309 lines
10 KiB
C++
309 lines
10 KiB
C++
#include "PathPlan.h"
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#include <iostream>
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#include <QMessageBox>
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#include <QFileDialog>
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#include <fileOperation.h>
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PathPlan::PathPlan(VinceControl* xMotor, VinceControl* yMotor, QMotorDoubleSlider* xSlider, QMotorDoubleSlider* ySlider, QWidget* parent)
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: QDialog(parent)
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{
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ui.setupUi(this);
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m_xMotor = xMotor;
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m_yMotor = yMotor;
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m_xSlider = xSlider;
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m_ySlider = ySlider;
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ui.recordLine_tableWidget->setFocusPolicy(Qt::NoFocus);
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ui.recordLine_tableWidget->setStyleSheet("selection-background-color:rgb(255,209,128)");//设置选择的行高亮
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ui.recordLine_tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows);//设置选择行为，以行为单位
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//ui.recordLine_tableWidget->setSelectionMode(QAbstractItemView::SingleSelection);//设置选择模式，选择单行
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//QHeaderView* headerView = ui.recordLine_tableWidget->verticalHeader();
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//headerView->setHidden(true);//去除左边默认自带序列号
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ui.recordLine_tableWidget->setColumnCount(2);
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ui.recordLine_tableWidget->setHorizontalHeaderLabels(QStringList() << "yPosition" << "xMaxPosition");
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connect(ui.addRecordLine_btn, SIGNAL(clicked()), this, SLOT(onAddRecordLine_btn()));
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connect(ui.removeRecordLine_btn, SIGNAL(clicked()), this, SLOT(onRemoveRecordLine_btn()));
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connect(ui.generateRecordLine_btn, SIGNAL(clicked()), this, SLOT(onGenerateRecordLine_btn()));
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connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
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connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
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connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));
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}
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PathPlan::~PathPlan()
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{}
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void PathPlan::setMotor(VinceControl* xMotor, VinceControl* yMotor)
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{
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m_xMotor = xMotor;
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m_yMotor = yMotor;
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}
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QTableWidget* PathPlan::getRecordLineTableWidget()
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{
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return ui.recordLine_tableWidget;
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}
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void PathPlan::onAddRecordLine_btn()
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{
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//准备数据
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ByteBack MotorState = m_yMotor->GetState();
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double currentPosOfYmotor = m_ySlider->getDistanceFromPulse(MotorState.Location);
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double maxRangeOfXmotro = m_xSlider->maximum();
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//获取选中行的索引
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int currentRow = ui.recordLine_tableWidget->currentRow();
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std::cout << "currentRow：" << currentRow << std::endl;
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QTableWidgetItem* Item1 = new QTableWidgetItem(QString::number(currentPosOfYmotor, 10, 2));
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QTableWidgetItem* Item2 = new QTableWidgetItem(QString::number(maxRangeOfXmotro, 10, 2));
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Item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
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Item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
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if (currentRow == -1)//当没有选中行时
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{
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int RowCount = ui.recordLine_tableWidget->rowCount();//Returns the number of rows. 从1开始的
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ui.recordLine_tableWidget->insertRow(RowCount);//增加一行，形参是从0开始的
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ui.recordLine_tableWidget->setItem(RowCount, 0, Item1);
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ui.recordLine_tableWidget->setItem(RowCount, 1, Item2);
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}
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else
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{
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ui.recordLine_tableWidget->insertRow(currentRow + 1);//增加一行，形参是从0开始的
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ui.recordLine_tableWidget->setItem(currentRow + 1, 0, Item1);
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ui.recordLine_tableWidget->setItem(currentRow + 1, 1, Item2);
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}
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}
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void PathPlan::onRemoveRecordLine_btn()
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{
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int rowIndex = ui.recordLine_tableWidget->currentRow();
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if (rowIndex != -1)
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ui.recordLine_tableWidget->removeRow(rowIndex);
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}
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void PathPlan::onGenerateRecordLine_btn()
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{
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//求幅宽
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double height = ui.height_lineEdit->text().toDouble();
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double fov = ui.fov_lineEdit->text().toDouble();
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double swath = (height * tan(fov / 2 * PI / 180)) * 2;//tan输入是弧度
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ui.swath_lineEdit->setText(QString::number(swath));
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//读取马达测量范围
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double xMotorRange = m_xSlider->maximum();
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double yMotorRange = m_ySlider->maximum();
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//确定有多少条采集线，公式：numberOfRecordLine_tmp * swath - repetitiveLength（numberOfRecordLine_tmp - 1） = overallLength
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double overallLength = yMotorRange + swath;
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double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble() / 100;
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double repetitiveLength = repetitiveRate * swath;
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double offset = ui.offset_lineEdit->text().toDouble();
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double numberOfRecordLine_tmp = (overallLength - repetitiveLength - offset) / (swath - repetitiveLength);
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double tmp = numberOfRecordLine_tmp - (int)numberOfRecordLine_tmp;
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int numberOfRecordLine;
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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
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if (tmp > threshold)
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{
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numberOfRecordLine = (int)numberOfRecordLine_tmp + 1;
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//std::cout << "大于：" << threshold << std::endl;
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}
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else
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{
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numberOfRecordLine = (int)numberOfRecordLine_tmp;
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}
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//去掉tableWidget中所有的行
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int rowCount = ui.recordLine_tableWidget->rowCount();
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for (size_t i = 0; i < rowCount; i++)
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{
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ui.recordLine_tableWidget->removeRow(0);
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}
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//向tableWidget添加行（采集线）
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QTableWidgetItem* tmpItem;
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for (size_t i = 0; i < numberOfRecordLine; i++)
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{
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//增加一行
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int RowCount = ui.recordLine_tableWidget->rowCount();
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ui.recordLine_tableWidget->insertRow(RowCount);
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//设置yPosition
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if (tmp > threshold && i == numberOfRecordLine - 1)//设置最后一行的yPosition
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{
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tmpItem = new QTableWidgetItem(QString::number(yMotorRange, 10, 2));
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tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
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ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
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}
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else
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{
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double x = swath * i - i * repetitiveLength + offset;
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tmpItem = new QTableWidgetItem(QString::number(x, 10, 2));
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tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
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ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
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}
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//设置x马达最大运动位置 → 值设置为x马达量程
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tmpItem = new QTableWidgetItem(QString::number(xMotorRange, 10, 2));
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tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
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ui.recordLine_tableWidget->setItem(i, 1, tmpItem);
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}
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}
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void PathPlan::onDeleteRecordLine_btn()
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{
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int rowCount = ui.recordLine_tableWidget->rowCount();
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for (size_t i = 0; i < rowCount; i++)
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{
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ui.recordLine_tableWidget->removeRow(0);
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}
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}
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void PathPlan::onSaveRecordLine2File_btn()
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{
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//确保采集线存在
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if (ui.recordLine_tableWidget->rowCount() <= 0)
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{
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QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请先生成轨迹！"));
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return;
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}
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double height = ui.height_lineEdit->text().toDouble();
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double fov = ui.fov_lineEdit->text().toDouble();
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double swath = ui.swath_lineEdit->text().toDouble();
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double offset = ui.offset_lineEdit->text().toDouble();
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double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble();
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double LastLineThreshold = ui.LastLineThreshold_lineEdit->text().toDouble();
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FileOperation* fileOperation = new FileOperation();
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string directory = fileOperation->getDirectoryOfExe();
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QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine File"),
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QString::fromStdString(directory),
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tr("RecordLineFile (*.RecordLine)"));
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if (RecordLineFilePath.isEmpty())
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{
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return;
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}
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FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "wb+");
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fwrite(&height, sizeof(double), 1, RecordLineFileHandle);
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fwrite(&fov, sizeof(double), 1, RecordLineFileHandle);
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fwrite(&swath, sizeof(double), 1, RecordLineFileHandle);
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fwrite(&offset, sizeof(double), 1, RecordLineFileHandle);
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fwrite(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
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fwrite(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
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double number = ui.recordLine_tableWidget->rowCount() * ui.recordLine_tableWidget->columnCount();
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fwrite(&number, sizeof(double), 1, RecordLineFileHandle);
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double* data = new double[number];
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//double data[number];
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for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
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{
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for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
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{
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data[i * ui.recordLine_tableWidget->columnCount() + j] = ui.recordLine_tableWidget->item(i, j)->text().toDouble();
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}
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}
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fwrite(data, sizeof(double), number, RecordLineFileHandle);
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fclose(RecordLineFileHandle);
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delete[] data;
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QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("保存成功！"));
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}
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void PathPlan::onReadRecordLineFile_btn()
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{
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//打开文件
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FileOperation* fileOperation = new FileOperation();
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string directory = fileOperation->getDirectoryOfExe();
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//string RecordLineFilePath = directory + "\\test.RecordLine";
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QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine File"),
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QString::fromStdString(directory),
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tr("RecordLineFile (*.RecordLine)"));
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if (RecordLineFilePath.isEmpty())
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{
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return;
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}
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FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
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double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;
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//读取数据
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fread(&height, sizeof(double), 1, RecordLineFileHandle);
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fread(&fov, sizeof(double), 1, RecordLineFileHandle);
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fread(&swath, sizeof(double), 1, RecordLineFileHandle);
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fread(&offset, sizeof(double), 1, RecordLineFileHandle);
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fread(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
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fread(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
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fread(&number, sizeof(double), 1, RecordLineFileHandle);
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double* data = new double[number];
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for (size_t i = 0; i < number; i++)
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{
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fread(data + i, sizeof(double), 1, RecordLineFileHandle);
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//std::cout << *(data + i) << std::endl;
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}
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//向界面中填写
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ui.height_lineEdit->setText(QString::number(height));
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ui.fov_lineEdit->setText(QString::number(fov));
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ui.swath_lineEdit->setText(QString::number(swath));
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ui.offset_lineEdit->setText(QString::number(offset));
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ui.repetitiveRate_lineEdit->setText(QString::number(repetitiveRate));
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ui.LastLineThreshold_lineEdit->setText(QString::number(LastLineThreshold));
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//向tableWidget添加采集线
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//（1）去掉tableWidget中所有的行
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int rowCount = ui.recordLine_tableWidget->rowCount();
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for (size_t i = 0; i < rowCount; i++)
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{
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ui.recordLine_tableWidget->removeRow(0);
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}
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//（2）添加行（采集线）
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int RecordLineCount = number / ui.recordLine_tableWidget->columnCount();
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for (size_t i = 0; i < RecordLineCount; i++)
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{
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ui.recordLine_tableWidget->insertRow(0);
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}
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//（3）向tableWidget填充数据
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for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
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{
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for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
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{
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QTableWidgetItem* tmp = new QTableWidgetItem(QString::number(data[i * ui.recordLine_tableWidget->columnCount() + j], 10, 5));
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tmp->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
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ui.recordLine_tableWidget->setItem(i, j, tmp);
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}
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}
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fclose(RecordLineFileHandle);
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delete[] data;
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QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("读取成功！"));
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}
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