318 lines
11 KiB
C++
318 lines
11 KiB
C++
#include "appcontext.h"
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#include "car.h"
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#include <QApplication>
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#include <QDateTime>
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namespace {
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// 遥控器摇杆满量程 0~4096、中位 2048；取 ±10% 死区，即 1638~2458 视为中立
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const int kAxisMid = 2048;
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const int kAxisDead = 410;
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int axisDir(int v)
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{
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if (v > kAxisMid + kAxisDead) return +1;
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if (v < kAxisMid - kAxisDead) return -1;
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return 0;
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}
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// 六个机械臂轴，顺序与 sendArmMove 的轴名一致（见 pages/arm.cpp）
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const char* const kArmAxes[6] = {"z", "x", "y", "roll", "pitch", "yaw"};
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} // namespace
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AppContext* AppContext::instance()
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{
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static AppContext* s = nullptr;
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if (!s) s = new AppContext();
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return s;
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}
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AppContext::AppContext(QObject* parent)
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: QObject(parent)
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{
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// 参数与密码持久化：QSettings 写入程序目录 config.ini
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m_settings = new QSettings(QApplication::applicationDirPath() + "/config.ini",
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QSettings::IniFormat, this);
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// 首次运行写入默认值
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if (!m_settings->contains(keySpeed())) m_settings->setValue(keySpeed(), 4.5);
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if (!m_settings->contains(keyPumpFlow())) m_settings->setValue(keyPumpFlow(), 20);
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if (!m_settings->contains(keyFoamRatio())) m_settings->setValue(keyFoamRatio(), 6);
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if (!m_settings->contains(keyFoamPercent()))m_settings->setValue(keyFoamPercent(), 3);
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if (!m_settings->contains(keyAirFlow())) m_settings->setValue(keyAirFlow(), 100);
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if (!m_settings->contains("param/pwd")) m_settings->setValue("param/pwd", "6789");
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// 通信层（19 条 CAN 报文经 UDP 收发：收 9000 / 发 9001，见 comm/car.h）
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m_comm = new CarCommunication(&telemetry, this);
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// 遥控器（串口 /dev/ttyS7，24 字节二进制帧，见 comm/uart.h）
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m_rc = new RcCommunication(this);
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// 通信层故障信号 → 写入故障历史
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connect(m_comm, &CarCommunication::faultAppended,
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this, &AppContext::appendFault);
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// 遥控器报文 → 模式 / 急停 / 动作 / 显示
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connect(m_rc, &RcCommunication::frameReceived, this, &AppContext::onRcFrame);
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connect(m_rc, &RcCommunication::linkChanged, this, &AppContext::onRcLinkChanged);
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#if 0
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// 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）。
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// 停用原因：协议 sheet RC 的 12 条下行报文里没有该 mode 字段，telemetry.driveMode
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// 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。
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connect(m_comm, &CarCommunication::telemetryUpdated, this, [this]() {
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if (m_rc->linkOk()) return;
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setMode(telemetry.driveMode == 0 ? Mode::Drive : Mode::Arm);
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});
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#endif
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seedFaultHistory();
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}
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void AppContext::seedFaultHistory()
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{
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// 演示用历史故障汇总（协议示例数据 + 补充）
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struct Seed { const char* t; const char* sys; const char* code; const char* d; };
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const Seed seeds[] = {
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{"2026-05-16 10:08", "机器人底盘", "C01", "底盘电量低"},
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{"2026-05-16 09:58", "机器人底盘", "C02", "底盘电机温度高"},
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{"2026-05-16 09:41", "机器人底盘", "C03", "总电压低"},
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{"2026-05-15 09:08", "机械臂", "A01", "机械臂通信故障"},
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{"2026-05-15 08:55", "机械臂", "A02", "机械臂自检故障"},
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{"2026-05-15 08:30", "机械臂", "A03", "关节J2过载"},
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{"2026-05-14 09:58", "洗消系统", "W01", "柱塞泵故障"},
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{"2026-05-14 09:20", "洗消系统", "W02", "空压机压力异常"},
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{"2026-05-14 08:45", "洗消系统", "W03", "电动球阀D1开启故障"},
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{"2026-05-13 09:08", "洗消系统", "W04", "清水液位低"},
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{"2026-05-13 08:18", "洗消系统", "W05", "药剂液位低"},
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{"2026-05-13 08:02", "洗消系统", "W06", "叶片泵故障"},
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{"2026-05-12 11:20", "气体检测仪", "G01", "检测仪通信故障"},
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{"2026-05-12 10:50", "气体检测仪", "G02", "有毒物浓度超阈值"},
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{"2026-05-11 09:30", "气体检测仪", "G03", "主机标定异常"},
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{"2026-05-11 09:10", "机器人底盘", "C04", "手刹失效"},
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{"2026-05-10 08:40", "机械臂", "A04", "末端速度超限"},
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{"2026-05-10 08:15", "气体检测仪", "G04", "传感器信号异常"},
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};
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for (const Seed& s : seeds) {
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FaultRecord r;
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r.time = QString::fromUtf8(s.t);
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r.system = QString::fromUtf8(s.sys);
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r.code = QString::fromUtf8(s.code);
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r.desc = QString::fromUtf8(s.d);
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faultHistory.append(r); // 种子数据按“最新在前”顺序直接追加
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}
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}
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void AppContext::appendFault(const QString& system, const QString& code, const QString& desc)
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{
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FaultRecord r;
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r.time = QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm");
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r.system = system;
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r.code = code;
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r.desc = desc;
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faultHistory.prepend(r); // 最新在前
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}
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double AppContext::getDouble(const QString& key, double def) const
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{
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return m_settings->value(key, def).toDouble();
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}
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void AppContext::setDouble(const QString& key, double val)
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{
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m_settings->setValue(key, val);
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m_settings->sync();
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}
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QString AppContext::getString(const QString& key, const QString& def) const
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{
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return m_settings->value(key, def).toString();
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}
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void AppContext::setString(const QString& key, const QString& val)
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{
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m_settings->setValue(key, val);
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m_settings->sync();
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}
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QString AppContext::password() const
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{
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return m_settings->value("param/pwd", "6789").toString();
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}
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void AppContext::setPassword(const QString& pwd)
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{
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m_settings->setValue("param/pwd", pwd);
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m_settings->sync();
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}
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// 管理员密码为固定值，不持久化、不可修改
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QString AppContext::adminPassword() const
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{
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return "9527";
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}
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void AppContext::resetEstop()
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{
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estopTriggered = false;
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telemetry.estop = false;
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emit estopChanged(false);
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// 通知车载端复位
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if (m_comm) m_comm->sendEstopReset();
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}
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void AppContext::triggerEstop()
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{
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estopTriggered = true;
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telemetry.estop = true;
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emit estopChanged(true);
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if (m_comm) m_comm->sendEstop();
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}
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void AppContext::setMode(Mode m)
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{
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// 洗消作业期间强制机械臂模式：作业时末端要自动俯仰摆动，而 Arm_ControlCmd1 的
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// 使能位就挂在这个模式上。遥控器**每帧**都会调进来，所以这个覆盖只能放在这里——
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// 放到 sendWashStart 之类的地方，会被下一帧遥控器报文冲掉。
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if (washRunning) m = Mode::Arm;
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if (mode == m) return;
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mode = m;
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emit modeChanged(m);
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if (m_comm) m_comm->setArmMode(m == Mode::Arm); // 同步到 Arm_ControlCmd1 的 Arm_modeCmd/Arm_enable
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}
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void AppContext::setWashRunning(bool on)
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{
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if (on == washRunning) return;
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washRunning = on;
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if (on) {
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m_modeBeforeWash = mode;
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setMode(Mode::Arm); // 覆盖生效，进入洗消状态
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} else {
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setMode(m_modeBeforeWash); // 作业结束，还原作业前的模式
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}
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}
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// ===================== 遥控器（24 字节二进制帧） =====================
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void AppContext::onRcFrame(const RcFrame& f)
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{
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// 存入遥测快照，供界面显示
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telemetry.rcBattery = f.battery;
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telemetry.rcDriveMode = f.driveMode;
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telemetry.rcArmMode = f.armMode;
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telemetry.rcArmEnabled = f.armEnabled;
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telemetry.rcChassisEnabled = f.chassisEnabled;
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telemetry.rcEstop = f.estop;
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telemetry.rcGear = f.gear;
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telemetry.rcSteer = f.steer;
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telemetry.rcPosZ = f.posZ;
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telemetry.rcPosX = f.posX;
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telemetry.rcPosY = f.posY;
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telemetry.rcRoll = f.roll;
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telemetry.rcPitch = f.pitch;
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telemetry.rcYaw = f.yaw;
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// 模式：bit1 机械臂模式须与 bit2 机械臂使能同时为 1 才视为机械臂
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setMode((f.armMode && f.armEnabled) ? Mode::Arm : Mode::Drive);
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// 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。
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if (f.estop != m_rcEstopPrev) {
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m_rcEstopPrev = f.estop;
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if (f.estop) triggerEstop();
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else resetEstop();
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}
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// 动作：与界面按钮同一套安全联锁（模式 + 使能 + 未急停）
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applyRcChassis(f.gear, f.steer, f.chassisEnabled);
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applyRcArm(f);
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updateRcDriving();
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}
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void AppContext::applyRcChassis(int gear, int steer, bool enabled)
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{
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const bool allowed = enabled && !estopTriggered && (mode == Mode::Drive);
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const int g = allowed ? axisDir(gear) : 0;
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const int s = allowed ? axisDir(steer) : 0;
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if (g == m_rcGearDir && s == m_rcSteerDir) return; // 方向未变，不重复发包
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m_rcGearDir = g;
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m_rcSteerDir = s;
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sendChassisCommand();
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}
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void AppContext::applyRcArm(const RcFrame& f)
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{
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const bool allowed = f.armEnabled && !estopTriggered && (mode == Mode::Arm);
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const int vals[6] = {f.posZ, f.posX, f.posY, f.roll, f.pitch, f.yaw};
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for (int i = 0; i < 6; ++i) {
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const int d = allowed ? axisDir(vals[i]) : 0;
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if (d == m_rcAxisDir[i]) continue; // 方向未变，不重复发包
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m_rcAxisDir[i] = d;
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m_comm->sendArmMoveRc(QString::fromLatin1(kArmAxes[i]), d);
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}
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}
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// 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。
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// 仅转向（档位回中）时发 stop + turn，由车载端决定是否原地转向。
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void AppContext::sendChassisCommand()
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{
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QString dir = "stop";
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if (m_rcGearDir > 0) dir = "fwd";
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else if (m_rcGearDir < 0) dir = "back";
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QString turn;
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if (m_rcSteerDir > 0) turn = "right";
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else if (m_rcSteerDir < 0) turn = "left";
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if (dir == "stop" && turn.isEmpty()) {
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m_comm->sendChassisMoveRc("stop", 0);
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return;
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}
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const double spd = (dir == "stop") ? 0.0 : getDouble(keySpeed(), 4.5);
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m_comm->sendChassisMoveRc(dir, spd, turn);
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}
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void AppContext::updateRcDriving()
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{
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// 遥控器正在操作：链路在线且任一已生效轴偏离中位
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bool driving = (m_rcGearDir != 0) || (m_rcSteerDir != 0);
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for (int i = 0; i < 6; ++i) {
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if (m_rcAxisDir[i] != 0) { driving = true; break; }
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}
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if (driving == m_rcDriving) return;
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m_rcDriving = driving;
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// 先告诉通信层再发信号：页面收到 rcDrivingChanged(false) 会重发按住的方向，
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// 那一下必须畅通（让位标志得已经落下）
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if (m_comm) m_comm->setRcActive(driving);
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emit rcDrivingChanged(driving);
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}
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void AppContext::onRcLinkChanged(bool ok)
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{
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telemetry.rcLinkOk = ok;
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if (!ok) {
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// 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。
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// 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。
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// 这里必须走 Rc 入口：此刻 rcActive 还是真，走面板入口会被让位挡掉。
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if (m_rcGearDir != 0 || m_rcSteerDir != 0) {
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m_rcGearDir = 0;
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m_rcSteerDir = 0;
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m_comm->sendChassisMoveRc("stop", 0);
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}
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for (int i = 0; i < 6; ++i) {
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if (m_rcAxisDir[i] == 0) continue;
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m_rcAxisDir[i] = 0;
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m_comm->sendArmMoveRc(QString::fromLatin1(kArmAxes[i]), 0);
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}
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}
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updateRcDriving();
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}
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