281 lines
9.5 KiB
C++
281 lines
9.5 KiB
C++
#include "mainwidget.h"
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#include "ui_mainwidget.h"
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#include <QDebug>
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#include <QtNetwork/QHostAddress>
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#include <QtNetwork/QNetworkDatagram>
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#include <QApplication>
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#include <QEvent>
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#include <QKeyEvent>
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#include <QMessageBox>
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#include <QUrl>
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MainWidget::MainWidget(QWidget *parent)
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: QWidget(parent)
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, ui(new Ui::MainWidget)
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, m_isCheckingWeight(false)
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{
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ui->setupUi(this);
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qApp->installEventFilter(this);
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m_udpSocket = new QUdpSocket(this);
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m_udpSocket->bind(QHostAddress::Any, QT_LISTEN_PORT, QUdpSocket::ShareAddress);
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connect(m_udpSocket, &QUdpSocket::readyRead, this, &MainWidget::onUdpReadyRead);
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m_networkManager = new QNetworkAccessManager(this);
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connect(m_networkManager, &QNetworkAccessManager::finished, this, &MainWidget::onCheckWeightResponse);
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pPageWelcome = new PageWelcome(this);
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pPageCart = new PageCart(this);
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pPageCart->setApiConfig(API_SERVER_IP, API_SERVER_PORT);
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pPageGuide = new PageGuide(this);
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pPagePay = new PagePay(this);
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pPageCard = new pagepay_card(this);
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pPageTotalPay= new PageTotalPay(this);
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ui->pstackedWidget->addWidget(pPageWelcome);
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ui->pstackedWidget->addWidget(pPageCart);
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ui->pstackedWidget->addWidget(pPageGuide);
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ui->pstackedWidget->addWidget(pPagePay);
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ui->pstackedWidget->addWidget(pPageCard);
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ui->pstackedWidget->addWidget(pPageTotalPay);
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ui->pstackedWidget->setCurrentWidget(pPageWelcome);
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connect(pPageWelcome, &PageWelcome::startRequested, this, &MainWidget::slotShowCartPage);
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connect(pPageGuide, &PageGuide::requestGoal, this, &MainWidget::onGoalRequestReceived);
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connect(pPageGuide, &PageGuide::requestStop, this, &MainWidget::onStopRequestReceived);
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connect(this, SIGNAL(robotArrivedSignal()), pPageGuide, SLOT(onRobotArrived()));
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connect(pPageGuide, SIGNAL(backToCartClicked()), this, SLOT(slotShowCartPage()));
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connect(pPageCart, SIGNAL(guideModeClicked()), this, SLOT(slotShowGuidePage()));
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connect(pPageCart, &PageCart::requestCheckout, this, &MainWidget::onCheckoutRequested);
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connect(pPageCart, SIGNAL(goWelcome()), this, SLOT(slotShowWelcomePage()));
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connect(pPagePay, SIGNAL(creditCardClicked()), this, SLOT(slotShowPayCardPage()));
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connect(pPagePay, SIGNAL(backCartClicked()), this, SLOT(slotShowCartPage()));
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connect(pPageCard, SIGNAL(goTotalPayClicked()), this, SLOT(slotShowTotalPayPage_2()));
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connect(pPageTotalPay, &PageTotalPay::backToStartClicked, this, &MainWidget::slotShowWelcomePage);
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connect(ui->pstackedWidget, &QStackedWidget::currentChanged, this, &MainWidget::onPageChanged);
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onPageChanged(ui->pstackedWidget->currentIndex());
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}
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MainWidget::~MainWidget()
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{
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delete ui;
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}
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void MainWidget::sendUdpData(const QString &cmd)
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{
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QByteArray data = cmd.toUtf8();
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m_udpSocket->writeDatagram(data, QHostAddress(ROS_SERVER_IP), ROS_SERVER_PORT);
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qDebug() << "[UDP Send]" << cmd << "to" << ROS_SERVER_IP;
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}
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void MainWidget::onCheckoutRequested(double expectedWeight)
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{
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if (m_isCheckingWeight) {
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qDebug() << "Check skipped: Already verifying weight...";
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return;
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}
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m_isCheckingWeight = true; // Lock 설정
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QString urlStr = QString("http://%1:%2/cart/check_weight")
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.arg(API_SERVER_IP)
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.arg(API_SERVER_PORT);
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QUrl url(urlStr);
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QNetworkRequest request(url);
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// GET 요청 전송 (응답은 onCheckWeightResponse 에서 처리)
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m_networkManager->get(request);
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qDebug() << "[API Request] Check Weight ->" << urlStr;
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}
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// ROS에서 온 UDP 수신
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void MainWidget::onUdpReadyRead()
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{
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while (m_udpSocket->hasPendingDatagrams()) {
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QNetworkDatagram datagram = m_udpSocket->receiveDatagram();
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QString msg = QString::fromUtf8(datagram.data()).trimmed();
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qDebug() << "[UDP Recv]" << msg;
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if (msg == "STATUS:ARRIVED") {
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emit robotArrivedSignal();
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}
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else if (msg == "STATUS:WEIGHT_OK") {
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// [성공] 무게가 일치함 -> 결제 페이지로 이동
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proceedToPayPage();
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}
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else if (msg == "ERROR:WEIGHT_MISMATCH") { // 데이터 파싱 (콜론 : 으로 나눔)
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QStringList parts = msg.split(":");
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double expected = 0.0;
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double real = 0.0;
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double diff = 0.0;
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// 데이터가 같이 왔는지 확인 (안 왔으면 0.0으로 표시됨)
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if (parts.size() >= 5) {
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expected = parts[2].toDouble();
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real = parts[3].toDouble();
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diff = parts[4].toDouble();
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}
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// 요청하신 팝업 코드 적용
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QString alertMsg = QString("상품 무게가 일치하지 않습니다.\n\n"
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"예상 무게: %1 g\n"
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"실제 무게: %2 g\n"
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"차이: %3 g\n\n"
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"카트의 물건을 확인해주세요.")
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.arg(expected, 0, 'f', 1)
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.arg(real, 0, 'f', 1)
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.arg(diff, 0, 'f', 1);
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QMessageBox::warning(this, "출발 불가", alertMsg);
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}
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}
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}
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void MainWidget::proceedToPayPage()
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{
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auto cartLines = pPageCart->getCartLines();
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QVector<PagePay::PayLine> payLines;
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payLines.reserve(cartLines.size());
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for (const auto &c : cartLines) {
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PagePay::PayLine p;
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p.name = c.name;
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p.qty = c.qty;
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p.unitPrice = c.unitPrice;
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payLines.push_back(p);
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}
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pPagePay->setPayItems(payLines);
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ui->pstackedWidget->setCurrentWidget(pPagePay);
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}
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void MainWidget::onGoalRequestReceived(double x, double y)
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{
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QString cmd = QString("GOAL:%1,%2").arg(x).arg(y);
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sendUdpData(cmd);
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}
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void MainWidget::onStopRequestReceived()
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{
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sendUdpData("STOP");
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}
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// 페이지 변경 시 모드 변경
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void MainWidget::onPageChanged(int index)
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{
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QWidget *currentWidget = ui->pstackedWidget->widget(index);
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int mode = 0;
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if (currentWidget == pPageWelcome) mode = 0; // 정지
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else if (currentWidget == pPageCart) mode = 1; // 따라가기
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else if (currentWidget == pPageGuide) mode = 2; // 안내모드
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else if (currentWidget == pPagePay) mode = 0; // 결제 중 정지
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else mode = 0;
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sendRobotMode(mode);
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}
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void MainWidget::sendRobotMode(int mode)
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{
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sendUdpData(QString("MODE:%1").arg(mode));
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}
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void MainWidget::on_pPBStartClicked() { ui->pstackedWidget->setCurrentWidget(pPageCart); }
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void MainWidget::slotShowCartPage() { ui->pstackedWidget->setCurrentWidget(pPageCart); }
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void MainWidget::slotShowGuidePage() { ui->pstackedWidget->setCurrentWidget(pPageGuide); }
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void MainWidget::slotShowPayCardPage(){ ui->pstackedWidget->setCurrentWidget(pPageCard); }
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void MainWidget::slotShowTotalPayPage_2() { ui->pstackedWidget->setCurrentWidget(pPageTotalPay); }
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void MainWidget::slotShowWelcomePage()
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{
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ui->pstackedWidget->setCurrentWidget(pPageWelcome);
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pPageCart->resetCart();
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}
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void MainWidget::slotShowPayPage()
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{
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auto cartLines = pPageCart->getCartLines();
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QVector<PagePay::PayLine> payLines;
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payLines.reserve(cartLines.size());
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for (const auto &c : cartLines) {
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PagePay::PayLine p;
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p.name = c.name;
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p.qty = c.qty;
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p.unitPrice = c.unitPrice;
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payLines.push_back(p);
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}
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pPagePay->setPayItems(payLines);
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ui->pstackedWidget->setCurrentWidget(pPagePay);
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}
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bool MainWidget::eventFilter(QObject *obj, QEvent *event)
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{
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if (event->type() == QEvent::KeyPress) {
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auto *ke = static_cast<QKeyEvent*>(event);
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if (ke->key() == Qt::Key_F12) {
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qApp->quit();
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return true;
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}
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}
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return QWidget::eventFilter(obj, event);
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}
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void MainWidget::onCheckWeightResponse(QNetworkReply *reply)
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{
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// 요청한 URL이 check_weight 인지 확인 (다른 API 요청과 섞이지 않게)
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if (!reply->request().url().toString().contains("/cart/check_weight")) {
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return;
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}
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if (reply->error()) {
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qDebug() << "API Error:" << reply->errorString();
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QMessageBox::critical(this, "통신 오류", "서버와 통신할 수 없습니다.\n" + reply->errorString());
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reply->deleteLater();
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m_isCheckingWeight = false;
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return;
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}
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QByteArray data = reply->readAll();
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QJsonDocument doc = QJsonDocument::fromJson(data);
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QJsonObject obj = doc.object();
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// Python 서버 응답 필드: expected_weight, real_weight, diff, movable
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bool movable = obj["movable"].toBool();
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double expected = obj["expected_weight"].toDouble();
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double real = obj["real_weight"].toDouble();
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double diff = obj["diff"].toDouble();
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qDebug() << "[API Response] Movable:" << movable << "Diff:" << diff;
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if (movable) {
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// [성공] 오차 범위 내 -> 결제 페이지로 이동
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proceedToPayPage();
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} else {
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// [실패] 오차 범위 초과 -> 팝업 띄우기
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QString msg = QString("상품 무게가 일치하지 않습니다.\n\n"
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"예상 무게: %1 g\n"
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"실제 무게: %2 g\n"
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"차이: %3 g\n\n"
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"카트의 물건을 확인해주세요.")
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.arg(expected, 0, 'f', 1)
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.arg(real, 0, 'f', 1)
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.arg(diff, 0, 'f', 1);
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QMessageBox::warning(this, "출발 불가", msg);
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}
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reply->deleteLater();
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m_isCheckingWeight = false;
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} |