469 lines
17 KiB
C++
469 lines
17 KiB
C++
#include "dialogdetectionconfig.h"
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#include "ui_dialogdetectionconfig.h"
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#include <QComboBox>
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#include <QDoubleValidator>
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#include <QIntValidator>
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#include <QLineEdit>
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#include <QMessageBox>
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#include <QPushButton>
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#include <QVector>
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#include <algorithm>
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#include <cmath>
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#include <cstring>
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#include "HandEyeCalibWidget.h"
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#include "ToolExtrinsicWidget.h"
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#include "PathManager.h"
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#include "DiscHolePosePresenter.h"
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#include "StyledMessageBox.h"
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namespace {
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bool IsIdentityMatrix(const double matrix[16])
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{
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for (int i = 0; i < 16; ++i) {
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const double expected = (i / 4 == i % 4) ? 1.0 : 0.0;
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if (std::fabs(matrix[i] - expected) > 1e-9) {
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return false;
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}
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}
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return true;
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}
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} // namespace
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DialogDetectionConfig::DialogDetectionConfig(QWidget *parent)
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: QDialog(parent)
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, ui(new Ui::DialogDetectionConfig)
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{
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ui->setupUi(this);
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setWindowTitle(QStringLiteral("砂轮盘孔定位 - 检测对象配置"));
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initNumericEditors();
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initHandEyeCalibTab();
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initToolParamsTab();
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initNetworkConfigControls();
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// 检测对象 ComboBox 选项（DiscHolePose: 砂轮盘孔 / 砂轮盘架子）
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ui->comboType->blockSignals(true);
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ui->comboType->clear();
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ui->comboType->addItem(detectionTypeLabel(DETECTION_TYPE_DISC_HOLE), static_cast<int>(DETECTION_TYPE_DISC_HOLE));
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ui->comboType->addItem(detectionTypeLabel(DETECTION_TYPE_DISC_RACK), static_cast<int>(DETECTION_TYPE_DISC_RACK));
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ui->comboType->blockSignals(false);
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connect(ui->comboCamera, QOverload<int>::of(&QComboBox::currentIndexChanged),
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this, &DialogDetectionConfig::onSelectionChanged);
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connect(ui->comboType, QOverload<int>::of(&QComboBox::currentIndexChanged),
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this, &DialogDetectionConfig::onSelectionChanged);
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connect(ui->btnOk, &QPushButton::clicked, this, &DialogDetectionConfig::onOkClicked);
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connect(ui->btnCancel, &QPushButton::clicked, this, &DialogDetectionConfig::onCancelClicked);
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connect(ui->btnApply, &QPushButton::clicked, this, &DialogDetectionConfig::onApplyClicked);
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connect(ui->btnReset, &QPushButton::clicked, this, &DialogDetectionConfig::onResetCurrentClicked);
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}
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DialogDetectionConfig::~DialogDetectionConfig()
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{
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delete ui;
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}
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void DialogDetectionConfig::SetPresenter(DiscHolePosePresenter* presenter)
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{
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m_presenter = presenter;
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loadFromConfig();
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loadNetworkConfig();
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}
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void DialogDetectionConfig::initNumericEditors()
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{
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auto setupDouble = [](QLineEdit* edit, double min, double max, int decimals) {
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auto* validator = new QDoubleValidator(min, max, decimals, edit);
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validator->setNotation(QDoubleValidator::StandardNotation);
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edit->setValidator(validator);
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};
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// DiscHolePose 仅使用角点检测参数（6 个）
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setupDouble(ui->spinCornerTh, 0.0, 180.0, 6);
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setupDouble(ui->spinScale, 0.0, 200.0, 6);
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setupDouble(ui->spinMinEndingGap, 0.0, 100.0, 6);
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setupDouble(ui->spinMinEndingGapZ, 0.0, 100.0, 6);
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setupDouble(ui->spinJumpCornerTh1, 0.0, 100.0, 6);
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setupDouble(ui->spinJumpCornerTh2, 0.0, 180.0, 6);
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}
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void DialogDetectionConfig::initHandEyeCalibTab()
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{
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if (!ui->verticalLayout_handEyeCalibHost || m_handEyeCalibWidget) {
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return;
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}
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m_handEyeCalibWidget = new HandEyeCalibWidget(this);
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m_handEyeCalibWidget->setMatrixEditable(true);
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m_handEyeCalibWidget->setExtrinsicControlsVisible(false);
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m_handEyeCalibWidget->setTargetOffsetVisible(false);
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m_handEyeCalibWidget->setDefaultFilePath(PathManager::GetInstance().GetAppConfigDirectory());
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ui->verticalLayout_handEyeCalibHost->addWidget(m_handEyeCalibWidget);
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}
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void DialogDetectionConfig::initToolParamsTab()
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{
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if (!ui->verticalLayout_toolParamsHost || m_toolParamsWidget) {
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return;
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}
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m_toolParamsWidget = new ToolExtrinsicWidget(this);
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m_toolParamsWidget->setTargetOffsetVisible(true);
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ui->verticalLayout_toolParamsHost->addWidget(m_toolParamsWidget);
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}
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void DialogDetectionConfig::initNetworkConfigControls()
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{
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ui->comboPoseOutputOrder->clear();
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ui->comboPoseOutputOrder->addItem(QStringLiteral("RX-RY-RZ"), 0);
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ui->comboPoseOutputOrder->addItem(QStringLiteral("RX-RZ-RY"), 1);
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ui->comboPoseOutputOrder->addItem(QStringLiteral("RY-RX-RZ"), 2);
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ui->comboPoseOutputOrder->addItem(QStringLiteral("RY-RZ-RX"), 3);
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ui->comboPoseOutputOrder->addItem(QStringLiteral("RZ-RX-RY"), 4);
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ui->comboPoseOutputOrder->addItem(QStringLiteral("RZ-RY-RX"), 5);
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ui->comboByteOrder->clear();
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ui->comboByteOrder->addItem(QStringLiteral("大端序 (ABCD)"), 0);
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ui->comboByteOrder->addItem(QStringLiteral("小端序 (DCBA)"), 1);
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ui->editTcpPort->setValidator(new QIntValidator(1, 65535, ui->editTcpPort));
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}
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void DialogDetectionConfig::loadNetworkConfig()
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{
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if (!m_presenter || !m_presenter->GetConfigManager()) {
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return;
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}
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const ConfigResult configResult = m_presenter->GetConfigManager()->GetConfigResult();
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int idx = ui->comboPoseOutputOrder->findData(configResult.poseOutputOrder);
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if (idx >= 0) {
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ui->comboPoseOutputOrder->setCurrentIndex(idx);
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}
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idx = ui->comboByteOrder->findData(configResult.byteOrder);
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if (idx >= 0) {
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ui->comboByteOrder->setCurrentIndex(idx);
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}
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ui->editTcpPort->setText(QString::number(configResult.tcpPort));
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}
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void DialogDetectionConfig::rebuildCameraSelector()
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{
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if (!ui->comboCamera) return;
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ui->comboCamera->blockSignals(true);
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ui->comboCamera->clear();
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for (int camIdx = 1; camIdx <= m_cameraCount; ++camIdx) {
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QString name = QStringLiteral("相机 %1").arg(camIdx);
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if (m_presenter && m_presenter->GetConfigManager()) {
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const auto& cameras = m_presenter->GetConfigManager()->GetConfigResult().cameraList;
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const int arrayIndex = camIdx - 1;
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if (arrayIndex >= 0 && arrayIndex < static_cast<int>(cameras.size())) {
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name = QString::fromStdString(cameras[arrayIndex].name);
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}
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}
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ui->comboCamera->addItem(name, camIdx);
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}
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ui->comboCamera->blockSignals(false);
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}
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void DialogDetectionConfig::loadFromConfig()
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{
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if (!m_presenter || !m_presenter->GetConfigManager()) {
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return;
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}
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const ConfigResult configResult = m_presenter->GetConfigManager()->GetConfigResult();
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m_cameraCount = std::max(1, static_cast<int>(configResult.cameraList.size()));
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// 把当前 ConfigResult 中所有 (相机, 对象) set 抓到 m_workingSets，
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// 缺失的槽位用默认值兜底补齐。
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m_workingSets.clear();
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const DetectionType allTypes[2] = { DETECTION_TYPE_DISC_HOLE, DETECTION_TYPE_DISC_RACK };
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for (int camIdx = 1; camIdx <= m_cameraCount; ++camIdx) {
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for (DetectionType t : allTypes) {
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WorkingSet ws;
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ws.cameraIndex = camIdx;
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ws.detectionType = t;
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ws.handEyeMatrix.cameraIndex = camIdx;
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if (const auto* item = configResult.FindDetectionConfig(camIdx, t)) {
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ws.handEyeMatrix = item->handEyeMatrix;
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ws.handEyeMatrix.cameraIndex = camIdx;
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ws.algorithmParams = item->algorithmParams;
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}
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m_workingSets.push_back(ws);
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}
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}
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// 把 HandEyeCalibWidget 配置成「单条目」模式：只展示当前选中那一份。
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QVector<HandEyeCalibCameraInfo> singleCam;
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HandEyeCalibCameraInfo info;
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info.cameraIndex = 1;
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info.displayName = QStringLiteral("当前");
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singleCam.append(info);
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m_handEyeCalibWidget->setCameraList(singleCam);
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rebuildCameraSelector();
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// 默认选中 (相机 1, 砂轮盘孔)
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ui->comboCamera->setCurrentIndex(0);
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ui->comboType->setCurrentIndex(0);
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m_currentLoadedIndex = -1;
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loadWorkingSetToEditors(currentWorkingIndex());
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}
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int DialogDetectionConfig::findWorkingIndex(int cameraIndex, DetectionType type) const
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{
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for (size_t i = 0; i < m_workingSets.size(); ++i) {
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if (m_workingSets[i].cameraIndex == cameraIndex
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&& m_workingSets[i].detectionType == type) {
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return static_cast<int>(i);
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}
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}
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return -1;
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}
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int DialogDetectionConfig::currentWorkingIndex() const
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{
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if (!ui || !ui->comboCamera || !ui->comboType) return -1;
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const int camIdx = ui->comboCamera->currentData().toInt();
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const auto type = static_cast<DetectionType>(ui->comboType->currentData().toInt());
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return findWorkingIndex(camIdx, type);
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}
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void DialogDetectionConfig::loadWorkingSetToEditors(int workingIndex)
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{
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if (workingIndex < 0 || workingIndex >= static_cast<int>(m_workingSets.size())) {
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return;
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}
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const auto& ws = m_workingSets[workingIndex];
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// 手眼控件单条目模式：始终用虚拟 cameraIndex=1
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m_handEyeCalibWidget->setCalibData(1, ws.handEyeMatrix.matrix, !IsIdentityMatrix(ws.handEyeMatrix.matrix));
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// 工具参数
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if (m_toolParamsWidget) {
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m_toolParamsWidget->setData(
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ws.handEyeMatrix.eulerOrder,
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ws.handEyeMatrix.rotX, ws.handEyeMatrix.rotY, ws.handEyeMatrix.rotZ,
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ws.handEyeMatrix.offsetX, ws.handEyeMatrix.offsetY, ws.handEyeMatrix.offsetZ);
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}
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// DiscHolePose 仅加载角点检测参数
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const auto& corner = ws.algorithmParams.cornerParam;
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setDoubleEditorText(ui->spinCornerTh, corner.cornerTh);
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setDoubleEditorText(ui->spinScale, corner.scale);
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setDoubleEditorText(ui->spinMinEndingGap, corner.minEndingGap);
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setDoubleEditorText(ui->spinMinEndingGapZ, corner.minEndingGap_z);
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setDoubleEditorText(ui->spinJumpCornerTh1, corner.jumpCornerTh_1);
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setDoubleEditorText(ui->spinJumpCornerTh2, corner.jumpCornerTh_2);
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m_currentLoadedIndex = workingIndex;
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}
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bool DialogDetectionConfig::commitCurrentEditorsToWorkingSet(QString* errMsg)
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{
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if (m_currentLoadedIndex < 0 || m_currentLoadedIndex >= static_cast<int>(m_workingSets.size())) {
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return true;
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}
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auto& ws = m_workingSets[m_currentLoadedIndex];
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// 手眼控件（矩阵，虚拟 cameraIndex=1）
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if (m_handEyeCalibWidget) {
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double matrix[16];
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bool isCalibrated = false;
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if (m_handEyeCalibWidget->getCalibData(1, matrix, isCalibrated)) {
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std::memcpy(ws.handEyeMatrix.matrix, matrix, sizeof(matrix));
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}
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}
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// 工具参数
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if (m_toolParamsWidget) {
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m_toolParamsWidget->getData(
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ws.handEyeMatrix.eulerOrder,
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ws.handEyeMatrix.rotX, ws.handEyeMatrix.rotY, ws.handEyeMatrix.rotZ,
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ws.handEyeMatrix.offsetX, ws.handEyeMatrix.offsetY, ws.handEyeMatrix.offsetZ);
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}
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ws.handEyeMatrix.cameraIndex = ws.cameraIndex;
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auto fail = [&](const QString& m) {
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if (errMsg) *errMsg = m;
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return false;
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};
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auto& corner = ws.algorithmParams.cornerParam;
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// DiscHolePose 仅读取角点检测参数
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if (!tryGetDouble(ui->spinCornerTh, QStringLiteral("拐角阈值"), corner.cornerTh)) return fail(QStringLiteral("拐角阈值"));
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if (!tryGetDouble(ui->spinScale, QStringLiteral("窗口比例因子"), corner.scale)) return fail(QStringLiteral("窗口比例因子"));
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if (!tryGetDouble(ui->spinMinEndingGap, QStringLiteral("Y方向最小结束间隙"), corner.minEndingGap)) return fail(QStringLiteral("Y方向最小结束间隙"));
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if (!tryGetDouble(ui->spinMinEndingGapZ, QStringLiteral("Z方向最小结束间隙"), corner.minEndingGap_z)) return fail(QStringLiteral("Z方向最小结束间隙"));
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if (!tryGetDouble(ui->spinJumpCornerTh1, QStringLiteral("跳变拐角阈值1"), corner.jumpCornerTh_1)) return fail(QStringLiteral("跳变拐角阈值1"));
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if (!tryGetDouble(ui->spinJumpCornerTh2, QStringLiteral("跳变拐角阈值2"), corner.jumpCornerTh_2)) return fail(QStringLiteral("跳变拐角阈值2"));
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return true;
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}
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bool DialogDetectionConfig::saveAllWorkingSetsToConfig()
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{
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if (!m_presenter || !m_presenter->GetConfigManager()) {
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StyledMessageBox::warning(this, QStringLiteral("失败"),
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QStringLiteral("ConfigManager 未初始化。"));
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return false;
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}
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QString err;
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if (!commitCurrentEditorsToWorkingSet(&err)) {
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// tryGetDouble/tryGetInt 内部已经弹了具体错误框；这里不再重复
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return false;
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}
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SystemConfig systemConfig = m_presenter->GetConfigManager()->GetConfig();
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// 用 m_workingSets 全量覆盖 detectionConfigList
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systemConfig.configResult.detectionConfigList.clear();
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for (const auto& ws : m_workingSets) {
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VrDetectionConfigSet item;
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item.cameraIndex = ws.cameraIndex;
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item.detectionType = ws.detectionType;
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item.handEyeMatrix = ws.handEyeMatrix;
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item.handEyeMatrix.cameraIndex = ws.cameraIndex;
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item.algorithmParams = ws.algorithmParams;
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systemConfig.configResult.detectionConfigList.push_back(item);
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}
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bool ok = false;
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const int tcpPort = ui->editTcpPort->text().trimmed().toInt(&ok);
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if (!ok || tcpPort <= 0 || tcpPort > 65535) {
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StyledMessageBox::warning(this, QStringLiteral("错误"),
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QStringLiteral("TCP端口必须在 1 到 65535 之间。"));
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ui->editTcpPort->setFocus();
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ui->editTcpPort->selectAll();
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return false;
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}
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systemConfig.configResult.tcpPort = static_cast<uint16_t>(tcpPort);
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systemConfig.configResult.poseOutputOrder = ui->comboPoseOutputOrder->currentData().toInt();
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systemConfig.configResult.byteOrder = ui->comboByteOrder->currentData().toInt();
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if (!m_presenter->GetConfigManager()->UpdateFullConfig(systemConfig)) {
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StyledMessageBox::warning(this, QStringLiteral("失败"),
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QStringLiteral("更新配置缓存失败。"));
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return false;
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}
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const QString configPath = PathManager::GetInstance().GetConfigFilePath();
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if (!m_presenter->GetConfigManager()->SaveConfigToFile(configPath.toStdString())) {
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StyledMessageBox::warning(this, QStringLiteral("失败"),
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QStringLiteral("保存配置文件失败。"));
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return false;
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}
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m_presenter->OnConfigChanged(systemConfig.configResult);
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return true;
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}
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// —— 槽函数 ——
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void DialogDetectionConfig::onSelectionChanged()
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{
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// 切换前先提交当前编辑器内容到旧 set；失败则回滚 combo 选择。
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QString err;
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if (!commitCurrentEditorsToWorkingSet(&err)) {
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// 用户编辑了非法值，重新加载旧 set，避免进入未定义状态
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loadWorkingSetToEditors(m_currentLoadedIndex);
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return;
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}
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const int newIndex = currentWorkingIndex();
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loadWorkingSetToEditors(newIndex);
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}
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void DialogDetectionConfig::onOkClicked()
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{
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if (saveAllWorkingSetsToConfig()) {
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accept();
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}
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}
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void DialogDetectionConfig::onCancelClicked()
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{
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reject();
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}
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void DialogDetectionConfig::onApplyClicked()
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{
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if (saveAllWorkingSetsToConfig()) {
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StyledMessageBox::information(this, QStringLiteral("提示"),
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QStringLiteral("4 套配置已应用并写入配置文件。"));
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}
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}
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void DialogDetectionConfig::onResetCurrentClicked()
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{
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if (m_currentLoadedIndex < 0 || m_currentLoadedIndex >= static_cast<int>(m_workingSets.size())) {
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return;
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}
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auto ret = StyledMessageBox::question(this, QStringLiteral("确认重置"),
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QStringLiteral("确定要把当前 (相机, 对象) 配置重置为默认值吗？\n（仅影响内存中正在编辑的副本，确定/应用前不会落盘）"),
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QMessageBox::Yes | QMessageBox::No);
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if (ret != QMessageBox::Yes) return;
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WorkingSet defaults;
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defaults.cameraIndex = m_workingSets[m_currentLoadedIndex].cameraIndex;
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defaults.detectionType = m_workingSets[m_currentLoadedIndex].detectionType;
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defaults.handEyeMatrix.cameraIndex = defaults.cameraIndex;
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m_workingSets[m_currentLoadedIndex] = defaults;
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loadWorkingSetToEditors(m_currentLoadedIndex);
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}
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// —— 工具函数 ——
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void DialogDetectionConfig::setDoubleEditorText(QLineEdit* edit, double value)
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{
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if (edit) edit->setText(QString::number(value, 'g', 12));
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}
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void DialogDetectionConfig::setIntEditorText(QLineEdit* edit, int value)
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{
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if (edit) edit->setText(QString::number(value));
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}
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bool DialogDetectionConfig::tryGetDouble(QLineEdit* edit, const QString& label, double& value)
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{
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bool ok = false;
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value = edit->text().trimmed().toDouble(&ok);
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if (!ok) {
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StyledMessageBox::warning(this, QStringLiteral("错误"),
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QStringLiteral("\"%1\" 输入的数值无效。").arg(label));
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edit->setFocus();
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edit->selectAll();
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||
return false;
|
||
}
|
||
return true;
|
||
}
|
||
|
||
bool DialogDetectionConfig::tryGetInt(QLineEdit* edit, const QString& label, int& value)
|
||
{
|
||
bool ok = false;
|
||
value = edit->text().trimmed().toInt(&ok);
|
||
if (!ok) {
|
||
StyledMessageBox::warning(this, QStringLiteral("错误"),
|
||
QStringLiteral("\"%1\" 输入的整数无效。").arg(label));
|
||
edit->setFocus();
|
||
edit->selectAll();
|
||
return false;
|
||
}
|
||
return true;
|
||
}
|
||
|
||
QString DialogDetectionConfig::detectionTypeLabel(DetectionType type)
|
||
{
|
||
return (type == DETECTION_TYPE_DISC_RACK)
|
||
? QStringLiteral("砂轮盘架子(discRack)")
|
||
: QStringLiteral("砂轮盘孔(discHole)");
|
||
}
|