828 lines
26 KiB
C++
828 lines
26 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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setWindowFlags(windowFlags() | Qt::WindowStaysOnTopHint);
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//load qss
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QFile file(":/qss/propertyui.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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CustomButton *btn_load = new CustomButton(this);
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CustomButton *btn_save = new CustomButton(this);
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CustomButton *btn_upload = new CustomButton(this);
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CustomButton *btn_download = new CustomButton(this);
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CustomButton *btn_insert = new CustomButton(this);
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CustomButton *btn_delete = new CustomButton(this);
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CustomButton *btn_clean = new CustomButton(this);
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CustomButton *btn_add = new CustomButton(this);
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btn_load->setText(tr("load"));
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btn_save->setText(tr("save"));
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btn_upload->setText(tr("upload"));
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btn_download->setText(tr("download"));
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btn_insert->setText(tr("insert"));
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btn_delete->setText(tr("delete"));
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btn_clean->setText(tr("clean"));
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btn_add->setText(tr("add"));
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btn_load->setFixedSize(80,40);
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btn_save->setFixedSize(80,40);
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btn_upload->setFixedSize(80,40);
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btn_download->setFixedSize(80,40);
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btn_insert->setFixedSize(80,40);
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btn_delete->setFixedSize(80,40);
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btn_clean->setFixedSize(80,40);
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btn_add->setFixedSize(80,40);
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ui->gridLayout_btn->addWidget(btn_load, 0,0,1,1);
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ui->gridLayout_btn->addWidget(btn_save, 1,0,1,1);
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ui->gridLayout_btn->addWidget(btn_upload, 2,0,1,1);
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ui->gridLayout_btn->addWidget(btn_download,3,0,1,1);
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ui->gridLayout_btn->addWidget(btn_insert, 4,0,1,1);
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ui->gridLayout_btn->addWidget(btn_delete, 5,0,1,1);
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ui->gridLayout_btn->addWidget(btn_clean, 6,0,1,1);
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ui->gridLayout_btn->addWidget(btn_add, 7,0,1,1);
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ui->gridLayout_btn->setRowStretch(8,1);
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connect(btn_load,&CustomButton::clicked,[=](){
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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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connect(btn_save,&CustomButton::clicked,[=](){
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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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connect(btn_upload,&CustomButton::clicked,[=](){
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emit WPUpload();
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});
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connect(btn_download,&CustomButton::clicked,[=](){
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QTableWidget *widget;
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int tab_idx =ui->tabWidget->currentIndex();
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switch (tab_idx) {
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case 0:
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widget = tablelist.value(1);
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break;
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case 1:
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widget = tablelist.value(3);
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break;
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case 2:
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widget = tablelist.value(4);
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break;
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case 3:
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widget = tablelist.value(5);
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break;
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case 4:
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widget = tablelist.value(6);
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break;
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default:
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break;
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}
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while (widget->rowCount() > 0) {
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widget->removeRow(widget->currentRow());
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}
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emit WPDownload();
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});
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connect(btn_insert,&CustomButton::clicked,[=](){
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emit WPInsert();
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int group = 3;
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//根据tabwidget
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int tab_idx =ui->tabWidget->currentIndex();
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switch (tab_idx) {
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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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//删除完成后，刷新一次所有航点
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emit getAllPoints(group);
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});
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connect(btn_delete,&CustomButton::clicked,[=](){
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QTableWidget *widget;
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//根据tabwidget
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int tab_idx =ui->tabWidget->currentIndex();
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switch (tab_idx) {
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case 0:
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widget = tablelist.value(1);
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break;
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case 1:
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widget = tablelist.value(3);
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break;
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case 2:
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widget = tablelist.value(4);
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break;
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case 3:
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widget = tablelist.value(5);
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break;
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case 4:
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widget = tablelist.value(6);
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break;
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default:
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break;
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}
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int idx = widget->currentRow();
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widget->removeRow(idx);
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emit WPDelete();
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//删除完成后，刷新一次所有航点
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emit getAllPoints(tablelist.key(widget));
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});
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connect(btn_clean,&CustomButton::clicked,[=](){
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QTableWidget *widget;
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//根据tabwidget
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int tab_idx =ui->tabWidget->currentIndex();
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switch (tab_idx) {
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case 0:
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widget = tablelist.value(1);
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break;
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case 1:
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widget = tablelist.value(3);
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break;
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case 2:
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widget = tablelist.value(4);
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break;
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case 3:
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widget = tablelist.value(5);
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break;
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case 4:
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widget = tablelist.value(6);
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break;
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default:
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break;
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}
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while (widget->rowCount() > 0) {
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widget->removeRow(widget->currentRow());
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}
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emit WPDeleteAll();
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});
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connect(btn_add,&CustomButton::clicked,[=](){
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emit WPAdd();
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int group = 3;
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int tab_idx =ui->tabWidget->currentIndex();
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switch (tab_idx) {
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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 getAllPoints(group);
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});
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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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if(tablelist.key(table) == 1)//围栏
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{
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table->setColumnCount(5); //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->setSelectionMode ( QAbstractItemView::SingleSelection); //设置选择模式，选择单行
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table->setAlternatingRowColors(true);
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table->setEditTriggers(QAbstractItemView::NoEditTriggers);//不能编辑
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table->setMouseTracking(true);
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table->setFocus();
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table->setFocusPolicy(Qt::StrongFocus);
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table->setStyleSheet("QTableWidget::item:selected { background-color: rgb(85, 255, 127); color: rgb(255, 255, 255); } ");
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table->setColumnWidth(0,200); //设置第1列的列宽(group)
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table->setColumnWidth(1,200); //设置第2列的列宽(par1)
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table->setColumnWidth(2,150); //设置第3列的列宽(par2)
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table->setColumnWidth(3,150); //设置第4列的列宽(lat)
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table->setColumnWidth(4,150); //设置第5列的列宽(lng)
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table->setHorizontalHeaderLabels(QStringList() <<tr("group")<<tr("inclusion")<<tr("par")<<tr("lat")<<tr("lng"));
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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->setDefaultAlignment(Qt::AlignLeft); //表头信息显示居中靠左
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H_headerView->setHighlightSections(false); //不高亮选中内容的所在列标题
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H_headerView->setStretchLastSection(true);
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connect(table,&QTableWidget::itemSelectionChanged,
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this,&MissionUI::itemSelectionChanged);
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connect(table,&QTableWidget::itemDoubleClicked,
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this,&MissionUI::itemDoubleClicked);
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connect(table,&QTableWidget::itemClicked,
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this,&MissionUI::itemClicked);
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}
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else
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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->setSelectionMode ( QAbstractItemView::SingleSelection); //设置选择模式，选择单行
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table->setAlternatingRowColors(true);
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table->setEditTriggers(QAbstractItemView::NoEditTriggers);//不能编辑
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table->setMouseTracking(true);
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table->setFocus();
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table->setFocusPolicy(Qt::StrongFocus);
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table->setStyleSheet("QTableWidget::item:selected { background-color: rgb(85, 255, 127); color: rgb(255, 255, 255); } ");
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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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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->setDefaultAlignment(Qt::AlignLeft); //表头信息显示居中靠左
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H_headerView->setHighlightSections(false); //不高亮选中内容的所在列标题
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H_headerView->setStretchLastSection(true);
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connect(table,&QTableWidget::itemSelectionChanged,
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this,&MissionUI::itemSelectionChanged);
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connect(table,&QTableWidget::itemDoubleClicked,
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this,&MissionUI::itemDoubleClicked);
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connect(table,&QTableWidget::itemClicked,
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this,&MissionUI::itemClicked);
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}
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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("航点");
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break;
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case 20:
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cmdName = tr("返航");
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break;
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case 21:
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cmdName = tr("降落");
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break;
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case 22:
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cmdName = tr("起飞");
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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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break;
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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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}
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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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widget->selectRow(idx - 1);
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}
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//settableGroup(group);//切换会引起变化事件，导致重新刷新
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}
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void MissionUI::settableGroup(int group)
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{
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int index = 0;
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switch (group) {
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case 1:
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index = 0;
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break;
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case 3:
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index = 1;
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break;
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case 4:
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index = 2;
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break;
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case 5:
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index = 3;
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break;
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case 6:
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index = 4;
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break;
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default:
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break;
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}
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ui->tabWidget->setCurrentIndex(index);
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}
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void MissionUI::on_tabWidget_tabBarClicked(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;
|
|
case 4:
|
|
group = 6;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
QTableWidget *widget = tablelist.value(group);
|
|
int idx = widget->currentRow() + 1;
|
|
|
|
qDebug() << "tabWidget_currentChanged" << group << idx;
|
|
|
|
emit waypointSelect(group,idx);
|
|
}
|
|
|
|
|
|
void MissionUI::on_tabWidget_currentChanged(int index)
|
|
{
|
|
int group = 3;
|
|
|
|
switch (index) {
|
|
case 0:
|
|
group = 1;
|
|
break;
|
|
case 1:
|
|
group = 3;
|
|
break;
|
|
case 2:
|
|
group = 4;
|
|
break;
|
|
case 3:
|
|
group = 5;
|
|
break;
|
|
case 4:
|
|
group = 6;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
QTableWidget *widget = tablelist.value(group);
|
|
int idx = widget->currentRow() + 1;
|
|
|
|
qDebug() << "tabWidget_currentChanged" << group << idx;
|
|
|
|
//emit waypointSelect(group,idx);
|
|
}
|
|
|
|
void MissionUI::itemSelectionChanged()
|
|
{
|
|
QTableWidget *widget = qobject_cast<QTableWidget *>(sender());
|
|
int group = tablelist.key(widget);
|
|
int idx = widget->currentRow() + 1;
|
|
|
|
qDebug() << "itemSelectionChanged" << group << idx;
|
|
|
|
//emit waypointSelect(group,idx);
|
|
|
|
}
|
|
|
|
void MissionUI::itemClicked(QTableWidgetItem *item)
|
|
{
|
|
QTableWidget *widget = qobject_cast<QTableWidget *>(sender());
|
|
int group = tablelist.key(widget);
|
|
int idx = widget->currentRow() + 1;
|
|
|
|
emit waypointSelect(group,idx);//告诉底层要切换航点，切换航点后，会对表格进行设置，这个有问题，会导致表格重复刷新
|
|
}
|
|
|
|
|
|
void MissionUI::itemDoubleClicked(QTableWidgetItem *item)
|
|
{
|
|
QTableWidget *widget = qobject_cast<QTableWidget *>(sender());
|
|
int group = tablelist.key(widget);
|
|
int idx = widget->currentRow() + 1;
|
|
|
|
//emit waypointSelect(group,idx);//切换过去
|
|
|
|
int row=item->row();
|
|
int column = item->column();
|
|
|
|
if((column == 1)||(column == 2))//如果是第一个或者第二个，那么有操作
|
|
{
|
|
QVariant itemValue = item->data(Qt::DisplayRole);
|
|
|
|
bool ok = false;
|
|
qreal realValue = itemValue.toDouble(&ok);
|
|
|
|
if(ok)//能够转成数字
|
|
{
|
|
if(column == 2)
|
|
{
|
|
QLineEdit *line = new QLineEdit(widget);
|
|
line->setStyleSheet("background-color: #FFFFFF;font :15px 黑体;");
|
|
line->setText(itemValue.toString());
|
|
|
|
widget->removeCellWidget(row,column);
|
|
widget->setCellWidget(row,column,line);
|
|
|
|
opwidget = widget;
|
|
opitem = item;
|
|
connect(line,&QLineEdit::editingFinished,[=](){
|
|
if(line)
|
|
{
|
|
QString str = line->text();
|
|
bool ok = false;
|
|
str.toDouble(&ok);
|
|
if(ok)
|
|
{
|
|
widget->removeCellWidget(row,column);
|
|
emit setParam1(str);//能够正常转换成数字再修改
|
|
}
|
|
}
|
|
});
|
|
}
|
|
}
|
|
else//不能转成数字
|
|
{
|
|
if(column == 1)
|
|
{
|
|
QComboBox *combox = new QComboBox(widget);
|
|
combox->addItem(tr("航点"),16);
|
|
combox->addItem(tr("返航"),20);
|
|
combox->addItem(tr("降落"),21);
|
|
combox->addItem(tr("起飞"),22);
|
|
combox->setCurrentIndex(combox->findText(itemValue.toString()));
|
|
combox->setStyleSheet("background-color: #FFFFFF;font :15px 黑体;");
|
|
|
|
widget->removeCellWidget(row,column);
|
|
widget->setCellWidget(row,column,combox);
|
|
|
|
connect(combox,&QComboBox::currentTextChanged,[=]{
|
|
QString str = combox->currentText();
|
|
widget->removeCellWidget(row,column);
|
|
emit setCommand(str);//直接修改底层，让底层返回数据更新到界面
|
|
});
|
|
|
|
connect(combox,&QComboBox::editTextChanged,[=]{
|
|
QString str = combox->currentText();
|
|
widget->removeCellWidget(row,column);
|
|
emit setCommand(str);//直接修改底层，让底层返回数据更新到界面
|
|
});
|
|
}
|
|
else if(column == 2)
|
|
{
|
|
QComboBox *combox = new QComboBox(widget);
|
|
combox->addItem(tr("保持"),0);
|
|
combox->addItem(tr("表速"),-1);
|
|
combox->addItem(tr("快升"),-2);
|
|
combox->addItem(tr("开加力"),-3);
|
|
combox->addItem(tr("关加力"),-4);
|
|
combox->setCurrentIndex(combox->findText(itemValue.toString()));
|
|
combox->setStyleSheet("background-color: #FFFFFF;font :15px 黑体;");
|
|
|
|
widget->removeCellWidget(row,column);
|
|
widget->setCellWidget(row,column,combox);
|
|
|
|
connect(combox,&QComboBox::currentTextChanged,[=]{
|
|
QString str = combox->currentText();
|
|
widget->removeCellWidget(row,column);
|
|
emit setParam1(str);
|
|
});
|
|
}
|
|
}
|
|
|
|
qDebug() << "clicked" << row << column << itemValue << ok;
|
|
}
|
|
else//后面的参数，应该都是数字
|
|
{
|
|
if(column == 0)//第一个不能编辑
|
|
{
|
|
return;
|
|
}
|
|
|
|
QVariant itemValue = item->data(Qt::DisplayRole);
|
|
|
|
bool ok = false;
|
|
qreal realValue = itemValue.toDouble(&ok);
|
|
|
|
if(ok)//能够转成数字
|
|
{
|
|
QLineEdit *line = new QLineEdit(widget);
|
|
line->setStyleSheet("background-color: #FFFFFF;font :15px 黑体;");
|
|
line->setText(itemValue.toString());
|
|
widget->removeCellWidget(row,column);
|
|
widget->setCellWidget(row,column,line);
|
|
|
|
opwidget = widget;
|
|
opitem = item;
|
|
|
|
if(column == 3)
|
|
{
|
|
connect(line,&QLineEdit::editingFinished,[=](){
|
|
if(line)
|
|
{
|
|
QString str = line->text();
|
|
bool ok = false;
|
|
str.toDouble(&ok);
|
|
if(ok)
|
|
{
|
|
widget->removeCellWidget(row,column);
|
|
emit setParam2(str);//能够正常转换成数字再修改
|
|
}
|
|
}
|
|
});
|
|
}
|
|
else if(column == 4)
|
|
{
|
|
connect(line,&QLineEdit::editingFinished,[=](){
|
|
if(line)
|
|
{
|
|
QString str = line->text();
|
|
bool ok = false;
|
|
str.toDouble(&ok);
|
|
if(ok)
|
|
{
|
|
widget->removeCellWidget(row,column);
|
|
emit setParam3(str);//能够正常转换成数字再修改
|
|
}
|
|
}
|
|
});
|
|
}
|
|
else if(column == 5)
|
|
{
|
|
connect(line,&QLineEdit::editingFinished,[=](){
|
|
if(line)
|
|
{
|
|
QString str = line->text();
|
|
bool ok = false;
|
|
str.toDouble(&ok);
|
|
if(ok)
|
|
{
|
|
widget->removeCellWidget(row,column);
|
|
emit setParam4(str);//能够正常转换成数字再修改
|
|
}
|
|
}
|
|
});
|
|
}
|
|
else if(column == 6)
|
|
{
|
|
connect(line,&QLineEdit::editingFinished,[=](){
|
|
if(line)
|
|
{
|
|
QString str = line->text();
|
|
bool ok = false;
|
|
str.toDouble(&ok);
|
|
if(ok)
|
|
{
|
|
widget->removeCellWidget(row,column);
|
|
emit setParam5(str);//能够正常转换成数字再修改
|
|
}
|
|
}
|
|
});
|
|
}
|
|
else if(column == 7)
|
|
{
|
|
connect(line,&QLineEdit::editingFinished,[=](){
|
|
if(line)
|
|
{
|
|
QString str = line->text();
|
|
bool ok = false;
|
|
str.toDouble(&ok);
|
|
if(ok)
|
|
{
|
|
widget->removeCellWidget(row,column);
|
|
emit setParam6(str);//能够正常转换成数字再修改
|
|
}
|
|
}
|
|
});
|
|
}
|
|
else if(column == 8)
|
|
{
|
|
connect(line,&QLineEdit::editingFinished,[=](){
|
|
if(line)
|
|
{
|
|
QString str = line->text();
|
|
bool ok = false;
|
|
str.toDouble(&ok);
|
|
if(ok)
|
|
{
|
|
widget->removeCellWidget(row,column);
|
|
emit setParam7(str);//能够正常转换成数字再修改
|
|
}
|
|
}
|
|
});
|
|
}
|
|
}
|
|
else//不能转成数字
|
|
{
|
|
qDebug() << "input error";
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|