1062 lines
33 KiB
C++
1062 lines
33 KiB
C++
#include "mainwindow.h"
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#include "ui_mainwindow.h"
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#include <QApplication>
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#include <QBrush>
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#include <QCloseEvent>
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#include <QComboBox>
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#include <QDateTime>
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#include <QDir>
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#include <QFileDialog>
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#include <QGraphicsScene>
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#include <QGraphicsPixmapItem>
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#include <QGraphicsView>
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#include <QHBoxLayout>
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#include <QIcon>
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#include <QLabel>
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#include <QListWidgetItem>
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#include <QMetaObject>
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#include <QPixmap>
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#include <QPushButton>
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#include <QResizeEvent>
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#include <QStandardPaths>
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#include <QThread>
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#include <QTimer>
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#include <QVBoxLayout>
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#include <algorithm>
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#include <thread>
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#include "IVrUtils.h"
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#include "PathManager.h"
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#include "SingleTargetResultWidget.h"
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#include "StyledMessageBox.h"
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#include "Version.h"
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#include "VrDateUtils.h"
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#include "VrLog.h"
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namespace {
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QString GuideStateName(ParkingGuideState state)
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{
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switch (state) {
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case ParkingGuideState::DockingStarted:
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return QStringLiteral("泊位引导启动");
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case ParkingGuideState::Capturing:
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return QStringLiteral("捕获");
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case ParkingGuideState::Tracking:
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return QStringLiteral("跟踪");
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case ParkingGuideState::ApproachRate:
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return QStringLiteral("接近率");
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case ParkingGuideState::CenterLineAligned:
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return QStringLiteral("对准中心线");
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case ParkingGuideState::Slow:
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return QStringLiteral("慢速");
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case ParkingGuideState::AzimuthGuidance:
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return QStringLiteral("方位引导");
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case ParkingGuideState::StopPositionReached:
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return QStringLiteral("到达停止位置");
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case ParkingGuideState::DockingCompleted:
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return QStringLiteral("泊位引导完成");
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case ParkingGuideState::Overshot:
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return QStringLiteral("越位");
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case ParkingGuideState::StoppedShort:
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return QStringLiteral("提前停止");
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case ParkingGuideState::Waiting:
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return QStringLiteral("等待");
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case ParkingGuideState::SlowBadWeather:
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return QStringLiteral("异常慢速-恶劣天气");
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case ParkingGuideState::SlowAircraftLost:
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return QStringLiteral("异常慢速-飞机丢失");
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case ParkingGuideState::AircraftVerificationFailed:
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return QStringLiteral("飞机验证失败");
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case ParkingGuideState::GateBlocked:
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return QStringLiteral("机位受阻");
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case ParkingGuideState::ViewBlocked:
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return QStringLiteral("视野受阻");
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case ParkingGuideState::SbuStop:
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return QStringLiteral("SBU停止");
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case ParkingGuideState::TooFast:
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return QStringLiteral("速度过快");
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case ParkingGuideState::EmergencyStop:
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return QStringLiteral("紧急停止");
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case ParkingGuideState::ChocksOn:
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return QStringLiteral("挡轮挡");
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case ParkingGuideState::SystemError:
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return QStringLiteral("系统错误");
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case ParkingGuideState::SystemFailure:
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return QStringLiteral("系统故障");
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case ParkingGuideState::PowerFailure:
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return QStringLiteral("电源故障");
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case ParkingGuideState::Unknown:
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default:
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return QStringLiteral("未知");
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}
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}
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QString FormatGuideState(const ParkingSpaceGuideInfo& info)
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{
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const ParkingGuideState state = ParkingGuideStateFromCode(info.guideStateCode);
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const int displayCode = state == ParkingGuideState::Unknown
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? info.guideStateCode
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: static_cast<int>(state);
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QString text = QStringLiteral("%1 %2").arg(displayCode).arg(GuideStateName(state));
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const QString guideText = info.guideText.trimmed();
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if (!guideText.isEmpty()) {
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text += QStringLiteral(" / %1").arg(guideText);
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}
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return text;
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}
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QString FormatNumber(double value, const QString& unit, int precision = 2)
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{
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return QStringLiteral("%1%2").arg(value, 0, 'f', precision).arg(unit);
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}
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bool IsKnownAircraftModel(const QString& modelType)
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{
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const QString normalized = modelType.trimmed().toUpper();
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return normalized == QStringLiteral("A320") ||
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normalized == QStringLiteral("B737");
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}
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QString FormatModelVerification(const ParkingSpaceGuideInfo& info)
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{
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const QString expected = info.expectedModelType.trimmed().toUpper();
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const QString recognized = info.modelType.trimmed().toUpper();
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if (!IsKnownAircraftModel(recognized)) {
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return QStringLiteral("未知");
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}
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if (!IsKnownAircraftModel(expected)) {
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return QStringLiteral("实测(%1)").arg(recognized);
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}
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if (info.modelMatched) {
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return QStringLiteral("匹配(%1)").arg(recognized);
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}
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if (recognized.compare(expected, Qt::CaseInsensitive) != 0) {
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return QStringLiteral("不匹配(%1)").arg(recognized);
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}
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return QStringLiteral("未知");
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}
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void ConfigureResultWidget(SingleTargetResultWidget* resultWidget)
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{
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if (!resultWidget) {
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return;
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}
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// Keep this presentation local to ParkingSpaceGuide; UICommon defaults are shared by other apps.
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auto* mainLayout = qobject_cast<QVBoxLayout*>(resultWidget->layout());
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if (mainLayout && mainLayout->count() > 0) {
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auto* headerLayout = qobject_cast<QHBoxLayout*>(mainLayout->itemAt(0)->layout());
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if (headerLayout && headerLayout->count() == 2) {
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headerLayout->setSpacing(12);
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headerLayout->setStretch(0, 0);
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headerLayout->setStretch(1, 0);
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headerLayout->addStretch(1);
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}
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}
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resultWidget->setStyleSheet(
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resultWidget->styleSheet()
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+ QStringLiteral(
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"#singleTargetTitle { font-size: 28px; }"
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"#singleTargetStatus { font-size: 34px; font-weight: 700; padding: 0; }"
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"#singleTargetEmpty { font-size: 28px; }"
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"#singleTargetFieldName { font-size: 24px; }"
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"#singleTargetFieldValue { font-size: 26px; }"));
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auto* statusLabel = resultWidget->findChild<QLabel*>(QStringLiteral("singleTargetStatus"));
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if (statusLabel) {
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statusLabel->setStyleSheet(QStringLiteral("background-color: transparent;"));
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}
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}
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} // namespace
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MainWindow::MainWindow(QWidget* parent)
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: MainWindow(ParkingSpaceGuideSimulationOptions(), parent)
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{
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}
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MainWindow::MainWindow(const ParkingSpaceGuideSimulationOptions& simulationOptions,
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QWidget* parent)
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: QMainWindow(parent)
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, ui(new Ui::MainWindow)
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, m_simulationOptions(simulationOptions)
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{
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ui->setupUi(this);
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setWindowTitle(m_simulationOptions.enabled
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? QStringLiteral("停机引导（仿真）")
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: QStringLiteral("停机引导"));
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if (ui->label) {
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ui->label->setText(QStringLiteral("停机引导"));
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}
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#ifdef _WIN32
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setWindowIcon(QIcon(":/common/resource/logo.ico"));
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#else
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setWindowIcon(QIcon(":/common/resource/logo.png"));
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#endif
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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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statusBar()->setStyleSheet("QStatusBar { color: rgb(239, 241, 245); padding: 20px; }");
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const QString versionWithBuildTime = QString("%1_%2%3%4%5%6%7")
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.arg(GetParkingSpaceGuideFullVersion())
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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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m_versionLabel = new QLabel(versionWithBuildTime);
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m_versionLabel->setStyleSheet("color: rgb(239, 241, 245); font-size: 20px; margin-right: 16px;");
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m_versionLabel->setCursor(Qt::PointingHandCursor);
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m_versionLabel->installEventFilter(this);
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statusBar()->addPermanentWidget(m_versionLabel);
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setWindowFlags(Qt::FramelessWindowHint);
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showMaximized();
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ui->label_work->setVisible(false);
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ui->detect_image->setScene(new QGraphicsScene(this));
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m_logHelper = new DetectLogHelper(ui->detect_log, this);
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qRegisterMetaType<DetectionResult>("DetectionResult");
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qRegisterMetaType<WorkStatus>("WorkStatus");
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qRegisterMetaType<ParkingSpaceGuidePosition>("ParkingSpaceGuidePosition");
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connect(this, &MainWindow::workStatusUpdateRequested,
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this, &MainWindow::updateWorkStatusLabel,
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Qt::QueuedConnection);
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setupContextMenu();
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updateStatusLog(tr("设备初始化开始"));
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Init();
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}
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MainWindow::~MainWindow()
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{
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if (m_presenter) {
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m_presenter->RequestShutdown();
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}
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if (m_initThread.joinable()) {
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m_initThread.join();
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}
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if (m_testThread.joinable()) {
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m_testThread.join();
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}
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if (m_presenter) {
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m_presenter->DeinitApp();
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m_presenter->SetStatusCallback(static_cast<IYParkingSpaceGuideStatus*>(nullptr));
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delete m_presenter;
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m_presenter = nullptr;
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}
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delete ui;
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}
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void MainWindow::closeEvent(QCloseEvent* event)
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{
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if (m_shutdownComplete) {
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event->accept();
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return;
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}
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event->ignore();
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if (m_closing.exchange(true)) {
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return;
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}
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QApplication::setQuitOnLastWindowClosed(false);
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setEnabled(false);
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hide();
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if (m_presenter) {
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m_presenter->RequestShutdown();
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}
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QTimer::singleShot(0, this, &MainWindow::continueShutdown);
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}
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void MainWindow::continueShutdown()
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{
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if (m_initRunning.load() || m_testRunning.load()) {
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QTimer::singleShot(20, this, &MainWindow::continueShutdown);
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return;
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}
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if (m_initThread.joinable()) {
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m_initThread.join();
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}
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if (m_testThread.joinable()) {
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m_testThread.join();
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}
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if (m_presenter) {
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m_presenter->DeinitApp();
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m_presenter->SetStatusCallback(static_cast<IYParkingSpaceGuideStatus*>(nullptr));
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}
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m_shutdownComplete = true;
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QApplication::quit();
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}
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bool MainWindow::eventFilter(QObject* obj, QEvent* event)
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{
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if (obj == m_versionLabel && event->type() == QEvent::MouseButtonPress) {
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const QString algoVersion = m_presenter ? m_presenter->GetAlgoVersion() : QString();
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AboutDialog dlg(PARKINGSPACEGUIDE_APP_NAME, m_versionLabel->text(), algoVersion, this);
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dlg.exec();
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return true;
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}
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return QMainWindow::eventFilter(obj, event);
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}
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void MainWindow::updateStatusLog(const QString& message)
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{
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if (QThread::currentThread() != thread()) {
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QMetaObject::invokeMethod(this, [this, message]() {
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updateStatusLog(message);
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}, Qt::QueuedConnection);
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return;
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}
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if (m_logHelper) {
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m_logHelper->appendLog(message);
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}
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}
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void MainWindow::clearDetectionLog()
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{
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if (m_logHelper) {
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m_logHelper->clearLog();
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}
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}
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void MainWindow::Init()
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{
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m_presenter = new ParkingSpaceGuidePresenter(m_simulationOptions);
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m_presenter->SetStatusCallback<IYParkingSpaceGuideStatus>(this);
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connect(m_presenter,
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&ParkingSpaceGuidePresenter::SelectedModelChanged,
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this,
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[this](const QString& modelType) {
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const int index = ui->combo_aircraft_model->findText(
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modelType, Qt::MatchFixedString);
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if (index >= 0 &&
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ui->combo_aircraft_model->currentIndex() != index) {
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ui->combo_aircraft_model->setCurrentIndex(index);
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}
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},
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Qt::QueuedConnection);
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m_deviceStatusWidget = new DeviceStatusWidget(ui->frame_dev);
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m_deviceStatusWidget->setCameraCount(2, true);
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m_deviceStatusWidget->setCamera1Name(tr("平面相机"));
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m_deviceStatusWidget->setCamera2Name(tr("雷达"));
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m_deviceStatusWidget->setRobotVisible(false);
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connect(m_deviceStatusWidget, SIGNAL(cameraClicked(int)), this, SLOT(onCameraClicked(int)));
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auto* 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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SingleTargetResultWidget::setupListWidget(ui->detect_result_list, QSize(520, 420));
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ensureResultWidget();
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setButtonsEnabled(false);
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m_initRunning.store(true);
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m_initThread = std::thread([this]() {
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updateStatusLog(tr("系统初始化中..."));
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const int result = m_presenter->Init();
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if (m_closing.load()) {
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m_initRunning.store(false);
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return;
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}
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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("初始化完成"));
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if (m_simulationOptions.enabled) {
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updateStatusLog(tr("仿真数据已全部加载到内存，请选择机型并点击开始进行回放"));
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} else if (!m_presenter->StartAutomaticDetection(-1)) {
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updateStatusLog(tr("自动实时检测启动失败，请检查雷达和安全状态"));
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}
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}
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m_initRunning.store(false);
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});
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}
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void MainWindow::displayImage(const QImage& image)
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{
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if (image.isNull()) {
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updateStatusLog(tr("无预览图像"));
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return;
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}
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if (m_imagePixmapItem && m_lastImageCacheKey == image.cacheKey()) {
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return;
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}
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QGraphicsScene* scene = ui->detect_image->scene();
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const QPixmap pixmap = QPixmap::fromImage(image);
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if (!m_imagePixmapItem) {
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m_imagePixmapItem = scene->addPixmap(pixmap);
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m_imagePixmapItem->setTransformationMode(Qt::SmoothTransformation);
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} else {
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m_imagePixmapItem->setPixmap(pixmap);
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}
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const bool sizeChanged = m_lastImageSize != image.size();
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m_lastImageSize = image.size();
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m_lastImageCacheKey = image.cacheKey();
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if (sizeChanged) {
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scene->setSceneRect(m_imagePixmapItem->boundingRect());
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ui->detect_image->fitInView(m_imagePixmapItem, Qt::KeepAspectRatio);
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}
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}
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void MainWindow::ensureResultWidget()
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{
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if (m_resultWidget && m_resultItem) {
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return;
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}
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m_resultWidget = new SingleTargetResultWidget();
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m_resultWidget->setAutoFillBackground(true);
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m_resultItem = new QListWidgetItem();
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m_resultItem->setBackground(QBrush(Qt::transparent));
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m_resultItem->setFlags(m_resultItem->flags() &
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~Qt::ItemIsDragEnabled &
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~Qt::ItemIsDropEnabled);
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ui->detect_result_list->addItem(m_resultItem);
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ui->detect_result_list->setItemWidget(m_resultItem, m_resultWidget);
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ConfigureResultWidget(m_resultWidget);
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updateResultItemSize();
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addDetectionResult(DetectionResult());
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}
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void MainWindow::updateResultItemSize()
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{
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if (!m_resultItem || !ui || !ui->detect_result_list) {
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return;
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}
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const int itemWidth = (std::max)(
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360,
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ui->detect_result_list->viewport()->width() - 8);
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const int itemHeight = (std::max)(
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360,
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ui->detect_result_list->viewport()->height());
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const QSize itemSize(itemWidth, itemHeight);
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if (m_resultItem->sizeHint() != itemSize) {
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m_resultItem->setSizeHint(itemSize);
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SingleTargetResultWidget::setupListWidget(
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ui->detect_result_list,
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itemSize);
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}
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}
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void MainWindow::addDetectionResult(const DetectionResult& result)
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{
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ensureResultWidget();
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ParkingSpaceGuideInfo displayInfo;
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if (result.parkingSpaceInfoList.empty()) {
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displayInfo.targetId = QStringLiteral("T001");
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displayInfo.parkId = QStringLiteral("P01");
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displayInfo.expectedModelType.clear();
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displayInfo.modelType = QStringLiteral("未知");
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displayInfo.guideStateCode = static_cast<int>(ParkingGuideState::Waiting);
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displayInfo.guideText = QStringLiteral("WAIT");
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} else {
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displayInfo = result.parkingSpaceInfoList.front();
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}
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const ParkingSpaceGuideInfo& info = displayInfo;
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const ParkingGuideState guideState = ParkingGuideStateFromCode(info.guideStateCode);
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m_resultWidget->setTitle(tr("当前状态"));
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m_resultWidget->setStatus(
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GuideStateName(guideState),
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info.hasException || guideState == ParkingGuideState::EmergencyStop);
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QLabel* statusLabel = m_resultWidget->findChild<QLabel*>(
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QStringLiteral("singleTargetStatus"));
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if (statusLabel) {
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statusLabel->setStyleSheet(
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QStringLiteral("background-color: transparent;"));
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}
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m_resultWidget->setFields({
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{tr("目标编号"), info.targetId},
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{tr("停机位"), info.parkId},
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{tr("机型校验"), FormatModelVerification(info)},
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{tr("轮挡区域人员"), info.personInChockRegion
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? tr("已检测") : tr("未检测")},
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{tr("区域人数"), QString::number(info.personCount)},
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{tr("引导状态"), FormatGuideState(info)},
|
|
{tr("到停止线"), FormatNumber(info.distance, tr("毫米"))},
|
|
{tr("横向偏移"), FormatNumber(info.lateralOffset, tr("毫米"))},
|
|
{tr("偏转角"), FormatNumber(info.angle, tr("度"))},
|
|
{tr("速度"), FormatNumber(info.aircraftSpeed, tr("米/秒"), 2)}
|
|
});
|
|
}
|
|
|
|
void MainWindow::OnStatusUpdate(const std::string& statusMessage)
|
|
{
|
|
updateStatusLog(QString::fromStdString(statusMessage));
|
|
}
|
|
|
|
void MainWindow::OnDetectionResult(const DetectionResult& result)
|
|
{
|
|
const ParkingGuideState guideState =
|
|
result.parkingSpaceInfoList.empty()
|
|
? ParkingGuideState::Unknown
|
|
: ParkingGuideStateFromCode(
|
|
result.parkingSpaceInfoList.front().guideStateCode);
|
|
const bool preserveStateTransition =
|
|
result.imageIsRoi ||
|
|
guideState == ParkingGuideState::StopPositionReached ||
|
|
guideState == ParkingGuideState::DockingCompleted ||
|
|
guideState == ParkingGuideState::ChocksOn;
|
|
if (preserveStateTransition) {
|
|
if (QThread::currentThread() == thread()) {
|
|
updateDetectionResultDisplay(result);
|
|
} else {
|
|
QMetaObject::invokeMethod(this, [this, result]() {
|
|
updateDetectionResultDisplay(result);
|
|
}, Qt::QueuedConnection);
|
|
}
|
|
return;
|
|
}
|
|
|
|
bool queueUpdate = false;
|
|
{
|
|
std::lock_guard<std::mutex> lock(m_pendingResultMutex);
|
|
m_pendingDetectionResult = result;
|
|
if (!m_detectionResultUpdateQueued) {
|
|
m_detectionResultUpdateQueued = true;
|
|
queueUpdate = true;
|
|
}
|
|
}
|
|
if (!queueUpdate) {
|
|
return;
|
|
}
|
|
|
|
QMetaObject::invokeMethod(this, [this]() {
|
|
DetectionResult latestResult;
|
|
{
|
|
std::lock_guard<std::mutex> lock(m_pendingResultMutex);
|
|
latestResult = m_pendingDetectionResult;
|
|
m_detectionResultUpdateQueued = false;
|
|
}
|
|
updateDetectionResultDisplay(latestResult);
|
|
}, Qt::QueuedConnection);
|
|
}
|
|
|
|
void MainWindow::resizeEvent(QResizeEvent* event)
|
|
{
|
|
QMainWindow::resizeEvent(event);
|
|
updateResultItemSize();
|
|
if (m_imagePixmapItem && ui && ui->detect_image) {
|
|
ui->detect_image->fitInView(m_imagePixmapItem, Qt::KeepAspectRatio);
|
|
}
|
|
}
|
|
|
|
void MainWindow::OnCamera1StatusChanged(bool isConnected)
|
|
{
|
|
if (QThread::currentThread() != thread()) {
|
|
QMetaObject::invokeMethod(this, [this, isConnected]() {
|
|
OnCamera1StatusChanged(isConnected);
|
|
}, Qt::QueuedConnection);
|
|
return;
|
|
}
|
|
|
|
if (m_deviceStatusWidget) {
|
|
m_deviceStatusWidget->updateCamera1Status(isConnected);
|
|
}
|
|
}
|
|
|
|
void MainWindow::OnCamera2StatusChanged(bool isConnected)
|
|
{
|
|
if (QThread::currentThread() != thread()) {
|
|
QMetaObject::invokeMethod(this, [this, isConnected]() {
|
|
OnCamera2StatusChanged(isConnected);
|
|
}, Qt::QueuedConnection);
|
|
return;
|
|
}
|
|
|
|
if (m_deviceStatusWidget) {
|
|
m_deviceStatusWidget->updateCamera2Status(isConnected);
|
|
}
|
|
}
|
|
|
|
void MainWindow::OnRobotConnectionChanged(bool isConnected)
|
|
{
|
|
Q_UNUSED(isConnected);
|
|
}
|
|
|
|
void MainWindow::OnSerialConnectionChanged(bool isConnected)
|
|
{
|
|
if (QThread::currentThread() != thread()) {
|
|
QMetaObject::invokeMethod(this, [this, isConnected]() {
|
|
OnSerialConnectionChanged(isConnected);
|
|
}, Qt::QueuedConnection);
|
|
return;
|
|
}
|
|
|
|
if (m_deviceStatusWidget) {
|
|
m_deviceStatusWidget->updateSerialStatus(isConnected);
|
|
}
|
|
}
|
|
|
|
void MainWindow::OnCameraCountChanged(int cameraCount)
|
|
{
|
|
Q_UNUSED(cameraCount);
|
|
if (QThread::currentThread() != thread()) {
|
|
QMetaObject::invokeMethod(this, [this]() {
|
|
OnCameraCountChanged(2);
|
|
}, Qt::QueuedConnection);
|
|
return;
|
|
}
|
|
|
|
if (m_deviceStatusWidget) {
|
|
m_deviceStatusWidget->setCameraCount(2, true);
|
|
m_deviceStatusWidget->setCamera1Name(tr("平面相机"));
|
|
m_deviceStatusWidget->setCamera2Name(tr("雷达"));
|
|
}
|
|
}
|
|
|
|
void MainWindow::OnWorkStatusChanged(WorkStatus status)
|
|
{
|
|
emit workStatusUpdateRequested(status);
|
|
}
|
|
|
|
void MainWindow::updateWorkStatusLabel(WorkStatus status)
|
|
{
|
|
m_emergencyStopControlsLocked =
|
|
status == WorkStatus::EmergencyStop;
|
|
if (ui_dialogAlgoArg) {
|
|
const bool detectionRunning =
|
|
m_presenter && m_presenter->IsDetectionRunning();
|
|
ui_dialogAlgoArg->setEnabled(
|
|
!safetyControlsLocked() && !detectionRunning);
|
|
}
|
|
|
|
if (status == WorkStatus::Working || status == WorkStatus::Detecting) {
|
|
clearDetectionLog();
|
|
}
|
|
|
|
if (!ui->label_work) {
|
|
return;
|
|
}
|
|
|
|
const QString statusText = QString::fromStdString(WorkStatusToString(status));
|
|
ui->label_work->setText(statusText);
|
|
updateStatusLog(tr("工作状态：%1").arg(statusText));
|
|
|
|
switch (status) {
|
|
case WorkStatus::Ready:
|
|
ui->label_work->setStyleSheet("color: green;");
|
|
resetAircraftModelSelection();
|
|
setButtonsEnabled(true);
|
|
if (ui->btn_stop) ui->btn_stop->setEnabled(false);
|
|
break;
|
|
case WorkStatus::InitIng:
|
|
ui->label_work->setStyleSheet("color: blue;");
|
|
setButtonsEnabled(false);
|
|
break;
|
|
case WorkStatus::Working:
|
|
ui->label_work->setStyleSheet("color: blue;");
|
|
setButtonsEnabled(false);
|
|
if (ui->btn_stop) ui->btn_stop->setEnabled(true);
|
|
break;
|
|
case WorkStatus::Detecting:
|
|
ui->label_work->setStyleSheet("color: blue;");
|
|
setButtonsEnabled(false);
|
|
break;
|
|
case WorkStatus::Completed:
|
|
ui->label_work->setStyleSheet("color: green; font-weight: bold;");
|
|
resetAircraftModelSelection();
|
|
setButtonsEnabled(true);
|
|
if (ui->btn_stop) ui->btn_stop->setEnabled(false);
|
|
break;
|
|
case WorkStatus::Error:
|
|
ui->label_work->setStyleSheet("color: red; font-weight: bold;");
|
|
resetAircraftModelSelection();
|
|
setButtonsEnabled(true);
|
|
if (ui->btn_stop) ui->btn_stop->setEnabled(false);
|
|
break;
|
|
case WorkStatus::EmergencyStop:
|
|
ui->label_work->setStyleSheet("color: red; font-weight: bold;");
|
|
setButtonsEnabled(false);
|
|
if (ui->btn_stop) ui->btn_stop->setEnabled(false);
|
|
break;
|
|
default:
|
|
ui->label_work->setStyleSheet("");
|
|
setButtonsEnabled(false);
|
|
break;
|
|
}
|
|
}
|
|
|
|
void MainWindow::updateDetectionResultDisplay(const DetectionResult& result)
|
|
{
|
|
if (!result.parkingSpaceInfoList.empty()) {
|
|
const ParkingGuideState state = ParkingGuideStateFromCode(
|
|
result.parkingSpaceInfoList.front().guideStateCode);
|
|
if (state == ParkingGuideState::EmergencyStop ||
|
|
state == ParkingGuideState::SystemFailure) {
|
|
m_safetyResultControlsLocked = true;
|
|
} else if (state == ParkingGuideState::Waiting) {
|
|
m_safetyResultControlsLocked = false;
|
|
}
|
|
|
|
if (ui_dialogAlgoArg) {
|
|
const bool detectionRunning =
|
|
m_presenter && m_presenter->IsDetectionRunning();
|
|
ui_dialogAlgoArg->setEnabled(
|
|
!safetyControlsLocked() && !detectionRunning);
|
|
}
|
|
if (safetyControlsLocked()) {
|
|
setButtonsEnabled(false);
|
|
}
|
|
}
|
|
|
|
if (!result.image.isNull()) {
|
|
displayImage(result.image);
|
|
}
|
|
addDetectionResult(result);
|
|
}
|
|
|
|
void MainWindow::on_btn_start_clicked()
|
|
{
|
|
if (!m_presenter) {
|
|
updateStatusLog(tr("系统未初始化"));
|
|
return;
|
|
}
|
|
|
|
const QString selectedModel =
|
|
ui->combo_aircraft_model->currentIndex() > 0
|
|
? ui->combo_aircraft_model->currentText().trimmed()
|
|
: QString();
|
|
setButtonsEnabled(false);
|
|
if (ui_dialogAlgoArg) {
|
|
ui_dialogAlgoArg->setEnabled(false);
|
|
}
|
|
clearDetectionLog();
|
|
updateStatusLog(selectedModel.isEmpty()
|
|
? tr("开始停机引导检测，机型以实际检测结果为准")
|
|
: tr("开始%1停机引导检测").arg(selectedModel));
|
|
if (!m_presenter->StartDetection(selectedModel, -1)) {
|
|
updateStatusLog(tr("启动检测失败"));
|
|
setButtonsEnabled(true);
|
|
if (ui_dialogAlgoArg) {
|
|
ui_dialogAlgoArg->setEnabled(!safetyControlsLocked());
|
|
}
|
|
}
|
|
}
|
|
|
|
void MainWindow::on_btn_stop_clicked()
|
|
{
|
|
if (m_presenter) {
|
|
m_presenter->StopDetection();
|
|
}
|
|
}
|
|
|
|
void MainWindow::showParameterDialog(DialogAlgoArg::ConfigPage page, QPushButton* button)
|
|
{
|
|
if (m_selectedButton && m_selectedButton != button) {
|
|
updateStatusLog(tr("请先关闭当前参数窗口"));
|
|
return;
|
|
}
|
|
|
|
if (!m_presenter) {
|
|
updateStatusLog(tr("系统未初始化"));
|
|
return;
|
|
}
|
|
if (m_presenter->IsDetectionRunning()) {
|
|
updateStatusLog(tr("停机引导进行中，暂不能修改参数"));
|
|
return;
|
|
}
|
|
|
|
setButtonSelectedState(button, true);
|
|
|
|
if (!ui_dialogAlgoArg) {
|
|
ui_dialogAlgoArg = new DialogAlgoArg(this);
|
|
connect(ui_dialogAlgoArg, &QDialog::finished, this, [this]() {
|
|
if (m_selectedButton) {
|
|
setButtonSelectedState(m_selectedButton, false);
|
|
}
|
|
});
|
|
}
|
|
|
|
ui_dialogAlgoArg->SetPresenter(m_presenter);
|
|
ui_dialogAlgoArg->SetCurrentPage(page);
|
|
ui_dialogAlgoArg->show();
|
|
ui_dialogAlgoArg->raise();
|
|
ui_dialogAlgoArg->activateWindow();
|
|
}
|
|
|
|
void MainWindow::on_btn_camera_clicked()
|
|
{
|
|
updateStatusLog(tr("打开相机参数设置"));
|
|
showParameterDialog(DialogAlgoArg::ConfigPage::Camera, ui->btn_camera);
|
|
}
|
|
|
|
void MainWindow::on_btn_algo_config_clicked()
|
|
{
|
|
updateStatusLog(tr("打开检测参数设置"));
|
|
showParameterDialog(DialogAlgoArg::ConfigPage::Detection, ui->btn_algo_config);
|
|
}
|
|
|
|
void MainWindow::on_btn_camera_levelling_clicked()
|
|
{
|
|
updateStatusLog(tr("打开雷达地面调平参数"));
|
|
showParameterDialog(DialogAlgoArg::ConfigPage::Calibration, ui->btn_camera_levelling);
|
|
}
|
|
|
|
void MainWindow::on_btn_hide_clicked()
|
|
{
|
|
showMinimized();
|
|
}
|
|
|
|
void MainWindow::on_btn_close_clicked()
|
|
{
|
|
close();
|
|
}
|
|
|
|
void MainWindow::on_btn_test_clicked()
|
|
{
|
|
if (!m_presenter) {
|
|
StyledMessageBox::warning(this, tr("错误"), tr("系统未初始化"));
|
|
return;
|
|
}
|
|
|
|
if (m_selectedButton && m_selectedButton != ui->btn_test) {
|
|
updateStatusLog(tr("请先关闭当前参数窗口"));
|
|
return;
|
|
}
|
|
|
|
setButtonSelectedState(ui->btn_test, true);
|
|
setButtonsEnabled(false);
|
|
clearDetectionLog();
|
|
updateStatusLog(tr("运行预留算法接口测试"));
|
|
|
|
if (m_testThread.joinable()) {
|
|
m_testThread.join();
|
|
}
|
|
m_testRunning.store(true);
|
|
m_testThread = std::thread([this]() {
|
|
const bool ok = m_presenter->TriggerDetection(-1);
|
|
if (!m_closing.load()) {
|
|
updateStatusLog(ok ? tr("测试检测完成") : tr("测试检测失败"));
|
|
}
|
|
QMetaObject::invokeMethod(this, [this]() {
|
|
if (m_closing.load()) {
|
|
return;
|
|
}
|
|
setButtonSelectedState(ui->btn_test, false);
|
|
const bool running = m_presenter && m_presenter->IsDetectionRunning();
|
|
setButtonsEnabled(!running);
|
|
if (ui->btn_stop) {
|
|
ui->btn_stop->setEnabled(
|
|
running && !safetyControlsLocked());
|
|
}
|
|
}, Qt::QueuedConnection);
|
|
m_testRunning.store(false);
|
|
});
|
|
}
|
|
|
|
void MainWindow::setButtonsEnabled(bool enabled)
|
|
{
|
|
const bool controlsEnabled =
|
|
enabled &&
|
|
!safetyControlsLocked() &&
|
|
!(m_presenter && m_presenter->IsDetectionRunning());
|
|
if (ui->combo_aircraft_model) {
|
|
ui->combo_aircraft_model->setEnabled(controlsEnabled);
|
|
}
|
|
if (ui->btn_start) {
|
|
ui->btn_start->setEnabled(controlsEnabled);
|
|
}
|
|
if (ui->btn_stop) ui->btn_stop->setEnabled(controlsEnabled);
|
|
if (ui->btn_camera) ui->btn_camera->setEnabled(controlsEnabled);
|
|
if (ui->btn_algo_config) ui->btn_algo_config->setEnabled(controlsEnabled);
|
|
if (ui->btn_camera_levelling) ui->btn_camera_levelling->setEnabled(controlsEnabled);
|
|
if (ui->btn_test) ui->btn_test->setEnabled(controlsEnabled);
|
|
}
|
|
|
|
void MainWindow::resetAircraftModelSelection()
|
|
{
|
|
if (ui->combo_aircraft_model) {
|
|
ui->combo_aircraft_model->setCurrentIndex(0);
|
|
}
|
|
}
|
|
|
|
bool MainWindow::safetyControlsLocked() const
|
|
{
|
|
return m_emergencyStopControlsLocked ||
|
|
m_safetyResultControlsLocked;
|
|
}
|
|
|
|
void MainWindow::setButtonImage(QPushButton* button, const QString& imagePath)
|
|
{
|
|
if (button) {
|
|
button->setStyleSheet(QString("image: url(%1);background-color: rgb(38, 40, 47);border: none;")
|
|
.arg(imagePath));
|
|
}
|
|
}
|
|
|
|
void MainWindow::setButtonSelectedState(QPushButton* button, bool selected)
|
|
{
|
|
if (!button) {
|
|
return;
|
|
}
|
|
|
|
QString normalImage;
|
|
QString selectedImage;
|
|
if (button == ui->btn_camera) {
|
|
normalImage = ":/common/resource/config_camera.png";
|
|
selectedImage = ":/common/resource/config_camera_s.png";
|
|
} else if (button == ui->btn_algo_config) {
|
|
normalImage = ":/common/resource/config_algo.png";
|
|
selectedImage = ":/common/resource/config_algo_s.png";
|
|
} else if (button == ui->btn_camera_levelling) {
|
|
normalImage = ":/common/resource/config_camera_level.png";
|
|
selectedImage = ":/common/resource/config_camera_level_s.png";
|
|
} else if (button == ui->btn_test) {
|
|
normalImage = ":/common/resource/config_data_test.png";
|
|
selectedImage = ":/common/resource/config_data_test_s.png";
|
|
}
|
|
|
|
if (selected) {
|
|
setButtonImage(button, selectedImage);
|
|
m_selectedButton = button;
|
|
setOtherButtonsEnabled(button, false);
|
|
} else {
|
|
setButtonImage(button, normalImage);
|
|
if (m_selectedButton == button) {
|
|
m_selectedButton = nullptr;
|
|
setOtherButtonsEnabled(nullptr, true);
|
|
}
|
|
}
|
|
}
|
|
|
|
void MainWindow::restoreAllButtonStates()
|
|
{
|
|
setButtonSelectedState(ui->btn_camera, false);
|
|
setButtonSelectedState(ui->btn_algo_config, false);
|
|
setButtonSelectedState(ui->btn_camera_levelling, false);
|
|
setButtonSelectedState(ui->btn_test, false);
|
|
}
|
|
|
|
void MainWindow::setOtherButtonsEnabled(QPushButton* exceptButton, bool enabled)
|
|
{
|
|
const QList<QPushButton*> configButtons = {
|
|
ui->btn_camera,
|
|
ui->btn_algo_config,
|
|
ui->btn_camera_levelling,
|
|
ui->btn_test
|
|
};
|
|
|
|
const bool controlsEnabled =
|
|
enabled &&
|
|
!safetyControlsLocked() &&
|
|
!(m_presenter && m_presenter->IsDetectionRunning());
|
|
for (QPushButton* button : configButtons) {
|
|
if (button && button != exceptButton) {
|
|
button->setEnabled(controlsEnabled);
|
|
}
|
|
}
|
|
}
|
|
|
|
void MainWindow::onCameraClicked(int cameraIndex)
|
|
{
|
|
if (m_presenter) {
|
|
m_presenter->SetDefaultCameraIndex(cameraIndex);
|
|
}
|
|
}
|
|
|
|
void MainWindow::setupContextMenu()
|
|
{
|
|
m_contextMenu = new QMenu(this);
|
|
m_saveDataAction = new QAction(tr("保存检测数据"), this);
|
|
m_contextMenu->addAction(m_saveDataAction);
|
|
|
|
connect(m_saveDataAction, &QAction::triggered, this, &MainWindow::onSaveDetectionData);
|
|
|
|
ui->detect_image->setContextMenuPolicy(Qt::CustomContextMenu);
|
|
connect(ui->detect_image, &QGraphicsView::customContextMenuRequested,
|
|
this, &MainWindow::showContextMenu);
|
|
}
|
|
|
|
void MainWindow::showContextMenu(const QPoint& pos)
|
|
{
|
|
if (!m_presenter) {
|
|
updateStatusLog(tr("系统未初始化，无法保存数据"));
|
|
return;
|
|
}
|
|
|
|
if (m_presenter->GetDetectionDataCacheSize() == 0) {
|
|
updateStatusLog(tr("没有可保存的检测数据"));
|
|
return;
|
|
}
|
|
|
|
m_contextMenu->exec(ui->detect_image->mapToGlobal(pos));
|
|
}
|
|
|
|
void MainWindow::onSaveDetectionData()
|
|
{
|
|
if (!m_presenter) {
|
|
updateStatusLog(tr("系统未初始化，无法保存数据"));
|
|
return;
|
|
}
|
|
|
|
const QString dirPath = QFileDialog::getExistingDirectory(
|
|
this,
|
|
tr("选择保存目录"),
|
|
QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation),
|
|
QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks);
|
|
|
|
if (dirPath.isEmpty()) {
|
|
updateStatusLog(tr("保存已取消"));
|
|
return;
|
|
}
|
|
|
|
const std::string timeStamp = CVrDateUtils::GetNowTime();
|
|
const QString fileName = QString("停机引导_%1_%2.txt")
|
|
.arg(m_presenter->GetDetectIndex())
|
|
.arg(QString::fromStdString(timeStamp));
|
|
const QString fullPath = QDir(dirPath).filePath(fileName);
|
|
|
|
if (saveDetectionDataToFile(fullPath)) {
|
|
updateStatusLog(tr("检测数据已保存：%1").arg(fileName));
|
|
} else {
|
|
updateStatusLog(tr("保存检测数据失败"));
|
|
}
|
|
}
|
|
|
|
bool MainWindow::saveDetectionDataToFile(const QString& filePath)
|
|
{
|
|
if (!m_presenter) {
|
|
return false;
|
|
}
|
|
|
|
try {
|
|
const int result = m_presenter->SaveDetectionDataToFile(filePath.toStdString());
|
|
if (result != 0) {
|
|
updateStatusLog(tr("保存数据失败，错误码：%1").arg(result));
|
|
return false;
|
|
}
|
|
return true;
|
|
} catch (const std::exception&) {
|
|
updateStatusLog(tr("保存数据异常"));
|
|
return false;
|
|
}
|
|
}
|