131 lines
3.4 KiB
C++
131 lines
3.4 KiB
C++
#ifndef NETWORKCONFIGWIDGET_H
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#define NETWORKCONFIGWIDGET_H
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#include <QComboBox>
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#include <QGroupBox>
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#include <QLabel>
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#include <QLineEdit>
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#include <QWidget>
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namespace Ui {
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class NetworkConfigWidget;
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}
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struct NetworkConfigData
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{
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int eulerOrder = 11;
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int outputEulerOrder = 10; // 输出欧拉角解码约定（仅影响旋转矩阵 → 欧拉角的展示/下发，不影响坐标转换）
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int poseOutputOrder = 0; // 机器人姿态输入/输出顺序
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int dirVectorInvert = 0; // 兼容旧接口，界面不再提供配置
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int byteOrder = 0;
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int longAxisDir = 0; // 兼容旧接口，界面不再提供配置
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QString plcServerIp = "192.168.0.88";
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int plcServerPort = 502;
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int addrPhotoRequest = 1001;
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int addrDataComplete = 1003;
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int addrCoordDataStart = 2002;
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int tcpServerPort = 5020;
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};
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enum NetworkEulerOrder
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{
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EULER_ORDER_XYZ = 10,
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EULER_ORDER_ZYX = 11,
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EULER_ORDER_ZXY = 12,
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EULER_ORDER_YXZ = 13,
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EULER_ORDER_YZX = 14,
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EULER_ORDER_XZY = 15
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};
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enum NetworkPoseOutputOrder
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{
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NET_POSE_OUTPUT_RX_RY_RZ = 0,
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NET_POSE_OUTPUT_RX_RZ_RY = 1,
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NET_POSE_OUTPUT_RY_RX_RZ = 2,
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NET_POSE_OUTPUT_RY_RZ_RX = 3,
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NET_POSE_OUTPUT_RZ_RX_RY = 4,
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NET_POSE_OUTPUT_RZ_RY_RX = 5
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};
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enum NetworkDirVectorInvert
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{
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NET_DIR_INVERT_NONE = 0,
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NET_DIR_INVERT_XY = 1,
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NET_DIR_INVERT_XZ = 2,
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NET_DIR_INVERT_YZ = 3
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};
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enum NetworkByteOrder
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{
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NET_BYTE_ORDER_BIG = 0,
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NET_BYTE_ORDER_LITTLE = 1
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};
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class NetworkConfigWidget : public QWidget
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{
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Q_OBJECT
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public:
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explicit NetworkConfigWidget(bool showPlcConfig = true,
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bool showTcpConfig = false,
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QWidget* parent = nullptr);
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~NetworkConfigWidget();
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void setConfig(const NetworkConfigData& config);
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NetworkConfigData getConfig() const;
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int eulerOrder() const;
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int outputEulerOrder() const;
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int poseOutputOrder() const;
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int dirVectorInvert() const;
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int byteOrder() const;
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int longAxisDir() const;
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/**
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* @brief 隐藏由工具参数页负责的参数（欧拉角顺序 / 输出欧拉角 / 姿态输入输出顺序）
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*
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* 方向向量调整与长边对应轴已不再提供界面配置，接口保留默认值以兼容旧调用。
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*/
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void setExtrinsicControlsVisible(bool visible);
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/**
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* @brief 单独显示/隐藏姿态输入输出顺序。
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*/
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void setPoseOutputOrderVisible(bool visible);
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private:
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void setupUI(bool showPlcConfig, bool showTcpConfig);
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void initEulerOrderComboBox();
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void initOutputEulerOrderComboBox();
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void initPoseOutputOrderComboBox();
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void initByteOrderComboBox();
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private:
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Ui::NetworkConfigWidget* ui = nullptr;
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QComboBox* m_comboEulerOrder = nullptr;
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QComboBox* m_comboOutputEulerOrder = nullptr;
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QComboBox* m_comboPoseOutputOrder = nullptr;
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QComboBox* m_comboByteOrder = nullptr;
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QLabel* m_labelEulerOrder = nullptr;
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QLabel* m_labelOutputEulerOrder = nullptr;
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QLabel* m_labelPoseOutputOrder = nullptr;
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NetworkConfigData m_configCache;
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QGroupBox* m_groupPlc = nullptr;
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QLineEdit* m_editPlcIp = nullptr;
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QLineEdit* m_editPlcPort = nullptr;
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QLineEdit* m_editAddrPhotoRequest = nullptr;
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QLineEdit* m_editAddrDataComplete = nullptr;
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QLineEdit* m_editAddrCoordDataStart = nullptr;
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QGroupBox* m_groupTcp = nullptr;
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QLineEdit* m_editTcpPort = nullptr;
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};
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#endif // NETWORKCONFIGWIDGET_H
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