308 lines
9.3 KiB
C++
308 lines
9.3 KiB
C++
#include "WorkflowWidget.h"
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#include <QPainter>
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#include <QVBoxLayout>
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#include <QHBoxLayout>
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#include <QFont>
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#include <QGroupBox>
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WorkflowWidget::WorkflowWidget(QWidget *parent)
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: QWidget(parent)
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{
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setupUI();
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}
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void WorkflowWidget::setupUI()
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{
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// 设置背景色
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setStyleSheet("background-color: rgb(37, 38, 42);");
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// 创建主布局
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QVBoxLayout* mainLayout = new QVBoxLayout(this);
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mainLayout->setContentsMargins(20, 10, 20, 10);
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mainLayout->setSpacing(8);
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// 创建步骤标签
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QFont stepFont;
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stepFont.setPointSize(14);
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stepFont.setBold(false);
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// 步骤1-4: 检测阶段
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QGroupBox* detectGroup = new QGroupBox("检测阶段");
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detectGroup->setStyleSheet(
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"QGroupBox {"
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" color: rgb(239, 241, 245);"
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" font-size: 15pt;"
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" font-weight: bold;"
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" border: 2px solid rgb(60, 120, 180);"
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" border-radius: 6px;"
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" margin-top: 10px;"
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" padding-top: 8px;"
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"}"
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"QGroupBox::title {"
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" subcontrol-origin: margin;"
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" left: 12px;"
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" padding: 0 6px;"
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"}"
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);
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QVBoxLayout* detectLayout = new QVBoxLayout(detectGroup);
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detectLayout->setSpacing(6);
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// 步骤1-4
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for (int i = 0; i < 4; ++i) {
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m_stepLabels[i] = new QLabel();
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m_stepLabels[i]->setFont(stepFont);
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m_stepLabels[i]->setStyleSheet(
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"color: rgb(150, 150, 150);"
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"padding: 6px 8px;"
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"border-left: 4px solid rgb(60, 60, 60);"
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"background-color: rgb(45, 46, 50);"
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"border-radius: 3px;"
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);
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detectLayout->addWidget(m_stepLabels[i]);
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}
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m_stepLabels[0]->setText("1. 机械臂运行到准备位置");
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m_stepLabels[1]->setText("2. 触发控制器检测");
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m_stepLabels[2]->setText("3. 等待检测完成");
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m_stepLabels[3]->setText("4. 读取检测结果");
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mainLayout->addWidget(detectGroup);
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// 结果显示区域
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m_resultLabel = new QLabel("检测结果: 等待检测...");
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m_resultLabel->setFont(stepFont);
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m_resultLabel->setStyleSheet(
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"color: rgb(100, 150, 255);"
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"padding: 8px 10px;"
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"background-color: rgb(45, 46, 50);"
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"border: 2px solid rgb(60, 120, 180);"
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"border-radius: 6px;"
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"font-size: 13pt;"
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);
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m_resultLabel->setWordWrap(true);
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m_resultLabel->setMinimumHeight(100);
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mainLayout->addWidget(m_resultLabel);
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// 步骤5-8: 执行阶段
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QGroupBox* executeGroup = new QGroupBox("执行阶段");
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executeGroup->setStyleSheet(
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"QGroupBox {"
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" color: rgb(239, 241, 245);"
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" font-size: 15pt;"
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" font-weight: bold;"
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" border: 2px solid rgb(100, 180, 120);"
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" border-radius: 6px;"
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" margin-top: 10px;"
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" padding-top: 8px;"
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"}"
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"QGroupBox::title {"
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" subcontrol-origin: margin;"
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" left: 12px;"
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" padding: 0 6px;"
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"}"
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);
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QVBoxLayout* executeLayout = new QVBoxLayout(executeGroup);
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executeLayout->setSpacing(6);
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// 步骤5-8
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for (int i = 4; i < 8; ++i) {
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m_stepLabels[i] = new QLabel();
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m_stepLabels[i]->setFont(stepFont);
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m_stepLabels[i]->setStyleSheet(
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"color: rgb(150, 150, 150);"
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"padding: 6px 8px;"
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"border-left: 4px solid rgb(60, 60, 60);"
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"background-color: rgb(45, 46, 50);"
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"border-radius: 3px;"
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);
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executeLayout->addWidget(m_stepLabels[i]);
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}
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m_stepLabels[4]->setText("5. 机械臂移动到抓取位置");
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m_stepLabels[5]->setText("6. 执行抓取");
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m_stepLabels[6]->setText("7. 机械臂移动到放置位置");
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m_stepLabels[7]->setText("8. 执行放置");
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mainLayout->addWidget(executeGroup);
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// 添加弹性空间
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mainLayout->addStretch();
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}
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void WorkflowWidget::updateStep(WorkflowStep step)
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{
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// 重置所有步骤为默认样式（未执行）
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for (int i = 0; i < 8; ++i) {
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m_stepLabels[i]->setStyleSheet(
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"color: rgb(150, 150, 150);"
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"padding: 6px 8px;"
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"border-left: 4px solid rgb(60, 60, 60);"
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"background-color: rgb(45, 46, 50);"
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"border-radius: 3px;"
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);
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}
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// 当前正在执行的步骤样式（橙色高亮）
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QString activeStyle =
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"color: rgb(255, 255, 255);"
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"font-weight: bold;"
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"padding: 6px 8px;"
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"border-left: 4px solid rgb(255, 165, 0);"
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"background-color: rgb(80, 60, 30);"
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"border-radius: 3px;";
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// 已完成的步骤样式（绿色）
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QString completedStyle =
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"color: rgb(200, 255, 200);"
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"padding: 6px 8px;"
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"border-left: 4px solid rgb(100, 200, 100);"
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"background-color: rgb(40, 60, 45);"
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"border-radius: 3px;";
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// 错误步骤样式（红色）
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QString errorStyle =
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"color: rgb(255, 255, 255);"
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"font-weight: bold;"
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"padding: 6px 8px;"
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"border-left: 4px solid rgb(255, 80, 80);"
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"background-color: rgb(80, 40, 40);"
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"border-radius: 3px;";
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switch (step) {
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case WorkflowStep::Idle:
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break;
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case WorkflowStep::MovingToReady:
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m_stepLabels[0]->setStyleSheet(activeStyle);
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break;
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case WorkflowStep::TriggeringDetection:
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m_stepLabels[0]->setStyleSheet(completedStyle);
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m_stepLabels[1]->setStyleSheet(activeStyle);
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break;
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case WorkflowStep::WaitingDetectionComplete:
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m_stepLabels[0]->setStyleSheet(completedStyle);
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m_stepLabels[1]->setStyleSheet(completedStyle);
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m_stepLabels[2]->setStyleSheet(activeStyle);
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break;
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case WorkflowStep::ReadingResult:
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m_stepLabels[0]->setStyleSheet(completedStyle);
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m_stepLabels[1]->setStyleSheet(completedStyle);
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m_stepLabels[2]->setStyleSheet(completedStyle);
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m_stepLabels[3]->setStyleSheet(activeStyle);
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break;
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case WorkflowStep::MovingToGrasp:
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for (int i = 0; i < 4; ++i) {
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m_stepLabels[i]->setStyleSheet(completedStyle);
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}
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m_stepLabels[4]->setStyleSheet(activeStyle);
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break;
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case WorkflowStep::Grasping:
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for (int i = 0; i < 5; ++i) {
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m_stepLabels[i]->setStyleSheet(completedStyle);
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}
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m_stepLabels[5]->setStyleSheet(activeStyle);
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break;
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case WorkflowStep::MovingToPlace:
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for (int i = 0; i < 6; ++i) {
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m_stepLabels[i]->setStyleSheet(completedStyle);
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}
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m_stepLabels[6]->setStyleSheet(activeStyle);
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break;
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case WorkflowStep::Placing:
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for (int i = 0; i < 7; ++i) {
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m_stepLabels[i]->setStyleSheet(completedStyle);
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}
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m_stepLabels[7]->setStyleSheet(activeStyle);
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break;
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case WorkflowStep::Completed:
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for (int i = 0; i < 8; ++i) {
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m_stepLabels[i]->setStyleSheet(completedStyle);
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}
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break;
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case WorkflowStep::Error:
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// 错误状态，找到当前步骤显示为红色
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for (int i = 0; i < 8; ++i) {
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QString currentStyle = m_stepLabels[i]->styleSheet();
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if (currentStyle.contains("bold")) {
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m_stepLabels[i]->setStyleSheet(errorStyle);
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break;
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}
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}
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break;
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default:
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break;
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}
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}
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void WorkflowWidget::updateDetectionResult(const DetectionResult& result)
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{
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if (!result.valid) {
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m_resultLabel->setText("检测结果: 无效");
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m_resultLabel->setStyleSheet(
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"color: rgb(255, 100, 100);"
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"padding: 15px;"
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"background-color: rgb(60, 45, 45);"
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"border: 2px solid rgb(255, 100, 100);"
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"border-radius: 8px;"
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"font-size: 14pt;"
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);
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return;
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}
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QString resultText = QString(
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"检测结果:\n"
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"X: %1 mm Y: %2 mm Z: %3 mm\n"
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"Roll: %4° Pitch: %5° Yaw: %6°"
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).arg(result.x, 0, 'f', 2)
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.arg(result.y, 0, 'f', 2)
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.arg(result.z, 0, 'f', 2)
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.arg(result.roll, 0, 'f', 2)
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.arg(result.pitch, 0, 'f', 2)
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.arg(result.yaw, 0, 'f', 2);
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m_resultLabel->setText(resultText);
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m_resultLabel->setStyleSheet(
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"color: rgb(100, 200, 100);"
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"padding: 15px;"
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"background-color: rgb(45, 55, 50);"
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"border: 2px solid rgb(100, 200, 100);"
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"border-radius: 8px;"
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"font-size: 14pt;"
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);
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}
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void WorkflowWidget::reset()
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{
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// 重置所有步骤为默认样式
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for (int i = 0; i < 8; ++i) {
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m_stepLabels[i]->setStyleSheet(
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"color: rgb(150, 150, 150);"
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"padding: 6px 8px;"
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"border-left: 4px solid rgb(60, 60, 60);"
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"background-color: rgb(45, 46, 50);"
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"border-radius: 3px;"
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);
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}
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// 重置结果显示
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m_resultLabel->setText("检测结果: 等待检测...");
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m_resultLabel->setStyleSheet(
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"color: rgb(100, 150, 255);"
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"padding: 8px 10px;"
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"background-color: rgb(45, 46, 50);"
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"border: 2px solid rgb(60, 120, 180);"
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"border-radius: 6px;"
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"font-size: 13pt;"
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);
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}
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