增加登录功能

librviz_tutorial/CMakeLists.txt

@@ -16,7 +16,8 @@ FILE(GLOB SDK_SRC
 
 find_package(catkin REQUIRED COMPONENTS 
 rviz roscpp std_msgs 
-rosconsole sensor_msgs  # node.cpp
+rosconsole sensor_msgs # node.cpp
+rosbag  
 )
 
 
@@ -57,6 +58,7 @@ set(SRC_FILES
   src/myviz.cpp
   src/main.cpp
   tools/color.cpp
+  src/loginDialog.cpp
 )
 
 ## Add the "myviz" executable and specify the list of source files we
@@ -68,7 +70,7 @@ add_executable(myviz ${SRC_FILES} )
 
 add_executable(rplidarNode src/node.cpp ${SDK_SRC})  # 创建启动laser
 target_link_libraries(rplidarNode ${catkin_LIBRARIES})
-
+target_link_libraries(myviz -lcrypto)
 
 
 ## Link the myviz executable with whatever Qt libraries have been defined by

librviz_tutorial/sources/user/input.txt

@@ -0,0 +1,5 @@
+root 123!@
+wbw 1234
+
+## 待删除，保存原始用户密码
+## 

librviz_tutorial/sources/user/user.txt

@@ -0,0 +1,2 @@
+root p<><70><EFBFBD><08><><EFBFBD><EFBFBD>w<>:<3A><>R<EFBFBD>wH<77>pD<02><>#<23><><EFBFBD>
6
+wbw <03>gB<16><>\v<1E><><EFBFBD>U<EFBFBD>g<EFBFBD>6#ȳ<><C8B3>E<EFBFBD><13>x<EFBFBD><78>F<EFBFBD>

librviz_tutorial/src/loginDialog.cpp

@@ -0,0 +1,206 @@
+#include "loginDialog.h"
+
+#include <QLabel>
+#include <QLineEdit>
+#include <QPushButton>
+#include <QMessageBox>
+
+#include<QDebug>
+
+LoginDialog::LoginDialog(QWidget *parent):QDialog(parent)
+{
+    userLabel = new QLabel(this);
+    userLabel->move(80, 80);
+    userLabel->setText(tr("用户名"));
+
+    userEditLine = new QLineEdit(this);
+    userEditLine->move(150, 80);
+    userEditLine->setPlaceholderText(tr("请输入用户名"));
+
+    pwdLabel = new QLabel(this);
+    pwdLabel->move(80, 130);
+    pwdLabel->setText(tr("密码"));
+
+    pwdEditLine = new QLineEdit(this);
+    pwdEditLine->move(150, 130);
+    pwdEditLine->setPlaceholderText(tr("请输入密码"));
+    pwdEditLine->setEchoMode(QLineEdit::Password);
+
+    loginBtn = new QPushButton(this);
+    loginBtn->move(60, 200);
+    loginBtn->setText(tr("登录"));
+
+    exitBtn = new QPushButton(this);
+    exitBtn->move(220, 200);
+    exitBtn->setText(tr("退出"));
+        
+    connect(loginBtn, &QPushButton::clicked, this, &LoginDialog::login);
+    connect(exitBtn, &QPushButton::clicked, this, &LoginDialog::close);
+
+    // 待解锁的组件名称
+    setting_name = {"laser_topic", "open_file", "bag_progress"};
+
+    // to do read from file
+    createUser();
+    // userPasswords["root"] = hashPassword("root123");
+    // userPasswords["wbw"] = hashPassword("123");
+}
+
+
+
+void LoginDialog::createUser(){
+    std::ifstream inputFile("../Rviz/librviz_ws/src/librviz_tutorial/sources/user/user.txt");
+        // 第一次读写user.txt将user加密后，建立userPasswords
+    if(inputFile.is_open()){
+        std::string line;
+        while(std::getline(inputFile, line)){
+            std::istringstream iss(line);
+            std::string username, pwd;
+            if(iss>> username && iss>> pwd){
+                if(pwd.size() < 8){
+                    // 根据长度判断是否已经被加密
+                    pwd = hashPassword(pwd);
+                }
+                // 创建map/用户表
+                userPasswords[QString::fromStdString(username)] = QString::fromStdString(pwd);
+            }
+        }
+        inputFile.close();
+    }else{
+        qDebug() << "Unable to open the user.txt.";
+    }
+    writeHash(userPasswords);
+}
+
+// 加密后的账户密码写入user.txt
+void LoginDialog::writeHash(const std::map<QString, QString> user){
+    std::ofstream file("../Rviz/librviz_ws/src/librviz_tutorial/sources/user/user.txt");
+
+    if(file.is_open()){
+        for(auto iter = user.begin(); iter != user.end() ; iter++){
+            file << (iter->first).toStdString() << " ";
+            file << (iter->second).toStdString() << std::endl;
+        }
+        file.close();
+    }else{
+        qDebug()<<"Unable to write hashcode!!!";
+    }
+}
+
+
+// hash加密函数
+QString LoginDialog::hashPassword(const QString& pwd) {
+    std::string password = pwd.toStdString();
+    unsigned char hash[SHA256_DIGEST_LENGTH];
+    SHA256_CTX sha256;
+    SHA256_Init(&sha256);
+    SHA256_Update(&sha256, password.c_str(), password.size());
+    SHA256_Final(hash, &sha256);
+
+    std::string hashedPassword;
+    for (int i = 0; i < SHA256_DIGEST_LENGTH; ++i) {
+        hashedPassword += hash[i];
+    }
+    return QString(hashedPassword.c_str());
+}
+
+// 重载加密函数
+std::string LoginDialog::hashPassword(const std::string& password) {
+    // std::string password = pwd.toStdString();
+    unsigned char hash[SHA256_DIGEST_LENGTH];
+    SHA256_CTX sha256;
+    SHA256_Init(&sha256);
+    SHA256_Update(&sha256, password.c_str(), password.size());
+    SHA256_Final(hash, &sha256);
+
+    std::string hashedPassword;
+    for (int i = 0; i < SHA256_DIGEST_LENGTH; ++i) {
+        hashedPassword += hash[i];
+    }
+    return hashedPassword;
+}
+
+
+// 判断用户账号返回不同code
+int LoginDialog::checkUser(const QString username, const QString pwd){
+    auto iter = userPasswords.find(username);
+    if (iter != userPasswords.end()) {
+       if(iter->second == hashPassword(pwd)){
+        // 用户密码都对
+        return 2;
+       }else{
+        // 用户对，密码不对
+        return 1;
+       }
+    } else {
+        // 用户不对
+        return 0;
+    }
+}
+
+// 槽函数
+void LoginDialog::login()
+{
+    int flag = checkUser(userEditLine->text().trimmed(), pwdEditLine->text());
+    switch(flag){
+        case 0: {
+            QMessageBox::warning(this, tr("登录失败"), tr("用户名错误"), QMessageBox::Ok);
+            break;
+        }
+        case 1: {
+            QMessageBox::warning(this, tr("登录失败"), tr("密码错误"), QMessageBox::Ok);
+            break;
+        }
+        case 2:{
+            for(int i=0 ; i<setting_name.size(); i++){
+                QWidget *foundChild = parent()->findChild<QWidget*>(setting_name[i]);
+                if (foundChild) {
+                    // 找到了指定的子组件 在这里可以对子组件进行操作
+                    foundChild->setEnabled(true); 
+                }else{
+                    qDebug()<<"第" << i+1 <<"组件未找到" ;
+                }
+            }
+            QMessageBox::information(this, tr("登录成功"), tr("已解锁"), QMessageBox::Ok);
+            accept();
+        }
+    }
+    userEditLine->clear();
+    pwdEditLine->clear();
+    userEditLine->setFocus();
+        // //判断用户名和密码是否正确 todo 函数判断
+        // if (userEditLine->text().trimmed() == tr("tom") &&
+        //     pwdEditLine->text() == tr("123456"))
+        // {
+            // for(int i=0 ; i<setting_name.size(); i++){
+            //     QWidget *foundChild = parent()->findChild<QWidget*>(setting_name[i]);
+            //     if (foundChild) {
+            //         qDebug()<<"111" ;
+            //         // 找到了指定的子组件 在这里可以对子组件进行操作
+            //         foundChild->setEnabled(true); 
+            //     }else{
+            //         qDebug()<<"第" << i+1 <<"组件未找到" ;
+            //     }
+            // }
+        //     QMessageBox::information(this, tr("登录成功"), tr("已解锁"), QMessageBox::Yes);
+        //     // landed = 1;
+        //     accept();
+        // }
+        // else
+        //     {
+        //     QMessageBox::warning(this, tr("登录失败"), tr("用户名或者密码错误"), QMessageBox::Yes);
+        // }
+        // userEditLine->clear();
+        // pwdEditLine->clear();
+        // userEditLine->setFocus();
+
+ 
+        // QMessageBox::information(this, tr("提示"), tr("已经登陆，请勿重新登录"), QMessageBox::Yes);
+
+}
+
+
+LoginDialog::~LoginDialog()
+{
+
+}

librviz_tutorial/src/loginDialog.h

@@ -0,0 +1,53 @@
+#ifndef LOGINDIALOG_H
+#define LOGINDIALOG_H
+
+#include <QDialog>
+#include<iostream>
+#include<vector>
+#include <map>
+#include <openssl/sha.h>
+#include <fstream>
+#include<sstream> 
+
+class QLabel;
+class QLineEdit;
+class QPushButton;
+
+
+class LoginDialog : public QDialog
+{
+    Q_OBJECT
+public:
+    explicit LoginDialog(QWidget *parent = 0);
+    ~LoginDialog();
+    int checkUser(const QString username, const QString pwd);
+    QString hashPassword(const QString& pwd);
+    std::string hashPassword(const std::string& password); // 重载
+    void createUser();
+    void writeHash(const std::vector<std::string> usernames, const std::vector<std::string> pwds);
+    void writeHash(const std::map<QString, QString>);
+    // 待解锁组件名
+    std::vector<QString> setting_name; 
+
+//槽函数
+private Q_SLOTS:
+    void login();
+
+private:
+    QLabel *userLabel;
+    QLabel *pwdLabel;
+
+    QLineEdit *userEditLine;
+    QLineEdit *pwdEditLine;
+
+    QPushButton *loginBtn;
+    QPushButton *exitBtn;
+    // 待解锁组件名
+    // std::vector<QString> setting_name; 
+    // 用户表
+    std::map<QString, QString> userPasswords;
+
+};
+
+#endif // LOGINDIALOG_H
+

librviz_tutorial/src/main.cpp

@@ -37,6 +37,7 @@
 #include <ros/ros.h>
 #include "myviz.h"
 #include<iostream>
+#include<QDebug>
 
 int main(int argc, char **argv)
 {

librviz_tutorial/src/myviz.h

@@ -29,17 +29,32 @@
 #ifndef MYVIZ_H
 #define MYVIZ_H
 
+
 #include <QWidget>
 #include<QString>
 #include <QGridLayout>
 #include<ros/ros.h>
 #include"std_msgs/String.h"
 #include<thread>
+#include <visualization_msgs/Marker.h>
+
+#include<QTimer>
+#include <QMutex>
+#include <QProcess>
+#include <QThread>
+#include<QSlider>
+#include <rosbag/bag.h>
+#include <sensor_msgs/LaserScan.h>
+#include <rosbag/view.h>
+#include"loginDialog.h"
+
 namespace rviz
 {
 class Display;
 class RenderPanel;
 class VisualizationManager;
+class ToolManager;
+class PropertyTreeWidget;
 }
 
 // BEGIN_TUTORIAL
@@ -52,6 +67,8 @@ public:
   virtual ~MyViz();
   void subCallback(const std_msgs::String& msg);
   void pubThread();
+  void PlayCircle(int index);  // 圆圈线程执行函数
+  rosbag::View *view;
 private Q_SLOTS:   // QT信号和槽
   void setThickness( int thickness_percent );
   void setCellSize( int cell_size_percent );
@@ -64,18 +81,78 @@ private Q_SLOTS:   // QT信号和槽
   void GridColorChanged(int index); // 格栅颜色
   void setFixedFrame(const QString &FixedFrame);
   void setBackgroundColor(const QString& bg_color); // 背景颜色
+  void AxesDisplayChanged(int index); // axe
+  void CircleDisplayChanged(int index); // circle
   void Tree_Display(QGridLayout* layout, int index);
+
+  void login_button_clicked();
+  void quit_login_button_clicked();
+  void slot_select(); // 切换至select模式
+  void slot_move_camera();
+
+  // off
+  double extractDuration(const QByteArray& output);
+  void selectFile();
+  void SpeedChanged(int index);
+  void openFile();
 private:
   rviz::VisualizationManager* manager_; // 
   rviz::RenderPanel* render_panel_;
+  rviz::ToolManager* tool_manager_;
   rviz::Display* grid_;
   rviz::Display* cloud;
-  rviz::Display* laser;
+  rviz::Display* laser_;
+  rviz::Display* axes_display;
+  rviz::Display* marker_;
+  rviz::PropertyTreeWidget* tree_widget_ ;
   ros::NodeHandle nh;
   ros::Subscriber sub;
   ros::Publisher pub;
   std::thread pub_thread;
+
   std::vector<QString> color_name; // 颜色的名称集合
+  QString color_icon_filename;
+  
+  LoginDialog* dlg;
+  bool landed;
+  QString cur_fixed_frame;
+  // off
+  bool isclicked;// 用于判断play第几次按下play键
+  bool ispauseclick;// 用于判断暂停键第几次按下
+  int count;// 用于记录timeout的次数
+  bool sliderreleased;// 用于判断是否拖动了进度条
+  bool playagain;// 用于检测是否多次按下play按钮
+  bool isthreadplaying;// 用于标识线程是否在运行
+  bool abs;// 用于单独开线程？
+  bool stored;// 用于存储一次容器,只在第一次play的时候存储容器
+  bool is_pause = false;
+  bool is_reset = false;
+  bool is_end = false;
+  bool is_save = false;
+  bool is_saveMul = false;
+  bool is_bagClosed = true;
+  bool is_rateChanged = false;
+  bool is_openFile = false;
+  bool is_setFrameIndex = false;
+  bool is_saveMulFinish = false;
+  bool end = false;
+  bool threadout = false;
+  bool ischanged = false;
+  bool ismoved = false;
+  double speed_rate;
+  QSlider* progress;
+  QString filePath;
+  double duration;
+  int remain;
+  int prog_num = 0;
+  std::vector<QString> speed_name;
+  ros::Publisher scan_pub;
+  std::vector<sensor_msgs::LaserScan::ConstPtr> indx;// 存储节点信息
+  int countbag;// 存储播放的具体位置
+  double indxsize;
+  int test = 0;
+
+
 };
 // END_TUTORIAL
 #endif // MYVIZ_H