625 lines
17 KiB
C++
625 lines
17 KiB
C++
#include "CommandUI.h"
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#include "ui_CommandUI.h"
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#include "QtTextToSpeech/QtTextToSpeech"
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//逻辑搞清楚，需要优化
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const char* CommandUI::_versionJsonKey = "version";
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const char* CommandUI::_commentJsonKey = "comment";
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const char* CommandUI::_CommandButtonJsonKey = "CommandButton";
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const char* CommandUI::_WidthJsonKey = "Width";
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const char* CommandUI::_HeightJsonKey = "Height";
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const char* CommandUI::_dialogJsonKey = "Dialog";
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const char* CommandUI::_TextJsonKey = "Text";
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const char* CommandUI::_rowJsonKey = "row";
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const char* CommandUI::_columnJsonKey = "column";
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const char* CommandUI::_noticeJsonKey = "Notice";
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const char* CommandUI::_param1JsonKey = "param1";
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const char* CommandUI::_param2JsonKey = "param2";
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const char* CommandUI::_param3JsonKey = "param3";
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const char* CommandUI::_param4JsonKey = "param4";
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const char* CommandUI::_param5JsonKey = "param5";
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const char* CommandUI::_param6JsonKey = "param6";
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const char* CommandUI::_param7JsonKey = "param7";
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const char* CommandUI::_commandJsonKey = "command";
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const char* CommandUI::_confirmJsonKey = "confirm";
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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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//载入json
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loadCommandJson(CommandFile);
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ui->groupBox_Command->setTitle(tr("Command Version:") + QString::number(CMD_version));
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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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QPushButton *btn = new QPushButton(ui->groupBox_Command);
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btn->setText(info.toObject().find(_TextJsonKey).value().toString());
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btn->setFixedSize(CMDwidth,CMDheight);
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ui->gridLayout_Command->addWidget(btn,
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info.toObject().find(_rowJsonKey).value().toInt(),
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info.toObject().find(_columnJsonKey).value().toInt());
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btn->setProperty("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,SIGNAL(clicked(bool)),
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this,SLOT(on_commandClicked()));
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}
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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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QObjectList list = ui->groupBox_Command->children();
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foreach (QObject *obj, list) {
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QPushButton *btn = qobject_cast<QPushButton *>(obj);
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if(btn)
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{
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qreal width = btn->width();
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qreal height = btn->height();
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if(e->delta() > 0)
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{
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btn->resize(width - 1,height - 1);
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}
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else if(e->delta() < 0)
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{
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btn->resize(width + 1,height + 1);
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}
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}
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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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QObjectList olist = ui->groupBox_Command->children();
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foreach (QObject *obj, olist) {
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QPushButton *btn = qobject_cast<QPushButton *>(obj);
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if(btn)
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{
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disconnect(btn,SIGNAL(clicked(bool)),
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this,SLOT(on_commandClicked()));
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delete btn;
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}
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QLabel *lab = qobject_cast<QLabel *>(obj);
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if(lab)
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{
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delete lab;
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}
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}
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loadCommandJson(CommandFile);
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ui->groupBox_Command->setTitle(tr("Command Version:") + QString::number(CMD_version));
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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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QPushButton *btn = new QPushButton(ui->groupBox_Command);
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btn->setText(info.toObject().find(_TextJsonKey).value().toString());
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//btn->setMinimumSize(CMDwidth,CMDheight);
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//btn->resize(CMDwidth,CMDheight);
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btn->setFixedSize(CMDwidth,CMDheight);
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ui->gridLayout_Command->addWidget(btn,
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info.toObject().find(_rowJsonKey).value().toInt(),
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info.toObject().find(_columnJsonKey).value().toInt());
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btn->setProperty("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,SIGNAL(clicked(bool)),
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this,SLOT(on_commandClicked()));
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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::closeEvent(QCloseEvent *event)
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{
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setFloat();
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event->ignore();
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}
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void CommandUI::contextMenuEvent(QContextMenuEvent *event)
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{
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/*
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QMenu *menu = new QMenu(this);
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QAction *pAction = new QAction("float",this);
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connect(pAction,SIGNAL(triggered(bool)),
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this,SLOT(setFloat()));
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menu->addAction(pAction);
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menu->move(cursor().pos());
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menu->show();
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*/
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}
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void CommandUI::setFloat(void)
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{
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if(floatflag)
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{
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if(this->parent())
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{
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this->setParent(nullptr);
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}
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else
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{
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this->setParent(m_parent);
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this->move(0,0);
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}
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this->show();
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}
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}
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void CommandUI::setFloatFlag(bool flag)
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{
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floatflag = flag;
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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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QObjectList olist = ui->groupBox_Command->children();
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foreach (QObject *obj, olist) {
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QPushButton *btn = qobject_cast<QPushButton *>(obj);
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if(btn)
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{
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disconnect(btn,SIGNAL(clicked(bool)),
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this,SLOT(on_commandClicked()));
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delete btn;
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}
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QLabel *lab = qobject_cast<QLabel *>(obj);
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if(lab)
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{
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delete lab;
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}
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}
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loadCommandJson(CommandFile);
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ui->groupBox_Command->setTitle(tr("Command Version:") + QString::number(CMD_version));
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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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QPushButton *btn = new QPushButton(ui->groupBox_Command);
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btn->setText(info.toObject().find(_TextJsonKey).value().toString());
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btn->setFixedSize(CMDwidth,CMDheight);
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ui->gridLayout_Command->addWidget(btn,
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info.toObject().find(_rowJsonKey).value().toInt(),
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info.toObject().find(_columnJsonKey).value().toInt());
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btn->setProperty("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,SIGNAL(clicked(bool)),
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this,SLOT(on_commandClicked()));
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}
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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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CMD_version = json.value(_versionJsonKey).toInt();
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qDebug() << "command version :" << CMD_version;
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CMDwidth = json.value(_WidthJsonKey).toInt();
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CMDheight = json.value(_HeightJsonKey).toInt();
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QJsonValue jsonValue = json.value(_CommandButtonJsonKey);
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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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QObjectList list = ui->groupBox_Command->children();
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foreach (QObject *obj, list) {
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QPushButton *btn = qobject_cast<QPushButton *>(obj);
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if(btn)
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{
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if(btn->text() == m_name)
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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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}
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}
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}
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emit cmd_long(m_param1,m_param2,m_param3,m_param4,m_param5,m_param6,m_param7,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::on_commandClicked()
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{
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//找到消息的发送者
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QPushButton *btn = qobject_cast<QPushButton *>(sender());
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for(QJsonValue info: CMD_infoArray) {
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if (!info.isObject()) {
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return;
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}
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//找到id或者名字一样的按键，找到参数，发出去
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QString _name = info.toObject().find(_TextJsonKey).value().toString();
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QString _text = btn->text();
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if(_name == _text)
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{
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m_name = _name;
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m_param1 = info.toObject().find(_param1JsonKey).value().toDouble();
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m_param2 = info.toObject().find(_param2JsonKey).value().toDouble();
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m_param3 = info.toObject().find(_param3JsonKey).value().toDouble();
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m_param4 = info.toObject().find(_param4JsonKey).value().toDouble();
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m_param5 = info.toObject().find(_param5JsonKey).value().toDouble();
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m_param6 = info.toObject().find(_param6JsonKey).value().toDouble();
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m_param7 = info.toObject().find(_param7JsonKey).value().toDouble();
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m_command = info.toObject().find(_commandJsonKey).value().toInt();
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m_confirm = info.toObject().find(_confirmJsonKey).value().toInt();
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//如果confirm 不为0，那么弹出确认对话框
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if(info.toObject().find(_dialogJsonKey).value().toInt() != 0)
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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(info.toObject().find(_noticeJsonKey).value().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
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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,m_param2,m_param3,m_param4,m_param5,m_param6,m_param7,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
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<< m_param5
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<< m_param6
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<< m_param7
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<< m_command
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<< m_confirm;
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}
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}
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}
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void CommandUI::commandAccepted(bool flag,uint16_t command,uint8_t result)
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{
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bool isFundSender = false;
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QString string;
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//找到消息的发送者
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QObjectList list = ui->groupBox_Command->children();
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if(command == m_command)
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{
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foreach (QObject *obj, list)
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{
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QPushButton *btn = qobject_cast<QPushButton *>(obj);
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if(btn)
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{
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QString btn_name = btn->text();
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if(btn_name == m_name)//查到正在等待回复的按键
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{
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isFundSender = true;
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if(flag)
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{
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btn->setProperty("state",state::success);
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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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}
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switch (result) {
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case MAV_RESULT_ACCEPTED:
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string.append(tr("%1,%2 accepted and executed").arg(command).arg(btn_name));
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break;
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case MAV_RESULT_TEMPORARILY_REJECTED:
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string.append(tr("%1,%2 rejected").arg(command).arg(btn_name));
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break;
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case MAV_RESULT_DENIED:
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string.append(tr("%1,%2 permanently denied").arg(command).arg(btn_name));
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break;
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case MAV_RESULT_UNSUPPORTED:
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string.append(tr("%1,%2 unsupported").arg(command).arg(btn_name));
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break;
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case MAV_RESULT_FAILED:
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string.append(tr("%1,%2 failed").arg(command).arg(btn_name));
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break;
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case MAV_RESULT_IN_PROGRESS:
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string.append(tr("%1,%2 being executed").arg(command).arg(btn_name));
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break;
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default:
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break;
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}
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btn->style()->unpolish(btn);
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btn->style()->polish(btn);
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}
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}
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}
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}
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if(isFundSender == false)
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{
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switch (result) {
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case MAV_RESULT_ACCEPTED:
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string.append(tr("%1 accepted and executed").arg(command));
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break;
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case MAV_RESULT_TEMPORARILY_REJECTED:
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string.append(tr("%1 rejected").arg(command));
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break;
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case MAV_RESULT_DENIED:
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string.append(tr("%1 permanently denied").arg(command));
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break;
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case MAV_RESULT_UNSUPPORTED:
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string.append(tr("%1 unsupported").arg(command));
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break;
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case MAV_RESULT_FAILED:
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string.append(tr("%1 failed").arg(command));
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break;
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case MAV_RESULT_IN_PROGRESS:
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string.append(tr("%1 being executed").arg(command));
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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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QTextToSpeech *tts = new QTextToSpeech();
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tts->say(string);
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}
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//专门为航点设计的一个确认窗口
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void CommandUI::setCurrent(QVariant value)
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{
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if(value.toBool() == true)
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{
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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::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();
|
|
}
|
|
}
|
|
}
|