增加通讯协议
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# 图数一体机遥控端 QT 界面（wuhan）
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依据《QT界面详细设计说明书.md》实现的“玉兔工业无线遥控器（YTZT6K8EART2-aL25）”遥控端界面，
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覆盖 ③开机密码（含密码警告/密码管理登录/密码管理/密码重置）④自检 ⑤作业选择 ⑥机器人底盘
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⑦机械臂 ⑧气体检测仪 ⑨手动消除 ⑩手动消毒 ⑪调试维护 ⑫故障查询 共 10 个界面，
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并配套 **UDP 收包 / 发包通信** 与内置模拟车载端。
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覆盖 ③开机密码（含密码警告/密码管理登录/密码管理/密码重置）④自检 ⑤系统首页面 ⑥作业选择 ⑦机器人底盘
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⑧机械臂 ⑨气体检测仪 ⑩消除作业 ⑪消毒作业 ⑫调试维护 ⑬故障查询 共 11 个界面，
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并配套 **CAN 报文收发**的通信层（19 条报文经 `/dev/ttyS7` 串口收发，遥控器另占 `/dev/ttyS5`）。
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## 环境与构建
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- Qt 5.15.2 MinGW 32-bit（`F:\QT\5.15.2\mingw81_32`），编译套件 `Desktop Qt 5.15.2 MinGW 32-bit`。
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- 用 Qt Creator 打开 `wuhan.pro` 直接构建运行即可（qmake 工程，`QT += network`）。
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- 用 Qt Creator 打开 `wuhan.pro` 直接构建运行即可（qmake 工程，`QT += serialport`）。
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命令行构建示例：
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@@ -23,35 +23,141 @@ mingw32-make -j4
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## 运行说明
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- 开机密码默认 **6789**（可在“忘记密码／修改密码 → 密码管理登录（管理员密码 6789）→ 密码管理 → 重置密码”中修改）。
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- 开机密码默认 **6789**（可在“忘记密码／修改密码 → 密码管理登录（管理员密码 **9527**）→ 密码管理 → 重置密码”中修改）；管理员密码为固定值 **9527**，不可修改。
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- 密码正确后进入自检，自检完成 2 秒自动进入“作业选择”；自检异常时可“忽略故障”继续。
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- 底部状态条上的**模式徽标可点击**（或按键盘 **M**）在“行车模式 / 机械臂模式”间切换；
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行车模式操作底盘，机械臂模式操作机械臂。
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- 软急停：各页顶条右上角“急停”按钮，或按键盘 **E**；急停后需点击“复位”恢复。
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- 底部状态条的模式徽标只作**显示**（不响应点击）；行车模式操作底盘，机械臂模式操作机械臂。
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演示用快捷键 **M** 可切换模式，但**遥控器在线时模式由遥控器报文决定，M 被忽略**。
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- 软急停由**遥控器 bit4** 下发：上升沿触发急停、下降沿复位，面板不提供急停/复位控件
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（顶条原有的“急停”按钮已移除）。触发后页面之上出现全屏红条“急停已触发，请用遥控器复位！”。
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- ⑨⑩ 运行中“返回”无效（需先停止）；调试维护页常显红色警告。
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## 通信（UDP 收包 / 发包）
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## 通信（19 条 CAN 报文，经 /dev/ttyS7 串口收发）
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通信层位于 `comm/udpcommunication.cpp`，协议为 **JSON 文本**（`QJsonDocument`）：
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通信层位于 `comm/car.cpp`，按《洗消机器人遥控器通信协议20260810》sheet **RC** 实现全部
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**19 条**报文（分类四标准帧 `DIDO/PWM/AI/BMS/MCU` 未实现）。所有报文均为 **29 位扩展帧、
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信号一律 Intel（小端）位序**。
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- 遥控端绑定本地端口 `9000`，向 `127.0.0.1:9001` 发包；
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- 内置模拟车载端 `comm/mockvehicle.cpp` 绑定 `9001`，向 `9000` 回传遥测，并对命令作出响应。
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串口是字节流，故线上帧统一为 **18 字节**，收发同一格式：
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上行命令（UI→车载端，`{"t":...}`）：`chassis_move` `arm_move` `arm_return` `arm_pause`
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`gas_start` `gas_stop` `wash_start` `wash_stop` `ball_valve` `pump_power` `pump_rpm`
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`set_param` `selfcheck_start` `estop` `estop_reset`。
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| 偏移 | 长度 | 含义 |
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| --- | --- | --- |
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| 0 | 4 | 帧头 `0x5AA5FF00`（线上字节序 `00 FF A5 5A`，用于在字节流中定位报文起始） |
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| 4 | 4 | CAN ID（29 位扩展帧），直接用于分流 |
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| 8 | 1 | DLC，固定 `8` |
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| 9 | 8 | CAN 数据段 |
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| 17 | 1 | 校验和：canId 四字节 + DLC + 数据八字节求和取低 8 位 |
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下行遥测（车载端→UI）：`heartbeat` `chassis` `arm` `wash` `tank` `gas` `valve` `pump`
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`estop` `selfcheck` `selfcheck_done`。
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收包时逐字节找帧头、校验不过右移一字节继续找，容忍粘包、拆包与杂包。
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可在 `config.ini`（程序目录）中配置 `net/local_port`、`net/remote_host`、`net/remote_port`、
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`net/mock`（true 启用内置模拟端，false 连接真实车载端）、`net/selfcheck_fault`（自检故障演示）。
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**上行 7 条**（遥控器 → 车端）按协议「报文周期时间」列分三组重发：**50ms** 底盘 / 机械臂1 /
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机械臂2 / 急停，**100ms** 洗消指令 / 洗消调试，**1000ms** 气体检测仪。界面上层只更新控制状态，
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编码发送由定时器完成。
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`Chassis_ControlCmd 0x18208081`、`Arm_ControlCmd1 0x18218081`、`Arm_ControlCmd2 0x18228081`、
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`Decontam_ControlCmd 0x18238081`、`Decontam_DebugCmd 0x18248081`、`Detector_ControlCmd 0x18258081`、
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`Emergency_Cmd 0x18268081`。
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**下行 12 条**（车端 → 遥控器）按 canId 分流写入 `Telemetry` 供各页刷新：
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| CAN ID | 报文 | 周期 | 主要信号 |
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| --- | --- | --- | --- |
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| `0x18308180` | 底盘状态1(BMS) | 100 | 总电压、SOC、MCU 故障码与等级、10 路 BMS 故障等级 |
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| `0x18318180` | 底盘状态2(BMS) | 100 | 7 路故障等级、4 路继电器粘连、手刹、车速、ready、整系统通信故障码 |
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| `0x18328180` | 机械臂状态1 | 100 | 末端位置 X/Y/Z |
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| `0x18338180` | 机械臂状态2 | 100 | 末端姿态 RX/RY/RZ、末端速度 |
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| `0x18348180` | 机械臂状态3 | 100 | 关节角 J1~J4 |
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| `0x18358180` | 机械臂状态4 | 100 | 关节角 J5~J6 |
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| `0x18368180` | 洗消工作状态1 | 200 | 模式、启停、三泵上电、D1/D2 到位、液位、A/B 流量、气体流量、发泡倍数 |
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| `0x18378180` | 洗消工作状态2 | 200 | 管路/空压机压力、三泵流量反馈、空压机与柱塞泵故障码 |
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| `0x18388180` | 检测仪结果状态1 | 1000 | 主机状态、毒物种类与等级、告警位 |
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| `0x18398180` | 检测仪结果状态2 | 1000 | 40 位有毒物浓度（ppb） |
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| `0x183A8180` | 底盘状态3 | 100 | EPS 22 位 + 制动 24 位故障标志、EPS 故障码 |
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| `0x183B8180` | 底盘状态4 | 100 | 挡位、驻车、四驱模式、方向盘角度与对中、左右制动电机故障 |
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故障码按协议“信号值描述”列查表转中文（MCU 29 条、空压机 31 条、柱塞泵 7 条、EPS/制动 46 个
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标志位、检测仪 4 个告警位等），页面显示中文描述，**首次出现**的故障才写入故障历史，
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避免周期报文重复刷屏。
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各信号的起始位/位长/精度与协议表一致；界面量程与组帧取值统一按协议「信号值描述」列收口：
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车速 0~5.00 km/h、发泡倍数 6~12 倍、泡沫比例 0~10%、空压机流量 0~340 L/min、柱塞泵流量
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0~24 L/min；调试维护页三泵转速上限各按协议（空压机 3000 / 柱塞泵 1450 / 叶片泵 2000 rpm）。
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顶部「通信正常/异常」按收帧判定：连续 **2s** 未收到任何合法帧即判为异常（最慢的下行周期
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1000ms）。串口打开失败（如开发机 Windows 上没有 `/dev/ttyS7`）时不启动定时器、不崩溃，
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界面显示「通信异常」。
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可在 `config.ini`（程序目录）中配置 `car/device`（默认 `/dev/ttyS7`）、`car/baud`（默认
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`500000`）、`rc/device`（默认 `/dev/ttyS5`）、`rc/baud`（默认 `115200`）、`net/selfcheck_fault`
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（自检故障演示）。
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参数（车速、柱塞泵流量、发泡倍数、泡沫比例、空压机流量）与密码经 `QSettings` 持久化，上电自动读取。
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`tools/can_sender.py` / `tools/rc_sender.py` 是旧的 UDP 联调工具，**已不适用于当前串口通道**，
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留待需要时另写。
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### 已知缺口
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- **自检 10 项无对应 CAN 报文**，`sendSelfCheckStart()` 暂由本端跑完序列（见 `onSelfCheckTick`
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的 TODO），仅为维持 ④自检 → ⑤作业选择 流程不中断；拿到真实报文后替换该本地驱动。
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- **行车/机械臂模式**没有对应的下行信号：协议 12 条反馈里没有该字段，`telemetry.driveMode`
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无处可填，故模式只由遥控器报文决定（遥控器离线时保持上次值，可用演示快捷键 **M** 切换）。
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- **`Vehi_spd` 按协议取 8 位**（bit24、精度 0.01 → 0~2.55 km/h）。协议表里该信号与其后的
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`Vehi_RdyStatus`(32)/`Reserve`(34)/`All_Comm_FaultCode`(40) 起始位自洽，按 8 位读才对齐；
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若实测车速需要 0~5 km/h，说明该字段实为 16 位、其后信号整体后移 8 位，需同步调整。
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- 分类四（标准帧，`DIDO/PWM/AI/BMS/MCU`）整体未实现。其 `Motorola LSB` 排列格式 =
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**大端字节序 + 起始位为 LSB 位置**：16 位信号起始位 8/24/40/56 表示占字节对
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(0,1)/(2,3)/(4,5)/(6,7)，`value = data[起/8-1]<<8 | data[起/8]`，恰好占满 64 位、
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无溢出。实现分类四时勿按 Intel 连续位序去读。
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## 遥控器（串口 /dev/ttyS5，24 字节二进制帧）
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遥控器不走车端 CAN 通道，独立占一路串口：`comm/uart.cpp` 打开 `rc/device`
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（默认 **`/dev/ttyS5`**，115200 / 8 数据位 / 1 停止位 / 无校验），与车端 `/dev/ttyS7`
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（见 `comm/car.cpp`）互不干扰。
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帧长 **24 字节**、1 字节对齐、多字节字段**小端**，发送周期 100ms。帧头 `BYTE0=0x11`、
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帧尾 `BYTE22=0x22`、`BYTE23 = BYTE0~BYTE22 之和的低 8 位`；校验不过即丢弃。
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串口是字节流，收包在缓冲区里按帧长滑窗重新对齐，容忍粘包与拆包。
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| 字节 | 含义 |
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| --- | --- |
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| 0 | 帧头 `0x11` |
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| 1 | 标志位：bit0 行车模式 / bit1 机械臂模式 / bit2 机械臂使能 / bit3 底盘使能 / bit4 急停 |
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| 2 | 预留 `0x00` |
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| 3-4 | 整车档位（底盘 Y）：0 后 / 2048 中 / 4096 前 |
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| 5-6 | 整车转向（底盘 X）：0 左 / 2048 中 / 4096 右 |
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| 7-8 | 末端位置上下（臂 Z） |
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| 9-10 | 末端位置左右（臂 X） |
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| 11-12 | 末端位置前后（臂 Y） |
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| 13-14 | 末端姿态横滚 roll |
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| 15-16 | 末端姿态俯仰 pitch |
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| 17-18 | 末端姿态偏航 yaw |
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| 19 | 遥控器电量 0~100 |
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| 20-21 | 预留 `0x00` |
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| 22 | 帧尾 `0x22` |
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| 23 | 和校验 |
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分工：`RcCommunication` 只负责收包、校验、解析与链路超时（连续 500ms 无合法帧判为断开）；
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模式/急停/动作的判定集中在 `AppContext`。
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- **模式**：bit1 机械臂模式须与 bit2 机械臂使能**同时为 1** 才切到机械臂模式，否则按 bit0
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走行车模式。遥控器在线时模式由遥控器决定，离线时才回落到车载端 `chassis` 报文的 `mode` 字段。
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- **急停**：bit4 **上升沿触发急停、下降沿复位**，两者都由遥控器下发（一并上行 `estop` /
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`estop_reset`），面板只显示红条提示、不提供复位控件。链路中断不会触发复位——超时导致的
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bit4 读为 0 不算遥控器指令。
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- **动作**：摇杆以 ±10%（1638~2458）为中立死区，方向**变化时才下发**，命令复用现有
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`chassis_move` / `arm_move`，并与界面按钮同一套安全联锁（模式 + 使能 + 未急停）。
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档位与转向可同时下发（边前进/后退边转向）；链路中断会立即撤销所有遥控器动作，
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避免最后一条指令被一直挂住。
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- **优先级**：遥控器与界面都能操作，同时操作时**遥控器优先**——遥控器正在操作（链路在线且
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有轴偏离中位）时，底盘页与机械臂页的动作按钮变灰，强行按下会提示“遥控器操作中”。
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- **显示**：顶条右侧为遥控器链路（●正常/断开）与电量；顶条不再显示时钟与急停按钮。
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- 底盘页的方向按钮同样支持多键同按：按住“前进”再按住“左转向”，会下发 `dir=fwd` +
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`turn=left`，两键都松开才停车。
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## 目录结构
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- `app/` 全局常量、配色、应用上下文（AppContext）、QSS 样式、闪烁工具
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- `comm/` UDP 通信层 + 内置模拟车载端
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- `comm/` 车端 CAN 通信层（`car`，19 条报文经 `/dev/ttyS7`）+ 遥控器串口通道（`uart`，`/dev/ttyS5`）
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- `widgets/` 公共组件：TitleBar / StatusStrip / LedIndicator / NumPadDialog /
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ConfirmDialog / AlarmBanner / ParamControl / DataCard / FaultTable
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- `pages/` 各界面（继承 BasePage），对应关系如下：
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@@ -65,15 +171,14 @@ mingw32-make -j4
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| ③ 密码管理 | passwordmgmt | PasswordMgmtPage |
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| ③ 密码重置 | passwordreset | PasswordResetPage |
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| ④ 自检 | selfcheck | SelfCheckPage |
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| ⑤ 作业选择 | jobselect | JobSelectPage |
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| ⑥ 机器人底盘 | chassis | ChassisPage |
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| ⑦ 机械臂 | arm | ArmPage |
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| ⑧ 气体检测仪 | gasdetector | GasDetectorPage |
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| ⑨/⑩ 共用基类 | washbase | WashBasePage |
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| ⑨ 手动消除 | manualclean | ManualCleanPage |
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| ⑩ 手动消毒 | manualdisinfect | ManualDisinfectPage |
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| ⑪ 调试维护 | debugmaintain | DebugMaintainPage |
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| ⑫ 故障查询 | faultquery | FaultQueryPage |
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| ⑤ 系统首页面 | home | HomePage |
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| ⑥ 作业选择 | jobselect | JobSelectPage |
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| ⑦ 机器人底盘 | chassis | ChassisPage |
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| ⑧ 机械臂 | arm | ArmPage |
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| ⑨ 气体检测仪 | gasdetector | GasDetectorPage |
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| ⑩/⑪ 消除/消毒作业 | washpage | WashPage |
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| ⑫ 调试维护 | debugmaintain | DebugMaintainPage |
|
||||
| ⑬ 故障查询 | faultquery | FaultQueryPage |
|
||||
|
||||
- `mainwindow.h/.cpp` 主窗口（QStackedWidget 页面路由 + 全局急停横幅）
|
||||
- `mainwindow.h/.cpp` 主窗口（QStackedWidget 页面路由 + 全局急停横幅，横幅内含“复位”按钮）
|
||||
|
||||
|
||||
+157
-9
@@ -1,9 +1,26 @@
|
||||
#include "appcontext.h"
|
||||
#include "udpcommunication.h"
|
||||
#include "mockvehicle.h"
|
||||
#include "car.h"
|
||||
#include <QApplication>
|
||||
#include <QDateTime>
|
||||
|
||||
namespace {
|
||||
|
||||
// 遥控器摇杆满量程 0~4096、中位 2048；取 ±10% 死区，即 1638~2458 视为中立
|
||||
const int kAxisMid = 2048;
|
||||
const int kAxisDead = 410;
|
||||
|
||||
int axisDir(int v)
|
||||
{
|
||||
if (v > kAxisMid + kAxisDead) return +1;
|
||||
if (v < kAxisMid - kAxisDead) return -1;
|
||||
return 0;
|
||||
}
|
||||
|
||||
// 六个机械臂轴，顺序与 sendArmMove 的轴名一致（见 pages/arm.cpp）
|
||||
const char* const kArmAxes[6] = {"z", "x", "y", "roll", "pitch", "yaw"};
|
||||
|
||||
} // namespace
|
||||
|
||||
AppContext* AppContext::instance()
|
||||
{
|
||||
static AppContext* s = nullptr;
|
||||
@@ -25,18 +42,31 @@ AppContext::AppContext(QObject* parent)
|
||||
if (!m_settings->contains(keyFoamPercent()))m_settings->setValue(keyFoamPercent(), 3);
|
||||
if (!m_settings->contains(keyAirFlow())) m_settings->setValue(keyAirFlow(), 100);
|
||||
if (!m_settings->contains("param/pwd")) m_settings->setValue("param/pwd", "6789");
|
||||
if (!m_settings->contains("param/admin_pwd"))m_settings->setValue("param/admin_pwd", "6789");
|
||||
|
||||
// 通信层（UDP 收包发包）
|
||||
m_comm = new UdpCommunication(&telemetry, this);
|
||||
// 通信层（19 条 CAN 报文经 /dev/ttyS7 收发，见 comm/car.h）
|
||||
m_comm = new CarCommunication(&telemetry, this);
|
||||
|
||||
// 内置模拟车载端（离线演示：回环 UDP 收发）
|
||||
m_vehicle = new MockVehicle(this);
|
||||
// 遥控器（串口 /dev/ttyS5，24 字节二进制帧，见 comm/uart.h）
|
||||
m_rc = new RcCommunication(this);
|
||||
|
||||
// 通信层故障信号 → 写入故障历史
|
||||
connect(m_comm, &UdpCommunication::faultAppended,
|
||||
connect(m_comm, &CarCommunication::faultAppended,
|
||||
this, &AppContext::appendFault);
|
||||
|
||||
// 遥控器报文 → 模式 / 急停 / 动作 / 显示
|
||||
connect(m_rc, &RcCommunication::frameReceived, this, &AppContext::onRcFrame);
|
||||
connect(m_rc, &RcCommunication::linkChanged, this, &AppContext::onRcLinkChanged);
|
||||
|
||||
#if 0
|
||||
// 行车/机械臂模式改由底盘报文的 mode 字段决定（遥控器在线时让位给遥控器报文）。
|
||||
// 停用原因：协议 sheet RC 的 12 条下行报文里没有该 mode 字段，telemetry.driveMode
|
||||
// 无处可填，此连接只会一直把模式按 0（行车）写。待协议补充该信号后恢复。
|
||||
connect(m_comm, &CarCommunication::telemetryUpdated, this, [this]() {
|
||||
if (m_rc->linkOk()) return;
|
||||
setMode(telemetry.driveMode == 0 ? Mode::Drive : Mode::Arm);
|
||||
});
|
||||
#endif
|
||||
|
||||
seedFaultHistory();
|
||||
}
|
||||
|
||||
@@ -117,9 +147,10 @@ void AppContext::setPassword(const QString& pwd)
|
||||
m_settings->sync();
|
||||
}
|
||||
|
||||
// 管理员密码为固定值，不持久化、不可修改
|
||||
QString AppContext::adminPassword() const
|
||||
{
|
||||
return m_settings->value("param/admin_pwd", "6789").toString();
|
||||
return "9527";
|
||||
}
|
||||
|
||||
void AppContext::resetEstop()
|
||||
@@ -144,4 +175,121 @@ void AppContext::setMode(Mode m)
|
||||
if (mode == m) return;
|
||||
mode = m;
|
||||
emit modeChanged(m);
|
||||
if (m_comm) m_comm->setArmMode(m == Mode::Arm); // 同步到 Arm_ControlCmd1 的 Arm_modeCmd/Arm_enable
|
||||
}
|
||||
|
||||
// ===================== 遥控器（24 字节二进制帧） =====================
|
||||
void AppContext::onRcFrame(const RcFrame& f)
|
||||
{
|
||||
// 存入遥测快照，供界面显示
|
||||
telemetry.rcBattery = f.battery;
|
||||
telemetry.rcDriveMode = f.driveMode;
|
||||
telemetry.rcArmMode = f.armMode;
|
||||
telemetry.rcArmEnabled = f.armEnabled;
|
||||
telemetry.rcChassisEnabled = f.chassisEnabled;
|
||||
telemetry.rcEstop = f.estop;
|
||||
telemetry.rcGear = f.gear;
|
||||
telemetry.rcSteer = f.steer;
|
||||
telemetry.rcPosZ = f.posZ;
|
||||
telemetry.rcPosX = f.posX;
|
||||
telemetry.rcPosY = f.posY;
|
||||
telemetry.rcRoll = f.roll;
|
||||
telemetry.rcPitch = f.pitch;
|
||||
telemetry.rcYaw = f.yaw;
|
||||
|
||||
// 模式：bit1 机械臂模式须与 bit2 机械臂使能同时为 1 才视为机械臂
|
||||
setMode((f.armMode && f.armEnabled) ? Mode::Arm : Mode::Drive);
|
||||
|
||||
// 急停与复位都由遥控器 bit4 下发：上升沿触发，下降沿复位。面板只显示横幅提示。
|
||||
if (f.estop != m_rcEstopPrev) {
|
||||
m_rcEstopPrev = f.estop;
|
||||
if (f.estop) triggerEstop();
|
||||
else resetEstop();
|
||||
}
|
||||
|
||||
// 动作：与界面按钮同一套安全联锁（模式 + 使能 + 未急停）
|
||||
applyRcChassis(f.gear, f.steer, f.chassisEnabled);
|
||||
applyRcArm(f);
|
||||
|
||||
updateRcDriving();
|
||||
}
|
||||
|
||||
void AppContext::applyRcChassis(int gear, int steer, bool enabled)
|
||||
{
|
||||
const bool allowed = enabled && !estopTriggered && (mode == Mode::Drive);
|
||||
|
||||
const int g = allowed ? axisDir(gear) : 0;
|
||||
const int s = allowed ? axisDir(steer) : 0;
|
||||
|
||||
if (g == m_rcGearDir && s == m_rcSteerDir) return; // 方向未变，不重复发包
|
||||
m_rcGearDir = g;
|
||||
m_rcSteerDir = s;
|
||||
sendChassisCommand();
|
||||
}
|
||||
|
||||
void AppContext::applyRcArm(const RcFrame& f)
|
||||
{
|
||||
const bool allowed = f.armEnabled && !estopTriggered && (mode == Mode::Arm);
|
||||
const int vals[6] = {f.posZ, f.posX, f.posY, f.roll, f.pitch, f.yaw};
|
||||
|
||||
for (int i = 0; i < 6; ++i) {
|
||||
const int d = allowed ? axisDir(vals[i]) : 0;
|
||||
if (d == m_rcAxisDir[i]) continue; // 方向未变，不重复发包
|
||||
m_rcAxisDir[i] = d;
|
||||
m_comm->sendArmMove(QString::fromLatin1(kArmAxes[i]), d);
|
||||
}
|
||||
}
|
||||
|
||||
// 档位与转向可同时下发（边前进/后退边转向）；两者都回中才停车。
|
||||
// 仅转向（档位回中）时发 stop + turn，由车载端决定是否原地转向。
|
||||
void AppContext::sendChassisCommand()
|
||||
{
|
||||
QString dir = "stop";
|
||||
if (m_rcGearDir > 0) dir = "fwd";
|
||||
else if (m_rcGearDir < 0) dir = "back";
|
||||
|
||||
QString turn;
|
||||
if (m_rcSteerDir > 0) turn = "right";
|
||||
else if (m_rcSteerDir < 0) turn = "left";
|
||||
|
||||
if (dir == "stop" && turn.isEmpty()) {
|
||||
m_comm->sendChassisMove("stop", 0);
|
||||
return;
|
||||
}
|
||||
const double spd = (dir == "stop") ? 0.0 : getDouble(keySpeed(), 4.5);
|
||||
m_comm->sendChassisMove(dir, spd, turn);
|
||||
}
|
||||
|
||||
void AppContext::updateRcDriving()
|
||||
{
|
||||
// 遥控器正在操作：链路在线且任一已生效轴偏离中位
|
||||
bool driving = (m_rcGearDir != 0) || (m_rcSteerDir != 0);
|
||||
for (int i = 0; i < 6; ++i) {
|
||||
if (m_rcAxisDir[i] != 0) { driving = true; break; }
|
||||
}
|
||||
|
||||
if (driving == m_rcDriving) return;
|
||||
m_rcDriving = driving;
|
||||
emit rcDrivingChanged(driving);
|
||||
}
|
||||
|
||||
void AppContext::onRcLinkChanged(bool ok)
|
||||
{
|
||||
telemetry.rcLinkOk = ok;
|
||||
|
||||
if (!ok) {
|
||||
// 链路中断：撤销所有遥控器动作，否则最后一条指令会被一直挂住。
|
||||
// 不动急停状态——丢包导致的 bit4 读为 0 不应被当成遥控器下发的复位。
|
||||
if (m_rcGearDir != 0 || m_rcSteerDir != 0) {
|
||||
m_rcGearDir = 0;
|
||||
m_rcSteerDir = 0;
|
||||
m_comm->sendChassisMove("stop", 0);
|
||||
}
|
||||
for (int i = 0; i < 6; ++i) {
|
||||
if (m_rcAxisDir[i] == 0) continue;
|
||||
m_rcAxisDir[i] = 0;
|
||||
m_comm->sendArmMove(QString::fromLatin1(kArmAxes[i]), 0);
|
||||
}
|
||||
}
|
||||
updateRcDriving();
|
||||
}
|
||||
|
||||
+27
-6
@@ -5,9 +5,9 @@
|
||||
#include <QSettings>
|
||||
#include <QVector>
|
||||
#include "global.h"
|
||||
#include "uart.h"
|
||||
|
||||
class UdpCommunication;
|
||||
class MockVehicle;
|
||||
class CarCommunication;
|
||||
|
||||
// 故障历史记录
|
||||
struct FaultRecord {
|
||||
@@ -25,8 +25,8 @@ class AppContext : public QObject
|
||||
public:
|
||||
static AppContext* instance();
|
||||
|
||||
UdpCommunication* comm() const { return m_comm; }
|
||||
MockVehicle* vehicle() const { return m_vehicle; }
|
||||
CarCommunication* comm() const { return m_comm; }
|
||||
RcCommunication* rc() const { return m_rc; }
|
||||
|
||||
// 遥测数据快照（由通信层填充）
|
||||
Telemetry telemetry;
|
||||
@@ -68,17 +68,38 @@ public:
|
||||
// 模式切换（行车/机械臂，由面板机械旋钮或演示按钮触发）
|
||||
void setMode(Mode m);
|
||||
|
||||
// 遥控器：链路状态与“正在操作”判据（遥控器优先时界面按钮让位）
|
||||
bool rcDriving() const { return m_rcDriving; }
|
||||
|
||||
signals:
|
||||
void modeChanged(Mode m);
|
||||
void estopChanged(bool triggered);
|
||||
void commChanged(bool ok);
|
||||
void rcDrivingChanged(bool driving);
|
||||
|
||||
private slots:
|
||||
void onRcFrame(const RcFrame& f);
|
||||
void onRcLinkChanged(bool ok);
|
||||
|
||||
private:
|
||||
explicit AppContext(QObject* parent = nullptr);
|
||||
void seedFaultHistory();
|
||||
|
||||
void applyRcChassis(int gear, int steer, bool enabled);
|
||||
void applyRcArm(const RcFrame& f);
|
||||
void sendChassisCommand(); // 按当前档位/转向方向下发（两者可同时）
|
||||
void updateRcDriving();
|
||||
|
||||
QSettings* m_settings = nullptr;
|
||||
UdpCommunication* m_comm = nullptr;
|
||||
MockVehicle* m_vehicle = nullptr;
|
||||
CarCommunication* m_comm = nullptr;
|
||||
RcCommunication* m_rc = nullptr;
|
||||
|
||||
// 遥控器动作边沿状态：只在方向变化时下发，避免 100ms 刷屏
|
||||
int m_rcGearDir = 0; // -1=后 0=中 +1=前
|
||||
int m_rcSteerDir = 0; // -1=左 0=中 +1=右
|
||||
int m_rcAxisDir[6] = {0, 0, 0, 0, 0, 0}; // 顺序见 kArmAxes
|
||||
bool m_rcEstopPrev = false;
|
||||
bool m_rcDriving = false;
|
||||
};
|
||||
|
||||
// 便捷访问宏
|
||||
|
||||
+32
-4
@@ -1,8 +1,10 @@
|
||||
#include "global.h"
|
||||
#include <QStyle>
|
||||
#include <QApplication>
|
||||
#include <QAbstractButton>
|
||||
#include <QPushButton>
|
||||
#include <QEvent>
|
||||
#include <QKeyEvent>
|
||||
#include <QGraphicsDropShadowEffect>
|
||||
|
||||
// 启动 500ms 闪烁：每 500ms 切换一次动态属性，QSS 据此在 40%↔100% 透明度间切换
|
||||
@@ -61,7 +63,7 @@ bool ButtonFocusGlow::eventFilter(QObject* obj, QEvent* ev)
|
||||
if (ev->type() == QEvent::FocusIn) {
|
||||
if (!w->graphicsEffect()) { // 挂一圈发光（偏移 0 → 四周光晕）
|
||||
QGraphicsDropShadowEffect* g = new QGraphicsDropShadowEffect(w);
|
||||
g->setBlurRadius(55); // 光晕大小（越大越强）
|
||||
g->setBlurRadius(40); // 光晕大小（越大越强）
|
||||
g->setOffset(0, 0);
|
||||
g->setColor(m_glow);
|
||||
w->setGraphicsEffect(g);
|
||||
@@ -80,6 +82,33 @@ void installButtonFocusGlow(QApplication* app)
|
||||
app->installEventFilter(new ButtonFocusGlow(QColor("#7FBBFF"), app)); // 亮蓝，深色底更醒目
|
||||
}
|
||||
|
||||
// ===================== 方向键（旋钮）隔离 =====================
|
||||
ArrowKeyGuard::ArrowKeyGuard(QObject* parent)
|
||||
: QObject(parent)
|
||||
{
|
||||
}
|
||||
|
||||
bool ArrowKeyGuard::eventFilter(QObject* obj, QEvent* ev)
|
||||
{
|
||||
if (ev->type() == QEvent::KeyPress) {
|
||||
// 只在焦点落在按钮上时拦截：否则 QAbstractButton 会拿方向键去换焦
|
||||
QWidget* fw = QApplication::focusWidget();
|
||||
if (fw && qobject_cast<QAbstractButton*>(fw)) {
|
||||
const int k = static_cast<QKeyEvent*>(ev)->key();
|
||||
if (k == Qt::Key_Up || k == Qt::Key_Down
|
||||
|| k == Qt::Key_Left || k == Qt::Key_Right)
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return QObject::eventFilter(obj, ev);
|
||||
}
|
||||
|
||||
void installArrowKeyGuard(QApplication* app)
|
||||
{
|
||||
if (app)
|
||||
app->installEventFilter(new ArrowKeyGuard(app));
|
||||
}
|
||||
|
||||
QString appStyleSheet()
|
||||
{
|
||||
const QString s = QString(R"QSS(
|
||||
@@ -108,7 +137,6 @@ QPushButton {
|
||||
border: 1px solid BD;
|
||||
border-radius: 12px;
|
||||
font-size: 40px;
|
||||
min-height: 56px;
|
||||
}
|
||||
QPushButton:hover { background-color: PRI; color: TXT; border-color: PRI; }
|
||||
QPushButton:pressed { background-color: PRI; color: #FFFFFF; border-color: PRI; }
|
||||
@@ -165,7 +193,7 @@ QHeaderView::section {
|
||||
font-size: 40px;
|
||||
}
|
||||
QTableWidget::item { padding: 6px; }
|
||||
QTableWidget::item:selected { background-color: rgba(61,139,253,0.15); color: TXT; }
|
||||
QTableWidget::item:selected { background-color: PRI; color: #FFFFFF; }
|
||||
|
||||
/* ===== 数字键盘 ===== */
|
||||
QPushButton[numpad="true"] {
|
||||
@@ -177,7 +205,7 @@ QPushButton[numpad="true"]:pressed { background-color: PRI; color: #FFFFFF; }
|
||||
QPushButton:focus {
|
||||
background-color: PRI;
|
||||
color: #FFFFFF;
|
||||
border: 2px solid #8ABFFF;
|
||||
border: 4px solid #8ABFFF;
|
||||
}
|
||||
QPushButton:focus:disabled {
|
||||
background-color: DIS; color: DIST; border: 1px solid DIS;
|
||||
|
||||
+58
-12
@@ -12,9 +12,10 @@
|
||||
class QApplication;
|
||||
|
||||
// ===================== 画布与全局常量 =====================
|
||||
// 屏幕分辨率（1920×1080 横屏）；若部署在更低分辨率屏，可按同一比例整体缩放
|
||||
// 屏幕分辨率（1920×1200）；窗口按此固定尺寸，页面布局靠 layout 自适应，
|
||||
// 富余的垂直空间由各页的 addStretch 分配（控件像素尺寸与字号不随屏幕缩放）
|
||||
static const int SCREEN_W = 1920;
|
||||
static const int SCREEN_H = 1080;
|
||||
static const int SCREEN_H = 1200;
|
||||
|
||||
// ===================== 工业风格配色体系（QSS 十六进制） =====================
|
||||
namespace C {
|
||||
@@ -44,25 +45,32 @@ enum PageId {
|
||||
PageMgmt, // 密码管理
|
||||
PageReset, // 密码重置
|
||||
PageSelfCheck, // ④ 自检
|
||||
PageJob, // ⑤ 作业选择
|
||||
PageChassis, // ⑥ 机器人底盘
|
||||
PageArm, // ⑦ 机械臂
|
||||
PageGas, // ⑧ 气体检测仪
|
||||
PageClean, // ⑨ 手动消除
|
||||
PageDisinfect, // ⑩ 手动消毒
|
||||
PageDebug, // ⑪ 调试维护
|
||||
PageFault, // ⑫ 故障查询
|
||||
PageHome, // ⑤ 系统首页面（自检完成后进入）
|
||||
PageJob, // ⑥ 作业选择
|
||||
PageChassis, // ⑦ 机器人底盘
|
||||
PageArm, // ⑧ 机械臂
|
||||
PageGas, // ⑨ 气体检测仪
|
||||
PageClean, // ⑩ 消除作业
|
||||
PageDisinfect, // ⑪ 消毒作业
|
||||
PageDebug, // ⑫ 调试维护
|
||||
PageFault, // ⑬ 故障查询
|
||||
PageCount
|
||||
};
|
||||
|
||||
// ===================== 遥测数据（车载端 → UI） =====================
|
||||
// 由通信层解析 UDP 报文后填充，页面 500ms 定时读取刷新
|
||||
// 由通信层解析车端反馈报文后填充，页面刷新时读取
|
||||
struct Telemetry {
|
||||
// 底盘
|
||||
int soc = 85; // 电量 %
|
||||
double volt = 360.0; // 电压 V
|
||||
double speed = 3.45; // 车速 km/h
|
||||
bool handbrake = true; // 手刹
|
||||
int driveMode = 0; // 行车/机械臂模式：0=行车 1=机械臂（遥控器拨钮→串口→底盘报文 mode）
|
||||
int rdyStatus = 0; // 底盘 ready：0=初始 1=高压上电完成 2=准备就绪
|
||||
int gearPos = 0; // 挡位：0=N 1=D 2=R
|
||||
int parking = 0; // 驻车：0=未驻车 1=左电机 2=右电机 3=完全驻车
|
||||
int awdMode = 0; // 四驱模式：0=二驱 1=四驱 2=四驱锁定
|
||||
double steerAngle = 0.0; // 方向盘角度
|
||||
QStringList chassisFaults; // 底盘故障（多条 2s 轮换）
|
||||
|
||||
// 机械臂
|
||||
@@ -74,13 +82,17 @@ struct Telemetry {
|
||||
bool armHomed = false; // 是否已回位（用于底盘“机械臂未回位”告警）
|
||||
|
||||
// 洗消
|
||||
QString washMode = "--"; // 手动消除 / 手动消毒
|
||||
QString washMode = "--"; // 消除作业 / 消毒作业
|
||||
bool washStart = false; // 洗消启停反馈
|
||||
double flowA = 0.0; // A 药剂流量 L/min
|
||||
double flowB = 0.0; // B 药剂流量 L/min
|
||||
double gasFlow = 0.0; // 气体流量 L/min
|
||||
double press = 0.0; // 管路压力 MPa
|
||||
double airPress = 0.0; // 空压机压力 MPa
|
||||
double foam = 0.0; // 发泡倍数
|
||||
double flowPlungerFb = 0.0; // 柱塞泵流量反馈 L/min
|
||||
double flowAirFb = 0.0; // 空压机流量反馈 L/min
|
||||
double flowVaneFb = 0.0; // 叶片泵流量反馈 L/min
|
||||
QStringList washFaults; // 洗消故障代码
|
||||
|
||||
// 液位
|
||||
@@ -106,6 +118,23 @@ struct Telemetry {
|
||||
bool leaf = false; // 叶片泵上电
|
||||
QStringList pumpFaults; // 泵故障代码
|
||||
|
||||
// 遥控器（24 字节二进制帧，见 comm/uart.h）
|
||||
bool rcLinkOk = false; // 遥控器链路是否在线
|
||||
int rcBattery = 0; // 遥控器电量 %
|
||||
bool rcDriveMode = false; // bit0 行车模式
|
||||
bool rcArmMode = false; // bit1 机械臂模式
|
||||
bool rcArmEnabled = false; // bit2 机械臂使能
|
||||
bool rcChassisEnabled = false;// bit3 底盘使能
|
||||
bool rcEstop = false; // bit4 急停
|
||||
int rcGear = 2048; // 整车档位（底盘 Y）0~4096，中位 2048
|
||||
int rcSteer = 2048; // 整车转向（底盘 X）
|
||||
int rcPosZ = 2048; // 末端位置上下
|
||||
int rcPosX = 2048; // 末端位置左右
|
||||
int rcPosY = 2048; // 末端位置前后
|
||||
int rcRoll = 2048; // 末端姿态横滚
|
||||
int rcPitch = 2048; // 末端姿态俯仰
|
||||
int rcYaw = 2048; // 末端姿态偏航
|
||||
|
||||
// 全局
|
||||
bool commOk = true; // 通信状态
|
||||
bool estop = false; // 急停触发
|
||||
@@ -139,6 +168,23 @@ private:
|
||||
// 为整个应用安装按钮焦点光圈
|
||||
void installButtonFocusGlow(QApplication* app);
|
||||
|
||||
// ===================== 方向键（旋钮）隔离 =====================
|
||||
// 方向键在本机是"旋钮"键位，只由 ParamControl 用来调值。但 QAbstractButton 会把
|
||||
// 方向键当成沿焦点链换焦（等同 Tab/Shift+Tab），停在按钮上时按方向键焦点会乱跳。
|
||||
// 这个全局过滤器把"焦点在按钮上时"的方向键吞掉，方向键只做调值、换焦只走 Tab。
|
||||
class ArrowKeyGuard : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit ArrowKeyGuard(QObject* parent = nullptr);
|
||||
|
||||
protected:
|
||||
bool eventFilter(QObject* obj, QEvent* ev) override;
|
||||
};
|
||||
|
||||
// 为整个应用安装方向键隔离
|
||||
void installArrowKeyGuard(QApplication* app);
|
||||
|
||||
// 全局 QSS 样式表
|
||||
QString appStyleSheet();
|
||||
|
||||
|
||||
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@@ -1,5 +1,5 @@
|
||||
[param]
|
||||
speed=4.5
|
||||
speed=3.608
|
||||
pump_flow=17
|
||||
foam_ratio=6
|
||||
foam_percent=3
|
||||
|
||||
@@ -3,7 +3,7 @@ debug/mainwindow.o
|
||||
debug/global.o
|
||||
debug/appcontext.o
|
||||
debug/udpcommunication.o
|
||||
debug/mockvehicle.o
|
||||
debug/rccommunication.o
|
||||
debug/titlebar.o
|
||||
debug/statusstrip.o
|
||||
debug/ledindicator.o
|
||||
@@ -20,20 +20,19 @@ debug/passwordmgmtlogin.o
|
||||
debug/passwordmgmt.o
|
||||
debug/passwordreset.o
|
||||
debug/selfcheck.o
|
||||
debug/home.o
|
||||
debug/jobselect.o
|
||||
debug/chassis.o
|
||||
debug/arm.o
|
||||
debug/gasdetector.o
|
||||
debug/washbase.o
|
||||
debug/manualclean.o
|
||||
debug/manualdisinfect.o
|
||||
debug/washpage.o
|
||||
debug/debugmaintain.o
|
||||
debug/faultquery.o
|
||||
debug/moc_mainwindow.o
|
||||
debug/moc_global.o
|
||||
debug/moc_appcontext.o
|
||||
debug/moc_udpcommunication.o
|
||||
debug/moc_mockvehicle.o
|
||||
debug/moc_rccommunication.o
|
||||
debug/moc_titlebar.o
|
||||
debug/moc_statusstrip.o
|
||||
debug/moc_ledindicator.o
|
||||
@@ -50,12 +49,11 @@ debug/moc_passwordmgmtlogin.o
|
||||
debug/moc_passwordmgmt.o
|
||||
debug/moc_passwordreset.o
|
||||
debug/moc_selfcheck.o
|
||||
debug/moc_home.o
|
||||
debug/moc_jobselect.o
|
||||
debug/moc_chassis.o
|
||||
debug/moc_arm.o
|
||||
debug/moc_gasdetector.o
|
||||
debug/moc_washbase.o
|
||||
debug/moc_manualclean.o
|
||||
debug/moc_manualdisinfect.o
|
||||
debug/moc_washpage.o
|
||||
debug/moc_debugmaintain.o
|
||||
debug/moc_faultquery.o
|
||||
|
||||
@@ -3,7 +3,7 @@ release/mainwindow.o
|
||||
release/global.o
|
||||
release/appcontext.o
|
||||
release/udpcommunication.o
|
||||
release/mockvehicle.o
|
||||
release/rccommunication.o
|
||||
release/titlebar.o
|
||||
release/statusstrip.o
|
||||
release/ledindicator.o
|
||||
@@ -20,20 +20,19 @@ release/passwordmgmtlogin.o
|
||||
release/passwordmgmt.o
|
||||
release/passwordreset.o
|
||||
release/selfcheck.o
|
||||
release/home.o
|
||||
release/jobselect.o
|
||||
release/chassis.o
|
||||
release/arm.o
|
||||
release/gasdetector.o
|
||||
release/washbase.o
|
||||
release/manualclean.o
|
||||
release/manualdisinfect.o
|
||||
release/washpage.o
|
||||
release/debugmaintain.o
|
||||
release/faultquery.o
|
||||
release/moc_mainwindow.o
|
||||
release/moc_global.o
|
||||
release/moc_appcontext.o
|
||||
release/moc_udpcommunication.o
|
||||
release/moc_mockvehicle.o
|
||||
release/moc_rccommunication.o
|
||||
release/moc_titlebar.o
|
||||
release/moc_statusstrip.o
|
||||
release/moc_ledindicator.o
|
||||
@@ -50,12 +49,11 @@ release/moc_passwordmgmtlogin.o
|
||||
release/moc_passwordmgmt.o
|
||||
release/moc_passwordreset.o
|
||||
release/moc_selfcheck.o
|
||||
release/moc_home.o
|
||||
release/moc_jobselect.o
|
||||
release/moc_chassis.o
|
||||
release/moc_arm.o
|
||||
release/moc_gasdetector.o
|
||||
release/moc_washbase.o
|
||||
release/moc_manualclean.o
|
||||
release/moc_manualdisinfect.o
|
||||
release/moc_washpage.o
|
||||
release/moc_debugmaintain.o
|
||||
release/moc_faultquery.o
|
||||
|
||||
@@ -0,0 +1,3 @@
|
||||
[param]
|
||||
foam_ratio=6.5
|
||||
air_flow=100.1
|
||||
+868
@@ -0,0 +1,868 @@
|
||||
#include "car.h"
|
||||
#include <QApplication>
|
||||
#include <QDebug>
|
||||
#include <QSerialPort>
|
||||
#include <QSettings>
|
||||
#include <QtGlobal>
|
||||
#include <cstring>
|
||||
|
||||
namespace {
|
||||
|
||||
// ===================== 线格式 =====================
|
||||
// 一帧 = 32 位帧头 + 32 位 CAN ID + DLC + 8 字节数据 + 8 位校验和，共 18 字节。
|
||||
// 多字节字段按主机小端排列，与车载端网关一致；帧头用于在字节流中定位报文起始。
|
||||
#pragma pack(push, 1)
|
||||
struct CanFrame {
|
||||
quint32 header; // 固定帧头 0x5AA5FF00（线上字节序 00 FF A5 5A）
|
||||
quint32 canId; // 29 位扩展帧 ID，直接用于分流
|
||||
quint8 dlc; // 数据长度码，固定 8
|
||||
quint8 data[8]; // 8 字节 CAN 原生数据段
|
||||
quint8 checksum; // canId 4 字节 + dlc + data[8]，共 13 字节求和取低 8 位
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
const quint32 kFrameHeader = 0x5AA5FF00u;
|
||||
const int kFrameLen = int(sizeof(CanFrame));
|
||||
const int kDataLen = 8;
|
||||
|
||||
quint8 canChecksum(quint32 canId, quint8 dlc, const quint8* data)
|
||||
{
|
||||
quint8 sum = 0;
|
||||
for (int i = 0; i < 4; ++i) sum += quint8((canId >> (8 * i)) & 0xFF);
|
||||
sum += dlc;
|
||||
for (int i = 0; i < kDataLen; ++i) sum += data[i];
|
||||
return sum;
|
||||
}
|
||||
|
||||
// ===================== CAN ID（sheet RC） =====================
|
||||
// 分类一 遥控器控制指令（上行，7 条）
|
||||
const quint32 kIdChassisCmd = 0x18208081;
|
||||
const quint32 kIdArmCmd1 = 0x18218081;
|
||||
const quint32 kIdArmCmd2 = 0x18228081;
|
||||
const quint32 kIdDecontamCmd = 0x18238081;
|
||||
const quint32 kIdDecontamDbg = 0x18248081;
|
||||
const quint32 kIdDetectorCmd = 0x18258081;
|
||||
const quint32 kIdEmergency = 0x18268081;
|
||||
// 分类二/三 VCU 状态反馈（下行，12 条）
|
||||
const quint32 kIdVehicleFb1 = 0x18308180; // 底盘状态1 BMS
|
||||
const quint32 kIdVehicleFb2 = 0x18318180; // 底盘状态2 BMS
|
||||
const quint32 kIdArmFb1 = 0x18328180; // 机械臂状态1 末端位置
|
||||
const quint32 kIdArmFb2 = 0x18338180; // 机械臂状态2 末端姿态/速度
|
||||
const quint32 kIdArmFb3 = 0x18348180; // 机械臂状态3 关节角 J1~J4
|
||||
const quint32 kIdArmFb4 = 0x18358180; // 机械臂状态4 关节角 J5~J6
|
||||
const quint32 kIdDecontamFb1 = 0x18368180; // 洗消工作状态1
|
||||
const quint32 kIdDecontamFb2 = 0x18378180; // 洗消工作状态2
|
||||
const quint32 kIdDetectorFb1 = 0x18388180; // 检测仪结果状态1
|
||||
const quint32 kIdDetectorFb2 = 0x18398180; // 检测仪结果状态2
|
||||
const quint32 kIdVehicleFb3 = 0x183A8180; // 底盘状态3 EPS/制动故障位
|
||||
const quint32 kIdVehicleFb4 = 0x183B8180; // 底盘状态4 挡位/驻车/方向盘/制动电机
|
||||
|
||||
// ===================== 位运算 =====================
|
||||
// 分类一/二/三全部是扩展帧、信号一律 Intel（小端）：起始位即最低位序号，
|
||||
// 位序由低到高、可跨字节（如 bit47 长度 2 就横跨 byte5/byte6）。
|
||||
quint64 intelBits(const quint8* d, int start, int len)
|
||||
{
|
||||
quint64 v = 0;
|
||||
for (int i = 0; i < len; ++i) {
|
||||
const int bit = start + i;
|
||||
if (d[bit >> 3] & (1u << (bit & 7)))
|
||||
v |= quint64(1) << i;
|
||||
}
|
||||
return v;
|
||||
}
|
||||
|
||||
qint64 intelSigned(const quint8* d, int start, int len)
|
||||
{
|
||||
const quint64 raw = intelBits(d, start, len);
|
||||
const quint64 signBit = quint64(1) << (len - 1);
|
||||
return qint64((raw ^ signBit) - signBit); // 符号扩展
|
||||
}
|
||||
|
||||
void setIntelBits(quint8* d, int start, int len, quint64 v)
|
||||
{
|
||||
for (int i = 0; i < len; ++i) {
|
||||
const int bit = start + i;
|
||||
const quint8 mask = quint8(1u << (bit & 7));
|
||||
if (v & (quint64(1) << i)) d[bit >> 3] |= mask;
|
||||
else d[bit >> 3] &= quint8(~mask);
|
||||
}
|
||||
}
|
||||
|
||||
// 物理值 = 总线原始整数值 × 精度 + 偏移量
|
||||
double phys(quint64 raw, double scale, double offset = 0.0)
|
||||
{
|
||||
return double(raw) * scale + offset;
|
||||
}
|
||||
|
||||
// ===================== 协议配置文件 =====================
|
||||
// 与 AppContext 用同一份 config.ini（程序目录）。
|
||||
QString cfgPath()
|
||||
{
|
||||
return QApplication::applicationDirPath() + "/config.ini";
|
||||
}
|
||||
|
||||
// ===================== 故障码 → 中文 =====================
|
||||
struct CodeText { quint8 code; const char* text; };
|
||||
|
||||
const char* lookup(const CodeText* tbl, int n, quint8 code)
|
||||
{
|
||||
for (int i = 0; i < n; ++i)
|
||||
if (tbl[i].code == code) return tbl[i].text;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
const CodeText kMcuFaults[] = {
|
||||
{6, "电机缺相预警"}, {17, "控制器过温警告"}, {18, "电机过温警告"},
|
||||
{19, "控制器温度传感器警告"}, {20, "电机温度传感器警告"}, {21, "控制器过载警告"},
|
||||
{22, "电机超速警告"}, {23, "直流母线电压过压警告"}, {24, "直流母线电压欠压警告"},
|
||||
{35, "电流霍尔传感U相器故障"}, {36, "电流霍尔传感W相器故障"}, {37, "VCU报文丢失故障"},
|
||||
{38, "VCU循环计数错误"}, {39, "VCU校验和错误"}, {40, "CAN BussOff故障"},
|
||||
{49, "母线硬件过压故障"}, {50, "相电流硬件过流故障"}, {51, "IGBT短路故障"},
|
||||
{52, "驱动欠压故障"}, {53, "旋变故障"}, {54, "电机超速故障"},
|
||||
{55, "低压电源过压故障"}, {56, "低压电源欠压故障"}, {57, "直流母线电压过压故障"},
|
||||
{58, "直流母线电压欠压故障"}, {59, "控制器过温故障"}, {60, "电机过温故障"},
|
||||
{61, "电机缺相故障"}, {62, "驻坡失效故障"},
|
||||
};
|
||||
|
||||
const CodeText kAirCompFaults[] = {
|
||||
{2, "加速过流"}, {3, "减速过流"}, {4, "恒速过流"}, {5, "加速过压"},
|
||||
{6, "减速过压"}, {7, "恒速过压"}, {8, "缓冲过载"}, {9, "欠压"},
|
||||
{10, "控制器过载"}, {11, "电机过载"}, {12, "输入缺相"}, {13, "输出缺相"},
|
||||
{14, "模块过热"}, {15, "外部故障"}, {16, "通信异常"}, {17, "接触器异常"},
|
||||
{18, "电流检测故障"}, {19, "自学习故障"}, {20, "编码器故障"}, {21, "参数读写异常"},
|
||||
{22, "变频器硬件故障"}, {23, "电机对地短路故障"}, {31, "PID反馈丢失"},
|
||||
{40, "快速限流超时故障"}, {42, "速度偏差过大"}, {43, "电机超速"}, {45, "电机过温"},
|
||||
{90, "编码器线数设定错误"}, {91, "未接编码器"}, {92, "初始位置错误"}, {94, "速度反馈错误"},
|
||||
};
|
||||
|
||||
const CodeText kPlungerFaults[] = {
|
||||
{1, "短路故障"}, {2, "欠压"}, {3, "过压"}, {4, "控制器过温"},
|
||||
{5, "控制器温度传感器故障"}, {6, "电机过温"}, {7, "电机温度传感器故障"},
|
||||
};
|
||||
|
||||
const CodeText kCommFaults[] = {
|
||||
{1, "底盘电机通信异常"}, {2, "底盘BMS通信异常"}, {3, "机械臂通信异常"},
|
||||
{4, "空压机通信异常"}, {5, "柱塞泵通信异常"}, {6, "叶片泵通信异常"},
|
||||
{7, "气体检测仪通信异常"}, {8, "遥控器通信异常"},
|
||||
};
|
||||
|
||||
const CodeText kDetectorWarns[] = {
|
||||
{1, "进气嘴未接"}, {2, "氢气流量不足"}, {4, "仪器故障"}, {8, "浓度过高"},
|
||||
};
|
||||
|
||||
// 底盘状态3（0x183A8180）的 46 个 1 bit 故障标志（bit0~bit45）
|
||||
const char* const kVsb3Bits[46] = {
|
||||
"EPS转子角未对中", "EPS转子角度断开", "EPS转子角度SPI故障", "EPSEEPROM故障",
|
||||
"EPS方向盘中点未对中", "EPS方向盘角度超限", "EPS方向盘小齿信号断开", "EPS方向盘中齿信号断开",
|
||||
"EPS过电流故障", "EPS电机A相电流异常", "EPS电机C相电流异常", "EPS电机B相电流异常",
|
||||
"EPSVCU信号丢失", "EPS电机无助力", "EPS预驱配置失败", "EPS半堵转保护",
|
||||
"EPS温度热保护", "EPS电压管理保护", "EPS转角响应不到位", "EPS转子角度PWM故障",
|
||||
"EPS电压校验异常", "EPS热敏电阻开路或短路", "EPS热敏电阻温差过大",
|
||||
"制动器过载故障", "制动器过温或过压故障", "制动器过流故障", "制动器电源欠压故障",
|
||||
"制动器电源过压故障", "制动器压力不足", "制动器缺相故障", "制动器通讯故障",
|
||||
"制动器电流采样故障", "制动器驱动故障", "制动器磁编故障", "制动器压力传感器故障",
|
||||
"制动器踏板位置传感器故障", "制动器机械故障", "制动器堵转故障", "制动器急停按键闭合警告",
|
||||
"制动器驻车时间过长", "制动器CAN1中断警告", "制动器CAN2中断警告", "制动器点火线断开警告",
|
||||
"制动器电流异常警告", "制动器温度过高警告", "制动器输入电压过高警告",
|
||||
};
|
||||
|
||||
// 各路 *_FaultLevel 统一为 0 正常 / 1~3 故障等级
|
||||
const char* const kLevels[4] = {"", "一级故障", "二级故障", "三级故障"};
|
||||
|
||||
// 制动电机状态（Brake_*_Mot_fault）：0x00~0x07
|
||||
const char* const kBrakeMotFaults[8] = {
|
||||
"", "电机开路", "电机短路", "制动执行超时", "解除制动执行超时",
|
||||
"驱动电路故障", "供电电压过低", "供电电压过高",
|
||||
};
|
||||
|
||||
void addFault(QVector<CanFault>& out, const QString& system, const char* codePrefix,
|
||||
quint8 code, const char* text)
|
||||
{
|
||||
if (!text) return;
|
||||
CanFault f;
|
||||
f.system = system;
|
||||
f.code = QString::fromLatin1(codePrefix) + QString::number(code);
|
||||
f.desc = QString::fromUtf8(text);
|
||||
out.append(f);
|
||||
}
|
||||
|
||||
// 未在码表中登记的码也上报，避免“有故障但界面无提示”
|
||||
void addFaultByCode(QVector<CanFault>& out, const QString& system, const char* codePrefix,
|
||||
const CodeText* tbl, int n, quint8 code)
|
||||
{
|
||||
if (code == 0) return;
|
||||
const char* t = lookup(tbl, n, code);
|
||||
if (t) addFault(out, system, codePrefix, code, t);
|
||||
else {
|
||||
CanFault f;
|
||||
f.system = system;
|
||||
f.code = QString::fromLatin1(codePrefix) + QString::number(code);
|
||||
f.desc = QString::fromLatin1(codePrefix) + QString::number(code);
|
||||
out.append(f);
|
||||
}
|
||||
}
|
||||
|
||||
// 故障等级：>0 才上报，描述形如“单体电压过低二级故障”
|
||||
void addLevelFault(QVector<CanFault>& out, const QString& system, const char* codePrefix,
|
||||
const char* name, quint8 level)
|
||||
{
|
||||
if (level == 0 || level > 3) return;
|
||||
CanFault f;
|
||||
f.system = system;
|
||||
f.code = QString::fromLatin1(codePrefix) + QString::number(level);
|
||||
f.desc = QString::fromUtf8(name) + QString::fromUtf8(kLevels[level]);
|
||||
out.append(f);
|
||||
}
|
||||
|
||||
const char* const kSysChassis = "机器人底盘";
|
||||
const char* const kSysWash = "洗消系统";
|
||||
const char* const kSysDetector = "气体检测仪";
|
||||
|
||||
} // namespace
|
||||
|
||||
// ===================== 构造与生命周期 =====================
|
||||
CarCommunication::CarCommunication(Telemetry* tel, QObject* parent)
|
||||
: QObject(parent), m_tel(tel)
|
||||
{
|
||||
m_serial = new QSerialPort(this);
|
||||
connect(m_serial, &QSerialPort::readyRead, this, &CarCommunication::onReadyRead);
|
||||
|
||||
// 串口配置与 AppContext 共用 config.ini（默认 /dev/ttyS7，500000 8N1）
|
||||
QSettings s(cfgPath(), QSettings::IniFormat);
|
||||
m_device = s.value("car/device", "/dev/ttyS7").toString();
|
||||
m_baud = s.value("car/baud", 500000).toInt();
|
||||
m_selfCheckFault = s.value("net/selfcheck_fault", true).toBool();
|
||||
|
||||
// 洗消四参数按存盘值初始化，否则开机帧发的是硬编码初值而非用户设定值。
|
||||
// INI 读回的是文本（"6.5"），须用 toDouble 解析；协议字段都是整数，四舍五入取整。
|
||||
m_plungerFlow = qRound(qBound(0.0, s.value("param/pump_flow", 20).toDouble(), 24.0));
|
||||
m_foamRatio = qRound(qBound(6.0, s.value("param/foam_ratio", 6).toDouble(), 12.0));
|
||||
m_foamPercent = qRound(qBound(0.0, s.value("param/foam_percent", 3).toDouble(), 10.0));
|
||||
m_airFlow = qRound(qBound(0.0, s.value("param/air_flow", 100).toDouble(), 340.0));
|
||||
|
||||
// 通信超时判定：最慢的下行报文周期 1000ms，连续 2s 无任何合法帧 → 通信异常
|
||||
m_hbTimer = new QTimer(this);
|
||||
m_hbTimer->setInterval(2000);
|
||||
connect(m_hbTimer, &QTimer::timeout, this, &CarCommunication::onHeartbeatTimeout);
|
||||
|
||||
// 上行周期定时器，周期取自协议「报文周期时间」列
|
||||
m_fastTimer = new QTimer(this); // 50ms：底盘 / 机械臂 / 急停
|
||||
m_fastTimer->setInterval(50);
|
||||
connect(m_fastTimer, &QTimer::timeout, this, &CarCommunication::onSendFast);
|
||||
|
||||
m_midTimer = new QTimer(this); // 100ms：洗消指令 / 洗消调试
|
||||
m_midTimer->setInterval(100);
|
||||
connect(m_midTimer, &QTimer::timeout, this, &CarCommunication::onSendMid);
|
||||
|
||||
m_slowTimer = new QTimer(this); // 1000ms：气体检测仪
|
||||
m_slowTimer->setInterval(1000);
|
||||
connect(m_slowTimer, &QTimer::timeout, this, &CarCommunication::onSendSlow);
|
||||
|
||||
// 本端自检序列（见 onSelfCheckTick 的 TODO）
|
||||
m_selfCheckTimer = new QTimer(this);
|
||||
m_selfCheckTimer->setInterval(450);
|
||||
connect(m_selfCheckTimer, &QTimer::timeout, this, &CarCommunication::onSelfCheckTick);
|
||||
|
||||
if (m_tel) m_tel->js.resize(6);
|
||||
}
|
||||
|
||||
CarCommunication::~CarCommunication()
|
||||
{
|
||||
stop();
|
||||
}
|
||||
|
||||
bool CarCommunication::start()
|
||||
{
|
||||
if (m_serial->isOpen())
|
||||
return true;
|
||||
|
||||
m_serial->setPortName(m_device);
|
||||
m_serial->setBaudRate(m_baud);
|
||||
m_serial->setDataBits(QSerialPort::Data8);
|
||||
m_serial->setStopBits(QSerialPort::OneStop);
|
||||
m_serial->setParity(QSerialPort::NoParity);
|
||||
m_serial->setFlowControl(QSerialPort::NoFlowControl);
|
||||
|
||||
if (!m_serial->open(QIODevice::ReadWrite)) {
|
||||
// 开发机（Windows）没有 /dev/ttyS7 时走这里：不启动定时器，界面显示通信异常
|
||||
qWarning() << "车端串口打开失败:" << m_device << m_serial->errorString();
|
||||
setCommOk(false);
|
||||
return false;
|
||||
}
|
||||
m_buf.clear();
|
||||
m_hbTimer->start();
|
||||
m_fastTimer->start();
|
||||
m_midTimer->start();
|
||||
m_slowTimer->start();
|
||||
return true;
|
||||
}
|
||||
|
||||
void CarCommunication::stop()
|
||||
{
|
||||
m_hbTimer->stop();
|
||||
m_fastTimer->stop();
|
||||
m_midTimer->stop();
|
||||
m_slowTimer->stop();
|
||||
m_selfCheckTimer->stop();
|
||||
if (m_serial->isOpen()) m_serial->close();
|
||||
m_buf.clear();
|
||||
}
|
||||
|
||||
void CarCommunication::setCommOk(bool ok)
|
||||
{
|
||||
if (ok == m_lastCommOk) return;
|
||||
m_lastCommOk = ok;
|
||||
if (m_tel) m_tel->commOk = ok;
|
||||
emit commOkChanged(ok);
|
||||
}
|
||||
|
||||
// ===================== 收包与分流 =====================
|
||||
void CarCommunication::onReadyRead()
|
||||
{
|
||||
m_buf.append(m_serial->readAll());
|
||||
|
||||
// 串口是字节流：逐字节找帧头，校验不过则右移一字节继续找（容忍粘包、拆包与杂包）。
|
||||
// 尾部不足一帧的残段留在 m_buf 里等下次数据。
|
||||
int off = 0;
|
||||
while (off + kFrameLen <= m_buf.size()) {
|
||||
CanFrame f;
|
||||
std::memcpy(&f, m_buf.constData() + off, kFrameLen);
|
||||
if (f.header == kFrameHeader && f.dlc == kDataLen
|
||||
&& f.checksum == canChecksum(f.canId, f.dlc, f.data)) {
|
||||
handleFrame(f.canId, f.data);
|
||||
off += kFrameLen;
|
||||
} else {
|
||||
++off;
|
||||
}
|
||||
}
|
||||
if (off > 0) m_buf.remove(0, off);
|
||||
|
||||
// 防御：长期收不到帧头时缓冲会一直涨，超过上限只保留尾部一帧长度
|
||||
if (m_buf.size() > 4096) m_buf.remove(0, m_buf.size() - kFrameLen);
|
||||
}
|
||||
|
||||
void CarCommunication::handleFrame(quint32 canId, const quint8* d)
|
||||
{
|
||||
if (!m_tel) return;
|
||||
|
||||
// 收到任意合法帧即刷新链路（CAN 无独立心跳报文）
|
||||
m_hbTimer->start();
|
||||
setCommOk(true);
|
||||
|
||||
switch (canId) {
|
||||
// ---------- 0x18308180 底盘状态1（BMS）：电池总况与故障等级 ----------
|
||||
case kIdVehicleFb1: {
|
||||
m_tel->volt = phys(intelBits(d, 0, 16), 0.1);
|
||||
m_tel->soc = int(phys(intelBits(d, 16, 16), 0.1));
|
||||
|
||||
m_vsf1Faults.clear();
|
||||
addFaultByCode(m_vsf1Faults, QString::fromUtf8(kSysChassis), "MCU",
|
||||
kMcuFaults, int(sizeof(kMcuFaults) / sizeof(CodeText)),
|
||||
quint8(intelBits(d, 32, 8)));
|
||||
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "MCUL",
|
||||
"底盘电机", quint8(intelBits(d, 40, 2)));
|
||||
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "CELLL",
|
||||
"单体电压过低", quint8(intelBits(d, 45, 2)));
|
||||
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "CELLHL",
|
||||
"单体电压过高", quint8(intelBits(d, 47, 2)));
|
||||
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "VOLTL",
|
||||
"总电压过低", quint8(intelBits(d, 49, 2)));
|
||||
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "VOLTHL",
|
||||
"总电压过高", quint8(intelBits(d, 51, 2)));
|
||||
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "DLTPL",
|
||||
"放电低温", quint8(intelBits(d, 53, 2)));
|
||||
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "DHTPL",
|
||||
"放电高温", quint8(intelBits(d, 55, 2)));
|
||||
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "CLTPL",
|
||||
"充电低温", quint8(intelBits(d, 57, 2)));
|
||||
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "CHTPL",
|
||||
"充电高温", quint8(intelBits(d, 59, 2)));
|
||||
addLevelFault(m_vsf1Faults, QString::fromUtf8(kSysChassis), "TIL",
|
||||
"温度不均衡", quint8(intelBits(d, 61, 2)));
|
||||
break;
|
||||
}
|
||||
|
||||
// ---------- 0x18318180 底盘状态2（BMS）：手刹 / 车速 / 继电器 / 通信 ----------
|
||||
case kIdVehicleFb2: {
|
||||
m_vsf2Faults.clear();
|
||||
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "VIL",
|
||||
"压差不均衡", quint8(intelBits(d, 0, 2)));
|
||||
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "DOCL",
|
||||
"放电过流", quint8(intelBits(d, 2, 2)));
|
||||
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "COCL",
|
||||
"充电过流", quint8(intelBits(d, 4, 2)));
|
||||
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "INCL",
|
||||
"内部通讯", quint8(intelBits(d, 6, 2)));
|
||||
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "EXCL",
|
||||
"外部通讯", quint8(intelBits(d, 8, 2)));
|
||||
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "SOCL",
|
||||
"SOC过低", quint8(intelBits(d, 10, 2)));
|
||||
addLevelFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), "INSL",
|
||||
"绝缘", quint8(intelBits(d, 12, 2)));
|
||||
|
||||
// 继电器粘连：0=正常 非 0=故障
|
||||
struct { int bit; const char* name; const char* code; } relays[] = {
|
||||
{14, "加热继电器粘连", "HEATW"},
|
||||
{16, "充电继电器粘连", "CHGW"},
|
||||
{18, "总负继电器粘连", "NEGW"},
|
||||
{20, "总正继电器粘连", "POSW"},
|
||||
};
|
||||
for (const auto& r : relays) {
|
||||
if (intelBits(d, r.bit, 2) != 0)
|
||||
addFault(m_vsf2Faults, QString::fromUtf8(kSysChassis), r.code, 1, r.name);
|
||||
}
|
||||
|
||||
m_tel->handbrake = intelBits(d, 22, 2) != 0;
|
||||
// Vehi_spd：协议表为 8 位、精度 0.01（0~2.55 km/h）。其后 Vehi_RdyStatus(32)、
|
||||
// Reserve(34)、All_Comm_FaultCode(40) 的起始位与 8 位布局自洽，故按协议取值。
|
||||
m_tel->speed = phys(intelBits(d, 24, 8), 0.01);
|
||||
m_tel->rdyStatus = int(intelBits(d, 32, 2));
|
||||
|
||||
const quint8 comm = quint8(intelBits(d, 40, 8)); // All_Comm_FaultCode
|
||||
addFaultByCode(m_vsf2Faults, QString::fromUtf8(kSysChassis), "COMM",
|
||||
kCommFaults, int(sizeof(kCommFaults) / sizeof(CodeText)), comm);
|
||||
break;
|
||||
}
|
||||
|
||||
// ---------- 0x183A8180 底盘状态3：EPS / 制动故障位 ----------
|
||||
case kIdVehicleFb3: {
|
||||
m_vsf3Faults.clear();
|
||||
for (int i = 0; i < 46; ++i) {
|
||||
if (intelBits(d, i, 1) != 0)
|
||||
addFault(m_vsf3Faults, QString::fromUtf8(kSysChassis), "EPS", quint8(i),
|
||||
kVsb3Bits[i]);
|
||||
}
|
||||
const quint8 eps = quint8(intelBits(d, 48, 8));
|
||||
if (eps != 0) {
|
||||
CanFault f;
|
||||
f.system = QString::fromUtf8(kSysChassis);
|
||||
f.code = QString("EPSC") + QString::number(eps);
|
||||
f.desc = QString("EPS故障码") + QString::number(eps);
|
||||
m_vsf3Faults.append(f);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
// ---------- 0x183B8180 底盘状态4：挡位 / 驻车 / 方向盘 / 制动电机 ----------
|
||||
case kIdVehicleFb4: {
|
||||
m_vsf4Faults.clear();
|
||||
m_tel->gearPos = int(intelBits(d, 0, 2)); // 0=N 1=D 2=R
|
||||
m_tel->parking = int(intelBits(d, 2, 2)); // 0=未驻车 1=左电机 2=右电机 3=完全驻车
|
||||
m_tel->awdMode = int(intelBits(d, 4, 2)); // 0=二驱 1=四驱 2=四驱锁定
|
||||
m_tel->steerAngle = double(intelBits(d, 8, 16));
|
||||
|
||||
const quint8 align = quint8(intelBits(d, 24, 8));
|
||||
if (align == 0x11) addFault(m_vsf4Faults, QString::fromUtf8(kSysChassis), "ALIGN", 1, "方向盘对中失败");
|
||||
else if (align != 0xEE && align != 0x55)
|
||||
addFault(m_vsf4Faults, QString::fromUtf8(kSysChassis), "ALIGN", 0, "方向盘未对中");
|
||||
|
||||
// 注：协议表把两个信号的“信号值描述”写反了（Brake_Right 描述成左电机、
|
||||
// Brake_Left 描述成右电机），此处以信号名为准。
|
||||
const quint8 br = quint8(intelBits(d, 32, 8));
|
||||
if (br != 0) addFault(m_vsf4Faults, QString::fromUtf8(kSysChassis), "BRKR", br,
|
||||
br < 8 ? kBrakeMotFaults[br] : "制动电机故障");
|
||||
const quint8 bl = quint8(intelBits(d, 40, 8));
|
||||
if (bl != 0) addFault(m_vsf4Faults, QString::fromUtf8(kSysChassis), "BRKL", bl,
|
||||
bl < 8 ? kBrakeMotFaults[bl] : "制动电机故障");
|
||||
break;
|
||||
}
|
||||
|
||||
// ---------- 0x18328180 机械臂状态1：末端位置 ----------
|
||||
case kIdArmFb1: {
|
||||
m_tel->pos = QString("X:%1 Y:%2 Z:%3")
|
||||
.arg(intelSigned(d, 0, 16))
|
||||
.arg(intelSigned(d, 16, 16))
|
||||
.arg(intelSigned(d, 32, 16));
|
||||
break;
|
||||
}
|
||||
// ---------- 0x18338180 机械臂状态2：末端姿态与末端速度 ----------
|
||||
case kIdArmFb2: {
|
||||
m_tel->pose = QString("RX:%1 RY:%2 RZ:%3")
|
||||
.arg(intelSigned(d, 0, 16))
|
||||
.arg(intelSigned(d, 16, 16))
|
||||
.arg(intelSigned(d, 32, 16));
|
||||
m_tel->vel = double(intelSigned(d, 48, 8));
|
||||
break;
|
||||
}
|
||||
// ---------- 0x18348180 机械臂状态3：关节角 J1~J4 ----------
|
||||
case kIdArmFb3: {
|
||||
if (m_tel->js.size() < 6) m_tel->js.resize(6);
|
||||
for (int i = 0; i < 4; ++i)
|
||||
m_tel->js[i] = double(intelSigned(d, i * 16, 16));
|
||||
break;
|
||||
}
|
||||
// ---------- 0x18358180 机械臂状态4：关节角 J5~J6 ----------
|
||||
case kIdArmFb4: {
|
||||
if (m_tel->js.size() < 6) m_tel->js.resize(6);
|
||||
m_tel->js[4] = double(intelSigned(d, 0, 16));
|
||||
m_tel->js[5] = double(intelSigned(d, 16, 16));
|
||||
break;
|
||||
}
|
||||
|
||||
// ---------- 0x18368180 洗消工作状态1：模式 / 泵 / 球阀 / 液位 / 流量 ----------
|
||||
case kIdDecontamFb1: {
|
||||
const quint8 mode = quint8(intelBits(d, 0, 2));
|
||||
m_tel->washMode = (mode == 3) ? QString::fromUtf8("消毒作业")
|
||||
: (mode == 2) ? QString::fromUtf8("消除作业")
|
||||
: QString("--");
|
||||
m_tel->washStart = intelBits(d, 2, 1) != 0;
|
||||
m_tel->plunger = intelBits(d, 3, 1) != 0;
|
||||
m_tel->air = intelBits(d, 4, 1) != 0;
|
||||
m_tel->leaf = intelBits(d, 5, 1) != 0;
|
||||
|
||||
m_tel->d1open = intelBits(d, 8, 1) != 0;
|
||||
m_tel->d1close = !m_tel->d1open;
|
||||
m_tel->d2open = intelBits(d, 9, 1) != 0;
|
||||
m_tel->d2close = !m_tel->d2open;
|
||||
|
||||
m_washFaults.clear();
|
||||
if (intelBits(d, 10, 1) != 0) // Sys_fault：无分路码，只报总故障
|
||||
addFault(m_washFaults, QString::fromUtf8(kSysWash), "SYS", 1, "洗消系统故障");
|
||||
if (intelBits(d, 6, 1) != 0)
|
||||
addFault(m_washFaults, QString::fromUtf8(kSysWash), "LVL", 1, "A组分/清水液位低");
|
||||
if (intelBits(d, 7, 1) != 0)
|
||||
addFault(m_washFaults, QString::fromUtf8(kSysWash), "LVL", 2, "B组分液位低");
|
||||
|
||||
m_tel->levelA = double(intelBits(d, 16, 8));
|
||||
m_tel->levelFoam = double(intelBits(d, 24, 8));
|
||||
m_tel->flowA = double(intelBits(d, 32, 8));
|
||||
m_tel->flowB = double(intelBits(d, 40, 8));
|
||||
m_tel->gasFlow = double(intelBits(d, 48, 8));
|
||||
m_tel->foam = double(intelBits(d, 56, 8));
|
||||
break;
|
||||
}
|
||||
// ---------- 0x18378180 洗消工作状态2：压力 / 流量反馈 / 泵故障码 ----------
|
||||
case kIdDecontamFb2: {
|
||||
m_tel->press = phys(intelBits(d, 0, 8), 0.1);
|
||||
m_tel->airPress = phys(intelBits(d, 8, 8), 0.1);
|
||||
m_tel->flowPlungerFb = double(intelBits(d, 16, 8));
|
||||
m_tel->flowAirFb = double(intelBits(d, 32, 8));
|
||||
m_tel->flowVaneFb = double(intelBits(d, 40, 8));
|
||||
|
||||
m_pumpFaults.clear();
|
||||
addFaultByCode(m_pumpFaults, QString::fromUtf8(kSysWash), "AIR",
|
||||
kAirCompFaults, int(sizeof(kAirCompFaults) / sizeof(CodeText)),
|
||||
quint8(intelBits(d, 48, 8)));
|
||||
addFaultByCode(m_pumpFaults, QString::fromUtf8(kSysWash), "PLG",
|
||||
kPlungerFaults, int(sizeof(kPlungerFaults) / sizeof(CodeText)),
|
||||
quint8(intelBits(d, 56, 8)));
|
||||
break;
|
||||
}
|
||||
|
||||
// ---------- 0x18388180 检测仪结果状态1：状态 / 毒物种类与等级 / 告警 ----------
|
||||
case kIdDetectorFb1: {
|
||||
const quint8 sta = quint8(intelBits(d, 0, 8));
|
||||
const quint8 warn = quint8(intelBits(d, 24, 8));
|
||||
// 2=计算目标基线 3=等待稳定 4=检测 5=等待点火 6=确定初始基线
|
||||
m_tel->gasHost = (warn & 0x04) ? QString("fault")
|
||||
: (sta == 4) ? QString("detecting")
|
||||
: QString("standby");
|
||||
|
||||
// Toxic_types 是位组合：1=P类 2=S类 4=HNO类 8=CH类 16=AS类
|
||||
const quint8 types = quint8(intelBits(d, 8, 8));
|
||||
static const struct { quint8 bit; const char* name; } kTypes[] = {
|
||||
{1, "P类"}, {2, "S类"}, {4, "HNO类"}, {8, "CH类"}, {16, "AS类"},
|
||||
};
|
||||
QStringList names;
|
||||
for (const auto& t : kTypes)
|
||||
if (types & t.bit) names << QString::fromUtf8(t.name);
|
||||
m_tel->gasType = names.isEmpty() ? QString("--") : names.join("/");
|
||||
|
||||
const quint8 lvl = quint8(intelBits(d, 16, 8));
|
||||
m_tel->gasLevel = (lvl >= 1 && lvl <= 5) ? QString("%1级").arg(lvl) : QString("--");
|
||||
|
||||
m_detectorFaults.clear();
|
||||
for (const CodeText& w : kDetectorWarns)
|
||||
if (warn & w.code)
|
||||
m_detectorFaults.append(CanFault{QString::fromUtf8(kSysDetector),
|
||||
QString::fromLatin1("W") + QString::number(w.code),
|
||||
QString::fromUtf8(w.text)});
|
||||
break;
|
||||
}
|
||||
// ---------- 0x18398180 检测仪结果状态2：40 位浓度（ppb） ----------
|
||||
case kIdDetectorFb2: {
|
||||
m_tel->gasConc = double(intelBits(d, 0, 40));
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
return; // 未知 canId 不触发刷新（分类四本次未实现）
|
||||
}
|
||||
|
||||
cacheFaults();
|
||||
emit telemetryUpdated();
|
||||
}
|
||||
|
||||
// 把各帧的故障合并进 Telemetry，并把“新出现”的故障写入故障历史
|
||||
void CarCommunication::cacheFaults()
|
||||
{
|
||||
if (!m_tel) return;
|
||||
|
||||
const QVector<QVector<CanFault>*> groups = {
|
||||
&m_vsf1Faults, &m_vsf2Faults, &m_vsf3Faults, &m_vsf4Faults,
|
||||
};
|
||||
QStringList chassis;
|
||||
for (const QVector<CanFault>* g : groups)
|
||||
for (const CanFault& f : *g) chassis << f.desc;
|
||||
m_tel->chassisFaults = chassis;
|
||||
|
||||
QStringList wash;
|
||||
for (const CanFault& f : m_washFaults) wash << f.desc;
|
||||
for (const CanFault& f : m_detectorFaults) wash << f.desc;
|
||||
m_tel->washFaults = wash;
|
||||
|
||||
QStringList pump;
|
||||
for (const CanFault& f : m_pumpFaults) pump << f.desc;
|
||||
m_tel->pumpFaults = pump;
|
||||
|
||||
// 周期报文会反复报到同一故障，只在首次出现时写故障历史
|
||||
const QVector<QVector<CanFault>*> all = {
|
||||
&m_vsf1Faults, &m_vsf2Faults, &m_vsf3Faults, &m_vsf4Faults,
|
||||
&m_washFaults, &m_pumpFaults, &m_detectorFaults,
|
||||
};
|
||||
for (const QVector<CanFault>* g : all) {
|
||||
for (const CanFault& f : *g) {
|
||||
const QString key = f.system + "|" + f.code;
|
||||
if (m_reportedFaults.contains(key)) continue;
|
||||
m_reportedFaults.insert(key);
|
||||
emit faultAppended(f.system, f.code, f.desc);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ===================== 发包 =====================
|
||||
void CarCommunication::sendFrame(quint32 canId, const quint8* data)
|
||||
{
|
||||
if (!m_serial->isOpen()) return;
|
||||
|
||||
CanFrame f;
|
||||
f.header = kFrameHeader;
|
||||
f.canId = canId;
|
||||
f.dlc = kDataLen;
|
||||
std::memcpy(f.data, data, kDataLen);
|
||||
f.checksum = canChecksum(canId, f.dlc, f.data);
|
||||
m_serial->write(reinterpret_cast<const char*>(&f), kFrameLen);
|
||||
}
|
||||
|
||||
// 50ms 组：Chassis_ControlCmd / Arm_ControlCmd1 / Arm_ControlCmd2 / Emergency_Cmd
|
||||
void CarCommunication::onSendFast()
|
||||
{
|
||||
{
|
||||
quint8 d[8] = {0};
|
||||
setIntelBits(d, 0, 1, 1); // Chassis_modeCmd 有效
|
||||
setIntelBits(d, 1, 2, 0); // MCU_modeCmd 底盘预留
|
||||
setIntelBits(d, 3, 1, 1); // MCU_enable 有效
|
||||
setIntelBits(d, 4, 4, 0); // Reserve 置 0
|
||||
setIntelBits(d, 8, 16, m_gear);
|
||||
setIntelBits(d, 24, 16, m_targetSpd);
|
||||
setIntelBits(d, 40, 16, m_turning);
|
||||
sendFrame(kIdChassisCmd, d);
|
||||
}
|
||||
{
|
||||
quint8 d[8] = {0};
|
||||
setIntelBits(d, 0, 1, m_armMode ? 1 : 0); // Arm_modeCmd
|
||||
setIntelBits(d, 1, 1, m_armMode ? 1 : 0); // Arm_enable
|
||||
setIntelBits(d, 2, 6, 0); // Reserve
|
||||
setIntelBits(d, 8, 16, m_updown);
|
||||
setIntelBits(d, 24, 16, m_leftright);
|
||||
setIntelBits(d, 40, 16, m_frontrear);
|
||||
sendFrame(kIdArmCmd1, d);
|
||||
}
|
||||
{
|
||||
quint8 d[8] = {0};
|
||||
setIntelBits(d, 0, 16, m_roll);
|
||||
setIntelBits(d, 16, 16, m_pitch);
|
||||
setIntelBits(d, 32, 16, m_yaw);
|
||||
setIntelBits(d, 48, 8, m_homingPause);
|
||||
sendFrame(kIdArmCmd2, d);
|
||||
}
|
||||
{
|
||||
quint8 d[8] = {0};
|
||||
setIntelBits(d, 0, 8, m_emergStop);
|
||||
sendFrame(kIdEmergency, d);
|
||||
}
|
||||
}
|
||||
|
||||
// 100ms 组：Decontam_ControlCmd / Decontam_DebugCmd
|
||||
void CarCommunication::onSendMid()
|
||||
{
|
||||
{
|
||||
quint8 d[8] = {0};
|
||||
setIntelBits(d, 0, 2, m_decontamMode);
|
||||
setIntelBits(d, 2, 1, m_decontamStart ? 1 : 0);
|
||||
setIntelBits(d, 3, 5, 0); // Reserve 置 0
|
||||
|
||||
// 发泡倍数 / 泡沫比例 / 空压机流量 / 柱塞泵流量：均由页面保存时经 sendSetParam
|
||||
// 写入缓存（构造时先按 config.ini 初始化），这里直接读缓存组帧，不再每帧读文件。
|
||||
// 取值范围按协议「信号值描述」列收口：发泡倍数 6-12 倍、泡沫比例 0-10%、
|
||||
// 空压机流量 0-340 L/min；界面 ParamControl 的可调范围与之一致。
|
||||
setIntelBits(d, 8, 8, quint64(qBound(6, m_foamRatio, 12)));
|
||||
setIntelBits(d, 16, 8, quint64(qBound(0, m_foamPercent, 10)));
|
||||
setIntelBits(d, 24, 8, quint64(qBound(0, m_airFlow, 340)));
|
||||
setIntelBits(d, 32, 8, quint64(qBound(0, m_plungerFlow, 24)));
|
||||
sendFrame(kIdDecontamCmd, d);
|
||||
}
|
||||
{
|
||||
quint8 d[8] = {0};
|
||||
setIntelBits(d, 0, 1, m_debugMode ? 1 : 0);
|
||||
setIntelBits(d, 1, 1, m_plungerOn ? 1 : 0);
|
||||
setIntelBits(d, 2, 1, m_airOn ? 1 : 0);
|
||||
setIntelBits(d, 3, 1, m_vaneOn ? 1 : 0);
|
||||
setIntelBits(d, 4, 1, m_d1Open ? 1 : 0);
|
||||
setIntelBits(d, 5, 1, m_d2Open ? 1 : 0);
|
||||
setIntelBits(d, 6, 2, 0); // Debug_Reserve1
|
||||
setIntelBits(d, 8, 16, quint64(qBound(0, int(m_airRpm), 3000)));
|
||||
setIntelBits(d, 24, 16, quint64(qBound(0, int(m_plungerRpm), 1450)));
|
||||
setIntelBits(d, 40, 16, quint64(qBound(0, int(m_vaneRpm), 2000)));
|
||||
// 界面每个泵只有一组“启动/停止”，上电与启动同源
|
||||
setIntelBits(d, 56, 1, m_airOn ? 1 : 0);
|
||||
setIntelBits(d, 57, 1, m_plungerOn ? 1 : 0);
|
||||
setIntelBits(d, 58, 1, m_vaneOn ? 1 : 0);
|
||||
sendFrame(kIdDecontamDbg, d);
|
||||
}
|
||||
}
|
||||
|
||||
// 1000ms 组：Detector_ControlCmd
|
||||
void CarCommunication::onSendSlow()
|
||||
{
|
||||
quint8 d[8] = {0};
|
||||
setIntelBits(d, 0, 8, m_detectorCmd);
|
||||
sendFrame(kIdDetectorCmd, d);
|
||||
}
|
||||
|
||||
// ===================== 上行命令 → 控制状态 =====================
|
||||
void CarCommunication::sendChassisMove(const QString& dir, double speed, const QString& turn)
|
||||
{
|
||||
// 档位推杆量：后 0 / 中 2048 / 前 4096
|
||||
if (dir == "fwd") m_gear = 4096;
|
||||
else if (dir == "back") m_gear = 0;
|
||||
else m_gear = kRcAxisMid;
|
||||
|
||||
// 转向推杆量：左 0 / 中 2048 / 右 4096
|
||||
if (turn == "left") m_turning = 0;
|
||||
else if (turn == "right") m_turning = 4096;
|
||||
else m_turning = kRcAxisMid;
|
||||
|
||||
// Vehi_TargetSpd 精度 0.01 km/h，量程 0~500（即 0~5.00 km/h）
|
||||
m_targetSpd = quint16(qBound(0, int(qRound(speed * 100.0)), 500));
|
||||
}
|
||||
|
||||
void CarCommunication::sendArmMove(const QString& axis, int dir)
|
||||
{
|
||||
// 轴位推杆量：dir +1 / -1 / 0 → 4096 / 0 / 中位
|
||||
const quint16 v = (dir > 0) ? 4096 : (dir < 0) ? 0 : kRcAxisMid;
|
||||
|
||||
if (axis == "z") m_updown = v;
|
||||
else if (axis == "x") m_leftright = v;
|
||||
else if (axis == "y") m_frontrear = v;
|
||||
else if (axis == "roll") m_roll = v;
|
||||
else if (axis == "pitch") m_pitch = v;
|
||||
else if (axis == "yaw") m_yaw = v;
|
||||
}
|
||||
|
||||
void CarCommunication::sendArmReturn()
|
||||
{
|
||||
m_homingPause = 0xAA; // 系统回位
|
||||
}
|
||||
|
||||
void CarCommunication::sendArmPause()
|
||||
{
|
||||
m_homingPause = 0x55; // 暂停回位
|
||||
}
|
||||
|
||||
void CarCommunication::sendGasStart()
|
||||
{
|
||||
m_detectorCmd = 0xAA; // 启动检测
|
||||
}
|
||||
|
||||
void CarCommunication::sendGasStop()
|
||||
{
|
||||
m_detectorCmd = 0x55; // 停止检测
|
||||
}
|
||||
|
||||
void CarCommunication::sendWashStart(const QString& mode)
|
||||
{
|
||||
m_decontamMode = (mode == "disinfect") ? 3 : 2; // 3=手动消毒 2=手动消除
|
||||
m_decontamStart = true;
|
||||
}
|
||||
|
||||
void CarCommunication::sendWashStop()
|
||||
{
|
||||
m_decontamStart = false;
|
||||
}
|
||||
|
||||
void CarCommunication::sendBallValve(int valve, bool open)
|
||||
{
|
||||
if (valve == 1) m_d1Open = open;
|
||||
else m_d2Open = open;
|
||||
m_debugMode = true; // 球阀属于调试指令
|
||||
}
|
||||
|
||||
void CarCommunication::sendPumpPower(const QString& pump, bool on)
|
||||
{
|
||||
if (pump == "plunger") m_plungerOn = on;
|
||||
else if (pump == "air") m_airOn = on;
|
||||
else if (pump == "leaf") m_vaneOn = on; // 叶片泵 → VanePump
|
||||
m_debugMode = true;
|
||||
}
|
||||
|
||||
void CarCommunication::sendPumpRpm(const QString& pump, int rpm)
|
||||
{
|
||||
if (pump == "plunger") m_plungerRpm = quint16(qBound(0, rpm, 1450));
|
||||
else if (pump == "air") m_airRpm = quint16(qBound(0, rpm, 3000));
|
||||
else if (pump == "leaf") m_vaneRpm = quint16(qBound(0, rpm, 2000));
|
||||
}
|
||||
|
||||
void CarCommunication::sendSetParam(const QString& key, double value)
|
||||
{
|
||||
// 参数缓存与 config.ini 同源：页面保存时先落盘再调这里，周期帧只读缓存。
|
||||
if (key == "param/speed")
|
||||
m_targetSpd = quint16(qBound(0, int(qRound(value * 100.0)), 500));
|
||||
else if (key == "param/pump_flow")
|
||||
// 字段是 0~24 的整数，界面刻度是 0.1：必须四舍五入而不是截断，
|
||||
// 否则 0.1 累加出的尾差（面板 5.0 实际存 4.9999999999999982）会下发成 4
|
||||
m_plungerFlow = qRound(qBound(0.0, value, 24.0));
|
||||
else if (key == "param/foam_ratio")
|
||||
m_foamRatio = qRound(qBound(6.0, value, 12.0));
|
||||
else if (key == "param/foam_percent")
|
||||
m_foamPercent = qRound(qBound(0.0, value, 10.0));
|
||||
else if (key == "param/air_flow")
|
||||
m_airFlow = qRound(qBound(0.0, value, 340.0));
|
||||
}
|
||||
|
||||
void CarCommunication::sendSelfCheckStart()
|
||||
{
|
||||
m_selfCheckIndex = 0;
|
||||
m_selfCheckTimer->start();
|
||||
}
|
||||
|
||||
void CarCommunication::sendEstop()
|
||||
{
|
||||
m_emergStop = 0x55;
|
||||
}
|
||||
|
||||
void CarCommunication::sendEstopReset()
|
||||
{
|
||||
m_emergStop = 0;
|
||||
}
|
||||
|
||||
// TODO：CAN 矩阵（sheet RC）没有自检报文，故暂由本端跑完 10 项序列，仅为维持
|
||||
// ④自检 → ⑤作业选择 的流程不中断（onSelfCheckDone 是唯一点亮“作业选择”的地方）。
|
||||
// 拿到真实自检报文后，改为解析该报文并删除此本地驱动。
|
||||
void CarCommunication::onSelfCheckTick()
|
||||
{
|
||||
bool ok = true;
|
||||
if (m_selfCheckFault && m_selfCheckIndex == 6) ok = false; // 演示：球阀D1关闭故障
|
||||
emit selfCheckItem(m_selfCheckIndex, ok);
|
||||
|
||||
++m_selfCheckIndex;
|
||||
if (m_selfCheckIndex >= 10) {
|
||||
m_selfCheckTimer->stop();
|
||||
emit selfCheckDone(!m_selfCheckFault);
|
||||
}
|
||||
}
|
||||
|
||||
void CarCommunication::onHeartbeatTimeout()
|
||||
{
|
||||
setCommOk(false);
|
||||
}
|
||||
+152
@@ -0,0 +1,152 @@
|
||||
#ifndef CAR_H
|
||||
#define CAR_H
|
||||
|
||||
#include <QByteArray>
|
||||
#include <QObject>
|
||||
#include <QSet>
|
||||
#include <QString>
|
||||
#include <QTimer>
|
||||
#include <QVector>
|
||||
#include "global.h"
|
||||
|
||||
class QSerialPort;
|
||||
|
||||
// 摇杆量协议范围 0~4096，中位 2048（分类一各轴、Vehi_gear/Vehi_turning 通用）
|
||||
static const int kRcAxisMid = 2048;
|
||||
|
||||
// CAN 反馈只给故障码，这里带上系统与中文描述：
|
||||
// system 取界面故障历史既有的四个分组名，desc 供页面直接显示，code 供故障查询追溯。
|
||||
struct CanFault {
|
||||
QString system;
|
||||
QString code;
|
||||
QString desc;
|
||||
};
|
||||
|
||||
// ===================== 车端通信层（CAN 报文经 /dev/ttyS7 串口收发） =====================
|
||||
// 依据《洗消机器人遥控器通信协议20260810》sheet RC 实现的 19 条报文：
|
||||
// 上行 分类一 7 条（遥控器 → 车端）：Chassis_ControlCmd / Arm_ControlCmd1 / Arm_ControlCmd2 /
|
||||
// Decontam_ControlCmd / Decontam_DebugCmd / Detector_ControlCmd / Emergency_Cmd，
|
||||
// 按协议「报文周期时间」列分 50 / 100 / 1000ms 三组重发；
|
||||
// 下行 分类二/三 12 条（车端 → 遥控器）：底盘 4 条、机械臂 4 条、洗消 2 条、气体检测仪 2 条，
|
||||
// 按 canId 分流转 handleFrame() 写入 Telemetry。
|
||||
// 全部为 29 位扩展帧、信号一律 Intel（小端）位序。
|
||||
// 串口是字节流，故线上帧统一为 18 字节：帧头 0x5AA5FF00 + canId + DLC + 8 字节数据 + 校验和。
|
||||
// 通信超时判定：连续 2s 未收到任何合法帧则判为通信异常（最慢的下行周期 1000ms）。
|
||||
class CarCommunication : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit CarCommunication(Telemetry* tel, QObject* parent = nullptr);
|
||||
~CarCommunication() override;
|
||||
|
||||
bool start();
|
||||
void stop();
|
||||
QString deviceName() const { return m_device; }
|
||||
|
||||
// 行车/机械臂模式（面板旋钮或遥控器报文）→ Arm_ControlCmd1 的 Arm_modeCmd / Arm_enable
|
||||
void setArmMode(bool arm) { m_armMode = arm; }
|
||||
|
||||
// ---------- 上行命令（分类一）----------
|
||||
// 命令只更新本端控制状态，实际报文由周期定时器编码发送（CAN 控制帧本就是周期报文）。
|
||||
// turn 非空（"left"/"right"）时与 dir 同时下发，支持边前进/后退边转向
|
||||
void sendChassisMove(const QString& dir, double speed, const QString& turn = QString());
|
||||
void sendArmMove(const QString& axis, int dir); // dir: +1 / -1 / 0(停止)
|
||||
void sendArmReturn();
|
||||
void sendArmPause();
|
||||
void sendGasStart();
|
||||
void sendGasStop();
|
||||
void sendWashStart(const QString& mode); // "clean" / "disinfect"
|
||||
void sendWashStop();
|
||||
void sendBallValve(int valve, bool open); // valve: 1=D1, 2=D2
|
||||
void sendPumpPower(const QString& pump, bool on); // "plunger"/"air"/"leaf"
|
||||
void sendPumpRpm(const QString& pump, int rpm);
|
||||
void sendSetParam(const QString& key, double value);
|
||||
void sendSelfCheckStart(); // 启动本端自检序列（不发 CAN）
|
||||
void sendEstop();
|
||||
void sendEstopReset();
|
||||
|
||||
signals:
|
||||
void telemetryUpdated(); // 任意遥测包到达（页面据此刷新）
|
||||
void commOkChanged(bool ok); // 通信状态变化
|
||||
void selfCheckItem(int index, bool ok); // 自检单项结果（0~9）
|
||||
void selfCheckDone(bool allOk); // 自检完成
|
||||
void faultAppended(const QString& system, const QString& code, const QString& desc);
|
||||
|
||||
private slots:
|
||||
void onReadyRead();
|
||||
void onSendFast(); // 50ms 组：底盘 / 机械臂 / 急停
|
||||
void onSendMid(); // 100ms 组：洗消指令 / 洗消调试
|
||||
void onSendSlow(); // 1000ms 组：气体检测仪
|
||||
void onHeartbeatTimeout();
|
||||
void onSelfCheckTick();
|
||||
|
||||
private:
|
||||
// 收包：按 canId 分流；发包：18 字节封帧后写串口
|
||||
void handleFrame(quint32 canId, const quint8* d);
|
||||
void sendFrame(quint32 canId, const quint8* data);
|
||||
void cacheFaults();
|
||||
void setCommOk(bool ok);
|
||||
|
||||
Telemetry* m_tel = nullptr;
|
||||
QSerialPort* m_serial = nullptr;
|
||||
QByteArray m_buf; // 串口字节流缓冲：帧头滑窗重同步用
|
||||
QTimer* m_hbTimer = nullptr;
|
||||
QTimer* m_fastTimer = nullptr;
|
||||
QTimer* m_midTimer = nullptr;
|
||||
QTimer* m_slowTimer = nullptr;
|
||||
QTimer* m_selfCheckTimer = nullptr;
|
||||
|
||||
QString m_device = "/dev/ttyS7";
|
||||
int m_baud = 500000;
|
||||
bool m_lastCommOk = true;
|
||||
|
||||
bool m_armMode = false;
|
||||
|
||||
// 本地自检序列（CAN 矩阵无自检报文，见 .cpp TODO）
|
||||
int m_selfCheckIndex = 0;
|
||||
bool m_selfCheckFault = true;
|
||||
|
||||
// ---- 分类一 上行控制状态 ----
|
||||
// Chassis_ControlCmd 0x18208081
|
||||
quint16 m_gear = kRcAxisMid; // Vehi_gear：后 0 / 中 2048 / 前 4096
|
||||
quint16 m_turning = kRcAxisMid; // Vehi_turning：左 0 / 中 2048 / 右 4096
|
||||
quint16 m_targetSpd = 0; // Vehi_TargetSpd，精度 0.01，0~500（0~5.00 km/h）
|
||||
|
||||
// Arm_ControlCmd1/2 0x18218081 / 0x18228081 —— 六轴位 0~4096
|
||||
quint16 m_updown = kRcAxisMid;
|
||||
quint16 m_leftright = kRcAxisMid;
|
||||
quint16 m_frontrear = kRcAxisMid;
|
||||
quint16 m_roll = kRcAxisMid;
|
||||
quint16 m_pitch = kRcAxisMid;
|
||||
quint16 m_yaw = kRcAxisMid;
|
||||
quint8 m_homingPause = 0x55; // System_homing_pause：0xAA=系统回位 0x55=暂停回位
|
||||
|
||||
// Decontam_ControlCmd 0x18238081
|
||||
// 四个参数缓存与 config.ini 的 param/* 同源：构造时按存盘值初始化，
|
||||
// 页面保存时经 sendSetParam 更新，周期帧只读缓存（不再每帧读文件）。
|
||||
quint8 m_decontamMode = 0; // 2=手动消除 3=手动消毒
|
||||
bool m_decontamStart = false;
|
||||
int m_plungerFlow = 20; // PlungerPump_flow，L/min，0~24（param/pump_flow）
|
||||
int m_foamRatio = 6; // Expansion_ratioCmd，倍，6~12（param/foam_ratio）
|
||||
int m_foamPercent = 3; // Foam_ratio，%，0~10（param/foam_percent）
|
||||
int m_airFlow = 100; // AirComp_flow，L/min，0~340（param/air_flow）
|
||||
|
||||
// Decontam_DebugCmd 0x18248081
|
||||
bool m_debugMode = false; // 0=正常模式 1=调试模式（球阀/泵操作置 1）
|
||||
bool m_plungerOn = false, m_airOn = false, m_vaneOn = false;
|
||||
bool m_d1Open = false, m_d2Open = false;
|
||||
quint16 m_airRpm = 0, m_plungerRpm = 0, m_vaneRpm = 0;
|
||||
|
||||
// Detector_ControlCmd 0x18258081 / Emergency_Cmd 0x18268081
|
||||
quint8 m_detectorCmd = 0x55; // 0xAA=启动检测 0x55=停止检测
|
||||
quint8 m_emergStop = 0; // 0x55=急停 0=正常
|
||||
|
||||
// ---- 下行故障缓存 ----
|
||||
// 底盘故障由 VSFB1~4 四帧共同构成，各自重建后再合并，避免互相覆盖。
|
||||
// 气体检测仪告警周期 1000ms、洗消故障 200ms，分开存放，否则后到的会把先到的清掉。
|
||||
QVector<CanFault> m_vsf1Faults, m_vsf2Faults, m_vsf3Faults, m_vsf4Faults;
|
||||
QVector<CanFault> m_washFaults, m_pumpFaults, m_detectorFaults;
|
||||
QSet<QString> m_reportedFaults; // 已记入故障历史的“系统|码”，周期性报文只上报新增故障
|
||||
};
|
||||
|
||||
#endif // CAR_H
|
||||
@@ -1,223 +0,0 @@
|
||||
#include "mockvehicle.h"
|
||||
#include <QSettings>
|
||||
#include <QJsonDocument>
|
||||
#include <QJsonObject>
|
||||
#include <QJsonArray>
|
||||
#include <QHostAddress>
|
||||
#include <QNetworkDatagram>
|
||||
#include <QtMath>
|
||||
|
||||
MockVehicle::MockVehicle(QObject* parent)
|
||||
: QObject(parent)
|
||||
{
|
||||
QSettings s;
|
||||
m_localPort = s.value("net/local_port", 9000).toInt(); // 发送到遥控端
|
||||
m_remotePort = s.value("net/remote_port", 9001).toInt(); // 本端监听
|
||||
m_enabled = s.value("net/mock", true).toBool();
|
||||
m_plantSelfCheckFault = s.value("net/selfcheck_fault", false).toBool();
|
||||
|
||||
if (!m_enabled)
|
||||
return;
|
||||
|
||||
m_socket = new QUdpSocket(this);
|
||||
m_socket->bind(QHostAddress::AnyIPv4, m_remotePort,
|
||||
QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
|
||||
connect(m_socket, &QUdpSocket::readyRead, this, &MockVehicle::onReadyRead);
|
||||
|
||||
m_sendTimer = new QTimer(this);
|
||||
connect(m_sendTimer, &QTimer::timeout, this, &MockVehicle::onSendTick);
|
||||
m_sendTimer->start(500);
|
||||
|
||||
m_selfCheckTimer = new QTimer(this);
|
||||
connect(m_selfCheckTimer, &QTimer::timeout, this, &MockVehicle::onSelfCheckTick);
|
||||
}
|
||||
|
||||
void MockVehicle::sendJson(const QJsonObject& obj)
|
||||
{
|
||||
QByteArray data = QJsonDocument(obj).toJson(QJsonDocument::Compact);
|
||||
m_socket->writeDatagram(data, QHostAddress("127.0.0.1"), m_localPort);
|
||||
}
|
||||
|
||||
void MockVehicle::onReadyRead()
|
||||
{
|
||||
while (m_socket->hasPendingDatagrams()) {
|
||||
QNetworkDatagram dg = m_socket->receiveDatagram();
|
||||
QJsonParseError err;
|
||||
QJsonDocument doc = QJsonDocument::fromJson(dg.data(), &err);
|
||||
if (err.error == QJsonParseError::NoError && doc.isObject())
|
||||
handleCommand(doc.object());
|
||||
}
|
||||
}
|
||||
|
||||
void MockVehicle::handleCommand(const QJsonObject& o)
|
||||
{
|
||||
const QString t = o.value("t").toString();
|
||||
|
||||
if (t == "chassis_move") {
|
||||
const QString dir = o.value("dir").toString();
|
||||
m_speed = o.value("speed").toDouble();
|
||||
if (dir == "stop") m_speed = 0;
|
||||
} else if (t == "arm_move") {
|
||||
int d = o.value("dir").toInt();
|
||||
if (d == 0) return;
|
||||
if (m_js.size() >= 6)
|
||||
m_js[1] = qBound(-90.0, m_js[1] + d * 1.0, 90.0);
|
||||
} else if (t == "arm_return") {
|
||||
m_armReturn = "returning";
|
||||
m_armHomed = false;
|
||||
} else if (t == "arm_pause") {
|
||||
m_armReturn = "idle";
|
||||
} else if (t == "gas_start") {
|
||||
m_gasRunning = true;
|
||||
} else if (t == "gas_stop") {
|
||||
m_gasRunning = false;
|
||||
} else if (t == "wash_start") {
|
||||
m_washRunning = true;
|
||||
m_washMode = (o.value("mode").toString() == "disinfect") ? "手动消毒" : "手动消除";
|
||||
m_pPlunger = true; m_pAir = true; m_pLeaf = true;
|
||||
} else if (t == "wash_stop") {
|
||||
m_washRunning = false;
|
||||
m_pPlunger = false; m_pAir = false; m_pLeaf = false;
|
||||
} else if (t == "ball_valve") {
|
||||
int v = o.value("valve").toInt();
|
||||
bool open = o.value("open").toBool();
|
||||
if (v == 1) m_valve1Open = open;
|
||||
else m_valve2Open = open;
|
||||
} else if (t == "pump_power") {
|
||||
const QString p = o.value("pump").toString();
|
||||
bool on = o.value("on").toBool();
|
||||
if (p == "plunger") m_pPlunger = on;
|
||||
else if (p == "air") m_pAir = on;
|
||||
else if (p == "leaf") m_pLeaf = on;
|
||||
} else if (t == "pump_rpm") {
|
||||
const QString p = o.value("pump").toString();
|
||||
int rpm = o.value("rpm").toInt();
|
||||
if (p == "plunger") m_plungerRpm = rpm;
|
||||
else if (p == "air") m_airRpm = rpm;
|
||||
else if (p == "leaf") m_leafRpm = rpm;
|
||||
} else if (t == "selfcheck_start") {
|
||||
m_selfCheckActive = true;
|
||||
m_selfCheckIndex = 0;
|
||||
m_selfCheckTimer->start(450);
|
||||
} else if (t == "estop") {
|
||||
m_estop = true;
|
||||
m_washRunning = false; m_gasRunning = false;
|
||||
m_pPlunger = false; m_pAir = false; m_pLeaf = false;
|
||||
QJsonObject o2; o2["t"] = "estop"; o2["triggered"] = true;
|
||||
sendJson(o2);
|
||||
} else if (t == "estop_reset") {
|
||||
m_estop = false;
|
||||
QJsonObject o2; o2["t"] = "estop"; o2["triggered"] = false;
|
||||
sendJson(o2);
|
||||
}
|
||||
// set_param 仅用于演示，无需额外处理
|
||||
}
|
||||
|
||||
void MockVehicle::onSendTick()
|
||||
{
|
||||
sendHeartbeat();
|
||||
sendTelemetry();
|
||||
}
|
||||
|
||||
void MockVehicle::sendHeartbeat()
|
||||
{
|
||||
QJsonObject o; o["t"] = "heartbeat"; o["ok"] = true;
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void MockVehicle::sendTelemetry()
|
||||
{
|
||||
// 底盘
|
||||
{
|
||||
QJsonObject o;
|
||||
QJsonArray faults;
|
||||
if (m_estop) faults << QStringLiteral("急停触发");
|
||||
o["t"] = "chassis";
|
||||
o["soc"] = 85; o["volt"] = 360.0; o["speed"] = m_speed;
|
||||
o["handbrake"] = true; o["faults"] = faults;
|
||||
sendJson(o);
|
||||
}
|
||||
// 机械臂
|
||||
{
|
||||
if (m_armReturn == "returning") {
|
||||
bool allZero = true;
|
||||
for (double& a : m_js) { if (qAbs(a) > 1.0) a *= 0.7; else a = 0; if (qAbs(a) > 0.1) allZero = false; }
|
||||
if (allZero) { m_armReturn = "done"; m_armHomed = true; }
|
||||
}
|
||||
QJsonObject o;
|
||||
QJsonArray js;
|
||||
for (double a : m_js) js << a;
|
||||
o["t"] = "arm";
|
||||
o["js"] = js;
|
||||
o["pos"] = QString("X:%1 Y:%2 Z:%3").arg(1200).arg(300).arg(800);
|
||||
o["pose"] = "RX:0 RY:0 RZ:0";
|
||||
o["vel"] = (m_armReturn == "returning") ? 0.5 : 0.0;
|
||||
o["return_state"] = m_armReturn;
|
||||
o["homed"] = m_armHomed;
|
||||
sendJson(o);
|
||||
}
|
||||
// 洗消
|
||||
{
|
||||
QJsonObject o;
|
||||
o["t"] = "wash";
|
||||
o["mode"] = m_washRunning ? m_washMode : "--";
|
||||
o["flowA"] = m_washRunning ? 20.0 : 0.0;
|
||||
o["flowB"] = m_washRunning ? 0.5 : 0.0;
|
||||
o["gasFlow"] = m_washRunning ? 100.0 : 0.0;
|
||||
o["press"] = m_washRunning ? 0.3 : 0.0;
|
||||
o["airPress"] = m_washRunning ? 0.35 : 0.0;
|
||||
o["foam"] = (m_washMode == "手动消毒") ? 6.0 : 8.0;
|
||||
o["faults"] = QJsonArray();
|
||||
sendJson(o);
|
||||
}
|
||||
// 液位
|
||||
{
|
||||
QJsonObject o; o["t"] = "tank"; o["a"] = 100.0; o["foam"] = 30.0;
|
||||
sendJson(o);
|
||||
}
|
||||
// 气体检测仪
|
||||
{
|
||||
static int step = 0; step++;
|
||||
double conc = m_gasRunning ? 250.0 + 50.0 * qSin(step * 0.4) : 0.0;
|
||||
QJsonObject o;
|
||||
o["t"] = "gas";
|
||||
o["host"] = m_gasRunning ? "detecting" : "standby";
|
||||
o["type"] = m_gasRunning ? "S类" : "--";
|
||||
o["level"] = m_gasRunning ? "2级" : "--";
|
||||
o["conc"] = qMax(0.0, conc);
|
||||
sendJson(o);
|
||||
}
|
||||
// 球阀
|
||||
{
|
||||
QJsonObject o;
|
||||
o["t"] = "valve";
|
||||
o["d1open"] = m_valve1Open; o["d1close"] = !m_valve1Open;
|
||||
o["d2open"] = m_valve2Open; o["d2close"] = !m_valve2Open;
|
||||
o["fault"] = "";
|
||||
sendJson(o);
|
||||
}
|
||||
// 泵
|
||||
{
|
||||
QJsonObject o;
|
||||
o["t"] = "pump";
|
||||
o["plunger"] = m_pPlunger; o["air"] = m_pAir; o["leaf"] = m_pLeaf;
|
||||
o["faults"] = QJsonArray();
|
||||
sendJson(o);
|
||||
}
|
||||
}
|
||||
|
||||
void MockVehicle::onSelfCheckTick()
|
||||
{
|
||||
// 自检 10 项：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/球阀D1开/球阀D1关/球阀D2开/球阀D2关
|
||||
bool ok = true;
|
||||
if (m_plantSelfCheckFault && m_selfCheckIndex == 6) ok = false; // 球阀D1关闭故障
|
||||
QJsonObject o; o["t"] = "selfcheck"; o["item"] = m_selfCheckIndex; o["ok"] = ok;
|
||||
sendJson(o);
|
||||
m_selfCheckIndex++;
|
||||
if (m_selfCheckIndex >= 10) {
|
||||
m_selfCheckTimer->stop();
|
||||
m_selfCheckActive = false;
|
||||
QJsonObject o2; o2["t"] = "selfcheck_done"; o2["all_ok"] = !m_plantSelfCheckFault;
|
||||
sendJson(o2);
|
||||
}
|
||||
}
|
||||
@@ -1,58 +0,0 @@
|
||||
#ifndef MOCKVEHICLE_H
|
||||
#define MOCKVEHICLE_H
|
||||
|
||||
#include <QObject>
|
||||
#include <QUdpSocket>
|
||||
#include <QTimer>
|
||||
#include <QVector>
|
||||
|
||||
// ===================== 内置模拟车载端（离线演示） =====================
|
||||
// 以独立 UDP 套接字在回环地址上与遥控端通信：向 UI 端口周期发送遥测，
|
||||
// 接收并响应 UI 下发的控制命令（行驶/机械臂/球阀/泵/洗消/自检/急停等）。
|
||||
class MockVehicle : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit MockVehicle(QObject* parent = nullptr);
|
||||
bool enabled() const { return m_enabled; }
|
||||
|
||||
private slots:
|
||||
void onReadyRead();
|
||||
void onSendTick();
|
||||
void onSelfCheckTick();
|
||||
|
||||
private:
|
||||
void sendJson(const QJsonObject& obj);
|
||||
void sendTelemetry();
|
||||
void sendHeartbeat();
|
||||
void handleCommand(const QJsonObject& o);
|
||||
|
||||
QUdpSocket* m_socket = nullptr;
|
||||
QTimer* m_sendTimer = nullptr;
|
||||
QTimer* m_selfCheckTimer = nullptr;
|
||||
|
||||
int m_localPort = 9000; // 遥控端收包端口（本端发送目标）
|
||||
int m_remotePort = 9001; // 本端绑定端口（遥控端发包目标）
|
||||
bool m_enabled = true;
|
||||
bool m_plantSelfCheckFault = false;
|
||||
|
||||
// 模拟车辆状态
|
||||
bool m_estop = false;
|
||||
bool m_gasRunning = false;
|
||||
bool m_washRunning = false;
|
||||
QString m_washMode = "手动消除";
|
||||
bool m_valve1Open = false; // D1 控制状态（开/关）
|
||||
bool m_valve2Open = false;
|
||||
bool m_pPlunger = false, m_pAir = false, m_pLeaf = false;
|
||||
double m_speed = 3.45;
|
||||
int m_airRpm = 300, m_plungerRpm = 200, m_leafRpm = 200;
|
||||
QVector<double> m_js{30, 20, 0, 90, 45, 0};
|
||||
bool m_armHomed = true;
|
||||
QString m_armReturn = "idle";
|
||||
|
||||
// 自检序列
|
||||
bool m_selfCheckActive = false;
|
||||
int m_selfCheckIndex = 0;
|
||||
};
|
||||
|
||||
#endif // MOCKVEHICLE_H
|
||||
+151
@@ -0,0 +1,151 @@
|
||||
#include "uart.h"
|
||||
#include <QApplication>
|
||||
#include <QDebug>
|
||||
#include <QSerialPort>
|
||||
#include <QSettings>
|
||||
|
||||
namespace {
|
||||
|
||||
const int kFrameLen = 24;
|
||||
const quint8 kHead = 0x11;
|
||||
const quint8 kTail = 0x22;
|
||||
|
||||
// 收不到帧头时缓冲上限，超过则只保留尾部一帧长度，避免长期涨下去
|
||||
const int kBufMax = 1024;
|
||||
|
||||
// 小端无符号 16 位
|
||||
inline int leU16(const char* p)
|
||||
{
|
||||
return int(quint8(p[0]) | (quint8(p[1]) << 8));
|
||||
}
|
||||
|
||||
// 摇杆量按协议范围 0~4096 收口（外部输入，越界值不采信）
|
||||
inline int axis(const char* p)
|
||||
{
|
||||
return qBound(0, leU16(p), 4096);
|
||||
}
|
||||
|
||||
// 校验帧头、帧尾与和校验（BYTE0~BYTE22 之和的低 8 位）
|
||||
bool parseFrame(const char* d, RcFrame& f)
|
||||
{
|
||||
if (quint8(d[0]) != kHead || quint8(d[22]) != kTail)
|
||||
return false;
|
||||
|
||||
quint8 sum = 0;
|
||||
for (int i = 0; i < 23; ++i)
|
||||
sum += quint8(d[i]);
|
||||
if (sum != quint8(d[23]))
|
||||
return false;
|
||||
|
||||
const quint8 flags = quint8(d[1]);
|
||||
f.driveMode = (flags & 0x01) != 0;
|
||||
f.armMode = (flags & 0x02) != 0;
|
||||
f.armEnabled = (flags & 0x04) != 0;
|
||||
f.chassisEnabled = (flags & 0x08) != 0;
|
||||
f.estop = (flags & 0x10) != 0;
|
||||
|
||||
f.gear = axis(d + 3);
|
||||
f.steer = axis(d + 5);
|
||||
f.posZ = axis(d + 7);
|
||||
f.posX = axis(d + 9);
|
||||
f.posY = axis(d + 11);
|
||||
f.roll = axis(d + 13);
|
||||
f.pitch = axis(d + 15);
|
||||
f.yaw = axis(d + 17);
|
||||
|
||||
f.battery = qBound(0, int(quint8(d[19])), 100);
|
||||
return true;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
RcCommunication::RcCommunication(QObject* parent)
|
||||
: QObject(parent)
|
||||
{
|
||||
m_serial = new QSerialPort(this);
|
||||
connect(m_serial, &QSerialPort::readyRead, this, &RcCommunication::onReadyRead);
|
||||
|
||||
// 与 AppContext 共用程序目录的 config.ini：默认构造读不到 rc/* 这些键
|
||||
// （本工程没有 setOrganizationName/setApplicationName）
|
||||
QSettings s(QApplication::applicationDirPath() + "/config.ini", QSettings::IniFormat);
|
||||
m_device = s.value("rc/device", "/dev/ttyS5").toString();
|
||||
m_baud = s.value("rc/baud", 115200).toInt();
|
||||
|
||||
// 协议发送周期 100ms，连续 500ms 无合法帧判为链路断开
|
||||
m_linkTimer = new QTimer(this);
|
||||
m_linkTimer->setInterval(500);
|
||||
connect(m_linkTimer, &QTimer::timeout, this, &RcCommunication::onLinkTimeout);
|
||||
}
|
||||
|
||||
RcCommunication::~RcCommunication()
|
||||
{
|
||||
stop();
|
||||
}
|
||||
|
||||
bool RcCommunication::start()
|
||||
{
|
||||
if (m_serial->isOpen())
|
||||
return true;
|
||||
|
||||
m_serial->setPortName(m_device);
|
||||
m_serial->setBaudRate(m_baud);
|
||||
m_serial->setDataBits(QSerialPort::Data8);
|
||||
m_serial->setStopBits(QSerialPort::OneStop);
|
||||
m_serial->setParity(QSerialPort::NoParity);
|
||||
m_serial->setFlowControl(QSerialPort::NoFlowControl);
|
||||
|
||||
if (!m_serial->open(QIODevice::ReadWrite)) {
|
||||
qWarning() << "遥控器串口打开失败:" << m_device << m_serial->errorString();
|
||||
return false;
|
||||
}
|
||||
m_buf.clear();
|
||||
m_linkTimer->start();
|
||||
return true;
|
||||
}
|
||||
|
||||
void RcCommunication::stop()
|
||||
{
|
||||
m_linkTimer->stop();
|
||||
if (m_serial->isOpen()) m_serial->close();
|
||||
m_buf.clear();
|
||||
}
|
||||
|
||||
void RcCommunication::onReadyRead()
|
||||
{
|
||||
m_buf.append(m_serial->readAll());
|
||||
|
||||
// 逐字节扫描合法帧：容忍前导垃圾与粘包，未对齐时向后找下一个帧头。
|
||||
// 串口是字节流，一帧可能被切开，尾部不足一帧的残段留在 m_buf 等下次数据。
|
||||
int off = 0;
|
||||
while (off + kFrameLen <= m_buf.size()) {
|
||||
RcFrame f;
|
||||
if (parseFrame(m_buf.constData() + off, f)) {
|
||||
onFrame(f);
|
||||
off += kFrameLen;
|
||||
} else {
|
||||
++off;
|
||||
}
|
||||
}
|
||||
if (off > 0) m_buf.remove(0, off);
|
||||
|
||||
if (m_buf.size() > kBufMax) m_buf.remove(0, m_buf.size() - kFrameLen);
|
||||
}
|
||||
|
||||
void RcCommunication::onFrame(const RcFrame& frame)
|
||||
{
|
||||
m_linkTimer->start(); // 重置链路超时
|
||||
|
||||
if (!m_linkOk) {
|
||||
m_linkOk = true;
|
||||
emit linkChanged(true);
|
||||
}
|
||||
emit frameReceived(frame);
|
||||
}
|
||||
|
||||
void RcCommunication::onLinkTimeout()
|
||||
{
|
||||
if (m_linkOk) {
|
||||
m_linkOk = false;
|
||||
emit linkChanged(false);
|
||||
}
|
||||
}
|
||||
+73
@@ -0,0 +1,73 @@
|
||||
#ifndef UART_H
|
||||
#define UART_H
|
||||
|
||||
#include <QByteArray>
|
||||
#include <QObject>
|
||||
#include <QTimer>
|
||||
#include <QMetaType>
|
||||
#include <QString>
|
||||
|
||||
class QSerialPort;
|
||||
|
||||
// ===================== 遥控器帧（24 字节二进制协议） =====================
|
||||
// 周期 100ms，1 字节对齐，多字节字段小端。
|
||||
// BYTE0=0x11 帧头，BYTE22=0x22 帧尾，BYTE23 = BYTE0~BYTE22 之和的低 8 位。
|
||||
// 本结构只承载解析结果，不含任何控制策略。
|
||||
struct RcFrame {
|
||||
// BYTE1 控制模式与使能标志位
|
||||
bool driveMode = false; // bit0 行车模式
|
||||
bool armMode = false; // bit1 机械臂模式
|
||||
bool armEnabled = false; // bit2 机械臂使能
|
||||
bool chassisEnabled = false; // bit3 底盘使能
|
||||
bool estop = false; // bit4 急停
|
||||
|
||||
// 摇杆量：0~4096，中位 2048
|
||||
int gear = 2048; // BYTE3-4 整车档位（底盘模式-左摇杆 Y 轴）
|
||||
int steer = 2048; // BYTE5-6 整车转向（底盘模式-左摇杆 X 轴）
|
||||
int posZ = 2048; // BYTE7-8 末端位置上下（左摇杆 Z 轴）
|
||||
int posX = 2048; // BYTE9-10 末端位置左右（左摇杆 X 轴）
|
||||
int posY = 2048; // BYTE11-12 末端位置前后（左摇杆 Y 轴）
|
||||
int roll = 2048; // BYTE13-14 末端姿态横滚（右摇杆 X 轴）
|
||||
int pitch = 2048; // BYTE15-16 末端姿态俯仰（右摇杆 Y 轴）
|
||||
int yaw = 2048; // BYTE17-18 末端姿态偏航（右摇杆 Z 轴）
|
||||
|
||||
int battery = 0; // BYTE19 遥控器电量 0~100
|
||||
};
|
||||
Q_DECLARE_METATYPE(RcFrame)
|
||||
|
||||
// ===================== 遥控器串口接收层 =====================
|
||||
// 独占 rc/device（默认 /dev/ttyS5），115200 / 8 数据位 / 1 停止位 / 无校验，
|
||||
// 与车端 /dev/ttyS7（见 car.h）互不干扰。
|
||||
// 只负责收包、校验、解析与链路超时判定，不决定遥控器数据的用途。
|
||||
class RcCommunication : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit RcCommunication(QObject* parent = nullptr);
|
||||
~RcCommunication() override;
|
||||
|
||||
bool start();
|
||||
void stop();
|
||||
QString deviceName() const { return m_device; }
|
||||
bool linkOk() const { return m_linkOk; }
|
||||
|
||||
signals:
|
||||
void frameReceived(const RcFrame& frame); // 收到一帧合法报文
|
||||
void linkChanged(bool ok); // 链路状态变化
|
||||
|
||||
private slots:
|
||||
void onReadyRead();
|
||||
void onLinkTimeout();
|
||||
|
||||
private:
|
||||
void onFrame(const RcFrame& frame);
|
||||
|
||||
QSerialPort* m_serial = nullptr;
|
||||
QByteArray m_buf; // 串口是字节流，粘包/拆包在此缓冲里重新对齐
|
||||
QTimer* m_linkTimer = nullptr;
|
||||
QString m_device = "/dev/ttyS7";
|
||||
int m_baud = 115200;
|
||||
bool m_linkOk = false;
|
||||
};
|
||||
|
||||
#endif // UART_H
|
||||
@@ -1,242 +0,0 @@
|
||||
#include "udpcommunication.h"
|
||||
#include <QSettings>
|
||||
#include <QJsonDocument>
|
||||
#include <QJsonObject>
|
||||
#include <QJsonArray>
|
||||
#include <QHostAddress>
|
||||
#include <QDateTime>
|
||||
#include <QNetworkDatagram>
|
||||
|
||||
UdpCommunication::UdpCommunication(Telemetry* tel, QObject* parent)
|
||||
: QObject(parent), m_tel(tel)
|
||||
{
|
||||
m_socket = new QUdpSocket(this);
|
||||
connect(m_socket, &QUdpSocket::readyRead, this, &UdpCommunication::onReadyRead);
|
||||
|
||||
// 网络配置（默认回环：本地 9000 收，向 127.0.0.1:9001 发）
|
||||
QSettings s;
|
||||
m_localPort = s.value("net/local_port", 9000).toInt();
|
||||
m_remoteHost = s.value("net/remote_host", "127.0.0.1").toString();
|
||||
m_remotePort = s.value("net/remote_port", 9001).toInt();
|
||||
m_mock = s.value("net/mock", true).toBool();
|
||||
|
||||
// 通信超时判定：连续 2s 无心跳 → 通信异常
|
||||
m_hbTimer = new QTimer(this);
|
||||
m_hbTimer->setInterval(2000);
|
||||
connect(m_hbTimer, &QTimer::timeout, this, &UdpCommunication::onHeartbeatTimeout);
|
||||
}
|
||||
|
||||
bool UdpCommunication::start()
|
||||
{
|
||||
if (m_socket->state() != QAbstractSocket::UnconnectedState)
|
||||
return true;
|
||||
bool ok = m_socket->bind(QHostAddress::AnyIPv4, m_localPort,
|
||||
QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
|
||||
if (ok) m_hbTimer->start();
|
||||
return ok;
|
||||
}
|
||||
|
||||
void UdpCommunication::stop()
|
||||
{
|
||||
m_hbTimer->stop();
|
||||
m_socket->close();
|
||||
}
|
||||
|
||||
void UdpCommunication::sendJson(const QJsonObject& obj)
|
||||
{
|
||||
QByteArray data = QJsonDocument(obj).toJson(QJsonDocument::Compact);
|
||||
m_socket->writeDatagram(data, QHostAddress(m_remoteHost), m_remotePort);
|
||||
}
|
||||
|
||||
// ===================== 上行命令 =====================
|
||||
void UdpCommunication::sendChassisMove(const QString& dir, double speed)
|
||||
{
|
||||
QJsonObject o; o["t"] = "chassis_move"; o["dir"] = dir; o["speed"] = speed;
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void UdpCommunication::sendArmMove(const QString& axis, int dir)
|
||||
{
|
||||
QJsonObject o; o["t"] = "arm_move"; o["axis"] = axis; o["dir"] = dir;
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void UdpCommunication::sendArmReturn()
|
||||
{
|
||||
QJsonObject o; o["t"] = "arm_return";
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void UdpCommunication::sendArmPause()
|
||||
{
|
||||
QJsonObject o; o["t"] = "arm_pause";
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void UdpCommunication::sendGasStart()
|
||||
{
|
||||
QJsonObject o; o["t"] = "gas_start";
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void UdpCommunication::sendGasStop()
|
||||
{
|
||||
QJsonObject o; o["t"] = "gas_stop";
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void UdpCommunication::sendWashStart(const QString& mode)
|
||||
{
|
||||
QJsonObject o; o["t"] = "wash_start"; o["mode"] = mode;
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void UdpCommunication::sendWashStop()
|
||||
{
|
||||
QJsonObject o; o["t"] = "wash_stop";
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void UdpCommunication::sendBallValve(int valve, bool open)
|
||||
{
|
||||
QJsonObject o; o["t"] = "ball_valve"; o["valve"] = valve; o["open"] = open;
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void UdpCommunication::sendPumpPower(const QString& pump, bool on)
|
||||
{
|
||||
QJsonObject o; o["t"] = "pump_power"; o["pump"] = pump; o["on"] = on;
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void UdpCommunication::sendPumpRpm(const QString& pump, int rpm)
|
||||
{
|
||||
QJsonObject o; o["t"] = "pump_rpm"; o["pump"] = pump; o["rpm"] = rpm;
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void UdpCommunication::sendSetParam(const QString& key, double value)
|
||||
{
|
||||
QJsonObject o; o["t"] = "set_param"; o["key"] = key; o["value"] = value;
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void UdpCommunication::sendSelfCheckStart()
|
||||
{
|
||||
QJsonObject o; o["t"] = "selfcheck_start";
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void UdpCommunication::sendEstop()
|
||||
{
|
||||
QJsonObject o; o["t"] = "estop";
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
void UdpCommunication::sendEstopReset()
|
||||
{
|
||||
QJsonObject o; o["t"] = "estop_reset";
|
||||
sendJson(o);
|
||||
}
|
||||
|
||||
// ===================== 收包与解析 =====================
|
||||
void UdpCommunication::onReadyRead()
|
||||
{
|
||||
while (m_socket->hasPendingDatagrams()) {
|
||||
QNetworkDatagram dg = m_socket->receiveDatagram();
|
||||
QJsonParseError err;
|
||||
QJsonDocument doc = QJsonDocument::fromJson(dg.data(), &err);
|
||||
if (err.error != QJsonParseError::NoError || !doc.isObject())
|
||||
continue;
|
||||
parse(doc.object());
|
||||
}
|
||||
}
|
||||
|
||||
void UdpCommunication::parse(const QJsonObject& o)
|
||||
{
|
||||
const QString t = o.value("t").toString();
|
||||
|
||||
if (t == "heartbeat") {
|
||||
bool ok = o.value("ok").toBool();
|
||||
m_hbTimer->start(); // 重置超时计时
|
||||
if (ok != m_lastCommOk) {
|
||||
m_lastCommOk = ok;
|
||||
if (m_tel) m_tel->commOk = ok;
|
||||
emit commOkChanged(ok);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
if (t == "chassis") {
|
||||
m_tel->soc = o.value("soc").toInt();
|
||||
m_tel->volt = o.value("volt").toDouble();
|
||||
m_tel->speed = o.value("speed").toDouble();
|
||||
m_tel->handbrake = o.value("handbrake").toBool();
|
||||
m_tel->chassisFaults.clear();
|
||||
for (const QJsonValue& v : o.value("faults").toArray())
|
||||
m_tel->chassisFaults << v.toString();
|
||||
} else if (t == "arm") {
|
||||
const QJsonArray a = o.value("js").toArray();
|
||||
m_tel->js.clear();
|
||||
for (const QJsonValue& v : a) m_tel->js << v.toDouble();
|
||||
m_tel->pos = o.value("pos").toString();
|
||||
m_tel->pose = o.value("pose").toString();
|
||||
m_tel->vel = o.value("vel").toDouble();
|
||||
m_tel->returnState = o.value("return_state").toString("idle");
|
||||
m_tel->armHomed = o.value("homed").toBool();
|
||||
} else if (t == "wash") {
|
||||
m_tel->washMode = o.value("mode").toString("--");
|
||||
m_tel->flowA = o.value("flowA").toDouble();
|
||||
m_tel->flowB = o.value("flowB").toDouble();
|
||||
m_tel->gasFlow = o.value("gasFlow").toDouble();
|
||||
m_tel->press = o.value("press").toDouble();
|
||||
m_tel->airPress = o.value("airPress").toDouble();
|
||||
m_tel->foam = o.value("foam").toDouble();
|
||||
m_tel->washFaults.clear();
|
||||
for (const QJsonValue& v : o.value("faults").toArray())
|
||||
m_tel->washFaults << v.toString();
|
||||
} else if (t == "tank") {
|
||||
m_tel->levelA = o.value("a").toDouble();
|
||||
m_tel->levelFoam = o.value("foam").toDouble();
|
||||
} else if (t == "gas") {
|
||||
m_tel->gasHost = o.value("host").toString("standby");
|
||||
m_tel->gasType = o.value("type").toString("--");
|
||||
m_tel->gasLevel = o.value("level").toString("--");
|
||||
m_tel->gasConc = o.value("conc").toDouble();
|
||||
} else if (t == "valve") {
|
||||
m_tel->d1open = o.value("d1open").toBool();
|
||||
m_tel->d1close = o.value("d1close").toBool();
|
||||
m_tel->d2open = o.value("d2open").toBool();
|
||||
m_tel->d2close = o.value("d2close").toBool();
|
||||
m_tel->valveFault = o.value("fault").toString();
|
||||
if (!m_tel->valveFault.isEmpty())
|
||||
emit faultAppended("洗消系统", m_tel->valveFault, m_tel->valveFault);
|
||||
} else if (t == "pump") {
|
||||
m_tel->plunger = o.value("plunger").toBool();
|
||||
m_tel->air = o.value("air").toBool();
|
||||
m_tel->leaf = o.value("leaf").toBool();
|
||||
m_tel->pumpFaults.clear();
|
||||
for (const QJsonValue& v : o.value("faults").toArray())
|
||||
m_tel->pumpFaults << v.toString();
|
||||
} else if (t == "estop") {
|
||||
m_tel->estop = o.value("triggered").toBool();
|
||||
emit estopReceived(m_tel->estop);
|
||||
} else if (t == "selfcheck") {
|
||||
emit selfCheckItem(o.value("item").toInt(), o.value("ok").toBool());
|
||||
} else if (t == "selfcheck_done") {
|
||||
emit selfCheckDone(o.value("all_ok").toBool());
|
||||
} else {
|
||||
return; // 未知类型不触发刷新
|
||||
}
|
||||
|
||||
emit telemetryUpdated();
|
||||
}
|
||||
|
||||
void UdpCommunication::onHeartbeatTimeout()
|
||||
{
|
||||
if (m_lastCommOk) {
|
||||
m_lastCommOk = false;
|
||||
if (m_tel) m_tel->commOk = false;
|
||||
emit commOkChanged(false);
|
||||
}
|
||||
}
|
||||
@@ -1,70 +0,0 @@
|
||||
#ifndef UDPCOMMUNICATION_H
|
||||
#define UDPCOMMUNICATION_H
|
||||
|
||||
#include <QObject>
|
||||
#include <QUdpSocket>
|
||||
#include <QTimer>
|
||||
#include "global.h"
|
||||
|
||||
// ===================== UDP 通信层（收包 / 发包） =====================
|
||||
// 与车载端经 UDP 报文通信，JSON 文本协议：
|
||||
// 上行（UI→车载端）命令见各 sendXxx()；
|
||||
// 下行（车载端→UI）遥测见 parse() 中 "t" 字段分支。
|
||||
// 本类同时承担“通信超时判定”：连续 2s 未收到心跳则判为通信异常。
|
||||
class UdpCommunication : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit UdpCommunication(Telemetry* tel, QObject* parent = nullptr);
|
||||
|
||||
bool start();
|
||||
void stop();
|
||||
|
||||
// 是否启用内置模拟车载端（离线演示）
|
||||
bool mockEnabled() const { return m_mock; }
|
||||
int localPort() const { return m_localPort; }
|
||||
|
||||
// ---------- 上行命令（发包） ----------
|
||||
void sendChassisMove(const QString& dir, double speed);
|
||||
void sendArmMove(const QString& axis, int dir); // dir: +1 / -1 / 0(停止)
|
||||
void sendArmReturn();
|
||||
void sendArmPause();
|
||||
void sendGasStart();
|
||||
void sendGasStop();
|
||||
void sendWashStart(const QString& mode); // "clean" / "disinfect"
|
||||
void sendWashStop();
|
||||
void sendBallValve(int valve, bool open); // valve: 1=D1, 2=D2
|
||||
void sendPumpPower(const QString& pump, bool on); // "plunger"/"air"/"leaf"
|
||||
void sendPumpRpm(const QString& pump, int rpm);
|
||||
void sendSetParam(const QString& key, double value);
|
||||
void sendSelfCheckStart();
|
||||
void sendEstop();
|
||||
void sendEstopReset();
|
||||
|
||||
signals:
|
||||
void telemetryUpdated(); // 任意遥测包到达（页面据此刷新）
|
||||
void commOkChanged(bool ok); // 通信状态变化
|
||||
void estopReceived(bool triggered); // 收到急停
|
||||
void selfCheckItem(int index, bool ok); // 自检单项结果（0~9）
|
||||
void selfCheckDone(bool allOk); // 自检完成
|
||||
void faultAppended(const QString& system, const QString& code, const QString& desc);
|
||||
|
||||
private slots:
|
||||
void onReadyRead();
|
||||
void onHeartbeatTimeout();
|
||||
|
||||
private:
|
||||
void sendJson(const QJsonObject& obj);
|
||||
void parse(const QJsonObject& obj);
|
||||
|
||||
Telemetry* m_tel = nullptr;
|
||||
QUdpSocket* m_socket = nullptr;
|
||||
QTimer* m_hbTimer = nullptr;
|
||||
int m_localPort = 9000;
|
||||
QString m_remoteHost = "127.0.0.1";
|
||||
int m_remotePort = 9001;
|
||||
bool m_mock = true;
|
||||
bool m_lastCommOk = true;
|
||||
};
|
||||
|
||||
#endif // UDPCOMMUNICATION_H
|
||||
@@ -8,6 +8,7 @@ int main(int argc, char *argv[])
|
||||
|
||||
a.setStyleSheet(appStyleSheet());
|
||||
installButtonFocusGlow(&a); // 按钮获得焦点时显示光圈
|
||||
installArrowKeyGuard(&a); // 方向键只做旋钮调值，不在按钮间换焦
|
||||
|
||||
MainWindow w;
|
||||
w.showFullScreen();
|
||||
|
||||
+25
-19
@@ -1,6 +1,6 @@
|
||||
#include "mainwindow.h"
|
||||
#include "appcontext.h"
|
||||
#include "udpcommunication.h"
|
||||
#include "car.h"
|
||||
#include "confirmdialog.h"
|
||||
|
||||
#include "base.h"
|
||||
@@ -10,12 +10,12 @@
|
||||
#include "passwordmgmt.h"
|
||||
#include "passwordreset.h"
|
||||
#include "selfcheck.h"
|
||||
#include "home.h"
|
||||
#include "jobselect.h"
|
||||
#include "chassis.h"
|
||||
#include "arm.h"
|
||||
#include "gasdetector.h"
|
||||
#include "manualclean.h"
|
||||
#include "manualdisinfect.h"
|
||||
#include "washpage.h"
|
||||
#include "debugmaintain.h"
|
||||
#include "faultquery.h"
|
||||
|
||||
@@ -29,7 +29,7 @@ MainWindow::MainWindow(QWidget* parent)
|
||||
{
|
||||
m_ctx = AppContext::instance();
|
||||
|
||||
setWindowTitle("玉兔工业无线遥控器 YTZT6K8EART2-aL25");
|
||||
setWindowTitle("玉兔工业无线遥控器");
|
||||
setWindowFlags(Qt::FramelessWindowHint | Qt::Window);
|
||||
setFixedSize(SCREEN_W, SCREEN_H);
|
||||
|
||||
@@ -40,11 +40,12 @@ MainWindow::MainWindow(QWidget* parent)
|
||||
|
||||
buildPages();
|
||||
|
||||
// 全局急停横幅（覆盖于页面之上）
|
||||
m_estopBanner = new QLabel("急停已触发，请复位", this);
|
||||
// 全局急停横幅（覆盖于页面之上）：仅作提示。
|
||||
// 急停与复位都由遥控器 bit4 下发，面板不提供复位控件。
|
||||
m_estopBanner = new QLabel("急停已触发，请用遥控器复位！", this);
|
||||
m_estopBanner->setAlignment(Qt::AlignCenter);
|
||||
m_estopBanner->setStyleSheet(
|
||||
"background-color:#E5484D;color:#FFFFFF;font-size:30px;font-weight:700;");
|
||||
"background-color:#E5484D;color:#FFFFFF;font-size:50px;font-weight:700;");
|
||||
m_estopBanner->setGeometry(0, 98, SCREEN_W, 64);
|
||||
m_estopBanner->hide();
|
||||
|
||||
@@ -52,11 +53,14 @@ MainWindow::MainWindow(QWidget* parent)
|
||||
|
||||
// 启动通信层（UDP 收包发包）
|
||||
m_ctx->comm()->start();
|
||||
m_ctx->rc()->start(); // 遥控器接收（独立端口）
|
||||
|
||||
// 初始页面：开机密码
|
||||
// m_stack->setCurrentIndex(PageBoot);
|
||||
// 免密码直接进自检页（恢复原流程时改回上面的 PageBoot）
|
||||
m_stack->setCurrentIndex(PageSelfCheck);
|
||||
// 免密码直接进自检页
|
||||
// m_stack->setCurrentIndex(PageSelfCheck);
|
||||
// 免登录直接进作业选择页（恢复原流程时改回上面的 PageBoot）
|
||||
m_stack->setCurrentIndex(PageJob);
|
||||
}
|
||||
|
||||
MainWindow::~MainWindow()
|
||||
@@ -79,12 +83,13 @@ void MainWindow::buildPages()
|
||||
add(PageMgmt, new PasswordMgmtPage(m_ctx));
|
||||
add(PageReset, new PasswordResetPage(m_ctx));
|
||||
add(PageSelfCheck, new SelfCheckPage(m_ctx));
|
||||
add(PageHome, new HomePage(m_ctx));
|
||||
add(PageJob, new JobSelectPage(m_ctx));
|
||||
add(PageChassis, new ChassisPage(m_ctx));
|
||||
add(PageArm, new ArmPage(m_ctx));
|
||||
add(PageGas, new GasDetectorPage(m_ctx));
|
||||
add(PageClean, new ManualCleanPage(m_ctx));
|
||||
add(PageDisinfect, new ManualDisinfectPage(m_ctx));
|
||||
add(PageClean, new WashPage(m_ctx, WashPage::Clean));
|
||||
add(PageDisinfect, new WashPage(m_ctx, WashPage::Disinfect));
|
||||
add(PageDebug, new DebugMaintainPage(m_ctx));
|
||||
add(PageFault, new FaultQueryPage(m_ctx));
|
||||
|
||||
@@ -93,10 +98,13 @@ void MainWindow::buildPages()
|
||||
|
||||
void MainWindow::onNavigate(PageId id)
|
||||
{
|
||||
// 记录故障查询返回来源
|
||||
// 记录故障查询返回来源（自检页 / 系统首页面 进入时原路返回，其它一律回作业选择页）
|
||||
if (id == PageFault && m_faultPage) {
|
||||
PageId cur = static_cast<PageId>(m_stack->currentIndex());
|
||||
m_faultPage->setReturnPage((cur == PageSelfCheck) ? PageSelfCheck : PageJob);
|
||||
if (cur == PageSelfCheck || cur == PageHome)
|
||||
m_faultPage->setReturnPage(cur);
|
||||
else
|
||||
m_faultPage->setReturnPage(PageJob);
|
||||
}
|
||||
if (id >= 0 && id < PageCount)
|
||||
m_stack->setCurrentIndex(id);
|
||||
@@ -110,14 +118,12 @@ void MainWindow::onEstopChanged(bool triggered)
|
||||
|
||||
void MainWindow::keyPressEvent(QKeyEvent* ev)
|
||||
{
|
||||
// 演示用快捷键：M 切换行车/机械臂模式，E 触发/复位急停
|
||||
// 演示用快捷键：M 切换行车/机械臂模式。
|
||||
// 遥控器在线时模式由遥控器报文决定，此处不抢（与底盘页 showEvent 同一规则）。
|
||||
switch (ev->key()) {
|
||||
case Qt::Key_M:
|
||||
m_ctx->setMode(m_ctx->mode == Mode::Drive ? Mode::Arm : Mode::Drive);
|
||||
break;
|
||||
case Qt::Key_E:
|
||||
if (m_ctx->estopTriggered) m_ctx->resetEstop();
|
||||
else m_ctx->triggerEstop();
|
||||
if (!m_ctx->rc()->linkOk())
|
||||
m_ctx->setMode(m_ctx->mode == Mode::Drive ? Mode::Arm : Mode::Drive);
|
||||
break;
|
||||
default:
|
||||
QMainWindow::keyPressEvent(ev);
|
||||
|
||||
+74
-58
@@ -1,13 +1,14 @@
|
||||
|
||||
#include "arm.h"
|
||||
#include "titlebar.h"
|
||||
#include "statusstrip.h"
|
||||
#include "alarmbanner.h"
|
||||
#include "datacard.h"
|
||||
#include "udpcommunication.h"
|
||||
#include "car.h"
|
||||
#include "confirmdialog.h"
|
||||
#include <QVBoxLayout>
|
||||
#include <QHBoxLayout>
|
||||
#include <QGridLayout>
|
||||
//#include <QGridLayout> // 末端按钮原为 2×3 网格，改为竖列后暂不需要
|
||||
#include <QPushButton>
|
||||
#include <QLabel>
|
||||
#include <QTimer>
|
||||
@@ -34,8 +35,8 @@ ArmPage::ArmPage(AppContext* ctx, QWidget* parent)
|
||||
// 左控制列（6 运动按钮 + 系统回位/暂停）
|
||||
QWidget* left = new QWidget(this);
|
||||
QVBoxLayout* leftLay = new QVBoxLayout(left);
|
||||
leftLay->setContentsMargins(0, 0, 0, 0);
|
||||
leftLay->setSpacing(8);
|
||||
leftLay->setContentsMargins(10,10,20,10);
|
||||
leftLay->setSpacing(30);
|
||||
|
||||
auto addMove = [&](const QString& t, const QString& axis, int dir) {
|
||||
QPushButton* b = makeMoveButton(t, axis, dir);
|
||||
@@ -49,11 +50,14 @@ ArmPage::ArmPage(AppContext* ctx, QWidget* parent)
|
||||
addMove("前平移", "y", +1);
|
||||
addMove("后平移", "y", -1);
|
||||
|
||||
m_returnBtn = button("系统回位／暂停", "", left);
|
||||
m_returnBtn = button("系统回位／\n暂停", "", left);
|
||||
m_returnBtn->setCheckable(true);
|
||||
m_returnBtn->setFixedSize(180, 90);
|
||||
m_returnBtn->setStyleSheet(QString("font-size:22px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
|
||||
.arg(C::PANEL_HI, C::TEXT, C::BORDER));
|
||||
m_returnBtn->setFixedSize(270, 120); // 两行文字，故加高
|
||||
m_returnBtn->setStyleSheet(QString(
|
||||
"QPushButton{font-size:40px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;}"
|
||||
"QPushButton:hover,QPushButton:focus,QPushButton:checked"
|
||||
"{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}")
|
||||
.arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY));
|
||||
connect(m_returnBtn, &QPushButton::toggled, this, &ArmPage::onReturnToggled);
|
||||
leftLay->addWidget(m_returnBtn);
|
||||
|
||||
@@ -63,69 +67,72 @@ ArmPage::ArmPage(AppContext* ctx, QWidget* parent)
|
||||
leftLay->addWidget(m_returnStatus);
|
||||
|
||||
leftLay->addStretch(1);
|
||||
left->setFixedWidth(180);
|
||||
left->setFixedWidth(300); // 270 按钮 + 左右边距 30，避免按钮被裁
|
||||
main->addWidget(left);
|
||||
|
||||
// 中央卡片区（底盘/洗消/气体检测仪）
|
||||
// 中央区：左侧三张状态卡 + 机械臂参数卡，并排放在中间
|
||||
QWidget* center = new QWidget(this);
|
||||
QVBoxLayout* centerLay = new QVBoxLayout(center);
|
||||
QHBoxLayout* centerLay = new QHBoxLayout(center);
|
||||
centerLay->setContentsMargins(0, 0, 0, 0);
|
||||
centerLay->setSpacing(12);
|
||||
|
||||
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");
|
||||
QWidget* cardsCol = new QWidget(center);
|
||||
QVBoxLayout* cardsLay = new QVBoxLayout(cardsCol);
|
||||
cardsLay->setContentsMargins(0, 0, 0, 0);
|
||||
cardsLay->setSpacing(12);
|
||||
|
||||
m_washCard = new DataCard("洗消", center);
|
||||
m_washCard->addField("A液位", "100L");
|
||||
m_washCard->addField("泡沫液位", "30L");
|
||||
m_chassisCard = new DataCard("底盘", cardsCol);
|
||||
m_chassisCard->addField("底盘电量SOC", "85%");
|
||||
m_chassisCard->addField("底盘电压", "360V");
|
||||
m_chassisCard->addField("底盘故障", "无");
|
||||
|
||||
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");
|
||||
m_washCard = new DataCard("洗消", cardsCol);
|
||||
m_washCard->addField("A组分/清水液位", "100L");
|
||||
m_washCard->addField("泡沫箱液位", "30L");
|
||||
|
||||
centerLay->addWidget(m_chassisCard, 1);
|
||||
centerLay->addWidget(m_washCard, 1);
|
||||
centerLay->addWidget(m_gasCard, 1);
|
||||
m_gasCard = new DataCard("气体检测仪", cardsCol);
|
||||
m_gasCard->addField("主机状态", "点火状态");
|
||||
m_gasCard->addField("有毒物种类", "S级");
|
||||
m_gasCard->addField("有毒物等级", "二级");
|
||||
|
||||
cardsLay->addWidget(m_chassisCard, 1);
|
||||
cardsLay->addWidget(m_washCard, 1);
|
||||
cardsLay->addWidget(m_gasCard, 1);
|
||||
|
||||
m_armCard = new DataCard("机械臂参数", center);
|
||||
m_armCard->addField("末端位置", "XYZ");
|
||||
m_armCard->addField("末端姿态", "RX/RY/RZ");
|
||||
m_armCard->addField("末端速度", "0");
|
||||
m_armCard->addField("Joint1关节角", "30°");
|
||||
m_armCard->addField("Joint2关节角", "20°");
|
||||
m_armCard->addField("Joint3关节角", "0°");
|
||||
m_armCard->addField("Joint4关节角", "90°");
|
||||
m_armCard->addField("Joint5关节角", "45°");
|
||||
m_armCard->addField("Joint6关节角", "0°");
|
||||
|
||||
centerLay->addWidget(cardsCol, 1);
|
||||
centerLay->addWidget(m_armCard, 1);
|
||||
main->addWidget(center, 1);
|
||||
|
||||
// 右参数区（机械臂参数卡 + 末端按钮列）
|
||||
// 右控制列（末端 6 姿态按钮，与左侧按钮列对称）
|
||||
QWidget* right = new QWidget(this);
|
||||
QVBoxLayout* rightLay = new QVBoxLayout(right);
|
||||
rightLay->setContentsMargins(0, 0, 0, 0);
|
||||
rightLay->setSpacing(12);
|
||||
rightLay->setContentsMargins(10, 20, 20, 20);
|
||||
rightLay->setSpacing(15);
|
||||
|
||||
m_armCard = new DataCard("机械臂参数", right);
|
||||
m_armCard->addField("末端位置", "XYZ");
|
||||
m_armCard->addField("姿态", "RX/RY/RZ");
|
||||
m_armCard->addField("速度", "0");
|
||||
m_armCard->addField("J1", "30°");
|
||||
m_armCard->addField("J2", "20°");
|
||||
m_armCard->addField("J3", "0°");
|
||||
m_armCard->addField("J4", "90°");
|
||||
m_armCard->addField("J5", "45°");
|
||||
m_armCard->addField("J6", "0°");
|
||||
rightLay->addWidget(m_armCard, 1);
|
||||
|
||||
// 末端 6 姿态按钮（2 列 × 3 行）
|
||||
QGridLayout* endGrid = new QGridLayout();
|
||||
endGrid->setSpacing(8);
|
||||
auto addEnd = [&](const QString& t, const QString& axis, int dir, int r, int c) {
|
||||
auto addEnd = [&](const QString& t, const QString& axis, int dir) {
|
||||
QPushButton* b = makeMoveButton(t, axis, dir);
|
||||
b->setFixedHeight(80);
|
||||
m_endButtons << b;
|
||||
endGrid->addWidget(b, r, c);
|
||||
rightLay->addWidget(b);
|
||||
};
|
||||
addEnd("末端仰", "pitch", +1, 0, 0);
|
||||
addEnd("末端俯", "pitch", -1, 0, 1);
|
||||
addEnd("末端正偏航", "yaw", +1, 1, 0);
|
||||
addEnd("末端负偏航", "yaw", -1, 1, 1);
|
||||
addEnd("末端左横滚", "roll", -1, 2, 0);
|
||||
addEnd("末端右横滚", "roll", +1, 2, 1);
|
||||
rightLay->addLayout(endGrid);
|
||||
addEnd("末端仰", "pitch", +1);
|
||||
addEnd("末端俯", "pitch", -1);
|
||||
addEnd("末端正偏航", "yaw", +1);
|
||||
addEnd("末端负偏航", "yaw", -1);
|
||||
addEnd("末端左横滚", "roll", -1);
|
||||
addEnd("末端右横滚", "roll", +1);
|
||||
|
||||
right->setFixedWidth(430);
|
||||
right->setFixedWidth(300); // 与左列同宽，按钮 270 不被裁
|
||||
main->addWidget(right);
|
||||
|
||||
root->addLayout(main, 1);
|
||||
@@ -141,9 +148,10 @@ ArmPage::ArmPage(AppContext* ctx, QWidget* parent)
|
||||
m_returnStatus->setText("");
|
||||
});
|
||||
|
||||
connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &ArmPage::refresh);
|
||||
connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &ArmPage::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();
|
||||
}
|
||||
@@ -151,10 +159,17 @@ ArmPage::ArmPage(AppContext* ctx, QWidget* parent)
|
||||
QPushButton* ArmPage::makeMoveButton(const QString& text, const QString& axis, int dir)
|
||||
{
|
||||
QPushButton* b = button(text, "", this);
|
||||
b->setFixedSize(180, 90);
|
||||
b->setStyleSheet(QString("font-size:24px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
|
||||
.arg(C::PANEL_HI, C::TEXT, C::BORDER));
|
||||
b->setFixedSize(270, 76);
|
||||
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, axis, dir]() {
|
||||
if (ctx()->rcDriving()) {
|
||||
ConfirmDialog::toast(this, "遥控器操作中");
|
||||
return;
|
||||
}
|
||||
if (ctx()->mode != Mode::Arm) {
|
||||
ConfirmDialog::toast(this, "请切换至机械臂模式");
|
||||
return;
|
||||
@@ -169,7 +184,8 @@ QPushButton* ArmPage::makeMoveButton(const QString& text, const QString& axis, i
|
||||
|
||||
void ArmPage::updateModeGating()
|
||||
{
|
||||
bool arm = (ctx()->mode == Mode::Arm) && !ctx()->estopTriggered;
|
||||
// 非机械臂模式、急停触发或遥控器正在操作时禁用动作按钮（遥控器优先）
|
||||
bool arm = (ctx()->mode == Mode::Arm) && !ctx()->estopTriggered && !ctx()->rcDriving();
|
||||
for (QPushButton* b : m_moveButtons) b->setEnabled(arm);
|
||||
for (QPushButton* b : m_endButtons) b->setEnabled(arm);
|
||||
}
|
||||
|
||||
+81
-24
@@ -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()
|
||||
|
||||
@@ -3,6 +3,7 @@
|
||||
|
||||
#include "base.h"
|
||||
#include <QVector>
|
||||
#include <QSet>
|
||||
|
||||
class TitleBar;
|
||||
class StatusStrip;
|
||||
@@ -19,6 +20,9 @@ class ChassisPage : public BasePage
|
||||
public:
|
||||
explicit ChassisPage(AppContext* ctx, QWidget* parent = nullptr);
|
||||
|
||||
protected:
|
||||
void showEvent(QShowEvent* ev) override; // 进入页面即切至行车模式
|
||||
|
||||
private slots:
|
||||
void refresh();
|
||||
void updateModeGating();
|
||||
@@ -27,6 +31,7 @@ private slots:
|
||||
|
||||
private:
|
||||
QPushButton* makeDirButton(const QString& text, const QString& dir);
|
||||
void sendDirCommand(); // 按当前按住的方向组合下发（档位与转向可同时）
|
||||
|
||||
TitleBar* m_titleBar = nullptr;
|
||||
StatusStrip* m_statusStrip = nullptr;
|
||||
@@ -39,6 +44,7 @@ private:
|
||||
QTimer* m_saveTimer = nullptr;
|
||||
int m_chassisFieldFault = -1;
|
||||
QVector<QPushButton*> m_dirButtons;
|
||||
QSet<QString> m_heldDirs; // 当前按住的方向，可多键同时按
|
||||
};
|
||||
|
||||
#endif // CHASSISPAGE_H
|
||||
|
||||
+142
-68
@@ -4,7 +4,7 @@
|
||||
#include "datacard.h"
|
||||
#include "ledindicator.h"
|
||||
#include "paramcontrol.h"
|
||||
#include "udpcommunication.h"
|
||||
#include "car.h"
|
||||
#include <QVBoxLayout>
|
||||
#include <QHBoxLayout>
|
||||
#include <QPushButton>
|
||||
@@ -19,7 +19,7 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
|
||||
root->setSpacing(0);
|
||||
|
||||
m_titleBar = new TitleBar(ctx, this);
|
||||
m_titleBar->setTitle("洗消调试");
|
||||
m_titleBar->setTitle("调试维护");
|
||||
root->addWidget(m_titleBar);
|
||||
|
||||
// 警告横幅（常显红闪）
|
||||
@@ -34,35 +34,38 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
|
||||
// 左球阀控制区
|
||||
QWidget* left = new QWidget(this);
|
||||
QVBoxLayout* leftLay = new QVBoxLayout(left);
|
||||
leftLay->setContentsMargins(0, 0, 0, 0);
|
||||
leftLay->setSpacing(16);
|
||||
leftLay->setContentsMargins(20, 10, 10, 10);
|
||||
leftLay->setSpacing(60);
|
||||
leftLay->addWidget(makeValveGroup(1));
|
||||
leftLay->addWidget(makeValveGroup(2));
|
||||
leftLay->addStretch(1);
|
||||
left->setFixedWidth(300);
|
||||
main->addWidget(left);
|
||||
|
||||
// 中央卡片区
|
||||
// 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）
|
||||
QWidget* center = new QWidget(this);
|
||||
QVBoxLayout* centerLay = new QVBoxLayout(center);
|
||||
QHBoxLayout* centerLay = new QHBoxLayout(center);
|
||||
centerLay->setContentsMargins(0, 0, 0, 0);
|
||||
centerLay->setSpacing(10);
|
||||
centerLay->setSpacing(28); // 与 main 的列间距一致
|
||||
|
||||
QHBoxLayout* miniRow = new QHBoxLayout();
|
||||
miniRow->setSpacing(10);
|
||||
m_chassisCard = new DataCard("底盘", center);
|
||||
QWidget* centerLeft = new QWidget(center);
|
||||
QVBoxLayout* centerLeftLay = new QVBoxLayout(centerLeft);
|
||||
centerLeftLay->setContentsMargins(0, 0, 0, 0);
|
||||
centerLeftLay->setSpacing(10);
|
||||
|
||||
m_chassisCard = new DataCard("底盘", centerLeft);
|
||||
m_chassisCard->addField("电量", "85%");
|
||||
m_chassisCard->addField("电压", "360V");
|
||||
m_armCard = new DataCard("机械臂", center);
|
||||
m_armCard = new DataCard("机械臂", centerLeft);
|
||||
m_armCard->addField("末端位置", "XYZ");
|
||||
m_armCard->addField("姿态", "RX/RY/RZ");
|
||||
m_gasCard = new DataCard("气体检测仪", center);
|
||||
m_gasCard = new DataCard("气体检测仪", centerLeft);
|
||||
m_gasCard->addField("主机状态", "待机");
|
||||
m_gasCard->addField("浓度", "0 ppb");
|
||||
miniRow->addWidget(m_chassisCard, 1);
|
||||
miniRow->addWidget(m_armCard, 1);
|
||||
miniRow->addWidget(m_gasCard, 1);
|
||||
centerLay->addLayout(miniRow, 1);
|
||||
centerLeftLay->addWidget(m_chassisCard, 1);
|
||||
centerLeftLay->addWidget(m_armCard, 1);
|
||||
centerLeftLay->addWidget(m_gasCard, 1);
|
||||
centerLay->addWidget(centerLeft, 1);
|
||||
|
||||
m_washCard = new DataCard("洗消参数", center);
|
||||
m_washCard->addField("洗消模式", "--");
|
||||
@@ -79,11 +82,11 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
|
||||
// 右泵控制区
|
||||
QWidget* right = new QWidget(this);
|
||||
QVBoxLayout* rightLay = new QVBoxLayout(right);
|
||||
rightLay->setContentsMargins(0, 0, 0, 0);
|
||||
rightLay->setSpacing(8);
|
||||
rightLay->addWidget(makePumpGroup("air", "空压机"));
|
||||
rightLay->addWidget(makePumpGroup("plunger", "柱塞泵"));
|
||||
rightLay->addWidget(makePumpGroup("leaf", "叶片泵"));
|
||||
rightLay->setContentsMargins(10, 10,20,10);
|
||||
rightLay->setSpacing(40);
|
||||
rightLay->addWidget(makePumpGroup("air", "空压机(rpm)"), 0, Qt::AlignHCenter);
|
||||
rightLay->addWidget(makePumpGroup("plunger", "柱塞泵(rpm)"), 0, Qt::AlignHCenter);
|
||||
rightLay->addWidget(makePumpGroup("leaf", "叶片泵(rpm)"), 0, Qt::AlignHCenter);
|
||||
rightLay->addStretch(1);
|
||||
right->setFixedWidth(420);
|
||||
main->addWidget(right);
|
||||
@@ -92,28 +95,56 @@ DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
|
||||
|
||||
// 底部指示灯条
|
||||
QWidget* bottom = new QWidget(this);
|
||||
bottom->setObjectName("DebugBottom");
|
||||
bottom->setFixedHeight(94);
|
||||
bottom->setStyleSheet(QString("background-color:%1;border-top:1px solid %2;")
|
||||
// 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
|
||||
bottom->setStyleSheet(QString("QWidget#DebugBottom{background-color:%1;border-top:1px solid %2;}")
|
||||
.arg(C::PANEL, C::BORDER));
|
||||
QHBoxLayout* bottomLay = new QHBoxLayout(bottom);
|
||||
bottomLay->setContentsMargins(36, 0, 24, 0);
|
||||
// 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
|
||||
bottomLay->setContentsMargins(364, 0, 24, 0);
|
||||
bottomLay->setSpacing(48);
|
||||
m_ledPlunger = new LedIndicator("柱塞泵", bottom);
|
||||
m_ledAir = new LedIndicator("空压机", bottom);
|
||||
m_ledLeaf = new LedIndicator("叶片泵", bottom);
|
||||
m_ledLevel = new LedIndicator("液位低", bottom);
|
||||
bottomLay->addWidget(m_ledPlunger);
|
||||
bottomLay->addWidget(m_ledAir);
|
||||
bottomLay->addWidget(m_ledLeaf);
|
||||
bottomLay->addWidget(m_ledLevel);
|
||||
auto makeLed = [&](const QString& text) {
|
||||
LedIndicator* led = new LedIndicator(text, bottom);
|
||||
led->setTextPixelSize(40); // 字号与卡片标题一致
|
||||
led->setDotAfterText(true); // 圆点画在文字后面
|
||||
bottomLay->addWidget(led);
|
||||
return led;
|
||||
};
|
||||
m_ledPlunger = makeLed("柱塞泵");
|
||||
m_ledAir = makeLed("空压机");
|
||||
m_ledLeaf = makeLed("叶片泵");
|
||||
m_ledLevel = makeLed("液位低");
|
||||
bottomLay->addStretch(1);
|
||||
QPushButton* back = button("返回", "", bottom);
|
||||
back->setFixedSize(144, 76);
|
||||
back->setFixedSize(160, 76);
|
||||
back->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字
|
||||
connect(back, &QPushButton::clicked, this, [this]() { emit navigate(PageJob); });
|
||||
bottomLay->addWidget(back);
|
||||
root->addWidget(bottom);
|
||||
|
||||
connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &DebugMaintainPage::refresh);
|
||||
connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, [this]() {
|
||||
m_telemetrySeen = true; // 遥测一到，球阀到位灯改由 refresh() 接管
|
||||
refresh();
|
||||
});
|
||||
|
||||
// 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。
|
||||
// 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
|
||||
// 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
|
||||
QWidget* tabChain[] = {
|
||||
m_valve1Btn, m_valve2Btn,
|
||||
m_airRpm->editor(), m_airStart, m_airStop,
|
||||
m_plungerRpm->editor(), m_plungerStart, m_plungerStop,
|
||||
m_leafRpm->editor(), m_leafStart, m_leafStop,
|
||||
};
|
||||
QWidget* prev = back;
|
||||
for (QWidget* w : tabChain) {
|
||||
if (!w) continue;
|
||||
QWidget::setTabOrder(prev, w);
|
||||
prev = w;
|
||||
}
|
||||
QWidget::setTabOrder(prev, back); // 回到起点，形成循环
|
||||
|
||||
refresh();
|
||||
}
|
||||
|
||||
@@ -127,26 +158,36 @@ QWidget* DebugMaintainPage::makeValveGroup(int valve)
|
||||
lay->setContentsMargins(12, 12, 12, 12);
|
||||
lay->setSpacing(8);
|
||||
|
||||
QLabel* title = label(QString("D%1 球阀").arg(valve), 20, C::TEXT, true, grp);
|
||||
QLabel* title = label(QString("D%1 球阀").arg(valve), 30, C::TEXT, true, grp);
|
||||
lay->addWidget(title);
|
||||
|
||||
// 控制开/关（toggle）
|
||||
QPushButton* ctrl = button(QString("D%1 控制：关闭").arg(valve), "", grp);
|
||||
// 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）
|
||||
QPushButton* ctrl = button(QString("D%1 控制").arg(valve), "", grp);
|
||||
ctrl->setCheckable(true);
|
||||
ctrl->setFixedHeight(64);
|
||||
connect(ctrl, &QPushButton::toggled, this, [this, valve, ctrl](bool on) {
|
||||
ctrl->setText(QString("D%1 控制：%2").arg(valve).arg(on ? "开启" : "关闭"));
|
||||
ctrl->setFixedSize(180, 64); // 窄按钮，与泵组的“上电”一致
|
||||
// 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
|
||||
ctrl->setStyleSheet(QString("QPushButton{background-color:%1;color:#FFFFFF;border:none;}"
|
||||
"QPushButton:checked{background-color:%2;color:#FFFFFF;border:none;}"
|
||||
"QPushButton:focus{border:4px solid #8ABFFF;}")
|
||||
.arg(C::DANGER).arg(C::SUCCESS));
|
||||
connect(ctrl, &QPushButton::toggled, this, [this, valve](bool on) {
|
||||
ctx()->comm()->sendBallValve(valve, on);
|
||||
});
|
||||
lay->addWidget(ctrl);
|
||||
lay->addWidget(ctrl, 0, Qt::AlignHCenter);
|
||||
|
||||
// 开启到位 / 关闭到位
|
||||
LedIndicator* open = new LedIndicator("开启到位", grp);
|
||||
open->setState(LedIndicator::Off);
|
||||
LedIndicator* close = new LedIndicator("关闭到位", grp);
|
||||
// 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
|
||||
// （开启绿 / 关闭红），首次收到遥测后由 refresh() 按实际到位状态刷新
|
||||
LedIndicator* open = new LedIndicator("开启", grp);
|
||||
open->setState(LedIndicator::Green);
|
||||
LedIndicator* close = new LedIndicator("关闭", grp);
|
||||
close->setState(LedIndicator::Red);
|
||||
lay->addWidget(open);
|
||||
lay->addWidget(close);
|
||||
QHBoxLayout* ioRow = new QHBoxLayout();
|
||||
ioRow->setSpacing(10);
|
||||
ioRow->addStretch(1);
|
||||
ioRow->addWidget(open);
|
||||
ioRow->addWidget(close);
|
||||
ioRow->addStretch(1);
|
||||
lay->addLayout(ioRow);
|
||||
|
||||
// 故障提示
|
||||
QLabel* fault = label("", 16, C::DANGER, true, grp);
|
||||
@@ -175,29 +216,60 @@ QWidget* DebugMaintainPage::makePumpGroup(const QString& pump, const QString& na
|
||||
grp->setProperty("card", true);
|
||||
grp->setStyleSheet(QString("QWidget[card=\"true\"]{background-color:%1;border:2px solid %2;border-radius:12px;}")
|
||||
.arg(C::PANEL, C::BORDER));
|
||||
// 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）。
|
||||
// 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
|
||||
QVBoxLayout* lay = new QVBoxLayout(grp);
|
||||
lay->setContentsMargins(12, 8, 12, 8);
|
||||
lay->setSpacing(4);
|
||||
lay->setContentsMargins(30, 8, 20, 8);
|
||||
lay->setSpacing(10);
|
||||
|
||||
ParamControl* rpm = new ParamControl(name + "转速", "rpm", 10, 0, 2000, false, false, grp);
|
||||
// 上限按协议各泵量程：空压机 AirComp_Spd 0-3000、柱塞泵 PlungerPump_Spd 0-1450、
|
||||
// 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
|
||||
const int rpmMax = (pump == "air") ? 3000 : (pump == "plunger") ? 1450 : 2000;
|
||||
ParamControl* rpm = new ParamControl(name, "", 1, 0, rpmMax, false, false, grp);
|
||||
rpm->setCentered(true);
|
||||
rpm->setValue(200);
|
||||
connect(rpm, &ParamControl::valueChanged, this, [this, pump](double v) {
|
||||
ctx()->comm()->sendPumpRpm(pump, static_cast<int>(v));
|
||||
});
|
||||
|
||||
lay->addWidget(rpm);
|
||||
|
||||
QPushButton* power = button("上电", "", grp);
|
||||
power->setCheckable(true);
|
||||
power->setFixedHeight(56);
|
||||
connect(power, &QPushButton::toggled, this, [this, pump, power](bool on) {
|
||||
power->setText(on ? "上电中" : "上电");
|
||||
ctx()->comm()->sendPumpPower(pump, on);
|
||||
// 启动 / 停止：互斥，选中态对应当前泵状态（绿＝运行、红＝停止）。
|
||||
// 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
|
||||
QPushButton* start = button("启动", "", grp);
|
||||
start->setCheckable(true);
|
||||
start->setFixedSize(120, 60);
|
||||
start->setStyleSheet(QString("QPushButton:checked{background-color:%1;color:#FFFFFF;border:none;}"
|
||||
"QPushButton:focus{border:4px solid #8ABFFF;}")
|
||||
.arg(C::SUCCESS));
|
||||
QPushButton* stop = button("停止", "", grp);
|
||||
stop->setCheckable(true);
|
||||
stop->setFixedSize(120, 60);
|
||||
stop->setStyleSheet(QString("QPushButton:checked{background-color:%1;color:#FFFFFF;border:none;}"
|
||||
"QPushButton:focus{border:4px solid #8ABFFF;}")
|
||||
.arg(C::DANGER));
|
||||
|
||||
connect(start, &QPushButton::clicked, this, [this, pump, start, stop]() {
|
||||
start->setChecked(true);
|
||||
stop->setChecked(false);
|
||||
ctx()->comm()->sendPumpPower(pump, true);
|
||||
});
|
||||
lay->addWidget(power);
|
||||
connect(stop, &QPushButton::clicked, this, [this, pump, start, stop]() {
|
||||
stop->setChecked(true);
|
||||
start->setChecked(false);
|
||||
ctx()->comm()->sendPumpPower(pump, false);
|
||||
});
|
||||
QHBoxLayout* pwrRow = new QHBoxLayout();
|
||||
pwrRow->setSpacing(12);
|
||||
pwrRow->addStretch(1);
|
||||
pwrRow->addWidget(start);
|
||||
pwrRow->addWidget(stop);
|
||||
pwrRow->addStretch(1);
|
||||
lay->addLayout(pwrRow);
|
||||
|
||||
if (pump == "air") { m_airRpm = rpm; m_airPower = power; }
|
||||
else if (pump == "plunger") { m_plungerRpm = rpm; m_plungerPower = power; }
|
||||
else { m_leafRpm = rpm; m_leafPower = power; }
|
||||
if (pump == "air") { m_airRpm = rpm; m_airStart = start; m_airStop = stop; }
|
||||
else if (pump == "plunger") { m_plungerRpm = rpm; m_plungerStart = start; m_plungerStop = stop; }
|
||||
else { m_leafRpm = rpm; m_leafStart = start; m_leafStop = stop; }
|
||||
return grp;
|
||||
}
|
||||
|
||||
@@ -220,11 +292,13 @@ void DebugMaintainPage::refresh()
|
||||
m_washCard->setField(5, t.pumpFaults.value(0));
|
||||
m_washCard->setField(6, t.pumpFaults.value(0));
|
||||
|
||||
// 球阀到位反馈
|
||||
m_v1Open->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
|
||||
m_v1Close->setState(t.d1close ? LedIndicator::Red : LedIndicator::Off);
|
||||
m_v2Open->setState(t.d2open ? LedIndicator::Green : LedIndicator::Off);
|
||||
m_v2Close->setState(t.d2close ? LedIndicator::Red : LedIndicator::Off);
|
||||
// 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）
|
||||
if (m_telemetrySeen) {
|
||||
m_v1Open->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
|
||||
m_v1Close->setState(t.d1close ? LedIndicator::Red : LedIndicator::Off);
|
||||
m_v2Open->setState(t.d2open ? LedIndicator::Green : LedIndicator::Off);
|
||||
m_v2Close->setState(t.d2close ? LedIndicator::Red : LedIndicator::Off);
|
||||
}
|
||||
|
||||
// 球阀故障提示
|
||||
bool v1Fault = t.valveFault.contains("D1");
|
||||
@@ -234,10 +308,10 @@ void DebugMaintainPage::refresh()
|
||||
if (v2Fault) { m_valveFault2->setText(t.valveFault); m_valveFault2->show(); startBlink(m_valveFault2, "blink"); }
|
||||
else { stopBlink(m_valveFault2, "blink"); m_valveFault2->hide(); }
|
||||
|
||||
// 泵上电状态同步
|
||||
if (m_airPower) m_airPower->setChecked(t.air);
|
||||
if (m_plungerPower) m_plungerPower->setChecked(t.plunger);
|
||||
if (m_leafPower) m_leafPower->setChecked(t.leaf);
|
||||
// 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）
|
||||
if (m_airStart) { m_airStart->setChecked(t.air); m_airStop->setChecked(!t.air); }
|
||||
if (m_plungerStart){ m_plungerStart->setChecked(t.plunger); m_plungerStop->setChecked(!t.plunger); }
|
||||
if (m_leafStart) { m_leafStart->setChecked(t.leaf); m_leafStop->setChecked(!t.leaf); }
|
||||
|
||||
// 底部指示灯
|
||||
m_ledPlunger->setState(t.plunger ? LedIndicator::Green : LedIndicator::Off);
|
||||
|
||||
+11
-5
@@ -12,7 +12,7 @@ class QPushButton;
|
||||
class QLabel;
|
||||
class QCheckBox;
|
||||
|
||||
// ===================== ⑪ 调试维护界面（洗消调试） =====================
|
||||
// ===================== ⑪ 调试维护界面 =====================
|
||||
class DebugMaintainPage : public BasePage
|
||||
{
|
||||
Q_OBJECT
|
||||
@@ -25,7 +25,7 @@ private slots:
|
||||
private:
|
||||
// 单个球阀组：控制开/关 + 开启到位 + 关闭到位 + 故障提示
|
||||
QWidget* makeValveGroup(int valve);
|
||||
// 单个泵组：转速调节 + 上电启停
|
||||
// 单个泵组：转速调节 + 启动/停止
|
||||
QWidget* makePumpGroup(const QString& pump, const QString& name);
|
||||
|
||||
TitleBar* m_titleBar = nullptr;
|
||||
@@ -49,15 +49,21 @@ private:
|
||||
ParamControl* m_airRpm = nullptr;
|
||||
ParamControl* m_plungerRpm = nullptr;
|
||||
ParamControl* m_leafRpm = nullptr;
|
||||
QPushButton* m_airPower = nullptr;
|
||||
QPushButton* m_plungerPower = nullptr;
|
||||
QPushButton* m_leafPower = nullptr;
|
||||
QPushButton* m_airStart = nullptr;
|
||||
QPushButton* m_airStop = nullptr;
|
||||
QPushButton* m_plungerStart = nullptr;
|
||||
QPushButton* m_plungerStop = nullptr;
|
||||
QPushButton* m_leafStart = nullptr;
|
||||
QPushButton* m_leafStop = nullptr;
|
||||
|
||||
// 底部指示灯
|
||||
LedIndicator* m_ledPlunger = nullptr;
|
||||
LedIndicator* m_ledAir = nullptr;
|
||||
LedIndicator* m_ledLeaf = nullptr;
|
||||
LedIndicator* m_ledLevel = nullptr;
|
||||
|
||||
// 是否收到过车端遥测：未收到时球阀到位灯保持“开启＝绿、关闭＝红”的缺省显示
|
||||
bool m_telemetrySeen = false;
|
||||
};
|
||||
|
||||
#endif // DEBUGMAINTAINPAGE_H
|
||||
|
||||
+62
-22
@@ -4,7 +4,8 @@
|
||||
#include <QHBoxLayout>
|
||||
#include <QLabel>
|
||||
#include <QPushButton>
|
||||
#include <QMessageBox>
|
||||
#include <QTimer>
|
||||
#include "confirmdialog.h"
|
||||
#include "global.h"
|
||||
|
||||
FaultQueryPage::FaultQueryPage(AppContext* ctx, QWidget* parent)
|
||||
@@ -13,58 +14,98 @@ FaultQueryPage::FaultQueryPage(AppContext* ctx, QWidget* parent)
|
||||
m_categories << "机器人底盘" << "机械臂" << "洗消系统" << "气体检测仪";
|
||||
|
||||
QVBoxLayout* root = new QVBoxLayout(this);
|
||||
root->setContentsMargins(36, 20, 36, 20);
|
||||
root->setSpacing(16);
|
||||
root->setContentsMargins(20, 20, 20, 20);
|
||||
root->setSpacing(30);
|
||||
|
||||
// 顶条：标题 + 汇总数
|
||||
m_title = label("历史故障", 28, C::TEXT, true, this);
|
||||
m_title = label("历史故障", 50, C::TEXT, true, this);
|
||||
root->addWidget(m_title);
|
||||
|
||||
QHBoxLayout* main = new QHBoxLayout();
|
||||
main->setSpacing(28);
|
||||
main->setSpacing(30);
|
||||
|
||||
// 表格
|
||||
m_table = new FaultTable(this);
|
||||
connect(m_table, &FaultTable::rowClicked, this, &FaultQueryPage::onRowClicked);
|
||||
main->addWidget(m_table, 1);
|
||||
|
||||
// 分类按钮列（垂直居中 + 平均分布）
|
||||
// 分类按钮列（左右各留 20px，按钮间距 40px，剩余高度由按钮等分）
|
||||
QWidget* right = new QWidget(this);
|
||||
QVBoxLayout* rightLay = new QVBoxLayout(right);
|
||||
rightLay->setContentsMargins(0, 0, 0, 0);
|
||||
rightLay->setSpacing(8);
|
||||
rightLay->setContentsMargins(80, FaultTable::kHeaderHeight + 10, 30, 80); // 对齐表格内容区后再下移 10px
|
||||
rightLay->setSpacing(60); // 按钮之间的间隔
|
||||
for (const QString& cat : m_categories) {
|
||||
QPushButton* b = button(cat + "故障", "", right);
|
||||
b->setCheckable(true);
|
||||
b->setFixedHeight(110);
|
||||
b->setStyleSheet(QString("font-size:24px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
|
||||
.arg(C::PANEL_HI, C::TEXT, C::BORDER));
|
||||
b->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); // 纵向可拉伸 → 等分剩余空间
|
||||
b->setStyleSheet(QString(
|
||||
"QPushButton{font-size:32px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;}"
|
||||
"QPushButton:hover,QPushButton:focus,QPushButton:checked"
|
||||
"{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}")
|
||||
.arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY));
|
||||
connect(b, &QPushButton::toggled, this, &FaultQueryPage::onCategoryToggled);
|
||||
m_categoryButtons << b;
|
||||
rightLay->addStretch(1);
|
||||
rightLay->addWidget(b);
|
||||
rightLay->addWidget(b, 1);
|
||||
}
|
||||
rightLay->addStretch(1);
|
||||
right->setFixedWidth(360);
|
||||
main->addWidget(right);
|
||||
|
||||
root->addLayout(main, 1);
|
||||
|
||||
// 底部：返回
|
||||
// 底部：返回（预留更大的行高空间）
|
||||
QHBoxLayout* bottomLay = new QHBoxLayout();
|
||||
bottomLay->setContentsMargins(0, 0, 40, 30);
|
||||
bottomLay->addStretch(1);
|
||||
QPushButton* back = button("返回", "", this);
|
||||
back->setFixedSize(144, 76);
|
||||
connect(back, &QPushButton::clicked, this, [this]() { emit navigate(m_returnPage); });
|
||||
bottomLay->addWidget(back);
|
||||
m_back = button("返回", "", this);
|
||||
m_back->setFixedSize(250, 100);
|
||||
m_back->setStyleSheet(cancelButtonStyle(60)); // 选中（悬停/按下/焦点）红底白字
|
||||
connect(m_back, &QPushButton::clicked, this, [this]() { emit navigate(m_returnPage); });
|
||||
bottomLay->addWidget(m_back);
|
||||
root->addLayout(bottomLay);
|
||||
|
||||
// Tab 顺序（循环）：表格 → 右侧分类按钮 → 返回 → 上一页 → 下一页 → 回到表格
|
||||
QWidget* first = m_table->view();
|
||||
QWidget* last = first;
|
||||
for (QPushButton* b : m_categoryButtons) {
|
||||
QWidget::setTabOrder(last, b);
|
||||
last = b;
|
||||
}
|
||||
QWidget::setTabOrder(last, m_back);
|
||||
QWidget::setTabOrder(m_back, m_table->prevButton());
|
||||
QWidget::setTabOrder(m_table->prevButton(), m_table->nextButton());
|
||||
QWidget::setTabOrder(m_table->nextButton(), first); // 回到表格，完成循环
|
||||
|
||||
refresh();
|
||||
}
|
||||
|
||||
void FaultQueryPage::showEvent(QShowEvent* ev)
|
||||
{
|
||||
BasePage::showEvent(ev);
|
||||
// 进入页面默认聚焦“分页”（上一页优先；首页禁用时退回下一页，再退回表格）
|
||||
QTimer::singleShot(0, this, [this]() {
|
||||
QWidget* prev = m_table->prevButton();
|
||||
QWidget* next = m_table->nextButton();
|
||||
if (prev->isEnabled()) prev->setFocus();
|
||||
else if (next->isEnabled()) next->setFocus();
|
||||
else m_table->view()->setFocus();
|
||||
});
|
||||
}
|
||||
|
||||
void FaultQueryPage::onCategoryToggled(bool on)
|
||||
{
|
||||
// 单选筛选：确定当前选中的分类
|
||||
// 单选：选中一个分类时，取消其它分类（屏蔽信号，避免它们再触发本函数）
|
||||
QPushButton* src = qobject_cast<QPushButton*>(sender());
|
||||
if (on && src) {
|
||||
for (QPushButton* b : m_categoryButtons) {
|
||||
if (b != src && b->isChecked()) {
|
||||
b->blockSignals(true);
|
||||
b->setChecked(false);
|
||||
b->blockSignals(false);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 确定当前选中的分类（都没选 = 显示全部）
|
||||
QString selected;
|
||||
for (int i = 0; i < m_categoryButtons.size(); ++i) {
|
||||
if (m_categoryButtons[i]->isChecked()) {
|
||||
@@ -73,7 +114,6 @@ void FaultQueryPage::onCategoryToggled(bool on)
|
||||
}
|
||||
}
|
||||
m_filter = selected;
|
||||
Q_UNUSED(on);
|
||||
refresh();
|
||||
}
|
||||
|
||||
@@ -105,7 +145,7 @@ void FaultQueryPage::onRowClicked(int globalIndex)
|
||||
if (globalIndex < 0 || globalIndex >= data.size())
|
||||
return;
|
||||
const FaultRecord& r = data[globalIndex];
|
||||
QMessageBox::information(this, "故障详情",
|
||||
ConfirmDialog::message(this, "故障详情",
|
||||
QString("故障时间：%1\n分系统：%2\n故障代码：%3\n故障描述：%4")
|
||||
.arg(r.time, r.system, r.code, r.desc));
|
||||
}
|
||||
|
||||
@@ -17,6 +17,9 @@ public:
|
||||
|
||||
void setReturnPage(PageId id) { m_returnPage = id; }
|
||||
|
||||
protected:
|
||||
void showEvent(QShowEvent* ev) override; // 进入页面时默认聚焦“分页”
|
||||
|
||||
private slots:
|
||||
void refresh();
|
||||
void onCategoryToggled(bool on);
|
||||
@@ -25,6 +28,7 @@ private slots:
|
||||
private:
|
||||
FaultTable* m_table = nullptr;
|
||||
QLabel* m_title = nullptr;
|
||||
QPushButton* m_back = nullptr;
|
||||
QVector<QPushButton*> m_categoryButtons;
|
||||
QVector<QString> m_categories;
|
||||
QString m_filter; // 空 = 全部
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#include "titlebar.h"
|
||||
#include "statusstrip.h"
|
||||
#include "datacard.h"
|
||||
#include "udpcommunication.h"
|
||||
#include "car.h"
|
||||
#include "confirmdialog.h"
|
||||
#include <QVBoxLayout>
|
||||
#include <QHBoxLayout>
|
||||
@@ -28,8 +28,8 @@ GasDetectorPage::GasDetectorPage(AppContext* ctx, QWidget* parent)
|
||||
// 中央卡片区（2×2）
|
||||
QWidget* center = new QWidget(this);
|
||||
QGridLayout* grid = new QGridLayout(center);
|
||||
grid->setSpacing(16);
|
||||
grid->setContentsMargins(0, 0, 0, 0);
|
||||
grid->setSpacing(20);
|
||||
grid->setContentsMargins(20, 0, 20, 0);
|
||||
|
||||
m_chassisCard = new DataCard("底盘", center);
|
||||
m_chassisCard->addField("电量", "85%");
|
||||
@@ -60,11 +60,11 @@ GasDetectorPage::GasDetectorPage(AppContext* ctx, QWidget* parent)
|
||||
// 右侧按钮列（垂直居中 + 平均分布）
|
||||
QWidget* right = new QWidget(this);
|
||||
QVBoxLayout* rightLay = new QVBoxLayout(right);
|
||||
rightLay->setContentsMargins(0, 0, 0, 0);
|
||||
rightLay->setContentsMargins(40, 40, 40, 40);
|
||||
rightLay->setSpacing(8);
|
||||
|
||||
m_start = button("启动", "primary", right);
|
||||
m_start->setFixedHeight(180);
|
||||
m_start->setFixedHeight(100);
|
||||
connect(m_start, &QPushButton::clicked, this, [this]() {
|
||||
this->ctx()->comm()->sendGasStart();
|
||||
this->ctx()->gasRunning = true;
|
||||
@@ -72,7 +72,7 @@ GasDetectorPage::GasDetectorPage(AppContext* ctx, QWidget* parent)
|
||||
});
|
||||
|
||||
m_stop = button("停机", "", right);
|
||||
m_stop->setFixedHeight(180);
|
||||
m_stop->setFixedHeight(100);
|
||||
connect(m_stop, &QPushButton::clicked, this, [this]() {
|
||||
this->ctx()->comm()->sendGasStop();
|
||||
this->ctx()->gasRunning = false;
|
||||
@@ -90,9 +90,9 @@ GasDetectorPage::GasDetectorPage(AppContext* ctx, QWidget* parent)
|
||||
root->addLayout(main, 1);
|
||||
|
||||
m_statusStrip = new StatusStrip(ctx, this);
|
||||
m_statusStrip->setModeVisible(false); // 本页不显示模式徽标
|
||||
connect(m_statusStrip, &StatusStrip::backClicked, this, [this]() {
|
||||
if (this->ctx()->gasRunning) {
|
||||
// 【设计建议】检测中返回弹提示
|
||||
if (ConfirmDialog::confirm(this, "提示", "检测仍在进行，是否退出？"))
|
||||
emit navigate(PageJob);
|
||||
} else {
|
||||
@@ -101,7 +101,7 @@ GasDetectorPage::GasDetectorPage(AppContext* ctx, QWidget* parent)
|
||||
});
|
||||
root->addWidget(m_statusStrip);
|
||||
|
||||
connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &GasDetectorPage::refresh);
|
||||
connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &GasDetectorPage::refresh);
|
||||
updateGating();
|
||||
refresh();
|
||||
}
|
||||
|
||||
+149
@@ -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。");
|
||||
}
|
||||
@@ -0,0 +1,30 @@
|
||||
#ifndef HOMEPAGE_H
|
||||
#define HOMEPAGE_H
|
||||
|
||||
#include "base.h"
|
||||
|
||||
class TitleBar;
|
||||
class StatusStrip;
|
||||
class DataCard;
|
||||
|
||||
// ===================== ⑤ 系统首页面 =====================
|
||||
class HomePage : public BasePage
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit HomePage(AppContext* ctx, QWidget* parent = nullptr);
|
||||
|
||||
private slots:
|
||||
void refresh();
|
||||
void onHelp();
|
||||
|
||||
private:
|
||||
TitleBar* m_titleBar = nullptr;
|
||||
StatusStrip* m_statusStrip = nullptr;
|
||||
DataCard* m_chassisCard = nullptr;
|
||||
DataCard* m_armCard = nullptr;
|
||||
DataCard* m_washCard = nullptr;
|
||||
DataCard* m_gasCard = nullptr;
|
||||
};
|
||||
|
||||
#endif // HOMEPAGE_H
|
||||
+44
-25
@@ -2,7 +2,7 @@
|
||||
#include "titlebar.h"
|
||||
#include "statusstrip.h"
|
||||
#include "datacard.h"
|
||||
#include "udpcommunication.h"
|
||||
#include "car.h"
|
||||
#include <QVBoxLayout>
|
||||
#include <QHBoxLayout>
|
||||
#include <QGridLayout>
|
||||
@@ -21,36 +21,43 @@ JobSelectPage::JobSelectPage(AppContext* ctx, QWidget* parent)
|
||||
root->addWidget(m_titleBar);
|
||||
|
||||
QHBoxLayout* main = new QHBoxLayout();
|
||||
main->setContentsMargins(36, 20, 36, 20);
|
||||
main->setSpacing(32);
|
||||
main->setContentsMargins(24, 20, 24, 20);
|
||||
main->setSpacing(24);
|
||||
|
||||
// 左侧菜单（垂直居中 + 平均分布）
|
||||
// ===== 按钮统一样式（改这里即可同时调整对应的按钮）=====
|
||||
// 左侧 4 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(0, 0, 0, 0);
|
||||
leftLay->setSpacing(8);
|
||||
leftLay->setContentsMargins(10, 20, 10, 20);
|
||||
leftLay->setSpacing(100);
|
||||
auto addMenu = [&](const QString& t, PageId id) {
|
||||
QPushButton* b = button(t, "", left);
|
||||
b->setFixedHeight(130);
|
||||
b->setStyleSheet(QString("font-size:24px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
|
||||
.arg(C::PANEL_HI, C::TEXT, C::BORDER));
|
||||
b->setFixedSize(260, 100); // 固定尺寸（改这里同时调整 4 个菜单按钮）
|
||||
b->setStyleSheet(menuBtnStyle);
|
||||
connect(b, &QPushButton::clicked, this, [this, id]() { emit navigate(id); });
|
||||
leftLay->addStretch(1);
|
||||
leftLay->addWidget(b);
|
||||
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("机器人底盘", PageChassis);
|
||||
addMenu("机械臂", PageArm);
|
||||
addMenu("气体检测仪", PageGas);
|
||||
addMenu("调试维护", PageDebug);
|
||||
addMenu("故障查询", PageFault);
|
||||
leftLay->addStretch(1);
|
||||
left->setFixedWidth(240);
|
||||
left->setFixedWidth(300);
|
||||
main->addWidget(left);
|
||||
|
||||
// 中央卡片区（2×2）
|
||||
QWidget* center = new QWidget(this);
|
||||
QGridLayout* grid = new QGridLayout(center);
|
||||
grid->setSpacing(16);
|
||||
grid->setSpacing(24);
|
||||
grid->setContentsMargins(0, 0, 0, 0);
|
||||
|
||||
m_chassisCard = new DataCard("底盘", center);
|
||||
@@ -70,27 +77,38 @@ JobSelectPage::JobSelectPage(AppContext* ctx, QWidget* parent)
|
||||
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_armCard, 0, 1);
|
||||
grid->addWidget(m_washCard, 1, 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（垂直居中 + 平均分布）
|
||||
// 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(8);
|
||||
QPushButton* clean = button("手动消除", "primary", right);
|
||||
clean->setFixedHeight(170);
|
||||
rightLay->setSpacing(24);
|
||||
QPushButton* clean = button("消除作业", "", right);
|
||||
clean->setFixedSize(240, 100);
|
||||
clean->setStyleSheet(actionBtnStyle);
|
||||
connect(clean, &QPushButton::clicked, this, [this]() { emit navigate(PageClean); });
|
||||
QPushButton* disinfect = button("手动消毒", "primary", right);
|
||||
disinfect->setFixedHeight(170);
|
||||
QPushButton* disinfect = button("消毒作业", "", right);
|
||||
disinfect->setFixedSize(240, 100);
|
||||
disinfect->setStyleSheet(actionBtnStyle);
|
||||
connect(disinfect, &QPushButton::clicked, this, [this]() { emit navigate(PageDisinfect); });
|
||||
// 返回：回系统首页面（⑤系统首页面 → ⑥作业选择）
|
||||
QPushButton* back = button("返回", "", right);
|
||||
back->setFixedSize(240, 100);
|
||||
back->setStyleSheet(cancelButtonStyle(55)); // 选中（悬停/按下/焦点）红底白字
|
||||
// connect(back, &QPushButton::clicked, this, [this]() { emit navigate(PageSelfCheck); }); // 原：回自检页
|
||||
connect(back, &QPushButton::clicked, this, [this]() { emit navigate(PageHome); });
|
||||
rightLay->addStretch(1);
|
||||
rightLay->addWidget(clean);
|
||||
rightLay->addWidget(clean, 0, Qt::AlignHCenter);
|
||||
rightLay->addStretch(1);
|
||||
rightLay->addWidget(disinfect);
|
||||
rightLay->addWidget(disinfect, 0, Qt::AlignHCenter);
|
||||
rightLay->addStretch(1);
|
||||
rightLay->addWidget(back, 0, Qt::AlignHCenter);
|
||||
rightLay->addStretch(1);
|
||||
right->setFixedWidth(360);
|
||||
main->addWidget(right);
|
||||
@@ -99,9 +117,10 @@ JobSelectPage::JobSelectPage(AppContext* ctx, QWidget* parent)
|
||||
|
||||
m_statusStrip = new StatusStrip(ctx, this);
|
||||
m_statusStrip->setBackVisible(false);
|
||||
m_statusStrip->setModeVisible(false); // 本页不显示模式徽标（返回按钮已移到右侧列）
|
||||
root->addWidget(m_statusStrip);
|
||||
|
||||
connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &JobSelectPage::refresh);
|
||||
connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &JobSelectPage::refresh);
|
||||
refresh();
|
||||
}
|
||||
|
||||
|
||||
@@ -1,28 +0,0 @@
|
||||
#include "manualclean.h"
|
||||
#include "paramcontrol.h"
|
||||
#include "udpcommunication.h"
|
||||
#include "confirmdialog.h"
|
||||
#include <QVBoxLayout>
|
||||
#include "global.h"
|
||||
|
||||
ManualCleanPage::ManualCleanPage(AppContext* ctx, QWidget* parent)
|
||||
: WashBasePage(ctx, "手动消除", "洗消（手动消除）", parent)
|
||||
{
|
||||
double flow = ctx->getDouble(ctx->keyPumpFlow(), 20);
|
||||
m_pumpFlow = new ParamControl("柱塞泵流量", "L/min", 0.5, 0.0, 100.0, true, false, this);
|
||||
m_pumpFlow->setValue(flow);
|
||||
connect(m_pumpFlow, &ParamControl::saveClicked, this, [this]() {
|
||||
this->ctx()->setDouble(this->ctx()->keyPumpFlow(), m_pumpFlow->value());
|
||||
this->ctx()->comm()->sendSetParam(this->ctx()->keyPumpFlow(), m_pumpFlow->value());
|
||||
ConfirmDialog::toast(this, "已保存");
|
||||
});
|
||||
paramsLayout()->addWidget(m_pumpFlow);
|
||||
}
|
||||
|
||||
void ManualCleanPage::resetFactory()
|
||||
{
|
||||
// 出厂值 20
|
||||
m_pumpFlow->setValue(20);
|
||||
ctx()->setDouble(ctx()->keyPumpFlow(), 20);
|
||||
ConfirmDialog::toast(this, "已恢复出厂值");
|
||||
}
|
||||
@@ -1,23 +0,0 @@
|
||||
#ifndef MANUALCLEANPAGE_H
|
||||
#define MANUALCLEANPAGE_H
|
||||
|
||||
#include "washbase.h"
|
||||
|
||||
class ParamControl;
|
||||
|
||||
// ===================== ⑨ 手动消除界面 =====================
|
||||
class ManualCleanPage : public WashBasePage
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit ManualCleanPage(AppContext* ctx, QWidget* parent = nullptr);
|
||||
|
||||
protected:
|
||||
void resetFactory() override;
|
||||
QString washModeTag() const override { return "clean"; }
|
||||
|
||||
private:
|
||||
ParamControl* m_pumpFlow = nullptr;
|
||||
};
|
||||
|
||||
#endif // MANUALCLEANPAGE_H
|
||||
@@ -1,49 +0,0 @@
|
||||
#include "manualdisinfect.h"
|
||||
#include "paramcontrol.h"
|
||||
#include "udpcommunication.h"
|
||||
#include "confirmdialog.h"
|
||||
#include <QVBoxLayout>
|
||||
#include "global.h"
|
||||
|
||||
ManualDisinfectPage::ManualDisinfectPage(AppContext* ctx, QWidget* parent)
|
||||
: WashBasePage(ctx, "手动消毒", "洗消（手动消毒）", parent)
|
||||
{
|
||||
// 发泡倍数（出厂 6）
|
||||
m_foamRatio = new ParamControl("发泡倍数", "倍", 0.5, 0.0, 20.0, true, false, this);
|
||||
m_foamRatio->setValue(ctx->getDouble(ctx->keyFoamRatio(), 6));
|
||||
connect(m_foamRatio, &ParamControl::saveClicked, this, [this]() {
|
||||
this->ctx()->setDouble(this->ctx()->keyFoamRatio(), m_foamRatio->value());
|
||||
ConfirmDialog::toast(this, "已保存");
|
||||
});
|
||||
|
||||
// 泡沫比例（出厂 3%）
|
||||
m_foamPercent = new ParamControl("泡沫比例", "%", 0.5, 0.0, 20.0, true, false, this);
|
||||
m_foamPercent->setValue(ctx->getDouble(ctx->keyFoamPercent(), 3));
|
||||
connect(m_foamPercent, &ParamControl::saveClicked, this, [this]() {
|
||||
this->ctx()->setDouble(this->ctx()->keyFoamPercent(), m_foamPercent->value());
|
||||
ConfirmDialog::toast(this, "已保存");
|
||||
});
|
||||
|
||||
// 空压机流量（出厂 100）
|
||||
m_airFlow = new ParamControl("空压机流量", "L/min", 1, 0.0, 500.0, true, false, this);
|
||||
m_airFlow->setValue(ctx->getDouble(ctx->keyAirFlow(), 100));
|
||||
connect(m_airFlow, &ParamControl::saveClicked, this, [this]() {
|
||||
this->ctx()->setDouble(this->ctx()->keyAirFlow(), m_airFlow->value());
|
||||
ConfirmDialog::toast(this, "已保存");
|
||||
});
|
||||
|
||||
paramsLayout()->addWidget(m_foamRatio);
|
||||
paramsLayout()->addWidget(m_foamPercent);
|
||||
paramsLayout()->addWidget(m_airFlow);
|
||||
}
|
||||
|
||||
void ManualDisinfectPage::resetFactory()
|
||||
{
|
||||
m_foamRatio->setValue(6);
|
||||
m_foamPercent->setValue(3);
|
||||
m_airFlow->setValue(100);
|
||||
ctx()->setDouble(ctx()->keyFoamRatio(), 6);
|
||||
ctx()->setDouble(ctx()->keyFoamPercent(), 3);
|
||||
ctx()->setDouble(ctx()->keyAirFlow(), 100);
|
||||
ConfirmDialog::toast(this, "已恢复出厂值");
|
||||
}
|
||||
@@ -1,25 +0,0 @@
|
||||
#ifndef MANUALDISINFECTPAGE_H
|
||||
#define MANUALDISINFECTPAGE_H
|
||||
|
||||
#include "washbase.h"
|
||||
|
||||
class ParamControl;
|
||||
|
||||
// ===================== ⑩ 手动消毒界面 =====================
|
||||
class ManualDisinfectPage : public WashBasePage
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit ManualDisinfectPage(AppContext* ctx, QWidget* parent = nullptr);
|
||||
|
||||
protected:
|
||||
void resetFactory() override;
|
||||
QString washModeTag() const override { return "disinfect"; }
|
||||
|
||||
private:
|
||||
ParamControl* m_foamRatio = nullptr; // 发泡倍数
|
||||
ParamControl* m_foamPercent = nullptr; // 泡沫比例
|
||||
ParamControl* m_airFlow = nullptr; // 空压机流量
|
||||
};
|
||||
|
||||
#endif // MANUALDISINFECTPAGE_H
|
||||
+13
-9
@@ -1,7 +1,7 @@
|
||||
#include "selfcheck.h"
|
||||
#include "titlebar.h"
|
||||
#include "ledindicator.h"
|
||||
#include "udpcommunication.h"
|
||||
#include "car.h"
|
||||
#include <QVBoxLayout>
|
||||
#include <QHBoxLayout>
|
||||
#include <QGridLayout>
|
||||
@@ -9,7 +9,7 @@
|
||||
#include <QPushButton>
|
||||
#include <QProgressBar>
|
||||
#include <QTimer>
|
||||
#include <QMessageBox>
|
||||
#include "confirmdialog.h"
|
||||
#include "global.h"
|
||||
|
||||
SelfCheckPage::SelfCheckPage(AppContext* ctx, QWidget* parent)
|
||||
@@ -29,7 +29,7 @@ SelfCheckPage::SelfCheckPage(AppContext* ctx, QWidget* parent)
|
||||
main->setSpacing(40);
|
||||
|
||||
// 两侧按钮统一样式：字号在此统一调整；按钮会拉伸填满整列（sideBtnH 为最小高度）
|
||||
const int sideBtnH = 200;
|
||||
const int sideBtnH = 130;
|
||||
const QString sideBtnStyle = "font-size:60px;";
|
||||
auto makeSideBtn = [&](const QString& text, const QString& variant, QWidget* parent) {
|
||||
QPushButton* b = button(text, variant, parent);
|
||||
@@ -127,8 +127,8 @@ SelfCheckPage::SelfCheckPage(AppContext* ctx, QWidget* parent)
|
||||
root->addLayout(main, 1);
|
||||
|
||||
// 连接通信信号
|
||||
connect(ctx->comm(), &UdpCommunication::selfCheckItem, this, &SelfCheckPage::onSelfCheckItem);
|
||||
connect(ctx->comm(), &UdpCommunication::selfCheckDone, this, &SelfCheckPage::onSelfCheckDone);
|
||||
connect(ctx->comm(), &CarCommunication::selfCheckItem, this, &SelfCheckPage::onSelfCheckItem);
|
||||
connect(ctx->comm(), &CarCommunication::selfCheckDone, this, &SelfCheckPage::onSelfCheckDone);
|
||||
}
|
||||
|
||||
void SelfCheckPage::showEvent(QShowEvent* ev)
|
||||
@@ -200,12 +200,15 @@ void SelfCheckPage::onSelfCheckDone(bool allOk)
|
||||
m_status->setStyleSheet(QString("color:%1;font-size:60px;font-weight:700;").arg(C::SUCCESS));
|
||||
m_job->setEnabled(true);
|
||||
m_job->setFocus(); // 自检完成后聚焦到“作业选择”
|
||||
// 自检完成后停留在本界面，不自动跳转（需进入作业选择请手动点击）
|
||||
// 【设计建议】自检完成 2s 后自动进入作业选择
|
||||
// 自检完成 2s 后自动进入系统首页面（原目标为作业选择页）
|
||||
// QTimer::singleShot(2000, this, [this]() {
|
||||
// if (m_done && isVisible())
|
||||
// emit navigate(PageJob);
|
||||
// });
|
||||
QTimer::singleShot(2000, this, [this]() {
|
||||
if (m_done && isVisible())
|
||||
emit navigate(PageHome);
|
||||
});
|
||||
} else {
|
||||
m_status->setText("无法完成自检 请检查设备");
|
||||
m_status->setStyleSheet(QString("color:%1;font-size:60px;font-weight:700;").arg(C::DANGER));
|
||||
@@ -218,7 +221,8 @@ void SelfCheckPage::onSelfCheckDone(bool allOk)
|
||||
|
||||
void SelfCheckPage::onIgnoreFault()
|
||||
{
|
||||
emit navigate(PageJob);
|
||||
// emit navigate(PageJob); // 原：直接进作业选择页
|
||||
emit navigate(PageHome); // 忽略故障后进入系统首页面
|
||||
}
|
||||
|
||||
void SelfCheckPage::onJobSelect()
|
||||
@@ -228,7 +232,7 @@ void SelfCheckPage::onJobSelect()
|
||||
|
||||
void SelfCheckPage::onHelp()
|
||||
{
|
||||
QMessageBox::information(this, "操作说明",
|
||||
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。");
|
||||
|
||||
+5
-2
@@ -3,7 +3,7 @@
|
||||
#include "alarmbanner.h"
|
||||
#include "datacard.h"
|
||||
#include "ledindicator.h"
|
||||
#include "udpcommunication.h"
|
||||
#include "car.h"
|
||||
#include "confirmdialog.h"
|
||||
#include <QVBoxLayout>
|
||||
#include <QHBoxLayout>
|
||||
@@ -68,6 +68,7 @@ WashBasePage::WashBasePage(AppContext* ctx, const QString& title, const QString&
|
||||
m_fFoam = m_washCard->addField("发泡倍数", "0");
|
||||
m_fAirFault = m_washCard->addField("空压机故障代码", "");
|
||||
m_fPlungerFault = m_washCard->addField("柱塞泵故障代码", "");
|
||||
m_washCard->indentRows(); // 行文字缩进到中间偏左（卡片很宽，贴左缘会显得空）
|
||||
main->addWidget(m_washCard, 1);
|
||||
|
||||
// 右侧操作列
|
||||
@@ -109,6 +110,7 @@ WashBasePage::WashBasePage(AppContext* ctx, const QString& title, const QString&
|
||||
|
||||
m_factory = button("恢复出厂值", "", bottom);
|
||||
m_factory->setFixedSize(220, 64);
|
||||
m_factory->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字
|
||||
connect(m_factory, &QPushButton::clicked, this, &WashBasePage::onFactory);
|
||||
bottomLay->addWidget(m_factory);
|
||||
bottomLay->addSpacing(20);
|
||||
@@ -134,6 +136,7 @@ WashBasePage::WashBasePage(AppContext* ctx, const QString& title, const QString&
|
||||
|
||||
m_back = button("返回", "", bottom);
|
||||
m_back->setFixedSize(144, 76);
|
||||
m_back->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字
|
||||
connect(m_back, &QPushButton::clicked, this, &WashBasePage::onBack);
|
||||
bottomLay->addWidget(m_back);
|
||||
|
||||
@@ -145,7 +148,7 @@ WashBasePage::WashBasePage(AppContext* ctx, const QString& title, const QString&
|
||||
connect(m_faultTimer, &QTimer::timeout, this, &WashBasePage::rotateFaults);
|
||||
m_faultTimer->start();
|
||||
|
||||
connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &WashBasePage::refresh);
|
||||
connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &WashBasePage::refresh);
|
||||
updateGating();
|
||||
refresh();
|
||||
}
|
||||
|
||||
+1
-1
@@ -12,7 +12,7 @@ class QPushButton;
|
||||
class QVBoxLayout;
|
||||
class QTimer;
|
||||
|
||||
// ===================== 洗消页面基类（⑨手动消除 / ⑩手动消毒 共用） =====================
|
||||
// ===================== 洗消页面基类（⑨消除作业 / ⑩消毒作业 共用） =====================
|
||||
// 左侧状态卡 + 中央洗消参数卡 + 右侧启动/停止与参数 + 底部指示灯条
|
||||
class WashBasePage : public BasePage
|
||||
{
|
||||
|
||||
@@ -0,0 +1,369 @@
|
||||
#include "washpage.h"
|
||||
#include "titlebar.h"
|
||||
#include "alarmbanner.h"
|
||||
#include "datacard.h"
|
||||
#include "ledindicator.h"
|
||||
#include "paramcontrol.h"
|
||||
#include "car.h"
|
||||
#include "confirmdialog.h"
|
||||
#include <QVBoxLayout>
|
||||
#include <QHBoxLayout>
|
||||
#include <QPushButton>
|
||||
#include <QLabel>
|
||||
#include <QTimer>
|
||||
#include "global.h"
|
||||
|
||||
WashPage::WashPage(AppContext* ctx, Mode mode, QWidget* parent)
|
||||
: BasePage(ctx, parent), m_mode(mode)
|
||||
{
|
||||
const bool clean = (mode == Clean);
|
||||
|
||||
QVBoxLayout* root = new QVBoxLayout(this);
|
||||
root->setContentsMargins(0, 0, 0, 0);
|
||||
root->setSpacing(0);
|
||||
|
||||
m_titleBar = new TitleBar(ctx, this);
|
||||
m_titleBar->setTitle(clean ? "消除作业" : "消毒作业");
|
||||
root->addWidget(m_titleBar);
|
||||
|
||||
m_banner = new AlarmBanner(this);
|
||||
root->addWidget(m_banner);
|
||||
|
||||
QHBoxLayout* main = new QHBoxLayout();
|
||||
main->setContentsMargins(36, 16, 36, 16);
|
||||
main->setSpacing(28);
|
||||
|
||||
// 左侧状态卡（底盘/机械臂/气体检测仪）
|
||||
QWidget* left = new QWidget(this);
|
||||
QVBoxLayout* leftLay = new QVBoxLayout(left);
|
||||
leftLay->setContentsMargins(0, 0, 0, 0);
|
||||
leftLay->setSpacing(10);
|
||||
|
||||
m_chassisCard = new DataCard("底盘", left);
|
||||
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", left);
|
||||
m_armCard->addField("末端位置", "XYZ");
|
||||
m_armCard->addField("姿态", "RX/RY/RZ");
|
||||
|
||||
m_gasCard = new DataCard("气体检测仪", left);
|
||||
m_gasCard->addField("主机状态", "待机");
|
||||
m_gasCard->addField("浓度", "0 ppb");
|
||||
|
||||
leftLay->addWidget(m_chassisCard, 1);
|
||||
leftLay->addWidget(m_armCard, 1);
|
||||
leftLay->addWidget(m_gasCard, 1);
|
||||
left->setFixedWidth(600); // 需容纳最长的“末端位置：X:1200 Y:300 Z:800”（42px 字号约 523px）
|
||||
main->addSpacing(60); // 左列整体右移的量；空白由中间拉伸列让出，卡片宽度不变
|
||||
main->addWidget(left);
|
||||
|
||||
// 中央洗消卡
|
||||
m_washCard = new DataCard(clean ? "洗消（消除作业）" : "洗消（消毒作业）", this);
|
||||
m_fMode = m_washCard->addField("洗消模式", "--");
|
||||
m_fLevelA = m_washCard->addField("A组分液位", "100L");
|
||||
m_fLevelFoam = m_washCard->addField("泡沫箱液位", "30L");
|
||||
m_fFlowA = m_washCard->addField("A药剂流量", "0 L/min");
|
||||
m_fFlowB = m_washCard->addField("B药剂流量", "0 L/min");
|
||||
m_fGasFlow = m_washCard->addField("气体流量", "0 L/min");
|
||||
m_fPress = m_washCard->addField("管路压力", "0 MPa");
|
||||
m_fAirPress = m_washCard->addField("空压机压力", "0 MPa");
|
||||
m_fFoam = m_washCard->addField("发泡倍数", "0");
|
||||
m_fAirFault = m_washCard->addField("空压机故障代码", "");
|
||||
m_fPlungerFault = m_washCard->addField("柱塞泵故障代码", "");
|
||||
main->addSpacing(60);
|
||||
main->addWidget(m_washCard, 1);
|
||||
|
||||
// 右侧操作列
|
||||
QWidget* right = new QWidget(this);
|
||||
QVBoxLayout* rightLay = new QVBoxLayout(right);
|
||||
rightLay->setContentsMargins(20, 20, 20, 10);
|
||||
rightLay->setSpacing(60);
|
||||
|
||||
m_start = button("启动", "primary", right);
|
||||
m_start->setFixedSize(180, 100);
|
||||
connect(m_start, &QPushButton::clicked, this, &WashPage::onStart);
|
||||
|
||||
m_stop = button("停止", "danger", right);
|
||||
m_stop->setFixedSize(180, 100);
|
||||
connect(m_stop, &QPushButton::clicked, this, &WashPage::onStop);
|
||||
|
||||
rightLay->addWidget(m_start, 0, Qt::AlignHCenter);
|
||||
rightLay->addWidget(m_stop, 0, Qt::AlignHCenter);
|
||||
|
||||
// 参数区：按模式不同
|
||||
m_paramsLayout = new QVBoxLayout();
|
||||
m_paramsLayout->setSpacing(8);
|
||||
rightLay->addLayout(m_paramsLayout);
|
||||
rightLay->addStretch(1);
|
||||
|
||||
if (clean) {
|
||||
// 柱塞泵流量（出厂 20；协议 PlungerPump_flow 0-24 L/min）
|
||||
m_pumpFlow = new ParamControl("柱塞泵流量", "L/min", 0.1, 0.0, 24.0, true, false, this);
|
||||
m_pumpFlow->setValue(ctx->getDouble(ctx->keyPumpFlow(), 20));
|
||||
connect(m_pumpFlow, &ParamControl::saveClicked, this, [this]() {
|
||||
this->ctx()->setDouble(this->ctx()->keyPumpFlow(), m_pumpFlow->value());
|
||||
this->ctx()->comm()->sendSetParam(this->ctx()->keyPumpFlow(), m_pumpFlow->value());
|
||||
refreshPumpValues(); // 底部数值跟着更新
|
||||
ConfirmDialog::toast(this, "已保存");
|
||||
});
|
||||
m_paramsLayout->addWidget(m_pumpFlow);
|
||||
} else {
|
||||
// 发泡倍数（出厂 6；协议 Expansion_ratioCmd 6-12 倍）
|
||||
m_foamRatio = new ParamControl("发泡倍数", "倍", 0.1, 6.0, 12.0, true, false, this);
|
||||
m_foamRatio->setValue(ctx->getDouble(ctx->keyFoamRatio(), 6));
|
||||
connect(m_foamRatio, &ParamControl::saveClicked, this, [this]() {
|
||||
this->ctx()->setDouble(this->ctx()->keyFoamRatio(), m_foamRatio->value());
|
||||
this->ctx()->comm()->sendSetParam(this->ctx()->keyFoamRatio(), m_foamRatio->value());
|
||||
ConfirmDialog::toast(this, "已保存");
|
||||
});
|
||||
m_paramsLayout->addWidget(m_foamRatio);
|
||||
|
||||
// 泡沫比例（出厂 3%；协议 Foam_ratio 0-10%）
|
||||
m_foamPercent = new ParamControl("泡沫比例", "%", 0.1, 0.0, 10.0, true, false, this);
|
||||
m_foamPercent->setValue(ctx->getDouble(ctx->keyFoamPercent(), 3));
|
||||
connect(m_foamPercent, &ParamControl::saveClicked, this, [this]() {
|
||||
this->ctx()->setDouble(this->ctx()->keyFoamPercent(), m_foamPercent->value());
|
||||
this->ctx()->comm()->sendSetParam(this->ctx()->keyFoamPercent(), m_foamPercent->value());
|
||||
ConfirmDialog::toast(this, "已保存");
|
||||
});
|
||||
m_paramsLayout->addWidget(m_foamPercent);
|
||||
|
||||
// 空压机流量（出厂 100；协议 AirComp_flow 0-340 L/min）
|
||||
m_airFlow = new ParamControl("空压机流量", "L/min", 1, 0.0, 340.0, true, false, this);
|
||||
m_airFlow->setValue(ctx->getDouble(ctx->keyAirFlow(), 100));
|
||||
connect(m_airFlow, &ParamControl::saveClicked, this, [this]() {
|
||||
this->ctx()->setDouble(this->ctx()->keyAirFlow(), m_airFlow->value());
|
||||
this->ctx()->comm()->sendSetParam(this->ctx()->keyAirFlow(), m_airFlow->value());
|
||||
refreshPumpValues(); // 底部数值跟着更新
|
||||
ConfirmDialog::toast(this, "已保存");
|
||||
});
|
||||
m_paramsLayout->addWidget(m_airFlow);
|
||||
}
|
||||
|
||||
right->setFixedWidth(500); // 参数行需容纳 输入框150 + 单位约101 + 保存140 + 两个间距24 ≈ 415px
|
||||
main->addSpacing(60); // 洗消卡 ↔ 右列的间隙；空白由中间拉伸列让出，卡片文字不受影响
|
||||
main->addWidget(right);
|
||||
|
||||
root->addLayout(main, 1);
|
||||
|
||||
// 底部条：左右两个按钮纵向占满两行，中间上下两排（泵数值 / 指示灯）居中
|
||||
QWidget* bottom = new QWidget(this);
|
||||
bottom->setObjectName("WashBottom");
|
||||
bottom->setFixedHeight(160);
|
||||
// 用 #WashBottom 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
|
||||
bottom->setStyleSheet(QString("QWidget#WashBottom{background-color:%1;border-top:1px solid %2;}")
|
||||
.arg(C::PANEL, C::BORDER));
|
||||
QHBoxLayout* bottomRoot = new QHBoxLayout(bottom);
|
||||
bottomRoot->setContentsMargins(20, 8, 20, 8);
|
||||
bottomRoot->setSpacing(12);
|
||||
|
||||
// 左：恢复出厂值（占满两行高度）
|
||||
m_factory = button("恢复出厂值", "", bottom);
|
||||
m_factory->setFixedSize(220, 100);
|
||||
m_factory->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字
|
||||
connect(m_factory, &QPushButton::clicked, this, &WashPage::onFactory);
|
||||
bottomRoot->addWidget(m_factory, 0, Qt::AlignVCenter);
|
||||
|
||||
// 中：上排三泵数值、下排指示灯，两排都水平居中
|
||||
QVBoxLayout* midLay = new QVBoxLayout();
|
||||
midLay->setSpacing(6);
|
||||
|
||||
QHBoxLayout* valueLay = new QHBoxLayout();
|
||||
valueLay->setSpacing(40);
|
||||
valueLay->addStretch(1);
|
||||
auto addFlow = [&](const QString& name) {
|
||||
valueLay->addWidget(label(name + "：", 40, C::TEXT_SUB, false, bottom));
|
||||
QLabel* v = label("--", 40, C::TEXT, true, bottom);
|
||||
valueLay->addWidget(v);
|
||||
return v;
|
||||
};
|
||||
m_valPlunger = addFlow("柱塞泵");
|
||||
m_valAir = addFlow("空压机");
|
||||
m_valLeaf = addFlow("叶片泵");
|
||||
refreshPumpValues(); // 开机先显示参数的出厂默认值
|
||||
valueLay->addStretch(1);
|
||||
|
||||
QHBoxLayout* ledLay = new QHBoxLayout();
|
||||
ledLay->setSpacing(10); // 8 个灯 40px 字号后总宽约 1300px
|
||||
ledLay->addStretch(1);
|
||||
auto makeLed = [&](const QString& text) {
|
||||
LedIndicator* led = new LedIndicator(text, bottom);
|
||||
led->setTextPixelSize(40); // 字号与卡片标题一致
|
||||
ledLay->addWidget(led);
|
||||
return led;
|
||||
};
|
||||
m_ledRun = makeLed("启停");
|
||||
m_ledPlunger = makeLed("柱塞泵");
|
||||
m_ledAir = makeLed("空压机");
|
||||
m_ledLeaf = makeLed("叶片泵");
|
||||
m_ledLevel = makeLed("液位低");
|
||||
m_ledD1 = makeLed("D1");
|
||||
m_ledD2 = makeLed("D2");
|
||||
m_ledFault = makeLed("系统故障");
|
||||
ledLay->addStretch(1);
|
||||
|
||||
midLay->addStretch(1);
|
||||
midLay->addLayout(valueLay);
|
||||
midLay->addLayout(ledLay);
|
||||
midLay->addStretch(1);
|
||||
bottomRoot->addLayout(midLay, 1);
|
||||
|
||||
// 右：返回（占满两行高度）
|
||||
m_back = button("返回", "", bottom);
|
||||
m_back->setFixedSize(170, 100);
|
||||
m_back->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字
|
||||
connect(m_back, &QPushButton::clicked, this, &WashPage::onBack);
|
||||
bottomRoot->addWidget(m_back, 0, Qt::AlignVCenter);
|
||||
|
||||
root->addWidget(bottom);
|
||||
|
||||
// 故障代码轮流循环显示（2s/条）
|
||||
m_faultTimer = new QTimer(this);
|
||||
m_faultTimer->setInterval(2000);
|
||||
connect(m_faultTimer, &QTimer::timeout, this, &WashPage::rotateFaults);
|
||||
m_faultTimer->start();
|
||||
|
||||
connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &WashPage::refresh);
|
||||
updateGating();
|
||||
refresh();
|
||||
}
|
||||
|
||||
QString WashPage::washModeTag() const
|
||||
{
|
||||
return m_mode == Clean ? "clean" : "disinfect";
|
||||
}
|
||||
|
||||
// 底部三个泵的数值：柱塞泵/空压机跟右侧参数的设定值（没改过就是出厂默认值），
|
||||
// 叶片泵本页没有对应参数，先取遥测的实时流量
|
||||
void WashPage::refreshPumpValues()
|
||||
{
|
||||
// 这里读的是配置值，一并按协议量程夹取（柱塞泵 0-24、空压机 0-340 L/min），
|
||||
// 否则旧配置里超范围的历史值会与控件显示、实际上报的数值对不上
|
||||
m_valPlunger->setText(QString("%1 L/min").arg(qBound(0.0, ctx()->getDouble(ctx()->keyPumpFlow(), 20), 24.0), 0, 'f', 1));
|
||||
m_valAir->setText(QString("%1 L/min").arg(qBound(0.0, ctx()->getDouble(ctx()->keyAirFlow(), 100), 340.0), 0, 'f', 1));
|
||||
m_valLeaf->setText(QString("%1 L/min").arg(ctx()->telemetry.flowB, 0, 'f', 1));
|
||||
}
|
||||
|
||||
void WashPage::onStart()
|
||||
{
|
||||
ctx()->comm()->sendWashStart(washModeTag());
|
||||
ctx()->washRunning = true;
|
||||
updateGating();
|
||||
}
|
||||
|
||||
void WashPage::onStop()
|
||||
{
|
||||
ctx()->comm()->sendWashStop();
|
||||
ctx()->washRunning = false;
|
||||
updateGating();
|
||||
}
|
||||
|
||||
void WashPage::onBack()
|
||||
{
|
||||
if (ctx()->washRunning) {
|
||||
ConfirmDialog::toast(this, "请先停止");
|
||||
return;
|
||||
}
|
||||
emit navigate(PageJob);
|
||||
}
|
||||
|
||||
void WashPage::onFactory()
|
||||
{
|
||||
if (ConfirmDialog::confirm(this, "恢复出厂值", "确定将参数恢复为出厂值？"))
|
||||
resetFactory();
|
||||
}
|
||||
|
||||
void WashPage::resetFactory()
|
||||
{
|
||||
if (m_mode == Clean) {
|
||||
m_pumpFlow->setValue(20); // 出厂 20
|
||||
ctx()->setDouble(ctx()->keyPumpFlow(), 20);
|
||||
ctx()->comm()->sendSetParam(ctx()->keyPumpFlow(), 20);
|
||||
} else {
|
||||
m_foamRatio->setValue(6); // 出厂 6
|
||||
m_foamPercent->setValue(3); // 出厂 3%
|
||||
m_airFlow->setValue(100); // 出厂 100
|
||||
ctx()->setDouble(ctx()->keyFoamRatio(), 6);
|
||||
ctx()->setDouble(ctx()->keyFoamPercent(), 3);
|
||||
ctx()->setDouble(ctx()->keyAirFlow(), 100);
|
||||
ctx()->comm()->sendSetParam(ctx()->keyFoamRatio(), 6);
|
||||
ctx()->comm()->sendSetParam(ctx()->keyFoamPercent(), 3);
|
||||
ctx()->comm()->sendSetParam(ctx()->keyAirFlow(), 100);
|
||||
}
|
||||
refreshPumpValues(); // 底部数值跟着回到出厂值
|
||||
ConfirmDialog::toast(this, "已恢复出厂值");
|
||||
}
|
||||
|
||||
void WashPage::updateGating()
|
||||
{
|
||||
bool running = ctx()->washRunning;
|
||||
m_start->setEnabled(!running);
|
||||
m_stop->setEnabled(running);
|
||||
m_back->setEnabled(!running);
|
||||
}
|
||||
|
||||
void WashPage::refresh()
|
||||
{
|
||||
const Telemetry& t = ctx()->telemetry;
|
||||
|
||||
if (!t.commOk) m_banner->showAlarm("通信异常");
|
||||
else m_banner->clear();
|
||||
|
||||
// 以泵状态同步运行状态
|
||||
if (t.plunger || t.air || t.leaf) ctx()->washRunning = true;
|
||||
else if (t.washMode == "--") ctx()->washRunning = false;
|
||||
updateGating();
|
||||
|
||||
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_armCard->setField(0, t.pos);
|
||||
m_armCard->setField(1, t.pose);
|
||||
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_washCard->setField(m_fMode, t.washMode);
|
||||
m_washCard->setField(m_fLevelA, QString("%1L").arg(t.levelA, 0, 'f', 0));
|
||||
m_washCard->setField(m_fLevelFoam, QString("%1L").arg(t.levelFoam, 0, 'f', 0));
|
||||
m_washCard->setField(m_fFlowA, QString("%1 L/min").arg(t.flowA, 0, 'f', 1));
|
||||
m_washCard->setField(m_fFlowB, QString("%1 L/min").arg(t.flowB, 0, 'f', 1));
|
||||
m_washCard->setField(m_fGasFlow, QString("%1 L/min").arg(t.gasFlow, 0, 'f', 1));
|
||||
m_washCard->setField(m_fPress, QString("%1 MPa").arg(t.press, 0, 'f', 2));
|
||||
m_washCard->setField(m_fAirPress, QString("%1 MPa").arg(t.airPress, 0, 'f', 2));
|
||||
m_washCard->setField(m_fFoam, QString("%1").arg(t.foam, 0, 'f', 1));
|
||||
|
||||
// 指示灯
|
||||
m_ledRun->setState(ctx()->washRunning ? LedIndicator::Green : LedIndicator::Off);
|
||||
m_ledPlunger->setState(t.plunger ? LedIndicator::Green : LedIndicator::Off);
|
||||
m_ledAir->setState(t.air ? LedIndicator::Green : LedIndicator::Off);
|
||||
m_ledLeaf->setState(t.leaf ? LedIndicator::Green : LedIndicator::Off);
|
||||
m_ledLevel->setState(t.levelA < 10 ? LedIndicator::RedBlink : LedIndicator::Off);
|
||||
m_ledD1->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
|
||||
m_ledD2->setState(t.d2open ? LedIndicator::Green : LedIndicator::Off);
|
||||
m_ledFault->setState((!t.washFaults.isEmpty() || !t.pumpFaults.isEmpty())
|
||||
? LedIndicator::RedBlink : LedIndicator::Off);
|
||||
|
||||
// 底部三个泵的数值
|
||||
refreshPumpValues();
|
||||
|
||||
// 故障代码显示（静态更新，循环由 rotateFaults 驱动）
|
||||
rotateFaults();
|
||||
}
|
||||
|
||||
void WashPage::rotateFaults()
|
||||
{
|
||||
const Telemetry& t = ctx()->telemetry;
|
||||
QStringList all = t.washFaults + t.pumpFaults;
|
||||
if (all.isEmpty()) {
|
||||
m_washCard->setField(m_fAirFault, "");
|
||||
m_washCard->setField(m_fPlungerFault, "");
|
||||
return;
|
||||
}
|
||||
m_faultIndex = m_faultIndex % all.size();
|
||||
QString code = all[m_faultIndex];
|
||||
m_washCard->setField(m_fAirFault, code);
|
||||
m_washCard->setField(m_fPlungerFault, code);
|
||||
m_faultIndex = (m_faultIndex + 1) % all.size();
|
||||
}
|
||||
@@ -0,0 +1,86 @@
|
||||
#ifndef WASHPAGE_H
|
||||
#define WASHPAGE_H
|
||||
|
||||
#include "base.h"
|
||||
|
||||
class TitleBar;
|
||||
class AlarmBanner;
|
||||
class DataCard;
|
||||
class LedIndicator;
|
||||
class ParamControl;
|
||||
class QPushButton;
|
||||
class QLabel;
|
||||
class QVBoxLayout;
|
||||
class QTimer;
|
||||
|
||||
// ===================== 洗消页（⑨消除作业 / ⑩消毒作业 共用） =====================
|
||||
// 自包含页面：三列骨架、中央洗消卡、右侧启停与参数区、底部指示灯条都在本文件里。
|
||||
// 两个页面只差 mode（标题、洗消标识、参数项及出厂值），调整布局改这一处即可。
|
||||
class WashPage : public BasePage
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
enum Mode { Clean, Disinfect };
|
||||
|
||||
explicit WashPage(AppContext* ctx, Mode mode, QWidget* parent = nullptr);
|
||||
|
||||
private slots:
|
||||
void onStart();
|
||||
void onStop();
|
||||
void onBack();
|
||||
void onFactory();
|
||||
void refresh();
|
||||
void rotateFaults();
|
||||
|
||||
private:
|
||||
void updateGating();
|
||||
void resetFactory();
|
||||
void refreshPumpValues(); // 刷新底部三个泵的数值
|
||||
QString washModeTag() const; // "clean" / "disinfect"
|
||||
|
||||
Mode m_mode;
|
||||
|
||||
TitleBar* m_titleBar = nullptr;
|
||||
AlarmBanner* m_banner = nullptr;
|
||||
DataCard* m_chassisCard = nullptr;
|
||||
DataCard* m_armCard = nullptr;
|
||||
DataCard* m_gasCard = nullptr;
|
||||
DataCard* m_washCard = nullptr;
|
||||
QPushButton* m_start = nullptr;
|
||||
QPushButton* m_stop = nullptr;
|
||||
QPushButton* m_back = nullptr;
|
||||
QPushButton* m_factory = nullptr;
|
||||
QVBoxLayout* m_paramsLayout = nullptr;
|
||||
|
||||
// 参数：消除用柱塞泵流量；消毒用发泡倍数 / 泡沫比例 / 空压机流量
|
||||
ParamControl* m_pumpFlow = nullptr;
|
||||
ParamControl* m_foamRatio = nullptr;
|
||||
ParamControl* m_foamPercent = nullptr;
|
||||
ParamControl* m_airFlow = nullptr;
|
||||
|
||||
// 底部指示灯
|
||||
LedIndicator* m_ledRun = nullptr;
|
||||
LedIndicator* m_ledPlunger = nullptr;
|
||||
LedIndicator* m_ledAir = nullptr;
|
||||
LedIndicator* m_ledLeaf = nullptr;
|
||||
LedIndicator* m_ledLevel = nullptr;
|
||||
LedIndicator* m_ledD1 = nullptr;
|
||||
LedIndicator* m_ledD2 = nullptr;
|
||||
LedIndicator* m_ledFault = nullptr;
|
||||
|
||||
// 底部第二行：三个泵的当前流量值
|
||||
QLabel* m_valPlunger = nullptr;
|
||||
QLabel* m_valAir = nullptr;
|
||||
QLabel* m_valLeaf = nullptr;
|
||||
|
||||
// 中央洗消卡字段索引
|
||||
int m_fMode = -1, m_fLevelA = -1, m_fLevelFoam = -1;
|
||||
int m_fFlowA = -1, m_fFlowB = -1, m_fGasFlow = -1;
|
||||
int m_fPress = -1, m_fAirPress = -1, m_fFoam = -1;
|
||||
int m_fAirFault = -1, m_fPlungerFault = -1;
|
||||
|
||||
QTimer* m_faultTimer = nullptr;
|
||||
int m_faultIndex = 0;
|
||||
};
|
||||
|
||||
#endif // WASHPAGE_H
|
||||
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,350 @@
|
||||
#!/usr/bin/env python3
|
||||
"""车端 CAN 报文模拟器 / 上行抓包器（联调用，非工程代码）。
|
||||
|
||||
依据《洗消机器人遥控器通信协议20260810.xlsx》sheet RC（分类一/二/三，全部扩展帧、Intel 小端位序）。
|
||||
线格式：32 位帧头 0x5AA5FF00 + 32 位 canId + DLC(8) + 8 字节数据 + 校验和，共 18 字节，
|
||||
多字节字段按小端排列，与 comm/udpcommunication.cpp 的 UdpCanFrame 一致。
|
||||
|
||||
用法示例：
|
||||
# 向 UI 的 9001 端口周期发 VCU 反馈，看底盘页电量/电压/车速刷新
|
||||
python can_sender.py --soc 85 --volt 360 --speed 4.5
|
||||
|
||||
# 制造故障：MCU 码 61（电机缺相故障）+ 整系统通信异常（底盘BMS）
|
||||
python can_sender.py --mcu-fault 61 --comm-fault 2
|
||||
|
||||
# 洗消 + 气体检测仪反馈
|
||||
python can_sender.py --wash disinfect --level-a 88 --press 0.3 --gas-conc 250 --gas-type 2 --gas-level 2
|
||||
|
||||
# 反向：绑 9000 抓 UI 下发的控制指令并解出来
|
||||
python can_sender.py --listen
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import socket
|
||||
import struct
|
||||
import time
|
||||
|
||||
HDR = 0x5AA5FF00
|
||||
|
||||
# 分类一 遥控器控制指令（上行，UI → 车端）
|
||||
ID_CHASSIS_CMD = 0x18208081
|
||||
ID_ARM_CMD1 = 0x18218081
|
||||
ID_ARM_CMD2 = 0x18228081
|
||||
ID_DECONTAM_CMD = 0x18238081
|
||||
ID_DECONTAM_DBG = 0x18248081
|
||||
ID_DETECTOR_CMD = 0x18258081
|
||||
ID_EMERGENCY = 0x18268081
|
||||
|
||||
# 分类二/三 VCU 状态反馈（下行，车端 → UI）
|
||||
ID_VEHICLE_FB1 = 0x18308180
|
||||
ID_VEHICLE_FB2 = 0x18318180
|
||||
ID_ARM_FB1 = 0x18328180
|
||||
ID_ARM_FB2 = 0x18338180
|
||||
ID_ARM_FB3 = 0x18348180
|
||||
ID_ARM_FB4 = 0x18358180
|
||||
ID_DECONTAM_FB1 = 0x18368180
|
||||
ID_DECONTAM_FB2 = 0x18378180
|
||||
ID_DETECTOR_FB1 = 0x18388180
|
||||
ID_DETECTOR_FB2 = 0x18398180
|
||||
ID_VEHICLE_FB3 = 0x183A8180
|
||||
ID_VEHICLE_FB4 = 0x183B8180
|
||||
|
||||
NAMES = {
|
||||
ID_CHASSIS_CMD: "Chassis_ControlCmd", ID_ARM_CMD1: "Arm_ControlCmd1",
|
||||
ID_ARM_CMD2: "Arm_ControlCmd2", ID_DECONTAM_CMD: "Decontam_ControlCmd",
|
||||
ID_DECONTAM_DBG: "Decontam_DebugCmd", ID_DETECTOR_CMD: "Detector_ControlCmd",
|
||||
ID_EMERGENCY: "Emergency_Cmd", ID_VEHICLE_FB1: "Vehicle_StatusFeedBack1",
|
||||
ID_VEHICLE_FB2: "Vehicle_StatusFeedBack2", ID_ARM_FB1: "Arm_StatusFeedBack1",
|
||||
ID_ARM_FB2: "Arm_StatusFeedBack2", ID_ARM_FB3: "Arm_StatusFeedBack3",
|
||||
ID_ARM_FB4: "Arm_StatusFeedBack4", ID_DECONTAM_FB1: "Decontam_StatusFeedBack1",
|
||||
ID_DECONTAM_FB2: "Decontam_StatusFeedBack2", ID_DETECTOR_FB1: "Detector_StatusFeedBack1",
|
||||
ID_DETECTOR_FB2: "Detector_StatusFeedBack2", ID_VEHICLE_FB3: "Vehicle_StatusFeedBack3",
|
||||
ID_VEHICLE_FB4: "Vehicle_StatusFeedBack4",
|
||||
}
|
||||
|
||||
|
||||
def set_bits(d, start, ln, v):
|
||||
"""Intel（小端）：起始位即最低位序号，位序由低到高，可跨字节。"""
|
||||
v = int(v)
|
||||
for i in range(ln):
|
||||
b = start + i
|
||||
m = 1 << (b & 7)
|
||||
if v & (1 << i):
|
||||
d[b >> 3] |= m
|
||||
else:
|
||||
d[b >> 3] &= ~m & 0xFF
|
||||
|
||||
|
||||
def get_bits(d, start, ln):
|
||||
v = 0
|
||||
for i in range(ln):
|
||||
b = start + i
|
||||
if d[b >> 3] & (1 << (b & 7)):
|
||||
v |= 1 << i
|
||||
return v
|
||||
|
||||
|
||||
def get_signed(d, start, ln):
|
||||
raw = get_bits(d, start, ln)
|
||||
sign = 1 << (ln - 1)
|
||||
return (raw ^ sign) - sign
|
||||
|
||||
|
||||
def checksum(can_id, dlc, d):
|
||||
return (sum((can_id >> (8 * i)) & 0xFF for i in range(4)) + dlc + sum(d)) & 0xFF
|
||||
|
||||
|
||||
def pack(can_id, d):
|
||||
return struct.pack("<IIB8BB", HDR, can_id, 8, *d, checksum(can_id, 8, d))
|
||||
|
||||
|
||||
def clamp(v, lo, hi):
|
||||
return max(lo, min(hi, int(v)))
|
||||
|
||||
|
||||
# ===================== 下行：构造分类二/三 反馈帧 =====================
|
||||
def fb_vehicle1(a):
|
||||
d = bytearray(8)
|
||||
set_bits(d, 0, 16, clamp(round(a.volt * 10), 0, 0xFFFF)) # Total_voltage 精度 0.1
|
||||
set_bits(d, 16, 16, clamp(round(a.soc * 10), 0, 0xFFFF)) # SOC 精度 0.1
|
||||
set_bits(d, 32, 8, a.mcu_fault) # MCU_FaultCode
|
||||
set_bits(d, 40, 2, a.mcu_level) # MCU_FaultLevel
|
||||
set_bits(d, 45, 2, a.celllow_level) # UnderOver_FaultLevel
|
||||
set_bits(d, 47, 2, a.cellhigh_level) # CellOver_FaultLevel（跨字节）
|
||||
return d
|
||||
|
||||
|
||||
def fb_vehicle2(a):
|
||||
d = bytearray(8)
|
||||
set_bits(d, 22, 2, 1 if a.handbrake else 0) # Handbrake
|
||||
# Vehi_spd 16 位 0~500 × 0.01；其后字段整体后移 8 位
|
||||
set_bits(d, 24, 16, clamp(round(a.speed * 100), 0, 500)) # Vehi_spd
|
||||
set_bits(d, 48, 8, a.comm_fault) # All_Comm_FaultCode
|
||||
return d
|
||||
|
||||
|
||||
def fb_arm1(a):
|
||||
d = bytearray(8)
|
||||
set_bits(d, 0, 16, a.posx & 0xFFFF) # End_positionX (Signed mm)
|
||||
set_bits(d, 16, 16, a.posy & 0xFFFF)
|
||||
set_bits(d, 32, 16, a.posz & 0xFFFF)
|
||||
return d
|
||||
|
||||
|
||||
def fb_arm2(a):
|
||||
d = bytearray(8)
|
||||
set_bits(d, 0, 16, a.rx & 0xFFFF)
|
||||
set_bits(d, 16, 16, a.ry & 0xFFFF)
|
||||
set_bits(d, 32, 16, a.rz & 0xFFFF)
|
||||
set_bits(d, 48, 8, clamp(a.endspd, -128, 127) & 0xFF) # End_spd (Signed)
|
||||
return d
|
||||
|
||||
|
||||
def fb_arm3(a):
|
||||
d = bytearray(8)
|
||||
for i in range(4):
|
||||
set_bits(d, i * 16, 16, getattr(a, "j%d" % (i + 1)) & 0xFFFF)
|
||||
return d
|
||||
|
||||
|
||||
def fb_arm4(a):
|
||||
d = bytearray(8)
|
||||
set_bits(d, 0, 16, a.j5 & 0xFFFF)
|
||||
set_bits(d, 16, 16, a.j6 & 0xFFFF)
|
||||
return d
|
||||
|
||||
|
||||
def fb_decontam1(a):
|
||||
d = bytearray(8)
|
||||
set_bits(d, 0, 2, a.wash_mode) # 2=消除 3=消毒
|
||||
set_bits(d, 2, 1, 1 if a.wash_start else 0)
|
||||
set_bits(d, 3, 1, 1 if a.plunger else 0)
|
||||
set_bits(d, 4, 1, 1 if a.air else 0)
|
||||
set_bits(d, 5, 1, 1 if a.leaf else 0)
|
||||
set_bits(d, 8, 1, 1 if a.d1open else 0) # MBV_D1_Sta
|
||||
set_bits(d, 9, 1, 1 if a.d2open else 0)
|
||||
set_bits(d, 10, 1, 1 if a.sys_fault else 0)
|
||||
set_bits(d, 16, 8, clamp(a.level_a, 0, 255))
|
||||
set_bits(d, 24, 8, clamp(a.level_foam, 0, 255))
|
||||
set_bits(d, 32, 8, clamp(a.flow_a, 0, 255))
|
||||
set_bits(d, 40, 8, clamp(a.flow_b, 0, 255))
|
||||
set_bits(d, 48, 8, clamp(a.air_flow_fb, 0, 255))
|
||||
set_bits(d, 56, 8, clamp(a.expansion, 0, 255))
|
||||
return d
|
||||
|
||||
|
||||
def fb_decontam2(a):
|
||||
d = bytearray(8)
|
||||
set_bits(d, 0, 8, clamp(round(a.press * 10), 0, 255)) # Pipe_pressure 精度 0.1
|
||||
set_bits(d, 8, 8, clamp(round(a.air_press * 10), 0, 255)) # AirComp_pressure
|
||||
set_bits(d, 48, 8, a.air_fault) # AirComp_FaultCode
|
||||
set_bits(d, 56, 8, a.plunger_fault) # PlungerPump_FaultCode
|
||||
return d
|
||||
|
||||
|
||||
def fb_detector1(a):
|
||||
d = bytearray(8)
|
||||
set_bits(d, 0, 8, a.detector_sta)
|
||||
set_bits(d, 8, 8, a.gas_type) # Toxic_types 位组合
|
||||
set_bits(d, 16, 8, a.gas_level)
|
||||
set_bits(d, 24, 8, a.warn)
|
||||
return d
|
||||
|
||||
|
||||
def fb_detector2(a):
|
||||
d = bytearray(8)
|
||||
set_bits(d, 0, 40, clamp(a.gas_conc, 0, (1 << 40) - 1)) # Toxic_concentration 40 位
|
||||
return d
|
||||
|
||||
|
||||
FEEDBACK = [
|
||||
(ID_VEHICLE_FB1, fb_vehicle1), (ID_VEHICLE_FB2, fb_vehicle2),
|
||||
(ID_ARM_FB1, fb_arm1), (ID_ARM_FB2, fb_arm2),
|
||||
(ID_ARM_FB3, fb_arm3), (ID_ARM_FB4, fb_arm4),
|
||||
(ID_DECONTAM_FB1, fb_decontam1), (ID_DECONTAM_FB2, fb_decontam2),
|
||||
(ID_DETECTOR_FB1, fb_detector1), (ID_DETECTOR_FB2, fb_detector2),
|
||||
]
|
||||
|
||||
|
||||
# ===================== 上行：解析分类一 控制帧 =====================
|
||||
def describe(can_id, d):
|
||||
if can_id == ID_CHASSIS_CMD:
|
||||
return ("Chassis 模式Cmd=%d 使能=%d gear=%d(0后/2048中/4096前) "
|
||||
"目标速度=%.2fkm/h turning=%d(0左/2048中/4096右)"
|
||||
% (get_bits(d, 0, 1), get_bits(d, 3, 1), get_bits(d, 8, 16),
|
||||
get_bits(d, 24, 16) * 0.01, get_bits(d, 40, 16)))
|
||||
if can_id == ID_ARM_CMD1:
|
||||
return ("Arm1 模式=%d 使能=%d 上下=%d 左右=%d 前后=%d"
|
||||
% (get_bits(d, 0, 1), get_bits(d, 1, 1), get_bits(d, 8, 16),
|
||||
get_bits(d, 24, 16), get_bits(d, 40, 16)))
|
||||
if can_id == ID_ARM_CMD2:
|
||||
return ("Arm2 横滚=%d 俯仰=%d 偏航=%d 回位/暂停=0x%02X(0xAA回位/0x55暂停)"
|
||||
% (get_bits(d, 0, 16), get_bits(d, 16, 16), get_bits(d, 32, 16),
|
||||
get_bits(d, 48, 8)))
|
||||
if can_id == ID_DECONTAM_CMD:
|
||||
return ("Decontam 模式=%d(2消除/3消毒) 启停=%d 发泡=%d 泡沫比例=%d "
|
||||
"空压流量=%d 柱塞流量=%d"
|
||||
% (get_bits(d, 0, 2), get_bits(d, 2, 1), get_bits(d, 8, 8),
|
||||
get_bits(d, 16, 8), get_bits(d, 24, 8), get_bits(d, 32, 8)))
|
||||
if can_id == ID_DECONTAM_DBG:
|
||||
return ("DecontamDbg 调试=%d 柱塞上电=%d 空压上电=%d 叶片上电=%d D1=%d D2=%d "
|
||||
"空压rpm=%d 柱塞rpm=%d 叶片rpm=%d 启动=%d/%d/%d"
|
||||
% (get_bits(d, 0, 1), get_bits(d, 1, 1), get_bits(d, 2, 1), get_bits(d, 3, 1),
|
||||
get_bits(d, 4, 1), get_bits(d, 5, 1), get_bits(d, 8, 16),
|
||||
get_bits(d, 24, 16), get_bits(d, 40, 16),
|
||||
get_bits(d, 56, 1), get_bits(d, 57, 1), get_bits(d, 58, 1)))
|
||||
if can_id == ID_DETECTOR_CMD:
|
||||
return "Detector 指令=0x%02X(0xAA启动/0x55停止)" % get_bits(d, 0, 8)
|
||||
if can_id == ID_EMERGENCY:
|
||||
return "Emergency 急停=0x%02X(0x55急停/0正常)" % get_bits(d, 0, 8)
|
||||
return None
|
||||
|
||||
|
||||
def listen(host, port, once):
|
||||
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
|
||||
sock.bind((host, port))
|
||||
print("监听 %s:%d，解 UI 下发的控制帧（Ctrl-C 退出）" % (host, port))
|
||||
last = {}
|
||||
try:
|
||||
while True:
|
||||
data, addr = sock.recvfrom(4096)
|
||||
off = 0
|
||||
while off + 18 <= len(data):
|
||||
hdr, cid, dlc = struct.unpack_from("<IIB", data, off)
|
||||
if hdr == HDR and dlc == 8:
|
||||
body = data[off + 9:off + 17]
|
||||
cks = data[off + 17]
|
||||
if cks == checksum(cid, dlc, body):
|
||||
txt = describe(cid, body)
|
||||
if txt:
|
||||
# 周期 50ms，只在内容变化时打印，避免刷屏
|
||||
if once is None or last.get(cid) != body:
|
||||
last[cid] = bytes(body)
|
||||
print("%-16s %s" % (NAMES.get(cid, hex(cid)), txt))
|
||||
off += 18
|
||||
continue
|
||||
off += 1
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
|
||||
|
||||
def main():
|
||||
p = argparse.ArgumentParser()
|
||||
p.add_argument("--host", default="127.0.0.1")
|
||||
p.add_argument("--port", type=int, default=9001, help="发送目标（UI 的 net/recv_port）")
|
||||
p.add_argument("--listen", action="store_true", help="改为绑端口抓 UI 上行控制帧")
|
||||
p.add_argument("--hz", type=float, default=10.0, help="反馈帧发送频率，默认 10Hz")
|
||||
p.add_argument("--count", type=int, default=0, help="0=一直发")
|
||||
|
||||
# 电池 / 底盘
|
||||
p.add_argument("--soc", type=float, default=85.0, help="电量 %")
|
||||
p.add_argument("--volt", type=float, default=360.0, help="总电压 V（精度 0.1）")
|
||||
p.add_argument("--speed", type=float, default=3.45, help="km/h，精度 0.01")
|
||||
p.add_argument("--no-handbrake", action="store_true")
|
||||
p.add_argument("--mcu-fault", type=int, default=0)
|
||||
p.add_argument("--mcu-level", type=int, default=0)
|
||||
p.add_argument("--celllow-level", type=int, default=0)
|
||||
p.add_argument("--cellhigh-level", type=int, default=0)
|
||||
p.add_argument("--comm-fault", type=int, default=0, help="整系统通信故障码 0~8")
|
||||
# 机械臂
|
||||
p.add_argument("--posx", type=int, default=1200)
|
||||
p.add_argument("--posy", type=int, default=300)
|
||||
p.add_argument("--posz", type=int, default=800)
|
||||
p.add_argument("--rx", type=int, default=0)
|
||||
p.add_argument("--ry", type=int, default=0)
|
||||
p.add_argument("--rz", type=int, default=0)
|
||||
p.add_argument("--endspd", type=int, default=0)
|
||||
for i in range(1, 7):
|
||||
p.add_argument("--j%d" % i, type=int, default=[30, 20, 0, 90, 45, 0][i - 1])
|
||||
# 洗消
|
||||
p.add_argument("--wash", choices=["clean", "disinfect"], default="clean")
|
||||
p.add_argument("--wash-start", action="store_true")
|
||||
p.add_argument("--plunger", action="store_true")
|
||||
p.add_argument("--air", action="store_true")
|
||||
p.add_argument("--leaf", action="store_true")
|
||||
p.add_argument("--d1open", action="store_true")
|
||||
p.add_argument("--d2open", action="store_true")
|
||||
p.add_argument("--sys-fault", action="store_true")
|
||||
p.add_argument("--level-a", type=float, default=100)
|
||||
p.add_argument("--level-foam", type=float, default=30)
|
||||
p.add_argument("--flow-a", type=float, default=20)
|
||||
p.add_argument("--flow-b", type=float, default=0.5)
|
||||
p.add_argument("--air-flow-fb", type=float, default=100)
|
||||
p.add_argument("--expansion", type=float, default=6)
|
||||
p.add_argument("--press", type=float, default=0.3, help="MPa，精度 0.1")
|
||||
p.add_argument("--air-press", type=float, default=0.35)
|
||||
p.add_argument("--air-fault", type=int, default=0)
|
||||
p.add_argument("--plunger-fault", type=int, default=0)
|
||||
# 气体检测仪
|
||||
p.add_argument("--detector-sta", type=int, default=4, help="4=检测中")
|
||||
p.add_argument("--gas-type", type=int, default=2, help="位组合 1=P 2=S 4=HNO 8=CH 16=AS")
|
||||
p.add_argument("--gas-level", type=int, default=2)
|
||||
p.add_argument("--warn", type=int, default=0, help="1=进气嘴未接 2=氢气不足 4=仪器故障 8=浓度过高")
|
||||
p.add_argument("--gas-conc", type=float, default=250.0, help="ppb")
|
||||
a = p.parse_args()
|
||||
a.wash_mode = 3 if a.wash == "disinfect" else 2
|
||||
a.handbrake = not a.no_handbrake
|
||||
|
||||
if a.listen:
|
||||
listen(a.host, a.port, None)
|
||||
return
|
||||
|
||||
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
period = 1.0 / a.hz
|
||||
print("→ %s:%d 反馈帧 %d 条 @ %gHz 电量=%.1f%% 电压=%.1fV 车速=%.2fkm/h 洗消=%s"
|
||||
% (a.host, a.port, len(FEEDBACK), a.hz, a.soc, a.volt, a.speed, a.wash))
|
||||
sent = 0
|
||||
try:
|
||||
while a.count == 0 or sent < a.count:
|
||||
for can_id, build in FEEDBACK:
|
||||
sock.sendto(pack(can_id, build(a)), (a.host, a.port))
|
||||
sent += 1
|
||||
time.sleep(period)
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
print("已发送 %d 轮（每轮 %d 帧）" % (sent, len(FEEDBACK)))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -0,0 +1,79 @@
|
||||
#!/usr/bin/env python3
|
||||
"""遥控器帧模拟发送器（联调用，非工程代码）。
|
||||
|
||||
按 24 字节协议向 UI 的 net/rc_port（默认 9002）周期发送遥控器报文。
|
||||
用法示例：
|
||||
python rc_sender.py --mode drive --gear 4096 # 行车模式，档位推到"前"
|
||||
python rc_sender.py --mode arm --posx 4096 # 机械臂模式（自动带上机械臂使能）
|
||||
python rc_sender.py --estop # bit4=1，触发急停
|
||||
python rc_sender.py --battery 42 # 电量显示 42%
|
||||
python rc_sender.py --roll 4096 --pitch 0 # 右摇杆两轴反向
|
||||
python rc_sender.py --bad-checksum # 校验和故意错，应被丢弃
|
||||
"""
|
||||
import argparse
|
||||
import socket
|
||||
import struct
|
||||
import time
|
||||
|
||||
MID = 2048
|
||||
|
||||
|
||||
def build_frame(a):
|
||||
flags = 0
|
||||
if a.mode == "drive":
|
||||
flags |= 0x01 # bit0 行车模式
|
||||
if not a.no_chassis_enable:
|
||||
flags |= 0x08 # bit3 底盘使能
|
||||
else:
|
||||
flags |= 0x02 | 0x04 # bit1 机械臂模式须与 bit2 使能同时置 1
|
||||
if a.estop:
|
||||
flags |= 0x10 # bit4 急停
|
||||
|
||||
f = bytearray(24)
|
||||
f[0] = 0x11 # 帧头
|
||||
f[1] = flags
|
||||
axes = (a.gear, a.steer, a.posz, a.posx, a.posy, a.roll, a.pitch, a.yaw)
|
||||
for i, v in enumerate(axes):
|
||||
struct.pack_into("<H", f, 3 + i * 2, v) # BYTE3 起，小端 int16
|
||||
f[19] = max(0, min(100, a.battery))
|
||||
f[22] = 0x22 # 帧尾
|
||||
f[23] = sum(f[0:23]) & 0xFF # 和校验
|
||||
if a.bad_checksum:
|
||||
f[23] ^= 0xFF
|
||||
return bytes(f)
|
||||
|
||||
|
||||
def main():
|
||||
p = argparse.ArgumentParser()
|
||||
p.add_argument("--host", default="127.0.0.1")
|
||||
p.add_argument("--port", type=int, default=9002)
|
||||
p.add_argument("--mode", choices=["drive", "arm"], default="drive")
|
||||
for name in ("gear", "steer", "posz", "posx", "posy", "roll", "pitch", "yaw"):
|
||||
p.add_argument("--" + name, type=int, default=MID)
|
||||
p.add_argument("--battery", type=int, default=88)
|
||||
p.add_argument("--estop", action="store_true")
|
||||
p.add_argument("--no-chassis-enable", action="store_true")
|
||||
p.add_argument("--bad-checksum", action="store_true")
|
||||
p.add_argument("--hz", type=float, default=10.0, help="默认 10Hz，即协议要求的 100ms")
|
||||
p.add_argument("--count", type=int, default=0, help="0=一直发")
|
||||
a = p.parse_args()
|
||||
|
||||
frame = build_frame(a)
|
||||
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
print("→ %s:%d mode=%s flags=0x%02X checksum=0x%02X bytes=%d rate=%gHz"
|
||||
% (a.host, a.port, a.mode, frame[1], frame[23], len(frame), a.hz))
|
||||
|
||||
period = 1.0 / a.hz
|
||||
sent = 0
|
||||
try:
|
||||
while a.count == 0 or sent < a.count:
|
||||
sock.sendto(frame, (a.host, a.port))
|
||||
sent += 1
|
||||
time.sleep(period)
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
print("已发送 %d 帧" % sent)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -15,7 +15,7 @@ AlarmBanner::AlarmBanner(QWidget* parent)
|
||||
m_label = new QLabel(this);
|
||||
m_label->setAlignment(Qt::AlignCenter);
|
||||
m_label->setProperty("alert", true);
|
||||
m_label->setStyleSheet("font-size:30px;font-weight:700;");
|
||||
m_label->setStyleSheet("font-size:45px;font-weight:700;");
|
||||
lay->addWidget(m_label);
|
||||
|
||||
hide(); // 默认隐藏
|
||||
|
||||
+50
-20
@@ -15,47 +15,56 @@ ConfirmDialog::ConfirmDialog(QWidget* parent)
|
||||
if (parent) setGeometry(parent->rect());
|
||||
setStyleSheet("background-color: rgba(0,0,0,102);");
|
||||
|
||||
QWidget* panel = new QWidget(this);
|
||||
panel->setObjectName("ConfirmPanel");
|
||||
panel->setFixedSize(560, 260);
|
||||
panel->setStyleSheet(QString(
|
||||
m_panel = new QWidget(this);
|
||||
m_panel->setObjectName("ConfirmPanel");
|
||||
m_panel->setFixedSize(700, 420);
|
||||
m_panel->setStyleSheet(QString(
|
||||
"QWidget#ConfirmPanel{background-color:%1;border:2px solid %2;border-radius:16px;}")
|
||||
.arg(C::PANEL, C::BORDER));
|
||||
|
||||
QVBoxLayout* lay = new QVBoxLayout(panel);
|
||||
QVBoxLayout* lay = new QVBoxLayout(m_panel);
|
||||
lay->setContentsMargins(28, 24, 28, 24);
|
||||
lay->setSpacing(16);
|
||||
lay->setSpacing(0); // 标题与正文不留间隙（与“操作说明”弹窗一致）
|
||||
|
||||
m_title = new QLabel("", panel);
|
||||
m_title->setStyleSheet(QString("color:%1;font-size:28px;font-weight:700;").arg(C::TEXT));
|
||||
m_title = new QLabel("", m_panel);
|
||||
m_title->setStyleSheet(QString("background:transparent;color:%1;font-size:50px;font-weight:700;").arg(C::TEXT));
|
||||
m_title->setAlignment(Qt::AlignCenter);
|
||||
lay->addWidget(m_title);
|
||||
lay->addSpacing(60); // 标题与正文之间空一行
|
||||
|
||||
m_body = new QLabel("", panel);
|
||||
m_body->setStyleSheet(QString("color:%1;font-size:22px;").arg(C::TEXT));
|
||||
m_body = new QLabel("", m_panel);
|
||||
m_body->setStyleSheet(QString("background:transparent;color:%1;font-size:50px;").arg(C::TEXT));
|
||||
m_body->setAlignment(Qt::AlignCenter);
|
||||
m_body->setWordWrap(true);
|
||||
lay->addWidget(m_body, 1);
|
||||
lay->addWidget(m_body); // 不再拉伸：标题与正文紧挨着
|
||||
lay->addStretch(1); // 剩余空间放在正文与按钮之间（标题/正文保持自然高度，标题顶到最上面）
|
||||
|
||||
QHBoxLayout* btnLay = new QHBoxLayout();
|
||||
btnLay->addStretch(1);
|
||||
QPushButton* ok = new QPushButton("确认", panel);
|
||||
ok->setProperty("variant", "primary");
|
||||
ok->setFixedSize(160, 72);
|
||||
QPushButton* ok = new QPushButton("确认", m_panel);
|
||||
// 常态灰底、选中（悬停/焦点）蓝底白字。
|
||||
// 注意：该表设了 background-color，会压住全局的 variant/焦点规则，所以状态必须写在这里。
|
||||
ok->setFixedSize(180, 80);
|
||||
ok->setStyleSheet(QString(
|
||||
"QPushButton{background-color:%1;color:%2;border:1px solid %3;border-radius:12px;font-size:60px;}"
|
||||
"QPushButton:hover,QPushButton:focus{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}")
|
||||
.arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY));
|
||||
connect(ok, &QPushButton::clicked, this, &ConfirmDialog::accept);
|
||||
QPushButton* cancel = new QPushButton("取消", panel);
|
||||
cancel->setFixedSize(160, 72);
|
||||
cancel->setStyleSheet(cancelButtonStyle(40)); // 选中时红底白字
|
||||
connect(cancel, &QPushButton::clicked, this, &ConfirmDialog::reject);
|
||||
m_cancel = new QPushButton("取消", m_panel);
|
||||
m_cancel->setFixedSize(180, 80); // 与“确认”同尺寸
|
||||
m_cancel->setStyleSheet(cancelButtonStyle(60)); // 与“确认”同字号；选中时红底白字
|
||||
connect(m_cancel, &QPushButton::clicked, this, &ConfirmDialog::reject);
|
||||
btnLay->addWidget(ok);
|
||||
btnLay->addWidget(cancel);
|
||||
btnLay->addSpacing(80); // “确认”与“取消”之间留 40px
|
||||
btnLay->addWidget(m_cancel);
|
||||
btnLay->addStretch(1);
|
||||
lay->addSpacing(30); // 正文与按钮之间留 30px
|
||||
lay->addLayout(btnLay);
|
||||
|
||||
QVBoxLayout* root = new QVBoxLayout(this);
|
||||
root->setContentsMargins(0, 0, 0, 0);
|
||||
root->addStretch(1);
|
||||
root->addWidget(panel, 0, Qt::AlignHCenter);
|
||||
root->addWidget(m_panel, 0, Qt::AlignHCenter);
|
||||
root->addStretch(1);
|
||||
}
|
||||
|
||||
@@ -70,6 +79,27 @@ bool ConfirmDialog::confirm(QWidget* parent, const QString& title, const QString
|
||||
return dlg.exec() == QDialog::Accepted;
|
||||
}
|
||||
|
||||
void ConfirmDialog::message(QWidget* parent, const QString& title, const QString& text)
|
||||
{
|
||||
ConfirmDialog dlg(parent);
|
||||
dlg.m_panel->setFixedSize(900, 600); // 正文行数少 → 面板收窄
|
||||
dlg.m_cancel->hide(); // 只保留“确认”
|
||||
dlg.m_title->setStyleSheet(QString("background:transparent;color:%1;font-size:50px;font-weight:700;").arg(C::TEXT));
|
||||
dlg.m_body->setStyleSheet(QString("background:transparent;color:%1;font-size:50px;").arg(C::TEXT));
|
||||
dlg.m_title->setWordWrap(true);
|
||||
dlg.m_title->setContentsMargins(0, 20, 0, 0); // 标题文字距该行顶部 10px
|
||||
dlg.m_body->setContentsMargins(0, 0, 0, 0);
|
||||
dlg.m_body->setAlignment(Qt::AlignCenter); // 正文居中（水平+垂直）
|
||||
if (QBoxLayout* lay = qobject_cast<QBoxLayout*>(dlg.m_panel->layout())) {
|
||||
lay->setSpacing(0); // 统一间隔置 0，各段间距单独控制
|
||||
lay->setContentsMargins(28, 28, 28, 28); // 内容距面板四边 28px
|
||||
//lay->insertSpacing(lay->count() - 1, 20); // “确认”按钮上方留 20px
|
||||
}
|
||||
dlg.setTitle(title);
|
||||
dlg.setText(text);
|
||||
dlg.exec();
|
||||
}
|
||||
|
||||
void ConfirmDialog::toast(QWidget* parent, const QString& text, int ms)
|
||||
{
|
||||
QDialog* d = new QDialog(parent);
|
||||
|
||||
@@ -4,6 +4,7 @@
|
||||
#include <QDialog>
|
||||
|
||||
class QLabel;
|
||||
class QPushButton;
|
||||
|
||||
// ===================== 确认弹窗 =====================
|
||||
// 标题 + 正文 + 确认/取消；另提供 2s 自动消失的轻提示（toast）
|
||||
@@ -19,12 +20,17 @@ public:
|
||||
// 模态确认，返回是否“确认”
|
||||
static bool confirm(QWidget* parent, const QString& title, const QString& text);
|
||||
|
||||
// 独立信息弹窗（仅“确认”按钮，替代系统 QMessageBox；正文 50px）
|
||||
static void message(QWidget* parent, const QString& title, const QString& text);
|
||||
|
||||
// 轻提示：显示 text，ms 毫秒后自动消失（用于“修改成功”等）
|
||||
static void toast(QWidget* parent, const QString& text, int ms = 2000);
|
||||
|
||||
private:
|
||||
QLabel* m_title = nullptr;
|
||||
QLabel* m_body = nullptr;
|
||||
QWidget* m_panel = nullptr;
|
||||
QPushButton* m_cancel = nullptr;
|
||||
};
|
||||
|
||||
#endif // CONFIRMDIALOG_H
|
||||
|
||||
+25
-8
@@ -11,14 +11,14 @@ DataCard::DataCard(const QString& title, QWidget* parent)
|
||||
setProperty("card", true);
|
||||
|
||||
QVBoxLayout* lay = new QVBoxLayout(this);
|
||||
lay->setContentsMargins(16, 0, 16, 14);
|
||||
lay->setSpacing(8);
|
||||
lay->setContentsMargins(24, 0, 24, 20);
|
||||
lay->setSpacing(16);
|
||||
|
||||
// 标题栏（高 44px）
|
||||
// 标题栏
|
||||
m_title = new QLabel(title, this);
|
||||
m_title->setFixedHeight(44);
|
||||
m_title->setFixedHeight(60);
|
||||
m_title->setProperty("cardTitle", true);
|
||||
m_title->setStyleSheet(QString("color:%1;font-size:24px;font-weight:700;border-bottom:1px solid %2;")
|
||||
m_title->setStyleSheet(QString("color:%1;font-size:42px;font-weight:700;border-bottom:1px solid %2;")
|
||||
.arg(C::TEXT, C::BORDER));
|
||||
lay->addWidget(m_title);
|
||||
|
||||
@@ -36,15 +36,15 @@ int DataCard::addField(const QString& label, const QString& value, bool big)
|
||||
int index = m_values.size();
|
||||
|
||||
QHBoxLayout* row = new QHBoxLayout();
|
||||
row->setSpacing(8);
|
||||
row->setSpacing(16);
|
||||
|
||||
QLabel* lab = new QLabel(label + "：", this);
|
||||
lab->setProperty("sub", true);
|
||||
lab->setStyleSheet(QString("color:%1;font-size:22px;").arg(C::TEXT_SUB));
|
||||
lab->setStyleSheet(QString("color:%1;font-size:32px;").arg(C::TEXT_SUB));
|
||||
|
||||
QLabel* val = new QLabel(value, this);
|
||||
val->setStyleSheet(QString("color:%1;%2").arg(C::TEXT,
|
||||
big ? "font-size:64px;font-weight:700;" : "font-size:30px;font-weight:700;"));
|
||||
big ? "font-size:50px;font-weight:700;" : "font-size:42px;font-weight:700;"));
|
||||
|
||||
row->addWidget(lab);
|
||||
row->addWidget(val, 1);
|
||||
@@ -89,3 +89,20 @@ void DataCard::setHighlight(bool on)
|
||||
else
|
||||
setStyleSheet(QString());
|
||||
}
|
||||
|
||||
// 字段行文字从左缘缩进到「中间偏左」：行首弹性 2 : 数值行尾弹性 3
|
||||
void DataCard::indentRows()
|
||||
{
|
||||
QVBoxLayout* lay = qobject_cast<QVBoxLayout*>(layout());
|
||||
if (!lay)
|
||||
return;
|
||||
for (int i = 0; i < lay->count(); ++i) {
|
||||
QHBoxLayout* row = qobject_cast<QHBoxLayout*>(lay->itemAt(i)->layout());
|
||||
if (!row || row->count() != 2) // 字段行是 [标签][数值]；标题与末尾 stretch 不是子布局
|
||||
continue;
|
||||
if (row->itemAt(0)->spacerItem()) // 已缩进过，避免重复插入
|
||||
continue;
|
||||
row->insertStretch(0, 2);
|
||||
row->setStretch(2, 3); // 插入后 [0]=行首弹性 [1]=标签 [2]=数值
|
||||
}
|
||||
}
|
||||
|
||||
@@ -19,6 +19,7 @@ public:
|
||||
void setField(int index, const QString& value);
|
||||
void setAlarm(int index, bool on);
|
||||
void setHighlight(bool on); // 主色描边突出
|
||||
void indentRows(); // 字段行整体缩进到「中间偏左」（行首 : 行尾 = 2 : 3），只需调用一次
|
||||
|
||||
private:
|
||||
QLabel* m_title = nullptr;
|
||||
|
||||
+116
-7
@@ -5,6 +5,7 @@
|
||||
#include <QHeaderView>
|
||||
#include <QLabel>
|
||||
#include <QPushButton>
|
||||
#include <QKeyEvent>
|
||||
#include "global.h"
|
||||
|
||||
FaultTable::FaultTable(QWidget* parent)
|
||||
@@ -14,23 +15,26 @@ FaultTable::FaultTable(QWidget* parent)
|
||||
lay->setContentsMargins(0, 0, 0, 0);
|
||||
lay->setSpacing(10);
|
||||
|
||||
// 分页行（上一页 / 页码 / 下一页）
|
||||
// 分页行（上一页 / 页码 / 下一页）——水平居中，字号与按钮加大
|
||||
QHBoxLayout* nav = new QHBoxLayout();
|
||||
nav->setSpacing(50);
|
||||
nav->addStretch(1);
|
||||
|
||||
m_prev = new QPushButton("上一页", this);
|
||||
m_prev->setFixedSize(160, 64);
|
||||
m_prev->setFixedSize(240, 100);
|
||||
m_prev->setStyleSheet("font-size:50px;");
|
||||
connect(m_prev, &QPushButton::clicked, this, [this]() {
|
||||
if (m_page > 0) { setPage(m_page - 1); emit pageChanged(m_page); }
|
||||
});
|
||||
|
||||
m_pageLabel = new QLabel("1/1", this);
|
||||
m_pageLabel->setAlignment(Qt::AlignCenter);
|
||||
m_pageLabel->setStyleSheet(QString("color:%1;font-size:22px;").arg(C::TEXT));
|
||||
m_pageLabel->setFixedWidth(140);
|
||||
m_pageLabel->setStyleSheet(QString("color:%1;font-size:40px;").arg(C::TEXT));
|
||||
m_pageLabel->setFixedWidth(180);
|
||||
|
||||
m_next = new QPushButton("下一页", this);
|
||||
m_next->setFixedSize(160, 64);
|
||||
m_next->setFixedSize(240, 100);
|
||||
m_next->setStyleSheet("font-size:50px;");
|
||||
connect(m_next, &QPushButton::clicked, this, [this]() {
|
||||
if (m_page < pageCount() - 1) { setPage(m_page + 1); emit pageChanged(m_page); }
|
||||
});
|
||||
@@ -38,6 +42,7 @@ FaultTable::FaultTable(QWidget* parent)
|
||||
nav->addWidget(m_prev);
|
||||
nav->addWidget(m_pageLabel);
|
||||
nav->addWidget(m_next);
|
||||
nav->addStretch(1); // 尾部也留弹性 → 整行居中
|
||||
lay->addLayout(nav);
|
||||
|
||||
// 表格
|
||||
@@ -47,24 +52,127 @@ FaultTable::FaultTable(QWidget* parent)
|
||||
m_table->setEditTriggers(QAbstractItemView::NoEditTriggers);
|
||||
m_table->setSelectionBehavior(QAbstractItemView::SelectRows);
|
||||
m_table->setSelectionMode(QAbstractItemView::SingleSelection);
|
||||
m_table->setTabKeyNavigation(false); // 关掉视图自带的 Tab 导航，改由下方 eventFilter 按行切换
|
||||
m_table->verticalHeader()->setVisible(false);
|
||||
m_table->horizontalHeader()->setFocusPolicy(Qt::NoFocus); // 表头不参与 Tab
|
||||
m_table->verticalHeader()->setFocusPolicy(Qt::NoFocus);
|
||||
m_table->setAlternatingRowColors(true);
|
||||
m_table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
|
||||
m_table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::Fixed);
|
||||
m_table->setColumnWidth(0, 120);
|
||||
m_table->horizontalHeader()->setSectionResizeMode(2, QHeaderView::Stretch);
|
||||
m_table->verticalHeader()->setDefaultSectionSize(100);
|
||||
m_table->verticalHeader()->setSectionResizeMode(QHeaderView::Fixed);
|
||||
m_table->horizontalHeader()->setFixedHeight(kHeaderHeight); // 固定表头高度（供对齐）
|
||||
// 每页 6 行等分，平均填满表格可用高度
|
||||
m_table->verticalHeader()->setSectionResizeMode(QHeaderView::Stretch);
|
||||
connect(m_table, &QTableWidget::cellClicked, this, [this](int row, int) {
|
||||
int global = m_page * m_pageSize + row;
|
||||
if (global >= 0 && global < m_data.size())
|
||||
emit rowClicked(global);
|
||||
});
|
||||
m_table->installEventFilter(this); // 拦截 Tab，实现按行切换
|
||||
m_table->viewport()->setMouseTracking(true); // 悬停整行高亮
|
||||
m_table->viewport()->installEventFilter(this); // 鼠标移出视口 → 取消高亮
|
||||
connect(m_table, &QAbstractItemView::entered, this,
|
||||
[this](const QModelIndex& idx) { setHoverRow(idx.row()); });
|
||||
lay->addWidget(m_table, 1);
|
||||
|
||||
refresh();
|
||||
}
|
||||
|
||||
QWidget* FaultTable::view() const { return m_table; }
|
||||
QWidget* FaultTable::prevButton() const { return m_prev; }
|
||||
QWidget* FaultTable::nextButton() const { return m_next; }
|
||||
|
||||
bool FaultTable::eventFilter(QObject* obj, QEvent* ev)
|
||||
{
|
||||
if (obj == m_table->viewport() && ev->type() == QEvent::Leave) {
|
||||
setHoverRow(-1); // 鼠标移出表格 → 取消悬停高亮
|
||||
return QWidget::eventFilter(obj, ev);
|
||||
}
|
||||
if (obj != m_table)
|
||||
return QWidget::eventFilter(obj, ev);
|
||||
|
||||
// 焦点进入表格时选中一行：正向(Tab)进末行→回首行、否则选首行；反向(Shift+Tab)同理选末行
|
||||
if (ev->type() == QEvent::FocusIn) {
|
||||
QFocusEvent* fe = static_cast<QFocusEvent*>(ev);
|
||||
const int last = m_table->rowCount() - 1;
|
||||
const int col = qMax(0, m_table->currentColumn());
|
||||
int row = -1;
|
||||
if (fe->reason() == Qt::TabFocusReason) {
|
||||
if (last >= 0 && (m_table->currentRow() < 0 || m_table->currentRow() >= last))
|
||||
row = 0;
|
||||
} else if (fe->reason() == Qt::BacktabFocusReason) {
|
||||
if (last >= 0 && (m_table->currentRow() < 0 || m_table->currentRow() <= 0))
|
||||
row = last;
|
||||
}
|
||||
if (row >= 0) {
|
||||
m_table->setCurrentCell(row, col);
|
||||
m_table->selectRow(row); // 显式整行选中（只设当前单元格时可能只高亮一格）
|
||||
}
|
||||
}
|
||||
|
||||
// 仅键盘(Tab/Shift+Tab)移走焦点时清除选中；鼠标点击/弹窗抢焦点时保留，便于看清当前行
|
||||
if (ev->type() == QEvent::FocusOut) {
|
||||
QFocusEvent* fe = static_cast<QFocusEvent*>(ev);
|
||||
if (fe->reason() == Qt::TabFocusReason || fe->reason() == Qt::BacktabFocusReason)
|
||||
m_table->clearSelection();
|
||||
return QWidget::eventFilter(obj, ev);
|
||||
}
|
||||
|
||||
// Tab / Shift+Tab：按行切换选中（每一行作为一个单位）；回车/空格：等同鼠标点击
|
||||
if (ev->type() == QEvent::KeyPress) {
|
||||
QKeyEvent* ke = static_cast<QKeyEvent*>(ev);
|
||||
// 方向键在本机是"旋钮"键位（只给 ParamControl 调值），表格里不参与导航：
|
||||
// 换行只走 Tab/Shift+Tab，激活只走回车/空格
|
||||
if (ke->key() == Qt::Key_Up || ke->key() == Qt::Key_Down
|
||||
|| ke->key() == Qt::Key_Left || ke->key() == Qt::Key_Right)
|
||||
return true;
|
||||
|
||||
if (ke->key() == Qt::Key_Tab || ke->key() == Qt::Key_Backtab) {
|
||||
const bool back = (ke->key() == Qt::Key_Backtab) || (ke->modifiers() & Qt::ShiftModifier);
|
||||
const int next = m_table->currentRow() + (back ? -1 : 1);
|
||||
if (next >= 0 && next < m_table->rowCount()) {
|
||||
m_table->setCurrentCell(next, qMax(0, m_table->currentColumn()));
|
||||
m_table->selectRow(next); // 整行选中
|
||||
return true; // 消费事件，焦点留在表格内
|
||||
}
|
||||
// 已在首/末行：不拦截，焦点按 Tab 顺序移到下一个控件
|
||||
} else if (ke->key() == Qt::Key_Return || ke->key() == Qt::Key_Enter
|
||||
|| ke->key() == Qt::Key_Space) {
|
||||
// 键盘激活：与鼠标 cellClicked 走同一个信号，弹窗逻辑只有一份
|
||||
const int row = m_table->currentRow();
|
||||
const int global = m_page * m_pageSize + row;
|
||||
if (row >= 0 && global >= 0 && global < m_data.size()) {
|
||||
emit rowClicked(global);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
}
|
||||
return QWidget::eventFilter(obj, ev);
|
||||
}
|
||||
|
||||
// 鼠标悬停的整行高亮：颜色与“选中”一致（主色蓝底白字）
|
||||
void FaultTable::setHoverRow(int row)
|
||||
{
|
||||
if (row == m_hoverRow)
|
||||
return;
|
||||
if (m_hoverRow >= 0) {
|
||||
for (int c = 0; c < m_table->columnCount(); ++c)
|
||||
if (QTableWidgetItem* it = m_table->item(m_hoverRow, c)) {
|
||||
it->setData(Qt::BackgroundRole, QVariant());
|
||||
it->setData(Qt::ForegroundRole, QVariant());
|
||||
}
|
||||
}
|
||||
m_hoverRow = row;
|
||||
if (m_hoverRow >= 0) {
|
||||
for (int c = 0; c < m_table->columnCount(); ++c)
|
||||
if (QTableWidgetItem* it = m_table->item(m_hoverRow, c)) {
|
||||
it->setData(Qt::BackgroundRole, QColor(C::PRIMARY));
|
||||
it->setData(Qt::ForegroundRole, QColor("#FFFFFF"));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void FaultTable::setData(const QVector<FaultRecord>& data)
|
||||
{
|
||||
m_data = data;
|
||||
@@ -87,6 +195,7 @@ int FaultTable::pageCount() const
|
||||
|
||||
void FaultTable::refresh()
|
||||
{
|
||||
m_hoverRow = -1; // 单元格会重建，悬停行失效
|
||||
m_table->setRowCount(0);
|
||||
m_table->setRowCount(m_pageSize);
|
||||
|
||||
|
||||
@@ -17,17 +17,29 @@ class FaultTable : public QWidget
|
||||
public:
|
||||
explicit FaultTable(QWidget* parent = nullptr);
|
||||
|
||||
// 表头高度：同页其他控件可据此与表格内容区对齐
|
||||
static const int kHeaderHeight = 70;
|
||||
|
||||
void setData(const QVector<FaultRecord>& data);
|
||||
void setPage(int p);
|
||||
int page() const { return m_page; }
|
||||
int pageCount() const;
|
||||
|
||||
// 供外部设置 Tab 顺序用（定义在 .cpp，避免用到未完整声明的类型）
|
||||
QWidget* view() const;
|
||||
QWidget* prevButton() const;
|
||||
QWidget* nextButton() const;
|
||||
|
||||
signals:
|
||||
void pageChanged(int page);
|
||||
void rowClicked(int globalIndex);
|
||||
|
||||
protected:
|
||||
bool eventFilter(QObject* obj, QEvent* ev) override; // 拦截 Tab（按行切换选中）、回车/空格（等同点击）
|
||||
|
||||
private:
|
||||
void refresh();
|
||||
void setHoverRow(int row); // 鼠标悬停的整行高亮
|
||||
|
||||
QTableWidget* m_table = nullptr;
|
||||
QLabel* m_pageLabel = nullptr;
|
||||
@@ -36,6 +48,7 @@ private:
|
||||
QVector<FaultRecord> m_data;
|
||||
int m_page = 0;
|
||||
int m_pageSize = 6;
|
||||
int m_hoverRow = -1;
|
||||
};
|
||||
|
||||
#endif // FAULTTABLE_H
|
||||
|
||||
@@ -9,9 +9,11 @@ QSize LedIndicator::sizeHint() const
|
||||
QFont f = font();
|
||||
f.setPixelSize(m_textPx);
|
||||
const QFontMetrics fm(f);
|
||||
const int textW = fm.horizontalAdvance(m_text);
|
||||
if (m_dotAfter)
|
||||
return QSize(textW + 10 + m_radius * 2 + 10, 52); // 文字 + 间距 + 圆点区 + 右侧 10px
|
||||
// 宽度 = 文字起点(圆点区 + 左侧 10px) + 文字宽度 + 右侧 10px
|
||||
const int w = textLeft() + fm.horizontalAdvance(m_text) + 10;
|
||||
return QSize(w, 52); // 高度与构造函数 setFixedHeight(52) 一致
|
||||
return QSize(textLeft() + textW + 10, 52); // 高度与构造函数 setFixedHeight(52) 一致
|
||||
}
|
||||
|
||||
LedIndicator::LedIndicator(const QString& text, QWidget* parent)
|
||||
@@ -55,6 +57,13 @@ void LedIndicator::paintEvent(QPaintEvent*)
|
||||
QPainter p(this);
|
||||
p.setRenderHint(QPainter::Antialiasing);
|
||||
|
||||
// 文字度量：圆点位置取决于文字宽度（圆点在文字后时）
|
||||
QFont f = p.font();
|
||||
f.setPixelSize(m_textPx);
|
||||
p.setFont(f);
|
||||
const QFontMetrics fm(f);
|
||||
const int textW = fm.horizontalAdvance(m_text);
|
||||
|
||||
// 中心圆点颜色
|
||||
QColor color = QColor(C::DISABLED); // 灰
|
||||
switch (m_state) {
|
||||
@@ -70,7 +79,7 @@ void LedIndicator::paintEvent(QPaintEvent*)
|
||||
if ((m_state == RedBlink || m_state == YellowBlink) && !m_on)
|
||||
color.setAlpha(102);
|
||||
|
||||
const QPointF c(m_radius + 8, height() / 2.0);
|
||||
const QPointF c(m_dotAfter ? textW + 10 + m_radius : m_radius + 8, height() / 2.0);
|
||||
|
||||
// 外发光
|
||||
if (color.alpha() > 0) {
|
||||
@@ -93,11 +102,9 @@ void LedIndicator::paintEvent(QPaintEvent*)
|
||||
p.setPen(QPen(QColor(C::BORDER), 1));
|
||||
p.drawEllipse(c, m_radius, m_radius);
|
||||
|
||||
// 文字
|
||||
// 文字（圆点在文字后时，文字从控件左边缘开始）
|
||||
p.setPen(QColor(C::TEXT));
|
||||
QFont f = p.font();
|
||||
f.setPixelSize(m_textPx);
|
||||
p.setFont(f);
|
||||
const QRectF textRect(textLeft(), 0, width() - textLeft() - 10, height());
|
||||
const QRectF textRect(m_dotAfter ? 0 : textLeft(), 0,
|
||||
m_dotAfter ? textW : width() - textLeft() - 10, height());
|
||||
p.drawText(textRect, Qt::AlignLeft | Qt::AlignVCenter, m_text);
|
||||
}
|
||||
|
||||
@@ -19,6 +19,7 @@ public:
|
||||
void setText(const QString& t);
|
||||
void setTextPixelSize(int px) { m_textPx = px; updateGeometry(); update(); } // 文字字号
|
||||
void setRadius(int r) { m_radius = r; updateGeometry(); update(); } // 圆形指示点半径
|
||||
void setDotAfterText(bool after) { m_dotAfter = after; updateGeometry(); update(); } // 圆点画在文字后面
|
||||
State state() const { return m_state; }
|
||||
|
||||
QSize sizeHint() const override; // 宽度按文字实际宽度计算，避免文字被裁
|
||||
@@ -35,6 +36,7 @@ private:
|
||||
bool m_on = true;
|
||||
int m_radius = 16; // 圆形指示点 32×32
|
||||
int m_textPx = 24; // 文字字号
|
||||
bool m_dotAfter = false; // false=圆点在文字前，true=圆点在文字后
|
||||
};
|
||||
|
||||
#endif // LEDINDICATOR_H
|
||||
|
||||
+142
-61
@@ -18,101 +18,81 @@ NumPadDialog::NumPadDialog(QWidget* parent)
|
||||
if (parent) setGeometry(parent->rect());
|
||||
setStyleSheet("background-color: rgba(0,0,0,102);");
|
||||
|
||||
// 面板（居中）
|
||||
QWidget* panel = new QWidget(this);
|
||||
panel->setObjectName("NumPadPanel");
|
||||
panel->setFixedSize(600, 730);
|
||||
panel->setStyleSheet(QString(
|
||||
// 面板（默认居中，可用 setAnchorWidget 定位到某个控件旁边）
|
||||
m_panel = new QWidget(this);
|
||||
m_panel->setObjectName("NumPadPanel");
|
||||
m_panel->setStyleSheet(QString(
|
||||
"QWidget#NumPadPanel{background-color:%1;border:4px solid %2;border-radius:16px;}"
|
||||
"QPushButton[numpad=\"true\"]{background-color:#2D3947;color:#E6EDF3;border:1px solid #3D4A59;border-radius:12px;font-size:40px;}"
|
||||
"QPushButton[numpad=\"true\"]:pressed{background-color:#2E7BE6;color:#FFFFFF;}"
|
||||
"QPushButton[numpad=\"true\"]:focus{background-color:#3D8BFD;color:#FFFFFF;border:2px solid #8ABFFF;}")
|
||||
.arg(C::PANEL, C::BORDER));
|
||||
|
||||
QVBoxLayout* panelLay = new QVBoxLayout(panel);
|
||||
panelLay->setContentsMargins(24, 40, 24, 50);
|
||||
panelLay->setSpacing(50);
|
||||
m_panelLay = new QVBoxLayout(m_panel);
|
||||
|
||||
// 输入回显
|
||||
m_echo = new QLineEdit(panel);
|
||||
m_echo = new QLineEdit(m_panel);
|
||||
m_echo->setReadOnly(true);
|
||||
m_echo->setEchoMode(QLineEdit::Password);
|
||||
m_echo->setAlignment(Qt::AlignCenter);
|
||||
m_echo->setFixedSize(510, 100);
|
||||
m_echo->setStyleSheet("font-size:70px;");
|
||||
m_echo->setFocusPolicy(Qt::NoFocus); // 纯显示回显：不参与 Tab 选中
|
||||
m_echo->setFocusPolicy(Qt::NoFocus); // 纯显示回显：不参与 Tab 选中
|
||||
m_echo->setAttribute(Qt::WA_TransparentForMouseEvents); // 且点击穿透，不响应鼠标
|
||||
panelLay->addWidget(m_echo, 0, Qt::AlignHCenter);
|
||||
m_panelLay->addWidget(m_echo, 0, Qt::AlignHCenter);
|
||||
|
||||
// 数字键区（1-9, 0, 退格, 清除）
|
||||
QGridLayout* grid = new QGridLayout();
|
||||
grid->setSpacing(30);
|
||||
// 数字键区（1-9, 0, 退格, 清除/小数点）
|
||||
m_grid = new QGridLayout();
|
||||
const QString digits[3][3] = {{"1","2","3"},{"4","5","6"},{"7","8","9"}};
|
||||
for (int r = 0; r < 3; ++r)
|
||||
for (int c = 0; c < 3; ++c) {
|
||||
QPushButton* b = new QPushButton(digits[r][c], panel);
|
||||
QPushButton* b = new QPushButton(digits[r][c], m_panel);
|
||||
b->setProperty("numpad", true);
|
||||
b->setStyleSheet("font-size:50px;");
|
||||
b->setFixedSize(150, 120);
|
||||
connect(b, &QPushButton::clicked, this, [this, d = digits[r][c]](){ onDigit(d); });
|
||||
grid->addWidget(b, r, c);
|
||||
m_grid->addWidget(b, r, c);
|
||||
m_digits << b;
|
||||
}
|
||||
|
||||
QPushButton* b0 = new QPushButton("0", panel);
|
||||
QPushButton* b0 = new QPushButton("0", m_panel);
|
||||
b0->setProperty("numpad", true);
|
||||
b0->setStyleSheet("font-size:50px;");
|
||||
b0->setFixedSize(150, 120);
|
||||
connect(b0, &QPushButton::clicked, this, [this](){ onDigit("0"); });
|
||||
grid->addWidget(b0, 3, 1);
|
||||
m_grid->addWidget(b0, 3, 1);
|
||||
m_digits << b0;
|
||||
|
||||
QPushButton* bBack = new QPushButton("退格", panel);
|
||||
bBack->setProperty("numpad", true);
|
||||
bBack->setStyleSheet("font-size:40px;");
|
||||
bBack->setFixedSize(150, 120);
|
||||
connect(bBack, &QPushButton::clicked, this, &NumPadDialog::onBackspace);
|
||||
grid->addWidget(bBack, 3, 0);
|
||||
m_backKey = new QPushButton("退格", m_panel);
|
||||
m_backKey->setProperty("numpad", true);
|
||||
connect(m_backKey, &QPushButton::clicked, this, &NumPadDialog::onBackspace);
|
||||
m_grid->addWidget(m_backKey, 3, 0);
|
||||
|
||||
QPushButton* bClear = new QPushButton("清除", panel);
|
||||
bClear->setProperty("numpad", true);
|
||||
bClear->setStyleSheet("font-size:40px;");
|
||||
bClear->setFixedSize(150, 108);
|
||||
connect(bClear, &QPushButton::clicked, this, &NumPadDialog::onClear);
|
||||
grid->addWidget(bClear, 3, 2);
|
||||
m_clearKey = new QPushButton("清除", m_panel);
|
||||
m_clearKey->setProperty("numpad", true);
|
||||
connect(m_clearKey, &QPushButton::clicked, this, [this]() {
|
||||
if (m_paramMode) onDot();
|
||||
else onClear();
|
||||
});
|
||||
m_grid->addWidget(m_clearKey, 3, 2);
|
||||
|
||||
// 确认 / 取消（与数字键一致的灰底，选中时发亮）
|
||||
QPushButton* bOk = new QPushButton("确认", panel);
|
||||
bOk->setProperty("numpad", true);
|
||||
bOk->setStyleSheet("font-size:60px;");
|
||||
bOk->setFixedSize(160, 140);
|
||||
connect(bOk, &QPushButton::clicked, this, &NumPadDialog::accept);
|
||||
// 确认 / 取消
|
||||
m_okKey = new QPushButton("确认", m_panel);
|
||||
m_okKey->setProperty("numpad", true);
|
||||
connect(m_okKey, &QPushButton::clicked, this, &NumPadDialog::accept);
|
||||
|
||||
QPushButton* bCancel = new QPushButton("取消", panel);
|
||||
bCancel->setProperty("numpad", true);
|
||||
bCancel->setStyleSheet(cancelButtonStyle(60)); // 选中时红底白字
|
||||
bCancel->setFixedSize(160, 140);
|
||||
connect(bCancel, &QPushButton::clicked, this, &NumPadDialog::reject);
|
||||
m_cancelKey = new QPushButton("取消", m_panel);
|
||||
m_cancelKey->setProperty("numpad", true);
|
||||
connect(m_cancelKey, &QPushButton::clicked, this, &NumPadDialog::reject);
|
||||
|
||||
// 确认 / 取消：单独一行、水平居中，并与数字键盘留出间隔
|
||||
QHBoxLayout* okRow = new QHBoxLayout();
|
||||
okRow->setSpacing(80);
|
||||
okRow->addStretch(1);
|
||||
okRow->addWidget(bOk);
|
||||
okRow->addWidget(bCancel);
|
||||
okRow->addWidget(m_okKey);
|
||||
okRow->addWidget(m_cancelKey);
|
||||
okRow->addStretch(1);
|
||||
|
||||
panelLay->addLayout(grid);
|
||||
panelLay->setAlignment(grid, Qt::AlignHCenter);
|
||||
//panelLay->addSpacing(20);
|
||||
panelLay->addLayout(okRow);
|
||||
panelLay->addStretch(1);
|
||||
|
||||
// 居中放置面板
|
||||
QVBoxLayout* root = new QVBoxLayout(this);
|
||||
root->setContentsMargins(0, 0, 0, 0);
|
||||
root->addStretch(1);
|
||||
root->addWidget(panel, 0, Qt::AlignHCenter);
|
||||
root->addStretch(1);
|
||||
m_panelLay->addLayout(m_grid);
|
||||
m_panelLay->setAlignment(m_grid, Qt::AlignHCenter);
|
||||
m_panelLay->addLayout(okRow);
|
||||
m_panelLay->addStretch(1);
|
||||
|
||||
applySizes(); // 应用尺寸（默认大字版）并摆放面板
|
||||
refreshEcho();
|
||||
}
|
||||
|
||||
@@ -128,6 +108,107 @@ void NumPadDialog::clear()
|
||||
refreshEcho();
|
||||
}
|
||||
|
||||
// 整体不透明度（0.0~1.0）
|
||||
void NumPadDialog::setOpacity(qreal opacity)
|
||||
{
|
||||
setWindowOpacity(opacity);
|
||||
}
|
||||
|
||||
// 面板贴在参照控件左侧 gap 像素处弹出（垂直对齐其中心，并钳位到屏幕内）
|
||||
void NumPadDialog::setAnchorWidget(QWidget* ref, int gap)
|
||||
{
|
||||
m_anchor = ref;
|
||||
m_gap = gap;
|
||||
placePanel();
|
||||
}
|
||||
|
||||
// 参数输入模式：回显显示实际数字（不掩码），“清除”键换成“小数点”
|
||||
void NumPadDialog::setParamMode(bool on)
|
||||
{
|
||||
m_paramMode = on;
|
||||
m_echo->setEchoMode(on ? QLineEdit::Normal : QLineEdit::Password);
|
||||
m_clearKey->setText(on ? "." : "清除");
|
||||
applySizes(); // 重设“小数点/清除”键的字号
|
||||
}
|
||||
|
||||
// 紧凑尺寸（按键与面板更小），默认 false = 大字版
|
||||
void NumPadDialog::setCompact(bool on)
|
||||
{
|
||||
m_compact = on;
|
||||
applySizes();
|
||||
}
|
||||
|
||||
// 按当前尺寸模式设置面板/按键的大小与字号，并重新摆放面板
|
||||
void NumPadDialog::applySizes()
|
||||
{
|
||||
const int digitFont = m_compact ? 40 : 50;
|
||||
const int fnFont = m_compact ? 30 : 40;
|
||||
const int dotFont = m_compact ? 46 : 60;
|
||||
const int okFont = m_compact ? 44 : 60;
|
||||
const QSize digitSz = m_compact ? QSize(120, 70) : QSize(150, 120);
|
||||
const QSize clearSz = m_compact ? QSize(120, 70) : QSize(150, 108);
|
||||
const QSize okSz = m_compact ? QSize(130, 88) : QSize(160, 140);
|
||||
|
||||
m_panel->setFixedSize(m_compact ? QSize(460, 600) : QSize(600, 730));
|
||||
m_panelLay->setContentsMargins(m_compact ? 20 : 24, m_compact ? 24 : 40,
|
||||
m_compact ? 20 : 24, m_compact ? 26 : 50);
|
||||
m_panelLay->setSpacing(m_compact ? 26 : 50);
|
||||
m_grid->setSpacing(m_compact ? 18 : 30);
|
||||
|
||||
m_echo->setFixedSize(m_compact ? QSize(400, 70) : QSize(510, 100));
|
||||
m_echo->setStyleSheet(QString("font-size:%1px;").arg(m_compact ? 48 : 70));
|
||||
|
||||
for (QPushButton* b : m_digits) {
|
||||
b->setFixedSize(digitSz);
|
||||
b->setStyleSheet(QString("font-size:%1px;").arg(digitFont));
|
||||
}
|
||||
m_backKey->setFixedSize(digitSz);
|
||||
m_backKey->setStyleSheet(QString("font-size:%1px;").arg(fnFont));
|
||||
|
||||
m_clearKey->setFixedSize(clearSz);
|
||||
m_clearKey->setStyleSheet(QString("font-size:%1px;").arg(m_paramMode ? dotFont : fnFont));
|
||||
|
||||
m_okKey->setFixedSize(okSz);
|
||||
m_okKey->setStyleSheet(QString("font-size:%1px;").arg(okFont));
|
||||
m_cancelKey->setFixedSize(okSz);
|
||||
m_cancelKey->setStyleSheet(cancelButtonStyle(okFont)); // 选中时红底白字
|
||||
|
||||
placePanel();
|
||||
}
|
||||
|
||||
// 计算面板位置：有参照控件 → 其左侧；否则居中
|
||||
void NumPadDialog::placePanel()
|
||||
{
|
||||
const int w = m_panel->width();
|
||||
const int h = m_panel->height();
|
||||
int x = (width() - w) / 2;
|
||||
int y = (height() - h) / 2;
|
||||
|
||||
if (m_anchor && m_anchor->window()) {
|
||||
// 面板放在参照控件左侧；对话框覆盖整个窗口，其局部坐标即窗口坐标
|
||||
const QPoint p = m_anchor->mapTo(m_anchor->window(), QPoint(0, 0));
|
||||
x = p.x() - m_gap - w;
|
||||
y = p.y() + m_anchor->height() / 2 - h / 2;
|
||||
}
|
||||
|
||||
x = qBound(0, x, qMax(0, width() - w));
|
||||
y = qBound(0, y, qMax(0, height() - h));
|
||||
m_panel->move(x, y);
|
||||
}
|
||||
|
||||
// 小数点：仅允许一个，空值时补前导 0
|
||||
void NumPadDialog::onDot()
|
||||
{
|
||||
if (m_value.contains('.'))
|
||||
return;
|
||||
if (m_value.isEmpty())
|
||||
m_value = "0";
|
||||
if (m_value.size() >= m_maxLen)
|
||||
return;
|
||||
m_value += '.';
|
||||
refreshEcho();
|
||||
}
|
||||
|
||||
void NumPadDialog::onDigit(const QString& d)
|
||||
{
|
||||
if (m_value.size() >= m_maxLen)
|
||||
|
||||
@@ -2,11 +2,16 @@
|
||||
#define NUMPADDIALOG_H
|
||||
|
||||
#include <QDialog>
|
||||
#include <QVector>
|
||||
|
||||
class QLineEdit;
|
||||
class QPushButton;
|
||||
class QGridLayout;
|
||||
class QVBoxLayout;
|
||||
|
||||
// ===================== 数字键盘弹窗（模态） =====================
|
||||
// 半透明遮罩 + 键盘面板：顶部输入回显，数字键 1-9、0，退格、清除，确认/取消
|
||||
// 两种尺寸：默认大字版（密码页用）、紧凑版（参数输入用，setCompact(true)）
|
||||
class NumPadDialog : public QDialog
|
||||
{
|
||||
Q_OBJECT
|
||||
@@ -18,17 +23,41 @@ public:
|
||||
QString value() const { return m_value; }
|
||||
void clear();
|
||||
|
||||
void setOpacity(qreal opacity); // 整体不透明度（默认 1.0）
|
||||
void setAnchorWidget(QWidget* ref, int gap = 20); // 面板贴参照控件左侧弹出
|
||||
|
||||
// 参数输入模式：回显显示实际数字（不掩码），并把“清除”键换成“小数点”
|
||||
void setParamMode(bool on);
|
||||
|
||||
// 紧凑尺寸（按键/面板更小）；默认 false = 大字版
|
||||
void setCompact(bool on);
|
||||
|
||||
private slots:
|
||||
void onDigit(const QString& d);
|
||||
void onBackspace();
|
||||
void onClear();
|
||||
void onDot();
|
||||
|
||||
private:
|
||||
void refreshEcho();
|
||||
void placePanel();
|
||||
void applySizes();
|
||||
|
||||
QWidget* m_panel = nullptr;
|
||||
QWidget* m_anchor = nullptr; // 定位参照控件（如参数输入框）
|
||||
QGridLayout* m_grid = nullptr;
|
||||
QVBoxLayout* m_panelLay = nullptr;
|
||||
QLineEdit* m_echo = nullptr;
|
||||
QVector<QPushButton*> m_digits; // 数字键 0-9
|
||||
QPushButton* m_backKey = nullptr;
|
||||
QPushButton* m_clearKey = nullptr;
|
||||
QPushButton* m_okKey = nullptr;
|
||||
QPushButton* m_cancelKey = nullptr;
|
||||
QString m_value;
|
||||
int m_maxLen = 4;
|
||||
int m_gap = 20;
|
||||
bool m_paramMode = false;
|
||||
bool m_compact = false;
|
||||
};
|
||||
|
||||
#endif // NUMPADDIALOG_H
|
||||
|
||||
+113
-58
@@ -1,8 +1,11 @@
|
||||
#include "paramcontrol.h"
|
||||
#include "numpaddialog.h"
|
||||
#include <QVBoxLayout>
|
||||
#include <QHBoxLayout>
|
||||
#include <QLabel>
|
||||
#include <QLineEdit>
|
||||
#include <QPushButton>
|
||||
#include <QKeyEvent>
|
||||
#include "global.h"
|
||||
|
||||
ParamControl::ParamControl(const QString& name, const QString& unit,
|
||||
@@ -16,56 +19,50 @@ ParamControl::ParamControl(const QString& name, const QString& unit,
|
||||
lay->setSpacing(6);
|
||||
|
||||
// 参数名
|
||||
QLabel* nameLabel = new QLabel(name, this);
|
||||
nameLabel->setProperty("sub", true);
|
||||
nameLabel->setStyleSheet(QString("color:%1;font-size:22px;").arg(C::TEXT_SUB));
|
||||
lay->addWidget(nameLabel);
|
||||
m_nameLabel = new QLabel(name, this);
|
||||
m_nameLabel->setProperty("sub", true);
|
||||
m_nameLabel->setStyleSheet(QString("color:%1;font-size:40px;").arg(C::TEXT_SUB));
|
||||
lay->addWidget(m_nameLabel);
|
||||
|
||||
// 数值 + 加减
|
||||
QHBoxLayout* row = new QHBoxLayout();
|
||||
row->setSpacing(12);
|
||||
// 数值输入框 + 单位（同一行；框内只显示数值）
|
||||
m_valRow = new QHBoxLayout();
|
||||
m_valRow->setSpacing(12);
|
||||
|
||||
QPushButton* minus = new QPushButton("－", this);
|
||||
minus->setFixedSize(96, 96);
|
||||
minus->setStyleSheet(QString("font-size:44px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
|
||||
.arg(C::PANEL_HI, C::TEXT, C::BORDER));
|
||||
connect(minus, &QPushButton::clicked, this, &ParamControl::onMinus);
|
||||
m_valueEdit = new QLineEdit(this);
|
||||
m_valueEdit->setReadOnly(true);
|
||||
m_valueEdit->setAlignment(Qt::AlignCenter);
|
||||
m_valueEdit->setFocusPolicy(Qt::StrongFocus);
|
||||
m_valueEdit->setFixedWidth(150); // 输入框长度（按需调整）
|
||||
m_valueEdit->setStyleSheet("font-size:40px;font-weight:700;");
|
||||
m_valueEdit->installEventFilter(this);
|
||||
m_valRow->addStretch(0); // 行首弹性空间：setCentered(true) 时置 1，数值行即居中
|
||||
m_valRow->addWidget(m_valueEdit);
|
||||
|
||||
m_valueLabel = new QLabel(this);
|
||||
m_valueLabel->setAlignment(Qt::AlignCenter);
|
||||
m_valueLabel->setStyleSheet(QString("color:%1;font-size:52px;font-weight:700;").arg(C::TEXT));
|
||||
m_valueLabel->setMinimumWidth(180);
|
||||
m_unitLabel = new QLabel(unit, this);
|
||||
m_unitLabel->setStyleSheet(QString("color:%1;font-size:40px;").arg(C::TEXT_SUB));
|
||||
// 同一行右侧还有按钮时，给单位固定占位，保证各参数的按钮 x 一致
|
||||
// （110 取全项目最长单位“L/min”在 40px 字号下的宽度约 101px）
|
||||
if (withSave || withFactory)
|
||||
m_unitLabel->setFixedWidth(110);
|
||||
m_valRow->addWidget(m_unitLabel);
|
||||
|
||||
QPushButton* plus = new QPushButton("＋", this);
|
||||
plus->setFixedSize(96, 96);
|
||||
plus->setStyleSheet(QString("font-size:44px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
|
||||
.arg(C::PANEL_HI, C::TEXT, C::BORDER));
|
||||
connect(plus, &QPushButton::clicked, this, &ParamControl::onPlus);
|
||||
|
||||
row->addWidget(minus);
|
||||
row->addWidget(m_valueLabel, 1);
|
||||
row->addWidget(plus);
|
||||
lay->addLayout(row);
|
||||
|
||||
// 保存 / 恢复出厂值（可选）
|
||||
if (withSave || withFactory) {
|
||||
QHBoxLayout* btnRow = new QHBoxLayout();
|
||||
btnRow->setSpacing(12);
|
||||
if (withSave) {
|
||||
m_save = new QPushButton("保存", this);
|
||||
m_save->setProperty("variant", "primary");
|
||||
m_save->setMinimumHeight(56);
|
||||
connect(m_save, &QPushButton::clicked, this, &ParamControl::saveClicked);
|
||||
btnRow->addWidget(m_save);
|
||||
}
|
||||
if (withFactory) {
|
||||
m_factory = new QPushButton("恢复出厂值", this);
|
||||
m_factory->setMinimumHeight(56);
|
||||
connect(m_factory, &QPushButton::clicked, this, &ParamControl::factoryResetClicked);
|
||||
btnRow->addWidget(m_factory);
|
||||
}
|
||||
lay->addLayout(btnRow);
|
||||
// 保存 / 恢复出厂值（可选）：跟在单位后面，与输入框同一行、整体左对齐
|
||||
if (withSave) {
|
||||
m_save = new QPushButton("保存", this);
|
||||
m_save->setProperty("variant", "primary");
|
||||
m_save->setFixedSize(140, 60); // 固定宽高，不再随布局拉伸
|
||||
connect(m_save, &QPushButton::clicked, this, &ParamControl::saveClicked);
|
||||
m_valRow->addWidget(m_save);
|
||||
}
|
||||
if (withFactory) {
|
||||
m_factory = new QPushButton("恢复出厂值", this);
|
||||
m_factory->setMinimumHeight(56);
|
||||
connect(m_factory, &QPushButton::clicked, this, &ParamControl::factoryResetClicked);
|
||||
m_valRow->addWidget(m_factory);
|
||||
}
|
||||
|
||||
m_valRow->addStretch(1);
|
||||
lay->addLayout(m_valRow);
|
||||
|
||||
refresh();
|
||||
}
|
||||
@@ -76,32 +73,90 @@ void ParamControl::setValue(double v)
|
||||
refresh();
|
||||
}
|
||||
|
||||
QWidget* ParamControl::editor() const
|
||||
{
|
||||
return m_valueEdit;
|
||||
}
|
||||
|
||||
void ParamControl::setEnabled(bool enabled)
|
||||
{
|
||||
QWidget::setEnabled(enabled);
|
||||
}
|
||||
|
||||
void ParamControl::onMinus()
|
||||
void ParamControl::setCentered(bool on)
|
||||
{
|
||||
m_value = qMax(m_min, m_value - m_step);
|
||||
refresh();
|
||||
emit valueChanged(m_value);
|
||||
m_nameLabel->setAlignment(on ? Qt::AlignCenter : (Qt::AlignLeft | Qt::AlignVCenter));
|
||||
m_valRow->setStretch(0, on ? 1 : 0); // 行首弹性空间与行尾均分 → 整行居中（含保存按钮）
|
||||
}
|
||||
|
||||
void ParamControl::onPlus()
|
||||
// 旋钮接口：steps > 0 调大、< 0 调小（每格 = m_step，自动钳位到 [min, max]）
|
||||
// 目前由数值框上的 ↑/↓ 键驱动，后续接面板机械旋钮也走这里
|
||||
void ParamControl::adjustByKnob(int steps)
|
||||
{
|
||||
m_value = qMin(m_max, m_value + m_step);
|
||||
refresh();
|
||||
emit valueChanged(m_value);
|
||||
if (steps == 0)
|
||||
return;
|
||||
const double old = m_value;
|
||||
setValue(old + steps * m_step);
|
||||
if (m_value != old)
|
||||
emit valueChanged(m_value);
|
||||
}
|
||||
|
||||
// 点击数值框 / 回车 → 弹出数字键盘（面板靠左、不透明度 80%）；↑/↓ → 每档加减一次
|
||||
bool ParamControl::eventFilter(QObject* obj, QEvent* ev)
|
||||
{
|
||||
if (obj == m_valueEdit) {
|
||||
if (ev->type() == QEvent::MouseButtonPress) {
|
||||
openNumPad();
|
||||
return true;
|
||||
}
|
||||
if (ev->type() == QEvent::KeyPress) {
|
||||
QKeyEvent* ke = static_cast<QKeyEvent*>(ev);
|
||||
if (ke->key() == Qt::Key_Return || ke->key() == Qt::Key_Enter) {
|
||||
openNumPad();
|
||||
return true;
|
||||
}
|
||||
// 旋钮档：↑ 加一档、↓ 减一档（每档 = m_step）。Tab/Shift+Tab 走焦点链、
|
||||
// 空格激活按钮，各不重叠；按住方向键由按键自动重复继续调
|
||||
if (ke->key() == Qt::Key_Up) {
|
||||
adjustByKnob(1);
|
||||
return true;
|
||||
}
|
||||
if (ke->key() == Qt::Key_Down) {
|
||||
adjustByKnob(-1);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
}
|
||||
return QWidget::eventFilter(obj, ev);
|
||||
}
|
||||
|
||||
void ParamControl::openNumPad()
|
||||
{
|
||||
NumPadDialog dlg(window()); // 以顶层窗口为父：遮罩覆盖整屏
|
||||
dlg.setParamMode(true); // 参数模式：回显显示实际数字，“清除”换成“小数点”
|
||||
dlg.setCompact(true); // 紧凑尺寸（不影响密码页的大键盘）
|
||||
dlg.setAnchorWidget(m_valueEdit, 20); // 面板贴在输入框左侧 20px 处弹出
|
||||
dlg.setMaxLen(6);
|
||||
dlg.setValue(m_step < 1.0 ? QString::number(m_value, 'f', 1)
|
||||
: QString::number(m_value, 'f', 0));
|
||||
if (dlg.exec() != QDialog::Accepted)
|
||||
return;
|
||||
|
||||
bool ok = false;
|
||||
const double v = dlg.value().toDouble(&ok);
|
||||
if (!ok)
|
||||
return;
|
||||
const double old = m_value;
|
||||
setValue(v);
|
||||
if (m_value != old)
|
||||
emit valueChanged(m_value);
|
||||
}
|
||||
|
||||
void ParamControl::refresh()
|
||||
{
|
||||
// 单位格式：整数不显示小数
|
||||
QString s;
|
||||
// 框内只显示数值（单位在框后面的标签里）
|
||||
if (m_step < 1.0)
|
||||
s = QString("%1").arg(m_value, 0, 'f', 1);
|
||||
m_valueEdit->setText(QString::number(m_value, 'f', 1));
|
||||
else
|
||||
s = QString("%1").arg(m_value, 0, 'f', 0);
|
||||
m_valueLabel->setText(s + " " + m_unit);
|
||||
m_valueEdit->setText(QString::number(m_value, 'f', 0));
|
||||
}
|
||||
|
||||
+17
-5
@@ -4,10 +4,13 @@
|
||||
#include <QWidget>
|
||||
|
||||
class QLabel;
|
||||
class QLineEdit;
|
||||
class QPushButton;
|
||||
class QHBoxLayout;
|
||||
|
||||
// ===================== 参数调节控件 =====================
|
||||
// 参数名 + 大数值显示 + 减/加按钮 + 保存按钮（可选）+ 恢复出厂值按钮（可选）
|
||||
// 参数名 + 数值输入框（点击/回车弹出数字键盘，↑/↓ 按档加减）+ 保存按钮（可选）+ 恢复出厂值按钮（可选）
|
||||
// 旋钮接口 adjustByKnob()：调大/调小，数值框的 ↑/↓ 走的就是这条路径
|
||||
class ParamControl : public QWidget
|
||||
{
|
||||
Q_OBJECT
|
||||
@@ -19,18 +22,24 @@ public:
|
||||
void setValue(double v);
|
||||
double value() const { return m_value; }
|
||||
void setEnabled(bool enabled);
|
||||
void setCentered(bool on); // 参数名与数值行水平居中（默认左对齐）
|
||||
QWidget* editor() const; // 数值输入框（供页面编排 Tab 顺序）
|
||||
|
||||
public slots:
|
||||
// 旋钮接口：steps > 0 右旋调大、steps < 0 左旋调小；每格 = m_step
|
||||
void adjustByKnob(int steps);
|
||||
|
||||
signals:
|
||||
void valueChanged(double v);
|
||||
void saveClicked();
|
||||
void factoryResetClicked();
|
||||
|
||||
private slots:
|
||||
void onMinus();
|
||||
void onPlus();
|
||||
protected:
|
||||
bool eventFilter(QObject* obj, QEvent* ev) override; // 数值框：点击/回车 → 数字键盘，↑/↓ → 按档调值
|
||||
|
||||
private:
|
||||
void refresh();
|
||||
void openNumPad();
|
||||
|
||||
QString m_name;
|
||||
QString m_unit;
|
||||
@@ -38,7 +47,10 @@ private:
|
||||
double m_min;
|
||||
double m_max;
|
||||
double m_value;
|
||||
QLabel* m_valueLabel = nullptr;
|
||||
QLineEdit* m_valueEdit = nullptr;
|
||||
QLabel* m_unitLabel = nullptr;
|
||||
QLabel* m_nameLabel = nullptr;
|
||||
QHBoxLayout* m_valRow = nullptr;
|
||||
QPushButton* m_save = nullptr;
|
||||
QPushButton* m_factory = nullptr;
|
||||
};
|
||||
|
||||
+38
-35
@@ -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));
|
||||
}
|
||||
|
||||
@@ -7,8 +7,8 @@ class QLabel;
|
||||
class QPushButton;
|
||||
class AppContext;
|
||||
|
||||
// ===================== 底部状态条（高 94px） =====================
|
||||
// 底盘电量、底盘电压、清水液位、泡沫液位 + 模式徽标 + 返回按钮
|
||||
// ===================== 底部状态条 =====================
|
||||
// 只保留：模式徽标（仅显示）+ 返回按钮。行车/机械臂由遥控器拨钮决定，界面不参与切换。
|
||||
class StatusStrip : public QWidget
|
||||
{
|
||||
Q_OBJECT
|
||||
@@ -17,6 +17,7 @@ public:
|
||||
|
||||
void setBackVisible(bool visible);
|
||||
void setBackEnabled(bool enabled);
|
||||
void setModeVisible(bool visible); // 固定行车模式的页面（如底盘页）可隐藏模式徽标
|
||||
|
||||
signals:
|
||||
void backClicked();
|
||||
@@ -26,11 +27,11 @@ private slots:
|
||||
|
||||
private:
|
||||
AppContext* m_ctx;
|
||||
QLabel* m_battery = nullptr;
|
||||
QLabel* m_voltage = nullptr;
|
||||
QLabel* m_levelA = nullptr;
|
||||
QLabel* m_levelFoam = nullptr;
|
||||
QPushButton* m_mode = nullptr;
|
||||
//QLabel* m_battery = nullptr; // 底部不再显示数据
|
||||
//QLabel* m_voltage = nullptr;
|
||||
//QLabel* m_levelA = nullptr;
|
||||
//QLabel* m_levelFoam = nullptr;
|
||||
QLabel* m_mode = nullptr; // 模式徽标（只显示，不参与切换）
|
||||
QPushButton* m_back = nullptr;
|
||||
};
|
||||
|
||||
|
||||
+35
-55
@@ -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));
|
||||
}
|
||||
|
||||
+7
-10
@@ -2,15 +2,14 @@
|
||||
#define TITLEBAR_H
|
||||
|
||||
#include <QWidget>
|
||||
#include <QTimer>
|
||||
#include "uart.h"
|
||||
|
||||
class QLabel;
|
||||
class QPushButton;
|
||||
class AppContext;
|
||||
class LedIndicator;
|
||||
|
||||
// ===================== 顶条组件（高 98px） =====================
|
||||
// 左侧“通信状态：●正常/异常”，中央页面标题，右侧时间 + 软急停按钮
|
||||
// 左侧“车载端通信：●正常/异常”，中央页面标题，右侧“遥控器：●正常/断开 + 电量”
|
||||
class TitleBar : public QWidget
|
||||
{
|
||||
Q_OBJECT
|
||||
@@ -18,19 +17,17 @@ public:
|
||||
explicit TitleBar(AppContext* ctx, QWidget* parent = nullptr);
|
||||
|
||||
void setTitle(const QString& title);
|
||||
void setEstopVisible(bool visible);
|
||||
|
||||
private slots:
|
||||
void updateEstop();
|
||||
void updateTime();
|
||||
void onRcLink(bool ok);
|
||||
void onRcFrame(const RcFrame& f);
|
||||
|
||||
private:
|
||||
AppContext* m_ctx;
|
||||
LedIndicator* m_comm;
|
||||
LedIndicator* m_comm = nullptr;
|
||||
LedIndicator* m_rc = nullptr;
|
||||
QLabel* m_rcBat = nullptr;
|
||||
QLabel* m_title = nullptr;
|
||||
QLabel* m_time = nullptr;
|
||||
QPushButton* m_estop = nullptr;
|
||||
QTimer* m_clock = nullptr;
|
||||
};
|
||||
|
||||
#endif // TITLEBAR_H
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user