modularization/src/tool/RemoteCtrl_Wide/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 * gpaframe;

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

    m_translator = new QTranslator(this);
    QString strLanguageFile = ":/zh_CN.qm";
    if(ServiceRCIni.GetLanguage() == "Chinese")
    {
        strLanguageFile = ":/zh_CN.qm";
    }
    else
    {
        strLanguageFile = ":/en_CN.qm";
    }
    if (QFile(strLanguageFile).exists())
    {
        m_translator->load(strLanguageFile);
        qApp->installTranslator(m_translator);
    }


    gpaframe = iv::modulecomm::RegisterSend("h264frame",1000000,1);
    gw = this;

    ui->setupUi(this);



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

#ifndef Q_OS_WIN
    mpJRT = new JoyReadThread();
    mpJRT->start();
#endif

    int i;

    CreateView();

    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(50);

    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(1000);

    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();

    for(i=0;i<NUM_CAM;i++)
    {
        mpImageCam[i] = new QImage(640, 360, QImage::Format_RGB32);
        mbCamUpdate[i] = false;
        mph264decode[i] = new ivh264framedecode(mnframewidth,mnframeheight);
        mpthreadframe[i] = new std::thread(&MainWindow::threadframe,this,i);
        mpthreadpic[i] = new std::thread(&MainWindow::threadpic,this,i);

    }
    mpthreadinfo = new std::thread(&MainWindow::threadinfo,this);

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



//    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);

    ui->horizontalSlider_wheelspeed->setRange(1,30);

    connect(this,SIGNAL(CamUpdate(int)),this,SLOT(onCamUpdate(int)));

//    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()
{

    mbThreadrun = false;
    int i;
    mpthreadinfo->join();
    for(i=0;i<NUM_CAM;i++)
    {
//        mph264decode[i] = new ivh264framedecode(mnframewidth,mnframeheight);
        mpthreadframe[i]->join();
        mpthreadpic[i]->join();
    }
    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"));
    mpWheel->setminvalue(550);
    mpWheel->setmaxvalue(-550);

    mpAcc = new Speed(ui->groupBox_rem);

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

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

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

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

    mscene = new QGraphicsScene;
    mpsceneImg[0] = mscene;
    mpsceneImg[1] = new QGraphicsScene;
    mpsceneImg[2] = new QGraphicsScene;
    mpsceneImg[3] = new QGraphicsScene;

    mpviewImg[0] = mmyview;
    mpviewImg[1] = mmyviewRear;
    mpviewImg[2] = mmyviewLeft;
    mpviewImg[3] = mmyviewRight;

    ui->radioButton_Null->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->key() == Qt::Key_Escape)
    {
        showNormal();
    }
    if(!event->isAutoRepeat())mPressKeys.remove(event->key());
    qDebug("key count is %d",mPressKeys.count());
}

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

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

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

    int nMode = 1;

    ui->lineEdit_lat->setVisible(false);
    ui->lineEdit_lon->setVisible(false);
    ui->pushButton_test->setVisible(false);

    if(nMode == 0)
    {

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

        int nfrontpos_x = sizemain.width()/6;
        int nfrontpos_y = sizemain.height()/3;
        int nfrontsize_x = sizemain.width()*2/3;
        int nfrontsize_y = sizemain.height() * 2/3;
        mmyview->setGeometry(nfrontpos_x,nfrontpos_y,nfrontsize_x,nfrontsize_y);

        int nleftpos_x = 0;
        int nleftpos_y = 0;
        int nleftsize_x = sizemain.width()/3;
        int nleftsize_y = sizemain.height()/3;
        mmyviewLeft->setGeometry(nleftpos_x,nleftpos_y,nleftsize_x,nleftsize_y);

        int nrearpos_x = sizemain.width()/3;
        int nrearpos_y = 0;
        int nrearsize_x = sizemain.width()/3;
        int nrearsize_y = sizemain.height()/3;
        mmyviewRear->setGeometry(nrearpos_x,nrearpos_y,nrearsize_x,nrearsize_y);

        int nrightpos_x = sizemain.width() * 2/3;
        int nrightpos_y = 0;
        int nrightsize_x = sizemain.width()/3;
        int nrightsize_y = sizemain.height()/3;
        mmyviewRight->setGeometry(nrightpos_x,nrightpos_y,nrightsize_x,nrightsize_y);

        //    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 =  sizemain.width()*5/6;
        int grouppos_y = sizemain.height()/3;
        int grouppos_width = sizemain.width()*1/6;
        int grouppos_height = sizemain.height() * 2/3;


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

        int speed_width = grouppos_width;
        if(speed_width*3 > (sizemain.height()/2))speed_width = sizemain.height()/6;
        mpWheel->setGeometry(0,sizemain.height()/6 ,speed_width,speed_width);
        mpBrake->setGeometry(0,sizemain.height()/6 + sizemain.height()/6,speed_width,speed_width);
        mpAcc->setGeometry(0 ,sizemain.height()/6 + sizemain.height()/3,speed_width,speed_width);
        ui->groupBox_rem->setGeometry(grouppos_x,grouppos_y,grouppos_width,grouppos_height);



        int groupmap_x = 0;
        int groupmap_y = sizemain.height()*1/3;
        int groupmap_width = sizemain.width()/6;
        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 = 0;
        int groupgps_y = sizemain.height()/2;
        int groupgps_width = sizemain.width()/6;
        int groupgps_height = sizemain.height()/2;

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

        int lablewidth =groupgps_width*3/10;// (groupgps_width-50)*2/10;
        int lewidth = groupgps_width*6/10;
        int leheight = 26;

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

        nypos = nypos + leheight*11/10;
        ui->label_gpsrtk->setGeometry(10,nypos,lablewidth,leheight);
        ui->lineEdit_gpsrtk->setGeometry(20+lablewidth,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);

        nypos = nypos + leheight*11/10;
        ui->label_gpslat->setGeometry(10,nypos,lablewidth,leheight);
        ui->lineEdit_gpslat->setGeometry(20+lablewidth,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);

        nypos = nypos + leheight*11/10;
        ui->label_gpsheight->setGeometry(10,nypos,lablewidth,leheight);
        ui->lineEdit_gpsheight->setGeometry(20+lablewidth,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);

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


        double fscale = (sizemain.width()*2/3)*1.0/mnframewidth;
        double fscale2 = (sizemain.height()*2/3)*1.0/mnframeheight;
        if(fscale > fscale2) fscale = fscale2;
        fscale = fscale * 0.99;
        mmyview->viewscaleto(fscale);

        int i;
        for(i=1;i<NUM_CAM;i++)
        {
            fscale =  (sizemain.width()*1/3)*1.0/mnframewidth;
            fscale2 = (sizemain.height()*1/3)*1.0/mnframeheight;
            if(fscale > fscale2) fscale = fscale2;
            fscale = fscale * 0.99;
            mpviewImg[i]->viewscaleto(fscale);
        }

    }

    if(nMode == 1)
    {

        int nfrontpos_x = sizemain.width()*2/5;
        int nfrontpos_y = 0;
        int nfrontsize_x = sizemain.width()*1/5;
        int nfrontsize_y = sizemain.height();
        mmyview->setGeometry(nfrontpos_x,nfrontpos_y,nfrontsize_x,nfrontsize_y);

        int nleftpos_x = 0;
        int nleftpos_y = 0;
        int nleftsize_x = sizemain.width()*1/5;
        int nleftsize_y = sizemain.height();
        mmyviewLeft->setGeometry(nleftpos_x,nleftpos_y,nleftsize_x,nleftsize_y);

//        int nrearpos_x = sizemain.width()/3;
//        int nrearpos_y = 0;
//        int nrearsize_x = sizemain.width()/3;
//        int nrearsize_y = sizemain.height()/3;
//        mmyviewRear->setGeometry(nrearpos_x,nrearpos_y,nrearsize_x,nrearsize_y);

        mmyviewRear->setVisible(false);

        int nrightpos_x = sizemain.width() * 4/5;
        int nrightpos_y = 0;
        int nrightsize_x = sizemain.width()*1/5;
        int nrightsize_y = sizemain.height();
        mmyviewRight->setGeometry(nrightpos_x,nrightpos_y,nrightsize_x,nrightsize_y);

        //    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 =  sizemain.width()*1/5;
        int grouppos_y = sizemain.height()/2;
        int grouppos_width = sizemain.width()*1/5;
        int grouppos_height = sizemain.height() * 1/2;


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

        int speed_width = grouppos_width;
        if(speed_width*3 > (sizemain.height()/2))speed_width = sizemain.height()/6;
        mpWheel->setGeometry(0,sizemain.height()/6 ,speed_width,speed_width);
        mpBrake->setGeometry(0,sizemain.height()/6 + sizemain.height()/6,speed_width,speed_width);
        mpAcc->setGeometry(0 ,sizemain.height()/6 + sizemain.height()/3,speed_width,speed_width);
        ui->groupBox_rem->setGeometry(grouppos_x,grouppos_y,grouppos_width,grouppos_height);



        int groupmap_x = sizemain.width()*1/5;
        int groupmap_y = sizemain.height();
        int groupmap_width = sizemain.width()/5;
        int groupmap_height = sizemain.height();

        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 = sizemain.width()*1/5;
        int groupgps_y = sizemain.height()/2;
        int groupgps_width = sizemain.width()/5;
        int groupgps_height = sizemain.height()/2;

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

        int lablewidth =groupgps_width*3/10;// (groupgps_width-50)*2/10;
        int lewidth = groupgps_width*6/10;
        int leheight = 26;

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

        nypos = nypos + leheight*11/10;
        ui->label_gpsrtk->setGeometry(10,nypos,lablewidth,leheight);
        ui->lineEdit_gpsrtk->setGeometry(20+lablewidth,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);

        nypos = nypos + leheight*11/10;
        ui->label_gpslat->setGeometry(10,nypos,lablewidth,leheight);
        ui->lineEdit_gpslat->setGeometry(20+lablewidth,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);

        nypos = nypos + leheight*11/10;
        ui->label_gpsheight->setGeometry(10,nypos,lablewidth,leheight);
        ui->lineEdit_gpsheight->setGeometry(20+lablewidth,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);

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


        double fscale = (sizemain.width()*1/5)*1.0/mnframewidth;
        double fscale2 = (sizemain.height()*1/1)*1.0/mnframeheight;
        if(fscale > fscale2) fscale = fscale2;
        fscale = fscale * 0.99;
        mmyview->viewscaleto(fscale);

        int i;
        for(i=1;i<NUM_CAM;i++)
        {
            fscale =  (sizemain.width()*1/5)*1.0/mnframewidth;
            fscale2 = (sizemain.height()*1/1)*1.0/mnframeheight;
            if(fscale > fscale2) fscale = fscale2;
            fscale = fscale * 0.99;
            mpviewImg[i]->viewscaleto(fscale);
        }

    }

}


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()
{

    static qint64 nLastKeepKeyTime = 0;
    const qint64 nKeepTime = 3000; //if press c key, 5 seconds. in keep mode.
    double fOldWheel = mfWheel;
    double fOldAcc = mfAcc;
    double fOldBrake = mfBrake;
    int timediff = mManualTime.elapsed() - mnLastTime;
    mnLastTime = mManualTime.elapsed();

    bool bInKeepMode = false;

    int nOldShift = mnShift;

#ifndef Q_OS_WIN
    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);
                break;
            case 0:
                ui->radioButton_Null->setChecked(true);
                break;
            case -1:
                ui->radioButton_Rear->setChecked(true);
                break;
            default:
                break;
            }
        }
        return;
    }
#endif

    if(mPressKeys.contains(Qt::Key_C)||(mPressKeys.contains(Qt::Key_A))||(mPressKeys.contains(Qt::Key_D))||(mPressKeys.contains(Qt::Key_W))||(mPressKeys.contains(Qt::Key_S)))
    {
        nLastKeepKeyTime = QDateTime::currentMSecsSinceEpoch();
    }

    if(abs(QDateTime::currentMSecsSinceEpoch() - nLastKeepKeyTime)  < nKeepTime)
    {
        bInKeepMode = true;
    }


    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_Z))
    {
        mfWheel = 0;
    }

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

    if(mnVehMode == 2)   //ACC BRAKE
    {
        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;
            }


        }
    }
    else   //Speed Mode
    {
        if(mPressKeys.contains(Qt::Key_W)&&(mPressKeys.contains((Qt::Key_S))))
        {
            if(mfAcc > 0)
            {
                mfAcc = mfAcc - 10*timediff*mfAccSpeed/1000;
                if(mfAcc<0)mfAcc = 0;
            }
            else
            {
                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))
            {
                if(mfAcc > 0)
                {
                    mfAcc = mfAcc - 10*timediff*mfAccSpeed/1000;
                    if(mfAcc<0)mfAcc = 0;
                }
                else
                {
                    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)))&&(bInKeepMode == false))
    {
        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*5.5);
    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))
    {
        mgrpcpc->SetCtrlMsg("remotectrl",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(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::onCamUpdate(int ncampos, QImage image)
{
    int i = ncampos;
 //   ui->label_pic->setPixmap(QPixmap::fromImage(image));
    mpsceneImg[i]->clear();
//           mpsceneImg[i]->addPixmap(QPixmap::fromImage(image));
    mpsceneImg[i]->addPixmap(QPixmap::fromImage(image));
    mpviewImg[i]->setScene(mpsceneImg[i]);
    mpviewImg[i]->show();
}

void MainWindow::paintEvent(QPaintEvent *)
{
    int i;
    QTime xTime;
    xTime;
    xTime.start();
    int nupdate = 0;
    for(i=0;i<NUM_CAM;i++)
    {
 //       continue;
        if(mbCamUpdate[i])
        {
            nupdate++;
 //           xTime.start();
 //           std::cout<<" copy image. "<<std::endl;
            mMutexCam[i].lock();
//            QImage image = mpImageCam[i]->copy();
            mbCamUpdate[i] = false;


            //       QImage image = mpPicView->GetImage();
            mpsceneImg[i]->clear();
 //           mpsceneImg[i]->addPixmap(QPixmap::fromImage(image));
            mpsceneImg[i]->addPixmap(QPixmap::fromImage(*mpImageCam[i]));
            mpviewImg[i]->setScene(mpsceneImg[i]);
            mpviewImg[i]->show();
            mMutexCam[i].unlock();
//            std::cout<<" update a image use. "<<xTime.elapsed()<<std::endl;
        }
    }
//    std::cout<<" time upadate time: "<<xTime.elapsed()<<" update cout:"<<nupdate<<std::endl;

}

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;


    mgrpcpc->SetCtrlMsg("xodrreq",(char *)&xo,sizeof(xodrobj));
//    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;

//    on_radioButton_picfront_clicked();
}

void MainWindow::on_radioButton_Null_clicked()
{
    mnShift = 0;
}





void MainWindow::onCloseDlg()
{
    qDebug("cloase");
}

void MainWindow::on_checkBox_clicked()
{

}

void MainWindow::saveavi(int index)
{
    (void)index;
}



void MainWindow::onCloseBigDlg()
{
}

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();
    }

}

void MainWindow::threadinfo()
{
    int nrtn;
    iv::cloud::cloudmsg xcloudmsg;
    while(mbThreadrun)
    {
        nrtn = mgrpcpc->GetQueryMsg(xcloudmsg,1000);
        if(nrtn == 1)
        {
            int i;
            for(i=0;i<xcloudmsg.xclouddata_size();i++)
            {
                iv::cloud::cloudunit * punit = xcloudmsg.mutable_xclouddata(i);
                if(punit->msgname() == "hcp2_gpsimu")
                {
                    iv::gps::gpsimu xgpsimu;
                    if(!xgpsimu.ParseFromArray(punit->data().data(),punit->data().size()))
                    {
                        std::cout<<"ListenRaw Parse error."<<std::endl;
                        continue;
                    }
                    ggpsimu.CopyFrom(xgpsimu);
                    gTimeGPSIMUUpdate = QDateTime::currentMSecsSinceEpoch();
                }
            }
 //           std::cout<<" receive info msg. "<<std::endl;
        }
    }
}

void MainWindow::threadframe(int ncamppos)
{
    iv::h264rawframedata xframe;
    while(mbThreadrun)
    {
//        std::this_thread::sleep_for(std::chrono::milliseconds(100));
//        continue;
        int nrtn;
        nrtn = mgrpcpc->Consumeh264frame(ncamppos,xframe,10);
        if(nrtn == 1)
        {
//            std::cout<<"recv a frame."<<std::endl;
            iv::rawframedata xrawframe;
            xrawframe.mpstr_ptr = xframe.mpstr_ptr;
            xrawframe.ndatasize = xframe.mdatasize;
            mph264decode[ncamppos]->addframedata(xrawframe);
        }
    }
}

void MainWindow::threadpic(int ncampos)
{

    while(mbThreadrun)
    {
        int nindex = mph264decode[ncampos]->GetUpdatedIndex(10);
        if(nindex<0)continue;
//        std::cout<<" recv a yuv."<<std::endl;
        iv::framedecodebuf * pbuf =  mph264decode[ncampos]->LockReadBuff(nindex);
        int cy = pbuf->frameheight;
        int cx = pbuf->framewidth;
        cv::Mat rgbImg(cy, cx,CV_8UC3);

#ifndef USE_QSV
        cv::cvtColor(pbuf->myuvImg, rgbImg,  CV_YUV2RGB_I420);
#endif
#ifdef USE_QSV
        cv::cvtColor(pbuf->myuvImg, rgbImg,  CV_YUV2RGB_NV12);
#endif
        mph264decode[ncampos]->UnlockReadBuff(nindex);

        QImage image2 = QImage((uchar*)(rgbImg.data), rgbImg.cols, rgbImg.rows,  QImage::Format_RGB888);

        mMutexCam[ncampos].lock();
//        emit CamUpdate(ncampos,image2);
        *mpImageCam[ncampos] = image2.copy();
        mbCamUpdate[ncampos] = true;
        mMutexCam[ncampos].unlock();
        emit CamUpdate(ncampos);
//        cv::cvtColor(rgbImg, rgbImg, CV_BGR2RGB);
//        QImage image2 = QImage((uchar*)(rgbImg.data), rgbImg.cols, rgbImg.rows,  QImage::Format_RGB888);
    }
}

void MainWindow::onCamUpdate(int ncampos)
{
    (void)ncampos;
    static int64_t nlastupdate =0;
    int64_t nnow = std::chrono::system_clock::now().time_since_epoch().count()/1000000;
    if(abs(nnow - nlastupdate)>30)
    {
        nlastupdate = std::chrono::system_clock::now().time_since_epoch().count()/1000000;
        update();
    }
}

void MainWindow::on_actionFullScreem_triggered()
{
    showFullScreen();
}

void MainWindow::on_actionNormal_triggered()
{
    showNormal();
}

void MainWindow::on_horizontalSlider_wheelspeed_sliderMoved(int position)
{
    (void)position;
    mfWheelSpeed = mfWheelBaseSpeed * ui->horizontalSlider_wheelspeed->value();
}

void MainWindow::on_horizontalSlider_wheelspeed_valueChanged(int value)
{
    (void)value;
    mfWheelSpeed = mfWheelBaseSpeed * ui->horizontalSlider_wheelspeed->value();
}