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 +1,31 @@
+{
+  "permissions": {
+    "allow": [
+      "Bash(ls -la \"g:/workspace/a6_haisi/haisi22Ap10/qt/wuhan/wuhan/\")",
+      "Read(//g/workspace/a6_haisi/haisi22Ap10/qt/wuhan/wuhan/**)",
+      "Read(//c//**)",
+      "Read(//c/Qt/**)",
+      "Bash(cd \"g:/workspace/a6_haisi\" && find . -maxdepth 4 -iname \"*通信协议*\" -o -iname \"*0708*\" -o -iname \"*协议*\" 2>/dev/null | head -40; echo \"=== all docs in workspace root ===\"; ls -la \"g:/workspace/a6_haisi/haisi22Ap10/\" 2>/dev/null; echo \"=== PasswordLogin / RobotControl ===\"; ls -la \"g:/workspace/a6_haisi/haisi22Ap10/qt/wuhan/wuhan/PasswordLogin/\" \"g:/workspace/a6_haisi/haisi22Ap10/qt/wuhan/wuhan/RobotControl/\" 2>/dev/null)",
+      "Read(//g/workspace/a6_haisi/**)",
+      "Read(//g/workspace/a6_haisi/haisi22Ap10/**)",
+      "Bash(ls \"F:/QT/5.15.2/mingw81_32/bin/qmake.exe\" \"F:/QT/5.15.2/mingw81_32/bin/moc.exe\" \"F:/QT/Tools/mingw810_32/bin/g++.exe\" \"F:/QT/Tools/mingw810_32/bin/mingw32-make.exe\" 2>&1)",
+      "Read(//f/QT/5.15.2/mingw81_32/bin/**)",
+      "Bash(ls \"F:/QT/5.15.2/mingw81_32/plugins/platforms/\" 2>&1)",
+      "Read(//f/QT/5.15.2/mingw81_32/plugins/platforms/**)",
+      "Bash(taskkill //F //IM wuhan.exe)",
+      "Bash(tasklist)",
+      "Bash(sed -i 's/setPixelSize\\(20\\)/setPixelSize\\(24\\)/; s/setFixedHeight\\(44\\)/setFixedHeight\\(52\\)/; s/m_radius = 16/m_radius = 18/' widgets/ledindicator.cpp)",
+      "Bash(sed -i 's/font-size:32px/font-size:40px/; s/font-size:22px/font-size:26px/' widgets/titlebar.cpp)",
+      "Bash(sed -i 's/font-size:18px/font-size:22px/; s/font-size:20px/font-size:24px/g' widgets/statusstrip.cpp)",
+      "Bash(sed -i 's/font-size:20px/font-size:22px/' widgets/faulttable.cpp)",
+      "Bash(sed -i 's/font-size:26px/font-size:30px/' widgets/alarmbanner.cpp)",
+      "Bash(sed -i 's/font-size:20px;font-weight:700/font-size:24px;font-weight:700/; s/color:%1;font-size:20px;/color:%1;font-size:22px;/; s/font-size:56px;font-weight:700/font-size:64px;font-weight:700/; s/font-size:26px;font-weight:700/font-size:30px;font-weight:700/' widgets/datacard.cpp)",
+      "Bash(sed -i 's/font-size:44px/font-size:52px/; s/font-size:40px/font-size:44px/g; s/font-size:18px/font-size:22px/' widgets/paramcontrol.cpp)",
+      "Bash(sed -i 's/font-size:18px/font-size:22px/g; s/font-size:20px/font-size:24px/g' pages/armpage.cpp)",
+      "Bash(sed -i 's/font-size:22px/font-size:26px/' pages/chassispage.cpp)",
+      "Bash(sed -i 's/font-size:20px/font-size:24px/' pages/faultquerypage.cpp)",
+      "Bash(cd /tmp)",
+      "Bash(rm -rf \"g:/workspace/a6_haisi/haisi22Ap10/qt/wuhan/wuhan/Ui_wuhan/build/manual\")"
+    ]
+  }
+}
@@ -0,0 +1,29 @@
+# Qt Creator 自动生成的本地配置文件（每个人、每台电脑都不同，绝对不能上传）
+*.user
+*.user.*
+*.suo
+*.tasks
+CMakeLists.txt.user
+
+# 编译输出目录（Qt Creator 默认生成的外部 build 文件夹）
+build-*/
+
+# 临时编译文件与中间件
+*.o
+*.obj
+*.moc
+moc_*.cpp
+qrc_*.cpp
+ui_*.h
+*.pdb
+*.ilk
+*.idb
+
+# 最终生成的可执行文件与动态库
+/debug/
+/release/
+*.exe
+*.dll
+*.so
+*.a
+*.lib
@@ -0,0 +1,18 @@
+{
+  "configurations": [
+    {
+      "name": "windows-gcc-x64",
+      "includePath": [
+        "${workspaceFolder}/**"
+      ],
+      "compilerPath": "gcc",
+      "cStandard": "${default}",
+      "cppStandard": "${default}",
+      "intelliSenseMode": "windows-gcc-x64",
+      "compilerArgs": [
+        ""
+      ]
+    }
+  ],
+  "version": 4
+}
@@ -0,0 +1,24 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "name": "C/C++ Runner: Debug Session",
+      "type": "cppdbg",
+      "request": "launch",
+      "args": [],
+      "stopAtEntry": false,
+      "externalConsole": true,
+      "cwd": "g:/workspace/a6_haisi/haisi22Ap10/qt/wuhan/wuhan/Ui_wuhan",
+      "program": "g:/workspace/a6_haisi/haisi22Ap10/qt/wuhan/wuhan/Ui_wuhan/build/Debug/outDebug",
+      "MIMode": "gdb",
+      "miDebuggerPath": "gdb",
+      "setupCommands": [
+        {
+          "description": "Enable pretty-printing for gdb",
+          "text": "-enable-pretty-printing",
+          "ignoreFailures": true
+        }
+      ]
+    }
+  ]
+}
@@ -0,0 +1,59 @@
+{
+  "C_Cpp_Runner.cCompilerPath": "gcc",
+  "C_Cpp_Runner.cppCompilerPath": "g++",
+  "C_Cpp_Runner.debuggerPath": "gdb",
+  "C_Cpp_Runner.cStandard": "",
+  "C_Cpp_Runner.cppStandard": "",
+  "C_Cpp_Runner.msvcBatchPath": "C:/Program Files/Microsoft Visual Studio/VR_NR/Community/VC/Auxiliary/Build/vcvarsall.bat",
+  "C_Cpp_Runner.useMsvc": false,
+  "C_Cpp_Runner.warnings": [
+    "-Wall",
+    "-Wextra",
+    "-Wpedantic",
+    "-Wshadow",
+    "-Wformat=2",
+    "-Wcast-align",
+    "-Wconversion",
+    "-Wsign-conversion",
+    "-Wnull-dereference"
+  ],
+  "C_Cpp_Runner.msvcWarnings": [
+    "/W4",
+    "/permissive-",
+    "/w14242",
+    "/w14287",
+    "/w14296",
+    "/w14311",
+    "/w14826",
+    "/w44062",
+    "/w44242",
+    "/w14905",
+    "/w14906",
+    "/w14263",
+    "/w44265",
+    "/w14928"
+  ],
+  "C_Cpp_Runner.enableWarnings": true,
+  "C_Cpp_Runner.warningsAsError": false,
+  "C_Cpp_Runner.compilerArgs": [],
+  "C_Cpp_Runner.linkerArgs": [],
+  "C_Cpp_Runner.includePaths": [],
+  "C_Cpp_Runner.includeSearch": [
+    "*",
+    "**/*"
+  ],
+  "C_Cpp_Runner.excludeSearch": [
+    "**/build",
+    "**/build/**",
+    "**/.*",
+    "**/.*/**",
+    "**/.vscode",
+    "**/.vscode/**"
+  ],
+  "C_Cpp_Runner.useAddressSanitizer": false,
+  "C_Cpp_Runner.useUndefinedSanitizer": false,
+  "C_Cpp_Runner.useLeakSanitizer": false,
+  "C_Cpp_Runner.showCompilationTime": false,
+  "C_Cpp_Runner.useLinkTimeOptimization": false,
+  "C_Cpp_Runner.msvcSecureNoWarnings": false
+}
@@ -0,0 +1,57 @@
+# 图数一体机遥控端 QT 界面（wuhan）
+
+依据《QT界面详细设计说明书.md》实现的“玉兔工业无线遥控器（YTZT6K8EART2-aL25）”遥控端界面，
+覆盖 ③开机密码（含密码警告/密码管理登录/密码管理/密码重置）④自检 ⑤作业选择 ⑥机器人底盘
+⑦机械臂 ⑧气体检测仪 ⑨手动消除 ⑩手动消毒 ⑪调试维护 ⑫故障查询 共 10 个界面，
+并配套 **UDP 收包 / 发包通信** 与内置模拟车载端。
+
+## 环境与构建
+
+- Qt 5.15.2 MinGW 32-bit（`F:\QT\5.15.2\mingw81_32`），编译套件 `Desktop Qt 5.15.2 MinGW 32-bit`。
+- 用 Qt Creator 打开 `wuhan.pro` 直接构建运行即可（qmake 工程，`QT += network`）。
+
+命令行构建示例：
+
+```bash
+export PATH="/f/QT/Tools/mingw810_32/bin:/f/QT/5.15.2/mingw81_32/bin:$PATH"
+mkdir -p build && cd build
+qmake ../wuhan.pro -spec win32-g++ "CONFIG+=debug"
+mingw32-make -j4
+```
+
+运行：`debug/wuhan.exe`（1920×1080 全屏无边框）。
+
+## 运行说明
+
+- 开机密码默认 **6789**（可在“忘记密码／修改密码 → 密码管理登录（管理员密码 6789）→ 密码管理 → 重置密码”中修改）。
+- 密码正确后进入自检，自检完成 2 秒自动进入“作业选择”；自检异常时可“忽略故障”继续。
+- 底部状态条上的**模式徽标可点击**（或按键盘 **M**）在“行车模式 / 机械臂模式”间切换；
+  行车模式操作底盘，机械臂模式操作机械臂。
+- 软急停：各页顶条右上角“急停”按钮，或按键盘 **E**；急停后需点击“复位”恢复。
+- ⑨⑩ 运行中“返回”无效（需先停止）；调试维护页常显红色警告。
+
+## 通信（UDP 收包 / 发包）
+
+通信层位于 `comm/udpcommunication.cpp`，协议为 **JSON 文本**（`QJsonDocument`）：
+
+- 遥控端绑定本地端口 `9000`，向 `127.0.0.1:9001` 发包；
+- 内置模拟车载端 `comm/mockvehicle.cpp` 绑定 `9001`，向 `9000` 回传遥测，并对命令作出响应。
+
+上行命令（UI→车载端，`{"t":...}`）：`chassis_move` `arm_move` `arm_return` `arm_pause`
+`gas_start` `gas_stop` `wash_start` `wash_stop` `ball_valve` `pump_power` `pump_rpm`
+`set_param` `selfcheck_start` `estop` `estop_reset`。
+
+下行遥测（车载端→UI）：`heartbeat` `chassis` `arm` `wash` `tank` `gas` `valve` `pump`
+`estop` `selfcheck` `selfcheck_done`。
+
+可在 `config.ini`（程序目录）中配置 `net/local_port`、`net/remote_host`、`net/remote_port`、
+`net/mock`（true 启用内置模拟端，false 连接真实车载端）、`net/selfcheck_fault`（自检故障演示）。
+参数（车速、柱塞泵流量、发泡倍数、泡沫比例、空压机流量）与密码经 `QSettings` 持久化，上电自动读取。
+
+## 目录结构
+
+- `app/` 全局常量、配色、应用上下文（AppContext）、QSS 样式、闪烁工具
+- `comm/` UDP 通信层 + 内置模拟车载端
+- `widgets/` 公共组件：TitleBar / StatusStrip / LedIndicator / NumPadDialog /
+  ConfirmDialog / AlarmBanner / ParamControl / DataCard / FaultTable
+- `pages/` 各界面（继承 BasePage）
@@ -0,0 +1,147 @@
+#include "appcontext.h"
+#include "udpcommunication.h"
+#include "mockvehicle.h"
+#include <QApplication>
+#include <QDateTime>
+
+AppContext* AppContext::instance()
+{
+    static AppContext* s = nullptr;
+    if (!s) s = new AppContext();
+    return s;
+}
+
+AppContext::AppContext(QObject* parent)
+    : QObject(parent)
+{
+    // 参数与密码持久化：QSettings 写入程序目录 config.ini
+    m_settings = new QSettings(QApplication::applicationDirPath() + "/config.ini",
+                               QSettings::IniFormat, this);
+
+    // 首次运行写入默认值
+    if (!m_settings->contains(keySpeed()))      m_settings->setValue(keySpeed(), 4.5);
+    if (!m_settings->contains(keyPumpFlow()))   m_settings->setValue(keyPumpFlow(), 20);
+    if (!m_settings->contains(keyFoamRatio()))  m_settings->setValue(keyFoamRatio(), 6);
+    if (!m_settings->contains(keyFoamPercent()))m_settings->setValue(keyFoamPercent(), 3);
+    if (!m_settings->contains(keyAirFlow()))    m_settings->setValue(keyAirFlow(), 100);
+    if (!m_settings->contains("param/pwd"))     m_settings->setValue("param/pwd", "6789");
+    if (!m_settings->contains("param/admin_pwd"))m_settings->setValue("param/admin_pwd", "6789");
+
+    // 通信层（UDP 收包发包）
+    m_comm = new UdpCommunication(&telemetry, this);
+
+    // 内置模拟车载端（离线演示：回环 UDP 收发）
+    m_vehicle = new MockVehicle(this);
+
+    // 通信层故障信号 → 写入故障历史
+    connect(m_comm, &UdpCommunication::faultAppended,
+            this, &AppContext::appendFault);
+
+    seedFaultHistory();
+}
+
+void AppContext::seedFaultHistory()
+{
+    // 演示用历史故障汇总（协议示例数据 + 补充）
+    struct Seed { const char* t; const char* sys; const char* code; const char* d; };
+    const Seed seeds[] = {
+        {"2026-05-16 10:08", "机器人底盘", "C01", "底盘电量低"},
+        {"2026-05-16 09:58", "机器人底盘", "C02", "底盘电机温度高"},
+        {"2026-05-16 09:41", "机器人底盘", "C03", "总电压低"},
+        {"2026-05-15 09:08", "机械臂",     "A01", "机械臂通信故障"},
+        {"2026-05-15 08:55", "机械臂",     "A02", "机械臂自检故障"},
+        {"2026-05-15 08:30", "机械臂",     "A03", "关节J2过载"},
+        {"2026-05-14 09:58", "洗消系统",   "W01", "柱塞泵故障"},
+        {"2026-05-14 09:20", "洗消系统",   "W02", "空压机压力异常"},
+        {"2026-05-14 08:45", "洗消系统",   "W03", "电动球阀D1开启故障"},
+        {"2026-05-13 09:08", "洗消系统",   "W04", "清水液位低"},
+        {"2026-05-13 08:18", "洗消系统",   "W05", "药剂液位低"},
+        {"2026-05-13 08:02", "洗消系统",   "W06", "叶片泵故障"},
+        {"2026-05-12 11:20", "气体检测仪", "G01", "检测仪通信故障"},
+        {"2026-05-12 10:50", "气体检测仪", "G02", "有毒物浓度超阈值"},
+        {"2026-05-11 09:30", "气体检测仪", "G03", "主机标定异常"},
+        {"2026-05-11 09:10", "机器人底盘", "C04", "手刹失效"},
+        {"2026-05-10 08:40", "机械臂",     "A04", "末端速度超限"},
+        {"2026-05-10 08:15", "气体检测仪", "G04", "传感器信号异常"},
+    };
+    for (const Seed& s : seeds) {
+        FaultRecord r;
+        r.time = QString::fromUtf8(s.t);
+        r.system = QString::fromUtf8(s.sys);
+        r.code = QString::fromUtf8(s.code);
+        r.desc = QString::fromUtf8(s.d);
+        faultHistory.append(r); // 种子数据按“最新在前”顺序直接追加
+    }
+}
+
+void AppContext::appendFault(const QString& system, const QString& code, const QString& desc)
+{
+    FaultRecord r;
+    r.time = QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm");
+    r.system = system;
+    r.code = code;
+    r.desc = desc;
+    faultHistory.prepend(r); // 最新在前
+}
+
+double AppContext::getDouble(const QString& key, double def) const
+{
+    return m_settings->value(key, def).toDouble();
+}
+
+void AppContext::setDouble(const QString& key, double val)
+{
+    m_settings->setValue(key, val);
+    m_settings->sync();
+}
+
+QString AppContext::getString(const QString& key, const QString& def) const
+{
+    return m_settings->value(key, def).toString();
+}
+
+void AppContext::setString(const QString& key, const QString& val)
+{
+    m_settings->setValue(key, val);
+    m_settings->sync();
+}
+
+QString AppContext::password() const
+{
+    return m_settings->value("param/pwd", "6789").toString();
+}
+
+void AppContext::setPassword(const QString& pwd)
+{
+    m_settings->setValue("param/pwd", pwd);
+    m_settings->sync();
+}
+
+QString AppContext::adminPassword() const
+{
+    return m_settings->value("param/admin_pwd", "6789").toString();
+}
+
+void AppContext::resetEstop()
+{
+    estopTriggered = false;
+    telemetry.estop = false;
+    emit estopChanged(false);
+    // 通知车载端复位
+    if (m_comm) m_comm->sendEstopReset();
+}
+
+void AppContext::triggerEstop()
+{
+    estopTriggered = true;
+    telemetry.estop = true;
+    emit estopChanged(true);
+    if (m_comm) m_comm->sendEstop();
+}
+
+void AppContext::setMode(Mode m)
+{
+    if (mode == m) return;
+    mode = m;
+    emit modeChanged(m);
+}
@@ -0,0 +1,87 @@
+#ifndef APPCONTEXT_H
+#define APPCONTEXT_H
+
+#include <QObject>
+#include <QSettings>
+#include <QVector>
+#include "global.h"
+
+class UdpCommunication;
+class MockVehicle;
+
+// 故障历史记录
+struct FaultRecord {
+    QString time;    // "2026-05-16 10:08"
+    QString system;  // 机器人底盘 / 机械臂 / 洗消系统 / 气体检测仪
+    QString code;    // 故障代码
+    QString desc;    // 故障名称
+};
+
+// ===================== 应用上下文（单例） =====================
+// 持有：通信层、参数存储、全局状态（模式/急停/通信状态）、遥测数据快照
+class AppContext : public QObject
+{
+    Q_OBJECT
+public:
+    static AppContext* instance();
+
+    UdpCommunication* comm() const { return m_comm; }
+    MockVehicle*      vehicle() const { return m_vehicle; }
+
+    // 遥测数据快照（由通信层填充）
+    Telemetry telemetry;
+
+    // 全局状态
+    Mode mode = Mode::Drive;      // 行车/机械臂模式（机械旋钮）
+    bool estopTriggered = false;  // 急停是否触发（需人工复位）
+    bool washRunning = false;     // 洗消运行中（消除/消毒共用）
+    bool gasRunning = false;      // 气体检测仪检测中
+
+    // ===================== 存储区参数（QSettings 持久化） =====================
+    double getDouble(const QString& key, double def) const;
+    void   setDouble(const QString& key, double val);
+    QString getString(const QString& key, const QString& def) const;
+    void   setString(const QString& key, const QString& val);
+
+    // 密码
+    QString password() const;
+    void    setPassword(const QString& pwd);
+    QString adminPassword() const;
+
+    // 洗消/底盘参数出厂值与键名
+    static QString keySpeed()      { return "param/speed"; }       // 车速 km/h，出厂 4.5
+    static QString keyPumpFlow()   { return "param/pump_flow"; }   // 柱塞泵流量，出厂 20
+    static QString keyFoamRatio()  { return "param/foam_ratio"; }  // 发泡倍数，出厂 6
+    static QString keyFoamPercent(){ return "param/foam_percent"; }// 泡沫比例，出厂 3
+    static QString keyAirFlow()    { return "param/air_flow"; }    // 空压机流量，出厂 100
+
+    // 故障历史（⑫故障查询数据源）
+    QVector<FaultRecord> faultHistory;
+    void appendFault(const QString& system, const QString& code, const QString& desc);
+
+    // 急停复位（人工复位）
+    void resetEstop();
+
+    // 触发急停（软急停/物理急停统一入口）
+    void triggerEstop();
+
+    // 模式切换（行车/机械臂，由面板机械旋钮或演示按钮触发）
+    void setMode(Mode m);
+
+signals:
+    void modeChanged(Mode m);
+    void estopChanged(bool triggered);
+    void commChanged(bool ok);
+
+private:
+    explicit AppContext(QObject* parent = nullptr);
+    void seedFaultHistory();
+    QSettings* m_settings = nullptr;
+    UdpCommunication* m_comm = nullptr;
+    MockVehicle* m_vehicle = nullptr;
+};
+
+// 便捷访问宏
+#define CTX AppContext::instance()
+
+#endif // APPCONTEXT_H
@@ -0,0 +1,159 @@
+#include "global.h"
+#include <QStyle>
+
+// 启动 500ms 闪烁：每 500ms 切换一次动态属性，QSS 据此在 40%↔100% 透明度间切换
+QTimer* startBlink(QWidget* w, const char* prop)
+{
+    // 复用已存在的定时器
+    if (auto* t = w->findChild<QTimer*>(QString("blink_") + prop))
+        return t;
+    QTimer* t = new QTimer(w);
+    t->setObjectName(QString("blink_") + prop);
+    t->setInterval(500);
+    QObject::connect(t, &QTimer::timeout, w, [w, prop]() {
+        bool cur = w->property(prop).toBool();
+        w->setProperty(prop, !cur);
+        w->style()->unpolish(w);
+        w->style()->polish(w);
+        w->update();
+    });
+    w->setProperty(prop, true);
+    t->start();
+    return t;
+}
+
+void stopBlink(QWidget* w, const char* prop)
+{
+    if (auto* t = w->findChild<QTimer*>(QString("blink_") + prop)) {
+        t->stop();
+        delete t;
+    }
+    w->setProperty(prop, false);
+    w->style()->unpolish(w);
+    w->style()->polish(w);
+    w->update();
+}
+
+QString appStyleSheet()
+{
+    const QString s = QString(R"QSS(
+* {
+    font-family: "Microsoft YaHei", "PingFang SC", "Source Han Sans CN";
+    outline: none;
+}
+QWidget {
+    background-color: BG;
+    color: TXT;
+}
+QWidget#pageRoot {
+    background-color: BG;
+}
+QLabel {
+    background: transparent;
+    color: TXT;
+}
+QLabel[sub="true"] { color: SUB; }
+QLabel[title="true"] { color: TXT; font-weight: 700; }
+
+/* ===== 按钮 ===== */
+QPushButton {
+    background-color: PHI;
+    color: TXT;
+    border: 1px solid BD;
+    border-radius: 12px;
+    font-size: 22px;
+    min-height: 56px;
+}
+QPushButton:hover { background-color: PRI; color: TXT; border-color: PRI; }
+QPushButton:pressed { background-color: PRI; color: #FFFFFF; border-color: PRI; }
+QPushButton:checked { background-color: PRI; color: #FFFFFF; border: none; }
+QPushButton:disabled { background-color: DIS; color: DIST; border-color: DIS; }
+
+QPushButton[variant="primary"] { background-color: PRI; color: #FFFFFF; border: none; }
+QPushButton[variant="primary"]:disabled { background-color: DIS; color: DIST; }
+QPushButton[variant="danger"] { background-color: DAN; color: #FFFFFF; border: 1px solid DAN; border-radius: 6px; }
+QPushButton[variant="danger"]:disabled { background-color: DIS; color: DIST; border-color: DIS; }
+QPushButton[variant="link"] { background: transparent; color: PRI; border: none; font-size: 22px; }
+QPushButton[variant="estop"] {
+    background-color: DAN; color: #FFFFFF; border: 1px solid DAN; border-radius: 6px; font-size: 24px; font-weight: 700;
+}
+
+/* ===== 输入框 ===== */
+QLineEdit {
+    background-color: BG;
+    border: 2px solid BD;
+    border-radius: 8px;
+    color: TXT;
+    font-size: 32px;
+    padding: 0 12px;
+}
+QLineEdit:focus { border: 3px solid PRI; }
+
+/* ===== 进度条 ===== */
+QProgressBar {
+    background-color: PHI;
+    border: none;
+    border-radius: 4px;
+    text-align: center;
+    color: #FFFFFF;
+    font-size: 22px;
+}
+QProgressBar::chunk { background-color: PRI; border-radius: 4px; }
+
+/* ===== 表格 ===== */
+QTableWidget {
+    background-color: PAN;
+    color: TXT;
+    border: 1px solid BD;
+    gridline-color: BD;
+    font-size: 22px;
+    alternate-background-color: #2A3442;
+}
+QHeaderView::section {
+    background-color: PHI;
+    color: TXT;
+    border: none;
+    border-right: 1px solid BD;
+    border-bottom: 1px solid BD;
+    padding: 8px;
+    font-size: 22px;
+}
+QTableWidget::item { padding: 6px; }
+QTableWidget::item:selected { background-color: rgba(61,139,253,0.15); color: TXT; }
+
+/* ===== 数字键盘 ===== */
+QPushButton[numpad="true"] {
+    background-color: PHI; color: TXT; border: 1px solid BD; border-radius: 12px; font-size: 40px;
+}
+QPushButton[numpad="true"]:pressed { background-color: PRI; color: #FFFFFF; }
+
+/* ===== 告警文字（红色闪烁由 blink 属性驱动） ===== */
+QLabel[alert="true"] { color: DAN; font-weight: 700; }
+QLabel[alert="true"][blink="false"] { color: rgba(229,72,77,102); }
+QLabel[amber="true"] { color: WAR; font-weight: 700; }
+
+/* ===== 数据卡片 ===== */
+QWidget[card="true"] {
+    background-color: PAN;
+    border: 2px solid BD;
+    border-radius: 12px;
+}
+QLabel[cardTitle="true"] { color: TXT; font-weight: 700; }
+)QSS");
+
+    // 用占位替换（注意：DIST 须在 DIS 之前替换，避免前缀误匹配）
+    QString out = s;
+    out.replace("DIST", C::DISABLED_T);
+    out.replace("DIS",  C::DISABLED);
+    out.replace("BG",   C::BG);
+    out.replace("PAN",  C::PANEL);
+    out.replace("PHI",  C::PANEL_HI);
+    out.replace("BD",   C::BORDER);
+    out.replace("TXT",  C::TEXT);
+    out.replace("SUB",  C::TEXT_SUB);
+    out.replace("PRI",  C::PRIMARY);
+    out.replace("SUC",  C::SUCCESS);
+    out.replace("WAR",  C::WARNING);
+    out.replace("DAN",  C::DANGER);
+    return out;
+}
@@ -0,0 +1,121 @@
+#ifndef GLOBAL_H
+#define GLOBAL_H
+
+#include <QString>
+#include <QStringList>
+#include <QVector>
+#include <QWidget>
+#include <QTimer>
+#include <QVariant>
+
+// ===================== 画布与全局常量 =====================
+// 屏幕分辨率（1920×1080 横屏）；若部署在更低分辨率屏，可按同一比例整体缩放
+static const int SCREEN_W = 1920;
+static const int SCREEN_H = 1080;
+
+// ===================== 工业风格配色体系（QSS 十六进制） =====================
+namespace C {
+const QString BG          = "#161C23";  // 主背景：窗口画布底色
+const QString PANEL       = "#242E3A";  // 面板背景：卡片/弹窗/顶条/底条
+const QString PANEL_HI    = "#2D3947";  // 面板亮色：按钮常态、表头、进度条底
+const QString BORDER      = "#3D4A59";  // 分割线：边框、表格线
+const QString TEXT        = "#E6EDF3";  // 主文字：标题、正文、数值
+const QString TEXT_SUB    = "#9AA7B4";  // 次文字：说明、单位、标签
+const QString PRIMARY     = "#3D8BFD";  // 强调主色：主按钮、选中、焦点、进度条
+const QString SUCCESS     = "#36C75A";  // 成功/运行：运行、开启、到位
+const QString WARNING     = "#F5A623";  // 警告：提醒、待确认
+const QString DANGER      = "#E5484D";  // 危险/故障：急停、故障、警示
+const QString DISABLED    = "#56636F";  // 禁用：不可操作控件底色
+const QString DISABLED_T  = "#6B7A88";  // 禁用文字
+}
+
+// ===================== 操作模式 =====================
+// 面板机械旋钮切换：行车模式 / 机械臂模式
+enum class Mode { Drive = 0, Arm = 1 };
+
+// ===================== 页面枚举（QStackedWidget 索引） =====================
+enum PageId {
+    PageBoot = 0,        // ③ 开机密码
+    PageWarning,         //    密码警告
+    PageMgmtLogin,       //    密码管理登录
+    PageMgmt,            //    密码管理
+    PageReset,           //    密码重置
+    PageSelfCheck,       // ④ 自检
+    PageJob,             // ⑤ 作业选择
+    PageChassis,         // ⑥ 机器人底盘
+    PageArm,             // ⑦ 机械臂
+    PageGas,             // ⑧ 气体检测仪
+    PageClean,           // ⑨ 手动消除
+    PageDisinfect,       // ⑩ 手动消毒
+    PageDebug,           // ⑪ 调试维护
+    PageFault,           // ⑫ 故障查询
+    PageCount
+};
+
+// ===================== 遥测数据（车载端 → UI） =====================
+// 由通信层解析 UDP 报文后填充，页面 500ms 定时读取刷新
+struct Telemetry {
+    // 底盘
+    int    soc = 85;            // 电量 %
+    double volt = 360.0;        // 电压 V
+    double speed = 3.45;        // 车速 km/h
+    bool   handbrake = true;    // 手刹
+    QStringList chassisFaults;  // 底盘故障（多条 2s 轮换）
+
+    // 机械臂
+    QVector<double> js{30, 20, 0, 90, 45, 0}; // 关节角 J1~J6（°）
+    QString pos = "--";          // 末端位置 XYZ
+    QString pose = "--";         // 姿态 RX/RY/RZ
+    double vel = 0.0;            // 末端速度
+    QString returnState = "idle";// 回位状态 idle/returning/done/fault
+    bool   armHomed = false;     // 是否已回位（用于底盘“机械臂未回位”告警）
+
+    // 洗消
+    QString washMode = "--";     // 手动消除 / 手动消毒
+    double flowA = 0.0;          // A 药剂流量 L/min
+    double flowB = 0.0;          // B 药剂流量 L/min
+    double gasFlow = 0.0;        // 气体流量 L/min
+    double press = 0.0;          // 管路压力 MPa
+    double airPress = 0.0;       // 空压机压力 MPa
+    double foam = 0.0;           // 发泡倍数
+    QStringList washFaults;      // 洗消故障代码
+
+    // 液位
+    double levelA = 100.0;       // 清水/药剂液位 L
+    double levelFoam = 30.0;     // 泡沫液位 L
+
+    // 气体检测仪
+    QString gasHost = "standby"; // 主机状态 standby/detecting/fault
+    QString gasType = "--";      // 有毒物种类
+    QString gasLevel = "--";     // 有毒物等级
+    double gasConc = 0.0;        // 有毒物浓度 ppb
+
+    // 球阀 D1/D2
+    bool d1open = false;         // D1 开启到位
+    bool d1close = true;         // D1 关闭到位
+    bool d2open = false;         // D2 开启到位
+    bool d2close = true;         // D2 关闭到位
+    QString valveFault;          // 球阀故障码
+
+    // 泵
+    bool plunger = false;        // 柱塞泵上电
+    bool air = false;            // 空压机上电
+    bool leaf = false;           // 叶片泵上电
+    QStringList pumpFaults;      // 泵故障代码
+
+    // 全局
+    bool commOk = true;          // 通信状态
+    bool estop = false;          // 急停触发
+};
+
+// ===================== 工具函数 =====================
+// 启动 500ms 闪烁：每 500ms 切换一次 QSS 动态属性（40% ↔ 100% 透明度由 QSS 规则体现）
+QTimer* startBlink(QWidget* w, const char* prop = "blink");
+
+// 关闭闪烁定时器并复位属性
+void stopBlink(QWidget* w, const char* prop = "blink");
+
+// 全局 QSS 样式表
+QString appStyleSheet();
+
+#endif // GLOBAL_H
@@ -0,0 +1,21 @@
+QMAKE_CXX.QT_COMPILER_STDCXX = 201402L
+QMAKE_CXX.QMAKE_GCC_MAJOR_VERSION = 8
+QMAKE_CXX.QMAKE_GCC_MINOR_VERSION = 1
+QMAKE_CXX.QMAKE_GCC_PATCH_VERSION = 0
+QMAKE_CXX.COMPILER_MACROS = \
+    QT_COMPILER_STDCXX \
+    QMAKE_GCC_MAJOR_VERSION \
+    QMAKE_GCC_MINOR_VERSION \
+    QMAKE_GCC_PATCH_VERSION
+QMAKE_CXX.INCDIRS = \
+    F:/QT/Tools/mingw810_32/lib/gcc/i686-w64-mingw32/8.1.0/include/c++ \
+    F:/QT/Tools/mingw810_32/lib/gcc/i686-w64-mingw32/8.1.0/include/c++/i686-w64-mingw32 \
+    F:/QT/Tools/mingw810_32/lib/gcc/i686-w64-mingw32/8.1.0/include/c++/backward \
+    F:/QT/Tools/mingw810_32/lib/gcc/i686-w64-mingw32/8.1.0/include \
+    F:/QT/Tools/mingw810_32/lib/gcc/i686-w64-mingw32/8.1.0/include-fixed \
+    F:/QT/Tools/mingw810_32/i686-w64-mingw32/include
+QMAKE_CXX.LIBDIRS = \
+    F:/QT/Tools/mingw810_32/lib/gcc/i686-w64-mingw32/8.1.0 \
+    F:/QT/Tools/mingw810_32/lib/gcc \
+    F:/QT/Tools/mingw810_32/i686-w64-mingw32/lib \
+    F:/QT/Tools/mingw810_32/lib
--- a/Show More
+++ b/Show More