490 lines
16 KiB
C++
490 lines
16 KiB
C++
#include "dialogalgoarg.h"
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#include "ui_dialogalgoarg.h"
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#include <QMessageBox>
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#include <QPushButton>
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#include <QtCore/QCoreApplication>
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#include <QtCore/QFileInfo>
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#include <QtCore/QDir>
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#include <QtCore/QStandardPaths>
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#include <QtCore/QFile>
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#include <cstring>
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#include <QSettings>
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#include <QFileDialog>
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#include "PathManager.h"
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#include "StyledMessageBox.h"
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#include "VrLog.h"
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DialogAlgoarg::DialogAlgoarg(ConfigManager* configManager, QWidget *parent)
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: QDialog(parent)
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, ui(new Ui::DialogAlgoarg)
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, m_pConfigManager(configManager)
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{
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try {
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ui->setupUi(this);
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// 隐藏标题栏
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// setWindowFlags(Qt::FramelessWindowHint);
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// 获取配置文件路径
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m_configFilePath = PathManager::GetInstance().GetConfigFilePath();
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// 检查配置文件路径是否有效
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if (m_configFilePath.isEmpty()) {
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StyledMessageBox::critical(this, "错误", "无法获取配置文件路径！");
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return;
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}
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// 初始化旋转顺序下拉框
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InitEulerOrderComboBox();
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// 初始化姿态输出顺序下拉框
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InitPoseOutputOrderComboBox();
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// 初始化方向向量反向下拉框
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InitDirVectorInvertComboBox();
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// 从配置文件加载数据到界面
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LoadConfigToUI();
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} catch (const std::exception& e) {
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StyledMessageBox::critical(this, "初始化错误", QString("对话框初始化失败: %1").arg(e.what()));
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} catch (...) {
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StyledMessageBox::critical(this, "初始化错误", "对话框初始化失败！（未知错误）");
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}
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}
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DialogAlgoarg::~DialogAlgoarg()
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{
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delete ui;
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}
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void DialogAlgoarg::LoadConfigToUI()
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{
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if (!m_pConfigManager) {
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StyledMessageBox::critical(this, "错误", "配置对象未初始化！");
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return;
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}
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try {
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// 从ConfigManager获取配置数据
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ConfigResult configData = m_pConfigManager->GetConfigResult();
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// 检查配置文件路径是否有效
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if (m_configFilePath.isEmpty()) {
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LOG_WARNING("Config file path is empty\n");
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}
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// 加载算法参数到UI
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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// 加载各个参数组
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LoadWorkpieceHoleParamToUI(algoParams.workpieceHoleParam);
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LoadLineSegParamToUI(algoParams.lineSegParam);
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LoadFilterParamToUI(algoParams.filterParam);
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LoadGrowParamToUI(algoParams.growParam);
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// 加载网络配置（PLC和机械臂服务端）
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LoadPlcRobotServerConfigToUI(configData.plcRobotServerConfig);
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// 加载手眼标定矩阵
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LoadCalibMatrixToUI();
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} catch (const std::exception& e) {
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LOG_ERROR("Exception in LoadConfigToUI: %s\n", e.what());
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StyledMessageBox::warning(this, "警告",
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QString("加载配置时发生异常: %1\n将使用默认参数显示").arg(e.what()));
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// 发生异常时使用默认参数
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ConfigResult configData;
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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LoadWorkpieceHoleParamToUI(algoParams.workpieceHoleParam);
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LoadLineSegParamToUI(algoParams.lineSegParam);
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LoadFilterParamToUI(algoParams.filterParam);
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LoadGrowParamToUI(algoParams.growParam);
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} catch (...) {
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LOG_ERROR("Unknown exception in LoadConfigToUI\n");
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StyledMessageBox::warning(this, "警告", "加载配置文件失败（未知错误），将使用默认参数显示");
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// 发生未知异常时使用默认参数
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ConfigResult configData;
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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LoadWorkpieceHoleParamToUI(algoParams.workpieceHoleParam);
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LoadLineSegParamToUI(algoParams.lineSegParam);
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LoadFilterParamToUI(algoParams.filterParam);
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LoadGrowParamToUI(algoParams.growParam);
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}
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}
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void DialogAlgoarg::LoadWorkpieceHoleParamToUI(const VrWorkpieceHoleParam& param)
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{
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if (!ui) return;
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ui->lineEdit_workpieceType->setText(QString::number(param.workpieceType));
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ui->lineEdit_holeDiameter->setText(QString::number(param.holeDiameter));
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ui->lineEdit_holeDist_L->setText(QString::number(param.holeDist_L));
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ui->lineEdit_holeDist_W->setText(QString::number(param.holeDist_W));
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}
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void DialogAlgoarg::LoadLineSegParamToUI(const VrLineSegParam& param)
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{
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if (!ui) return;
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ui->lineEdit_distScale->setText(QString::number(param.distScale));
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ui->lineEdit_segGapTh_y->setText(QString::number(param.segGapTh_y));
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ui->lineEdit_segGapTh_z->setText(QString::number(param.segGapTh_z));
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}
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void DialogAlgoarg::LoadFilterParamToUI(const VrOutlierFilterParam& param)
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{
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if (!ui) return;
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ui->lineEdit_continuityTh->setText(QString::number(param.continuityTh));
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ui->lineEdit_outlierTh->setText(QString::number(param.outlierTh));
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}
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void DialogAlgoarg::LoadGrowParamToUI(const VrTreeGrowParam& param)
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{
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if (!ui) return;
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ui->lineEdit_maxLineSkipNum->setText(QString::number(param.maxLineSkipNum));
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ui->lineEdit_yDeviation_max->setText(QString::number(param.yDeviation_max));
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ui->lineEdit_maxSkipDistance->setText(QString::number(param.maxSkipDistance));
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ui->lineEdit_zDeviation_max->setText(QString::number(param.zDeviation_max));
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ui->lineEdit_minLTypeTreeLen->setText(QString::number(param.minLTypeTreeLen));
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ui->lineEdit_minVTypeTreeLen->setText(QString::number(param.minVTypeTreeLen));
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}
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bool DialogAlgoarg::SaveConfigFromUI()
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{
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if (!m_pConfigManager) {
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return false;
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}
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try {
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// 获取当前配置
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SystemConfig systemConfig = m_pConfigManager->GetConfig();
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VrAlgorithmParams& algoParams = systemConfig.configResult.algorithmParams;
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// 保存各个参数组
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if (!SaveWorkpieceHoleParamFromUI(algoParams.workpieceHoleParam)) {
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StyledMessageBox::warning(this, "错误", "工件孔参数输入有误，请检查！");
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return false;
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}
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if (!SaveLineSegParamFromUI(algoParams.lineSegParam)) {
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StyledMessageBox::warning(this, "错误", "线段分割参数输入有误，请检查！");
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return false;
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}
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if (!SaveFilterParamFromUI(algoParams.filterParam)) {
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StyledMessageBox::warning(this, "错误", "滤波参数输入有误，请检查！");
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return false;
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}
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if (!SaveGrowParamFromUI(algoParams.growParam)) {
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StyledMessageBox::warning(this, "错误", "生长参数输入有误，请检查！");
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return false;
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}
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// 保存网络配置（PLC和机械臂服务端）
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if (!SavePlcRobotServerConfigFromUI(systemConfig.configResult.plcRobotServerConfig)) {
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StyledMessageBox::warning(this, "错误", "网络配置输入有误，请检查！");
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return false;
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}
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// 保存手眼标定矩阵到配置
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if (!SaveCalibMatrixToConfig(systemConfig.configResult.handEyeCalibMatrix)) {
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StyledMessageBox::warning(this, "错误", "手眼标定矩阵输入有误，请检查！");
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return false;
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}
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// 更新并保存配置到文件
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if (!m_pConfigManager->UpdateFullConfig(systemConfig)) {
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return false;
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}
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return m_pConfigManager->SaveConfigToFile(m_configFilePath.toStdString());
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} catch (const std::exception& e) {
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return false;
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}
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}
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bool DialogAlgoarg::SaveWorkpieceHoleParamFromUI(VrWorkpieceHoleParam& param)
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{
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bool ok = true;
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param.workpieceType = ui->lineEdit_workpieceType->text().toInt(&ok);
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if (!ok) return false;
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param.holeDiameter = ui->lineEdit_holeDiameter->text().toDouble(&ok);
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if (!ok) return false;
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param.holeDist_L = ui->lineEdit_holeDist_L->text().toDouble(&ok);
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if (!ok) return false;
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param.holeDist_W = ui->lineEdit_holeDist_W->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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bool DialogAlgoarg::SaveLineSegParamFromUI(VrLineSegParam& param)
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{
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bool ok = true;
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param.distScale = ui->lineEdit_distScale->text().toDouble(&ok);
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if (!ok) return false;
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param.segGapTh_y = ui->lineEdit_segGapTh_y->text().toDouble(&ok);
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if (!ok) return false;
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param.segGapTh_z = ui->lineEdit_segGapTh_z->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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bool DialogAlgoarg::SaveFilterParamFromUI(VrOutlierFilterParam& param)
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{
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bool ok = true;
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param.continuityTh = ui->lineEdit_continuityTh->text().toDouble(&ok);
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if (!ok) return false;
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param.outlierTh = ui->lineEdit_outlierTh->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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bool DialogAlgoarg::SaveGrowParamFromUI(VrTreeGrowParam& param)
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{
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bool ok = true;
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param.maxLineSkipNum = ui->lineEdit_maxLineSkipNum->text().toInt(&ok);
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if (!ok) return false;
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param.yDeviation_max = ui->lineEdit_yDeviation_max->text().toDouble(&ok);
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if (!ok) return false;
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param.maxSkipDistance = ui->lineEdit_maxSkipDistance->text().toDouble(&ok);
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if (!ok) return false;
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param.zDeviation_max = ui->lineEdit_zDeviation_max->text().toDouble(&ok);
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if (!ok) return false;
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param.minLTypeTreeLen = ui->lineEdit_minLTypeTreeLen->text().toDouble(&ok);
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if (!ok) return false;
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param.minVTypeTreeLen = ui->lineEdit_minVTypeTreeLen->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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void DialogAlgoarg::on_btn_camer_ok_clicked()
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{
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if (SaveConfigFromUI()) {
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StyledMessageBox::information(this, "成功", "配置保存成功！");
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accept();
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} else {
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StyledMessageBox::warning(this, "失败", "配置保存失败，请检查文件权限或参数输入！");
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}
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}
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void DialogAlgoarg::on_btn_camer_cancel_clicked()
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{
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reject();
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}
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void DialogAlgoarg::on_btn_loadCalibMatrix_clicked()
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{
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QString filePath = QFileDialog::getOpenFileName(
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this,
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"选择手眼标定文件",
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QString(),
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"INI文件 (*.ini);;所有文件 (*.*)"
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);
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if (filePath.isEmpty()) {
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return;
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}
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LoadCalibMatrixFromFile(filePath);
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StyledMessageBox::information(this, "提示", "已从文件导入标定矩阵");
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}
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QLineEdit* DialogAlgoarg::GetCalibLineEdit(int row, int col)
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{
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// 通过名称查找对应的QLineEdit
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QString name = QString("lineEdit_calib_%1_%2").arg(row).arg(col);
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return findChild<QLineEdit*>(name);
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}
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void DialogAlgoarg::LoadCalibMatrixToUI()
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{
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if (!m_pConfigManager) return;
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ConfigResult configData = m_pConfigManager->GetConfigResult();
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for (int i = 0; i < 16; i++) {
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QLineEdit* edit = GetCalibLineEdit(i / 4, i % 4);
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if (edit) {
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edit->setText(QString::number(configData.handEyeCalibMatrix.matrix[i], 'f', 6));
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}
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}
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// 加载旋转顺序
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int eulerOrder = configData.handEyeCalibMatrix.eulerOrder;
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int index = ui->comboBox_eulerOrder->findData(eulerOrder);
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if (index >= 0) {
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ui->comboBox_eulerOrder->setCurrentIndex(index);
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}
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}
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void DialogAlgoarg::LoadCalibMatrixFromFile(const QString& filePath)
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{
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QSettings settings(filePath, QSettings::IniFormat);
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settings.beginGroup("CalibMatrixInfo_0");
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for (int i = 0; i < 16; i++) {
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int row = i / 4;
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int col = i % 4;
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QString key = QString("dCalibMatrix_%1").arg(i);
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double val = settings.value(key, (row == col) ? 1.0 : 0.0).toDouble();
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QLineEdit* edit = GetCalibLineEdit(row, col);
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if (edit) {
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edit->setText(QString::number(val, 'f', 6));
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}
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}
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settings.endGroup();
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}
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bool DialogAlgoarg::SaveCalibMatrixToConfig(VrHandEyeCalibMatrix& calibMatrix)
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{
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for (int i = 0; i < 16; i++) {
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QLineEdit* edit = GetCalibLineEdit(i / 4, i % 4);
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if (!edit) return false;
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bool ok = false;
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calibMatrix.matrix[i] = edit->text().toDouble(&ok);
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if (!ok) return false;
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}
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// 保存旋转顺序
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calibMatrix.eulerOrder = ui->comboBox_eulerOrder->currentData().toInt();
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return true;
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}
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void DialogAlgoarg::InitEulerOrderComboBox()
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{
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// 添加外旋旋转顺序选项（工业机械臂常用）
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ui->comboBox_eulerOrder->addItem("RZ-RY-RX (外旋ZYX)", 11); // ABB、KUKA、发那科等常用
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ui->comboBox_eulerOrder->addItem("RX-RY-RZ (外旋XYZ)", 10);
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ui->comboBox_eulerOrder->addItem("RZ-RX-RY (外旋ZXY)", 12);
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ui->comboBox_eulerOrder->addItem("RY-RX-RZ (外旋YXZ)", 13);
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ui->comboBox_eulerOrder->addItem("RY-RZ-RX (外旋YZX)", 14);
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ui->comboBox_eulerOrder->addItem("RX-RZ-RY (外旋XZY)", 15);
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// 默认选择外旋 ZYX
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ui->comboBox_eulerOrder->setCurrentIndex(0);
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}
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void DialogAlgoarg::InitPoseOutputOrderComboBox()
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{
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// 添加姿态输出顺序选项
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ui->comboBox_poseOutputOrder->addItem("RPY (Roll, Pitch, Yaw)", POSE_ORDER_RPY); // 默认
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ui->comboBox_poseOutputOrder->addItem("RYP (Roll, Yaw, Pitch)", POSE_ORDER_RYP);
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ui->comboBox_poseOutputOrder->addItem("PRY (Pitch, Roll, Yaw)", POSE_ORDER_PRY);
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ui->comboBox_poseOutputOrder->addItem("PYR (Pitch, Yaw, Roll)", POSE_ORDER_PYR);
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ui->comboBox_poseOutputOrder->addItem("YRP (Yaw, Roll, Pitch)", POSE_ORDER_YRP);
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ui->comboBox_poseOutputOrder->addItem("YPR (Yaw, Pitch, Roll)", POSE_ORDER_YPR);
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// 默认选择 RPY
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ui->comboBox_poseOutputOrder->setCurrentIndex(0);
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}
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void DialogAlgoarg::InitDirVectorInvertComboBox()
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{
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// 添加方向向量反向选项
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ui->comboBox_dirVectorInvert->addItem("不反向", DIR_INVERT_NONE);
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ui->comboBox_dirVectorInvert->addItem("XY反向", DIR_INVERT_XY);
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ui->comboBox_dirVectorInvert->addItem("XZ反向", DIR_INVERT_XZ);
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ui->comboBox_dirVectorInvert->addItem("YZ反向（默认）", DIR_INVERT_YZ);
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// 默认选择 YZ反向（兼容原有行为）
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ui->comboBox_dirVectorInvert->setCurrentIndex(3);
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}
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void DialogAlgoarg::LoadPlcRobotServerConfigToUI(const VrPlcRobotServerConfig& config)
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{
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if (!ui) return;
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// 加载PLC服务端配置
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ui->lineEdit_plcServerIp->setText(QString::fromStdString(config.plcServerIp));
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ui->lineEdit_plcServerPort->setText(QString::number(config.plcServerPort));
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// 加载PLC寄存器地址配置
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ui->lineEdit_addrPhotoRequest->setText(QString::number(config.registerConfig.addrPhotoRequest));
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ui->lineEdit_addrDataComplete->setText(QString::number(config.registerConfig.addrDataComplete));
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ui->lineEdit_addrCoordDataStart->setText(QString::number(config.registerConfig.addrCoordDataStart));
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// 加载姿态输出顺序
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int poseOrderIndex = ui->comboBox_poseOutputOrder->findData(config.poseOutputOrder);
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if (poseOrderIndex >= 0) {
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ui->comboBox_poseOutputOrder->setCurrentIndex(poseOrderIndex);
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}
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// 加载方向向量反向配置
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int dirInvertIndex = ui->comboBox_dirVectorInvert->findData(config.dirVectorInvert);
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if (dirInvertIndex >= 0) {
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ui->comboBox_dirVectorInvert->setCurrentIndex(dirInvertIndex);
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}
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}
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bool DialogAlgoarg::SavePlcRobotServerConfigFromUI(VrPlcRobotServerConfig& config)
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{
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if (!ui) return false;
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// 获取PLC服务端IP
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QString plcIp = ui->lineEdit_plcServerIp->text().trimmed();
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if (plcIp.isEmpty()) {
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return false;
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}
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config.plcServerIp = plcIp.toStdString();
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// 获取PLC服务端端口
|
||
bool ok = false;
|
||
config.plcServerPort = ui->lineEdit_plcServerPort->text().toInt(&ok);
|
||
if (!ok || config.plcServerPort <= 0 || config.plcServerPort > 65535) {
|
||
return false;
|
||
}
|
||
|
||
// 获取PLC寄存器地址配置
|
||
config.registerConfig.addrPhotoRequest = ui->lineEdit_addrPhotoRequest->text().toInt(&ok);
|
||
if (!ok || config.registerConfig.addrPhotoRequest < 0) {
|
||
return false;
|
||
}
|
||
|
||
config.registerConfig.addrDataComplete = ui->lineEdit_addrDataComplete->text().toInt(&ok);
|
||
if (!ok || config.registerConfig.addrDataComplete < 0) {
|
||
return false;
|
||
}
|
||
|
||
config.registerConfig.addrCoordDataStart = ui->lineEdit_addrCoordDataStart->text().toInt(&ok);
|
||
if (!ok || config.registerConfig.addrCoordDataStart < 0) {
|
||
return false;
|
||
}
|
||
|
||
// 获取姿态输出顺序
|
||
config.poseOutputOrder = ui->comboBox_poseOutputOrder->currentData().toInt();
|
||
|
||
// 获取方向向量反向配置
|
||
config.dirVectorInvert = ui->comboBox_dirVectorInvert->currentData().toInt();
|
||
|
||
return true;
|
||
}
|