373 lines
16 KiB
C++
373 lines
16 KiB
C++
#include "washpage.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 "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 <QLabel>
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#include "global.h"
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WashPage::WashPage(AppContext* ctx, Mode mode, QWidget* parent)
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: BasePage(ctx, parent), m_mode(mode)
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{
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const bool clean = (mode == Clean);
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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(clean ? "消除作业" : "消毒作业");
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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(28);
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// 左侧状态卡（底盘/机械臂/气体检测仪）
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QWidget* left = new QWidget(this);
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QVBoxLayout* leftLay = new QVBoxLayout(left);
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leftLay->setContentsMargins(0, 0, 0, 0);
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leftLay->setSpacing(10);
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m_chassisCard = new DataCard("底盘", left);
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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", left);
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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", left);
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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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leftLay->addWidget(m_chassisCard, 1);
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leftLay->addWidget(m_armCard, 1);
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leftLay->addWidget(m_gasCard, 1);
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left->setFixedWidth(600); // 需容纳最长的“末端位置：X:1200 Y:300 Z:800”（42px 字号约 523px）
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main->addSpacing(60); // 左列整体右移的量；空白由中间拉伸列让出，卡片宽度不变
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main->addWidget(left);
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// 中央洗消卡
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m_washCard = new DataCard("洗消", this);
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m_fMode = m_washCard->addField("洗消模式", "--");
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m_fLevelA = m_washCard->addField("A组分液位", "--");
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m_fLevelFoam = m_washCard->addField("B组分液位", "--");
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m_fFlowA = m_washCard->addField("A药剂流量", "--");
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m_fFlowB = m_washCard->addField("B药剂流量", "--");
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m_fGasFlow = m_washCard->addField("气体流量", "--");
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m_fPress = m_washCard->addField("管路压力", "--");
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m_fAirPress = m_washCard->addField("空压机压力", "--");
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m_fFoam = m_washCard->addField("发泡倍数", "--");
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main->addSpacing(60);
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main->addWidget(m_washCard, 1);
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// 右侧操作列
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QWidget* right = new QWidget(this);
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QVBoxLayout* rightLay = new QVBoxLayout(right);
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rightLay->setContentsMargins(20, 20, 20, 10);
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rightLay->setSpacing(60);
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m_start = button("启动", "primary", right);
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m_start->setFixedSize(180, 100);
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connect(m_start, &QPushButton::clicked, this, &WashPage::onStart);
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m_stop = button("停止", "danger", right);
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m_stop->setFixedSize(180, 100);
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connect(m_stop, &QPushButton::clicked, this, &WashPage::onStop);
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rightLay->addWidget(m_start, 0, Qt::AlignHCenter);
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rightLay->addWidget(m_stop, 0, Qt::AlignHCenter);
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// 参数区：按模式不同
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m_paramsLayout = new QVBoxLayout();
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m_paramsLayout->setSpacing(8);
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rightLay->addLayout(m_paramsLayout);
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rightLay->addStretch(1);
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if (clean) {
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// 柱塞泵流量（出厂 20；协议 PlungerPump_flow 0-24 L/min）
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m_pumpFlow = new ParamControl("柱塞泵流量", "L/min", 0.1, 0.0, 24.0, true, false, this);
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m_pumpFlow->setValue(ctx->getDouble(ctx->keyPumpFlow(), 20));
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connect(m_pumpFlow, &ParamControl::saveClicked, this, [this]() {
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this->ctx()->setDouble(this->ctx()->keyPumpFlow(), m_pumpFlow->value());
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this->ctx()->comm()->sendSetParam(this->ctx()->keyPumpFlow(), m_pumpFlow->value());
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refreshPumpValues(); // 底部数值跟着更新
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ConfirmDialog::toast(this, "已保存");
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});
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m_paramsLayout->addWidget(m_pumpFlow);
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} else {
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// 发泡倍数（出厂 6；协议 Expansion_ratioCmd 6-12 倍）
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m_foamRatio = new ParamControl("发泡倍数", "倍", 0.1, 6.0, 12.0, true, false, this);
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m_foamRatio->setValue(ctx->getDouble(ctx->keyFoamRatio(), 6));
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connect(m_foamRatio, &ParamControl::saveClicked, this, [this]() {
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this->ctx()->setDouble(this->ctx()->keyFoamRatio(), m_foamRatio->value());
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this->ctx()->comm()->sendSetParam(this->ctx()->keyFoamRatio(), m_foamRatio->value());
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ConfirmDialog::toast(this, "已保存");
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});
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m_paramsLayout->addWidget(m_foamRatio);
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// 泡沫比例（出厂 3%；协议 Foam_ratio 0-10%）
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m_foamPercent = new ParamControl("泡沫比例", "%", 0.1, 0.0, 10.0, true, false, this);
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m_foamPercent->setValue(ctx->getDouble(ctx->keyFoamPercent(), 3));
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connect(m_foamPercent, &ParamControl::saveClicked, this, [this]() {
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this->ctx()->setDouble(this->ctx()->keyFoamPercent(), m_foamPercent->value());
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this->ctx()->comm()->sendSetParam(this->ctx()->keyFoamPercent(), m_foamPercent->value());
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ConfirmDialog::toast(this, "已保存");
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});
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m_paramsLayout->addWidget(m_foamPercent);
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// 空压机流量（出厂 100；协议 AirComp_flow 0-340 L/min）
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m_airFlow = new ParamControl("空压机流量", "L/min", 1, 0.0, 340.0, true, false, this);
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m_airFlow->setValue(ctx->getDouble(ctx->keyAirFlow(), 100));
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connect(m_airFlow, &ParamControl::saveClicked, this, [this]() {
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this->ctx()->setDouble(this->ctx()->keyAirFlow(), m_airFlow->value());
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this->ctx()->comm()->sendSetParam(this->ctx()->keyAirFlow(), m_airFlow->value());
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refreshPumpValues(); // 底部数值跟着更新
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ConfirmDialog::toast(this, "已保存");
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});
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m_paramsLayout->addWidget(m_airFlow);
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}
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right->setFixedWidth(500); // 参数行需容纳 输入框150 + 单位约101 + 保存140 + 两个间距24 ≈ 415px
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main->addSpacing(60); // 洗消卡 ↔ 右列的间隙；空白由中间拉伸列让出，卡片文字不受影响
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main->addWidget(right);
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root->addLayout(main, 1);
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// 底部条：左右两个按钮纵向占满，中间三排（泵数值 / 指示灯 / 两路液位低）居中。
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// 高度由 160 加到 188：中间那列三排约 164px 再加 8+8 的上下边距，160 装不下第三排
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QWidget* bottom = new QWidget(this);
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bottom->setObjectName("WashBottom");
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bottom->setFixedHeight(188);
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// 用 #WashBottom 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#WashBottom{background-color:%1;border-top:1px solid %2;}")
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.arg(C::PANEL, C::BORDER));
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QHBoxLayout* bottomRoot = new QHBoxLayout(bottom);
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bottomRoot->setContentsMargins(20, 8, 20, 8);
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bottomRoot->setSpacing(12);
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// 左：恢复出厂值（占满两行高度）
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m_factory = button("恢复出厂值", "", bottom);
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m_factory->setFixedSize(220, 100);
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m_factory->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字
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connect(m_factory, &QPushButton::clicked, this, &WashPage::onFactory);
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bottomRoot->addWidget(m_factory, 0, Qt::AlignVCenter);
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// 中：上排三泵数值、中排指示灯、下排两路液位低，三排都水平居中
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QVBoxLayout* midLay = new QVBoxLayout();
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midLay->setSpacing(6);
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QHBoxLayout* valueLay = new QHBoxLayout();
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valueLay->setSpacing(40);
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valueLay->addStretch(1);
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auto addFlow = [&](const QString& name) {
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valueLay->addWidget(label(name + "：", 40, C::TEXT_SUB, false, bottom));
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QLabel* v = label("--", 40, C::TEXT, true, bottom);
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valueLay->addWidget(v);
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return v;
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};
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m_valPlunger = addFlow("柱塞泵");
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m_valAir = addFlow("空压机");
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m_valLeaf = addFlow("叶片泵");
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refreshPumpValues(); // 开机先显示参数的出厂默认值
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valueLay->addStretch(1);
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QHBoxLayout* ledLay = new QHBoxLayout();
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ledLay->setSpacing(10);
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ledLay->addStretch(1);
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// 灯要分两行放，故把目标行当参数传进来
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auto makeLed = [&](QHBoxLayout* row, 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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row->addWidget(led);
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return led;
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};
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m_ledRun = makeLed(ledLay, "启停");
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m_ledPlunger = makeLed(ledLay, "柱塞泵");
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m_ledAir = makeLed(ledLay, "空压机");
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m_ledLeaf = makeLed(ledLay, "叶片泵");
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m_ledD1 = makeLed(ledLay, "D1");
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m_ledD2 = makeLed(ledLay, "D2");
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ledLay->addStretch(1);
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// 下一行：液位低拆成 A / B 两路。原来那颗笼统的「液位低」和「系统故障」都撤了——
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// 后者在洗消卡片的故障行里已经有了，底部再挂一颗是重复的
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QHBoxLayout* levelLay = new QHBoxLayout();
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levelLay->setSpacing(40);
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levelLay->addStretch(1);
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m_ledLevelA = makeLed(levelLay, "A组分/清水液位低");
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m_ledLevelB = makeLed(levelLay, "B组分液位低");
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levelLay->addStretch(1);
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midLay->addStretch(1);
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midLay->addLayout(valueLay);
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midLay->addLayout(ledLay);
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midLay->addLayout(levelLay);
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midLay->addStretch(1);
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bottomRoot->addLayout(midLay, 1);
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// 右：返回（占满两行高度）
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m_back = button("返回", "", bottom);
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m_back->setFixedSize(170, 100);
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m_back->setStyleSheet(cancelButtonStyle(40)); // 选中（悬停/按下/焦点）红底白字
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connect(m_back, &QPushButton::clicked, this, &WashPage::onBack);
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bottomRoot->addWidget(m_back, 0, Qt::AlignVCenter);
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root->addWidget(bottom);
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connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &WashPage::refresh);
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updateGating();
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refresh();
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}
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QString WashPage::washModeTag() const
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{
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return m_mode == Clean ? "clean" : "disinfect";
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}
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// 底部三个泵的数值：柱塞泵/空压机跟右侧参数的设定值（没改过就是出厂默认值），
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// 叶片泵本页没有对应参数，先取遥测的实时流量
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void WashPage::refreshPumpValues()
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{
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// 这里读的是配置值，一并按协议量程夹取（柱塞泵 0-24、空压机 0-340 L/min），
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// 否则旧配置里超范围的历史值会与控件显示、实际上报的数值对不上
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m_valPlunger->setText(QString("%1 L/min").arg(qBound(0.0, ctx()->getDouble(ctx()->keyPumpFlow(), 20), 24.0), 0, 'f', 1));
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m_valAir->setText(QString("%1 L/min").arg(qBound(0.0, ctx()->getDouble(ctx()->keyAirFlow(), 100), 340.0), 0, 'f', 1));
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m_valLeaf->setText(dashIf(ctx()->telemetry.hasWash, QString("%1 L/min").arg(ctx()->telemetry.flowB, 0, 'f', 1)));
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}
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void WashPage::onStart()
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{
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ctx()->comm()->sendWashStart(washModeTag());
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// 同时把机器强制到机械臂模式（见 AppContext::setWashRunning），否则 Arm_enable=0，
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// 末端那条俯仰摆动指令车端不会理
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updateGating();
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// 启停灯立刻跟着变，不等下一帧遥测——否则车端不回话时按钮看着像没反应
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updateLeds();
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}
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void WashPage::onStop()
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{
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ctx()->comm()->sendWashStop();
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ctx()->setWashRunning(false);
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updateGating();
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updateLeds();
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}
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void WashPage::onBack()
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{
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if (ctx()->isWashRunning()) {
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ConfirmDialog::toast(this, "请先停止");
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return;
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}
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emit navigate(PageJob);
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}
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void WashPage::onFactory()
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{
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if (ConfirmDialog::confirm(this, "恢复出厂值", "确定将参数恢复为出厂值？"))
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resetFactory();
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}
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void WashPage::resetFactory()
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{
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if (m_mode == Clean) {
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m_pumpFlow->setValue(20); // 出厂 20
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ctx()->setDouble(ctx()->keyPumpFlow(), 20);
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ctx()->comm()->sendSetParam(ctx()->keyPumpFlow(), 20);
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} else {
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m_foamRatio->setValue(6); // 出厂 6
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m_foamPercent->setValue(3); // 出厂 3%
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m_airFlow->setValue(100); // 出厂 100
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ctx()->setDouble(ctx()->keyFoamRatio(), 6);
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ctx()->setDouble(ctx()->keyFoamPercent(), 3);
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ctx()->setDouble(ctx()->keyAirFlow(), 100);
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ctx()->comm()->sendSetParam(ctx()->keyFoamRatio(), 6);
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ctx()->comm()->sendSetParam(ctx()->keyFoamPercent(), 3);
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ctx()->comm()->sendSetParam(ctx()->keyAirFlow(), 100);
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}
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refreshPumpValues(); // 底部数值跟着回到出厂值
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ConfirmDialog::toast(this, "已恢复出厂值");
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}
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void WashPage::updateGating()
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{
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bool running = ctx()->isWashRunning();
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m_start->setEnabled(!running);
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m_stop->setEnabled(running);
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m_back->setEnabled(!running);
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}
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void WashPage::refresh()
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{
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const Telemetry& t = ctx()->telemetry;
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if (!t.commOk) m_banner->showAlarm("通信异常");
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else m_banner->clear();
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// 以泵状态同步运行状态
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if (t.plunger || t.air || t.leaf) ctx()->setWashRunning(true);
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else if (t.washMode == "--") ctx()->setWashRunning(false);
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updateGating();
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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(m_fMode, t.washMode);
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m_washCard->setField(m_fLevelA, dashIf(t.hasWash, QString("%1L").arg(t.levelA, 0, 'f', 0)));
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m_washCard->setField(m_fLevelFoam, dashIf(t.hasWash, QString("%1L").arg(t.levelFoam, 0, 'f', 0)));
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m_washCard->setField(m_fFlowA, dashIf(t.hasWash, QString("%1 L/min").arg(t.flowA, 0, 'f', 1)));
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m_washCard->setField(m_fFlowB, dashIf(t.hasWash, QString("%1 L/min").arg(t.flowB, 0, 'f', 1)));
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m_washCard->setField(m_fGasFlow, dashIf(t.hasWash, QString("%1 L/min").arg(t.gasFlow, 0, 'f', 1)));
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m_washCard->setField(m_fPress, dashIf(t.hasWashPress, QString("%1 MPa").arg(t.press, 0, 'f', 2)));
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m_washCard->setField(m_fAirPress, dashIf(t.hasWashPress, QString("%1 MPa").arg(t.airPress, 0, 'f', 2)));
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m_washCard->setField(m_fFoam, dashIf(t.hasWash, QString("%1").arg(t.foam, 0, 'f', 1)));
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m_washCard->setAlarm(m_fLevelA, t.levelALow);
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m_washCard->setAlarm(m_fLevelFoam, t.levelBLow);
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m_washCard->setFaults(washCardFaults(t));
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updateLeds();
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// 底部三个泵的数值
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refreshPumpValues();
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}
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// 底栏指示灯。单独拆出来是为了让 onStart/onStop 能直接调它：
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// 遥测还没回来时 refresh() 里的“以泵状态同步运行状态”会把刚置上的 washRunning 又抹掉，
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// 所以启停的即时反馈不能靠整个 refresh()。
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void WashPage::updateLeds()
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{
|
||
const Telemetry& t = ctx()->telemetry;
|
||
|
||
m_ledRun->setState(ctx()->isWashRunning() ? LedIndicator::Green : LedIndicator::Off);
|
||
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_ledD1->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
|
||
m_ledD2->setState(t.d2open ? LedIndicator::Green : LedIndicator::Off);
|
||
// 液位低拆成 A / B 两路，各用各自的协议位（A_LiquidLevel_Low / B_LiquidLevel_Low）；
|
||
// 不再按 levelA<10 猜阈值，免得卡片液位行红闪、这颗灯却不亮
|
||
m_ledLevelA->setState(t.levelALow ? LedIndicator::RedBlink : LedIndicator::Off);
|
||
m_ledLevelB->setState(t.levelBLow ? LedIndicator::RedBlink : LedIndicator::Off);
|
||
}
|