Qt-ROS添加Qt Designer Form Class实现窗口跳转

前提

实现效果

下列两个窗口之间可以随意跳转。

添加Designer class类

step1:新建项目，选择设计师类文件
step2:选择类型为widget
step3:将其添加到Qt-ROS项目里

将Qt文件树文件进行重命名

由于上一步自动添加的类后缀名是.h的，但是根据CMakeList.txt文件的内容，一般是.hpp和.cpp；所以重命名新建的Form Class文件的文件名，并添加到相应的文件夹后再打开。

在UI里添加控件

在ROS的UI和form.ui里添加控件pushbutton默认的控件名称。

存在问题

直接编译Build时候报错，无法识别form.h文件等其他内容；无法使用Designer Class执行跳转操作。

解决方法

在form.cpp里修改form.h的文件名为…/include/test/form.hpp

讲form.cpp文件默认的头文件名为#include “form.h”，修改为#include “…/include/test/form.hpp”

在mainwindow.hpp里修改form.hpp的文件名

在mainwindow.hpp里添加#include "form.hpp"头文件

代码

在form.hpp里添加跳转函数的信号和按键的槽函数

// form.hpp
#ifndef FORM_H
#define FORM_H

#include <QWidget>

namespace Ui {
class Form;
}

class Form : public QWidget
{
    Q_OBJECT

public:
    explicit Form(QWidget *parent = nullptr);
    ~Form();


public slots:
    void slot_pushbutton();//槽函数
signals:
void close_and_open();//信号


private:
    Ui::Form *ui;
};

#endif // FORM_H

在form.cpp里实现函数

// form.cpp
#include "../include/test/form.hpp"
#include "ui_form.h"

Form::Form(QWidget *parent) :
    QWidget(parent),
    ui(new Ui::Form)
{
    ui->setupUi(this);
    connect(ui->pushButton,SIGNAL(clicked(bool)),this,SLOT(slot_pushbutton()));
}

Form::~Form()
{
    delete ui;
}
void Form::slot_pushbutton()
{
    emit close_and_open();
    this->hide();
}

在mainwindow.hpp里添加按键槽函数和跳转信号的槽函数

// mainwindow.hpp
/**
 * @file /include/test/main_window.hpp
 *
 * @brief Qt based gui for test.
 *
 * @date November 2010
 **/
#ifndef test_MAIN_WINDOW_H
#define test_MAIN_WINDOW_H

/*****************************************************************************
** Includes
*****************************************************************************/

#include <QtWidgets/QMainWindow>
#include "ui_main_window.h"
#include "qnode.hpp"


#include "form.hpp"

/*****************************************************************************
** Namespace
*****************************************************************************/

namespace test {

/*****************************************************************************
** Interface [MainWindow]
*****************************************************************************/
/**
 * @brief Qt central, all operations relating to the view part here.
 */
class MainWindow : public QMainWindow {
Q_OBJECT

public:
	MainWindow(int argc, char** argv, QWidget *parent = 0);
	~MainWindow();

	void ReadSettings(); // Load up qt program settings at startup
	void WriteSettings(); // Save qt program settings when closing

	void closeEvent(QCloseEvent *event); // Overloaded function
	void showNoMasterMessage();

public Q_SLOTS:
	/******************************************
	** Auto-connections (connectSlotsByName())
	*******************************************/
	void on_actionAbout_triggered();
	void on_button_connect_clicked(bool check );
	void on_checkbox_use_environment_stateChanged(int state);

    void slot_pushbutton(bool);//槽函数
    void slot_qt_demo_show();//显示界面的槽函数

    /******************************************
    ** Manual connections
    *******************************************/
    void updateLoggingView(); // no idea why this can't connect automatically

private:
	Ui::MainWindowDesign ui;
	QNode qnode;
};

}  // namespace test

#endif // test_MAIN_WINDOW_H

在mainwindow.cpp里实现

// mainwindow.cpp
/**
 * @file /src/main_window.cpp
 *
 * @brief Implementation for the qt gui.
 *
 * @date February 2011
 **/
/*****************************************************************************
** Includes
*****************************************************************************/

#include <QtWidgets>
#include <QMessageBox>
#include <iostream>
#include "../include/test/main_window.hpp"

/*****************************************************************************
** Namespaces
*****************************************************************************/

namespace test {

using namespace Qt;

/*****************************************************************************
** Implementation [MainWindow]
*****************************************************************************/

MainWindow::MainWindow(int argc, char** argv, QWidget *parent)
	: QMainWindow(parent)
	, qnode(argc,argv)
{
	ui.setupUi(this); // Calling this incidentally connects all ui's triggers to on_...() callbacks in this class.
    QObject::connect(ui.actionAbout_Qt, SIGNAL(triggered(bool)), qApp, SLOT(aboutQt())); // qApp is a global variable for the application


     connect(ui.pushButton,SIGNAL(clicked(bool)),this,SLOT(slot_pushbutton(bool)));


    ReadSettings();
	setWindowIcon(QIcon(":/images/icon.png"));
	ui.tab_manager->setCurrentIndex(0); // ensure the first tab is showing - qt-designer should have this already hardwired, but often loses it (settings?).
    QObject::connect(&qnode, SIGNAL(rosShutdown()), this, SLOT(close()));

	/*********************
	** Logging
	**********************/
	ui.view_logging->setModel(qnode.loggingModel());
    QObject::connect(&qnode, SIGNAL(loggingUpdated()), this, SLOT(updateLoggingView()));

    /*********************
    ** Auto Start
    **********************/
    if ( ui.checkbox_remember_settings->isChecked() ) {
        on_button_connect_clicked(true);
    }
}

MainWindow::~MainWindow() {}

/*****************************************************************************
** Implementation [Slots]
*****************************************************************************/

void MainWindow::showNoMasterMessage() {
	QMessageBox msgBox;
	msgBox.setText("Couldn't find the ros master.");
	msgBox.exec();
    close();
}

/*
 * These triggers whenever the button is clicked, regardless of whether it
 * is already checked or not.
 */

void MainWindow::slot_pushbutton(bool)
{
    Form *f = new Form;
    f->show();
    connect(f,SIGNAL(close_and_open()),this,SLOT(slot_qt_demo_show()));
    this->hide();
}

void MainWindow::slot_qt_demo_show()
{
    this->show();
}




void MainWindow::on_button_connect_clicked(bool check ) {
	if ( ui.checkbox_use_environment->isChecked() ) {
		if ( !qnode.init() ) {
			showNoMasterMessage();
		} else {
			ui.button_connect->setEnabled(false);
		}
	} else {
		if ( ! qnode.init(ui.line_edit_master->text().toStdString(),
				   ui.line_edit_host->text().toStdString()) ) {
			showNoMasterMessage();
		} else {
			ui.button_connect->setEnabled(false);
			ui.line_edit_master->setReadOnly(true);
			ui.line_edit_host->setReadOnly(true);
			ui.line_edit_topic->setReadOnly(true);
		}
	}
}


void MainWindow::on_checkbox_use_environment_stateChanged(int state) {
	bool enabled;
	if ( state == 0 ) {
		enabled = true;
	} else {
		enabled = false;
	}
	ui.line_edit_master->setEnabled(enabled);
	ui.line_edit_host->setEnabled(enabled);
	//ui.line_edit_topic->setEnabled(enabled);
}

/*****************************************************************************
** Implemenation [Slots][manually connected]
*****************************************************************************/

/**
 * This function is signalled by the underlying model. When the model changes,
 * this will drop the cursor down to the last line in the QListview to ensure
 * the user can always see the latest log message.
 */
void MainWindow::updateLoggingView() {
        ui.view_logging->scrollToBottom();
}

/*****************************************************************************
** Implementation [Menu]
*****************************************************************************/

void MainWindow::on_actionAbout_triggered() {
    QMessageBox::about(this, tr("About ..."),tr("<h2>PACKAGE_NAME Test Program 0.10</h2><p>Copyright Yujin Robot</p><p>This package needs an about description.</p>"));
}

/*****************************************************************************
** Implementation [Configuration]
*****************************************************************************/

void MainWindow::ReadSettings() {
    QSettings settings("Qt-Ros Package", "test");
    restoreGeometry(settings.value("geometry").toByteArray());
    restoreState(settings.value("windowState").toByteArray());
    QString master_url = settings.value("master_url",QString("http://192.168.1.2:11311/")).toString();
    QString host_url = settings.value("host_url", QString("192.168.1.3")).toString();
    //QString topic_name = settings.value("topic_name", QString("/chatter")).toString();
    ui.line_edit_master->setText(master_url);
    ui.line_edit_host->setText(host_url);
    //ui.line_edit_topic->setText(topic_name);
    bool remember = settings.value("remember_settings", false).toBool();
    ui.checkbox_remember_settings->setChecked(remember);
    bool checked = settings.value("use_environment_variables", false).toBool();
    ui.checkbox_use_environment->setChecked(checked);
    if ( checked ) {
    	ui.line_edit_master->setEnabled(false);
    	ui.line_edit_host->setEnabled(false);
    	//ui.line_edit_topic->setEnabled(false);
    }
}

void MainWindow::WriteSettings() {
    QSettings settings("Qt-Ros Package", "test");
    settings.setValue("master_url",ui.line_edit_master->text());
    settings.setValue("host_url",ui.line_edit_host->text());
    //settings.setValue("topic_name",ui.line_edit_topic->text());
    settings.setValue("use_environment_variables",QVariant(ui.checkbox_use_environment->isChecked()));
    settings.setValue("geometry", saveGeometry());
    settings.setValue("windowState", saveState());
    settings.setValue("remember_settings",QVariant(ui.checkbox_remember_settings->isChecked()));

}

void MainWindow::closeEvent(QCloseEvent *event)
{
	WriteSettings();
	QMainWindow::closeEvent(event);
}

}  // namespace test

资源链接

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