modularization/src/tool/ivmapmake_sharemem/gps_collect.cpp

#include "gps_collect.h"
#include <iomanip>
#include<QDebug>
#include <iomanip>
// General constants.
#define NOUTPUT_PACKET_LENGTH  (72)       //!< NCom packet length.
#define NCOM_SYNC           (0xE7)        //!< NCom sync byte.
#define PKT_PERIOD          (0.01)        //!< 10ms updates.
#define TIME2SEC            (1e-3)        //!< Units of 1 ms.
#define FINETIME2SEC        (4e-6)        //!< Units of 4 us.
#define TIMECYCLE           (60000)       //!< Units of TIME2SEC (i.e. 60 seconds).
#define WEEK2CYCLES         (10080)       //!< Time cycles in a week.
#define ACC2MPS2            (1e-4)        //!< Units of 0.1 mm/s^2.
#define RATE2RPS            (1e-5)        //!< Units of 0.01 mrad/s.
#define VEL2MPS             (1e-4)        //!< Units of 0.1 mm/s.
#define ANG2RAD             (1e-6)        //!< Units of 0.001 mrad.
#define INNFACTOR           (0.1)         //!< Resolution of 0.1.
#define POSA2M              (1e-3)        //!< Units of 1 mm.
#define VELA2MPS            (1e-3)        //!< Units of 1 mm/s.
#define ANGA2RAD            (1e-5)        //!< Units of 0.01 mrad.
#define GB2RPS              (5e-6)        //!< Units of 0.005 mrad/s.
#define AB2MPS2             (1e-4)        //!< Units of 0.1 mm/s^2.
#define GSFACTOR            (1e-6)        //!< Units of 1 ppm.
#define ASFACTOR            (1e-6)        //!< Units of 1 ppm.
#define GBA2RPS             (1e-6)        //!< Units of 0.001 mrad/s.
#define ABA2MPS2            (1e-5)        //!< Units of 0.01 mm/s^2.
#define GSAFACTOR           (1e-6)        //!< Units of 1 ppm.
#define ASAFACTOR           (1e-6)        //!< Units of 1 ppm.
#define GPSPOS2M            (1e-3)        //!< Units of 1 mm.
#define GPSATT2RAD          (1e-4)        //!< Units of 0.1 mrad.
#define GPSPOSA2M           (1e-4)        //!< Units of 0.1 mm.
#define GPSATTA2RAD         (1e-5)        //!< Units of 0.01 mrad.
#define INNFACTOR           (0.1)         //!< Resolution of 0.1.
#define DIFFAGE2SEC         (1e-2)        //!< Units of 0.01 s.
#define REFPOS2M            (0.0012)      //!< Units of 1.2 mm.
#define REFANG2RAD          (1e-4)        //!< Units of 0.1 mrad.
#define OUTPOS2M            (1e-3)        //!< Units of 1 mm.
#define ZVPOS2M             (1e-3)        //!< Units of 1 mm.
#define ZVPOSA2M            (1e-4)        //!< Units of 0.1 mm.
#define NSPOS2M             (1e-3)        //!< Units of 1 mm.
#define NSPOSA2M            (1e-4)        //!< Units of 0.1 mm.
#define ALIGN2RAD           (1e-4)        //!< Units of 0.1 mrad.
#define ALIGNA2RAD          (1e-5)        //!< Units of 0.01 mrad.
#define SZVDELAY2S          (1.0)         //!< Units of 1.0 s.
#define SZVPERIOD2S         (0.1)         //!< Units of 0.1 s.
#define TOPSPEED2MPS        (0.5)         //!< Units of 0.5 m/s.
#define NSDELAY2S           (0.1)         //!< Units of 0.1 s.
#define NSPERIOD2S          (0.02)        //!< Units of 0.02 s.
#define NSACCEL2MPS2        (0.04)        //!< Units of 0.04 m/s^2.
#define NSSPEED2MPS         (0.1)         //!< Units of 0.1 m/s.
#define NSRADIUS2M          (0.5)         //!< Units of 0.5 m.
#define INITSPEED2MPS       (0.1)         //!< Units of 0.1 m/s.
#define HLDELAY2S           (1.0)         //!< Units of 1.0 s.
#define HLPERIOD2S          (0.1)         //!< Units of 0.1 s.
#define STATDELAY2S         (1.0)         //!< Units of 1.0 s.
#define STATSPEED2MPS       (0.01)        //!< Units of 1.0 cm/s.
#define WSPOS2M             (1e-3)        //!< Units of 1 mm.
#define WSPOSA2M            (1e-4)        //!< Units of 0.1 mm.
#define WSSF2PPM            (0.1)         //!< Units of 0.1 pulse per metre (ppm).
#define WSSFA2PC            (0.002)       //!< Units of 0.002% of scale factor.
#define WSDELAY2S           (0.1)         //!< Units of 0.1 s.
#define WSNOISE2CNT         (0.1)         //!< Units of 0.1 count for wheel speed noise.
#define UNDUL2M             (0.005)       //!< Units of 5 mm.
#define DOPFACTOR           (0.1)         //!< Resolution of 0.1.
#define OMNISTAR_MIN_FREQ   (1.52e9)      //!< (Hz) i.e. 1520.0 MHz.
#define OMNIFREQ2HZ         (1000.0)      //!< Resolution of 1 kHz.
#define SNR2DB              (0.2)         //!< Resolution of 0.2 dB.
#define LTIME2SEC           (1.0)         //!< Resolution of 1.0 s.
#define TEMPK_OFFSET        (203.15)      //!< Temperature offset in degrees K.
#define ABSZERO_TEMPC       (-273.15)     //!< Absolute zero (i.e. 0 deg K) in deg C.

// For more accurate and complete local coordinates
#define FINEANG2RAD (1.74532925199433e-9) //!< Units of 0.1 udeg.
#define ALT2M               (1e-3)        //!< Units of 1 mm.

// For GPS supply voltage
#define SUPPLYV2V           (0.1)         //!< Units of 0.1 V.

// Mathematical constant definitions
#ifndef M_PI
#define M_PI (3.1415926535897932384626433832795)  //!< Pi.
#endif
#define DEG2RAD             (M_PI/180.0)  //!< Convert degrees to radians.
#define RAD2DEG             (180.0/M_PI)  //!< Convert radians to degrees.
#define POS_INT_24          (8388607)     //!< Maximum value of a two's complement 24 bit integer.
#define NEG_INT_24          (-8388607)    //!< Minimum value of a two's complement 24 bit integer.
#define INV_INT_24          (-8388608)    //!< Represents an invalid two's complement 24 bit integer.

#define NCOM_COUNT_TOO_OLD  (150)         //!< Cycle counter for data too old.
#define NCOM_STDCNT_MAX     (0xFF)        //!< Definition for the RTBNS accuracy counter.
#define MIN_HORZ_SPEED      (0.07)        //!< 0.07 m/s hold distance.
#define MIN_VERT_SPEED      (0.07)        //!< 0.07 m/s hold distance.
#define SPEED_HOLD_FACTOR   (2.0)         //!< Hold distance when speed within 2 sigma of 0.
#define MINUTES_IN_WEEK     (10080)       //!< Number of minutes in a week.

// OmniStar status definitions
#define NCOM_OMNI_STATUS_UNKNOWN      (0xFF)
#define NCOM_OMNI_STATUS_VBSEXPIRED   (0x01)
#define NCOM_OMNI_STATUS_VBSREGION    (0x02)
#define NCOM_OMNI_STATUS_VBSNOBASE    (0x04)
#define NCOM_OMNI_STATUS_HPEXPIRED    (0x08)
#define NCOM_OMNI_STATUS_HPREGION     (0x10)
#define NCOM_OMNI_STATUS_HPNOBASE     (0x20)
#define NCOM_OMNI_STATUS_HPNOCONVERGE (0x40)
#define NCOM_OMNI_STATUS_HPKEYINVALID (0x80)

// GPS hardware status definitions
#define NCOM_GPS_ANT_STATUS_BITMASK   (0x03)
#define NCOM_GPS_ANT_STATUS_DONTKNOW  (0x03)
#define NCOM_GPS_ANT_STATUS_BITSHIFT  (0)
#define NCOM_GPS_ANT_POWER_BITMASK    (0x0C)
#define NCOM_GPS_ANT_POWER_DONTKNOW   (0x0C)
#define NCOM_GPS_ANT_POWER_BITSHIFT   (2)

// GPS feature set 1 definitions
#define NCOM_GPS_FEATURE_PSRDIFF      (0x01)
#define NCOM_GPS_FEATURE_SBAS         (0x02)
#define NCOM_GPS_FEATURE_OMNIVBS      (0x08)
#define NCOM_GPS_FEATURE_OMNIHP       (0x10)
#define NCOM_GPS_FEATURE_L1DIFF       (0x20)
#define NCOM_GPS_FEATURE_L1L2DIFF     (0x40)

// GPS feature set 2 definitions
#define NCOM_GPS_FEATURE_GLONASS      (0x01)
#define NCOM_GPS_FEATURE_GALILEO      (0x02)
#define NCOM_GPS_FEATURE_RAWRNG       (0x04)
#define NCOM_GPS_FEATURE_RAWDOP       (0x08)
#define NCOM_GPS_FEATURE_RAWL1        (0x10)
#define NCOM_GPS_FEATURE_RAWL2        (0x20)
#define NCOM_GPS_FEATURE_RAWL5        (0x40)

// GPS feature valid definition
#define NCOM_GPS_FEATURE_VALID        (0x80)

// The start of GPS time in a time_t style. In this version it is a constant, but this constant assumes that
// the local machine uses 00:00:00 01/01/1970 as its Epoch time. If your machine is different then you need to
// convert 00:00:00 06/01/1980 in to the local machine's time_t time.
#define GPS_TIME_START_TIME_T         (315964800)

// Second order filter class
#define INPUT_JITTER_TOLERANCE     (0.01)  // i.e. 1%


/*index*/
#define		PI_SYNC             0
#define		PI_TIME             1
#define		PI_ACCEL_X          3
#define		PI_ACCEL_Y          6
#define		PI_ACCEL_Z          9
#define		PI_ANG_RATE_X      12
#define		PI_ANG_RATE_Y      15
#define		PI_ANG_RATE_Z      18
#define		PI_INS_NAV_MODE    21
#define		PI_CHECKSUM_1      22
#define		PI_POS_LAT         23
#define		PI_POS_LON         31
#define		PI_POS_ALT         39
#define		PI_VEL_N           43
#define		PI_VEL_E           46
#define		PI_VEL_D           49
#define		PI_ORIEN_H         52
#define		PI_ORIEN_P         55
#define		PI_ORIEN_R         58
#define		PI_CHECKSUM_2      61
#define		PI_CHANNEL_INDEX   62
#define		PI_CHANNEL_STATUS  63
#define		PI_SAT_NUM		   67
#define		PI_RTK_STATUS	   68
#define		PI_CHECKSUM_3      71

/*RTK IMU status check*/
#define		RTK_IMU_OK		0
#define		IMU_STATUS_ERR	1
#define		RTK_STATUS_ERR	2
#define		UNKNOWN			0xFF

#define     map_coefficient     1
static int coutt=1;
static double xx;
static double yy;
static QVector<QPointF> pointf;
static QPointF pointf_t;
static double road_width=3.5;

struct GPS_INS
{
    int valid = 0xff;
    int index = 0;	//gps点序号

    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_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
    double ins_pitch_angle = 0;	//俯仰角
    double ins_heading_angle = 0;	//航向角

    int ins_status = 0;	//惯导状态 4
    int rtk_status = 0;	//rtk状态 6 -5 -3
    int gps_satelites_num = 0;

    //-----加速度--------------
    double accel_x = 0;
    double accel_y = 0;
    double accel_z = 0;

    //-------角速度------------
    double ang_rate_x = 0;
    double ang_rate_y = 0;
    double ang_rate_z = 0;

    //-----------方向速度--------------
    double vel_N = 0;
    double vel_E = 0;
    double vel_D = 0;

    int speed_mode = 0;
    int mode2 = 0;
    double speed = 0;			//速度  若导航点则为导航预设速度  若为当前点则为当前车速

};

typedef boost::shared_ptr<GPS_INS> GPSData;

class CarStatus : public boost::noncopyable {
public:
    float speed;			//车速
    std::int16_t wheel_angle;		//方向盘转角
    std::uint8_t braking_pressure;	//刹车压力
    GPSData location;		//当前车辆位置

    CarStatus() {
        speed = 0;
        braking_pressure = 0;
        wheel_angle = 0;
        location = boost::shared_ptr<GPS_INS>(new GPS_INS);
    }
    ~CarStatus() {

    }
};
typedef boost::serialization::singleton<CarStatus> CarStatusSingleton;

#define ServiceCarStatus CarStatusSingleton::get_mutable_instance()


static double   cast_8_byte_to_double(const uint8_t *b);
static int32_t cast_3_byte_to_int32(const uint8_t *b);

extern char gstr_memname[256];

GPS_Collect * gw;

GPSData data(new GPS_INS);

void ListenRaw(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
{
    iv::gps::gpsimu xgpsimu;
    if(!xgpsimu.ParseFromArray(strdata,nSize))
    {
        std::cout<<"ListenRaw Parse error."<<std::endl;
    }

    gw->mMutexraw.lock();
    data->gps_lat = xgpsimu.lat();
    data->gps_lng = xgpsimu.lon();
    data->ins_heading_angle = xgpsimu.heading();
    gw->mMutexraw.unlock();
}

GPSSensor::GPSSensor() {
}

GPSSensor::~GPSSensor() {

}

void GPSSensor::start()
{
    thread_sensor_run_ = new boost::thread(boost::bind(&GPSSensor::processSensor, this));
}

void GPSSensor::stop()
{
    thread_sensor_run_->interrupt();
    thread_sensor_run_->join();
}

void GPSSensor::obs_modechange(int rec)
{
    _mtx.lock();
    obs_modes = rec;
    _mtx.unlock();
}

void GPSSensor::speed_modechange(int rec)
{
    _mtx.lock();
    speed_modes = rec;
    _mtx.unlock();
}

void GPSSensor::lane_num_modechange(int rec)
{
    _mtx.lock();
    lane_num = rec;
    _mtx.unlock();
}

void GPSSensor::lane_status_modechange(int rec)
{
    _mtx.lock();
    lane_status = rec;
    _mtx.unlock();
}

void GPSSensor::start_or_end(bool rec)
{
    _mtx2.lock();
    writegps = rec;
    _mtx2.unlock();
}

void GPSSensor::collect_modechange(bool rec)
{
    _mtx3.lock();
    is_forbidden = rec;
    _mtx3.unlock();
}

void GPSSensor::jianju_change(double rec)
{
    _mtx4.lock();
    jianju = rec;
    _mtx4.unlock();
}

bool GPSSensor::isRunning() const
{
    return (thread_sensor_run_ != NULL && !thread_sensor_run_->timed_join(boost::posix_time::milliseconds(10)));
}


#include <QNetworkDatagram>
#include "gnss_coordinate_convert.h"

extern char gstr_mappath[256];

void GPSSensor::processSensor()
{
    int x;

    ServiceCarStatus.location->gps_x = 0;
    ServiceCarStatus.location->gps_y = 0;

    std::string sk;
    std::stringstream ss;
    while (true)
    {
        if(should_exit == true)
        {
            ready_exit = 1;
            return;
        }
        if(!writegps)
        {
#ifdef Q_OS_WIN
            Sleep(1);
#else
            usleep(1000);
#endif
            continue;
        }
        ss.clear();
        ss.str("");
        sk.clear();
        gps_index = 0;

        std::ofstream fout;
        fout.setf(std::ios::fixed, std::ios::floatfield);  // 设定为 fixed 模式，以小数点表示浮点数
        fout.precision(12);  // 设置精度 2
        time_t now;
        struct tm *timenow;
        time(&now);
        timenow = localtime(&now);
        ss << "" << timenow->tm_year+1900 << "-" << timenow->tm_mon+1 << "-" << timenow->tm_mday << "-" << timenow->tm_hour << "h-" << timenow->tm_min << "m-" << timenow->tm_sec << "s.txt";
        sk = ss.str();

        QString path = QString("%1/%2-%3-%4-%5-%6-%7%8").arg(gstr_mappath).arg(timenow->tm_year+1900)
                .arg(timenow->tm_mon+1).arg(timenow->tm_mday).arg(timenow->tm_hour)
                .arg(timenow->tm_min).arg(timenow->tm_sec).arg(".txt");

        fout.open(path.toStdString());
        while (writegps)
        {
            if(should_exit == true)
            {
                fout.close();
                ready_exit = 1;
                return;
            }
//            char *buf = new char[100];
//            memset(buf,0,100);
            std::cout<<"run "<<std::endl;

            if (data->ins_heading_angle < 0.0)
            {
                data->ins_heading_angle += 360.0;
            }

            //std::cout<<"x = "<<std::endl;
            GaussProjCal(data->gps_lng, data->gps_lat, &data->gps_x, &data->gps_y);
            ServiceCarStatus.location->gps_lat = data->gps_lat;
            ServiceCarStatus.location->gps_lng = data->gps_lng;
            ServiceCarStatus.location->ins_heading_angle = data->ins_heading_angle;

            double x = (ServiceCarStatus.location->gps_x - data->gps_x)*(ServiceCarStatus.location->gps_x - data->gps_x) + (ServiceCarStatus.location->gps_y - data->gps_y)*(ServiceCarStatus.location->gps_y - data->gps_y);
            if (x > (jianju*jianju))
            {
                fout << gps_index << "\t" << data->gps_lng << "\t" << data->gps_lat << "\t" << ServiceCarStatus.location->speed_mode << "\t" << ServiceCarStatus.location->mode2 << "\t" << data->ins_heading_angle << "\t" << obs_modes << "\t" << speed_modes << "\t" << lane_num << "\t" << lane_status <<std::endl;

                gps_index++;
                ServiceCarStatus.location->gps_x = data->gps_x;
                ServiceCarStatus.location->gps_y = data->gps_y;
            }
        }
        fout.close();                  //关闭文件
    }
}

void GPSSensor::wait_exit()
{
    while(true)
    {
        should_exit = true;
#ifdef linux
        usleep(5000);
#endif
#ifdef WIN32
        boost::this_thread::sleep(boost::posix_time::milliseconds(5));
        //           Sleep(5);
#endif
        if(ready_exit == 1)
        {
            return;
        }
    }
}

static double cast_8_byte_to_double(const uint8_t *b)
{
    union { double x; uint8_t c[8]; } u;
    u.c[0] = b[0];
    u.c[1] = b[1];
    u.c[2] = b[2];
    u.c[3] = b[3];
    u.c[4] = b[4];
    u.c[5] = b[5];
    u.c[6] = b[6];
    u.c[7] = b[7];
    return u.x;
}

static int32_t cast_3_byte_to_int32(const uint8_t *b)
{
    union { int32_t x; uint8_t c[4]; } u;
    u.c[1] = b[0];
    u.c[2] = b[1];
    u.c[3] = b[2];
    return u.x >> 8;
}

GPS_Collect::GPS_Collect(QWidget *parent):
    QWidget(parent)
{
    gw = this;
    //gps_collector_close = new boost::signals2::signal<void()>();

    this->setObjectName(QStringLiteral("GPS_Collector"));
    this->resize(1600, 650);
    frame = new QFrame(this);
    frame->setObjectName(QStringLiteral("frame"));
    frame->setGeometry(QRect(440, 390, 120, 80));
    frame->setFrameShape(QFrame::StyledPanel);
    frame->setFrameShadow(QFrame::Raised);
    label = new QLabel(this);
    label->setObjectName(QStringLiteral("label"));
    label->setGeometry(QRect(20, 20, 90, 35));

    comboBox = new QComboBox(this);
    comboBox->setObjectName(QStringLiteral("comboBox"));
    comboBox->setCurrentIndex(0);
    comboBox->setGeometry(QRect(120, 60, 100, 35));

    comboBox_2=new QComboBox(this);
    comboBox_2->setObjectName(QStringLiteral("comboBox_2"));
    comboBox_2->setCurrentIndex(0);
    comboBox_2->setGeometry(QRect(120,95,100,35));

    QFont font;//设置字号
    font.setPointSize(16);
    comboBox->setFont(font);
    comboBox_2->setFont(font);

    label_2 = new QLabel(this);
    label_2->setObjectName(QStringLiteral("label_2"));
    label_2->setGeometry(QRect(20, 60, 90, 35));
    lineEdit = new QLineEdit(this);
    lineEdit->setObjectName(QStringLiteral("lineEdit"));
    lineEdit->setGeometry(QRect(120, 20, 100, 35));
    lineEdit->setFont(font);
    lineEdit->setAlignment(Qt::AlignCenter);
    label_3 = new QLabel(this);
    label_3->setObjectName(QStringLiteral("label_3"));
    label_3->setGeometry(QRect(270, 20, 30, 16));
    label_4 = new QLabel(this);
    label_4->setObjectName(QStringLiteral("label_4"));
    label_4->setGeometry(QRect(270, 40, 30, 16));
    label_5 = new QLabel(this);
    label_5->setObjectName(QStringLiteral("label_5"));
    label_5->setGeometry(QRect(270, 60, 60, 16));
    label_6 = new QLabel(this);
    label_6->setObjectName(QStringLiteral("label_6"));
    label_6->setGeometry(QRect(440, 20, 80, 16));
    label_7 = new QLabel(this);
    label_7->setObjectName(QStringLiteral("label_7"));
    label_7->setGeometry(QRect(440, 80, 80, 16));
    label_8 = new QLabel(this);
    label_8->setObjectName(QStringLiteral("label_8"));
    label_8->setGeometry(QRect(440, 40, 80, 16));
    label_9 = new QLabel(this);
    label_9->setObjectName(QStringLiteral("label_9"));
    label_9->setGeometry(QRect(440, 60, 80, 16));
    label_10=new QLabel(this);
    label_10->setText("路宽附加属性");
    label_10->setAlignment(Qt::AlignCenter);
    label_10->setGeometry((QRect(20, 100, 90, 35)));

    lineEdit_2 = new QLineEdit(this);
    lineEdit_2->setObjectName(QStringLiteral("lineEdit_2"));
    lineEdit_2->setGeometry(QRect(310, 20, 120, 20));
    lineEdit_3 = new QLineEdit(this);
    lineEdit_3->setObjectName(QStringLiteral("lineEdit_3"));
    lineEdit_3->setGeometry(QRect(310, 40, 120, 20));
    lineEdit_4 = new QLineEdit(this);
    lineEdit_4->setObjectName(QStringLiteral("lineEdit_4"));
    lineEdit_4->setGeometry(QRect(340, 60, 90, 20));
    lineEdit_5 = new QLineEdit(this);
    lineEdit_5->setObjectName(QStringLiteral("lineEdit_5"));
    lineEdit_5->setGeometry(QRect(520, 20, 90, 20));
    lineEdit_6 = new QLineEdit(this);
    lineEdit_6->setObjectName(QStringLiteral("lineEdit_6"));
    lineEdit_6->setGeometry(QRect(520, 40, 90, 20));
    lineEdit_7 = new QLineEdit(this);
    lineEdit_7->setObjectName(QStringLiteral("lineEdit_7"));
    lineEdit_7->setGeometry(QRect(520, 60, 90, 20));
    lineEdit_8 = new QLineEdit(this);
    lineEdit_8->setObjectName(QStringLiteral("lineEdit_8"));
    lineEdit_8->setGeometry(QRect(520, 80, 90, 20));



    this->setWindowTitle(QApplication::translate("GPS_Collector", "GPS_Collector", nullptr));
    label->setText(QApplication::translate("GPS_Collector", "\351\207\207\351\233\206\347\202\271\351\227\264\350\267\235(m)", nullptr));
    label_2->setText(QApplication::translate("GPS_Collector", "\347\246\201\347\224\250\351\231\204\345\212\240\345\261\236\346\200\247", nullptr));
    label_3->setText(QApplication::translate("GPS_Collector", "\347\273\217\345\272\246", nullptr));
    label_4->setText(QApplication::translate("GPS_Collector", "\347\272\254\345\272\246", nullptr));
    label_5->setText(QApplication::translate("GPS_Collector", "\345\267\262\351\207\207\351\233\206\347\202\271\346\225\260", nullptr));
    label_6->setText(QApplication::translate("GPS_Collector", "\351\201\277\351\232\234\346\250\241\345\274\217", nullptr));
    label_7->setText(QApplication::translate("GPS_Collector", "\346\211\200\345\234\250\350\275\246\351\201\223", nullptr));
    label_8->setText(QApplication::translate("GPS_Collector", "\351\200\237\345\272\246\346\216\247\345\210\266\346\250\241\345\274\217", nullptr));
    label_9->setText(QApplication::translate("GPS_Collector", "\350\275\246\351\201\223\346\200\273\346\225\260", nullptr));
    // label_10->setText(QApplication::translate("GPS_Collector", "\347\246\201\347\224\250\351\231\204\345\212\240\345\261\236\346\200\247", nullptr));


    pushButtonstart = new QPushButton(this);
    pushButtonstart->setObjectName(QStringLiteral("pushButtonstart"));
    pushButtonstart->setGeometry(QRect(630, 11, 158, 50));
    pushButtonstart->setText("start");
    connect(pushButtonstart, SIGNAL(clicked()), this, SLOT(ClickButton_start()));

    pushButtonend = new QPushButton(this);
    pushButtonend->setObjectName(QStringLiteral("pushButtonend"));
    pushButtonend->setGeometry(QRect(630, 70, 158, 50));
    pushButtonend->setText("end");
    connect(pushButtonend, SIGNAL(clicked()), this, SLOT(ClickButton_end()));

    pushButton0 = new QPushButton(this);
    pushButton0->setObjectName(QStringLiteral("pushButton0"));
    pushButton0->setGeometry(QRect(20, 130, 192, 93));
    pushButton0->setText(QStringLiteral("停障"));
    connect(pushButton0, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_0()));
    pushButton1 = new QPushButton(this);
    pushButton1->setObjectName(QStringLiteral("pushButton1"));
    pushButton1->setGeometry(QRect(20, 223, 192, 93));
    pushButton1->setText(QStringLiteral("避障"));
    connect(pushButton1, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_1()));
    pushButton2 = new QPushButton(this);
    pushButton2->setObjectName(QStringLiteral("pushButton2"));
    pushButton2->setGeometry(QRect(20, 316, 192, 93));
    pushButton2->setText(QStringLiteral("不停不避"));
    connect(pushButton2, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_2()));
    pushButton33 = new QPushButton(this);
    pushButton33->setObjectName(QStringLiteral("保留"));
    pushButton33->setGeometry(QRect(20, 409, 192, 93));
    pushButton33->setText(QStringLiteral("保留"));
    connect(pushButton33, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_33()));
    pushButton34 = new QPushButton(this);
    pushButton34->setObjectName(QStringLiteral("pushButton34"));
    pushButton34->setGeometry(QRect(20, 502, 192, 93));
    pushButton34->setText(QStringLiteral("保留"));
    connect(pushButton34, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_34()));


    pushButton3 = new QPushButton(this);
    pushButton3->setObjectName(QStringLiteral("pushButton3"));
    pushButton3->setGeometry(QRect(212, 130, 96, 46));
    pushButton3->setText(QStringLiteral("常速行驶"));
    connect(pushButton3, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_3()));
    pushButton4 = new QPushButton(this);
    pushButton4->setObjectName(QStringLiteral("pushButton4"));
    pushButton4->setGeometry(QRect(308, 130, 96, 46));
    pushButton4->setText(QStringLiteral("入口"));
    connect(pushButton4, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_4()));
    pushButton5 = new QPushButton(this);
    pushButton5->setObjectName(QStringLiteral("pushButton5"));
    pushButton5->setGeometry(QRect(212, 176, 96, 47));
    pushButton5->setText(QStringLiteral("事故区"));
    connect(pushButton5, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_5()));
    pushButton6 = new QPushButton(this);
    pushButton6->setObjectName(QStringLiteral("pushButton6"));
    pushButton6->setGeometry(QRect(308, 176, 96, 47));
    pushButton6->setText(QStringLiteral("驻车点"));
    connect(pushButton6, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_6()));
    pushButton7 = new QPushButton(this);
    pushButton7->setObjectName(QStringLiteral("pushButton7"));
    pushButton7->setGeometry(QRect(212, 223, 96, 46));
    pushButton7->setText(QStringLiteral("隧道"));
    connect(pushButton7, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_7()));
    pushButton18 = new QPushButton(this);
    pushButton18->setObjectName(QStringLiteral("pushButton18"));
    pushButton18->setGeometry(QRect(308, 223, 96, 46));
    pushButton18->setText(QStringLiteral("低速"));
    connect(pushButton18, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_18()));
    pushButton19 = new QPushButton(this);
    pushButton19->setObjectName(QStringLiteral("pushButton19"));
    pushButton19->setGeometry(QRect(212, 269, 96, 47));
    pushButton19->setText(QStringLiteral("红绿灯"));
    connect(pushButton19, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_19()));
    pushButton20 = new QPushButton(this);
    pushButton20->setObjectName(QStringLiteral("pushButton20"));
    pushButton20->setGeometry(QRect(308, 269, 96, 47));
    pushButton20->setText(QStringLiteral("行人"));
    connect(pushButton20, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_20()));
    pushButton21 = new QPushButton(this);
    pushButton21->setObjectName(QStringLiteral("pushButton21"));
    pushButton21->setGeometry(QRect(212, 316, 96, 46));
    pushButton21->setText(QStringLiteral("雾区"));
    connect(pushButton21, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_21()));
    pushButton22 = new QPushButton(this);
    pushButton22->setObjectName(QStringLiteral("pushButton22"));
    pushButton22->setGeometry(QRect(308, 316, 96, 46));
    pushButton22->setText(QStringLiteral("变道停车"));
    connect(pushButton22, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_22()));
    pushButton23 = new QPushButton(this);
    pushButton23->setObjectName(QStringLiteral("pushButton23"));
    pushButton23->setGeometry(QRect(212, 362, 96, 47));
    pushButton23->setText(QStringLiteral("等人停车"));
    connect(pushButton23, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_23()));
    pushButton24 = new QPushButton(this);
    pushButton24->setObjectName(QStringLiteral("pushButton24"));
    pushButton24->setGeometry(QRect(308, 362, 96, 47));
    pushButton24->setText(QStringLiteral("疯狂加速"));
    connect(pushButton24, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_24()));
    pushButton25 = new QPushButton(this);
    pushButton25->setObjectName(QStringLiteral("pushButton25"));
    pushButton25->setGeometry(QRect(212, 409, 96, 46));
    pushButton25->setText(QStringLiteral("跟随"));
    connect(pushButton25, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_25()));
    pushButton26 = new QPushButton(this);
    pushButton26->setObjectName(QStringLiteral("pushButton26"));
    pushButton26->setGeometry(QRect(308, 409, 96, 46));
    pushButton26->setText(QStringLiteral("倒车"));
    connect(pushButton26, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_26()));
    pushButton27 = new QPushButton(this);
    pushButton27->setObjectName(QStringLiteral("pushButton27"));
    pushButton27->setGeometry(QRect(212, 455, 96, 47));
    pushButton27->setText(QStringLiteral("左转弯"));
    connect(pushButton27, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_27()));
    pushButton28 = new QPushButton(this);
    pushButton28->setObjectName(QStringLiteral("pushButton28"));
    pushButton28->setGeometry(QRect(308, 455, 96, 47));
    pushButton28->setText(QStringLiteral("右转弯"));
    connect(pushButton28, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_28()));
    pushButton29 = new QPushButton(this);
    pushButton29->setObjectName(QStringLiteral("pushButton29"));
    pushButton29->setGeometry(QRect(212, 502, 96, 46));
    pushButton29->setText(QStringLiteral("低速左转"));
    connect(pushButton29, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_29()));
    pushButton30 = new QPushButton(this);
    pushButton30->setObjectName(QStringLiteral("pushButton30"));
    pushButton30->setGeometry(QRect(308, 502, 96, 46));
    pushButton30->setText(QStringLiteral("低速右转"));
    connect(pushButton30, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_30()));
    pushButton31 = new QPushButton(this);
    pushButton31->setObjectName(QStringLiteral("pushButton31"));
    pushButton31->setGeometry(QRect(212, 548, 96, 47));
    pushButton31->setText(QStringLiteral("超低速"));
    connect(pushButton31, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_31()));
    pushButton32 = new QPushButton(this);
    pushButton32->setObjectName(QStringLiteral("pushButton32"));
    pushButton32->setGeometry(QRect(308, 548, 96, 47));
    pushButton32->setText(QStringLiteral("保留"));
    connect(pushButton32, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_32()));



    pushButton8 = new QPushButton(this);
    pushButton8->setObjectName(QStringLiteral("pushButton8"));
    pushButton8->setGeometry(QRect(404, 130, 192, 93));
    pushButton8->setText(QStringLiteral("单车道"));
    connect(pushButton8, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_8()));
    pushButton9 = new QPushButton(this);
    pushButton9->setObjectName(QStringLiteral("pushButton9"));
    pushButton9->setGeometry(QRect(404, 223, 192, 93));
    pushButton9->setText(QStringLiteral("双车道"));
    connect(pushButton9, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_9()));
    pushButton10 = new QPushButton(this);
    pushButton10->setObjectName(QStringLiteral("pushButton10"));
    pushButton10->setGeometry(QRect(404, 316, 192, 93));
    pushButton10->setText(QStringLiteral("三车道"));
    connect(pushButton10, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_10()));
    pushButton11 = new QPushButton(this);
    pushButton11->setObjectName(QStringLiteral("pushButton11"));
    pushButton11->setGeometry(QRect(404, 409, 192, 93));
    pushButton11->setText(QStringLiteral("四车道"));
    connect(pushButton11, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_11()));
    pushButton12 = new QPushButton(this);
    pushButton12->setObjectName(QStringLiteral("pushButton12"));
    pushButton12->setGeometry(QRect(404, 502, 192, 93));
    pushButton12->setText(QStringLiteral("五车道"));
    connect(pushButton12, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_12()));

    pushButton13 = new QPushButton(this);
    pushButton13->setObjectName(QStringLiteral("pushButton13"));
    pushButton13->setGeometry(QRect(596, 130, 192, 93));
    pushButton13->setText(QStringLiteral("在车道0"));
    connect(pushButton13, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_13()));
    pushButton14 = new QPushButton(this);
    pushButton14->setObjectName(QStringLiteral("pushButton0"));
    pushButton14->setGeometry(QRect(596, 223, 192, 93));
    pushButton14->setText(QStringLiteral("在车道1"));
    connect(pushButton14, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_14()));
    pushButton15 = new QPushButton(this);
    pushButton15->setObjectName(QStringLiteral("pushButton0"));
    pushButton15->setGeometry(QRect(596, 316, 192, 93));
    pushButton15->setText(QStringLiteral("在车道2"));
    connect(pushButton15, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_15()));
    pushButton16 = new QPushButton(this);
    pushButton16->setObjectName(QStringLiteral("pushButton0"));
    pushButton16->setGeometry(QRect(596, 409, 192, 93));
    pushButton16->setText(QStringLiteral("在车道3"));
    connect(pushButton16, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_16()));
    pushButton17 = new QPushButton(this);
    pushButton17->setObjectName(QStringLiteral("pushButton0"));
    pushButton17->setGeometry(QRect(596, 502, 192, 93));
    pushButton17->setText(QStringLiteral("在车道4"));
    connect(pushButton17, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_17()));

    lineEdit->setText(QStringLiteral("0.1"));
    connect(lineEdit, SIGNAL(textEdited(const QString &)), this, SLOT(savestabuyEditinfo(const QString &)));
    comboBox->addItem(QStringLiteral("  禁用"));
    comboBox->addItem(QStringLiteral(" 不禁用"));
    connect(comboBox, SIGNAL(currentIndexChanged(const QString &)), this, SLOT(mycombox(const QString &)));

    comboBox_2->addItem(QStringLiteral("3.5"));

    comboBox_2->addItem(QStringLiteral("1.0"));
    comboBox_2->addItem(QStringLiteral("1.5"));
    comboBox_2->addItem(QStringLiteral("2.0"));
    comboBox_2->addItem(QStringLiteral("2.5"));
    comboBox_2->addItem(QStringLiteral("3.0"));
    comboBox_2->addItem(QStringLiteral("4.0"));
    comboBox_2->addItem(QStringLiteral("4.5"));
    comboBox_2->addItem(QStringLiteral("5.0"));
    comboBox_2->currentText();
    lineEdit_9= new QLineEdit;
    lineEdit_9->setReadOnly(true);
    lineEdit_9->setAlignment(Qt::AlignCenter);
    comboBox_2->setLineEdit(lineEdit_9);
    connect(comboBox_2, SIGNAL(currentIndexChanged(const QString &)), this, SLOT(mycombox_2(const QString &)));


    timer = new QTimer(this);
    connect(timer, SIGNAL(timeout()), this, SLOT(timeoutslot1()));
    connect(timer, SIGNAL(timeout()), this, SLOT(timeoutslot2()));
    connect(timer, SIGNAL(timeout()), this, SLOT(timeoutslot3()));
    timer->start(20);

    myview = new MyView(this);
    myview->setObjectName(QStringLiteral("graphicsView"));
    myview->setGeometry(QRect(820, 10,500, 585));

    image = new QImage(2000, 2000, QImage::Format_RGB32);//画布的初始化大小设为300*300，使用32位颜色
    myview->setCacheMode(myview->CacheBackground);
    painter=new QPainter(this);
    painter->end();
    scene = new QGraphicsScene;
    sensor_gps = new GPSSensor();
    sensor_gps->start();


     void * paraw = iv::modulecomm::RegisterRecv(gstr_memname,ListenRaw);

}

GPS_Collect::~GPS_Collect()
{

}

//刷新
void GPS_Collect::paintEvent(QPaintEvent *)
{
    if(pointf.isEmpty()){
        return;
   }

    painter->begin(image);
    image->fill(QColor(255, 255, 255));//对画布进行填充
    //    std::vector<iv::GPSData> navigation_data = brain->navigation_data;
    painter->setRenderHint(QPainter::Antialiasing, true);//设置反锯齿模式，好看一点

    QPixmap pixmap(":/timerget/timercopy.png");
    painter->drawPixmap(468,465,120,120,pixmap);


    painter->setWindow(-1060,1060,4040,-4000);
    painter->drawLine(-100000,0,100000,0);
    painter->drawLine(0,-100000,0,100000);




    QPen mypen;
    mypen.setColor(Qt::blue);
    mypen.setWidth(2);//5 表示点的大小（形状为方形）
    painter->setPen(mypen);
    QString str;


    for(int i=0;i<pointf.size();i++){

        painter->drawPoint(map_coefficient*(pointf[i].x()-pointf[0].x()),map_coefficient*(pointf[i].y()-pointf[0].y()));
        //qDebug()<<(map_coefficient*(pointf[i].x()-pointf[0].x()));
        // qDebug()<<(map_coefficient*pointf[0].x());
        // qDebug()<<pointf[i];

    }

    painter->end();
    scene->clear();
    scene->addPixmap(QPixmap::fromImage(*image));
    myview->setScene(scene);
    myview->show();


}

void GPS_Collect::savestabuyEditinfo(const QString &txt)
{
    jianju = txt.toDouble();
    if (jianju > 0.01)
    {
        sensor_gps->jianju_change(jianju);
    }

}

void GPS_Collect::mycombox(const QString &txt)
{
    if (txt == QStringLiteral("  禁用"))
    {
        is_forbidden = true;
    }
    else
    {
        is_forbidden = false;
    }
    sensor_gps->collect_modechange(is_forbidden);
}

void GPS_Collect::mycombox_2(const QString &txt){

    //road_width=txt.toInt();
    road_width = txt.toDouble();
    qDebug()<<"road_width"<<road_width<<endl;

}

void GPS_Collect::timeoutslot1()
{
    update();

}
void GPS_Collect::timeoutslot2()
{
    lineEdit_2->setText(QString::number(ServiceCarStatus.location->gps_lng));
    lineEdit_3->setText(QString::number(ServiceCarStatus.location->gps_lat));
    lineEdit_4->setText(QString::number(sensor_gps->gps_index));
    lineEdit_5->setText(QString::number(obs_modes));
    lineEdit_6->setText(QString::number(speed_modes));
    lineEdit_7->setText(QString::number(lane_num));
    lineEdit_8->setText(QString::number(lane_status));

}
void GPS_Collect::timeoutslot3(){
    double xxx, yyy;
    coutt++;

    //xxx=205.1234567123456-0;
    //yyy=205.1234567123456-0;

    xxx=ServiceCarStatus.location->gps_x;
    yyy=ServiceCarStatus.location->gps_y;
    if((xxx==0)&&(yyy==0)){return;};
    //qDebug() << xxx;
    //qDebug()<< ServiceCarStatus.location->gps_x;
    pointf_t.setX(xxx);
    pointf_t.setY(yyy);
    // mutex1.lock();
    pointf.push_back(pointf_t);
    // mutex1.unlock();
   // qDebug() << pointf_t.x();

}

void GPS_Collect::ClickButton_start()
{
    starts = true;
    sensor_gps->start_or_end(starts);
    pointf.clear();
    this->paintEvent(NULL);

    /*if(clicked_start==true){
        pushButtonstart->setStyleSheet("background-color: green");
       clicked_start=false;
    }else{

        pushButtonstart->setStyleSheet("background-color: white");
        clicked_start=true;
    }*/
    pushButtonstart->setStyleSheet("background-color: green");

    pushButtonend->setStyleSheet("background-color: white");
    clicked_end=true;

}
void GPS_Collect::ClickButton_end()
{
    starts = false;
    sensor_gps->start_or_end(starts);

    /*if(clicked_end==true){
        pushButtonend->setStyleSheet("background-color: green");
       clicked_end=false;
    }else{

        pushButtonend->setStyleSheet("background-color: white");
        clicked_end=true;
    }*/
    pushButtonend->setStyleSheet("background-color: green");


    pushButton0->setStyleSheet("background-color: white");
    pushButton1->setStyleSheet("background-color: white");
    pushButton2->setStyleSheet("background-color: white");
    pushButton3->setStyleSheet("background-color: white");
    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton8->setStyleSheet("background-color: white");
    pushButton9->setStyleSheet("background-color: white");
    pushButton10->setStyleSheet("background-color: white");
    pushButton11->setStyleSheet("background-color: white");
    pushButton12->setStyleSheet("background-color: white");
    pushButton13->setStyleSheet("background-color: white");
    pushButton14->setStyleSheet("background-color: white");
    pushButton15->setStyleSheet("background-color: white");
    pushButton16->setStyleSheet("background-color: white");
    pushButton17->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");

    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");

    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");
    pushButton33->setStyleSheet("background-color: white");
    pushButton34->setStyleSheet("background-color: white");
    pushButtonstart->setStyleSheet("background-color: white");

         clicked_0=true;
         clicked_1=true;
         clicked_2=true;
         clicked_3=true;
         clicked_4=true;
         clicked_5=true;
         clicked_6=true;
         clicked_7=true;
         clicked_8=true;
         clicked_9=true;
         clicked_10=true;
         clicked_11=true;
         clicked_12=true;
         clicked_13=true;
         clicked_14=true;
         clicked_15=true;
         clicked_16=true;
         clicked_17=true;
         clicked_18=true;
         clicked_19=true;
         clicked_20=true;
         clicked_21=true;
         clicked_22=true;
         clicked_23=true;
         clicked_24=true;
         clicked_25=true;
         clicked_26=true;
         clicked_27=true;
         clicked_28=true;
         clicked_29=true;
         clicked_30=true;
         clicked_31=true;
         clicked_32=true;
         clicked_33=true;
         clicked_34=true;
         clicked_start=true;


}




/////////////////////////////////////////////////////
void GPS_Collect::ClickButton_nomall_0()
{
    obs_modes = 0;
    sensor_gps->obs_modechange(obs_modes);

 /*单击自己按钮切换自己按钮颜色
 if(clicked_0==true){
    pushButton0->setStyleSheet("background-color: green");
   clicked_0=false;
}else{

    pushButton0->setStyleSheet("background-color: white");
    clicked_0=true;
}*/

pushButton0->setStyleSheet("background-color: green");//单击自己按钮，自己按钮一直为绿色一直为绿色
pushButton1->setStyleSheet("background-color: white");//单击自己按钮，改变其他按钮为白色
pushButton2->setStyleSheet("background-color: white");//单击自己按钮，改变其他按钮为白色
pushButton33->setStyleSheet("background-color: white");
pushButton34->setStyleSheet("background-color: white");
clicked_1=true;//单击自己按钮，改变其他按钮为白色
clicked_2=true;//单击自己按钮，改变其他按钮为白色
}

void GPS_Collect::ClickButton_nomall_1()
{
    obs_modes = 1;
    sensor_gps->obs_modechange(obs_modes);
   /* if(clicked_1==true){
        pushButton1->setStyleSheet("background-color: green");
       clicked_1=false;
    }else{

        pushButton1->setStyleSheet("background-color: white");
        clicked_1=true;
    }*/
    pushButton1->setStyleSheet("background-color: green");
    pushButton0->setStyleSheet("background-color: white");
    pushButton2->setStyleSheet("background-color: white");
    pushButton33->setStyleSheet("background-color: white");
    pushButton34->setStyleSheet("background-color: white");
    clicked_0=true;
    clicked_2=true;
}

void GPS_Collect::ClickButton_nomall_2()
{
    obs_modes = 2;
    sensor_gps->obs_modechange(obs_modes);
    /*if(clicked_2==true){
        pushButton2->setStyleSheet("background-color: green");
       clicked_2=false;
    }else{

        pushButton2->setStyleSheet("background-color: white");
        clicked_2=true;
    }*/
    pushButton2->setStyleSheet("background-color: green");

    pushButton0->setStyleSheet("background-color: white");
    pushButton1->setStyleSheet("background-color: white");
    pushButton33->setStyleSheet("background-color: white");
    pushButton34->setStyleSheet("background-color: white");
    clicked_0=true;
    clicked_1=true;

}




////////////////////////////////////////////////////////
void GPS_Collect::ClickButton_nomall_3()
{
    speed_modes = 0;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_3==true){
        pushButton3->setStyleSheet("background-color: green");
       clicked_3=false;
    }else{

        pushButton3->setStyleSheet("background-color: white");
        clicked_3=true;
    }*/

    pushButton3->setStyleSheet("background-color: green");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

    clicked_5=true;
    clicked_7=true;
    clicked_19=true;
    clicked_21=true;
    clicked_23=true;
    clicked_25=true;
    clicked_27=true;



    clicked_18=true;
    clicked_28=true;
}

void GPS_Collect::ClickButton_nomall_4()
{
    speed_modes = 1;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_4==true){
        pushButton4->setStyleSheet("background-color: green");
       clicked_4=false;
    }else{

        pushButton4->setStyleSheet("background-color: white");
        clicked_4=true;
    }*/
    pushButton4->setStyleSheet("background-color: green");


    pushButton3->setStyleSheet("background-color: white");

   // pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

    clicked_6=true;
    clicked_18=true;
    clicked_20=true;
    clicked_22=true;
    clicked_24=true;
    clicked_26=true;
    clicked_28=true;
}

void GPS_Collect::ClickButton_nomall_5()
{
    speed_modes = 2;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_5==true){
        pushButton5->setStyleSheet("background-color: green");
       clicked_5=false;
    }else{

        pushButton5->setStyleSheet("background-color: white");
        clicked_5=true;
    }*/
    pushButton5->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    //pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

    clicked_3=true;
    clicked_7=true;
    clicked_19=true;
    clicked_21=true;
    clicked_23=true;
    clicked_25=true;
    clicked_27=true;
}

void GPS_Collect::ClickButton_nomall_6()
{
    speed_modes = 3;
    sensor_gps->speed_modechange(speed_modes);
   /* if(clicked_6==true){
        pushButton6->setStyleSheet("background-color: green");
       clicked_6=false;
    }else{

        pushButton6->setStyleSheet("background-color: white");
        clicked_6=true;
    }*/
    pushButton6->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    //pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

    clicked_4=true;
    clicked_18=true;
    clicked_20=true;
    clicked_22=true;
    clicked_24=true;
    clicked_26=true;
    clicked_28=true;
}

void GPS_Collect::ClickButton_nomall_7()
{
    speed_modes = 4;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_7==true){
        pushButton7->setStyleSheet("background-color: green");
       clicked_7=false;
    }else{

        pushButton7->setStyleSheet("background-color: white");
        clicked_7=true;
    }*/
    pushButton7->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    //pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

    clicked_5=true;
    clicked_3=true;
    clicked_19=true;
    clicked_21=true;
    clicked_23=true;
    clicked_25=true;
    clicked_27=true;

    pushButton18->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    clicked_18=true;
    clicked_28=true;

}



/////////////////////////////////////////////////////////
void GPS_Collect::ClickButton_nomall_8()
{
    lane_num = 1;
    sensor_gps->lane_num_modechange(lane_num);
    /*if(clicked_8==true){
        pushButton8->setStyleSheet("background-color: green");
       clicked_8=false;
    }else{

        pushButton8->setStyleSheet("background-color: white");
        clicked_8=true;
    }*/
    pushButton8->setStyleSheet("background-color: green");

    pushButton9->setStyleSheet("background-color: white");
    pushButton10->setStyleSheet("background-color: white");
    pushButton11->setStyleSheet("background-color: white");
    pushButton12->setStyleSheet("background-color: white");

    clicked_9=true;
    clicked_10=true;
    clicked_11=true;
    clicked_12=true;

}

void GPS_Collect::ClickButton_nomall_9()
{
    lane_num = 2;
    sensor_gps->lane_num_modechange(lane_num);
   /* if(clicked_9==true){
        pushButton9->setStyleSheet("background-color: green");
       clicked_9=false;
    }else{

        pushButton9->setStyleSheet("background-color: white");
        clicked_9=true;
    }*/
    pushButton9->setStyleSheet("background-color: green");

    pushButton8->setStyleSheet("background-color: white");
    pushButton10->setStyleSheet("background-color: white");
    pushButton11->setStyleSheet("background-color: white");
    pushButton12->setStyleSheet("background-color: white");

    clicked_8=true;
    clicked_10=true;
    clicked_11=true;
    clicked_12=true;
}

void GPS_Collect::ClickButton_nomall_10()
{
    lane_num = 3;
    sensor_gps->lane_num_modechange(lane_num);
    /*if(clicked_10==true){
        pushButton10->setStyleSheet("background-color: green");
       clicked_10=false;
    }else{

        pushButton10->setStyleSheet("background-color: white");
        clicked_10=true;
    }*/
    pushButton10->setStyleSheet("background-color: green");

    pushButton9->setStyleSheet("background-color: white");
    pushButton8->setStyleSheet("background-color: white");
    pushButton11->setStyleSheet("background-color: white");
    pushButton12->setStyleSheet("background-color: white");

    clicked_9=true;
    clicked_8=true;
    clicked_11=true;
    clicked_12=true;
}

void GPS_Collect::ClickButton_nomall_11()
{
    lane_num = 4;
    sensor_gps->lane_num_modechange(lane_num);
    /*if(clicked_11==true){
        pushButton11->setStyleSheet("background-color: green");
       clicked_11=false;
    }else{

        pushButton11->setStyleSheet("background-color: white");
        clicked_11=true;
    }*/
     pushButton11->setStyleSheet("background-color: green");

    pushButton9->setStyleSheet("background-color: white");
    pushButton10->setStyleSheet("background-color: white");
    pushButton8->setStyleSheet("background-color: white");
    pushButton12->setStyleSheet("background-color: white");

    clicked_9=true;
    clicked_10=true;
    clicked_8=true;
    clicked_12=true;
}

void GPS_Collect::ClickButton_nomall_12()
{
    lane_num = 5;
    sensor_gps->lane_num_modechange(lane_num);
    /*if(clicked_12==true){
        pushButton12->setStyleSheet("background-color: green");
       clicked_12=false;
    }else{

        pushButton12->setStyleSheet("background-color: white");
        clicked_12=true;
    }*/
    pushButton12->setStyleSheet("background-color: green");

    pushButton9->setStyleSheet("background-color: white");
    pushButton10->setStyleSheet("background-color: white");
    pushButton11->setStyleSheet("background-color: white");
    pushButton8->setStyleSheet("background-color: white");

    clicked_9=true;
    clicked_10=true;
    clicked_11=true;
    clicked_8=true;
}



//////////////////////////////////////////////////////////
void GPS_Collect::ClickButton_nomall_13()
{
    lane_status = 0;
    sensor_gps->lane_status_modechange(lane_status);
    /*if(clicked_13==true){
        pushButton13->setStyleSheet("background-color: green");
       clicked_13=false;
    }else{

        pushButton13->setStyleSheet("background-color: white");
        clicked_13=true;
    }*/
    pushButton13->setStyleSheet("background-color: green");

    pushButton14->setStyleSheet("background-color: white");
    pushButton15->setStyleSheet("background-color: white");
    pushButton16->setStyleSheet("background-color: white");
    pushButton17->setStyleSheet("background-color: white");

    clicked_14=true;
    clicked_15=true;
    clicked_16=true;
    clicked_17=true;
}

void GPS_Collect::ClickButton_nomall_14()
{
    lane_status = 1;
    sensor_gps->lane_status_modechange(lane_status);
    /*if(clicked_14==true){
        pushButton14->setStyleSheet("background-color: green");
       clicked_14=false;
    }else{

        pushButton14->setStyleSheet("background-color: white");
        clicked_14=true;
    }*/
    pushButton14->setStyleSheet("background-color: green");

    pushButton13->setStyleSheet("background-color: white");
    pushButton15->setStyleSheet("background-color: white");
    pushButton16->setStyleSheet("background-color: white");
    pushButton17->setStyleSheet("background-color: white");

    clicked_13=true;
    clicked_15=true;
    clicked_16=true;
    clicked_17=true;
}

void GPS_Collect::ClickButton_nomall_15()
{
    lane_status = 2;
    sensor_gps->lane_status_modechange(lane_status);
    /*if(clicked_15==true){
        pushButton15->setStyleSheet("background-color: green");
       clicked_15=false;
    }else{

        pushButton15->setStyleSheet("background-color: white");
        clicked_15=true;
    }*/
    pushButton15->setStyleSheet("background-color: green");

    pushButton14->setStyleSheet("background-color: white");
    pushButton13->setStyleSheet("background-color: white");
    pushButton16->setStyleSheet("background-color: white");
    pushButton17->setStyleSheet("background-color: white");

    clicked_14=true;
    clicked_13=true;
    clicked_16=true;
    clicked_17=true;
}

void GPS_Collect::ClickButton_nomall_16()
{
    lane_status = 3;
    sensor_gps->lane_status_modechange(lane_status);
    /*if(clicked_16==true){
        pushButton16->setStyleSheet("background-color: green");
       clicked_16=false;
    }else{

        pushButton16->setStyleSheet("background-color: white");
        clicked_16=true;
    }*/
    pushButton16->setStyleSheet("background-color: green");

    pushButton14->setStyleSheet("background-color: white");
    pushButton15->setStyleSheet("background-color: white");
    pushButton13->setStyleSheet("background-color: white");
    pushButton17->setStyleSheet("background-color: white");

    clicked_14=true;
    clicked_15=true;
    clicked_13=true;
    clicked_17=true;
}

void GPS_Collect::ClickButton_nomall_17()
{
    lane_status = 4;
    sensor_gps->lane_status_modechange(lane_status);
    /*if(clicked_17==true){
        pushButton17->setStyleSheet("background-color: green");
       clicked_17=false;
    }else{

        pushButton17->setStyleSheet("background-color: white");
        clicked_17=true;
    }*/
    pushButton17->setStyleSheet("background-color: green");

    pushButton14->setStyleSheet("background-color: white");
    pushButton15->setStyleSheet("background-color: white");
    pushButton16->setStyleSheet("background-color: white");
    pushButton13->setStyleSheet("background-color: white");

    clicked_14=true;
    clicked_15=true;
    clicked_16=true;
    clicked_13=true;
}



/////////////////////////////////////////////////////////
void GPS_Collect::ClickButton_nomall_18()
{
    speed_modes = 5;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_18==true){
        pushButton18->setStyleSheet("background-color: green");
       clicked_18=false;
    }else{

        pushButton18->setStyleSheet("background-color: white");
        clicked_18=true;
    }*/
    pushButton18->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    //pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

    clicked_5=true;
    clicked_7=true;
    clicked_19=true;
    clicked_21=true;
    clicked_23=true;
    clicked_25=true;
    clicked_3=true;
    clicked_27=true;

}

void GPS_Collect::ClickButton_nomall_19()
{
    speed_modes = 6;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_19==true){
        pushButton19->setStyleSheet("background-color: green");
       clicked_19=false;
    }else{

        pushButton19->setStyleSheet("background-color: white");
        clicked_19=true;
    }*/
    pushButton19->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    //pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

}

void GPS_Collect::ClickButton_nomall_20()
{
    speed_modes = 7;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_20==true){
        pushButton20->setStyleSheet("background-color: green");
       clicked_20=false;
    }else{

        pushButton20->setStyleSheet("background-color: white");
        clicked_20=true;
    }*/
    pushButton20->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    //pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

}

void GPS_Collect::ClickButton_nomall_21()
{
    speed_modes = 8;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_21==true){
        pushButton21->setStyleSheet("background-color: green");
       clicked_21=false;
    }else{

        pushButton21->setStyleSheet("background-color: white");
        clicked_21=true;
    }*/
    pushButton21->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    //pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

}

void GPS_Collect::ClickButton_nomall_22()
{
    speed_modes = 9;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_22==true){
        pushButton22->setStyleSheet("background-color: green");
       clicked_22=false;
    }else{

        pushButton22->setStyleSheet("background-color: white");
        clicked_22=true;
    }*/
    pushButton22->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    //pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

}

void GPS_Collect::ClickButton_nomall_23()
{
    speed_modes = 10;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_23==true){
        pushButton23->setStyleSheet("background-color: green");
       clicked_23=false;
    }else{

        pushButton23->setStyleSheet("background-color: white");
        clicked_23=true;
    }*/
    pushButton23->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    //pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

}

void GPS_Collect::ClickButton_nomall_24()
{
    speed_modes = 11;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_24==true){
        pushButton24->setStyleSheet("background-color: green");
       clicked_24=false;
    }else{

        pushButton24->setStyleSheet("background-color: white");
        clicked_24=true;
    }*/
    pushButton24->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    //pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

}

void GPS_Collect::ClickButton_nomall_25()
{
    speed_modes = 12;
    sensor_gps->speed_modechange(speed_modes);
   /* if(clicked_25==true){
        pushButton25->setStyleSheet("background-color: green");
       clicked_25=false;
    }else{

        pushButton25->setStyleSheet("background-color: white");
        clicked_25=true;
    }*/
    pushButton25->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    //pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

}

void GPS_Collect::ClickButton_nomall_26()
{
    speed_modes = 13;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_26==true){
        pushButton26->setStyleSheet("background-color: green");
       clicked_26=false;
    }else{

        pushButton26->setStyleSheet("background-color: white");
        clicked_26=true;
    }*/
    pushButton26->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    //pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

}

void GPS_Collect::ClickButton_nomall_27()
{
    speed_modes = 14;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_27==true){
        pushButton27->setStyleSheet("background-color: green");
       clicked_27=false;
    }else{

        pushButton27->setStyleSheet("background-color: white");
        clicked_27=true;
    }*/
    pushButton27->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    //pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

}

void GPS_Collect::ClickButton_nomall_28()
{
    speed_modes = 15;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_28==true){
        pushButton28->setStyleSheet("background-color: green");
       clicked_28=false;
    }else{

        pushButton28->setStyleSheet("background-color: white");
        clicked_28=true;
    }*/
    pushButton28->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    //pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

}

void GPS_Collect::ClickButton_nomall_29()
{
    speed_modes = 16;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_29==true){
        pushButton29->setStyleSheet("background-color: green");
       clicked_29=false;
    }else{

        pushButton29->setStyleSheet("background-color: white");
        clicked_29=true;
    }*/
     pushButton29->setStyleSheet("background-color: green");
     pushButton3->setStyleSheet("background-color: white");

     pushButton4->setStyleSheet("background-color: white");
     pushButton5->setStyleSheet("background-color: white");
     pushButton6->setStyleSheet("background-color: white");
     pushButton7->setStyleSheet("background-color: white");
     pushButton18->setStyleSheet("background-color: white");
     pushButton19->setStyleSheet("background-color: white");
     pushButton20->setStyleSheet("background-color: white");
     pushButton21->setStyleSheet("background-color: white");
     pushButton22->setStyleSheet("background-color: white");
     pushButton23->setStyleSheet("background-color: white");
     pushButton24->setStyleSheet("background-color: white");
     pushButton25->setStyleSheet("background-color: white");
     pushButton26->setStyleSheet("background-color: white");
     pushButton27->setStyleSheet("background-color: white");
     pushButton28->setStyleSheet("background-color: white");
     //pushButton29->setStyleSheet("background-color: white");
     pushButton30->setStyleSheet("background-color: white");
     pushButton31->setStyleSheet("background-color: white");
     pushButton32->setStyleSheet("background-color: white");

}

void GPS_Collect::ClickButton_nomall_30()
{
    speed_modes = 17;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_30==true){
        pushButton30->setStyleSheet("background-color: green");
       clicked_30=false;
    }else{

        pushButton30->setStyleSheet("background-color: white");
        clicked_30=true;
    }*/
    pushButton30->setStyleSheet("background-color: green");

    pushButton3->setStyleSheet("background-color: white");

    pushButton4->setStyleSheet("background-color: white");
    pushButton5->setStyleSheet("background-color: white");
    pushButton6->setStyleSheet("background-color: white");
    pushButton7->setStyleSheet("background-color: white");
    pushButton18->setStyleSheet("background-color: white");
    pushButton19->setStyleSheet("background-color: white");
    pushButton20->setStyleSheet("background-color: white");
    pushButton21->setStyleSheet("background-color: white");
    pushButton22->setStyleSheet("background-color: white");
    pushButton23->setStyleSheet("background-color: white");
    pushButton24->setStyleSheet("background-color: white");
    pushButton25->setStyleSheet("background-color: white");
    pushButton26->setStyleSheet("background-color: white");
    pushButton27->setStyleSheet("background-color: white");
    pushButton28->setStyleSheet("background-color: white");
    pushButton29->setStyleSheet("background-color: white");
    //pushButton30->setStyleSheet("background-color: white");
    pushButton31->setStyleSheet("background-color: white");
    pushButton32->setStyleSheet("background-color: white");

}

void GPS_Collect::ClickButton_nomall_31()
{
    speed_modes = 18;
    sensor_gps->speed_modechange(speed_modes);
    /*if(clicked_31==true){
        pushButton31->setStyleSheet("background-color: green");
       clicked_31=false;
    }else{

        pushButton31->setStyleSheet("background-color: white");
        clicked_31=true;
    }*/

     pushButton31->setStyleSheet("background-color: green");

     pushButton3->setStyleSheet("background-color: white");

     pushButton4->setStyleSheet("background-color: white");
     pushButton5->setStyleSheet("background-color: white");
     pushButton6->setStyleSheet("background-color: white");
     pushButton7->setStyleSheet("background-color: white");
     pushButton18->setStyleSheet("background-color: white");
     pushButton19->setStyleSheet("background-color: white");
     pushButton20->setStyleSheet("background-color: white");
     pushButton21->setStyleSheet("background-color: white");
     pushButton22->setStyleSheet("background-color: white");
     pushButton23->setStyleSheet("background-color: white");
     pushButton24->setStyleSheet("background-color: white");
     pushButton25->setStyleSheet("background-color: white");
     pushButton26->setStyleSheet("background-color: white");
     pushButton27->setStyleSheet("background-color: white");
     pushButton28->setStyleSheet("background-color: white");
     pushButton29->setStyleSheet("background-color: white");
     pushButton30->setStyleSheet("background-color: white");
     //pushButton31->setStyleSheet("background-color: white");
     pushButton32->setStyleSheet("background-color: white");

}

void GPS_Collect::ClickButton_nomall_32()
{
    speed_modes = 19;
    sensor_gps->speed_modechange(speed_modes);
   /* if(clicked_32==true){
        pushButton32->setStyleSheet("background-color: green");
       clicked_32=false;
    }else{

        pushButton32->setStyleSheet("background-color: white");
        clicked_32=true;
    }*/
     pushButton32->setStyleSheet("background-color: green");

     pushButton3->setStyleSheet("background-color: white");

     pushButton4->setStyleSheet("background-color: white");
     pushButton5->setStyleSheet("background-color: white");
     pushButton6->setStyleSheet("background-color: white");
     pushButton7->setStyleSheet("background-color: white");
     pushButton18->setStyleSheet("background-color: white");
     pushButton19->setStyleSheet("background-color: white");
     pushButton20->setStyleSheet("background-color: white");
     pushButton21->setStyleSheet("background-color: white");
     pushButton22->setStyleSheet("background-color: white");
     pushButton23->setStyleSheet("background-color: white");
     pushButton24->setStyleSheet("background-color: white");
     pushButton25->setStyleSheet("background-color: white");
     pushButton26->setStyleSheet("background-color: white");
     pushButton27->setStyleSheet("background-color: white");
     pushButton28->setStyleSheet("background-color: white");
     pushButton29->setStyleSheet("background-color: white");
     pushButton30->setStyleSheet("background-color: white");
     pushButton31->setStyleSheet("background-color: white");
     //pushButton32->setStyleSheet("background-color: white");


}

void GPS_Collect::ClickButton_nomall_33()
{
    obs_modes = 3;
    sensor_gps->obs_modechange(obs_modes);
    /*if(clicked_33==true){
        pushButton33->setStyleSheet("background-color: green");
       clicked_33=false;
    }else{

        pushButton33->setStyleSheet("background-color: white");
        clicked_33=true;
    }*/
     pushButton33->setStyleSheet("background-color: green");
     pushButton0->setStyleSheet("background-color: white");//单击自己按钮，自己按钮一直为绿色一直为绿色
     pushButton1->setStyleSheet("background-color: white");//单击自己按钮，改变其他按钮为白色
     pushButton2->setStyleSheet("background-color: white");//单击自己按钮，改变其他按钮为白色
     pushButton34->setStyleSheet("background-color: white");//单击自己按钮，改变其他按钮为白色
}

void GPS_Collect::ClickButton_nomall_34()
{
    obs_modes = 4;
    sensor_gps->obs_modechange(obs_modes);
    /*if(clicked_34==true){
        pushButton34->setStyleSheet("background-color: green");
       clicked_34=false;
    }else{

        pushButton34->setStyleSheet("background-color: white");
        clicked_34=true;
    }*/
     pushButton34->setStyleSheet("background-color: green");
     pushButton0->setStyleSheet("background-color: white");//单击自己按钮，自己按钮一直为绿色一直为绿色
     pushButton1->setStyleSheet("background-color: white");//单击自己按钮，改变其他按钮为白色
     pushButton2->setStyleSheet("background-color: white");//单击自己按钮，改变其他按钮为白色
     pushButton33->setStyleSheet("background-color: white");//单击自己按钮，改变其他按钮为白色



}

void GPS_Collect::ClickButton_nomall_35()
{


}
void GPS_Collect::closeEvent(QCloseEvent *event)
{
    if(should_close == false)
    {
        QMessageBox::StandardButton button;
        button=QMessageBox::question(this,QStringLiteral("退出程序"),QStringLiteral("确认退出程序"),QMessageBox::Yes|QMessageBox::No);
        if(button==QMessageBox::No)
        {
            event->ignore(); // 忽略退出信号，程序继续进行
        }
        else if(button==QMessageBox::Yes)
        {
            sensor_gps->wait_exit();
            event->accept(); // 接受退出信号，程序退出
            gps_collector_close();
        }
    }
    else
    {
        event->accept(); // 接受退出信号，程序退出
    }
}

void GPSSensor::convertStrToUnChar(char* str, unsigned char* UnChar)
{
    int i = strlen(str), j = 0, counter = 0;
    char c[2];
    unsigned int bytes[2];

    for (j = 0; j < i; j += 2)
    {
        if(0 == j % 2)
        {
            c[0] = str[j];
            c[1] = str[j + 1];
            sscanf(c, "%02x" , &bytes[0]);
            UnChar[counter] = bytes[0];
            counter++;
        }
    }
}