397 lines
19 KiB
C++
397 lines
19 KiB
C++
#include "debugmaintain.h"
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#include "titlebar.h"
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#include "alarmbanner.h"
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#include "datacard.h"
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#include "ledindicator.h"
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#include "paramcontrol.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 <QPushButton>
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#include <QLabel>
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#include <QDateTime>
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#include "global.h"
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// 球阀“开启/关闭故障”的判据：下发指令后这么久还等不到对应到位反馈就判故障。
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// 取 8s，与④自检里球阀四项的等待时长（kValveWaitTicks 18 拍 × 450ms ≈ 8s）一致。
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static const qint64 kValveFaultMs = 8000;
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DebugMaintainPage::DebugMaintainPage(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("调试维护");
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root->addWidget(m_titleBar);
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// 警告横幅（常显红闪）
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m_warn = new AlarmBanner(this);
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m_warn->showAlarm("警告：该模式下无保护功能，操作请谨慎！");
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root->addWidget(m_warn);
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QHBoxLayout* main = new QHBoxLayout();
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main->setContentsMargins(36, 16, 36, 16);
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main->setSpacing(28);
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// 左球阀控制区
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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, 10, 10, 10);
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leftLay->setSpacing(60);
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// 故障提示作为球阀盒子的**上一条**：常占位（无故障时清空文字、留出这一条的高度），
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// 出现故障不会把下面的盒子顶下去
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auto addValve = [&](int valve) {
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QWidget* box = new QWidget(left);
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QVBoxLayout* boxLay = new QVBoxLayout(box);
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boxLay->setContentsMargins(0, 0, 0, 0);
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boxLay->setSpacing(8);
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// 不能走 label()：那个辅助函数会把 color 写进行内样式，而控件自身的样式表优先级高于
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// 应用级样式表，会把 QSS 里 [alert] / [blink] 的红色和明暗闪烁一起盖掉（只剩常亮红字）。
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// 这里只给字号字重，颜色交给应用级样式表的告警规则。
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QLabel* fault = new QLabel(box);
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fault->setAlignment(Qt::AlignCenter);
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fault->setProperty("alert", true);
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fault->setStyleSheet("font-size:28px;font-weight:700;");
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fault->setFixedHeight(40); // 常占位：把这一条的高度钉死
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boxLay->addWidget(fault);
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boxLay->addWidget(makeValveGroup(valve));
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leftLay->addWidget(box);
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return fault;
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};
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m_valveFault1 = addValve(1);
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m_valveFault2 = addValve(2);
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// 三个泵的上电指示灯放在 D2 球阀下方的空位里，纵向居中排列。
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// 指示规则不变（上电＝绿、否则灭），仍由 refresh() 按车端反馈刷新。
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auto addPumpLed = [&](const QString& text) {
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LedIndicator* led = new LedIndicator(text, left);
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led->setTextPixelSize(40);
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// 圆点在前（LedIndicator 的默认）：竖排下来像一张状态清单
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leftLay->addWidget(led, 0, Qt::AlignHCenter);
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return led;
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};
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m_ledPlunger = addPumpLed("柱塞泵");
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m_ledAir = addPumpLed("空压机");
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m_ledLeaf = addPumpLed("叶片泵");
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leftLay->addStretch(1);
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left->setFixedWidth(300);
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main->addWidget(left);
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// 中央卡片区（左右两列：左列 底盘/机械臂/气体检测仪 纵向排列，右列 洗消参数）
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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(28); // 与 main 的列间距一致
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QWidget* centerLeft = new QWidget(center);
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QVBoxLayout* centerLeftLay = new QVBoxLayout(centerLeft);
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centerLeftLay->setContentsMargins(0, 0, 0, 0);
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centerLeftLay->setSpacing(10);
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m_chassisCard = new DataCard("底盘", centerLeft);
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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_armCard = new DataCard("机械臂", centerLeft);
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// 这一列只有 474px，位置行在 42px 下约 530px，单独把数值字号收到 34（约 463px）
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m_armCard->setValueFontPx(34);
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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", centerLeft);
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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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centerLeftLay->addWidget(m_chassisCard, 1);
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centerLeftLay->addWidget(m_armCard, 1);
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centerLeftLay->addWidget(m_gasCard, 1);
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centerLay->addWidget(centerLeft, 1);
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// 与消除/消毒作业页的洗消卡同一套字段（本页只多了右侧的泵控制）
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m_washCard = new DataCard("洗消参数", center);
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m_washCard->addField("洗消模式", "--");
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m_washCard->addField("A组分液位", "--");
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m_washCard->addField("B组分液位", "--");
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m_washCard->addField("A药剂流量", "--");
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m_washCard->addField("B药剂流量", "--");
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m_washCard->addField("气体流量", "--");
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m_washCard->addField("管路压力", "--");
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m_washCard->addField("空压机压力", "--");
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m_washCard->addField("发泡倍数", "--");
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centerLay->addWidget(m_washCard, 1);
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main->addWidget(center, 1);
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// 右泵控制区
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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, 10,20,10);
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rightLay->setSpacing(40);
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rightLay->addWidget(makePumpGroup("air", "空压机(rpm)"), 0, Qt::AlignHCenter);
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rightLay->addWidget(makePumpGroup("plunger", "柱塞泵(rpm)"), 0, Qt::AlignHCenter);
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rightLay->addWidget(makePumpGroup("leaf", "叶片泵(rpm)"), 0, Qt::AlignHCenter);
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rightLay->addStretch(1);
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right->setFixedWidth(420);
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main->addWidget(right);
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root->addLayout(main, 1);
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// 底部指示灯条
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QWidget* bottom = new QWidget(this);
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bottom->setObjectName("DebugBottom");
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bottom->setFixedHeight(94);
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// 用 #DebugBottom 限定选择器：不带选择器的样式表会连子控件一起套上边框和底色
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bottom->setStyleSheet(QString("QWidget#DebugBottom{background-color:%1;border-top:1px solid %2;}")
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.arg(C::PANEL, C::BORDER));
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QHBoxLayout* bottomLay = new QHBoxLayout(bottom);
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bottomLay->setSpacing(48);
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auto makeLed = [&](const QString& text) {
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LedIndicator* led = new LedIndicator(text, bottom);
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led->setTextPixelSize(40); // 字号与卡片标题一致
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led->setDotAfterText(true); // 圆点画在文字后面
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bottomLay->addWidget(led);
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return led;
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};
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// 三个泵的指示灯已经搬进各自的泵组里（放在按钮行左侧），底栏只留两路液位低
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m_ledLevelA = makeLed("A组分/清水液位低");
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m_ledLevelB = makeLed("B组分液位低");
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// 这两盏灯居中于中央卡片区：卡片区 x ∈ [364, 1436]（36 页边距 + 300 球阀列 + 28 列间距
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// 起，宽 1072），中点 900。用 sizeHint 量出两盏灯连间距的实际宽度再定位，改字号也不会偏。
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const int levelW = m_ledLevelA->sizeHint().width() + bottomLay->spacing()
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+ m_ledLevelB->sizeHint().width();
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bottomLay->setContentsMargins((364 + 1436) / 2 - levelW / 2, 0, 24, 0);
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bottomLay->addStretch(1);
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QPushButton* back = button("返回", "", bottom);
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back->setFixedSize(160, 76);
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back->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字
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connect(back, &QPushButton::clicked, this, [this]() { emit navigate(m_returnPage); });
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bottomLay->addWidget(back);
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root->addWidget(bottom);
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connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, [this]() {
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m_telemetrySeen = true; // 遥测一到，球阀到位灯改由 refresh() 接管
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refresh();
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});
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// Tab 顺序（循环）：返回 → D1控制 → D2控制 → 各泵(转速输入 → 启动 → 停止) → 回到返回。
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QWidget* tabChain[] = {
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m_valve1Btn, m_valve2Btn,
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m_airRpm->editor(), m_airStart, m_airStop,
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m_plungerRpm->editor(), m_plungerStart, m_plungerStop,
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m_leafRpm->editor(), m_leafStart, m_leafStop,
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};
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QWidget* prev = back;
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for (QWidget* w : tabChain) {
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if (!w) continue;
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QWidget::setTabOrder(prev, w);
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prev = w;
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}
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QWidget::setTabOrder(prev, back); // 回到起点，形成循环
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refresh();
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}
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QWidget* DebugMaintainPage::makeValveGroup(int valve)
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{
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QWidget* grp = new QWidget(this);
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grp->setProperty("card", true);
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grp->setStyleSheet(QString("QWidget[card=\"true\"]{background-color:%1;border:2px solid %2;border-radius:12px;}")
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.arg(C::PANEL, C::BORDER));
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QVBoxLayout* lay = new QVBoxLayout(grp);
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lay->setContentsMargins(12, 12, 12, 12);
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lay->setSpacing(8);
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QLabel* title = label(QString("D%1 球阀").arg(valve), 30, C::TEXT, true, grp);
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lay->addWidget(title);
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// 控制开/关（toggle）：文字固定，底色表示状态——未选中＝关闭（灰）、选中＝开启（绿）
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QPushButton* ctrl = button(QString("D%1 控制").arg(valve), "", grp);
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ctrl->setCheckable(true);
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ctrl->setFixedSize(180, 64); // 窄按钮，与泵组的“上电”一致
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// 控件级样式表优先级高于全局 QSS，故 :focus 也在这里补，否则 Tab 选中看不出变化
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ctrl->setStyleSheet(QString("QPushButton{background-color:%1;color:#FFFFFF;border:none;}"
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"QPushButton:checked{background-color:%2;color:#FFFFFF;border:none;}"
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"QPushButton:focus{border:4px solid #8ABFFF;}")
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.arg(C::DISABLED).arg(C::SUCCESS));
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connect(ctrl, &QPushButton::toggled, this, [this, valve](bool on) {
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ctx()->comm()->sendBallValve(valve, on);
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// 记下这一拍想要哪个阀位并开始等反馈；超时还没到位就在 refresh() 里判故障
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if (valve == 1) { m_v1WantOpen = on ? 1 : 0; m_v1CmdMs = QDateTime::currentMSecsSinceEpoch(); m_v1Fault = false; }
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else { m_v2WantOpen = on ? 1 : 0; m_v2CmdMs = QDateTime::currentMSecsSinceEpoch(); m_v2Fault = false; }
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});
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lay->addWidget(ctrl, 0, Qt::AlignHCenter);
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// 开启到位 / 关闭到位（同一行，居中）。缺省状态按“阀体默认关着”给：
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// 开启到位灭（灰）、关闭到位红。首次收到遥测后由 refresh() 按实际到位状态刷新
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LedIndicator* open = new LedIndicator("开启", grp);
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open->setState(LedIndicator::Off);
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LedIndicator* close = new LedIndicator("关闭", grp);
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close->setState(LedIndicator::Red);
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QHBoxLayout* ioRow = new QHBoxLayout();
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ioRow->setSpacing(10);
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ioRow->addStretch(1);
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ioRow->addWidget(open);
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ioRow->addWidget(close);
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ioRow->addStretch(1);
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lay->addLayout(ioRow);
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// 故障提示不在盒子里——它是盒子**上方**独立的一条，由构造函数的 addValve 建好
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if (valve == 1) {
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m_valve1Btn = ctrl;
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m_v1Open = open;
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m_v1Close = close;
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} else {
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m_valve2Btn = ctrl;
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m_v2Open = open;
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m_v2Close = close;
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}
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return grp;
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}
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QWidget* DebugMaintainPage::makePumpGroup(const QString& pump, const QString& name)
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{
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QWidget* grp = new QWidget(this);
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grp->setProperty("card", true);
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grp->setStyleSheet(QString("QWidget[card=\"true\"]{background-color:%1;border:2px solid %2;border-radius:12px;}")
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.arg(C::PANEL, C::BORDER));
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// 不设固定宽度：卡片按内容自适应（由最宽的“空压机(rpm)”标签决定）。
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// 固定宽度一旦小于布局最小宽度，标签会被压到小于文字宽度而裁字
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QVBoxLayout* lay = new QVBoxLayout(grp);
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lay->setContentsMargins(30, 8, 20, 8);
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lay->setSpacing(10);
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// 上限按协议各泵量程：空压机 AirComp_Spd 0-3000、柱塞泵 PlungerPump_Spd 0-1450、
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// 叶片泵 VanePump__Spd 0-2000 rpm。每档 = 显示精度的最小单位，转速是整数显示故为 1 rpm
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const int rpmMax = (pump == "air") ? 3000 : (pump == "plunger") ? 1450 : 2000;
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ParamControl* rpm = new ParamControl(name, "", 1, 0, rpmMax, false, false, grp);
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rpm->setCentered(true);
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rpm->setValue(200);
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connect(rpm, &ParamControl::valueChanged, this, [this, pump](double v) {
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ctx()->comm()->sendPumpRpm(pump, static_cast<int>(v));
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});
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lay->addWidget(rpm);
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// 启动 / 停止：互斥，选中态对应当前泵状态（绿＝运行、红＝停止）。
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// 控件级样式表优先级高于全局 QSS，故 :focus 也在这里补，否则 Tab 选中看不出变化
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QPushButton* start = button("启动", "", grp);
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start->setCheckable(true);
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start->setFixedSize(120, 60);
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start->setStyleSheet(QString("QPushButton:checked{background-color:%1;color:#FFFFFF;border:none;}"
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"QPushButton:focus{border:4px solid #8ABFFF;}")
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.arg(C::SUCCESS));
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QPushButton* stop = button("停止", "", grp);
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stop->setCheckable(true);
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stop->setFixedSize(120, 60);
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stop->setStyleSheet(QString("QPushButton:checked{background-color:%1;color:#FFFFFF;border:none;}"
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"QPushButton:focus{border:4px solid #8ABFFF;}")
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.arg(C::DANGER));
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connect(start, &QPushButton::clicked, this, [this, pump, start, stop]() {
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start->setChecked(true);
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stop->setChecked(false);
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ctx()->comm()->sendPumpPower(pump, true);
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});
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connect(stop, &QPushButton::clicked, this, [this, pump, start, stop]() {
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stop->setChecked(true);
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start->setChecked(false);
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ctx()->comm()->sendPumpPower(pump, false);
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});
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// 圆点+名称不在这里了——三个泵的上电指示灯已经搬到左列 D2 球阀下方（见构造函数）
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QHBoxLayout* pwrRow = new QHBoxLayout();
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pwrRow->setSpacing(12);
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pwrRow->addStretch(1);
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pwrRow->addWidget(start);
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pwrRow->addWidget(stop);
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pwrRow->addStretch(1);
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lay->addLayout(pwrRow);
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if (pump == "air") { m_airRpm = rpm; m_airStart = start; m_airStop = stop; }
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else if (pump == "plunger") { m_plungerRpm = rpm; m_plungerStart = start; m_plungerStop = stop; }
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else { m_leafRpm = rpm; m_leafStart = start; m_leafStop = stop; }
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return grp;
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}
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void DebugMaintainPage::refresh()
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{
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const Telemetry& t = ctx()->telemetry;
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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_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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m_washCard->setField(0, t.washMode);
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m_washCard->setField(1, dashIf(t.hasWash, QString("%1L").arg(t.levelA, 0, 'f', 0)));
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m_washCard->setField(2, dashIf(t.hasWash, QString("%1L").arg(t.levelFoam, 0, 'f', 0)));
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m_washCard->setField(3, dashIf(t.hasWash, QString("%1 L/min").arg(t.flowA, 0, 'f', 1)));
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m_washCard->setField(4, dashIf(t.hasWash, QString("%1 L/min").arg(t.flowB, 0, 'f', 1)));
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m_washCard->setField(5, dashIf(t.hasWash, QString("%1 L/min").arg(t.gasFlow, 0, 'f', 1)));
|
||
m_washCard->setField(6, dashIf(t.hasWashPress, QString("%1 MPa").arg(t.press, 0, 'f', 2)));
|
||
m_washCard->setField(7, dashIf(t.hasWashPress, QString("%1 MPa").arg(t.airPress, 0, 'f', 2)));
|
||
m_washCard->setField(8, dashIf(t.hasWash, QString("%1").arg(t.foam, 0, 'f', 1)));
|
||
m_washCard->setAlarm(1, t.levelALow);
|
||
m_washCard->setAlarm(2, t.levelBLow);
|
||
m_washCard->setFaults(washCardFaults(t));
|
||
|
||
// 球阀到位反馈：未收到过车端遥测时不动，保留构造时的缺省显示（开启灰 / 关闭红）
|
||
if (m_telemetrySeen) {
|
||
m_v1Open->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
|
||
m_v1Close->setState(t.d1close ? LedIndicator::Red : LedIndicator::Off);
|
||
m_v2Open->setState(t.d2open ? LedIndicator::Green : LedIndicator::Off);
|
||
m_v2Close->setState(t.d2close ? LedIndicator::Red : LedIndicator::Off);
|
||
}
|
||
|
||
// 球阀故障：协议里没有“D1开启故障/关闭故障”这种信号，只能自己推——
|
||
// 指令下发后 kValveFaultMs 内 MBV_Dn_Sta 还没变成想要的样子，就判该方向故障；
|
||
// 反馈一旦对上（到位）就解除。cmdMs 为 0 表示没有待确认的指令，不判。
|
||
const qint64 now = QDateTime::currentMSecsSinceEpoch();
|
||
auto judgeValve = [&](qint64& cmdMs, int wantOpen, bool fbOpen, bool& faulted,
|
||
QLabel* lab, int valve) {
|
||
if (cmdMs != 0) {
|
||
if (fbOpen == (wantOpen != 0)) { // 到位：解除等待
|
||
cmdMs = 0;
|
||
faulted = false;
|
||
} else if (now - cmdMs > kValveFaultMs) {
|
||
faulted = true;
|
||
}
|
||
}
|
||
// 这一条是**常占位**的：只切文字与闪烁，不动显隐，免得盒子上下跳。
|
||
// "当前有没有报故障"就看文字空不空——省掉再存一个状态。
|
||
if (faulted != !lab->text().isEmpty())
|
||
return;
|
||
if (faulted) {
|
||
lab->setText(QString("D%1球阀 %2 故障").arg(valve).arg(wantOpen ? "开启" : "关闭"));
|
||
startBlink(lab, "blink");
|
||
} else {
|
||
stopBlink(lab, "blink");
|
||
lab->clear();
|
||
}
|
||
};
|
||
judgeValve(m_v1CmdMs, m_v1WantOpen, t.d1open, m_v1Fault, m_valveFault1, 1);
|
||
judgeValve(m_v2CmdMs, m_v2WantOpen, t.d2open, m_v2Fault, m_valveFault2, 2);
|
||
|
||
// 泵启停状态同步（互斥组内先置“启动”再置“停止”，两者互补，结果总是一选中一未选）
|
||
if (m_airStart) { m_airStart->setChecked(t.air); m_airStop->setChecked(!t.air); }
|
||
if (m_plungerStart){ m_plungerStart->setChecked(t.plunger); m_plungerStop->setChecked(!t.plunger); }
|
||
if (m_leafStart) { m_leafStart->setChecked(t.leaf); m_leafStop->setChecked(!t.leaf); }
|
||
|
||
// 底部指示灯：泵的三个已经挪进泵组，这里只剩两路液位低。
|
||
// 用协议位（A_LiquidLevel_Low / B_LiquidLevel_Low），不按 levelA<10 猜阈值
|
||
m_ledPlunger->setState(t.plunger ? LedIndicator::Green : LedIndicator::Off);
|
||
m_ledAir->setState(t.air ? LedIndicator::Green : LedIndicator::Off);
|
||
m_ledLeaf->setState(t.leaf ? LedIndicator::Green : LedIndicator::Off);
|
||
m_ledLevelA->setState(t.levelALow ? LedIndicator::RedBlink : LedIndicator::Off);
|
||
m_ledLevelB->setState(t.levelBLow ? LedIndicator::RedBlink : LedIndicator::Off);
|
||
}
|