420 lines
13 KiB
C++
420 lines
13 KiB
C++
#include "mainwindow.h"
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#include "ui_mainwindow.h"
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#include <QDebug>
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#include <QMessageBox>
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#include <QThread>
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#include <QDateTime>
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#include <QTextCursor>
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#include <QStringListModel>
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#include "VrLog.h"
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#include <QMetaType>
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#include <QLabel>
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#include <QVBoxLayout>
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#include "WorkpiecePositionPresenter.h"
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#include "Version.h"
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#include "IVrUtils.h"
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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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// 设置窗口图标（Windows使用.ico格式）
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#ifdef _WIN32
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this->setWindowIcon(QIcon(":/common/resource/logo.ico"));
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#else
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this->setWindowIcon(QIcon(":/common/resource/logo.png"));
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#endif
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// 设置状态栏字体
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QFont statusFont = statusBar()->font();
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statusFont.setPointSize(12);
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statusBar()->setFont(statusFont);
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// 设置状态栏颜色和padding
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statusBar()->setStyleSheet("QStatusBar { color: rgb(239, 241, 245); padding: 20px; }");
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// 在状态栏右侧添加版本信息（包含编译时间）
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QString versionWithBuildTime = QString("%1_%2%3%4%5%6%7")
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.arg(GetWorkpiecePositionFullVersion())
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.arg(YEAR)
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.arg(MONTH, 2, 10, QChar('0'))
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.arg(DAY, 2, 10, QChar('0'))
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.arg(HOUR, 2, 10, QChar('0'))
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.arg(MINUTE, 2, 10, QChar('0'))
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.arg(SECOND, 2, 10, QChar('0'));
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QLabel* buildLabel = new QLabel(versionWithBuildTime);
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buildLabel->setStyleSheet("color: rgb(239, 241, 245); font-size: 20px; margin-right: 16px;");
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statusBar()->addPermanentWidget(buildLabel);
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// 隐藏标题栏
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setWindowFlags(Qt::FramelessWindowHint);
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// 启动后自动最大化显示
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this->showMaximized();
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// 初始化时隐藏label_work
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ui->label_work->setVisible(false);
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// 初始化日志模型
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m_logModel = new QStringListModel(this);
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ui->detect_log->setModel(m_logModel);
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// 注册自定义类型，使其能够在信号槽中跨线程传递
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qRegisterMetaType<WorkpiecePositionDetectionResult>("WorkpiecePositionDetectionResult");
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qRegisterMetaType<WorkStatus>("WorkStatus");
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qRegisterMetaType<WorkpieceCenterPosition>("WorkpieceCenterPosition");
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// 连接工作状态更新信号槽
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connect(this, &MainWindow::workStatusUpdateRequested, this, &MainWindow::updateWorkStatusLabel);
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// 连接检测结果更新信号槽
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connect(this, &MainWindow::detectionResultUpdateRequested, this, &MainWindow::updateDetectionResultDisplay);
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// 连接日志更新信号槽
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connect(this, &MainWindow::logUpdateRequested, this, &MainWindow::updateDetectionLog);
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// 连接清空日志信号槽
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connect(this, &MainWindow::logClearRequested, this, &MainWindow::clearDetectionLogUI);
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updateStatusLog(tr("设备开始初始化..."));
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// 初始化模块
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Init();
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}
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MainWindow::~MainWindow()
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{
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// 设置退出标志
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m_bExiting = true;
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LOG_DEBUG("release mainwindow \n");
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// 等待初始化线程完成
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if (m_initThread.joinable()) {
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m_initThread.join();
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}
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// 释放业务逻辑处理类
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if (m_presenter) {
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delete m_presenter;
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m_presenter = nullptr;
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}
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LOG_DEBUG("release persenter success \n");
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delete ui;
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}
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void MainWindow::updateStatusLog(const QString& message)
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{
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// 更新状态栏
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// statusBar()->showMessage(message);
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// 通过信号槽机制更新detect_log控件
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emit logUpdateRequested(message);
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}
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void MainWindow::clearDetectionLog()
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{
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// 通过信号槽机制清空日志
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emit logClearRequested();
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}
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void MainWindow::Init()
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{
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// 创建业务逻辑处理类
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m_presenter = new WorkpiecePositionPresenter();
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// 设置状态回调接口（使用BasePresenter的模板方法）
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m_presenter->SetStatusCallback<IYWorkpiecePositionStatus>(this);
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m_deviceStatusWidget = new DeviceStatusWidget(); //因为初始化回调的数据要存储，所以要在init前创建好
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// 将设备状态widget添加到frame_dev中
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QVBoxLayout* frameDevLayout = new QVBoxLayout(ui->frame_dev);
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frameDevLayout->setContentsMargins(0, 0, 0, 0);
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frameDevLayout->addWidget(m_deviceStatusWidget);
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// 初始化期间禁用所有功能按钮
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setButtonsEnabled(false);
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// 在线程中执行初始化业务逻辑
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m_initThread = std::thread([this]() {
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if (m_bExiting) return; // 检查退出标志
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updateStatusLog(tr("正在初始化系统..."));
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if (m_bExiting) return; // 检查退出标志
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int result = m_presenter->Init();
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if (m_bExiting) return; // 检查退出标志
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if (result != 0) {
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updateStatusLog(tr("初始化失败，错误码：%1").arg(result));
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} else {
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updateStatusLog(tr("系统初始化完成"));
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}
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});
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}
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// 添加扩展版本的检测结果函数
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void MainWindow::addDetectionResult(const WorkpiecePositionDetectionResult& result)
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{
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// 清空之前的所有检测结果数据
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ui->detect_result_list->clear();
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QString resultText;
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// 添加每个工件位置信息
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for (size_t i = 0; i < result.positions.size(); i++) {
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const auto& pos = result.positions[i];
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resultText += QString("工件%1: X=%2, Y=%3, Z=%4\n")
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.arg(i + 1)
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.arg(pos.x, 0, 'f', 2)
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.arg(pos.y, 0, 'f', 2)
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.arg(pos.z, 0, 'f', 2);
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resultText += QString(" Roll=%1, Pitch=%2, Yaw=%3\n")
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.arg(pos.roll, 0, 'f', 2)
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.arg(pos.pitch, 0, 'f', 2)
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.arg(pos.yaw, 0, 'f', 2);
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}
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// 添加Mark点信息
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if (!result.marks.empty()) {
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resultText += QString("\nMark点数量: %1\n").arg(result.marks.size());
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}
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// 创建一个QLabel来显示文本
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QLabel* resultLabel = new QLabel(resultText);
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resultLabel->setStyleSheet("color: rgb(239, 241, 245); font-size: 12pt; padding: 10px;");
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resultLabel->setWordWrap(true);
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QListWidgetItem* item = new QListWidgetItem();
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item->setSizeHint(resultLabel->sizeHint());
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ui->detect_result_list->addItem(item);
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ui->detect_result_list->setItemWidget(item, resultLabel);
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}
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// 状态更新槽函数
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void MainWindow::OnStatusUpdate(const std::string& statusMessage)
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{
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LOG_DEBUG("[UI Display] Status update: %s\n", statusMessage.c_str());
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updateStatusLog(QString::fromStdString(statusMessage));
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}
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void MainWindow::OnDetectionResult(const WorkpiecePositionDetectionResult& result)
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{
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// 通过信号槽机制更新UI（确保在主线程中执行）
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emit detectionResultUpdateRequested(result);
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}
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// BinocularMark连接状态更新
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void MainWindow::OnBinocularMarkConnectionChanged(bool isConnected)
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{
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// 更新设备状态widget
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->updateCamera1Status(isConnected);
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}
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}
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// EpicEye连接状态更新
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void MainWindow::OnEpicEyeConnectionChanged(bool isConnected)
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{
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// 更新设备状态widget
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->updateCamera2Status(isConnected);
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}
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}
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// 实现基类的纯虚函数（映射到具体设备）
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void MainWindow::OnCamera1StatusChanged(bool isConnected)
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{
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OnBinocularMarkConnectionChanged(isConnected);
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}
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void MainWindow::OnCamera2StatusChanged(bool isConnected)
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{
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OnEpicEyeConnectionChanged(isConnected);
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}
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void MainWindow::OnRobotConnectionChanged(bool isConnected)
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{
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// WorkpiecePositionApp 不使用机械臂，忽略
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}
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void MainWindow::OnSerialConnectionChanged(bool isConnected)
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{
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// WorkpiecePositionApp 不使用串口，忽略
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}
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void MainWindow::OnCameraCountChanged(int cameraCount)
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{
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// WorkpiecePositionApp 使用固定的两个传感器设备，忽略
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}
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// 工作状态更新槽函数
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void MainWindow::OnWorkStatusChanged(WorkStatus status)
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{
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// 通过信号槽机制更新UI（确保在主线程中执行）
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emit workStatusUpdateRequested(status);
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}
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void MainWindow::updateWorkStatusLabel(WorkStatus status)
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{
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// 如果状态变为Working，清空检测日志（表示开始新的检测）
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if (status == WorkStatus::Working) {
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clearDetectionLog();
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}
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// 获取状态对应的显示文本
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QString statusText = QString::fromStdString(WorkStatusToString(status));
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// 在label_work中显示状态
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if (!ui->label_work) return;
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ui->label_work->setText(statusText);
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statusText = "【工作状态】" + statusText;
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updateStatusLog(statusText);
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// 根据不同状态设置不同的样式和按钮启用状态
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switch (status) {
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case WorkStatus::Ready:
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ui->label_work->setStyleSheet("color: green;");
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setButtonsEnabled(true); // 就绪状态下启用所有按钮
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break;
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case WorkStatus::InitIng:
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ui->label_work->setStyleSheet("color: blue;");
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setButtonsEnabled(false); // 初始化期间禁用按钮
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break;
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case WorkStatus::Working:
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ui->label_work->setStyleSheet("color: blue;");
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setButtonsEnabled(false); // 工作期间禁用按钮
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break;
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case WorkStatus::Completed:
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ui->label_work->setStyleSheet("color: green; font-weight: bold;");
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setButtonsEnabled(true); // 完成后启用按钮
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break;
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case WorkStatus::Error:
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ui->label_work->setStyleSheet("color: red; font-weight: bold;");
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setButtonsEnabled(true); // 错误状态下仍可操作
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break;
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default:
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ui->label_work->setStyleSheet("");
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setButtonsEnabled(false); // 未知状态禁用按钮
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break;
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}
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}
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void MainWindow::updateDetectionResultDisplay(const WorkpiecePositionDetectionResult& result)
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{
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// 更新日志
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updateDetectionLog(tr("检测结果更新"));
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// 更新检测结果到列表
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addDetectionResult(result);
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}
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void MainWindow::updateDetectionLog(const QString& message)
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{
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// 在UI线程中更新detect_log控件（QListView）
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if (!m_logModel) return;
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// 获取当前数据
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QStringList logList = m_logModel->stringList();
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// 检查是否与最后一条消息相同
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if (message == m_lastLogMessage && !logList.isEmpty()) {
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// 相同消息，增加计数并替换最后一条
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m_lastLogCount++;
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// 添加时间戳
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QString timestamp = QDateTime::currentDateTime().toString("hh:mm:ss");
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QString logEntry = QString("[%1] %2 (x%3)").arg(timestamp).arg(message).arg(m_lastLogCount);
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// 替换最后一条
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logList[logList.size() - 1] = logEntry;
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} else {
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// 新消息，重置计数
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m_lastLogMessage = message;
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m_lastLogCount = 1;
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// 添加时间戳
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QString timestamp = QDateTime::currentDateTime().toString("hh:mm:ss");
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QString logEntry = QString("[%1] %2").arg(timestamp).arg(message);
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// 添加新的日志条目
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logList.append(logEntry);
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}
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// 更新模型
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m_logModel->setStringList(logList);
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// 自动滚动到最底部
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QModelIndex lastIndex = m_logModel->index(logList.size() - 1);
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ui->detect_log->scrollTo(lastIndex);
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}
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void MainWindow::clearDetectionLogUI()
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{
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// 在UI线程中清空检测日志
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if (m_logModel) {
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m_logModel->setStringList(QStringList());
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}
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// 重置日志计数器
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m_lastLogMessage.clear();
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m_lastLogCount = 0;
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}
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void MainWindow::on_btn_start_clicked()
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{
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// 检查Presenter是否已初始化
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if (!m_presenter) {
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updateStatusLog(tr("系统未初始化，请等待初始化完成"));
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return;
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}
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// 清空检测日志，开始新的检测
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clearDetectionLog();
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// 使用Presenter启动检测
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m_presenter->StartDetection();
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}
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void MainWindow::on_btn_stop_clicked()
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{
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// 检查Presenter是否已初始化
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if (!m_presenter) {
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updateStatusLog(tr("系统未初始化，请等待初始化完成"));
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return;
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}
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m_presenter->StopDetection();
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}
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void MainWindow::on_btn_hide_clicked()
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{
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// 最小化窗口
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this->showMinimized();
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}
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void MainWindow::on_btn_close_clicked()
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{
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// 关闭应用程序
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this->close();
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}
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// 设置按钮启用/禁用状态
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void MainWindow::setButtonsEnabled(bool enabled)
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{
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// 功能按钮
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if (ui->btn_start) ui->btn_start->setEnabled(enabled);
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if (ui->btn_stop) ui->btn_stop->setEnabled(enabled);
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}
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