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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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pages/arm.cpp
+62 -40
View File
@@ -5,7 +5,6 @@
#include "alarmbanner.h"
#include "datacard.h"
#include "car.h"
#include "confirmdialog.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
//#include <QGridLayout> // 末端按钮原为 2×3 网格，改为竖列后暂不需要
@@ -82,33 +81,32 @@ ArmPage::ArmPage(AppContext* ctx, QWidget* parent)
cardsLay->setSpacing(12);
m_chassisCard = new DataCard("底盘", cardsCol);
m_chassisCard->addField("底盘电量SOC", "85%");
m_chassisCard->addField("底盘电压", "360V");
m_chassisCard->addField("底盘故障", "无");
m_chassisCard->addField("底盘电量SOC", "--");
m_chassisCard->addField("底盘电压", "--");
m_washCard = new DataCard("洗消", cardsCol);
m_washCard->addField("A组分/清水液位", "100L");
m_washCard->addField("泡沫箱液位", "30L");
m_washCard->addField("A组分/清水液位", "--");
m_washCard->addField("泡沫箱液位", "--");
m_gasCard = new DataCard("气体检测仪", cardsCol);
m_gasCard->addField("主机状态", "点火状态");
m_gasCard->addField("有毒物种类", "S级");
m_gasCard->addField("有毒物等级", "二级");
m_gasCard->addField("主机状态", "--");
m_gasCard->addField("有毒物种类", "--");
m_gasCard->addField("有毒物等级", "--");
cardsLay->addWidget(m_chassisCard, 1);
cardsLay->addWidget(m_washCard, 1);
cardsLay->addWidget(m_gasCard, 1);
m_armCard = new DataCard("机械臂参数", center);
m_armCard->addField("末端位置", "XYZ");
m_armCard->addField("末端姿态", "RX/RY/RZ");
m_armCard->addField("末端速度", "0");
m_armCard->addField("Joint1关节角", "30°");
m_armCard->addField("Joint2关节角", "20°");
m_armCard->addField("Joint3关节角", "0°");
m_armCard->addField("Joint4关节角", "90°");
m_armCard->addField("Joint5关节角", "45°");
m_armCard->addField("Joint6关节角", "0°");
m_armCard->addField("末端位置", "--");
m_armCard->addField("末端姿态", "--");
m_armCard->addField("末端速度", "--");
m_armCard->addField("Joint1关节角", "--");
m_armCard->addField("Joint2关节角", "--");
m_armCard->addField("Joint3关节角", "--");
m_armCard->addField("Joint4关节角", "--");
m_armCard->addField("Joint5关节角", "--");
m_armCard->addField("Joint6关节角", "--");
centerLay->addWidget(cardsCol, 1);
centerLay->addWidget(m_armCard, 1);
@@ -151,29 +149,43 @@ ArmPage::ArmPage(AppContext* ctx, QWidget* parent)
connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &ArmPage::refresh);
connect(ctx, &AppContext::modeChanged, this, [this](Mode) { updateModeGating(); });
connect(ctx, &AppContext::estopChanged, this, [this](bool) { updateModeGating(); });
connect(ctx, &AppContext::rcDrivingChanged, this, [this](bool) { updateModeGating(); });
connect(ctx, &AppContext::rcDrivingChanged, this, [this](bool) {
updateModeGating();
// 同底盘页：让位给遥控器期间按下的轴被忽略，遥控器松手后把按着的键重发一遍。
// 注意写 this->ctx()：构造函数形参也叫 ctx，直接写 ctx() 会被它遮住
if (this->ctx()->rcDriving()) return;
for (QPushButton* b : m_moveButtons)
if (b->isDown())
this->ctx()->comm()->sendArmMove(b->property("armAxis").toString(),
b->property("armDir").toInt());
});
updateModeGating();
refresh();
}
void ArmPage::showEvent(QShowEvent* ev)
{
BasePage::showEvent(ev);
// 每次进入机械臂页自动切到机械臂模式：Arm_ControlCmd1 的 Arm_modeCmd/Arm_enable
// 挂在它上面，不切的话车端会忽略这里发出的动作指令。遥控器在线时模式由遥控器报文
// 决定，不抢——和底盘页进页面切行车模式是同一套处理。
if (!ctx()->rc()->linkOk())
ctx()->setMode(Mode::Arm);
}
QPushButton* ArmPage::makeMoveButton(const QString& text, const QString& axis, int dir)
{
QPushButton* b = button(text, "", this);
b->setFixedSize(270, 76);
// 记下这根按钮管哪个轴/往哪边，好让"遥控器松手后重发按住的键"找得到它
b->setProperty("armAxis", axis);
b->setProperty("armDir", dir);
b->setStyleSheet(QString(
"QPushButton{font-size:45px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;}"
"QPushButton:hover,QPushButton:focus,QPushButton:pressed"
"{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}")
.arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY));
connect(b, &QPushButton::pressed, this, [this, axis, dir]() {
if (ctx()->rcDriving()) {
ConfirmDialog::toast(this, "遥控器操作中");
return;
}
if (ctx()->mode != Mode::Arm) {
ConfirmDialog::toast(this, "请切换至机械臂模式");
return;
}
ctx()->comm()->sendArmMove(axis, dir);
});
connect(b, &QPushButton::released, this, [this, axis]() {
@@ -184,10 +196,11 @@ QPushButton* ArmPage::makeMoveButton(const QString& text, const QString& axis, i
void ArmPage::updateModeGating()
{
// 非机械臂模式、急停触发或遥控器正在操作时禁用动作按钮（遥控器优先）
bool arm = (ctx()->mode == Mode::Arm) && !ctx()->estopTriggered && !ctx()->rcDriving();
for (QPushButton* b : m_moveButtons) b->setEnabled(arm);
for (QPushButton* b : m_endButtons) b->setEnabled(arm);
// 和底盘页一样：现在只有**急停**会禁用动作按钮。模式不再限制（进页面即用），
// 遥控器也不再让位——面板和遥控器可以同时操作，两边各发各的。
const bool ok = !ctx()->estopTriggered;
for (QPushButton* b : m_moveButtons) b->setEnabled(ok);
for (QPushButton* b : m_endButtons) b->setEnabled(ok);
}
void ArmPage::onReturnToggled(bool on)
@@ -206,20 +219,29 @@ void ArmPage::refresh()
m_banner->clear();
}
m_chassisCard->setField(0, QString("%1%").arg(t.soc));
m_chassisCard->setField(1, QString("%1V").arg(t.volt, 0, 'f', 0));
m_chassisCard->setField(2, t.chassisFaults.isEmpty() ? "无" : t.chassisFaults.join("；"));
// 未收到对应报文的数值统一显示 "--"（dashIf）
m_chassisCard->setField(0, dashIf(t.hasBattery, QString("%1%").arg(t.soc)));
m_chassisCard->setField(1, dashIf(t.hasBattery, QString("%1V").arg(t.volt, 0, 'f', 0)));
m_chassisCard->setFaults(t.chassisFaults);
m_washCard->setField(0, QString("%1L").arg(t.levelA, 0, 'f', 0));
m_washCard->setField(1, QString("%1L").arg(t.levelFoam, 0, 'f', 0));
m_gasCard->setField(0, t.gasHost == "detecting" ? "检测中" : (t.gasHost == "fault" ? "故障" : "待机"));
m_gasCard->setField(1, QString("%1 ppb").arg(t.gasConc, 0, 'f', 0));
m_washCard->setField(0, dashIf(t.hasWash, QString("%1L").arg(t.levelA, 0, 'f', 0)));
m_washCard->setField(1, dashIf(t.hasWash, QString("%1L").arg(t.levelFoam, 0, 'f', 0)));
m_washCard->setAlarm(0, t.levelALow);
m_washCard->setAlarm(1, t.levelBLow);
m_washCard->setFaults(washCardFaults(t));
m_gasCard->setField(0, gasHostLabel(t));
m_gasCard->setField(1, t.gasType); // 有毒物种类，未收到报文时本身就是 "--"
m_gasCard->setField(2, t.gasLevel); // 有毒物等级
m_gasCard->setAlarm(0, t.gasHost == "fault");
m_gasCard->setFaults(t.detectorFaults);
// 本卡没有故障行：机械臂那四帧只有位置/姿态/关节角，协议里没有机械臂故障信号
m_armCard->setField(0, t.pos);
m_armCard->setField(1, t.pose);
m_armCard->setField(2, QString("%1").arg(t.vel, 0, 'f', 1));
m_armCard->setField(2, dashIf(t.hasArmPose, QString("%1").arg(t.vel, 0, 'f', 1)));
for (int i = 0; i < 6 && i < t.js.size(); ++i)
m_armCard->setField(3 + i, QString("%1°").arg(t.js[i], 0, 'f', 0));
m_armCard->setField(3 + i, dashIf(t.hasJoints, QString("%1°").arg(t.js[i], 0, 'f', 0)));
// 回位状态机
if (t.returnState != m_prevReturnState) {
pages/arm.h
+3
View File
@@ -19,6 +19,9 @@ class ArmPage : public BasePage
public:
explicit ArmPage(AppContext* ctx, QWidget* parent = nullptr);
protected:
void showEvent(QShowEvent* ev) override;
private slots:
void refresh();
void updateModeGating();
pages/chassis.cpp
+92 -47
View File
@@ -12,6 +12,12 @@
#include <QTimer>
#include "global.h"
namespace {
// 收起姿态取全零：任一关节角绝对值超过这个角度即认为机械臂已展开。
// 单位与 CAN 下发的关节角一致（car.cpp 直接写入 t.js，未经缩放）。
const double kArmStowedTolDeg = 5.0;
}
ChassisPage::ChassisPage(AppContext* ctx, QWidget* parent)
: BasePage(ctx, parent)
{
@@ -63,16 +69,17 @@ ChassisPage::ChassisPage(AppContext* ctx, QWidget* parent)
centerLay->setSpacing(12);
m_washCard = new DataCard("洗消", center);
m_washCard->addField("A液位", "100L");
m_washCard->addField("泡沫液位", "30L");
m_washCard->addField("A组分/清水液位", "--");
m_washCard->addField("泡沫箱液位", "--");
m_armCard = new DataCard("机械臂", center);
m_armCard->addField("末端位置", "XYZ");
m_armCard->addField("姿态", "RX/RY/RZ");
m_armCard->addField("末端位置", "--");
m_armCard->addField("末端姿态", "--");
m_gasCard = new DataCard("气体检测仪", center);
m_gasCard->addField("主机状态", "待机");
m_gasCard->addField("浓度", "0 ppb");
m_gasCard->addField("主机状态", "--");
m_gasCard->addField("有毒物种类", "--");
m_gasCard->addField("有毒物等级", "--");
centerLay->addWidget(m_washCard, 1);
centerLay->addWidget(m_armCard, 1);
@@ -88,11 +95,15 @@ ChassisPage::ChassisPage(AppContext* ctx, QWidget* parent)
chassisLay->setSpacing(12);
m_chassisCard = new DataCard("底盘状态", chassisCol);
m_chassisCard->addField("电量SOC", "85%");
m_chassisCard->addField("电压U", "360V");
m_chassisCard->addField("车速V", "3.45 km/h");
m_chassisCard->addField("手刹", "有效");
m_chassisFieldFault = m_chassisCard->addField("故障", "无");
m_chassisCard->addField("底盘电量SOC", "--");
m_chassisCard->addField("底盘电压U", "--");
m_chassisCard->addField("底盘车速V", "--");
m_chassisCard->addField("档位状态", "--");
m_chassisCard->addField("驻车状态", "--");
m_chassisCard->addField("四驱模式", "--");
m_chassisCard->addField("底盘Ready状态", "--");
m_chassisCard->addField("方向盘角度", "--");
m_chassisCard->addField("角度对中状态", "--");
chassisLay->addWidget(m_chassisCard, 1);
main->addWidget(chassisCol, 1); // 与中间卡片列平均分配中间区域
main->addSpacing(17); // 底盘列 ↔ 车速设置列：由 32 减小到 17（底盘列整体右移 15px）
@@ -119,7 +130,6 @@ ChassisPage::ChassisPage(AppContext* ctx, QWidget* parent)
root->addLayout(main, 1);
m_statusStrip = new StatusStrip(ctx, this);
m_statusStrip->setModeVisible(false); // 本页固定行车模式，底部不显示模式徽标
connect(m_statusStrip, &StatusStrip::backClicked, this, [this]() { emit navigate(PageJob); });
root->addWidget(m_statusStrip);
@@ -132,7 +142,14 @@ ChassisPage::ChassisPage(AppContext* ctx, QWidget* parent)
connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &ChassisPage::refresh);
connect(ctx, &AppContext::modeChanged, this, [this](Mode) { updateModeGating(); });
connect(ctx, &AppContext::estopChanged, this, [this](bool) { updateModeGating(); });
connect(ctx, &AppContext::rcDrivingChanged, this, [this](bool) { updateModeGating(); });
connect(ctx, &AppContext::rcDrivingChanged, this, [this](bool) {
updateModeGating();
// 让位给遥控器时按下的方向是被忽略掉的，遥控器一松手就重发一遍——
// 否则手一直按着也看不出恢复，车端停在遥控器最后给的那个值上。
// 注意写 this->ctx()：构造函数形参也叫 ctx，直接写 ctx() 会被它遮住
if (!this->ctx()->rcDriving() && !m_heldDirs.isEmpty())
sendDirCommand();
});
updateModeGating();
refresh();
}
@@ -155,20 +172,14 @@ QPushButton* ChassisPage::makeDirButton(const QString& text, const QString& dir)
"{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}")
.arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY));
connect(b, &QPushButton::pressed, this, [this, dir]() {
if (ctx()->rcDriving()) {
ConfirmDialog::toast(this, "遥控器操作中");
return;
}
if (ctx()->mode != Mode::Drive) {
ConfirmDialog::toast(this, "请切换至行车模式");
return;
}
m_heldDirs.insert(dir);
sendDirCommand();
updateAlarm();
});
connect(b, &QPushButton::released, this, [this, dir]() {
m_heldDirs.remove(dir);
sendDirCommand();
updateAlarm();
});
return b;
}
@@ -192,46 +203,80 @@ void ChassisPage::sendDirCommand()
void ChassisPage::updateModeGating()
{
// 非行车模式、急停触发或遥控器正在操作时禁用方向按钮（遥控器优先）
const bool drive = (ctx()->mode == Mode::Drive) && !ctx()->estopTriggered && !ctx()->rcDriving();
// 现在只有**急停**会禁用方向按钮：模式不再限制（进页面即用），遥控器也不再让位——
// 面板和遥控器可以同时操作，两边各发各的，由车端处理。
const bool ok = !ctx()->estopTriggered;
for (QPushButton* b : m_dirButtons)
b->setEnabled(drive);
b->setEnabled(ok);
// 让位时清掉本地按住状态：按钮被禁用后不会再收到 released，否则方向会被一直挂住。
// 让位给遥控器时不补发 stop，否则会覆盖遥控器刚下发的那条指令。
if (!drive && !m_heldDirs.isEmpty()) {
// 急停把按钮禁掉时清掉按住状态并补一条 stop。（Qt 禁用时会补发 released，
// 各按钮自己那一遍已经发过了，这里只是兜底。）
if (!ok && !m_heldDirs.isEmpty()) {
m_heldDirs.clear();
if (!ctx()->rcDriving())
ctx()->comm()->sendChassisMove("stop", 0);
ctx()->comm()->sendChassisMove("stop", 0);
}
updateAlarm();
}
// 任一关节角偏离收起姿态（全零）即认为机械臂已展开
bool ChassisPage::armNotStowed() const
{
const QVector<double>& js = ctx()->telemetry.js;
for (double a : js)
if (a > kArmStowedTolDeg || a < -kArmStowedTolDeg)
return true;
return false;
}
// 面板方向键按住，或遥控器正在推杆，都算正在驱动底盘
bool ChassisPage::chassisDriving() const
{
return !m_heldDirs.isEmpty() || ctx()->rcDriving();
}
// 通信异常优先；其次是“机械臂已展开且正在驱动底盘”
void ChassisPage::updateAlarm()
{
if (!ctx()->telemetry.commOk)
m_banner->showAlarm("通信异常");
else if (armNotStowed() && chassisDriving())
m_banner->showAlarm("机械臂未回位，请谨慎操作");
else
m_banner->clear();
}
void ChassisPage::refresh()
{
const Telemetry& t = ctx()->telemetry;
// 机械臂未回位 / 通信异常告警
if (!t.commOk) {
m_banner->showAlarm("通信异常");
} else if (!t.armHomed && t.returnState != "idle") {
m_banner->showAlarm("机械臂未回位，请谨慎操作");
} else {
m_banner->clear();
}
updateAlarm();
m_chassisCard->setField(0, QString("%1%").arg(t.soc));
m_chassisCard->setField(1, QString("%1V").arg(t.volt, 0, 'f', 0));
m_chassisCard->setField(2, QString("%1 km/h").arg(t.speed, 0, 'f', 2));
m_chassisCard->setField(3, t.handbrake ? "有效" : "无效");
m_chassisCard->setField(m_chassisFieldFault, t.chassisFaults.isEmpty() ? "无" : t.chassisFaults.join("；"));
m_chassisCard->setAlarm(m_chassisFieldFault, !t.chassisFaults.isEmpty());
// 未收到对应报文的数值统一显示 "--"（dashIf）
m_chassisCard->setField(0, dashIf(t.hasBattery, QString("%1%").arg(t.soc)));
m_chassisCard->setField(1, dashIf(t.hasBattery, QString("%1V").arg(t.volt, 0, 'f', 0)));
m_chassisCard->setField(2, dashIf(t.hasSpeed, QString("%1 km/h").arg(t.speed, 0, 'f', 2)));
m_chassisCard->setField(3, dashIf(t.hasChassis4, gearLabel(t.gearPos)));
m_chassisCard->setField(4, dashIf(t.hasChassis4, parkingLabel(t.parking)));
m_chassisCard->setField(5, dashIf(t.hasChassis4, awdLabel(t.awdMode)));
m_chassisCard->setField(6, dashIf(t.hasSpeed, rdyLabel(t.rdyStatus)));
m_chassisCard->setField(7, dashIf(t.hasChassis4, QString("%1°").arg(t.steerAngle, 0, 'f', 0)));
m_chassisCard->setField(8, dashIf(t.hasChassis4, alignLabel(t.alignStatus)));
m_chassisCard->setFaults(t.chassisFaults);
m_washCard->setField(0, dashIf(t.hasWash, QString("%1L").arg(t.levelA, 0, 'f', 0)));
m_washCard->setField(1, dashIf(t.hasWash, QString("%1L").arg(t.levelFoam, 0, 'f', 0)));
m_washCard->setAlarm(0, t.levelALow);
m_washCard->setAlarm(1, t.levelBLow);
m_washCard->setFaults(washCardFaults(t));
m_washCard->setField(0, QString("%1L").arg(t.levelA, 0, 'f', 0));
m_washCard->setField(1, QString("%1L").arg(t.levelFoam, 0, 'f', 0));
m_armCard->setField(0, t.pos);
m_armCard->setField(1, t.pose);
m_gasCard->setField(0, t.gasHost == "detecting" ? "检测中" : (t.gasHost == "fault" ? "故障" : "待机"));
m_gasCard->setField(1, QString("%1 ppb").arg(t.gasConc, 0, 'f', 0));
m_gasCard->setField(0, gasHostLabel(t));
m_gasCard->setField(1, t.gasType); // 有毒物种类，未收到报文时本身就是 "--"
m_gasCard->setField(2, t.gasLevel); // 有毒物等级
m_gasCard->setAlarm(0, t.gasHost == "fault");
m_gasCard->setFaults(t.detectorFaults);
}
void ChassisPage::onSpeedChanged(double v)
pages/chassis.h
+3 -1
View File
@@ -32,6 +32,9 @@ private slots:
private:
QPushButton* makeDirButton(const QString& text, const QString& dir);
void sendDirCommand(); // 按当前按住的方向组合下发（档位与转向可同时）
void updateAlarm(); // 横幅：通信异常 / 机械臂未回位时驱动底盘
bool armNotStowed() const; // 任一关节角偏离收起姿态（全零）
bool chassisDriving() const; // 面板方向键按住，或遥控器正在推杆
TitleBar* m_titleBar = nullptr;
StatusStrip* m_statusStrip = nullptr;
@@ -42,7 +45,6 @@ private:
DataCard* m_chassisCard = nullptr;
ParamControl* m_speed = nullptr;
QTimer* m_saveTimer = nullptr;
int m_chassisFieldFault = -1;
QVector<QPushButton*> m_dirButtons;
QSet<QString> m_heldDirs; // 当前按住的方向，可多键同时按
};
pages/debugmaintain.cpp
+132 -55
View File
@@ -9,8 +9,13 @@
#include <QHBoxLayout>
#include <QPushButton>
#include <QLabel>
#include <QDateTime>
#include "global.h"
// 球阀“开启/关闭故障”的判据：下发指令后这么久还等不到对应到位反馈就判故障。
// 取 8s，与④自检里球阀四项的等待时长（kValveWaitTicks 18 拍 × 450ms ≈ 8s）一致。
static const qint64 kValveFaultMs = 8000;
DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
: BasePage(ctx, parent)
{
@@ -36,8 +41,42 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
QVBoxLayout* leftLay = new QVBoxLayout(left);
leftLay->setContentsMargins(20, 10, 10, 10);
leftLay->setSpacing(60);
leftLay->addWidget(makeValveGroup(1));
leftLay->addWidget(makeValveGroup(2));
// 故障提示作为球阀盒子的**上一条**：常占位（无故障时清空文字、留出这一条的高度），
// 出现故障不会把下面的盒子顶下去
auto addValve = [&](int valve) {
QWidget* box = new QWidget(left);
QVBoxLayout* boxLay = new QVBoxLayout(box);
boxLay->setContentsMargins(0, 0, 0, 0);
boxLay->setSpacing(8);
// 不能走 label()：那个辅助函数会把 color 写进行内样式，而控件自身的样式表优先级高于
// 应用级样式表，会把 QSS 里 [alert] / [blink] 的红色和明暗闪烁一起盖掉（只剩常亮红字）。
// 这里只给字号字重，颜色交给应用级样式表的告警规则。
QLabel* fault = new QLabel(box);
fault->setAlignment(Qt::AlignCenter);
fault->setProperty("alert", true);
fault->setStyleSheet("font-size:28px;font-weight:700;");
fault->setFixedHeight(40); // 常占位：把这一条的高度钉死
boxLay->addWidget(fault);
boxLay->addWidget(makeValveGroup(valve));
leftLay->addWidget(box);
return fault;
};
m_valveFault1 = addValve(1);
m_valveFault2 = addValve(2);
// 三个泵的上电指示灯放在 D2 球阀下方的空位里，纵向居中排列。
// 指示规则不变（上电＝绿、否则灭），仍由 refresh() 按车端反馈刷新。
auto addPumpLed = [&](const QString& text) {
LedIndicator* led = new LedIndicator(text, left);
led->setTextPixelSize(40);
// 圆点在前（LedIndicator 的默认）：竖排下来像一张状态清单
leftLay->addWidget(led, 0, Qt::AlignHCenter);
return led;
};
m_ledPlunger = addPumpLed("柱塞泵");
m_ledAir = addPumpLed("空压机");
m_ledLeaf = addPumpLed("叶片泵");
leftLay->addStretch(1);
left->setFixedWidth(300);
main->addWidget(left);
@@ -54,27 +93,33 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
centerLeftLay->setSpacing(10);
m_chassisCard = new DataCard("底盘", centerLeft);
m_chassisCard->addField("电量", "85%");
m_chassisCard->addField("电压", "360V");
m_chassisCard->addField("底盘电量SOC", "--");
m_chassisCard->addField("底盘电压U", "--");
m_armCard = new DataCard("机械臂", centerLeft);
m_armCard->addField("末端位置", "XYZ");
m_armCard->addField("姿态", "RX/RY/RZ");
// 这一列只有 474px，位置行在 42px 下约 530px，单独把数值字号收到 34（约 463px）
m_armCard->setValueFontPx(34);
m_armCard->addField("末端位置", "--");
m_armCard->addField("末端姿态", "--");
m_gasCard = new DataCard("气体检测仪", centerLeft);
m_gasCard->addField("主机状态", "待机");
m_gasCard->addField("浓度", "0 ppb");
m_gasCard->addField("主机状态", "--");
m_gasCard->addField("有毒物种类", "--");
m_gasCard->addField("有毒物等级", "--");
centerLeftLay->addWidget(m_chassisCard, 1);
centerLeftLay->addWidget(m_armCard, 1);
centerLeftLay->addWidget(m_gasCard, 1);
centerLay->addWidget(centerLeft, 1);
// 与消除/消毒作业页的洗消卡同一套字段（本页只多了右侧的泵控制）
m_washCard = new DataCard("洗消参数", center);
m_washCard->addField("洗消模式", "--");
m_washCard->addField("A组分液位", "100L");
m_washCard->addField("A药剂流量", "0 L/min");
m_washCard->addField("管路压力", "0 MPa");
m_washCard->addField("发泡倍数", "0");
m_washCard->addField("空压机故障代码", "");
m_washCard->addField("柱塞泵故障代码", "");
m_washCard->addField("A组分液位", "--");
m_washCard->addField("B组分液位", "--");
m_washCard->addField("A药剂流量", "--");
m_washCard->addField("B药剂流量", "--");
m_washCard->addField("气体流量", "--");
m_washCard->addField("管路压力", "--");
m_washCard->addField("空压机压力", "--");
m_washCard->addField("发泡倍数", "--");
centerLay->addWidget(m_washCard, 1);
main->addWidget(center, 1);
@@ -101,8 +146,6 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
bottom->setStyleSheet(QString("QWidget#DebugBottom{background-color:%1;border-top:1px solid %2;}")
.arg(C::PANEL, C::BORDER));
QHBoxLayout* bottomLay = new QHBoxLayout(bottom);
// 左起 364 = 36(页面边距) + 300(球阀列) + 28(列间距)，与中央“底盘”列左边缘对齐
bottomLay->setContentsMargins(364, 0, 24, 0);
bottomLay->setSpacing(48);
auto makeLed = [&](const QString& text) {
LedIndicator* led = new LedIndicator(text, bottom);
@@ -111,10 +154,14 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
bottomLay->addWidget(led);
return led;
};
m_ledPlunger = makeLed("柱塞泵");
m_ledAir = makeLed("空压机");
m_ledLeaf = makeLed("叶片泵");
m_ledLevel = makeLed("液位低");
// 三个泵的指示灯已经搬进各自的泵组里（放在按钮行左侧），底栏只留两路液位低
m_ledLevelA = makeLed("A组分/清水液位低");
m_ledLevelB = makeLed("B组分液位低");
// 这两盏灯居中于中央卡片区：卡片区 x ∈ [364, 1436]（36 页边距 + 300 球阀列 + 28 列间距
// 起，宽 1072），中点 900。用 sizeHint 量出两盏灯连间距的实际宽度再定位，改字号也不会偏。
const int levelW = m_ledLevelA->sizeHint().width() + bottomLay->spacing()
+ m_ledLevelB->sizeHint().width();
bottomLay->setContentsMargins((364 + 1436) / 2 - levelW / 2, 0, 24, 0);
bottomLay->addStretch(1);
QPushButton* back = button("返回", "", bottom);
back->setFixedSize(160, 76);
@@ -159,7 +206,7 @@ QWidget* DebugMaintainPage::makeValveGroup(int valve)
QLabel* title = label(QString("D%1 球阀").arg(valve), 30, C::TEXT, true, grp);
lay->addWidget(title);
// 控制开/关（toggle）：文字固定，底色表示状态——未选中＝关闭（红）、选中＝开启（绿）
// 控制开/关（toggle）：文字固定，底色表示状态——未选中＝关闭（灰）、选中＝开启（绿）
QPushButton* ctrl = button(QString("D%1 控制").arg(valve), "", grp);
ctrl->setCheckable(true);
ctrl->setFixedSize(180, 64); // 窄按钮，与泵组的“上电”一致
@@ -167,16 +214,19 @@ QWidget* DebugMaintainPage::makeValveGroup(int valve)
ctrl->setStyleSheet(QString("QPushButton{background-color:%1;color:#FFFFFF;border:none;}"
"QPushButton:checked{background-color:%2;color:#FFFFFF;border:none;}"
"QPushButton:focus{border:4px solid #8ABFFF;}")
.arg(C::DANGER).arg(C::SUCCESS));
.arg(C::DISABLED).arg(C::SUCCESS));
connect(ctrl, &QPushButton::toggled, this, [this, valve](bool on) {
ctx()->comm()->sendBallValve(valve, on);
// 记下这一拍想要哪个阀位并开始等反馈；超时还没到位就在 refresh() 里判故障
if (valve == 1) { m_v1WantOpen = on ? 1 : 0; m_v1CmdMs = QDateTime::currentMSecsSinceEpoch(); m_v1Fault = false; }
else { m_v2WantOpen = on ? 1 : 0; m_v2CmdMs = QDateTime::currentMSecsSinceEpoch(); m_v2Fault = false; }
});
lay->addWidget(ctrl, 0, Qt::AlignHCenter);
// 开启到位 / 关闭到位（同一行，居中）。未收到车端遥测时保持缺省显示
// （开启绿 / 关闭红），首次收到遥测后由 refresh() 按实际到位状态刷新
// 开启到位 / 关闭到位（同一行，居中）。缺省状态按“阀体默认关着”给：
// 开启到位灭（灰）、关闭到位红。首次收到遥测后由 refresh() 按实际到位状态刷新
LedIndicator* open = new LedIndicator("开启", grp);
open->setState(LedIndicator::Green);
open->setState(LedIndicator::Off);
LedIndicator* close = new LedIndicator("关闭", grp);
close->setState(LedIndicator::Red);
QHBoxLayout* ioRow = new QHBoxLayout();
@@ -187,23 +237,16 @@ QWidget* DebugMaintainPage::makeValveGroup(int valve)
ioRow->addStretch(1);
lay->addLayout(ioRow);
// 故障提示
QLabel* fault = label("", 16, C::DANGER, true, grp);
fault->setAlignment(Qt::AlignCenter);
fault->setProperty("alert", true);
fault->hide();
lay->addWidget(fault);
// 故障提示不在盒子里——它是盒子**上方**独立的一条，由构造函数的 addValve 建好
if (valve == 1) {
m_valve1Btn = ctrl;
m_v1Open = open;
m_v1Close = close;
m_valveFault1 = fault;
} else {
m_valve2Btn = ctrl;
m_v2Open = open;
m_v2Close = close;
m_valveFault2 = fault;
}
return grp;
}
@@ -257,6 +300,7 @@ QWidget* DebugMaintainPage::makePumpGroup(const QString& pump, const QString& na
start->setChecked(false);
ctx()->comm()->sendPumpPower(pump, false);
});
// 圆点+名称不在这里了——三个泵的上电指示灯已经搬到左列 D2 球阀下方（见构造函数）
QHBoxLayout* pwrRow = new QHBoxLayout();
pwrRow->setSpacing(12);
pwrRow->addStretch(1);
@@ -265,9 +309,9 @@ QWidget* DebugMaintainPage::makePumpGroup(const QString& pump, const QString& na
pwrRow->addStretch(1);
lay->addLayout(pwrRow);
if (pump == "air") { m_airRpm = rpm; m_airStart = start; m_airStop = stop; }
if (pump == "air") { m_airRpm = rpm; m_airStart = start; m_airStop = stop; }
else if (pump == "plunger") { m_plungerRpm = rpm; m_plungerStart = start; m_plungerStop = stop; }
else { m_leafRpm = rpm; m_leafStart = start; m_leafStop = stop; }
else { m_leafRpm = rpm; m_leafStart = start; m_leafStop = stop; }
return grp;
}
@@ -275,22 +319,32 @@ void DebugMaintainPage::refresh()
{
const Telemetry& t = ctx()->telemetry;
m_chassisCard->setField(0, QString("%1%").arg(t.soc));
m_chassisCard->setField(1, QString("%1V").arg(t.volt, 0, 'f', 0));
// 未收到对应报文的数值统一显示 "--"（dashIf）
m_chassisCard->setField(0, dashIf(t.hasBattery, QString("%1%").arg(t.soc)));
m_chassisCard->setField(1, dashIf(t.hasBattery, QString("%1V").arg(t.volt, 0, 'f', 0)));
m_chassisCard->setFaults(t.chassisFaults);
m_armCard->setField(0, t.pos);
m_armCard->setField(1, t.pose);
m_gasCard->setField(0, t.gasHost == "detecting" ? "检测中" : (t.gasHost == "fault" ? "故障" : "待机"));
m_gasCard->setField(1, QString("%1 ppb").arg(t.gasConc, 0, 'f', 0));
m_gasCard->setField(0, gasHostLabel(t));
m_gasCard->setField(1, t.gasType); // 有毒物种类，未收到报文时本身就是 "--"
m_gasCard->setField(2, t.gasLevel); // 有毒物等级
m_gasCard->setAlarm(0, t.gasHost == "fault");
m_gasCard->setFaults(t.detectorFaults);
m_washCard->setField(0, t.washMode);
m_washCard->setField(1, QString("%1L").arg(t.levelA, 0, 'f', 0));
m_washCard->setField(2, QString("%1 L/min").arg(t.flowA, 0, 'f', 1));
m_washCard->setField(3, QString("%1 MPa").arg(t.press, 0, 'f', 2));
m_washCard->setField(4, QString("%1").arg(t.foam, 0, 'f', 1));
m_washCard->setField(5, t.pumpFaults.value(0));
m_washCard->setField(6, t.pumpFaults.value(0));
m_washCard->setField(1, dashIf(t.hasWash, QString("%1L").arg(t.levelA, 0, 'f', 0)));
m_washCard->setField(2, dashIf(t.hasWash, QString("%1L").arg(t.levelFoam, 0, 'f', 0)));
m_washCard->setField(3, dashIf(t.hasWash, QString("%1 L/min").arg(t.flowA, 0, 'f', 1)));
m_washCard->setField(4, dashIf(t.hasWash, QString("%1 L/min").arg(t.flowB, 0, 'f', 1)));
m_washCard->setField(5, dashIf(t.hasWash, QString("%1 L/min").arg(t.gasFlow, 0, 'f', 1)));
m_washCard->setField(6, dashIf(t.hasWashPress, QString("%1 MPa").arg(t.press, 0, 'f', 2)));
m_washCard->setField(7, dashIf(t.hasWashPress, QString("%1 MPa").arg(t.airPress, 0, 'f', 2)));
m_washCard->setField(8, dashIf(t.hasWash, QString("%1").arg(t.foam, 0, 'f', 1)));
m_washCard->setAlarm(1, t.levelALow);
m_washCard->setAlarm(2, t.levelBLow);
m_washCard->setFaults(washCardFaults(t));
// 球阀到位反馈：未收到过车端遥测时不动，保留构造时的缺省显示（开启绿 / 关闭红）
// 球阀到位反馈：未收到过车端遥测时不动，保留构造时的缺省显示（开启灰 / 关闭红）
if (m_telemetrySeen) {
m_v1Open->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
m_v1Close->setState(t.d1close ? LedIndicator::Red : LedIndicator::Off);
@@ -298,22 +352,45 @@ void DebugMaintainPage::refresh()
m_v2Close->setState(t.d2close ? LedIndicator::Red : LedIndicator::Off);
}
// 球阀故障提示
bool v1Fault = t.valveFault.contains("D1");
bool v2Fault = t.valveFault.contains("D2");
if (v1Fault) { m_valveFault1->setText(t.valveFault); m_valveFault1->show(); startBlink(m_valveFault1, "blink"); }
else { stopBlink(m_valveFault1, "blink"); m_valveFault1->hide(); }
if (v2Fault) { m_valveFault2->setText(t.valveFault); m_valveFault2->show(); startBlink(m_valveFault2, "blink"); }
else { stopBlink(m_valveFault2, "blink"); m_valveFault2->hide(); }
// 球阀故障：协议里没有“D1开启故障/关闭故障”这种信号，只能自己推——
// 指令下发后 kValveFaultMs 内 MBV_Dn_Sta 还没变成想要的样子，就判该方向故障；
// 反馈一旦对上（到位）就解除。cmdMs 为 0 表示没有待确认的指令，不判。
const qint64 now = QDateTime::currentMSecsSinceEpoch();
auto judgeValve = [&](qint64& cmdMs, int wantOpen, bool fbOpen, bool& faulted,
QLabel* lab, int valve) {
if (cmdMs != 0) {
if (fbOpen == (wantOpen != 0)) { // 到位：解除等待
cmdMs = 0;
faulted = false;
} else if (now - cmdMs > kValveFaultMs) {
faulted = true;
}
}
// 这一条是**常占位**的：只切文字与闪烁，不动显隐，免得盒子上下跳。
// "当前有没有报故障"就看文字空不空——省掉再存一个状态。
if (faulted != !lab->text().isEmpty())
return;
if (faulted) {
lab->setText(QString("D%1球阀 %2 故障").arg(valve).arg(wantOpen ? "开启" : "关闭"));
startBlink(lab, "blink");
} else {
stopBlink(lab, "blink");
lab->clear();
}
};
judgeValve(m_v1CmdMs, m_v1WantOpen, t.d1open, m_v1Fault, m_valveFault1, 1);
judgeValve(m_v2CmdMs, m_v2WantOpen, t.d2open, m_v2Fault, m_valveFault2, 2);
// 泵启停状态同步（互斥组内先置“启动”再置“停止”，两者互补，结果总是一选中一未选）
if (m_airStart) { m_airStart->setChecked(t.air); m_airStop->setChecked(!t.air); }
if (m_plungerStart){ m_plungerStart->setChecked(t.plunger); m_plungerStop->setChecked(!t.plunger); }
if (m_leafStart) { m_leafStart->setChecked(t.leaf); m_leafStop->setChecked(!t.leaf); }
// 底部指示灯
// 底部指示灯：泵的三个已经挪进泵组，这里只剩两路液位低。
// 用协议位（A_LiquidLevel_Low / B_LiquidLevel_Low），不按 levelA<10 猜阈值
m_ledPlunger->setState(t.plunger ? LedIndicator::Green : LedIndicator::Off);
m_ledAir->setState(t.air ? LedIndicator::Green : LedIndicator::Off);
m_ledLeaf->setState(t.leaf ? LedIndicator::Green : LedIndicator::Off);
m_ledLevel->setState(t.levelA < 10 ? LedIndicator::RedBlink : LedIndicator::Off);
m_ledLevelA->setState(t.levelALow ? LedIndicator::RedBlink : LedIndicator::Off);
m_ledLevelB->setState(t.levelBLow ? LedIndicator::RedBlink : LedIndicator::Off);
}
pages/debugmaintain.h
+15 -3
View File
@@ -58,15 +58,27 @@ private:
QPushButton* m_leafStart = nullptr;
QPushButton* m_leafStop = nullptr;
// 底部指示灯
// 泵上电指示灯（在各自泵组的按钮行左侧，由 makePumpGroup 填）+ 底部的两路液位低
LedIndicator* m_ledPlunger = nullptr;
LedIndicator* m_ledAir = nullptr;
LedIndicator* m_ledLeaf = nullptr;
LedIndicator* m_ledLevel = nullptr;
LedIndicator* m_ledLevelA = nullptr; // A组分/清水液位低
LedIndicator* m_ledLevelB = nullptr; // B组分液位低
// 是否收到过车端遥测：未收到时球阀到位灯保持“开启＝绿、关闭＝红”的缺省显示
// 是否收到过车端遥测：未收到时球阀到位灯保持“开启＝灰、关闭＝红”的缺省显示
bool m_telemetrySeen = false;
// 球阀“开启/关闭故障”是**超时未到位**推出来的——协议里没有这两个故障信号，
// 球阀下行只有 MBV_Dn_Sta 一个到位位（关闭到位由它取反得到）。
// 下发指令时记下时刻与想要的阀位；kValveFaultMs 内反馈还没变成想要的样子就判故障，
// 反馈对上（到位）或重新下发指令则解除。cmdMs 为 0 表示当前没有待确认的指令。
qint64 m_v1CmdMs = 0;
qint64 m_v2CmdMs = 0;
int m_v1WantOpen = 0; // 最后一次指令想要的阀位：0=关闭 1=开启
int m_v2WantOpen = 0;
bool m_v1Fault = false;
bool m_v2Fault = false;
// “返回”去向：本页有两个入口（系统首页 / 作业选择），由 MainWindow 记录来源后原路返回
PageId m_returnPage = PageJob;
};
pages/gasdetector.cpp
+30 -25
View File
@@ -25,36 +25,36 @@ GasDetectorPage::GasDetectorPage(AppContext* ctx, QWidget* parent)
main->setContentsMargins(36, 16, 36, 16);
main->setSpacing(32);
// 中央卡片区（2×2）
// 中央卡片区：左列 底盘/洗消/机械臂 纵向排列，右列由气体检测仪独占并跨满三行
QWidget* center = new QWidget(this);
QGridLayout* grid = new QGridLayout(center);
grid->setSpacing(20);
grid->setContentsMargins(20, 0, 20, 0);
m_chassisCard = new DataCard("底盘", center);
m_chassisCard->addField("电量", "85%");
m_chassisCard->addField("电压", "360V");
m_chassisCard->addField("故障", "无");
m_chassisCard->addField("电量", "--");
m_chassisCard->addField("电压", "--");
m_washCard = new DataCard("洗消", center);
m_washCard->addField("A液位", "100L");
m_washCard->addField("泡沫液位", "30L");
m_washCard->addField("A液位", "--");
m_washCard->addField("泡沫液位", "--");
m_armCard = new DataCard("机械臂", center);
m_armCard->addField("末端位置", "XYZ");
m_armCard->addField("姿态", "RX/RY/RZ");
m_armCard->addField("末端位置", "--");
m_armCard->addField("姿态", "--");
m_gasCard = new DataCard("气体检测仪", center);
m_gasCard->addField("主机状态", "待机");
m_gasCard->addField("主机状态", "--");
m_gasCard->addField("有毒物种类", "--");
m_gasCard->addField("有毒物等级", "--");
m_gasConcField = m_gasCard->addField("浓度", "0 ppb", true);
m_gasConcField = m_gasCard->addField("浓度", "--", true);
m_gasCard->setHighlight(true); // 主色描边突出
grid->addWidget(m_chassisCard, 0, 0);
grid->addWidget(m_washCard, 0, 1);
grid->addWidget(m_gasCard, 1, 0);
grid->addWidget(m_armCard, 1, 1);
grid->addWidget(m_washCard, 1, 0);
grid->addWidget(m_armCard, 2, 0);
// 本页主角，独占右列：跨 3 行填满
grid->addWidget(m_gasCard, 0, 1, 3, 1);
main->addWidget(center, 1);
// 右侧按钮列（垂直居中 + 平均分布）
@@ -90,7 +90,6 @@ GasDetectorPage::GasDetectorPage(AppContext* ctx, QWidget* parent)
root->addLayout(main, 1);
m_statusStrip = new StatusStrip(ctx, this);
m_statusStrip->setModeVisible(false); // 本页不显示模式徽标
connect(m_statusStrip, &StatusStrip::backClicked, this, [this]() {
if (this->ctx()->gasRunning) {
if (ConfirmDialog::confirm(this, "提示", "检测仍在进行，是否退出？"))
@@ -117,24 +116,30 @@ void GasDetectorPage::refresh()
{
const Telemetry& t = ctx()->telemetry;
// 同步运行状态（以遥测为准）
if (t.gasHost == "detecting") ctx()->gasRunning = true;
else if (t.gasHost == "standby") ctx()->gasRunning = false;
// 同步运行状态（以遥测为准）：未收到报文（gasHost 为空）时按未运行处理
ctx()->gasRunning = (t.gasHost == "detecting");
updateGating();
m_chassisCard->setField(0, QString("%1%").arg(t.soc));
m_chassisCard->setField(1, QString("%1V").arg(t.volt, 0, 'f', 0));
m_chassisCard->setField(2, t.chassisFaults.isEmpty() ? "无" : t.chassisFaults.join("；"));
// 未收到对应报文的数值统一显示 "--"（dashIf）
m_chassisCard->setField(0, dashIf(t.hasBattery, QString("%1%").arg(t.soc)));
m_chassisCard->setField(1, dashIf(t.hasBattery, QString("%1V").arg(t.volt, 0, 'f', 0)));
m_chassisCard->setFaults(t.chassisFaults);
m_washCard->setField(0, dashIf(t.hasWash, QString("%1L").arg(t.levelA, 0, 'f', 0)));
m_washCard->setField(1, dashIf(t.hasWash, QString("%1L").arg(t.levelFoam, 0, 'f', 0)));
m_washCard->setAlarm(0, t.levelALow);
m_washCard->setAlarm(1, t.levelBLow);
m_washCard->setFaults(washCardFaults(t));
m_washCard->setField(0, QString("%1L").arg(t.levelA, 0, 'f', 0));
m_washCard->setField(1, QString("%1L").arg(t.levelFoam, 0, 'f', 0));
m_armCard->setField(0, t.pos);
m_armCard->setField(1, t.pose);
m_gasCard->setField(0, t.gasHost == "detecting" ? "检测中" : (t.gasHost == "fault" ? "故障" : "待机"));
m_gasCard->setField(0, gasHostLabel(t));
m_gasCard->setField(1, t.gasType);
m_gasCard->setField(2, t.gasLevel);
m_gasCard->setField(m_gasConcField, QString("%1 ppb").arg(t.gasConc, 0, 'f', 0));
// 超阈值红闪
m_gasCard->setField(m_gasConcField, dashIf(t.hasGasConc, QString("%1 ppb").arg(t.gasConc, 0, 'f', 0)));
// 主机状态为“故障”与浓度超限是两回事，各自独立闪
m_gasCard->setAlarm(0, t.gasHost == "fault");
m_gasCard->setAlarm(m_gasConcField, t.gasConc > 500.0);
m_gasCard->setFaults(t.detectorFaults);
}
pages/home.cpp
+33 -23
View File
@@ -60,21 +60,23 @@ HomePage::HomePage(AppContext* ctx, QWidget* parent)
grid->setContentsMargins(0, 0, 0, 0);
m_chassisCard = new DataCard("底盘", center);
m_chassisCard->addField("电量", "85%");
m_chassisCard->addField("电压", "360V");
m_chassisCard->addField("故障", "无");
m_chassisCard->addField("底盘电量SOC", "--");
m_chassisCard->addField("底盘电压U", "--");
m_armCard = new DataCard("机械臂", center);
m_armCard->addField("末端位置", "XYZ");
m_armCard->addField("姿态", "RX/RY/RZ");
// 位置/姿态两行的数值最长约 554px，超出 2×2 卡片的内容区 522px，单独把字号收小一号
m_armCard->setValueFontPx(38);
m_armCard->addField("末端位置", "--");
m_armCard->addField("末端姿态", "--");
m_washCard = new DataCard("洗消", center);
m_washCard->addField("A液位", "100L");
m_washCard->addField("泡沫液位", "30L");
m_washCard->addField("A组分/清水液位", "--");
m_washCard->addField("泡沫箱液位", "--");
m_gasCard = new DataCard("气体检测仪", center);
m_gasCard->addField("主机状态", "待机");
m_gasCard->addField("浓度", "0 ppb");
m_gasCard->addField("主机状态", "--");
m_gasCard->addField("有毒物种类", "--");
m_gasCard->addField("有毒物等级", "--");
// 左列 底盘/机械臂，右列 洗消/气体检测仪
grid->addWidget(m_chassisCard, 0, 0);
@@ -113,8 +115,7 @@ HomePage::HomePage(AppContext* ctx, QWidget* parent)
root->addLayout(main, 1);
m_statusStrip = new StatusStrip(ctx, this);
m_statusStrip->setBackVisible(false);
m_statusStrip->setModeVisible(false); // 本页不显示模式徽标（菜单已移到左右两列）
m_statusStrip->setBackVisible(false); // 本页「返回」在右侧按钮列，底条不重复放
root->addWidget(m_statusStrip);
connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &HomePage::refresh);
@@ -124,26 +125,35 @@ HomePage::HomePage(AppContext* ctx, QWidget* parent)
void HomePage::refresh()
{
const Telemetry& t = ctx()->telemetry;
m_chassisCard->setField(0, QString("%1%").arg(t.soc));
m_chassisCard->setField(1, QString("%1V").arg(t.volt, 0, 'f', 0));
m_chassisCard->setField(2, t.chassisFaults.isEmpty() ? "无" : t.chassisFaults.join("；"));
m_chassisCard->setAlarm(2, !t.chassisFaults.isEmpty());
// 未收到对应报文的数值统一显示 "--"（dashIf）
m_chassisCard->setField(0, dashIf(t.hasBattery, QString("%1%").arg(t.soc)));
m_chassisCard->setField(1, dashIf(t.hasBattery, QString("%1V").arg(t.volt, 0, 'f', 0)));
m_chassisCard->setFaults(t.chassisFaults);
m_armCard->setField(0, t.pos);
m_armCard->setField(1, t.pose);
// 机械臂卡没有故障行：协议里机械臂那四帧只有位置/姿态/关节角，没有故障信号
m_washCard->setField(0, QString("%1L").arg(t.levelA, 0, 'f', 0));
m_washCard->setField(1, QString("%1L").arg(t.levelFoam, 0, 'f', 0));
m_washCard->setField(0, dashIf(t.hasWash, QString("%1L").arg(t.levelA, 0, 'f', 0)));
m_washCard->setField(1, dashIf(t.hasWash, QString("%1L").arg(t.levelFoam, 0, 'f', 0)));
m_washCard->setAlarm(0, t.levelALow);
m_washCard->setAlarm(1, t.levelBLow);
m_washCard->setFaults(washCardFaults(t));
m_gasCard->setField(0, t.gasHost == "detecting" ? "检测中" : (t.gasHost == "fault" ? "故障" : "待机"));
m_gasCard->setField(1, QString("%1 ppb").arg(t.gasConc, 0, 'f', 0));
m_gasCard->setAlarm(1, t.gasConc > 500.0);
m_gasCard->setField(0, gasHostLabel(t));
m_gasCard->setField(1, t.gasType); // 有毒物种类，未收到报文时本身就是 "--"
m_gasCard->setField(2, t.gasLevel); // 有毒物等级
m_gasCard->setAlarm(0, t.gasHost == "fault");
m_gasCard->setFaults(t.detectorFaults);
}
void HomePage::onHelp()
{
// 正文按 2+1 断句。字号 34 时最长一行 918px，正文区 944px，不会被 wordWrap 二次折行
ConfirmDialog::message(this, "操作说明",
"系统自检将依次检测：通信系统、底盘通信、机械臂通信、洗消通信、"
"传感器信号、清水液位及电动球阀 D1/D2 的开启与关闭。\n"
"全部正常后方可进入作业选择界面。");
"自检过程主要检测各分系统通信、传感器信号数据是否正常、\n"
"电动球阀D1~D2是否能正常开启和关闭。\n"
"自检正常或人为点击“忽略故障”，则进入“系统首页面”。",
1000, 34);
}
pages/jobselect.cpp
+28 -20
View File
@@ -61,21 +61,23 @@ JobSelectPage::JobSelectPage(AppContext* ctx, QWidget* parent)
grid->setContentsMargins(0, 0, 0, 0);
m_chassisCard = new DataCard("底盘", center);
m_chassisCard->addField("电量", "85%");
m_chassisCard->addField("电压", "360V");
m_chassisCard->addField("故障", "无");
m_chassisCard->addField("底盘电量SOC", "--");
m_chassisCard->addField("底盘电压U", "--");
m_armCard = new DataCard("机械臂", center);
m_armCard->addField("末端位置", "XYZ");
m_armCard->addField("姿态", "RX/RY/RZ");
// 位置/姿态两行的数值最长约 554px，超出 2×2 卡片的内容区 522px，单独把字号收小一号
m_armCard->setValueFontPx(38);
m_armCard->addField("末端位置", "--");
m_armCard->addField("末端姿态", "--");
m_washCard = new DataCard("洗消", center);
m_washCard->addField("A液位", "100L");
m_washCard->addField("泡沫液位", "30L");
m_washCard->addField("A组分/清水液位", "--");
m_washCard->addField("泡沫箱液位", "--");
m_gasCard = new DataCard("气体检测仪", center);
m_gasCard->addField("主机状态", "待机");
m_gasCard->addField("浓度", "0 ppb");
m_gasCard->addField("主机状态", "--");
m_gasCard->addField("有毒物种类", "--");
m_gasCard->addField("有毒物等级", "--");
// 左列 底盘/机械臂，右列 洗消/气体检测仪
grid->addWidget(m_chassisCard, 0, 0);
@@ -116,8 +118,7 @@ JobSelectPage::JobSelectPage(AppContext* ctx, QWidget* parent)
root->addLayout(main, 1);
m_statusStrip = new StatusStrip(ctx, this);
m_statusStrip->setBackVisible(false);
m_statusStrip->setModeVisible(false); // 本页不显示模式徽标（返回按钮已移到右侧列）
m_statusStrip->setBackVisible(false); // 本页「返回」在右侧按钮列，底条不重复放
root->addWidget(m_statusStrip);
connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &JobSelectPage::refresh);
@@ -127,18 +128,25 @@ JobSelectPage::JobSelectPage(AppContext* ctx, QWidget* parent)
void JobSelectPage::refresh()
{
const Telemetry& t = ctx()->telemetry;
m_chassisCard->setField(0, QString("%1%").arg(t.soc));
m_chassisCard->setField(1, QString("%1V").arg(t.volt, 0, 'f', 0));
m_chassisCard->setField(2, t.chassisFaults.isEmpty() ? "无" : t.chassisFaults.join("；"));
m_chassisCard->setAlarm(2, !t.chassisFaults.isEmpty());
// 未收到对应报文的数值统一显示 "--"（dashIf）
m_chassisCard->setField(0, dashIf(t.hasBattery, QString("%1%").arg(t.soc)));
m_chassisCard->setField(1, dashIf(t.hasBattery, QString("%1V").arg(t.volt, 0, 'f', 0)));
m_chassisCard->setFaults(t.chassisFaults);
m_armCard->setField(0, t.pos);
m_armCard->setField(1, t.pose);
// 机械臂卡没有故障行：协议里机械臂那四帧只有位置/姿态/关节角，没有故障信号
m_washCard->setField(0, QString("%1L").arg(t.levelA, 0, 'f', 0));
m_washCard->setField(1, QString("%1L").arg(t.levelFoam, 0, 'f', 0));
m_washCard->setField(0, dashIf(t.hasWash, QString("%1L").arg(t.levelA, 0, 'f', 0)));
m_washCard->setField(1, dashIf(t.hasWash, QString("%1L").arg(t.levelFoam, 0, 'f', 0)));
m_washCard->setAlarm(0, t.levelALow);
m_washCard->setAlarm(1, t.levelBLow);
m_washCard->setFaults(washCardFaults(t));
m_gasCard->setField(0, t.gasHost == "detecting" ? "检测中" : (t.gasHost == "fault" ? "故障" : "待机"));
m_gasCard->setField(1, QString("%1 ppb").arg(t.gasConc, 0, 'f', 0));
m_gasCard->setAlarm(1, t.gasConc > 500.0);
m_gasCard->setField(0, gasHostLabel(t));
m_gasCard->setField(1, t.gasType); // 有毒物种类，未收到报文时本身就是 "--"
m_gasCard->setField(2, t.gasLevel); // 有毒物等级
m_gasCard->setAlarm(0, t.gasHost == "fault");
m_gasCard->setFaults(t.detectorFaults);
}
pages/selfcheck.cpp
+44 -27
View File
@@ -68,39 +68,45 @@ SelfCheckPage::SelfCheckPage(AppContext* ctx, QWidget* parent)
centerLay->addWidget(m_status);
centerLay->addSpacing(16);
// 10 个自检项，两列
// 14 个自检项，两列各 7 行
const int rows = kSelfCheckItemCount / 2;
QGridLayout* grid = new QGridLayout();
grid->setSpacing(8);
const QString names[10] = {
"通信系统", "底盘通信", "机械臂通信", "洗消通信", "传感器信号",
"清水液位", "球阀D1开启", "球阀D1关闭", "球阀D2开启", "球阀D2关闭"
const QString names[kSelfCheckItemCount] = {
// All_Comm_FaultCode：0=通信正常，1~8=各分系统通信异常
"通信系统", "底盘电机通信", "底盘BMS通信", "机械臂通信", "空压机通信",
"柱塞泵通信", "叶片泵通信", "气体检测仪通信", "遥控器通信",
// A_LiquidLevel_Low + B_LiquidLevel_Low
"清水液位",
// MBV_D1_Sta / MBV_D2_Sta
"球阀D1开启", "球阀D1关闭", "球阀D2开启", "球阀D2关闭"
};
for (int i = 0; i < 10; ++i) {
for (int i = 0; i < kSelfCheckItemCount; ++i) {
LedIndicator* led = new LedIndicator(names[i], center);
led->setFixedHeight(80);
led->setRadius(26);
led->setTextPixelSize(60);
QLabel* res = label("", 50, C::TEXT_SUB, false, center);
res->setFixedWidth(200);
led->setFixedHeight(68);
led->setRadius(22);
led->setTextPixelSize(44); // 两列各 7 行，字号收窄以保证最长项“气体检测仪通信”不被裁切
QLabel* res = label("", 44, C::TEXT_SUB, false, center);
res->setFixedWidth(160);
QWidget* row = new QWidget(center);
QHBoxLayout* rowLay = new QHBoxLayout(row);
rowLay->setContentsMargins(0, 0, 0, 0);
rowLay->addWidget(led, 1);
rowLay->addWidget(res);
grid->addWidget(row, i % 5, i / 5);
grid->addWidget(row, i % rows, i / rows);
m_leds.append(led);
m_results.append(res);
}
resetItems(); // 初始化 10 个自检项
resetItems(); // 初始化 14 个自检项
centerLay->addLayout(grid);
centerLay->addSpacing(50); // 文字与进度条之间的间隙
centerLay->addSpacing(40); // 文字与进度条之间的间隙
// 进度条（位于屏幕约 3/4 高度处，文字全部在其上方）
m_progress = new QProgressBar(center);
m_progress->setRange(0, 100);
m_progress->setValue(0);
m_progress->setFixedHeight(60);
m_progress->setFixedHeight(56);
centerLay->addWidget(m_progress);
centerLay->addStretch(3); // 下方留白（更大）→ 进度条落在约 3/4 处
@@ -130,6 +136,7 @@ SelfCheckPage::SelfCheckPage(AppContext* ctx, QWidget* parent)
root->addLayout(main, 1);
// 连接通信信号
connect(ctx->comm(), &CarCommunication::selfCheckItemBusy, this, &SelfCheckPage::onSelfCheckItemBusy);
connect(ctx->comm(), &CarCommunication::selfCheckItem, this, &SelfCheckPage::onSelfCheckItem);
connect(ctx->comm(), &CarCommunication::selfCheckDone, this, &SelfCheckPage::onSelfCheckDone);
}
@@ -150,13 +157,13 @@ void SelfCheckPage::showEvent(QShowEvent* ev)
});
}
// 复位 10 个自检项：指示灯置灰、结果“待检测”
// 复位 14 个自检项：指示灯置灰、结果“待检测”
void SelfCheckPage::resetItems()
{
for (int i = 0; i < 10; ++i) {
for (int i = 0; i < kSelfCheckItemCount; ++i) {
m_leds[i]->setState(LedIndicator::Off);
m_results[i]->setText("待检测");
m_results[i]->setStyleSheet(QString("color:%1;font-size:60px;").arg(C::TEXT_SUB));
m_results[i]->setStyleSheet(QString("color:%1;font-size:44px;").arg(C::TEXT_SUB));
}
}
@@ -177,22 +184,31 @@ void SelfCheckPage::resetAll()
m_autoStarted = false;
}
// 单项开始执行（球阀项要下发指令并等车端反馈，可能持续数秒）：先亮黄灯、文字置“检测中”
void SelfCheckPage::onSelfCheckItemBusy(int index)
{
if (index < 0 || index >= kSelfCheckItemCount)
return;
m_leds[index]->setState(LedIndicator::Yellow);
m_results[index]->setText("检测中");
m_results[index]->setStyleSheet(QString("color:%1;font-size:44px;").arg(C::TEXT_SUB));
}
void SelfCheckPage::onSelfCheckItem(int index, bool ok)
{
if (index < 0 || index >= 10)
if (index < 0 || index >= kSelfCheckItemCount)
return;
m_leds[index]->setState(LedIndicator::Yellow); // 检测中黄闪 → 结果
// 结果态
if (ok) {
m_leds[index]->setState(LedIndicator::Green);
m_results[index]->setText("正常");
m_results[index]->setStyleSheet(QString("color:%1;font-size:60px;").arg(C::SUCCESS));
m_results[index]->setStyleSheet(QString("color:%1;font-size:44px;").arg(C::SUCCESS));
} else {
m_leds[index]->setState(LedIndicator::RedBlink);
m_results[index]->setText("异常");
m_results[index]->setStyleSheet(QString("color:%1;font-size:60px;font-weight:700;").arg(C::DANGER));
m_results[index]->setText("故障");
m_results[index]->setStyleSheet(QString("color:%1;font-size:44px;font-weight:700;").arg(C::DANGER));
}
m_progress->setValue((index + 1) * 10);
m_progress->setValue((index + 1) * 100 / kSelfCheckItemCount);
}
void SelfCheckPage::onSelfCheckDone(bool allOk)
@@ -224,7 +240,6 @@ void SelfCheckPage::onSelfCheckDone(bool allOk)
void SelfCheckPage::onIgnoreFault()
{
// emit navigate(PageJob); // 原：直接进作业选择页
emit navigate(PageHome); // 忽略故障后进入系统首页面
}
@@ -235,8 +250,10 @@ void SelfCheckPage::onJobSelect()
void SelfCheckPage::onHelp()
{
// 与系统首页面的「操作说明」同一份文案（2+1 行）
ConfirmDialog::message(this, "操作说明",
"系统自检将依次检测：通信系统、底盘通信、机械臂通信、洗消通信、"
"传感器信号、清水液位及电动球阀 D1/D2 的开启与关闭。\n"
"全部正常后方可进入作业选择界面。");
"自检过程主要检测各分系统通信、传感器信号数据是否正常、\n"
"电动球阀D1~D2是否能正常开启和关闭。\n"
"自检正常或人为点击“忽略故障”，则进入“系统首页面”。",
1000, 34);
}
pages/selfcheck.h
+2 -1
View File
@@ -24,6 +24,7 @@ protected:
void showEvent(QShowEvent* ev) override;
private slots:
void onSelfCheckItemBusy(int index);
void onSelfCheckItem(int index, bool ok);
void onSelfCheckDone(bool allOk);
void onIgnoreFault();
@@ -31,7 +32,7 @@ private slots:
void onHelp();
private:
void resetItems(); // 复位 10 个自检项（指示灯置灰、结果“待检测”）
void resetItems(); // 复位 14 个自检项（指示灯置灰、结果“待检测”）
TitleBar* m_titleBar = nullptr;
QLabel* m_status = nullptr;
pages/washbase.cpp
-254
View File
@@ -1,254 +0,0 @@
#include "washbase.h"
#include "titlebar.h"
#include "alarmbanner.h"
#include "datacard.h"
#include "ledindicator.h"
#include "car.h"
#include "confirmdialog.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QPushButton>
#include <QTimer>
#include "global.h"
WashBasePage::WashBasePage(AppContext* ctx, const QString& title, const QString& washTitle,
QWidget* parent)
: BasePage(ctx, parent)
{
QVBoxLayout* root = new QVBoxLayout(this);
root->setContentsMargins(0, 0, 0, 0);
root->setSpacing(0);
m_titleBar = new TitleBar(ctx, this);
m_titleBar->setTitle(title);
root->addWidget(m_titleBar);
m_banner = new AlarmBanner(this);
root->addWidget(m_banner);
QHBoxLayout* main = new QHBoxLayout();
main->setContentsMargins(36, 16, 36, 16);
main->setSpacing(28);
// 左侧状态卡（底盘/机械臂/气体检测仪）
QWidget* left = new QWidget(this);
QVBoxLayout* leftLay = new QVBoxLayout(left);
leftLay->setContentsMargins(0, 0, 0, 0);
leftLay->setSpacing(10);
m_chassisCard = new DataCard("底盘", left);
m_chassisCard->addField("电量", "85%");
m_chassisCard->addField("电压", "360V");
m_chassisCard->addField("故障", "无");
m_armCard = new DataCard("机械臂", left);
m_armCard->addField("末端位置", "XYZ");
m_armCard->addField("姿态", "RX/RY/RZ");
m_gasCard = new DataCard("气体检测仪", left);
m_gasCard->addField("主机状态", "待机");
m_gasCard->addField("浓度", "0 ppb");
leftLay->addWidget(m_chassisCard, 1);
leftLay->addWidget(m_armCard, 1);
leftLay->addWidget(m_gasCard, 1);
left->setFixedWidth(280);
main->addWidget(left);
// 中央洗消卡
m_washCard = new DataCard(washTitle, this);
m_fMode = m_washCard->addField("洗消模式", "--");
m_fLevelA = m_washCard->addField("A组分液位", "100L");
m_fLevelFoam = m_washCard->addField("泡沫箱液位", "30L");
m_fFlowA = m_washCard->addField("A药剂流量", "0 L/min");
m_fFlowB = m_washCard->addField("B药剂流量", "0 L/min");
m_fGasFlow = m_washCard->addField("气体流量", "0 L/min");
m_fPress = m_washCard->addField("管路压力", "0 MPa");
m_fAirPress = m_washCard->addField("空压机压力", "0 MPa");
m_fFoam = m_washCard->addField("发泡倍数", "0");
m_fAirFault = m_washCard->addField("空压机故障代码", "");
m_fPlungerFault = m_washCard->addField("柱塞泵故障代码", "");
m_washCard->indentRows(); // 行文字缩进到中间偏左（卡片很宽，贴左缘会显得空）
main->addWidget(m_washCard, 1);
// 右侧操作列
QWidget* right = new QWidget(this);
QVBoxLayout* rightLay = new QVBoxLayout(right);
rightLay->setContentsMargins(0, 0, 0, 0);
rightLay->setSpacing(10);
m_start = button("启动", "primary", right);
m_start->setFixedSize(354, 112);
connect(m_start, &QPushButton::clicked, this, &WashBasePage::onStart);
m_stop = button("停止", "danger", right);
m_stop->setFixedSize(354, 112);
connect(m_stop, &QPushButton::clicked, this, &WashBasePage::onStop);
rightLay->addWidget(m_start);
rightLay->addWidget(m_stop);
// 参数区（子类填充）
m_paramsLayout = new QVBoxLayout();
m_paramsLayout->setSpacing(8);
rightLay->addLayout(m_paramsLayout);
rightLay->addStretch(1);
right->setFixedWidth(380);
main->addWidget(right);
root->addLayout(main, 1);
// 底部指示灯条
QWidget* bottom = new QWidget(this);
bottom->setFixedHeight(94);
bottom->setStyleSheet(QString("background-color:%1;border-top:1px solid %2;")
.arg(C::PANEL, C::BORDER));
QHBoxLayout* bottomLay = new QHBoxLayout(bottom);
bottomLay->setContentsMargins(24, 0, 24, 0);
bottomLay->setSpacing(18);
m_factory = button("恢复出厂值", "", bottom);
m_factory->setFixedSize(220, 64);
m_factory->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字
connect(m_factory, &QPushButton::clicked, this, &WashBasePage::onFactory);
bottomLay->addWidget(m_factory);
bottomLay->addSpacing(20);
m_ledRun = new LedIndicator("启停", bottom);
m_ledPlunger = new LedIndicator("柱塞泵", bottom);
m_ledAir = new LedIndicator("空压机", bottom);
m_ledLeaf = new LedIndicator("叶片泵", bottom);
m_ledLevel = new LedIndicator("液位低", bottom);
m_ledD1 = new LedIndicator("D1", bottom);
m_ledD2 = new LedIndicator("D2", bottom);
m_ledFault = new LedIndicator("系统故障", bottom);
bottomLay->addWidget(m_ledRun);
bottomLay->addWidget(m_ledPlunger);
bottomLay->addWidget(m_ledAir);
bottomLay->addWidget(m_ledLeaf);
bottomLay->addWidget(m_ledLevel);
bottomLay->addWidget(m_ledD1);
bottomLay->addWidget(m_ledD2);
bottomLay->addWidget(m_ledFault);
bottomLay->addStretch(1);
m_back = button("返回", "", bottom);
m_back->setFixedSize(144, 76);
m_back->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字
connect(m_back, &QPushButton::clicked, this, &WashBasePage::onBack);
bottomLay->addWidget(m_back);
root->addWidget(bottom);
// 故障代码轮流循环显示（2s/条）
m_faultTimer = new QTimer(this);
m_faultTimer->setInterval(2000);
connect(m_faultTimer, &QTimer::timeout, this, &WashBasePage::rotateFaults);
m_faultTimer->start();
connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &WashBasePage::refresh);
updateGating();
refresh();
}
void WashBasePage::onStart()
{
ctx()->comm()->sendWashStart(washModeTag());
ctx()->washRunning = true;
updateGating();
onWashStateChanged(true);
}
void WashBasePage::onStop()
{
ctx()->comm()->sendWashStop();
ctx()->washRunning = false;
updateGating();
onWashStateChanged(false);
}
void WashBasePage::onBack()
{
if (ctx()->washRunning) {
ConfirmDialog::toast(this, "请先停止");
return;
}
emit navigate(PageJob);
}
void WashBasePage::onFactory()
{
if (ConfirmDialog::confirm(this, "恢复出厂值", "确定将参数恢复为出厂值？"))
resetFactory();
}
void WashBasePage::updateGating()
{
bool running = ctx()->washRunning;
m_start->setEnabled(!running);
m_stop->setEnabled(running);
m_back->setEnabled(!running);
}
void WashBasePage::refresh()
{
const Telemetry& t = ctx()->telemetry;
if (!t.commOk) m_banner->showAlarm("通信异常");
else m_banner->clear();
// 以泵状态同步运行状态
if (t.plunger || t.air || t.leaf) ctx()->washRunning = true;
else if (t.washMode == "--") ctx()->washRunning = false;
updateGating();
m_chassisCard->setField(0, QString("%1%").arg(t.soc));
m_chassisCard->setField(1, QString("%1V").arg(t.volt, 0, 'f', 0));
m_chassisCard->setField(2, t.chassisFaults.isEmpty() ? "无" : t.chassisFaults.join("；"));
m_armCard->setField(0, t.pos);
m_armCard->setField(1, t.pose);
m_gasCard->setField(0, t.gasHost == "detecting" ? "检测中" : (t.gasHost == "fault" ? "故障" : "待机"));
m_gasCard->setField(1, QString("%1 ppb").arg(t.gasConc, 0, 'f', 0));
m_washCard->setField(m_fMode, t.washMode);
m_washCard->setField(m_fLevelA, QString("%1L").arg(t.levelA, 0, 'f', 0));
m_washCard->setField(m_fLevelFoam, QString("%1L").arg(t.levelFoam, 0, 'f', 0));
m_washCard->setField(m_fFlowA, QString("%1 L/min").arg(t.flowA, 0, 'f', 1));
m_washCard->setField(m_fFlowB, QString("%1 L/min").arg(t.flowB, 0, 'f', 1));
m_washCard->setField(m_fGasFlow, QString("%1 L/min").arg(t.gasFlow, 0, 'f', 1));
m_washCard->setField(m_fPress, QString("%1 MPa").arg(t.press, 0, 'f', 2));
m_washCard->setField(m_fAirPress, QString("%1 MPa").arg(t.airPress, 0, 'f', 2));
m_washCard->setField(m_fFoam, QString("%1").arg(t.foam, 0, 'f', 1));
// 指示灯
m_ledRun->setState(ctx()->washRunning ? LedIndicator::Green : LedIndicator::Off);
m_ledPlunger->setState(t.plunger ? LedIndicator::Green : LedIndicator::Off);
m_ledAir->setState(t.air ? LedIndicator::Green : LedIndicator::Off);
m_ledLeaf->setState(t.leaf ? LedIndicator::Green : LedIndicator::Off);
m_ledLevel->setState(t.levelA < 10 ? LedIndicator::RedBlink : LedIndicator::Off);
m_ledD1->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
m_ledD2->setState(t.d2open ? LedIndicator::Green : LedIndicator::Off);
m_ledFault->setState((!t.washFaults.isEmpty() || !t.pumpFaults.isEmpty())
? LedIndicator::RedBlink : LedIndicator::Off);
// 故障代码显示（静态更新，循环由 rotateFaults 驱动）
rotateFaults();
}
void WashBasePage::rotateFaults()
{
const Telemetry& t = ctx()->telemetry;
QStringList all = t.washFaults + t.pumpFaults;
if (all.isEmpty()) {
m_washCard->setField(m_fAirFault, "");
m_washCard->setField(m_fPlungerFault, "");
return;
}
m_faultIndex = m_faultIndex % all.size();
QString code = all[m_faultIndex];
m_washCard->setField(m_fAirFault, code);
m_washCard->setField(m_fPlungerFault, code);
m_faultIndex = (m_faultIndex + 1) % all.size();
}
pages/washbase.h
-81
View File
@@ -1,81 +0,0 @@
#ifndef WASHBASEPAGE_H
#define WASHBASEPAGE_H
#include "base.h"
#include <QVector>
class TitleBar;
class AlarmBanner;
class DataCard;
class LedIndicator;
class QPushButton;
class QVBoxLayout;
class QTimer;
// ===================== 洗消页面基类（⑨消除作业 / ⑩消毒作业 共用） =====================
// 左侧状态卡 + 中央洗消参数卡 + 右侧启动/停止与参数 + 底部指示灯条
class WashBasePage : public BasePage
{
Q_OBJECT
public:
// title：页面标题；washTitle：中央洗消卡标题
WashBasePage(AppContext* ctx, const QString& title, const QString& washTitle,
QWidget* parent = nullptr);
protected:
// 子类向右侧参数区添加参数控件
QVBoxLayout* paramsLayout() const { return m_paramsLayout; }
// 启动/停止状态变化通知
virtual void onWashStateChanged(bool running) { Q_UNUSED(running); }
// 恢复出厂值（子类实现）
virtual void resetFactory() = 0;
// 洗消模式标识："clean" / "disinfect"
virtual QString washModeTag() const = 0;
private slots:
void onStart();
void onStop();
void onBack();
void onFactory();
void refresh();
void rotateFaults();
private:
void updateGating();
TitleBar* m_titleBar = nullptr;
AlarmBanner* m_banner = nullptr;
DataCard* m_chassisCard = nullptr;
DataCard* m_armCard = nullptr;
DataCard* m_gasCard = nullptr;
DataCard* m_washCard = nullptr;
QPushButton* m_start = nullptr;
QPushButton* m_stop = nullptr;
QPushButton* m_back = nullptr;
QPushButton* m_factory = nullptr;
QVBoxLayout* m_paramsLayout = nullptr;
// 底部指示灯
LedIndicator* m_ledRun = nullptr;
LedIndicator* m_ledPlunger = nullptr;
LedIndicator* m_ledAir = nullptr;
LedIndicator* m_ledLeaf = nullptr;
LedIndicator* m_ledLevel = nullptr;
LedIndicator* m_ledD1 = nullptr;
LedIndicator* m_ledD2 = nullptr;
LedIndicator* m_ledFault = nullptr;
// 中央洗消卡字段索引
int m_fMode = -1, m_fLevelA = -1, m_fLevelFoam = -1;
int m_fFlowA = -1, m_fFlowB = -1, m_fGasFlow = -1;
int m_fPress = -1, m_fAirPress = -1, m_fFoam = -1;
int m_fAirFault = -1, m_fPlungerFault = -1;
QTimer* m_faultTimer = nullptr;
int m_faultIndex = 0;
};
#endif // WASHBASEPAGE_H
pages/washpage.cpp
+86 -83
View File
@@ -10,7 +10,6 @@
#include <QHBoxLayout>
#include <QPushButton>
#include <QLabel>
#include <QTimer>
#include "global.h"
WashPage::WashPage(AppContext* ctx, Mode mode, QWidget* parent)
@@ -40,17 +39,17 @@ WashPage::WashPage(AppContext* ctx, Mode mode, QWidget* parent)
leftLay->setSpacing(10);
m_chassisCard = new DataCard("底盘", left);
m_chassisCard->addField("电量", "85%");
m_chassisCard->addField("电压", "360V");
m_chassisCard->addField("故障", "无");
m_chassisCard->addField("底盘电量SOC", "--");
m_chassisCard->addField("底盘电压U", "--");
m_armCard = new DataCard("机械臂", left);
m_armCard->addField("末端位置", "XYZ");
m_armCard->addField("姿态", "RX/RY/RZ");
m_armCard->addField("末端位置", "--");
m_armCard->addField("末端姿态", "--");
m_gasCard = new DataCard("气体检测仪", left);
m_gasCard->addField("主机状态", "待机");
m_gasCard->addField("浓度", "0 ppb");
m_gasCard->addField("主机状态", "--");
m_gasCard->addField("有毒物种类", "--");
m_gasCard->addField("有毒物等级", "--");
leftLay->addWidget(m_chassisCard, 1);
leftLay->addWidget(m_armCard, 1);
@@ -62,16 +61,14 @@ WashPage::WashPage(AppContext* ctx, Mode mode, QWidget* parent)
// 中央洗消卡
m_washCard = new DataCard("洗消", this);
m_fMode = m_washCard->addField("洗消模式", "--");
m_fLevelA = m_washCard->addField("A组分液位", "100L");
m_fLevelFoam = m_washCard->addField("泡沫箱液位", "30L");
m_fFlowA = m_washCard->addField("A药剂流量", "0 L/min");
m_fFlowB = m_washCard->addField("B药剂流量", "0 L/min");
m_fGasFlow = m_washCard->addField("气体流量", "0 L/min");
m_fPress = m_washCard->addField("管路压力", "0 MPa");
m_fAirPress = m_washCard->addField("空压机压力", "0 MPa");
m_fFoam = m_washCard->addField("发泡倍数", "0");
m_fAirFault = m_washCard->addField("空压机故障代码", "");
m_fPlungerFault = m_washCard->addField("柱塞泵故障代码", "");
m_fLevelA = m_washCard->addField("A组分液位", "--");
m_fLevelFoam = m_washCard->addField("B组分液位", "--");
m_fFlowA = m_washCard->addField("A药剂流量", "--");
m_fFlowB = m_washCard->addField("B药剂流量", "--");
m_fGasFlow = m_washCard->addField("气体流量", "--");
m_fPress = m_washCard->addField("管路压力", "--");
m_fAirPress = m_washCard->addField("空压机压力", "--");
m_fFoam = m_washCard->addField("发泡倍数", "--");
main->addSpacing(60);
main->addWidget(m_washCard, 1);
@@ -148,10 +145,11 @@ WashPage::WashPage(AppContext* ctx, Mode mode, QWidget* parent)
root->addLayout(main, 1);
// 底部条：左右两个按钮纵向占满两行，中间上下两排（泵数值 / 指示灯）居中
// 底部条：左右两个按钮纵向占满，中间三排（泵数值 / 指示灯 / 两路液位低）居中。
// 高度由 160 加到 188：中间那列三排约 164px 再加 8+8 的上下边距，160 装不下第三排
QWidget* bottom = new QWidget(this);
bottom->setObjectName("WashBottom");
bottom->setFixedHeight(160);
bottom->setFixedHeight(188);
// 用 #WashBottom 限定选择器：不带选择器的样式表会连子控件一起套上边框和底色
bottom->setStyleSheet(QString("QWidget#WashBottom{background-color:%1;border-top:1px solid %2;}")
.arg(C::PANEL, C::BORDER));
@@ -166,7 +164,7 @@ WashPage::WashPage(AppContext* ctx, Mode mode, QWidget* parent)
connect(m_factory, &QPushButton::clicked, this, &WashPage::onFactory);
bottomRoot->addWidget(m_factory, 0, Qt::AlignVCenter);
// 中：上排三泵数值、下排指示灯，两排都水平居中
// 中：上排三泵数值、中排指示灯、下排两路液位低，三排都水平居中
QVBoxLayout* midLay = new QVBoxLayout();
midLay->setSpacing(6);
@@ -186,27 +184,36 @@ WashPage::WashPage(AppContext* ctx, Mode mode, QWidget* parent)
valueLay->addStretch(1);
QHBoxLayout* ledLay = new QHBoxLayout();
ledLay->setSpacing(10); // 8 个灯 40px 字号后总宽约 1300px
ledLay->setSpacing(10);
ledLay->addStretch(1);
auto makeLed = [&](const QString& text) {
// 灯要分两行放，故把目标行当参数传进来
auto makeLed = [&](QHBoxLayout* row, const QString& text) {
LedIndicator* led = new LedIndicator(text, bottom);
led->setTextPixelSize(40); // 字号与卡片标题一致
ledLay->addWidget(led);
row->addWidget(led);
return led;
};
m_ledRun = makeLed("启停");
m_ledPlunger = makeLed("柱塞泵");
m_ledAir = makeLed("空压机");
m_ledLeaf = makeLed("叶片泵");
m_ledLevel = makeLed("液位低");
m_ledD1 = makeLed("D1");
m_ledD2 = makeLed("D2");
m_ledFault = makeLed("系统故障");
m_ledRun = makeLed(ledLay, "启停");
m_ledPlunger = makeLed(ledLay, "柱塞泵");
m_ledAir = makeLed(ledLay, "空压机");
m_ledLeaf = makeLed(ledLay, "叶片泵");
m_ledD1 = makeLed(ledLay, "D1");
m_ledD2 = makeLed(ledLay, "D2");
ledLay->addStretch(1);
// 下一行：液位低拆成 A / B 两路。原来那颗笼统的「液位低」和「系统故障」都撤了——
// 后者在洗消卡片的故障行里已经有了，底部再挂一颗是重复的
QHBoxLayout* levelLay = new QHBoxLayout();
levelLay->setSpacing(40);
levelLay->addStretch(1);
m_ledLevelA = makeLed(levelLay, "A组分/清水液位低");
m_ledLevelB = makeLed(levelLay, "B组分液位低");
levelLay->addStretch(1);
midLay->addStretch(1);
midLay->addLayout(valueLay);
midLay->addLayout(ledLay);
midLay->addLayout(levelLay);
midLay->addStretch(1);
bottomRoot->addLayout(midLay, 1);
@@ -219,12 +226,6 @@ WashPage::WashPage(AppContext* ctx, Mode mode, QWidget* parent)
root->addWidget(bottom);
// 故障代码轮流循环显示（2s/条）
m_faultTimer = new QTimer(this);
m_faultTimer->setInterval(2000);
connect(m_faultTimer, &QTimer::timeout, this, &WashPage::rotateFaults);
m_faultTimer->start();
connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &WashPage::refresh);
updateGating();
refresh();
@@ -243,26 +244,30 @@ void WashPage::refreshPumpValues()
// 否则旧配置里超范围的历史值会与控件显示、实际上报的数值对不上
m_valPlunger->setText(QString("%1 L/min").arg(qBound(0.0, ctx()->getDouble(ctx()->keyPumpFlow(), 20), 24.0), 0, 'f', 1));
m_valAir->setText(QString("%1 L/min").arg(qBound(0.0, ctx()->getDouble(ctx()->keyAirFlow(), 100), 340.0), 0, 'f', 1));
m_valLeaf->setText(QString("%1 L/min").arg(ctx()->telemetry.flowB, 0, 'f', 1));
m_valLeaf->setText(dashIf(ctx()->telemetry.hasWash, QString("%1 L/min").arg(ctx()->telemetry.flowB, 0, 'f', 1)));
}
void WashPage::onStart()
{
ctx()->comm()->sendWashStart(washModeTag());
ctx()->washRunning = true;
// 同时把机器强制到机械臂模式（见 AppContext::setWashRunning），否则 Arm_enable=0，
// 末端那条俯仰摆动指令车端不会理
updateGating();
// 启停灯立刻跟着变，不等下一帧遥测——否则车端不回话时按钮看着像没反应
updateLeds();
}
void WashPage::onStop()
{
ctx()->comm()->sendWashStop();
ctx()->washRunning = false;
ctx()->setWashRunning(false);
updateGating();
updateLeds();
}
void WashPage::onBack()
{
if (ctx()->washRunning) {
if (ctx()->isWashRunning()) {
ConfirmDialog::toast(this, "请先停止");
return;
}
@@ -298,7 +303,7 @@ void WashPage::resetFactory()
void WashPage::updateGating()
{
bool running = ctx()->washRunning;
bool running = ctx()->isWashRunning();
m_start->setEnabled(!running);
m_stop->setEnabled(running);
m_back->setEnabled(!running);
@@ -312,58 +317,56 @@ void WashPage::refresh()
else m_banner->clear();
// 以泵状态同步运行状态
if (t.plunger || t.air || t.leaf) ctx()->washRunning = true;
else if (t.washMode == "--") ctx()->washRunning = false;
if (t.plunger || t.air || t.leaf) ctx()->setWashRunning(true);
else if (t.washMode == "--") ctx()->setWashRunning(false);
updateGating();
m_chassisCard->setField(0, QString("%1%").arg(t.soc));
m_chassisCard->setField(1, QString("%1V").arg(t.volt, 0, 'f', 0));
m_chassisCard->setField(2, t.chassisFaults.isEmpty() ? "无" : t.chassisFaults.join("；"));
// 未收到对应报文的数值统一显示 "--"（dashIf）
m_chassisCard->setField(0, dashIf(t.hasBattery, QString("%1%").arg(t.soc)));
m_chassisCard->setField(1, dashIf(t.hasBattery, QString("%1V").arg(t.volt, 0, 'f', 0)));
m_chassisCard->setFaults(t.chassisFaults);
m_armCard->setField(0, t.pos);
m_armCard->setField(1, t.pose);
m_gasCard->setField(0, t.gasHost == "detecting" ? "检测中" : (t.gasHost == "fault" ? "故障" : "待机"));
m_gasCard->setField(1, QString("%1 ppb").arg(t.gasConc, 0, 'f', 0));
m_gasCard->setField(0, gasHostLabel(t));
m_gasCard->setField(1, t.gasType); // 有毒物种类，未收到报文时本身就是 "--"
m_gasCard->setField(2, t.gasLevel); // 有毒物等级
m_gasCard->setAlarm(0, t.gasHost == "fault");
m_gasCard->setFaults(t.detectorFaults);
m_washCard->setField(m_fMode, t.washMode);
m_washCard->setField(m_fLevelA, QString("%1L").arg(t.levelA, 0, 'f', 0));
m_washCard->setField(m_fLevelFoam, QString("%1L").arg(t.levelFoam, 0, 'f', 0));
m_washCard->setField(m_fFlowA, QString("%1 L/min").arg(t.flowA, 0, 'f', 1));
m_washCard->setField(m_fFlowB, QString("%1 L/min").arg(t.flowB, 0, 'f', 1));
m_washCard->setField(m_fGasFlow, QString("%1 L/min").arg(t.gasFlow, 0, 'f', 1));
m_washCard->setField(m_fPress, QString("%1 MPa").arg(t.press, 0, 'f', 2));
m_washCard->setField(m_fAirPress, QString("%1 MPa").arg(t.airPress, 0, 'f', 2));
m_washCard->setField(m_fFoam, QString("%1").arg(t.foam, 0, 'f', 1));
m_washCard->setField(m_fLevelA, dashIf(t.hasWash, QString("%1L").arg(t.levelA, 0, 'f', 0)));
m_washCard->setField(m_fLevelFoam, dashIf(t.hasWash, QString("%1L").arg(t.levelFoam, 0, 'f', 0)));
m_washCard->setField(m_fFlowA, dashIf(t.hasWash, QString("%1 L/min").arg(t.flowA, 0, 'f', 1)));
m_washCard->setField(m_fFlowB, dashIf(t.hasWash, QString("%1 L/min").arg(t.flowB, 0, 'f', 1)));
m_washCard->setField(m_fGasFlow, dashIf(t.hasWash, QString("%1 L/min").arg(t.gasFlow, 0, 'f', 1)));
m_washCard->setField(m_fPress, dashIf(t.hasWashPress, QString("%1 MPa").arg(t.press, 0, 'f', 2)));
m_washCard->setField(m_fAirPress, dashIf(t.hasWashPress, QString("%1 MPa").arg(t.airPress, 0, 'f', 2)));
m_washCard->setField(m_fFoam, dashIf(t.hasWash, QString("%1").arg(t.foam, 0, 'f', 1)));
m_washCard->setAlarm(m_fLevelA, t.levelALow);
m_washCard->setAlarm(m_fLevelFoam, t.levelBLow);
m_washCard->setFaults(washCardFaults(t));
// 指示灯
m_ledRun->setState(ctx()->washRunning ? LedIndicator::Green : LedIndicator::Off);
m_ledPlunger->setState(t.plunger ? LedIndicator::Green : LedIndicator::Off);
m_ledAir->setState(t.air ? LedIndicator::Green : LedIndicator::Off);
m_ledLeaf->setState(t.leaf ? LedIndicator::Green : LedIndicator::Off);
m_ledLevel->setState(t.levelA < 10 ? LedIndicator::RedBlink : LedIndicator::Off);
m_ledD1->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
m_ledD2->setState(t.d2open ? LedIndicator::Green : LedIndicator::Off);
m_ledFault->setState((!t.washFaults.isEmpty() || !t.pumpFaults.isEmpty())
? LedIndicator::RedBlink : LedIndicator::Off);
updateLeds();
// 底部三个泵的数值
refreshPumpValues();
// 故障代码显示（静态更新，循环由 rotateFaults 驱动）
rotateFaults();
}
void WashPage::rotateFaults()
// 底栏指示灯。单独拆出来是为了让 onStart/onStop 能直接调它：
// 遥测还没回来时 refresh() 里的“以泵状态同步运行状态”会把刚置上的 washRunning 又抹掉，
// 所以启停的即时反馈不能靠整个 refresh()。
void WashPage::updateLeds()
{
const Telemetry& t = ctx()->telemetry;
QStringList all = t.washFaults + t.pumpFaults;
if (all.isEmpty()) {
m_washCard->setField(m_fAirFault, "");
m_washCard->setField(m_fPlungerFault, "");
return;
}
m_faultIndex = m_faultIndex % all.size();
QString code = all[m_faultIndex];
m_washCard->setField(m_fAirFault, code);
m_washCard->setField(m_fPlungerFault, code);
m_faultIndex = (m_faultIndex + 1) % all.size();
m_ledRun->setState(ctx()->isWashRunning() ? LedIndicator::Green : LedIndicator::Off);
m_ledPlunger->setState(t.plunger ? LedIndicator::Green : LedIndicator::Off);
m_ledAir->setState(t.air ? LedIndicator::Green : LedIndicator::Off);
m_ledLeaf->setState(t.leaf ? LedIndicator::Green : LedIndicator::Off);
m_ledD1->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
m_ledD2->setState(t.d2open ? LedIndicator::Green : LedIndicator::Off);
// 液位低拆成 A / B 两路，各用各自的协议位（A_LiquidLevel_Low / B_LiquidLevel_Low）；
// 不再按 levelA<10 猜阈值，免得卡片液位行红闪、这颗灯却不亮
m_ledLevelA->setState(t.levelALow ? LedIndicator::RedBlink : LedIndicator::Off);
m_ledLevelB->setState(t.levelBLow ? LedIndicator::RedBlink : LedIndicator::Off);
}
pages/washpage.h
+6 -9
View File
@@ -11,7 +11,6 @@ class ParamControl;
class QPushButton;
class QLabel;
class QVBoxLayout;
class QTimer;
// ===================== 洗消页（⑨消除作业 / ⑩消毒作业 共用） =====================
// 自包含页面：三列骨架、中央洗消卡、右侧启停与参数区、底部指示灯条都在本文件里。
@@ -30,10 +29,10 @@ private slots:
void onBack();
void onFactory();
void refresh();
void rotateFaults();
private:
void updateGating();
void updateLeds(); // 底栏指示灯（启停 / 泵 / 液位低 / 球阀 / 系统故障）
void resetFactory();
void refreshPumpValues(); // 刷新底部三个泵的数值
QString washModeTag() const; // "clean" / "disinfect"
@@ -58,15 +57,17 @@ private:
ParamControl* m_foamPercent = nullptr;
ParamControl* m_airFlow = nullptr;
// 底部指示灯
// 底部指示灯（第一行）
LedIndicator* m_ledRun = nullptr;
LedIndicator* m_ledPlunger = nullptr;
LedIndicator* m_ledAir = nullptr;
LedIndicator* m_ledLeaf = nullptr;
LedIndicator* m_ledLevel = nullptr;
LedIndicator* m_ledD1 = nullptr;
LedIndicator* m_ledD2 = nullptr;
LedIndicator* m_ledFault = nullptr;
// 底部第二行：两路液位低（协议里 A_LiquidLevel_Low / B_LiquidLevel_Low 本就是两个位）
LedIndicator* m_ledLevelA = nullptr;
LedIndicator* m_ledLevelB = nullptr;
// 底部第二行：三个泵的当前流量值
QLabel* m_valPlunger = nullptr;
@@ -77,10 +78,6 @@ private:
int m_fMode = -1, m_fLevelA = -1, m_fLevelFoam = -1;
int m_fFlowA = -1, m_fFlowB = -1, m_fGasFlow = -1;
int m_fPress = -1, m_fAirPress = -1, m_fFoam = -1;
int m_fAirFault = -1, m_fPlungerFault = -1;
QTimer* m_faultTimer = nullptr;
int m_faultIndex = 0;
};
#endif // WASHPAGE_H