增加变体舵机信息

App/StatusUI/StatusUI.cpp

@@ -184,6 +184,16 @@ StatusUI::StatusUI(QWidget *parent) :
                                                {2,StateWidget::state::red},
                                                {5,StateWidget::state::orange},
                                                {15,StateWidget::state::green}});
+    install(battery, 0, "左变体电流[A]", 0,  QMap<QVariant, StateWidget::state>{{0,StateWidget::state::green},
+                                                                                {5,StateWidget::state::orange},
+                                                                                {10,StateWidget::state::red}});
+
+    install(battery, 0, "右变体电流[A]", 0,  QMap<QVariant, StateWidget::state>{{0,StateWidget::state::green},
+                                                                                {5,StateWidget::state::orange},
+                                                                                {10,StateWidget::state::red}});
+    install(battery, 0, "左变体转动方向", 0);
+    install(battery, 0, "右变体转动方向", 0);
+
 /*
     install(battery,0,"左轮速[RPM]",0,
             QMap<QVariant, StateWidget::state>{{1,StateWidget::state::red},

App/ToolsUI/Parse.cpp

@@ -915,8 +915,34 @@ void Parse::run()
                 group.left_brake = data[data_count++];
                 group.right_brake = data[data_count++];
 
+                //变体舵机电流、方向
+                Variant var;
+
+                union
+                {
+                    char ch1;
+                    char ch2;
+                    int t;
+                } test;
+
+                data = raw.mid(247);
+                test.ch1 = data[0];
+                test.ch2 = data[1];
+
+                var.l_var_current = test.t * 0.1;
+
+                test.ch1 = data[2];
+                test.ch2 = data[3];
+
+                var.r_var_current = test.t * 0.1;
+
+                var.l_var_dir = data[4];
+                var.r_var_dir = data[5];
+
+
                 saveActuatorDataToFile(group);
                 emit actuator_info_brake(group);
+                emit variantInfo(var);
 
             }
 

App/ToolsUI/Parse.h

@@ -12,6 +12,14 @@
 #include "QDateTime"
 #include "QDataStream"
 
+typedef struct
+{
+    float l_var_current;    //左变体电流
+    float r_var_current;    //右变体电流
+    quint8 l_var_dir;   //左变体方向
+    quint8 r_var_dir;   //右变体方向
+} Variant;
+
 class Parse : public QObject, public QRunnable
 {
     Q_OBJECT
@@ -533,6 +541,11 @@ signals:
    void pos_info(Parse::_pos info);
 
    void SSPC_Info_state(Parse::_sspc info);
+   /**
+    * @brief 变体舵机信息
+    * @param info
+    */
+   void variantInfo(Variant const &info);
 
 private:
    /**

App/ToolsUI/ToolsUI.cpp

@@ -227,6 +227,8 @@ void ToolsUI::recieveDataSlot(const int &id, const QByteArray &data)
 
     if(id == 0)
     {
+        connect(parse, SIGNAL(variantInfo(Variant) ) , this, SIGNAL(variantInfo(Variant) ) );
+
         connect(parse,&Parse::INS_Info,
                 ins,&INS::INS_Info);
 

App/ToolsUI/ToolsUI.h

@@ -78,6 +78,12 @@ private slots:
 
 
 signals:
+    /**
+     * @brief 变体舵机信息
+     * @param info
+     */
+   void variantInfo(Variant const &info);
+
    void IndexChanged(const int &index);
 
    void recieveData(const int &id,const QByteArray &data);

App/mainwindow.cpp

@@ -214,11 +214,14 @@ MainWindow::MainWindow(QWidget *parent)
     toolsui = new ToolsUI(this);
     toolsui->hide();
 
+    connect(toolsui, &ToolsUI::variantInfo, this, &MainWindow::showVariantInfo);
+
     //状态
 
     statusui = new StatusUI(this);
     statusui->hide();
 
+
     healthui = new HealthUI(this);
     healthui->hide();
 
@@ -869,6 +872,14 @@ MainWindow::~MainWindow()
     QCoreApplication::quit();//退出所有窗口
 }
 
+void MainWindow::showVariantInfo(const Variant &var)
+{
+    statusui->setValue(1, 0, 12, QString::number(var.l_var_current, 'f', 1));
+    statusui->setValue(1, 0, 13, QString::number(var.r_var_current, 'f', 1));
+    statusui->setValue(1, 0, 14, var.l_var_dir ? "反转" : "正转");
+    statusui->setValue(1, 0, 15, var.r_var_dir ? "反转" : "正转");
+}
+
 
 void MainWindow::setBeep(QVariant state)
 {

App/mainwindow.h

@@ -75,6 +75,11 @@ public:
 
 
 public slots:
+    /**
+     * @brief 显示变体舵机信息
+     * @param var
+     */
+    void showVariantInfo(Variant const &var);
     void showMessage(const QString &message,int TimeOut = 0);
 
     void setCommunicationLostState(bool flag);