228 lines
8.1 KiB
C++
228 lines
8.1 KiB
C++
#include "armpage.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 "udpcommunication.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 <QGridLayout>
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#include <QPushButton>
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#include <QLabel>
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#include <QTimer>
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#include "global.h"
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ArmPage::ArmPage(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("机械臂");
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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(32);
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// 左控制列（6 运动按钮 + 系统回位/暂停）
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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(8);
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auto addMove = [&](const QString& t, const QString& axis, int dir) {
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QPushButton* b = makeMoveButton(t, axis, dir);
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m_moveButtons << b;
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leftLay->addWidget(b);
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};
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addMove("左平移", "x", -1);
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addMove("右平移", "x", +1);
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addMove("上升", "z", +1);
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addMove("下降", "z", -1);
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addMove("前平移", "y", +1);
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addMove("后平移", "y", -1);
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m_returnBtn = button("系统回位／暂停", "", left);
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m_returnBtn->setCheckable(true);
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m_returnBtn->setFixedSize(180, 90);
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m_returnBtn->setStyleSheet(QString("font-size:22px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
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.arg(C::PANEL_HI, C::TEXT, C::BORDER));
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connect(m_returnBtn, &QPushButton::toggled, this, &ArmPage::onReturnToggled);
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leftLay->addWidget(m_returnBtn);
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m_returnStatus = label("", 18, C::TEXT_SUB, false, left);
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m_returnStatus->setAlignment(Qt::AlignCenter);
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m_returnStatus->setWordWrap(true);
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leftLay->addWidget(m_returnStatus);
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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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// 中央卡片区（底盘/洗消/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_chassisCard = new DataCard("底盘", center);
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m_chassisCard->addField("电量", "85%");
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m_chassisCard->addField("电压", "360V");
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m_chassisCard->addField("故障", "无");
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m_washCard = new DataCard("洗消", center);
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m_washCard->addField("A液位", "100L");
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m_washCard->addField("泡沫液位", "30L");
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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", "待机");
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m_gasCard->addField("浓度", "0 ppb");
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centerLay->addWidget(m_chassisCard, 1);
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centerLay->addWidget(m_washCard, 1);
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centerLay->addWidget(m_gasCard, 1);
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main->addWidget(center, 1);
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// 右参数区（机械臂参数卡 + 末端按钮列）
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QWidget* right = new QWidget(this);
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QVBoxLayout* rightLay = new QVBoxLayout(right);
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rightLay->setContentsMargins(0, 0, 0, 0);
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rightLay->setSpacing(12);
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m_armCard = new DataCard("机械臂参数", right);
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m_armCard->addField("末端位置", "XYZ");
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m_armCard->addField("姿态", "RX/RY/RZ");
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m_armCard->addField("速度", "0");
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m_armCard->addField("J1", "30°");
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m_armCard->addField("J2", "20°");
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m_armCard->addField("J3", "0°");
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m_armCard->addField("J4", "90°");
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m_armCard->addField("J5", "45°");
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m_armCard->addField("J6", "0°");
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rightLay->addWidget(m_armCard, 1);
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// 末端 6 姿态按钮（2 列 × 3 行）
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QGridLayout* endGrid = new QGridLayout();
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endGrid->setSpacing(8);
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auto addEnd = [&](const QString& t, const QString& axis, int dir, int r, int c) {
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QPushButton* b = makeMoveButton(t, axis, dir);
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b->setFixedHeight(80);
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m_endButtons << b;
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endGrid->addWidget(b, r, c);
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};
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addEnd("末端仰", "pitch", +1, 0, 0);
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addEnd("末端俯", "pitch", -1, 0, 1);
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addEnd("末端正偏航", "yaw", +1, 1, 0);
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addEnd("末端负偏航", "yaw", -1, 1, 1);
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addEnd("末端左横滚", "roll", -1, 2, 0);
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addEnd("末端右横滚", "roll", +1, 2, 1);
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rightLay->addLayout(endGrid);
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right->setFixedWidth(430);
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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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m_statusTimer = new QTimer(this);
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m_statusTimer->setSingleShot(true);
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m_statusTimer->setInterval(3000);
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connect(m_statusTimer, &QTimer::timeout, this, [this]() {
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m_returnStatus->setText("");
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});
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connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &ArmPage::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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updateModeGating();
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refresh();
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}
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QPushButton* ArmPage::makeMoveButton(const QString& text, const QString& axis, int dir)
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{
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QPushButton* b = button(text, "", this);
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b->setFixedSize(180, 90);
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b->setStyleSheet(QString("font-size:24px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
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.arg(C::PANEL_HI, C::TEXT, C::BORDER));
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connect(b, &QPushButton::pressed, this, [this, axis, dir]() {
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if (ctx()->mode != Mode::Arm) {
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ConfirmDialog::toast(this, "请切换至机械臂模式");
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return;
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}
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ctx()->comm()->sendArmMove(axis, dir);
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});
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connect(b, &QPushButton::released, this, [this, axis]() {
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ctx()->comm()->sendArmMove(axis, 0);
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});
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return b;
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}
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void ArmPage::updateModeGating()
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{
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bool arm = (ctx()->mode == Mode::Arm) && !ctx()->estopTriggered;
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for (QPushButton* b : m_moveButtons) b->setEnabled(arm);
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for (QPushButton* b : m_endButtons) b->setEnabled(arm);
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}
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void ArmPage::onReturnToggled(bool on)
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{
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if (on) ctx()->comm()->sendArmReturn();
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else ctx()->comm()->sendArmPause();
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}
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void ArmPage::refresh()
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{
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const Telemetry& t = ctx()->telemetry;
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if (!t.commOk) {
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m_banner->showAlarm("通信异常");
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} else {
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m_banner->clear();
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}
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m_chassisCard->setField(0, QString("%1%").arg(t.soc));
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m_chassisCard->setField(1, QString("%1V").arg(t.volt, 0, 'f', 0));
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m_chassisCard->setField(2, t.chassisFaults.isEmpty() ? "无" : t.chassisFaults.join("；"));
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m_washCard->setField(0, QString("%1L").arg(t.levelA, 0, 'f', 0));
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m_washCard->setField(1, QString("%1L").arg(t.levelFoam, 0, 'f', 0));
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m_gasCard->setField(0, t.gasHost == "detecting" ? "检测中" : (t.gasHost == "fault" ? "故障" : "待机"));
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m_gasCard->setField(1, QString("%1 ppb").arg(t.gasConc, 0, 'f', 0));
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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_armCard->setField(2, QString("%1").arg(t.vel, 0, 'f', 1));
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for (int i = 0; i < 6 && i < t.js.size(); ++i)
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m_armCard->setField(3 + i, QString("%1°").arg(t.js[i], 0, 'f', 0));
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// 回位状态机
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if (t.returnState != m_prevReturnState) {
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m_prevReturnState = t.returnState;
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if (t.returnState == "done") {
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m_returnBtn->setChecked(false);
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m_returnStatus->setText("机械臂系统完成回位");
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m_returnStatus->setStyleSheet(QString("color:%1;font-size:22px;font-weight:700;").arg(C::SUCCESS));
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m_statusTimer->start();
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} else if (t.returnState == "fault") {
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m_returnBtn->setChecked(false);
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m_returnStatus->setText("机械臂系统回位异常");
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m_returnStatus->setStyleSheet(QString("color:%1;font-size:22px;font-weight:700;").arg(C::DANGER));
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} else if (t.returnState == "returning") {
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m_returnStatus->setText("回位中…");
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m_returnStatus->setStyleSheet(QString("color:%1;font-size:22px;font-weight:700;").arg(C::WARNING));
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} else {
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m_returnStatus->setText("");
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}
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}
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}
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