change some project.for use ivprotoif.so.

sh/automake/autogen.sh

@@ -36,7 +36,8 @@ MAKEOPT=-j8
 
 cd ../../
 
-mkdir bin
+mkdir pilotlib
+mkdir pilotbin
 
 cd src/include/proto
 sh ./protomake.sh
@@ -146,6 +147,31 @@ rm Makefile
 rm .qmake.stash
 cd ../../../
 
+PWD=`pwd`
+
+PROTOPATH=$PWD/src/include/proto
+MSGTYPEPATH=$PWD/src/include/msgtype
+PROFOLDERPATH=$PWD/src/common
+
+echo $PROTOPATH
+echo $MSGTYPEPATH
+echo $PROFOLDERPATH
+
+$PWD/bin/makeprotointerface $PROTOPATH $MSGTYPEPATH $PROFOLDERPATH
+
+cp $PWD/src/common/ivprotoif/ivprotoif.h $PWD/include
+
+cd src/common/ivprotoif/
+$qtmake ivprotoif.pro
+make $MAKEOPT
+make clean
+cp libivprotoif.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cp bin/lib* pilotlib/
+
 controller_app_name=(
 controller_bus
 controller_jinlong_peisong
@@ -164,7 +190,7 @@ cd src/controller/${x}/
 $qtmake ${x}.pro
 make $MAKEOPT
 make clean
-cp ${x} ./../../../bin/
+cp ${x} ./../../../pilotbin/
 rm Makefile
 rm .qmake.stash
 rm ${x}
@@ -172,7 +198,7 @@ cd ../../../
 done
 
 decition_app_name=(
-decition_brain
+#decition_brain
 decition_brain_sf
 )
 
@@ -182,7 +208,7 @@ cd src/decition/${x}/
 $qtmake ${x}.pro
 make $MAKEOPT
 make clean
-cp ${x} ./../../../bin/
+cp ${x} ./../../../pilotbin/
 rm Makefile
 rm .qmake.stash
 rm ${x}
@@ -190,7 +216,7 @@ cd ../../../
 done
 
 driver_app_name=(
-driver_camera_usb
+#driver_camera_usb
 #driver_can_kvaser
 #driver_can_vci
 driver_can_nvidia_agx
@@ -198,29 +224,29 @@ driver_camera_ioctl
 #driver_cloud_grpc_client
 #driver_cloud_grpc_pc
 #driver_cloud_grpc_server
-driver_gps_ins550d
+#driver_gps_ins550d
 driver_gps_hcp2
-driver_lidar_bk16
+#driver_lidar_bk16
 driver_lidar_hesai40line
 driver_lidar_hesai40p
 driver_lidar_hesaipandar64
 driver_lidar_rs16
 driver_lidar_rs32
-driver_lidar_vlp16
-driver_lidar_vlp32c
-driver_lidar_vtdpoint
+#driver_lidar_vlp16
+#driver_lidar_vlp32c
+#driver_lidar_vtdpoint
 driver_lidar_rsm1
 driver_map_trace
 driver_map_xodrload
-driver_piccompress
-driver_radio_p900
+#driver_piccompress
+#driver_radio_p900
 driver_ntrip_client
-driver_odomtogpsimu
+#driver_odomtogpsimu
 #driver_rpc_client
 #driver_rpc_server
-driver_vbox_gaohong
+#driver_vbox_gaohong
 driver_ota_client
-driver_grpc_client
+#driver_grpc_client
 driver_grpc_server
 driver_group_grpc_client
 )
@@ -231,7 +257,7 @@ cd src/driver/${x}/
 $qtmake ${x}.pro
 make $MAKEOPT
 make clean
-cp ${x} ./../../../bin/
+cp ${x} ./../../../pilotbin/
 rm Makefile
 rm .qmake.stash
 rm ${x}
@@ -240,16 +266,16 @@ done
 
 detect_app_name=(
 detection_chassis
-detection_gps_hcp2
-detection_gps_vtd
+#detection_gps_hcp2
+#detection_gps_vtd
 #detection_lidar_cnn_segmentation
-detection_lidar_cnntogrid
-detection_lidar_grid
-detection_lidar_ukf_pda
+#detection_lidar_cnntogrid
+#detection_lidar_grid
+#detection_lidar_ukf_pda
 detection_mobileye
 #detection_ndt_matching_gpu_multi
 detection_radar_delphi_esr
-detection_state_delphi_ins500d
+#detection_state_delphi_ins500d
 
 )
 
@@ -259,7 +285,7 @@ cd src/detection/${x}/
 $qtmake ${x}.pro
 make $MAKEOPT
 make clean
-cp ${x} ./../../../bin/
+cp ${x} ./../../../pilotbin/
 rm Makefile
 rm .qmake.stash
 rm ${x}
@@ -267,8 +293,8 @@ cd ../../../
 done
 
 fusion_app_name=(
-fusion_gpsndt
-fusion_pointcloud_bus
+#fusion_gpsndt
+#fusion_pointcloud_bus
 )
 
 for x in ${fusion_app_name[@]}
@@ -277,7 +303,7 @@ cd src/fusion/${x}/
 $qtmake ${x}.pro
 make $MAKEOPT
 make clean
-cp ${x} ./../../../bin/
+cp ${x} ./../../../pilotbin/
 rm Makefile
 rm .qmake.stash
 rm ${x}
@@ -287,33 +313,33 @@ done
 tool_app_name=(
 adciv_record
 adciv_replay
-adcndtmultimapping
-bqev_lidar_cnn_detect_view
-bqev_multilidarcalib
-bqev_pcdview
+#adcndtmultimapping
+#bqev_lidar_cnn_detect_view
+#bqev_multilidarcalib
+#bqev_pcdview
 ivmapmake
 ivmapmake_sharemem
 IVSysMan
-map_lanetoxodr
-map_mobieye
-PerceptionShow
-picview
-pointcloudviewer
+#map_lanetoxodr
+#map_mobieye
+#PerceptionShow
+#picview
+#pointcloudviewer
 #RemoteCtrl
-tool_calcmd5
+#tool_calcmd5
 tool_querymsg
 tool_xodrobj
 view_gps
 view_ivlog
-view_pcdmap
+#view_pcdmap
 view_radar
-view_rawcan
+#view_rawcan
 tool_configivsysman
-ivdiagnosis
-map_rtkdatafromveh
-picview_civetweb
-tool_trace2vectormap
-view_group_grpc
+#ivdiagnosis
+#map_rtkdatafromveh
+#picview_civetweb
+#tool_trace2vectormap
+#view_group_grpc
 view_ivchart
 view_message
 )
@@ -324,7 +350,7 @@ cd src/tool/${x}/
 $qtmake ${x}.pro
 make $MAKEOPT
 make clean
-cp ${x} ./../../../bin/
+cp ${x} ./../../../pilotbin/
 rm Makefile
 rm .qmake.stash
 rm ${x}
@@ -341,13 +367,46 @@ cd src/ui/${x}/
 $qtmake ${x}.pro
 make $MAKEOPT
 make clean
-cp ${x} ./../../../bin/
+cp ${x} ./../../../pilotbin/
 rm Makefile
 rm .qmake.stash
 rm ${x}
 cd ../../../
 done
 
+cd pilotbin
+mkdir lib
+cp ../pilotlib/* lib/
+
+for x in ${ui_app_name[@]}
+do
+patchelf --set-rpath '$ORIGIN/lib/' ${x}
+done 
+
+for x in ${controller_app_name[@]}
+do
+patchelf --set-rpath '$ORIGIN/lib/' ${x}
+done 
+
+for x in ${decition_app_name[@]}
+do
+patchelf --set-rpath '$ORIGIN/lib/' ${x}
+done 
+
+for x in ${driver_app_name[@]}
+do
+patchelf --set-rpath '$ORIGIN/lib/' ${x}
+done 
+
+for x in ${detect_app_name[@]}
+do
+patchelf --set-rpath '$ORIGIN/lib/' ${x}
+done 
+
+for x in ${tool_app_name[@]}
+do
+patchelf --set-rpath '$ORIGIN/lib/' ${x}
+done 
 
 
 

sh/automake/automake_agx.sh

@@ -33,19 +33,6 @@ echo "code version: "$GITVERSIONCODE
 
 
 
-foldernfs=/mnt/nfs1
-echo $foldernfs
-foldernfs=$foldernfs/AGXXavier
-
-
-month=`date +%Y.%m`
-foldernfs=$foldernfs/$month
-urllink="http://10.16.1.138"
-echo $foldernfs
-
-if [ ! -d "$foldernfs" ]; then
-	CreateFolder $foldernfs
-fi
 
 
 
@@ -54,15 +41,13 @@ if [ "$GITVERSIONCODE" =  "$VERSIONCODE" ]; then
 else
 	VERSIONCODE=$GITVERSIONCODE  
 	./autogen.sh
-	./autodeploy.sh
-	cd ../../deploy
-	zip -r app.zip app
-	cd ../../modularization_exe
+	cd ../../
+	zip -r pilotbin.zip pilotbin
+	cd ../modularization_exe
 	git pull
-	cd ../modularization/deploy
-#	cp app.zip ../../modularization_exe/agx
-	cp app.zip $foldernfs/$GITVERSIONCODE.zip
-	cd ../../modularization_exe/agx
+	cd ../modularization
+	cp pilotbin.zip ../modularization_exe/agx/$GITVERSIONCODE.zip
+	cd ../modularization_exe/agx
 	cat /dev/null > appversion
     	echo "$VERSIONCODE" >> appversion
 	compiletime=`date "+%Y.%m.%d %H:%M:%S"`

sh/automake/automake_agx_back.sh

@@ -0,0 +1,85 @@
+folder=$(echo $PWD) ; 
+filepath=$folder/../../.git/refs/heads/master;
+
+
+function CreateFolder()
+{
+	folderdir=$1
+	mkdir $folderdir
+#	cd $folderdir
+#	cp ../../template/index.html ./
+#	cd ..
+}
+
+
+while true
+do
+cd ../../
+git pull
+cd ./sh/automake
+
+
+VERSIONCODE=$(cat $folder/../../../modularization_exe/agx/appversion)
+echo "app  version: "$VERSIONCODE
+
+
+GITVERSIONCODE="unknown"
+if [  -f "$filepath" ]; then
+  gitversion=$(cat $folder/../../.git/refs/heads/master)
+#  echo $gitversion
+  GITVERSIONCODE=$gitversion
+fi
+echo "code version: "$GITVERSIONCODE
+
+
+
+foldernfs=/mnt/nfs1
+echo $foldernfs
+foldernfs=$foldernfs/AGXXavier
+
+
+month=`date +%Y.%m`
+foldernfs=$foldernfs/$month
+urllink="http://10.16.1.138"
+echo $foldernfs
+
+if [ ! -d "$foldernfs" ]; then
+	CreateFolder $foldernfs
+fi
+
+
+
+if [ "$GITVERSIONCODE" =  "$VERSIONCODE" ]; then
+	sleep 1s
+else
+	VERSIONCODE=$GITVERSIONCODE  
+	./autogen.sh
+	./autodeploy.sh
+	cd ../../deploy
+	zip -r app.zip app
+	cd ../../modularization_exe
+	git pull
+	cd ../modularization/deploy
+#	cp app.zip ../../modularization_exe/agx
+	cp app.zip $foldernfs/$GITVERSIONCODE.zip
+	cd ../../modularization_exe/agx
+	cat /dev/null > appversion
+    	echo "$VERSIONCODE" >> appversion
+	compiletime=`date "+%Y.%m.%d %H:%M:%S"`
+	cat /dev/null > Readme.md
+	echo " " > Readme.md
+	sed -i "1 a\ Build Time : $compiletime \n\n" Readme.md
+#	sed -i "1 a\ Version : $VERSIONCODE \n\n" Readme.md
+	sed -i "1 a\ 最新版本APP : [下载]($urllink/AGXXavier/$month/$GITVERSIONCODE.zip) \n\n" Readme.md
+	cd ..
+	git add -u
+	git commit -m "automake  change app.  code version:$VERSIONCODE"
+	git push
+	cd ../modularization/sh/automake
+fi
+sleep 10m
+
+
+done
+
+

src/controller/controller_bus/controller_bus.pro

@@ -17,15 +17,7 @@ DEFINES += QT_DEPRECATED_WARNINGS
 # You can also select to disable deprecated APIs only up to a certain version of Qt.
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
-SOURCES += $$PWD/main.cpp \
-    ../../include/msgtype/cameraobject.pb.cc \
-    ../../include/msgtype/cameraobjectarray.pb.cc \
-    ../../include/msgtype/decition.pb.cc \
-    ../../include/msgtype/brainstate.pb.cc \
-    ../../include/msgtype/canmsg.pb.cc \
-    ../../include/msgtype/canraw.pb.cc \
-    ../../include/msgtype/chassis.pb.cc \
-    ../../include/msgtype/remotectrl.pb.cc
+SOURCES += $$PWD/main.cpp
 
 include($$PWD/control/control.pri)
 
@@ -46,13 +38,9 @@ include($$PWD/control/control.pri)
 unix:!macx: INCLUDEPATH += $$PWD/.
 unix:!macx: DEPENDPATH += $$PWD/.
 
-HEADERS += \
-    ../../include/msgtype/cameraobject.pb.h \
-    ../../include/msgtype/cameraobjectarray.pb.h \
-    ../../include/msgtype/decition.pb.h \
-    ../../include/msgtype/canmsg.pb.h \
-    ../../include/msgtype/canraw.pb.h \
-    ../../include/msgtype/chassis.pb.h \
-    ../../include/msgtype/remotectrl.pb.h
+#HEADERS += \
+
+LIBS += -livprotoif
+
 
 

src/controller/controller_bus/main.cpp

@@ -105,8 +105,11 @@ void executeDecition(const iv::brain::decition decition)
 
 void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
 {
+    (void)index;
+    (void)dt;
+    (void)strmemname;
     iv::chassis xchassis;
-    static int ncount = 0;
+//    static int ncount = 0;
     if(!xchassis.ParseFromArray(strdata,nSize))
     {
         std::cout<<"iv::decition::BrainDecition::UpdateChassis ParseFrom Array Error."<<std::endl;
@@ -123,6 +126,9 @@ void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned
 
 void ListenRemotectrl(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
+    (void)index;
+    (void)dt;
+    (void)strmemname;
 //    qint64 oldtime;
     iv::brain::decition xdecition;
 
@@ -169,7 +175,10 @@ void ListenRemotectrl(const char * strdata,const unsigned int nSize,const unsign
 
 void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
-    qint64 oldtime;
+    (void)index;
+    (void)dt;
+    (void)strmemname;
+    static qint64 oldtime = QDateTime::currentMSecsSinceEpoch();
     iv::brain::decition xdecition;
 
     if(!xdecition.ParseFromArray(strdata,nSize))
@@ -182,7 +191,7 @@ void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned
     {
         qDebug("not D");
     }
-    if((oldtime - QDateTime::currentMSecsSinceEpoch())<-100)qDebug("dection time is %ld diff is %ld ",QDateTime::currentMSecsSinceEpoch(),oldtime - QDateTime::currentMSecsSinceEpoch());
+    if((oldtime - QDateTime::currentMSecsSinceEpoch())<-100)qDebug("dection time is %lld diff is %lld ",QDateTime::currentMSecsSinceEpoch(),oldtime - QDateTime::currentMSecsSinceEpoch());
     oldtime = QDateTime::currentMSecsSinceEpoch();
     gMutex.lock();
     gdecition.CopyFrom(xdecition);
@@ -196,7 +205,7 @@ void ExecSend()
 {
     iv::can::canmsg xmsg;
     iv::can::canraw xraw;
-    unsigned char * strp = (unsigned char *)&(ServiceControlStatus.command10.byte[0]);
+//    unsigned char * strp = (unsigned char *)&(ServiceControlStatus.command10.byte[0]);
 //    qDebug("%02x %02x %02x %02x %02x %02x %02x %02x",strp[0]
 //            ,strp[1],strp[2],strp[3],strp[4],strp[5],strp[6],strp[7]);
     xraw.set_id(ServiceControlStatus.command_ID10);

src/controller/controller_ge3/controller_ge3.pro

@@ -18,16 +18,16 @@ DEFINES += QT_DEPRECATED_WARNINGS
 # You can also select to disable deprecated APIs only up to a certain version of Qt.
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
-SOURCES += $$PWD/main.cpp \
-    ../../include/msgtype/cameraobject.pb.cc \
-    ../../include/msgtype/cameraobjectarray.pb.cc \
-    ../../include/msgtype/decition.pb.cc \
-    ../../include/msgtype/brainstate.pb.cc \
-    ../../include/msgtype/canmsg.pb.cc \
-    ../../include/msgtype/canraw.pb.cc \
-    ../../include/msgtype/chassis.pb.cc \
-    ../../include/msgtype/remotectrl.pb.cc \
-    ../../include/msgtype/torquebrake.pb.cc
+SOURCES += $$PWD/main.cpp #\
+#    ../../include/msgtype/cameraobject.pb.cc \
+#    ../../include/msgtype/cameraobjectarray.pb.cc \
+#    ../../include/msgtype/decition.pb.cc \
+#    ../../include/msgtype/brainstate.pb.cc \
+#    ../../include/msgtype/canmsg.pb.cc \
+#    ../../include/msgtype/canraw.pb.cc \
+#    ../../include/msgtype/chassis.pb.cc \
+#    ../../include/msgtype/remotectrl.pb.cc \
+#    ../../include/msgtype/torquebrake.pb.cc
 
 include($$PWD/control/control.pri)
 
@@ -43,20 +43,22 @@ include($$PWD/control/control.pri)
     error( "Couldn't find the ivboost.pri file!" )
 }
 
+LIBS += -livprotoif
+
 
 #unix:!macx: LIBS += -L/home/yuchuli/qt/lib -lncomgnss -ladcmemshare
 
 unix:!macx: INCLUDEPATH += $$PWD/.
 unix:!macx: DEPENDPATH += $$PWD/.
 
-HEADERS += \
-    ../../include/msgtype/cameraobject.pb.h \
-    ../../include/msgtype/cameraobjectarray.pb.h \
-    ../../include/msgtype/decition.pb.h \
-    ../../include/msgtype/canmsg.pb.h \
-    ../../include/msgtype/canraw.pb.h \
-    ../../include/msgtype/chassis.pb.h \
-    ../../include/msgtype/remotectrl.pb.h \
-    ../../include/msgtype/torquebrake.pb.h
+#HEADERS += \
+#    ../../include/msgtype/cameraobject.pb.h \
+#    ../../include/msgtype/cameraobjectarray.pb.h \
+#    ../../include/msgtype/decition.pb.h \
+#    ../../include/msgtype/canmsg.pb.h \
+#    ../../include/msgtype/canraw.pb.h \
+#    ../../include/msgtype/chassis.pb.h \
+#    ../../include/msgtype/remotectrl.pb.h \
+#    ../../include/msgtype/torquebrake.pb.h
 
 

src/controller/controller_hapo/controller_hapo.pro

@@ -17,14 +17,7 @@ DEFINES += QT_DEPRECATED_WARNINGS
 # You can also select to disable deprecated APIs only up to a certain version of Qt.
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
-SOURCES += $$PWD/main.cpp \
-    ../../include/msgtype/cameraobject.pb.cc \
-    ../../include/msgtype/cameraobjectarray.pb.cc \
-    ../../include/msgtype/decition.pb.cc \
-    ../../include/msgtype/brainstate.pb.cc \
-    ../../include/msgtype/canmsg.pb.cc \
-    ../../include/msgtype/canraw.pb.cc \
-    ../../include/msgtype/chassis.pb.cc
+SOURCES += $$PWD/main.cpp
 
 include($$PWD/control/control.pri)
 
@@ -54,12 +47,6 @@ DEFINES += TORQUEBRAKETEST
 unix:!macx: INCLUDEPATH += $$PWD/.
 unix:!macx: DEPENDPATH += $$PWD/.
 
-HEADERS += \
-    ../../include/msgtype/cameraobject.pb.h \
-    ../../include/msgtype/cameraobjectarray.pb.h \
-    ../../include/msgtype/decition.pb.h \
-    ../../include/msgtype/canmsg.pb.h \
-    ../../include/msgtype/canraw.pb.h \
-    ../../include/msgtype/chassis.pb.h
 
 
+LIBS += -livprotoif

src/controller/controller_hapo/main.cpp

@@ -147,8 +147,11 @@ void executeDecition(const iv::brain::decition decition)
 
 void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
 {
+    (void)index;
+    (void)dt;
+    (void)strmemname;
     iv::chassis xchassis;
-    static int ncount = 0;
+//    static int ncount = 0;
     if(!xchassis.ParseFromArray(strdata,nSize))
     {
         std::cout<<"iv::decition::BrainDecition::UpdateChassis ParseFrom Array Error."<<std::endl;
@@ -166,7 +169,10 @@ void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned
 
 void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
-    qint64 oldtime;
+    (void)index;
+    (void)dt;
+    (void)strmemname;
+    static qint64 oldtime = QDateTime::currentMSecsSinceEpoch();
     iv::brain::decition xdecition;
 
     if(!xdecition.ParseFromArray(strdata,nSize))
@@ -179,7 +185,7 @@ void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned
     {
         qDebug("not D");
     }
-    if((oldtime - QDateTime::currentMSecsSinceEpoch())<-100)qDebug("dection time is %ld diff is %ld ",QDateTime::currentMSecsSinceEpoch(),oldtime - QDateTime::currentMSecsSinceEpoch());
+    if((oldtime - QDateTime::currentMSecsSinceEpoch())<-100)qDebug("dection time is %lld diff is %lld ",QDateTime::currentMSecsSinceEpoch(),oldtime - QDateTime::currentMSecsSinceEpoch());
     oldtime = QDateTime::currentMSecsSinceEpoch();
     gMutex.lock();
     gdecition.CopyFrom(xdecition);
@@ -193,7 +199,7 @@ void ExecSend()
 {
     iv::can::canmsg xmsg;
     iv::can::canraw xraw;
-    unsigned char * strp = (unsigned char *)&(ServiceControlStatus.command10.byte[0]);
+//    unsigned char * strp = (unsigned char *)&(ServiceControlStatus.command10.byte[0]);
     //    qDebug("%02x %02x %02x %02x %02x %02x %02x %02x",strp[0]
     //            ,strp[1],strp[2],strp[3],strp[4],strp[5],strp[6],strp[7]);
     xraw.set_id(ServiceControlStatus.command_ID10);

src/controller/controller_jinlong_peisong/controller_jinlong_peisong.pro

@@ -17,13 +17,7 @@ DEFINES += QT_DEPRECATED_WARNINGS
 # You can also select to disable deprecated APIs only up to a certain version of Qt.
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
-SOURCES += $$PWD/main.cpp \
-    ../../include/msgtype/cameraobject.pb.cc \
-    ../../include/msgtype/cameraobjectarray.pb.cc \
-    ../../include/msgtype/decition.pb.cc \
-    ../../include/msgtype/brainstate.pb.cc \
-    ../../include/msgtype/canmsg.pb.cc \
-    ../../include/msgtype/canraw.pb.cc
+SOURCES += $$PWD/main.cpp
 
 include($$PWD/control/control.pri)
 
@@ -44,11 +38,5 @@ include($$PWD/control/control.pri)
 unix:!macx: INCLUDEPATH += $$PWD/.
 unix:!macx: DEPENDPATH += $$PWD/.
 
-HEADERS += \
-    ../../include/msgtype/cameraobject.pb.h \
-    ../../include/msgtype/cameraobjectarray.pb.h \
-    ../../include/msgtype/decition.pb.h \
-    ../../include/msgtype/canmsg.pb.h \
-    ../../include/msgtype/canraw.pb.h
-
+LIBS += -livprotoif
 

src/controller/controller_jinlong_peisong/main.cpp

@@ -70,6 +70,9 @@ void executeDecition(const iv::brain::decition decition)
 
 void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
+    (void)index;
+    (void)dt;
+    (void)strmemname;
 
     iv::brain::decition xdecition;
 

src/controller/controller_midcar/controller_midcar.pro

@@ -16,15 +16,7 @@ DEFINES += QT_DEPRECATED_WARNINGS
 # You can also select to disable deprecated APIs only up to a certain version of Qt.
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
-SOURCES += $$PWD/main.cpp \
-    ../../include/msgtype/cameraobject.pb.cc \
-    ../../include/msgtype/cameraobjectarray.pb.cc \
-    ../../include/msgtype/decition.pb.cc \
-    ../../include/msgtype/brainstate.pb.cc \
-    ../../include/msgtype/canmsg.pb.cc \
-    ../../include/msgtype/canraw.pb.cc \
-    ../../include/msgtype/platform_feedback.pb.cc \
-    ../../include/msgtype/remotectrl.pb.cc
+SOURCES += $$PWD/main.cpp
 
 include($$PWD/control/control.pri)
 
@@ -45,13 +37,6 @@ include($$PWD/control/control.pri)
 unix:!macx: INCLUDEPATH += $$PWD/.
 unix:!macx: DEPENDPATH += $$PWD/.
 
-HEADERS += \
-    ../../include/msgtype/cameraobject.pb.h \
-    ../../include/msgtype/cameraobjectarray.pb.h \
-    ../../include/msgtype/decition.pb.h \
-    ../../include/msgtype/canmsg.pb.h \
-    ../../include/msgtype/canraw.pb.h \
-    ../../include/msgtype/platform_feedback.pb.h \
-    ../../include/msgtype/remotectrl.pb.h
+LIBS += -livprotoif
 
 

src/controller/controller_midcar/main.cpp

@@ -96,6 +96,9 @@ void executeDecition(const iv::brain::decition decition)
 
 void ListenRemotectrl(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
+    (void)index;
+    (void)dt;
+    (void)strmemname;
 //    qint64 oldtime;
     iv::brain::decition xdecition;
 
@@ -166,6 +169,9 @@ void ListenRemotectrl(const char * strdata,const unsigned int nSize,const unsign
 
 void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
+    (void)index;
+    (void)dt;
+    (void)strmemname;
     iv::brain::decition xdecition;
 
     if(!xdecition.ParseFromArray(strdata,nSize))

src/controller/controller_problue/controller_problue.pro

@@ -17,14 +17,7 @@ DEFINES += QT_DEPRECATED_WARNINGS
 # You can also select to disable deprecated APIs only up to a certain version of Qt.
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
-SOURCES += $$PWD/main.cpp \
-    ../../include/msgtype/cameraobject.pb.cc \
-    ../../include/msgtype/cameraobjectarray.pb.cc \
-    ../../include/msgtype/decition.pb.cc \
-    ../../include/msgtype/brainstate.pb.cc \
-    ../../include/msgtype/canmsg.pb.cc \
-    ../../include/msgtype/canraw.pb.cc \
-    ../../include/msgtype/chassis.pb.cc
+SOURCES += $$PWD/main.cpp
 
 include($$PWD/control/control.pri)
 
@@ -45,12 +38,6 @@ include($$PWD/control/control.pri)
 unix:!macx: INCLUDEPATH += $$PWD/.
 unix:!macx: DEPENDPATH += $$PWD/.
 
-HEADERS += \
-    ../../include/msgtype/cameraobject.pb.h \
-    ../../include/msgtype/cameraobjectarray.pb.h \
-    ../../include/msgtype/decition.pb.h \
-    ../../include/msgtype/canmsg.pb.h \
-    ../../include/msgtype/canraw.pb.h \
-    ../../include/msgtype/chassis.pb.h
+LIBS += -livprotoif
 
 

src/controller/controller_problue/main.cpp

@@ -112,8 +112,11 @@ void executeDecition(const iv::brain::decition decition)
 
 void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
 {
+    (void)index;
+    (void)dt;
+    (void)strmemname;
     iv::chassis xchassis;
-    static int ncount = 0;
+//    static int ncount = 0;
     if(!xchassis.ParseFromArray(strdata,nSize))
     {
         std::cout<<"iv::decition::BrainDecition::UpdateChassis ParseFrom Array Error."<<std::endl;
@@ -131,7 +134,10 @@ void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned
 
 void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
-    qint64 oldtime;
+    (void)index;
+    (void)dt;
+    (void)strmemname;
+    static qint64 oldtime= QDateTime::currentMSecsSinceEpoch();
     iv::brain::decition xdecition;
 
     if(!xdecition.ParseFromArray(strdata,nSize))
@@ -140,7 +146,7 @@ void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned
         return;
     }
 
-    if((oldtime - QDateTime::currentMSecsSinceEpoch())<-100)qDebug("dection time is %ld diff is %ld ",QDateTime::currentMSecsSinceEpoch(),oldtime - QDateTime::currentMSecsSinceEpoch());
+    if((oldtime - QDateTime::currentMSecsSinceEpoch())<-100)qDebug("dection time is %lld diff is %lld ",QDateTime::currentMSecsSinceEpoch(),oldtime - QDateTime::currentMSecsSinceEpoch());
     oldtime = QDateTime::currentMSecsSinceEpoch();
     gdecition.CopyFrom(xdecition);
     gnDecitionNum = gnDecitionNumMax;
@@ -152,7 +158,7 @@ void ExecSend()
 {
     iv::can::canmsg xmsg;
     iv::can::canraw xraw;
-    unsigned char * strp = (unsigned char *)&(ServiceControlStatus.command.byte[0]);
+//    unsigned char * strp = (unsigned char *)&(ServiceControlStatus.command.byte[0]);
 //    qDebug("%02x %02x %02x %02x %02x %02x %02x %02x",strp[0]
 //            ,strp[1],strp[2],strp[3],strp[4],strp[5],strp[6],strp[7]);
     xraw.set_id(ServiceControlStatus.command_ID);

src/controller/controller_tju_vv7/controller_tju_vv7.pro

@@ -16,13 +16,7 @@ DEFINES += QT_DEPRECATED_WARNINGS
 # You can also select to disable deprecated APIs only up to a certain version of Qt.
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
-SOURCES += $$PWD/main.cpp \
-    ../../include/msgtype/cameraobject.pb.cc \
-    ../../include/msgtype/cameraobjectarray.pb.cc \
-    ../../include/msgtype/decition.pb.cc \
-    ../../include/msgtype/brainstate.pb.cc \
-    ../../include/msgtype/canmsg.pb.cc \
-    ../../include/msgtype/canraw.pb.cc
+SOURCES += $$PWD/main.cpp
 
 include($$PWD/control/control.pri)
 
@@ -43,11 +37,6 @@ include($$PWD/control/control.pri)
 unix:!macx: INCLUDEPATH += $$PWD/.
 unix:!macx: DEPENDPATH += $$PWD/.
 
-HEADERS += \
-    ../../include/msgtype/cameraobject.pb.h \
-    ../../include/msgtype/cameraobjectarray.pb.h \
-    ../../include/msgtype/decition.pb.h \
-    ../../include/msgtype/canmsg.pb.h \
-    ../../include/msgtype/canraw.pb.h
+LIBS += -livprotoif
 
 

src/controller/controller_tju_vv7/main.cpp

@@ -101,6 +101,9 @@ void executeDecition(const iv::brain::decition decition)
 void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
 
+    (void)index;
+    (void)dt;
+    (void)strmemname;
     iv::brain::decition xdecition;
 
     if(!xdecition.ParseFromArray(strdata,nSize))
@@ -199,7 +202,7 @@ int main(int argc, char *argv[])
     gstrmemcansend = xp.GetParam("cansend","cansend0");
     gstrmemdecition = xp.GetParam("dection","deciton");
 
-    const char * strx = gstrmemcansend.data();
+//    const char * strx = gstrmemcansend.data();
 
     gpacansend = iv::modulecomm::RegisterSend(gstrmemcansend.data(),10000,3);
     gpadecition = iv::modulecomm::RegisterRecv(gstrmemdecition.data(),ListenDeciton);

src/controller/controller_vv7/controller_vv7.pro

@@ -16,14 +16,7 @@ DEFINES += QT_DEPRECATED_WARNINGS
 # You can also select to disable deprecated APIs only up to a certain version of Qt.
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
-SOURCES += $$PWD/main.cpp \
-    ../../include/msgtype/cameraobject.pb.cc \
-    ../../include/msgtype/cameraobjectarray.pb.cc \
-    ../../include/msgtype/decition.pb.cc \
-    ../../include/msgtype/brainstate.pb.cc \
-    ../../include/msgtype/canmsg.pb.cc \
-    ../../include/msgtype/canraw.pb.cc \
-    ../../include/msgtype/remotectrl.pb.cc
+SOURCES += $$PWD/main.cpp
 
 include($$PWD/control/control.pri)
 
@@ -44,12 +37,6 @@ include($$PWD/control/control.pri)
 unix:!macx: INCLUDEPATH += $$PWD/.
 unix:!macx: DEPENDPATH += $$PWD/.
 
-HEADERS += \
-    ../../include/msgtype/cameraobject.pb.h \
-    ../../include/msgtype/cameraobjectarray.pb.h \
-    ../../include/msgtype/decition.pb.h \
-    ../../include/msgtype/canmsg.pb.h \
-    ../../include/msgtype/canraw.pb.h \
-    ../../include/msgtype/remotectrl.pb.h
+LIBS += -livprotoif
 
 

src/controller/controller_vv7/main.cpp

@@ -90,6 +90,9 @@ void executeDecition(const iv::brain::decition decition)
 
 void ListenRemotectrl(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
+    (void)index;
+    (void)dt;
+    (void)strmemname;
 //    qint64 oldtime;
     iv::brain::decition xdecition;
 
@@ -138,6 +141,9 @@ void ListenRemotectrl(const char * strdata,const unsigned int nSize,const unsign
 void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
 
+    (void)index;
+    (void)dt;
+    (void)strmemname;
     iv::brain::decition xdecition;
 
     if(!xdecition.ParseFromArray(strdata,nSize))

src/decition/decition_brain_sf/decition_brain_sf.pro

@@ -18,22 +18,7 @@ QMAKE_LFLAGS += -no-pie
 # You can also select to disable deprecated APIs only up to a certain version of Qt.
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
-SOURCES += $$PWD/../common/main.cpp \
-    ../../include/msgtype/brainstate.pb.cc \
-    ../../include/msgtype/decition.pb.cc \
-    ../../include/msgtype/radarobjectarray.pb.cc \
-    ../../include/msgtype/radarobject.pb.cc \
-    ../../include/msgtype/gpsimu.pb.cc \
-    ../../include/msgtype/mapreq.pb.cc \
-    ../../include/msgtype/hmi.pb.cc \
-    ../../include/msgtype/chassis.pb.cc \
-    ../../include/msgtype/vbox.pb.cc \
-    ../../include/msgtype/radio_send.pb.cc \
-    ../../include/msgtype/formation_map.pb.cc \
-    ../../include/msgtype/fusionobjectarray.pb.cc \
-    ../../include/msgtype/fusionobject.pb.cc \
-    ../../include/msgtype/carstate.pb.cc \
-    ../../include/msgtype/groupmsg.pb.cc
+SOURCES += $$PWD/../common/main.cpp
 
 
 include($$PWD/../common/common/common.pri)
@@ -74,20 +59,7 @@ unix:!macx: INCLUDEPATH += $$PWD/.
 unix:!macx: DEPENDPATH += $$PWD/.
 
 HEADERS += \
-    ../../include/msgtype/brainstate.pb.h \
-    ../../include/msgtype/decition.pb.h \
-    ../../include/msgtype/radarobjectarray.pb.h \
-    ../../include/msgtype/radarobject.pb.h \
-    ../../include/msgtype/gpsimu.pb.h \
-    ../../include/msgtype/mapreq.pb.h \
-    ../../include/msgtype/hmi.pb.h \
-    ../../include/msgtype/vbox.pb.h \
     ../common/common/roadmode_type.h \
-    ../../include/msgtype/chassis.pb.h \
-    ../../include/msgtype/radio_send.pb.h \
-    ../../include/msgtype/formation_map.pb.h \
-    ../../include/msgtype/fusionobjectarray.pb.h \
-    ../../include/msgtype/fusionobject.pb.h \
     ../common/perception_sf/eyes.h \
     ../common/perception_sf/perceptionoutput.h \
     ../common/perception_sf/sensor.h \
@@ -95,8 +67,7 @@ HEADERS += \
     ../common/perception_sf/sensor_gps.h \
     ../common/perception_sf/sensor_lidar.h \
     ../common/perception_sf/sensor_radar.h \
-    ../common/common/sysparam_type.h \
-    ../../include/msgtype/carstate.pb.h \
-    ../../include/msgtype/groupmsg.pb.h
+    ../common/common/sysparam_type.h
 
 
+LIBS += -livprotoif

src/detection/detection_chassis/decodechassis.cpp

@@ -385,7 +385,9 @@ int ProcHAPOChassis(void * pa, iv::can::canmsg * pmsg)
 
 int ProcYUHESENChassis(void * pa, iv::can::canmsg * pmsg)
 {
-    int i;
+    (void)pa;
+    (void)pmsg;
+//    int i;
     int nRtn = 0;
 
 

src/detection/detection_chassis/detection_chassis.pro

@@ -17,16 +17,10 @@ DEFINES += QT_DEPRECATED_WARNINGS
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
 HEADERS += \
-    ../../include/msgtype/canmsg.pb.h \
-    ../../include/msgtype/canraw.pb.h \
-    decodechassis.h \
-    ../../include/msgtype/chassis.pb.h
+    decodechassis.h
 
 SOURCES += main.cpp \
-    ../../include/msgtype/canmsg.pb.cc \
-    ../../include/msgtype/canraw.pb.cc \
-    decodechassis.cpp \
-    ../../include/msgtype/chassis.pb.cc
+    decodechassis.cpp
 
 !include(../../../include/common.pri ) {
     error( "Couldn't find the common.pri file!" )
@@ -40,4 +34,4 @@ SOURCES += main.cpp \
     error( "Couldn't find the ivboost.pri file!" )
 }
 
-
+LIBS += -livprotoif

src/detection/detection_chassis/main.cpp

@@ -49,6 +49,9 @@ int gnRadarState = 0;
 **/
 void Listencan0(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
+    (void)index;
+    (void)dt;
+    (void)strmemname;
     if(nSize<1)return;
     iv::can::canmsg xmsg;
     if(false == xmsg.ParseFromArray(strdata,nSize))

src/detection/detection_mobileye/detection_mobileye.pro

@@ -19,21 +19,9 @@ DEFINES += QT_DEPRECATED_WARNINGS
 # You can also select to disable deprecated APIs only up to a certain version of Qt.
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
-HEADERS += \
-    ../../include/msgtype/mobileye_lane.pb.h \
-    ../../include/msgtype/mobileye_obs.pb.h \
-    ../../include/msgtype/mobileye_tsr.pb.h \
-    ../../include/msgtype/canmsg.pb.h \
-    ../../include/msgtype/canraw.pb.h \
-    ../../include/msgtype/mobileye.pb.h
-
-SOURCES += main.cpp \
-    ../../include/msgtype/mobileye_lane.pb.cc \
-    ../../include/msgtype/mobileye_obs.pb.cc \
-    ../../include/msgtype/mobileye_tsr.pb.cc \
-    ../../include/msgtype/canmsg.pb.cc \
-    ../../include/msgtype/canraw.pb.cc \
-    ../../include/msgtype/mobileye.pb.cc
+
+
+SOURCES += main.cpp
 
 !include(../../../include/common.pri ) {
     error( "Couldn't find the common.pri file!" )
@@ -46,3 +34,6 @@ SOURCES += main.cpp \
 !include(../../../include/ivboost.pri ) {
     error( "Couldn't find the ivboost.pri file!" )
 }
+
+
+LIBS += -livprotoif

src/detection/detection_mobileye/main.cpp

@@ -24,13 +24,13 @@ void * gpb;
 iv::Ivfault *gMobEyeFault = nullptr;
 iv::Ivlog *gMobEyeIvlog = nullptr;
 
-static int gnNotSend = 10;
+//static int gnNotSend = 10;
 
 QTime gTime;
 int8_t gnum_obstacles = 0;
 int8_t gobs_count = 0;
 int glane_sig = 0;
-static bool gbinit = false;
+//static bool gbinit = false;
 
 
 iv::mobileye::mobileye gmobileye;
@@ -76,7 +76,7 @@ void ProcCANMsg(iv::can::canraw xmsg)
     {
         double curv, head, yaw, pitch;
         int ldw_left, ldw_right;
-        short ihead;
+ //       short ihead;
 //        for(int i = 0; i< 8; i++)
 //        {
 
@@ -153,6 +153,7 @@ void ProcCANMsg(iv::can::canraw xmsg)
     {
         int num_obstacles;
         int msgtime;
+        (void)msgtime;
         //num_obstacles
         num_obstacles = xdata[0];
         //std::cout << ServiceCarStatus.obstacleStatus.num_obstacles<< std::endl;
@@ -470,6 +471,9 @@ void DecodeMsg(iv::can::canmsg xmsgvetor)
 
 void Listencanmsg(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
+    (void)index;
+    (void)dt;
+    (void)strmemname;
 
     if(nSize<1)return;
     iv::can::canmsg xmsg;
@@ -517,7 +521,7 @@ int main(int argc, char *argv[])
     gpa = iv::modulecomm::RegisterSend(strmemmobileye.data(),100000,3);
     gpb = iv::modulecomm::RegisterSend(strmemsend.data(),100000,3);
     void * pa = iv::modulecomm::RegisterRecv(strmemcan.data(),Listencanmsg);
-
+    (void)pa;
 
 
     return a.exec();

src/detection/detection_radar_delphi_esr/detection_radar_delphi_esr.pro

@@ -18,17 +18,8 @@ DEFINES += QT_DEPRECATED_WARNINGS
 
 QMAKE_LFLAGS += -no-pie
 
-HEADERS += \
-    ../../include/msgtype/radarobject.pb.h \
-    ../../include/msgtype/radarobjectarray.pb.h \
-    ../../include/msgtype/canmsg.pb.h \
-    ../../include/msgtype/canraw.pb.h
-
-SOURCES += main.cpp \
-    ../../include/msgtype/radarobject.pb.cc \
-    ../../include/msgtype/radarobjectarray.pb.cc \
-    ../../include/msgtype/canmsg.pb.cc \
-    ../../include/msgtype/canraw.pb.cc
+
+SOURCES += main.cpp
 
 !include(../../../include/common.pri ) {
     error( "Couldn't find the common.pri file!" )
@@ -38,4 +29,4 @@ SOURCES += main.cpp \
     error( "Couldn't find the ivprotobuf.pri file!" )
 }
 
-
+LIBS += -livprotoif

src/detection/detection_radar_delphi_esr/main.cpp

@@ -131,6 +131,9 @@ void DecodeRadar(iv::can::canmsg xmsg)
 
 void Listencan0(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
+    (void)index;
+    (void)dt;
+    (void)strmemname;
     if(nSize<1)return;
     iv::can::canmsg xmsg;
     if(false == xmsg.ParseFromArray(strdata,nSize))
@@ -219,6 +222,7 @@ int main(int argc, char *argv[])
     gpa = iv::modulecomm::RegisterSend(strmemradar.data(),100000,3);
     gpb = iv::modulecomm::RegisterSend(strmemsend.data(),100000,1);
     void * pa = iv::modulecomm::RegisterRecv(strmemcan.data(),Listencan0);
+    (void)pa;
 
     std::thread threadfault(threadstate);
 

src/driver/driver_camera_ioctl/driver_camera_ioctl.pro

@@ -16,7 +16,6 @@ DEFINES += QT_DEPRECATED_WARNINGS
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
 SOURCES += main.cpp \
-    ../../include/msgtype/rawpic.pb.cc \
     usb_cam.cpp
 
 
@@ -47,10 +46,9 @@ INCLUDEPATH += /usr/include/x86_64-linux-gnu
 DEFINES += USE_OPENCV4
 
 HEADERS += \
-    ../../include/msgtype/rawpic.pb.h \
     usb_cam.h
 
 
 LIBS +=-lpostproc -lswresample -lswscale -lavfilter -lavdevice -lavformat -lavcodec -lavutil -lm -ldl
 
-
+LIBS += -livprotoif

src/driver/driver_can_nvidia_agx/driver_can_nvidia_agx.pro

@@ -33,17 +33,11 @@ INCLUDEPATH += $$PWD/../../include/base/driver/can
 SOURCES += main.cpp \
     nvcan.cpp \
     canctrl.cpp \
-    ../../include/msgtype/canmsg.pb.cc \
-    ../../include/msgtype/canraw.pb.cc \
-    ../../include/msgtype/canstate.pb.cc \
     ../../include/base/driver/can/basecan.cpp
 
 HEADERS += \
     nvcan.h \
     canctrl.h \
-    ../../include/msgtype/canmsg.pb.h \
-    ../../include/msgtype/canraw.pb.h \
-    ../../include/msgtype/canstate.pb.h \
     ../../include/base/driver/can/basecan.h
 
-
+LIBS += -livprotoif

src/driver/driver_gps_hcp2/driver_gps_hcp2.pro

@@ -18,10 +18,7 @@ DEFINES += QT_DEPRECATED_WARNINGS
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
 SOURCES += main.cpp \
-    hcp2.cpp \
-    ../../include/msgtype/gps.pb.cc \
-    ../../include/msgtype/gpsimu.pb.cc \
-    ../../include/msgtype/imu.pb.cc
+    hcp2.cpp
 
 !include(../../../include/common.pri ) {
     error( "Couldn't find the common.pri file!" )
@@ -33,7 +30,6 @@ SOURCES += main.cpp \
 }
 
 HEADERS += \
-    hcp2.h \
-    ../../include/msgtype/gps.pb.h \
-    ../../include/msgtype/gpsimu.pb.h \
-    ../../include/msgtype/imu.pb.h
+    hcp2.h
+
+LIBS += -livprotoif

src/driver/driver_map_xodrload/driver_map_xodrload.pro

@@ -20,39 +20,25 @@ QMAKE_CXXFLAGS +=  -g
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
 SOURCES += main.cpp     \
-    ../../include/msgtype/roireqest.pb.cc \
-    ../../include/msgtype/roiresult.pb.cc \
-    ../../include/msgtype/v2x.pb.cc \
     fresnl.cpp \
     const.cpp \
     polevl.c \
     globalplan.cpp \
     dubins.c \
-    ../../include/msgtype/gps.pb.cc \
-    ../../include/msgtype/gpsimu.pb.cc \
-    ../../include/msgtype/imu.pb.cc \
     gnss_coordinate_convert.cpp \
     service_roi_xodr.cpp \
-    xodrplan.cpp \
-    ../../include/msgtype/mapdata.pb.cc
+    xodrplan.cpp
 
 HEADERS += \
     ../../../include/ivexit.h \
-    ../../include/msgtype/roireqest.pb.h \
-    ../../include/msgtype/roiresult.pb.h \
-    ../../include/msgtype/v2x.pb.h \
     mconf.h \
     globalplan.h \
     gps_type.h \
     dubins.h \
-    ../../include/msgtype/gps.pb.h \
-    ../../include/msgtype/gpsimu.pb.h \
-    ../../include/msgtype/imu.pb.h \
     gnss_coordinate_convert.h \
     planpoint.h \
     service_roi_xodr.h \
-    xodrplan.h \
-    ../../include/msgtype/mapdata.pb.h
+    xodrplan.h
 
 
 !include(../../../include/common.pri ) {
@@ -89,4 +75,6 @@ INCLUDEPATH += $$PWD/../../common/common/xodr/xodrfunc
 
 DEFINES += INPILOT
 
+LIBS += -livprotoif
+
 

src/tool/IVSysMan/IVSysMan.pro

@@ -44,7 +44,6 @@ contains(QMAKE_HOST.os, Windows){
 }
 
 SOURCES += \
-    ../../include/msgtype/switch.pb.cc \
         main.cpp \
         mainwindow.cpp \
     sysman.cpp \
@@ -54,12 +53,10 @@ SOURCES += \
     programviewunit.cpp \
     switchbutton.cpp \
     cpumem.cpp \
-    ../../include/msgtype/fault.pb.cc \
     progunit.cpp \
     procmemstat.cpp
 
 HEADERS += \
-    ../../include/msgtype/switch.pb.h \
         mainwindow.h \
     sysman.h \
     progmon.h \
@@ -68,7 +65,6 @@ HEADERS += \
     programviewunit.h \
     switchbutton.h \
     cpumem.h \
-    ../../include/msgtype/fault.pb.h \
     progunit.h \
     procmemstat.h
 
@@ -83,3 +79,5 @@ contains(QMAKE_HOST.os, Windows){
 }else{
     DEFINES +=  OS_UNIX
 }
+
+LIBS += -livprotoif

src/tool/tool_xodrobj/tool_xodrobj.pro

@@ -33,10 +33,7 @@ SOURCES += \
     fresnl.cpp \
     polevl.c \
     const.cpp \
-    gnss_coordinate_convert.cpp \
-    ../../include/msgtype/gps.pb.cc \
-    ../../include/msgtype/gpsimu.pb.cc \
-    ../../include/msgtype/imu.pb.cc
+    gnss_coordinate_convert.cpp
 
 HEADERS += \
         mainwindow.h \
@@ -45,10 +42,7 @@ HEADERS += \
     boost.h \
     gps_type.h \
     linedata.h \
-    gnss_coordinate_convert.h \
-    ../../include/msgtype/gps.pb.h \
-    ../../include/msgtype/gpsimu.pb.h \
-    ../../include/msgtype/imu.pb.h
+    gnss_coordinate_convert.h
 
 FORMS += \
         mainwindow.ui
@@ -78,3 +72,5 @@ INCLUDEPATH += $$PWD/../../common/common/xodr
 
 DISTFILES += \
     geodata.proto
+
+LIBS += -livprotoif

src/tool/view_gps/mainwindow.cpp

@@ -140,10 +140,15 @@ MainWindow::MainWindow(QWidget *parent) :
     QDesktopWidget *deskdop = QApplication::desktop();
     QRect rect = deskdop->screenGeometry();
     move(rect.width() * 0.75, rect.height() * 0.3);
+
+    mparaw = paraw;
+    mpafusion = pafusion;
 }
 
 MainWindow::~MainWindow()
 {
+    iv::modulecomm::Unregister(mpafusion);
+    iv::modulecomm::Unregister(mparaw);
     delete ui;
 }
 

src/tool/view_gps/mainwindow.h

@@ -51,6 +51,8 @@ private:
      QLineEdit * mpLERaw[100],* mpLEFusion[100],* mpLEDiff[100];
      int mnCountIndexBase;
 
+     void *mparaw,*mpafusion;
+
 public:
      std::queue<iv::gps::gpsimu> mqueueraw;
      std::queue<iv::gps::gpsimu> mqueuefusion;
@@ -60,6 +62,7 @@ public:
 
      QMutex mMutexraw,mMutexfusion;
 
+
 private:
      void UpdateGPSView(const int tab,iv::gps::gpsimu xgpsimu);
      void UpdateCompView();

src/tool/view_gps/view_gps.pro

@@ -26,12 +26,9 @@ DEFINES += QT_DEPRECATED_WARNINGS
 
 SOURCES += \
         main.cpp \
-        mainwindow.cpp \
-    ../../include/msgtype/gpsimu.pb.cc
-
+        mainwindow.cpp
 HEADERS += \
-        mainwindow.h \
-    ../../include/msgtype/gpsimu.pb.h
+        mainwindow.h
 
 FORMS += \
         mainwindow.ui
@@ -44,5 +41,7 @@ FORMS += \
     error( "Couldn't find the ivprotobuf.pri file!" )
 }
 
+LIBS += -livprotoif
+
 RESOURCES += \
     view_gps.qrc

src/ui/ui_ads_hmi/ui_ads_hmi.pro

@@ -40,51 +40,14 @@ SOURCES += \
         ADCIntelligentVehicle.cpp \
     look.cpp \
     mobileye_info.cpp \
-    perceptionoutput.cpp \
-    ../../include/msgtype/hmi.pb.cc \
-    ../../include/msgtype/gps.pb.cc \
-    ../../include/msgtype/radarobject.pb.cc \
-    ../../include/msgtype/radarobjectarray.pb.cc \
-    ../../include/msgtype/brainstate.pb.cc \
-    ../../include/msgtype/decition.pb.cc \
-    ../../include/msgtype/gpsimu.pb.cc \
-    ../../include/msgtype/canstate.pb.cc \
-    ../../include/msgtype/v2x.pb.cc \
-    ../../include/msgtype/chassis.pb.cc \
-    ../../include/msgtype/mapreq.pb.cc  \
-    ../../include/msgtype/vbox.pb.cc \
-    ../../include/msgtype/mobileye.pb.cc \
-    ../../include/msgtype/mobileye_lane.pb.cc \
-    ../../include/msgtype/mobileye_obs.pb.cc \
-    ../../include/msgtype/mobileye_tsr.pb.cc \
-    ../../include/msgtype/fusionobjectarray.pb.cc \
-    ../../include/msgtype/fusionobject.pb.cc
+    perceptionoutput.cpp
 
 HEADERS += \
         ADCIntelligentVehicle.h \
     look.h \
     mobileye_info.h \
     ultrasonic_type.h \
-    perceptionoutput.h \
-    ../../include/msgtype/hmi.pb.h \
-    ../../include/msgtype/gps.pb.h \
-    ../../include/msgtype/radarobject.pb.h \
-    ../../include/msgtype/radarobjectarray.pb.h \
-    ../../include/msgtype/brainstate.pb.h \
-    ../../include/msgtype/decition.pb.h \
-    ../../include/msgtype/canstate.pb.h \
-    ../../include/msgtype/mobileye.pb.h \
-    ../../include/msgtype/mobileye_lane.pb.h \
-    ../../include/msgtype/mobileye_obs.pb.h \
-    ../../include/msgtype/mobileye_tsr.pb.h \
-    ../../include/msgtype/gpsimu.pb.h \
-    ../../include/msgtype/v2x.pb.h \
-    ../../include/msgtype/chassis.pb.h \
-    ../../include/msgtype/mapreq.pb.h \
-    ../../include/msgtype/vbox.pb.h \
-    ../../include/msgtype/fusionobjectarray.pb.h \
-    ../../include/msgtype/fusionobject.pb.h
-
+    perceptionoutput.h
 
 FORMS += \
         ADCIntelligentVehicle.ui
@@ -140,4 +103,4 @@ DISTFILES += \
 #unix:!macx: LIBS += -L$$PWD/../sdk_without_ros/lib/ -lclassifier1 -lrobosense -lrobosense_classification -lrobosense_common \
 #    -lrobosense_detection -lrobosense_module_manager -lrobosense_preprocessing -lrobosense_tracking
 
-
+LIBS += -livprotoif