773 lines
23 KiB
C++
773 lines
23 KiB
C++
#include "CommandUI.h"
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#include "ui_CommandUI.h"
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#include "QtTextToSpeech/QtTextToSpeech"
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CommandUI::CommandUI(QWidget *parent) :
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QWidget(parent),
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ui(new Ui::CommandUI)
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{
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ui->setupUi(this);
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m_parent = parent;
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//检测文件夹,如果不存在，那么就新建一个，这里存着所有的qml文件
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QDir *Dir = new QDir;
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if(!Dir->exists("./commands"))
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Dir->mkdir("./commands");//如果文件夹不存在就新建
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//load qss
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QFile file(":/qss/CommandUI.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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//查找默认的值
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Config *config = new Config();
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if(config->getCommandFile().size() >0)
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{
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CommandFile = config->getCommandFile();
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}
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delete config;
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setCommandFile(CommandFile);
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DoubleClickTimer = new QTimer(this);
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DoubleClickTimer->setInterval(200);//0.2s之内再点击，那就相当于双击
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connect(DoubleClickTimer,SIGNAL(timeout()),
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this,SLOT(DoubleClickTimeout()));
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}
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CommandUI::~CommandUI()
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{
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delete ui;
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}
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void CommandUI::wheelEvent(QWheelEvent *e)
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{
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}
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void CommandUI::keyPressEvent(QKeyEvent *event) //键盘按下事件
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{
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switch(event->key())
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{
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case Qt::Key_Space :
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{
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qInfo() << "command key" << event;
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}
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break;
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}
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}
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void CommandUI::mousePressEvent(QMouseEvent *event)
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{
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if (event->button() == Qt::MiddleButton)
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{
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}
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else if (event->button() == Qt::RightButton)
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{
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if(event->modifiers() == Qt::ControlModifier)
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{
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QFileDialog *dlg = new QFileDialog();
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QString fileName = dlg->getOpenFileName(this, tr("Selete Command File..."),
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"./commands/",
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tr("command file (*.json)"));
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if(!fileName.isEmpty())
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{
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setCommandFile(fileName);
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}
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}
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else if(event->modifiers() == Qt::AltModifier)
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{
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//CommandEditor *edit = new CommandEditor();
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//edit->show();
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}
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}
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}
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void CommandUI::updateUI(void)
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{
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loadCommandJson(CommandFile);
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for(QJsonValue info: CMD_infoArray) {
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if (!info.isObject()) {
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return;
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}
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if(!ui->tabWidget_Command->widget(info.toObject().find(_PageJsonKey).value().toInt()))
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{
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QWidget *w = new QWidget();
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qInfo() << "Command Can't find index of " << info.toObject().find(_PageJsonKey).value().toInt();
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if(info.toObject().find(_PageJsonKey).value().toInt() == 0)
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{
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ui->tabWidget_Command->insertTab(info.toObject().find(_PageJsonKey).value().toInt(),
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w,
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info.toObject().find(_TitleJsonKey).value().toString());
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qInfo() << "Command Create Base Command Page";
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}
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else
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{
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ui->tabWidget_Command->insertTab(info.toObject().find(_PageJsonKey).value().toInt(),
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w,
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info.toObject().find(_TitleJsonKey).value().toString());
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qInfo() << "Command Create Advance Command "
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<< info.toObject().find(_TitleJsonKey).value().toString()
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<< "Page";
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}
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}
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QJsonArray BtnArray = info.toObject().find(_CommandsJsonKey).value().toArray();
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for(QJsonValue binfo: BtnArray) {
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if (!binfo.isObject()) {
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return;
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}
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CommandButton *btn = new CommandButton(ui->tabWidget_Command->widget(info.toObject().find(_PageJsonKey).value().toInt()));
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/*
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QVariant notice = binfo.toObject().find(_noticeJsonKey).value();
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QVariant row = binfo.toObject().find(_colunmJsonKey).value();
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QVariant column = binfo.toObject().find(_param7JsonKey).value();
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QVariant notice = binfo.toObject().find(_param7JsonKey).value();
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QVariant command= binfo.toObject().find(_param7JsonKey).value();
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QVariant confirm= binfo.toObject().find(_param7JsonKey).value();
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QVariant page = binfo.toObject().find(_param7JsonKey).value();
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QVariant dialog = binfo.toObject().find(_param7JsonKey).value();
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QVariant param1 = binfo.toObject().find(_param7JsonKey).value();
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QVariant param2 = binfo.toObject().find(_param7JsonKey).value();
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QVariant param3 = binfo.toObject().find(_param7JsonKey).value();
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QVariant param4 = binfo.toObject().find(_param7JsonKey).value();
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QVariant param5 = binfo.toObject().find(_param7JsonKey).value();
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QVariant param6 = binfo.toObject().find(_param7JsonKey).value();
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QVariant param7 = binfo.toObject().find(_param7JsonKey).value();
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*/
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btn->setParameters(binfo.toObject().find(_rowJsonKey).value().toVariant(),
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binfo.toObject().find(_colunmJsonKey).value().toVariant(),
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binfo.toObject().find(_noticeJsonKey).value().toVariant(),
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binfo.toObject().find(_commandJsonKey).value().toVariant(),
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binfo.toObject().find(_confirmJsonKey).value().toVariant(),
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info.toObject().find(_PageJsonKey).value().toVariant(),
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binfo.toObject().find(_dialogJsonKey).value().toVariant(),
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binfo.toObject().find(_param1JsonKey).value().toVariant(),
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binfo.toObject().find(_param2JsonKey).value().toVariant(),
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binfo.toObject().find(_param3JsonKey).value().toVariant(),
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binfo.toObject().find(_param4JsonKey).value().toVariant(),
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binfo.toObject().find(_param5JsonKey).value().toVariant(),
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binfo.toObject().find(_param6JsonKey).value().toVariant(),
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binfo.toObject().find(_param7JsonKey).value().toVariant());
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/*
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btn->setParameters(binfo.toObject().find(_rowJsonKey).value().toInt(),
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binfo.toObject().find(_colunmJsonKey).value().toInt(),
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binfo.toObject().find(_noticeJsonKey).value().toInt(),
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binfo.toObject().find(_commandJsonKey).value().toInt(),
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binfo.toObject().find(_confirmJsonKey).value().toInt(),
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info.toObject().find(_PageJsonKey).value().toInt(),
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binfo.toObject().find(_dialogJsonKey).value().toInt(),
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binfo.toObject().find(_param1JsonKey).value().toInt(),
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binfo.toObject().find(_param2JsonKey).value().toInt(),
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binfo.toObject().find(_param3JsonKey).value().toInt(),
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binfo.toObject().find(_param4JsonKey).value().toInt(),
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binfo.toObject().find(_param5JsonKey).value().toInt(),
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binfo.toObject().find(_param6JsonKey).value().toInt(),
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binfo.toObject().find(_param7JsonKey).value().toInt());
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*/
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btn->show();
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btn->raise();
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btn->setText(binfo.toObject().find(_TextJsonKey).value().toString());
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btn->resize(m_width,m_height);
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btn->move(binfo.toObject().find(_colunmJsonKey).value().toInt() * (m_width + m_spacing) + m_spacing,
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binfo.toObject().find(_rowJsonKey).value().toInt() * (m_height + m_spacing)+ m_spacing);
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btn->setProperty("state",state::success);
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btn->style()->unpolish(btn);
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btn->style()->polish(btn);
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connect(btn,&CommandButton::clicked,
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this,&CommandUI::on_commandClicked);
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}
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}
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}
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void CommandUI::setCommandFile(QString File)
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{
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Config *config = new Config();
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config->setCommandFile(File);
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delete config;
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CommandFile = File;
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for(int i = 0;i < ui->tabWidget_Command->count();i++)
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{
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QObjectList wlist = ui->tabWidget_Command->widget(i)->children();
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foreach (QObject *b, wlist) {
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CommandButton *btn = qobject_cast<CommandButton *>(b);
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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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}
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delete ui->tabWidget_Command->widget(i);
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}
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ui->tabWidget_Command->clear();
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updateUI();
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}
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void CommandUI::loadCommandJson(const QString& jsonFilename)
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{
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if (jsonFilename.isEmpty()) {
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return;
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}
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qDebug() << "Loading " << jsonFilename;
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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;
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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;
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}
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QJsonObject json = doc.object();
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m_version = json.value(_versionJsonKey).toString();
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qDebug() << "command version :" << m_version;
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m_width = json.value(_WidthJsonKey).toInt();
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m_height = json.value(_HeightJsonKey).toInt();
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m_spacing = json.value(_spacingJsonKey).toInt();
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QJsonValue jsonValue = json.value(_ButtonsJsonKey);
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if (!jsonValue.isArray()) {
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qWarning() << jsonFilename << "_CommandButtonJsonKey not array";
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return;
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}
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CMD_infoArray = jsonValue.toArray();
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for(QJsonValue info: CMD_infoArray) {
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if (!info.isObject()) {
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qWarning() << jsonFilename << "mavCmdArray 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 CommandUI::setSecondConfirm(QVariant value)
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{
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if(value.toBool() == true)
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{
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for(int i = 0;i < ui->tabWidget_Command->count();i++)
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{
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QObjectList list = ui->tabWidget_Command->widget(i)->children();
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foreach (QObject *obj, list) {
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CommandButton *btn = qobject_cast<CommandButton *>(obj);
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if(btn)
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{
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if((btn->text() == m_name)
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&&(btn->Command() == m_command)
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&&(btn->Confirm() == m_confirm)
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&&(btn->Param1() == m_param1)
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&&(btn->Param2() == m_param2)
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&&(btn->Param3() == m_param3)
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&&(btn->Param4() == m_param4)
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&&(btn->Param5() == m_param5)
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&&(btn->Param6() == m_param6)
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&&(btn->Param7() == m_param7))
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{
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btn->setProperty("state",state::failure);
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btn->style()->unpolish(btn);
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btn->style()->polish(btn);
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emit showMessage(tr("发送指令 %1 %2").arg(btn->Command().toString()).arg(btn->text()));
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}
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}
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}
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}
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emit cmd_long(m_param1.toDouble(),
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m_param2.toDouble(),
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m_param3.toDouble(),
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m_param4.toDouble(),
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m_param5.toDouble(),
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m_param6.toDouble(),
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m_param7.toDouble(),
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m_command,m_confirm);
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}
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else
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{
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m_param1 = 0;
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m_param2 = 0;
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m_param3 = 0;
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m_param4 = 0;
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m_param5 = 0;
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m_param6 = 0;
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m_param7 = 0;
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m_command = 0;
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m_confirm = 0;
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}
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}
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void CommandUI::setSecondValue(QVariant value)
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{
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for(int i = 0;i < ui->tabWidget_Command->count();i++)
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{
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QObjectList list = ui->tabWidget_Command->widget(i)->children();
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foreach (QObject *obj, list) {
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CommandButton *btn = qobject_cast<CommandButton *>(obj);
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if(btn)
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{
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if((btn->text() == m_name)
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&&(btn->Command() == m_command)
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&&(btn->Confirm() == m_confirm)
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&&(btn->Param1() == m_param1)
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&&(btn->Param2() == m_param2)
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&&(btn->Param3() == m_param3)
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&&(btn->Param4() == m_param4)
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&&(btn->Param5() == m_param5)
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&&(btn->Param6() == m_param6)
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&&(btn->Param7() == m_param7))
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{
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btn->setProperty("state",state::failure);
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btn->style()->unpolish(btn);
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btn->style()->polish(btn);
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emit showMessage(tr("发送指令 %1 %2").arg(btn->Command().toString()).arg(btn->text()));
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}
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}
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}
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}
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//找到要编辑的，然后把数字赋值过去
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bool flag = false;
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m_param1.toDouble(&flag);
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if(!flag)
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{
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m_param1 = value;
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}
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m_param2.toDouble(&flag);
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if(!flag)
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{
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m_param2 = value;
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}
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m_param3.toDouble(&flag);
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if(!flag)
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{
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m_param3 = value;
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}
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m_param4.toDouble(&flag);
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if(!flag)
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{
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m_param4 = value;
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}
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m_param5.toDouble(&flag);
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if(!flag)
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{
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m_param5 = value;
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}
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m_param6.toDouble(&flag);
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if(!flag)
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{
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m_param6 = value;
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}
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m_param7.toDouble(&flag);
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if(!flag)
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{
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m_param7 = value;
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}
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qDebug() << tr("clicked") << m_name
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<< m_param1.toDouble()
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<< m_param2.toDouble()
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<< m_param3.toDouble()
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<< m_param4.toDouble()
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<< m_param5.toDouble()
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<< m_param6.toDouble()
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<< m_param7.toDouble()
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<< m_command
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<< m_confirm;
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emit cmd_long(m_param1.toDouble(),
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m_param2.toDouble(),
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m_param3.toDouble(),
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m_param4.toDouble(),
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m_param5.toDouble(),
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m_param6.toDouble(),
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m_param7.toDouble(),
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m_command,m_confirm);
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}
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void CommandUI::on_commandClicked()
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{
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//qDebug() << "clicked";
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/*
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if(m_command == 0)
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{
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QMessageBox *msg = new QMessageBox();
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msg->setWindowTitle(tr("Notice"));
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msg->setText(tr("please set command first ,command :%1").arg(m_command));
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msg->show();
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return;
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}
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*/
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//找到消息的发送者
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CommandButton *btn = qobject_cast<CommandButton *>(sender());
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m_name = btn->text();
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m_command = btn->Command().toInt();
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m_confirm = btn->Confirm().toInt();
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m_param1 = btn->Param1();
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m_param2 = btn->Param2();
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m_param3 = btn->Param3();
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m_param4 = btn->Param4();
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m_param5 = btn->Param5();
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m_param6 = btn->Param6();
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m_param7 = btn->Param7();
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uint32_t dialogValue = btn->Dialog().toInt();
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if(dialogValue != 0)
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{
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if(dialogValue == 1)
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{
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//根据这个comfirm 确定要输入的参数
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Confirm *confirmor = new Confirm(this);
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confirmor->setGeometry(0,0,this->width(),this->height());
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//设置警告界面
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confirmor->setNotice(btn->Notice().toString());
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connect(confirmor,SIGNAL(confirmValue(QVariant)),
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this,SLOT(setSecondConfirm(QVariant)));
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confirmor->show();
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}
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else if(dialogValue == 2)
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{
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//value 确定要输入的参数
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Inputter *inputter = new Inputter(this);
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inputter->setGeometry(0,0,this->width(),this->height());
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//设置警告界面
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inputter->setLabel(btn->Notice());
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connect(inputter,SIGNAL(confirmValue(QVariant)),
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this,SLOT(setSecondValue(QVariant)));
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inputter->show();
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}
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//qDebug() << "Notice:" << btn->Notice();
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}
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else
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{
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btn->setProperty("state",state::failure);
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btn->style()->unpolish(btn);
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btn->style()->polish(btn);
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emit cmd_long(m_param1.toDouble(),
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m_param2.toDouble(),
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m_param3.toDouble(),
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m_param4.toDouble(),
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m_param5.toDouble(),
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m_param6.toDouble(),
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m_param7.toDouble(),
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m_command,m_confirm);
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}
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qDebug() << tr("clicked") << btn->text()
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<< m_param1
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<< m_param2
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<< m_param3
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<< m_param4
|
|
<< m_param5
|
|
<< m_param6
|
|
<< m_param7
|
|
<< m_command
|
|
<< m_confirm;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
void CommandUI::commandAccepted(bool flag,uint16_t command,uint8_t result)
|
|
{
|
|
bool isFundSender = false;
|
|
QString string;
|
|
//找到消息的发送者
|
|
|
|
qDebug() << "command accepte" << command;
|
|
|
|
for(int i = 0;i < ui->tabWidget_Command->count();i++)
|
|
{
|
|
if(!ui->tabWidget_Command->widget(i))
|
|
{
|
|
continue;
|
|
}
|
|
|
|
qDebug() << "tab index" << i;
|
|
|
|
QObjectList list = ui->tabWidget_Command->widget(i)->children();
|
|
|
|
if(command == m_command)
|
|
{
|
|
foreach (QObject *obj, list)
|
|
{
|
|
CommandButton *btn = qobject_cast<CommandButton *>(obj);
|
|
if(btn)
|
|
{
|
|
QString btn_name = btn->text();
|
|
if(btn_name == m_name)//查到正在等待回复的按键
|
|
{
|
|
isFundSender = true;
|
|
|
|
if(flag)
|
|
{
|
|
btn->setProperty("state",state::success);
|
|
}
|
|
else
|
|
{
|
|
btn->setProperty("state",state::failure);
|
|
}
|
|
|
|
|
|
switch (result) {
|
|
case MAV_RESULT_ACCEPTED:
|
|
string.append(tr("%1,%2 accepted and executed").arg(command).arg(btn_name));
|
|
break;
|
|
case MAV_RESULT_TEMPORARILY_REJECTED:
|
|
string.append(tr("%1,%2 rejected").arg(command).arg(btn_name));
|
|
break;
|
|
case MAV_RESULT_DENIED:
|
|
string.append(tr("%1,%2 permanently denied").arg(command).arg(btn_name));
|
|
break;
|
|
case MAV_RESULT_UNSUPPORTED:
|
|
string.append(tr("%1,%2 unsupported").arg(command).arg(btn_name));
|
|
break;
|
|
case MAV_RESULT_FAILED:
|
|
string.append(tr("%1,%2 failed").arg(command).arg(btn_name));
|
|
break;
|
|
case MAV_RESULT_IN_PROGRESS:
|
|
string.append(tr("%1,%2 being executed").arg(command).arg(btn_name));
|
|
break;
|
|
case 0xFE:
|
|
string.append(tr("%1,%2 time out").arg(command).arg(btn_name));
|
|
break;
|
|
case 0xFF:
|
|
string.append(tr("Please do not operate too fast, the last instruction has not been sent"));
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
btn->style()->unpolish(btn);
|
|
btn->style()->polish(btn);
|
|
|
|
m_command = 0;
|
|
m_name.clear();
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
}
|
|
}
|
|
|
|
if(isFundSender == false)
|
|
{
|
|
emit Accepted(flag,command,result);
|
|
}
|
|
else
|
|
{
|
|
if(string.size() > 0)
|
|
{
|
|
QTextToSpeech *tts = new QTextToSpeech();
|
|
tts->say(string);
|
|
tts->deleteLater();
|
|
|
|
emit showMessage(string);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
//专门为航点设计的一个确认窗口
|
|
|
|
void CommandUI::setCurrent(QVariant value)
|
|
{
|
|
if(value.toBool() == true)
|
|
{
|
|
emit showMessage(tr("设置航点 %1").arg(m_currentSeq));
|
|
|
|
emit SetCurrentPoint(m_currentSeq);
|
|
}
|
|
}
|
|
|
|
void CommandUI::missionConfirm(int seq)
|
|
{
|
|
m_currentSeq = seq;
|
|
|
|
//根据这个comfirm 确定要输入的参数
|
|
Confirm *confirmor = new Confirm(this);
|
|
confirmor->setGeometry(0,0,this->width(),this->height());
|
|
|
|
//设置警告界面
|
|
confirmor->setNotice(tr("click confirm to set Point %1 as current point").arg(seq));
|
|
|
|
connect(confirmor,SIGNAL(confirmValue(QVariant)),
|
|
this,SLOT(setCurrent(QVariant)));
|
|
|
|
confirmor->show();
|
|
}
|
|
|
|
|
|
void CommandUI::DoubleClickTimeout()
|
|
{
|
|
DoubleClickTimer->stop();
|
|
}
|
|
|
|
void CommandUI::addVehicles(int sysid, int compid)
|
|
{
|
|
Q_UNUSED(compid)
|
|
|
|
if(ui->comboBox_uav->findData(sysid) == -1)
|
|
{
|
|
ui->comboBox_uav->addItem(QString::number(sysid),sysid);
|
|
ui->comboBox_uav->setCurrentIndex(0);
|
|
}
|
|
|
|
}
|
|
|
|
void CommandUI::setPointCount(QList<int> nums)
|
|
{
|
|
ui->comboBox_seq->clear();
|
|
|
|
foreach (int i, nums)
|
|
{
|
|
ui->comboBox_seq->addItem(QString::number(i),i);
|
|
}
|
|
ui->comboBox_seq->setCurrentIndex(0);
|
|
|
|
}
|
|
|
|
void CommandUI::on_groupBox_Command_clicked()
|
|
{
|
|
qDebug() << "clicked";
|
|
|
|
if(DoubleClickTimer)
|
|
{
|
|
if(DoubleClickTimer->isActive())
|
|
{
|
|
//双击后的效果
|
|
qDebug() << "double";
|
|
DoubleClickTimer->stop();
|
|
}
|
|
else
|
|
{
|
|
qDebug() << "clicked";
|
|
DoubleClickTimer->start();
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void CommandUI::on_pushButton_setSeq_clicked()
|
|
{
|
|
if(ui->comboBox_seq->currentIndex() != -1)
|
|
{
|
|
int seq = ui->comboBox_seq->currentData(Qt::UserRole).toInt();
|
|
|
|
missionConfirm(seq);
|
|
}
|
|
}
|
|
|
|
void CommandUI::on_pushButton_setUAV_clicked()
|
|
{
|
|
if(ui->comboBox_uav->currentIndex() != -1)
|
|
{
|
|
int seq = ui->comboBox_uav->currentData(Qt::UserRole).toInt();
|
|
|
|
//根据这个comfirm 确定要输入的参数
|
|
Confirm *confirmor = new Confirm(this);
|
|
confirmor->setGeometry(0,0,this->width(),this->height());
|
|
|
|
//设置警告界面
|
|
confirmor->setNotice(tr("click confirm to set uav %1 as current").arg(seq));
|
|
|
|
connect(confirmor,SIGNAL(confirmValue(QVariant)),
|
|
this,SLOT(setCurrent(QVariant)));
|
|
|
|
confirmor->show();
|
|
}
|
|
}
|
|
|