272 lines
9.8 KiB
C
272 lines
9.8 KiB
C
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#pragma once
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#include <QImage>
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#include <QHash>
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#include <QList>
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#include <QMainWindow>
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#include <QSet>
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#include <QStyle>
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#include <QStringList>
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#include <QVariantList>
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#include <QVariantMap>
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#include "videoframe.h"
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class QButtonGroup;
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class QCheckBox;
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class QComboBox;
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class QDoubleSpinBox;
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class QDialog;
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class QEvent;
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class QHBoxLayout;
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class QGridLayout;
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class QLabel;
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class QLineEdit;
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class QProgressBar;
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class QPushButton;
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class QResizeEvent;
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class QSpinBox;
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class QStackedWidget;
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class QTableWidget;
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class QTabWidget;
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class QTextEdit;
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class QTimer;
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class TrendWidget;
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class RobotClient;
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class QuicTestServer;
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class UrdfViewerWidget;
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class AudioStreamManager;
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class VideoRenderWidget;
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class MainWindow : public QMainWindow
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{
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Q_OBJECT
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public:
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explicit MainWindow(QWidget *parent = nullptr);
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~MainWindow() override;
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protected:
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bool nativeEvent(const QByteArray &eventType, void *message, long *result) override;
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void changeEvent(QEvent *event) override;
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void resizeEvent(QResizeEvent *event) override;
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private slots:
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void selectPage(int index);
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void toggleConnection();
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void updateConnection(bool connected, int latencyMs, const QString &detail);
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void updateTelemetry(const QVariantList &joints, const QVariantMap &pose);
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void updateSystemStatus(double cpu, double memory, double disk, int devices);
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void updateSystemInfo(const QVariantMap &info);
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void updateImage(const QImage &image, const QString &detail);
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void updateVideoFrame(const QString &cameraId, const VideoFrame &frame,
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const QString &detail);
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void updateCameraStreamState(const QString &cameraId, bool running,
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const QString &detail);
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void updateCameraRecordingState(bool recording, const QString &detail);
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void updateAgvState(const QVariantMap &state, const QVariantMap &navigation);
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void updateAgvInventory(const QStringList &maps, const QVariantList &stations);
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void handleCommand(const QString &command, bool success, const QString &detail);
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void appendLog(const QString &level, const QString &message);
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void toggleQuicServer();
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void updateQuicRunning(bool running, quint16 port, const QString &detail);
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void appendQuicLog(const QString &level, const QString &message);
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void sendMoveJ();
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void sendMoveJPose();
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void saveSnapshot();
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private:
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QWidget *createSystemPage();
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QWidget *createArmPage();
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QWidget *createCameraPage();
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QStringList configuredCameraIds() const;
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void rebuildCameraPreviewGrid(const QStringList &cameraIds);
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void refreshCameraStreamControls();
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QWidget *createAgvPage();
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QWidget *createAudioPage(bool speaker);
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QWidget *createRpcPage(const QString &serviceName);
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QWidget *createQuicPage();
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QWidget *createDiagnosticsPage();
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void loadSettings();
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void saveSettings();
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void setControlsEnabled(bool enabled);
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void updateWindowChrome();
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void ensureArmModelLoaded();
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QString endpoint() const;
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RobotClient *m_client = nullptr;
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AudioStreamManager *m_audioManager = nullptr;
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QuicTestServer *m_quicServer = nullptr;
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QStackedWidget *m_pages = nullptr;
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QButtonGroup *m_navGroup = nullptr;
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QList<QPushButton *> m_navButtons;
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QWidget *m_windowSurface = nullptr;
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QWidget *m_customTitleBar = nullptr;
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QLabel *m_titleBarPage = nullptr;
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QLabel *m_titleBarBuild = nullptr;
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QPushButton *m_minimizeWindowButton = nullptr;
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QPushButton *m_maximizeWindowButton = nullptr;
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QPushButton *m_closeWindowButton = nullptr;
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QSize m_windowChromeSize;
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bool m_windowChromeInitialized = false;
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bool m_windowChromeMaximized = false;
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bool m_updatingWindowChrome = false;
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QLineEdit *m_hostEdit = nullptr;
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QSpinBox *m_portSpin = nullptr;
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QCheckBox *m_demoCheck = nullptr;
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QPushButton *m_connectButton = nullptr;
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QLabel *m_connectionDot = nullptr;
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QLabel *m_connectionText = nullptr;
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QLabel *m_latencyLabel = nullptr;
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QLabel *m_pageTitle = nullptr;
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QLabel *m_pageSubtitle = nullptr;
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QHBoxLayout *m_headerLayout = nullptr;
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QWidget *m_armHeaderControls = nullptr;
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QLabel *m_sidebarEndpointValue = nullptr;
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QLabel *m_sidebarQuicValue = nullptr;
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QLabel *m_bottomLogLevel = nullptr;
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QLabel *m_bottomLogMessage = nullptr;
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QLabel *m_bottomVersion = nullptr;
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QLabel *m_cpuValue = nullptr;
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QLabel *m_memoryValue = nullptr;
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QLabel *m_diskValue = nullptr;
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QLabel *m_deviceValue = nullptr;
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QLabel *m_systemNameValue = nullptr;
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QLabel *m_systemVersionValue = nullptr;
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QLabel *m_systemOsValue = nullptr;
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QLineEdit *m_systemTargetEdit = nullptr;
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QPushButton *m_systemRefreshButton = nullptr;
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QPushButton *m_systemStopButton = nullptr;
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QLineEdit *m_armIdEdit = nullptr;
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QComboBox *m_armSideCombo = nullptr;
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QPushButton *m_armTelemetryButton = nullptr;
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QPushButton *m_armGlobalStopButton = nullptr;
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QLabel *m_armDeviceSummary = nullptr;
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QLabel *m_servoStatusValue = nullptr;
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QLabel *m_faultStatusValue = nullptr;
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QLabel *m_poseValue = nullptr;
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QLabel *m_updatedValue = nullptr;
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TrendWidget *m_trend = nullptr;
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QTableWidget *m_jointTable = nullptr;
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QTableWidget *m_motionTable = nullptr;
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QTableWidget *m_leftMotionTable = nullptr;
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QList<QDoubleSpinBox *> m_targetSpins;
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QStringList m_activeArmJointNames;
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QTabWidget *m_motionCommandTabs = nullptr;
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QList<QDoubleSpinBox *> m_moveJPoseSpins;
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QComboBox *m_moveJPoseBaseLinkCombo = nullptr;
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QPushButton *m_copyCurrentPoseButton = nullptr;
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QVariantMap m_latestArmPose;
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QDoubleSpinBox *m_velocitySpin = nullptr;
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QDoubleSpinBox *m_accelerationSpin = nullptr;
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QPushButton *m_sendMoveButton = nullptr;
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QPushButton *m_torqueOnButton = nullptr;
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QPushButton *m_torqueOffButton = nullptr;
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QPushButton *m_clearFaultButton = nullptr;
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QComboBox *m_zeroJointCombo = nullptr;
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QPushButton *m_calibrateZeroButton = nullptr;
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QPushButton *m_stopButton = nullptr;
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UrdfViewerWidget *m_urdfViewer = nullptr;
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QPushButton *m_teachModeButton = nullptr;
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QPushButton *m_teachRestoreButton = nullptr;
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QPushButton *m_teachSendButton = nullptr;
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QLabel *m_teachSelectedLabel = nullptr;
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QDoubleSpinBox *m_teachPositionSpin = nullptr;
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QTableWidget *m_teachJointTable = nullptr;
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QString m_teachSelectedJoint;
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QString m_pendingUrdfPath;
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bool m_armModelLoadScheduled = false;
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QLineEdit *m_cameraIdEdit = nullptr;
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VideoRenderWidget *m_videoRender = nullptr;
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QLabel *m_imageMetaLabel = nullptr;
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QPushButton *m_snapshotButton = nullptr;
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QPushButton *m_cameraStreamButton = nullptr;
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QPushButton *m_saveImageButton = nullptr;
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QComboBox *m_cameraCodecCombo = nullptr;
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QComboBox *m_cameraStreamModeCombo = nullptr;
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QLabel *m_cameraStreamStateLabel = nullptr;
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QLineEdit *m_cameraRecordPathEdit = nullptr;
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QPushButton *m_cameraRecordButton = nullptr;
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QLabel *m_cameraRecordStateLabel = nullptr;
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QWidget *m_cameraPreviewContainer = nullptr;
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QGridLayout *m_cameraPreviewGrid = nullptr;
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struct CameraPreviewTile {
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QWidget *container = nullptr;
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VideoRenderWidget *render = nullptr;
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QLabel *status = nullptr;
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QLabel *meta = nullptr;
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};
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QHash<QString, CameraPreviewTile> m_cameraPreviewTiles;
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QSet<QString> m_runningCameraIds;
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QImage m_lastImage;
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bool m_cameraStreaming = false;
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bool m_cameraRecording = false;
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QLineEdit *m_agvIdEdit = nullptr;
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QDialog *m_agvStatusDialog = nullptr;
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QCheckBox *m_agvStatusSwitch = nullptr;
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QTimer *m_agvStatusRefreshTimer = nullptr;
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QLabel *m_agvConnectionValue = nullptr;
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QLabel *m_agvPoseValue = nullptr;
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QLabel *m_agvMotionValue = nullptr;
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QLabel *m_agvBatteryValue = nullptr;
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QLabel *m_agvMapValue = nullptr;
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QLabel *m_agvNavigationValue = nullptr;
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QLabel *m_agvErrorValue = nullptr;
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QLabel *m_agvModeValue = nullptr;
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QLabel *m_agvMotionStateValue = nullptr;
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QLabel *m_agvSafetyValue = nullptr;
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QLabel *m_agvPowerValue = nullptr;
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QLabel *m_agvTimestampValue = nullptr;
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QLabel *m_agvMapOverview = nullptr;
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QLabel *m_agvMappingPreview = nullptr;
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QLabel *m_agvMappingStateLabel = nullptr;
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QProgressBar *m_agvProgress = nullptr;
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QDoubleSpinBox *m_agvXSpin = nullptr;
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QDoubleSpinBox *m_agvYSpin = nullptr;
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QDoubleSpinBox *m_agvThetaSpin = nullptr;
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QDoubleSpinBox *m_agvMaxSpeedSpin = nullptr;
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QDoubleSpinBox *m_agvVxSpin = nullptr;
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QDoubleSpinBox *m_agvVySpin = nullptr;
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QDoubleSpinBox *m_agvWzSpin = nullptr;
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QComboBox *m_agvMapCombo = nullptr;
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QComboBox *m_agvStationCombo = nullptr;
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QTableWidget *m_agvStationTable = nullptr;
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QString m_agvDownloadPath;
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QList<QPushButton *> m_serviceButtons;
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QPushButton *m_speakerStreamStartButton = nullptr;
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QPushButton *m_speakerStreamStopButton = nullptr;
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QPushButton *m_microphoneStreamStartButton = nullptr;
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QPushButton *m_microphoneStreamStopButton = nullptr;
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QLineEdit *m_quicBindEdit = nullptr;
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QSpinBox *m_quicPortSpin = nullptr;
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QLineEdit *m_quicAlpnEdit = nullptr;
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QLineEdit *m_quicCertificateEdit = nullptr;
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QLineEdit *m_quicPasswordEdit = nullptr;
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QPushButton *m_quicToggleButton = nullptr;
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QLabel *m_quicStateValue = nullptr;
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QLabel *m_quicBoundValue = nullptr;
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QLabel *m_quicClientValue = nullptr;
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QLabel *m_quicRegistrationValue = nullptr;
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QLabel *m_quicHeartbeatValue = nullptr;
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QLabel *m_quicDatagramValue = nullptr;
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QLabel *m_quicDatagramBytesValue = nullptr;
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QLabel *m_quicNodeValue = nullptr;
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QLabel *m_quicBootValue = nullptr;
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QLabel *m_quicGrpcValue = nullptr;
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QLabel *m_quicPeerValue = nullptr;
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QTextEdit *m_quicLogView = nullptr;
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QTextEdit *m_logView = nullptr;
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QLabel *m_endpointValue = nullptr;
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QLabel *m_backendValue = nullptr;
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QLabel *m_buildValue = nullptr;
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bool m_connected = false;
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};
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