裁剪后的特定频率的双串口接收与发送

widget.h

#ifndef WIDGET_H
#define WIDGET_H

#include <QWidget>
#include <QtSerialPort/QSerialPort>
#include <QtSerialPort/QSerialPortInfo>
#include <QTimer>
#include<QMessageBox>
#include<QByteArray>
#include<QTcpSocket>
QT_BEGIN_NAMESPACE
namespace Ui { class Widget; }
QT_END_NAMESPACE

class Widget : public QWidget
{
    Q_OBJECT

public:
    Widget(QWidget *parent = nullptr);
    ~Widget();
    void initSerialPort();
    void initSerialPortCompass();
    void initSocket();
private slots:
    void on_pushButton_2_clicked(); //刷新串口按钮

    void on_pushButton_gps_clicked();

    void readComGps();//用于读取gps数据

    void readComCompass();//用于读取罗盘消息

public:
    //用于发送16进制的函数，（string转16进制）
    void QStringtoHex(QByteArray& sendData,QString str);
    char ConvertHexChar(char c);
    void sendTcpAll();
private:
    Ui::Widget *ui;
    //和tcp有关的
private:
    QTcpSocket* socket;
    bool socketConnectedFlag;
//和串口有关的private
private:
    QSerialPort mySerial;
    QSerialPort *serialPortGps;//(实例化一个指向串口的指针，可以用于访问串口)
    QSerialPort* serialPortCompass;
    QTimer *timer;// 使用定时器进行周期读取gps串口数据
    QTimer* timerCompass;
    QTimer* timerAll;
    QByteArray recvDataGps;
    QByteArray recvDataCompass;
    QByteArray recvAll;
    int baseSizeGps;
    int baseSizeCompass;
private slots:
    void handleSerialError(QSerialPort::SerialPortError error);
    void handleSerialErrorCompass(QSerialPort::SerialPortError error);
    void on_pushButton_luopan_clicked();
    void sendRequest();//向罗盘发送请求命令
    void on_pushButton_clicked();
    void reconnectTcp();
    void warningTcp();
};
#endif // WIDGET_H

widget.cpp

#include "widget.h"
#include "ui_widget.h"
#include<QDebug>
#include<unistd.h>
#include<windows.h>
using namespace std;
Widget::Widget(QWidget *parent)
    : QWidget(parent)
    , ui(new Ui::Widget)
{
    ui->setupUi(this);
}

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

void Widget::initSerialPort()
{
    //对gps的串口进行初始化
    if(ui->pushButton_gps->text() == "port_closed")
    {
        ui->pushButton_gps->setText("open");
        serialPortGps = new QSerialPort(this);
        serialPortGps->setPortName(ui->comboBox->currentText()); //设置串口
        serialPortGps->setBaudRate(4800);
        serialPortGps->setFlowControl(QSerialPort::NoFlowControl);
        serialPortGps->setDataBits(QSerialPort::Data8);
        serialPortGps->setParity(QSerialPort::NoParity);
        serialPortGps->setStopBits(QSerialPort::OneStop);

        serialPortGps->open(QIODevice::ReadWrite);//打开串口
        ui->pushButton_gps->setStyleSheet("background-color:red");

        timer = new QTimer(this);

        connect(timer,&QTimer::timeout,this,&Widget::readComGps);
        timer->start(500);//每500MS读一次
        connect(serialPortGps,SIGNAL(errorOccurred(QSerialPort::SerialPortError)),this,SLOT(handleSerialError(QSerialPort::SerialPortError)));  //连接打开的串口异常检测
    }
    else
    {
        ui->pushButton_gps->setStyleSheet("background-color:rgb(130,130,130)");
        ui->pushButton_gps->setText("port_closed");
        serialPortGps->close();
        timer->stop();
    }


}

void Widget::initSerialPortCompass()
{
    //对罗盘的串口进行初始化
    if(ui->pushButton_luopan->text() == "port_closed")
    {
        ui->pushButton_luopan->setText("open");
        serialPortCompass = new QSerialPort(this);
        serialPortCompass->setPortName(ui->comboBox_2->currentText()); //设置串口
        serialPortCompass->setBaudRate(9600);
        serialPortCompass->setFlowControl(QSerialPort::NoFlowControl);
        serialPortCompass->setDataBits(QSerialPort::Data8);
        serialPortCompass->setParity(QSerialPort::NoParity);
        serialPortCompass->setStopBits(QSerialPort::OneStop);

        serialPortCompass->open(QIODevice::ReadWrite);//打开串口
        ui->pushButton_luopan->setStyleSheet("background-color:red");

        timerCompass = new QTimer(this);

        connect(timerCompass,&QTimer::timeout,this,&Widget::readComCompass);
        connect(timerCompass,&QTimer::timeout,this,&Widget::sendRequest);
        timerCompass->start(500);//每5MS读一次
        connect(serialPortCompass,SIGNAL(errorOccurred(QSerialPort::SerialPortError)),this,SLOT(handleSerialError(QSerialPort::SerialPortError)));  //连接打开的串口异常检测
    }
    else
    {
        ui->pushButton_luopan->setStyleSheet("background-color:rgb(130,130,130)");
        ui->pushButton_luopan->setText("port_closed");
        serialPortCompass->close();
        timerCompass->stop();
    }
}

void Widget::initSocket()
{
    socket = new QTcpSocket(this);
    QString ip = "127.0.0.1";
    QString port = "45458";
    socket->connectToHost(ip,port.toUInt());
    connect(socket,&QTcpSocket::connected,this,[=]()
    {
        socketConnectedFlag = true;
    });

    connect(socket,&QTcpSocket::disconnected,this,&Widget::reconnectTcp);
    connect(socket,&QTcpSocket::disconnected,this,&Widget::warningTcp);
}
void Widget::reconnectTcp()
{
    QString ip = "127.0.0.1";
    QString port = "45458";
    socket->connectToHost(ip,port.toUInt());
}

void Widget::warningTcp()
{
    QDialog* warnDialog = new QDialog;
    warnDialog->setWindowTitle(tr("TCP disconnected"));
    warnDialog->show();
}
void Widget::on_pushButton_2_clicked()//点击刷新串口按钮
{
    //刷新串口
    ui->comboBox->clear();
    foreach( const QSerialPortInfo &Info,QSerialPortInfo::availablePorts())//读取串口信息
    {
        mySerial.setPort(Info);
        ui->comboBox->addItem(Info.portName());
        ui->comboBox_2->addItem(Info.portName());
    }
}

void Widget::on_pushButton_gps_clicked()
{
    initSerialPort();
}

void Widget::readComGps()
{
    recvDataGps.append(serialPortGps->readAll());

    int totolSize = recvDataGps.size();
    baseSizeGps = 60;

    if(totolSize<baseSizeGps)
    {
        return ;
    }
    //满足解析条件
    else {
        usleep(1000);
        ui->textEdit->moveCursor(QTextCursor::End);
        ui->textEdit->insertPlainText(recvDataGps.left(baseSizeGps));

        recvDataGps = recvDataGps.right(totolSize-baseSizeGps);

        totolSize = recvDataGps.size();
    }



}

void Widget::readComCompass()
{
    recvDataCompass.append(serialPortCompass->readAll());

    int totolSize = recvDataCompass.size();
    baseSizeCompass = 14;

    if(totolSize<baseSizeCompass)
    {
        return ;
    }
    //满足解析条件
    else {
        usleep(1000);
        QString tmpCompassStr(recvDataCompass.toHex());
        ui->textEdit_2->moveCursor(QTextCursor::End);
        ui->textEdit_2->insertPlainText(tmpCompassStr.left(baseSizeCompass));

        recvDataCompass = recvDataCompass.right(totolSize-baseSizeCompass);

        totolSize = recvDataCompass.size();
    }

}
void Widget::handleSerialError(QSerialPort::SerialPortError error) //串口拔出检测
{
    if (error == QSerialPort::ResourceError) {
        serialPortGps->close();
        QMessageBox::critical(this, tr("Error"), "串口连接中断，请检查是否正确连接！");
        ui->pushButton_gps->setStyleSheet("background-color:rgb(130,130,130)");
        ui->pushButton_gps->setText("port_close");

    }
}

void Widget::handleSerialErrorCompass(QSerialPort::SerialPortError error)
{
    if (error == QSerialPort::ResourceError) {
        serialPortCompass->close();
        QMessageBox::critical(this, tr("Error"), "串口连接中断，请检查是否正确连接！");
        ui->pushButton_luopan->setStyleSheet("background-color:rgb(130,130,130)");
        ui->pushButton_luopan->setText("port_close");

    }
}

void Widget::on_pushButton_luopan_clicked()//点击罗盘那边的开启
{
    initSerialPortCompass();
}

void Widget::sendRequest()
{
    QString sendData("68 04 00 04 08");
    QByteArray sendDataByte;
    QStringtoHex(sendDataByte,sendData);
    serialPortCompass->write(sendDataByte);
}
void Widget::QStringtoHex(QByteArray& sendData,QString str)
{
    char hstr,lstr,hdata,ldata;
    int len = str.length();
    int sendnum = 0;
    QByteArray temp;
    temp.resize(len/2);//设置大小，len/2会大于实际16进制字符
    //sendData.resize(len/2);
    for(int i=0;i<len;)
    {
        //hstr = str[i].toAscii();
        hstr = str[i].toLatin1();
        if(hstr == ' ')
        {
            ++i;
            continue;
        }
        ++i;
        if(i >= len)
        {
            break;
        }
        lstr = str[i].toLatin1();

        hdata = ConvertHexChar(hstr);
        ldata = ConvertHexChar(lstr);
        if(-1 == hdata || -1 == ldata)
        {
            break;
        }
        ++i;
        temp[sendnum] = hdata<<4|ldata;
        sendnum++;
    }
    sendData.reserve(sendnum);
    sendData = temp.left(sendnum);//去掉多余字符
}

char Widget::ConvertHexChar(char c)
{
    if(c>='a'&&c<='f')
    {
        return c-'a'+10;
    }
    else if(c>='A'&&c<='F')
    {
        return c-'A'+10;
    }
    else if(c>='0'&&c<='9')
    {
        return c-'0';
    }
    else{
        return -1;
    }
}

#if 1
void Widget::sendTcpAll()
{
    qDebug()<<"gps.size"<<recvDataGps.size();
    qDebug()<<"compass.size"<<recvDataCompass.size();

#if 1
    if(recvDataGps.size()==60&&recvDataCompass.size()==14)
    {
        qDebug()<<"yes";
        recvAll.append(recvDataGps).append(recvDataCompass);
        //socketwrite
        //如果socket打开了
        try
        {
            if(socketConnectedFlag==false)
                throw runtime_error("socketflag false");
        }
        catch(runtime_error err)
        {
            qDebug()<<err.what();
        }

        socket->write(recvAll);
    }
    else {
        qDebug()<<"nothing";
    }
#endif
}
#endif

#if 0
     自建结构体然后发送
#endif
//实现整合


void Widget::on_pushButton_clicked()
{
    initSocket();
    timerAll = new QTimer(this);
    timerAll->start(5);
    connect(timerAll,&QTimer::timeout,this,&Widget::sendTcpAll);
}