增加通讯协议

2026-10-14 09:59:42 +08:00
parent 32878a9a80
commit 950e9e6c9e
102 changed files with 5538 additions and 2679 deletions
@@ -1,9 +1,26 @@
 #include "appcontext.h"
-#include "udpcommunication.h"
-#include "mockvehicle.h"
+#include "car.h"
 #include <QApplication>
 #include <QDateTime>

+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();
 }