同意

同意合并

src/include/joystick.h

@@ -0,0 +1,55 @@
+#ifndef JOYSTICK_H
+#define JOYSTICK_H
+
+#include <QDebug>
+#include <QDrag>
+#include <QMouseEvent>
+#include <QPainter>
+#include <QTimer>
+#include <QWidget>
+#include <QtMath>
+class JoyStick : public QWidget {
+  Q_OBJECT
+
+ public:
+  JoyStick(QWidget *parent = 0);
+  ~JoyStick();
+  enum {
+    upleft = 0,
+    up,
+    upright,
+    left,
+    stop,
+    right,
+    downleft,
+    down,
+    downright
+  };
+ signals:
+  void keyNumchanged(int num);
+
+ protected:
+  void paintEvent(QPaintEvent *event) override;
+  void mouseMoveEvent(QMouseEvent *event) override;
+  void mouseReleaseEvent(QMouseEvent *event) override;
+  void mousePressEvent(QMouseEvent *event) override;
+  //  void resizeEvent(QResizeEvent *event)override;
+ private:
+  int mouseX;
+  int mouseY;
+  int JoyStickX;  //摇杆
+  int JoyStickY;
+  int JoyStickR;
+  int padX;  //底盘
+  int padY;
+  int padR;
+  double handPadDis;  //两圆圆心距离
+  bool mousePressed;
+  QTimer *tim;
+
+ private:
+  double Pointdis(int a, int b, int x, int y);  //两点距离
+  int getKeyNum();
+};
+
+#endif  // JoyStick_H

src/include/qnode.hpp

@@ -37,7 +37,7 @@ private:
     char **init_argv;
 
     ros::Subscriber cmdVel_sub;
-    ros::Publisher KeyboardControl_cmd_pub;
+    ros::Publisher cmd_pub;
 
 };
 

src/main/joystick.cpp

@@ -0,0 +1,105 @@
+#include "../include/joystick.h"
+
+#include <QDebug>
+JoyStick::JoyStick(QWidget* parent) : QWidget(parent) {
+  setPalette(QPalette(Qt::white));
+  resize(parent->width(), parent->height());
+  setMinimumSize(100, 100);
+  mouseX = width() / 2;
+  mouseY = height() / 2;
+  tim = new QTimer(this);
+  connect(tim, &QTimer::timeout, this,
+          [=] { emit keyNumchanged(getKeyNum()); });
+  //    connect(this,&JoyStick::keyNumchanged,this,[=](int num){
+  //        qDebug()<<num<<endl;
+  //    });
+}
+
+JoyStick::~JoyStick() {}
+void JoyStick::paintEvent(QPaintEvent*) {
+  QPainter painter(this);
+
+  int side = qMin(width(), height());
+
+  padR = side / 2;       //底盘半径
+  padX = padR;           //底盘圆心
+  padY = padR;           //底盘圆心
+  JoyStickR = padR / 4;  //摇杆圆半径
+  int JoyStickMaxR = padR - JoyStickR;
+  QColor JoyStickColor;
+  JoyStickColor.setRgb(85, 87, 83);
+  //加载底盘图像
+  //    painter.save();
+
+  //    painter.scale(side / 400.0, side / 400.0);//坐标会随窗口缩放
+  //    painter.drawPixmap(0, 0, QPixmap(":/image/pad.png"));
+  //    painter.restore();
+  //自绘底盘
+  painter.save();
+  QRadialGradient RadialGradient(padR, padR, padR * 3, padR,
+                                 padR);  //圆心2，半径1，焦点2
+  RadialGradient.setColorAt(0, QColor(255, 253, 253, 255));  //渐变
+  RadialGradient.setColorAt(1, QColor(255, 240, 245, 190));  //渐变
+  painter.setBrush(RadialGradient);
+  painter.setPen(Qt::NoPen);
+  painter.drawEllipse(QPoint(padR, padR), side / 2, side / 2);  //大圆盘
+  painter.restore();
+
+  // painter.drawText(20,20,tr("%1,%2,%3").arg(mouseX).arg(mouseY).arg(handPadDis));
+
+  if (!mousePressed) {  //鼠标没按下则摇杆恢复到底盘中心
+    mouseX = padX;
+    mouseY = padY;
+  }
+  handPadDis = Pointdis(padR, padR, mouseX, mouseY);
+  if (handPadDis <= JoyStickMaxR) {
+    JoyStickX = mouseX;
+    JoyStickY = mouseY;
+  } else {
+    JoyStickX = (int)(JoyStickMaxR * (mouseX - padX) / handPadDis + padX);
+    JoyStickY = (int)(JoyStickMaxR * (mouseY - padY) / handPadDis + padY);
+  }
+  // painter.drawText(200,200,tr("%1,%2,%3").arg(JoyStickX).arg(JoyStickY).arg(handPaddis));
+  painter.setPen(Qt::NoPen);
+  painter.setBrush(JoyStickColor);
+  painter.drawEllipse(QPoint(JoyStickX, JoyStickY), JoyStickR,
+                      JoyStickR);  //摇杆
+}
+void JoyStick::mouseMoveEvent(QMouseEvent* event) {
+  static bool r = false;
+  mouseX = event->pos().x();
+  mouseY = event->pos().y();
+  if (r == true) {
+    update();
+    r = false;
+  } else {
+    r = true;
+  }
+}
+void JoyStick::mouseReleaseEvent(QMouseEvent* event) {
+  mouseX = width() / 2;
+  mouseY = height() / 2;
+  tim->stop();
+  mousePressed = false;
+  emit keyNumchanged(JoyStick::stop);
+  update();
+}
+void JoyStick::mousePressEvent(QMouseEvent* event) {
+  mouseX = event->pos().x();
+  mouseY = event->pos().y();
+  tim->start(100);
+  mousePressed = true;
+  update();
+}
+
+double JoyStick::Pointdis(int a, int b, int x, int y) {
+  return sqrt((double)((x - a) * (x - a) + (y - b) * (y - b)));
+}
+int JoyStick::getKeyNum() {
+  int x, y;
+  int keynum;
+  x = (int)(JoyStickX * 3.0 / (padR * 2));
+  y = (int)(JoyStickY * 3.0 / (padR * 2));
+  keynum = 3 * y + x;
+  return keynum;
+}

src/main/mainwindow.cpp

@@ -9,7 +9,7 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
 {
     qnode.init();
     ui->setupUi(this);
-    setBtnStates();
+    initUis();
     connections();
 }
 
@@ -19,41 +19,12 @@ MainWindow::~MainWindow()
 }
 
 
+void MainWindow::initUis(){
+    /*
+     * set PushButton state
+     */
 
-void MainWindow::slot_keyboard_control(){
-    QPushButton *btn = qobject_cast<QPushButton *>(sender());
-    std::string btn_name = btn->text().toStdString();
-    char key = ' ';
-
-    if (btn_name == "↙")
-        key = '1';
-    else if (btn_name == "↓")
-        key = '2';
-    else if (btn_name == "↘")
-        key = '3';
-    else if (btn_name == "←")
-        key = '4';
-    //else if (btn_name == "")
-      //  key = '5';
-    else if (btn_name == "→")
-        key = '6';
-    else if (btn_name == "↖")
-        key = '7';
-    else if (btn_name == "↑")
-        key = '8';
-    else if (btn_name == "↗")
-        key = '9';
-
-    //速度
-    float liner = ui->horizontalSlider_linear->value() * 0.01;
-    float turn = ui->horizontalSlider_raw->value() * 0.01;
-    //bool is_rage_mode = ui->checkBox_rage_mode->isChecked();
-    std::cout<<liner<<" "<<turn<<std::endl;
-    qnode.KeyboardMove(key, liner, turn);
-
-}
-
-void MainWindow::setBtnStates(){
+    // 8 -> Forward: ↑
     ui->pushButton_Forward->setShortcut(Qt::Key_8);
     ui->pushButton_Forward->setStyleSheet(
                 "QPushButton{border-image: url(://images/up.png)}"
@@ -61,67 +32,165 @@ void MainWindow::setBtnStates(){
                 "QPushButton:pressed{border-image: url(://images/up_2.png)}");
     ui->pushButton_Forward->setFlat(true);
 
-
+    // 2 -> Back: ↓
     ui->pushButton_Back->setShortcut(Qt::Key_2);
     ui->pushButton_Back->setStyleSheet(
-                "QPushButton{border-image: url(://images/up.png)}"
+                "QPushButton{border-image: url(://images/down.png)}"
                 "QPushButton{border:none}"
-                "QPushButton:pressed{border-image: url(://images/up_2.png)}");
+                "QPushButton:pressed{border-image: url(://images/down_2.png)}");
     ui->pushButton_Back->setFlat(true);
 
+    // 4 -> Left: ←
     ui->pushButton_Left->setShortcut(Qt::Key_4);
-    ui->pushButton_Left->setStyleSheet("border:none");
+    ui->pushButton_Left->setStyleSheet(
+                "QPushButton{border-image: url(://images/left.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/left_2.png)}");
     ui->pushButton_Left->setFlat(true);
 
+    // 6 -> Right: →
     ui->pushButton_Right->setShortcut(Qt::Key_6);
-    ui->pushButton_Right->setStyleSheet("border:none");
+    ui->pushButton_Right->setStyleSheet(
+                "QPushButton{border-image: url(://images/right.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/right_2.png)}");
     ui->pushButton_Right->setFlat(true);
 
+    // 7 -> Left_Forward: ↖
     ui->pushButton_Left_Forward->setShortcut(Qt::Key_7);
-    ui->pushButton_Left_Forward->setStyleSheet("border:none");
+    ui->pushButton_Left_Forward->setStyleSheet(
+                "QPushButton{border-image: url(://images/up_left.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/up_left_2.png)}");
     ui->pushButton_Left_Forward->setFlat(true);
 
+    // 9 -> Right_Forward: ↗
     ui->pushButton_Right_Forward->setShortcut(Qt::Key_9);
-    ui->pushButton_Right_Forward->setStyleSheet("border:none");
+    ui->pushButton_Right_Forward->setStyleSheet(
+                "QPushButton{border-image: url(://images/up_right.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/up_right_2.png)}");
     ui->pushButton_Right_Forward->setFlat(true);
 
+    // 1 -> Left_Back: ↙
     ui->pushButton_Left_Back->setShortcut(Qt::Key_1);
-    ui->pushButton_Left_Back->setStyleSheet("border:none");
+    ui->pushButton_Left_Back->setStyleSheet(
+                "QPushButton{border-image: url(://images/down_left.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/down_left_2.png)}");
     ui->pushButton_Left_Back->setFlat(true);
 
+    // 3 -> Right_Back: ↘
     ui->pushButton_Right_Back->setShortcut(Qt::Key_3);
-    ui->pushButton_Right_Back->setStyleSheet("border:none");
+    ui->pushButton_Right_Back->setStyleSheet(
+                "QPushButton{border-image: url(://images/down_right.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/down_right_2.png)}");
     ui->pushButton_Right_Back->setFlat(true);
-}
 
 
-void MainWindow::connections(){
-    //绑定速度控制按钮
-    // 8 -> Forward:↑
+    /*
+     * init
+     */
 
-    connect(ui->pushButton_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    rock_widget = new JoyStick(ui->JoyStick_widget);
+    rock_widget->show();
 
 
-    connect(ui->pushButton_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+}
 
 
-    connect(ui->pushButton_Left, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+void MainWindow::slot_keyboard_control(){
+    QPushButton *btn = qobject_cast<QPushButton *>(sender());
+    std::string btn_name = btn->text().toStdString();
+    char key = ' ';
 
+    if (btn_name == "↙")
+        key = '1';
+    else if (btn_name == "↓")
+        key = '2';
+    else if (btn_name == "↘")
+        key = '3';
+    else if (btn_name == "←")
+        key = '4';
+    //else if (btn_name == "")
+      //  key = '5';
+    else if (btn_name == "→")
+        key = '6';
+    else if (btn_name == "↖")
+        key = '7';
+    else if (btn_name == "↑")
+        key = '8';
+    else if (btn_name == "↗")
+        key = '9';
 
-    connect(ui->pushButton_Right, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    //速度
+    float liner = ui->horizontalSlider_linear->value() * 0.01;
+    float turn = ui->horizontalSlider_raw->value() * 0.01;
+    //bool is_rage_mode = ui->checkBox_rage_mode->isChecked();
+    //std::cout<<liner<<" "<<turn<<std::endl;
+    qnode.KeyboardMove(key, liner, turn);
 
+}
 
-    connect(ui->pushButton_Left_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
 
+void MainWindow::slot_rockKeyChange(int key){
+    //速度
+    float liner = ui->horizontalSlider_linear->value() * 0.01;
+    float turn = ui->horizontalSlider_raw->value() * 0.01;
+    switch (key) {
+    case upleft:
+        qnode.KeyboardMove('7', liner, turn);
+        break;
+    case up:
+        qnode.KeyboardMove('8', liner, turn);
+        break;
+    case upright:
+        qnode.KeyboardMove('9', liner, turn);
+        break;
+    case left:
+        qnode.KeyboardMove('4', liner, turn);
+        break;
+    case right:
+        qnode.KeyboardMove('6', liner, turn);
+        break;
+    case downleft:
+        qnode.KeyboardMove('1', liner, turn);
+        break;
+    case down:
+        qnode.KeyboardMove('2', liner, turn);
+        break;
+    case downright:
+        qnode.KeyboardMove('3', liner, turn);
+        break;
+    }
 
-    connect(ui->pushButton_Right_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+}
 
+void MainWindow::connections(){
+    /*
+     * 绑定速度控制按钮
+     */
 
+    // 8 -> Forward: ↑
+    connect(ui->pushButton_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    // 2 -> Back: ↓
+    connect(ui->pushButton_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    // 4 -> Left: ←
+    connect(ui->pushButton_Left, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    // 6 -> Right: →
+    connect(ui->pushButton_Right, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    // 7 -> Left_Forward: ↖
+    connect(ui->pushButton_Left_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    // 9 -> Right_Forward: ↗
+    connect(ui->pushButton_Right_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    // 1 -> Left_Back: ↙
     connect(ui->pushButton_Left_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
-
-
+    // 3 -> Right_Back: ↘
     connect(ui->pushButton_Right_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
 
+    connect(rock_widget, SIGNAL(keyNumchanged(int)), this,
+            SLOT(slot_rockKeyChange(int)));
 
     //绑定slider的函数
     connect(ui->horizontalSlider_raw, SIGNAL(valueChanged(int)), this,

src/main/qnode.cpp

@@ -27,7 +27,7 @@ bool QNode::init() {
 
 void QNode::SubAndPubTopic(){
     ros::NodeHandle n;
-    KeyboardControl_cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
+    cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
 }
 
 void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
@@ -58,7 +58,7 @@ void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
     twist.angular.y = 0;
     twist.angular.z = th * turn;
 
-    KeyboardControl_cmd_pub.publish(twist);
+    cmd_pub.publish(twist);
     ros::spinOnce();
 }
 

src/ui/mainwindow.hpp

@@ -6,6 +6,7 @@
 #include <QMutex>
 
 #include "ui_mainwindow.h"
+#include "../include/joystick.h"
 #include "../include/qnode.hpp"
 
 namespace Ui {
@@ -19,12 +20,24 @@ class MainWindow : public QMainWindow
 public:
     explicit MainWindow(int argc, char **argv, QWidget *parent = 0);
     ~MainWindow();
+    enum {
+        upleft = 0,
+        up,
+        upright,
+        left,
+        stop,
+        right,
+        downleft,
+        down,
+        downright
+      };
 
 
 
 public slots:
     void slot_keyboard_control();
     //void slot_command_control(int linear, int angular);
+    void slot_rockKeyChange(int);
     void Slider_raw_valueChanged(int v);
     void Slider_linear_valueChanged(int v);
 
@@ -32,9 +45,12 @@ public slots:
 
 private:
     Ui::MainWindow *ui;
-    void setBtnStates();
-    void connections();
     QNode qnode;
+    JoyStick *rock_widget;
+
+    void initUis();
+    void connections();
+
 
 
 };

src/ui/mainwindow.ui

@@ -20,10 +20,10 @@
    <widget class="QWidget" name="layoutWidget_2">
     <property name="geometry">
      <rect>
-      <x>510</x>
-      <y>40</y>
-      <width>446</width>
-      <height>543</height>
+      <x>1045</x>
+      <y>160</y>
+      <width>387</width>
+      <height>566</height>
      </rect>
     </property>
     <layout class="QVBoxLayout" name="verticalLayout_3">
@@ -265,41 +265,109 @@ QPushButton:pressed{border-image: url(://images/down_2.png);}</string>
       </layout>
      </item>
      <item>
-      <layout class="QHBoxLayout" name="horizontalLayout_21">
-       <item>
-        <widget class="QLabel" name="label_linear_">
-         <property name="text">
-          <string>线速度(cm/s)：</string>
-         </property>
-        </widget>
-       </item>
+      <spacer name="verticalSpacer">
+       <property name="orientation">
+        <enum>Qt::Vertical</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>20</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout">
        <item>
-        <widget class="QSlider" name="horizontalSlider_linear">
-         <property name="maximum">
-          <number>100</number>
+        <spacer name="horizontalSpacer">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
          </property>
-         <property name="singleStep">
-          <number>1</number>
+         <property name="sizeType">
+          <enum>QSizePolicy::Fixed</enum>
          </property>
-         <property name="value">
-          <number>50</number>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>10</width>
+           <height>20</height>
+          </size>
          </property>
+        </spacer>
+       </item>
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_21">
+         <item>
+          <widget class="QLabel" name="label_linear_">
+           <property name="text">
+            <string>线速度(cm/s)：</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QSlider" name="horizontalSlider_linear">
+           <property name="maximum">
+            <number>100</number>
+           </property>
+           <property name="singleStep">
+            <number>1</number>
+           </property>
+           <property name="value">
+            <number>50</number>
+           </property>
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="label_linear">
+           <property name="text">
+            <string>50</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <spacer name="horizontalSpacer_2">
          <property name="orientation">
           <enum>Qt::Horizontal</enum>
          </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="label_linear">
-         <property name="text">
-          <string>100</string>
+         <property name="sizeType">
+          <enum>QSizePolicy::Fixed</enum>
          </property>
-        </widget>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>20</height>
+          </size>
+         </property>
+        </spacer>
        </item>
       </layout>
      </item>
      <item>
       <layout class="QHBoxLayout" name="horizontalLayout_20">
+       <item>
+        <spacer name="horizontalSpacer_3">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+         <property name="sizeType">
+          <enum>QSizePolicy::Fixed</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>10</width>
+           <height>20</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
        <item>
         <widget class="QLabel" name="label_raw_">
          <property name="text">
@@ -327,8 +395,40 @@ QPushButton:pressed{border-image: url(://images/down_2.png);}</string>
          </property>
         </widget>
        </item>
+       <item>
+        <spacer name="horizontalSpacer_4">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+         <property name="sizeType">
+          <enum>QSizePolicy::Fixed</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>20</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
       </layout>
      </item>
+     <item>
+      <spacer name="verticalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Vertical</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>20</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
      <item>
       <layout class="QHBoxLayout" name="horizontalLayout_24">
        <item>
@@ -336,9 +436,12 @@ QPushButton:pressed{border-image: url(://images/down_2.png);}</string>
          <property name="orientation">
           <enum>Qt::Horizontal</enum>
          </property>
+         <property name="sizeType">
+          <enum>QSizePolicy::Preferred</enum>
+         </property>
          <property name="sizeHint" stdset="0">
           <size>
-           <width>40</width>
+           <width>86</width>
            <height>20</height>
           </size>
          </property>
@@ -360,6 +463,9 @@ QPushButton:pressed{border-image: url(://images/down_2.png);}</string>
          <property name="orientation">
           <enum>Qt::Horizontal</enum>
          </property>
+         <property name="sizeType">
+          <enum>QSizePolicy::Preferred</enum>
+         </property>
          <property name="sizeHint" stdset="0">
           <size>
            <width>40</width>
@@ -383,48 +489,8 @@ QPushButton:pressed{border-image: url(://images/down_2.png);}</string>
        </property>
       </spacer>
      </item>
-     <item>
-      <widget class="QPushButton" name="pushButton">
-       <property name="text">
-        <string>🔗断开</string>
-       </property>
-      </widget>
-     </item>
     </layout>
    </widget>
-   <widget class="QPushButton" name="pushButton_back">
-    <property name="geometry">
-     <rect>
-      <x>210</x>
-      <y>430</y>
-      <width>64</width>
-      <height>64</height>
-     </rect>
-    </property>
-    <property name="minimumSize">
-     <size>
-      <width>64</width>
-      <height>64</height>
-     </size>
-    </property>
-    <property name="maximumSize">
-     <size>
-      <width>64</width>
-      <height>64</height>
-     </size>
-    </property>
-    <property name="styleSheet">
-     <string notr="true">QPushButton{border-image: url(://images/down.png);}
-QPushButton{border:none;}
-QPushButton:pressed{border-image: url(://images/down_2.png);}</string>
-    </property>
-    <property name="text">
-     <string>,</string>
-    </property>
-    <property name="shortcut">
-     <string>,</string>
-    </property>
-   </widget>
   </widget>
   <widget class="QMenuBar" name="menubar">
    <property name="geometry">