modularization/src/v2x/v2xpro/mainwindow.h

#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include "v2x.h"
#include "pc5.h"
#include <QMainWindow>
#include <QDialog>
#include <QInputDialog>
#include <iostream>
#include "QDebug"
#include <QTextCodec>
#include "xmlparam.h"
#include <string>
#include "v2r.pb.h"
#include "gpsimu.pb.h"
#include "rawpic.pb.h"
#include "fusionobjectarray.pb.h"
#include "fusionobject.pb.h"
#include "radarobject.pb.h"
#include "lightarray.pb.h"
#include "ivlog.h"
#include "modulecomm.h"
#include <QtXml>
#include <QDomComment>
#include <QFile>
#include <cmath>
#include <string>
#include <iostream>


namespace Ui {
class MainWindow;
}
struct onelightMessage
{
    bool isEnable=false;
    unsigned char lightType;//0x01：绿灯；0x02：红灯；0x03：黄灯；
    int timeRemaining;
};
class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    explicit MainWindow(QWidget *parent = 0);
    ~MainWindow();
    PC5 *m_pc5;
    V2X *m_tbox;
    void initUI();//程序初始化
    void initproto();//共享内存初始化
    void initLight1();//红绿灯1初始化
    void initLight2();//红绿灯2初始化
    void initLight3();//红绿灯3初始化
    void initLight4();//红绿灯4初始化
    void initFace();//红绿灯4初始化
    //void *gfu = iv::modulecomm::RegisterSend("li_ra_fusion",10000000,1);
    void *gfu = iv::modulecomm::RegisterSend("v2v_send",10000000,1);
    void sendProto(iv::v2r::v2r_send radio_protobuf_send);//发送共享内存数据
    void UpdateGps(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取共享内存
    void UpdateCAM(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取共享内存
    void UpdateLIDAR(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取共享内存
    void UpdateRADAR(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取共享内存
    void Updatelight(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取红绿灯共享内存并转发
    void outLight(onelightMessage light);//设置红绿灯共享内存数据
    void outRealtimeTraffic(realtimeTrafficMessage realtimeTraffic);//设置路况信息共享内存数据
    void outCollisionWarning(collisionEarlyWarningMessage collisionWarning);//设置碰撞预警共享内存数据
    void outCongestionIdenti(congestionIdentificationMessage congestionIdenti);//设置交通拥堵共享内存数据
    void outmbpause(bool runmod);//设置自动驾驶启停共享内存数据
    void outV2VData(QMap<QString,OBUCarFormation> V2VMessage);
    void setTboxMemoryRaw();//云平台发送数据设置
    void initMemory();//云平台路测数据赋初值
    bool RSUTYPE=false;
//    void getRandomNum();
//    void initRadio();
private:

    Ui::MainWindow *ui;
    QTimer *timer;
    QTimer *timerV2V;
    //----------共享内存变量--------------------
    std::string gstrmemgps;
    std::string gstrmemlight;
    std::string gstrmecamera;
    std::string gstrmelidar;
    std::string gstrmeradar;
    void *mpMemGPS;
    void *mpMemcamera;
    void *mpMemlidar;
    void *mpMemradar;
    void *vision_lightMem;
    int visionsendstate;
    double lightStopLat;
    double lightStopLon;
    double light1Stophead;
    double light1StopLat;
    double light1StopLon;
    double light2Stophead;
    double light2StopLat;
    double light2StopLon;
    //-----------使能变量-------------------------
    bool mplatformEn = false;//云平台使能状态
    bool mobuEn = false;//obu使能状态
    bool mv2xRunmodEn=false;
    bool mpc5RunmodEn=false;
    bool mVirtualEn=false;//虚拟车使能状态
    bool mbTrafficInfoEn = false; //路况信息使能
    bool mcusdatashowEn=false;
    bool mbFCWEn = false;//碰撞预警使能状态
    bool mbdriCrimsEn = false;//危险驾驶使能状态
    bool visionflag=true;//视觉红绿灯识别转发使能
    bool mshowdebugEn = false;
    bool v2vEn = false;
    bool v2vshow =false;
    bool v2vshowmore =false;
    int mGPSs=0;//GPS状态清零计数
    int mCAMs=0;//视觉状态清零计数
    int mLIDARs=0;//激光状态清零计数
    int mRADARs=0;//毫米波状态清零计数
    bool sendProto_flag;//共享内存发送使能
//    std::vector<int> m_vectorRandom;
//    std::vector<std::string> m_vectorVin;
    //-------------结构数据----------------------
    QImage redimg,greenimg,yellowimg,blackimg,nofaceimg,facetoimg;
    realtimeTrafficMessage TrafficMessage;
    lightMessage light;
    collisionEarlyWarningMessage collisionWarning;
    congestionIdentificationMessage congestionIdenti;
    void * mpmem_radio_send_addr = nullptr;
    gpsImuM m_structMGpsImu;
    sensor_state seneor_m;
    iv::v2r::v2r_send protobuf;


    double calculateRelativeAngle(double selfAngleRad, double targetAngleRad)
    {
        // 计算目标角度相对于自身角度的相对角度
        selfAngleRad = qDegreesToRadians(selfAngleRad);
        targetAngleRad = qDegreesToRadians(targetAngleRad);
        double relativeAngleRad = targetAngleRad - selfAngleRad;
        // 将相对角度调整为在 0 到 2π 之间
        while (relativeAngleRad < 0) {
            relativeAngleRad += 2.0 * M_PI;
        }
        // 如果相对角度超过π，则将其调整为π到2π之间
        if (relativeAngleRad > 2.0 *M_PI) {
            relativeAngleRad = relativeAngleRad-(2.0 * M_PI);
        }
        // 取反
            relativeAngleRad = 2.0 * M_PI - relativeAngleRad;
        return relativeAngleRad;
    }

    void GaussProjCal(double longitude, double latitude, double& X, double& Y)
    {
        int ProjNo = 0; int ZoneWide; ////带宽
        double longitude1, latitude1, longitude0, latitude0, X0, Y0, xval, yval;
        double a, f, e2, ee, NN, T, C, A, M, iPI;
        iPI = 0.0174532925199433; ////3.1415926535898/180.0;
        ZoneWide = 6; ////6度带宽
        a = 6378245.0; f = 1.0 / 298.3; //54年北京坐标系参数
                                        ////a=6378140.0; f=1/298.257; //80年西安坐标系参数
        ProjNo = (int)(longitude / ZoneWide);
        longitude0 = ProjNo * ZoneWide + ZoneWide / 2;
        longitude0 = longitude0 * iPI;
        latitude0 = 0;
        longitude1 = longitude * iPI; //经度转换为弧度
        latitude1 = latitude * iPI; //纬度转换为弧度
        e2 = 2 * f - f * f;
        ee = e2 * (1.0 - e2);
        NN = a / sqrt(1.0 - e2 * sin(latitude1)*sin(latitude1));
        T = tan(latitude1)*tan(latitude1);
        C = ee * cos(latitude1)*cos(latitude1);
        A = (longitude1 - longitude0)*cos(latitude1);
        M = a * ((1 - e2 / 4 - 3 * e2*e2 / 64 - 5 * e2*e2*e2 / 256)*latitude1 - (3 * e2 / 8 + 3 * e2*e2 / 32 + 45 * e2*e2
            *e2 / 1024)*sin(2 * latitude1)
            + (15 * e2*e2 / 256 + 45 * e2*e2*e2 / 1024)*sin(4 * latitude1) - (35 * e2*e2*e2 / 3072)*sin(6 * latitude1));
        xval = NN * (A + (1 - T + C)*A*A*A / 6 + (5 - 18 * T + T * T + 72 * C - 58 * ee)*A*A*A*A*A / 120);
        yval = M + NN * tan(latitude1)*(A*A / 2 + (5 - T + 9 * C + 4 * C*C)*A*A*A*A / 24
            + (61 - 58 * T + T * T + 600 * C - 330 * ee)*A*A*A*A*A*A / 720);
        X0 = 1000000L * (ProjNo + 1) + 500000L;
        Y0 = 0;
        xval = xval + X0; yval = yval + Y0;
        X = xval;
        Y = yval;
    }
    void GaussProjInvCal(double X, double Y, double *longitude, double *latitude)
    {
        int ProjNo; int ZoneWide; ////带宽
        double longitude1, latitude1, longitude0, latitude0, X0, Y0, xval, yval;
        double e1, e2, f, a, ee, NN, T, C, M, D, R, u, fai, iPI;
        iPI = 0.0174532925199433; ////3.1415926535898/180.0;
        a = 6378245.0; f = 1.0 / 298.3; //54年北京坐标系参数
        ////a=6378140.0; f=1/298.257; //80年西安坐标系参数
        ZoneWide = 6; ////6度带宽
        ProjNo = (int)(X / 1000000L); //查找带号
        longitude0 = (ProjNo - 1) * ZoneWide + ZoneWide / 2;
        longitude0 = longitude0 * iPI; //中央经线
        X0 = ProjNo * 1000000L + 500000L;
        Y0 = 0;
        xval = X - X0; yval = Y - Y0; //带内大地坐标
        e2 = 2 * f - f * f;
        e1 = (1.0 - sqrt(1 - e2)) / (1.0 + sqrt(1 - e2));
        ee = e2 / (1 - e2);
        M = yval;
        u = M / (a*(1 - e2 / 4 - 3 * e2*e2 / 64 - 5 * e2*e2*e2 / 256));
        fai = u + (3 * e1 / 2 - 27 * e1*e1*e1 / 32)*sin(2 * u) + (21 * e1*e1 / 16 - 55 * e1*e1*e1*e1 / 32)*sin(
                    4 * u)
                + (151 * e1*e1*e1 / 96)*sin(6 * u) + (1097 * e1*e1*e1*e1 / 512)*sin(8 * u);
        C = ee * cos(fai)*cos(fai);
        T = tan(fai)*tan(fai);
        NN = a / sqrt(1.0 - e2 * sin(fai)*sin(fai));
        R = a * (1 - e2) / sqrt((1 - e2 * sin(fai)*sin(fai))*(1 - e2 * sin(fai)*sin(fai))*(1 - e2 * sin
                                                                                           (fai)*sin(fai)));
        D = xval / NN;
        //计算经度(Longitude) 纬度(Latitude)
        longitude1 = longitude0 + (D - (1 + 2 * T + C)*D*D*D / 6 + (5 - 2 * C + 28 * T - 3 * C*C + 8 * ee + 24 * T*T)*D
                                   *D*D*D*D / 120) / cos(fai);
        latitude1 = fai - (NN*tan(fai) / R)*(D*D / 2 - (5 + 3 * T + 10 * C - 4 * C*C - 9 * ee)*D*D*D*D / 24
                                             + (61 + 90 * T + 298 * C + 45 * T*T - 256 * ee - 3 * C*C)*D*D*D*D*D*D / 720);
        //转换为度 DD
        *longitude = longitude1 / iPI;
        *latitude = latitude1 / iPI;
    }

    void Coordinate_Transfer(double x_path, double y_path,double aimx,double aimy,double aimheading,double& X, double& Y)
    {
        double x_vehicle, y_vehicle;

        double x_t= x_path- aimx;
        double y_t= y_path- aimy;


        x_vehicle = x_t * cos(aimheading * M_PI / 180) - y_t * sin(aimheading * M_PI / 180);
        y_vehicle = x_t * sin(aimheading * M_PI / 180) + y_t * cos(aimheading * M_PI / 180);

        X=x_vehicle;
        Y=y_vehicle;

    }

private slots:
    void heartBeat();
    void V2VOUT();
    void on_button_platform_en_clicked();
    void on_button_obu_en_clicked();
    void on_button_v2xrunmod_en_clicked();
    void on_button_pc5runmod_en_clicked();
    void on_button_car_vin_set_clicked();
    void on_button_obu_vin_set_clicked();
    void on_button_trafficInfo_en_clicked();
    void on_button_FCW_en_clicked();
    void on_button_DriCrims_en_clicked();
    void on_button_v2v_en_clicked();
    void on_button_v2vshow_en_clicked();
    void on_button_v2vshowmore_en_clicked();
    void on_button_SimCar_en_clicked();
    void on_show_debug_clicked();


    void on_ea_collect_clicked();
    void on_ns_collect_clicked();

    void on_ea_cf_clicked();
    void on_ns_cf_clicked();
    void on_button_pc5send_clicked();
    void on_button_pc5show_clicked();
};

#endif // MAINWINDOW_H