390 lines
11 KiB
C++
390 lines
11 KiB
C++
#include "mainwindow.h"
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#include "ui_mainwindow.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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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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// 启动后自动全屏显示
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this->showFullScreen();
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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ListView的Model
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QStandardItemModel* model = new QStandardItemModel(this);
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ui->detect_result->setModel(model);
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// 设置label前圆点（在线/离线）
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setStatusDot(ui->label_camera_1_status, false); // 在线绿色
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setStatusDot(ui->label_camera_2_status, false); // 在线绿色
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setStatusDot(ui->label_robot_status, false); // 在线绿色
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// 连接菜单信号
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// connect(ui->menu_camera, &QMenu::aboutToShow, this, &MainWindow::on_menu_camera_triggered);
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// connect(ui->menu_config, &QMenu::aboutToShow, this, &MainWindow::on_menu_config_triggered);
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// connect(ui->menu_camera_adjust, &QMenu::aboutToShow, this, &MainWindow::on_menu_camera_adjust_triggered);
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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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updateStatusLog(tr("就绪"));
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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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statusBar()->showMessage(message);
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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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// 初始化业务逻辑
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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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}
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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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auto layoutIter = result.positionLayout.begin();
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while(layoutIter != result.positionLayout.end())
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{
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QString posStr = QString("\n第%1层\n").arg(layoutIter->layerIndex);
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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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posStr += QString("坐标: X=%1\n坐标: Y=%2\n坐标: Z=%3\n旋转: RZ=%4\n")
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.arg(positionIter->x, 0, 'f', 2)
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.arg(positionIter->y, 0, 'f', 2)
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.arg(positionIter->z, 0, 'f', 2)
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.arg(positionIter->yaw, 0, 'f', 2);
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positionIter++;
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}
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layoutIter++;
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QStandardItemModel* model = qobject_cast<QStandardItemModel*>(ui->detect_result->model());
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if (model) {
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QStandardItem* item = new QStandardItem(posStr);
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model->appendRow(item);
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}
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}
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}
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// setStatusDot实现移到MainWindow类作用域内
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void MainWindow::setStatusDot(QLabel* label, bool isOnline) {
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QPixmap dot(18, 18);
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dot.fill(Qt::transparent);
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QPainter painter(&dot);
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painter.setRenderHint(QPainter::Antialiasing);
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QColor color = isOnline ? QColor(140, 180, 60) : QColor(220, 60, 60); // 绿色或红色
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painter.setBrush(QBrush(color));
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painter.setPen(Qt::NoPen);
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painter.drawEllipse(0, 0, 18, 18);
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painter.end();
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label->setPixmap(dot);
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label->setScaledContents(true);
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label->setFixedSize(18, 18);
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}
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void MainWindow::on_btn_camera_clicked()
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{
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// if(nullptr == ui_dialogCamera){
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// ui_dialogCamera = new DialogCamera;
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// }
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// ui_dialogCamera->show();
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}
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void MainWindow::on_btn_config_clicked()
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{
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if(nullptr == ui_dialogConfig){
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ui_dialogConfig = new DialogConfig;
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}
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ui_dialogConfig->show();
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}
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void MainWindow::on_btn_flow_clicked()
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{
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// 机械臂连接/断开
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static bool isConnected = false;
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isConnected = !isConnected;
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}
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void MainWindow::on_btn_start_clicked()
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{
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// 使用Presenter启动检测
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if (m_presenter) {
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m_presenter->StartDetection();
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}
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}
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void MainWindow::on_btn_stop_clicked()
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{
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if (m_presenter) {
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m_presenter->StopDetection();
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}
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}
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//void MainWindow::on_menu_camera_triggered()
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//{
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// qDebug() << __func__ ;
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//}
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//void MainWindow::on_menu_config_triggered()
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//{
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// qDebug() << __func__ ;
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// if(nullptr == ui_dialogConfig){
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// ui_dialogConfig = new DialogConfig(this);
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// }
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// ui_dialogConfig->show();
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//}
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void MainWindow::on_menu_camera_adjust_triggered()
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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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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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// 更新相机1状态指示灯
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setStatusDot(ui->label_camera_1_status, isConnected);
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// 更新状态消息
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QString statusMsg = isConnected ? tr("相机一已连接") : tr("相机一已断开");
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ui->label_camera_1_txt->setText(statusMsg);
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updateStatusLog(statusMsg);
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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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// 更新相机2状态指示灯
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setStatusDot(ui->label_camera_2_status, isConnected);
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// 更新状态消息
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QString statusMsg = isConnected ? tr("相机二已连接") : tr("相机二已断开");
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ui->label_camera_2_txt->setText(statusMsg);
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updateStatusLog(statusMsg);
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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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// 如果只有一个相机，隐藏相机2相关UI元素
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if (cameraCount < 2) {
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// 隐藏相机2状态标签和图标
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ui->label_camera_2_txt->setVisible(false);
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ui->label_camera_2_status->setVisible(false);
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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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// 显示相机2状态标签和图标
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ui->label_camera_2_txt->setVisible(true);
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ui->label_camera_2_status->setVisible(true);
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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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// 更新机械臂状态指示灯
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setStatusDot(ui->label_robot_status, isConnected);
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// 更新状态消息
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QString statusMsg = isConnected ? tr("机械臂已连接") : tr("机械臂已断开");
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updateStatusLog(statusMsg);
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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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// 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
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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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break;
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case WorkStatus::Working:
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ui->label_work->setStyleSheet("color: blue;");
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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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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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break;
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default:
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ui->label_work->setStyleSheet("");
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break;
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}
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}
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// 同时更新状态栏信息
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updateStatusLog(statusText);
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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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displayImage(result.image);
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// 更新检测结果到列表
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addDetectionResult(result);
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// 更新目标面板显示
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// updateTargetPanels(result);
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}
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void MainWindow::on_action_camera_1_triggered()
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{
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IVrEyeDevice* pDevice = m_presenter->GetEyeDevice(0);
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if(nullptr == pDevice){
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QMessageBox::warning(this, "设备错误", "相机设备未正确初始化！");
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return;
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}
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if(nullptr == ui_dialogCamera){
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ui_dialogCamera = new DialogCamera(pDevice, this);
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}
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ui_dialogCamera->show();
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}
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void MainWindow::on_action_camera_2_triggered()
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{
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IVrEyeDevice* pDevice = m_presenter->GetEyeDevice(1);
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if(nullptr == pDevice){
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QMessageBox::warning(this, "设备错误", "相机设备未正确初始化！");
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return;
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}
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if(nullptr == ui_dialogCamera){
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ui_dialogCamera = new DialogCamera(pDevice, this);
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}
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ui_dialogCamera->show();
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}
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void MainWindow::on_action_tool_debug_data_triggered()
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{
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// 打开文件选择对话框
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QString fileName = QFileDialog::getOpenFileName(
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this,
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tr("选择调试数据文件"),
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QString(),
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tr("激光数据文件 (*.txt);;所有文件 (*.*)")
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);
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if (fileName.isEmpty()) {
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// 用户取消了文件选择
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return;
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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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QMessageBox::warning(this, tr("错误"), tr("系统未正确初始化！"));
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return;
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}
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std::thread t([this, fileName]() {
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updateStatusLog(tr("正在加载调试数据文件: %1").arg(fileName));
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int result = m_presenter->LoadDebugDataAndDetect(fileName.toStdString());
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if (result == 0) {
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updateStatusLog(tr("调试数据加载和检测成功"));
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} else {
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QString errorMsg = tr("调试数据加载失败，错误码: %1").arg(result);
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updateStatusLog(errorMsg);
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QMessageBox::warning(this, tr("错误"), errorMsg);
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}
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});
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t.detach();
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}
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