modularization/src/tool/RemoteCtrl_Thread/mainwindow.cpp

#include "mainwindow.h"
#include "ui_mainwindow.h"
#include "pos_def.h"

#include "remotectrlini.h"

MainWindow * gw;
//#include "QStringLiteral"

#ifdef NVIDIA_AGX
#include "opencv2/imgcodecs/legacy/constants_c.h"   //OpenCV4 use this line
#include <opencv2/imgproc/types_c.h>   //OpenCV4 use this line
#endif

#include <opencv2/opencv.hpp>
#include <opencv2/core.hpp>

iv::gps::gpsimu ggpsimu;
qint64 gTimeGPSIMUUpdate = 0;

iv::vision::rawpic grawpic[CAMERA_NUM];
qint64 gTimeRawPic[CAMERA_NUM] = {0,0,0,0};
QMutex gMutexPic[CAMERA_NUM];

extern std::string gstrmem_gpsimu;
extern std::string gstrmem_pic[CAMERA_NUM];
extern std::vector<iv::pos_def> gvectorpos;
extern std::string gstryaml_path;

class xodrobj
{
public:
    double flatsrc;
    double flonsrc;
    double fhgdsrc;
    double flat;
    double flon;
    int lane;
};

namespace iv {
struct simpletrace
{
    double gps_lat = 0;//纬度
    double gps_lng = 0;//经度

    double gps_x = 0;
    double gps_y = 0;
    double gps_z = 0;


    double ins_heading_angle = 0;	//航向角
};
}

std::vector<iv::simpletrace> gvectorsimplerace;
QMutex gMutexTrace;
qint64 gTimeTrace = 0;

void Listenpic(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
{
    if(nSize<1000)return;
    iv::vision::rawpic pic;
    if(false == pic.ParseFromArray(strdata,nSize))
    {
        std::cout<<"picview Listenpic fail."<<std::endl;
        return;
    }
    int indexpic = -1;
    for(int i =0;i<CAMERA_NUM;i++)
    {
        if(strncmp(strmemname,gstrmem_pic[i].data(),256) == 0)
        {
            indexpic = i;
            break;
        }
    }
    if(indexpic >= 0)
    {
    gMutexPic[indexpic].lock();
    grawpic[indexpic].CopyFrom(pic);
    gTimeRawPic[indexpic] = QDateTime::currentMSecsSinceEpoch();
    gMutexPic[indexpic].unlock();
    gw->saveavi(indexpic);
    }
}

void Listensimpletrace(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
{
    int npoint = nSize/sizeof(iv::simpletrace);
    if(npoint < 1)
    {
        std::cout<<"simple trace is very smalll"<<std::endl;
        return;
    }

    gMutexTrace.lock();
    gvectorsimplerace.clear();
    gvectorsimplerace.resize(npoint);
    memcpy(gvectorsimplerace.data(),strdata,npoint*sizeof(iv::simpletrace));
    gTimeTrace = QDateTime::currentMSecsSinceEpoch();
    gMutexTrace.unlock();


}

void Listengpsimu(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
{
//        ggpsimu->UpdateGPSIMU(strdata,nSize);

    iv::gps::gpsimu xgpsimu;
    if(!xgpsimu.ParseFromArray(strdata,nSize))
    {
        std::cout<<"ListenRaw Parse error."<<std::endl;
    }
    ggpsimu.CopyFrom(xgpsimu);
    gTimeGPSIMUUpdate = QDateTime::currentMSecsSinceEpoch();

}

MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
{

    gw = this;

    ui->setupUi(this);

    mstrserverip = ServiceRCIni.GetServerIP();
    mstrserverport = ServiceRCIni.GetServerPort();
    mstruploadinterval = ServiceRCIni.GetInterval();
    mstrVehVIN = ServiceRCIni.GetVIN();
    mstrqueryMD5 = ServiceRCIni.GetQueryMD5();
    mstrctrlMD5 = ServiceRCIni.GetCtrlMD5();

    mpJRT = new JoyReadThread();
    mpJRT->start();

    int i;

    CreateView();

    mpPicView = new IVPicView();
    mpPicView->start();



    int nstation = gvectorpos.size();
    for(i=0;i<nstation;i++)
    {
        ui->comboBox_Station->addItem(gvectorpos[i].mstrstationname.data());
    }

    ui->radioButton_auto->setChecked(true);

    mpa = iv::modulecomm::RegisterSend("remotectrl",10000,1);

    mpTimerManual = new QTimer(this);
    connect(mpTimerManual,SIGNAL(timeout()),this,SLOT(onTimerManual()));

    mpTimerRemote = new QTimer(this);
    connect(mpTimerRemote,SIGNAL(timeout()),this,SLOT(onTimerRemote()));
    mpTimerRemote->start(10);

    mpTimerUpdateView = new QTimer(this);
    connect(mpTimerUpdateView,SIGNAL(timeout()),this,SLOT(onTimerUpdateView()));
    mpTimerUpdateView->start(1000);

    QTimer * timer = new QTimer(this);
    connect(timer,SIGNAL(timeout()),this,SLOT(onTimerUpdatePic()));
    timer->start(10);

    mpadst = iv::modulecomm::RegisterSend("xodrreq",1000,1);


    mgrpcpc = new grpcpc(gstryaml_path);
    mgrpcpc->setserverip(mstrserverip);
    mgrpcpc->setserverport(mstrserverport);
    mgrpcpc->setqueryinterval(mstruploadinterval);
    mgrpcpc->setVIN(mstrVehVIN);
    mgrpcpc->setqueryMD5(mstrqueryMD5);
    mgrpcpc->setctrlMD5(mstrctrlMD5);
    mgrpcpc->start();

    mstrVIN = mgrpcpc->GetVIN().data();
    mstrVIN = " VIN:"+ mstrVIN+" ";

    mpPicSave[0] = new ivpicsave("./","front",mstrVIN.toStdString());
    mpPicSave[1] = new ivpicsave("./","rear",mstrVIN.toStdString());
    mpPicSave[2] = new ivpicsave("./","left",mstrVIN.toStdString());
    mpPicSave[3] = new ivpicsave("./","right",mstrVIN.toStdString());

    for(i=0;i<4;i++)
    {
        mpPicSave[i]->start();
    }

    mppicdlg = new DialogPic(this);
    mppicdlg->setModal(false);
    connect(mppicdlg,SIGNAL(finished(int)),this,SLOT(onCloseDlg()));

    mpbigpicdlg = new DialogBigPic(this);
    mpbigpicdlg->setModal(false);
    connect(mpbigpicdlg,SIGNAL(finished(int)),this,SLOT(onCloseBigDlg()));

    QLabel * pLabel = new QLabel();
    pLabel->setFixedWidth(600);
    pLabel->setText("Latency");
    mpLabelLatency = pLabel;
    ui->statusbar->addPermanentWidget(pLabel);

    mpasimpletrace = iv::modulecomm::RegisterRecv("simpletrace",Listensimpletrace);

    void * pa = iv::modulecomm::RegisterRecv(gstrmem_gpsimu.data(),Listengpsimu);

    for(i=0;i<CAMERA_NUM;i++)
        pa = iv::modulecomm::RegisterRecv(gstrmem_pic[i].data(),Listenpic);



//    mpbaiduapp = new pluginapp(this->winId(),"baidu","baidumapshow","/home/yuchuli/qt/modularization/src/plugin/build-baidumapshow-Debug");
//    mppicshow = new pluginapp(this->winId(),"main","plugin_picshow","/home/yuchuli/qt/modularization/src/plugin/build-plugin_picshow-Debug");

//    mppicshow->SetAttr("rawpicmsgname",gstrmem_pic[0].data(),gstrmem_pic[0].size());

    setWindowTitle(mstrProgName +mstrVIN+  mstrGPSTime + mstrPicTime);

}

MainWindow::~MainWindow()
{

//    delete mppicshow;
//    delete mpbaiduapp;
    delete ui;
}

void MainWindow::CreateView()
{
    mMapview = new QWebEngineView(ui->centralwidget);
//    qDebug((QDir::currentPath()).toLatin1().data());
    mMapview->load(QUrl(QString("file:///%1/%2").arg(QApplication::applicationDirPath()).arg("BaiDuMap.html")));

    mMapview->setGeometry(10,10,800,800);

//    mMapview->page()->runJavaScript("theLocation(117.355,39.066);");  //117.355,39.066

    mpWheel = new Speed(ui->groupBox_rem);
    mpWheel->settitle(QStringLiteral("方向盘"));

    mpAcc = new Speed(ui->groupBox_rem);

    mpAcc->settitle(QStringLiteral("油门"));
    mpAcc->updatevalue(0);
    mpAcc->setminvalue(0);
    mpAcc->setmaxvalue(100);

    mpBrake = new Speed(ui->groupBox_rem);
    mpBrake->settitle(QStringLiteral("刹车"));
    mpBrake->updatevalue(0);
    mpBrake->setminvalue(0);
    mpBrake->setmaxvalue(100);

    mmyview = new MyView(ui->centralwidget);
    mmyview->setObjectName(QStringLiteral("graphicsView"));
    mmyview->setGeometry(QRect(30, 30, 600, 600));

    mmyview->setCacheMode(mmyview->CacheBackground);

    mscene = new QGraphicsScene;

    ui->radioButton_Null->setChecked(true);

    ui->radioButton_picfront->setChecked(true);


}


void MainWindow::keyPressEvent(QKeyEvent *event)
{

    //按键按下，key值放入容器，如果是长按触发的repeat就不判断
    if(!event->isAutoRepeat())
        mPressKeys.insert(event->key());


}

void MainWindow::keyReleaseEvent(QKeyEvent *event)
{
    if(!event->isAutoRepeat())mPressKeys.remove(event->key());
    qDebug("key count is %d",mPressKeys.count());
}

void MainWindow::resizeEvent(QResizeEvent *event)
{
    QSize sizemain = ui->centralwidget->size();
    qDebug("size x = %d y=%d",sizemain.width(),sizemain.height());

    mMapview->setGeometry(10,10,sizemain.width()/2,sizemain.height()*3/5);

//    mpbaiduapp->SetGeometry(10,30,sizemain.width()/2,sizemain.height()*3/5);

    mmyview->setGeometry(10+sizemain.width()/2+10,10,sizemain.width()/2-30,sizemain.height()*3/5);

//    mppicshow->SetGeometry(10+sizemain.width()/2+10,10,sizemain.width()/2-30,sizemain.height()*3/5);

    ui->lineEdit_lat->setGeometry(sizemain.width()-100,10,90,30);
    ui->lineEdit_lon->setGeometry(sizemain.width()-100,50,90,30);
    ui->pushButton_test->setGeometry(sizemain.width()-100,90,90,30);

//    mpWheel->setGeometry(sizemain.width()/2 + 20,10,200,200);

    int grouppos_x = 10;
    int grouppos_y = 20 + sizemain.height() *3/5;
    int grouppos_width = sizemain.width()*6/10;
    int grouppos_height = sizemain.height()*2/5 - 20;


    int speed_width = grouppos_height-40;
    if((speed_width*3 + 150)>grouppos_width)speed_width = (grouppos_width - 150)/3;

    mpWheel->setGeometry(100,30,speed_width,speed_width);
    mpBrake->setGeometry(120 + speed_width,30,speed_width,speed_width);
    mpAcc->setGeometry(140 + 2*speed_width,30,speed_width,speed_width);
    ui->groupBox_rem->setGeometry(grouppos_x,grouppos_y,grouppos_width,grouppos_height);

    int grouppic_x = 10 + sizemain.width()*6/10 + 10;
    int grouppic_y = 20 + sizemain.height() *3/5;
    int grouppic_width = sizemain.width()*4/10 - 30;
    int grouppic_height = sizemain.height()*1/10;

    ui->groupBox_picsel->setGeometry(grouppic_x,grouppic_y,grouppic_width,grouppic_height);

    int groupmap_x = 10 + sizemain.width()*6/10 + 10;
    int groupmap_y = 20 + sizemain.height() *7/10;
    int groupmap_width = sizemain.width()*4/10 - 30;
    int groupmap_height = sizemain.height()*1/10;

    ui->comboBox_Station->setGeometry(10,30,groupmap_width*3/5,30);
    ui->pushButton_Go->setGeometry(20 + groupmap_width*3/5,30,groupmap_width*2/5 - 30,30);

    ui->groupBox_map->setGeometry(groupmap_x,groupmap_y,groupmap_width,groupmap_height);

    int groupgps_x = 10 + sizemain.width()*6/10 + 10;
    int groupgps_y = 30 + sizemain.height() *8/10;
    int groupgps_width = sizemain.width()*4/10 - 30;
    int groupgps_height = sizemain.height()*2/10 - 30;

    ui->groupBox_gps->setGeometry(groupgps_x,groupgps_y,groupgps_width,groupgps_height);

    int lablewidth = (groupgps_width-50)*2/10;
    int lewidth = (groupgps_width-50)*3/10;
    int leheight = 26;

    int nypos = 40;
    ui->label_gpsins->setGeometry(10,nypos,lablewidth,leheight);
    ui->lineEdit_gpsins->setGeometry(20+lablewidth,nypos,lewidth,leheight);
    ui->label_gpsrtk->setGeometry(30+lablewidth+lewidth,nypos,lablewidth,leheight);
    ui->lineEdit_gpsrtk->setGeometry(40+2*lablewidth +lewidth,nypos,lewidth,leheight);

    nypos = nypos + leheight*11/10;
    ui->label_gpslon->setGeometry(10,nypos,lablewidth,leheight);
    ui->lineEdit_gpslon->setGeometry(20+lablewidth,nypos,lewidth,leheight);
    ui->label_gpslat->setGeometry(30+lablewidth+lewidth,nypos,lablewidth,leheight);
    ui->lineEdit_gpslat->setGeometry(40+2*lablewidth +lewidth,nypos,lewidth,leheight);

    nypos = nypos + leheight*11/10;
    ui->label_gpsheading->setGeometry(10,nypos,lablewidth,leheight);
    ui->lineEdit_gpsheading->setGeometry(20+lablewidth,nypos,lewidth,leheight);
    ui->label_gpsheight->setGeometry(30+lablewidth+lewidth,nypos,lablewidth,leheight);
    ui->lineEdit_gpsheight->setGeometry(40+2*lablewidth +lewidth,nypos,lewidth,leheight);

    nypos = nypos + leheight*11/10;
    ui->label_gpsspeed->setGeometry(10,nypos,lablewidth,leheight);
    ui->lineEdit_gpsspeed->setGeometry(20+lablewidth,nypos,lewidth,leheight);
    ui->label_gpssat->setGeometry(30+lablewidth+lewidth,nypos,lablewidth,leheight);
    ui->lineEdit_gpssat->setGeometry(40+2*lablewidth +lewidth,nypos,lewidth,leheight);


}


void MainWindow::on_pushButton_test_clicked()
{
    double flat = ui->lineEdit_lat->text().toDouble();
    double flon = ui->lineEdit_lon->text().toDouble();

    char strscript[256];
    snprintf(strscript,255,"theLocation(%11.7f,%11.7f);",flon,flat);
    mMapview->page()->runJavaScript(strscript);
}

void MainWindow::on_radioButton_manual_clicked()
{
    ui->radioButton_manual->setChecked(true);
    mPressKeys.clear();
    mfAcc = 0;
    mfWheel = 0;
    mfBrake = 0;
    mpWheel->updatevalue(mfWheel);
    mpAcc->updatevalue(mfAcc);
    mpBrake->updatevalue(mfBrake);
    mManualTime.restart();
    mnLastTime = mManualTime.elapsed();
    mpTimerManual->start(10);
}

void MainWindow::onTimerManual()
{


    double fOldWheel = mfWheel;
    double fOldAcc = mfAcc;
    double fOldBrake = mfBrake;
    int timediff = mManualTime.elapsed() - mnLastTime;
    mnLastTime = mManualTime.elapsed();

    int nOldShift = mnShift;

    if(mpJRT->isOK())
    {
        mfWheel = mpJRT->GetWheel() * (-100.0)/32768.0;
        mfAcc = ((mpJRT->GetAcc()-32767.0)/65535)*(-100.0);
        mfBrake = ((mpJRT->GetBrake()-32767.0)/65535)*(-100.0);
        if(mfWheel != fOldWheel)mpWheel->updatevalue(mfWheel);
        if(mfAcc != fOldAcc)mpAcc->updatevalue(mfAcc);
        if(mfBrake != fOldBrake)mpBrake->updatevalue(mfBrake);

        int x = mpJRT->GetShift();
        if(x > 0)mnShift = 1;
        if(x == 0)mnShift = 0;
        if(x < 0)mnShift = -1;
        if(mnShift != nOldShift)
        {
            switch (mnShift) {
            case 1:
                ui->radioButton_Drive->setChecked(true);
                ui->radioButton_picfront->setChecked(true);
                on_radioButton_picfront_clicked();
                break;
            case 0:
                ui->radioButton_Null->setChecked(true);
                break;
            case -1:
                ui->radioButton_Rear->setChecked(true);
                ui->radioButton_picrear->setChecked(true);
                on_radioButton_picrear_clicked();
                break;
            default:
                break;
            }
        }
        return;
    }


    if(mPressKeys.contains(Qt::Key_A)&&(mPressKeys.contains((Qt::Key_D))))
    {
        mfWheel = mfWheel;
    }
    else
    {
        if(mPressKeys.contains(Qt::Key_A))
        {
            if(mfWheel<0)mfWheel = 0;
            else
            {
                mfWheel = mfWheel + timediff*mfWheelSpeed/1000;
                if(mfWheel < -100)mfWheel = -100;
                if(mfWheel > 100 )mfWheel = 100;
            }
        }

        if(mPressKeys.contains(Qt::Key_D))
        {
            if(mfWheel>0)mfWheel = 0;
            else
            {
                mfWheel = mfWheel - timediff*mfWheelSpeed/1000;
                if(mfWheel < -100)mfWheel = -100;
                if(mfWheel > 100 )mfWheel = 100;
            }
        }


    }

    if(!mPressKeys.contains(Qt::Key_A)&&(!mPressKeys.contains((Qt::Key_D))))
    {
        if(mfWheel != 0)
        {
            if(mfWheel > 0)mfWheel = mfWheel - timediff*mfWheelAutoDownSpeed/1000;
            else mfWheel = mfWheel + timediff*mfWheelAutoDownSpeed/1000;
            if(fabs(mfWheel)< 10)mfWheel =0;
        }
    }

    if(mPressKeys.contains(Qt::Key_W)&&(mPressKeys.contains((Qt::Key_S))))
    {
        mfAcc = 0;
        mfBrake = mfBrake + timediff*mfBrakeSpeed/1000;
        if(mfBrake<0)mfBrake = 0;
        if(mfBrake > 100)mfBrake = 100;
    }
    else
    {
        if(mPressKeys.contains(Qt::Key_W))
        {
            mfBrake = 0;
            mfAcc = mfAcc + timediff*mfAccSpeed/1000;
            if(mfAcc<0)mfAcc = 0;
            if(mfAcc > 100)mfAcc = 100;

        }

        if(mPressKeys.contains(Qt::Key_S))
        {
            mfAcc = 0;
            mfBrake = mfBrake + timediff*mfBrakeSpeed/1000;
            if(mfBrake<0)mfBrake = 0;
            if(mfBrake > 100)mfBrake = 100;
        }


    }


    if(!mPressKeys.contains(Qt::Key_W)&&(!mPressKeys.contains((Qt::Key_S))))
    {
        if(mfBrake != 0)
        {
            mfBrake = mfBrake - timediff*mfBrakeAutoDownSpeed/1000;
            if(mfBrake<0)mfBrake = 0;
            if(mfBrake > 100)mfBrake = 100;
        }

        if(mfAcc != 0)
        {
            mfAcc = mfAcc - timediff*mfAccAutoDownSpeed/1000;
            if(mfAcc<0)mfAcc = 0;
            if(mfAcc > 100)mfAcc = 100;
        }
    }

    if(mfWheel != fOldWheel)mpWheel->updatevalue(mfWheel);
    if(mfAcc != fOldAcc)mpAcc->updatevalue(mfAcc);
    if(mfBrake != fOldBrake)mpBrake->updatevalue(mfBrake);
}

void MainWindow::on_radioButton_auto_clicked()
{
    ui->radioButton_auto->setChecked(true);
    mPressKeys.clear();
    mpTimerManual->stop();

}

void MainWindow::onTimerRemote()
{
    if(ui->radioButton_auto->isChecked())
    {
        mremotectrl.set_ntype(iv::remotectrl_CtrlType_AUTO);
//        mfAcc = 0;
//        mfBrake = 0;
//        mfWheel =0;
//        mpWheel->updatevalue(mfWheel);
//        mpAcc->updatevalue(mfAcc);
//        mpBrake->updatevalue(mfBrake);


    }
    else
    {
        mremotectrl.set_ntype(iv::remotectrl_CtrlType_REMOTE);

    }
    mremotectrl.set_acc(mfAcc);
    mremotectrl.set_brake(mfBrake);
    mremotectrl.set_wheel(mfWheel);
    mremotectrl.set_shift(mnShift);

    int nsersize = mremotectrl.ByteSize();
    char * strbuf = new char[nsersize];
    if(mremotectrl.SerializeToArray(strbuf,nsersize))
    {
        iv::modulecomm::ModuleSendMsg(mpa,strbuf,nsersize);
    }
    delete strbuf;
}

void MainWindow::onTimerUpdatePic()
{
    static qint64 time_pic = 0;

    static qint64 time_trace = 0;
    static int pos = 0;
    static std::vector<iv::simpletrace> xvectorsimpletrace;

    if((mnSelPic>=0)&&(mnSelPic<4))
    {
        if((gTimeRawPic[mnSelPic] != time_pic) && (gTimeRawPic[mnSelPic] != 0))
  //      if((gTimeRawPic[mnSelPic] != time_pic))
        {
            time_pic = gTimeRawPic[mnSelPic];
            iv::vision::rawpic xpic;
            gMutexPic[mnSelPic].lock();
            xpic.CopyFrom(grawpic[mnSelPic]);
            gMutexPic[mnSelPic].unlock();
            mpPicView->SetPic(xpic);

        }
    }

    if(mpPicView->IsHaveNew())update();

    if(gTimeTrace != time_trace)
    {
        time_trace = gTimeTrace;

        gMutexTrace.lock();
        xvectorsimpletrace = gvectorsimplerace;
        gMutexTrace.unlock();
        pos = 0;
        if(xvectorsimpletrace.size()> 0)
        {
            QJsonArray num_json,num2_json;                       //声明QJsonArray
            QJsonDocument num_document,num2_document;    //将QJsonArray改为QJsonDocument类
            QByteArray num_byteArray,num2_byteArray;      //

            int i=0;
            for(i=0;i<xvectorsimpletrace.size();i++)                            //将数组传入压入num_json
            {
                num_json.append(xvectorsimpletrace[i].gps_lng);
                num2_json.append(xvectorsimpletrace[i].gps_lat);
            }

            num_document.setArray(num_json);
            num2_document.setArray(num2_json);
            num_byteArray = num_document.toJson(QJsonDocument::Compact);
            num2_byteArray = num2_document.toJson(QJsonDocument::Compact);
            QString numJson(num_byteArray);             //再转为QString
            QString num2Json(num2_byteArray);             //再转为QString


            QString cmd = QString("settrace(\"%1\",\"%2\")").arg(numJson).arg(num2Json);
            mMapview->page()->runJavaScript(cmd);
        }

    }

//    if(pos<xvectorsimpletrace.size())
//    {
//        if(pos == 0)
//        {
//            mMapview->page()->runJavaScript("clear()");
//        }

//        char strscript[256];
//        snprintf(strscript,255,"mapLocation(%11.7f,%11.7f);",xvectorsimpletrace[pos].gps_lng,xvectorsimpletrace[pos].gps_lat);
//        mMapview->page()->runJavaScript(strscript);
//        pos++;

//    }
}

void MainWindow::onTimerUpdateView()
{
    static qint64 time_gps = 0;

    unsigned int i;

   char strlatency[1000];
   char strtem[100];
   snprintf(strlatency,1000,"Latency(Up|FrameRate|Down): ");
   snprintf(strtem,100,"FT(%d|%d|%d) ",mgrpcpc->GetPicLatency(0),mgrpcpc->GetFrameRate(0),mgrpcpc->GetPicDownLatency(0));strncat(strlatency,strtem,1000);
   snprintf(strtem,100,"RR(%d|%d|%d) ",mgrpcpc->GetPicLatency(1),mgrpcpc->GetFrameRate(1),mgrpcpc->GetPicDownLatency(1));strncat(strlatency,strtem,1000);
   snprintf(strtem,100,"LT(%d|%d|%d) ",mgrpcpc->GetPicLatency(2),mgrpcpc->GetFrameRate(2),mgrpcpc->GetPicDownLatency(2));strncat(strlatency,strtem,1000);
   snprintf(strtem,100,"RT(%d|%d|%d) ",mgrpcpc->GetPicLatency(3),mgrpcpc->GetFrameRate(3),mgrpcpc->GetPicDownLatency(3));strncat(strlatency,strtem,1000);

   mpLabelLatency->setText(strlatency);


    if(gTimeGPSIMUUpdate != time_gps)
    {
        time_gps = gTimeGPSIMUUpdate;
        char strscript[256];
        snprintf(strscript,255,"theLocation(%11.7f,%11.7f,%11.3f);",ggpsimu.lon(),ggpsimu.lat(),ggpsimu.heading());
        mMapview->page()->runJavaScript(strscript);

        iv::gps::gpsimu xgpsimu;
        xgpsimu.CopyFrom(ggpsimu);

        ui->lineEdit_gpsins->setText(QString::number(xgpsimu.ins_state()));
        ui->lineEdit_gpsrtk->setText(QString::number(xgpsimu.rtk_state()));
        ui->lineEdit_gpslon->setText(QString::number(xgpsimu.lon(),'f',7));
        ui->lineEdit_gpslat->setText(QString::number(xgpsimu.lat(),'f',7));
        ui->lineEdit_gpsheading->setText(QString::number(xgpsimu.heading(),'f',2));
        ui->lineEdit_gpsheight->setText(QString::number(xgpsimu.height(),'f',2));
        ui->lineEdit_gpsspeed->setText(QString::number(xgpsimu.speed(),'f',2));
        ui->lineEdit_gpssat->setText(QString::number(xgpsimu.satnum1()));

        mstrGPSTime =  QDateTime::fromMSecsSinceEpoch(xgpsimu.msgtime()).toString("GPS: yyyy-MM-dd hh:mm:ss  ");
        setWindowTitle(mstrProgName + mstrVIN + mstrGPSTime + mstrPicTime);
    }





}

void MainWindow::paintEvent(QPaintEvent *)
{
    if(!mpPicView->IsHaveNew())
    {
        return;
    }
    else
    {
        QImage image = mpPicView->GetImage();
        mscene->clear();
        mscene->addPixmap(QPixmap::fromImage(image));
        mmyview->setScene(mscene);
        mmyview->show();
    }
}

void MainWindow::on_pushButton_Go_clicked()
{



    if(ui->comboBox_Station->currentIndex() < 0)return;
    int index = ui->comboBox_Station->currentIndex();

    if(index<0 ||  index>= gvectorpos.size())
    {
        std::cout<<"out range."<<std::endl;
        return;
    }
    iv::pos_def xpos = gvectorpos[index];

    double lon,lat;
    lon = xpos.mflon;
    lat = xpos.mflat;

    xodrobj xo;
    xo.flon = lon;
    xo.flat = lat;
    xo.lane = 3;

    iv::modulecomm::ModuleSendMsg(mpadst,(char *)&xo,sizeof(xodrobj));
}

void MainWindow::on_comboBox_Station_currentIndexChanged(int index)
{
    if(index<0 ||  index>= gvectorpos.size())
    {
        std::cout<<"out range."<<std::endl;
        return;
    }
    iv::pos_def xpos = gvectorpos[index];

    char strscript[256];
    snprintf(strscript,255,"objLocation(%11.7f,%11.7f);",xpos.mflon,xpos.mflat);
    mMapview->page()->runJavaScript(strscript);

}

void MainWindow::on_checkBox_Drive_stateChanged(int arg1)
{

}

void MainWindow::on_checkBox_Drive_clicked()
{
}

void MainWindow::on_checkBox_Null_clicked()
{

}

void MainWindow::on_checkBox_Rear_clicked()
{

}

void MainWindow::on_radioButton_Drive_clicked()
{
    mnShift = 1;
    ui->radioButton_picfront->setChecked(true);
    on_radioButton_picfront_clicked();
    mpbigpicdlg->SetFront();
}

void MainWindow::on_radioButton_Null_clicked()
{
    mnShift = 0;
    mpbigpicdlg->SetFront();
}

void MainWindow::on_radioButton_Rear_clicked()
{
    mnShift = -1;
    ui->radioButton_picrear->setChecked(true);
    on_radioButton_picrear_clicked();
    mpbigpicdlg->SetRear();
}

void MainWindow::on_radioButton_picfront_clicked()
{

    mnSelPic = 0;
    mppicshow->SetAttr("rawpicmsgname",gstrmem_pic[mnSelPic].data(),gstrmem_pic[mnSelPic].size());
    mpbigpicdlg->setCamera(mnSelPic);
}

void MainWindow::on_radioButton_picrear_clicked()
{
    mnSelPic = 1;
    mppicshow->SetAttr("rawpicmsgname",gstrmem_pic[mnSelPic].data(),gstrmem_pic[mnSelPic].size());
    mpbigpicdlg->setCamera(mnSelPic);
}

void MainWindow::on_radioButton_picleft_clicked()
{
    mnSelPic = 2;
    mppicshow->SetAttr("rawpicmsgname",gstrmem_pic[mnSelPic].data(),gstrmem_pic[mnSelPic].size());
    mpbigpicdlg->setCamera(mnSelPic);
}

void MainWindow::on_radioButton_picright_clicked()
{
    mnSelPic = 3;
    mppicshow->SetAttr("rawpicmsgname",gstrmem_pic[mnSelPic].data(),gstrmem_pic[mnSelPic].size());
    mpbigpicdlg->setCamera(mnSelPic);
}



void MainWindow::on_pushButton_AllPic_clicked()
{

    mppicdlg->show();
    mppicdlg->setRefresh(true);
}

void MainWindow::onCloseDlg()
{
    mppicdlg->setRefresh(false);
    qDebug("cloase");
}

void MainWindow::on_checkBox_clicked()
{
    int i;
    if(ui->checkBox->isChecked())
    {
        for(i=0;i<4;i++)
        {
            mpPicSave[i]->startsave();
        }
        mbSavePic = true;
    }
    else
    {
        for(i=0;i<4;i++)
        {
            mpPicSave[i]->stopsave();
        }
        mbSavePic = false;
    }
}

void MainWindow::saveavi(int index)
{
//    if(mbSavePic == false)return;
    gMutexPic[index].lock();
    mpPicSave[index]->SetPic(grawpic[index]);
    gMutexPic[index].unlock();
}

void MainWindow::on_pushButton_big_clicked()
{
//    pluginapp * pa  = new pluginapp(this->winId(),"main","plugin_threepicshow","/home/yuchuli/qt/modularization/src/plugin/build-plugin_threepicshow-Debug");

//    return;
    mpbigpicdlg->show();
    mpbigpicdlg->setRefresh(true);
}

void MainWindow::onCloseBigDlg()
{
    mpbigpicdlg->setRefresh(false);
}

void MainWindow::on_actionSet_Query_Pass_triggered()
{
    DialogSetPassWord xdlg(DialogSetPassWord_Type::QUERY,mstrqueryMD5,this);
    if(xdlg.exec() == xdlg.Accepted)
    {
        mgrpcpc->setqueryMD5(ServiceRCIni.GetQueryMD5());
        mstrqueryMD5 = ServiceRCIni.GetQueryMD5();
    }
}

void MainWindow::on_actionSetting_triggered()
{
    DialogSetting xdlg(this);
    if(xdlg.exec() == QDialog::Accepted)
    {
        mgrpcpc->setVIN(ServiceRCIni.GetVIN());
        mstrVehVIN = ServiceRCIni.GetVIN();
    }
}

void MainWindow::on_actionSet_Ctrl_Pass_triggered()
{
    DialogSetPassWord xdlg(DialogSetPassWord_Type::CTRL,mstrctrlMD5,this);
    if(xdlg.exec() == xdlg.Accepted)
    {
        mgrpcpc->setctrlMD5(ServiceRCIni.GetCtrlMD5());
        mstrctrlMD5 = ServiceRCIni.GetCtrlMD5();
    }

}