同意

CMakeLists.txt

@@ -132,7 +132,10 @@ set(SOURCES
 
     src/ui/mainwindow.hpp
     src/ui/mainwindow.ui
+
 )
+
+QT5_add_resources(qrc_Files src/resources/images.qrc)
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
@@ -141,7 +144,7 @@ include_directories(
     ${OpenCV_INCLUDE_DIRS}
 )
 
-add_executable(Air_Ground_CEC ${SOURCES})
+add_executable(Air_Ground_CEC ${SOURCES} ${qrc_Files})
 target_link_libraries(Air_Ground_CEC
     Qt5::Widgets
     ${catkin_LIBRARIES}

src/main/main.cpp

@@ -22,3 +22,6 @@ int main(int argc, char** argv)
 
 
 
+/*
+ * find . "(" -name "*.cpp" -or -name "*.h" -or -name "*.hpp" -or -name "*.qrc" ")" -print | xargs wc -l
+ */

src/main/mainwindow.cpp

@@ -9,6 +9,7 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
 {
     qnode.init();
     ui->setupUi(this);
+    setBtnStates();
     connections();
 }
 
@@ -52,36 +53,75 @@ void MainWindow::slot_keyboard_control(){
 
 }
 
+void MainWindow::setBtnStates(){
+    ui->pushButton_Forward->setShortcut(Qt::Key_8);
+    ui->pushButton_Forward->setStyleSheet(
+                "QPushButton{border-image: url(://images/up.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/up_2.png)}");
+    ui->pushButton_Forward->setFlat(true);
+
+
+    ui->pushButton_Back->setShortcut(Qt::Key_2);
+    ui->pushButton_Back->setStyleSheet(
+                "QPushButton{border-image: url(://images/up.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/up_2.png)}");
+    ui->pushButton_Back->setFlat(true);
+
+    ui->pushButton_Left->setShortcut(Qt::Key_4);
+    ui->pushButton_Left->setStyleSheet("border:none");
+    ui->pushButton_Left->setFlat(true);
+
+    ui->pushButton_Right->setShortcut(Qt::Key_6);
+    ui->pushButton_Right->setStyleSheet("border:none");
+    ui->pushButton_Right->setFlat(true);
+
+    ui->pushButton_Left_Forward->setShortcut(Qt::Key_7);
+    ui->pushButton_Left_Forward->setStyleSheet("border:none");
+    ui->pushButton_Left_Forward->setFlat(true);
+
+    ui->pushButton_Right_Forward->setShortcut(Qt::Key_9);
+    ui->pushButton_Right_Forward->setStyleSheet("border:none");
+    ui->pushButton_Right_Forward->setFlat(true);
+
+    ui->pushButton_Left_Back->setShortcut(Qt::Key_1);
+    ui->pushButton_Left_Back->setStyleSheet("border:none");
+    ui->pushButton_Left_Back->setFlat(true);
+
+    ui->pushButton_Right_Back->setShortcut(Qt::Key_3);
+    ui->pushButton_Right_Back->setStyleSheet("border:none");
+    ui->pushButton_Right_Back->setFlat(true);
+}
+
+
 void MainWindow::connections(){
     //绑定速度控制按钮
     // 8 -> Forward:↑
-    ui->pushButton_Forward->setShortcut(Qt::Key_8);
+
     connect(ui->pushButton_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
 
-    ui->pushButton_Back->setShortcut(Qt::Key_2);
+
     connect(ui->pushButton_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
 
-    ui->pushButton_Left->setShortcut(Qt::Key_4);
+
     connect(ui->pushButton_Left, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
 
-    ui->pushButton_Right->setShortcut(Qt::Key_6);
+
     connect(ui->pushButton_Right, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
 
-    ui->pushButton_Left_Forward->setShortcut(Qt::Key_7);
+
     connect(ui->pushButton_Left_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
 
-    ui->pushButton_Right_Forward->setShortcut(Qt::Key_9);
+
     connect(ui->pushButton_Right_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
 
-    ui->pushButton_Left_Back->setShortcut(Qt::Key_1);
+
     connect(ui->pushButton_Left_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
 
-    ui->pushButton_Right_Back->setShortcut(Qt::Key_3);
-    connect(ui->pushButton_Right_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
 
+    connect(ui->pushButton_Right_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
 
-    ui->pushButton_shift->setShortcut(Qt::ShiftModifier);
-    connect(ui->pushButton_shift, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
 
     //绑定slider的函数
     connect(ui->horizontalSlider_raw, SIGNAL(valueChanged(int)), this,

src/resources/images.qrc

@@ -0,0 +1,20 @@
+<RCC>
+    <qresource prefix="/">
+        <file>images/down.png</file>
+        <file>images/down_2.png</file>
+        <file>images/down_left.png</file>
+        <file>images/down_left_2.png</file>
+        <file>images/down_right.png</file>
+        <file>images/down_right_2.png</file>
+        <file>images/left.png</file>
+        <file>images/left_2.png</file>
+        <file>images/right.png</file>
+        <file>images/right_2.png</file>
+        <file>images/up.png</file>
+        <file>images/up_2.png</file>
+        <file>images/up_left.png</file>
+        <file>images/up_left_2.png</file>
+        <file>images/up_right.png</file>
+        <file>images/up_right_2.png</file>
+    </qresource>
+</RCC>

src/ui/mainwindow.hpp

@@ -20,6 +20,8 @@ public:
     explicit MainWindow(int argc, char **argv, QWidget *parent = 0);
     ~MainWindow();
 
+
+
 public slots:
     void slot_keyboard_control();
     //void slot_command_control(int linear, int angular);
@@ -30,6 +32,7 @@ public slots:
 
 private:
     Ui::MainWindow *ui;
+    void setBtnStates();
     void connections();
     QNode qnode;
 

src/ui/mainwindow.ui

@@ -6,140 +6,41 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1600</width>
-    <height>900</height>
+    <width>1440</width>
+    <height>810</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>MainWindow</string>
   </property>
+  <property name="styleSheet">
+   <string notr="true"/>
+  </property>
   <widget class="QWidget" name="centralwidget">
-   <widget class="QWidget" name="layoutWidget">
+   <widget class="QWidget" name="layoutWidget_2">
     <property name="geometry">
      <rect>
-      <x>60</x>
-      <y>30</y>
-      <width>502</width>
-      <height>654</height>
+      <x>510</x>
+      <y>40</y>
+      <width>446</width>
+      <height>543</height>
      </rect>
     </property>
-    <layout class="QVBoxLayout" name="verticalLayout">
-     <item>
-      <widget class="QLabel" name="UAV_Vedio">
-       <property name="minimumSize">
-        <size>
-         <width>500</width>
-         <height>300</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>500</width>
-         <height>300</height>
-        </size>
-       </property>
-       <property name="mouseTracking">
-        <bool>false</bool>
-       </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
-       <property name="text">
-        <string>UAV_VEDIO</string>
-       </property>
-       <property name="scaledContents">
-        <bool>false</bool>
-       </property>
-      </widget>
-     </item>
+    <layout class="QVBoxLayout" name="verticalLayout_3">
      <item>
-      <spacer name="verticalSpacer">
-       <property name="orientation">
-        <enum>Qt::Vertical</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>20</width>
-         <height>40</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QLabel" name="UAV_Path">
-       <property name="minimumSize">
-        <size>
-         <width>500</width>
-         <height>300</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>500</width>
-         <height>300</height>
-        </size>
-       </property>
-       <property name="text">
-        <string>PATH</string>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </widget>
-   <widget class="QPushButton" name="pushButton_shift">
-    <property name="geometry">
-     <rect>
-      <x>760</x>
-      <y>70</y>
-      <width>100</width>
-      <height>50</height>
-     </rect>
-    </property>
-    <property name="minimumSize">
-     <size>
-      <width>100</width>
-      <height>50</height>
-     </size>
-    </property>
-    <property name="maximumSize">
-     <size>
-      <width>100</width>
-      <height>50</height>
-     </size>
-    </property>
-    <property name="font">
-     <font>
-      <pointsize>15</pointsize>
-     </font>
-    </property>
-    <property name="text">
-     <string>加速</string>
-    </property>
-   </widget>
-   <widget class="QWidget" name="">
-    <property name="geometry">
-     <rect>
-      <x>1020</x>
-      <y>271</y>
-      <width>316</width>
-      <height>172</height>
-     </rect>
-    </property>
-    <layout class="QVBoxLayout" name="verticalLayout_2">
-     <item>
-      <layout class="QGridLayout" name="gridLayout">
-       <item row="0" column="1">
-        <widget class="QPushButton" name="pushButton_Forward">
+      <layout class="QHBoxLayout" name="horizontalLayout_2">
+       <item>
+        <widget class="QPushButton" name="pushButton_Left_Forward">
          <property name="minimumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="maximumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="font">
@@ -148,22 +49,22 @@
           </font>
          </property>
          <property name="text">
-          <string>↑</string>
+          <string>↖</string>
          </property>
         </widget>
        </item>
-       <item row="1" column="2">
-        <widget class="QPushButton" name="pushButton_Right">
+       <item>
+        <widget class="QPushButton" name="pushButton_Forward">
          <property name="minimumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="maximumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="font">
@@ -171,23 +72,26 @@
            <pointsize>15</pointsize>
           </font>
          </property>
+         <property name="styleSheet">
+          <string notr="true">QPushButton{border-image: url(://images/up.png);}</string>
+         </property>
          <property name="text">
-          <string>→</string>
+          <string>↑</string>
          </property>
         </widget>
        </item>
-       <item row="1" column="0">
-        <widget class="QPushButton" name="pushButton_Left">
+       <item>
+        <widget class="QPushButton" name="pushButton_Right_Forward">
          <property name="minimumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="maximumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="font">
@@ -196,22 +100,26 @@
           </font>
          </property>
          <property name="text">
-          <string>←</string>
+          <string>↗</string>
          </property>
         </widget>
        </item>
-       <item row="2" column="1">
-        <widget class="QPushButton" name="pushButton_Back">
+      </layout>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_18">
+       <item>
+        <widget class="QPushButton" name="pushButton_Left">
          <property name="minimumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="maximumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="font">
@@ -220,46 +128,44 @@
           </font>
          </property>
          <property name="text">
-          <string>↓</string>
+          <string>←</string>
          </property>
         </widget>
        </item>
-       <item row="0" column="0">
-        <widget class="QPushButton" name="pushButton_Left_Forward">
+       <item>
+        <widget class="QCheckBox" name="checkBox_use_all">
          <property name="minimumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>90</width>
+           <height>64</height>
           </size>
          </property>
          <property name="maximumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>90</width>
+           <height>64</height>
           </size>
          </property>
-         <property name="font">
-          <font>
-           <pointsize>15</pointsize>
-          </font>
-         </property>
          <property name="text">
-          <string>↖</string>
+          <string>全向模式（k）</string>
+         </property>
+         <property name="shortcut">
+          <string>K</string>
          </property>
         </widget>
        </item>
-       <item row="0" column="2">
-        <widget class="QPushButton" name="pushButton_Right_Forward">
+       <item>
+        <widget class="QPushButton" name="pushButton_Right">
          <property name="minimumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="maximumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="font">
@@ -267,23 +173,30 @@
            <pointsize>15</pointsize>
           </font>
          </property>
+         <property name="styleSheet">
+          <string notr="true"/>
+         </property>
          <property name="text">
-          <string>↗</string>
+          <string>→</string>
          </property>
         </widget>
        </item>
-       <item row="2" column="0">
+      </layout>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_19">
+       <item>
         <widget class="QPushButton" name="pushButton_Left_Back">
          <property name="minimumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="maximumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="font">
@@ -296,18 +209,18 @@
          </property>
         </widget>
        </item>
-       <item row="2" column="2">
-        <widget class="QPushButton" name="pushButton_Right_Back">
+       <item>
+        <widget class="QPushButton" name="pushButton_Back">
          <property name="minimumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="maximumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="font">
@@ -315,32 +228,37 @@
            <pointsize>15</pointsize>
           </font>
          </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>
+          <string>↓</string>
          </property>
         </widget>
        </item>
-       <item row="1" column="1">
-        <widget class="QCheckBox" name="checkBox">
+       <item>
+        <widget class="QPushButton" name="pushButton_Right_Back">
          <property name="minimumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="maximumSize">
           <size>
-           <width>100</width>
-           <height>32</height>
+           <width>64</width>
+           <height>64</height>
           </size>
          </property>
          <property name="font">
           <font>
-           <pointsize>12</pointsize>
+           <pointsize>15</pointsize>
           </font>
          </property>
          <property name="text">
-          <string>狂暴模式</string>
+          <string>↘</string>
          </property>
         </widget>
        </item>
@@ -411,15 +329,109 @@
        </item>
       </layout>
      </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_24">
+       <item>
+        <spacer name="horizontalSpacer_5">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>40</width>
+           <height>20</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+       <item>
+        <widget class="QWidget" name="JoyStick_widget" native="true">
+         <property name="minimumSize">
+          <size>
+           <width>200</width>
+           <height>200</height>
+          </size>
+         </property>
+         <layout class="QHBoxLayout" name="horizontalLayout_25"/>
+        </widget>
+       </item>
+       <item>
+        <spacer name="horizontalSpacer_6">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>40</width>
+           <height>20</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <spacer name="verticalSpacer_4">
+       <property name="orientation">
+        <enum>Qt::Vertical</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>385</width>
+         <height>21</height>
+        </size>
+       </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">
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>1600</width>
+     <width>1440</width>
      <height>22</height>
     </rect>
    </property>