Ok hier etwas mehr Code, alles kann/darf ich nicht posten.
Im Wesentlichen sind in der run Methode noch 10-20 weitere Messages, die in else if Blöcken abgefragt werden und dann bearbeitet werden. Es klappt soweit alles einwandfrei. Lediglich bei der Nachricht "CONFIG_UPDATE" bekam ich nun Probleme.
Eigentlich will ich beim eintreffen dieser Nachricht einen Timer einschalten, der in einem Intervall immer Werte in die OutgoingMessageQeue schreibt. Nur wird leider der Slot nicht aktiv. Wie gesagt so weit funktioniert alles mit den Queues und Threads nur der Timer will nicht.
Code: Alles auswählen
CPP-File
Robot* Robot::_instance = 0;
Robot* Robot::Instance()
{
if (_instance == 0)
{
_instance = new Robot;
}
return _instance;
}
void Robot::Delete()
{
if (_instance != 0)
{
delete _instance;
_instance = 0;
}
}
Robot::Robot()
{
m_theRobbi = new Robot();
mutex.lock();
m_valueConnectionStatus = "Not Connected";
mutex.unlock();
connect( m_theRobbi, SIGNAL (connectionStateChanged(int)),
SLOT ( slotConnectionStateHasChanged(int)) );
m_vx = 0;
m_vy = 0;
m_omega = 0;
counter = 0;
_numMot = 1;
}
Robot::~Robot()
{
delete (m_theRobbi);
m_theRobbi = NULL;
}
bool Robot::connectToRobot(char* ipAdd, int portNumber)
{
Q_UNUSED (portNumber);
emit signalCreateStatusMessage("Trying to connect at IP: " + QString(ipAdd));
m_theRobbi->connectRobotino(ipAdd);
return true;
}
void RobotinoCom::disconnectFromRobot()
{
m_theRobbi->closeConnection();
}
void Robot::run()
{
// do while connected
bool isConnected = false;
mutex.lock();
if (m_valueConnectionStatus == "Connected")
isConnected = true;
else
isConnected = false;
mutex.unlock();
QTimer* o1_curTimer = new QTimer();
while(isConnected)
{
QString message = IncommingMessageQueue::Instance()->processMessageFromQueue();
QString msgName, msgParams;
if (message != "" && message.contains(';'))
{
int pos = message.indexOf(",",0);
if (-1 == pos)
{
// Message contains no parameter
if (!message.endsWith(";"))
{
// Message is corrupt and does not end with ";" !!!
qDebug() << "ERROR ### Fehlerhafte Nachricht";
}
else
{
// delete ";" at the end from the message string
msgName = message.remove(message.size()-1,1);
}
}
else
{
// everything left before the first "," is the message name
msgName = message.left(pos);
// everything between the first "," and the ";" is belongs to the param-list
msgParams = message.right(message.size()-pos-1).remove(QChar(';'));
}
}
if (msgName == "START_MOVE_ARM")
{
QStringList paramList = msgParams.split(",");
for (int i = 0; i < paramList.count(); ++i)
{
if (paramList.at(i)== "omni1")
{
moveAxisNum(0);
}
if (paramList.at(i)== "omni2")
{
moveAxisNum(1);
}
if (paramList.at(i)== "omni3")
{
moveAxisNum(2);
}
if (paramList.at(i)== "stop")
{
stop(0.0);
}
}// END for
OutgoingMessageQueue::Instance()->addMessageToQueue("START_MOVE,ok;");
}// END if START_MOVE_ARM
else if (msgName == "CONFIG_UPDATE")
{
QStringList paramList = msgParams.split(",");
if ((paramList.count()>= 1) && (paramList.at(0) == "sensors"))
{
for (int i = 1; i < paramList.count(); i=i+2)
{
if (paramList.at(i) == "o1_cur")
{
_numMot = 1;
if (paramList.at(i+1)>0)
{
if (NULL != o1_curTimer)
{
connect( o1_curTimer, SIGNAL(timeout()),
this, SLOT(slotUnSolMotorCur1()) );
int zahl = paramList.at(i+1).toInt();
o1_curTimer->start(2);
}
}
else if (paramList.at(i+1)==0)
{
if (NULL != o1_curTimer)
{
o1_curTimer->stop();
disconnect( o1_curTimer, SIGNAL(timeout()),
this, SLOT(slotUnSolMotorCur1()) );
}
}
}
}
OutgoingMessageQueue::Instance()->addMessageToQueue("SENSOR_UPDATE,ok;");
}// END if sensors
}// END if CONFIG_UPDATE
else if (msgName == "GET_VERSION")
{
OutgoingMessageQueue::Instance()->addMessageToQueue("Version 2.1,ROBOT;");
}
msleep(2);
mutex.lock();
if (m_valueConnectionStatus == "Connected")
isConnected = true;
else
isConnected = false;
mutex.unlock();
}
if (NULL!=o1_curTimer)
{
delete(o1_curTimer);
o1_curTimer = NULL;
}
}
void Robot::slotConnectionStateHasChanged(int state)
{
switch( state )
{
case 0: // Com::NotConnected:
mutex.lock();
m_valueConnectionStatus = "Not Connected";
mutex.unlock();
emit signalConnectionStatus(0);
emit signalCreateStatusMessage("Not connected.");
finished();
break;
case 1: // Com::HostLookupState:
mutex.lock();
m_valueConnectionStatus = "Try to connect";
mutex.unlock();
emit signalConnectionStatus(1);
emit signalCreateStatusMessage("Searching Host.");
break;
case 2: // Com::Connecting:
mutex.lock();
m_valueConnectionStatus = "Connecting";
mutex.unlock();
emit signalConnectionStatus(1);
emit signalCreateStatusMessage("Currently connecting.");
break;
case 3: // Com::Connected:
mutex.lock();
m_valueConnectionStatus = "Connected";
mutex.unlock();
emit signalConnectionStatus(2);
emit signalCreateStatusMessage("Is connected.");
start();
break;
case 6: // Com::ClosingState:
mutex.lock();
m_valueConnectionStatus = "Connection going down";
mutex.unlock();
emit signalConnectionStatus(1);
emit signalCreateStatusMessage("Currently disconnecting.");
start();
break;
}
}
QString Robot::getConnectionState()
{
return m_valueConnectionStatus;
}
void Robot::slotUnSolMotorCur1()
{
double cur = static_cast<double>(getMotorCurrent(1));
qDebug() << cur;
OutgoingMessageQueue::Instance()->addMessageToQueue("SENSOR_UPDATE,o1_cur,"+QString::number(cur,'g',3)+";");
}
Code: Alles auswählen
h-File
#ifndef Robot_H
#define Robot_H
#include <QtGui>
const double vMax = 420.0;
class Robot: public QThread
{
Q_OBJECT
public:
static Robot* Instance();
static void Delete();
virtual ~Robot();
void run();
...
QString getConnectionState();
public slots:
void slotConnectionStateHasChanged(int state);
void slotRobotErrorRecived(Com::Error error, const char* errorString);
void slotUnSolMotorCur1();
signals:
void signalConnectionStatus(int i);
void signalCreateStatusMessage(const QString&);
protected:
RobotinoCom();
private:
void updateVelocity();
static Robot* _instance;
Robot* m_theRobbi;
double m_vx, m_vy, m_omega;
QString m_valueConnectionStatus;
QMutex mutex;
int counter;
int _numMot;
};
#endif
