397 lines
14 KiB
C++
397 lines
14 KiB
C++
#include "DialogConfig.h"
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#include "ui_dialogconfig.h"
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#include "DemoControlPresenter.h"
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#include "StyledMessageBox.h"
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#include <QDebug>
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#include <QSettings>
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#include <QCoreApplication>
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#include <QStandardPaths>
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#include <QDir>
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#include <QFile>
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DialogConfig::DialogConfig(DemoControlPresenter* presenter, QWidget *parent)
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: QDialog(parent)
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, ui(new Ui::DialogConfig)
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, m_presenter(presenter)
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{
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ui->setupUi(this);
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// 设置窗口标志
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setWindowFlags(Qt::Dialog | Qt::WindowCloseButtonHint);
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// 加载当前配置
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loadCurrentConfig();
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}
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DialogConfig::~DialogConfig()
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{
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delete ui;
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}
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QString DialogConfig::GetConfigFilePath()
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{
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// 获取用户应用数据目录
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QString appDataPath = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation);
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// 确保目录存在
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QDir dir(appDataPath);
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if (!dir.exists()) {
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dir.mkpath(appDataPath);
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}
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// 配置文件路径
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QString configFilePath = appDataPath + "/config.ini";
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// 如果配置文件不存在，尝试从应用程序目录复制默认配置
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if (!QFile::exists(configFilePath)) {
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QString defaultConfigPath = QCoreApplication::applicationDirPath() + "/config.ini";
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if (QFile::exists(defaultConfigPath)) {
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QFile::copy(defaultConfigPath, configFilePath);
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qDebug() << "已从应用程序目录复制默认配置到用户目录:" << configFilePath;
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} else {
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qDebug() << "默认配置文件不存在，将创建新配置:" << configFilePath;
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}
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}
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return configFilePath;
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}
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void DialogConfig::loadConfigFromFile()
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{
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QSettings settings(GetConfigFilePath(), QSettings::IniFormat);
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// 控制器配置
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ui->lineEdit_controller_ip->setText(settings.value("Controller/IP", "192.168.0.88").toString());
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ui->spinBox_controller_port->setValue(settings.value("Controller/Port", 502).toInt());
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// 机械臂配置
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ui->lineEdit_robot_ip->setText(settings.value("Robot/IP", "192.168.58.2").toString());
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// 准备位置
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ui->doubleSpinBox_ready_x->setValue(settings.value("ReadyPosition/X", 0.0).toDouble());
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ui->doubleSpinBox_ready_y->setValue(settings.value("ReadyPosition/Y", 0.0).toDouble());
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ui->doubleSpinBox_ready_z->setValue(settings.value("ReadyPosition/Z", 500.0).toDouble());
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ui->doubleSpinBox_ready_rx->setValue(settings.value("ReadyPosition/RX", 0.0).toDouble());
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ui->doubleSpinBox_ready_ry->setValue(settings.value("ReadyPosition/RY", 0.0).toDouble());
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ui->doubleSpinBox_ready_rz->setValue(settings.value("ReadyPosition/RZ", 0.0).toDouble());
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// 放置位置
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ui->doubleSpinBox_place_x->setValue(settings.value("PlacePosition/X", 500.0).toDouble());
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ui->doubleSpinBox_place_y->setValue(settings.value("PlacePosition/Y", 0.0).toDouble());
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ui->doubleSpinBox_place_z->setValue(settings.value("PlacePosition/Z", 200.0).toDouble());
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ui->doubleSpinBox_place_rx->setValue(settings.value("PlacePosition/RX", 0.0).toDouble());
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ui->doubleSpinBox_place_ry->setValue(settings.value("PlacePosition/RY", 0.0).toDouble());
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ui->doubleSpinBox_place_rz->setValue(settings.value("PlacePosition/RZ", 0.0).toDouble());
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// 抓取偏移
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ui->doubleSpinBox_grasp_offset->setValue(settings.value("Grasp/OffsetZ", -50.0).toDouble());
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// 运动参数
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ui->spinBox_tool->setValue(settings.value("Motion/ToolNumber", 0).toInt());
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ui->doubleSpinBox_velocity->setValue(settings.value("Motion/Velocity", 50.0).toDouble());
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ui->doubleSpinBox_acceleration->setValue(settings.value("Motion/Acceleration", 50.0).toDouble());
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}
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void DialogConfig::saveConfigToFile()
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{
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QSettings settings(GetConfigFilePath(), QSettings::IniFormat);
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// 控制器配置
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settings.setValue("Controller/IP", ui->lineEdit_controller_ip->text());
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settings.setValue("Controller/Port", ui->spinBox_controller_port->value());
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// 机械臂配置
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settings.setValue("Robot/IP", ui->lineEdit_robot_ip->text());
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// 准备位置
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settings.setValue("ReadyPosition/X", ui->doubleSpinBox_ready_x->value());
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settings.setValue("ReadyPosition/Y", ui->doubleSpinBox_ready_y->value());
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settings.setValue("ReadyPosition/Z", ui->doubleSpinBox_ready_z->value());
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settings.setValue("ReadyPosition/RX", ui->doubleSpinBox_ready_rx->value());
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settings.setValue("ReadyPosition/RY", ui->doubleSpinBox_ready_ry->value());
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settings.setValue("ReadyPosition/RZ", ui->doubleSpinBox_ready_rz->value());
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// 放置位置
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settings.setValue("PlacePosition/X", ui->doubleSpinBox_place_x->value());
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settings.setValue("PlacePosition/Y", ui->doubleSpinBox_place_y->value());
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settings.setValue("PlacePosition/Z", ui->doubleSpinBox_place_z->value());
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settings.setValue("PlacePosition/RX", ui->doubleSpinBox_place_rx->value());
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settings.setValue("PlacePosition/RY", ui->doubleSpinBox_place_ry->value());
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settings.setValue("PlacePosition/RZ", ui->doubleSpinBox_place_rz->value());
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// 抓取偏移
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settings.setValue("Grasp/OffsetZ", ui->doubleSpinBox_grasp_offset->value());
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// 运动参数
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settings.setValue("Motion/ToolNumber", ui->spinBox_tool->value());
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settings.setValue("Motion/Velocity", ui->doubleSpinBox_velocity->value());
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settings.setValue("Motion/Acceleration", ui->doubleSpinBox_acceleration->value());
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settings.sync();
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}
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void DialogConfig::loadCurrentConfig()
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{
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// 从配置文件加载
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loadConfigFromFile();
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}
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void DialogConfig::saveConfig()
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{
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if (!m_presenter) {
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return;
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}
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// 保存到配置文件
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saveConfigToFile();
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// 保存准备位置
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m_presenter->SetReadyPosition(
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ui->doubleSpinBox_ready_x->value(),
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ui->doubleSpinBox_ready_y->value(),
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ui->doubleSpinBox_ready_z->value(),
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ui->doubleSpinBox_ready_rx->value(),
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ui->doubleSpinBox_ready_ry->value(),
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ui->doubleSpinBox_ready_rz->value()
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);
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// 保存放置位置
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m_presenter->SetPlacePosition(
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ui->doubleSpinBox_place_x->value(),
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ui->doubleSpinBox_place_y->value(),
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ui->doubleSpinBox_place_z->value(),
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ui->doubleSpinBox_place_rx->value(),
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ui->doubleSpinBox_place_ry->value(),
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ui->doubleSpinBox_place_rz->value()
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);
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// 保存抓取偏移
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m_presenter->SetGraspOffset(ui->doubleSpinBox_grasp_offset->value());
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// 保存运动参数
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m_presenter->SetToolNumber(ui->spinBox_tool->value());
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m_presenter->SetVelocity(ui->doubleSpinBox_velocity->value());
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m_presenter->SetAcceleration(ui->doubleSpinBox_acceleration->value());
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}
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// 静态方法：从配置文件加载配置到Presenter
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void DialogConfig::LoadConfigToPresenter(DemoControlPresenter* presenter)
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{
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if (!presenter) {
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return;
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}
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QSettings settings(GetConfigFilePath(), QSettings::IniFormat);
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// 加载准备位置
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presenter->SetReadyPosition(
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settings.value("ReadyPosition/X", 0.0).toDouble(),
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settings.value("ReadyPosition/Y", 0.0).toDouble(),
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settings.value("ReadyPosition/Z", 500.0).toDouble(),
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settings.value("ReadyPosition/RX", 0.0).toDouble(),
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settings.value("ReadyPosition/RY", 0.0).toDouble(),
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settings.value("ReadyPosition/RZ", 0.0).toDouble()
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);
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// 加载放置位置
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presenter->SetPlacePosition(
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settings.value("PlacePosition/X", 500.0).toDouble(),
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settings.value("PlacePosition/Y", 0.0).toDouble(),
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settings.value("PlacePosition/Z", 200.0).toDouble(),
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settings.value("PlacePosition/RX", 0.0).toDouble(),
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settings.value("PlacePosition/RY", 0.0).toDouble(),
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settings.value("PlacePosition/RZ", 0.0).toDouble()
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);
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// 加载抓取偏移
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presenter->SetGraspOffset(settings.value("Grasp/OffsetZ", -50.0).toDouble());
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// 加载运动参数
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presenter->SetToolNumber(settings.value("Motion/ToolNumber", 0).toInt());
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presenter->SetVelocity(settings.value("Motion/Velocity", 50.0).toDouble());
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presenter->SetAcceleration(settings.value("Motion/Acceleration", 50.0).toDouble());
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}
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void DialogConfig::on_btn_save_clicked()
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{
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saveConfig();
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StyledMessageBox::information(this, "保存成功", "配置已保存，重启后生效");
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accept();
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}
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void DialogConfig::on_btn_cancel_clicked()
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{
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reject();
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}
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void DialogConfig::on_btn_test_controller_clicked()
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{
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if (!m_presenter) {
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return;
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}
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QString ip = ui->lineEdit_controller_ip->text();
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int port = ui->spinBox_controller_port->value();
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// 断开当前连接
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m_presenter->DisconnectController();
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// 尝试连接
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bool success = m_presenter->ConnectToController(ip, port);
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if (success) {
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StyledMessageBox::information(this, "测试成功", "控制器连接成功");
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} else {
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StyledMessageBox::warning(this, "测试失败", "控制器连接失败，请检查IP和端口");
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}
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}
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void DialogConfig::on_btn_test_robot_clicked()
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{
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if (!m_presenter) {
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return;
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}
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QString ip = ui->lineEdit_robot_ip->text();
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// 断开当前连接
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m_presenter->DisconnectRobot();
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// 尝试连接
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bool success = m_presenter->ConnectToRobot(ip);
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if (success) {
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StyledMessageBox::information(this, "测试成功", "机械臂连接成功");
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} else {
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StyledMessageBox::warning(this, "测试失败", "机械臂连接失败，请检查IP地址");
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}
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}
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void DialogConfig::on_btn_test_ready_clicked()
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{
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if (!m_presenter) {
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return;
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}
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if (!m_presenter->IsRobotConnected()) {
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StyledMessageBox::warning(this, "测试失败", "机械臂未连接，请先连接机械臂");
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return;
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}
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// 先保存当前配置到Presenter（不保存到文件）
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m_presenter->SetReadyPosition(
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ui->doubleSpinBox_ready_x->value(),
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ui->doubleSpinBox_ready_y->value(),
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ui->doubleSpinBox_ready_z->value(),
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ui->doubleSpinBox_ready_rx->value(),
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ui->doubleSpinBox_ready_ry->value(),
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ui->doubleSpinBox_ready_rz->value()
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);
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// 测试移动
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bool success = m_presenter->TestMoveToReady();
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if (success) {
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StyledMessageBox::information(this, "测试成功", "机械臂已移动到准备位置");
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} else {
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StyledMessageBox::warning(this, "测试失败", "机械臂移动失败，请检查位置参数");
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}
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}
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void DialogConfig::on_btn_test_place_clicked()
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{
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if (!m_presenter) {
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return;
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}
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if (!m_presenter->IsRobotConnected()) {
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StyledMessageBox::warning(this, "测试失败", "机械臂未连接，请先连接机械臂");
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return;
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}
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// 先保存当前配置到Presenter（不保存到文件）
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m_presenter->SetPlacePosition(
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ui->doubleSpinBox_place_x->value(),
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ui->doubleSpinBox_place_y->value(),
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ui->doubleSpinBox_place_z->value(),
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ui->doubleSpinBox_place_rx->value(),
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ui->doubleSpinBox_place_ry->value(),
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ui->doubleSpinBox_place_rz->value()
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);
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// 测试移动
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bool success = m_presenter->TestMoveToPlace();
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if (success) {
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StyledMessageBox::information(this, "测试成功", "机械臂已移动到放置位置");
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} else {
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StyledMessageBox::warning(this, "测试失败", "机械臂移动失败，请检查位置参数");
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}
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}
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void DialogConfig::on_btn_read_ready_clicked()
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{
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if (!m_presenter) {
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return;
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}
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if (!m_presenter->IsRobotConnected()) {
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StyledMessageBox::warning(this, "读取失败", "机械臂未连接，请先连接机械臂");
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return;
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}
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// 读取当前位置
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double x, y, z, rx, ry, rz;
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bool success = m_presenter->GetCurrentPosition(x, y, z, rx, ry, rz);
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if (success) {
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// 填充到准备位置输入框
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ui->doubleSpinBox_ready_x->setValue(x);
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ui->doubleSpinBox_ready_y->setValue(y);
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ui->doubleSpinBox_ready_z->setValue(z);
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ui->doubleSpinBox_ready_rx->setValue(rx);
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ui->doubleSpinBox_ready_ry->setValue(ry);
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ui->doubleSpinBox_ready_rz->setValue(rz);
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QString message = QString("已读取当前位置到准备位置") +
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QString("\nX=%1, Y=%2, Z=%3").arg(x, 0, 'f', 2).arg(y, 0, 'f', 2).arg(z, 0, 'f', 2) +
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QString("\nRX=%1, RY=%2, RZ=%3").arg(rx, 0, 'f', 2).arg(ry, 0, 'f', 2).arg(rz, 0, 'f', 2);
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StyledMessageBox::information(this, "读取成功", message);
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} else {
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StyledMessageBox::warning(this, "读取失败", "读取机械臂当前位置失败");
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}
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}
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void DialogConfig::on_btn_read_place_clicked()
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{
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if (!m_presenter) {
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return;
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}
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if (!m_presenter->IsRobotConnected()) {
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StyledMessageBox::warning(this, "读取失败", "机械臂未连接，请先连接机械臂");
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return;
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}
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// 读取当前位置
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double x, y, z, rx, ry, rz;
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bool success = m_presenter->GetCurrentPosition(x, y, z, rx, ry, rz);
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if (success) {
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// 填充到放置位置输入框
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ui->doubleSpinBox_place_x->setValue(x);
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ui->doubleSpinBox_place_y->setValue(y);
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ui->doubleSpinBox_place_z->setValue(z);
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ui->doubleSpinBox_place_rx->setValue(rx);
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ui->doubleSpinBox_place_ry->setValue(ry);
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ui->doubleSpinBox_place_rz->setValue(rz);
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QString message = QString("已读取当前位置到放置位置") +
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QString("\nX=%1, Y=%2, Z=%3").arg(x, 0, 'f', 2).arg(y, 0, 'f', 2).arg(z, 0, 'f', 2) +
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QString("\nRX=%1, RY=%2, RZ=%3").arg(rx, 0, 'f', 2).arg(ry, 0, 'f', 2).arg(rz, 0, 'f', 2);
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StyledMessageBox::information(this, "读取成功", message);
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} else {
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StyledMessageBox::warning(this, "读取失败", "读取机械臂当前位置失败");
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}
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}
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