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#include "debugmaintain.h"
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#include "titlebar.h"
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#include "alarmbanner.h"
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#include "datacard.h"
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#include "ledindicator.h"
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#include "paramcontrol.h"
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#include "udpcommunication.h"
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#include <QVBoxLayout>
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#include <QHBoxLayout>
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#include <QPushButton>
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#include <QLabel>
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#include "global.h"
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DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
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: BasePage(ctx, parent)
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{
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QVBoxLayout* root = new QVBoxLayout(this);
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root->setContentsMargins(0, 0, 0, 0);
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root->setSpacing(0);
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m_titleBar = new TitleBar(ctx, this);
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m_titleBar->setTitle("洗消调试");
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root->addWidget(m_titleBar);
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// 警告横幅（常显红闪）
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m_warn = new AlarmBanner(this);
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m_warn->showAlarm("警告：该模式下无保护功能，操作请谨慎！");
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root->addWidget(m_warn);
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QHBoxLayout* main = new QHBoxLayout();
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main->setContentsMargins(36, 16, 36, 16);
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main->setSpacing(28);
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// 左球阀控制区
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QWidget* left = new QWidget(this);
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QVBoxLayout* leftLay = new QVBoxLayout(left);
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leftLay->setContentsMargins(0, 0, 0, 0);
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leftLay->setSpacing(16);
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leftLay->addWidget(makeValveGroup(1));
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leftLay->addWidget(makeValveGroup(2));
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leftLay->addStretch(1);
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left->setFixedWidth(300);
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main->addWidget(left);
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// 中央卡片区
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QWidget* center = new QWidget(this);
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QVBoxLayout* centerLay = new QVBoxLayout(center);
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centerLay->setContentsMargins(0, 0, 0, 0);
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centerLay->setSpacing(10);
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QHBoxLayout* miniRow = new QHBoxLayout();
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miniRow->setSpacing(10);
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m_chassisCard = new DataCard("底盘", center);
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m_chassisCard->addField("电量", "85%");
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m_chassisCard->addField("电压", "360V");
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m_armCard = new DataCard("机械臂", center);
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m_armCard->addField("末端位置", "XYZ");
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m_armCard->addField("姿态", "RX/RY/RZ");
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m_gasCard = new DataCard("气体检测仪", center);
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m_gasCard->addField("主机状态", "待机");
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m_gasCard->addField("浓度", "0 ppb");
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miniRow->addWidget(m_chassisCard, 1);
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miniRow->addWidget(m_armCard, 1);
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miniRow->addWidget(m_gasCard, 1);
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centerLay->addLayout(miniRow, 1);
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m_washCard = new DataCard("洗消参数", center);
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m_washCard->addField("洗消模式", "--");
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m_washCard->addField("A组分液位", "100L");
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m_washCard->addField("A药剂流量", "0 L/min");
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m_washCard->addField("管路压力", "0 MPa");
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m_washCard->addField("发泡倍数", "0");
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m_washCard->addField("空压机故障代码", "");
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m_washCard->addField("柱塞泵故障代码", "");
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centerLay->addWidget(m_washCard, 1);
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main->addWidget(center, 1);
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// 右泵控制区
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QWidget* right = new QWidget(this);
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QVBoxLayout* rightLay = new QVBoxLayout(right);
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rightLay->setContentsMargins(0, 0, 0, 0);
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rightLay->setSpacing(8);
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rightLay->addWidget(makePumpGroup("air", "空压机"));
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rightLay->addWidget(makePumpGroup("plunger", "柱塞泵"));
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rightLay->addWidget(makePumpGroup("leaf", "叶片泵"));
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rightLay->addStretch(1);
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right->setFixedWidth(420);
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main->addWidget(right);
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root->addLayout(main, 1);
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// 底部指示灯条
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QWidget* bottom = new QWidget(this);
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bottom->setFixedHeight(94);
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bottom->setStyleSheet(QString("background-color:%1;border-top:1px solid %2;")
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.arg(C::PANEL, C::BORDER));
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QHBoxLayout* bottomLay = new QHBoxLayout(bottom);
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bottomLay->setContentsMargins(36, 0, 24, 0);
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bottomLay->setSpacing(48);
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m_ledPlunger = new LedIndicator("柱塞泵", bottom);
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m_ledAir = new LedIndicator("空压机", bottom);
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m_ledLeaf = new LedIndicator("叶片泵", bottom);
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m_ledLevel = new LedIndicator("液位低", bottom);
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bottomLay->addWidget(m_ledPlunger);
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bottomLay->addWidget(m_ledAir);
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bottomLay->addWidget(m_ledLeaf);
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bottomLay->addWidget(m_ledLevel);
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bottomLay->addStretch(1);
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QPushButton* back = button("返回", "", bottom);
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back->setFixedSize(144, 76);
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connect(back, &QPushButton::clicked, this, [this]() { emit navigate(PageJob); });
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bottomLay->addWidget(back);
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root->addWidget(bottom);
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connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &DebugMaintainPage::refresh);
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refresh();
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}
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QWidget* DebugMaintainPage::makeValveGroup(int valve)
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{
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QWidget* grp = new QWidget(this);
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grp->setProperty("card", true);
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grp->setStyleSheet(QString("QWidget[card=\"true\"]{background-color:%1;border:2px solid %2;border-radius:12px;}")
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.arg(C::PANEL, C::BORDER));
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QVBoxLayout* lay = new QVBoxLayout(grp);
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lay->setContentsMargins(12, 12, 12, 12);
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lay->setSpacing(8);
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QLabel* title = label(QString("D%1 球阀").arg(valve), 20, C::TEXT, true, grp);
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lay->addWidget(title);
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// 控制开/关（toggle）
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QPushButton* ctrl = button(QString("D%1 控制：关闭").arg(valve), "", grp);
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ctrl->setCheckable(true);
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ctrl->setFixedHeight(64);
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connect(ctrl, &QPushButton::toggled, this, [this, valve, ctrl](bool on) {
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ctrl->setText(QString("D%1 控制：%2").arg(valve).arg(on ? "开启" : "关闭"));
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ctx()->comm()->sendBallValve(valve, on);
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});
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lay->addWidget(ctrl);
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// 开启到位 / 关闭到位
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LedIndicator* open = new LedIndicator("开启到位", grp);
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open->setState(LedIndicator::Off);
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LedIndicator* close = new LedIndicator("关闭到位", grp);
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close->setState(LedIndicator::Red);
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lay->addWidget(open);
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lay->addWidget(close);
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// 故障提示
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QLabel* fault = label("", 16, C::DANGER, true, grp);
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fault->setAlignment(Qt::AlignCenter);
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fault->setProperty("alert", true);
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fault->hide();
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lay->addWidget(fault);
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if (valve == 1) {
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m_valve1Btn = ctrl;
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m_v1Open = open;
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m_v1Close = close;
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m_valveFault1 = fault;
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} else {
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m_valve2Btn = ctrl;
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m_v2Open = open;
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m_v2Close = close;
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m_valveFault2 = fault;
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}
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return grp;
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}
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QWidget* DebugMaintainPage::makePumpGroup(const QString& pump, const QString& name)
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{
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QWidget* grp = new QWidget(this);
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grp->setProperty("card", true);
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grp->setStyleSheet(QString("QWidget[card=\"true\"]{background-color:%1;border:2px solid %2;border-radius:12px;}")
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.arg(C::PANEL, C::BORDER));
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QVBoxLayout* lay = new QVBoxLayout(grp);
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lay->setContentsMargins(12, 8, 12, 8);
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lay->setSpacing(4);
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ParamControl* rpm = new ParamControl(name + "转速", "rpm", 10, 0, 2000, false, false, grp);
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rpm->setValue(200);
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connect(rpm, &ParamControl::valueChanged, this, [this, pump](double v) {
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ctx()->comm()->sendPumpRpm(pump, static_cast<int>(v));
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});
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lay->addWidget(rpm);
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QPushButton* power = button("上电", "", grp);
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power->setCheckable(true);
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power->setFixedHeight(56);
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connect(power, &QPushButton::toggled, this, [this, pump, power](bool on) {
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power->setText(on ? "上电中" : "上电");
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ctx()->comm()->sendPumpPower(pump, on);
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});
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lay->addWidget(power);
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if (pump == "air") { m_airRpm = rpm; m_airPower = power; }
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else if (pump == "plunger") { m_plungerRpm = rpm; m_plungerPower = power; }
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else { m_leafRpm = rpm; m_leafPower = power; }
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return grp;
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}
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void DebugMaintainPage::refresh()
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{
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const Telemetry& t = ctx()->telemetry;
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m_chassisCard->setField(0, QString("%1%").arg(t.soc));
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m_chassisCard->setField(1, QString("%1V").arg(t.volt, 0, 'f', 0));
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m_armCard->setField(0, t.pos);
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m_armCard->setField(1, t.pose);
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m_gasCard->setField(0, t.gasHost == "detecting" ? "检测中" : (t.gasHost == "fault" ? "故障" : "待机"));
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m_gasCard->setField(1, QString("%1 ppb").arg(t.gasConc, 0, 'f', 0));
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m_washCard->setField(0, t.washMode);
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m_washCard->setField(1, QString("%1L").arg(t.levelA, 0, 'f', 0));
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m_washCard->setField(2, QString("%1 L/min").arg(t.flowA, 0, 'f', 1));
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m_washCard->setField(3, QString("%1 MPa").arg(t.press, 0, 'f', 2));
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m_washCard->setField(4, QString("%1").arg(t.foam, 0, 'f', 1));
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m_washCard->setField(5, t.pumpFaults.value(0));
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m_washCard->setField(6, t.pumpFaults.value(0));
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// 球阀到位反馈
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m_v1Open->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
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m_v1Close->setState(t.d1close ? LedIndicator::Red : LedIndicator::Off);
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m_v2Open->setState(t.d2open ? LedIndicator::Green : LedIndicator::Off);
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m_v2Close->setState(t.d2close ? LedIndicator::Red : LedIndicator::Off);
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// 球阀故障提示
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bool v1Fault = t.valveFault.contains("D1");
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bool v2Fault = t.valveFault.contains("D2");
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if (v1Fault) { m_valveFault1->setText(t.valveFault); m_valveFault1->show(); startBlink(m_valveFault1, "blink"); }
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else { stopBlink(m_valveFault1, "blink"); m_valveFault1->hide(); }
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if (v2Fault) { m_valveFault2->setText(t.valveFault); m_valveFault2->show(); startBlink(m_valveFault2, "blink"); }
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else { stopBlink(m_valveFault2, "blink"); m_valveFault2->hide(); }
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// 泵上电状态同步
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if (m_airPower) m_airPower->setChecked(t.air);
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if (m_plungerPower) m_plungerPower->setChecked(t.plunger);
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if (m_leafPower) m_leafPower->setChecked(t.leaf);
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// 底部指示灯
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m_ledPlunger->setState(t.plunger ? LedIndicator::Green : LedIndicator::Off);
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m_ledAir->setState(t.air ? LedIndicator::Green : LedIndicator::Off);
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m_ledLeaf->setState(t.leaf ? LedIndicator::Green : LedIndicator::Off);
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m_ledLevel->setState(t.levelA < 10 ? LedIndicator::RedBlink : LedIndicator::Off);
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}
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