921 lines
32 KiB
C++
921 lines
32 KiB
C++
/**
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* @file MainWindow.cpp
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* @brief 机器人控制测试工具主窗口实现
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*/
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#include "MainWindow.h"
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#include <QVBoxLayout>
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#include <QHBoxLayout>
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#include <QGridLayout>
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#include <QGroupBox>
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#include <QLabel>
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#include <QLineEdit>
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#include <QPushButton>
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#include <QSpinBox>
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#include <QDoubleSpinBox>
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#include <QTextEdit>
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#include <QTabWidget>
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#include <QDateTime>
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#include <QMessageBox>
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#include <QSplitter>
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MainWindow::MainWindow(QWidget *parent)
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: QMainWindow(parent)
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, robot_(std::make_unique<FairinoRobotWrapper>())
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, refreshTimer_(new QTimer(this))
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{
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setupUI();
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setupConnections();
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// 显示SDK版本
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lblSDKVersion_->setText(QString("SDK版本: %1").arg(QString::fromStdString(robot_->GetSDKVersion())));
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updateConnectionState(false);
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}
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MainWindow::~MainWindow()
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{
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if (robot_->IsConnected()) {
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robot_->Disconnect();
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}
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}
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void MainWindow::setupUI()
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{
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setWindowTitle("RobotView - 机器人测试工具");
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setMinimumSize(900, 580);
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QWidget* centralWidget = new QWidget(this);
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setCentralWidget(centralWidget);
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QVBoxLayout* mainLayout = new QVBoxLayout(centralWidget);
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mainLayout->setSpacing(5);
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mainLayout->setContentsMargins(5, 5, 5, 5);
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// ========== 顶部连接控制区 ==========
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QGroupBox* groupConnection = new QGroupBox("连接控制", this);
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QHBoxLayout* connLayout = new QHBoxLayout(groupConnection);
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connLayout->addWidget(new QLabel("IP地址:"));
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editIP_ = new QLineEdit("192.168.58.2");
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editIP_->setFixedWidth(150);
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connLayout->addWidget(editIP_);
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btnConnect_ = new QPushButton("连接");
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btnDisconnect_ = new QPushButton("断开");
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btnEnable_ = new QPushButton("上使能");
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btnDisable_ = new QPushButton("下使能");
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btnResetError_ = new QPushButton("清除错误");
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connLayout->addWidget(btnConnect_);
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connLayout->addWidget(btnDisconnect_);
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connLayout->addWidget(btnEnable_);
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connLayout->addWidget(btnDisable_);
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connLayout->addWidget(btnResetError_);
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lblConnectionStatus_ = new QLabel("未连接");
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lblConnectionStatus_->setStyleSheet("color: red; font-weight: bold;");
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connLayout->addWidget(lblConnectionStatus_);
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connLayout->addStretch();
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lblSDKVersion_ = new QLabel("SDK版本: ");
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connLayout->addWidget(lblSDKVersion_);
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mainLayout->addWidget(groupConnection);
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// ========== 中间区域：左侧Tab + 右侧状态 ==========
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QHBoxLayout* middleLayout = new QHBoxLayout();
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middleLayout->setSpacing(5);
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// --- 左侧 Tab 控件 ---
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tabWidget_ = new QTabWidget(this);
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// === Tab 1: 运动控制 ===
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QWidget* tabMotion = new QWidget();
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QVBoxLayout* motionLayout = new QVBoxLayout(tabMotion);
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// 运动参数区
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QGroupBox* groupParams = new QGroupBox("运动参数", tabMotion);
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QHBoxLayout* paramsLayout = new QHBoxLayout(groupParams);
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paramsLayout->addWidget(new QLabel("速度(%):"));
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spinVel_ = new QSpinBox();
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spinVel_->setRange(1, 100);
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spinVel_->setValue(30);
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paramsLayout->addWidget(spinVel_);
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paramsLayout->addWidget(new QLabel("加速度(%):"));
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spinAcc_ = new QSpinBox();
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spinAcc_->setRange(1, 100);
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spinAcc_->setValue(30);
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paramsLayout->addWidget(spinAcc_);
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paramsLayout->addWidget(new QLabel("工具号:"));
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spinTool_ = new QSpinBox();
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spinTool_->setRange(0, 14);
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paramsLayout->addWidget(spinTool_);
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paramsLayout->addWidget(new QLabel("工件号:"));
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spinUser_ = new QSpinBox();
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spinUser_->setRange(0, 14);
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paramsLayout->addWidget(spinUser_);
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paramsLayout->addStretch();
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motionLayout->addWidget(groupParams);
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// 位姿输入区（MoveL 和 MoveJ 共用）
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QGroupBox* groupPose = new QGroupBox("位姿运动 MoveL / MoveJ (mm/deg)", tabMotion);
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QGridLayout* poseLayout = new QGridLayout(groupPose);
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poseLayout->setHorizontalSpacing(5); // 减小水平间距
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QLabel* lblX = new QLabel("X:");
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lblX->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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poseLayout->addWidget(lblX, 0, 0);
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spinPoseX_ = new QDoubleSpinBox();
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spinPoseX_->setRange(-2000, 2000);
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spinPoseX_->setDecimals(2);
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spinPoseX_->setValue(400);
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poseLayout->addWidget(spinPoseX_, 0, 1);
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QLabel* lblY = new QLabel("Y:");
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lblY->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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poseLayout->addWidget(lblY, 0, 2);
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spinPoseY_ = new QDoubleSpinBox();
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spinPoseY_->setRange(-2000, 2000);
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spinPoseY_->setDecimals(2);
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spinPoseY_->setValue(0);
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poseLayout->addWidget(spinPoseY_, 0, 3);
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QLabel* lblZ = new QLabel("Z:");
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lblZ->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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poseLayout->addWidget(lblZ, 0, 4);
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spinPoseZ_ = new QDoubleSpinBox();
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spinPoseZ_->setRange(-2000, 2000);
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spinPoseZ_->setDecimals(2);
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spinPoseZ_->setValue(300);
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poseLayout->addWidget(spinPoseZ_, 0, 5);
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QLabel* lblRx = new QLabel("Rx:");
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lblRx->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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poseLayout->addWidget(lblRx, 1, 0);
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spinPoseRx_ = new QDoubleSpinBox();
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spinPoseRx_->setRange(-180, 180);
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spinPoseRx_->setDecimals(2);
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spinPoseRx_->setValue(180);
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poseLayout->addWidget(spinPoseRx_, 1, 1);
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QLabel* lblRy = new QLabel("Ry:");
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lblRy->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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poseLayout->addWidget(lblRy, 1, 2);
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spinPoseRy_ = new QDoubleSpinBox();
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spinPoseRy_->setRange(-180, 180);
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spinPoseRy_->setDecimals(2);
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spinPoseRy_->setValue(0);
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poseLayout->addWidget(spinPoseRy_, 1, 3);
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QLabel* lblRz = new QLabel("Rz:");
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lblRz->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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poseLayout->addWidget(lblRz, 1, 4);
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spinPoseRz_ = new QDoubleSpinBox();
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spinPoseRz_->setRange(-180, 180);
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spinPoseRz_->setDecimals(2);
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spinPoseRz_->setValue(0);
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poseLayout->addWidget(spinPoseRz_, 1, 5);
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// 按钮行
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QHBoxLayout* poseBtnLayout = new QHBoxLayout();
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btnMoveL_ = new QPushButton("MoveL 直线");
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btnMoveJPose_ = new QPushButton("MoveJ 关节");
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btnSyncPose_ = new QPushButton("同步当前位姿");
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poseBtnLayout->addWidget(btnMoveL_);
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poseBtnLayout->addWidget(btnMoveJPose_);
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poseBtnLayout->addWidget(btnSyncPose_);
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poseBtnLayout->addStretch();
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poseLayout->addLayout(poseBtnLayout, 2, 0, 1, 6);
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motionLayout->addWidget(groupPose);
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// 关节角度输入区
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QGroupBox* groupJoint = new QGroupBox("关节运动 MoveJ (deg)", tabMotion);
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QGridLayout* jointLayout = new QGridLayout(groupJoint);
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jointLayout->setHorizontalSpacing(5);
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QLabel* lblJ1 = new QLabel("J1:");
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lblJ1->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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jointLayout->addWidget(lblJ1, 0, 0);
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spinJoint1_ = new QDoubleSpinBox();
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spinJoint1_->setRange(-180, 180);
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spinJoint1_->setDecimals(2);
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jointLayout->addWidget(spinJoint1_, 0, 1);
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QLabel* lblJ2 = new QLabel("J2:");
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lblJ2->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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jointLayout->addWidget(lblJ2, 0, 2);
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spinJoint2_ = new QDoubleSpinBox();
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spinJoint2_->setRange(-180, 180);
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spinJoint2_->setDecimals(2);
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spinJoint2_->setValue(-45);
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jointLayout->addWidget(spinJoint2_, 0, 3);
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QLabel* lblJ3 = new QLabel("J3:");
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lblJ3->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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jointLayout->addWidget(lblJ3, 0, 4);
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spinJoint3_ = new QDoubleSpinBox();
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spinJoint3_->setRange(-180, 180);
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spinJoint3_->setDecimals(2);
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spinJoint3_->setValue(90);
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jointLayout->addWidget(spinJoint3_, 0, 5);
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QLabel* lblJ4 = new QLabel("J4:");
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lblJ4->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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jointLayout->addWidget(lblJ4, 1, 0);
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spinJoint4_ = new QDoubleSpinBox();
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spinJoint4_->setRange(-180, 180);
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spinJoint4_->setDecimals(2);
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jointLayout->addWidget(spinJoint4_, 1, 1);
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QLabel* lblJ5 = new QLabel("J5:");
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lblJ5->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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jointLayout->addWidget(lblJ5, 1, 2);
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spinJoint5_ = new QDoubleSpinBox();
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spinJoint5_->setRange(-180, 180);
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spinJoint5_->setDecimals(2);
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spinJoint5_->setValue(45);
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jointLayout->addWidget(spinJoint5_, 1, 3);
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QLabel* lblJ6 = new QLabel("J6:");
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lblJ6->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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jointLayout->addWidget(lblJ6, 1, 4);
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spinJoint6_ = new QDoubleSpinBox();
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spinJoint6_->setRange(-180, 180);
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spinJoint6_->setDecimals(2);
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jointLayout->addWidget(spinJoint6_, 1, 5);
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// 按钮行
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QHBoxLayout* jointBtnLayout = new QHBoxLayout();
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btnMoveJJoint_ = new QPushButton("MoveJ 执行");
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btnSyncJoint_ = new QPushButton("同步当前关节");
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jointBtnLayout->addWidget(btnMoveJJoint_);
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jointBtnLayout->addWidget(btnSyncJoint_);
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jointBtnLayout->addStretch();
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jointLayout->addLayout(jointBtnLayout, 2, 0, 1, 6);
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motionLayout->addWidget(groupJoint);
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// 运动控制按钮
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QGroupBox* groupControl = new QGroupBox("运动控制", tabMotion);
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QHBoxLayout* controlLayout = new QHBoxLayout(groupControl);
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btnStop_ = new QPushButton("停止运动");
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btnPause_ = new QPushButton("暂停运动");
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btnResume_ = new QPushButton("恢复运动");
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controlLayout->addWidget(btnStop_);
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controlLayout->addWidget(btnPause_);
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controlLayout->addWidget(btnResume_);
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controlLayout->addStretch();
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motionLayout->addWidget(groupControl);
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tabWidget_->addTab(tabMotion, "运动控制");
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// === Tab 2: 运动学 ===
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QWidget* tabKin = new QWidget();
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QVBoxLayout* kinLayout = new QVBoxLayout(tabKin);
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// 正运动学
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QGroupBox* groupFK = new QGroupBox("正运动学 (关节角度 -> TCP位姿)", tabKin);
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QGridLayout* fkLayout = new QGridLayout(groupFK);
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fkLayout->setHorizontalSpacing(5);
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QLabel* lblFKJ1 = new QLabel("J1:");
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lblFKJ1->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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fkLayout->addWidget(lblFKJ1, 0, 0);
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spinFKJ1_ = new QDoubleSpinBox();
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spinFKJ1_->setRange(-180, 180);
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spinFKJ1_->setDecimals(2);
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fkLayout->addWidget(spinFKJ1_, 0, 1);
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QLabel* lblFKJ2 = new QLabel("J2:");
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lblFKJ2->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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fkLayout->addWidget(lblFKJ2, 0, 2);
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spinFKJ2_ = new QDoubleSpinBox();
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spinFKJ2_->setRange(-180, 180);
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spinFKJ2_->setDecimals(2);
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spinFKJ2_->setValue(-45);
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fkLayout->addWidget(spinFKJ2_, 0, 3);
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QLabel* lblFKJ3 = new QLabel("J3:");
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lblFKJ3->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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fkLayout->addWidget(lblFKJ3, 0, 4);
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spinFKJ3_ = new QDoubleSpinBox();
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spinFKJ3_->setRange(-180, 180);
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spinFKJ3_->setDecimals(2);
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spinFKJ3_->setValue(90);
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fkLayout->addWidget(spinFKJ3_, 0, 5);
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QLabel* lblFKJ4 = new QLabel("J4:");
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lblFKJ4->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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fkLayout->addWidget(lblFKJ4, 1, 0);
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spinFKJ4_ = new QDoubleSpinBox();
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spinFKJ4_->setRange(-180, 180);
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spinFKJ4_->setDecimals(2);
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fkLayout->addWidget(spinFKJ4_, 1, 1);
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QLabel* lblFKJ5 = new QLabel("J5:");
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lblFKJ5->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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fkLayout->addWidget(lblFKJ5, 1, 2);
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spinFKJ5_ = new QDoubleSpinBox();
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spinFKJ5_->setRange(-180, 180);
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spinFKJ5_->setDecimals(2);
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spinFKJ5_->setValue(45);
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fkLayout->addWidget(spinFKJ5_, 1, 3);
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QLabel* lblFKJ6 = new QLabel("J6:");
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lblFKJ6->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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fkLayout->addWidget(lblFKJ6, 1, 4);
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spinFKJ6_ = new QDoubleSpinBox();
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spinFKJ6_->setRange(-180, 180);
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spinFKJ6_->setDecimals(2);
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fkLayout->addWidget(spinFKJ6_, 1, 5);
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btnForwardKin_ = new QPushButton("计算");
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fkLayout->addWidget(btnForwardKin_, 0, 6, 2, 1);
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fkLayout->addWidget(new QLabel("结果:"), 2, 0);
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lblFKResult_ = new QLabel("--");
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lblFKResult_->setWordWrap(true);
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fkLayout->addWidget(lblFKResult_, 2, 1, 1, 6);
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kinLayout->addWidget(groupFK);
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// 逆运动学
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QGroupBox* groupIK = new QGroupBox("逆运动学 (TCP位姿 -> 关节角度)", tabKin);
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QGridLayout* ikLayout = new QGridLayout(groupIK);
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ikLayout->setHorizontalSpacing(5);
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QLabel* lblIKX = new QLabel("X:");
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lblIKX->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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ikLayout->addWidget(lblIKX, 0, 0);
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spinIKX_ = new QDoubleSpinBox();
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spinIKX_->setRange(-2000, 2000);
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spinIKX_->setDecimals(2);
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spinIKX_->setValue(400);
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ikLayout->addWidget(spinIKX_, 0, 1);
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QLabel* lblIKY = new QLabel("Y:");
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lblIKY->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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ikLayout->addWidget(lblIKY, 0, 2);
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spinIKY_ = new QDoubleSpinBox();
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spinIKY_->setRange(-2000, 2000);
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spinIKY_->setDecimals(2);
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ikLayout->addWidget(spinIKY_, 0, 3);
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QLabel* lblIKZ = new QLabel("Z:");
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lblIKZ->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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ikLayout->addWidget(lblIKZ, 0, 4);
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spinIKZ_ = new QDoubleSpinBox();
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spinIKZ_->setRange(-2000, 2000);
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spinIKZ_->setDecimals(2);
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spinIKZ_->setValue(300);
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ikLayout->addWidget(spinIKZ_, 0, 5);
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QLabel* lblIKRx = new QLabel("Rx:");
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lblIKRx->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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ikLayout->addWidget(lblIKRx, 1, 0);
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spinIKRx_ = new QDoubleSpinBox();
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spinIKRx_->setRange(-180, 180);
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spinIKRx_->setDecimals(2);
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spinIKRx_->setValue(180);
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ikLayout->addWidget(spinIKRx_, 1, 1);
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QLabel* lblIKRy = new QLabel("Ry:");
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lblIKRy->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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ikLayout->addWidget(lblIKRy, 1, 2);
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spinIKRy_ = new QDoubleSpinBox();
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spinIKRy_->setRange(-180, 180);
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spinIKRy_->setDecimals(2);
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ikLayout->addWidget(spinIKRy_, 1, 3);
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QLabel* lblIKRz = new QLabel("Rz:");
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lblIKRz->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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ikLayout->addWidget(lblIKRz, 1, 4);
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spinIKRz_ = new QDoubleSpinBox();
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spinIKRz_->setRange(-180, 180);
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spinIKRz_->setDecimals(2);
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ikLayout->addWidget(spinIKRz_, 1, 5);
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btnInverseKin_ = new QPushButton("计算");
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ikLayout->addWidget(btnInverseKin_, 0, 6, 2, 1);
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ikLayout->addWidget(new QLabel("结果:"), 2, 0);
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lblIKResult_ = new QLabel("--");
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lblIKResult_->setWordWrap(true);
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ikLayout->addWidget(lblIKResult_, 2, 1, 1, 6);
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kinLayout->addWidget(groupIK);
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tabWidget_->addTab(tabKin, "运动学");
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middleLayout->addWidget(tabWidget_, 2);
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// --- 右侧状态显示区（始终可见） ---
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QWidget* statusWidget = new QWidget();
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QVBoxLayout* statusMainLayout = new QVBoxLayout(statusWidget);
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statusMainLayout->setContentsMargins(5, 0, 0, 0);
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statusMainLayout->setSpacing(5);
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// 关节状态
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QGroupBox* groupJoints = new QGroupBox("关节位置 (deg)");
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QGridLayout* jointsLayout = new QGridLayout(groupJoints);
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jointsLayout->addWidget(new QLabel("J1:"), 0, 0);
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lblJoint1_ = new QLabel("--");
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lblJoint1_->setStyleSheet("font-weight: bold; color: #2196F3; min-width: 60px;");
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jointsLayout->addWidget(lblJoint1_, 0, 1);
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jointsLayout->addWidget(new QLabel("J2:"), 1, 0);
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||
lblJoint2_ = new QLabel("--");
|
||
lblJoint2_->setStyleSheet("font-weight: bold; color: #2196F3; min-width: 60px;");
|
||
jointsLayout->addWidget(lblJoint2_, 1, 1);
|
||
|
||
jointsLayout->addWidget(new QLabel("J3:"), 2, 0);
|
||
lblJoint3_ = new QLabel("--");
|
||
lblJoint3_->setStyleSheet("font-weight: bold; color: #2196F3; min-width: 60px;");
|
||
jointsLayout->addWidget(lblJoint3_, 2, 1);
|
||
|
||
jointsLayout->addWidget(new QLabel("J4:"), 3, 0);
|
||
lblJoint4_ = new QLabel("--");
|
||
lblJoint4_->setStyleSheet("font-weight: bold; color: #2196F3; min-width: 60px;");
|
||
jointsLayout->addWidget(lblJoint4_, 3, 1);
|
||
|
||
jointsLayout->addWidget(new QLabel("J5:"), 4, 0);
|
||
lblJoint5_ = new QLabel("--");
|
||
lblJoint5_->setStyleSheet("font-weight: bold; color: #2196F3; min-width: 60px;");
|
||
jointsLayout->addWidget(lblJoint5_, 4, 1);
|
||
|
||
jointsLayout->addWidget(new QLabel("J6:"), 5, 0);
|
||
lblJoint6_ = new QLabel("--");
|
||
lblJoint6_->setStyleSheet("font-weight: bold; color: #2196F3; min-width: 60px;");
|
||
jointsLayout->addWidget(lblJoint6_, 5, 1);
|
||
|
||
statusMainLayout->addWidget(groupJoints);
|
||
|
||
// TCP 位姿
|
||
QGroupBox* groupTcp = new QGroupBox("TCP位姿 (mm/deg)");
|
||
QGridLayout* tcpLayout = new QGridLayout(groupTcp);
|
||
|
||
tcpLayout->addWidget(new QLabel("X:"), 0, 0);
|
||
lblTcpX_ = new QLabel("--");
|
||
lblTcpX_->setStyleSheet("font-weight: bold; color: #4CAF50; min-width: 60px;");
|
||
tcpLayout->addWidget(lblTcpX_, 0, 1);
|
||
|
||
tcpLayout->addWidget(new QLabel("Y:"), 1, 0);
|
||
lblTcpY_ = new QLabel("--");
|
||
lblTcpY_->setStyleSheet("font-weight: bold; color: #4CAF50; min-width: 60px;");
|
||
tcpLayout->addWidget(lblTcpY_, 1, 1);
|
||
|
||
tcpLayout->addWidget(new QLabel("Z:"), 2, 0);
|
||
lblTcpZ_ = new QLabel("--");
|
||
lblTcpZ_->setStyleSheet("font-weight: bold; color: #4CAF50; min-width: 60px;");
|
||
tcpLayout->addWidget(lblTcpZ_, 2, 1);
|
||
|
||
tcpLayout->addWidget(new QLabel("Rx:"), 3, 0);
|
||
lblTcpRx_ = new QLabel("--");
|
||
lblTcpRx_->setStyleSheet("font-weight: bold; color: #4CAF50; min-width: 60px;");
|
||
tcpLayout->addWidget(lblTcpRx_, 3, 1);
|
||
|
||
tcpLayout->addWidget(new QLabel("Ry:"), 4, 0);
|
||
lblTcpRy_ = new QLabel("--");
|
||
lblTcpRy_->setStyleSheet("font-weight: bold; color: #4CAF50; min-width: 60px;");
|
||
tcpLayout->addWidget(lblTcpRy_, 4, 1);
|
||
|
||
tcpLayout->addWidget(new QLabel("Rz:"), 5, 0);
|
||
lblTcpRz_ = new QLabel("--");
|
||
lblTcpRz_->setStyleSheet("font-weight: bold; color: #4CAF50; min-width: 60px;");
|
||
tcpLayout->addWidget(lblTcpRz_, 5, 1);
|
||
|
||
statusMainLayout->addWidget(groupTcp);
|
||
|
||
// 机器人状态
|
||
QGroupBox* groupRobotState = new QGroupBox("机器人状态");
|
||
QGridLayout* robotStateLayout = new QGridLayout(groupRobotState);
|
||
|
||
robotStateLayout->addWidget(new QLabel("状态:"), 0, 0);
|
||
lblRobotState_ = new QLabel("--");
|
||
robotStateLayout->addWidget(lblRobotState_, 0, 1);
|
||
|
||
robotStateLayout->addWidget(new QLabel("到位:"), 1, 0);
|
||
lblMotionDone_ = new QLabel("--");
|
||
robotStateLayout->addWidget(lblMotionDone_, 1, 1);
|
||
|
||
robotStateLayout->addWidget(new QLabel("错误:"), 2, 0);
|
||
lblErrorCode_ = new QLabel("--");
|
||
robotStateLayout->addWidget(lblErrorCode_, 2, 1);
|
||
|
||
statusMainLayout->addWidget(groupRobotState);
|
||
|
||
// 刷新控制
|
||
QHBoxLayout* refreshLayout = new QHBoxLayout();
|
||
btnRefreshState_ = new QPushButton("刷新");
|
||
btnAutoRefresh_ = new QPushButton("自动");
|
||
btnAutoRefresh_->setCheckable(true);
|
||
refreshLayout->addWidget(btnRefreshState_);
|
||
refreshLayout->addWidget(btnAutoRefresh_);
|
||
statusMainLayout->addLayout(refreshLayout);
|
||
|
||
statusWidget->setFixedWidth(160);
|
||
middleLayout->addWidget(statusWidget);
|
||
|
||
mainLayout->addLayout(middleLayout, 1);
|
||
|
||
// ========== 底部日志区 ==========
|
||
QGroupBox* groupLog = new QGroupBox("日志", this);
|
||
QVBoxLayout* logLayout = new QVBoxLayout(groupLog);
|
||
textLog_ = new QTextEdit();
|
||
textLog_->setReadOnly(true);
|
||
textLog_->setMaximumHeight(80);
|
||
logLayout->addWidget(textLog_);
|
||
mainLayout->addWidget(groupLog);
|
||
}
|
||
|
||
void MainWindow::setupConnections()
|
||
{
|
||
// 连接控制
|
||
connect(btnConnect_, &QPushButton::clicked, this, &MainWindow::onConnectClicked);
|
||
connect(btnDisconnect_, &QPushButton::clicked, this, &MainWindow::onDisconnectClicked);
|
||
connect(btnEnable_, &QPushButton::clicked, this, &MainWindow::onEnableClicked);
|
||
connect(btnDisable_, &QPushButton::clicked, this, &MainWindow::onDisableClicked);
|
||
connect(btnResetError_, &QPushButton::clicked, this, &MainWindow::onResetErrorClicked);
|
||
|
||
// 运动控制
|
||
connect(btnMoveL_, &QPushButton::clicked, this, &MainWindow::onMoveLClicked);
|
||
connect(btnMoveJPose_, &QPushButton::clicked, this, &MainWindow::onMoveJPoseClicked);
|
||
connect(btnMoveJJoint_, &QPushButton::clicked, this, &MainWindow::onMoveJJointClicked);
|
||
connect(btnStop_, &QPushButton::clicked, this, &MainWindow::onStopClicked);
|
||
connect(btnPause_, &QPushButton::clicked, this, &MainWindow::onPauseClicked);
|
||
connect(btnResume_, &QPushButton::clicked, this, &MainWindow::onResumeClicked);
|
||
|
||
// 同步按钮
|
||
connect(btnSyncPose_, &QPushButton::clicked, this, &MainWindow::onSyncPoseClicked);
|
||
connect(btnSyncJoint_, &QPushButton::clicked, this, &MainWindow::onSyncJointClicked);
|
||
|
||
// 状态刷新
|
||
connect(btnRefreshState_, &QPushButton::clicked, this, &MainWindow::onRefreshStateClicked);
|
||
connect(btnAutoRefresh_, &QPushButton::toggled, this, &MainWindow::onAutoRefreshToggled);
|
||
connect(refreshTimer_, &QTimer::timeout, this, &MainWindow::updateRobotState);
|
||
|
||
// 运动学
|
||
connect(btnForwardKin_, &QPushButton::clicked, this, &MainWindow::onForwardKinClicked);
|
||
connect(btnInverseKin_, &QPushButton::clicked, this, &MainWindow::onInverseKinClicked);
|
||
}
|
||
|
||
void MainWindow::log(const QString& msg)
|
||
{
|
||
QString timestamp = QDateTime::currentDateTime().toString("hh:mm:ss.zzz");
|
||
textLog_->append(QString("[%1] %2").arg(timestamp, msg));
|
||
}
|
||
|
||
void MainWindow::updateConnectionState(bool connected)
|
||
{
|
||
if (connected) {
|
||
lblConnectionStatus_->setText("已连接");
|
||
lblConnectionStatus_->setStyleSheet("color: green; font-weight: bold;");
|
||
} else {
|
||
lblConnectionStatus_->setText("未连接");
|
||
lblConnectionStatus_->setStyleSheet("color: red; font-weight: bold;");
|
||
}
|
||
|
||
btnConnect_->setEnabled(!connected);
|
||
btnDisconnect_->setEnabled(connected);
|
||
btnEnable_->setEnabled(connected);
|
||
btnDisable_->setEnabled(connected);
|
||
btnResetError_->setEnabled(connected);
|
||
btnMoveL_->setEnabled(connected);
|
||
btnMoveJPose_->setEnabled(connected);
|
||
btnMoveJJoint_->setEnabled(connected);
|
||
btnSyncPose_->setEnabled(connected);
|
||
btnSyncJoint_->setEnabled(connected);
|
||
btnStop_->setEnabled(connected);
|
||
btnPause_->setEnabled(connected);
|
||
btnResume_->setEnabled(connected);
|
||
btnRefreshState_->setEnabled(connected);
|
||
btnAutoRefresh_->setEnabled(connected);
|
||
btnForwardKin_->setEnabled(connected);
|
||
btnInverseKin_->setEnabled(connected);
|
||
}
|
||
|
||
// ========== 连接控制槽函数 ==========
|
||
|
||
void MainWindow::onConnectClicked()
|
||
{
|
||
QString ip = editIP_->text().trimmed();
|
||
log(QString("正在连接机器人: %1").arg(ip));
|
||
|
||
errno_t ret = robot_->Connect(ip.toStdString());
|
||
if (ret == ERR_SUCCESS) {
|
||
log("连接成功");
|
||
updateConnectionState(true);
|
||
updateRobotState();
|
||
} else {
|
||
log(QString("连接失败: %1").arg(QString::fromStdString(robot_->GetLastErrorString())));
|
||
updateConnectionState(false);
|
||
}
|
||
}
|
||
|
||
void MainWindow::onDisconnectClicked()
|
||
{
|
||
log("正在断开连接...");
|
||
robot_->Disconnect();
|
||
log("已断开连接");
|
||
updateConnectionState(false);
|
||
btnAutoRefresh_->setChecked(false);
|
||
}
|
||
|
||
void MainWindow::onEnableClicked()
|
||
{
|
||
errno_t ret = robot_->RobotEnable(1);
|
||
if (ret == ERR_SUCCESS) {
|
||
log("机器人已上使能");
|
||
} else {
|
||
log(QString("上使能失败: %1").arg(QString::fromStdString(robot_->GetLastErrorString())));
|
||
}
|
||
}
|
||
|
||
void MainWindow::onDisableClicked()
|
||
{
|
||
errno_t ret = robot_->RobotEnable(0);
|
||
if (ret == ERR_SUCCESS) {
|
||
log("机器人已下使能");
|
||
} else {
|
||
log(QString("下使能失败: %1").arg(QString::fromStdString(robot_->GetLastErrorString())));
|
||
}
|
||
}
|
||
|
||
void MainWindow::onResetErrorClicked()
|
||
{
|
||
errno_t ret = robot_->ResetAllError();
|
||
if (ret == ERR_SUCCESS) {
|
||
log("错误已清除");
|
||
} else {
|
||
log(QString("清除错误失败: %1").arg(QString::fromStdString(robot_->GetLastErrorString())));
|
||
}
|
||
}
|
||
|
||
// ========== 运动控制槽函数 ==========
|
||
|
||
void MainWindow::onMoveLClicked()
|
||
{
|
||
double x = spinPoseX_->value();
|
||
double y = spinPoseY_->value();
|
||
double z = spinPoseZ_->value();
|
||
double rx = spinPoseRx_->value();
|
||
double ry = spinPoseRy_->value();
|
||
double rz = spinPoseRz_->value();
|
||
float vel = spinVel_->value();
|
||
float acc = spinAcc_->value();
|
||
int tool = spinTool_->value();
|
||
int user = spinUser_->value();
|
||
|
||
log(QString("MoveL: X=%1, Y=%2, Z=%3, Rx=%4, Ry=%5, Rz=%6").arg(x).arg(y).arg(z).arg(rx).arg(ry).arg(rz));
|
||
|
||
errno_t ret = robot_->MoveL(x, y, z, rx, ry, rz, vel, acc, -1.0f, tool, user);
|
||
if (ret == ERR_SUCCESS) {
|
||
log("MoveL 指令已发送");
|
||
} else {
|
||
log(QString("MoveL 失败: %1").arg(QString::fromStdString(robot_->GetLastErrorString())));
|
||
}
|
||
}
|
||
|
||
void MainWindow::onMoveJPoseClicked()
|
||
{
|
||
double x = spinPoseX_->value();
|
||
double y = spinPoseY_->value();
|
||
double z = spinPoseZ_->value();
|
||
double rx = spinPoseRx_->value();
|
||
double ry = spinPoseRy_->value();
|
||
double rz = spinPoseRz_->value();
|
||
float vel = spinVel_->value();
|
||
float acc = spinAcc_->value();
|
||
int tool = spinTool_->value();
|
||
int user = spinUser_->value();
|
||
|
||
log(QString("MoveJ(Pose): X=%1, Y=%2, Z=%3, Rx=%4, Ry=%5, Rz=%6").arg(x).arg(y).arg(z).arg(rx).arg(ry).arg(rz));
|
||
|
||
errno_t ret = robot_->MoveJByPose(x, y, z, rx, ry, rz, vel, acc, -1.0f, tool, user);
|
||
if (ret == ERR_SUCCESS) {
|
||
log("MoveJ(Pose) 指令已发送");
|
||
} else {
|
||
log(QString("MoveJ(Pose) 失败: %1").arg(QString::fromStdString(robot_->GetLastErrorString())));
|
||
}
|
||
}
|
||
|
||
void MainWindow::onMoveJJointClicked()
|
||
{
|
||
double j1 = spinJoint1_->value();
|
||
double j2 = spinJoint2_->value();
|
||
double j3 = spinJoint3_->value();
|
||
double j4 = spinJoint4_->value();
|
||
double j5 = spinJoint5_->value();
|
||
double j6 = spinJoint6_->value();
|
||
float vel = spinVel_->value();
|
||
float acc = spinAcc_->value();
|
||
int tool = spinTool_->value();
|
||
int user = spinUser_->value();
|
||
|
||
log(QString("MoveJ(Joint): J1=%1, J2=%2, J3=%3, J4=%4, J5=%5, J6=%6").arg(j1).arg(j2).arg(j3).arg(j4).arg(j5).arg(j6));
|
||
|
||
errno_t ret = robot_->MoveJByJoint(j1, j2, j3, j4, j5, j6, vel, acc, -1.0f, tool, user);
|
||
if (ret == ERR_SUCCESS) {
|
||
log("MoveJ(Joint) 指令已发送");
|
||
} else {
|
||
log(QString("MoveJ(Joint) 失败: %1").arg(QString::fromStdString(robot_->GetLastErrorString())));
|
||
}
|
||
}
|
||
|
||
void MainWindow::onStopClicked()
|
||
{
|
||
errno_t ret = robot_->StopMotion();
|
||
if (ret == ERR_SUCCESS) {
|
||
log("运动已停止");
|
||
} else {
|
||
log(QString("停止失败: %1").arg(QString::fromStdString(robot_->GetLastErrorString())));
|
||
}
|
||
}
|
||
|
||
void MainWindow::onPauseClicked()
|
||
{
|
||
errno_t ret = robot_->PauseMotion();
|
||
if (ret == ERR_SUCCESS) {
|
||
log("运动已暂停");
|
||
} else {
|
||
log(QString("暂停失败: %1").arg(QString::fromStdString(robot_->GetLastErrorString())));
|
||
}
|
||
}
|
||
|
||
void MainWindow::onResumeClicked()
|
||
{
|
||
errno_t ret = robot_->ResumeMotion();
|
||
if (ret == ERR_SUCCESS) {
|
||
log("运动已恢复");
|
||
} else {
|
||
log(QString("恢复失败: %1").arg(QString::fromStdString(robot_->GetLastErrorString())));
|
||
}
|
||
}
|
||
|
||
// ========== 同步位置槽函数 ==========
|
||
|
||
void MainWindow::onSyncPoseClicked()
|
||
{
|
||
double x, y, z, rx, ry, rz;
|
||
if (robot_->GetCurrentTCPPose(x, y, z, rx, ry, rz) == ERR_SUCCESS) {
|
||
spinPoseX_->setValue(x);
|
||
spinPoseY_->setValue(y);
|
||
spinPoseZ_->setValue(z);
|
||
spinPoseRx_->setValue(rx);
|
||
spinPoseRy_->setValue(ry);
|
||
spinPoseRz_->setValue(rz);
|
||
log("已同步当前位姿到输入框");
|
||
} else {
|
||
log(QString("获取位姿失败: %1").arg(QString::fromStdString(robot_->GetLastErrorString())));
|
||
}
|
||
}
|
||
|
||
void MainWindow::onSyncJointClicked()
|
||
{
|
||
double j1, j2, j3, j4, j5, j6;
|
||
if (robot_->GetCurrentJointPos(j1, j2, j3, j4, j5, j6) == ERR_SUCCESS) {
|
||
spinJoint1_->setValue(j1);
|
||
spinJoint2_->setValue(j2);
|
||
spinJoint3_->setValue(j3);
|
||
spinJoint4_->setValue(j4);
|
||
spinJoint5_->setValue(j5);
|
||
spinJoint6_->setValue(j6);
|
||
log("已同步当前关节到输入框");
|
||
} else {
|
||
log(QString("获取关节失败: %1").arg(QString::fromStdString(robot_->GetLastErrorString())));
|
||
}
|
||
}
|
||
|
||
// ========== 状态刷新槽函数 ==========
|
||
|
||
void MainWindow::onRefreshStateClicked()
|
||
{
|
||
updateRobotState();
|
||
}
|
||
|
||
void MainWindow::onAutoRefreshToggled(bool checked)
|
||
{
|
||
if (checked) {
|
||
refreshTimer_->start(200); // 200ms 刷新一次
|
||
log("自动刷新已开启");
|
||
} else {
|
||
refreshTimer_->stop();
|
||
log("自动刷新已关闭");
|
||
}
|
||
}
|
||
|
||
void MainWindow::updateRobotState()
|
||
{
|
||
if (!robot_->IsConnected()) return;
|
||
|
||
// 获取关节位置
|
||
double j1, j2, j3, j4, j5, j6;
|
||
if (robot_->GetCurrentJointPos(j1, j2, j3, j4, j5, j6) == ERR_SUCCESS) {
|
||
lblJoint1_->setText(QString::number(j1, 'f', 2));
|
||
lblJoint2_->setText(QString::number(j2, 'f', 2));
|
||
lblJoint3_->setText(QString::number(j3, 'f', 2));
|
||
lblJoint4_->setText(QString::number(j4, 'f', 2));
|
||
lblJoint5_->setText(QString::number(j5, 'f', 2));
|
||
lblJoint6_->setText(QString::number(j6, 'f', 2));
|
||
}
|
||
|
||
// 获取TCP位姿
|
||
double x, y, z, rx, ry, rz;
|
||
if (robot_->GetCurrentTCPPose(x, y, z, rx, ry, rz) == ERR_SUCCESS) {
|
||
lblTcpX_->setText(QString::number(x, 'f', 2));
|
||
lblTcpY_->setText(QString::number(y, 'f', 2));
|
||
lblTcpZ_->setText(QString::number(z, 'f', 2));
|
||
lblTcpRx_->setText(QString::number(rx, 'f', 2));
|
||
lblTcpRy_->setText(QString::number(ry, 'f', 2));
|
||
lblTcpRz_->setText(QString::number(rz, 'f', 2));
|
||
}
|
||
|
||
// 获取运动状态
|
||
uint8_t motionDone;
|
||
if (robot_->GetMotionDone(motionDone) == ERR_SUCCESS) {
|
||
lblMotionDone_->setText(motionDone ? "是" : "否");
|
||
}
|
||
|
||
// 获取错误码
|
||
int maincode, subcode;
|
||
if (robot_->GetErrorCode(maincode, subcode) == ERR_SUCCESS) {
|
||
lblErrorCode_->setText(QString("%1/%2").arg(maincode).arg(subcode));
|
||
if (maincode != 0) {
|
||
lblErrorCode_->setStyleSheet("color: red; font-weight: bold;");
|
||
} else {
|
||
lblErrorCode_->setStyleSheet("color: green;");
|
||
}
|
||
}
|
||
|
||
// 获取机器人状态
|
||
ROBOT_STATE_PKG state;
|
||
if (robot_->GetRobotState(state) == ERR_SUCCESS) {
|
||
QString stateStr;
|
||
switch (state.robot_state) {
|
||
case 1: stateStr = "停止"; break;
|
||
case 2: stateStr = "运行"; break;
|
||
case 3: stateStr = "暂停"; break;
|
||
case 4: stateStr = "拖动"; break;
|
||
default: stateStr = QString("未知(%1)").arg(state.robot_state);
|
||
}
|
||
lblRobotState_->setText(stateStr);
|
||
}
|
||
}
|
||
|
||
// ========== 运动学槽函数 ==========
|
||
|
||
void MainWindow::onForwardKinClicked()
|
||
{
|
||
double j1 = spinFKJ1_->value();
|
||
double j2 = spinFKJ2_->value();
|
||
double j3 = spinFKJ3_->value();
|
||
double j4 = spinFKJ4_->value();
|
||
double j5 = spinFKJ5_->value();
|
||
double j6 = spinFKJ6_->value();
|
||
|
||
double x, y, z, rx, ry, rz;
|
||
errno_t ret = robot_->ForwardKinematics(j1, j2, j3, j4, j5, j6, x, y, z, rx, ry, rz);
|
||
|
||
if (ret == ERR_SUCCESS) {
|
||
lblFKResult_->setText(QString("X=%1, Y=%2, Z=%3, Rx=%4, Ry=%5, Rz=%6")
|
||
.arg(x, 0, 'f', 2).arg(y, 0, 'f', 2).arg(z, 0, 'f', 2)
|
||
.arg(rx, 0, 'f', 2).arg(ry, 0, 'f', 2).arg(rz, 0, 'f', 2));
|
||
log("正运动学计算完成");
|
||
} else {
|
||
lblFKResult_->setText(QString("计算失败: %1").arg(QString::fromStdString(robot_->GetLastErrorString())));
|
||
}
|
||
}
|
||
|
||
void MainWindow::onInverseKinClicked()
|
||
{
|
||
double x = spinIKX_->value();
|
||
double y = spinIKY_->value();
|
||
double z = spinIKZ_->value();
|
||
double rx = spinIKRx_->value();
|
||
double ry = spinIKRy_->value();
|
||
double rz = spinIKRz_->value();
|
||
|
||
double j1, j2, j3, j4, j5, j6;
|
||
errno_t ret = robot_->InverseKinematics(x, y, z, rx, ry, rz, j1, j2, j3, j4, j5, j6);
|
||
|
||
if (ret == ERR_SUCCESS) {
|
||
lblIKResult_->setText(QString("J1=%1, J2=%2, J3=%3, J4=%4, J5=%5, J6=%6")
|
||
.arg(j1, 0, 'f', 2).arg(j2, 0, 'f', 2).arg(j3, 0, 'f', 2)
|
||
.arg(j4, 0, 'f', 2).arg(j5, 0, 'f', 2).arg(j6, 0, 'f', 2));
|
||
log("逆运动学计算完成");
|
||
} else {
|
||
lblIKResult_->setText(QString("计算失败: %1").arg(QString::fromStdString(robot_->GetLastErrorString())));
|
||
}
|
||
}
|