UR5机器人学习之TCP/IP通讯

最近因为项目原因在研究UR机器人，主要是通过PC上位机与UR通讯，采用TCP/IP通讯的方式，PC上位机通过发送UR脚本指令实现控制机器人和操作机器人。

IP地址：可以根据UR机器人控制终端读取到IP地址

端口：端口取30001或者30002或者30003,（本实验使用的是30002端口）

脚本指令可以直接从官网下载，也可以从相关CSDN帖子材料中获得，或者联系我QQ：476596998

服务器：UR5

客户端：PC上位机

注意事项：

1、连接好时，URScript 程序或命令以清晰文本形式在每一个 socket 端口发送。每行均以“\n”结束。在编程的时候务必确定最终发送的文本中的格式为：命令（参数）\n

本人是以QT5.6来编写的上位机程序：如下所示：

界面：

mainwindow.cpp文件：

#include "mainwindow.h"
#include "ui_mainwindow.h"
#include "qmessagebox.h"
#include "qhostaddress.h"
#include "qbytearray.h"
#include "qpalette.h"

#pragma execution_character_set("utf-8")

MainWindow::MainWindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainWindow)
{
    ui->setupUi(this);
    Init();
}

MainWindow::~MainWindow()
{
    delete ui;
}

void MainWindow::Init()
{
    mysocket = new QTcpSocket(this);
    ui->comboBox_Protocol->insertItem(0,"TCPSever");
    ui->comboBox_Protocol->insertItem(1,"TCPClient");
    ui->pushButton_DisLink->setDisabled(true);


    connect(ui->pushButton_Link,SIGNAL(clicked(bool)),this,SLOT(do_pushButtonLink_clicked(bool)));
    connect(ui->pushButton_DisLink,SIGNAL(clicked(bool)),this,SLOT(do_pushButtonDisLink_clicked(bool)));
    connect(ui->pushButton_SendData,SIGNAL(clicked(bool)),this,SLOT(do_pushButtonSendData_clicked(bool)));
    connect(ui->pushButton_ClearReceive,SIGNAL(clicked(bool)),this,SLOT(do_pushButtonClearReceive_clicked(bool)));
    connect(ui->pushButton_ClearSend,SIGNAL(clicked(bool)),this,SLOT(do_pushButtonClearSend_clicked(bool)));
}


void MainWindow::do_pushButtonClearSend_clicked(bool)
{
    ui->textEdit_SendField->clear();
}

void MainWindow::do_pushButtonClearReceive_clicked(bool)
{
    ui->textEdit_ReceiveField->clear();
}


void MainWindow::do_pushButtonSendData_clicked(bool)
{
    if(ui->textEdit_SendField->toPlainText().isEmpty())
    {
        return;
    }

    QString sendText = ui->textEdit_SendField->toPlainText()+"\n";
    mysocket->write(sendText.toLocal8Bit());

    ui->textEdit_ReceiveField->append(sendText);
    ui->textEdit_SendField->clear();
}


void MainWindow::do_pushButtonDisLink_clicked(bool)
{
    mysocket->disconnect();
    mysocket->close();
    ui->pushButton_DisLink->setDisabled(true);
    ui->pushButton_Link->setDisabled(false);
}

void MainWindow::do_pushButtonLink_clicked(bool)
{
    if(ui->lineEdit_IPAddr->text().isEmpty())
    {
        QMessageBox::information(this,"提示：","IP地址不能为空");
        return;
    }
    if(ui->lineEdit_Port->text().isEmpty())
    {
        QMessageBox::information(this,"提示","端口号不能为空");
        return;
    }

    myIPAddress = (QHostAddress)ui->lineEdit_IPAddr->text();
    myIPPort = ui->lineEdit_Port->text().toUInt();

    mysocket->connectToHost(myIPAddress,myIPPort);
    if(!mysocket->waitForConnected())
    {
        QMessageBox::information(this,"提示：","连接失败，请重新连接》》》");
        return;
    }

    ui->pushButton_Link->setDisabled(true);
    ui->pushButton_DisLink->setDisabled(false);
    connect(mysocket,SIGNAL(readyRead()),this,SLOT(do_mysocket_readyRead()));
    connect(mysocket,SIGNAL(connected()),this,SLOT(do_mysocket_connected()));

}

void MainWindow::do_mysocket_connected()
{
    ui->pushButton_Link->setBackgroundRole(QPalette::Window);
}

void MainWindow::do_mysocket_readyRead()
{
    QByteArray receiveText = mysocket->readAll();
    ui->textEdit_ReceiveField->append(QString("获得的字节数：%1").arg(mysocket->bytesAvailable()));
    ui->textEdit_ReceiveField->append(QString("所获得的数据："+receiveText.toHex().toUpper()));

    //QByteArray receiveLine = mysocket->readLine(1024);
    //ui->textEdit_ReceiveField->append((QString)receiveLine.toHex());
    //ui->textEdit_ReceiveField->append("\n");
}

mainwindow.h文件：

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include "qtcpsocket.h"
#include "qhostaddress.h"



#pragma execution_character_set("utf-8")

namespace Ui {
class MainWindow;
}

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    explicit MainWindow(QWidget *parent = 0);
    ~MainWindow();

public://设定全局变量：
    QTcpSocket *mysocket;
    QHostAddress myIPAddress;
    quint16 myIPPort;


public://设定全局函数：
    void Init();



public slots:
    void do_pushButtonLink_clicked(bool);
    void do_mysocket_readyRead();
    void do_pushButtonDisLink_clicked(bool);
    void do_pushButtonSendData_clicked(bool);
    void do_pushButtonClearSend_clicked(bool);
    void do_pushButtonClearReceive_clicked(bool);
    void do_mysocket_connected();


private:
    Ui::MainWindow *ui;
};

#endif // MAINWINDOW_H

main.cpp文件

#include "mainwindow.h"
#include <QApplication>

int main(int argc, char *argv[])
{
    QApplication a(argc, argv);
    MainWindow w;
    w.show();

    return a.exec();
}

工程文件：URClient.pro

#-------------------------------------------------
#
# Project created by QtCreator 2019-09-06T15:53:17
#
#-------------------------------------------------

QT       += core gui network

greaterThan(QT_MAJOR_VERSION, 4): QT += widgets

TARGET = URClient
TEMPLATE = app


SOURCES += main.cpp\
        mainwindow.cpp

HEADERS  += mainwindow.h

FORMS    += mainwindow.ui

发送的命令实例：

movej([0.244,-2.25,-0.89,-3.19,0,0],a=0.1,v=0.1,t=0,r=0)

注意：以上实例中“\n”已经被内嵌入程序中，可以去程序中查找。