asynStatus almEZ4Controller::queryVelocities() {
almResponsePacket response;
if (queryParameter(0, ALM_QUERY_ALL_VEL, response) == asynSuccess) {
sscanf((const char*)response.get_buffer(), "%d,%d,%d,%d",
&velocities_[0], &velocities_[1], &velocities_[2], &velocities_[3]);
}
return asynSuccess;
}
asynStatus almEZ4Controller::queryPositions() {
almResponsePacket response;
if (queryParameter(0, ALM_QUERY_ALL_POS, response) == asynSuccess) {
sscanf((const char*)response.get_buffer(), "%d,%d,%d,%d",
&positions_[0], &positions_[1], &positions_[2], &positions_[3]);
return asynSuccess;
}
return asynError;
}
asynStatus ddriveAxis::queryParameters() {
int last_param = (param_num_ + pc_->queryRate_) % pc_->dd_param_count_;
DDParam *param = NULL;
do {
param_num_ = (param_num_ + 1) % pc_->dd_param_count_;
param = &pc_->ddparams_[param_num_];
if (param->query || (initial_query_ && param->service_mode)) {
if (param->type == asynParamInt32 || param->type == asynParamUInt32Digital) {
int value;
if (queryParameter(param, value) == asynSuccess) {
if (param->type == asynParamInt32) {
setIntegerParam(param->idx, value);
} else {
setUIntDigitalParam(param->idx, value);
// NOTE: these will not work pre asyn-4-18 (? at least with the debian packages it does not work TODO check its version)
}
//printf("Queried parameter Axis: %d (#%d) %s %s = %d\n", axisNo_, param_num_, param->asyn_param, param->command, value);
}
} else if (param->type == asynParamFloat64) {
double value;
if (queryParameter(param, value) == asynSuccess)
setDoubleParam(param->idx, value);
//printf("Queried parameter Axis: %d (#%d) %s %s = %f\n", axisNo_, param_num_, param->asyn_param, param->command, value);
}
}
} while (param_num_ != last_param);
if ((param_num_ + pc_->queryRate_) >= pc_->dd_param_count_) {
// Only query service-mode parameters initially or when one is changed
initial_query_ = false;
query_status_ = true;
}
return asynSuccess;
}
asynStatus ddriveAxis::writeParameter(const DDParam *param, int value) {
if (!param || param->global)
return asynError;
if (param->service_param) {
pc_->enterServiceMode();
// Write the parameter
pc_->write("wrmb,%d,%d,%d", axisNo_, param->service_param, value);
asynStatus ret = queryParameter(param, value);
if (ret == asynSuccess)
setIntegerParam(param->idx, value);
pc_->exitServiceMode(); // queryparameter() should already do this
return ret;
} else {
asynPrint(pc_->pasynUser_, ASYN_TRACE_FLOW,
"-> write param: %s,%d,%d\n",
param->command, axisNo_, value);
return pc_->write("%s,%d,%d", param->command, axisNo_, value);
}
}
/*-------------------- readFile --------------------*/
File_t
readFile
(
ParameterSpecification_t fileSpecifier, /* in */
const char * filename /* in */
)
{
File_t returnValue;
FILE * filePointer;
long fileLength;
if( FileOpened == openFileForReading( filename, &filePointer ) )
{
if( Success == getFileLength( filePointer, &fileLength ) )
{
void * ptr;
/*
* Allocate one byte more if a newline must be added
*/
if( Success == allocateBuffer( fileLength + 1 , &ptr ) )
{
char * buffer = ( char * )ptr;
if( Success == readFileToBuffer( filePointer, fileLength, &buffer ) )
{
if ( FALSE == queryParameter( IgnoreEOF ) )
{
char * eof = (buffer + fileLength - 1);
if ( *eof != '\n' )
{
*( eof + 1 ) = '\n';
fileLength++;
}
}
addToWatchdog( fileLength );
associateBuffer( fileSpecifier, fileLength, &buffer );
returnValue = FileOperationsSuccessful;
}
else
{
freeBuffer( &buffer );
returnValue = FileOperationsFailed;
}
}
else
{
returnValue = FileOperationsFailed;
}
}
else
{
returnValue = FileOperationsFailed;
}
closeFile( filePointer );
}
else
{
returnValue = FileOperationsFailed;
}
return( returnValue );
}
/*!
* \brief 将连线图翻译成为代码
*/
void Translate::translateCode()
{
qDebug() << "开始翻译";
translateProgress_ = 0;
//////////////读取翻译缓冲用数据库////////////
QSqlDatabase dbBuffer=QSqlDatabase::addDatabase("QSQLITE","Buffer");
dbBuffer.setDatabaseName("./resource/Blocks/Buffer.mpb");
dbBuffer.open();
QSqlDatabase dbDict=QSqlDatabase::addDatabase("QSQLITE","Dict");
//读取翻译缓冲用数据库////////////
///////翻译之前来一腿！！！！///////////////////
QSqlQuery pQuery_(dbBuffer);
int counter = 0;
qDebug() << "------1-------";
QFile fileLinkage("Linkage.csv");
if(!fileLinkage.open(QFile::ReadOnly))
{
qDebug() << "文件打开失败";
qDebug() << fileLinkage.errorString();
}
QTextStream in(&fileLinkage);
pQuery_.exec("delete From Linkage");
dbBuffer.transaction();
counter = 0;
while (!in.atEnd())
{
QString str;
in >> str;
qDebug() << str;
QStringList strs = str.split(",");
qDebug() << strs.size();
if(counter < strs.size())
{
QString cmd = QString("INSERT INTO Linkage VALUES('%1','%2','%3','%4')").arg(strs.at(0)).arg(strs.at(1)).arg(strs.at(2)).arg(strs.at(3));
qDebug() << cmd;
pQuery_.exec(cmd);
}
counter++;
}
dbBuffer.commit();
fileLinkage.close();
///////////////////////////////////
qDebug() << "------2-------";
QFile fileParameter("Parameter.csv");
if(!fileParameter.open(QFile::ReadOnly))
{
qDebug() << "文件打开失败";
qDebug() << fileParameter.errorString();
}
QTextStream in1(&fileParameter);
pQuery_.exec("delete From Parameter");
dbBuffer.transaction();
counter = 0;
while (!in1.atEnd())
{
QString str;
in1 >> str;
qDebug() << str;
QStringList strs = str.split(",");
qDebug() << strs.size();
if(counter < strs.size())
{
QString cmd = QString("INSERT INTO Parameter VALUES('%1','%2','%3','%4','%5','%6','%7')").arg(strs.at(0)).arg(strs.at(1)).arg(strs.at(2)).arg(strs.at(3)).arg(strs.at(4)).arg(strs.at(5)).arg(strs.at(6));
qDebug() << cmd;
pQuery_.exec(cmd);
}
counter++;
}
dbBuffer.commit();
fileParameter.close();
///////////////////////////////////
qDebug() << "-------3------";
QFile fileBB("BBList.csv");
if(!fileBB.open(QFile::ReadOnly))
{
qDebug() << "文件打开失败";
qDebug() << fileBB.errorString();
}
QTextStream in2(&fileBB);
counter = 0;
pQuery_.exec("delete From BBList");
dbBuffer.transaction();
while (!in2.atEnd())
{
QString str;
in2 >> str;
qDebug() << str;
QStringList strs = str.split(",");
qDebug() << strs.size();
if(counter < strs.size())
{
QString cmd = QString("INSERT INTO BBList VALUES('%1','%2','%3','%4','%5','%6','%7','%8','%9','%10','%11','%12','%13','%14','%15')").arg(strs.at(0)).arg(strs.at(1)).arg(strs.at(2)).arg(strs.at(3)).arg(strs.at(4)).arg(strs.at(5)).arg(strs.at(6)).arg(strs.at(7)).arg(strs.at(8)).arg(strs.at(9)).arg(strs.at(10)).arg(strs.at(11)).arg(strs.at(12)).arg(strs.at(13)).arg(strs.at(14));
qDebug() << cmd;
pQuery_.exec(cmd);
}
counter++;
}
dbBuffer.commit();
fileBB.close();
///////翻译之后结束的一腿！！！！///////////////////
//////////////清空上次翻译结果////////////
QSqlQuery queryDel(dbBuffer);
queryDel.exec("delete from Code where ROM = '0'");
//////////////清空上次翻译结果////////////
QSqlQuery queryInsert(dbBuffer);
QString queryInsertStr;
//////////////插入参数代码////////////
QSqlQuery queryParameter(dbBuffer);
queryParameter.exec("select ID,Type,Value,Postfix from Parameter");
while(queryParameter.next())
{
queryInsert.exec("select ID from Code where Mark = 'Variable Parameter' order by ID desc limit 1");
queryInsert.next();
queryInsertStr = "insert into Code values(";
queryInsertStr += QString::number(queryInsert.value(0).toInt()+1);
queryInsertStr += ",'"+queryParameter.value(1).toString() + " LocalParameter_" + queryParameter.value(0).toString() + queryParameter.value(3).toString() + " = " + queryParameter.value(2).toString() + ";" ;
queryInsertStr += "','Variable Parameter',0)";
queryInsert.exec(queryInsertStr);
}
//////////////插入参数代码////////////
////////////翻译主体（检索所有BB）////////////
QSqlQuery queryBBList(dbBuffer);
queryBBList.exec("select BB,Type from BBList");
float resultCount = 0;
queryBBList.last();
resultCount = queryBBList.at()+1;//+1因为index从0开始
queryBBList.first();
//**************Report Process**************
//qDebug()<< compileProgress;
emit signalAdvanceProgress(++translateProgress_, resultCount+1, 500);//+1是因为前面插入参数也是一个步骤
//**************Report Process**************
queryBBList.seek(0);
for (int i =0; i < resultCount ; i++)
{ //检索BB List列表
if (i != 0) queryBBList.next();
QString currentBB = queryBBList.value(0).toString();
QString currentBBType = queryBBList.value(1).toString();
qDebug() << currentBB;
///////////////////清理BPIO//////////////
for (int i = 0 ; i < 10 ; i++)
{
BI[i] = "Null";
BO[i] = "Null";
PI[i] = "Null";
PO[i] = "Null";
}
///////////////////清理BPIO//////////////
///////////////BI////////////////
QString BIBaseString = currentBB + "_";
//dbDict.setDatabaseName(("./resource/Blocks/") + currentBBType + ".mpb");
if(!map_fileName_filePath_.contains(currentBBType))
{
qDebug() << "翻译的时候检查模块出错 map_fileName_filePath_没有对应的" << currentBBType;
}
dbDict.setDatabaseName(map_fileName_filePath_.value(currentBBType));
dbDict.open();
QSqlQuery queryBI(dbDict);
QString queryBIStr = "select name from behaviorIn order by id";
queryBI.exec(queryBIStr);
for (int i = 0;i < 10;i++)
{
if (queryBI.next()){
if (queryBI.value(0).toString() != "")
{
BI[i] = BIBaseString + queryBI.value(0).toString();
//qDebug(BI[i]);
}
}
}
///////////////BI////////////////
//qDebug("==========BO===================");
///////////////BO///////////////
QSqlQuery queryBO(dbDict);
QString queryBOStr = "select name from behaviorOut order by id";
queryBO.exec(queryBOStr);
for (int i = 0;i < 10;i++)
{
if (queryBO.next()){
if (queryBO.value(0).toString() != "") //只运算有输出引脚的部分
{
QString fromPin = currentBB + "_"+queryBO.value(0).toString(); //qDebug(fromPin);
//获取当前模块的输出引脚名字
QSqlQuery queryLinkage(dbBuffer);
QString queryLinkageStr = "select * from Linkage where Come = '"+fromPin+"'";
queryLinkage.exec(queryLinkageStr);
while(queryLinkage.next())
{
BO[i] = BO[i] + "," + queryLinkage.value(1).toString();
}
}
}
}
///////////////BO///////////////
//qDebug("============PI=================");
///////////////PI///////////////
QString PIBaseString = "LocalParameter_";
QSqlQuery queryPI(dbBuffer);
QString queryPIStr = "select pi0,pi1,pi2,pi3,pi4 from BBList where BB = '"+currentBB+"'";
queryPI.exec(queryPIStr);
queryPI.next();
for (int i = 0;i < 10;i++)
{
if (queryPI.value(i).toString() != "")
{
PI[i] = PIBaseString + queryPI.value(i).toString();
//qDebug(PI[i]);
}
}
///////////////PI///////////////
//qDebug("==========PO===================");
///////////////PO///////////////
QSqlQuery queryPO(dbDict);
QString queryPOStr = "select name from paramOut order by id";
queryPO.exec(queryPOStr);
for (int i = 0;i < 10;i++)
{
if (queryPO.next()){
if (queryPO.value(0).toString() != "")
{
QString fromPin = currentBB + "_"+queryPO.value(0).toString(); //qDebug(fromPin);
//获取当前模块的输出引脚名字
QSqlQuery queryLinkage(dbBuffer);
QString queryLinkageStr = "select * from Linkage where Come = '"+fromPin+"'";
queryLinkage.exec(queryLinkageStr);
while(queryLinkage.next())
{
PO[i] = PO[i] + "," + queryLinkage.value(1).toString();
}
}
}
}
///////////////PO///////////////
////////////翻译主体（检索所有BB）////////////
////////////////生成BB变量///////////////
for (int i =0; i < 10;i++)
{
if (BI[i] != "Null")
{
queryInsert.exec("select ID from Code where Mark = 'Variable Beh IO' order by ID desc limit 1");
queryInsert.next();
QSqlQuery queryLinkage(dbBuffer);
QString queryLinkageStr = "select * from Linkage where Go = '"+BI[i]+"'";
queryLinkage.exec(queryLinkageStr);
int startAtBegin = 0;
while(queryLinkage.next()){
if (queryLinkage.value(0).toString() == "Start"){
startAtBegin = 1;
}
}
//用于检测所有相关结果 但只保留一个结果
//检测是否与Start连接
queryInsertStr = "insert into Code values(";
queryInsertStr += QString::number(queryInsert.value(0).toInt()+1);
if (startAtBegin)
{
queryInsertStr += ",'boolean " + BI[i] + " = true;";
}else{
queryInsertStr += ",'boolean " + BI[i] + " = false;";
}
/////检测是否与Start连接 设置是否自动启动
queryInsertStr += "','Variable Parameter',0)";
if (BI[i] != "" && BI[i] != "Null") queryInsert.exec(queryInsertStr);
}
}
//////////////////生成每个环节的代码/////////////////////
QSqlQuery queryLib(dbDict);
QString queryLibStr = "select codeInclude,codeClass,codeParameter,codeSetup,codePreWork,codeMainWork,codeLastWork,codeVoid from code";
queryLib.exec(queryLibStr);
queryLib.next();
QString currentBBSetup;
//////////////获取当前BB的资料//////////////
//////////////0插入Include////////////////
currentBBSetup = queryLib.value(0).toString(); //qDebug(currentBBSetup);
queryInsert.exec("select ID from Code where Mark = 'Include' order by ID desc limit 1");
queryInsert.next();
currentBBSetup = ReplaceBPIO(currentBBSetup);
QSqlQuery queryCheckRepeat(dbBuffer);
QString queryCheckRepeatStr = "select Code from Code where Code = '";
queryCheckRepeatStr += currentBBSetup;
queryCheckRepeatStr += "'";
queryCheckRepeat.exec(queryCheckRepeatStr);
queryCheckRepeat.next();
QString result = queryCheckRepeat.value(0).toString();
if (result == "")
{
queryInsertStr = "insert into Code values(";
queryInsertStr += QString::number(queryInsert.value(0).toInt()+1);
queryInsertStr += ",'"+currentBBSetup;
queryInsertStr += "','Include',0)";
queryInsert.exec(queryInsertStr);
}
//qDebug(currentBBSetup);
//////////////1插入Class////////////////
currentBBSetup = queryLib.value(1).toString(); //qDebug(currentBBSetup);
queryInsert.exec("select ID from Code where Mark = 'Variable Class' order by ID desc limit 1");
queryInsert.next();
currentBBSetup = ReplaceBPIO(currentBBSetup);
queryCheckRepeatStr = "select Code from Code where Code = '";
queryCheckRepeatStr += currentBBSetup;
queryCheckRepeatStr += "'";
queryCheckRepeat.exec(queryCheckRepeatStr);
queryCheckRepeat.next();
result = queryCheckRepeat.value(0).toString();
if (result == "")
{
queryInsertStr = "insert into Code values(";
queryInsertStr += QString::number(queryInsert.value(0).toInt()+1);
queryInsertStr += ",'"+currentBBSetup;
queryInsertStr += "','Variable Class',0)";
queryInsert.exec(queryInsertStr);
}
//qDebug(currentBBSetup);
//////////////2插入Parameter////////////////
currentBBSetup = queryLib.value(2).toString(); //qDebug(currentBBSetup);
queryInsert.exec("select ID from Code where Mark = 'Variable Parameter' order by ID desc limit 1");
queryInsert.next();
currentBBSetup = ReplaceBPIO(currentBBSetup);
queryCheckRepeatStr = "select Code from Code where Code = '";
queryCheckRepeatStr += currentBBSetup;
queryCheckRepeatStr += "'";
queryCheckRepeat.exec(queryCheckRepeatStr);
queryCheckRepeat.next();
result = queryCheckRepeat.value(0).toString();
if (result == "")
{
queryInsertStr = "insert into Code values(";
queryInsertStr += QString::number(queryInsert.value(0).toInt()+1);
queryInsertStr += ",'"+currentBBSetup;
queryInsertStr += "','Variable Parameter',0)";
queryInsert.exec(queryInsertStr);
}
////////////////3插入Setup资料//////////////
currentBBSetup = queryLib.value(3).toString(); //qDebug(currentBBSetup);
queryInsert.exec("select ID from Code where Mark = 'Pin Setup' order by ID desc limit 1");
queryInsert.next();
//QString queryInsertPos = queryInsert.value(0).toString(); //qDebug(queryInsertPos);
//获取插入位置
//
currentBBSetup = ReplaceBPIO(currentBBSetup);
queryCheckRepeatStr = "select Code from Code where Code = '";
queryCheckRepeatStr += currentBBSetup;
queryCheckRepeatStr += "'";
queryCheckRepeat.exec(queryCheckRepeatStr);
queryCheckRepeat.next();
result = queryCheckRepeat.value(0).toString();
if (result == "")
{
queryInsertStr = "insert into Code values(";
queryInsertStr += QString::number(queryInsert.value(0).toInt()+1);
queryInsertStr += ",'"+currentBBSetup;
queryInsertStr += "','Pin Setup',0)";
queryInsert.exec(queryInsertStr);
//qDebug(currentBBSetup);
}
//////////////4插入PreWork////////////////
currentBBSetup = queryLib.value(4).toString(); //qDebug(currentBBSetup);
queryInsert.exec("select ID from Code where Mark = 'Pre Work' order by ID desc limit 1");
queryInsert.next();
//
currentBBSetup = ReplaceBPIO(currentBBSetup);
queryCheckRepeatStr = "select Code from Code where Code = '";
queryCheckRepeatStr += currentBBSetup;
queryCheckRepeatStr += "'";
queryCheckRepeat.exec(queryCheckRepeatStr);
queryCheckRepeat.next();
result = queryCheckRepeat.value(0).toString();
if (result == "")
{
queryInsertStr = "insert into Code values(";
queryInsertStr += QString::number(queryInsert.value(0).toInt()+1);
queryInsertStr += ",'"+currentBBSetup;
queryInsertStr += "','Pre Work',0)";
queryInsert.exec(queryInsertStr);
}
//qDebug(currentBBSetup);
//////////////5插入MainWork////////////////
currentBBSetup = queryLib.value(5).toString(); //qDebug(currentBBSetup);
queryInsert.exec("select ID from Code where Mark = 'Main Work' order by ID desc limit 1");
queryInsert.next();
currentBBSetup = ReplaceBPIO(currentBBSetup);
queryCheckRepeatStr = "select Code from Code where Code = '";
queryCheckRepeatStr += currentBBSetup;
queryCheckRepeatStr += "'";
queryCheckRepeat.exec(queryCheckRepeatStr);
queryCheckRepeat.next();
result = queryCheckRepeat.value(0).toString();
if (result == "")
{
queryInsertStr = "insert into Code values(";
queryInsertStr += QString::number(queryInsert.value(0).toInt()+1);
queryInsertStr += ",'"+currentBBSetup;
queryInsertStr += "','Main Work',0)";
queryInsert.exec(queryInsertStr);
}
//////////////6插入LastWork////////////////
currentBBSetup = queryLib.value(6).toString(); //qDebug(currentBBSetup);
queryInsert.exec("select ID from Code where Mark = 'Last Work' order by ID desc limit 1");
queryInsert.next();
currentBBSetup = ReplaceBPIO(currentBBSetup);
queryCheckRepeatStr = "select Code from Code where Code = '";
queryCheckRepeatStr += currentBBSetup;
queryCheckRepeatStr += "'";
queryCheckRepeat.exec(queryCheckRepeatStr);
queryCheckRepeat.next();
result = queryCheckRepeat.value(0).toString();
if (result == "")
{
if (currentBBSetup != "")
{
queryInsertStr = "insert into Code values(";
queryInsertStr += QString::number(queryInsert.value(0).toInt()+1);
queryInsertStr += ",'"+currentBBSetup;
queryInsertStr += "','Last Work',0)";
queryInsert.exec(queryInsertStr);
}
}
//////////////7插入VoidWork////////////////
currentBBSetup = queryLib.value(7).toString(); //qDebug(currentBBSetup);
queryInsert.exec("select ID from Code where Mark = 'Void Work' order by ID desc limit 1");
queryInsert.next();
//
currentBBSetup = ReplaceBPIO(currentBBSetup);
queryInsertStr = "insert into Code values(";
queryInsertStr += QString::number(queryInsert.value(0).toInt()+1);
queryInsertStr += ",'"+currentBBSetup;
queryInsertStr += "','Void Work',0)";
queryInsert.exec(queryInsertStr);
//**************Report Process**************
//qDebug()<< compileProgress;
emit signalAdvanceProgress(++translateProgress_, resultCount+1, 500);//+1是因为前面插入参数也是一个步骤
//**************Report Process**************
}
dbDict.close();
qDebug("Success GenCode !!!");
/////////////////////Save File//////////////////
// {
// //确保目录存在
// QFileInfo infro(fileSavePath_);
// QDir dir(infro.path());
// if(dir.exists())
// {
// qDebug() << "The Temp dir not exists, and will be create it";
// if(!dir.mkpath(infro.path()))
// {
// qDebug() << "create Temp fail";
// }
// }
// }
QFile file(fileSavePath_);
if (!file.open(QIODevice::WriteOnly))
{
emit signalTranslateError();
emit signalError(FileError);
return;
}
QTextStream stream(&file);
//创建文件和文件流
QSqlQuery query(dbBuffer);
query.exec("select Code from Code order by ID");
//以下执行相关QSL语句
while(query.next())
{
QString string = query.value(0).toString();
//qDebug(qPrintable( string ));
//qDebug(string);
if (string != "")
{
stream<<string<<endl;
}
//将Code的每一行都写入文件中
}
/////////////////////Save File//////////////////
qDebug("Success Save File !!!");
dbBuffer.close();
file.close();
}
FLSqlQuery *FLManager::query(const QString &n, QObject *parent)
{
FLSqlQuery *q;
QDomDocument doc(n);
if (!FLUtil::domDocumentSetContent(
doc, db_->managerModules()->contentCached(n + QString::fromLatin1(".qry"))
)) {
#ifdef FL_DEBUG
qWarning("FLManager : " + QApplication::tr("Error al cargar la consulta %1").arg(n));
#endif
return 0;
}
q = new FLSqlQuery(parent, db_->connectionName());
QDomElement docElem = doc.documentElement();
QDomNode no = docElem.firstChild();
while (!no.isNull()) {
QDomElement e = no.toElement();
if (!e.isNull()) {
if (e.tagName() == "name") {
q->setName(e.text());
no = no.nextSibling();
continue;
}
if (e.tagName() == "tables") {
q->setTablesList(e.text());
no = no.nextSibling();
continue;
}
if (e.tagName() == "select") {
q->setSelect(e.text());
no = no.nextSibling();
continue;
}
if (e.tagName() == "from") {
q->setFrom(e.text());
no = no.nextSibling();
continue;
}
if (e.tagName() == "where") {
q->setWhere(e.text());
no = no.nextSibling();
continue;
}
if (e.tagName() == "param") {
q->addParameter(queryParameter(&e));
no = no.nextSibling();
continue;
}
if (e.tagName() == "group") {
q->addGroup(queryGroup(&e));
no = no.nextSibling();
continue;
}
if (e.tagName() == "order") {
q->setOrderBy(e.text());
no = no.nextSibling();
continue;
}
}
no = no.nextSibling();
}
return q;
}
