diff --git a/.gitignore b/.gitignore
index 16a004e..aaf9aab 100644
--- a/.gitignore
+++ b/.gitignore
@@ -80,3 +80,6 @@ CMakeLists.txt.user*
.rcc/
.uic/
/build*/
+.vs/
+*.json
+/out/
\ No newline at end of file
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index ef4ecb7..0ac9992 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -13,7 +13,9 @@ qt_add_executable(VideoClient
videoControl.h videoControl.ui videoControl.cpp
wprogressbar.h wprogressbar.cpp
webmapwidget.h webmapwidget.cpp
-
+ utils/CUdpSocket.cpp utils/CUdpSocket.h
+ utils/protocolPodTJ.cpp utils/protocolPodTJ.h
+ utils/switchbutton.h utils/switchbutton.cpp
)
qt6_add_resources(VideoClient "resources"
@@ -28,7 +30,7 @@ set(FFMPEG_DIR ${3RDPARTY_DIR}/ffmpeg)
# add_subdirectory(shared)
add_subdirectory(video)
add_subdirectory(3rdparty)
-
+# add_subdirectory(utils)
target_link_libraries(VideoClient
PRIVATE
diff --git a/src/commandwidget.cpp b/src/commandwidget.cpp
index 829c58b..1a9ddcf 100644
--- a/src/commandwidget.cpp
+++ b/src/commandwidget.cpp
@@ -1,6 +1,8 @@
#include "commandwidget.h"
#include "ui_commandwidget.h"
+#include <QIntValidator>
+#include "utils/switchbutton.h"
CommandWidget::CommandWidget(QWidget *parent)
: QWidget(parent), ui(new Ui::CommandWidget) {
@@ -13,6 +15,10 @@ CommandWidget::CommandWidget(QWidget *parent)
} else {
qDebug() << "绑定 UDP 套接字失败";
}
+
+ //创建自定义套接字
+ m_CUdpSocket = new CUdpSocket(this);
+ initmUdpParam();
}
CommandWidget::~CommandWidget() {
@@ -78,6 +84,21 @@ void CommandWidget::buttonResponse(quint8 cmd) {
}
}
+void CommandWidget::receiveUavTypeIndex(int index)
+{
+ switch (index)
+ {
+ case FP98:
+ ui->cmdStackedWidget->setCurrentWidget(ui->stackedWidgetPage1);
+ break;
+ case MEDICAL_UNIVERSITY:
+ ui->cmdStackedWidget->setCurrentWidget(ui->stackedWidgePage2);
+ break;
+ default:
+ break;
+ }
+}
+
void CommandWidget::on_pushButton_clicked() {
buttonResponse(0x75);
}
@@ -145,3 +166,450 @@ void CommandWidget::on_pushButton_16_clicked() {
void CommandWidget::on_pushButton_15_clicked() {
buttonResponse(0xC9);
}
+
+
+/** 武汉天进吊舱 */
+void CommandWidget::on_pushButton_left_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7000"),
+ m_protocolPodTJ.cmdLeft(ui->cmdSlider->value())));
+}
+
+
+void CommandWidget::on_pushButton_left_released()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7000"),
+ QByteArray::fromHex("00000000")));
+}
+
+
+void CommandWidget::on_pushButton_right_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7000"),
+ m_protocolPodTJ.cmdRight(ui->cmdSlider->value())));
+}
+
+
+void CommandWidget::on_pushButton_right_released()
+{
+ on_pushButton_left_released();
+}
+
+
+void CommandWidget::on_pushButton_up_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7000"),
+ m_protocolPodTJ.cmdUp(ui->cmdSlider->value())));
+}
+
+
+void CommandWidget::on_pushButton_up_released()
+{
+ on_pushButton_left_released();
+}
+
+void CommandWidget::on_pushButton_down_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7000"),
+ m_protocolPodTJ.cmdDown(ui->cmdSlider->value())));
+}
+
+void CommandWidget::on_pushButton_down_released()
+{
+ on_pushButton_left_released();
+}
+
+
+void CommandWidget::on_pushButton_center_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7100")));
+}
+
+
+void CommandWidget::on_pushButton_guid_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7200"),
+ m_protocolPodTJ.digitalGuid(ui->guidLineEdit->text().toInt(), ui->poseLineEdit->text().toInt())));
+}
+
+
+void CommandWidget::on_pushButton_pose_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7C00"),
+ m_protocolPodTJ.digitalGuid(ui->guidLineEdit->text().toInt(), ui->poseLineEdit->text().toInt())));
+}
+
+
+void CommandWidget::on_pushButton_directL_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7A00")));
+}
+
+
+void CommandWidget::on_pushButton_directS_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7B00")));
+}
+
+
+void CommandWidget::on_pushButton_lookDown_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7300")));
+}
+
+
+void CommandWidget::on_pushButton_packUp_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7400")));
+}
+
+void CommandWidget::on_pushButton_scanning_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7900")));
+}
+
+
+void CommandWidget::on_pushButton_close_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7500")));
+}
+
+void CommandWidget::on_comboBox1_activated(int index)
+{
+ if (index >= 0)
+ {
+ QByteArray data = ui->comboBox1->currentData().toByteArray();
+ //qDebug() << data.toHex();
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("2300"),data));
+ }
+}
+
+void CommandWidget::on_comboBox2_activated(int index)
+{
+ if (index >= 0)
+ {
+ QByteArray data = ui->comboBox2->currentData().toByteArray();
+ //qDebug() << data.toHex();
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("2500"), data));
+
+ }
+}
+
+void CommandWidget::on_pushButton_videoSwitch_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3100")));
+}
+
+void CommandWidget::on_pushButton_video_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3300")));
+}
+
+void CommandWidget::on_pushButton_photo_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3200")));
+}
+
+void CommandWidget::on_pushButton_zoomp_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4500"),
+ m_protocolPodTJ.cmdZoom(0x01,ui->comboBox3->currentIndex())));
+}
+
+void CommandWidget::on_pushButton_zoomp_released()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4500")));
+}
+
+void CommandWidget::on_pushButton_zoomd_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4500"),
+ m_protocolPodTJ.cmdZoom(0x02, ui->comboBox3->currentIndex())));
+}
+
+void CommandWidget::on_pushButton_zoomd_released()
+{
+ on_pushButton_zoomp_released();
+}
+
+void CommandWidget::on_pushButton_focusP_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4500"),
+ m_protocolPodTJ.cmdZoom(0x03, ui->comboBox3->currentIndex())));
+}
+
+void CommandWidget::on_pushButton_focusP_released()
+{
+ on_pushButton_zoomp_released();
+}
+
+void CommandWidget::on_pushButton_focusD_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4500"),
+ m_protocolPodTJ.cmdZoom(0x04, ui->comboBox3->currentIndex())));
+}
+
+void CommandWidget::on_pushButton_focusD_released()
+{
+ on_pushButton_zoomp_released();
+}
+
+void CommandWidget::on_pushButton_auto_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4500"),
+ m_protocolPodTJ.cmdZoom(0x05, 0x00)));
+}
+
+void CommandWidget::on_pushButton_auto_released()
+{
+ on_pushButton_zoomp_released();
+}
+
+void CommandWidget::on_pushButton_contrastP_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4100"),
+ QByteArray::fromHex("01010000")));
+}
+
+void CommandWidget::on_pushButton_contrastD_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4100"),
+ QByteArray::fromHex("01020000")));
+}
+
+void CommandWidget::on_pushButton_lightP_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4100"),
+ QByteArray::fromHex("02010000")));
+}
+
+void CommandWidget::on_pushButton_lightD_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4100"),
+ QByteArray::fromHex("02020000")));
+}
+
+void CommandWidget::on_comboBox4_activated(int index)
+{
+ if (index >= 0)
+ {
+ QByteArray data = ui->comboBox4->currentData().toByteArray();
+ //qDebug() << data.toHex();
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4A00"), data));
+ }
+}
+
+void CommandWidget::on_pushButton_zoomp_2_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("5000"),
+ QByteArray::fromHex("0F000000")));
+}
+
+void CommandWidget::on_pushButton_zoomp_2_released()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("5000"),
+ QByteArray::fromHex("00000000")));
+}
+
+void CommandWidget::on_pushButton_zoomd_2_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("5000"),
+ QByteArray::fromHex("10000000")));
+}
+
+void CommandWidget::on_pushButton_zoomd_2_released()
+{
+ on_pushButton_zoomp_2_released();
+}
+
+void CommandWidget::on_pushButton_contrastP_2_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("5A00")));
+}
+
+void CommandWidget::on_pushButton_contrastD_2_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("5A00"),
+ QByteArray::fromHex("01000000")));
+}
+
+void CommandWidget::on_pushButton_color_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("5300")));
+}
+
+void CommandWidget::on_comboBox5_activated(int index)
+{
+ if (index >= 0)
+ {
+ QByteArray data = ui->comboBox5->currentData().toByteArray();
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("5300"), data));
+ }
+}
+
+void CommandWidget::on_pushButton_distance_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3D00")));
+}
+
+void CommandWidget::on_pushButton_distanceC_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3E00"),
+ m_protocolPodTJ.cmdLaser(ui->comboBox6->currentIndex() + 1)));
+}
+
+void CommandWidget::on_pushButton_distanceS_pressed()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3F00")));
+}
+
+void CommandWidget::on_cmdLineEdit_textChanged(const QString text)
+{
+ qDebug() << text;
+ if (text.toInt() < 10)//数据小于10不响应
+ {
+ return;
+ }
+ ui->cmdSlider->setMaximum(text.toInt());
+}
+
+void CommandWidget::setPodIPConfig(NetworkIPStruct networkIP, bool isConnect)
+{
+ qDebug() << "ip设置槽函数调用了";
+
+ if (!isConnect)
+ {
+ m_CUdpSocket->close();
+ return;
+ }
+
+ if (m_CUdpSocket->close())
+ {
+ if (!m_CUdpSocket->bind(networkIP.localIP, networkIP.localPort))
+ {
+ qDebug() << "端口号绑定失败";
+ }
+
+ //绑定目标IP Port
+ m_CUdpSocket->setTargetInfo(networkIP.remoteIP, networkIP.remotePort);
+ }
+
+}
+
+void CommandWidget::setMoveParm(QPointF size)
+{
+ int x = std::clamp(static_cast<int>(size.x() / 10), -60, 60);
+ int y = std::clamp(static_cast<int>(-size.y() / 10), -60, 60);
+ qDebug() << "缩减之后的屏幕滑动参数==>" << "x:" << x << "y:" << y;
+
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7000"),
+ m_protocolPodTJ.cmdServo(x, y)));
+}
+
+
+void CommandWidget::stopServo()
+{
+ on_pushButton_left_released();
+}
+
+void CommandWidget::setTargetTracking(double dir, double pitch)
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3A00"),
+ m_protocolPodTJ.targetTracking(static_cast<int>(std::round(dir)), static_cast<int>(std::round(pitch)))));
+}
+
+void CommandWidget::setStopTracking()
+{
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3B00")));
+}
+
+/***武汉天进吊舱控制***/
+void CommandWidget::initmUdpParam()
+{
+ if (!m_CUdpSocket->bind("172.10.0.249", 10001))
+ {
+ qDebug() << "端口号绑定失败";
+ }
+
+ //绑定目标IP Port
+ m_CUdpSocket->setTargetInfo("172.10.0.249", 10000);
+
+ QIntValidator* validator = new QIntValidator(0, 100, this);
+ ui->cmdLineEdit->setValidator(validator);
+ ui->cmdLineEdit->setText("40");
+ ui->cmdSlider->setValue(20);
+
+ //AI开关
+ connect(ui->switchButton1, &WBSwitchButton::sigSwitchChanged, this, [=](bool onOroff){
+ if (onOroff) //开关打开
+ {
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("9100"),
+ QByteArray::fromHex("01000000")));
+ }
+ else
+ {
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("9100")));
+ }
+ });
+
+ ui->comboBox1->addItem("16 * 16", QByteArray::fromHex("01000000"));
+ ui->comboBox1->addItem("32 * 32", QByteArray::fromHex("02000000"));
+ ui->comboBox1->addItem("64 * 64", QByteArray::fromHex("03000000"));
+ ui->comboBox1->addItem("128 * 128", QByteArray::fromHex("04000000"));
+
+ ui->comboBox2->addItem("红外", QByteArray::fromHex("00000000"));
+ ui->comboBox2->addItem("可见光", QByteArray::fromHex("01000000"));
+ ui->comboBox2->addItem("上下分屏", QByteArray::fromHex("02000000"));
+ ui->comboBox2->addItem("画中画1", QByteArray::fromHex("03000000"));
+ ui->comboBox2->addItem("画中画2", QByteArray::fromHex("04000000"));
+ ui->comboBox2->addItem("左右分屏", QByteArray::fromHex("05000000"));
+
+ ui->comboBox3->setCurrentIndex(4);
+
+ //低照度
+ connect(ui->btn_light, &WBSwitchButton::sigSwitchChanged, this, [=](bool onOroff) {
+ if (onOroff) //开关打开
+ {
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4B00"),
+ QByteArray::fromHex("01000000")));
+ }
+ else
+ {
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4B00")));
+ }
+ });
+
+ //电子稳像
+ connect(ui->btn_stable, &WBSwitchButton::sigSwitchChanged, this, [=](bool onOroff) {
+ if (onOroff) //开关打开
+ {
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4100"),
+ QByteArray::fromHex("04010000")));
+ }
+ else
+ {
+ m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4100"),
+ QByteArray::fromHex("04020000")));
+ }
+ });
+
+ //图像去雾
+ ui->comboBox4->addItem("关", QByteArray::fromHex("00000000"));
+ ui->comboBox4->addItem("低", QByteArray::fromHex("01000000"));
+ ui->comboBox4->addItem("中", QByteArray::fromHex("02000000"));
+ ui->comboBox4->addItem("强", QByteArray::fromHex("03000000"));
+
+ //伪彩选择
+ ui->comboBox5->addItem("白热", QByteArray::fromHex("01000000"));
+ ui->comboBox5->addItem("黑热", QByteArray::fromHex("01010000"));
+ ui->comboBox5->addItem("蓝红黄", QByteArray::fromHex("01020000"));
+ ui->comboBox5->addItem("紫红黄", QByteArray::fromHex("01030000"));
+ ui->comboBox5->addItem("蓝绿红", QByteArray::fromHex("01040000"));
+ ui->comboBox5->addItem("彩虹1", QByteArray::fromHex("01050000"));
+ ui->comboBox5->addItem("彩虹2", QByteArray::fromHex("01060000"));
+ ui->comboBox5->addItem("黑-红", QByteArray::fromHex("01070000"));
+ ui->comboBox5->addItem("墨绿-红", QByteArray::fromHex("01080000"));
+ ui->comboBox5->addItem("蓝绿红-粉", QByteArray::fromHex("01090000"));
+ ui->comboBox5->addItem("混合色", QByteArray::fromHex("010A0000"));
+ ui->comboBox5->addItem("红头", QByteArray::fromHex("010B0000"));
+}
\ No newline at end of file
diff --git a/src/commandwidget.h b/src/commandwidget.h
index f042863..4b83908 100644
--- a/src/commandwidget.h
+++ b/src/commandwidget.h
@@ -6,6 +6,8 @@
#include "communicationsettingdlg.h"
#include "global.h"
+#include "utils/CUdpSocket.h"
+#include "utils/protocolPodTJ.h"
typedef struct struProtocalKB {
quint8 head[2]; // 帧头0x
@@ -71,6 +73,12 @@ const quint16 CRC8TAB[256] = {
0x0082, 0x00B3, 0x00E0, 0x00D1, 0x0046, 0x0077, 0x0024, 0x0015, 0x003B,
0x000A, 0x0059, 0x0068, 0x00FF, 0x00CE, 0x009D, 0x00AC};
+enum uav_type
+{
+ FP98=0,
+ MEDICAL_UNIVERSITY=5
+};
+
namespace Ui {
class CommandWidget;
}
@@ -122,18 +130,123 @@ private slots:
void on_pushButton_15_clicked();
+ /*武汉天进吊舱控制*/
+ void on_pushButton_left_pressed();
+ void on_pushButton_left_released();
+
+ void on_pushButton_right_pressed();
+ void on_pushButton_right_released();
+
+ void on_pushButton_up_pressed();
+ void on_pushButton_up_released();
+
+ void on_pushButton_down_pressed();
+ void on_pushButton_down_released();
+
+ void on_pushButton_center_pressed();
+
+ //姿态指引
+ void on_pushButton_guid_pressed();
+ void on_pushButton_pose_pressed();
+
+ //航向锁定
+ void on_pushButton_directL_pressed();
+ //航向随动
+ void on_pushButton_directS_pressed();
+ //垂直下视
+ void on_pushButton_lookDown_pressed();
+ //镜头收藏
+ void on_pushButton_packUp_pressed();
+ //扫描
+ void on_pushButton_scanning_pressed();
+ //关伺服
+ void on_pushButton_close_pressed();
+ //设置检测模板
+ void on_comboBox1_activated(int index);
+ //显示模式
+ void on_comboBox2_activated(int index);
+ //视频切换
+ void on_pushButton_videoSwitch_pressed();
+ //开始录像
+ void on_pushButton_video_pressed();
+ //拍照
+ void on_pushButton_photo_pressed();
+ //可见光变倍+
+ void on_pushButton_zoomp_pressed();
+ void on_pushButton_zoomp_released();
+ //可见光变倍-
+ void on_pushButton_zoomd_pressed();
+ void on_pushButton_zoomd_released();
+ //可见光变焦+
+ void on_pushButton_focusP_pressed();
+ void on_pushButton_focusP_released();
+ //可见光变焦-
+ void on_pushButton_focusD_pressed();
+ void on_pushButton_focusD_released();
+ //自动对焦
+ void on_pushButton_auto_pressed();
+ void on_pushButton_auto_released();
+ //对比度
+ void on_pushButton_contrastP_pressed();
+ void on_pushButton_contrastD_pressed();
+ //亮度
+ void on_pushButton_lightP_pressed();
+ void on_pushButton_lightD_pressed();
+ //图像去雾
+ void on_comboBox4_activated(int index);
+ //红外变倍+
+ void on_pushButton_zoomp_2_pressed();
+ void on_pushButton_zoomp_2_released();
+ //红外变倍-
+ void on_pushButton_zoomd_2_pressed();
+ void on_pushButton_zoomd_2_released();
+ //对比度
+ void on_pushButton_contrastP_2_pressed();
+ void on_pushButton_contrastD_2_pressed();
+ //伪彩循环切换
+ void on_pushButton_color_pressed();
+ //伪彩选择
+ void on_comboBox5_activated(int index);
+ //单次测距
+ void on_pushButton_distance_pressed();
+ //连续测距
+ void on_pushButton_distanceC_pressed();
+ //停止测距
+ void on_pushButton_distanceS_pressed();
+
+ void on_cmdLineEdit_textChanged(const QString text);
+
private:
Ui::CommandWidget *ui;
QUdpSocket *m_commandUdpSocket = nullptr;
QString m_remoteIP;
int m_remotePort;
+ CUdpSocket* m_CUdpSocket = nullptr;
+ ProtocolPodTJ m_protocolPodTJ;
unsigned char getCrc(quint8 *data, quint8 length);
ProtocalKB EncodeCommandCmd(quint8 cmd);
bool writeBufferToClient(const QByteArray &data);
void buttonResponse(quint8 cmd);
+
+ void initmUdpParam();
+
+public slots:
+ void receiveUavTypeIndex(int index);
+
+ //设置通信IP及Port 连接udp
+ void setPodIPConfig(NetworkIPStruct networkIP, bool isConnect);
+public:
+ //设置窗口传递参数
+ void setMoveParm(QPointF size);
+ //伺服停止
+ void stopServo();
+ //目标跟踪
+ void setTargetTracking(double dir, double pitch);
+ //停止跟踪
+ void setStopTracking();
};
#endif // COMMANDWIDGET_H
diff --git a/src/commandwidget.ui b/src/commandwidget.ui
index daed3d5..2007436 100644
--- a/src/commandwidget.ui
+++ b/src/commandwidget.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>295</width>
- <height>541</height>
+ <height>819</height>
</rect>
</property>
<property name="windowTitle">
@@ -30,7 +30,7 @@
<number>0</number>
</property>
<item>
- <widget class="QFrame" name="frame">
+ <widget class="QStackedWidget" name="cmdStackedWidget">
<property name="styleSheet">
<string notr="true">#frame{
border: 1px solid white;
@@ -43,175 +43,1322 @@
<property name="frameShadow">
<enum>QFrame::Shadow::Raised</enum>
</property>
- <layout class="QVBoxLayout" name="verticalLayout">
- <property name="leftMargin">
- <number>2</number>
- </property>
- <property name="topMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>2</number>
- </property>
- <property name="bottomMargin">
- <number>0</number>
- </property>
- <item>
- <layout class="QGridLayout" name="gridLayout">
+ <property name="currentIndex">
+ <number>1</number>
+ </property>
+ <widget class="QWidget" name="stackedWidgetPage1">
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <property name="leftMargin">
+ <number>2</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>2</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item>
+ <layout class="QGridLayout" name="gridLayout">
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="topMargin">
+ <number>8</number>
+ </property>
+ <property name="rightMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <property name="spacing">
+ <number>14</number>
+ </property>
+ <item row="4" column="0">
+ <widget class="QPushButton" name="pushButton_10">
+ <property name="text">
+ <string>红外小</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QPushButton" name="pushButton_8">
+ <property name="text">
+ <string>画中画开</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QPushButton" name="pushButton_7">
+ <property name="text">
+ <string>画中画关</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="2">
+ <widget class="QPushButton" name="pushButton_15">
+ <property name="text">
+ <string>4-6图拼接</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <widget class="QPushButton" name="pushButton_17">
+ <property name="text">
+ <string>图像切换</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QPushButton" name="pushButton_5">
+ <property name="text">
+ <string>变焦推远</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QPushButton" name="pushButton_6">
+ <property name="text">
+ <string>变焦拉近</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QPushButton" name="pushButton_13">
+ <property name="text">
+ <string>吊舱</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QPushButton" name="pushButton_9">
+ <property name="text">
+ <string>红外大</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2">
+ <widget class="QPushButton" name="pushButton_12">
+ <property name="text">
+ <string>复位</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QPushButton" name="pushButton_14">
+ <property name="text">
+ <string>扫描</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QPushButton" name="pushButton_11">
+ <property name="text">
+ <string>锁定</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QPushButton" name="pushButton_4">
+ <property name="text">
+ <string>俯仰+</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QPushButton" name="pushButton">
+ <property name="text">
+ <string>方位+</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButton_2">
+ <property name="text">
+ <string>方位-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButton_3">
+ <property name="text">
+ <string>俯仰-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="2">
+ <widget class="QPushButton" name="pushButton_16">
+ <property name="text">
+ <string>0-3图拼接</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Orientation::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>219</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="stackedWidgePage2">
+ <widget class="QWidget" name="widget" native="true">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>70</y>
+ <width>110</width>
+ <height>110</height>
+ </rect>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_3">
<property name="leftMargin">
- <number>6</number>
+ <number>0</number>
</property>
<property name="topMargin">
- <number>8</number>
+ <number>0</number>
</property>
<property name="rightMargin">
- <number>6</number>
+ <number>0</number>
</property>
<property name="bottomMargin">
- <number>6</number>
+ <number>0</number>
</property>
<property name="spacing">
- <number>14</number>
+ <number>0</number>
</property>
- <item row="4" column="0">
- <widget class="QPushButton" name="pushButton_10">
- <property name="text">
- <string>红外小</string>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QPushButton" name="pushButton_8">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButton_left">
<property name="text">
- <string>画中画开</string>
+ <string/>
</property>
</widget>
</item>
<item row="1" column="2">
- <widget class="QPushButton" name="pushButton_7">
+ <widget class="QPushButton" name="pushButton_right">
<property name="text">
- <string>画中画关</string>
+ <string/>
</property>
</widget>
</item>
- <item row="5" column="2">
- <widget class="QPushButton" name="pushButton_15">
+ <item row="2" column="1">
+ <widget class="QPushButton" name="pushButton_down">
<property name="text">
- <string>4-6图拼接</string>
+ <string/>
</property>
</widget>
</item>
- <item row="4" column="1">
- <widget class="QPushButton" name="pushButton_17">
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButton_center">
<property name="text">
- <string>图像切换</string>
+ <string/>
</property>
</widget>
</item>
- <item row="2" column="0">
- <widget class="QPushButton" name="pushButton_5">
+ <item row="0" column="1">
+ <widget class="QPushButton" name="pushButton_up">
<property name="text">
- <string>变焦推远</string>
+ <string/>
</property>
</widget>
</item>
- <item row="3" column="0">
- <widget class="QPushButton" name="pushButton_6">
- <property name="text">
- <string>变焦拉近</string>
+ </layout>
+ </widget>
+ <widget class="QSlider" name="cmdSlider">
+ <property name="geometry">
+ <rect>
+ <x>32</x>
+ <y>20</y>
+ <width>191</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">/*滑块的样式*/
+QSlider::groove:horizontal {
+border: 1px solid #64AA64;
+background: #64AA64;
+height: 2px;
+border-radius: 1px;
+padding-left:0px;
+padding-right:0px;
+}
+
+/*滑块经过的颜色:前面的颜色*/
+QSlider::sub-page:horizontal {
+background: #64AA64;
+border: 1px solid #64AA64;
+height: 2px;
+border-radius: 2px;
+}
+
+QSlider::add-page:horizontal {
+background: #EAEAEA;
+border: 0px solid #EAEAEA;
+height: 2px;
+border-radius: 2px;
+}
+QSlider::handle:horizontal
+{
+ background: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5,
+ stop:0.6 #64AA64,stop:0.98409 rgba(255, 255, 255, 255));
+
+ width: 15px;
+ margin-top: -6px;
+ margin-bottom: -6px;
+ border-radius: 5px;
+}
+
+QSlider::handle:horizontal:hover {
+ background: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5,
+ stop:0.6 #64AA64,stop:0.98409 rgba(255, 255, 255, 255));
+
+ width: 15px;
+ margin-top: -6px;
+ margin-bottom: -6px;
+ border-radius: 5px;
+}</string>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Orientation::Horizontal</enum>
+ </property>
+ </widget>
+ <widget class="QLineEdit" name="cmdLineEdit">
+ <property name="geometry">
+ <rect>
+ <x>230</x>
+ <y>20</y>
+ <width>31</width>
+ <height>21</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_guid">
+ <property name="geometry">
+ <rect>
+ <x>130</x>
+ <y>50</y>
+ <width>61</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>数字引导</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_pose">
+ <property name="geometry">
+ <rect>
+ <x>200</x>
+ <y>50</y>
+ <width>61</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>姿态引导</string>
+ </property>
+ </widget>
+ <widget class="QLineEdit" name="guidLineEdit">
+ <property name="geometry">
+ <rect>
+ <x>160</x>
+ <y>90</y>
+ <width>31</width>
+ <height>21</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QLineEdit" name="poseLineEdit">
+ <property name="geometry">
+ <rect>
+ <x>230</x>
+ <y>90</y>
+ <width>31</width>
+ <height>21</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label">
+ <property name="geometry">
+ <rect>
+ <x>128</x>
+ <y>90</y>
+ <width>31</width>
+ <height>21</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>方位：</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_2">
+ <property name="geometry">
+ <rect>
+ <x>198</x>
+ <y>90</y>
+ <width>31</width>
+ <height>21</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>俯仰：</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_diectionL">
+ <property name="geometry">
+ <rect>
+ <x>130</x>
+ <y>120</y>
+ <width>61</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>航向锁定</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_diectionS">
+ <property name="geometry">
+ <rect>
+ <x>200</x>
+ <y>120</y>
+ <width>61</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>航向随动</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_lookDown">
+ <property name="geometry">
+ <rect>
+ <x>130</x>
+ <y>150</y>
+ <width>61</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>垂直下视</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_packUp">
+ <property name="geometry">
+ <rect>
+ <x>200</x>
+ <y>150</y>
+ <width>61</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>镜头收藏</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_scanning">
+ <property name="geometry">
+ <rect>
+ <x>130</x>
+ <y>180</y>
+ <width>61</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>扫描</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_close">
+ <property name="geometry">
+ <rect>
+ <x>200</x>
+ <y>180</y>
+ <width>61</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>关伺服</string>
+ </property>
+ </widget>
+ <widget class="QGroupBox" name="groupBox">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>210</y>
+ <width>281</width>
+ <height>51</height>
+ </rect>
+ </property>
+ <property name="title">
+ <string>检测跟踪</string>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <property name="leftMargin">
+ <number>2</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>5</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLabel" name="label_3">
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>20</height>
+ </size>
</property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QPushButton" name="pushButton_13">
<property name="text">
- <string>吊舱</string>
+ <string>检测框：</string>
</property>
- </widget>
- </item>
- <item row="5" column="0">
- <widget class="QPushButton" name="pushButton_9">
- <property name="text">
- <string>红外大</string>
+ <property name="alignment">
+ <set>Qt::AlignmentFlag::AlignCenter</set>
</property>
</widget>
</item>
- <item row="2" column="2">
- <widget class="QPushButton" name="pushButton_12">
- <property name="text">
- <string>复位</string>
+ <item>
+ <widget class="WBSwitchButton" name="switchButton1" native="true">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
</property>
</widget>
</item>
- <item row="2" column="1">
- <widget class="QPushButton" name="pushButton_14">
- <property name="text">
- <string>扫描</string>
+ <item>
+ <widget class="QLabel" name="label_4">
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>20</height>
+ </size>
</property>
- </widget>
- </item>
- <item row="3" column="2">
- <widget class="QPushButton" name="pushButton_11">
<property name="text">
- <string>锁定</string>
+ <string>模板大小</string>
</property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QPushButton" name="pushButton_4">
- <property name="text">
- <string>俯仰+</string>
+ <property name="alignment">
+ <set>Qt::AlignmentFlag::AlignCenter</set>
</property>
</widget>
</item>
+ <item>
+ <widget class="QComboBox" name="comboBox1"/>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QGroupBox" name="groupBox_2">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>260</y>
+ <width>281</width>
+ <height>61</height>
+ </rect>
+ </property>
+ <property name="title">
+ <string>视频</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
- <widget class="QPushButton" name="pushButton">
- <property name="text">
- <string>方位+</string>
- </property>
- </widget>
+ <widget class="QComboBox" name="comboBox2"/>
</item>
- <item row="1" column="0">
- <widget class="QPushButton" name="pushButton_2">
+ <item row="0" column="2">
+ <widget class="QPushButton" name="pushButton_video">
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
<property name="text">
- <string>方位-</string>
+ <string>开始录像</string>
</property>
</widget>
</item>
- <item row="1" column="1">
- <widget class="QPushButton" name="pushButton_3">
+ <item row="0" column="1">
+ <widget class="QPushButton" name="pushButton_videoSwitch">
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
<property name="text">
- <string>俯仰-</string>
+ <string>视频切换</string>
</property>
</widget>
</item>
- <item row="4" column="2">
- <widget class="QPushButton" name="pushButton_16">
+ <item row="0" column="3">
+ <widget class="QPushButton" name="pushButton_photo">
<property name="text">
- <string>0-3图拼接</string>
+ <string>拍照</string>
</property>
</widget>
</item>
</layout>
- </item>
- <item>
- <spacer name="verticalSpacer">
- <property name="orientation">
- <enum>Qt::Orientation::Vertical</enum>
+ </widget>
+ <widget class="QGroupBox" name="groupBox_5">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>320</y>
+ <width>281</width>
+ <height>171</height>
+ </rect>
+ </property>
+ <property name="title">
+ <string>可见光</string>
+ </property>
+ <widget class="QPushButton" name="pushButton_zoomp">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>56</y>
+ <width>60</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>变倍+</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_focusP">
+ <property name="geometry">
+ <rect>
+ <x>73</x>
+ <y>56</y>
+ <width>60</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>变焦+</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_contrastP">
+ <property name="geometry">
+ <rect>
+ <x>136</x>
+ <y>56</y>
+ <width>60</width>
+ <height>24</height>
+ </rect>
</property>
- <property name="sizeHint" stdset="0">
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>对比度+</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_lightP">
+ <property name="geometry">
+ <rect>
+ <x>199</x>
+ <y>56</y>
+ <width>72</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>亮度+</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_zoomd">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>85</y>
+ <width>60</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>变倍-</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_focusP_2">
+ <property name="geometry">
+ <rect>
+ <x>73</x>
+ <y>85</y>
+ <width>60</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>变焦-</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_contrastD">
+ <property name="geometry">
+ <rect>
+ <x>136</x>
+ <y>85</y>
+ <width>60</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>对比度-</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_lightD">
+ <property name="geometry">
+ <rect>
+ <x>199</x>
+ <y>85</y>
+ <width>72</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>亮度-</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_10">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>29</y>
+ <width>60</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>20</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>速度：</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignmentFlag::AlignCenter</set>
+ </property>
+ </widget>
+ <widget class="QComboBox" name="comboBox3">
+ <property name="geometry">
+ <rect>
+ <x>73</x>
+ <y>27</y>
+ <width>45</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="currentText">
+ <string>0</string>
+ </property>
+ <item>
+ <property name="text">
+ <string>0</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>1</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>2</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>3</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>4</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>5</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>6</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>7</string>
+ </property>
+ </item>
+ </widget>
+ <widget class="QLabel" name="label_11">
+ <property name="geometry">
+ <rect>
+ <x>136</x>
+ <y>29</y>
+ <width>60</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>20</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>透雾：</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignmentFlag::AlignCenter</set>
+ </property>
+ </widget>
+ <widget class="QComboBox" name="comboBox4">
+ <property name="geometry">
+ <rect>
+ <x>199</x>
+ <y>27</y>
+ <width>72</width>
+ <height>24</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_12">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>116</y>
+ <width>71</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>20</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>夜间模式：</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignmentFlag::AlignCenter</set>
+ </property>
+ </widget>
+ <widget class="WBSwitchButton" name="btn_light" native="true">
+ <property name="geometry">
+ <rect>
+ <x>90</x>
+ <y>116</y>
+ <width>40</width>
+ <height>20</height>
+ </rect>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_13">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>143</y>
+ <width>71</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>20</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>电子稳像：</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignmentFlag::AlignCenter</set>
+ </property>
+ </widget>
+ <widget class="WBSwitchButton" name="btn_stable" native="true">
+ <property name="geometry">
+ <rect>
+ <x>90</x>
+ <y>143</y>
+ <width>40</width>
+ <height>20</height>
+ </rect>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_auto">
+ <property name="geometry">
+ <rect>
+ <x>136</x>
+ <y>114</y>
+ <width>75</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>自动对焦</string>
+ </property>
+ </widget>
+ </widget>
+ <widget class="QLabel" name="label_9">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>20</y>
+ <width>31</width>
+ <height>21</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>速度：</string>
+ </property>
+ </widget>
+ <widget class="QGroupBox" name="groupBox_6">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>490</y>
+ <width>281</width>
+ <height>91</height>
+ </rect>
+ </property>
+ <property name="title">
+ <string>红外</string>
+ </property>
+ <widget class="QPushButton" name="pushButton_zoomp_2">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>20</y>
+ <width>60</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>变倍+</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_zoomd_2">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>50</y>
+ <width>60</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>变倍-</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_contrastP_2">
+ <property name="geometry">
+ <rect>
+ <x>73</x>
+ <y>20</y>
+ <width>60</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>对比度+</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_contrastD_2">
+ <property name="geometry">
+ <rect>
+ <x>73</x>
+ <y>50</y>
+ <width>60</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>对比度-</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_14">
+ <property name="geometry">
+ <rect>
+ <x>140</x>
+ <y>20</y>
+ <width>40</width>
+ <height>20</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
<size>
<width>20</width>
- <height>219</height>
+ <height>0</height>
</size>
</property>
- </spacer>
- </item>
- </layout>
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>伪彩：</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignmentFlag::AlignCenter</set>
+ </property>
+ </widget>
+ <widget class="QComboBox" name="comboBox5">
+ <property name="geometry">
+ <rect>
+ <x>180</x>
+ <y>20</y>
+ <width>91</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="currentText">
+ <string/>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_color">
+ <property name="geometry">
+ <rect>
+ <x>180</x>
+ <y>50</y>
+ <width>91</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>伪彩循环切换</string>
+ </property>
+ </widget>
+ </widget>
+ <widget class="QGroupBox" name="groupBox_7">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>590</y>
+ <width>281</width>
+ <height>61</height>
+ </rect>
+ </property>
+ <property name="title">
+ <string>激光</string>
+ </property>
+ <widget class="QPushButton" name="pushButton_distance">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>20</y>
+ <width>60</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>单次测距</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_distanceC">
+ <property name="geometry">
+ <rect>
+ <x>73</x>
+ <y>20</y>
+ <width>60</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>连续测距</string>
+ </property>
+ </widget>
+ <widget class="QComboBox" name="comboBox6">
+ <property name="geometry">
+ <rect>
+ <x>135</x>
+ <y>20</y>
+ <width>31</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="currentText">
+ <string>1</string>
+ </property>
+ <item>
+ <property name="text">
+ <string>1</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>2</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>3</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>4</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>5</string>
+ </property>
+ </item>
+ </widget>
+ <widget class="QPushButton" name="pushButton_distanceS">
+ <property name="geometry">
+ <rect>
+ <x>210</x>
+ <y>20</y>
+ <width>60</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>停止测距</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_15">
+ <property name="geometry">
+ <rect>
+ <x>170</x>
+ <y>20</y>
+ <width>35</width>
+ <height>24</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>35</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>20</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>次/秒</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignmentFlag::AlignCenter</set>
+ </property>
+ </widget>
+ </widget>
+ </widget>
</widget>
</item>
</layout>
</widget>
+ <customwidgets>
+ <customwidget>
+ <class>WBSwitchButton</class>
+ <extends>QWidget</extends>
+ <header>utils/switchbutton.h</header>
+ <container>1</container>
+ </customwidget>
+ </customwidgets>
<resources/>
<connections/>
</ui>
diff --git a/src/communicationsettingdlg.cpp b/src/communicationsettingdlg.cpp
index 3e66ebb..f8deb52 100644
--- a/src/communicationsettingdlg.cpp
+++ b/src/communicationsettingdlg.cpp
@@ -18,6 +18,90 @@ CommunicationSettingDlg::~CommunicationSettingDlg() {
void CommunicationSettingDlg::showEvent(QShowEvent *event) {
setSaveSettingParms();
+ setPodIniSetting();
+}
+
+
+bool CommunicationSettingDlg::isValidIP()
+{
+ QHostAddress addrLocal(ui->podLocalIP->currentText());
+ QHostAddress addrremote(ui->podRemoteIPEdit->text());
+
+ if (addrLocal.isNull() || addrLocal.protocol() != QAbstractSocket::IPv4Protocol)
+ {
+ emit sendErrorMessage("本地IP格式错误!", 2);
+ return false;
+ }
+
+ if (addrremote.isNull() || addrremote.protocol() != QAbstractSocket::IPv4Protocol)
+ {
+ emit sendErrorMessage("远端IP格式错误!", 2);
+ return false;
+ }
+
+ if (ui->podLocalPort->value() == 0 || ui->podRemotePort->value() == 0)
+ {
+ emit sendErrorMessage("请输入正确的端口号!", 2);
+ return false;
+ }
+ return true;
+}
+
+void CommunicationSettingDlg::savePodIniSetting()
+{
+ g_networkSettingInfo->setValue("PodSetting/localIP",
+ ui->podLocalIP->currentText());
+ g_networkSettingInfo->setValue("PodSetting/remoteIP",
+ ui->podRemoteIPEdit->text());
+ g_networkSettingInfo->setValue("PodSetting/localPort",
+ ui->podLocalPort->value());
+ g_networkSettingInfo->setValue("PodSetting/remotePort",
+ ui->podRemotePort->value());
+}
+
+void CommunicationSettingDlg::setPodIniSetting()
+{
+ ui->podRemoteIPEdit->setText(
+ g_networkSettingInfo->value("PodSetting/remoteIP", "192.168.1.160").toString());
+ ui->podRemotePort->setValue(
+ g_networkSettingInfo->value("PodSetting/remotePort", 10000).toInt());
+ ui->podLocalPort->setValue(
+ g_networkSettingInfo->value("PodSetting/localPort", 10001).toInt());
+
+ QString localIP =
+ g_networkSettingInfo->value("PodSetting/localIP").toString();
+ for (int i = 0; i < ui->podLocalIP->count(); ++i) {
+ if (localIP == ui->podLocalIP->itemText(i)) {
+ ui->podLocalIP->setCurrentIndex(i);
+ }
+ }
+}
+
+
+void CommunicationSettingDlg::on_podConnectBtn_clicked()
+{
+ if (!isValidIP()) { return; }
+
+ savePodIniSetting();
+
+ NetworkIPStruct networkIP;
+ if (!_commIsConnect)//断开时点击连接
+ {
+ _commIsConnect = true;//状态为连接
+ networkIP.localIP = ui->podLocalIP->currentText();
+ networkIP.remoteIP = ui->podRemoteIPEdit->text();
+ networkIP.localPort = ui->podLocalPort->value();
+ networkIP.remotePort = ui->podRemotePort->value();
+ emit sendPodData(networkIP, _commIsConnect);
+ ui->podConnectBtn->setText("断开");
+ }
+ else
+ {
+ _commIsConnect = false;//状态为连接
+ emit sendPodData(networkIP, _commIsConnect);
+ ui->podConnectBtn->setText("连接");
+ }
+
}
void CommunicationSettingDlg::initCombobox() {
@@ -31,10 +115,14 @@ void CommunicationSettingDlg::initNetworkSetting() {
QStringList localIPList;
getLocalIP(localIPList);
ui->localIP->addItems(localIPList);
+ ui->podLocalIP->addItems(localIPList);
ui->remoteIPEdit->setText(QStringLiteral("223.0.0.1"));
ui->remotePort->setValue(8080);
ui->localPort->setValue(8082);
+
+ ui->podRemotePort->setValue(10000);
+ ui->podLocalPort->setValue(10001);
}
void CommunicationSettingDlg::setSaveSettingParms() {
@@ -64,7 +152,7 @@ void CommunicationSettingDlg::setSaveSettingParms() {
QString localIP =
g_networkSettingInfo->value(groupName + "/localIP").toString();
- for (int i = 0; i < ui->dataSourceCombox->count(); ++i) {
+ for (int i = 0; i < ui->localIP->count(); ++i) {
if (localIP == ui->localIP->itemText(i)) {
ui->localIP->setCurrentIndex(i);
}
diff --git a/src/communicationsettingdlg.h b/src/communicationsettingdlg.h
index 2ae4dfd..a3f733c 100644
--- a/src/communicationsettingdlg.h
+++ b/src/communicationsettingdlg.h
@@ -23,9 +23,11 @@ protected:
signals:
void sendErrorMessage(QString message, int type);
+ void sendPodData(NetworkIPStruct networkIP, bool isConnect);
private slots:
void on_saveSettingBtn_clicked();
+ void on_podConnectBtn_clicked();
private:
void initCombobox();
@@ -34,8 +36,14 @@ private:
void setSaveSettingParms();
+ bool isValidIP();
+
+ void savePodIniSetting();
+
+ void setPodIniSetting();
private:
Ui::CommunicationSettingDlg *ui;
+ bool _commIsConnect{ false };
};
#endif // COMMUNICATIONSETTINGDLG_H
diff --git a/src/communicationsettingdlg.ui b/src/communicationsettingdlg.ui
index aa2fb4f..a87f1e7 100644
--- a/src/communicationsettingdlg.ui
+++ b/src/communicationsettingdlg.ui
@@ -6,192 +6,450 @@
<rect>
<x>0</x>
<y>0</y>
- <width>307</width>
- <height>275</height>
+ <width>600</width>
+ <height>350</height>
</rect>
</property>
+ <property name="minimumSize">
+ <size>
+ <width>600</width>
+ <height>350</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>600</width>
+ <height>350</height>
+ </size>
+ </property>
<property name="windowTitle">
<string>Dialog</string>
</property>
- <layout class="QVBoxLayout" name="verticalLayout" stretch="0,0">
- <property name="leftMargin">
- <number>4</number>
- </property>
- <property name="topMargin">
- <number>4</number>
+ <widget class="QGroupBox" name="groupBox">
+ <property name="geometry">
+ <rect>
+ <x>20</x>
+ <y>10</y>
+ <width>551</width>
+ <height>171</height>
+ </rect>
</property>
- <property name="rightMargin">
- <number>4</number>
+ <property name="font">
+ <font>
+ <pointsize>10</pointsize>
+ </font>
</property>
- <property name="bottomMargin">
- <number>4</number>
+ <property name="title">
+ <string>网络设置</string>
</property>
- <item>
- <widget class="QGroupBox" name="groupBox">
- <property name="font">
- <font>
- <pointsize>10</pointsize>
- </font>
- </property>
- <property name="title">
- <string>网络设置</string>
- </property>
- <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <property name="leftMargin">
+ <number>4</number>
+ </property>
+ <property name="topMargin">
+ <number>2</number>
+ </property>
+ <property name="rightMargin">
+ <number>4</number>
+ </property>
+ <property name="bottomMargin">
+ <number>2</number>
+ </property>
+ <item>
+ <layout class="QGridLayout" name="gridLayout" columnstretch="1,0,0,0,0,0">
<property name="leftMargin">
<number>4</number>
</property>
- <property name="topMargin">
- <number>2</number>
- </property>
<property name="rightMargin">
<number>4</number>
</property>
- <property name="bottomMargin">
- <number>2</number>
- </property>
- <item>
- <layout class="QGridLayout" name="gridLayout" columnstretch="1,2">
- <property name="leftMargin">
- <number>4</number>
- </property>
- <property name="rightMargin">
- <number>4</number>
- </property>
- <property name="horizontalSpacing">
- <number>7</number>
- </property>
- <item row="1" column="0">
- <widget class="QLabel" name="label">
- <property name="font">
- <font>
- <pointsize>10</pointsize>
- </font>
- </property>
- <property name="text">
- <string>本地IP：</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QComboBox" name="localIP"/>
- </item>
- <item row="2" column="1">
- <widget class="QLineEdit" name="remoteIPEdit"/>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_2">
- <property name="font">
- <font>
- <pointsize>10</pointsize>
- </font>
- </property>
- <property name="text">
- <string>网络IP：</string>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_4">
- <property name="text">
- <string>数据来源:</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QComboBox" name="dataSourceCombox"/>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_12">
- <property name="font">
- <font>
- <pointsize>10</pointsize>
- </font>
- </property>
- <property name="text">
- <string>网络端口：</string>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QSpinBox" name="remotePort">
- <property name="buttonSymbols">
- <enum>QAbstractSpinBox::ButtonSymbols::NoButtons</enum>
- </property>
- <property name="maximum">
- <number>65534</number>
- </property>
- </widget>
- </item>
- <item row="4" column="0">
- <widget class="QLabel" name="label_13">
- <property name="font">
- <font>
- <pointsize>10</pointsize>
- </font>
- </property>
- <property name="text">
- <string>本地端口：</string>
- </property>
- </widget>
- </item>
- <item row="4" column="1">
- <widget class="QSpinBox" name="localPort">
- <property name="buttonSymbols">
- <enum>QAbstractSpinBox::ButtonSymbols::NoButtons</enum>
- </property>
- <property name="maximum">
- <number>65534</number>
- </property>
- </widget>
- </item>
- </layout>
+ <property name="horizontalSpacing">
+ <number>6</number>
+ </property>
+ <item row="1" column="4">
+ <widget class="QSpinBox" name="remotePort">
+ <property name="minimumSize">
+ <size>
+ <width>100</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="buttonSymbols">
+ <enum>QAbstractSpinBox::ButtonSymbols::NoButtons</enum>
+ </property>
+ <property name="maximum">
+ <number>65534</number>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="4">
+ <widget class="QSpinBox" name="localPort">
+ <property name="buttonSymbols">
+ <enum>QAbstractSpinBox::ButtonSymbols::NoButtons</enum>
+ </property>
+ <property name="maximum">
+ <number>65534</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QLineEdit" name="remoteIPEdit"/>
+ </item>
+ <item row="0" column="0">
+ <spacer name="horizontalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Orientation::Horizontal</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::Policy::Fixed</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="label_4">
+ <property name="maximumSize">
+ <size>
+ <width>150</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>数据来源:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLabel" name="label_2">
+ <property name="maximumSize">
+ <size>
+ <width>50</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>10</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>网络IP：</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2" colspan="3">
+ <widget class="QComboBox" name="dataSourceCombox"/>
+ </item>
+ <item row="1" column="3">
+ <widget class="QLabel" name="label_12">
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>10</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>网络端口：</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="5" rowspan="2">
+ <widget class="QWidget" name="widget" native="true">
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QPushButton" name="saveSettingBtn">
+ <property name="font">
+ <font>
+ <pointsize>10</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>保存设置</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLabel" name="label">
+ <property name="maximumSize">
+ <size>
+ <width>50</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>10</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>本地IP：</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="3">
+ <widget class="QLabel" name="label_13">
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>10</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>本地端口：</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="5">
+ <spacer name="horizontalSpacer_3">
+ <property name="orientation">
+ <enum>Qt::Orientation::Horizontal</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::Policy::Fixed</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>100</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="2" column="2">
+ <widget class="QComboBox" name="localIP"/>
</item>
</layout>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <spacer name="horizontalSpacer_3">
- <property name="orientation">
- <enum>Qt::Orientation::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QPushButton" name="saveSettingBtn">
- <property name="font">
- <font>
- <pointsize>10</pointsize>
- </font>
- </property>
- <property name="text">
- <string>保存设置</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer_2">
- <property name="orientation">
- <enum>Qt::Orientation::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- </layout>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QGroupBox" name="groupBox_2">
+ <property name="geometry">
+ <rect>
+ <x>20</x>
+ <y>190</y>
+ <width>551</width>
+ <height>131</height>
+ </rect>
+ </property>
+ <property name="title">
+ <string>吊舱网络设置</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="0" column="4">
+ <widget class="QSpinBox" name="podRemotePort">
+ <property name="maximumSize">
+ <size>
+ <width>100</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="buttonSymbols">
+ <enum>QAbstractSpinBox::ButtonSymbols::NoButtons</enum>
+ </property>
+ <property name="maximum">
+ <number>65534</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="3">
+ <widget class="QLabel" name="label_14">
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>10</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>本地端口：</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QLineEdit" name="podRemoteIPEdit">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="5" rowspan="2">
+ <widget class="QWidget" name="widget_2" native="true">
+ <property name="maximumSize">
+ <size>
+ <width>100</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_2">
+ <item>
+ <widget class="QPushButton" name="podConnectBtn">
+ <property name="text">
+ <string>连接</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QComboBox" name="podLocalIP"/>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLabel" name="label_3">
+ <property name="maximumSize">
+ <size>
+ <width>50</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>10</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>本地IP：</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="4">
+ <widget class="QSpinBox" name="podLocalPort">
+ <property name="maximumSize">
+ <size>
+ <width>100</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="buttonSymbols">
+ <enum>QAbstractSpinBox::ButtonSymbols::NoButtons</enum>
+ </property>
+ <property name="maximum">
+ <number>65534</number>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="3">
+ <widget class="QLabel" name="label_15">
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>10</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>远端端口：</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignmentFlag::AlignLeading|Qt::AlignmentFlag::AlignLeft|Qt::AlignmentFlag::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="label_5">
+ <property name="maximumSize">
+ <size>
+ <width>50</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>10</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>远端P：</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Orientation::Horizontal</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::Policy::Fixed</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="1" column="0">
+ <spacer name="horizontalSpacer_6">
+ <property name="orientation">
+ <enum>Qt::Orientation::Horizontal</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::Policy::Fixed</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </widget>
</widget>
<resources/>
<connections/>
diff --git a/src/mainwindow.cpp b/src/mainwindow.cpp
index 5f2a291..b73dc88 100644
--- a/src/mainwindow.cpp
+++ b/src/mainwindow.cpp
@@ -59,8 +59,10 @@ MainWindow::MainWindow(QWidget *parent)
initChangeVideoLayoutConnection();
initHideButton();
+ initWidget();
setSavedVideoDir();
+ initPodParam();
// ui->stackedWidget->setCurrentIndex(1);
// ui->videoWidget1->play(list.at(0));
// ui->videoWidget2->play(list.at(0));
@@ -123,6 +125,8 @@ void MainWindow::initSignalConnection() {
connect(ui->videoControlWidget, &VideoControl::stopVideoSignal, this,
&MainWindow::closeVideoSlot);
+
+ connect(&streamAddrSettingsDlg, &StreamAddrSettingsDlg::sendUavTypeIndex, ui->commandWidget, &CommandWidget::receiveUavTypeIndex);
}
void MainWindow::initNotifyMessageConnection() {
@@ -132,6 +136,8 @@ void MainWindow::initNotifyMessageConnection() {
&MainWindow::showMessageSlots);
connect(ui->commandWidget, &CommandWidget::sendErrorMessage, this,
&MainWindow::showMessageSlots);
+ connect(&settingDlg, &CommunicationSettingDlg::sendErrorMessage, this,
+ &MainWindow::showMessageSlots);
}
void MainWindow::initChangeVideoLayoutConnection() {
@@ -319,6 +325,11 @@ void MainWindow::initHideButton() {
&MainWindow::hideCommandWidgetSlot);
}
+void MainWindow::initWidget()
+{
+ ui->commandWidget->receiveUavTypeIndex(g_networkSettingInfo->value("NetworkStreamSettings/uavType").toInt());
+}
+
void MainWindow::showSettingDlgSlot() {
settingDlg.exec();
}
@@ -506,3 +517,109 @@ void MainWindow::showMap3DSlot() {
m_mapWidget->show();
}
}
+
+void MainWindow::initPodParam()
+{
+ _wheelStopTime = new QTimer(this);
+ _wheelStopTime->setInterval(300);
+ _wheelStopTime->setSingleShot(true);
+
+ firstLocation = new QLabel(this);
+ firstLocation->setPixmap(QPixmap(":/images/c.png"));
+ firstLocation->setScaledContents(true);
+ firstLocation->resize(30, 30);
+ firstLocation->setStyleSheet("border: none; background: transparent;");
+ firstLocation->hide();
+
+ lastLocation = new QLabel(this);
+ lastLocation->setPixmap(QPixmap(":/images/circle.png"));
+ lastLocation->setScaledContents(true);
+ lastLocation->resize(25, 25);
+ lastLocation->setStyleSheet("border: none; background: transparent;");
+ lastLocation->hide();
+
+ connect(&settingDlg, &CommunicationSettingDlg::sendPodData, ui->commandWidget, &CommandWidget::setPodIPConfig);
+}
+
+void MainWindow::mousePressEvent(QMouseEvent* event)
+{
+ if (ui->videoWidget->underMouse())
+ {
+ if (event->button() == Qt::LeftButton)
+ {
+ //记录鼠标按下位置
+ _dragStartPositon = event->pos();
+ //QPointF b = event->globalPosition();
+ qDebug() << "局部坐标" << "x" << _dragStartPositon.x() << "y" << _dragStartPositon.y();
+ //qDebug() << "全局坐标" << "x" << b.x() << "y" << b.y();
+ _dragFlag = true;
+ }
+ else if (event->button() == Qt::RightButton)
+ {
+ //鼠标右键取消目标跟踪
+ ui->commandWidget->setStopTracking();
+ qDebug() << "取消跟踪";
+ }
+ }
+}
+
+void MainWindow::mouseMoveEvent(QMouseEvent* event)
+{
+ if (_dragFlag)//点击并且移动
+ {
+ QPointF diff = event->pos() - _dragStartPositon;
+ qDebug() << "x:" << diff.x() << "y:" << diff.y();
+ ui->commandWidget->setMoveParm(diff);
+
+ if (qAbs(diff.x()) > 5 || qAbs(diff.y()) > 5)//像素点超过5ptx才算移动，否则为跟踪
+ {
+ _moveFlag = true;
+ firstLocation->move((_dragStartPositon - QPoint(firstLocation->width() / 2, firstLocation->height() / 2)).toPoint());
+ lastLocation->move(event->pos() - QPoint(lastLocation->width() / 2, lastLocation->height() / 2));
+ firstLocation->show();
+ lastLocation->show();
+ }
+
+ QPointF widgetPos = mapFromGlobal(event->globalPosition());
+
+ //如果移动的时候超过了画面显示区域，则自动退出伺服控制
+ if (!ui->videoWidget->rect().contains(widgetPos.toPoint()))
+ {
+ _moveFlag = false;
+ _dragFlag = false;
+
+ ui->commandWidget->stopServo();
+ firstLocation->hide();
+ lastLocation->hide();
+ }
+ }
+}
+
+void MainWindow::mouseReleaseEvent(QMouseEvent* event)
+{
+ if (ui->videoWidget->underMouse())
+ {
+ if (event->button() == Qt::LeftButton && _moveFlag)
+ {
+ _moveFlag = false;
+
+ ui->commandWidget->stopServo();
+
+ firstLocation->hide();
+ lastLocation->hide();
+ }
+ else if (event->button() == Qt::LeftButton && _dragFlag)
+ {
+ // 目标跟踪
+ QPointF sPoint1 = event->globalPosition();
+ QPointF widgetPoint = ui->videoWidget->mapFromGlobal(sPoint1);
+ double a = ui->videoWidget->width();
+ double b = ui->videoWidget->height();
+ double dir = 1920 / a * widgetPoint.rx() - 960;
+ double pitch = -(1080 / b * widgetPoint.ry() - 540);
+
+ ui->commandWidget->setTargetTracking(dir, pitch);
+ qDebug() << "=========>目标跟踪" << " dir:" << dir << " pitch:" << pitch << " a:" << a << " b:" << b;
+ }
+ }
+}
diff --git a/src/mainwindow.h b/src/mainwindow.h
index 0412624..1022393 100644
--- a/src/mainwindow.h
+++ b/src/mainwindow.h
@@ -22,6 +22,7 @@
#include "windowsx.h"
#pragma comment(lib, "user32.lib")
#endif
+#include <QLabel>
namespace QWK {
class WidgetWindowAgent;
@@ -68,6 +69,7 @@ private:
void setSavedVideoDir();
void initHideButton();
+ void initWidget();
private slots:
void showSettingDlgSlot();
@@ -92,5 +94,21 @@ private:
QToolButton *hideCommandWidgetBtn = nullptr;
WebMapWidget *m_mapWidget = nullptr;
+
+ //�����˻���������
+ int _delta{0}; //���ֹ�����
+ QTimer* _wheelStopTime;
+ QPointF _dragStartPositon; //��¼����������ǰ����ľֲ�����
+ bool _dragFlag{false}; //��¼������ʼ��־
+ bool _moveFlag{false}; //��¼���ڻ����еı�־
+ QLabel* firstLocation;
+ QLabel* lastLocation;
+
+ void initPodParam();
+public:
+ void mousePressEvent(QMouseEvent* event) override; // �¼�������
+ void mouseMoveEvent(QMouseEvent* event) override; // �¼�������
+ void mouseReleaseEvent(QMouseEvent* event) override;
+
};
#endif // MAINWINDOW_H
diff --git a/src/mainwindow.ui b/src/mainwindow.ui
index 51eb3aa..9249638 100644
--- a/src/mainwindow.ui
+++ b/src/mainwindow.ui
@@ -105,7 +105,14 @@
</layout>
</item>
<item>
- <widget class="CommandWidget" name="commandWidget" native="true"/>
+ <widget class="CommandWidget" name="commandWidget" native="true">
+ <property name="minimumSize">
+ <size>
+ <width>300</width>
+ <height>0</height>
+ </size>
+ </property>
+ </widget>
</item>
</layout>
</widget>
@@ -115,7 +122,7 @@
<x>0</x>
<y>0</y>
<width>1388</width>
- <height>24</height>
+ <height>33</height>
</rect>
</property>
</widget>
diff --git a/src/resources/images/c.png b/src/resources/images/c.png
new file mode 100644
index 0000000..a554398
Binary files /dev/null and b/src/resources/images/c.png differ
diff --git a/src/resources/images/circle.png b/src/resources/images/circle.png
new file mode 100644
index 0000000..06f5c53
Binary files /dev/null and b/src/resources/images/circle.png differ
diff --git a/src/resources/res.qrc b/src/resources/res.qrc
index 424cc77..81a54a3 100644
--- a/src/resources/res.qrc
+++ b/src/resources/res.qrc
@@ -37,5 +37,7 @@
<file>images/play1.75X.png</file>
<file>images/play1X.png</file>
<file>images/play2X.png</file>
+ <file>images/c.png</file>
+ <file>images/circle.png</file>
</qresource>
</RCC>
diff --git a/src/streamaddrsettingsdlg.cpp b/src/streamaddrsettingsdlg.cpp
index 564e61f..42b6380 100644
--- a/src/streamaddrsettingsdlg.cpp
+++ b/src/streamaddrsettingsdlg.cpp
@@ -14,6 +14,7 @@ StreamAddrSettingsDlg::StreamAddrSettingsDlg(QWidget *parent)
uavTypeList.append("FP981C");
uavTypeList.append("FP981CS");
uavTypeList.append("FP981A");
+ uavTypeList.append("四医大");
ui->uavTypeCombox->insertItems(0, uavTypeList);
//
ui->pushStreamIPCombox->insertItem(0, QStringLiteral("航天飞鹏服务器"));
@@ -157,3 +158,11 @@ void StreamAddrSettingsDlg::on_pushStreamBtn_clicked() {
ui->pushStreamBtn->setDisabled(false);
}
+
+void StreamAddrSettingsDlg::on_uavTypeCombox_activated(int index)
+{
+ qDebug() << index;
+ g_networkSettingInfo->setValue("NetworkStreamSettings/uavType",
+ ui->uavTypeCombox->currentIndex());
+ emit sendUavTypeIndex(index);
+}
diff --git a/src/streamaddrsettingsdlg.h b/src/streamaddrsettingsdlg.h
index 4cfbc2c..25a1517 100644
--- a/src/streamaddrsettingsdlg.h
+++ b/src/streamaddrsettingsdlg.h
@@ -22,6 +22,7 @@ protected:
signals:
void startPullStreamSignal(bool bPull);
void startPushStreamSignal(bool bPush);
+ void sendUavTypeIndex(int index);
private slots:
void on_pushStreamIPCombox_currentIndexChanged(int index);
@@ -32,6 +33,8 @@ private slots:
void on_pushStreamBtn_clicked();
+ void on_uavTypeCombox_activated(int index);
+
private:
void initSavedParms();
void saveParms();
diff --git a/src/utils/CUdpSocket.cpp b/src/utils/CUdpSocket.cpp
new file mode 100644
index 0000000..c256dcb
--- /dev/null
+++ b/src/utils/CUdpSocket.cpp
@@ -0,0 +1,74 @@
+#include "CUdpSocket.h"
+
+CUdpSocket::CUdpSocket(QObject* parent) : QObject(parent)
+{
+ //创建UDP套接字内存空间
+ m_sock = new QUdpSocket;
+ // 连接数据读取信号槽
+ connect(m_sock, &QUdpSocket::readyRead, this, &CUdpSocket::on_readyReadData);
+}
+
+CUdpSocket::~CUdpSocket()
+{
+ // 释放UDP套接字内存空间
+ m_sock->close();
+ delete m_sock;
+}
+
+bool CUdpSocket::bind(QString ip, ushort port)
+{
+ // 返回绑定函数返回值
+
+ if (!m_sock->bind(QHostAddress(ip), port))
+ {
+ qDebug() << "Bind failed:" << m_sock->errorString();
+ isSocketBind = false;
+ return false;
+ }
+ isSocketBind = true;
+ return true;
+}
+
+void CUdpSocket::sendData(QByteArray data)
+{
+ // 发送传入的数据到指定的信息的位置
+ if (isSocketBind)
+ {
+ m_sock->writeDatagram(data, m_hostAddr, m_port);
+ }
+}
+
+void CUdpSocket::setTargetInfo(QString ip, quint16 port)
+{
+ // 存储传入的IP和端口号
+ m_hostAddr = QHostAddress(ip);
+ m_port = port;
+}
+
+bool CUdpSocket::close()
+{
+ m_sock->close();
+ if (m_sock->state() == QUdpSocket::UnconnectedState) {
+ qDebug() << "Socket 已成功关闭";
+ return true;
+ }
+
+ qDebug() << "Socket 关闭失败，当前状态:" << m_sock->state();
+ return false;
+}
+
+void CUdpSocket::on_readyReadData()
+{
+ // 通过函数判断当前是否有等待读取的数据并循环获取
+ while (m_sock->hasPendingDatagrams())
+ {
+ //创建数据存储容器，并设置长度为将接收的数据长度
+ QByteArray data;
+ data.resize(m_sock->pendingDatagramSize());
+ //读取数据并保存信息发送者的地址和ip(方便发送时指定发送位置)
+ m_sock->readDatagram(data.data(), data.size(), &m_hostAddr, &m_port);
+ //发送接收数据的信号
+ emit recvDataSignal(data);
+ }
+}
+
diff --git a/src/utils/CUdpSocket.h b/src/utils/CUdpSocket.h
new file mode 100644
index 0000000..5d4865d
--- /dev/null
+++ b/src/utils/CUdpSocket.h
@@ -0,0 +1,41 @@
+#ifndef CUDPSOCKET_H
+#define CUDPSOCKET_H
+
+#include <QObject>
+#include <QUdpSocket>
+#include <QHostAddress>
+class CUdpSocket : public QObject
+{ Q_OBJECT
+public:
+ explicit CUdpSocket(QObject* parent = nullptr);
+ ~CUdpSocket();
+
+ //绑定本机的ip和端口号信息
+ bool bind(QString ip, ushort port);
+
+ //通过该函数发送数据
+ void sendData(QByteArray data);
+
+ //设置目标主机的ip和端口号
+ void setTargetInfo(QString ip, quint16 port);
+
+ //关闭socket
+ bool close();
+
+signals:
+ //通过该信号传递接收到的数据
+ void recvDataSignal(QString data);
+
+public slots:
+ //读取数据的槽函数
+ void on_readyReadData();
+
+private:
+ QUdpSocket* m_sock; //UDP套接字指针
+ QHostAddress m_hostAddr; //保存目标的地址对象
+ quint16 m_port; //保存目标的端口号(类型一致)
+
+ bool isSocketBind{false}; //数据绑定成功or失败
+};
+
+#endif
\ No newline at end of file
diff --git a/src/utils/protocolPodTJ.cpp b/src/utils/protocolPodTJ.cpp
new file mode 100644
index 0000000..30c19f0
--- /dev/null
+++ b/src/utils/protocolPodTJ.cpp
@@ -0,0 +1,123 @@
+#include "protocolPodTJ.h"
+
+QByteArray ProtocolPodTJ::encode(const QByteArray& cmd, const QByteArray& loadData)
+{
+ QByteArray buffer;
+
+ // ֡ͷ
+ buffer.append(0xFB);
+ buffer.append(0x2C);
+ buffer.append(0xAA);
+
+ // ֡����ָ��2�ֽ� + ���ݣ�
+ quint8 length = 2 + loadData.size();
+ buffer.append(length);
+
+ // ָ���λ��ǰ��
+ buffer.append(cmd);
+
+ // ������
+ buffer.append(loadData);
+
+ // У�飨��֡����ʼ �����һ�������ֽڣ�
+ quint8 xorSum = calculateXOR(buffer, 3, buffer.size() - 1);
+ buffer.append(xorSum);
+
+ return buffer;
+}
+
+QByteArray ProtocolPodTJ::cmdLeft(uint16_t sliderValue)
+{
+ QByteArray param(4, 0x00);
+ //С����ǰ
+ param[0] = -sliderValue & 0xFF;
+ param[1] = ((-sliderValue >> 8) & 0xFF);
+ return param;
+}
+
+QByteArray ProtocolPodTJ::cmdRight(uint16_t sliderValue)
+{
+ QByteArray param(4, 0x00);
+ //С����ǰ
+ param[0] = sliderValue & 0xFF;
+ param[1] = ((sliderValue >> 8) & 0xFF);
+ return param;
+}
+
+QByteArray ProtocolPodTJ::cmdUp(uint16_t sliderValue)
+{
+ QByteArray param(4, 0x00);
+ //С����ǰ
+ param[2] = sliderValue & 0xFF;
+ param[3]= ((sliderValue >> 8) & 0xFF);
+ return param;
+}
+
+QByteArray ProtocolPodTJ::cmdDown(uint16_t sliderValue)
+{
+ QByteArray param(4, 0x00);
+ //С����ǰ
+ param[2] = -sliderValue & 0xFF;
+ param[3] = ((-sliderValue >> 8) & 0xFF);
+ return param;
+}
+
+QByteArray ProtocolPodTJ::cmdZoom(uint8_t model, uint8_t speed)
+{
+ QByteArray param(4, 0x00);
+ //С����ǰ
+ param[0] = model;
+ param[1] = speed;
+ return param;
+}
+
+QByteArray ProtocolPodTJ::cmdLaser(uint8_t fre)
+{
+ QByteArray param(4, 0x00);
+ //С����ǰ
+ param[0] = fre;
+ return param;
+}
+
+QByteArray ProtocolPodTJ::digitalGuid(uint8_t directionAngle, uint8_t pitchAngle)
+{
+ QByteArray param(4, 0x00);
+ //С����ǰ
+ param[0] = (directionAngle * 100) & 0xFF;
+ param[1] = (((directionAngle * 100) >> 8) & 0xFF);
+ param[2] = (pitchAngle * 100) & 0xFF;
+ param[3] = (((pitchAngle * 100) >> 8) & 0xFF);
+ return param;
+}
+
+QByteArray ProtocolPodTJ::cmdServo(int pointX, int pointY)
+{
+ QByteArray param(4, 0x00);
+ //С����ǰ
+ param[0] = pointX & 0xFF;
+ param[1] = ((pointX >> 8) & 0xFF);
+ param[2] = pointY & 0xFF;
+ param[3] = ((pointY >> 8) & 0xFF);
+ return param;
+}
+
+QByteArray ProtocolPodTJ::targetTracking(uint16_t dir, uint16_t pitch)
+{
+ QByteArray param(4, 0x00);
+ //С����ǰ
+ param[0] = dir & 0xFF;
+ param[1] = ((dir >> 8) & 0xFF);
+ param[2] = pitch & 0xFF;
+ param[3] = ((pitch >> 8) & 0xFF);
+ return param;
+}
+
+//������
+quint8 ProtocolPodTJ::calculateXOR(const QByteArray& data, int begin, int end)
+{
+ quint8 xorVal = 0;
+ for (int i = begin; i <= end; ++i) {
+ xorVal ^= static_cast<quint8>(data[i]);
+ }
+ return xorVal;
+}
diff --git a/src/utils/protocolPodTJ.h b/src/utils/protocolPodTJ.h
new file mode 100644
index 0000000..0caab4d
--- /dev/null
+++ b/src/utils/protocolPodTJ.h
@@ -0,0 +1,28 @@
+#include <QByteArray>
+class ProtocolPodTJ
+{
+public:
+ static QByteArray encode(const QByteArray& cmd, const QByteArray& loadData = QByteArray::fromHex("00000000"));
+
+
+public:
+ //����ָ��
+ QByteArray cmdLeft(uint16_t sliderValue);
+ QByteArray cmdRight(uint16_t sliderValue);
+ QByteArray cmdUp(uint16_t sliderValue);
+ QByteArray cmdDown(uint16_t sliderValue);
+ QByteArray cmdZoom(uint8_t model, uint8_t speed);
+ QByteArray cmdLaser(uint8_t fre);
+
+ //��������
+ QByteArray digitalGuid(uint8_t directionAngle, uint8_t pitchAngle);
+
+ //�ŷ�����
+ QByteArray cmdServo(int pointX, int pointY);
+
+ //Ŀ�����
+ QByteArray targetTracking(uint16_t dir, uint16_t pitch);
+
+private:
+ static quint8 calculateXOR(const QByteArray& data, int begin, int end);
+};
diff --git a/src/utils/switchbutton.cpp b/src/utils/switchbutton.cpp
new file mode 100644
index 0000000..347cd3e
--- /dev/null
+++ b/src/utils/switchbutton.cpp
@@ -0,0 +1,201 @@
+#include "switchbutton.h"
+#include <QDebug>
+
+WBSwitchButton::WBSwitchButton(QWidget* parent)
+ : QWidget{ parent }
+{
+
+}
+
+bool WBSwitchButton::getSwitch() {
+ return mOnOff;
+}
+
+void WBSwitchButton::setSwitch(bool onoff) {
+ if (mWaitSigModel) return;
+ /// ״̬�л�
+ mOnOff = onoff;
+ /// �����ź�
+ sigSwitchChanged(mOnOff);
+ /// ����-������ɫ
+ QPropertyAnimation* colorAnimation = new QPropertyAnimation(this, "pBackColor");
+ colorAnimation->setDuration(mAnimationPeriod);
+ colorAnimation->setStartValue(mBackColor);
+ colorAnimation->setEndValue(mOnOff ? mBackOnColor : mBackOffColor);
+ colorAnimation->start(QAbstractAnimation::DeletionPolicy::DeleteWhenStopped); //ֹͣ��ɾ��
+ /// ����-���ذ�ťλ��
+ QVariantAnimation* posAnimation = new QVariantAnimation(this);
+ posAnimation->setDuration(mAnimationPeriod);
+ posAnimation->setStartValue(mButtonRect.topLeft());
+ posAnimation->setEndValue(mOnOff ? mRightPos : mLeftPos);
+ connect(posAnimation, &QPropertyAnimation::valueChanged, [=](const QVariant& value) {
+ mButtonRect.moveTo(value.toPointF());
+ update();
+ });
+ posAnimation->start(QAbstractAnimation::DeletionPolicy::DeleteWhenStopped); //ֹͣ��ɾ��
+}
+
+void WBSwitchButton::setSwitchForWaitModel(bool onoff)
+{
+ if (!mWaitSigModel) return;
+ if (mOnOff == onoff) {
+ /// ��ʾֵδ�ı������а�ťλ�ö���
+ QVariantAnimation* posAnimation = new QVariantAnimation(this);
+ posAnimation->setDuration(mAnimationPeriod);
+ posAnimation->setStartValue(mOnOff ? mLeftPos : mRightPos);
+ posAnimation->setEndValue(mOnOff ? mRightPos : mLeftPos);
+ connect(posAnimation, &QVariantAnimation::valueChanged, [=](const QVariant& value) {
+ mButtonRect.moveTo(value.toPointF());
+ update();
+ });
+ posAnimation->start(QAbstractAnimation::DeletionPolicy::DeleteWhenStopped); //ֹͣ��ɾ��
+ return;
+ }
+ /// ״̬�л�
+ mOnOff = onoff;
+ /// �����ź�
+ sigSwitchChanged(mOnOff);
+ /// �����б�����ɫ����
+ QPropertyAnimation* colorAnimation = new QPropertyAnimation(this, "pBackColor");
+ colorAnimation->setDuration(mAnimationPeriod);
+ colorAnimation->setStartValue(mBackColor);
+ colorAnimation->setEndValue(mOnOff ? mBackOnColor : mBackOffColor);
+ colorAnimation->start(QAbstractAnimation::DeletionPolicy::DeleteWhenStopped); //ֹͣ��ɾ��
+ connect(colorAnimation, &QPropertyAnimation::valueChanged, [=](const QVariant& value) {
+ update();
+ });
+}
+
+void WBSwitchButton::setEnabled(bool enable) {
+ QWidget::setEnabled(enable);
+ mEnable = enable;
+ emit sigEnableChanged(mEnable);
+ update();
+}
+
+bool WBSwitchButton::getEnabled()
+{
+ return mEnable;
+}
+
+void WBSwitchButton::setAnimationPeriod(int period) {
+ mAnimationPeriod = period;
+}
+
+void WBSwitchButton::setPrecisionClick(bool flag) {
+ mPrecisionClickFlagh = flag;
+}
+
+void WBSwitchButton::setWaitModel(bool flag)
+{
+ mWaitSigModel = flag;
+}
+
+void WBSwitchButton::setButtonColor(QColor color) {
+ mButtonColor = color;
+ update();
+}
+
+void WBSwitchButton::setBackOnColor(QColor color) {
+ mBackOnColor = color;
+ update();
+}
+
+void WBSwitchButton::setBackOffColor(QColor color) {
+ mBackOffColor = color;
+ update();
+}
+
+void WBSwitchButton::setEdgeColor(QColor color) {
+ mEdgeColor = color;
+ update();
+}
+
+void WBSwitchButton::paintEvent(QPaintEvent* event) {
+ Q_UNUSED(event)
+ QPainter painter(this);
+ painter.setRenderHint(QPainter::Antialiasing, true);
+ painter.setPen(Qt::NoPen);
+
+ /// ���Ʊ�Ե��ɫ
+ QPainterPath path;
+ path.addRect(this->rect());
+ path.addRoundedRect(this->rect(), mRadius, mRadius);
+ path.setFillRule(Qt::OddEvenFill);
+ painter.setBrush(mEdgeColor);
+ painter.drawPath(path);
+
+ /// ���Ʊ�����ɫ
+ painter.setBrush(mBackColor);
+ painter.drawRoundedRect(this->rect(), mRadius, mRadius);
+
+ /// ����Բ�ΰ�ť
+ painter.setBrush(mButtonColor);
+ painter.drawEllipse(mButtonRect);
+
+ /// ���ư�ť��Ӱ
+ painter.setBrush(Qt::NoBrush);
+ QColor color(Qt::black);
+ int count = (this->height() - mButtonRect.height()) / 2;
+ float stepColor = (0.15 - 0.0) / count;
+ for (int i = mButtonRect.height() / 2 + 1; i < this->height() / 2; i++) {
+ color.setAlphaF(0.15 - stepColor * (i - mButtonRect.height() / 2));
+ painter.setPen(color);
+ painter.drawEllipse(mButtonRect.center(), i, i);
+ }
+
+ /// ʧ����ʾ������һ���ɲ�
+ if (!mEnable) {
+ QColor disable(Qt::black);
+ disable.setAlphaF(0.5);
+ painter.setBrush(disable);
+ painter.drawRoundedRect(this->rect(), mRadius, mRadius);
+ }
+}
+
+void WBSwitchButton::resizeEvent(QResizeEvent* event) {
+ Q_UNUSED(event)
+ /// ���°�ť��С��Բ�Ǵ�С����������λ��
+ int size = qMin(this->width(), this->height());
+ mRadius = size / 2;
+ float width = size * 3 / 4;
+ float border = (size - width) / 2;
+ mLeftPos = QPoint(border, border);
+ mRightPos = QPoint(this->width() - border - width, border);
+ mButtonRect.setWidth(width);
+ mButtonRect.setHeight(width);
+ mButtonRect.moveTo(mOnOff ? mRightPos : mLeftPos);
+ mBackColor = mOnOff ? mBackOnColor : mBackOffColor;
+ update();
+}
+
+void WBSwitchButton::mouseReleaseEvent(QMouseEvent* event) {
+ if (mWaitSigModel) {
+ /// �����а�ťλ�ö���
+ QVariantAnimation* posAnimation = new QVariantAnimation(this);
+ posAnimation->setDuration(mAnimationPeriod);
+ posAnimation->setStartValue(mOnOff ? mRightPos : mLeftPos);
+ posAnimation->setEndValue(mOnOff ? mLeftPos : mRightPos);
+ connect(posAnimation, &QVariantAnimation::valueChanged, [=](const QVariant& value) {
+ mButtonRect.moveTo(value.toPointF());
+ update();
+ });
+ posAnimation->start(QAbstractAnimation::DeletionPolicy::DeleteWhenStopped); //ֹͣ��ɾ��
+ return;
+ }
+ if (!mEnable) return;
+ if (mButtonRect.contains(event->pos()) || !mPrecisionClickFlagh) {
+ setSwitch(!mOnOff);
+ }
+}
+
+void WBSwitchButton::enterEvent(QEvent* event) {
+ Q_UNUSED(event)
+ mHover = true;
+}
+
+void WBSwitchButton::leaveEvent(QEvent* event) {
+ Q_UNUSED(event)
+ mHover = false;
+}
+
diff --git a/src/utils/switchbutton.h b/src/utils/switchbutton.h
new file mode 100644
index 0000000..df71292
--- /dev/null
+++ b/src/utils/switchbutton.h
@@ -0,0 +1,70 @@
+#ifndef WBSWITCHBUTTON_H
+#define WBSWITCHBUTTON_H
+
+#include <QWidget>
+#include <QPropertyAnimation>
+#include <QPainterPath>
+#include <QPainter>
+#include <QRadialGradient>
+#include <QMouseEvent>
+
+///
+/// \brief 基础控件-Switch开关按钮
+///
+class WBSwitchButton : public QWidget
+{
+ Q_OBJECT
+public:
+ Q_PROPERTY(QColor pBackColor MEMBER mBackColor) //新增背景颜色属性,用于动画
+
+ explicit WBSwitchButton(QWidget* parent = nullptr);
+ bool getSwitch(); /// 获取开关状态
+
+public slots:
+ void setSwitch(bool onoff); /// 设置开关状态,default:0
+ void setEnabled(bool enable); /// 设置使能状态,default:1
+ bool getEnabled(); /// 获取使能状态
+ void setAnimationPeriod(int period); /// 设置切换状态周期
+ void setPrecisionClick(bool flag); /// 设置精确点击，即只有点中按钮的时候才开关
+ void setWaitModel(bool flag); /// 设置等待模式，点击后不会主动切换开关，需要setSwitch
+ void setSwitchForWaitModel(bool onoff); /// 设置开关状态,default:0
+
+ void setButtonColor(QColor color); /// 设置开关（圆形按钮）颜色
+ void setBackOnColor(QColor color); /// 设置背景颜色-开
+ void setBackOffColor(QColor color); /// 设置背景颜色-关
+ void setEdgeColor(QColor color); /// 设置边缘颜色，默认透明
+
+signals:
+ void sigEnableChanged(bool enable); /// 使能状态变化信号
+ void sigSwitchChanged(bool onoff); /// 开关状态变化信号
+
+protected:
+ void paintEvent(QPaintEvent* event);
+ void resizeEvent(QResizeEvent* event);
+ void mouseReleaseEvent(QMouseEvent* event);
+ void enterEvent(QEvent* event);
+ void leaveEvent(QEvent* event);
+
+private:
+ bool mOnOff{ 0 }; //开关状态
+ bool mEnable{ 1 }; //使能状态
+ bool mPrecisionClickFlagh{ 0 }; //精确点击标志位
+ bool mWaitSigModel{ 0 }; //等待模式，点击后按钮位置会进行切换，但是颜色需要等待外部信号变动
+ bool mAnimationOnOff{ 1 }; //动画开关，default：1
+ bool mHover{ 0 };
+
+ QColor mButtonColor{ Qt::white }; //开关（圆形按钮）颜色
+ QColor mBackColor{ Qt::red };
+ QColor mEdgeColor{ Qt::transparent }; //边缘颜色
+ QRectF mButtonRect; //开关按钮rect
+ int mRadius{ 8 }; // 开关外观边缘圆角
+
+ int mAnimationPeriod{ 200 }; //动画周期
+ QPointF mRightPos; // 动画位置-开
+ QPointF mLeftPos; // 动画位置-关
+ QColor mBackOnColor{ Qt::green }; //背景颜色-开
+ QColor mBackOffColor{ Qt::darkGray }; //背景颜色-关
+};
+
+#endif // WBSWITCHBUTTON_H
+