XpiderDemo

This is a Xpider app demo built by QT5. It shows how to control Xpider and you can also use this demo to control your Xpider on your PC.

Class Description

XpiderInfo

This class maintaines the data received from xpider, or will be sent to the xpider.

XpiderInfo::custom_data_ contains the data from xpider registers, they are name, hardware version, uuid, etc.

XpiderProtocol

This class will be used to encode/decode the data between app and xpider

1. XpiderProtocol::GetMessage() can be used to get info from raw data, and the data will be stored into XpiderProtocol::xpider_info_.
2. XpiderProtocol::GetBuffer() can be used to generate raw data from command, such as move, rotate, etc.

XpiderComm

This class maintaines the tcp connections between app and xpider, Usually it's on a seperated thread. And most of the function are QT slots.

XpiderCenter

This class is a demo to show how to control xpider in QT.

1. XpiderCenter::connectXpider() This function will emmit a signal to call XpiderComm::Connect() slot.
2. XpiderCenter::NewFrameHandler() This slot will be called when XpiderComm receive a new frame from xpider. The function will call XpiderProtocol::GetMessage() to get sensor info from xpider mainboard.
3. XpiderCenter::setMove() This function will make xpider move with given command value(move and rotate value). The function will call XpiderProtocol::GetBuffer() to generate raw data, and then send it to xpider through XpiderComm::SendFrame() function.