From 950e9e6c9ef7b91a51d7c704767d243e292dba4c Mon Sep 17 00:00:00 2001 From: xu <1012118331@qq.com> Date: Wed, 14 Oct 2026 09:59:42 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E9=80=9A=E8=AE=AF=E5=8D=8F?= =?UTF-8?q?=E8=AE=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 165 +- app/appcontext.cpp | 166 +- app/appcontext.h | 33 +- app/global.cpp | 36 +- app/global.h | 70 +- .../alarmbanner.cpp.7B2684B6DBA3A864.idx | Bin 1474 -> 1474 bytes .../index/appcontext.cpp.F2C226493E133C0A.idx | Bin 5234 -> 9486 bytes .../index/appcontext.h.7A52BC01A1ABA6DF.idx | Bin 4540 -> 6200 bytes .../clangd/index/arm.cpp.0DCD863C28C5B365.idx | Bin 9974 -> 10472 bytes .../index/chassis.cpp.5E5AFF472027CFA3.idx | Bin 8428 -> 10640 bytes .../index/chassis.h.CC14EDF7DD3DFCF1.idx | Bin 2892 -> 4224 bytes .../confirmdialog.cpp.A07B26C68894B406.idx | Bin 4012 -> 5064 bytes .../confirmdialog.h.17775D0EB3DA3BF8.idx | Bin 1542 -> 1782 bytes 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.../index/washbase.cpp.36D02F9D325A3B2C.idx | Bin 11650 -> 11794 bytes .../.qtc_clangd/compile_commands.json | 2 +- .../Makefile.Debug | 1365 +++++++++-------- .../Makefile.Release | 1365 +++++++++-------- .../debug/config.ini | 2 +- .../object_script.wuhan.Debug | 14 +- .../object_script.wuhan.Release | 14 +- cfg_test.ini | 3 + comm/car.cpp | 868 +++++++++++ comm/car.h | 152 ++ comm/mockvehicle.cpp | 223 --- comm/mockvehicle.h | 58 - comm/uart.cpp | 151 ++ comm/uart.h | 73 + comm/udpcommunication.cpp | 242 --- comm/udpcommunication.h | 70 - main.cpp | 1 + mainwindow.cpp | 44 +- pages/arm.cpp | 132 +- pages/chassis.cpp | 105 +- pages/chassis.h | 6 + pages/debugmaintain.cpp | 210 ++- pages/debugmaintain.h | 16 +- pages/faultquery.cpp | 84 +- pages/faultquery.h | 4 + pages/gasdetector.cpp | 16 +- pages/home.cpp | 149 ++ pages/home.h | 30 + pages/jobselect.cpp | 69 +- pages/manualclean.cpp | 28 - pages/manualclean.h | 23 - pages/manualdisinfect.cpp | 49 - pages/manualdisinfect.h | 25 - pages/selfcheck.cpp | 22 +- pages/washbase.cpp | 7 +- pages/washbase.h | 2 +- pages/washpage.cpp | 369 +++++ pages/washpage.h | 86 ++ tools/__pycache__/can_sender.cpython-311.pyc | Bin 0 -> 23152 bytes tools/__pycache__/rc_sender.cpython-311.pyc | Bin 0 -> 4913 bytes tools/can_sender.py | 350 +++++ tools/rc_sender.py | 79 + widgets/alarmbanner.cpp | 2 +- widgets/confirmdialog.cpp | 70 +- widgets/confirmdialog.h | 6 + widgets/datacard.cpp | 33 +- widgets/datacard.h | 1 + widgets/faulttable.cpp | 123 +- widgets/faulttable.h | 13 + widgets/ledindicator.cpp | 23 +- widgets/ledindicator.h | 2 + widgets/numpaddialog.cpp | 203 ++- widgets/numpaddialog.h | 29 + widgets/paramcontrol.cpp | 171 ++- widgets/paramcontrol.h | 22 +- widgets/statusstrip.cpp | 73 +- widgets/statusstrip.h | 15 +- widgets/titlebar.cpp | 90 +- widgets/titlebar.h | 17 +- wuhan.pro | 22 +- 洗消机器人遥控器通信协议20260810.csv | 324 ++++ 102 files changed, 5538 insertions(+), 2679 deletions(-) create mode 100644 cfg_test.ini create mode 100644 comm/car.cpp create mode 100644 comm/car.h delete mode 100644 comm/mockvehicle.cpp delete mode 100644 comm/mockvehicle.h create mode 100644 comm/uart.cpp create mode 100644 comm/uart.h delete mode 100644 comm/udpcommunication.cpp delete mode 100644 comm/udpcommunication.h create mode 100644 pages/home.cpp create mode 100644 pages/home.h delete mode 100644 pages/manualclean.cpp delete mode 100644 pages/manualclean.h delete mode 100644 pages/manualdisinfect.cpp delete mode 100644 pages/manualdisinfect.h create mode 100644 pages/washpage.cpp create mode 100644 pages/washpage.h create mode 100644 tools/__pycache__/can_sender.cpython-311.pyc create mode 100644 tools/__pycache__/rc_sender.cpython-311.pyc create mode 100644 tools/can_sender.py create mode 100644 tools/rc_sender.py create mode 100644 洗消机器人遥控器通信协议20260810.csv diff --git a/README.md b/README.md index b750b41..4ba50b4 100644 --- a/README.md +++ b/README.md @@ -1,14 +1,14 @@ # 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。 +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系统首页面 ⑥作业选择 ⑦机器人底盘 +⑧机械臂 ⑨气体检测仪 ⑩消除作业 ⑪消毒作业 ⑫调试维护 ⑬故障查询 共 11 个界面， +并配套 **CAN 报文收发**的通信层（19 条报文经 `/dev/ttyS7` 串口收发，遥控器另占 `/dev/ttyS5`）。 ## 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`）。 +- 用 Qt Creator 打开 `wuhan.pro` 直接构建运行即可（qmake 工程，`QT += serialport`）。 命令行构建示例： @@ -23,35 +23,141 @@ mingw32-make -j4 ## 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）。 +- 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 **9527**）→ 密码管理 → 重置密码”中修改）；管理员密码为固定值 **9527**，不可修改。 - 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。 +- 底部状态条的模式徽标只作**显示**（不响应点击）；行车模式操作底盘，机械臂模式操作机械臂。 + 演示用快捷键 **M** 可切换模式，但**遥控器在线时模式由遥控器报文决定，M 被忽略**。 +- 软急停由**遥控器 bit4** 下发：上升沿触发急停、下降沿复位，面板不提供急停/复位控件 + （顶条原有的“急停”按钮已移除）。触发后页面之上出现全屏红条“急停已触发，请用遥控器复位！”。 - 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（19 条 CAN 报文，经 /dev/ttyS7 串口收发） -通信层位于 `comm/udpcommunication.cpp`，协议为 **JSON 文本**（`QJsonDocument`）： +通信层位于 `comm/car.cpp`，按《洗消机器人遥控器通信协议20260810》sheet **RC** 实现全部 +**19 条**报文（分类四标准帧 `DIDO/PWM/AI/BMS/MCU` 未实现）。所有报文均为 **29 位扩展帧、 +信号一律 Intel（小端）位序**。 -- 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。 +串口是字节流，故线上帧统一为 **18 字节**，收发同一格式： -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`。 +| 偏移 | 长度 | 含义 | +| --- | --- | --- | +| 0 | 4 | 帧头 `0x5AA5FF00`（线上字节序 `00 FF A5 5A`，用于在字节流中定位报文起始） | +| 4 | 4 | CAN ID（29 位扩展帧），直接用于分流 | +| 8 | 1 | DLC，固定 `8` | +| 9 | 8 | CAN 数据段 | +| 17 | 1 | 校验和：canId 四字节 + DLC + 数据八字节求和取低 8 位 | -下行遥测（车载端→UI）：`heartbeat` `chassis` `arm` `wash` `tank` `gas` `valve` `pump` -`estop` `selfcheck` `selfcheck_done`。 +收包时逐字节找帧头、校验不过右移一字节继续找，容忍粘包、拆包与杂包。 -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）。 +**上行 7 条**（遥控器 → 车端）按协议「报文周期时间」列分三组重发：**50ms** 底盘 / 机械臂1 / +机械臂2 / 急停，**100ms** 洗消指令 / 洗消调试，**1000ms** 气体检测仪。界面上层只更新控制状态， +编码发送由定时器完成。 + +`Chassis_ControlCmd 0x18208081`、`Arm_ControlCmd1 0x18218081`、`Arm_ControlCmd2 0x18228081`、 +`Decontam_ControlCmd 0x18238081`、`Decontam_DebugCmd 0x18248081`、`Detector_ControlCmd 0x18258081`、 +`Emergency_Cmd 0x18268081`。 + +**下行 12 条**（车端 → 遥控器）按 canId 分流写入 `Telemetry` 供各页刷新： + +| CAN ID | 报文 | 周期 | 主要信号 | +| --- | --- | --- | --- | +| `0x18308180` | 底盘状态1(BMS) | 100 | 总电压、SOC、MCU 故障码与等级、10 路 BMS 故障等级 | +| `0x18318180` | 底盘状态2(BMS) | 100 | 7 路故障等级、4 路继电器粘连、手刹、车速、ready、整系统通信故障码 | +| `0x18328180` | 机械臂状态1 | 100 | 末端位置 X/Y/Z | +| `0x18338180` | 机械臂状态2 | 100 | 末端姿态 RX/RY/RZ、末端速度 | +| `0x18348180` | 机械臂状态3 | 100 | 关节角 J1~J4 | +| `0x18358180` | 机械臂状态4 | 100 | 关节角 J5~J6 | +| `0x18368180` | 洗消工作状态1 | 200 | 模式、启停、三泵上电、D1/D2 到位、液位、A/B 流量、气体流量、发泡倍数 | +| `0x18378180` | 洗消工作状态2 | 200 | 管路/空压机压力、三泵流量反馈、空压机与柱塞泵故障码 | +| `0x18388180` | 检测仪结果状态1 | 1000 | 主机状态、毒物种类与等级、告警位 | +| `0x18398180` | 检测仪结果状态2 | 1000 | 40 位有毒物浓度（ppb） | +| `0x183A8180` | 底盘状态3 | 100 | EPS 22 位 + 制动 24 位故障标志、EPS 故障码 | +| `0x183B8180` | 底盘状态4 | 100 | 挡位、驻车、四驱模式、方向盘角度与对中、左右制动电机故障 | + +故障码按协议“信号值描述”列查表转中文（MCU 29 条、空压机 31 条、柱塞泵 7 条、EPS/制动 46 个 +标志位、检测仪 4 个告警位等），页面显示中文描述，**首次出现**的故障才写入故障历史， +避免周期报文重复刷屏。 + +各信号的起始位/位长/精度与协议表一致；界面量程与组帧取值统一按协议「信号值描述」列收口： +车速 0~5.00 km/h、发泡倍数 6~12 倍、泡沫比例 0~10%、空压机流量 0~340 L/min、柱塞泵流量 +0~24 L/min；调试维护页三泵转速上限各按协议（空压机 3000 / 柱塞泵 1450 / 叶片泵 2000 rpm）。 + +顶部「通信正常/异常」按收帧判定：连续 **2s** 未收到任何合法帧即判为异常（最慢的下行周期 +1000ms）。串口打开失败（如开发机 Windows 上没有 `/dev/ttyS7`）时不启动定时器、不崩溃， +界面显示「通信异常」。 + +可在 `config.ini`（程序目录）中配置 `car/device`（默认 `/dev/ttyS7`）、`car/baud`（默认 +`500000`）、`rc/device`（默认 `/dev/ttyS5`）、`rc/baud`（默认 `115200`）、`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。 +`tools/can_sender.py` / `tools/rc_sender.py` 是旧的 UDP 联调工具，**已不适用于当前串口通道**， +留待需要时另写。 + +### 已知缺口 + +- **自检 10 项无对应 CAN 报文**，`sendSelfCheckStart()` 暂由本端跑完序列（见 `onSelfCheckTick` + 的 TODO），仅为维持 ④自检 → ⑤作业选择 流程不中断；拿到真实报文后替换该本地驱动。 +- **行车/机械臂模式**没有对应的下行信号：协议 12 条反馈里没有该字段，`telemetry.driveMode` + 无处可填，故模式只由遥控器报文决定（遥控器离线时保持上次值，可用演示快捷键 **M** 切换）。 +- **`Vehi_spd` 按协议取 8 位**（bit24、精度 0.01 → 0~2.55 km/h）。协议表里该信号与其后的 + `Vehi_RdyStatus`(32)/`Reserve`(34)/`All_Comm_FaultCode`(40) 起始位自洽，按 8 位读才对齐； + 若实测车速需要 0~5 km/h，说明该字段实为 16 位、其后信号整体后移 8 位，需同步调整。 +- 分类四（标准帧，`DIDO/PWM/AI/BMS/MCU`）整体未实现。其 `Motorola LSB` 排列格式 = + **大端字节序 + 起始位为 LSB 位置**：16 位信号起始位 8/24/40/56 表示占字节对 + (0,1)/(2,3)/(4,5)/(6,7)，`value = data[起/8-1]<<8 | data[起/8]`，恰好占满 64 位、 + 无溢出。实现分类四时勿按 Intel 连续位序去读。 + +## 遥控器（串口 /dev/ttyS5，24 字节二进制帧） + +遥控器不走车端 CAN 通道，独立占一路串口：`comm/uart.cpp` 打开 `rc/device` +（默认 **`/dev/ttyS5`**，115200 / 8 数据位 / 1 停止位 / 无校验），与车端 `/dev/ttyS7` +（见 `comm/car.cpp`）互不干扰。 + +帧长 **24 字节**、1 字节对齐、多字节字段**小端**，发送周期 100ms。帧头 `BYTE0=0x11`、 +帧尾 `BYTE22=0x22`、`BYTE23 = BYTE0~BYTE22 之和的低 8 位`；校验不过即丢弃。 +串口是字节流，收包在缓冲区里按帧长滑窗重新对齐，容忍粘包与拆包。 + +| 字节 | 含义 | +| --- | --- | +| 0 | 帧头 `0x11` | +| 1 | 标志位：bit0 行车模式 / bit1 机械臂模式 / bit2 机械臂使能 / bit3 底盘使能 / bit4 急停 | +| 2 | 预留 `0x00` | +| 3-4 | 整车档位（底盘 Y）：0 后 / 2048 中 / 4096 前 | +| 5-6 | 整车转向（底盘 X）：0 左 / 2048 中 / 4096 右 | +| 7-8 | 末端位置上下（臂 Z） | +| 9-10 | 末端位置左右（臂 X） | +| 11-12 | 末端位置前后（臂 Y） | +| 13-14 | 末端姿态横滚 roll | +| 15-16 | 末端姿态俯仰 pitch | +| 17-18 | 末端姿态偏航 yaw | +| 19 | 遥控器电量 0~100 | +| 20-21 | 预留 `0x00` | +| 22 | 帧尾 `0x22` | +| 23 | 和校验 | + +分工：`RcCommunication` 只负责收包、校验、解析与链路超时（连续 500ms 无合法帧判为断开）； +模式/急停/动作的判定集中在 `AppContext`。 + +- **模式**：bit1 机械臂模式须与 bit2 机械臂使能**同时为 1** 才切到机械臂模式，否则按 bit0 + 走行车模式。遥控器在线时模式由遥控器决定，离线时才回落到车载端 `chassis` 报文的 `mode` 字段。 +- **急停**：bit4 **上升沿触发急停、下降沿复位**，两者都由遥控器下发（一并上行 `estop` / + `estop_reset`），面板只显示红条提示、不提供复位控件。链路中断不会触发复位——超时导致的 + bit4 读为 0 不算遥控器指令。 +- **动作**：摇杆以 ±10%（1638~2458）为中立死区，方向**变化时才下发**，命令复用现有 + `chassis_move` / `arm_move`，并与界面按钮同一套安全联锁（模式 + 使能 + 未急停）。 + 档位与转向可同时下发（边前进/后退边转向）；链路中断会立即撤销所有遥控器动作， + 避免最后一条指令被一直挂住。 +- **优先级**：遥控器与界面都能操作，同时操作时**遥控器优先**——遥控器正在操作（链路在线且 + 有轴偏离中位）时，底盘页与机械臂页的动作按钮变灰，强行按下会提示“遥控器操作中”。 +- **显示**：顶条右侧为遥控器链路（●正常/断开）与电量；顶条不再显示时钟与急停按钮。 +- 底盘页的方向按钮同样支持多键同按：按住“前进”再按住“左转向”，会下发 `dir=fwd` + + `turn=left`，两键都松开才停车。 + ## 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 +- `comm/` 车端 CAN 通信层（`car`，19 条报文经 `/dev/ttyS7`）+ 遥控器串口通道（`uart`，`/dev/ttyS5`） - `widgets/` 公共组件：TitleBar / StatusStrip / LedIndicator / NumPadDialog / ConfirmDialog / AlarmBanner / ParamControl / DataCard / FaultTable - `pages/` 各界面（继承 BasePage），对应关系如下： @@ -65,15 +171,14 @@ mingw32-make -j4 | ③ 密码管理 | passwordmgmt | PasswordMgmtPage | | ③ 密码重置 | passwordreset | PasswordResetPage | | ④ 自检 | selfcheck | SelfCheckPage | -| ⑤ 作业选择 | jobselect | JobSelectPage | -| ⑥ 机器人底盘 | chassis | ChassisPage | -| ⑦ 机械臂 | arm | ArmPage | -| ⑧ 气体检测仪 | gasdetector | GasDetectorPage | -| ⑨/⑩ 共用基类 | washbase | WashBasePage | -| ⑨ 手动消除 | manualclean | ManualCleanPage | -| ⑩ 手动消毒 | manualdisinfect | ManualDisinfectPage | -| ⑪ 调试维护 | debugmaintain | DebugMaintainPage | -| ⑫ 故障查询 | faultquery | FaultQueryPage | +| ⑤ 系统首页面 | home | HomePage | +| ⑥ 作业选择 | jobselect | JobSelectPage | +| ⑦ 机器人底盘 | chassis | ChassisPage | +| ⑧ 机械臂 | arm | ArmPage | +| ⑨ 气体检测仪 | gasdetector | GasDetectorPage | +| ⑩/⑪ 消除/消毒作业 | washpage | WashPage | +| ⑫ 调试维护 | debugmaintain | DebugMaintainPage | +| ⑬ 故障查询 | faultquery | FaultQueryPage | -- `mainwindow.h/.cpp` 主窗口（QStackedWidget 页面路由 + 全局急停横幅） +- `mainwindow.h/.cpp` 主窗口（QStackedWidget 页面路由 + 全局急停横幅，横幅内含“复位”按钮） diff --git a/app/appcontext.cpp b/app/appcontext.cpp index 7a3aa8c..f9a0c83 100644 --- a/app/appcontext.cpp +++ b/app/appcontext.cpp @@ -1,9 +1,26 @@ #include "appcontext.h" -#include "udpcommunication.h" -#include "mockvehicle.h" +#include "car.h" #include #include +namespace { + +// 遥控器摇杆满量程 0~4096、中位 2048；取 ±10% 死区，即 1638~2458 视为中立 +const int kAxisMid = 2048; +const int kAxisDead = 410; + +int axisDir(int v) +{ + if (v > kAxisMid + kAxisDead) return +1; + if (v < kAxisMid - kAxisDead) return -1; + return 0; +} + +// 六个机械臂轴，顺序与 sendArmMove 的轴名一致（见 pages/arm.cpp） +const char* const kArmAxes[6] = {"z", "x", "y", "roll", "pitch", "yaw"}; + +} // namespace + AppContext* AppContext::instance() { static AppContext* s = nullptr; @@ -25,18 +42,31 @@ AppContext::AppContext(QObject* parent) 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); + // 通信层（19 条 CAN 报文经 /dev/ttyS7 收发，见 comm/car.h） + m_comm = new CarCommunication(&telemetry, this); - // 内置模拟车载端（离线演示：回环 UDP 收发） - m_vehicle = new MockVehicle(this); + // 遥控器（串口 /dev/ttyS5，24 字节二进制帧，见 comm/uart.h） + m_rc = new RcCommunication(this); // 通信层故障信号 → 写入故障历史 - connect(m_comm, &UdpCommunication::faultAppended, + connect(m_comm, &CarCommunication::faultAppended, this, &AppContext::appendFault); + // 遥控器报文 → 模式 / 急停 / 动作 / 显示 + connect(m_rc, &RcCommunication::frameReceived, this, &AppContext::onRcFrame); + connect(m_rc, &RcCommunication::linkChanged, this, &AppContext::onRcLinkChanged); + +#if 0 + // 行车/机械臂模式改由底盘报文的 mode 字段决定（遥控器在线时让位给遥控器报文）。 + // 停用原因：协议 sheet RC 的 12 条下行报文里没有该 mode 字段，telemetry.driveMode + // 无处可填，此连接只会一直把模式按 0（行车）写。待协议补充该信号后恢复。 + connect(m_comm, &CarCommunication::telemetryUpdated, this, [this]() { + if (m_rc->linkOk()) return; + setMode(telemetry.driveMode == 0 ? Mode::Drive : Mode::Arm); + }); +#endif + seedFaultHistory(); } @@ -117,9 +147,10 @@ void AppContext::setPassword(const QString& pwd) m_settings->sync(); } +// 管理员密码为固定值，不持久化、不可修改 QString AppContext::adminPassword() const { - return m_settings->value("param/admin_pwd", "6789").toString(); + return "9527"; } void AppContext::resetEstop() @@ -144,4 +175,121 @@ void AppContext::setMode(Mode m) if (mode == m) return; mode = m; emit modeChanged(m); + if (m_comm) m_comm->setArmMode(m == Mode::Arm); // 同步到 Arm_ControlCmd1 的 Arm_modeCmd/Arm_enable +} + +// ===================== 遥控器（24 字节二进制帧） ===================== +void AppContext::onRcFrame(const RcFrame& f) +{ + // 存入遥测快照，供界面显示 + telemetry.rcBattery = f.battery; + telemetry.rcDriveMode = f.driveMode; + telemetry.rcArmMode = f.armMode; + telemetry.rcArmEnabled = f.armEnabled; + telemetry.rcChassisEnabled = f.chassisEnabled; + telemetry.rcEstop = f.estop; + telemetry.rcGear = f.gear; + telemetry.rcSteer = f.steer; + telemetry.rcPosZ = f.posZ; + telemetry.rcPosX = f.posX; + telemetry.rcPosY = f.posY; + telemetry.rcRoll = f.roll; + telemetry.rcPitch = f.pitch; + telemetry.rcYaw = f.yaw; + + // 模式：bit1 机械臂模式须与 bit2 机械臂使能同时为 1 才视为机械臂 + setMode((f.armMode && f.armEnabled) ? Mode::Arm : Mode::Drive); + + // 急停与复位都由遥控器 bit4 下发：上升沿触发，下降沿复位。面板只显示横幅提示。 + if (f.estop != m_rcEstopPrev) { + m_rcEstopPrev = f.estop; + if (f.estop) triggerEstop(); + else resetEstop(); + } + + // 动作：与界面按钮同一套安全联锁（模式 + 使能 + 未急停） + applyRcChassis(f.gear, f.steer, f.chassisEnabled); + applyRcArm(f); + + updateRcDriving(); +} + +void AppContext::applyRcChassis(int gear, int steer, bool enabled) +{ + const bool allowed = enabled && !estopTriggered && (mode == Mode::Drive); + + const int g = allowed ? axisDir(gear) : 0; + const int s = allowed ? axisDir(steer) : 0; + + if (g == m_rcGearDir && s == m_rcSteerDir) return; // 方向未变，不重复发包 + m_rcGearDir = g; + m_rcSteerDir = s; + sendChassisCommand(); +} + +void AppContext::applyRcArm(const RcFrame& f) +{ + const bool allowed = f.armEnabled && !estopTriggered && (mode == Mode::Arm); + const int vals[6] = {f.posZ, f.posX, f.posY, f.roll, f.pitch, f.yaw}; + + for (int i = 0; i < 6; ++i) { + const int d = allowed ? axisDir(vals[i]) : 0; + if (d == m_rcAxisDir[i]) continue; // 方向未变，不重复发包 + m_rcAxisDir[i] = d; + m_comm->sendArmMove(QString::fromLatin1(kArmAxes[i]), d); + } +} + +// 档位与转向可同时下发（边前进/后退边转向）；两者都回中才停车。 +// 仅转向（档位回中）时发 stop + turn，由车载端决定是否原地转向。 +void AppContext::sendChassisCommand() +{ + QString dir = "stop"; + if (m_rcGearDir > 0) dir = "fwd"; + else if (m_rcGearDir < 0) dir = "back"; + + QString turn; + if (m_rcSteerDir > 0) turn = "right"; + else if (m_rcSteerDir < 0) turn = "left"; + + if (dir == "stop" && turn.isEmpty()) { + m_comm->sendChassisMove("stop", 0); + return; + } + const double spd = (dir == "stop") ? 0.0 : getDouble(keySpeed(), 4.5); + m_comm->sendChassisMove(dir, spd, turn); +} + +void AppContext::updateRcDriving() +{ + // 遥控器正在操作：链路在线且任一已生效轴偏离中位 + bool driving = (m_rcGearDir != 0) || (m_rcSteerDir != 0); + for (int i = 0; i < 6; ++i) { + if (m_rcAxisDir[i] != 0) { driving = true; break; } + } + + if (driving == m_rcDriving) return; + m_rcDriving = driving; + emit rcDrivingChanged(driving); +} + +void AppContext::onRcLinkChanged(bool ok) +{ + telemetry.rcLinkOk = ok; + + if (!ok) { + // 链路中断：撤销所有遥控器动作，否则最后一条指令会被一直挂住。 + // 不动急停状态——丢包导致的 bit4 读为 0 不应被当成遥控器下发的复位。 + if (m_rcGearDir != 0 || m_rcSteerDir != 0) { + m_rcGearDir = 0; + m_rcSteerDir = 0; + m_comm->sendChassisMove("stop", 0); + } + for (int i = 0; i < 6; ++i) { + if (m_rcAxisDir[i] == 0) continue; + m_rcAxisDir[i] = 0; + m_comm->sendArmMove(QString::fromLatin1(kArmAxes[i]), 0); + } + } + updateRcDriving(); } diff --git a/app/appcontext.h b/app/appcontext.h index 1528d41..562882e 100644 --- a/app/appcontext.h +++ b/app/appcontext.h @@ -5,9 +5,9 @@ #include #include #include "global.h" +#include "uart.h" -class UdpCommunication; -class MockVehicle; +class CarCommunication; // 故障历史记录 struct FaultRecord { @@ -25,8 +25,8 @@ class AppContext : public QObject public: static AppContext* instance(); - UdpCommunication* comm() const { return m_comm; } - MockVehicle* vehicle() const { return m_vehicle; } + CarCommunication* comm() const { return m_comm; } + RcCommunication* rc() const { return m_rc; } // 遥测数据快照（由通信层填充） Telemetry telemetry; @@ -68,17 +68,38 @@ public: // 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); + // 遥控器：链路状态与“正在操作”判据（遥控器优先时界面按钮让位） + bool rcDriving() const { return m_rcDriving; } + signals: void modeChanged(Mode m); void estopChanged(bool triggered); void commChanged(bool ok); + void rcDrivingChanged(bool driving); + +private slots: + void onRcFrame(const RcFrame& f); + void onRcLinkChanged(bool ok); private: explicit AppContext(QObject* parent = nullptr); void seedFaultHistory(); + + void applyRcChassis(int gear, int steer, bool enabled); + void applyRcArm(const RcFrame& f); + void sendChassisCommand(); // 按当前档位/转向方向下发（两者可同时） + void updateRcDriving(); + QSettings* m_settings = nullptr; - UdpCommunication* m_comm = nullptr; - MockVehicle* m_vehicle = nullptr; + CarCommunication* m_comm = nullptr; + RcCommunication* m_rc = nullptr; + + // 遥控器动作边沿状态：只在方向变化时下发，避免 100ms 刷屏 + int m_rcGearDir = 0; // -1=后 0=中 +1=前 + int m_rcSteerDir = 0; // -1=左 0=中 +1=右 + int m_rcAxisDir[6] = {0, 0, 0, 0, 0, 0}; // 顺序见 kArmAxes + bool m_rcEstopPrev = false; + bool m_rcDriving = false; }; // 便捷访问宏 diff --git a/app/global.cpp b/app/global.cpp index 5533058..261312e 100644 --- a/app/global.cpp +++ b/app/global.cpp @@ -1,8 +1,10 @@ #include "global.h" #include #include +#include #include #include +#include #include // 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 @@ -61,7 +63,7 @@ bool ButtonFocusGlow::eventFilter(QObject* obj, QEvent* ev) if (ev->type() == QEvent::FocusIn) { if (!w->graphicsEffect()) { // 挂一圈发光（偏移 0 → 四周光晕） QGraphicsDropShadowEffect* g = new QGraphicsDropShadowEffect(w); - g->setBlurRadius(55); // 光晕大小（越大越强） + g->setBlurRadius(40); // 光晕大小（越大越强） g->setOffset(0, 0); g->setColor(m_glow); w->setGraphicsEffect(g); @@ -80,6 +82,33 @@ void installButtonFocusGlow(QApplication* app) app->installEventFilter(new ButtonFocusGlow(QColor("#7FBBFF"), app)); // 亮蓝，深色底更醒目 } +// ===================== 方向键（旋钮）隔离 ===================== +ArrowKeyGuard::ArrowKeyGuard(QObject* parent) + : QObject(parent) +{ +} + +bool ArrowKeyGuard::eventFilter(QObject* obj, QEvent* ev) +{ + if (ev->type() == QEvent::KeyPress) { + // 只在焦点落在按钮上时拦截：否则 QAbstractButton 会拿方向键去换焦 + QWidget* fw = QApplication::focusWidget(); + if (fw && qobject_cast(fw)) { + const int k = static_cast(ev)->key(); + if (k == Qt::Key_Up || k == Qt::Key_Down + || k == Qt::Key_Left || k == Qt::Key_Right) + return true; + } + } + return QObject::eventFilter(obj, ev); +} + +void installArrowKeyGuard(QApplication* app) +{ + if (app) + app->installEventFilter(new ArrowKeyGuard(app)); +} + QString appStyleSheet() { const QString s = QString(R"QSS( @@ -108,7 +137,6 @@ QPushButton { border: 1px solid BD; border-radius: 12px; font-size: 40px; - min-height: 56px; } QPushButton:hover { background-color: PRI; color: TXT; border-color: PRI; } QPushButton:pressed { background-color: PRI; color: #FFFFFF; border-color: PRI; } @@ -165,7 +193,7 @@ QHeaderView::section { font-size: 40px; } QTableWidget::item { padding: 6px; } -QTableWidget::item:selected { background-color: rgba(61,139,253,0.15); color: TXT; } +QTableWidget::item:selected { background-color: PRI; color: #FFFFFF; } /* ===== 数字键盘 ===== */ QPushButton[numpad="true"] { @@ -177,7 +205,7 @@ QPushButton[numpad="true"]:pressed { background-color: PRI; color: #FFFFFF; } QPushButton:focus { background-color: PRI; color: #FFFFFF; - border: 2px solid #8ABFFF; + border: 4px solid #8ABFFF; } QPushButton:focus:disabled { background-color: DIS; color: DIST; border: 1px solid DIS; diff --git a/app/global.h b/app/global.h index 20d29c5..549d322 100644 --- a/app/global.h +++ b/app/global.h @@ -12,9 +12,10 @@ class QApplication; // ===================== 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 +// 屏幕分辨率（1920×1200）；窗口按此固定尺寸，页面布局靠 layout 自适应， +// 富余的垂直空间由各页的 addStretch 分配（控件像素尺寸与字号不随屏幕缩放） static const int SCREEN_W = 1920; -static const int SCREEN_H = 1080; +static const int SCREEN_H = 1200; // ===================== 工业风格配色体系（QSS 十六进制） ===================== namespace C { @@ -44,25 +45,32 @@ enum PageId { 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 + PageHome, // ⑤ 系统首页面（自检完成后进入） + PageJob, // ⑥ 作业选择 + PageChassis, // ⑦ 机器人底盘 + PageArm, // ⑧ 机械臂 + PageGas, // ⑨ 气体检测仪 + PageClean, // ⑩ 消除作业 + PageDisinfect, // ⑪ 消毒作业 + PageDebug, // ⑫ 调试维护 + PageFault, // ⑬ 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 +// 由通信层解析车端反馈报文后填充，页面刷新时读取 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 + int driveMode = 0; // 行车/机械臂模式：0=行车 1=机械臂（遥控器拨钮→串口→底盘报文 mode） + int rdyStatus = 0; // 底盘 ready：0=初始 1=高压上电完成 2=准备就绪 + int gearPos = 0; // 挡位：0=N 1=D 2=R + int parking = 0; // 驻车：0=未驻车 1=左电机 2=右电机 3=完全驻车 + int awdMode = 0; // 四驱模式：0=二驱 1=四驱 2=四驱锁定 + double steerAngle = 0.0; // 方向盘角度 QStringList chassisFaults; // 底盘故障（多条 2s 轮换） // 机械臂 @@ -74,13 +82,17 @@ struct Telemetry { 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 + QString washMode = "--"; // 消除作业 / 消毒作业 + bool washStart = false; // 洗消启停反馈 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 + double flowPlungerFb = 0.0; // 柱塞泵流量反馈 L/min + double flowAirFb = 0.0; // 空压机流量反馈 L/min + double flowVaneFb = 0.0; // 叶片泵流量反馈 L/min QStringList washFaults; // 洗消故障代码 // 液位 @@ -106,6 +118,23 @@ struct Telemetry { bool leaf = false; // 叶片泵上电 QStringList pumpFaults; // 泵故障代码 + // 遥控器（24 字节二进制帧，见 comm/uart.h） + bool rcLinkOk = false; // 遥控器链路是否在线 + int rcBattery = 0; // 遥控器电量 % + bool rcDriveMode = false; // bit0 行车模式 + bool rcArmMode = false; // bit1 机械臂模式 + bool rcArmEnabled = false; // bit2 机械臂使能 + bool rcChassisEnabled = false;// bit3 底盘使能 + bool rcEstop = false; // bit4 急停 + int rcGear = 2048; // 整车档位（底盘 Y）0~4096，中位 2048 + int rcSteer = 2048; // 整车转向（底盘 X） + int rcPosZ = 2048; // 末端位置上下 + int rcPosX = 2048; // 末端位置左右 + int rcPosY = 2048; // 末端位置前后 + int rcRoll = 2048; // 末端姿态横滚 + int rcPitch = 2048; // 末端姿态俯仰 + int rcYaw = 2048; // 末端姿态偏航 + // 全局 bool commOk = true; // 通信状态 bool estop = false; // 急停触发 @@ -139,6 +168,23 @@ private: // 为整个应用安装按钮焦点光圈 void installButtonFocusGlow(QApplication* app); +// ===================== 方向键（旋钮）隔离 ===================== +// 方向键在本机是"旋钮"键位，只由 ParamControl 用来调值。但 QAbstractButton 会把 +// 方向键当成沿焦点链换焦（等同 Tab/Shift+Tab），停在按钮上时按方向键焦点会乱跳。 +// 这个全局过滤器把"焦点在按钮上时"的方向键吞掉，方向键只做调值、换焦只走 Tab。 +class ArrowKeyGuard : public QObject +{ + Q_OBJECT +public: + explicit ArrowKeyGuard(QObject* parent = nullptr); + +protected: + bool eventFilter(QObject* obj, QEvent* ev) override; +}; + +// 为整个应用安装方向键隔离 +void installArrowKeyGuard(QApplication* app); + // 全局 QSS 样式表 QString appStyleSheet(); diff --git a/build/Desktop_Qt_5_15_2_MinGW_32_bit-Debug/.qtc_clangd/.cache/clangd/index/alarmbanner.cpp.7B2684B6DBA3A864.idx b/build/Desktop_Qt_5_15_2_MinGW_32_bit-Debug/.qtc_clangd/.cache/clangd/index/alarmbanner.cpp.7B2684B6DBA3A864.idx index 6b1d19d0fd4f33f917dfe10b55b9dbb50f7108da..c30899e4b63c988870b4db379a42aaa1b1decb37 100644 GIT binary patch delta 20 ccmX@aeTaL*WLA!Ti<`0abF-&Rp3SNb09lC$T>t<8 delta 20 ccmX@aeTaL*WLAzl{{#)zN;gzYp3SNb09qCZAOHXW diff --git a/build/Desktop_Qt_5_15_2_MinGW_32_bit-Debug/.qtc_clangd/.cache/clangd/index/appcontext.cpp.F2C226493E133C0A.idx b/build/Desktop_Qt_5_15_2_MinGW_32_bit-Debug/.qtc_clangd/.cache/clangd/index/appcontext.cpp.F2C226493E133C0A.idx index 1ac3b98b26f743bad3a751c7170863288b32742a..64215ea5246c85f7b9bd562088a98989a418eb28 100644 GIT binary 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zqx%`nGY|vPgi&u)Vwd$&qB|vC(k1rz!u~2Rs`I=0=_ZGiezi3yh1ZFfHJRO(!mdID zKSyhjiEhB}M~yJ55yl946T~!$BCIvY#57~v0%KYrUbJt8k*$KEScA;yHi#4Qc8F*f zjHUWQqGj8*8U4)emXf82k*)&6DnVSW&v~R*{5HeK>c4sg+1%}C>PRGs=#ZMg&?Kmv zV oZ?Aj!(Qrwvv9ouum4* +#include +#include +#include +#include +#include + +namespace { + +// ===================== 线格式 ===================== +// 一帧 = 32 位帧头 + 32 位 CAN ID + DLC + 8 字节数据 + 8 位校验和，共 18 字节。 +// 多字节字段按主机小端排列，与车载端网关一致；帧头用于在字节流中定位报文起始。 +#pragma pack(push, 1) +struct CanFrame { + quint32 header; // 固定帧头 0x5AA5FF00（线上字节序 00 FF A5 5A） + quint32 canId; // 29 位扩展帧 ID，直接用于分流 + quint8 dlc; // 数据长度码，固定 8 + quint8 data[8]; // 8 字节 CAN 原生数据段 + quint8 checksum; // canId 4 字节 + dlc + data[8]，共 13 字节求和取低 8 位 +}; +#pragma pack(pop) + +const quint32 kFrameHeader = 0x5AA5FF00u; +const int kFrameLen = int(sizeof(CanFrame)); +const int kDataLen = 8; + +quint8 canChecksum(quint32 canId, quint8 dlc, const quint8* data) +{ + quint8 sum = 0; + for (int i = 0; i < 4; ++i) sum += quint8((canId >> (8 * i)) & 0xFF); + sum += dlc; + for (int i = 0; i < kDataLen; ++i) sum += data[i]; + return sum; +} + +// ===================== CAN ID（sheet RC） ===================== +// 分类一 遥控器控制指令（上行，7 条） +const quint32 kIdChassisCmd = 0x18208081; +const quint32 kIdArmCmd1 = 0x18218081; +const quint32 kIdArmCmd2 = 0x18228081; +const quint32 kIdDecontamCmd = 0x18238081; +const quint32 kIdDecontamDbg = 0x18248081; +const quint32 kIdDetectorCmd = 0x18258081; +const quint32 kIdEmergency = 0x18268081; +// 分类二/三 VCU 状态反馈（下行，12 条） +const quint32 kIdVehicleFb1 = 0x18308180; // 底盘状态1 BMS +const quint32 kIdVehicleFb2 = 0x18318180; // 底盘状态2 BMS +const quint32 kIdArmFb1 = 0x18328180; // 机械臂状态1 末端位置 +const quint32 kIdArmFb2 = 0x18338180; // 机械臂状态2 末端姿态/速度 +const quint32 kIdArmFb3 = 0x18348180; // 机械臂状态3 关节角 J1~J4 +const quint32 kIdArmFb4 = 0x18358180; // 机械臂状态4 关节角 J5~J6 +const quint32 kIdDecontamFb1 = 0x18368180; // 洗消工作状态1 +const quint32 kIdDecontamFb2 = 0x18378180; // 洗消工作状态2 +const quint32 kIdDetectorFb1 = 0x18388180; // 检测仪结果状态1 +const quint32 kIdDetectorFb2 = 0x18398180; // 检测仪结果状态2 +const quint32 kIdVehicleFb3 = 0x183A8180; // 底盘状态3 EPS/制动故障位 +const quint32 kIdVehicleFb4 = 0x183B8180; // 底盘状态4 挡位/驻车/方向盘/制动电机 + +// ===================== 位运算 ===================== +// 分类一/二/三全部是扩展帧、信号一律 Intel（小端）：起始位即最低位序号， +// 位序由低到高、可跨字节（如 bit47 长度 2 就横跨 byte5/byte6）。 +quint64 intelBits(const quint8* d, int start, int len) +{ + quint64 v = 0; + for (int i = 0; i < len; ++i) { + const int bit = start + i; + if (d[bit >> 3] & (1u << (bit & 7))) + v |= quint64(1) << i; + } + return v; +} + +qint64 intelSigned(const quint8* d, int start, int len) +{ + const quint64 raw = intelBits(d, start, len); + const quint64 signBit = quint64(1) << (len - 1); + return qint64((raw ^ signBit) - signBit); // 符号扩展 +} + +void setIntelBits(quint8* d, int start, int len, quint64 v) +{ + for (int i = 0; i < len; ++i) { + const int bit = start + i; + const quint8 mask = quint8(1u << (bit & 7)); + if (v & (quint64(1) << i)) d[bit >> 3] |= mask; + else d[bit >> 3] &= quint8(~mask); + } +} + +// 物理值 = 总线原始整数值 × 精度 + 偏移量 +double phys(quint64 raw, double scale, double offset = 0.0) +{ + return double(raw) * scale + offset; +} + +// ===================== 协议配置文件 ===================== +// 与 AppContext 用同一份 config.ini（程序目录）。 +QString cfgPath() +{ + return QApplication::applicationDirPath() + "/config.ini"; +} + +// ===================== 故障码 → 中文 ===================== +struct CodeText { quint8 code; const char* text; }; + +const char* lookup(const CodeText* tbl, int n, quint8 code) +{ + for (int i = 0; i < n; ++i) + if (tbl[i].code == code) return tbl[i].text; + return nullptr; +} + +const CodeText kMcuFaults[] = { + {6, "电机缺相预警"}, {17, "控制器过温警告"}, {18, "电机过温警告"}, + {19, "控制器温度传感器警告"}, {20, "电机温度传感器警告"}, {21, "控制器过载警告"}, + {22, "电机超速警告"}, {23, "直流母线电压过压警告"}, {24, "直流母线电压欠压警告"}, + {35, "电流霍尔传感U相器故障"}, {36, "电流霍尔传感W相器故障"}, {37, "VCU报文丢失故障"}, + {38, "VCU循环计数错误"}, {39, "VCU校验和错误"}, {40, "CAN BussOff故障"}, + {49, "母线硬件过压故障"}, {50, "相电流硬件过流故障"}, {51, "IGBT短路故障"}, + {52, "驱动欠压故障"}, {53, "旋变故障"}, {54, "电机超速故障"}, + {55, "低压电源过压故障"}, {56, "低压电源欠压故障"}, {57, "直流母线电压过压故障"}, + {58, "直流母线电压欠压故障"}, {59, "控制器过温故障"}, {60, "电机过温故障"}, + {61, "电机缺相故障"}, {62, "驻坡失效故障"}, +}; + +const CodeText kAirCompFaults[] = { + {2, "加速过流"}, {3, "减速过流"}, {4, "恒速过流"}, {5, "加速过压"}, + {6, "减速过压"}, {7, "恒速过压"}, {8, "缓冲过载"}, {9, "欠压"}, + {10, "控制器过载"}, {11, "电机过载"}, {12, "输入缺相"}, {13, "输出缺相"}, + {14, "模块过热"}, {15, "外部故障"}, {16, "通信异常"}, {17, "接触器异常"}, + {18, "电流检测故障"}, {19, "自学习故障"}, {20, "编码器故障"}, {21, "参数读写异常"}, + {22, "变频器硬件故障"}, {23, "电机对地短路故障"}, {31, "PID反馈丢失"}, + {40, "快速限流超时故障"}, {42, "速度偏差过大"}, {43, "电机超速"}, {45, "电机过温"}, + {90, "编码器线数设定错误"}, {91, "未接编码器"}, {92, "初始位置错误"}, {94, "速度反馈错误"}, +}; + +const CodeText kPlungerFaults[] = { + {1, "短路故障"}, {2, "欠压"}, {3, "过压"}, {4, "控制器过温"}, + {5, "控制器温度传感器故障"}, {6, "电机过温"}, {7, "电机温度传感器故障"}, +}; + +const CodeText kCommFaults[] = { + {1, "底盘电机通信异常"}, {2, "底盘BMS通信异常"}, {3, "机械臂通信异常"}, + {4, "空压机通信异常"}, {5, "柱塞泵通信异常"}, {6, "叶片泵通信异常"}, + {7, "气体检测仪通信异常"}, {8, "遥控器通信异常"}, +}; + +const CodeText kDetectorWarns[] = { + {1, "进气嘴未接"}, {2, "氢气流量不足"}, {4, "仪器故障"}, {8, "浓度过高"}, +}; + +// 底盘状态3（0x183A8180）的 46 个 1 bit 故障标志（bit0~bit45） +const char* const kVsb3Bits[46] = { + "EPS转子角未对中", "EPS转子角度断开", "EPS转子角度SPI故障", "EPSEEPROM故障", + "EPS方向盘中点未对中", "EPS方向盘角度超限", "EPS方向盘小齿信号断开", "EPS方向盘中齿信号断开", + "EPS过电流故障", "EPS电机A相电流异常", "EPS电机C相电流异常", "EPS电机B相电流异常", + "EPSVCU信号丢失", "EPS电机无助力", "EPS预驱配置失败", "EPS半堵转保护", + "EPS温度热保护", "EPS电压管理保护", "EPS转角响应不到位", "EPS转子角度PWM故障", + "EPS电压校验异常", "EPS热敏电阻开路或短路", "EPS热敏电阻温差过大", + "制动器过载故障", "制动器过温或过压故障", "制动器过流故障", "制动器电源欠压故障", + "制动器电源过压故障", "制动器压力不足", "制动器缺相故障", "制动器通讯故障", + "制动器电流采样故障", "制动器驱动故障", "制动器磁编故障", "制动器压力传感器故障", + "制动器踏板位置传感器故障", "制动器机械故障", "制动器堵转故障", "制动器急停按键闭合警告", + "制动器驻车时间过长", "制动器CAN1中断警告", "制动器CAN2中断警告", "制动器点火线断开警告", + "制动器电流异常警告", "制动器温度过高警告", "制动器输入电压过高警告", +}; + +// 各路 *_FaultLevel 统一为 0 正常 / 1~3 故障等级 +const char* const kLevels[4] = {"", "一级故障", "二级故障", "三级故障"}; + +// 制动电机状态（Brake_*_Mot_fault）：0x00~0x07 +const char* const kBrakeMotFaults[8] = { + "", "电机开路", "电机短路", "制动执行超时", "解除制动执行超时", + "驱动电路故障", "供电电压过低", "供电电压过高", +}; + +void addFault(QVector& out, const QString& system, const char* codePrefix, + quint8 code, const char* text) +{ + if (!text) return; + CanFault f; + f.system = system; + f.code = QString::fromLatin1(codePrefix) + QString::number(code); + f.desc = QString::fromUtf8(text); + out.append(f); +} + +// 未在码表中登记的码也上报，避免“有故障但界面无提示” +void addFaultByCode(QVector& out, const QString& system, const char* codePrefix, + const CodeText* tbl, int n, quint8 code) +{ + if (code == 0) return; + const char* t = lookup(tbl, n, code); + if (t) addFault(out, system, codePrefix, code, t); + else { + CanFault f; + f.system = system; + f.code = QString::fromLatin1(codePrefix) + QString::number(code); + f.desc = QString::fromLatin1(codePrefix) + QString::number(code); + out.append(f); + } +} + +// 故障等级：>0 才上报，描述形如“单体电压过低二级故障” +void addLevelFault(QVector& out, const QString& system, const char* codePrefix, + const char* name, quint8 level) +{ + if (level == 0 || level > 3) return; + CanFault f; + f.system = system; + f.code = QString::fromLatin1(codePrefix) + QString::number(level); + f.desc = QString::fromUtf8(name) + QString::fromUtf8(kLevels[level]); + out.append(f); +} + +const char* const kSysChassis = "机器人底盘"; +const char* const kSysWash = "洗消系统"; +const char* const kSysDetector = "气体检测仪"; + +} // namespace + +// ===================== 构造与生命周期 ===================== +CarCommunication::CarCommunication(Telemetry* tel, QObject* parent) + : QObject(parent), m_tel(tel) +{ + m_serial = new QSerialPort(this); + connect(m_serial, &QSerialPort::readyRead, this, &CarCommunication::onReadyRead); + + // 串口配置与 AppContext 共用 config.ini（默认 /dev/ttyS7，500000 8N1） + QSettings s(cfgPath(), QSettings::IniFormat); + m_device = s.value("car/device", "/dev/ttyS7").toString(); + m_baud = s.value("car/baud", 500000).toInt(); + m_selfCheckFault = s.value("net/selfcheck_fault", true).toBool(); + + // 洗消四参数按存盘值初始化，否则开机帧发的是硬编码初值而非用户设定值。 + // INI 读回的是文本（"6.5"），须用 toDouble 解析；协议字段都是整数，四舍五入取整。 + m_plungerFlow = qRound(qBound(0.0, s.value("param/pump_flow", 20).toDouble(), 24.0)); + m_foamRatio = qRound(qBound(6.0, s.value("param/foam_ratio", 6).toDouble(), 12.0)); + m_foamPercent = qRound(qBound(0.0, s.value("param/foam_percent", 3).toDouble(), 10.0)); + m_airFlow = qRound(qBound(0.0, s.value("param/air_flow", 100).toDouble(), 340.0)); + + // 通信超时判定：最慢的下行报文周期 1000ms，连续 2s 无任何合法帧 → 通信异常 + m_hbTimer = new QTimer(this); + m_hbTimer->setInterval(2000); + connect(m_hbTimer, &QTimer::timeout, this, &CarCommunication::onHeartbeatTimeout); + + // 上行周期定时器，周期取自协议「报文周期时间」列 + m_fastTimer = new QTimer(this); // 50ms：底盘 / 机械臂 / 急停 + m_fastTimer->setInterval(50); + connect(m_fastTimer, &QTimer::timeout, this, &CarCommunication::onSendFast); + + m_midTimer = new QTimer(this); // 100ms：洗消指令 / 洗消调试 + m_midTimer->setInterval(100); + connect(m_midTimer, &QTimer::timeout, this, &CarCommunication::onSendMid); + + m_slowTimer = new QTimer(this); // 1000ms：气体检测仪 + m_slowTimer->setInterval(1000); + connect(m_slowTimer, &QTimer::timeout, this, &CarCommunication::onSendSlow); + + // 本端自检序列（见 onSelfCheckTick 的 TODO） + m_selfCheckTimer = new QTimer(this); + m_selfCheckTimer->setInterval(450); + connect(m_selfCheckTimer, &QTimer::timeout, this, &CarCommunication::onSelfCheckTick); + + if (m_tel) m_tel->js.resize(6); +} + +CarCommunication::~CarCommunication() +{ + stop(); +} + +bool CarCommunication::start() +{ + if (m_serial->isOpen()) + return true; + + m_serial->setPortName(m_device); + m_serial->setBaudRate(m_baud); + m_serial->setDataBits(QSerialPort::Data8); + m_serial->setStopBits(QSerialPort::OneStop); + m_serial->setParity(QSerialPort::NoParity); + m_serial->setFlowControl(QSerialPort::NoFlowControl); + + if (!m_serial->open(QIODevice::ReadWrite)) { + // 开发机（Windows）没有 /dev/ttyS7 时走这里：不启动定时器，界面显示通信异常 + qWarning() << "车端串口打开失败:" << m_device << m_serial->errorString(); + setCommOk(false); + return false; + } + m_buf.clear(); + m_hbTimer->start(); + m_fastTimer->start(); + m_midTimer->start(); + m_slowTimer->start(); + return true; +} + +void CarCommunication::stop() +{ + m_hbTimer->stop(); + m_fastTimer->stop(); + m_midTimer->stop(); + m_slowTimer->stop(); + m_selfCheckTimer->stop(); + if (m_serial->isOpen()) m_serial->close(); + m_buf.clear(); +} + +void CarCommunication::setCommOk(bool ok) +{ + if (ok == m_lastCommOk) return; + m_lastCommOk = ok; + if (m_tel) m_tel->commOk = ok; + emit commOkChanged(ok); +} + +// ===================== 收包与分流 ===================== +void CarCommunication::onReadyRead() +{ + m_buf.append(m_serial->readAll()); + + // 串口是字节流：逐字节找帧头，校验不过则右移一字节继续找（容忍粘包、拆包与杂包）。 + // 尾部不足一帧的残段留在 m_buf 里等下次数据。 + int off = 0; + while (off + kFrameLen <= m_buf.size()) { + CanFrame f; + std::memcpy(&f, m_buf.constData() + off, kFrameLen); + if (f.header == kFrameHeader && f.dlc == kDataLen + && f.checksum == canChecksum(f.canId, f.dlc, f.data)) { + handleFrame(f.canId, f.data); + off += kFrameLen; + } else { + ++off; + } + } + if (off > 0) m_buf.remove(0, off); + + // 防御：长期收不到帧头时缓冲会一直涨，超过上限只保留尾部一帧长度 + if (m_buf.size() > 4096) m_buf.remove(0, m_buf.size() - kFrameLen); +} + +void CarCommunication::handleFrame(quint32 canId, const quint8* d) +{ + if (!m_tel) return; + + // 收到任意合法帧即刷新链路（CAN 无独立心跳报文） + m_hbTimer->start(); + setCommOk(true); + + switch (canId) { + // ---------- 0x18308180 底盘状态1（BMS）：电池总况与故障等级 ---------- + case kIdVehicleFb1: { + m_tel->volt = phys(intelBits(d, 0, 16), 0.1); + m_tel->soc = int(phys(intelBits(d, 16, 16), 0.1)); + + m_vsf1Faults.clear(); + addFaultByCode(m_vsf1Faults, QString::fromUtf8(kSysChassis), "MCU", + kMcuFaults, int(sizeof(kMcuFaults) / sizeof(CodeText)), + quint8(intelBits(d, 32, 8))); + addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "MCUL", + "底盘电机", quint8(intelBits(d, 40, 2))); + addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "CELLL", + "单体电压过低", quint8(intelBits(d, 45, 2))); + addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "CELLHL", + "单体电压过高", quint8(intelBits(d, 47, 2))); + addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "VOLTL", + "总电压过低", quint8(intelBits(d, 49, 2))); + addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "VOLTHL", + "总电压过高", quint8(intelBits(d, 51, 2))); + addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "DLTPL", + "放电低温", quint8(intelBits(d, 53, 2))); + addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "DHTPL", + "放电高温", quint8(intelBits(d, 55, 2))); + addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "CLTPL", + "充电低温", quint8(intelBits(d, 57, 2))); + addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "CHTPL", + "充电高温", quint8(intelBits(d, 59, 2))); + addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "TIL", + "温度不均衡", quint8(intelBits(d, 61, 2))); + break; + } + + // ---------- 0x18318180 底盘状态2（BMS）：手刹 / 车速 / 继电器 / 通信 ---------- + case kIdVehicleFb2: { + m_vsf2Faults.clear(); + addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "VIL", + "压差不均衡", quint8(intelBits(d, 0, 2))); + addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "DOCL", + "放电过流", quint8(intelBits(d, 2, 2))); + addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "COCL", + "充电过流", quint8(intelBits(d, 4, 2))); + addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "INCL", + "内部通讯", quint8(intelBits(d, 6, 2))); + addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "EXCL", + "外部通讯", quint8(intelBits(d, 8, 2))); + addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "SOCL", + "SOC过低", quint8(intelBits(d, 10, 2))); + addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "INSL", + "绝缘", quint8(intelBits(d, 12, 2))); + + // 继电器粘连：0=正常 非 0=故障 + struct { int bit; const char* name; const char* code; } relays[] = { + {14, "加热继电器粘连", "HEATW"}, + {16, "充电继电器粘连", "CHGW"}, + {18, "总负继电器粘连", "NEGW"}, + {20, "总正继电器粘连", "POSW"}, + }; + for (const auto& r : relays) { + if (intelBits(d, r.bit, 2) != 0) + addFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), r.code, 1, r.name); + } + + m_tel->handbrake = intelBits(d, 22, 2) != 0; + // Vehi_spd：协议表为 8 位、精度 0.01（0~2.55 km/h）。其后 Vehi_RdyStatus(32)、 + // Reserve(34)、All_Comm_FaultCode(40) 的起始位与 8 位布局自洽，故按协议取值。 + m_tel->speed = phys(intelBits(d, 24, 8), 0.01); + m_tel->rdyStatus = int(intelBits(d, 32, 2)); + + const quint8 comm = quint8(intelBits(d, 40, 8)); // All_Comm_FaultCode + addFaultByCode(m_vsf2Faults, QString::fromUtf8(kSysChassis), "COMM", + kCommFaults, int(sizeof(kCommFaults) / sizeof(CodeText)), comm); + break; + } + + // ---------- 0x183A8180 底盘状态3：EPS / 制动故障位 ---------- + case kIdVehicleFb3: { + m_vsf3Faults.clear(); + for (int i = 0; i < 46; ++i) { + if (intelBits(d, i, 1) != 0) + addFault(m_vsf3Faults, QString::fromUtf8(kSysChassis), "EPS", quint8(i), + kVsb3Bits[i]); + } + const quint8 eps = quint8(intelBits(d, 48, 8)); + if (eps != 0) { + CanFault f; + f.system = QString::fromUtf8(kSysChassis); + f.code = QString("EPSC") + QString::number(eps); + f.desc = QString("EPS故障码") + QString::number(eps); + m_vsf3Faults.append(f); + } + break; + } + + // ---------- 0x183B8180 底盘状态4：挡位 / 驻车 / 方向盘 / 制动电机 ---------- + case kIdVehicleFb4: { + m_vsf4Faults.clear(); + m_tel->gearPos = int(intelBits(d, 0, 2)); // 0=N 1=D 2=R + m_tel->parking = int(intelBits(d, 2, 2)); // 0=未驻车 1=左电机 2=右电机 3=完全驻车 + m_tel->awdMode = int(intelBits(d, 4, 2)); // 0=二驱 1=四驱 2=四驱锁定 + m_tel->steerAngle = double(intelBits(d, 8, 16)); + + const quint8 align = quint8(intelBits(d, 24, 8)); + if (align == 0x11) addFault(m_vsf4Faults, QString::fromUtf8(kSysChassis), "ALIGN", 1, "方向盘对中失败"); + else if (align != 0xEE && align != 0x55) + addFault(m_vsf4Faults, QString::fromUtf8(kSysChassis), "ALIGN", 0, "方向盘未对中"); + + // 注：协议表把两个信号的“信号值描述”写反了（Brake_Right 描述成左电机、 + // Brake_Left 描述成右电机），此处以信号名为准。 + const quint8 br = quint8(intelBits(d, 32, 8)); + if (br != 0) addFault(m_vsf4Faults, QString::fromUtf8(kSysChassis), "BRKR", br, + br < 8 ? kBrakeMotFaults[br] : "制动电机故障"); + const quint8 bl = quint8(intelBits(d, 40, 8)); + if (bl != 0) addFault(m_vsf4Faults, QString::fromUtf8(kSysChassis), "BRKL", bl, + bl < 8 ? kBrakeMotFaults[bl] : "制动电机故障"); + break; + } + + // ---------- 0x18328180 机械臂状态1：末端位置 ---------- + case kIdArmFb1: { + m_tel->pos = QString("X:%1 Y:%2 Z:%3") + .arg(intelSigned(d, 0, 16)) + .arg(intelSigned(d, 16, 16)) + .arg(intelSigned(d, 32, 16)); + break; + } + // ---------- 0x18338180 机械臂状态2：末端姿态与末端速度 ---------- + case kIdArmFb2: { + m_tel->pose = QString("RX:%1 RY:%2 RZ:%3") + .arg(intelSigned(d, 0, 16)) + .arg(intelSigned(d, 16, 16)) + .arg(intelSigned(d, 32, 16)); + m_tel->vel = double(intelSigned(d, 48, 8)); + break; + } + // ---------- 0x18348180 机械臂状态3：关节角 J1~J4 ---------- + case kIdArmFb3: { + if (m_tel->js.size() < 6) m_tel->js.resize(6); + for (int i = 0; i < 4; ++i) + m_tel->js[i] = double(intelSigned(d, i * 16, 16)); + break; + } + // ---------- 0x18358180 机械臂状态4：关节角 J5~J6 ---------- + case kIdArmFb4: { + if (m_tel->js.size() < 6) m_tel->js.resize(6); + m_tel->js[4] = double(intelSigned(d, 0, 16)); + m_tel->js[5] = double(intelSigned(d, 16, 16)); + break; + } + + // ---------- 0x18368180 洗消工作状态1：模式 / 泵 / 球阀 / 液位 / 流量 ---------- + case kIdDecontamFb1: { + const quint8 mode = quint8(intelBits(d, 0, 2)); + m_tel->washMode = (mode == 3) ? QString::fromUtf8("消毒作业") + : (mode == 2) ? QString::fromUtf8("消除作业") + : QString("--"); + m_tel->washStart = intelBits(d, 2, 1) != 0; + m_tel->plunger = intelBits(d, 3, 1) != 0; + m_tel->air = intelBits(d, 4, 1) != 0; + m_tel->leaf = intelBits(d, 5, 1) != 0; + + m_tel->d1open = intelBits(d, 8, 1) != 0; + m_tel->d1close = !m_tel->d1open; + m_tel->d2open = intelBits(d, 9, 1) != 0; + m_tel->d2close = !m_tel->d2open; + + m_washFaults.clear(); + if (intelBits(d, 10, 1) != 0) // Sys_fault：无分路码，只报总故障 + addFault(m_washFaults, QString::fromUtf8(kSysWash), "SYS", 1, "洗消系统故障"); + if (intelBits(d, 6, 1) != 0) + addFault(m_washFaults, QString::fromUtf8(kSysWash), "LVL", 1, "A组分/清水液位低"); + if (intelBits(d, 7, 1) != 0) + addFault(m_washFaults, QString::fromUtf8(kSysWash), "LVL", 2, "B组分液位低"); + + m_tel->levelA = double(intelBits(d, 16, 8)); + m_tel->levelFoam = double(intelBits(d, 24, 8)); + m_tel->flowA = double(intelBits(d, 32, 8)); + m_tel->flowB = double(intelBits(d, 40, 8)); + m_tel->gasFlow = double(intelBits(d, 48, 8)); + m_tel->foam = double(intelBits(d, 56, 8)); + break; + } + // ---------- 0x18378180 洗消工作状态2：压力 / 流量反馈 / 泵故障码 ---------- + case kIdDecontamFb2: { + m_tel->press = phys(intelBits(d, 0, 8), 0.1); + m_tel->airPress = phys(intelBits(d, 8, 8), 0.1); + m_tel->flowPlungerFb = double(intelBits(d, 16, 8)); + m_tel->flowAirFb = double(intelBits(d, 32, 8)); + m_tel->flowVaneFb = double(intelBits(d, 40, 8)); + + m_pumpFaults.clear(); + addFaultByCode(m_pumpFaults, QString::fromUtf8(kSysWash), "AIR", + kAirCompFaults, int(sizeof(kAirCompFaults) / sizeof(CodeText)), + quint8(intelBits(d, 48, 8))); + addFaultByCode(m_pumpFaults, QString::fromUtf8(kSysWash), "PLG", + kPlungerFaults, int(sizeof(kPlungerFaults) / sizeof(CodeText)), + quint8(intelBits(d, 56, 8))); + break; + } + + // ---------- 0x18388180 检测仪结果状态1：状态 / 毒物种类与等级 / 告警 ---------- + case kIdDetectorFb1: { + const quint8 sta = quint8(intelBits(d, 0, 8)); + const quint8 warn = quint8(intelBits(d, 24, 8)); + // 2=计算目标基线 3=等待稳定 4=检测 5=等待点火 6=确定初始基线 + m_tel->gasHost = (warn & 0x04) ? QString("fault") + : (sta == 4) ? QString("detecting") + : QString("standby"); + + // Toxic_types 是位组合：1=P类 2=S类 4=HNO类 8=CH类 16=AS类 + const quint8 types = quint8(intelBits(d, 8, 8)); + static const struct { quint8 bit; const char* name; } kTypes[] = { + {1, "P类"}, {2, "S类"}, {4, "HNO类"}, {8, "CH类"}, {16, "AS类"}, + }; + QStringList names; + for (const auto& t : kTypes) + if (types & t.bit) names << QString::fromUtf8(t.name); + m_tel->gasType = names.isEmpty() ? QString("--") : names.join("/"); + + const quint8 lvl = quint8(intelBits(d, 16, 8)); + m_tel->gasLevel = (lvl >= 1 && lvl <= 5) ? QString("%1级").arg(lvl) : QString("--"); + + m_detectorFaults.clear(); + for (const CodeText& w : kDetectorWarns) + if (warn & w.code) + m_detectorFaults.append(CanFault{QString::fromUtf8(kSysDetector), + QString::fromLatin1("W") + QString::number(w.code), + QString::fromUtf8(w.text)}); + break; + } + // ---------- 0x18398180 检测仪结果状态2：40 位浓度（ppb） ---------- + case kIdDetectorFb2: { + m_tel->gasConc = double(intelBits(d, 0, 40)); + break; + } + + default: + return; // 未知 canId 不触发刷新（分类四本次未实现） + } + + cacheFaults(); + emit telemetryUpdated(); +} + +// 把各帧的故障合并进 Telemetry，并把“新出现”的故障写入故障历史 +void CarCommunication::cacheFaults() +{ + if (!m_tel) return; + + const QVector*> groups = { + &m_vsf1Faults, &m_vsf2Faults, &m_vsf3Faults, &m_vsf4Faults, + }; + QStringList chassis; + for (const QVector* g : groups) + for (const CanFault& f : *g) chassis << f.desc; + m_tel->chassisFaults = chassis; + + QStringList wash; + for (const CanFault& f : m_washFaults) wash << f.desc; + for (const CanFault& f : m_detectorFaults) wash << f.desc; + m_tel->washFaults = wash; + + QStringList pump; + for (const CanFault& f : m_pumpFaults) pump << f.desc; + m_tel->pumpFaults = pump; + + // 周期报文会反复报到同一故障，只在首次出现时写故障历史 + const QVector*> all = { + &m_vsf1Faults, &m_vsf2Faults, &m_vsf3Faults, &m_vsf4Faults, + &m_washFaults, &m_pumpFaults, &m_detectorFaults, + }; + for (const QVector* g : all) { + for (const CanFault& f : *g) { + const QString key = f.system + "|" + f.code; + if (m_reportedFaults.contains(key)) continue; + m_reportedFaults.insert(key); + emit faultAppended(f.system, f.code, f.desc); + } + } +} + +// ===================== 发包 ===================== +void CarCommunication::sendFrame(quint32 canId, const quint8* data) +{ + if (!m_serial->isOpen()) return; + + CanFrame f; + f.header = kFrameHeader; + f.canId = canId; + f.dlc = kDataLen; + std::memcpy(f.data, data, kDataLen); + f.checksum = canChecksum(canId, f.dlc, f.data); + m_serial->write(reinterpret_cast(&f), kFrameLen); +} + +// 50ms 组：Chassis_ControlCmd / Arm_ControlCmd1 / Arm_ControlCmd2 / Emergency_Cmd +void CarCommunication::onSendFast() +{ + { + quint8 d[8] = {0}; + setIntelBits(d, 0, 1, 1); // Chassis_modeCmd 有效 + setIntelBits(d, 1, 2, 0); // MCU_modeCmd 底盘预留 + setIntelBits(d, 3, 1, 1); // MCU_enable 有效 + setIntelBits(d, 4, 4, 0); // Reserve 置 0 + setIntelBits(d, 8, 16, m_gear); + setIntelBits(d, 24, 16, m_targetSpd); + setIntelBits(d, 40, 16, m_turning); + sendFrame(kIdChassisCmd, d); + } + { + quint8 d[8] = {0}; + setIntelBits(d, 0, 1, m_armMode ? 1 : 0); // Arm_modeCmd + setIntelBits(d, 1, 1, m_armMode ? 1 : 0); // Arm_enable + setIntelBits(d, 2, 6, 0); // Reserve + setIntelBits(d, 8, 16, m_updown); + setIntelBits(d, 24, 16, m_leftright); + setIntelBits(d, 40, 16, m_frontrear); + sendFrame(kIdArmCmd1, d); + } + { + quint8 d[8] = {0}; + setIntelBits(d, 0, 16, m_roll); + setIntelBits(d, 16, 16, m_pitch); + setIntelBits(d, 32, 16, m_yaw); + setIntelBits(d, 48, 8, m_homingPause); + sendFrame(kIdArmCmd2, d); + } + { + quint8 d[8] = {0}; + setIntelBits(d, 0, 8, m_emergStop); + sendFrame(kIdEmergency, d); + } +} + +// 100ms 组：Decontam_ControlCmd / Decontam_DebugCmd +void CarCommunication::onSendMid() +{ + { + quint8 d[8] = {0}; + setIntelBits(d, 0, 2, m_decontamMode); + setIntelBits(d, 2, 1, m_decontamStart ? 1 : 0); + setIntelBits(d, 3, 5, 0); // Reserve 置 0 + + // 发泡倍数 / 泡沫比例 / 空压机流量 / 柱塞泵流量：均由页面保存时经 sendSetParam + // 写入缓存（构造时先按 config.ini 初始化），这里直接读缓存组帧，不再每帧读文件。 + // 取值范围按协议「信号值描述」列收口：发泡倍数 6-12 倍、泡沫比例 0-10%、 + // 空压机流量 0-340 L/min；界面 ParamControl 的可调范围与之一致。 + setIntelBits(d, 8, 8, quint64(qBound(6, m_foamRatio, 12))); + setIntelBits(d, 16, 8, quint64(qBound(0, m_foamPercent, 10))); + setIntelBits(d, 24, 8, quint64(qBound(0, m_airFlow, 340))); + setIntelBits(d, 32, 8, quint64(qBound(0, m_plungerFlow, 24))); + sendFrame(kIdDecontamCmd, d); + } + { + quint8 d[8] = {0}; + setIntelBits(d, 0, 1, m_debugMode ? 1 : 0); + setIntelBits(d, 1, 1, m_plungerOn ? 1 : 0); + setIntelBits(d, 2, 1, m_airOn ? 1 : 0); + setIntelBits(d, 3, 1, m_vaneOn ? 1 : 0); + setIntelBits(d, 4, 1, m_d1Open ? 1 : 0); + setIntelBits(d, 5, 1, m_d2Open ? 1 : 0); + setIntelBits(d, 6, 2, 0); // Debug_Reserve1 + setIntelBits(d, 8, 16, quint64(qBound(0, int(m_airRpm), 3000))); + setIntelBits(d, 24, 16, quint64(qBound(0, int(m_plungerRpm), 1450))); + setIntelBits(d, 40, 16, quint64(qBound(0, int(m_vaneRpm), 2000))); + // 界面每个泵只有一组“启动/停止”，上电与启动同源 + setIntelBits(d, 56, 1, m_airOn ? 1 : 0); + setIntelBits(d, 57, 1, m_plungerOn ? 1 : 0); + setIntelBits(d, 58, 1, m_vaneOn ? 1 : 0); + sendFrame(kIdDecontamDbg, d); + } +} + +// 1000ms 组：Detector_ControlCmd +void CarCommunication::onSendSlow() +{ + quint8 d[8] = {0}; + setIntelBits(d, 0, 8, m_detectorCmd); + sendFrame(kIdDetectorCmd, d); +} + +// ===================== 上行命令 → 控制状态 ===================== +void CarCommunication::sendChassisMove(const QString& dir, double speed, const QString& turn) +{ + // 档位推杆量：后 0 / 中 2048 / 前 4096 + if (dir == "fwd") m_gear = 4096; + else if (dir == "back") m_gear = 0; + else m_gear = kRcAxisMid; + + // 转向推杆量：左 0 / 中 2048 / 右 4096 + if (turn == "left") m_turning = 0; + else if (turn == "right") m_turning = 4096; + else m_turning = kRcAxisMid; + + // Vehi_TargetSpd 精度 0.01 km/h，量程 0~500（即 0~5.00 km/h） + m_targetSpd = quint16(qBound(0, int(qRound(speed * 100.0)), 500)); +} + +void CarCommunication::sendArmMove(const QString& axis, int dir) +{ + // 轴位推杆量：dir +1 / -1 / 0 → 4096 / 0 / 中位 + const quint16 v = (dir > 0) ? 4096 : (dir < 0) ? 0 : kRcAxisMid; + + if (axis == "z") m_updown = v; + else if (axis == "x") m_leftright = v; + else if (axis == "y") m_frontrear = v; + else if (axis == "roll") m_roll = v; + else if (axis == "pitch") m_pitch = v; + else if (axis == "yaw") m_yaw = v; +} + +void CarCommunication::sendArmReturn() +{ + m_homingPause = 0xAA; // 系统回位 +} + +void CarCommunication::sendArmPause() +{ + m_homingPause = 0x55; // 暂停回位 +} + +void CarCommunication::sendGasStart() +{ + m_detectorCmd = 0xAA; // 启动检测 +} + +void CarCommunication::sendGasStop() +{ + m_detectorCmd = 0x55; // 停止检测 +} + +void CarCommunication::sendWashStart(const QString& mode) +{ + m_decontamMode = (mode == "disinfect") ? 3 : 2; // 3=手动消毒 2=手动消除 + m_decontamStart = true; +} + +void CarCommunication::sendWashStop() +{ + m_decontamStart = false; +} + +void CarCommunication::sendBallValve(int valve, bool open) +{ + if (valve == 1) m_d1Open = open; + else m_d2Open = open; + m_debugMode = true; // 球阀属于调试指令 +} + +void CarCommunication::sendPumpPower(const QString& pump, bool on) +{ + if (pump == "plunger") m_plungerOn = on; + else if (pump == "air") m_airOn = on; + else if (pump == "leaf") m_vaneOn = on; // 叶片泵 → VanePump + m_debugMode = true; +} + +void CarCommunication::sendPumpRpm(const QString& pump, int rpm) +{ + if (pump == "plunger") m_plungerRpm = quint16(qBound(0, rpm, 1450)); + else if (pump == "air") m_airRpm = quint16(qBound(0, rpm, 3000)); + else if (pump == "leaf") m_vaneRpm = quint16(qBound(0, rpm, 2000)); +} + +void CarCommunication::sendSetParam(const QString& key, double value) +{ + // 参数缓存与 config.ini 同源：页面保存时先落盘再调这里，周期帧只读缓存。 + if (key == "param/speed") + m_targetSpd = quint16(qBound(0, int(qRound(value * 100.0)), 500)); + else if (key == "param/pump_flow") + // 字段是 0~24 的整数，界面刻度是 0.1：必须四舍五入而不是截断， + // 否则 0.1 累加出的尾差（面板 5.0 实际存 4.9999999999999982）会下发成 4 + m_plungerFlow = qRound(qBound(0.0, value, 24.0)); + else if (key == "param/foam_ratio") + m_foamRatio = qRound(qBound(6.0, value, 12.0)); + else if (key == "param/foam_percent") + m_foamPercent = qRound(qBound(0.0, value, 10.0)); + else if (key == "param/air_flow") + m_airFlow = qRound(qBound(0.0, value, 340.0)); +} + +void CarCommunication::sendSelfCheckStart() +{ + m_selfCheckIndex = 0; + m_selfCheckTimer->start(); +} + +void CarCommunication::sendEstop() +{ + m_emergStop = 0x55; +} + +void CarCommunication::sendEstopReset() +{ + m_emergStop = 0; +} + +// TODO：CAN 矩阵（sheet RC）没有自检报文，故暂由本端跑完 10 项序列，仅为维持 +// ④自检 → ⑤作业选择 的流程不中断（onSelfCheckDone 是唯一点亮“作业选择”的地方）。 +// 拿到真实自检报文后，改为解析该报文并删除此本地驱动。 +void CarCommunication::onSelfCheckTick() +{ + bool ok = true; + if (m_selfCheckFault && m_selfCheckIndex == 6) ok = false; // 演示：球阀D1关闭故障 + emit selfCheckItem(m_selfCheckIndex, ok); + + ++m_selfCheckIndex; + if (m_selfCheckIndex >= 10) { + m_selfCheckTimer->stop(); + emit selfCheckDone(!m_selfCheckFault); + } +} + +void CarCommunication::onHeartbeatTimeout() +{ + setCommOk(false); +} diff --git a/comm/car.h b/comm/car.h new file mode 100644 index 0000000..0db7506 --- /dev/null +++ b/comm/car.h @@ -0,0 +1,152 @@ +#ifndef CAR_H +#define CAR_H + +#include +#include +#include +#include +#include +#include +#include "global.h" + +class QSerialPort; + +// 摇杆量协议范围 0~4096，中位 2048（分类一各轴、Vehi_gear/Vehi_turning 通用） +static const int kRcAxisMid = 2048; + +// CAN 反馈只给故障码，这里带上系统与中文描述： +// system 取界面故障历史既有的四个分组名，desc 供页面直接显示，code 供故障查询追溯。 +struct CanFault { + QString system; + QString code; + QString desc; +}; + +// ===================== 车端通信层（CAN 报文经 /dev/ttyS7 串口收发） ===================== +// 依据《洗消机器人遥控器通信协议20260810》sheet RC 实现的 19 条报文： +// 上行 分类一 7 条（遥控器 → 车端）：Chassis_ControlCmd / Arm_ControlCmd1 / Arm_ControlCmd2 / +// Decontam_ControlCmd / Decontam_DebugCmd / Detector_ControlCmd / Emergency_Cmd， +// 按协议「报文周期时间」列分 50 / 100 / 1000ms 三组重发； +// 下行 分类二/三 12 条（车端 → 遥控器）：底盘 4 条、机械臂 4 条、洗消 2 条、气体检测仪 2 条， +// 按 canId 分流转 handleFrame() 写入 Telemetry。 +// 全部为 29 位扩展帧、信号一律 Intel（小端）位序。 +// 串口是字节流，故线上帧统一为 18 字节：帧头 0x5AA5FF00 + canId + DLC + 8 字节数据 + 校验和。 +// 通信超时判定：连续 2s 未收到任何合法帧则判为通信异常（最慢的下行周期 1000ms）。 +class CarCommunication : public QObject +{ + Q_OBJECT +public: + explicit CarCommunication(Telemetry* tel, QObject* parent = nullptr); + ~CarCommunication() override; + + bool start(); + void stop(); + QString deviceName() const { return m_device; } + + // 行车/机械臂模式（面板旋钮或遥控器报文）→ Arm_ControlCmd1 的 Arm_modeCmd / Arm_enable + void setArmMode(bool arm) { m_armMode = arm; } + + // ---------- 上行命令（分类一）---------- + // 命令只更新本端控制状态，实际报文由周期定时器编码发送（CAN 控制帧本就是周期报文）。 + // turn 非空（"left"/"right"）时与 dir 同时下发，支持边前进/后退边转向 + void sendChassisMove(const QString& dir, double speed, const QString& turn = QString()); + void sendArmMove(const QString& axis, int dir); // dir: +1 / -1 / 0(停止) + void sendArmReturn(); + void sendArmPause(); + void sendGasStart(); + void sendGasStop(); + void sendWashStart(const QString& mode); // "clean" / "disinfect" + void sendWashStop(); + void sendBallValve(int valve, bool open); // valve: 1=D1, 2=D2 + void sendPumpPower(const QString& pump, bool on); // "plunger"/"air"/"leaf" + void sendPumpRpm(const QString& pump, int rpm); + void sendSetParam(const QString& key, double value); + void sendSelfCheckStart(); // 启动本端自检序列（不发 CAN） + void sendEstop(); + void sendEstopReset(); + +signals: + void telemetryUpdated(); // 任意遥测包到达（页面据此刷新） + void commOkChanged(bool ok); // 通信状态变化 + void selfCheckItem(int index, bool ok); // 自检单项结果（0~9） + void selfCheckDone(bool allOk); // 自检完成 + void faultAppended(const QString& system, const QString& code, const QString& desc); + +private slots: + void onReadyRead(); + void onSendFast(); // 50ms 组：底盘 / 机械臂 / 急停 + void onSendMid(); // 100ms 组：洗消指令 / 洗消调试 + void onSendSlow(); // 1000ms 组：气体检测仪 + void onHeartbeatTimeout(); + void onSelfCheckTick(); + +private: + // 收包：按 canId 分流；发包：18 字节封帧后写串口 + void handleFrame(quint32 canId, const quint8* d); + void sendFrame(quint32 canId, const quint8* data); + void cacheFaults(); + void setCommOk(bool ok); + + Telemetry* m_tel = nullptr; + QSerialPort* m_serial = nullptr; + QByteArray m_buf; // 串口字节流缓冲：帧头滑窗重同步用 + QTimer* m_hbTimer = nullptr; + QTimer* m_fastTimer = nullptr; + QTimer* m_midTimer = nullptr; + QTimer* m_slowTimer = nullptr; + QTimer* m_selfCheckTimer = nullptr; + + QString m_device = "/dev/ttyS7"; + int m_baud = 500000; + bool m_lastCommOk = true; + + bool m_armMode = false; + + // 本地自检序列（CAN 矩阵无自检报文，见 .cpp TODO） + int m_selfCheckIndex = 0; + bool m_selfCheckFault = true; + + // ---- 分类一 上行控制状态 ---- + // Chassis_ControlCmd 0x18208081 + quint16 m_gear = kRcAxisMid; // Vehi_gear：后 0 / 中 2048 / 前 4096 + quint16 m_turning = kRcAxisMid; // Vehi_turning：左 0 / 中 2048 / 右 4096 + quint16 m_targetSpd = 0; // Vehi_TargetSpd，精度 0.01，0~500（0~5.00 km/h） + + // Arm_ControlCmd1/2 0x18218081 / 0x18228081 —— 六轴位 0~4096 + quint16 m_updown = kRcAxisMid; + quint16 m_leftright = kRcAxisMid; + quint16 m_frontrear = kRcAxisMid; + quint16 m_roll = kRcAxisMid; + quint16 m_pitch = kRcAxisMid; + quint16 m_yaw = kRcAxisMid; + quint8 m_homingPause = 0x55; // System_homing_pause：0xAA=系统回位 0x55=暂停回位 + + // Decontam_ControlCmd 0x18238081 + // 四个参数缓存与 config.ini 的 param/* 同源：构造时按存盘值初始化， + // 页面保存时经 sendSetParam 更新，周期帧只读缓存（不再每帧读文件）。 + quint8 m_decontamMode = 0; // 2=手动消除 3=手动消毒 + bool m_decontamStart = false; + int m_plungerFlow = 20; // PlungerPump_flow，L/min，0~24（param/pump_flow） + int m_foamRatio = 6; // Expansion_ratioCmd，倍，6~12（param/foam_ratio） + int m_foamPercent = 3; // Foam_ratio，%，0~10（param/foam_percent） + int m_airFlow = 100; // AirComp_flow，L/min，0~340（param/air_flow） + + // Decontam_DebugCmd 0x18248081 + bool m_debugMode = false; // 0=正常模式 1=调试模式（球阀/泵操作置 1） + bool m_plungerOn = false, m_airOn = false, m_vaneOn = false; + bool m_d1Open = false, m_d2Open = false; + quint16 m_airRpm = 0, m_plungerRpm = 0, m_vaneRpm = 0; + + // Detector_ControlCmd 0x18258081 / Emergency_Cmd 0x18268081 + quint8 m_detectorCmd = 0x55; // 0xAA=启动检测 0x55=停止检测 + quint8 m_emergStop = 0; // 0x55=急停 0=正常 + + // ---- 下行故障缓存 ---- + // 底盘故障由 VSFB1~4 四帧共同构成，各自重建后再合并，避免互相覆盖。 + // 气体检测仪告警周期 1000ms、洗消故障 200ms，分开存放，否则后到的会把先到的清掉。 + QVector m_vsf1Faults, m_vsf2Faults, m_vsf3Faults, m_vsf4Faults; + QVector m_washFaults, m_pumpFaults, m_detectorFaults; + QSet m_reportedFaults; // 已记入故障历史的“系统|码”，周期性报文只上报新增故障 +}; + +#endif // CAR_H diff --git a/comm/mockvehicle.cpp b/comm/mockvehicle.cpp deleted file mode 100644 index ca9fc04..0000000 --- a/comm/mockvehicle.cpp +++ /dev/null @@ -1,223 +0,0 @@ -#include "mockvehicle.h" -#include -#include -#include -#include -#include -#include -#include - -MockVehicle::MockVehicle(QObject* parent) - : QObject(parent) -{ - QSettings s; - m_localPort = s.value("net/local_port", 9000).toInt(); // 发送到遥控端 - m_remotePort = s.value("net/remote_port", 9001).toInt(); // 本端监听 - m_enabled = s.value("net/mock", true).toBool(); - m_plantSelfCheckFault = s.value("net/selfcheck_fault", false).toBool(); - - if (!m_enabled) - return; - - m_socket = new QUdpSocket(this); - m_socket->bind(QHostAddress::AnyIPv4, m_remotePort, - QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint); - connect(m_socket, &QUdpSocket::readyRead, this, &MockVehicle::onReadyRead); - - m_sendTimer = new QTimer(this); - connect(m_sendTimer, &QTimer::timeout, this, &MockVehicle::onSendTick); - m_sendTimer->start(500); - - m_selfCheckTimer = new QTimer(this); - connect(m_selfCheckTimer, &QTimer::timeout, this, &MockVehicle::onSelfCheckTick); -} - -void MockVehicle::sendJson(const QJsonObject& obj) -{ - QByteArray data = QJsonDocument(obj).toJson(QJsonDocument::Compact); - m_socket->writeDatagram(data, QHostAddress("127.0.0.1"), m_localPort); -} - -void MockVehicle::onReadyRead() -{ - while (m_socket->hasPendingDatagrams()) { - QNetworkDatagram dg = m_socket->receiveDatagram(); - QJsonParseError err; - QJsonDocument doc = QJsonDocument::fromJson(dg.data(), &err); - if (err.error == QJsonParseError::NoError && doc.isObject()) - handleCommand(doc.object()); - } -} - -void MockVehicle::handleCommand(const QJsonObject& o) -{ - const QString t = o.value("t").toString(); - - if (t == "chassis_move") { - const QString dir = o.value("dir").toString(); - m_speed = o.value("speed").toDouble(); - if (dir == "stop") m_speed = 0; - } else if (t == "arm_move") { - int d = o.value("dir").toInt(); - if (d == 0) return; - if (m_js.size() >= 6) - m_js[1] = qBound(-90.0, m_js[1] + d * 1.0, 90.0); - } else if (t == "arm_return") { - m_armReturn = "returning"; - m_armHomed = false; - } else if (t == "arm_pause") { - m_armReturn = "idle"; - } else if (t == "gas_start") { - m_gasRunning = true; - } else if (t == "gas_stop") { - m_gasRunning = false; - } else if (t == "wash_start") { - m_washRunning = true; - m_washMode = (o.value("mode").toString() == "disinfect") ? "手动消毒" : "手动消除"; - m_pPlunger = true; m_pAir = true; m_pLeaf = true; - } else if (t == "wash_stop") { - m_washRunning = false; - m_pPlunger = false; m_pAir = false; m_pLeaf = false; - } else if (t == "ball_valve") { - int v = o.value("valve").toInt(); - bool open = o.value("open").toBool(); - if (v == 1) m_valve1Open = open; - else m_valve2Open = open; - } else if (t == "pump_power") { - const QString p = o.value("pump").toString(); - bool on = o.value("on").toBool(); - if (p == "plunger") m_pPlunger = on; - else if (p == "air") m_pAir = on; - else if (p == "leaf") m_pLeaf = on; - } else if (t == "pump_rpm") { - const QString p = o.value("pump").toString(); - int rpm = o.value("rpm").toInt(); - if (p == "plunger") m_plungerRpm = rpm; - else if (p == "air") m_airRpm = rpm; - else if (p == "leaf") m_leafRpm = rpm; - } else if (t == "selfcheck_start") { - m_selfCheckActive = true; - m_selfCheckIndex = 0; - m_selfCheckTimer->start(450); - } else if (t == "estop") { - m_estop = true; - m_washRunning = false; m_gasRunning = false; - m_pPlunger = false; m_pAir = false; m_pLeaf = false; - QJsonObject o2; o2["t"] = "estop"; o2["triggered"] = true; - sendJson(o2); - } else if (t == "estop_reset") { - m_estop = false; - QJsonObject o2; o2["t"] = "estop"; o2["triggered"] = false; - sendJson(o2); - } - // set_param 仅用于演示，无需额外处理 -} - -void MockVehicle::onSendTick() -{ - sendHeartbeat(); - sendTelemetry(); -} - -void MockVehicle::sendHeartbeat() -{ - QJsonObject o; o["t"] = "heartbeat"; o["ok"] = true; - sendJson(o); -} - -void MockVehicle::sendTelemetry() -{ - // 底盘 - { - QJsonObject o; - QJsonArray faults; - if (m_estop) faults << QStringLiteral("急停触发"); - o["t"] = "chassis"; - o["soc"] = 85; o["volt"] = 360.0; o["speed"] = m_speed; - o["handbrake"] = true; o["faults"] = faults; - sendJson(o); - } - // 机械臂 - { - if (m_armReturn == "returning") { - bool allZero = true; - for (double& a : m_js) { if (qAbs(a) > 1.0) a *= 0.7; else a = 0; if (qAbs(a) > 0.1) allZero = false; } - if (allZero) { m_armReturn = "done"; m_armHomed = true; } - } - QJsonObject o; - QJsonArray js; - for (double a : m_js) js << a; - o["t"] = "arm"; - o["js"] = js; - o["pos"] = QString("X:%1 Y:%2 Z:%3").arg(1200).arg(300).arg(800); - o["pose"] = "RX:0 RY:0 RZ:0"; - o["vel"] = (m_armReturn == "returning") ? 0.5 : 0.0; - o["return_state"] = m_armReturn; - o["homed"] = m_armHomed; - sendJson(o); - } - // 洗消 - { - QJsonObject o; - o["t"] = "wash"; - o["mode"] = m_washRunning ? m_washMode : "--"; - o["flowA"] = m_washRunning ? 20.0 : 0.0; - o["flowB"] = m_washRunning ? 0.5 : 0.0; - o["gasFlow"] = m_washRunning ? 100.0 : 0.0; - o["press"] = m_washRunning ? 0.3 : 0.0; - o["airPress"] = m_washRunning ? 0.35 : 0.0; - o["foam"] = (m_washMode == "手动消毒") ? 6.0 : 8.0; - o["faults"] = QJsonArray(); - sendJson(o); - } - // 液位 - { - QJsonObject o; o["t"] = "tank"; o["a"] = 100.0; o["foam"] = 30.0; - sendJson(o); - } - // 气体检测仪 - { - static int step = 0; step++; - double conc = m_gasRunning ? 250.0 + 50.0 * qSin(step * 0.4) : 0.0; - QJsonObject o; - o["t"] = "gas"; - o["host"] = m_gasRunning ? "detecting" : "standby"; - o["type"] = m_gasRunning ? "S类" : "--"; - o["level"] = m_gasRunning ? "2级" : "--"; - o["conc"] = qMax(0.0, conc); - sendJson(o); - } - // 球阀 - { - QJsonObject o; - o["t"] = "valve"; - o["d1open"] = m_valve1Open; o["d1close"] = !m_valve1Open; - o["d2open"] = m_valve2Open; o["d2close"] = !m_valve2Open; - o["fault"] = ""; - sendJson(o); - } - // 泵 - { - QJsonObject o; - o["t"] = "pump"; - o["plunger"] = m_pPlunger; o["air"] = m_pAir; o["leaf"] = m_pLeaf; - o["faults"] = QJsonArray(); - sendJson(o); - } -} - -void MockVehicle::onSelfCheckTick() -{ - // 自检 10 项：通信系统/底盘通信/机械臂通信/洗消通信/传感器信号/清水液位/球阀D1开/球阀D1关/球阀D2开/球阀D2关 - bool ok = true; - if (m_plantSelfCheckFault && m_selfCheckIndex == 6) ok = false; // 球阀D1关闭故障 - QJsonObject o; o["t"] = "selfcheck"; o["item"] = m_selfCheckIndex; o["ok"] = ok; - sendJson(o); - m_selfCheckIndex++; - if (m_selfCheckIndex >= 10) { - m_selfCheckTimer->stop(); - m_selfCheckActive = false; - QJsonObject o2; o2["t"] = "selfcheck_done"; o2["all_ok"] = !m_plantSelfCheckFault; - sendJson(o2); - } -} diff --git a/comm/mockvehicle.h b/comm/mockvehicle.h deleted file mode 100644 index 296c857..0000000 --- a/comm/mockvehicle.h +++ /dev/null @@ -1,58 +0,0 @@ -#ifndef MOCKVEHICLE_H -#define MOCKVEHICLE_H - -#include -#include -#include -#include - -// ===================== 内置模拟车载端（离线演示） ===================== -// 以独立 UDP 套接字在回环地址上与遥控端通信：向 UI 端口周期发送遥测， -// 接收并响应 UI 下发的控制命令（行驶/机械臂/球阀/泵/洗消/自检/急停等）。 -class MockVehicle : public QObject -{ - Q_OBJECT -public: - explicit MockVehicle(QObject* parent = nullptr); - bool enabled() const { return m_enabled; } - -private slots: - void onReadyRead(); - void onSendTick(); - void onSelfCheckTick(); - -private: - void sendJson(const QJsonObject& obj); - void sendTelemetry(); - void sendHeartbeat(); - void handleCommand(const QJsonObject& o); - - QUdpSocket* m_socket = nullptr; - QTimer* m_sendTimer = nullptr; - QTimer* m_selfCheckTimer = nullptr; - - int m_localPort = 9000; // 遥控端收包端口（本端发送目标） - int m_remotePort = 9001; // 本端绑定端口（遥控端发包目标） - bool m_enabled = true; - bool m_plantSelfCheckFault = false; - - // 模拟车辆状态 - bool m_estop = false; - bool m_gasRunning = false; - bool m_washRunning = false; - QString m_washMode = "手动消除"; - bool m_valve1Open = false; // D1 控制状态（开/关） - bool m_valve2Open = false; - bool m_pPlunger = false, m_pAir = false, m_pLeaf = false; - double m_speed = 3.45; - int m_airRpm = 300, m_plungerRpm = 200, m_leafRpm = 200; - QVector m_js{30, 20, 0, 90, 45, 0}; - bool m_armHomed = true; - QString m_armReturn = "idle"; - - // 自检序列 - bool m_selfCheckActive = false; - int m_selfCheckIndex = 0; -}; - -#endif // MOCKVEHICLE_H diff --git a/comm/uart.cpp b/comm/uart.cpp new file mode 100644 index 0000000..bd2e8f4 --- /dev/null +++ b/comm/uart.cpp @@ -0,0 +1,151 @@ +#include "uart.h" +#include +#include +#include +#include + +namespace { + +const int kFrameLen = 24; +const quint8 kHead = 0x11; +const quint8 kTail = 0x22; + +// 收不到帧头时缓冲上限，超过则只保留尾部一帧长度，避免长期涨下去 +const int kBufMax = 1024; + +// 小端无符号 16 位 +inline int leU16(const char* p) +{ + return int(quint8(p[0]) | (quint8(p[1]) << 8)); +} + +// 摇杆量按协议范围 0~4096 收口（外部输入，越界值不采信） +inline int axis(const char* p) +{ + return qBound(0, leU16(p), 4096); +} + +// 校验帧头、帧尾与和校验（BYTE0~BYTE22 之和的低 8 位） +bool parseFrame(const char* d, RcFrame& f) +{ + if (quint8(d[0]) != kHead || quint8(d[22]) != kTail) + return false; + + quint8 sum = 0; + for (int i = 0; i < 23; ++i) + sum += quint8(d[i]); + if (sum != quint8(d[23])) + return false; + + const quint8 flags = quint8(d[1]); + f.driveMode = (flags & 0x01) != 0; + f.armMode = (flags & 0x02) != 0; + f.armEnabled = (flags & 0x04) != 0; + f.chassisEnabled = (flags & 0x08) != 0; + f.estop = (flags & 0x10) != 0; + + f.gear = axis(d + 3); + f.steer = axis(d + 5); + f.posZ = axis(d + 7); + f.posX = axis(d + 9); + f.posY = axis(d + 11); + f.roll = axis(d + 13); + f.pitch = axis(d + 15); + f.yaw = axis(d + 17); + + f.battery = qBound(0, int(quint8(d[19])), 100); + return true; +} + +} // namespace + +RcCommunication::RcCommunication(QObject* parent) + : QObject(parent) +{ + m_serial = new QSerialPort(this); + connect(m_serial, &QSerialPort::readyRead, this, &RcCommunication::onReadyRead); + + // 与 AppContext 共用程序目录的 config.ini：默认构造读不到 rc/* 这些键 + // （本工程没有 setOrganizationName/setApplicationName） + QSettings s(QApplication::applicationDirPath() + "/config.ini", QSettings::IniFormat); + m_device = s.value("rc/device", "/dev/ttyS5").toString(); + m_baud = s.value("rc/baud", 115200).toInt(); + + // 协议发送周期 100ms，连续 500ms 无合法帧判为链路断开 + m_linkTimer = new QTimer(this); + m_linkTimer->setInterval(500); + connect(m_linkTimer, &QTimer::timeout, this, &RcCommunication::onLinkTimeout); +} + +RcCommunication::~RcCommunication() +{ + stop(); +} + +bool RcCommunication::start() +{ + if (m_serial->isOpen()) + return true; + + m_serial->setPortName(m_device); + m_serial->setBaudRate(m_baud); + m_serial->setDataBits(QSerialPort::Data8); + m_serial->setStopBits(QSerialPort::OneStop); + m_serial->setParity(QSerialPort::NoParity); + m_serial->setFlowControl(QSerialPort::NoFlowControl); + + if (!m_serial->open(QIODevice::ReadWrite)) { + qWarning() << "遥控器串口打开失败:" << m_device << m_serial->errorString(); + return false; + } + m_buf.clear(); + m_linkTimer->start(); + return true; +} + +void RcCommunication::stop() +{ + m_linkTimer->stop(); + if (m_serial->isOpen()) m_serial->close(); + m_buf.clear(); +} + +void RcCommunication::onReadyRead() +{ + m_buf.append(m_serial->readAll()); + + // 逐字节扫描合法帧：容忍前导垃圾与粘包，未对齐时向后找下一个帧头。 + // 串口是字节流，一帧可能被切开，尾部不足一帧的残段留在 m_buf 等下次数据。 + int off = 0; + while (off + kFrameLen <= m_buf.size()) { + RcFrame f; + if (parseFrame(m_buf.constData() + off, f)) { + onFrame(f); + off += kFrameLen; + } else { + ++off; + } + } + if (off > 0) m_buf.remove(0, off); + + if (m_buf.size() > kBufMax) m_buf.remove(0, m_buf.size() - kFrameLen); +} + +void RcCommunication::onFrame(const RcFrame& frame) +{ + m_linkTimer->start(); // 重置链路超时 + + if (!m_linkOk) { + m_linkOk = true; + emit linkChanged(true); + } + emit frameReceived(frame); +} + +void RcCommunication::onLinkTimeout() +{ + if (m_linkOk) { + m_linkOk = false; + emit linkChanged(false); + } +} diff --git a/comm/uart.h b/comm/uart.h new file mode 100644 index 0000000..dc248d8 --- /dev/null +++ b/comm/uart.h @@ -0,0 +1,73 @@ +#ifndef UART_H +#define UART_H + +#include +#include +#include +#include +#include + +class QSerialPort; + +// ===================== 遥控器帧（24 字节二进制协议） ===================== +// 周期 100ms，1 字节对齐，多字节字段小端。 +// BYTE0=0x11 帧头，BYTE22=0x22 帧尾，BYTE23 = BYTE0~BYTE22 之和的低 8 位。 +// 本结构只承载解析结果，不含任何控制策略。 +struct RcFrame { + // BYTE1 控制模式与使能标志位 + bool driveMode = false; // bit0 行车模式 + bool armMode = false; // bit1 机械臂模式 + bool armEnabled = false; // bit2 机械臂使能 + bool chassisEnabled = false; // bit3 底盘使能 + bool estop = false; // bit4 急停 + + // 摇杆量：0~4096，中位 2048 + int gear = 2048; // BYTE3-4 整车档位（底盘模式-左摇杆 Y 轴） + int steer = 2048; // BYTE5-6 整车转向（底盘模式-左摇杆 X 轴） + int posZ = 2048; // BYTE7-8 末端位置上下（左摇杆 Z 轴） + int posX = 2048; // BYTE9-10 末端位置左右（左摇杆 X 轴） + int posY = 2048; // BYTE11-12 末端位置前后（左摇杆 Y 轴） + int roll = 2048; // BYTE13-14 末端姿态横滚（右摇杆 X 轴） + int pitch = 2048; // BYTE15-16 末端姿态俯仰（右摇杆 Y 轴） + int yaw = 2048; // BYTE17-18 末端姿态偏航（右摇杆 Z 轴） + + int battery = 0; // BYTE19 遥控器电量 0~100 +}; +Q_DECLARE_METATYPE(RcFrame) + +// ===================== 遥控器串口接收层 ===================== +// 独占 rc/device（默认 /dev/ttyS5），115200 / 8 数据位 / 1 停止位 / 无校验， +// 与车端 /dev/ttyS7（见 car.h）互不干扰。 +// 只负责收包、校验、解析与链路超时判定，不决定遥控器数据的用途。 +class RcCommunication : public QObject +{ + Q_OBJECT +public: + explicit RcCommunication(QObject* parent = nullptr); + ~RcCommunication() override; + + bool start(); + void stop(); + QString deviceName() const { return m_device; } + bool linkOk() const { return m_linkOk; } + +signals: + void frameReceived(const RcFrame& frame); // 收到一帧合法报文 + void linkChanged(bool ok); // 链路状态变化 + +private slots: + void onReadyRead(); + void onLinkTimeout(); + +private: + void onFrame(const RcFrame& frame); + + QSerialPort* m_serial = nullptr; + QByteArray m_buf; // 串口是字节流，粘包/拆包在此缓冲里重新对齐 + QTimer* m_linkTimer = nullptr; + QString m_device = "/dev/ttyS7"; + int m_baud = 115200; + bool m_linkOk = false; +}; + +#endif // UART_H diff --git a/comm/udpcommunication.cpp b/comm/udpcommunication.cpp deleted file mode 100644 index 765a140..0000000 --- a/comm/udpcommunication.cpp +++ /dev/null @@ -1,242 +0,0 @@ -#include "udpcommunication.h" -#include -#include -#include -#include -#include -#include -#include - -UdpCommunication::UdpCommunication(Telemetry* tel, QObject* parent) - : QObject(parent), m_tel(tel) -{ - m_socket = new QUdpSocket(this); - connect(m_socket, &QUdpSocket::readyRead, this, &UdpCommunication::onReadyRead); - - // 网络配置（默认回环：本地 9000 收，向 127.0.0.1:9001 发） - QSettings s; - m_localPort = s.value("net/local_port", 9000).toInt(); - m_remoteHost = s.value("net/remote_host", "127.0.0.1").toString(); - m_remotePort = s.value("net/remote_port", 9001).toInt(); - m_mock = s.value("net/mock", true).toBool(); - - // 通信超时判定：连续 2s 无心跳 → 通信异常 - m_hbTimer = new QTimer(this); - m_hbTimer->setInterval(2000); - connect(m_hbTimer, &QTimer::timeout, this, &UdpCommunication::onHeartbeatTimeout); -} - -bool UdpCommunication::start() -{ - if (m_socket->state() != QAbstractSocket::UnconnectedState) - return true; - bool ok = m_socket->bind(QHostAddress::AnyIPv4, m_localPort, - QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint); - if (ok) m_hbTimer->start(); - return ok; -} - -void UdpCommunication::stop() -{ - m_hbTimer->stop(); - m_socket->close(); -} - -void UdpCommunication::sendJson(const QJsonObject& obj) -{ - QByteArray data = QJsonDocument(obj).toJson(QJsonDocument::Compact); - m_socket->writeDatagram(data, QHostAddress(m_remoteHost), m_remotePort); -} - -// ===================== 上行命令 ===================== -void UdpCommunication::sendChassisMove(const QString& dir, double speed) -{ - QJsonObject o; o["t"] = "chassis_move"; o["dir"] = dir; o["speed"] = speed; - sendJson(o); -} - -void UdpCommunication::sendArmMove(const QString& axis, int dir) -{ - QJsonObject o; o["t"] = "arm_move"; o["axis"] = axis; o["dir"] = dir; - sendJson(o); -} - -void UdpCommunication::sendArmReturn() -{ - QJsonObject o; o["t"] = "arm_return"; - sendJson(o); -} - -void UdpCommunication::sendArmPause() -{ - QJsonObject o; o["t"] = "arm_pause"; - sendJson(o); -} - -void UdpCommunication::sendGasStart() -{ - QJsonObject o; o["t"] = "gas_start"; - sendJson(o); -} - -void UdpCommunication::sendGasStop() -{ - QJsonObject o; o["t"] = "gas_stop"; - sendJson(o); -} - -void UdpCommunication::sendWashStart(const QString& mode) -{ - QJsonObject o; o["t"] = "wash_start"; o["mode"] = mode; - sendJson(o); -} - -void UdpCommunication::sendWashStop() -{ - QJsonObject o; o["t"] = "wash_stop"; - sendJson(o); -} - -void UdpCommunication::sendBallValve(int valve, bool open) -{ - QJsonObject o; o["t"] = "ball_valve"; o["valve"] = valve; o["open"] = open; - sendJson(o); -} - -void UdpCommunication::sendPumpPower(const QString& pump, bool on) -{ - QJsonObject o; o["t"] = "pump_power"; o["pump"] = pump; o["on"] = on; - sendJson(o); -} - -void UdpCommunication::sendPumpRpm(const QString& pump, int rpm) -{ - QJsonObject o; o["t"] = "pump_rpm"; o["pump"] = pump; o["rpm"] = rpm; - sendJson(o); -} - -void UdpCommunication::sendSetParam(const QString& key, double value) -{ - QJsonObject o; o["t"] = "set_param"; o["key"] = key; o["value"] = value; - sendJson(o); -} - -void UdpCommunication::sendSelfCheckStart() -{ - QJsonObject o; o["t"] = "selfcheck_start"; - sendJson(o); -} - -void UdpCommunication::sendEstop() -{ - QJsonObject o; o["t"] = "estop"; - sendJson(o); -} - -void UdpCommunication::sendEstopReset() -{ - QJsonObject o; o["t"] = "estop_reset"; - sendJson(o); -} - -// ===================== 收包与解析 ===================== -void UdpCommunication::onReadyRead() -{ - while (m_socket->hasPendingDatagrams()) { - QNetworkDatagram dg = m_socket->receiveDatagram(); - QJsonParseError err; - QJsonDocument doc = QJsonDocument::fromJson(dg.data(), &err); - if (err.error != QJsonParseError::NoError || !doc.isObject()) - continue; - parse(doc.object()); - } -} - -void UdpCommunication::parse(const QJsonObject& o) -{ - const QString t = o.value("t").toString(); - - if (t == "heartbeat") { - bool ok = o.value("ok").toBool(); - m_hbTimer->start(); // 重置超时计时 - if (ok != m_lastCommOk) { - m_lastCommOk = ok; - if (m_tel) m_tel->commOk = ok; - emit commOkChanged(ok); - } - return; - } - - if (t == "chassis") { - m_tel->soc = o.value("soc").toInt(); - m_tel->volt = o.value("volt").toDouble(); - m_tel->speed = o.value("speed").toDouble(); - m_tel->handbrake = o.value("handbrake").toBool(); - m_tel->chassisFaults.clear(); - for (const QJsonValue& v : o.value("faults").toArray()) - m_tel->chassisFaults << v.toString(); - } else if (t == "arm") { - const QJsonArray a = o.value("js").toArray(); - m_tel->js.clear(); - for (const QJsonValue& v : a) m_tel->js << v.toDouble(); - m_tel->pos = o.value("pos").toString(); - m_tel->pose = o.value("pose").toString(); - m_tel->vel = o.value("vel").toDouble(); - m_tel->returnState = o.value("return_state").toString("idle"); - m_tel->armHomed = o.value("homed").toBool(); - } else if (t == "wash") { - m_tel->washMode = o.value("mode").toString("--"); - m_tel->flowA = o.value("flowA").toDouble(); - m_tel->flowB = o.value("flowB").toDouble(); - m_tel->gasFlow = o.value("gasFlow").toDouble(); - m_tel->press = o.value("press").toDouble(); - m_tel->airPress = o.value("airPress").toDouble(); - m_tel->foam = o.value("foam").toDouble(); - m_tel->washFaults.clear(); - for (const QJsonValue& v : o.value("faults").toArray()) - m_tel->washFaults << v.toString(); - } else if (t == "tank") { - m_tel->levelA = o.value("a").toDouble(); - m_tel->levelFoam = o.value("foam").toDouble(); - } else if (t == "gas") { - m_tel->gasHost = o.value("host").toString("standby"); - m_tel->gasType = o.value("type").toString("--"); - m_tel->gasLevel = o.value("level").toString("--"); - m_tel->gasConc = o.value("conc").toDouble(); - } else if (t == "valve") { - m_tel->d1open = o.value("d1open").toBool(); - m_tel->d1close = o.value("d1close").toBool(); - m_tel->d2open = o.value("d2open").toBool(); - m_tel->d2close = o.value("d2close").toBool(); - m_tel->valveFault = o.value("fault").toString(); - if (!m_tel->valveFault.isEmpty()) - emit faultAppended("洗消系统", m_tel->valveFault, m_tel->valveFault); - } else if (t == "pump") { - m_tel->plunger = o.value("plunger").toBool(); - m_tel->air = o.value("air").toBool(); - m_tel->leaf = o.value("leaf").toBool(); - m_tel->pumpFaults.clear(); - for (const QJsonValue& v : o.value("faults").toArray()) - m_tel->pumpFaults << v.toString(); - } else if (t == "estop") { - m_tel->estop = o.value("triggered").toBool(); - emit estopReceived(m_tel->estop); - } else if (t == "selfcheck") { - emit selfCheckItem(o.value("item").toInt(), o.value("ok").toBool()); - } else if (t == "selfcheck_done") { - emit selfCheckDone(o.value("all_ok").toBool()); - } else { - return; // 未知类型不触发刷新 - } - - emit telemetryUpdated(); -} - -void UdpCommunication::onHeartbeatTimeout() -{ - if (m_lastCommOk) { - m_lastCommOk = false; - if (m_tel) m_tel->commOk = false; - emit commOkChanged(false); - } -} diff --git a/comm/udpcommunication.h b/comm/udpcommunication.h deleted file mode 100644 index 723a9b1..0000000 --- a/comm/udpcommunication.h +++ /dev/null @@ -1,70 +0,0 @@ -#ifndef UDPCOMMUNICATION_H -#define UDPCOMMUNICATION_H - -#include -#include -#include -#include "global.h" - -// ===================== UDP 通信层（收包 / 发包） ===================== -// 与车载端经 UDP 报文通信，JSON 文本协议： -// 上行（UI→车载端）命令见各 sendXxx()； -// 下行（车载端→UI）遥测见 parse() 中 "t" 字段分支。 -// 本类同时承担“通信超时判定”：连续 2s 未收到心跳则判为通信异常。 -class UdpCommunication : public QObject -{ - Q_OBJECT -public: - explicit UdpCommunication(Telemetry* tel, QObject* parent = nullptr); - - bool start(); - void stop(); - - // 是否启用内置模拟车载端（离线演示） - bool mockEnabled() const { return m_mock; } - int localPort() const { return m_localPort; } - - // ---------- 上行命令（发包） ---------- - void sendChassisMove(const QString& dir, double speed); - void sendArmMove(const QString& axis, int dir); // dir: +1 / -1 / 0(停止) - void sendArmReturn(); - void sendArmPause(); - void sendGasStart(); - void sendGasStop(); - void sendWashStart(const QString& mode); // "clean" / "disinfect" - void sendWashStop(); - void sendBallValve(int valve, bool open); // valve: 1=D1, 2=D2 - void sendPumpPower(const QString& pump, bool on); // "plunger"/"air"/"leaf" - void sendPumpRpm(const QString& pump, int rpm); - void sendSetParam(const QString& key, double value); - void sendSelfCheckStart(); - void sendEstop(); - void sendEstopReset(); - -signals: - void telemetryUpdated(); // 任意遥测包到达（页面据此刷新） - void commOkChanged(bool ok); // 通信状态变化 - void estopReceived(bool triggered); // 收到急停 - void selfCheckItem(int index, bool ok); // 自检单项结果（0~9） - void selfCheckDone(bool allOk); // 自检完成 - void faultAppended(const QString& system, const QString& code, const QString& desc); - -private slots: - void onReadyRead(); - void onHeartbeatTimeout(); - -private: - void sendJson(const QJsonObject& obj); - void parse(const QJsonObject& obj); - - Telemetry* m_tel = nullptr; - QUdpSocket* m_socket = nullptr; - QTimer* m_hbTimer = nullptr; - int m_localPort = 9000; - QString m_remoteHost = "127.0.0.1"; - int m_remotePort = 9001; - bool m_mock = true; - bool m_lastCommOk = true; -}; - -#endif // UDPCOMMUNICATION_H diff --git a/main.cpp b/main.cpp index 72c59c1..421bee6 100644 --- a/main.cpp +++ b/main.cpp @@ -8,6 +8,7 @@ int main(int argc, char *argv[]) a.setStyleSheet(appStyleSheet()); installButtonFocusGlow(&a); // 按钮获得焦点时显示光圈 + installArrowKeyGuard(&a); // 方向键只做旋钮调值，不在按钮间换焦 MainWindow w; w.showFullScreen(); diff --git a/mainwindow.cpp b/mainwindow.cpp index 7578877..b30ff66 100644 --- a/mainwindow.cpp +++ b/mainwindow.cpp @@ -1,6 +1,6 @@ #include "mainwindow.h" #include "appcontext.h" -#include "udpcommunication.h" +#include "car.h" #include "confirmdialog.h" #include "base.h" @@ -10,12 +10,12 @@ #include "passwordmgmt.h" #include "passwordreset.h" #include "selfcheck.h" +#include "home.h" #include "jobselect.h" #include "chassis.h" #include "arm.h" #include "gasdetector.h" -#include "manualclean.h" -#include "manualdisinfect.h" +#include "washpage.h" #include "debugmaintain.h" #include "faultquery.h" @@ -29,7 +29,7 @@ MainWindow::MainWindow(QWidget* parent) { m_ctx = AppContext::instance(); - setWindowTitle("玉兔工业无线遥控器 YTZT6K8EART2-aL25"); + setWindowTitle("玉兔工业无线遥控器"); setWindowFlags(Qt::FramelessWindowHint | Qt::Window); setFixedSize(SCREEN_W, SCREEN_H); @@ -40,11 +40,12 @@ MainWindow::MainWindow(QWidget* parent) buildPages(); - // 全局急停横幅（覆盖于页面之上） - m_estopBanner = new QLabel("急停已触发，请复位", this); + // 全局急停横幅（覆盖于页面之上）：仅作提示。 + // 急停与复位都由遥控器 bit4 下发，面板不提供复位控件。 + m_estopBanner = new QLabel("急停已触发，请用遥控器复位！", this); m_estopBanner->setAlignment(Qt::AlignCenter); m_estopBanner->setStyleSheet( - "background-color:#E5484D;color:#FFFFFF;font-size:30px;font-weight:700;"); + "background-color:#E5484D;color:#FFFFFF;font-size:50px;font-weight:700;"); m_estopBanner->setGeometry(0, 98, SCREEN_W, 64); m_estopBanner->hide(); @@ -52,11 +53,14 @@ MainWindow::MainWindow(QWidget* parent) // 启动通信层（UDP 收包发包） m_ctx->comm()->start(); + m_ctx->rc()->start(); // 遥控器接收（独立端口） // 初始页面：开机密码 // m_stack->setCurrentIndex(PageBoot); - // 免密码直接进自检页（恢复原流程时改回上面的 PageBoot） - m_stack->setCurrentIndex(PageSelfCheck); + // 免密码直接进自检页 + // m_stack->setCurrentIndex(PageSelfCheck); + // 免登录直接进作业选择页（恢复原流程时改回上面的 PageBoot） + m_stack->setCurrentIndex(PageJob); } MainWindow::~MainWindow() @@ -79,12 +83,13 @@ void MainWindow::buildPages() add(PageMgmt, new PasswordMgmtPage(m_ctx)); add(PageReset, new PasswordResetPage(m_ctx)); add(PageSelfCheck, new SelfCheckPage(m_ctx)); + add(PageHome, new HomePage(m_ctx)); add(PageJob, new JobSelectPage(m_ctx)); add(PageChassis, new ChassisPage(m_ctx)); add(PageArm, new ArmPage(m_ctx)); add(PageGas, new GasDetectorPage(m_ctx)); - add(PageClean, new ManualCleanPage(m_ctx)); - add(PageDisinfect, new ManualDisinfectPage(m_ctx)); + add(PageClean, new WashPage(m_ctx, WashPage::Clean)); + add(PageDisinfect, new WashPage(m_ctx, WashPage::Disinfect)); add(PageDebug, new DebugMaintainPage(m_ctx)); add(PageFault, new FaultQueryPage(m_ctx)); @@ -93,10 +98,13 @@ void MainWindow::buildPages() void MainWindow::onNavigate(PageId id) { - // 记录故障查询返回来源 + // 记录故障查询返回来源（自检页 / 系统首页面 进入时原路返回，其它一律回作业选择页） if (id == PageFault && m_faultPage) { PageId cur = static_cast(m_stack->currentIndex()); - m_faultPage->setReturnPage((cur == PageSelfCheck) ? PageSelfCheck : PageJob); + if (cur == PageSelfCheck || cur == PageHome) + m_faultPage->setReturnPage(cur); + else + m_faultPage->setReturnPage(PageJob); } if (id >= 0 && id < PageCount) m_stack->setCurrentIndex(id); @@ -110,14 +118,12 @@ void MainWindow::onEstopChanged(bool triggered) void MainWindow::keyPressEvent(QKeyEvent* ev) { - // 演示用快捷键：M 切换行车/机械臂模式，E 触发/复位急停 + // 演示用快捷键：M 切换行车/机械臂模式。 + // 遥控器在线时模式由遥控器报文决定，此处不抢（与底盘页 showEvent 同一规则）。 switch (ev->key()) { case Qt::Key_M: - m_ctx->setMode(m_ctx->mode == Mode::Drive ? Mode::Arm : Mode::Drive); - break; - case Qt::Key_E: - if (m_ctx->estopTriggered) m_ctx->resetEstop(); - else m_ctx->triggerEstop(); + if (!m_ctx->rc()->linkOk()) + m_ctx->setMode(m_ctx->mode == Mode::Drive ? Mode::Arm : Mode::Drive); break; default: QMainWindow::keyPressEvent(ev); diff --git a/pages/arm.cpp b/pages/arm.cpp index 48df846..15e7f36 100644 --- a/pages/arm.cpp +++ b/pages/arm.cpp @@ -1,13 +1,14 @@ + #include "arm.h" #include "titlebar.h" #include "statusstrip.h" #include "alarmbanner.h" #include "datacard.h" -#include "udpcommunication.h" +#include "car.h" #include "confirmdialog.h" #include #include -#include +//#include // 末端按钮原为 2×3 网格，改为竖列后暂不需要 #include #include #include @@ -34,8 +35,8 @@ ArmPage::ArmPage(AppContext* ctx, QWidget* parent) // 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); + leftLay->setContentsMargins(10,10,20,10); + leftLay->setSpacing(30); auto addMove = [&](const QString& t, const QString& axis, int dir) { QPushButton* b = makeMoveButton(t, axis, dir); @@ -49,11 +50,14 @@ ArmPage::ArmPage(AppContext* ctx, QWidget* parent) addMove("前平移", "y", +1); addMove("后平移", "y", -1); - m_returnBtn = button("系统回位／暂停", "", left); + m_returnBtn = button("系统回位／\n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)); + m_returnBtn->setFixedSize(270, 120); // 两行文字，故加高 + m_returnBtn->setStyleSheet(QString( + "QPushButton{font-size:40px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;}" + "QPushButton:hover,QPushButton:focus,QPushButton:checked" + "{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}") + .arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY)); connect(m_returnBtn, &QPushButton::toggled, this, &ArmPage::onReturnToggled); leftLay->addWidget(m_returnBtn); @@ -63,69 +67,72 @@ ArmPage::ArmPage(AppContext* ctx, QWidget* parent) leftLay->addWidget(m_returnStatus); leftLay->addStretch(1); - left->setFixedWidth(180); + left->setFixedWidth(300); // 270 按钮 + 左右边距 30，避免按钮被裁 main->addWidget(left); - // 中央卡片区（底盘/洗消/气体检测仪） + // 中央区：左侧三张状态卡 + 机械臂参数卡，并排放在中间 QWidget* center = new QWidget(this); - QVBoxLayout* centerLay = new QVBoxLayout(center); + QHBoxLayout* centerLay = new QHBoxLayout(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"); + QWidget* cardsCol = new QWidget(center); + QVBoxLayout* cardsLay = new QVBoxLayout(cardsCol); + cardsLay->setContentsMargins(0, 0, 0, 0); + cardsLay->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_chassisCard = new DataCard("底盘", cardsCol); + m_chassisCard->addField("底盘电量SOC", "85%"); + m_chassisCard->addField("底盘电压", "360V"); + m_chassisCard->addField("底盘故障", "无"); - 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"); + m_washCard = new DataCard("洗消", cardsCol); + m_washCard->addField("A组分/清水液位", "100L"); + m_washCard->addField("泡沫箱液位", "30L"); - centerLay->addWidget(m_chassisCard, 1); - centerLay->addWidget(m_washCard, 1); - centerLay->addWidget(m_gasCard, 1); + m_gasCard = new DataCard("气体检测仪", cardsCol); + m_gasCard->addField("主机状态", "点火状态"); + m_gasCard->addField("有毒物种类", "S级"); + m_gasCard->addField("有毒物等级", "二级"); + + cardsLay->addWidget(m_chassisCard, 1); + cardsLay->addWidget(m_washCard, 1); + cardsLay->addWidget(m_gasCard, 1); + + m_armCard = new DataCard("机械臂参数", center); + m_armCard->addField("末端位置", "XYZ"); + m_armCard->addField("末端姿态", "RX/RY/RZ"); + m_armCard->addField("末端速度", "0"); + m_armCard->addField("Joint1关节角", "30°"); + m_armCard->addField("Joint2关节角", "20°"); + m_armCard->addField("Joint3关节角", "0°"); + m_armCard->addField("Joint4关节角", "90°"); + m_armCard->addField("Joint5关节角", "45°"); + m_armCard->addField("Joint6关节角", "0°"); + + centerLay->addWidget(cardsCol, 1); + centerLay->addWidget(m_armCard, 1); main->addWidget(center, 1); - // 右参数区（机械臂参数卡 + 末端按钮列） + // 右控制列（末端 6 姿态按钮，与左侧按钮列对称） QWidget* right = new QWidget(this); QVBoxLayout* rightLay = new QVBoxLayout(right); - rightLay->setContentsMargins(0, 0, 0, 0); - rightLay->setSpacing(12); + rightLay->setContentsMargins(10, 20, 20, 20); + rightLay->setSpacing(15); - 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) { + auto addEnd = [&](const QString& t, const QString& axis, int dir) { QPushButton* b = makeMoveButton(t, axis, dir); - b->setFixedHeight(80); m_endButtons << b; - endGrid->addWidget(b, r, c); + rightLay->addWidget(b); }; - 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); + addEnd("末端仰", "pitch", +1); + addEnd("末端俯", "pitch", -1); + addEnd("末端正偏航", "yaw", +1); + addEnd("末端负偏航", "yaw", -1); + addEnd("末端左横滚", "roll", -1); + addEnd("末端右横滚", "roll", +1); - right->setFixedWidth(430); + right->setFixedWidth(300); // 与左列同宽，按钮 270 不被裁 main->addWidget(right); root->addLayout(main, 1); @@ -141,9 +148,10 @@ ArmPage::ArmPage(AppContext* ctx, QWidget* parent) m_returnStatus->setText(""); }); - connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &ArmPage::refresh); + connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &ArmPage::refresh); connect(ctx, &AppContext::modeChanged, this, [this](Mode) { updateModeGating(); }); connect(ctx, &AppContext::estopChanged, this, [this](bool) { updateModeGating(); }); + connect(ctx, &AppContext::rcDrivingChanged, this, [this](bool) { updateModeGating(); }); updateModeGating(); refresh(); } @@ -151,10 +159,17 @@ ArmPage::ArmPage(AppContext* ctx, QWidget* parent) 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)); + b->setFixedSize(270, 76); + b->setStyleSheet(QString( + "QPushButton{font-size:45px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;}" + "QPushButton:hover,QPushButton:focus,QPushButton:pressed" + "{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}") + .arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY)); connect(b, &QPushButton::pressed, this, [this, axis, dir]() { + if (ctx()->rcDriving()) { + ConfirmDialog::toast(this, "遥控器操作中"); + return; + } if (ctx()->mode != Mode::Arm) { ConfirmDialog::toast(this, "请切换至机械臂模式"); return; @@ -169,7 +184,8 @@ QPushButton* ArmPage::makeMoveButton(const QString& text, const QString& axis, i void ArmPage::updateModeGating() { - bool arm = (ctx()->mode == Mode::Arm) && !ctx()->estopTriggered; + // 非机械臂模式、急停触发或遥控器正在操作时禁用动作按钮（遥控器优先） + bool arm = (ctx()->mode == Mode::Arm) && !ctx()->estopTriggered && !ctx()->rcDriving(); for (QPushButton* b : m_moveButtons) b->setEnabled(arm); for (QPushButton* b : m_endButtons) b->setEnabled(arm); } diff --git a/pages/chassis.cpp b/pages/chassis.cpp index b8e0d1f..8cecdac 100644 --- a/pages/chassis.cpp +++ b/pages/chassis.cpp @@ -4,7 +4,7 @@ #include "alarmbanner.h" #include "datacard.h" #include "paramcontrol.h" -#include "udpcommunication.h" +#include "car.h" #include "confirmdialog.h" #include #include @@ -29,13 +29,13 @@ ChassisPage::ChassisPage(AppContext* ctx, QWidget* parent) QHBoxLayout* main = new QHBoxLayout(); main->setContentsMargins(36, 16, 36, 16); - main->setSpacing(32); + main->setSpacing(0); // 各段间距改用显式 addSpacing，便于单独调整（底盘列位置见各段注释） // 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); + leftLay->setContentsMargins(20, 20, 0, 0); + leftLay->setSpacing(30); QPushButton* fwd = makeDirButton("前进", "fwd"); QPushButton* back = makeDirButton("后退", "back"); @@ -54,6 +54,7 @@ ChassisPage::ChassisPage(AppContext* ctx, QWidget* parent) leftLay->addStretch(1); left->setFixedWidth(180); main->addWidget(left); + main->addSpacing(32); // 中央卡片区（洗消/机械臂/气体检测仪） QWidget* center = new QWidget(this); @@ -76,36 +77,49 @@ ChassisPage::ChassisPage(AppContext* ctx, QWidget* parent) centerLay->addWidget(m_washCard, 1); centerLay->addWidget(m_armCard, 1); centerLay->addWidget(m_gasCard, 1); + // 中间区域由「卡片列」与「底盘状态列」平均分配（两列拉伸因子都为 1） main->addWidget(center, 1); + main->addSpacing(47); // 中间卡片列 ↔ 底盘列：由 32 加大到 47 - // 右参数区 - QWidget* right = new QWidget(this); - QVBoxLayout* rightLay = new QVBoxLayout(right); - rightLay->setContentsMargins(0, 0, 0, 0); - rightLay->setSpacing(12); + // 底盘状态列 + QWidget* chassisCol = new QWidget(this); + QVBoxLayout* chassisLay = new QVBoxLayout(chassisCol); + chassisLay->setContentsMargins(0, 0, 0, 0); + chassisLay->setSpacing(12); - m_chassisCard = new DataCard("底盘状态", right); + m_chassisCard = new DataCard("底盘状态", chassisCol); 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); + chassisLay->addWidget(m_chassisCard, 1); + main->addWidget(chassisCol, 1); // 与中间卡片列平均分配中间区域 + main->addSpacing(17); // 底盘列 ↔ 车速设置列：由 32 减小到 17（底盘列整体右移 15px） + + // 车速设置列（垂直居中） + QWidget* right = new QWidget(this); + QVBoxLayout* rightLay = new QVBoxLayout(right); + rightLay->setContentsMargins(0, 0, 0, 0); + rightLay->setSpacing(12); - // 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); + // 协议 Vehi_TargetSpd：精度 0.01、0~500 → 物理范围 0~5.00 km/h + // 每档 = 显示精度的最小单位（1 位小数 → 0.1），比协议的 0.01 粗，够用 + m_speed = new ParamControl("车速设置", "km/h", 0.1, 0.0, 5.0, false, false, right); m_speed->setValue(speed); - m_speed->setStyleSheet("background:transparent;"); + m_speed->setStyleSheet("ParamControl{background:transparent;}"); // 只作用于本控件，避免影响子控件 connect(m_speed, &ParamControl::valueChanged, this, &ChassisPage::onSpeedChanged); + rightLay->addStretch(1); rightLay->addWidget(m_speed); - + rightLay->addStretch(1); right->setFixedWidth(380); main->addWidget(right); root->addLayout(main, 1); m_statusStrip = new StatusStrip(ctx, this); + m_statusStrip->setModeVisible(false); // 本页固定行车模式，底部不显示模式徽标 connect(m_statusStrip, &StatusStrip::backClicked, this, [this]() { emit navigate(PageJob); }); root->addWidget(m_statusStrip); @@ -115,38 +129,81 @@ ChassisPage::ChassisPage(AppContext* ctx, QWidget* parent) m_saveTimer->setInterval(1000); connect(m_saveTimer, &QTimer::timeout, this, &ChassisPage::onSpeedSaved); - connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &ChassisPage::refresh); + connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &ChassisPage::refresh); connect(ctx, &AppContext::modeChanged, this, [this](Mode) { updateModeGating(); }); connect(ctx, &AppContext::estopChanged, this, [this](bool) { updateModeGating(); }); + connect(ctx, &AppContext::rcDrivingChanged, this, [this](bool) { updateModeGating(); }); updateModeGating(); refresh(); } +void ChassisPage::showEvent(QShowEvent* ev) +{ + BasePage::showEvent(ev); + // 每次进入底盘页自动切换到行车模式；遥控器在线时模式由遥控器报文决定，不抢 + if (!ctx()->rc()->linkOk()) + ctx()->setMode(Mode::Drive); +} + 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)); + b->setFixedSize(140, 100); + b->setStyleSheet(QString( + "QPushButton{font-size:45px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;}" + "QPushButton:hover,QPushButton:focus,QPushButton:pressed" + "{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}") + .arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY)); connect(b, &QPushButton::pressed, this, [this, dir]() { + if (ctx()->rcDriving()) { + ConfirmDialog::toast(this, "遥控器操作中"); + return; + } 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)); + m_heldDirs.insert(dir); + sendDirCommand(); }); - connect(b, &QPushButton::released, this, [this]() { - ctx()->comm()->sendChassisMove("stop", 0); + connect(b, &QPushButton::released, this, [this, dir]() { + m_heldDirs.remove(dir); + sendDirCommand(); }); return b; } +// 同时按住前进/后退与左/右转向时一并下发；两者都松开才停车 +void ChassisPage::sendDirCommand() +{ + const QString dir = m_heldDirs.contains("fwd") ? "fwd" + : m_heldDirs.contains("back") ? "back" : QString("stop"); + const QString turn = m_heldDirs.contains("right") ? "right" + : m_heldDirs.contains("left") ? "left" : QString(); + + if (dir == "stop" && turn.isEmpty()) { + ctx()->comm()->sendChassisMove("stop", 0); + return; + } + // 仅转向（档位回中）时发 stop + turn，由车载端决定是否原地转向 + const double spd = (dir == "stop") ? 0.0 : ctx()->getDouble(ctx()->keySpeed(), 4.5); + ctx()->comm()->sendChassisMove(dir, spd, turn); +} + 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; + // 非行车模式、急停触发或遥控器正在操作时禁用方向按钮（遥控器优先） + const bool drive = (ctx()->mode == Mode::Drive) && !ctx()->estopTriggered && !ctx()->rcDriving(); for (QPushButton* b : m_dirButtons) b->setEnabled(drive); + + // 让位时清掉本地按住状态：按钮被禁用后不会再收到 released，否则方向会被一直挂住。 + // 让位给遥控器时不补发 stop，否则会覆盖遥控器刚下发的那条指令。 + if (!drive && !m_heldDirs.isEmpty()) { + m_heldDirs.clear(); + if (!ctx()->rcDriving()) + ctx()->comm()->sendChassisMove("stop", 0); + } } void ChassisPage::refresh() diff --git a/pages/chassis.h b/pages/chassis.h index 43469ac..305c023 100644 --- a/pages/chassis.h +++ b/pages/chassis.h @@ -3,6 +3,7 @@ #include "base.h" #include +#include class TitleBar; class StatusStrip; @@ -19,6 +20,9 @@ class ChassisPage : public BasePage public: explicit ChassisPage(AppContext* ctx, QWidget* parent = nullptr); +protected: + void showEvent(QShowEvent* ev) override; // 进入页面即切至行车模式 + private slots: void refresh(); void updateModeGating(); @@ -27,6 +31,7 @@ private slots: private: QPushButton* makeDirButton(const QString& text, const QString& dir); + void sendDirCommand(); // 按当前按住的方向组合下发（档位与转向可同时） TitleBar* m_titleBar = nullptr; StatusStrip* m_statusStrip = nullptr; @@ -39,6 +44,7 @@ private: QTimer* m_saveTimer = nullptr; int m_chassisFieldFault = -1; QVector m_dirButtons; + QSet m_heldDirs; // 当前按住的方向，可多键同时按 }; #endif // CHASSISPAGE_H diff --git a/pages/debugmaintain.cpp b/pages/debugmaintain.cpp index 5fadbde..247e556 100644 --- a/pages/debugmaintain.cpp +++ b/pages/debugmaintain.cpp @@ -4,7 +4,7 @@ #include "datacard.h" #include "ledindicator.h" #include "paramcontrol.h" -#include "udpcommunication.h" +#include "car.h" #include #include #include @@ -19,7 +19,7 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent) root->setSpacing(0); m_titleBar = new TitleBar(ctx, this); - m_titleBar->setTitle("洗消调试"); + m_titleBar->setTitle("调试维护"); root->addWidget(m_titleBar); // 警告横幅（常显红闪） @@ -34,35 +34,38 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent) // 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->setContentsMargins(20, 10, 10, 10); + leftLay->setSpacing(60); leftLay->addWidget(makeValveGroup(1)); leftLay->addWidget(makeValveGroup(2)); leftLay->addStretch(1); left->setFixedWidth(300); main->addWidget(left); - // 中央卡片区 + // 中央卡片区（左右两列：左列 底盘/机械臂/气体检测仪 纵向排列，右列 洗消参数） QWidget* center = new QWidget(this); - QVBoxLayout* centerLay = new QVBoxLayout(center); + QHBoxLayout* centerLay = new QHBoxLayout(center); centerLay->setContentsMargins(0, 0, 0, 0); - centerLay->setSpacing(10); + centerLay->setSpacing(28); // 与 main 的列间距一致 - QHBoxLayout* miniRow = new QHBoxLayout(); - miniRow->setSpacing(10); - m_chassisCard = new DataCard("底盘", center); + QWidget* centerLeft = new QWidget(center); + QVBoxLayout* centerLeftLay = new QVBoxLayout(centerLeft); + centerLeftLay->setContentsMargins(0, 0, 0, 0); + centerLeftLay->setSpacing(10); + + m_chassisCard = new DataCard("底盘", centerLeft); m_chassisCard->addField("电量", "85%"); m_chassisCard->addField("电压", "360V"); - m_armCard = new DataCard("机械臂", center); + m_armCard = new DataCard("机械臂", centerLeft); 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 = new DataCard("气体检测仪", centerLeft); 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); + centerLeftLay->addWidget(m_chassisCard, 1); + centerLeftLay->addWidget(m_armCard, 1); + centerLeftLay->addWidget(m_gasCard, 1); + centerLay->addWidget(centerLeft, 1); m_washCard = new DataCard("洗消参数", center); m_washCard->addField("洗消模式", "--"); @@ -79,11 +82,11 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent) // 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->setContentsMargins(10, 10,20,10); + rightLay->setSpacing(40); + rightLay->addWidget(makePumpGroup("air", "空压机(rpm)"), 0, Qt::AlignHCenter); + rightLay->addWidget(makePumpGroup("plunger", "柱塞泵(rpm)"), 0, Qt::AlignHCenter); + rightLay->addWidget(makePumpGroup("leaf", "叶片泵(rpm)"), 0, Qt::AlignHCenter); rightLay->addStretch(1); right->setFixedWidth(420); main->addWidget(right); @@ -92,28 +95,56 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent) // 底部指示灯条 QWidget* bottom = new QWidget(this); + bottom->setObjectName("DebugBottom"); bottom->setFixedHeight(94); - bottom->setStyleSheet(QString("background-color:%1;border-top:1px solid %2;") + // 用 #DebugBottom 限定选择器：不带选择器的样式表会连子控件一起套上边框和底色 + bottom->setStyleSheet(QString("QWidget#DebugBottom{background-color:%1;border-top:1px solid %2;}") .arg(C::PANEL, C::BORDER)); QHBoxLayout* bottomLay = new QHBoxLayout(bottom); - bottomLay->setContentsMargins(36, 0, 24, 0); + // 左起 364 = 36(页面边距) + 300(球阀列) + 28(列间距)，与中央“底盘”列左边缘对齐 + bottomLay->setContentsMargins(364, 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); + auto makeLed = [&](const QString& text) { + LedIndicator* led = new LedIndicator(text, bottom); + led->setTextPixelSize(40); // 字号与卡片标题一致 + led->setDotAfterText(true); // 圆点画在文字后面 + bottomLay->addWidget(led); + return led; + }; + m_ledPlunger = makeLed("柱塞泵"); + m_ledAir = makeLed("空压机"); + m_ledLeaf = makeLed("叶片泵"); + m_ledLevel = makeLed("液位低"); bottomLay->addStretch(1); QPushButton* back = button("返回", "", bottom); - back->setFixedSize(144, 76); + back->setFixedSize(160, 76); + back->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字 connect(back, &QPushButton::clicked, this, [this]() { emit navigate(PageJob); }); bottomLay->addWidget(back); root->addWidget(bottom); - connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &DebugMaintainPage::refresh); + connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, [this]() { + m_telemetrySeen = true; // 遥测一到，球阀到位灯改由 refresh() 接管 + refresh(); + }); + + // Tab 顺序（循环）：返回 → D1控制 → D2控制 → 各泵(转速输入 → 启动 → 停止) → 回到返回。 + // 这些按钮在控件级样式表里写了 :checked，而控件级样式表的优先级高于全局 + // QPushButton:focus，默认焦点链下容易看起来“停不上去”，故显式排一遍保证都能停住 + QWidget* tabChain[] = { + m_valve1Btn, m_valve2Btn, + m_airRpm->editor(), m_airStart, m_airStop, + m_plungerRpm->editor(), m_plungerStart, m_plungerStop, + m_leafRpm->editor(), m_leafStart, m_leafStop, + }; + QWidget* prev = back; + for (QWidget* w : tabChain) { + if (!w) continue; + QWidget::setTabOrder(prev, w); + prev = w; + } + QWidget::setTabOrder(prev, back); // 回到起点，形成循环 + refresh(); } @@ -127,26 +158,36 @@ QWidget* DebugMaintainPage::makeValveGroup(int valve) lay->setContentsMargins(12, 12, 12, 12); lay->setSpacing(8); - QLabel* title = label(QString("D%1 球阀").arg(valve), 20, C::TEXT, true, grp); + QLabel* title = label(QString("D%1 球阀").arg(valve), 30, 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); + // 控制开/关（toggle）：文字固定，底色表示状态——未选中＝关闭（红）、选中＝开启（绿） + QPushButton* ctrl = button(QString("D%1 控制").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")); + ctrl->setFixedSize(180, 64); // 窄按钮，与泵组的“上电”一致 + // 控件级样式表优先级高于全局 QSS，故 :focus 也在这里补，否则 Tab 选中看不出变化 + ctrl->setStyleSheet(QString("QPushButton{background-color:%1;color:#FFFFFF;border:none;}" + "QPushButton:checked{background-color:%2;color:#FFFFFF;border:none;}" + "QPushButton:focus{border:4px solid #8ABFFF;}") + .arg(C::DANGER).arg(C::SUCCESS)); + connect(ctrl, &QPushButton::toggled, this, [this, valve](bool on) { ctx()->comm()->sendBallValve(valve, on); }); - lay->addWidget(ctrl); + lay->addWidget(ctrl, 0, Qt::AlignHCenter); - // 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); + // 开启到位 / 关闭到位（同一行，居中）。未收到车端遥测时保持缺省显示 + // （开启绿 / 关闭红），首次收到遥测后由 refresh() 按实际到位状态刷新 + LedIndicator* open = new LedIndicator("开启", grp); + open->setState(LedIndicator::Green); + LedIndicator* close = new LedIndicator("关闭", grp); close->setState(LedIndicator::Red); - lay->addWidget(open); - lay->addWidget(close); + QHBoxLayout* ioRow = new QHBoxLayout(); + ioRow->setSpacing(10); + ioRow->addStretch(1); + ioRow->addWidget(open); + ioRow->addWidget(close); + ioRow->addStretch(1); + lay->addLayout(ioRow); // 故障提示 QLabel* fault = label("", 16, C::DANGER, true, grp); @@ -175,29 +216,60 @@ QWidget* DebugMaintainPage::makePumpGroup(const QString& pump, const QString& na 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)); + // 不设固定宽度：卡片按内容自适应（由最宽的“空压机(rpm)”标签决定）。 + // 固定宽度一旦小于布局最小宽度，标签会被压到小于文字宽度而裁字 QVBoxLayout* lay = new QVBoxLayout(grp); - lay->setContentsMargins(12, 8, 12, 8); - lay->setSpacing(4); + lay->setContentsMargins(30, 8, 20, 8); + lay->setSpacing(10); - ParamControl* rpm = new ParamControl(name + "转速", "rpm", 10, 0, 2000, false, false, grp); + // 上限按协议各泵量程：空压机 AirComp_Spd 0-3000、柱塞泵 PlungerPump_Spd 0-1450、 + // 叶片泵 VanePump__Spd 0-2000 rpm。每档 = 显示精度的最小单位，转速是整数显示故为 1 rpm + const int rpmMax = (pump == "air") ? 3000 : (pump == "plunger") ? 1450 : 2000; + ParamControl* rpm = new ParamControl(name, "", 1, 0, rpmMax, false, false, grp); + rpm->setCentered(true); rpm->setValue(200); connect(rpm, &ParamControl::valueChanged, this, [this, pump](double v) { ctx()->comm()->sendPumpRpm(pump, static_cast(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); + // 启动 / 停止：互斥，选中态对应当前泵状态（绿＝运行、红＝停止）。 + // 控件级样式表优先级高于全局 QSS，故 :focus 也在这里补，否则 Tab 选中看不出变化 + QPushButton* start = button("启动", "", grp); + start->setCheckable(true); + start->setFixedSize(120, 60); + start->setStyleSheet(QString("QPushButton:checked{background-color:%1;color:#FFFFFF;border:none;}" + "QPushButton:focus{border:4px solid #8ABFFF;}") + .arg(C::SUCCESS)); + QPushButton* stop = button("停止", "", grp); + stop->setCheckable(true); + stop->setFixedSize(120, 60); + stop->setStyleSheet(QString("QPushButton:checked{background-color:%1;color:#FFFFFF;border:none;}" + "QPushButton:focus{border:4px solid #8ABFFF;}") + .arg(C::DANGER)); + + connect(start, &QPushButton::clicked, this, [this, pump, start, stop]() { + start->setChecked(true); + stop->setChecked(false); + ctx()->comm()->sendPumpPower(pump, true); }); - lay->addWidget(power); + connect(stop, &QPushButton::clicked, this, [this, pump, start, stop]() { + stop->setChecked(true); + start->setChecked(false); + ctx()->comm()->sendPumpPower(pump, false); + }); + QHBoxLayout* pwrRow = new QHBoxLayout(); + pwrRow->setSpacing(12); + pwrRow->addStretch(1); + pwrRow->addWidget(start); + pwrRow->addWidget(stop); + pwrRow->addStretch(1); + lay->addLayout(pwrRow); - 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; } + if (pump == "air") { m_airRpm = rpm; m_airStart = start; m_airStop = stop; } + else if (pump == "plunger") { m_plungerRpm = rpm; m_plungerStart = start; m_plungerStop = stop; } + else { m_leafRpm = rpm; m_leafStart = start; m_leafStop = stop; } return grp; } @@ -220,11 +292,13 @@ void DebugMaintainPage::refresh() 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); + // 球阀到位反馈：未收到过车端遥测时不动，保留构造时的缺省显示（开启绿 / 关闭红） + if (m_telemetrySeen) { + 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"); @@ -234,10 +308,10 @@ void DebugMaintainPage::refresh() 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); + // 泵启停状态同步（互斥组内先置“启动”再置“停止”，两者互补，结果总是一选中一未选） + if (m_airStart) { m_airStart->setChecked(t.air); m_airStop->setChecked(!t.air); } + if (m_plungerStart){ m_plungerStart->setChecked(t.plunger); m_plungerStop->setChecked(!t.plunger); } + if (m_leafStart) { m_leafStart->setChecked(t.leaf); m_leafStop->setChecked(!t.leaf); } // 底部指示灯 m_ledPlunger->setState(t.plunger ? LedIndicator::Green : LedIndicator::Off); diff --git a/pages/debugmaintain.h b/pages/debugmaintain.h index da2834e..6ae7d81 100644 --- a/pages/debugmaintain.h +++ b/pages/debugmaintain.h @@ -12,7 +12,7 @@ class QPushButton; class QLabel; class QCheckBox; -// ===================== ⑪ 调试维护界面（洗消调试） ===================== +// ===================== ⑪ 调试维护界面 ===================== class DebugMaintainPage : public BasePage { Q_OBJECT @@ -25,7 +25,7 @@ private slots: 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 + // 单个泵组：转速调节 + 启动/停止 QWidget* makePumpGroup(const QString& pump, const QString& name); TitleBar* m_titleBar = nullptr; @@ -49,15 +49,21 @@ private: ParamControl* m_airRpm = nullptr; ParamControl* m_plungerRpm = nullptr; ParamControl* m_leafRpm = nullptr; - QPushButton* m_airPower = nullptr; - QPushButton* m_plungerPower = nullptr; - QPushButton* m_leafPower = nullptr; + QPushButton* m_airStart = nullptr; + QPushButton* m_airStop = nullptr; + QPushButton* m_plungerStart = nullptr; + QPushButton* m_plungerStop = nullptr; + QPushButton* m_leafStart = nullptr; + QPushButton* m_leafStop = nullptr; // 底部指示灯 LedIndicator* m_ledPlunger = nullptr; LedIndicator* m_ledAir = nullptr; LedIndicator* m_ledLeaf = nullptr; LedIndicator* m_ledLevel = nullptr; + + // 是否收到过车端遥测：未收到时球阀到位灯保持“开启＝绿、关闭＝红”的缺省显示 + bool m_telemetrySeen = false; }; #endif // DEBUGMAINTAINPAGE_H diff --git a/pages/faultquery.cpp b/pages/faultquery.cpp index cc43e34..e8d1f4d 100644 --- a/pages/faultquery.cpp +++ b/pages/faultquery.cpp @@ -4,7 +4,8 @@ #include #include #include -#include +#include +#include "confirmdialog.h" #include "global.h" FaultQueryPage::FaultQueryPage(AppContext* ctx, QWidget* parent) @@ -13,58 +14,98 @@ FaultQueryPage::FaultQueryPage(AppContext* ctx, QWidget* 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); + root->setContentsMargins(20, 20, 20, 20); + root->setSpacing(30); // 顶条：标题 + 汇总数 - m_title = label("历史故障", 28, C::TEXT, true, this); + m_title = label("历史故障", 50, C::TEXT, true, this); root->addWidget(m_title); QHBoxLayout* main = new QHBoxLayout(); - main->setSpacing(28); + main->setSpacing(30); // 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） + // 分类按钮列（左右各留 20px，按钮间距 40px，剩余高度由按钮等分） QWidget* right = new QWidget(this); QVBoxLayout* rightLay = new QVBoxLayout(right); - rightLay->setContentsMargins(0, 0, 0, 0); - rightLay->setSpacing(8); + rightLay->setContentsMargins(80, FaultTable::kHeaderHeight + 10, 30, 80); // 对齐表格内容区后再下移 10px + rightLay->setSpacing(60); // 按钮之间的间隔 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)); + b->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); // 纵向可拉伸 → 等分剩余空间 + b->setStyleSheet(QString( + "QPushButton{font-size:32px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;}" + "QPushButton:hover,QPushButton:focus,QPushButton:checked" + "{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}") + .arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY)); connect(b, &QPushButton::toggled, this, &FaultQueryPage::onCategoryToggled); m_categoryButtons << b; - rightLay->addStretch(1); - rightLay->addWidget(b); + rightLay->addWidget(b, 1); } - rightLay->addStretch(1); right->setFixedWidth(360); main->addWidget(right); root->addLayout(main, 1); - // 底部：返回 + // 底部：返回（预留更大的行高空间） QHBoxLayout* bottomLay = new QHBoxLayout(); + bottomLay->setContentsMargins(0, 0, 40, 30); 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); + m_back = button("返回", "", this); + m_back->setFixedSize(250, 100); + m_back->setStyleSheet(cancelButtonStyle(60)); // 选中（悬停/按下/焦点）红底白字 + connect(m_back, &QPushButton::clicked, this, [this]() { emit navigate(m_returnPage); }); + bottomLay->addWidget(m_back); root->addLayout(bottomLay); + // Tab 顺序（循环）：表格 → 右侧分类按钮 → 返回 → 上一页 → 下一页 → 回到表格 + QWidget* first = m_table->view(); + QWidget* last = first; + for (QPushButton* b : m_categoryButtons) { + QWidget::setTabOrder(last, b); + last = b; + } + QWidget::setTabOrder(last, m_back); + QWidget::setTabOrder(m_back, m_table->prevButton()); + QWidget::setTabOrder(m_table->prevButton(), m_table->nextButton()); + QWidget::setTabOrder(m_table->nextButton(), first); // 回到表格，完成循环 + refresh(); } +void FaultQueryPage::showEvent(QShowEvent* ev) +{ + BasePage::showEvent(ev); + // 进入页面默认聚焦“分页”（上一页优先；首页禁用时退回下一页，再退回表格） + QTimer::singleShot(0, this, [this]() { + QWidget* prev = m_table->prevButton(); + QWidget* next = m_table->nextButton(); + if (prev->isEnabled()) prev->setFocus(); + else if (next->isEnabled()) next->setFocus(); + else m_table->view()->setFocus(); + }); +} + void FaultQueryPage::onCategoryToggled(bool on) { - // 单选筛选：确定当前选中的分类 + // 单选：选中一个分类时，取消其它分类（屏蔽信号，避免它们再触发本函数） + QPushButton* src = qobject_cast(sender()); + if (on && src) { + for (QPushButton* b : m_categoryButtons) { + if (b != src && b->isChecked()) { + b->blockSignals(true); + b->setChecked(false); + b->blockSignals(false); + } + } + } + + // 确定当前选中的分类（都没选 = 显示全部） QString selected; for (int i = 0; i < m_categoryButtons.size(); ++i) { if (m_categoryButtons[i]->isChecked()) { @@ -73,7 +114,6 @@ void FaultQueryPage::onCategoryToggled(bool on) } } m_filter = selected; - Q_UNUSED(on); refresh(); } @@ -105,7 +145,7 @@ void FaultQueryPage::onRowClicked(int globalIndex) if (globalIndex < 0 || globalIndex >= data.size()) return; const FaultRecord& r = data[globalIndex]; - QMessageBox::information(this, "故障详情", + ConfirmDialog::message(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)); } diff --git a/pages/faultquery.h b/pages/faultquery.h index 03b4d14..306a2b2 100644 --- a/pages/faultquery.h +++ b/pages/faultquery.h @@ -17,6 +17,9 @@ public: void setReturnPage(PageId id) { m_returnPage = id; } +protected: + void showEvent(QShowEvent* ev) override; // 进入页面时默认聚焦“分页” + private slots: void refresh(); void onCategoryToggled(bool on); @@ -25,6 +28,7 @@ private slots: private: FaultTable* m_table = nullptr; QLabel* m_title = nullptr; + QPushButton* m_back = nullptr; QVector m_categoryButtons; QVector m_categories; QString m_filter; // 空 = 全部 diff --git a/pages/gasdetector.cpp b/pages/gasdetector.cpp index 06fa309..1c68307 100644 --- a/pages/gasdetector.cpp +++ b/pages/gasdetector.cpp @@ -2,7 +2,7 @@ #include "titlebar.h" #include "statusstrip.h" #include "datacard.h" -#include "udpcommunication.h" +#include "car.h" #include "confirmdialog.h" #include #include @@ -28,8 +28,8 @@ GasDetectorPage::GasDetectorPage(AppContext* ctx, QWidget* parent) // 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); + grid->setSpacing(20); + grid->setContentsMargins(20, 0, 20, 0); m_chassisCard = new DataCard("底盘", center); m_chassisCard->addField("电量", "85%"); @@ -60,11 +60,11 @@ GasDetectorPage::GasDetectorPage(AppContext* ctx, QWidget* parent) // 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->setContentsMargins(40, 40, 40, 40); rightLay->setSpacing(8); m_start = button("启动", "primary", right); - m_start->setFixedHeight(180); + m_start->setFixedHeight(100); connect(m_start, &QPushButton::clicked, this, [this]() { this->ctx()->comm()->sendGasStart(); this->ctx()->gasRunning = true; @@ -72,7 +72,7 @@ GasDetectorPage::GasDetectorPage(AppContext* ctx, QWidget* parent) }); m_stop = button("停机", "", right); - m_stop->setFixedHeight(180); + m_stop->setFixedHeight(100); connect(m_stop, &QPushButton::clicked, this, [this]() { this->ctx()->comm()->sendGasStop(); this->ctx()->gasRunning = false; @@ -90,9 +90,9 @@ GasDetectorPage::GasDetectorPage(AppContext* ctx, QWidget* parent) root->addLayout(main, 1); m_statusStrip = new StatusStrip(ctx, this); + m_statusStrip->setModeVisible(false); // 本页不显示模式徽标 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 { @@ -101,7 +101,7 @@ GasDetectorPage::GasDetectorPage(AppContext* ctx, QWidget* parent) }); root->addWidget(m_statusStrip); - connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &GasDetectorPage::refresh); + connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &GasDetectorPage::refresh); updateGating(); refresh(); } diff --git a/pages/home.cpp b/pages/home.cpp new file mode 100644 index 0000000..3404d3b --- /dev/null +++ b/pages/home.cpp @@ -0,0 +1,149 @@ +#include "home.h" +#include "titlebar.h" +#include "statusstrip.h" +#include "datacard.h" +#include "confirmdialog.h" +#include "car.h" +#include +#include +#include +#include +#include "global.h" + +HomePage::HomePage(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("系统首页面"); + root->addWidget(m_titleBar); + + QHBoxLayout* main = new QHBoxLayout(); + main->setContentsMargins(24, 20, 24, 20); + main->setSpacing(24); + + // ===== 按钮统一样式（改这里即可同时调整对应的按钮）===== + // 左侧 2 个菜单按钮（字号 50px；尺寸见 addMenu 里的 setFixedSize） + const QString menuBtnStyle = + QString("QPushButton{font-size:50px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;}" + "QPushButton:hover,QPushButton:focus{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}") + .arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY); + // 右侧动作按钮（字号 55px；尺寸见下方各自的 setFixedSize） + const QString actionBtnStyle = "QPushButton{font-size:55px;}"; + + // 左侧菜单（按钮在列内水平居中、垂直整体居中，选中发亮） + QWidget* left = new QWidget(this); + QVBoxLayout* leftLay = new QVBoxLayout(left); + leftLay->setContentsMargins(10, 20, 10, 20); + leftLay->setSpacing(100); + auto addMenu = [&](const QString& t, PageId id) { + QPushButton* b = button(t, "", left); + b->setFixedSize(260, 100); // 固定尺寸（改这里同时调整 2 个菜单按钮） + b->setStyleSheet(menuBtnStyle); + connect(b, &QPushButton::clicked, this, [this, id]() { emit navigate(id); }); + leftLay->addWidget(b, 0, Qt::AlignHCenter); // 不占拉伸因子，余量交给上下 stretch 均分 + }; + leftLay->addStretch(1); + addMenu("故障查询", PageFault); + addMenu("作业选择", PageJob); + leftLay->addStretch(1); + left->setFixedWidth(300); + main->addWidget(left); + + // 中央卡片区（2×2，与作业选择页一致） + QWidget* center = new QWidget(this); + QGridLayout* grid = new QGridLayout(center); + grid->setSpacing(24); + 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"); + + // 左列 底盘/机械臂，右列 洗消/气体检测仪 + grid->addWidget(m_chassisCard, 0, 0); + grid->addWidget(m_washCard, 0, 1); + grid->addWidget(m_armCard, 1, 0); + grid->addWidget(m_gasCard, 1, 1); + main->addWidget(center, 1); + + // 右侧按钮列（等分填满整列，选中发亮） + QWidget* right = new QWidget(this); + QVBoxLayout* rightLay = new QVBoxLayout(right); + rightLay->setContentsMargins(0, 0, 0, 0); + rightLay->setSpacing(24); + QPushButton* debug = button("调试维护", "", right); + debug->setFixedSize(240, 100); + debug->setStyleSheet(actionBtnStyle); + connect(debug, &QPushButton::clicked, this, [this]() { emit navigate(PageDebug); }); + QPushButton* help = button("操作说明", "", right); + help->setFixedSize(240, 100); + help->setStyleSheet(actionBtnStyle); + connect(help, &QPushButton::clicked, this, &HomePage::onHelp); + QPushButton* spare = button("备用", "", right); + spare->setFixedSize(240, 100); + spare->setStyleSheet(actionBtnStyle); + spare->setEnabled(false); // 预留功能：置灰禁用，不接任何跳转 + rightLay->addStretch(1); + rightLay->addWidget(debug, 0, Qt::AlignHCenter); + rightLay->addStretch(1); + rightLay->addWidget(help, 0, Qt::AlignHCenter); + rightLay->addStretch(1); + rightLay->addWidget(spare, 0, Qt::AlignHCenter); + rightLay->addStretch(1); + right->setFixedWidth(360); + main->addWidget(right); + + root->addLayout(main, 1); + + m_statusStrip = new StatusStrip(ctx, this); + m_statusStrip->setBackVisible(false); + m_statusStrip->setModeVisible(false); // 本页不显示模式徽标（菜单已移到左右两列） + root->addWidget(m_statusStrip); + + connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &HomePage::refresh); + refresh(); +} + +void HomePage::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); +} + +void HomePage::onHelp() +{ + ConfirmDialog::message(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。"); +} diff --git a/pages/home.h b/pages/home.h new file mode 100644 index 0000000..3db9312 --- /dev/null +++ b/pages/home.h @@ -0,0 +1,30 @@ +#ifndef HOMEPAGE_H +#define HOMEPAGE_H + +#include "base.h" + +class TitleBar; +class StatusStrip; +class DataCard; + +// ===================== ⑤ 系统首页面 ===================== +class HomePage : public BasePage +{ + Q_OBJECT +public: + explicit HomePage(AppContext* ctx, QWidget* parent = nullptr); + +private slots: + void refresh(); + void onHelp(); + +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 // HOMEPAGE_H diff --git a/pages/jobselect.cpp b/pages/jobselect.cpp index 9c29063..8a5ebfe 100644 --- a/pages/jobselect.cpp +++ b/pages/jobselect.cpp @@ -2,7 +2,7 @@ #include "titlebar.h" #include "statusstrip.h" #include "datacard.h" -#include "udpcommunication.h" +#include "car.h" #include #include #include @@ -21,36 +21,43 @@ JobSelectPage::JobSelectPage(AppContext* ctx, QWidget* parent) root->addWidget(m_titleBar); QHBoxLayout* main = new QHBoxLayout(); - main->setContentsMargins(36, 20, 36, 20); - main->setSpacing(32); + main->setContentsMargins(24, 20, 24, 20); + main->setSpacing(24); - // 左侧菜单（垂直居中 + 平均分布） + // ===== 按钮统一样式（改这里即可同时调整对应的按钮）===== + // 左侧 4 个菜单按钮（字号 50px；尺寸见 addMenu 里的 setFixedSize） + const QString menuBtnStyle = + QString("QPushButton{font-size:50px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;}" + "QPushButton:hover,QPushButton:focus{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}") + .arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY); + // 右侧动作按钮（字号 55px；尺寸见下方各自的 setFixedSize） + const QString actionBtnStyle = "QPushButton{font-size:55px;}"; + + // 左侧菜单（按钮在列内水平居中、垂直整体居中，选中发亮） QWidget* left = new QWidget(this); QVBoxLayout* leftLay = new QVBoxLayout(left); - leftLay->setContentsMargins(0, 0, 0, 0); - leftLay->setSpacing(8); + leftLay->setContentsMargins(10, 20, 10, 20); + leftLay->setSpacing(100); 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)); + b->setFixedSize(260, 100); // 固定尺寸（改这里同时调整 4 个菜单按钮） + b->setStyleSheet(menuBtnStyle); connect(b, &QPushButton::clicked, this, [this, id]() { emit navigate(id); }); - leftLay->addStretch(1); - leftLay->addWidget(b); + leftLay->addWidget(b, 0, Qt::AlignHCenter); // 不占拉伸因子，余量交给上下 stretch 均分 }; + leftLay->addStretch(1); 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); + left->setFixedWidth(300); main->addWidget(left); // 中央卡片区（2×2） QWidget* center = new QWidget(this); QGridLayout* grid = new QGridLayout(center); - grid->setSpacing(16); + grid->setSpacing(24); grid->setContentsMargins(0, 0, 0, 0); m_chassisCard = new DataCard("底盘", center); @@ -70,27 +77,38 @@ JobSelectPage::JobSelectPage(AppContext* ctx, QWidget* parent) m_gasCard->addField("主机状态", "待机"); m_gasCard->addField("浓度", "0 ppb"); + // 左列 底盘/机械臂，右列 洗消/气体检测仪 grid->addWidget(m_chassisCard, 0, 0); - grid->addWidget(m_armCard, 0, 1); - grid->addWidget(m_washCard, 1, 0); + grid->addWidget(m_washCard, 0, 1); + grid->addWidget(m_armCard, 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） + // 右侧按钮列（等分填满整列，选中发亮） 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); + rightLay->setSpacing(24); + QPushButton* clean = button("消除作业", "", right); + clean->setFixedSize(240, 100); + clean->setStyleSheet(actionBtnStyle); connect(clean, &QPushButton::clicked, this, [this]() { emit navigate(PageClean); }); - QPushButton* disinfect = button("手动消毒", "primary", right); - disinfect->setFixedHeight(170); + QPushButton* disinfect = button("消毒作业", "", right); + disinfect->setFixedSize(240, 100); + disinfect->setStyleSheet(actionBtnStyle); connect(disinfect, &QPushButton::clicked, this, [this]() { emit navigate(PageDisinfect); }); + // 返回：回系统首页面（⑤系统首页面 → ⑥作业选择） + QPushButton* back = button("返回", "", right); + back->setFixedSize(240, 100); + back->setStyleSheet(cancelButtonStyle(55)); // 选中（悬停/按下/焦点）红底白字 + // connect(back, &QPushButton::clicked, this, [this]() { emit navigate(PageSelfCheck); }); // 原：回自检页 + connect(back, &QPushButton::clicked, this, [this]() { emit navigate(PageHome); }); rightLay->addStretch(1); - rightLay->addWidget(clean); + rightLay->addWidget(clean, 0, Qt::AlignHCenter); rightLay->addStretch(1); - rightLay->addWidget(disinfect); + rightLay->addWidget(disinfect, 0, Qt::AlignHCenter); + rightLay->addStretch(1); + rightLay->addWidget(back, 0, Qt::AlignHCenter); rightLay->addStretch(1); right->setFixedWidth(360); main->addWidget(right); @@ -99,9 +117,10 @@ JobSelectPage::JobSelectPage(AppContext* ctx, QWidget* parent) m_statusStrip = new StatusStrip(ctx, this); m_statusStrip->setBackVisible(false); + m_statusStrip->setModeVisible(false); // 本页不显示模式徽标（返回按钮已移到右侧列） root->addWidget(m_statusStrip); - connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &JobSelectPage::refresh); + connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &JobSelectPage::refresh); refresh(); } diff --git a/pages/manualclean.cpp b/pages/manualclean.cpp deleted file mode 100644 index 3e13b8a..0000000 --- a/pages/manualclean.cpp +++ /dev/null @@ -1,28 +0,0 @@ -#include "manualclean.h" -#include "paramcontrol.h" -#include "udpcommunication.h" -#include "confirmdialog.h" -#include -#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"); -} diff --git a/pages/manualclean.h b/pages/manualclean.h deleted file mode 100644 index 3c8090f..0000000 --- a/pages/manualclean.h +++ /dev/null @@ -1,23 +0,0 @@ -#ifndef MANUALCLEANPAGE_H -#define MANUALCLEANPAGE_H - -#include "washbase.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 diff --git a/pages/manualdisinfect.cpp b/pages/manualdisinfect.cpp deleted file mode 100644 index cd7b1fd..0000000 --- a/pages/manualdisinfect.cpp +++ /dev/null @@ -1,49 +0,0 @@ -#include "manualdisinfect.h" -#include "paramcontrol.h" -#include "udpcommunication.h" -#include "confirmdialog.h" -#include -#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"); -} diff --git a/pages/manualdisinfect.h b/pages/manualdisinfect.h deleted file mode 100644 index ea91543..0000000 --- a/pages/manualdisinfect.h +++ /dev/null @@ -1,25 +0,0 @@ -#ifndef MANUALDISINFECTPAGE_H -#define MANUALDISINFECTPAGE_H - -#include "washbase.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 diff --git a/pages/selfcheck.cpp b/pages/selfcheck.cpp index 270e055..a526924 100644 --- a/pages/selfcheck.cpp +++ b/pages/selfcheck.cpp @@ -1,7 +1,7 @@ #include "selfcheck.h" #include "titlebar.h" #include "ledindicator.h" -#include "udpcommunication.h" +#include "car.h" #include #include #include @@ -9,7 +9,7 @@ #include #include #include -#include +#include "confirmdialog.h" #include "global.h" SelfCheckPage::SelfCheckPage(AppContext* ctx, QWidget* parent) @@ -29,7 +29,7 @@ SelfCheckPage::SelfCheckPage(AppContext* ctx, QWidget* parent) main->setSpacing(40); // 两侧按钮统一样式：字号在此统一调整；按钮会拉伸填满整列（sideBtnH 为最小高度） - const int sideBtnH = 200; + const int sideBtnH = 130; const QString sideBtnStyle = "font-size:60px;"; auto makeSideBtn = [&](const QString& text, const QString& variant, QWidget* parent) { QPushButton* b = button(text, variant, parent); @@ -127,8 +127,8 @@ SelfCheckPage::SelfCheckPage(AppContext* ctx, QWidget* parent) 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); + connect(ctx->comm(), &CarCommunication::selfCheckItem, this, &SelfCheckPage::onSelfCheckItem); + connect(ctx->comm(), &CarCommunication::selfCheckDone, this, &SelfCheckPage::onSelfCheckDone); } void SelfCheckPage::showEvent(QShowEvent* ev) @@ -200,12 +200,15 @@ void SelfCheckPage::onSelfCheckDone(bool allOk) m_status->setStyleSheet(QString("color:%1;font-size:60px;font-weight:700;").arg(C::SUCCESS)); m_job->setEnabled(true); m_job->setFocus(); // 自检完成后聚焦到“作业选择” - // 自检完成后停留在本界面，不自动跳转（需进入作业选择请手动点击） - // 【设计建议】自检完成 2s 后自动进入作业选择 + // 自检完成 2s 后自动进入系统首页面（原目标为作业选择页） // QTimer::singleShot(2000, this, [this]() { // if (m_done && isVisible()) // emit navigate(PageJob); // }); + QTimer::singleShot(2000, this, [this]() { + if (m_done && isVisible()) + emit navigate(PageHome); + }); } else { m_status->setText("无法完成自检　请检查设备"); m_status->setStyleSheet(QString("color:%1;font-size:60px;font-weight:700;").arg(C::DANGER)); @@ -218,7 +221,8 @@ void SelfCheckPage::onSelfCheckDone(bool allOk) void SelfCheckPage::onIgnoreFault() { - emit navigate(PageJob); + // emit navigate(PageJob); // 原：直接进作业选择页 + emit navigate(PageHome); // 忽略故障后进入系统首页面 } void SelfCheckPage::onJobSelect() @@ -228,7 +232,7 @@ void SelfCheckPage::onJobSelect() void SelfCheckPage::onHelp() { - QMessageBox::information(this, "操作说明", + ConfirmDialog::message(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。"); diff --git a/pages/washbase.cpp b/pages/washbase.cpp index 8dd8cac..ed56c11 100644 --- a/pages/washbase.cpp +++ b/pages/washbase.cpp @@ -3,7 +3,7 @@ #include "alarmbanner.h" #include "datacard.h" #include "ledindicator.h" -#include "udpcommunication.h" +#include "car.h" #include "confirmdialog.h" #include #include @@ -68,6 +68,7 @@ WashBasePage::WashBasePage(AppContext* ctx, const QString& title, const QString& 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", ""); + m_washCard->indentRows(); // 行文字缩进到中间偏左（卡片很宽，贴左缘会显得空） main->addWidget(m_washCard, 1); // 右侧操作列 @@ -109,6 +110,7 @@ WashBasePage::WashBasePage(AppContext* ctx, const QString& title, const QString& m_factory = button("恢复出厂值", "", bottom); m_factory->setFixedSize(220, 64); + m_factory->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字 connect(m_factory, &QPushButton::clicked, this, &WashBasePage::onFactory); bottomLay->addWidget(m_factory); bottomLay->addSpacing(20); @@ -134,6 +136,7 @@ WashBasePage::WashBasePage(AppContext* ctx, const QString& title, const QString& m_back = button("返回", "", bottom); m_back->setFixedSize(144, 76); + m_back->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字 connect(m_back, &QPushButton::clicked, this, &WashBasePage::onBack); bottomLay->addWidget(m_back); @@ -145,7 +148,7 @@ WashBasePage::WashBasePage(AppContext* ctx, const QString& title, const QString& connect(m_faultTimer, &QTimer::timeout, this, &WashBasePage::rotateFaults); m_faultTimer->start(); - connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &WashBasePage::refresh); + connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &WashBasePage::refresh); updateGating(); refresh(); } diff --git a/pages/washbase.h b/pages/washbase.h index fd0b3d0..8ffae63 100644 --- a/pages/washbase.h +++ b/pages/washbase.h @@ -12,7 +12,7 @@ class QPushButton; class QVBoxLayout; class QTimer; -// ===================== 洗消页面基类（⑨手动消除 / ⑩手动消毒 共用） ===================== +// ===================== 洗消页面基类（⑨消除作业 / ⑩消毒作业 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 { diff --git a/pages/washpage.cpp b/pages/washpage.cpp new file mode 100644 index 0000000..7f4d1f0 --- /dev/null +++ b/pages/washpage.cpp @@ -0,0 +1,369 @@ +#include "washpage.h" +#include "titlebar.h" +#include "alarmbanner.h" +#include "datacard.h" +#include "ledindicator.h" +#include "paramcontrol.h" +#include "car.h" +#include "confirmdialog.h" +#include +#include +#include +#include +#include +#include "global.h" + +WashPage::WashPage(AppContext* ctx, Mode mode, QWidget* parent) + : BasePage(ctx, parent), m_mode(mode) +{ + const bool clean = (mode == Clean); + + QVBoxLayout* root = new QVBoxLayout(this); + root->setContentsMargins(0, 0, 0, 0); + root->setSpacing(0); + + m_titleBar = new TitleBar(ctx, this); + m_titleBar->setTitle(clean ? "消除作业" : "消毒作业"); + 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(600); // 需容纳最长的“末端位置：X:1200 Y:300 Z:800”（42px 字号约 523px） + main->addSpacing(60); // 左列整体右移的量；空白由中间拉伸列让出，卡片宽度不变 + main->addWidget(left); + + // 中央洗消卡 + m_washCard = new DataCard(clean ? "洗消（消除作业）" : "洗消（消毒作业）", 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->addSpacing(60); + main->addWidget(m_washCard, 1); + + // 右侧操作列 + QWidget* right = new QWidget(this); + QVBoxLayout* rightLay = new QVBoxLayout(right); + rightLay->setContentsMargins(20, 20, 20, 10); + rightLay->setSpacing(60); + + m_start = button("启动", "primary", right); + m_start->setFixedSize(180, 100); + connect(m_start, &QPushButton::clicked, this, &WashPage::onStart); + + m_stop = button("停止", "danger", right); + m_stop->setFixedSize(180, 100); + connect(m_stop, &QPushButton::clicked, this, &WashPage::onStop); + + rightLay->addWidget(m_start, 0, Qt::AlignHCenter); + rightLay->addWidget(m_stop, 0, Qt::AlignHCenter); + + // 参数区：按模式不同 + m_paramsLayout = new QVBoxLayout(); + m_paramsLayout->setSpacing(8); + rightLay->addLayout(m_paramsLayout); + rightLay->addStretch(1); + + if (clean) { + // 柱塞泵流量（出厂 20；协议 PlungerPump_flow 0-24 L/min） + m_pumpFlow = new ParamControl("柱塞泵流量", "L/min", 0.1, 0.0, 24.0, true, false, this); + m_pumpFlow->setValue(ctx->getDouble(ctx->keyPumpFlow(), 20)); + 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()); + refreshPumpValues(); // 底部数值跟着更新 + ConfirmDialog::toast(this, "已保存"); + }); + m_paramsLayout->addWidget(m_pumpFlow); + } else { + // 发泡倍数（出厂 6；协议 Expansion_ratioCmd 6-12 倍） + m_foamRatio = new ParamControl("发泡倍数", "倍", 0.1, 6.0, 12.0, 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()); + this->ctx()->comm()->sendSetParam(this->ctx()->keyFoamRatio(), m_foamRatio->value()); + ConfirmDialog::toast(this, "已保存"); + }); + m_paramsLayout->addWidget(m_foamRatio); + + // 泡沫比例（出厂 3%；协议 Foam_ratio 0-10%） + m_foamPercent = new ParamControl("泡沫比例", "%", 0.1, 0.0, 10.0, 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()); + this->ctx()->comm()->sendSetParam(this->ctx()->keyFoamPercent(), m_foamPercent->value()); + ConfirmDialog::toast(this, "已保存"); + }); + m_paramsLayout->addWidget(m_foamPercent); + + // 空压机流量（出厂 100；协议 AirComp_flow 0-340 L/min） + m_airFlow = new ParamControl("空压机流量", "L/min", 1, 0.0, 340.0, 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()); + this->ctx()->comm()->sendSetParam(this->ctx()->keyAirFlow(), m_airFlow->value()); + refreshPumpValues(); // 底部数值跟着更新 + ConfirmDialog::toast(this, "已保存"); + }); + m_paramsLayout->addWidget(m_airFlow); + } + + right->setFixedWidth(500); // 参数行需容纳 输入框150 + 单位约101 + 保存140 + 两个间距24 ≈ 415px + main->addSpacing(60); // 洗消卡 ↔ 右列的间隙；空白由中间拉伸列让出，卡片文字不受影响 + main->addWidget(right); + + root->addLayout(main, 1); + + // 底部条：左右两个按钮纵向占满两行，中间上下两排（泵数值 / 指示灯）居中 + QWidget* bottom = new QWidget(this); + bottom->setObjectName("WashBottom"); + bottom->setFixedHeight(160); + // 用 #WashBottom 限定选择器：不带选择器的样式表会连子控件一起套上边框和底色 + bottom->setStyleSheet(QString("QWidget#WashBottom{background-color:%1;border-top:1px solid %2;}") + .arg(C::PANEL, C::BORDER)); + QHBoxLayout* bottomRoot = new QHBoxLayout(bottom); + bottomRoot->setContentsMargins(20, 8, 20, 8); + bottomRoot->setSpacing(12); + + // 左：恢复出厂值（占满两行高度） + m_factory = button("恢复出厂值", "", bottom); + m_factory->setFixedSize(220, 100); + m_factory->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字 + connect(m_factory, &QPushButton::clicked, this, &WashPage::onFactory); + bottomRoot->addWidget(m_factory, 0, Qt::AlignVCenter); + + // 中：上排三泵数值、下排指示灯，两排都水平居中 + QVBoxLayout* midLay = new QVBoxLayout(); + midLay->setSpacing(6); + + QHBoxLayout* valueLay = new QHBoxLayout(); + valueLay->setSpacing(40); + valueLay->addStretch(1); + auto addFlow = [&](const QString& name) { + valueLay->addWidget(label(name + "：", 40, C::TEXT_SUB, false, bottom)); + QLabel* v = label("--", 40, C::TEXT, true, bottom); + valueLay->addWidget(v); + return v; + }; + m_valPlunger = addFlow("柱塞泵"); + m_valAir = addFlow("空压机"); + m_valLeaf = addFlow("叶片泵"); + refreshPumpValues(); // 开机先显示参数的出厂默认值 + valueLay->addStretch(1); + + QHBoxLayout* ledLay = new QHBoxLayout(); + ledLay->setSpacing(10); // 8 个灯 40px 字号后总宽约 1300px + ledLay->addStretch(1); + auto makeLed = [&](const QString& text) { + LedIndicator* led = new LedIndicator(text, bottom); + led->setTextPixelSize(40); // 字号与卡片标题一致 + ledLay->addWidget(led); + return led; + }; + m_ledRun = makeLed("启停"); + m_ledPlunger = makeLed("柱塞泵"); + m_ledAir = makeLed("空压机"); + m_ledLeaf = makeLed("叶片泵"); + m_ledLevel = makeLed("液位低"); + m_ledD1 = makeLed("D1"); + m_ledD2 = makeLed("D2"); + m_ledFault = makeLed("系统故障"); + ledLay->addStretch(1); + + midLay->addStretch(1); + midLay->addLayout(valueLay); + midLay->addLayout(ledLay); + midLay->addStretch(1); + bottomRoot->addLayout(midLay, 1); + + // 右：返回（占满两行高度） + m_back = button("返回", "", bottom); + m_back->setFixedSize(170, 100); + m_back->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字 + connect(m_back, &QPushButton::clicked, this, &WashPage::onBack); + bottomRoot->addWidget(m_back, 0, Qt::AlignVCenter); + + 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, &WashPage::rotateFaults); + m_faultTimer->start(); + + connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &WashPage::refresh); + updateGating(); + refresh(); +} + +QString WashPage::washModeTag() const +{ + return m_mode == Clean ? "clean" : "disinfect"; +} + +// 底部三个泵的数值：柱塞泵/空压机跟右侧参数的设定值（没改过就是出厂默认值）， +// 叶片泵本页没有对应参数，先取遥测的实时流量 +void WashPage::refreshPumpValues() +{ + // 这里读的是配置值，一并按协议量程夹取（柱塞泵 0-24、空压机 0-340 L/min）， + // 否则旧配置里超范围的历史值会与控件显示、实际上报的数值对不上 + m_valPlunger->setText(QString("%1 L/min").arg(qBound(0.0, ctx()->getDouble(ctx()->keyPumpFlow(), 20), 24.0), 0, 'f', 1)); + m_valAir->setText(QString("%1 L/min").arg(qBound(0.0, ctx()->getDouble(ctx()->keyAirFlow(), 100), 340.0), 0, 'f', 1)); + m_valLeaf->setText(QString("%1 L/min").arg(ctx()->telemetry.flowB, 0, 'f', 1)); +} + +void WashPage::onStart() +{ + ctx()->comm()->sendWashStart(washModeTag()); + ctx()->washRunning = true; + updateGating(); +} + +void WashPage::onStop() +{ + ctx()->comm()->sendWashStop(); + ctx()->washRunning = false; + updateGating(); +} + +void WashPage::onBack() +{ + if (ctx()->washRunning) { + ConfirmDialog::toast(this, "请先停止"); + return; + } + emit navigate(PageJob); +} + +void WashPage::onFactory() +{ + if (ConfirmDialog::confirm(this, "恢复出厂值", "确定将参数恢复为出厂值？")) + resetFactory(); +} + +void WashPage::resetFactory() +{ + if (m_mode == Clean) { + m_pumpFlow->setValue(20); // 出厂 20 + ctx()->setDouble(ctx()->keyPumpFlow(), 20); + ctx()->comm()->sendSetParam(ctx()->keyPumpFlow(), 20); + } else { + m_foamRatio->setValue(6); // 出厂 6 + m_foamPercent->setValue(3); // 出厂 3% + m_airFlow->setValue(100); // 出厂 100 + ctx()->setDouble(ctx()->keyFoamRatio(), 6); + ctx()->setDouble(ctx()->keyFoamPercent(), 3); + ctx()->setDouble(ctx()->keyAirFlow(), 100); + ctx()->comm()->sendSetParam(ctx()->keyFoamRatio(), 6); + ctx()->comm()->sendSetParam(ctx()->keyFoamPercent(), 3); + ctx()->comm()->sendSetParam(ctx()->keyAirFlow(), 100); + } + refreshPumpValues(); // 底部数值跟着回到出厂值 + ConfirmDialog::toast(this, "已恢复出厂值"); +} + +void WashPage::updateGating() +{ + bool running = ctx()->washRunning; + m_start->setEnabled(!running); + m_stop->setEnabled(running); + m_back->setEnabled(!running); +} + +void WashPage::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); + + // 底部三个泵的数值 + refreshPumpValues(); + + // 故障代码显示（静态更新，循环由 rotateFaults 驱动） + rotateFaults(); +} + +void WashPage::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(); +} diff --git a/pages/washpage.h b/pages/washpage.h new file mode 100644 index 0000000..31800ff --- /dev/null +++ b/pages/washpage.h @@ -0,0 +1,86 @@ +#ifndef WASHPAGE_H +#define WASHPAGE_H + +#include "base.h" + +class TitleBar; +class AlarmBanner; +class DataCard; +class LedIndicator; +class ParamControl; +class QPushButton; +class QLabel; +class QVBoxLayout; +class QTimer; + +// ===================== 洗消页（⑨消除作业 / ⑩消毒作业 共用） ===================== +// 自包含页面：三列骨架、中央洗消卡、右侧启停与参数区、底部指示灯条都在本文件里。 +// 两个页面只差 mode（标题、洗消标识、参数项及出厂值），调整布局改这一处即可。 +class WashPage : public BasePage +{ + Q_OBJECT +public: + enum Mode { Clean, Disinfect }; + + explicit WashPage(AppContext* ctx, Mode mode, QWidget* parent = nullptr); + +private slots: + void onStart(); + void onStop(); + void onBack(); + void onFactory(); + void refresh(); + void rotateFaults(); + +private: + void updateGating(); + void resetFactory(); + void refreshPumpValues(); // 刷新底部三个泵的数值 + QString washModeTag() const; // "clean" / "disinfect" + + Mode m_mode; + + 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; + + // 参数：消除用柱塞泵流量；消毒用发泡倍数 / 泡沫比例 / 空压机流量 + ParamControl* m_pumpFlow = nullptr; + ParamControl* m_foamRatio = nullptr; + ParamControl* m_foamPercent = nullptr; + ParamControl* m_airFlow = 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; + + // 底部第二行：三个泵的当前流量值 + QLabel* m_valPlunger = nullptr; + QLabel* m_valAir = nullptr; + QLabel* m_valLeaf = 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 // WASHPAGE_H diff --git 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(sum((can_id >> (8 * i)) & 0xFF for i in range(4)) + dlc + sum(d)) & 0xFF + + +def pack(can_id, d): + return struct.pack("setAlignment(Qt::AlignCenter); m_label->setProperty("alert", true); - m_label->setStyleSheet("font-size:30px;font-weight:700;"); + m_label->setStyleSheet("font-size:45px;font-weight:700;"); lay->addWidget(m_label); hide(); // 默认隐藏 diff --git a/widgets/confirmdialog.cpp b/widgets/confirmdialog.cpp index 5613889..3820138 100644 --- a/widgets/confirmdialog.cpp +++ b/widgets/confirmdialog.cpp @@ -15,47 +15,56 @@ ConfirmDialog::ConfirmDialog(QWidget* parent) if (parent) setGeometry(parent->rect()); setStyleSheet("background-color: rgba(0,0,0,102);"); - QWidget* panel = new QWidget(this); - panel->setObjectName("ConfirmPanel"); - panel->setFixedSize(560, 260); - panel->setStyleSheet(QString( + m_panel = new QWidget(this); + m_panel->setObjectName("ConfirmPanel"); + m_panel->setFixedSize(700, 420); + m_panel->setStyleSheet(QString( "QWidget#ConfirmPanel{background-color:%1;border:2px solid %2;border-radius:16px;}") .arg(C::PANEL, C::BORDER)); - QVBoxLayout* lay = new QVBoxLayout(panel); + QVBoxLayout* lay = new QVBoxLayout(m_panel); lay->setContentsMargins(28, 24, 28, 24); - lay->setSpacing(16); + lay->setSpacing(0); // 标题与正文不留间隙（与“操作说明”弹窗一致） - m_title = new QLabel("", panel); - m_title->setStyleSheet(QString("color:%1;font-size:28px;font-weight:700;").arg(C::TEXT)); + m_title = new QLabel("", m_panel); + m_title->setStyleSheet(QString("background:transparent;color:%1;font-size:50px;font-weight:700;").arg(C::TEXT)); m_title->setAlignment(Qt::AlignCenter); lay->addWidget(m_title); + lay->addSpacing(60); // 标题与正文之间空一行 - m_body = new QLabel("", panel); - m_body->setStyleSheet(QString("color:%1;font-size:22px;").arg(C::TEXT)); + m_body = new QLabel("", m_panel); + m_body->setStyleSheet(QString("background:transparent;color:%1;font-size:50px;").arg(C::TEXT)); m_body->setAlignment(Qt::AlignCenter); m_body->setWordWrap(true); - lay->addWidget(m_body, 1); + lay->addWidget(m_body); // 不再拉伸：标题与正文紧挨着 + lay->addStretch(1); // 剩余空间放在正文与按钮之间（标题/正文保持自然高度，标题顶到最上面） QHBoxLayout* btnLay = new QHBoxLayout(); btnLay->addStretch(1); - QPushButton* ok = new QPushButton("确认", panel); - ok->setProperty("variant", "primary"); - ok->setFixedSize(160, 72); + QPushButton* ok = new QPushButton("确认", m_panel); + // 常态灰底、选中（悬停/焦点）蓝底白字。 + // 注意：该表设了 background-color，会压住全局的 variant/焦点规则，所以状态必须写在这里。 + ok->setFixedSize(180, 80); + ok->setStyleSheet(QString( + "QPushButton{background-color:%1;color:%2;border:1px solid %3;border-radius:12px;font-size:60px;}" + "QPushButton:hover,QPushButton:focus{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}") + .arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY)); connect(ok, &QPushButton::clicked, this, &ConfirmDialog::accept); - QPushButton* cancel = new QPushButton("取消", panel); - cancel->setFixedSize(160, 72); - cancel->setStyleSheet(cancelButtonStyle(40)); // 选中时红底白字 - connect(cancel, &QPushButton::clicked, this, &ConfirmDialog::reject); + m_cancel = new QPushButton("取消", m_panel); + m_cancel->setFixedSize(180, 80); // 与“确认”同尺寸 + m_cancel->setStyleSheet(cancelButtonStyle(60)); // 与“确认”同字号；选中时红底白字 + connect(m_cancel, &QPushButton::clicked, this, &ConfirmDialog::reject); btnLay->addWidget(ok); - btnLay->addWidget(cancel); + btnLay->addSpacing(80); // “确认”与“取消”之间留 40px + btnLay->addWidget(m_cancel); btnLay->addStretch(1); + lay->addSpacing(30); // 正文与按钮之间留 30px lay->addLayout(btnLay); QVBoxLayout* root = new QVBoxLayout(this); root->setContentsMargins(0, 0, 0, 0); root->addStretch(1); - root->addWidget(panel, 0, Qt::AlignHCenter); + root->addWidget(m_panel, 0, Qt::AlignHCenter); root->addStretch(1); } @@ -70,6 +79,27 @@ bool ConfirmDialog::confirm(QWidget* parent, const QString& title, const QString return dlg.exec() == QDialog::Accepted; } +void ConfirmDialog::message(QWidget* parent, const QString& title, const QString& text) +{ + ConfirmDialog dlg(parent); + dlg.m_panel->setFixedSize(900, 600); // 正文行数少 → 面板收窄 + dlg.m_cancel->hide(); // 只保留“确认” + dlg.m_title->setStyleSheet(QString("background:transparent;color:%1;font-size:50px;font-weight:700;").arg(C::TEXT)); + dlg.m_body->setStyleSheet(QString("background:transparent;color:%1;font-size:50px;").arg(C::TEXT)); + dlg.m_title->setWordWrap(true); + dlg.m_title->setContentsMargins(0, 20, 0, 0); // 标题文字距该行顶部 10px + dlg.m_body->setContentsMargins(0, 0, 0, 0); + dlg.m_body->setAlignment(Qt::AlignCenter); // 正文居中（水平+垂直） + if (QBoxLayout* lay = qobject_cast(dlg.m_panel->layout())) { + lay->setSpacing(0); // 统一间隔置 0，各段间距单独控制 + lay->setContentsMargins(28, 28, 28, 28); // 内容距面板四边 28px + //lay->insertSpacing(lay->count() - 1, 20); // “确认”按钮上方留 20px + } + dlg.setTitle(title); + dlg.setText(text); + dlg.exec(); +} + void ConfirmDialog::toast(QWidget* parent, const QString& text, int ms) { QDialog* d = new QDialog(parent); diff --git a/widgets/confirmdialog.h b/widgets/confirmdialog.h index e98dbb4..df75595 100644 --- a/widgets/confirmdialog.h +++ b/widgets/confirmdialog.h @@ -4,6 +4,7 @@ #include class QLabel; +class QPushButton; // ===================== 确认弹窗 ===================== // 标题 + 正文 + 确认/取消；另提供 2s 自动消失的轻提示（toast） @@ -19,12 +20,17 @@ public: // 模态确认，返回是否“确认” static bool confirm(QWidget* parent, const QString& title, const QString& text); + // 独立信息弹窗（仅“确认”按钮，替代系统 QMessageBox；正文 50px） + static void message(QWidget* parent, const QString& title, const QString& text); + // 轻提示：显示 text，ms 毫秒后自动消失（用于“修改成功”等） static void toast(QWidget* parent, const QString& text, int ms = 2000); private: QLabel* m_title = nullptr; QLabel* m_body = nullptr; + QWidget* m_panel = nullptr; + QPushButton* m_cancel = nullptr; }; #endif // CONFIRMDIALOG_H diff --git a/widgets/datacard.cpp b/widgets/datacard.cpp index 7791f65..80e444c 100644 --- a/widgets/datacard.cpp +++ b/widgets/datacard.cpp @@ -11,14 +11,14 @@ DataCard::DataCard(const QString& title, QWidget* parent) setProperty("card", true); QVBoxLayout* lay = new QVBoxLayout(this); - lay->setContentsMargins(16, 0, 16, 14); - lay->setSpacing(8); + lay->setContentsMargins(24, 0, 24, 20); + lay->setSpacing(16); - // 标题栏（高 44px） + // 标题栏 m_title = new QLabel(title, this); - m_title->setFixedHeight(44); + m_title->setFixedHeight(60); m_title->setProperty("cardTitle", true); - m_title->setStyleSheet(QString("color:%1;font-size:24px;font-weight:700;border-bottom:1px solid %2;") + m_title->setStyleSheet(QString("color:%1;font-size:42px;font-weight:700;border-bottom:1px solid %2;") .arg(C::TEXT, C::BORDER)); lay->addWidget(m_title); @@ -36,15 +36,15 @@ int DataCard::addField(const QString& label, const QString& value, bool big) int index = m_values.size(); QHBoxLayout* row = new QHBoxLayout(); - row->setSpacing(8); + row->setSpacing(16); QLabel* lab = new QLabel(label + "：", this); lab->setProperty("sub", true); - lab->setStyleSheet(QString("color:%1;font-size:22px;").arg(C::TEXT_SUB)); + lab->setStyleSheet(QString("color:%1;font-size:32px;").arg(C::TEXT_SUB)); QLabel* val = new QLabel(value, this); val->setStyleSheet(QString("color:%1;%2").arg(C::TEXT, - big ? "font-size:64px;font-weight:700;" : "font-size:30px;font-weight:700;")); + big ? "font-size:50px;font-weight:700;" : "font-size:42px;font-weight:700;")); row->addWidget(lab); row->addWidget(val, 1); @@ -89,3 +89,20 @@ void DataCard::setHighlight(bool on) else setStyleSheet(QString()); } + +// 字段行文字从左缘缩进到「中间偏左」：行首弹性 2 : 数值行尾弹性 3 +void DataCard::indentRows() +{ + QVBoxLayout* lay = qobject_cast(layout()); + if (!lay) + return; + for (int i = 0; i < lay->count(); ++i) { + QHBoxLayout* row = qobject_cast(lay->itemAt(i)->layout()); + if (!row || row->count() != 2) // 字段行是 [标签][数值]；标题与末尾 stretch 不是子布局 + continue; + if (row->itemAt(0)->spacerItem()) // 已缩进过，避免重复插入 + continue; + row->insertStretch(0, 2); + row->setStretch(2, 3); // 插入后 [0]=行首弹性 [1]=标签 [2]=数值 + } +} diff --git a/widgets/datacard.h b/widgets/datacard.h index 620fff1..dcd5d9a 100644 --- a/widgets/datacard.h +++ b/widgets/datacard.h @@ -19,6 +19,7 @@ public: void setField(int index, const QString& value); void setAlarm(int index, bool on); void setHighlight(bool on); // 主色描边突出 + void indentRows(); // 字段行整体缩进到「中间偏左」（行首 : 行尾 = 2 : 3），只需调用一次 private: QLabel* m_title = nullptr; diff --git a/widgets/faulttable.cpp b/widgets/faulttable.cpp index ac7fd78..58bc95f 100644 --- a/widgets/faulttable.cpp +++ b/widgets/faulttable.cpp @@ -5,6 +5,7 @@ #include #include #include +#include #include "global.h" FaultTable::FaultTable(QWidget* parent) @@ -14,23 +15,26 @@ FaultTable::FaultTable(QWidget* parent) lay->setContentsMargins(0, 0, 0, 0); lay->setSpacing(10); - // 分页行（上一页 / 页码 / 下一页） + // 分页行（上一页 / 页码 / 下一页）——水平居中，字号与按钮加大 QHBoxLayout* nav = new QHBoxLayout(); + nav->setSpacing(50); nav->addStretch(1); m_prev = new QPushButton("上一页", this); - m_prev->setFixedSize(160, 64); + m_prev->setFixedSize(240, 100); + m_prev->setStyleSheet("font-size:50px;"); connect(m_prev, &QPushButton::clicked, this, [this]() { if (m_page > 0) { setPage(m_page - 1); emit pageChanged(m_page); } }); m_pageLabel = new QLabel("1/1", this); m_pageLabel->setAlignment(Qt::AlignCenter); - m_pageLabel->setStyleSheet(QString("color:%1;font-size:22px;").arg(C::TEXT)); - m_pageLabel->setFixedWidth(140); + m_pageLabel->setStyleSheet(QString("color:%1;font-size:40px;").arg(C::TEXT)); + m_pageLabel->setFixedWidth(180); m_next = new QPushButton("下一页", this); - m_next->setFixedSize(160, 64); + m_next->setFixedSize(240, 100); + m_next->setStyleSheet("font-size:50px;"); connect(m_next, &QPushButton::clicked, this, [this]() { if (m_page < pageCount() - 1) { setPage(m_page + 1); emit pageChanged(m_page); } }); @@ -38,6 +42,7 @@ FaultTable::FaultTable(QWidget* parent) nav->addWidget(m_prev); nav->addWidget(m_pageLabel); nav->addWidget(m_next); + nav->addStretch(1); // 尾部也留弹性 → 整行居中 lay->addLayout(nav); // 表格 @@ -47,24 +52,127 @@ FaultTable::FaultTable(QWidget* parent) m_table->setEditTriggers(QAbstractItemView::NoEditTriggers); m_table->setSelectionBehavior(QAbstractItemView::SelectRows); m_table->setSelectionMode(QAbstractItemView::SingleSelection); + m_table->setTabKeyNavigation(false); // 关掉视图自带的 Tab 导航，改由下方 eventFilter 按行切换 m_table->verticalHeader()->setVisible(false); + m_table->horizontalHeader()->setFocusPolicy(Qt::NoFocus); // 表头不参与 Tab + m_table->verticalHeader()->setFocusPolicy(Qt::NoFocus); m_table->setAlternatingRowColors(true); m_table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); m_table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::Fixed); m_table->setColumnWidth(0, 120); m_table->horizontalHeader()->setSectionResizeMode(2, QHeaderView::Stretch); - m_table->verticalHeader()->setDefaultSectionSize(100); - m_table->verticalHeader()->setSectionResizeMode(QHeaderView::Fixed); + m_table->horizontalHeader()->setFixedHeight(kHeaderHeight); // 固定表头高度（供对齐） + // 每页 6 行等分，平均填满表格可用高度 + m_table->verticalHeader()->setSectionResizeMode(QHeaderView::Stretch); connect(m_table, &QTableWidget::cellClicked, this, [this](int row, int) { int global = m_page * m_pageSize + row; if (global >= 0 && global < m_data.size()) emit rowClicked(global); }); + m_table->installEventFilter(this); // 拦截 Tab，实现按行切换 + m_table->viewport()->setMouseTracking(true); // 悬停整行高亮 + m_table->viewport()->installEventFilter(this); // 鼠标移出视口 → 取消高亮 + connect(m_table, &QAbstractItemView::entered, this, + [this](const QModelIndex& idx) { setHoverRow(idx.row()); }); lay->addWidget(m_table, 1); refresh(); } +QWidget* FaultTable::view() const { return m_table; } +QWidget* FaultTable::prevButton() const { return m_prev; } +QWidget* FaultTable::nextButton() const { return m_next; } + +bool FaultTable::eventFilter(QObject* obj, QEvent* ev) +{ + if (obj == m_table->viewport() && ev->type() == QEvent::Leave) { + setHoverRow(-1); // 鼠标移出表格 → 取消悬停高亮 + return QWidget::eventFilter(obj, ev); + } + if (obj != m_table) + return QWidget::eventFilter(obj, ev); + + // 焦点进入表格时选中一行：正向(Tab)进末行→回首行、否则选首行；反向(Shift+Tab)同理选末行 + if (ev->type() == QEvent::FocusIn) { + QFocusEvent* fe = static_cast(ev); + const int last = m_table->rowCount() - 1; + const int col = qMax(0, m_table->currentColumn()); + int row = -1; + if (fe->reason() == Qt::TabFocusReason) { + if (last >= 0 && (m_table->currentRow() < 0 || m_table->currentRow() >= last)) + row = 0; + } else if (fe->reason() == Qt::BacktabFocusReason) { + if (last >= 0 && (m_table->currentRow() < 0 || m_table->currentRow() <= 0)) + row = last; + } + if (row >= 0) { + m_table->setCurrentCell(row, col); + m_table->selectRow(row); // 显式整行选中（只设当前单元格时可能只高亮一格） + } + } + + // 仅键盘(Tab/Shift+Tab)移走焦点时清除选中；鼠标点击/弹窗抢焦点时保留，便于看清当前行 + if (ev->type() == QEvent::FocusOut) { + QFocusEvent* fe = static_cast(ev); + if (fe->reason() == Qt::TabFocusReason || fe->reason() == Qt::BacktabFocusReason) + m_table->clearSelection(); + return QWidget::eventFilter(obj, ev); + } + + // Tab / Shift+Tab：按行切换选中（每一行作为一个单位）；回车/空格：等同鼠标点击 + if (ev->type() == QEvent::KeyPress) { + QKeyEvent* ke = static_cast(ev); + // 方向键在本机是"旋钮"键位（只给 ParamControl 调值），表格里不参与导航： + // 换行只走 Tab/Shift+Tab，激活只走回车/空格 + if (ke->key() == Qt::Key_Up || ke->key() == Qt::Key_Down + || ke->key() == Qt::Key_Left || ke->key() == Qt::Key_Right) + return true; + + if (ke->key() == Qt::Key_Tab || ke->key() == Qt::Key_Backtab) { + const bool back = (ke->key() == Qt::Key_Backtab) || (ke->modifiers() & Qt::ShiftModifier); + const int next = m_table->currentRow() + (back ? -1 : 1); + if (next >= 0 && next < m_table->rowCount()) { + m_table->setCurrentCell(next, qMax(0, m_table->currentColumn())); + m_table->selectRow(next); // 整行选中 + return true; // 消费事件，焦点留在表格内 + } + // 已在首/末行：不拦截，焦点按 Tab 顺序移到下一个控件 + } else if (ke->key() == Qt::Key_Return || ke->key() == Qt::Key_Enter + || ke->key() == Qt::Key_Space) { + // 键盘激活：与鼠标 cellClicked 走同一个信号，弹窗逻辑只有一份 + const int row = m_table->currentRow(); + const int global = m_page * m_pageSize + row; + if (row >= 0 && global >= 0 && global < m_data.size()) { + emit rowClicked(global); + return true; + } + } + } + return QWidget::eventFilter(obj, ev); +} + +// 鼠标悬停的整行高亮：颜色与“选中”一致（主色蓝底白字） +void FaultTable::setHoverRow(int row) +{ + if (row == m_hoverRow) + return; + if (m_hoverRow >= 0) { + for (int c = 0; c < m_table->columnCount(); ++c) + if (QTableWidgetItem* it = m_table->item(m_hoverRow, c)) { + it->setData(Qt::BackgroundRole, QVariant()); + it->setData(Qt::ForegroundRole, QVariant()); + } + } + m_hoverRow = row; + if (m_hoverRow >= 0) { + for (int c = 0; c < m_table->columnCount(); ++c) + if (QTableWidgetItem* it = m_table->item(m_hoverRow, c)) { + it->setData(Qt::BackgroundRole, QColor(C::PRIMARY)); + it->setData(Qt::ForegroundRole, QColor("#FFFFFF")); + } + } +} + void FaultTable::setData(const QVector& data) { m_data = data; @@ -87,6 +195,7 @@ int FaultTable::pageCount() const void FaultTable::refresh() { + m_hoverRow = -1; // 单元格会重建，悬停行失效 m_table->setRowCount(0); m_table->setRowCount(m_pageSize); diff --git a/widgets/faulttable.h b/widgets/faulttable.h index 258d5b7..49cd6ce 100644 --- a/widgets/faulttable.h +++ b/widgets/faulttable.h @@ -17,17 +17,29 @@ class FaultTable : public QWidget public: explicit FaultTable(QWidget* parent = nullptr); + // 表头高度：同页其他控件可据此与表格内容区对齐 + static const int kHeaderHeight = 70; + void setData(const QVector& data); void setPage(int p); int page() const { return m_page; } int pageCount() const; + // 供外部设置 Tab 顺序用（定义在 .cpp，避免用到未完整声明的类型） + QWidget* view() const; + QWidget* prevButton() const; + QWidget* nextButton() const; + signals: void pageChanged(int page); void rowClicked(int globalIndex); +protected: + bool eventFilter(QObject* obj, QEvent* ev) override; // 拦截 Tab（按行切换选中）、回车/空格（等同点击） + private: void refresh(); + void setHoverRow(int row); // 鼠标悬停的整行高亮 QTableWidget* m_table = nullptr; QLabel* m_pageLabel = nullptr; @@ -36,6 +48,7 @@ private: QVector m_data; int m_page = 0; int m_pageSize = 6; + int m_hoverRow = -1; }; #endif // FAULTTABLE_H diff --git a/widgets/ledindicator.cpp b/widgets/ledindicator.cpp index 5e1fb4f..85cc0c1 100644 --- a/widgets/ledindicator.cpp +++ b/widgets/ledindicator.cpp @@ -9,9 +9,11 @@ QSize LedIndicator::sizeHint() const QFont f = font(); f.setPixelSize(m_textPx); const QFontMetrics fm(f); + const int textW = fm.horizontalAdvance(m_text); + if (m_dotAfter) + return QSize(textW + 10 + m_radius * 2 + 10, 52); // 文字 + 间距 + 圆点区 + 右侧 10px // 宽度 = 文字起点(圆点区 + 左侧 10px) + 文字宽度 + 右侧 10px - const int w = textLeft() + fm.horizontalAdvance(m_text) + 10; - return QSize(w, 52); // 高度与构造函数 setFixedHeight(52) 一致 + return QSize(textLeft() + textW + 10, 52); // 高度与构造函数 setFixedHeight(52) 一致 } LedIndicator::LedIndicator(const QString& text, QWidget* parent) @@ -55,6 +57,13 @@ void LedIndicator::paintEvent(QPaintEvent*) QPainter p(this); p.setRenderHint(QPainter::Antialiasing); + // 文字度量：圆点位置取决于文字宽度（圆点在文字后时） + QFont f = p.font(); + f.setPixelSize(m_textPx); + p.setFont(f); + const QFontMetrics fm(f); + const int textW = fm.horizontalAdvance(m_text); + // 中心圆点颜色 QColor color = QColor(C::DISABLED); // 灰 switch (m_state) { @@ -70,7 +79,7 @@ void LedIndicator::paintEvent(QPaintEvent*) if ((m_state == RedBlink || m_state == YellowBlink) && !m_on) color.setAlpha(102); - const QPointF c(m_radius + 8, height() / 2.0); + const QPointF c(m_dotAfter ? textW + 10 + m_radius : m_radius + 8, height() / 2.0); // 外发光 if (color.alpha() > 0) { @@ -93,11 +102,9 @@ void LedIndicator::paintEvent(QPaintEvent*) p.setPen(QPen(QColor(C::BORDER), 1)); p.drawEllipse(c, m_radius, m_radius); - // 文字 + // 文字（圆点在文字后时，文字从控件左边缘开始） p.setPen(QColor(C::TEXT)); - QFont f = p.font(); - f.setPixelSize(m_textPx); - p.setFont(f); - const QRectF textRect(textLeft(), 0, width() - textLeft() - 10, height()); + const QRectF textRect(m_dotAfter ? 0 : textLeft(), 0, + m_dotAfter ? textW : width() - textLeft() - 10, height()); p.drawText(textRect, Qt::AlignLeft | Qt::AlignVCenter, m_text); } diff --git a/widgets/ledindicator.h b/widgets/ledindicator.h index cd961de..8e7568e 100644 --- a/widgets/ledindicator.h +++ b/widgets/ledindicator.h @@ -19,6 +19,7 @@ public: void setText(const QString& t); void setTextPixelSize(int px) { m_textPx = px; updateGeometry(); update(); } // 文字字号 void setRadius(int r) { m_radius = r; updateGeometry(); update(); } // 圆形指示点半径 + void setDotAfterText(bool after) { m_dotAfter = after; updateGeometry(); update(); } // 圆点画在文字后面 State state() const { return m_state; } QSize sizeHint() const override; // 宽度按文字实际宽度计算，避免文字被裁 @@ -35,6 +36,7 @@ private: bool m_on = true; int m_radius = 16; // 圆形指示点 32×32 int m_textPx = 24; // 文字字号 + bool m_dotAfter = false; // false=圆点在文字前，true=圆点在文字后 }; #endif // LEDINDICATOR_H diff --git a/widgets/numpaddialog.cpp b/widgets/numpaddialog.cpp index 0c82b3a..4a72c7b 100644 --- a/widgets/numpaddialog.cpp +++ b/widgets/numpaddialog.cpp @@ -18,101 +18,81 @@ NumPadDialog::NumPadDialog(QWidget* parent) if (parent) setGeometry(parent->rect()); setStyleSheet("background-color: rgba(0,0,0,102);"); - // 面板（居中） - QWidget* panel = new QWidget(this); - panel->setObjectName("NumPadPanel"); - panel->setFixedSize(600, 730); - panel->setStyleSheet(QString( + // 面板（默认居中，可用 setAnchorWidget 定位到某个控件旁边） + m_panel = new QWidget(this); + m_panel->setObjectName("NumPadPanel"); + m_panel->setStyleSheet(QString( "QWidget#NumPadPanel{background-color:%1;border:4px solid %2;border-radius:16px;}" "QPushButton[numpad=\"true\"]{background-color:#2D3947;color:#E6EDF3;border:1px solid #3D4A59;border-radius:12px;font-size:40px;}" "QPushButton[numpad=\"true\"]:pressed{background-color:#2E7BE6;color:#FFFFFF;}" "QPushButton[numpad=\"true\"]:focus{background-color:#3D8BFD;color:#FFFFFF;border:2px solid #8ABFFF;}") .arg(C::PANEL, C::BORDER)); - QVBoxLayout* panelLay = new QVBoxLayout(panel); - panelLay->setContentsMargins(24, 40, 24, 50); - panelLay->setSpacing(50); + m_panelLay = new QVBoxLayout(m_panel); // 输入回显 - m_echo = new QLineEdit(panel); + m_echo = new QLineEdit(m_panel); m_echo->setReadOnly(true); m_echo->setEchoMode(QLineEdit::Password); m_echo->setAlignment(Qt::AlignCenter); - m_echo->setFixedSize(510, 100); - m_echo->setStyleSheet("font-size:70px;"); - m_echo->setFocusPolicy(Qt::NoFocus); // 纯显示回显：不参与 Tab 选中 + m_echo->setFocusPolicy(Qt::NoFocus); // 纯显示回显：不参与 Tab 选中 m_echo->setAttribute(Qt::WA_TransparentForMouseEvents); // 且点击穿透，不响应鼠标 - panelLay->addWidget(m_echo, 0, Qt::AlignHCenter); + m_panelLay->addWidget(m_echo, 0, Qt::AlignHCenter); - // 数字键区（1-9, 0, 退格, 清除） - QGridLayout* grid = new QGridLayout(); - grid->setSpacing(30); + // 数字键区（1-9, 0, 退格, 清除/小数点） + m_grid = new QGridLayout(); const QString digits[3][3] = {{"1","2","3"},{"4","5","6"},{"7","8","9"}}; for (int r = 0; r < 3; ++r) for (int c = 0; c < 3; ++c) { - QPushButton* b = new QPushButton(digits[r][c], panel); + QPushButton* b = new QPushButton(digits[r][c], m_panel); b->setProperty("numpad", true); - b->setStyleSheet("font-size:50px;"); - b->setFixedSize(150, 120); connect(b, &QPushButton::clicked, this, [this, d = digits[r][c]](){ onDigit(d); }); - grid->addWidget(b, r, c); + m_grid->addWidget(b, r, c); + m_digits << b; } - QPushButton* b0 = new QPushButton("0", panel); + QPushButton* b0 = new QPushButton("0", m_panel); b0->setProperty("numpad", true); - b0->setStyleSheet("font-size:50px;"); - b0->setFixedSize(150, 120); connect(b0, &QPushButton::clicked, this, [this](){ onDigit("0"); }); - grid->addWidget(b0, 3, 1); + m_grid->addWidget(b0, 3, 1); + m_digits << b0; - QPushButton* bBack = new QPushButton("退格", panel); - bBack->setProperty("numpad", true); - bBack->setStyleSheet("font-size:40px;"); - bBack->setFixedSize(150, 120); - connect(bBack, &QPushButton::clicked, this, &NumPadDialog::onBackspace); - grid->addWidget(bBack, 3, 0); + m_backKey = new QPushButton("退格", m_panel); + m_backKey->setProperty("numpad", true); + connect(m_backKey, &QPushButton::clicked, this, &NumPadDialog::onBackspace); + m_grid->addWidget(m_backKey, 3, 0); - QPushButton* bClear = new QPushButton("清除", panel); - bClear->setProperty("numpad", true); - bClear->setStyleSheet("font-size:40px;"); - bClear->setFixedSize(150, 108); - connect(bClear, &QPushButton::clicked, this, &NumPadDialog::onClear); - grid->addWidget(bClear, 3, 2); + m_clearKey = new QPushButton("清除", m_panel); + m_clearKey->setProperty("numpad", true); + connect(m_clearKey, &QPushButton::clicked, this, [this]() { + if (m_paramMode) onDot(); + else onClear(); + }); + m_grid->addWidget(m_clearKey, 3, 2); - // 确认 / 取消（与数字键一致的灰底，选中时发亮） - QPushButton* bOk = new QPushButton("确认", panel); - bOk->setProperty("numpad", true); - bOk->setStyleSheet("font-size:60px;"); - bOk->setFixedSize(160, 140); - connect(bOk, &QPushButton::clicked, this, &NumPadDialog::accept); + // 确认 / 取消 + m_okKey = new QPushButton("确认", m_panel); + m_okKey->setProperty("numpad", true); + connect(m_okKey, &QPushButton::clicked, this, &NumPadDialog::accept); - QPushButton* bCancel = new QPushButton("取消", panel); - bCancel->setProperty("numpad", true); - bCancel->setStyleSheet(cancelButtonStyle(60)); // 选中时红底白字 - bCancel->setFixedSize(160, 140); - connect(bCancel, &QPushButton::clicked, this, &NumPadDialog::reject); + m_cancelKey = new QPushButton("取消", m_panel); + m_cancelKey->setProperty("numpad", true); + connect(m_cancelKey, &QPushButton::clicked, this, &NumPadDialog::reject); // 确认 / 取消：单独一行、水平居中，并与数字键盘留出间隔 QHBoxLayout* okRow = new QHBoxLayout(); okRow->setSpacing(80); okRow->addStretch(1); - okRow->addWidget(bOk); - okRow->addWidget(bCancel); + okRow->addWidget(m_okKey); + okRow->addWidget(m_cancelKey); okRow->addStretch(1); - panelLay->addLayout(grid); - panelLay->setAlignment(grid, Qt::AlignHCenter); - //panelLay->addSpacing(20); - panelLay->addLayout(okRow); - panelLay->addStretch(1); - - // 居中放置面板 - QVBoxLayout* root = new QVBoxLayout(this); - root->setContentsMargins(0, 0, 0, 0); - root->addStretch(1); - root->addWidget(panel, 0, Qt::AlignHCenter); - root->addStretch(1); + m_panelLay->addLayout(m_grid); + m_panelLay->setAlignment(m_grid, Qt::AlignHCenter); + m_panelLay->addLayout(okRow); + m_panelLay->addStretch(1); + applySizes(); // 应用尺寸（默认大字版）并摆放面板 refreshEcho(); } @@ -128,6 +108,107 @@ void NumPadDialog::clear() refreshEcho(); } +// 整体不透明度（0.0~1.0） +void NumPadDialog::setOpacity(qreal opacity) +{ + setWindowOpacity(opacity); +} + +// 面板贴在参照控件左侧 gap 像素处弹出（垂直对齐其中心，并钳位到屏幕内） +void NumPadDialog::setAnchorWidget(QWidget* ref, int gap) +{ + m_anchor = ref; + m_gap = gap; + placePanel(); +} + +// 参数输入模式：回显显示实际数字（不掩码），“清除”键换成“小数点” +void NumPadDialog::setParamMode(bool on) +{ + m_paramMode = on; + m_echo->setEchoMode(on ? QLineEdit::Normal : QLineEdit::Password); + m_clearKey->setText(on ? "." : "清除"); + applySizes(); // 重设“小数点/清除”键的字号 +} + +// 紧凑尺寸（按键与面板更小），默认 false = 大字版 +void NumPadDialog::setCompact(bool on) +{ + m_compact = on; + applySizes(); +} + +// 按当前尺寸模式设置面板/按键的大小与字号，并重新摆放面板 +void NumPadDialog::applySizes() +{ + const int digitFont = m_compact ? 40 : 50; + const int fnFont = m_compact ? 30 : 40; + const int dotFont = m_compact ? 46 : 60; + const int okFont = m_compact ? 44 : 60; + const QSize digitSz = m_compact ? QSize(120, 70) : QSize(150, 120); + const QSize clearSz = m_compact ? QSize(120, 70) : QSize(150, 108); + const QSize okSz = m_compact ? QSize(130, 88) : QSize(160, 140); + + m_panel->setFixedSize(m_compact ? QSize(460, 600) : QSize(600, 730)); + m_panelLay->setContentsMargins(m_compact ? 20 : 24, m_compact ? 24 : 40, + m_compact ? 20 : 24, m_compact ? 26 : 50); + m_panelLay->setSpacing(m_compact ? 26 : 50); + m_grid->setSpacing(m_compact ? 18 : 30); + + m_echo->setFixedSize(m_compact ? QSize(400, 70) : QSize(510, 100)); + m_echo->setStyleSheet(QString("font-size:%1px;").arg(m_compact ? 48 : 70)); + + for (QPushButton* b : m_digits) { + b->setFixedSize(digitSz); + b->setStyleSheet(QString("font-size:%1px;").arg(digitFont)); + } + m_backKey->setFixedSize(digitSz); + m_backKey->setStyleSheet(QString("font-size:%1px;").arg(fnFont)); + + m_clearKey->setFixedSize(clearSz); + m_clearKey->setStyleSheet(QString("font-size:%1px;").arg(m_paramMode ? dotFont : fnFont)); + + m_okKey->setFixedSize(okSz); + m_okKey->setStyleSheet(QString("font-size:%1px;").arg(okFont)); + m_cancelKey->setFixedSize(okSz); + m_cancelKey->setStyleSheet(cancelButtonStyle(okFont)); // 选中时红底白字 + + placePanel(); +} + +// 计算面板位置：有参照控件 → 其左侧；否则居中 +void NumPadDialog::placePanel() +{ + const int w = m_panel->width(); + const int h = m_panel->height(); + int x = (width() - w) / 2; + int y = (height() - h) / 2; + + if (m_anchor && m_anchor->window()) { + // 面板放在参照控件左侧；对话框覆盖整个窗口，其局部坐标即窗口坐标 + const QPoint p = m_anchor->mapTo(m_anchor->window(), QPoint(0, 0)); + x = p.x() - m_gap - w; + y = p.y() + m_anchor->height() / 2 - h / 2; + } + + x = qBound(0, x, qMax(0, width() - w)); + y = qBound(0, y, qMax(0, height() - h)); + m_panel->move(x, y); +} + +// 小数点：仅允许一个，空值时补前导 0 +void NumPadDialog::onDot() +{ + if (m_value.contains('.')) + return; + if (m_value.isEmpty()) + m_value = "0"; + if (m_value.size() >= m_maxLen) + return; + m_value += '.'; + refreshEcho(); +} + void NumPadDialog::onDigit(const QString& d) { if (m_value.size() >= m_maxLen) diff --git a/widgets/numpaddialog.h b/widgets/numpaddialog.h index aace347..e29c576 100644 --- a/widgets/numpaddialog.h +++ b/widgets/numpaddialog.h @@ -2,11 +2,16 @@ #define NUMPADDIALOG_H #include +#include class QLineEdit; +class QPushButton; +class QGridLayout; +class QVBoxLayout; // ===================== 数字键盘弹窗（模态） ===================== // 半透明遮罩 + 键盘面板：顶部输入回显，数字键 1-9、0，退格、清除，确认/取消 +// 两种尺寸：默认大字版（密码页用）、紧凑版（参数输入用，setCompact(true)） class NumPadDialog : public QDialog { Q_OBJECT @@ -18,17 +23,41 @@ public: QString value() const { return m_value; } void clear(); + void setOpacity(qreal opacity); // 整体不透明度（默认 1.0） + void setAnchorWidget(QWidget* ref, int gap = 20); // 面板贴参照控件左侧弹出 + + // 参数输入模式：回显显示实际数字（不掩码），并把“清除”键换成“小数点” + void setParamMode(bool on); + + // 紧凑尺寸（按键/面板更小）；默认 false = 大字版 + void setCompact(bool on); + private slots: void onDigit(const QString& d); void onBackspace(); void onClear(); + void onDot(); private: void refreshEcho(); + void placePanel(); + void applySizes(); + QWidget* m_panel = nullptr; + QWidget* m_anchor = nullptr; // 定位参照控件（如参数输入框） + QGridLayout* m_grid = nullptr; + QVBoxLayout* m_panelLay = nullptr; QLineEdit* m_echo = nullptr; + QVector m_digits; // 数字键 0-9 + QPushButton* m_backKey = nullptr; + QPushButton* m_clearKey = nullptr; + QPushButton* m_okKey = nullptr; + QPushButton* m_cancelKey = nullptr; QString m_value; int m_maxLen = 4; + int m_gap = 20; + bool m_paramMode = false; + bool m_compact = false; }; #endif // NUMPADDIALOG_H diff --git a/widgets/paramcontrol.cpp b/widgets/paramcontrol.cpp index 7de9627..8847610 100644 --- a/widgets/paramcontrol.cpp +++ b/widgets/paramcontrol.cpp @@ -1,8 +1,11 @@ #include "paramcontrol.h" +#include "numpaddialog.h" #include #include #include +#include #include +#include #include "global.h" ParamControl::ParamControl(const QString& name, const QString& unit, @@ -16,56 +19,50 @@ ParamControl::ParamControl(const QString& name, const QString& unit, lay->setSpacing(6); // 参数名 - QLabel* nameLabel = new QLabel(name, this); - nameLabel->setProperty("sub", true); - nameLabel->setStyleSheet(QString("color:%1;font-size:22px;").arg(C::TEXT_SUB)); - lay->addWidget(nameLabel); + m_nameLabel = new QLabel(name, this); + m_nameLabel->setProperty("sub", true); + m_nameLabel->setStyleSheet(QString("color:%1;font-size:40px;").arg(C::TEXT_SUB)); + lay->addWidget(m_nameLabel); - // 数值 + 加减 - QHBoxLayout* row = new QHBoxLayout(); - row->setSpacing(12); + // 数值输入框 + 单位（同一行；框内只显示数值） + m_valRow = new QHBoxLayout(); + m_valRow->setSpacing(12); - QPushButton* minus = new QPushButton("－", this); - minus->setFixedSize(96, 96); - minus->setStyleSheet(QString("font-size:44px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;") - .arg(C::PANEL_HI, C::TEXT, C::BORDER)); - connect(minus, &QPushButton::clicked, this, &ParamControl::onMinus); + m_valueEdit = new QLineEdit(this); + m_valueEdit->setReadOnly(true); + m_valueEdit->setAlignment(Qt::AlignCenter); + m_valueEdit->setFocusPolicy(Qt::StrongFocus); + m_valueEdit->setFixedWidth(150); // 输入框长度（按需调整） + m_valueEdit->setStyleSheet("font-size:40px;font-weight:700;"); + m_valueEdit->installEventFilter(this); + m_valRow->addStretch(0); // 行首弹性空间：setCentered(true) 时置 1，数值行即居中 + m_valRow->addWidget(m_valueEdit); - m_valueLabel = new QLabel(this); - m_valueLabel->setAlignment(Qt::AlignCenter); - m_valueLabel->setStyleSheet(QString("color:%1;font-size:52px;font-weight:700;").arg(C::TEXT)); - m_valueLabel->setMinimumWidth(180); + m_unitLabel = new QLabel(unit, this); + m_unitLabel->setStyleSheet(QString("color:%1;font-size:40px;").arg(C::TEXT_SUB)); + // 同一行右侧还有按钮时，给单位固定占位，保证各参数的按钮 x 一致 + // （110 取全项目最长单位“L/min”在 40px 字号下的宽度约 101px） + if (withSave || withFactory) + m_unitLabel->setFixedWidth(110); + m_valRow->addWidget(m_unitLabel); - QPushButton* plus = new QPushButton("＋", this); - plus->setFixedSize(96, 96); - plus->setStyleSheet(QString("font-size:44px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;") - .arg(C::PANEL_HI, C::TEXT, C::BORDER)); - connect(plus, &QPushButton::clicked, this, &ParamControl::onPlus); - - row->addWidget(minus); - row->addWidget(m_valueLabel, 1); - row->addWidget(plus); - lay->addLayout(row); - - // 保存 / 恢复出厂值（可选） - if (withSave || withFactory) { - QHBoxLayout* btnRow = new QHBoxLayout(); - btnRow->setSpacing(12); - if (withSave) { - m_save = new QPushButton("保存", this); - m_save->setProperty("variant", "primary"); - m_save->setMinimumHeight(56); - connect(m_save, &QPushButton::clicked, this, &ParamControl::saveClicked); - btnRow->addWidget(m_save); - } - if (withFactory) { - m_factory = new QPushButton("恢复出厂值", this); - m_factory->setMinimumHeight(56); - connect(m_factory, &QPushButton::clicked, this, &ParamControl::factoryResetClicked); - btnRow->addWidget(m_factory); - } - lay->addLayout(btnRow); + // 保存 / 恢复出厂值（可选）：跟在单位后面，与输入框同一行、整体左对齐 + if (withSave) { + m_save = new QPushButton("保存", this); + m_save->setProperty("variant", "primary"); + m_save->setFixedSize(140, 60); // 固定宽高，不再随布局拉伸 + connect(m_save, &QPushButton::clicked, this, &ParamControl::saveClicked); + m_valRow->addWidget(m_save); } + if (withFactory) { + m_factory = new QPushButton("恢复出厂值", this); + m_factory->setMinimumHeight(56); + connect(m_factory, &QPushButton::clicked, this, &ParamControl::factoryResetClicked); + m_valRow->addWidget(m_factory); + } + + m_valRow->addStretch(1); + lay->addLayout(m_valRow); refresh(); } @@ -76,32 +73,90 @@ void ParamControl::setValue(double v) refresh(); } +QWidget* ParamControl::editor() const +{ + return m_valueEdit; +} + void ParamControl::setEnabled(bool enabled) { QWidget::setEnabled(enabled); } -void ParamControl::onMinus() +void ParamControl::setCentered(bool on) { - m_value = qMax(m_min, m_value - m_step); - refresh(); - emit valueChanged(m_value); + m_nameLabel->setAlignment(on ? Qt::AlignCenter : (Qt::AlignLeft | Qt::AlignVCenter)); + m_valRow->setStretch(0, on ? 1 : 0); // 行首弹性空间与行尾均分 → 整行居中（含保存按钮） } -void ParamControl::onPlus() +// 旋钮接口：steps > 0 调大、< 0 调小（每格 = m_step，自动钳位到 [min, max]） +// 目前由数值框上的 ↑/↓ 键驱动，后续接面板机械旋钮也走这里 +void ParamControl::adjustByKnob(int steps) { - m_value = qMin(m_max, m_value + m_step); - refresh(); - emit valueChanged(m_value); + if (steps == 0) + return; + const double old = m_value; + setValue(old + steps * m_step); + if (m_value != old) + emit valueChanged(m_value); +} + +// 点击数值框 / 回车 → 弹出数字键盘（面板靠左、不透明度 80%）；↑/↓ → 每档加减一次 +bool ParamControl::eventFilter(QObject* obj, QEvent* ev) +{ + if (obj == m_valueEdit) { + if (ev->type() == QEvent::MouseButtonPress) { + openNumPad(); + return true; + } + if (ev->type() == QEvent::KeyPress) { + QKeyEvent* ke = static_cast(ev); + if (ke->key() == Qt::Key_Return || ke->key() == Qt::Key_Enter) { + openNumPad(); + return true; + } + // 旋钮档：↑ 加一档、↓ 减一档（每档 = m_step）。Tab/Shift+Tab 走焦点链、 + // 空格激活按钮，各不重叠；按住方向键由按键自动重复继续调 + if (ke->key() == Qt::Key_Up) { + adjustByKnob(1); + return true; + } + if (ke->key() == Qt::Key_Down) { + adjustByKnob(-1); + return true; + } + } + } + return QWidget::eventFilter(obj, ev); +} + +void ParamControl::openNumPad() +{ + NumPadDialog dlg(window()); // 以顶层窗口为父：遮罩覆盖整屏 + dlg.setParamMode(true); // 参数模式：回显显示实际数字，“清除”换成“小数点” + dlg.setCompact(true); // 紧凑尺寸（不影响密码页的大键盘） + dlg.setAnchorWidget(m_valueEdit, 20); // 面板贴在输入框左侧 20px 处弹出 + dlg.setMaxLen(6); + dlg.setValue(m_step < 1.0 ? QString::number(m_value, 'f', 1) + : QString::number(m_value, 'f', 0)); + if (dlg.exec() != QDialog::Accepted) + return; + + bool ok = false; + const double v = dlg.value().toDouble(&ok); + if (!ok) + return; + const double old = m_value; + setValue(v); + if (m_value != old) + emit valueChanged(m_value); } void ParamControl::refresh() { - // 单位格式：整数不显示小数 - QString s; + // 框内只显示数值（单位在框后面的标签里） if (m_step < 1.0) - s = QString("%1").arg(m_value, 0, 'f', 1); + m_valueEdit->setText(QString::number(m_value, 'f', 1)); else - s = QString("%1").arg(m_value, 0, 'f', 0); - m_valueLabel->setText(s + " " + m_unit); + m_valueEdit->setText(QString::number(m_value, 'f', 0)); } diff --git a/widgets/paramcontrol.h b/widgets/paramcontrol.h index 76bf6f7..b19be5e 100644 --- a/widgets/paramcontrol.h +++ b/widgets/paramcontrol.h @@ -4,10 +4,13 @@ #include class QLabel; +class QLineEdit; class QPushButton; +class QHBoxLayout; // ===================== 参数调节控件 ===================== -// 参数名 + 大数值显示 + 减/加按钮 + 保存按钮（可选）+ 恢复出厂值按钮（可选） +// 参数名 + 数值输入框（点击/回车弹出数字键盘，↑/↓ 按档加减）+ 保存按钮（可选）+ 恢复出厂值按钮（可选） +// 旋钮接口 adjustByKnob()：调大/调小，数值框的 ↑/↓ 走的就是这条路径 class ParamControl : public QWidget { Q_OBJECT @@ -19,18 +22,24 @@ public: void setValue(double v); double value() const { return m_value; } void setEnabled(bool enabled); + void setCentered(bool on); // 参数名与数值行水平居中（默认左对齐） + QWidget* editor() const; // 数值输入框（供页面编排 Tab 顺序） + +public slots: + // 旋钮接口：steps > 0 右旋调大、steps < 0 左旋调小；每格 = m_step + void adjustByKnob(int steps); signals: void valueChanged(double v); void saveClicked(); void factoryResetClicked(); -private slots: - void onMinus(); - void onPlus(); +protected: + bool eventFilter(QObject* obj, QEvent* ev) override; // 数值框：点击/回车 → 数字键盘，↑/↓ → 按档调值 private: void refresh(); + void openNumPad(); QString m_name; QString m_unit; @@ -38,7 +47,10 @@ private: double m_min; double m_max; double m_value; - QLabel* m_valueLabel = nullptr; + QLineEdit* m_valueEdit = nullptr; + QLabel* m_unitLabel = nullptr; + QLabel* m_nameLabel = nullptr; + QHBoxLayout* m_valRow = nullptr; QPushButton* m_save = nullptr; QPushButton* m_factory = nullptr; }; diff --git a/widgets/statusstrip.cpp b/widgets/statusstrip.cpp index fcc1904..6fd6880 100644 --- a/widgets/statusstrip.cpp +++ b/widgets/statusstrip.cpp @@ -1,6 +1,6 @@ #include "statusstrip.h" #include "appcontext.h" -#include "udpcommunication.h" +#include "car.h" #include #include #include @@ -10,54 +10,51 @@ StatusStrip::StatusStrip(AppContext* ctx, QWidget* parent) : QWidget(parent), m_ctx(ctx) { setObjectName("StatusStrip"); - setFixedHeight(94); + setFixedHeight(120); setStyleSheet(QString("QWidget#StatusStrip{background-color:%1;border-top:1px solid %2;}") .arg(C::PANEL, C::BORDER)); QHBoxLayout* lay = new QHBoxLayout(this); lay->setContentsMargins(36, 0, 24, 0); - lay->setSpacing(48); + lay->setSpacing(40); - auto makeVal = [this](const QString& label) { - QLabel* l = new QLabel(this); - l->setStyleSheet(QString("color:%1;font-size:22px;").arg(C::TEXT_SUB)); - l->setProperty("label", label); - return l; - }; + // 底部不再显示底盘/液位数据（改由各页面卡片展示），只保留模式徽标 + 返回按钮 + //auto makeVal = [this](const QString& label) { + // QLabel* l = new QLabel(this); + // l->setStyleSheet(QString("color:%1;font-size:40px;").arg(C::TEXT_SUB)); + // l->setProperty("label", label); + // return l; + //}; + //m_battery = makeVal("底盘电量"); + //m_voltage = makeVal("底盘电压"); + //m_levelA = makeVal("清水液位"); + //m_levelFoam = makeVal("泡沫液位"); + //lay->addWidget(m_battery); + //lay->addWidget(m_voltage); + //lay->addWidget(m_levelA); + //lay->addWidget(m_levelFoam); - m_battery = makeVal("底盘电量"); - m_voltage = makeVal("底盘电压"); - m_levelA = makeVal("清水液位"); - m_levelFoam = makeVal("泡沫液位"); - - lay->addWidget(m_battery); - lay->addWidget(m_voltage); - lay->addWidget(m_levelA); - lay->addWidget(m_levelFoam); lay->addStretch(1); - // 模式徽标（点击可切换行车/机械臂模式，模拟面板机械旋钮） - m_mode = new QPushButton("行车模式", this); - m_mode->setFixedSize(180, 48); - m_mode->setStyleSheet(QString("background-color:%1;color:#FFFFFF;border-radius:8px;font-size:24px;font-weight:700;border:none;") + // 模式徽标（仅显示：行车/机械臂由遥控器拨钮经串口回传，界面不参与切换） + m_mode = new QLabel("行车模式", this); + m_mode->setFixedSize(260, 80); + m_mode->setAlignment(Qt::AlignCenter); + m_mode->setStyleSheet(QString("background-color:%1;color:#FFFFFF;border-radius:8px;font-size:40px;font-weight:700;") .arg(C::SUCCESS)); - m_mode->setCursor(Qt::PointingHandCursor); - connect(m_mode, &QPushButton::clicked, this, [this]() { - Mode next = (m_ctx->mode == Mode::Drive) ? Mode::Arm : Mode::Drive; - m_ctx->setMode(next); - }); lay->addWidget(m_mode); // 返回按钮 m_back = new QPushButton("返回", this); - m_back->setFixedSize(144, 76); + m_back->setFixedSize(200, 80); + m_back->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字 connect(m_back, &QPushButton::clicked, this, &StatusStrip::backClicked); lay->addWidget(m_back); - connect(m_ctx->comm(), &UdpCommunication::telemetryUpdated, this, &StatusStrip::refresh); + connect(m_ctx->comm(), &CarCommunication::telemetryUpdated, this, &StatusStrip::refresh); connect(m_ctx, &AppContext::modeChanged, this, [this](Mode m) { m_mode->setText(m == Mode::Drive ? "行车模式" : "机械臂模式"); - m_mode->setStyleSheet(QString("background-color:%1;color:#FFFFFF;border-radius:8px;font-size:24px;font-weight:700;") + m_mode->setStyleSheet(QString("background-color:%1;color:#FFFFFF;border-radius:8px;font-size:40px;font-weight:700;") .arg(m == Mode::Drive ? C::SUCCESS : C::WARNING)); }); refresh(); @@ -73,11 +70,17 @@ void StatusStrip::setBackEnabled(bool enabled) m_back->setEnabled(enabled); } +void StatusStrip::setModeVisible(bool visible) +{ + m_mode->setVisible(visible); +} + void StatusStrip::refresh() { - const Telemetry& t = m_ctx->telemetry; - m_battery->setText(QString("底盘电量：%1%").arg(t.soc)); - m_voltage->setText(QString("底盘电压：%1V").arg(t.volt, 0, 'f', 0)); - m_levelA->setText(QString("清水液位：%1L").arg(t.levelA, 0, 'f', 0)); - m_levelFoam->setText(QString("泡沫液位：%1L").arg(t.levelFoam, 0, 'f', 0)); + // 底部已不显示遥测数据，保留空实现（仍连着 telemetryUpdated，方便以后加显示项） + //const Telemetry& t = m_ctx->telemetry; + //m_battery->setText(QString("底盘电量：%1%").arg(t.soc)); + //m_voltage->setText(QString("底盘电压：%1V").arg(t.volt, 0, 'f', 0)); + //m_levelA->setText(QString("清水液位：%1L").arg(t.levelA, 0, 'f', 0)); + //m_levelFoam->setText(QString("泡沫液位：%1L").arg(t.levelFoam, 0, 'f', 0)); } diff --git a/widgets/statusstrip.h b/widgets/statusstrip.h index 7f875ed..0de7e76 100644 --- a/widgets/statusstrip.h +++ b/widgets/statusstrip.h @@ -7,8 +7,8 @@ class QLabel; class QPushButton; class AppContext; -// ===================== 底部状态条（高 94px） ===================== -// 底盘电量、底盘电压、清水液位、泡沫液位 + 模式徽标 + 返回按钮 +// ===================== 底部状态条 ===================== +// 只保留：模式徽标（仅显示）+ 返回按钮。行车/机械臂由遥控器拨钮决定，界面不参与切换。 class StatusStrip : public QWidget { Q_OBJECT @@ -17,6 +17,7 @@ public: void setBackVisible(bool visible); void setBackEnabled(bool enabled); + void setModeVisible(bool visible); // 固定行车模式的页面（如底盘页）可隐藏模式徽标 signals: void backClicked(); @@ -26,11 +27,11 @@ private slots: private: AppContext* m_ctx; - QLabel* m_battery = nullptr; - QLabel* m_voltage = nullptr; - QLabel* m_levelA = nullptr; - QLabel* m_levelFoam = nullptr; - QPushButton* m_mode = nullptr; + //QLabel* m_battery = nullptr; // 底部不再显示数据 + //QLabel* m_voltage = nullptr; + //QLabel* m_levelA = nullptr; + //QLabel* m_levelFoam = nullptr; + QLabel* m_mode = nullptr; // 模式徽标（只显示，不参与切换） QPushButton* m_back = nullptr; }; diff --git a/widgets/titlebar.cpp b/widgets/titlebar.cpp index 400f1d0..946c6a3 100644 --- a/widgets/titlebar.cpp +++ b/widgets/titlebar.cpp @@ -1,14 +1,10 @@ #include "titlebar.h" #include "ledindicator.h" #include "appcontext.h" -#include "udpcommunication.h" -#include "confirmdialog.h" +#include "car.h" #include #include -#include -#include #include "global.h" -#include TitleBar::TitleBar(AppContext* ctx, QWidget* parent) : QWidget(parent), m_ctx(ctx) @@ -18,34 +14,38 @@ TitleBar::TitleBar(AppContext* ctx, QWidget* parent) setStyleSheet(QString("QWidget#TitleBar{background-color:%1;border-bottom:1px solid %2;}") .arg(C::PANEL, C::BORDER)); - // 左侧区（通信状态） + // 左侧区（车载端通信状态） QWidget* leftBox = new QWidget(this); QHBoxLayout* leftLay = new QHBoxLayout(leftBox); - leftLay->setContentsMargins(0, 0, 0, 0); + leftLay->setContentsMargins(260, 0, 0, 0); leftLay->setSpacing(20); m_comm = new LedIndicator("通信正常", leftBox); + m_comm->setFixedHeight(80); // 容纳放大后的文字，避免上下裁切 + m_comm->setTextPixelSize(45); m_comm->setState(LedIndicator::Green); leftLay->addWidget(m_comm); leftLay->addStretch(1); - // 右侧区（时间 + 软急停） + // 右侧区（遥控器状态：链路 + 电量） QWidget* rightBox = new QWidget(this); QHBoxLayout* rightLay = new QHBoxLayout(rightBox); - rightLay->setContentsMargins(0, 0, 0, 0); - rightLay->setSpacing(20); - m_time = new QLabel("", rightBox); - m_time->setStyleSheet(QString("color:%1;font-size:60px;").arg(C::TEXT_SUB)); - m_time->setAlignment(Qt::AlignCenter); - m_estop = new QPushButton("急停", rightBox); - m_estop->setProperty("variant", "estop"); - m_estop->setStyleSheet("font-size:60px;"); - m_estop->setFixedSize(180, 80); + rightLay->setContentsMargins(0, 0, 20, 0); + rightLay->setSpacing(30); rightLay->addStretch(1); - rightLay->addWidget(m_time); - rightLay->addWidget(m_estop); + m_rc = new LedIndicator("遥控器断开", rightBox); + m_rc->setFixedHeight(80); + m_rc->setTextPixelSize(45); + m_rc->setState(LedIndicator::RedBlink); + rightLay->addWidget(m_rc); + m_rcBat = new QLabel("--%", rightBox); + m_rcBat->setStyleSheet(QString("color:%1;font-size:60px;").arg(C::TEXT_SUB)); + m_rcBat->setAlignment(Qt::AlignCenter); + rightLay->addWidget(m_rcBat); // 左右两侧等宽 → 中间标题恰好居中于屏幕 - const int sideW = 380; // 需 >= 较宽一侧所需宽度（右侧：时间 + 急停） + // 左区需 260（左边距）+ 240（圆点区与留白 60 + 文字 4×45）= 500 + // 右区需 285（圆点区与留白 60 + 文字 5×45）+ 30 + 130（电量）+ 20 = 465 + const int sideW = 520; leftBox->setFixedWidth(sideW); rightBox->setFixedWidth(sideW); @@ -61,30 +61,16 @@ TitleBar::TitleBar(AppContext* ctx, QWidget* parent) lay->addWidget(m_title, 1); lay->addWidget(rightBox); - connect(m_estop, &QPushButton::clicked, this, [this]() { - if (m_ctx->estopTriggered) { - if (ConfirmDialog::confirm(window(), "急停复位", "确定复位急停并恢复系统？")) - m_ctx->resetEstop(); - } else { - m_ctx->triggerEstop(); - } - }); - - // 通信状态刷新 - connect(m_ctx->comm(), &UdpCommunication::commOkChanged, this, [this](bool ok) { + // 车载端通信状态刷新 + connect(m_ctx->comm(), &CarCommunication::commOkChanged, this, [this](bool ok) { if (ok) { m_comm->setText("通信正常"); m_comm->setState(LedIndicator::Green); } else { m_comm->setText("通信异常"); m_comm->setState(LedIndicator::RedBlink); } }); - // 急停状态刷新 - connect(m_ctx, &AppContext::estopChanged, this, &TitleBar::updateEstop); - updateEstop(); - - // 时钟 - m_clock = new QTimer(this); - connect(m_clock, &QTimer::timeout, this, &TitleBar::updateTime); - m_clock->start(1000); - updateTime(); + // 遥控器链路与电量刷新 + connect(m_ctx->rc(), &RcCommunication::linkChanged, this, &TitleBar::onRcLink); + connect(m_ctx->rc(), &RcCommunication::frameReceived, this, &TitleBar::onRcFrame); + onRcLink(m_ctx->rc()->linkOk()); } void TitleBar::setTitle(const QString& title) @@ -92,25 +78,19 @@ void TitleBar::setTitle(const QString& title) m_title->setText(title); } -void TitleBar::setEstopVisible(bool visible) +void TitleBar::onRcLink(bool ok) { - m_estop->setVisible(visible); -} - -void TitleBar::updateEstop() -{ - if (m_ctx->estopTriggered) { - m_estop->setText("复位"); - m_estop->setProperty("variant", "danger"); + if (ok) { + m_rc->setText("遥控器正常"); + m_rc->setState(LedIndicator::Green); } else { - m_estop->setText("急停"); - m_estop->setProperty("variant", "estop"); + m_rc->setText("遥控器断开"); + m_rc->setState(LedIndicator::RedBlink); + m_rcBat->setText("--%"); } - m_estop->style()->unpolish(m_estop); - m_estop->style()->polish(m_estop); } -void TitleBar::updateTime() +void TitleBar::onRcFrame(const RcFrame& f) { - m_time->setText(QTime::currentTime().toString("HH:mm")); + m_rcBat->setText(QString("%1%").arg(f.battery)); } diff --git a/widgets/titlebar.h b/widgets/titlebar.h index a0a835e..bef1aff 100644 --- a/widgets/titlebar.h +++ b/widgets/titlebar.h @@ -2,15 +2,14 @@ #define TITLEBAR_H #include -#include +#include "uart.h" class QLabel; -class QPushButton; class AppContext; class LedIndicator; // ===================== 顶条组件（高 98px） ===================== -// 左侧“通信状态：●正常/异常”，中央页面标题，右侧时间 + 软急停按钮 +// 左侧“车载端通信：●正常/异常”，中央页面标题，右侧“遥控器：●正常/断开 + 电量” class TitleBar : public QWidget { Q_OBJECT @@ -18,19 +17,17 @@ public: explicit TitleBar(AppContext* ctx, QWidget* parent = nullptr); void setTitle(const QString& title); - void setEstopVisible(bool visible); private slots: - void updateEstop(); - void updateTime(); + void onRcLink(bool ok); + void onRcFrame(const RcFrame& f); private: AppContext* m_ctx; - LedIndicator* m_comm; + LedIndicator* m_comm = nullptr; + LedIndicator* m_rc = nullptr; + QLabel* m_rcBat = nullptr; QLabel* m_title = nullptr; - QLabel* m_time = nullptr; - QPushButton* m_estop = nullptr; - QTimer* m_clock = nullptr; }; #endif // TITLEBAR_H diff --git a/wuhan.pro b/wuhan.pro index c077016..0de0cb8 100644 --- a/wuhan.pro +++ b/wuhan.pro @@ -1,8 +1,8 @@ -QT += core gui widgets network +QT += core gui widgets serialport greaterThan(QT_MAJOR_VERSION, 4): QT += widgets -TARGET = wuhan +TARGET = Ui_wuhan TEMPLATE = app CONFIG += c++14 @@ -16,8 +16,8 @@ SOURCES += \ mainwindow.cpp \ app/global.cpp \ app/appcontext.cpp \ - comm/udpcommunication.cpp \ - comm/mockvehicle.cpp \ + comm/car.cpp \ + comm/uart.cpp \ widgets/titlebar.cpp \ widgets/statusstrip.cpp \ widgets/ledindicator.cpp \ @@ -34,13 +34,12 @@ SOURCES += \ pages/passwordmgmt.cpp \ pages/passwordreset.cpp \ pages/selfcheck.cpp \ + pages/home.cpp \ pages/jobselect.cpp \ pages/chassis.cpp \ pages/arm.cpp \ pages/gasdetector.cpp \ - pages/washbase.cpp \ - pages/manualclean.cpp \ - pages/manualdisinfect.cpp \ + pages/washpage.cpp \ pages/debugmaintain.cpp \ pages/faultquery.cpp @@ -48,8 +47,8 @@ HEADERS += \ mainwindow.h \ app/global.h \ app/appcontext.h \ - comm/udpcommunication.h \ - comm/mockvehicle.h \ + comm/car.h \ + comm/uart.h \ widgets/titlebar.h \ widgets/statusstrip.h \ widgets/ledindicator.h \ @@ -66,12 +65,11 @@ HEADERS += \ pages/passwordmgmt.h \ pages/passwordreset.h \ pages/selfcheck.h \ + pages/home.h \ pages/jobselect.h \ pages/chassis.h \ pages/arm.h \ pages/gasdetector.h \ - pages/washbase.h \ - pages/manualclean.h \ - pages/manualdisinfect.h \ + pages/washpage.h \ pages/debugmaintain.h \ pages/faultquery.h diff --git a/洗消机器人遥控器通信协议20260810.csv b/洗消机器人遥控器通信协议20260810.csv new file mode 100644 index 0000000..eef9f88 --- /dev/null +++ b/洗消机器人遥控器通信协议20260810.csv @@ -0,0 +1,324 @@ +"波特率 +500K",报文名称,报文类型,报文ID,报文发送类型,报文周期时间,报文长度,信号名称,信号描述,排列格式,起始位,信号发送类型,信号长度,数据类型,精度,偏移量,物理最小值(phys),物理最大值(phys),总线最小值(Hex),总线最大值(Hex),初始值(Hex),无效值(Hex),单位,信号值描述,所属节点,, +,Chassis_ControlCmd,Extended,0x18208081,Cycle,50,8,Chassis_Cmd,底盘指令,,,,,,,,,,,,,-,,,遥控器,, +,,,,,,,Chassis_modeCmd,行车模式,Intel,0,Cycle,1,Unsigned,1,,,,,,,,,"0=无效 +1有效",,, +,,,,,,,MCU_modeCmd,底盘预留1,Intel,1,Cycle,2,Unsigned,1,,,,,,,,,,,, +,,,,,,,MCU_enable,底盘使能,Intel,3,Cycle,1,Unsigned,1,,,,,,,,,"0=无效 +1=有效",,, +,,,,,,,Reserve,底盘预留2,Intel,4,Cycle,4,Unsigned,1,,,,,,,,,置0,,, +,,,,,,,Vehi_gear,整车档位指令,Intel,8,Cycle,16,Unsigned,1,,,,,,,,,0-4096,,左侧摇杆 Y轴（后：0、中位2048、前：4096）,底盘模式时左侧摇杆 +,,,,,,,Vehi_TargetSpd,底盘目标速度指令,Intel,24,Cycle,16,Unsigned,0.01,,0,500,,,,,,0-5Km/h 速度范围,,"=DISPIMG(""ID_F67903083048486180A4DD49DBD500E6"",1)","设置完可以保存 +重启后读取上一次设置数值" +,,,,,,,Vehi_turning,底盘转向指令,Intel,40,Cycle,16,Signed,1,,,,,,,,,0-4096,,左侧摇杆 X轴（左：0、中位2048、右：4096）,底盘模式时左侧摇杆 +,Arm_ControlCmd1,Extended,0x18218081,Cycle,50,8,Arm_Cmd1,机械臂指令1,,,,,,,,,,,,,,,,遥控器,, +,,,,,,,Arm_modeCmd,机械臂模式,Intel,0,Cycle,1,Unsigned,1,,,,,,,,,"0=无效 +1=有效",,机械臂模式时置“1”, +,,,,,,,Arm_enable,机械臂使能,Intel,1,Cycle,1,Unsigned,,,,,,,,,,"0=未使能 +1=使能",,, +,,,,,,,Reserve,机械臂预留,Intel,2,Cycle,6,Unsigned,1,,,,,,,,,,,, +,,,,,,,UpDown_motion,末端位置上下动作,Intel,8,Cycle,16,Unsigned,1,,,,,,,,,0-4096,,左侧摇杆 Z轴（左旋：0、中位2048、右旋：4096）,"机械臂模式时 +左侧摇杆" +,,,,,,,LeftRight_motion,末端位置左右动作,Intel,24,Cycle,16,Unsigned,1,,,,,,,,,0-4096,,左侧摇杆 X轴（左：0、中位2048、右：4096）, +,,,,,,,FrontRear_motion,末端位置前后动作,Intel,40,Cycle,16,Unsigned,1,,,,,,,,,0-4096,,左侧摇杆 Y轴（后：0、中位2048、前：4096）, +,Arm_ControlCmd2,Extended,0x18228081,Cycle,50,8,Arm_Cmd2,机械臂指令2,,,,,,,,,,,,,,,,遥控器,, +,,,,,,,Roll_motion,末端姿态横滚动作,Intel,0,Cycle,16,Unsigned,1,,,,,,,,,0-4096,,右侧摇杆 X轴 （左：0、中位2048、右：4096）,右侧摇杆 +,,,,,,,Pitch_motion,末端姿态俯仰动作,Intel,16,Cycle,16,Unsigned,1,,,,,,,,,0-4096,,右侧摇杆 Y轴 （后：0、中位2048、前：4096）, +,,,,,,,Yaw_motion,末端姿态偏航动作,Intel,32,Cycle,16,Unsigned,1,,,,,,,,,0-4096,,右侧摇杆 Z轴 （左旋：0、中位2048、右旋：4096）, +,,,,,,,System_homing_pause,系统回位/暂停,Intel,48,Cycle,8,Unsigned,1,,,,,,,,,"0xAA=系统回位 +0x55=暂停回位",,, +,Decontam_ControlCmd,Extended,0x18238081,Cycle,100,8,Decontam_Control,洗消系统指令,,,,,,,,,,,,,,,,遥控器,, +,,,,,,,Decontam_modeCmd,洗消模式选择,Intel,0,Cycle,2,Unsigned,1,,,,,,,,,"2=手动消除 +3=手动消毒",,"=DISPIMG(""ID_66C333C31FE34D3A966FE7FB8979E20E"",1)","设置完可以保存 +重启后读取上一次设置数值" +,,,,,,,Decontam_start,洗消启停,Intel,2,Cycle,1,Unsigned,1,,,,,,,,,"0=停止 +1=启动",,, +,,,,,,,Reserve,预留,Intel,3,Cycle,5,Unsigned,1,,,,,,,,,置0,,, +,,,,,,,Expansion_ratioCmd,发泡倍数,Intel,8,Cycle,8,Unsigned,1,,,,,,,,,6-12 倍可调范围,,, +,,,,,,,Foam_ratio,泡沫比例,Intel,16,Cycle,8,Unsigned,1,,,,,,,,%,0-10%,,, +,,,,,,,AirComp_flow,空压机流量,Intel,24,Cycle,8,Unsigned,1,,,,,,,,L/min,0-340L/min,,, +,,,,,,,PlungerPump_flow,柱塞泵流量,Intel,32,Cycle,8,Unsigned,1,,,,,,,,L/min,0-24L/min,,, +,Decontam_DebugCmd,Extended,0x18248081,Cycle,100,8,Decontam_Debug,洗消调试指令,,,,,,,,,,,,,,,,遥控器,, +,,,,,,,Debug_mode,调试模式,Intel,0,Cycle,1,Unsigned,1,,,,,,,,,"0=正常模式 +1=调试模式",,, +,,,,,,,PlungerPump_PwrOn,柱塞泵上电,Intel,1,Cycle,1,Unsigned,1,,,,,,,,,"0=下电 +1=上电",,, +,,,,,,,AirComp_PwrOn,空压机上电,Intel,2,Cycle,1,Unsigned,1,,,,,,,,,"0=下电 +1=上电",,, +,,,,,,,VanePump_PwrOn,叶片泵上电,Intel,3,Cycle,1,Unsigned,1,,,,,,,,,"0=下电 +1=上电",,, +,,,,,,,MBV_D1__PwrOn,电动球阀D1,Intel,4,Cycle,1,Unsigned,1,,,,,,,,,"0=关闭 +1=开启",,, +,,,,,,,MBV_D2__PwrOn,电动球阀D2,Intel,5,Cycle,1,Unsigned,1,,,,,,,,,"0=关闭 +1=开启",,, +,,,,,,,Debug_Reserve1,调试预留1,Intel,6,Cycle,2,Unsigned,1,,,,,,,,,,,, +,,,,,,,AirComp_Spd,空压机转速,Intel,8,Cycle,16,Unsigned,1,,,,,,,,rpm,0-3000rpm,,, +,,,,,,,PlungerPump_Spd,柱塞泵转速,Intel,24,Cycle,16,Unsigned,1,,,,,,,,rpm,0-1450rpm,,, +,,,,,,,VanePump__Spd,叶片泵转速,Intel,40,Cycle,16,Unsigned,1,,,,,,,,rpm,0-2000rpm,,, +,,,,,,,AirComp_start,空压机启停,Intel,56,Cycle,1,Unsigned,1,,,,,,,,,"0=停止 +1=启动",,, +,,,,,,,PlungerPump_start,柱塞泵启停,Intel,57,Cycle,1,Unsigned,1,,,,,,,,,"0=停止 +1=启动",,, +,,,,,,,VanePump_start,叶片泵启停,Intel,58,Cycle,1,Unsigned,1,,,,,,,,,"0=停止 +1=启动",,, +,Detector_ControlCmd,Extended,0x18258081,Cycle,1000,8,Detector_Cmd,气体检测设备指令,,,,,,,,,,,,,-,,,遥控器,, +,,,,,,,Detector_start,启停指令,Intel,0,Cycle,8,Unsigned,1,,,,,,,,,"0xAA=启动检测 +0x55=停止检测",,"=DISPIMG(""ID_F9FC5542F4E84DA1B522F1EEC3593D3C"",1)", +,Emergency_Cmd,Extended,0x18268081,Cycle,50,8,Emergency_Stop,紧急停止指令,,,,,,,,,,,,,,,,遥控器,, +,,,,,,,Emerg_stop,紧急停止,Intel,0,Cycle,8,Unsigned,1,,,,,,,,,"0x55=急停 +0=正常",,, +,Vehicle_StatusFeedBack1,Extended,0x18308180,Cycle,100,8,Chassis_WorkStatus1,底盘状态1(BMS系统),,,,,,,,,,,,,,,,VCU,, +,,,,,,,Total_voltage,总电压,Intel,0,Cycle,16,Unsigned,0.1,,,,,,,,,,,BMS系统故障, +,,,,,,,SOC,电量SOC,Intel,16,Cycle,16,Unsigned,0.1,,,,,,,,,,,, +,,,,,,,MCU_FaultCode,底盘电机故障码,Intel,32,Cycle,8,Unsigned,1,,,,,,,,,"6:电机缺相预警 +17:控制器过温警告 +18:电机过温警告 +19:控制器温度传感器警告 +20:电机温度传感器警告 +21:控制器过载警告 +22:电机超速警告 +23:直流母线电压过压警告 +24:直流母线电压欠压警告 +35:电流霍尔传感U相器故障 +36:电流霍尔传感W相器故障 +37:VCU报文丢失故障 +38:VCU循环计数错误 +39:VCU校验和错误 +40:CAN BussOff故障 +49:母线硬件过压故障 +50:相电流硬件过流故障 +51:IGBT短路故障 +52:驱动欠压故障 +53:旋变故障 +54:电机超速故障 +55:低压电源过压故障 +56:低压电源欠压故障 +57:直流母线电压过压故障 +58:直流母线电压欠压故障 +59:控制器过温故障 +60:电机过温故障 +61:电机缺相故障 +62:驻坡失效故障",,"两个数值同时发送，配合使用 + + +例如： +底盘电机故障码：18 +底盘电机故障等级：1 + +显示： +底盘电机：18-电机过温警告，1级 + + + + +不会出现故障等级是0，但是有故障码的情况",底盘电机故障 +,,,,,,,MCU_FaultLevel,底盘电机故障等级,Intel,40,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,, +,,,,,,,底盘预留,预留,Intel,42,Cycle,3,Unsigned,1,,,,,,,,,,,？, +,,,,,,,UnderOver_FaultLevel,单体过低故障等级,Intel,45,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,BMS系统故障, +,,,,,,,CellOver_FaultLevel,单体过高故障等级,Intel,47,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,, +,,,,,,,UnderVol_FaultLevel,总电压过低故障等级,Intel,49,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障;,,, +,,,,,,,OverVol_FaultLevel,总电压过高故障等级,Intel,51,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障;,,, +,,,,,,,DischgLowTmp_FaultLevel,放电温度过低故障等级,Intel,53,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,, +,,,,,,,DischgOverTmp_FaultLevel,放电温度过高故障等级,Intel,55,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,, +,,,,,,,ChgLowTmp_FaultLevel,充电温度过低故障等级,Intel,57,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,, +,,,,,,,ChgOverTmp_FaultLevel,充电温度过高故障等级,Intel,59,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,, +,,,,,,,TI_FaultLevel,温度不均衡故障等级,Intel,61,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,, +,Vehicle_StatusFeedBack2,Extended,0x18318180,Cycle,100,8,Chassis_WorkStatus2,底盘状态2(BMS系统),,,,,,,,,,,,,,,,VCU,, +,,,,,,,VI_FaultLevel,压差不均衡故障等级,Intel,0,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,, +,,,,,,,DischgOverCurr_FaultLevel,放电过流故障等级,Intel,2,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,, +,,,,,,,ChgOverCurr_FaultLevel,充电过流故障等级,Intel,4,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,, +,,,,,,,InComm_FaultLevel,内部通讯故障,Intel,6,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:故障;,,, +,,,,,,,ExtComm_FaultLevel,外部通讯故障,Intel,8,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:故障;,,, +,,,,,,,SOC_Low_FaultLevel,SOC过低故障等级,Intel,10,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,, +,,,,,,,Insulation_FaultLevel,绝缘故障等级,Intel,12,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,, +,,,,,,,HeatRelay welding,加热继电器粘连,Intel,14,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:故障;,,, +,,,,,,,ChgRelay welding,充电继电器粘连,Intel,16,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:故障;,,, +,,,,,,,MainNegRelay welding,总负继电器粘连,Intel,18,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:故障;,,, +,,,,,,,MainPosRelay welding,总正继电器粘连,Intel,20,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:故障;,,, +,,,,,,,Handbrake,手刹信号,Intel,22,Cycle,2,Unsigned,1,,,,,,,,,0:无效;1:有效;,,20260804删除, +,,,,,,,Vehi_spd,车速,Intel,24,Cycle,8,Unsigned,0.01,,,,,,,,km/h,,,, +,,,,,,,Vehi_RdyStatus,底盘ready状态,Intel,32,Cycle,2,Unsigned,1,,,,,,,,,"0=初始状态 +1=高压上电完成 +2=准备就绪",,, +,,,,,,,Reserve,底盘预留,Intel,34,Cycle,6,Unsigned,1,,,,,,,,,,,, +,,,,,,,All_Comm_FaultCode,整系统通信故障码,Intel,40,Cycle,8,Unsigned,1,,,,,,,,,"0=通信正常 +1=底盘电机通信异常 +2=底盘BMS通信异常 +3=机械臂通信异常 +4=空压机通信异常 +5=柱塞泵通信异常 +6=叶片泵通信异常 +7=气体检测仪通信异常 +8=遥控器通信异常",,, +,Arm_StatusFeedBack1,Extended,0x18328180,Cycle,100,8,Arm_WorkStatus1,机械臂状态1,,,,,,,,,,,,,,,,VCU,, +,,,,,,,End_positionX,末端位置：X,Intel,0,Cycle,16,Signed,1,,,,,,,,mm,,,, +,,,,,,,End_positionY,末端位置：Y,Intel,16,Cycle,16,Signed,1,,,,,,,,mm,,,, +,,,,,,,End_positionZ,末端位置：Z,Intel,32,Cycle,16,Signed,1,,,,,,,,mm,,,, +,Arm_StatusFeedBack2,Extended,0x18338180,Cycle,100,8,Arm_WorkStatus2,机械臂状态2,,,,,,,,,,,,,,,,VCU,, +,,,,,,,End_postureRX,末端姿态：RX,Intel,0,Cycle,16,Signed,1,,,,,,,,,,,, +,,,,,,,End_postureRY,末端姿态：RY,Intel,16,Cycle,16,Signed,1,,,,,,,,,,,, +,,,,,,,End_postureRZ,末端姿态：RZ,Intel,32,Cycle,16,Signed,1,,,,,,,,,,,, +,,,,,,,End_spd,末端速度,Intel,48,Cycle,8,Signed,1,,,,,,,,,,,, +,Arm_StatusFeedBack3,Extended,0x18348180,Cycle,100,8,Arm_WorkStatus3,机械臂状态3,,,,,,,,,,,,,,,,VCU,, +,,,,,,,Joint1_angle,Joint1关节角,Intel,0,Cycle,16,Signed,1,,,,,,,,°,,,, +,,,,,,,Joint2_angle,Joint2关节角,Intel,16,Cycle,16,Signed,1,,,,,,,,°,,,, +,,,,,,,Joint3_angle,Joint3关节角,Intel,32,Cycle,16,Signed,1,,,,,,,,°,,,, +,,,,,,,Joint4_angle,Joint4关节角,Intel,48,Cycle,16,Signed,1,,,,,,,,°,,,, +,Arm_StatusFeedBack4,Extended,0x18358180,Cycle,100,8,Arm_WorkStatus4,机械臂状态4,,,,,,,,,,,,,,,,VCU,, +,,,,,,,Joint5_angle,Joint5关节角,Intel,0,Cycle,16,Signed,1,,,,,,,,°,,,, +,,,,,,,Joint6_angle,Joint6关节角,Intel,16,Cycle,16,Signed,1,,,,,,,,°,,,, +,Decontam_StatusFeedBack1,Extended,0x18368180,Cycle,200,8,Decontam_WorkStatus1,洗消系统工作状态1,,,,,,,,,,,,,,,,VCU,, +,,,,,,,Decontam_mode,洗消模式,Intel,0,Cycle,2,Unsigned,1,,,,,,,,,"2=消除作业 +3=消毒作业",,, +,,,,,,,Start,启停,Intel,2,Cycle,1,Unsigned,1,,,,,,,,,"0=停止 +1=启动",,, +,,,,,,,PlungerPump_PwrOnSta,柱塞泵上电sta,Intel,3,Cycle,1,Unsigned,1,,,,,,,,,"0=未上电 +1=上电",,, +,,,,,,,AirComp_PwrOnSta,空压机上电sta,Intel,4,Cycle,1,Unsigned,1,,,,,,,,,"0=未上电 +1=上电",,, +,,,,,,,VanePump_PwrOnSta,叶片泵上电sta,Intel,5,Cycle,1,Unsigned,1,,,,,,,,,"0=未上电 +1=上电",,, +,,,,,,,A_LiquidLevel_Low,A组分/清水液位低,Intel,6,Cycle,1,Unsigned,1,,,,,,,,,"0=正常 +1=液位低",,, +,,,,,,,B_LiquidLevel_Low,B组分液位低,Intel,7,Cycle,1,Unsigned,1,,,,,,,,,"0=正常 +1=液位低",,, +,,,,,,,MBV_D1_Sta,电动球阀D1sta,Intel,8,Cycle,1,Unsigned,1,,,,,,,,,"0=关闭到位 +1=开启到位",,, +,,,,,,,MBV_D2_Sta,电动球阀D2sta,Intel,9,Cycle,1,Unsigned,1,,,,,,,,,"0=关闭到位 +1=开启到位",,, +,,,,,,,Sys_fault,系统故障,Intel,10,Cycle,1,Unsigned,1,,,,,,,,,"0=无故障 +1=故障",,, +,,,,,,,Sta_reserve,状态预留,Intel,11,Cycle,5,Unsigned,1,,,,,,,,,置0,,, +,,,,,,,PartA_Water level,A组分/清水液位,Intel,16,Cycle,8,Unsigned,1,,,,,,,,,,,, +,,,,,,,Foam_level,B组分液位,Intel,24,Cycle,8,Unsigned,1,,,,,,,,,,,, +,,,,,,,ChemicalA_flow,A药剂流量,Intel,32,Cycle,8,Unsigned,1,,,,,,,,,,,, +,,,,,,,ChemicalB_flow,B药剂流量,Intel,40,Cycle,8,Unsigned,1,,,,,,,,,,,, +,,,,,,,Air_flow,气体流量,Intel,48,Cycle,8,Unsigned,1,,,,,,,,,,,, +,,,,,,,Expansion_ratio,发泡倍数,Intel,56,Cycle,8,Unsigned,1,,,,,,,,,,,, +,Decontam_StatusFeedBack2,Extended,0x18378180,Cycle,200,8,Decontam_WorkStatus2,洗消系统工作状态2,,,,,,,,,,,,,,,,VCU,, +,,,,,,,Pipe_pressure,管路压力,Intel,0,Cycle,8,Unsigned,0.1,,,,,,,,Mpa,,,, +,,,,,,,AirComp_pressure,空压机压力,Intel,8,Cycle,8,Unsigned,0.1,,,,,,,,Mpa,,,, +,,,,,,,PlungerPump_flowFB,柱塞泵流量反馈,Intel,16,Cycle,8,Unsigned,1,,,,,,,,,,,, +,,,,,,,AirComp_flowFB,空压机流量反馈,Intel,32,Cycle,8,Unsigned,1,,,,,,,,,,,, +,,,,,,,VanePump__flowFB,叶片泵流量反馈,Intel,40,Cycle,8,Unsigned,1,,,,,,,,,,,, +,,,,,,,AirComp_FaultCode,空压机故障代码,Intel,48,Cycle,8,Unsigned,1,,,,,,,,,2=加速过流;3=减速过流;4=恒速过流;5=加速过压;6=减速过压;7=恒速过压;8=缓冲过载;9=欠压;10=控制器过载;11=电机过载;12=输入缺相;13=输出缺相;14=模块过热;15=外部故障;16=通信异常;17=接触器异常;18=电流检测故障;19=自学习故障;20=编码器故障;21=参数读写异常;22=变频器硬件故障;23=电机对地短路故障;31=PID反馈丢失;40=快速限流超时故障;42=速度偏差过大;43=电机超速;45=电机过温;90=编码器线数设定错误;91=未接编码器;92=初始位置错误;94=速度反馈错误;,,, +,,,,,,,PlungerPump_FaultCode,柱塞泵故障代码,Intel,56,Cycle,8,Unsigned,1,,,,,,,,,1=短路故障;2=欠压;3=过压;4=控制器过温;5=控制器温度传感器故障;6=电机过温;7=电机温度传感器故障,,, +,Detector_StatusFeedBack1,Extended,0x18388180,Cycle,1000,8,Detector_WorkStatus1,气体检测设备结果状态1,,,,,,,,,,,,,,,,VCU,, +,,,,,,,Detector_Sta,检测仪当前状态,Intel,0,Cycle,8,Unsigned,1,,,,,,,,,"2=计算目标基线状态 +3=等待稳定状态 +4=检测状态 +5=等待点火状态 +6=确定初始基线状态",,, +,,,,,,,Toxic_types,有毒物种类,Intel,8,Cycle,8,Unsigned,1,,,,,,,,,"1=P类 +2=S类 +4=HNO类 +8=CH类 +16=AS类",,, +,,,,,,,Toxicity_level,有毒物等级,Intel,16,Cycle,8,Unsigned,1,,,,,,,,,等级1-5,,, +,,,,,,,Warnning,告警信息,Intel,24,Cycle,8,Unsigned,1,,,,,,,,,"1=进气嘴未接 +2=氢气流量不足 +4=仪器故障 +8=浓度过高",,, +,Detector_StatusFeedBack2,Extended,0x18398180,Cycle,1000,8,Detector_WorkStatus2,气体检测设备结果状态2,,,,,,,,,,,,,,,,VCU,, +,,,,,,,Toxic_ concentration,有毒物浓度,Intel,0,Cycle,40,Unsigned,1,,,,,,,,ppb,有毒物浓度：单位PPB，1000PPB=1PPM.,,, +,Vehicle_StatusFeedBack2,Extended,0x183A8180,Cycle,100,8,Chassis_WorkStatus3,底盘状态3,,,,,,,,,,,,,,,,VCU,, +,,,,,,,EPS_RotAngNotAligned,EPS转子角未对中,Intel,0,Cycle,1,Unsigned,1,,,,,,,,,,," + + + + + + + + + + + + + + + + +转向制动系统故障 + + + + + + + + + + + + + + + + + + + + + + + + +故障码待确认 +", +,,,,,,,EPS_RotAngDisconn,EPS转子角度断开,Intel,1,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_RotAng_SPI_Fault,EPS转子角度SPI故障,Intel,2,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPSEEPROM_Fault,EPSEEPROM_故障,Intel,3,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_MidpointNotAligned,EPS方向盘中点未对中,Intel,4,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_Angle_exceeds,EPS方向盘角度超限,Intel,5,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_Smalltooth_Disconn,EPS方向盘小齿信号断开,Intel,6,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_Gearsignal_Disconn,EPS方向盘中齿信号断开,Intel,7,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_overcurrent_fault,EPS过电流故障,Intel,8,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_A_phase_CurrAbnormal,EPS电机A相电流异常,Intel,9,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_C_phase_CurrAbnormal,EPS电机C相电流异常,Intel,10,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_B_phase_CurrAbnormal,EPS电机B相电流异常,Intel,11,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPSVCU_signal_loss,EPSVCU信号丢失,Intel,12,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_without_assistance,EPS电机无助力,Intel,13,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_pre_config_failed,EPS预驱配置失败,Intel,14,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_semi_stall_protect,EPS半堵转保护,Intel,15,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_Temp_thermal_protect,EPS温度热保护,Intel,16,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_vol_ManageProtect,EPS电压管理保护,Intel,17,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_response_NotInPlace,EPS转角响应不到位,Intel,18,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_angle_PWM_fault,EPS转子角度PWM故障,Intel,19,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_vol_verify_anomaly,EPS电压校验异常,Intel,20,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_thermistor_open_or_short,EPS热敏电阻开路或短路,Intel,21,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_thermistor_TempDiff_too_large ,EPS热敏电阻温差过大,Intel,22,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_overload_fault,制动器过载故障,Intel,23,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_overTemppres_fault,制动器过温或过压故障,Intel,24,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_overcurrent_fault,制动器过流故障,Intel,25,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_undervoltage_fault,制动器电源欠压故障,Intel,26,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_overvoltage_fault,制动器电源过压故障,Intel,27,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Insufficient_brake_pressure,制动器压力不足,Intel,28,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_Phase_loss_fault,制动器缺相故障,Intel,29,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_Comm_fault,制动器通讯故障,Intel,30,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_Curr_sample_fault,制动器电流采样故障,Intel,31,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_drive_failure,制动器驱动故障,Intel,32,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_magnetic_encoder_fault,制动器磁编故障,Intel,33,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_pressure_sensor_fault,制动器压力传感器故障,Intel,34,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_pedal_position_fault,制动器踏板位置传感器故障,Intel,35,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_Mechanical_failure,制动器机械故障,Intel,36,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_locked_rotor_fault,制动器堵转故障,Intel,37,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_Emerg_stop_closed,制动器急停按键闭合警告,Intel,38,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_applied_too_long,制动器驻车时间过长,Intel,39,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_CAN1_interrupt_warning,制动器CAN1中断警告,Intel,40,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_CAN2_interrupt_warning,制动器CAN2中断警告,Intel,41,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_ignition_disconnected,制动器点火线断开警告,Intel,42,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_Abnormal_current,制动器电流异常警告,Intel,43,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_Temp_too_high,制动器温度过高警告,Intel,44,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_input_vol_too_high,制动器输入电压过高警告,Intel,45,Cycle,1,Unsigned,1,,,,,,,,,,,, +,,,,,,,Brake_Reserve,制动预留,Intel,46,Cycle,2,Unsigned,1,,,,,,,,,,,, +,,,,,,,EPS_error_code,EPS故障码,Intel,48,Cycle,8,Unsigned,1,,,,,,,,,,,, +,Vehicle_StatusFeedBack2,Extended,0x183B8180,Cycle,100,8,Chassis_WorkStatus4,底盘状态4,,,,,,,,,,,,,,,,VCU,, +,,,,,,,Gear_Position,挡位状态,Intel,0,Cycle,2,Unsigned,1,,,,,,,,,0:N挡;1:D挡;2:R挡,,, +,,,,,,,Parking_Status,驻车状态,Intel,2,Cycle,2,Unsigned,1,,,,,,,,,0x00:未驻车;0x01:左电机驻车;0x02:右电机驻车;0x03:完全驻车;,,, +,,,,,,,AWD_Mode_Status,四驱模式反馈,Intel,4,Cycle,2,Unsigned,1,,,,,,,,,0:二驱模式;1:四驱模式;2:四驱锁定模式;,,, +,,,,,,,底盘预留,状态4预留,Intel,6,Cycle,2,Unsigned,1,,,,,,,,,,,, +,,,,,,,Steering_Angle,方向盘角度,Intel,8,Cycle,16,Unsigned,1,,,,,,,,,,,, +,,,,,,,Angle_alignment_status,角度对中状态,Intel,24,Cycle,8,Unsigned,1,,,,,,,,,0:未进行过角度对中;0x11:角度对中失败;0xee:角度对中成功;0x55:已对中成功;,,, +,,,,,,,Brake_Right_Mot_fault,左制动电机故障状态,Intel,32,Cycle,8,Unsigned,1,,,,,,,,,0x00:无故障;0x01:电机开路;0x02:电机短路;0x03:制动执行超时;0x04:解除制动执行超时;0x05:驱动电路故障;0x06:供电电压过低;0x07:供电电压过高;,,转向制动系统故障, +,,,,,,,Brake_Left_Mot_fault,右制动电机故障状态,Intel,40,Cycle,8,Unsigned,1,,,,,,,,,0x00:无故障;0x01:电机开路;0x02:电机短路;0x03:制动执行超时;0x04:解除制动执行超时;0x05:驱动电路故障;0x06:供电电压过低;0x07:供电电压过高;,,,