549 lines
17 KiB
C++
549 lines
17 KiB
C++
#include "mainwindow.h"
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#include "ui_mainwindow.h"
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#include "resultitem.h"
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#include <QGraphicsScene>
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#include <QStandardItemModel>
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#include <QDebug>
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#include <QPainter>
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#include <QBrush>
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#include <QMessageBox>
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#include <QFileDialog>
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#include <QListWidgetItem>
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#include <QtMath>
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#include <QThread>
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#include <QDateTime>
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#include <QTextCursor>
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#include <QStringListModel>
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#include "VrLog.h"
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#include <QIcon>
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#include <QMetaType>
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#include <QLabel>
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#include <QVBoxLayout>
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#include "Version.h"
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#include "VrSimpleLog.h"
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MainWindow::MainWindow(QWidget *parent)
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: QMainWindow(parent)
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, ui(new Ui::MainWindow)
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{
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ui->setupUi(this);
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// 设置窗口图标
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this->setWindowIcon(QIcon(":/resource/logo.png"));
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// 设置状态栏字体
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QFont statusFont = statusBar()->font();
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statusFont.setPointSize(12);
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statusBar()->setFont(statusFont);
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// 设置状态栏颜色和padding
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statusBar()->setStyleSheet("QStatusBar { color: rgb(239, 241, 245); padding: 20px; }");
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// 在状态栏右侧添加版本信息（包含编译时间）
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// 使用VrSimpleLog.h中的宏定义构建编译时间
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QString versionWithBuildTime = QString("%1_%2%3%4%5%6%7")
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.arg(GetGrabBagFullVersion())
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.arg(YEAR)
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.arg(MONTH, 2, 10, QChar('0'))
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.arg(DAY, 2, 10, QChar('0'))
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.arg(HOUR, 2, 10, QChar('0'))
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.arg(MINUTE, 2, 10, QChar('0'))
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.arg(SECOND, 2, 10, QChar('0'));
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QLabel* buildLabel = new QLabel(versionWithBuildTime);
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buildLabel->setStyleSheet("color: rgb(239, 241, 245); font-size: 20px; margin-right: 16px;");
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statusBar()->addPermanentWidget(buildLabel);
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// 隐藏标题栏
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setWindowFlags(Qt::FramelessWindowHint);
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// 启动后自动最大化显示
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this->showMaximized();
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// 初始化时隐藏label_work
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ui->label_work->setVisible(false);
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// 初始化GraphicsScene
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QGraphicsScene* scene = new QGraphicsScene(this);
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ui->detect_image->setScene(scene);
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// 初始化日志模型
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m_logModel = new QStringListModel(this);
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ui->detect_log->setModel(m_logModel);
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// 原有的状态指示器已删除，状态显示统一在devstatus中处理
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// 注册自定义类型，使其能够在信号槽中跨线程传递
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qRegisterMetaType<DetectionResult>("DetectionResult");
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qRegisterMetaType<WorkStatus>("WorkStatus");
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qRegisterMetaType<GrabBagPosition>("GrabBagPosition");
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qRegisterMetaType<GrabBagPositionLayout>("GrabBagPositionLayout");
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// 连接工作状态更新信号槽
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connect(this, &MainWindow::workStatusUpdateRequested, this, &MainWindow::updateWorkStatusLabel);
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// 连接检测结果更新信号槽
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connect(this, &MainWindow::detectionResultUpdateRequested, this, &MainWindow::updateDetectionResultDisplay);
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// 连接日志更新信号槽
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connect(this, &MainWindow::logUpdateRequested, this, &MainWindow::updateDetectionLog);
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// 连接清空日志信号槽
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connect(this, &MainWindow::logClearRequested, this, &MainWindow::clearDetectionLogUI);
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updateStatusLog(tr("设备开始初始化..."));
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// 初始化模块
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Init();
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}
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MainWindow::~MainWindow()
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{
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// 释放业务逻辑处理类
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if (m_presenter) {
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delete m_presenter;
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m_presenter = nullptr;
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}
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delete ui;
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}
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void MainWindow::updateStatusLog(const QString& message)
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{
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// 更新状态栏
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// statusBar()->showMessage(message);
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// 通过信号槽机制更新detect_log控件
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emit logUpdateRequested(message);
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}
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void MainWindow::clearDetectionLog()
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{
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// 通过信号槽机制清空日志
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emit logClearRequested();
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}
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void MainWindow::Init()
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{
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// 创建业务逻辑处理类
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m_presenter = new GrabBagPresenter();
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// 设置状态回调接口
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m_presenter->SetStatusCallback(this);
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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
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// 将设备状态widget添加到frame_dev中
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QVBoxLayout* frameDevLayout = new QVBoxLayout(ui->frame_dev);
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frameDevLayout->setContentsMargins(0, 0, 0, 0);
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frameDevLayout->addWidget(m_deviceStatusWidget);
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// 设置列表视图模式
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ui->detect_result_list->setViewMode(QListView::IconMode);
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ui->detect_result_list->setResizeMode(QListView::Adjust);
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ui->detect_result_list->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
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ui->detect_result_list->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
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// 初始化期间禁用所有功能按钮
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setButtonsEnabled(false);
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// 在线程中执行初始化业务逻辑
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std::thread initThread([this]() {
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updateStatusLog(tr("正在初始化系统..."));
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int result = m_presenter->Init();
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if (result != 0) {
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updateStatusLog(tr("初始化失败，错误码：%1").arg(result));
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} else {
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updateStatusLog(tr("系统初始化完成"));
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}
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});
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// 分离线程，让其在后台运行
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initThread.detach();
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}
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void MainWindow::displayImage(const QImage& image)
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{
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if (image.isNull()) {
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updateStatusLog(tr("图片无效"));
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return;
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}
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QGraphicsScene* scene = ui->detect_image->scene();
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scene->clear();
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QPixmap pixmap = QPixmap::fromImage(image);
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scene->addPixmap(pixmap);
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ui->detect_image->fitInView(scene->sceneRect(), Qt::KeepAspectRatio);
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}
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// 添加扩展版本的检测结果函数
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void MainWindow::addDetectionResult(const DetectionResult& result)
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{
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// 清空之前的所有检测结果数据
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ui->detect_result_list->clear();
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// 设置为图标模式，实现网格布局（多列显示）
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ui->detect_result_list->setViewMode(QListView::IconMode);
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ui->detect_result_list->setResizeMode(QListView::Adjust);
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// 设置滚动条策略：强制隐藏所有滚动条
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ui->detect_result_list->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
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ui->detect_result_list->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
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// 计算gridWidth：考虑12px间距，确保两列布局
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int totalWidth = ui->detect_result_list->width();
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int totalHeight = ui->detect_result_list->height();
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int itemSpacing = 0;
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int gridWidth = (totalWidth - 20) / 2; //20是滚动条的宽度
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int gridHeight = totalHeight / 3 - 1;
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LOG_DEBUG("totalWidth: %d, totalHeight: %d, gridWidth: %d, gridHeight: %d", totalWidth, totalHeight, gridWidth, gridHeight);
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ui->detect_result_list->setGridSize(QSize(gridWidth, gridHeight)); // 设置每个格子的大小
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ui->detect_result_list->setSpacing(itemSpacing); // 设置item间距为12px
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ui->detect_result_list->setFlow(QListView::LeftToRight); // 从左到右排列
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ui->detect_result_list->setWrapping(true); // 允许换行
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auto layoutIter = result.positionLayout.begin();
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int targetIndex = 1;
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while(layoutIter != result.positionLayout.end())
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{
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auto positionIter = layoutIter->position.begin();
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while(positionIter != layoutIter->position.end())
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{
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// 创建自定义的ResultItem widget
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ResultItem* resultWidget = new ResultItem();
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// 设置widget的autoFillBackground属性，确保背景色生效
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resultWidget->setAutoFillBackground(true);
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// 设置检测结果数据，直接使用GrabBagPosition
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resultWidget->setResultData(targetIndex, *positionIter);
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// 创建QListWidgetItem
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QListWidgetItem* item = new QListWidgetItem();
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// 设置item背景为透明，让自定义widget的背景显示出来
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item->setBackground(QBrush(Qt::transparent));
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// 设置item的大小提示 - 应该与gridSize一致
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item->setSizeHint(QSize(gridWidth, gridHeight));
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// 将item添加到列表
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ui->detect_result_list->addItem(item);
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// 将自定义widget设置为item的显示内容
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ui->detect_result_list->setItemWidget(item, resultWidget);
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targetIndex++;
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positionIter++;
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}
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layoutIter++;
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}
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}
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// 状态更新槽函数
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void MainWindow::OnStatusUpdate(const std::string& statusMessage)
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{
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LOG_DEBUG("[UI Display] Status update: %s\n", statusMessage.c_str());
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updateStatusLog(QString::fromStdString(statusMessage));
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}
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void MainWindow::OnDetectionResult(const DetectionResult& result)
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{
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// 通过信号槽机制更新UI（确保在主线程中执行）
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emit detectionResultUpdateRequested(result);
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}
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void MainWindow::OnCamera1StatusChanged(bool isConnected)
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{
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// 直接更新设备状态widget
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->updateCamera1Status(isConnected);
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}
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}
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// 相机2状态更新槽函数
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void MainWindow::OnCamera2StatusChanged(bool isConnected)
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{
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// 直接更新设备状态widget
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->updateCamera2Status(isConnected);
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}
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}
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// 相机个数更新槽函数
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void MainWindow::OnCameraCountChanged(int cameraCount)
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{
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// 设置设备状态widget中的相机数量
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->setCameraCount(cameraCount);
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}
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// 如果只有一个相机，更新状态消息
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if (cameraCount < 2) {
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// 更新状态消息
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updateStatusLog(tr("系统使用单相机模式"));
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} else {
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// 更新状态消息
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updateStatusLog(tr("系统使用双相机模式"));
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}
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}
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// 机械臂状态更新槽函数
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void MainWindow::OnRobotConnectionChanged(bool isConnected)
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{
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// 直接更新设备状态widget
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->updateRobotStatus(isConnected);
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}
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}
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// 工作状态更新槽函数
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void MainWindow::OnWorkStatusChanged(WorkStatus status)
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{
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// 通过信号槽机制更新UI（确保在主线程中执行）
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emit workStatusUpdateRequested(status);
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}
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void MainWindow::updateWorkStatusLabel(WorkStatus status)
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{
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// 如果状态变为Working，清空检测日志（表示开始新的检测）
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if (status == WorkStatus::Working) {
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clearDetectionLog();
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}
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// 获取状态对应的显示文本
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QString statusText = QString::fromStdString(WorkStatusToString(status));
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// 在label_work中显示状态
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if (ui->label_work) {
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ui->label_work->setText(statusText);
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// 根据不同状态设置不同的样式和按钮启用状态
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switch (status) {
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case WorkStatus::Ready:
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ui->label_work->setStyleSheet("color: green;");
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setButtonsEnabled(true); // 就绪状态下启用所有按钮
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break;
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case WorkStatus::InitIng:
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ui->label_work->setStyleSheet("color: blue;");
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setButtonsEnabled(false); // 初始化期间禁用按钮
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break;
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case WorkStatus::Working:
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ui->label_work->setStyleSheet("color: blue;");
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setButtonsEnabled(false); // 工作期间禁用按钮
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break;
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case WorkStatus::Completed:
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ui->label_work->setStyleSheet("color: green; font-weight: bold;");
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setButtonsEnabled(true); // 完成后启用按钮
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break;
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case WorkStatus::Error:
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ui->label_work->setStyleSheet("color: red; font-weight: bold;");
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setButtonsEnabled(true); // 错误状态下仍可操作
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break;
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default:
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ui->label_work->setStyleSheet("");
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setButtonsEnabled(false); // 未知状态禁用按钮
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break;
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}
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}
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}
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void MainWindow::updateDetectionResultDisplay(const DetectionResult& result)
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{
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// 显示检测图像
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updateDetectionLog(tr("检测结果图像更新"));
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displayImage(result.image);
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// 更新检测结果到列表
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updateDetectionLog(tr("检测结果列表更新"));
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addDetectionResult(result);
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}
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void MainWindow::updateDetectionLog(const QString& message)
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{
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// 在UI线程中更新detect_log控件（QListView）
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if (!m_logModel) return ;
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// 添加时间戳（包含年月日）
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QString timestamp = QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss");
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QString logEntry = QString("[%1] %2").arg(timestamp).arg(message);
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// 获取当前数据
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QStringList logList = m_logModel->stringList();
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// 添加新的日志条目
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logList.append(logEntry);
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// 更新模型
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m_logModel->setStringList(logList);
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// 自动滚动到最底部
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QModelIndex lastIndex = m_logModel->index(logList.size() - 1);
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ui->detect_log->scrollTo(lastIndex);
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}
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void MainWindow::clearDetectionLogUI()
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{
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// 在UI线程中清空检测日志
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if (m_logModel) {
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m_logModel->setStringList(QStringList());
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}
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}
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void MainWindow::on_btn_start_clicked()
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{
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// 检查Presenter是否已初始化
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if (!m_presenter) {
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updateStatusLog(tr("系统未初始化，请等待初始化完成"));
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return;
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}
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// 清空检测日志，开始新的检测
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clearDetectionLog();
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// 使用Presenter启动检测
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m_presenter->StartDetection(1, false);
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}
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void MainWindow::on_btn_stop_clicked()
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{
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// 检查Presenter是否已初始化
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if (!m_presenter) {
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updateStatusLog(tr("系统未初始化，请等待初始化完成"));
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return;
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}
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m_presenter->StopDetection();
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}
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void MainWindow::on_btn_camera_clicked()
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{
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// 检查Presenter是否已初始化
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if (!m_presenter) {
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updateStatusLog(tr("系统未初始化，请等待初始化完成"));
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return;
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}
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// 使用新的相机列表获取功能
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std::vector<IVrEyeDevice*> availableCameras;
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std::vector<QString> cameraNames;
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// 获取相机列表和名称
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m_presenter->GetCameraListWithNames(availableCameras, cameraNames);
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// 如果对话框不存在，创建新的DialogCamera
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if (nullptr == ui_dialogCamera) {
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ui_dialogCamera = new DialogCamera(availableCameras, cameraNames, this);
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}
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ui_dialogCamera->show();
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}
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void MainWindow::on_btn_algo_config_clicked()
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{
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// 检查Presenter是否已初始化
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if (!m_presenter) {
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updateStatusLog(tr("系统未初始化，请等待初始化完成"));
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return;
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}
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// 获取配置对象
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IVrConfig* config = m_presenter->GetConfig();
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if (!config) {
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// 设置白色字体的警告消息框
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QMessageBox msgBox;
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msgBox.setWindowTitle("错误");
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msgBox.setText("配置模块未正确初始化！");
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msgBox.setIcon(QMessageBox::Warning);
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msgBox.setStyleSheet("QMessageBox { color: white; }");
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msgBox.exec();
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return;
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}
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if(nullptr == ui_dialogConfig){
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ui_dialogConfig = new DialogConfig(config, this);
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}
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ui_dialogConfig->show();
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}
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void MainWindow::on_btn_camera_levelling_clicked()
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{
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if(nullptr == ui_dialogCameraLevel){
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ui_dialogCameraLevel = new DialogCameraLevel(this);
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}
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ui_dialogCameraLevel->show();
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}
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void MainWindow::on_btn_hide_clicked()
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{
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// 最小化窗口
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this->showMinimized();
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}
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||
|
||
void MainWindow::on_btn_close_clicked()
|
||
{
|
||
// 关闭应用程序
|
||
this->close();
|
||
}
|
||
|
||
void MainWindow::on_btn_test_clicked()
|
||
{
|
||
// 打开文件选择对话框
|
||
QString fileName = QFileDialog::getOpenFileName(
|
||
this,
|
||
tr("选择调试数据文件"),
|
||
QString(),
|
||
tr("激光数据文件 (*.txt);;所有文件 (*.*)")
|
||
);
|
||
|
||
if (fileName.isEmpty()) {
|
||
// 用户取消了文件选择
|
||
return;
|
||
}
|
||
|
||
// 检查Presenter是否已初始化
|
||
if (!m_presenter) {
|
||
QMessageBox::warning(this, tr("错误"), tr("系统未正确初始化！"));
|
||
return;
|
||
}
|
||
|
||
// 清空检测日志，开始新的检测
|
||
clearDetectionLog();
|
||
|
||
std::thread t([this, fileName]() {
|
||
int result = m_presenter->LoadDebugDataAndDetect(fileName.toStdString());
|
||
|
||
if (result == 0) {
|
||
updateStatusLog(tr("调试数据加载和检测成功"));
|
||
} else {
|
||
QString errorMsg = tr("调试数据加载失败，错误码: %1").arg(result);
|
||
updateStatusLog(errorMsg);
|
||
QMessageBox::warning(this, tr("错误"), errorMsg);
|
||
}
|
||
});
|
||
t.detach();
|
||
}
|
||
|
||
// 设置按钮启用/禁用状态
|
||
void MainWindow::setButtonsEnabled(bool enabled)
|
||
{
|
||
// 功能按钮
|
||
if (ui->btn_start) ui->btn_start->setEnabled(enabled);
|
||
if (ui->btn_stop) ui->btn_stop->setEnabled(enabled);
|
||
if (ui->btn_camera) ui->btn_camera->setEnabled(enabled);
|
||
if (ui->btn_algo_config) ui->btn_algo_config->setEnabled(enabled);
|
||
if (ui->btn_camera_levelling) ui->btn_camera_levelling->setEnabled(enabled);
|
||
if (ui->btn_test) ui->btn_test->setEnabled(enabled);
|
||
|
||
// 窗口控制按钮（最小化和关闭）始终可用
|
||
// if (ui->btn_hide) ui->btn_hide->setEnabled(true);
|
||
// if (ui->btn_close) ui->btn_close->setEnabled(true);
|
||
}
|
||
|