Add Get Status

Servo/include/ModbusWrapper.h

@@ -21,7 +21,7 @@ public:
 	~ModbusWrapper();
 	void connectToDevice(ModbusConfig modbusConfig);
 	void init();
-
+    void close();
 	QBitArray getCoil(int startAddress, quint16 readSize);
 	QBitArray getInputCoil(int startAddress, quint16 readSize);
 	QVector<quint16> getHoldingRegister(int startAddress, quint16 readSize);

Servo/include/ServoController.h

@@ -11,14 +11,14 @@ private:
 	const int SRV_START_ANGLE_INT_PART_REG = 2000;
 	const int SRV_STOP_ANGLE_INT_PART_REG = 2001;
 	const int SRV_AZIMUTH_SPEED_REG = 2002;
-	const int SRV_APPLY_SETTING_REG = 2004;
+    const int SRV_APPLY_SETTING_REG = 2003;  //2004;
-	const int SRV_START_STOP_REG = 2005;
+    const int SRV_START_STOP_REG = 2004; //2005;
-	const int SRV_ZERO_OFFSET_ANGLE = 2007;
+    const int SRV_ZERO_OFFSET_ANGLE = 2005;  //2007;
-	const int SRV_START_ANGLE_FRAC_PART_REG = 2010;
+    const int SRV_START_ANGLE_FRAC_PART_REG = 2006;  //2010;
-	const int SRV_STOP_ANGLE_FRAC_PART_REG = 2011;
+    const int SRV_STOP_ANGLE_FRAC_PART_REG = 2007;  //2011;
-	const int SRV_CALIBRATE_REG = 2013;
+    const int SRV_CALIBRATE_REG = 2008;  //2013;
-	const int SRV_ENABLE_DRIVE_REG = 2017;
+    const int SRV_ENABLE_DRIVE_REG = 2009;  //2017;
-	const int SRV_AZIMUTH_REG = 2030;
+    const int SRV_AZIMUTH_REG = 2010;  //2030;
 
 	const double SRV_ANGLE_FACTOR = 100.0;
 	const double SRV_SPEED_FACTOR = 1000.0;
@@ -48,6 +48,8 @@ public:
 	double getAngleOffset();
 	void setAngleOffset(double offset);
 	double getAzimuth();
+
+    bool getStatus();
 };
 
 #endif //SERVOCONTROLLER_H

Servo/src/ModbusWrapper.cpp

@@ -83,6 +83,14 @@ void ModbusWrapper::init()
     }
 }
 
+/*************************************************************************************************/
+void ModbusWrapper::close()
+{
+  _modbusMaster.close();
+  _workerThread.quit();
+  _workerThread.wait();
+}
+
 /*************************************************************************************************/
 QBitArray ModbusWrapper::getCoil(int startAddress, quint16 readSize)
 {

Servo/src/ServoController.cpp

@@ -73,6 +73,7 @@ void ServoController::changeMode(double startAngle, double stopAngle, double spe
 /*************************************************************************************************/
 void ServoController::init(QString serialPort)
 {
+    _modbusWrapper.close();
     _modbusWrapper.init();
     _modbusWrapper.connectToDevice(initiateConfig(serialPort));
 }
@@ -155,3 +156,16 @@ double ServoController::getAzimuth()
 
     return (azimuthVector[0] / SRV_ANGLE_FACTOR);
 }
+
+/*************************************************************************************************/
+bool ServoController::getStatus()
+{
+    try {
+        getSpeed();
+        return  true;
+
+    } catch (ServoException ex) {
+        _modbusWrapper.close();
+        return false;
+    }
+}

Test/MainWindow.cpp

@@ -212,15 +212,18 @@ void MainWindow::on_init_clicked()
 void MainWindow::handleGetRequestFromServo()
 {
 	try {
-		ui->showSpeed->setText(QString::number(_servoControler.getSpeed()));
+    //	ui->showSpeed->setText(QString::number(_servoControler.getSpeed()));
-		ui->showStartAngle->setText(QString::number(_servoControler.getStartAngle()));
+        //ui->showStartAngle->setText(QString::number(_servoControler.getStartAngle()));
-		ui->showStopAngle->setText(QString::number(_servoControler.getStopAngle()));
+        //ui->showStopAngle->setText(QString::number(_servoControler.getStopAngle()));
-		ui->showAngleOffset->setText(QString::number(_servoControler.getAngleOffset()));
+        //ui->showAngleOffset->setText(QString::number(_servoControler.getAngleOffset()));
-		ui->showAzimuth->setText(QString::number(_servoControler.getAzimuth()));
+        //ui->showAzimuth->setText(QString::number(_servoControler.getAzimuth()));
+        ui->connectionState->setText(QVariant(_servoControler.getStatus()).toString());
 	}
 	catch(ServoException exp)
 	{
+        timer->stop();
 		ui->showServoError->setText(exp.getMessage());
+
 	}
 }
 

Test/MainWindow.ui

@@ -621,6 +621,40 @@ background-color: rgb(186, 178, 158);</string>
         </rect>
        </property>
       </widget>
+      <widget class="QLabel" name="label_18">
+       <property name="geometry">
+        <rect>
+         <x>180</x>
+         <y>0</y>
+         <width>181</width>
+         <height>17</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>Connection State to Client:</string>
+       </property>
+      </widget>
+      <widget class="QLabel" name="connectionState">
+       <property name="geometry">
+        <rect>
+         <x>370</x>
+         <y>0</y>
+         <width>121</width>
+         <height>20</height>
+        </rect>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">background-color: rgb(52, 101, 164);
+color: rgb(238, 238, 236);
+</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="margin">
+        <number>0</number>
+       </property>
+      </widget>
      </widget>
      <widget class="QGroupBox" name="groupBox_12">
       <property name="geometry">