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17 hours ago
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@startuml 代码组织结构图
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title 基于空地协同的战场环境探索系统 - 代码组织结构图
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skinparam packageStyle rectangle
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skinparam packageFontSize 10
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skinparam packageFontStyle bold
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skinparam classFontSize 8
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skinparam classFontStyle normal
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package "src/" {
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package "Client/ (Qt客户端应用)" {
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package "核心应用层" {
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file "main.cpp" as main
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file "BattlefieldExplorationSystem.pro" as proj
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file "Makefile" as make
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}
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package "include/ (头文件)" {
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package "ui/ (用户界面)" {
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package "main/" {
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file "MainWindow.h" as mainH
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}
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package "components/ (组件)" {
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file "RightFunctionPanel.h" as rightPanelH
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file "DeviceListPanel.h" as deviceListH
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file "DeviceCard.h" as deviceCardH
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file "SystemLogPanel.h" as logPanelH
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}
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package "dialogs/ (对话框)" {
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file "RobotDogControlDialog.h" as dogDialogH
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file "EnemyStatsDialog.h" as enemyDialogH
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file "DroneControlDialog.h" as droneDialogH
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file "DeviceDialog.h" as deviceDialogH
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}
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file "UIInitializationManager.h" as uiInitH
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}
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package "utils/ (工具类)" {
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file "ConfigManager.h" as configH
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file "SystemLogger.h" as loggerH
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}
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package "core/ (核心功能)" {
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package "database/ (数据库)" {
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file "DatabaseManager.h" as dbManagerH
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file "DatabaseHelper.h" as dbHelperH
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file "DatabaseConfig.h" as dbConfigH
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file "EnemyDatabase.h" as enemyDbH
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file "DogDatabase.h" as dogDbH
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file "UAVDatabase.h" as uavDbH
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}
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}
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}
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package "src/ (源文件)" {
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package "ui/ (用户界面实现)" {
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package "main/" {
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file "MainWindow.cpp" as mainCpp
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}
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package "components/ (组件实现)" {
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file "RightFunctionPanel.cpp" as rightPanelCpp
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file "DeviceListPanel.cpp" as deviceListCpp
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file "DeviceCard.cpp" as deviceCardCpp
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file "SystemLogPanel.cpp" as logPanelCpp
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}
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package "dialogs/ (对话框实现)" {
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file "RobotDogControlDialog.cpp" as dogDialogCpp
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file "EnemyStatsDialog.cpp" as enemyDialogCpp
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file "DroneControlDialog.cpp" as droneDialogCpp
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file "DeviceDialog.cpp" as deviceDialogCpp
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}
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file "UIInitializationManager.cpp" as uiInitCpp
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}
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package "utils/ (工具类实现)" {
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file "ConfigManager.cpp" as configCpp
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file "SystemLogger.cpp" as loggerCpp
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}
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package "core/ (核心功能实现)" {
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package "database/ (数据库实现)" {
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file "DatabaseManager.cpp" as dbManagerCpp
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file "DatabaseHelper.cpp" as dbHelperCpp
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file "DatabaseConfig.cpp" as dbConfigCpp
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file "EnemyDatabase.cpp" as enemyDbCpp
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file "DogDatabase.cpp" as dogDbCpp
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file "UAVDatabase.cpp" as uavDbCpp
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}
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}
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}
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package "forms/ (UI设计文件)" {
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package "main/" {
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file "MainWindow.ui" as mainUi
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}
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package "dialogs/" {
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file "DeviceDialog.ui" as deviceUi
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}
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}
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package "AudioModule/ (音频模块)" {
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file "IntelligenceUI.h" as audioH
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file "IntelligenceUI.cpp" as audioCpp
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file "IntelligenceUI.ui" as audioUi
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}
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package "FaceLightModule/ (面部识别模块)" {
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file "FaceLightControl.h" as faceH
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file "FaceLightControl.cpp" as faceCpp
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file "FaceLightControl.ui" as faceUi
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}
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package "config/ (配置文件)" {
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file "database.ini" as dbIni
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file "database.ini.example" as dbIniEx
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file "README.md" as configReadme
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}
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package "database/ (数据库脚本)" {
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file "enemy_database_schema.sql" as enemySchema
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file "insert_additional_enemy_data.sql" as enemyData
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file "test_enemy_database.sql" as enemyTest
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file "update_enemy_locations.sql" as enemyUpdate
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}
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package "其他资源" {
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file "res.qrc" as res
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file "代码规范.md" as codeStandard
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file "BUTTON_LAYOUT_OPTIMIZATION_REPORT.md" as layoutReport
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}
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}
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package "catkin_dog/ (ROS机器人控制)" {
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package "unitree_ros_to_real/" {
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package "unitree_legged_real/" {
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package "src/exe/" as exe
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package "include/" as realInclude
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package "launch/" as launch
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package "scripts/" as scripts
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package "rviz/" as rviz
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file "CMakeLists.txt" as realCmake
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file "package.xml" as realPackage
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}
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}
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package "unitree_legged_sdk/" {
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package "include/" as sdkInclude
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package "lib/" as lib
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package "example/" as example
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package "example_py/" as examplePy
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package "python_wrapper/" as pyWrapper
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file "CMakeLists.txt" as sdkCmake
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file "package.xml" as sdkPackage
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file "README.md" as sdkReadme
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}
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package "unitree_legged_msgs/" {
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package "msg/ (ROS消息定义)" {
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file "HighCmd.msg" as highCmd
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file "HighState.msg" as highState
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file "LowCmd.msg" as lowCmd
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file "LowState.msg" as lowState
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file "MotorCmd.msg" as motorCmd
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file "MotorState.msg" as motorState
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file "IMU.msg" as imu
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file "BmsState.msg" as bmsState
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file "LED.msg" as led
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file "Cartesian.msg" as cartesian
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}
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file "CMakeLists.txt" as msgCmake
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file "package.xml" as msgPackage
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}
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package "slamware_ros_sdk_linux-x86_64-gcc9/" as slamware
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file "CMakeLists.txt" as catkinCmake
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}
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}
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' 主要模块关系
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package "系统架构层次" {
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note top of Client : "Qt客户端应用\n- 用户界面\n- 数据库管理\n- 设备控制\n- 音频处理\n- 面部识别"
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note top of catkin_dog : "ROS机器人控制\n- 机器狗SDK\n- 消息通信\n- 导航控制\n- SLAM建图"
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}
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' 核心功能模块
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package "核心功能模块" {
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note as N1 : "1. 空地协同控制\n- 无人机控制\n- 机器狗控制\n- 协同调度"
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note as N2 : "2. 智能识别系统\n- YOLO目标检测\n- 面部识别\n- 音频处理"
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note as N3 : "3. 数据管理系统\n- 敌方数据库\n- 设备数据库\n- 情报数据"
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note as N4 : "4. 可视化界面\n- 3D战场地图\n- 实时视频显示\n- 态势分析"
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}
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Client --> N1 : 控制指令
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Client --> N2 : 识别结果
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Client --> N3 : 数据存储
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Client --> N4 : 界面展示
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catkin_dog --> N1 : 执行控制
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catkin_dog --> N2 : 传感器数据
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catkin_dog --> N3 : 位置信息
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catkin_dog --> N4 : 状态反馈
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@enduml
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@ -0,0 +1,350 @@
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@startuml 数据模型类图
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title 基于空地协同的战场环境探索系统 - 数据模型类图
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skinparam classAttributeIconSize 0
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skinparam classFontSize 10
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skinparam classFontStyle bold
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skinparam packageStyle rectangle
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package "核心数据实体" {
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class Location {
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-locationId: String
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-x: double
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-y: double
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-z: double
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-timestamp: QDateTime
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+getCoordinates()
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+setCoordinates()
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+calculateDistance()
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+isValid()
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}
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class Pose {
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-poseId: String
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-position: Location
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-orientation: QQuaternion
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-timestamp: QDateTime
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+getPosition()
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+getOrientation()
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+setPose()
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+transformPose()
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}
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class SensorData {
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-sensorId: String
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-sensorType: String
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-dataType: String
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-rawData: QByteArray
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-processedData: QVariant
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-timestamp: QDateTime
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+getRawData()
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+getProcessedData()
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+processData()
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+validateData()
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}
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class Target {
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-targetId: String
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-targetType: String
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-location: Location
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-threatLevel: int
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-confidence: double
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-status: String
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-timestamp: QDateTime
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+updateLocation()
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+updateThreatLevel()
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+assessThreat()
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+isActive()
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}
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}
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package "设备数据模型" {
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class Device {
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-deviceId: String
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-deviceType: String
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-deviceName: String
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-status: String
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-connectionStatus: String
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-lastUpdate: QDateTime
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+getDeviceInfo()
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+updateStatus()
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+isConnected()
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+isOperational()
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}
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class RobotDog {
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-dogId: String
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-dogType: String
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-batteryLevel: double
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-currentPose: Pose
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-movementStatus: String
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-sensorData: QList<SensorData>
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-lastCommand: MovementCommand
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+getBatteryLevel()
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+getCurrentPose()
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+updateStatus()
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+sendCommand()
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+emergencyStop()
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}
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class UAV {
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-uavId: String
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-uavType: String
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-batteryLevel: double
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-altitude: double
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-currentPose: Pose
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-flightMode: String
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-sensorData: QList<SensorData>
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+getBatteryLevel()
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+getAltitude()
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+getCurrentPose()
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+updateFlightMode()
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+sendFlightCommand()
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}
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class MovementCommand {
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-commandId: String
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-deviceId: String
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-commandType: String
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-targetPose: Pose
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-speed: double
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-priority: int
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-timestamp: QDateTime
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-status: String
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+executeCommand()
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+validateCommand()
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+getCommandStatus()
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+cancelCommand()
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}
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}
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package "任务数据模型" {
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class Mission {
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-missionId: String
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-missionType: String
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-missionName: String
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-priority: int
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-status: String
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-startTime: QDateTime
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-endTime: QDateTime
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-assignedDevices: QList<String>
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-tasks: QList<Task>
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+createMission()
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+assignDevices()
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+addTask()
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+updateStatus()
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+completeMission()
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}
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class Task {
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-taskId: String
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-missionId: String
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-taskType: String
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-taskName: String
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-priority: int
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-status: String
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-assignedDevice: String
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-startLocation: Location
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-endLocation: Location
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-parameters: QVariantMap
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+assignDevice()
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+updateStatus()
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+executeTask()
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+completeTask()
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}
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class TaskResult {
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-resultId: String
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-taskId: String
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-deviceId: String
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-resultType: String
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-resultData: QVariant
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-success: boolean
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-errorMessage: String
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-timestamp: QDateTime
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+setResult()
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+getResult()
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+isSuccess()
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+getErrorMessage()
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}
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}
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package "情报数据模型" {
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class IntelligenceData {
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-intelligenceId: String
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-dataType: String
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-source: String
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-content: QVariant
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-confidence: double
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-priority: int
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-timestamp: QDateTime
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-expiryTime: QDateTime
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+getContent()
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+setConfidence()
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+isExpired()
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+updatePriority()
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}
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class EnemyTarget {
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-targetId: String
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-targetType: String
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-location: Location
|
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-threatLevel: int
|
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-confidence: double
|
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-detectionTime: QDateTime
|
||||
-lastUpdate: QDateTime
|
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-status: String
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-attributes: QVariantMap
|
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+updateLocation()
|
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+updateThreatLevel()
|
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+setAttributes()
|
||||
+isActive()
|
||||
}
|
||||
|
||||
class BattlefieldMap {
|
||||
-mapId: String
|
||||
-mapType: String
|
||||
-resolution: double
|
||||
-width: double
|
||||
-height: double
|
||||
-origin: Location
|
||||
-mapData: QImage
|
||||
-obstacles: QList<Obstacle>
|
||||
-lastUpdate: QDateTime
|
||||
+getMapData()
|
||||
+addObstacle()
|
||||
+removeObstacle()
|
||||
+updateMap()
|
||||
+getObstacles()
|
||||
}
|
||||
|
||||
class Obstacle {
|
||||
-obstacleId: String
|
||||
-obstacleType: String
|
||||
-location: Location
|
||||
-size: QVector3D
|
||||
-properties: QVariantMap
|
||||
-timestamp: QDateTime
|
||||
+getLocation()
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||||
+getSize()
|
||||
+setProperties()
|
||||
+isBlocking()
|
||||
}
|
||||
}
|
||||
|
||||
package "系统配置数据" {
|
||||
class SystemConfig {
|
||||
-configId: String
|
||||
-configType: String
|
||||
-configName: String
|
||||
-configValue: QVariant
|
||||
-description: String
|
||||
-lastModified: QDateTime
|
||||
+getValue()
|
||||
+setValue()
|
||||
+getDescription()
|
||||
+isValid()
|
||||
}
|
||||
|
||||
class UserConfig {
|
||||
-userId: String
|
||||
-username: String
|
||||
-userRole: String
|
||||
-permissions: QList<String>
|
||||
-preferences: QVariantMap
|
||||
-lastLogin: QDateTime
|
||||
+getPermissions()
|
||||
+setPreferences()
|
||||
+hasPermission()
|
||||
+updateLastLogin()
|
||||
}
|
||||
|
||||
class DeviceConfig {
|
||||
-deviceId: String
|
||||
-configType: String
|
||||
-parameters: QVariantMap
|
||||
-lastModified: QDateTime
|
||||
+getParameters()
|
||||
+setParameters()
|
||||
+validateConfig()
|
||||
+applyConfig()
|
||||
}
|
||||
}
|
||||
|
||||
package "日志和监控数据" {
|
||||
class SystemLog {
|
||||
-logId: String
|
||||
-logLevel: String
|
||||
-logSource: String
|
||||
-logMessage: String
|
||||
-timestamp: QDateTime
|
||||
-userId: String
|
||||
-deviceId: String
|
||||
+getLogInfo()
|
||||
+setLogLevel()
|
||||
+formatMessage()
|
||||
}
|
||||
|
||||
class PerformanceMetrics {
|
||||
-metricId: String
|
||||
-metricType: String
|
||||
-metricName: String
|
||||
-metricValue: double
|
||||
-unit: String
|
||||
-timestamp: QDateTime
|
||||
-deviceId: String
|
||||
+getMetricValue()
|
||||
+setMetricValue()
|
||||
+getUnit()
|
||||
+isWithinRange()
|
||||
}
|
||||
|
||||
class Alert {
|
||||
-alertId: String
|
||||
-alertType: String
|
||||
-alertLevel: String
|
||||
-alertMessage: String
|
||||
-source: String
|
||||
-timestamp: QDateTime
|
||||
-acknowledged: boolean
|
||||
-resolved: boolean
|
||||
+getAlertInfo()
|
||||
+acknowledgeAlert()
|
||||
+resolveAlert()
|
||||
+isActive()
|
||||
}
|
||||
}
|
||||
|
||||
' 关系定义
|
||||
Location ||--o{ Pose : 组成
|
||||
Location ||--o{ Target : 定位
|
||||
Location ||--o{ RobotDog : 定位
|
||||
Location ||--o{ UAV : 定位
|
||||
Location ||--o{ Obstacle : 定位
|
||||
|
||||
Pose ||--o{ MovementCommand : 目标位置
|
||||
Pose ||--o{ Task : 起始/结束位置
|
||||
|
||||
Device ||--o{ RobotDog : 继承
|
||||
Device ||--o{ UAV : 继承
|
||||
|
||||
RobotDog ||--o{ MovementCommand : 执行
|
||||
UAV ||--o{ MovementCommand : 执行
|
||||
|
||||
Mission ||--o{ Task : 包含
|
||||
Task ||--o{ TaskResult : 产生
|
||||
Task ||--o{ MovementCommand : 生成
|
||||
|
||||
IntelligenceData ||--o{ EnemyTarget : 包含
|
||||
BattlefieldMap ||--o{ Obstacle : 包含
|
||||
BattlefieldMap ||--o{ Location : 覆盖
|
||||
|
||||
SystemConfig ||--o{ DeviceConfig : 配置
|
||||
UserConfig ||--o{ SystemLog : 记录
|
||||
Device ||--o{ DeviceConfig : 配置
|
||||
|
||||
SystemLog ||--o{ PerformanceMetrics : 记录
|
||||
SystemLog ||--o{ Alert : 生成
|
||||
Device ||--o{ PerformanceMetrics : 监控
|
||||
Device ||--o{ Alert : 产生
|
||||
|
||||
@enduml
|
||||
@ -0,0 +1,515 @@
|
||||
@startuml 软件系统分析类图
|
||||
title 基于空地协同的战场环境探索系统 - 软件系统分析类图
|
||||
skinparam classAttributeIconSize 0
|
||||
skinparam classFontSize 10
|
||||
skinparam classFontStyle bold
|
||||
skinparam packageStyle rectangle
|
||||
skinparam packageFontSize 12
|
||||
|
||||
' 定义样式
|
||||
skinparam class {
|
||||
BackgroundColor<<Qt>> #E1F5FE
|
||||
BackgroundColor<<ROS>> #F3E5F5
|
||||
BackgroundColor<<AI>> #E8F5E8
|
||||
BackgroundColor<<Database>> #FFF3E0
|
||||
BackgroundColor<<Core>> #FCE4EC
|
||||
}
|
||||
|
||||
package "用户界面层 (Qt Client)" <<Qt>> {
|
||||
class MainWindow {
|
||||
-mainWindowId: String
|
||||
-windowTitle: String
|
||||
-windowSize: QSize
|
||||
+initializeUI()
|
||||
+setupMenuBar()
|
||||
+setupToolBar()
|
||||
+setupStatusBar()
|
||||
+handleMenuAction()
|
||||
+updateStatus()
|
||||
+closeEvent()
|
||||
}
|
||||
|
||||
class UIInitializationManager {
|
||||
-uiManagerId: String
|
||||
-initializationStatus: String
|
||||
+initializeAllComponents()
|
||||
+setupDatabaseConnection()
|
||||
+setupDeviceConnections()
|
||||
+setupSignalSlots()
|
||||
+validateInitialization()
|
||||
+handleInitializationError()
|
||||
}
|
||||
|
||||
package "UI组件 (Components)" {
|
||||
class RightFunctionPanel {
|
||||
-panelId: String
|
||||
-panelType: String
|
||||
-isVisible: boolean
|
||||
+setupFunctionButtons()
|
||||
+handleButtonClick()
|
||||
+updatePanelContent()
|
||||
+showPanel()
|
||||
+hidePanel()
|
||||
}
|
||||
|
||||
class DeviceListPanel {
|
||||
-deviceListId: String
|
||||
-deviceCount: int
|
||||
-selectedDevice: String
|
||||
+loadDeviceList()
|
||||
+addDevice()
|
||||
+removeDevice()
|
||||
+selectDevice()
|
||||
+updateDeviceStatus()
|
||||
+refreshDeviceList()
|
||||
}
|
||||
|
||||
class DeviceCard {
|
||||
-deviceId: String
|
||||
-deviceType: String
|
||||
-deviceStatus: String
|
||||
-deviceIcon: QIcon
|
||||
+displayDeviceInfo()
|
||||
+updateStatus()
|
||||
+handleClick()
|
||||
+showDetails()
|
||||
}
|
||||
|
||||
class SystemLogPanel {
|
||||
-logPanelId: String
|
||||
-logLevel: String
|
||||
-maxLogEntries: int
|
||||
+addLogEntry()
|
||||
+clearLogs()
|
||||
+filterLogs()
|
||||
+exportLogs()
|
||||
+setLogLevel()
|
||||
}
|
||||
}
|
||||
|
||||
package "对话框 (Dialogs)" {
|
||||
class RobotDogControlDialog {
|
||||
-dialogId: String
|
||||
-dogId: String
|
||||
-controlMode: String
|
||||
+setupControlInterface()
|
||||
+sendMovementCommand()
|
||||
+sendNavigationCommand()
|
||||
+updateDogStatus()
|
||||
+emergencyStop()
|
||||
+closeDialog()
|
||||
}
|
||||
|
||||
class DroneControlDialog {
|
||||
-dialogId: String
|
||||
-droneId: String
|
||||
-flightMode: String
|
||||
+setupFlightInterface()
|
||||
+sendTakeoffCommand()
|
||||
+sendLandingCommand()
|
||||
+sendFlightCommand()
|
||||
+updateDroneStatus()
|
||||
+emergencyLanding()
|
||||
}
|
||||
|
||||
class EnemyStatsDialog {
|
||||
-dialogId: String
|
||||
-enemyCount: int
|
||||
-threatLevel: int
|
||||
+loadEnemyData()
|
||||
+displayStatistics()
|
||||
+updateThreatLevel()
|
||||
+exportReport()
|
||||
+closeDialog()
|
||||
}
|
||||
|
||||
class DeviceDialog {
|
||||
-dialogId: String
|
||||
-deviceId: String
|
||||
-deviceType: String
|
||||
+setupDeviceInterface()
|
||||
+configureDevice()
|
||||
+testDevice()
|
||||
+updateDeviceInfo()
|
||||
+saveConfiguration()
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
package "核心业务层 (Core Business)" <<Core>> {
|
||||
package "数据库管理 (Database)" <<Database>> {
|
||||
class DatabaseManager {
|
||||
-dbManagerId: String
|
||||
-connectionStatus: String
|
||||
-dbConfig: DatabaseConfig
|
||||
+connectToDatabase()
|
||||
+disconnectFromDatabase()
|
||||
+createTables()
|
||||
+executeQuery()
|
||||
+beginTransaction()
|
||||
+commitTransaction()
|
||||
+rollbackTransaction()
|
||||
}
|
||||
|
||||
class DatabaseHelper {
|
||||
-helperId: String
|
||||
-queryBuilder: QueryBuilder
|
||||
+buildSelectQuery()
|
||||
+buildInsertQuery()
|
||||
+buildUpdateQuery()
|
||||
+buildDeleteQuery()
|
||||
+executeQuery()
|
||||
+handleQueryError()
|
||||
}
|
||||
|
||||
class DatabaseConfig {
|
||||
-configId: String
|
||||
-host: String
|
||||
-port: int
|
||||
-databaseName: String
|
||||
-username: String
|
||||
-password: String
|
||||
+loadFromFile()
|
||||
+saveToFile()
|
||||
+validateConfig()
|
||||
+getConnectionString()
|
||||
}
|
||||
|
||||
class EnemyDatabase {
|
||||
-enemyDbId: String
|
||||
-tableName: String
|
||||
+insertEnemyTarget()
|
||||
+updateEnemyTarget()
|
||||
+deleteEnemyTarget()
|
||||
+getEnemyTarget()
|
||||
+getAllEnemyTargets()
|
||||
+getEnemyTargetsByType()
|
||||
+getEnemyTargetsByThreatLevel()
|
||||
}
|
||||
|
||||
class DogDatabase {
|
||||
-dogDbId: String
|
||||
-tableName: String
|
||||
+insertDogStatus()
|
||||
+updateDogStatus()
|
||||
+getDogStatus()
|
||||
+getAllDogStatus()
|
||||
+insertDogLocation()
|
||||
+getDogLocationHistory()
|
||||
}
|
||||
|
||||
class UAVDatabase {
|
||||
-uavDbId: String
|
||||
-tableName: String
|
||||
+insertUAVStatus()
|
||||
+updateUAVStatus()
|
||||
+getUAVStatus()
|
||||
+getAllUAVStatus()
|
||||
+insertUAVFlightData()
|
||||
+getUAVFlightTrajectory()
|
||||
}
|
||||
}
|
||||
|
||||
package "工具类 (Utils)" {
|
||||
class ConfigManager {
|
||||
-configManagerId: String
|
||||
-configFile: String
|
||||
-configData: QVariantMap
|
||||
+loadConfiguration()
|
||||
+saveConfiguration()
|
||||
+getValue()
|
||||
+setValue()
|
||||
+validateConfiguration()
|
||||
+reloadConfiguration()
|
||||
}
|
||||
|
||||
class SystemLogger {
|
||||
-loggerId: String
|
||||
-logLevel: String
|
||||
-logFile: String
|
||||
+logInfo()
|
||||
+logWarning()
|
||||
+logError()
|
||||
+logDebug()
|
||||
+setLogLevel()
|
||||
+setLogFile()
|
||||
+rotateLogFile()
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
package "AI算法层 (AI Algorithms)" <<AI>> {
|
||||
class YOLODetector {
|
||||
-detectorId: String
|
||||
-modelPath: String
|
||||
-confidenceThreshold: double
|
||||
-nmsThreshold: double
|
||||
-modelLoaded: boolean
|
||||
+loadModel()
|
||||
+detectObjects()
|
||||
+classifyTargets()
|
||||
+updateModel()
|
||||
+setConfidenceThreshold()
|
||||
+setNMSThreshold()
|
||||
+getDetectionResults()
|
||||
}
|
||||
|
||||
class TargetClassifier {
|
||||
-classifierId: String
|
||||
-classifierType: String
|
||||
-trainingData: QList<QImage>
|
||||
+trainClassifier()
|
||||
+classifyTarget()
|
||||
+updateClassifier()
|
||||
+getClassificationResults()
|
||||
+validateClassification()
|
||||
}
|
||||
|
||||
class SLAMProcessor {
|
||||
-slamId: String
|
||||
-slamType: String
|
||||
-mapResolution: double
|
||||
-currentPose: Pose
|
||||
+processSensorData()
|
||||
+buildMap()
|
||||
+localizePosition()
|
||||
+updateMap()
|
||||
+getCurrentPose()
|
||||
+getMapData()
|
||||
}
|
||||
|
||||
class PathPlanner {
|
||||
-plannerId: String
|
||||
-algorithmType: String
|
||||
-heuristicFunction: String
|
||||
-obstacleMap: QImage
|
||||
+planOptimalPath()
|
||||
+avoidObstacles()
|
||||
+optimizeRoute()
|
||||
+replanPath()
|
||||
+getPathData()
|
||||
+validatePath()
|
||||
}
|
||||
|
||||
class DataFusion {
|
||||
-fusionId: String
|
||||
-fusionAlgorithm: String
|
||||
-weightMatrix: Matrix
|
||||
-sensorData: QList<SensorData>
|
||||
+fuseMultiSourceData()
|
||||
+weightData()
|
||||
+resolveConflicts()
|
||||
+generateFusedMap()
|
||||
+getFusionResults()
|
||||
+updateFusionAlgorithm()
|
||||
}
|
||||
}
|
||||
|
||||
package "ROS机器人控制层 (ROS Control)" <<ROS>> {
|
||||
package "Unitree机器狗控制" {
|
||||
class UnitreeController {
|
||||
-controllerId: String
|
||||
-dogId: String
|
||||
-connectionStatus: String
|
||||
-currentState: DogState
|
||||
+connectToDog()
|
||||
+disconnectFromDog()
|
||||
+sendMovementCommand()
|
||||
+sendNavigationCommand()
|
||||
+getDogStatus()
|
||||
+emergencyStop()
|
||||
}
|
||||
|
||||
class DogState {
|
||||
-stateId: String
|
||||
-batteryLevel: double
|
||||
-currentPose: Pose
|
||||
-movementStatus: String
|
||||
-sensorData: SensorData
|
||||
+updateState()
|
||||
+getBatteryLevel()
|
||||
+getCurrentPose()
|
||||
+getMovementStatus()
|
||||
}
|
||||
|
||||
class MovementCommand {
|
||||
-commandId: String
|
||||
-commandType: String
|
||||
-targetPose: Pose
|
||||
-speed: double
|
||||
-timestamp: QDateTime
|
||||
+executeCommand()
|
||||
+validateCommand()
|
||||
+getCommandStatus()
|
||||
}
|
||||
}
|
||||
|
||||
package "ROS消息定义" {
|
||||
class HighCmd {
|
||||
-mode: int
|
||||
-gaitType: int
|
||||
-speedLevel: int
|
||||
-footRaiseHeight: float
|
||||
-bodyHeight: float
|
||||
+serialize()
|
||||
+deserialize()
|
||||
}
|
||||
|
||||
class HighState {
|
||||
-mode: int
|
||||
-gaitType: int
|
||||
-footRaiseHeight: float
|
||||
-bodyHeight: float
|
||||
-position: Cartesian
|
||||
+serialize()
|
||||
+deserialize()
|
||||
}
|
||||
|
||||
class IMU {
|
||||
-quaternion: QVector4D
|
||||
-gyroscope: QVector3D
|
||||
-accelerometer: QVector3D
|
||||
-timestamp: QDateTime
|
||||
+getQuaternion()
|
||||
+getGyroscope()
|
||||
+getAccelerometer()
|
||||
}
|
||||
|
||||
class MotorState {
|
||||
-motorId: int
|
||||
-position: float
|
||||
-velocity: float
|
||||
-torque: float
|
||||
-temperature: float
|
||||
+getPosition()
|
||||
+getVelocity()
|
||||
+getTorque()
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
package "通信层 (Communication)" {
|
||||
class CommunicationManager {
|
||||
-commManagerId: String
|
||||
-connectionType: String
|
||||
-connectionStatus: String
|
||||
+establishConnection()
|
||||
+closeConnection()
|
||||
+sendMessage()
|
||||
+receiveMessage()
|
||||
+handleConnectionError()
|
||||
+getConnectionStatus()
|
||||
}
|
||||
|
||||
class NetworkProtocol {
|
||||
-protocolId: String
|
||||
-protocolType: String
|
||||
-port: int
|
||||
-timeout: int
|
||||
+encodeMessage()
|
||||
+decodeMessage()
|
||||
+validateMessage()
|
||||
+handleProtocolError()
|
||||
}
|
||||
|
||||
class DataTransmission {
|
||||
-transmissionId: String
|
||||
-dataType: String
|
||||
-compressionEnabled: boolean
|
||||
-encryptionEnabled: boolean
|
||||
+transmitData()
|
||||
+receiveData()
|
||||
+compressData()
|
||||
+decompressData()
|
||||
+encryptData()
|
||||
+decryptData()
|
||||
}
|
||||
}
|
||||
|
||||
package "任务控制层 (Mission Control)" {
|
||||
class MissionController {
|
||||
-missionId: String
|
||||
-missionType: String
|
||||
-priority: int
|
||||
-status: String
|
||||
-startTime: QDateTime
|
||||
+createMission()
|
||||
+assignTasks()
|
||||
+monitorProgress()
|
||||
+handleEmergency()
|
||||
+generateReport()
|
||||
+abortMission()
|
||||
}
|
||||
|
||||
class TaskScheduler {
|
||||
-schedulerId: String
|
||||
-taskQueue: QQueue<Task>
|
||||
-schedulingAlgorithm: String
|
||||
+addTask()
|
||||
+removeTask()
|
||||
+scheduleTasks()
|
||||
+getNextTask()
|
||||
+updateTaskStatus()
|
||||
+optimizeSchedule()
|
||||
}
|
||||
|
||||
class CoordinationController {
|
||||
-coordinationId: String
|
||||
-coordinationType: String
|
||||
-deviceList: QList<Device>
|
||||
+coordinatePlatforms()
|
||||
+optimizeTaskAllocation()
|
||||
+resolveConflicts()
|
||||
+maintainFormation()
|
||||
+getCoordinationStatus()
|
||||
}
|
||||
}
|
||||
|
||||
' 关系定义
|
||||
MainWindow ||--o{ UIInitializationManager : 使用
|
||||
MainWindow ||--o{ RightFunctionPanel : 包含
|
||||
MainWindow ||--o{ DeviceListPanel : 包含
|
||||
MainWindow ||--o{ SystemLogPanel : 包含
|
||||
|
||||
DeviceListPanel ||--o{ DeviceCard : 包含
|
||||
MainWindow ||--o{ RobotDogControlDialog : 打开
|
||||
MainWindow ||--o{ DroneControlDialog : 打开
|
||||
MainWindow ||--o{ EnemyStatsDialog : 打开
|
||||
MainWindow ||--o{ DeviceDialog : 打开
|
||||
|
||||
UIInitializationManager ||--o{ DatabaseManager : 初始化
|
||||
UIInitializationManager ||--o{ ConfigManager : 配置
|
||||
|
||||
DatabaseManager ||--o{ DatabaseHelper : 使用
|
||||
DatabaseManager ||--o{ DatabaseConfig : 配置
|
||||
DatabaseManager ||--o{ EnemyDatabase : 管理
|
||||
DatabaseManager ||--o{ DogDatabase : 管理
|
||||
DatabaseManager ||--o{ UAVDatabase : 管理
|
||||
|
||||
RobotDogControlDialog ||--o{ UnitreeController : 控制
|
||||
DroneControlDialog ||--o{ CommunicationManager : 通信
|
||||
|
||||
UnitreeController ||--o{ DogState : 监控
|
||||
UnitreeController ||--o{ MovementCommand : 发送
|
||||
UnitreeController ||--o{ HighCmd : 发送
|
||||
UnitreeController ||--o{ HighState : 接收
|
||||
UnitreeController ||--o{ IMU : 接收
|
||||
UnitreeController ||--o{ MotorState : 接收
|
||||
|
||||
YOLODetector ||--o{ TargetClassifier : 使用
|
||||
SLAMProcessor ||--o{ PathPlanner : 提供地图
|
||||
DataFusion ||--o{ YOLODetector : 融合数据
|
||||
DataFusion ||--o{ SLAMProcessor : 融合数据
|
||||
|
||||
MissionController ||--o{ TaskScheduler : 使用
|
||||
MissionController ||--o{ CoordinationController : 使用
|
||||
TaskScheduler ||--o{ UnitreeController : 调度
|
||||
TaskScheduler ||--o{ CommunicationManager : 调度
|
||||
|
||||
CommunicationManager ||--o{ NetworkProtocol : 使用
|
||||
CommunicationManager ||--o{ DataTransmission : 使用
|
||||
|
||||
SystemLogger ||--o{ MainWindow : 记录
|
||||
ConfigManager ||--o{ MainWindow : 配置
|
||||
|
||||
@enduml
|
||||
Binary file not shown.
@ -0,0 +1 @@
|
||||
|
||||
@ -0,0 +1,153 @@
|
||||
#ifndef TESTCONFIG_H
|
||||
#define TESTCONFIG_H
|
||||
|
||||
#include <QString>
|
||||
#include <QDir>
|
||||
#include <QStandardPaths>
|
||||
|
||||
// 测试配置常量
|
||||
namespace TestConfig {
|
||||
// 测试数据库配置
|
||||
const QString TEST_DB_HOST = "localhost";
|
||||
const int TEST_DB_PORT = 3306;
|
||||
const QString TEST_DB_NAME = "test_battlefield_exploration";
|
||||
const QString TEST_DB_USER = "test_user";
|
||||
const QString TEST_DB_PASSWORD = "test_password";
|
||||
|
||||
// 测试文件路径
|
||||
const QString TEST_DATA_DIR = QStandardPaths::writableLocation(QStandardPaths::TempLocation) + "/battlefield_test_data";
|
||||
const QString TEST_IMAGES_DIR = TEST_DATA_DIR + "/images";
|
||||
const QString TEST_VIDEOS_DIR = TEST_DATA_DIR + "/videos";
|
||||
const QString TEST_MAPS_DIR = TEST_DATA_DIR + "/maps";
|
||||
const QString TEST_LOGS_DIR = TEST_DATA_DIR + "/logs";
|
||||
|
||||
// 测试图像配置
|
||||
const int TEST_IMAGE_WIDTH = 640;
|
||||
const int TEST_IMAGE_HEIGHT = 480;
|
||||
const QString TEST_IMAGE_FORMAT = "PNG";
|
||||
|
||||
// 测试视频配置
|
||||
const int TEST_VIDEO_FPS = 30;
|
||||
const int TEST_VIDEO_DURATION = 10; // 秒
|
||||
|
||||
// 测试地图配置
|
||||
const double TEST_MAP_WIDTH = 100.0; // 米
|
||||
const double TEST_MAP_HEIGHT = 100.0; // 米
|
||||
const double TEST_MAP_RESOLUTION = 0.1; // 米/像素
|
||||
|
||||
// 测试设备配置
|
||||
const QString TEST_DRONE_ID = "TEST_DRONE_001";
|
||||
const QString TEST_DOG_ID = "TEST_DOG_001";
|
||||
const QString TEST_SENSOR_ID = "TEST_SENSOR_001";
|
||||
|
||||
// 测试目标配置
|
||||
const QString TEST_ENEMY_ID = "TEST_ENEMY_001";
|
||||
const QString TEST_TARGET_TYPE = "TANK";
|
||||
const double TEST_THREAT_LEVEL = 8.0;
|
||||
const double TEST_CONFIDENCE = 0.95;
|
||||
|
||||
// 测试位置配置
|
||||
const double TEST_START_X = 0.0;
|
||||
const double TEST_START_Y = 0.0;
|
||||
const double TEST_START_Z = 0.0;
|
||||
const double TEST_END_X = 50.0;
|
||||
const double TEST_END_Y = 50.0;
|
||||
const double TEST_END_Z = 0.0;
|
||||
|
||||
// 测试时间配置
|
||||
const int TEST_TIMEOUT_MS = 5000;
|
||||
const int TEST_INTERVAL_MS = 100;
|
||||
const int TEST_DURATION_MS = 10000;
|
||||
|
||||
// 测试性能阈值
|
||||
const double MAX_DETECTION_LATENCY_MS = 100.0;
|
||||
const double MAX_NAVIGATION_ERROR_M = 0.5;
|
||||
const double MAX_FUSION_ERROR = 0.1;
|
||||
const double MIN_DETECTION_ACCURACY = 0.8;
|
||||
|
||||
// 测试网络配置
|
||||
const QString TEST_SERVER_HOST = "127.0.0.1";
|
||||
const int TEST_SERVER_PORT = 8080;
|
||||
const int TEST_CLIENT_PORT = 8081;
|
||||
|
||||
// 测试加密配置
|
||||
const QString TEST_ENCRYPTION_KEY = "test_encryption_key_12345";
|
||||
const QString TEST_IV = "test_iv_12345678";
|
||||
|
||||
// 测试日志配置
|
||||
const QString TEST_LOG_LEVEL = "DEBUG";
|
||||
const bool TEST_LOG_TO_FILE = true;
|
||||
const bool TEST_LOG_TO_CONSOLE = true;
|
||||
|
||||
// 测试模式配置
|
||||
const bool TEST_SIMULATION_MODE = true;
|
||||
const bool TEST_REAL_DEVICE_MODE = false;
|
||||
const bool TEST_DEBUG_MODE = true;
|
||||
|
||||
// 测试数据生成配置
|
||||
const int NUM_TEST_IMAGES = 100;
|
||||
const int NUM_TEST_TARGETS = 50;
|
||||
const int NUM_TEST_WAYPOINTS = 20;
|
||||
const int NUM_TEST_OBSTACLES = 10;
|
||||
|
||||
// 测试场景配置
|
||||
enum TestScenario {
|
||||
SCENARIO_URBAN_COMBAT,
|
||||
SCENARIO_OPEN_FIELD,
|
||||
SCENARIO_FOREST,
|
||||
SCENARIO_UNDERGROUND,
|
||||
SCENARIO_MIXED_ENVIRONMENT
|
||||
};
|
||||
|
||||
// 测试环境配置
|
||||
enum TestEnvironment {
|
||||
ENV_DAYLIGHT,
|
||||
ENV_NIGHT,
|
||||
ENV_RAIN,
|
||||
ENV_FOG,
|
||||
ENV_DUST
|
||||
};
|
||||
|
||||
// 测试难度配置
|
||||
enum TestDifficulty {
|
||||
DIFFICULTY_EASY,
|
||||
DIFFICULTY_MEDIUM,
|
||||
DIFFICULTY_HARD,
|
||||
DIFFICULTY_EXTREME
|
||||
};
|
||||
}
|
||||
|
||||
// 测试工具函数
|
||||
namespace TestUtils {
|
||||
// 创建测试目录
|
||||
bool createTestDirectories();
|
||||
|
||||
// 清理测试数据
|
||||
void cleanupTestData();
|
||||
|
||||
// 生成测试图像
|
||||
QString generateTestImage(const QString& filename, int width = TestConfig::TEST_IMAGE_WIDTH, int height = TestConfig::TEST_IMAGE_HEIGHT);
|
||||
|
||||
// 生成测试视频
|
||||
QString generateTestVideo(const QString& filename, int duration = TestConfig::TEST_VIDEO_DURATION);
|
||||
|
||||
// 生成测试地图
|
||||
QString generateTestMap(const QString& filename);
|
||||
|
||||
// 生成测试传感器数据
|
||||
QByteArray generateTestSensorData();
|
||||
|
||||
// 生成测试目标数据
|
||||
QByteArray generateTestTargetData();
|
||||
|
||||
// 验证测试结果
|
||||
bool verifyTestResult(const QString& testName, bool result, const QString& message = "");
|
||||
|
||||
// 记录测试日志
|
||||
void logTestResult(const QString& testName, bool passed, const QString& details = "");
|
||||
|
||||
// 计算测试统计
|
||||
void calculateTestStatistics();
|
||||
}
|
||||
|
||||
#endif // TESTCONFIG_H
|
||||
@ -0,0 +1,105 @@
|
||||
#ifndef TESTDATAFUSION_H
|
||||
#define TESTDATAFUSION_H
|
||||
|
||||
#include <QObject>
|
||||
#include <QTest>
|
||||
#include <QDebug>
|
||||
#include <QVector3D>
|
||||
#include <QMatrix4x4>
|
||||
#include <QElapsedTimer>
|
||||
#include <QThread>
|
||||
|
||||
// 包含被测试的类
|
||||
#include "../include/core/DataFusion.h"
|
||||
#include "../include/core/SensorFusion.h"
|
||||
#include "../include/core/KalmanFilter.h"
|
||||
|
||||
class TestDataFusion : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
private slots:
|
||||
// 初始化测试环境
|
||||
void initTestCase();
|
||||
void init();
|
||||
void cleanup();
|
||||
void cleanupTestCase();
|
||||
|
||||
// 数据融合初始化测试
|
||||
void testDataFusionInitialization();
|
||||
void testSensorRegistration();
|
||||
void testCoordinateTransformation();
|
||||
void testFusionAlgorithmSetup();
|
||||
|
||||
// 多源数据融合测试
|
||||
void testMultiSensorFusion();
|
||||
void testTemporalFusion();
|
||||
void testSpatialFusion();
|
||||
void testFeatureFusion();
|
||||
|
||||
// 传感器数据融合测试
|
||||
void testLidarCameraFusion();
|
||||
void testIMUGPSFusion();
|
||||
void testRadarLidarFusion();
|
||||
void testOpticalInfraredFusion();
|
||||
|
||||
// 目标跟踪融合测试
|
||||
void testTargetTrackingFusion();
|
||||
void testMultiTargetTracking();
|
||||
void testTrackAssociation();
|
||||
void testTrackPrediction();
|
||||
|
||||
// 地图融合测试
|
||||
void testMapFusion();
|
||||
void testOccupancyGridFusion();
|
||||
void testFeatureMapFusion();
|
||||
void testSemanticMapFusion();
|
||||
|
||||
// 态势感知融合测试
|
||||
void testSituationalAwareness();
|
||||
void testThreatAssessment();
|
||||
void testRiskEvaluation();
|
||||
void testDecisionSupport();
|
||||
|
||||
// 数据质量测试
|
||||
void testDataQualityAssessment();
|
||||
void testOutlierDetection();
|
||||
void testNoiseFiltering();
|
||||
void testDataValidation();
|
||||
|
||||
// 性能测试
|
||||
void testFusionSpeed();
|
||||
void testMemoryUsage();
|
||||
void testRealTimePerformance();
|
||||
void testScalability();
|
||||
|
||||
// 鲁棒性测试
|
||||
void testSensorFailureHandling();
|
||||
void testDataLossHandling();
|
||||
void testInconsistentDataHandling();
|
||||
void testDynamicSensorConfiguration();
|
||||
|
||||
private:
|
||||
DataFusion* m_dataFusion;
|
||||
SensorFusion* m_sensorFusion;
|
||||
KalmanFilter* m_kalmanFilter;
|
||||
|
||||
// 测试数据
|
||||
QList<SensorData> m_testSensorData;
|
||||
QList<TargetData> m_testTargetData;
|
||||
QList<MapData> m_testMapData;
|
||||
|
||||
// 测试数据准备
|
||||
void prepareTestSensorData();
|
||||
void prepareTestTargetData();
|
||||
void prepareTestMapData();
|
||||
void cleanupTestData();
|
||||
|
||||
// 测试辅助函数
|
||||
bool verifyFusionResult(const FusionResult& result);
|
||||
double calculateFusionAccuracy(const QList<FusionResult>& results);
|
||||
bool verifyDataConsistency(const QList<SensorData>& data);
|
||||
void simulateFusionScenario(const QString& scenario);
|
||||
};
|
||||
|
||||
#endif // TESTDATAFUSION_H
|
||||
@ -0,0 +1,69 @@
|
||||
#ifndef TESTDATABASEMANAGER_H
|
||||
#define TESTDATABASEMANAGER_H
|
||||
|
||||
#include <QObject>
|
||||
#include <QTest>
|
||||
#include <QDebug>
|
||||
#include <QSqlDatabase>
|
||||
#include <QSqlQuery>
|
||||
#include <QSqlError>
|
||||
#include <QVariant>
|
||||
#include <QDateTime>
|
||||
|
||||
// 包含被测试的类
|
||||
#include "../include/core/database/DatabaseManager.h"
|
||||
#include "../include/core/database/EnemyDatabase.h"
|
||||
#include "../include/core/database/DogDatabase.h"
|
||||
#include "../include/core/database/UAVDatabase.h"
|
||||
|
||||
class TestDatabaseManager : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
private slots:
|
||||
// 初始化测试环境
|
||||
void initTestCase();
|
||||
void init();
|
||||
void cleanup();
|
||||
void cleanupTestCase();
|
||||
|
||||
// 数据库连接测试
|
||||
void testDatabaseConnection();
|
||||
void testDatabaseCreation();
|
||||
void testDatabaseConfig();
|
||||
|
||||
// 敌方数据库测试
|
||||
void testEnemyDatabaseOperations();
|
||||
void testEnemyDataInsertion();
|
||||
void testEnemyDataQuery();
|
||||
void testEnemyDataUpdate();
|
||||
void testEnemyDataDeletion();
|
||||
|
||||
// 机器狗数据库测试
|
||||
void testDogDatabaseOperations();
|
||||
void testDogStatusUpdate();
|
||||
void testDogLocationTracking();
|
||||
|
||||
// 无人机数据库测试
|
||||
void testUAVDatabaseOperations();
|
||||
void testUAVStatusUpdate();
|
||||
void testUAVFlightData();
|
||||
|
||||
// 数据库性能测试
|
||||
void testDatabasePerformance();
|
||||
void testConcurrentAccess();
|
||||
void testDataIntegrity();
|
||||
|
||||
private:
|
||||
DatabaseManager* m_dbManager;
|
||||
EnemyDatabase* m_enemyDb;
|
||||
DogDatabase* m_dogDb;
|
||||
UAVDatabase* m_uavDb;
|
||||
|
||||
// 测试数据
|
||||
void createTestData();
|
||||
void cleanupTestData();
|
||||
bool verifyTestData();
|
||||
};
|
||||
|
||||
#endif // TESTDATABASEMANAGER_H
|
||||
@ -0,0 +1,76 @@
|
||||
#ifndef TESTDEVICECONTROL_H
|
||||
#define TESTDEVICECONTROL_H
|
||||
|
||||
#include <QObject>
|
||||
#include <QTest>
|
||||
#include <QDebug>
|
||||
#include <QTimer>
|
||||
#include <QSignalSpy>
|
||||
#include <QThread>
|
||||
|
||||
// 包含被测试的类
|
||||
#include "../include/ui/dialogs/RobotDogControlDialog.h"
|
||||
#include "../include/ui/dialogs/DroneControlDialog.h"
|
||||
#include "../include/ui/components/DeviceListPanel.h"
|
||||
|
||||
class TestDeviceControl : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
private slots:
|
||||
// 初始化测试环境
|
||||
void initTestCase();
|
||||
void init();
|
||||
void cleanup();
|
||||
void cleanupTestCase();
|
||||
|
||||
// 机器狗控制测试
|
||||
void testRobotDogInitialization();
|
||||
void testRobotDogMovement();
|
||||
void testRobotDogNavigation();
|
||||
void testRobotDogStatusMonitoring();
|
||||
void testRobotDogEmergencyStop();
|
||||
|
||||
// 无人机控制测试
|
||||
void testDroneInitialization();
|
||||
void testDroneTakeoff();
|
||||
void testDroneFlight();
|
||||
void testDroneLanding();
|
||||
void testDroneStatusMonitoring();
|
||||
void testDroneEmergencyLanding();
|
||||
|
||||
// 设备列表管理测试
|
||||
void testDeviceListManagement();
|
||||
void testDeviceConnection();
|
||||
void testDeviceDisconnection();
|
||||
void testDeviceStatusUpdate();
|
||||
|
||||
// 协同控制测试
|
||||
void testCoordinatedMovement();
|
||||
void testFormationControl();
|
||||
void testTaskAllocation();
|
||||
void testConflictResolution();
|
||||
|
||||
// 通信测试
|
||||
void testDeviceCommunication();
|
||||
void testCommandTransmission();
|
||||
void testStatusFeedback();
|
||||
void testErrorHandling();
|
||||
|
||||
// 性能测试
|
||||
void testControlLatency();
|
||||
void testResponseTime();
|
||||
void testConcurrentControl();
|
||||
|
||||
private:
|
||||
RobotDogControlDialog* m_robotDogDialog;
|
||||
DroneControlDialog* m_droneDialog;
|
||||
DeviceListPanel* m_deviceListPanel;
|
||||
|
||||
// 模拟设备状态
|
||||
void simulateDeviceStatus();
|
||||
void simulateCommunicationDelay();
|
||||
bool verifyDeviceResponse();
|
||||
};
|
||||
|
||||
#endif // TESTDEVICECONTROL_H
|
||||
@ -0,0 +1,69 @@
|
||||
#include <QApplication>
|
||||
#include <QTest>
|
||||
#include <QDebug>
|
||||
#include <QDir>
|
||||
#include <QStandardPaths>
|
||||
|
||||
// 测试模块头文件
|
||||
#include "TestDatabaseManager.h"
|
||||
#include "TestDeviceControl.h"
|
||||
#include "TestYOLODetector.h"
|
||||
#include "TestSLAMProcessor.h"
|
||||
#include "TestDataFusion.h"
|
||||
#include "TestCommunication.h"
|
||||
#include "TestMissionController.h"
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
QApplication app(argc, argv);
|
||||
|
||||
qDebug() << "=== 基于空地协同的战场环境探索系统 - 测试套件 ===";
|
||||
qDebug() << "开始执行测试...";
|
||||
|
||||
int testResult = 0;
|
||||
|
||||
// 1. 数据库管理测试
|
||||
qDebug() << "\n--- 执行数据库管理测试 ---";
|
||||
TestDatabaseManager dbTest;
|
||||
testResult += QTest::qExec(&dbTest, argc, argv);
|
||||
|
||||
// 2. 设备控制测试
|
||||
qDebug() << "\n--- 执行设备控制测试 ---";
|
||||
TestDeviceControl deviceTest;
|
||||
testResult += QTest::qExec(&deviceTest, argc, argv);
|
||||
|
||||
// 3. YOLO检测器测试
|
||||
qDebug() << "\n--- 执行YOLO检测器测试 ---";
|
||||
TestYOLODetector yoloTest;
|
||||
testResult += QTest::qExec(&yoloTest, argc, argv);
|
||||
|
||||
// 4. SLAM处理器测试
|
||||
qDebug() << "\n--- 执行SLAM处理器测试 ---";
|
||||
TestSLAMProcessor slamTest;
|
||||
testResult += QTest::qExec(&slamTest, argc, argv);
|
||||
|
||||
// 5. 数据融合测试
|
||||
qDebug() << "\n--- 执行数据融合测试 ---";
|
||||
TestDataFusion fusionTest;
|
||||
testResult += QTest::qExec(&fusionTest, argc, argv);
|
||||
|
||||
// 6. 通信模块测试
|
||||
qDebug() << "\n--- 执行通信模块测试 ---";
|
||||
TestCommunication commTest;
|
||||
testResult += QTest::qExec(&commTest, argc, argv);
|
||||
|
||||
// 7. 任务控制器测试
|
||||
qDebug() << "\n--- 执行任务控制器测试 ---";
|
||||
TestMissionController missionTest;
|
||||
testResult += QTest::qExec(&missionTest, argc, argv);
|
||||
|
||||
// 测试结果汇总
|
||||
qDebug() << "\n=== 测试结果汇总 ===";
|
||||
if (testResult == 0) {
|
||||
qDebug() << "✅ 所有测试通过！";
|
||||
} else {
|
||||
qDebug() << "❌ 有" << testResult << "个测试失败";
|
||||
}
|
||||
|
||||
return testResult;
|
||||
}
|
||||
@ -0,0 +1,96 @@
|
||||
#ifndef TESTMISSIONCONTROLLER_H
|
||||
#define TESTMISSIONCONTROLLER_H
|
||||
|
||||
#include <QObject>
|
||||
#include <QTest>
|
||||
#include <QDebug>
|
||||
#include <QTimer>
|
||||
#include <QSignalSpy>
|
||||
#include <QThread>
|
||||
|
||||
// 包含被测试的类
|
||||
#include "../include/core/MissionController.h"
|
||||
#include "../include/core/TaskScheduler.h"
|
||||
#include "../include/core/CoordinationController.h"
|
||||
|
||||
class TestMissionController : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
private slots:
|
||||
// 初始化测试环境
|
||||
void initTestCase();
|
||||
void init();
|
||||
void cleanup();
|
||||
void cleanupTestCase();
|
||||
|
||||
// 任务管理测试
|
||||
void testMissionCreation();
|
||||
void testMissionPlanning();
|
||||
void testMissionExecution();
|
||||
void testMissionMonitoring();
|
||||
|
||||
// 任务调度测试
|
||||
void testTaskScheduling();
|
||||
void testTaskAllocation();
|
||||
void testTaskPrioritization();
|
||||
void testTaskDependencies();
|
||||
|
||||
// 协同控制测试
|
||||
void testCoordinatedControl();
|
||||
void testFormationControl();
|
||||
void testConflictResolution();
|
||||
void testResourceSharing();
|
||||
|
||||
// 任务执行测试
|
||||
void testExplorationMission();
|
||||
void testSurveillanceMission();
|
||||
void testReconnaissanceMission();
|
||||
void testIntelligenceGatheringMission();
|
||||
|
||||
// 状态管理测试
|
||||
void testMissionStateManagement();
|
||||
void testDeviceStateTracking();
|
||||
void testSystemHealthMonitoring();
|
||||
void testPerformanceMetrics();
|
||||
|
||||
// 异常处理测试
|
||||
void testMissionAbort();
|
||||
void testDeviceFailureHandling();
|
||||
void testEmergencyResponse();
|
||||
void testRecoveryProcedures();
|
||||
|
||||
// 性能测试
|
||||
void testMissionExecutionSpeed();
|
||||
void testResourceUtilization();
|
||||
void testConcurrentMissions();
|
||||
void testScalability();
|
||||
|
||||
// 集成测试
|
||||
void testEndToEndMission();
|
||||
void testMultiDeviceIntegration();
|
||||
void testSystemIntegration();
|
||||
void testUserInterfaceIntegration();
|
||||
|
||||
private:
|
||||
MissionController* m_missionController;
|
||||
TaskScheduler* m_taskScheduler;
|
||||
CoordinationController* m_coordinationController;
|
||||
|
||||
// 测试数据
|
||||
QList<Mission> m_testMissions;
|
||||
QList<Task> m_testTasks;
|
||||
|
||||
// 测试数据准备
|
||||
void prepareTestMissions();
|
||||
void prepareTestTasks();
|
||||
void cleanupTestData();
|
||||
|
||||
// 测试辅助函数
|
||||
bool verifyMissionExecution(const Mission& mission);
|
||||
double calculateMissionSuccessRate(const QList<Mission>& missions);
|
||||
bool verifyTaskCompletion(const Task& task);
|
||||
void simulateMissionScenario(const QString& scenario);
|
||||
};
|
||||
|
||||
#endif // TESTMISSIONCONTROLLER_H
|
||||
@ -0,0 +1,105 @@
|
||||
#ifndef TESTSLAMPROCESSOR_H
|
||||
#define TESTSLAMPROCESSOR_H
|
||||
|
||||
#include <QObject>
|
||||
#include <QTest>
|
||||
#include <QDebug>
|
||||
#include <QVector3D>
|
||||
#include <QMatrix4x4>
|
||||
#include <QElapsedTimer>
|
||||
#include <QThread>
|
||||
|
||||
// 包含被测试的类
|
||||
#include "../include/core/SLAMProcessor.h"
|
||||
#include "../include/core/PathPlanner.h"
|
||||
#include "../include/core/MapBuilder.h"
|
||||
|
||||
class TestSLAMProcessor : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
private slots:
|
||||
// 初始化测试环境
|
||||
void initTestCase();
|
||||
void init();
|
||||
void cleanup();
|
||||
void cleanupTestCase();
|
||||
|
||||
// SLAM初始化测试
|
||||
void testSLAMInitialization();
|
||||
void testSensorCalibration();
|
||||
void testCoordinateSystemSetup();
|
||||
void testParameterConfiguration();
|
||||
|
||||
// 传感器数据处理测试
|
||||
void testLidarDataProcessing();
|
||||
void testIMUDataProcessing();
|
||||
void testCameraDataProcessing();
|
||||
void testMultiSensorFusion();
|
||||
|
||||
// 定位测试
|
||||
void testLocalization();
|
||||
void testPoseEstimation();
|
||||
void testPositionTracking();
|
||||
void testOrientationEstimation();
|
||||
|
||||
// 建图测试
|
||||
void testMapBuilding();
|
||||
void testOccupancyGridGeneration();
|
||||
void testFeatureExtraction();
|
||||
void testLoopClosureDetection();
|
||||
|
||||
// 路径规划测试
|
||||
void testPathPlanning();
|
||||
void testObstacleAvoidance();
|
||||
void testGlobalPathPlanning();
|
||||
void testLocalPathPlanning();
|
||||
|
||||
// 导航测试
|
||||
void testNavigation();
|
||||
void testWaypointFollowing();
|
||||
void testDynamicObstacleAvoidance();
|
||||
void testNavigationAccuracy();
|
||||
|
||||
// 地图管理测试
|
||||
void testMapLoading();
|
||||
void testMapSaving();
|
||||
void testMapUpdating();
|
||||
void testMapOptimization();
|
||||
|
||||
// 性能测试
|
||||
void testProcessingSpeed();
|
||||
void testMemoryEfficiency();
|
||||
void testRealTimePerformance();
|
||||
void testScalability();
|
||||
|
||||
// 鲁棒性测试
|
||||
void testSensorFailureHandling();
|
||||
void testNoiseRobustness();
|
||||
void testDynamicEnvironment();
|
||||
void testLongTermOperation();
|
||||
|
||||
private:
|
||||
SLAMProcessor* m_slamProcessor;
|
||||
PathPlanner* m_pathPlanner;
|
||||
MapBuilder* m_mapBuilder;
|
||||
|
||||
// 测试数据
|
||||
QList<SensorData> m_testSensorData;
|
||||
QList<QVector3D> m_testTrajectory;
|
||||
QList<Obstacle> m_testObstacles;
|
||||
|
||||
// 测试数据准备
|
||||
void prepareTestSensorData();
|
||||
void generateSyntheticTrajectory();
|
||||
void createTestEnvironment();
|
||||
void cleanupTestData();
|
||||
|
||||
// 测试辅助函数
|
||||
bool verifyPoseEstimation(const Pose& estimated, const Pose& groundTruth);
|
||||
double calculateLocalizationAccuracy(const QList<Pose>& estimated, const QList<Pose>& groundTruth);
|
||||
bool verifyPathFeasibility(const QList<QVector3D>& path);
|
||||
void simulateNavigationScenario(const QString& scenario);
|
||||
};
|
||||
|
||||
#endif // TESTSLAMPROCESSOR_H
|
||||
@ -0,0 +1,95 @@
|
||||
#ifndef TESTYOLODETECTOR_H
|
||||
#define TESTYOLODETECTOR_H
|
||||
|
||||
#include <QObject>
|
||||
#include <QTest>
|
||||
#include <QDebug>
|
||||
#include <QImage>
|
||||
#include <QPixmap>
|
||||
#include <QDir>
|
||||
#include <QFileInfo>
|
||||
#include <QElapsedTimer>
|
||||
|
||||
// 包含被测试的类
|
||||
#include "../include/core/YOLODetector.h"
|
||||
#include "../include/core/TargetClassifier.h"
|
||||
|
||||
class TestYOLODetector : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
private slots:
|
||||
// 初始化测试环境
|
||||
void initTestCase();
|
||||
void init();
|
||||
void cleanup();
|
||||
void cleanupTestCase();
|
||||
|
||||
// 模型加载测试
|
||||
void testModelLoading();
|
||||
void testModelValidation();
|
||||
void testModelPerformance();
|
||||
|
||||
// 目标检测测试
|
||||
void testObjectDetection();
|
||||
void testTargetClassification();
|
||||
void testConfidenceScoring();
|
||||
void testBoundingBoxAccuracy();
|
||||
|
||||
// 图像处理测试
|
||||
void testImagePreprocessing();
|
||||
void testImageResizing();
|
||||
void testImageNormalization();
|
||||
void testBatchProcessing();
|
||||
|
||||
// 特定目标检测测试
|
||||
void testMilitaryVehicleDetection();
|
||||
void testPersonDetection();
|
||||
void testWeaponDetection();
|
||||
void testBuildingDetection();
|
||||
|
||||
// 实时检测测试
|
||||
void testRealTimeDetection();
|
||||
void testVideoStreamProcessing();
|
||||
void testDetectionLatency();
|
||||
void testDetectionAccuracy();
|
||||
|
||||
// 多目标检测测试
|
||||
void testMultipleObjectDetection();
|
||||
void testObjectTracking();
|
||||
void testOcclusionHandling();
|
||||
void testSmallObjectDetection();
|
||||
|
||||
// 环境适应性测试
|
||||
void testLightingConditions();
|
||||
void testWeatherConditions();
|
||||
void testDistanceVariation();
|
||||
void testAngleVariation();
|
||||
|
||||
// 性能优化测试
|
||||
void testDetectionSpeed();
|
||||
void testMemoryUsage();
|
||||
void testGPUAcceleration();
|
||||
void testModelOptimization();
|
||||
|
||||
private:
|
||||
YOLODetector* m_yoloDetector;
|
||||
TargetClassifier* m_targetClassifier;
|
||||
|
||||
// 测试图像
|
||||
QList<QImage> m_testImages;
|
||||
QList<QString> m_testImagePaths;
|
||||
|
||||
// 测试数据准备
|
||||
void prepareTestImages();
|
||||
void createSyntheticTestImages();
|
||||
void loadRealTestImages();
|
||||
void cleanupTestImages();
|
||||
|
||||
// 测试辅助函数
|
||||
bool verifyDetectionResult(const DetectionResult& result);
|
||||
double calculateDetectionAccuracy(const QList<DetectionResult>& results);
|
||||
void simulateDetectionScenario(const QString& scenario);
|
||||
};
|
||||
|
||||
#endif // TESTYOLODETECTOR_H
|
||||
@ -0,0 +1,212 @@
|
||||
#!/bin/bash
|
||||
|
||||
# 基于空地协同的战场环境探索系统 - 测试运行脚本
|
||||
# 作者: 系统开发团队
|
||||
# 日期: 2024年
|
||||
|
||||
echo "=========================================="
|
||||
echo "基于空地协同的战场环境探索系统 - 测试套件"
|
||||
echo "=========================================="
|
||||
|
||||
# 设置环境变量
|
||||
export QT_QPA_PLATFORM=offscreen
|
||||
export QT_LOGGING_RULES="*.debug=true;qt.qpa.*=false"
|
||||
|
||||
# 测试配置
|
||||
TEST_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
BUILD_DIR="$TEST_DIR/../build"
|
||||
BIN_DIR="$BUILD_DIR/bin"
|
||||
LOG_DIR="$TEST_DIR/logs"
|
||||
REPORT_DIR="$TEST_DIR/reports"
|
||||
|
||||
# 创建必要的目录
|
||||
mkdir -p "$LOG_DIR"
|
||||
mkdir -p "$REPORT_DIR"
|
||||
|
||||
# 测试时间戳
|
||||
TIMESTAMP=$(date +"%Y%m%d_%H%M%S")
|
||||
LOG_FILE="$LOG_DIR/test_run_$TIMESTAMP.log"
|
||||
REPORT_FILE="$REPORT_DIR/test_report_$TIMESTAMP.html"
|
||||
|
||||
echo "测试开始时间: $(date)"
|
||||
echo "日志文件: $LOG_FILE"
|
||||
echo "报告文件: $REPORT_FILE"
|
||||
echo ""
|
||||
|
||||
# 检查构建目录
|
||||
if [ ! -d "$BUILD_DIR" ]; then
|
||||
echo "❌ 错误: 构建目录不存在，请先编译项目"
|
||||
echo "运行: cd $BUILD_DIR && make"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# 检查可执行文件
|
||||
TEST_EXECUTABLE="$BIN_DIR/TestMain"
|
||||
if [ ! -f "$TEST_EXECUTABLE" ]; then
|
||||
echo "❌ 错误: 测试可执行文件不存在: $TEST_EXECUTABLE"
|
||||
echo "请先编译测试程序"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# 函数：运行单个测试模块
|
||||
run_test_module() {
|
||||
local module_name="$1"
|
||||
local test_args="$2"
|
||||
|
||||
echo "🧪 运行 $module_name 测试..."
|
||||
echo "----------------------------------------"
|
||||
|
||||
# 运行测试并捕获输出
|
||||
if [ -n "$test_args" ]; then
|
||||
"$TEST_EXECUTABLE" $test_args 2>&1 | tee -a "$LOG_FILE"
|
||||
else
|
||||
"$TEST_EXECUTABLE" 2>&1 | tee -a "$LOG_FILE"
|
||||
fi
|
||||
|
||||
local exit_code=${PIPESTATUS[0]}
|
||||
|
||||
if [ $exit_code -eq 0 ]; then
|
||||
echo "✅ $module_name 测试通过"
|
||||
return 0
|
||||
else
|
||||
echo "❌ $module_name 测试失败 (退出码: $exit_code)"
|
||||
return 1
|
||||
fi
|
||||
}
|
||||
|
||||
# 函数：生成测试报告
|
||||
generate_test_report() {
|
||||
echo "📊 生成测试报告..."
|
||||
|
||||
cat > "$REPORT_FILE" << EOF
|
||||
<!DOCTYPE html>
|
||||
<html>
|
||||
<head>
|
||||
<title>战场环境探索系统 - 测试报告</title>
|
||||
<meta charset="UTF-8">
|
||||
<style>
|
||||
body { font-family: Arial, sans-serif; margin: 20px; }
|
||||
.header { background-color: #f0f0f0; padding: 20px; border-radius: 5px; }
|
||||
.summary { margin: 20px 0; }
|
||||
.test-module { margin: 10px 0; padding: 10px; border: 1px solid #ddd; border-radius: 3px; }
|
||||
.passed { background-color: #d4edda; border-color: #c3e6cb; }
|
||||
.failed { background-color: #f8d7da; border-color: #f5c6cb; }
|
||||
.log { background-color: #f8f9fa; padding: 10px; border-radius: 3px; font-family: monospace; font-size: 12px; }
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
<div class="header">
|
||||
<h1>基于空地协同的战场环境探索系统 - 测试报告</h1>
|
||||
<p>生成时间: $(date)</p>
|
||||
<p>测试环境: $(uname -a)</p>
|
||||
</div>
|
||||
|
||||
<div class="summary">
|
||||
<h2>测试摘要</h2>
|
||||
<p>总测试模块: 7</p>
|
||||
<p>通过模块: $PASSED_COUNT</p>
|
||||
<p>失败模块: $FAILED_COUNT</p>
|
||||
<p>成功率: $((PASSED_COUNT * 100 / (PASSED_COUNT + FAILED_COUNT)))%</p>
|
||||
</div>
|
||||
|
||||
<div class="test-modules">
|
||||
<h2>测试模块详情</h2>
|
||||
$(cat "$LOG_DIR/test_results_$TIMESTAMP.txt" 2>/dev/null || echo "<p>无详细结果</p>")
|
||||
</div>
|
||||
|
||||
<div class="log">
|
||||
<h2>测试日志</h2>
|
||||
<pre>$(tail -n 100 "$LOG_FILE" 2>/dev/null || echo "无日志数据")</pre>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
EOF
|
||||
|
||||
echo "📄 测试报告已生成: $REPORT_FILE"
|
||||
}
|
||||
|
||||
# 主测试流程
|
||||
echo "🚀 开始执行测试套件..."
|
||||
echo ""
|
||||
|
||||
# 初始化计数器
|
||||
PASSED_COUNT=0
|
||||
FAILED_COUNT=0
|
||||
|
||||
# 1. 数据库管理测试
|
||||
if run_test_module "数据库管理" "--database"; then
|
||||
((PASSED_COUNT++))
|
||||
else
|
||||
((FAILED_COUNT++))
|
||||
fi
|
||||
|
||||
# 2. 设备控制测试
|
||||
if run_test_module "设备控制" "--device"; then
|
||||
((PASSED_COUNT++))
|
||||
else
|
||||
((FAILED_COUNT++))
|
||||
fi
|
||||
|
||||
# 3. YOLO检测器测试
|
||||
if run_test_module "YOLO检测器" "--yolo"; then
|
||||
((PASSED_COUNT++))
|
||||
else
|
||||
((FAILED_COUNT++))
|
||||
fi
|
||||
|
||||
# 4. SLAM处理器测试
|
||||
if run_test_module "SLAM处理器" "--slam"; then
|
||||
((PASSED_COUNT++))
|
||||
else
|
||||
((FAILED_COUNT++))
|
||||
fi
|
||||
|
||||
# 5. 数据融合测试
|
||||
if run_test_module "数据融合" "--fusion"; then
|
||||
((PASSED_COUNT++))
|
||||
else
|
||||
((FAILED_COUNT++))
|
||||
fi
|
||||
|
||||
# 6. 通信模块测试
|
||||
if run_test_module "通信模块" "--communication"; then
|
||||
((PASSED_COUNT++))
|
||||
else
|
||||
((FAILED_COUNT++))
|
||||
fi
|
||||
|
||||
# 7. 任务控制器测试
|
||||
if run_test_module "任务控制器" "--mission"; then
|
||||
((PASSED_COUNT++))
|
||||
else
|
||||
((FAILED_COUNT++))
|
||||
fi
|
||||
|
||||
# 测试结果汇总
|
||||
echo ""
|
||||
echo "=========================================="
|
||||
echo "测试结果汇总"
|
||||
echo "=========================================="
|
||||
echo "总测试模块: $((PASSED_COUNT + FAILED_COUNT))"
|
||||
echo "通过模块: $PASSED_COUNT"
|
||||
echo "失败模块: $FAILED_COUNT"
|
||||
echo "成功率: $((PASSED_COUNT * 100 / (PASSED_COUNT + FAILED_COUNT)))%"
|
||||
echo ""
|
||||
|
||||
# 生成测试报告
|
||||
generate_test_report
|
||||
|
||||
# 清理临时文件
|
||||
echo "🧹 清理临时文件..."
|
||||
rm -f "$LOG_DIR/test_results_$TIMESTAMP.txt" 2>/dev/null
|
||||
|
||||
# 最终结果
|
||||
if [ $FAILED_COUNT -eq 0 ]; then
|
||||
echo "🎉 所有测试通过！系统质量良好。"
|
||||
exit 0
|
||||
else
|
||||
echo "⚠️ 有 $FAILED_COUNT 个测试模块失败，请检查系统功能。"
|
||||
echo "详细日志请查看: $LOG_FILE"
|
||||
echo "测试报告请查看: $REPORT_FILE"
|
||||
exit 1
|
||||
fi
|
||||
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Reference in new issue