ci

Qt-Websocket-client/main.cpp

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

Qt-Websocket-client/mainwindow.cpp

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+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+#include <QDebug>
+#include <QJsonObject>
+
+MainWindow::MainWindow(QWidget *parent) :
+    QMainWindow(parent),
+    ui(new Ui::MainWindow)
+{
+    ui->setupUi(this);
+    ui->textEdit->setFont(QFont("Consolas",18));
+    QUrl url = QUrl("ws://192.168.31.104:9090");
+    m_websocket.open(url);
+    QString err=m_websocket.errorString();
+    file = new QFile("/home/zzp/test.json");
+    file->open(QIODevice::ReadOnly);
+    if(err!="Unknown error")
+        ui->label->setText(err);
+    connect(&m_websocket,SIGNAL(connected()),this,SLOT(onconnected()));
+    connect(&m_websocket,SIGNAL(disconnected()),this,SLOT(ondisconnected()));
+//    connect(&m_websocket,SIGNAL(disconnected()),this,SLOT(closeConnection()));
+}
+
+MainWindow::~MainWindow()
+{
+    delete ui;
+}
+//{
+//    id: "advertise:/cmd_vel:1"
+//    latch: false
+//    op: "advertise"
+//    queue_size: 100
+//    topic: "/cmd_vel"
+//    type: "geometry_msgs/Twist"
+//}
+
+//{
+//       "op":"publish",
+//       "id":"publish:/cmd_vel:2",
+//       "topic":"/cmd_vel",
+//       "msg":{"linear":{"x":0.1,"y":0,"z":0},
+//       "angular":{"x":0,"y":0,"z":0}},
+//       "latch":false
+// }
+void MainWindow::on_pushButton_clicked()
+{
+    QString msg = ui->textEdit->document()->toPlainText();
+    m_websocket.sendTextMessage(msg);
+//    QTextStream stream(file);
+//    QString data = stream.readAll();
+//    qDebug()<<data;
+//    m_websocket.sendTextMessage(data);
+}
+
+void MainWindow::onconnected()
+{
+    ui->label->setText(QStringLiteral("连接成功!"));
+}
+
+void MainWindow::ondisconnected()
+{
+    ui->label->setText(QStringLiteral("未连接!"));
+}

Qt-Websocket-client/mainwindow.h

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+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+#include <QtWebSockets/QtWebSockets>
+#include <QFile>
+
+namespace Ui {
+class MainWindow;
+}
+
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    explicit MainWindow(QWidget *parent = 0);
+    ~MainWindow();
+
+private slots:
+    void on_pushButton_clicked();
+public slots:
+    void onconnected();
+    void ondisconnected();
+
+private:
+    Ui::MainWindow *ui;
+    QUrl m_url;
+    QWebSocket m_websocket;
+    QFile* file;
+};
+
+#endif // MAINWINDOW_H

Qt-Websocket-client/mainwindow.ui

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+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>624</width>
+    <height>519</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <layout class="QGridLayout" name="gridLayout">
+    <item row="0" column="0">
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <property name="spacing">
+       <number>25</number>
+      </property>
+      <item>
+       <widget class="QTextEdit" name="textEdit"/>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <property name="spacing">
+         <number>55</number>
+        </property>
+        <item>
+         <widget class="QPushButton" name="pushButton">
+          <property name="text">
+           <string>发送消息</string>
+          </property>
+          <property name="autoDefault">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label">
+          <property name="text">
+           <string>TextLabel</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

Qt-Websocket-client/untitled.pro

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+#-------------------------------------------------
+#
+# Project created by QtCreator 2018-10-24T20:44:18
+#
+#-------------------------------------------------
+
+QT       += core gui websockets
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+TARGET = untitled
+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 6.0.0
+
+
+SOURCES += \
+        main.cpp \
+        mainwindow.cpp
+
+HEADERS += \
+        mainwindow.h
+
+FORMS += \
+        mainwindow.ui