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xu
2026-10-16 09:06:03 +08:00
parent e5efdea06e
commit 1ec93e42cb
37 changed files with 1785 additions and 977 deletions
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comm/car.cpp
+385 -118
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@@ -6,38 +6,57 @@
#include <QSettings>
#include <QUdpSocket>
#include <QtGlobal>
#include <cmath>
#include <cstring>
namespace {
// ===================== 线格式 =====================
// 一个 UDP 数据报承载 = 32 位帧头 + 32 位 CAN ID + DLC + 8 字节数据 + 8 位校验和，共 18 字节。
// 多字节字段按主机小端排列，与车载端网关一致；帧头与校验和用于确认数据报内容合法。
// 一个 UDP 数据报承载 = 1 字节帧头 + 32 位 CAN ID + DLC + 8 字节数据 + 8 位校验和 + 1 字节帧尾，
// 共 16 字节。多字节字段按主机小端排列，与车载端网关一致；帧头/帧尾与校验和用于确认数据报内容合法。
#pragma pack(push, 1)
struct CanFrame {
quint32 header; // 固定帧头 0x5AA5FF00（线上字节序 00 FF A5 5A）
quint8 header; // 固定帧头 0xAA
quint32 canId; // 29 位扩展帧 ID，直接用于分流
quint8 dlc; // 数据长度码，固定 8
quint8 data[8]; // 8 字节 CAN 原生数据段
quint8 checksum; // canId 4 字节 + dlc + data[8]，共 13 字节求和取低 8 位
quint8 checksum; // 帧头 + canId 4 字节 + dlc + data[8] + 帧尾，共 15 字节求和取低 8 位
quint8 tail; // 固定帧尾 0xBB
};
#pragma pack(pop)
const quint32 kFrameHeader = 0x5AA5FF00u;
const quint8 kFrameHeader = 0xAA;
const quint8 kFrameTail = 0xBB;
const int kFrameLen = int(sizeof(CanFrame));
const int kDataLen = 8;
// 车端 CAN 的 UDP 端口：本机 9000 收（车端反馈），上行命令发往 9001
// 洗消作业期间机械臂末端的自动俯仰摆动：中位 ±1024（轴量程 0~4096）、4 秒一个往返。
// 摆动在 50ms 那一组里推进（Arm_ControlCmd2 就在这组），所以一拍 = 50ms、
// 一个往返 = 4s ÷ 50ms = 80 拍。kWashSwingAmp 别超过 kRcAxisMid，不然会顶到量程两端。
const int kWashSwingAmp = 1024;
const int kWashSwingTicks = 80;
const int kSwingRampTicks = 10; // 回中 / 还原的过渡时长：10 拍 = 0.5s
const double kPi = 3.14159265358979323846;
// 轴值线性插值并夹到量程 0~4096。回中与还原都走斜坡，别一步跳变把机械臂顿一下。
quint16 lerpAxis(int from, int to, double t)
{
return quint16(qBound(0, int(from + (to - from) * qBound(0.0, t, 1.0)), 4096));
}
// 车端 CAN 的 UDP 端口：本机 9000 收（车端反馈），上行命令发往车端 192.168.1.224:3001。
// 收端绑 AnyIPv4（各网卡都收），发端必须写明车端 IP —— "0.0.0.0" 不是合法目的地址。
const quint16 kCanRxPort = 9000;
const quint16 kCanTxPort = 9001;
const char* kCanTxHost = "0.0.0.0";
const quint16 kCanTxPort = 3001;
const char* kCanTxHost = "192.168.1.224";
quint8 canChecksum(quint32 canId, quint8 dlc, const quint8* data)
{
quint8 sum = 0;
quint8 sum = kFrameHeader; // 帧头/帧尾也算进去（帧尾虽在校验和之后，双方按定长解析无妨）
for (int i = 0; i < 4; ++i) sum += quint8((canId >> (8 * i)) & 0xFF);
sum += dlc;
for (int i = 0; i < kDataLen; ++i) sum += data[i];
sum += kFrameTail;
return sum;
}
@@ -182,42 +201,65 @@ const char* const kBrakeMotFaults[8] = {
"驱动电路故障", "供电电压过低", "供电电压过高",
};
void addFault(QVector<CanFault>& out, const QString& system, const char* codePrefix,
quint8 code, const char* text)
void addFault(QVector<CanFault>& out, const QString& system, const QString& group,
const char* codePrefix, quint8 code, const char* text, int level = 0)
{
if (!text) return;
CanFault f;
f.system = system;
f.code = QString::fromLatin1(codePrefix) + QString::number(code);
f.desc = QString::fromUtf8(text);
f.system = system;
f.group = group;
f.code = QString::fromLatin1(codePrefix) + QString::number(code);
f.codeNum = QString::number(code);
f.desc = QString::fromUtf8(text);
f.level = level;
out.append(f);
}
// 未在码表中登记的码也上报，避免“有故障但界面无提示”
void addFaultByCode(QVector<CanFault>& out, const QString& system, const char* codePrefix,
const CodeText* tbl, int n, quint8 code)
void addFaultByCode(QVector<CanFault>& out, const QString& system, const QString& group,
const char* codePrefix, const CodeText* tbl, int n, quint8 code, int level = 0)
{
if (code == 0) return;
const char* t = lookup(tbl, n, code);
if (t) addFault(out, system, codePrefix, code, t);
else {
CanFault f;
f.system = system;
f.code = QString::fromLatin1(codePrefix) + QString::number(code);
f.desc = QString::fromLatin1(codePrefix) + QString::number(code);
out.append(f);
if (t) {
addFault(out, system, group, codePrefix, code, t, level);
return;
}
CanFault f;
f.system = system;
f.group = group;
f.code = QString::fromLatin1(codePrefix) + QString::number(code);
f.codeNum = QString::number(code);
f.desc = QString::fromLatin1(codePrefix) + QString::number(code);
f.level = level;
out.append(f);
}
// 故障等级：>0 才上报，描述形如“单体电压过低二级故障”
void addLevelFault(QVector<CanFault>& out, const QString& system, const char* codePrefix,
const char* name, quint8 level)
// 故障等级：>0 才上报。等级型信号没有“码”，顶部显示成“<组名>：<描述>，N级”
void addLevelFault(QVector<CanFault>& out, const QString& system, const QString& group,
const char* codePrefix, const char* name, quint8 level)
{
if (level == 0 || level > 3) return;
CanFault f;
f.system = system;
f.code = QString::fromLatin1(codePrefix) + QString::number(level);
f.desc = QString::fromUtf8(name) + QString::fromUtf8(kLevels[level]);
f.group = group;
f.code = QString::fromLatin1(codePrefix) + QString::number(level); // 追溯用，顶部不显示
f.desc = QString::fromUtf8(name);
f.level = level;
out.append(f);
}
// 没有“故障码”的故障（单个故障位、方向盘对中状态这类无编码信号）：
// 顶部只显示描述，tracePrefix+traceSuffix 仅作故障历史追溯用。
void addNoCodeFault(QVector<CanFault>& out, const QString& system, const QString& group,
const char* tracePrefix, int traceSuffix, const char* text)
{
if (!text) return;
CanFault f;
f.system = system;
f.group = group;
f.code = QString::fromLatin1(tracePrefix) + QString::number(traceSuffix);
f.desc = QString::fromUtf8(text);
out.append(f);
}
@@ -225,8 +267,38 @@ const char* const kSysChassis = "机器人底盘";
const char* const kSysWash = "洗消系统";
const char* const kSysDetector = "气体检测仪";
// 顶部轮播的显示组名。前三个取自协议 CSV 的故障分组列（底盘状态 1~4 各自归属），
// 洗消/检测仪协议里没给分组列，按 system 命名。某组没有故障时顶部就不出现该组名。
const char* const kGroupChassisMotor = "底盘电机故障";
const char* const kGroupBms = "BMS系统故障";
const char* const kGroupSteerBrake = "转向制动系统故障";
const char* const kGroupWash = "洗消系统故障";
const char* const kGroupDetector = "气体检测仪故障";
// All_Comm_FaultCode 本身也是“一组”故障，顶部按“通信异常：3-机械臂通信异常”显示
const char* const kGroupComm = "通信异常";
// All_Comm_FaultCode → 顶部那行的文案。表里写的就是“机械臂通信异常”这种，
// 不再加“xx系统”前缀。码不认识时退回笼统的“通信异常”。
QString commFaultText(quint8 code)
{
for (const CodeText& c : kCommFaults)
if (c.code == code) return QString::fromUtf8(c.text);
return QString::fromUtf8(kGroupComm);
}
} // namespace
// 完整一行：<组名>：[<码>-]<描述>[，<N>级]；desc 为空则只显示组名（链路超时用）
QString CanFault::text() const
{
if (desc.isEmpty()) return group;
QString s = group + QString::fromUtf8("：");
if (!codeNum.isEmpty()) s += codeNum + "-";
s += desc;
if (level > 0) s += QString::fromUtf8("，%1级").arg(level);
return s;
}
// ===================== 构造与生命周期 =====================
CarCommunication::CarCommunication(Telemetry* tel, QObject* parent)
: QObject(parent), m_tel(tel)
@@ -287,6 +359,7 @@ bool CarCommunication::start()
// 端口被占用时走这里：不启动定时器，界面显示通信异常
qWarning() << "车端 UDP 端口绑定失败:" << kCanRxPort << m_sock->errorString();
setCommOk(false);
updateCommText(); // 收不到帧也不会有 cacheFaults，顶部得靠这里才显示“通信异常”
return false;
}
m_hbTimer->start();
@@ -311,7 +384,6 @@ void CarCommunication::setCommOk(bool ok)
if (ok == m_lastCommOk) return;
m_lastCommOk = ok;
if (m_tel) m_tel->commOk = ok;
emit commOkChanged(ok);
}
// ===================== 收包与分流 =====================
@@ -319,81 +391,97 @@ void CarCommunication::setCommOk(bool ok)
// 不再需要串口时代那套跨读字节流的残帧缓冲与滑窗重同步。
void CarCommunication::onDatagram()
{
bool got = false;
while (m_sock->hasPendingDatagrams()) {
const QByteArray d = m_sock->receiveDatagram().data();
int off = 0;
while (off + kFrameLen <= d.size()) {
CanFrame f;
std::memcpy(&f, d.constData() + off, kFrameLen);
if (f.header == kFrameHeader && f.dlc == kDataLen
if (f.header == kFrameHeader && f.tail == kFrameTail && f.dlc == kDataLen
&& f.checksum == canChecksum(f.canId, f.dlc, f.data)) {
handleFrame(f.canId, f.data);
got = true;
off += kFrameLen;
} else {
++off; // 数据报内可能有杂字节，向后找下一个帧头
}
}
}
// 一批数据报**全部解完**再统一刷一次界面。
// 积压时 Telemetry 里留下的本来就是各字段的最新值，中间每帧都推一遍纯属浪费——
// 一批 100 帧会变成 100×(7 个页面 + 8 个底条) 次刷新，而界面只需要最后那一次。
// 只在"同一批"里合并，不额外等定时器，所以不引入延迟。
if (!got)
return;
m_hbTimer->start(); // 收到任意合法帧即刷新链路（CAN 无独立心跳报文）
setCommOk(true);
cacheFaults();
emit telemetryUpdated();
}
void CarCommunication::handleFrame(quint32 canId, const quint8* d)
{
if (!m_tel) return;
// 收到任意合法帧即刷新链路（CAN 无独立心跳报文）
m_hbTimer->start();
setCommOk(true);
// 这里只把数据写进 Telemetry，不动链路状态、也不刷界面——那两件事统一在
// onDatagram() 排空一批之后做一次，这样一大批积压也只会重绘一次。
switch (canId) {
// ---------- 0x18308180 底盘状态1（BMS）：电池总况与故障等级 ----------
case kIdVehicleFb1: {
m_tel->volt = phys(intelBits(d, 0, 16), 0.1);
m_tel->soc = int(phys(intelBits(d, 16, 16), 0.1));
m_tel->hasBattery = true;
m_vsf1Faults.clear();
addFaultByCode(m_vsf1Faults, QString::fromUtf8(kSysChassis), "MCU",
// 底盘电机：故障码(8位)与故障等级(2位)是配套下发的两个信号，协议注明“不会出现
// 等级为 0 却有故障码”的情况，故合并成一条“底盘电机故障：18-电机过温警告，1级”。
addFaultByCode(m_vsf1Faults, QString::fromUtf8(kSysChassis),
QString::fromUtf8(kGroupChassisMotor), "MCU",
kMcuFaults, int(sizeof(kMcuFaults) / sizeof(CodeText)),
quint8(intelBits(d, 32, 8)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "MCUL",
"底盘电机", quint8(intelBits(d, 40, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "CELLL",
"单体电压过低", quint8(intelBits(d, 45, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "CELLHL",
"单体电压过高", quint8(intelBits(d, 47, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "VOLTL",
"总电压过低", quint8(intelBits(d, 49, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "VOLTHL",
"总电压过高", quint8(intelBits(d, 51, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "DLTPL",
"放电低温", quint8(intelBits(d, 53, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "DHTPL",
"放电高温", quint8(intelBits(d, 55, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "CLTPL",
"充电低温", quint8(intelBits(d, 57, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "CHTPL",
"充电高温", quint8(intelBits(d, 59, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "TIL",
"温度不均衡", quint8(intelBits(d, 61, 2)));
quint8(intelBits(d, 32, 8)), int(intelBits(d, 40, 2)));
// 以下 *FaultLevel 都归 BMS 系统
const QString bms = QString::fromUtf8(kGroupBms);
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), bms,
"CELLL", "单体电压过低", quint8(intelBits(d, 45, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), bms,
"CELLHL", "单体电压过高", quint8(intelBits(d, 47, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), bms,
"VOLTL", "总电压过低", quint8(intelBits(d, 49, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), bms,
"VOLTHL", "总电压过高", quint8(intelBits(d, 51, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), bms,
"DLTPL", "放电低温", quint8(intelBits(d, 53, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), bms,
"DHTPL", "放电高温", quint8(intelBits(d, 55, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), bms,
"CLTPL", "充电低温", quint8(intelBits(d, 57, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), bms,
"CHTPL", "充电高温", quint8(intelBits(d, 59, 2)));
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), bms,
"TIL", "温度不均衡", quint8(intelBits(d, 61, 2)));
break;
}
// ---------- 0x18318180 底盘状态2（BMS）：手刹 / 车速 / 继电器 / 通信 ----------
case kIdVehicleFb2: {
m_vsf2Faults.clear();
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "VIL",
"压差不均衡", quint8(intelBits(d, 0, 2)));
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "DOCL",
"放电过流", quint8(intelBits(d, 2, 2)));
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "COCL",
"充电过流", quint8(intelBits(d, 4, 2)));
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "INCL",
"内部通讯", quint8(intelBits(d, 6, 2)));
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "EXCL",
"外部通讯", quint8(intelBits(d, 8, 2)));
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "SOCL",
"SOC过低", quint8(intelBits(d, 10, 2)));
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "INSL",
"绝缘", quint8(intelBits(d, 12, 2)));
const QString bms = QString::fromUtf8(kGroupBms);
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), bms,
"VIL", "压差不均衡", quint8(intelBits(d, 0, 2)));
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), bms,
"DOCL", "放电过流", quint8(intelBits(d, 2, 2)));
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), bms,
"COCL", "充电过流", quint8(intelBits(d, 4, 2)));
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), bms,
"INCL", "内部通讯", quint8(intelBits(d, 6, 2)));
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), bms,
"EXCL", "外部通讯", quint8(intelBits(d, 8, 2)));
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), bms,
"SOCL", "SOC过低", quint8(intelBits(d, 10, 2)));
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), bms,
"INSL", "绝缘", quint8(intelBits(d, 12, 2)));
// 继电器粘连：0=正常 非 0=故障
struct { int bit; const char* name; const char* code; } relays[] = {
@@ -404,7 +492,7 @@ void CarCommunication::handleFrame(quint32 canId, const quint8* d)
};
for (const auto& r : relays) {
if (intelBits(d, r.bit, 2) != 0)
addFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), r.code, 1, r.name);
addFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), bms, r.code, 1, r.name);
}
m_tel->handbrake = intelBits(d, 22, 2) != 0;
@@ -412,9 +500,13 @@ void CarCommunication::handleFrame(quint32 canId, const quint8* d)
// Reserve(34)、All_Comm_FaultCode(40) 的起始位与 8 位布局自洽，故按协议取值。
m_tel->speed = phys(intelBits(d, 24, 8), 0.01);
m_tel->rdyStatus = int(intelBits(d, 32, 2));
m_tel->hasSpeed = true;
const quint8 comm = quint8(intelBits(d, 40, 8)); // All_Comm_FaultCode
addFaultByCode(m_vsf2Faults, QString::fromUtf8(kSysChassis), "COMM",
m_commFaultCode = comm;
m_commFaults.clear();
addFaultByCode(m_commFaults, QString::fromUtf8(kSysChassis),
QString::fromUtf8(kGroupComm), "COMM",
kCommFaults, int(sizeof(kCommFaults) / sizeof(CodeText)), comm);
break;
}
@@ -422,17 +514,20 @@ void CarCommunication::handleFrame(quint32 canId, const quint8* d)
// ---------- 0x183A8180 底盘状态3：EPS / 制动故障位 ----------
case kIdVehicleFb3: {
m_vsf3Faults.clear();
const QString sys = QString::fromUtf8(kSysChassis);
const QString brake = QString::fromUtf8(kGroupSteerBrake);
for (int i = 0; i < 46; ++i) {
if (intelBits(d, i, 1) != 0)
addFault(m_vsf3Faults, QString::fromUtf8(kSysChassis), "EPS", quint8(i),
kVsb3Bits[i]);
addNoCodeFault(m_vsf3Faults, sys, brake, "EPS", i, kVsb3Bits[i]);
}
const quint8 eps = quint8(intelBits(d, 48, 8));
if (eps != 0) {
CanFault f;
f.system = QString::fromUtf8(kSysChassis);
f.code = QString("EPSC") + QString::number(eps);
f.desc = QString("EPS故障码") + QString::number(eps);
f.system = sys;
f.group = brake;
f.code = QString("EPSC") + QString::number(eps);
f.codeNum = QString::number(eps);
f.desc = QString::fromUtf8("EPS故障码");
m_vsf3Faults.append(f);
}
break;
@@ -445,19 +540,25 @@ void CarCommunication::handleFrame(quint32 canId, const quint8* d)
m_tel->parking = int(intelBits(d, 2, 2)); // 0=未驻车 1=左电机 2=右电机 3=完全驻车
m_tel->awdMode = int(intelBits(d, 4, 2)); // 0=二驱 1=四驱 2=四驱锁定
m_tel->steerAngle = double(intelBits(d, 8, 16));
m_tel->hasChassis4 = true;
// ALIGN 是状态字节（0x11=对中失败、0xEE/0x55=正常），不是故障码，顶部只显示描述
const QString sys = QString::fromUtf8(kSysChassis);
const QString brake = QString::fromUtf8(kGroupSteerBrake);
const quint8 align = quint8(intelBits(d, 24, 8));
if (align == 0x11) addFault(m_vsf4Faults, QString::fromUtf8(kSysChassis), "ALIGN", 1, "方向盘对中失败");
m_tel->alignStatus = align; // 底盘页「角度对中状态」行
if (align == 0x11)
addNoCodeFault(m_vsf4Faults, sys, brake, "ALIGN", 1, "方向盘对中失败");
else if (align != 0xEE && align != 0x55)
addFault(m_vsf4Faults, QString::fromUtf8(kSysChassis), "ALIGN", 0, "方向盘未对中");
addNoCodeFault(m_vsf4Faults, sys, brake, "ALIGN", 0, "方向盘未对中");
// 注：协议表把两个信号的“信号值描述”写反了（Brake_Right 描述成左电机、
// Brake_Left 描述成右电机），此处以信号名为准。
const quint8 br = quint8(intelBits(d, 32, 8));
if (br != 0) addFault(m_vsf4Faults, QString::fromUtf8(kSysChassis), "BRKR", br,
if (br != 0) addFault(m_vsf4Faults, sys, brake, "BRKR", br,
br < 8 ? kBrakeMotFaults[br] : "制动电机故障");
const quint8 bl = quint8(intelBits(d, 40, 8));
if (bl != 0) addFault(m_vsf4Faults, QString::fromUtf8(kSysChassis), "BRKL", bl,
if (bl != 0) addFault(m_vsf4Faults, sys, brake, "BRKL", bl,
bl < 8 ? kBrakeMotFaults[bl] : "制动电机故障");
break;
}
@@ -477,6 +578,7 @@ void CarCommunication::handleFrame(quint32 canId, const quint8* d)
.arg(intelSigned(d, 16, 16))
.arg(intelSigned(d, 32, 16));
m_tel->vel = double(intelSigned(d, 48, 8));
m_tel->hasArmPose = true;
break;
}
// ---------- 0x18348180 机械臂状态3：关节角 J1~J4 ----------
@@ -484,6 +586,7 @@ void CarCommunication::handleFrame(quint32 canId, const quint8* d)
if (m_tel->js.size() < 6) m_tel->js.resize(6);
for (int i = 0; i < 4; ++i)
m_tel->js[i] = double(intelSigned(d, i * 16, 16));
m_tel->hasJoints = true;
break;
}
// ---------- 0x18358180 机械臂状态4：关节角 J5~J6 ----------
@@ -491,6 +594,7 @@ void CarCommunication::handleFrame(quint32 canId, const quint8* d)
if (m_tel->js.size() < 6) m_tel->js.resize(6);
m_tel->js[4] = double(intelSigned(d, 0, 16));
m_tel->js[5] = double(intelSigned(d, 16, 16));
m_tel->hasJoints = true;
break;
}
@@ -511,12 +615,18 @@ void CarCommunication::handleFrame(quint32 canId, const quint8* d)
m_tel->d2close = !m_tel->d2open;
m_washFaults.clear();
const QString sys = QString::fromUtf8(kSysWash);
const QString grp = QString::fromUtf8(kGroupWash);
if (intelBits(d, 10, 1) != 0) // Sys_fault：无分路码，只报总故障
addFault(m_washFaults, QString::fromUtf8(kSysWash), "SYS", 1, "洗消系统故障");
if (intelBits(d, 6, 1) != 0)
addFault(m_washFaults, QString::fromUtf8(kSysWash), "LVL", 1, "A组分/清水液位低");
if (intelBits(d, 7, 1) != 0)
addFault(m_washFaults, QString::fromUtf8(kSysWash), "LVL", 2, "B组分液位低");
addNoCodeFault(m_washFaults, sys, grp, "SYS", 1, "洗消系统故障");
const bool lowA = intelBits(d, 6, 1) != 0;
const bool lowB = intelBits(d, 7, 1) != 0;
if (lowA)
addNoCodeFault(m_washFaults, sys, grp, "LVL", 1, "A组分/清水液位低");
if (lowB)
addNoCodeFault(m_washFaults, sys, grp, "LVL", 2, "B组分液位低");
m_tel->levelALow = lowA; // 首页/作业选择中间区域的液位数值据此红闪
m_tel->levelBLow = lowB;
m_tel->levelA = double(intelBits(d, 16, 8));
m_tel->levelFoam = double(intelBits(d, 24, 8));
@@ -524,6 +634,7 @@ void CarCommunication::handleFrame(quint32 canId, const quint8* d)
m_tel->flowB = double(intelBits(d, 40, 8));
m_tel->gasFlow = double(intelBits(d, 48, 8));
m_tel->foam = double(intelBits(d, 56, 8));
m_tel->hasWash = true;
break;
}
// ---------- 0x18378180 洗消工作状态2：压力 / 流量反馈 / 泵故障码 ----------
@@ -533,12 +644,14 @@ void CarCommunication::handleFrame(quint32 canId, const quint8* d)
m_tel->flowPlungerFb = double(intelBits(d, 16, 8));
m_tel->flowAirFb = double(intelBits(d, 32, 8));
m_tel->flowVaneFb = double(intelBits(d, 40, 8));
m_tel->hasWashPress = true;
m_pumpFaults.clear();
addFaultByCode(m_pumpFaults, QString::fromUtf8(kSysWash), "AIR",
const QString washGrp = QString::fromUtf8(kGroupWash);
addFaultByCode(m_pumpFaults, QString::fromUtf8(kSysWash), washGrp, "AIR",
kAirCompFaults, int(sizeof(kAirCompFaults) / sizeof(CodeText)),
quint8(intelBits(d, 48, 8)));
addFaultByCode(m_pumpFaults, QString::fromUtf8(kSysWash), "PLG",
addFaultByCode(m_pumpFaults, QString::fromUtf8(kSysWash), washGrp, "PLG",
kPlungerFaults, int(sizeof(kPlungerFaults) / sizeof(CodeText)),
quint8(intelBits(d, 56, 8)));
break;
@@ -552,6 +665,7 @@ void CarCommunication::handleFrame(quint32 canId, const quint8* d)
m_tel->gasHost = (warn & 0x04) ? QString("fault")
: (sta == 4) ? QString("detecting")
: QString("standby");
m_tel->hasGasHost = true;
// Toxic_types 是位组合：1=P类 2=S类 4=HNO类 8=CH类 16=AS类
const quint8 types = quint8(intelBits(d, 8, 8));
@@ -567,25 +681,24 @@ void CarCommunication::handleFrame(quint32 canId, const quint8* d)
m_tel->gasLevel = (lvl >= 1 && lvl <= 5) ? QString("%1级").arg(lvl) : QString("--");
m_detectorFaults.clear();
// 告警是位组合（1/2/4/8），没有故障码，顶部只显示描述
for (const CodeText& w : kDetectorWarns)
if (warn & w.code)
m_detectorFaults.append(CanFault{QString::fromUtf8(kSysDetector),
QString::fromLatin1("W") + QString::number(w.code),
QString::fromUtf8(w.text)});
addNoCodeFault(m_detectorFaults, QString::fromUtf8(kSysDetector),
QString::fromUtf8(kGroupDetector), "W", w.code,
w.text);
break;
}
// ---------- 0x18398180 检测仪结果状态2：40 位浓度（ppb） ----------
case kIdDetectorFb2: {
m_tel->gasConc = double(intelBits(d, 0, 40));
m_tel->hasGasConc = true;
break;
}
default:
return; // 未知 canId 不触发刷新（分类四本次未实现）
break; // 未知 canId（分类四本次未实现）：这一帧不写任何东西
}
cacheFaults();
emit telemetryUpdated();
}
// 把各帧的故障合并进 Telemetry，并把“新出现”的故障写入故障历史
@@ -596,35 +709,70 @@ void CarCommunication::cacheFaults()
const QVector<QVector<CanFault>*> groups = {
&m_vsf1Faults, &m_vsf2Faults, &m_vsf3Faults, &m_vsf4Faults,
};
// 页面按 desc 显示：等级型故障补回“一级故障/二级故障/三级故障”后缀，
// 与顶部轮播的“，N级”写法不同，保持页面既有文案不变。
auto pageText = [](const CanFault& f) {
return f.level > 0 ? f.desc + QString::fromUtf8(kLevels[f.level]) : f.desc;
};
QStringList chassis;
for (const QVector<CanFault>* g : groups)
for (const CanFault& f : *g) chassis << f.desc;
for (const CanFault& f : *g) chassis << pageText(f);
m_tel->chassisFaults = chassis;
QStringList wash;
for (const CanFault& f : m_washFaults) wash << f.desc;
for (const CanFault& f : m_detectorFaults) wash << f.desc;
for (const CanFault& f : m_washFaults) wash << pageText(f);
m_tel->washFaults = wash;
QStringList pump;
for (const CanFault& f : m_pumpFaults) pump << f.desc;
for (const CanFault& f : m_pumpFaults) pump << pageText(f);
m_tel->pumpFaults = pump;
// 气体检测仪单列一份：洗消页底栏的“系统故障”灯只认洗消与泵，
// 检测仪的告警归到它自己的卡片，不能顺带点亮洗消的故障灯。
QStringList det;
for (const CanFault& f : m_detectorFaults) det << pageText(f);
m_tel->detectorFaults = det;
updateCommText();
// 周期报文会反复报到同一故障，只在首次出现时写故障历史
const QVector<QVector<CanFault>*> all = {
&m_vsf1Faults, &m_vsf2Faults, &m_vsf3Faults, &m_vsf4Faults,
&m_washFaults, &m_pumpFaults, &m_detectorFaults,
&m_washFaults, &m_pumpFaults, &m_detectorFaults, &m_commFaults,
};
for (const QVector<CanFault>* g : all) {
for (const CanFault& f : *g) {
const QString key = f.system + "|" + f.code;
if (m_reportedFaults.contains(key)) continue;
m_reportedFaults.insert(key);
emit faultAppended(f.system, f.code, f.desc);
emit faultAppended(f.system, f.code, pageText(f));
}
}
}
// 顶部左区固定显示的那一行：只反映通信状态，不再轮播各项故障明细
// （底盘/洗消/气体检测仪的明细各自进对应卡片的“故障”行）。
void CarCommunication::updateCommText()
{
if (!m_tel) return;
QString text;
if (!m_lastCommOk)
text = QString::fromUtf8(kGroupComm); // 链路断时没有码，只能笼统报“通信异常”
else if (m_commFaultCode != 0)
text = commFaultText(quint8(m_commFaultCode));
else
text = QString::fromUtf8("系统通信正常");
// 周期报文会反复刷同样的内容，只有真变了才通知顶部
if (text == m_tel->commText && m_commFaultCode == m_tel->commCode) return;
m_tel->commText = text;
m_tel->commCode = m_commFaultCode;
emit commTextChanged();
}
// ===================== 发包 =====================
void CarCommunication::sendFrame(quint32 canId, const quint8* data)
{
@@ -636,10 +784,51 @@ void CarCommunication::sendFrame(quint32 canId, const quint8* data)
f.dlc = kDataLen;
std::memcpy(f.data, data, kDataLen);
f.checksum = canChecksum(canId, f.dlc, f.data);
f.tail = kFrameTail;
m_sock->writeDatagram(reinterpret_cast<const char*>(&f), kFrameLen,
QHostAddress(kCanTxHost), kCanTxPort);
}
// 洗消作业期间的末端俯仰动作，每 50ms 一拍，共三段：
// 启动 → SwingCentering：先把俯仰轴斜坡放回中位，到位后转 SwingSine
// 作业 → SwingSine： 从中位起按正弦来回，一个往返 kWashSwingTicks 拍
// 停止 → SwingRestoring：从当前的摆动值斜坡还原成作业前的轴值，到位后收手
// 这三轴在协议里叫「末端姿态俯仰动作」，是像摇杆偏摆那样的量（中位 = 不动），不是绝对位置：
// 所以"回中心"就是把轴值放回 kRcAxisMid，"回到洗消前的位置"就是放回 m_pitchBeforeWash。
// 停的时候**必须**把轴值收回到一个不动值——Arm_ControlCmd2 是周期报文，
// 停在哪个值，车端就认为还在给哪个俯仰指令、末端会一直走下去。
void CarCommunication::updateWashSwing()
{
switch (m_swingState) {
case SwingOff:
return;
case SwingCentering:
m_pitch = lerpAxis(m_pitchBeforeWash, kRcAxisMid, double(++m_swingTick) / kSwingRampTicks);
if (m_swingTick >= kSwingRampTicks) {
m_swingState = SwingSine;
m_swingPhase = 0; // 起摆点固定是中位，作业过程可复现
}
return;
case SwingSine: {
const double ph = 2.0 * kPi * m_swingPhase / kWashSwingTicks;
// 夹一下：万一以后把 kWashSwingAmp 调过 kRcAxisMid，负数转 quint16 会翻成极值
m_pitch = quint16(qBound(0, int(kRcAxisMid + kWashSwingAmp * std::sin(ph)), 4096));
m_swingPhase = (m_swingPhase + 1) % kWashSwingTicks;
return;
}
case SwingRestoring:
m_pitch = lerpAxis(m_swingFrom, m_pitchBeforeWash, double(++m_swingTick) / kSwingRampTicks);
if (m_swingTick >= kSwingRampTicks) {
m_pitch = m_pitchBeforeWash; // 收尾对齐，别停在插值的截断值上
m_swingState = SwingOff;
}
return;
}
}
// 50ms 组：Chassis_ControlCmd / Arm_ControlCmd1 / Arm_ControlCmd2 / Emergency_Cmd
void CarCommunication::onSendFast()
{
@@ -664,6 +853,8 @@ void CarCommunication::onSendFast()
setIntelBits(d, 40, 16, m_frontrear);
sendFrame(kIdArmCmd1, d);
}
// 洗消作业期间的末端俯仰摆动：这一拍该发什么轴值由它决定
updateWashSwing();
{
quint8 d[8] = {0};
setIntelBits(d, 0, 16, m_roll);
@@ -727,23 +918,34 @@ void CarCommunication::onSendSlow()
}
// ===================== 上行命令 → 控制状态 =====================
// 方向名 → 轴量：档位 后 0 / 中 2048 / 前 4096；转向 左 0 / 中 2048 / 右 4096
static void chassisAxis(const QString& dir, const QString& turn, quint16& gear, quint16& turning)
{
gear = (dir == "fwd") ? 4096 : (dir == "back") ? 0 : kRcAxisMid;
turning = (turn == "left") ? 0 : (turn == "right") ? 4096 : kRcAxisMid;
}
void CarCommunication::sendChassisMove(const QString& dir, double speed, const QString& turn)
{
// 档位推杆量：后 0 / 中 2048 / 前 4096
if (dir == "fwd") m_gear = 4096;
else if (dir == "back") m_gear = 0;
else m_gear = kRcAxisMid;
if (m_rcActive) return; // 遥控器正在操作：面板这一路让位（遥控器松手后页面会重发）
sendChassisMoveRc(dir, speed, turn);
}
// 转向推杆量：左 0 / 中 2048 / 右 4096
if (turn == "left") m_turning = 0;
else if (turn == "right") m_turning = 4096;
else m_turning = kRcAxisMid;
void CarCommunication::sendChassisMoveRc(const QString& dir, double speed, const QString& turn)
{
chassisAxis(dir, turn, m_gear, m_turning);
// Vehi_TargetSpd 精度 0.01 km/h，量程 0~500（即 0~5.00 km/h）
m_targetSpd = quint16(qBound(0, int(qRound(speed * 100.0)), 500));
}
void CarCommunication::sendArmMove(const QString& axis, int dir)
{
if (m_rcActive) return; // 遥控器正在操作：面板这一路让位（遥控器松手后页面会重发）
sendArmMoveRc(axis, dir);
}
void CarCommunication::sendArmMoveRc(const QString& axis, int dir)
{
// 轴位推杆量：dir +1 / -1 / 0 → 4096 / 0 / 中位
const quint16 v = (dir > 0) ? 4096 : (dir < 0) ? 0 : kRcAxisMid;
@@ -780,11 +982,32 @@ void CarCommunication::sendWashStart(const QString& mode)
{
m_decontamMode = (mode == "disinfect") ? 3 : 2; // 3=手动消毒 2=手动消除
m_decontamStart = true;
// 末端俯仰摆动：记下作业前的轴值，先回中心再起摆（见 updateWashSwing）
m_pitchBeforeWash = m_pitch;
m_swingTick = 0;
if (m_pitch == kRcAxisMid) {
m_swingState = SwingSine; // 本来就在中位，不用空走一段回中
m_swingPhase = 0;
} else {
m_swingState = SwingCentering;
}
}
void CarCommunication::sendWashStop()
{
m_decontamStart = false;
// 摆动收尾：从当前值斜坡还原成作业前的轴值。
// 不直接把状态清掉，是因为清掉等于把最后一拍的轴值一直重发下去——末端会接着走。
if (m_swingState != SwingOff) {
m_swingFrom = int(m_pitch);
m_swingTick = 0;
// 已经就在作业前的位置（常见：作业前本来就是中位），不必多走一段
m_swingState = (m_swingFrom == int(m_pitchBeforeWash)) ? SwingOff : SwingRestoring;
if (m_swingState == SwingOff)
m_pitch = m_pitchBeforeWash;
}
}
void CarCommunication::sendBallValve(int valve, bool open)
@@ -829,6 +1052,9 @@ void CarCommunication::sendSetParam(const QString& key, double value)
void CarCommunication::sendSelfCheckStart()
{
m_selfCheckIndex = 0;
m_selfCheckWait = 0;
m_selfCheckAllOk = true;
m_debugModeBeforeCheck = m_debugMode;
m_selfCheckTimer->start();
}
@@ -842,23 +1068,64 @@ void CarCommunication::sendEstopReset()
m_emergStop = 0;
}
// TODO：CAN 矩阵（sheet RC）没有自检报文，故暂由本端跑完 10 项序列，仅为维持
// TODO：CAN 矩阵（sheet RC）没有自检报文，故 0~9 项暂由本端计时直接判过，仅为维持
// ④自检 → ⑤作业选择 的流程不中断（onSelfCheckDone 是唯一点亮“作业选择”的地方）。
// 拿到真实自检报文后，改为解析该报文并删除此本地驱动。
// 拿到真实自检报文后，改为解析该报文并删除这段本地驱动。
// 14 项里只有球阀那 4 项（kSelfCheckValveFirst 起）是真检查：要下发指令并等反馈。
void CarCommunication::onSelfCheckTick()
{
bool ok = true;
if (m_selfCheckFault && m_selfCheckIndex == 6) ok = false; // 演示：球阀D1关闭故障
// ---- 球阀 D1/D2 开启、关闭：下发 Decontam_DebugCmd，等 MBV_D1_Sta/MBV_D2_Sta 反馈到位 ----
if (m_selfCheckIndex >= kSelfCheckValveFirst) {
const int k = m_selfCheckIndex - kSelfCheckValveFirst; // 0..3
const bool isD1 = (k < 2);
const bool wantOpen = (k % 2 == 0);
if (m_selfCheckWait == 0) {
// 项首拍：置调试模式 + 写目标阀位。命令帧由 100ms 周期定时器持续重发，
// 所以只需在这里改状态，不必每拍重发。
m_debugMode = true;
if (isD1) m_d1Open = wantOpen;
else m_d2Open = wantOpen;
emit selfCheckItemBusy(m_selfCheckIndex);
}
// 车端完全没有反馈时不能算“回复正常”：否则 d1open/d2open 的缺省值 false
// 会让“关闭”两项在遥测全无的情况下被误判通过。
const bool fbOpen = m_tel && (isD1 ? m_tel->d1open : m_tel->d2open);
const bool pass = m_lastCommOk && (fbOpen == wantOpen);
if (!pass && m_selfCheckWait < kValveWaitTicks) {
++m_selfCheckWait; // 反馈还没到位：继续等，本轮不推进序列
return;
}
m_selfCheckWait = 0;
finishSelfCheckItem(pass);
return;
}
// ---- 0~9：无对应报文，本地计时判过。演示开关只在此段生效 ----
finishSelfCheckItem(!(m_selfCheckFault && m_selfCheckIndex == kSelfCheckDemoFaultIndex));
}
// 记录单项结果并推进序列；跑完最后一项时收尾（恢复调试模式、发 selfCheckDone）。
// allOk 由本端累计，不能再用演示开关推——球阀那 4 项真的可能失败。
void CarCommunication::finishSelfCheckItem(bool ok)
{
m_selfCheckAllOk = m_selfCheckAllOk && ok;
emit selfCheckItem(m_selfCheckIndex, ok);
++m_selfCheckIndex;
if (m_selfCheckIndex >= 10) {
m_selfCheckTimer->stop();
emit selfCheckDone(!m_selfCheckFault);
}
if (++m_selfCheckIndex < kSelfCheckItemCount)
return;
m_selfCheckTimer->stop();
m_debugMode = m_debugModeBeforeCheck; // 退出调试模式，别把整车留在自检状态
emit selfCheckDone(m_selfCheckAllOk);
}
void CarCommunication::onHeartbeatTimeout()
{
setCommOk(false);
// 超时后不再有收帧，cacheFaults 不会跑：这里补刷一次顶部，
// 否则顶部会一直停在“系统通信正常”上、看不出链路已经断了。
updateCommText();
}