166 lines
3.9 KiB
C++
166 lines
3.9 KiB
C++
/**
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* @file MainWindow.h
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* @brief 机器人控制测试工具主窗口
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*/
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#ifndef MAINWINDOW_H
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#define MAINWINDOW_H
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#include <QMainWindow>
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#include <QTimer>
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#include <memory>
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#include "FairinoRobotWrapper.h"
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class QLabel;
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class QLineEdit;
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class QPushButton;
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class QSpinBox;
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class QDoubleSpinBox;
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class QGroupBox;
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class QTextEdit;
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class QTabWidget;
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/**
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* @class MainWindow
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* @brief 机器人控制测试工具主窗口类
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*/
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class MainWindow : public QMainWindow
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{
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Q_OBJECT
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public:
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explicit MainWindow(QWidget *parent = nullptr);
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~MainWindow();
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private slots:
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// 连接控制
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void onConnectClicked();
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void onDisconnectClicked();
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void onEnableClicked();
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void onDisableClicked();
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void onResetErrorClicked();
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// 运动控制
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void onMoveLClicked();
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void onMoveJPoseClicked();
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void onMoveJJointClicked();
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void onStopClicked();
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void onPauseClicked();
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void onResumeClicked();
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// 状态更新
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void onRefreshStateClicked();
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void onAutoRefreshToggled(bool checked);
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void updateRobotState();
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// 运动学计算
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void onForwardKinClicked();
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void onInverseKinClicked();
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// 同步当前位置到输入框
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void onSyncPoseClicked();
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void onSyncJointClicked();
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private:
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void setupUI();
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void setupConnections();
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void log(const QString& msg);
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void updateConnectionState(bool connected);
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private:
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// 机器人封装对象
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std::unique_ptr<FairinoRobotWrapper> robot_;
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// 状态刷新定时器
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QTimer* refreshTimer_;
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// === UI 控件 ===
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// 连接控制区
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QLineEdit* editIP_;
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QPushButton* btnConnect_;
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QPushButton* btnDisconnect_;
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QPushButton* btnEnable_;
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QPushButton* btnDisable_;
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QPushButton* btnResetError_;
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QLabel* lblConnectionStatus_;
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QLabel* lblSDKVersion_;
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// 运动参数区
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QSpinBox* spinVel_;
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QSpinBox* spinAcc_;
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QSpinBox* spinTool_;
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QSpinBox* spinUser_;
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// 位姿输入区（MoveL 和 MoveJ 共用）
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QDoubleSpinBox* spinPoseX_;
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QDoubleSpinBox* spinPoseY_;
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QDoubleSpinBox* spinPoseZ_;
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QDoubleSpinBox* spinPoseRx_;
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QDoubleSpinBox* spinPoseRy_;
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QDoubleSpinBox* spinPoseRz_;
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QPushButton* btnMoveL_;
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QPushButton* btnMoveJPose_;
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QPushButton* btnSyncPose_;
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// MoveJ (Joint) 区
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QDoubleSpinBox* spinJoint1_;
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QDoubleSpinBox* spinJoint2_;
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QDoubleSpinBox* spinJoint3_;
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QDoubleSpinBox* spinJoint4_;
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QDoubleSpinBox* spinJoint5_;
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QDoubleSpinBox* spinJoint6_;
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QPushButton* btnMoveJJoint_;
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QPushButton* btnSyncJoint_;
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// 运动控制区
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QPushButton* btnStop_;
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QPushButton* btnPause_;
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QPushButton* btnResume_;
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// 状态显示区（固定显示，不在Tab中）
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QLabel* lblJoint1_;
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QLabel* lblJoint2_;
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QLabel* lblJoint3_;
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QLabel* lblJoint4_;
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QLabel* lblJoint5_;
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QLabel* lblJoint6_;
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QLabel* lblTcpX_;
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QLabel* lblTcpY_;
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QLabel* lblTcpZ_;
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QLabel* lblTcpRx_;
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QLabel* lblTcpRy_;
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QLabel* lblTcpRz_;
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QLabel* lblRobotState_;
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QLabel* lblMotionDone_;
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QLabel* lblErrorCode_;
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QPushButton* btnRefreshState_;
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QPushButton* btnAutoRefresh_;
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// 运动学计算区
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QDoubleSpinBox* spinFKJ1_;
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QDoubleSpinBox* spinFKJ2_;
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QDoubleSpinBox* spinFKJ3_;
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QDoubleSpinBox* spinFKJ4_;
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QDoubleSpinBox* spinFKJ5_;
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QDoubleSpinBox* spinFKJ6_;
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QLabel* lblFKResult_;
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QPushButton* btnForwardKin_;
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QDoubleSpinBox* spinIKX_;
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QDoubleSpinBox* spinIKY_;
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QDoubleSpinBox* spinIKZ_;
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QDoubleSpinBox* spinIKRx_;
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QDoubleSpinBox* spinIKRy_;
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QDoubleSpinBox* spinIKRz_;
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QLabel* lblIKResult_;
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QPushButton* btnInverseKin_;
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// 日志区
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QTextEdit* textLog_;
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// Tab 控件
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QTabWidget* tabWidget_;
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};
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#endif // MAINWINDOW_H
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