增加通讯协议

widgets/titlebar.cpp

@@ -1,14 +1,10 @@
 #include "titlebar.h"
 #include "ledindicator.h"
 #include "appcontext.h"
-#include "udpcommunication.h"
-#include "confirmdialog.h"
+#include "car.h"
 #include <QHBoxLayout>
 #include <QLabel>
-#include <QPushButton>
-#include <QTime>
 #include "global.h"
-#include <QStyle>
 
 TitleBar::TitleBar(AppContext* ctx, QWidget* parent)
     : QWidget(parent), m_ctx(ctx)
@@ -18,34 +14,38 @@ TitleBar::TitleBar(AppContext* ctx, QWidget* parent)
     setStyleSheet(QString("QWidget#TitleBar{background-color:%1;border-bottom:1px solid %2;}")
                       .arg(C::PANEL, C::BORDER));
 
-    // 左侧区（通信状态）
+    // 左侧区（车载端通信状态）
     QWidget* leftBox = new QWidget(this);
     QHBoxLayout* leftLay = new QHBoxLayout(leftBox);
-    leftLay->setContentsMargins(0, 0, 0, 0);
+    leftLay->setContentsMargins(260, 0, 0, 0);
     leftLay->setSpacing(20);
     m_comm = new LedIndicator("通信正常", leftBox);
+    m_comm->setFixedHeight(80);        // 容纳放大后的文字，避免上下裁切
+    m_comm->setTextPixelSize(45);
     m_comm->setState(LedIndicator::Green);
     leftLay->addWidget(m_comm);
     leftLay->addStretch(1);
 
-    // 右侧区（时间 + 软急停）
+    // 右侧区（遥控器状态：链路 + 电量）
     QWidget* rightBox = new QWidget(this);
     QHBoxLayout* rightLay = new QHBoxLayout(rightBox);
-    rightLay->setContentsMargins(0, 0, 0, 0);
-    rightLay->setSpacing(20);
-    m_time = new QLabel("", rightBox);
-    m_time->setStyleSheet(QString("color:%1;font-size:60px;").arg(C::TEXT_SUB));
-    m_time->setAlignment(Qt::AlignCenter);
-    m_estop = new QPushButton("急停", rightBox);
-    m_estop->setProperty("variant", "estop");
-    m_estop->setStyleSheet("font-size:60px;");
-    m_estop->setFixedSize(180, 80);
+    rightLay->setContentsMargins(0, 0, 20, 0);
+    rightLay->setSpacing(30);
     rightLay->addStretch(1);
-    rightLay->addWidget(m_time);
-    rightLay->addWidget(m_estop);
+    m_rc = new LedIndicator("遥控器断开", rightBox);
+    m_rc->setFixedHeight(80);
+    m_rc->setTextPixelSize(45);
+    m_rc->setState(LedIndicator::RedBlink);
+    rightLay->addWidget(m_rc);
+    m_rcBat = new QLabel("--%", rightBox);
+    m_rcBat->setStyleSheet(QString("color:%1;font-size:60px;").arg(C::TEXT_SUB));
+    m_rcBat->setAlignment(Qt::AlignCenter);
+    rightLay->addWidget(m_rcBat);
 
     // 左右两侧等宽 → 中间标题恰好居中于屏幕
-    const int sideW = 380;   // 需 >= 较宽一侧所需宽度（右侧：时间 + 急停）
+    // 左区需 260（左边距）+ 240（圆点区与留白 60 + 文字 4×45）= 500
+    // 右区需 285（圆点区与留白 60 + 文字 5×45）+ 30 + 130（电量）+ 20 = 465
+    const int sideW = 520;
     leftBox->setFixedWidth(sideW);
     rightBox->setFixedWidth(sideW);
 
@@ -61,30 +61,16 @@ TitleBar::TitleBar(AppContext* ctx, QWidget* parent)
     lay->addWidget(m_title, 1);
     lay->addWidget(rightBox);
 
-    connect(m_estop, &QPushButton::clicked, this, [this]() {
-        if (m_ctx->estopTriggered) {
-            if (ConfirmDialog::confirm(window(), "急停复位", "确定复位急停并恢复系统？"))
-                m_ctx->resetEstop();
-        } else {
-            m_ctx->triggerEstop();
-        }
-    });
-
-    // 通信状态刷新
-    connect(m_ctx->comm(), &UdpCommunication::commOkChanged, this, [this](bool ok) {
+    // 车载端通信状态刷新
+    connect(m_ctx->comm(), &CarCommunication::commOkChanged, this, [this](bool ok) {
         if (ok) { m_comm->setText("通信正常"); m_comm->setState(LedIndicator::Green); }
         else    { m_comm->setText("通信异常"); m_comm->setState(LedIndicator::RedBlink); }
     });
 
-    // 急停状态刷新
-    connect(m_ctx, &AppContext::estopChanged, this, &TitleBar::updateEstop);
-    updateEstop();
-
-    // 时钟
-    m_clock = new QTimer(this);
-    connect(m_clock, &QTimer::timeout, this, &TitleBar::updateTime);
-    m_clock->start(1000);
-    updateTime();
+    // 遥控器链路与电量刷新
+    connect(m_ctx->rc(), &RcCommunication::linkChanged, this, &TitleBar::onRcLink);
+    connect(m_ctx->rc(), &RcCommunication::frameReceived, this, &TitleBar::onRcFrame);
+    onRcLink(m_ctx->rc()->linkOk());
 }
 
 void TitleBar::setTitle(const QString& title)
@@ -92,25 +78,19 @@ void TitleBar::setTitle(const QString& title)
     m_title->setText(title);
 }
 
-void TitleBar::setEstopVisible(bool visible)
+void TitleBar::onRcLink(bool ok)
 {
-    m_estop->setVisible(visible);
-}
-
-void TitleBar::updateEstop()
-{
-    if (m_ctx->estopTriggered) {
-        m_estop->setText("复位");
-        m_estop->setProperty("variant", "danger");
+    if (ok) {
+        m_rc->setText("遥控器正常");
+        m_rc->setState(LedIndicator::Green);
     } else {
-        m_estop->setText("急停");
-        m_estop->setProperty("variant", "estop");
+        m_rc->setText("遥控器断开");
+        m_rc->setState(LedIndicator::RedBlink);
+        m_rcBat->setText("--%");
     }
-    m_estop->style()->unpolish(m_estop);
-    m_estop->style()->polish(m_estop);
 }
 
-void TitleBar::updateTime()
+void TitleBar::onRcFrame(const RcFrame& f)
 {
-    m_time->setText(QTime::currentTime().toString("HH:mm"));
+    m_rcBat->setText(QString("%1%").arg(f.battery));
 }