feat:初始化wuhan_QT界面代码

2026-09-09 17:00:37 +08:00
commit 40473ad10b
537 changed files with 23934 additions and 0 deletions
@@ -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