581 lines
16 KiB
C++
581 lines
16 KiB
C++
#include "MissionUI.h"
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#include "ui_MissionUI.h"
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MissionUI::MissionUI(QWidget *parent) :
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QWidget(parent),
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ui(new Ui::MissionUI)
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{
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ui->setupUi(this);
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setWindowTitle(tr("Mission Table"));
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tablelist.insert(1,ui->tableWidget_1);
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tablelist.insert(3,ui->tableWidget_3);
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tablelist.insert(4,ui->tableWidget_4);
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tablelist.insert(5,ui->tableWidget_5);
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tablelist.insert(6,ui->tableWidget_6);
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ui->tabWidget->setCurrentIndex(1);
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foreach (QTableWidget *table, tablelist) {
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if(table)
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{
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table->setColumnCount(9); //设置列数为7
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table->setGeometry(QRect(10,455,740,95)); //设置tableWidget的大小
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table->setSelectionBehavior(QAbstractItemView::SelectRows);//设置选中模式为选中行
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table->setAlternatingRowColors(true);
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table->setEditTriggers(QAbstractItemView::NoEditTriggers);//不能编辑
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table->setColumnWidth(0,45); //设置第一列的列宽(num)
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table->setColumnWidth(1,80); //设置第二列的列宽(cmd)
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table->setColumnWidth(2,80); //设置第三列的列宽(par1)
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table->setColumnWidth(3,80); //设置第四列的列宽(par2)
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table->setColumnWidth(4,80); //设置第五列的列宽(par3)
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table->setColumnWidth(5,80); //设置第六列的列宽(par4)
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table->setColumnWidth(6,150); //设置第七列的列宽(lat)
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table->setColumnWidth(7,150); //设置第八列的列宽(lng)
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table->setColumnWidth(8,80); //设置第九列的列宽(alt)
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table->setHorizontalHeaderLabels(QStringList() <<tr("number")<<tr("command")<<tr("par1")<<tr("par2")<<tr("par3")<<tr("par4")<<tr("lat")<<tr("lng")<<tr("alt"));
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table->setFont(QFont("黑体",12,3)); //设置字体
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QHeaderView* V_headerView = table->verticalHeader();
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V_headerView->setHidden(true); //行名隐藏
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QHeaderView* H_headerView = table->horizontalHeader();
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H_headerView->setStretchLastSection(true);
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H_headerView->setDefaultAlignment(Qt::AlignLeft); //表头信息显示居中靠左
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connect(table,&QTableWidget::itemSelectionChanged,
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this,&MissionUI::itemSelectionChanged);
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}
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}
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}
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MissionUI::~MissionUI()
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{
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delete ui;
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}
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void MissionUI::closeEvent(QCloseEvent *event)
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{
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event->ignore();
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this->setHidden(true);
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}
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void MissionUI::resizeEvent(QResizeEvent *event)
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{
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}
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void MissionUI::pointCreate(float param1,float param2,float param3,float param4,
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int32_t x,int32_t y,float z,
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uint16_t seq,
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uint16_t group,
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uint16_t command,
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uint8_t target_system,
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uint8_t target_component,
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uint8_t frame,
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uint8_t current,
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uint8_t autocontinue,
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uint8_t mission_type)
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{
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QTableWidget *tableWidget;
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foreach (QTableWidget *table, tablelist) {
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if(table)
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{
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if(tablelist.value(mission_type) == table)
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{
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tableWidget = table;
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break;
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}
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}
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}
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int idx = seq -1;
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tableWidget->setRowCount(tableWidget->rowCount()+1); //设置行数+1
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tableWidget->setItem(idx,0,new QTableWidgetItem(QString::number(seq))); //第一列的内容设置为index
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QString cmdName;
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switch (command) {
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case 16:
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cmdName = tr("waypoint");
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break;
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case 20:
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cmdName = tr("return");
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break;
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case 21:
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cmdName = tr("landing");
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break;
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case 22:
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cmdName = tr("takeoff");
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break;
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default:
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break;
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}
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tableWidget->removeCellWidget(idx,1);
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tableWidget->setItem(idx,1,new QTableWidgetItem(cmdName));
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if(command == 16)
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{
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QString par1Name;
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switch ((int)param1) {
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case 0:
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par1Name = tr("保持");
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break;
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case -1:
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par1Name = tr("表速");
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break;
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case -2:
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par1Name = tr("快升");
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break;
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case -3:
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par1Name = tr("开加力");
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case -4:
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par1Name = tr("关加力");
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break;
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default:
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break;
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}
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tableWidget->removeCellWidget(idx,2);
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tableWidget->setItem(idx,2,new QTableWidgetItem(par1Name));
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}
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else if(command == 20)
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{
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tableWidget->removeCellWidget(idx,2);
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tableWidget->setItem(idx,2,new QTableWidgetItem(QString::number(param1)));
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}
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else if(command == 21)
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{
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tableWidget->removeCellWidget(idx,2);
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tableWidget->setItem(idx,2,new QTableWidgetItem(QString::number(param1)));
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}
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else if(command == 22)
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{
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tableWidget->removeCellWidget(idx,2);
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tableWidget->setItem(idx,2,new QTableWidgetItem(QString::number(param1)));
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}
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tableWidget->removeCellWidget(idx,3);
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tableWidget->setItem(idx,3,new QTableWidgetItem(QString::number(param2)));
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tableWidget->removeCellWidget(idx,4);
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tableWidget->setItem(idx,4,new QTableWidgetItem(QString::number(param3)));
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tableWidget->removeCellWidget(idx,5);
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tableWidget->setItem(idx,5,new QTableWidgetItem(QString::number(param4)));
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tableWidget->removeCellWidget(idx,6);
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tableWidget->setItem(idx,6,new QTableWidgetItem(QString::number(x * 10e-8,'f',7)));
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tableWidget->removeCellWidget(idx,7);
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tableWidget->setItem(idx,7,new QTableWidgetItem(QString::number(y * 10e-8,'f',7)));
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tableWidget->removeCellWidget(idx,8);
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tableWidget->setItem(idx,8,new QTableWidgetItem(QString::number(z)));
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for (int i = 0;i<tableWidget->rowCount();i++)
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{
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if(tableWidget->item(i,0)==NULL|| //判断指向该cell的指针是否为空
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(tableWidget->item(i,0)&&
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tableWidget->item(i,0)->text()==tr(""))) //判断该cell的text是否为空
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{
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tableWidget->removeRow(i);
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}
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}
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for (int i = 0;i<tableWidget->rowCount();i++)
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{
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QTableWidgetItem* pItem = tableWidget->item(i, 0);
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if(pItem)
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pItem->setFlags(pItem->flags() & (~Qt::ItemIsEditable));
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}
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}
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void MissionUI::pointDelete(int idx)
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{
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/*
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if(tableWidget->rowAt(idx) != -1)
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{
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tableWidget->removeRow(idx); //删除掉了表格信息
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}
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*/
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}
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void MissionUI::setCurrent(int group,int idx)
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{
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QTableWidget *widget = tablelist.value(group);
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if(widget)
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{
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/*
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qDebug() << "select" << group << idx;
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QTableWidgetItem *item = widget->item(idx,0);
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if(item)
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{
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widget->setCurrentItem(item);
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}
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*/
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}
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}
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void MissionUI::on_tableWidget_3_itemChanged(QTableWidgetItem *item)
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{
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//容易产生死锁
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qDebug() << "item changed" << item->data(Qt::DisplayRole);
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QTableWidget *widget = qobject_cast<QTableWidget *>(sender());
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int group = tablelist.key(widget);
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}
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void MissionUI::on_tabWidget_currentChanged(int index)
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{
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int group = 3;
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switch (index) {
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case 0:
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group = 1;
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break;
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case 1:
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group = 3;
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break;
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case 2:
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group = 4;
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break;
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case 3:
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group = 5;
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break;
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case 4:
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group = 6;
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break;
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default:
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break;
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}
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emit groupChanged(group);
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}
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void MissionUI::on_pushButton_load_clicked()
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{
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QFileDialog *dlg = new QFileDialog();
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QString fileName = dlg->getOpenFileName(this, tr("Selete Way Point File..."),
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"./plan/",
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tr("plan file (*.plan)"));
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if(!fileName.isEmpty())
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{
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emit WPLoad(fileName);
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}
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}
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void MissionUI::on_pushButton_save_clicked()
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{
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QFileDialog *dlg = new QFileDialog();
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QString fileName = dlg->getSaveFileName(this, tr("Selete Way Point File..."),
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"./plan/",
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tr("plan file (*.plan)"));
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if(!fileName.isEmpty())
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{
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emit WPSave(fileName);
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}
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}
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void MissionUI::on_pushButton_upload_clicked()
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{
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emit WPUpload();
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}
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void MissionUI::on_pushButton_download_clicked()
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{
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emit WPDownload();
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}
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void MissionUI::on_pushButton_insert_clicked()
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{
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emit WPInsert();
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}
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void MissionUI::on_pushButton_delete_clicked()
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{
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//清除一下，
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emit WPDelete();
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}
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void MissionUI::on_pushButton_add_clicked()
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{
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emit WPAdd();
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}
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void MissionUI::on_pushButton_clean_clicked()
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{
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emit WPDeleteAll();
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}
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void MissionUI::itemSelectionChanged()
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{
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QTableWidget *widget = qobject_cast<QTableWidget *>(sender());
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int group = tablelist.key(widget);
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int idx = widget->currentRow() + 1;
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emit waypointSelect(group,idx);
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}
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void MissionUI::on_tableWidget_3_cellChanged(int row, int column)
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{
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QTableWidget *widget = qobject_cast<QTableWidget *>(sender());
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int group = tablelist.key(widget);
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int idx = widget->currentRow() + 1;
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qDebug() << group << row << column;
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/*
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switch (column) {//用列数判断参数类型
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case 0:
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break;
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case 1:
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emit setCommand(widget->item(row,column)->data(Qt::DisplayRole));
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break;
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case 2:
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emit setParam1(widget->item(row,column)->data(Qt::DisplayRole));
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break;
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case 3:
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emit setParam2(widget->item(row,column)->data(Qt::DisplayRole));
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break;
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case 4:
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emit setParam3(widget->item(row,column)->data(Qt::DisplayRole));
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break;
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case 5:
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emit setParam4(widget->item(row,column)->data(Qt::DisplayRole));
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break;
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case 6:
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emit setParam5(widget->item(row,column)->data(Qt::DisplayRole));
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break;
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case 7:
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emit setParam6(widget->item(row,column)->data(Qt::DisplayRole));
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break;
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case 8:
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emit setParam7(widget->item(row,column)->data(Qt::DisplayRole));
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break;
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default:
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break;
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}
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*/
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}
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void MissionUI::on_tableWidget_3_itemDoubleClicked(QTableWidgetItem *item)
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{
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QTableWidget *widget = qobject_cast<QTableWidget *>(sender());
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int group = tablelist.key(widget);
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int idx = widget->currentRow() + 1;
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int row=item->row();
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int column = item->column();
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if((column == 1)||(column == 2))//如果是第一个或者第二个，那么有操作
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{
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QVariant itemValue = item->data(Qt::DisplayRole);
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bool ok = false;
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qreal realValue = itemValue.toDouble(&ok);
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if(ok)//能够转成数字
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{
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if(column == 2)
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{
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QLineEdit *line = new QLineEdit(widget);
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line->setText(itemValue.toString());
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widget->removeCellWidget(row,column);
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widget->setCellWidget(row,column,line);
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opwidget = widget;
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opitem = item;
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connect(line,&QLineEdit::editingFinished,[=](){
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if(line)
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{
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QString str = line->text();
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emit setParam2(str);
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}
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});
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}
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}
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else//不能转成数字
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{
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if(column == 1)
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{
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QComboBox *cmdBox = new QComboBox(widget);
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cmdBox->addItem(tr("waypoint"),16);
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cmdBox->addItem(tr("return"),20);
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cmdBox->addItem(tr("landing"),21);
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cmdBox->addItem(tr("takeoff"),22);
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cmdBox->setCurrentIndex(cmdBox->findText(itemValue.toString()));
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widget->removeCellWidget(row,column);
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widget->setCellWidget(row,column,cmdBox);
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connect(cmdBox,&QComboBox::currentTextChanged,[=]{
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QString str = cmdBox->currentText();
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emit setCommand(str);//直接修改底层，让底层返回数据更新到界面
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});
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}
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else if(column == 2)
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{
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QComboBox *par1Box = new QComboBox(widget);
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par1Box->addItem(tr("保持"),0);
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par1Box->addItem(tr("表速"),-1);
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par1Box->addItem(tr("快升"),-2);
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par1Box->addItem(tr("开加力"),-3);
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par1Box->addItem(tr("关加力"),-4);
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par1Box->setCurrentIndex(par1Box->findText(itemValue.toString()));
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widget->removeCellWidget(row,column);
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widget->setCellWidget(row,column,par1Box);
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connect(par1Box,&QComboBox::currentTextChanged,[=]{
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QString str = par1Box->currentText();
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emit setParam1(str);
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});
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}
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}
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qDebug() << "clicked" << row << column << itemValue << ok;
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}
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else//后面的参数，应该都是数字
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{
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if(column == 0)//第一个不能编辑
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{
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return;
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}
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QVariant itemValue = item->data(Qt::DisplayRole);
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bool ok = false;
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qreal realValue = itemValue.toDouble(&ok);
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if(ok)//能够转成数字
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{
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QLineEdit *line = new QLineEdit(widget);
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line->setText(itemValue.toString());
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widget->removeCellWidget(row,column);
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widget->setCellWidget(row,column,line);
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opwidget = widget;
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opitem = item;
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if(column == 3)
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{
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connect(line,&QLineEdit::editingFinished,[=](){
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if(line)
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{
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QString str = line->text();
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emit setParam2(str);
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}
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});
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}
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else if(column == 4)
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{
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connect(line,&QLineEdit::editingFinished,[=](){
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if(line)
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{
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QString str = line->text();
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emit setParam3(str);
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}
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});
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}
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else if(column == 5)
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{
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connect(line,&QLineEdit::editingFinished,[=](){
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if(line)
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{
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QString str = line->text();
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emit setParam4(str);
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}
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});
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}
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else if(column == 6)
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{
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connect(line,&QLineEdit::editingFinished,[=](){
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if(line)
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{
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QString str = line->text();
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emit setParam5(str);
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}
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});
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}
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else if(column == 7)
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{
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connect(line,&QLineEdit::editingFinished,[=](){
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if(line)
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{
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QString str = line->text();
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emit setParam6(str);
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}
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});
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}
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else if(column == 8)
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{
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connect(line,&QLineEdit::editingFinished,[=](){
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if(line)
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{
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QString str = line->text();
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emit setParam7(str);
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}
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});
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}
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}
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else//不能转成数字
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{
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qDebug() << "input error";
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}
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}
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}
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void MissionUI::setCommandBox(int idx)
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{
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QComboBox *combox = qobject_cast<QComboBox *>(sender());
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QString str = combox->currentText();
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if(opwidget)
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{
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emit setCommand(str);//直接修改底层，让底层返回数据更新到界面
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}
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}
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void MissionUI::setParam1Box(int idx)
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{
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QComboBox *combox = qobject_cast<QComboBox *>(sender());
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QString str = combox->currentText();
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if(opwidget)
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{
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emit setParam1(str);
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}
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}
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