GrabBag/GrabBagApp/mainwindow.cpp

#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <QGraphicsScene>
#include <QStandardItemModel>
#include <QDebug>
#include <QPainter>
#include <QBrush>
#include <QMessageBox>

MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
{
    ui->setupUi(this);
    
    // 设置状态栏字体
    QFont statusFont = statusBar()->font();
    statusFont.setPointSize(18);
    statusBar()->setFont(statusFont);
    
    // 设置按钮图标
    ui->btn_start->setIcon(QIcon(":/resource/start.png"));
    ui->btn_start->setIconSize(QSize(32, 32));
    ui->btn_stop->setIcon(QIcon(":/resource/stop.png"));
    ui->btn_stop->setIconSize(QSize(32, 32));
    
    // 初始化GraphicsScene
    QGraphicsScene* scene = new QGraphicsScene(this);
    ui->detect_image->setScene(scene);
    
    // 初始化ListView的Model
    QStandardItemModel* model = new QStandardItemModel(this);
    ui->detect_result->setModel(model);
    
    // 设置label前圆点（在线/离线）
    setStatusDot(ui->label_camera_1_status, false); // 在线绿色
    setStatusDot(ui->label_camera_2_status, false); // 在线绿色
    setStatusDot(ui->label_robot_status, false);    // 在线绿色

    // 连接菜单信号
//    connect(ui->menu_camera, &QMenu::aboutToShow, this, &MainWindow::on_menu_camera_triggered);
//    connect(ui->menu_config, &QMenu::aboutToShow, this, &MainWindow::on_menu_config_triggered);
//    connect(ui->menu_camera_adjust, &QMenu::aboutToShow, this, &MainWindow::on_menu_camera_adjust_triggered);
    
    // 连接工作状态更新信号槽
    connect(this, &MainWindow::workStatusUpdateRequested, this, &MainWindow::updateWorkStatusLabel);
    
    // 连接检测结果更新信号槽
    connect(this, &MainWindow::detectionResultUpdateRequested, this, &MainWindow::updateDetectionResultDisplay);
    
    updateStatusLog(tr("就绪"));
    
    // 初始化模块
    Init();
}

MainWindow::~MainWindow()
{
    // 释放业务逻辑处理类
    if (m_presenter) {
        delete m_presenter;
        m_presenter = nullptr;
    }
    
    delete ui;
}

void MainWindow::updateStatusLog(const QString& message)
{
    statusBar()->showMessage(message);
}

void MainWindow::Init()
{
    // 创建业务逻辑处理类
    m_presenter = new GrabBagPresenter();
    
    // 设置状态回调接口
    m_presenter->SetStatusCallback(this);

    // 初始化业务逻辑
    int result = m_presenter->Init();
    if (result != 0) {
        updateStatusLog(tr("初始化失败，错误码：%1").arg(result));
    }
}

void MainWindow::displayImage(const QImage& image)
{
    if (image.isNull()) {
        updateStatusLog(tr("图片无效"));
        return;
    }

    QGraphicsScene* scene = ui->detect_image->scene();
    scene->clear();
    
    QPixmap pixmap = QPixmap::fromImage(image);
    scene->addPixmap(pixmap);
    ui->detect_image->fitInView(scene->sceneRect(), Qt::KeepAspectRatio);
}

// 添加扩展版本的检测结果函数
void MainWindow::addDetectionResult(const DetectionResult& result)
{
    auto layoutIter = result.positionLayout.begin();

    while(layoutIter != result.positionLayout.end())
    {
        QString posStr = QString("\n第%1层\n").arg(layoutIter->layerIndex);
        auto positionIter = layoutIter->position.begin();
        while(positionIter != layoutIter->position.end())
        {
            posStr += QString("坐标: X=%1\n坐标: Y=%2\n坐标: Z=%3\n旋转: RZ=%4\n")
                        .arg(positionIter->x, 0, 'f', 2)
                        .arg(positionIter->y, 0, 'f', 2)
                        .arg(positionIter->z, 0, 'f', 2)
                        .arg(positionIter->yaw, 0, 'f', 2);
            positionIter++;
        }
        layoutIter++;
        QStandardItemModel* model = qobject_cast<QStandardItemModel*>(ui->detect_result->model());
        if (model) {
            QStandardItem* item = new QStandardItem(posStr);
            model->appendRow(item);
        }
    }   
}

// setStatusDot实现移到MainWindow类作用域内
void MainWindow::setStatusDot(QLabel* label, bool isOnline) {
    QPixmap dot(18, 18);
    dot.fill(Qt::transparent);
    QPainter painter(&dot);
    painter.setRenderHint(QPainter::Antialiasing);
    QColor color = isOnline ? QColor(140, 180, 60) : QColor(220, 60, 60); // 绿色或红色
    painter.setBrush(QBrush(color));
    painter.setPen(Qt::NoPen);
    painter.drawEllipse(0, 0, 18, 18);
    painter.end();
    label->setPixmap(dot);
    label->setScaledContents(true);
    label->setFixedSize(18, 18);
}


void MainWindow::on_btn_camera_clicked()
{
//    if(nullptr == ui_dialogCamera){
//        ui_dialogCamera = new DialogCamera;
//    }
//    ui_dialogCamera->show();
}

void MainWindow::on_btn_config_clicked()
{
    if(nullptr == ui_dialogConfig){
        ui_dialogConfig = new DialogConfig;
    }
    ui_dialogConfig->show();
}

void MainWindow::on_btn_flow_clicked()
{
    // 机械臂连接/断开
    static bool isConnected = false;
    isConnected = !isConnected;
}

void MainWindow::on_btn_start_clicked()
{
    // 使用Presenter启动检测
    if (m_presenter) {
        m_presenter->StartDetection();
    }
}

void MainWindow::on_btn_stop_clicked()
{
    if (m_presenter) {
        m_presenter->StopDetection();
    }
}

//void MainWindow::on_menu_camera_triggered()
//{
//    qDebug() << __func__ ;
//}

//void MainWindow::on_menu_config_triggered()
//{
//    qDebug() << __func__ ;
//    if(nullptr == ui_dialogConfig){
//        ui_dialogConfig = new DialogConfig(this);
//    }
//    ui_dialogConfig->show();
//}

void MainWindow::on_menu_camera_adjust_triggered()
{

}

// 状态更新槽函数
void MainWindow::OnStatusUpdate(const std::string& statusMessage)
{
    updateStatusLog(QString::fromStdString(statusMessage));
}

void MainWindow::OnDetectionResult(const DetectionResult& result)
{
    // 通过信号槽机制更新UI（确保在主线程中执行）
    emit detectionResultUpdateRequested(result);
}

void MainWindow::OnCamera1StatusChanged(bool isConnected)
{
    // 更新相机1状态指示灯
    setStatusDot(ui->label_camera_1_status, isConnected);
    
    // 更新状态消息
    QString statusMsg = isConnected ? tr("相机一已连接") : tr("相机一已断开");
    ui->label_camera_1_txt->setText(statusMsg);
    updateStatusLog(statusMsg);
}

// 相机2状态更新槽函数
void MainWindow::OnCamera2StatusChanged(bool isConnected)
{
    // 更新相机2状态指示灯
    setStatusDot(ui->label_camera_2_status, isConnected);
    
    // 更新状态消息
    QString statusMsg = isConnected ? tr("相机二已连接") : tr("相机二已断开");
    ui->label_camera_2_txt->setText(statusMsg);
    updateStatusLog(statusMsg);
}

// 相机个数更新槽函数
void MainWindow::OnCameraCountChanged(int cameraCount)
{
    // 如果只有一个相机，隐藏相机2相关UI元素
    if (cameraCount < 2) {
        // 隐藏相机2状态标签和图标
        ui->label_camera_2_txt->setVisible(false);
        ui->label_camera_2_status->setVisible(false);
        
        // 更新状态消息
        updateStatusLog(tr("系统使用单相机模式"));
    } else {
        // 显示相机2状态标签和图标
        ui->label_camera_2_txt->setVisible(true);
        ui->label_camera_2_status->setVisible(true);
        
        // 更新状态消息
        updateStatusLog(tr("系统使用双相机模式"));
    }
}

// 机械臂状态更新槽函数
void MainWindow::OnRobotConnectionChanged(bool isConnected)
{
    // 更新机械臂状态指示灯
    setStatusDot(ui->label_robot_status, isConnected);
    
    // 更新状态消息
    QString statusMsg = isConnected ? tr("机械臂已连接") : tr("机械臂已断开");
    updateStatusLog(statusMsg);
}

// 工作状态更新槽函数
void MainWindow::OnWorkStatusChanged(WorkStatus status)
{
    // 通过信号槽机制更新UI（确保在主线程中执行）
    emit workStatusUpdateRequested(status);
}

void MainWindow::updateWorkStatusLabel(WorkStatus status)
{
    // 获取状态对应的显示文本
    QString statusText = QString::fromStdString(WorkStatusToString(status));
    
    // 在label_work中显示状态
    if (ui->label_work) {
        ui->label_work->setText(statusText);
        
        // 根据不同状态设置不同的样式
        switch (status) {
            case WorkStatus::Ready:
                ui->label_work->setStyleSheet("color: green;");
                break;
            case WorkStatus::Working:
                ui->label_work->setStyleSheet("color: blue;");
                break;
            case WorkStatus::Completed:
                ui->label_work->setStyleSheet("color: green; font-weight: bold;");
                break;
            case WorkStatus::Error:
                ui->label_work->setStyleSheet("color: red; font-weight: bold;");
                break;
            default:
                ui->label_work->setStyleSheet("");
                break;
        }
    }
    
    // 同时更新状态栏信息
    updateStatusLog(statusText);
}

void MainWindow::updateDetectionResultDisplay(const DetectionResult& result)
{
    // 实现检测结果显示的逻辑
    displayImage(result.image);
    addDetectionResult(result);
}


void MainWindow::on_action_camera_1_triggered()
{
    IVrEyeDevice* pDevice = m_presenter->GetEyeDevice(0);
    if(nullptr == pDevice){
        QMessageBox::warning(this, "设备错误", "相机设备未正确初始化！");
        return;
    }
    if(nullptr == ui_dialogCamera){
        ui_dialogCamera = new DialogCamera(pDevice, this);
    }
    ui_dialogCamera->show();
}


void MainWindow::on_action_camera_2_triggered()
{
    IVrEyeDevice* pDevice = m_presenter->GetEyeDevice(1);
    if(nullptr == pDevice){
        QMessageBox::warning(this, "设备错误", "相机设备未正确初始化！");
        return;
    }
    if(nullptr == ui_dialogCamera){
        ui_dialogCamera = new DialogCamera(pDevice, this);
    }
    ui_dialogCamera->show();
}