通过Modbus TCP与CMMO-ST-C5-1-LKP Festo控制器进行Qt/C++通信

Question

我正试图通过Qt/C++的modbus与电机控制器通信。

我使用以下代码连接到它，这些代码主要来自Qt SerialBus aduditor示例：

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();
}}

一旦建立了连接，我使用这个tcp pdu="0000000 4084301000000000000"调试驱动器，设备被调试，并且由于通信中断而出现代码为"E047"的错误。问题是，当我试图进行重置(这是重置位的上升沿)时，我会发送这两个连续的帧，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客户端V1.0.0.12"https://www.festo.com/net/cs_cz/SupportPortal/default.aspx?q=modbus&tab＝festo提供的4，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，错误就消除了。通信中断，只有当我单击"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，这是使用多线程吗？在这种情况下，我如何像这个模拟器接口一样提供与控制器的连续通信？

单击此处查看modbus tcp模拟器图像

Answer 1

它终于成功了，下面是代码：

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;}