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This commit is contained in:
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/washpage.cpp
+86 -83
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@@ -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);
}