487 lines
18 KiB
C++
487 lines
18 KiB
C++
#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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#include <QPainter>
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#include <QPushButton>
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#include <QTextEdit>
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#include <QVBoxLayout>
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#include <QGroupBox>
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#include <QFileDialog>
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#include <QFile>
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#include <QTextStream>
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MainWindow::MainWindow(QWidget *parent)
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: QMainWindow(parent)
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, ui(new Ui::MainWindow)
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, m_continuousImageTimer(new QTimer(this))
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, m_isContinuousImageRunning(false)
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, m_continuousDetectionTimer(new QTimer(this))
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, m_isContinuousDetectionRunning(false)
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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_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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connect(ui->btn_continuousImage, &QPushButton::clicked, this, &MainWindow::onContinuousImageClicked);
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connect(ui->btn_startContinuousImageStream, &QPushButton::clicked, this, &MainWindow::onContinuousImageStreamClicked);
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connect(ui->btn_loadCalibrationFile, &QPushButton::clicked, this, &MainWindow::onLoadCalibrationFileClicked);
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connect(ui->btn_getCalibration, &QPushButton::clicked, this, &MainWindow::onGetCalibrationClicked);
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connect(ui->btn_setCalibration, &QPushButton::clicked, this, &MainWindow::onSetCalibrationClicked);
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// 连接定时器
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connect(m_continuousImageTimer, &QTimer::timeout, this, &MainWindow::onContinuousImageTimeout);
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connect(m_continuousDetectionTimer, &QTimer::timeout, this, &MainWindow::onContinuousDetectionTimeout);
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// 设置三个分组框的拉伸因子
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ui->horizontalLayout_bottom->setStretch(0, 2); // groupBox_result
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ui->horizontalLayout_bottom->setStretch(1, 1); // groupBox_control
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ui->horizontalLayout_bottom->setStretch(2, 1); // groupBox_params
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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: (%2, %3, %4)\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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// 设置图像回调
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m_receiver->SetImageCallback([this](const std::string& leftImageBase64, const std::string& rightImageBase64, int64_t timestamp) {
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QMetaObject::invokeMethod(this, [this, leftImageBase64, rightImageBase64]() {
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displayImage(ui->label_left, leftImageBase64);
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displayImage(ui->label_right, rightImageBase64);
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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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auto leftInfo = m_receiver->GetCameraInfo(SVrCameraEnum::LEFT);
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auto rightInfo = m_receiver->GetCameraInfo(SVrCameraEnum::RIGHT);
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m_leftCameraSN = QString::fromStdString(leftInfo.serialNumber);
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m_rightCameraSN = QString::fromStdString(rightInfo.serialNumber);
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if (m_leftCameraSN.isEmpty()) m_leftCameraSN = "0";
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if (m_rightCameraSN.isEmpty()) m_rightCameraSN = "1";
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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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if (ui->btn_startWork->text() == "开始持续检测") {
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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->setText("停止持续检测");
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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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} else {
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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->setText("开始持续检测");
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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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}
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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: (%2, %3, %4)\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(SVrCameraEnum::BOTH, 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(SVrCameraEnum::BOTH, 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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QPixmap pixmap = QPixmap::fromImage(image);
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if (label == ui->label_left) {
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m_leftPixmap = pixmap;
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} else if (label == ui->label_right) {
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m_rightPixmap = pixmap;
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}
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QPixmap scaledPixmap = pixmap.scaled(label->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
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QPainter painter(&scaledPixmap);
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painter.setPen(Qt::yellow);
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painter.setFont(QFont("Arial", 12, QFont::Bold));
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QString sn = (label == ui->label_left) ? m_leftCameraSN : m_rightCameraSN;
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if (!sn.isEmpty()) {
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painter.drawText(10, 20, "SN: " + sn);
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}
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label->setPixmap(scaledPixmap);
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}
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}
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void MainWindow::updateImageDisplay()
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{
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if (!m_leftPixmap.isNull()) {
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QPixmap scaledPixmap = m_leftPixmap.scaled(ui->label_left->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
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QPainter painter(&scaledPixmap);
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painter.setPen(Qt::yellow);
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painter.setFont(QFont("Arial", 12, QFont::Bold));
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if (!m_leftCameraSN.isEmpty()) {
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painter.drawText(10, 20, "SN: " + m_leftCameraSN);
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}
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ui->label_left->setPixmap(scaledPixmap);
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}
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if (!m_rightPixmap.isNull()) {
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QPixmap scaledPixmap = m_rightPixmap.scaled(ui->label_right->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
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QPainter painter(&scaledPixmap);
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painter.setPen(Qt::yellow);
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painter.setFont(QFont("Arial", 12, QFont::Bold));
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if (!m_rightCameraSN.isEmpty()) {
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painter.drawText(10, 20, "SN: " + m_rightCameraSN);
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}
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ui->label_right->setPixmap(scaledPixmap);
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}
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}
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void MainWindow::resizeEvent(QResizeEvent* event)
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{
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QMainWindow::resizeEvent(event);
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updateImageDisplay();
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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_singleImage->setEnabled(connected);
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ui->btn_singleDetection->setEnabled(connected);
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ui->btn_continuousImage->setEnabled(connected);
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ui->btn_startContinuousImageStream->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->btn_getCalibration->setEnabled(connected);
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ui->btn_setCalibration->setEnabled(connected);
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ui->lineEdit_ip->setEnabled(!connected);
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ui->lineEdit_port->setEnabled(!connected);
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if (connected) {
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ui->btn_startWork->setText("开始持续检测");
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ui->btn_startContinuousImageStream->setText("开始持续图像流");
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}
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}
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void MainWindow::onContinuousImageClicked()
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{
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if (!m_receiver || !m_receiver->IsConnected()) return;
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if (m_isContinuousImageRunning) {
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m_continuousImageTimer->stop();
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m_isContinuousImageRunning = false;
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ui->btn_continuousImage->setText("连续取图");
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appendResult("停止连续取图");
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} else {
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m_continuousImageTimer->start(100);
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m_isContinuousImageRunning = true;
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ui->btn_continuousImage->setText("停止连续取图");
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appendResult("开始连续取图");
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}
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}
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void MainWindow::onContinuousImageTimeout()
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{
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if (!m_receiver || !m_receiver->IsConnected()) return;
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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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}
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}
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void MainWindow::onContinuousDetectionClicked()
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{
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if (!m_receiver || !m_receiver->IsConnected()) return;
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if (m_isContinuousDetectionRunning) {
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m_continuousDetectionTimer->stop();
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m_isContinuousDetectionRunning = false;
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appendResult("停止连续单次检测");
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} else {
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m_continuousDetectionTimer->start(100);
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m_isContinuousDetectionRunning = true;
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appendResult("开始连续单次检测");
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}
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}
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void MainWindow::onContinuousDetectionTimeout()
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{
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if (!m_receiver || !m_receiver->IsConnected()) return;
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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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}
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}
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void MainWindow::onContinuousImageStreamClicked()
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{
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if (!m_receiver || !m_receiver->IsConnected()) return;
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if (ui->btn_startContinuousImageStream->text() == "开始持续图像流") {
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int ret = m_receiver->StartCapture();
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if (ret == 0) {
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appendResult("开始持续图像流");
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ui->btn_startContinuousImageStream->setText("停止持续图像流");
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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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} else {
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int ret = m_receiver->StopCapture();
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if (ret == 0) {
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appendResult("停止持续图像流");
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ui->btn_startContinuousImageStream->setText("开始持续图像流");
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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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}
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void MainWindow::onLoadCalibrationFileClicked()
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{
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QString fileName = QFileDialog::getOpenFileName(this, "选择标定文件", "", "XML文件 (*.xml);;所有文件 (*)");
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if (fileName.isEmpty()) {
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return;
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}
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QFile file(fileName);
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if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
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QMessageBox::warning(this, "错误", "无法打开文件");
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return;
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}
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QTextStream in(&file);
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QString content = in.readAll();
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file.close();
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ui->textEdit_calibration->setPlainText(content);
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appendResult(QString("已加载标定文件: %1").arg(fileName));
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}
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void MainWindow::onGetCalibrationClicked()
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{
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if (!m_receiver || !m_receiver->IsConnected()) return;
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appendResult("请求获取标定矩阵...");
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std::string calibXml = m_receiver->GetCalibrationMatrix(5000);
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if (!calibXml.empty()) {
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ui->textEdit_calibration->setPlainText(QString::fromStdString(calibXml));
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appendResult("获取标定矩阵成功");
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} else {
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appendResult("获取标定矩阵失败或超时");
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QMessageBox::warning(this, "错误", "获取标定矩阵失败");
|
||
}
|
||
}
|
||
|
||
void MainWindow::onSetCalibrationClicked()
|
||
{
|
||
if (!m_receiver || !m_receiver->IsConnected()) return;
|
||
|
||
QString calibXml = ui->textEdit_calibration->toPlainText();
|
||
if (calibXml.isEmpty()) {
|
||
QMessageBox::warning(this, "错误", "标定矩阵内容为空");
|
||
return;
|
||
}
|
||
|
||
appendResult("设置标定矩阵...");
|
||
int ret = m_receiver->SetCalibrationMatrix(calibXml.toStdString());
|
||
|
||
if (ret == 0) {
|
||
appendResult("设置标定矩阵成功");
|
||
QMessageBox::information(this, "成功", "标定矩阵已设置");
|
||
} else {
|
||
appendResult(QString("设置标定矩阵失败，错误码: %1").arg(ret));
|
||
QMessageBox::warning(this, "错误", QString("设置标定矩阵失败，错误码: %1").arg(ret));
|
||
}
|
||
}
|