594 lines
20 KiB
C++
594 lines
20 KiB
C++
#include "DeviceStatusWidget.h"
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#include "ui_DeviceStatusWidget.h"
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#include <QPainter>
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#include <QBrush>
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#include <QThread>
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#include "VrLog.h"
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DeviceStatusWidget::DeviceStatusWidget(QWidget *parent)
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: QWidget(parent)
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, ui(new Ui::DeviceStatusWidget)
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, m_selectedCameraIndex(0)
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, m_camera1Name("")
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, m_camera2Name("")
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, m_robotVisible(true)
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, m_cameraCount(1)
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, m_cameraClickable(true)
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{
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ui->setupUi(this);
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// 强制应用样式表 - 这是关键！
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this->setAttribute(Qt::WA_StyledBackground, true);
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// 初始化时设置样式
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setItemStyle();
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// 初始化点击事件
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initClickEvents();
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// 初始化设备状态（离线状态）
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updateCamera1Status(false);
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updateCamera2Status(false);
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updateRobotStatus(false);
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setCameraSelectedStyle(1);
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}
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DeviceStatusWidget::~DeviceStatusWidget()
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{
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delete ui;
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}
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// 设置devstatus的样式
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void DeviceStatusWidget::setItemStyle()
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{
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this->setStyleSheet(
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"DeviceStatusWidget { "
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" border: 2px solid #191A1C; " // 添加边框作为格子间分隔线
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" border-radius: 0px; " // 去掉圆角，让分隔线更清晰
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"} "
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);
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}
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// 设置相机状态图片的私有成员函数
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void DeviceStatusWidget::setCameraStatusImage(QWidget* widget, bool isOnline) {
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if (!widget) return;
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QString imagePath = isOnline ? ":/common/resource/camera_online.png" : ":/common/resource/camera_offline.png";
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widget->setStyleSheet(QString("image: url(%1);").arg(imagePath));
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// widget->setFixedSize(32, 32); // 调整大小以适应图片
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}
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// 设置机械臂状态图片的私有成员函数
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void DeviceStatusWidget::setRobotStatusImage(QWidget* widget, bool isOnline) {
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if (!widget) return;
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QString imagePath = isOnline ? ":/common/resource/robot_online.png" : ":/common/resource/robot_offline.png";
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widget->setStyleSheet(QString("image: url(%1); ").arg(imagePath));
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// widget->setFixedSize(32, 32); // 调整大小以适应图片
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}
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// 设置相机1名称
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void DeviceStatusWidget::setCamera1Name(const QString& name)
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{
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// 检查是否在主线程中
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if (QThread::currentThread() == this->thread()) {
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// 在主线程中，直接执行
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m_camera1Name = name;
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// 如果相机1已经初始化过状态，则更新显示文本
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if (ui->dev_camera_1_txt) {
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updateCamera1DisplayText(ui->dev_camera_1_txt->text().contains("在线"));
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}
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} else {
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// 在其他线程中，使用队列方式确保线程安全
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QMetaObject::invokeMethod(this, [this, name]() {
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m_camera1Name = name;
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// 如果相机1已经初始化过状态，则更新显示文本
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if (ui->dev_camera_1_txt) {
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updateCamera1DisplayText(ui->dev_camera_1_txt->text().contains("在线"));
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}
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}, Qt::QueuedConnection);
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}
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}
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// 设置相机2名称
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void DeviceStatusWidget::setCamera2Name(const QString& name)
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{
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// 检查是否在主线程中
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if (QThread::currentThread() == this->thread()) {
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// 在主线程中，直接执行
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m_camera2Name = name;
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// 如果相机2已经初始化过状态，则更新显示文本
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if (ui->dev_camera_2_txt) {
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updateCamera2DisplayText(ui->dev_camera_2_txt->text().contains("在线"));
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}
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} else {
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// 在其他线程中，使用队列方式确保线程安全
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QMetaObject::invokeMethod(this, [this, name]() {
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m_camera2Name = name;
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// 如果相机2已经初始化过状态，则更新显示文本
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if (ui->dev_camera_2_txt) {
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updateCamera2DisplayText(ui->dev_camera_2_txt->text().contains("在线"));
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}
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}, Qt::QueuedConnection);
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}
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}
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// 更新相机1状态
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void DeviceStatusWidget::updateCamera1Status(bool isConnected)
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{
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// 检查是否在主线程中
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if (QThread::currentThread() == this->thread()) {
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// 在主线程中，直接执行
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setCameraStatusImage(ui->dev_camer_1_img, isConnected);
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updateCamera1DisplayText(isConnected);
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} else {
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// 在其他线程中，使用队列方式确保线程安全
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QMetaObject::invokeMethod(this, [this, isConnected]() {
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setCameraStatusImage(ui->dev_camer_1_img, isConnected);
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updateCamera1DisplayText(isConnected);
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}, Qt::QueuedConnection);
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}
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}
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// 更新相机2状态
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void DeviceStatusWidget::updateCamera2Status(bool isConnected)
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{
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// 检查是否在主线程中
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if (QThread::currentThread() == this->thread()) {
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// 在主线程中，直接执行
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setCameraStatusImage(ui->dev_camer_2_img, isConnected);
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updateCamera2DisplayText(isConnected);
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} else {
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// 在其他线程中，使用队列方式确保线程安全
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QMetaObject::invokeMethod(this, [this, isConnected]() {
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setCameraStatusImage(ui->dev_camer_2_img, isConnected);
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updateCamera2DisplayText(isConnected);
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}, Qt::QueuedConnection);
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}
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}
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// 更新相机1显示文本的私有方法
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void DeviceStatusWidget::updateCamera1DisplayText(bool isConnected)
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{
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QString statusText;
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if (m_camera1Name.isEmpty()) {
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statusText = isConnected ? "相机1在线" : "相机1离线";
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} else {
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statusText = isConnected ? QString("%1在线").arg(m_camera1Name) : QString("%1离线").arg(m_camera1Name);
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}
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QString colorStyle = isConnected ? "color: rgb(140, 180, 60);" : "color: rgb(220, 60, 60);";
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ui->dev_camera_1_txt->setText(statusText);
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ui->dev_camera_1_txt->setStyleSheet(colorStyle);
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}
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// 更新相机2显示文本的私有方法
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void DeviceStatusWidget::updateCamera2DisplayText(bool isConnected)
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{
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QString statusText;
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if (m_camera2Name.isEmpty()) {
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statusText = isConnected ? "相机2在线" : "相机2离线";
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} else {
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statusText = isConnected ? QString("%1在线").arg(m_camera2Name) : QString("%1离线").arg(m_camera2Name);
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}
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QString colorStyle = isConnected ? "color: rgb(140, 180, 60);" : "color: rgb(220, 60, 60);";
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ui->dev_camera_2_txt->setText(statusText);
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ui->dev_camera_2_txt->setStyleSheet(colorStyle);
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}
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// 更新机械臂状态
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void DeviceStatusWidget::updateRobotStatus(bool isConnected)
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{
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// 检查是否在主线程中
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if (QThread::currentThread() == this->thread()) {
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// 在主线程中，直接执行
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setRobotStatusImage(ui->dev_robot_img, isConnected);
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QString statusText = isConnected ? "机械臂在线" : "机械臂离线";
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QString colorStyle = isConnected ? "color: rgb(140, 180, 60);" : "color: rgb(220, 60, 60);";
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ui->dev_robot_txt->setText(statusText);
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ui->dev_robot_txt->setStyleSheet(colorStyle);
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} else {
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// 在其他线程中，使用队列方式确保线程安全
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QMetaObject::invokeMethod(this, [this, isConnected]() {
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setRobotStatusImage(ui->dev_robot_img, isConnected);
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QString statusText = isConnected ? "机械臂在线" : "机械臂离线";
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QString colorStyle = isConnected ? "color: rgb(140, 180, 60);" : "color: rgb(220, 60, 60);";
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ui->dev_robot_txt->setText(statusText);
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ui->dev_robot_txt->setStyleSheet(colorStyle);
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}, Qt::QueuedConnection);
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}
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}
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// 更新串口状态
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void DeviceStatusWidget::updateSerialStatus(bool isConnected)
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{
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// 检查是否在主线程中
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if (QThread::currentThread() == this->thread()) {
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// 在主线程中，直接执行
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setRobotStatusImage(ui->dev_robot_img, isConnected);
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QString statusText = isConnected ? "RS485在线" : "RS485离线";
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QString colorStyle = isConnected ? "color: rgb(140, 180, 60);" : "color: rgb(220, 60, 60);";
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ui->dev_robot_txt->setText(statusText);
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ui->dev_robot_txt->setStyleSheet(colorStyle);
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} else {
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// 在其他线程中，使用队列方式确保线程安全
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QMetaObject::invokeMethod(this, [this, isConnected]() {
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setRobotStatusImage(ui->dev_robot_img, isConnected);
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QString statusText = isConnected ? "RS485在线" : "RS485离线";
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QString colorStyle = isConnected ? "color: rgb(140, 180, 60);" : "color: rgb(220, 60, 60);";
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ui->dev_robot_txt->setText(statusText);
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ui->dev_robot_txt->setStyleSheet(colorStyle);
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}, Qt::QueuedConnection);
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}
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}
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// 设置相机数量（用于控制相机二的显示和布局方向）
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void DeviceStatusWidget::setCameraCount(int cameraCount)
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{
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LOG_DEBUG("setCameraCount cameraCount: %d \n", cameraCount);
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// 检查是否在主线程中
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if (QThread::currentThread() == this->thread()) {
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m_cameraCount = cameraCount;
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// 如果相机数量小于2，隐藏相机二相关的UI元素
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bool showCamera2 = (cameraCount >= 2);
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LOG_DEBUG("showCamera2: %d \n", showCamera2);
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// 隐藏整个相机2的frame，而不是单独隐藏图片和文字
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if (ui->frame_camera_2) {
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ui->frame_camera_2->setVisible(showCamera2);
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} else {
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// 如果frame_camera_2不存在，则单独隐藏图片和文字控件
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if (ui->dev_camer_2_img) {
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ui->dev_camer_2_img->setVisible(showCamera2);
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}
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if (ui->dev_camera_2_txt) {
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ui->dev_camera_2_txt->setVisible(showCamera2);
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}
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}
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// 更新布局
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updateLayout();
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} else {
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// 在其他线程中，使用队列方式确保线程安全
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QMetaObject::invokeMethod(this, [this, cameraCount]() {
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m_cameraCount = cameraCount;
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// 如果相机数量小于2，隐藏相机二相关的UI元素
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bool showCamera2 = (cameraCount >= 2);
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LOG_DEBUG("showCamera2: %d \n", showCamera2);
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// 隐藏整个相机2的frame，而不是单独隐藏图片和文字
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if (ui->frame_camera_2) {
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ui->frame_camera_2->setVisible(showCamera2);
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} else {
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// 如果frame_camera_2不存在，则单独隐藏图片和文字控件
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if (ui->dev_camer_2_img) {
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ui->dev_camer_2_img->setVisible(showCamera2);
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}
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if (ui->dev_camera_2_txt) {
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ui->dev_camera_2_txt->setVisible(showCamera2);
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}
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}
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// 更新布局
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updateLayout();
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}, Qt::QueuedConnection);
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}
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}
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// 设置机械臂是否可见
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void DeviceStatusWidget::setRobotVisible(bool visible)
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{
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LOG_DEBUG("setRobotVisible visible: %d \n", visible);
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// 检查是否在主线程中
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if (QThread::currentThread() == this->thread()) {
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m_robotVisible = visible;
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// 隐藏机械臂的frame
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if (ui->frame_robot) {
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ui->frame_robot->setVisible(visible);
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}
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// 更新布局
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updateLayout();
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} else {
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// 在其他线程中，使用队列方式确保线程安全
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QMetaObject::invokeMethod(this, [this, visible]() {
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m_robotVisible = visible;
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// 隐藏机械臂的frame
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if (ui->frame_robot) {
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ui->frame_robot->setVisible(visible);
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}
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// 更新布局
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updateLayout();
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}, Qt::QueuedConnection);
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}
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}
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// 设置相机是否可点击
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void DeviceStatusWidget::setCameraClickable(bool clickable)
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{
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LOG_DEBUG("setCameraClickable clickable: %d \n", clickable);
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m_cameraClickable = clickable;
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// 更新鼠标样式
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Qt::CursorShape cursor = clickable ? Qt::PointingHandCursor : Qt::ArrowCursor;
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if (ui->frame_camera_1) {
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ui->frame_camera_1->setCursor(cursor);
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}
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if (ui->frame_camera_2) {
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ui->frame_camera_2->setCursor(cursor);
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}
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// 如果禁用点击，清除选中样式
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if (!clickable) {
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if (ui->frame_camera_1) {
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ui->frame_camera_1->setStyleSheet("background-color: rgb(37, 38, 42);");
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}
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if (ui->frame_camera_2) {
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ui->frame_camera_2->setStyleSheet("background-color: rgb(37, 38, 42);");
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}
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}
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}
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// 更新布局（根据相机数量和机械臂可见性）
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void DeviceStatusWidget::updateLayout()
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{
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LOG_DEBUG("updateLayout: cameraCount=%d, robotVisible=%d\n", m_cameraCount, m_robotVisible);
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if (m_cameraCount >= 2) {
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// 多相机：纵向排列
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setVerticalLayout();
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} else if (m_robotVisible) {
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// 单相机 + 机械臂可见：横向排列，相机和机械臂各占一半
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setHorizontalLayoutForSingleCamera();
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} else {
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// 单相机 + 机械臂隐藏：相机占满整个容器
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this->setMinimumSize(180, 80);
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this->resize(180, 80);
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int frameWidth = 556; // 整个容器宽度
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int frameHeight = 70;
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// 相机1占满整个容器
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if (ui->frame_camera_1) {
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ui->frame_camera_1->setGeometry(0, 0, frameWidth, frameHeight);
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centerFrameContents(ui->frame_camera_1, frameHeight);
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}
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LOG_DEBUG("Layout adjusted for single camera without robot\n");
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}
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}
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// 设置为纵向布局
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void DeviceStatusWidget::setVerticalLayout()
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{
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// 调整主widget的尺寸以适应纵向布局
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this->setMinimumSize(180, 198);
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this->resize(180, 198);
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// 通过调整每个frame的尺寸和位置来模拟垂直布局
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adjustFramesForVerticalLayout();
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LOG_DEBUG("Layout adjusted for vertical display\n");
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}
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// 设置为单相机横向布局（相机和机械臂各占一半）
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void DeviceStatusWidget::setHorizontalLayoutForSingleCamera()
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{
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// 设置单相机模式的widget尺寸
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this->setMinimumSize(180, 80);
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this->resize(180, 80);
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// 调整为单相机横向布局的frame尺寸和位置
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adjustFramesForSingleCameraHorizontalLayout();
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LOG_DEBUG("Layout adjusted for single camera horizontal display\n");
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}
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// 调整frames为纵向排列
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void DeviceStatusWidget::adjustFramesForVerticalLayout()
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{
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int frameWidth = 180;
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int spacing = 2;
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int startY = 0;
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// 计算可见项数量
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int visibleCount = 0;
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bool showCamera2 = (m_cameraCount >= 2);
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if (ui->frame_camera_1) visibleCount++;
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if (showCamera2 && ui->frame_camera_2) visibleCount++;
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if (m_robotVisible && ui->frame_robot) visibleCount++;
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// 根据可见项数量计算每个frame的高度
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int totalHeight = 198; // 总高度
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int frameHeight = (visibleCount > 0) ? (totalHeight - (visibleCount - 1) * spacing) / visibleCount : 64;
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// 重新定位frame的位置以实现纵向排列效果
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if (ui->frame_camera_1) {
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ui->frame_camera_1->setGeometry(0, startY, frameWidth, frameHeight);
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centerFrameContents(ui->frame_camera_1, frameHeight);
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startY += frameHeight + spacing;
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}
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if (showCamera2 && ui->frame_camera_2) {
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ui->frame_camera_2->setGeometry(0, startY, frameWidth, frameHeight);
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centerFrameContents(ui->frame_camera_2, frameHeight);
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startY += frameHeight + spacing;
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}
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if (m_robotVisible && ui->frame_robot) {
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ui->frame_robot->setGeometry(0, startY, frameWidth, frameHeight);
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centerFrameContents(ui->frame_robot, frameHeight);
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}
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}
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// 调整frames为单相机横向排列（相机和机械臂各占一半）
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void DeviceStatusWidget::adjustFramesForSingleCameraHorizontalLayout()
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{
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int frameWidth = 275; // 每个frame占一半宽度 (180/2 - 5间距)
|
||
int frameHeight = 70;
|
||
int spacing = 6;
|
||
|
||
// 相机1占左半边
|
||
if (ui->frame_camera_1) {
|
||
ui->frame_camera_1->setGeometry(0, 0, frameWidth, frameHeight);
|
||
centerFrameContents(ui->frame_camera_1, frameHeight);
|
||
}
|
||
|
||
// 相机2隐藏（在setCameraCount中已处理）
|
||
|
||
// 机械臂占右半边
|
||
if (ui->frame_robot) {
|
||
ui->frame_robot->setGeometry(frameWidth + spacing, 0, frameWidth, frameHeight);
|
||
centerFrameContents(ui->frame_robot, frameHeight);
|
||
}
|
||
}
|
||
|
||
// 初始化点击事件
|
||
void DeviceStatusWidget::initClickEvents()
|
||
{
|
||
// 为相机1的frame添加点击事件
|
||
if (ui->frame_camera_1) {
|
||
ui->frame_camera_1->installEventFilter(this);
|
||
ui->frame_camera_1->setMouseTracking(true);
|
||
ui->frame_camera_1->setCursor(Qt::PointingHandCursor); // 设置鼠标样式为手型
|
||
}
|
||
|
||
// 为相机2的frame添加点击事件
|
||
if (ui->frame_camera_2) {
|
||
ui->frame_camera_2->installEventFilter(this);
|
||
ui->frame_camera_2->setMouseTracking(true);
|
||
ui->frame_camera_2->setCursor(Qt::PointingHandCursor); // 设置鼠标样式为手型
|
||
}
|
||
}
|
||
|
||
// 事件过滤器，处理鼠标点击事件
|
||
bool DeviceStatusWidget::eventFilter(QObject *obj, QEvent *event)
|
||
{
|
||
// 如果相机不可点击，不处理点击事件
|
||
if (!m_cameraClickable) {
|
||
return QWidget::eventFilter(obj, event);
|
||
}
|
||
|
||
if (event->type() == QEvent::MouseButtonPress) {
|
||
QMouseEvent *mouseEvent = static_cast<QMouseEvent*>(event);
|
||
if (mouseEvent->button() == Qt::LeftButton) {
|
||
if (obj == ui->frame_camera_1) {
|
||
onCamera1Clicked();
|
||
return true;
|
||
} else if (obj == ui->frame_camera_2) {
|
||
onCamera2Clicked();
|
||
return true;
|
||
}
|
||
}
|
||
}
|
||
return QWidget::eventFilter(obj, event);
|
||
}
|
||
|
||
// 相机1点击槽函数
|
||
void DeviceStatusWidget::onCamera1Clicked()
|
||
{
|
||
if (m_selectedCameraIndex != 1) {
|
||
m_selectedCameraIndex = 1;
|
||
setCameraSelectedStyle(1);
|
||
emit cameraClicked(1);
|
||
}
|
||
}
|
||
|
||
// 相机2点击槽函数
|
||
void DeviceStatusWidget::onCamera2Clicked()
|
||
{
|
||
if (m_selectedCameraIndex != 2) {
|
||
m_selectedCameraIndex = 2;
|
||
setCameraSelectedStyle(2);
|
||
emit cameraClicked(2);
|
||
}
|
||
}
|
||
|
||
// 设置相机选中状态的样式
|
||
void DeviceStatusWidget::setCameraSelectedStyle(int cameraIndex)
|
||
{
|
||
// 重置所有相机的样式
|
||
if (ui->frame_camera_1) {
|
||
ui->frame_camera_1->setStyleSheet("background-color: rgb(37, 38, 42);");
|
||
}
|
||
if (ui->frame_camera_2) {
|
||
ui->frame_camera_2->setStyleSheet("background-color: rgb(37, 38, 42);");
|
||
}
|
||
|
||
// 设置选中相机的样式
|
||
QString selectedStyle = "QFrame { background-color: rgb(67, 68, 72);}";
|
||
|
||
if (cameraIndex == 1 && ui->frame_camera_1) {
|
||
ui->frame_camera_1->setStyleSheet(selectedStyle);
|
||
} else if (cameraIndex == 2 && ui->frame_camera_2) {
|
||
ui->frame_camera_2->setStyleSheet(selectedStyle);
|
||
}
|
||
}
|
||
|
||
// 调整frame内部控件垂直居中
|
||
void DeviceStatusWidget::centerFrameContents(QFrame* frame, int frameHeight)
|
||
{
|
||
if (!frame) return;
|
||
|
||
// 图标尺寸
|
||
const int imgWidth = 48;
|
||
const int imgHeight = 48;
|
||
const int imgX = 20;
|
||
|
||
// 文字尺寸
|
||
const int txtWidth = 90;
|
||
const int txtHeight = 26;
|
||
const int txtX = 80;
|
||
|
||
// 计算垂直居中位置
|
||
int imgY = (frameHeight - imgHeight) / 2;
|
||
int txtY = (frameHeight - txtHeight) / 2;
|
||
|
||
// 根据frame名称找到对应的子控件并调整位置
|
||
if (frame == ui->frame_camera_1) {
|
||
if (ui->dev_camer_1_img) {
|
||
ui->dev_camer_1_img->setGeometry(imgX, imgY, imgWidth, imgHeight);
|
||
}
|
||
if (ui->dev_camera_1_txt) {
|
||
ui->dev_camera_1_txt->setGeometry(txtX, txtY, txtWidth, txtHeight);
|
||
}
|
||
} else if (frame == ui->frame_camera_2) {
|
||
if (ui->dev_camer_2_img) {
|
||
ui->dev_camer_2_img->setGeometry(imgX, imgY, imgWidth, imgHeight);
|
||
}
|
||
if (ui->dev_camera_2_txt) {
|
||
ui->dev_camera_2_txt->setGeometry(txtX, txtY, txtWidth, txtHeight);
|
||
}
|
||
} else if (frame == ui->frame_robot) {
|
||
if (ui->dev_robot_img) {
|
||
ui->dev_robot_img->setGeometry(imgX, imgY, imgWidth, imgHeight);
|
||
}
|
||
if (ui->dev_robot_txt) {
|
||
ui->dev_robot_txt->setGeometry(txtX, txtY, txtWidth, txtHeight);
|
||
}
|
||
}
|
||
}
|