370 lines
15 KiB
C++
370 lines
15 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 <QTimer>
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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("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_armCard = new DataCard("机械臂", left);
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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_gasCard = new DataCard("气体检测仪", left);
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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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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", "100L");
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m_fLevelFoam = m_washCard->addField("泡沫箱液位", "30L");
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m_fFlowA = m_washCard->addField("A药剂流量", "0 L/min");
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m_fFlowB = m_washCard->addField("B药剂流量", "0 L/min");
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m_fGasFlow = m_washCard->addField("气体流量", "0 L/min");
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m_fPress = m_washCard->addField("管路压力", "0 MPa");
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m_fAirPress = m_washCard->addField("空压机压力", "0 MPa");
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m_fFoam = m_washCard->addField("发泡倍数", "0");
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m_fAirFault = m_washCard->addField("空压机故障代码", "");
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m_fPlungerFault = m_washCard->addField("柱塞泵故障代码", "");
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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两行，中间上下两排（泵数值 / 指示灯）居中
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QWidget* bottom = new QWidget(this);
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bottom->setObjectName("WashBottom");
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bottom->setFixedHeight(160);
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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、下排指示灯，两排都水平居中
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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); // 8 个灯 40px 字号后总宽约 1300px
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ledLay->addStretch(1);
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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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ledLay->addWidget(led);
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return led;
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};
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m_ledRun = makeLed("启停");
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m_ledPlunger = makeLed("柱塞泵");
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m_ledAir = makeLed("空压机");
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m_ledLeaf = makeLed("叶片泵");
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m_ledLevel = makeLed("液位低");
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m_ledD1 = makeLed("D1");
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m_ledD2 = makeLed("D2");
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m_ledFault = makeLed("系统故障");
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ledLay->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->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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// 故障代码轮流循环显示（2s/条）
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m_faultTimer = new QTimer(this);
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m_faultTimer->setInterval(2000);
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connect(m_faultTimer, &QTimer::timeout, this, &WashPage::rotateFaults);
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m_faultTimer->start();
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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(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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ctx()->washRunning = true;
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updateGating();
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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()->washRunning = false;
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updateGating();
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}
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void WashPage::onBack()
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{
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if (ctx()->washRunning) {
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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()->washRunning;
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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()->washRunning = true;
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else if (t.washMode == "--") ctx()->washRunning = false;
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updateGating();
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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_armCard->setField(0, t.pos);
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m_armCard->setField(1, t.pose);
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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_washCard->setField(m_fMode, t.washMode);
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m_washCard->setField(m_fLevelA, QString("%1L").arg(t.levelA, 0, 'f', 0));
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m_washCard->setField(m_fLevelFoam, QString("%1L").arg(t.levelFoam, 0, 'f', 0));
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m_washCard->setField(m_fFlowA, QString("%1 L/min").arg(t.flowA, 0, 'f', 1));
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m_washCard->setField(m_fFlowB, QString("%1 L/min").arg(t.flowB, 0, 'f', 1));
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m_washCard->setField(m_fGasFlow, QString("%1 L/min").arg(t.gasFlow, 0, 'f', 1));
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m_washCard->setField(m_fPress, QString("%1 MPa").arg(t.press, 0, 'f', 2));
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m_washCard->setField(m_fAirPress, QString("%1 MPa").arg(t.airPress, 0, 'f', 2));
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m_washCard->setField(m_fFoam, QString("%1").arg(t.foam, 0, 'f', 1));
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// 指示灯
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m_ledRun->setState(ctx()->washRunning ? LedIndicator::Green : LedIndicator::Off);
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m_ledPlunger->setState(t.plunger ? LedIndicator::Green : LedIndicator::Off);
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m_ledAir->setState(t.air ? LedIndicator::Green : LedIndicator::Off);
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m_ledLeaf->setState(t.leaf ? LedIndicator::Green : LedIndicator::Off);
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m_ledLevel->setState(t.levelA < 10 ? LedIndicator::RedBlink : LedIndicator::Off);
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m_ledD1->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
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m_ledD2->setState(t.d2open ? LedIndicator::Green : LedIndicator::Off);
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m_ledFault->setState((!t.washFaults.isEmpty() || !t.pumpFaults.isEmpty())
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? LedIndicator::RedBlink : LedIndicator::Off);
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// 底部三个泵的数值
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refreshPumpValues();
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// 故障代码显示（静态更新，循环由 rotateFaults 驱动）
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rotateFaults();
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}
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void WashPage::rotateFaults()
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{
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const Telemetry& t = ctx()->telemetry;
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QStringList all = t.washFaults + t.pumpFaults;
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if (all.isEmpty()) {
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m_washCard->setField(m_fAirFault, "");
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m_washCard->setField(m_fPlungerFault, "");
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return;
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}
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m_faultIndex = m_faultIndex % all.size();
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QString code = all[m_faultIndex];
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m_washCard->setField(m_fAirFault, code);
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m_washCard->setField(m_fPlungerFault, code);
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m_faultIndex = (m_faultIndex + 1) % all.size();
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}
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