src/Client/BattlefieldExplorationSystem.pro

@@ -31,7 +31,6 @@ SOURCES += \
     src/ui/main/MainWindow.cpp \
     src/ui/dialogs/DeviceDialog.cpp \
     src/ui/dialogs/EnemyStatsDialog.cpp \
-    src/ui/dialogs/RobotDogControlDialog.cpp \
     src/ui/components/DeviceCard.cpp \
     src/ui/components/DeviceListPanel.cpp \
     src/ui/components/SystemLogPanel.cpp \
@@ -52,7 +51,6 @@ HEADERS += \
     include/ui/main/MainWindow.h \
     include/ui/dialogs/DeviceDialog.h \
     include/ui/dialogs/EnemyStatsDialog.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

@@ -34,11 +34,6 @@
 #include <QCheckBox>
 #include <QTimer>
 #include <QFrame>
-#include <QProcess>
-#include <QWidget>
-#include <QWindow>
-#include <QApplication>
-#include <QStackedLayout>
 
 /**
  * @class RobotDogControlDialog
@@ -64,34 +59,44 @@ public:
 
 signals:
     /**
-     * @brief 启动思岚雷达信号
+     * @brief 开始自主建图信号
      */
-    void startSlamRadar();
+    void startMapping();
     
     /**
-     * @brief 停止思岚雷达信号
+     * @brief 停止自主建图信号
      */
-    void stopSlamRadar();
+    void stopMapping();
     
     /**
-     * @brief 启动雷达建图信号
+     * @brief 开始导航避障信号
      */
-    void startRadarMapping();
+    void startNavigation();
     
     /**
-     * @brief 停止雷达建图信号
+     * @brief 停止导航避障信号
      */
-    void stopRadarMapping();
+    void stopNavigation();
     
     /**
-     * @brief 启动自动导航建图信号
+     * @brief 开始照片传输信号
      */
-    void startAutoNavMapping();
+    void startPhotoTransmission();
     
     /**
-     * @brief 停止自动导航建图信号
+     * @brief 停止照片传输信号
      */
-    void stopAutoNavMapping();
+    void stopPhotoTransmission();
+    
+    /**
+     * @brief 开始人物识别信号
+     */
+    void startPersonRecognition();
+    
+    /**
+     * @brief 停止人物识别信号
+     */
+    void stopPersonRecognition();
 
 public slots:
     /**
@@ -144,24 +149,29 @@ private slots:
     void onJumpClicked();
     
     /**
-     * @brief 紧急停止槽函数
+     * @brief 建图开关槽函数
      */
-    void onEmergencyStop();
-
+    void onMappingToggle();
+    
     /**
-     * @brief 思岚雷达开关槽函数
+     * @brief 导航开关槽函数
      */
-    void onSlamRadarToggle();
+    void onNavigationToggle();
     
     /**
-     * @brief 雷达建图开关槽函数
+     * @brief 照片传输开关槽函数
      */
-    void onRadarMappingToggle();
+    void onPhotoTransmissionToggle();
     
     /**
-     * @brief 自动导航建图开关槽函数
+     * @brief 人物识别开关槽函数
      */
-    void onAutoNavMappingToggle();
+    void onPersonRecognitionToggle();
+    
+    /**
+     * @brief 紧急停止槽函数
+     */
+    void onEmergencyStop();
 
 private:
     /**
@@ -214,14 +224,12 @@ private:
     
     // 任务控制模块
     QGroupBox *m_missionControlGroup;
-    QPushButton *m_slamRadarBtn;
-    QPushButton *m_radarMappingBtn;
-    QPushButton *m_autoNavMappingBtn;
+    QPushButton *m_mappingBtn;
+    QPushButton *m_navigationBtn;
+    QPushButton *m_photoBtn;
+    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;
@@ -233,46 +241,15 @@ 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

@@ -46,7 +46,7 @@
 #include "ui/components/RightFunctionPanel.h"
 #include "ui/dialogs/EnemyStatsDialog.h"
 // #include "ui/dialogs/DroneControlDialog.h"
-#include "ui/dialogs/RobotDogControlDialog.h"
+// #include "ui/dialogs/RobotDogControlDialog.h"
 
 // 标准库头文件
 #include <string>
@@ -352,7 +352,7 @@ private:
 
     // 控制对话框（暂时注释掉以避免编译问题）
     // 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
 
     // 敌情统计对话框
     EnemyStatsDialog *m_enemyStatsDialog;                            ///< 敌情统计对话框

src/Client/src/ui/components/RightFunctionPanel.cpp

@@ -214,7 +214,7 @@ void RightFunctionPanel::setupBattlefieldExplorationModule()
     m_explorationCard = new ModuleCard("🎯 战场探索", "🎯", this);
     m_explorationCard->setObjectName("ModuleCard");
     m_explorationCard->setProperty("data-module", "battlefield");
-    
+
     // 简化设计：只显示两个主要功能入口按钮
     QWidget *mainControlWidget = new QWidget();
     mainControlWidget->setObjectName("main-control-widget");
@@ -930,21 +930,21 @@ void RightFunctionPanel::updateDeviceStatus(const QString &deviceName, bool onli
     } else {
         deviceType = "未知设备";
     }
-    
+
     QString statusMsg;
-        if (online) {
-            if (battery > 80) {
+    if (online) {
+        if (battery > 80) {
             statusMsg = QString("%1 %2: 📶 连接质量 %3% (优秀)").arg(deviceType).arg(deviceName).arg(battery);
-            } else if (battery > 50) {
+        } else if (battery > 50) {
             statusMsg = QString("%1 %2: 📶 连接质量 %3% (良好)").arg(deviceType).arg(deviceName).arg(battery);
-            } else if (battery > 20) {
+        } else if (battery > 20) {
             statusMsg = QString("%1 %2: ⚠️ 连接质量 %3% (一般)").arg(deviceType).arg(deviceName).arg(battery);
-            } else {
-            statusMsg = QString("%1 %2: ⚠️ 连接质量 %3% (较差)").arg(deviceType).arg(deviceName).arg(battery);
-            }
         } else {
-        statusMsg = QString("%1 %2: ❌ 设备离线").arg(deviceType).arg(deviceName);
+            statusMsg = QString("%1 %2: ⚠️ 连接质量 %3% (较差)").arg(deviceType).arg(deviceName).arg(battery);
         }
+    } else {
+        statusMsg = QString("%1 %2: ❌ 设备离线").arg(deviceType).arg(deviceName);
+    }
 
     SystemLogger::getInstance()->logInfo(statusMsg);
 }

src/Client/src/ui/main/MainWindow.cpp

@@ -61,7 +61,7 @@ MainWindow::MainWindow(QWidget *parent)
     , m_enemyStatsDialog(nullptr)
     , m_visionProcess(nullptr)
     // , m_droneControlDialog(nullptr)
-    , m_robotDogControlDialog(nullptr)
+    // , m_robotDogControlDialog(nullptr)
 {
     m_ui->setupUi(this);
     
@@ -71,7 +71,7 @@ MainWindow::MainWindow(QWidget *parent)
 
     // 初始化现代样式管理器
     initializeModernStyles();
-    
+
     // 初始化默认数据
     m_robotList.append(qMakePair(QString("Alice"), QString("192.168.0.1")));
     m_robotList.append(qMakePair(QString("Bob"), QString("192.168.0.2")));
@@ -91,10 +91,10 @@ MainWindow::~MainWindow()
     //     delete m_droneControlDialog;
     //     m_droneControlDialog = nullptr;
     // }
-    if (m_robotDogControlDialog) {
-        delete m_robotDogControlDialog;
-         m_robotDogControlDialog = nullptr;
-    }
+    // if (m_robotDogControlDialog) {
+    //     delete m_robotDogControlDialog;
+    //     m_robotDogControlDialog = nullptr;
+    // }
     
     // 停止并清理视觉识别进程
     if (m_visionProcess) {
@@ -1207,7 +1207,7 @@ void MainWindow::onEnemyStatsRequested()
         // 连接敌情数据更新信号
         connect(m_enemyStatsDialog, &EnemyStatsDialog::enemyDataUpdated,
                 [this](int totalCount, int highThreatCount) {
-        SystemLogger::getInstance()->logInfo(
+                    SystemLogger::getInstance()->logInfo(
                         QString("敌情数据更新：总数 %1，高威胁 %2")
                         .arg(totalCount).arg(highThreatCount)
                     );
@@ -1382,23 +1382,17 @@ void MainWindow::onRobotDogControlRequested()
 {
     SystemLogger::getInstance()->logInfo("机器狗控制请求");
 
-    // 创建机器狗控制对话框（如果还没有创建）
-    if (!m_robotDogControlDialog) {
-        m_robotDogControlDialog = new RobotDogControlDialog(this);
-        
-        // 连接信号（如果需要的话）
-        // connect(m_robotDogControlDialog, &RobotDogControlDialog::someSignal, 
-        //         this, &MainWindow::someSlot);
-    }
-    
-    // 显示对话框
-    m_robotDogControlDialog->show();
-    m_robotDogControlDialog->raise();
-    m_robotDogControlDialog->activateWindow();
+    // 暂时使用简单的消息框来测试功能
+    QMessageBox::information(this, "机器狗控制",
+        "机器狗控制界面功能正在开发中...\n"
+        "将包含以下功能：\n"
+        "• 运动控制（前进、后退、转向）\n"
+        "• 姿态控制（站立、趴下、跳跃）\n"
+        "• 地图建构和导航\n"
+        "• 视觉识别和跟踪\n"
+        "• 设备状态监控");
 }
 
-
-
 void MainWindow::startVisionWebService()
 {
     SystemLogger::getInstance()->logInfo("启动视觉识别系统Web服务");

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_pose
+      Topic: /robot_odom
       Unreliable: false
       Value: true
 
@@ -144,7 +144,7 @@ Visualization Manager:
     - Alpha: 1
       Axes Length: 0.8
       Axes Radius: 0.08
-      Class: rviz/Pose
+      Class: rviz/PoseWithCovariance
       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_arrow
+      Topic: /robot_pose
       Unreliable: false
       Value: true