Servo/Test/MainWindow.cpp

#include "MainWindow.h"
#include "ui_MainWindow.h"

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

	ui->writeTable->addItem(tr("Coils"), 0);
	ui->writeTable->addItem(tr("Discrete Inputs"), 1);
	ui->writeTable->addItem(tr("Input Registers"), 2);
	ui->writeTable->addItem(tr("Holding Registers"), 3);
}

/*************************************************************************************************/
MainWindow::~MainWindow()
{
	delete ui;
	timer->stop();
}

/*************************************************************************************************/
void MainWindow::on_connect_clicked()
{
	try
	{
		configDevice.serialPort = "/dev/pts/2";
		configDevice.clientAddress = 1;
		configDevice.responseTime = 1000;
		configDevice.numberOfRetries = 3;
		qDebug() << "before init";
		modbusWrapper.init();
		qDebug() << "after init";
		qDebug() << "before connect";
		modbusWrapper.connectToDevice(configDevice);
		qDebug() << "after connect";
		ui->errorMonitoring->setText("No Error");
	}
	catch(ServoException ex)
	{
		ui->errorMonitoring->setText(ex.getMessage());
	}
}

/*************************************************************************************************/
void MainWindow::on_readButton_clicked()
{
	int startAddress = ui->startAddress->text().toInt();
	int numberOfEntries = ui->readSize->text().toInt();
	try
	{
		switch(ui->writeTable->currentData().toInt())
		{
			case 0:
				printCoilsDataFromClient(modbusWrapper.getCoil(startAddress,
															   static_cast<quint16>(numberOfEntries)));
				break;

			case 1:
				printCoilsDataFromClient(modbusWrapper.getInputCoil(startAddress,
																	static_cast<quint16>(
																		numberOfEntries)));
				break;

			case 2:
				printRegisterDataFromClient(modbusWrapper.getInputRegister(startAddress,
																		   static_cast<quint16>(
																			   numberOfEntries)));
				break;

			case 3:
				printRegisterDataFromClient(modbusWrapper.getHoldingRegister(startAddress,
																			 static_cast<quint16>(
																				 numberOfEntries)));
				break;
		}
		ui->errorMonitoring->setText("No Error");
	}
	catch(const ServoException& exp)
	{
		ui->errorMonitoring->setText(exp.getMessage());
	}
}

/*************************************************************************************************/
void MainWindow::printCoilsDataFromClient(QBitArray uiCoils)
{
	QString readedData;
	for(int i = 0; i < uiCoils.count(); i++)
	{
		const QString entry = tr("Number: %1, Value: %2").arg(i)
							  .arg(QString::number(uiCoils[i]));
		readedData += (entry + "\n");
	}
	ui->textEditRead->setText(readedData);
}

/*************************************************************************************************/
void MainWindow::printRegisterDataFromClient(QVector<quint16> uiHoldingRegisters)
{
	QString readedData;
	for(int i = 0; i < uiHoldingRegisters.count(); i++)
	{
		const QString entry = tr("Number: %1, Value: %2").arg(i)
							  .arg(QString::number(uiHoldingRegisters[i]));
		readedData += (entry + "\n");
	}
	ui->textEditRead->setText(readedData);
}

/*************************************************************************************************/
void MainWindow::on_writeSingleCoil_clicked()
{
	try {
		int startAddress = ui->writeSingleCoilAddress->text().toInt();
		modbusWrapper.setSingleCoil(startAddress, ui->coilData->isChecked());
		ui->errorMonitoring->setText("No Error");
	}
	catch(const ServoException& exp)
	{
		ui->errorMonitoring->setText(exp.getMessage());
	}
}

/*************************************************************************************************/
void MainWindow::on_writeMultiCoil_clicked()
{
	try {
		int startAddress = ui->writeMultiCoilStartAddress->text().toInt();
		int writeQty = ui->writeMultiCoilQty->text().toInt();
		QString valueToWrite = ui->writeMultiCoilValue->text();

		QBitArray uiCoils;
		uiCoils.resize(writeQty);

		for(int i = 0; i < valueToWrite.size(); i++)
		{
			if(valueToWrite.at(i) == '0')
				uiCoils[i] = false;
			else
				uiCoils[i] = true;
		}
		modbusWrapper.setMultipleCoil(startAddress, static_cast<quint16>(writeQty), uiCoils);
		ui->errorMonitoring->setText("No Error");
	}
	catch(const ServoException& exp)
	{
		ui->errorMonitoring->setText(exp.getMessage());
	}
}

/*************************************************************************************************/
void MainWindow::on_writeSingleRegister_clicked()
{
	try {
		int startAddress = ui->writeSingleRegisterAddress->text().toInt();
		quint16 value = static_cast<quint16>(ui->writeSingleRegisterValue->text().toInt());
		modbusWrapper.setSingleRegister(startAddress, value);
		ui->errorMonitoring->setText("No Error");
	}
	catch(const ServoException& exp)
	{
		ui->errorMonitoring->setText(exp.getMessage());
	}
}

/*************************************************************************************************/
void MainWindow::on_writeMultiRegister_clicked()
{
	try {
		int startAddress = ui->writeMultiRegisterStartAddress->text().toInt();
		int writeQty = ui->writeMultiRegisterQty->text().toInt();
		QString valueToWrite = ui->writeMultiRegisterValue->text();
		QVector<quint16> uiHoldingRegisters;
		uiHoldingRegisters.resize(writeQty);

		QRegExp rx("(\\ |\\,|\\.|\\:|\\t)"); //RegEx for ' ' or ',' or '.' or ':' or '\t'
		QStringList stringListValue = valueToWrite.split(rx);

		for(int i = 0; i < stringListValue.size(); i++)
		{
			uiHoldingRegisters[i] = static_cast<quint16>(stringListValue[i].toInt());
		}
		modbusWrapper.setMultipleRegister(startAddress,
										  static_cast<quint16>(writeQty),
										  uiHoldingRegisters);
		ui->errorMonitoring->setText("No Error");
	}
	catch(const ServoException& exp)
	{
		ui->errorMonitoring->setText(exp.getMessage());
	}
}

/*************************************************************************************************/
void MainWindow::on_init_clicked()
{
	try {
		_servoControler.init(ui->serialPortServo->text());
		timer = new QTimer();
		timer->setInterval(1000);
		timer->start();
		connect(timer, &QTimer::timeout, this, &MainWindow::handleGetRequestFromServo);
	}
	catch(ServoException exp)
	{
		ui->showServoError->setText(exp.getMessage());
	}
}

/*************************************************************************************************/
void MainWindow::handleGetRequestFromServo()
{
	try {
		ui->showSpeed->setText(QString::number(_servoControler.getSpeed()));
		ui->showStartAngle->setText(QString::number(_servoControler.getStartAngle()));
		ui->showStopAngle->setText(QString::number(_servoControler.getStopAngle()));
		ui->showAngleOffset->setText(QString::number(_servoControler.getAngleOffset()));
		ui->showAzimuth->setText(QString::number(_servoControler.getAzimuth()));
	}
	catch(ServoException exp)
	{
		ui->showServoError->setText(exp.getMessage());
	}
}

/*************************************************************************************************/
void MainWindow::on_startMoving_clicked()
{
	try {
		_servoControler.startMoving();
	}
	catch(ServoException exp)
	{
		ui->showServoError->setText(exp.getMessage());
	}
}

/*************************************************************************************************/
void MainWindow::on_stopMoving_clicked()
{
	try {
		_servoControler.stopMoving();
	}
	catch(ServoException exp)
	{
		ui->showServoError->setText(exp.getMessage());
	}
}

/*************************************************************************************************/
void MainWindow::on_ResetAzimuth_clicked()
{
	try {
		_servoControler.resetAzimuth();
	}
	catch(ServoException exp)
	{
		ui->showServoError->setText(exp.getMessage());
	}
}

/*************************************************************************************************/
void MainWindow::on_sectorSpeed_clicked()
{
	try {
		_servoControler.sector(ui->startAngle->text().toDouble(),
							   ui->stopAngle->text().toDouble(),
							   ui->speed->text().toDouble());
	}
	catch(ServoException exp)
	{
		ui->showServoError->setText(exp.getMessage());
	}
}

/*************************************************************************************************/
void MainWindow::on_fix_clicked()
{
	try {
		_servoControler.fix(ui->startAngle->text().toDouble());
	}
	catch(ServoException exp)
	{
		ui->showServoError->setText(exp.getMessage());
	}
}