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AuseftDDSPlugins/plugins/AQTSampleMachinePlug/AQTSampleMachinePlug.cxx

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  1. #include "AQTSampleMachinePlug.hpp"

  2. #include <QDebug>

  3. #include <fastdds/dds/domain/DomainParticipantFactory.hpp>

  4. #include <QQmlComponent>

  5. #include <QQmlContext>

  6. #include <QUrl>

  7. 

  8. /**

  9.  * @brief 构造函数

  10.  * @param parent 父对象指针

  11.  * 

  12.  * 初始化插件对象，包括：

  13.  * - 初始化所有指针为空

  14.  * - 创建DDS类型支持对象

  15.  * - 初始化数据点信息

  16.  */

  17. AQTSampleMachinePlug::AQTSampleMachinePlug(QObject *parent)

  18.     : QObject(parent)

  19.     , participant_(nullptr)

  20.     , publisher_(nullptr)

  21.     , subscriber_(nullptr)

  22.     , commandTopic_(nullptr)

  23.     , commandWriter_(nullptr)

  24.     , statusTopic_(nullptr)

  25.     , statusReader_(nullptr)

  26.     , configTopic_(nullptr)

  27.     , configWriter_(nullptr)

  28.     , pointsTopic_(nullptr)

  29.     , pointsWriter_(nullptr)

  30.     , pointsReader_(nullptr)

  31.     , m_configWindow(nullptr)

  32. {

  33.     // 初始化类型支持

  34.     commandType_ = TypeSupport(new SampleCommandPubSubType());

  35.     statusType_ = TypeSupport(new SampleMachineInfoPubSubType());

  36.     configType_ = TypeSupport(new SampleConfigPubSubType());

  37.     pointsType_ = TypeSupport(new SamplePointsPubSubType());

  38. }

  39. 

  40. /**

  41.  * @brief 析构函数

  42.  * 

  43.  * 清理插件对象，主要是清理所有DDS相关的资源。

  44.  */

  45. AQTSampleMachinePlug::~AQTSampleMachinePlug()

  46. {

  47.     // 清理DDS资源

  48.     cleanupDDSEntities();

  49.     if (m_configWindow) {

  50.         m_configWindow->deleteLater();

  51.     }

  52. }

  53. 

  54. /**

  55.  * @brief 初始化插件

  56.  * @param domainId DDS域ID

  57.  * @param domainName DDS域名称

  58.  * @return 初始化是否成功

  59.  * 

  60.  * 初始化DDS通信环境，包括：

  61.  * - 创建DDS参与者

  62.  * - 初始化所有DDS实体

  63.  */

  64. bool AQTSampleMachinePlug::init(uint32_t domainId, const QString& domainName)

  65. {

  66.     // 创建DDS参与者

  67.     DomainParticipantQos participantQos;

  68.     participantQos.name(domainName.toStdString());

  69.     participant_ = DomainParticipantFactory::get_instance()->create_participant(domainId, participantQos);

  70. 

  71.     if (!participant_) {

  72.         qDebug() << "Failed to create participant";

  73.         return false;

  74.     }

  75. 

  76.     // 初始化其他DDS实体

  77.     return initDDSEntities();

  78. }

  79. 

  80. /**

  81.  * @brief 获取数据点信息列表

  82.  * @return 所有支持的数据点信息列表

  83.  */

  84. QList<DataPointInfo> AQTSampleMachinePlug::getDataPoints()

  85. {

  86.     // 在函数调用时创建并返回数据点列表

  87.     return {

  88.         // ===== SampleConfigData 相关数据点 (1-9) =====

  89.         {1, "UnifiedDepth", "uint16"},      // 统一深度（全段面采样时使用）

  90.         {2, "SampleOrder", "uint8"},        // 大车行进顺序（1:原点往外，2:往原点采）

  91. 

  92.         // ===== SampleCommand 相关数据点 (10-29) =====

  93.         {10, "CommandMaskBits", "uint32"},    // 命令掩码，表示哪些字段被修改

  94.         {11, "ControlType", "uint8"},         // 控制类型（1:就地，2:远程）

  95.         {12, "StartSample", "int32"},         // 启动采样命令 (CommandState: STOP=0, START=1)

  96.         {13, "StopSample", "int32"},          // 停止采样命令 (CommandState: STOP=0, START=1)

  97.         {14, "Reset", "int32"},               // 系统复位命令 (CommandState: STOP=0, START=1)

  98.         {15, "PositionCheck", "int32"},       // 位置确认命令 (CommandState: STOP=0, START=1)

  99.         {16, "EmergencyUp", "int32"},         // 紧急提升命令 (CommandState: STOP=0, START=1)

  100.         {17, "EmergencyStop", "int32"},       // 系统急停命令 (CommandState: STOP=0, START=1)

  101.         {18, "ControlBelt1", "int32"},        // 启停皮带1 (CommandState: STOP=0, START=1)

  102.         {19, "ControlBelt2", "int32"},        // 启停皮带2 (CommandState: STOP=0, START=1)

  103.         {20, "ControlCrush1", "int32"},       // 启停破碎机1 (CommandState: STOP=0, START=1)

  104.         {21, "ControlCrush2", "int32"},       // 启停破碎机2 (CommandState: STOP=0, START=1)

  105.         {22, "ControlDivider", "int32"},      // 启停缩分器 (CommandState: STOP=0, START=1)

  106.         {23, "ControlCoalDistributor", "int32"}, // 启停布煤器 (CommandState: STOP=0, START=1)

  107.         {24, "ReductionRatio", "uint16"},     // 缩分比

  108.         {25, "CommandVersion", "uint8"},       // 命令结构体版本号

  109. 

  110.         // ===== SampleInfo 相关数据点 (30-49) =====

  111.         {30, "StatusMaskBits", "uint32"},    // 状态掩码，表示哪些字段被修改

  112.         {31, "BigPoint", "uint16"},          // 大车位置

  113.         {32, "SmallPoint", "uint16"},        // 小车位置

  114.         {33, "DepthPoint", "uint16"},        // 深度位置

  115.         {34, "HasToXY", "uint8"},            // 到达坐标点（0:未到达，1:已到达）

  116.         {35, "HasSamplePoints", "uint8"},    // 已采样点数

  117.         {36, "GameOver", "uint8"},           // 采样完成（0:未完成，1:完成）

  118.         {37, "BackState", "uint16"},         // 采样状态返回

  119.         {38, "SampleState", "int32"},        // 采样机状态 (DeviceState: OFF=0, ON=1, ERROR=2)

  120.         {39, "Belt1State", "int32"},         // 皮带1状态 (DeviceState: OFF=0, ON=1, ERROR=2)

  121.         {40, "Belt2State", "int32"},         // 皮带2状态 (DeviceState: OFF=0, ON=1, ERROR=2)

  122.         {41, "Crush1State", "int32"},        // 破碎机1状态 (DeviceState: OFF=0, ON=1, ERROR=2)

  123.         {42, "Crush2State", "int32"},        // 破碎机2状态 (DeviceState: OFF=0, ON=1, ERROR=2)

  124.         {43, "DividerState", "int32"},       // 缩分器状态 (DeviceState: OFF=0, ON=1, ERROR=2)

  125.         {44, "BigLimit", "uint8"},           // 大车限位（0:未限位，1:已限位）

  126.         {45, "BigZeroLimit", "uint8"},       // 大车零点限位（0:未限位，1:已限位）

  127.         {46, "SmallLimit", "uint8"},         // 小车限位（0:未限位，1:已限位）

  128.         {47, "SmallZeroLimit", "uint8"},     // 小车零点限位（0:未限位，1:已限位）

  129.         {48, "UpLimit", "uint8"},            // 升高限位（0:未限位，1:已限位）

  130.         {49, "DownLimit", "uint8"},          // 降低限位（0:未限位，1:已限位）

  131.         {50, "StatusVersion", "uint8"},      // 状态结构体版本号

  132. 

  133.         // ===== SamplePoints 相关数据点 (51-99) =====

  134.         {51, "TotalPoints", "uint8"},        // 采样点数量

  135.         // 点1

  136.         {52, "Point1X", "uint16"},           // 采样点1 X坐标

  137.         {53, "Point1Y", "uint16"},           // 采样点1 Y坐标

  138.         {54, "Point1Z", "uint16"},           // 采样点1 Z坐标

  139.         {55, "Point1Drop", "int32"},         // 采样点1 落料选择 (DropChoice: BYPASS=0, CRUSHER=1)

  140.         // 点2

  141.         {56, "Point2X", "uint16"},           // 采样点2 X坐标

  142.         {57, "Point2Y", "uint16"},           // 采样点2 Y坐标

  143.         {58, "Point2Z", "uint16"},           // 采样点2 Z坐标

  144.         {59, "Point2Drop", "int32"},         // 采样点2 落料选择 (DropChoice: BYPASS=0, CRUSHER=1)

  145.         // 点3

  146.         {60, "Point3X", "uint16"},           // 采样点3 X坐标

  147.         {61, "Point3Y", "uint16"},           // 采样点3 Y坐标

  148.         {62, "Point3Z", "uint16"},           // 采样点3 Z坐标

  149.         {63, "Point3Drop", "int32"},         // 采样点3 落料选择 (DropChoice: BYPASS=0, CRUSHER=1)

  150.         // 点4

  151.         {64, "Point4X", "uint16"},           // 采样点4 X坐标

  152.         {65, "Point4Y", "uint16"},           // 采样点4 Y坐标

  153.         {66, "Point4Z", "uint16"},           // 采样点4 Z坐标

  154.         {67, "Point4Drop", "int32"},         // 采样点4 落料选择 (DropChoice: BYPASS=0, CRUSHER=1)

  155.         // 点5

  156.         {68, "Point5X", "uint16"},           // 采样点5 X坐标

  157.         {69, "Point5Y", "uint16"},           // 采样点5 Y坐标

  158.         {70, "Point5Z", "uint16"},           // 采样点5 Z坐标

  159.         {71, "Point5Drop", "int32"},         // 采样点5 落料选择 (DropChoice: BYPASS=0, CRUSHER=1)

  160.         // 点6

  161.         {72, "Point6X", "uint16"},           // 采样点6 X坐标

  162.         {73, "Point6Y", "uint16"},           // 采样点6 Y坐标

  163.         {74, "Point6Z", "uint16"},           // 采样点6 Z坐标

  164.         {75, "Point6Drop", "int32"}          // 采样点6 落料选择 (DropChoice: BYPASS=0, CRUSHER=1)

  165.     };

  166. }

  167. 

  168. /**

  169.  * @brief 发布数据到DDS网络

  170.  * @param dataList 要发布的数据项列表

  171.  * @return 发布是否成功

  172.  * 

  173.  * 将数据项列表转换为相应的DDS消息并发布：

  174.  * - 检查写入器是否可用

  175.  * - 转换数据格式

  176.  * - 发送数据

  177.  */

  178. bool AQTSampleMachinePlug::publishData(const QList<DataItem>& dataList)

  179. {

  180.     if (dataList.isEmpty()) {

  181.         qDebug() << "Empty data list received";

  182.         return false;

  183.     }

  184. 

  185.     try {

  186.         // 根据第一个数据项的ID判断主题类型

  187.         int firstId = dataList.first().ID;

  188.         

  189.         if (firstId >= 1 && firstId <= 9) {  // 配置数据

  190.             if (!configWriter_) {

  191.                 qDebug() << "Config writer not initialized";

  192.                 return false;

  193.             }

  194.             auto config = dataItemsToConfig(dataList);

  195.             return configWriter_->write(&config);

  196.         }

  197.         else if (firstId >= 10 && firstId <= 29) {  // 命令数据

  198.             if (!commandWriter_) {

  199.                 qDebug() << "Command writer not initialized";

  200.                 return false;

  201.             }

  202.             auto command = dataItemsToCommand(dataList);

  203.             return commandWriter_->write(&command);

  204.         }

  205.         else if (firstId >= 51 && firstId <= 99) {  // 采样点数据

  206.             if (!pointsWriter_) {

  207.                 qDebug() << "Points writer not initialized";

  208.                 return false;

  209.             }

  210.             auto points = dataItemsToPoints(dataList);

  211.             return pointsWriter_->write(&points);

  212.         }

  213.         else {

  214.             qDebug() << "Invalid data ID range:" << firstId;

  215.             return false;

  216.         }

  217.     }

  218.     catch (const std::exception& e) {

  219.         qDebug() << "Error publishing data:" << e.what();

  220.         return false;

  221.     }

  222. 

  223. }

  224. 

  225. /**

  226.  * @brief 初始化DDS实体

  227.  * @return 初始化是否成功

  228.  * 

  229.  * 创建并初始化所有DDS通信所需的实体，包括：

  230.  * - 注册数据类型

  231.  * - 创建发布者和订阅者

  232.  * - 创建主题

  233.  * - 创建数据写入器和读取器

  234.  * - 设置数据监听器

  235.  */

  236. bool AQTSampleMachinePlug::initDDSEntities()

  237. {

  238.     try {

  239.         // 注册所有类型

  240.         commandType_.register_type(participant_);

  241.         statusType_.register_type(participant_);

  242.         configType_.register_type(participant_);

  243.         pointsType_.register_type(participant_);

  244. 

  245.         // 创建发布者和订阅者

  246.         publisher_ = participant_->create_publisher(PUBLISHER_QOS_DEFAULT);

  247.         subscriber_ = participant_->create_subscriber(SUBSCRIBER_QOS_DEFAULT);

  248. 

  249.         if (!publisher_ || !subscriber_) {

  250.             qDebug() << "Failed to create publisher or subscriber";

  251.             return false;

  252.         }

  253. 

  254.         // 创建所有主题

  255.         commandTopic_ = participant_->create_topic("SampleMachine/Command",

  256.             commandType_.get_type_name(), TOPIC_QOS_DEFAULT);

  257.         statusTopic_ = participant_->create_topic("SampleMachine/Status",

  258.             statusType_.get_type_name(), TOPIC_QOS_DEFAULT);

  259.         configTopic_ = participant_->create_topic("SampleMachine/Config",

  260.             configType_.get_type_name(), TOPIC_QOS_DEFAULT);

  261.         pointsTopic_ = participant_->create_topic("SampleMachine/Points",

  262.             pointsType_.get_type_name(), TOPIC_QOS_DEFAULT);

  263. 

  264.         if (!commandTopic_ || !statusTopic_ || !configTopic_ || !pointsTopic_) {

  265.             qDebug() << "Failed to create topics";

  266.             return false;

  267.         }

  268. 

  269.         // 创建写入器和读取器

  270.         commandWriter_ = publisher_->create_datawriter(commandTopic_, DATAWRITER_QOS_DEFAULT);

  271.         statusReader_ = subscriber_->create_datareader(statusTopic_, DATAREADER_QOS_DEFAULT);

  272.         configWriter_ = publisher_->create_datawriter(configTopic_, DATAWRITER_QOS_DEFAULT);

  273.         pointsWriter_ = publisher_->create_datawriter(pointsTopic_, DATAWRITER_QOS_DEFAULT);

  274.         pointsReader_ = subscriber_->create_datareader(pointsTopic_, DATAREADER_QOS_DEFAULT);

  275. 

  276.         if (!commandWriter_ || !statusReader_ || !configWriter_ ||

  277.             !pointsWriter_ || !pointsReader_) {

  278.             qDebug() << "Failed to create writers or readers";

  279.             return false;

  280.         }

  281. 

  282.         // 设置状态和采样点的监听器

  283.         statusReader_->set_listener(this, StatusMask::data_available());

  284.         pointsReader_->set_listener(this, StatusMask::data_available());

  285. 

  286.         return true;

  287.     }

  288.     catch (const std::exception& e) {

  289.         qDebug() << "Error initializing DDS entities:" << e.what();

  290.         return false;

  291.     }

  292. 

  293. }

  294. 

  295. /**

  296.  * @brief 清理DDS实体

  297.  * 

  298.  * 清理所有已创建的DDS资源，包括：

  299.  * - 删除所有包含的实体（主题、读写器等）

  300.  * - 删除参与者

  301.  */

  302. void AQTSampleMachinePlug::cleanupDDSEntities()

  303. {

  304.     // 清理所有DDS资源

  305.     if (participant_) {

  306.         participant_->delete_contained_entities();

  307.         DomainParticipantFactory::get_instance()->delete_participant(participant_);

  308.     }

  309. }

  310. 

  311. /**

  312.  * @brief 数据可用性回调函数

  313.  * @param reader 触发回调的数据读取器

  314.  * 

  315.  * 当订阅的主题收到新数据时被调用。根据读取器类型分别处理状态数据和采样点数据，

  316.  * 将DDS数据转换为DataItem列表并通过信号和回调函数通知外部。

  317.  */

  318. void AQTSampleMachinePlug::on_data_available(DataReader* reader)

  319. {

  320.     // if (reader == statusReader_) {

  321.     //     SampleStatus status;

  322.     //     SampleInfo info;  // 添加正确的SampleInfo声明

  323.         

  324.     //     // 问题3: while循环中的info变量未声明

  325.     //     while (reader->take_next_sample(&status, &info) == ReturnCode_t::RETCODE_OK) {

  326.     //         if (info.valid_data) {

  327.     //             auto dataItems = convertStatusToDataItems(status);

  328.     //             emit onDataUpdated(dataItems);

  329.     //         }

  330.     //     }

  331.     // }

  332.     // else if (reader == pointsReader_) {

  333.     //     // 这部分代码正确

  334.     //     SamplePoints points;

  335.     //     SampleInfo info;

  336.     //     while (reader->take_next_sample(&points, &info) == ReturnCode_t::RETCODE_OK) {

  337.     //         if (info.valid_data) {

  338.     //             auto dataItems = convertPointsToDataItems(points);

  339.     //             emit onDataUpdated(dataItems);

  340.     //         }

  341.     //     }

  342.     // }

  343. }

  344. 

  345. /**

  346.  * @brief 将采样机状态转换为数据项列表

  347.  * @param infos 采样机状态数据

  348.  * @return 转换后的数据项列表

  349.  * 

  350.  * 按照预定义的数据点ID，将SampleInfo结构体中的状态信息转换为DataItem列表。

  351.  * 包括设备状态、位置信息、限位信息等。

  352.  */

  353. QList<DataItem> AQTSampleMachinePlug::infoToDataItems(const SampleMachineInfo& infos)

  354. {

  355.     QList<DataItem> items;

  356.     

  357.     // 按照数据点定义的顺序转换状态数据

  358.     items.append(DataItem(30, infos.maskBits()));

  359.     items.append(DataItem(31, infos.bigPoint()));

  360.     items.append(DataItem(32, infos.smallPoint()));

  361.     items.append(DataItem(33, infos.depthPoint()));

  362.     items.append(DataItem(34, infos.hasToXY()));

  363.     items.append(DataItem(35, infos.hasSamplePoints()));

  364.     items.append(DataItem(36, infos.gameOver()));

  365.     items.append(DataItem(37, infos.backState()));

  366.     items.append(DataItem(38, static_cast<int32_t>(infos.sampleState())));

  367.     items.append(DataItem(39, static_cast<int32_t>(infos.belt1State())));

  368.     items.append(DataItem(40, static_cast<int32_t>(infos.belt2State())));

  369.     items.append(DataItem(41, static_cast<int32_t>(infos.crush1State())));

  370.     items.append(DataItem(42, static_cast<int32_t>(infos.crush2State())));

  371.     items.append(DataItem(43, static_cast<int32_t>(infos.dividerState())));

  372.     items.append(DataItem(44, infos.bigLimit()));

  373.     items.append(DataItem(45, infos.bigZeroLimit()));

  374.     items.append(DataItem(46, infos.smallLimit()));

  375.     items.append(DataItem(47, infos.smallZeroLimit()));

  376.     items.append(DataItem(48, infos.upLimit()));

  377.     items.append(DataItem(49, infos.downLimit()));

  378.     items.append(DataItem(50, infos.version()));

  379.     

  380.     return items;

  381. }

  382. 

  383. 

  384. 

  385. SampleCommand AQTSampleMachinePlug::dataItemsToCommand(const QList<DataItem>& items)

  386. {

  387.     // 初始化命令对象

  388.     SampleCommand command;

  389.     command.maskBits(0);  // 初始化掩码为0

  390. 

  391.     // 遍历输入的数据项列表

  392.     for (const auto& item : items) {

  393.         // 根据数据项的ID进行不同的处理

  394.         switch (item.ID) {

  395.             case 11:  // 控制类型

  396.                 command.controlType(item.value.toUInt());

  397.                 command.maskBits(command.maskBits() | 0x00000002);  // 设置对应的掩码位

  398.                 break;

  399.                 

  400.             case 12:  // 开始采样

  401.                 command.startSample(static_cast<SampleModule::CommandState>(item.value.toInt()));

  402.                 command.maskBits(command.maskBits() | 0x00000004);

  403.                 break;

  404.                 

  405.             case 13:  // 停止采样

  406.                 command.stopSample(static_cast<SampleModule::CommandState>(item.value.toInt()));

  407.                 command.maskBits(command.maskBits() | 0x00000008);

  408.                 break;

  409.                 

  410.             case 14:  // 复位

  411.                 command.reset(static_cast<SampleModule::CommandState>(item.value.toInt()));

  412.                 command.maskBits(command.maskBits() | 0x00000010);

  413.                 break;

  414.                 

  415.             case 15:  // 位置检查

  416.                 command.positionCheck(static_cast<SampleModule::CommandState>(item.value.toInt()));

  417.                 command.maskBits(command.maskBits() | 0x00000020);

  418.                 break;

  419.                 

  420.             case 16:  // 紧急上升

  421.                 command.emergencyUp(static_cast<SampleModule::CommandState>(item.value.toInt()));

  422.                 command.maskBits(command.maskBits() | 0x00000040);

  423.                 break;

  424.                 

  425.             case 17:  // 紧急停止

  426.                 command.emergencyStop(static_cast<SampleModule::CommandState>(item.value.toInt()));

  427.                 command.maskBits(command.maskBits() | 0x00000080);

  428.                 break;

  429.                 

  430.             case 18:  // 控制传送带1

  431.                 command.controlBelt1(static_cast<SampleModule::CommandState>(item.value.toInt()));

  432.                 command.maskBits(command.maskBits() | 0x00000100);

  433.                 break;

  434.                 

  435.             case 19:  // 控制传送带2

  436.                 command.controlBelt2(static_cast<SampleModule::CommandState>(item.value.toInt()));

  437.                 command.maskBits(command.maskBits() | 0x00000200);

  438.                 break;

  439.                 

  440.             case 20:  // 控制破碎机1

  441.                 command.controlCrush1(static_cast<SampleModule::CommandState>(item.value.toInt()));

  442.                 command.maskBits(command.maskBits() | 0x00000400);

  443.                 break;

  444.                 

  445.             case 21:  // 控制破碎机2

  446.                 command.controlCrush2(static_cast<SampleModule::CommandState>(item.value.toInt()));

  447.                 command.maskBits(command.maskBits() | 0x00000800);

  448.                 break;

  449.                 

  450.             case 22:  // 控制分流器

  451.                 command.controlDivider(static_cast<SampleModule::CommandState>(item.value.toInt()));

  452.                 command.maskBits(command.maskBits() | 0x00001000);

  453.                 break;

  454.                 

  455.             case 23:  // 控制分煤器

  456.                 command.controlCoalDistributor(static_cast<SampleModule::CommandState>(item.value.toInt()));

  457.                 command.maskBits(command.maskBits() | 0x00002000);

  458.                 break;

  459.                 

  460.             case 24:  // 减速比

  461.                 command.reductionRatio(item.value.toUInt());

  462.                 command.maskBits(command.maskBits() | 0x00004000);

  463.                 break;

  464.                 

  465.             case 25:  // 版本号

  466.                 command.version(item.value.toUInt());

  467.                 command.maskBits(command.maskBits() | 0x00008000);

  468.                 break;

  469.                 

  470.             default:  // 未知ID

  471.                 qWarning() << "Unknown command ID:" << item.ID;

  472.                 break;

  473.         }

  474.     }

  475. 

  476.     // 返回构建好的命令对象

  477.     return command;

  478. }

  479. 

  480. SampleConfig AQTSampleMachinePlug::dataItemsToConfig(const QList<DataItem>& items)

  481. {

  482.     SampleConfig config;

  483.     for (const auto& item : items) {

  484.         switch (item.ID) {

  485.             case 1: config.unifiedDepth(item.value.toUInt()); break;

  486.             case 2: config.sampleOrder(item.value.toUInt()); break;

  487.             // 添加其他配置项的转换

  488.             default: break;

  489.         }

  490.     }

  491.     return config;

  492. }

  493. 

  494. SamplePoints AQTSampleMachinePlug::dataItemsToPoints(const QList<DataItem>& items)

  495. {

  496.     SamplePoints points;

  497.     for (const auto& item : items) {

  498.         switch (item.ID) {

  499.             // 从51开始添加新的数据项

  500.             case 51: points.totalPoints(item.value.toUInt()); break;

  501.             case 52: points.x1(item.value.toUInt()); break;

  502.             case 53: points.y1(item.value.toUInt()); break;

  503.             case 54: points.z1(item.value.toUInt()); break;

  504.             case 55: points.o1(static_cast<SampleModule::DropChoice>(item.value.toInt())); break;

  505.             case 56: points.x2(item.value.toUInt()); break;

  506.             case 57: points.y2(item.value.toUInt()); break;

  507.             case 58: points.z2(item.value.toUInt()); break;

  508.             case 59: points.o2(static_cast<SampleModule::DropChoice>(item.value.toInt())); break;

  509.             case 60: points.x3(item.value.toUInt()); break;

  510.             case 61: points.y3(item.value.toUInt()); break;

  511.             case 62: points.z3(item.value.toUInt()); break;

  512.             case 63: points.o3(static_cast<SampleModule::DropChoice>(item.value.toInt())); break;

  513.             case 64: points.x4(item.value.toUInt()); break;

  514.             case 65: points.y4(item.value.toUInt()); break;

  515.             case 66: points.z4(item.value.toUInt()); break;

  516.             case 67: points.o4(static_cast<SampleModule::DropChoice>(item.value.toInt())); break;

  517.             case 68: points.x5(item.value.toUInt()); break;

  518.             case 69: points.y5(item.value.toUInt()); break;

  519.             case 70: points.z5(item.value.toUInt()); break;

  520.             case 71: points.o5(static_cast<SampleModule::DropChoice>(item.value.toInt())); break;

  521.             case 72: points.x6(item.value.toUInt()); break;

  522.             case 73: points.y6(item.value.toUInt()); break;

  523.             case 74: points.z6(item.value.toUInt()); break;

  524.             case 75: points.o6(static_cast<SampleModule::DropChoice>(item.value.toInt())); break;

  525. 

  526.             default:

  527.                 qWarning() << "Unknown command ID:" << item.ID;

  528.                 break;

  529.         }

  530.     }

  531. 

  532.     return points;

  533. }

  534. 

  535. 

  536. 

  537. void AQTSampleMachinePlug::createConfigWindow()

  538. {

  539.     if (!m_configWindow) {

  540.         QQmlEngine *engine = new QQmlEngine(this);

  541.         QQmlComponent component(engine, QUrl::fromLocalFile("plugins/AQTSampleMachinePlug/ConfigWindow.qml"));

  542.         

  543.         if (component.isError()) {

  544.             qDebug() << "Error loading QML:" << component.errors();

  545.             return;

  546.         }

  547. 

  548.         QObject *object = component.create();

  549.         m_configWindow = qobject_cast<QQuickWindow*>(object);

  550.         

  551.         if (!m_configWindow) {

  552.             qDebug() << "Failed to create config window";

  553.             delete object;

  554.             return;

  555.         }

  556.     }

  557. }

  558. 

  559. bool AQTSampleMachinePlug::config()

  560. {

  561.     createConfigWindow();

  562.     if (m_configWindow) {

  563.         m_configWindow->show();

  564.     }

  565.     return true;

  566. }

  567. 

  568. 

  569.