简短文件名

2026-09-09 17:14:31 +08:00
parent 40473ad10b
commit bc17390d83
96 changed files with 79 additions and 79 deletions
@@ -0,0 +1,191 @@
+#include "chassis.h"
+#include "titlebar.h"
+#include "statusstrip.h"
+#include "alarmbanner.h"
+#include "datacard.h"
+#include "paramcontrol.h"
+#include "udpcommunication.h"
+#include "confirmdialog.h"
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+#include <QPushButton>
+#include <QTimer>
+#include "global.h"
+
+ChassisPage::ChassisPage(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("机器人底盘");
+    root->addWidget(m_titleBar);
+
+    // 告警横幅（机械臂未回位 / 通信异常）
+    m_banner = new AlarmBanner(this);
+    root->addWidget(m_banner);
+
+    QHBoxLayout* main = new QHBoxLayout();
+    main->setContentsMargins(36, 16, 36, 16);
+    main->setSpacing(32);
+
+    // 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);
+
+    QPushButton* fwd = makeDirButton("前进", "fwd");
+    QPushButton* back = makeDirButton("后退", "back");
+    QPushButton* leftT = makeDirButton("左转向", "left");
+    QPushButton* rightT = makeDirButton("右转向", "right");
+    m_dirButtons << fwd << back << leftT << rightT;
+
+    leftLay->addStretch(1);
+    leftLay->addWidget(fwd);
+    leftLay->addStretch(1);
+    leftLay->addWidget(back);
+    leftLay->addStretch(1);
+    leftLay->addWidget(leftT);
+    leftLay->addStretch(1);
+    leftLay->addWidget(rightT);
+    leftLay->addStretch(1);
+    left->setFixedWidth(180);
+    main->addWidget(left);
+
+    // 中央卡片区（洗消/机械臂/气体检测仪）
+    QWidget* center = new QWidget(this);
+    QVBoxLayout* centerLay = new QVBoxLayout(center);
+    centerLay->setContentsMargins(0, 0, 0, 0);
+    centerLay->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_armCard = new DataCard("机械臂", center);
+    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->addField("主机状态", "待机");
+    m_gasCard->addField("浓度", "0 ppb");
+
+    centerLay->addWidget(m_washCard, 1);
+    centerLay->addWidget(m_armCard, 1);
+    centerLay->addWidget(m_gasCard, 1);
+    main->addWidget(center, 1);
+
+    // 右参数区
+    QWidget* right = new QWidget(this);
+    QVBoxLayout* rightLay = new QVBoxLayout(right);
+    rightLay->setContentsMargins(0, 0, 0, 0);
+    rightLay->setSpacing(12);
+
+    m_chassisCard = new DataCard("底盘状态", right);
+    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);
+
+    // 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);
+    m_speed->setValue(speed);
+    m_speed->setStyleSheet("background:transparent;");
+    connect(m_speed, &ParamControl::valueChanged, this, &ChassisPage::onSpeedChanged);
+    rightLay->addWidget(m_speed);
+
+    right->setFixedWidth(380);
+    main->addWidget(right);
+
+    root->addLayout(main, 1);
+
+    m_statusStrip = new StatusStrip(ctx, this);
+    connect(m_statusStrip, &StatusStrip::backClicked, this, [this]() { emit navigate(PageJob); });
+    root->addWidget(m_statusStrip);
+
+    // 车速自动保存（1s 防抖）
+    m_saveTimer = new QTimer(this);
+    m_saveTimer->setSingleShot(true);
+    m_saveTimer->setInterval(1000);
+    connect(m_saveTimer, &QTimer::timeout, this, &ChassisPage::onSpeedSaved);
+
+    connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &ChassisPage::refresh);
+    connect(ctx, &AppContext::modeChanged, this, [this](Mode) { updateModeGating(); });
+    connect(ctx, &AppContext::estopChanged, this, [this](bool) { updateModeGating(); });
+    updateModeGating();
+    refresh();
+}
+
+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));
+    connect(b, &QPushButton::pressed, this, [this, dir]() {
+        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));
+    });
+    connect(b, &QPushButton::released, this, [this]() {
+        ctx()->comm()->sendChassisMove("stop", 0);
+    });
+    return b;
+}
+
+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;
+    for (QPushButton* b : m_dirButtons)
+        b->setEnabled(drive);
+}
+
+void ChassisPage::refresh()
+{
+    const Telemetry& t = ctx()->telemetry;
+
+    // 机械臂未回位 / 通信异常告警
+    if (!t.commOk) {
+        m_banner->showAlarm("通信异常");
+    } else if (!t.armHomed && t.returnState != "idle") {
+        m_banner->showAlarm("机械臂未回位，请谨慎操作");
+    } else {
+        m_banner->clear();
+    }
+
+    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, QString("%1 km/h").arg(t.speed, 0, 'f', 2));
+    m_chassisCard->setField(3, t.handbrake ? "有效" : "无效");
+    m_chassisCard->setField(m_chassisFieldFault, t.chassisFaults.isEmpty() ? "无" : t.chassisFaults.join("；"));
+    m_chassisCard->setAlarm(m_chassisFieldFault, !t.chassisFaults.isEmpty());
+
+    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_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));
+}
+
+void ChassisPage::onSpeedChanged(double v)
+{
+    // 1s 防抖后自动保存
+    m_saveTimer->start();
+    ctx()->comm()->sendSetParam(ctx()->keySpeed(), v);
+}
+
+void ChassisPage::onSpeedSaved()
+{
+    ctx()->setDouble(ctx()->keySpeed(), m_speed->value());
+    ConfirmDialog::toast(this, "车速已保存");
+}