增加通讯协议
This commit is contained in:
xu
+142
-68
@@ -4,7 +4,7 @@
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#include "datacard.h"
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#include "ledindicator.h"
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#include "paramcontrol.h"
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#include "udpcommunication.h"
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#include "car.h"
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#include <QVBoxLayout>
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#include <QHBoxLayout>
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#include <QPushButton>
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@@ -19,7 +19,7 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
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root->setSpacing(0);
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m_titleBar = new TitleBar(ctx, this);
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m_titleBar->setTitle("洗消调试");
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m_titleBar->setTitle("调试维护");
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root->addWidget(m_titleBar);
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// 警告横幅（常显红闪）
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@@ -34,35 +34,38 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
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// 左球阀控制区
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QWidget* left = new QWidget(this);
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QVBoxLayout* leftLay = new QVBoxLayout(left);
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leftLay->setContentsMargins(0, 0, 0, 0);
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leftLay->setSpacing(16);
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leftLay->setContentsMargins(20, 10, 10, 10);
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leftLay->setSpacing(60);
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leftLay->addWidget(makeValveGroup(1));
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leftLay->addWidget(makeValveGroup(2));
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leftLay->addStretch(1);
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left->setFixedWidth(300);
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main->addWidget(left);
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// 中央卡片区
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// 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）
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QWidget* center = new QWidget(this);
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QVBoxLayout* centerLay = new QVBoxLayout(center);
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QHBoxLayout* centerLay = new QHBoxLayout(center);
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centerLay->setContentsMargins(0, 0, 0, 0);
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centerLay->setSpacing(10);
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centerLay->setSpacing(28); // 与 main 的列间距一致
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QHBoxLayout* miniRow = new QHBoxLayout();
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miniRow->setSpacing(10);
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m_chassisCard = new DataCard("底盘", center);
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QWidget* centerLeft = new QWidget(center);
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QVBoxLayout* centerLeftLay = new QVBoxLayout(centerLeft);
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centerLeftLay->setContentsMargins(0, 0, 0, 0);
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centerLeftLay->setSpacing(10);
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m_chassisCard = new DataCard("底盘", centerLeft);
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m_chassisCard->addField("电量", "85%");
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m_chassisCard->addField("电压", "360V");
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m_armCard = new DataCard("机械臂", center);
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m_armCard = new DataCard("机械臂", centerLeft);
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m_armCard->addField("末端位置", "XYZ");
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m_armCard->addField("姿态", "RX/RY/RZ");
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m_gasCard = new DataCard("气体检测仪", center);
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m_gasCard = new DataCard("气体检测仪", centerLeft);
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m_gasCard->addField("主机状态", "待机");
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m_gasCard->addField("浓度", "0 ppb");
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miniRow->addWidget(m_chassisCard, 1);
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miniRow->addWidget(m_armCard, 1);
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miniRow->addWidget(m_gasCard, 1);
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centerLay->addLayout(miniRow, 1);
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centerLeftLay->addWidget(m_chassisCard, 1);
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centerLeftLay->addWidget(m_armCard, 1);
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centerLeftLay->addWidget(m_gasCard, 1);
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centerLay->addWidget(centerLeft, 1);
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m_washCard = new DataCard("洗消参数", center);
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m_washCard->addField("洗消模式", "--");
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@@ -79,11 +82,11 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
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// 右泵控制区
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QWidget* right = new QWidget(this);
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QVBoxLayout* rightLay = new QVBoxLayout(right);
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rightLay->setContentsMargins(0, 0, 0, 0);
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rightLay->setSpacing(8);
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rightLay->addWidget(makePumpGroup("air", "空压机"));
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rightLay->addWidget(makePumpGroup("plunger", "柱塞泵"));
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rightLay->addWidget(makePumpGroup("leaf", "叶片泵"));
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rightLay->setContentsMargins(10, 10,20,10);
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rightLay->setSpacing(40);
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rightLay->addWidget(makePumpGroup("air", "空压机(rpm)"), 0, Qt::AlignHCenter);
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rightLay->addWidget(makePumpGroup("plunger", "柱塞泵(rpm)"), 0, Qt::AlignHCenter);
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rightLay->addWidget(makePumpGroup("leaf", "叶片泵(rpm)"), 0, Qt::AlignHCenter);
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rightLay->addStretch(1);
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right->setFixedWidth(420);
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main->addWidget(right);
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@@ -92,28 +95,56 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
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// 底部指示灯条
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QWidget* bottom = new QWidget(this);
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bottom->setObjectName("DebugBottom");
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bottom->setFixedHeight(94);
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bottom->setStyleSheet(QString("background-color:%1;border-top:1px solid %2;")
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// 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
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bottom->setStyleSheet(QString("QWidget#DebugBottom{background-color:%1;border-top:1px solid %2;}")
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.arg(C::PANEL, C::BORDER));
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QHBoxLayout* bottomLay = new QHBoxLayout(bottom);
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bottomLay->setContentsMargins(36, 0, 24, 0);
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// 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
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bottomLay->setContentsMargins(364, 0, 24, 0);
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bottomLay->setSpacing(48);
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m_ledPlunger = new LedIndicator("柱塞泵", bottom);
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m_ledAir = new LedIndicator("空压机", bottom);
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m_ledLeaf = new LedIndicator("叶片泵", bottom);
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m_ledLevel = new LedIndicator("液位低", bottom);
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bottomLay->addWidget(m_ledPlunger);
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bottomLay->addWidget(m_ledAir);
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bottomLay->addWidget(m_ledLeaf);
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bottomLay->addWidget(m_ledLevel);
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auto makeLed = [&](const QString& text) {
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LedIndicator* led = new LedIndicator(text, bottom);
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led->setTextPixelSize(40); // 字号与卡片标题一致
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led->setDotAfterText(true); // 圆点画在文字后面
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bottomLay->addWidget(led);
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return led;
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};
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m_ledPlunger = makeLed("柱塞泵");
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m_ledAir = makeLed("空压机");
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m_ledLeaf = makeLed("叶片泵");
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m_ledLevel = makeLed("液位低");
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bottomLay->addStretch(1);
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QPushButton* back = button("返回", "", bottom);
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back->setFixedSize(144, 76);
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back->setFixedSize(160, 76);
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back->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字
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connect(back, &QPushButton::clicked, this, [this]() { emit navigate(PageJob); });
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bottomLay->addWidget(back);
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root->addWidget(bottom);
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connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &DebugMaintainPage::refresh);
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connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, [this]() {
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m_telemetrySeen = true; // 遥测一到，球阀到位灯改由 refresh() 接管
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refresh();
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});
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// 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。
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// 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
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// 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
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QWidget* tabChain[] = {
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m_valve1Btn, m_valve2Btn,
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m_airRpm->editor(), m_airStart, m_airStop,
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m_plungerRpm->editor(), m_plungerStart, m_plungerStop,
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m_leafRpm->editor(), m_leafStart, m_leafStop,
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};
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QWidget* prev = back;
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for (QWidget* w : tabChain) {
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if (!w) continue;
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QWidget::setTabOrder(prev, w);
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prev = w;
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}
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QWidget::setTabOrder(prev, back); // 回到起点，形成循环
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refresh();
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}
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@@ -127,26 +158,36 @@ QWidget* DebugMaintainPage::makeValveGroup(int valve)
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lay->setContentsMargins(12, 12, 12, 12);
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lay->setSpacing(8);
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QLabel* title = label(QString("D%1 球阀").arg(valve), 20, C::TEXT, true, grp);
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QLabel* title = label(QString("D%1 球阀").arg(valve), 30, C::TEXT, true, grp);
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lay->addWidget(title);
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// 控制开/关（toggle）
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QPushButton* ctrl = button(QString("D%1 控制：关闭").arg(valve), "", grp);
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// 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）
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QPushButton* ctrl = button(QString("D%1 控制").arg(valve), "", grp);
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ctrl->setCheckable(true);
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ctrl->setFixedHeight(64);
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connect(ctrl, &QPushButton::toggled, this, [this, valve, ctrl](bool on) {
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ctrl->setText(QString("D%1 控制：%2").arg(valve).arg(on ? "开启" : "关闭"));
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ctrl->setFixedSize(180, 64); // 窄按钮，与泵组的“上电”一致
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// 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
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ctrl->setStyleSheet(QString("QPushButton{background-color:%1;color:#FFFFFF;border:none;}"
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"QPushButton:checked{background-color:%2;color:#FFFFFF;border:none;}"
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"QPushButton:focus{border:4px solid #8ABFFF;}")
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.arg(C::DANGER).arg(C::SUCCESS));
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connect(ctrl, &QPushButton::toggled, this, [this, valve](bool on) {
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ctx()->comm()->sendBallValve(valve, on);
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});
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lay->addWidget(ctrl);
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lay->addWidget(ctrl, 0, Qt::AlignHCenter);
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// 开启到位 / 关闭到位
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LedIndicator* open = new LedIndicator("开启到位", grp);
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open->setState(LedIndicator::Off);
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LedIndicator* close = new LedIndicator("关闭到位", grp);
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// 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
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// （开启绿 / 关闭红），首次收到遥测后由 refresh() 按实际到位状态刷新
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LedIndicator* open = new LedIndicator("开启", grp);
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open->setState(LedIndicator::Green);
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LedIndicator* close = new LedIndicator("关闭", grp);
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close->setState(LedIndicator::Red);
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lay->addWidget(open);
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lay->addWidget(close);
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QHBoxLayout* ioRow = new QHBoxLayout();
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ioRow->setSpacing(10);
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ioRow->addStretch(1);
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ioRow->addWidget(open);
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ioRow->addWidget(close);
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ioRow->addStretch(1);
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lay->addLayout(ioRow);
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// 故障提示
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QLabel* fault = label("", 16, C::DANGER, true, grp);
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@@ -175,29 +216,60 @@ QWidget* DebugMaintainPage::makePumpGroup(const QString& pump, const QString& na
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grp->setProperty("card", true);
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grp->setStyleSheet(QString("QWidget[card=\"true\"]{background-color:%1;border:2px solid %2;border-radius:12px;}")
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.arg(C::PANEL, C::BORDER));
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// 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）。
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// 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
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QVBoxLayout* lay = new QVBoxLayout(grp);
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lay->setContentsMargins(12, 8, 12, 8);
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lay->setSpacing(4);
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lay->setContentsMargins(30, 8, 20, 8);
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lay->setSpacing(10);
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ParamControl* rpm = new ParamControl(name + "转速", "rpm", 10, 0, 2000, false, false, grp);
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// 上限按协议各泵量程：空压机 AirComp_Spd 0-3000、柱塞泵 PlungerPump_Spd 0-1450、
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// 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
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const int rpmMax = (pump == "air") ? 3000 : (pump == "plunger") ? 1450 : 2000;
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ParamControl* rpm = new ParamControl(name, "", 1, 0, rpmMax, false, false, grp);
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rpm->setCentered(true);
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rpm->setValue(200);
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connect(rpm, &ParamControl::valueChanged, this, [this, pump](double v) {
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ctx()->comm()->sendPumpRpm(pump, static_cast<int>(v));
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});
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lay->addWidget(rpm);
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QPushButton* power = button("上电", "", grp);
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power->setCheckable(true);
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power->setFixedHeight(56);
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connect(power, &QPushButton::toggled, this, [this, pump, power](bool on) {
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power->setText(on ? "上电中" : "上电");
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ctx()->comm()->sendPumpPower(pump, on);
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// 启动 / 停止：互斥，选中态对应当前泵状态（绿＝运行、红＝停止）。
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// 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
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QPushButton* start = button("启动", "", grp);
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start->setCheckable(true);
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start->setFixedSize(120, 60);
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start->setStyleSheet(QString("QPushButton:checked{background-color:%1;color:#FFFFFF;border:none;}"
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"QPushButton:focus{border:4px solid #8ABFFF;}")
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.arg(C::SUCCESS));
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QPushButton* stop = button("停止", "", grp);
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stop->setCheckable(true);
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stop->setFixedSize(120, 60);
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stop->setStyleSheet(QString("QPushButton:checked{background-color:%1;color:#FFFFFF;border:none;}"
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"QPushButton:focus{border:4px solid #8ABFFF;}")
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.arg(C::DANGER));
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connect(start, &QPushButton::clicked, this, [this, pump, start, stop]() {
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start->setChecked(true);
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stop->setChecked(false);
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ctx()->comm()->sendPumpPower(pump, true);
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});
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lay->addWidget(power);
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connect(stop, &QPushButton::clicked, this, [this, pump, start, stop]() {
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stop->setChecked(true);
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start->setChecked(false);
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ctx()->comm()->sendPumpPower(pump, false);
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});
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QHBoxLayout* pwrRow = new QHBoxLayout();
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pwrRow->setSpacing(12);
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pwrRow->addStretch(1);
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pwrRow->addWidget(start);
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pwrRow->addWidget(stop);
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pwrRow->addStretch(1);
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lay->addLayout(pwrRow);
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if (pump == "air") { m_airRpm = rpm; m_airPower = power; }
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else if (pump == "plunger") { m_plungerRpm = rpm; m_plungerPower = power; }
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else { m_leafRpm = rpm; m_leafPower = power; }
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if (pump == "air") { m_airRpm = rpm; m_airStart = start; m_airStop = stop; }
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else if (pump == "plunger") { m_plungerRpm = rpm; m_plungerStart = start; m_plungerStop = stop; }
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else { m_leafRpm = rpm; m_leafStart = start; m_leafStop = stop; }
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return grp;
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}
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@@ -220,11 +292,13 @@ void DebugMaintainPage::refresh()
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m_washCard->setField(5, t.pumpFaults.value(0));
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m_washCard->setField(6, t.pumpFaults.value(0));
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// 球阀到位反馈
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m_v1Open->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
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m_v1Close->setState(t.d1close ? LedIndicator::Red : LedIndicator::Off);
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m_v2Open->setState(t.d2open ? LedIndicator::Green : LedIndicator::Off);
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m_v2Close->setState(t.d2close ? LedIndicator::Red : LedIndicator::Off);
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// 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）
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if (m_telemetrySeen) {
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m_v1Open->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
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m_v1Close->setState(t.d1close ? LedIndicator::Red : LedIndicator::Off);
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m_v2Open->setState(t.d2open ? LedIndicator::Green : LedIndicator::Off);
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m_v2Close->setState(t.d2close ? LedIndicator::Red : LedIndicator::Off);
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}
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// 球阀故障提示
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bool v1Fault = t.valveFault.contains("D1");
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@@ -234,10 +308,10 @@ void DebugMaintainPage::refresh()
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if (v2Fault) { m_valveFault2->setText(t.valveFault); m_valveFault2->show(); startBlink(m_valveFault2, "blink"); }
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else { stopBlink(m_valveFault2, "blink"); m_valveFault2->hide(); }
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// 泵上电状态同步
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if (m_airPower) m_airPower->setChecked(t.air);
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if (m_plungerPower) m_plungerPower->setChecked(t.plunger);
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if (m_leafPower) m_leafPower->setChecked(t.leaf);
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// 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）
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if (m_airStart) { m_airStart->setChecked(t.air); m_airStop->setChecked(!t.air); }
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if (m_plungerStart){ m_plungerStart->setChecked(t.plunger); m_plungerStop->setChecked(!t.plunger); }
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if (m_leafStart) { m_leafStart->setChecked(t.leaf); m_leafStop->setChecked(!t.leaf); }
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// 底部指示灯
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m_ledPlunger->setState(t.plunger ? LedIndicator::Green : LedIndicator::Off);
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