添加伺服系统

App/ToolsUI/PowerSystem/PowerSystem.cpp

@@ -6,7 +6,9 @@ PowerSystem::PowerSystem(QWidget *parent) :
     ui(new Ui::PowerSystem)
 {
     ui->setupUi(this);
-    par = parent;
+    m_parent = parent;
+
+    setWindowTitle(tr("PowerSyste"));
 
     //load qss
     QFile file(":/qss/PowerSystem.qss");
@@ -92,6 +94,27 @@ PowerSystem::PowerSystem(QWidget *parent) :
     ui->comboBox_rate->setCurrentIndex(-1);
 
 
+    ui->comboBox_TestPoint->addItem("核心机主燃油泵",0);
+    ui->comboBox_TestPoint->addItem("加力主燃油泵",1);
+    ui->comboBox_TestPoint->addItem("加力点火燃油泵",2);
+    ui->comboBox_TestPoint->addItem("尾喷口舵机",3);
+    ui->comboBox_TestPoint->addItem("点火器",4);
+    ui->comboBox_TestPoint->addItem("启动控制器1",5);
+    ui->comboBox_TestPoint->addItem("启动控制器2",6);
+    ui->comboBox_TestPoint->addItem("核心机点火油阀",7);
+    ui->comboBox_TestPoint->addItem("核心机优先油阀",8);
+    ui->comboBox_TestPoint->addItem("核心机轻吹油阀",9);
+    ui->comboBox_TestPoint->addItem("核心机启动气阀",10);
+    ui->comboBox_TestPoint->addItem("核心机主油阀",11);
+    ui->comboBox_TestPoint->addItem("加力主油阀",12);
+    ui->comboBox_TestPoint->addItem("加力轻吹阀",13);
+    ui->comboBox_TestPoint->addItem("加力点火快速阀",14);
+    ui->comboBox_TestPoint->addItem("手动转速控制",15);
+    ui->comboBox_TestPoint->setCurrentIndex(-1);
+
+    ui->comboBox_TestValue->show();
+    ui->comboBox_TestValue->setCurrentIndex(-1);
+
 }
 
 PowerSystem::~PowerSystem()
@@ -99,11 +122,7 @@ PowerSystem::~PowerSystem()
     delete ui;
 }
 
-void PowerSystem::closeEvent(QCloseEvent *event)
-{
-    setFloat();
-    event->ignore();
-}
+
 
 void PowerSystem::mousePressEvent(QMouseEvent *event)
 {
@@ -113,6 +132,11 @@ void PowerSystem::mousePressEvent(QMouseEvent *event)
     }
 }
 
+void PowerSystem::closeEvent(QCloseEvent *event)
+{
+    setFloat();
+    event->ignore();
+}
 
 void PowerSystem::contextMenuEvent(QContextMenuEvent *event)
 {
@@ -141,7 +165,7 @@ void PowerSystem::setFloat(void)
     }
     else
     {
-        this->setParent(par);
+        this->setParent(m_parent);
         this->move(0,0);
     }
     this->show();
@@ -264,5 +288,81 @@ void PowerSystem::setTurbineState(mavlink_turbinestate_t *t)
 
 }
 
+void PowerSystem::on_comboBox_TestPoint_currentIndexChanged(int index)
+{
+
+    switch (index) {
+    case 0:
+    case 1:
+    case 2:
+    case 15:
+        ui->label_TestValue->show();
+        ui->label_TestValue->setText("转速");
+
+        ui->comboBox_TestValue->show();
+        ui->comboBox_TestValue->clear();
+        ui->comboBox_TestValue->addItem("10000",10000);
+        ui->comboBox_TestValue->addItem("15000",15000);
+        ui->comboBox_TestValue->addItem("20000",20000);
+        ui->comboBox_TestValue->addItem("25000",25000);
+        ui->comboBox_TestValue->addItem("30000",30000);
+        ui->comboBox_TestValue->addItem("35000",35000);
+        ui->comboBox_TestValue->addItem("40000",40000);
+        ui->comboBox_TestValue->addItem("45000",45000);
+        ui->comboBox_TestValue->setEditable(true);
+        ui->comboBox_TestValue->setCurrentIndex(0);
+
+        break;
+    case 3:
+    case 5:
+    case 6:
+    case 7:
+    case 8:
+    case 9:
+    case 10:
+    case 11:
+    case 12:
+    case 13:
+    case 14:
+        ui->label_TestValue->show();
+        ui->label_TestValue->setText("电平");
+
+        ui->comboBox_TestValue->show();
+        ui->comboBox_TestValue->clear();
+        ui->comboBox_TestValue->addItem("低电平",0);
+        ui->comboBox_TestValue->addItem("高电平",1);
+        ui->comboBox_TestValue->setEditable(true);
+        ui->comboBox_TestValue->setCurrentIndex(1);
+
+        break;
+    case 4:
+        ui->label_TestValue->hide();
+        ui->comboBox_TestValue->hide();
+        break;
+
+    }
 
 
+
+
+
+
+}
+
+void PowerSystem::on_pushButton_SendTest_clicked()
+{
+    float testPoint = 0;
+    float testValue = 0;
+
+    if(!ui->comboBox_TestValue->isHidden())//显示
+    {
+        testPoint = ui->comboBox_TestPoint->currentData(Qt::UserRole).toFloat();
+        testValue = ui->comboBox_TestValue->currentData(Qt::UserRole).toFloat();
+    }
+    else
+    {
+        testPoint = ui->comboBox_TestPoint->currentData(Qt::UserRole).toFloat();
+    }
+
+    qDebug() << "send test:" << testPoint << testValue;
+}

App/ToolsUI/PowerSystem/PowerSystem.h

@@ -45,13 +45,17 @@ private slots:
 
 
 
+    void on_comboBox_TestPoint_currentIndexChanged(int index);
+
+    void on_pushButton_SendTest_clicked();
+
 public slots:
     void setFloat(void);
 
 
 private:
 
-    QWidget *par;
+    QWidget *m_parent;
 
     Ui::PowerSystem *ui;
 };

App/ToolsUI/PowerSystem/PowerSystem.qss

@@ -12,7 +12,7 @@
     border-style: solid;
     border-radius: 5;
     padding: 3px;
-    font: 30px "Arial";
+    font: 20px "Arial";
 }
 
 .QPushButton:pressed {
@@ -20,14 +20,8 @@
                                       stop: 0 #dadbde, stop: 1 #f6f7fa);
 }
 
-
-.QLineEdit {
-    background-color: #FFFFFF;
-	font: 30px "Arial";
-}
-
 .QLabel {
-    font: 30px "Arial";
+    font: 20px "Arial";
 }
 
 .QLabel[state="0"] {
@@ -42,7 +36,7 @@
 
 .QComboBox {
     background-color: #FFFFFF;
-    font: 30px "Arial";
+    font: 20px "Arial";
 }
 
 .QCheckBox{

App/ToolsUI/PowerSystem/PowerSystem.ui

@@ -140,25 +140,25 @@
         <set>Qt::AlignCenter</set>
        </property>
        <layout class="QGridLayout" name="gridLayout_4">
-        <item row="1" column="1">
-         <widget class="QComboBox" name="comboBox_5"/>
-        </item>
         <item row="1" column="2">
-         <widget class="QPushButton" name="pushButton_11">
+         <widget class="QPushButton" name="pushButton_SendTest">
           <property name="text">
            <string>测试</string>
           </property>
          </widget>
         </item>
         <item row="1" column="0">
-         <widget class="QLabel" name="label_59">
+         <widget class="QLabel" name="label_TestValue">
           <property name="text">
            <string>测试值</string>
           </property>
          </widget>
         </item>
+        <item row="1" column="1">
+         <widget class="QComboBox" name="comboBox_TestValue"/>
+        </item>
         <item row="0" column="1">
-         <widget class="QComboBox" name="comboBox_4"/>
+         <widget class="QComboBox" name="comboBox_TestPoint"/>
         </item>
         <item row="0" column="0">
          <widget class="QLabel" name="label_58">
@@ -167,6 +167,16 @@
           </property>
          </widget>
         </item>
+        <item row="1" column="3">
+         <widget class="QFrame" name="frame">
+          <property name="frameShape">
+           <enum>QFrame::StyledPanel</enum>
+          </property>
+          <property name="frameShadow">
+           <enum>QFrame::Raised</enum>
+          </property>
+         </widget>
+        </item>
        </layout>
       </widget>
      </item>
@@ -219,6 +229,9 @@
         </property>
         <item row="4" column="3">
          <widget class="QLabel" name="label_T5">
+          <property name="styleSheet">
+           <string notr="true">background-color: rgb(205, 205, 205);</string>
+          </property>
           <property name="text">
            <string/>
           </property>
@@ -240,6 +253,9 @@
         </item>
         <item row="0" column="1">
          <widget class="QLabel" name="label_RS">
+          <property name="styleSheet">
+           <string notr="true">background-color: rgb(205, 205, 205);</string>
+          </property>
           <property name="text">
            <string/>
           </property>
@@ -268,6 +284,9 @@
         </item>
         <item row="0" column="3">
          <widget class="QLabel" name="label_RM">
+          <property name="styleSheet">
+           <string notr="true">background-color: rgb(205, 205, 205);</string>
+          </property>
           <property name="text">
            <string/>
           </property>
@@ -275,6 +294,9 @@
         </item>
         <item row="5" column="3">
          <widget class="QLabel" name="label_RPM_des">
+          <property name="styleSheet">
+           <string notr="true">background-color: rgb(205, 205, 205);</string>
+          </property>
           <property name="text">
            <string/>
           </property>
@@ -289,6 +311,9 @@
         </item>
         <item row="2" column="3">
          <widget class="QLabel" name="label_P5t">
+          <property name="styleSheet">
+           <string notr="true">background-color: rgb(205, 205, 205);</string>
+          </property>
           <property name="text">
            <string/>
           </property>
@@ -303,6 +328,9 @@
         </item>
         <item row="1" column="1">
          <widget class="QLabel" name="label_NMS">
+          <property name="styleSheet">
+           <string notr="true">background-color: rgb(205, 205, 205);</string>
+          </property>
           <property name="text">
            <string/>
           </property>
@@ -310,6 +338,9 @@
         </item>
         <item row="2" column="1">
          <widget class="QLabel" name="label_P1t">
+          <property name="styleSheet">
+           <string notr="true">background-color: rgb(205, 205, 205);</string>
+          </property>
           <property name="text">
            <string/>
           </property>
@@ -317,6 +348,9 @@
         </item>
         <item row="3" column="1">
          <widget class="QLabel" name="label_CR">
+          <property name="styleSheet">
+           <string notr="true">background-color: rgb(205, 205, 205);</string>
+          </property>
           <property name="text">
            <string/>
           </property>
@@ -324,6 +358,9 @@
         </item>
         <item row="4" column="1">
          <widget class="QLabel" name="label_T1t">
+          <property name="styleSheet">
+           <string notr="true">background-color: rgb(205, 205, 205);</string>
+          </property>
           <property name="text">
            <string/>
           </property>
@@ -331,6 +368,9 @@
         </item>
         <item row="5" column="1">
          <widget class="QLabel" name="label_RPM_mea">
+          <property name="styleSheet">
+           <string notr="true">background-color: rgb(205, 205, 205);</string>
+          </property>
           <property name="text">
            <string/>
           </property>

App/ToolsUI/ServoSystem/ServoSystem.cpp

@@ -1,4 +1,4 @@
-#include "ServoSystem.h"
+#include "ServoSystem.h"
 #include "ui_ServoSystem.h"
 
 ServoSystem::ServoSystem(QWidget *parent) :
@@ -6,9 +6,91 @@ ServoSystem::ServoSystem(QWidget *parent) :
     ui(new Ui::ServoSystem)
 {
     ui->setupUi(this);
+    m_parent = parent;
+
+    setWindowTitle(tr("ServoSyste"));
+
+    //load qss
+    QFile file(":/qss/ServoSystem.qss");
+    file.open(QFile::ReadOnly);
+    QTextStream filetext(&file);
+    QString stylesheet = filetext.readAll();
+    this->setStyleSheet(stylesheet);
+    file.close();
+
+    //========
+    setColor(ui->checkBox_Ground,state::success);
+    setColor(ui->checkBox_onBoard,state::success);
+    setColor(ui->checkBox_28v,state::success);
+    setColor(ui->checkBox_56v,state::success);
+    setColor(ui->checkBox_AirSpeed,state::success);
+    setColor(ui->checkBox_500W,state::success);
+
 }
 
 ServoSystem::~ServoSystem()
 {
     delete ui;
 }
+
+
+void ServoSystem::closeEvent(QCloseEvent *event)
+{
+    setFloat();
+    event->ignore();
+}
+
+void ServoSystem::contextMenuEvent(QContextMenuEvent *event)
+{
+    QMenu *menu = new QMenu(this);
+
+    QAction *pAction = new QAction("float",this);
+
+    connect(pAction,SIGNAL(triggered(bool)),
+            this,SLOT(setFloat()));
+
+
+     menu->addAction(pAction);
+     menu->move(cursor().pos());
+     menu->show();
+
+}
+
+void ServoSystem::setFloat(void)
+{
+    if(this->parent())
+    {
+        this->setParent(nullptr);
+    }
+    else
+    {
+        this->setParent(m_parent);
+        this->move(0,0);
+    }
+    this->show();
+}
+
+void ServoSystem::setColor(QWidget *w,state s)
+{
+    w->setProperty("state",s);
+    w->style()->unpolish(w);
+    w->style()->polish(w);
+}
+
+void ServoSystem::setValue(QLabel *w,QString s)
+{
+    w->setText(s);
+}
+
+void ServoSystem::setBUMState(mavlink_bmustate_t *t)
+{
+     ui->label_temp->setText(QString::number(t->BAT1_hi_temp_degC) + "℃");
+
+     ui->label_onBoard_28V_Voltage->setText(QString::number(t->BAT1_group_voltage_mv));
+     ui->label_onBoard_28V_Current->setText(QString::number(t->BAT1_group_current_dA));
+
+     ui->label_onBoard_56V_Voltage->setText(QString::number(t->BAT2_group_voltage_mv));
+     ui->label_onBoard_56V_Current->setText(QString::number(t->BAT2_group_current_dA));
+
+}
+

App/ToolsUI/ServoSystem/ServoSystem.h

@@ -1,7 +1,16 @@
-#ifndef SERVOSYSTEM_H
+#ifndef SERVOSYSTEM_H
 #define SERVOSYSTEM_H
 
 #include <QWidget>
+#include "QMouseEvent"
+#include "QDebug"
+#include "QAction"
+#include "QContextMenuEvent"
+#include "QMenu"
+#include "QColor"
+#include "QLabel"
+#include "mavlink.h"
+#include "QStyle"
 
 namespace Ui {
 class ServoSystem;
@@ -12,10 +21,33 @@ class ServoSystem : public QWidget
     Q_OBJECT
 
 public:
+
+    enum state{
+      success = 0,
+      failure,
+    };
+
     explicit ServoSystem(QWidget *parent = nullptr);
     ~ServoSystem();
 
+    void closeEvent(QCloseEvent *event);
+
+    void contextMenuEvent(QContextMenuEvent *event);
+
+private slots:
+
+
+public slots:
+    void setFloat(void);
+    void setColor(QWidget *w,state s);
+    void setValue(QLabel *w,QString s);
+
+    void setBUMState(mavlink_bmustate_t *t);
+
+
 private:
+    QWidget *m_parent;
+
     Ui::ServoSystem *ui;
 };
 

App/ToolsUI/ServoSystem/ServoSystem.pri

@@ -16,8 +16,17 @@ HEADERS += \
 SOURCES += \
     $$PWD/ServoSystem.cpp
 
-
-
+RESOURCES += \
+    $$PWD/ServoSystem.qrc
+
+
+INCLUDEPATH += $$PWD/../mavlink \
+               $$PWD/../mavlink/ardupilotmega \
+               $$PWD/../mavlink/common \
+               $$PWD/../mavlink/icarous \
+               $$PWD/../mavlink/uAvionix \
+               $$PWD/../mavlink/XYK \
+               $$PWD/../mavlink/message_definitions
 
 
 

App/ToolsUI/ServoSystem/ServoSystem.qrc

@@ -0,0 +1,9 @@
+<RCC>
+    <qresource prefix="/qss">
+        <file>ServoSystem.qss</file>
+    </qresource>
+    <qresource prefix="/img">
+        <file>fail.png</file>
+        <file>normal.png</file>
+    </qresource>
+</RCC>

App/ToolsUI/ServoSystem/ServoSystem.qss

@@ -0,0 +1,60 @@
+
+
+.QFrame {
+    background-color: #FFFFFF;
+}
+
+
+.QPushButton {
+    background-color: #FFFFFF  /*palegoldenrod*/;
+    border-width: 2px;
+    border-color: darkkhaki;
+    border-style: solid;
+    border-radius: 5;
+    padding: 3px;
+    font: 20px "Arial";
+}
+
+.QPushButton:pressed {
+    background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
+                                      stop: 0 #dadbde, stop: 1 #f6f7fa);
+}
+
+.QLabel {
+    font: 20px "Arial";
+}
+
+.QLabel[state="0"] {
+    image:url(:/img/normal.png);
+}
+
+.QLabel[state="1"] {
+    image:url(:/img/fail.png);
+}
+
+
+
+.QComboBox {
+    background-color: #FFFFFF;
+    font: 20px "Arial";
+}
+
+.QCheckBox{
+    width: 25px;
+    height: 25px;
+}
+
+.QCheckBox::indicator {
+    width: 15px;
+    height: 15px;
+}
+
+.QCheckBox::indicator[state="0"] {
+    image:url(:/img/normal.png);
+}
+
+.QCheckBox::indicator[state="1"] {
+    image:url(:/img/fail.png);
+}
+
+

App/ToolsUI/ServoSystem/ServoSystem.ui

@@ -7,259 +7,259 @@
     <x>0</x>
     <y>0</y>
     <width>649</width>
-    <height>420</height>
+    <height>471</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <widget class="QGroupBox" name="groupBox">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>10</y>
-     <width>621</width>
-     <height>191</height>
-    </rect>
-   </property>
-   <property name="title">
-    <string>电源</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignCenter</set>
-   </property>
-   <layout class="QGridLayout" name="gridLayout">
-    <item row="0" column="0">
-     <widget class="QLabel" name="label">
-      <property name="text">
-       <string>模块温度</string>
-      </property>
-     </widget>
-    </item>
-    <item row="0" column="1">
-     <widget class="QLabel" name="label_2">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-    <item row="0" column="4">
-     <widget class="QPushButton" name="pushButton">
-      <property name="text">
-       <string>56V供电打开</string>
-      </property>
-     </widget>
-    </item>
-    <item row="0" column="5">
-     <widget class="QPushButton" name="pushButton_2">
-      <property name="text">
-       <string>56V供电关闭</string>
-      </property>
-     </widget>
-    </item>
-    <item row="1" column="0">
-     <widget class="QLabel" name="label_3">
-      <property name="text">
-       <string>地面28V电压</string>
-      </property>
-     </widget>
-    </item>
-    <item row="1" column="1">
-     <widget class="QLabel" name="label_4">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-    <item row="1" column="2">
-     <widget class="QLabel" name="label_5">
-      <property name="text">
-       <string>地面28V电流</string>
-      </property>
-     </widget>
-    </item>
-    <item row="1" column="3">
-     <widget class="QLabel" name="label_6">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-    <item row="1" column="4">
-     <widget class="QPushButton" name="pushButton_3">
-      <property name="text">
-       <string>空速加热打开</string>
-      </property>
-     </widget>
-    </item>
-    <item row="1" column="5">
-     <widget class="QPushButton" name="pushButton_4">
-      <property name="text">
-       <string>空速加热关闭</string>
-      </property>
-     </widget>
-    </item>
-    <item row="2" column="0">
-     <widget class="QLabel" name="label_8">
-      <property name="text">
-       <string>机载28V电压</string>
-      </property>
-     </widget>
-    </item>
-    <item row="2" column="1">
-     <widget class="QLabel" name="label_10">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-    <item row="2" column="2">
-     <widget class="QLabel" name="label_7">
-      <property name="text">
-       <string>机载28V电流</string>
-      </property>
-     </widget>
-    </item>
-    <item row="2" column="3">
-     <widget class="QLabel" name="label_9">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-    <item row="3" column="0">
-     <widget class="QLabel" name="label_12">
-      <property name="text">
-       <string>机载58V电压</string>
-      </property>
-     </widget>
-    </item>
-    <item row="3" column="1">
-     <widget class="QLabel" name="label_14">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-    <item row="3" column="2">
-     <widget class="QLabel" name="label_11">
-      <property name="text">
-       <string>机载56V电流</string>
-      </property>
-     </widget>
-    </item>
-    <item row="3" column="3">
-     <widget class="QLabel" name="label_13">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-    <item row="4" column="0">
-     <widget class="QCheckBox" name="checkBox">
-      <property name="text">
-       <string>地面电源</string>
-      </property>
-     </widget>
-    </item>
-    <item row="4" column="1">
-     <widget class="QCheckBox" name="checkBox_2">
-      <property name="text">
-       <string>机载电源</string>
-      </property>
-     </widget>
-    </item>
-    <item row="4" column="2">
-     <widget class="QCheckBox" name="checkBox_3">
-      <property name="text">
-       <string>28V电源</string>
-      </property>
-     </widget>
-    </item>
-    <item row="4" column="3">
-     <widget class="QCheckBox" name="checkBox_4">
-      <property name="text">
-       <string>56V电源</string>
-      </property>
-     </widget>
-    </item>
-    <item row="4" column="4">
-     <widget class="QCheckBox" name="checkBox_5">
-      <property name="text">
-       <string>空速管加热</string>
-      </property>
-     </widget>
-    </item>
-   </layout>
-  </widget>
-  <widget class="QGroupBox" name="groupBox_2">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>220</y>
-     <width>581</width>
-     <height>141</height>
-    </rect>
-   </property>
-   <property name="title">
-    <string>舵机</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignCenter</set>
-   </property>
-   <widget class="QPushButton" name="pushButton_5">
-    <property name="geometry">
-     <rect>
-      <x>50</x>
-      <y>20</y>
-      <width>75</width>
-      <height>23</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>PushButton</string>
-    </property>
-   </widget>
-   <widget class="QPushButton" name="pushButton_6">
-    <property name="geometry">
-     <rect>
-      <x>150</x>
-      <y>20</y>
-      <width>75</width>
-      <height>23</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>PushButton</string>
-    </property>
-   </widget>
-   <widget class="QPushButton" name="pushButton_7">
-    <property name="geometry">
-     <rect>
-      <x>240</x>
-      <y>20</y>
-      <width>75</width>
-      <height>23</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>PushButton</string>
-    </property>
-   </widget>
-   <widget class="QPushButton" name="pushButton_8">
-    <property name="geometry">
-     <rect>
-      <x>330</x>
-      <y>20</y>
-      <width>75</width>
-      <height>23</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>PushButton</string>
-    </property>
-   </widget>
-  </widget>
+  <layout class="QGridLayout" name="gridLayout_3">
+   <item row="3" column="0">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="0">
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="title">
+      <string>舵机</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <item row="0" column="1">
+       <widget class="QPushButton" name="pushButton_Servo_Read">
+        <property name="text">
+         <string>状态查询</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="2">
+       <widget class="QPushButton" name="pushButton_Servo_Zero">
+        <property name="text">
+         <string>舵面找零</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="pushButton_Servo_Check">
+        <property name="text">
+         <string>地面自检</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="3">
+       <widget class="QPushButton" name="pushButton_Servo_Work">
+        <property name="text">
+         <string>工作模式</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="2" column="1">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>40</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="0" column="0">
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>电源</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <item row="0" column="4">
+       <widget class="QPushButton" name="pushButton_56V_On">
+        <property name="text">
+         <string>56V供电打开</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="5">
+       <widget class="QPushButton" name="pushButton_56V_Off">
+        <property name="text">
+         <string>56V供电关闭</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="5">
+       <widget class="QPushButton" name="pushButton_AirHeatOff">
+        <property name="text">
+         <string>空速加热关闭</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="4">
+       <widget class="QPushButton" name="pushButton_AirHeatOn">
+        <property name="text">
+         <string>空速加热打开</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="label_temp">
+        <property name="styleSheet">
+         <string notr="true">background-color: rgb(205, 205, 205);</string>
+        </property>
+        <property name="text">
+         <string>0</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QLabel" name="label">
+        <property name="text">
+         <string>模块温度</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_8">
+        <property name="text">
+         <string>机载28V电压</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLabel" name="label_onBoard_28V_Voltage">
+        <property name="styleSheet">
+         <string notr="true">background-color: rgb(205, 205, 205);</string>
+        </property>
+        <property name="text">
+         <string>0</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="3">
+       <widget class="QLabel" name="label_onBoard_56V_Current">
+        <property name="styleSheet">
+         <string notr="true">background-color: rgb(205, 205, 205);</string>
+        </property>
+        <property name="text">
+         <string>0</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="0">
+       <widget class="QLabel" name="label_12">
+        <property name="text">
+         <string>机载56V电压</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="2">
+       <widget class="QLabel" name="label_11">
+        <property name="text">
+         <string>机载56V电流</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QLabel" name="label_onBoard_56V_Voltage">
+        <property name="styleSheet">
+         <string notr="true">background-color: rgb(205, 205, 205);</string>
+        </property>
+        <property name="text">
+         <string>0</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QLabel" name="label_7">
+        <property name="text">
+         <string>机载28V电流</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="3">
+       <widget class="QLabel" name="label_onBoard_28V_Current">
+        <property name="styleSheet">
+         <string notr="true">background-color: rgb(205, 205, 205);</string>
+        </property>
+        <property name="text">
+         <string>0</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QGroupBox" name="groupBox_3">
+     <property name="title">
+      <string>状态</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_4">
+      <item row="0" column="1">
+       <widget class="QCheckBox" name="checkBox_onBoard">
+        <property name="text">
+         <string>机载电源</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="3">
+       <widget class="QCheckBox" name="checkBox_56v">
+        <property name="text">
+         <string>56V电源</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="2">
+       <widget class="QCheckBox" name="checkBox_28v">
+        <property name="text">
+         <string>28V电源</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QCheckBox" name="checkBox_Ground">
+        <property name="text">
+         <string>地面电源</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="4">
+       <widget class="QCheckBox" name="checkBox_AirSpeed">
+        <property name="text">
+         <string>空速管加热</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="5">
+       <widget class="QCheckBox" name="checkBox_500W">
+        <property name="text">
+         <string>500W大功率打开</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
  </widget>
  <resources/>
  <connections/>

App/ToolsUI/ToolsUI.cpp

@@ -16,6 +16,18 @@ ToolsUI::ToolsUI(QWidget *parent) :
     this->setStyleSheet(stylesheet);
     file.close();
 
+    int w = 120;
+    int h = 50;
+
+    ui->pushButton_Inspector->setFixedSize(w,h);
+    ui->pushButton_Log->setFixedSize(w,h);
+    ui->pushButton_Replay->setFixedSize(w,h);
+    ui->pushButton_Console->setFixedSize(w,h);
+    ui->pushButton_Servos->setFixedSize(w,h);
+    ui->PowerSystem->setFixedSize(w,h);
+    ui->ServoSystem->setFixedSize(w,h);
+
+
     index0 = new Tools_Index0(ui->frame);
 
     index1 = new Tools_Index1(ui->frame);
@@ -99,33 +111,126 @@ void ToolsUI::resizeEvent(QResizeEvent *event)
 
 void ToolsUI::onTabIndexChanged(const int &index)//界面选择管理
 {
-    if(index == 0) index0->show();
-    else           index0->hide();
-
-    if(index == 1) index1->show();
-    else           index1->hide();
-
-    if(index == 2) index2->show();
-    else           index2->hide();
-
-    if(index == 3) index3->show();
-    else           index3->hide();
-
-    if(index == 4) index4->show();
-    else
+    if(index == 0)
     {
-        if(index4->isFloat() == false)
+        if(index0->parent())
         {
-            index4->hide();
+            index0->show();
+        }
+        else
+        {
+            index0->showNormal();
+            index0->activateWindow();
+        }
+    }
+    else {
+        if(index0->parent())
+        {
+            index0->hide();
         }
     }
 
-    if(index == 5) powersystem->show();
-    else           powersystem->hide();
+    if(index == 1)
+    {
+        if(index1->parent())
+        {
+            index1->show();
+        }
+        else
+        {
+            index1->showNormal();
+            index1->activateWindow();
+        }
+    }
+    else {
+        if(index1->parent())
+        index1->hide();
+    }
 
-    if(index == 6) servosystem->show();
-    else           servosystem->hide();
+    if(index == 2)
+    {
+        if(index2->parent())
+        {
+            index2->show();
+        }
+        else
+        {
+            index2->showNormal();
+            index2->activateWindow();
+        }
+    }
+    else {
+        if(index2->parent())
+        index2->hide();
+    }
 
+    if(index == 3)
+    {
+        if(index3->parent())
+        {
+            index3->show();
+        }
+        else
+        {
+            index3->showNormal();
+            index3->activateWindow();
+        }
+    }
+    else {
+        if(index3->parent())
+        index3->hide();
+    }
+
+    if(index == 4)
+    {
+        if(index4->parent())
+        {
+            index4->show();
+        }
+        else
+        {
+            index4->showNormal();
+            index4->activateWindow();
+        }
+    }
+    else {
+        if(index4->parent())
+         index4->hide();
+    }
+
+    if(index == 5)
+    {
+        if(powersystem->parent())
+        {
+            powersystem->show();
+        }
+        else
+        {
+            powersystem->showNormal();
+            powersystem->activateWindow();
+        }
+    }
+    else {
+        if(powersystem->parent())
+        powersystem->hide();
+    }
+
+    if(index == 6)
+    {
+        if(servosystem->parent())
+        {
+            servosystem->show();
+        }
+        else
+        {
+            servosystem->showNormal();
+            servosystem->activateWindow();
+        }
+    }
+    else {
+        if(servosystem->parent())
+        servosystem->hide();
+    }
 }
 
 

App/ToolsUI/ToolsUI.ui

@@ -27,14 +27,14 @@
       <widget class="QPushButton" name="pushButton_Replay">
        <property name="minimumSize">
         <size>
-         <width>120</width>
-         <height>80</height>
+         <width>0</width>
+         <height>0</height>
         </size>
        </property>
        <property name="maximumSize">
         <size>
-         <width>120</width>
-         <height>80</height>
+         <width>16777215</width>
+         <height>16777215</height>
         </size>
        </property>
        <property name="text">
@@ -46,8 +46,8 @@
       <widget class="QPushButton" name="pushButton_Servos">
        <property name="minimumSize">
         <size>
-         <width>120</width>
-         <height>80</height>
+         <width>0</width>
+         <height>0</height>
         </size>
        </property>
        <property name="text">
@@ -59,14 +59,14 @@
       <widget class="QPushButton" name="pushButton_Log">
        <property name="minimumSize">
         <size>
-         <width>120</width>
-         <height>80</height>
+         <width>0</width>
+         <height>0</height>
         </size>
        </property>
        <property name="maximumSize">
         <size>
-         <width>120</width>
-         <height>80</height>
+         <width>16777215</width>
+         <height>16777215</height>
         </size>
        </property>
        <property name="text">
@@ -78,14 +78,14 @@
       <widget class="QPushButton" name="pushButton_Console">
        <property name="minimumSize">
         <size>
-         <width>120</width>
-         <height>80</height>
+         <width>0</width>
+         <height>0</height>
         </size>
        </property>
        <property name="maximumSize">
         <size>
-         <width>120</width>
-         <height>80</height>
+         <width>16777215</width>
+         <height>16777215</height>
         </size>
        </property>
        <property name="text">
@@ -110,14 +110,14 @@
       <widget class="QPushButton" name="pushButton_Inspector">
        <property name="minimumSize">
         <size>
-         <width>120</width>
-         <height>80</height>
+         <width>0</width>
+         <height>0</height>
         </size>
        </property>
        <property name="maximumSize">
         <size>
-         <width>120</width>
-         <height>80</height>
+         <width>16777215</width>
+         <height>16777215</height>
         </size>
        </property>
        <property name="text">
@@ -129,8 +129,8 @@
       <widget class="QPushButton" name="PowerSystem">
        <property name="minimumSize">
         <size>
-         <width>120</width>
-         <height>80</height>
+         <width>0</width>
+         <height>0</height>
         </size>
        </property>
        <property name="text">
@@ -142,8 +142,8 @@
       <widget class="QPushButton" name="ServoSystem">
        <property name="minimumSize">
         <size>
-         <width>120</width>
-         <height>80</height>
+         <width>0</width>
+         <height>0</height>
         </size>
        </property>
        <property name="text">

App/ToolsUI/tools_Index0/tools_Index0.cpp

@@ -1,4 +1,4 @@
-#include "tools_Index0.h"
+#include "tools_Index0.h"
 #include "ui_tools_Index0.h"
 
 Tools_Index0::Tools_Index0(QWidget *parent) :
@@ -6,6 +6,9 @@ Tools_Index0::Tools_Index0(QWidget *parent) :
     ui(new Ui::Tools_Index0)
 {
     ui->setupUi(this);
+    m_parent = parent;
+
+    setWindowTitle(tr("MavlinkInspector"));
 
     //load qss
     QFile file(":/qss/ToolsUI.qss");
@@ -30,6 +33,44 @@ Tools_Index0::~Tools_Index0()
     delete ui;
 }
 
+void Tools_Index0::closeEvent(QCloseEvent *event)
+{
+    setFloat();
+    event->ignore();
+}
+
+void Tools_Index0::contextMenuEvent(QContextMenuEvent *event)
+{
+    QMenu *menu = new QMenu(this);
+
+    QAction *pAction = new QAction("float",this);
+
+    connect(pAction,SIGNAL(triggered(bool)),
+            this,SLOT(setFloat()));
+
+
+     menu->addAction(pAction);
+     menu->move(cursor().pos());
+     menu->show();
+
+}
+
+void Tools_Index0::setFloat(void)
+{
+    if(this->parent())
+    {
+        this->setParent(nullptr);
+        this->resize(800,480);
+    }
+    else
+    {
+        this->setParent(m_parent);
+        this->setGeometry(m_parent->geometry());
+        this->move(0,0);
+    }
+    this->show();
+}
+
 
 void Tools_Index0::resizeEvent(QResizeEvent *event)
 {
@@ -38,22 +79,17 @@ void Tools_Index0::resizeEvent(QResizeEvent *event)
     {
         mavlinkinspector->setGeometry(0,0,ui->frame->width(),ui->frame->height());
     }
-
-
-
     update();
 }
 
 
 void Tools_Index0::setInstallWidget(QWidget *w)
 {
-
     Inspect = w;
     Inspect->setParent(this);
 
     if(Inspect)
     {
-        //qDebug() << "install param inspector";
         Inspect->setGeometry(0,0,ui->frame->width(),ui->frame->height());
         Inspect->show();
     }

App/ToolsUI/tools_Index0/tools_Index0.h

@@ -1,4 +1,4 @@
-#ifndef TOOLS_INDEX0_H
+#ifndef TOOLS_INDEX0_H
 #define TOOLS_INDEX0_H
 
 #include <QWidget>
@@ -9,7 +9,17 @@
 
 #include "MAVLinkInspector.h"
 
-//#include "Scope.h"
+#include "QMouseEvent"
+#include "QDebug"
+#include "QAction"
+#include "QContextMenuEvent"
+#include "QMenu"
+#include "QColor"
+#include "QLabel"
+#include "mavlink.h"
+#include "QStyle"
+
+#include <QScreen>
 
 namespace Ui {
 class Tools_Index0;
@@ -26,19 +36,20 @@ public:
 
     void resizeEvent(QResizeEvent *event);
 
+
+
      MAVLinkInspector *mavlinkinspector = nullptr;
 
 public slots:
 
     void setInstallWidget(QWidget *w);
 
-private slots:
-
-
-signals:
-
+    void closeEvent(QCloseEvent *event);
+    void contextMenuEvent(QContextMenuEvent *event);
+    void setFloat(void);
 
 private:
+    QWidget *m_parent;
     Ui::Tools_Index0 *ui;
     QWidget *Inspect = nullptr;
 

App/ToolsUI/tools_Index4/tools_Index4.cpp

@@ -39,40 +39,44 @@ tools_Index4::~tools_Index4()
 }
 
 
+
 void tools_Index4::closeEvent(QCloseEvent *event)
 {
-    qDebug() << event;
-
-    this->setParent(m_parent);
-
-    setWindowFlags(Qt::Widget);
-    this->setGeometry(m_parent->geometry());
-    //this->setGeometry(0,0,m_parent->geometry().width(),m_parent->geometry().height());
-    this->move(0,10);
-    this->show();
-    setFloat(false);
-
-    qDebug() << "DoubleClick" << event;
-
+    setFloat();
     event->ignore();
 }
 
+void tools_Index4::contextMenuEvent(QContextMenuEvent *event)
+{
+    QMenu *menu = new QMenu(this);
 
-void tools_Index4::mouseMoveEvent(QMouseEvent *event)
+    QAction *pAction = new QAction("float",this);
+
+    connect(pAction,SIGNAL(triggered(bool)),
+            this,SLOT(setFloat()));
+
+
+     menu->addAction(pAction);
+     menu->move(cursor().pos());
+     menu->show();
+
+}
+
+void tools_Index4::setFloat(void)
 {
     if(this->parent())
     {
         this->setParent(nullptr);
-        this->setWindowFlags(Qt::Dialog);
-        this->move(0,10);
-        this->show();
-        setFloat(true);
     }
-
-    qDebug() << "Move" << event;
+    else
+    {
+        this->setParent(m_parent);
+        this->setGeometry(m_parent->geometry());
+        this->move(0,0);
+    }
+    this->show();
 }
 
-
 void tools_Index4::mouseReleaseEvent(QMouseEvent *event)
 {
     qDebug() << "clicked";
@@ -101,17 +105,7 @@ void tools_Index4::mouseReleaseEvent(QMouseEvent *event)
 
 void tools_Index4::mouseDoubleClickEvent(QMouseEvent *event)
 {
-    this->setParent(m_parent);
 
-    setWindowFlags(Qt::Widget);
-    this->setGeometry(m_parent->geometry());
-    //this->setGeometry(0,0,m_parent->geometry().width(),m_parent->geometry().height());
-    this->move(0,10);
-    this->show();
-
-    setFloat(false);
-
-    qDebug() << "DoubleClick" << event;
 }
 
 void tools_Index4::loadCommandJson(const QString& jsonFilename)

App/ToolsUI/tools_Index4/tools_Index4.h

@@ -14,6 +14,15 @@
 #include "QJsonObject"
 #include "QJsonParseError"
 
+#include "QMouseEvent"
+#include "QDebug"
+#include "QAction"
+#include "QContextMenuEvent"
+#include "QMenu"
+#include "QColor"
+#include "QLabel"
+#include "mavlink.h"
+#include "QStyle"
 
 namespace Ui {
 class tools_Index4;
@@ -27,33 +36,21 @@ public:
     explicit tools_Index4(QWidget *parent = nullptr);
     ~tools_Index4();
 
-
-
-    void setFloat(bool value)
-    {
-        Floated = value;
-        update();
-    }
-
-    bool isFloat(void)
-    {
-        return Floated;
-    }
-
-
+    void closeEvent(QCloseEvent *event);
+    void contextMenuEvent(QContextMenuEvent *event);
 
 public slots:
 
+    void setFloat(void);
+
     void setChannel(int port,uint16_t *value);
 
     void loadCommandJson(const QString& jsonFilename);
 
     void setRange(QJsonArray min,QJsonArray max);
 protected:
-    void closeEvent(QCloseEvent *event);
 
     void mouseReleaseEvent(QMouseEvent *event);
-    void mouseMoveEvent(QMouseEvent *event);
     void mouseDoubleClickEvent(QMouseEvent *event);
 
 private: