59 lines
1.7 KiB
C++
59 lines
1.7 KiB
C++
#ifndef MOCKVEHICLE_H
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#define MOCKVEHICLE_H
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#include <QObject>
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#include <QUdpSocket>
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#include <QTimer>
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#include <QVector>
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// ===================== 内置模拟车载端（离线演示） =====================
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// 以独立 UDP 套接字在回环地址上与遥控端通信：向 UI 端口周期发送遥测，
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// 接收并响应 UI 下发的控制命令（行驶/机械臂/球阀/泵/洗消/自检/急停等）。
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class MockVehicle : public QObject
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{
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Q_OBJECT
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public:
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explicit MockVehicle(QObject* parent = nullptr);
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bool enabled() const { return m_enabled; }
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private slots:
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void onReadyRead();
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void onSendTick();
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void onSelfCheckTick();
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private:
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void sendJson(const QJsonObject& obj);
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void sendTelemetry();
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void sendHeartbeat();
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void handleCommand(const QJsonObject& o);
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QUdpSocket* m_socket = nullptr;
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QTimer* m_sendTimer = nullptr;
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QTimer* m_selfCheckTimer = nullptr;
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int m_localPort = 9000; // 遥控端收包端口（本端发送目标）
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int m_remotePort = 9001; // 本端绑定端口（遥控端发包目标）
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bool m_enabled = true;
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bool m_plantSelfCheckFault = false;
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// 模拟车辆状态
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bool m_estop = false;
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bool m_gasRunning = false;
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bool m_washRunning = false;
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QString m_washMode = "手动消除";
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bool m_valve1Open = false; // D1 控制状态（开/关）
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bool m_valve2Open = false;
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bool m_pPlunger = false, m_pAir = false, m_pLeaf = false;
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double m_speed = 3.45;
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int m_airRpm = 300, m_plungerRpm = 200, m_leafRpm = 200;
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QVector<double> m_js{30, 20, 0, 90, 45, 0};
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bool m_armHomed = true;
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QString m_armReturn = "idle";
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// 自检序列
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bool m_selfCheckActive = false;
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int m_selfCheckIndex = 0;
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};
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#endif // MOCKVEHICLE_H
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