518 lines
15 KiB
C++
518 lines
15 KiB
C++
#include "CheckUI.h"
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#include "ui_CheckUI.h"
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const char* CheckUI::_versionJsonKey = "version";
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const char* CheckUI::_spacingJsonKey = "spacing";
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const char* CheckUI::_commentJsonKey = "comment";
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const char* CheckUI::_vehicleJsonKey = "vehicle";
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const char* CheckUI::_ButtonJsonKey = "Button";
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const char* CheckUI::_WidthJsonKey = "Width";
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const char* CheckUI::_HeightJsonKey = "Height";
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const char* CheckUI::_TextJsonKey = "Text";
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const char* CheckUI::_rowJsonKey = "row";
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const char* CheckUI::_descriptionJsonKey = "description";
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const char* CheckUI::_columnJsonKey = "column";
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const char* CheckUI::_param1JsonKey = "param1";
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const char* CheckUI::_param2JsonKey = "param2";
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const char* CheckUI::_param3JsonKey = "param3";
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const char* CheckUI::_param4JsonKey = "param4";
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const char* CheckUI::_param5JsonKey = "param5";
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const char* CheckUI::_param6JsonKey = "param6";
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const char* CheckUI::_param7JsonKey = "param7";
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const char* CheckUI::_commandJsonKey = "command";
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const char* CheckUI::_confirmJsonKey = "confirm";
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CheckUI::CheckUI(QWidget *parent) :
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QWidget(parent),
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ui(new Ui::CheckUI)
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{
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ui->setupUi(this);
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//检测文件夹,如果不存在，那么就新建一个
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QDir *Dir = new QDir;
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if(!Dir->exists("./checks"))
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Dir->mkdir("./checks");//如果文件夹不存在就新建
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//load qss
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QFile file(":/qss/CheckUI.qss");
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file.open(QFile::ReadOnly);
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QTextStream filetext(&file);
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QString stylesheet = filetext.readAll();
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this->setStyleSheet(stylesheet);
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file.close();
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//载入json
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LoadCheckFiles("./checks");
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//loadCommandJson(":/json/Check.json");
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//loadCommandJson("./json/Check.json");
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}
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CheckUI::~CheckUI()
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{
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delete ui;
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}
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void CheckUI::reBuild(void)
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{
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//将旧的按键全部删除
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QObjectList olist = ui->frame_check->children();
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foreach (QObject *obj, olist) {
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QPushButton *btn = qobject_cast<QPushButton *>(obj);
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if(btn)
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{
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disconnect(btn,SIGNAL(clicked(bool)),
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this,SLOT(on_commandClicked()));
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delete btn;
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}
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QLabel *lab = qobject_cast<QLabel *>(obj);
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if(lab)
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{
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delete lab;
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}
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}
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//添加新的按键
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ui->gridLayout_Check->setSpacing(spacing);
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for(QJsonValue info: infoArray) {
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if (!info.isObject()) {
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return;
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}
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QPushButton *btn = new QPushButton(ui->frame_check);
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btn->setText(info.toObject().find(_TextJsonKey).value().toString());
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btn->setFixedSize(width,height);
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ui->gridLayout_Check->addWidget(btn,
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info.toObject().find(_rowJsonKey).value().toInt(),
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info.toObject().find(_columnJsonKey).value().toInt());
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btn->setProperty("CheckState",CheckState::Init);
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btn->style()->unpolish(btn);
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btn->style()->polish(btn);
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QLabel *lab = new QLabel(ui->frame_check);
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lab->adjustSize();
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lab->setWordWrap(true);
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lab->setText(info.toObject().find(_descriptionJsonKey).value().toString());
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ui->gridLayout_Check->addWidget(lab,
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info.toObject().find(_rowJsonKey).value().toInt(),
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info.toObject().find(_columnJsonKey).value().toInt() + 1);
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connect(btn,SIGNAL(clicked(bool)),
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this,SLOT(on_commandClicked()));
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}
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}
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void CheckUI::loadCommandJson(QJsonObject json)
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{
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version = json.value(_versionJsonKey).toInt();
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qDebug() << "check version :" << version;
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spacing = json.value(_spacingJsonKey).toInt();
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width = json.value(_WidthJsonKey).toInt();
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height = json.value(_HeightJsonKey).toInt();
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QJsonValue jsonValue = json.value(_ButtonJsonKey);
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if (!jsonValue.isArray()) {
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qWarning() << "Button not array";
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return;
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}
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infoArray = jsonValue.toArray();
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for(QJsonValue info: infoArray) {
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if (!info.isObject()) {
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qWarning() << "Array should contain objects";
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return;
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}
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}
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}
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void CheckUI::on_commandClicked()
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{
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//找到消息的发送者
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QPushButton *btn = qobject_cast<QPushButton *>(sender());
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for(QJsonValue info: infoArray) {
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if (!info.isObject()) {
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return;
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}
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//找到id或者名字一样的按键，找到参数，发出去
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QString _name = info.toObject().find(_TextJsonKey).value().toString();
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QString _text = btn->text();
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if(_name == _text)
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{
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float param1 = info.toObject().find(_param1JsonKey).value().toDouble();
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float param2 = info.toObject().find(_param2JsonKey).value().toDouble();
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float param3 = info.toObject().find(_param3JsonKey).value().toDouble();
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float param4 = info.toObject().find(_param4JsonKey).value().toDouble();
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float param5 = info.toObject().find(_param5JsonKey).value().toDouble();
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float param6 = info.toObject().find(_param6JsonKey).value().toDouble();
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float param7 = info.toObject().find(_param7JsonKey).value().toDouble();
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uint16_t command = info.toObject().find(_commandJsonKey).value().toInt();
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uint8_t confirm = info.toObject().find(_confirmJsonKey).value().toInt();
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emit cmd_long(param1,param2, param3,param4,param5,param6,param7,command,confirm);
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}
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}
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}
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void CheckUI::commandAccepted(bool flag,uint16_t command,uint8_t result)
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{
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//找到消息的发送者
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QObjectList list = ui->frame_check->children();
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for(QJsonValue info: infoArray) {
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if (!info.isObject()) {
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return;
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}
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if(command == info.toObject().find(_commandJsonKey).value().toInt())
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{
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foreach (QObject *obj, list)
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{
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QPushButton *btn = qobject_cast<QPushButton *>(obj);
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if(btn)
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{
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if(btn->text() == info.toObject().find(_TextJsonKey).value().toString())
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{
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if(flag)
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{
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btn->setProperty("state",CheckState::Pass);
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}
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else
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{
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btn->setProperty("state",CheckState::Fail);
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}
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btn->style()->unpolish(btn);
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btn->style()->polish(btn);
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}
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}
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}
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}
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}
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}
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void CheckUI::RecieveMsg(mavlink_message_t msg)
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{
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switch (msg.msgid) {
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case MAVLINK_MSG_ID_AUTOPILOT_VERSION: {
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mavlink_msg_autopilot_version_decode(&msg,&autopilot_version);
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}break;
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case MAVLINK_MSG_ID_SYS_STATUS: {
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mavlink_msg_sys_status_decode(&msg,&sys_status);
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}break;
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case MAVLINK_MSG_ID_HEARTBEAT: {
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mavlink_msg_heartbeat_decode(&msg,&heartbeat);
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}break;
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case MAVLINK_MSG_ID_PING: {
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mavlink_msg_ping_decode(&msg,&ping);
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}break;
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case MAVLINK_MSG_ID_ATTITUDE: {
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mavlink_msg_attitude_decode(&msg,&attitude);
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}break;
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case MAVLINK_MSG_ID_GPS_RAW_INT: {
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mavlink_msg_gps_raw_int_decode(&msg,&gps_raw_int);
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}break;
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case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: {
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mavlink_msg_global_position_int_decode(&msg,&global_position_int);
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}break;
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case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: {
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mavlink_msg_servo_output_raw_decode(&msg,&servo_output_raw);
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}break;
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case MAVLINK_MSG_ID_RC_CHANNELS_RAW: {
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mavlink_msg_rc_channels_raw_decode(&msg,&rc_channels_raw);
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}break;
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case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: {
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mavlink_msg_nav_controller_output_decode(&msg,&nav_controller_output);
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}break;
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case MAVLINK_MSG_ID_AIRSPEED_AUTOCAL: {
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mavlink_msg_airspeed_autocal_decode(&msg,&airspeed_autocal);
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}break;
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case MAVLINK_MSG_ID_RPM: {
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mavlink_msg_rpm_decode(&msg,&rpm);
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}break;
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case MAVLINK_MSG_ID_SCALED_PRESSURE: {
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mavlink_msg_scaled_pressure_decode(&msg,&scaled_pressure);
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}break;
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case MAVLINK_MSG_ID_EXTENDED_SYS_STATE: {
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mavlink_msg_extended_sys_state_decode(&msg,&extended_sys_state);
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}break;
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case MAVLINK_MSG_ID_BATTERY_STATUS: {
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mavlink_msg_battery_status_decode(&msg,&battery_status);
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}break;
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case MAVLINK_MSG_ID_VIBRATION: {
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mavlink_msg_vibration_decode(&msg,&vibration);
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}break;
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case MAVLINK_MSG_ID_EngineState: {
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mavlink_msg_enginestate_decode(&msg,&enginestate);
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}break;
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case MAVLINK_MSG_ID_VFR_HUD: {
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mavlink_msg_vfr_hud_decode(&msg,&vfr_hud);
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}break;
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}
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}
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//添加一个设备，
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void CheckUI::addVehicles(int sysid, int compid)
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{
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Q_UNUSED(compid)
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if(!Vehicles.keys().contains(sysid))
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{
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Vehicles.insert(sysid,tr("Vehicle %1").arg(sysid));
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if(ui->pushButton_Vehicle->text().isEmpty())
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{
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ui->pushButton_Vehicle->setText(tr("Vehicle %1").arg(sysid));
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//检查是否有专属的检查文件，如果有，那么载入，如果没有载入通用的检查文件
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if(CheckFiles.contains(sysid))
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{
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loadCommandJson(CheckFiles.value(sysid));
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reBuild();
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}
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else
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{
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qDebug() << tr("not Contains special check file") << sysid;
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if(CheckFiles.contains(0xFFFF))//默认文件
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{
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loadCommandJson(CheckFiles.value(0xFFFF));
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reBuild();
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}
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else
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{
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qDebug() << tr("not Contains Default check file") << sysid;
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}
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}
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}
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}
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}
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QJsonObject CheckUI::parseCheckfiles(const QString& jsonFilename)
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{
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QJsonObject json;
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QFile jsonFile(jsonFilename);
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if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
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qWarning() << "Unable to open file" << jsonFilename << jsonFile.errorString();
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return json;
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}
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QByteArray bytes = jsonFile.readAll();
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jsonFile.close();
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QJsonParseError jsonParseError;
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QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
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if (jsonParseError.error != QJsonParseError::NoError) {
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qWarning() << jsonFilename << "Unable to open json document" << jsonParseError.errorString();
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return json;
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}
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json = doc.object();
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return json;
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}
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void CheckUI::LoadCheckFiles(QString path)
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{
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QDir dir(path);
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QFileInfoList file_list = dir.entryInfoList(QDir::Files | QDir::Hidden | QDir::NoSymLinks);
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foreach(QFileInfo fileinfo, file_list)
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{
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QString filter;
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filter = fileinfo.suffix(); //后缀名
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if(filter == "json")
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{
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QJsonObject json = parseCheckfiles(fileinfo.absoluteFilePath());
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if(&json)
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{
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int vehicle = json.value(_vehicleJsonKey).toInt();
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CheckFiles.insert(vehicle,json);
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}
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}
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}
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}
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void CheckUI::setVehicle(QVariant value)
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{
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ui->pushButton_Vehicle->setText(value.toString());
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//从新载入一次文件
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LoadCheckFiles("./checks");
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int index = value.toString().indexOf(' ');
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QString selectid = value.toString().mid(index);
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int vehicle = selectid.toInt();
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//检查是否有专属的检查文件，如果有，那么载入，如果没有载入通用的检查文件
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if(CheckFiles.contains(vehicle))
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{
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loadCommandJson(CheckFiles.value(vehicle));
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reBuild();
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}
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else
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{
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qDebug() << tr("not Contains special check file") << vehicle;
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if(CheckFiles.contains(0xFFFF))//默认文件
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{
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loadCommandJson(CheckFiles.value(0xFFFF));
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reBuild();
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}
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else
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{
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qDebug() << tr("not Contains Default check file") << vehicle;
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}
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}
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}
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void CheckUI::on_pushButton_Vehicle_clicked()
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{
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if(!ui->pushButton_Vehicle->text().isEmpty())
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{
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Selector *selector = new Selector(this);
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selector->setGeometry(0,0,this->geometry().width(),this->geometry().height());
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//selector->setGeometry(0,0,this->width(),this->height());
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QStringList list;
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list.clear();
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for(QHash<int,QString>::iterator ite=Vehicles.begin(); ite!=Vehicles.end();++ite)//每一个key下面都是一个设备的所有参数
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{
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list.append(tr("Vehicle %1").arg(ite.key()));
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}
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selector->setList(list,ui->pushButton_Vehicle->text());
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connect(selector,SIGNAL(confirmValue(QVariant)),
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this,SLOT(setVehicle(QVariant)));
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selector->show();
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}
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}
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void CheckUI::on_pushButton_Previous_clicked()
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{
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if(!ui->pushButton_Vehicle->text().isEmpty())
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{
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int index = ui->pushButton_Vehicle->text().indexOf(' ');
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QString selectid = ui->pushButton_Vehicle->text().mid(index);
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int vehicle = selectid.toInt();
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qDebug() << vehicle
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<< Vehicles.keys()
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<< Vehicles.values();
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bool isLast = false;
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for(QHash<int,QString>::const_iterator ite=Vehicles.begin(); ite!=Vehicles.end();(isLast)?(ite--):(ite++))//每一个key下面都是一个设备的所有参数
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{
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qDebug() << ite.value()
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<< "isLast" << isLast;
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if(isLast)
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{
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setVehicle(tr("Vehicle %1").arg(ite.key()));
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break;
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}
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else
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{
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if(ite.key() == vehicle)
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{
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isLast = true;
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}
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}
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}
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}
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}
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void CheckUI::on_pushButton_Next_clicked()
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{
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if(!ui->pushButton_Vehicle->text().isEmpty())
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{
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int index = ui->pushButton_Vehicle->text().indexOf(' ');
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QString selectid = ui->pushButton_Vehicle->text().mid(index);
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int vehicle = selectid.toInt();
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qDebug() << vehicle
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<< Vehicles.keys()
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<< Vehicles.values();
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bool isNext = false;
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for(QHash<int,QString>::iterator ite=Vehicles.begin(); ite!=Vehicles.end();++ite)//每一个key下面都是一个设备的所有参数
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{
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qDebug() << ite.value()
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<< "Next" << isNext;
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if(isNext)
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{
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setVehicle(tr("Vehicle %1").arg(ite.key()));
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break;
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}
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else
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{
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if(ite.key() == vehicle)
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{
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isNext = true;
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}
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}
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}
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}
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}
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