132 lines
4.1 KiB
C++
132 lines
4.1 KiB
C++
#include "mainwindow.h"
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#include "appcontext.h"
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#include "car.h"
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#include "confirmdialog.h"
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#include "base.h"
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#include "bootpassword.h"
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#include "warning.h"
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#include "passwordmgmtlogin.h"
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#include "passwordmgmt.h"
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#include "passwordreset.h"
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#include "selfcheck.h"
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#include "home.h"
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#include "jobselect.h"
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#include "chassis.h"
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#include "arm.h"
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#include "gasdetector.h"
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#include "washpage.h"
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#include "debugmaintain.h"
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#include "faultquery.h"
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#include <QStackedWidget>
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#include <QLabel>
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#include <QVBoxLayout>
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#include <QKeyEvent>
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MainWindow::MainWindow(QWidget* parent)
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: QMainWindow(parent)
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{
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m_ctx = AppContext::instance();
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setWindowTitle("玉兔工业无线遥控器");
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setWindowFlags(Qt::FramelessWindowHint | Qt::Window);
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setFixedSize(SCREEN_W, SCREEN_H);
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// 中央堆栈
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m_stack = new QStackedWidget(this);
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m_stack->setObjectName("StackedWidget");
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setCentralWidget(m_stack);
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buildPages();
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// 全局急停横幅（覆盖于页面之上）：仅作提示。
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// 急停与复位都由遥控器 bit4 下发，面板不提供复位控件。
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m_estopBanner = new QLabel("急停已触发，请用遥控器复位！", this);
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m_estopBanner->setAlignment(Qt::AlignCenter);
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m_estopBanner->setStyleSheet(
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"background-color:#E5484D;color:#FFFFFF;font-size:50px;font-weight:700;");
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m_estopBanner->setGeometry(0, 98, SCREEN_W, 64);
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m_estopBanner->hide();
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connect(m_ctx, &AppContext::estopChanged, this, &MainWindow::onEstopChanged);
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// 启动通信层（UDP 收包发包）
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m_ctx->comm()->start();
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m_ctx->rc()->start(); // 遥控器接收（独立端口）
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// 初始页面：开机密码
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// m_stack->setCurrentIndex(PageBoot);
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// 免密码直接进自检页
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// m_stack->setCurrentIndex(PageSelfCheck);
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// 免登录直接进作业选择页（恢复原流程时改回上面的 PageBoot）
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m_stack->setCurrentIndex(PageJob);
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}
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MainWindow::~MainWindow()
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{
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}
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void MainWindow::buildPages()
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{
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m_pages.fill(nullptr, PageCount);
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auto add = [this](PageId id, BasePage* p) {
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m_pages[id] = p;
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m_stack->addWidget(p);
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connect(p, &BasePage::navigate, this, &MainWindow::onNavigate);
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};
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add(PageBoot, new BootPasswordPage(m_ctx));
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add(PageWarning, new WarningPage(m_ctx));
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add(PageMgmtLogin, new PasswordMgmtLoginPage(m_ctx));
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add(PageMgmt, new PasswordMgmtPage(m_ctx));
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add(PageReset, new PasswordResetPage(m_ctx));
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add(PageSelfCheck, new SelfCheckPage(m_ctx));
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add(PageHome, new HomePage(m_ctx));
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add(PageJob, new JobSelectPage(m_ctx));
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add(PageChassis, new ChassisPage(m_ctx));
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add(PageArm, new ArmPage(m_ctx));
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add(PageGas, new GasDetectorPage(m_ctx));
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add(PageClean, new WashPage(m_ctx, WashPage::Clean));
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add(PageDisinfect, new WashPage(m_ctx, WashPage::Disinfect));
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add(PageDebug, new DebugMaintainPage(m_ctx));
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add(PageFault, new FaultQueryPage(m_ctx));
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m_faultPage = qobject_cast<FaultQueryPage*>(page(PageFault));
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}
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void MainWindow::onNavigate(PageId id)
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{
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// 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）
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if (id == PageFault && m_faultPage) {
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PageId cur = static_cast<PageId>(m_stack->currentIndex());
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if (cur == PageSelfCheck || cur == PageHome)
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m_faultPage->setReturnPage(cur);
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else
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m_faultPage->setReturnPage(PageJob);
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}
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if (id >= 0 && id < PageCount)
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m_stack->setCurrentIndex(id);
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}
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void MainWindow::onEstopChanged(bool triggered)
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{
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m_estopBanner->setVisible(triggered);
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m_estopBanner->raise();
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}
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void MainWindow::keyPressEvent(QKeyEvent* ev)
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{
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// 演示用快捷键：M 切换行车/机械臂模式。
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// 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）。
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switch (ev->key()) {
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case Qt::Key_M:
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if (!m_ctx->rc()->linkOk())
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m_ctx->setMode(m_ctx->mode == Mode::Drive ? Mode::Arm : Mode::Drive);
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break;
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default:
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QMainWindow::keyPressEvent(ev);
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}
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}
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