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
@@ -0,0 +1,149 @@
+#include "home.h"
+#include "titlebar.h"
+#include "statusstrip.h"
+#include "datacard.h"
+#include "confirmdialog.h"
+#include "car.h"
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+#include <QGridLayout>
+#include <QPushButton>
+#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。");
+}