无人狗前端界面完善

src/Client/BattlefieldExplorationSystem.pro

@@ -29,6 +29,7 @@ SOURCES += \
     src/core/database/DatabaseHelper.cpp \
     src/ui/main/MainWindow.cpp \
     src/ui/dialogs/DeviceDialog.cpp \
+    src/ui/dialogs/RobotDogControlDialog.cpp \
     src/ui/components/DeviceCard.cpp \
     src/ui/components/DeviceListPanel.cpp \
     src/ui/components/SystemLogPanel.cpp \
@@ -47,6 +48,7 @@ HEADERS += \
     include/core/database/DatabaseHelper.h \
     include/ui/main/MainWindow.h \
     include/ui/dialogs/DeviceDialog.h \
+    include/ui/dialogs/RobotDogControlDialog.h \
     include/ui/components/DeviceCard.h \
     include/ui/components/DeviceListPanel.h \
     include/ui/components/SystemLogPanel.h \

src/Client/include/ui/dialogs/RobotDogControlDialog.h

@@ -34,6 +34,11 @@
 #include <QCheckBox>
 #include <QTimer>
 #include <QFrame>
+#include <QProcess>
+#include <QWidget>
+#include <QWindow>
+#include <QApplication>
+#include <QStackedLayout>
 
 /**
  * @class RobotDogControlDialog
@@ -59,44 +64,34 @@ public:
 
 signals:
     /**
-     * @brief 开始自主建图信号
+     * @brief 启动思岚雷达信号
      */
-    void startMapping();
+    void startSlamRadar();
     
     /**
-     * @brief 停止自主建图信号
+     * @brief 停止思岚雷达信号
      */
-    void stopMapping();
+    void stopSlamRadar();
     
     /**
-     * @brief 开始导航避障信号
+     * @brief 启动雷达建图信号
      */
-    void startNavigation();
+    void startRadarMapping();
     
     /**
-     * @brief 停止导航避障信号
+     * @brief 停止雷达建图信号
      */
-    void stopNavigation();
+    void stopRadarMapping();
     
     /**
-     * @brief 开始照片传输信号
+     * @brief 启动自动导航建图信号
      */
-    void startPhotoTransmission();
+    void startAutoNavMapping();
     
     /**
-     * @brief 停止照片传输信号
+     * @brief 停止自动导航建图信号
      */
-    void stopPhotoTransmission();
+    void stopAutoNavMapping();
-    
-    /**
-     * @brief 开始人物识别信号
-     */
-    void startPersonRecognition();
-    
-    /**
-     * @brief 停止人物识别信号
-     */
-    void stopPersonRecognition();
 
 public slots:
     /**
@@ -149,29 +144,24 @@ private slots:
     void onJumpClicked();
     
     /**
-     * @brief 建图开关槽函数
+     * @brief 紧急停止槽函数
-     */
-    void onMappingToggle();
-    
-    /**
-     * @brief 导航开关槽函数
      */
-    void onNavigationToggle();
+    void onEmergencyStop();
 
     /**
-     * @brief 照片传输开关槽函数
+     * @brief 思岚雷达开关槽函数
      */
-    void onPhotoTransmissionToggle();
+    void onSlamRadarToggle();
     
     /**
-     * @brief 人物识别开关槽函数
+     * @brief 雷达建图开关槽函数
      */
-    void onPersonRecognitionToggle();
+    void onRadarMappingToggle();
     
     /**
-     * @brief 紧急停止槽函数
+     * @brief 自动导航建图开关槽函数
      */
-    void onEmergencyStop();
+    void onAutoNavMappingToggle();
 
 private:
     /**
@@ -224,12 +214,14 @@ private:
     
     // 任务控制模块
     QGroupBox *m_missionControlGroup;
-    QPushButton *m_mappingBtn;
+    QPushButton *m_slamRadarBtn;
-    QPushButton *m_navigationBtn;
+    QPushButton *m_radarMappingBtn;
-    QPushButton *m_photoBtn;
+    QPushButton *m_autoNavMappingBtn;
-    QPushButton *m_recognitionBtn;
     QComboBox *m_missionModeCombo;
     
+    // 雷达显示组件
+    QLabel *m_radarDisplayLabel;
+    
     // 状态监控模块
     QGroupBox *m_statusGroup;
     QLabel *m_batteryLabel;
@@ -241,15 +233,46 @@ private:
     QTextEdit *m_logTextEdit;
     
     // 状态变量
-    bool m_isMappingActive;
-    bool m_isNavigationActive;
-    bool m_isPhotoTransmissionActive;
-    bool m_isPersonRecognitionActive;
     bool m_isMoving;
     QString m_currentPosture;
     
+    // 雷达状态变量
+    bool m_isSlamRadarActive;
+    bool m_isRadarMappingActive;
+    bool m_isAutoNavMappingActive;
+    
     // 定时器
     QTimer *m_statusUpdateTimer;
+    
+    // SSH连接和命令执行
+    QProcess *m_sshProcess;
+    QString m_radarHost;
+    QString m_radarUser;
+    QString m_radarPassword;
+    
+    // 雷达建图进程（本地执行）
+    QProcess *m_radarMappingProcess;
+    
+    // 自动导航建图进程（本地执行）
+    QProcess *m_autoNavMappingProcess;
+    
+    // 私有方法
+    void executeSlamRadarCommands();
+    void stopSlamRadarProcess();
+    void onSshProcessFinished(int exitCode, QProcess::ExitStatus exitStatus);
+    void onSshProcessError(QProcess::ProcessError error);
+    
+    // 雷达建图相关方法
+    void executeRadarMappingCommands();
+    void stopRadarMappingProcess();
+    void onRadarMappingProcessFinished(int exitCode, QProcess::ExitStatus exitStatus);
+    void onRadarMappingProcessError(QProcess::ProcessError error);
+    
+    // 自动导航建图相关方法
+    void executeAutoNavMappingCommands();
+    void stopAutoNavMappingProcess();
+    void onAutoNavMappingProcessFinished(int exitCode, QProcess::ExitStatus exitStatus);
+    void onAutoNavMappingProcessError(QProcess::ProcessError error);
 };
 
 #endif // ROBOTDOGCONTROLDIALOG_H

src/Client/include/ui/main/MainWindow.h

@@ -44,8 +44,9 @@
 #include "ui/components/DeviceListPanel.h"
 #include "ui/components/SystemLogPanel.h"
 #include "ui/components/RightFunctionPanel.h"
-// #include "ui/dialogs/DroneControlDialog.h"
+#include "ui/dialogs/DeviceDialog.h"
-// #include "ui/dialogs/RobotDogControlDialog.h"
+#include "ui/dialogs/RobotDogControlDialog.h"
+#include "ui/components/DeviceCard.h"
 
 // 标准库头文件
 #include <string>
@@ -357,9 +358,8 @@ private:
     QVector<QPair<QString, QString>> m_robotList;                 ///< 机器人列表（名称-IP地址对）
     QVector<QPair<QString, QString>> m_uavList;                   ///< 无人机列表（名称-IP地址对）
 
-    // 控制对话框（暂时注释掉以避免编译问题）
+    // 控制对话框
-    // DroneControlDialog *m_droneControlDialog;                    ///< 无人机控制对话框
+    RobotDogControlDialog *m_robotDogControlDialog;              ///< 机器狗控制对话框
-    // RobotDogControlDialog *m_robotDogControlDialog;              ///< 机器狗控制对话框
 
     // 人脸识别相关成员变量已移除（功能暂未实现）
 };

src/catkin_dog/src/unitree_ros_to_real/unitree_legged_real/rviz/slamware_display.rviz

@@ -136,7 +136,7 @@ Visualization Manager:
         Shaft Length: 0.8
         Shaft Radius: 0.05000000074505806
         Value: Arrow
-      Topic: /robot_odom
+      Topic: /robot_pose
       Unreliable: false
       Value: true
 
@@ -144,7 +144,7 @@ Visualization Manager:
     - Alpha: 1
       Axes Length: 0.8
       Axes Radius: 0.08
-      Class: rviz/PoseWithCovariance
+      Class: rviz/Pose
       Color: 255; 25; 0
       Enabled: true
       Head Length: 0.30000001192092896
@@ -154,7 +154,7 @@ Visualization Manager:
       Shaft Length: 1.2
       Shaft Radius: 0.08
       Shape: Arrow
-      Topic: /robot_pose
+      Topic: /robot_pose_arrow
       Unreliable: false
       Value: true