#include?“controlthread.h“
#include?“command.h“

#define?SERVER_IP???????????“192.168.1.105“
#define?SERVER_PORT?????????8080

ControlThread::ControlThread（Qobject?*parent）//?:?Qobject（parent）
{
????isConnected?????????=?false;
}

ControlThread::~ControlThread（）
{
????delete?controlClient;
}

void?ControlThread::connect_on（）
{
????char?command[5]?=?{START_BYTE_0?START_BYTE_1?MOTO_STOP?0x0?0x0};

????isConnected?=?true;
????sendMassage（command?5）;
}

void?ControlThread::connect_off（）
{
????isConnected?=?false;
}

void?ControlThread::run（）
{
????int?????ret?=?0;

????controlClient?=?new?QTcpSocket（）;

????connect（controlClient?SIGNAL（connected（））?this?SLOT（connect_on（）））;
????connect（controlClient?SIGNAL（disconnected（））?this?SLOT（connect_off（）））;

????controlClient->connectToHost（SERVER_IP?SERVER_PORT）;
????ret?=?controlClient->waitForConnected（5000）;????????????//?block?5?seconds?waiting?for?connected
?//???qDebug（“controlClient?State:?%d\n“?controlClient->state（））;
????exec（）;
}

int?ControlThread::sendMassage（char?*data?int?length）
{
????int?ret;

????if?（!isConnected）?{
????????return?-1;
????}

????ret?=?controlClient->write（data?length）;

????return?0;
}