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
@@ -4,7 +4,7 @@
 #include "alarmbanner.h"
 #include "datacard.h"
 #include "paramcontrol.h"
-#include "udpcommunication.h"
+#include "car.h"
 #include "confirmdialog.h"
 #include <QVBoxLayout>
 #include <QHBoxLayout>
@@ -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()