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EJM_Display/Pages/P01_MianPage.cpp

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#include "P01_MianPage.h"
#include "ui_P01_MianPage.h"
#include <QDebug>
#include <QMovie>
#include <QDir>
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#include <QVBoxLayout>
#include <QTimer>
#include <GlobalDefinitions/Variable.h>
#include <QImage>
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#include <QLabel>
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#include <QPainter>
#include <QPen>
#include <QImage>
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int TransportPosMaxX = 0;
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int TransportPosMaxY = 0;
int OldRollerPos[2][2]={{0,0},{0,0}};
QImage Brush[2];
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P01_MianPage::P01_MianPage(QWidget *parent) :
QWidget(parent),
ui(new Ui::P01_MianPage)
{
ui->setupUi(this);
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QTimer::singleShot(10, this, &P01_MianPage::PageInit);
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// QTimer::singleShot(1000, this, &P01_MianPage::Show3D);
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}
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void P01_MianPage::PageInit()
{
QPixmap pix(":/Icos/Icos/Sursor.png");
QCursor custom(pix, pix.width()/2, pix.height()/2);
setCursor(custom);
setWindowFlag(Qt::FramelessWindowHint); // 设置窗口无边框，设置后窗口无法移动
uiInitTransportPos(85,85);
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QMovie *MLoading = new QMovie(ConfigurationPath + "Gif动画/Radar.gif");
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//qDebug() << "当前工作文件夹:" << QDir::currentPath();
ui->Gif_Radar->setMovie(MLoading); // 1. 设置要显示的 GIF 动画图片
ui->Gif_Radar->setScaledContents(true);
MLoading->start(); // 2. 启动动画
ui->Gif_Radar->show();
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//所用定时器初始化
QTimer* UIRefresh_Timer = new QTimer(this);
connect(UIRefresh_Timer, &QTimer::timeout, this, &P01_MianPage::UIRefreshTimeOut);
UIRefresh_Timer->setInterval(100); // 设置定时器间隔为 1000 毫秒（1 秒）
UIRefresh_Timer->start();
//所用定时器初始化
QTimer* TrailRefresh_Timer = new QTimer(this);
connect(TrailRefresh_Timer, &QTimer::timeout, this, &P01_MianPage::TrailRefreshTimeOut);
TrailRefresh_Timer->setInterval(1000); // 设置定时器间隔为 1000 毫秒（1 秒）
TrailRefresh_Timer->start();
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}
P01_MianPage::~P01_MianPage()
{
delete ui;
}
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void P01_MianPage::Show3D()
{
// 初始化加载状态
m_loadingStep = 0;
m_modelPreprocessResults.clear();
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// 初始化3D加载器
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DevName3D = "整机装配";
mObjLoader = new ObjLoader();
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mObjLoader->setEnDebug(true);
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mObjLoader->init3DScene(ui->Frame_Dev3D);
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mObjLoader->setCameraSpeed(200.0, 200.0);
// 修复：正确初始化QStringList（移除错误的=号赋值方式）
m_pendingDevices << "整机装配"
<< "运输机"
<< "截割部"
<< "左装载机"
<< "右装载机"
<< "滚筒";
// 创建工作线程用于预处理
m_workerThread = new QThread(this);
m_workerLoader = new ObjLoader();
m_workerLoader->moveToThread(m_workerThread);
// 连接预处理完成信号（确保ObjLoader类中已声明preprocessDone信号）
connect(m_workerLoader, SIGNAL(preprocessDone(QString, QVector3D, float)),
this, SLOT(onPreprocessResult(QString, QVector3D, float)));
// 处理单个设备预处理完成
connect(this, &P01_MianPage::preprocessFinished, this, &P01_MianPage::onPreprocessFinished);
// 设置相机位置
Qt3DRender::QCamera* cam = mObjLoader->getCamera();
if (cam) {
//"相机位置: (X: 15.0894, Y: 12.8326, Z: 13.1512)"
//"看向位置: (X: 3.9284, Y: 0.3222, Z: 0.0456)"
//"视野角度: 25.0°"
cam->setPosition(QVector3D(15.0894, 12.8326, 13.1512));
cam->setViewCenter(QVector3D(3.9284,0.3222, 0.0456));
}
// 所有设备加载完成
connect(this, &P01_MianPage::allDevicesLoaded, this, [=]() {
// 清理工作线程
m_workerThread->quit();
m_workerThread->wait();
m_workerLoader->deleteLater();
// 启动旋转定时器
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QTimer *RotateDev_Timer = new QTimer(this);
connect(RotateDev_Timer, &QTimer::timeout, this, &P01_MianPage::RotateDev);
RotateDev_Timer->setInterval(33);
RotateDev_Timer->start();
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});
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// 启动工作线程并开始预处理
m_workerThread->start();
QMetaObject::invokeMethod(m_workerLoader, "preprocessDevices", Qt::QueuedConnection,
Q_ARG(QStringList, m_pendingDevices),
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Q_ARG(QString, ConfigurationPath + "3D模型文件/掘锚一体机/本体/"));
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}
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// 新增：接收预处理结果的槽函数
void P01_MianPage::onPreprocessResult(const QString& deviceName, QVector3D center, float radius)
{
m_modelPreprocessResults[deviceName] = QPair<QVector3D, float>(center, radius);
emit preprocessFinished(deviceName);
}
void P01_MianPage::onPreprocessFinished(const QString& deviceName)
{
// 检查是否是当前需要加载的设备
if (m_loadingStep >= m_pendingDevices.size()) return;
if (m_pendingDevices[m_loadingStep] != deviceName) return;
// 获取预处理结果
auto result = m_modelPreprocessResults[deviceName];
QVector3D modelCenter = result.first;
float modelRadius = result.second;
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QString filePath = ConfigurationPath + "3D模型文件/掘锚一体机/本体/" + deviceName + ".obj";
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// 关键优化：使用定时器将加载操作拆分为小步骤，避免阻塞主线程
QTimer::singleShot(10, this, [=]() {
bool LoaderOK = false;
// 第一步：只执行最核心的加载操作（创建实体）
switch (m_loadingStep) {
case 0: // 整机装配
LoaderOK = mObjLoader->loadDevice(deviceName, filePath, QVector3D(0, 0, 0));
if (LoaderOK) {
mObjLoader->getDevice(deviceName)->modelCenter = modelCenter;
}
break;
case 1: // 运输机
LoaderOK = mObjLoader->loadChildDevice(deviceName, filePath, "整机装配", QVector3D(0,0,0), QColor(0,255,0,80));
if (LoaderOK) {
mObjLoader->getDevice(deviceName)->modelCenter = modelCenter;
}
break;
case 2: // 截割部
LoaderOK = mObjLoader->loadChildDevice(deviceName, filePath, "整机装配", QVector3D(0,0,0), QColor(0,255,0,80));
if (LoaderOK) {
mObjLoader->getDevice(deviceName)->modelCenter = modelCenter;
}
break;
case 3: // 左装载机
LoaderOK = mObjLoader->loadChildDevice(deviceName, filePath, "整机装配", QVector3D(0,0,0), QColor(46, 47, 48,80));
if (LoaderOK) {
mObjLoader->getDevice(deviceName)->modelCenter = modelCenter;
}
break;
case 4: // 右装载机
LoaderOK = mObjLoader->loadChildDevice(deviceName, filePath, "整机装配", QVector3D(0,0,0), QColor(46, 47, 48,80));
if (LoaderOK) {
mObjLoader->getDevice(deviceName)->modelCenter = modelCenter;
}
break;
case 5: // 滚筒
LoaderOK = mObjLoader->loadChildDevice(deviceName, filePath, "截割部", QVector3D(0,0,0), QColor(46, 47, 48,80));
if (LoaderOK) {
mObjLoader->getDevice(deviceName)->modelCenter = modelCenter;
}
break;
}
if (!LoaderOK) {
// 加载失败处理
m_loadingStep++;
return;
}
// 第二步：延迟执行缩放操作（10ms后）
QTimer::singleShot(10, this, [=]() {
switch (m_loadingStep) {
case 0: mObjLoader->scaleDevice(deviceName, 0.001f); break;
case 1: mObjLoader->scaleDevice(deviceName, 0.001f); break;
case 2: mObjLoader->scaleDevice(deviceName, 0.001f); break;
case 3: mObjLoader->scaleDevice(deviceName, 0.001f); break;
case 4: mObjLoader->scaleDevice(deviceName, 0.001f); break;
case 5: mObjLoader->scaleDevice(deviceName, 0.001f); break;
}
// 第三步：延迟执行坐标轴和位置设置（再10ms后）
QTimer::singleShot(10, this, [=]() {
switch (m_loadingStep) {
case 0: // 整机装配
//mObjLoader->addAxisGizmo(nullptr, 5.0f);
//mObjLoader->addAxisGizmo(mObjLoader->getDevice(deviceName)->entity, 3.0f);
mObjLoader->setParentDevicePosition(deviceName, QVector3D(-33.394, 1021.68, 190.52));
mObjLoader->moveArmLocalOriginTo(deviceName, QVector3D(0, 0, 0));
break;
case 1: // 运输机
//mObjLoader->addAxisGizmo(mObjLoader->getDevice(deviceName)->entity, 3.0f);
mObjLoader->setParentDevicePosition(deviceName, QVector3D(0,617.183, 95239.7));
mObjLoader->moveArmLocalOriginTo(deviceName, QVector3D(0,1,96.48));
mObjLoader->adjustChildDeviceOffset(deviceName, QVector3D(-3.61, 1.25, 0.25));
mObjLoader->rotateArmToAbsoluteYAngle(deviceName, 90);
break;
case 2: // 截割部
//mObjLoader->addAxisGizmo(mObjLoader->getDevice(deviceName)->entity, 5.0f);
mObjLoader->setParentDevicePosition(deviceName, QVector3D(0, -3633.7, 4141.31));
mObjLoader->moveArmLocalOriginTo(deviceName, QVector3D(0, -2.9800, 1.3800));
mObjLoader->adjustChildDeviceOffset(deviceName, QVector3D(0.5000, 0.7100, 0.2500));
mObjLoader->rotateArmToAbsoluteYAngle(deviceName, 90);
break;
case 3: // 左装载机
//mObjLoader->addAxisGizmo(mObjLoader->getDevice(deviceName)->entity, 5.0f);
mObjLoader->setParentDevicePosition(deviceName, QVector3D(33.5, -42.4635, -11.9246));
mObjLoader->moveArmLocalOriginTo(deviceName, QVector3D(0, 0, 0));
mObjLoader->setParentDevicePosition(deviceName, QVector3D(4.0300, -0.3500, 1.5400));
mObjLoader->rotateArmToAbsoluteZAngle(deviceName, 45);
break;
case 4: // 右装载机
//mObjLoader->addAxisGizmo(mObjLoader->getDevice(deviceName)->entity, 5.0f);
mObjLoader->setParentDevicePosition(deviceName, QVector3D(33.5, -42.4635, 11.9246));
mObjLoader->moveArmLocalOriginTo(deviceName, QVector3D(0, 0, 0));
mObjLoader->setParentDevicePosition(deviceName, QVector3D(4.0300, -0.3500, -0.9300));
mObjLoader->rotateArmToAbsoluteZAngle(deviceName, 45);
break;
case 5: // 滚筒
mObjLoader->rotateDevice(deviceName,10260,0,0);
//mObjLoader->addAxisGizmo(mObjLoader->getDevice(deviceName)->entity, 10.0f);
mObjLoader->setParentDevicePosition(deviceName, QVector3D(-0.927338, 2800, 1.00699));
mObjLoader->moveArmLocalOriginTo(deviceName, QVector3D(1.0050, 4.2200, 0.5000));
mObjLoader->adjustChildDeviceOffset(deviceName, QVector3D(0, 0, 0));
mObjLoader->moveArmLocalOriginTo(deviceName, QVector3D(0, -10, 0));
mObjLoader->rotateArmToAbsoluteZAngle(deviceName, 90);
mObjLoader->adjustChildDeviceOffset(deviceName, QVector3D(4.2000, -1.600, 5.0000));
mObjLoader->rotateArmToAbsoluteXAngle(deviceName, 1);
break;
}
// 延迟加载下一个设备，给主线程足够时间处理UI事件
QTimer::singleShot(100, this, [=]() {
m_loadingStep++;
if (m_loadingStep < m_pendingDevices.size()) {
QString nextDevice = m_pendingDevices[m_loadingStep];
QMetaObject::invokeMethod(m_workerLoader, "preprocessSingleDevice", Qt::QueuedConnection,
Q_ARG(QString, nextDevice),
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Q_ARG(QString, ConfigurationPath + "3D模型文件/掘锚一体机/本体/"));
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} else {
emit allDevicesLoaded();
}
});
});
});
});
}
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uint32_t TCount =0 ;
void P01_MianPage::UIRefreshTimeOut()
{
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if(gPageIndexStr != "P01")
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return;
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uint32_t TmpBools[10];
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TmpBools[0] = getNodeValue("PageBOOLS.B0") .toUInt();
TmpBools[1] = getNodeValue("PageBOOLS.B1") .toUInt();
TmpBools[2] = getNodeValue("PageBOOLS.B2") .toUInt();
TmpBools[3] = getNodeValue("PageBOOLS.B3") .toUInt();
TmpBools[4] = getNodeValue("PageBOOLS.B4") .toUInt();
TmpBools[5] = getNodeValue("PageBOOLS.B5") .toUInt();
TmpBools[6] = getNodeValue("PageBOOLS.B6") .toUInt();
TmpBools[7] = getNodeValue("PageBOOLS.B7") .toUInt();
TmpBools[8] = getNodeValue("PageBOOLS.B8") .toUInt();
TmpBools[9] = getNodeValue("PageBOOLS.B9") .toUInt();
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//杂进度条显示
QStringList LevelCor = {"rgb(255, 0, 0)","rgb(255, 0, 0)","rgb(0, 255, 0)","rgb(0, 255, 255)"};
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ProgressBar_LCD(ui->PB_SpareTemp,ui->LCD_SpareTemp,"PB_SpareTemp.PageGroup","IN_Sersor.SpareTemp",glMotorTempColor);
ProgressBar_LCD(ui->PB_OilLevel,ui->LCD_OilLevel,"PB_OilLevel.PageGroup","IN_Sersor.OilLevel",LevelCor);
ProgressBar_LCD(ui->PB_OilTemp,ui->LCD_OilTemp,"PB_OilTemp.PageGroup","IN_Sersor.OilTemp",glMotorTempColor);
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QStringList NullColor = {"rgb(0, 255, 255)","rgb(0, 255, 255)","rgb(0, 255, 255)","rgb(0, 255, 255)"};
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ProgressBar_LCD(ui->PB_PressurePump_1,ui->LCD_PressurePump_1,"PB_PressurePump1.PageGroup","IN_Sersor.Pressure_Pump1",NullColor);
ProgressBar_LCD(ui->PB_PressurePump_2,ui->LCD_PressurePump_2,"PB_PressurePump2.PageGroup","IN_Sersor.Pressure_Pump2",NullColor);
ProgressBar_LCD(ui->PB_PressurePump_3,ui->LCD_PressurePump_3,"PB_PressurePump3.PageGroup","IN_Sersor.Pressure_Pump3",NullColor);
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// 编码器数值显示
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ui->LCD_EncoderL->display(QString::number(getNodeValue("IN_Encoder.EncoderL") .toUInt()));
ui->LCD_EncoderR->display(QString::number(getNodeValue("IN_Encoder.EncoderR") .toUInt()));
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// 急停的显示
for (uint8_t i=0;i<12;i++) {
QString TextObjName = QString("Led_EStop_%1").arg(i);
QLabel* Label = findChild<QLabel*>(TextObjName);
if (Label) {
SetStyleStr(Label,getBitOf32Data(TmpBools[0], i,false),"color: rgb(255, 0, 0);","color: rgb(0, 255, 0);");
}
}
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// ESR状态显示
SetStyleStr(ui->Status_IESR_1,getBitOf32Data(TmpBools[0], 12,false),"border-image: url(:/Icos/Icos/LED2_Green.png);","border-image: url(:/Icos/Icos/LED1_Rad.png);");
SetStyleStr(ui->Status_IESR_2,getBitOf32Data(TmpBools[0], 13,false),"border-image: url(:/Icos/Icos/LED2_Green.png);","border-image: url(:/Icos/Icos/LED1_Rad.png);");
SetStyleStr(ui->Status_QESR_1,getBitOf32Data(TmpBools[0], 14,false),"border-image: url(:/Icos/Icos/LED2_Green.png);","border-image: url(:/Icos/Icos/LED3_Rad (2).png);");
SetStyleStr(ui->Status_QESR_2,getBitOf32Data(TmpBools[0], 15,false),"border-image: url(:/Icos/Icos/LED2_Green.png);","border-image: url(:/Icos/Icos/LED3_Rad (2).png);");
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//传感器及阀控模块输出的显示
SetStyleStr(ui->Status_P1_1,getBitOf32Data(TmpBools[2], 1,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P1_2,getBitOf32Data(TmpBools[2], 3,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P1_3,getBitOf32Data(TmpBools[2], 5,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P1_4,getBitOf32Data(TmpBools[2], 4,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P1_5,getBitOf32Data(TmpBools[1], 23,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P1_6,getBitOf32Data(TmpBools[2], 0,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P2_1,getBitOf32Data(TmpBools[1], 22,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P2_2,getBitOf32Data(TmpBools[1], 30,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P2_3,getBitOf32Data(TmpBools[1], 21,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P2_4,getBitOf32Data(TmpBools[1], 20,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P2_5,getBitOf32Data(TmpBools[1], 29,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P3_1,getBitOf32Data(TmpBools[1], 24,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P3_2,getBitOf32Data(TmpBools[1], 25,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P3_3,getBitOf32Data(TmpBools[1], 26,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P3_4,getBitOf32Data(TmpBools[1], 27,false),"color: rgb(0, 255, 0);","");
SetStyleStr(ui->Status_P3_5,getBitOf32Data(TmpBools[1], 28,false),"color: rgb(0, 255, 0);","");
//油缸伸缩状态显示
QStringList OilCylindStyle = {"","border-image: url(:/Icos/Icos/icon_stretch.png);","border-image: url(:/Icos/Icos/icon_shorten.png);"};
SetStyleStr(ui->Status_Oil_1, getBitOf32Data(TmpBools[3], 24,false),getBitOf32Data(TmpBools[3], 25,false),OilCylindStyle);
SetStyleStr(ui->Status_Oil_2, getBitOf32Data(TmpBools[1], 12,false),getBitOf32Data(TmpBools[1], 13,false),OilCylindStyle);
SetStyleStr(ui->Status_Oil_3, getBitOf32Data(TmpBools[1], 14,false),getBitOf32Data(TmpBools[1], 15,false),OilCylindStyle);
SetStyleStr(ui->Status_Oil_4, getBitOf32Data(TmpBools[3], 26,false),getBitOf32Data(TmpBools[3], 27,false),OilCylindStyle);
SetStyleStr(ui->Status_Oil_5, getBitOf32Data(TmpBools[1], 8 ,false),getBitOf32Data(TmpBools[1], 9 ,false),OilCylindStyle);
SetStyleStr(ui->Status_Oil_6, getBitOf32Data(TmpBools[1], 0 ,false),getBitOf32Data(TmpBools[1], 1 ,false),OilCylindStyle);
SetStyleStr(ui->Status_Oil_7, getBitOf32Data(TmpBools[1], 10,false),getBitOf32Data(TmpBools[1], 11,false),OilCylindStyle);
SetStyleStr(ui->Status_Oil_8, getBitOf32Data(TmpBools[1], 2 ,false),getBitOf32Data(TmpBools[1], 3 ,false),OilCylindStyle);
SetStyleStr(ui->Status_Oil_9, getBitOf32Data(TmpBools[1], 16,false),getBitOf32Data(TmpBools[1], 17,false),OilCylindStyle);
SetStyleStr(ui->Status_Oil_10,getBitOf32Data(TmpBools[1], 18,false),getBitOf32Data(TmpBools[1], 19,false),OilCylindStyle);
SetStyleStr(ui->Status_Oil_11,getBitOf32Data(TmpBools[1], 4 ,false),getBitOf32Data(TmpBools[1], 5 ,false),OilCylindStyle);
SetStyleStr(ui->Status_Oil_12,getBitOf32Data(TmpBools[1], 6 ,false),getBitOf32Data(TmpBools[1], 7 ,false),OilCylindStyle);
SetStyleStr(ui->Status_Oil_13,getBitOf32Data(TmpBools[3], 28,false),getBitOf32Data(TmpBools[3], 29,false),OilCylindStyle);
//电机温度电流,进度条和LCD的显示
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PB_Refresh("Pump");
PB_Refresh("Cut");
PB_Refresh("LoaderL");
PB_Refresh("LoaderR");
PB_Refresh("TransportL");
PB_Refresh("TransportR");
PB_Refresh("Standby");
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}
void P01_MianPage::ProgressBar_LCD(QProgressBar *QPB,QLCDNumber *QLCD,QString NodeID_Bar,QString NodeID_Value,QStringList Colors){
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uint32_t PB_Group1 = getNodeValue(NodeID_Bar) .toUInt();
float Value = getNodeValue(NodeID_Value) .toFloat();
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uint16_t PValue= static_cast<uint16_t>(PB_Group1 >> 16); // 高 16 位
uint16_t PColor = static_cast<uint16_t>(PB_Group1 & 0xFFFF);// 低 16 位
SetProgressBar(QPB,PValue,PColor,Colors);
QLCD->display(QString::number(Value,'f',2));
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}
void P01_MianPage::PB_Refresh(QString Dev){
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uint32_t PB_Group1 = getNodeValue("PB_Curr_"+Dev+".PageGroup1") .toUInt();
uint32_t PB_Group2 = getNodeValue("PB_Curr_"+Dev+".PageGroup2") .toUInt();
uint32_t PB_MotorTemp = getNodeValue("PB_Temp_"+Dev+".PageGroup") .toUInt();
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uint16_t PercentageCurU = static_cast<uint16_t>(PB_Group1 >> 16); // 高 16 位
uint16_t PercentageCurV = static_cast<uint16_t>(PB_Group1 & 0xFFFF);// 低 16 位
uint16_t PercentageCurW = static_cast<uint16_t>(PB_Group2 >> 16); // 高 16 位
uint16_t PercentageTmpColor = static_cast<uint16_t>(PB_Group2 & 0xFFFF);// 低 16 位
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uint8_t ColorU = (PercentageTmpColor / 10) % 10;
uint8_t ColorV = (PercentageTmpColor / 100) % 10;
uint8_t ColorW = PercentageTmpColor % 10;
uint16_t PercentageMotorTemp = static_cast<uint16_t>(PB_MotorTemp >> 16); // 高 16 位
uint16_t ColorTemp = static_cast<uint16_t>(PB_MotorTemp & 0xFFFF);// 低 16 位
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qreal CurrU = getNodeValue("IN_Phase"+Dev+".Filtered30_U") .toReal();
qreal CurrV = getNodeValue("IN_Phase"+Dev+".Filtered30_V") .toReal();
qreal CurrW = getNodeValue("IN_Phase"+Dev+".Filtered30_W") .toReal();
qreal Temp = getNodeValue("IN_Phase"+Dev+".Filtered_Temp") .toReal();
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qreal Curr = fmax(CurrU,fmax(CurrV,CurrW));
qreal Rated;
if (Dev == "LoaderL" || Dev == "LoaderR" )
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Rated = getNodeValue("PS.gRatedCur_Loader") .toReal();
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else if(Dev == "TransportL" || Dev == "TransportR" )
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Rated = getNodeValue("PS.gRatedCur_Transport") .toReal();
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else{
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Rated = getNodeValue("PS.gRatedCur_"+Dev) .toReal();
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}
QProgressBar* CurPB_1 = findChild<QProgressBar*>("PB_Cur"+Dev+"_1");
QProgressBar* CurPB_2 = findChild<QProgressBar*>("PB_Cur"+Dev+"_2");
QProgressBar* CurPB_3 = findChild<QProgressBar*>("PB_Cur"+Dev+"_3");
QProgressBar* TempPB = findChild<QProgressBar*>("PB_Temp"+Dev);
QLCDNumber* CurLCD_1 = findChild<QLCDNumber*>("LCD_Cur"+Dev+"_1");
QLCDNumber* CurLCD_2 = findChild<QLCDNumber*>("LCD_Cur"+Dev+"_2");
QLCDNumber* CurLCD_3 = findChild<QLCDNumber*>("LCD_Cur"+Dev+"_3");
QLCDNumber* CurLCD = findChild<QLCDNumber*>("LCD_Cur"+Dev);
QLCDNumber* TempLCD = findChild<QLCDNumber*>("LCD_Temp"+Dev);
QLabel* CurRated_Label = findChild<QLabel*>("Label_UnitCur"+Dev);
SetProgressBar(CurPB_1,PercentageCurU,ColorU,glMotorCurColor);
SetProgressBar(CurPB_2,PercentageCurV,ColorV,glMotorCurColor);
SetProgressBar(CurPB_3,PercentageCurW,ColorW,glMotorCurColor);
SetProgressBar(TempPB,PercentageMotorTemp,ColorTemp,glMotorTempColor);
CurLCD_1->display(QString::number(CurrU,'f',2));
CurLCD_2->display(QString::number(CurrV,'f',2));
CurLCD_3->display(QString::number(CurrW,'f',2));
CurLCD->display(QString::number(Curr,'f',2));
TempLCD->display(QString::number(Temp,'f',2));
CurRated_Label->setText("A/"+QString::number(Rated,'f',1)+"A");
}
void P01_MianPage::SetProgressBar(QProgressBar *PB,uint16_t Value,uint8_t ColorIndex,QStringList Color){
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if(Value > PB->maximum()) Value = PB->maximum();
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PB->setValue(Value);
if(ColorIndex < Color.length()){
QString Style = "QProgressBar {\n background-color: transparent;\n border: 2px solid #888888;\n border-radius: 3px;\n}\nQProgressBar::chunk {\n background-color:"+Color[ColorIndex]+";\n}";
if(PB->styleSheet() != Style){
PB->setStyleSheet(Style);
}
}
}
uint16_t OldRoller_Length = 0;
void P01_MianPage::TrailRefreshTimeOut(){
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if(gPageIndexStr != "P01")
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return;
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// 画板的显示
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uint32_t Diameter = getNodeValue("RollerPosition.Diameter") .toUInt();
uint32_t LengthHeight = getNodeValue("RollerPosition.LengthHeight") .toUInt();
uint32_t SideView = getNodeValue("RollerPosition.SideView") .toUInt();
uint32_t FaceView = getNodeValue("RollerPosition.FaceView") .toUInt();
uint32_t TransPos = getNodeValue("RollerPosition.TransportPos") .toUInt();
uint32_t TmpHaul = getNodeValue("RollerPosition.ShowHaulSpeed") .toUInt();
float CenterHeight = getNodeValue("RollerPosition.CenterHeight") .toFloat();
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int16_t Roller_SideX = static_cast<int16_t>(SideView >> 16); // 高 16 位
int16_t Roller_SideY = static_cast<int16_t>(SideView & 0xFFFF);// 低 16 位
int16_t Roller_FaceX = static_cast<int16_t>(FaceView >> 16); // 高 16 位
int16_t Roller_FaceY = static_cast<int16_t>(FaceView & 0xFFFF);// 低 16 位
int16_t Roller_Length = static_cast<int16_t>(LengthHeight >> 16); // 高 16 位
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int16_t TransPos_SideX = static_cast<int16_t>(TransPos >> 16); // 高 16 位
int16_t TransPos_SideY = static_cast<int16_t>(TransPos & 0xFFFF);// 低 16 位
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int16_t TmpSpeedL = static_cast<int16_t>(TmpHaul >> 16); // 高 16 位
int16_t TmpSpeedR = static_cast<int16_t>(TmpHaul & 0xFFFF);// 低 16 位
uint16_t Roller_Diameter_Img = static_cast<int16_t>(Diameter >> 16); // 高 16 位
uint16_t Roller_Diameter_mm = static_cast<int16_t>(Diameter & 0xFFFF); // 低 16 位
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if(Brush[0].isNull()){
Brush[0] = QImage(":/Devices/Devices/ICO_Cutting1.png");
Brush[0] = Brush[0].scaled(Roller_Diameter_Img, Roller_Diameter_Img, Qt::KeepAspectRatio, Qt::SmoothTransformation);
ui->TrailDisplay_1->setBrushImage(Brush[0]);
}
if(Brush[1].isNull() || OldRoller_Length != Roller_Length){
Brush[1] = QImage(Roller_Length, Roller_Diameter_Img, QImage::Format_ARGB32);
Brush[1].fill(Qt::green);
ui->TrailDisplay_2->setBrushImage(Brush[1]);
OldRoller_Length = Roller_Length;
}
uiRollerPosition(0,Roller_SideX,Roller_SideY);
uiRollerPosition(1,Roller_FaceX,Roller_FaceY);
uiSetTransportPos(TransPos_SideX,TransPos_SideY);
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uiSetHaulSpeed(TmpSpeedL,TmpSpeedR);
// 采高卧底的显示
uiSetMining(CenterHeight,Roller_Diameter_mm);
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}
void P01_MianPage::uiRollerPosition(uint8_t Index,uint16_t aX,uint16_t aY){
//qDebug()<<Index<<aX<<aY<<OldRollerPos[Index][0]<<OldRollerPos[Index][1] ;
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//掘锚机运输机位置的显示
更新遥控器画面
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if(gPageIndexStr != "P01")
return;
添加OpenCv
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if(OldRollerPos[Index][0] != aX || OldRollerPos[Index][1] != aY){
QPoint localPos(aX,aY);
if(Index == 0)
ui->TrailDisplay_1->moveBrush(localPos);
else
ui->TrailDisplay_2->moveBrush(localPos);
}
OldRollerPos[Index][0] = aX;
OldRollerPos[Index][1] = aY;
}
第一次上传
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void P01_MianPage::uiInitHaulSpeed(int Max){
更新遥控器画面
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第一次上传
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ui->Slider_Haul_L->setMinimum(0-Max);
ui->Slider_Haul_L->setMaximum(Max);
ui->Slider_Haul_R->setMinimum(0-Max);
ui->Slider_Haul_R->setMaximum(Max);
}
void P01_MianPage::uiInitMining(int Max,int Min){
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ui->Slider_Mining->setMinimum(Min);
ui->Slider_Mining->setMaximum(Max);
第一次上传
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}
void P01_MianPage::uiInitTransportPos(int MaxX,int MaxY){
TransportPosMaxX = MaxX;
TransportPosMaxY = MaxY;
}
void P01_MianPage::uiSetHaulSpeed(int SpeedL,int SpeedR){
更新遥控器画面
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if(gPageIndexStr != "P01")
return;
第一次上传
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ui->Slider_Haul_L->setValue(SpeedL);
ui->LCD_MainHaul_L->display(QString::number(SpeedL));
ui->Slider_Haul_R->setValue(SpeedR);
ui->LCD_MainHaul_R->display(QString::number(SpeedR));
}
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void P01_MianPage::uiSetMining(float CenterHeight,uint16_t Roller_Diameter_mm){
更新遥控器画面
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if(gPageIndexStr != "P01")
return;
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int16_t CH = CenterHeight*1000;
ui->Slider_Mining->setValue(CH);
ui->LCD_MiningB1->display(QString::number(CenterHeight - Roller_Diameter_mm * 0.001, 'f', 2));
ui->LCD_MiningT1->display(QString::number(CenterHeight + Roller_Diameter_mm * 0.001, 'f', 2));
第一次上传
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}
void P01_MianPage::uiSetTransportPos(int rx,int ry){
更新遥控器画面
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if(gPageIndexStr != "P01")
return;
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int NewRX = 29+(130/2)+rx;
int NewRY = -6+(130/2)+ry;
第一次上传
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//qDebug()<<NewRX<<NewRY;
ui->Label_TransportPos->move(NewRX,NewRY);
}
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void P01_MianPage::SetStyleStr(QLabel *L,bool Status,QString TStr,QString FStr){
if(L == nullptr) return;
QString Style = "";
if(Status){
Style = TStr;
}else{
Style = FStr;
}
if(L->styleSheet() != Style)
L->setStyleSheet(Style);
}
void P01_MianPage::SetStyleStr(QLabel *L,bool B1,bool B2,QStringList StyStr){
if(L == nullptr) return;
QString Style = "";
if(B1 && ! B2){
Style = StyStr[1];
}else if(!B1 && B2){
Style = StyStr[2];
}else if(!B1 && !B2){
Style = StyStr[0];
}else{
Style = "";
}
if(L->styleSheet() != Style)
L->setStyleSheet(Style);
}
void P01_MianPage::RotateDev(){
更新遥控器画面
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if(gPageIndexStr != "P01")
return;
增加3D视图
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mAngle = mAngle + 1;
if(mAngle > 360) mAngle =0;
//mObjLoader->rotateArmToAbsoluteYAngle(DevName3D, jd);
}
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