PayloadAPP/gddcdlg.cpp

#include "gddcdlg.h"
#include "ui_gddcdlg.h"
#include <QDateTime>
#include <QNetworkInterface>
#include <QTabBar>
#include <QTabWidget>

GDDCdlg::GDDCdlg(QWidget *parent)
    : QWidget(parent)
    , ui(new Ui::GDDCdlg)
{
    ui->setupUi(this);


    initWindow();
    initParam();
    initUDPSocket();

    /*启动定时器*/
    GDDCControlTimer = new QTimer();
    GDDCControlTimer->setInterval(1000);
    connect(GDDCControlTimer,&QTimer::timeout,this,[=](){
        GDDCControlTimeOut();
    });
    GDDCControlTimer->start();
}

GDDCdlg::~GDDCdlg()
{
    //关闭定时器
    GDDCControlTimer->stop();
    //关闭套接字，并丢弃写缓冲区中的所有待处理数据。
    udpSocket->abort();
    delete udpSocket;
    delete ui;
}

//初始化window
void GDDCdlg::initWindow()
{
    QPalette palette;
    //设置主窗口背景颜色
    palette.setColor(QPalette::Window,QColor(50, 50, 50));
    this->setPalette(palette);
    //嵌入到主窗口
    setWindowFlags(Qt::CustomizeWindowHint|Qt::FramelessWindowHint);
    hide();

}

//初始化参数
void GDDCdlg::initParam()
{
    m_DCcmdBuffer.resize(cmdLength);
    memset(TJDCCmdBuffer,0,10);
    /*系统控制*/
    ui->comboBox_1_1->addItem("自定义模板");
    ui->comboBox_1_1->addItem("16*16");
    ui->comboBox_1_1->addItem("32*32");
    ui->comboBox_1_1->addItem("64*64");
    ui->comboBox_1_1->addItem("128*128");
    ui->comboBox_1_2->addItem("红外");
    ui->comboBox_1_2->addItem("可见光");
    ui->comboBox_1_2->addItem("可见/红外上下分屏（暂不支持）");
    ui->comboBox_1_2->addItem("红外显示，可见光画中画");
    ui->comboBox_1_2->addItem("可见光显示，红外画中画");
    ui->comboBox_1_2->addItem("红外/可见光左右分屏（暂不支持）");
    ui->lineEdit_1_1->setText("24");
    ui->lineEdit_1_2->setText("24");
    ui->lineEdit_1_3->setText("192");
    ui->lineEdit_1_4->setText("168");
    ui->lineEdit_1_5->setText("1");
    ui->lineEdit_1_6->setText("1");
    /*载荷公用*/
    ui->comboBox_2_1->addItem("隐藏");
    ui->comboBox_2_1->addItem("部分显示");
    ui->comboBox_2_1->addItem("全部显示（默认）");
    //ui->comboBox_2_1->addItem("OSD显示内容设置");
    //ui->comboBox_2_1->addItem("OSD显示颜色和中英文设置");

    /*可见光*/
    param_pushButton_3_9 = false;
    ui->comboBox_3_1->addItem("关");
    ui->comboBox_3_1->addItem("低");
    ui->comboBox_3_1->addItem("中");
    ui->comboBox_3_1->addItem("强");
    paramDigitalZoom = 0;
    ui->lineEdit_3_1->setText("4.3");

    /*红外*/
    ui->comboBox_4_1->addItem("循环切换");
    ui->comboBox_4_1->addItem("白热");
    ui->comboBox_4_1->addItem("黑热");
    ui->comboBox_4_1->addItem("蓝红黄");
    ui->comboBox_4_1->addItem("紫红黄");
    ui->comboBox_4_1->addItem("蓝绿红");
    ui->comboBox_4_1->addItem("彩虹1");
    ui->comboBox_4_1->addItem("彩虹2");
    ui->comboBox_4_1->addItem("黑红");
    ui->comboBox_4_1->addItem("墨绿红");
    ui->comboBox_4_1->addItem("蓝绿红粉");
    ui->comboBox_4_1->addItem("混合色");
    ui->comboBox_4_1->addItem("红头");
    ui->comboBox_4_2->addItem("关");
    ui->comboBox_4_2->addItem("1");
    ui->comboBox_4_2->addItem("2");
    ui->comboBox_4_2->addItem("3");
    ui->comboBox_4_2->addItem("4");
    ui->comboBox_4_2->addItem("5");
    ui->comboBox_4_2->addItem("6");
    ui->comboBox_4_2->addItem("7");

    /*稳定平台*/
    ui->comboBox_5_1->addItem("非常慢");
    ui->comboBox_5_1->addItem("很慢");
    ui->comboBox_5_1->addItem("慢");
    ui->comboBox_5_1->addItem("较慢");
    ui->comboBox_5_1->addItem("中等");
    ui->comboBox_5_1->addItem("较快");
    ui->comboBox_5_1->addItem("快");
    ui->comboBox_5_1->addItem("很快");
    ui->comboBox_5_1->addItem("非常快");
    ui->radioButton_5_1->setChecked(true);
    paramIsFrame = true;
    ui->lineEdit_5_1->setText("100");
    ui->lineEdit_5_1->setText("5");
    ui->lineEdit_5_1->setText("50");
    ui->lineEdit_5_1->setText("50");

    /*AI检测*/
    ui->comboBox_6_1->addItem("绿框目标");
    ui->comboBox_6_1->addItem("下发编号目标");
    ui->comboBox_6_2->addItem("红外");
    ui->comboBox_6_2->addItem("可见光");
    ui->comboBox_6_3->addItem("常规检测");
    ui->comboBox_6_3->addItem("兴趣区域检测");
    ui->comboBox_6_3->addItem("分块遍历检测");
    ui->lineEdit_6_1->setText("960");
    ui->lineEdit_6_2->setText("540");


    detectionAreaSetting = false;
}

//初始化udp通信
void GDDCdlg::initUDPSocket()
{
    //创建udp socket对象
    udpSocket = new QUdpSocket(this);
    RemoteIP = "172.10.1.183"; //目标IP
    RemoteAddr.setAddress(RemoteIP);
    RemotePort = 6003;//目标port

    /*接收*/
    //获取本机ip
    QList<QHostAddress> ipAddressesList = QNetworkInterface::allAddresses();
    qDebug()<<"ip list:"<<ipAddressesList;
    quint16 port = 6001;
    udpSocket->bind(port);

}


// bool GDDCdlg::eventFilter(QObject *watched, QEvent *event)
// {
//     qDebug() << this->geometry().x();
//     qDebug() << this->geometry().y();

//     QPoint sPoint2=QCursor::pos();
//     qDebug()<<"相对于屏幕坐标2:"<<"("<<sPoint2.rx()<<","<<sPoint2.ry()<<")";

//     QPoint windowPoint=this->mapFromGlobal(sPoint2);
//     qDebug()<<"相对于窗口坐标:"<<"("<<windowPoint.rx()<<","<<windowPoint.ry()<<")";

//     return true;

// }
//鼠标左键
void GDDCdlg::mousePressEvent(QMouseEvent *event)
{
    //如果鼠标左键按下
    if (event->type() == QEvent::MouseButtonPress) {
        //获取鼠标在事件接收者中的位置pos
        //qDebug() << event->pos();
        ///获取控件X Y坐标
        //textX = ui->labelImage->x();
        //textY = ui->labelImage->y();


        //AI检测区域设置
        if(detectionAreaSetting==true)
        {
            QPointF sPoint1 = event->globalPosition();
            sPoint1 = QCursor::pos();
            QPointF widgetPoint = ui->label_ViewAea->mapFromGlobal(sPoint1);
            double a = ui->label_ViewAea->width();
            double b = ui->label_ViewAea->height();
            double dir = 1920/a*widgetPoint.rx();
            double pitch = 1080/b*widgetPoint.ry();
            ui->lineEdit_6_1->setText(QString::number((int)dir));
            ui->lineEdit_6_2->setText(QString::number((int)pitch));
        }
        //目标跟踪
        if(pointSelectionTracking == true)
        {
            QPointF sPoint1 = event->globalPosition();
            QPointF widgetPoint = ui->label_ViewAea->mapFromGlobal(sPoint1);
            double a = ui->label_ViewAea->width();
            double b = ui->label_ViewAea->height();
            double dir = 1920/a*widgetPoint.rx();
            double pitch = 1080/b*widgetPoint.ry();
            std::byte buffer[10];
            buffer[0] = (std::byte)0x3A;
            buffer[1] = (std::byte)(dir);
            buffer[2] = (std::byte)((int)dir>>8);
            buffer[3] = (std::byte)pitch;
            buffer[4] = (std::byte)((int)pitch>>8);
            //发送5次
            sendCurDate(buffer,5);
        }
    }
}
//鼠标移动
void GDDCdlg::mouseMoveEvent(QMouseEvent *event)
{
    if(detectionAreaSetting==true)
    {
        qDebug() << this->geometry().x();
        qDebug() << this->geometry().y();
        QPoint sPoint1=event->globalPos();
        //qDebug()<<"相对于屏幕坐标1:"<<"("<<sPoint1.rx()<<","<<sPoint1.ry()<<")";

        QPoint sPoint2=QCursor::pos();
        //qDebug()<<"相对于屏幕坐标2:"<<"("<<sPoint2.rx()<<","<<sPoint2.ry()<<")";

        QPoint windowPoint=this->mapFromGlobal(sPoint2);
        //qDebug()<<"相对于窗口坐标:"<<"("<<windowPoint.rx()<<","<<windowPoint.ry()<<")";

        QPoint widgetPoint=ui->label_ViewAea->mapFromGlobal(sPoint1);
        //qDebug()<<"相对于控件坐标:"<<"("<<widgetPoint.rx()<<","<<widgetPoint.ry()<<")";

        //更新LineEdit信息
        double a = ui->label_ViewAea->width();
        double b = ui->label_ViewAea->height();
        double dir = 1920/a*widgetPoint.rx();
        double pitch = 1080/b*widgetPoint.ry();
        ui->lineEdit_6_1->setText(QString::number((int)dir));
        ui->lineEdit_6_2->setText(QString::number((int)pitch));
    }

}

//定时器处理
void GDDCdlg::GDDCControlTimeOut()
{
    if(sendTimes>0)
    {
        sendTimes-=1;
        udpSocket->writeDatagram(m_DCcmdBuffer,RemoteAddr,RemotePort);
        if(sendTimes==0)
        {
            clearTJDCCmdBuffer();
        }
    }
    else
    {
        UpdateDataTJDC();
        udpSocket->writeDatagram(m_DCcmdBuffer,RemoteAddr,RemotePort);
    }

}

//更新m_DCcmdBuffer
void GDDCdlg::UpdateDataTJDC()
{
    /******************模拟发送天进吊舱控制指令************************/
    m_DCcmdBuffer[0] = 0xfb;//帧头
    m_DCcmdBuffer[1] = 0x2C;//帧头
    m_DCcmdBuffer[2] = (char)TJDCCmdBuffer[0];
    m_DCcmdBuffer[3] = (char)TJDCCmdBuffer[1];
    m_DCcmdBuffer[4] = (char)TJDCCmdBuffer[2];
    m_DCcmdBuffer[5] = (char)TJDCCmdBuffer[3];
    m_DCcmdBuffer[6] = (char)TJDCCmdBuffer[4];
    for(int i=7;i<37;++i)
    {
        m_DCcmdBuffer[i] = 0x00;
    }
    /*精确到毫秒级*/
    QDateTime st = QDateTime::currentDateTime();//获取系统当前的时间
    QString formattedDateTime = st.toString("yyyy-MM-dd hh:mm:ss");
    m_DCcmdBuffer[37] = (char)TJDCCmdBuffer[5];
    m_DCcmdBuffer[38] = (char)TJDCCmdBuffer[6];
    m_DCcmdBuffer[39] = (char)TJDCCmdBuffer[7];
    m_DCcmdBuffer[40] = (char)TJDCCmdBuffer[8];
    m_DCcmdBuffer[41] = (char)TJDCCmdBuffer[9];
    char S2 = (char)m_DCcmdBuffer[2];
    char S3 = (char)m_DCcmdBuffer[3];
    for(int i = 4;i<41;++i)
    {
        S3 = S3^S2;
        S2 = m_DCcmdBuffer[i];
    }
    m_DCcmdBuffer[42] = S3;
    m_DCcmdBuffer[43] = 0xF0;

    // QString msg = "12312";//发送的消息内容
    // QByteArray str;// = msg.toUtf8();

}

//赋值后清空TJDCCmdBuffer
void GDDCdlg::clearTJDCCmdBuffer()
{
    memset(TJDCCmdBuffer,0,sizeof(TJDCCmdBuffer));
}

//设置发送数据和次数
void GDDCdlg::sendCurDate(std::byte *buffer, int num)
{
    sendTimes = num;
    for(int i=0;i<10;++i)
    {
        TJDCCmdBuffer[i] = buffer[i];
    }
    UpdateDataTJDC();
}


//拍一张照 按下
void GDDCdlg::on_pushButton_11_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x32;
}
//松开
void GDDCdlg::on_pushButton_11_released()
{
    clearTJDCCmdBuffer();
}

//授时
void GDDCdlg::on_pushButton_1_1_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x20;
}
void GDDCdlg::on_pushButton_1_1_released()
{
    clearTJDCCmdBuffer();
}

//目标模板设置
void GDDCdlg::on_pushButton_1_2_pressed()
{
    uint chose = ui->comboBox_1_1->currentIndex();
    if(chose==0)
    {
        uint str = ui->lineEdit_1_1->text().toUInt();
        uint str2 = ui->lineEdit_1_2->text().toUInt();
        TJDCCmdBuffer[0]=(std::byte)0x23;
        TJDCCmdBuffer[1]=(std::byte)0x00;
        TJDCCmdBuffer[2]=(std::byte)0x00;
        TJDCCmdBuffer[3]=(std::byte)str;
        TJDCCmdBuffer[4]=(std::byte)str2;
    }
    else
    {
        TJDCCmdBuffer[0]=(std::byte)chose;
    }
}
void GDDCdlg::on_pushButton_1_2_released()
{
    clearTJDCCmdBuffer();
}

//目标模板设置
void GDDCdlg::on_pushButton_1_3_pressed()
{
    uint selection = ui->comboBox_1_2->currentIndex();
    TJDCCmdBuffer[0]=(std::byte)0x25;
    TJDCCmdBuffer[1]=(std::byte)selection;
}
void GDDCdlg::on_pushButton_1_3_released()
{
    clearTJDCCmdBuffer();
}
/*待解决*/
//吊舱IP设置
void GDDCdlg::on_pushButton_1_4_pressed()
{
    uint ip1 = ui->lineEdit_1_3->text().toUInt();
    uint ip2 = ui->lineEdit_1_4->text().toUInt();
    uint ip3 = ui->lineEdit_1_5->text().toUInt();
    uint ip4 = ui->lineEdit_1_6->text().toUInt();
    TJDCCmdBuffer[0]=(std::byte)0x29;
    TJDCCmdBuffer[1]=(std::byte)ip1;
    TJDCCmdBuffer[2]=(std::byte)ip2;
    TJDCCmdBuffer[3]=(std::byte)ip3;
    TJDCCmdBuffer[4]=(std::byte)ip4;
}
void GDDCdlg::on_pushButton_1_4_released()
{
    clearTJDCCmdBuffer();
}

//图像切换
void GDDCdlg::on_pushButton_2_1_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x31;
}
void GDDCdlg::on_pushButton_2_1_released()
{
    clearTJDCCmdBuffer();
}

//抓图
void GDDCdlg::on_pushButton_2_2_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x32;
}
void GDDCdlg::on_pushButton_2_2_released()
{
    clearTJDCCmdBuffer();
}

//开始连续抓图
void GDDCdlg::on_pushButton_2_3_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x32;
    TJDCCmdBuffer[1]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_2_3_released()
{

    clearTJDCCmdBuffer();
}

//停止连续抓图
void GDDCdlg::on_pushButton_2_4_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x32;
    TJDCCmdBuffer[1]=(std::byte)0x02;
}
void GDDCdlg::on_pushButton_2_4_released()
{
    clearTJDCCmdBuffer();
}
/*待解决*/
//选点跟踪
void GDDCdlg::on_pushButton_2_5_pressed()
{
    pointSelectionTracking = true;
}
void GDDCdlg::on_pushButton_2_5_released()
{
    clearTJDCCmdBuffer();
}

//取消跟踪
void GDDCdlg::on_pushButton_2_6_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x3B;
}
void GDDCdlg::on_pushButton_2_6_released()
{
    clearTJDCCmdBuffer();
}

//开始录像
void GDDCdlg::on_pushButton_2_7_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x33;
    TJDCCmdBuffer[1]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_2_7_released()
{
    clearTJDCCmdBuffer();
}

//停止录像
void GDDCdlg::on_pushButton_2_8_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x33;
    TJDCCmdBuffer[1]=(std::byte)0x02;
}
void GDDCdlg::on_pushButton_2_8_released()
{
    clearTJDCCmdBuffer();
}

//单次测距
void GDDCdlg::on_pushButton_2_9_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x3D;
}
void GDDCdlg::on_pushButton_2_9_released()
{
    clearTJDCCmdBuffer();
}

//开始连续测距
void GDDCdlg::on_pushButton_2_10_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x3E;
    TJDCCmdBuffer[1]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_2_10_released()
{
    clearTJDCCmdBuffer();
}

//停止连续测距
void GDDCdlg::on_pushButton_2_11_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x3F;
}
void GDDCdlg::on_pushButton_2_11_released()
{
    clearTJDCCmdBuffer();
}

//字符叠加设置
void GDDCdlg::on_pushButton_2_12_pressed()
{
    uint sel = ui->comboBox_2_1->currentIndex();
    TJDCCmdBuffer[0]=(std::byte)0x37;
    TJDCCmdBuffer[1]=(std::byte)sel;
}
void GDDCdlg::on_pushButton_2_12_released()
{
    clearTJDCCmdBuffer();
}

//增益+
void GDDCdlg::on_pushButton_3_1_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x05;
    TJDCCmdBuffer[2]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_3_1_released()
{
    clearTJDCCmdBuffer();
}

//增益-
void GDDCdlg::on_pushButton_3_2_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x05;
    TJDCCmdBuffer[2]=(std::byte)0x02;
}
void GDDCdlg::on_pushButton_3_2_released()
{
    clearTJDCCmdBuffer();
}

//自动增益
void GDDCdlg::on_pushButton_3_3_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x05;
    TJDCCmdBuffer[2]=(std::byte)0x03;
}
void GDDCdlg::on_pushButton_3_3_released()
{
    clearTJDCCmdBuffer();
}

//变倍+
void GDDCdlg::on_pushButton_3_4_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x45;
    TJDCCmdBuffer[1]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_3_4_released()
{
    clearTJDCCmdBuffer();
    TJDCCmdBuffer[0]=(std::byte)0x45;
    TJDCCmdBuffer[1]=(std::byte)0x00;
}

//变倍-
void GDDCdlg::on_pushButton_3_5_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x45;
    TJDCCmdBuffer[1]=(std::byte)0x02;
}
void GDDCdlg::on_pushButton_3_5_released()
{
    clearTJDCCmdBuffer();
    TJDCCmdBuffer[0]=(std::byte)0x45;
    TJDCCmdBuffer[1]=(std::byte)0x00;
}

//可见光镜头初始化
void GDDCdlg::on_pushButton_3_6_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x03;
}
void GDDCdlg::on_pushButton_3_6_released()
{
    clearTJDCCmdBuffer();
}

//电子稳像开
void GDDCdlg::on_pushButton_3_7_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x04;
    TJDCCmdBuffer[2]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_3_7_released()
{
    clearTJDCCmdBuffer();
}

//电子稳像关
void GDDCdlg::on_pushButton_3_8_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x04;
    TJDCCmdBuffer[2]=(std::byte)0x02;
}
void GDDCdlg::on_pushButton_3_8_released()
{
    clearTJDCCmdBuffer();
}

//低照度模式
void GDDCdlg::on_pushButton_3_9_pressed()
{
    if(param_pushButton_3_9)
    {
        TJDCCmdBuffer[0]=(std::byte)0x4A;
        TJDCCmdBuffer[1]=(std::byte)0x00;
    }
    else
    {
        TJDCCmdBuffer[0]=(std::byte)0x4A;
        TJDCCmdBuffer[1]=(std::byte)0x01;
    }
}
void GDDCdlg::on_pushButton_3_9_released()
{
    clearTJDCCmdBuffer();
}

//自动ICR开
void GDDCdlg::on_pushButton_3_10_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x03;
    TJDCCmdBuffer[2]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_3_10_released()
{
    clearTJDCCmdBuffer();
}

//自动ICR关
void GDDCdlg::on_pushButton_3_11_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x03;
    TJDCCmdBuffer[2]=(std::byte)0x02;
}
void GDDCdlg::on_pushButton_3_11_released()
{
    clearTJDCCmdBuffer();
}

//恢复默认
void GDDCdlg::on_pushButton_3_12_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x3F;
}
void GDDCdlg::on_pushButton_3_12_released()
{
    clearTJDCCmdBuffer();
}

//恢复出厂设置
void GDDCdlg::on_pushButton_3_13_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x06;
}
void GDDCdlg::on_pushButton_3_13_released()
{
    clearTJDCCmdBuffer();
}

//亮度+
void GDDCdlg::on_pushButton_3_14_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x02;
    TJDCCmdBuffer[2]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_3_14_released()
{
    clearTJDCCmdBuffer();
}

//亮度-
void GDDCdlg::on_pushButton_3_15_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x02;
    TJDCCmdBuffer[2]=(std::byte)0x02;
}
void GDDCdlg::on_pushButton_3_15_released()
{
    clearTJDCCmdBuffer();
}

//自动亮度
void GDDCdlg::on_pushButton_3_16_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x02;
    TJDCCmdBuffer[2]=(std::byte)0x03;
}
void GDDCdlg::on_pushButton_3_16_released()
{
    clearTJDCCmdBuffer();
}

// //亮度输入设置
// void GDDCdlg::on_pushButton_3_17_pressed()
// {
//     TJDCCmdBuffer[0]=(std::byte)0x3F;
// }
// void GDDCdlg::on_pushButton_3_17_released()
// {
//     clearTJDCCmdBuffer();
// }

//对比度+
void GDDCdlg::on_pushButton_3_18_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x01;
    TJDCCmdBuffer[2]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_3_18_released()
{
    clearTJDCCmdBuffer();
}

//对比度-
void GDDCdlg::on_pushButton_3_19_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x01;
    TJDCCmdBuffer[2]=(std::byte)0x02;
}
void GDDCdlg::on_pushButton_3_19_released()
{
    clearTJDCCmdBuffer();
}

//自动对比度
void GDDCdlg::on_pushButton_3_20_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x41;
    TJDCCmdBuffer[1]=(std::byte)0x01;
    TJDCCmdBuffer[2]=(std::byte)0x03;
}
void GDDCdlg::on_pushButton_3_20_released()
{
    clearTJDCCmdBuffer();
}

// //对比度输入设置
// void GDDCdlg::on_pushButton_3_21_pressed()
// {
//     TJDCCmdBuffer[0]=(std::byte)0x3F;
// }
// void GDDCdlg::on_pushButton_3_21_released()
// {
//     clearTJDCCmdBuffer();
// }

//焦距+
void GDDCdlg::on_pushButton_3_22_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x45;
    TJDCCmdBuffer[1]=(std::byte)0x03;
}
void GDDCdlg::on_pushButton_3_22_released()
{
    clearTJDCCmdBuffer();
    TJDCCmdBuffer[0]=(std::byte)0x45;
    TJDCCmdBuffer[1]=(std::byte)0x00;
}

//焦距-
void GDDCdlg::on_pushButton_3_23_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x45;
    TJDCCmdBuffer[1]=(std::byte)0x04;
}
void GDDCdlg::on_pushButton_3_23_released()
{
    clearTJDCCmdBuffer();
    TJDCCmdBuffer[0]=(std::byte)0x45;
    TJDCCmdBuffer[1]=(std::byte)0x00;
}

//焦距输入设置
void GDDCdlg::on_pushButton_3_24_pressed()
{
    uint data = ui->lineEdit_3_1->text().toUInt()*10;
    TJDCCmdBuffer[0]=(std::byte)0x4C;
    TJDCCmdBuffer[1]=(std::byte)data;
    TJDCCmdBuffer[2]=(std::byte)(data>>8);
}
void GDDCdlg::on_pushButton_3_24_released()
{
    clearTJDCCmdBuffer();
}

//透雾模式设置
void GDDCdlg::on_pushButton_3_25_pressed()
{
    uint sel = ui->comboBox_3_1->currentIndex();
    TJDCCmdBuffer[0]=(std::byte)0x4A;
    TJDCCmdBuffer[1]=(std::byte)sel;
}
void GDDCdlg::on_pushButton_3_25_released()
{
    clearTJDCCmdBuffer();
}

//调焦+
void GDDCdlg::on_pushButton_4_1_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x50;
    TJDCCmdBuffer[1]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_4_1_released()
{
    clearTJDCCmdBuffer();
}

//调焦-
void GDDCdlg::on_pushButton_4_2_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x50;
    TJDCCmdBuffer[1]=(std::byte)0x02;
}
void GDDCdlg::on_pushButton_4_2_released()
{
    clearTJDCCmdBuffer();
}

//自动对焦测
void GDDCdlg::on_pushButton_4_3_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x50;
    TJDCCmdBuffer[1]=(std::byte)0x03;
}
void GDDCdlg::on_pushButton_4_3_released()
{
    clearTJDCCmdBuffer();
}

//测温模式
void GDDCdlg::on_pushButton_4_4_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x51;
    TJDCCmdBuffer[1]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_4_4_released()
{
    clearTJDCCmdBuffer();
}

//变倍+
void GDDCdlg::on_pushButton_4_5_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x50;
    TJDCCmdBuffer[1]=(std::byte)0x0F;
}
void GDDCdlg::on_pushButton_4_5_released()
{
    clearTJDCCmdBuffer();
}

//变倍-
void GDDCdlg::on_pushButton_4_6_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x50;
    TJDCCmdBuffer[1]=(std::byte)0x10;
}
void GDDCdlg::on_pushButton_4_6_released()
{
    clearTJDCCmdBuffer();
}

//电子放大
void GDDCdlg::on_pushButton_4_7_pressed()
{
    paramDigitalZoom+=1;
    if(paramDigitalZoom == 5)
        paramDigitalZoom = 0;
    TJDCCmdBuffer[0]=(std::byte)0x54;
    TJDCCmdBuffer[1]=(std::byte)paramDigitalZoom;
}
void GDDCdlg::on_pushButton_4_7_released()
{
    clearTJDCCmdBuffer();
}

//观测模式
void GDDCdlg::on_pushButton_4_8_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x51;
    TJDCCmdBuffer[1]=(std::byte)0x02;
}
void GDDCdlg::on_pushButton_4_8_released()
{
    clearTJDCCmdBuffer();
}

//亮度+
void GDDCdlg::on_pushButton_4_9_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x59;
}
void GDDCdlg::on_pushButton_4_9_released()
{
    clearTJDCCmdBuffer();
}

//亮度-
void GDDCdlg::on_pushButton_4_10_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x59;
    TJDCCmdBuffer[1]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_4_10_released()
{
    clearTJDCCmdBuffer();
}

//场景补偿
void GDDCdlg::on_pushButton_4_11_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x55;
}
void GDDCdlg::on_pushButton_4_11_released()
{
    clearTJDCCmdBuffer();
}

//恢复默认设置
void GDDCdlg::on_pushButton_4_12_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x58;
    TJDCCmdBuffer[1]=(std::byte)0x02;
}
void GDDCdlg::on_pushButton_4_12_released()
{
    clearTJDCCmdBuffer();
}

//对比度+
void GDDCdlg::on_pushButton_4_13_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x5A;
}
void GDDCdlg::on_pushButton_4_13_released()
{
    clearTJDCCmdBuffer();
}

//对比度-
void GDDCdlg::on_pushButton_4_14_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x5A;
    TJDCCmdBuffer[1]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_4_14_released()
{
    clearTJDCCmdBuffer();
}

//红外快门补偿
void GDDCdlg::on_pushButton_4_15_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x56;
    TJDCCmdBuffer[1]=(std::byte)0x00;
}
void GDDCdlg::on_pushButton_4_15_released()
{
    clearTJDCCmdBuffer();
}

//恢复出厂设置
void GDDCdlg::on_pushButton_4_16_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x58;
    TJDCCmdBuffer[1]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_4_16_released()
{
    clearTJDCCmdBuffer();
}

//伪色彩切换
void GDDCdlg::on_pushButton_4_17_pressed()
{
    int sel = ui->comboBox_4_1->currentIndex();
    if(sel==0)
    {
        TJDCCmdBuffer[0]=(std::byte)0x53;
        TJDCCmdBuffer[1]=(std::byte)0x00;
        TJDCCmdBuffer[2]=(std::byte)0x00;
    }
    else
    {
        TJDCCmdBuffer[0]=(std::byte)0x58;
        TJDCCmdBuffer[1]=(std::byte)0x01;
        TJDCCmdBuffer[2]=(std::byte)(sel-1);
    }

}
void GDDCdlg::on_pushButton_4_17_released()
{
    clearTJDCCmdBuffer();
}

//图像增强
void GDDCdlg::on_pushButton_4_18_pressed()
{
    int sel = ui->comboBox_4_2->currentIndex();
    TJDCCmdBuffer[0]=(std::byte)0x57;
    TJDCCmdBuffer[1]=(std::byte)0x01;
    TJDCCmdBuffer[2]=(std::byte)(sel);
}
void GDDCdlg::on_pushButton_4_18_released()
{
    clearTJDCCmdBuffer();
}

//俯仰+
void GDDCdlg::on_pushButton_5_1_pressed()
{
    if(paramIsFrame)
    {
        int sel = ui->comboBox_5_1->currentIndex();
        sel+=1;
        TJDCCmdBuffer[5]=(std::byte)0x70;
        TJDCCmdBuffer[6]=(std::byte)0x00;
        TJDCCmdBuffer[7]=(std::byte)0x00;
        TJDCCmdBuffer[8]=(std::byte)(sel*3);
        TJDCCmdBuffer[9]=(std::byte)((sel*3)>>8);
    }
    else
    {
        TJDCCmdBuffer[0]=(std::byte)0x76;
        TJDCCmdBuffer[1]=(std::byte)0x03;
        TJDCCmdBuffer[2]=(std::byte)0x00;
        TJDCCmdBuffer[3]=(std::byte)0x01;
        TJDCCmdBuffer[4]=(std::byte)0x00;
    }
}

void GDDCdlg::on_pushButton_5_1_released()
{
    clearTJDCCmdBuffer();
}

//方位+
void GDDCdlg::on_pushButton_5_2_pressed()
{
    if(paramIsFrame)
    {
        int sel = ui->comboBox_5_1->currentIndex();
        sel+=1;
        TJDCCmdBuffer[5]=(std::byte)0x70;
        TJDCCmdBuffer[6]=(std::byte)(sel*3);
        TJDCCmdBuffer[7]=(std::byte)((sel*3)>>8);
        TJDCCmdBuffer[8]=(std::byte)0x00;
        TJDCCmdBuffer[9]=(std::byte)0x00;
    }
    else
    {
        TJDCCmdBuffer[0]=(std::byte)0x76;
        TJDCCmdBuffer[1]=(std::byte)0x03;
        TJDCCmdBuffer[2]=(std::byte)0xFF;
        TJDCCmdBuffer[3]=(std::byte)0x00;
        TJDCCmdBuffer[4]=(std::byte)0x00;
    }
}
void GDDCdlg::on_pushButton_5_2_released()
{
    clearTJDCCmdBuffer();
}

//俯仰-
void GDDCdlg::on_pushButton_5_3_pressed()
{
    if(paramIsFrame)
    {
        int sel = ui->comboBox_5_1->currentIndex();
        sel+=1;
        TJDCCmdBuffer[5]=(std::byte)0x70;
        TJDCCmdBuffer[6]=(std::byte)0x00;
        TJDCCmdBuffer[7]=(std::byte)0x00;
        TJDCCmdBuffer[8]=(std::byte)(-sel*3);
        TJDCCmdBuffer[9]=(std::byte)((-sel*3)>>8);
    }
    else
    {
        TJDCCmdBuffer[0]=(std::byte)0x76;
        TJDCCmdBuffer[1]=(std::byte)0x03;
        TJDCCmdBuffer[2]=(std::byte)0x00;
        TJDCCmdBuffer[3]=(std::byte)0xFF;
        TJDCCmdBuffer[4]=(std::byte)0x00;
    }
}
void GDDCdlg::on_pushButton_5_3_released()
{
    clearTJDCCmdBuffer();
}

//方位-
void GDDCdlg::on_pushButton_5_4_pressed()
{
    if(paramIsFrame)
    {
        int sel = ui->comboBox_5_1->currentIndex();
        sel+=1;
        TJDCCmdBuffer[5]=(std::byte)0x70;
        TJDCCmdBuffer[6]=(std::byte)(-sel*3);
        TJDCCmdBuffer[7]=(std::byte)((-sel*3)>>8);
        TJDCCmdBuffer[8]=(std::byte)0x00;
        TJDCCmdBuffer[9]=(std::byte)0x00;
    }
    else
    {
        TJDCCmdBuffer[0]=(std::byte)0x76;
        TJDCCmdBuffer[1]=(std::byte)0x03;
        TJDCCmdBuffer[2]=(std::byte)0x01;
        TJDCCmdBuffer[3]=(std::byte)0x00;
        TJDCCmdBuffer[4]=(std::byte)0x00;
    }
}
void GDDCdlg::on_pushButton_5_4_released()
{
    clearTJDCCmdBuffer();
}

//归中/陀螺校准
void GDDCdlg::on_pushButton_5_5_pressed()
{
    if(paramIsFrame)
    {
        TJDCCmdBuffer[0]=(std::byte)0x71;
    }
    else
    {
        TJDCCmdBuffer[0]=(std::byte)0x76;
        TJDCCmdBuffer[1]=(std::byte)0x01;
    }
}
void GDDCdlg::on_pushButton_5_5_released()
{
    clearTJDCCmdBuffer();
}

//垂直下视
void GDDCdlg::on_pushButton_5_6_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x73;
}
void GDDCdlg::on_pushButton_5_6_released()
{
    clearTJDCCmdBuffer();
}

//收藏模式
void GDDCdlg::on_pushButton_5_7_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x74;
}
void GDDCdlg::on_pushButton_5_7_released()
{
    clearTJDCCmdBuffer();
}

//关伺服
void GDDCdlg::on_pushButton_5_8_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x75;
}
void GDDCdlg::on_pushButton_5_8_released()
{
    clearTJDCCmdBuffer();
}

//方位弱随动机头 航向随动
void GDDCdlg::on_pushButton_5_9_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x7B;
}
void GDDCdlg::on_pushButton_5_9_released()
{
    clearTJDCCmdBuffer();
}

// //
// void GDDCdlg::on_pushButton_5_10_pressed()
// {
//     TJDCCmdBuffer[0]=(std::byte)0x00;
// }
// void GDDCdlg::on_pushButton_5_10_released()
// {
//     clearTJDCCmdBuffer();
// }

//航向锁定
void GDDCdlg::on_pushButton_5_11_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x7A;
}
void GDDCdlg::on_pushButton_5_11_released()
{
    clearTJDCCmdBuffer();
}

//扫描设置
void GDDCdlg::on_pushButton_5_12_pressed()
{
    int angle = ui->lineEdit_5_1->text().toInt();
    int speed = ui->lineEdit_5_2->text().toInt();
    TJDCCmdBuffer[0]=(std::byte)0x77;
    TJDCCmdBuffer[1]=(std::byte)angle;
    TJDCCmdBuffer[2]=(std::byte)(angle>>8);
    TJDCCmdBuffer[3]=(std::byte)speed;
    TJDCCmdBuffer[4]=(std::byte)(speed>>8);
}
void GDDCdlg::on_pushButton_5_12_released()
{
    clearTJDCCmdBuffer();
}

//执行扫描
void GDDCdlg::on_pushButton_5_13_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x79;
}
void GDDCdlg::on_pushButton_5_13_released()
{
    clearTJDCCmdBuffer();
}

//姿态指引
void GDDCdlg::on_pushButton_5_14_pressed()
{
    double Dir   = ui->lineEdit_5_3->text().toDouble();
    double Pitch = ui->lineEdit_5_4->text().toDouble();
    int dir = Dir*100;
    int pitch = Pitch*100;
    TJDCCmdBuffer[0]=(std::byte)0x7C;
    TJDCCmdBuffer[1]=(std::byte)dir;
    TJDCCmdBuffer[2]=(std::byte)(dir>>8);
    TJDCCmdBuffer[3]=(std::byte)pitch;
    TJDCCmdBuffer[4]=(std::byte)(pitch>>8);
}
void GDDCdlg::on_pushButton_5_14_released()
{
    clearTJDCCmdBuffer();
}

//数字指引
void GDDCdlg::on_pushButton_5_15_pressed()
{
    double Dir   = ui->lineEdit_5_3->text().toDouble();
    double Pitch = ui->lineEdit_5_4->text().toDouble();
    int dir = Dir*100;
    int pitch = Pitch*100;
    TJDCCmdBuffer[0]=(std::byte)0x72;
    TJDCCmdBuffer[1]=(std::byte)dir;
    TJDCCmdBuffer[2]=(std::byte)(dir>>8);
    TJDCCmdBuffer[3]=(std::byte)pitch;
    TJDCCmdBuffer[4]=(std::byte)(pitch>>8);
}
void GDDCdlg::on_pushButton_5_15_released()
{
    clearTJDCCmdBuffer();
}

//框架
void GDDCdlg::on_radioButton_5_1_clicked()
{
    paramIsFrame = true;
    ui->pushButton_5_5->setText("归中");
}

//陀螺
void GDDCdlg::on_radioButton_5_2_clicked()
{
    paramIsFrame = false;
    ui->pushButton_5_5->setText("自动校准");
}

//AI开
void GDDCdlg::on_pushButton_6_1_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x91;
    TJDCCmdBuffer[1]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_6_1_released()
{
    clearTJDCCmdBuffer();
}

//AI关
void GDDCdlg::on_pushButton_6_2_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x91;
    TJDCCmdBuffer[1]=(std::byte)0x00;
}
void GDDCdlg::on_pushButton_6_2_released()
{
    clearTJDCCmdBuffer();
}

//AI框显示
void GDDCdlg::on_pushButton_6_3_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x94;
    TJDCCmdBuffer[1]=(std::byte)0x01;
}
void GDDCdlg::on_pushButton_6_3_released()
{
    clearTJDCCmdBuffer();
}

//AI框隐藏
void GDDCdlg::on_pushButton_6_4_pressed()
{
    TJDCCmdBuffer[0]=(std::byte)0x94;
    TJDCCmdBuffer[1]=(std::byte)0x00;
}
void GDDCdlg::on_pushButton_6_4_released()
{
    clearTJDCCmdBuffer();
}

//AI跟踪
void GDDCdlg::on_pushButton_6_5_pressed()
{
    int sel = ui->comboBox_6_1->currentIndex();
    if(sel == 0)
    {
        TJDCCmdBuffer[0]=(std::byte)0x93;
        TJDCCmdBuffer[1]=(std::byte)0x00;
    }
    if(sel == 1)
    {
        int value = ui->spinBox_6_1->value();
        TJDCCmdBuffer[0]=(std::byte)0x93;
        TJDCCmdBuffer[1]=(std::byte)0x01;
        TJDCCmdBuffer[2]=(std::byte)value;
    }
}
void GDDCdlg::on_pushButton_6_5_released()
{
    clearTJDCCmdBuffer();
}

//目标检测方式
void GDDCdlg::on_pushButton_6_6_pressed()
{
    int sel = ui->comboBox_6_2->currentIndex();
    int sel2 = ui->comboBox_6_3->currentIndex();
    TJDCCmdBuffer[0]=(std::byte)0x9A;
    TJDCCmdBuffer[1]=(std::byte)sel;
    TJDCCmdBuffer[2]=(std::byte)sel2;
}
void GDDCdlg::on_pushButton_6_6_released()
{
    clearTJDCCmdBuffer();
}

//检测兴趣区域位置设置
void GDDCdlg::on_pushButton_6_7_pressed()
{
    int Direction = ui->lineEdit_6_1->text().toInt();
    int Pitch = ui->lineEdit_6_2->text().toInt();
    TJDCCmdBuffer[0]=(std::byte)0x93;
    TJDCCmdBuffer[1]=(std::byte)Direction;
    TJDCCmdBuffer[2]=(std::byte)Direction>>8;
    TJDCCmdBuffer[3]=(std::byte)Pitch;
    TJDCCmdBuffer[4]=(std::byte)Pitch>>8;

    detectionAreaSetting = false;
}
void GDDCdlg::on_pushButton_6_7_released()
{
    clearTJDCCmdBuffer();

}
//像素选取
void GDDCdlg::on_pushButton_6_8_clicked()
{
    if(detectionAreaSetting == false)
    {
        detectionAreaSetting  =  true;
        ui->pushButton_6_8->setDown(true);
    }
    else
    {
        detectionAreaSetting = false;
        ui->pushButton_6_8->setDown(false);
    }
}