266 lines
11 KiB
C++
266 lines
11 KiB
C++
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#include "arm.h"
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#include "titlebar.h"
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#include "statusstrip.h"
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#include "alarmbanner.h"
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#include "datacard.h"
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#include "car.h"
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#include <QVBoxLayout>
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#include <QHBoxLayout>
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//#include <QGridLayout> // 末端按钮原为 2×3 网格，改为竖列后暂不需要
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#include <QPushButton>
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#include <QLabel>
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#include <QTimer>
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#include "global.h"
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ArmPage::ArmPage(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("机械臂");
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root->addWidget(m_titleBar);
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m_banner = new AlarmBanner(this);
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root->addWidget(m_banner);
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QHBoxLayout* main = new QHBoxLayout();
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main->setContentsMargins(36, 16, 36, 16);
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main->setSpacing(32);
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// 左控制列（6 运动按钮 + 系统回位/暂停）
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QWidget* left = new QWidget(this);
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QVBoxLayout* leftLay = new QVBoxLayout(left);
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leftLay->setContentsMargins(10,10,20,10);
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leftLay->setSpacing(30);
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auto addMove = [&](const QString& t, const QString& axis, int dir) {
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QPushButton* b = makeMoveButton(t, axis, dir);
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m_moveButtons << b;
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leftLay->addWidget(b);
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};
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addMove("左平移", "x", -1);
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addMove("右平移", "x", +1);
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addMove("上升", "z", +1);
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addMove("下降", "z", -1);
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addMove("前平移", "y", +1);
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addMove("后平移", "y", -1);
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m_returnBtn = button("系统回位／\n暂停", "", left);
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m_returnBtn->setCheckable(true);
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m_returnBtn->setFixedSize(270, 120); // 两行文字，故加高
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m_returnBtn->setStyleSheet(QString(
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"QPushButton{font-size:40px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;}"
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"QPushButton:hover,QPushButton:focus,QPushButton:checked"
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"{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}")
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.arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY));
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connect(m_returnBtn, &QPushButton::toggled, this, &ArmPage::onReturnToggled);
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leftLay->addWidget(m_returnBtn);
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m_returnStatus = label("", 18, C::TEXT_SUB, false, left);
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m_returnStatus->setAlignment(Qt::AlignCenter);
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m_returnStatus->setWordWrap(true);
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leftLay->addWidget(m_returnStatus);
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leftLay->addStretch(1);
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left->setFixedWidth(300); // 270 按钮 + 左右边距 30，避免按钮被裁
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main->addWidget(left);
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// 中央区：左侧三张状态卡 + 机械臂参数卡，并排放在中间
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QWidget* center = new QWidget(this);
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QHBoxLayout* centerLay = new QHBoxLayout(center);
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centerLay->setContentsMargins(0, 0, 0, 0);
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centerLay->setSpacing(12);
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QWidget* cardsCol = new QWidget(center);
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QVBoxLayout* cardsLay = new QVBoxLayout(cardsCol);
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cardsLay->setContentsMargins(0, 0, 0, 0);
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cardsLay->setSpacing(12);
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m_chassisCard = new DataCard("底盘", cardsCol);
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m_chassisCard->addField("底盘电量SOC", "--");
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m_chassisCard->addField("底盘电压", "--");
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m_washCard = new DataCard("洗消", cardsCol);
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m_washCard->addField("A组分/清水液位", "--");
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m_washCard->addField("泡沫箱液位", "--");
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m_gasCard = new DataCard("气体检测仪", cardsCol);
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m_gasCard->addField("主机状态", "--");
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m_gasCard->addField("有毒物种类", "--");
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m_gasCard->addField("有毒物等级", "--");
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cardsLay->addWidget(m_chassisCard, 1);
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cardsLay->addWidget(m_washCard, 1);
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cardsLay->addWidget(m_gasCard, 1);
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m_armCard = new DataCard("机械臂参数", center);
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m_armCard->addField("末端位置", "--");
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m_armCard->addField("末端姿态", "--");
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m_armCard->addField("末端速度", "--");
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m_armCard->addField("Joint1关节角", "--");
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m_armCard->addField("Joint2关节角", "--");
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m_armCard->addField("Joint3关节角", "--");
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m_armCard->addField("Joint4关节角", "--");
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m_armCard->addField("Joint5关节角", "--");
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m_armCard->addField("Joint6关节角", "--");
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centerLay->addWidget(cardsCol, 1);
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centerLay->addWidget(m_armCard, 1);
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main->addWidget(center, 1);
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// 右控制列（末端 6 姿态按钮，与左侧按钮列对称）
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QWidget* right = new QWidget(this);
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QVBoxLayout* rightLay = new QVBoxLayout(right);
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rightLay->setContentsMargins(10, 20, 20, 20);
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rightLay->setSpacing(15);
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auto addEnd = [&](const QString& t, const QString& axis, int dir) {
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QPushButton* b = makeMoveButton(t, axis, dir);
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m_endButtons << b;
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rightLay->addWidget(b);
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};
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addEnd("末端仰", "pitch", +1);
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addEnd("末端俯", "pitch", -1);
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addEnd("末端正偏航", "yaw", +1);
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addEnd("末端负偏航", "yaw", -1);
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addEnd("末端左横滚", "roll", -1);
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addEnd("末端右横滚", "roll", +1);
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right->setFixedWidth(300); // 与左列同宽，按钮 270 不被裁
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main->addWidget(right);
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root->addLayout(main, 1);
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m_statusStrip = new StatusStrip(ctx, this);
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connect(m_statusStrip, &StatusStrip::backClicked, this, [this]() { emit navigate(PageJob); });
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root->addWidget(m_statusStrip);
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m_statusTimer = new QTimer(this);
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m_statusTimer->setSingleShot(true);
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m_statusTimer->setInterval(3000);
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connect(m_statusTimer, &QTimer::timeout, this, [this]() {
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m_returnStatus->setText("");
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});
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connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &ArmPage::refresh);
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connect(ctx, &AppContext::modeChanged, this, [this](Mode) { updateModeGating(); });
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connect(ctx, &AppContext::estopChanged, this, [this](bool) { updateModeGating(); });
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connect(ctx, &AppContext::rcDrivingChanged, this, [this](bool) {
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updateModeGating();
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// 同底盘页：让位给遥控器期间按下的轴被忽略，遥控器松手后把按着的键重发一遍。
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// 注意写 this->ctx()：构造函数形参也叫 ctx，直接写 ctx() 会被它遮住
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if (this->ctx()->rcDriving()) return;
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for (QPushButton* b : m_moveButtons)
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if (b->isDown())
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this->ctx()->comm()->sendArmMove(b->property("armAxis").toString(),
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b->property("armDir").toInt());
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});
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updateModeGating();
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refresh();
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}
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void ArmPage::showEvent(QShowEvent* ev)
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{
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BasePage::showEvent(ev);
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// 每次进入机械臂页自动切到机械臂模式：Arm_ControlCmd1 的 Arm_modeCmd/Arm_enable
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// 挂在它上面，不切的话车端会忽略这里发出的动作指令。遥控器在线时模式由遥控器报文
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// 决定，不抢——和底盘页进页面切行车模式是同一套处理。
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if (!ctx()->rc()->linkOk())
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ctx()->setMode(Mode::Arm);
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}
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QPushButton* ArmPage::makeMoveButton(const QString& text, const QString& axis, int dir)
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{
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QPushButton* b = button(text, "", this);
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b->setFixedSize(270, 76);
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// 记下这根按钮管哪个轴/往哪边，好让"遥控器松手后重发按住的键"找得到它
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b->setProperty("armAxis", axis);
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b->setProperty("armDir", dir);
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b->setStyleSheet(QString(
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"QPushButton{font-size:45px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;}"
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"QPushButton:hover,QPushButton:focus,QPushButton:pressed"
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"{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}")
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.arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY));
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connect(b, &QPushButton::pressed, this, [this, axis, dir]() {
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ctx()->comm()->sendArmMove(axis, dir);
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});
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connect(b, &QPushButton::released, this, [this, axis]() {
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ctx()->comm()->sendArmMove(axis, 0);
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});
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return b;
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}
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void ArmPage::updateModeGating()
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{
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// 和底盘页一样：现在只有**急停**会禁用动作按钮。模式不再限制（进页面即用），
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// 遥控器也不再让位——面板和遥控器可以同时操作，两边各发各的。
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const bool ok = !ctx()->estopTriggered;
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for (QPushButton* b : m_moveButtons) b->setEnabled(ok);
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for (QPushButton* b : m_endButtons) b->setEnabled(ok);
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}
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void ArmPage::onReturnToggled(bool on)
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{
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if (on) ctx()->comm()->sendArmReturn();
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else ctx()->comm()->sendArmPause();
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}
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void ArmPage::refresh()
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{
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const Telemetry& t = ctx()->telemetry;
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if (!t.commOk) {
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m_banner->showAlarm("通信异常");
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} else {
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m_banner->clear();
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}
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// 未收到对应报文的数值统一显示 "--"（dashIf）
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m_chassisCard->setField(0, dashIf(t.hasBattery, QString("%1%").arg(t.soc)));
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m_chassisCard->setField(1, dashIf(t.hasBattery, QString("%1V").arg(t.volt, 0, 'f', 0)));
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m_chassisCard->setFaults(t.chassisFaults);
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m_washCard->setField(0, dashIf(t.hasWash, QString("%1L").arg(t.levelA, 0, 'f', 0)));
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m_washCard->setField(1, dashIf(t.hasWash, QString("%1L").arg(t.levelFoam, 0, 'f', 0)));
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m_washCard->setAlarm(0, t.levelALow);
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m_washCard->setAlarm(1, t.levelBLow);
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m_washCard->setFaults(washCardFaults(t));
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m_gasCard->setField(0, gasHostLabel(t));
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m_gasCard->setField(1, t.gasType); // 有毒物种类，未收到报文时本身就是 "--"
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m_gasCard->setField(2, t.gasLevel); // 有毒物等级
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m_gasCard->setAlarm(0, t.gasHost == "fault");
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m_gasCard->setFaults(t.detectorFaults);
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// 本卡没有故障行：机械臂那四帧只有位置/姿态/关节角，协议里没有机械臂故障信号
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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_armCard->setField(2, dashIf(t.hasArmPose, QString("%1").arg(t.vel, 0, 'f', 1)));
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for (int i = 0; i < 6 && i < t.js.size(); ++i)
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m_armCard->setField(3 + i, dashIf(t.hasJoints, QString("%1°").arg(t.js[i], 0, 'f', 0)));
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// 回位状态机
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if (t.returnState != m_prevReturnState) {
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m_prevReturnState = t.returnState;
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if (t.returnState == "done") {
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m_returnBtn->setChecked(false);
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m_returnStatus->setText("机械臂系统完成回位");
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m_returnStatus->setStyleSheet(QString("color:%1;font-size:22px;font-weight:700;").arg(C::SUCCESS));
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m_statusTimer->start();
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} else if (t.returnState == "fault") {
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m_returnBtn->setChecked(false);
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m_returnStatus->setText("机械臂系统回位异常");
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m_returnStatus->setStyleSheet(QString("color:%1;font-size:22px;font-weight:700;").arg(C::DANGER));
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} else if (t.returnState == "returning") {
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m_returnStatus->setText("回位中…");
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m_returnStatus->setStyleSheet(QString("color:%1;font-size:22px;font-weight:700;").arg(C::WARNING));
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} else {
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m_returnStatus->setText("");
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}
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}
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}
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