294 lines
12 KiB
C++
294 lines
12 KiB
C++
#include "chassis.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 "paramcontrol.h"
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#include "car.h"
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#include "confirmdialog.h"
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#include <QVBoxLayout>
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#include <QHBoxLayout>
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#include <QPushButton>
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#include <QTimer>
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#include "global.h"
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namespace {
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// 收起姿态取全零：任一关节角绝对值超过这个角度即认为机械臂已展开。
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// 单位与 CAN 下发的关节角一致（car.cpp 直接写入 t.js，未经缩放）。
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const double kArmStowedTolDeg = 5.0;
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}
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ChassisPage::ChassisPage(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("机器人底盘");
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root->addWidget(m_titleBar);
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// 告警横幅（机械臂未回位 / 通信异常）
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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(0); // 各段间距改用显式 addSpacing，便于单独调整（底盘列位置见各段注释）
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// 左控制列（垂直居中 + 平均分布）
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QWidget* left = new QWidget(this);
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QVBoxLayout* leftLay = new QVBoxLayout(left);
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leftLay->setContentsMargins(20, 20, 0, 0);
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leftLay->setSpacing(30);
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QPushButton* fwd = makeDirButton("前进", "fwd");
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QPushButton* back = makeDirButton("后退", "back");
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QPushButton* leftT = makeDirButton("左转向", "left");
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QPushButton* rightT = makeDirButton("右转向", "right");
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m_dirButtons << fwd << back << leftT << rightT;
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leftLay->addStretch(1);
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leftLay->addWidget(fwd);
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leftLay->addStretch(1);
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leftLay->addWidget(back);
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leftLay->addStretch(1);
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leftLay->addWidget(leftT);
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leftLay->addStretch(1);
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leftLay->addWidget(rightT);
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leftLay->addStretch(1);
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left->setFixedWidth(180);
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main->addWidget(left);
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main->addSpacing(32);
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// 中央卡片区（洗消/机械臂/气体检测仪）
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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(12);
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m_washCard = new DataCard("洗消", center);
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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_armCard = new DataCard("机械臂", 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_gasCard = new DataCard("气体检测仪", center);
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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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centerLay->addWidget(m_washCard, 1);
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centerLay->addWidget(m_armCard, 1);
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centerLay->addWidget(m_gasCard, 1);
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// 中间区域由「卡片列」与「底盘状态列」平均分配（两列拉伸因子都为 1）
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main->addWidget(center, 1);
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main->addSpacing(47); // 中间卡片列 ↔ 底盘列：由 32 加大到 47
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// 底盘状态列
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QWidget* chassisCol = new QWidget(this);
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QVBoxLayout* chassisLay = new QVBoxLayout(chassisCol);
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chassisLay->setContentsMargins(0, 0, 0, 0);
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chassisLay->setSpacing(12);
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m_chassisCard = new DataCard("底盘状态", chassisCol);
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m_chassisCard->addField("底盘电量SOC", "--");
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m_chassisCard->addField("底盘电压U", "--");
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m_chassisCard->addField("底盘车速V", "--");
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m_chassisCard->addField("档位状态", "--");
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m_chassisCard->addField("驻车状态", "--");
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m_chassisCard->addField("四驱模式", "--");
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m_chassisCard->addField("底盘Ready状态", "--");
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m_chassisCard->addField("方向盘角度", "--");
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m_chassisCard->addField("角度对中状态", "--");
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chassisLay->addWidget(m_chassisCard, 1);
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main->addWidget(chassisCol, 1); // 与中间卡片列平均分配中间区域
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main->addSpacing(17); // 底盘列 ↔ 车速设置列：由 32 减小到 17（底盘列整体右移 15px）
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// 车速设置列（垂直居中）
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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(12);
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double speed = ctx->getDouble(ctx->keySpeed(), 4.5);
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// 协议 Vehi_TargetSpd：精度 0.01、0~500 → 物理范围 0~5.00 km/h
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// 每档 = 显示精度的最小单位（1 位小数 → 0.1），比协议的 0.01 粗，够用
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m_speed = new ParamControl("车速设置", "km/h", 0.1, 0.0, 5.0, false, false, right);
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m_speed->setValue(speed);
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m_speed->setStyleSheet("ParamControl{background:transparent;}"); // 只作用于本控件，避免影响子控件
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connect(m_speed, &ParamControl::valueChanged, this, &ChassisPage::onSpeedChanged);
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rightLay->addStretch(1);
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rightLay->addWidget(m_speed);
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rightLay->addStretch(1);
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right->setFixedWidth(380);
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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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// 车速自动保存（1s 防抖）
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m_saveTimer = new QTimer(this);
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m_saveTimer->setSingleShot(true);
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m_saveTimer->setInterval(1000);
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connect(m_saveTimer, &QTimer::timeout, this, &ChassisPage::onSpeedSaved);
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connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &ChassisPage::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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// 让位给遥控器时按下的方向是被忽略掉的，遥控器一松手就重发一遍——
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// 否则手一直按着也看不出恢复，车端停在遥控器最后给的那个值上。
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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() && !m_heldDirs.isEmpty())
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sendDirCommand();
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});
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updateModeGating();
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refresh();
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}
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void ChassisPage::showEvent(QShowEvent* ev)
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{
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BasePage::showEvent(ev);
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// 每次进入底盘页自动切换到行车模式；遥控器在线时模式由遥控器报文决定，不抢
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if (!ctx()->rc()->linkOk())
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ctx()->setMode(Mode::Drive);
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}
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QPushButton* ChassisPage::makeDirButton(const QString& text, const QString& dir)
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{
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QPushButton* b = button(text, "", this);
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b->setFixedSize(140, 100);
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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, dir]() {
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m_heldDirs.insert(dir);
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sendDirCommand();
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updateAlarm();
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});
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connect(b, &QPushButton::released, this, [this, dir]() {
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m_heldDirs.remove(dir);
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sendDirCommand();
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updateAlarm();
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});
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return b;
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}
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// 同时按住前进/后退与左/右转向时一并下发；两者都松开才停车
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void ChassisPage::sendDirCommand()
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{
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const QString dir = m_heldDirs.contains("fwd") ? "fwd"
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: m_heldDirs.contains("back") ? "back" : QString("stop");
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const QString turn = m_heldDirs.contains("right") ? "right"
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: m_heldDirs.contains("left") ? "left" : QString();
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if (dir == "stop" && turn.isEmpty()) {
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ctx()->comm()->sendChassisMove("stop", 0);
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return;
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}
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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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const double spd = (dir == "stop") ? 0.0 : ctx()->getDouble(ctx()->keySpeed(), 4.5);
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ctx()->comm()->sendChassisMove(dir, spd, turn);
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}
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void ChassisPage::updateModeGating()
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{
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// 现在只有**急停**会禁用方向按钮：模式不再限制（进页面即用），遥控器也不再让位——
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// 面板和遥控器可以同时操作，两边各发各的，由车端处理。
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const bool ok = !ctx()->estopTriggered;
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for (QPushButton* b : m_dirButtons)
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b->setEnabled(ok);
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// 急停把按钮禁掉时清掉按住状态并补一条 stop。（Qt 禁用时会补发 released，
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// 各按钮自己那一遍已经发过了，这里只是兜底。）
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if (!ok && !m_heldDirs.isEmpty()) {
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m_heldDirs.clear();
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ctx()->comm()->sendChassisMove("stop", 0);
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}
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updateAlarm();
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}
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// 任一关节角偏离收起姿态（全零）即认为机械臂已展开
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bool ChassisPage::armNotStowed() const
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{
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const QVector<double>& js = ctx()->telemetry.js;
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for (double a : js)
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if (a > kArmStowedTolDeg || a < -kArmStowedTolDeg)
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return true;
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return false;
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}
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// 面板方向键按住，或遥控器正在推杆，都算正在驱动底盘
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bool ChassisPage::chassisDriving() const
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{
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return !m_heldDirs.isEmpty() || ctx()->rcDriving();
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}
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// 通信异常优先；其次是“机械臂已展开且正在驱动底盘”
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void ChassisPage::updateAlarm()
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{
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if (!ctx()->telemetry.commOk)
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m_banner->showAlarm("通信异常");
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else if (armNotStowed() && chassisDriving())
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m_banner->showAlarm("机械臂未回位，请谨慎操作");
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else
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m_banner->clear();
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}
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void ChassisPage::refresh()
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{
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const Telemetry& t = ctx()->telemetry;
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updateAlarm();
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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->setField(2, dashIf(t.hasSpeed, QString("%1 km/h").arg(t.speed, 0, 'f', 2)));
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m_chassisCard->setField(3, dashIf(t.hasChassis4, gearLabel(t.gearPos)));
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m_chassisCard->setField(4, dashIf(t.hasChassis4, parkingLabel(t.parking)));
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m_chassisCard->setField(5, dashIf(t.hasChassis4, awdLabel(t.awdMode)));
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m_chassisCard->setField(6, dashIf(t.hasSpeed, rdyLabel(t.rdyStatus)));
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m_chassisCard->setField(7, dashIf(t.hasChassis4, QString("%1°").arg(t.steerAngle, 0, 'f', 0)));
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m_chassisCard->setField(8, dashIf(t.hasChassis4, alignLabel(t.alignStatus)));
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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_armCard->setField(0, t.pos);
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m_armCard->setField(1, t.pose);
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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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}
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void ChassisPage::onSpeedChanged(double v)
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{
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// 1s 防抖后自动保存
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m_saveTimer->start();
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ctx()->comm()->sendSetParam(ctx()->keySpeed(), v);
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}
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void ChassisPage::onSpeedSaved()
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{
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ctx()->setDouble(ctx()->keySpeed(), m_speed->value());
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ConfirmDialog::toast(this, "车速已保存");
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}
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