【六足机器人】04上位机开发

 一、主要功能介绍

1.1 登录界面

        登录界面，用来判断是否账号密码输入正确，错误将会弹出消息框。

void first::on_enroll_clicked(){
    if(ui->account->text()=="共创芯未来"&&ui->password->text()=="2024"){
        my_next->show();
        this->hide();
    }else
        QMessageBox::about(this,"提示","密码错误");
}

1.2 创建服务器

        在主窗口的的构造函数中，初始化TCP服务器并监听指定的端口。并实现newConnection函数来处理新的连接请求。当有客户端尝试连接时，这个函数将被调用。

// 初始化TCP服务器：
my_server = new QTcpServer(this);
connect(my_server,SIGNAL(newConnection()),this,SLOT(newConnection_Slot()));
// 处理连接
void next::newConnection_Slot(){
    my_socket = my_server->nextPendingConnection();//得到通信的套接字对象
    connect(my_socket,SIGNAL(readyRead()),this,SLOT(readyRead_Slot()));
}

1.3 编辑发送指令

//发送指令
void next::on_pushButton_TX_clicked(){
    QString SendCon = ui->lineEdit_TxAT->text().toLocal8Bit().data();
    //封装编码
    QByteArray receiveDate;
    QTextCodec *tc = QTextCodec::codecForName("GBK");  //编码转换,否则乱码
    //向输出框打印发送的数据，同时向下位机发送指令
    ui->plainTextEdit_Rxdata->appendPlainText(str2);
    my_socket->write(ui->lineEdit_TxAT->text().toLocal8Bit().data());
}

1.4 实现按键切换效果

        设置标志位，实现UI界面的切换效果。

int flag_forward = 0;   //前进标志位
int flag_back = 0;      //后退标志位
int flag_left = 0;      //左转标志位
int flag_right = 0;     //右转标志位
int flag_mode = 0;      //避障模式标志位

效果如下图所示：

二、上位机代码

2.1 first.c

#include "first.h"
#include "ui_first.h"

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

    my_next = new next;

    this->setWindowIcon(QIcon(":/myResource/APP3.png"));
    this->setWindowTitle("登录");

    ui->account->setStyleSheet(
                               "border-style: solid;" /* 边框样式 */
                               "color: rgb(255, 255, 255);"
                               //"font: 15pt "华文中宋";"
                               "background-color: rgb(0, 0, 0);"
                               "border-width: 7px;" /* 边框宽度 */
                               "border-radius: 10px;" /* 边框圆角 */
                               );
    ui->account->setAlignment(Qt::AlignCenter); // 设置文本水平居中
    ui->account->setText("共创芯未来");
    ui->password->setStyleSheet(
                                "border-style: solid;" /* 边框样式 */
                                "color: rgb(255, 255, 255);"
                                //"font: 15pt "华文中宋";"
                                "background-color: rgb(0, 0, 0);"
                                "border-width: 7px;" /* 边框宽度 */
                                "border-radius: 10px;" /* 边框圆角 */
                                );

    ui->password->setAlignment(Qt::AlignCenter); // 设置文本水平居中
    ui->password->setText("2024");
}

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

void first::on_enroll_clicked()
{
    if(ui->account->text()=="共创芯未来"&&ui->password->text()=="2024"){
        my_next->show();
        this->hide();
    }
    else
    {
        QMessageBox::about(this,"提示","密码错误");
        //ui->lineEdit->clear();
        //ui->lineEdit_2->clear();
    }
}

2.2 first.h

#ifndef FIRST_H
#define FIRST_H

#include <QWidget>
#include <QMessageBox>
#include "next.h"

namespace Ui {
class first;
}

class first : public QWidget
{
    Q_OBJECT

public:
    explicit first(QWidget *parent = 0);
    ~first();

private slots:
    void on_enroll_clicked();

private:
    Ui::first *ui;

    next * my_next;
};

#endif // FIRST_H

2.3 next.c

#include "next.h"
#include "ui_next.h"
#include <QTextCodec>

int flag_connect = 0;

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

    this->setWindowIcon(QIcon(":/myResource/APP4.png"));
    this->setWindowTitle("六足机器人控制系统                                                                 2024共创芯未来");

    //QPixmap *pixmap = new QPixmap(":/myResource/2024应用赛道作品视频封面.png");
    //pixmap->scaled(ui->label->size(), Qt::KeepAspectRatio);
    //ui->label->setScaledContents(true);
    //ui->label->setPixmap(*pixmap);

    //实例化对象
    my_socket = new QTcpSocket;
    my_server = new QTcpServer(this);
    my_timer = new QTimer;

    //关联信号与槽
    //套接字对象存在一个信号connected，该信号触发的时机是套接字连接成功，当信号触发由该界面的connect_success函数进行响应
    connect(my_socket,SIGNAL(connected()),this,SLOT(connect_success()));
    //套接字对象存在一个信号readyread，该信号触发的时机是套接字内存在数据可读，当信号触发则由该界面的recv_data_from_server函数进行响应
    connect(my_socket,SIGNAL(readyRead()),this,SLOT(recv_data_from_server()));
    connect(my_timer,SIGNAL(timeout()),this,SLOT(time_out()));

    //初始化TCP服务器：在主窗口的构造函数中，初始化TCP服务器并监听指定的端口。
    //my_server = new QTcpServer(this);
    connect(my_server,SIGNAL(newConnection()),this,SLOT(newConnection_Slot()));
    //my_server->listen(QHostAddress::Any, port); // 监听任意地址的****端口
    //QHostAddress serverAddress("192.168.45.36");
    //my_server->listen(serverAddress, 6666);
}

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

//处理连接：实现NewConnection函数来处理新的连接请求。当有客户端尝试连接时，这个函数将被调用。
void next::newConnection_Slot(){

    flag_connect = 1;
    my_socket = my_server->nextPendingConnection();//得到通信的套接字对象
    connect(my_socket,SIGNAL(readyRead()),this,SLOT(readyRead_Slot()));

    connect(my_socket,SIGNAL(disconnected()),this,SLOT(disconnected_Slot()));
    ui->label_3->setStyleSheet("border-image: url(:/myResource/connect.png)");
}

//服务器或客户机连接状态
void next::disconnected_Slot(){
    flag_connect = 0;
    my_socket->close();
    ui->label_3->setStyleSheet("border-image: url(:/myResource/discon.png)");
}

void next::readyRead_Slot()
{
    QByteArray receivedData = my_socket->readAll(); // 直接读取所有可用数据

    if (!receivedData.isEmpty())
    {
        QTextCodec *tc = QTextCodec::codecForName("GBK"); // 只在需要时创建编码器
        QString strBuf = tc->toUnicode(receivedData); // 编码转换
        ui->plainTextEdit_Rxdata->appendPlainText(strBuf);
    }
    // receivedData.clear(); 在这里不需要被清除，因为它是局部变量
}

//开启服务器
void next::on_pushButton_connect_clicked()
{
    QString port = ui->lineEdit_port->text();
    my_server->listen(QHostAddress::Any, atoi(port.toStdString().data())); // 监听任意地址的****端口
    //QString ip=ui->lineEdit_ip->text();
    //QString port=ui->lineEdit_port->text();
    //my_socket->connectToHost(QHostAddress(ip),atoi(port.toStdString().data()));
}


//开启定时器计时
void next::on_pushButton_oncamera_clicked()
{
    my_timer->start(1000);
}
//暂停定时器计时
void next::on_pushButton_offcamera_clicked()
{
    my_timer->stop();
}

void next::recv_data_from_server()
{
    if(flag_camera == 0){
        //获取图像大小
        char pic_len_buf[10] = {0};
        my_socket->read(pic_len_buf,10);
        pic_len = atoi(pic_len_buf);
        flag_camera = 1;
    }else if(flag_camera == 1){
        //当套接字内数据还没累计到一张图像时暂时不做读取
        if(my_socket->bytesAvailable()<pic_len){
            return ;
        }
        //获取图像内容，并显示
        char pic_buf[1024*1024] = {0};
        my_socket->read(pic_buf,pic_len);
        //定义一个QPixmap对象
        QPixmap my_pixmap;
        my_pixmap.loadFromData((uchar*)pic_buf,pic_len);
        my_pixmap = my_pixmap.scaled(ui->label_2->size());
        ui->label_2->setScaledContents(true);
        ui->label_2->setPixmap(my_pixmap);
        flag_camera = 0;
    }
}

void next::connect_success()
{
    QMessageBox::about(this,"连接提示","连接成功");
}

void next::time_out()
{
    char buf[1024] = "get_pic";
    my_socket->write(buf,sizeof(buf));
}


//清空接收区
void next::on_pushButton_clear_clicked()
{
    ui->plainTextEdit_Rxdata->clear();
}
//发送指令
void next::on_pushButton_TX_clicked()
{
    QString SendCon = ui->lineEdit_TxAT->text().toLocal8Bit().data();
    if(flag_connect){
        if(SendCon!=""){

            //封装编码
            QByteArray receiveDate;
            QTextCodec *tc = QTextCodec::codecForName("GBK");  //编码转换,必须转换编码，否则乱码

            //对发送框编码
            receiveDate =  ui->lineEdit_TxAT->text().toLocal8Bit().data();
            QString strBuf=tc->toUnicode(receiveDate);

            //整合符号 ->
            QString  str = "->";
            QString str2 = str.append(strBuf);

             //向输出框打印发送的数据
             ui->plainTextEdit_Rxdata->appendPlainText(str2);
             my_socket->write(ui->lineEdit_TxAT->text().toLocal8Bit().data());
        }
        else{
            QMessageBox::critical(this,"警告","不能发送空白信息!");
        }
    }
    else
    {
        QMessageBox::critical(this,"提示","发送失败，未连接!");
    }
}
//前进指令
void next::on_pushButton_forward_clicked()
{
    if(flag_forward == 0){
        //char buff[20]="forward_on";
        char buff[20]="2";
        ui->pushButton_forward->setStyleSheet(
                    "border-style: solid;" /* 边框样式 */
                    //"font: 15pt "华文中宋";"
                    "color: rgb(0, 255, 255);"
                    "border-width: 7px;" /* 边框宽度 */
                    "border-radius: 10px;" /* 边框圆角 */
                    "border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));"
                    );

        my_socket->write(buff,strlen(buff));
        flag_forward = 1;
    }else{
        ui->pushButton_forward->setStyleSheet(
                    "border-style: solid;" /* 边框样式 */
                    //"font: 15pt "华文中宋";"
                    "color: rgb(139, 139, 139);"
                    "border-width: 7px;" /* 边框宽度 */
                    "border-radius: 10px;" /* 边框圆角 */
                    "border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));"
                    );

        //char buff[20]="forward_off";
        char buff[20]="22";
        my_socket->write(buff,strlen(buff));
        flag_forward = 0;
    }
}

void next::on_pushButton_right_clicked()
{
    if(flag_right== 0){
        char buff[20]="5";
        ui->pushButton_right->setStyleSheet(
                    "border-style: solid;" /* 边框样式 */
                    //"font: 15pt "华文中宋";"
                    "color: rgb(0, 255, 255);"
                    "border-width: 7px;" /* 边框宽度 */
                    "border-radius: 10px;" /* 边框圆角 */
                    "border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));"
                    );

        my_socket->write(buff,strlen(buff));
        flag_right = 1;
    }else{
        ui->pushButton_right->setStyleSheet(
                    "border-style: solid;" /* 边框样式 */
                    //"font: 15pt "华文中宋";"
                    "color: rgb(139, 139, 139);"
                    "border-width: 7px;" /* 边框宽度 */
                    "border-radius: 10px;" /* 边框圆角 */
                    "border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));"
                    );

        char buff[20]="55";
        my_socket->write(buff,strlen(buff));
        flag_right = 0;
    }
}

void next::on_pushButton_left_clicked()
{
    if(flag_left== 0){
        char buff[20]="4";
        ui->pushButton_left->setStyleSheet(
                    "border-style: solid;" /* 边框样式 */
                    //"font: 15pt "华文中宋";"
                    "color: rgb(0, 255, 255);"
                    "border-width: 7px;" /* 边框宽度 */
                    "border-radius: 10px;" /* 边框圆角 */
                    "border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));"
                    );

        my_socket->write(buff,strlen(buff));
        flag_left = 1;
    }else{
        ui->pushButton_left->setStyleSheet(
                    "border-style: solid;" /* 边框样式 */
                    //"font: 15pt "华文中宋";"
                    "color: rgb(139, 139, 139);"
                    "border-width: 7px;" /* 边框宽度 */
                    "border-radius: 10px;" /* 边框圆角 */
                    "border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));"
                    );

        char buff[20]="44";
        my_socket->write(buff,strlen(buff));
        flag_left = 0;
    }
}

void next::on_pushButton_back_clicked()
{
    if(flag_back== 0){
        char buff[20]="3";
        ui->pushButton_back->setStyleSheet(
                    "border-style: solid;" /* 边框样式 */
                    //"font: 15pt "华文中宋";"
                    "color: rgb(0, 255, 255);"
                    "border-width: 7px;" /* 边框宽度 */
                    "border-radius: 10px;" /* 边框圆角 */
                    "border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));"
                    );

        my_socket->write(buff,strlen(buff));
        flag_back = 1;
    }else{
        ui->pushButton_back->setStyleSheet(
                    "border-style: solid;" /* 边框样式 */
                    //"font: 15pt "华文中宋";"
                    "color: rgb(139, 139, 139);"
                    "border-width: 7px;" /* 边框宽度 */
                    "border-radius: 10px;" /* 边框圆角 */
                    "border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));"
                    );

        char buff[20]="33";
        my_socket->write(buff,strlen(buff));
        flag_back = 0;
    }
}


void next::on_pushButton_mode_clicked()
{
    if(flag_mode == 0){
        char buff[20]="1";
        ui->pushButton_mode->setStyleSheet(
                    "border-style: solid;" /* 边框样式 */
                    "border-color: rgb(170, 255, 255);"
                    "color: rgb(0, 255, 255);"
                    "border-width: 7px;"/* 边框宽度 */
                    "border-radius: 25px;" /* 边框圆角 */
                    "background-color: rgb(148, 148, 148);");

        my_socket->write(buff,strlen(buff));
        flag_mode = 1;
    }else{
        ui->pushButton_mode->setStyleSheet(
                    "border-style: solid;" /* 边框样式 */
                    "color: rgb(176, 176, 176);"
                    "border-width: 7px;" /* 边框宽度 */
                    "border-radius: 25px;" /* 边框圆角 */);

        char buff[20]="0";
        my_socket->write(buff,strlen(buff));
        flag_mode = 0;
    }
}

2.4 next.h

#ifndef NEXT_H
#define NEXT_H

#include <QWidget>

#include <QTcpSocket>
#include <QTcpServer>
#include <QHostAddress>

#include <QPixmap>
#include <QMessageBox>

//定时器类头文件
#include <QTimer>

namespace Ui {
class next;
}

class next : public QWidget
{
    Q_OBJECT

public:
    explicit next(QWidget *parent = 0);
    ~next();

private slots:
    void on_pushButton_oncamera_clicked();

    void on_pushButton_offcamera_clicked();

    void recv_data_from_server();

    void connect_success();

    void time_out();

    void on_pushButton_connect_clicked();

    void on_pushButton_forward_clicked();

    void newConnection_Slot();
    void disconnected_Slot();
    void readyRead_Slot();

    void on_pushButton_clear_clicked();

    void on_pushButton_TX_clicked();

    void on_pushButton_right_clicked();

    void on_pushButton_left_clicked();

    void on_pushButton_back_clicked();


    void on_pushButton_mode_clicked();

private:
    Ui::next *ui;

    QTcpSocket * my_socket;

    QTcpServer * my_server;
    //定时器对象指针
    QTimer * my_timer;

    int flag_camera = 0;
    int pic_len;
    int flag_forward = 0;
    int flag_back = 0;
    int flag_left = 0;
    int flag_right = 0;
    int flag_mode = 0;
};

#endif // NEXT_H