Cockpit-cpp/ZjQt/Qt/appmodel.cpp

#include "appmodel.h"
#include "Ego.h"
#define WIN23_LEAN_AND_MEAN
#include <Windows.h>
#include <QJsonObject>
//#include "FishEyeWindow.h"
// extern std::array<IRender *, 3> ar;
std::atomic<int> 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<CarData *> car;
  QQmlListProperty<CarData> *carProp = nullptr;
};

//向car列表中添加元素
static void carAppend(QQmlListProperty<CarData> *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<CarData> *prop, qsizetype index) {
  AppModelPrivate *d = static_cast<AppModelPrivate *>(prop->data);
  return d->car.at(index);
}

//获取 car 列表中元素的数量
static qsizetype carCount(QQmlListProperty<CarData> *prop) {
  AppModelPrivate *d = static_cast<AppModelPrivate *>(prop->data);
  return d->car.size();
}

//清空 car 列表中的所有元素
static void carClear(QQmlListProperty<CarData> *prop) {
  static_cast<AppModelPrivate *>(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<CarData>(this, d, carAppend, carCount,
                                             carAt, carClear);
  m_ready = false;
 // _window = std::make_unique<CFishEyeWindow>();
  //_window->Start("192.168.1.64");

  connect(dynamic_cast<QObject *>(_notify), SIGNAL(egoLoginResult(bool)), this,
          SLOT(onLoginRst(bool)));

  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoGearChanged(int)), this,
      SLOT(egoGearChanged(int))); /** 换挡操作 */

  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoGear_DChanged(int)), this,
      SLOT(egoGear_DChanged(int))); /** 升降换挡操作 */

  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoDirectionLightChanged(int)), this,
      SLOT(egoDirectionLightChanged(int))); /** 转向灯 */

  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoWiperChanged(bool)), this,
      SLOT(egoWiperChanged(bool))); /** 雨刮器 */

  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoFrontLightChanged(bool)), this,
      SLOT(egoFrontLightChanged(bool))); /** 前车灯 */

  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoBackLightChanged(bool)), this,
      SLOT(egoBackLightChanged(bool))); /** 后车灯 */

  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoBuzzerChanged(bool)), this,
      SLOT(egoBuzzerChanged(bool))); /** 喇叭 */

  //connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoEmergencyChanged(bool)), this,
  //    SLOT(egoEmergencyChanged(bool))); /** 急停开关按下 */

  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoCautionLightChanged(bool)), this,
      SLOT(egoCautionLightChanged(bool)));
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoLightLChanged(bool)), this,
      SLOT(egoLightLChanged(bool)));
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoLightRChanged(bool)), this,
      SLOT(egoLightRChanged(bool)));
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoGearFChanged(bool)), this,
      SLOT(egoGearFChanged(bool)));
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoGearRChanged(bool)), this,
      SLOT(egoGearRChanged(bool)));
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoCarParkChanged(bool)), this,
      SLOT(egoCarParkChanged(bool)));
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoBuzzerPlayChanged(bool)), this,
      SLOT(egoBuzzerPlayChanged(bool)));
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoLightFrontChanged(bool)), this,
      SLOT(egoLightFrontChanged(bool)));
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoLightWorkChanged(bool)), this,
      SLOT(egoLightWorkChanged(bool)));
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoEmergencyChanged(bool)), this,
      SLOT(egoEmergencyChanged(bool)));
  connect(dynamic_cast<QObject*>(_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<QObject *>(_notify), SIGNAL(egoCarAppend(UserCamera)),
          this, SLOT(onCarAppend(UserCamera)));

  connect(
      dynamic_cast<QObject *>(_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<QObject*>(_notify), SIGNAL(egoImu(float, float)), this,
      SLOT(onImuUpdate(float, float)));
  
  connect(
      dynamic_cast<QObject*>(_notify),
      SIGNAL(egoEncode(int32_t, int32_t)),
      this,
      SLOT(
          onEncodeUpdate(int32_t, int32_t)));

  connect(dynamic_cast<QObject*>(_notify),
      SIGNAL(egoFeedData(const FeedData&)),
      this,
      SLOT(onFeedData(const FeedData&)));
  connect(dynamic_cast<QObject *>(_notify), SIGNAL(egoPing(int32_t,double)), this,
          SLOT(onPing(int32_t,double)));
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoPosition(float, float, float)), this,
      SLOT(OnPosition(float, float, float)));
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoNotifyLeave(int32_t)), this,
	  SLOT(onNotifyLeave(int32_t)));
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoNotifyFail(int32_t)), this,
      SLOT(onNotifyFail(int32_t)));
  connect(dynamic_cast<QObject *>(_notify), SIGNAL(egoNotifyDel(int32_t)), this,
          SLOT(onNotifyDel(int32_t)));

  connect(dynamic_cast<QObject *>(_notify), SIGNAL(egoKickoff()), this,
          SLOT(onKickoff()));
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoMoveEnd(int32_t, WorkArea , int32_t)), this,
      SLOT(onMoveEnd(int32_t, WorkArea, int32_t)));
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoMoveRet(MoveDesc)), this,
      SLOT(onMoveRet(MoveDesc)));
 
  connect(dynamic_cast<QObject*>(_notify), SIGNAL(egoNotifyState(int32_t, UserState)), this,
      SLOT(onNotifyState(int32_t, UserState)));
 // connect(dynamic_cast<QObject *>(_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<CarData> 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<WorkArea>(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<WorkArea>(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);
}
*/