c++ - 通过 Modbus TCP 与 CMMO-ST-C5-1-LKP Festo Controller 进行 Qt/C++ 通信

Question

我正在尝试使用 Qt/C++ 通过 modbus 与电机 Controller 进行通信。

我使用主要从 Qt SerialBus adueditor 示例中获取的代码连接到它:

    void Stepper::connect_device(){
    if (ui.pb_connect->text() == "Connect"){
    m_device = device;device->setParameters(0, 0x0000, 0x0000, 0x000F, 0x0000);   
    m_device->setConnectionParameter(QModbusDevice::NetworkAddressParameter, ui.tcpAddressEdit->text());
    m_device->setConnectionParameter(QModbusDevice::NetworkPortParameter, ui.tcpPortEdit->text());
    m_device->setTimeout(1000);
    m_device->setNumberOfRetries(3);connect(m_device, &QModbusDevice::errorOccurred, this, [this](QModbusDevice::Error) {
        qDebug().noquote() << QStringLiteral("Error: %1").arg(m_device->errorString());
        reset();
        /*QMessageBox msgBox;
        msgBox.setWindowTitle("Modbus TCP Client");
        msgBox.setText("Connection error !");
        msgBox.exec();
        emit ui.pb_connect->clicked();*/
        return;
    }, Qt::QueuedConnection);

    connect(m_device, &QModbusDevice::stateChanged, [this](QModbusDevice::State state) {
        switch (state) {
        case QModbusDevice::UnconnectedState:
            qDebug().noquote() << QStringLiteral("State: Entered unconnected state.");
            ui.pb_connect->setEnabled(true);
            ui.pb_connect->setText("Connect");
            break;
        case QModbusDevice::ConnectingState:
            qDebug().noquote() << QStringLiteral("State: Entered connecting state.");
            ui.pb_connect->setEnabled(false);
            ui.pb_connect->setText("Trying to connect..");
            break;
        case QModbusDevice::ConnectedState:
            qDebug().noquote() << QStringLiteral("State: Entered connected state.");
            ui.pb_connect->setText("Disconnect");
            ui.pb_connect->setEnabled(true);
            break;
        case QModbusDevice::ClosingState:
            qDebug().noquote() << QStringLiteral("State: Entered closing state.");
            ui.pb_connect->setEnabled(true);
            ui.pb_connect->setText("Connect");
            break;
        case QModbusDevice::TimeoutError:
            qDebug().noquote() << QStringLiteral("State: Time out error.");
            QMessageBox msgBox;
            msgBox.setWindowTitle("Modbus TCP Client");
            msgBox.setText("Time out !");
            msgBox.exec();
        }
    });
    m_device->connectDevice();
}
else
{
    disconnectAndDelete();
}}

建立连接后，我使用此 tcp pdu = "00000004084301000000000000"调试驱动器，设备已调试并出现代码为“E047”的错误，因为通信中断。问题是当我尝试进行重置(这是重置位的上升沿)时，我发送了这两个连续的帧，但它不起作用，错误仍然存​​在。

void Stepper::reset(){ 
QModbusReply *reply = nullptr;
Data = "00000004084301000000000000";
QByteArray pduData = QByteArray::fromHex(Data.toLatin1());
reply = m_device->sendRawRequest(QModbusRequest(QModbusRequest::FunctionCode(0x0010), pduData), 0x01);  

connect(reply, &QModbusReply::finished, [reply, this]() {
    qDebug() << "Receive: Asynchronous response PDU: " << reply->rawResult() << endl;
    Data = "00000004084B01000000000000";
    QByteArray pduData = QByteArray::fromHex(Data.toLatin1());
    QModbusReply *reply = nullptr;
    while (reply)
        reply = m_device >sendRawRequest(QModbusRequest(QModbusRequest::FunctionCode(0x0010), pduData), 0x01);
});}

我看了一下这个模拟器“Modbus TCP Client V1.0.0.12”https://www.festo.com/net/cs_cz/SupportPortal/default.aspx?q=modbus&tab=4费斯托提供，当我点击“开始”按钮时，帧被永久发送，然后我可以点击重置位并消除错误。通信中断，仅当我单击“停止”时才会出现错误。当通信运行时我可以做其他事情，比如点击停止按钮或更改功能代码，它使用多线程吗？在这种情况下，我如何才能像这个模拟器界面一样提供与 Controller 的持续通信？

click here to see modbus tcp simulator images

Answer 1

终于成功了，这是代码:

void Stepper::reset(){
QTimer *timer1 = new QTimer(this);
timer1->setSingleShot(false);
timer1->start(100);
connect(timer1, &QTimer::timeout, [this]() {
    send_packet("00000004084301000000000000");
});
QTimer *timer2 = new QTimer(this);
timer2->setSingleShot(false);
timer2->start(100);
connect(timer2, &QTimer::timeout, [this]() {
send_packet("00000004084B01000000000000");
});}

send_packet 函数就是这个函数:

void Stepper::send_packet(QString Data){
QModbusReply *reply = nullptr;
QByteArray pduData = QByteArray::fromHex(Data.toLatin1());
reply = m_device->sendRawRequest(QModbusRequest(QModbusRequest::FunctionCode(0x0010), pduData), 0x01);  
if (reply)
    return;}