同意

src/include/Air_Ground_CEC/login.h

@@ -0,0 +1,32 @@
+#ifndef LOGIN_H
+#define LOGIN_H
+
+#include <QMainWindow>
+#include "ui_login.h"
+
+namespace Ui {
+class Login;
+}
+
+class Login : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    explicit Login(QWidget *parent = nullptr);
+    ~Login();
+
+private:
+    Ui::Login *ui;
+    bool isPressedWidget;
+    QPoint m_lastPos;
+
+    void initWindow();
+    void mousePressEvent(QMouseEvent *event);
+    void mouseMoveEvent(QMouseEvent *event);
+    void mouseReleaseEvent(QMouseEvent *event);
+    void setWindowState();
+    void setBtnAndLabelState();
+};
+
+#endif // LOGIN_H

src/main/login.cpp

@@ -0,0 +1,69 @@
+#include "../include/Air_Ground_CEC/login.h"
+#include <QMovie>
+#include <QWidget>
+#include <QMouseEvent>
+
+Login::Login(QWidget *parent) :
+    QMainWindow(parent),
+    ui(new Ui::Login)
+{
+    ui->setupUi(this);
+    initWindow();
+
+}
+
+Login::~Login()
+{
+    delete ui;
+}
+
+void Login::initWindow(){
+    setWindowState();
+    setBtnAndLabelState();
+}
+
+void Login::setWindowState(){
+    this->setAttribute(Qt::WA_TranslucentBackground);
+    this->setWindowFlags(Qt::FramelessWindowHint);//隐藏边框
+}
+
+
+
+void Login::setBtnAndLabelState(){
+    QMovie* movie = new QMovie("://images/background.gif");
+    ui->label_video->setMovie(movie);
+    movie->start();
+
+    ui->btnWinMin->setIcon(QIcon("://images/min.png"));
+    ui->btnWinMin_2->setIcon(QIcon("://images/min.png"));
+    ui->btnWinClose->setIcon(QIcon("://images/close.png"));
+    ui->btnWinClose_2->setIcon(QIcon("://images/close.png"));
+
+    connect(ui->btnWinMin, &QPushButton::clicked, this,
+            [=]() { this->showMinimized(); });
+    connect(ui->btnWinMin_2, &QPushButton::clicked, this,
+            [=]() { this->showMinimized(); });
+
+    connect(ui->btnWinClose, &QPushButton::clicked, this, [=]() { this->close(); });
+    connect(ui->btnWinClose_2, &QPushButton::clicked, this, [=]() { this->close(); });
+
+}
+
+void Login::mousePressEvent(QMouseEvent *event) {
+  m_lastPos = event->globalPos();
+  isPressedWidget = true;  // 当前鼠标按下的即是QWidget而非界面上布局的其它控件
+}
+
+void Login::mouseMoveEvent(QMouseEvent *event) {
+  if (isPressedWidget) {
+    this->move(this->x() + (event->globalX() - m_lastPos.x()),
+               this->y() + (event->globalY() - m_lastPos.y()));
+    m_lastPos = event->globalPos();
+  }
+}
+
+void Login::mouseReleaseEvent(QMouseEvent *event) {
+  // 其实这里的mouseReleaseEvent函数可以不用重写
+  m_lastPos = event->globalPos();
+  isPressedWidget = false;  // 鼠标松开时，置为false
+}

src/main/main.cpp

@@ -1,4 +1,5 @@
 #include "../include/Air_Ground_CEC/mainwindow.hpp"
+#include "../include/Air_Ground_CEC/login.h"
 
 #include <QApplication>
 
@@ -11,9 +12,11 @@ int main(int argc, char** argv)
 
 
     QApplication app(argc, argv);
-    MainWindow CEC(0,0,0);
 
-    CEC.show();
+    //MainWindow CEC(0,0,0);
+    //CEC.show();
+    Login a(0);
+    a.show();
     return app.exec();
 
     return(0);

src/main/mainwindow.cpp

@@ -14,7 +14,11 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
 
     ui->setupUi(this);
     initUis();
+    timer = new QTimer(this);
+
     connections();
+
+
 }
 
 MainWindow::~MainWindow()
@@ -155,6 +159,9 @@ void MainWindow::connections(){
         ui->stackedWidget_ros_control->setCurrentIndex(0);
     });
 
+    //label -> stream
+    connect(timer, SIGNAL(timeout()), this, SLOT(importFrame()));
+
     /*
      * 绑定速度控制按钮
      */
@@ -378,7 +385,7 @@ void MainWindow::importFrame()
 
 void MainWindow::on_Open_receive_clicked()
 {
-  capture.open(1);
+  capture.open(0);
   //capture.open("udp://@0.0.0.0:11111");
   timer->start(30);
 }

src/main/qnode.cpp

@@ -29,7 +29,7 @@ bool QNode::init() {
         SubAndPubTopic();
     });
 
-    //start();
+
     return true;
 }
 
@@ -90,7 +90,7 @@ void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
 
     cmd_pub.publish(twist);
 
-    ros::spinOnce();
+    //ros::spinOnce();
 }
 
 void QNode::AutoMove(float speed_linear, float speed_turn,

src/resources/images.qrc

@@ -16,5 +16,10 @@
         <file>images/up_left_2.png</file>
         <file>images/up_right.png</file>
         <file>images/up_right_2.png</file>
+        <file>images/close.png</file>
+        <file>images/min.png</file>
+        <file>images/power.png</file>
+        <file>images/power-v.png</file>
+        <file>images/background.gif</file>
     </qresource>
 </RCC>