#include "appmodel.h" #include "Ego.h" #define WIN23_LEAN_AND_MEAN #include #include //#include "FishEyeWindow.h" // extern std::array ar; std::atomic g_iForwordState = 0; CarData::CarData(QObject *parent) : QObject(parent) {} CarData::CarData(const CarData &other) : QObject(nullptr), m_uid(other.m_uid), m_name(other.m_name), m_type(other.m_type), m_state(other.m_state) {} int32_t CarData::uid() const { return m_uid; } QString CarData::name() const { return m_name; } QString CarData::type() const { return m_type; } QString CarData::state() const { return m_state; } void CarData::setUid(const int32_t &value) { m_uid = value; emit dataChanged(); } void CarData::setCarType(const int32_t& value) { m_carType = value; } void CarData::setName(const QString &value) { m_name = value; emit dataChanged(); } void CarData::setState(const QString &value) { m_state = value; emit dataChanged(); } void CarData::setType(const QString &value) { m_type = value; emit dataChanged(); } /* car 用于存储实际的数据，而 carProp 则用于将 car 列表属性暴露给 QML 引擎。 通过这样的方式，可以在 C++ 代码中维护数据，同时在 QML 中直接访问和操作这些数据，而不需要直接暴露内部实现细节 */ class AppModelPrivate { public: QList car; QQmlListProperty *carProp = nullptr; }; //向car列表中添加元素 static void carAppend(QQmlListProperty *prop, CarData *val) { Q_UNUSED(val); Q_UNUSED(prop); } //获取指定索引处的 CarData 对象指针 static CarData *carAt(QQmlListProperty *prop, qsizetype index) { AppModelPrivate *d = static_cast(prop->data); return d->car.at(index); } //获取 car 列表中元素的数量 static qsizetype carCount(QQmlListProperty *prop) { AppModelPrivate *d = static_cast(prop->data); return d->car.size(); } //清空 car 列表中的所有元素 static void carClear(QQmlListProperty *prop) { static_cast(prop->data)->car.clear(); } AppModel::AppModel(IEgoNotify *n, IEgoControl *c, QObject* qmlobj, QObject *parent) : _notify(n), _control(c), QObject(parent), d(new AppModelPrivate),m_peer(-1),m_qmlObj(qmlobj) { m_account = QString::fromStdString(_control->GetAccount()); m_password = QString::fromStdString(_control->GetPassword()); m_driveName = QString::fromStdString(_control->GetName()); d->carProp = new QQmlListProperty(this, d, carAppend, carCount, carAt, carClear); m_ready = false; // _window = std::make_unique(); //_window->Start("192.168.1.64"); connect(dynamic_cast(_notify), SIGNAL(egoLoginResult(bool)), this, SLOT(onLoginRst(bool))); connect(dynamic_cast(_notify), SIGNAL(egoGearChanged(int)), this, SLOT(egoGearChanged(int))); /** 换挡操作 */ connect(dynamic_cast(_notify), SIGNAL(egoGear_DChanged(int)), this, SLOT(egoGear_DChanged(int))); /** 升降换挡操作 */ connect(dynamic_cast(_notify), SIGNAL(egoDirectionLightChanged(int)), this, SLOT(egoDirectionLightChanged(int))); /** 转向灯 */ connect(dynamic_cast(_notify), SIGNAL(egoWiperChanged(bool)), this, SLOT(egoWiperChanged(bool))); /** 雨刮器 */ connect(dynamic_cast(_notify), SIGNAL(egoFrontLightChanged(bool)), this, SLOT(egoFrontLightChanged(bool))); /** 前车灯 */ connect(dynamic_cast(_notify), SIGNAL(egoBackLightChanged(bool)), this, SLOT(egoBackLightChanged(bool))); /** 后车灯 */ connect(dynamic_cast(_notify), SIGNAL(egoBuzzerChanged(bool)), this, SLOT(egoBuzzerChanged(bool))); /** 喇叭 */ //connect(dynamic_cast(_notify), SIGNAL(egoEmergencyChanged(bool)), this, // SLOT(egoEmergencyChanged(bool))); /** 急停开关按下 */ connect(dynamic_cast(_notify), SIGNAL(egoCautionLightChanged(bool)), this, SLOT(egoCautionLightChanged(bool))); connect(dynamic_cast(_notify), SIGNAL(egoLightLChanged(bool)), this, SLOT(egoLightLChanged(bool))); connect(dynamic_cast(_notify), SIGNAL(egoLightRChanged(bool)), this, SLOT(egoLightRChanged(bool))); connect(dynamic_cast(_notify), SIGNAL(egoGearFChanged(bool)), this, SLOT(egoGearFChanged(bool))); connect(dynamic_cast(_notify), SIGNAL(egoGearRChanged(bool)), this, SLOT(egoGearRChanged(bool))); connect(dynamic_cast(_notify), SIGNAL(egoCarParkChanged(bool)), this, SLOT(egoCarParkChanged(bool))); connect(dynamic_cast(_notify), SIGNAL(egoBuzzerPlayChanged(bool)), this, SLOT(egoBuzzerPlayChanged(bool))); connect(dynamic_cast(_notify), SIGNAL(egoLightFrontChanged(bool)), this, SLOT(egoLightFrontChanged(bool))); connect(dynamic_cast(_notify), SIGNAL(egoLightWorkChanged(bool)), this, SLOT(egoLightWorkChanged(bool))); connect(dynamic_cast(_notify), SIGNAL(egoEmergencyChanged(bool)), this, SLOT(egoEmergencyChanged(bool))); connect(dynamic_cast(_notify), SIGNAL(egoMqttChanged(cannet_frame)), this, SLOT(egoMqttChanged(cannet_frame))); //链接Ego中的egoCarAppend信号和onCarAppend槽，传递参数 connect(dynamic_cast(_notify), SIGNAL(egoCarAppend(UserCamera)), this, SLOT(onCarAppend(UserCamera))); connect( dynamic_cast(_notify), SIGNAL(egoRadar(int32_t, int32_t, int32_t, int32_t, int32_t, int32_t, int32_t, int32_t)), this, SLOT( onRadarUpadte(int32_t, int32_t, int32_t, int32_t, int32_t, int32_t, int32_t,int32_t))); //传递CHANNEL_IMU通道数据到Qt前端 connect(dynamic_cast(_notify), SIGNAL(egoImu(float, float)), this, SLOT(onImuUpdate(float, float))); connect( dynamic_cast(_notify), SIGNAL(egoEncode(int32_t, int32_t)), this, SLOT( onEncodeUpdate(int32_t, int32_t))); connect(dynamic_cast(_notify), SIGNAL(egoFeedData(const FeedData&)), this, SLOT(onFeedData(const FeedData&))); connect(dynamic_cast(_notify), SIGNAL(egoPing(int32_t,double)), this, SLOT(onPing(int32_t,double))); connect(dynamic_cast(_notify), SIGNAL(egoPosition(float, float, float)), this, SLOT(OnPosition(float, float, float))); connect(dynamic_cast(_notify), SIGNAL(egoNotifyLeave(int32_t)), this, SLOT(onNotifyLeave(int32_t))); connect(dynamic_cast(_notify), SIGNAL(egoNotifyFail(int32_t)), this, SLOT(onNotifyFail(int32_t))); connect(dynamic_cast(_notify), SIGNAL(egoNotifyDel(int32_t)), this, SLOT(onNotifyDel(int32_t))); connect(dynamic_cast(_notify), SIGNAL(egoKickoff()), this, SLOT(onKickoff())); connect(dynamic_cast(_notify), SIGNAL(egoMoveEnd(int32_t, WorkArea , int32_t)), this, SLOT(onMoveEnd(int32_t, WorkArea, int32_t))); connect(dynamic_cast(_notify), SIGNAL(egoMoveRet(MoveDesc)), this, SLOT(onMoveRet(MoveDesc))); connect(dynamic_cast(_notify), SIGNAL(egoNotifyState(int32_t, UserState)), this, SLOT(onNotifyState(int32_t, UserState))); // connect(dynamic_cast(_notify),SIGNAL(ego) } AppModel::~AppModel() { if (d->carProp) delete d->carProp; if (d) delete d; } int AppModel::BrakePressure() const { return m_brake_pressure; } int AppModel::GearboxOilPressure()const { return m_gearbox_oil_pressure; } int AppModel::GearboxOilTemp() const { return m_gearbox_oil_temp; } int AppModel::EnginRpm()const { return m_engine_rpm; } int AppModel::Speed() const { return m_speed; } bool AppModel::Visible() const { return m_visible; } //int AppModel::Gear() const { return m_gear; } int AppModel::Cold() const { return m_cold_water; } //int AppModel::ModelX() const { return m_modelx; } //int AppModel::ModelY() const { return m_modely; } //int AppModel::ModelZ() const { return m_modelz; } int32_t AppModel::leftAngle() const { return m_leftAngle; } int32_t AppModel::rightAngle() const { return m_rightAngle; } int AppModel::EngineOilPressure() const { return m_engine_oil_pressure; } bool AppModel::ready() const { return m_ready; } QString AppModel::Account() const { return m_account; } QString AppModel::Password() const { return m_password; } QString AppModel::CarName() const { return m_carName; } QString AppModel::DriveName() const { return m_driveName; } int32_t AppModel::WorkPressure() const { return m_work_pressure; } int AppModel::radar1() const { return m_radar1; } int AppModel::radar2() const { return m_radar2; } int AppModel::radar3() const { return m_radar3; } int AppModel::radar4() const { return m_radar4; } int AppModel::radar5() const { return m_radar5; } int AppModel::radar6() const { return m_radar6; } int AppModel::radar7() const { return m_radar7; } int AppModel::radar8() const { return m_radar8; } int32_t AppModel::OilPos() const { return m_oil_pos; } int AppModel::ping() const { return m_ping; } double AppModel::temp() const { return m_temp; } float AppModel::imux() const { return int(m_imux); } float AppModel::imuy() const { return int(m_imuy); } int AppModel::alertSound() const { return m_alert; } bool AppModel::cautionLight() const { return m_cautionLight; } bool AppModel::lightL() const { return m_lightL; } bool AppModel::lightR() const { return m_lightR; } bool AppModel::gearF() const { return m_gearF; } bool AppModel::gearR() const { return m_gearR; } bool AppModel::carPark() const { return m_carPark; } bool AppModel::buzzerPlay() const { return m_buzzerPlay; } bool AppModel::lightFront() const { return m_lightFront; } bool AppModel::lightWork() const { return m_lightWork; } bool AppModel::emergency1() const { return m_emergency; } int AppModel::engineSpeed() const { return m_engineSpeed; } int AppModel::travelSpeed() const { return m_travelSpeed; } int AppModel::fuelLevel() const { return m_fuelLevel; } int AppModel::engineTemperature() const { return m_engineTemperature; } int AppModel::hydraulicOilTemperature() const { return m_hydraulicOilTemperature; } int AppModel::mainPump1Pressure() const { return m_mainPump1Pressure; } int AppModel::mainPump2Pressure() const { return m_mainPump2Pressure; } int AppModel::handGear() const { return m_handGear; } int AppModel::actualGear() const { return m_actualGear; } float AppModel::gripperHeight() const { return m_gripperHeight; } float AppModel::amplitude1() const { return m_amplitude; } int64_t AppModel::boomAngle() const { return m_boomAngle; } int64_t AppModel::stickAngle() const { return m_stickAngle; } bool AppModel::idleProtection() const { return m_idleProtection; } bool AppModel::frontToggle() const { return m_frontToggle; } bool AppModel::backToggle() const { return m_backToggle; } int AppModel::interLock() const { return m_interLock; } int AppModel::safetySwitch() const { return m_safetySwitch; } int AppModel::armLiftPilot() const { return m_armLiftPilot; } int AppModel::armLoweringPilot() const { return m_armLoweringPilot; } int AppModel::leverLiftingLilot() const { return m_leverLiftingLilot; } int AppModel::rodLoweringPilot() const { return m_rodLoweringPilot; } int AppModel::leftRotaryPilot() const { return m_leftRotaryPilot; } int AppModel::rightRotaryPilot() const { return m_rightRotaryPilot; } int AppModel::grabOpenPilot() const { return m_grabOpenPilot; } int AppModel::grabClosePilot() const { return m_grabClosePilot; } int AppModel::safetyValves() const { return m_safetyValves; } bool AppModel::liftPilotPressureSensor_F() const { return m_liftPilotPressureSensor_F; } bool AppModel::loweringPilotPressureSensor_F() const { return m_loweringPilotPressureSensor_F; } bool AppModel::leverLiftPilotPressureSensor_F() const { return m_leverLiftPilotPressureSensor_F; } bool AppModel::rodLoweringPilotPressurePensor_F() const { return m_rodLoweringPilotPressurePensor_F; } bool AppModel::leftTurnPilotPressureSensor_F() const { return m_leftTurnPilotPressureSensor_F; } bool AppModel::rightTurnPilotPressureSensor_F() const { return m_rightTurnPilotPressureSensor_F; } bool AppModel::legExtensionPilotPressureSensor_F() const { return m_legExtensionPilotPressureSensor_F; } bool AppModel::legRetractPilotPressureSensor_F() const { return m_legRetractPilotPressureSensor_F; } bool AppModel::grabOpenPilotPressureSensor_F() const { return m_grabOpenPilotPressureSensor_F; } bool AppModel::grabClosurePilotPressureSensor_F() const { return m_grabClosurePilotPressureSensor_F; } bool AppModel::mainPump1PressureSensor_F() const { return m_mainPump1PressureSensor_F; } bool AppModel::mainPump2PressureSensor_F() const { return m_mainPump2PressureSensor_F; } bool AppModel::chamberPressureSensor_F() const { return m_chamberPressureSensor_F; } bool AppModel::bucketRodPressureSensor_F() const { return m_bucketRodPressureSensor_F; } bool AppModel::parkingPressureSensor_F() const { return m_parkingPressureSensor_F; } bool AppModel::accumulatorPressureSensor_F() const { return m_accumulatorPressureSensor_F; } bool AppModel::gasPedal_F() const { return m_gasPedal_F; } bool AppModel::throttleKnob_F() const { return m_throttleKnob_F; } bool AppModel::legHandle_F() const { return m_legHandle_F; } bool AppModel::gripKnob_F() const { return m_gripKnob_F; } bool AppModel::hydraulicOilTemperatureSensor_F() const { return m_hydraulicOilTemperatureSensor_F; } bool AppModel::fuelLevelSensor_F() const { return m_fuelLevelSensor_F; } bool AppModel::boomAngleSensor_F() const { return m_boomAngleSensor_F; } bool AppModel::bucketLeverTiltSensor_F() const { return m_bucketLeverTiltSensor_F; } bool AppModel::expansionModule_F() const { return m_expansionModule_F; } bool AppModel::workingDistanceOverrun_F() const { return m_workingDistanceOverrun_F; } bool AppModel::lowOilLevel_F() const { return m_lowOilLevel_F; } bool AppModel::batteryLowVoltage_F() const { return m_batteryLowVoltage_F; } bool AppModel::batteryHighVoltage_F() const { return m_batteryHighVoltage_F; } bool AppModel::accumulatorPressure_F() const { return m_accumulatorPressure_F; } bool AppModel::highHydraulicOilTemperature_F() const { return m_highHydraulicOilTemperature_F; } bool AppModel::lowOilPressure_F() const { return m_lowOilPressure_F; } bool AppModel::coolantLevelLow_F() const { return m_coolantLevelLow_F; } bool AppModel::coolantTemperatureHigh_F() const { return m_coolantTemperatureHigh_F; } bool AppModel::systemOverload_F() const { return m_systemOverload_F; } bool AppModel::safebypassPressDown_F() const { return m_safebypassPressDown_F; } bool AppModel::engineSPN_F() const { return m_engineSPN_F; } bool AppModel::engineWarmUp_F() const { return m_engineWarmUp_F; } bool AppModel::engineWarmUpTimeout_F() const { return m_engineWarmUpTimeout_F; } bool AppModel::emergencyStopPress_F() const { return m_emergencyStopPress_F; } bool AppModel::leftFrontLegChosed() const { return m_leftFrontLegChosed; } bool AppModel::rightFrontLegChosed() const { return m_rightFrontLegChosed; } bool AppModel::leftRearLegChosed() const { return m_leftRearLegChosed; } bool AppModel::rightRearLegChosed() const { return m_rightRearLegChosed; } void AppModel::setReady(const bool value) { m_ready = value; emit readyChanged(); } void AppModel::SetSpeed(const int32_t value) { m_speed = value; emit speedChanged(); } void AppModel::SetVisible(const bool value) { m_visible = value; emit visibleChanged(); } void AppModel::SetCold(const int32_t value) { m_cold_water = value; emit coldChanged(); } void AppModel::SetGearBoxOilPressure(const int32_t value) { m_gearbox_oil_pressure = value; emit gearboxOilPressureChanged(); } void AppModel::setAccount(const QString& value) { m_account = value; emit accountChanged(); } void AppModel::setLeftAngle(const int32_t value) { m_leftAngle = value; emit leftAngleChanged(); } void AppModel::setRightAngle(const int32_t value) { m_rightAngle = value; emit rightAngleChanged(); } /* void AppModel::setModelX(const int32_t value) { m_modelx = value; emit modelXChanged(); } void AppModel::setModelZ(const int32_t value) { m_modelz = value+200; emit modelZChanged(); } void AppModel::setModelY(const int32_t value) { m_modely = value; emit modelYChanged(); } */ void AppModel::setPassword(const QString& password) { m_password = password; emit passwordChanged(); } void AppModel::setCarName(const QString& carname) { m_carName = carname; emit carNameChanged(); } void AppModel::setDriveName(const QString& drivename) { m_driveName = drivename; emit driveNameChanged(); } void AppModel::setWorkPressure(const int32_t value) { m_work_pressure = value; emit workPressureChanged(); } /* void AppModel::SetGear(const int32_t value) { m_gear = value; emit gearChanged(); } */ void AppModel::SetBrakePressure(int32_t value) { m_brake_pressure = value; emit brakePressureChanged(); } void AppModel::SetOilPos(int32_t value) { m_oil_pos = value; emit oilPosChanged(); } void AppModel::SetGearBoxOilTemp(const int32_t value) { m_gearbox_oil_temp = value; emit gearboxOilTempChanged(); } void AppModel::SetEngingRpm(const int32_t value) { m_engine_rpm = value; emit engineRpmChanged(); } void AppModel::SetEngineOilPressure(const int32_t value) { m_engine_oil_pressure = value; emit engineoilPressureChanged(); } void AppModel::setForward(const int32_t& value) { m_forward = value; g_iForwordState = value; //m_pQTimer->start(2000); emit forwardChanged(); // m_pQTimer->start(2000); //QThread::msleep(500); // QGuiApplication::processEvents(); // QThread::msleep(100); // QGuiApplication::processEvents(); } void AppModel::setBackward(const int32_t& value) { m_backward = value; emit backwardChanged(); } void AppModel::setGear_D(const int32_t& value) { m_gear_d = value; emit gear_dChanged(); } void AppModel::setDirectionLight(const int32_t& value) { m_light = value; emit directionlightChanged(); } void AppModel::setWiper(const bool& value) { m_wiper = value; emit wiperChanged(); } void AppModel::setFrontLight(const bool& value) { m_frontlight = value; emit frontlightChanged(); } void AppModel::setBackLight(const bool& value) { m_backlight = value; emit backlightChanged(); } void AppModel::setBuzzer(const bool& value) { m_buzzer = value; emit buzzerChanged(); } void AppModel::setRadar1(const int32_t &value) { m_radar1 = value; emit radar1Changed(); emit setRadar1Play(value); } void AppModel::setRadar2(const int32_t &value) { m_radar2 = value; emit radar2Changed(); emit setRadar2Play(value); } void AppModel::setRadar3(const int32_t &value) { m_radar3 = value; emit radar3Changed(); emit setRadar3Play(value); } void AppModel::setRadar4(const int32_t &value) { m_radar4 = value; emit radar4Changed(); emit setRadar4Play(value); } void AppModel::setRadar5(const int32_t &value) { m_radar5 = value; emit radar5Changed(); emit setRadar5Play(value); } void AppModel::setRadar6(const int32_t& value) { m_radar6 = value; emit radar6Changed(); emit setRadar6Play(value); } void AppModel::setRadar7(const int32_t& value) { m_radar7 = value; emit radar7Changed(); emit setRadar7Play(value); } void AppModel::setRadar8(const int32_t &value) { m_radar8 = value; emit radar8Changed(); emit setRadar8Play(value); } void AppModel::setImuy(const float& value) { m_imuy = value; emit imuyChanged(); } void AppModel::setImux(const float& value) { m_imux = value; emit imuxChanged(); } void AppModel::setEngineSpeed(const int32_t& value) { m_engineSpeed = value; emit engineSpeedPlay(int(value)); emit engineSpeedChanged(); } void AppModel::setTravelSpeed(const int32_t& value) { m_travelSpeed = value; emit travelSpeedChanged(); } void AppModel::setFuelLevel(const int32_t& value) { m_fuelLevel = value; emit fuelLevelChanged(); } void AppModel::setEngineTemperature(const int32_t& value) { m_engineTemperature = value; emit engineTemperatureChanged(); } void AppModel::setHydraulicOilTemperature(const int32_t& value) { m_hydraulicOilTemperature = value; emit hydraulicOilTemperatureChanged(); } void AppModel::setMainPump1Pressure(const int32_t& value) { m_mainPump1Pressure = value; emit mainPump1PressureChanged(); } void AppModel::setMainPump2Pressure(const int32_t& value) { m_mainPump2Pressure = value; emit mainPump2PressureChanged(); } void AppModel::setHandGear(const int32_t& value) { m_handGear = value; emit handGearChanged(); } void AppModel::setActualGear(const int32_t& value) { m_actualGear = value; emit actualGearChanged(); } void AppModel::setGripperHeight(const float& value) { m_gripperHeight = value; emit gripperHeightChanged(); } void AppModel::setAmplitude(const float& value) { m_amplitude = value; emit amplitudeChanged(); } void AppModel::setBoomAngle(const int32_t& value) { m_boomAngle = value; emit boomAngleChanged(); } void AppModel::setStickAngle(const int32_t& value) { m_stickAngle = value; emit stickAngleChanged(); } void AppModel::setIdleProtection(const bool& value) { m_idleProtection = value; emit idleProtectionChanged(); } void AppModel::setFrontToggle(const bool& value) { m_frontToggle = value; emit frontToggleChanged(); } void AppModel::setBackToggle(const bool& value) { m_backToggle = value; emit backToggleChanged(); } void AppModel::setInterLock(const int32_t& value) { m_interLock = value; emit interLockChanged(); } void AppModel::setSafetySwitch(const int32_t& value) { m_safetySwitch = value; emit safetySwitchChanged(); } void AppModel::setArmLiftPilot(const int32_t& value) { m_armLiftPilot = value; emit armLiftPilotChanged(); } void AppModel::setArmLoweringPilot(const int32_t& value) { m_armLoweringPilot = value; emit armLoweringPilotChanged(); } void AppModel::setLeverLiftingLilot(const int32_t& value) { m_leverLiftingLilot = value; emit leverLiftingLilotChanged(); } void AppModel::setRodLoweringPilot(const int32_t& value) { m_rodLoweringPilot = value; emit rodLoweringPilotChanged(); } void AppModel::setLeftRotaryPilot(const int32_t& value) { m_leftRotaryPilot = value; emit leftRotaryPilotChanged(); } void AppModel::setRightRotaryPilot(const int32_t& value) { m_rightRotaryPilot = value; emit rightRotaryPilotChanged(); } void AppModel::setGrabOpenPilot(const int32_t& value) { m_grabOpenPilot = value; emit grabOpenPilotChanged(); } void AppModel::setGrabClosePilot(const int32_t& value) { m_grabClosePilot = value; emit grabClosePilotChanged(); } void AppModel::setSafetyValves(const int32_t& value) { m_safetyValves = value; emit safetyValvesChanged(); } //报警信息 void AppModel::setLiftPilotPressureSensor_F(const bool& value) { m_liftPilotPressureSensor_F = value; emit liftPilotPressureSensor_FChanged(); } void AppModel::setLoweringPilotPressureSensor_F(const bool& value) { m_loweringPilotPressureSensor_F = value; emit loweringPilotPressureSensor_FChanged(); } void AppModel::setLeverLiftPilotPressureSensor_F(const bool& value) { m_leverLiftPilotPressureSensor_F = value; emit leverLiftPilotPressureSensor_FChanged(); } void AppModel::setRodLoweringPilotPressurePensor_F(const bool& value) { m_rodLoweringPilotPressurePensor_F = value; emit rodLoweringPilotPressurePensor_FChanged(); } void AppModel::setLeftTurnPilotPressureSensor_F(const bool& value) { m_leftTurnPilotPressureSensor_F = value; emit leftTurnPilotPressureSensor_FChanged(); } void AppModel::setRightTurnPilotPressureSensor_F(const bool& value) { m_rightTurnPilotPressureSensor_F = value; emit rightTurnPilotPressureSensor_FChanged(); } void AppModel::setLegExtensionPilotPressureSensor_F(const bool& value) { m_legExtensionPilotPressureSensor_F = value; emit legExtensionPilotPressureSensor_FChanged(); } void AppModel::setLegRetractPilotPressureSensor_F(const bool& value) { m_legRetractPilotPressureSensor_F = value; emit legRetractPilotPressureSensor_FChanged(); } void AppModel::setGrabOpenPilotPressureSensor_F(const bool& value) { m_grabOpenPilotPressureSensor_F = value; emit grabOpenPilotPressureSensor_FChanged(); } void AppModel::setGrabClosurePilotPressureSensor_F(const bool& value) { m_grabClosurePilotPressureSensor_F = value; emit grabClosurePilotPressureSensor_FChanged(); } void AppModel::setMainPump1PressureSensor_F(const bool& value) { m_mainPump1PressureSensor_F = value; emit mainPump1PressureSensor_FChanged(); } void AppModel::setMainPump2PressureSensor_F(const bool& value) { m_mainPump2PressureSensor_F = value; emit mainPump2PressureSensor_FChanged(); } void AppModel::setChamberPressureSensor_F(const bool& value) { m_chamberPressureSensor_F = value; emit chamberPressureSensor_FChanged(); } void AppModel::setBucketRodPressureSensor_F(const bool& value) { m_bucketRodPressureSensor_F = value; emit bucketRodPressureSensor_FChanged(); } void AppModel::setParkingPressureSensor_F(const bool& value) { m_parkingPressureSensor_F = value; emit parkingPressureSensor_FChanged(); } void AppModel::setAccumulatorPressureSensor_F(const bool& value) { m_accumulatorPressureSensor_F = value; emit accumulatorPressureSensor_FChanged(); } void AppModel::setGasPedal_F(const bool& value) { m_gasPedal_F = value; emit gasPedal_FChanged(); } void AppModel::setThrottleKnob_F(const bool& value) { m_throttleKnob_F = value; emit throttleKnob_FChanged(); } void AppModel::setLegHandle_F(const bool& value) { m_legHandle_F = value; emit legHandle_FChanged(); } void AppModel::setGripKnob_F(const bool& value) { m_gripKnob_F = value; emit gripKnob_FChanged(); } void AppModel::setHydraulicOilTemperatureSensor_F(const bool& value) { m_hydraulicOilTemperatureSensor_F = value; emit hydraulicOilTemperatureSensor_FChanged(); } void AppModel::setFuelLevelSensor_F(const bool& value) { m_fuelLevelSensor_F = value; emit fuelLevelSensor_FChanged(); } void AppModel::setBoomAngleSensor_F(const bool& value) { m_boomAngleSensor_F = value; emit boomAngleSensor_FChanged(); } void AppModel::setBucketLeverTiltSensor_F(const bool& value) { m_bucketLeverTiltSensor_F = value; emit bucketLeverTiltSensor_FChanged(); } void AppModel::setExpansionModule_F(const bool& value) { m_expansionModule_F = value; emit expansionModule_FChanged(); } void AppModel::setWorkingDistanceOverrun_F(const bool& value) { m_workingDistanceOverrun_F = value; emit workingDistanceOverrun_FChanged(); } void AppModel::setLowOilLevel_F(const bool& value) { m_lowOilLevel_F = value; emit lowOilLevel_FChanged(); } void AppModel::setBatteryLowVoltage_F(const bool& value) { m_batteryLowVoltage_F = value; emit batteryLowVoltage_FChanged(); } void AppModel::setBatteryHighVoltage_F(const bool& value) { m_batteryHighVoltage_F = value; emit batteryHighVoltage_FChanged(); } void AppModel::setAccumulatorPressure_F(const bool& value) { m_accumulatorPressure_F = value; emit accumulatorPressure_FChanged(); } void AppModel::setHighHydraulicOilTemperature_F(const bool& value) { m_highHydraulicOilTemperature_F = value; emit highHydraulicOilTemperature_FChanged(); } void AppModel::setLowOilPressure_F(const bool& value) { m_lowOilPressure_F = value; emit lowOilPressure_FChanged(); } void AppModel::setCoolantLevelLow_F(const bool& value) { m_coolantLevelLow_F = value; emit coolantLevelLow_FChanged(); } void AppModel::setCoolantTemperatureHigh_F(const bool& value) { m_coolantTemperatureHigh_F = value; emit coolantTemperatureHigh_FChanged(); } void AppModel::setSystemOverload_F(const bool& value) { m_systemOverload_F = value; emit systemOverload_FChanged(); } void AppModel::setSafebypassPressDown_F(const bool& value) { m_safebypassPressDown_F = value; emit safebypassPressDown_FChanged(); } void AppModel::setEngineSPN_F(const bool& value) { m_engineSPN_F = value; emit engineSPN_FChanged(); } void AppModel::setEngineWarmUp_F(const bool& value) { m_engineWarmUp_F = value; emit engineWarmUp_FChanged(); } void AppModel::setEngineWarmUpTimeout_F(const bool& value) { m_engineWarmUpTimeout_F = value; emit engineWarmUpTimeout_FChanged(); } void AppModel::setEmergencyStopPress_F(const bool& value) { m_emergencyStopPress_F = value; emit emergencyStopPress_FChanged(); } void AppModel::setLeftFrontLegChosed(const bool& value) { m_leftFrontLegChosed = value; emit leftFrontLegChosedChanged(); } void AppModel::setRightFrontLegChosed(const bool& value) { m_rightFrontLegChosed = value; emit rightFrontLegChosedChanged(); } void AppModel::setLeftRearLegChosed(const bool& value) { m_leftRearLegChosed = value; emit leftRearLegChosedChanged(); } void AppModel::setRightRearLegChosed(const bool& value) { m_rightRearLegChosed = value; emit rightRearLegChosedChanged(); } void AppModel::setCautionLight(const bool& value) { m_cautionLight = value; emit cautionLightChanged(); } void AppModel::setLightL(const bool& value) { m_lightL = value; emit lightLPlay(value); emit lightLChanged(); } void AppModel::setLightR(const bool& value) { m_lightR = value; emit lightRPlay(value); emit lightRChanged(); } void AppModel::setGearF(const bool& value) { m_gearF = value; emit gearFChanged(); } void AppModel::setGearR(const bool& value) { m_gearR = value; emit gearRPlay(value); emit gearRChanged(); } void AppModel::setCarPark(const bool& value) { m_carPark = value; emit carParkChanged(); } void AppModel::setBuzzerPlay(const bool& value) { m_buzzerPlay = value; emit buzzerPlayIt(value); emit buzzerPlayChanged(); } void AppModel::setLightFront(const bool& value) { m_lightFront = value; emit lightFrontChanged(); } void AppModel::setLightWork(const bool& value) { m_lightWork = value; emit lightWorkChanged(); } void AppModel::setEmergency(const bool& value) { m_emergency = value; emit emergencyChanged(); } /*void AppModel::setMqttToSever(cannet_frame* frames) { int keyStatus = ((frames[3].data[2] >> 7) & 0x01) * 2 + ((frames[3].data[3] >> 0) & 0x01) * 1; int gearControl= ((frames[3].data[0] >> 6) & 0x01) * 2 + ((frames[3].data[0] >> 5) & 0x01) * 1; int travelLight = ((frames[3].data[0] >> 0) & 0x01) * 2 + ((frames[3].data[0] >> 1) & 0x01) * 1; QString accPedal = QString::fromStdString(std::to_string(frames[0].data[0]) + " AND " + std::to_string(frames[0].data[1]) + " || " + std::to_string(frames[0].data[2]) + " AND " + std::to_string(frames[0].data[3])); QString brakePedal = QString::number(frames[0].data[4]) + " AND " +QString::number(frames[0].data[5]); QString steeringWheel = QString::number(frames[2].data[2]) + " AND " + QString::number(frames[2].data[3]); int turnSignal= ((frames[3].data[0] >> 4) & 0x01) * 2 + ((frames[3].data[0] >> 3) & 0x01) * 1; int turnMode = ((frames[3].data[3] >> 6) & 0x01) * 4 + ((frames[3].data[3] >> 5) & 0x01) * 3 + ((frames[3].data[3] >> 4) & 0x01) * 2 + ((frames[3].data[3] >> 3) & 0x01) * 1; int workLight = ((frames[3].data[2] >> 5) & 0x01) * 2 + ((frames[3].data[2] >> 4) & 0x01) * 1; int baseLegSwitch = ((frames[3].data[1] >> 5) & 0x01) * 8 + ((frames[3].data[1] >> 4) & 0x01) * 4 + ((frames[3].data[1] >> 3) & 0x01) * 2 + ((frames[3].data[1] >> 2) & 0x01) * 1; QString baseLegControl = QString::number(frames[0].data[6]) + " AND " + QString::number(frames[0].data[7]); QString taskJoint_1 = QString::number(frames[1].data[0]) + " AND " + QString::number(frames[1].data[1]); QString taskJoint_2 = QString::number(frames[1].data[6]) + " AND " + QString::number(frames[1].data[7]); QString taskJoint_3 = QString::number(frames[1].data[2]) + " AND " + QString::number(frames[1].data[3]); QString endJoint = QString::number(frames[2].data[0]) + " AND " + QString::number(frames[2].data[1]); QString toolControl = QString::number(frames[1].data[4]) + " AND " + QString::number(frames[1].data[5]); int cabLift = ((frames[3].data[1] >> 7) & 0x01) * 2 + ((frames[3].data[1] >> 6) & 0x01) * 1; int coopSignal = ((frames[3].data[4] >> 4) & 0x01) * 2 + ((frames[3].data[4] >> 3) & 0x01) * 1; int errAccPedal = ((frames[3].data[5] >> 7) & 0x01) * 2 + ((frames[3].data[5] >> 6) & 0x01) * 1; int errHandle = ((frames[3].data[5] >> 4) & 0x01) * 16+((frames[3].data[5] >> 3) & 0x01) * 8 + ((frames[3].data[5] >> 2) & 0x01) * 4 + ((frames[3].data[5] >> 1) & 0x01) * 2 + ((frames[3].data[5] >> 0) & 0x01) * 1; QJsonObject pcanObject; pcanObject.insert("cockpitID", "Cop001"); pcanObject.insert("userID", "Ego"); pcanObject.insert("vehicleID", "0538"); pcanObject.insert("timeStamp", "11111111111"); QJsonObject basObject; basObject.insert("keyStatus", keyStatus); basObject.insert("parkControl", frames[3].data[1] >> 0 & 0x01); basObject.insert("travelMode", frames[3].data[3] >> 2 & 0x01); basObject.insert("eStop", frames[3].data[3] >> 1 & 0x01); basObject.insert("directSwitch", frames[3].data[4] >> 2 & 0x01); basObject.insert("gearControl", gearControl); basObject.insert("hazardLight", frames[3].data[0] >> 2 & 0x01); basObject.insert("travelLight", travelLight); basObject.insert("vehicleHorn", frames[3].data[1] >> 1 & 0x01); basObject.insert("silencedAlarm", frames[3].data[2] >> 6 & 0x01); pcanObject.insert("basControl", basObject); QJsonObject driveObject; driveObject.insert("accPedal", accPedal); driveObject.insert("brakePedal", brakePedal); driveObject.insert("steeringWheel", steeringWheel); driveObject.insert("turnSignal", turnSignal); driveObject.insert("turnMode", turnMode); pcanObject.insert("driverControl", driveObject); QJsonObject taskObject; taskObject.insert("enableHydraulic", frames[3].data[2] >> 0 & 0x01); taskObject.insert("workLight", workLight); taskObject.insert("bypassSwitch", frames[3].data[2] >> 1 & 0x01); taskObject.insert("baseLegSwitch", baseLegSwitch); taskObject.insert("baseLegControl", baseLegControl); taskObject.insert("taskJoint_1", taskJoint_1); taskObject.insert("taskJoint_2", taskJoint_2); taskObject.insert("taskJoint_3", taskJoint_3); taskObject.insert("endJoint", endJoint); taskObject.insert("toolControl", toolControl); taskObject.insert("suckerSelect", frames[3].data[2] >> 2 & 0x01); taskObject.insert("cabLift", cabLift); taskObject.insert("esCabLift", frames[3].data[2] >> 3 & 0x01); taskObject.insert("coopSignal", coopSignal); pcanObject.insert("taskControl", taskObject); QJsonObject errObject; errObject.insert("errBasOperation", ""); errObject.insert("errAccPedal", errAccPedal); errObject.insert("errBrakePedal", frames[3].data[6] >> 0 & 0x01); errObject.insert("errSteeringWheel", frames[3].data[6] >> 1 & 0x01); errObject.insert("errHandle", errHandle); errObject.insert("errEndTool", frames[3].data[5] >> 5 & 0x01); errObject.insert("errOther", ""); pcanObject.insert("errCode", errObject); }*/ void AppModel::setSteerAngle(const float& value) { m_steerAngle = value; emit steerAngleChanged(); } float AppModel::Steer() const { return m_steerAngle; } void AppModel::setPing(const int32_t &value) { m_ping = value; emit pingChanged(); } void AppModel::setTemp(const double& value) { m_temp = value; emit tempChanged(); } void AppModel::onKickoff() { emit closeWin(); } /** 换挡 */ void AppModel::egoGearChanged(int gear) { //qDebug() << this << "gear states " << gear << "changed!!"; //gear == 1 是N挡 if (gear == 1) { //setForward(1); setForward(-1); } //gear ==2 是D挡 else if (gear == 2) { setForward(0); //setForward(1); } //gear==3 是R挡 else if (gear == 3) { //setForward(0); setForward(1); } } /** 升降换挡 */ void AppModel::egoGear_DChanged(int gear_d) { //qDebug() << this << "gear_d states " << gear << "changed!!"; if (gear_d == 0) { setGear_D(gear_d); } else if (gear_d == 1) { setGear_D(gear_d); } else if (gear_d == 2) { setGear_D(gear_d); } else if (gear_d == 3) { setGear_D(gear_d); } else if (gear_d == 4) { setGear_D(gear_d); } } /**转向灯*/ void AppModel::egoDirectionLightChanged(int light) { if (light == 0) { setDirectionLight(0); } else if (light == 1) { setDirectionLight(1); } else if (light == 2) { setDirectionLight(2); } } void AppModel::egoWiperChanged(bool wiper) { if (wiper == 0) { setWiper(1); } else if (wiper == 1) { setWiper(0); } } void AppModel::egoFrontLightChanged(bool frontlight) { if (frontlight == 0) { setFrontLight(1); } else if (frontlight == 1) { setFrontLight(0); } } void AppModel::egoBackLightChanged(bool backlight) { if (backlight == 0) { setBackLight(1); } else if (backlight == 1) { setBackLight(0); } } //add-wfg void AppModel::egoBuzzerChanged(bool buzzer) { if (buzzer == 0) { setBuzzer(1); } else if (buzzer == 1) { setBuzzer(0); } } void AppModel::egoCautionLightChanged(bool cautionLight) { setCautionLight(cautionLight); } void AppModel::egoLightLChanged(bool lightL) { setLightL(lightL); } void AppModel::egoLightRChanged(bool lightR) { setLightR(lightR); } void AppModel::egoGearFChanged(bool gearF) { setGearF(gearF); } void AppModel::egoGearRChanged(bool gearR) { setGearR(gearR); } void AppModel::egoCarParkChanged(bool carPark) { setCarPark(carPark); } void AppModel::egoBuzzerPlayChanged(bool buzzerPlay) { setBuzzerPlay(buzzerPlay); } void AppModel::egoLightFrontChanged(bool lightFront) { setLightFront(lightFront); } void AppModel::egoLightWorkChanged(bool lightWork) { setLightWork(lightWork); } void AppModel::egoEmergencyChanged(bool emergency) { setEmergency(emergency); } void AppModel::egoMqttChanged(cannet_frame* frames) { //setMqttToSever(frames); } void AppModel::onNotifyLeave(int32_t peer) { m_peer = -1; } void AppModel::onNotifyFail(int32_t peer) { m_peer = -1; } QQmlListProperty AppModel::car() const { return *(d->carProp); } void AppModel::userLogin(QString useName, QString password) { _control->Login(useName.toStdString(), password.toStdString()); } void AppModel::leaveCar(int carID) { if (m_ready == false) return; m_ready = false; m_peer = -1; _control->SetReady(false); _control->OnCarLeave(); //_control->ChangeState(UserState::Idle); _control->ChangeState(carID,UserState::Idle); } bool AppModel::idle(int id) { for (auto& node : _users) { if (node.uid == id &&((id==m_peer)|| node.state == UserState::Idle)) return true; } return false; } void AppModel::connectCar(int id) { for (auto& node : _users) { if (node.uid == id&&node.state==UserState::Idle) { if (m_ready == true) return; //_control->ChangeState(UserState::Remote); _control->ChangeState(id,UserState::Remote); _control->OnCarConnect(id); _control->SetReady(true); m_peer = id; SetVisible(node.carType == CarType::ZJ); setReady(true); this->setCarName(QString::fromStdString(node.name)); break; } } } void AppModel::controlCar(int id) { connectCar(id); } void AppModel::cancelControl() { //_control->ChangeState(UserState::Idle); } void AppModel::showBackDlg(QString content, WorkArea area, int32_t no, int32_t uid) { QVariant arg_1 = content; QVariant arg_2 = (int32_t)area; QVariant arg_3 = no; QVariant arg_4 = uid; QMetaObject::invokeMethod(m_qmlObj, "popDialog", Q_ARG(QVariant, arg_1), Q_ARG(QVariant, arg_2), Q_ARG(QVariant, arg_3), Q_ARG(QVariant, arg_4)); } void AppModel::showMoveDlg(MoveDesc desc) { QVariant arg_1 = (int32_t)desc; QMetaObject::invokeMethod(m_qmlObj, "moveErrorDialog", Q_ARG(QVariant, arg_1)); } /* void AppModel::showTrackDlg() { } void AppModel::unTrack() { m_ready = false; _control->SetReady(false); _control->OnCarLeave(); } bool AppModel::autoClose() { return _control->IsAutoClose(); } */ void AppModel::onLoginRst(bool rst) { qDebug() << "AppModel::loginResult >>"; // if (rst) { // delete previous carList // foreach (CarData *inf, d->car) // delete inf; // d->car.clear(); // req new list //_control->ReqCarList(); // } else { // qDebug() << "AppModel::loginResult >>" << rst; // } } void AppModel::onNotifyDel(int32_t peer) { for (int32_t i = 0; i < d->car.count(); i++) { if (d->car.at(i)->uid() == peer) { delete d->car.at(i); d->car.removeAt(i); break; } } emit carChanged(); for (auto it = _users.begin(); it != _users.end(); ++it) { if ((*it).uid == peer) { _users.erase(it); break; } } // d->car.clear(); } //车辆增加管理 void AppModel::onCarAppend(const UserCamera &info) { bool bFind = false; for (auto& node : d->car) { if (node->uid() == info.uid) { node->setType(QString::number(info.type)); node->setName(QString::fromStdString(info.name)); node->setState(QString::number(info.state)); node->setCarType(info.carType); bFind = true; return; } } if (!bFind) { CarData* users = new CarData;// = (CarData*)malloc; users->setUid(info.uid); users->setType(QString::number(info.type)); users->setName(QString::fromStdString(info.name)); users->setState(QString::number(info.state)); users->setCarType(info.carType); d->car.append(users); } bFind = false; for (auto& node : _users) { if (node.uid == info.uid) { bFind = true; } } if(!bFind) _users.push_back(info); //在 _users 中添加新的 UserCamera 对象 emit carChanged(); } void AppModel::onNotifyState(int32_t uid, UserState state) { for (auto& node : d->car) { if (node->uid() == uid) { node->setState(QString::number(state)); break; } } emit carChanged(); for (auto& node : _users) { if (node.uid == uid) { node.state = state; break; } } } void AppModel::onRadarUpadte(int32_t r0, int32_t r1, int32_t r2, int32_t r3, int32_t r4, int32_t r5,int32_t r6, int32_t r7) { if (r0 > 0) this->setRadar1(r0); if (r1 > 0) this->setRadar2(r1); if (r2 > 0) this->setRadar3(r2); if (r3 > 0) this->setRadar4(r3); if (r4 > 0) this->setRadar5(r4); if (r5 > 0) this->setRadar6(r5); if (r6 > 0) this->setRadar7(r6); if (r7 > 0) this->setRadar8(r7); //断点 int32_t distance = 2000; if ((r0 > 0 && r0 < distance) || (r1 > 0 && r1 < distance) || (r2 > 0 && r2 < distance) || (r3 > 0 && r3 < distance) || (r4 > 0 && r4 < distance) || (r5 > 0 && r5 < distance) || (r6 > 0 && r6 < distance) || (r7 > 0 && r7 < distance)) { emit playAlertSound(); } } void AppModel::onFeedData(const FeedData& data) { this->setEngineSpeed(data.engine_speed); this->setTravelSpeed(data.travel_speed); this->setFuelLevel(data.fuel_level); this->setEngineTemperature(data.engine_temperature); this->setHydraulicOilTemperature(data.hydraulic_oil_temperature); this->setMainPump1Pressure(data.main_pump_1_pressure); this->setMainPump2Pressure(data.main_pump_2_pressure); this->setHandGear(data.hand_gear); this->setActualGear(data.actual_gear); this->setGripperHeight(data.gripper_height); this->setAmplitude(data.amplitude); this->setBoomAngle(data.boom_angle); this->setStickAngle(data.stick_angle); this->setIdleProtection(data.idle_protection); this->setFrontToggle(data.front_toggle); this->setBackToggle(data.back_toggle); this->setInterLock(data.interlock); this->setSafetySwitch(data.safety_switch); this->setArmLiftPilot(data.arm_lift_pilot); this->setArmLoweringPilot(data.arm_lowering_pilot); this->setLeverLiftingLilot(data.lever_lifting_pilot); this->setRodLoweringPilot(data.rod_lowering_pilot); this->setLeftRotaryPilot(data.left_rotary_pilot); this->setRightRotaryPilot(data.right_rotary_pilot); this->setGrabOpenPilot(data.grab_open_pilot); this->setGrabClosePilot(data.grab_close_pilot); this->setSafetyValves(data.safety_valves); this->setLiftPilotPressureSensor_F(data.liftpilotpressuresensor_f); this->setLoweringPilotPressureSensor_F(data.loweringpilotpressuresensor_f); this->setLeverLiftPilotPressureSensor_F(data.leverliftpilotpressuresensor_f); this->setRodLoweringPilotPressurePensor_F(data.rodloweringpilotpressurepensor_f); this->setLeftTurnPilotPressureSensor_F(data.leftturnpilotpressuresensor_f); this->setRightTurnPilotPressureSensor_F(data.rightturnpilotpressuresensor_f); this->setLegExtensionPilotPressureSensor_F(data.legextensionpilotpressuresensor_f); this->setLegRetractPilotPressureSensor_F(data.legretractpilotpressuresensor_f); this->setGrabOpenPilotPressureSensor_F(data.grabopenpilotpressuresensor_f); this->setGrabClosurePilotPressureSensor_F(data.grabclosurepilotpressuresensor_f); this->setMainPump1PressureSensor_F(data.mainpump1pressuresensor_f); this->setMainPump2PressureSensor_F(data.mainpump2pressuresensor_f); this->setChamberPressureSensor_F(data.chamberpressuresensor_f); this->setBucketRodPressureSensor_F(data.bucketrodpressuresensor_f); this->setParkingPressureSensor_F(data.parkingpressuresensor_f); this->setAccumulatorPressureSensor_F(data.accumulatorpressuresensor_f); this->setGasPedal_F(data.gaspedal_f); this->setThrottleKnob_F(data.throttleknob_f); this->setLegHandle_F(data.leghandle_f); this->setGripKnob_F(data.gripknob_f); this->setHydraulicOilTemperatureSensor_F(data.hydraulicoiltemperaturesensor_f); this->setFuelLevelSensor_F(data.fuellevelsensor_f); this->setBoomAngleSensor_F(data.boomanglesensor_f); this->setBucketLeverTiltSensor_F(data.bucketlevertiltsensor_f); this->setExpansionModule_F(data.expansionmodule_f); this->setWorkingDistanceOverrun_F(data.workingdistanceoverrun_f); this->setLowOilLevel_F(data.lowoillevel_f); this->setBatteryLowVoltage_F(data.batterylowvoltage_f); this->setBatteryHighVoltage_F(data.batteryhighvoltage_f); this->setAccumulatorPressure_F(data.accumulatorpressure_f); this->setHighHydraulicOilTemperature_F(data.highhydraulicoiltemperature_f); this->setLowOilPressure_F(data.lowoilpressure_f); this->setCoolantLevelLow_F(data.coolantlevellow_f); this->setCoolantTemperatureHigh_F(data.coolanttemperaturehigh_f); this->setSystemOverload_F(data.systemoverload_f); this->setSafebypassPressDown_F(data.safebypasspressdown_f); this->setEngineSPN_F(data.enginespn_f); this->setEngineWarmUp_F(data.enginewarmup_f); this->setEngineWarmUpTimeout_F(data.enginewarmuptimeout_f); this->setEmergencyStopPress_F(data.emergencystoppress_f); this->setLeftFrontLegChosed(data.leftfrontlegchosed); this->setRightFrontLegChosed(data.rightfrontlegchosed); this->setLeftRearLegChosed(data.leftrearlegchosed); this->setRightRearLegChosed(data.rightrearlegchosed); this->SetBrakePressure(data.brake_pressure); this->SetEngineOilPressure(data.engine_pressure); this->SetEngingRpm(data.engine_rpm); //this->SetGear(data.gear); this->SetGearBoxOilPressure(data.gearbox_oil_pressure); this->SetGearBoxOilTemp(data.gearbox_oil_temp); this->SetSpeed(data.speed); this->setWorkPressure(data.work_pressure); this->SetCold(data.cold_water); this->setSteerAngle(data.steer_angle/4096.f*360.f); } void AppModel::onPing(int32_t value, double temp) { this->setPing(value); this->setTemp(temp); } void AppModel::onImuUpdate(float x, float y) { //断点 this->setImux(x); this->setImuy(y); } void AppModel::logout() { d->car.clear(); m_ready = false; } void AppModel::moveBegin(int32_t area,int32_t no) { if (m_peer == -1) return; no -= 1; // _control->OnCarLeave(); _control->OnMoveBegin(m_peer, static_cast(area), no); } /* void AppModel::switchDriver() { if (m_peer == -1) return; _control->SwitchDriver(m_peer); } */ void AppModel::onMoveEnd(int32_t rid, WorkArea area, int32_t no) { for (auto& user:_users) { if (user.uid == rid) { //sr text[128]; //sprintf(text,"%s �Ѿ�����Ŀ��ص�\n \t ����Զ�̲ٿ�", data->name().toStdString().c_str()); QString str = QString::fromStdString(user.name); showBackDlg(str, area,no,rid); //_control->ChangeState(UserState::AskRemote); _control->ChangeState(rid,UserState::AskRemote); // sprintf(text, "321321312" ); } } } void AppModel::onMoveRet(MoveDesc desc) { if (desc != MoveDesc::Move_OK) { showMoveDlg(desc); } } /* void AppModel::areaChanged(int32_t area) { m_area = static_cast(area); } */ void AppModel::OnClose() { if (m_ready) { leaveCar(100); Sleep(5000); } //调用直接终止当前进程 ::ExitProcess(0); } void AppModel::onEncodeUpdate(int32_t left, int32_t right) { setLeftAngle(left); setRightAngle(right); } /* void AppModel::OnPosition(float x, float y, float z) { setModelX(x * 100); setModelY(y * 100); setModelZ(z * 100); } */