53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
#ifndef CHASSISPAGE_H
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#define CHASSISPAGE_H
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#include "base.h"
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#include <QVector>
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#include <QSet>
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class TitleBar;
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class StatusStrip;
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class AlarmBanner;
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class DataCard;
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class ParamControl;
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class QPushButton;
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class QTimer;
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// ===================== ⑥ 机器人底盘界面 =====================
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class ChassisPage : public BasePage
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{
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Q_OBJECT
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public:
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explicit ChassisPage(AppContext* ctx, QWidget* parent = nullptr);
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protected:
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void showEvent(QShowEvent* ev) override; // 进入页面即切至行车模式
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private slots:
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void refresh();
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void updateModeGating();
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void onSpeedChanged(double v);
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void onSpeedSaved();
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private:
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QPushButton* makeDirButton(const QString& text, const QString& dir);
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void sendDirCommand(); // 按当前按住的方向组合下发（档位与转向可同时）
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void updateAlarm(); // 横幅：通信异常 / 机械臂未回位时驱动底盘
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bool armNotStowed() const; // 任一关节角偏离收起姿态（全零）
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bool chassisDriving() const; // 面板方向键按住，或遥控器正在推杆
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TitleBar* m_titleBar = nullptr;
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StatusStrip* m_statusStrip = nullptr;
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AlarmBanner* m_banner = nullptr;
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DataCard* m_washCard = nullptr;
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DataCard* m_armCard = nullptr;
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DataCard* m_gasCard = nullptr;
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DataCard* m_chassisCard = nullptr;
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ParamControl* m_speed = nullptr;
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QTimer* m_saveTimer = nullptr;
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QVector<QPushButton*> m_dirButtons;
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QSet<QString> m_heldDirs; // 当前按住的方向，可多键同时按
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};
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#endif // CHASSISPAGE_H
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