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chair
提交 10473ed8 作者: 崔世豪
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上级 1d93391d
正在显示 包含 1192 行增加 和 494 行删除
.claudiaideconfig deleted 100644 → 0
{
"BackgroundImageAbsolutePath": "D:\\元气壁纸缓存\\khealtheye\\wallpaper\\819085eea5630f629d254db412dd465d.jpg",
"BackgroundImagesDirectoryAbsolutePath": "c:\\users\\94549\\appdata\\local\\microsoft\\visualstudio\\17.0_5fa53c3a\\extensions\\e25nvwu4.ep5\\Images",
"BlurRadius": 0,
"ExpandToIDE": true,
"Extensions": ".png, .jpg, .gif, .bmp",
"ImageBackgroundType": 0,
"ImageFadeAnimationInterval": "PT5S",
"ImageStretch": 3,
"IsLimitToMainlyEditorWindow": true,
"LoopSlideshow": true,
"MaxHeight": 0,
"MaxWidth": 0,
"Opacity": 1,
"PositionHorizon": 2,
"PositionVertical": 2,
"ShuffleSlideshow": false,
"SoftEdgeX": 0,
"SoftEdgeY": 0,
"TileMode": 0,
"UpdateImageInterval": "PT1M",
"ViewBoxPointX": 0,
"ViewBoxPointY": 0,
"ViewPortHeight": 1,
"ViewPortPointX": 0,
"ViewPortPointY": 0,
"ViewPortWidth": 1,
"WebApiDownloadInterval": "PT5M",
"WebApiEndpoint": "",
"WebApiJsonKey": "",
"WebSingleUrl": ""
}
\ No newline at end of file
chair_code/acquire_config.cpp
......@@ -87,11 +87,12 @@ void acquire_config::get_configuration_file()
QString key = "/Chair/";
chair_type = msetting->value(key + "chair_type").toInt();
chair_type = msetting->value(key + "chair_type").toInt();
publish_message_type = msetting->value(key + "//publish_message_type").toInt();
username = msetting->value(key + "/username").toString();
password = msetting->value(key + "/password").toString();
server_url = msetting->value(key + "/server_url").toString();
server_grpc_host = msetting->value(key + "/server_grpc_host").toString();
mqtt_host = msetting->value(key + "/mqtt_host").toString();
mqtt_port = msetting->value(key + "/mqtt_port").toInt();
mqtt_keep_alive = msetting->value(key + "/mqtt_keep_alive").toInt();
......
chair_code/acquire_config.h
......@@ -29,7 +29,7 @@ public:
{
std::lock_guard<std::mutex> lock(m_mutex);
if (m_instance == nullptr){
if (m_instance == nullptr) {
m_instance = std::shared_ptr<acquire_config>(new acquire_config());
}
return m_instance;
......@@ -51,6 +51,7 @@ public:
QString password = "";//登录密码
QString server_url = "";//服务器
QString mqtt_host = "";//mqtt ip
QString server_grpc_host = "";//grpc域名
int mqtt_port = 0;//mqtt 端口
int mqtt_keep_alive = 0;//从发心跳间隔
int hardware_to_chair_way = 0;//读取座椅数据的方式
......
chair_code/bulldozer_module.cpp
#include "bulldozer_module.h"
#include "bulldozer_module.h"
#include "global_signal.h"
#include <QString>
#include <QStringList>
#include <QMap>
#include <iostream>
#include <QThread>
bulldozer_module::bulldozer_module(const QString& ip, quint16 port,QObject *parent)
bulldozer_module::bulldozer_module(const QString& ip, quint16 port, QObject* parent)
: QObject(parent)
{
QThread* _pthread = new QThread(this);
_udp_thread = new udp_thread(ip, port, "bulldozer", this);
connect(_udp_thread, &udp_thread::udp_received_data, this, &bulldozer_module::no_udp_received_data);
connect(_pthread, &QThread::finished, this, &bulldozer_module::deleteLater);
connect(this, &bulldozer_module::destroyed, _pthread, &QThread::deleteLater);
this->moveToThread(_pthread);
_pthread->start();
_udp_thread->udp_write_date("1111112222222222", "192.168.1.3", 44444);
qDebug() << "bulldozer_module thread ID: " << QThread::currentThreadId();
}
......@@ -23,5 +27,67 @@ bulldozer_module::~bulldozer_module()
void bulldozer_module::no_udp_received_data(const QByteArray& data)
{
global_signal::instance()->publish_chair_movement(data);
}
\ No newline at end of file
parseData(data);
}
void bulldozer_module::parseData(const QString& data)
{
QStringList dataList = data.split("#");
QMap<QString, QString> values;
foreach(const QString & entry, dataList)
{
QStringList keyValue = entry.split("=");
if (keyValue.size() == 2)
{
QString key = keyValue[0];
QString value = keyValue[1];
values[key] = value;
}
else if (entry.endsWith("bt1_down#"))
{
QString key = "bt1_down";
values[key] = "";
}
else if (entry.endsWith("bt2_down#"))
{
QString key = "bt2_down";
values[key] = "";
}
}
// 读取解析后的值
int left = values.value("left").toInt();
int right = values.value("right").toInt();
QStringList joy1Values = values.value("joy1_f_b_l_r").split("_");
QStringList joy2Values = values.value("joy2_f_b_l_r").split("_");
int joy1_f = joy1Values.value(0).toInt();
int joy1_b = joy1Values.value(1).toInt();
int joy1_l = joy1Values.value(2).toInt();
int joy1_r = joy1Values.value(3).toInt();
int joy2_f = joy2Values.value(0).toInt();
int joy2_b = joy2Values.value(1).toInt();
int joy2_l = joy2Values.value(2).toInt();
int joy2_r = joy2Values.value(3).toInt();
// 检查按钮状态
bool bt1_down = values.contains("bt1_down");
bool bt2_down = values.contains("bt2_down");
// 输出解析结果
std::cout << "left: " << left << std::endl;
std::cout << "right: " << right << std::endl;
std::cout << "joy1_f: " << joy1_f << std::endl;
std::cout << "joy1_b: " << joy1_b << std::endl;
std::cout << "joy1_l: " << joy1_l << std::endl;
std::cout << "joy1_r: " << joy1_r << std::endl;
std::cout << "joy2_f: " << joy2_f << std::endl;
std::cout << "joy2_b: " << joy2_b << std::endl;
std::cout << "joy2_l: " << joy2_l << std::endl;
std::cout << "joy2_r: " << joy2_r << std::endl;
std::cout << "bt1_down: " << (bt1_down ? "true" : "false") << std::endl;
std::cout << "bt2_down: " << (bt2_down ? "true" : "false") << std::endl;
}
chair_code/bulldozer_module.h
#pragma once
#pragma once
#include <QObject>
#include "udp_thread.h"
class bulldozer_module : public QObject
class bulldozer_module : public QObject
{
Q_OBJECT
public:
explicit bulldozer_module(const QString& ip, quint16 port,QObject* parent = nullptr);
explicit bulldozer_module(const QString& ip, quint16 port, QObject* parent = nullptr);
~bulldozer_module();
public slots:
void no_udp_received_data(const QByteArray& data);
private:
void parseData(const QString& data);
private:
udp_thread* _udp_thread = nullptr;
};
chair_code/cert/cacert_grpc/cacert.pem
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-----END CERTIFICATE-----
chair_code/cert/cacert_grpc/cakey.pem
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-----END PRIVATE KEY-----
chair_code/cert/cacert_grpc/cert/cacert.pem
-----BEGIN CERTIFICATE-----
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-----END CERTIFICATE-----
chair_code/cert/cacert_grpc/cert/cakey.pem
-----BEGIN PRIVATE KEY-----
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-----END PRIVATE KEY-----
chair_code/cert/cacert_grpc/cert/clientkey.pem
-----BEGIN PRIVATE KEY-----
MIIEvgIBADANBgkqhkiG9w0BAQEFAASCBKgwggSkAgEAAoIBAQC6IVgX5N4HlLsu
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-----END PRIVATE KEY-----
chair_code/cert/cacert_grpc/cert/serverkey.pem
-----BEGIN PRIVATE KEY-----
MIIEvQIBADANBgkqhkiG9w0BAQEFAASCBKcwggSjAgEAAoIBAQC9Hog6AYPLYHYP
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-----END PRIVATE KEY-----
chair_code/cert/cacert_grpc/clientkey.pem
-----BEGIN PRIVATE KEY-----
MIIEvgIBADANBgkqhkiG9w0BAQEFAASCBKgwggSkAgEAAoIBAQC6IVgX5N4HlLsu
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-----END PRIVATE KEY-----
chair_code/cert/cacert_grpc/serverkey.pem
-----BEGIN PRIVATE KEY-----
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-----END PRIVATE KEY-----
chair_code/cert/cert/cacert.pem 0 → 100644
-----BEGIN CERTIFICATE-----
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-----END CERTIFICATE-----
chair_code/cert/cert/cakey.pem 0 → 100644
-----BEGIN PRIVATE KEY-----
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Qr3uCbteNnzmuFJjyXmxKnJvxjrzpcY6ETZ8r/0CggEAbp9JhQ28UmD/TUo4eZTR
hvxQOY9Nw1YX9r8UHP7j28tsIutmusPWkO1MS3bQWLCAKH5Nxq5jcVQhtMUsQF1o
NzWIFemO3Mt8dEfz5GchElsKgZfypQj3w39L/TV4mDLb6APEeTFy4pvSMgixutxD
75ilPp70xAr035asY4VpmbWr+nZWhJBo7A/84/nY8yk5u648NY3s5XYM6W26HfAg
cURJgtEXhmWObQkFuZvyJvZpf1Whs+AsBveuwb9Bh0jAUFrrBy/xFRoTur3uoSSR
WJ8AFTHbWs8HCvpg7flVbysP//tcsAbbLhPGaxdrFHuDoAhCJDjMzeRjFulEQorr
NQKCAQBUqgLKCDgsJLVT2oZoyUE9GhZoEFibHBYFWJvBdEcR9pM9imbXtpFZwVe3
w13uL+Z76AYHqaM0fa2/E02Ogy4Va/EfSNfwniSwIqUp/sx7j6kd5oGFIyH0Agty
N/6S9JUhJOdHl7PouZ+MwQiDBTjoF5z6GhpEkJRXJRiz89g3rrCV16MjA8rRzu8j
Ht4KrYxzK66RfxUz6UMDMFdmXnf6EnXp30mz/vrBtG9bln3ffGBR37VJIgNdAKLg
OraBE2X0Pqb1YB1NrIfMuwxzMJCDjo32UuqwpDX+scKXnnJYyPxfa9REqCnBjkio
8hQ7ufsBnXpLoDC7FbkQ4frPEHKS
-----END PRIVATE KEY-----
chair_code/cert/cert/clientcert.pem 0 → 100644
Certificate:
Data:
Version: 3 (0x2)
Serial Number: 2 (0x2)
Signature Algorithm: sha256WithRSAEncryption
Issuer: C=US, ST=Maryland, L=Baltimore, O=Test CA, Limited, OU=Server Research Department, CN=pangang.boonary.com/emailAddress=test@example.com
Validity
Not Before: Dec 4 03:36:16 2023 GMT
Not After : Nov 10 03:36:16 2123 GMT
Subject: C=US, ST=MD, L=Baltimore, O=Test Server, Limited, CN=pangang.boonary.com
Subject Public Key Info:
Public Key Algorithm: rsaEncryption
RSA Public-Key: (2048 bit)
Modulus:
00:d3:50:c1:ef:11:ab:44:ad:07:96:6d:46:95:17:
33:dd:18:04:95:47:e4:7a:c4:1b:80:a0:f1:1d:74:
81:c6:26:11:57:15:c5:28:c2:f6:60:bc:d3:9d:12:
e1:4a:df:62:4a:cf:d8:00:ff:55:35:30:1e:3d:62:
4f:ed:6a:5b:d3:be:35:49:52:fb:a8:ad:67:71:35:
9f:4d:ea:95:d7:e7:a3:fb:ef:9b:5e:54:32:aa:32:
45:a1:c4:a7:b6:5c:cf:a5:24:27:8b:84:9c:64:0f:
5a:2a:69:3c:26:d9:29:3e:de:52:9c:33:8e:fd:f2:
06:51:1d:e3:1e:03:f5:23:5c:a6:db:35:1d:d7:de:
ae:c3:92:be:76:f7:91:b1:93:c5:c1:54:52:1d:56:
9c:43:5c:1e:e5:93:c8:e2:13:a0:b0:b4:29:ab:58:
c0:75:25:10:6a:61:71:09:6b:2c:d7:0c:54:93:a4:
a7:1f:93:37:06:5b:75:f6:ab:95:4c:14:9f:b9:48:
07:d2:68:ec:7f:51:bc:ac:81:a4:33:14:d6:13:04:
c5:f5:5a:fd:41:30:b8:45:94:fb:76:33:5c:e3:1f:
35:cc:4d:4b:a9:d2:fc:ba:c6:94:2f:56:96:0d:d7:
84:31:20:88:95:a6:e5:73:f2:7b:8d:b7:6c:51:e6:
d6:37
Exponent: 65537 (0x10001)
X509v3 extensions:
X509v3 Subject Key Identifier:
70:E7:25:08:0D:CB:CA:FE:30:AA:F4:0E:DC:EA:DD:A0:20:6B:87:66
X509v3 Authority Key Identifier:
keyid:42:82:51:54:7D:7B:D3:CB:C9:31:C1:F1:02:FF:C1:45:34:42:E5:86
X509v3 Basic Constraints:
CA:FALSE
X509v3 Key Usage:
Digital Signature, Key Encipherment
X509v3 Subject Alternative Name:
DNS:pangang.boonary.com
Netscape Comment:
OpenSSL Generated Certificate
Signature Algorithm: sha256WithRSAEncryption
aa:d6:7a:4e:85:27:d2:42:24:d5:fd:ed:b5:53:98:2f:dc:40:
4e:0f:5a:e0:e2:49:74:6e:34:a8:41:66:cd:7d:d7:63:18:a4:
e1:e8:1d:6d:fe:06:54:5c:88:27:fe:9d:4b:86:c6:3f:f2:bf:
f2:9c:68:6b:d9:92:ba:89:ae:4d:b8:b5:84:02:bf:ff:41:22:
43:22:e7:2f:e9:f2:7f:13:4d:5d:4a:4c:ea:5f:9e:9f:97:47:
bf:40:31:c6:df:a6:71:e1:6b:af:38:2d:ee:e5:c7:3c:23:03:
cd:57:85:9e:f3:ef:86:92:3a:be:8c:69:7e:5c:36:17:af:6f:
15:95:99:d3:db:b8:8a:70:80:70:fe:67:69:43:a2:6f:b0:03:
ae:2f:89:6b:10:f1:2e:a4:c2:24:9b:14:c8:6c:db:62:b3:0f:
46:f7:ca:f8:39:cf:cd:8a:c5:63:7e:db:52:8b:13:46:b7:7c:
c7:9c:17:14:88:f6:74:e5:7b:22:0b:3c:c3:37:57:02:00:bf:
82:34:51:f5:22:27:42:be:48:03:73:d3:07:a0:a2:c5:ef:f3:
39:02:75:e9:07:4a:47:95:48:96:b7:bc:db:98:43:66:34:30:
69:06:11:d5:3b:a6:52:e4:2d:7b:d6:92:06:0e:e2:dc:a6:05:
dc:b1:43:5f:dd:4f:44:2f:cb:ae:71:2a:53:84:ab:ed:55:bb:
c5:f2:cf:c3:45:1a:a9:16:d2:f9:f3:ad:2b:db:16:80:63:6b:
3d:b4:af:00:83:b0:31:0c:92:eb:66:75:55:c6:b4:c3:59:de:
c4:23:ac:9e:84:bd:a8:f5:d3:bc:49:70:26:ed:b2:61:63:ce:
be:ab:8a:95:44:38:31:8a:e4:2c:2d:13:97:78:53:ae:6c:92:
0b:04:20:28:c8:46:25:b3:b0:8a:b8:c4:b1:e1:73:34:d7:8b:
f8:fd:10:bc:be:5b:7e:b8:44:b8:52:4e:a2:c0:09:bd:32:92:
d1:fc:13:83:91:ef:ff:7f:7a:80:4e:08:e7:cc:32:b0:83:e0:
1a:99:6f:11:c1:e7:ff:77:5e:f7:10:cd:6d:f2:60:e8:ac:c5:
db:a5:ac:49:31:54:41:86:eb:54:df:d6:6d:84:00:ae:ab:97:
87:85:99:8d:04:2c:56:2f:51:4e:14:46:5b:06:83:9a:3c:8e:
ae:52:51:bd:d9:69:16:8a:21:ea:7b:2d:b2:31:b4:b2:b0:3f:
f7:2a:7a:bf:ce:26:fd:48:85:b6:4e:7a:5d:2d:6c:64:9d:d4:
8b:31:c2:4c:e7:9e:9b:af:98:4c:a5:3d:a2:59:42:53:97:6e:
83:29:5e:89:4a:71:89:06
-----BEGIN CERTIFICATE-----
MIIFRjCCAy6gAwIBAgIBAjANBgkqhkiG9w0BAQsFADCBszELMAkGA1UEBhMCVVMx
ETAPBgNVBAgMCE1hcnlsYW5kMRIwEAYDVQQHDAlCYWx0aW1vcmUxGTAXBgNVBAoM
EFRlc3QgQ0EsIExpbWl0ZWQxIzAhBgNVBAsMGlNlcnZlciBSZXNlYXJjaCBEZXBh
cnRtZW50MRwwGgYDVQQDDBNwYW5nYW5nLmJvb25hcnkuY29tMR8wHQYJKoZIhvcN
AQkBFhB0ZXN0QGV4YW1wbGUuY29tMCAXDTIzMTIwNDAzMzYxNloYDzIxMjMxMTEw
MDMzNjE2WjBrMQswCQYDVQQGEwJVUzELMAkGA1UECAwCTUQxEjAQBgNVBAcMCUJh
bHRpbW9yZTEdMBsGA1UECgwUVGVzdCBTZXJ2ZXIsIExpbWl0ZWQxHDAaBgNVBAMM
E3BhbmdhbmcuYm9vbmFyeS5jb20wggEiMA0GCSqGSIb3DQEBAQUAA4IBDwAwggEK
AoIBAQDTUMHvEatErQeWbUaVFzPdGASVR+R6xBuAoPEddIHGJhFXFcUowvZgvNOd
EuFK32JKz9gA/1U1MB49Yk/talvTvjVJUvuorWdxNZ9N6pXX56P775teVDKqMkWh
xKe2XM+lJCeLhJxkD1oqaTwm2Sk+3lKcM4798gZRHeMeA/UjXKbbNR3X3q7Dkr52
95Gxk8XBVFIdVpxDXB7lk8jiE6CwtCmrWMB1JRBqYXEJayzXDFSTpKcfkzcGW3X2
q5VMFJ+5SAfSaOx/UbysgaQzFNYTBMX1Wv1BMLhFlPt2M1zjHzXMTUup0vy6xpQv
VpYN14QxIIiVpuVz8nuNt2xR5tY3AgMBAAGjgakwgaYwHQYDVR0OBBYEFHDnJQgN
y8r+MKr0Dtzq3aAga4dmMB8GA1UdIwQYMBaAFEKCUVR9e9PLyTHB8QL/wUU0QuWG
MAkGA1UdEwQCMAAwCwYDVR0PBAQDAgWgMB4GA1UdEQQXMBWCE3BhbmdhbmcuYm9v
bmFyeS5jb20wLAYJYIZIAYb4QgENBB8WHU9wZW5TU0wgR2VuZXJhdGVkIENlcnRp
ZmljYXRlMA0GCSqGSIb3DQEBCwUAA4ICAQCq1npOhSfSQiTV/e21U5gv3EBOD1rg
4kl0bjSoQWbNfddjGKTh6B1t/gZUXIgn/p1LhsY/8r/ynGhr2ZK6ia5NuLWEAr//
QSJDIucv6fJ/E01dSkzqX56fl0e/QDHG36Zx4WuvOC3u5cc8IwPNV4We8++Gkjq+
jGl+XDYXr28VlZnT27iKcIBw/mdpQ6JvsAOuL4lrEPEupMIkmxTIbNtisw9G98r4
Oc/NisVjfttSixNGt3zHnBcUiPZ05XsiCzzDN1cCAL+CNFH1IidCvkgDc9MHoKLF
7/M5AnXpB0pHlUiWt7zbmENmNDBpBhHVO6ZS5C171pIGDuLcpgXcsUNf3U9EL8uu
cSpThKvtVbvF8s/DRRqpFtL5860r2xaAY2s9tK8Ag7AxDJLrZnVVxrTDWd7EI6ye
hL2o9dO8SXAm7bJhY86+q4qVRDgxiuQsLROXeFOubJILBCAoyEYls7CKuMSx4XM0
14v4/RC8vlt+uES4Uk6iwAm9MpLR/BODke//f3qATgjnzDKwg+AamW8Rwef/d173
EM1t8mDorMXbpaxJMVRBhutU39ZthACuq5eHhZmNBCxWL1FOFEZbBoOaPI6uUlG9
2WkWiiHqey2yMbSysD/3Knq/zib9SIW2TnpdLWxkndSLMcJM556br5hMpT2iWUJT
l26DKV6JSnGJBg==
-----END CERTIFICATE-----
chair_code/cert/cert/clientkey.pem 0 → 100644
-----BEGIN PRIVATE KEY-----
MIIEvQIBADANBgkqhkiG9w0BAQEFAASCBKcwggSjAgEAAoIBAQDTUMHvEatErQeW
bUaVFzPdGASVR+R6xBuAoPEddIHGJhFXFcUowvZgvNOdEuFK32JKz9gA/1U1MB49
Yk/talvTvjVJUvuorWdxNZ9N6pXX56P775teVDKqMkWhxKe2XM+lJCeLhJxkD1oq
aTwm2Sk+3lKcM4798gZRHeMeA/UjXKbbNR3X3q7Dkr5295Gxk8XBVFIdVpxDXB7l
k8jiE6CwtCmrWMB1JRBqYXEJayzXDFSTpKcfkzcGW3X2q5VMFJ+5SAfSaOx/Ubys
gaQzFNYTBMX1Wv1BMLhFlPt2M1zjHzXMTUup0vy6xpQvVpYN14QxIIiVpuVz8nuN
t2xR5tY3AgMBAAECggEBALAHKNX+kP4PaS+s7cwKXQDDHiZAkhqWPBbFerU/tU8b
rPwvPWK8LcLd6SWCcbwOI3IQe24xRIifAcG+oLg0DjRv0TG4d7zGXlIXChI85P/K
jXaz3WgRmXbfk9Oy3sZxv+NgH7UADcroYwLLUPlHky00w/oslOQD9bEixWvefhkq
czYVwkMpdzmulKhwhp3vrSl3oSaMT40JEF54x6fCfF8vMLn/oUpy+fFa6O1uKISP
M6a4e7jgmGefA7a+TtufQs4phmeAHEHVe8jEU9S9nz5Dh1Os/3g2tzOSI7qm7YY9
NGY+rbvqfuInbQi0xK8keSPad4ioL4fBDIQR6P3Nm6ECgYEA/cwXSKSAG+exVX39
dTVEU6Cf2ec2g8vPChdlverDrsCx/FojouTmk99R2WoFpAByiMHKksJDtV6vzZen
IAh64kSJn1iLM/ZF8pmmO7vwC3+dDcWW3uW5RzB8U+f9JlThFbOxqdmKHas/fihf
Ulu2/lif2gJDQZsE3doN5jjN9acCgYEA1SZG4Eu40jIj3UxwpVDMJX7UF0isgogL
g/iITQQpABFZ4WIks6bauJBiRsOufXRBKLf/2qIs453yoLvHrFlVq0FNG8wgizH9
zZlK4yxbhQLpa9cLRcPEwsDv0udkuZO6+TrDmAw9gp5WU43fKO4VP6HRip42m7sG
3vwkUiDjTPECgYAFBNQxC4+8/Yf0ONmaR8NiI/sFRB0/3ffqKyxH5SyZeBYM93tc
7UniAriLpB0YcSnSqoJnBJByNb0kQ6t6ZrCHaPOPwyB9lpEriv5OkBjfIVbpvs6M
+d4AGmVbA2tuJp+M3lDVGwgwLgLDa+j2p/mmbfo7RXAvC/G8sWM0+kqYYQKBgF7C
tZ/iCjjosakg4rOcSCYjTIdNd+RQN05kn7QdtVyiWiMpTsfP1k1XY1myhVCg7pb7
tnOsxegrwEJVOWAWF1Abp/xDs/QuNXfCPtjgT4/Cy6N15z0M29z5iaVp2g3m76j9
xxdB2dbILfjXie7YafnwJwhJbl2tuFBKKJuao3MBAoGAUmzoCBsYOgC34YJySNCG
5qs+DVkGfzX1zQzvPnNpgME79CWOUiarQQYeW8YYFvbUN7TlRjjaxk8W2viL/rnr
jEWOiJLuJjgcS8im9lVuPCc5xIAU3Bi+ryldR7wQov+dqAPCLwlCMnQOfl3bcLoo
4/v97srJR3Hl2wUV3b0s8ys=
-----END PRIVATE KEY-----
chair_code/cert/cert/servercert.pem 0 → 100644
Certificate:
Data:
Version: 3 (0x2)
Serial Number: 1 (0x1)
Signature Algorithm: sha256WithRSAEncryption
Issuer: C=US, ST=Maryland, L=Baltimore, O=Test CA, Limited, OU=Server Research Department, CN=pangang.boonary.com/emailAddress=test@example.com
Validity
Not Before: Dec 4 03:36:16 2023 GMT
Not After : Nov 10 03:36:16 2123 GMT
Subject: C=US, ST=MD, L=Baltimore, O=Test Server, Limited, CN=pangang.boonary.com
Subject Public Key Info:
Public Key Algorithm: rsaEncryption
RSA Public-Key: (2048 bit)
Modulus:
00:dc:89:36:89:3f:46:c7:f8:82:75:0c:f2:b3:59:
17:47:ea:f6:ee:65:ce:75:48:b8:1e:28:9c:e4:20:
87:00:c7:2c:30:ad:4c:a8:a1:5a:4b:5a:99:20:c2:
22:7f:47:cf:8b:bd:cc:bb:78:45:aa:07:a7:0d:8d:
4a:76:ba:b1:47:3f:35:91:8e:c3:0f:87:35:b0:f8:
7e:ca:0f:7d:19:39:65:8e:52:3d:10:12:9a:af:41:
9e:7e:bd:b5:bb:2b:94:76:7d:bb:47:03:66:a0:27:
a2:43:48:d4:2b:ef:53:12:53:a9:80:fd:cc:ba:30:
ae:e7:c4:ee:1a:f6:e9:ef:82:09:47:df:cc:b3:93:
6a:4b:be:9a:69:11:ec:df:4d:ff:23:ea:de:81:5f:
86:4a:82:68:8c:24:7d:89:6d:f5:d3:ad:c0:4a:fa:
3b:3f:18:e7:9f:c2:63:b4:83:e9:c6:23:db:c4:9c:
b3:70:ba:b3:5c:23:22:47:f9:d8:13:99:ab:df:17:
fb:3a:21:34:f7:c9:9c:b0:68:0d:91:86:5f:bd:ee:
21:bd:e9:86:14:56:f1:dd:ba:09:05:ed:d6:1f:37:
96:f1:39:9a:8e:bc:d5:49:41:fe:a5:c4:d0:89:7d:
9c:b4:86:80:d8:5d:d0:f4:4c:dd:b0:43:9a:63:15:
9d:d1
Exponent: 65537 (0x10001)
X509v3 extensions:
X509v3 Subject Key Identifier:
81:CF:2C:88:6A:0F:6C:30:AE:81:09:0E:B0:DD:91:77:DD:09:34:C1
X509v3 Authority Key Identifier:
keyid:42:82:51:54:7D:7B:D3:CB:C9:31:C1:F1:02:FF:C1:45:34:42:E5:86
X509v3 Basic Constraints:
CA:FALSE
X509v3 Key Usage:
Digital Signature, Key Encipherment
X509v3 Subject Alternative Name:
DNS:pangang.boonary.com
Netscape Comment:
OpenSSL Generated Certificate
Signature Algorithm: sha256WithRSAEncryption
18:53:86:96:93:13:e7:02:ef:5e:c9:08:bb:8c:93:c4:ea:d8:
2b:36:14:f6:ec:42:06:c5:69:dc:5b:b7:46:d4:75:31:40:4d:
55:79:52:90:8a:f1:d5:76:56:93:0e:1d:63:19:c1:f0:8c:23:
df:b7:7e:0a:09:77:05:ce:e6:a6:6e:df:d9:45:59:70:f6:f4:
3a:eb:af:07:ca:f9:4c:5d:1d:67:94:ff:84:e1:18:fe:20:51:
e3:9a:b0:73:cc:f5:e3:8e:ba:f3:d2:9a:7e:3e:4a:0e:30:95:
a7:7c:e6:9c:d0:0f:f0:13:5a:0d:a3:bb:b2:b4:5d:fd:f3:0d:
7e:38:26:60:91:6a:e2:4d:cc:3e:76:2d:e2:17:19:9a:02:c3:
e6:6a:ff:bb:da:b7:97:29:cd:d5:82:e3:67:86:ff:16:89:26:
c7:a2:3d:03:05:9d:65:25:b9:28:5d:2b:05:0b:22:ce:89:9a:
71:98:06:c6:00:69:a2:fe:ce:b3:c6:3a:0f:3b:80:7a:b2:e3:
6c:3d:c1:14:b7:55:b2:2b:f8:22:47:34:0e:4e:11:6a:54:f0:
6f:2b:67:22:e4:39:ba:d5:c1:e5:82:36:93:0d:8b:05:45:84:
44:bf:2c:c8:11:3b:45:5f:de:03:1f:81:99:64:09:a0:57:d2:
05:ab:9b:d0:a8:42:72:e4:95:e7:94:ef:b7:d6:fb:3f:a0:e4:
98:52:b3:46:09:e0:3d:f1:a7:61:ae:98:83:0f:6d:18:5a:cb:
d3:4a:5a:e4:c8:ae:e8:e3:3c:54:81:48:39:65:88:1b:d1:a8:
db:0f:a0:2c:dd:58:58:e8:fb:07:e9:26:ea:81:9f:f2:8c:04:
65:07:0b:e4:06:cd:eb:45:b7:b0:47:65:46:6e:66:a7:9e:0e:
91:7a:1c:af:02:9d:a9:d5:28:a4:91:a3:08:b5:52:db:9b:e5:
08:5c:68:a7:10:90:c9:ca:f5:35:63:33:b9:31:93:52:cc:ec:
06:4d:ee:5e:09:47:2d:e1:32:1a:1b:a3:c7:f4:58:7e:cc:78:
fe:4e:ce:6d:0c:18:44:75:5a:dc:eb:a0:52:24:15:6f:cf:fc:
87:d1:bb:49:87:e1:2a:2d:e3:7f:1c:15:4d:56:42:b8:d6:fc:
70:c3:65:fb:02:ff:c1:20:4e:ca:a3:72:b2:14:82:8a:dd:67:
2d:f0:b2:d2:7a:11:b0:66:1c:57:79:23:1c:44:90:47:6d:7d:
91:08:c1:40:5f:ad:de:d4:fa:3a:7a:e9:96:d7:06:a6:20:e2:
c0:7b:b0:c2:5c:00:43:2f:3a:67:91:df:9e:33:cd:d4:3a:37:
9c:cd:c5:71:4b:0d:87:7b
-----BEGIN CERTIFICATE-----
MIIFRjCCAy6gAwIBAgIBATANBgkqhkiG9w0BAQsFADCBszELMAkGA1UEBhMCVVMx
ETAPBgNVBAgMCE1hcnlsYW5kMRIwEAYDVQQHDAlCYWx0aW1vcmUxGTAXBgNVBAoM
EFRlc3QgQ0EsIExpbWl0ZWQxIzAhBgNVBAsMGlNlcnZlciBSZXNlYXJjaCBEZXBh
cnRtZW50MRwwGgYDVQQDDBNwYW5nYW5nLmJvb25hcnkuY29tMR8wHQYJKoZIhvcN
AQkBFhB0ZXN0QGV4YW1wbGUuY29tMCAXDTIzMTIwNDAzMzYxNloYDzIxMjMxMTEw
MDMzNjE2WjBrMQswCQYDVQQGEwJVUzELMAkGA1UECAwCTUQxEjAQBgNVBAcMCUJh
bHRpbW9yZTEdMBsGA1UECgwUVGVzdCBTZXJ2ZXIsIExpbWl0ZWQxHDAaBgNVBAMM
E3BhbmdhbmcuYm9vbmFyeS5jb20wggEiMA0GCSqGSIb3DQEBAQUAA4IBDwAwggEK
AoIBAQDciTaJP0bH+IJ1DPKzWRdH6vbuZc51SLgeKJzkIIcAxywwrUyooVpLWpkg
wiJ/R8+Lvcy7eEWqB6cNjUp2urFHPzWRjsMPhzWw+H7KD30ZOWWOUj0QEpqvQZ5+
vbW7K5R2fbtHA2agJ6JDSNQr71MSU6mA/cy6MK7nxO4a9unvgglH38yzk2pLvppp
EezfTf8j6t6BX4ZKgmiMJH2JbfXTrcBK+js/GOefwmO0g+nGI9vEnLNwurNcIyJH
+dgTmavfF/s6ITT3yZywaA2Rhl+97iG96YYUVvHdugkF7dYfN5bxOZqOvNVJQf6l
xNCJfZy0hoDYXdD0TN2wQ5pjFZ3RAgMBAAGjgakwgaYwHQYDVR0OBBYEFIHPLIhq
D2wwroEJDrDdkXfdCTTBMB8GA1UdIwQYMBaAFEKCUVR9e9PLyTHB8QL/wUU0QuWG
MAkGA1UdEwQCMAAwCwYDVR0PBAQDAgWgMB4GA1UdEQQXMBWCE3BhbmdhbmcuYm9v
bmFyeS5jb20wLAYJYIZIAYb4QgENBB8WHU9wZW5TU0wgR2VuZXJhdGVkIENlcnRp
ZmljYXRlMA0GCSqGSIb3DQEBCwUAA4ICAQAYU4aWkxPnAu9eyQi7jJPE6tgrNhT2
7EIGxWncW7dG1HUxQE1VeVKQivHVdlaTDh1jGcHwjCPft34KCXcFzuambt/ZRVlw
9vQ6668HyvlMXR1nlP+E4Rj+IFHjmrBzzPXjjrrz0pp+PkoOMJWnfOac0A/wE1oN
o7uytF398w1+OCZgkWriTcw+di3iFxmaAsPmav+72reXKc3VguNnhv8WiSbHoj0D
BZ1lJbkoXSsFCyLOiZpxmAbGAGmi/s6zxjoPO4B6suNsPcEUt1WyK/giRzQOThFq
VPBvK2ci5Dm61cHlgjaTDYsFRYREvyzIETtFX94DH4GZZAmgV9IFq5vQqEJy5JXn
lO+31vs/oOSYUrNGCeA98adhrpiDD20YWsvTSlrkyK7o4zxUgUg5ZYgb0ajbD6As
3VhY6PsH6SbqgZ/yjARlBwvkBs3rRbewR2VGbmanng6RehyvAp2p1SikkaMItVLb
m+UIXGinEJDJyvU1YzO5MZNSzOwGTe5eCUct4TIaG6PH9Fh+zHj+Ts5tDBhEdVrc
66BSJBVvz/yH0btJh+EqLeN/HBVNVkK41vxww2X7Av/BIE7Ko3KyFIKK3Wct8LLS
ehGwZhxXeSMcRJBHbX2RCMFAX63e1Po6eumW1wamIOLAe7DCXABDLzpnkd+eM83U
OjeczcVxSw2Hew==
-----END CERTIFICATE-----
chair_code/cert/cert/serverkey.pem 0 → 100644
-----BEGIN PRIVATE KEY-----
MIIEvAIBADANBgkqhkiG9w0BAQEFAASCBKYwggSiAgEAAoIBAQDciTaJP0bH+IJ1
DPKzWRdH6vbuZc51SLgeKJzkIIcAxywwrUyooVpLWpkgwiJ/R8+Lvcy7eEWqB6cN
jUp2urFHPzWRjsMPhzWw+H7KD30ZOWWOUj0QEpqvQZ5+vbW7K5R2fbtHA2agJ6JD
SNQr71MSU6mA/cy6MK7nxO4a9unvgglH38yzk2pLvpppEezfTf8j6t6BX4ZKgmiM
JH2JbfXTrcBK+js/GOefwmO0g+nGI9vEnLNwurNcIyJH+dgTmavfF/s6ITT3yZyw
aA2Rhl+97iG96YYUVvHdugkF7dYfN5bxOZqOvNVJQf6lxNCJfZy0hoDYXdD0TN2w
Q5pjFZ3RAgMBAAECggEBALkNKgXgYrRJgq5VPxHfH/no32sLYkJn0pb73SpPYPj2
J85wnHKjcfDpBLTIMco7p5vKl5B3S31xDmwAswsNfNQb5gdNk7/j5NmqqjlC5eXU
k7LorvRdqA6HMUeISIXV+62xswPThrm8iBuNcPusxjgKm6DxVmilkR5J0MIvjfy5
weAax7j91/DXT0T+kNbn0wgQ+8ZJSq8UaDvxUs8z6UQYe4zbSNcUYAzOVQ7WRFFR
X9sec+Rsgn0e5RAAyJ1/eqIKTjaGPPCgI6CeyAjM7ik2Qi3PWM/xX7+BElOddCmE
ntmX+2Ht+p3kPvp41lTP06MRGc93x738fQZw/kb38kECgYEA8Ymop/XWB+ELyORR
y8qoqchGz/B8qfoYtVNFd2xpRIZCbtfOKYWtbVjLUJTjpHGmU878/HFOTFf43XMy
qnXjyi7Y9EYGdOZLm9ytqLlQh+hh9L56v1Z49257N/wnDbRLa7WEFhyVbT1t2RYI
aO0UCBbTWgnETkMmTV84BzeIIJsCgYEA6b2iljyPM0ZaoR8XLGBuBTbTyHFuNv8B
r95nVajK7avbMbHuEohZHxqUmUgXpz2Y74IIhI8ZsYeMNGAcDKC6A8t79Br21UOi
G6M6ZBB/LVANbRvz7A+tV4jwOlYMdpotv/w3nfKYMMxyz7AZlHYGVD+t88h8DlJj
SoMIbLMVdAMCfxAKFCkTKiNbzmyIvOXLj2e25Pzp+11OPlXMMdC8YkEqqT6zFf2r
4thgDSBMwtEouuLV2/bnj0uCjAQoojSvn3DNq5qNC+C3ak3vWZjatX5Q8DBQddY+
58mGjKgrFmzSjC+a3iqZu1KFwcWosOZG2A2xdleEToTj8Kcyq4XPKjsCgYBUtYQh
3GqtU3bu43ybeYsF2rvf7bPavIoY+YoLkjOQ9PJoTSqRjtZ1nkVyU5023+z4B/Ec
UVwnaY9XP+mKbglb7LfMXKVN3sf2Ki60KwJcIqHrA/FfgML6cUdWbO7xYKjp5fcm
B9A+ByoouJJcqnVavQVGz0aeTh9r1pcMBc7ljwKBgQDgv2dVi8uEixHHFAJft4r6
lmQdNnLK83+UvuF1hJQFU5jALhZZ0asL9QSqgYc6Atnj8RJJ8D0StwLP3itu4CNn
UnhFP3g5aqf22iFpyrWdMwQPNd6W7W71utkKNQJ98s5AbdDjms7euDSkZCitF9OF
wsOW8pGAv4Si8xmo5YET/A==
-----END PRIVATE KEY-----
chair_code/chair_code.vcxproj
......@@ -6,6 +6,7 @@
***************************************************************************************************
-->
<Project DefaultTargets="Build" ToolsVersion="17.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<Import Project="..\packages\vcpkg.D.gitpak.vcpkg.1.0.0\build\native\vcpkg.D.gitpak.vcpkg.props" Condition="Exists('..\packages\vcpkg.D.gitpak.vcpkg.1.0.0\build\native\vcpkg.D.gitpak.vcpkg.props')" />
<ItemGroup Label="ProjectConfigurations">
<ProjectConfiguration Include="Debug|x64">
<Configuration>Debug</Configuration>
......@@ -43,8 +44,8 @@
<QtBuildConfig>debug</QtBuildConfig>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="QtSettings">
<QtInstall>5.14.2_msvc2017_64</QtInstall>
<QtModules>core;network;gui;widgets;concurrent</QtModules>
<QtInstall>5.14.0_msvc2017_64</QtInstall>
<QtModules>core;network;gui;widgets;serialport;concurrent</QtModules>
<QtBuildConfig>release</QtBuildConfig>
</PropertyGroup>
<Target Name="QtMsBuildNotFound" BeforeTargets="CustomBuild;ClCompile" Condition="!Exists('$(QtMsBuild)\qt.targets') or !Exists('$(QtMsBuild)\qt.props')">
......@@ -154,6 +155,7 @@
<None Include="car_chair.proto" />
<None Include="conf\config-default.ini" />
<None Include="conf\config-sn-ip.json" />
<None Include="packages.config" />
<None Include="protobuf\shovel_chair.proto" />
</ItemGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
......@@ -161,5 +163,13 @@
<Import Project="$(QtMsBuild)\qt.targets" />
</ImportGroup>
<ImportGroup Label="ExtensionTargets">
<Import Project="..\packages\vcpkg.D.gitpak.vcpkg.1.0.0\build\native\vcpkg.D.gitpak.vcpkg.targets" Condition="Exists('..\packages\vcpkg.D.gitpak.vcpkg.1.0.0\build\native\vcpkg.D.gitpak.vcpkg.targets')" />
</ImportGroup>
<Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
<PropertyGroup>
<ErrorText>这台计算机上缺少此项目引用的 NuGet 程序包。使用“NuGet 程序包还原”可下载这些程序包。有关更多信息，请参见 http://go.microsoft.com/fwlink/?LinkID=322105。缺少的文件是 {0}。</ErrorText>
</PropertyGroup>
<Error Condition="!Exists('..\packages\vcpkg.D.gitpak.vcpkg.1.0.0\build\native\vcpkg.D.gitpak.vcpkg.props')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\vcpkg.D.gitpak.vcpkg.1.0.0\build\native\vcpkg.D.gitpak.vcpkg.props'))" />
<Error Condition="!Exists('..\packages\vcpkg.D.gitpak.vcpkg.1.0.0\build\native\vcpkg.D.gitpak.vcpkg.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\vcpkg.D.gitpak.vcpkg.1.0.0\build\native\vcpkg.D.gitpak.vcpkg.targets'))" />
</Target>
</Project>
\ No newline at end of file
chair_code/chair_code.vcxproj.filters
......@@ -134,6 +134,7 @@
<None Include="car_chair.proto">
<Filter>Translation Files</Filter>
</None>
<None Include="packages.config" />
</ItemGroup>
<ItemGroup>
<QtMoc Include="acquire_config.h">
......
chair_code/chair_code.vcxproj.user
......@@ -2,9 +2,9 @@
<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<PropertyGroup />
<PropertyGroup Label="QtSettings" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
<QtLastBackgroundBuild>2023-12-03T17:55:32.4749765Z</QtLastBackgroundBuild>
<QtLastBackgroundBuild>2023-12-04T03:03:49.9005770Z</QtLastBackgroundBuild>
</PropertyGroup>
<PropertyGroup Label="QtSettings" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
<QtLastBackgroundBuild>2023-12-03T17:55:32.6514522Z</QtLastBackgroundBuild>
<QtLastBackgroundBuild>2023-12-04T08:03:26.9085734Z</QtLastBackgroundBuild>
</PropertyGroup>
</Project>
\ No newline at end of file
chair_code/conf/config-default.ini
......@@ -4,11 +4,12 @@ publish_message_type=2;//1云端，2直连
username=boonray;//登录用户名
password=Boonray@123;//登录密码
server_url=http://139.196.75.44:8900;//服务器
server_grpc_host=192.168.9.111
mqtt_host=139.196.75.44;//mqtt ip
mqtt_port=28884;//mqtt 端口
hardware_to_chair_way=2;//读取硬件座椅数据的方式1: joystick,2:tcp,3:udp
mqtt_keep_alive=10;//保活
grpc_enable_cert=true;//是否开启mqtt ssl认证
grpc_enable_cert=false;//是否开启grpc ssl认证
mqtt_enable_cert=false;//是否开启mqtt ssl认证
http_enable_cert=false;//是否开启http ssl认证
publish_control_frequency=10;//发送车铲控制数据的HZ数
......@@ -18,22 +19,22 @@ publish_status_frequency=10;//发送车铲状态数据的HZ数
chair_name=moza;//座椅名称
chair_sn=shihao_test_01;//本座椅的sn
device_sn=;//默认所控的sn
chair_host="192.168.1.3";//座椅程序IP，不接收0.0.0.0
chair_host=192.168.9.198;//座椅程序IP，不接收0.0.0.0
chair_port=8802;//座椅程序端口
chair_to_device_port=8801;//座椅程序下发控制指令的端口
grpc_to_chair_port=50052;//pad到座椅的指令端口，grpc server ip
hardware_host=192.168.9.53;//硬件座椅IP
hardware_to_chair_port=18855;//硬件座椅端口
hardware_host=192.168.9.53;//硬件座椅IP 用于接收座椅指令数据 当与座椅进行tcp 通信时需要
hardware_to_chair_port=18855;//硬件座椅端口 用于接收座椅指令数据
[Car]
chair_name=bulldozer;//gzy:湖州的白色座椅
chair_name=bulldozer;//gzy:湖州的白色座椅 bulldozer:挖机
chair_sn=car_chair_shihao;//本座椅的sn
device_sn=;//默认所控的sn
chair_host=192.168.1.3;//座椅程序IP
chair_host=192.168.9.198;//座椅程序IP
chair_port=8801;//座椅程序端口
chair_to_device_port=8801;//座椅程序下发控制指令的端口
grpc_to_chair_port=50052;//pad到座椅的指令端口，grpc server ip
hardware_host=192.168.1.3;//硬件座椅IP
hardware_to_chair_port=44444;//硬件座椅端口
hardware_host=192.168.9.53;//硬件座椅IP 用于接收座椅指令数据 当与座椅进行tcp 通信时需要
hardware_to_chair_port=18855;//硬件座椅端口 用于接收座椅指令数据
brake_ignore=20.0;//刹车忽略值
steering_ignore=1.0;//方向盘忽略值
\ No newline at end of file
chair_code/control_module.cpp
#include "control_module.h"
#include "control_module.h"
control_module::control_module(QObject *parent)
control_module::control_module(QObject* parent)
: QObject(parent)
{
_module_data = module_data::instance();//全局数据中转
_module_data = module_data::instance();//全局数据中转
if (_module_data->chair_name == "moza") {//湖州的白色座椅
_moza_module = new moza_module();//实例moza 解析类
_joy_thread = new joy_thread();//实例读座椅数据 解析类
connect(_joy_thread, &joy_thread::joy_received_button, _moza_module, &moza_module::analyze_seat_button);
connect(_joy_thread, &joy_thread::joy_received_axis, _moza_module, &moza_module::analyze_seat_axis);
if (_module_data->chair_name == "moza") {
_moza_module = new moza_module();//实例moza 解析类
}
else if (_module_data->chair_name == "feishi") {
_feishi_module = new feishi_module(_module_data->hardware_host, _module_data->hardware_to_chair_port);
}
else if (_module_data->chair_name == "gzy") {
_gzy_module = new gzy_module();//实例moza 解析类
//_joy_thread = new joy_thread();//实例读座椅数据 解析类
else if (_module_data->chair_name == "gzy") {//湖州的白色座椅
_gzy_module = new gzy_module();//实例moza 解析类
//_joy_thread = new joy_thread();//实例读座椅数据 解析类
//connect(_joy_thread, &joy_thread::joy_received_button, _gzy_module, &gzy_module::analyze_seat_button);
//connect(_joy_thread, &joy_thread::joy_received_axis, _gzy_module, &gzy_module::analyze_seat_axis);
}
else if (_module_data->chair_name == "bulldozer") {//临时兼容推土机ID3
_bulldozer_module = new bulldozer_module("", _module_data->chair_port);
else if (_module_data->chair_name == "bulldozer") {//临时兼容推土机ID3
_bulldozer_module = new bulldozer_module("", _module_data->hardware_to_chair_port);
}
......
chair_code/control_module.h
#pragma once
#pragma once
#include <QObject>
#include "module_data.h"
......@@ -6,11 +6,11 @@
#include "moza_module.h"
#include "feishi_module.h"
#include "bulldozer_module.h"
#include "udp_thread.h"
#include "joy_thread.h"
class control_module : public QObject
class control_module : public QObject
{
Q_OBJECT
......@@ -19,7 +19,7 @@ public:
~control_module();
private:
//
//单例类
std::shared_ptr<module_data> _module_data = nullptr;
moza_module* _moza_module = nullptr;
......
chair_code/grpc_module.cpp
......@@ -8,38 +8,45 @@ grpc_module::grpc_module(QObject* parent)
{
_module_data = module_data::instance();
QThread* _pThread = new QThread(this);
QThread* _pThread = new QThread(this);
connect(_pThread, &QThread::finished, this, &grpc_module::deleteLater);
connect(this, &grpc_module::grpc_startwork, this, &grpc_module::on_grpc_endthread);
this->moveToThread(_pThread);
emit grpc_startwork();
_pThread->start();
emit grpc_startwork();
}
grpc_module::~grpc_module()
{
if (_car_service) {
delete _car_service;
_car_service = nullptr;
}
if (_shovel_service) {
delete _shovel_service;
_shovel_service = nullptr;
}
if (_car_service) {
delete _car_service;
_car_service = nullptr;
}
if (_shovel_service) {
delete _shovel_service;
_shovel_service = nullptr;
}
qDebug() << "~grpc_thread()";
}
void grpc_module::on_grpc_endthread()
{
int i = 0;
printf("gRPC\n");
std::string serverAddress = _module_data->grpc_server_address.toStdString();
std::string client_ca_file = "./cert/cacert_grpc/cacert.pem";
std::string server_key_file = "./cert/cacert_grpc/serverkey.pem";
std::string server_cert_file = "./cert/cacert_grpc/servercert.pem";
bool require_client_cert = _module_data->grpc_enable_cert;
this->grpc_shovel_server(serverAddress, client_ca_file, server_key_file, server_cert_file, require_client_cert);
printf("Server Exit\n");
std::string serverAddress = _module_data->grpc_server_address.toStdString();
std::string client_ca_file = "./cert/cacert_grpc/cacert.pem";
std::string server_key_file = "./cert/cacert_grpc/serverkey.pem";
std::string server_cert_file = "./cert/cacert_grpc/servercert.pem";
bool require_client_cert = _module_data->grpc_enable_cert;
if (_module_data->isIpAddressValid(serverAddress)) {//检查IP地址的有效性
global_signal::instance()->record_debug_logger("gRPC ");
this->grpc_shovel_server(serverAddress, client_ca_file, server_key_file, server_cert_file, require_client_cert);;
global_signal::instance()->record_debug_logger("Server Exit: ");
}
else {
global_signal::instance()->record_debug_logger("Invalid IP address: " + QString::fromStdString(serverAddress));
}
}
......@@ -52,63 +59,70 @@ std::string grpc_module::get_cacert_contents(const char* fpath)
}
void grpc_module::grpc_shovel_server(const std::string& serverAddress,
const std::string& client_ca_file,
const std::string& server_key_file,
const std::string& server_cert_file,
bool require_client_cert)
const std::string& client_ca_file,
const std::string& server_key_file,
const std::string& server_cert_file,
bool require_client_cert)
{
if (_module_data->chair_type == _CAR) {
_car_service = new car_server_impl();
}
else if (_module_data->chair_type == _SHOVEL) {
_shovel_service = new shovel_server_impl();
}
try {
std::shared_ptr<grpc::ServerCredentials> creds;
ServerBuilder builder;
if (require_client_cert) {
std::string client_ca_pem = get_cacert_contents(client_ca_file.c_str());
std::string my_key_pem = get_cacert_contents(server_key_file.c_str());
std::string my_cert_pem = get_cacert_contents(server_cert_file.c_str());
grpc::SslServerCredentialsOptions::PemKeyCertPair pkcp = {
my_key_pem.c_str(), my_cert_pem.c_str()
};
grpc::SslServerCredentialsOptions ssl_opts(GRPC_SSL_REQUEST_AND_REQUIRE_CLIENT_CERTIFICATE_AND_VERIFY);
ssl_opts.pem_root_certs = client_ca_pem;
ssl_opts.pem_key_cert_pairs.push_back(pkcp);
creds = grpc::SslServerCredentials(ssl_opts);
}
else {
creds = grpc::InsecureServerCredentials();
}
builder.AddChannelArgument(GRPC_ARG_KEEPALIVE_TIME_MS, 5000);
builder.AddChannelArgument(GRPC_ARG_KEEPALIVE_TIMEOUT_MS, 10000);
builder.AddChannelArgument(GRPC_ARG_KEEPALIVE_PERMIT_WITHOUT_CALLS, 1);
builder.AddListeningPort(serverAddress, creds);
if (_module_data->chair_type == _CAR) {
builder.RegisterService(_car_service);
}
else if (_module_data->chair_type == _SHOVEL) {
builder.RegisterService(_shovel_service);
}
const std::unique_ptr<Server> server(builder.BuildAndStart());
qInfo() << "gRPC server listening on " << QString::fromStdString(serverAddress);
server->Wait();
}
catch (std::exception& e) {
qCritical() << "Exception occurred in gRPC server: " << e.what();
}
catch (...) {
qCritical() << "Unknown exception occurred in gRPC server";
}
if (_module_data->chair_type == _CAR) {
_car_service = new car_server_impl();
}
else if (_module_data->chair_type == _SHOVEL) {
_shovel_service = new shovel_server_impl();
}
try {
std::shared_ptr<grpc::ServerCredentials> creds;
ServerBuilder builder;
if (require_client_cert) {
std::string client_ca_pem = get_cacert_contents(client_ca_file.c_str());
std::string my_key_pem = get_cacert_contents(server_key_file.c_str());
std::string my_cert_pem = get_cacert_contents(server_cert_file.c_str());
grpc::SslServerCredentialsOptions::PemKeyCertPair pkcp = {
my_key_pem.c_str(), my_cert_pem.c_str()
};
grpc::SslServerCredentialsOptions ssl_opts(GRPC_SSL_REQUEST_AND_REQUIRE_CLIENT_CERTIFICATE_AND_VERIFY);
ssl_opts.pem_root_certs = client_ca_pem;
ssl_opts.pem_key_cert_pairs.push_back(pkcp);
creds = grpc::SslServerCredentials(ssl_opts);
}
else {
creds = grpc::InsecureServerCredentials();
}
builder.AddChannelArgument(GRPC_ARG_KEEPALIVE_TIME_MS, 5000);
builder.AddChannelArgument(GRPC_ARG_KEEPALIVE_TIMEOUT_MS, 10000);
builder.AddChannelArgument(GRPC_ARG_KEEPALIVE_PERMIT_WITHOUT_CALLS, 1);
builder.AddListeningPort(serverAddress, creds);
if (_module_data->chair_type == _CAR) {
builder.RegisterService(_car_service);
}
else if (_module_data->chair_type == _SHOVEL) {
builder.RegisterService(_shovel_service);
}
const std::unique_ptr<Server> server(builder.BuildAndStart());
global_signal::instance()->record_debug_logger("gRPC server listening on " + QString::fromStdString(serverAddress));
server->Wait();
}
catch (std::exception& e) {
global_signal::instance()->record_error_logger("Exception occurred in gRPC server: " + QString::fromStdString(e.what()));
}
catch (...) {
global_signal::instance()->record_error_logger("Unknown exception occurred in gRPC server ");
}
}
......@@ -127,40 +141,40 @@ void grpc_module::grpc_shovel_server(const std::string& serverAddress,
/*void grpc_thread::grpc_shovel_server() {
const std::string serverAddress(_module_data->grpc_server_address.toStdString());
_service = new car_server_impl();
const std::string serverAddress(_module_data->grpc_server_address.toStdString());
_service = new car_server_impl();
auto client_ca_pem = get_cacert_contents("./cert/cacert_grpc/cacert.pem"); // for verifying clients
auto my_key_pem = get_cacert_contents("./cert/cacert_grpc/serverkey.pem");
auto my_cert_pem = get_cacert_contents("./cert/cacert_grpc/servercert.pem");
auto client_ca_pem = get_cacert_contents("./cert/cacert_grpc/cacert.pem"); // for verifying clients
auto my_key_pem = get_cacert_contents("./cert/cacert_grpc/serverkey.pem");
auto my_cert_pem = get_cacert_contents("./cert/cacert_grpc/servercert.pem");
grpc::SslServerCredentialsOptions::PemKeyCertPair pkcp = {
my_key_pem.c_str(), my_cert_pem.c_str()
};
grpc::SslServerCredentialsOptions::PemKeyCertPair pkcp = {
my_key_pem.c_str(), my_cert_pem.c_str()
};
grpc::SslServerCredentialsOptions ssl_opts(GRPC_SSL_REQUEST_AND_REQUIRE_CLIENT_CERTIFICATE_AND_VERIFY);
ssl_opts.pem_root_certs = client_ca_pem;
ssl_opts.pem_key_cert_pairs.push_back(pkcp);
grpc::SslServerCredentialsOptions ssl_opts(GRPC_SSL_REQUEST_AND_REQUIRE_CLIENT_CERTIFICATE_AND_VERIFY);
ssl_opts.pem_root_certs = client_ca_pem;
ssl_opts.pem_key_cert_pairs.push_back(pkcp);
std::cout << "pem_root_certs length: " << ssl_opts.pem_root_certs.length() << std::endl;
std::cout << "pem_root_certs length: " << ssl_opts.pem_root_certs.length() << std::endl;
std::shared_ptr<grpc::ServerCredentials> creds = grpc::SslServerCredentials(ssl_opts);;
std::shared_ptr<grpc::ServerCredentials> creds = grpc::SslServerCredentials(ssl_opts);;
ServerBuilder builder;
ServerBuilder builder;
builder.AddListeningPort(serverAddress, creds);
builder.AddChannelArgument(GRPC_ARG_KEEPALIVE_TIME_MS, 5000);
builder.AddChannelArgument(GRPC_ARG_KEEPALIVE_TIMEOUT_MS, 10000);
builder.AddChannelArgument(GRPC_ARG_KEEPALIVE_PERMIT_WITHOUT_CALLS, 1);
builder.AddListeningPort(serverAddress, creds);
builder.AddChannelArgument(GRPC_ARG_KEEPALIVE_TIME_MS, 5000);
builder.AddChannelArgument(GRPC_ARG_KEEPALIVE_TIMEOUT_MS, 10000);
builder.AddChannelArgument(GRPC_ARG_KEEPALIVE_PERMIT_WITHOUT_CALLS, 1);
builder.RegisterService(_service);
builder.RegisterService(_service);
const std::unique_ptr<Server> server(builder.BuildAndStart());
std::cout << "Server listening on " << serverAddress << std::endl;
const std::unique_ptr<Server> server(builder.BuildAndStart());
std::cout << "Server listening on " << serverAddress << std::endl;
server->Wait();
server->Wait();
}*/
//void grpc_thread::grpc_shovel_server() {
......
chair_code/joy_thread.cpp
#include "joy_thread.h"
#include "global_signal.h"
joy_thread::joy_thread(QObject* parent)
: QObject(parent)
{
QFuture<void> future = QtConcurrent::run(this, &joy_thread::call_hardware_data);
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("开启 joy_thread ."));
}
joy_thread::~joy_thread()
{
}
void joy_thread::call_hardware_data()
{
const int joyCount = sf::Joystick::Count;
bool detection[joyCount] = { false };
int axisCount[joyCount] = { 0 };
int previousButtonCount[joyCount] = { 0 };
int previousAxisCount[joyCount] = { 0 };
bool previousButtonStates[joyCount][sf::Joystick::ButtonCount] = { false };
for (int joyIndex = 0; joyIndex < joyCount; ++joyIndex) {
sf::Joystick::update();
if (sf::Joystick::isConnected(joyIndex)) {
sf::Joystick::getButtonCount(joyIndex);
axisCount[joyIndex] = 0;
while (sf::Joystick::hasAxis(joyIndex, static_cast<sf::Joystick::Axis>(axisCount[joyIndex]))) {
axisCount[joyIndex]++;
}
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("已经连接到座椅 %1.").arg(joyIndex));
detection[joyIndex] = true;
}
else {
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("没有检测到座椅 %1.").arg(joyIndex));
}
}
while (true) {
for (int joyIndex = 0; joyIndex < joyCount; ++joyIndex) {
if (!detection[joyIndex]) {
continue;
}
sf::Joystick::update();
int buttonCount = sf::Joystick::getButtonCount(joyIndex);
if (buttonCount != previousButtonCount[joyIndex]) {
previousButtonCount[joyIndex] = buttonCount;
}
if (axisCount[joyIndex] != previousAxisCount[joyIndex]) {
previousAxisCount[joyIndex] = axisCount[joyIndex];
}
for (int button = 0; button < buttonCount; ++button) {
if (button < sf::Joystick::getButtonCount(joyIndex)) {
bool state = sf::Joystick::isButtonPressed(joyIndex, button);
if (state != previousButtonStates[joyIndex][button]) {
previousButtonStates[joyIndex][button] = state;
emit joy_received_button(button, state);
//global_signal::instance()->record_debug_logger("joyIndex: " + QString::number(joyIndex) + " button: " + QString::number(button, 10) + " " + QString::number(state, 10));
}
}
}
for (int axis = 0; axis < axisCount[joyIndex]; ++axis) {
if (sf::Joystick::hasAxis(joyIndex, static_cast<sf::Joystick::Axis>(axis))) {
double position = sf::Joystick::getAxisPosition(joyIndex, static_cast<sf::Joystick::Axis>(axis));
emit joy_received_axis(axis, position);
//global_signal::instance()->PublishMsgToWinodw("joyIndex: " + QString::number(joyIndex) + " axis: " + QString::number(axis, 10) + " " + QString::number(position, 'f'));
}
}
}
QThread::msleep(20);
}
}
/*
#include "joy_thread.h"
#include "global_signal.h"
......@@ -6,7 +89,7 @@ joy_thread::joy_thread(QObject* parent)
: QObject(parent)
{
QFuture<void> future = QtConcurrent::run(this, &joy_thread::call_hardware_data);
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("开启 joy_thread ."));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("开启 joy_thread ."));
}
joy_thread::~joy_thread()
......@@ -29,11 +112,11 @@ void joy_thread::call_hardware_data()
while (sf::Joystick::hasAxis(0, static_cast<sf::Joystick::Axis>(axisCount))) {
axisCount++;
}
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("已经连接到座椅."));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("已经连接到座椅."));
detection = true;
}
else {
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("没有检测到座椅."));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("没有检测到座椅."));
}
......@@ -55,8 +138,8 @@ void joy_thread::call_hardware_data()
bool state = sf::Joystick::isButtonPressed(0, button);
if (state != previousButtonStates[button]) {
previousButtonStates[button] = state;
emit joy_received_button(button, state);
global_signal::instance()->record_debug_logger("button:"+QString::number(button,10)+" "+ QString::number(state, 10));
// emit joy_received_button(button, state);
global_signal::instance()->record_debug_logger("button:" + QString::number(button, 10) + " " + QString::number(state, 10));
}
}
}
......@@ -64,10 +147,21 @@ void joy_thread::call_hardware_data()
for (int axis = 0; axis < axisCount; ++axis) {
if (sf::Joystick::hasAxis(0, static_cast<sf::Joystick::Axis>(axis))) {
double position = sf::Joystick::getAxisPosition(0, static_cast<sf::Joystick::Axis>(axis));
emit joy_received_axis(axis, position);
global_signal::instance()->record_debug_logger("button:" + QString::number(axis, 10) + " " + QString::number(position,'f'));
//emit joy_received_axis(axis, position);
global_signal::instance()->PublishMsgToWinodw("axis:" + QString::number(axis, 10) + " " + QString::number(position, 'f'));
}
}
QThread::msleep(50);
QThread::msleep(20);
}
}
\ No newline at end of file
}*/
//Failed to create DirectInput device : -2147467259
//Failed to create DirectInput device : -2147467259
//Failed to create DirectInput device : -2147467259
//Failed to create DirectInput device : -2147467259
//Failed to create DirectInput device : -2147467259
//Failed to create DirectInput device : -2147467259
\ No newline at end of file
chair_code/main.cpp
#include "chair_code.h"
#include "chair_code.h"
#include <QtWidgets/QApplication>
#include <QTextCodec>
int main(int argc, char *argv[])
int main(int argc, char* argv[])
{
QApplication a(argc, argv);
QApplication a(argc, argv);
chair_code w;
w.show();
return a.exec();
chair_code w;
w.show();
return a.exec();
}
chair_code/module_data.cpp
#include "module_data.h"
#include "global_signal.h"
#include <QHostAddress>
std::shared_ptr<module_data> module_data::m_instance = nullptr;
std::mutex module_data::m_mutex;
......@@ -40,13 +42,15 @@ module_data::module_data(QObject* parent)
}
server_url = _acquire_config->server_url;
grpc_server_address = _acquire_config->chair_host + ":"//grpc server ip port
server_grpc_host = _acquire_config->server_grpc_host;
grpc_server_address = server_grpc_host + ":"//grpc server ip port
+ QString::number(_acquire_config->grpc_to_chair_port, 10);
chair_host = _acquire_config->chair_host;//座椅程序的ip
chair_port = _acquire_config->chair_port;//座椅程序的端口
chair_to_device_port = _acquire_config->chair_to_device_port;//座椅下发到车铲控制数据的端口
publish_control_frequency = _acquire_config->publish_control_frequency;//下控制数据的频率
publish_status_frequency = _acquire_config->publish_status_frequency;//下发状态数据的频率
......@@ -105,4 +109,11 @@ QString module_data::acquire_device_ip(QString _target_device_sn) {
}
return this->current_controls_device_sn;
}
bool module_data::isIpAddressValid(const std::string& ipAddress)
{
QHostAddress address(QString::fromStdString(ipAddress));
return address.protocol() != QAbstractSocket::UnknownNetworkLayerProtocol;
}
\ No newline at end of file
chair_code/module_data.h
......@@ -32,6 +32,7 @@ public:
}
QString acquire_device_ip(QString _target_device_sn);
bool isIpAddressValid(const std::string& ipAddress);//检查IP地址的有效性
public:
QString chair_name = "";
QString chair_sn = "";
......@@ -158,7 +159,7 @@ public:
//QString req_chair_hexdata = "0A000104";
QString request_bind_device_path = "";
QString server_grpc_host = "";//grpc 域名
QString chair_host = "";//座椅程序IP，不接收0.0.0.0
quint16 chair_port = 0;
quint16 chair_to_device_port = 0;//座椅下发控制指令所用port
......@@ -177,6 +178,9 @@ public:
bool mqtt_enable_cert = false;//使能 mqtt ssl
bool grpc_enable_cert = false;//使能 grpc ssl
bool publish_control_sign = false;//使能下发控制数据
private:
static std::shared_ptr<module_data> m_instance;
static std::mutex m_mutex;
......
chair_code/moza_module.cpp
#include "moza_module.h"
#include "moza_module.h"
#include "global_signal.h"
moza_module::moza_module(QObject *parent)
moza_module::moza_module(QObject* parent)
: QObject(parent)
{
_module_data = module_data::instance();//全局数据中转
_module_data = module_data::instance();//全局数据中转
_joy_thread = new joy_thread();//实例读座椅数据 解析类
connect(_joy_thread, &joy_thread::joy_received_button, this, &moza_module::analyze_seat_button);
connect(_joy_thread, &joy_thread::joy_received_axis, this, &moza_module::analyze_seat_axis);
}
moza_module::~moza_module()
......@@ -47,67 +51,67 @@ void moza_module::analyze_seat_button(int button, bool pressed)
case 0: if (pressed) {
if (!_module_data->target_airconditioner) {
_module_data->target_airconditioner = 1;
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("空调开"));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("空调开"));
}
else {
_module_data->target_airconditioner = 0;
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("空调关"));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("空调关"));
}
} break;
case 1: if (pressed) {
if (!_module_data->target_low_beam) {
_module_data->target_low_beam = 1;
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("近光灯开"));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("近光灯开"));
}
else {
_module_data->target_low_beam = 0;
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("近光灯关"));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("近光灯关"));
}
}break;
case 2: if (pressed) {
if (!_module_data->target_high_beam) {
_module_data->target_high_beam = 1;
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("远光灯开"));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("远光灯开"));
}
else {
_module_data->target_high_beam = 0;
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("远光灯关"));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("远光灯关"));
}
}break;
case 3: if (pressed) {
if (!_module_data->target_horn) {
_module_data->target_horn = 1;
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("喇叭开"));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("喇叭开"));
}
else {
_module_data->target_horn = 0;
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("喇叭关"));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("喇叭关"));
}
}break;
case 4: if (!pressed) { _module_data->target_gear = 0; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("档位切换到 P 档")); }break;
case 5: if (!pressed) { _module_data->target_gear = 1; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("档位切换到 R 档")); }break;
case 6: if (!pressed) { _module_data->target_gear = 2; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("档位切换到 N 档")); }break;
case 7: if (!pressed) { _module_data->target_gear = 3; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("档位切换到 D 档")); }break;
case 4: if (!pressed) { _module_data->target_gear = 0; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("档位切换到 P 档")); }break;
case 5: if (!pressed) { _module_data->target_gear = 1; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("档位切换到 R 档")); }break;
case 6: if (!pressed) { _module_data->target_gear = 2; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("档位切换到 N 档")); }break;
case 7: if (!pressed) { _module_data->target_gear = 3; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("档位切换到 D 档")); }break;
case 12: if (pressed) {
if (!_module_data->target_left_light) {
_module_data->target_left_light = 1;
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("左转灯开"));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("左转灯开"));
}
else {
_module_data->target_left_light = 0;
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("左转灯关"));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("左转灯关"));
}
}break;
case 13: if (pressed) {
if (!_module_data->target_right_light) {
_module_data->target_right_light = 1;
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("右转灯开"));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("右转灯开"));
}
else {
_module_data->target_right_light = 0;
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("右转灯关"));
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("右转灯关"));
}
}break;
}
......
chair_code/moza_module.h
#pragma once
#pragma once
#include <QObject>
#include "module_data.h"
#include "joy_thread.h"
class moza_module : public QObject
class moza_module : public QObject
{
Q_OBJECT
......@@ -16,6 +16,8 @@ public slots:
void analyze_seat_button(int button, bool pressed);
private:
//
//单例类
std::shared_ptr<module_data> _module_data = nullptr;
joy_thread* _joy_thread = nullptr;
};
chair_code/network_module.cpp
#include "network_module.h"
#include "network_module.h"
#include "global_signal.h"
network_module::network_module(QObject *parent)
network_module::network_module(QObject* parent)
: QObject(parent)
{
_module_data = module_data::instance();
_http_module = http_module::instance();
QString retmsg = "";
//后期 此处改写，当为铲设备时获取token失败就弹出对话框,点击可重新获取？或者用定时器循环获取直到获取成功？
//后期 此处改写，当为铲设备时获取token失败就弹出对话框,点击可重新获取？或者用定时器循环获取直到获取成功？
if (_module_data->chair_type == _SHOVEL) {
retmsg = _http_module->request_device_token_message();//获取token和请求路径 铲端需要自行获取token
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("获取token:")+ retmsg + "[" + _module_data->chair_sn + "]");
if (_module_data->request_bind_device_path != "") {//判断是否获取token和请求路径成功
retmsg = _http_module->request_bind_device_message();//获取绑定sn _module_data->current_controls_device_sn
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("获取绑定sn:") + retmsg);
retmsg = _http_module->request_device_token_message();//获取token和请求路径 铲端需要自行获取token
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("获取token:") + retmsg + "[" + _module_data->chair_sn + "]");
if (_module_data->request_bind_device_path != "") {//判断是否获取token和请求路径成功
retmsg = _http_module->request_bind_device_message();//获取绑定sn _module_data->current_controls_device_sn
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("获取绑定sn:") + retmsg);
if (_module_data->current_controls_device_sn != "") {//判断是否成功获取到sn
if (_module_data->current_controls_device_sn != "") {//判断是否成功获取到sn
if (_module_data->current_controls_device_sn != _module_data->device_sn) {
global_signal::instance()->record_debug_logger(QStringLiteral("目标SN与绑定的SN不匹配: [")+ _module_data->current_controls_device_sn + "] [" + _module_data->chair_sn + "]");
return;//直接返回，或者弹出对话框选择是否重新绑定
global_signal::instance()->record_debug_logger(QStringLiteral("目标SN与绑定的SN不匹配: [") + _module_data->current_controls_device_sn + "] [" + _module_data->chair_sn + "]");
return;//直接返回，或者弹出对话框选择是否重新绑定
}
}
else {
retmsg = _http_module->request_controls_device_message(_module_data->device_sn);
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("请求控制设备:") + retmsg);
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("请求控制设备:") + retmsg);
}
}
else {
//此处 获取token和路径失败后处理
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("请求token失败,请确认云端是否有[") + _module_data->chair_sn + QStringLiteral("]设备"));//测试临时添加;
//此处 获取token和路径失败后处理
global_signal::instance()->PublishMsgToWinodw(QStringLiteral("请求token失败,请确认云端是否有[") + _module_data->chair_sn + QStringLiteral("]设备"));//测试临时添加;
}
}//车设备不需要主动获取token
if (_module_data->publish_message_type == _WEB) {//座椅指令->云端->铲
//控制数据由云端转发，不需要获取目标铲的IP
}//车设备不需要主动获取token
if (_module_data->publish_message_type == _WEB) {//座椅指令->云端->铲
//控制数据由云端转发，不需要获取目标铲的IP
}
else if (_module_data->publish_message_type == _DIRECT) {//座椅指令->铲
_module_data->acquire_device_ip(_module_data->current_controls_device_sn);//需要从本地获取IP
else if (_module_data->publish_message_type == _DIRECT) {//座椅指令->铲
_module_data->acquire_device_ip(_module_data->current_controls_device_sn);//需要从本地获取IP
}
global_signal::instance()->PublishMsgToWinodw("_module_data->device_sn::" + _module_data->device_sn);
}
network_module::~network_module()
......
chair_code/packages.config 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<packages>
<package id="vcpkg.D.gitpak.vcpkg" version="1.0.0" targetFramework="native" />
</packages>
\ No newline at end of file
chair_code/runlog/debug/debug_20231204_114421.log 0 → 100644
[2023-12-04 11:44:21.947] [logger4] [debug] Message(request_device_token_message):登录成功
[2023-12-04 11:44:21.947] [logger4] [debug] Token:eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJpc3MiOiJib29ucmF5IiwiZXhwIjoxNzAxNzQ3ODYwLCJkZXZpY2VfaWQiOjUzNTQ2OTg4MjgyOTc3LCJwcm9qZWN0X2lkcyI6WzUzNDcxNTMyOTI5NzkzXSwicm9sZV9pZCI6M30.nQI4u0dlG3jhFh-bAOokjLs0OndT9IbYvmaXBewZamI
[2023-12-04 11:44:21.947] [logger4] [debug] Project ID:53471532929793
[2023-12-04 11:44:21.947] [logger4] [debug] Product ID:52117314322241
[2023-12-04 11:44:21.947] [logger4] [debug] device ID:53546988282977
[2023-12-04 11:44:21.947] [logger4] [debug] device_type ID:0
[2023-12-04 11:44:21.981] [logger4] [debug] Message(request_bind_device_message):查询成功
[2023-12-04 11:44:21.982] [logger4] [debug] Invalid target device serial number : request_controls_device_message()
chair_code/runlog/debug/debug_20231204_120004.log 0 → 100644
[2023-12-04 12:00:04.993] [logger4] [debug] Message(request_device_token_message):登录成功
[2023-12-04 12:00:04.993] [logger4] [debug] Token:eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJpc3MiOiJib29ucmF5IiwiZXhwIjoxNzAxNzQ4ODAzLCJkZXZpY2VfaWQiOjUzNTQ2OTg4MjgyOTc3LCJwcm9qZWN0X2lkcyI6WzUzNDcxNTMyOTI5NzkzXSwicm9sZV9pZCI6M30.dGpot_9YaTI9XspYE7I2W3OAYRWu4cBmw1JQSQAh-1c
[2023-12-04 12:00:04.993] [logger4] [debug] Project ID:53471532929793
[2023-12-04 12:00:04.993] [logger4] [debug] Product ID:52117314322241
[2023-12-04 12:00:04.993] [logger4] [debug] device ID:53546988282977
[2023-12-04 12:00:04.993] [logger4] [debug] device_type ID:0
[2023-12-04 12:00:05.027] [logger4] [debug] Message(request_bind_device_message):查询成功
[2023-12-04 12:00:05.028] [logger4] [debug] Invalid target device serial number : request_controls_device_message()
chair_code/runlog/debug/debug_20231204_122150.log 0 → 100644
[2023-12-04 12:21:50.175] [logger4] [debug] Message(request_device_token_message):登录成功
[2023-12-04 12:21:50.175] [logger4] [debug] Token:eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJpc3MiOiJib29ucmF5IiwiZXhwIjoxNzAxNzUwMTA5LCJkZXZpY2VfaWQiOjUzNTQ2OTg4MjgyOTc3LCJwcm9qZWN0X2lkcyI6WzUzNDcxNTMyOTI5NzkzXSwicm9sZV9pZCI6M30.kH3ZzE_sxHGrOdwcHnhOfuCTXU8cNjqFOHGQFaMMS5I
[2023-12-04 12:21:50.175] [logger4] [debug] Project ID:53471532929793
[2023-12-04 12:21:50.175] [logger4] [debug] Product ID:52117314322241
[2023-12-04 12:21:50.175] [logger4] [debug] device ID:53546988282977
[2023-12-04 12:21:50.175] [logger4] [debug] device_type ID:0
[2023-12-04 12:21:50.209] [logger4] [debug] Message(request_bind_device_message):查询成功
[2023-12-04 12:21:50.211] [logger4] [debug] Invalid target device serial number : request_controls_device_message()
chair_code/runlog/debug/debug_20231204_150358.log 0 → 100644
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chair_code/runlog/debug/debug_20231204_150640.log 0 → 100644
This source diff could not be displayed because it is too large. You can view the blob instead.
chair_code/runlog/debug/debug_20231204_151042.log 0 → 100644
[2023-12-04 15:10:42.563] [logger4] [debug] Invalid IP address: 192.168.9.111:50052
[2023-12-04 15:10:52.820] [logger4] [debug] button:7 1
[2023-12-04 15:10:53.625] [logger4] [debug] button:6 1
[2023-12-04 15:10:53.827] [logger4] [debug] button:6 0
[2023-12-04 15:10:54.733] [logger4] [debug] button:4 1
[2023-12-04 15:10:56.244] [logger4] [debug] button:7 0
[2023-12-04 15:10:58.662] [logger4] [debug] button:4 0
[2023-12-04 15:11:02.086] [logger4] [debug] button:6 1
[2023-12-04 15:11:03.193] [logger4] [debug] button:5 1
[2023-12-04 15:11:03.395] [logger4] [debug] button:5 0
[2023-12-04 15:11:04.806] [logger4] [debug] button:6 0
[2023-12-04 15:11:05.914] [logger4] [debug] button:4 1
[2023-12-04 15:11:06.115] [logger4] [debug] button:4 0
[2023-12-04 15:11:08.936] [logger4] [debug] button:4 1
[2023-12-04 15:11:09.340] [logger4] [debug] button:4 0
[2023-12-04 15:11:10.345] [logger4] [debug] button:4 1
[2023-12-04 15:11:10.748] [logger4] [debug] button:4 0
[2023-12-04 15:11:11.755] [logger4] [debug] button:6 1
[2023-12-04 15:11:11.957] [logger4] [debug] button:6 0
[2023-12-04 15:11:13.770] [logger4] [debug] button:4 1
[2023-12-04 15:11:14.274] [logger4] [debug] button:4 0
[2023-12-04 15:11:15.080] [logger4] [debug] button:4 1
[2023-12-04 15:11:17.597] [logger4] [debug] button:4 0
[2023-12-04 15:11:17.799] [logger4] [debug] button:4 1
[2023-12-04 15:11:18.101] [logger4] [debug] button:4 0
[2023-12-04 15:11:18.907] [logger4] [debug] button:4 1
[2023-12-04 15:11:19.612] [logger4] [debug] button:4 0
[2023-12-04 15:11:20.216] [logger4] [debug] button:4 1
[2023-12-04 15:11:20.821] [logger4] [debug] button:4 0
[2023-12-04 15:11:22.936] [logger4] [debug] button:4 1
[2023-12-04 15:11:23.440] [logger4] [debug] button:4 0
[2023-12-04 15:11:26.159] [logger4] [debug] button:7 1
[2023-12-04 15:11:27.470] [logger4] [debug] button:7 0
[2023-12-04 15:11:28.477] [logger4] [debug] button:5 1
[2023-12-04 15:11:28.980] [logger4] [debug] button:5 0
[2023-12-04 15:11:30.994] [logger4] [debug] button:6 1
[2023-12-04 15:11:31.500] [logger4] [debug] button:6 0
[2023-12-04 15:11:32.506] [logger4] [debug] button:6 1
[2023-12-04 15:11:33.009] [logger4] [debug] button:6 0
chair_code/runlog/debug/debug_20231204_151207.log 0 → 100644
[2023-12-04 15:12:07.488] [logger4] [debug] Invalid IP address: 192.168.9.111:50052
[2023-12-04 15:12:11.379] [logger4] [debug] button:4 1
[2023-12-04 15:12:11.581] [logger4] [debug] button:4 0
[2023-12-04 15:12:12.185] [logger4] [debug] button:4 1
[2023-12-04 15:12:12.286] [logger4] [debug] button:4 0
[2023-12-04 15:12:12.890] [logger4] [debug] button:4 1
[2023-12-04 15:12:12.991] [logger4] [debug] button:4 0
[2023-12-04 15:12:13.495] [logger4] [debug] button:4 1
[2023-12-04 15:12:13.595] [logger4] [debug] button:4 0
[2023-12-04 15:12:14.099] [logger4] [debug] button:4 1
[2023-12-04 15:12:14.200] [logger4] [debug] button:4 0
[2023-12-04 15:12:14.703] [logger4] [debug] button:4 1
[2023-12-04 15:12:14.804] [logger4] [debug] button:4 0
[2023-12-04 15:12:15.308] [logger4] [debug] button:4 1
[2023-12-04 15:12:15.409] [logger4] [debug] button:4 0
[2023-12-04 15:12:16.013] [logger4] [debug] button:4 1
[2023-12-04 15:12:16.114] [logger4] [debug] button:4 0
[2023-12-04 15:12:22.861] [logger4] [debug] button:7 1
[2023-12-04 15:12:23.164] [logger4] [debug] button:7 0
[2023-12-04 15:12:43.408] [logger4] [debug] button:4 1
[2023-12-04 15:12:43.710] [logger4] [debug] button:4 0
[2023-12-04 15:12:44.315] [logger4] [debug] button:6 1
[2023-12-04 15:12:44.516] [logger4] [debug] button:6 0
[2023-12-04 15:12:45.020] [logger4] [debug] button:7 1
[2023-12-04 15:12:45.221] [logger4] [debug] button:7 0
[2023-12-04 15:12:45.826] [logger4] [debug] button:4 1
[2023-12-04 15:12:46.027] [logger4] [debug] button:4 0
[2023-12-04 15:12:46.430] [logger4] [debug] button:4 1
[2023-12-04 15:12:47.034] [logger4] [debug] button:4 0
[2023-12-04 15:12:48.444] [logger4] [debug] button:4 1
[2023-12-04 15:12:50.358] [logger4] [debug] button:4 0
[2023-12-04 15:12:50.458] [logger4] [debug] button:4 1
[2023-12-04 15:12:50.559] [logger4] [debug] button:4 0
[2023-12-04 15:12:50.659] [logger4] [debug] button:4 1
[2023-12-04 15:12:50.760] [logger4] [debug] button:4 0
[2023-12-04 15:12:51.365] [logger4] [debug] button:6 1
[2023-12-04 15:12:51.969] [logger4] [debug] button:6 0
[2023-12-04 15:12:52.070] [logger4] [debug] button:6 1
[2023-12-04 15:12:52.171] [logger4] [debug] button:6 0
[2023-12-04 15:12:52.876] [logger4] [debug] button:5 1
[2023-12-04 15:12:53.077] [logger4] [debug] button:5 0
[2023-12-04 15:12:53.783] [logger4] [debug] button:7 1
[2023-12-04 15:12:53.984] [logger4] [debug] button:7 0
[2023-12-04 15:12:54.488] [logger4] [debug] button:6 1
[2023-12-04 15:12:54.689] [logger4] [debug] button:6 0
[2023-12-04 15:12:55.293] [logger4] [debug] button:4 1
[2023-12-04 15:12:55.495] [logger4] [debug] button:4 0
[2023-12-04 15:12:55.998] [logger4] [debug] button:6 1
[2023-12-04 15:12:56.200] [logger4] [debug] button:6 0
[2023-12-04 15:12:56.502] [logger4] [debug] button:7 1
[2023-12-04 15:12:56.703] [logger4] [debug] button:7 0
[2023-12-04 15:12:57.711] [logger4] [debug] button:5 1
[2023-12-04 15:12:58.214] [logger4] [debug] button:5 0
[2023-12-04 15:12:58.315] [logger4] [debug] button:5 1
[2023-12-04 15:12:58.618] [logger4] [debug] button:5 0
[2023-12-04 15:12:59.524] [logger4] [debug] button:6 1
[2023-12-04 15:13:00.129] [logger4] [debug] button:6 0
[2023-12-04 15:13:00.330] [logger4] [debug] button:6 1
[2023-12-04 15:13:01.841] [logger4] [debug] button:6 0
[2023-12-04 15:13:03.957] [logger4] [debug] button:4 1
[2023-12-04 15:13:04.158] [logger4] [debug] button:4 0
[2023-12-04 15:13:05.668] [logger4] [debug] button:7 1
[2023-12-04 15:13:06.070] [logger4] [debug] button:7 0
[2023-12-04 15:13:06.473] [logger4] [debug] button:5 1
[2023-12-04 15:13:06.776] [logger4] [debug] button:5 0
[2023-12-04 15:13:07.078] [logger4] [debug] button:5 1
[2023-12-04 15:13:07.279] [logger4] [debug] button:5 0
[2023-12-04 15:13:07.783] [logger4] [debug] button:7 1
[2023-12-04 15:13:07.883] [logger4] [debug] button:7 0
[2023-12-04 15:13:08.388] [logger4] [debug] button:7 1
[2023-12-04 15:13:08.589] [logger4] [debug] button:7 0
[2023-12-04 15:13:08.891] [logger4] [debug] button:6 1
[2023-12-04 15:13:09.092] [logger4] [debug] button:6 0
chair_code/runlog/debug/debug_20231204_151707.log 0 → 100644
[2023-12-04 15:17:07.620] [logger4] [debug] Invalid IP address: 192.168.9.111:50052
[2023-12-04 15:17:21.753] [logger4] [debug] button:7 1
[2023-12-04 15:17:21.879] [logger4] [debug] button:7 0
[2023-12-04 15:17:22.005] [logger4] [debug] button:7 1
[2023-12-04 15:17:22.130] [logger4] [debug] button:7 0
[2023-12-04 15:17:22.402] [logger4] [debug] button:6 1
[2023-12-04 15:17:22.569] [logger4] [debug] button:6 0
[2023-12-04 15:17:22.612] [logger4] [debug] button:6 1
[2023-12-04 15:17:22.779] [logger4] [debug] button:6 0
[2023-12-04 15:17:22.947] [logger4] [debug] button:4 1
[2023-12-04 15:17:23.072] [logger4] [debug] button:4 0
[2023-12-04 15:17:23.198] [logger4] [debug] button:4 1
[2023-12-04 15:17:23.324] [logger4] [debug] button:4 0
chair_code/runlog/debug/debug_20231204_152913.log 0 → 100644
[2023-12-04 15:29:14.039] [logger4] [debug] Invalid IP address: 192.168.9.111:50052
chair_code/runlog/debug/debug_20231204_165141.log 0 → 100644
[2023-12-04 16:51:41.864] [logger4] [debug] Invalid IP address: 192.168.9.111:50052
chair_code/runlog/debug/debug_20231204_182640.log 0 → 100644
[2023-12-04 18:26:40.552] [logger4] [debug] [bulldozer]:_udp_socket port:18855
[2023-12-04 18:26:40.867] [logger4] [debug] Invalid IP address: 192.168.9.111:50052
chair_code/runlog/debug/debug_20231204_183439.log 0 → 100644
[2023-12-04 18:34:39.913] [logger4] [debug] [bulldozer]:_udp_socket port:18855
[2023-12-04 18:34:40.201] [logger4] [debug] Invalid IP address: 192.168.9.111:50052
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