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初步完成美化：

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1、左下角3d模型预览看板；
2、右下角控制看板
This commit is contained in:
tangchao0503
2026-01-16 17:30:05 +08:00
parent f0f41f9a17
commit 30306e9396
13 changed files with 2204 additions and 1736 deletions
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131
HPPA/TwoMotorControl.cpp
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@ -5,7 +5,6 @@ TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
ui.setupUi(this);
ui.recordLine_tableWidget->setFocusPolicy(Qt::NoFocus);
ui.recordLine_tableWidget->setStyleSheet("selection-background-color:rgb(255,209,128)");//设置选择的行高亮
ui.recordLine_tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows);//设置选择行为，以行为单位
//ui.recordLine_tableWidget->setSelectionMode(QAbstractItemView::SingleSelection);//设置选择模式，选择单行
@ -16,13 +15,9 @@ TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
connect(ui.addRecordLine_btn, SIGNAL(clicked()), this, SLOT(onAddRecordLine_btn()));
connect(ui.removeRecordLine_btn, SIGNAL(clicked()), this, SLOT(onRemoveRecordLine_btn()));
connect(ui.generateRecordLine_btn, SIGNAL(clicked()), this, SLOT(onGenerateRecordLine_btn()));
connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));
connect(ui.run_btn, SIGNAL(clicked()), this, SLOT(run()));
connect(ui.stop_btn, SIGNAL(clicked()), this, SLOT(stop()));
}
void TwoMotorControl::setImager(ImagerOperationBase* imager)
@ -395,93 +390,6 @@ void TwoMotorControl::onRemoveRecordLine_btn()
ui.recordLine_tableWidget->removeRow(rowIndex);
}
void TwoMotorControl::onGenerateRecordLine_btn()
{
//求幅宽
double height = ui.height_lineEdit->text().toDouble();
double fov = ui.fov_lineEdit->text().toDouble();
double swath = (height * tan(fov / 2 * PI / 180)) * 2;//tan输入是弧度
ui.swath_lineEdit->setText(QString::number(swath));
//读取马达测量范围
double xMotorRange = 50;
double yMotorRange = 500;
//确定有多少条采集线，公式：numberOfRecordLine_tmp * swath - repetitiveLength（numberOfRecordLine_tmp - 1） = overallLength
double overallLength = yMotorRange + swath;
double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble() / 100;
double repetitiveLength = repetitiveRate * swath;
double offset = ui.offset_lineEdit->text().toDouble();
double numberOfRecordLine_tmp = (overallLength - repetitiveLength - offset) / (swath - repetitiveLength);
double tmp = numberOfRecordLine_tmp - (int)numberOfRecordLine_tmp;
int numberOfRecordLine;
double threshold = ui.LastLineThreshold_lineEdit->text().toDouble();//当numberOfRecordLine_tmp为小数时，判断是否多加一条采集线
if (tmp > threshold)
{
numberOfRecordLine = (int)numberOfRecordLine_tmp + 1;
//std::cout << "大于：" << threshold << std::endl;
}
else
{
numberOfRecordLine = (int)numberOfRecordLine_tmp;
}
//去掉tableWidget中所有的行
int rowCount = ui.recordLine_tableWidget->rowCount();
for (size_t i = 0; i < rowCount; i++)
{
ui.recordLine_tableWidget->removeRow(0);
}
//向tableWidget添加行（采集线）
QTableWidgetItem* tmpItem;
for (size_t i = 0; i < numberOfRecordLine; i++)
{
//增加一行
int RowCount = ui.recordLine_tableWidget->rowCount();
ui.recordLine_tableWidget->insertRow(RowCount);
//设置yPosition
if (tmp > threshold && i == numberOfRecordLine - 1)//设置最后一行的yPosition
{
tmpItem = new QTableWidgetItem(QString::number(yMotorRange, 10, 2));
tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
}
else
{
double x = swath * i - i * repetitiveLength + offset;
tmpItem = new QTableWidgetItem(QString::number(x, 10, 2));
tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
}
tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
ui.recordLine_tableWidget->setItem(i, 1, tmpItem);
tmpItem = new QTableWidgetItem(QString::number(0, 10, 2));
tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
ui.recordLine_tableWidget->setItem(i, 2, tmpItem);
tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
ui.recordLine_tableWidget->setItem(i, 3, tmpItem);
//设置x马达最大运动位置 → 值设置为x马达量程
tmpItem = new QTableWidgetItem(QString::number(xMotorRange, 10, 2));
tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
ui.recordLine_tableWidget->setItem(i, 4, tmpItem);
tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
ui.recordLine_tableWidget->setItem(i, 5, tmpItem);
}
}
void TwoMotorControl::onDeleteRecordLine_btn()
{
int rowCount = ui.recordLine_tableWidget->rowCount();
@ -500,19 +408,12 @@ void TwoMotorControl::onSaveRecordLine2File_btn()
return;
}
double height = ui.height_lineEdit->text().toDouble();
double fov = ui.fov_lineEdit->text().toDouble();
double swath = ui.swath_lineEdit->text().toDouble();
double offset = ui.offset_lineEdit->text().toDouble();
double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble();
double LastLineThreshold = ui.LastLineThreshold_lineEdit->text().toDouble();
FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryOfExe();
QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine2 File"),
QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine3 File"),
QString::fromStdString(directory),
tr("RecordLineFile2 (*.RecordLine2)"));
tr("RecordLineFile3 (*.RecordLine3)"));
if (RecordLineFilePath.isEmpty())
{
@ -521,13 +422,6 @@ void TwoMotorControl::onSaveRecordLine2File_btn()
FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "wb+");
fwrite(&height, sizeof(double), 1, RecordLineFileHandle);
fwrite(&fov, sizeof(double), 1, RecordLineFileHandle);
fwrite(&swath, sizeof(double), 1, RecordLineFileHandle);
fwrite(&offset, sizeof(double), 1, RecordLineFileHandle);
fwrite(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
fwrite(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
double number = ui.recordLine_tableWidget->rowCount() * ui.recordLine_tableWidget->columnCount();
fwrite(&number, sizeof(double), 1, RecordLineFileHandle);
@ -555,9 +449,9 @@ void TwoMotorControl::onReadRecordLineFile_btn()
FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryOfExe();
QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine2 File"),
QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine3 File"),
QString::fromStdString(directory),
tr("RecordLineFile (*.RecordLine2)"));
tr("RecordLineFile (*.RecordLine3)"));
if (RecordLineFilePath.isEmpty())
{
@ -565,15 +459,9 @@ void TwoMotorControl::onReadRecordLineFile_btn()
}
FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;
double number;
//读取数据
fread(&height, sizeof(double), 1, RecordLineFileHandle);
fread(&fov, sizeof(double), 1, RecordLineFileHandle);
fread(&swath, sizeof(double), 1, RecordLineFileHandle);
fread(&offset, sizeof(double), 1, RecordLineFileHandle);
fread(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
fread(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
fread(&number, sizeof(double), 1, RecordLineFileHandle);
double* data = new double[number];
@ -583,15 +471,6 @@ void TwoMotorControl::onReadRecordLineFile_btn()
//std::cout << *(data + i) << std::endl;
}
//向界面中填写
ui.height_lineEdit->setText(QString::number(height));
ui.fov_lineEdit->setText(QString::number(fov));
ui.swath_lineEdit->setText(QString::number(swath));
ui.offset_lineEdit->setText(QString::number(offset));
ui.repetitiveRate_lineEdit->setText(QString::number(repetitiveRate));
ui.LastLineThreshold_lineEdit->setText(QString::number(LastLineThreshold));
//向tableWidget添加采集线
//（1）去掉tableWidget中所有的行
int rowCount = ui.recordLine_tableWidget->rowCount();