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feat:初始化wuhan_QT界面代码

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xu
2026-09-09 17:00:37 +08:00
commit 40473ad10b
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pages/armpage.cpp
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#include "armpage.h"
#include "titlebar.h"
#include "statusstrip.h"
#include "alarmbanner.h"
#include "datacard.h"
#include "udpcommunication.h"
#include "confirmdialog.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QGridLayout>
#include <QPushButton>
#include <QLabel>
#include <QTimer>
#include "global.h"
ArmPage::ArmPage(AppContext* ctx, QWidget* parent)
: BasePage(ctx, parent)
{
QVBoxLayout* root = new QVBoxLayout(this);
root->setContentsMargins(0, 0, 0, 0);
root->setSpacing(0);
m_titleBar = new TitleBar(ctx, this);
m_titleBar->setTitle("机械臂");
root->addWidget(m_titleBar);
m_banner = new AlarmBanner(this);
root->addWidget(m_banner);
QHBoxLayout* main = new QHBoxLayout();
main->setContentsMargins(36, 16, 36, 16);
main->setSpacing(32);
// 左控制列（6 运动按钮 + 系统回位/暂停）
QWidget* left = new QWidget(this);
QVBoxLayout* leftLay = new QVBoxLayout(left);
leftLay->setContentsMargins(0, 0, 0, 0);
leftLay->setSpacing(8);
auto addMove = [&](const QString& t, const QString& axis, int dir) {
QPushButton* b = makeMoveButton(t, axis, dir);
m_moveButtons << b;
leftLay->addWidget(b);
};
addMove("左平移", "x", -1);
addMove("右平移", "x", +1);
addMove("上升", "z", +1);
addMove("下降", "z", -1);
addMove("前平移", "y", +1);
addMove("后平移", "y", -1);
m_returnBtn = button("系统回位／暂停", "", left);
m_returnBtn->setCheckable(true);
m_returnBtn->setFixedSize(180, 90);
m_returnBtn->setStyleSheet(QString("font-size:22px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
.arg(C::PANEL_HI, C::TEXT, C::BORDER));
connect(m_returnBtn, &QPushButton::toggled, this, &ArmPage::onReturnToggled);
leftLay->addWidget(m_returnBtn);
m_returnStatus = label("", 18, C::TEXT_SUB, false, left);
m_returnStatus->setAlignment(Qt::AlignCenter);
m_returnStatus->setWordWrap(true);
leftLay->addWidget(m_returnStatus);
leftLay->addStretch(1);
left->setFixedWidth(180);
main->addWidget(left);
// 中央卡片区（底盘/洗消/气体检测仪）
QWidget* center = new QWidget(this);
QVBoxLayout* centerLay = new QVBoxLayout(center);
centerLay->setContentsMargins(0, 0, 0, 0);
centerLay->setSpacing(12);
m_chassisCard = new DataCard("底盘", center);
m_chassisCard->addField("电量", "85%");
m_chassisCard->addField("电压", "360V");
m_chassisCard->addField("故障", "无");
m_washCard = new DataCard("洗消", center);
m_washCard->addField("A液位", "100L");
m_washCard->addField("泡沫液位", "30L");
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");
centerLay->addWidget(m_chassisCard, 1);
centerLay->addWidget(m_washCard, 1);
centerLay->addWidget(m_gasCard, 1);
main->addWidget(center, 1);
// 右参数区（机械臂参数卡 + 末端按钮列）
QWidget* right = new QWidget(this);
QVBoxLayout* rightLay = new QVBoxLayout(right);
rightLay->setContentsMargins(0, 0, 0, 0);
rightLay->setSpacing(12);
m_armCard = new DataCard("机械臂参数", right);
m_armCard->addField("末端位置", "XYZ");
m_armCard->addField("姿态", "RX/RY/RZ");
m_armCard->addField("速度", "0");
m_armCard->addField("J1", "30°");
m_armCard->addField("J2", "20°");
m_armCard->addField("J3", "0°");
m_armCard->addField("J4", "90°");
m_armCard->addField("J5", "45°");
m_armCard->addField("J6", "0°");
rightLay->addWidget(m_armCard, 1);
// 末端 6 姿态按钮（2 列 × 3 行）
QGridLayout* endGrid = new QGridLayout();
endGrid->setSpacing(8);
auto addEnd = [&](const QString& t, const QString& axis, int dir, int r, int c) {
QPushButton* b = makeMoveButton(t, axis, dir);
b->setFixedHeight(80);
m_endButtons << b;
endGrid->addWidget(b, r, c);
};
addEnd("末端仰", "pitch", +1, 0, 0);
addEnd("末端俯", "pitch", -1, 0, 1);
addEnd("末端正偏航", "yaw", +1, 1, 0);
addEnd("末端负偏航", "yaw", -1, 1, 1);
addEnd("末端左横滚", "roll", -1, 2, 0);
addEnd("末端右横滚", "roll", +1, 2, 1);
rightLay->addLayout(endGrid);
right->setFixedWidth(430);
main->addWidget(right);
root->addLayout(main, 1);
m_statusStrip = new StatusStrip(ctx, this);
connect(m_statusStrip, &StatusStrip::backClicked, this, [this]() { emit navigate(PageJob); });
root->addWidget(m_statusStrip);
m_statusTimer = new QTimer(this);
m_statusTimer->setSingleShot(true);
m_statusTimer->setInterval(3000);
connect(m_statusTimer, &QTimer::timeout, this, [this]() {
m_returnStatus->setText("");
});
connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &ArmPage::refresh);
connect(ctx, &AppContext::modeChanged, this, [this](Mode) { updateModeGating(); });
connect(ctx, &AppContext::estopChanged, this, [this](bool) { updateModeGating(); });
updateModeGating();
refresh();
}
QPushButton* ArmPage::makeMoveButton(const QString& text, const QString& axis, int dir)
{
QPushButton* b = button(text, "", this);
b->setFixedSize(180, 90);
b->setStyleSheet(QString("font-size:24px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
.arg(C::PANEL_HI, C::TEXT, C::BORDER));
connect(b, &QPushButton::pressed, this, [this, axis, dir]() {
if (ctx()->mode != Mode::Arm) {
ConfirmDialog::toast(this, "请切换至机械臂模式");
return;
}
ctx()->comm()->sendArmMove(axis, dir);
});
connect(b, &QPushButton::released, this, [this, axis]() {
ctx()->comm()->sendArmMove(axis, 0);
});
return b;
}
void ArmPage::updateModeGating()
{
bool arm = (ctx()->mode == Mode::Arm) && !ctx()->estopTriggered;
for (QPushButton* b : m_moveButtons) b->setEnabled(arm);
for (QPushButton* b : m_endButtons) b->setEnabled(arm);
}
void ArmPage::onReturnToggled(bool on)
{
if (on) ctx()->comm()->sendArmReturn();
else ctx()->comm()->sendArmPause();
}
void ArmPage::refresh()
{
const Telemetry& t = ctx()->telemetry;
if (!t.commOk) {
m_banner->showAlarm("通信异常");
} else {
m_banner->clear();
}
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("；"));
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_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_armCard->setField(0, t.pos);
m_armCard->setField(1, t.pose);
m_armCard->setField(2, QString("%1").arg(t.vel, 0, 'f', 1));
for (int i = 0; i < 6 && i < t.js.size(); ++i)
m_armCard->setField(3 + i, QString("%1°").arg(t.js[i], 0, 'f', 0));
// 回位状态机
if (t.returnState != m_prevReturnState) {
m_prevReturnState = t.returnState;
if (t.returnState == "done") {
m_returnBtn->setChecked(false);
m_returnStatus->setText("机械臂系统完成回位");
m_returnStatus->setStyleSheet(QString("color:%1;font-size:22px;font-weight:700;").arg(C::SUCCESS));
m_statusTimer->start();
} else if (t.returnState == "fault") {
m_returnBtn->setChecked(false);
m_returnStatus->setText("机械臂系统回位异常");
m_returnStatus->setStyleSheet(QString("color:%1;font-size:22px;font-weight:700;").arg(C::DANGER));
} else if (t.returnState == "returning") {
m_returnStatus->setText("回位中…");
m_returnStatus->setStyleSheet(QString("color:%1;font-size:22px;font-weight:700;").arg(C::WARNING));
} else {
m_returnStatus->setText("");
}
}
}
pages/armpage.h
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#ifndef ARMPAGE_H
#define ARMPAGE_H
#include "basepage.h"
#include <QVector>
class TitleBar;
class StatusStrip;
class AlarmBanner;
class DataCard;
class QPushButton;
class QLabel;
class QTimer;
// ===================== ⑦ 机械臂界面 =====================
class ArmPage : public BasePage
{
Q_OBJECT
public:
explicit ArmPage(AppContext* ctx, QWidget* parent = nullptr);
private slots:
void refresh();
void updateModeGating();
void onReturnToggled(bool on);
private:
QPushButton* makeMoveButton(const QString& text, const QString& axis, int dir);
TitleBar* m_titleBar = nullptr;
StatusStrip* m_statusStrip = nullptr;
AlarmBanner* m_banner = nullptr;
DataCard* m_chassisCard = nullptr;
DataCard* m_washCard = nullptr;
DataCard* m_gasCard = nullptr;
DataCard* m_armCard = nullptr;
QPushButton* m_returnBtn = nullptr;
QLabel* m_returnStatus = nullptr;
QTimer* m_statusTimer = nullptr;
QVector<QPushButton*> m_moveButtons;
QVector<QPushButton*> m_endButtons;
QString m_prevReturnState = "idle";
};
#endif // ARMPAGE_H
pages/basepage.cpp
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#include "basepage.h"
#include <QLabel>
#include <QPushButton>
BasePage::BasePage(AppContext* ctx, QWidget* parent)
: QWidget(parent), m_ctx(ctx)
{
setObjectName("pageRoot");
setStyleSheet(QString("QWidget#pageRoot{background-color:%1;}").arg(C::BG));
}
QLabel* BasePage::label(const QString& text, int px, const QString& color, bool bold, QWidget* parent)
{
QLabel* l = new QLabel(text, parent);
l->setStyleSheet(QString("color:%1;font-size:%2px;%3").arg(color).arg(px)
.arg(bold ? "font-weight:700;" : ""));
return l;
}
QPushButton* BasePage::button(const QString& text, const QString& variant, QWidget* parent)
{
QPushButton* b = new QPushButton(text, parent);
if (!variant.isEmpty())
b->setProperty("variant", variant);
return b;
}
pages/basepage.h
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#ifndef BASEPAGE_H
#define BASEPAGE_H
#include <QWidget>
#include <QEvent>
#include "appcontext.h"
class QLabel;
class QPushButton;
// ===================== 页面基类 =====================
// 所有页面继承此基类，持有应用上下文，统一提供页面跳转信号与控件构造助手
class BasePage : public QWidget
{
Q_OBJECT
public:
explicit BasePage(AppContext* ctx, QWidget* parent = nullptr);
AppContext* ctx() const { return m_ctx; }
// 控件构造助手
static QLabel* label(const QString& text, int px, const QString& color = C::TEXT,
bool bold = false, QWidget* parent = nullptr);
static QPushButton* button(const QString& text, const QString& variant = "",
QWidget* parent = nullptr);
signals:
void navigate(PageId id); // 请求切换到指定页面
protected:
AppContext* m_ctx = nullptr;
};
#endif // BASEPAGE_H
pages/bootpasswordpage.cpp
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#include "bootpasswordpage.h"
#include "numpaddialog.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QLineEdit>
#include <QLabel>
#include <QPushButton>
#include <QTimer>
#include "global.h"
BootPasswordPage::BootPasswordPage(AppContext* ctx, QWidget* parent)
: BasePage(ctx, parent)
{
QVBoxLayout* root = new QVBoxLayout(this);
root->setContentsMargins(0, 0, 0, 0);
root->addStretch(1);
QWidget* col = new QWidget(this);
col->setFixedWidth(800);
QVBoxLayout* lay = new QVBoxLayout(col);
lay->setSpacing(24);
lay->setAlignment(Qt::AlignHCenter);
// 品牌区
QLabel* brand = label("“玉兔”工业无线遥控器", 32, C::TEXT, true, col);
brand->setAlignment(Qt::AlignCenter);
QLabel* model = label("YTZT6K8EART2-aL25", 20, C::TEXT_SUB, false, col);
model->setAlignment(Qt::AlignCenter);
lay->addWidget(brand);
lay->addWidget(model);
lay->addSpacing(20);
// 标题
QLabel* title = label("请输入开机密码", 28, C::TEXT, true, col);
title->setAlignment(Qt::AlignCenter);
lay->addWidget(title);
// 密码输入框（只读回显，点击弹出数字键盘）
m_input = new QLineEdit(col);
m_input->setReadOnly(true);
m_input->setEchoMode(QLineEdit::Password);
m_input->setAlignment(Qt::AlignCenter);
m_input->setFixedSize(400, 88);
m_input->setPlaceholderText("点击输入密码");
m_input->setProperty("clickable", true);
lay->addWidget(m_input, 0, Qt::AlignHCenter);
m_input->installEventFilter(this);
m_input->setFocusPolicy(Qt::NoFocus);
// 错误提示（默认隐藏）
m_error = label("密码输入有误，请重新输入", 18, C::DANGER, true, col);
m_error->setAlignment(Qt::AlignCenter);
m_error->hide();
lay->addWidget(m_error);
// 确认 / 取消
QHBoxLayout* btnRow = new QHBoxLayout();
btnRow->setSpacing(40);
btnRow->addStretch(1);
QPushButton* ok = button("确认", "primary", col);
ok->setFixedSize(180, 72);
connect(ok, &QPushButton::clicked, this, &BootPasswordPage::onConfirm);
QPushButton* cancel = button("取消", "", col);
cancel->setFixedSize(180, 72);
connect(cancel, &QPushButton::clicked, this, &BootPasswordPage::onCancel);
btnRow->addWidget(ok);
btnRow->addWidget(cancel);
btnRow->addStretch(1);
lay->addLayout(btnRow);
// 忘记密码链接
QPushButton* forget = button("忘记密码／修改密码", "link", col);
forget->setFixedHeight(44);
forget->setCursor(Qt::PointingHandCursor);
connect(forget, &QPushButton::clicked, this, &BootPasswordPage::onForget);
lay->addWidget(forget);
root->addWidget(col, 0, Qt::AlignHCenter);
root->addStretch(1);
refreshInput();
}
// 点击密码输入框 → 弹出数字键盘（拦截鼠标点击）
bool BootPasswordPage::eventFilter(QObject* obj, QEvent* ev)
{
if (obj == m_input && ev->type() == QEvent::MouseButtonPress) {
onInputClicked();
return true;
}
return BasePage::eventFilter(obj, ev);
}
void BootPasswordPage::onInputClicked()
{
if (m_locked)
return;
NumPadDialog dlg(this);
dlg.setMaxLen(4);
dlg.setValue(m_value);
if (dlg.exec() == QDialog::Accepted) {
m_value = dlg.value();
m_error->hide();
refreshInput();
}
}
void BootPasswordPage::onConfirm()
{
if (m_locked)
return;
if (m_value == ctx()->password()) {
m_wrongCount = 0;
clearInput();
emit navigate(PageSelfCheck);
} else {
m_wrongCount++;
clearInput();
if (m_wrongCount >= 5) {
// 【设计建议】连续 5 次错误锁定 30s
m_locked = true;
m_error->setText("连续输入错误，已锁定 30 秒");
m_error->show();
QTimer::singleShot(30000, this, [this]() {
m_locked = false;
m_wrongCount = 0;
m_error->hide();
});
} else {
emit navigate(PageWarning);
}
}
}
void BootPasswordPage::onCancel()
{
clearInput();
}
void BootPasswordPage::onForget()
{
clearInput();
emit navigate(PageMgmtLogin);
}
void BootPasswordPage::clearInput()
{
m_value.clear();
refreshInput();
}
void BootPasswordPage::focusInput()
{
onInputClicked();
}
void BootPasswordPage::refreshInput()
{
m_input->setText(m_value);
}
pages/bootpasswordpage.h
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#ifndef BOOTPASSWORDPAGE_H
#define BOOTPASSWORDPAGE_H
#include "basepage.h"
class QLineEdit;
class QLabel;
// ===================== ③ 开机密码主界面 =====================
class BootPasswordPage : public BasePage
{
Q_OBJECT
public:
explicit BootPasswordPage(AppContext* ctx, QWidget* parent = nullptr);
void clearInput();
void focusInput();
protected:
bool eventFilter(QObject* obj, QEvent* ev) override;
private slots:
void onInputClicked();
void onConfirm();
void onCancel();
void onForget();
private:
void refreshInput();
QLineEdit* m_input = nullptr;
QLabel* m_error = nullptr;
QString m_value;
int m_wrongCount = 0;
bool m_locked = false;
};
#endif // BOOTPASSWORDPAGE_H
pages/chassispage.cpp
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#include "chassispage.h"
#include "titlebar.h"
#include "statusstrip.h"
#include "alarmbanner.h"
#include "datacard.h"
#include "paramcontrol.h"
#include "udpcommunication.h"
#include "confirmdialog.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QPushButton>
#include <QTimer>
#include "global.h"
ChassisPage::ChassisPage(AppContext* ctx, QWidget* parent)
: BasePage(ctx, parent)
{
QVBoxLayout* root = new QVBoxLayout(this);
root->setContentsMargins(0, 0, 0, 0);
root->setSpacing(0);
m_titleBar = new TitleBar(ctx, this);
m_titleBar->setTitle("机器人底盘");
root->addWidget(m_titleBar);
// 告警横幅（机械臂未回位 / 通信异常）
m_banner = new AlarmBanner(this);
root->addWidget(m_banner);
QHBoxLayout* main = new QHBoxLayout();
main->setContentsMargins(36, 16, 36, 16);
main->setSpacing(32);
// 左控制列（垂直居中 + 平均分布）
QWidget* left = new QWidget(this);
QVBoxLayout* leftLay = new QVBoxLayout(left);
leftLay->setContentsMargins(0, 0, 0, 0);
leftLay->setSpacing(8);
QPushButton* fwd = makeDirButton("前进", "fwd");
QPushButton* back = makeDirButton("后退", "back");
QPushButton* leftT = makeDirButton("左转向", "left");
QPushButton* rightT = makeDirButton("右转向", "right");
m_dirButtons << fwd << back << leftT << rightT;
leftLay->addStretch(1);
leftLay->addWidget(fwd);
leftLay->addStretch(1);
leftLay->addWidget(back);
leftLay->addStretch(1);
leftLay->addWidget(leftT);
leftLay->addStretch(1);
leftLay->addWidget(rightT);
leftLay->addStretch(1);
left->setFixedWidth(180);
main->addWidget(left);
// 中央卡片区（洗消/机械臂/气体检测仪）
QWidget* center = new QWidget(this);
QVBoxLayout* centerLay = new QVBoxLayout(center);
centerLay->setContentsMargins(0, 0, 0, 0);
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_armCard = new DataCard("机械臂", center);
m_armCard->addField("末端位置", "XYZ");
m_armCard->addField("姿态", "RX/RY/RZ");
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");
centerLay->addWidget(m_washCard, 1);
centerLay->addWidget(m_armCard, 1);
centerLay->addWidget(m_gasCard, 1);
main->addWidget(center, 1);
// 右参数区
QWidget* right = new QWidget(this);
QVBoxLayout* rightLay = new QVBoxLayout(right);
rightLay->setContentsMargins(0, 0, 0, 0);
rightLay->setSpacing(12);
m_chassisCard = new DataCard("底盘状态", right);
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");
rightLay->addWidget(m_chassisCard, 1);
// 车速设置
double speed = ctx->getDouble(ctx->keySpeed(), 4.5);
m_speed = new ParamControl("车速设置", "km/h", 0.5, 0.0, 10.0, false, false, right);
m_speed->setValue(speed);
m_speed->setStyleSheet("background:transparent;");
connect(m_speed, &ParamControl::valueChanged, this, &ChassisPage::onSpeedChanged);
rightLay->addWidget(m_speed);
right->setFixedWidth(380);
main->addWidget(right);
root->addLayout(main, 1);
m_statusStrip = new StatusStrip(ctx, this);
connect(m_statusStrip, &StatusStrip::backClicked, this, [this]() { emit navigate(PageJob); });
root->addWidget(m_statusStrip);
// 车速自动保存（1s 防抖）
m_saveTimer = new QTimer(this);
m_saveTimer->setSingleShot(true);
m_saveTimer->setInterval(1000);
connect(m_saveTimer, &QTimer::timeout, this, &ChassisPage::onSpeedSaved);
connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &ChassisPage::refresh);
connect(ctx, &AppContext::modeChanged, this, [this](Mode) { updateModeGating(); });
connect(ctx, &AppContext::estopChanged, this, [this](bool) { updateModeGating(); });
updateModeGating();
refresh();
}
QPushButton* ChassisPage::makeDirButton(const QString& text, const QString& dir)
{
QPushButton* b = button(text, "", this);
b->setFixedSize(180, 150);
b->setStyleSheet(QString("font-size:26px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
.arg(C::PANEL_HI, C::TEXT, C::BORDER));
connect(b, &QPushButton::pressed, this, [this, dir]() {
if (ctx()->mode != Mode::Drive) {
ConfirmDialog::toast(this, "请切换至行车模式");
return;
}
ctx()->comm()->sendChassisMove(dir, ctx()->getDouble(ctx()->keySpeed(), 4.5));
});
connect(b, &QPushButton::released, this, [this]() {
ctx()->comm()->sendChassisMove("stop", 0);
});
return b;
}
void ChassisPage::updateModeGating()
{
// 非行车模式或急停触发时禁用方向按钮
bool drive = (ctx()->mode == Mode::Drive) && !ctx()->estopTriggered;
for (QPushButton* b : m_dirButtons)
b->setEnabled(drive);
}
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();
}
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());
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));
}
void ChassisPage::onSpeedChanged(double v)
{
// 1s 防抖后自动保存
m_saveTimer->start();
ctx()->comm()->sendSetParam(ctx()->keySpeed(), v);
}
void ChassisPage::onSpeedSaved()
{
ctx()->setDouble(ctx()->keySpeed(), m_speed->value());
ConfirmDialog::toast(this, "车速已保存");
}
pages/chassispage.h
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#ifndef CHASSISPAGE_H
#define CHASSISPAGE_H
#include "basepage.h"
#include <QVector>
class TitleBar;
class StatusStrip;
class AlarmBanner;
class DataCard;
class ParamControl;
class QPushButton;
class QTimer;
// ===================== ⑥ 机器人底盘界面 =====================
class ChassisPage : public BasePage
{
Q_OBJECT
public:
explicit ChassisPage(AppContext* ctx, QWidget* parent = nullptr);
private slots:
void refresh();
void updateModeGating();
void onSpeedChanged(double v);
void onSpeedSaved();
private:
QPushButton* makeDirButton(const QString& text, const QString& dir);
TitleBar* m_titleBar = nullptr;
StatusStrip* m_statusStrip = nullptr;
AlarmBanner* m_banner = nullptr;
DataCard* m_washCard = nullptr;
DataCard* m_armCard = nullptr;
DataCard* m_gasCard = nullptr;
DataCard* m_chassisCard = nullptr;
ParamControl* m_speed = nullptr;
QTimer* m_saveTimer = nullptr;
int m_chassisFieldFault = -1;
QVector<QPushButton*> m_dirButtons;
};
#endif // CHASSISPAGE_H
pages/debugmaintainpage.cpp
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#include "debugmaintainpage.h"
#include "titlebar.h"
#include "alarmbanner.h"
#include "datacard.h"
#include "ledindicator.h"
#include "paramcontrol.h"
#include "udpcommunication.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QPushButton>
#include <QLabel>
#include "global.h"
DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
: BasePage(ctx, parent)
{
QVBoxLayout* root = new QVBoxLayout(this);
root->setContentsMargins(0, 0, 0, 0);
root->setSpacing(0);
m_titleBar = new TitleBar(ctx, this);
m_titleBar->setTitle("洗消调试");
root->addWidget(m_titleBar);
// 警告横幅（常显红闪）
m_warn = new AlarmBanner(this);
m_warn->showAlarm("警告：该模式下无保护功能，操作请谨慎！");
root->addWidget(m_warn);
QHBoxLayout* main = new QHBoxLayout();
main->setContentsMargins(36, 16, 36, 16);
main->setSpacing(28);
// 左球阀控制区
QWidget* left = new QWidget(this);
QVBoxLayout* leftLay = new QVBoxLayout(left);
leftLay->setContentsMargins(0, 0, 0, 0);
leftLay->setSpacing(16);
leftLay->addWidget(makeValveGroup(1));
leftLay->addWidget(makeValveGroup(2));
leftLay->addStretch(1);
left->setFixedWidth(300);
main->addWidget(left);
// 中央卡片区
QWidget* center = new QWidget(this);
QVBoxLayout* centerLay = new QVBoxLayout(center);
centerLay->setContentsMargins(0, 0, 0, 0);
centerLay->setSpacing(10);
QHBoxLayout* miniRow = new QHBoxLayout();
miniRow->setSpacing(10);
m_chassisCard = new DataCard("底盘", center);
m_chassisCard->addField("电量", "85%");
m_chassisCard->addField("电压", "360V");
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_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");
miniRow->addWidget(m_chassisCard, 1);
miniRow->addWidget(m_armCard, 1);
miniRow->addWidget(m_gasCard, 1);
centerLay->addLayout(miniRow, 1);
m_washCard = new DataCard("洗消参数", center);
m_washCard->addField("洗消模式", "--");
m_washCard->addField("A组分液位", "100L");
m_washCard->addField("A药剂流量", "0 L/min");
m_washCard->addField("管路压力", "0 MPa");
m_washCard->addField("发泡倍数", "0");
m_washCard->addField("空压机故障代码", "");
m_washCard->addField("柱塞泵故障代码", "");
centerLay->addWidget(m_washCard, 1);
main->addWidget(center, 1);
// 右泵控制区
QWidget* right = new QWidget(this);
QVBoxLayout* rightLay = new QVBoxLayout(right);
rightLay->setContentsMargins(0, 0, 0, 0);
rightLay->setSpacing(8);
rightLay->addWidget(makePumpGroup("air", "空压机"));
rightLay->addWidget(makePumpGroup("plunger", "柱塞泵"));
rightLay->addWidget(makePumpGroup("leaf", "叶片泵"));
rightLay->addStretch(1);
right->setFixedWidth(420);
main->addWidget(right);
root->addLayout(main, 1);
// 底部指示灯条
QWidget* bottom = new QWidget(this);
bottom->setFixedHeight(94);
bottom->setStyleSheet(QString("background-color:%1;border-top:1px solid %2;")
.arg(C::PANEL, C::BORDER));
QHBoxLayout* bottomLay = new QHBoxLayout(bottom);
bottomLay->setContentsMargins(36, 0, 24, 0);
bottomLay->setSpacing(48);
m_ledPlunger = new LedIndicator("柱塞泵", bottom);
m_ledAir = new LedIndicator("空压机", bottom);
m_ledLeaf = new LedIndicator("叶片泵", bottom);
m_ledLevel = new LedIndicator("液位低", bottom);
bottomLay->addWidget(m_ledPlunger);
bottomLay->addWidget(m_ledAir);
bottomLay->addWidget(m_ledLeaf);
bottomLay->addWidget(m_ledLevel);
bottomLay->addStretch(1);
QPushButton* back = button("返回", "", bottom);
back->setFixedSize(144, 76);
connect(back, &QPushButton::clicked, this, [this]() { emit navigate(PageJob); });
bottomLay->addWidget(back);
root->addWidget(bottom);
connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &DebugMaintainPage::refresh);
refresh();
}
QWidget* DebugMaintainPage::makeValveGroup(int valve)
{
QWidget* grp = new QWidget(this);
grp->setProperty("card", true);
grp->setStyleSheet(QString("QWidget[card=\"true\"]{background-color:%1;border:2px solid %2;border-radius:12px;}")
.arg(C::PANEL, C::BORDER));
QVBoxLayout* lay = new QVBoxLayout(grp);
lay->setContentsMargins(12, 12, 12, 12);
lay->setSpacing(8);
QLabel* title = label(QString("D%1 球阀").arg(valve), 20, C::TEXT, true, grp);
lay->addWidget(title);
// 控制开/关（toggle）
QPushButton* ctrl = button(QString("D%1 控制：关闭").arg(valve), "", grp);
ctrl->setCheckable(true);
ctrl->setFixedHeight(64);
connect(ctrl, &QPushButton::toggled, this, [this, valve, ctrl](bool on) {
ctrl->setText(QString("D%1 控制：%2").arg(valve).arg(on ? "开启" : "关闭"));
ctx()->comm()->sendBallValve(valve, on);
});
lay->addWidget(ctrl);
// 开启到位 / 关闭到位
LedIndicator* open = new LedIndicator("开启到位", grp);
open->setState(LedIndicator::Off);
LedIndicator* close = new LedIndicator("关闭到位", grp);
close->setState(LedIndicator::Red);
lay->addWidget(open);
lay->addWidget(close);
// 故障提示
QLabel* fault = label("", 16, C::DANGER, true, grp);
fault->setAlignment(Qt::AlignCenter);
fault->setProperty("alert", true);
fault->hide();
lay->addWidget(fault);
if (valve == 1) {
m_valve1Btn = ctrl;
m_v1Open = open;
m_v1Close = close;
m_valveFault1 = fault;
} else {
m_valve2Btn = ctrl;
m_v2Open = open;
m_v2Close = close;
m_valveFault2 = fault;
}
return grp;
}
QWidget* DebugMaintainPage::makePumpGroup(const QString& pump, const QString& name)
{
QWidget* grp = new QWidget(this);
grp->setProperty("card", true);
grp->setStyleSheet(QString("QWidget[card=\"true\"]{background-color:%1;border:2px solid %2;border-radius:12px;}")
.arg(C::PANEL, C::BORDER));
QVBoxLayout* lay = new QVBoxLayout(grp);
lay->setContentsMargins(12, 8, 12, 8);
lay->setSpacing(4);
ParamControl* rpm = new ParamControl(name + "转速", "rpm", 10, 0, 2000, false, false, grp);
rpm->setValue(200);
connect(rpm, &ParamControl::valueChanged, this, [this, pump](double v) {
ctx()->comm()->sendPumpRpm(pump, static_cast<int>(v));
});
lay->addWidget(rpm);
QPushButton* power = button("上电", "", grp);
power->setCheckable(true);
power->setFixedHeight(56);
connect(power, &QPushButton::toggled, this, [this, pump, power](bool on) {
power->setText(on ? "上电中" : "上电");
ctx()->comm()->sendPumpPower(pump, on);
});
lay->addWidget(power);
if (pump == "air") { m_airRpm = rpm; m_airPower = power; }
else if (pump == "plunger") { m_plungerRpm = rpm; m_plungerPower = power; }
else { m_leafRpm = rpm; m_leafPower = power; }
return grp;
}
void DebugMaintainPage::refresh()
{
const Telemetry& t = ctx()->telemetry;
m_chassisCard->setField(0, QString("%1%").arg(t.soc));
m_chassisCard->setField(1, QString("%1V").arg(t.volt, 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_washCard->setField(0, t.washMode);
m_washCard->setField(1, QString("%1L").arg(t.levelA, 0, 'f', 0));
m_washCard->setField(2, QString("%1 L/min").arg(t.flowA, 0, 'f', 1));
m_washCard->setField(3, QString("%1 MPa").arg(t.press, 0, 'f', 2));
m_washCard->setField(4, QString("%1").arg(t.foam, 0, 'f', 1));
m_washCard->setField(5, t.pumpFaults.value(0));
m_washCard->setField(6, t.pumpFaults.value(0));
// 球阀到位反馈
m_v1Open->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
m_v1Close->setState(t.d1close ? LedIndicator::Red : LedIndicator::Off);
m_v2Open->setState(t.d2open ? LedIndicator::Green : LedIndicator::Off);
m_v2Close->setState(t.d2close ? LedIndicator::Red : LedIndicator::Off);
// 球阀故障提示
bool v1Fault = t.valveFault.contains("D1");
bool v2Fault = t.valveFault.contains("D2");
if (v1Fault) { m_valveFault1->setText(t.valveFault); m_valveFault1->show(); startBlink(m_valveFault1, "blink"); }
else { stopBlink(m_valveFault1, "blink"); m_valveFault1->hide(); }
if (v2Fault) { m_valveFault2->setText(t.valveFault); m_valveFault2->show(); startBlink(m_valveFault2, "blink"); }
else { stopBlink(m_valveFault2, "blink"); m_valveFault2->hide(); }
// 泵上电状态同步
if (m_airPower) m_airPower->setChecked(t.air);
if (m_plungerPower) m_plungerPower->setChecked(t.plunger);
if (m_leafPower) m_leafPower->setChecked(t.leaf);
// 底部指示灯
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);
}
pages/debugmaintainpage.h
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#ifndef DEBUGMAINTAINPAGE_H
#define DEBUGMAINTAINPAGE_H
#include "basepage.h"
class TitleBar;
class AlarmBanner;
class DataCard;
class LedIndicator;
class ParamControl;
class QPushButton;
class QLabel;
class QCheckBox;
// ===================== ⑪ 调试维护界面（洗消调试） =====================
class DebugMaintainPage : public BasePage
{
Q_OBJECT
public:
explicit DebugMaintainPage(AppContext* ctx, QWidget* parent = nullptr);
private slots:
void refresh();
private:
// 单个球阀组：控制开/关 + 开启到位 + 关闭到位 + 故障提示
QWidget* makeValveGroup(int valve);
// 单个泵组：转速调节 + 上电启停
QWidget* makePumpGroup(const QString& pump, const QString& name);
TitleBar* m_titleBar = nullptr;
AlarmBanner* m_warn = nullptr;
DataCard* m_chassisCard = nullptr;
DataCard* m_armCard = nullptr;
DataCard* m_gasCard = nullptr;
DataCard* m_washCard = nullptr;
// 球阀
QPushButton* m_valve1Btn = nullptr;
QPushButton* m_valve2Btn = nullptr;
LedIndicator* m_v1Open = nullptr;
LedIndicator* m_v1Close = nullptr;
LedIndicator* m_v2Open = nullptr;
LedIndicator* m_v2Close = nullptr;
QLabel* m_valveFault1 = nullptr;
QLabel* m_valveFault2 = nullptr;
// 泵
ParamControl* m_airRpm = nullptr;
ParamControl* m_plungerRpm = nullptr;
ParamControl* m_leafRpm = nullptr;
QPushButton* m_airPower = nullptr;
QPushButton* m_plungerPower = nullptr;
QPushButton* m_leafPower = nullptr;
// 底部指示灯
LedIndicator* m_ledPlunger = nullptr;
LedIndicator* m_ledAir = nullptr;
LedIndicator* m_ledLeaf = nullptr;
LedIndicator* m_ledLevel = nullptr;
};
#endif // DEBUGMAINTAINPAGE_H
pages/faultquerypage.cpp
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#include "faultquerypage.h"
#include "faulttable.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QLabel>
#include <QPushButton>
#include <QMessageBox>
#include "global.h"
FaultQueryPage::FaultQueryPage(AppContext* ctx, QWidget* parent)
: BasePage(ctx, parent)
{
m_categories << "机器人底盘" << "机械臂" << "洗消系统" << "气体检测仪";
QVBoxLayout* root = new QVBoxLayout(this);
root->setContentsMargins(36, 20, 36, 20);
root->setSpacing(16);
// 顶条：标题 + 汇总数
m_title = label("历史故障", 28, C::TEXT, true, this);
root->addWidget(m_title);
QHBoxLayout* main = new QHBoxLayout();
main->setSpacing(28);
// 表格
m_table = new FaultTable(this);
connect(m_table, &FaultTable::rowClicked, this, &FaultQueryPage::onRowClicked);
main->addWidget(m_table, 1);
// 分类按钮列（垂直居中 + 平均分布）
QWidget* right = new QWidget(this);
QVBoxLayout* rightLay = new QVBoxLayout(right);
rightLay->setContentsMargins(0, 0, 0, 0);
rightLay->setSpacing(8);
for (const QString& cat : m_categories) {
QPushButton* b = button(cat + "故障", "", right);
b->setCheckable(true);
b->setFixedHeight(110);
b->setStyleSheet(QString("font-size:24px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
.arg(C::PANEL_HI, C::TEXT, C::BORDER));
connect(b, &QPushButton::toggled, this, &FaultQueryPage::onCategoryToggled);
m_categoryButtons << b;
rightLay->addStretch(1);
rightLay->addWidget(b);
}
rightLay->addStretch(1);
right->setFixedWidth(360);
main->addWidget(right);
root->addLayout(main, 1);
// 底部：返回
QHBoxLayout* bottomLay = new QHBoxLayout();
bottomLay->addStretch(1);
QPushButton* back = button("返回", "", this);
back->setFixedSize(144, 76);
connect(back, &QPushButton::clicked, this, [this]() { emit navigate(m_returnPage); });
bottomLay->addWidget(back);
root->addLayout(bottomLay);
refresh();
}
void FaultQueryPage::onCategoryToggled(bool on)
{
// 单选筛选：确定当前选中的分类
QString selected;
for (int i = 0; i < m_categoryButtons.size(); ++i) {
if (m_categoryButtons[i]->isChecked()) {
selected = m_categories[i];
break;
}
}
m_filter = selected;
Q_UNUSED(on);
refresh();
}
void FaultQueryPage::refresh()
{
// 按分类过滤
QVector<FaultRecord> data;
for (const FaultRecord& r : ctx()->faultHistory) {
if (m_filter.isEmpty() || r.system == m_filter)
data.append(r);
}
m_table->setData(data);
if (m_filter.isEmpty())
m_title->setText(QString("历史故障（共 %1 条）").arg(data.size()));
else
m_title->setText(QString("%1历史故障（共 %2 条）").arg(m_filter).arg(data.size()));
}
void FaultQueryPage::onRowClicked(int globalIndex)
{
// 找到当前过滤后列表中的记录
QVector<FaultRecord> data;
for (const FaultRecord& r : ctx()->faultHistory) {
if (m_filter.isEmpty() || r.system == m_filter)
data.append(r);
}
if (globalIndex < 0 || globalIndex >= data.size())
return;
const FaultRecord& r = data[globalIndex];
QMessageBox::information(this, "故障详情",
QString("故障时间：%1\n分系统：%2\n故障代码：%3\n故障描述：%4")
.arg(r.time, r.system, r.code, r.desc));
}
pages/faultquerypage.h
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#ifndef FAULTQUERYPAGE_H
#define FAULTQUERYPAGE_H
#include "basepage.h"
#include <QVector>
class FaultTable;
class QLabel;
class QPushButton;
// ===================== ⑫ 故障查询界面 =====================
class FaultQueryPage : public BasePage
{
Q_OBJECT
public:
explicit FaultQueryPage(AppContext* ctx, QWidget* parent = nullptr);
void setReturnPage(PageId id) { m_returnPage = id; }
private slots:
void refresh();
void onCategoryToggled(bool on);
void onRowClicked(int globalIndex);
private:
FaultTable* m_table = nullptr;
QLabel* m_title = nullptr;
QVector<QPushButton*> m_categoryButtons;
QVector<QString> m_categories;
QString m_filter; // 空 = 全部
PageId m_returnPage = PageJob;
};
#endif // FAULTQUERYPAGE_H
pages/gasdetectorpage.cpp
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#include "gasdetectorpage.h"
#include "titlebar.h"
#include "statusstrip.h"
#include "datacard.h"
#include "udpcommunication.h"
#include "confirmdialog.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QGridLayout>
#include <QPushButton>
#include "global.h"
GasDetectorPage::GasDetectorPage(AppContext* ctx, QWidget* parent)
: BasePage(ctx, parent)
{
QVBoxLayout* root = new QVBoxLayout(this);
root->setContentsMargins(0, 0, 0, 0);
root->setSpacing(0);
m_titleBar = new TitleBar(ctx, this);
m_titleBar->setTitle("气体检测仪");
root->addWidget(m_titleBar);
QHBoxLayout* main = new QHBoxLayout();
main->setContentsMargins(36, 16, 36, 16);
main->setSpacing(32);
// 中央卡片区（2×2）
QWidget* center = new QWidget(this);
QGridLayout* grid = new QGridLayout(center);
grid->setSpacing(16);
grid->setContentsMargins(0, 0, 0, 0);
m_chassisCard = new DataCard("底盘", center);
m_chassisCard->addField("电量", "85%");
m_chassisCard->addField("电压", "360V");
m_chassisCard->addField("故障", "无");
m_washCard = new DataCard("洗消", center);
m_washCard->addField("A液位", "100L");
m_washCard->addField("泡沫液位", "30L");
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_gasCard = new DataCard("气体检测仪", center);
m_gasCard->addField("主机状态", "待机");
m_gasCard->addField("有毒物种类", "--");
m_gasCard->addField("有毒物等级", "--");
m_gasConcField = m_gasCard->addField("浓度", "0 ppb", true);
m_gasCard->setHighlight(true); // 主色描边突出
grid->addWidget(m_chassisCard, 0, 0);
grid->addWidget(m_washCard, 0, 1);
grid->addWidget(m_gasCard, 1, 0);
grid->addWidget(m_armCard, 1, 1);
main->addWidget(center, 1);
// 右侧按钮列（垂直居中 + 平均分布）
QWidget* right = new QWidget(this);
QVBoxLayout* rightLay = new QVBoxLayout(right);
rightLay->setContentsMargins(0, 0, 0, 0);
rightLay->setSpacing(8);
m_start = button("启动", "primary", right);
m_start->setFixedHeight(180);
connect(m_start, &QPushButton::clicked, this, [this]() {
this->ctx()->comm()->sendGasStart();
this->ctx()->gasRunning = true;
updateGating();
});
m_stop = button("停机", "", right);
m_stop->setFixedHeight(180);
connect(m_stop, &QPushButton::clicked, this, [this]() {
this->ctx()->comm()->sendGasStop();
this->ctx()->gasRunning = false;
updateGating();
});
rightLay->addStretch(1);
rightLay->addWidget(m_start);
rightLay->addStretch(1);
rightLay->addWidget(m_stop);
rightLay->addStretch(1);
right->setFixedWidth(360);
main->addWidget(right);
root->addLayout(main, 1);
m_statusStrip = new StatusStrip(ctx, this);
connect(m_statusStrip, &StatusStrip::backClicked, this, [this]() {
if (this->ctx()->gasRunning) {
// 【设计建议】检测中返回弹提示
if (ConfirmDialog::confirm(this, "提示", "检测仍在进行，是否退出？"))
emit navigate(PageJob);
} else {
emit navigate(PageJob);
}
});
root->addWidget(m_statusStrip);
connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &GasDetectorPage::refresh);
updateGating();
refresh();
}
void GasDetectorPage::updateGating()
{
bool running = ctx()->gasRunning;
m_start->setEnabled(!running);
m_stop->setEnabled(running);
}
void GasDetectorPage::refresh()
{
const Telemetry& t = ctx()->telemetry;
// 同步运行状态（以遥测为准）
if (t.gasHost == "detecting") ctx()->gasRunning = true;
else if (t.gasHost == "standby") ctx()->gasRunning = 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("；"));
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, t.gasType);
m_gasCard->setField(2, t.gasLevel);
m_gasCard->setField(m_gasConcField, QString("%1 ppb").arg(t.gasConc, 0, 'f', 0));
// 超阈值红闪
m_gasCard->setAlarm(m_gasConcField, t.gasConc > 500.0);
}
pages/gasdetectorpage.h
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#ifndef GASDETECTORPAGE_H
#define GASDETECTORPAGE_H
#include "basepage.h"
class TitleBar;
class StatusStrip;
class DataCard;
class QPushButton;
// ===================== ⑧ 气体检测仪界面 =====================
class GasDetectorPage : public BasePage
{
Q_OBJECT
public:
explicit GasDetectorPage(AppContext* ctx, QWidget* parent = nullptr);
private slots:
void refresh();
void updateGating();
private:
TitleBar* m_titleBar = nullptr;
StatusStrip* m_statusStrip = nullptr;
DataCard* m_chassisCard = nullptr;
DataCard* m_washCard = nullptr;
DataCard* m_armCard = nullptr;
DataCard* m_gasCard = nullptr;
QPushButton* m_start = nullptr;
QPushButton* m_stop = nullptr;
int m_gasConcField = -1;
};
#endif // GASDETECTORPAGE_H
pages/jobselectpage.cpp
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#include "jobselectpage.h"
#include "titlebar.h"
#include "statusstrip.h"
#include "datacard.h"
#include "udpcommunication.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QGridLayout>
#include <QPushButton>
#include "global.h"
JobSelectPage::JobSelectPage(AppContext* ctx, QWidget* parent)
: BasePage(ctx, parent)
{
QVBoxLayout* root = new QVBoxLayout(this);
root->setContentsMargins(0, 0, 0, 0);
root->setSpacing(0);
m_titleBar = new TitleBar(ctx, this);
m_titleBar->setTitle("作业选择");
root->addWidget(m_titleBar);
QHBoxLayout* main = new QHBoxLayout();
main->setContentsMargins(36, 20, 36, 20);
main->setSpacing(32);
// 左侧菜单（垂直居中 + 平均分布）
QWidget* left = new QWidget(this);
QVBoxLayout* leftLay = new QVBoxLayout(left);
leftLay->setContentsMargins(0, 0, 0, 0);
leftLay->setSpacing(8);
auto addMenu = [&](const QString& t, PageId id) {
QPushButton* b = button(t, "", left);
b->setFixedHeight(130);
b->setStyleSheet(QString("font-size:24px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
.arg(C::PANEL_HI, C::TEXT, C::BORDER));
connect(b, &QPushButton::clicked, this, [this, id]() { emit navigate(id); });
leftLay->addStretch(1);
leftLay->addWidget(b);
};
addMenu("机器人底盘", PageChassis);
addMenu("机械臂", PageArm);
addMenu("气体检测仪", PageGas);
addMenu("调试维护", PageDebug);
addMenu("故障查询", PageFault);
leftLay->addStretch(1);
left->setFixedWidth(240);
main->addWidget(left);
// 中央卡片区（2×2）
QWidget* center = new QWidget(this);
QGridLayout* grid = new QGridLayout(center);
grid->setSpacing(16);
grid->setContentsMargins(0, 0, 0, 0);
m_chassisCard = new DataCard("底盘", center);
m_chassisCard->addField("电量", "85%");
m_chassisCard->addField("电压", "360V");
m_chassisCard->addField("故障", "无");
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_washCard = new DataCard("洗消", center);
m_washCard->addField("A液位", "100L");
m_washCard->addField("泡沫液位", "30L");
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");
grid->addWidget(m_chassisCard, 0, 0);
grid->addWidget(m_armCard, 0, 1);
grid->addWidget(m_washCard, 1, 0);
grid->addWidget(m_gasCard, 1, 1);
main->addWidget(center, 1);
// 右侧按钮列（垂直居中 + 平均分布）
QWidget* right = new QWidget(this);
QVBoxLayout* rightLay = new QVBoxLayout(right);
rightLay->setContentsMargins(0, 0, 0, 0);
rightLay->setSpacing(8);
QPushButton* clean = button("手动消除", "primary", right);
clean->setFixedHeight(170);
connect(clean, &QPushButton::clicked, this, [this]() { emit navigate(PageClean); });
QPushButton* disinfect = button("手动消毒", "primary", right);
disinfect->setFixedHeight(170);
connect(disinfect, &QPushButton::clicked, this, [this]() { emit navigate(PageDisinfect); });
rightLay->addStretch(1);
rightLay->addWidget(clean);
rightLay->addStretch(1);
rightLay->addWidget(disinfect);
rightLay->addStretch(1);
right->setFixedWidth(360);
main->addWidget(right);
root->addLayout(main, 1);
m_statusStrip = new StatusStrip(ctx, this);
m_statusStrip->setBackVisible(false);
root->addWidget(m_statusStrip);
connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &JobSelectPage::refresh);
refresh();
}
void JobSelectPage::refresh()
{
const Telemetry& t = ctx()->telemetry;
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("；"));
m_chassisCard->setAlarm(2, !t.chassisFaults.isEmpty());
m_armCard->setField(0, t.pos);
m_armCard->setField(1, t.pose);
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_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->setAlarm(1, t.gasConc > 500.0);
}
pages/jobselectpage.h
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#ifndef JOBSELECTPAGE_H
#define JOBSELECTPAGE_H
#include "basepage.h"
class TitleBar;
class StatusStrip;
class DataCard;
// ===================== ⑤ 作业选择界面 =====================
class JobSelectPage : public BasePage
{
Q_OBJECT
public:
explicit JobSelectPage(AppContext* ctx, QWidget* parent = nullptr);
private slots:
void refresh();
private:
TitleBar* m_titleBar = nullptr;
StatusStrip* m_statusStrip = nullptr;
DataCard* m_chassisCard = nullptr;
DataCard* m_armCard = nullptr;
DataCard* m_washCard = nullptr;
DataCard* m_gasCard = nullptr;
};
#endif // JOBSELECTPAGE_H
pages/manualcleanpage.cpp
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#include "manualcleanpage.h"
#include "paramcontrol.h"
#include "udpcommunication.h"
#include "confirmdialog.h"
#include <QVBoxLayout>
#include "global.h"
ManualCleanPage::ManualCleanPage(AppContext* ctx, QWidget* parent)
: WashBasePage(ctx, "手动消除", "洗消（手动消除）", parent)
{
double flow = ctx->getDouble(ctx->keyPumpFlow(), 20);
m_pumpFlow = new ParamControl("柱塞泵流量", "L/min", 0.5, 0.0, 100.0, true, false, this);
m_pumpFlow->setValue(flow);
connect(m_pumpFlow, &ParamControl::saveClicked, this, [this]() {
this->ctx()->setDouble(this->ctx()->keyPumpFlow(), m_pumpFlow->value());
this->ctx()->comm()->sendSetParam(this->ctx()->keyPumpFlow(), m_pumpFlow->value());
ConfirmDialog::toast(this, "已保存");
});
paramsLayout()->addWidget(m_pumpFlow);
}
void ManualCleanPage::resetFactory()
{
// 出厂值 20
m_pumpFlow->setValue(20);
ctx()->setDouble(ctx()->keyPumpFlow(), 20);
ConfirmDialog::toast(this, "已恢复出厂值");
}
pages/manualcleanpage.h
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#ifndef MANUALCLEANPAGE_H
#define MANUALCLEANPAGE_H
#include "washbasepage.h"
class ParamControl;
// ===================== ⑨ 手动消除界面 =====================
class ManualCleanPage : public WashBasePage
{
Q_OBJECT
public:
explicit ManualCleanPage(AppContext* ctx, QWidget* parent = nullptr);
protected:
void resetFactory() override;
QString washModeTag() const override { return "clean"; }
private:
ParamControl* m_pumpFlow = nullptr;
};
#endif // MANUALCLEANPAGE_H
pages/manualdisinfectpage.cpp
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#include "manualdisinfectpage.h"
#include "paramcontrol.h"
#include "udpcommunication.h"
#include "confirmdialog.h"
#include <QVBoxLayout>
#include "global.h"
ManualDisinfectPage::ManualDisinfectPage(AppContext* ctx, QWidget* parent)
: WashBasePage(ctx, "手动消毒", "洗消（手动消毒）", parent)
{
// 发泡倍数（出厂 6）
m_foamRatio = new ParamControl("发泡倍数", "倍", 0.5, 0.0, 20.0, true, false, this);
m_foamRatio->setValue(ctx->getDouble(ctx->keyFoamRatio(), 6));
connect(m_foamRatio, &ParamControl::saveClicked, this, [this]() {
this->ctx()->setDouble(this->ctx()->keyFoamRatio(), m_foamRatio->value());
ConfirmDialog::toast(this, "已保存");
});
// 泡沫比例（出厂 3%）
m_foamPercent = new ParamControl("泡沫比例", "%", 0.5, 0.0, 20.0, true, false, this);
m_foamPercent->setValue(ctx->getDouble(ctx->keyFoamPercent(), 3));
connect(m_foamPercent, &ParamControl::saveClicked, this, [this]() {
this->ctx()->setDouble(this->ctx()->keyFoamPercent(), m_foamPercent->value());
ConfirmDialog::toast(this, "已保存");
});
// 空压机流量（出厂 100）
m_airFlow = new ParamControl("空压机流量", "L/min", 1, 0.0, 500.0, true, false, this);
m_airFlow->setValue(ctx->getDouble(ctx->keyAirFlow(), 100));
connect(m_airFlow, &ParamControl::saveClicked, this, [this]() {
this->ctx()->setDouble(this->ctx()->keyAirFlow(), m_airFlow->value());
ConfirmDialog::toast(this, "已保存");
});
paramsLayout()->addWidget(m_foamRatio);
paramsLayout()->addWidget(m_foamPercent);
paramsLayout()->addWidget(m_airFlow);
}
void ManualDisinfectPage::resetFactory()
{
m_foamRatio->setValue(6);
m_foamPercent->setValue(3);
m_airFlow->setValue(100);
ctx()->setDouble(ctx()->keyFoamRatio(), 6);
ctx()->setDouble(ctx()->keyFoamPercent(), 3);
ctx()->setDouble(ctx()->keyAirFlow(), 100);
ConfirmDialog::toast(this, "已恢复出厂值");
}
pages/manualdisinfectpage.h
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#ifndef MANUALDISINFECTPAGE_H
#define MANUALDISINFECTPAGE_H
#include "washbasepage.h"
class ParamControl;
// ===================== ⑩ 手动消毒界面 =====================
class ManualDisinfectPage : public WashBasePage
{
Q_OBJECT
public:
explicit ManualDisinfectPage(AppContext* ctx, QWidget* parent = nullptr);
protected:
void resetFactory() override;
QString washModeTag() const override { return "disinfect"; }
private:
ParamControl* m_foamRatio = nullptr; // 发泡倍数
ParamControl* m_foamPercent = nullptr; // 泡沫比例
ParamControl* m_airFlow = nullptr; // 空压机流量
};
#endif // MANUALDISINFECTPAGE_H
pages/passwordmgmtloginpage.cpp
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#include "passwordmgmtloginpage.h"
#include "numpaddialog.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QLineEdit>
#include <QLabel>
#include <QPushButton>
#include <QTimer>
#include "global.h"
PasswordMgmtLoginPage::PasswordMgmtLoginPage(AppContext* ctx, QWidget* parent)
: BasePage(ctx, parent)
{
QVBoxLayout* root = new QVBoxLayout(this);
root->addStretch(1);
QWidget* col = new QWidget(this);
col->setFixedWidth(700);
QVBoxLayout* lay = new QVBoxLayout(col);
lay->setSpacing(24);
lay->setAlignment(Qt::AlignHCenter);
QLabel* title = label("密码管理登录界面", 28, C::TEXT, true, col);
title->setAlignment(Qt::AlignCenter);
lay->addWidget(title);
QLabel* sub = label("请输入管理员密码", 18, C::TEXT_SUB, false, col);
sub->setAlignment(Qt::AlignCenter);
lay->addWidget(sub);
m_input = new QLineEdit(col);
m_input->setReadOnly(true);
m_input->setEchoMode(QLineEdit::Password);
m_input->setAlignment(Qt::AlignCenter);
m_input->setFixedSize(400, 88);
m_input->setFocusPolicy(Qt::NoFocus);
m_input->installEventFilter(this);
lay->addWidget(m_input, 0, Qt::AlignHCenter);
m_error = label("管理员密码错误", 18, C::DANGER, true, col);
m_error->setAlignment(Qt::AlignCenter);
m_error->hide();
lay->addWidget(m_error);
QHBoxLayout* btnRow = new QHBoxLayout();
btnRow->addStretch(1);
QPushButton* ok = button("确认", "primary", col);
ok->setFixedSize(180, 72);
connect(ok, &QPushButton::clicked, this, &PasswordMgmtLoginPage::onConfirm);
QPushButton* cancel = button("取消", "", col);
cancel->setFixedSize(180, 72);
connect(cancel, &QPushButton::clicked, this, &PasswordMgmtLoginPage::onCancel);
btnRow->addWidget(ok);
btnRow->addWidget(cancel);
btnRow->addStretch(1);
lay->addLayout(btnRow);
root->addWidget(col, 0, Qt::AlignHCenter);
root->addStretch(1);
}
bool PasswordMgmtLoginPage::eventFilter(QObject* obj, QEvent* ev)
{
if (obj == m_input && ev->type() == QEvent::MouseButtonPress) {
onInputClicked();
return true;
}
return BasePage::eventFilter(obj, ev);
}
void PasswordMgmtLoginPage::onInputClicked()
{
NumPadDialog dlg(this);
dlg.setMaxLen(4);
dlg.setValue(m_value);
if (dlg.exec() == QDialog::Accepted) {
m_value = dlg.value();
m_input->setText(m_value);
m_error->hide();
}
}
void PasswordMgmtLoginPage::onConfirm()
{
if (m_value == ctx()->adminPassword()) {
clearInput();
emit navigate(PageMgmt);
} else {
m_error->show();
QTimer::singleShot(3000, this, [this]() { m_error->hide(); });
}
}
void PasswordMgmtLoginPage::onCancel()
{
clearInput();
emit navigate(PageBoot);
}
void PasswordMgmtLoginPage::clearInput()
{
m_value.clear();
m_input->setText(m_value);
m_error->hide();
}
pages/passwordmgmtloginpage.h
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#ifndef PASSWORDMGMTLOGINPAGE_H
#define PASSWORDMGMTLOGINPAGE_H
#include "basepage.h"
class QLineEdit;
class QLabel;
// ===================== 密码管理登录界面 =====================
class PasswordMgmtLoginPage : public BasePage
{
Q_OBJECT
public:
explicit PasswordMgmtLoginPage(AppContext* ctx, QWidget* parent = nullptr);
void clearInput();
protected:
bool eventFilter(QObject* obj, QEvent* ev) override;
private slots:
void onInputClicked();
void onConfirm();
void onCancel();
private:
QLineEdit* m_input = nullptr;
QLabel* m_error = nullptr;
QString m_value;
};
#endif // PASSWORDMGMTLOGINPAGE_H
pages/passwordmgmtpage.cpp
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#include "passwordmgmtpage.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QLabel>
#include <QPushButton>
#include <QCheckBox>
#include "global.h"
PasswordMgmtPage::PasswordMgmtPage(AppContext* ctx, QWidget* parent)
: BasePage(ctx, parent)
{
QVBoxLayout* root = new QVBoxLayout(this);
root->addStretch(1);
QWidget* col = new QWidget(this);
col->setFixedWidth(700);
QVBoxLayout* lay = new QVBoxLayout(col);
lay->setSpacing(24);
lay->setAlignment(Qt::AlignHCenter);
QLabel* title = label("密码管理界面", 28, C::TEXT, true, col);
title->setAlignment(Qt::AlignCenter);
lay->addWidget(title);
// 功能选项列表
QWidget* option = new QWidget(col);
option->setProperty("card", true);
option->setStyleSheet(QString("QWidget[card=\"true\"]{background-color:%1;border:2px solid %2;border-radius:12px;}")
.arg(C::PANEL, C::BORDER));
QVBoxLayout* optLay = new QVBoxLayout(option);
m_reset = new QCheckBox("重置密码功能", option);
m_reset->setChecked(true);
m_reset->setStyleSheet(QString(
"QCheckBox{color:%1;font-size:26px;spacing:12px;}"
"QCheckBox::indicator{width:32px;height:32px;border:2px solid %2;border-radius:6px;background-color:%3;}"
"QCheckBox::indicator:checked{background-color:%4;border-color:%4;image:none;}")
.arg(C::TEXT, C::BORDER, C::BG, C::PRIMARY));
optLay->addWidget(m_reset);
lay->addWidget(option);
// 确认 / 退出
QHBoxLayout* btnRow = new QHBoxLayout();
btnRow->addStretch(1);
QPushButton* ok = button("确认", "primary", col);
ok->setFixedSize(180, 72);
connect(ok, &QPushButton::clicked, this, [this]() { emit navigate(PageReset); });
QPushButton* exit = button("退出", "", col);
exit->setFixedSize(180, 72);
connect(exit, &QPushButton::clicked, this, [this]() { emit navigate(PageBoot); });
btnRow->addWidget(ok);
btnRow->addWidget(exit);
btnRow->addStretch(1);
lay->addLayout(btnRow);
root->addWidget(col, 0, Qt::AlignHCenter);
root->addStretch(1);
}
pages/passwordmgmtpage.h
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#ifndef PASSWORDMGMTPAGE_H
#define PASSWORDMGMTPAGE_H
#include "basepage.h"
class QCheckBox;
// ===================== 密码管理界面 =====================
class PasswordMgmtPage : public BasePage
{
Q_OBJECT
public:
explicit PasswordMgmtPage(AppContext* ctx, QWidget* parent = nullptr);
private:
QCheckBox* m_reset = nullptr;
};
#endif // PASSWORDMGMTPAGE_H
pages/passwordresetpage.cpp
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#include "passwordresetpage.h"
#include "numpaddialog.h"
#include "confirmdialog.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QLineEdit>
#include <QLabel>
#include <QPushButton>
#include <QRegularExpression>
#include "global.h"
PasswordResetPage::PasswordResetPage(AppContext* ctx, QWidget* parent)
: BasePage(ctx, parent)
{
QVBoxLayout* root = new QVBoxLayout(this);
root->addStretch(1);
QWidget* col = new QWidget(this);
col->setFixedWidth(700);
QVBoxLayout* lay = new QVBoxLayout(col);
lay->setSpacing(24);
lay->setAlignment(Qt::AlignHCenter);
QLabel* title = label("重置密码界面", 28, C::TEXT, true, col);
title->setAlignment(Qt::AlignCenter);
lay->addWidget(title);
m_input = new QLineEdit(col);
m_input->setReadOnly(true);
m_input->setEchoMode(QLineEdit::Password);
m_input->setAlignment(Qt::AlignCenter);
m_input->setFixedSize(400, 88);
m_input->setFocusPolicy(Qt::NoFocus);
m_input->installEventFilter(this);
lay->addWidget(m_input, 0, Qt::AlignHCenter);
m_hint = label("请输入 4 位有效密码", 18, C::TEXT_SUB, false, col);
m_hint->setAlignment(Qt::AlignCenter);
lay->addWidget(m_hint);
QHBoxLayout* btnRow = new QHBoxLayout();
btnRow->addStretch(1);
QPushButton* ok = button("确认", "primary", col);
ok->setFixedSize(160, 72);
connect(ok, &QPushButton::clicked, this, &PasswordResetPage::onConfirm);
QPushButton* cancel = button("取消", "", col);
cancel->setFixedSize(160, 72);
connect(cancel, &QPushButton::clicked, this, &PasswordResetPage::onCancel);
QPushButton* exit = button("退出", "", col);
exit->setFixedSize(160, 72);
connect(exit, &QPushButton::clicked, this, &PasswordResetPage::onCancel);
btnRow->addWidget(ok);
btnRow->addWidget(cancel);
btnRow->addWidget(exit);
btnRow->addStretch(1);
lay->addLayout(btnRow);
root->addWidget(col, 0, Qt::AlignHCenter);
root->addStretch(1);
}
bool PasswordResetPage::eventFilter(QObject* obj, QEvent* ev)
{
if (obj == m_input && ev->type() == QEvent::MouseButtonPress) {
onInputClicked();
return true;
}
return BasePage::eventFilter(obj, ev);
}
void PasswordResetPage::onInputClicked()
{
NumPadDialog dlg(this);
dlg.setMaxLen(4);
dlg.setValue(m_value);
if (dlg.exec() == QDialog::Accepted) {
m_value = dlg.value();
m_input->setText(m_value);
m_hint->setText("请输入 4 位有效密码");
m_hint->setStyleSheet(QString("color:%1;font-size:20px;").arg(C::TEXT_SUB));
}
}
void PasswordResetPage::onConfirm()
{
// 校验：4 位数字
static const QRegularExpression re("^\\d{4}$");
if (!re.match(m_value).hasMatch()) {
m_hint->setText("密码须为 4 位数字");
m_hint->setStyleSheet(QString("color:%1;font-size:20px;font-weight:700;").arg(C::DANGER));
return;
}
ctx()->setPassword(m_value);
clearInput();
ConfirmDialog::toast(this, "修改成功");
emit navigate(PageBoot);
}
void PasswordResetPage::onCancel()
{
clearInput();
emit navigate(PageBoot);
}
void PasswordResetPage::clearInput()
{
m_value.clear();
m_input->setText(m_value);
m_hint->setText("请输入 4 位有效密码");
m_hint->setStyleSheet(QString("color:%1;font-size:20px;").arg(C::TEXT_SUB));
}
pages/passwordresetpage.h
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#ifndef PASSWORDRESETPAGE_H
#define PASSWORDRESETPAGE_H
#include "basepage.h"
class QLineEdit;
class QLabel;
// ===================== 密码重置界面 =====================
class PasswordResetPage : public BasePage
{
Q_OBJECT
public:
explicit PasswordResetPage(AppContext* ctx, QWidget* parent = nullptr);
void clearInput();
protected:
bool eventFilter(QObject* obj, QEvent* ev) override;
private slots:
void onInputClicked();
void onConfirm();
void onCancel();
private:
QLineEdit* m_input = nullptr;
QLabel* m_hint = nullptr;
QString m_value;
};
#endif // PASSWORDRESETPAGE_H
pages/selfcheckpage.cpp
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#include "selfcheckpage.h"
#include "titlebar.h"
#include "ledindicator.h"
#include "udpcommunication.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QGridLayout>
#include <QLabel>
#include <QPushButton>
#include <QProgressBar>
#include <QTimer>
#include <QMessageBox>
#include "global.h"
SelfCheckPage::SelfCheckPage(AppContext* ctx, QWidget* parent)
: BasePage(ctx, parent)
{
QVBoxLayout* root = new QVBoxLayout(this);
root->setContentsMargins(0, 0, 0, 0);
root->setSpacing(0);
m_titleBar = new TitleBar(ctx, this);
m_titleBar->setTitle("自检界面");
root->addWidget(m_titleBar);
// 主区
QHBoxLayout* main = new QHBoxLayout();
main->setContentsMargins(36, 16, 36, 16);
main->setSpacing(32);
// 左按钮列（垂直居中 + 平均分布）
QWidget* left = new QWidget(this);
QVBoxLayout* leftLay = new QVBoxLayout(left);
leftLay->setContentsMargins(0, 0, 0, 0);
leftLay->setSpacing(8);
QPushButton* faultQuery = button("故障查询", "", left);
faultQuery->setFixedHeight(120);
connect(faultQuery, &QPushButton::clicked, this, [this]() { emit navigate(PageFault); });
m_ignore = button("忽略故障", "", left);
m_ignore->setFixedHeight(120);
connect(m_ignore, &QPushButton::clicked, this, &SelfCheckPage::onIgnoreFault);
m_ignore->setEnabled(false);
leftLay->addStretch(1);
leftLay->addWidget(faultQuery);
leftLay->addStretch(1);
leftLay->addWidget(m_ignore);
leftLay->addStretch(1);
left->setFixedWidth(270);
main->addWidget(left);
// 中央区
QWidget* center = new QWidget(this);
QVBoxLayout* centerLay = new QVBoxLayout(center);
centerLay->setContentsMargins(0, 0, 0, 0);
centerLay->setSpacing(12);
m_status = label("自检中", 36, C::WARNING, true, center);
m_status->setAlignment(Qt::AlignCenter);
centerLay->addWidget(m_status);
// 10 个自检项，两列
QGridLayout* grid = new QGridLayout();
grid->setSpacing(12);
const QString names[10] = {
"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开启", "球阀D1关闭", "球阀D2开启", "球阀D2关闭"
};
for (int i = 0; i < 10; ++i) {
LedIndicator* led = new LedIndicator(names[i], center);
led->setState(LedIndicator::Off);
QLabel* res = label("待检测", 20, C::TEXT_SUB, false, center);
res->setFixedWidth(120);
QWidget* row = new QWidget(center);
QHBoxLayout* rowLay = new QHBoxLayout(row);
rowLay->setContentsMargins(0, 0, 0, 0);
rowLay->addWidget(led, 1);
rowLay->addWidget(res);
grid->addWidget(row, i % 5, i / 5);
m_leds.append(led);
m_results.append(res);
}
centerLay->addLayout(grid, 1);
// 进度条
m_progress = new QProgressBar(center);
m_progress->setRange(0, 100);
m_progress->setValue(0);
m_progress->setFixedHeight(54);
m_progress->setFormat("%p%（0/10）");
centerLay->addWidget(m_progress);
main->addWidget(center, 1);
// 右按钮列（垂直居中 + 平均分布）
QWidget* right = new QWidget(this);
QVBoxLayout* rightLay = new QVBoxLayout(right);
rightLay->setContentsMargins(0, 0, 0, 0);
rightLay->setSpacing(8);
QPushButton* help = button("操作说明", "", right);
help->setFixedHeight(120);
connect(help, &QPushButton::clicked, this, &SelfCheckPage::onHelp);
QPushButton* start = button("启动自检", "primary", right);
start->setFixedHeight(120);
connect(start, &QPushButton::clicked, this, &SelfCheckPage::startSelfCheck);
m_job = button("作业选择", "", right);
m_job->setFixedHeight(120);
connect(m_job, &QPushButton::clicked, this, &SelfCheckPage::onJobSelect);
m_job->setEnabled(false);
rightLay->addStretch(1);
rightLay->addWidget(help);
rightLay->addStretch(1);
rightLay->addWidget(start);
rightLay->addStretch(1);
rightLay->addWidget(m_job);
rightLay->addStretch(1);
right->setFixedWidth(270);
main->addWidget(right);
root->addLayout(main, 1);
// 连接通信信号
connect(ctx->comm(), &UdpCommunication::selfCheckItem, this, &SelfCheckPage::onSelfCheckItem);
connect(ctx->comm(), &UdpCommunication::selfCheckDone, this, &SelfCheckPage::onSelfCheckDone);
}
void SelfCheckPage::showEvent(QShowEvent* ev)
{
BasePage::showEvent(ev);
if (!m_autoStarted) {
m_autoStarted = true;
startSelfCheck();
}
}
void SelfCheckPage::startSelfCheck()
{
m_done = false;
m_job->setEnabled(false);
m_ignore->setEnabled(false);
m_progress->setValue(0);
m_progress->setFormat("%p%（0/10）");
m_status->setText("自检中");
m_status->setStyleSheet(QString("color:%1;font-size:36px;font-weight:700;").arg(C::WARNING));
for (int i = 0; i < 10; ++i) {
m_leds[i]->setState(LedIndicator::Off);
m_results[i]->setText("待检测");
m_results[i]->setStyleSheet(QString("color:%1;font-size:22px;").arg(C::TEXT_SUB));
}
ctx()->comm()->sendSelfCheckStart();
}
void SelfCheckPage::resetAll()
{
m_autoStarted = false;
}
void SelfCheckPage::onSelfCheckItem(int index, bool ok)
{
if (index < 0 || index >= 10)
return;
m_leds[index]->setState(LedIndicator::Yellow); // 检测中黄闪 → 结果
// 结果态
if (ok) {
m_leds[index]->setState(LedIndicator::Green);
m_results[index]->setText("正常");
m_results[index]->setStyleSheet(QString("color:%1;font-size:22px;").arg(C::SUCCESS));
} else {
m_leds[index]->setState(LedIndicator::RedBlink);
m_results[index]->setText("异常");
m_results[index]->setStyleSheet(QString("color:%1;font-size:22px;font-weight:700;").arg(C::DANGER));
}
int pct = (index + 1) * 10;
m_progress->setValue(pct);
m_progress->setFormat(QString("%p%（%1/10）").arg(index + 1));
}
void SelfCheckPage::onSelfCheckDone(bool allOk)
{
m_done = true;
if (allOk) {
m_status->setText("自检完成");
m_status->setStyleSheet(QString("color:%1;font-size:36px;font-weight:700;").arg(C::SUCCESS));
m_job->setEnabled(true);
// 【设计建议】自检完成 2s 后自动进入作业选择
QTimer::singleShot(2000, this, [this]() {
if (m_done && isVisible())
emit navigate(PageJob);
});
} else {
m_status->setText("无法完成自检　请检查设备");
m_status->setStyleSheet(QString("color:%1;font-size:36px;font-weight:700;").arg(C::DANGER));
startBlink(m_status, "blink");
m_ignore->setEnabled(true);
m_job->setEnabled(true);
}
}
void SelfCheckPage::onIgnoreFault()
{
emit navigate(PageJob);
}
void SelfCheckPage::onJobSelect()
{
emit navigate(PageJob);
}
void SelfCheckPage::onHelp()
{
QMessageBox::information(this, "操作说明",
"系统自检将依次检测：通信系统、底盘通信、机械臂通信、洗消通信、"
"传感器信号、清水液位及电动球阀 D1/D2 的开启与关闭。\n"
"全部正常后方可进入作业选择界面。");
}
pages/selfcheckpage.h
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#ifndef SELFCHECKPAGE_H
#define SELFCHECKPAGE_H
#include "basepage.h"
#include <QVector>
class TitleBar;
class QLabel;
class QProgressBar;
class QPushButton;
class LedIndicator;
// ===================== ④ 自检界面（系统启动及自检） =====================
class SelfCheckPage : public BasePage
{
Q_OBJECT
public:
explicit SelfCheckPage(AppContext* ctx, QWidget* parent = nullptr);
void startSelfCheck();
void resetAll();
protected:
void showEvent(QShowEvent* ev) override;
private slots:
void onSelfCheckItem(int index, bool ok);
void onSelfCheckDone(bool allOk);
void onIgnoreFault();
void onJobSelect();
void onHelp();
private:
TitleBar* m_titleBar = nullptr;
QLabel* m_status = nullptr;
QVector<LedIndicator*> m_leds;
QVector<QLabel*> m_results;
QProgressBar* m_progress = nullptr;
QPushButton* m_ignore = nullptr;
QPushButton* m_job = nullptr;
bool m_autoStarted = false;
bool m_done = false;
};
#endif // SELFCHECKPAGE_H
pages/warningpage.cpp
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#include "warningpage.h"
#include <QVBoxLayout>
#include <QLabel>
#include <QPushButton>
#include "global.h"
WarningPage::WarningPage(AppContext* ctx, QWidget* parent)
: BasePage(ctx, parent)
{
QVBoxLayout* root = new QVBoxLayout(this);
root->addStretch(1);
QWidget* col = new QWidget(this);
QVBoxLayout* lay = new QVBoxLayout(col);
lay->setSpacing(40);
lay->setAlignment(Qt::AlignHCenter);
QLabel* txt = label("密码输入有误，请重新输入", 26, C::DANGER, true, col);
txt->setAlignment(Qt::AlignCenter);
txt->setProperty("alert", true);
startBlink(txt, "blink");
lay->addWidget(txt);
QPushButton* retry = button("重新输入", "primary", col);
retry->setFixedSize(220, 76);
connect(retry, &QPushButton::clicked, this, [this]() { emit navigate(PageBoot); });
lay->addWidget(retry, 0, Qt::AlignHCenter);
root->addWidget(col, 0, Qt::AlignHCenter);
root->addStretch(1);
}
pages/warningpage.h
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#ifndef WARNINGPAGE_H
#define WARNINGPAGE_H
#include "basepage.h"
// ===================== 密码警告界面 =====================
class WarningPage : public BasePage
{
Q_OBJECT
public:
explicit WarningPage(AppContext* ctx, QWidget* parent = nullptr);
};
#endif // WARNINGPAGE_H
pages/washbasepage.cpp
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#include "washbasepage.h"
#include "titlebar.h"
#include "alarmbanner.h"
#include "datacard.h"
#include "ledindicator.h"
#include "udpcommunication.h"
#include "confirmdialog.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QPushButton>
#include <QTimer>
#include "global.h"
WashBasePage::WashBasePage(AppContext* ctx, const QString& title, const QString& washTitle,
QWidget* parent)
: BasePage(ctx, parent)
{
QVBoxLayout* root = new QVBoxLayout(this);
root->setContentsMargins(0, 0, 0, 0);
root->setSpacing(0);
m_titleBar = new TitleBar(ctx, this);
m_titleBar->setTitle(title);
root->addWidget(m_titleBar);
m_banner = new AlarmBanner(this);
root->addWidget(m_banner);
QHBoxLayout* main = new QHBoxLayout();
main->setContentsMargins(36, 16, 36, 16);
main->setSpacing(28);
// 左侧状态卡（底盘/机械臂/气体检测仪）
QWidget* left = new QWidget(this);
QVBoxLayout* leftLay = new QVBoxLayout(left);
leftLay->setContentsMargins(0, 0, 0, 0);
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_armCard = new DataCard("机械臂", left);
m_armCard->addField("末端位置", "XYZ");
m_armCard->addField("姿态", "RX/RY/RZ");
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");
leftLay->addWidget(m_chassisCard, 1);
leftLay->addWidget(m_armCard, 1);
leftLay->addWidget(m_gasCard, 1);
left->setFixedWidth(280);
main->addWidget(left);
// 中央洗消卡
m_washCard = new DataCard(washTitle, 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", "");
main->addWidget(m_washCard, 1);
// 右侧操作列
QWidget* right = new QWidget(this);
QVBoxLayout* rightLay = new QVBoxLayout(right);
rightLay->setContentsMargins(0, 0, 0, 0);
rightLay->setSpacing(10);
m_start = button("启动", "primary", right);
m_start->setFixedSize(354, 112);
connect(m_start, &QPushButton::clicked, this, &WashBasePage::onStart);
m_stop = button("停止", "danger", right);
m_stop->setFixedSize(354, 112);
connect(m_stop, &QPushButton::clicked, this, &WashBasePage::onStop);
rightLay->addWidget(m_start);
rightLay->addWidget(m_stop);
// 参数区（子类填充）
m_paramsLayout = new QVBoxLayout();
m_paramsLayout->setSpacing(8);
rightLay->addLayout(m_paramsLayout);
rightLay->addStretch(1);
right->setFixedWidth(380);
main->addWidget(right);
root->addLayout(main, 1);
// 底部指示灯条
QWidget* bottom = new QWidget(this);
bottom->setFixedHeight(94);
bottom->setStyleSheet(QString("background-color:%1;border-top:1px solid %2;")
.arg(C::PANEL, C::BORDER));
QHBoxLayout* bottomLay = new QHBoxLayout(bottom);
bottomLay->setContentsMargins(24, 0, 24, 0);
bottomLay->setSpacing(18);
m_factory = button("恢复出厂值", "", bottom);
m_factory->setFixedSize(220, 64);
connect(m_factory, &QPushButton::clicked, this, &WashBasePage::onFactory);
bottomLay->addWidget(m_factory);
bottomLay->addSpacing(20);
m_ledRun = new LedIndicator("启停", bottom);
m_ledPlunger = new LedIndicator("柱塞泵", bottom);
m_ledAir = new LedIndicator("空压机", bottom);
m_ledLeaf = new LedIndicator("叶片泵", bottom);
m_ledLevel = new LedIndicator("液位低", bottom);
m_ledD1 = new LedIndicator("D1", bottom);
m_ledD2 = new LedIndicator("D2", bottom);
m_ledFault = new LedIndicator("系统故障", bottom);
bottomLay->addWidget(m_ledRun);
bottomLay->addWidget(m_ledPlunger);
bottomLay->addWidget(m_ledAir);
bottomLay->addWidget(m_ledLeaf);
bottomLay->addWidget(m_ledLevel);
bottomLay->addWidget(m_ledD1);
bottomLay->addWidget(m_ledD2);
bottomLay->addWidget(m_ledFault);
bottomLay->addStretch(1);
m_back = button("返回", "", bottom);
m_back->setFixedSize(144, 76);
connect(m_back, &QPushButton::clicked, this, &WashBasePage::onBack);
bottomLay->addWidget(m_back);
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, &WashBasePage::rotateFaults);
m_faultTimer->start();
connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &WashBasePage::refresh);
updateGating();
refresh();
}
void WashBasePage::onStart()
{
ctx()->comm()->sendWashStart(washModeTag());
ctx()->washRunning = true;
updateGating();
onWashStateChanged(true);
}
void WashBasePage::onStop()
{
ctx()->comm()->sendWashStop();
ctx()->washRunning = false;
updateGating();
onWashStateChanged(false);
}
void WashBasePage::onBack()
{
if (ctx()->washRunning) {
ConfirmDialog::toast(this, "请先停止");
return;
}
emit navigate(PageJob);
}
void WashBasePage::onFactory()
{
if (ConfirmDialog::confirm(this, "恢复出厂值", "确定将参数恢复为出厂值？"))
resetFactory();
}
void WashBasePage::updateGating()
{
bool running = ctx()->washRunning;
m_start->setEnabled(!running);
m_stop->setEnabled(running);
m_back->setEnabled(!running);
}
void WashBasePage::refresh()
{
const Telemetry& t = ctx()->telemetry;
if (!t.commOk) m_banner->showAlarm("通信异常");
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;
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("；"));
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_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));
// 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);
// 故障代码显示（静态更新，循环由 rotateFaults 驱动）
rotateFaults();
}
void WashBasePage::rotateFaults()
{
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();
}
pages/washbasepage.h
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#ifndef WASHBASEPAGE_H
#define WASHBASEPAGE_H
#include "basepage.h"
#include <QVector>
class TitleBar;
class AlarmBanner;
class DataCard;
class LedIndicator;
class QPushButton;
class QVBoxLayout;
class QTimer;
// ===================== 洗消页面基类（⑨手动消除 / ⑩手动消毒 共用） =====================
// 左侧状态卡 + 中央洗消参数卡 + 右侧启动/停止与参数 + 底部指示灯条
class WashBasePage : public BasePage
{
Q_OBJECT
public:
// title：页面标题；washTitle：中央洗消卡标题
WashBasePage(AppContext* ctx, const QString& title, const QString& washTitle,
QWidget* parent = nullptr);
protected:
// 子类向右侧参数区添加参数控件
QVBoxLayout* paramsLayout() const { return m_paramsLayout; }
// 启动/停止状态变化通知
virtual void onWashStateChanged(bool running) { Q_UNUSED(running); }
// 恢复出厂值（子类实现）
virtual void resetFactory() = 0;
// 洗消模式标识："clean" / "disinfect"
virtual QString washModeTag() const = 0;
private slots:
void onStart();
void onStop();
void onBack();
void onFactory();
void refresh();
void rotateFaults();
private:
void updateGating();
TitleBar* m_titleBar = nullptr;
AlarmBanner* m_banner = nullptr;
DataCard* m_chassisCard = nullptr;
DataCard* m_armCard = nullptr;
DataCard* m_gasCard = nullptr;
DataCard* m_washCard = nullptr;
QPushButton* m_start = nullptr;
QPushButton* m_stop = nullptr;
QPushButton* m_back = nullptr;
QPushButton* m_factory = nullptr;
QVBoxLayout* m_paramsLayout = nullptr;
// 底部指示灯
LedIndicator* m_ledRun = nullptr;
LedIndicator* m_ledPlunger = nullptr;
LedIndicator* m_ledAir = nullptr;
LedIndicator* m_ledLeaf = nullptr;
LedIndicator* m_ledLevel = nullptr;
LedIndicator* m_ledD1 = nullptr;
LedIndicator* m_ledD2 = nullptr;
LedIndicator* m_ledFault = nullptr;
// 中央洗消卡字段索引
int m_fMode = -1, m_fLevelA = -1, m_fLevelFoam = -1;
int m_fFlowA = -1, m_fFlowB = -1, m_fGasFlow = -1;
int m_fPress = -1, m_fAirPress = -1, m_fFoam = -1;
int m_fAirFault = -1, m_fPlungerFault = -1;
QTimer* m_faultTimer = nullptr;
int m_faultIndex = 0;
};
#endif // WASHBASEPAGE_H