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 +1,123 @@
+#include "mainwindow.h"
+#include "appcontext.h"
+#include "udpcommunication.h"
+#include "confirmdialog.h"
+
+#include "basepage.h"
+#include "bootpasswordpage.h"
+#include "warningpage.h"
+#include "passwordmgmtloginpage.h"
+#include "passwordmgmtpage.h"
+#include "passwordresetpage.h"
+#include "selfcheckpage.h"
+#include "jobselectpage.h"
+#include "chassispage.h"
+#include "armpage.h"
+#include "gasdetectorpage.h"
+#include "manualcleanpage.h"
+#include "manualdisinfectpage.h"
+#include "debugmaintainpage.h"
+#include "faultquerypage.h"
+
+#include <QStackedWidget>
+#include <QLabel>
+#include <QVBoxLayout>
+#include <QKeyEvent>
+
+MainWindow::MainWindow(QWidget* parent)
+    : QMainWindow(parent)
+{
+    m_ctx = AppContext::instance();
+
+    setWindowTitle("玉兔工业无线遥控器 YTZT6K8EART2-aL25");
+    setWindowFlags(Qt::FramelessWindowHint | Qt::Window);
+    setFixedSize(SCREEN_W, SCREEN_H);
+
+    // 中央堆栈
+    m_stack = new QStackedWidget(this);
+    m_stack->setObjectName("StackedWidget");
+    setCentralWidget(m_stack);
+
+    buildPages();
+
+    // 全局急停横幅（覆盖于页面之上）
+    m_estopBanner = new QLabel("急停已触发，请复位", this);
+    m_estopBanner->setAlignment(Qt::AlignCenter);
+    m_estopBanner->setStyleSheet(
+        "background-color:#E5484D;color:#FFFFFF;font-size:30px;font-weight:700;");
+    m_estopBanner->setGeometry(0, 98, SCREEN_W, 64);
+    m_estopBanner->hide();
+
+    connect(m_ctx, &AppContext::estopChanged, this, &MainWindow::onEstopChanged);
+
+    // 启动通信层（UDP 收包发包）
+    m_ctx->comm()->start();
+
+    // 初始页面：开机密码
+    m_stack->setCurrentIndex(PageBoot);
+}
+
+MainWindow::~MainWindow()
+{
+}
+
+void MainWindow::buildPages()
+{
+    m_pages.fill(nullptr, PageCount);
+
+    auto add = [this](PageId id, BasePage* p) {
+        m_pages[id] = p;
+        m_stack->addWidget(p);
+        connect(p, &BasePage::navigate, this, &MainWindow::onNavigate);
+    };
+
+    add(PageBoot,      new BootPasswordPage(m_ctx));
+    add(PageWarning,   new WarningPage(m_ctx));
+    add(PageMgmtLogin, new PasswordMgmtLoginPage(m_ctx));
+    add(PageMgmt,      new PasswordMgmtPage(m_ctx));
+    add(PageReset,     new PasswordResetPage(m_ctx));
+    add(PageSelfCheck, new SelfCheckPage(m_ctx));
+    add(PageJob,       new JobSelectPage(m_ctx));
+    add(PageChassis,   new ChassisPage(m_ctx));
+    add(PageArm,       new ArmPage(m_ctx));
+    add(PageGas,       new GasDetectorPage(m_ctx));
+    add(PageClean,     new ManualCleanPage(m_ctx));
+    add(PageDisinfect, new ManualDisinfectPage(m_ctx));
+    add(PageDebug,     new DebugMaintainPage(m_ctx));
+    add(PageFault,     new FaultQueryPage(m_ctx));
+
+    m_faultPage = qobject_cast<FaultQueryPage*>(page(PageFault));
+}
+
+void MainWindow::onNavigate(PageId id)
+{
+    // 记录故障查询返回来源
+    if (id == PageFault && m_faultPage) {
+        PageId cur = static_cast<PageId>(m_stack->currentIndex());
+        m_faultPage->setReturnPage((cur == PageSelfCheck) ? PageSelfCheck : PageJob);
+    }
+    if (id >= 0 && id < PageCount)
+        m_stack->setCurrentIndex(id);
+}
+
+void MainWindow::onEstopChanged(bool triggered)
+{
+    m_estopBanner->setVisible(triggered);
+    m_estopBanner->raise();
+}
+
+void MainWindow::keyPressEvent(QKeyEvent* ev)
+{
+    // 演示用快捷键：M 切换行车/机械臂模式，E 触发/复位急停
+    switch (ev->key()) {
+    case Qt::Key_M:
+        m_ctx->setMode(m_ctx->mode == Mode::Drive ? Mode::Arm : Mode::Drive);
+        break;
+    case Qt::Key_E:
+        if (m_ctx->estopTriggered) m_ctx->resetEstop();
+        else m_ctx->triggerEstop();
+        break;
+    default:
+        QMainWindow::keyPressEvent(ev);
+    }
+}