add tool_config_lidar_leishen.

src/tool/tool_config_lidar_leishen/config.qrc

@@ -0,0 +1,5 @@
+<RCC>
+    <qresource prefix="/">
+        <file>lidar.png</file>
+    </qresource>
+</RCC>

src/tool/tool_config_lidar_leishen/main.cpp

@@ -0,0 +1,11 @@
+#include "mainwindow.h"
+#include <QApplication>
+
+int main(int argc, char *argv[])
+{
+    QApplication a(argc, argv);
+    MainWindow w;
+    w.show();
+
+    return a.exec();
+}

src/tool/tool_config_lidar_leishen/mainwindow.cpp

@@ -0,0 +1,422 @@
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+
+#include <QMessageBox>
+#include <iostream>
+
+MainWindow::MainWindow(QWidget *parent) :
+    QMainWindow(parent),
+    ui(new Ui::MainWindow)
+{
+    ui->setupUi(this);
+
+    ui->lineEdit_DataPort->setText("2368");
+    ui->lineEdit_DevPort->setText("2369");
+    ui->comboBox_MotorSpeed->addItem("5Hz");
+    ui->comboBox_MotorSpeed->addItem("10Hz");
+    ui->comboBox_MotorSpeed->addItem("20Hz");
+    ui->comboBox_MotorSpeed->setCurrentIndex(1);
+
+    SetParamState();
+
+    QTimer * timer = new QTimer(this);
+    connect(timer,SIGNAL(timeout()),this,SLOT(onTimer()));
+    timer->start(1000);
+
+//    unsigned char strip[4];
+//    int nrtn = GetIP("192.168.1.103",strip);
+//    nrtn = GetIP("  192.168.1.103   ",strip);
+//    nrtn = GetIP("  192.   168  . 1.   103   ",strip);
+//    nrtn = GetIP("  192,   168  . 1.   103   ",strip);
+//    nrtn = GetIP("  192.   368  . 1.   103   ",strip);
+
+
+    setWindowTitle(tr("设置镭神C系列激光雷达IP和端口"));
+}
+
+MainWindow::~MainWindow()
+{
+    delete ui;
+}
+
+void MainWindow::on_pushButton_clicked()
+{
+    if(mbListenning == false)
+    {
+
+        unsigned short nDevPort = static_cast<unsigned short>( atoi(ui->lineEdit_DevPort->text().toLatin1().data()));
+        unsigned short nDataPort = static_cast<unsigned short>(atoi(ui->lineEdit_DataPort->text().toLatin1().data())) ;
+        mpUDPSocket_Dev = new QUdpSocket(this);
+        bool bbindDev  =     mpUDPSocket_Dev->bind(QHostAddress::Any, nDevPort);
+        if(bbindDev == false)
+        {
+            QMessageBox::warning(this,tr("Warning"),tr("设备端口无法bind"),QMessageBox::YesAll);
+        }
+        else
+        {
+            connect(mpUDPSocket_Dev,SIGNAL(readyRead()),this,SLOT(onSocketDevRead()));
+            mpUDPSocket_Data = new QUdpSocket(this);
+            bool bbindData  =     mpUDPSocket_Data->bind(QHostAddress::Any, nDataPort);
+            if(bbindData == false)
+            {
+                QMessageBox::warning(this,tr("Warning"),tr("数据端口无法bind"),QMessageBox::YesAll);
+            }
+            else
+            {
+               connect(mpUDPSocket_Data,SIGNAL(readyRead()),this,SLOT(onSocketDataRead()));
+               mbListenning = true;
+               mbParam_Get = false;
+               ui->pushButton->setText(tr("停止监听"));
+               ui->pushButton_Param_Get->setEnabled(false);
+            }
+        }
+
+    }
+    else
+    {
+        mpUDPSocket_Dev->close();
+        mpUDPSocket_Data->close();
+
+        mvectorUDPPac_Data.clear();
+        mvectorUDPPac_Dev.clear();
+
+        ui->pushButton->setText(tr("开始监听"));
+        ui->pushButton_Param_Get->setEnabled(false);
+        mbListenning = false;
+        mbParam_Get = false;
+        SetParamState();
+    }
+}
+
+void MainWindow::on_pushButton_Param_Get_clicked()
+{
+    if(mbListenning == false)
+    {
+        QMessageBox::warning(this,tr("Warning"),tr("请先打开监听"),QMessageBox::YesAll);
+        return ;
+    }
+    if(mvectorUDPPac_Dev.size() == 0)
+    {
+        QMessageBox::warning(this,tr("Warning"),tr("没有获得设备包"),QMessageBox::YesAll);
+        return;
+    }
+
+    std::vector<char> xvecotrfactype;
+    if(mvectorUDPPac_Data.size()>0)
+    {
+        int nsize = static_cast<int>(mvectorUDPPac_Data.size());
+        int i;
+        for(i=0;i<nsize;i++)
+        {
+            char * pdata = mvectorUDPPac_Data[i].mba.data();
+            if(mvectorUDPPac_Data[i].mba.size() == 1206)
+            {
+                xvecotrfactype.push_back(pdata[1205]);
+            }
+        }
+        bool bSame = true;
+        nsize = static_cast<int>(xvecotrfactype.size());
+        if(nsize>1)
+        {
+            for(i=1;i<nsize;i++)
+            {
+                if(xvecotrfactype[i] != xvecotrfactype[i-1])
+                {
+                    bSame = false;
+                    break;
+                }
+            }
+        }
+        if(bSame == false)
+        {
+            QMessageBox::warning(this,tr("Warning"),tr("16线和32线雷达同时存在，请只保留一台雷达的网线连接"),QMessageBox::YesAll);
+            return;
+        }
+    }
+
+    if(CheckMacSame() == false)
+    {
+        QMessageBox::warning(this,tr("Warning"),tr("多个雷达同时存在，请只保留一台雷达的网线连接"),QMessageBox::YesAll);
+        return;
+    }
+
+    QByteArray ba = mvectorUDPPac_Dev[mvectorUDPPac_Dev.size() -1].mba;
+    if(ba.size() == 1206)
+    {
+        mbaDevPac = ba;
+        char * pdata = ba.data();
+        int nMotorSpeed = pdata[8] * 256 + pdata[9];
+        if(abs(nMotorSpeed - 5*60) <100)
+        {
+            ui->comboBox_MotorSpeed->setCurrentIndex(0);
+        }
+        else
+        {
+            if(abs(nMotorSpeed - 20*60) <100)
+            {
+                ui->comboBox_MotorSpeed->setCurrentIndex(2);
+            }
+            else
+            {
+                if(abs(nMotorSpeed - 10*60) <100)
+                {
+                    ui->comboBox_MotorSpeed->setCurrentIndex(1);
+                }
+                else
+                {
+                    char strout[1000];
+                    snprintf(strout,1000,"Motor Speed: %d",nMotorSpeed);
+                    QMessageBox::warning(this,tr("电机转速错误"),tr(strout),QMessageBox::YesAll);
+                }
+            }
+        }
+        unsigned char ethparam[22];
+        memcpy(ethparam,pdata+10,22);
+        char strsrcip[256];
+        snprintf(strsrcip,256,"%d.%d.%d.%d",ethparam[0],ethparam[1],ethparam[2],ethparam[3]);
+        mstrDevIP = strsrcip;
+        ui->lineEdit_Param_IPSrc->setText(strsrcip);
+        char strdstip[256];
+        snprintf(strdstip,256,"%d.%d.%d.%d",ethparam[4],ethparam[5],ethparam[6],ethparam[7]);
+        ui->lineEdit_Param_IPSrc->setText(strdstip);
+        int nDataPort = ethparam[14]*256 + ethparam[15];
+        ui->lineEdit_DataPort->setText(QString::number(nDataPort));
+        int nDevPort = ethparam[16]*256 + ethparam[17];
+        mnDevPort = nDevPort;
+        ui->lineEdit_DevPort->setText(QString::number(nDevPort));
+        mbParam_Get = true;
+        ui->pushButton_Param_Set->setEnabled(true);
+    }
+    else
+    {
+        QMessageBox::warning(this,tr("Warning"),tr("设备包格式不对"),QMessageBox::YesAll);
+    }
+}
+
+void MainWindow::on_pushButton_Param_Set_clicked()
+{
+    if(mbListenning == false)
+    {
+        QMessageBox::warning(this,tr("Warning"),tr("请先打开监听"),QMessageBox::YesAll);
+        return ;
+    }
+    if(mbParam_Get == false)
+    {
+        QMessageBox::warning(this,tr("Warning"),tr("请先获取参数"),QMessageBox::YesAll);
+        return ;
+    }
+
+    if(CheckMacSame() == false)
+    {
+        QMessageBox::warning(this,tr("Warning"),tr("多个雷达同时存在，请只保留一台雷达的网线连接"),QMessageBox::YesAll);
+        mbParam_Get = false;
+        return;
+    }
+
+    if(mvectorUDPPac_Dev.size()>0)
+    {
+        QByteArray ba = mvectorUDPPac_Dev[mvectorUDPPac_Dev.size() -1].mba;
+        if((ba.size() == 1206) && (mbaDevPac.size() == 1206))
+        {
+            char * str1 = ba.data();
+            char * str2 = mbaDevPac.data();
+            int i;
+            bool bSame = true;
+            for(i=0;i<6;i++)
+            {
+                if(str1[i+10+8] != str2[i+10+8])
+                {
+                    bSame = false;
+                    break;
+                }
+            }
+            if(bSame == false)
+            {
+                QMessageBox::warning(this,tr("Warning"),tr("多个雷达同时存在，请只保留一台雷达的网线连接"),QMessageBox::YesAll);
+                mbParam_Get = false;
+                return;
+            }
+        }
+        else
+        {
+            QMessageBox::warning(this,tr("Warning"),tr("雷达设备包长度不是1206"),QMessageBox::YesAll);
+            mbParam_Get = false;
+            return;
+        }
+    }
+
+    QByteArray basend = mbaDevPac;
+    char * pdata = basend.data();
+    unsigned char strsrcip[4];
+    int nrtn = GetIP(ui->lineEdit_Param_IPSrc->text(),strsrcip);
+    if(nrtn != 1)
+    {
+        QMessageBox::warning(this,tr("Warning"),tr("设备IP设置错误"),QMessageBox::YesAll);
+        return;
+    }
+    unsigned char strdstip[4];
+    nrtn = GetIP(ui->lineEdit_Param_IPDest->text(),strdstip);
+    if(nrtn != 1)
+    {
+        QMessageBox::warning(this,tr("Warning"),tr("目标IP设置错误"),QMessageBox::YesAll);
+        return;
+    }
+    unsigned short nDataPort = static_cast<unsigned short>(ui->lineEdit_Param_DataPort->text().toInt());
+    unsigned short nDevPort = static_cast<unsigned short>(ui->lineEdit_Param_DevPort->text().toInt());
+    unsigned short nDataPort_High = nDataPort/256;
+    unsigned short nDataPort_Low = nDataPort - nDataPort_High*256;
+    unsigned short nDevPort_High = nDevPort/256;
+    unsigned short nDevPort_Low = nDevPort - nDevPort_High*256;
+    unsigned char strDataPort[2];
+    unsigned char strDevPort[2];
+    strDataPort[0] = static_cast<unsigned char>(nDataPort_High);
+    strDataPort[1] = static_cast<unsigned char>(nDataPort_Low);
+    strDevPort[0] = static_cast<unsigned char>(nDevPort_High);
+    strDevPort[1] = static_cast<unsigned char>(nDevPort_Low);
+    memcpy(pdata + 10,strsrcip,4);
+    memcpy(pdata + 10 + 4,strdstip,4);
+    memcpy(pdata + 10 + 14,strDataPort,2);
+    memcpy(pdata + 10 + 16,strDevPort,2);
+
+//    mpUDPSocket_Dev->writeDatagram(basend.data(),basend.size(),QHostAddress(mstrDevIP),mnDevPort);
+    QMessageBox::information(this,tr("Info"),tr("设置成功"),QMessageBox::YesAll);
+}
+
+void MainWindow::SetParamState()
+{
+    if(mbParam_Get)
+    {
+        ui->pushButton_Param_Set->setEnabled(true);
+    }
+    else
+    {
+        ui->pushButton_Param_Set->setEnabled(false);
+        ui->lineEdit_Param_DataPort->setText("");
+        ui->lineEdit_Param_DevPort->setText("");
+        ui->lineEdit_Param_IPDest->setText("");
+        ui->lineEdit_Param_IPSrc->setText("");
+    }
+}
+
+void MainWindow::onSocketDevRead()
+{
+    while(mpUDPSocket_Dev->hasPendingDatagrams())
+    {
+        QNetworkDatagram datagram = mpUDPSocket_Dev->receiveDatagram();
+        if(datagram.isValid())
+        {
+            iv::UDPPac xUDPPac;
+            xUDPPac.mba = datagram.data();
+            xUDPPac.mhost = datagram.senderAddress();
+            xUDPPac.mnPort = static_cast<unsigned short>(datagram.senderPort()) ;
+            if(mvectorUDPPac_Dev.size()>=10)
+            {
+                mvectorUDPPac_Dev.erase(mvectorUDPPac_Dev.begin());
+            }
+            mvectorUDPPac_Dev.push_back(xUDPPac);
+            mnDevPacCount++;
+            if(mvectorUDPPac_Dev.size()>=3)
+            {
+                ui->pushButton_Param_Get->setEnabled(true);
+            }
+        }
+
+    }
+}
+
+void MainWindow::onSocketDataRead()
+{
+    while(mpUDPSocket_Data->hasPendingDatagrams())
+    {
+        QNetworkDatagram datagram = mpUDPSocket_Data->receiveDatagram();
+        if(datagram.isValid())
+        {
+            iv::UDPPac xUDPPac;
+            xUDPPac.mba = datagram.data();
+            xUDPPac.mhost = datagram.senderAddress();
+            xUDPPac.mnPort = static_cast<unsigned short>(datagram.senderPort()) ;
+            if(mvectorUDPPac_Data.size()>=100)
+            {
+                mvectorUDPPac_Data.erase(mvectorUDPPac_Data.begin());
+            }
+            mvectorUDPPac_Data.push_back(xUDPPac);
+            mnDataPacCount++;
+        }
+
+    }
+}
+
+void MainWindow::onTimer()
+{
+    if(mbListenning)
+    {
+        char strout[1000];
+        snprintf(strout,1000,"Data Packet:%d     Device Packete:%d",mnDataPacCount,mnDevPacCount);
+        ui->plainTextEdit->setPlainText(strout);
+
+    }
+    else
+    {
+        ui->plainTextEdit->setPlainText("");
+    }
+    mnDevPacCount = 0;
+    mnDataPacCount = 0;
+}
+
+bool MainWindow::CheckMacSame()
+{
+    int nsize = static_cast<int>(mvectorUDPPac_Dev.size());
+    int i;
+    if(nsize<=1)return  true;
+    for(i=1;i<nsize;i++)
+    {
+        QByteArray ba = mvectorUDPPac_Dev[i].mba.data();
+        char * pdata = ba.data();
+        if(ba.size() != 1206)
+        {
+            return false;
+        }
+        char * pdataold = mvectorUDPPac_Dev[i-1].mba.data();
+        if(mvectorUDPPac_Dev[i-1].mba.size() != 1206)
+        {
+            return false;
+        }
+        int j;
+        for(j=0;j<6;j++)
+        {
+            if(pdata[10+8+j] != pdataold[10+8+j])
+            {
+                std::cout<<" Mac Diff."<<std::endl;
+                return false;
+            }
+        }
+    }
+
+    return true;
+
+}
+
+int MainWindow::GetIP(QString str,unsigned char * strip)
+{
+    str = str.trimmed();
+    QStringList strlist = str.split(".");
+    if(strlist.size() != 4)
+    {
+        std::cout<<" ip addr is not 4."<<std::endl;
+        return -1;
+    }
+    int i;
+    for(i=0;i<4;i++)
+    {
+        QString strdata = strlist[i];
+        int ip;
+        ip = strdata.toInt();
+        if((ip<0)||(ip>=256))
+        {
+            std::cout<<"ip addr error."<<std::endl;
+            return -2;
+        }
+        strip[i] = static_cast<unsigned char>(ip);
+    }
+    return 1;
+}

src/tool/tool_config_lidar_leishen/mainwindow.h

@@ -0,0 +1,72 @@
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+
+#include <QUdpSocket>
+#include <QNetworkDatagram>
+#include <QHostAddress>
+#include <QTimer>
+
+#include <memory>
+#include <vector>
+
+namespace Ui {
+class MainWindow;
+}
+
+namespace iv
+{
+struct UDPPac
+{
+    QByteArray mba;
+    QHostAddress mhost;
+    unsigned short mnPort;
+};
+}
+
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    explicit MainWindow(QWidget *parent = 0);
+    ~MainWindow();
+
+private slots:
+    void on_pushButton_clicked();
+
+    void on_pushButton_Param_Get_clicked();
+
+    void on_pushButton_Param_Set_clicked();
+
+    void onSocketDevRead();
+    void onSocketDataRead();
+
+    void onTimer();
+
+private:
+    void SetParamState();
+    bool CheckMacSame();
+
+    int GetIP(QString str,unsigned char * strip);
+
+private:
+    Ui::MainWindow *ui;
+
+    bool mbListenning = false;
+
+    bool mbParam_Get = false;
+
+    QUdpSocket * mpUDPSocket_Dev, * mpUDPSocket_Data;
+
+    std::vector<iv::UDPPac> mvectorUDPPac_Dev,mvectorUDPPac_Data;
+
+    int mnDevPacCount = 0;
+    int mnDataPacCount = 0;
+    QByteArray mbaDevPac;
+    QString mstrDevIP;
+    unsigned short mnDevPort;
+};
+
+#endif // MAINWINDOW_H

src/tool/tool_config_lidar_leishen/mainwindow.ui

@@ -0,0 +1,260 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>777</width>
+    <height>644</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <property name="windowIcon">
+   <iconset resource="config.qrc">
+    <normaloff>:/lidar.png</normaloff>:/lidar.png</iconset>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <widget class="QPushButton" name="pushButton">
+    <property name="geometry">
+     <rect>
+      <x>640</x>
+      <y>24</y>
+      <width>111</width>
+      <height>51</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>开始监听</string>
+    </property>
+   </widget>
+   <widget class="QLineEdit" name="lineEdit_DataPort">
+    <property name="geometry">
+     <rect>
+      <x>140</x>
+      <y>27</y>
+      <width>131</width>
+      <height>41</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label">
+    <property name="geometry">
+     <rect>
+      <x>31</x>
+      <y>31</y>
+      <width>101</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>数据端口：</string>
+    </property>
+   </widget>
+   <widget class="QLineEdit" name="lineEdit_DevPort">
+    <property name="geometry">
+     <rect>
+      <x>449</x>
+      <y>29</y>
+      <width>131</width>
+      <height>41</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_2">
+    <property name="geometry">
+     <rect>
+      <x>340</x>
+      <y>31</y>
+      <width>101</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>设备端口：</string>
+    </property>
+   </widget>
+   <widget class="QPlainTextEdit" name="plainTextEdit">
+    <property name="geometry">
+     <rect>
+      <x>30</x>
+      <y>100</y>
+      <width>721</width>
+      <height>141</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QLineEdit" name="lineEdit_Param_IPSrc">
+    <property name="geometry">
+     <rect>
+      <x>139</x>
+      <y>276</y>
+      <width>251</width>
+      <height>41</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_3">
+    <property name="geometry">
+     <rect>
+      <x>30</x>
+      <y>280</y>
+      <width>101</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>设备IP：</string>
+    </property>
+   </widget>
+   <widget class="QLineEdit" name="lineEdit_Param_IPDest">
+    <property name="geometry">
+     <rect>
+      <x>519</x>
+      <y>276</y>
+      <width>231</width>
+      <height>41</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_4">
+    <property name="geometry">
+     <rect>
+      <x>430</x>
+      <y>280</y>
+      <width>101</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>目标IP：</string>
+    </property>
+   </widget>
+   <widget class="QLineEdit" name="lineEdit_Param_DataPort">
+    <property name="geometry">
+     <rect>
+      <x>139</x>
+      <y>346</y>
+      <width>131</width>
+      <height>41</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_5">
+    <property name="geometry">
+     <rect>
+      <x>30</x>
+      <y>350</y>
+      <width>101</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>数据端口：</string>
+    </property>
+   </widget>
+   <widget class="QLineEdit" name="lineEdit_Param_DevPort">
+    <property name="geometry">
+     <rect>
+      <x>523</x>
+      <y>348</y>
+      <width>131</width>
+      <height>41</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_6">
+    <property name="geometry">
+     <rect>
+      <x>430</x>
+      <y>350</y>
+      <width>101</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>设备端口：</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_7">
+    <property name="geometry">
+     <rect>
+      <x>30</x>
+      <y>420</y>
+      <width>101</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>电机转速：</string>
+    </property>
+   </widget>
+   <widget class="QComboBox" name="comboBox_MotorSpeed">
+    <property name="geometry">
+     <rect>
+      <x>140</x>
+      <y>420</y>
+      <width>141</width>
+      <height>41</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="pushButton_Param_Get">
+    <property name="geometry">
+     <rect>
+      <x>190</x>
+      <y>505</y>
+      <width>111</width>
+      <height>41</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>获取</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="pushButton_Param_Set">
+    <property name="geometry">
+     <rect>
+      <x>480</x>
+      <y>505</y>
+      <width>111</width>
+      <height>41</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>设置</string>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>777</width>
+     <height>28</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources>
+  <include location="config.qrc"/>
+ </resources>
+ <connections/>
+</ui>

src/tool/tool_config_lidar_leishen/tool_config_lidar_leishen.pro

@@ -0,0 +1,37 @@
+#-------------------------------------------------
+#
+# Project created by QtCreator 2023-06-25T10:00:52
+#
+#-------------------------------------------------
+
+QT       += core gui network
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+TARGET = tool_config_lidar_leishen
+TEMPLATE = app
+
+# The following define makes your compiler emit warnings if you use
+# any feature of Qt which has been marked as deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if you use deprecated APIs.
+# In order to do so, uncomment the following line.
+# 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 += \
+        main.cpp \
+        mainwindow.cpp
+
+HEADERS += \
+        mainwindow.h
+
+FORMS += \
+        mainwindow.ui
+
+RESOURCES += \
+    config.qrc