一、主要功能介绍
1.1 登录界面
登录界面，用来判断是否账号密码输入正确，错误将会弹出消息框。
void first::on_enroll_clicked(){if(ui->account->text()=="共创芯未来"&&ui->password->text()=="2024"){my_next->show();this->hide();}elseQMessageBox::about(this,"提示","密码错误");
}1.2 创建服务器
在主窗口的的构造函数中，初始化TCP服务器并监听指定的端口。并实现newConnection函数来处理新的连接请求。当有客户端尝试连接时，这个函数将被调用。
// 初始化TCP服务器：
my_server = new QTcpServer(this);
connect(my_server,SIGNAL(newConnection()),this,SLOT(newConnection_Slot()));
// 处理连接
void next::newConnection_Slot(){my_socket = my_server->nextPendingConnection();//得到通信的套接字对象connect(my_socket,SIGNAL(readyRead()),this,SLOT(readyRead_Slot()));
}1.3 编辑发送指令
//发送指令
void next::on_pushButton_TX_clicked(){QString SendCon = ui->lineEdit_TxAT->text().toLocal8Bit().data();//封装编码QByteArray receiveDate;QTextCodec *tc = QTextCodec::codecForName("GBK"); //编码转换,否则乱码//向输出框打印发送的数据，同时向下位机发送指令ui->plainTextEdit_Rxdata->appendPlainText(str2);my_socket->write(ui->lineEdit_TxAT->text().toLocal8Bit().data());
}1.4 实现按键切换效果
设置标志位，实现UI界面的切换效果。
int flag_forward = 0; //前进标志位
int flag_back = 0; //后退标志位
int flag_left = 0; //左转标志位
int flag_right = 0; //右转标志位
int flag_mode = 0; //避障模式标志位效果如下图所示：
二、上位机代码
2.1 first.c
#include "first.h"
#include "ui_first.h"first::first(QWidget *parent) :QWidget(parent),ui(new Ui::first)
{ui->setupUi(this);my_next = new next;this->setWindowIcon(QIcon(":/myResource/APP3.png"));this->setWindowTitle("登录");ui->account->setStyleSheet("border-style: solid;" /* 边框样式 */"color: rgb(255, 255, 255);"//"font: 15pt "华文中宋";""background-color: rgb(0, 0, 0);""border-width: 7px;" /* 边框宽度 */"border-radius: 10px;" /* 边框圆角 */);ui->account->setAlignment(Qt::AlignCenter); // 设置文本水平居中ui->account->setText("共创芯未来");ui->password->setStyleSheet("border-style: solid;" /* 边框样式 */"color: rgb(255, 255, 255);"//"font: 15pt "华文中宋";""background-color: rgb(0, 0, 0);""border-width: 7px;" /* 边框宽度 */"border-radius: 10px;" /* 边框圆角 */);ui->password->setAlignment(Qt::AlignCenter); // 设置文本水平居中ui->password->setText("2024");
}first::~first()
{delete ui;
}void first::on_enroll_clicked()
{if(ui->account->text()=="共创芯未来"&&ui->password->text()=="2024"){my_next->show();this->hide();}else{QMessageBox::about(this,"提示","密码错误");//ui->lineEdit->clear();//ui->lineEdit_2->clear();}
}
2.2 first.h
#ifndef FIRST_H
#define FIRST_H#include <QWidget>
#include <QMessageBox>
#include "next.h"namespace Ui {
class first;
}class first : public QWidget
{Q_OBJECTpublic:explicit first(QWidget *parent = 0);~first();private slots:void on_enroll_clicked();private:Ui::first *ui;next * my_next;
};#endif // FIRST_H
2.3 next.c
#include "next.h"
#include "ui_next.h"
#include <QTextCodec>int flag_connect = 0;next::next(QWidget *parent) :QWidget(parent),ui(new Ui::next)
{ui->setupUi(this);this->setWindowIcon(QIcon(":/myResource/APP4.png"));this->setWindowTitle("六足机器人控制系统 2024共创芯未来");//QPixmap *pixmap = new QPixmap(":/myResource/2024应用赛道作品视频封面.png");//pixmap->scaled(ui->label->size(), Qt::KeepAspectRatio);//ui->label->setScaledContents(true);//ui->label->setPixmap(*pixmap);//实例化对象my_socket = new QTcpSocket;my_server = new QTcpServer(this);my_timer = new QTimer;//关联信号与槽//套接字对象存在一个信号connected，该信号触发的时机是套接字连接成功，当信号触发由该界面的connect_success函数进行响应connect(my_socket,SIGNAL(connected()),this,SLOT(connect_success()));//套接字对象存在一个信号readyread，该信号触发的时机是套接字内存在数据可读，当信号触发则由该界面的recv_data_from_server函数进行响应connect(my_socket,SIGNAL(readyRead()),this,SLOT(recv_data_from_server()));connect(my_timer,SIGNAL(timeout()),this,SLOT(time_out()));//初始化TCP服务器：在主窗口的构造函数中，初始化TCP服务器并监听指定的端口。//my_server = new QTcpServer(this);connect(my_server,SIGNAL(newConnection()),this,SLOT(newConnection_Slot()));//my_server->listen(QHostAddress::Any, port); // 监听任意地址的****端口//QHostAddress serverAddress("192.168.45.36");//my_server->listen(serverAddress, 6666);
}next::~next()
{delete ui;
}//处理连接：实现NewConnection函数来处理新的连接请求。当有客户端尝试连接时，这个函数将被调用。
void next::newConnection_Slot(){flag_connect = 1;my_socket = my_server->nextPendingConnection();//得到通信的套接字对象connect(my_socket,SIGNAL(readyRead()),this,SLOT(readyRead_Slot()));connect(my_socket,SIGNAL(disconnected()),this,SLOT(disconnected_Slot()));ui->label_3->setStyleSheet("border-image: url(:/myResource/connect.png)");
}//服务器或客户机连接状态
void next::disconnected_Slot(){flag_connect = 0;my_socket->close();ui->label_3->setStyleSheet("border-image: url(:/myResource/discon.png)");
}void next::readyRead_Slot()
{QByteArray receivedData = my_socket->readAll(); // 直接读取所有可用数据if (!receivedData.isEmpty()){QTextCodec *tc = QTextCodec::codecForName("GBK"); // 只在需要时创建编码器QString strBuf = tc->toUnicode(receivedData); // 编码转换ui->plainTextEdit_Rxdata->appendPlainText(strBuf);}// receivedData.clear(); 在这里不需要被清除，因为它是局部变量
}//开启服务器
void next::on_pushButton_connect_clicked()
{QString port = ui->lineEdit_port->text();my_server->listen(QHostAddress::Any, atoi(port.toStdString().data())); // 监听任意地址的****端口//QString ip=ui->lineEdit_ip->text();//QString port=ui->lineEdit_port->text();//my_socket->connectToHost(QHostAddress(ip),atoi(port.toStdString().data()));
}//开启定时器计时
void next::on_pushButton_oncamera_clicked()
{my_timer->start(1000);
}
//暂停定时器计时
void next::on_pushButton_offcamera_clicked()
{my_timer->stop();
}void next::recv_data_from_server()
{if(flag_camera == 0){//获取图像大小char pic_len_buf[10] = {0};my_socket->read(pic_len_buf,10);pic_len = atoi(pic_len_buf);flag_camera = 1;}else if(flag_camera == 1){//当套接字内数据还没累计到一张图像时暂时不做读取if(my_socket->bytesAvailable()<pic_len){return ;}//获取图像内容，并显示char pic_buf[1024*1024] = {0};my_socket->read(pic_buf,pic_len);//定义一个QPixmap对象QPixmap my_pixmap;my_pixmap.loadFromData((uchar*)pic_buf,pic_len);my_pixmap = my_pixmap.scaled(ui->label_2->size());ui->label_2->setScaledContents(true);ui->label_2->setPixmap(my_pixmap);flag_camera = 0;}
}void next::connect_success()
{QMessageBox::about(this,"连接提示","连接成功");
}void next::time_out()
{char buf[1024] = "get_pic";my_socket->write(buf,sizeof(buf));
}//清空接收区
void next::on_pushButton_clear_clicked()
{ui->plainTextEdit_Rxdata->clear();
}
//发送指令
void next::on_pushButton_TX_clicked()
{QString SendCon = ui->lineEdit_TxAT->text().toLocal8Bit().data();if(flag_connect){if(SendCon!=""){//封装编码QByteArray receiveDate;QTextCodec *tc = QTextCodec::codecForName("GBK"); //编码转换,必须转换编码，否则乱码//对发送框编码receiveDate = ui->lineEdit_TxAT->text().toLocal8Bit().data();QString strBuf=tc->toUnicode(receiveDate);//整合符号 ->QString str = "->";QString str2 = str.append(strBuf);//向输出框打印发送的数据ui->plainTextEdit_Rxdata->appendPlainText(str2);my_socket->write(ui->lineEdit_TxAT->text().toLocal8Bit().data());}else{QMessageBox::critical(this,"警告","不能发送空白信息!");}}else{QMessageBox::critical(this,"提示","发送失败，未连接!");}
}
//前进指令
void next::on_pushButton_forward_clicked()
{if(flag_forward == 0){//char buff[20]="forward_on";char buff[20]="2";ui->pushButton_forward->setStyleSheet("border-style: solid;" /* 边框样式 *///"font: 15pt "华文中宋";""color: rgb(0, 255, 255);""border-width: 7px;" /* 边框宽度 */"border-radius: 10px;" /* 边框圆角 */"border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));");my_socket->write(buff,strlen(buff));flag_forward = 1;}else{ui->pushButton_forward->setStyleSheet("border-style: solid;" /* 边框样式 *///"font: 15pt "华文中宋";""color: rgb(139, 139, 139);""border-width: 7px;" /* 边框宽度 */"border-radius: 10px;" /* 边框圆角 */"border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));");//char buff[20]="forward_off";char buff[20]="22";my_socket->write(buff,strlen(buff));flag_forward = 0;}
}void next::on_pushButton_right_clicked()
{if(flag_right== 0){char buff[20]="5";ui->pushButton_right->setStyleSheet("border-style: solid;" /* 边框样式 *///"font: 15pt "华文中宋";""color: rgb(0, 255, 255);""border-width: 7px;" /* 边框宽度 */"border-radius: 10px;" /* 边框圆角 */"border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));");my_socket->write(buff,strlen(buff));flag_right = 1;}else{ui->pushButton_right->setStyleSheet("border-style: solid;" /* 边框样式 *///"font: 15pt "华文中宋";""color: rgb(139, 139, 139);""border-width: 7px;" /* 边框宽度 */"border-radius: 10px;" /* 边框圆角 */"border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));");char buff[20]="55";my_socket->write(buff,strlen(buff));flag_right = 0;}
}void next::on_pushButton_left_clicked()
{if(flag_left== 0){char buff[20]="4";ui->pushButton_left->setStyleSheet("border-style: solid;" /* 边框样式 *///"font: 15pt "华文中宋";""color: rgb(0, 255, 255);""border-width: 7px;" /* 边框宽度 */"border-radius: 10px;" /* 边框圆角 */"border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));");my_socket->write(buff,strlen(buff));flag_left = 1;}else{ui->pushButton_left->setStyleSheet("border-style: solid;" /* 边框样式 *///"font: 15pt "华文中宋";""color: rgb(139, 139, 139);""border-width: 7px;" /* 边框宽度 */"border-radius: 10px;" /* 边框圆角 */"border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));");char buff[20]="44";my_socket->write(buff,strlen(buff));flag_left = 0;}
}void next::on_pushButton_back_clicked()
{if(flag_back== 0){char buff[20]="3";ui->pushButton_back->setStyleSheet("border-style: solid;" /* 边框样式 *///"font: 15pt "华文中宋";""color: rgb(0, 255, 255);""border-width: 7px;" /* 边框宽度 */"border-radius: 10px;" /* 边框圆角 */"border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));");my_socket->write(buff,strlen(buff));flag_back = 1;}else{ui->pushButton_back->setStyleSheet("border-style: solid;" /* 边框样式 *///"font: 15pt "华文中宋";""color: rgb(139, 139, 139);""border-width: 7px;" /* 边框宽度 */"border-radius: 10px;" /* 边框圆角 */"border-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0 rgba(0, 0, 0, 0), stop:0.52 rgba(0, 0, 0, 0), stop:0.565 rgba(82, 121, 76, 33), stop:0.65 rgba(159, 235, 148, 64), stop:0.721925 rgba(255, 238, 150, 129), stop:0.77 rgba(255, 128, 128, 204), stop:0.89 rgba(191, 128, 255, 64), stop:1 rgba(0, 0, 0, 0));");char buff[20]="33";my_socket->write(buff,strlen(buff));flag_back = 0;}
}void next::on_pushButton_mode_clicked()
{if(flag_mode == 0){char buff[20]="1";ui->pushButton_mode->setStyleSheet("border-style: solid;" /* 边框样式 */"border-color: rgb(170, 255, 255);""color: rgb(0, 255, 255);""border-width: 7px;"/* 边框宽度 */"border-radius: 25px;" /* 边框圆角 */"background-color: rgb(148, 148, 148);");my_socket->write(buff,strlen(buff));flag_mode = 1;}else{ui->pushButton_mode->setStyleSheet("border-style: solid;" /* 边框样式 */"color: rgb(176, 176, 176);""border-width: 7px;" /* 边框宽度 */"border-radius: 25px;" /* 边框圆角 */);char buff[20]="0";my_socket->write(buff,strlen(buff));flag_mode = 0;}
}
2.4 next.h
#ifndef NEXT_H
#define NEXT_H#include <QWidget>#include <QTcpSocket>
#include <QTcpServer>
#include <QHostAddress>#include <QPixmap>
#include <QMessageBox>//定时器类头文件
#include <QTimer>namespace Ui {
class next;
}class next : public QWidget
{Q_OBJECTpublic:explicit next(QWidget *parent = 0);~next();private slots:void on_pushButton_oncamera_clicked();void on_pushButton_offcamera_clicked();void recv_data_from_server();void connect_success();void time_out();void on_pushButton_connect_clicked();void on_pushButton_forward_clicked();void newConnection_Slot();void disconnected_Slot();void readyRead_Slot();void on_pushButton_clear_clicked();void on_pushButton_TX_clicked();void on_pushButton_right_clicked();void on_pushButton_left_clicked();void on_pushButton_back_clicked();void on_pushButton_mode_clicked();private:Ui::next *ui;QTcpSocket * my_socket;QTcpServer * my_server;//定时器对象指针QTimer * my_timer;int flag_camera = 0;int pic_len;int flag_forward = 0;int flag_back = 0;int flag_left = 0;int flag_right = 0;int flag_mode = 0;
};#endif // NEXT_H
