feat:初始化wuhan_QT界面代码

comm/mockvehicle.cpp

@@ -0,0 +1,223 @@
+#include "mockvehicle.h"
+#include <QSettings>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QJsonArray>
+#include <QHostAddress>
+#include <QNetworkDatagram>
+#include <QtMath>
+
+MockVehicle::MockVehicle(QObject* parent)
+    : QObject(parent)
+{
+    QSettings s;
+    m_localPort  = s.value("net/local_port", 9000).toInt();   // 发送到遥控端
+    m_remotePort = s.value("net/remote_port", 9001).toInt();  // 本端监听
+    m_enabled    = s.value("net/mock", true).toBool();
+    m_plantSelfCheckFault = s.value("net/selfcheck_fault", false).toBool();
+
+    if (!m_enabled)
+        return;
+
+    m_socket = new QUdpSocket(this);
+    m_socket->bind(QHostAddress::AnyIPv4, m_remotePort,
+                   QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
+    connect(m_socket, &QUdpSocket::readyRead, this, &MockVehicle::onReadyRead);
+
+    m_sendTimer = new QTimer(this);
+    connect(m_sendTimer, &QTimer::timeout, this, &MockVehicle::onSendTick);
+    m_sendTimer->start(500);
+
+    m_selfCheckTimer = new QTimer(this);
+    connect(m_selfCheckTimer, &QTimer::timeout, this, &MockVehicle::onSelfCheckTick);
+}
+
+void MockVehicle::sendJson(const QJsonObject& obj)
+{
+    QByteArray data = QJsonDocument(obj).toJson(QJsonDocument::Compact);
+    m_socket->writeDatagram(data, QHostAddress("127.0.0.1"), m_localPort);
+}
+
+void MockVehicle::onReadyRead()
+{
+    while (m_socket->hasPendingDatagrams()) {
+        QNetworkDatagram dg = m_socket->receiveDatagram();
+        QJsonParseError err;
+        QJsonDocument doc = QJsonDocument::fromJson(dg.data(), &err);
+        if (err.error == QJsonParseError::NoError && doc.isObject())
+            handleCommand(doc.object());
+    }
+}
+
+void MockVehicle::handleCommand(const QJsonObject& o)
+{
+    const QString t = o.value("t").toString();
+
+    if (t == "chassis_move") {
+        const QString dir = o.value("dir").toString();
+        m_speed = o.value("speed").toDouble();
+        if (dir == "stop") m_speed = 0;
+    } else if (t == "arm_move") {
+        int d = o.value("dir").toInt();
+        if (d == 0) return;
+        if (m_js.size() >= 6)
+            m_js[1] = qBound(-90.0, m_js[1] + d * 1.0, 90.0);
+    } else if (t == "arm_return") {
+        m_armReturn = "returning";
+        m_armHomed = false;
+    } else if (t == "arm_pause") {
+        m_armReturn = "idle";
+    } else if (t == "gas_start") {
+        m_gasRunning = true;
+    } else if (t == "gas_stop") {
+        m_gasRunning = false;
+    } else if (t == "wash_start") {
+        m_washRunning = true;
+        m_washMode = (o.value("mode").toString() == "disinfect") ? "手动消毒" : "手动消除";
+        m_pPlunger = true; m_pAir = true; m_pLeaf = true;
+    } else if (t == "wash_stop") {
+        m_washRunning = false;
+        m_pPlunger = false; m_pAir = false; m_pLeaf = false;
+    } else if (t == "ball_valve") {
+        int v = o.value("valve").toInt();
+        bool open = o.value("open").toBool();
+        if (v == 1) m_valve1Open = open;
+        else        m_valve2Open = open;
+    } else if (t == "pump_power") {
+        const QString p = o.value("pump").toString();
+        bool on = o.value("on").toBool();
+        if (p == "plunger") m_pPlunger = on;
+        else if (p == "air") m_pAir = on;
+        else if (p == "leaf") m_pLeaf = on;
+    } else if (t == "pump_rpm") {
+        const QString p = o.value("pump").toString();
+        int rpm = o.value("rpm").toInt();
+        if (p == "plunger") m_plungerRpm = rpm;
+        else if (p == "air") m_airRpm = rpm;
+        else if (p == "leaf") m_leafRpm = rpm;
+    } else if (t == "selfcheck_start") {
+        m_selfCheckActive = true;
+        m_selfCheckIndex = 0;
+        m_selfCheckTimer->start(450);
+    } else if (t == "estop") {
+        m_estop = true;
+        m_washRunning = false; m_gasRunning = false;
+        m_pPlunger = false; m_pAir = false; m_pLeaf = false;
+        QJsonObject o2; o2["t"] = "estop"; o2["triggered"] = true;
+        sendJson(o2);
+    } else if (t == "estop_reset") {
+        m_estop = false;
+        QJsonObject o2; o2["t"] = "estop"; o2["triggered"] = false;
+        sendJson(o2);
+    }
+    // set_param 仅用于演示，无需额外处理
+}
+
+void MockVehicle::onSendTick()
+{
+    sendHeartbeat();
+    sendTelemetry();
+}
+
+void MockVehicle::sendHeartbeat()
+{
+    QJsonObject o; o["t"] = "heartbeat"; o["ok"] = true;
+    sendJson(o);
+}
+
+void MockVehicle::sendTelemetry()
+{
+    // 底盘
+    {
+        QJsonObject o;
+        QJsonArray faults;
+        if (m_estop) faults << QStringLiteral("急停触发");
+        o["t"] = "chassis";
+        o["soc"] = 85; o["volt"] = 360.0; o["speed"] = m_speed;
+        o["handbrake"] = true; o["faults"] = faults;
+        sendJson(o);
+    }
+    // 机械臂
+    {
+        if (m_armReturn == "returning") {
+            bool allZero = true;
+            for (double& a : m_js) { if (qAbs(a) > 1.0) a *= 0.7; else a = 0; if (qAbs(a) > 0.1) allZero = false; }
+            if (allZero) { m_armReturn = "done"; m_armHomed = true; }
+        }
+        QJsonObject o;
+        QJsonArray js;
+        for (double a : m_js) js << a;
+        o["t"] = "arm";
+        o["js"] = js;
+        o["pos"] = QString("X:%1 Y:%2 Z:%3").arg(1200).arg(300).arg(800);
+        o["pose"] = "RX:0 RY:0 RZ:0";
+        o["vel"] = (m_armReturn == "returning") ? 0.5 : 0.0;
+        o["return_state"] = m_armReturn;
+        o["homed"] = m_armHomed;
+        sendJson(o);
+    }
+    // 洗消
+    {
+        QJsonObject o;
+        o["t"] = "wash";
+        o["mode"] = m_washRunning ? m_washMode : "--";
+        o["flowA"] = m_washRunning ? 20.0 : 0.0;
+        o["flowB"] = m_washRunning ? 0.5 : 0.0;
+        o["gasFlow"] = m_washRunning ? 100.0 : 0.0;
+        o["press"] = m_washRunning ? 0.3 : 0.0;
+        o["airPress"] = m_washRunning ? 0.35 : 0.0;
+        o["foam"] = (m_washMode == "手动消毒") ? 6.0 : 8.0;
+        o["faults"] = QJsonArray();
+        sendJson(o);
+    }
+    // 液位
+    {
+        QJsonObject o; o["t"] = "tank"; o["a"] = 100.0; o["foam"] = 30.0;
+        sendJson(o);
+    }
+    // 气体检测仪
+    {
+        static int step = 0; step++;
+        double conc = m_gasRunning ? 250.0 + 50.0 * qSin(step * 0.4) : 0.0;
+        QJsonObject o;
+        o["t"] = "gas";
+        o["host"] = m_gasRunning ? "detecting" : "standby";
+        o["type"] = m_gasRunning ? "S类" : "--";
+        o["level"] = m_gasRunning ? "2级" : "--";
+        o["conc"] = qMax(0.0, conc);
+        sendJson(o);
+    }
+    // 球阀
+    {
+        QJsonObject o;
+        o["t"] = "valve";
+        o["d1open"] = m_valve1Open; o["d1close"] = !m_valve1Open;
+        o["d2open"] = m_valve2Open; o["d2close"] = !m_valve2Open;
+        o["fault"] = "";
+        sendJson(o);
+    }
+    // 泵
+    {
+        QJsonObject o;
+        o["t"] = "pump";
+        o["plunger"] = m_pPlunger; o["air"] = m_pAir; o["leaf"] = m_pLeaf;
+        o["faults"] = QJsonArray();
+        sendJson(o);
+    }
+}
+
+void MockVehicle::onSelfCheckTick()
+{
+    // 自检 10 项：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/球阀D1关/球阀D2开/球阀D2关
+    bool ok = true;
+    if (m_plantSelfCheckFault && m_selfCheckIndex == 6) ok = false; // 球阀D1关闭故障
+    QJsonObject o; o["t"] = "selfcheck"; o["item"] = m_selfCheckIndex; o["ok"] = ok;
+    sendJson(o);
+    m_selfCheckIndex++;
+    if (m_selfCheckIndex >= 10) {
+        m_selfCheckTimer->stop();
+        m_selfCheckActive = false;
+        QJsonObject o2; o2["t"] = "selfcheck_done"; o2["all_ok"] = !m_plantSelfCheckFault;
+        sendJson(o2);
+    }
+}

comm/mockvehicle.h

@@ -0,0 +1,58 @@
+#ifndef MOCKVEHICLE_H
+#define MOCKVEHICLE_H
+
+#include <QObject>
+#include <QUdpSocket>
+#include <QTimer>
+#include <QVector>
+
+// ===================== 内置模拟车载端（离线演示） =====================
+// 以独立 UDP 套接字在回环地址上与遥控端通信：向 UI 端口周期发送遥测，
+// 接收并响应 UI 下发的控制命令（行驶/机械臂/球阀/泵/洗消/自检/急停等）。
+class MockVehicle : public QObject
+{
+    Q_OBJECT
+public:
+    explicit MockVehicle(QObject* parent = nullptr);
+    bool enabled() const { return m_enabled; }
+
+private slots:
+    void onReadyRead();
+    void onSendTick();
+    void onSelfCheckTick();
+
+private:
+    void sendJson(const QJsonObject& obj);
+    void sendTelemetry();
+    void sendHeartbeat();
+    void handleCommand(const QJsonObject& o);
+
+    QUdpSocket* m_socket = nullptr;
+    QTimer* m_sendTimer = nullptr;
+    QTimer* m_selfCheckTimer = nullptr;
+
+    int m_localPort = 9000;   // 遥控端收包端口（本端发送目标）
+    int m_remotePort = 9001;  // 本端绑定端口（遥控端发包目标）
+    bool m_enabled = true;
+    bool m_plantSelfCheckFault = false;
+
+    // 模拟车辆状态
+    bool m_estop = false;
+    bool m_gasRunning = false;
+    bool m_washRunning = false;
+    QString m_washMode = "手动消除";
+    bool m_valve1Open = false;   // D1 控制状态（开/关）
+    bool m_valve2Open = false;
+    bool m_pPlunger = false, m_pAir = false, m_pLeaf = false;
+    double m_speed = 3.45;
+    int m_airRpm = 300, m_plungerRpm = 200, m_leafRpm = 200;
+    QVector<double> m_js{30, 20, 0, 90, 45, 0};
+    bool m_armHomed = true;
+    QString m_armReturn = "idle";
+
+    // 自检序列
+    bool m_selfCheckActive = false;
+    int  m_selfCheckIndex = 0;
+};
+
+#endif // MOCKVEHICLE_H

comm/udpcommunication.cpp

@@ -0,0 +1,242 @@
+#include "udpcommunication.h"
+#include <QSettings>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QJsonArray>
+#include <QHostAddress>
+#include <QDateTime>
+#include <QNetworkDatagram>
+
+UdpCommunication::UdpCommunication(Telemetry* tel, QObject* parent)
+    : QObject(parent), m_tel(tel)
+{
+    m_socket = new QUdpSocket(this);
+    connect(m_socket, &QUdpSocket::readyRead, this, &UdpCommunication::onReadyRead);
+
+    // 网络配置（默认回环：本地 9000 收，向 127.0.0.1:9001 发）
+    QSettings s;
+    m_localPort  = s.value("net/local_port", 9000).toInt();
+    m_remoteHost = s.value("net/remote_host", "127.0.0.1").toString();
+    m_remotePort = s.value("net/remote_port", 9001).toInt();
+    m_mock       = s.value("net/mock", true).toBool();
+
+    // 通信超时判定：连续 2s 无心跳 → 通信异常
+    m_hbTimer = new QTimer(this);
+    m_hbTimer->setInterval(2000);
+    connect(m_hbTimer, &QTimer::timeout, this, &UdpCommunication::onHeartbeatTimeout);
+}
+
+bool UdpCommunication::start()
+{
+    if (m_socket->state() != QAbstractSocket::UnconnectedState)
+        return true;
+    bool ok = m_socket->bind(QHostAddress::AnyIPv4, m_localPort,
+                             QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
+    if (ok) m_hbTimer->start();
+    return ok;
+}
+
+void UdpCommunication::stop()
+{
+    m_hbTimer->stop();
+    m_socket->close();
+}
+
+void UdpCommunication::sendJson(const QJsonObject& obj)
+{
+    QByteArray data = QJsonDocument(obj).toJson(QJsonDocument::Compact);
+    m_socket->writeDatagram(data, QHostAddress(m_remoteHost), m_remotePort);
+}
+
+// ===================== 上行命令 =====================
+void UdpCommunication::sendChassisMove(const QString& dir, double speed)
+{
+    QJsonObject o; o["t"] = "chassis_move"; o["dir"] = dir; o["speed"] = speed;
+    sendJson(o);
+}
+
+void UdpCommunication::sendArmMove(const QString& axis, int dir)
+{
+    QJsonObject o; o["t"] = "arm_move"; o["axis"] = axis; o["dir"] = dir;
+    sendJson(o);
+}
+
+void UdpCommunication::sendArmReturn()
+{
+    QJsonObject o; o["t"] = "arm_return";
+    sendJson(o);
+}
+
+void UdpCommunication::sendArmPause()
+{
+    QJsonObject o; o["t"] = "arm_pause";
+    sendJson(o);
+}
+
+void UdpCommunication::sendGasStart()
+{
+    QJsonObject o; o["t"] = "gas_start";
+    sendJson(o);
+}
+
+void UdpCommunication::sendGasStop()
+{
+    QJsonObject o; o["t"] = "gas_stop";
+    sendJson(o);
+}
+
+void UdpCommunication::sendWashStart(const QString& mode)
+{
+    QJsonObject o; o["t"] = "wash_start"; o["mode"] = mode;
+    sendJson(o);
+}
+
+void UdpCommunication::sendWashStop()
+{
+    QJsonObject o; o["t"] = "wash_stop";
+    sendJson(o);
+}
+
+void UdpCommunication::sendBallValve(int valve, bool open)
+{
+    QJsonObject o; o["t"] = "ball_valve"; o["valve"] = valve; o["open"] = open;
+    sendJson(o);
+}
+
+void UdpCommunication::sendPumpPower(const QString& pump, bool on)
+{
+    QJsonObject o; o["t"] = "pump_power"; o["pump"] = pump; o["on"] = on;
+    sendJson(o);
+}
+
+void UdpCommunication::sendPumpRpm(const QString& pump, int rpm)
+{
+    QJsonObject o; o["t"] = "pump_rpm"; o["pump"] = pump; o["rpm"] = rpm;
+    sendJson(o);
+}
+
+void UdpCommunication::sendSetParam(const QString& key, double value)
+{
+    QJsonObject o; o["t"] = "set_param"; o["key"] = key; o["value"] = value;
+    sendJson(o);
+}
+
+void UdpCommunication::sendSelfCheckStart()
+{
+    QJsonObject o; o["t"] = "selfcheck_start";
+    sendJson(o);
+}
+
+void UdpCommunication::sendEstop()
+{
+    QJsonObject o; o["t"] = "estop";
+    sendJson(o);
+}
+
+void UdpCommunication::sendEstopReset()
+{
+    QJsonObject o; o["t"] = "estop_reset";
+    sendJson(o);
+}
+
+// ===================== 收包与解析 =====================
+void UdpCommunication::onReadyRead()
+{
+    while (m_socket->hasPendingDatagrams()) {
+        QNetworkDatagram dg = m_socket->receiveDatagram();
+        QJsonParseError err;
+        QJsonDocument doc = QJsonDocument::fromJson(dg.data(), &err);
+        if (err.error != QJsonParseError::NoError || !doc.isObject())
+            continue;
+        parse(doc.object());
+    }
+}
+
+void UdpCommunication::parse(const QJsonObject& o)
+{
+    const QString t = o.value("t").toString();
+
+    if (t == "heartbeat") {
+        bool ok = o.value("ok").toBool();
+        m_hbTimer->start(); // 重置超时计时
+        if (ok != m_lastCommOk) {
+            m_lastCommOk = ok;
+            if (m_tel) m_tel->commOk = ok;
+            emit commOkChanged(ok);
+        }
+        return;
+    }
+
+    if (t == "chassis") {
+        m_tel->soc = o.value("soc").toInt();
+        m_tel->volt = o.value("volt").toDouble();
+        m_tel->speed = o.value("speed").toDouble();
+        m_tel->handbrake = o.value("handbrake").toBool();
+        m_tel->chassisFaults.clear();
+        for (const QJsonValue& v : o.value("faults").toArray())
+            m_tel->chassisFaults << v.toString();
+    } else if (t == "arm") {
+        const QJsonArray a = o.value("js").toArray();
+        m_tel->js.clear();
+        for (const QJsonValue& v : a) m_tel->js << v.toDouble();
+        m_tel->pos = o.value("pos").toString();
+        m_tel->pose = o.value("pose").toString();
+        m_tel->vel = o.value("vel").toDouble();
+        m_tel->returnState = o.value("return_state").toString("idle");
+        m_tel->armHomed = o.value("homed").toBool();
+    } else if (t == "wash") {
+        m_tel->washMode = o.value("mode").toString("--");
+        m_tel->flowA = o.value("flowA").toDouble();
+        m_tel->flowB = o.value("flowB").toDouble();
+        m_tel->gasFlow = o.value("gasFlow").toDouble();
+        m_tel->press = o.value("press").toDouble();
+        m_tel->airPress = o.value("airPress").toDouble();
+        m_tel->foam = o.value("foam").toDouble();
+        m_tel->washFaults.clear();
+        for (const QJsonValue& v : o.value("faults").toArray())
+            m_tel->washFaults << v.toString();
+    } else if (t == "tank") {
+        m_tel->levelA = o.value("a").toDouble();
+        m_tel->levelFoam = o.value("foam").toDouble();
+    } else if (t == "gas") {
+        m_tel->gasHost = o.value("host").toString("standby");
+        m_tel->gasType = o.value("type").toString("--");
+        m_tel->gasLevel = o.value("level").toString("--");
+        m_tel->gasConc = o.value("conc").toDouble();
+    } else if (t == "valve") {
+        m_tel->d1open = o.value("d1open").toBool();
+        m_tel->d1close = o.value("d1close").toBool();
+        m_tel->d2open = o.value("d2open").toBool();
+        m_tel->d2close = o.value("d2close").toBool();
+        m_tel->valveFault = o.value("fault").toString();
+        if (!m_tel->valveFault.isEmpty())
+            emit faultAppended("洗消系统", m_tel->valveFault, m_tel->valveFault);
+    } else if (t == "pump") {
+        m_tel->plunger = o.value("plunger").toBool();
+        m_tel->air = o.value("air").toBool();
+        m_tel->leaf = o.value("leaf").toBool();
+        m_tel->pumpFaults.clear();
+        for (const QJsonValue& v : o.value("faults").toArray())
+            m_tel->pumpFaults << v.toString();
+    } else if (t == "estop") {
+        m_tel->estop = o.value("triggered").toBool();
+        emit estopReceived(m_tel->estop);
+    } else if (t == "selfcheck") {
+        emit selfCheckItem(o.value("item").toInt(), o.value("ok").toBool());
+    } else if (t == "selfcheck_done") {
+        emit selfCheckDone(o.value("all_ok").toBool());
+    } else {
+        return; // 未知类型不触发刷新
+    }
+
+    emit telemetryUpdated();
+}
+
+void UdpCommunication::onHeartbeatTimeout()
+{
+    if (m_lastCommOk) {
+        m_lastCommOk = false;
+        if (m_tel) m_tel->commOk = false;
+        emit commOkChanged(false);
+    }
+}

comm/udpcommunication.h

@@ -0,0 +1,70 @@
+#ifndef UDPCOMMUNICATION_H
+#define UDPCOMMUNICATION_H
+
+#include <QObject>
+#include <QUdpSocket>
+#include <QTimer>
+#include "global.h"
+
+// ===================== UDP 通信层（收包 / 发包） =====================
+// 与车载端经 UDP 报文通信，JSON 文本协议：
+//   上行（UI→车载端）命令见各 sendXxx()；
+//   下行（车载端→UI）遥测见 parse() 中 "t" 字段分支。
+// 本类同时承担“通信超时判定”：连续 2s 未收到心跳则判为通信异常。
+class UdpCommunication : public QObject
+{
+    Q_OBJECT
+public:
+    explicit UdpCommunication(Telemetry* tel, QObject* parent = nullptr);
+
+    bool start();
+    void stop();
+
+    // 是否启用内置模拟车载端（离线演示）
+    bool mockEnabled() const { return m_mock; }
+    int  localPort() const { return m_localPort; }
+
+    // ---------- 上行命令（发包） ----------
+    void sendChassisMove(const QString& dir, double speed);
+    void sendArmMove(const QString& axis, int dir);      // dir: +1 / -1 / 0(停止)
+    void sendArmReturn();
+    void sendArmPause();
+    void sendGasStart();
+    void sendGasStop();
+    void sendWashStart(const QString& mode);             // "clean" / "disinfect"
+    void sendWashStop();
+    void sendBallValve(int valve, bool open);            // valve: 1=D1, 2=D2
+    void sendPumpPower(const QString& pump, bool on);    // "plunger"/"air"/"leaf"
+    void sendPumpRpm(const QString& pump, int rpm);
+    void sendSetParam(const QString& key, double value);
+    void sendSelfCheckStart();
+    void sendEstop();
+    void sendEstopReset();
+
+signals:
+    void telemetryUpdated();             // 任意遥测包到达（页面据此刷新）
+    void commOkChanged(bool ok);         // 通信状态变化
+    void estopReceived(bool triggered);  // 收到急停
+    void selfCheckItem(int index, bool ok); // 自检单项结果（0~9）
+    void selfCheckDone(bool allOk);         // 自检完成
+    void faultAppended(const QString& system, const QString& code, const QString& desc);
+
+private slots:
+    void onReadyRead();
+    void onHeartbeatTimeout();
+
+private:
+    void sendJson(const QJsonObject& obj);
+    void parse(const QJsonObject& obj);
+
+    Telemetry* m_tel = nullptr;
+    QUdpSocket* m_socket = nullptr;
+    QTimer* m_hbTimer = nullptr;
+    int  m_localPort = 9000;
+    QString m_remoteHost = "127.0.0.1";
+    int  m_remotePort = 9001;
+    bool m_mock = true;
+    bool m_lastCommOk = true;
+};
+
+#endif // UDPCOMMUNICATION_H