (addr >= COORD_X_ADDR && addr < COORD_X_ADDR + 2) {
memcpy(reinterpret_cast<uint16_t*>(&newCoordinate.x) + (addr - COORD_X_ADDR), &value, sizeof(uint16_t));
} else if (addr >= COORD_Y_ADDR && addr < COORD_Y_ADDR + 2) {
memcpy(reinterpret_cast<uint16_t*>(&newCoordinate.y) + (addr - COORD_Y_ADDR), &value, sizeof(uint16_t));
} else if (addr >= COORD_Z_ADDR && addr < COORD_Z_ADDR + 2) {
memcpy(reinterpret_cast<uint16_t*>(&newCoordinate.z) + (addr - COORD_Z_ADDR), &value, sizeof(uint16_t));
} else if (addr >= COORD_RX_ADDR && addr < COORD_RX_ADDR + 2) {
memcpy(reinterpret_cast<uint16_t*>(&newCoordinate.rx) + (addr - COORD_RX_ADDR), &value, sizeof(uint16_t));
} else if (addr >= COORD_RY_ADDR && addr < COORD_RY_ADDR + 2) {
memcpy(reinterpret_cast<uint16_t*>(&newCoordinate.ry) + (addr - COORD_RY_ADDR), &value, sizeof(uint16_t));
} else if (addr >= COORD_RZ_ADDR && addr < COORD_RZ_ADDR + 2) {
memcpy(reinterpret_cast<uint16_t*>(&newCoordinate.rz) + (addr - COORD_RZ_ADDR), &value, sizeof(uint16_t));
IYModbusTCPServer::ErrorCode eResult = IYModbusTCPServer::ErrorCode::SUCCESS;
switch (startAddress) {
case 0:
// 触发工作信号回调
if (m_workSignalCallback) {
if(!m_workSignalCallback(true, startAddress)){
eResult = IYModbusTCPServer::ErrorCode::SERVER_FAILURE;
}
}
// 更新坐标
SetRobotCoordinate(newCoordinate);
break;
default:
eResult = IYModbusTCPServer::ErrorCode::ILLEGAL_FUNCTION;
break;
}
return IYModbusTCPServer::ErrorCode::SUCCESS;
return eResult;
}
IYModbusTCPServer::ErrorCode RobotProtocol::OnReadHoldingRegisters(uint8_t unitId, uint16_t startAddress,
uint16_t quantity, uint16_t* values)
IYModbusTCPServer::ErrorCode RobotProtocol::OnReadHoldingRegisters(uint8_t unitId, uint16_t startAddress,uint16_t quantity, uint16_t* values)
{
LOG_DEBUG("Read holding registers - UnitID:%d, StartAddress:%d, Quantity:%d\n",
unitId, startAddress, quantity);

156
GrabBagApp/mainwindow.cpp
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@ -43,11 +43,6 @@ MainWindow::MainWindow(QWidget *parent)
// 原有的状态指示器已删除，状态显示统一在devstatus中处理
// 连接菜单信号
// connect(ui->menu_camera, &QMenu::aboutToShow, this, &MainWindow::on_menu_camera_triggered);
// connect(ui->menu_config, &QMenu::aboutToShow, this, &MainWindow::on_menu_config_triggered);
// connect(ui->menu_camera_adjust, &QMenu::aboutToShow, this, &MainWindow::on_menu_camera_adjust_triggered);
// 连接工作状态更新信号槽
connect(this, &MainWindow::workStatusUpdateRequested, this, &MainWindow::updateWorkStatusLabel);
@ -212,53 +207,6 @@ void MainWindow::addDetectionResult(const DetectionResult& result)
}
}
void MainWindow::on_btn_camera_clicked()
{
// if(nullptr == ui_dialogCamera){
// ui_dialogCamera = new DialogCamera;
// }
// ui_dialogCamera->show();
}
void MainWindow::on_btn_config_clicked()
{
if(nullptr == ui_dialogConfig){
ui_dialogConfig = new DialogConfig;
}
ui_dialogConfig->show();
}
void MainWindow::on_btn_flow_clicked()
{
// 机械臂连接/断开
static bool isConnected = false;
isConnected = !isConnected;
}
void MainWindow::on_btn_start_clicked()
{
// 清空检测日志，开始新的检测
clearDetectionLog();
// 使用Presenter启动检测
if (m_presenter) {
m_presenter->StartDetection();
}
}
void MainWindow::on_btn_stop_clicked()
{
if (m_presenter) {
m_presenter->StopDetection();
}
}
void MainWindow::on_menu_camera_adjust_triggered()
{
}
// 状态更新槽函数
void MainWindow::OnStatusUpdate(const std::string& statusMessage)
{
@ -368,35 +316,37 @@ void MainWindow::updateDetectionResultDisplay(const DetectionResult& result)
addDetectionResult(result);
}
void MainWindow::on_action_camera_1_triggered()
void MainWindow::updateDetectionLog(const QString& message)
{
IVrEyeDevice* pDevice = m_presenter->GetEyeDevice(0);
if(nullptr == pDevice){
QMessageBox::warning(this, "设备错误", "相机设备未正确初始化！");
return;
}
if(nullptr == ui_dialogCamera){
ui_dialogCamera = new DialogCamera(pDevice, this);
}
ui_dialogCamera->show();
// 在UI线程中更新detect_log控件（QListView）
if (!m_logModel) return ;
// 添加时间戳（包含年月日）
QString timestamp = QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss");
QString logEntry = QString("[%1] %2").arg(timestamp).arg(message);
// 获取当前数据
QStringList logList = m_logModel->stringList();
// 添加新的日志条目
logList.append(logEntry);
// 更新模型
m_logModel->setStringList(logList);
// 自动滚动到最底部
QModelIndex lastIndex = m_logModel->index(logList.size() - 1);
ui->detect_log->scrollTo(lastIndex);
}
void MainWindow::on_action_camera_2_triggered()
void MainWindow::clearDetectionLogUI()
{
IVrEyeDevice* pDevice = m_presenter->GetEyeDevice(1);
if(nullptr == pDevice){
QMessageBox::warning(this, "设备错误", "相机设备未正确初始化！");
return;
// 在UI线程中清空检测日志
if (m_logModel) {
m_logModel->setStringList(QStringList());
}
if(nullptr == ui_dialogCamera){
ui_dialogCamera = new DialogCamera(pDevice, this);
}
ui_dialogCamera->show();
}
void MainWindow::on_action_tool_debug_data_triggered()
{
// 打开文件选择对话框
@ -405,7 +355,7 @@ void MainWindow::on_action_tool_debug_data_triggered()
tr("选择调试数据文件"),
QString(),
tr("激光数据文件 (*.txt);;所有文件 (*.*)")
);
);
if (fileName.isEmpty()) {
// 用户取消了文件选择
@ -436,34 +386,46 @@ void MainWindow::on_action_tool_debug_data_triggered()
t.detach();
}
void MainWindow::updateDetectionLog(const QString& message)
void MainWindow::on_btn_start_clicked()
{
// 在UI线程中更新detect_log控件（QListView）
if (m_logModel) {
// 添加时间戳（包含年月日）
QString timestamp = QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss");
QString logEntry = QString("[%1] %2").arg(timestamp).arg(message);
// 清空检测日志，开始新的检测
clearDetectionLog();
// 获取当前数据
QStringList logList = m_logModel->stringList();
// 添加新的日志条目
logList.append(logEntry);
// 更新模型
m_logModel->setStringList(logList);
// 自动滚动到最底部
QModelIndex lastIndex = m_logModel->index(logList.size() - 1);
ui->detect_log->scrollTo(lastIndex);
// 使用Presenter启动检测
if (m_presenter) {
m_presenter->StartDetection();
}
}
void MainWindow::clearDetectionLogUI()
void MainWindow::on_btn_stop_clicked()
{
// 在UI线程中清空检测日志
if (m_logModel) {
m_logModel->setStringList(QStringList());
if (m_presenter) {
m_presenter->StopDetection();
}
}
void MainWindow::on_btn_camera_clicked()
{
IVrEyeDevice* pDevice = m_presenter->GetEyeDevice(0);
if(nullptr == pDevice){
QMessageBox::warning(this, "设备错误", "相机设备未正确初始化！");
return;
}
if(nullptr == ui_dialogCamera){
ui_dialogCamera = new DialogCamera(pDevice, this);
}
ui_dialogCamera->show();
}
void MainWindow::on_btn_algo_config_clicked()
{
if(nullptr == ui_dialogConfig){
ui_dialogConfig = new DialogConfig;
}
ui_dialogConfig->show();
}
void MainWindow::on_btn_camera_levelling_clicked()
{
}

23
GrabBagApp/mainwindow.h
View File

@ -53,15 +53,6 @@ signals:
void logClearRequested();
private slots:
// UI操作相关槽
void on_btn_camera_clicked();
void on_btn_config_clicked();
void on_btn_flow_clicked();
void on_btn_start_clicked();
void on_btn_stop_clicked();
// void on_menu_camera_triggered();
// void on_menu_config_triggered();
void on_menu_camera_adjust_triggered();
// 工作状态更新槽函数
void updateWorkStatusLabel(WorkStatus status);
@ -75,12 +66,18 @@ private slots:
// 清空日志槽函数
void clearDetectionLogUI();
void on_action_camera_1_triggered();
void on_action_camera_2_triggered();
void on_action_tool_debug_data_triggered();
// UI操作相关槽
void on_btn_start_clicked();
void on_btn_stop_clicked();
void on_btn_camera_clicked();
void on_btn_algo_config_clicked();
void on_btn_camera_levelling_clicked();
private:
Ui::MainWindow *ui;
DialogCamera* ui_dialogCamera = nullptr;

169
Module/ModbusTCPServer/Src/ModbusTCPServer.cpp
View File

@ -281,59 +281,67 @@ void ModbusTCPServer::removeClient(int socket)
void ModbusTCPServer::processModbusRequest(std::shared_ptr<ClientConnection> client, const uint8_t* query, int queryLength)
{
// 处理请求并发送响应
std::lock_guard<std::mutex> lock(m_dataMutex);
int responseRc = modbus_reply(client->modbusCtx, query, queryLength, m_mapping);
// 使用modbus标准异常码，0表示成功
uint8_t exceptionCode = 0;
if (responseRc == -1) {
LOG_WARNING("Send response failed: %s\n", modbus_strerror(errno));
throw std::runtime_error("发送响应失败");
}
// 解析ModbusTCP ADU的基本字段
uint16_t transactionId = 0;
uint16_t protocolId = 0;
uint16_t length = 0;
uint8_t unitId = 0;
uint8_t function = 0;
uint16_t address = 0;
uint16_t value = 0;
uint16_t quantity = 0;
uint8_t byteCount = 0;
std::vector<uint16_t> registerValues;
std::vector<uint8_t> coilValues;
// 解析ModbusTCP ADU - 最小长度检查
// 基本长度检查
if (queryLength < 8) {
LOG_DEBUG("Query too short: %d bytes\n", queryLength);
exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
modbus_reply_exception(client->modbusCtx, query, exceptionCode);
return;
}
// ModbusTCP ADU格式: [Transaction ID(2)] [Protocol ID(2)] [Length(2)] [Unit ID(1)] [Function Code(1)] [Data...]
uint16_t transactionId = (query[0] << 8) | query[1]; // Transaction ID
uint16_t protocolId = (query[2] << 8) | query[3]; // Protocol ID (should be 0 for ModbusTCP)
uint16_t length = (query[4] << 8) | query[5]; // Length field
uint8_t unitId = query[6]; // Unit ID
uint8_t function = query[7]; // Function Code
// 解析ADU头部
transactionId = (query[0] << 8) | query[1];
protocolId = (query[2] << 8) | query[3];
length = (query[4] << 8) | query[5];
unitId = query[6];
function = query[7];
// 验证协议ID
if (protocolId != 0) {
LOG_DEBUG("Invalid protocol ID: %d\n", protocolId);
return;
exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
}
// 验证长度字段
if (length != (queryLength - 6)) {
LOG_DEBUG("Length mismatch: expected %d, got %d\n", length, queryLength - 6);
else if (length != (queryLength - 6)) {
exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
}
if(exceptionCode != 0) {
modbus_reply_exception(client->modbusCtx, query, exceptionCode);
return;
}
LOG_DEBUG("ModbusTCP request - TransID:%d, UnitID:%d, Function:0x%02X\n",
transactionId, unitId, function);
// 根据功能码验证数据格式并执行回调
LOG_DEBUG("Modbus %02X - Trans:%d Unit:%d\n", function, transactionId, unitId);
// 根据功能码解析数据
switch (function) {
case MODBUS_FC_WRITE_SINGLE_COIL:
{
if (queryLength >= 12) {
uint16_t address = (query[8] << 8) | query[9];
uint16_t value = (query[10] << 8) | query[11];
LOG_DEBUG("Write single coil - Address:%d, Value:0x%x\n", address, value);
if (queryLength < 12) {
exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
} else {
address = (query[8] << 8) | query[9];
value = (query[10] << 8) | query[11];
if (m_writeCoilsCallback) {
uint8_t coilValue = (value == 0xFF00) ? 1 : 0;
ErrorCode result = m_writeCoilsCallback(unitId, address, 1, &coilValue);
if (result != ErrorCode::SUCCESS) {
LOG_DEBUG("Write coil callback returned error: %d\n", (int)result);
}
IYModbusTCPServer::ErrorCode result = m_writeCoilsCallback(unitId, address, 1, &coilValue);
exceptionCode = (uint8_t)result;
}
}
}
@ -341,21 +349,21 @@ void ModbusTCPServer::processModbusRequest(std::shared_ptr<ClientConnection> cli
case MODBUS_FC_WRITE_MULTIPLE_COILS:
{
if (queryLength >= 13) {
uint16_t address = (query[8] << 8) | query[9];
uint16_t quantity = (query[10] << 8) | query[11];
uint8_t byteCount = query[12];
if (queryLength < 13) {
exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
} else {
address = (query[8] << 8) | query[9];
quantity = (query[10] << 8) | query[11];
byteCount = query[12];
if (queryLength >= (13 + byteCount)) {
LOG_DEBUG("Write multiple coils - Address:%d, Quantity:%d, Bytes:%d\n",
address, quantity, byteCount);
if (queryLength < (13 + byteCount)) {
exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
} else {
coilValues.assign(&query[13], &query[13 + byteCount]);
if (m_writeCoilsCallback) {
const uint8_t* values = &query[13];
ErrorCode result = m_writeCoilsCallback(unitId, address, quantity, values);
if (result != ErrorCode::SUCCESS) {
LOG_DEBUG("Write coils callback returned error: %d\n", (int)result);
}
IYModbusTCPServer::ErrorCode result = m_writeCoilsCallback(unitId, address, quantity, coilValues.data());
exceptionCode = (uint8_t)result;
}
}
}
@ -364,17 +372,15 @@ void ModbusTCPServer::processModbusRequest(std::shared_ptr<ClientConnection> cli
case MODBUS_FC_WRITE_SINGLE_REGISTER:
{
if (queryLength >= 12) {
uint16_t address = (query[8] << 8) | query[9];
uint16_t value = (query[10] << 8) | query[11];
LOG_DEBUG("Write single register - Address:%d, Value:%d\n", address, value);
if (queryLength < 12) {
exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
} else {
address = (query[8] << 8) | query[9];
value = (query[10] << 8) | query[11];
if (m_writeRegistersCallback) {
ErrorCode result = m_writeRegistersCallback(unitId, address, 1, &value);
if (result != ErrorCode::SUCCESS) {
LOG_DEBUG("Write register callback returned error: %d\n", (int)result);
}
IYModbusTCPServer::ErrorCode result = m_writeRegistersCallback(unitId, address, 1, &value);
exceptionCode = (uint8_t)result;
}
}
}
@ -382,29 +388,25 @@ void ModbusTCPServer::processModbusRequest(std::shared_ptr<ClientConnection> cli
case MODBUS_FC_WRITE_MULTIPLE_REGISTERS:
{
if (queryLength >= 13) {
uint16_t address = (query[8] << 8) | query[9];
uint16_t quantity = (query[10] << 8) | query[11];
uint8_t byteCount = query[12];
if (queryLength < 13) {
exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
} else {
address = (query[8] << 8) | query[9];
quantity = (query[10] << 8) | query[11];
byteCount = query[12];
if (queryLength >= (13 + byteCount) && byteCount == (quantity * 2)) {
LOG_DEBUG("Write multiple registers - Address:%d, Quantity:%d, Bytes:%d\n",
address, quantity, byteCount);
if (queryLength < (13 + byteCount) || byteCount != (quantity * 2)) {
exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
} else {
registerValues.reserve(quantity);
for (int i = 0; i < quantity; i++) {
uint16_t regValue = (query[13 + i*2] << 8) | query[13 + i*2 + 1];
registerValues.push_back(regValue);
}
if (m_writeRegistersCallback) {
// 解析寄存器值（注意字节序）
std::vector<uint16_t> values;
values.reserve(quantity);
for (int i = 0; i < quantity; i++) {
uint16_t value = (query[13 + i*2] << 8) | query[13 + i*2 + 1];
values.push_back(value);
}
ErrorCode result = m_writeRegistersCallback(unitId, address, quantity, values.data());
if (result != ErrorCode::SUCCESS) {
LOG_DEBUG("Write registers callback returned error: %d\n", (int)result);
}
IYModbusTCPServer::ErrorCode result = m_writeRegistersCallback(unitId, address, quantity, registerValues.data());
exceptionCode = (uint8_t)result;
}
}
}
@ -412,9 +414,28 @@ void ModbusTCPServer::processModbusRequest(std::shared_ptr<ClientConnection> cli
break;
default:
LOG_DEBUG("Unhandled function code: 0x%02X\n", function);
// exceptionCode = MODBUS_EXCEPTION_ILLEGAL_FUNCTION;
break;
}
LOG_DEBUG("exceptionCode: %d\n", exceptionCode);
// 统一处理响应
if (exceptionCode != 0) {
modbus_reply_exception(client->modbusCtx, query, exceptionCode);
return;
}
// 发送正常响应
{
std::lock_guard<std::mutex> lock(m_dataMutex);
int responseRc = modbus_reply(client->modbusCtx, query, queryLength, m_mapping);
if (responseRc == -1) {
modbus_reply_exception(client->modbusCtx, query, MODBUS_EXCEPTION_SLAVE_OR_SERVER_FAILURE);
return;
}
}
}
void ModbusTCPServer::updateCoil(uint16_t address, bool value)