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增加通讯协议

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This commit is contained in:
xu
2026-10-14 09:59:42 +08:00
parent 32878a9a80
commit 950e9e6c9e
102 changed files with 5538 additions and 2679 deletions
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widgets/statusstrip.cpp
+38 -35
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@@ -1,6 +1,6 @@
#include "statusstrip.h"
#include "appcontext.h"
#include "udpcommunication.h"
#include "car.h"
#include <QHBoxLayout>
#include <QLabel>
#include <QPushButton>
@@ -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));
}