570 lines
21 KiB
C++
570 lines
21 KiB
C++
#include "mainwindow.h"
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#include "ui_mainwindow.h"
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#include "XyzRpyItem.h"
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#include "ResultListLayoutHelper.h"
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#include <QGraphicsScene>
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#include <QStandardItemModel>
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#include <QDebug>
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#include <QPainter>
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#include <QBrush>
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#include <QMessageBox>
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#include <QFileDialog>
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#include <QListWidgetItem>
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#include <QtMath>
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#include <QThread>
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#include <QDateTime>
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#include <QTextCursor>
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#include <QStringListModel>
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#include <QScreen>
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#include <QApplication>
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#include "VrLog.h"
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#include "VrDateUtils.h"
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#include <QIcon>
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#include <QMetaType>
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#include <QLabel>
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#include <QVBoxLayout>
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#include <QHBoxLayout>
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#include <QMenu>
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#include <QAction>
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#include <QStandardPaths>
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#include <QDir>
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#include <QGraphicsView>
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#include "RodAndBarPositionPresenter.h"
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#include <QEvent>
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#include "Version.h"
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#include "IVrUtils.h"
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MainWindow::MainWindow(QWidget *parent)
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: QMainWindow(parent)
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, ui(new Ui::MainWindow)
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, m_selectedButton(nullptr)
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, m_contextMenu(nullptr)
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, m_saveDataAction(nullptr)
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{
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ui->setupUi(this);
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#ifdef _WIN32
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this->setWindowIcon(QIcon(":/common/resource/logo.ico"));
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#else
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this->setWindowIcon(QIcon(":/common/resource/logo.png"));
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#endif
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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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statusBar()->setStyleSheet("QStatusBar { color: rgb(239, 241, 245); padding: 20px; }");
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QString versionWithBuildTime = QString("%1_%2%3%4%5%6%7")
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.arg(GetRodAndBarPositionFullVersion())
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.arg(YEAR)
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.arg(MONTH, 2, 10, QChar('0'))
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.arg(DAY, 2, 10, QChar('0'))
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.arg(HOUR, 2, 10, QChar('0'))
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.arg(MINUTE, 2, 10, QChar('0'))
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.arg(SECOND, 2, 10, QChar('0'));
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QLabel* buildLabel = new QLabel(versionWithBuildTime);
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buildLabel->setStyleSheet("color: rgb(239, 241, 245); font-size: 20px; margin-right: 16px;");
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buildLabel->setCursor(Qt::PointingHandCursor);
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buildLabel->installEventFilter(this);
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statusBar()->addPermanentWidget(buildLabel);
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m_versionLabel = buildLabel;
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setWindowFlags(Qt::FramelessWindowHint);
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this->showMaximized();
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ui->label_work->setVisible(false);
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ui->detect_image_2->setVisible(false);
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QGraphicsScene* scene = new QGraphicsScene(this);
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ui->detect_image->setScene(scene);
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// 为第二个图像视图初始化GraphicsScene
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QGraphicsScene* scene2 = new QGraphicsScene(this);
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ui->detect_image_2->setScene(scene2);
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m_logHelper = new DetectLogHelper(ui->detect_log, this);
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qRegisterMetaType<DetectionResult>("DetectionResult");
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qRegisterMetaType<WorkStatus>("WorkStatus");
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qRegisterMetaType<RodPosition>("RodPosition");
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connect(this, &MainWindow::workStatusUpdateRequested, this, &MainWindow::updateWorkStatusLabel);
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connect(this, &MainWindow::detectionResultUpdateRequested, this, &MainWindow::updateDetectionResultDisplay);
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setupContextMenu();
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updateStatusLog(tr("设备开始初始化..."));
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Init();
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}
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MainWindow::~MainWindow()
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{
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if (m_presenter) {
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m_presenter->SetStatusCallback(static_cast<IYRodAndBarPositionStatus*>(nullptr));
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m_presenter->DeinitApp();
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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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if (m_logHelper) {
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m_logHelper->appendLog(message);
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}
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}
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void MainWindow::clearDetectionLog()
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{
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if (m_logHelper) {
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m_logHelper->clearLog();
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}
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}
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void MainWindow::Init()
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{
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m_presenter = new RodAndBarPositionPresenter();
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m_presenter->SetStatusCallback<IYRodAndBarPositionStatus>(this);
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m_deviceStatusWidget = new DeviceStatusWidget();
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connect(m_deviceStatusWidget, SIGNAL(cameraClicked(int)), this, SLOT(onCameraClicked(int)));
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QVBoxLayout* frameDevLayout = new QVBoxLayout(ui->frame_dev);
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frameDevLayout->setContentsMargins(0, 0, 0, 0);
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frameDevLayout->addWidget(m_deviceStatusWidget);
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ui->detect_result_list->setViewMode(QListView::IconMode);
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ui->detect_result_list->setResizeMode(QListView::Adjust);
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ui->detect_result_list->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
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ui->detect_result_list->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
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setButtonsEnabled(false);
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std::thread initThread([this]() {
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updateStatusLog(tr("正在初始化系统..."));
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int result = m_presenter->Init();
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if (result != 0) {
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updateStatusLog(tr("初始化失败，错误码：%1").arg(result));
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} else {
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updateStatusLog(tr("系统初始化完成"));
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}
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});
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initThread.detach();
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}
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void MainWindow::displayImage(const QImage& image)
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{
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if (image.isNull()) {
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updateStatusLog(tr("图片无效"));
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return;
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}
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QGraphicsScene* scene = ui->detect_image->scene();
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scene->clear();
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QPixmap pixmap = QPixmap::fromImage(image);
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scene->addPixmap(pixmap);
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ui->detect_image->fitInView(scene->sceneRect(), Qt::KeepAspectRatio);
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}
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// 在第二个图像视图中显示图像
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void MainWindow::displayImageInSecondView(const QImage& image)
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{
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if (image.isNull()) {
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updateStatusLog(tr("第二相机图片无效"));
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return;
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}
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QGraphicsScene* scene2 = ui->detect_image_2->scene();
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scene2->clear();
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QPixmap pixmap = QPixmap::fromImage(image);
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scene2->addPixmap(pixmap);
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ui->detect_image_2->fitInView(scene2->sceneRect(), Qt::KeepAspectRatio);
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}
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void MainWindow::addDetectionResult(const DetectionResult& result)
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{
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ui->detect_result_list->clear();
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int itemSpacing = 0;
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ui->detect_result_list->setSpacing(itemSpacing);
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// 获取当前的gridSize（由布局调整函数设置）
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QSize currentGridSize = ui->detect_result_list->gridSize();
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int gridWidth = currentGridSize.width();
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int gridHeight = currentGridSize.height();
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for (size_t i = 0; i < result.positions.size(); i++) {
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XyzRpyItem* resultWidget = new XyzRpyItem();
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resultWidget->setAutoFillBackground(true);
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resultWidget->setResultData(static_cast<int>(i) + 1, "棒材", result.positions[i]);
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QListWidgetItem* item = new QListWidgetItem();
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item->setBackground(QBrush(Qt::transparent));
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item->setSizeHint(QSize(gridWidth, gridHeight));
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item->setFlags(item->flags() & ~Qt::ItemIsDragEnabled & ~Qt::ItemIsDropEnabled);
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ui->detect_result_list->addItem(item);
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ui->detect_result_list->setItemWidget(item, resultWidget);
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}
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}
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void MainWindow::OnStatusUpdate(const std::string& statusMessage)
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{
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LOG_DEBUG("[UI Display] Status update: %s\n", statusMessage.c_str());
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updateStatusLog(QString::fromStdString(statusMessage));
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}
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void MainWindow::OnDetectionResult(const DetectionResult& result)
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{
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emit detectionResultUpdateRequested(result);
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}
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void MainWindow::OnCamera1StatusChanged(bool isConnected)
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{
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->updateCamera1Status(isConnected);
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}
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}
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void MainWindow::OnCamera2StatusChanged(bool isConnected)
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{
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->updateCamera2Status(isConnected);
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}
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}
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void MainWindow::OnCameraCountChanged(int cameraCount)
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{
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->setCameraCount(cameraCount);
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if (m_presenter) {
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const auto& cameraList = m_presenter->GetCameraList();
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if (cameraList.size() >= 1) {
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m_deviceStatusWidget->setCamera1Name(QString::fromStdString(cameraList[0].first));
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}
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if (cameraList.size() >= 2) {
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m_deviceStatusWidget->setCamera2Name(QString::fromStdString(cameraList[1].first));
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}
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}
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}
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// 根据相机个数调整页面布局
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adjustLayoutForCameraCount(cameraCount);
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if (cameraCount < 2) {
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updateStatusLog(tr("系统使用单相机模式"));
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} else {
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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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void MainWindow::OnRobotConnectionChanged(bool isConnected)
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{
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->updateRobotStatus(isConnected);
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}
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}
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void MainWindow::OnSerialConnectionChanged(bool isConnected)
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{
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->updateSerialStatus(isConnected);
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}
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}
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void MainWindow::OnWorkStatusChanged(WorkStatus status)
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{
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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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if (status == WorkStatus::Working) {
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clearDetectionLog();
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}
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QString statusText = QString::fromStdString(WorkStatusToString(status));
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if (!ui->label_work) return;
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ui->label_work->setText(statusText);
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statusText = "【工作状态】" + statusText;
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updateStatusLog(statusText);
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switch (status) {
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case WorkStatus::Ready:
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ui->label_work->setStyleSheet("color: green;");
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setButtonsEnabled(true);
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break;
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case WorkStatus::InitIng:
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ui->label_work->setStyleSheet("color: blue;");
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setButtonsEnabled(false);
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break;
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case WorkStatus::Working:
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ui->label_work->setStyleSheet("color: blue;");
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setButtonsEnabled(false);
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break;
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case WorkStatus::Completed:
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ui->label_work->setStyleSheet("color: green; font-weight: bold;");
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setButtonsEnabled(true);
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break;
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case WorkStatus::Error:
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ui->label_work->setStyleSheet("color: red; font-weight: bold;");
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setButtonsEnabled(true);
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break;
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default:
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ui->label_work->setStyleSheet("");
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setButtonsEnabled(false);
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break;
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}
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}
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void MainWindow::updateDetectionResultDisplay(const DetectionResult& result)
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{
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// 根据相机索引决定显示在哪个图像视图上
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if (result.cameraIndex == 2) {
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updateStatusLog(tr("相机2检测结果更新"));
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displayImageInSecondView(result.image);
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} else {
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updateStatusLog(tr("相机1检测结果更新"));
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displayImage(result.image);
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}
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addDetectionResult(result);
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}
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void MainWindow::on_btn_start_clicked()
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{
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if (!m_presenter) { updateStatusLog(tr("系统未初始化，请等待初始化完成")); return; }
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clearDetectionLog();
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m_presenter->StartDetection(-1, false);
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}
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void MainWindow::on_btn_stop_clicked()
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{
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if (!m_presenter) { updateStatusLog(tr("系统未初始化，请等待初始化完成")); return; }
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m_presenter->StopDetection();
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}
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void MainWindow::on_btn_camera_clicked()
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{
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if (m_selectedButton != nullptr && m_selectedButton != ui->btn_camera) { updateStatusLog(tr("请先关闭当前打开的配置窗口")); return; }
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if (!m_presenter) { updateStatusLog(tr("系统未初始化，请等待初始化完成")); return; }
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setButtonSelectedState(ui->btn_camera, true);
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if (nullptr == ui_dialogCamera) {
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ui_dialogCamera = new CommonDialogCamera(m_presenter->GetCameraList(), this);
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connect(ui_dialogCamera, &QDialog::finished, this, [this]() { setButtonSelectedState(ui->btn_camera, false); });
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}
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ui_dialogCamera->show();
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}
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void MainWindow::on_btn_algo_config_clicked()
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{
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if (m_selectedButton != nullptr && m_selectedButton != ui->btn_algo_config) { updateStatusLog(tr("请先关闭当前打开的配置窗口")); return; }
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if (!m_presenter) { updateStatusLog(tr("系统未初始化，请等待初始化完成")); return; }
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setButtonSelectedState(ui->btn_algo_config, true);
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if(nullptr == ui_dialogConfig){
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ui_dialogConfig = new DialogAlgoArg(this);
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ui_dialogConfig->SetPresenter(m_presenter);
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connect(ui_dialogConfig, &QDialog::finished, this, [this]() { setButtonSelectedState(ui->btn_algo_config, false); });
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}
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ui_dialogConfig->show();
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}
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void MainWindow::on_btn_camera_levelling_clicked()
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{
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if (m_selectedButton != nullptr && m_selectedButton != ui->btn_camera_levelling) { updateStatusLog(tr("请先关闭当前打开的配置窗口")); return; }
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if (!m_presenter) { updateStatusLog(tr("系统未初始化，请等待初始化完成")); return; }
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setButtonSelectedState(ui->btn_camera_levelling, true);
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if(nullptr == ui_dialogCameraLevel){
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ui_dialogCameraLevel = new CommonDialogCameraLevel(this);
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connect(ui_dialogCameraLevel, &QDialog::finished, this, [this]() { setButtonSelectedState(ui->btn_camera_levelling, false); });
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}
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ui_dialogCameraLevel->SetCameraList(m_presenter->GetCameraList(), m_presenter, m_presenter, m_presenter);
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ui_dialogCameraLevel->show();
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}
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void MainWindow::on_btn_hide_clicked() { this->showMinimized(); }
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void MainWindow::on_btn_close_clicked() { this->close(); }
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void MainWindow::on_btn_test_clicked()
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{
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if (m_selectedButton != nullptr && m_selectedButton != ui->btn_test) { updateStatusLog(tr("请先关闭当前打开的配置窗口")); return; }
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setButtonSelectedState(ui->btn_test, true);
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QString fileName = QFileDialog::getOpenFileName(this, tr("选择调试数据文件"), QString(), tr("激光数据文件 (*.txt);;所有文件 (*.*)"));
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if (fileName.isEmpty()) { setButtonSelectedState(ui->btn_test, false); return; }
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if (!m_presenter) { setButtonSelectedState(ui->btn_test, false); QMessageBox::warning(this, tr("错误"), tr("系统未正确初始化！")); return; }
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clearDetectionLog();
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std::thread t([this, fileName]() {
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int result = m_presenter->LoadDebugDataAndDetect(fileName.toStdString());
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if (result == 0) { updateStatusLog(tr("调试数据加载和检测成功")); }
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else { updateStatusLog(tr("调试数据复检失败: %1").arg(result)); }
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QMetaObject::invokeMethod(this, [this]() { setButtonSelectedState(ui->btn_test, false); }, Qt::QueuedConnection);
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});
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t.detach();
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}
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void MainWindow::setButtonsEnabled(bool enabled)
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{
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if (ui->btn_start) ui->btn_start->setEnabled(enabled);
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if (ui->btn_stop) ui->btn_stop->setEnabled(enabled);
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if (ui->btn_camera) ui->btn_camera->setEnabled(enabled);
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if (ui->btn_algo_config) ui->btn_algo_config->setEnabled(enabled);
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if (ui->btn_camera_levelling) ui->btn_camera_levelling->setEnabled(enabled);
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}
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void MainWindow::setButtonImage(QPushButton* button, const QString& imagePath)
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{
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if (button) {
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button->setStyleSheet(QString("image: url(%1);background-color: rgb(38, 40, 47);border: none;").arg(imagePath));
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}
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}
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void MainWindow::setButtonSelectedState(QPushButton* button, bool selected)
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{
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if (!button) return;
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QString normalImage, selectedImage;
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if (button == ui->btn_camera) { normalImage = ":/common/resource/config_camera.png"; selectedImage = ":/common/resource/config_camera_s.png"; }
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else if (button == ui->btn_algo_config) { normalImage = ":/common/resource/config_algo.png"; selectedImage = ":/common/resource/config_algo_s.png"; }
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else if (button == ui->btn_camera_levelling) { normalImage = ":/common/resource/config_camera_level.png"; selectedImage = ":/common/resource/config_camera_level_s.png"; }
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else if (button == ui->btn_test) { normalImage = ":/common/resource/config_data_test.png"; selectedImage = ":/common/resource/config_data_test_s.png"; }
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if (selected) { setButtonImage(button, selectedImage); m_selectedButton = button; setOtherButtonsEnabled(button, false); }
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else { setButtonImage(button, normalImage); if (m_selectedButton == button) { m_selectedButton = nullptr; setOtherButtonsEnabled(nullptr, true); } }
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}
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void MainWindow::restoreAllButtonStates()
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{
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setButtonSelectedState(ui->btn_camera, false);
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setButtonSelectedState(ui->btn_algo_config, false);
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setButtonSelectedState(ui->btn_camera_levelling, false);
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setButtonSelectedState(ui->btn_test, false);
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}
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void MainWindow::setOtherButtonsEnabled(QPushButton* exceptButton, bool enabled)
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{
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QList<QPushButton*> configButtons = { ui->btn_camera, ui->btn_algo_config, ui->btn_camera_levelling, ui->btn_test };
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for (QPushButton* button : configButtons) { if (button && button != exceptButton) { button->setEnabled(enabled); } }
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}
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void MainWindow::onCameraClicked(int cameraIndex)
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{
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if (m_presenter) { m_presenter->SetDefaultCameraIndex(cameraIndex); }
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}
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void MainWindow::setupContextMenu()
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{
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m_contextMenu = new QMenu(this);
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m_saveDataAction = new QAction(tr("保存检测数据"), this);
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m_contextMenu->setStyleSheet("QMenu::item { color: gray; } QMenu::item:enabled { color: gray; } QMenu::item:disabled { color: gray; }");
|
||
m_contextMenu->addAction(m_saveDataAction);
|
||
connect(m_saveDataAction, &QAction::triggered, this, &MainWindow::onSaveDetectionData);
|
||
ui->detect_image->setContextMenuPolicy(Qt::CustomContextMenu);
|
||
ui->detect_image_2->setContextMenuPolicy(Qt::CustomContextMenu);
|
||
connect(ui->detect_image, &QGraphicsView::customContextMenuRequested, this, [this](const QPoint& pos) { showContextMenu(pos, ui->detect_image); });
|
||
connect(ui->detect_image_2, &QGraphicsView::customContextMenuRequested, this, [this](const QPoint& pos) { showContextMenu(pos, ui->detect_image_2); });
|
||
}
|
||
|
||
void MainWindow::showContextMenu(const QPoint& pos, QGraphicsView* view)
|
||
{
|
||
if (!m_presenter) { updateStatusLog(tr("系统未初始化，无法保存数据")); return; }
|
||
|
||
// 根据视图确定相机索引
|
||
int cameraIndex = (view == ui->detect_image_2) ? 2 : 1;
|
||
if (cameraIndex != m_presenter->GetDetectIndex()) {
|
||
updateStatusLog(tr("当前视图不是上次检测的相机，无法保存数据"));
|
||
return;
|
||
}
|
||
|
||
if (m_presenter->GetDetectionDataCacheSize() == 0) { updateStatusLog(tr("没有检测数据可以保存")); return; }
|
||
m_contextMenu->exec(view->mapToGlobal(pos));
|
||
}
|
||
|
||
void MainWindow::onSaveDetectionData()
|
||
{
|
||
if (!m_presenter) { updateStatusLog(tr("系统未初始化，无法保存数据")); return; }
|
||
QString dirPath = QFileDialog::getExistingDirectory(this, tr("选择保存目录"), QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation), QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks);
|
||
if (dirPath.isEmpty()) { updateStatusLog(tr("用户取消了保存操作")); return; }
|
||
std::string timeStamp = CVrDateUtils::GetNowTime();
|
||
std::string fileName = "Laserline_" + std::to_string(m_presenter->GetDetectIndex()) + "_" + timeStamp + ".txt";
|
||
QString fullPath = QDir(dirPath).filePath(QString::fromStdString(fileName));
|
||
if (saveDetectionDataToFile(fullPath, m_presenter->GetDetectIndex())) { updateStatusLog(tr("检测数据已保存到：%1").arg(fileName.c_str())); }
|
||
else { updateStatusLog(tr("保存检测数据失败")); }
|
||
}
|
||
|
||
bool MainWindow::saveDetectionDataToFile(const QString& filePath, int cameraIndex)
|
||
{
|
||
try {
|
||
int result = m_presenter->SaveDetectionDataToFile(filePath.toStdString());
|
||
if (result == 0) { updateStatusLog(tr("检测数据保存成功")); return true; }
|
||
else { updateStatusLog(tr("保存数据失败，错误码：%1").arg(result)); return false; }
|
||
} catch (const std::exception& e) {
|
||
updateStatusLog(tr("保存数据时发生异常：%1").arg(e.what()));
|
||
return false;
|
||
}
|
||
}
|
||
|
||
// 根据相机个数调整页面布局
|
||
void MainWindow::adjustLayoutForCameraCount(int cameraCount)
|
||
{
|
||
if (cameraCount <= 1) {
|
||
setupSingleCameraLayout();
|
||
} else {
|
||
setupMultiCameraLayout();
|
||
}
|
||
}
|
||
|
||
// 获取可用高度（屏幕高度 - 任务栏 - 边距）
|
||
int MainWindow::getAvailableHeight()
|
||
{
|
||
QScreen* screen = QApplication::primaryScreen();
|
||
if (screen) {
|
||
QRect availableGeometry = screen->availableGeometry();
|
||
return availableGeometry.height() - 30;
|
||
}
|
||
return 1050;
|
||
}
|
||
|
||
// 设置单相机模式布局
|
||
void MainWindow::setupSingleCameraLayout()
|
||
{
|
||
int availableHeight = getAvailableHeight();
|
||
|
||
ResultListLayoutHelper::setupSingleCameraMode(
|
||
ui->detect_result_list,
|
||
ui->detect_image, ui->detect_image_2,
|
||
ui->frame_dev, ui->detect_log,
|
||
availableHeight);
|
||
|
||
m_deviceStatusWidget->setCameraCount(1);
|
||
|
||
updateStatusLog(tr("页面布局已调整为单相机模式"));
|
||
}
|
||
|
||
// 设置多相机模式布局
|
||
void MainWindow::setupMultiCameraLayout()
|
||
{
|
||
int availableHeight = getAvailableHeight();
|
||
|
||
ResultListLayoutHelper::setupMultiCameraMode(
|
||
ui->detect_result_list,
|
||
ui->detect_image, ui->detect_image_2,
|
||
ui->frame_dev, ui->detect_log,
|
||
availableHeight);
|
||
|
||
m_deviceStatusWidget->setCameraCount(2);
|
||
|
||
updateStatusLog(tr("页面布局已调整为多相机模式"));
|
||
}
|
||
|
||
// 事件过滤器：点击版本标签弹出关于对话框
|
||
bool MainWindow::eventFilter(QObject* obj, QEvent* event)
|
||
{
|
||
if (obj == m_versionLabel && event->type() == QEvent::MouseButtonPress) {
|
||
QString versionStr = m_versionLabel->text();
|
||
QString algoVersion = m_presenter ? m_presenter->GetAlgoVersion() : QString();
|
||
AboutDialog dlg(RODANDBARPOSITION_APP_NAME, versionStr, algoVersion, this);
|
||
dlg.exec();
|
||
return true;
|
||
}
|
||
return QMainWindow::eventFilter(obj, event);
|
||
}
|