Cockpit-cpp/ZjQt/Qt/appmodel.h

#ifndef APPMODEL_H
#define APPMODEL_H

#include "EgoInterface.h"
#include "ImageProvider.h"
#include <QObject>
#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtGui>
#include <QtQml/qqml.h>
#include "mqtt/async_client.h"

class CarData : public QObject {
  Q_OBJECT
  Q_PROPERTY(int32_t uid READ uid WRITE setUid NOTIFY dataChanged)
  Q_PROPERTY(QString name READ name WRITE setName NOTIFY dataChanged)
  Q_PROPERTY(QString type READ type WRITE setType NOTIFY dataChanged)
  Q_PROPERTY(QString state READ state WRITE setState NOTIFY dataChanged)

public:
  explicit CarData(QObject *parent = 0);
  CarData(const CarData &other);

  int32_t uid() const;
  QString name() const;
  QString type() const;
  QString state() const;
  int32_t carType() const;

  void setUid(const int32_t &value);
  void setName(const QString &value);
  void setType(const QString &value);
  void setState(const QString &value);
  void setCarType(const int32_t& value);
signals:
  void dataChanged();

private:
  int32_t m_uid;
  int32_t m_carType;
  QString m_name;
  QString m_type;
  QString m_state;
};
Q_DECLARE_METATYPE(CarData)

class AppModelPrivate;
class CFishEyeWindow;
class AppModel : public QObject {
  Q_OBJECT

  Q_PROPERTY(bool ready READ ready WRITE setReady NOTIFY readyChanged)
  Q_PROPERTY(QQmlListProperty<CarData> car READ car NOTIFY carChanged)
  Q_PROPERTY(int32_t radar1 READ radar1 WRITE setRadar1 NOTIFY radar1Changed)
  Q_PROPERTY(int32_t radar2 READ radar2 WRITE setRadar2 NOTIFY radar2Changed)
  Q_PROPERTY(int32_t radar3 READ radar3 WRITE setRadar3 NOTIFY radar3Changed)
  Q_PROPERTY(int32_t radar4 READ radar4 WRITE setRadar4 NOTIFY radar4Changed)
  Q_PROPERTY(int32_t radar5 READ radar5 WRITE setRadar5 NOTIFY radar5Changed)
  Q_PROPERTY(int32_t radar6 READ radar6 WRITE setRadar6 NOTIFY radar6Changed)
  Q_PROPERTY(int32_t radar7 READ radar7 WRITE setRadar7 NOTIFY radar7Changed)
  Q_PROPERTY(int32_t radar8 READ radar8 WRITE setRadar8 NOTIFY radar8Changed)
  Q_PROPERTY(float Steer READ Steer WRITE setSteerAngle NOTIFY steerAngleChanged)
  Q_PROPERTY(int32_t ping READ ping WRITE setPing NOTIFY pingChanged)
  Q_PROPERTY(int32_t temp READ temp WRITE setTemp NOTIFY tempChanged)
  Q_PROPERTY(int32_t alertSound READ alertSound NOTIFY playAlertSound)
  Q_PROPERTY(int32_t Speed READ Speed WRITE SetSpeed NOTIFY speedChanged)
  Q_PROPERTY(int32_t Visible READ Visible WRITE SetVisible NOTIFY visibleChanged)
//  Q_PROPERTY(int32_t Gear READ Gear WRITE SetGear NOTIFY gearChanged)
  Q_PROPERTY(QString Account READ Account WRITE setAccount NOTIFY accountChanged)
  Q_PROPERTY(QString Password READ Password WRITE setPassword NOTIFY passwordChanged)
  Q_PROPERTY(QString CarName READ CarName WRITE setCarName NOTIFY carNameChanged)
  Q_PROPERTY(QString DriveName READ DriveName WRITE setDriveName NOTIFY driveNameChanged)

  Q_PROPERTY(int32_t BrakePressure READ BrakePressure WRITE SetBrakePressure NOTIFY brakePressureChanged)
  Q_PROPERTY(int32_t GearboxOilPressure READ GearboxOilPressure WRITE SetGearBoxOilPressure NOTIFY gearboxOilPressureChanged)
  Q_PROPERTY(int32_t GearboxOilTemp READ GearboxOilTemp WRITE SetGearBoxOilTemp NOTIFY gearboxOilTempChanged)
  Q_PROPERTY(int32_t EnginRpm READ EnginRpm WRITE SetEngingRpm NOTIFY engineRpmChanged)
  Q_PROPERTY(int32_t EngineOilPressure READ EngineOilPressure WRITE SetEngineOilPressure NOTIFY engineoilPressureChanged)
  Q_PROPERTY(int32_t OilPos READ OilPos WRITE SetOilPos NOTIFY oilPosChanged)
  Q_PROPERTY(int32_t WorkPressure READ WorkPressure WRITE setWorkPressure NOTIFY workPressureChanged)
  Q_PROPERTY(int32_t Cold READ Cold WRITE SetCold NOTIFY coldChanged)
  Q_PROPERTY(int32_t leftAngle READ leftAngle WRITE setLeftAngle NOTIFY leftAngleChanged)
  Q_PROPERTY(int32_t rightAngle READ rightAngle WRITE setRightAngle NOTIFY rightAngleChanged)
  
  //RTK定位惯导数据
  Q_PROPERTY(float imux READ imux WRITE setImux NOTIFY imuxChanged)
  Q_PROPERTY(float imuy READ imuy WRITE setImuy NOTIFY imuyChanged)

  Q_PROPERTY(bool cautionLight READ cautionLight WRITE setCautionLight NOTIFY cautionLightChanged)
  Q_PROPERTY(bool lightL READ lightL WRITE setLightL NOTIFY lightLChanged)
  Q_PROPERTY(bool lightR READ lightR WRITE setLightR NOTIFY lightRChanged)
  Q_PROPERTY(bool gearF READ gearF WRITE setGearF NOTIFY gearFChanged)
  Q_PROPERTY(bool gearR READ gearR WRITE setGearR NOTIFY gearRChanged)
  Q_PROPERTY(bool carPark READ carPark WRITE setCarPark NOTIFY carParkChanged)
  Q_PROPERTY(bool buzzerPlay READ buzzerPlay WRITE setBuzzerPlay NOTIFY buzzerPlayChanged)
  Q_PROPERTY(bool lightFront READ lightFront WRITE setLightFront NOTIFY lightFrontChanged)
  Q_PROPERTY(bool lightWork READ lightWork WRITE setLightWork NOTIFY lightWorkChanged)
  Q_PROPERTY(bool emergency1 READ emergency1 WRITE setEmergency NOTIFY emergencyChanged)

  Q_PROPERTY(int32_t engineSpeed READ engineSpeed WRITE setEngineSpeed NOTIFY engineSpeedChanged)
  Q_PROPERTY(int32_t travelSpeed READ travelSpeed WRITE setTravelSpeed NOTIFY travelSpeedChanged)
  Q_PROPERTY(int32_t fuelLevel READ fuelLevel WRITE setFuelLevel NOTIFY fuelLevelChanged)
  Q_PROPERTY(int32_t engineTemperature READ engineTemperature WRITE setEngineTemperature NOTIFY engineTemperatureChanged)
  Q_PROPERTY(int32_t hydraulicOilTemperature READ hydraulicOilTemperature WRITE setHydraulicOilTemperature NOTIFY hydraulicOilTemperatureChanged)
  Q_PROPERTY(int32_t mainPump1Pressure READ mainPump1Pressure WRITE setMainPump1Pressure NOTIFY mainPump1PressureChanged)
  Q_PROPERTY(int32_t mainPump2Pressure READ mainPump2Pressure WRITE setMainPump2Pressure NOTIFY mainPump2PressureChanged)
  Q_PROPERTY(int32_t handGear READ handGear WRITE setHandGear NOTIFY handGearChanged)
  Q_PROPERTY(int32_t actualGear READ actualGear WRITE setActualGear NOTIFY actualGearChanged)
  Q_PROPERTY(float gripperHeight READ gripperHeight WRITE setGripperHeight NOTIFY gripperHeightChanged)
  Q_PROPERTY(float amplitude1 READ amplitude1 WRITE setAmplitude NOTIFY amplitudeChanged)
  Q_PROPERTY(int64_t boomAngle READ boomAngle WRITE setBoomAngle NOTIFY boomAngleChanged)
  Q_PROPERTY(int64_t stickAngle READ stickAngle WRITE setStickAngle NOTIFY stickAngleChanged)
  Q_PROPERTY(bool idleProtection READ idleProtection WRITE setIdleProtection NOTIFY idleProtectionChanged)
  Q_PROPERTY(bool frontToggle READ frontToggle WRITE setFrontToggle NOTIFY frontToggleChanged)
  Q_PROPERTY(bool backToggle READ backToggle WRITE setBackToggle NOTIFY backToggleChanged)

  Q_PROPERTY(int32_t interLock READ interLock WRITE setInterLock NOTIFY interLockChanged)
  Q_PROPERTY(int32_t safetySwitch READ safetySwitch WRITE setSafetySwitch NOTIFY safetySwitchChanged)
  Q_PROPERTY(int32_t armLiftPilot READ armLiftPilot WRITE setArmLiftPilot NOTIFY armLiftPilotChanged)
  Q_PROPERTY(int32_t armLoweringPilot READ armLoweringPilot WRITE setArmLoweringPilot NOTIFY armLoweringPilotChanged)
  Q_PROPERTY(int32_t leverLiftingLilot READ leverLiftingLilot WRITE setLeverLiftingLilot NOTIFY leverLiftingLilotChanged)
  Q_PROPERTY(int32_t rodLoweringPilot READ rodLoweringPilot WRITE setRodLoweringPilot NOTIFY rodLoweringPilotChanged)
  Q_PROPERTY(int32_t leftRotaryPilot READ leftRotaryPilot WRITE setLeftRotaryPilot NOTIFY leftRotaryPilotChanged)
  Q_PROPERTY(int32_t rightRotaryPilot READ rightRotaryPilot WRITE setRightRotaryPilot NOTIFY rightRotaryPilotChanged)
  Q_PROPERTY(int32_t grabOpenPilot READ grabOpenPilot WRITE setGrabOpenPilot NOTIFY grabOpenPilotChanged)
  Q_PROPERTY(int32_t grabClosePilot READ grabClosePilot WRITE setGrabClosePilot NOTIFY grabClosePilotChanged)
  Q_PROPERTY(int32_t safetyValves READ safetyValves WRITE setSafetyValves NOTIFY safetyValvesChanged)





  Q_PROPERTY(bool liftPilotPressureSensor_F READ liftPilotPressureSensor_F WRITE setLiftPilotPressureSensor_F NOTIFY liftPilotPressureSensor_FChanged)
  Q_PROPERTY(bool loweringPilotPressureSensor_F READ loweringPilotPressureSensor_F WRITE setLoweringPilotPressureSensor_F NOTIFY loweringPilotPressureSensor_FChanged)
  Q_PROPERTY(bool leverLiftPilotPressureSensor_F READ leverLiftPilotPressureSensor_F WRITE setLeverLiftPilotPressureSensor_F NOTIFY leverLiftPilotPressureSensor_FChanged)
  Q_PROPERTY(bool rodLoweringPilotPressurePensor_F READ rodLoweringPilotPressurePensor_F WRITE setRodLoweringPilotPressurePensor_F NOTIFY rodLoweringPilotPressurePensor_FChanged)
  Q_PROPERTY(bool leftTurnPilotPressureSensor_F READ leftTurnPilotPressureSensor_F WRITE setLeftTurnPilotPressureSensor_F NOTIFY leftTurnPilotPressureSensor_FChanged)
  Q_PROPERTY(bool rightTurnPilotPressureSensor_F READ rightTurnPilotPressureSensor_F WRITE setRightTurnPilotPressureSensor_F NOTIFY rightTurnPilotPressureSensor_FChanged)
  Q_PROPERTY(bool legExtensionPilotPressureSensor_F READ legExtensionPilotPressureSensor_F WRITE setLegExtensionPilotPressureSensor_F NOTIFY legExtensionPilotPressureSensor_FChanged)
  Q_PROPERTY(bool legRetractPilotPressureSensor_F READ legRetractPilotPressureSensor_F WRITE setLegRetractPilotPressureSensor_F NOTIFY legRetractPilotPressureSensor_FChanged)
  Q_PROPERTY(bool grabOpenPilotPressureSensor_F READ grabOpenPilotPressureSensor_F WRITE setGrabOpenPilotPressureSensor_F NOTIFY grabOpenPilotPressureSensor_FChanged)
  Q_PROPERTY(bool grabClosurePilotPressureSensor_F READ grabClosurePilotPressureSensor_F WRITE setGrabClosurePilotPressureSensor_F NOTIFY grabClosurePilotPressureSensor_FChanged)
  Q_PROPERTY(bool mainPump1PressureSensor_F READ mainPump1PressureSensor_F WRITE setMainPump1PressureSensor_F NOTIFY mainPump1PressureSensor_FChanged)
  Q_PROPERTY(bool mainPump2PressureSensor_F READ mainPump2PressureSensor_F WRITE setMainPump2PressureSensor_F NOTIFY mainPump2PressureSensor_FChanged)
  Q_PROPERTY(bool chamberPressureSensor_F READ chamberPressureSensor_F WRITE setChamberPressureSensor_F NOTIFY chamberPressureSensor_FChanged)
  Q_PROPERTY(bool bucketRodPressureSensor_F READ bucketRodPressureSensor_F WRITE setBucketRodPressureSensor_F NOTIFY bucketRodPressureSensor_FChanged)
  Q_PROPERTY(bool parkingPressureSensor_F READ parkingPressureSensor_F WRITE setParkingPressureSensor_F NOTIFY parkingPressureSensor_FChanged)
  Q_PROPERTY(bool accumulatorPressureSensor_F READ accumulatorPressureSensor_F WRITE setAccumulatorPressureSensor_F NOTIFY accumulatorPressureSensor_FChanged)
  Q_PROPERTY(bool gasPedal_F READ gasPedal_F WRITE setGasPedal_F NOTIFY gasPedal_FChanged)
  Q_PROPERTY(bool throttleKnob_F READ throttleKnob_F WRITE setThrottleKnob_F NOTIFY throttleKnob_FChanged)
  Q_PROPERTY(bool legHandle_F READ legHandle_F WRITE setLegHandle_F NOTIFY legHandle_FChanged)
  Q_PROPERTY(bool gripKnob_F READ gripKnob_F WRITE setGripKnob_F NOTIFY gripKnob_FChanged)
  Q_PROPERTY(bool hydraulicOilTemperatureSensor_F READ hydraulicOilTemperatureSensor_F WRITE setHydraulicOilTemperatureSensor_F NOTIFY hydraulicOilTemperatureSensor_FChanged)
  Q_PROPERTY(bool fuelLevelSensor_F READ fuelLevelSensor_F WRITE setFuelLevelSensor_F NOTIFY fuelLevelSensor_FChanged)
  Q_PROPERTY(bool boomAngleSensor_F READ boomAngleSensor_F WRITE setBoomAngleSensor_F NOTIFY boomAngleSensor_FChanged)
  Q_PROPERTY(bool bucketLeverTiltSensor_F READ bucketLeverTiltSensor_F WRITE setBucketLeverTiltSensor_F NOTIFY bucketLeverTiltSensor_FChanged)
  Q_PROPERTY(bool expansionModule_F READ expansionModule_F WRITE setExpansionModule_F NOTIFY expansionModule_FChanged)
  Q_PROPERTY(bool workingDistanceOverrun_F READ workingDistanceOverrun_F WRITE setWorkingDistanceOverrun_F NOTIFY workingDistanceOverrun_FChanged)
  Q_PROPERTY(bool lowOilLevel_F READ lowOilLevel_F WRITE setLowOilLevel_F NOTIFY lowOilLevel_FChanged)
  Q_PROPERTY(bool batteryLowVoltage_F READ batteryLowVoltage_F WRITE setBatteryLowVoltage_F NOTIFY batteryLowVoltage_FChanged)
  Q_PROPERTY(bool batteryHighVoltage_F READ batteryHighVoltage_F WRITE setBatteryHighVoltage_F NOTIFY batteryHighVoltage_FChanged)
  Q_PROPERTY(bool accumulatorPressure_F READ accumulatorPressure_F WRITE setAccumulatorPressure_F NOTIFY accumulatorPressure_FChanged)
  Q_PROPERTY(bool highHydraulicOilTemperature_F READ highHydraulicOilTemperature_F WRITE setHighHydraulicOilTemperature_F NOTIFY highHydraulicOilTemperature_FChanged)
  Q_PROPERTY(bool lowOilPressure_F READ lowOilPressure_F WRITE setLowOilPressure_F NOTIFY lowOilPressure_FChanged)
  Q_PROPERTY(bool coolantLevelLow_F READ coolantLevelLow_F WRITE setCoolantLevelLow_F NOTIFY coolantLevelLow_FChanged)
  Q_PROPERTY(bool coolantTemperatureHigh_F READ coolantTemperatureHigh_F WRITE setCoolantTemperatureHigh_F NOTIFY coolantTemperatureHigh_FChanged)
  Q_PROPERTY(bool systemOverload_F READ systemOverload_F WRITE setSystemOverload_F NOTIFY systemOverload_FChanged)
  Q_PROPERTY(bool safebypassPressDown_F READ safebypassPressDown_F WRITE setSafebypassPressDown_F NOTIFY safebypassPressDown_FChanged)
  Q_PROPERTY(bool engineSPN_F READ engineSPN_F WRITE setEngineSPN_F NOTIFY engineSPN_FChanged)
  Q_PROPERTY(bool engineWarmUp_F READ engineWarmUp_F WRITE setEngineWarmUp_F NOTIFY engineWarmUp_FChanged)
  Q_PROPERTY(bool engineWarmUpTimeout_F READ engineWarmUpTimeout_F WRITE setEngineWarmUpTimeout_F NOTIFY engineWarmUpTimeout_FChanged)
  Q_PROPERTY(bool emergencyStopPress_F READ emergencyStopPress_F WRITE setEmergencyStopPress_F NOTIFY emergencyStopPress_FChanged)
  Q_PROPERTY(bool leftFrontLegChosed READ leftFrontLegChosed WRITE setLeftFrontLegChosed NOTIFY leftFrontLegChosedChanged)
  Q_PROPERTY(bool rightFrontLegChosed READ rightFrontLegChosed WRITE setRightFrontLegChosed NOTIFY rightFrontLegChosedChanged)
  Q_PROPERTY(bool leftRearLegChosed READ leftRearLegChosed WRITE setLeftRearLegChosed NOTIFY leftRearLegChosedChanged)
  Q_PROPERTY(bool rightRearLegChosed READ rightRearLegChosed WRITE setRightRearLegChosed NOTIFY rightRearLegChosedChanged)

 // Q_PROPERTY(int32_t ModelX READ ModelX WRITE setModelX NOTIFY modelXChanged)
//  Q_PROPERTY(int32_t ModelY READ ModelY WRITE setModelY NOTIFY modelYChanged)
//  Q_PROPERTY(int32_t ModelZ READ ModelZ WRITE setModelZ NOTIFY modelZChanged)

public:
  explicit AppModel(IEgoNotify *n , IEgoControl *c , QObject* qmlObj, QObject *parent = 0);
  ~AppModel();

  Q_INVOKABLE void userLogin(QString useName, QString password);
  Q_INVOKABLE void connectCar(int id);
  
  //退出程序时下线车辆
  Q_INVOKABLE void leaveCar(int carID);
  Q_INVOKABLE void logout();
  Q_INVOKABLE void moveBegin(int32_t area,int32_t no);
 
 // Q_INVOKABLE void switchDriver();
  //Q_INVOKABLE void areaChanged(int32_t area);
  Q_INVOKABLE void controlCar(int id);
  Q_INVOKABLE void cancelControl();
  Q_INVOKABLE void showBackDlg(QString content, WorkArea area, int32_t no, int32_t uid);
  Q_INVOKABLE void showMoveDlg(MoveDesc desc);
  Q_INVOKABLE bool idle(int32_t uid);
  //Q_INVOKABLE void showTrackDlg();
 // Q_INVOKABLE void track();
  //Q_INVOKABLE void unTrack();
  //Q_INVOKABLE bool autoClose();
  //Q_INVOKABLE QString ReadyText();
  bool ready() const;
  int radar1() const;
  int radar2() const;
  int radar3() const;
  int radar4() const;
  int radar5() const;
  int radar6() const;
  int radar7() const;
  int radar8() const;
  QString Account() const;
  QString Password() const;
  QString CarName() const;
  QString DriveName() const;
  float imux() const;
  float imuy() const;
  int ping() const;
  double temp() const;


  bool cautionLight() const;
  bool lightL() const;
  bool lightR() const;
  bool gearF() const;
  bool gearR() const;
  bool carPark() const;
  bool buzzerPlay() const;
  bool lightFront() const;
  bool lightWork() const;
  bool emergency1() const;

  int engineSpeed() const;
  int travelSpeed() const;
  int fuelLevel() const;
  int engineTemperature() const;
  int hydraulicOilTemperature() const;
  int mainPump1Pressure() const;
  int mainPump2Pressure() const;
  int handGear() const;
  int actualGear() const;
  float gripperHeight() const;
  float amplitude1() const;
  int64_t boomAngle() const;
  int64_t stickAngle() const;
  bool idleProtection() const;//怠速保护是报警信息，需要加入到滚动窗口里
  bool frontToggle() const;
  bool backToggle() const;
  int interLock() const;
  int safetySwitch() const;
  int armLiftPilot() const;
  int armLoweringPilot() const;
  int leverLiftingLilot() const;
  int rodLoweringPilot() const;
  int leftRotaryPilot() const;
  int rightRotaryPilot() const;
  int grabOpenPilot() const;
  int grabClosePilot() const;
  int safetyValves() const;



  bool liftPilotPressureSensor_F() const;
  bool loweringPilotPressureSensor_F() const;
  bool leverLiftPilotPressureSensor_F() const;
  bool rodLoweringPilotPressurePensor_F() const;
  bool leftTurnPilotPressureSensor_F() const;
  bool rightTurnPilotPressureSensor_F() const;
  bool legExtensionPilotPressureSensor_F() const;
  bool legRetractPilotPressureSensor_F() const;
  bool grabOpenPilotPressureSensor_F() const;
  bool grabClosurePilotPressureSensor_F() const;
  bool mainPump1PressureSensor_F() const;
  bool mainPump2PressureSensor_F() const;
  bool chamberPressureSensor_F() const;
  bool bucketRodPressureSensor_F() const;
  bool parkingPressureSensor_F() const;
  bool accumulatorPressureSensor_F() const;
  bool gasPedal_F() const;
  bool throttleKnob_F() const;
  bool legHandle_F() const;
  bool gripKnob_F() const;
  bool hydraulicOilTemperatureSensor_F() const;
  bool fuelLevelSensor_F() const;
  bool boomAngleSensor_F() const;
  bool bucketLeverTiltSensor_F() const;
  bool expansionModule_F() const;
  bool workingDistanceOverrun_F() const;
  bool lowOilLevel_F() const;
  bool batteryLowVoltage_F() const;
  bool batteryHighVoltage_F() const;
  bool accumulatorPressure_F() const;
  bool highHydraulicOilTemperature_F() const;
  bool lowOilPressure_F() const;
  bool coolantLevelLow_F() const;
  bool coolantTemperatureHigh_F() const;
  bool systemOverload_F() const;
  bool safebypassPressDown_F() const;
  bool engineSPN_F() const;
  bool engineWarmUp_F() const;
  bool engineWarmUpTimeout_F() const;
  bool emergencyStopPress_F() const;
  bool leftFrontLegChosed() const;
  bool rightFrontLegChosed() const;
  bool leftRearLegChosed() const;
  bool rightRearLegChosed() const;

  int alertSound() const;
  int32_t BrakePressure() const;
  int32_t OilPos() const;
  int32_t GearboxOilPressure()const;
  int32_t GearboxOilTemp()const;
  int32_t EnginRpm()const;
  int32_t EngineOilPressure()const;
  int32_t Speed()const;
  bool Visible() const;

  //int32_t Gear() const;
  int32_t Cold() const;
  //int32_t ModelX() const;
 // int32_t ModelY() const;
 // int32_t ModelZ() const;
  int32_t leftAngle() const;
  int32_t rightAngle() const;
  float   Steer() const;

  int32_t WorkPressure() const;
  void SetBrakePressure(const int32_t value);
  void SetOilPos(const int32_t value);
  void SetGearBoxOilPressure(const int32_t value);
  void SetGearBoxOilTemp(const int32_t value);
  void SetEngingRpm(const int32_t value);
  void SetEngineOilPressure(const int32_t value);
  void SetSpeed(const int32_t value);
  void SetVisible(const bool value);
  //void SetGear(const int32_t value);
  void SetCold(const int32_t value);
  void setReady(const bool value);
  void setForward(const int32_t& value);
  void setBackward(const int32_t& value);
  void setGear_D(const int32_t& value);
  void setDirectionLight(const int32_t& value);
  void setWiper(const bool& value);
  void setFrontLight(const bool& value);
  void setBackLight(const bool& value);
  void setBuzzer(const bool& value);
  void setRadar1(const int32_t &value);
  void setRadar2(const int32_t &value);
  void setRadar3(const int32_t &value);
  void setRadar4(const int32_t &value);
  void setRadar5(const int32_t &value);
  void setRadar6(const int32_t& value);
  void setRadar7(const int32_t& value);
  void setRadar8(const int32_t& value);
  void setAccount(const QString& value);
  void setPassword(const QString& password);
  void setCarName(const QString& carname);
  void setDriveName(const QString& drivename);
  void setWorkPressure(const int32_t value);
  //void setModelX(const int32_t value);
  //void setModelY(const int32_t value);
  //void setModelZ(const int32_t value);
  void setLeftAngle(const int32_t value);
  void setRightAngle(const int32_t value);
  //void setRadar6(const int32_t &value);
  void setPing(const int32_t &value);
  void setTemp(const double& value);
  void setSteerAngle(const float& value);
  void setImux(const float& value);
  void setImuy(const float& value);

  void setCautionLight(const bool& value);
  void setLightL(const bool& value);
  void setLightR(const bool& value);
  void setGearF(const bool& value);
  void setGearR(const bool& value);
  void setCarPark(const bool& value);
  void setBuzzerPlay(const bool& value);
  void setLightFront(const bool& value);
  void setLightWork(const bool& value);
  void setEmergency(const bool& value);
  //void setMqttToSever(cannet_frame* frames);

  void setEngineSpeed(const int32_t& value);
  void setTravelSpeed(const int32_t& value);
  void setFuelLevel(const int32_t& value);
  void setEngineTemperature(const int32_t& value);
  void setHydraulicOilTemperature(const int32_t& value);
  void setMainPump1Pressure(const int32_t& value);
  void setMainPump2Pressure(const int32_t& value);
  void setHandGear(const int32_t& value);
  void setActualGear(const int32_t& value);
  void setGripperHeight(const float& value);
  void setAmplitude(const float& value);
  void setBoomAngle(const int32_t& value);
  void setStickAngle(const int32_t& value);
  void setIdleProtection(const bool& value);
  void setFrontToggle(const bool& value);
  void setBackToggle(const bool& value);
  void setInterLock(const int32_t& value);
  void setSafetySwitch(const int32_t& value);
  void setArmLiftPilot(const int32_t& value);
  void setArmLoweringPilot(const int32_t& value);
  void setLeverLiftingLilot(const int32_t& value);
  void setRodLoweringPilot(const int32_t& value);
  void setLeftRotaryPilot(const int32_t& value);
  void setRightRotaryPilot(const int32_t& value);
  void setGrabOpenPilot(const int32_t& value);
  void setGrabClosePilot(const int32_t& value);
  void setSafetyValves(const int32_t& value);






  void setLiftPilotPressureSensor_F(const bool& value);
  void setLoweringPilotPressureSensor_F(const bool& value);
  void setLeverLiftPilotPressureSensor_F(const bool& value);
  void setRodLoweringPilotPressurePensor_F(const bool& value);
  void setLeftTurnPilotPressureSensor_F(const bool& value);
  void setRightTurnPilotPressureSensor_F(const bool& value);
  void setLegExtensionPilotPressureSensor_F(const bool& value);
  void setLegRetractPilotPressureSensor_F(const bool& value);
  void setGrabOpenPilotPressureSensor_F(const bool& value);
  void setGrabClosurePilotPressureSensor_F(const bool& value);
  void setMainPump1PressureSensor_F(const bool& value);
  void setMainPump2PressureSensor_F(const bool& value);
  void setChamberPressureSensor_F(const bool& value);
  void setBucketRodPressureSensor_F(const bool& value);
  void setParkingPressureSensor_F(const bool& value);
  void setAccumulatorPressureSensor_F(const bool& value);
  void setGasPedal_F(const bool& value);
  void setThrottleKnob_F(const bool& value);
  void setLegHandle_F(const bool& value);
  void setGripKnob_F(const bool& value);
  void setHydraulicOilTemperatureSensor_F(const bool& value);
  void setFuelLevelSensor_F(const bool& value);
  void setBoomAngleSensor_F(const bool& value);
  void setBucketLeverTiltSensor_F(const bool& value);
  void setExpansionModule_F(const bool& value);
  void setWorkingDistanceOverrun_F(const bool& value);
  void setLowOilLevel_F(const bool& value);
  void setBatteryLowVoltage_F(const bool& value);
  void setBatteryHighVoltage_F(const bool& value);
  void setAccumulatorPressure_F(const bool& value);
  void setHighHydraulicOilTemperature_F(const bool& value);
  void setLowOilPressure_F(const bool& value);
  void setCoolantLevelLow_F(const bool& value);
  void setCoolantTemperatureHigh_F(const bool& value);
  void setSystemOverload_F(const bool& value);
  void setSafebypassPressDown_F(const bool& value);
  void setEngineSPN_F(const bool& value);
  void setEngineWarmUp_F(const bool& value);
  void setEngineWarmUpTimeout_F(const bool& value);
  void setEmergencyStopPress_F(const bool& value);
  void setLeftFrontLegChosed(const bool& value);
  void setRightFrontLegChosed(const bool& value);
  void setLeftRearLegChosed(const bool& value);
  void setRightRearLegChosed(const bool& value);
  QQmlListProperty<CarData> car() const;

public slots:
  void onLoginRst(bool rst);
  
  //处理车辆信息被追加到应用模型时的操作
  void onCarAppend(const UserCamera &info);
  
  void 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);
  void onEncodeUpdate(int32_t left, int32_t right);
  void onFeedData(const FeedData& data);
  
  void onNotifyState(int32_t uid, UserState state);
  void onPing(int32_t value,double temp);
  
  //接收CHANNEL_IMU通道数据信号的槽函数
  void onImuUpdate(float x, float y);

  void onMoveEnd(int32_t rid, WorkArea area, int32_t no);
  void onNotifyDel(int32_t peer);
  void onKickoff();
  void onNotifyLeave(int32_t peer);
  void onNotifyFail(int32_t peer);
  void onMoveRet(MoveDesc desc);
  
  //关闭程序
  void OnClose();
  void egoGearChanged(int gear);
  void egoGear_DChanged(int gear_d);
  void egoDirectionLightChanged(int light);
  void egoWiperChanged(bool wiper);
  void egoFrontLightChanged(bool frontlight);
  void egoBackLightChanged(bool backlight);
  void egoBuzzerChanged(bool buzzer);
  void egoCautionLightChanged(bool cautionLight);
  void egoLightLChanged(bool lightL);
  void egoLightRChanged(bool lightR);
  void egoGearFChanged(bool gearF);
  void egoGearRChanged(bool gearR);
  void egoCarParkChanged(bool carPark);
  void egoBuzzerPlayChanged(bool buzzerPlay);
  void egoLightFrontChanged(bool lightFront);
  void egoLightWorkChanged(bool lightWork);
  void egoEmergencyChanged(bool emergency);
  void egoMqttChanged(cannet_frame* frames);
  //void OnPosition(float x, float y, float z);
signals:

  void readyChanged();
  void carChanged();
  void radar1Changed();
  void radar2Changed();
  void radar3Changed();
  void radar4Changed();
  void radar5Changed();
  void radar6Changed();
  void radar7Changed();
  void radar8Changed();
  void accountChanged();
  void passwordChanged();
  void carNameChanged();
  void driveNameChanged();
  void sectionTextChanged();
  void steerAngleChanged();
  void pingChanged();
  void tempChanged();
  void speedChanged();
  void visibleChanged();
  void gearChanged();
  void coldChanged();
  void gearboxOilPressureChanged();
  void gearboxOilTempChanged();
  void engineRpmChanged();
  void engineoilPressureChanged();
  void brakePressureChanged();
  void playAlertSound();
  void carConnected();
  void closeWin();
  void oilPosChanged();
  void workPressureChanged();
  void leftAngleChanged();
  void rightAngleChanged();

  void engineSpeedPlay(int par2);
  void lightLPlay(bool par3);
  void lightRPlay(bool par4);
  void gearRPlay(bool par5);
  void setRadar1Play(int Radar1Value);
  void setRadar2Play(int Radar2Value);
  void setRadar3Play(int Radar3Value);
  void setRadar4Play(int Radar4Value);
  void setRadar5Play(int Radar5Value);
  void setRadar6Play(int Radar6Value);
  void setRadar7Play(int Radar7Value);
  void setRadar8Play(int Radar8Value);
  void buzzerPlayIt(bool par6);
  void forwardChanged();
  void backwardChanged();
  void gear_dChanged();
  void directionlightChanged();
  void wiperChanged();
  void frontlightChanged();
  void backlightChanged();
  void buzzerChanged();
  void imuxChanged();
  void imuyChanged();

  void cautionLightChanged();
  void lightLChanged();
  void lightRChanged();
  void gearFChanged();
  void gearRChanged();
  void carParkChanged();
  void buzzerPlayChanged();
  void lightFrontChanged();
  void lightWorkChanged();
  void emergencyChanged();

  void engineSpeedChanged();
  void travelSpeedChanged();
  void fuelLevelChanged();
  void engineTemperatureChanged();
  void hydraulicOilTemperatureChanged();
  void mainPump1PressureChanged();
  void mainPump2PressureChanged();
  void handGearChanged();
  void actualGearChanged();
  void gripperHeightChanged();
  void amplitudeChanged();
  void boomAngleChanged();
  void stickAngleChanged();
  void idleProtectionChanged();
  void frontToggleChanged();
  void backToggleChanged();
  void interLockChanged();
  void safetySwitchChanged();
  void armLiftPilotChanged();
  void armLoweringPilotChanged();
  void leverLiftingLilotChanged();
  void rodLoweringPilotChanged();
  void leftRotaryPilotChanged();
  void rightRotaryPilotChanged();
  void grabOpenPilotChanged();
  void grabClosePilotChanged();
  void safetyValvesChanged();





  void liftPilotPressureSensor_FChanged();
  void loweringPilotPressureSensor_FChanged();
  void leverLiftPilotPressureSensor_FChanged();
  void rodLoweringPilotPressurePensor_FChanged();
  void leftTurnPilotPressureSensor_FChanged();
  void rightTurnPilotPressureSensor_FChanged();
  void legExtensionPilotPressureSensor_FChanged();
  void legRetractPilotPressureSensor_FChanged();
  void grabOpenPilotPressureSensor_FChanged();
  void grabClosurePilotPressureSensor_FChanged();
  void mainPump1PressureSensor_FChanged();
  void mainPump2PressureSensor_FChanged();
  void chamberPressureSensor_FChanged();
  void bucketRodPressureSensor_FChanged();
  void parkingPressureSensor_FChanged();
  void accumulatorPressureSensor_FChanged();
  void gasPedal_FChanged();
  void throttleKnob_FChanged();
  void legHandle_FChanged();
  void gripKnob_FChanged();
  void hydraulicOilTemperatureSensor_FChanged();
  void fuelLevelSensor_FChanged();
  void boomAngleSensor_FChanged();
  void bucketLeverTiltSensor_FChanged();
  void expansionModule_FChanged();
  void workingDistanceOverrun_FChanged();
  void lowOilLevel_FChanged();
  void batteryLowVoltage_FChanged();
  void batteryHighVoltage_FChanged();
  void accumulatorPressure_FChanged();
  void highHydraulicOilTemperature_FChanged();
  void lowOilPressure_FChanged();
  void coolantLevelLow_FChanged();
  void coolantTemperatureHigh_FChanged();
  void systemOverload_FChanged();
  void safebypassPressDown_FChanged();
  void engineSPN_FChanged();
  void engineWarmUp_FChanged();
  void engineWarmUpTimeout_FChanged();
  void emergencyStopPress_FChanged();
  void leftFrontLegChosedChanged();
  void rightFrontLegChosedChanged();
  void leftRearLegChosedChanged();
  void rightRearLegChosedChanged();


private:
  IEgoNotify *_notify;
  IEgoControl *_control;
 // std::unique_ptr<CFishEyeWindow> _window;
  AppModelPrivate *d;
  std::vector<UserCamera> _users;
  QString m_account;
  QString m_password;
  QString m_carName;
  QString m_driveName;
  int32_t m_forward;
  int32_t m_backward;
  int32_t m_gear_d;
  int32_t m_light;
  bool m_wiper;
  bool m_frontlight;
  bool m_backlight;
  bool m_buzzer;
  int32_t m_radar1 = 5000;
  int32_t m_radar2 = 5000;
  int32_t m_radar3 = 5000;
  int32_t m_radar4 = 5000;
  int32_t m_radar5 = 5000;
  int32_t m_radar6 = 5000;
  int32_t m_radar7 = 5000;
  int32_t m_radar8 = 5000;
  int32_t m_ping =0;
  float m_imux = 0;
  float m_imuy = 0;
  double  m_temp = 0.f;
  int32_t m_alert;
  int32_t m_peer;
  int32_t m_work_pressure =0; //工作系统压力
  int32_t m_brake_pressure =0;//制动系统压力
  int32_t m_gearbox_oil_temp =0;//变速箱油温
  int32_t m_gearbox_oil_pressure=0;//变速箱油压
  int32_t m_oil_pos = 0;
  int32_t m_cold_water = 0;
  int32_t m_engine_rpm =0;//发动机转速
  int32_t m_engine_oil_pressure =0;// 发动机油压
  int32_t m_speed =0;
  bool   m_visible = true;
  //int32_t m_gear =0;

  //WorkArea m_area= WorkArea::Area_A;
 // int32_t m_no;
  bool m_ready;
  QObject* m_qmlObj = nullptr;
  //int32_t m_modelx = 0;
  //int32_t m_modely = 0;
  int32_t m_steerAngle = 0;
 // int32_t m_modelz = 0;
  int32_t m_leftAngle = 0;
  int32_t m_rightAngle = 0;
  Lock_Status m_leftlock;
  Lock_Status m_rightlock;

  bool m_cautionLight = false;
  bool m_lightL = false;
  bool m_lightR = false;
  bool m_gearF = false;
  bool m_gearR = false;
  bool m_carPark = false;
  bool m_buzzerPlay = false;
  bool m_lightFront = false;
  bool m_lightWork = false;
  bool m_emergency = true;

  int32_t m_engineSpeed = 0;
  int32_t m_travelSpeed = 0;
  int32_t m_fuelLevel = 0;
  int32_t m_engineTemperature = 10000;
  int32_t m_hydraulicOilTemperature = 0;
  int32_t m_mainPump1Pressure = 0;
  int32_t m_mainPump2Pressure = 0;
  int32_t m_handGear = 0;
  int32_t m_actualGear = 0;
  float m_gripperHeight = 0.0;
  float m_amplitude = 0.0;
  int64_t m_boomAngle = 10000;
  int64_t m_stickAngle = 18000;
  bool m_idleProtection = false;//此处也是报警信息
  bool m_frontToggle = true;
  bool m_backToggle = true;

  int32_t m_interLock = 0;
  int32_t m_safetyValves = 0;

  int32_t m_safetySwitch = 1;
  int32_t m_armLiftPilot = 1;
  int32_t m_armLoweringPilot = 1;
  int32_t m_leverLiftingLilot = 1;
  int32_t m_rodLoweringPilot = 1;
  int32_t m_leftRotaryPilot = 1;
  int32_t m_rightRotaryPilot = 1;
  int32_t m_grabOpenPilot = 1;
  int32_t m_grabClosePilot = 1;
  






  bool m_liftPilotPressureSensor_F = false;
  bool m_loweringPilotPressureSensor_F = false;
  bool m_leverLiftPilotPressureSensor_F = false;
  bool m_rodLoweringPilotPressurePensor_F = false;
  bool m_leftTurnPilotPressureSensor_F = false;
  bool m_rightTurnPilotPressureSensor_F = false;
  bool m_legExtensionPilotPressureSensor_F = false;
  bool m_legRetractPilotPressureSensor_F = false;
  bool m_grabOpenPilotPressureSensor_F = false;
  bool m_grabClosurePilotPressureSensor_F = false;
  bool m_mainPump1PressureSensor_F = false;
  bool m_mainPump2PressureSensor_F = false;
  bool m_chamberPressureSensor_F = false;
  bool m_bucketRodPressureSensor_F = false;
  bool m_parkingPressureSensor_F = false;
  bool m_accumulatorPressureSensor_F = false;
  bool m_gasPedal_F = false;
  bool m_throttleKnob_F = false;
  bool m_legHandle_F = false;
  bool m_gripKnob_F = false;
  bool m_hydraulicOilTemperatureSensor_F = false;
  bool m_fuelLevelSensor_F = false;
  bool m_boomAngleSensor_F = false;
  bool m_bucketLeverTiltSensor_F = false;
  bool m_expansionModule_F = false;
  bool m_workingDistanceOverrun_F = false;
  bool m_lowOilLevel_F = false;
  bool m_batteryLowVoltage_F = false;
  bool m_batteryHighVoltage_F = false;
  bool m_accumulatorPressure_F = false;
  bool m_highHydraulicOilTemperature_F = false;
  bool m_lowOilPressure_F = false;
  bool m_coolantLevelLow_F = false;
  bool m_coolantTemperatureHigh_F = false;
  bool m_systemOverload_F = false;
  bool m_safebypassPressDown_F = false;
  bool m_engineSPN_F = false;
  bool m_engineWarmUp_F = false;
  bool m_engineWarmUpTimeout_F = false;
  bool m_emergencyStopPress_F = false;
  bool m_leftFrontLegChosed = false;
  bool m_rightFrontLegChosed = false;
  bool m_leftRearLegChosed = false;
  bool m_rightRearLegChosed = false;



};

#endif // APPMODEL_H