[902项目]qt+expect+ssh控制界面

前期准备

建立ssh连接及多机通信：
参考我另一篇博客：https://blog.csdn.net/xx970829/article/details/114899706
expect安装：

sudo apt-get install expect

expect文件

roscore.sh

#!/usr/bin/expect -f
set user [lindex $argv 0]
set host [lindex $argv 1]
set port 22
set password 6
set timeout -1
spawn ssh $user@$host
sleep 3
send "source /opt/ros/melodic/setup.bash\r"
send "roscore\r"
interact

cam.sh

#!/usr/bin/expect -f
set user [lindex $argv 0]
set host [lindex $argv 1]
set port 22
set password 6
set timeout -1
spawn ssh $user@$host
sleep 3
send "roslaunch usb_cam usb_cam-test.launch\r"
interact

imu.sh

#!/usr/bin/expect -f
set user [lindex $argv 0]
set host [lindex $argv 1]
set port 22
set password 6
set timeout -1
spawn ssh $user@$host
sleep 3
send "roslaunch sbg_driver sbg_device.launch\r"
interact

velodyne.sh

#!/usr/bin/expect -f
set user [lindex $argv 0]
set host [lindex $argv 1]
set port 22
set password 6
set timeout -1
spawn ssh $user@$host
sleep 3
send "roslaunch velodyne_pointcloud VLP16_points.launch\r"
interact

record.sh

#!/usr/bin/expect -f
set user [lindex $argv 0]
set host [lindex $argv 1]
set port 22
set password 6
set timeout -1
spawn ssh $user@$host
sleep 3
send "rosbag record /usb_cam/image_raw /velodyne_points /daheng_camera /sbg/ekf_euler /sbg/ekf_nav /sbg/ekf_quat\r"
interact

number.sh

#!/usr/bin/expect -f
set user [lindex $argv 0]
set host [lindex $argv 1]
set num [lindex $argv 2]
set port 22
set password 6
set timeout -1
spawn ssh $user@$host
sleep 3
send "rostopic echo $num\r"
interact

shutdown.sh

#!/usr/bin/expect -f
set user [lindex $argv 0]
set host [lindex $argv 1]
set port 22
set password 6
set timeout -1
spawn ssh $user@$host
sleep 3
send "sudo shutdown -h now\r"
interact

qt程序

main.cpp

#include "mainwindow.h"
#include <QApplication>
int main(int argc, char *argv[])
{
    QApplication a(argc, argv);
    MainWindow w;
    w.show();

    return a.exec();
}

mainwindow.cpp

#include "mainwindow.h"
#include "ui_mainwindow.h"
#include<QDebug>
#include<iostream>
#include<QString>


MainWindow::MainWindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainWindow)
{
    ui->setupUi(this);
    ui->lineEdit->setText("xx");//本机名xx
    ui->lineEdit_2->setText("robot");//工控机名
    ui->lineEdit_3->setText("192.168.1.104");//ip
}

MainWindow::~MainWindow()
{
    delete ui;
}
void MainWindow::getstring()
{
    str1=ui->lineEdit->text();//本机名
    str2=ui->lineEdit_2->text();//工控机名
    str3=ui->lineEdit_3->text();//ip
}

//ros
void MainWindow::on_pushButton_clicked()
{
    getstring();
    //system("gnome-terminal -- bash -c 'chmod +x /home/xx/roscore.sh;/home/xx/roscore.sh robot 192.168.1.104'&");
    QString str4=QString("gnome-terminal -- bash -c 'chmod +x /home/%1/roscore.sh;/home/%2/roscore.sh %3 %4'&").arg(str1).arg(str1).arg(str2).arg(str3);
    ui->textEdit->append(str4);
    char *n;
    QByteArray m=str4.toLatin1();
    n=m.data();
    system(n);
}
//雷达
void MainWindow::on_pushButton_2_clicked()
{
    getstring();
    QString str4=QString("gnome-terminal -- bash -c 'chmod +x /home/%1/velodyne.sh;/home/%2/velodyne.sh %3 %4'&").arg(str1).arg(str1).arg(str2).arg(str3);
    ui->textEdit->append(str4);
    char *n;
    QByteArray m=str4.toLatin1();
    n=m.data();
    system(n);
}
//贯导
void MainWindow::on_pushButton_3_clicked()
{
    getstring();
    QString str4=QString("gnome-terminal -- bash -c 'chmod +x /home/%1/imu.sh;/home/%2/imu.sh %3 %4'&").arg(str1).arg(str1).arg(str2).arg(str3);
    ui->textEdit->append(str4);
    char *n;
    QByteArray m=str4.toLatin1();
    n=m.data();
    system(n);
}
//大恒相机
void MainWindow::on_pushButton_4_clicked()
{
    getstring();
    QString str4=QString("gnome-terminal -- bash -c 'chmod +x /home/%1/daheng.sh;/home/%2/daheng.sh %3 %4'&").arg(str1).arg(str1).arg(str2).arg(str3);
    ui->textEdit->append(str4);
    char *n;
    QByteArray m=str4.toLatin1();
    n=m.data();
    system(n);
}
//红外相机
void MainWindow::on_pushButton_5_clicked()
{
    getstring();
    QString str4=QString("gnome-terminal -- bash -c 'chmod +x /home/%1/cam.sh;/home/%2/cam.sh %3 %4'&").arg(str1).arg(str1).arg(str2).arg(str3);
    ui->textEdit->append(str4);
    char *n;
    QByteArray m=str4.toLatin1();
    n=m.data();
    system(n);
}

//记录ros包
void MainWindow::on_pushButton_6_clicked()
{
    getstring();
    QString str4=QString("gnome-terminal -- bash -c 'chmod +x /home/%1/record.sh;/home/%2/record.sh %3 %4'&").arg(str1).arg(str1).arg(str2).arg(str3);
    ui->textEdit->append(str4);
    char *n;
    QByteArray m=str4.toLatin1();
    n=m.data();
    system(n);
}
//可视化
void MainWindow::on_pushButton_7_clicked()
{
    system("gnome-terminal -- bash -c 'source /opt/ros/melodic/setup.bash;rqt_image_view'&");
}
//数据
void MainWindow::on_pushButton_8_clicked()
{
    getstring();
    QString str4=ui->comboBox->currentText();//获取参数
    QString str5=QString("gnome-terminal -- bash -c 'chmod +x /home/%1/number.sh;/home/%2/number.sh %3 %4 %5'&").arg(str1).arg(str1).arg(str2).arg(str3).arg(str4);
    ui->textEdit->append(str5);
    char *n;
    QByteArray m=str5.toLatin1();
    n=m.data();
    system(n);
}
//关闭所有终端
void MainWindow::on_action_triggered()
{
    system("gnome-terminal -- bash -c 'killall -9 bash'&");
}
//工控机关机
void MainWindow::on_action_2_triggered()
{
    getstring();
    QString str4=QString("gnome-terminal -- bash -c 'chmod +x /home/%1/myssh/shutdown.sh;/home/%2/myssh/shutdown.sh %3 %4'&").arg(str1).arg(str1).arg(str2).arg(str3);
    ui->textEdit->append(str4);
    char *n;
    QByteArray m=str4.toLatin1();
    n=m.data();
    system(n);
}

mainwindow.h

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include <QProcess>
namespace Ui {
class MainWindow;
}

class MainWindow : public QMainWindow
{
    Q_OBJECT

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

private slots:
    void on_pushButton_clicked();//ros

    void on_pushButton_2_clicked();//雷达

    void on_pushButton_3_clicked();//贯导

    void on_pushButton_4_clicked();//大恒相机

    void on_pushButton_5_clicked();//红外相机

    void on_pushButton_6_clicked();//记录ros包

    void on_pushButton_7_clicked();//可视化

    void on_pushButton_8_clicked();//数据

    void on_action_triggered();//关闭所有终端

    void on_action_2_triggered();//工控机关机


private:
    Ui::MainWindow *ui;
    QString str1;
    QString str2;
    QString str3;
};

#endif // MAINWINDOW_H

pro配置
如果要生成可执行文件，需要在pro中加入一行代码：

QMAKE_LFLAGS += -no-pie

界面搭建

主要界面：

1.菜单
创建两个动作

2.comboBox
创建4个选项

【项目下载链接（已经打包好，可直接运行）：https://download.csdn.net/download/xx970829/15992965】