@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