414 lines
14 KiB
C++
414 lines
14 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 <cstring>
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#include <QSettings>
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#include <QFileDialog>
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#include <QDoubleValidator>
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#include <QGroupBox>
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#include "PathManager.h"
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#include "StyledMessageBox.h"
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#include "ToolExtrinsicWidget.h"
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#include "NetworkConfigWidget.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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, m_toolExtrinsicWidget(nullptr)
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{
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try {
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ui->setupUi(this);
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ui->lineEdit_modelMinimumScore->setValidator(
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new QDoubleValidator(0.0, 1.0, 6, ui->lineEdit_modelMinimumScore));
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ui->tabWidget->setCurrentIndex(0);
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InitNetworkConfigTab();
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InitToolExtrinsicTab();
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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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// 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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const VrToolParam& toolParam = configData.algorithmParams.toolParam;
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LoadModelDetectionParamsToUI(configData.algorithmParams.modelParam);
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LoadFullImageCaptureParamsToUI(configData.algorithmParams.fullImageCaptureParam);
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if (m_toolExtrinsicWidget) {
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m_toolExtrinsicWidget->setData(
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toolParam.eulerOrder,
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toolParam.rotX, toolParam.rotY, toolParam.rotZ,
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toolParam.offsetX, toolParam.offsetY, toolParam.offsetZ);
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}
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// 加载网络配置（JSON TCP 端口 + Modbus 寄存器地址）
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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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ConfigResult configData;
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LoadModelDetectionParamsToUI(configData.algorithmParams.modelParam);
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LoadFullImageCaptureParamsToUI(configData.algorithmParams.fullImageCaptureParam);
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const VrToolParam& toolParam = configData.algorithmParams.toolParam;
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if (m_toolExtrinsicWidget) {
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m_toolExtrinsicWidget->setData(
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toolParam.eulerOrder,
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toolParam.rotX, toolParam.rotY, toolParam.rotZ,
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toolParam.offsetX, toolParam.offsetY, toolParam.offsetZ);
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}
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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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ConfigResult configData;
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LoadModelDetectionParamsToUI(configData.algorithmParams.modelParam);
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LoadFullImageCaptureParamsToUI(configData.algorithmParams.fullImageCaptureParam);
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const VrToolParam& toolParam = configData.algorithmParams.toolParam;
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if (m_toolExtrinsicWidget) {
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m_toolExtrinsicWidget->setData(
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toolParam.eulerOrder,
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toolParam.rotX, toolParam.rotY, toolParam.rotZ,
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toolParam.offsetX, toolParam.offsetY, toolParam.offsetZ);
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}
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}
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}
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void DialogAlgoarg::InitToolExtrinsicTab()
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{
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if (!ui || !ui->verticalLayout_toolExtrinsicHost || m_toolExtrinsicWidget) {
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return;
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}
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m_toolExtrinsicWidget = new ToolExtrinsicWidget(this);
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m_toolExtrinsicWidget->setCameraSelectorVisible(false);
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m_toolExtrinsicWidget->setTargetOffsetVisible(true);
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m_toolExtrinsicWidget->setAxialAngleRangeVisible(false);
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ui->verticalLayout_toolExtrinsicHost->addWidget(m_toolExtrinsicWidget);
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}
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void DialogAlgoarg::InitNetworkConfigTab()
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{
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if (!ui || !ui->tabWidget || m_networkConfigWidget) {
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return;
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}
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m_networkConfigWidget = new NetworkConfigWidget(true, true, ui->tabWidget);
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m_networkConfigWidget->setExtrinsicControlsVisible(false);
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m_networkConfigWidget->setPoseOutputOrderVisible(true);
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if (QGroupBox* group = m_networkConfigWidget->findChild<QGroupBox*>("groupPlc")) {
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group->setTitle(QStringLiteral("TCP端口与Modbus寄存器配置"));
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}
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const char* hideNames[] = {"labelPlcIp", "editPlcIp", "labelPlcPort", "editPlcPort"};
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for (const char* name : hideNames) {
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if (QWidget* widget = m_networkConfigWidget->findChild<QWidget*>(name)) {
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widget->hide();
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}
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}
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ui->tabWidget->addTab(m_networkConfigWidget, QStringLiteral("网络配置"));
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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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VrToolParam& toolParam = systemConfig.configResult.algorithmParams.toolParam;
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if (!SaveModelDetectionParamsFromUI(
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systemConfig.configResult.algorithmParams.modelParam)) {
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StyledMessageBox::warning(this, "错误", "模型检测参数输入有误，请检查！");
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return false;
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}
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if (!SaveFullImageCaptureParamsFromUI(
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systemConfig.configResult.algorithmParams.fullImageCaptureParam)) {
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StyledMessageBox::warning(this, "错误", "二维全图采集参数输入有误，请检查！");
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return false;
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}
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if (!m_toolExtrinsicWidget || !m_toolExtrinsicWidget->hasAcceptableInput()) {
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StyledMessageBox::warning(this, "错误", "工具参数输入有误，请检查！");
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return false;
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}
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m_toolExtrinsicWidget->getData(
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toolParam.eulerOrder,
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toolParam.rotX, toolParam.rotY, toolParam.rotZ,
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toolParam.offsetX, toolParam.offsetY, toolParam.offsetZ);
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// 保存网络配置（JSON TCP 端口 + Modbus 寄存器地址）
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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&) {
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return false;
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}
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}
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void DialogAlgoarg::LoadModelDetectionParamsToUI(const VrWorkpieceModelParam& modelParam)
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{
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if (!ui || !ui->lineEdit_modelMinimumScore) {
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return;
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}
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ui->lineEdit_modelMinimumScore->setText(QString::number(modelParam.minimumScore, 'f', 6));
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}
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bool DialogAlgoarg::SaveModelDetectionParamsFromUI(VrWorkpieceModelParam& modelParam)
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{
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if (!ui || !ui->lineEdit_modelMinimumScore) {
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return false;
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}
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bool scoreOk = false;
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const double minimumScore = ui->lineEdit_modelMinimumScore->text().toDouble(&scoreOk);
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if (!scoreOk || minimumScore < 0.0 || minimumScore > 1.0) {
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return false;
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}
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modelParam.minimumScore = minimumScore;
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return true;
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}
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void DialogAlgoarg::LoadFullImageCaptureParamsToUI(const VrFullImageCaptureParam& captureParam)
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{
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if (!ui || !ui->lineEdit_fullImageExposure || !ui->lineEdit_fullImageGain) {
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return;
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}
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ui->lineEdit_fullImageExposure->setText(QString::number(captureParam.exposure));
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ui->lineEdit_fullImageGain->setText(QString::number(captureParam.gain));
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}
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bool DialogAlgoarg::SaveFullImageCaptureParamsFromUI(VrFullImageCaptureParam& captureParam)
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{
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if (!ui || !ui->lineEdit_fullImageExposure || !ui->lineEdit_fullImageGain) {
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return false;
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}
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bool exposureOk = false;
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bool gainOk = false;
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const unsigned int exposure = ui->lineEdit_fullImageExposure->text().toUInt(&exposureOk);
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const unsigned int gain = ui->lineEdit_fullImageGain->text().toUInt(&gainOk);
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if (!exposureOk || exposure == 0 || !gainOk) {
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return false;
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}
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captureParam.exposure = exposure;
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captureParam.gain = gain;
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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::LoadPlcRobotServerConfigToUI(const VrPlcRobotServerConfig& config)
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{
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if (!m_networkConfigWidget) return;
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NetworkConfigData data;
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data.poseOutputOrder = config.poseOutputOrder;
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data.byteOrder = config.byteOrder;
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data.dirVectorInvert = config.dirVectorInvert;
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data.addrPhotoRequest = config.registerConfig.addrTrigger;
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data.addrDataComplete = config.registerConfig.addrWorkStatus;
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data.addrCoordDataStart = config.registerConfig.addrCoordDataStart;
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data.tcpServerPort = config.robotServerPort;
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m_networkConfigWidget->setConfig(data);
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}
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bool DialogAlgoarg::SavePlcRobotServerConfigFromUI(VrPlcRobotServerConfig& config)
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{
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if (!m_networkConfigWidget) return false;
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const NetworkConfigData data = m_networkConfigWidget->getConfig();
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if (data.tcpServerPort <= 0 || data.tcpServerPort > 65535 ||
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data.addrPhotoRequest < 0 ||
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data.addrDataComplete < 0 ||
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data.addrCoordDataStart < 0) {
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return false;
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}
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config.robotServerPort = data.tcpServerPort;
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config.registerConfig.addrTrigger = data.addrPhotoRequest;
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config.registerConfig.addrWorkStatus = data.addrDataComplete;
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config.registerConfig.addrCoordDataStart = data.addrCoordDataStart;
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config.poseOutputOrder = data.poseOutputOrder;
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config.dirVectorInvert = data.dirVectorInvert;
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config.byteOrder = data.byteOrder;
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return true;
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}
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