261 lines
9.0 KiB
C++
261 lines
9.0 KiB
C++
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#include "mainwindow.h"
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#include "ui_mainwindow.h"
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#include <QMessageBox>
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#include <QDateTime>
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#include <QBuffer>
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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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{
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ui->setupUi(this);
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// 创建接收器实例
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IBinocularMarkReceiver* pReceiver = nullptr;
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if (IBinocularMarkReceiver::CreateInstance(&pReceiver) == 0 && pReceiver) {
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m_receiver.reset(pReceiver);
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}
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// 连接信号槽
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connect(ui->btn_connect, &QPushButton::clicked, this, &MainWindow::onConnectClicked);
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connect(ui->btn_startWork, &QPushButton::clicked, this, &MainWindow::onStartWorkClicked);
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connect(ui->btn_stopWork, &QPushButton::clicked, this, &MainWindow::onStopWorkClicked);
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connect(ui->btn_singleImage, &QPushButton::clicked, this, &MainWindow::onSingleImageClicked);
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connect(ui->btn_singleDetection, &QPushButton::clicked, this, &MainWindow::onSingleDetectionClicked);
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connect(ui->btn_setExposureTime, &QPushButton::clicked, this, &MainWindow::onSetExposureTimeClicked);
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connect(ui->btn_setGain, &QPushButton::clicked, this, &MainWindow::onSetGainClicked);
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// 设置事件回调
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if (m_receiver) {
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m_receiver->SetEventCallback([this](ReceiverEventType eventType, const std::string& errorMsg) {
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QMetaObject::invokeMethod(this, [this, eventType, errorMsg]() {
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QString msg;
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switch (eventType) {
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case ReceiverEventType::CONNECTED:
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msg = "已连接";
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updateConnectionState(true);
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break;
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case ReceiverEventType::DISCONNECTED:
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msg = "已断开";
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updateConnectionState(false);
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break;
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case ReceiverEventType::CONNECTION_ERROR:
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msg = QString("连接错误: %1").arg(QString::fromStdString(errorMsg));
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updateConnectionState(false);
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break;
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case ReceiverEventType::HEARTBEAT_TIMEOUT:
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msg = "心跳超时";
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updateConnectionState(false);
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break;
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default:
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msg = "未知事件";
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break;
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}
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appendResult(msg);
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ui->statusbar->showMessage(msg);
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});
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});
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// 设置持续检测结果回调
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m_receiver->SetMarkResultCallback([this](const std::vector<VrMark3D>& marks, int64_t timestamp, int errorCode) {
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QMetaObject::invokeMethod(this, [this, marks, timestamp, errorCode]() {
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QString result = QString("[%1] 持续检测结果 (错误码: %2):\n")
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.arg(QDateTime::fromMSecsSinceEpoch(timestamp).toString("hh:mm:ss.zzz"))
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.arg(errorCode);
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if (errorCode == 0 && !marks.empty()) {
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for (const auto& mark : marks) {
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result += QString(" Mark ID=%1: (%.2f, %.2f, %.2f)\n")
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.arg(mark.markID)
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.arg(mark.x, 0, 'f', 2)
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.arg(mark.y, 0, 'f', 2)
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.arg(mark.z, 0, 'f', 2);
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}
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} else {
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result += " 无检测结果\n";
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}
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appendResult(result);
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});
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});
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}
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}
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MainWindow::~MainWindow()
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{
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if (m_receiver && m_receiver->IsConnected()) {
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m_receiver->StopWork();
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m_receiver->Disconnect();
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}
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delete ui;
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}
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void MainWindow::onConnectClicked()
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{
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if (!m_receiver) {
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QMessageBox::warning(this, "错误", "接收器未初始化");
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return;
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}
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if (m_receiver->IsConnected()) {
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m_receiver->Disconnect();
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ui->btn_connect->setText("连接");
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updateConnectionState(false);
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} else {
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QString ip = ui->lineEdit_ip->text();
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uint16_t port = ui->lineEdit_port->text().toUShort();
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int ret = m_receiver->Connect(ip.toStdString(), port);
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if (ret == 0) {
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ui->btn_connect->setText("断开");
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updateConnectionState(true);
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appendResult(QString("正在连接 %1:%2...").arg(ip).arg(port));
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} else {
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QMessageBox::warning(this, "错误", QString("连接失败，错误码: %1").arg(ret));
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}
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}
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}
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void MainWindow::onStartWorkClicked()
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{
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if (!m_receiver || !m_receiver->IsConnected()) return;
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int ret = m_receiver->StartWork();
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if (ret == 0) {
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appendResult("开始持续检测");
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ui->btn_startWork->setEnabled(false);
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ui->btn_stopWork->setEnabled(true);
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} else {
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QMessageBox::warning(this, "错误", QString("启动失败，错误码: %1").arg(ret));
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}
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}
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void MainWindow::onStopWorkClicked()
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{
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if (!m_receiver || !m_receiver->IsConnected()) return;
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int ret = m_receiver->StopWork();
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if (ret == 0) {
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appendResult("停止持续检测");
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ui->btn_startWork->setEnabled(true);
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ui->btn_stopWork->setEnabled(false);
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} else {
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QMessageBox::warning(this, "错误", QString("停止失败，错误码: %1").arg(ret));
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}
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}
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void MainWindow::onSingleImageClicked()
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{
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if (!m_receiver || !m_receiver->IsConnected()) return;
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appendResult("请求单次取图...");
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auto imageData = m_receiver->RequestSingleImage(5000);
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if (imageData.timestamp > 0) {
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displayImage(ui->label_left, imageData.leftImageBase64);
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displayImage(ui->label_right, imageData.rightImageBase64);
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appendResult(QString("取图成功 [%1]")
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.arg(QDateTime::fromMSecsSinceEpoch(imageData.timestamp).toString("hh:mm:ss.zzz")));
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} else {
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appendResult("取图失败或超时");
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}
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}
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void MainWindow::onSingleDetectionClicked()
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{
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if (!m_receiver || !m_receiver->IsConnected()) return;
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appendResult("请求单次检测...");
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auto result = m_receiver->RequestSingleDetection(5000);
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if (result.timestamp > 0) {
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displayImage(ui->label_left, result.leftImageBase64);
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displayImage(ui->label_right, result.rightImageBase64);
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QString msg = QString("检测完成 [%1] (错误码: %2):\n")
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.arg(QDateTime::fromMSecsSinceEpoch(result.timestamp).toString("hh:mm:ss.zzz"))
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.arg(result.errorCode);
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if (result.errorCode == 0 && !result.marks.empty()) {
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for (const auto& mark : result.marks) {
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msg += QString(" Mark ID=%1: (%.2f, %.2f, %.2f)\n")
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.arg(mark.markID)
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.arg(mark.x, 0, 'f', 2)
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.arg(mark.y, 0, 'f', 2)
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.arg(mark.z, 0, 'f', 2);
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}
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} else {
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msg += " 无检测结果\n";
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}
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appendResult(msg);
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} else {
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appendResult("检测失败或超时");
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}
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}
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void MainWindow::onSetExposureTimeClicked()
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{
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if (!m_receiver || !m_receiver->IsConnected()) return;
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double exposureTime = ui->lineEdit_exposure->text().toDouble();
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if (exposureTime <= 0) {
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appendResult("错误：曝光时间必须大于0");
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return;
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}
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int ret = m_receiver->SetExposureTime(exposureTime);
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if (ret == 0) {
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appendResult(QString("设置曝光时间成功：%.2f").arg(exposureTime));
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} else {
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appendResult(QString("设置曝光时间失败，错误码: %1").arg(ret));
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}
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}
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void MainWindow::onSetGainClicked()
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{
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if (!m_receiver || !m_receiver->IsConnected()) return;
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double gain = ui->lineEdit_gain->text().toDouble();
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if (gain <= 0) {
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appendResult("错误：增益必须大于0");
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return;
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}
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int ret = m_receiver->SetGain(gain);
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if (ret == 0) {
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appendResult(QString("设置增益成功：%.2f").arg(gain));
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} else {
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appendResult(QString("设置增益失败，错误码: %1").arg(ret));
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}
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}
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void MainWindow::displayImage(QLabel* label, const std::string& base64Data)
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{
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if (base64Data.empty()) return;
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QByteArray imageData = QByteArray::fromBase64(QByteArray::fromStdString(base64Data));
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QImage image;
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if (image.loadFromData(imageData)) {
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label->setPixmap(QPixmap::fromImage(image).scaled(
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label->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation));
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}
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}
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void MainWindow::appendResult(const QString& text)
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{
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ui->textEdit_result->append(text);
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}
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void MainWindow::updateConnectionState(bool connected)
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{
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ui->btn_startWork->setEnabled(connected);
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ui->btn_stopWork->setEnabled(false);
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ui->btn_singleImage->setEnabled(connected);
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ui->btn_singleDetection->setEnabled(connected);
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ui->btn_setExposureTime->setEnabled(connected);
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ui->btn_setGain->setEnabled(connected);
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ui->lineEdit_ip->setEnabled(!connected);
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ui->lineEdit_port->setEnabled(!connected);
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}
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