pull/27/head
commit
bbc82dcca2
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#include "../ui/mainwindow.hpp"
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MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
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QMainWindow(parent), qnode(argc, argv),
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ui(new Ui::MainWindow)
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{
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qnode.init();
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ui->setupUi(this);
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initUis();
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connections();
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}
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MainWindow::~MainWindow()
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{
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delete ui;
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}
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void MainWindow::initUis(){
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setBtnStyles();
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/*
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* init
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*/
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rock_widget = new JoyStick(ui->JoyStick_widget);
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rock_widget->show();
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}
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void MainWindow::setBtnStyles(){
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/*
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* set PushButton state
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*/
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ui->btn_main->setIcon(QIcon("://images/up.png"));
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ui->btn_main->setText("mainWidget");
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ui->btn_main->setStyleSheet(
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"QPushButton:hover{"
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"background-color:rgb(186, 189, 182);"
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"border-bottom:2px solid rgb(67, 154, 246);}"
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"QPushButton:checked{"
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"background-color:cyan;"
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"border-bottom:2px solid white}"
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"QPushButton:pressed{"
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"background-color:rgb(67, 154, 246)}"
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"QPushButton{"
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"background-color:rgb(238, 238, 236);"
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"border:none;"
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"padding:0px 0px 0px 0px;"
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"margin:0px 0px 0px 0px;}");
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ui->btn_uav->setStyleSheet(
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"QPushButton:hover{"
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"background-color:rgb(186, 189, 182);"
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"border-bottom:2px solid rgb(67, 154, 246);}"
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"QPushButton:checked{"
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"background-color:cyan;"
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"border-bottom:2px solid white}"
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"QPushButton:pressed{"
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"background-color:rgb(67, 154, 246)}"
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"QPushButton{"
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"background-color:rgb(238, 238, 236);"
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"border:none;"
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"padding:0px 0px 0px 0px;"
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"margin:0px 0px 0px 0px;}");
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ui->btn_ugv->setStyleSheet(
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"QPushButton:hover{"
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"background-color:rgb(186, 189, 182);"
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"border-bottom:2px solid rgb(67, 154, 246);}"
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"QPushButton:checked{"
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"background-color:cyan;"
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"border-bottom:2px solid white}"
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"QPushButton:pressed{"
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"background-color:rgb(67, 154, 246)}"
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"QPushButton{"
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"background-color:rgb(238, 238, 236);"
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"border:none;"
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"padding:0px 0px 0px 0px;"
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"margin:0px 0px 0px 0px;}");
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// 8 -> Forward: ↑
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ui->pushButton_Forward->setShortcut(Qt::Key_8);
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ui->pushButton_Forward->setStyleSheet(
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"QPushButton{border-image: url(://images/up.png)}"
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"QPushButton{border:none}"
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"QPushButton:pressed{border-image: url(://images/up_2.png)}");
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ui->pushButton_Forward->setFlat(true);
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// 2 -> Back: ↓
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ui->pushButton_Back->setShortcut(Qt::Key_2);
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ui->pushButton_Back->setStyleSheet(
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"QPushButton{border-image: url(://images/down.png)}"
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"QPushButton{border:none}"
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"QPushButton:pressed{border-image: url(://images/down_2.png)}");
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ui->pushButton_Back->setFlat(true);
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// 4 -> Left: ←
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ui->pushButton_Left->setShortcut(Qt::Key_4);
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ui->pushButton_Left->setStyleSheet(
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"QPushButton{border-image: url(://images/left.png)}"
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"QPushButton{border:none}"
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"QPushButton:pressed{border-image: url(://images/left_2.png)}");
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ui->pushButton_Left->setFlat(true);
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// 6 -> Right: →
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ui->pushButton_Right->setShortcut(Qt::Key_6);
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ui->pushButton_Right->setStyleSheet(
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"QPushButton{border-image: url(://images/right.png)}"
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"QPushButton{border:none}"
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"QPushButton:pressed{border-image: url(://images/right_2.png)}");
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ui->pushButton_Right->setFlat(true);
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// 7 -> Left_Forward: ↖
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ui->pushButton_Left_Forward->setShortcut(Qt::Key_7);
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ui->pushButton_Left_Forward->setStyleSheet(
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"QPushButton{border-image: url(://images/up_left.png)}"
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"QPushButton{border:none}"
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"QPushButton:pressed{border-image: url(://images/up_left_2.png)}");
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ui->pushButton_Left_Forward->setFlat(true);
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// 9 -> Right_Forward: ↗
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ui->pushButton_Right_Forward->setShortcut(Qt::Key_9);
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ui->pushButton_Right_Forward->setStyleSheet(
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"QPushButton{border-image: url(://images/up_right.png)}"
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"QPushButton{border:none}"
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"QPushButton:pressed{border-image: url(://images/up_right_2.png)}");
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ui->pushButton_Right_Forward->setFlat(true);
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// 1 -> Left_Back: ↙
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ui->pushButton_Left_Back->setShortcut(Qt::Key_1);
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ui->pushButton_Left_Back->setStyleSheet(
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"QPushButton{border-image: url(://images/down_left.png)}"
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"QPushButton{border:none}"
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"QPushButton:pressed{border-image: url(://images/down_left_2.png)}");
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ui->pushButton_Left_Back->setFlat(true);
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// 3 -> Right_Back: ↘
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ui->pushButton_Right_Back->setShortcut(Qt::Key_3);
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ui->pushButton_Right_Back->setStyleSheet(
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"QPushButton{border-image: url(://images/down_right.png)}"
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"QPushButton{border:none}"
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"QPushButton:pressed{border-image: url(://images/down_right_2.png)}");
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ui->pushButton_Right_Back->setFlat(true);
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}
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void MainWindow::slot_keyboard_control(){
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QPushButton *btn = qobject_cast<QPushButton *>(sender());
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std::string btn_name = btn->text().toStdString();
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char key = ' ';
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if (btn_name == "↙")
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key = '1';
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else if (btn_name == "↓")
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key = '2';
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else if (btn_name == "↘")
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key = '3';
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else if (btn_name == "←")
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key = '4';
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//else if (btn_name == "")
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// key = '5';
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else if (btn_name == "→")
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key = '6';
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else if (btn_name == "↖")
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key = '7';
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else if (btn_name == "↑")
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key = '8';
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else if (btn_name == "↗")
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key = '9';
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//速度
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float liner = ui->horizontalSlider_linear->value() * 0.01;
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float turn = ui->horizontalSlider_raw->value() * 0.01;
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//bool is_rage_mode = ui->checkBox_rage_mode->isChecked();
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//std::cout<<liner<<" "<<turn<<std::endl;
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qnode.KeyboardMove(key, liner, turn);
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}
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void MainWindow::slot_rockKeyChange(int key){
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//速度
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float liner = ui->horizontalSlider_linear->value() * 0.01;
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float turn = ui->horizontalSlider_raw->value() * 0.01;
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switch (key) {
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case upleft:
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qnode.KeyboardMove('7', liner, turn);
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break;
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case up:
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qnode.KeyboardMove('8', liner, turn);
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break;
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case upright:
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qnode.KeyboardMove('9', liner, turn);
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break;
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case left:
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qnode.KeyboardMove('4', liner, turn);
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break;
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case right:
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qnode.KeyboardMove('6', liner, turn);
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break;
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case downleft:
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qnode.KeyboardMove('1', liner, turn);
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break;
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case down:
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qnode.KeyboardMove('2', liner, turn);
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break;
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case downright:
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qnode.KeyboardMove('3', liner, turn);
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break;
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}
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}
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void MainWindow::connections(){
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QObject::connect(ui->btn_main, &QPushButton::clicked, this, [=](){
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ui->stackedWidget_main->setCurrentIndex(0);
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});
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QObject::connect(ui->btn_uav, &QPushButton::clicked, this, [=](){
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ui->stackedWidget_main->setCurrentIndex(1);
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});
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QObject::connect(ui->btn_ugv, &QPushButton::clicked, this, [=](){
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ui->stackedWidget_main->setCurrentIndex(2);
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});
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/*
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* 绑定速度控制按钮
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*/
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// 8 -> Forward: ↑
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connect(ui->pushButton_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
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// 2 -> Back: ↓
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connect(ui->pushButton_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
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// 4 -> Left: ←
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connect(ui->pushButton_Left, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
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// 6 -> Right: →
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connect(ui->pushButton_Right, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
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// 7 -> Left_Forward: ↖
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connect(ui->pushButton_Left_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
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// 9 -> Right_Forward: ↗
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connect(ui->pushButton_Right_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
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// 1 -> Left_Back: ↙
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connect(ui->pushButton_Left_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
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// 3 -> Right_Back: ↘
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connect(ui->pushButton_Right_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
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connect(rock_widget, SIGNAL(keyNumchanged(int)), this,
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SLOT(slot_rockKeyChange(int)));
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//绑定slider的函数
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connect(ui->horizontalSlider_raw, SIGNAL(valueChanged(int)), this,
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SLOT(Slider_raw_valueChanged(int)));
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connect(ui->horizontalSlider_linear, SIGNAL(valueChanged(int)), this,
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SLOT(Slider_linear_valueChanged(int)));
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}
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//滑动条处理槽函数
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void MainWindow::Slider_raw_valueChanged(int v) {
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ui->label_raw->setText(QString::number(v));
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}
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//滑动条处理槽函数
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void MainWindow::Slider_linear_valueChanged(int v) {
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ui->label_linear->setText(QString::number(v));
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}
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