更新至QT6
This commit is contained in:
CaiXiang
@@ -1,69 +1,424 @@
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# 编译说明
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# AGV 路径跟踪系统 - 编译说明
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## 重要提示
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本文档提供完整的编译说明，包括 Qt6 GUI 应用程序和 CAN 通信模块。
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在重新编译之前，请**先关闭正在运行的 `agv_qt_gui.exe` 程序**！
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## 📋 目录
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- [系统要求](#系统要求)
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- [Qt6 GUI 编译（推荐）](#qt6-gui-编译推荐)
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- [命令行程序编译](#命令行程序编译)
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- [常见问题](#常见问题)
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- [验证安装](#验证安装)
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检测到程序正在运行（进程ID: 2996），需要先关闭才能重新编译。
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---
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## 关闭程序的方法
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## 系统要求
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### 方法1: 通过任务管理器
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1. 按 `Ctrl + Shift + Esc` 打开任务管理器
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2. 找到 `agv_qt_gui.exe` 进程
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3. 右键点击，选择"结束任务"
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### 必需组件
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- **编译器**:
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- Windows: MinGW-w64 13.1+ 或 MSVC 2019+
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- Linux: GCC 9.0+ 或 Clang 10.0+
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- **CMake**: 3.10 或更高版本
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- **C++ 标准**: C++17
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### 方法2: 通过命令行
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在 **Windows命令提示符**（不是Git Bash）中运行：
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```cmd
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taskkill /F /PID 2996
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```
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### Qt6 GUI 所需
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- **Qt6**: 6.x 或更高版本
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- 必需组件: Qt6::Widgets
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- 推荐版本: Qt 6.10.1
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- **编译器匹配**:
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- Qt6 MinGW 版本 → MinGW 编译器
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- Qt6 MSVC 版本 → MSVC 编译器
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或者查找并关闭所有 agv_qt_gui 进程：
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```cmd
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taskkill /F /IM agv_qt_gui.exe
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```
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### CAN 通信所需
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- **ControlCAN 库**: lib/ControlCAN.lib
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- **支持的设备**: USBCAN-2A, USBCAN-2C
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## 编译步骤
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---
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关闭程序后，执行以下命令重新编译：
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## Qt6 GUI 编译（推荐）
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### Windows (MinGW)
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#### 步骤 1: 安装 Qt6
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从 [Qt 官网](https://www.qt.io/download) 下载并安装 Qt6：
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- 安装路径示例: `C:\Qt\6.10.1`
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- 选择组件: MinGW 64-bit, Qt6 Widgets
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#### 步骤 2: 清理构建目录
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```bash
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cd build
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cmake --build . --config Release
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rm -rf *
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cd ..
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```
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或者如果需要Debug版本：
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#### 步骤 3: 配置 CMake
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**方法 1: 使用完整路径（推荐）**
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```bash
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cmake --build . --config Debug
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cd build
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cmake -G "MinGW Makefiles" \
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-DCMAKE_PREFIX_PATH=C:/Qt/6.10.1/mingw_64 \
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-DCMAKE_C_COMPILER=C:/Qt/Tools/mingw1310_64/bin/gcc.exe \
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-DCMAKE_CXX_COMPILER=C:/Qt/Tools/mingw1310_64/bin/g++.exe \
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-DCMAKE_MAKE_PROGRAM=C:/Qt/Tools/mingw1310_64/bin/mingw32-make.exe ..
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```
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## 编译成功的标志
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如果编译成功，应该看到：
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```
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agv_qt_gui.vcxproj -> C:\work\AGV\AGV运动规划\agv_path_tracking\build\Release\agv_qt_gui.exe
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```
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## 运行修复后的程序
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编译成功后，运行：
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**方法 2: 设置环境变量**
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```bash
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# Release版本
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./build/Release/agv_qt_gui.exe
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# 设置 Qt 路径
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export CMAKE_PREFIX_PATH=/c/Qt/6.10.1/mingw_64
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export PATH=/c/Qt/Tools/mingw1310_64/bin:$PATH
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# 或 Debug版本
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./build/Debug/agv_qt_gui.exe
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# 配置
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cd build
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cmake -G "MinGW Makefiles" ..
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```
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然后测试"Load from CSV"功能，特别是：
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1. 尝试加载包含中文路径的CSV文件
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2. 尝试加载各种格式的CSV文件
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#### 步骤 4: 编译
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## 已修复的问题
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```bash
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# 使用多线程编译（-j4 表示 4 个线程）
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cmake --build . -j4
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✓ Windows路径编码问题（主要原因）
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✓ 单点路径处理
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✓ 异常处理改进
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# 或者指定 Release 模式
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cmake --build . --config Release -j4
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```
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所有修改已应用到源代码，只需重新编译即可生效。
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#### 步骤 5: 验证
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检查生成的可执行文件：
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```bash
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ls -lh agv_qt_gui.exe
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# 应该显示类似: -rwxr-xr-x 1 user group 558K Nov 27 13:33 agv_qt_gui.exe
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```
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#### 步骤 6: 运行
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```bash
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# 直接运行（需要 Qt DLL 在 PATH 中）
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./agv_qt_gui.exe
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# 或者添加 Qt bin 目录到 PATH
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export PATH=/c/Qt/6.10.1/mingw_64/bin:$PATH
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./agv_qt_gui.exe
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```
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---
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### Windows (MSVC)
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#### 前提条件
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- 安装 Visual Studio 2019 或 2022
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- 安装 Qt6 MSVC 版本（例如 msvc2019_64）
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#### 配置和编译
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```bash
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cd build
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cmake -G "Visual Studio 17 2022" -A x64 \
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-DCMAKE_PREFIX_PATH=C:/Qt/6.10.1/msvc2019_64 ..
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cmake --build . --config Release -j4
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```
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#### 运行
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```bash
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# 添加 Qt DLL 路径
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set PATH=C:\Qt\6.10.1\msvc2019_64\bin;%PATH%
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# 运行
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Release\agv_qt_gui.exe
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```
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---
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### Linux
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#### 步骤 1: 安装依赖
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**Ubuntu/Debian:**
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```bash
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sudo apt update
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sudo apt install build-essential cmake qt6-base-dev
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```
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**Fedora:**
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```bash
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sudo dnf install gcc-c++ cmake qt6-qtbase-devel
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```
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**Arch Linux:**
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```bash
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sudo pacman -S base-devel cmake qt6-base
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```
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#### 步骤 2: 编译
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```bash
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mkdir -p build && cd build
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cmake ..
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make -j$(nproc)
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```
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#### 步骤 3: 运行
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```bash
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./agv_qt_gui
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```
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---
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## 命令行程序编译
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如果只需要编译命令行程序（不含 Qt GUI），可以使用更简单的方法：
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### 基本编译
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```bash
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cd build
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cmake ..
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cmake --build .
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```
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### 生成的可执行文件
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编译完成后，在 `build/` 目录下会生成以下程序：
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| 程序名称 | 功能描述 |
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|---------|---------|
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| `agv_demo.exe` | 基本路径跟踪演示 |
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| `generate_data.exe` | 生成测试数据 |
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| `generate_smooth_path.exe` | 平滑路径生成器 |
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| `agv_gui.exe` | 控制台 GUI 演示 |
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| `curtis_demo.exe` | Curtis 电机控制器键盘演示 |
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| `curtis_path_tracking_demo.exe` | Curtis 路径跟踪演示 |
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| `agv_qt_gui.exe` | Qt6 图形界面（需要 Qt6） |
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---
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## 常见问题
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### 问题 1: CMake 找不到 Qt6
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**错误信息:**
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```
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CMake Error at CMakeLists.txt:65 (find_package):
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By not providing "FindQt6.cmake" in CMAKE_MODULE_PATH this project has
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asked CMake to find a package configuration file provided by "Qt6", but
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CMake did not find one.
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```
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**解决方案:**
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**方法 1:** 设置 `CMAKE_PREFIX_PATH`
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```bash
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cmake -DCMAKE_PREFIX_PATH=C:/Qt/6.10.1/mingw_64 ..
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```
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**方法 2:** 设置环境变量
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```bash
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# Windows (Git Bash)
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export CMAKE_PREFIX_PATH=/c/Qt/6.10.1/mingw_64
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# Windows (CMD)
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set CMAKE_PREFIX_PATH=C:\Qt\6.10.1\mingw_64
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# Linux
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export CMAKE_PREFIX_PATH=/opt/Qt/6.10.1/gcc_64
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```
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---
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### 问题 2: 编译器不匹配
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**错误信息:**
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```
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error: undefined reference to `__imp__ZN7QWidget...'
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```
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**原因:** Qt6 MinGW 版本与 MSVC 编译器不兼容。
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**解决方案:**
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- 使用 MinGW 编译 MinGW 版 Qt6
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- 或安装 MSVC 版 Qt6 并使用 MSVC 编译
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---
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### 问题 3: 程序运行时缺少 DLL
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**错误信息:**
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```
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The code execution cannot proceed because Qt6Core.dll was not found.
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```
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**解决方案 1:** 添加 Qt bin 目录到 PATH
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```bash
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# Windows (Git Bash)
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export PATH=/c/Qt/6.10.1/mingw_64/bin:$PATH
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# Windows (CMD)
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set PATH=C:\Qt\6.10.1\mingw_64\bin;%PATH%
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```
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**解决方案 2:** 部署应用程序（推荐用于发布）
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参见 [Qt6 部署指南](QT6_DEPLOYMENT_GUIDE.md)
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---
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### 问题 4: 编译时提示程序正在运行
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**错误信息:**
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```
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cannot create agv_qt_gui.exe: Permission denied
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```
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**解决方案:**
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关闭正在运行的 `agv_qt_gui.exe` 进程：
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**Windows 任务管理器:**
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1. 按 `Ctrl + Shift + Esc`
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2. 找到 `agv_qt_gui.exe`
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3. 右键 → 结束任务
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**命令行:**
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```bash
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# Windows
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taskkill /F /IM agv_qt_gui.exe
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# Linux
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pkill -9 agv_qt_gui
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```
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---
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### 问题 5: CMake 版本过低
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**错误信息:**
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```
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CMake 3.5 or higher is required. You are running version 2.8.12
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```
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**解决方案:**
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更新 CMake：
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**Windows:**
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从 [CMake 官网](https://cmake.org/download/) 下载最新版本
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**Linux:**
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```bash
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# Ubuntu (添加官方 PPA)
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sudo apt-get remove cmake
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sudo snap install cmake --classic
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# 或从源码编译
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wget https://github.com/Kitware/CMake/releases/download/v3.28.0/cmake-3.28.0.tar.gz
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tar -xzvf cmake-3.28.0.tar.gz
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cd cmake-3.28.0
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./bootstrap && make && sudo make install
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```
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---
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## 验证安装
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### 检查 Qt6 安装
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```bash
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# 检查 qmake
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qmake --version
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# 应输出: QMake version 3.1, Using Qt version 6.x.x
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# 检查 Qt6Config.cmake
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ls C:/Qt/6.10.1/mingw_64/lib/cmake/Qt6/Qt6Config.cmake
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# 应显示文件存在
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```
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### 检查编译器
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```bash
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# MinGW
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gcc --version
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g++ --version
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# 应输出: gcc/g++ (MinGW-W64) 13.1.0 或更高
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# MSVC (Visual Studio Developer Command Prompt)
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cl
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# 应输出: Microsoft (R) C/C++ Optimizing Compiler Version 19.xx
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```
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### 检查 CMake
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```bash
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cmake --version
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# 应输出: cmake version 3.10 或更高
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```
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---
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## 清理构建
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如果需要重新开始：
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```bash
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# 清理构建目录
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cd build
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rm -rf *
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# 或者删除并重建
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cd ..
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rm -rf build
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mkdir build
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cd build
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```
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---
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## 构建配置选项
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### 调试模式 vs 发布模式
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```bash
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# Debug 模式（包含调试符号，未优化）
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cmake -DCMAKE_BUILD_TYPE=Debug ..
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cmake --build .
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# Release 模式（优化，无调试符号）
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cmake -DCMAKE_BUILD_TYPE=Release ..
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cmake --build .
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```
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### 指定安装路径
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```bash
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cmake -DCMAKE_INSTALL_PREFIX=/usr/local ..
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cmake --build .
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sudo cmake --install .
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```
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### 只构建特定目标
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```bash
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# 只构建 Qt GUI
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cmake --build . --target agv_qt_gui
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# 只构建 Curtis 演示
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cmake --build . --target curtis_demo
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```
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---
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## 下一步
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- 📖 运行程序: [QUICK_START.md](QUICK_START.md)
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- 🚀 部署应用: [QT6_DEPLOYMENT_GUIDE.md](QT6_DEPLOYMENT_GUIDE.md)
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- 🔧 CAN 通信: [../can/CAN_README.md](../can/CAN_README.md)
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- 🎨 自定义路径: [../custom_path/README.md](../custom_path/README.md)
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---
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**最后更新:** 2025-11-27
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**Qt 版本:** 6.10.1
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**CMake 版本:** 3.10+
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**编译器:** MinGW 13.1.0, GCC 9.0+, MSVC 2019+
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||||
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||||
634
docs/guides/QT6_DEPLOYMENT_GUIDE.md
Normal file
634
docs/guides/QT6_DEPLOYMENT_GUIDE.md
Normal file
@@ -0,0 +1,634 @@
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# Qt6 应用程序部署指南
|
||||
|
||||
本指南详细说明如何将 Qt6 GUI 应用程序（`agv_qt_gui.exe`）部署到其他计算机，使其能够独立运行而无需安装 Qt。
|
||||
|
||||
## 📋 目录
|
||||
- [部署方法概述](#部署方法概述)
|
||||
- [方法 1: 使用 windeployqt（推荐）](#方法-1-使用-windeployqt推荐)
|
||||
- [方法 2: 手动复制依赖](#方法-2-手动复制依赖)
|
||||
- [方法 3: 静态链接](#方法-3-静态链接)
|
||||
- [Linux 部署](#linux-部署)
|
||||
- [测试部署包](#测试部署包)
|
||||
- [常见问题](#常见问题)
|
||||
|
||||
---
|
||||
|
||||
## 部署方法概述
|
||||
|
||||
Qt 应用程序部署有三种主要方法：
|
||||
|
||||
| 方法 | 优点 | 缺点 | 适用场景 |
|
||||
|------|------|------|---------|
|
||||
| **windeployqt** | 自动、快速、简单 | 包体积较大（~50MB） | 推荐，适合大多数情况 |
|
||||
| **手动复制** | 精确控制，体积可优化 | 需要手动查找依赖 | 高级用户，需要精简包 |
|
||||
| **静态链接** | 单一可执行文件，最小依赖 | 编译慢，体积大（~30MB） | 商业发布 |
|
||||
|
||||
---
|
||||
|
||||
## 方法 1: 使用 windeployqt（推荐）
|
||||
|
||||
`windeployqt` 是 Qt 官方提供的部署工具，可自动收集所有必需的 DLL、插件和资源。
|
||||
|
||||
### Windows (MinGW) 部署
|
||||
|
||||
#### 步骤 1: 创建部署目录
|
||||
|
||||
```bash
|
||||
# 在项目根目录下创建发布目录
|
||||
mkdir -p release_package
|
||||
cd release_package
|
||||
```
|
||||
|
||||
#### 步骤 2: 复制可执行文件
|
||||
|
||||
```bash
|
||||
# 复制编译好的 exe
|
||||
cp ../build/agv_qt_gui.exe .
|
||||
|
||||
# 复制必需的数据文件（如果有）
|
||||
# cp -r ../data .
|
||||
# cp -r ../config .
|
||||
```
|
||||
|
||||
#### 步骤 3: 运行 windeployqt
|
||||
|
||||
```bash
|
||||
# 添加 Qt bin 目录到 PATH（临时）
|
||||
export PATH=/c/Qt/6.10.1/mingw_64/bin:$PATH
|
||||
|
||||
# 运行 windeployqt
|
||||
windeployqt agv_qt_gui.exe
|
||||
|
||||
# 或者使用完整路径
|
||||
/c/Qt/6.10.1/mingw_64/bin/windeployqt.exe agv_qt_gui.exe
|
||||
```
|
||||
|
||||
**参数说明：**
|
||||
```bash
|
||||
# 基本部署
|
||||
windeployqt agv_qt_gui.exe
|
||||
|
||||
# Release 模式（不包含调试信息）
|
||||
windeployqt --release agv_qt_gui.exe
|
||||
|
||||
# 指定编译器
|
||||
windeployqt --compiler-runtime agv_qt_gui.exe
|
||||
|
||||
# 显示详细信息
|
||||
windeployqt --verbose 2 agv_qt_gui.exe
|
||||
|
||||
# 不复制编译器运行时
|
||||
windeployqt --no-compiler-runtime agv_qt_gui.exe
|
||||
```
|
||||
|
||||
#### 步骤 4: 添加 MinGW 运行时（如需要）
|
||||
|
||||
```bash
|
||||
# 复制 MinGW 运行时 DLL
|
||||
cp /c/Qt/Tools/mingw1310_64/bin/libgcc_s_seh-1.dll .
|
||||
cp /c/Qt/Tools/mingw1310_64/bin/libstdc++-6.dll .
|
||||
cp /c/Qt/Tools/mingw1310_64/bin/libwinpthread-1.dll .
|
||||
```
|
||||
|
||||
#### 步骤 5: 复制 ControlCAN 库（AGV 特定）
|
||||
|
||||
```bash
|
||||
# 复制 CAN 通信库
|
||||
cp ../lib/ControlCAN.dll . # 如果存在 DLL 版本
|
||||
```
|
||||
|
||||
#### 步骤 6: 创建启动脚本（可选）
|
||||
|
||||
创建 `run.bat`:
|
||||
```batch
|
||||
@echo off
|
||||
echo Starting AGV Path Tracking GUI...
|
||||
agv_qt_gui.exe
|
||||
if errorlevel 1 (
|
||||
echo Program exited with error code %errorlevel%
|
||||
pause
|
||||
)
|
||||
```
|
||||
|
||||
#### 完整自动化脚本
|
||||
|
||||
创建 `deploy_windows.sh`:
|
||||
```bash
|
||||
#!/bin/bash
|
||||
|
||||
# Qt6 部署脚本 for Windows MinGW
|
||||
|
||||
# 配置
|
||||
QT_DIR="/c/Qt/6.10.1/mingw_64"
|
||||
MINGW_DIR="/c/Qt/Tools/mingw1310_64"
|
||||
BUILD_DIR="../build"
|
||||
DEPLOY_DIR="release_package"
|
||||
EXE_NAME="agv_qt_gui.exe"
|
||||
|
||||
echo "=== AGV Qt6 GUI 部署脚本 ==="
|
||||
|
||||
# 1. 创建部署目录
|
||||
echo "[1/6] 创建部署目录..."
|
||||
rm -rf "$DEPLOY_DIR"
|
||||
mkdir -p "$DEPLOY_DIR"
|
||||
|
||||
# 2. 复制可执行文件
|
||||
echo "[2/6] 复制可执行文件..."
|
||||
if [ ! -f "$BUILD_DIR/$EXE_NAME" ]; then
|
||||
echo "错误: 找不到 $BUILD_DIR/$EXE_NAME"
|
||||
echo "请先编译项目！"
|
||||
exit 1
|
||||
fi
|
||||
cp "$BUILD_DIR/$EXE_NAME" "$DEPLOY_DIR/"
|
||||
|
||||
# 3. 运行 windeployqt
|
||||
echo "[3/6] 运行 windeployqt..."
|
||||
cd "$DEPLOY_DIR"
|
||||
"$QT_DIR/bin/windeployqt.exe" --release --no-translations "$EXE_NAME"
|
||||
|
||||
# 4. 复制 MinGW 运行时
|
||||
echo "[4/6] 复制 MinGW 运行时..."
|
||||
cp "$MINGW_DIR/bin/libgcc_s_seh-1.dll" .
|
||||
cp "$MINGW_DIR/bin/libstdc++-6.dll" .
|
||||
cp "$MINGW_DIR/bin/libwinpthread-1.dll" .
|
||||
|
||||
# 5. 复制 CAN 库（如果存在）
|
||||
echo "[5/6] 复制 CAN 库..."
|
||||
if [ -f "../lib/ControlCAN.dll" ]; then
|
||||
cp "../lib/ControlCAN.dll" .
|
||||
fi
|
||||
|
||||
# 6. 创建启动脚本
|
||||
echo "[6/6] 创建启动脚本..."
|
||||
cat > run.bat << 'EOF'
|
||||
@echo off
|
||||
echo ========================================
|
||||
echo AGV Path Tracking Control System
|
||||
echo Qt6 GUI Application
|
||||
echo ========================================
|
||||
echo.
|
||||
agv_qt_gui.exe
|
||||
if errorlevel 1 (
|
||||
echo.
|
||||
echo Program exited with error code %errorlevel%
|
||||
pause
|
||||
)
|
||||
EOF
|
||||
|
||||
cd ..
|
||||
|
||||
# 显示结果
|
||||
echo ""
|
||||
echo "=== 部署完成！ ==="
|
||||
echo "部署目录: $DEPLOY_DIR"
|
||||
echo "可执行文件: $EXE_NAME"
|
||||
echo ""
|
||||
echo "目录内容:"
|
||||
ls -lh "$DEPLOY_DIR" | head -20
|
||||
|
||||
# 计算大小
|
||||
TOTAL_SIZE=$(du -sh "$DEPLOY_DIR" | cut -f1)
|
||||
echo ""
|
||||
echo "总大小: $TOTAL_SIZE"
|
||||
echo ""
|
||||
echo "现在可以将 '$DEPLOY_DIR' 文件夹复制到其他计算机运行！"
|
||||
```
|
||||
|
||||
使用部署脚本：
|
||||
```bash
|
||||
chmod +x deploy_windows.sh
|
||||
./deploy_windows.sh
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### Windows (MSVC) 部署
|
||||
|
||||
与 MinGW 类似，但需要使用 MSVC 版本的 Qt 和运行时：
|
||||
|
||||
```bash
|
||||
# 使用 MSVC 版 Qt
|
||||
C:\Qt\6.10.1\msvc2019_64\bin\windeployqt.exe --release agv_qt_gui.exe
|
||||
|
||||
# MSVC 运行时通常由 windeployqt 自动包含
|
||||
# 如果没有，需要安装 Visual C++ Redistributable
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 方法 2: 手动复制依赖
|
||||
|
||||
如果需要精确控制部署内容或 `windeployqt` 不可用：
|
||||
|
||||
### 步骤 1: 确定依赖的 DLL
|
||||
|
||||
使用 `ldd` 或 `depends.exe` 查看依赖：
|
||||
|
||||
```bash
|
||||
# 使用 ldd (Git Bash / MSYS2)
|
||||
ldd build/agv_qt_gui.exe
|
||||
|
||||
# 输出示例:
|
||||
# Qt6Core.dll
|
||||
# Qt6Gui.dll
|
||||
# Qt6Widgets.dll
|
||||
# libgcc_s_seh-1.dll
|
||||
# libstdc++-6.dll
|
||||
# libwinpthread-1.dll
|
||||
```
|
||||
|
||||
### 步骤 2: 复制核心 Qt DLL
|
||||
|
||||
```bash
|
||||
cd release_package
|
||||
|
||||
# Qt6 核心库
|
||||
cp /c/Qt/6.10.1/mingw_64/bin/Qt6Core.dll .
|
||||
cp /c/Qt/6.10.1/mingw_64/bin/Qt6Gui.dll .
|
||||
cp /c/Qt/6.10.1/mingw_64/bin/Qt6Widgets.dll .
|
||||
```
|
||||
|
||||
### 步骤 3: 复制平台插件
|
||||
|
||||
```bash
|
||||
# 创建 platforms 目录
|
||||
mkdir -p platforms
|
||||
|
||||
# 复制 Windows 平台插件
|
||||
cp /c/Qt/6.10.1/mingw_64/plugins/platforms/qwindows.dll platforms/
|
||||
```
|
||||
|
||||
### 步骤 4: 复制样式插件（可选）
|
||||
|
||||
```bash
|
||||
# 创建 styles 目录
|
||||
mkdir -p styles
|
||||
|
||||
# 复制 Windows 样式
|
||||
cp /c/Qt/6.10.1/mingw_64/plugins/styles/qwindowsvistastyle.dll styles/
|
||||
```
|
||||
|
||||
### 步骤 5: 复制编译器运行时
|
||||
|
||||
```bash
|
||||
# MinGW 运行时
|
||||
cp /c/Qt/Tools/mingw1310_64/bin/libgcc_s_seh-1.dll .
|
||||
cp /c/Qt/Tools/mingw1310_64/bin/libstdc++-6.dll .
|
||||
cp /c/Qt/Tools/mingw1310_64/bin/libwinpthread-1.dll .
|
||||
```
|
||||
|
||||
### 最小部署结构
|
||||
|
||||
```
|
||||
release_package/
|
||||
├── agv_qt_gui.exe # 主程序
|
||||
├── Qt6Core.dll # Qt 核心
|
||||
├── Qt6Gui.dll # Qt GUI
|
||||
├── Qt6Widgets.dll # Qt Widgets
|
||||
├── libgcc_s_seh-1.dll # GCC 运行时
|
||||
├── libstdc++-6.dll # C++ 标准库
|
||||
├── libwinpthread-1.dll # 线程库
|
||||
├── ControlCAN.dll # CAN 通信库（如需要）
|
||||
└── platforms/ # 平台插件目录
|
||||
└── qwindows.dll # Windows 平台插件
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 方法 3: 静态链接
|
||||
|
||||
静态链接将所有依赖编译进可执行文件，生成单一的 exe（但需要静态版 Qt）。
|
||||
|
||||
### 前提条件
|
||||
|
||||
- 需要从源码编译静态版 Qt6（耗时较长）
|
||||
- 或者购买商业版 Qt（包含静态库）
|
||||
|
||||
### 编译静态 Qt6
|
||||
|
||||
```bash
|
||||
# 下载 Qt 源码
|
||||
git clone https://code.qt.io/qt/qt5.git qt6-static
|
||||
cd qt6-static
|
||||
git checkout 6.10.1
|
||||
|
||||
# 配置静态编译
|
||||
./configure -static -prefix C:/Qt/6.10.1-static -release -nomake examples -nomake tests
|
||||
|
||||
# 编译（需要数小时）
|
||||
cmake --build . --parallel
|
||||
cmake --install .
|
||||
```
|
||||
|
||||
### 使用静态 Qt 编译项目
|
||||
|
||||
```bash
|
||||
cd build
|
||||
cmake -DCMAKE_PREFIX_PATH=C:/Qt/6.10.1-static ..
|
||||
cmake --build . --config Release
|
||||
```
|
||||
|
||||
静态编译的 exe 大约 30-50MB，但不需要任何 DLL。
|
||||
|
||||
---
|
||||
|
||||
## Linux 部署
|
||||
|
||||
### 使用系统包管理器（推荐）
|
||||
|
||||
```bash
|
||||
# Ubuntu/Debian
|
||||
sudo apt install qt6-base-dev
|
||||
|
||||
# 用户安装后从包管理器安装 Qt6 即可运行
|
||||
```
|
||||
|
||||
### 使用 AppImage（便携）
|
||||
|
||||
创建 AppImage 可部署到任何 Linux 发行版：
|
||||
|
||||
```bash
|
||||
# 安装 linuxdeployqt
|
||||
wget https://github.com/probonopd/linuxdeployqt/releases/download/continuous/linuxdeployqt-continuous-x86_64.AppImage
|
||||
chmod +x linuxdeployqt-continuous-x86_64.AppImage
|
||||
|
||||
# 准备 AppDir
|
||||
mkdir -p AppDir/usr/bin
|
||||
cp build/agv_qt_gui AppDir/usr/bin/
|
||||
|
||||
# 创建 desktop 文件
|
||||
cat > AppDir/agv_qt_gui.desktop << EOF
|
||||
[Desktop Entry]
|
||||
Type=Application
|
||||
Name=AGV Path Tracking
|
||||
Exec=agv_qt_gui
|
||||
Icon=agv_icon
|
||||
Categories=Development;
|
||||
EOF
|
||||
|
||||
# 运行 linuxdeployqt
|
||||
./linuxdeployqt-continuous-x86_64.AppImage AppDir/usr/bin/agv_qt_gui -appimage
|
||||
|
||||
# 生成 agv_qt_gui-x86_64.AppImage
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 测试部署包
|
||||
|
||||
### 在干净环境中测试
|
||||
|
||||
**方法 1: 使用虚拟机**
|
||||
- 创建 Windows 虚拟机（VirtualBox / VMware）
|
||||
- 不安装 Qt 和 MinGW
|
||||
- 复制 `release_package` 文件夹
|
||||
- 运行 `agv_qt_gui.exe`
|
||||
|
||||
**方法 2: 使用其他电脑**
|
||||
- 找一台没有安装 Qt 的电脑
|
||||
- 复制部署包
|
||||
- 双击运行
|
||||
|
||||
**方法 3: 临时重命名 Qt 目录**
|
||||
```bash
|
||||
# 重命名 Qt 目录（临时测试）
|
||||
mv /c/Qt /c/Qt_backup
|
||||
|
||||
# 测试部署的程序
|
||||
cd release_package
|
||||
./agv_qt_gui.exe
|
||||
|
||||
# 测试完成后恢复
|
||||
mv /c/Qt_backup /c/Qt
|
||||
```
|
||||
|
||||
### 检查清单
|
||||
|
||||
- [ ] 程序能正常启动
|
||||
- [ ] 主窗口正常显示
|
||||
- [ ] 所有控件可交互
|
||||
- [ ] 路径生成功能正常
|
||||
- [ ] CSV 文件加载正常
|
||||
- [ ] 动画播放正常
|
||||
- [ ] 没有"缺少 DLL"错误
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
### 问题 1: 启动时报错"缺少 Qt6Core.dll"
|
||||
|
||||
**原因:** Qt 核心库未包含
|
||||
|
||||
**解决方案:**
|
||||
```bash
|
||||
# 重新运行 windeployqt
|
||||
cd release_package
|
||||
/c/Qt/6.10.1/mingw_64/bin/windeployqt.exe agv_qt_gui.exe
|
||||
|
||||
# 或手动复制
|
||||
cp /c/Qt/6.10.1/mingw_64/bin/Qt6Core.dll .
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 问题 2: 启动时报错"找不到平台插件 'windows'"
|
||||
|
||||
**原因:** 缺少平台插件
|
||||
|
||||
**解决方案:**
|
||||
```bash
|
||||
mkdir -p platforms
|
||||
cp /c/Qt/6.10.1/mingw_64/plugins/platforms/qwindows.dll platforms/
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 问题 3: 程序启动后立即崩溃
|
||||
|
||||
**原因:** 缺少 MinGW 运行时或编译器不匹配
|
||||
|
||||
**解决方案:**
|
||||
```bash
|
||||
# 复制 MinGW 运行时
|
||||
cp /c/Qt/Tools/mingw1310_64/bin/libgcc_s_seh-1.dll .
|
||||
cp /c/Qt/Tools/mingw1310_64/bin/libstdc++-6.dll .
|
||||
cp /c/Qt/Tools/mingw1310_64/bin/libwinpthread-1.dll .
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 问题 4: 部署包过大（>100MB）
|
||||
|
||||
**原因:** windeployqt 包含了不必要的文件
|
||||
|
||||
**优化方案:**
|
||||
```bash
|
||||
# 使用精简选项
|
||||
windeployqt --release --no-translations --no-system-d3d-compiler agv_qt_gui.exe
|
||||
|
||||
# 删除不需要的插件
|
||||
rm -rf iconengines imageformats/qtiff.dll imageformats/qwebp.dll
|
||||
|
||||
# 删除调试符号
|
||||
find . -name "*.pdb" -delete
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 问题 5: 中文路径显示乱码
|
||||
|
||||
**原因:** 缺少字体或编码设置
|
||||
|
||||
**解决方案:**
|
||||
```bash
|
||||
# 确保使用 UTF-8 编码
|
||||
# 在程序开始时添加：
|
||||
QTextCodec::setCodecForLocale(QTextCodec::codecForName("UTF-8"));
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 部署包优化
|
||||
|
||||
### 减小体积
|
||||
|
||||
```bash
|
||||
# 1. 删除不需要的翻译文件
|
||||
rm -rf translations
|
||||
|
||||
# 2. 删除不需要的图像格式插件
|
||||
cd imageformats
|
||||
rm -f qicns.dll qico.dll qtga.dll qtiff.dll qwbmp.dll qwebp.dll
|
||||
cd ..
|
||||
|
||||
# 3. 使用 UPX 压缩（可选）
|
||||
upx --best agv_qt_gui.exe
|
||||
upx --best *.dll
|
||||
```
|
||||
|
||||
### 创建安装程序
|
||||
|
||||
使用 NSIS 或 Inno Setup 创建安装程序：
|
||||
|
||||
**Inno Setup 示例脚本 (deploy.iss):**
|
||||
```ini
|
||||
[Setup]
|
||||
AppName=AGV Path Tracking
|
||||
AppVersion=1.0
|
||||
DefaultDirName={pf}\AGV Path Tracking
|
||||
DefaultGroupName=AGV Tools
|
||||
OutputDir=installer
|
||||
OutputBaseFilename=AGV_PathTracking_Setup
|
||||
|
||||
[Files]
|
||||
Source: "release_package\*"; DestDir: "{app}"; Flags: recursesubdirs
|
||||
|
||||
[Icons]
|
||||
Name: "{group}\AGV Path Tracking"; Filename: "{app}\agv_qt_gui.exe"
|
||||
Name: "{commondesktop}\AGV Path Tracking"; Filename: "{app}\agv_qt_gui.exe"
|
||||
```
|
||||
|
||||
编译安装程序：
|
||||
```bash
|
||||
iscc deploy.iss
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 部署检查脚本
|
||||
|
||||
创建 `check_deployment.sh`:
|
||||
```bash
|
||||
#!/bin/bash
|
||||
|
||||
DEPLOY_DIR="release_package"
|
||||
EXE="agv_qt_gui.exe"
|
||||
|
||||
echo "=== AGV Qt6 部署检查 ==="
|
||||
echo ""
|
||||
|
||||
# 1. 检查可执行文件
|
||||
if [ -f "$DEPLOY_DIR/$EXE" ]; then
|
||||
echo "✓ 可执行文件存在"
|
||||
else
|
||||
echo "✗ 缺少可执行文件"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# 2. 检查必需的 DLL
|
||||
REQUIRED_DLLS=(
|
||||
"Qt6Core.dll"
|
||||
"Qt6Gui.dll"
|
||||
"Qt6Widgets.dll"
|
||||
"libgcc_s_seh-1.dll"
|
||||
"libstdc++-6.dll"
|
||||
"libwinpthread-1.dll"
|
||||
)
|
||||
|
||||
cd "$DEPLOY_DIR"
|
||||
for dll in "${REQUIRED_DLLS[@]}"; do
|
||||
if [ -f "$dll" ]; then
|
||||
echo "✓ $dll"
|
||||
else
|
||||
echo "✗ 缺少 $dll"
|
||||
fi
|
||||
done
|
||||
|
||||
# 3. 检查平台插件
|
||||
if [ -f "platforms/qwindows.dll" ]; then
|
||||
echo "✓ platforms/qwindows.dll"
|
||||
else
|
||||
echo "✗ 缺少 platforms/qwindows.dll"
|
||||
fi
|
||||
|
||||
# 4. 计算总大小
|
||||
echo ""
|
||||
echo "部署包大小:"
|
||||
du -sh .
|
||||
|
||||
# 5. 列出所有 DLL
|
||||
echo ""
|
||||
echo "包含的 DLL 文件:"
|
||||
find . -name "*.dll" | wc -l
|
||||
echo "个文件"
|
||||
|
||||
cd ..
|
||||
echo ""
|
||||
echo "检查完成！"
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 总结
|
||||
|
||||
### 推荐的部署流程
|
||||
|
||||
1. **开发阶段**: 使用完整 Qt 开发环境
|
||||
2. **测试阶段**: 使用 `windeployqt` 创建部署包
|
||||
3. **发布阶段**: 优化部署包，创建安装程序
|
||||
|
||||
### 部署清单
|
||||
|
||||
- [ ] 编译 Release 版本
|
||||
- [ ] 运行 `windeployqt`
|
||||
- [ ] 复制 MinGW 运行时
|
||||
- [ ] 复制项目特定依赖（ControlCAN.dll）
|
||||
- [ ] 在干净环境测试
|
||||
- [ ] 优化体积
|
||||
- [ ] 创建安装程序（可选）
|
||||
- [ ] 编写用户手册
|
||||
|
||||
---
|
||||
|
||||
## 相关资源
|
||||
|
||||
- **Qt 官方文档**: [Deploying Qt Applications](https://doc.qt.io/qt-6/deployment.html)
|
||||
- **windeployqt 文档**: [Qt for Windows - Deployment](https://doc.qt.io/qt-6/windows-deployment.html)
|
||||
- **依赖检查工具**: [Dependency Walker](http://www.dependencywalker.com/)
|
||||
|
||||
---
|
||||
|
||||
**最后更新:** 2025-11-27
|
||||
**Qt 版本:** 6.10.1
|
||||
**平台:** Windows MinGW, Windows MSVC, Linux
|
||||
@@ -1,6 +1,51 @@
|
||||
# 快速使用指南 - 完整路径追踪
|
||||
# 快速使用指南 - AGV Qt6 GUI
|
||||
|
||||
## 问题
|
||||
## 📌 更新说明
|
||||
✅ **项目已升级到 Qt6！**（2025-11-27）
|
||||
- Qt 版本: 6.10.1
|
||||
- 编译器: MinGW 13.1.0
|
||||
- 详细编译说明: [BUILD_INSTRUCTIONS.md](BUILD_INSTRUCTIONS.md)
|
||||
- 部署指南: [QT6_DEPLOYMENT_GUIDE.md](QT6_DEPLOYMENT_GUIDE.md)
|
||||
|
||||
---
|
||||
|
||||
## 快速开始
|
||||
|
||||
### 1. 编译项目（首次使用）
|
||||
|
||||
```bash
|
||||
# 配置（Windows MinGW）
|
||||
cd build
|
||||
cmake -G "MinGW Makefiles" \
|
||||
-DCMAKE_PREFIX_PATH=C:/Qt/6.10.1/mingw_64 \
|
||||
-DCMAKE_C_COMPILER=C:/Qt/Tools/mingw1310_64/bin/gcc.exe \
|
||||
-DCMAKE_CXX_COMPILER=C:/Qt/Tools/mingw1310_64/bin/g++.exe \
|
||||
-DCMAKE_MAKE_PROGRAM=C:/Qt/Tools/mingw1310_64/bin/mingw32-make.exe ..
|
||||
|
||||
# 编译
|
||||
cmake --build . -j4
|
||||
```
|
||||
|
||||
### 2. 运行程序
|
||||
|
||||
```bash
|
||||
# 确保 Qt DLL 在 PATH 中
|
||||
export PATH=/c/Qt/6.10.1/mingw_64/bin:$PATH
|
||||
|
||||
# 运行
|
||||
./agv_qt_gui.exe
|
||||
```
|
||||
|
||||
或使用以下命令一次性运行：
|
||||
```bash
|
||||
PATH=/c/Qt/6.10.1/mingw_64/bin:$PATH ./build/agv_qt_gui.exe
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 路径跟踪功能
|
||||
|
||||
### 问题
|
||||
❌ trajectory路径只有一段，无法完整追踪reference path
|
||||
|
||||
## 解决方案
|
||||
@@ -114,6 +159,8 @@ A: C4267警告（size_t转int）是良性的，不影响功能，可以忽略。
|
||||
|
||||
---
|
||||
|
||||
**更新日期**: 2025-11-14
|
||||
**版本**: v1.1
|
||||
**状态**: ✅ 已修复、已编译、待测试
|
||||
**更新日期**: 2025-11-27
|
||||
**版本**: v2.0
|
||||
**状态**: ✅ Qt6 升级完成、已编译、已测试
|
||||
**Qt 版本**: 6.10.1
|
||||
**编译器**: MinGW 13.1.0
|
||||
|
||||
Reference in New Issue
Block a user