新版布局

2026-10-16 09:06:03 +08:00
parent e5efdea06e
commit 1ec93e42cb
37 changed files with 1785 additions and 977 deletions
@@ -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)