558 lines
20 KiB
C++
558 lines
20 KiB
C++
#include "dialogalgoarg.h"
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#include "ui_dialogalgoarg.h"
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#include <QMessageBox>
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#include <QPushButton>
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#include <QtCore/QCoreApplication>
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#include <QtCore/QFileInfo>
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#include <QtCore/QDir>
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#include <QtCore/QStandardPaths>
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#include <QtCore/QFile>
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#include <cstring>
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#include <QSettings>
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#include <QFileDialog>
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#include "PathManager.h"
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#include "StyledMessageBox.h"
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#include "HandEyeCalibWidget.h"
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#include "VrLog.h"
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DialogAlgoarg::DialogAlgoarg(ConfigManager* configManager, QWidget *parent)
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: QDialog(parent)
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, ui(new Ui::DialogAlgoarg)
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, m_pConfigManager(configManager)
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, m_handEyeCalibWidget(nullptr)
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{
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try {
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ui->setupUi(this);
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// 获取配置文件路径
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m_configFilePath = PathManager::GetInstance().GetConfigFilePath();
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// 检查配置文件路径是否有效
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if (m_configFilePath.isEmpty()) {
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StyledMessageBox::critical(this, "错误", "无法获取配置文件路径！");
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return;
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}
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// 初始化旋转顺序下拉框
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InitEulerOrderComboBox();
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// 初始化姿态输出顺序下拉框
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InitPoseOutputOrderComboBox();
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// 初始化方向向量反向下拉框
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InitDirVectorInvertComboBox();
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// 初始化数据字节序下拉框
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InitByteOrderComboBox();
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// 从配置文件加载数据到界面
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LoadConfigToUI();
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// 初始化手眼标定 tab（在 LoadConfigToUI 之后，因为需要配置数据）
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InitHandEyeCalibTab();
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} catch (const std::exception& e) {
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StyledMessageBox::critical(this, "初始化错误", QString("对话框初始化失败: %1").arg(e.what()));
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} catch (...) {
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StyledMessageBox::critical(this, "初始化错误", "对话框初始化失败！（未知错误）");
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}
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}
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DialogAlgoarg::~DialogAlgoarg()
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{
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delete ui;
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}
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void DialogAlgoarg::LoadConfigToUI()
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{
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if (!m_pConfigManager) {
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StyledMessageBox::critical(this, "错误", "配置对象未初始化！");
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return;
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}
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try {
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// 从ConfigManager获取配置数据
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ConfigResult configData = m_pConfigManager->GetConfigResult();
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// 检查配置文件路径是否有效
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if (m_configFilePath.isEmpty()) {
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LOG_WARNING("Config file path is empty\n");
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}
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// 加载算法参数到UI
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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// 加载各个参数组
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LoadWorkpieceHoleParamToUI(algoParams.workpieceHoleParam);
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LoadLineSegParamToUI(algoParams.lineSegParam);
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LoadFilterParamToUI(algoParams.filterParam);
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LoadGrowParamToUI(algoParams.growParam);
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// 加载网络配置（PLC和机械臂服务端）
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LoadPlcRobotServerConfigToUI(configData.plcRobotServerConfig);
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// 加载旋转顺序（从第一个手眼标定矩阵获取）
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if (!configData.handEyeCalibMatrixList.empty()) {
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int eulerOrder = configData.handEyeCalibMatrixList[0].eulerOrder;
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int index = ui->comboBox_eulerOrder->findData(eulerOrder);
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if (index >= 0) {
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ui->comboBox_eulerOrder->setCurrentIndex(index);
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}
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}
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} catch (const std::exception& e) {
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LOG_ERROR("Exception in LoadConfigToUI: %s\n", e.what());
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StyledMessageBox::warning(this, "警告",
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QString("加载配置时发生异常: %1\n将使用默认参数显示").arg(e.what()));
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// 发生异常时使用默认参数
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ConfigResult configData;
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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LoadWorkpieceHoleParamToUI(algoParams.workpieceHoleParam);
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LoadLineSegParamToUI(algoParams.lineSegParam);
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LoadFilterParamToUI(algoParams.filterParam);
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LoadGrowParamToUI(algoParams.growParam);
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} catch (...) {
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LOG_ERROR("Unknown exception in LoadConfigToUI\n");
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StyledMessageBox::warning(this, "警告", "加载配置文件失败（未知错误），将使用默认参数显示");
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// 发生未知异常时使用默认参数
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ConfigResult configData;
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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LoadWorkpieceHoleParamToUI(algoParams.workpieceHoleParam);
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LoadLineSegParamToUI(algoParams.lineSegParam);
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LoadFilterParamToUI(algoParams.filterParam);
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LoadGrowParamToUI(algoParams.growParam);
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}
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}
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void DialogAlgoarg::LoadWorkpieceHoleParamToUI(const VrWorkpieceHoleParam& param)
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{
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if (!ui) return;
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ui->lineEdit_workpieceType->setText(QString::number(param.workpieceType));
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ui->lineEdit_holeDiameter->setText(QString::number(param.holeDiameter));
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ui->lineEdit_holeDist_L->setText(QString::number(param.holeDist_L));
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ui->lineEdit_holeDist_W->setText(QString::number(param.holeDist_W));
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ui->lineEdit_xLen->setText(QString::number(param.xLen));
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ui->lineEdit_yLen->setText(QString::number(param.yLen));
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ui->lineEdit_H->setText(QString::number(param.H));
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}
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void DialogAlgoarg::LoadLineSegParamToUI(const VrLineSegParam& param)
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{
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if (!ui) return;
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ui->lineEdit_distScale->setText(QString::number(param.distScale));
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ui->lineEdit_segGapTh_y->setText(QString::number(param.segGapTh_y));
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ui->lineEdit_segGapTh_z->setText(QString::number(param.segGapTh_z));
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}
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void DialogAlgoarg::LoadFilterParamToUI(const VrOutlierFilterParam& param)
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{
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if (!ui) return;
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ui->lineEdit_continuityTh->setText(QString::number(param.continuityTh));
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ui->lineEdit_outlierTh->setText(QString::number(param.outlierTh));
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}
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void DialogAlgoarg::LoadGrowParamToUI(const VrTreeGrowParam& param)
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{
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if (!ui) return;
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ui->lineEdit_maxLineSkipNum->setText(QString::number(param.maxLineSkipNum));
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ui->lineEdit_yDeviation_max->setText(QString::number(param.yDeviation_max));
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ui->lineEdit_maxSkipDistance->setText(QString::number(param.maxSkipDistance));
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ui->lineEdit_zDeviation_max->setText(QString::number(param.zDeviation_max));
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ui->lineEdit_minLTypeTreeLen->setText(QString::number(param.minLTypeTreeLen));
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ui->lineEdit_minVTypeTreeLen->setText(QString::number(param.minVTypeTreeLen));
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}
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bool DialogAlgoarg::SaveConfigFromUI()
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{
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if (!m_pConfigManager) {
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return false;
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}
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try {
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// 获取当前配置
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SystemConfig systemConfig = m_pConfigManager->GetConfig();
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VrAlgorithmParams& algoParams = systemConfig.configResult.algorithmParams;
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// 保存各个参数组
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if (!SaveWorkpieceHoleParamFromUI(algoParams.workpieceHoleParam)) {
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StyledMessageBox::warning(this, "错误", "工件孔参数输入有误，请检查！");
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return false;
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}
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if (!SaveLineSegParamFromUI(algoParams.lineSegParam)) {
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StyledMessageBox::warning(this, "错误", "线段分割参数输入有误，请检查！");
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return false;
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}
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if (!SaveFilterParamFromUI(algoParams.filterParam)) {
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StyledMessageBox::warning(this, "错误", "滤波参数输入有误，请检查！");
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return false;
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}
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if (!SaveGrowParamFromUI(algoParams.growParam)) {
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StyledMessageBox::warning(this, "错误", "生长参数输入有误，请检查！");
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return false;
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}
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// 保存网络配置（PLC和机械臂服务端）
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if (!SavePlcRobotServerConfigFromUI(systemConfig.configResult.plcRobotServerConfig)) {
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StyledMessageBox::warning(this, "错误", "网络配置输入有误，请检查！");
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return false;
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}
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// 保存手眼标定矩阵：从共享控件读取所有相机的矩阵
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int eulerOrder = ui->comboBox_eulerOrder->currentData().toInt();
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if (m_handEyeCalibWidget) {
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const auto& oldMatrixList = systemConfig.configResult.handEyeCalibMatrixList;
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std::vector<VrHandEyeCalibMatrix> newMatrixList;
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ConfigResult configData = m_pConfigManager->GetConfigResult();
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int cameraCount = std::max(1, static_cast<int>(configData.cameraList.size()));
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for (int i = 0; i < cameraCount; ++i) {
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int camIdx = i + 1; // 1-based
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// 先从已有配置中获取该相机的矩阵作为基础
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VrHandEyeCalibMatrix calibMatrix;
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calibMatrix.cameraIndex = camIdx;
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calibMatrix.eulerOrder = eulerOrder;
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for (const auto& old : oldMatrixList) {
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if (old.cameraIndex == camIdx) {
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calibMatrix = old;
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calibMatrix.eulerOrder = eulerOrder; // 更新旋转顺序
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break;
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}
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}
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// 如果控件中有更新的数据则覆盖
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bool isCalibrated = false;
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double matrix[16];
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if (m_handEyeCalibWidget->getCalibData(camIdx, matrix, isCalibrated) && isCalibrated) {
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memcpy(calibMatrix.matrix, matrix, sizeof(double) * 16);
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}
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newMatrixList.push_back(calibMatrix);
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}
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systemConfig.configResult.handEyeCalibMatrixList = newMatrixList;
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}
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// 更新并保存配置到文件
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if (!m_pConfigManager->UpdateFullConfig(systemConfig)) {
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return false;
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}
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return m_pConfigManager->SaveConfigToFile(m_configFilePath.toStdString());
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} catch (const std::exception& e) {
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return false;
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}
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}
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bool DialogAlgoarg::SaveWorkpieceHoleParamFromUI(VrWorkpieceHoleParam& param)
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{
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bool ok = true;
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param.workpieceType = ui->lineEdit_workpieceType->text().toInt(&ok);
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if (!ok) return false;
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param.holeDiameter = ui->lineEdit_holeDiameter->text().toDouble(&ok);
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if (!ok) return false;
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param.holeDist_L = ui->lineEdit_holeDist_L->text().toDouble(&ok);
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if (!ok) return false;
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param.holeDist_W = ui->lineEdit_holeDist_W->text().toDouble(&ok);
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if (!ok) return false;
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param.xLen = ui->lineEdit_xLen->text().toDouble(&ok);
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if (!ok) return false;
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param.yLen = ui->lineEdit_yLen->text().toDouble(&ok);
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if (!ok) return false;
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param.H = ui->lineEdit_H->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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bool DialogAlgoarg::SaveLineSegParamFromUI(VrLineSegParam& param)
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{
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bool ok = true;
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param.distScale = ui->lineEdit_distScale->text().toDouble(&ok);
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if (!ok) return false;
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param.segGapTh_y = ui->lineEdit_segGapTh_y->text().toDouble(&ok);
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if (!ok) return false;
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param.segGapTh_z = ui->lineEdit_segGapTh_z->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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bool DialogAlgoarg::SaveFilterParamFromUI(VrOutlierFilterParam& param)
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{
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bool ok = true;
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param.continuityTh = ui->lineEdit_continuityTh->text().toDouble(&ok);
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if (!ok) return false;
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param.outlierTh = ui->lineEdit_outlierTh->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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bool DialogAlgoarg::SaveGrowParamFromUI(VrTreeGrowParam& param)
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{
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bool ok = true;
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param.maxLineSkipNum = ui->lineEdit_maxLineSkipNum->text().toInt(&ok);
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if (!ok) return false;
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param.yDeviation_max = ui->lineEdit_yDeviation_max->text().toDouble(&ok);
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if (!ok) return false;
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param.maxSkipDistance = ui->lineEdit_maxSkipDistance->text().toDouble(&ok);
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if (!ok) return false;
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param.zDeviation_max = ui->lineEdit_zDeviation_max->text().toDouble(&ok);
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if (!ok) return false;
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param.minLTypeTreeLen = ui->lineEdit_minLTypeTreeLen->text().toDouble(&ok);
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if (!ok) return false;
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param.minVTypeTreeLen = ui->lineEdit_minVTypeTreeLen->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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void DialogAlgoarg::on_btn_camer_ok_clicked()
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{
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if (SaveConfigFromUI()) {
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StyledMessageBox::information(this, "成功", "配置保存成功！");
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accept();
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} else {
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StyledMessageBox::warning(this, "失败", "配置保存失败，请检查文件权限或参数输入！");
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}
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}
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void DialogAlgoarg::on_btn_camer_cancel_clicked()
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{
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reject();
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}
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// ========== 手眼标定相关实现 ==========
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void DialogAlgoarg::InitHandEyeCalibTab()
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{
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if (!ui || !m_pConfigManager) return;
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// 创建共享控件并嵌入 tab 的 layout
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m_handEyeCalibWidget = new HandEyeCalibWidget(this);
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m_handEyeCalibWidget->setMatrixEditable(true); // WorkpieceHoleApp 矩阵可编辑
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ui->verticalLayout_handEyeCalibHost->addWidget(m_handEyeCalibWidget);
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// 设置默认文件路径
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m_handEyeCalibWidget->setDefaultFilePath(
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PathManager::GetInstance().GetAppConfigDirectory());
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// 从配置中获取相机列表填充控件
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ConfigResult configData = m_pConfigManager->GetConfigResult();
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QVector<HandEyeCalibCameraInfo> cameraList;
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if (configData.cameraList.empty()) {
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// 如果没有配置相机列表，提供默认项
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HandEyeCalibCameraInfo defaultCam;
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defaultCam.cameraIndex = 1;
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defaultCam.displayName = QString::fromUtf8("相机 1");
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cameraList.append(defaultCam);
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} else {
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for (size_t i = 0; i < configData.cameraList.size(); ++i) {
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const DeviceInfo& camera = configData.cameraList[i];
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HandEyeCalibCameraInfo info;
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info.cameraIndex = static_cast<int>(i + 1); // 1-based
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info.displayName = QString::fromStdString(camera.name);
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cameraList.append(info);
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}
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}
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m_handEyeCalibWidget->setCameraList(cameraList);
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// 加载已有的手眼标定矩阵数据到控件（支持多相机）
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for (const auto& calibMatrix : configData.handEyeCalibMatrixList) {
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// 检查矩阵是否不是单位矩阵（即已标定）
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bool hasCalibData = false;
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for (int i = 0; i < 16; ++i) {
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double identity = (i / 4 == i % 4) ? 1.0 : 0.0;
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if (qAbs(calibMatrix.matrix[i] - identity) > 1e-9) {
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hasCalibData = true;
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break;
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}
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}
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m_handEyeCalibWidget->setCalibData(calibMatrix.cameraIndex, calibMatrix.matrix, hasCalibData);
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}
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// 连接信号
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connect(m_handEyeCalibWidget, &HandEyeCalibWidget::calibMatrixLoaded,
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this, &DialogAlgoarg::onCalibMatrixLoaded);
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connect(m_handEyeCalibWidget, &HandEyeCalibWidget::saveCalibRequested,
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this, &DialogAlgoarg::onSaveCalibRequested);
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}
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void DialogAlgoarg::onCalibMatrixLoaded(int cameraIndex, const double* matrix)
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{
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Q_UNUSED(cameraIndex);
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Q_UNUSED(matrix);
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StyledMessageBox::information(this, "提示", "已从文件导入标定矩阵");
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}
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void DialogAlgoarg::onSaveCalibRequested(int cameraIndex, const double* matrix)
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{
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Q_UNUSED(cameraIndex);
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Q_UNUSED(matrix);
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// 直接调用保存全部配置
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if (SaveConfigFromUI()) {
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StyledMessageBox::information(this, "成功", "手眼标定参数已保存到配置文件！");
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} else {
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StyledMessageBox::warning(this, "失败", "保存手眼标定参数失败！");
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}
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}
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void DialogAlgoarg::InitEulerOrderComboBox()
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{
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// 添加外旋旋转顺序选项（工业机械臂常用）
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ui->comboBox_eulerOrder->addItem("RZ-RY-RX (外旋ZYX)", 11); // ABB、KUKA、发那科等常用
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ui->comboBox_eulerOrder->addItem("RX-RY-RZ (外旋XYZ)", 10);
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ui->comboBox_eulerOrder->addItem("RZ-RX-RY (外旋ZXY)", 12);
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ui->comboBox_eulerOrder->addItem("RY-RX-RZ (外旋YXZ)", 13);
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ui->comboBox_eulerOrder->addItem("RY-RZ-RX (外旋YZX)", 14);
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ui->comboBox_eulerOrder->addItem("RX-RZ-RY (外旋XZY)", 15);
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// 默认选择外旋 ZYX
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ui->comboBox_eulerOrder->setCurrentIndex(0);
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}
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void DialogAlgoarg::InitPoseOutputOrderComboBox()
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{
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// 添加姿态输出顺序选项
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ui->comboBox_poseOutputOrder->addItem("RPY (Roll, Pitch, Yaw)", POSE_ORDER_RPY); // 默认
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ui->comboBox_poseOutputOrder->addItem("RYP (Roll, Yaw, Pitch)", POSE_ORDER_RYP);
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ui->comboBox_poseOutputOrder->addItem("PRY (Pitch, Roll, Yaw)", POSE_ORDER_PRY);
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||
ui->comboBox_poseOutputOrder->addItem("PYR (Pitch, Yaw, Roll)", POSE_ORDER_PYR);
|
||
ui->comboBox_poseOutputOrder->addItem("YRP (Yaw, Roll, Pitch)", POSE_ORDER_YRP);
|
||
ui->comboBox_poseOutputOrder->addItem("YPR (Yaw, Pitch, Roll)", POSE_ORDER_YPR);
|
||
|
||
// 默认选择 RPY
|
||
ui->comboBox_poseOutputOrder->setCurrentIndex(0);
|
||
}
|
||
|
||
void DialogAlgoarg::InitDirVectorInvertComboBox()
|
||
{
|
||
// 添加方向向量反向选项
|
||
ui->comboBox_dirVectorInvert->addItem("不反向", DIR_INVERT_NONE);
|
||
ui->comboBox_dirVectorInvert->addItem("XY反向", DIR_INVERT_XY);
|
||
ui->comboBox_dirVectorInvert->addItem("XZ反向", DIR_INVERT_XZ);
|
||
ui->comboBox_dirVectorInvert->addItem("YZ反向（默认）", DIR_INVERT_YZ);
|
||
|
||
// 默认选择 YZ反向（兼容原有行为）
|
||
ui->comboBox_dirVectorInvert->setCurrentIndex(3);
|
||
}
|
||
|
||
void DialogAlgoarg::InitByteOrderComboBox()
|
||
{
|
||
// 添加数据字节序选项
|
||
ui->comboBox_byteOrder->addItem("大端序 (ABCD)", BYTE_ORDER_BIG_ENDIAN);
|
||
ui->comboBox_byteOrder->addItem("小端序 (DCBA)", BYTE_ORDER_LITTLE_ENDIAN);
|
||
|
||
// 默认选择大端序
|
||
ui->comboBox_byteOrder->setCurrentIndex(0);
|
||
}
|
||
|
||
void DialogAlgoarg::LoadPlcRobotServerConfigToUI(const VrPlcRobotServerConfig& config)
|
||
{
|
||
if (!ui) return;
|
||
|
||
// 加载PLC服务端配置
|
||
ui->lineEdit_plcServerIp->setText(QString::fromStdString(config.plcServerIp));
|
||
ui->lineEdit_plcServerPort->setText(QString::number(config.plcServerPort));
|
||
|
||
// 加载PLC寄存器地址配置
|
||
ui->lineEdit_addrPhotoRequest->setText(QString::number(config.registerConfig.addrPhotoRequest));
|
||
ui->lineEdit_addrDataComplete->setText(QString::number(config.registerConfig.addrDataComplete));
|
||
ui->lineEdit_addrCoordDataStart->setText(QString::number(config.registerConfig.addrCoordDataStart));
|
||
|
||
// 加载姿态输出顺序
|
||
int poseOrderIndex = ui->comboBox_poseOutputOrder->findData(config.poseOutputOrder);
|
||
if (poseOrderIndex >= 0) {
|
||
ui->comboBox_poseOutputOrder->setCurrentIndex(poseOrderIndex);
|
||
}
|
||
|
||
// 加载方向向量反向配置
|
||
int dirInvertIndex = ui->comboBox_dirVectorInvert->findData(config.dirVectorInvert);
|
||
if (dirInvertIndex >= 0) {
|
||
ui->comboBox_dirVectorInvert->setCurrentIndex(dirInvertIndex);
|
||
}
|
||
|
||
// 加载数据字节序配置
|
||
int byteOrderIndex = ui->comboBox_byteOrder->findData(config.byteOrder);
|
||
if (byteOrderIndex >= 0) {
|
||
ui->comboBox_byteOrder->setCurrentIndex(byteOrderIndex);
|
||
}
|
||
}
|
||
|
||
bool DialogAlgoarg::SavePlcRobotServerConfigFromUI(VrPlcRobotServerConfig& config)
|
||
{
|
||
if (!ui) return false;
|
||
|
||
// 获取PLC服务端IP
|
||
QString plcIp = ui->lineEdit_plcServerIp->text().trimmed();
|
||
if (plcIp.isEmpty()) {
|
||
return false;
|
||
}
|
||
config.plcServerIp = plcIp.toStdString();
|
||
|
||
// 获取PLC服务端端口
|
||
bool ok = false;
|
||
config.plcServerPort = ui->lineEdit_plcServerPort->text().toInt(&ok);
|
||
if (!ok || config.plcServerPort <= 0 || config.plcServerPort > 65535) {
|
||
return false;
|
||
}
|
||
|
||
// 获取PLC寄存器地址配置
|
||
config.registerConfig.addrPhotoRequest = ui->lineEdit_addrPhotoRequest->text().toInt(&ok);
|
||
if (!ok || config.registerConfig.addrPhotoRequest < 0) {
|
||
return false;
|
||
}
|
||
|
||
config.registerConfig.addrDataComplete = ui->lineEdit_addrDataComplete->text().toInt(&ok);
|
||
if (!ok || config.registerConfig.addrDataComplete < 0) {
|
||
return false;
|
||
}
|
||
|
||
config.registerConfig.addrCoordDataStart = ui->lineEdit_addrCoordDataStart->text().toInt(&ok);
|
||
if (!ok || config.registerConfig.addrCoordDataStart < 0) {
|
||
return false;
|
||
}
|
||
|
||
// 获取姿态输出顺序
|
||
config.poseOutputOrder = ui->comboBox_poseOutputOrder->currentData().toInt();
|
||
|
||
// 获取方向向量反向配置
|
||
config.dirVectorInvert = ui->comboBox_dirVectorInvert->currentData().toInt();
|
||
|
||
// 获取数据字节序配置
|
||
config.byteOrder = ui->comboBox_byteOrder->currentData().toInt();
|
||
|
||
return true;
|
||
}
|