modularization/src/tool/PerceptionShow/mainwindow.h

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>

#include "myview.h"

#include <QGroupBox>
#include <QComboBox>
#include <QLabel>
#include <QMutex>

#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>


#include <QTimer>
#include <QSlider>

#include <QCheckBox>
#include <QPushButton>

#include "modulecomm.h"
#include "rawpic.pb.h"

#include "radarobjectarray.pb.h"

#include "object.pb.h"
#include "objectarray.pb.h"

#include "fusionobject.pb.h"
#include "fusionobjectarray.pb.h"

#include "ivpcdview.h"
#include "ivlidarobjview.h"
#include "ivradarview.h"
#include "ivpicview.h"
#include "ivfusionview.h"

#define MAX_SEL 6

namespace Ui {
class MainWindow;
}

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    explicit MainWindow(QWidget *parent = 0);
    ~MainWindow();

private:
    Ui::MainWindow *ui;

    MyView *myview[4];
    QGraphicsScene *scene[4];

    QGroupBox * mpGroup;
    QComboBox * mcbviewsel[4];

    int mnSel[4];

private:
    void CreateView();
    void CreateRightView(QGroupBox * pGroup);

public:
     void resizeEvent(QResizeEvent *event);

private:
     void AdjustWPos(QSize sizemain);

private slots:
     void onComboSel(int index);



     void onTimer();

     void onChangeWin();

     virtual void paintEvent(QPaintEvent *);


private:
     QMutex mMutexPic;
     iv::vision::rawpic mrawpic;
     int mnPicIndex = 0;
     int mnPainterPicIndex = 0;

     pcl::PointCloud<pcl::PointXYZI>::Ptr mpoint_cloud;
     QMutex mMutexPCD;
     int mnPCDIndex = 0;
     int mnPainterPCDIndex = 0;

     iv::radar::radarobjectarray mradar;
     QMutex mMutexRADAR;
     int mnRADARIndex = 0;
     int mnPainterRADARIndex = 0;

     iv::lidar::objectarray mlidarobjvec;
     QMutex mMutexLidarObj;
     int mnLidarObjIndex = 0;
     int mnPainterLidarObjIndex = 0;

     iv::fusion::fusionobjectarray mfusionobjarray;
     QMutex mMutexFusion;
     int mnFusionIndex = 0;
     int mnPainterFusionIndex = 0;

     int mnFix = 100;


public:
     void UpdatePic(iv::vision::rawpic pic);

     void UpdatePointCloud(pcl::PointCloud<pcl::PointXYZI>::Ptr pc);

     void UpdateRADAR(iv::radar::radarobjectarray radarobj);

     void UpdateLidarObj(iv::lidar::objectarray  lidarobjvec);

     void UpdateFusionObj(iv::fusion::fusionobjectarray xfusionobjarray);

     void UpdatePicDet(iv::vision::rawpic pic);



private:
     void painterPic(int viewindex);
     void painterPCD(int viewindex);
     void painterRADAR(int viewindex);
     void painterLidarObj(int viewindex);
     void painterFusion(int viewindex);
     void painterPicDet(int viewindex);

     void SelectView(int viewindex);

private:
     IVLidarObjView * mpLidarView;
     IVPCDView * mpPCDView;
     IVPicView * mpPicView;
     IVRadarView * mpRadarView;
     IVFusionView * mpFusionView;
     IVPicView * mpPicDetView;

     IVView * mpIVView[MAX_SEL];

     QCheckBox * mpCheck[3];
     QSlider * mpSlider;
};

#endif // MAINWINDOW_H