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新版UI单垛修改完成

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This commit is contained in:
杰仔 2025-06-19 01:38:50 +08:00
parent ae2f795d2c
commit 84b39dc16d
17 changed files with 780 additions and 228 deletions
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12
GrabBagApp/GrabBagApp.pro
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@ -23,24 +23,30 @@ SOURCES += \
Presenter/Src/GrabBagPresenter.cpp \
Presenter/Src/LaserDataLoader.cpp \
Presenter/Src/RobotProtocol.cpp \
devstatus.cpp \
dialogcamera.cpp \
dialogconfig.cpp \
main.cpp \
mainwindow.cpp
mainwindow.cpp \
resultitem.cpp
HEADERS += \
Presenter/Inc/GrabBagPresenter.h \
Presenter/Inc/LaserDataLoader.h \
Presenter/Inc/RobotProtocol.h \
IYGrabBagStatus.h \
devstatus.h \
dialogcamera.h \
dialogconfig.h \
mainwindow.h
mainwindow.h \
resultitem.h
FORMS += \
devstatus.ui \
dialogcamera.ui \
dialogconfig.ui \
mainwindow.ui
mainwindow.ui \
resultitem.ui
RESOURCES += \
resources.qrc

80
GrabBagApp/Presenter/Src/GrabBagPresenter.cpp
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@ -53,7 +53,6 @@ int GrabBagPresenter::Init()
{
// 初始化连接状态
m_bCameraConnected = false;
m_bRobotConnected = false;
m_currentWorkStatus = WorkStatus::Error;
// 初始化VrConfig模块
@ -70,12 +69,6 @@ int GrabBagPresenter::Init()
// 初始化机械臂协议
int nRet = InitRobotProtocol();
if (nRet != 0) {
m_pStatus->OnStatusUpdate("机械臂服务初始化失败");
m_bRobotConnected = false;
} else {
m_pStatus->OnStatusUpdate("机械臂服务初始化成功");
}
// 初始化算法参数
nRet = InitAlgorithmParams();
@ -94,6 +87,11 @@ int GrabBagPresenter::Init()
if(cameraCount > 0){
if (cameraCount >= 1) {
// 尝试打开相机1
LOG_INFO("Attempting to connect to camera 1 with IP: %s\n", configResult.cameraList[0].ip.c_str());
// 发送页面提示信息
m_pStatus->OnStatusUpdate(QString("正在连接相机一，IP: %1").arg(configResult.cameraList[0].ip.c_str()).toStdString());
// 初始化VrEyeDevice模块
IVrEyeDevice* pDevice = nullptr;
IVrEyeDevice::CreateObject(&pDevice);
@ -104,15 +102,21 @@ int GrabBagPresenter::Init()
nRet = pDevice->OpenDevice(configResult.cameraList[0].ip.c_str(), &GrabBagPresenter::_StaticCameraNotify, this);
// 通过回调更新相机1状态
bool camera1Connected = (SUCCESS == nRet);
if(camera1Connected)
{
if(camera1Connected){
m_vrEyeDeviceList.push_back(pDevice);
LOG_INFO("Camera 1 connection successful, IP: %s\n", configResult.cameraList[0].ip.c_str());
m_pStatus->OnStatusUpdate(QString("相机一连接成功，IP: %1").arg(configResult.cameraList[0].ip.c_str()).toStdString());
} else {
LOG_ERROR("Camera 1 connection failed, IP: %s, error code: %d\n", configResult.cameraList[0].ip.c_str(), nRet);
m_pStatus->OnStatusUpdate(QString("相机一连接失败，IP: %1，错误码: %2").arg(configResult.cameraList[0].ip.c_str()).arg(nRet).toStdString());
}
m_pStatus->OnCamera1StatusChanged(camera1Connected);
m_pStatus->OnStatusUpdate(camera1Connected ? "相机一连接成功" : "相机一连接失败");
m_bCameraConnected = camera1Connected;
}
else {
LOG_WARNING("Camera count is 0, setting camera 1 as disconnected\n");
m_pStatus->OnStatusUpdate("配置文件中未找到相机配置，设置相机一为离线状态");
m_pStatus->OnCamera1StatusChanged(false);
m_bCameraConnected = false;
}
@ -174,12 +178,24 @@ int GrabBagPresenter::Init()
int GrabBagPresenter::InitRobotProtocol()
{
LOG_DEBUG("Start initializing robot protocol\n");
m_pStatus->OnStatusUpdate("机械臂服务初始化...");
// 创建RobotProtocol实例
if(nullptr == m_pRobotProtocol){
m_pRobotProtocol = new RobotProtocol();
}
// 初始化协议服务（使用端口503，避免与原有ModbusTCP冲突）
int nRet = m_pRobotProtocol->Initialize();
ERR_CODE_RETURN(nRet);
if (nRet != 0) {
m_pStatus->OnStatusUpdate("机械臂服务初始化失败");
m_bRobotConnected = false;
} else {
m_pStatus->OnStatusUpdate("机械臂服务初始化成功");
}
// 设置连接状态回调
m_pRobotProtocol->SetConnectionCallback([this](bool connected) {
this->OnRobotConnectionChanged(connected);
@ -190,11 +206,8 @@ int GrabBagPresenter::InitRobotProtocol()
this->OnRobotWorkSignal(startWork, cameraIndex);
});
// 初始化协议服务（使用端口503，避免与原有ModbusTCP冲突）
int nRet = m_pRobotProtocol->Initialize();
ERR_CODE_RETURN(nRet);
LOG_INFO("Robot protocol initialization successful\n");
LOG_INFO("Robot protocol initialization completed successfully\n");
return SUCCESS;
}
@ -281,7 +294,13 @@ void GrabBagPresenter::OnRobotConnectionChanged(bool connected)
if (m_pStatus) {
m_pStatus->OnRobotConnectionChanged(connected);
m_pStatus->OnStatusUpdate(connected ? "机械臂已连接" : "机械臂连接断开");
// 发送详细的页面状态信息
if (connected) {
m_pStatus->OnStatusUpdate("机械臂连接成功，通信正常");
} else {
m_pStatus->OnStatusUpdate("机械臂连接断开，请检查网络连接");
}
}
// 检查并更新工作状态
@ -518,6 +537,11 @@ void GrabBagPresenter::_CameraNotify(EVzDeviceWorkStatus eStatus, void *pExtData
{
LOG_INFO("Received scan finish signal from camera\n");
// 发送页面提示信息
if (m_pStatus) {
m_pStatus->OnStatusUpdate("相机扫描完成，开始数据处理...");
}
// 通知检测线程开始处理
m_algoDetectCondition.notify_one();
break;
@ -567,11 +591,9 @@ void GrabBagPresenter::CheckAndUpdateWorkStatus()
if (m_bCameraConnected && m_bRobotConnected) {
m_currentWorkStatus = WorkStatus::Ready;
m_pStatus->OnWorkStatusChanged(WorkStatus::Ready);
m_pStatus->OnStatusUpdate("设备已准备好");
} else {
m_currentWorkStatus = WorkStatus::Error;
m_pStatus->OnWorkStatusChanged(WorkStatus::Error);
m_pStatus->OnStatusUpdate("设备未准备好");
}
}
@ -890,7 +912,7 @@ QImage GrabBagPresenter::_GeneratePointCloudImage(SVzNL3DLaserLine* scanData, in
}
}
// 绘制检测目标
// 绘制检测目标和方向线
for (size_t i = 0; i < objOps.size(); i++) {
QColor objColor = (i == 0) ? QColor(255, 0, 0) : QColor(255, 255, 0);
int size = (i == 0) ? 12 : 8;
@ -899,9 +921,33 @@ QImage GrabBagPresenter::_GeneratePointCloudImage(SVzNL3DLaserLine* scanData, in
int py = (int)((objOps[i].centerPos.y - y_range.min) / y_scale + y_skip);
if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
// 绘制抓取点圆圈
painter.setPen(QPen(objColor, 2));
painter.setBrush(QBrush(objColor));
painter.drawEllipse(px - size/2, py - size/2, size, size);
// 绘制方向线
const double deg2rad = PI / 180.0;
double R = 100;
const double yaw = objOps[i].centerPos.z_yaw * deg2rad;
double cy = cos(yaw);
double sy = sin(yaw);
double x1 = objOps[i].centerPos.x + R * cy; double y1 = objOps[i].centerPos.y - R * sy;
double x2 = objOps[i].centerPos.x - R * cy; double y2 = objOps[i].centerPos.y + R * sy;
int px1 = (int)((x1 - x_range.min) / x_scale + x_skip);
int py1 = (int)((y1 - y_range.min) / y_scale + y_skip);
int px2 = (int)((x2 - x_range.min) / x_scale + x_skip);
int py2 = (int)((y2 - y_range.min) / y_scale + y_skip);
// 绘制方向线
painter.setPen(QPen(objColor, 3));
painter.drawLine(px1, py1, px2, py2);
// 绘制目标编号
painter.setPen(QPen(Qt::white, 1));
painter.setFont(QFont("Arial", 10, QFont::Bold));
painter.drawText(px + 15, py - 10, QString("%1").arg(i + 1));
}
}

110
GrabBagApp/devstatus.cpp Normal file
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@ -0,0 +1,110 @@
#include "devstatus.h"
#include "ui_devstatus.h"
#include <QPainter>
#include <QBrush>
#include "VrLog.h"
devstatus::devstatus(QWidget *parent)
: QWidget(parent)
, ui(new Ui::devstatus)
{
ui->setupUi(this);
// 强制应用样式表 - 这是关键！
this->setAttribute(Qt::WA_StyledBackground, true);
// 初始化时设置样式
setItemStyle();
// 初始化设备状态（离线状态）
updateCamera1Status(false);
updateCamera2Status(false);
updateRobotStatus(false);
}
devstatus::~devstatus()
{
delete ui;
}
// 设置devstatus的样式
void devstatus::setItemStyle()
{
// 参考ResultItem的样式设置，添加边框作为格子间分隔线
this->setStyleSheet(
"devstatus { "
" border: 2px solid #191A1C; " // 添加边框作为格子间分隔线
" border-radius: 0px; " // 去掉圆角，让分隔线更清晰
"} "
);
}
// 设置相机状态图片的私有成员函数
void devstatus::setCameraStatusImage(QWidget* widget, bool isOnline) {
if (!widget) return;
QString imagePath = isOnline ? ":/resource/camera_online.png" : ":/resource/camera_offline.png";
widget->setStyleSheet(QString("background-image: url(%1); background-repeat: no-repeat; background-position: center;")
.arg(imagePath));
widget->setFixedSize(32, 32); // 调整大小以适应图片
}
// 设置机械臂状态图片的私有成员函数
void devstatus::setRobotStatusImage(QWidget* widget, bool isOnline) {
if (!widget) return;
QString imagePath = isOnline ? ":/resource/robot_online.png" : ":/resource/robot_offline.png";
widget->setStyleSheet(QString("background-image: url(%1); background-repeat: no-repeat; background-position: center;")
.arg(imagePath));
widget->setFixedSize(32, 32); // 调整大小以适应图片
}
// 更新相机1状态
void devstatus::updateCamera1Status(bool isConnected)
{
setCameraStatusImage(ui->dev_camer_1_img, isConnected);
QString statusText = isConnected ? "相机1在线" : "相机1离线";
QString colorStyle = isConnected ? "color: rgb(140, 180, 60);" : "color: rgb(220, 60, 60);";
ui->dev_camera_1_txt->setText(statusText);
ui->dev_camera_1_txt->setStyleSheet(colorStyle);
}
// 更新相机2状态
void devstatus::updateCamera2Status(bool isConnected)
{
setCameraStatusImage(ui->dev_camer_2_img, isConnected);
QString statusText = isConnected ? "相机2在线" : "相机2离线";
QString colorStyle = isConnected ? "color: rgb(140, 180, 60);" : "color: rgb(220, 60, 60);";
ui->dev_camera_2_txt->setText(statusText);
ui->dev_camera_2_txt->setStyleSheet(colorStyle);
}
// 更新机械臂状态
void devstatus::updateRobotStatus(bool isConnected)
{
setRobotStatusImage(ui->dev_robot_img, isConnected);
QString statusText = isConnected ? "机械臂在线" : "机械臂离线";
QString colorStyle = isConnected ? "color: rgb(140, 180, 60);" : "color: rgb(220, 60, 60);";
ui->dev_robot_txt->setText(statusText);
ui->dev_robot_txt->setStyleSheet(colorStyle);
}
// 设置相机数量（用于控制相机二的显示）
void devstatus::setCameraCount(int cameraCount)
{
// 如果相机数量小于2，隐藏相机二相关的UI元素
bool showCamera2 = (cameraCount >= 2);
LOG_DEBUG("setCameraCount: %d", cameraCount);
ui->dev_camer_2_img->setVisible(showCamera2);
ui->dev_camera_2_txt->setVisible(showCamera2);
}

38
GrabBagApp/devstatus.h Normal file
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@ -0,0 +1,38 @@
#ifndef DEVSTATUS_H
#define DEVSTATUS_H
#include <QWidget>
#include <QLabel>
namespace Ui {
class devstatus;
}
class devstatus : public QWidget
{
Q_OBJECT
public:
explicit devstatus(QWidget *parent = nullptr);
~devstatus();
// 设备状态更新方法
void updateCamera1Status(bool isConnected);
void updateCamera2Status(bool isConnected);
void updateRobotStatus(bool isConnected);
// 设置相机数量（用于控制相机二的显示）
void setCameraCount(int cameraCount);
private:
Ui::devstatus *ui;
// 设置状态图片的私有成员函数
void setCameraStatusImage(QWidget* widget, bool isOnline);
void setRobotStatusImage(QWidget* widget, bool isOnline);
// 设置样式的私有成员函数
void setItemStyle();
};
#endif // DEVSTATUS_H

85
GrabBagApp/devstatus.ui Normal file
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@ -0,0 +1,85 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>devstatus</class>
<widget class="QWidget" name="devstatus">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>272</width>
<height>200</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(37, 38, 42);</string>
</property>
<widget class="QWidget" name="layoutWidget">
<property name="geometry">
<rect>
<x>50</x>
<y>20</y>
<width>151</width>
<height>161</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QWidget" name="dev_camer_1_img" native="true"/>
</item>
<item>
<widget class="QLabel" name="dev_camera_1_txt">
<property name="styleSheet">
<string notr="true">color: rgb(0, 255, 0);</string>
</property>
<property name="text">
<string>相机在线</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QWidget" name="dev_camer_2_img" native="true"/>
</item>
<item>
<widget class="QLabel" name="dev_camera_2_txt">
<property name="styleSheet">
<string notr="true">color: rgb(0, 255, 0);</string>
</property>
<property name="text">
<string>相机在线</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QWidget" name="dev_robot_img" native="true"/>
</item>
<item>
<widget class="QLabel" name="dev_robot_txt">
<property name="styleSheet">
<string notr="true">color: rgb(0, 255, 0);</string>
</property>
<property name="text">
<string>机械臂在线</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
<resources/>
<connections/>
</ui>

248
GrabBagApp/mainwindow.cpp
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@ -1,5 +1,6 @@
#include "mainwindow.h"
#include "ui_mainwindow.h"
#include "resultitem.h"
#include <QGraphicsScene>
#include <QStandardItemModel>
#include <QDebug>
@ -7,6 +8,13 @@
#include <QBrush>
#include <QMessageBox>
#include <QFileDialog>
#include <QListWidgetItem>
#include <QtMath>
#include <QThread>
#include <QDateTime>
#include <QTextCursor>
#include <QStringListModel>
#include "VrLog.h"
MainWindow::MainWindow(QWidget *parent)
: QMainWindow(parent)
@ -29,14 +37,11 @@ MainWindow::MainWindow(QWidget *parent)
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);
// 初始化日志模型
m_logModel = new QStringListModel(this);
ui->detect_log->setModel(m_logModel);
// 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
// 原有的状态指示器已删除，状态显示统一在devstatus中处理
// 连接菜单信号
// connect(ui->menu_camera, &QMenu::aboutToShow, this, &MainWindow::on_menu_camera_triggered);
@ -49,7 +54,13 @@ MainWindow::MainWindow(QWidget *parent)
// 连接检测结果更新信号槽
connect(this, &MainWindow::detectionResultUpdateRequested, this, &MainWindow::updateDetectionResultDisplay);
updateStatusLog(tr("就绪"));
// 连接日志更新信号槽
connect(this, &MainWindow::logUpdateRequested, this, &MainWindow::updateDetectionLog);
// 连接清空日志信号槽
connect(this, &MainWindow::logClearRequested, this, &MainWindow::clearDetectionLogUI);
updateStatusLog(tr("设备开始初始化..."));
// 初始化模块
@ -69,7 +80,17 @@ MainWindow::~MainWindow()
void MainWindow::updateStatusLog(const QString& message)
{
statusBar()->showMessage(message);
// 更新状态栏
// statusBar()->showMessage(message);
// 通过信号槽机制更新detect_log控件
emit logUpdateRequested(message);
}
void MainWindow::clearDetectionLog()
{
// 通过信号槽机制清空日志
emit logClearRequested();
}
void MainWindow::Init()
@ -80,11 +101,27 @@ void MainWindow::Init()
// 设置状态回调接口
m_presenter->SetStatusCallback(this);
m_deviceStatusWidget = new devstatus(); //因为初始化回调的数据要存储，所以要在init前创建好
// 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));
}
// 初始化完成后，在detect_result_list中增加设备状态widget
QListWidgetItem* deviceStatusItem = new QListWidgetItem();
deviceStatusItem->setBackground(QBrush(Qt::transparent));
deviceStatusItem->setSizeHint(QSize(272, 200));
ui->detect_result_list->addItem(deviceStatusItem);
ui->detect_result_list->setItemWidget(deviceStatusItem, m_deviceStatusWidget);
// 设置列表视图模式
ui->detect_result_list->setViewMode(QListView::IconMode);
ui->detect_result_list->setResizeMode(QListView::Adjust);
ui->detect_result_list->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
ui->detect_result_list->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
}
void MainWindow::displayImage(const QImage& image)
@ -105,47 +142,76 @@ void MainWindow::displayImage(const QImage& image)
// 添加扩展版本的检测结果函数
void MainWindow::addDetectionResult(const DetectionResult& result)
{
// 清空之前的数据（除了第一个设备状态item）
while (ui->detect_result_list->count() > 1) {
QListWidgetItem* item = ui->detect_result_list->takeItem(1);
delete item;
}
// 更新现有设备状态显示（第一个item就是设备状态）
if (m_deviceStatusWidget) {
// m_deviceStatusWidget会自动从其内部状态获取设备状态信息
// 不需要手动更新，因为状态变化时会直接更新到widget中
}
// 设置为图标模式，实现网格布局（多列显示）
ui->detect_result_list->setViewMode(QListView::IconMode);
ui->detect_result_list->setResizeMode(QListView::Adjust);
// 设置滚动条策略：始终显示垂直滚动条，隐藏水平滚动条
ui->detect_result_list->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
ui->detect_result_list->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
// 计算gridWidth：考虑12px间距，确保两列布局
int totalWidth = ui->detect_result_list->width();
int itemSpacing = 12;
int gridWidth = (totalWidth - itemSpacing - 17) / 2; //20是滚动条的宽度
int gridHeight = 200;
ui->detect_result_list->setGridSize(QSize(gridWidth, gridHeight)); // 设置每个格子的大小
ui->detect_result_list->setSpacing(itemSpacing); // 设置item间距为12px
ui->detect_result_list->setFlow(QListView::LeftToRight); // 从左到右排列
ui->detect_result_list->setWrapping(true); // 允许换行
auto layoutIter = result.positionLayout.begin();
int targetIndex = 1;
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);
// 创建自定义的ResultItem widget
ResultItem* resultWidget = new ResultItem();
// 设置widget的autoFillBackground属性，确保背景色生效
resultWidget->setAutoFillBackground(true);
// 设置检测结果数据，直接使用GrabBagPosition
resultWidget->setResultData(targetIndex, *positionIter);
// 创建QListWidgetItem
QListWidgetItem* item = new QListWidgetItem();
// 设置item背景为透明，让自定义widget的背景显示出来
item->setBackground(QBrush(Qt::transparent));
// 设置item的大小提示 - 应该与gridSize一致
item->setSizeHint(QSize(gridWidth, gridHeight));
// 将item添加到列表
ui->detect_result_list->addItem(item);
// 将自定义widget设置为item的显示内容
ui->detect_result_list->setItemWidget(item, resultWidget);
targetIndex++;
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){
@ -171,6 +237,9 @@ void MainWindow::on_btn_flow_clicked()
void MainWindow::on_btn_start_clicked()
{
// 清空检测日志，开始新的检测
clearDetectionLog();
// 使用Presenter启动检测
if (m_presenter) {
m_presenter->StartDetection();
@ -184,19 +253,6 @@ void MainWindow::on_btn_stop_clicked()
}
}
//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()
{
@ -206,6 +262,7 @@ void MainWindow::on_menu_camera_adjust_triggered()
// 状态更新槽函数
void MainWindow::OnStatusUpdate(const std::string& statusMessage)
{
LOG_DEBUG("[UI Display] Status update: %s\n", statusMessage.c_str());
updateStatusLog(QString::fromStdString(statusMessage));
}
@ -217,43 +274,34 @@ void MainWindow::OnDetectionResult(const DetectionResult& 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);
// 直接更新设备状态widget
if (m_deviceStatusWidget) {
m_deviceStatusWidget->updateCamera1Status(isConnected);
}
}
// 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);
// 直接更新设备状态widget
if (m_deviceStatusWidget) {
m_deviceStatusWidget->updateCamera2Status(isConnected);
}
}
// 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);
// 设置设备状态widget中的相机数量
if (m_deviceStatusWidget) {
m_deviceStatusWidget->setCameraCount(cameraCount);
}
// 如果只有一个相机，更新状态消息
if (cameraCount < 2) {
// 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"));
}
@ -262,12 +310,11 @@ void MainWindow::OnCameraCountChanged(int cameraCount)
// 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);
// 直接更新设备状态widget
if (m_deviceStatusWidget) {
m_deviceStatusWidget->updateRobotStatus(isConnected);
}
}
// 工作状态更新槽函数
@ -279,6 +326,11 @@ void MainWindow::OnWorkStatusChanged(WorkStatus status)
void MainWindow::updateWorkStatusLabel(WorkStatus status)
{
// 如果状态变为Working，清空检测日志（表示开始新的检测）
if (status == WorkStatus::Working) {
clearDetectionLog();
}
// 获取状态对应的显示文本
QString statusText = QString::fromStdString(WorkStatusToString(status));
@ -305,9 +357,6 @@ void MainWindow::updateWorkStatusLabel(WorkStatus status)
break;
}
}
// 同时更新状态栏信息
updateStatusLog(statusText);
}
void MainWindow::updateDetectionResultDisplay(const DetectionResult& result)
@ -317,9 +366,6 @@ void MainWindow::updateDetectionResultDisplay(const DetectionResult& result)
// 更新检测结果到列表
addDetectionResult(result);
// 更新目标面板显示
// updateTargetPanels(result);
}
@ -372,6 +418,9 @@ void MainWindow::on_action_tool_debug_data_triggered()
return;
}
// 清空检测日志，开始新的检测
clearDetectionLog();
std::thread t([this, fileName]() {
updateStatusLog(tr("正在加载调试数据文件: %1").arg(fileName));
int result = m_presenter->LoadDebugDataAndDetect(fileName.toStdString());
@ -387,3 +436,34 @@ void MainWindow::on_action_tool_debug_data_triggered()
t.detach();
}
void MainWindow::updateDetectionLog(const QString& message)
{
// 在UI线程中更新detect_log控件（QListView）
if (m_logModel) {
// 添加时间戳（包含年月日）
QString timestamp = QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss");
QString logEntry = QString("[%1] %2").arg(timestamp).arg(message);
// 获取当前数据
QStringList logList = m_logModel->stringList();
// 添加新的日志条目
logList.append(logEntry);
// 更新模型
m_logModel->setStringList(logList);
// 自动滚动到最底部
QModelIndex lastIndex = m_logModel->index(logList.size() - 1);
ui->detect_log->scrollTo(lastIndex);
}
}
void MainWindow::clearDetectionLogUI()
{
// 在UI线程中清空检测日志
if (m_logModel) {
m_logModel->setStringList(QStringList());
}
}

24
GrabBagApp/mainwindow.h
View File

@ -8,8 +8,10 @@
#include <QListWidget>
#include <QListWidgetItem>
#include <QStandardItem>
#include <QStringListModel>
#include "dialogcamera.h"
#include "dialogconfig.h"
#include "devstatus.h"
#include "GrabBagPresenter.h"
QT_BEGIN_NAMESPACE
@ -25,6 +27,7 @@ public:
~MainWindow();
void updateStatusLog(const QString& message);
void clearDetectionLog();
void Init();
// 实现IYGrabBagStatus接口
@ -43,6 +46,12 @@ signals:
// 检测结果更新信号
void detectionResultUpdateRequested(const DetectionResult& result);
// 日志更新信号
void logUpdateRequested(const QString& message);
// 清空日志信号
void logClearRequested();
private slots:
// UI操作相关槽
void on_btn_camera_clicked();
@ -60,6 +69,12 @@ private slots:
// 检测结果更新槽函数
void updateDetectionResultDisplay(const DetectionResult& result);
// 日志更新槽函数
void updateDetectionLog(const QString& message);
// 清空日志槽函数
void clearDetectionLogUI();
void on_action_camera_1_triggered();
void on_action_camera_2_triggered();
@ -74,12 +89,15 @@ private:
// 业务逻辑处理类
GrabBagPresenter* m_presenter = nullptr;
// 日志模型
QStringListModel* m_logModel = nullptr;
// 设备状态显示widget的引用
devstatus* m_deviceStatusWidget = nullptr;
void displayImage(const QImage& image);
// 扩展版本的检测结果添加函数
void addDetectionResult(const DetectionResult& result);
// 设置状态圆点的私有成员函数
void setStatusDot(QLabel* label, bool isOnline);
};
#endif // MAINWINDOW_H

146
GrabBagApp/mainwindow.ui
View File

@ -20,20 +20,6 @@
<string notr="true">background-color:rgb(25, 26, 28)</string>
</property>
<widget class="QWidget" name="centralwidget">
<widget class="QListView" name="detect_result">
<property name="geometry">
<rect>
<x>1344</x>
<y>302</y>
<width>556</width>
<height>411</height>
</rect>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(37, 38, 42);
color: rgb(255, 255, 255);</string>
</property>
</widget>
<widget class="QGraphicsView" name="detect_image">
<property name="geometry">
<rect>
@ -89,109 +75,6 @@ color: rgb(255, 255, 255);</string>
</item>
</layout>
</widget>
<widget class="QWidget" name="layoutWidget">
<property name="geometry">
<rect>
<x>1370</x>
<y>90</y>
<width>501</width>
<height>91</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label_camera_1_status">
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>C1</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_camera_1_txt">
<property name="font">
<font>
<pointsize>12</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>相机一离线 </string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QLabel" name="label_camera_2_status">
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>C2</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_camera_2_txt">
<property name="font">
<font>
<pointsize>12</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>相机二离线 </string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="label_robot_status">
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>C1</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_robot_txt">
<property name="font">
<font>
<pointsize>12</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>机械臂在线 </string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QListView" name="detect_log">
<property name="geometry">
<rect>
@ -201,8 +84,17 @@ color: rgb(255, 255, 255);</string>
<height>304</height>
</rect>
</property>
<property name="font">
<font>
<pointsize>12</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(37, 38, 42);</string>
<string notr="true">background-color: rgb(37, 38, 42);
color: rgb(239, 241, 245);</string>
</property>
<property name="editTriggers">
<set>QAbstractItemView::EditTrigger::NoEditTriggers</set>
</property>
</widget>
<widget class="QWidget" name="layoutWidget">
@ -283,7 +175,7 @@ color: rgb(255, 255, 255);</string>
<x>194</x>
<y>21</y>
<width>251</width>
<height>29</height>
<height>32</height>
</rect>
</property>
<property name="font">
@ -319,6 +211,22 @@ color: rgb(255, 255, 255);</string>
<string>工作状态</string>
</property>
</widget>
<widget class="QListWidget" name="detect_result_list">
<property name="geometry">
<rect>
<x>1344</x>
<y>90</y>
<width>556</width>
<height>621</height>
</rect>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(37, 38, 42);</string>
</property>
<property name="modelColumn">
<number>0</number>
</property>
</widget>
</widget>
<widget class="QMenuBar" name="menubar">
<property name="geometry">

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4
GrabBagApp/resources.qrc
View File

@ -6,5 +6,9 @@
<file>resource/camera_config.png</file>
<file>resource/camera_level.png</file>
<file>resource/model.png</file>
<file>resource/camera_offline.png</file>
<file>resource/camera_online.png</file>
<file>resource/robot_offline.png</file>
<file>resource/robot_online.png</file>
</qresource>
</RCC>

50
GrabBagApp/resultitem.cpp Normal file
View File

@ -0,0 +1,50 @@
#include "resultitem.h"
#include "ui_resultitem.h"
ResultItem::ResultItem(QWidget *parent)
: QWidget(parent)
, ui(new Ui::ResultItem)
{
ui->setupUi(this);
// 强制应用样式表 - 这是关键！
this->setAttribute(Qt::WA_StyledBackground, true);
// 初始化时设置样式
setItemStyle();
// 设置输入框为只读
ui->result_x->setReadOnly(true);
ui->result_y->setReadOnly(true);
ui->result_z->setReadOnly(true);
ui->result_rz->setReadOnly(true);
}
ResultItem::~ResultItem()
{
delete ui;
}
void ResultItem::setResultData(int targetIndex, const GrabBagPosition& position)
{
// 设置目标编号
ui->result_id->setText(QString("目标：%1").arg(targetIndex));
// 设置数据到对应的LineEdit控件
ui->result_x->setText(QString("%1").arg(position.x, 0, 'f', 2));
ui->result_y->setText(QString("%1").arg(position.y, 0, 'f', 2));
ui->result_z->setText(QString("%1").arg(position.z, 0, 'f', 2));
ui->result_rz->setText(QString("%1").arg(position.yaw, 0, 'f', 2));
}
void ResultItem::setItemStyle()
{
// 只设置黄色边框作为格子间分隔线，不修改背景和QLineEdit样式
this->setStyleSheet(
"ResultItem { "
" border: 2px solid #191A1C; " // 只添加黄色边框作为格子间分隔线
" border-radius: 0px; " // 去掉圆角，让分隔线更清晰
"} "
);
}

29
GrabBagApp/resultitem.h Normal file
View File

@ -0,0 +1,29 @@
#ifndef RESULTITEM_H
#define RESULTITEM_H
#include <QWidget>
#include "IYGrabBagStatus.h"
namespace Ui {
class ResultItem;
}
class ResultItem : public QWidget
{
Q_OBJECT
public:
explicit ResultItem(QWidget *parent = nullptr);
~ResultItem();
// 设置检测结果数据
void setResultData(int targetIndex, const GrabBagPosition& position);
// 设置样式
void setItemStyle();
private:
Ui::ResultItem *ui;
};
#endif // RESULTITEM_H

178
GrabBagApp/resultitem.ui Normal file
View File

@ -0,0 +1,178 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>ResultItem</class>
<widget class="QWidget" name="ResultItem">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>272</width>
<height>200</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(37, 38, 42);
</string>
</property>
<widget class="QWidget" name="layoutWidget">
<property name="geometry">
<rect>
<x>50</x>
<y>50</y>
<width>181</width>
<height>131</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="label">
<property name="layoutDirection">
<enum>Qt::LayoutDirection::RightToLeft</enum>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(239, 241, 245);
background-color: rgb(37, 38, 42);</string>
</property>
<property name="text">
<string>坐标X：</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_2">
<property name="layoutDirection">
<enum>Qt::LayoutDirection::RightToLeft</enum>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(239, 241, 245);
background-color: rgb(37, 38, 42);</string>
</property>
<property name="text">
<string>坐标Y：</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_3">
<property name="layoutDirection">
<enum>Qt::LayoutDirection::RightToLeft</enum>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(239, 241, 245);
background-color: rgb(37, 38, 42);</string>
</property>
<property name="text">
<string>坐标Z：</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_4">
<property name="layoutDirection">
<enum>Qt::LayoutDirection::RightToLeft</enum>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(239, 241, 245);
background-color: rgb(37, 38, 42);</string>
</property>
<property name="text">
<string>旋转角RZ：</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QLineEdit" name="result_x">
<property name="styleSheet">
<string notr="true">background-color: rgb(59, 61, 71);
color: rgb(239, 241, 245);
border: 1px solid #3B3D47;
padding: 5px;
font-size: 12px;</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="result_y">
<property name="styleSheet">
<string notr="true">background-color: rgb(59, 61, 71);
color: rgb(239, 241, 245);
border: 1px solid #3B3D47;
padding: 5px;
font-size: 12px;</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="result_z">
<property name="styleSheet">
<string notr="true">background-color: rgb(59, 61, 71);
color: rgb(239, 241, 245);
border: 1px solid #3B3D47;
padding: 5px;
font-size: 12px;</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="result_rz">
<property name="styleSheet">
<string notr="true">background-color: rgb(59, 61, 71);
color: rgb(239, 241, 245);
border: 1px solid #3B3D47;
padding: 5px;
font-size: 12px;</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QLabel" name="result_id">
<property name="geometry">
<rect>
<x>52</x>
<y>17</y>
<width>63</width>
<height>30</height>
</rect>
</property>
<property name="layoutDirection">
<enum>Qt::LayoutDirection::LeftToRight</enum>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(239, 241, 245);
background-color: rgb(37, 38, 42);</string>
</property>
<property name="text">
<string>目标</string>
</property>
<property name="alignment">
<set>Qt::AlignmentFlag::AlignLeading|Qt::AlignmentFlag::AlignLeft|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</widget>
<resources/>
<connections/>
</ui>