Cockpit-cpp/EgoQt/Qt/appmodel.cpp

 #include "appmodel.h"
#include "Ego.h"
#define WIN23_LEAN_AND_MEAN
#include <Windows.h>
//#include "FishEyeWindow.h"
// extern std::array<IRender *, 3> ar;

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();
}

class AppModelPrivate {
public:
  QList<CarData *> car;
  QQmlListProperty<CarData> *carProp = nullptr;
};

static void carAppend(QQmlListProperty<CarData> *prop, CarData *val) {
  Q_UNUSED(val);
  Q_UNUSED(prop);
}

static CarData *carAt(QQmlListProperty<CarData> *prop, qsizetype index) {
  AppModelPrivate *d = static_cast<AppModelPrivate *>(prop->data);
  return d->car.at(index);
}

static qsizetype carCount(QQmlListProperty<CarData> *prop) {
  AppModelPrivate *d = static_cast<AppModelPrivate *>(prop->data);
  return d->car.size();
}

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(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,int32_t)),
      this,
      SLOT(
          onRadarUpadte(int32_t, int32_t, int32_t, int32_t, int32_t, int32_t, int32_t,int32_t,int32_t)));
  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; }
float AppModel::Steer() const { return m_steer; }
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; }
int AppModel::radar1() const { return m_radar1; }
int32_t AppModel::WorkPressure() const { return m_work_pressure; }
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; }
int AppModel::radar9() const { return m_radar9; }
int32_t AppModel::OilPos() const { return m_oil_pos; }



//大冶新增
int32_t AppModel::engineTime() const { return m_engineTime; }
int32_t AppModel::wireSensorL() const { return m_wireSensorL; }
int32_t AppModel::wireSensorR() const { return m_wireSensorR; }
int32_t AppModel::fuelLevel() const { return m_fuelLevel; }
int32_t AppModel::lockSwitchL() const { return m_lockSwitchL; }
int32_t AppModel::lockSwitchR() const { return m_lockSwitchR; }
int32_t AppModel::tipLimit() const { return m_tipLimit; }
int32_t AppModel::turnLeft() const { return m_turnLeft; }
int32_t AppModel::turnRight() const { return m_turnRight; }
int32_t AppModel::hightBeam() const { return m_hightBeam; }
int32_t AppModel::lowBeam() const { return m_lowBeam; }
int32_t AppModel::parking() const { return m_parking; }
int32_t AppModel::brake() const { return m_brake; }
int32_t AppModel::backCar() const { return m_backCar; }
int32_t AppModel::frontWorkLamp() const { return m_frontWorkLamp; }
int32_t AppModel::rearWorkLamp() const { return m_rearWorkLamp; }
int32_t AppModel::cargoWeight() const { return m_cargoWeight; }
int32_t AppModel::systemVol() const { return m_systemVol; }
int32_t AppModel::fGear() const { return m_fGear; }
int32_t AppModel::gear1() const { return m_gear1; }
int32_t AppModel::lowOilPressureAlarm() const { return m_lowOilPressureAlarm; }
int32_t AppModel::engineWaterTemperatureAlarm() const { return m_engineWaterTemperatureAlarm; }
int32_t AppModel::highEngineOilTemperatureAlarm() const { return m_highEngineOilTemperatureAlarm; }
int32_t AppModel::engineWaterLevelLowAlarm() const { return m_engineWaterLevelLowAlarm; }
int32_t AppModel::lowFuelOilAlarm() const { return m_lowFuelOilAlarm; }
int32_t AppModel::returnOilFilterBlockedAlarm() const { return m_returnOilFilterBlockedAlarm; }
int32_t AppModel::oilFilterBlockedAlarm() const { return m_oilFilterBlockedAlarm; }
int32_t AppModel::controlScreenBlockageAlarm() const { return m_controlScreenBlockageAlarm; }
int32_t AppModel::emergencyFilterBlockingAlarm() const { return m_emergencyFilterBlockingAlarm; }
int32_t AppModel::coolingFilterBlockedAlarm() const { return m_coolingFilterBlockedAlarm; }
int32_t AppModel::electricPumpScreenBlockedAlarm() const { return m_electricPumpScreenBlockedAlarm; }
int32_t AppModel::brakeFilterBlockedAlarm() const { return m_brakeFilterBlockedAlarm; }
int32_t AppModel::variableSpeedFilterBlockedAlarm() const { return m_variableSpeedFilterBlockedAlarm; }
int32_t AppModel::lowVoltageAlarm() const { return m_lowVoltageAlarm; }
int32_t AppModel::highTransmissionOilTemperature() const { return m_highTransmissionOilTemperature; }
int32_t AppModel::transmissionOilPressureIsLow() const { return m_transmissionOilPressureIsLow; }
int32_t AppModel::oilTemperatureSensor1IsFaulty() const { return m_oilTemperatureSensor1IsFaulty; }
int32_t AppModel::oilTemperatureSensor2IsFaulty() const { return m_oilTemperatureSensor2IsFaulty; }
int32_t AppModel::oilLevelSensorIsFaulty() const { return m_oilLevelSensorIsFaulty; }
int32_t AppModel::frontThrottleFault() const { return m_frontThrottleFault; }
int32_t AppModel::rearThrottleFault() const { return m_rearThrottleFault; }
int32_t AppModel::handleOfTheUpperArmIsFaulty() const { return m_handleOfTheUpperArmIsFaulty; }
int32_t AppModel::leftLegHandleIsFaulty() const { return m_leftLegHandleIsFaulty; }
int32_t AppModel::rightLegHandleIsFaulty() const { return m_rightLegHandleIsFaulty; }
int32_t AppModel::engineBusFault() const { return m_engineBusFault; }
int32_t AppModel::transmissionBusFault() const { return m_transmissionBusFault; }
int32_t AppModel::remoteControlBusFault() const { return m_remoteControlBusFault; }
int32_t AppModel::rodChamberPressureSensorIsFaulty() const { return m_rodChamberPressureSensorIsFaulty; }
int32_t AppModel::noRodChamberPressureSensorIsFaulty() const { return m_noRodChamberPressureSensorIsFaulty; }
int32_t AppModel::brakePressureSensorIsFaulty() const { return m_brakePressureSensorIsFaulty; }
int32_t AppModel::systemPressureSensorIsFaulty() const { return m_systemPressureSensorIsFaulty; }
int32_t AppModel::controlPressureSensorIsFaulty() const { return m_controlPressureSensorIsFaulty; }
int32_t AppModel::steeringPressureSensorIsFaulty() const { return m_steeringPressureSensorIsFaulty; }
int32_t AppModel::pressureSensorOfTheLowerArmIsFaulty() const { return m_pressureSensorOfTheLowerArmIsFaulty; }
int32_t AppModel::lockingPinDisplacementSensorLIsFaulty() const { return m_lockingPinDisplacementSensorLIsFaulty; }
int32_t AppModel::lockingPinDisplacementSensorRIsFaulty() const { return m_lockingPinDisplacementSensorRIsFaulty; }
int32_t AppModel::legDisplacementSensorLIsFaulty() const { return m_legDisplacementSensorLIsFaulty; }
int32_t AppModel::legDisplacementSensorRIsFaulty() const { return m_legDisplacementSensorRIsFaulty; }
int32_t AppModel::steeringEncoderFailure() const { return m_steeringEncoderFailure; }



int AppModel::ping() const { return m_ping; }
double AppModel::temp() const { return m_temp; }
int AppModel::alertSound() const { return m_alert; }
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::setRadar1(const int32_t &value) {
  m_radar1 = value;
  emit radar1Changed();
}

void AppModel::setRadar2(const int32_t &value) {

  m_radar2 = value;
  emit radar2Changed();
}

void AppModel::setRadar3(const int32_t &value) {

  m_radar3 = value;
  emit radar3Changed();
}
void AppModel::setSteerAngle(const float& value)
{
    if (value > 1)
    {
        m_steer = (value - 1.0) * (-10);
    }
    else if(value==1)
    {
        m_steer = 0.0;
    }
    else
    {
        m_steer = value * 10;
    }
    emit steerAngleChanged();
    //qDebug() << "角度值=============" << m_steer;
}

//大冶新增
void AppModel::setEngineTime(const int32_t value){
    m_engineTime = value;
    emit engineTimeChanged();
}
void AppModel::setWireSensorL(const int32_t value) {
    m_wireSensorL = value;
    emit wireSensorLChanged();
}
void AppModel::setWireSensorR(const int32_t value) {
    m_wireSensorR = value;
    emit wireSensorRChanged();
}
void AppModel::setFuelLevel(const int32_t value) {
    m_fuelLevel = value;
    emit fuelLevelChanged();
}
void AppModel::setLockSwitchL(const int32_t value) {
    m_lockSwitchL = value;
    emit lockSwitchLChanged();
}
void AppModel::setLockSwitchR(const int32_t value) {
    m_lockSwitchR = value;
    emit lockSwitchRChanged();
}
void AppModel::setTipLimit(const int32_t value) {
    m_tipLimit = value;
    //qDebug() << "倾翻压力开关*************" << m_tipLimit;
    emit tipLimitChanged();
}
void AppModel::setTurnLeft(const int32_t value) {
    m_turnLeft = value;
    emit turnLeftChanged();
}
void AppModel::setTurnRight(const int32_t value) {
    m_turnRight = value;
    emit turnRightChanged();
}
void AppModel::setHightBeam(const int32_t value) {
    m_hightBeam = value;
    emit hightBeamChanged();
}
void AppModel::setLowBeam(const int32_t value) {
    m_lowBeam = value;
    emit lowBeamChanged();
}
void AppModel::setParking(const int32_t value) {
    m_parking = value;
    emit parkingChanged();
}
void AppModel::setBrake(const int32_t value) {
    m_brake = value;
    emit brakeChanged();
}
void AppModel::setBackCar(const int32_t value) {
    m_backCar = value;
    emit backCarChanged();
}
void AppModel::setFrontWorkLamp(const int32_t value) {
    m_frontWorkLamp = value;
    emit frontWorkLampChanged();
}
void AppModel::setRearWorkLamp(const int32_t value) {
    m_rearWorkLamp = value;
    emit rearWorkLampChanged();
}
void AppModel::setCargoWeight(const int32_t value) {
    m_cargoWeight = value;
    emit cargoWeightChanged();
}
void AppModel::setSystemVol(const int32_t value) {
    m_systemVol = value;
    emit systemVolChanged();
}
void AppModel::setFGear(const int32_t value) {
    m_fGear = value;
    emit fGearChanged();
}
void AppModel::setGear1(const int32_t value) {
    m_gear1 = value;
    emit gear1Changed();
}
void AppModel::setLowOilPressureAlarm(const int32_t value) {
    m_lowOilPressureAlarm = value;
    emit lowOilPressureAlarmChanged();
}
void AppModel::setEngineWaterTemperatureAlarm(const int32_t value) {
    m_engineWaterTemperatureAlarm = value;
    emit engineWaterTemperatureAlarmChanged();
}
void AppModel::setHighEngineOilTemperatureAlarm(const int32_t value) {
    m_highEngineOilTemperatureAlarm = value;
    emit highEngineOilTemperatureAlarmChanged();
}
void AppModel::setEngineWaterLevelLowAlarm(const int32_t value) {
    m_engineWaterLevelLowAlarm = value;
    emit engineWaterLevelLowAlarmChanged();
}
void AppModel::setLowFuelOilAlarm(const int32_t value) {
    m_lowFuelOilAlarm = value;
    emit lowFuelOilAlarmChanged();
}
void AppModel::setReturnOilFilterBlockedAlarm(const int32_t value) {
    m_returnOilFilterBlockedAlarm = value;
    emit returnOilFilterBlockedAlarmChanged();
}
void AppModel::setOilFilterBlockedAlarm(const int32_t value) {
    m_oilFilterBlockedAlarm = value;
    emit oilFilterBlockedAlarmChanged();
}
void AppModel::setControlScreenBlockageAlarm(const int32_t value) {
    m_controlScreenBlockageAlarm = value;
    emit controlScreenBlockageAlarmChanged();
}
void AppModel::setEmergencyFilterBlockingAlarm(const int32_t value) {
    m_emergencyFilterBlockingAlarm = value;
    emit emergencyFilterBlockingAlarmChanged();
}
void AppModel::setCoolingFilterBlockedAlarm(const int32_t value) {
    m_coolingFilterBlockedAlarm = value;
    emit coolingFilterBlockedAlarmChanged();
}
void AppModel::setElectricPumpScreenBlockedAlarm(const int32_t value) {
    m_electricPumpScreenBlockedAlarm = value;
    emit electricPumpScreenBlockedAlarmChanged();
}
void AppModel::setBrakeFilterBlockedAlarm(const int32_t value) {
    m_brakeFilterBlockedAlarm = value;
    emit brakeFilterBlockedAlarmChanged();
}
void AppModel::setVariableSpeedFilterBlockedAlarm(const int32_t value) {
    m_variableSpeedFilterBlockedAlarm = value;
    emit variableSpeedFilterBlockedAlarmChanged();
}
void AppModel::setLowVoltageAlarm(const int32_t value) {
    m_lowVoltageAlarm = value;
    emit lowVoltageAlarmChanged();
}
void AppModel::setHighTransmissionOilTemperature(const int32_t value) {
    m_highTransmissionOilTemperature = value;
    emit highTransmissionOilTemperatureChanged();
}
void AppModel::setTransmissionOilPressureIsLow(const int32_t value) {
    m_transmissionOilPressureIsLow = value;
    emit transmissionOilPressureIsLowChanged();
}
void AppModel::setOilTemperatureSensor1IsFaulty(const int32_t value) {
    m_oilTemperatureSensor1IsFaulty = value;
    emit oilTemperatureSensor1IsFaultyChanged();
}
void AppModel::setOilTemperatureSensor2IsFaulty(const int32_t value) {
    m_oilTemperatureSensor2IsFaulty = value;
    emit oilTemperatureSensor2IsFaultyChanged();
}
void AppModel::setOilLevelSensorIsFaulty(const int32_t value) {
    m_oilLevelSensorIsFaulty = value;
    qDebug() << "报警信息===========" << m_oilLevelSensorIsFaulty;
    emit oilLevelSensorIsFaultyChanged();
}
void AppModel::setFrontThrottleFault(const int32_t value) {
    m_frontThrottleFault = value;
    emit frontThrottleFaultChanged();
}
void AppModel::setRearThrottleFault(const int32_t value) {
    m_rearThrottleFault = value;
    emit rearThrottleFaultChanged();
}
void AppModel::setHandleOfTheUpperArmIsFaulty(const int32_t value) {
    m_handleOfTheUpperArmIsFaulty = value;
    emit handleOfTheUpperArmIsFaultyChanged();
}
void AppModel::setLeftLegHandleIsFaulty(const int32_t value) {
    m_leftLegHandleIsFaulty = value;
    emit leftLegHandleIsFaultyChanged();
}
void AppModel::setRightLegHandleIsFaulty(const int32_t value) {
    m_rightLegHandleIsFaulty = value;
    emit rightLegHandleIsFaultyChanged();
}
void AppModel::setEngineBusFault(const int32_t value) {
    m_engineBusFault = value;
    emit engineBusFaultChanged();
}
void AppModel::setTransmissionBusFault(const int32_t value) {
    m_transmissionBusFault = value;
    emit transmissionBusFaultChanged();
}
void AppModel::setRemoteControlBusFault(const int32_t value) {
    m_remoteControlBusFault = value;
    emit remoteControlBusFaultChanged();
}
void AppModel::setRodChamberPressureSensorIsFaulty(const int32_t value) {
    m_rodChamberPressureSensorIsFaulty = value;
    emit rodChamberPressureSensorIsFaultyChanged();
}
void AppModel::setNoRodChamberPressureSensorIsFaulty(const int32_t value) {
    m_noRodChamberPressureSensorIsFaulty = value;
    emit noRodChamberPressureSensorIsFaultyChanged();
}
void AppModel::setBrakePressureSensorIsFaulty(const int32_t value) {
    m_brakePressureSensorIsFaulty = value;
    emit brakePressureSensorIsFaultyChanged();
}
void AppModel::setSystemPressureSensorIsFaulty(const int32_t value) {
    m_systemPressureSensorIsFaulty = value;
    emit systemPressureSensorIsFaultyChanged();
}
void AppModel::setControlPressureSensorIsFaulty(const int32_t value) {
    m_controlPressureSensorIsFaulty = value;
    emit controlPressureSensorIsFaultyChanged();
}
void AppModel::setSteeringPressureSensorIsFaulty(const int32_t value) {
    m_steeringPressureSensorIsFaulty = value;
    emit steeringPressureSensorIsFaultyChanged();
}
void AppModel::setPressureSensorOfTheLowerArmIsFaulty(const int32_t value) {
    m_pressureSensorOfTheLowerArmIsFaulty = value;
    emit pressureSensorOfTheLowerArmIsFaultyChanged();
}
void AppModel::setLockingPinDisplacementSensorLIsFaulty(const int32_t value) {
    m_lockingPinDisplacementSensorLIsFaulty = value;
    emit lockingPinDisplacementSensorLIsFaultyChanged();
}
void AppModel::setLockingPinDisplacementSensorRIsFaulty(const int32_t value) {
    m_lockingPinDisplacementSensorRIsFaulty = value;
    emit lockingPinDisplacementSensorRIsFaultyChanged();
}
void AppModel::setLegDisplacementSensorLIsFaulty(const int32_t value) {
    m_legDisplacementSensorLIsFaulty = value;
    emit legDisplacementSensorLIsFaultyChanged();
}
void AppModel::setLegDisplacementSensorRIsFaulty(const int32_t value) {
    m_legDisplacementSensorRIsFaulty = value;
    emit legDisplacementSensorRIsFaultyChanged();
}
void AppModel::setSteeringEncoderFailure(const int32_t value) {
    m_steeringEncoderFailure = value;
    emit steeringEncoderFailureChanged();
}



void AppModel::setRadar4(const int32_t &value) {

    m_radar4 = value;
    emit radar4Changed();
}

void AppModel::setRadar5(const int32_t &value) {

    m_radar5 = value;
    emit radar5Changed();
}

void AppModel::setRadar6(const int32_t& value)
{
    m_radar6 = value;
    emit radar6Changed();
}
void AppModel::setRadar7(const int32_t& value)
{
    m_radar7 = value;
    emit radar7Changed();
}
void AppModel::setRadar8(const int32_t& value)
{
    m_radar8 = value;
    emit radar8Changed();
}
void AppModel::setRadar9(const int32_t& value)
{
    m_radar9 = value;
    emit radar9Changed();
}

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(); }

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() {
    if (m_ready == false) return;
    m_ready = false;
    m_peer = -1;
    _control->SetReady(false);
    _control->OnCarLeave();
    _control->ChangeState(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->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(); 
  }

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);
  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,int32_t r8) {

    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);
    if (r8 > 0)
        this->setRadar9(r8);
    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)*/) {
    emit playAlertSound();
  }
}
void AppModel::onFeedData(const FeedData& data)
{
    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);
    //此处计算不确定(小数点前面0为正数，1为负数)
    this->setSteerAngle(data.steer_angle);
    //this->setSteerAngle(data.steer_angle/4096.f*360.f);
    
    //大冶新增的
    this->setEngineTime(data.engine_time);
    this->setWireSensorL(data.wire_sensor_l);
    this->setWireSensorR(data.wire_sensor_r);
    this->setFuelLevel(data.fuel_level);
    this->setLockSwitchL(data.lock_switch_l);
    this->setLockSwitchR(data.lock_switch_r);
    this->setTipLimit(data.tip_limit);
    this->setTurnLeft(data.turn_left);
    this->setTurnRight(data.turn_right);
    this->setHightBeam(data.hight_beam);
    this->setLowBeam(data.low_beam);
    this->setParking(data.parking);
    this->setBrake(data.brake);
    this->setBackCar(data.back_car);
    this->setFrontWorkLamp(data.front_work_lamp);
    this->setRearWorkLamp(data.rear_work_lamp);
    this->setCargoWeight(data.cargo_weight);
    this->setSystemVol(data.system_vol);
    this->setFGear(data.f_gear);
    this->setGear1(data.gear_1);
    //报警信息
    this->setLowOilPressureAlarm(data.low_oil_pressure_alarm);
    this->setEngineWaterTemperatureAlarm(data.engine_water_temperature_alarm);
    this->setHighEngineOilTemperatureAlarm(data.high_engine_oil_temperature_alarm);
    this->setEngineWaterLevelLowAlarm(data.engine_water_level_low_alarm);
    this->setLowFuelOilAlarm(data.low_fuel_oil_alarm);
    this->setReturnOilFilterBlockedAlarm(data.return_oil_filter_blocked_alarm);
    this->setOilFilterBlockedAlarm(data.oil_filter_blocked_alarm);
    this->setControlScreenBlockageAlarm(data.control_screen_blockage_alarm);
    this->setEmergencyFilterBlockingAlarm(data.emergency_filter_blocking_alarm);
    this->setCoolingFilterBlockedAlarm(data.cooling_filter_blocked_alarm);
    this->setElectricPumpScreenBlockedAlarm(data.electric_pump_screen_blocked_alarm);
    this->setBrakeFilterBlockedAlarm(data.brake_filter_blocked_alarm);
    this->setVariableSpeedFilterBlockedAlarm(data.variable_speed_filter_blocked_alarm);
    this->setLowVoltageAlarm(data.low_voltage_alarm);
    this->setHighTransmissionOilTemperature(data.high_transmission_oil_temperature);
    this->setTransmissionOilPressureIsLow(data.transmission_oil_pressure_is_low);
    this->setOilTemperatureSensor1IsFaulty(data.oil_temperature_sensor_1_is_faulty);
    this->setOilTemperatureSensor2IsFaulty(data.oil_temperature_sensor_2_is_faulty);
    this->setOilLevelSensorIsFaulty(data.oil_level_sensor_is_faulty);
    this->setFrontThrottleFault(data.front_throttle_fault);
    this->setRearThrottleFault(data.rear_throttle_fault);
    this->setHandleOfTheUpperArmIsFaulty(data.handle_of_the_upper_arm_is_faulty);
    this->setLeftLegHandleIsFaulty(data.left_leg_handle_is_faulty);
    this->setRightLegHandleIsFaulty(data.right_leg_handle_is_faulty);
    this->setEngineBusFault(data.engine_bus_fault);
    this->setTransmissionBusFault(data.transmission_bus_fault);
    this->setRemoteControlBusFault(data.remote_control_bus_fault);
    this->setRodChamberPressureSensorIsFaulty(data.rod_chamber_pressure_sensor_is_faulty);
    this->setNoRodChamberPressureSensorIsFaulty(data.no_rod_chamber_pressure_sensor_is_faulty);
    this->setBrakePressureSensorIsFaulty(data.brake_pressure_sensor_is_faulty);
    this->setSystemPressureSensorIsFaulty(data.system_pressure_sensor_is_faulty);
    this->setControlPressureSensorIsFaulty(data.control_pressure_sensor_is_faulty);
    this->setSteeringPressureSensorIsFaulty(data.steering_pressure_sensor_is_faulty);
    this->setPressureSensorOfTheLowerArmIsFaulty(data.pressure_sensor_of_the_lower_arm_is_faulty);
    this->setLockingPinDisplacementSensorLIsFaulty(data.locking_pin_displacement_sensor_L_is_faulty);
    this->setLockingPinDisplacementSensorRIsFaulty(data.locking_pin_displacement_sensor_R_is_faulty);
    this->setLegDisplacementSensorLIsFaulty(data.leg_displacement_sensor_L_is_faulty);
    this->setLegDisplacementSensorRIsFaulty(data.leg_displacement_sensor_R_is_faulty);
    this->setSteeringEncoderFailure(data.steering_encoder_failure);

}

void AppModel::onPing(int32_t value, double temp) { this->setPing(value); this->setTemp(temp); }
 
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);
           // 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();
        Sleep(5000);
      
     }
    ::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);
}
*/