3D测量 TCP通信

【实例截图】

【核心代码】

#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <QTcpSocket>
#include <QHostAddress>
#include <QDebug>
#include <QtEndian>
#include <QtMath>
int MainWindow::m_count = 0;
MainWindow::MainWindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainWindow)
{
    ui->setupUi(this);

    m_pTcpOrderSocket = new QTcpSocket(this);
    connect(m_pTcpOrderSocket, &QTcpSocket::connected, this, &MainWindow::connectSecusseful);
    connect(m_pTcpOrderSocket, SIGNAL(error(QAbstractSocket::SocketError)),this, SLOT(ReadError(QAbstractSocket::SocketError)));
    connect(m_pTcpOrderSocket,&QTcpSocket::readyRead, this, &MainWindow::readDataFromSocket);
    connect(m_pTcpOrderSocket, &QTcpSocket::disconnected, this, &MainWindow::disconnected);

    m_pTcpHighSpeedSocket = new QTcpSocket(this);
    connect(m_pTcpHighSpeedSocket, &QTcpSocket::connected, this, &MainWindow::highSpeedConnectSecusseful);
    connect(m_pTcpHighSpeedSocket, SIGNAL(error(QAbstractSocket::SocketError)),this, SLOT(highSpeedReadError(QAbstractSocket::SocketError)));
    connect(m_pTcpHighSpeedSocket,&QTcpSocket::readyRead, this, &MainWindow::highSpeedReadDataFromSocket);
    connect(m_pTcpHighSpeedSocket, &QTcpSocket::disconnected, this, &MainWindow::highSpeedDisconnected);

    m_pCommand = new LVJ7000_Network_Protocol;
    memset(m_pCommand,0,sizeof(LVJ7000_Network_Protocol));

    m_reciveAllLength = 0;
    m_hightReciveAllLength = 0;
    m_startCode = 0;
    m_profileDataNumber = 0;
    m_profileDataUnit = 0;
    m_firstXCoordinate = 0;
    m_xDirectionInterval = 0;
    m_bigOrsmall = Small_machine;
    m_bigOrsmall = JudgeMachineType();

    m_ptime = new QTimer(this);
    connect(m_ptime, SIGNAL(timeout()), this ,SLOT(timeout()));
    //m_ptime->start(2000);
    QStringList args = QApplication::arguments();
}

MainWindow::~MainWindow()
{
    m_pTcpOrderSocket->abort();
    delete m_pCommand;
    delete ui;
}

void MainWindow::timeout()
{    
    qDebug() <<"1ms count = " << m_count/2;
    m_count = 0;
}
//常规通信
void MainWindow::connectSecusseful()
{    
    ui->orderPortMessage->append(QString("...connect to %1:%2").arg(ui->IP->text()).arg(ui->orderPort->text()));
}

void MainWindow::disconnected()
{
    ui->orderPortMessage->append(QString("...disconnect to %1:%2").arg(ui->IP->text()).arg(ui->orderPort->text()));
}

void MainWindow::readDataFromSocket()
{            
    QByteArray array = m_pTcpOrderSocket->readAll();
    if(!array.isEmpty()){
        m_ReciveData.append(array);
        if(m_ReciveData.size() >= static_cast<int>(sizeof(int)) && 0 == m_reciveAllLength){
            C4_TO_INT ctoi;
            ctoi.byte[0] = m_bigOrsmall == Small_machine ? m_ReciveData.at(0):m_ReciveData.at(3);
            ctoi.byte[1] = m_bigOrsmall == Small_machine ? m_ReciveData.at(1):m_ReciveData.at(2);
            ctoi.byte[2] = m_bigOrsmall == Small_machine ? m_ReciveData.at(2):m_ReciveData.at(1);
            ctoi.byte[3] = m_bigOrsmall == Small_machine ? m_ReciveData.at(3):m_ReciveData.at(0);
            m_reciveAllLength = ctoi.integer;
            m_reciveAllLength  = sizeof(int);
            ui->orderPortMessage->append(QString("sever will send %1 byte.").arg(m_reciveAllLength));
        }
        if( m_reciveAllLength > sizeof(int) ){
            if(static_cast<unsigned int>(m_ReciveData.size()) == m_reciveAllLength){
                ui->orderPortMessage->append("...read data from server.");
                ui->orderPortMessage->append("...there is some data from server.");
                int nSize = m_ReciveData.size();
                ui->orderPortMessage->append(QString("all size = %1").arg(nSize));
                anlysisData(m_ReciveData);
                m_reciveAllLength = 0;
                m_ReciveData.clear();
                ui->sendOrderButton->setDisabled(false);
            }
            else{
                ui->sendOrderButton->setDisabled(true);
            }
        }
        else{
            ui->sendOrderButton->setDisabled(false);
            m_ReciveData.clear();
            m_reciveAllLength = 0;
        }
    }
}

void MainWindow::ReadError(QAbstractSocket::SocketError error)
{
    ui->orderPortMessage->append(QString("...some error %1").arg(error));
}

//高速通信
void MainWindow::highSpeedConnectSecusseful()
{
    ui->hightSpeedPortMessage->append(QString("...connect to %1:%2").arg(ui->IP->text()).arg(ui->hightSpeedPort->text()));
}

void MainWindow::highSpeedDisconnected()
{
    ui->hightSpeedPortMessage->append(QString("...disconnect to %1:%2").arg(ui->IP->text()).arg(ui->hightSpeedPort->text()));
}

void MainWindow::highSpeedReadDataFromSocket()
{
    QByteArray array = m_pTcpHighSpeedSocket->readAll();
    if(!array.isEmpty()){
        m_highReciveData.append(array);
        bool bOver = false;
        while (!bOver) {
            int n = m_highReciveData.size();
            if( n >= static_cast<int>(m_iHighSpeedOneDataNum)){
                QByteArray oneData = m_highReciveData.left(m_iHighSpeedOneDataNum);
                anlysisHighSpeedData(oneData);
                oneData.clear();
                oneData = m_highReciveData.right(m_highReciveData.size() - m_iHighSpeedOneDataNum);
                m_highReciveData.clear();
                m_highReciveData.append(oneData);
            }
            else{
                bOver = true;
            }
        }
    }
}

void MainWindow::highSpeedReadError(QAbstractSocket::SocketError error)
{
    ui->hightSpeedPortMessage->append(QString("...some error %1").arg(error));
}
/////////////////////

void MainWindow::anlysisHighSpeedData(const QByteArray &array)
{
    m_count  ;
    ////just for test
    static bool bover = false;
    if(!bover){
        bover = true;
    }
    else{
        return;
    }
    ///////
    ui->hightSpeedPortMessage->append("analysis one profile data.");
    if(array.size() != static_cast<int>(m_iHighSpeedOneDataNum)){
        ui->hightSpeedPortMessage->append("no enough data to get point information!");
        return;
    }

    char flagAra = array.at(0);
    ui->hightSpeedPortMessage->append(QString("flage Area = %1").arg(QString::number(flagAra,16),2,'0'));

    C4_TO_INT ctoi;
    ctoi.byte[0] = m_bigOrsmall == Small_machine ? array.at(4):array.at(7);
    ctoi.byte[1] = m_bigOrsmall == Small_machine ? array.at(5):array.at(6);
    ctoi.byte[2] = m_bigOrsmall == Small_machine ? array.at(6):array.at(5);
    ctoi.byte[3] = m_bigOrsmall == Small_machine ? array.at(7):array.at(4);
    unsigned int triggerCount = ctoi.integer;
    ui->hightSpeedPortMessage->append(QString("triggerCount = %1").arg(triggerCount));

    ctoi.byte[0] = m_bigOrsmall == Small_machine ? array.at(8):array.at(11);
    ctoi.byte[1] = m_bigOrsmall == Small_machine ? array.at(9):array.at(10);
    ctoi.byte[2] = m_bigOrsmall == Small_machine ? array.at(10):array.at(9);
    ctoi.byte[3] = m_bigOrsmall == Small_machine ? array.at(11):array.at(8);
    unsigned int encoderCount = ctoi.integer;
    ui->hightSpeedPortMessage->append(QString("encoderCount = %1").arg(encoderCount));

    //return;

    QByteArray data = array.left(2024).right(2000);
    ui->hightSpeedPortMessage->append("binary data.");
    for (int i = 0; i < 400;   i) {
        unsigned char c1 = data.at(i*5);
        unsigned char c2 = data.at(i*5 1);
        unsigned char c3 = data.at(i*5 2);
        unsigned char c4 = data.at(i*5 3);
        unsigned char c5 = data.at(i*5 4);

        ui->hightSpeedPortMessage->append(QString("%1 %2 %3 %4 %5").arg(QString::number(c1,2),8,'0')\
                                          .arg(QString::number(c2,2),8,'0')\
                                          .arg(QString::number(c3,2),8,'0')\
                                          .arg(QString::number(c4,2),8,'0')\
                                          .arg(QString::number(c5,2),8,'0'));
    }

    //    C4_TO_INT1 ctoi1;
    //    for (int i = 0; i < 500;   i) {
    //        unsigned char c1 = data.at(i*4);
    //        unsigned char c2 = data.at(i*4 1);
    //        unsigned char c3 = data.at(i*4 2);
    //        unsigned char c4 = data.at(i*4 3);
    //        ctoi1.byte[0] = c1;
    //        ctoi1.byte[1] = c2;
    //        ctoi1.byte[2] = c3;
    //        ctoi1.byte[3] = c4;
    //        double d = static_cast<double>(ctoi1.integer);
    //        double dst = d*m_profileDataUnit*0.001;
    //        ui->hightSpeedPortMessage->append(QString::number(dst,'f',5));
    //    }
    ui->hightSpeedPortMessage->append("************************************");
}

QString MainWindow::anlysisData(const QByteArray &array)
{
    if(array.isEmpty()) return QString("there is no data!");
    C4_TO_INT ctoi;
    //length 4
    if(array.size() < 4) return QString("no enough data to get length information!");

    QByteArray lengthByte = array.left(4);
    ctoi.byte[0] = m_bigOrsmall == Small_machine ? lengthByte.at(0):lengthByte.at(3);
    ctoi.byte[1] = m_bigOrsmall == Small_machine ? lengthByte.at(1):lengthByte.at(2);
    ctoi.byte[2] = m_bigOrsmall == Small_machine ? lengthByte.at(2):lengthByte.at(1);
    ctoi.byte[3] = m_bigOrsmall == Small_machine ? lengthByte.at(3):lengthByte.at(0);
    int length = ctoi.integer;
    ui->orderPortMessage->append(QString("recive all length(10) %1").arg(length));

    //header 12
    if(array.size() < 16) return QString("no enouth data to get header information!");
    QByteArray headerByte = array.left(16).right(12);
    unsigned char fixed1 = headerByte.at(0);
    unsigned char fixed4 = headerByte.at(3);
    unsigned char hReturnCode = headerByte.at(4);
    ui->orderPortMessage->append(QString("recvie header fixed1 %1").arg(QString::number(fixed1,16),2,'0'));
    ui->orderPortMessage->append(QString("recvie header fixed4 %1").arg(QString::number(fixed4,16),2,'0'));
    ui->orderPortMessage->append(QString("recvie header return code %1").arg(QString::number(hReturnCode,16),2,'0'));

    QByteArray bodyLengthByte = headerByte.right(4);
    ctoi.byte[0] = m_bigOrsmall == Small_machine ? bodyLengthByte.at(0):bodyLengthByte.at(3);
    ctoi.byte[1] = m_bigOrsmall == Small_machine ? bodyLengthByte.at(1):bodyLengthByte.at(2);
    ctoi.byte[2] = m_bigOrsmall == Small_machine ? bodyLengthByte.at(2):bodyLengthByte.at(1);
    ctoi.byte[3] = m_bigOrsmall == Small_machine ? bodyLengthByte.at(3):bodyLengthByte.at(0);
    unsigned int bodyLength = ctoi.integer;
    ui->orderPortMessage->append(QString("recive body length(10) %1").arg(bodyLength));

    //body 12   response data size
    QByteArray bodyByte = array.right(bodyLength);
    if(bodyByte.size() < 12) return QString("no enough data to get body information!");
    unsigned char rCommandCode = bodyByte.at(0);
    if( m_pCommand->command_code != rCommandCode){
        ui->orderPortMessage->append("send command and back command is not same,Please check!!!");
        return QString();
    }
    unsigned char bReturnCode = bodyByte.at(1);
    unsigned char contollerStatus = bodyByte.at(2);
    unsigned char activeProgramNo = bodyByte.at(8);
    ui->orderPortMessage->append(QString("recive body command code %1").arg(QString::number(rCommandCode,16),2,'0'));
    ui->orderPortMessage->append(QString("recive body return code %1").arg(QString::number(bReturnCode,16),2,'0'));
    ui->orderPortMessage->append(QString("recive body controller status %1").arg(QString::number(contollerStatus,16),2,'0'));
    ui->orderPortMessage->append(QString("recive body active program No. %1").arg(QString::number(activeProgramNo,16),2,'0'));

    //response data
    QByteArray responseData = bodyByte.right(bodyByte.size()-12);
    switch (rCommandCode) {
    case 0x49:{
//        m_count  ;
//        emit ui->sendOrderButton->clicked();
//        return QString();
        QByteArray responseDataFont = responseData.left(56);
        ctoi.byte[0] = m_bigOrsmall == Small_machine ? responseDataFont.at(0):responseDataFont.at(3);
        ctoi.byte[1] = m_bigOrsmall == Small_machine ? responseDataFont.at(1):responseDataFont.at(2);
        ctoi.byte[2] = m_bigOrsmall == Small_machine ? responseDataFont.at(2):responseDataFont.at(1);
        ctoi.byte[3] = m_bigOrsmall == Small_machine ? responseDataFont.at(3):responseDataFont.at(0);
        unsigned int currentProfileNumber = ctoi.integer;
        ui->orderPortMessage->append(QString("currentProfileNumber %1").arg(currentProfileNumber));

        ctoi.byte[0] = m_bigOrsmall == Small_machine ? responseDataFont.at(4):responseDataFont.at(7);
        ctoi.byte[1] = m_bigOrsmall == Small_machine ? responseDataFont.at(5):responseDataFont.at(6);
        ctoi.byte[2] = m_bigOrsmall == Small_machine ? responseDataFont.at(6):responseDataFont.at(5);
        ctoi.byte[3] = m_bigOrsmall == Small_machine ? responseDataFont.at(7):responseDataFont.at(4);
        unsigned int unreadProfileNumber = ctoi.integer;
        ui->orderPortMessage->append(QString("unreadProfileNumber %1").arg(unreadProfileNumber));

        ctoi.byte[0] = m_bigOrsmall == Small_machine ? responseDataFont.at(8):responseDataFont.at(11);
        ctoi.byte[1] = m_bigOrsmall == Small_machine ? responseDataFont.at(9):responseDataFont.at(10);
        ctoi.byte[2] = m_bigOrsmall == Small_machine ? responseDataFont.at(10):responseDataFont.at(9);
        ctoi.byte[3] = m_bigOrsmall == Small_machine ? responseDataFont.at(11):responseDataFont.at(8);
        unsigned int readProfileNumberThisTime = ctoi.integer;
        ui->orderPortMessage->append(QString("readProfileNumberThisTime %1").arg(readProfileNumberThisTime));

        ctoi.byte[0] = m_bigOrsmall == Small_machine ? responseDataFont.at(16):0;
        ctoi.byte[1] = m_bigOrsmall == Small_machine ? responseDataFont.at(17):0;
        ctoi.byte[2] = m_bigOrsmall == Small_machine ? 0:responseDataFont.at(17);
        ctoi.byte[3] = m_bigOrsmall == Small_machine ? 0:responseDataFont.at(16);
        unsigned int xDirectionStartPoint = ctoi.integer;
        ui->orderPortMessage->append(QString("xDirectionStartPoint %1").arg(xDirectionStartPoint));

        ctoi.byte[0] = m_bigOrsmall == Small_machine ? responseDataFont.at(18):0;
        ctoi.byte[1] = m_bigOrsmall == Small_machine ? responseDataFont.at(19):0;
        ctoi.byte[2] = m_bigOrsmall == Small_machine ? 0:responseDataFont.at(19);
        ctoi.byte[3] = m_bigOrsmall == Small_machine ? 0:responseDataFont.at(18);
        unsigned int xDirectionCount = ctoi.integer;
        ui->orderPortMessage->append(QString("xDirectionCount %1").arg(xDirectionCount));

        ctoi.byte[0] = m_bigOrsmall == Small_machine ? responseDataFont.at(20):0;
        ctoi.byte[1] = m_bigOrsmall == Small_machine ? responseDataFont.at(21):0;
        ctoi.byte[2] = m_bigOrsmall == Small_machine ? 0:responseDataFont.at(21);
        ctoi.byte[3] = m_bigOrsmall == Small_machine ? 0:responseDataFont.at(20);
        unsigned int profileDataCount = ctoi.integer;
        ui->orderPortMessage->append(QString("profileDataCount %1").arg(profileDataCount));

        C4_TO_INT1 ctoi1;
        ctoi1.byte[0] = m_bigOrsmall == Small_machine ? responseDataFont.at(24):responseDataFont.at(27);
        ctoi1.byte[1] = m_bigOrsmall == Small_machine ? responseDataFont.at(25):responseDataFont.at(26);
        ctoi1.byte[2] = m_bigOrsmall == Small_machine ? responseDataFont.at(26):responseDataFont.at(25);
        ctoi1.byte[3] = m_bigOrsmall == Small_machine ? responseDataFont.at(27):responseDataFont.at(24);
        double xFirstPos = static_cast<double>(ctoi1.integer)*0.01*0.001;
        ui->orderPortMessage->append(QString("xFirstPos %1 mm").arg(xFirstPos));

        ctoi.byte[0] = m_bigOrsmall == Small_machine ? responseDataFont.at(28):responseDataFont.at(31);
        ctoi.byte[1] = m_bigOrsmall == Small_machine ? responseDataFont.at(29):responseDataFont.at(30);
        ctoi.byte[2] = m_bigOrsmall == Small_machine ? responseDataFont.at(30):responseDataFont.at(29);
        ctoi.byte[3] = m_bigOrsmall == Small_machine ? responseDataFont.at(31):responseDataFont.at(28);
        double xDirectionInterval = static_cast<double>(ctoi.integer)*0.01*0.001;
        ui->orderPortMessage->append(QString("xDirectionInterval %1 mm").arg(xDirectionInterval));

        char flagArea = responseData.at(32);
        ui->orderPortMessage->append(QString("flag area %1").arg(QString::number(flagArea,16),2,'0'));

        ctoi.byte[0] = m_bigOrsmall == Small_machine ? responseDataFont.at(36):responseDataFont.at(39);
        ctoi.byte[1] = m_bigOrsmall == Small_machine ? responseDataFont.at(37):responseDataFont.at(38);
        ctoi.byte[2] = m_bigOrsmall == Small_machine ? responseDataFont.at(38):responseDataFont.at(37);
        ctoi.byte[3] = m_bigOrsmall == Small_machine ? responseDataFont.at(39):responseDataFont.at(36);
        unsigned int TriggerCount = ctoi.integer;
        ui->orderPortMessage->append(QString("TriggerCount %1").arg(TriggerCount));

        ctoi.byte[0] = m_bigOrsmall == Small_machine ? responseDataFont.at(40):responseDataFont.at(43);
        ctoi.byte[1] = m_bigOrsmall == Small_machine ? responseDataFont.at(41):responseDataFont.at(42);
        ctoi.byte[2] = m_bigOrsmall == Small_machine ? responseDataFont.at(42):responseDataFont.at(41);
        ctoi.byte[3] = m_bigOrsmall == Small_machine ? responseDataFont.at(43):responseDataFont.at(40);
        unsigned int EncoderCount = ctoi.integer;
        ui->orderPortMessage->append(QString("EncoderCount %1").arg(EncoderCount));

        if(static_cast<unsigned int>(responseData.size())-56 == profileDataCount*4 4)
        {
            QByteArray responseDataPoints = responseData.right(responseData.size()-56);
            if(xDirectionCount <= profileDataCount-xDirectionStartPoint){
                for (unsigned int i = xDirectionStartPoint; i < xDirectionCount;   i) {
                    ctoi.byte[0] = m_bigOrsmall == Small_machine ? responseDataPoints.at(i*4):responseDataPoints.at(i*4 3);
                    ctoi.byte[1] = m_bigOrsmall == Small_machine ? responseDataPoints.at(i*4 1):responseDataPoints.at(i*4 2);
                    ctoi.byte[2] = m_bigOrsmall == Small_machine ? responseDataPoints.at(i*4 2):responseDataPoints.at(i*4 1);
                    ctoi.byte[3] = m_bigOrsmall == Small_machine ? responseDataPoints.at(i*4 3):responseDataPoints.at(i*4);
                    int tempInteger = static_cast<int>(ctoi.integer);
                    tempInteger = tempInteger > 9999990 ? 9999990:tempInteger;
                    tempInteger = tempInteger < -9999990 ? -9999990:tempInteger;
                    double dstdata = static_cast<double>(tempInteger) / 100000;
                    double tx = i*xDirectionInterval xFirstPos;
                    ui->orderPortMessage->append(QString("Point %1    x:%2      y:%3").arg(i).arg(QString::number(tx,'f',2)).arg(QString::number(dstdata,'f',4)));
                }
            }
        }
        else{
            ui->orderPortMessage->append("no enough data to get points!!");
        }
        break;
    }
    case 0x47:{
        int responseDataSize = responseData.size();
        if(responseDataSize < 28){
            ui->orderPortMessage->append("no enough data to get high speed information!");
            break;
        }
        ctoi.byte[0] = m_bigOrsmall == Small_machine ? responseData.at(4):responseData.at(7);
        ctoi.byte[1] = m_bigOrsmall == Small_machine ? responseData.at(5):responseData.at(6);
        ctoi.byte[2] = m_bigOrsmall == Small_machine ? responseData.at(6):responseData.at(5);
        ctoi.byte[3] = m_bigOrsmall == Small_machine ? responseData.at(7):responseData.at(4);
        m_startCode = ctoi.integer;
        ui->orderPortMessage->append(QString("start code %1").arg(m_startCode));


        ctoi.byte[0] = m_bigOrsmall == Small_machine ? responseData.at(16):0;
        ctoi.byte[1] = m_bigOrsmall == Small_machine ? responseData.at(17):0;
        ctoi.byte[2] = m_bigOrsmall == Small_machine ? 0:responseData.at(17);
        ctoi.byte[3] = m_bigOrsmall == Small_machine ? 0:responseData.at(16);
        m_profileDataNumber = ctoi.integer;
        ui->orderPortMessage->append(QString("profileDataNumber %1").arg(m_profileDataNumber));

        ctoi.byte[0] = m_bigOrsmall == Small_machine ? responseData.at(18):0;
        ctoi.byte[1] = m_bigOrsmall == Small_machine ? responseData.at(19):0;
        ctoi.byte[2] = m_bigOrsmall == Small_machine ? 0:responseData.at(19);
        ctoi.byte[3] = m_bigOrsmall == Small_machine ? 0:responseData.at(18);
        m_profileDataUnit = static_cast<double>(ctoi.integer)*0.01;
        ui->orderPortMessage->append(QString("profileDataUnit %1 um").arg(QString::number(m_profileDataUnit,'f',4)));

        C4_TO_INT1 ctoi1;
        ctoi1.byte[0] = m_bigOrsmall == Small_machine ? responseData.at(20):responseData.at(23);
        ctoi1.byte[1] = m_bigOrsmall == Small_machine ? responseData.at(21):responseData.at(22);
        ctoi1.byte[2] = m_bigOrsmall == Small_machine ? responseData.at(22):responseData.at(21);
        ctoi1.byte[3] = m_bigOrsmall == Small_machine ? responseData.at(23):responseData.at(20);
        m_firstXCoordinate = static_cast<double>(ctoi1.integer)*0.01*0.001;
        ui->orderPortMessage->append(QString("firstXCoordinate %1 mm").arg(QString::number(m_firstXCoordinate,'f',7)));

        ctoi.byte[0] = m_bigOrsmall == Small_machine ? responseData.at(24):responseData.at(27);
        ctoi.byte[1] = m_bigOrsmall == Small_machine ? responseData.at(25):responseData.at(26);
        ctoi.byte[2] = m_bigOrsmall == Small_machine ? responseData.at(26):responseData.at(25);
        ctoi.byte[3] = m_bigOrsmall == Small_machine ? responseData.at(27):responseData.at(24);
        m_xDirectionInterval = static_cast<double>(ctoi.integer)*0.01*0.001;
        ui->orderPortMessage->append(QString("xDirectionInterval %1 mm").arg(QString::number(m_xDirectionInterval,'f',7)));

        m_iHighSpeedOneDataNum = m_profileDataNumber*20/8 28;
        break;
    }
    case 0xA0:{

    }
        break;
    case 0x48:{

    }
        break;
    default:
        break;
    }
    return QString();
}

//连接 lvj7000 命令端口
void MainWindow::on_connectButton_clicked()
{
    m_pTcpOrderSocket->abort();
    m_pTcpOrderSocket->connectToHost(QHostAddress(ui->IP->text()), ui->orderPort->text().toInt());
}
//断开 lvj7000 的连接
void MainWindow::on_disconnectButton_clicked()
{
    m_pTcpOrderSocket->disconnectFromHost();
    m_pTcpHighSpeedSocket->disconnectFromHost();
}
//发送命令
void MainWindow::on_sendOrderButton_clicked()
{
    if(m_pTcpOrderSocket->state() == QAbstractSocket::UnconnectedState)
        return;
    //analysis command
    buildOrderMessage(ui->order->text().toInt(Q_NULLPTR,16));
    //send command data to server
    char *pData = reinterpret_cast<char*>(m_pCommand);
    qint64 backNum = m_pTcpOrderSocket->write((char*)pData,m_pCommand->all_length sizeof(int));
    //show command data
    ui->orderPortMessage->append("...write data to server.");
    ui->orderPortMessage->append(QString("...write data size: %1").arg(backNum));
    ui->orderPortMessage->append(QByteArray(pData,sizeof(LVJ7000_Network_Protocol)).toHex());
    ui->orderPortMessage->append(QString("all length(10): %1").arg(QString::number(m_pCommand->all_length,10)));
    ui->orderPortMessage->append(QString("fixed 1: %1").arg(QString::number(m_pCommand->header_fixed1,16),2,'0'));
    ui->orderPortMessage->append(QString("fixed 2: %1").arg(QString::number(m_pCommand->header_fixed3,16),2,'0'));
    ui->orderPortMessage->append(QString("body size(10): %1").arg(QString::number(m_pCommand->command_body_length,10)));
    ui->orderPortMessage->append(QString("command code: %1").arg(QString::number(m_pCommand->command_code,16),2,'0'));
}

void MainWindow::buildOrderMessage(int command)
{
    m_pCommand->header_fixed1 = 0x01;
    m_pCommand->header_fixed3 = 0xF0;
    C4_TO_INT ctoi;
    switch (command) {
    case 0x49: //命令模式获取轮廓
        m_pCommand->all_length           = sizeof(LVJ7000_Network_Protocol)-sizeof(unsigned int);
        m_pCommand->command_body_length  = 0x14;
        m_pCommand->command_code         = command;
        m_pCommand->command_data_fixed15 = 0x20;
        m_pCommand->command_data_fixed16 = 0x03;
        break;
    case 0x47://准备高速通信
        m_pCommand->all_length          = sizeof(LVJ7000_Network_Protocol)-sizeof(unsigned int)-12;
        m_pCommand->command_data_fixed1 = 0x02;//从下一个数据
        m_pCommand->command_code        = command;
        m_pCommand->command_body_length = 0x08;
        ui->orderPortMessage->append("...prepare high speed network!!");
        break;
    case 0xA0://开始高速通信获取轮廓
        //连接 lvj7000 高速通信端口
        if(m_startCode == 0) {
            ui->orderPortMessage->append("no start code");
            break;
        }
        m_pTcpHighSpeedSocket->abort();
        m_pTcpHighSpeedSocket->connectToHost(QHostAddress(ui->IP->text()), ui->hightSpeedPort->text().toInt());
        m_pCommand->all_length = sizeof(LVJ7000_Network_Protocol)-sizeof(unsigned int)-8;
        m_pCommand->command_code = command;
        m_pCommand->command_body_length = 0x0C;
        m_pCommand->command_data_fixed1 = 0x47;
        ctoi.integer = m_startCode;
        m_pCommand->command_data_fixed5 = ctoi.byte[0];
        m_pCommand->command_data_fixed6 = ctoi.byte[1];
        m_pCommand->command_data_fixed7 = ctoi.byte[2];
        m_pCommand->command_data_fixed8 = ctoi.byte[3];
        ui->orderPortMessage->append("...begin high speed network!!!");
        break;
    case 0x48://停止高速通信
        if(m_startCode == 0) {
            ui->orderPortMessage->append("no start code");
            break;
        }
        m_pCommand->all_length = sizeof(LVJ7000_Network_Protocol)-sizeof(unsigned int)-16;
        m_pCommand->command_code = command;
        m_pCommand->command_body_length = 0x04;
        m_pTcpHighSpeedSocket->disconnectFromHost();//最后关闭连接
        ui->orderPortMessage->append("...stop high speed network!!!");
        break;
    default:
        break;
    }
}