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QT实现固高运动控制卡示波器

article 2024/11/15 23:22:02

一、固高示波器

二、基于QCustomPlot实现示波器

三、完整源码

一、固高示波器

固高运动控制卡自带的软件有一个示波器功能，可以实时显示速度的波形，可辅助分析电机的运行状态。但是我们基于sdk开发了自己的软件，无法再使用该功能，原因是2个软件不能同时与控制卡通信，故此需要我们自己再开发一个示波器。

固高示波器功能展示，功能包括多条曲线的显示、继续/暂停、左移、右移、设置、轴选择等。

二、基于QCustomPlot实现示波器

GCustomPlot简介与使用看官网就可以了

简介, Qt Plotting Widget QCustomPlot - Introduction

下载, Qt Plotting Widget QCustomPlot - Download

需要注意的是需要在pro文件中加入printsuppot模块，源码中使用该模块做pdf打印功能

QT       += printsupport

参考固高的功能实现速度示波器效果如下

QCustomPlot初始化设置

    m_customPlot = new QCustomPlot(this);
    m_customPlot->setObjectName(QLatin1String("customPlot"));
    ui->vlyPlot->addWidget(m_customPlot);

    m_customPlot->setBackground(QBrush(QColor("#474848")));
    m_customPlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom |
                                  QCP::iSelectPlottables);  /* 可拖拽+可滚轮缩放 */
    m_customPlot->legend->setVisible(true);

添加两条曲线图，addGraph

    m_customPlot->addGraph();
    m_customPlot->graph(0)->setPen(QPen(Qt::green, 3));
    m_customPlot->graph(0)->setName(QStringLiteral("实际速度"));

    m_customPlot->addGraph();
    m_customPlot->graph(1)->setPen(QPen(Qt::yellow, 3));
    m_customPlot->graph(1)->setName(QStringLiteral("规划速度"));

左右移动，通过设置X轴的范围来改变，再使用replot函数更新视图

m_customPlot->xAxis->setRange(m_customPlot->xAxis->range().lower - ui->spbStep->value(),
                                      m_customPlot->xAxis->range().upper - ui->spbStep->value());
        m_customPlot->replot();

网格线显示与隐藏

        m_customPlot->xAxis->grid()->setVisible(checked);
        m_customPlot->yAxis->grid()->setVisible(checked);
        m_customPlot->replot();

添加数据，示波器有向左自动滚动的效果，也是通过设置范围来实现

void OscilloscopeFrame::addData(double key, double actVel, double prfVel)
{
    m_customPlot->graph(0)->addData(key, actVel);
    m_customPlot->graph(1)->addData(key, prfVel);

    m_customPlot->xAxis->rescale();
    m_customPlot->graph(0)->rescaleValueAxis(false, true);
    m_customPlot->graph(1)->rescaleValueAxis(false, true);

    m_customPlot->xAxis->setRange(m_customPlot->xAxis->range().upper,
                                  m_fixedLength, Qt::AlignRight);
    m_customPlot->replot(QCustomPlot::rpQueuedReplot);  /* 实现重绘 */
}

实时显示数据，通过定时器实现

    m_timer = new QTimer();
    connect(m_timer, &QTimer::timeout, updateData);
    m_timer->start(OSCILLOSCOPE_UPDATE_MSEC);

鼠标放在曲线上显示当前值，关联鼠标移动信号，映射坐标pixelToCoord

    connect(m_customPlot, SIGNAL(mouseMove(QMouseEvent *)), this,
            SLOT(plotMouseMoveEvent(QMouseEvent *)));

void OscilloscopeFrame::plotMouseMoveEvent(QMouseEvent *event)
{
    if ( Qt::ControlModifier == event->modifiers())
    {
        int x_pos = event->pos().x();
        int x_val = m_customPlot->xAxis->pixelToCoord(x_pos);
        float y = m_customPlot->graph(0)->data()->at(x_val)->value;
        QString strToolTip = QString("%1,%2").arg(x_val).arg(y);
        QToolTip::showText(cursor().pos(), strToolTip, m_customPlot);
    }
}

三、完整源码

OscilloscopeFrame.h

#ifndef OSCILLOSCOPEFRAME_H
#define OSCILLOSCOPEFRAME_H

#include <QFrame>
#include "oscilloscopelib_global.h"

namespace Ui
{
    class OscilloscopeFrame;
}

class QCustomPlot;

class AbstractRobot;

class OSCILLOSCOPELIBSHARED_EXPORT OscilloscopeFrame : public QFrame
{
    Q_OBJECT

public:
    explicit OscilloscopeFrame(QWidget *parent = 0);
    ~OscilloscopeFrame();
    void setFixedLength(double length);
    void addData(double key, double actVel, double prfVel);
    void installController(AbstractRobot *controller);

private slots:
    void plotMouseMoveEvent(QMouseEvent *event);

private:
    Ui::OscilloscopeFrame *ui;
    QCustomPlot *m_customPlot = nullptr;
    QTimer *m_timer = nullptr;
    double m_fixedLength;
    AbstractRobot *m_controller = nullptr;
    double m_actPos = 0;
    double m_count = 0;
};

#endif // OSCILLOSCOPEFRAME_H

OscilloscopeFrame.cpp

#include "OscilloscopeFrame.h"
#include "qcustomplot.h"
#include "ui_OscilloscopeFrame.h"
#include <QtMath>
#include <QDebug>
#include <device/AbstractRobot.h>

#define OSCILLOSCOPE_UPDATE_MSEC  60

OscilloscopeFrame::OscilloscopeFrame(QWidget *parent) :
    QFrame(parent),
    ui(new Ui::OscilloscopeFrame)
{
    ui->setupUi(this);
    ui->spbStep->setValue(1);
    for(int i = 1; i <= 8; ++i)
    {
        ui->cmbAxisId->addItem(QString::number(i));
    }

    m_customPlot = new QCustomPlot(this);
    m_customPlot->setObjectName(QLatin1String("customPlot"));
    ui->vlyPlot->addWidget(m_customPlot);

    m_customPlot->setBackground(QBrush(QColor("#474848")));
    m_customPlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom |
                                  QCP::iSelectPlottables);  /* 可拖拽+可滚轮缩放 */
    m_customPlot->legend->setVisible(true);

    m_customPlot->addGraph();
    m_customPlot->graph(0)->setPen(QPen(Qt::green, 3));
    m_customPlot->graph(0)->setName(QStringLiteral("实际速度"));

    m_customPlot->addGraph();
    m_customPlot->graph(1)->setPen(QPen(Qt::yellow, 3));
    m_customPlot->graph(1)->setName(QStringLiteral("规划速度"));

    m_customPlot->axisRect()->setupFullAxesBox();
    m_customPlot->yAxis->setRange(0, 3.3);

    ui->btnPause2Continue->setCheckable(true);
    setFixedLength(100);

    /* 暂停/继续 */
    connect(ui->btnPause2Continue, &QPushButton::clicked, this, [ = ]()
    {
        if(!m_timer)
        {
            return;
        }
        bool isCheckable = ui->btnPause2Continue->isCheckable();
        if(isCheckable)
        {
            m_timer->stop();
            ui->btnPause2Continue->setText(QStringLiteral("继续"));
        }
        else
        {
            m_timer->start(OSCILLOSCOPE_UPDATE_MSEC);
            ui->btnPause2Continue->setText(QStringLiteral("暂停"));
        }
        ui->btnPause2Continue->setCheckable(!isCheckable);
    });

    /* 左移 */
    connect(ui->btnLeftMove, &QPushButton::clicked, this, [ = ]()
    {
        m_customPlot->xAxis->setRange(m_customPlot->xAxis->range().lower - ui->spbStep->value(),
                                      m_customPlot->xAxis->range().upper - ui->spbStep->value());
        m_customPlot->replot();
    });

    /* 右移 */
    connect(ui->btnRightMove, &QPushButton::clicked, this, [ = ]()
    {
        m_customPlot->xAxis->setRange(m_customPlot->xAxis->range().lower  + ui->spbStep->value(),
                                      m_customPlot->xAxis->range().upper  + ui->spbStep->value());
        m_customPlot->replot();
    });

    /* 显示表格 */
    connect(ui->chkGrid, &QCheckBox::toggled, this, [ = ](bool checked)
    {
        m_customPlot->xAxis->grid()->setVisible(checked);
        m_customPlot->yAxis->grid()->setVisible(checked);
        m_customPlot->replot();
    });

    auto updateData = [ & ]()
    {
        if(m_controller)
        {
            int axis = ui->cmbAxisId->currentText().toInt();
            T_AxisStatus status;
            int ec = m_controller->readAxisStatus(axis, &status);
            if(0 == ec)
            {
                ui->lblActVel->setText(QString::number(status.dEncVel));
                ui->lblPrfVel->setText(QString::number(status.dPrfVel));
                ui->lblActPos->setText(QString::number(status.dEncPos));
                ui->lblPrfPos->setText(QString::number(status.dPrfPos));
                if(m_actPos != status.dEncPos)
                {
                    m_actPos = status.dEncPos;
                    addData(m_count, status.dEncVel, status.dPrfVel);
                    m_count ++;
                }
            }
            else
            {
                ui->lblActVel->setText("error " + QString::number(ec));
                ui->lblPrfVel->setText("error " + QString::number(ec));
                ui->lblActPos->setText("error " + QString::number(ec));
                ui->lblPrfPos->setText("error " + QString::number(ec));
            }
        }
    };

    m_timer = new QTimer();
    connect(m_timer, &QTimer::timeout, updateData);
    m_timer->start(OSCILLOSCOPE_UPDATE_MSEC);

    connect(m_customPlot, SIGNAL(mouseMove(QMouseEvent *)), this,
            SLOT(plotMouseMoveEvent(QMouseEvent *)));

    for(int i = 0; i < 500; i++)
    {
        double x = qDegreesToRadians((double)i);
        addData(i, sin(x), cos(x));
    }
}

OscilloscopeFrame::~OscilloscopeFrame()
{
    m_timer->stop();
    delete m_timer;
    m_timer = nullptr;
    delete ui;
}

void OscilloscopeFrame::setFixedLength(double length)
{
    /* 显示固定长度 */
    m_fixedLength = length;
}

void OscilloscopeFrame::addData(double key, double actVel, double prfVel)
{
    m_customPlot->graph(0)->addData(key, actVel);
    m_customPlot->graph(1)->addData(key, prfVel);

    m_customPlot->xAxis->rescale();
    m_customPlot->graph(0)->rescaleValueAxis(false, true);
    m_customPlot->graph(1)->rescaleValueAxis(false, true);

    m_customPlot->xAxis->setRange(m_customPlot->xAxis->range().upper,
                                  m_fixedLength, Qt::AlignRight);
    m_customPlot->replot(QCustomPlot::rpQueuedReplot);  /* 实现重绘 */
}

void OscilloscopeFrame::installController(AbstractRobot *controller)
{
    m_controller = controller;
}

void OscilloscopeFrame::plotMouseMoveEvent(QMouseEvent *event)
{
    if ( Qt::ControlModifier == event->modifiers())
    {
        int x_pos = event->pos().x();
        int x_val = m_customPlot->xAxis->pixelToCoord(x_pos);
        float y = m_customPlot->graph(0)->data()->at(x_val)->value;
        QString strToolTip = QString("%1,%2").arg(x_val).arg(y);
        QToolTip::showText(cursor().pos(), strToolTip, m_customPlot);
    }
}

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