snap7/Qt/ros-------ubantu14.04下杂记

1.snap7在qt中使用：

类似Windows下配置类似

#-------------------------------------------------
#
# Project created by QtCreator 2019-08-17T14:12:19
#
#-------------------------------------------------QT       += core guigreaterThan(QT_MAJOR_VERSION, 4): QT += widgetsTARGET = snap7_c
TEMPLATE = app# The following define makes your compiler emit warnings if you use
# any feature of Qt which has been marked as deprecated (the exact warnings
# depend on your compiler). Please consult the documentation of the
# deprecated API in order to know how to port your code away from it.
DEFINES += QT_DEPRECATED_WARNINGS# You can also make your code fail to compile if you use deprecated APIs.
# In order to do so, uncomment the following line.
# You can also select to disable deprecated APIs only up to a certain version of Qt.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0INCLUDEPATH += ../snap7-full-1.4.1/release/Wrappers/c-cpp/ \../snap7-full-1.4.1/src/lib/ \../snap7-full-1.4.1/src/core/ \../snap7-full-1.4.1/src/sys/
SOURCES += \main.cpp \mainwindow.cpp \../snap7-full-1.4.1/release/Wrappers/c-cpp/snap7.cpp \../snap7-full-1.4.1/src/core/s7_client.cpp \../snap7-full-1.4.1/src/core/s7_isotcp.cpp \../snap7-full-1.4.1/src/core/s7_micro_client.cpp \../snap7-full-1.4.1/src/core/s7_partner.cpp \../snap7-full-1.4.1/src/core/s7_peer.cpp \../snap7-full-1.4.1/src/core/s7_server.cpp \../snap7-full-1.4.1/src/core/s7_text.cpp \../snap7-full-1.4.1/src/lib/snap7_libmain.cpp \../snap7-full-1.4.1/src/sys/snap_msgsock.cpp \../snap7-full-1.4.1/src/sys/snap_sysutils.cpp \../snap7-full-1.4.1/src/sys/snap_tcpsrvr.cpp \../snap7-full-1.4.1/src/sys/snap_threads.cpp \joythread.cppHEADERS += \mainwindow.h \../snap7-full-1.4.1/release/Wrappers/c-cpp/snap7.h \../snap7-full-1.4.1/src/core/s7_client.h \../snap7-full-1.4.1/src/core/s7_firmware.h \../snap7-full-1.4.1/src/core/s7_isotcp.h \../snap7-full-1.4.1/src/core/s7_micro_client.h \../snap7-full-1.4.1/src/core/s7_partner.h \../snap7-full-1.4.1/src/core/s7_peer.h \../snap7-full-1.4.1/src/core/s7_server.h \../snap7-full-1.4.1/src/core/s7_text.h \../snap7-full-1.4.1/src/core/s7_types.h \../snap7-full-1.4.1/src/lib/snap7_libmain.h \../snap7-full-1.4.1/src/sys/snap_msgsock.h \../snap7-full-1.4.1/src/sys/snap_platform.h \../snap7-full-1.4.1/src/sys/snap_sysutils.h \../snap7-full-1.4.1/src/sys/snap_tcpsrvr.h \../snap7-full-1.4.1/src/sys/snap_threads.h \../snap7-full-1.4.1/src/sys/sol_threads.h \../snap7-full-1.4.1/src/sys/unix_threads.h \../snap7-full-1.4.1/src/sys/win_threads.h \joythread.hCONFIG +=C++11FORMS += \mainwindow.uiDISTFILES += \../snap7-full-1.4.1/release/Linux/X86_64/glibc_2.21/libsnap7.soQMAKE_CXXFLAGS += -Wno-unused-parameterQMAKE_CXXFLAGS += -Wno-unused-variable

在qt的main.cpp测试如下：并连接PLC，通过测试，读写的时候和python接口有点区别。

#include "mainwindow.h"
#include <QApplication>#include <QString>
#include <QDebug>
#include "snap7.h"int main(int argc, char *argv[])
{QApplication a(argc, argv);MainWindow w;w.show();// //test
//    TS7Client *MyS7Client=new TS7Client();
//    QString ip="192.168.0.2";
//    MyS7Client->ConnectTo(ip.toStdString().c_str(),0,1);
//    if(!MyS7Client->Connected())
//    {
//        qDebug()<<"if=false: not connected  ";
//    }
//    else
//    {
//        qDebug()<<"if=true: is connected";
//    }
//    //int readint;
//   // bool readbool;
// //    byte DB_buffer[200];
// //    int res;
// //    res=MyS7Client->DBRead(1,0,30,&DB_buffer);
// //    if(res!=0)
// //    {
// //       qDebug()<<"error read from DB"<<"1"<<QString::number(res);
// //    }
// //    qDebug()<<"read from DB:1  "<<QString::number(res);
// //        byte value;
// //        byte value2;
// //        MyS7Client->DBRead(1,8,1,&value);//1 8
// //        qDebug()<<"read from DB is"<<value;// //        value2=1;
// //        MyS7Client->DBWrite(1,8,1,&value2);// //        MyS7Client->DBRead(1,8,1,&value);//1 8
// //        qDebug()<<"read from DB is"<<value;//        byte value;
//        byte value2;// //int write
//       MyS7Client->DBRead(1,2,1,&value);
//       qDebug()<<"read from DB is"<<value;
//       MyS7Client->DBRead(1,3,1,&value);
//       qDebug()<<"read from DB is"<<value;//       int abb;
//       abb=23453;//       value=abb>>8;        //hight
//       value2=(abb&255);            //low//       MyS7Client->DBWrite(1,2,1,&value);
//       MyS7Client->DBWrite(1,3,1,&value2);//       MyS7Client->DBRead(1,2,1,&value);
//       qDebug()<<"read from DB is"<<value;
//       MyS7Client->DBRead(1,3,1,&value);
//       qDebug()<<"read from DB is"<<value;// //bool write
//       value=22;
//       MyS7Client->DBWrite(1,0,1,&value);//       value=3;
//       MyS7Client->DBWrite(1,8,1,&value);return a.exec();
}

2.snap7在ros中使用

类似ros调用第三方库，在snap7的包找到bulid文件夹，然后选择linux，进去后而根据自己的系统选择make文件进行make。两句make -f all 和make install。具体可见readme文件。生成的.so文件在build/bin下对应的问价夹下。

然后在新建的rospakage包的include文件下包含类似QT的头文件，在package下再创建lib文件夹，把刚才生成的.so文件放lib下。

类似这样，其实只需要把snap7.c和.h文件放进去，这是我尝试时候加的，懒得改了

具体代码，我写在control.cpp中：c中的读和pythoy类似，但是写的时候方便一些，可以直接写一个八位以上的十六进制数，书写顺序也更加人性化，不用高位和地位颠倒。

#include "snap7.h"
#include "ros/ros.h"
#include "msgbag/joy_msg.h"
#include <string.h>
#include "snap7.cpp"
#include <stdio.h>                 using namespace std;TS7Client plc;void chatterCallback(const  msgbag::joy_msg::ConstPtr& msg)
{// 将接收到的消息打印出来// ROS_INFO("%d  %d  %d  %d  %d  %d  %d  %d  %d %d %d %d %d",msg->A_botton,msg->B_botton,msg->X_botton,msg->Y_botton,msg->LB_botton,msg->RB_botton,//       msg->LT_botton,msg->RT_botton,msg->X_Axis,msg->Y_Axis,msg->U_Axis,msg->R_Axis,msg->Z_Axis);//ROS_INFO("%d  %d  %d  %d  %d ",msg->A_botton,msg->B_botton,msg->X_botton,msg->Y_botton,msg->X_Axis);
// int a;
// int* p=&a;
// if(msg->A_botton==1)
// {
//   a=1;
//   plc.AsDBRead(1, 0, 1, p);
// }
// int AsDBRead(int DBNumber, int Start, int Size,  void * pUsrData);
//     int AsDBWrite(int DBNumber, int Start, int Size,  void * pUsrData);
int buff[8]={0};
if(msg->A_botton==1 && msg->X_botton==1)
{
buff[1]=5;
plc.DBWrite(2,0,1,buff+1);
//plc.DBRead(1,0,1,buff[1]);
// ROS_INFO("%d  %d  %d  %d  %d  %d %d %d",buff[0],buff[1],buff[2],buff[3],buff[4],buff[5],buff[6],buff
// [7]);
}else if(msg->A_botton==0 && msg->X_botton==1)
{
buff[1]=4;
plc.DBWrite(2,0,1,buff+1);
// ROS_INFO("%d  %d  %d  %d  %d  %d %d %d",buff[0],buff[1],buff[2],buff[3],buff[4],buff[5],buff[6],buff
// [7]);
}
else if(msg->A_botton==1)
{buff[1]=1;plc.DBWrite(2,0,1,buff+1);
}
else
{buff[1]=0;plc.DBWrite(2,0,1,buff+1);
}//backward spin
if(msg->B_botton==1 && msg->X_botton==1)
{
buff[1]=6;
plc.DBWrite(2,0,1,buff+1);
//plc.DBRead(1,0,1,buff[1]);
// ROS_INFO("%d  %d  %d  %d  %d  %d %d %d",buff[0],buff[1],buff[2],buff[3],buff[4],buff[5],buff[6],buff
// [7]);
}else if(msg->B_botton==0 && msg->X_botton==1)
{
buff[1]=4;
plc.DBWrite(2,0,1,buff+1);
// ROS_INFO("%d  %d  %d  %d  %d  %d %d %d",buff[0],buff[1],buff[2],buff[3],buff[4],buff[5],buff[6],buff
// [7]);
}
else if(msg->B_botton==1)
{buff[1]=2;plc.DBWrite(2,0,1,buff+1);
}
else
{buff[1]=0;plc.DBWrite(2,0,1,buff+1);
}//-32768-32767
if(msg->X_Axis!=0)
{buff[1]=msg->X_Axis;
plc.DBWrite(2,2,2,buff+1);
//plc.DBRead(1,2,1,buff);
// ROS_INFO("%d  %d  %d  %d  %d  %d %d %d",buff[0],buff[1],buff[2],buff[3],buff[4],buff[5],buff[6],buff
// [7]);
}else
{buff[1]=0;
plc.DBWrite(2,2,2,buff+1);
}// if(msg->Y_botton==1)
// {
//   buff[1]=5;
// plc.DBWrite(1,3,1,buff+1);
// //plc.DBRead(1,3,1,buff);
// // ROS_INFO("%d  %d  %d  %d  %d  %d %d %d",buff[0],buff[1],buff[2],buff[3],buff[4],buff[5],buff[6],buff
// // [7]);
// }}int main(int argc, char *argv[])
{string ip="192.168.1.1";plc.ConnectTo(ip.c_str(),0,1);if (!plc.Connected()){printf("PLC not connect successful");}else{printf("PLC  connect successful");}// 初始化ROS节点ros::init(argc, argv, "listener");// 创建节点句柄ros::NodeHandle n;// 创建一个Subscriber，订阅名为chatter的topic，注册回调函数chatterCallbackros::Subscriber sub = n.subscribe("/joymsg_topic", 1000, chatterCallback);// 循环等待回调函数ros::spin();return 0;
}

这里需要提醒：需要include snap7.c文件，否则报错。这个问题很奇怪，我研究了好久才发现，一开始一直以为是库的版本不对，或者库错了。其实报错的就是：调用构造函数时候，默认的构造函数没有参数，他会提醒没有定义的构造函数。我查了好久，也没搞明白，外网一个哥们，也是只知道解决办法，但是不知道为什么，C++原理应该没错，可能是ros不支持默认无参数的构造函数吧。

3.在qt中使用ros

基本上我看到的比较简单的是catkin_creat_qt_pkg创建ros包，然后再在qt里面创建个项目，再把ros包的四个目录包含进来，在修改pro文件。增加下面配置：

  INCLUDEPATH += /opt/ros/indigo/includeDEPENDPATH +=   /opt/ros/indigo/includeINCLUDEPATH += /home/ys/catkin_ws/devel/includeLIBS +=  -l:/usr/lib/x86_64-linux-gnu/libboost_thread.soLIBS +=  -l:/usr/lib/x86_64-linux-gnu/libpthread.soLIBS += -L/opt/ros/indigo/lib -lroscpp -lrospack -lpthread -lrosconsole -lrosconsole_log4cxx -lrosconsole_backend_interface -lxmlrpcpp -lroscpp_serialization -lrostime  -lcpp_common  -lroslib -ltf  -lyaml-cpp -lkdl_conversionsLIBS += -l:/opt/ros/indigo/lib/libroslib.soCONFIG +=C++11

再删除创建qt所产生的几个文件，其实就是用catkin_creat_qt_pkg创建ros包代替qt生成的文件，用qt的pro文件代替CMakeList文件和packxml。

代码结果如下

不过这个自带ros节点发布者，我正常写了个订阅着，可是收不到消息，但是ros的rqt_graph可以看到节点已经链接成功的。

然后我自己没用catkin_creat_qt_pkg。直接在配置好的qt的main.cpp文件写订阅者，再写个发布者。这里需要提醒，要先开roscore，并且是通过终端开启的qtcreator_ros。这样才可以实现通讯，否则报错找不到roscore。成功实现通讯，但是显示的差距很大，终端hello 100，qt中hello50左右。

未知问题还有很多，先记录下。

代码详细见资源处：linux/ros/qt/snap7.tar.gz