Add Close and Status

Servo/Servo.pro

@@ -25,7 +25,6 @@ SOURCES += \
 
 HEADERS += \
     $$files(*.h, true) \
-    include/ExpConfig.h
 
 
 INCLUDEPATH += $$PWD/include

Servo/include/ModbusMaster.h

@@ -36,7 +36,7 @@ public:
 	void writeRequest(QModbusDataUnit::RegisterType registerType,
 					  int startAddress,
 					  quint16 writeSize);
-	void close();
+
 
 //uncrustify off
 public	slots:
@@ -60,6 +60,8 @@ public	slots:
 							 quint16 writeSize,
 							 QVector<quint16> registerValues,
 							 ExpConfig& expConfig);
+
+    void close();
 };
 
 #endif //MODBUSMASTER_H

Servo/include/ModbusWrapper.h

@@ -35,6 +35,7 @@ public:
 signals:
 	void connectOrder(ModbusConfig modbusConfig, ExpConfig& expConfig);
 	void initOrder(ExpConfig& expConfig);
+    void closeOrder();
 
 	QBitArray getCoilOrder(int startAddress, quint16 readSize, ExpConfig& expConfig);
 	QBitArray getInputCoilOrder(int startAddress, quint16 readSize, ExpConfig& expConfig);

Servo/src/ModbusMaster.cpp

@@ -2,9 +2,10 @@
 
 #include <QModbusRtuSerialMaster>
 #include <QEventLoop>
-
+#include <QThread>
 ModbusMaster::ModbusMaster(QObject* parent) : QObject(parent)
 {
+
 }
 
 /*************************************************************************************************/
@@ -18,6 +19,7 @@ void ModbusMaster::init(ExpConfig& expConfig)
 
             connect(_modbusDevice, &QModbusClient::errorOccurred, [this](QModbusDevice::Error)
             {
+                 _initialized = false;
                  throw ServoException(_modbusDevice->errorString());
             });
 
@@ -363,7 +365,14 @@ void ModbusMaster::writeRequest(QModbusDataUnit::RegisterType registerType,
 
 void ModbusMaster::close()
 {
+     qDebug() << " ModbusMaster::close " <<QThread::currentThreadId() ;
     if(_modbusDevice)
+    {
+        if (_modbusDevice->state() == QModbusDevice::ConnectedState || _modbusDevice->state() == QModbusDevice::ConnectingState)
+        {
             _modbusDevice->disconnectDevice();
+        }
         delete _modbusDevice;
+        _modbusDevice = nullptr;
+    }
 }

Servo/src/ModbusWrapper.cpp

@@ -74,6 +74,11 @@ void ModbusWrapper::init()
             &_modbusMaster,
             &ModbusMaster::setMultipleRegister,
             Qt::BlockingQueuedConnection);
+    connect(this,
+            &ModbusWrapper::closeOrder,
+            &_modbusMaster,
+            &ModbusMaster::close,
+            Qt::BlockingQueuedConnection);
 
     ExpConfig exp;
     emit initOrder(exp);
@@ -86,11 +91,16 @@ void ModbusWrapper::init()
 /*************************************************************************************************/
 void ModbusWrapper::close()
 { 
-  _modbusMaster.close();
+
+    if (_workerThread.isRunning())
+    {
+        emit closeOrder();
         _workerThread.quit();
         _workerThread.wait();
     }
 
+}
+
 /*************************************************************************************************/
 QBitArray ModbusWrapper::getCoil(int startAddress, quint16 readSize)
 {

Test/MainWindow.cpp

@@ -16,8 +16,12 @@ MainWindow::MainWindow(QWidget* parent)
 /*************************************************************************************************/
 MainWindow::~MainWindow()
 {
-	delete ui;
+    if (timer->isActive())
+    {
         timer->stop();
+        delete timer;
+    }
+    delete ui;
 }
 
 /*************************************************************************************************/
@@ -198,12 +202,17 @@ void MainWindow::on_init_clicked()
     try {
         _servoControler.init(ui->serialPortServo->text());
         timer = new QTimer();
-		timer->setInterval(1000);
+        timer->setInterval(2000);
         timer->start();
         connect(timer, &QTimer::timeout, this, &MainWindow::handleGetRequestFromServo);
     }
     catch(ServoException exp)
     {
+        if (timer->isActive())
+        {
+            timer->stop();
+            delete timer;
+        }
         ui->showServoError->setText(exp.getMessage());
     }
 }
@@ -217,11 +226,24 @@ void MainWindow::handleGetRequestFromServo()
        // ui->showStopAngle->setText(QString::number(_servoControler.getStopAngle()));
         //ui->showAngleOffset->setText(QString::number(_servoControler.getAngleOffset()));
        // ui->showAzimuth->setText(QString::number(_servoControler.getAzimuth()));
-        ui->connectionState->setText(QVariant(_servoControler.getStatus()).toString());
+        auto currentstatus=_servoControler.getStatus();
+        if (!currentstatus)
+        {
+                if (timer->isActive())
+                {
+                    timer->stop();
+                    delete timer;
+                }
+        }
+        ui->connectionState->setText(QVariant(currentstatus).toString());
     }
     catch(ServoException exp)
+    {
+        if (timer->isActive())
         {
             timer->stop();
+            delete timer;
+        }
         ui->showServoError->setText(exp.getMessage());
 
     }

Test/MainWindow.ui

@@ -957,7 +957,7 @@ color: rgb(238, 238, 236);
 background-color: rgb(186, 178, 158);</string>
        </property>
        <property name="text">
-        <string>Error Monitoring</string>
+        <string/>
        </property>
        <property name="wordWrap">
         <bool>true</bool>