3 years ago · 62c6b899dd
--- a/autodeploy.sh
+++ b/autodeploy.sh
@@ -69,13 +69,23 @@ do
 
				 	fi
			
 
				 done
			
 
				 
			
 
				-echo "creat IVSysMan.xml"
			
 
				-cp ./other/$CONFIG_IVSysMan ./deploy/app/IVSysMan.xml
			
 
				-cp ./other/ADS_decision.xml ./deploy/app/ADS_decision.xml
			
 
				-sed -i "s|xxxxxx|$PRO_DIR/deploy/app|g" ./deploy/app/IVSysMan.xml
			
 
				+#echo "creat IVSysMan.xml"
			
 
				+#cp ./other/$CONFIG_IVSysMan ./deploy/app/IVSysMan.xml
			
 
				+#cp ./other/ADS_decision.xml ./deploy/app/ADS_decision.xml
			
 
				+#sed -i "s|xxxxxx|$PRO_DIR/deploy/app|g" ./deploy/app/IVSysMan.xml
			
 
				 
			
 
				 cp ./bin/*.so ./deploy/app/lib/
			
 
				 
			
 
				+qt_com=`arch`
			
 
				+if [ $qt_com = "aarch64" ];then
			
 
				+cp -r /usr/lib/aarch64-linux-gnu/nss/* ./deploy/app/lib/
			
 
				+else
			
 
				+cp -r /usr/lib/x86_64-linux-gnu/nss/* ./deploy/app/lib/
			
 
				+fi
			
 
				+
			
 
				+cp ./sh/BaiDuMap.html ./deploy/app/
			
 
				+cp ./sh/car.png ./deploy/app/
			
 
				+
			
 
				 echo ""
			
 
				 echo "***************"
			
 
				 echo "***  done!  ***"
			
--- a/build_partial.sh
+++ b/build_partial.sh
@@ -68,3 +68,14 @@ else
 
				 	echo -e "\e[31m Can't find module code, exit.....\e[0m"
			
 
				 	exit
			
 
				 fi
			
 
				+
			
 
				+
			
 
				+qt_com=`arch`
			
 
				+if [ $qt_com = "aarch64" ];then
			
 
				+cp -r /usr/lib/aarch64-linux-gnu/nss/* ./deploy/app/lib/
			
 
				+else
			
 
				+cp -r /usr/lib/x86_64-linux-gnu/nss/* ./deploy/app/lib/
			
 
				+fi
			
 
				+
			
 
				+cp ./sh/BaiDuMap.html ./deploy/app/
			
 
				+cp ./sh/car.png ./deploy/app/
			
--- a/sh/BaiDuMap.html
+++ b/sh/BaiDuMap.html
@@ -0,0 +1,341 @@
 
				+
			
 
				+
			
 
				+<!DOCTYPE html>
			
 
				+<html>
			
 
				+<head>
			
 
				+    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
			
 
				+    <meta name="viewport" content="initial-scale=1.0, user-scalable=no" />
			
 
				+    <style type="text/css">
			
 
				+        body, html, #allmap {
			
 
				+            width: 100%;
			
 
				+            height: 100%;
			
 
				+            overflow: hidden;
			
 
				+            margin: 0;
			
 
				+            font-family: "微软雅黑";
			
 
				+        }
			
 
				+    </style>
			
 
				+    <script type="text/javascript" src="http://api.map.baidu.com/api?v=2.0&ak=EVi8PXiYpKBGvBr7tgGMzcbdwzWWNf2o"></script>
			
 
				+
			
 
				+    
			
 
				+    <title>野火GPS地图</title>
			
 
				+</head>
			
 
				+<body>
			
 
				+    <div id="allmap"></div>
			
 
				+
			
 
				+
			
 
				+
			
 
				+</body>
			
 
				+</html>
			
 
				+
			
 
				+
			
 
				+
			
 
				+<script type="text/javascript">
			
 
				+    try {
			
 
				+
			
 
				+   
			
 
				+    // 百度地图API功能
			
 
				+    var map = new BMap.Map("allmap");            // 创建Map实例
			
 
				+
			
 
				+    //添加拖拽和缩放功能
			
 
				+    map.enableScrollWheelZoom(true);
			
 
				+    map.enableDragging();   
			
 
				+
			
 
				+    //添加控件和比例尺
			
 
				+    var top_right_control = new BMap.ScaleControl({ anchor: BMAP_ANCHOR_BOTTOM_LEFT });// 左下角，添加比例尺
			
 
				+    var top_right_navigation = new BMap.NavigationControl({ anchor: BMAP_ANCHOR_BOTTOM_LEFT });  //左下角，添加默认缩放平移控件
			
 
				+
			
 
				+    map.addControl(top_right_control);
			
 
				+    map.addControl(top_right_navigation);
			
 
				+
			
 
				+
			
 
				+    //添加地图类型
			
 
				+    var mapType1 = new BMap.MapTypeControl({ mapTypes: [BMAP_NORMAL_MAP, BMAP_HYBRID_MAP] });
			
 
				+    var mapType2 = new BMap.MapTypeControl({ anchor: BMAP_ANCHOR_TOP_LEFT });
			
 
				+
			
 
				+    //添加地图类型和缩略图
			
 
				+   
			
 
				+    map.addControl(mapType1);          //2D图，卫星图
			
 
				+    map.addControl(mapType2);          //左上角，默认地图控件
			
 
				+
			
 
				+    var drawtrail = 0;
			
 
				+
			
 
				+    var grotation = 0;
			
 
				+
			
 
				+
			
 
				+    //创建点
			
 
				+    //map.clearOverlays();
			
 
				+    var point = new BMap.Point(117.355, 39.066);
			
 
				+    var markerCur = new BMap.Marker(point);
			
 
				+    var markerObj = new BMap.Marker(point);
			
 
				+    var havepointlast = 0;
			
 
				+    var pointlast = new BMap.Point(116,39);
			
 
				+    var pointobj = new BMap.Point(116,39);
			
 
				+    var bobjset = 0;
			
 
				+    var gtracelist = []; 
			
 
				+    var gtraceraw = [];
			
 
				+    var tracenow = 0;
			
 
				+    var tracenum = 0;
			
 
				+    map.centerAndZoom(point, 18);
			
 
				+    var convertor = new BMap.Convertor();
			
 
				+    var polylineTrace;
			
 
				+/*
			
 
				+    var polylineTrace =new BMap.Polyline(gtracelist, {
			
 
				+    enableEditing: false,//是否启用线编辑，默认为false
			
 
				+    enableClicking: false,//是否响应点击事件，默认为true
			
 
				+    strokeWeight:'4',//折线的宽度，以像素为单位
			
 
				+    strokeOpacity: 0.8,//折线的透明度，取值范围0 - 1
			
 
				+    strokeColor:"red" //折线颜色
			
 
				+    });*/
			
 
				+    //var marker = new BMap.Marker(point);  // 创建标注
			
 
				+    //map.addOverlay(marker);               // 将标注添加到地图中
			
 
				+    
			
 
				+    //根据IP定位城市
			
 
				+    function myFun(result) {
			
 
				+        var cityName = result.name;
			
 
				+        map.setCenter(cityName);
			
 
				+    }
			
 
				+    var myCity = new BMap.LocalCity();
			
 
				+    myCity.get(myFun);
			
 
				+
			
 
				+	var icon = new BMap.Icon('car.png',new BMap.Size(15,30));
			
 
				+        icon.imageSize = new BMap.Size(15,30);
			
 
				+        icon.anchor = new BMap.Size(8,15);
			
 
				+        
			
 
				+
			
 
				+    //showalert(testmsg);
			
 
				+
			
 
				+    //对传入的经纬度进行标注：纬度，经度
			
 
				+   // var Latt = 116.404;
			
 
				+   // var Lott = 39.915;
			
 
				+
			
 
				+   // theLocation(Latt, Lott);
			
 
				+   // testAlert();
			
 
				+
			
 
				+    function SetDrawTrail(x)
			
 
				+   {
			
 
				+	
			
 
				+	if(x == 1)drawtrail = 1;
			
 
				+	else drawtrail = 0;
			
 
				+   }    
			
 
				+
			
 
				+
			
 
				+    function clear()
			
 
				+    {
			
 
				+	gtracelist = [];
			
 
				+    }
			
 
				+
			
 
				+   
			
 
				+        // 用经纬度设置地图中心点
			
 
				+    function objLocation(Longitude,Latitude) {
			
 
				+
			
 
				+        var gpsPoint = new BMap.Point(Longitude, Latitude);
			
 
				+
			
 
				+	var pointArr = [];
			
 
				+	pointArr.push(gpsPoint);
			
 
				+        convertor.translate(pointArr, 1, 5, translateCallbackobj)
			
 
				+        //gps坐标纠偏
			
 
				+ //       BMap.Convertor.translate(gpsPoint, 0, translateCallbackobj);     //真实经纬度转成百度坐标
			
 
				+
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+    // 用经纬度设置地图中心点
			
 
				+    function theLocation(Longitude,Latitude,rotation) {
			
 
				+        
			
 
				+        grotation = rotation;
			
 
				+        var gpsPoint = new BMap.Point(Longitude, Latitude);
			
 
				+
			
 
				+        //gps坐标纠偏
			
 
				+
			
 
				+
			
 
				+var pointArr = [];
			
 
				+pointArr.push(gpsPoint);
			
 
				+        convertor.translate(pointArr, 1, 5, translateCallback)
			
 
				+//convertor.translate(gpsPoint, 0, translateCallback);     //真实经纬度转成百度坐标
			
 
				+ //       BMap.Convertor.translate(gpsPoint, 0, translateCallback);     //真实经纬度转成百度坐标
			
 
				+
			
 
				+
			
 
				+            //map.clearOverlays();
			
 
				+            //var new_point = new BMap.Point(Longitude,Latitude );
			
 
				+            //var marker = new BMap.Marker(new_point);  // 创建标注
			
 
				+            //map.addOverlay(marker);              // 将标注添加到地图中
			
 
				+            //map.panTo(new_point);
			
 
				+            //marker.setAnimation(BMAP_ANIMATION_BOUNCE); //跳动的动画
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+function settrace(numlist,num2list)                    //仅把qt传来的数组转换成可用的list
			
 
				+{
			
 
				+    //alert(numlist);
			
 
				+    var num_list,num2_list;                         //以下为格式转换，分割成可用的数组
			
 
				+    num_list = numlist.substring(1,numlist.length-1);
			
 
				+    num2_list = num2list.substring(1,num2list.length-1);
			
 
				+    num_list = num_list.split(",");
			
 
				+    num2_list = num2_list.split(",");
			
 
				+    //alert("the num_list is: "+num_list[0]+" "+num_list[1]);
			
 
				+
			
 
				+    
			
 
				+    gtraceraw = [];
			
 
				+    gtracelist = [];
			
 
				+    for(i=0;i<num_list.length;i++)
			
 
				+    {
			
 
				+        point= new BMap.Point(num_list[i],num2_list[i]);
			
 
				+        gtraceraw.push(point);                                  
			
 
				+    }
			
 
				+    tracenum = num_list.length;
			
 
				+    tracenow = 0;
			
 
				+
			
 
				+    setTimeout("converttrace()", 30);// 调用画轨迹的函数
			
 
				+
			
 
				+    
			
 
				+}
			
 
				+
			
 
				+function converttrace() 
			
 
				+{
			
 
				+    var tracelist = [];     //为轨迹做准备，把所有的点扔里面，但不对每个点标注
			
 
				+    var index = 0;
			
 
				+    for(i=tracenow;i<tracenum;i++)
			
 
				+    {
			
 
				+	tracelist.push(gtraceraw[i]);
			
 
				+	index++;
			
 
				+	if(index>=10)break;
			
 
				+    }
			
 
				+    if(index>0)
			
 
				+    {
			
 
				+	
			
 
				+        convertor.translate(tracelist, 1,5,translateCallbacktrace);     //真实经纬度转成百度坐标
			
 
				+     }
			
 
				+
			
 
				+}
			
 
				+
			
 
				+
			
 
				+translateCallbacktrace = function (data){
			
 
				+      if(data.status == 0) {
			
 
				+        for (var i = 0; i < data.points.length; i++) {
			
 
				+	gtracelist.push(data.points[i]);
			
 
				+        }
			
 
				+	tracenow = tracenow + data.points.length;
			
 
				+      }
			
 
				+
			
 
				+    map.removeOverlay(polylineTrace);
			
 
				+    polylineTrace =new BMap.Polyline(gtracelist, {
			
 
				+    enableEditing: false,//是否启用线编辑，默认为false
			
 
				+    enableClicking: false,//是否响应点击事件，默认为true
			
 
				+    strokeWeight:'4',//折线的宽度，以像素为单位
			
 
				+    strokeOpacity: 0.8,//折线的透明度，取值范围0 - 1
			
 
				+    strokeColor:"red" //折线颜色
			
 
				+    });
			
 
				+    map.addOverlay(polylineTrace);          //增加折线
			
 
				+      setTimeout("converttrace()", 250);// 调用画轨迹的函数
			
 
				+	
			
 
				+}
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+    // 用经纬度设置地图中心点
			
 
				+    function testAlert(msg) {
			
 
				+
			
 
				+        var str = new String;
			
 
				+        str =  msg.toString()
			
 
				+       // str = "test"
			
 
				+
			
 
				+        alert(str);
			
 
				+    }
			
 
				+
			
 
				+    function enableZoomDrag()
			
 
				+    {
			
 
				+        //添加拖拽和缩放功能
			
 
				+        map.enableScrollWheelZoom(true);
			
 
				+        map.enableDragging();
			
 
				+    }
			
 
				+
			
 
				+        //坐标转换完之后的回调函数
			
 
				+    translateCallbackmap = function (point) {
			
 
				+
			
 
				+	gtracelist.push(point);       
			
 
				+ //       map.setCenter(point);
			
 
				+      //  marker.setAnimation(BMAP_ANIMATION_BOUNCE); //跳动的动画
			
 
				+    }
			
 
				+
			
 
				+        //坐标转换完之后的回调函数
			
 
				+    translateCallbacktr = function (point) {
			
 
				+
			
 
				+	gtracelist.push(point);       
			
 
				+ //       map.setCenter(point);
			
 
				+      //  marker.setAnimation(BMAP_ANIMATION_BOUNCE); //跳动的动画
			
 
				+    }
			
 
				+
			
 
				+    //坐标转换完之后的回调函数
			
 
				+    translateCallbackobj = function (data) {
			
 
				+	if(data.status === 0) {
			
 
				+         var point = data.points[0];
			
 
				+	pointobj = point;
			
 
				+	bobjset = 1;
			
 
				+ //       map.clearOverlays();
			
 
				+	map.removeOverlay(markerObj);
			
 
				+        markerObj = new BMap.Marker(point);
			
 
				+
			
 
				+        map.addOverlay(markerObj);
			
 
				+	}
			
 
				+
			
 
				+ //       map.setCenter(point);
			
 
				+      //  marker.setAnimation(BMAP_ANIMATION_BOUNCE); //跳动的动画
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+    //坐标转换完之后的回调函数
			
 
				+    translateCallback = function (data) {
			
 
				+
			
 
				+if(data.status === 0) {
			
 
				+         var point = data.points[0]
			
 
				+        map.removeOverlay(markerCur);
			
 
				+        markerCur = new BMap.Marker(point);
			
 
				+        if(havepointlast == 1)
			
 
				+	{
			
 
				+		if(drawtrail == 1)
			
 
				+		{
			
 
				+		var line = new BMap.Polyline([pointlast, point], {strokeColor: "green", strokeWeight: 1, strokeOpacity: 1});
			
 
				+		map.addOverlay(line);  
			
 
				+		line.disableMassClear();
			
 
				+		}
			
 
				+	}
			
 
				+        pointlast = point;
			
 
				+        havepointlast = 1;
			
 
				+
			
 
				+	markerCur.setOffset(-30,-30);
			
 
				+	markerCur.setIcon(icon); 
			
 
				+	markerCur.setShadow(icon) 
			
 
				+	markerCur.setRotation(grotation);
			
 
				+        map.addOverlay(markerCur);
			
 
				+        map.setCenter(point);
			
 
				+      }
			
 
				+//	return;
			
 
				+//        map.clearOverlays();
			
 
				+
			
 
				+/*
			
 
				+	if(bobjset == 1)
			
 
				+	{
			
 
				+		map.removeOverlay(markerObj);
			
 
				+        	markerObj = new BMap.Marker(pointobj);
			
 
				+
			
 
				+        	map.addOverlay(markerObj);
			
 
				+	}
			
 
				+
			
 
				+*/
			
 
				+
			
 
				+      //  marker.setAnimation(BMAP_ANIMATION_BOUNCE); //跳动的动画
			
 
				+    }
			
 
				+
			
 
				+    } catch (e) {
			
 
				+
			
 
				+        alert("地图加载失败，请检查网络！");
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+   
			
 
				+</script>
			
 
				+
			
 
				+
			
 
				+
			
--- a/sh/car.png
+++ b/sh/car.png
--- a/src/controller/controller_yuhesen/control/control_status.cpp
+++ b/src/controller/controller_yuhesen/control/control_status.cpp
@@ -1,5 +1,10 @@
 
				 #include <control/control_status.h>
			
 
				 
			
 
				+
			
 
				+#define GET_HIGH_BYTE(x)  ((x >> 8) & 0xFF) 
			
 
				+#define GET_LOW_BYTE(x)   (x & 0xFF)
			
 
				+
			
 
				+
			
 
				 void iv::control::ControlStatus::set_head()
			
 
				 {
			
 
				     command.bit.head = 0xEB;
			
@@ -8,20 +13,20 @@ void iv::control::ControlStatus::set_head()
 
				 void iv::control::ControlStatus::set_wheel_angle(float angle)
			
 
				 {
			
 
				     int ang = (int)(angle * 100);
			
 
				-    command.bit.ang_H = (ang) >> 8;
			
 
				-    command.bit.ang_L = (ang) % 256;
			
 
				+    command.bit.ang_H = get_HIGH_BYTE(ang);
			
 
				+    command.bit.ang_L = get_LOW_BYTE(ang);
			
 
				 }
			
 
				 
			
 
				 void iv::control::ControlStatus::set_brake(bool enable)
			
 
				 {
			
 
				-    command.bit.brake=(unsigned)enable;
			
 
				+    command.bit.brake=(unsigned char)enable;
			
 
				 }
			
 
				 
			
 
				 void iv::control::ControlStatus::set_velocity(float vel)
			
 
				 {
			
 
				     int v = (int)(vel * 1000);
			
 
				-    command.bit.vel_H = v >> 8;
			
 
				-    command.bit.vel_L = v % 256;
			
 
				+    command.bit.vel_H = get_HIGH_BYTE(v);
			
 
				+    command.bit.vel_L = get_LOW_BYTE(v);
			
 
				 }
			
 
				 
			
 
				 void iv::control::ControlStatus::set_left_light(bool enable)
			
@@ -42,7 +47,7 @@ void iv::control::ControlStatus::set_right_light(bool enable)
 
				 
			
 
				 void iv::control::ControlStatus::set_highbeam(bool enable)
			
 
				 {
			
 
				-    command.bit.high_beam = (char)enable;
			
 
				+    command.bit.high_beam = (unsigned char)enable;
			
 
				 }
			
 
				 
			
 
				 void iv::control::ControlStatus::set_dangwei(int dangwei)
			
--- a/src/controller/controller_yuhesen/main.cpp
+++ b/src/controller/controller_yuhesen/main.cpp
@@ -58,7 +58,7 @@ void executeDecition(const iv::brain::decition decition)
 
				     std::cout<<" brake is "<<decition.brake()<<std::endl;
			
 
				     std::cout<<"drive_mode is "<<decition.mode()<<std::endl;
			
 
				     std::cout<<" dangwei is "<<decition.gear()<<std::endl;
			
 
				-    std::cout<<"dspeed is" << decition.speed()<<std::endl;
			
 
				+    std::cout<<"dspeed is " << decition.speed()<<std::endl;
			
 
				     gcontroller->inialize();
			
 
				     gcontroller->control_wheel(decition.wheelangle());
			
 
				     gcontroller->control_brake(decition.brake());
			
@@ -207,14 +207,14 @@ int main(int argc, char *argv[])
 
				      QString strpath = QCoreApplication::applicationDirPath();
			
 
				 
			
 
				     if(argc < 2)
			
 
				-        strpath = strpath + "/controller_midcar.xml";
			
 
				+        strpath = strpath + "/controller_yuhesen.xml";
			
 
				     else
			
 
				         strpath = argv[1];
			
 
				     std::cout<<strpath.toStdString()<<std::endl;
			
 
				 
			
 
				-    gdecition_def.set_brake(0);
			
 
				-    gdecition_def.set_torque(0);
			
 
				-    gdecition_def.set_speed(105);
			
 
				+//    gdecition_def.set_brake(0);
			
 
				+//    gdecition_def.set_torque(0);
			
 
				+//    gdecition_def.set_speed(105);
			
 
				     gTime.start();
			
 
				 
			
 
				     gcontroller = boost::shared_ptr<iv::control::Controller>(new iv::control::Controller());
			
--- a/src/decition/decition_brain/decition/adc_adapter/yuhesen_adapter.cpp
+++ b/src/decition/decition_brain/decition/adc_adapter/yuhesen_adapter.cpp
@@ -89,12 +89,15 @@ std::cout<<"==========================================="<<std::endl;
 
				      std::cout<<"dSpeed:"<<dSpeed<<"   realSpeed:"<<realSpeed<<"   acc:"<<accAim
			
 
				     <<std::endl;
			
 
				 std::cout<<"========================================="<<std::endl;
			
 
				-(*decition)->speed=5/3.6;
			
 
				+(*decition)->speed = dSpeed/3.6;
			
 
				 (*decition)->wheel_angle=(*decition)->wheel_angle*0.1;
			
 
				 (*decition)->wheel_angle=max((float)-40.0,(*decition)->wheel_angle);
			
 
				 (*decition)->wheel_angle=min((float)40.0,(*decition)->wheel_angle);
			
 
				 (*decition)->mode=1;
			
 
				 (*decition)->dangWei=1;
			
 
				+if((*decition)->brake>0){
			
 
				+    (*decition)->speed=0;
			
 
				+}
			
 
				     return *decition;
			
 
				 }
			
 
				 
			
--- a/src/decition/decition_brain/decition/brain.cpp
+++ b/src/decition/decition_brain/decition/brain.cpp
@@ -1,4 +1,4 @@
 
				-#include <decition/brain.h>

			
 
				+ #include <decition/brain.h>

			
 
				 #include <fstream>

			
 
				 #include <time.h>

			
 
				 #include <exception>

			
@@ -403,7 +403,7 @@ void iv::decition::BrainDecition::run() {
 
				         ServiceCarStatus.useObsPredict = true;

			
 
				     }

			
 
				 

			
 
				-    std::string inRoadAvoid = xp.GetParam("inRoadAvoid","true");  //If Use MPC set true

			
 
				+    std::string inRoadAvoid = xp.GetParam("inRoadAvoid","false");  //If Use MPC set true

			
 
				     if(inRoadAvoid == "true")

			
 
				     {

			
 
				         ServiceCarStatus.inRoadAvoid = true;

			
@@ -1024,7 +1024,7 @@ void iv::decition::BrainDecition::UpdateMap(const char *mapdata, const int mapda
 
				         }

			
 
				 

			
 
				         mmpcapi.SetMAP(xvectorMAP);

			
 
				-

			
 
				+                                                                                                    

			
 
				         if(ServiceCarStatus.speed_control==true){

			
 
				         Compute00().getDesiredSpeed(navigation_data);}

			
 
				         mMutexMap.unlock();

			
--- a/src/decition/decition_brain/decition/decide_gps_00.cpp
+++ b/src/decition/decition_brain/decition/decide_gps_00.cpp
@@ -986,6 +986,10 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
				          gpsMapLine[PathPoint]->runMode=0;

			
 
				     }

			
 
				 

			
 
				+    if(roadNowStart){

			
 
				+        roadNow=roadOri;

			
 
				+        roadNowStart=false;

			
 
				+    }

			
 
				 

			
 
				  //   avoidX = (roadOri-roadNow)*roadWidth;

			
 
				     avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);

			
--- a/src/decition/decition_brain/decition/decide_gps_00.h
+++ b/src/decition/decition_brain/decition/decide_gps_00.h
@@ -233,6 +233,7 @@ public:
 
				     double ObsTimeEnd=-1;

			
 
				     float ObsTimeWidth=1500;

			
 
				     std::vector<iv::TracePoint> planTrace;

			
 
				+    bool roadNowStart=true;

			
 
				 private:

			
 
				     //  void changeRoad(int roadNum);

			
 
				 

			
--- a/src/decition/decition_brain_sf/decition/brain.cpp
+++ b/src/decition/decition_brain_sf/decition/brain.cpp
@@ -372,7 +372,7 @@ void iv::decition::BrainDecition::run() {
 
				     }

			
 
				     //map

			
 
				 

			
 
				-    std::string inRoadAvoid = xp.GetParam("inRoadAvoid","true");  //If Use MPC set true

			
 
				+    std::string inRoadAvoid = xp.GetParam("inRoadAvoid","false");  //If Use MPC set true

			
 
				     if(inRoadAvoid == "true")

			
 
				     {

			
 
				         ServiceCarStatus.inRoadAvoid = true;

			
--- a/src/decition/decition_brain_sf/decition/decide_gps_00.cpp
+++ b/src/decition/decition_brain_sf/decition/decide_gps_00.cpp
@@ -978,6 +978,11 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
				         roadSum = gpsMapLine[PathPoint]->roadSum*3;

			
 
				     }

			
 
				 

			
 
				+    if(roadNowStart){

			
 
				+        roadNow=roadOri;

			
 
				+        roadNowStart=false;

			
 
				+    }

			
 
				+

			
 
				     if(ServiceCarStatus.avoidObs){

			
 
				          gpsMapLine[PathPoint]->runMode=1;

			
 
				     }else{

			
--- a/src/decition/decition_brain_sf/decition/decide_gps_00.h
+++ b/src/decition/decition_brain_sf/decition/decide_gps_00.h
@@ -226,6 +226,8 @@ public:
 
				     double ObsTimeEnd=-1;

			
 
				     float ObsTimeWidth=1500;

			
 
				     std::vector<iv::TracePoint> planTrace;

			
 
				+

			
 
				+    bool roadNowStart=true;

			
 
				 private:

			
 
				     //  void changeRoad(int roadNum);

			
 
				 

			
--- a/src/tool/map_lanetoxodr/adcxodrviewer.pro
+++ b/src/tool/map_lanetoxodr/adcxodrviewer.pro
@@ -0,0 +1,108 @@
 
				+#-------------------------------------------------
			
 
				+#
			
 
				+# Project created by QtCreator 2019-08-23T15:28:22
			
 
				+#
			
 
				+#-------------------------------------------------
			
 
				+
			
 
				+QT       += core gui
			
 
				+
			
 
				+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
			
 
				+
			
 
				+TARGET = adcxodrviewer
			
 
				+TEMPLATE = app
			
 
				+
			
 
				+CONFIG+= c++11
			
 
				+
			
 
				+DEFINES += XODRViewer
			
 
				+
			
 
				+# 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
			
 
				+
			
 
				+QMAKE_LFLAGS += -no-pie
			
 
				+
			
 
				+# 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 += \
			
 
				+    filedialogextern.cpp \
			
 
				+    ivxodrtool.cpp \
			
 
				+        main.cpp \
			
 
				+    roaddigit.cpp \
			
 
				+    myview.cpp \
			
 
				+    OpenDrive/Junction.cpp \
			
 
				+    OpenDrive/Lane.cpp \
			
 
				+    OpenDrive/ObjectSignal.cpp \
			
 
				+    OpenDrive/OpenDrive.cpp \
			
 
				+    OpenDrive/OpenDriveXmlParser.cpp \
			
 
				+    OpenDrive/OpenDriveXmlWriter.cpp \
			
 
				+    OpenDrive/OtherStructures.cpp \
			
 
				+    OpenDrive/Road.cpp \
			
 
				+    OpenDrive/RoadGeometry.cpp \
			
 
				+    TinyXML/tinystr.cpp \
			
 
				+    TinyXML/tinyxml.cpp \
			
 
				+    TinyXML/tinyxmlerror.cpp \
			
 
				+    TinyXML/tinyxmlparser.cpp \
			
 
				+    fresnl.cpp \
			
 
				+    polevl.c \
			
 
				+    const.cpp \
			
 
				+    gnss_coordinate_convert.cpp \
			
 
				+    simpleCustomEvent.cpp \
			
 
				+    xodrfunc.cpp \
			
 
				+    xodrscenfunc.cpp \
			
 
				+    xvmainwindow.cpp
			
 
				+
			
 
				+HEADERS += \
			
 
				+    filedialogextern.h \
			
 
				+    ivxodrtool.h \
			
 
				+    roaddigit.h \
			
 
				+    myview.h \
			
 
				+    gps_type.h \
			
 
				+    linedata.h \
			
 
				+    OpenDrive/Junction.h \
			
 
				+    OpenDrive/Lane.h \
			
 
				+    OpenDrive/ObjectSignal.h \
			
 
				+    OpenDrive/OpenDrive.h \
			
 
				+    OpenDrive/OpenDriveXmlParser.h \
			
 
				+    OpenDrive/OpenDriveXmlWriter.h \
			
 
				+    OpenDrive/OtherStructures.h \
			
 
				+    OpenDrive/Road.h \
			
 
				+    OpenDrive/RoadGeometry.h \
			
 
				+    TinyXML/tinystr.h \
			
 
				+    TinyXML/tinyxml.h \
			
 
				+    gnss_coordinate_convert.h \
			
 
				+    simpleCustomEvent.h \
			
 
				+    xodrfunc.h \
			
 
				+    xodrscenfunc.h \
			
 
				+    xvmainwindow.h
			
 
				+
			
 
				+FORMS += \
			
 
				+    xvmainwindow.ui
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+QMAKE_CXXFLAGS +=  -g
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+DISTFILES += \
			
 
				+
			
 
				+
			
 
				+unix:INCLUDEPATH += /usr/include/eigen3
			
 
				+win32:INCLUDEPATH += D:\File\soft\eigen
			
 
				+
			
 
				+
			
 
				+RESOURCES += \
			
 
				+    opendrive.qrc
			
--- a/src/tool/map_lanetoxodr/adcxodrviewer_android.pro
+++ b/src/tool/map_lanetoxodr/adcxodrviewer_android.pro
@@ -0,0 +1,128 @@
 
				+#-------------------------------------------------
			
 
				+#
			
 
				+# Project created by QtCreator 2019-08-23T15:28:22
			
 
				+#
			
 
				+#-------------------------------------------------
			
 
				+
			
 
				+QT       += core gui
			
 
				+
			
 
				+QT += androidextras
			
 
				+
			
 
				+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
			
 
				+
			
 
				+TARGET = adcxodrviewer
			
 
				+TEMPLATE = app
			
 
				+
			
 
				+CONFIG+= c++11
			
 
				+
			
 
				+DEFINES += ANDROID
			
 
				+
			
 
				+DEFINES += XODRViewer
			
 
				+
			
 
				+# 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
			
 
				+
			
 
				+QMAKE_LFLAGS += -no-pie
			
 
				+
			
 
				+# 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 += \
			
 
				+    filedialogextern.cpp \
			
 
				+    ivxodrtool.cpp \
			
 
				+        main.cpp \
			
 
				+    roaddigit.cpp \
			
 
				+    myview.cpp \
			
 
				+    OpenDrive/Junction.cpp \
			
 
				+    OpenDrive/Lane.cpp \
			
 
				+    OpenDrive/ObjectSignal.cpp \
			
 
				+    OpenDrive/OpenDrive.cpp \
			
 
				+    OpenDrive/OpenDriveXmlParser.cpp \
			
 
				+    OpenDrive/OpenDriveXmlWriter.cpp \
			
 
				+    OpenDrive/OtherStructures.cpp \
			
 
				+    OpenDrive/Road.cpp \
			
 
				+    OpenDrive/RoadGeometry.cpp \
			
 
				+    TinyXML/tinystr.cpp \
			
 
				+    TinyXML/tinyxml.cpp \
			
 
				+    TinyXML/tinyxmlerror.cpp \
			
 
				+    TinyXML/tinyxmlparser.cpp \
			
 
				+    fresnl.cpp \
			
 
				+    polevl.c \
			
 
				+    const.cpp \
			
 
				+    gnss_coordinate_convert.cpp \
			
 
				+    simpleCustomEvent.cpp \
			
 
				+    xodrfunc.cpp \
			
 
				+    xodrscenfunc.cpp \
			
 
				+    xvmainwindow.cpp
			
 
				+
			
 
				+HEADERS += \
			
 
				+    filedialogextern.h \
			
 
				+    ivxodrtool.h \
			
 
				+    roaddigit.h \
			
 
				+    myview.h \
			
 
				+    gps_type.h \
			
 
				+    linedata.h \
			
 
				+    OpenDrive/Junction.h \
			
 
				+    OpenDrive/Lane.h \
			
 
				+    OpenDrive/ObjectSignal.h \
			
 
				+    OpenDrive/OpenDrive.h \
			
 
				+    OpenDrive/OpenDriveXmlParser.h \
			
 
				+    OpenDrive/OpenDriveXmlWriter.h \
			
 
				+    OpenDrive/OtherStructures.h \
			
 
				+    OpenDrive/Road.h \
			
 
				+    OpenDrive/RoadGeometry.h \
			
 
				+    TinyXML/tinystr.h \
			
 
				+    TinyXML/tinyxml.h \
			
 
				+    gnss_coordinate_convert.h \
			
 
				+    simpleCustomEvent.h \
			
 
				+    xodrfunc.h \
			
 
				+    xodrscenfunc.h \
			
 
				+    xvmainwindow.h
			
 
				+
			
 
				+FORMS += \
			
 
				+    xvmainwindow.ui
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+QMAKE_CXXFLAGS +=  -g
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+DISTFILES += \ \
			
 
				+    android/AndroidManifest.xml \
			
 
				+    android/build.gradle \
			
 
				+    android/gradle/wrapper/gradle-wrapper.jar \
			
 
				+    android/gradle/wrapper/gradle-wrapper.properties \
			
 
				+    android/gradlew \
			
 
				+    android/gradlew.bat \
			
 
				+    android/res/values/libs.xml \
			
 
				+    android/src/an/qt/extendsQtWithJava/ExtendsQtNative.java \
			
 
				+    android/src/an/qt/extendsQtWithJava/ExtendsQtWithJava.java
			
 
				+#    android/src/an/qt/ExtendsQtNative.java \
			
 
				+ #    android/src/an/qt/ExtendsQtWithJava.java
			
 
				+
			
 
				+
			
 
				+unix:INCLUDEPATH += /usr/include/eigen3
			
 
				+win32:INCLUDEPATH += D:\File\soft\eigen
			
 
				+
			
 
				+
			
 
				+RESOURCES += \
			
 
				+    opendrive.qrc
			
 
				+
			
 
				+contains(ANDROID_TARGET_ARCH,arm64-v8a) {
			
 
				+    ANDROID_PACKAGE_SOURCE_DIR = \
			
 
				+        $$PWD/android
			
 
				+}
			
--- a/src/tool/map_lanetoxodr/android/AndroidManifest.xml
+++ b/src/tool/map_lanetoxodr/android/AndroidManifest.xml
@@ -0,0 +1,91 @@
 
				+<?xml version="1.0"?>
			
 
				+<manifest package="adc.iv.xodrviewer" xmlns:android="http://schemas.android.com/apk/res/android" android:versionName="-- %%INSERT_VERSION_NAME%% --" android:versionCode="-- %%INSERT_VERSION_CODE%% --" android:installLocation="auto">
			
 
				+    <uses-sdk android:minSdkVersion="21" android:targetSdkVersion="28"/>
			
 
				+
			
 
				+    <!-- The following comment will be replaced upon deployment with default permissions based on the dependencies of the application.
			
 
				+         Remove the comment if you do not require these default permissions. -->
			
 
				+    <!-- %%INSERT_PERMISSIONS -->
			
 
				+
			
 
				+    <!-- The following comment will be replaced upon deployment with default features based on the dependencies of the application.
			
 
				+         Remove the comment if you do not require these default features. -->
			
 
				+    <!-- %%INSERT_FEATURES -->
			
 
				+
			
 
				+    <supports-screens android:largeScreens="true" android:normalScreens="true" android:anyDensity="true" android:smallScreens="true"/>
			
 
				+
			
 
				+    <application android:hardwareAccelerated="true" android:name="org.qtproject.qt5.android.bindings.QtApplication" android:label="XODRViewer" android:icon="@drawable/icon">
			
 
				+        <activity android:configChanges="orientation|uiMode|screenLayout|screenSize|smallestScreenSize|layoutDirection|locale|fontScale|keyboard|keyboardHidden|navigation|mcc|mnc|density" android:name="an.qt.extendsQtWithJava.ExtendsQtWithJava" android:label="XODRViewer" android:screenOrientation="unspecified" android:launchMode="singleTop">
			
 
				+            <intent-filter>
			
 
				+                <action android:name="android.intent.action.MAIN"/>
			
 
				+                <category android:name="android.intent.category.LAUNCHER"/>
			
 
				+            </intent-filter>
			
 
				+
			
 
				+            <!-- Application arguments -->
			
 
				+            <!-- meta-data android:name="android.app.arguments" android:value="arg1 arg2 arg3"/ -->
			
 
				+            <!-- Application arguments -->
			
 
				+
			
 
				+            <meta-data android:name="android.app.lib_name" android:value="-- %%INSERT_APP_LIB_NAME%% --"/>
			
 
				+            <meta-data android:name="android.app.qt_sources_resource_id" android:resource="@array/qt_sources"/>
			
 
				+            <meta-data android:name="android.app.repository" android:value="default"/>
			
 
				+            <meta-data android:name="android.app.qt_libs_resource_id" android:resource="@array/qt_libs"/>
			
 
				+            <meta-data android:name="android.app.bundled_libs_resource_id" android:resource="@array/bundled_libs"/>
			
 
				+            <!-- Deploy Qt libs as part of package -->
			
 
				+            <meta-data android:name="android.app.bundle_local_qt_libs" android:value="-- %%BUNDLE_LOCAL_QT_LIBS%% --"/>
			
 
				+            <meta-data android:name="android.app.bundled_in_lib_resource_id" android:resource="@array/bundled_in_lib"/>
			
 
				+            <meta-data android:name="android.app.bundled_in_assets_resource_id" android:resource="@array/bundled_in_assets"/>
			
 
				+            <!-- Run with local libs -->
			
 
				+            <meta-data android:name="android.app.use_local_qt_libs" android:value="-- %%USE_LOCAL_QT_LIBS%% --"/>
			
 
				+            <meta-data android:name="android.app.libs_prefix" android:value="/data/local/tmp/qt/"/>
			
 
				+            <meta-data android:name="android.app.load_local_libs" android:value="-- %%INSERT_LOCAL_LIBS%% --"/>
			
 
				+            <meta-data android:name="android.app.load_local_jars" android:value="-- %%INSERT_LOCAL_JARS%% --"/>
			
 
				+            <meta-data android:name="android.app.static_init_classes" android:value="-- %%INSERT_INIT_CLASSES%% --"/>
			
 
				+            <!-- Used to specify custom system library path to run with local system libs -->
			
 
				+            <!-- <meta-data android:name="android.app.system_libs_prefix" android:value="/system/lib/"/> -->
			
 
				+            <!--  Messages maps -->
			
 
				+            <meta-data android:value="@string/ministro_not_found_msg" android:name="android.app.ministro_not_found_msg"/>
			
 
				+            <meta-data android:value="@string/ministro_needed_msg" android:name="android.app.ministro_needed_msg"/>
			
 
				+            <meta-data android:value="@string/fatal_error_msg" android:name="android.app.fatal_error_msg"/>
			
 
				+            <meta-data android:value="@string/unsupported_android_version" android:name="android.app.unsupported_android_version"/>
			
 
				+            <!--  Messages maps -->
			
 
				+
			
 
				+            <!-- Splash screen -->
			
 
				+            <!-- Orientation-specific (portrait/landscape) data is checked first. If not available for current orientation,
			
 
				+                 then android.app.splash_screen_drawable. For best results, use together with splash_screen_sticky and
			
 
				+                 use hideSplashScreen() with a fade-out animation from Qt Android Extras to hide the splash screen when you
			
 
				+                 are done populating your window with content. -->
			
 
				+            <!-- meta-data android:name="android.app.splash_screen_drawable_portrait" android:resource="@drawable/logo_portrait" / -->
			
 
				+            <!-- meta-data android:name="android.app.splash_screen_drawable_landscape" android:resource="@drawable/logo_landscape" / -->
			
 
				+            <!-- meta-data android:name="android.app.splash_screen_drawable" android:resource="@drawable/logo"/ -->
			
 
				+            <!-- meta-data android:name="android.app.splash_screen_sticky" android:value="true"/ -->
			
 
				+            <!-- Splash screen -->
			
 
				+
			
 
				+            <!-- Background running -->
			
 
				+            <!-- Warning: changing this value to true may cause unexpected crashes if the
			
 
				+                          application still try to draw after
			
 
				+                          "applicationStateChanged(Qt::ApplicationSuspended)"
			
 
				+                          signal is sent! -->
			
 
				+            <meta-data android:name="android.app.background_running" android:value="false"/>
			
 
				+            <!-- Background running -->
			
 
				+
			
 
				+            <!-- auto screen scale factor -->
			
 
				+            <meta-data android:name="android.app.auto_screen_scale_factor" android:value="false"/>
			
 
				+            <!-- auto screen scale factor -->
			
 
				+
			
 
				+            <!-- extract android style -->
			
 
				+            <!-- available android:values :
			
 
				+                * default - In most cases this will be the same as "full", but it can also be something else if needed, e.g., for compatibility reasons
			
 
				+                * full - useful QWidget & Quick Controls 1 apps
			
 
				+                * minimal - useful for Quick Controls 2 apps, it is much faster than "full"
			
 
				+                * none - useful for apps that don't use any of the above Qt modules
			
 
				+                -->
			
 
				+            <meta-data android:name="android.app.extract_android_style" android:value="default"/>
			
 
				+            <!-- extract android style -->
			
 
				+    </activity>
			
 
				+
			
 
				+    <!-- For adding service(s) please check: https://wiki.qt.io/AndroidServices -->
			
 
				+
			
 
				+    </application>
			
 
				+
			
 
				+<uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE"/>
			
 
				+    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/>
			
 
				+    <uses-permission android:name="android.permission.ACCESS_CHECKIN_PROPERTIES"/>
			
 
				+</manifest>
			
--- a/src/tool/map_lanetoxodr/android/libs/android-support-v4.jar
+++ b/src/tool/map_lanetoxodr/android/libs/android-support-v4.jar
--- a/src/tool/map_lanetoxodr/android/libs/android-support-v4.jar.properties
+++ b/src/tool/map_lanetoxodr/android/libs/android-support-v4.jar.properties
@@ -0,0 +1 @@
 
				+src = E:\\ProgramFiles\\Tools\\Android\\android-sdk\\extras\\android\\m2repository\\com\\android\\support\\support-v4
			
--- a/src/tool/map_lanetoxodr/android/src/an/qt/extendsQtWithJava/ExtendsQtNative.java
+++ b/src/tool/map_lanetoxodr/android/src/an/qt/extendsQtWithJava/ExtendsQtNative.java
@@ -0,0 +1,12 @@
 
				+package an.qt.extendsQtWithJava;
			
 
				+import java.lang.String;
			
 
				+
			
 
				+public class ExtendsQtNative
			
 
				+{
			
 
				+    //public static native String GetQtVersion();
			
 
				+    //public static native void OnLocationReady(int result, double longitude, double latitude);
			
 
				+    //public static native void OnImageCaptured(int result, String filePath);
			
 
				+    //public static native void onFileManager(int result, String fileurl);
			
 
				+    public static native void onFileManager(int result, String[] fileurls);
			
 
				+
			
 
				+}
			
--- a/src/tool/map_lanetoxodr/android/src/an/qt/extendsQtWithJava/ExtendsQtWithJava.java
+++ b/src/tool/map_lanetoxodr/android/src/an/qt/extendsQtWithJava/ExtendsQtWithJava.java
@@ -0,0 +1,348 @@
 
				+package an.qt.extendsQtWithJava;
			
 
				+import android.Manifest;
			
 
				+import android.app.Activity;
			
 
				+import android.app.Notification;
			
 
				+import android.app.NotificationManager;
			
 
				+import android.content.ClipData;
			
 
				+import android.content.ContentUris;
			
 
				+import android.content.Context;
			
 
				+import android.content.Intent;
			
 
				+import android.content.pm.PackageManager;
			
 
				+import android.database.Cursor;
			
 
				+import android.app.PendingIntent;
			
 
				+import android.widget.Toast;
			
 
				+import android.os.Handler;
			
 
				+import android.os.Message;
			
 
				+import android.util.Log;
			
 
				+import android.net.ConnectivityManager;
			
 
				+import android.net.NetworkInfo;
			
 
				+import android.net.Uri;
			
 
				+import android.location.LocationManager;
			
 
				+import android.location.Criteria;
			
 
				+import android.provider.Settings;
			
 
				+import android.support.v4.app.ActivityCompat;
			
 
				+import android.support.v4.content.ContextCompat;
			
 
				+import android.location.Location;
			
 
				+import android.location.LocationListener;
			
 
				+import android.location.LocationProvider;
			
 
				+import java.lang.ClassLoader;
			
 
				+import dalvik.system.DexClassLoader;
			
 
				+import java.lang.reflect.Field;
			
 
				+import java.util.ArrayList;
			
 
				+import java.util.Arrays;
			
 
				+import java.util.List;
			
 
				+import java.util.stream.Stream;
			
 
				+
			
 
				+import android.os.Build;
			
 
				+import android.os.Bundle;
			
 
				+import android.os.Environment;
			
 
				+import java.io.File;
			
 
				+
			
 
				+import android.provider.DocumentsContract;
			
 
				+import android.provider.MediaStore;
			
 
				+
			
 
				+
			
 
				+public class ExtendsQtWithJava extends org.qtproject.qt5.android.bindings.QtActivity
			
 
				+{
			
 
				+    //private final static int GET_LOCATION_REQUEST_CODE = 1;
			
 
				+    //private final static int CAPTURE_IMAGE_REQUEST_CODE = 2;
			
 
				+    private final static int FILE_MANAGER_REQUEST_CODE = 3;
			
 
				+    final private int REQUEST_CODE_ASK_PERMISSIONS = 123;
			
 
				+   // private static NotificationManager m_notificationManager;
			
 
				+    private static ExtendsQtWithJava m_instance;
			
 
				+    private static Class m_nativeClass = null;
			
 
				+    private final static String TAG = "extendsQt";
			
 
				+    public LocationManager m_lm = null;
			
 
				+
			
 
				+    public ExtendsQtWithJava(){
			
 
				+        Log.d(TAG, "ExtendsQtWithJava constructor");
			
 
				+        m_instance = this;
			
 
				+    }
			
 
				+
			
 
				+    /**
			
 
				+     * 获得类的成员变量值，包括私有成员
			
 
				+     * @param instance 被调用的类
			
 
				+     * @param variableName 成员变量名
			
 
				+     *
			
 
				+     */
			
 
				+    public static Object get(Object instance, String variableName)
			
 
				+    {
			
 
				+        Class targetClass = instance.getClass().getSuperclass();
			
 
				+        org.qtproject.qt5.android.bindings.QtActivity superInst = (org.qtproject.qt5.android.bindings.QtActivity)targetClass.cast(instance);
			
 
				+        Log.d(TAG, "super class name - " + targetClass.getName() + " super instance -" + superInst);
			
 
				+        Field field;
			
 
				+        try {
			
 
				+            field = targetClass.getDeclaredField(variableName);
			
 
				+            Log.d(TAG, "field name - " + field.getName());
			
 
				+            field.setAccessible(true);//访问私有必须调用
			
 
				+            return field.get(superInst);
			
 
				+        } catch (Exception e) {
			
 
				+            e.printStackTrace();
			
 
				+            return null;
			
 
				+        }
			
 
				+    }
			
 
				+
			
 
				+    public static void loadExtendsQtNative(){
			
 
				+    if(m_nativeClass == null){
			
 
				+        DexClassLoader loader = (DexClassLoader)get(m_instance, "m_classLoader");
			
 
				+        Log.d(TAG, "loader - " + loader);
			
 
				+        if(loader != null){
			
 
				+            try{
			
 
				+                m_nativeClass = loader.loadClass("an.qt.extendsQtWithJava.ExtendsQtNative");
			
 
				+                Log.d(TAG, "load ExtendsQtNative OK!");
			
 
				+            }catch(ClassNotFoundException e){
			
 
				+                Log.d(TAG, "load ExtendsQtNative failed");
			
 
				+            }
			
 
				+        }
			
 
				+    }
			
 
				+    }
			
 
				+
			
 
				+    protected  List<Uri> getUris(Intent data){
			
 
				+        List<Uri> uris = new ArrayList<Uri>();
			
 
				+        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.JELLY_BEAN) {
			
 
				+            ClipData clipData = data.getClipData();
			
 
				+            if (null != clipData) {
			
 
				+                for (int i = 0; i < clipData.getItemCount(); i++) {
			
 
				+                    ClipData.Item item = clipData.getItemAt(i);
			
 
				+                    uris.add(item.getUri());
			
 
				+                }
			
 
				+            } else {
			
 
				+                uris.add(data.getData());
			
 
				+            }
			
 
				+        } else {
			
 
				+                uris.add(data.getData());
			
 
				+        }
			
 
				+        return uris;
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+    public static void fileManagerActivity(boolean multi){
			
 
				+        Log.d(TAG, "fileManagerActivity1");
			
 
				+        //m_instance.startActivity(new Intent(action));
			
 
				+        Intent intent = new Intent(Intent.ACTION_GET_CONTENT);
			
 
				+        intent.setType("*/*");//设置类型，我这里是任意类型，任意后缀的可以这样写。
			
 
				+        intent.addCategory(Intent.CATEGORY_OPENABLE);
			
 
				+        intent.putExtra(Intent.EXTRA_ALLOW_MULTIPLE, multi == true);//多选
			
 
				+        intent.putExtra(Intent.EXTRA_LOCAL_ONLY, true);
			
 
				+//        intent.putExtra("pointer", 12345678);//无法用putExtra 传递数据在 onActivityResult 中接收,放在下面的it中也不行
			
 
				+//        Bundle b=new Bundle();
			
 
				+//        b.putString("listenB", "zp");
			
 
				+//        intent.putExtras(b);
			
 
				+
			
 
				+        //Intent it = Intent.createChooser(intent, "choose file");
			
 
				+        m_instance.startActivityForResult(intent,FILE_MANAGER_REQUEST_CODE);
			
 
				+    }
			
 
				+
			
 
				+    @Override
			
 
				+    protected void onActivityResult(int requestCode, int resultCode, Intent data){
			
 
				+        //super.onActivityResult(requestCode, resultCode, data);
			
 
				+        Log.d(TAG, "onActivityResult:"+requestCode+";"+resultCode);
			
 
				+        switch(requestCode){
			
 
				+        case FILE_MANAGER_REQUEST_CODE:
			
 
				+        {
			
 
				+                String arr[] = {};
			
 
				+            if (resultCode == Activity.RESULT_OK) {
			
 
				+
			
 
				+//            data.getIntExtra("pointer", 0);//无法接收数据
			
 
				+//            Bundle b=data.getExtras();
			
 
				+
			
 
				+            //doFileMenageryResult(requestCode,resultCode, data);
			
 
				+/*            if (resultCode == Activity.RESULT_OK) {//是否选择，没选择就不会继续
			
 
				+                Uri uri = data.getData();//得到uri，后面就是将uri转化成file的过程。
			
 
				+                Log.d(TAG, "uri:" + uri);
			
 
				+                Log.d(TAG, "uri Scheme:" + uri.getScheme());
			
 
				+                String path = uri.getPath();//= getPath(this, uri);
			
 
				+
			
 
				+                if ("file".equalsIgnoreCase(uri.getScheme())){//使用第三方应用打开
			
 
				+                        Log.d(TAG, "uri:---1");
			
 
				+                    path = uri.getPath();
			
 
				+                }else if (Build.VERSION.SDK_INT > Build.VERSION_CODES.KITKAT) {//4.4+
			
 
				+                        Log.d(TAG, "uri:---2");
			
 
				+                    path = getPath(this, uri);
			
 
				+                }
			
 
				+                Log.d(TAG, "fpath:" + path);
			
 
				+
			
 
				+
			
 
				+                ExtendsQtNative.onFileManager(resultCode, path);
			
 
				+
			
 
				+                */
			
 
				+                List<Uri> uris = getUris(data);
			
 
				+               List<String> paths = new ArrayList<String>();
			
 
				+               for(Uri uri : uris){
			
 
				+                       String path = "";
			
 
				+                   if ("file".equalsIgnoreCase(uri.getScheme())){//使用第三方应用打开
			
 
				+                       Log.d(TAG, "uri:---1");
			
 
				+                           path = uri.getPath();
			
 
				+                       }else if (Build.VERSION.SDK_INT > Build.VERSION_CODES.KITKAT) {//4.4+
			
 
				+                           Log.d(TAG, "uri:---2");
			
 
				+                           path = getPath(this, uri);
			
 
				+                       }
			
 
				+                                Log.d(TAG, "fpath:" + path);
			
 
				+                   if(path!=null && !path.isEmpty()){
			
 
				+                       paths.add(path);
			
 
				+                   }
			
 
				+               }
			
 
				+
			
 
				+
			
 
				+               Log.d(TAG, "fpaths:" + paths.toString());
			
 
				+
			
 
				+               arr = paths.toArray(new String[paths.size()]);
			
 
				+               Log.d(TAG, "arr:" + arr.toString());
			
 
				+
			
 
				+               ExtendsQtNative.onFileManager(resultCode, arr);
			
 
				+            }else if(resultCode == Activity.RESULT_CANCELED ){
			
 
				+                //String arr[] = {};
			
 
				+                ExtendsQtNative.onFileManager(resultCode,  arr);
			
 
				+            }
			
 
				+        }
			
 
				+
			
 
				+            break;
			
 
				+        default:
			
 
				+            super.onActivityResult(requestCode, resultCode, data);
			
 
				+        }
			
 
				+    }
			
 
				+
			
 
				+/**
			
 
				+ * 专为Android4.4设计的从Uri获取文件绝对路径，以前的方法已不好使
			
 
				+ */
			
 
				+public String getPath(final Context context, final Uri uri) {
			
 
				+        Log.d(TAG, "getPath:---1");
			
 
				+    final boolean isKitKat = Build.VERSION.SDK_INT >= Build.VERSION_CODES.KITKAT;
			
 
				+    Log.d(TAG, "getPath:---2-getAuthority:"+uri.getAuthority());
			
 
				+    // DocumentProvider
			
 
				+    if (isKitKat && DocumentsContract.isDocumentUri(context, uri)) {
			
 
				+        Log.d(TAG, "getPath:---3");
			
 
				+        // ExternalStorageProvider
			
 
				+        if (isExternalStorageDocument(uri)) {
			
 
				+            final String docId = DocumentsContract.getDocumentId(uri);
			
 
				+            final String[] split = docId.split(":");
			
 
				+            final String type = split[0];
			
 
				+
			
 
				+            if ("primary".equalsIgnoreCase(type)) {
			
 
				+                return Environment.getExternalStorageDirectory() + "/" + split[1];
			
 
				+            }
			
 
				+        }
			
 
				+        // DownloadsProvider
			
 
				+        else if (isDownloadsDocument(uri)) {
			
 
				+
			
 
				+            final String id = DocumentsContract.getDocumentId(uri);
			
 
				+            final Uri contentUri = ContentUris.withAppendedId(
			
 
				+                    Uri.parse("content://downloads/public_downloads"), Long.valueOf(id));
			
 
				+
			
 
				+            return getDataColumn(context, contentUri, null, null);
			
 
				+        }
			
 
				+        // MediaProvider
			
 
				+        else if (isMediaDocument(uri)) {
			
 
				+                Log.d(TAG, "getPath:---4");
			
 
				+            final String docId = DocumentsContract.getDocumentId(uri);
			
 
				+            Log.d(TAG, "docId:"+docId);
			
 
				+            final String[] split = docId.split(":");
			
 
				+            final String type = split[0];
			
 
				+            Log.d(TAG, "docId split:"+Arrays.toString(split));
			
 
				+            Uri contentUri = null;
			
 
				+            if ("image".equals(type)) {
			
 
				+                contentUri = MediaStore.Images.Media.EXTERNAL_CONTENT_URI;
			
 
				+            } else if ("video".equals(type)) {
			
 
				+                contentUri = MediaStore.Video.Media.EXTERNAL_CONTENT_URI;
			
 
				+            } else if ("audio".equals(type)) {
			
 
				+                contentUri = MediaStore.Audio.Media.EXTERNAL_CONTENT_URI;
			
 
				+            }
			
 
				+
			
 
				+            final String selection = "_id=?";
			
 
				+            final String[] selectionArgs = new String[]{split[1]};
			
 
				+            Log.d(TAG, "contentUri:"+contentUri);
			
 
				+
			
 
				+            return getDataColumn(context, contentUri, selection, selectionArgs);
			
 
				+        }
			
 
				+    }
			
 
				+    // MediaStore (and general)
			
 
				+    else if ("content".equalsIgnoreCase(uri.getScheme())) {
			
 
				+        return getDataColumn(context, uri, null, null);
			
 
				+    }
			
 
				+    // File
			
 
				+    else if ("file".equalsIgnoreCase(uri.getScheme())) {
			
 
				+        return uri.getPath();
			
 
				+    }
			
 
				+    return null;
			
 
				+}
			
 
				+
			
 
				+/**
			
 
				+ * Get the value of the data column for this Uri. This is useful for
			
 
				+ * MediaStore Uris, and other file-based ContentProviders.
			
 
				+ *
			
 
				+ * @param context       The context.
			
 
				+ * @param uri           The Uri to query.
			
 
				+ * @param selection     (Optional) Filter used in the query.
			
 
				+ * @param selectionArgs (Optional) Selection arguments used in the query.
			
 
				+ * @return The value of the _data column, which is typically a file path.
			
 
				+ */
			
 
				+public String getDataColumn(Context context, Uri uri, String selection,
			
 
				+                            String[] selectionArgs) {
			
 
				+        Log.d(TAG, "getDataColumn:"+uri+";"+selection+";"+Arrays.toString(selectionArgs));
			
 
				+//content://media/external/images/media;  _id=?;[715746]
			
 
				+    Cursor cursor = null;
			
 
				+    final String column = "_data";
			
 
				+    final String[] projection = {column};
			
 
				+
			
 
				+    try {
			
 
				+/**********权限校验需要 >=sdk23 版本*****************************************/
			
 
				+        int hasWriteContactsPermisson = ContextCompat.checkSelfPermission(context,
			
 
				+                        android.Manifest.permission.READ_EXTERNAL_STORAGE);
			
 
				+        Log.d(TAG, "hasWriteContactsPermisson:"+hasWriteContactsPermisson);
			
 
				+        if(hasWriteContactsPermisson !=
			
 
				+            PackageManager.PERMISSION_GRANTED)
			
 
				+        {
			
 
				+                ActivityCompat.requestPermissions(m_instance,new String[]
			
 
				+                {Manifest.permission.WRITE_CONTACTS},
			
 
				+                REQUEST_CODE_ASK_PERMISSIONS);
			
 
				+
			
 
				+            return "";
			
 
				+        }
			
 
				+/********************************/
			
 
				+        Log.d(TAG, "getDataColumn--1");
			
 
				+        cursor = context.getContentResolver().query(uri, projection, selection, selectionArgs,
			
 
				+                null);
			
 
				+        Log.d(TAG, "getDataColumn--2");
			
 
				+        if (cursor != null && cursor.moveToFirst()) {
			
 
				+                Log.d(TAG, "getDataColumn--3");
			
 
				+            final int column_index = cursor.getColumnIndexOrThrow(column);
			
 
				+            Log.d(TAG, "getDataColumn--4");
			
 
				+            return cursor.getString(column_index);
			
 
				+        }
			
 
				+    } catch(Exception e){
			
 
				+        Log.d(TAG, "getDataColumn err:"+e.getMessage());
			
 
				+    }finally {
			
 
				+        if (cursor != null)
			
 
				+            cursor.close();
			
 
				+    }
			
 
				+    return "null";
			
 
				+}
			
 
				+
			
 
				+
			
 
				+/**
			
 
				+ * @param uri The Uri to check.
			
 
				+ * @return Whether the Uri authority is ExternalStorageProvider.
			
 
				+ */
			
 
				+public boolean isExternalStorageDocument(Uri uri) {
			
 
				+    return "com.android.externalstorage.documents".equals(uri.getAuthority());
			
 
				+}
			
 
				+
			
 
				+/**
			
 
				+ * @param uri The Uri to check.
			
 
				+ * @return Whether the Uri authority is DownloadsProvider.
			
 
				+ */
			
 
				+public boolean isDownloadsDocument(Uri uri) {
			
 
				+    return "com.android.providers.downloads.documents".equals(uri.getAuthority());
			
 
				+}
			
 
				+
			
 
				+/**
			
 
				+ * @param uri The Uri to check.
			
 
				+ * @return Whether the Uri authority is MediaProvider.
			
 
				+ */
			
 
				+public boolean isMediaDocument(Uri uri) {
			
 
				+    return "com.android.providers.media.documents".equals(uri.getAuthority());
			
 
				+}
			
 
				+
			
 
				+
			
 
				+}
			
 
				+
			
--- a/src/tool/map_lanetoxodr/filedialogextern.cpp
+++ b/src/tool/map_lanetoxodr/filedialogextern.cpp
@@ -0,0 +1,136 @@
 
				+#include "filedialogextern.h"
			
 
				+#include "simpleCustomEvent.h"
			
 
				+#include <QEvent>
			
 
				+#include <QCoreApplication>
			
 
				+
			
 
				+#ifdef ANDROID
			
 
				+#include <QtAndroidExtras/QAndroidJniObject>
			
 
				+#include <QFile>
			
 
				+#include<unistd.h>
			
 
				+//#include <QGuiApplication>
			
 
				+#include <QAndroidJniEnvironment>
			
 
				+#else
			
 
				+#include <QFileDialog>
			
 
				+#include <QDir>
			
 
				+#endif
			
 
				+
			
 
				+#include <QMessageBox>
			
 
				+
			
 
				+#include <QDebug>
			
 
				+#define DEBUG     qDebug()<<__func__<<__LINE__
			
 
				+
			
 
				+static QObject *g_listener = 0;
			
 
				+
			
 
				+FileDialogExtern::FileDialogExtern(QObject *parent) : QObject(parent)
			
 
				+{
			
 
				+
			
 
				+}
			
 
				+
			
 
				+
			
 
				+bool FileDialogExtern::event(QEvent *e)
			
 
				+{
			
 
				+#ifdef ANDROID
			
 
				+    if(e->type() == SimpleCustomEvent::eventType())
			
 
				+    {
			
 
				+        SimpleCustomEvent *sce = (SimpleCustomEvent*)e;
			
 
				+        qDebug()<<"FileDialogExtern::event:"<<sce->m_requestCode<<sce->m_resultCode;
			
 
				+        if(sce->m_requestCode == 3){
			
 
				+
			
 
				+
			
 
				+            if(sce->m_resultCode == -1){
			
 
				+                QStringList paths = sce->m_msg.toStringList();
			
 
				+                DEBUG<<paths.count()<<paths;
			
 
				+                if(paths.isEmpty()) return QObject::event(e);
			
 
				+                setCurrentFiles(paths);
			
 
				+                setCurrentFile(paths.at(0));
			
 
				+//                QMessageBox::information(this,"warn","hello",QMessageBox::YesAll);
			
 
				+                emit accepted();
			
 
				+            }else if (sce->m_resultCode == 0) {
			
 
				+                DEBUG<<"cancel";
			
 
				+                emit rejected();
			
 
				+            }
			
 
				+
			
 
				+        }/*else
			
 
				+        {
			
 
				+            m_captureState->setText("cancel");
			
 
				+        }*/
			
 
				+        return true;
			
 
				+    }
			
 
				+#endif
			
 
				+    return QObject::event(e);
			
 
				+}
			
 
				+
			
 
				+
			
 
				+
			
 
				+bool FileDialogExtern::open(){
			
 
				+DEBUG;
			
 
				+
			
 
				+#ifdef ANDROID
			
 
				+
			
 
				+    //QAndroidJniObject javaAction = QAndroidJniObject::fromString(name);
			
 
				+    g_listener = this;
			
 
				+    QAndroidJniObject::callStaticMethod<void>("an/qt/extendsQtWithJava/ExtendsQtWithJava",
			
 
				+                                       "fileManagerActivity",
			
 
				+                                       "(Z)V",(m_fileMode == OpenFiles));
			
 
				+
			
 
				+
			
 
				+#else
			
 
				+
			
 
				+QString fdir = m_folder.isEmpty()?QDir::currentPath():m_folder;
			
 
				+QStringList fpaths;
			
 
				+if(m_fileMode == OpenFile){
			
 
				+    QString fpath = QFileDialog::getOpenFileName(nullptr,m_title,fdir,"all file(*)");
			
 
				+    if(!fpath.isEmpty())
			
 
				+        fpaths.push_back(fpath);
			
 
				+}else if (m_fileMode == OpenFiles) {
			
 
				+    fpaths = QFileDialog::getOpenFileNames(nullptr,m_title,fdir,"all file(*)");
			
 
				+}
			
 
				+DEBUG<<fpaths.count()<<fpaths;
			
 
				+if(!fpaths.isEmpty()){
			
 
				+    setCurrentFiles(fpaths);
			
 
				+    setCurrentFile(fpaths.at(0));
			
 
				+    emit accepted();
			
 
				+}else {
			
 
				+    emit rejected();
			
 
				+}
			
 
				+#endif
			
 
				+
			
 
				+    return true;
			
 
				+}
			
 
				+
			
 
				+#ifdef ANDROID
			
 
				+void onFileManager(JNIEnv *env, jobject thiz,int result, jobjectArray fileUrls)
			
 
				+{
			
 
				+    qDebug() << "onFileManager, result - " << result ;
			
 
				+   int length =  env->GetArrayLength(fileUrls);
			
 
				+   QStringList paths;
			
 
				+   int req = 3;
			
 
				+   int ret = result;
			
 
				+   if(result == -1){
			
 
				+       //ret = 3;
			
 
				+
			
 
				+       for (int i=0;i<length;i++) {
			
 
				+           //jstring fileUrl= dynamic_cast<jstring>(env->GetObjectArrayElement(fileUrls,i));
			
 
				+
			
 
				+           QString path=QAndroidJniObject::fromLocalRef(env->GetObjectArrayElement(fileUrls,i)).toString();
			
 
				+
			
 
				+          // qDebug() << "onFileManager, result - " << result << " fileUrl - " << fileUrl;
			
 
				+
			
 
				+           //jboolean copy = false;
			
 
				+            //const char *nativeString = env->GetStringUTFChars(fileUrl, &copy);
			
 
				+            //qDebug() << "onFileManager, nativeString - " << nativeString;
			
 
				+//            QString path = nativeString;
			
 
				+//            env->ReleaseStringUTFChars(fileUrl, nativeString);
			
 
				+            if(!path.isEmpty() && QFile::exists(path))
			
 
				+                paths.push_back(path);
			
 
				+            qDebug() << "onFileManager, path - " << path;
			
 
				+       }
			
 
				+   }else if(result != 0){
			
 
				+       ret = -3;
			
 
				+       qDebug() << "could not read the captured file!";
			
 
				+   }
			
 
				+DEBUG<<paths;
			
 
				+    //QGuiApplication::postEvent(g_listener, new SimpleCustomEvent(ret, image));
			
 
				+    QCoreApplication::postEvent(g_listener, new SimpleCustomEvent(req,ret, paths));
			
 
				+}
			
 
				+#endif
			
--- a/src/tool/map_lanetoxodr/filedialogextern.h
+++ b/src/tool/map_lanetoxodr/filedialogextern.h
@@ -0,0 +1,56 @@
 
				+#ifndef FILEDIALOGEXTERN_H
			
 
				+#define FILEDIALOGEXTERN_H
			
 
				+
			
 
				+#include <QObject>
			
 
				+
			
 
				+class FileDialogExtern : public QObject
			
 
				+{
			
 
				+    Q_OBJECT
			
 
				+    Q_ENUMS(FileMode)
			
 
				+    Q_PROPERTY(NOTIFY accepted)
			
 
				+    Q_PROPERTY(NOTIFY rejected)
			
 
				+    Q_PROPERTY(QString title READ title WRITE setTitle NOTIFY titleChanged)
			
 
				+    Q_PROPERTY(QString folder READ folder WRITE setFolder NOTIFY folderChanged)
			
 
				+    Q_PROPERTY(QString currentFile READ currentFile WRITE setCurrentFile NOTIFY currentFileChanged)
			
 
				+    Q_PROPERTY(QStringList currentFiles READ currentFiles WRITE setCurrentFiles NOTIFY currentFilesChanged)
			
 
				+    Q_PROPERTY(FileMode fileMode READ fileMode WRITE setFileMode NOTIFY fileModeChanged)
			
 
				+
			
 
				+
			
 
				+public:
			
 
				+    enum FileMode{OpenFile,OpenFiles,Saveile};
			
 
				+    explicit FileDialogExtern(QObject *parent = nullptr);
			
 
				+    bool event(QEvent *);
			
 
				+
			
 
				+    Q_INVOKABLE bool open();
			
 
				+
			
 
				+    QString title() const{return m_title;}
			
 
				+    QString folder() const{return m_folder;}
			
 
				+    QString currentFile() const{return m_currentFile;}
			
 
				+    QStringList currentFiles() const{return m_currentFiles;}
			
 
				+    FileMode fileMode() const{return m_fileMode;}
			
 
				+
			
 
				+signals:
			
 
				+    void accepted();
			
 
				+    void rejected();
			
 
				+    void titleChanged(QString title);
			
 
				+    void folderChanged(QString folder);
			
 
				+    void currentFilesChanged(QStringList currentFiles);
			
 
				+    void currentFileChanged(QString currentFile);
			
 
				+    void fileModeChanged(FileMode fileMode);
			
 
				+
			
 
				+public slots:
			
 
				+    void setTitle(const QString &title){m_title = title; emit titleChanged(m_title);}
			
 
				+    void setFolder(const QString &folder){m_folder = folder; emit folderChanged(m_folder);}
			
 
				+    void setCurrentFile(const QString &currentFile){m_currentFile = currentFile; emit currentFileChanged(m_currentFile);}
			
 
				+    void setCurrentFiles(const QStringList &currentFiles){m_currentFiles = currentFiles; emit currentFilesChanged(m_currentFiles);}
			
 
				+    void setFileMode(const FileMode &fileMode){m_fileMode = fileMode; emit fileModeChanged(m_fileMode);}
			
 
				+
			
 
				+private:
			
 
				+    QString m_title;
			
 
				+    QString m_folder;
			
 
				+    QString m_currentFile;
			
 
				+    QStringList m_currentFiles;
			
 
				+    FileMode m_fileMode;
			
 
				+};
			
 
				+
			
 
				+#endif // FILEDIALOGEXTERN_H
			
--- a/src/tool/map_lanetoxodr/main.cpp
+++ b/src/tool/map_lanetoxodr/main.cpp
@@ -1,14 +1,70 @@
 
				+
			
 
				+#ifdef XODRViewer
			
 
				+#include "xvmainwindow.h"
			
 
				+#else
			
 
				 #include "mainwindow.h"
			
 
				+#endif
			
 
				+
			
 
				 #include <QApplication>
			
 
				 
			
 
				-#include "ivbacktrace.h"
			
 
				+
			
 
				+#ifdef ANDROID
			
 
				+#include <QAndroidJniEnvironment>
			
 
				+#include <QtAndroid>
			
 
				+//#include <QAndr
			
 
				+#include <QAndroidJniObject>
			
 
				+
			
 
				+#endif
			
 
				+
			
 
				+
			
 
				+#ifdef XODRViewer
			
 
				+#include "filedialogextern.h"
			
 
				+#endif
			
 
				+#ifdef ANDROID
			
 
				+#include "simpleCustomEvent.h"
			
 
				+#endif
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+#ifdef ANDROID
			
 
				+
			
 
				+bool requestPermission() {
			
 
				+   QtAndroid::PermissionResult  r = QtAndroid::checkPermission("android.permission.WRITE_EXTERNAL_STORAGE");
			
 
				+    if(r == QtAndroid::PermissionResult::Denied) {
			
 
				+        QtAndroid::requestPermissionsSync( QStringList() << "android.permission.WRITE_EXTERNAL_STORAGE" );
			
 
				+        r = QtAndroid::checkPermission("android.permission.WRITE_EXTERNAL_STORAGE");
			
 
				+        if(r == QtAndroid::PermissionResult::Denied) {
			
 
				+             return false;
			
 
				+        }
			
 
				+   }
			
 
				+   return true;
			
 
				+}
			
 
				+
			
 
				+#endif
			
 
				+
			
 
				+
			
 
				 
			
 
				 int main(int argc, char *argv[])
			
 
				 {
			
 
				-    RegisterIVBackTrace();
			
 
				 
			
 
				     QApplication a(argc, argv);
			
 
				+
			
 
				+#ifdef ANDROID
			
 
				+
			
 
				+    requestPermission();
			
 
				+
			
 
				+
			
 
				+    registerNativeMethods();
			
 
				+
			
 
				+#endif
			
 
				+
			
 
				+#ifdef XODRViewer
			
 
				+    XVMainWindow w;
			
 
				+#else
			
 
				     MainWindow w;
			
 
				+#endif
			
 
				     w.show();
			
 
				     w.resize(1280,800);
			
 
				 
			
--- a/src/tool/map_lanetoxodr/mainwindow.cpp
+++ b/src/tool/map_lanetoxodr/mainwindow.cpp
@@ -54,6 +54,10 @@ MainWindow::MainWindow(QWidget *parent) :
 
				 
			
 
				     scene = new QGraphicsScene;
			
 
				 
			
 
				+//    mpscene = new  QGraphicsScene;//(-300, -300, 600, 600);
			
 
				+    mpscene = new  QGraphicsScene(0,0,VIEW_WIDTH,VIEW_HEIGHT);
			
 
				+    mpscene->setBackgroundBrush(Qt::darkGreen);
			
 
				+
			
 
				 
			
 
				  //    painter->begin(image);
			
 
				 
			
@@ -370,6 +374,16 @@ void MainWindow::ExecPainter()
 
				 void MainWindow::paintEvent(QPaintEvent *)
			
 
				 {
			
 
				 
			
 
				+    if(mnViewMode == 1)
			
 
				+    {
			
 
				+        if(mbRefresh)
			
 
				+        {
			
 
				+ //           UpdateScene();
			
 
				+        }
			
 
				+        myview->setScene(mpscene);
			
 
				+        myview->show();
			
 
				+        return;
			
 
				+    }
			
 
				     if(mbRefresh)
			
 
				     {
			
 
				         ExecPainter();
			
@@ -422,6 +436,21 @@ void MainWindow::CreateTab1View(QTabWidget * p)
 
				     int nLEWidth = mnFontHeight * 6;
			
 
				     int nLEHeight = mnFontHeight * 3/2;
			
 
				 
			
 
				+    pLabel = new QLabel(pGroup);
			
 
				+    pLabel->setText("View Mode");
			
 
				+    pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
			
 
				+    nXPos = nXPos + nSpace;
			
 
				+
			
 
				+    pCB = new QComboBox(pGroup);
			
 
				+    pCB->addItem("Line");
			
 
				+    pCB->addItem("Scene");
			
 
				+    pCB->setCurrentIndex(0);
			
 
				+    pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
			
 
				+    connect(pCB,SIGNAL(currentIndexChanged(int)),this,SLOT(onViewModeChange(int)));
			
 
				+
			
 
				+    nXPos = 10;
			
 
				+    nYPos = nYPos + mnFontHeight * 3;
			
 
				+
			
 
				     pLabel = new QLabel(pGroup);
			
 
				     pLabel->setText("Lat0");
			
 
				     pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
			
@@ -1168,8 +1197,11 @@ void MainWindow::onClickXY(double x, double y)
 
				     double lon,lat;
			
 
				     selx = mClickX;
			
 
				     sely = mClickY * (-1);
			
 
				-    selx = selx/((double )mnfac);
			
 
				-    sely = sely/((double)mnfac);
			
 
				+    if(mnViewMode == 0)
			
 
				+    {
			
 
				+        selx = selx/((double )mnfac);
			
 
				+        sely = sely/((double)mnfac);
			
 
				+    }
			
 
				     mpLE_SelX->setText(QString::number(selx,'f',3));
			
 
				     mpLE_SelY->setText(QString::number(sely,'f',3));
			
 
				 
			
@@ -5030,3 +5062,67 @@ void MainWindow::on_actionSplit_Road_triggered()
 
				 {
			
 
				 
			
 
				 }
			
 
				+
			
 
				+void MainWindow::UpdateScene()
			
 
				+{
			
 
				+
			
 
				+    int i;
			
 
				+    int nsize = mvectorviewitem.size();
			
 
				+    for(i=0;i<nsize;i++)
			
 
				+    {
			
 
				+        mpscene->removeItem(mvectorviewitem.at(i));
			
 
				+        delete mvectorviewitem.at(i);
			
 
				+    }
			
 
				+    mvectorviewitem.clear();
			
 
				+
			
 
				+    nsize = mxodr.GetRoadCount();
			
 
				+
			
 
				+    std::vector<RoadDigit> xvectorrd;
			
 
				+    for(i=0;i<nsize;i++)
			
 
				+    {
			
 
				+        RoadDigit xrd(mxodr.GetRoad(i),10.0);
			
 
				+        xvectorrd.push_back(xrd);
			
 
				+ //       UpdateSceneRoad(mxodr.GetRoad(i));
			
 
				+//        qDebug("update road %d",i);
			
 
				+    }
			
 
				+    for(i=0;i<nsize;i++)
			
 
				+    {
			
 
				+        std::vector<QGraphicsPathItem *> xvectorlanepath = xodrscenfunc::GetRoadLaneItem(&(xvectorrd[i]));
			
 
				+        int j;
			
 
				+        int ncount = xvectorlanepath.size();
			
 
				+        for(j=0;j<ncount;j++)
			
 
				+        {
			
 
				+            QGraphicsPathItem * pitem = xvectorlanepath[j];
			
 
				+            pitem->setPos(mfViewMoveX +VIEW_WIDTH/2,-mfViewMoveY+VIEW_HEIGHT/2);
			
 
				+            mpscene->addItem(pitem);
			
 
				+            mvectorviewitem.push_back(pitem);
			
 
				+        }
			
 
				+    }
			
 
				+
			
 
				+    for(i=0;i<nsize;i++)
			
 
				+    {
			
 
				+        std::vector<QGraphicsPathItem *> xvectormarkpath = xodrscenfunc::GetRoadMarkItem(&(xvectorrd[i]));
			
 
				+        int j;
			
 
				+        int ncount = xvectormarkpath.size();
			
 
				+        for(j=0;j<ncount;j++)
			
 
				+        {
			
 
				+            QGraphicsPathItem * pitem = xvectormarkpath[j];
			
 
				+            pitem->setPos(mfViewMoveX +VIEW_WIDTH/2,-mfViewMoveY+VIEW_HEIGHT/2);
			
 
				+            mpscene->addItem(pitem);
			
 
				+            mvectorviewitem.push_back(pitem);
			
 
				+        }
			
 
				+    }
			
 
				+    mbRefresh = false;
			
 
				+}
			
 
				+
			
 
				+
			
 
				+void MainWindow::onViewModeChange(int index)
			
 
				+{
			
 
				+    if(index == 1)
			
 
				+    {
			
 
				+       UpdateScene();
			
 
				+    }
			
 
				+    mnViewMode = index;
			
 
				+    mbRefresh = true;
			
 
				+    update();
			
 
				+}
			
--- a/src/tool/map_lanetoxodr/mainwindow.h
+++ b/src/tool/map_lanetoxodr/mainwindow.h
@@ -67,6 +67,10 @@ using namespace Eigen;
 
				 
			
 
				 #include "xodrmake.h"
			
 
				 
			
 
				+#include "roaddigit.h"
			
 
				+
			
 
				+#include "xodrscenfunc.h"
			
 
				+
			
 
				 namespace Ui {
			
 
				 class MainWindow;
			
 
				 }
			
@@ -88,6 +92,9 @@ private:
 
				     QTimer *timer;
			
 
				     QGraphicsScene *scene;
			
 
				 
			
 
				+    QGraphicsScene * mpscene;
			
 
				+
			
 
				+
			
 
				 public:
			
 
				     static void ComboToString(std::string strroadid,QComboBox * pCB);
			
 
				 
			
@@ -185,6 +192,8 @@ private slots:
 
				 
			
 
				     void on_actionSplit_Road_triggered();
			
 
				 
			
 
				+    void onViewModeChange(int index);
			
 
				+
			
 
				 private:
			
 
				 
			
 
				 
			
@@ -385,6 +394,12 @@ private:
 
				     void updateCBRoad();
			
 
				     void updateJunction();
			
 
				 
			
 
				+    int mnViewMode = 0; //Use Scene
			
 
				+
			
 
				+    void UpdateScene();
			
 
				+
			
 
				+    std::vector<QGraphicsPathItem *> mvectorviewitem;
			
 
				+
			
 
				 
			
 
				 };
			
 
				 
			
--- a/src/tool/map_lanetoxodr/map_lanetoxodr.pro
+++ b/src/tool/map_lanetoxodr/map_lanetoxodr.pro
@@ -41,6 +41,7 @@ SOURCES += \
 
				     ivxodrtool.cpp \
			
 
				         main.cpp \
			
 
				         mainwindow.cpp \
			
 
				+    roaddigit.cpp \
			
 
				     roadeditdialog.cpp \
			
 
				     roadviewitem.cpp \
			
 
				     speeddialog.cpp \
			
@@ -73,7 +74,8 @@ SOURCES += \
 
				     geofit.cpp \
			
 
				     circlefitting.cpp \
			
 
				     xodrfunc.cpp \
			
 
				-    xodrmake.cpp
			
 
				+    xodrmake.cpp \
			
 
				+    xodrscenfunc.cpp
			
 
				 
			
 
				 HEADERS += \
			
 
				     autoconnect.h \
			
@@ -89,6 +91,7 @@ HEADERS += \
 
				     ivxodrtool.h \
			
 
				         mainwindow.h \
			
 
				     rawtype.h \
			
 
				+    roaddigit.h \
			
 
				     roadeditdialog.h \
			
 
				     roadviewitem.h \
			
 
				     speeddialog.h \
			
@@ -99,7 +102,6 @@ HEADERS += \
 
				     myview.h \
			
 
				     boost.h \
			
 
				     gps_type.h \
			
 
				-    linedata.h \
			
 
				     OpenDrive/Junction.h \
			
 
				     OpenDrive/Lane.h \
			
 
				     OpenDrive/ObjectSignal.h \
			
@@ -118,7 +120,8 @@ HEADERS += \
 
				     geofit.h \
			
 
				     circlefitting.h \
			
 
				     xodrfunc.h \
			
 
				-    xodrmake.h
			
 
				+    xodrmake.h \
			
 
				+    xodrscenfunc.h
			
 
				 
			
 
				 FORMS += \
			
 
				         dialogaddroadfromrtk.ui \
			
--- a/src/tool/map_lanetoxodr/myview.cpp
+++ b/src/tool/map_lanetoxodr/myview.cpp
@@ -9,8 +9,15 @@ MyView::MyView(QWidget *parent) :
 
				     beishu(1.00000)
			
 
				 {
			
 
				     setDragMode(QGraphicsView::ScrollHandDrag);
			
 
				+
			
 
				+//    grabGesture(Qt::PanGesture);
			
 
				+    grabGesture(Qt::PinchGesture);
			
 
				+ //   grabGesture(Qt::SwipeGesture);
			
 
				 }
			
 
				 
			
 
				+
			
 
				+
			
 
				+
			
 
				 void MyView::mousePressEvent(QMouseEvent *event)
			
 
				 {
			
 
				 //    qDebug("x is %d",event->pos().x());
			
@@ -19,6 +26,7 @@ void MyView::mousePressEvent(QMouseEvent *event)
 
				 }
			
 
				 void MyView::mouseMoveEvent(QMouseEvent *event)
			
 
				 {
			
 
				+    if(mbInPinch == true)return;
			
 
				     QGraphicsView::mouseMoveEvent(event);
			
 
				 
			
 
				 //    QScrollBar * ps = verticalScrollBar();
			
@@ -59,8 +67,13 @@ void MyView::zoomIn()
 
				     int centery = (psV->value() + psV->size().height()/2)/beishu;
			
 
				     int centerx = (psH->value() + psH->size().width()/2)/beishu;
			
 
				 
			
 
				+#ifndef ANDROID
			
 
				     scale(1.1, 1.1);
			
 
				     beishu *= 1.1;
			
 
				+#else
			
 
				+    scale(1.6, 1.6);
			
 
				+    beishu *= 1.6;
			
 
				+#endif
			
 
				  //   centerOn(450, 700 - (200 / beishu));
			
 
				 
			
 
				 
			
@@ -93,8 +106,13 @@ void MyView::zoomOut()
 
				     int centery = (psV->value() + psV->size().height()/2)/beishu;
			
 
				     int centerx = (psH->value() + psH->size().width()/2)/beishu;
			
 
				 
			
 
				+#ifndef ANDROID
			
 
				     scale(1 / 1.1, 1 / 1.1);
			
 
				     beishu /= 1.1;
			
 
				+#else
			
 
				+    scale(1 / 1.6, 1 / 1.6);
			
 
				+    beishu /= 1.6;
			
 
				+#endif
			
 
				 //    centerOn(450, 700 - (200 / beishu));
			
 
				 
			
 
				 
			
@@ -135,3 +153,60 @@ void MyView::mouseDoubleClickEvent(QMouseEvent *event)
 
				     emit dbclickxy(viewx,viewy);
			
 
				     qDebug("view x is %d view y is %d ",viewx,viewy);
			
 
				 }
			
 
				+
			
 
				+bool MyView::event(QEvent *event)
			
 
				+{
			
 
				+    if (event->type() == QEvent::Gesture)
			
 
				+    {
			
 
				+ //       qDebug("gestrue event");
			
 
				+ //       return true;
			
 
				+        return gestureEvent(static_cast<QGestureEvent*>(event));
			
 
				+    }
			
 
				+
			
 
				+    return QGraphicsView::event(event);
			
 
				+}
			
 
				+
			
 
				+bool MyView::gestureEvent(QGestureEvent *event)
			
 
				+{
			
 
				+    if (QGesture *pinch = event->gesture(Qt::PinchGesture))
			
 
				+        pinchTriggered(static_cast<QPinchGesture *>(pinch));
			
 
				+    return true;
			
 
				+}
			
 
				+
			
 
				+void MyView::pinchTriggered(QPinchGesture *gesture)
			
 
				+{
			
 
				+
			
 
				+    static double currentStepScaleFactor = 1;
			
 
				+    static double oldfactor = 1;
			
 
				+    QPinchGesture::ChangeFlags changeFlags = gesture->changeFlags();
			
 
				+    if (changeFlags & QPinchGesture::ScaleFactorChanged) {
			
 
				+        currentStepScaleFactor = gesture->totalScaleFactor();
			
 
				+        mbInPinch = true;
			
 
				+    }
			
 
				+    if (gesture->state() == Qt::GestureFinished) {
			
 
				+//        scaleFactor *= currentStepScaleFactor;
			
 
				+//        qDebug("scale is %f ",currentStepScaleFactor);
			
 
				+
			
 
				+        currentStepScaleFactor = 1;
			
 
				+        oldfactor = 1;
			
 
				+        mbInPinch = false;
			
 
				+    }
			
 
				+
			
 
				+    int width,hgt;
			
 
				+    width = sceneRect().width();
			
 
				+    hgt = sceneRect().height();
			
 
				+    QScrollBar * psV = verticalScrollBar();
			
 
				+    QScrollBar * psH = horizontalScrollBar();
			
 
				+
			
 
				+    int centery = (psV->value() + psV->size().height()/2)/beishu;
			
 
				+    int centerx = (psH->value() + psH->size().width()/2)/beishu;
			
 
				+
			
 
				+    double fscale = currentStepScaleFactor/oldfactor;
			
 
				+    scale(fscale,fscale);
			
 
				+    beishu *= fscale;
			
 
				+    oldfactor = currentStepScaleFactor;
			
 
				+
			
 
				+    centerOn(centerx,centery);
			
 
				+
			
 
				+}
			
 
				+
			
--- a/src/tool/map_lanetoxodr/myview.h
+++ b/src/tool/map_lanetoxodr/myview.h
@@ -11,6 +11,9 @@
 
				 #include <QGraphicsItem>
			
 
				 #include <QKeyEvent>
			
 
				 
			
 
				+#include <QGestureEvent>
			
 
				+#include <QPinchGesture>
			
 
				+
			
 
				 class MyView : public QGraphicsView
			
 
				 {
			
 
				     Q_OBJECT
			
@@ -26,6 +29,8 @@ protected:
 
				     void mousePressEvent(QMouseEvent *event) Q_DECL_OVERRIDE;
			
 
				     void mouseReleaseEvent(QMouseEvent *event) Q_DECL_OVERRIDE;
			
 
				     void mouseDoubleClickEvent(QMouseEvent *event) Q_DECL_OVERRIDE;
			
 
				+
			
 
				+    bool event(QEvent *event) Q_DECL_OVERRIDE;
			
 
				 public Q_SLOTS:
			
 
				     void zoomIn();  // 放大
			
 
				     void zoomOut();  // 缩小
			
@@ -36,6 +41,12 @@ signals:
 
				 private:
			
 
				     bool bottonstatus = false;
			
 
				     QPoint myview_lastMousePos;
			
 
				+
			
 
				+private:
			
 
				+    bool gestureEvent(QGestureEvent *event);
			
 
				+    void pinchTriggered(QPinchGesture*);
			
 
				+
			
 
				+    bool mbInPinch = false;
			
 
				 };
			
 
				 
			
 
				 #endif // MYVIEW_H
			
--- a/src/tool/map_lanetoxodr/roaddigit.cpp
+++ b/src/tool/map_lanetoxodr/roaddigit.cpp
@@ -0,0 +1,265 @@
 
				+#include "roaddigit.h"
			
 
				+
			
 
				+#include <math.h>
			
 
				+#include "xodrfunc.h"
			
 
				+
			
 
				+
			
 
				+RoadDigit::RoadDigit(Road * pRoad,double fspace)
			
 
				+{
			
 
				+    mpRoad = pRoad;
			
 
				+    UpdateSpace(fspace);
			
 
				+}
			
 
				+
			
 
				+std::vector<iv::RoadDigitUnit> * RoadDigit::GetRDU()
			
 
				+{
			
 
				+    return &mvectorRDU;
			
 
				+}
			
 
				+
			
 
				+void RoadDigit::UpdateSpace(double fspace)
			
 
				+{
			
 
				+    if(mpRoad == 0)return;
			
 
				+    CalcLine(fspace);
			
 
				+    CalcLane();
			
 
				+}
			
 
				+
			
 
				+void RoadDigit::CalcLine(double fspace)
			
 
				+{
			
 
				+    unsigned int j;
			
 
				+    iv::RoadDigitUnit rdu;
			
 
				+
			
 
				+
			
 
				+    bool bLastGeo = false;
			
 
				+    for(j=0;j<mpRoad->GetGeometryBlockCount();j++)
			
 
				+    {
			
 
				+
			
 
				+        GeometryBlock * pgeob = mpRoad->GetGeometryBlock(j);
			
 
				+        double x,y;
			
 
				+        double x_center,y_center;
			
 
				+        double R;
			
 
				+        RoadGeometry * pg;
			
 
				+        GeometryArc * parc;
			
 
				+        GeometryParamPoly3 * ppp3;
			
 
				+        GeometrySpiral *pSpiral;
			
 
				+        double rel_x,rel_y,rel_hdg;
			
 
				+        pg = pgeob->GetGeometryAt(0);
			
 
				+        x = pg->GetX();
			
 
				+        y = pg->GetY();
			
 
				+
			
 
				+        if(j == (mpRoad->GetGeometryBlockCount() -1))
			
 
				+        {
			
 
				+            bLastGeo = true;
			
 
				+        }
			
 
				+
			
 
				+        switch (pg->GetGeomType()) {
			
 
				+        case 0:
			
 
				+        {
			
 
				+
			
 
				+            rdu.mS = pg->GetS();
			
 
				+            rdu.mX = pg->GetX();
			
 
				+            rdu.mY = pg->GetY();
			
 
				+            rdu.mfHdg = pg->GetHdg();
			
 
				+            mvectorRDU.push_back(rdu);
			
 
				+            int ncount = pg->GetLength() /fspace;
			
 
				+            if(ncount<2)ncount = 2;
			
 
				+            double fstep;
			
 
				+            if(ncount > 0)fstep = pg->GetLength()/ncount;
			
 
				+            int i;
			
 
				+            if(bLastGeo )ncount = ncount+1;
			
 
				+            for(i=1;i<ncount;i++)
			
 
				+            {
			
 
				+                double xtem,ytem;
			
 
				+                xtem = x + (i*fstep)*cos(pg->GetHdg());
			
 
				+                ytem = y + (i*fstep)*sin(pg->GetHdg());
			
 
				+
			
 
				+                rdu.mS = pg->GetS() + i*fstep;
			
 
				+                rdu.mX = xtem;
			
 
				+                rdu.mY = ytem;
			
 
				+                rdu.mfHdg = pg->GetHdg();
			
 
				+                mvectorRDU.push_back(rdu);
			
 
				+
			
 
				+            }
			
 
				+        }
			
 
				+            break;
			
 
				+
			
 
				+        case 1:
			
 
				+            pSpiral = (GeometrySpiral * )pg;
			
 
				+            {
			
 
				+               int ncount = pSpiral->GetLength()/fspace;
			
 
				+               if(ncount < 5)ncount = 5;
			
 
				+               double sstep = pSpiral->GetLength()/((double)ncount);
			
 
				+               int k;
			
 
				+               double x0,y0,hdg0,s0;
			
 
				+               x0 = pSpiral->GetX();
			
 
				+               y0 = pSpiral->GetY();
			
 
				+               s0 = pSpiral->GetS();
			
 
				+               hdg0 = pSpiral->GetHdg() ;
			
 
				+
			
 
				+               rdu.mS = s0;
			
 
				+               rdu.mX = x0;
			
 
				+               rdu.mY = y0;
			
 
				+               rdu.mfHdg = hdg0;
			
 
				+               mvectorRDU.push_back(rdu);
			
 
				+
			
 
				+
			
 
				+               pSpiral->GetCoords(s0,rel_x,rel_y,rel_hdg);
			
 
				+
			
 
				+               if(bLastGeo )ncount = ncount+1;
			
 
				+               for(k=1;k<ncount;k++)
			
 
				+               {
			
 
				+                   pSpiral->GetCoords(s0+sstep*k,rel_x,rel_y,rel_hdg);
			
 
				+
			
 
				+                   rdu.mS = s0 + sstep * k;
			
 
				+                   rdu.mX = rel_x;
			
 
				+                   rdu.mY = rel_y;
			
 
				+                   rdu.mfHdg = rel_hdg;
			
 
				+                   mvectorRDU.push_back(rdu);
			
 
				+
			
 
				+            }
			
 
				+        }
			
 
				+
			
 
				+            break;
			
 
				+        case 2:
			
 
				+            {
			
 
				+            parc = (GeometryArc *)pg;
			
 
				+            R = abs(1.0/parc->GetCurvature());
			
 
				+            if(parc->GetCurvature() > 0)
			
 
				+            {
			
 
				+                x_center = pg->GetX() + R *cos(pg->GetHdg() + M_PI/2.0);
			
 
				+                y_center = pg->GetY() + R * sin(pg->GetHdg() + M_PI/2.0);
			
 
				+            }
			
 
				+            else
			
 
				+            {
			
 
				+                x_center = pg->GetX() + R *cos(pg->GetHdg() -M_PI/2.0);
			
 
				+                y_center = pg->GetY() + R * sin(pg->GetHdg() - M_PI/2.0);
			
 
				+            }
			
 
				+
			
 
				+            rdu.mS = pg->GetS();
			
 
				+            rdu.mX = pg->GetX();
			
 
				+            rdu.mY = pg->GetY();
			
 
				+            rdu.mfHdg = pg->GetHdg();
			
 
				+            mvectorRDU.push_back(rdu);
			
 
				+
			
 
				+            int k;
			
 
				+            int ncount = parc->GetLength() /fspace;
			
 
				+            if(ncount< 5)ncount = 5;
			
 
				+            double curv = parc->GetCurvature();
			
 
				+            double arcrange = parc->GetLength()/R;
			
 
				+            if((arcrange/0.1)>ncount)ncount = arcrange/0.1;
			
 
				+            double hdgstep;
			
 
				+            double hdg0 = parc->GetHdg();
			
 
				+            double hdgnow = parc->GetHdg();
			
 
				+            if(ncount > 0) hdgstep= (parc->GetLength()/R)/ncount;
			
 
				+
			
 
				+            double x_draw,y_draw;
			
 
				+
			
 
				+            if(curv > 0)
			
 
				+            {
			
 
				+                hdgnow =  hdg0 ;
			
 
				+                x_draw = x_center + R *cos(hdgnow - M_PI/2.0);
			
 
				+                y_draw = y_center + R * sin(hdgnow - M_PI/2.0);
			
 
				+            }
			
 
				+            else
			
 
				+            {
			
 
				+                hdgnow = hdg0;
			
 
				+                x_draw = x_center + R *cos(hdgnow  + M_PI/2.0);
			
 
				+                y_draw = y_center + R * sin(hdgnow + M_PI/2.0);
			
 
				+            }
			
 
				+
			
 
				+
			
 
				+            if(bLastGeo )ncount = ncount+1;
			
 
				+            for(k=1;k<ncount;k++)
			
 
				+            {
			
 
				+
			
 
				+
			
 
				+                if(curv > 0)
			
 
				+                {
			
 
				+                    hdgnow =  hdg0 + k*hdgstep;
			
 
				+                    x_draw = x_center + R *cos(hdgnow - M_PI/2.0);
			
 
				+                    y_draw = y_center + R * sin(hdgnow - M_PI/2.0);
			
 
				+                }
			
 
				+                else
			
 
				+                {
			
 
				+                    hdgnow = hdg0 - k * hdgstep;
			
 
				+                    x_draw = x_center + R *cos(hdgnow  + M_PI/2.0);
			
 
				+                    y_draw = y_center + R * sin(hdgnow + M_PI/2.0);
			
 
				+                }
			
 
				+
			
 
				+                rdu.mS = pg->GetS() + hdgstep * k* R;
			
 
				+                rdu.mX = x_draw;
			
 
				+                rdu.mY = y_draw;
			
 
				+                rdu.mfHdg = hdgnow;
			
 
				+                mvectorRDU.push_back(rdu);
			
 
				+
			
 
				+
			
 
				+
			
 
				+            }
			
 
				+            }
			
 
				+            break;
			
 
				+        case 4:
			
 
				+            {
			
 
				+            ppp3 = (GeometryParamPoly3 * )pg;
			
 
				+            int ncount = ppp3->GetLength() /fspace;
			
 
				+            if(ncount < 5)ncount = 5;
			
 
				+            double sstep;
			
 
				+            if(ncount > 0)sstep = ppp3->GetLength()/ncount;
			
 
				+            else sstep = 10000.0;
			
 
				+            double s = 0;
			
 
				+            double xtem,ytem;
			
 
				+            xtem = ppp3->GetuA() +  ppp3->GetuB() * s +  ppp3->GetuC() * s*s +  ppp3->GetuD() * s*s*s;
			
 
				+            ytem = ppp3->GetvA() + ppp3->GetvB() * s + ppp3->GetvC() * s*s + ppp3->GetvD() * s*s*s;
			
 
				+            x = xtem*cos(ppp3->GetHdg()) - ytem * sin(ppp3->GetHdg()) + ppp3->GetX();
			
 
				+            y = xtem*sin(ppp3->GetHdg()) + ytem * cos(ppp3->GetHdg()) + ppp3->GetY();
			
 
				+            s = s+ sstep;
			
 
				+
			
 
				+            rdu.mS = pg->GetS();
			
 
				+            rdu.mX = pg->GetX();
			
 
				+            rdu.mY = pg->GetY();
			
 
				+            rdu.mfHdg = pg->GetHdg();
			
 
				+            mvectorRDU.push_back(rdu);
			
 
				+
			
 
				+            double flastx = pg->GetX();
			
 
				+            double flasty = pg->GetY();
			
 
				+            while(s <= ppp3->GetLength())
			
 
				+            {
			
 
				+
			
 
				+                xtem = ppp3->GetuA() +  ppp3->GetuB() * s +  ppp3->GetuC() * s*s +  ppp3->GetuD() * s*s*s;
			
 
				+                ytem = ppp3->GetvA() + ppp3->GetvB() * s + ppp3->GetvC() * s*s + ppp3->GetvD() * s*s*s;
			
 
				+                x = xtem*cos(ppp3->GetHdg()) - ytem * sin(ppp3->GetHdg()) + ppp3->GetX();
			
 
				+                y = xtem*sin(ppp3->GetHdg()) + ytem * cos(ppp3->GetHdg()) + ppp3->GetY();
			
 
				+
			
 
				+                rdu.mS = pg->GetS() + s;
			
 
				+                rdu.mX = x;
			
 
				+                rdu.mY = y;
			
 
				+                rdu.mfHdg = xodrfunc::CalcHdg(QPointF(flastx,flasty),QPointF(x,y));
			
 
				+                mvectorRDU.push_back(rdu);
			
 
				+
			
 
				+                s = s+ sstep;
			
 
				+
			
 
				+
			
 
				+            }
			
 
				+            }
			
 
				+            break;
			
 
				+        default:
			
 
				+            break;
			
 
				+        }
			
 
				+
			
 
				+//         painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void RoadDigit::CalcLane()
			
 
				+{
			
 
				+    int i;
			
 
				+    int ncount = mvectorRDU.size();
			
 
				+    for(i=0;i<ncount;i++)
			
 
				+    {
			
 
				+
			
 
				+        std::vector<iv::LanePoint> xvectorlp2 = xodrfunc::GetAllLanePoint(mpRoad,mvectorRDU[i].mS,
			
 
				+                                                                          mvectorRDU[i].mX,mvectorRDU[i].mY,mvectorRDU[i].mfHdg);
			
 
				+        mvectorRDU[i].mvectorLanePoint = xvectorlp2;
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+
			
--- a/src/tool/map_lanetoxodr/roaddigit.h
+++ b/src/tool/map_lanetoxodr/roaddigit.h
@@ -0,0 +1,56 @@
 
				+#ifndef ROADDIGIT_H
			
 
				+#define ROADDIGIT_H
			
 
				+
			
 
				+#include "OpenDrive/OpenDrive.h"
			
 
				+
			
 
				+#include <vector>
			
 
				+
			
 
				+#include "xodrfunc.h"
			
 
				+
			
 
				+namespace iv {
			
 
				+
			
 
				+
			
 
				+struct lanexy
			
 
				+{
			
 
				+    int nLane;
			
 
				+    double mX;
			
 
				+    double mY;
			
 
				+    double mCenterX;
			
 
				+    double mCenterY;
			
 
				+    int mType = 0;
			
 
				+    int mnMarkColor;
			
 
				+    int mMarkType = -1;  //if -1 no mark
			
 
				+    int mnChange = 0;
			
 
				+    std::vector<int> mvectorsignal;
			
 
				+};
			
 
				+
			
 
				+struct RoadDigitUnit
			
 
				+{
			
 
				+    double mS;
			
 
				+    double mX;
			
 
				+    double mY;
			
 
				+    double mfHdg;
			
 
				+    std::vector<iv::LanePoint> mvectorLanePoint;
			
 
				+};
			
 
				+
			
 
				+}
			
 
				+
			
 
				+class RoadDigit
			
 
				+{
			
 
				+public:
			
 
				+    RoadDigit(Road * pRoad,double fspace);
			
 
				+
			
 
				+private:
			
 
				+    std::vector<iv::RoadDigitUnit> mvectorRDU;
			
 
				+    Road * mpRoad = 0;
			
 
				+
			
 
				+private:
			
 
				+    void CalcLine(double fspace);
			
 
				+    void CalcLane();
			
 
				+
			
 
				+public:
			
 
				+    std::vector<iv::RoadDigitUnit> * GetRDU();
			
 
				+    void UpdateSpace(double fspace);
			
 
				+};
			
 
				+
			
 
				+#endif // ROADDIGIT_H
			
--- a/src/tool/map_lanetoxodr/roadeditdialog.cpp
+++ b/src/tool/map_lanetoxodr/roadeditdialog.cpp
@@ -312,6 +312,19 @@ void RoadEditDialog::on_comboBox_Road_activated(const QString &arg1)
 
				 
			
 
				 }
			
 
				 
			
 
				+bool RoadEditDialog::IsDrawMark(double s)
			
 
				+{
			
 
				+    const double dotdis = 10.0;
			
 
				+    const double dotlen = 5.0;
			
 
				+
			
 
				+    double  y = fmod(s,dotdis);
			
 
				+    if(y>dotlen)return true;
			
 
				+    else
			
 
				+    {
			
 
				+        return false;
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				 void RoadEditDialog::on_comboBox_Road_currentIndexChanged(int index)
			
 
				 {
			
 
				     Road * pRoad = mpxodr->GetRoad(index);
			
@@ -332,10 +345,18 @@ void RoadEditDialog::on_comboBox_Road_currentIndexChanged(int index)
 
				     }
			
 
				     mvectorroadview.clear();
			
 
				 
			
 
				+    nsize = mvectorviewitem.size();
			
 
				+    for(i=0;i<nsize;i++)
			
 
				+    {
			
 
				+        scene->removeItem(mvectorviewitem.at(i));
			
 
				+        delete mvectorviewitem.at(i);
			
 
				+    }
			
 
				+    mvectorviewitem.clear();
			
 
				+
			
 
				 
			
 
				     double froad_xmin,froad_ymin,froad_xmax,froad_ymax;
			
 
				     ServiceXODRTool.GetRoadMaxMin(pRoad,froad_xmin,froad_ymin,froad_xmax,froad_ymax);
			
 
				-    roadviewitem * prvw = new roadviewitem(pRoad);
			
 
				+//    roadviewitem * prvw = new roadviewitem(pRoad);
			
 
				 
			
 
				     int nfac;
			
 
				     int nkeep = 30;
			
@@ -362,11 +383,11 @@ void RoadEditDialog::on_comboBox_Road_currentIndexChanged(int index)
 
				     mfViewMoveX = 0 - froad_xmin - (froad_xmax - froad_xmin)/2.0;
			
 
				     mfViewMoveY = 0 + froad_ymin  + (froad_ymax-froad_ymin)/2.0;
			
 
				 
			
 
				-    prvw->setPos(mfViewMoveX,mfViewMoveY);
			
 
				+//    prvw->setPos(mfViewMoveX,mfViewMoveY);
			
 
				  //       prvw->setPos((froad_xmax - froad_xmin)/2.0, (froad_ymax-froad_ymin)/2.0);
			
 
				-    mvectorroadview.push_back(prvw);
			
 
				-    prvw->setratio(1.0);
			
 
				-    scene->addItem(prvw);
			
 
				+//    mvectorroadview.push_back(prvw);
			
 
				+ //   prvw->setratio(1.0);
			
 
				+//    scene->addItem(prvw);
			
 
				 
			
 
				     mnSelGeo = -1;
			
 
				 
			
@@ -380,6 +401,30 @@ void RoadEditDialog::on_comboBox_Road_currentIndexChanged(int index)
 
				         ui->comboBox_Geo->addItem(QString("Geo ")+QString::number(i));
			
 
				     }
			
 
				 
			
 
				+
			
 
				+    RoadDigit xrd(mpCurRoad,0.1);
			
 
				+
			
 
				+    std::vector<QGraphicsPathItem *> xvectorlanepath = xodrscenfunc::GetRoadLaneItem(&xrd);
			
 
				+    int j;
			
 
				+    int ncount = xvectorlanepath.size();
			
 
				+    for(j=0;j<ncount;j++)
			
 
				+    {
			
 
				+        QGraphicsPathItem * pitem = xvectorlanepath[j];
			
 
				+        pitem->setPos(mfViewMoveX,mfViewMoveY);
			
 
				+        scene->addItem(pitem);
			
 
				+        mvectorviewitem.push_back(pitem);
			
 
				+    }
			
 
				+
			
 
				+    std::vector<QGraphicsPathItem *> xvectormarkpath = xodrscenfunc::GetRoadMarkItem(&xrd);
			
 
				+    ncount = xvectormarkpath.size();
			
 
				+    for(j=0;j<ncount;j++)
			
 
				+    {
			
 
				+        QGraphicsPathItem * pitem = xvectormarkpath[j];
			
 
				+        pitem->setPos(mfViewMoveX,mfViewMoveY);
			
 
				+        scene->addItem(pitem);
			
 
				+        mvectorviewitem.push_back(pitem);
			
 
				+    }
			
 
				+
			
 
				     update();
			
 
				 }
			
 
				 
			
--- a/src/tool/map_lanetoxodr/roadeditdialog.h
+++ b/src/tool/map_lanetoxodr/roadeditdialog.h
@@ -20,6 +20,9 @@
 
				 #include "dialogroadrotate.h"
			
 
				 #include "dialogroadmirror.h"
			
 
				 
			
 
				+#include "roaddigit.h"
			
 
				+#include "xodrscenfunc.h"
			
 
				+
			
 
				 namespace Ui {
			
 
				 class RoadEditDialog;
			
 
				 }
			
@@ -60,6 +63,9 @@ private slots:
 
				 
			
 
				     void on_pushButton_MirrorRoad_clicked();
			
 
				 
			
 
				+private:
			
 
				+    bool IsDrawMark(double s);
			
 
				+
			
 
				 private:
			
 
				     Ui::RoadEditDialog *ui;
			
 
				     OpenDrive * mpxodr;
			
@@ -76,6 +82,8 @@ private:
 
				 
			
 
				     std::vector<roadviewitem *> mvectorroadview;
			
 
				 
			
 
				+    std::vector<QGraphicsPathItem *> mvectorviewitem;
			
 
				+
			
 
				     double mfViewMoveX = 0;
			
 
				     double mfViewMoveY = 0;
			
 
				 };
			
--- a/src/tool/map_lanetoxodr/roadviewitem.cpp
+++ b/src/tool/map_lanetoxodr/roadviewitem.cpp
@@ -12,6 +12,8 @@ roadviewitem::roadviewitem(Road * pRoad)
 
				 {
			
 
				     mpRoad = pRoad;
			
 
				     mbNeedCalc = true;
			
 
				+    QGraphicsPathItem x;
			
 
				+
			
 
				 }
			
 
				 
			
 
				 QRectF roadviewitem::boundingRect() const
			
--- a/src/tool/map_lanetoxodr/roadviewitem.h
+++ b/src/tool/map_lanetoxodr/roadviewitem.h
@@ -101,8 +101,8 @@ private:
 
				     bool mbShowLane = true;
			
 
				     bool mbShowLine = false;
			
 
				     bool mbShowRoadID = true;
			
 
				-
			
 
				-    bool IsDrawMark(double s);
			
 
				+public:
			
 
				+    static bool IsDrawMark(double s);
			
 
				 };
			
 
				 
			
 
				 #endif // ROADVIEWITEM_H
			
--- a/src/tool/map_lanetoxodr/simpleCustomEvent.cpp
+++ b/src/tool/map_lanetoxodr/simpleCustomEvent.cpp
@@ -0,0 +1,65 @@
 
				+#include "simpleCustomEvent.h"
			
 
				+
			
 
				+#ifdef ANDROID
			
 
				+#include <QFile>
			
 
				+#include <QApplication>
			
 
				+#include <QAndroidJniEnvironment>
			
 
				+#include <QAndroidJniObject>
			
 
				+#include <jni.h>
			
 
				+#include "simpleCustomEvent.h"
			
 
				+#include <QAndroidJniObject>
			
 
				+#endif
			
 
				+
			
 
				+QEvent::Type SimpleCustomEvent::m_evType = (QEvent::Type)QEvent::None;
			
 
				+
			
 
				+SimpleCustomEvent::SimpleCustomEvent(int requestCode , int resultCode, const QVariant &msg)
			
 
				+    : QEvent(eventType()), m_requestCode(requestCode), m_resultCode(resultCode),m_msg(msg)
			
 
				+{}
			
 
				+
			
 
				+SimpleCustomEvent::~SimpleCustomEvent()
			
 
				+{
			
 
				+
			
 
				+}
			
 
				+
			
 
				+QEvent::Type SimpleCustomEvent::eventType()
			
 
				+{
			
 
				+    if(m_evType == QEvent::None)
			
 
				+    {
			
 
				+        m_evType = (QEvent::Type)registerEventType();
			
 
				+    }
			
 
				+    return m_evType;
			
 
				+}
			
 
				+
			
 
				+
			
 
				+#ifdef ANDROID
			
 
				+void onFileManager(JNIEnv *env, jobject thiz,int result, jobjectArray fileUrl);
			
 
				+jclass g_extendsNative = 0;
			
 
				+bool registerNativeMethods()
			
 
				+{
			
 
				+    JNINativeMethod methods[] {
			
 
				+        {"onFileManager", "(I[Ljava/lang/String;)V", (void*)onFileManager}
			
 
				+    };
			
 
				+
			
 
				+    const char *classname = "an/qt/extendsQtWithJava/ExtendsQtNative";
			
 
				+    jclass clazz;
			
 
				+    QAndroidJniEnvironment env;
			
 
				+
			
 
				+    QAndroidJniObject javaClass(classname);
			
 
				+    clazz = env->GetObjectClass(javaClass.object<jobject>());
			
 
				+    //clazz = env->FindClass(classname);
			
 
				+    //qDebug() << "find ExtendsQtNative - " << clazz;
			
 
				+    bool result = false;
			
 
				+    if(clazz)
			
 
				+    {
			
 
				+        //g_extendsNative = static_cast<jclass>(env->NewGlobalRef(clazz));
			
 
				+        jint ret = env->RegisterNatives(clazz,
			
 
				+                                        methods,
			
 
				+                                        sizeof(methods) / sizeof(methods[0]));
			
 
				+        env->DeleteLocalRef(clazz);
			
 
				+        //qDebug() << "RegisterNatives return - " << ret;
			
 
				+        result = ret >= 0;
			
 
				+    }
			
 
				+    if(env->ExceptionCheck()) env->ExceptionClear();
			
 
				+    return result;
			
 
				+}
			
 
				+#endif
			
--- a/src/tool/map_lanetoxodr/simpleCustomEvent.h
+++ b/src/tool/map_lanetoxodr/simpleCustomEvent.h
@@ -0,0 +1,31 @@
 
				+#ifndef SIMPLECUSTOMEVENT_H
			
 
				+#define SIMPLECUSTOMEVENT_H
			
 
				+#include <QEvent>
			
 
				+#include <QString>
			
 
				+#include <QVariant>
			
 
				+
			
 
				+//#include <QAndroidJniEnvironment>
			
 
				+
			
 
				+
			
 
				+
			
 
				+class SimpleCustomEvent : public QEvent
			
 
				+{
			
 
				+public:
			
 
				+    SimpleCustomEvent(int requestCode = 0, int resultCode = 0, const QVariant &msg = QVariant());
			
 
				+    ~SimpleCustomEvent();
			
 
				+
			
 
				+    static Type eventType();
			
 
				+
			
 
				+    int m_requestCode;
			
 
				+    int m_resultCode;
			
 
				+    QVariant m_msg;
			
 
				+
			
 
				+
			
 
				+private:
			
 
				+    static Type m_evType;
			
 
				+};
			
 
				+
			
 
				+//void onFileManager(JNIEnv *env, jobject thiz,int result, jobjectArray fileUrl);
			
 
				+bool registerNativeMethods();
			
 
				+
			
 
				+#endif // SIMPLECUSTOMEVENT_H
			
--- a/src/tool/map_lanetoxodr/xodrfunc.cpp
+++ b/src/tool/map_lanetoxodr/xodrfunc.cpp
@@ -601,6 +601,7 @@ std::vector<iv::LanePoint> xodrfunc::GetAllLanePoint(Road *pRoad,  const double
 
				     int nLSCount = pRoad->GetLaneSectionCount();
			
 
				     double s_section = 0;
			
 
				 
			
 
				+
			
 
				     std::vector<iv::LanePoint> xvectorlanepoint;
			
 
				     for(i=0;i<nLSCount;i++)
			
 
				     {
			
@@ -627,7 +628,7 @@ std::vector<iv::LanePoint> xodrfunc::GetAllLanePoint(Road *pRoad,  const double
 
				             int nlanetype = 2; //driving
			
 
				             int nlanecolor = 0;
			
 
				             int k;
			
 
				-            double s_lane = 0;
			
 
				+            double s_lane = s-s_section;
			
 
				             for(k=0;k<pLane->GetLaneRoadMarkCount();k++)
			
 
				             {
			
 
				                  LaneRoadMark * plrm = pLane->GetLaneRoadMark(k);
			
@@ -638,6 +639,13 @@ std::vector<iv::LanePoint> xodrfunc::GetAllLanePoint(Road *pRoad,  const double
 
				                          continue;
			
 
				                      }
			
 
				                  }
			
 
				+                 else
			
 
				+                 {
			
 
				+                     if(s_lane<plrm->GetS())
			
 
				+                     {
			
 
				+                         continue;
			
 
				+                     }
			
 
				+                 }
			
 
				                  if(plrm->GetType() == "solid")
			
 
				                  {
			
 
				                      nlanemarktype = 0;
			
--- a/src/tool/map_lanetoxodr/xodrscenfunc.cpp
+++ b/src/tool/map_lanetoxodr/xodrscenfunc.cpp
@@ -0,0 +1,226 @@
 
				+#include "xodrscenfunc.h"
			
 
				+
			
 
				+xodrscenfunc::xodrscenfunc()
			
 
				+{
			
 
				+
			
 
				+}
			
 
				+
			
 
				+std::vector<QGraphicsPathItem *> xodrscenfunc::GetRoadLaneItem(RoadDigit *prd)
			
 
				+{
			
 
				+    std::vector<QGraphicsPathItem *> xvectorgrapath;
			
 
				+    std::vector<iv::RoadDigitUnit> * pvectorrdu =  prd->GetRDU();
			
 
				+    int nsize = pvectorrdu->size();
			
 
				+    int i;
			
 
				+    for(i=0;i<(nsize-1);i++)
			
 
				+    {
			
 
				+        std::vector<iv::LanePoint> xvepre = pvectorrdu->at(i).mvectorLanePoint;
			
 
				+        std::vector<iv::LanePoint> xvenxt = pvectorrdu->at(i+1).mvectorLanePoint;
			
 
				+        if((xvepre.size()<2)||(xvenxt.size()<2)||(xvenxt.size() != xvepre.size()))
			
 
				+        {
			
 
				+            continue;
			
 
				+        }
			
 
				+        unsigned int k;
			
 
				+        for(k=0;k<(xvepre.size()-1);k++)
			
 
				+        {
			
 
				+            QPainterPath xpath;
			
 
				+            xpath.moveTo(xvepre.at(k).mfX,xvepre.at(k).mfY*(-1));
			
 
				+            xpath.lineTo(xvenxt.at(k).mfX,xvenxt.at(k).mfY*(-1));
			
 
				+            xpath.lineTo(xvenxt.at(k+1).mfX,xvenxt.at(k+1).mfY*(-1));
			
 
				+            xpath.lineTo(xvepre.at(k+1).mfX,xvepre.at(k+1).mfY*(-1));
			
 
				+            xpath.closeSubpath();
			
 
				+            QGraphicsPathItem * pitem = new QGraphicsPathItem;
			
 
				+            pitem->setPath(xpath);
			
 
				+//            pitem->setPos(mfViewMoveX +VIEW_WIDTH/2,-mfViewMoveY+VIEW_HEIGHT/2);
			
 
				+            int nlanetype = xvepre.at(k).mnlanetype;
			
 
				+            if(xvepre.at(k).mnlane<=0)nlanetype = xvepre.at(k+1).mnlanetype;
			
 
				+            QColor brushcolor = Qt::darkGray;
			
 
				+            switch (nlanetype) {
			
 
				+            case 2:
			
 
				+                brushcolor = Qt::darkGray;
			
 
				+                break;
			
 
				+            case 8:
			
 
				+                brushcolor = Qt::red;
			
 
				+                break;
			
 
				+            case 9:
			
 
				+                brushcolor = QColor(0xB2,0xB2,0xD6);
			
 
				+                break;
			
 
				+            default:
			
 
				+                brushcolor = Qt::darkGreen;
			
 
				+                break;
			
 
				+            }
			
 
				+            pitem->setBrush(brushcolor);
			
 
				+            pitem->setPen(QPen(brushcolor,0.001));
			
 
				+  //          mpscene->addItem(pitem);
			
 
				+            xvectorgrapath.push_back(pitem);
			
 
				+        }
			
 
				+    }
			
 
				+
			
 
				+    return xvectorgrapath;
			
 
				+
			
 
				+
			
 
				+}
			
 
				+
			
 
				+std::vector<QGraphicsPathItem *> xodrscenfunc::GetRoadMarkItem(RoadDigit *prd)
			
 
				+{
			
 
				+    std::vector<QGraphicsPathItem *> xvectorgrapath;
			
 
				+    std::vector<iv::RoadDigitUnit> * pvectorrdu =  prd->GetRDU();
			
 
				+    int nsize = pvectorrdu->size();
			
 
				+    int i;
			
 
				+    double flmw = 0.15;
			
 
				+
			
 
				+    for(i=0;i<(nsize-1);i++)
			
 
				+    {
			
 
				+        std::vector<iv::LanePoint> xvepre = pvectorrdu->at(i).mvectorLanePoint;
			
 
				+        std::vector<iv::LanePoint> xvenxt = pvectorrdu->at(i+1).mvectorLanePoint;
			
 
				+        if(xvenxt.size() != xvepre.size())
			
 
				+        {
			
 
				+            continue;
			
 
				+        }
			
 
				+        unsigned int k;
			
 
				+        int noldmarktype = -1;
			
 
				+        double foldx1,foldy1,foldx2,foldy2;
			
 
				+//        double foldx1_2,foldy1_2,foldx2_2,foldy2_2;
			
 
				+        double fx1,fx2,fx3,fx4,fy1,fy2,fy3,fy4;
			
 
				+        for(k=0;k<(xvepre.size());k++)
			
 
				+        {
			
 
				+            QPainterPath xpath;
			
 
				+            int ncolor = -3;
			
 
				+            int nmarktype = xvepre[k].mnlanemarktype;
			
 
				+            if(nmarktype >= 0)
			
 
				+            {
			
 
				+                if(nmarktype<2)
			
 
				+                {
			
 
				+                    if((nmarktype == 0)||(IsDrawMark(xvepre[k].mS)))
			
 
				+                    {
			
 
				+                        fx1 = xvepre[k].mfX + 0.5*flmw * cos(xvepre[k].mfhdg - M_PI/2.0);
			
 
				+                        fy1 = (xvepre[k].mfY+0.5*flmw * sin(xvepre[k].mfhdg - M_PI/2.0))*(-1.0);
			
 
				+                        fx2 = xvenxt[k].mfX+ 0.5*flmw * cos(xvenxt[k].mfhdg - M_PI/2.0);
			
 
				+                        fy2 = (xvenxt[k].mfY+0.5*flmw * sin(xvenxt[k].mfhdg - M_PI/2.0))*(-1.0);
			
 
				+                        fx3 = xvenxt[k].mfX + 0.5*flmw * cos(xvenxt[k].mfhdg + M_PI/2.0);
			
 
				+                        fy3 = (xvenxt[k].mfY+0.5*flmw * sin(xvenxt[k].mfhdg + M_PI/2.0))*(-1.0);
			
 
				+                        fx4 = xvepre[k].mfX+ 0.5*flmw * cos(xvepre[k].mfhdg + M_PI/2.0);
			
 
				+                        fy4 = (xvepre[k].mfY+0.5*flmw * sin(xvepre[k].mfhdg + M_PI/2.0))*(-1.0);
			
 
				+                        if(noldmarktype != nmarktype)
			
 
				+                        {
			
 
				+                        xpath.moveTo(fx1,fy1);
			
 
				+                        xpath.lineTo(fx2,fy2);
			
 
				+                        xpath.lineTo(fx3,fy3);
			
 
				+                        xpath.lineTo(fx4,fy4);
			
 
				+                        xpath.closeSubpath();
			
 
				+                        }
			
 
				+                        else
			
 
				+                        {
			
 
				+                            xpath.moveTo(foldx1,foldy1);
			
 
				+                            xpath.lineTo(fx2,fy2);
			
 
				+                            xpath.lineTo(fx3,fy3);
			
 
				+                            xpath.lineTo(foldx2,foldy2);
			
 
				+                            xpath.closeSubpath();
			
 
				+                            foldx1 = fx2;
			
 
				+                            foldy1 = fy2;
			
 
				+                            foldx2 = fx3;
			
 
				+                            foldy2 = fy3;
			
 
				+                            noldmarktype = nmarktype;
			
 
				+                        }
			
 
				+                        ncolor = xvepre[k].mnlanecolor;
			
 
				+
			
 
				+
			
 
				+                    }
			
 
				+                }
			
 
				+                else
			
 
				+                {
			
 
				+                    if((nmarktype == 2)||(nmarktype == 3)||(IsDrawMark(xvepre[k].mS)))
			
 
				+                    {
			
 
				+                        xpath.moveTo(xvepre[k].mfX + flmw * cos(xvenxt[k].mfhdg + M_PI/2.0),
			
 
				+                                     (xvepre[k].mfY+flmw * sin(xvenxt[k].mfhdg + M_PI/2.0))*(-1.0));
			
 
				+                        xpath.lineTo(xvenxt[k].mfX+ flmw * cos(xvepre[k].mfhdg + M_PI/2.0),
			
 
				+                                     (xvenxt[k].mfY+flmw * sin(xvepre[k].mfhdg + M_PI/2.0))*(-1.0));
			
 
				+
			
 
				+                        xpath.lineTo(xvenxt[k].mfX + 2*flmw * cos(xvenxt[k].mfhdg + M_PI/2.0),
			
 
				+                                     (xvenxt[k].mfY+2*flmw * sin(xvenxt[k].mfhdg + M_PI/2.0))*(-1.0));
			
 
				+                        xpath.lineTo(xvepre[k].mfX+ 2*flmw * cos(xvepre[k].mfhdg + M_PI/2.0),
			
 
				+                                     (xvepre[k].mfY+2*flmw * sin(xvepre[k].mfhdg + M_PI/2.0))*(-1.0));
			
 
				+                        xpath.closeSubpath();
			
 
				+                        ncolor = xvepre[k].mnlanecolor;
			
 
				+                    }
			
 
				+                    if((nmarktype == 2)||(nmarktype == 4)||(IsDrawMark(xvepre[k].mS)))
			
 
				+                    {
			
 
				+                        xpath.moveTo(xvepre[k].mfX + flmw * cos(xvenxt[k].mfhdg - M_PI/2.0),
			
 
				+                                     (xvepre[k].mfY+flmw * sin(xvenxt[k].mfhdg - M_PI/2.0))*(-1.0));
			
 
				+                        xpath.lineTo(xvenxt[k].mfX+ flmw * cos(xvepre[k].mfhdg - M_PI/2.0),
			
 
				+                                     (xvenxt[k].mfY+flmw * sin(xvepre[k].mfhdg - M_PI/2.0))*(-1.0));
			
 
				+
			
 
				+                        xpath.lineTo(xvenxt[k].mfX + 2*flmw * cos(xvenxt[k].mfhdg - M_PI/2.0),
			
 
				+                                     (xvenxt[k].mfY+2*flmw * sin(xvenxt[k].mfhdg - M_PI/2.0))*(-1.0));
			
 
				+                        xpath.lineTo(xvepre[k].mfX+ 2*flmw * cos(xvepre[k].mfhdg - M_PI/2.0),
			
 
				+                                     (xvepre[k].mfY+2*flmw * sin(xvepre[k].mfhdg - M_PI/2.0))*(-1.0));
			
 
				+                        xpath.closeSubpath();
			
 
				+                        ncolor = xvepre[k].mnlanecolor;
			
 
				+                    }
			
 
				+
			
 
				+                }
			
 
				+            }
			
 
				+
			
 
				+            if(ncolor != -3)
			
 
				+            {
			
 
				+                QGraphicsPathItem * pitem = new QGraphicsPathItem;
			
 
				+                pitem->setPath(xpath);
			
 
				+                QColor brushcolor;
			
 
				+                switch (ncolor) {
			
 
				+                case 0:
			
 
				+                    brushcolor = Qt::white;
			
 
				+                    break;
			
 
				+                case 1:
			
 
				+                    brushcolor = Qt::blue;
			
 
				+                    break;
			
 
				+                case 2:
			
 
				+                    brushcolor = Qt::green;
			
 
				+                    break;
			
 
				+                case 3:
			
 
				+                    brushcolor = Qt::red;
			
 
				+                    break;
			
 
				+                case 4:
			
 
				+                    brushcolor = Qt::white;
			
 
				+                    break;
			
 
				+                case 5:
			
 
				+                    brushcolor = Qt::yellow;
			
 
				+                    break;
			
 
				+                case 6:
			
 
				+                    brushcolor = Qt::yellow; //orange use yellow replace
			
 
				+                    break;
			
 
				+                default:
			
 
				+                    brushcolor = Qt::white;
			
 
				+                    break;
			
 
				+                }
			
 
				+                pitem->setBrush(brushcolor);
			
 
				+                pitem->setPen(QPen(brushcolor,0.001));
			
 
				+//                pitem->setPos(mfViewMoveX + VIEW_WIDTH/2,-mfViewMoveY +VIEW_HEIGHT/2);
			
 
				+//                mpscene->addItem(pitem);
			
 
				+                xvectorgrapath.push_back(pitem);
			
 
				+            }
			
 
				+            else
			
 
				+            {
			
 
				+                noldmarktype = -1;
			
 
				+            }
			
 
				+
			
 
				+
			
 
				+        }
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+    return xvectorgrapath;
			
 
				+
			
 
				+
			
 
				+}
			
 
				+
			
 
				+bool xodrscenfunc::IsDrawMark(double s)
			
 
				+{
			
 
				+    const double dotdis = 10.0;
			
 
				+    const double dotlen = 5.0;
			
 
				+
			
 
				+    double  y = fmod(s,dotdis);
			
 
				+    if(y>dotlen)return true;
			
 
				+    else
			
 
				+    {
			
 
				+        return false;
			
 
				+    }
			
 
				+}
			
--- a/src/tool/map_lanetoxodr/xodrscenfunc.h
+++ b/src/tool/map_lanetoxodr/xodrscenfunc.h
@@ -0,0 +1,26 @@
 
				+#ifndef XODRSCENFUNC_H
			
 
				+#define XODRSCENFUNC_H
			
 
				+
			
 
				+#include <QGraphicsScene>
			
 
				+
			
 
				+#include <QGraphicsPathItem>
			
 
				+
			
 
				+#include "xodrmake.h"
			
 
				+
			
 
				+#include "roaddigit.h"
			
 
				+
			
 
				+
			
 
				+class xodrscenfunc
			
 
				+{
			
 
				+public:
			
 
				+    xodrscenfunc();
			
 
				+
			
 
				+public:
			
 
				+    static std::vector<QGraphicsPathItem *> GetRoadLaneItem(RoadDigit * prd);
			
 
				+    static std::vector<QGraphicsPathItem *> GetRoadMarkItem(RoadDigit * prd);
			
 
				+
			
 
				+public:
			
 
				+    static bool IsDrawMark(double s);
			
 
				+};
			
 
				+
			
 
				+#endif // XODRSCENFUNC_H
			
--- a/src/tool/map_lanetoxodr/xvmainwindow.cpp
+++ b/src/tool/map_lanetoxodr/xvmainwindow.cpp
@@ -0,0 +1,315 @@
 
				+#include "xvmainwindow.h"
			
 
				+#include "ui_xvmainwindow.h"
			
 
				+
			
 
				+#include <QMessageBox>
			
 
				+#include <QFileDialog>
			
 
				+
			
 
				+#include <string.h>
			
 
				+
			
 
				+#include "xodrfunc.h"
			
 
				+#include "roaddigit.h"
			
 
				+#include "xodrscenfunc.h"
			
 
				+
			
 
				+#define VIEW_WIDTH 2000
			
 
				+#define VIEW_HEIGHT 2000
			
 
				+
			
 
				+static bool IsNaN(double dat)
			
 
				+{
			
 
				+ qint64 & ref=*(qint64 *)&dat;
			
 
				+ return (ref&0x7FF0000000000000) == 0x7FF0000000000000 && (ref&0xfffffffffffff)!=0;
			
 
				+}
			
 
				+
			
 
				+
			
 
				+XVMainWindow::XVMainWindow(QWidget *parent) :
			
 
				+    QMainWindow(parent),
			
 
				+    ui(new Ui::XVMainWindow)
			
 
				+{
			
 
				+    ui->setupUi(this);
			
 
				+
			
 
				+    myview = new MyView(this);
			
 
				+    myview->setObjectName(QStringLiteral("graphicsView"));
			
 
				+    myview->setGeometry(QRect(30, 30, 600, 600));
			
 
				+
			
 
				+    connect(myview,SIGNAL(dbclickxy(double,double)),this,SLOT(onClickXY(double,double)));
			
 
				+
			
 
				+
			
 
				+    myview->setCacheMode(myview->CacheBackground);
			
 
				+
			
 
				+    mpscene = new  QGraphicsScene(0,0,VIEW_WIDTH,VIEW_HEIGHT);
			
 
				+    mpscene->setBackgroundBrush(Qt::darkGreen);
			
 
				+
			
 
				+    myview->setScene(mpscene);
			
 
				+
			
 
				+    connect(&mFileDialog,SIGNAL(accepted()),this,SLOT(onFileOpen()));
			
 
				+
			
 
				+    setWindowTitle("ADC OpenDrive Viewer");
			
 
				+}
			
 
				+
			
 
				+XVMainWindow::~XVMainWindow()
			
 
				+{
			
 
				+    delete ui;
			
 
				+}
			
 
				+
			
 
				+void XVMainWindow::resizeEvent(QResizeEvent *event)
			
 
				+{
			
 
				+    qDebug("resize");
			
 
				+    QSize sizemain = ui->centralwidget->size();
			
 
				+    qDebug("size x = %d y=%d",sizemain.width(),sizemain.height());
			
 
				+    myview->setGeometry(0,30,sizemain.width(),sizemain.height()-30);
			
 
				+}
			
 
				+
			
 
				+void XVMainWindow::on_actionLoad_triggered()
			
 
				+{
			
 
				+
			
 
				+    if(mxodr.GetRoadCount() > 0)
			
 
				+    {
			
 
				+        QMessageBox::StandardButton button;
			
 
				+        char strquest[256];
			
 
				+        snprintf(strquest,256,"Do you Want to Load New File ?");
			
 
				+        button=QMessageBox::question(this,"Move",strquest,QMessageBox::Yes|QMessageBox::No);
			
 
				+        if(button==QMessageBox::No)
			
 
				+        {
			
 
				+            return;
			
 
				+        }
			
 
				+        else if(button==QMessageBox::Yes)
			
 
				+        {
			
 
				+
			
 
				+        }
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+#ifndef ANDROID
			
 
				+    QString strpath = QFileDialog::getOpenFileName(this,"Load XODR",".","*.xodr");
			
 
				+    if(strpath.isEmpty())return;
			
 
				+    LoadXODR(strpath);
			
 
				+    UpdateScene();
			
 
				+#else
			
 
				+//    QMessageBox::warning(this,"warning","no file dialog.",QMessageBox::YesAll);
			
 
				+//    QString strpath = "/storage/emulated/0/map.xodr";
			
 
				+    mFileDialog.open();
			
 
				+
			
 
				+#endif
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void XVMainWindow::LoadXODR(QString strpath)
			
 
				+{
			
 
				+    mxodr.Clear();
			
 
				+    OpenDrive * pxodr = &mxodr;  //because add to xodr,so don't delete
			
 
				+    OpenDriveXmlParser x(pxodr);
			
 
				+    if(!x.ReadFile(strpath.toStdString()))
			
 
				+    {
			
 
				+        QMessageBox::warning(this,"warn","Can't  load xodr file.");
			
 
				+        return;
			
 
				+    }
			
 
				+
			
 
				+    int nroadnum = pxodr->GetRoadCount();
			
 
				+    int i;
			
 
				+    double froadlen = 0;
			
 
				+    for(i=0;i<nroadnum;i++)
			
 
				+    {
			
 
				+        Road * pRoad = pxodr->GetRoad(i);
			
 
				+        if(IsNaN(pRoad->GetRoadLength()))
			
 
				+        {
			
 
				+            pxodr->DeleteRoad(i);
			
 
				+            i--;
			
 
				+            nroadnum--;
			
 
				+            qDebug("delete road %s because length is NaN",pRoad->GetRoadId().data());
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            froadlen = froadlen + pRoad->GetRoadLength();
			
 
				+        }
			
 
				+    }
			
 
				+
			
 
				+    char strout[256];
			
 
				+    snprintf(strout,256,"Road count is %d. Total Len is %f",mxodr.GetRoadCount(),froadlen);
			
 
				+    QMessageBox::information(this,"Info",strout,QMessageBox::YesAll);
			
 
				+}
			
 
				+
			
 
				+void XVMainWindow::UpdateScene()
			
 
				+{
			
 
				+    int i;
			
 
				+    int nsize = mvectorviewitem.size();
			
 
				+    for(i=0;i<nsize;i++)
			
 
				+    {
			
 
				+        mpscene->removeItem(mvectorviewitem.at(i));
			
 
				+        delete mvectorviewitem.at(i);
			
 
				+    }
			
 
				+    mvectorviewitem.clear();
			
 
				+
			
 
				+    nsize = mxodr.GetRoadCount();
			
 
				+
			
 
				+    std::vector<RoadDigit> xvectorrd;
			
 
				+    for(i=0;i<nsize;i++)
			
 
				+    {
			
 
				+        RoadDigit xrd(mxodr.GetRoad(i),10.0);
			
 
				+        xvectorrd.push_back(xrd);
			
 
				+    }
			
 
				+    for(i=0;i<nsize;i++)
			
 
				+    {
			
 
				+        std::vector<QGraphicsPathItem *> xvectorlanepath = xodrscenfunc::GetRoadLaneItem(&(xvectorrd[i]));
			
 
				+        int j;
			
 
				+        int ncount = xvectorlanepath.size();
			
 
				+        for(j=0;j<ncount;j++)
			
 
				+        {
			
 
				+            QGraphicsPathItem * pitem = xvectorlanepath[j];
			
 
				+            pitem->setPos(mfViewMoveX +VIEW_WIDTH/2,-mfViewMoveY+VIEW_HEIGHT/2);
			
 
				+            mpscene->addItem(pitem);
			
 
				+            mvectorviewitem.push_back(pitem);
			
 
				+        }
			
 
				+    }
			
 
				+
			
 
				+    for(i=0;i<nsize;i++)
			
 
				+    {
			
 
				+        std::vector<QGraphicsPathItem *> xvectormarkpath = xodrscenfunc::GetRoadMarkItem(&(xvectorrd[i]));
			
 
				+        int j;
			
 
				+        int ncount = xvectormarkpath.size();
			
 
				+        for(j=0;j<ncount;j++)
			
 
				+        {
			
 
				+            QGraphicsPathItem * pitem = xvectormarkpath[j];
			
 
				+            pitem->setPos(mfViewMoveX +VIEW_WIDTH/2,-mfViewMoveY+VIEW_HEIGHT/2);
			
 
				+            mpscene->addItem(pitem);
			
 
				+            mvectorviewitem.push_back(pitem);
			
 
				+        }
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+
			
 
				+void XVMainWindow::on_actionZoom_In_triggered()
			
 
				+{
			
 
				+    myview->zoomIn();
			
 
				+}
			
 
				+
			
 
				+void XVMainWindow::on_actionZoom_Out_triggered()
			
 
				+{
			
 
				+    myview->zoomOut();
			
 
				+}
			
 
				+
			
 
				+void XVMainWindow::on_actionZoom_One_triggered()
			
 
				+{
			
 
				+    myview->zoomone();
			
 
				+}
			
 
				+
			
 
				+void XVMainWindow::onClickXY(double x, double y)
			
 
				+{
			
 
				+    double selx,sely;
			
 
				+    double lon,lat;
			
 
				+    selx = (x - VIEW_WIDTH/2);
			
 
				+    sely = (y - VIEW_HEIGHT/2) * (-1);
			
 
				+
			
 
				+    mfselx = selx;
			
 
				+    mfsely = sely;
			
 
				+
			
 
				+//    double x0,y0;
			
 
				+//    GaussProjCal(glon0,glat0,&x0,&y0);
			
 
				+//    GaussProjInvCal(x0+selx,y0+sely,&lon,&lat);
			
 
				+
			
 
				+    double rel_x,rel_y;
			
 
				+    rel_x = selx - mfViewMoveX;
			
 
				+    rel_y = sely - mfViewMoveY;
			
 
				+
			
 
				+    Road * pRoad = 0;
			
 
				+    GeometryBlock * pgeob;
			
 
				+    double fdis,nearx,neary,hdg;
			
 
				+    double fs;
			
 
				+    int nlane;
			
 
				+    if(xodrfunc::GetNearPoint(rel_x,rel_y,&mxodr,&pRoad,&pgeob,fdis,nearx,neary,hdg,50,&fs,&nlane) == 0)
			
 
				+    {
			
 
				+        qDebug("s:%f dis is %f nlane is %d",fs,fdis,nlane);
			
 
				+        char strout[1000];
			
 
				+        snprintf(strout,1000,"Road:%s s:%f dis:%f nlane:%d",pRoad->GetRoadId().data(),fs,fdis,nlane);
			
 
				+ //       mpLabel_Status->setText(strout);
			
 
				+        ui->statusbar->showMessage(strout,10000);
			
 
				+
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        char strout[1000];
			
 
				+        snprintf(strout,1000,"Click x:%f y:%f",rel_x,rel_y);
			
 
				+        ui->statusbar->showMessage(strout,10000);
			
 
				+        qDebug("not found near road.");
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void XVMainWindow::on_actionSet_Move_triggered()
			
 
				+{
			
 
				+    QMessageBox::StandardButton button;
			
 
				+    char strquest[256];
			
 
				+    snprintf(strquest,256,"Want to Move Center to x:%f y:%f ?",-(mfViewMoveX - mfselx),-(mfViewMoveY-mfsely));
			
 
				+    button=QMessageBox::question(this,"Move",strquest,QMessageBox::Yes|QMessageBox::No);
			
 
				+    if(button==QMessageBox::No)
			
 
				+    {
			
 
				+        return;
			
 
				+    }
			
 
				+    else if(button==QMessageBox::Yes)
			
 
				+    {
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+    mfViewMoveX = mfViewMoveX - mfselx;
			
 
				+    mfViewMoveY = mfViewMoveY - mfsely;
			
 
				+
			
 
				+    int nsize = mvectorviewitem.size();
			
 
				+    int i;
			
 
				+    for(i=0;i<nsize;i++)
			
 
				+    {
			
 
				+        mpscene->removeItem(mvectorviewitem.at(i));
			
 
				+    }
			
 
				+    for(i=0;i<nsize;i++)
			
 
				+    {
			
 
				+        mvectorviewitem.at(i)->setPos(mfViewMoveX +VIEW_WIDTH/2,-mfViewMoveY+VIEW_HEIGHT/2);
			
 
				+        mpscene->addItem(mvectorviewitem.at(i));
			
 
				+    }
			
 
				+
			
 
				+    myview->zoomIn();
			
 
				+    myview->zoomOut();
			
 
				+}
			
 
				+
			
 
				+void XVMainWindow::on_actionReset_Move_triggered()
			
 
				+{
			
 
				+    mfViewMoveX = 0;
			
 
				+    mfViewMoveY = 0;
			
 
				+    int nsize = mvectorviewitem.size();
			
 
				+    int i;
			
 
				+
			
 
				+    for(i=0;i<nsize;i++)
			
 
				+    {
			
 
				+        mpscene->removeItem(mvectorviewitem.at(i));
			
 
				+    }
			
 
				+
			
 
				+    for(i=0;i<nsize;i++)
			
 
				+    {
			
 
				+        mvectorviewitem.at(i)->setPos(mfViewMoveX +VIEW_WIDTH/2,-mfViewMoveY+VIEW_HEIGHT/2);
			
 
				+        mpscene->addItem(mvectorviewitem.at(i));
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+    myview->zoomIn();
			
 
				+    myview->zoomOut();
			
 
				+}
			
 
				+
			
 
				+void XVMainWindow::paintEvent(QPaintEvent * event)
			
 
				+{
			
 
				+    if(mbRefresh)
			
 
				+    {
			
 
				+        myview->setScene(mpscene);
			
 
				+        mbRefresh = false;
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void XVMainWindow::onFileOpen()
			
 
				+{
			
 
				+    QString strpath = mFileDialog.currentFile();
			
 
				+    if(strpath.isEmpty())return;
			
 
				+    LoadXODR(strpath);
			
 
				+    UpdateScene();
			
 
				+}
			
 
				+
			
 
				+void XVMainWindow::on_actionHelp_triggered()
			
 
				+{
			
 
				+    QString helpinfo = tr("Load:加载文件（后缀名为.xodr）\nZoom In:放大\nZomm Out:缩小\nZoom One:恢复默认视图\nSet Move:移动显示中心\n"
			
 
				+                          "Reset Move:恢复默认显示中心\n\ntips: 在屏幕上双击选择道路（查看道路id)或者选择点（用来移动中心点 \n      "
			
 
				+                          "在屏幕上可以移动查看区域");
			
 
				+    QMessageBox::information(this,"Help",helpinfo,QMessageBox::Yes);
			
 
				+}
			
--- a/src/tool/map_lanetoxodr/xvmainwindow.h
+++ b/src/tool/map_lanetoxodr/xvmainwindow.h
@@ -0,0 +1,81 @@
 
				+#ifndef XVMAINWINDOW_H
			
 
				+#define XVMAINWINDOW_H
			
 
				+
			
 
				+#include <QMainWindow>
			
 
				+
			
 
				+#include "myview.h"
			
 
				+
			
 
				+#include <QGraphicsScene>
			
 
				+
			
 
				+#include "OpenDrive/OpenDrive.h"
			
 
				+#include "OpenDrive/OpenDriveXmlWriter.h"
			
 
				+
			
 
				+#include "OpenDrive/OpenDriveXmlParser.h"
			
 
				+
			
 
				+#include "filedialogextern.h"
			
 
				+#ifdef ANDROID
			
 
				+#include "simpleCustomEvent.h"
			
 
				+#endif
			
 
				+
			
 
				+namespace Ui {
			
 
				+class XVMainWindow;
			
 
				+}
			
 
				+
			
 
				+class XVMainWindow : public QMainWindow
			
 
				+{
			
 
				+    Q_OBJECT
			
 
				+
			
 
				+public:
			
 
				+    explicit XVMainWindow(QWidget *parent = nullptr);
			
 
				+    ~XVMainWindow();
			
 
				+
			
 
				+private slots:
			
 
				+    void on_actionLoad_triggered();
			
 
				+
			
 
				+    void on_actionZoom_In_triggered();
			
 
				+
			
 
				+    void on_actionZoom_Out_triggered();
			
 
				+
			
 
				+    void on_actionZoom_One_triggered();
			
 
				+
			
 
				+    void onClickXY(double x, double y);
			
 
				+
			
 
				+    void on_actionSet_Move_triggered();
			
 
				+
			
 
				+    void on_actionReset_Move_triggered();
			
 
				+
			
 
				+    void onFileOpen();
			
 
				+
			
 
				+public:
			
 
				+     void resizeEvent(QResizeEvent *event);
			
 
				+
			
 
				+private slots:
			
 
				+    virtual void paintEvent(QPaintEvent *);
			
 
				+
			
 
				+     void on_actionHelp_triggered();
			
 
				+
			
 
				+private:
			
 
				+     void LoadXODR(QString strpath);
			
 
				+     void UpdateScene();
			
 
				+
			
 
				+private:
			
 
				+    Ui::XVMainWindow *ui;
			
 
				+    MyView *myview;
			
 
				+    QGraphicsScene * mpscene;
			
 
				+
			
 
				+    std::vector<QGraphicsPathItem *> mvectorviewitem;
			
 
				+
			
 
				+private:
			
 
				+    OpenDrive mxodr;
			
 
				+    double mfViewMoveX = 0;
			
 
				+    double mfViewMoveY = 0;
			
 
				+
			
 
				+    double mfselx = 0;
			
 
				+    double mfsely = 0;
			
 
				+
			
 
				+    bool mbRefresh = false;
			
 
				+
			
 
				+    FileDialogExtern mFileDialog;
			
 
				+};
			
 
				+
			
 
				+#endif // XVMAINWINDOW_H
			
--- a/src/tool/map_lanetoxodr/xvmainwindow.ui
+++ b/src/tool/map_lanetoxodr/xvmainwindow.ui
@@ -0,0 +1,79 @@
 
				+<?xml version="1.0" encoding="UTF-8"?>
			
 
				+<ui version="4.0">
			
 
				+ <class>XVMainWindow</class>
			
 
				+ <widget class="QMainWindow" name="XVMainWindow">
			
 
				+  <property name="geometry">
			
 
				+   <rect>
			
 
				+    <x>0</x>
			
 
				+    <y>0</y>
			
 
				+    <width>800</width>
			
 
				+    <height>600</height>
			
 
				+   </rect>
			
 
				+  </property>
			
 
				+  <property name="windowTitle">
			
 
				+   <string>MainWindow</string>
			
 
				+  </property>
			
 
				+  <widget class="QWidget" name="centralwidget"/>
			
 
				+  <widget class="QMenuBar" name="menubar">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>0</x>
			
 
				+     <y>0</y>
			
 
				+     <width>800</width>
			
 
				+     <height>28</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+   <widget class="QMenu" name="menuFile">
			
 
				+    <property name="title">
			
 
				+     <string>File</string>
			
 
				+    </property>
			
 
				+    <addaction name="actionLoad"/>
			
 
				+    <addaction name="actionZoom_In"/>
			
 
				+    <addaction name="actionZoom_Out"/>
			
 
				+    <addaction name="actionZoom_One"/>
			
 
				+    <addaction name="actionSet_Move"/>
			
 
				+    <addaction name="actionReset_Move"/>
			
 
				+    <addaction name="actionHelp"/>
			
 
				+   </widget>
			
 
				+   <addaction name="menuFile"/>
			
 
				+  </widget>
			
 
				+  <widget class="QStatusBar" name="statusbar"/>
			
 
				+  <action name="actionLoad">
			
 
				+   <property name="text">
			
 
				+    <string>Load</string>
			
 
				+   </property>
			
 
				+  </action>
			
 
				+  <action name="actionZoom_In">
			
 
				+   <property name="text">
			
 
				+    <string>Zoom In</string>
			
 
				+   </property>
			
 
				+  </action>
			
 
				+  <action name="actionZoom_Out">
			
 
				+   <property name="text">
			
 
				+    <string>Zoom Out</string>
			
 
				+   </property>
			
 
				+  </action>
			
 
				+  <action name="actionZoom_One">
			
 
				+   <property name="text">
			
 
				+    <string>Zoom One</string>
			
 
				+   </property>
			
 
				+  </action>
			
 
				+  <action name="actionSet_Move">
			
 
				+   <property name="text">
			
 
				+    <string>Set Move</string>
			
 
				+   </property>
			
 
				+  </action>
			
 
				+  <action name="actionReset_Move">
			
 
				+   <property name="text">
			
 
				+    <string>Reset Move</string>
			
 
				+   </property>
			
 
				+  </action>
			
 
				+  <action name="actionHelp">
			
 
				+   <property name="text">
			
 
				+    <string>Help</string>
			
 
				+   </property>
			
 
				+  </action>
			
 
				+ </widget>
			
 
				+ <resources/>
			
 
				+ <connections/>
			
 
				+</ui>
			
--- a/src/ui/ui_ads_hmi/ADCIntelligentVehicle.cpp
+++ b/src/ui/ui_ads_hmi/ADCIntelligentVehicle.cpp
@@ -231,26 +231,40 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
 
				     ServiceCarStatus.lidar_y_offset = atof(xp.GetParam("lidar_y_offset","0").data());
			
 
				 
			
 
				 
			
 
				-
			
 
				     ui->listWidget->setIconSize(QSize(40,40));
			
 
				     ui->stackedWidget->setCurrentIndex(0);
			
 
				 
			
 
				   //  QObject::connect(ui->listWidget,SIGNAL(currentRowChanged(int)),ui->stackedWidget,SLOT(on_listWidget_clicked()));//信号与槽
			
 
				     QObject::connect(ui->listWidget,SIGNAL(currentRowChanged(int)),this,SLOT(on_listWidget_clicked()));//信号与槽
			
 
				 
			
 
				+//    /********************************** 百度地图显示  ********************************/
			
 
				+//    mMapview = new QWebEngineView(ui->stackedWidget->widget(0));
			
 
				+////    qDebug((QDir::currentPath()).toLatin1().data());
			
 
				+//    mMapview->load(QUrl(QString("file:///%1/%2").arg(QApplication::applicationDirPath()).arg("BaiDuMap.html")));
			
 
				+//    mMapview->setGeometry(750,250,400,400);
			
 
				+//    /********************************************************************************/
			
 
				+
			
 
				     ui->listWidget->setCurrentRow(1);    //apollo_fu debug 20200409
			
 
				 
			
 
				     myview = new MyView(ui->stackedWidget->widget(1));
			
 
				     myview->setObjectName(QStringLiteral("graphicsView"));
			
 
				     myview->setGeometry(QRect(0, 100, 900, 900)); //从屏幕上（0，100）位置开始（即为最左上角的点），显示一个900*900的界面（宽900，高900）
			
 
				 
			
 
				+#if 0
			
 
				     myview_small = new MyView(ui->stackedWidget->widget(1));
			
 
				     myview_small->setObjectName(QStringLiteral("graphicsView_small"));
			
 
				     myview_small->setGeometry(QRect(1000,100,500,500));
			
 
				     myview_small->setAlignment(Qt::AlignLeft | Qt::AlignTop);
			
 
				+#endif
			
 
				 //    myview_small->scale(0.7,0.7);
			
 
				     //myview_small->centerOn(-200,-200);
			
 
				 
			
 
				+    /********************************** 百度地图显示  ********************************/
			
 
				+    mMapview = new QWebEngineView(ui->stackedWidget->widget(1));
			
 
				+//    qDebug((QDir::currentPath()).toLatin1().data());
			
 
				+    mMapview->load(QUrl(QString("file:///%1/%2").arg(QApplication::applicationDirPath()).arg("BaiDuMap.html")));
			
 
				+    mMapview->setGeometry(1000,100,500,500);
			
 
				+    /********************************************************************************/
			
 
				 
			
 
				     image = new QImage(900 * 2, 900 * 2, QImage::Format_RGB32);//画布的初始化大小设为600*500，使用32位颜色
			
 
				     //QImage的32、24、8位图。 图像格式:QImage::Format_RGB32 ,QImage::Format_RGB888,QImage::Format_Indexed8。
			
@@ -258,8 +272,9 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
 
				     image_small = new QImage(1800,1800,QImage::Format_RGB32);
			
 
				 
			
 
				     myview->setCacheMode(myview->CacheBackground);
			
 
				+#if 0
			
 
				     myview_small->setCacheMode(myview_small->CacheBackground);
			
 
				-
			
 
				+#endif
			
 
				     painter = new QPainter(image);   //创建QPainter对象
			
 
				     painter_small = new QPainter(image_small);   //创建QPainter对象
			
 
				     scene = new QGraphicsScene;
			
@@ -291,6 +306,10 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
 
				     connect(&mTimerState,SIGNAL(timeout()),this,SLOT(onStateTimer()));//广播发送UDP数据报
			
 
				     mTimerState.start(100);   //定时100ms
			
 
				 
			
 
				+    mTimerStateMap.setTimerType(Qt::PreciseTimer);    //
			
 
				+    connect(&mTimerStateMap,SIGNAL(timeout()),this,SLOT(onStateTimerMap()));//
			
 
				+    mTimerStateMap.start(500);   //定时500ms
			
 
				+
			
 
				     is_show_enable = true;
			
 
				 
			
 
				 #ifdef USE_PAD_CTRL
			
@@ -306,6 +325,8 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
 
				     ModuleFun funplantrace_right = std::bind(&ADCIntelligentVehicle::UpdatePlanTrace_right,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
			
 
				     mpaplantrace_right = iv::modulecomm::RegisterRecvPlus("obstraceright",funplantrace_right);
			
 
				 
			
 
				+    ModuleFun funfusion = std::bind(&ADCIntelligentVehicle::UpdateFusion,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
			
 
				+    mpafusion = iv::modulecomm::RegisterRecvPlus("li_ra_fusion",funfusion);
			
 
				 
			
 
				 
			
 
				     ModuleFun funmap = std::bind(&ADCIntelligentVehicle::UpdateMap,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
			
@@ -752,6 +773,20 @@ void ADCIntelligentVehicle::onStateTimer()
 
				     // multicast, 224.0.0.1~224.0.0.255 is multicast address of LAN
			
 
				 
			
 
				     //   _udp->writeDatagram(str.toUtf8(), QHostAddress("224.0.0.131"), 10002);
			
 
				+
			
 
				+}
			
 
				+void ADCIntelligentVehicle::onStateTimerMap()
			
 
				+{
			
 
				+    /*******************************更新百度地图******************************/
			
 
				+
			
 
				+    double flat = ServiceCarStatus.location->gps_lat;
			
 
				+    double flon = ServiceCarStatus.location->gps_lng;
			
 
				+    double fang = ServiceCarStatus.location->ins_heading_angle;
			
 
				+
			
 
				+    char strscript[256];
			
 
				+    snprintf(strscript,255,"theLocation(%11.7f,%11.7f,%11.7f);",flon,flat,fang);
			
 
				+    mMapview->page()->runJavaScript(strscript);
			
 
				+    /************************************************************************/
			
 
				 }
			
 
				 
			
 
				 /**
			
@@ -922,7 +957,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
 
				         mnTimeLastUpdatePaint = mTime.elapsed();
			
 
				         //       qDebug("enter paint. time is %d",mTime.elapsed());
			
 
				         painter->begin(image);
			
 
				-        painter_small->begin(image_small);
			
 
				+//        painter_small->begin(image_small);
			
 
				 
			
 
				        // image->fill(QColor(60, 60, 60));//对画布进行填充
			
 
				        image->fill(QColor(220, 220, 220));//对画布进行填充
			
@@ -954,7 +989,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
 
				 
			
 
				 
			
 
				         int pointx = 450, pointy = 700;//确定坐标轴起点坐标，这里定义(35,280)
			
 
				-        int pointx_small = 450, pointy_small = 700;
			
 
				+//        int pointx_small = 450, pointy_small = 700;
			
 
				         //        double x0[22000], y0[22000], lng[22000], x1[22000], y1[22000], x2[22000], y2[22000];
			
 
				 
			
 
				                 double * x0, * y0, * lng, * x1, * y1, * x2, * y2;
			
@@ -987,19 +1022,19 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
 
				         //先绘制车位置点及框图
			
 
				         static const QPointF points1[2] = { QPointF(300, 700), QPointF(600, 700) };
			
 
				         static const QPointF points2[2] = { QPointF(450, 0), QPointF(450, 900) };
			
 
				-        static const QPointF points1_small[2] = { QPointF(300, 700), QPointF(600, 700) };
			
 
				-        static const QPointF points2_small[2] = { QPointF(450, 0), QPointF(450, 900) };
			
 
				+//        static const QPointF points1_small[2] = { QPointF(300, 700), QPointF(600, 700) };
			
 
				+//        static const QPointF points2_small[2] = { QPointF(450, 0), QPointF(450, 900) };
			
 
				 
			
 
				         penPoint.setColor(Qt::red);
			
 
				         penPoint.setWidth(2);
			
 
				         painter->setPen(penPoint);
			
 
				-        painter_small->setPen(penPoint);
			
 
				+//        painter_small->setPen(penPoint);
			
 
				         painter->drawPoint(pointx, pointy);
			
 
				-        painter_small->drawPoint(pointx_small,pointy_small);
			
 
				+//        painter_small->drawPoint(pointx_small,pointy_small);
			
 
				         painter->drawPolyline(points1, 2);
			
 
				         painter->drawPolyline(points2, 2);
			
 
				-        painter_small->drawPolyline(points1_small, 2);
			
 
				-        painter_small->drawPolyline(points2_small, 2);
			
 
				+//        painter_small->drawPolyline(points1_small, 2);
			
 
				+//        painter_small->drawPolyline(points2_small, 2);
			
 
				 
			
 
				         //路径点的预处理
			
 
				         for (int i = 0; i < sizeN; i++)
			
@@ -1034,7 +1069,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
 
				         if (ServiceCarStatus.location->gps_x == 0)
			
 
				         {
			
 
				             painter->drawText(rect(), Qt::AlignLeft, QString::fromLocal8Bit("等待车辆实时GPS位置信息"));
			
 
				-            painter_small->drawText(rect(), Qt::AlignLeft, QString::fromLocal8Bit("等待车辆实时GPS位置信息"));
			
 
				+//            painter_small->drawText(rect(), Qt::AlignLeft, QString::fromLocal8Bit("等待车辆实时GPS位置信息"));
			
 
				         }
			
 
				         else
			
 
				         {
			
@@ -1068,8 +1103,8 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
 
				             #endif
			
 
				         }
			
 
				 
			
 
				-        double kx_small = (double)(1200) / (abs(y_max - y_min));//x轴的系数
			
 
				-        double ky_small = (double)(1200) / (abs(y_max - y_min));//y方向的比例系数
			
 
				+//        double kx_small = (double)(1200) / (abs(y_max - y_min));//x轴的系数
			
 
				+//        double ky_small = (double)(1200) / (abs(y_max - y_min));//y方向的比例系数
			
 
				 
			
 
				         double kx = 10;
			
 
				         double ky = 10;
			
@@ -1085,22 +1120,22 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
 
				         for (int i = 1; i < sizeN - 1; i++)
			
 
				         {
			
 
				             painter->setPen(penPoint);//蓝色的笔，用于标记各个点
			
 
				-            painter_small->setPen(penPoint);//蓝色的笔，用于标记各个点
			
 
				+//            painter_small->setPen(penPoint);//蓝色的笔，用于标记各个点
			
 
				             painter->drawPoint(pointx + x0[i] * kx, pointy - y0[i] * ky);
			
 
				-            painter_small->drawPoint(pointx_small + x0[i] * kx_small, pointy_small - y0[i] * ky_small);
			
 
				+//            painter_small->drawPoint(pointx_small + x0[i] * kx_small, pointy_small - y0[i] * ky_small);
			
 
				             painter->drawPoint(pointx + x1[i] * kx, pointy - y1[i] * ky);
			
 
				-            painter_small->drawPoint(pointx_small + x1[i] * kx_small, pointy_small - y1[i] * ky_small);
			
 
				+//            painter_small->drawPoint(pointx_small + x1[i] * kx_small, pointy_small - y1[i] * ky_small);
			
 
				             painter->drawPoint(pointx + x2[i] * kx, pointy - y2[i] * ky);
			
 
				-            painter_small->drawPoint(pointx_small + x2[i] * kx_small, pointy_small - y2[i] * ky_small);
			
 
				+//            painter_small->drawPoint(pointx_small + x2[i] * kx_small, pointy_small - y2[i] * ky_small);
			
 
				         }
			
 
				         painter->drawPoint(pointx + x0[sizeN - 1] * kx, pointy - y0[sizeN - 1] * ky);//绘制最后一个点
			
 
				-        painter_small->drawPoint(pointx_small + x0[sizeN - 1] * kx_small, pointy_small - y0[sizeN - 1] * ky_small);//绘制最后一个点
			
 
				+//        painter_small->drawPoint(pointx_small + x0[sizeN - 1] * kx_small, pointy_small - y0[sizeN - 1] * ky_small);//绘制最后一个点
			
 
				 
			
 
				         penPoint.setColor(Qt::red);
			
 
				         penPoint.setWidth(2);
			
 
				 
			
 
				         painter->drawPoint(pointx + x0[0] * kx, pointy - y0[0] * ky);
			
 
				-        painter_small->drawPoint(pointx_small + x0[0] * kx_small, pointy_small - y0[0] * ky_small);
			
 
				+//        painter_small->drawPoint(pointx_small + x0[0] * kx_small, pointy_small - y0[0] * ky_small);
			
 
				 
			
 
				 #if 0
			
 
				         // draw plan trace
			
@@ -1158,7 +1193,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
 
				         //pix.load("car.png");
			
 
				         pix.load(":/ADCIntelligentVehicle/car1.png");
			
 
				         painter->drawPixmap(435,667,30,67,pix);
			
 
				-        painter_small->drawPixmap(442,683,16,34,pix);
			
 
				+//        painter_small->drawPixmap(442,683,16,34,pix);
			
 
				 ///////////////////////////////////////////////////////////////////
			
 
				 
			
 
				 
			
@@ -1178,56 +1213,89 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
 
				         //									//
			
 
				         //////////////////////////////////////
			
 
				 
			
 
				-        painter->setPen(QPen(Qt::black, 2));
			
 
				-        painter->setBrush(Qt::blue);
			
 
				-        QFont esr_font("Microsoft YaHei", 10, 75); //第一个属性是字体（微软雅黑），第二个是大小，第三个是加粗（权重是75）
			
 
				-        painter->setFont(esr_font);
			
 
				-        char coordinate_ear[100];
			
 
				-        iv::radar::radarobjectarray xradararray;
			
 
				-        if(mbradarUpdate)
			
 
				+        if(ui->checkBox_8->isChecked())
			
 
				         {
			
 
				-            mMutexRadar.lock();
			
 
				-            xradararray.CopyFrom(mradararray);
			
 
				-            mMutexRadar.unlock();
			
 
				-            for (int a = 0; a < xradararray.obj_size(); a++)
			
 
				+            painter->setPen(QPen(Qt::black, 2));
			
 
				+            painter->setBrush(Qt::blue);
			
 
				+            QFont esr_font("Microsoft YaHei", 10, 75); //第一个属性是字体（微软雅黑），第二个是大小，第三个是加粗（权重是75）
			
 
				+            painter->setFont(esr_font);
			
 
				+            char coordinate_ear[100];
			
 
				+            iv::radar::radarobjectarray xradararray;
			
 
				+            if(mbradarUpdate)
			
 
				             {
			
 
				-                if (xradararray.obj(a).bvalid())
			
 
				+                mMutexRadar.lock();
			
 
				+                xradararray.CopyFrom(mradararray);
			
 
				+                mMutexRadar.unlock();
			
 
				+                for (int a = 0; a < xradararray.obj_size(); a++)
			
 
				                 {
			
 
				-                    painter->drawEllipse(xradararray.obj(a).x() * 10 + 450, -((xradararray.obj(a).y() + ServiceCarStatus.esr_y_offset) * 10) + 700, 10, 10);
			
 
				-                    sprintf(coordinate_ear, "(%d, %d)", (int)xradararray.obj(a).x(), (int)xradararray.obj(a).y());
			
 
				-                    painter->drawText(xradararray.obj(a).x() * 10 + 450, -((xradararray.obj(a).y() + ServiceCarStatus.esr_y_offset ) * 10) + 700, QString(coordinate_ear));
			
 
				+                    if (xradararray.obj(a).bvalid())
			
 
				+                    {
			
 
				+                        painter->drawEllipse(xradararray.obj(a).x() * 10 + 450, -((xradararray.obj(a).y() + ServiceCarStatus.esr_y_offset) * 10) + 700, 10, 10);
			
 
				+                        sprintf(coordinate_ear, "(%d, %d)", (int)xradararray.obj(a).x(), (int)xradararray.obj(a).y());
			
 
				+                        painter->drawText(xradararray.obj(a).x() * 10 + 450, -((xradararray.obj(a).y() + ServiceCarStatus.esr_y_offset ) * 10) + 700, QString(coordinate_ear));
			
 
				 
			
 
				+                    }
			
 
				                 }
			
 
				+                //           mbradarUpdate = false;
			
 
				             }
			
 
				-            //           mbradarUpdate = false;
			
 
				         }
			
 
				 
			
 
				 
			
 
				-        ServiceLidar.copylidarto(Lidar_read);		//激光雷达障碍物
			
 
				-        ServiceLidar.copylidarobsto(Lidar_obsread);
			
 
				-        painter->setPen(QColor(255, 0, 0));
			
 
				-        for (unsigned int x = 0; x < Lidar_read->size(); x++)
			
 
				+        if(ui->checkBox_9->isChecked())
			
 
				         {
			
 
				-            //painter->drawPoint(((*Lidar_read)[x].nomal_x) * 10 + 450, -(*Lidar_read)[x].nomal_y * 10 + 700);
			
 
				+            ServiceLidar.copylidarto(Lidar_read);		//激光雷达障碍物
			
 
				+            ServiceLidar.copylidarobsto(Lidar_obsread);
			
 
				+            painter->setPen(QColor(255, 0, 0));
			
 
				+            for (unsigned int x = 0; x < Lidar_read->size(); x++)
			
 
				+            {
			
 
				+                //painter->drawPoint(((*Lidar_read)[x].nomal_x) * 10 + 450, -(*Lidar_read)[x].nomal_y * 10 + 700);
			
 
				+            }
			
 
				+            painter->setPen(QColor(255,0,0));
			
 
				+            for (unsigned int x = 0; x < Lidar_obsread->size(); x++)
			
 
				+            {
			
 
				+                painter->drawPoint(((*Lidar_obsread)[x].nomal_x) * 10 + 450, -((*Lidar_obsread)[x].nomal_y + ServiceCarStatus.lidar_y_offset) * 10 + 700);
			
 
				+            }
			
 
				         }
			
 
				-        painter->setPen(QColor(255,0,0));
			
 
				-        for (unsigned int x = 0; x < Lidar_obsread->size(); x++)
			
 
				+
			
 
				+
			
 
				+        //////////////////////////////////////
			
 
				+        //                                  //
			
 
				+        //	          显示融合的信息          //
			
 
				+        //									//
			
 
				+        //////////////////////////////////////
			
 
				+
			
 
				+        if(ui->checkBox_10->isChecked())
			
 
				         {
			
 
				-            painter->drawPoint(((*Lidar_obsread)[x].nomal_x) * 10 + 450, -((*Lidar_obsread)[x].nomal_y + ServiceCarStatus.lidar_y_offset) * 10 + 700);
			
 
				-        }
			
 
				+            painter->setPen(QColor(0,255,0));
			
 
				+            iv::fusion::fusionobjectarray xfusionarray;
			
 
				+            if(mbfusionUpdate)
			
 
				+            {
			
 
				+                mMutexFusion.lock();
			
 
				+                xfusionarray.CopyFrom(mfusionarray);
			
 
				+                mMutexFusion.unlock();
			
 
				+                for(int a = 0; a < xfusionarray.obj_size(); a++)
			
 
				+                {
			
 
				+                    for(int b = 0; b < xfusionarray.obj(a).nomal_centroid_size(); b++)
			
 
				+                    {
			
 
				+                        painter->drawPoint((xfusionarray.obj(a).nomal_centroid(b).nomal_x())*10 + 450, -(xfusionarray.obj(a).nomal_centroid(b).nomal_y())*10 + 700);
			
 
				+                    }
			
 
				+                }
			
 
				+            }
			
 
				+         }
			
 
				+
			
 
				 
			
 
				 
			
 
				 
			
 
				         painter->end();
			
 
				-        painter_small->end();
			
 
				+//        painter_small->end();
			
 
				         scene->clear();
			
 
				-        scene_small->clear();
			
 
				+//        scene_small->clear();
			
 
				         scene->addPixmap(QPixmap::fromImage(*image));
			
 
				-        scene_small->addPixmap(QPixmap::fromImage(*image_small));
			
 
				+//        scene_small->addPixmap(QPixmap::fromImage(*image_small));
			
 
				         myview->setScene(scene);
			
 
				-        myview_small->setScene(scene_small);
			
 
				+//        myview_small->setScene(scene_small);
			
 
				         myview->show();
			
 
				-        myview_small->show();
			
 
				+//        myview_small->show();
			
 
				         navigation_data.clear();
			
 
				 
			
 
				         if(mfSOC != 0.0)
			
@@ -1478,6 +1546,22 @@ void ADCIntelligentVehicle::UpdatePlanTrace_right(const char * strdata,const uns
 
				 }
			
 
				 
			
 
				 
			
 
				+void ADCIntelligentVehicle::UpdateFusion(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
			
 
				+{
			
 
				+    iv::fusion::fusionobjectarray xfusionarray;
			
 
				+    if(!xfusionarray.ParseFromArray(strdata,nSize))
			
 
				+    {
			
 
				+        gIvlog->warn("ADCIntelligentVehicle::UpdateFusion Parse Error.");
			
 
				+        return;
			
 
				+    }
			
 
				+    mMutexFusion.lock();
			
 
				+    mfusionarray.CopyFrom(xfusionarray);
			
 
				+    mbfusionUpdate = true;
			
 
				+    mMutexFusion.unlock();
			
 
				+
			
 
				+}
			
 
				+
			
 
				+
			
 
				 /**
			
 
				  * @brief ADCIntelligentVehicle::UpdateMap
			
 
				  * @param strdata
			
--- a/src/ui/ui_ads_hmi/ADCIntelligentVehicle.h
+++ b/src/ui/ui_ads_hmi/ADCIntelligentVehicle.h
@@ -40,6 +40,8 @@
 
				 
			
 
				 #include <QSet>
			
 
				 
			
 
				+#include <QtWebEngineWidgets/QtWebEngineWidgets>
			
 
				+
			
 
				 #include "common/can_type.h"
			
 
				 #include "common/decition_type.h"
			
 
				 #include "common/vehiclestate_type.h"
			
@@ -64,6 +66,8 @@
 
				 #include "ivlog.h"
			
 
				 #include "mapreq.pb.h"
			
 
				 #include "vbox.pb.h"
			
 
				+#include "fusionobject.pb.h"
			
 
				+#include "fusionobjectarray.pb.h"
			
 
				 
			
 
				 extern iv::Ivlog * gIvlog;
			
 
				 
			
@@ -177,6 +181,7 @@ public slots:
 
				 
			
 
				     void onRecvUDP();
			
 
				     void onStateTimer();
			
 
				+    void onStateTimerMap();
			
 
				     void onStateTimer1();
			
 
				 protected:
			
 
				 
			
@@ -201,8 +206,12 @@ private slots:
 
				 
			
 
				     void on_pb_v2xEn_clicked();
			
 
				 
			
 
				+
			
 
				 private:
			
 
				     Ui::ADCIntelligentVehicle *ui;
			
 
				+    /**************************************/
			
 
				+    QWebEngineView * mMapview;
			
 
				+    /**************************************/
			
 
				     //    boost::shared_ptr<iv::decition::BrainDecition> brain;
			
 
				     bool is_brain_running_flag_ = false;
			
 
				     bool is_map_loaded_flag_ = false;
			
@@ -247,6 +256,7 @@ private:
 
				     QUdpSocket msocksend;
			
 
				     QUdpSocket msockrecv;
			
 
				     QTimer mTimerState;
			
 
				+    QTimer mTimerStateMap;
			
 
				     DataToUI mDataToUI;
			
 
				 
			
 
				     QTime mTime;
			
@@ -326,6 +336,16 @@ private:
 
				     void * mpaplantrace_left;
			
 
				     void * mpaplantrace_right;
			
 
				 /**************************/
			
 
				+/**********20210429***********************/
			
 
				+public:
			
 
				+    void UpdateFusion(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
			
 
				+    QMutex mMutexFusion;
			
 
				+private:
			
 
				+    iv::fusion::fusionobjectarray mfusionarray;
			
 
				+    bool mbfusionUpdate = false;
			
 
				+    void * mpafusion;
			
 
				+/*****************************************/
			
 
				+
			
 
				 private:
			
 
				     void * mpaLidar;
			
 
				 
			
--- a/src/ui/ui_ads_hmi/ADCIntelligentVehicle.ui
+++ b/src/ui/ui_ads_hmi/ADCIntelligentVehicle.ui
@@ -532,7 +532,7 @@
 
				      <widget class="QGroupBox" name="groupBox_11">
			
 
				       <property name="geometry">
			
 
				        <rect>
			
 
				-        <x>1030</x>
			
 
				+        <x>1020</x>
			
 
				         <y>660</y>
			
 
				         <width>471</width>
			
 
				         <height>201</height>
			
@@ -2395,6 +2395,54 @@ p, li { white-space: pre-wrap; }
 
				      </property>
			
 
				     </widget>
			
 
				    </widget>
			
 
				+   <widget class="QCheckBox" name="checkBox_8">
			
 
				+    <property name="geometry">
			
 
				+     <rect>
			
 
				+      <x>1620</x>
			
 
				+      <y>730</y>
			
 
				+      <width>101</width>
			
 
				+      <height>23</height>
			
 
				+     </rect>
			
 
				+    </property>
			
 
				+    <property name="styleSheet">
			
 
				+     <string notr="true">color: rgb(238, 238, 236);</string>
			
 
				+    </property>
			
 
				+    <property name="text">
			
 
				+     <string>毫米波显示</string>
			
 
				+    </property>
			
 
				+   </widget>
			
 
				+   <widget class="QCheckBox" name="checkBox_9">
			
 
				+    <property name="geometry">
			
 
				+     <rect>
			
 
				+      <x>1620</x>
			
 
				+      <y>780</y>
			
 
				+      <width>101</width>
			
 
				+      <height>23</height>
			
 
				+     </rect>
			
 
				+    </property>
			
 
				+    <property name="styleSheet">
			
 
				+     <string notr="true">color: rgb(238, 238, 236);</string>
			
 
				+    </property>
			
 
				+    <property name="text">
			
 
				+     <string>激光显示</string>
			
 
				+    </property>
			
 
				+   </widget>
			
 
				+   <widget class="QCheckBox" name="checkBox_10">
			
 
				+    <property name="geometry">
			
 
				+     <rect>
			
 
				+      <x>1620</x>
			
 
				+      <y>830</y>
			
 
				+      <width>101</width>
			
 
				+      <height>23</height>
			
 
				+     </rect>
			
 
				+    </property>
			
 
				+    <property name="styleSheet">
			
 
				+     <string notr="true">color: rgb(238, 238, 236);</string>
			
 
				+    </property>
			
 
				+    <property name="text">
			
 
				+     <string>融合显示</string>
			
 
				+    </property>
			
 
				+   </widget>
			
 
				   </widget>
			
 
				   <widget class="QMenuBar" name="menuBar">
			
 
				    <property name="geometry">
			
--- a/src/ui/ui_ads_hmi/BaiDuMap.html
+++ b/src/ui/ui_ads_hmi/BaiDuMap.html
@@ -0,0 +1,341 @@
 
				+
			
 
				+
			
 
				+<!DOCTYPE html>
			
 
				+<html>
			
 
				+<head>
			
 
				+    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
			
 
				+    <meta name="viewport" content="initial-scale=1.0, user-scalable=no" />
			
 
				+    <style type="text/css">
			
 
				+        body, html, #allmap {
			
 
				+            width: 100%;
			
 
				+            height: 100%;
			
 
				+            overflow: hidden;
			
 
				+            margin: 0;
			
 
				+            font-family: "微软雅黑";
			
 
				+        }
			
 
				+    </style>
			
 
				+    <script type="text/javascript" src="http://api.map.baidu.com/api?v=2.0&ak=EVi8PXiYpKBGvBr7tgGMzcbdwzWWNf2o"></script>
			
 
				+
			
 
				+    
			
 
				+    <title>野火GPS地图</title>
			
 
				+</head>
			
 
				+<body>
			
 
				+    <div id="allmap"></div>
			
 
				+
			
 
				+
			
 
				+
			
 
				+</body>
			
 
				+</html>
			
 
				+
			
 
				+
			
 
				+
			
 
				+<script type="text/javascript">
			
 
				+    try {
			
 
				+
			
 
				+   
			
 
				+    // 百度地图API功能
			
 
				+    var map = new BMap.Map("allmap");            // 创建Map实例
			
 
				+
			
 
				+    //添加拖拽和缩放功能
			
 
				+    map.enableScrollWheelZoom(true);
			
 
				+    map.enableDragging();   
			
 
				+
			
 
				+    //添加控件和比例尺
			
 
				+    var top_right_control = new BMap.ScaleControl({ anchor: BMAP_ANCHOR_BOTTOM_LEFT });// 左下角，添加比例尺
			
 
				+    var top_right_navigation = new BMap.NavigationControl({ anchor: BMAP_ANCHOR_BOTTOM_LEFT });  //左下角，添加默认缩放平移控件
			
 
				+
			
 
				+    map.addControl(top_right_control);
			
 
				+    map.addControl(top_right_navigation);
			
 
				+
			
 
				+
			
 
				+    //添加地图类型
			
 
				+    var mapType1 = new BMap.MapTypeControl({ mapTypes: [BMAP_NORMAL_MAP, BMAP_HYBRID_MAP] });
			
 
				+    var mapType2 = new BMap.MapTypeControl({ anchor: BMAP_ANCHOR_TOP_LEFT });
			
 
				+
			
 
				+    //添加地图类型和缩略图
			
 
				+   
			
 
				+    map.addControl(mapType1);          //2D图，卫星图
			
 
				+    map.addControl(mapType2);          //左上角，默认地图控件
			
 
				+
			
 
				+    var drawtrail = 0;
			
 
				+
			
 
				+    var grotation = 0;
			
 
				+
			
 
				+
			
 
				+    //创建点
			
 
				+    //map.clearOverlays();
			
 
				+    var point = new BMap.Point(117.355, 39.066);
			
 
				+    var markerCur = new BMap.Marker(point);
			
 
				+    var markerObj = new BMap.Marker(point);
			
 
				+    var havepointlast = 0;
			
 
				+    var pointlast = new BMap.Point(116,39);
			
 
				+    var pointobj = new BMap.Point(116,39);
			
 
				+    var bobjset = 0;
			
 
				+    var gtracelist = []; 
			
 
				+    var gtraceraw = [];
			
 
				+    var tracenow = 0;
			
 
				+    var tracenum = 0;
			
 
				+    map.centerAndZoom(point, 18);
			
 
				+    var convertor = new BMap.Convertor();
			
 
				+    var polylineTrace;
			
 
				+/*
			
 
				+    var polylineTrace =new BMap.Polyline(gtracelist, {
			
 
				+    enableEditing: false,//是否启用线编辑，默认为false
			
 
				+    enableClicking: false,//是否响应点击事件，默认为true
			
 
				+    strokeWeight:'4',//折线的宽度，以像素为单位
			
 
				+    strokeOpacity: 0.8,//折线的透明度，取值范围0 - 1
			
 
				+    strokeColor:"red" //折线颜色
			
 
				+    });*/
			
 
				+    //var marker = new BMap.Marker(point);  // 创建标注
			
 
				+    //map.addOverlay(marker);               // 将标注添加到地图中
			
 
				+    
			
 
				+    //根据IP定位城市
			
 
				+    function myFun(result) {
			
 
				+        var cityName = result.name;
			
 
				+        map.setCenter(cityName);
			
 
				+    }
			
 
				+    var myCity = new BMap.LocalCity();
			
 
				+    myCity.get(myFun);
			
 
				+
			
 
				+	var icon = new BMap.Icon('car.png',new BMap.Size(15,30));
			
 
				+        icon.imageSize = new BMap.Size(15,30);
			
 
				+        icon.anchor = new BMap.Size(8,15);
			
 
				+        
			
 
				+
			
 
				+    //showalert(testmsg);
			
 
				+
			
 
				+    //对传入的经纬度进行标注：纬度，经度
			
 
				+   // var Latt = 116.404;
			
 
				+   // var Lott = 39.915;
			
 
				+
			
 
				+   // theLocation(Latt, Lott);
			
 
				+   // testAlert();
			
 
				+
			
 
				+    function SetDrawTrail(x)
			
 
				+   {
			
 
				+	
			
 
				+	if(x == 1)drawtrail = 1;
			
 
				+	else drawtrail = 0;
			
 
				+   }    
			
 
				+
			
 
				+
			
 
				+    function clear()
			
 
				+    {
			
 
				+	gtracelist = [];
			
 
				+    }
			
 
				+
			
 
				+   
			
 
				+        // 用经纬度设置地图中心点
			
 
				+    function objLocation(Longitude,Latitude) {
			
 
				+
			
 
				+        var gpsPoint = new BMap.Point(Longitude, Latitude);
			
 
				+
			
 
				+	var pointArr = [];
			
 
				+	pointArr.push(gpsPoint);
			
 
				+        convertor.translate(pointArr, 1, 5, translateCallbackobj)
			
 
				+        //gps坐标纠偏
			
 
				+ //       BMap.Convertor.translate(gpsPoint, 0, translateCallbackobj);     //真实经纬度转成百度坐标
			
 
				+
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+    // 用经纬度设置地图中心点
			
 
				+    function theLocation(Longitude,Latitude,rotation) {
			
 
				+        
			
 
				+        grotation = rotation;
			
 
				+        var gpsPoint = new BMap.Point(Longitude, Latitude);
			
 
				+
			
 
				+        //gps坐标纠偏
			
 
				+
			
 
				+
			
 
				+var pointArr = [];
			
 
				+pointArr.push(gpsPoint);
			
 
				+        convertor.translate(pointArr, 1, 5, translateCallback)
			
 
				+//convertor.translate(gpsPoint, 0, translateCallback);     //真实经纬度转成百度坐标
			
 
				+ //       BMap.Convertor.translate(gpsPoint, 0, translateCallback);     //真实经纬度转成百度坐标
			
 
				+
			
 
				+
			
 
				+            //map.clearOverlays();
			
 
				+            //var new_point = new BMap.Point(Longitude,Latitude );
			
 
				+            //var marker = new BMap.Marker(new_point);  // 创建标注
			
 
				+            //map.addOverlay(marker);              // 将标注添加到地图中
			
 
				+            //map.panTo(new_point);
			
 
				+            //marker.setAnimation(BMAP_ANIMATION_BOUNCE); //跳动的动画
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+function settrace(numlist,num2list)                    //仅把qt传来的数组转换成可用的list
			
 
				+{
			
 
				+    //alert(numlist);
			
 
				+    var num_list,num2_list;                         //以下为格式转换，分割成可用的数组
			
 
				+    num_list = numlist.substring(1,numlist.length-1);
			
 
				+    num2_list = num2list.substring(1,num2list.length-1);
			
 
				+    num_list = num_list.split(",");
			
 
				+    num2_list = num2_list.split(",");
			
 
				+    //alert("the num_list is: "+num_list[0]+" "+num_list[1]);
			
 
				+
			
 
				+    
			
 
				+    gtraceraw = [];
			
 
				+    gtracelist = [];
			
 
				+    for(i=0;i<num_list.length;i++)
			
 
				+    {
			
 
				+        point= new BMap.Point(num_list[i],num2_list[i]);
			
 
				+        gtraceraw.push(point);                                  
			
 
				+    }
			
 
				+    tracenum = num_list.length;
			
 
				+    tracenow = 0;
			
 
				+
			
 
				+    setTimeout("converttrace()", 30);// 调用画轨迹的函数
			
 
				+
			
 
				+    
			
 
				+}
			
 
				+
			
 
				+function converttrace() 
			
 
				+{
			
 
				+    var tracelist = [];     //为轨迹做准备，把所有的点扔里面，但不对每个点标注
			
 
				+    var index = 0;
			
 
				+    for(i=tracenow;i<tracenum;i++)
			
 
				+    {
			
 
				+	tracelist.push(gtraceraw[i]);
			
 
				+	index++;
			
 
				+	if(index>=10)break;
			
 
				+    }
			
 
				+    if(index>0)
			
 
				+    {
			
 
				+	
			
 
				+        convertor.translate(tracelist, 1,5,translateCallbacktrace);     //真实经纬度转成百度坐标
			
 
				+     }
			
 
				+
			
 
				+}
			
 
				+
			
 
				+
			
 
				+translateCallbacktrace = function (data){
			
 
				+      if(data.status == 0) {
			
 
				+        for (var i = 0; i < data.points.length; i++) {
			
 
				+	gtracelist.push(data.points[i]);
			
 
				+        }
			
 
				+	tracenow = tracenow + data.points.length;
			
 
				+      }
			
 
				+
			
 
				+    map.removeOverlay(polylineTrace);
			
 
				+    polylineTrace =new BMap.Polyline(gtracelist, {
			
 
				+    enableEditing: false,//是否启用线编辑，默认为false
			
 
				+    enableClicking: false,//是否响应点击事件，默认为true
			
 
				+    strokeWeight:'4',//折线的宽度，以像素为单位
			
 
				+    strokeOpacity: 0.8,//折线的透明度，取值范围0 - 1
			
 
				+    strokeColor:"red" //折线颜色
			
 
				+    });
			
 
				+    map.addOverlay(polylineTrace);          //增加折线
			
 
				+      setTimeout("converttrace()", 250);// 调用画轨迹的函数
			
 
				+	
			
 
				+}
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+    // 用经纬度设置地图中心点
			
 
				+    function testAlert(msg) {
			
 
				+
			
 
				+        var str = new String;
			
 
				+        str =  msg.toString()
			
 
				+       // str = "test"
			
 
				+
			
 
				+        alert(str);
			
 
				+    }
			
 
				+
			
 
				+    function enableZoomDrag()
			
 
				+    {
			
 
				+        //添加拖拽和缩放功能
			
 
				+        map.enableScrollWheelZoom(true);
			
 
				+        map.enableDragging();
			
 
				+    }
			
 
				+
			
 
				+        //坐标转换完之后的回调函数
			
 
				+    translateCallbackmap = function (point) {
			
 
				+
			
 
				+	gtracelist.push(point);       
			
 
				+ //       map.setCenter(point);
			
 
				+      //  marker.setAnimation(BMAP_ANIMATION_BOUNCE); //跳动的动画
			
 
				+    }
			
 
				+
			
 
				+        //坐标转换完之后的回调函数
			
 
				+    translateCallbacktr = function (point) {
			
 
				+
			
 
				+	gtracelist.push(point);       
			
 
				+ //       map.setCenter(point);
			
 
				+      //  marker.setAnimation(BMAP_ANIMATION_BOUNCE); //跳动的动画
			
 
				+    }
			
 
				+
			
 
				+    //坐标转换完之后的回调函数
			
 
				+    translateCallbackobj = function (data) {
			
 
				+	if(data.status === 0) {
			
 
				+         var point = data.points[0];
			
 
				+	pointobj = point;
			
 
				+	bobjset = 1;
			
 
				+ //       map.clearOverlays();
			
 
				+	map.removeOverlay(markerObj);
			
 
				+        markerObj = new BMap.Marker(point);
			
 
				+
			
 
				+        map.addOverlay(markerObj);
			
 
				+	}
			
 
				+
			
 
				+ //       map.setCenter(point);
			
 
				+      //  marker.setAnimation(BMAP_ANIMATION_BOUNCE); //跳动的动画
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+    //坐标转换完之后的回调函数
			
 
				+    translateCallback = function (data) {
			
 
				+
			
 
				+if(data.status === 0) {
			
 
				+         var point = data.points[0]
			
 
				+        map.removeOverlay(markerCur);
			
 
				+        markerCur = new BMap.Marker(point);
			
 
				+        if(havepointlast == 1)
			
 
				+	{
			
 
				+		if(drawtrail == 1)
			
 
				+		{
			
 
				+		var line = new BMap.Polyline([pointlast, point], {strokeColor: "green", strokeWeight: 1, strokeOpacity: 1});
			
 
				+		map.addOverlay(line);  
			
 
				+		line.disableMassClear();
			
 
				+		}
			
 
				+	}
			
 
				+        pointlast = point;
			
 
				+        havepointlast = 1;
			
 
				+
			
 
				+	markerCur.setOffset(-30,-30);
			
 
				+	markerCur.setIcon(icon); 
			
 
				+	markerCur.setShadow(icon) 
			
 
				+	markerCur.setRotation(grotation);
			
 
				+        map.addOverlay(markerCur);
			
 
				+        map.setCenter(point);
			
 
				+      }
			
 
				+//	return;
			
 
				+//        map.clearOverlays();
			
 
				+
			
 
				+/*
			
 
				+	if(bobjset == 1)
			
 
				+	{
			
 
				+		map.removeOverlay(markerObj);
			
 
				+        	markerObj = new BMap.Marker(pointobj);
			
 
				+
			
 
				+        	map.addOverlay(markerObj);
			
 
				+	}
			
 
				+
			
 
				+*/
			
 
				+
			
 
				+      //  marker.setAnimation(BMAP_ANIMATION_BOUNCE); //跳动的动画
			
 
				+    }
			
 
				+
			
 
				+    } catch (e) {
			
 
				+
			
 
				+        alert("地图加载失败，请检查网络！");
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+   
			
 
				+</script>
			
 
				+
			
 
				+
			
 
				+
			
--- a/src/ui/ui_ads_hmi/ui_ads_hmi.pro
+++ b/src/ui/ui_ads_hmi/ui_ads_hmi.pro
@@ -4,7 +4,7 @@
 
				 #
			
 
				 #-------------------------------------------------
			
 
				 
			
 
				-QT       += core gui network
			
 
				+QT       += core gui network webenginewidgets
			
 
				 
			
 
				 greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
			
 
				 
			
@@ -52,7 +52,9 @@ SOURCES += \
 
				     ../../include/msgtype/v2x.pb.cc \
			
 
				     ../../include/msgtype/chassis.pb.cc \
			
 
				     ../../include/msgtype/mapreq.pb.cc  \
			
 
				-    ../../include/msgtype/vbox.pb.cc
			
 
				+    ../../include/msgtype/vbox.pb.cc \
			
 
				+    ../../include/msgtype/fusionobjectarray.pb.cc \
			
 
				+    ../../include/msgtype/fusionobject.pb.cc
			
 
				 
			
 
				 HEADERS += \
			
 
				         ADCIntelligentVehicle.h \
			
@@ -71,7 +73,9 @@ HEADERS += \
 
				     ../../include/msgtype/v2x.pb.h \
			
 
				     ../../include/msgtype/chassis.pb.h \
			
 
				     ../../include/msgtype/mapreq.pb.h \
			
 
				-    ../../include/msgtype/vbox.pb.h
			
 
				+    ../../include/msgtype/vbox.pb.h \
			
 
				+    ../../include/msgtype/fusionobjectarray.pb.h \
			
 
				+    ../../include/msgtype/fusionobject.pb.h
			
 
				 
			
 
				 
			
 
				 FORMS += \
			
--- a/src1/common/modulecomm/.gitignore
+++ b/src1/common/modulecomm/.gitignore
@@ -0,0 +1,73 @@
 
				+# This file is used to ignore files which are generated
			
 
				+# ----------------------------------------------------------------------------
			
 
				+
			
 
				+*~
			
 
				+*.autosave
			
 
				+*.a
			
 
				+*.core
			
 
				+*.moc
			
 
				+*.o
			
 
				+*.obj
			
 
				+*.orig
			
 
				+*.rej
			
 
				+*.so
			
 
				+*.so.*
			
 
				+*_pch.h.cpp
			
 
				+*_resource.rc
			
 
				+*.qm
			
 
				+.#*
			
 
				+*.*#
			
 
				+core
			
 
				+!core/
			
 
				+tags
			
 
				+.DS_Store
			
 
				+.directory
			
 
				+*.debug
			
 
				+Makefile*
			
 
				+*.prl
			
 
				+*.app
			
 
				+moc_*.cpp
			
 
				+ui_*.h
			
 
				+qrc_*.cpp
			
 
				+Thumbs.db
			
 
				+*.res
			
 
				+*.rc
			
 
				+/.qmake.cache
			
 
				+/.qmake.stash
			
 
				+
			
 
				+# qtcreator generated files
			
 
				+*.pro.user*
			
 
				+
			
 
				+# xemacs temporary files
			
 
				+*.flc
			
 
				+
			
 
				+# Vim temporary files
			
 
				+.*.swp
			
 
				+
			
 
				+# Visual Studio generated files
			
 
				+*.ib_pdb_index
			
 
				+*.idb
			
 
				+*.ilk
			
 
				+*.pdb
			
 
				+*.sln
			
 
				+*.suo
			
 
				+*.vcproj
			
 
				+*vcproj.*.*.user
			
 
				+*.ncb
			
 
				+*.sdf
			
 
				+*.opensdf
			
 
				+*.vcxproj
			
 
				+*vcxproj.*
			
 
				+
			
 
				+# MinGW generated files
			
 
				+*.Debug
			
 
				+*.Release
			
 
				+
			
 
				+# Python byte code
			
 
				+*.pyc
			
 
				+
			
 
				+# Binaries
			
 
				+# --------
			
 
				+*.dll
			
 
				+*.exe
			
 
				+
			
--- a/src1/common/modulecomm/modulecomm.cpp
+++ b/src1/common/modulecomm/modulecomm.cpp
@@ -0,0 +1,152 @@
 
				+#include "modulecomm.h"
			
 
				+#include <iostream>
			
 
				+
			
 
				+namespace iv {
			
 
				+namespace modulecomm {
			
 
				+
			
 
				+struct ModeduleInfo
			
 
				+{
			
 
				+    void * mphandle;
			
 
				+    ModuleComm_TYPE mmctype;
			
 
				+};
			
 
				+
			
 
				+void *  RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount,
			
 
				+                     ModuleComm_TYPE xmctype)
			
 
				+{
			
 
				+
			
 
				+    iv::modulecomm::ModeduleInfo * pmi = new iv::modulecomm::ModeduleInfo;
			
 
				+    pmi->mmctype = xmctype;
			
 
				+    pmi->mphandle = 0;
			
 
				+    switch (xmctype) {
			
 
				+    case ModuleComm_SHAREMEM:
			
 
				+        pmi->mphandle = iv::modulecomm_shm::RegisterSend(strcommname,nBufSize,nMsgBufCount);
			
 
				+        break;
			
 
				+    case ModuleComm_FASTRTPS:
			
 
				+        pmi->mphandle = iv::modulecomm_fastrtps::RegisterSend(strcommname,nBufSize,nMsgBufCount);
			
 
				+        break;
			
 
				+    case ModuleComm_INTERIOR:
			
 
				+        pmi->mphandle = iv::modulecomm_inter::RegisterSend(strcommname,nBufSize,nMsgBufCount);
			
 
				+        break;
			
 
				+    default:
			
 
				+        break;
			
 
				+    }
			
 
				+    return pmi;
			
 
				+}
			
 
				+
			
 
				+void  *  RegisterRecv(const char * strcommname,SMCallBack pCall,ModuleComm_TYPE xmctype)
			
 
				+{
			
 
				+    iv::modulecomm::ModeduleInfo * pmi = new iv::modulecomm::ModeduleInfo;
			
 
				+    pmi->mmctype = xmctype;
			
 
				+    pmi->mphandle = 0;
			
 
				+    switch (xmctype) {
			
 
				+    case ModuleComm_SHAREMEM:
			
 
				+        pmi->mphandle = iv::modulecomm_shm::RegisterRecv(strcommname,pCall);
			
 
				+        break;
			
 
				+    case ModuleComm_FASTRTPS:
			
 
				+        pmi->mphandle = iv::modulecomm_fastrtps::RegisterRecv(strcommname,pCall);
			
 
				+        break;
			
 
				+    case ModuleComm_INTERIOR:
			
 
				+        pmi->mphandle = iv::modulecomm_inter::RegisterRecv(strcommname,pCall);
			
 
				+        break;
			
 
				+    default:
			
 
				+        break;
			
 
				+    }
			
 
				+    return pmi;
			
 
				+}
			
 
				+
			
 
				+void *  RegisterRecvPlus(const char * strcommname,ModuleFun xFun,
			
 
				+                                                ModuleComm_TYPE xmctype)
			
 
				+{
			
 
				+    iv::modulecomm::ModeduleInfo * pmi = new iv::modulecomm::ModeduleInfo;
			
 
				+    pmi->mmctype = xmctype;
			
 
				+    pmi->mphandle = 0;
			
 
				+    switch (xmctype) {
			
 
				+    case ModuleComm_SHAREMEM:
			
 
				+        pmi->mphandle = iv::modulecomm_shm::RegisterRecvPlus(strcommname,xFun);
			
 
				+        break;
			
 
				+    case ModuleComm_FASTRTPS:
			
 
				+        pmi->mphandle = iv::modulecomm_fastrtps::RegisterRecvPlus(strcommname,xFun);
			
 
				+        break;
			
 
				+    case ModuleComm_INTERIOR:
			
 
				+        pmi->mphandle = iv::modulecomm_inter::RegisterRecvPlus(strcommname,xFun);
			
 
				+        break;
			
 
				+    default:
			
 
				+        break;
			
 
				+    }
			
 
				+    return pmi;
			
 
				+}
			
 
				+
			
 
				+void  ModuleSendMsg(void * pHandle,const char * strdata,const unsigned int nDataLen)
			
 
				+{
			
 
				+    iv::modulecomm::ModeduleInfo * pmi = (iv::modulecomm::ModeduleInfo  * )pHandle;
			
 
				+    switch (pmi->mmctype) {
			
 
				+    case ModuleComm_SHAREMEM:
			
 
				+        iv::modulecomm_shm::ModuleSendMsg(pmi->mphandle,strdata,nDataLen);
			
 
				+        break;
			
 
				+    case ModuleComm_FASTRTPS:
			
 
				+        iv::modulecomm_fastrtps::ModuleSendMsg(pmi->mphandle,strdata,nDataLen);
			
 
				+        break;
			
 
				+    case ModuleComm_INTERIOR:
			
 
				+        iv::modulecomm_inter::ModuleSendMsg(pmi->mphandle,strdata,nDataLen);
			
 
				+        break;
			
 
				+    default:
			
 
				+        break;
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void  Unregister(void * pHandle)
			
 
				+{
			
 
				+    iv::modulecomm::ModeduleInfo * pmi = (iv::modulecomm::ModeduleInfo  * )pHandle;
			
 
				+    switch (pmi->mmctype) {
			
 
				+    case ModuleComm_SHAREMEM:
			
 
				+        iv::modulecomm_shm::Unregister(pmi->mphandle);
			
 
				+        break;
			
 
				+    case ModuleComm_FASTRTPS:
			
 
				+        iv::modulecomm_fastrtps::Unregister(pmi->mphandle);
			
 
				+        break;
			
 
				+    case ModuleComm_INTERIOR:
			
 
				+        iv::modulecomm_inter::Unregister(pmi->mphandle);
			
 
				+        break;
			
 
				+    default:
			
 
				+        break;
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void PauseComm(void *pHandle)
			
 
				+{
			
 
				+    iv::modulecomm::ModeduleInfo * pmi = (iv::modulecomm::ModeduleInfo  * )pHandle;
			
 
				+    switch (pmi->mmctype) {
			
 
				+    case ModuleComm_SHAREMEM:
			
 
				+        iv::modulecomm_shm::PauseComm(pmi->mphandle);
			
 
				+        break;
			
 
				+    case ModuleComm_FASTRTPS:
			
 
				+        iv::modulecomm_fastrtps::PauseComm(pmi->mphandle);
			
 
				+        break;
			
 
				+    case ModuleComm_INTERIOR:
			
 
				+        iv::modulecomm_inter::PauseComm(pmi->mphandle);
			
 
				+        break;
			
 
				+    default:
			
 
				+        break;
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void ContintuComm(void *pHandle)
			
 
				+{
			
 
				+    iv::modulecomm::ModeduleInfo * pmi = (iv::modulecomm::ModeduleInfo  * )pHandle;
			
 
				+    switch (pmi->mmctype) {
			
 
				+    case ModuleComm_SHAREMEM:
			
 
				+        iv::modulecomm_shm::ContintuComm(pmi->mphandle);
			
 
				+        break;
			
 
				+    case ModuleComm_FASTRTPS:
			
 
				+        iv::modulecomm_fastrtps::ContintuComm(pmi->mphandle);
			
 
				+        break;
			
 
				+    case ModuleComm_INTERIOR:
			
 
				+        iv::modulecomm_inter::ContintuComm(pmi->mphandle);
			
 
				+        break;
			
 
				+    default:
			
 
				+        break;
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+}
			
 
				+}
			
--- a/src1/common/modulecomm/modulecomm.h
+++ b/src1/common/modulecomm/modulecomm.h
@@ -0,0 +1,64 @@
 
				+#ifndef MODULECOMM_H
			
 
				+#define MODULECOMM_H
			
 
				+
			
 
				+
			
 
				+#include <QtCore/qglobal.h>
			
 
				+#include <QDateTime>
			
 
				+
			
 
				+#include <functional>
			
 
				+
			
 
				+
			
 
				+#include "modulecomm_shm.h"
			
 
				+#include "modulecomm_fastrtps.h"
			
 
				+#include "modulecomm_inter.h"
			
 
				+
			
 
				+#if defined(MODULECOMM_LIBRARY)
			
 
				+#  define MODULECOMMSHARED_EXPORT Q_DECL_EXPORT
			
 
				+#else
			
 
				+#  define MODULECOMMSHARED_EXPORT Q_DECL_IMPORT
			
 
				+#endif
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+//#include <iostream>
			
 
				+//#include <thread>
			
 
				+
			
 
				+//using namespace std::placeholders;
			
 
				+
			
 
				+#ifndef IV_MODULE_FUN
			
 
				+
			
 
				+typedef std::function<void(const char * ,const unsigned int , const unsigned int , QDateTime * ,const char *)> ModuleFun;
			
 
				+typedef void (* SMCallBack)(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
			
 
				+#define IV_MODULE_FUN
			
 
				+#endif
			
 
				+
			
 
				+namespace iv {
			
 
				+namespace modulecomm {
			
 
				+
			
 
				+enum ModuleComm_TYPE
			
 
				+{
			
 
				+    ModuleComm_SHAREMEM = 0,
			
 
				+    ModuleComm_INTERIOR = 1,
			
 
				+    ModuleComm_FASTRTPS = 2
			
 
				+};
			
 
				+
			
 
				+
			
 
				+void * MODULECOMMSHARED_EXPORT RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount
			
 
				+                                            ,ModuleComm_TYPE xmctype = ModuleComm_SHAREMEM);
			
 
				+void * MODULECOMMSHARED_EXPORT RegisterRecv(const char * strcommname,SMCallBack pCall,
			
 
				+                                            ModuleComm_TYPE xmctype = ModuleComm_SHAREMEM);
			
 
				+void * MODULECOMMSHARED_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun,
			
 
				+                                                ModuleComm_TYPE xmctype = ModuleComm_SHAREMEM);
			
 
				+void MODULECOMMSHARED_EXPORT ModuleSendMsg(void * pHandle,const char * strdata,const unsigned int nDataLen);
			
 
				+void MODULECOMMSHARED_EXPORT Unregister(void * pHandle);
			
 
				+void MODULECOMMSHARED_EXPORT PauseComm(void * pHandle);
			
 
				+void MODULECOMMSHARED_EXPORT ContintuComm(void * pHandle);
			
 
				+
			
 
				+}
			
 
				+
			
 
				+}
			
 
				+
			
 
				+#endif // MODULECOMM_H
			
--- a/src1/common/modulecomm/modulecomm.pro
+++ b/src1/common/modulecomm/modulecomm.pro
@@ -0,0 +1,36 @@
 
				+QT -= gui
			
 
				+
			
 
				+TEMPLATE = lib
			
 
				+DEFINES += MODULECOMM_LIBRARY
			
 
				+
			
 
				+CONFIG += c++11
			
 
				+
			
 
				+# The following define makes your compiler emit warnings if you use
			
 
				+# any Qt feature that has been marked 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 it uses 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 += \
			
 
				+    modulecomm.cpp
			
 
				+
			
 
				+HEADERS += \
			
 
				+    modulecomm.h
			
 
				+
			
 
				+CONFIG += plugin
			
 
				+
			
 
				+# Default rules for deployment.
			
 
				+unix {
			
 
				+    target.path = /usr/lib
			
 
				+}
			
 
				+!isEmpty(target.path): INSTALLS += target
			
 
				+
			
 
				+
			
 
				+INCLUDEPATH += $$PWD/../modulecomm_shm
			
 
				+INCLUDEPATH += $$PWD/../modulecomm_fastrtps
			
 
				+INCLUDEPATH += $$PWD/../modulecomm_inter
			
--- a/src1/common/modulecomm_fastrtps/Topics.cxx
+++ b/src1/common/modulecomm_fastrtps/Topics.cxx
@@ -0,0 +1,323 @@
 
				+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
			
 
				+//
			
 
				+// Licensed under the Apache License, Version 2.0 (the "License");
			
 
				+// you may not use this file except in compliance with the License.
			
 
				+// You may obtain a copy of the License at
			
 
				+//
			
 
				+//     http://www.apache.org/licenses/LICENSE-2.0
			
 
				+//
			
 
				+// Unless required by applicable law or agreed to in writing, software
			
 
				+// distributed under the License is distributed on an "AS IS" BASIS,
			
 
				+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
			
 
				+// See the License for the specific language governing permissions and
			
 
				+// limitations under the License.
			
 
				+
			
 
				+/*!
			
 
				+ * @file Topics.cpp
			
 
				+ * This source file contains the definition of the described types in the IDL file.
			
 
				+ *
			
 
				+ * This file was generated by the tool gen.
			
 
				+ */
			
 
				+
			
 
				+#ifdef _WIN32
			
 
				+// Remove linker warning LNK4221 on Visual Studio
			
 
				+namespace { char dummy; }
			
 
				+#endif
			
 
				+
			
 
				+#include "Topics.h"
			
 
				+#include <fastcdr/Cdr.h>
			
 
				+
			
 
				+#include <fastcdr/exceptions/BadParamException.h>
			
 
				+using namespace eprosima::fastcdr::exception;
			
 
				+
			
 
				+#include <utility>
			
 
				+
			
 
				+
			
 
				+TopicSample::Message::Message()
			
 
				+{
			
 
				+    // m_msgname com.eprosima.idl.parser.typecode.StringTypeCode@76329302
			
 
				+    m_msgname ="";
			
 
				+    // m_counter com.eprosima.idl.parser.typecode.PrimitiveTypeCode@5e25a92e
			
 
				+    m_counter = 0;
			
 
				+    // m_sendtime com.eprosima.idl.parser.typecode.PrimitiveTypeCode@4df828d7
			
 
				+    m_sendtime = 0;
			
 
				+    // m_xdata com.eprosima.idl.parser.typecode.AliasTypeCode@b59d31
			
 
				+
			
 
				+    m_xdata.push_back(1);
			
 
				+    m_xdata.push_back(2);
			
 
				+
			
 
				+
			
 
				+}
			
 
				+
			
 
				+TopicSample::Message::~Message()
			
 
				+{
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+}
			
 
				+
			
 
				+TopicSample::Message::Message(const Message &x)
			
 
				+{
			
 
				+    m_msgname = x.m_msgname;
			
 
				+    m_counter = x.m_counter;
			
 
				+    m_sendtime = x.m_sendtime;
			
 
				+    m_xdata = x.m_xdata;
			
 
				+}
			
 
				+
			
 
				+TopicSample::Message::Message(Message &&x)
			
 
				+{
			
 
				+    m_msgname = std::move(x.m_msgname);
			
 
				+    m_counter = x.m_counter;
			
 
				+    m_sendtime = x.m_sendtime;
			
 
				+    m_xdata = std::move(x.m_xdata);
			
 
				+}
			
 
				+
			
 
				+TopicSample::Message& TopicSample::Message::operator=(const Message &x)
			
 
				+{
			
 
				+
			
 
				+    m_msgname = x.m_msgname;
			
 
				+    m_counter = x.m_counter;
			
 
				+    m_sendtime = x.m_sendtime;
			
 
				+    m_xdata = x.m_xdata;
			
 
				+
			
 
				+    return *this;
			
 
				+}
			
 
				+
			
 
				+TopicSample::Message& TopicSample::Message::operator=(Message &&x)
			
 
				+{
			
 
				+
			
 
				+    m_msgname = std::move(x.m_msgname);
			
 
				+    m_counter = x.m_counter;
			
 
				+    m_sendtime = x.m_sendtime;
			
 
				+    m_xdata = std::move(x.m_xdata);
			
 
				+
			
 
				+    return *this;
			
 
				+}
			
 
				+
			
 
				+size_t TopicSample::Message::getMaxCdrSerializedSize(size_t current_alignment)
			
 
				+{
			
 
				+    size_t initial_alignment = current_alignment;
			
 
				+
			
 
				+
			
 
				+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + 255 + 1;
			
 
				+
			
 
				+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
			
 
				+
			
 
				+
			
 
				+    current_alignment += 8 + eprosima::fastcdr::Cdr::alignment(current_alignment, 8);
			
 
				+
			
 
				+
			
 
				+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
			
 
				+
			
 
				+    current_alignment += (100 * 1) + eprosima::fastcdr::Cdr::alignment(current_alignment, 1);
			
 
				+
			
 
				+
			
 
				+
			
 
				+    return 10000000;
			
 
				+//    return current_alignment - initial_alignment;
			
 
				+}
			
 
				+
			
 
				+size_t TopicSample::Message::getCdrSerializedSize(const TopicSample::Message& data, size_t current_alignment)
			
 
				+{
			
 
				+    (void)data;
			
 
				+    size_t initial_alignment = current_alignment;
			
 
				+
			
 
				+
			
 
				+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + data.msgname().size() + 1;
			
 
				+
			
 
				+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
			
 
				+
			
 
				+
			
 
				+    current_alignment += 8 + eprosima::fastcdr::Cdr::alignment(current_alignment, 8);
			
 
				+
			
 
				+
			
 
				+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
			
 
				+
			
 
				+    if (data.xdata().size() > 0)
			
 
				+    {
			
 
				+        current_alignment += (data.xdata().size() * 1) + eprosima::fastcdr::Cdr::alignment(current_alignment, 1);
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+    return current_alignment - initial_alignment;
			
 
				+}
			
 
				+
			
 
				+void TopicSample::Message::serialize(eprosima::fastcdr::Cdr &scdr) const
			
 
				+{
			
 
				+
			
 
				+    scdr << m_msgname;
			
 
				+    scdr << m_counter;
			
 
				+    scdr << m_sendtime;
			
 
				+    scdr << m_xdata;
			
 
				+
			
 
				+//    std::cout<<"serialize."<<std::endl;
			
 
				+}
			
 
				+
			
 
				+void TopicSample::Message::deserialize(eprosima::fastcdr::Cdr &dcdr)
			
 
				+{
			
 
				+
			
 
				+    dcdr >> m_msgname;
			
 
				+    dcdr >> m_counter;
			
 
				+    dcdr >> m_sendtime;
			
 
				+    dcdr >> m_xdata;
			
 
				+}
			
 
				+
			
 
				+/*!
			
 
				+ * @brief This function copies the value in member msgname
			
 
				+ * @param _msgname New value to be copied in member msgname
			
 
				+ */
			
 
				+void TopicSample::Message::msgname(const std::string &_msgname)
			
 
				+{
			
 
				+m_msgname = _msgname;
			
 
				+}
			
 
				+
			
 
				+/*!
			
 
				+ * @brief This function moves the value in member msgname
			
 
				+ * @param _msgname New value to be moved in member msgname
			
 
				+ */
			
 
				+void TopicSample::Message::msgname(std::string &&_msgname)
			
 
				+{
			
 
				+m_msgname = std::move(_msgname);
			
 
				+}
			
 
				+
			
 
				+/*!
			
 
				+ * @brief This function returns a constant reference to member msgname
			
 
				+ * @return Constant reference to member msgname
			
 
				+ */
			
 
				+const std::string& TopicSample::Message::msgname() const
			
 
				+{
			
 
				+    return m_msgname;
			
 
				+}
			
 
				+
			
 
				+/*!
			
 
				+ * @brief This function returns a reference to member msgname
			
 
				+ * @return Reference to member msgname
			
 
				+ */
			
 
				+std::string& TopicSample::Message::msgname()
			
 
				+{
			
 
				+    return m_msgname;
			
 
				+}
			
 
				+/*!
			
 
				+ * @brief This function sets a value in member counter
			
 
				+ * @param _counter New value for member counter
			
 
				+ */
			
 
				+void TopicSample::Message::counter(int32_t _counter)
			
 
				+{
			
 
				+m_counter = _counter;
			
 
				+}
			
 
				+
			
 
				+/*!
			
 
				+ * @brief This function returns the value of member counter
			
 
				+ * @return Value of member counter
			
 
				+ */
			
 
				+int32_t TopicSample::Message::counter() const
			
 
				+{
			
 
				+    return m_counter;
			
 
				+}
			
 
				+
			
 
				+/*!
			
 
				+ * @brief This function returns a reference to member counter
			
 
				+ * @return Reference to member counter
			
 
				+ */
			
 
				+int32_t& TopicSample::Message::counter()
			
 
				+{
			
 
				+    return m_counter;
			
 
				+}
			
 
				+
			
 
				+/*!
			
 
				+ * @brief This function sets a value in member sendtime
			
 
				+ * @param _sendtime New value for member sendtime
			
 
				+ */
			
 
				+void TopicSample::Message::sendtime(int64_t _sendtime)
			
 
				+{
			
 
				+m_sendtime = _sendtime;
			
 
				+}
			
 
				+
			
 
				+/*!
			
 
				+ * @brief This function returns the value of member sendtime
			
 
				+ * @return Value of member sendtime
			
 
				+ */
			
 
				+int64_t TopicSample::Message::sendtime() const
			
 
				+{
			
 
				+    return m_sendtime;
			
 
				+}
			
 
				+
			
 
				+/*!
			
 
				+ * @brief This function returns a reference to member sendtime
			
 
				+ * @return Reference to member sendtime
			
 
				+ */
			
 
				+int64_t& TopicSample::Message::sendtime()
			
 
				+{
			
 
				+    return m_sendtime;
			
 
				+}
			
 
				+
			
 
				+/*!
			
 
				+ * @brief This function copies the value in member xdata
			
 
				+ * @param _xdata New value to be copied in member xdata
			
 
				+ */
			
 
				+void TopicSample::Message::xdata(const TopicSample::SomeBytes &_xdata)
			
 
				+{
			
 
				+ //   return;
			
 
				+  m_xdata = _xdata;
			
 
				+//int i;
			
 
				+//for(i=0;i<300;i++)
			
 
				+//    m_xdata.push_back(_xdata.at(i));
			
 
				+}
			
 
				+
			
 
				+/*!
			
 
				+ * @brief This function moves the value in member xdata
			
 
				+ * @param _xdata New value to be moved in member xdata
			
 
				+ */
			
 
				+void TopicSample::Message::xdata(TopicSample::SomeBytes &&_xdata)
			
 
				+{
			
 
				+m_xdata = std::move(_xdata);
			
 
				+}
			
 
				+
			
 
				+/*!
			
 
				+ * @brief This function returns a constant reference to member xdata
			
 
				+ * @return Constant reference to member xdata
			
 
				+ */
			
 
				+const TopicSample::SomeBytes& TopicSample::Message::xdata() const
			
 
				+{
			
 
				+    return m_xdata;
			
 
				+}
			
 
				+
			
 
				+/*!
			
 
				+ * @brief This function returns a reference to member xdata
			
 
				+ * @return Reference to member xdata
			
 
				+ */
			
 
				+TopicSample::SomeBytes& TopicSample::Message::xdata()
			
 
				+{
			
 
				+    return m_xdata;
			
 
				+}
			
 
				+
			
 
				+size_t TopicSample::Message::getKeyMaxCdrSerializedSize(size_t current_alignment)
			
 
				+{
			
 
				+    size_t current_align = current_alignment;
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+    return current_align;
			
 
				+}
			
 
				+
			
 
				+bool TopicSample::Message::isKeyDefined()
			
 
				+{
			
 
				+   return false;
			
 
				+}
			
 
				+
			
 
				+void TopicSample::Message::serializeKey(eprosima::fastcdr::Cdr &scdr) const
			
 
				+{
			
 
				+    (void) scdr;
			
 
				+     
			
 
				+     
			
 
				+     
			
 
				+     
			
 
				+}
			
 
				+
			
--- a/src1/common/modulecomm_fastrtps/Topics.h
+++ b/src1/common/modulecomm_fastrtps/Topics.h
@@ -0,0 +1,253 @@
 
				+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
			
 
				+//
			
 
				+// Licensed under the Apache License, Version 2.0 (the "License");
			
 
				+// you may not use this file except in compliance with the License.
			
 
				+// You may obtain a copy of the License at
			
 
				+//
			
 
				+//     http://www.apache.org/licenses/LICENSE-2.0
			
 
				+//
			
 
				+// Unless required by applicable law or agreed to in writing, software
			
 
				+// distributed under the License is distributed on an "AS IS" BASIS,
			
 
				+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
			
 
				+// See the License for the specific language governing permissions and
			
 
				+// limitations under the License.
			
 
				+
			
 
				+/*!
			
 
				+ * @file Topics.h
			
 
				+ * This header file contains the declaration of the described types in the IDL file.
			
 
				+ *
			
 
				+ * This file was generated by the tool gen.
			
 
				+ */
			
 
				+
			
 
				+#ifndef _TOPICSAMPLE_TOPICS_H_
			
 
				+#define _TOPICSAMPLE_TOPICS_H_
			
 
				+
			
 
				+// TODO Poner en el contexto.
			
 
				+
			
 
				+#include <stdint.h>
			
 
				+#include <array>
			
 
				+#include <string>
			
 
				+#include <vector>
			
 
				+#include <map>
			
 
				+#include <bitset>
			
 
				+
			
 
				+#if defined(_WIN32)
			
 
				+#if defined(EPROSIMA_USER_DLL_EXPORT)
			
 
				+#define eProsima_user_DllExport __declspec( dllexport )
			
 
				+#else
			
 
				+#define eProsima_user_DllExport
			
 
				+#endif
			
 
				+#else
			
 
				+#define eProsima_user_DllExport
			
 
				+#endif
			
 
				+
			
 
				+#if defined(_WIN32)
			
 
				+#if defined(EPROSIMA_USER_DLL_EXPORT)
			
 
				+#if defined(Topics_SOURCE)
			
 
				+#define Topics_DllAPI __declspec( dllexport )
			
 
				+#else
			
 
				+#define Topics_DllAPI __declspec( dllimport )
			
 
				+#endif // Topics_SOURCE
			
 
				+#else
			
 
				+#define Topics_DllAPI
			
 
				+#endif
			
 
				+#else
			
 
				+#define Topics_DllAPI
			
 
				+#endif // _WIN32
			
 
				+
			
 
				+namespace eprosima
			
 
				+{
			
 
				+    namespace fastcdr
			
 
				+    {
			
 
				+        class Cdr;
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+
			
 
				+namespace TopicSample
			
 
				+{
			
 
				+    typedef std::vector<uint8_t> SomeBytes;
			
 
				+    /*!
			
 
				+     * @brief This class represents the structure Message defined by the user in the IDL file.
			
 
				+     * @ingroup TOPICS
			
 
				+     */
			
 
				+    class Message
			
 
				+    {
			
 
				+    public:
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief Default constructor.
			
 
				+         */
			
 
				+        eProsima_user_DllExport Message();
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief Default destructor.
			
 
				+         */
			
 
				+        eProsima_user_DllExport ~Message();
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief Copy constructor.
			
 
				+         * @param x Reference to the object TopicSample::Message that will be copied.
			
 
				+         */
			
 
				+        eProsima_user_DllExport Message(const Message &x);
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief Move constructor.
			
 
				+         * @param x Reference to the object TopicSample::Message that will be copied.
			
 
				+         */
			
 
				+        eProsima_user_DllExport Message(Message &&x);
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief Copy assignment.
			
 
				+         * @param x Reference to the object TopicSample::Message that will be copied.
			
 
				+         */
			
 
				+        eProsima_user_DllExport Message& operator=(const Message &x);
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief Move assignment.
			
 
				+         * @param x Reference to the object TopicSample::Message that will be copied.
			
 
				+         */
			
 
				+        eProsima_user_DllExport Message& operator=(Message &&x);
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function copies the value in member msgname
			
 
				+         * @param _msgname New value to be copied in member msgname
			
 
				+         */
			
 
				+        eProsima_user_DllExport void msgname(const std::string &_msgname);
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function moves the value in member msgname
			
 
				+         * @param _msgname New value to be moved in member msgname
			
 
				+         */
			
 
				+        eProsima_user_DllExport void msgname(std::string &&_msgname);
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function returns a constant reference to member msgname
			
 
				+         * @return Constant reference to member msgname
			
 
				+         */
			
 
				+        eProsima_user_DllExport const std::string& msgname() const;
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function returns a reference to member msgname
			
 
				+         * @return Reference to member msgname
			
 
				+         */
			
 
				+        eProsima_user_DllExport std::string& msgname();
			
 
				+        /*!
			
 
				+         * @brief This function sets a value in member counter
			
 
				+         * @param _counter New value for member counter
			
 
				+         */
			
 
				+        eProsima_user_DllExport void counter(int32_t _counter);
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function returns the value of member counter
			
 
				+         * @return Value of member counter
			
 
				+         */
			
 
				+        eProsima_user_DllExport int32_t counter() const;
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function returns a reference to member counter
			
 
				+         * @return Reference to member counter
			
 
				+         */
			
 
				+        eProsima_user_DllExport int32_t& counter();
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function sets a value in member sendtime
			
 
				+         * @param _sendtime New value for member sendtime
			
 
				+         */
			
 
				+        eProsima_user_DllExport void sendtime(int64_t _sendtime);
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function returns the value of member sendtime
			
 
				+         * @return Value of member sendtime
			
 
				+         */
			
 
				+        eProsima_user_DllExport int64_t sendtime() const;
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function returns a reference to member sendtime
			
 
				+         * @return Reference to member sendtime
			
 
				+         */
			
 
				+        eProsima_user_DllExport int64_t& sendtime();
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function copies the value in member xdata
			
 
				+         * @param _xdata New value to be copied in member xdata
			
 
				+         */
			
 
				+        eProsima_user_DllExport void xdata(const TopicSample::SomeBytes &_xdata);
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function moves the value in member xdata
			
 
				+         * @param _xdata New value to be moved in member xdata
			
 
				+         */
			
 
				+        eProsima_user_DllExport void xdata(TopicSample::SomeBytes &&_xdata);
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function returns a constant reference to member xdata
			
 
				+         * @return Constant reference to member xdata
			
 
				+         */
			
 
				+        eProsima_user_DllExport const TopicSample::SomeBytes& xdata() const;
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function returns a reference to member xdata
			
 
				+         * @return Reference to member xdata
			
 
				+         */
			
 
				+        eProsima_user_DllExport TopicSample::SomeBytes& xdata();
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function returns the maximum serialized size of an object
			
 
				+         * depending on the buffer alignment.
			
 
				+         * @param current_alignment Buffer alignment.
			
 
				+         * @return Maximum serialized size.
			
 
				+         */
			
 
				+        eProsima_user_DllExport static size_t getMaxCdrSerializedSize(size_t current_alignment = 0);
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function returns the serialized size of a data depending on the buffer alignment.
			
 
				+         * @param data Data which is calculated its serialized size.
			
 
				+         * @param current_alignment Buffer alignment.
			
 
				+         * @return Serialized size.
			
 
				+         */
			
 
				+        eProsima_user_DllExport static size_t getCdrSerializedSize(const TopicSample::Message& data, size_t current_alignment = 0);
			
 
				+
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function serializes an object using CDR serialization.
			
 
				+         * @param cdr CDR serialization object.
			
 
				+         */
			
 
				+        eProsima_user_DllExport void serialize(eprosima::fastcdr::Cdr &cdr) const;
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function deserializes an object using CDR serialization.
			
 
				+         * @param cdr CDR serialization object.
			
 
				+         */
			
 
				+        eProsima_user_DllExport void deserialize(eprosima::fastcdr::Cdr &cdr);
			
 
				+
			
 
				+
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function returns the maximum serialized size of the Key of an object
			
 
				+         * depending on the buffer alignment.
			
 
				+         * @param current_alignment Buffer alignment.
			
 
				+         * @return Maximum serialized size.
			
 
				+         */
			
 
				+        eProsima_user_DllExport static size_t getKeyMaxCdrSerializedSize(size_t current_alignment = 0);
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function tells you if the Key has been defined for this type
			
 
				+         */
			
 
				+        eProsima_user_DllExport static bool isKeyDefined();
			
 
				+
			
 
				+        /*!
			
 
				+         * @brief This function serializes the key members of an object using CDR serialization.
			
 
				+         * @param cdr CDR serialization object.
			
 
				+         */
			
 
				+        eProsima_user_DllExport void serializeKey(eprosima::fastcdr::Cdr &cdr) const;
			
 
				+
			
 
				+    private:
			
 
				+        std::string m_msgname;
			
 
				+        int32_t m_counter;
			
 
				+        int64_t m_sendtime;
			
 
				+        TopicSample::SomeBytes m_xdata;
			
 
				+    };
			
 
				+}
			
 
				+
			
 
				+#endif // _TOPICSAMPLE_TOPICS_H_
			
--- a/src1/common/modulecomm_fastrtps/Topics.idl
+++ b/src1/common/modulecomm_fastrtps/Topics.idl
@@ -0,0 +1,13 @@
 
				+module TopicSample {
			
 
				+
			
 
				+#pragma DCPS_DATA_TYPE "TopicSample::Message"
			
 
				+
			
 
				+typedef sequence<octet> SomeBytes;
			
 
				+struct Message {
			
 
				+  string msgname;
			
 
				+  long counter;
			
 
				+  long long sendtime;
			
 
				+  SomeBytes   xdata;
			
 
				+};
			
 
				+
			
 
				+};
			
--- a/src1/common/modulecomm_fastrtps/TopicsPubSubTypes.cxx
+++ b/src1/common/modulecomm_fastrtps/TopicsPubSubTypes.cxx
@@ -0,0 +1,138 @@
 
				+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
			
 
				+//
			
 
				+// Licensed under the Apache License, Version 2.0 (the "License");
			
 
				+// you may not use this file except in compliance with the License.
			
 
				+// You may obtain a copy of the License at
			
 
				+//
			
 
				+//     http://www.apache.org/licenses/LICENSE-2.0
			
 
				+//
			
 
				+// Unless required by applicable law or agreed to in writing, software
			
 
				+// distributed under the License is distributed on an "AS IS" BASIS,
			
 
				+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
			
 
				+// See the License for the specific language governing permissions and
			
 
				+// limitations under the License.
			
 
				+
			
 
				+/*!
			
 
				+ * @file TopicsPubSubTypes.cpp
			
 
				+ * This header file contains the implementation of the serialization functions.
			
 
				+ *
			
 
				+ * This file was generated by the tool fastcdrgen.
			
 
				+ */
			
 
				+
			
 
				+
			
 
				+#include <fastcdr/FastBuffer.h>
			
 
				+#include <fastcdr/Cdr.h>
			
 
				+
			
 
				+#include "TopicsPubSubTypes.h"
			
 
				+
			
 
				+using namespace eprosima::fastrtps;
			
 
				+using namespace eprosima::fastrtps::rtps;
			
 
				+
			
 
				+namespace TopicSample
			
 
				+{
			
 
				+
			
 
				+    MessagePubSubType::MessagePubSubType()
			
 
				+    {
			
 
				+        setName("TopicSample::Message");
			
 
				+        m_typeSize = static_cast<uint32_t>(Message::getMaxCdrSerializedSize()) + 4 /*encapsulation*/;
			
 
				+        m_isGetKeyDefined = Message::isKeyDefined();
			
 
				+        size_t keyLength = Message::getKeyMaxCdrSerializedSize()>16 ? Message::getKeyMaxCdrSerializedSize() : 16;
			
 
				+        m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
			
 
				+        memset(m_keyBuffer, 0, keyLength);
			
 
				+    }
			
 
				+
			
 
				+    MessagePubSubType::~MessagePubSubType()
			
 
				+    {
			
 
				+        if(m_keyBuffer!=nullptr)
			
 
				+            free(m_keyBuffer);
			
 
				+    }
			
 
				+
			
 
				+    bool MessagePubSubType::serialize(void *data, SerializedPayload_t *payload)
			
 
				+    {
			
 
				+        Message *p_type = static_cast<Message*>(data);
			
 
				+        eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size); // Object that manages the raw buffer.
			
 
				+        eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
			
 
				+                eprosima::fastcdr::Cdr::DDS_CDR); // Object that serializes the data.
			
 
				+        payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
			
 
				+        // Serialize encapsulation
			
 
				+        ser.serialize_encapsulation();
			
 
				+
			
 
				+        try
			
 
				+        {
			
 
				+            p_type->serialize(ser); // Serialize the object:
			
 
				+        }
			
 
				+        catch(eprosima::fastcdr::exception::NotEnoughMemoryException& /*exception*/)
			
 
				+        {
			
 
				+            return false;
			
 
				+        }
			
 
				+
			
 
				+        payload->length = static_cast<uint32_t>(ser.getSerializedDataLength()); //Get the serialized length
			
 
				+        return true;
			
 
				+    }
			
 
				+
			
 
				+    bool MessagePubSubType::deserialize(SerializedPayload_t* payload, void* data)
			
 
				+    {
			
 
				+        Message* p_type = static_cast<Message*>(data); //Convert DATA to pointer of your type
			
 
				+        eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length); // Object that manages the raw buffer.
			
 
				+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
			
 
				+                eprosima::fastcdr::Cdr::DDS_CDR); // Object that deserializes the data.
			
 
				+        // Deserialize encapsulation.
			
 
				+        deser.read_encapsulation();
			
 
				+        payload->encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
			
 
				+
			
 
				+        try
			
 
				+        {
			
 
				+            p_type->deserialize(deser); //Deserialize the object:
			
 
				+        }
			
 
				+        catch(eprosima::fastcdr::exception::NotEnoughMemoryException& /*exception*/)
			
 
				+        {
			
 
				+            return false;
			
 
				+        }
			
 
				+
			
 
				+        return true;
			
 
				+    }
			
 
				+
			
 
				+    std::function<uint32_t()> MessagePubSubType::getSerializedSizeProvider(void* data)
			
 
				+    {
			
 
				+        return [data]() -> uint32_t
			
 
				+        {
			
 
				+            return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<Message*>(data))) + 4 /*encapsulation*/;
			
 
				+        };
			
 
				+    }
			
 
				+
			
 
				+    void* MessagePubSubType::createData()
			
 
				+    {
			
 
				+        return reinterpret_cast<void*>(new Message());
			
 
				+    }
			
 
				+
			
 
				+    void MessagePubSubType::deleteData(void* data)
			
 
				+    {
			
 
				+        delete(reinterpret_cast<Message*>(data));
			
 
				+    }
			
 
				+
			
 
				+    bool MessagePubSubType::getKey(void *data, InstanceHandle_t* handle, bool force_md5)
			
 
				+    {
			
 
				+        if(!m_isGetKeyDefined)
			
 
				+            return false;
			
 
				+        Message* p_type = static_cast<Message*>(data);
			
 
				+        eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),Message::getKeyMaxCdrSerializedSize());     // Object that manages the raw buffer.
			
 
				+        eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS);     // Object that serializes the data.
			
 
				+        p_type->serializeKey(ser);
			
 
				+        if(force_md5 || Message::getKeyMaxCdrSerializedSize()>16)    {
			
 
				+            m_md5.init();
			
 
				+            m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
			
 
				+            m_md5.finalize();
			
 
				+            for(uint8_t i = 0;i<16;++i)        {
			
 
				+                handle->value[i] = m_md5.digest[i];
			
 
				+            }
			
 
				+        }
			
 
				+        else    {
			
 
				+            for(uint8_t i = 0;i<16;++i)        {
			
 
				+                handle->value[i] = m_keyBuffer[i];
			
 
				+            }
			
 
				+        }
			
 
				+        return true;
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+} //End of namespace TopicSample
			
--- a/src1/common/modulecomm_fastrtps/TopicsPubSubTypes.h
+++ b/src1/common/modulecomm_fastrtps/TopicsPubSubTypes.h
@@ -0,0 +1,61 @@
 
				+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
			
 
				+//
			
 
				+// Licensed under the Apache License, Version 2.0 (the "License");
			
 
				+// you may not use this file except in compliance with the License.
			
 
				+// You may obtain a copy of the License at
			
 
				+//
			
 
				+//     http://www.apache.org/licenses/LICENSE-2.0
			
 
				+//
			
 
				+// Unless required by applicable law or agreed to in writing, software
			
 
				+// distributed under the License is distributed on an "AS IS" BASIS,
			
 
				+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
			
 
				+// See the License for the specific language governing permissions and
			
 
				+// limitations under the License.
			
 
				+
			
 
				+/*!
			
 
				+ * @file TopicsPubSubTypes.h
			
 
				+ * This header file contains the declaration of the serialization functions.
			
 
				+ *
			
 
				+ * This file was generated by the tool fastcdrgen.
			
 
				+ */
			
 
				+
			
 
				+
			
 
				+#ifndef _TOPICSAMPLE_TOPICS_PUBSUBTYPES_H_
			
 
				+#define _TOPICSAMPLE_TOPICS_PUBSUBTYPES_H_
			
 
				+
			
 
				+#include <fastrtps/config.h>
			
 
				+#include <fastrtps/TopicDataType.h>
			
 
				+
			
 
				+#include "Topics.h"
			
 
				+
			
 
				+#if !defined(GEN_API_VER) || (GEN_API_VER != 1)
			
 
				+#error Generated Topics is not compatible with current installed Fast-RTPS. Please, regenerate it with fastrtpsgen.
			
 
				+#endif
			
 
				+
			
 
				+namespace TopicSample
			
 
				+{
			
 
				+    typedef std::vector<uint8_t> SomeBytes;
			
 
				+    /*!
			
 
				+     * @brief This class represents the TopicDataType of the type Message defined by the user in the IDL file.
			
 
				+     * @ingroup TOPICS
			
 
				+     */
			
 
				+    class MessagePubSubType : public eprosima::fastrtps::TopicDataType {
			
 
				+    public:
			
 
				+        typedef Message type;
			
 
				+
			
 
				+        eProsima_user_DllExport MessagePubSubType();
			
 
				+
			
 
				+        eProsima_user_DllExport virtual ~MessagePubSubType();
			
 
				+        eProsima_user_DllExport virtual bool serialize(void *data, eprosima::fastrtps::rtps::SerializedPayload_t *payload) override;
			
 
				+        eProsima_user_DllExport virtual bool deserialize(eprosima::fastrtps::rtps::SerializedPayload_t *payload, void *data) override;
			
 
				+        eProsima_user_DllExport virtual std::function<uint32_t()> getSerializedSizeProvider(void* data) override;
			
 
				+        eProsima_user_DllExport virtual bool getKey(void *data, eprosima::fastrtps::rtps::InstanceHandle_t *ihandle,
			
 
				+            bool force_md5 = false) override;
			
 
				+        eProsima_user_DllExport virtual void* createData() override;
			
 
				+        eProsima_user_DllExport virtual void deleteData(void * data) override;
			
 
				+        MD5 m_md5;
			
 
				+        unsigned char* m_keyBuffer;
			
 
				+    };
			
 
				+}
			
 
				+
			
 
				+#endif // _TOPICSAMPLE_TOPICS_PUBSUBTYPES_H_
			
--- a/src1/common/modulecomm_fastrtps/TopicsPublisher.cxx
+++ b/src1/common/modulecomm_fastrtps/TopicsPublisher.cxx
@@ -0,0 +1,198 @@
 
				+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
			
 
				+//
			
 
				+// Licensed under the Apache License, Version 2.0 (the "License");
			
 
				+// you may not use this file except in compliance with the License.
			
 
				+// You may obtain a copy of the License at
			
 
				+//
			
 
				+//     http://www.apache.org/licenses/LICENSE-2.0
			
 
				+//
			
 
				+// Unless required by applicable law or agreed to in writing, software
			
 
				+// distributed under the License is distributed on an "AS IS" BASIS,
			
 
				+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
			
 
				+// See the License for the specific language governing permissions and
			
 
				+// limitations under the License.
			
 
				+
			
 
				+/*!
			
 
				+ * @file TopicsPublisher.cpp
			
 
				+ * This file contains the implementation of the publisher functions.
			
 
				+ *
			
 
				+ * This file was generated by the tool fastcdrgen.
			
 
				+ */
			
 
				+
			
 
				+
			
 
				+#include <fastrtps/participant/Participant.h>
			
 
				+#include <fastrtps/attributes/ParticipantAttributes.h>
			
 
				+#include <fastrtps/publisher/Publisher.h>
			
 
				+#include <fastrtps/attributes/PublisherAttributes.h>
			
 
				+
			
 
				+#include <fastrtps/Domain.h>
			
 
				+
			
 
				+#include <fastrtps/participant/Participant.h>
			
 
				+#include <fastrtps/attributes/ParticipantAttributes.h>
			
 
				+#include <fastrtps/attributes/PublisherAttributes.h>
			
 
				+#include <fastrtps/publisher/Publisher.h>
			
 
				+#include <fastrtps/Domain.h>
			
 
				+#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
			
 
				+#include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>
			
 
				+
			
 
				+#include <thread>
			
 
				+#include <chrono>
			
 
				+
			
 
				+#include "TopicsPublisher.h"
			
 
				+
			
 
				+using namespace eprosima::fastrtps;
			
 
				+using namespace eprosima::fastrtps::rtps;
			
 
				+
			
 
				+using namespace eprosima::fastdds::rtps;
			
 
				+
			
 
				+TopicsPublisher::TopicsPublisher() : mp_participant(nullptr), mp_publisher(nullptr) {}
			
 
				+
			
 
				+TopicsPublisher::~TopicsPublisher() {	Domain::removeParticipant(mp_participant);}
			
 
				+
			
 
				+bool TopicsPublisher::init(const char * strtopic)
			
 
				+{
			
 
				+    strncpy(mstrtopic,strtopic,255);
			
 
				+    // Create RTPSParticipant
			
 
				+
			
 
				+    ParticipantAttributes PParam;
			
 
				+    PParam.rtps.sendSocketBufferSize = 100000000;
			
 
				+    PParam.rtps.setName("Participant_publisher");  //You can put here the name you want
			
 
				+
			
 
				+    PParam.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SIMPLE;
			
 
				+    PParam.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = true;
			
 
				+    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
			
 
				+    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
			
 
				+    PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
			
 
				+
			
 
				+    // SharedMem transport configuration
			
 
				+    PParam.rtps.useBuiltinTransports = false;
			
 
				+
			
 
				+    auto shm_transport = std::make_shared<SharedMemTransportDescriptor>();
			
 
				+    shm_transport->segment_size(100*1024*1024);
			
 
				+    PParam.rtps.userTransports.push_back(shm_transport);
			
 
				+
			
 
				+    // UDP
			
 
				+    auto udp_transport = std::make_shared<UDPv4TransportDescriptor>();
			
 
				+    //udp_transport->interfaceWhiteList.push_back("127.0.0.1");
			
 
				+    PParam.rtps.userTransports.push_back(udp_transport);
			
 
				+
			
 
				+
			
 
				+    mp_participant = Domain::createParticipant(PParam);
			
 
				+    if(mp_participant == nullptr)
			
 
				+    {
			
 
				+        return false;
			
 
				+    }
			
 
				+
			
 
				+    //Register the type
			
 
				+
			
 
				+    Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
			
 
				+
			
 
				+    // Create Publisher
			
 
				+
			
 
				+    PublisherAttributes Wparam;
			
 
				+    Wparam.topic.topicKind = NO_KEY;
			
 
				+    Wparam.topic.topicDataType = myType.getName();  //This type MUST be registered
			
 
				+    Wparam.topic.topicName = strtopic;//"TopicsPubSubTopic";
			
 
				+
			
 
				+    Wparam.topic.historyQos.depth = 30;
			
 
				+    Wparam.topic.resourceLimitsQos.max_samples = 50;
			
 
				+    Wparam.topic.resourceLimitsQos.allocated_samples = 20;
			
 
				+    Wparam.times.heartbeatPeriod.seconds = 2;
			
 
				+    Wparam.times.heartbeatPeriod.nanosec = 200 * 1000 * 1000;
			
 
				+    Wparam.qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
			
 
				+    Wparam.qos.m_publishMode.kind = ASYNCHRONOUS_PUBLISH_MODE;
			
 
				+
			
 
				+    mp_publisher = Domain::createPublisher(mp_participant,Wparam,static_cast<PublisherListener*>(&m_listener));
			
 
				+
			
 
				+    if(mp_publisher == nullptr)
			
 
				+    {
			
 
				+        return false;
			
 
				+    }
			
 
				+
			
 
				+    std::cout << "Publisher created, waiting for Subscribers." << std::endl;
			
 
				+    return true;
			
 
				+}
			
 
				+
			
 
				+void TopicsPublisher::PubListener::onPublicationMatched(Publisher* pub,MatchingInfo& info)
			
 
				+{
			
 
				+    (void)pub;
			
 
				+
			
 
				+    if (info.status == MATCHED_MATCHING)
			
 
				+    {
			
 
				+        n_matched++;
			
 
				+        std::cout << "Publisher matched" << std::endl;
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        n_matched--;
			
 
				+        std::cout << "Publisher unmatched" << std::endl;
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void TopicsPublisher::run()
			
 
				+{
			
 
				+    while(m_listener.n_matched == 0)
			
 
				+    {
			
 
				+        std::this_thread::sleep_for(std::chrono::milliseconds(250)); // Sleep 250 ms
			
 
				+    }
			
 
				+
			
 
				+    // Publication code
			
 
				+
			
 
				+    TopicSample::Message st;
			
 
				+
			
 
				+    /* Initialize your structure here */
			
 
				+
			
 
				+    int msgsent = 0;
			
 
				+    char ch = 'y';
			
 
				+    do
			
 
				+    {
			
 
				+        if(ch == 'y')
			
 
				+        {
			
 
				+            mp_publisher->write(&st);  ++msgsent;
			
 
				+            std::cout << "Sending sample, count=" << msgsent << ", send another sample?(y-yes,n-stop): ";
			
 
				+        }
			
 
				+        else if(ch == 'n')
			
 
				+        {
			
 
				+            std::cout << "Stopping execution " << std::endl;
			
 
				+            break;
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            std::cout << "Command " << ch << " not recognized, please enter \"y/n\":";
			
 
				+        }
			
 
				+    } while(std::cin >> ch);
			
 
				+}
			
 
				+
			
 
				+#include <QDateTime>
			
 
				+
			
 
				+void TopicsPublisher::senddata(const char *str, int nsize)
			
 
				+{
			
 
				+
			
 
				+
			
 
				+    static int ncount = 1;
			
 
				+    std::cout<<"send data."<<std::endl;
			
 
				+//    while(m_listener.n_matched == 0)
			
 
				+    TopicSample::SomeBytes x;
			
 
				+    x.resize(nsize);
			
 
				+    memcpy(x.data(),str,nsize);
			
 
				+
			
 
				+    TopicSample::Message st;
			
 
				+
			
 
				+    st.msgname(mstrtopic);
			
 
				+//    st.msgname("topictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopictopic");
			
 
				+    st.counter(ncount);ncount++;
			
 
				+    st.sendtime(QDateTime::currentMSecsSinceEpoch());
			
 
				+    TopicSample::SomeBytes & px = x;
			
 
				+    st.xdata(x);
			
 
				+
			
 
				+    int ndatasize = TopicSample::Message::getCdrSerializedSize(st);
			
 
				+
			
 
				+    std::cout<<"size is "<<ndatasize<<std::endl;
			
 
				+
			
 
				+
			
 
				+    mp_publisher->write(&st);
			
 
				+
			
 
				+
			
 
				+
			
 
				+}
			
 
				+
			
--- a/src1/common/modulecomm_fastrtps/TopicsPublisher.h
+++ b/src1/common/modulecomm_fastrtps/TopicsPublisher.h
@@ -0,0 +1,56 @@
 
				+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
			
 
				+//
			
 
				+// Licensed under the Apache License, Version 2.0 (the "License");
			
 
				+// you may not use this file except in compliance with the License.
			
 
				+// You may obtain a copy of the License at
			
 
				+//
			
 
				+//     http://www.apache.org/licenses/LICENSE-2.0
			
 
				+//
			
 
				+// Unless required by applicable law or agreed to in writing, software
			
 
				+// distributed under the License is distributed on an "AS IS" BASIS,
			
 
				+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
			
 
				+// See the License for the specific language governing permissions and
			
 
				+// limitations under the License.
			
 
				+
			
 
				+/*!
			
 
				+ * @file TopicsPublisher.h
			
 
				+ * This header file contains the declaration of the publisher functions.
			
 
				+ *
			
 
				+ * This file was generated by the tool fastcdrgen.
			
 
				+ */
			
 
				+
			
 
				+
			
 
				+#ifndef _TOPICSAMPLE_TOPICS_PUBLISHER_H_
			
 
				+#define _TOPICSAMPLE_TOPICS_PUBLISHER_H_
			
 
				+
			
 
				+#include <fastrtps/fastrtps_fwd.h>
			
 
				+#include <fastrtps/publisher/PublisherListener.h>
			
 
				+
			
 
				+#include "TopicsPubSubTypes.h"
			
 
				+
			
 
				+class TopicsPublisher
			
 
				+{
			
 
				+public:
			
 
				+	TopicsPublisher();
			
 
				+	virtual ~TopicsPublisher();
			
 
				+    bool init(const char * strtopic);
			
 
				+	void run();
			
 
				+    void senddata(const char *str, int nsize);
			
 
				+private:
			
 
				+	eprosima::fastrtps::Participant *mp_participant;
			
 
				+	eprosima::fastrtps::Publisher *mp_publisher;
			
 
				+
			
 
				+    char mstrtopic[256];
			
 
				+
			
 
				+	class PubListener : public eprosima::fastrtps::PublisherListener
			
 
				+	{
			
 
				+	public:
			
 
				+		PubListener() : n_matched(0){};
			
 
				+		~PubListener(){};
			
 
				+		void onPublicationMatched(eprosima::fastrtps::Publisher* pub,eprosima::fastrtps::rtps::MatchingInfo& info);
			
 
				+		int n_matched;
			
 
				+	} m_listener;
			
 
				+	TopicSample::MessagePubSubType myType;
			
 
				+};
			
 
				+
			
 
				+#endif // _TOPICSAMPLE_TOPICS_PUBLISHER_H_
			
--- a/src1/common/modulecomm_fastrtps/TopicsSubscriber.cxx
+++ b/src1/common/modulecomm_fastrtps/TopicsSubscriber.cxx
@@ -0,0 +1,206 @@
 
				+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
			
 
				+//
			
 
				+// Licensed under the Apache License, Version 2.0 (the "License");
			
 
				+// you may not use this file except in compliance with the License.
			
 
				+// You may obtain a copy of the License at
			
 
				+//
			
 
				+//     http://www.apache.org/licenses/LICENSE-2.0
			
 
				+//
			
 
				+// Unless required by applicable law or agreed to in writing, software
			
 
				+// distributed under the License is distributed on an "AS IS" BASIS,
			
 
				+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
			
 
				+// See the License for the specific language governing permissions and
			
 
				+// limitations under the License.
			
 
				+
			
 
				+/*!
			
 
				+ * @file TopicsSubscriber.cpp
			
 
				+ * This file contains the implementation of the subscriber functions.
			
 
				+ *
			
 
				+ * This file was generated by the tool fastcdrgen.
			
 
				+ */
			
 
				+
			
 
				+#include <fastrtps/participant/Participant.h>
			
 
				+#include <fastrtps/attributes/ParticipantAttributes.h>
			
 
				+#include <fastrtps/subscriber/Subscriber.h>
			
 
				+#include <fastrtps/attributes/SubscriberAttributes.h>
			
 
				+
			
 
				+#include <fastrtps/Domain.h>
			
 
				+
			
 
				+#include <fastcdr/FastBuffer.h>
			
 
				+#include <fastcdr/FastCdr.h>
			
 
				+#include <fastcdr/Cdr.h>
			
 
				+
			
 
				+#include <fastrtps/participant/Participant.h>
			
 
				+#include <fastrtps/attributes/ParticipantAttributes.h>
			
 
				+#include <fastrtps/attributes/PublisherAttributes.h>
			
 
				+#include <fastrtps/publisher/Publisher.h>
			
 
				+#include <fastrtps/Domain.h>
			
 
				+#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
			
 
				+#include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>
			
 
				+
			
 
				+#include "TopicsSubscriber.h"
			
 
				+
			
 
				+using namespace eprosima::fastrtps;
			
 
				+using namespace eprosima::fastrtps::rtps;
			
 
				+
			
 
				+using namespace eprosima::fastdds::rtps;
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+#include <QDateTime>
			
 
				+
			
 
				+TopicsSubscriber::TopicsSubscriber() : mp_participant(nullptr), mp_subscriber(nullptr) {}
			
 
				+
			
 
				+TopicsSubscriber::~TopicsSubscriber() {	Domain::removeParticipant(mp_participant);}
			
 
				+
			
 
				+bool TopicsSubscriber::init(const char * strtopic)
			
 
				+{
			
 
				+
			
 
				+    strncpy(mstrtopic,strtopic,255);
			
 
				+    // Create RTPSParticipant
			
 
				+
			
 
				+    ParticipantAttributes PParam;
			
 
				+    PParam.rtps.setName("Participant_subscriber"); //You can put the name you want
			
 
				+
			
 
				+    PParam.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SIMPLE;
			
 
				+    PParam.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = true;
			
 
				+    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
			
 
				+    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
			
 
				+    PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
			
 
				+
			
 
				+    // SharedMem transport configuration
			
 
				+    PParam.rtps.useBuiltinTransports = false;
			
 
				+
			
 
				+    auto sm_transport = std::make_shared<SharedMemTransportDescriptor>();
			
 
				+    sm_transport->segment_size(100*1024*1024);
			
 
				+    PParam.rtps.userTransports.push_back(sm_transport);
			
 
				+
			
 
				+    // UDP
			
 
				+    auto udp_transport = std::make_shared<UDPv4TransportDescriptor>();
			
 
				+    //udp_transport->interfaceWhiteList.push_back("127.0.0.1");
			
 
				+    PParam.rtps.userTransports.push_back(udp_transport);
			
 
				+
			
 
				+
			
 
				+
			
 
				+    mp_participant = Domain::createParticipant(PParam);
			
 
				+    if(mp_participant == nullptr)
			
 
				+    {
			
 
				+        return false;
			
 
				+    }
			
 
				+
			
 
				+    //Register the type
			
 
				+
			
 
				+    Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
			
 
				+
			
 
				+    // Create Subscriber
			
 
				+
			
 
				+    SubscriberAttributes Rparam;
			
 
				+    Rparam.topic.topicKind = NO_KEY;
			
 
				+    Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
			
 
				+    Rparam.topic.topicName = strtopic;//"TopicsPubSubTopic";
			
 
				+
			
 
				+    Rparam.topic.historyQos.depth = 30;
			
 
				+    Rparam.topic.resourceLimitsQos.max_samples = 50;
			
 
				+    Rparam.topic.resourceLimitsQos.allocated_samples = 20;
			
 
				+
			
 
				+    Rparam.qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
			
 
				+
			
 
				+
			
 
				+    mp_subscriber = Domain::createSubscriber(mp_participant,Rparam, static_cast<SubscriberListener*>(&m_listener));
			
 
				+    if(mp_subscriber == nullptr)
			
 
				+    {
			
 
				+        return false;
			
 
				+    }
			
 
				+    return true;
			
 
				+}
			
 
				+
			
 
				+void TopicsSubscriber::SubListener::onSubscriptionMatched(Subscriber* sub,MatchingInfo& info)
			
 
				+{
			
 
				+    (void)sub;
			
 
				+
			
 
				+    if (info.status == MATCHED_MATCHING)
			
 
				+    {
			
 
				+        n_matched++;
			
 
				+        std::cout << "Subscriber matched" << std::endl;
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        n_matched--;
			
 
				+        std::cout << "Subscriber unmatched" << std::endl;
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+
			
 
				+void TopicsSubscriber::SubListener::setReceivedTopicFunction(ModuleFun xFun)
			
 
				+{
			
 
				+    mFun = xFun;
			
 
				+    mbSetFun = true;
			
 
				+}
			
 
				+void TopicsSubscriber::SubListener::onNewDataMessage(Subscriber* sub)
			
 
				+{
			
 
				+    // Take data
			
 
				+    TopicSample::Message st;
			
 
				+    static int ncount = 0;
			
 
				+
			
 
				+    static int nmaxlatancy = 0;
			
 
				+
			
 
				+    std::cout<<"new msg"<<std::endl;
			
 
				+
			
 
				+
			
 
				+//    char * strbuf = new char[1000000];
			
 
				+//    eprosima::fastcdr::FastBuffer pbuf(strbuf,1000000);
			
 
				+//    eprosima::fastcdr::Cdr * pxcdr;//
			
 
				+//    pxcdr = new eprosima::fastcdr::Cdr(pbuf);
			
 
				+
			
 
				+//    if(sub->takeNextData(pxcdr, &m_info))
			
 
				+//    {
			
 
				+//        if(m_info.sampleKind == ALIVE)
			
 
				+//        {
			
 
				+//            // Print your structure data here.
			
 
				+//            ++n_msg;
			
 
				+//            std::cout << "Sample received, count=" << n_msg<<std::endl;
			
 
				+//            st.deserialize(*pxcdr);
			
 
				+
			
 
				+//            std::cout<<" size is "<<TopicSample::Message::getCdrSerializedSize(st)<<std::endl;
			
 
				+//        }
			
 
				+//    }
			
 
				+
			
 
				+//    return;
			
 
				+
			
 
				+//    sub->get_first_untaken_info(&m_info);
			
 
				+    std::cout<<"count is "<<sub->getUnreadCount()<<std::endl;
			
 
				+
			
 
				+    if(sub->takeNextData(&st, &m_info))
			
 
				+    {
			
 
				+        if(m_info.sampleKind == ALIVE)
			
 
				+        {
			
 
				+            // Print your structure data here.
			
 
				+            ++n_msg;
			
 
				+            ncount++;
			
 
				+            std::cout << "Sample received, count=" << st.counter() <<" total: "<<ncount<<std::endl;
			
 
				+            qint64 timex = QDateTime::currentMSecsSinceEpoch();
			
 
				+            int nlatancy = (timex - st.sendtime());
			
 
				+            if(nlatancy>nmaxlatancy)nmaxlatancy = nlatancy;
			
 
				+            std::cout<<"  latency is "<<nlatancy<<" max: "<<nmaxlatancy<<std::endl;
			
 
				+            std::cout<<" size is "<<st.xdata().size()<<std::endl;
			
 
				+            QDateTime dt = QDateTime::fromMSecsSinceEpoch(st.sendtime());
			
 
				+            if(mbSetFun) mFun((char *)(st.xdata().data()),st.xdata().size(),st.counter(),&dt,st.msgname().data());
			
 
				+
			
 
				+
			
 
				+        }
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void TopicsSubscriber::setReceivedTopicFunction(ModuleFun xFun)
			
 
				+{
			
 
				+    m_listener.setReceivedTopicFunction(xFun);
			
 
				+}
			
 
				+
			
 
				+void TopicsSubscriber::run()
			
 
				+{
			
 
				+    std::cout << "Waiting for Data, press Enter to stop the Subscriber. "<<std::endl;
			
 
				+    std::cin.ignore();
			
 
				+    std::cout << "Shutting down the Subscriber." << std::endl;
			
 
				+}
			
 
				+
			
--- a/src1/common/modulecomm_fastrtps/TopicsSubscriber.h
+++ b/src1/common/modulecomm_fastrtps/TopicsSubscriber.h
@@ -0,0 +1,72 @@
 
				+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
			
 
				+//
			
 
				+// Licensed under the Apache License, Version 2.0 (the "License");
			
 
				+// you may not use this file except in compliance with the License.
			
 
				+// You may obtain a copy of the License at
			
 
				+//
			
 
				+//     http://www.apache.org/licenses/LICENSE-2.0
			
 
				+//
			
 
				+// Unless required by applicable law or agreed to in writing, software
			
 
				+// distributed under the License is distributed on an "AS IS" BASIS,
			
 
				+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
			
 
				+// See the License for the specific language governing permissions and
			
 
				+// limitations under the License.
			
 
				+
			
 
				+/*!
			
 
				+ * @file TopicsSubscriber.h
			
 
				+ * This header file contains the declaration of the subscriber functions.
			
 
				+ *
			
 
				+ * This file was generated by the tool fastcdrgen.
			
 
				+ */
			
 
				+
			
 
				+
			
 
				+#ifndef _TOPICSAMPLE_TOPICS_SUBSCRIBER_H_
			
 
				+#define _TOPICSAMPLE_TOPICS_SUBSCRIBER_H_
			
 
				+
			
 
				+#include <fastrtps/fastrtps_fwd.h>
			
 
				+#include <fastrtps/subscriber/SubscriberListener.h>
			
 
				+#include <fastrtps/subscriber/SampleInfo.h>
			
 
				+#include "TopicsPubSubTypes.h"
			
 
				+
			
 
				+
			
 
				+#include <QDateTime>
			
 
				+
			
 
				+typedef std::function<void(const char * ,const unsigned int , const unsigned int , QDateTime * ,const char *)> ModuleFun;
			
 
				+
			
 
				+class TopicsSubscriber
			
 
				+{
			
 
				+public:
			
 
				+	TopicsSubscriber();
			
 
				+	virtual ~TopicsSubscriber();
			
 
				+    bool init(const char * strtopic);
			
 
				+	void run();
			
 
				+
			
 
				+    void setReceivedTopicFunction(ModuleFun xFun);
			
 
				+private:
			
 
				+	eprosima::fastrtps::Participant *mp_participant;
			
 
				+	eprosima::fastrtps::Subscriber *mp_subscriber;
			
 
				+
			
 
				+
			
 
				+    char mstrtopic[256];
			
 
				+
			
 
				+	class SubListener : public eprosima::fastrtps::SubscriberListener
			
 
				+	{
			
 
				+	public:
			
 
				+		SubListener() : n_matched(0),n_msg(0){};
			
 
				+		~SubListener(){};
			
 
				+		void onSubscriptionMatched(eprosima::fastrtps::Subscriber* sub,eprosima::fastrtps::rtps::MatchingInfo& info);
			
 
				+		void onNewDataMessage(eprosima::fastrtps::Subscriber* sub);
			
 
				+		eprosima::fastrtps::SampleInfo_t m_info;
			
 
				+		int n_matched;
			
 
				+		int n_msg;
			
 
				+
			
 
				+        void setReceivedTopicFunction(ModuleFun xFun);
			
 
				+
			
 
				+    private:
			
 
				+        bool mbSetFun = false;
			
 
				+        ModuleFun mFun;
			
 
				+	} m_listener;
			
 
				+	TopicSample::MessagePubSubType myType;
			
 
				+};
			
 
				+
			
 
				+#endif // _TOPICSAMPLE_TOPICS_SUBSCRIBER_H_
			
--- a/src1/common/modulecomm_fastrtps/ivmodulemsg_type.h
+++ b/src1/common/modulecomm_fastrtps/ivmodulemsg_type.h
@@ -0,0 +1,13 @@
 
				+#ifndef IVMODULEMSG_TYPE_H
			
 
				+#define IVMODULEMSG_TYPE_H
			
 
				+
			
 
				+namespace iv {
			
 
				+struct modulemsg_type
			
 
				+{
			
 
				+    char mstrmsgname[256];
			
 
				+    int mnBufSize;
			
 
				+    int mnMsgBufCount;
			
 
				+};
			
 
				+
			
 
				+}
			
 
				+#endif // IVMODULEMSG_TYPE_H
			
--- a/src1/common/modulecomm_fastrtps/modulecomm_fastrtps.cpp
+++ b/src1/common/modulecomm_fastrtps/modulecomm_fastrtps.cpp
@@ -0,0 +1,63 @@
 
				+#include "modulecomm_fastrtps.h".h"
			
 
				+//#include "procsm_if.h"
			
 
				+//#include "procsm.h"
			
 
				+
			
 
				+#include "modulecomm_impl.h"
			
 
				+
			
 
				+namespace iv {
			
 
				+namespace modulecomm_fastrtps {
			
 
				+
			
 
				+
			
 
				+void *  RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount)
			
 
				+{
			
 
				+
			
 
				+
			
 
				+    modulecomm_impl * pif = new modulecomm_impl(strcommname,modulecomm_impl::type_send);
			
 
				+
			
 
				+//    procsm_if * pif = new procsm_if(strcommname,nBufSize,nMsgBufCount,procsm::ModeWrite);
			
 
				+    return (void *)pif;
			
 
				+}
			
 
				+
			
 
				+void  *  RegisterRecv(const char * strcommname,SMCallBack pCall)
			
 
				+{
			
 
				+    modulecomm_impl * pif = new modulecomm_impl(strcommname,modulecomm_impl::type_recv);
			
 
				+ //   procsm_if * pif = new procsm_if(strcommname,0,0,procsm::ModeRead);
			
 
				+    pif->listenmsg(pCall);
			
 
				+    return (void *)pif;
			
 
				+}
			
 
				+
			
 
				+void * MODULECOMMFASTRTPSSHARED_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun)
			
 
				+{
			
 
				+    modulecomm_impl * pif = new modulecomm_impl(strcommname,modulecomm_impl::type_recv);
			
 
				+ //   procsm_if * pif = new procsm_if(strcommname,0,0,procsm::ModeRead);
			
 
				+    pif->listenmsg(xFun);
			
 
				+    return (void *)pif;
			
 
				+}
			
 
				+void  ModuleSendMsg(void * pHandle,const char * strdata,const unsigned int nDataLen)
			
 
				+{
			
 
				+    modulecomm_impl * pif= (modulecomm_impl *)pHandle;
			
 
				+ //   procsm_if * pif = (procsm_if *)pHandle;
			
 
				+    pif->writemsg(strdata,nDataLen);
			
 
				+}
			
 
				+
			
 
				+void  Unregister(void * pHandle)
			
 
				+{
			
 
				+    modulecomm_impl * pif= (modulecomm_impl *)pHandle;
			
 
				+//    procsm_if * pif = (procsm_if *)pHandle;
			
 
				+    delete pif;
			
 
				+}
			
 
				+
			
 
				+void PauseComm(void *pHandle)
			
 
				+{
			
 
				+//    procsm_if * pif = (procsm_if *)pHandle;
			
 
				+//    pif->pausecomm();
			
 
				+}
			
 
				+
			
 
				+void ContintuComm(void *pHandle)
			
 
				+{
			
 
				+ //   procsm_if * pif = (procsm_if *)pHandle;
			
 
				+ //   pif->continuecomm();
			
 
				+}
			
 
				+
			
 
				+}
			
 
				+}
			
--- a/src1/common/modulecomm_fastrtps/modulecomm_fastrtps.h
+++ b/src1/common/modulecomm_fastrtps/modulecomm_fastrtps.h
@@ -0,0 +1,40 @@
 
				+#ifndef MODULECOMM_FASTRTPS_H
			
 
				+#define MODULECOMM_FASTRTPS_H
			
 
				+
			
 
				+#include <QtCore/qglobal.h>
			
 
				+#include <QDateTime>
			
 
				+
			
 
				+#include <functional>
			
 
				+
			
 
				+#if defined(MODULECOMM_FASTRTPS_LIBRARY)
			
 
				+#  define MODULECOMMFASTRTPSSHARED_EXPORT Q_DECL_EXPORT
			
 
				+#else
			
 
				+#  define MODULECOMMFASTRTPSSHARED_EXPORT Q_DECL_IMPORT
			
 
				+#endif
			
 
				+
			
 
				+
			
 
				+
			
 
				+//#include <iostream>
			
 
				+//#include <thread>
			
 
				+
			
 
				+//using namespace std::placeholders;
			
 
				+typedef std::function<void(const char * ,const unsigned int , const unsigned int , QDateTime * ,const char *)> ModuleFun;
			
 
				+typedef void (* SMCallBack)(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
			
 
				+
			
 
				+namespace iv {
			
 
				+namespace modulecomm_fastrtps {
			
 
				+void * MODULECOMMFASTRTPSSHARED_EXPORT RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount);
			
 
				+void * MODULECOMMFASTRTPSSHARED_EXPORT RegisterRecv(const char * strcommname,SMCallBack pCall);
			
 
				+void * MODULECOMMFASTRTPSSHARED_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun);
			
 
				+void MODULECOMMFASTRTPSSHARED_EXPORT ModuleSendMsg(void * pHandle,const char * strdata,const unsigned int nDataLen);
			
 
				+void MODULECOMMFASTRTPSSHARED_EXPORT Unregister(void * pHandle);
			
 
				+void MODULECOMMFASTRTPSSHARED_EXPORT PauseComm(void * pHandle);
			
 
				+void MODULECOMMFASTRTPSSHARED_EXPORT ContintuComm(void * pHandle);
			
 
				+
			
 
				+}
			
 
				+
			
 
				+}
			
 
				+
			
 
				+
			
 
				+
			
 
				+#endif 
			
--- a/src1/common/modulecomm_fastrtps/modulecomm_fastrtps.pro
+++ b/src1/common/modulecomm_fastrtps/modulecomm_fastrtps.pro
@@ -0,0 +1,45 @@
 
				+#-------------------------------------------------
			
 
				+#
			
 
				+# Project created by QtCreator 2018-07-10T05:46:48
			
 
				+#
			
 
				+#-------------------------------------------------
			
 
				+
			
 
				+QT       -= gui
			
 
				+
			
 
				+
			
 
				+#DEFINES += dds_use_shm
			
 
				+
			
 
				+TARGET = modulecomm_fastrtps
			
 
				+TEMPLATE = lib
			
 
				+
			
 
				+DEFINES += MODULECOMM_FASTRTPS_LIBRARY
			
 
				+
			
 
				+VERSION = 1.0.1
			
 
				+CONFIG += plugin
			
 
				+
			
 
				+
			
 
				+SOURCES += modulecomm_fastrtps.cpp \
			
 
				+    Topics.cxx \
			
 
				+    TopicsPubSubTypes.cxx \
			
 
				+    TopicsPublisher.cxx \
			
 
				+    TopicsSubscriber.cxx \
			
 
				+    modulecomm_impl.cpp
			
 
				+
			
 
				+HEADERS += modulecomm_fastrtps.h \
			
 
				+    Topics.h \
			
 
				+    TopicsPubSubTypes.h \
			
 
				+    TopicsPublisher.h \
			
 
				+    TopicsSubscriber.h \
			
 
				+    modulecomm_impl.h \
			
 
				+    ivmodulemsg_type.h
			
 
				+
			
 
				+unix {
			
 
				+    target.path = /usr/lib
			
 
				+    INSTALLS += target
			
 
				+}
			
 
				+
			
 
				+#INCLUDEPATH += $$PWD/../../../include/
			
 
				+
			
 
				+
			
 
				+LIBS += -L$$PWD -lfastcdr -lfastrtps
			
 
				+
			
--- a/src1/common/modulecomm_fastrtps/modulecomm_impl.cpp
+++ b/src1/common/modulecomm_fastrtps/modulecomm_impl.cpp
@@ -0,0 +1,140 @@
 
				+#include "modulecomm_impl.h"
			
 
				+
			
 
				+#include <thread>
			
 
				+#include <iostream>
			
 
				+#include <QDateTime>
			
 
				+
			
 
				+#include <QMutex>
			
 
				+#include <QFile>
			
 
				+
			
 
				+namespace iv {
			
 
				+namespace modulecomm {
			
 
				+QMutex gmodulecomm_dds_Mutex;
			
 
				+int createcount = 0;
			
 
				+}
			
 
				+
			
 
				+}
			
 
				+
			
 
				+
			
 
				+void modulecomm_impl::callbackTopic(const char * strdata,const unsigned int nSize,const unsigned int index, QDateTime * dt,const char * strmemname) {
			
 
				+
			
 
				+  if(mbFunPlus)
			
 
				+  {
			
 
				+      mFun(strdata,nSize,index,dt,strmemname);
			
 
				+  }
			
 
				+  else
			
 
				+  {
			
 
				+     (*mpCall)(strdata,nSize,index,dt,strmemname);
			
 
				+  }
			
 
				+}
			
 
				+
			
 
				+
			
 
				+int modulecomm_impl::GetTempConfPath(char *strpath)
			
 
				+{
			
 
				+    char strtmppath[256];
			
 
				+    QDateTime dt = QDateTime::currentDateTime();
			
 
				+    snprintf(strtmppath,256,"/tmp/adc_modulecomm_conf_%04d%02d%02d%02d%02d.ini",dt.date().year(),
			
 
				+             dt.date().month(),dt.date().day(),dt.time().hour(),dt.time().minute());
			
 
				+    QFile xFile;
			
 
				+    xFile.setFileName(strtmppath);
			
 
				+    char strtem[256];
			
 
				+    char strdata[10000];
			
 
				+    snprintf(strdata,10000,"");
			
 
				+    if(!xFile.exists())
			
 
				+    {
			
 
				+        if(xFile.open(QIODevice::ReadWrite))
			
 
				+        {
			
 
				+            snprintf(strtem,256,"[common]\n");strncat(strdata,strtem,10000);
			
 
				+            snprintf(strtem,256,"DCPSDefaultDiscovery=TheRTPSConfig\n");strncat(strdata,strtem,10000);
			
 
				+#ifdef dds_use_shm
			
 
				+            snprintf(strtem,256,"DCPSGlobalTransportConfig=myconfig\n");strncat(strdata,strtem,10000);
			
 
				+            snprintf(strtem,256,"[config/myconfig]\n");strncat(strdata,strtem,10000);
			
 
				+            snprintf(strtem,256,"transports=share\n");strncat(strdata,strtem,10000);
			
 
				+            snprintf(strtem,256,"[transport/share]\n");strncat(strdata,strtem,10000);
			
 
				+            snprintf(strtem,256,"transport_type=shmem\n");strncat(strdata,strtem,10000);
			
 
				+            snprintf(strtem,256,"pool_size=100000000\n");strncat(strdata,strtem,10000);
			
 
				+#endif
			
 
				+            snprintf(strtem,256,"[rtps_discovery/TheRTPSConfig]\n");strncat(strdata,strtem,10000);
			
 
				+            snprintf(strtem,256,"ResendPeriod=5\n");strncat(strdata,strtem,10000);
			
 
				+            xFile.write(strdata,strnlen(strdata,10000));
			
 
				+            xFile.close();
			
 
				+        }
			
 
				+    }
			
 
				+    strncpy(strpath,strtmppath,255);
			
 
				+    return 0;
			
 
				+}
			
 
				+
			
 
				+modulecomm_impl::modulecomm_impl(const char * strcommname,int ntype )
			
 
				+{
			
 
				+
			
 
				+    strncpy(mstrtopic,strcommname,255);
			
 
				+
			
 
				+    iv::modulecomm::gmodulecomm_dds_Mutex.lock();
			
 
				+    if(ntype == type_recv)
			
 
				+    {
			
 
				+        mpSub = new TopicsSubscriber();
			
 
				+        mpSub->init(strcommname);
			
 
				+//        std::this_thread::sleep_for(std::chrono::milliseconds(10));
			
 
				+
			
 
				+        mnType = type_recv;
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        mpPub = new TopicsPublisher();
			
 
				+        mpPub->init(strcommname);
			
 
				+ //       std::this_thread::sleep_for(std::chrono::milliseconds(10));
			
 
				+        mnType = type_send;
			
 
				+    }
			
 
				+    iv::modulecomm::createcount++;
			
 
				+    std::cout<<"count is "<<iv::modulecomm::createcount<<std::endl;
			
 
				+    iv::modulecomm::gmodulecomm_dds_Mutex.unlock();
			
 
				+
			
 
				+}
			
 
				+
			
 
				+int modulecomm_impl::listenmsg(ModuleFun xFun)
			
 
				+{
			
 
				+    if(mnType == type_send)
			
 
				+    {
			
 
				+        std::cout<<"send not listen."<<std::endl;;
			
 
				+        return -1;
			
 
				+    }
			
 
				+    mbFunPlus = true;
			
 
				+    mFun = xFun;
			
 
				+    ModuleFun topicFunction = std::bind(&modulecomm_impl::callbackTopic,this,std::placeholders::_1,
			
 
				+                                                                                std::placeholders::_2,
			
 
				+                                                                                std::placeholders::_3,
			
 
				+                                                                                std::placeholders::_4,
			
 
				+                                                                                std::placeholders::_5);
			
 
				+    mpSub->setReceivedTopicFunction(topicFunction);
			
 
				+    return 0;
			
 
				+}
			
 
				+
			
 
				+int modulecomm_impl::listenmsg(SMCallBack pCall)
			
 
				+{
			
 
				+    if(mnType == type_send)
			
 
				+    {
			
 
				+        std::cout<<"send not listen."<<std::endl;
			
 
				+        return -1;
			
 
				+    }
			
 
				+    mbFunPlus = false;
			
 
				+    mpCall = pCall;
			
 
				+    ModuleFun topicFunction = std::bind(&modulecomm_impl::callbackTopic,this,std::placeholders::_1,
			
 
				+                                                                                std::placeholders::_2,
			
 
				+                                                                                std::placeholders::_3,
			
 
				+                                                                                std::placeholders::_4,
			
 
				+                                                                                std::placeholders::_5);
			
 
				+    mpSub->setReceivedTopicFunction(topicFunction);
			
 
				+    return 0;
			
 
				+}
			
 
				+
			
 
				+void modulecomm_impl::writemsg(const char *str, int nlen)
			
 
				+{
			
 
				+    if(mnType == type_recv)
			
 
				+    {
			
 
				+        std::cout<<"recv not send."<<std::endl;
			
 
				+        return ;
			
 
				+    }
			
 
				+
			
 
				+    mpPub->senddata(str,nlen);
			
 
				+
			
 
				+}
			
--- a/src1/common/modulecomm_fastrtps/modulecomm_impl.h
+++ b/src1/common/modulecomm_fastrtps/modulecomm_impl.h
@@ -0,0 +1,41 @@
 
				+#ifndef MODULECOMM_IMPL_H
			
 
				+#define MODULECOMM_IMPL_H
			
 
				+
			
 
				+#include <QDateTime>
			
 
				+
			
 
				+#include "TopicsPublisher.h"
			
 
				+#include "TopicsSubscriber.h"
			
 
				+
			
 
				+
			
 
				+typedef void (* SMCallBack)(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
			
 
				+
			
 
				+
			
 
				+class modulecomm_impl
			
 
				+{
			
 
				+public:
			
 
				+    const static int type_send = 1;
			
 
				+    const static int type_recv = 2;
			
 
				+public:
			
 
				+    modulecomm_impl(const char * strcommname,int ntype = 2);
			
 
				+    int listenmsg(SMCallBack pCall);
			
 
				+    int listenmsg(ModuleFun xFun);
			
 
				+    void writemsg(const char * str,int nlen);
			
 
				+
			
 
				+private:
			
 
				+    char mstrtopic[256];
			
 
				+    int mnType = type_recv;
			
 
				+    TopicsPublisher * mpPub;
			
 
				+    TopicsSubscriber * mpSub;
			
 
				+    SMCallBack  mpCall;
			
 
				+    ModuleFun mFun;
			
 
				+    void callbackTopic(const char * strdata,const unsigned int nSize,const unsigned int index,QDateTime * dt,const char * strmemname);
			
 
				+
			
 
				+    int GetTempConfPath(char * strpath);
			
 
				+
			
 
				+
			
 
				+
			
 
				+    bool mbFunPlus = false;
			
 
				+
			
 
				+};
			
 
				+
			
 
				+#endif // MODULECOMM_IMPL_H
			
--- a/src1/common/modulecomm_inter/.gitignore
+++ b/src1/common/modulecomm_inter/.gitignore
@@ -0,0 +1,73 @@
 
				+# This file is used to ignore files which are generated
			
 
				+# ----------------------------------------------------------------------------
			
 
				+
			
 
				+*~
			
 
				+*.autosave
			
 
				+*.a
			
 
				+*.core
			
 
				+*.moc
			
 
				+*.o
			
 
				+*.obj
			
 
				+*.orig
			
 
				+*.rej
			
 
				+*.so
			
 
				+*.so.*
			
 
				+*_pch.h.cpp
			
 
				+*_resource.rc
			
 
				+*.qm
			
 
				+.#*
			
 
				+*.*#
			
 
				+core
			
 
				+!core/
			
 
				+tags
			
 
				+.DS_Store
			
 
				+.directory
			
 
				+*.debug
			
 
				+Makefile*
			
 
				+*.prl
			
 
				+*.app
			
 
				+moc_*.cpp
			
 
				+ui_*.h
			
 
				+qrc_*.cpp
			
 
				+Thumbs.db
			
 
				+*.res
			
 
				+*.rc
			
 
				+/.qmake.cache
			
 
				+/.qmake.stash
			
 
				+
			
 
				+# qtcreator generated files
			
 
				+*.pro.user*
			
 
				+
			
 
				+# xemacs temporary files
			
 
				+*.flc
			
 
				+
			
 
				+# Vim temporary files
			
 
				+.*.swp
			
 
				+
			
 
				+# Visual Studio generated files
			
 
				+*.ib_pdb_index
			
 
				+*.idb
			
 
				+*.ilk
			
 
				+*.pdb
			
 
				+*.sln
			
 
				+*.suo
			
 
				+*.vcproj
			
 
				+*vcproj.*.*.user
			
 
				+*.ncb
			
 
				+*.sdf
			
 
				+*.opensdf
			
 
				+*.vcxproj
			
 
				+*vcxproj.*
			
 
				+
			
 
				+# MinGW generated files
			
 
				+*.Debug
			
 
				+*.Release
			
 
				+
			
 
				+# Python byte code
			
 
				+*.pyc
			
 
				+
			
 
				+# Binaries
			
 
				+# --------
			
 
				+*.dll
			
 
				+*.exe
			
 
				+
			
--- a/src1/common/modulecomm_inter/intercomm.cpp
+++ b/src1/common/modulecomm_inter/intercomm.cpp
@@ -0,0 +1,480 @@
 
				+#include "intercomm.h"
			
 
				+
			
 
				+#include <QMutex>
			
 
				+#include <QWaitCondition>
			
 
				+#include <iostream>
			
 
				+
			
 
				+namespace  iv {
			
 
				+
			
 
				+struct InterListenUnit
			
 
				+{
			
 
				+    QMutex mWaitMutex;
			
 
				+    SMCallBack  mpCall;
			
 
				+    ModuleFun mFun;
			
 
				+    QWaitCondition * mpwc;
			
 
				+    bool mbFunPlus = false;
			
 
				+};
			
 
				+
			
 
				+struct interunit
			
 
				+{
			
 
				+    char strintername[256];
			
 
				+    char * strdatabuf;
			
 
				+    int nbufsize = 0;
			
 
				+    int nPacCount;
			
 
				+    QMutex mMutexUnit;
			
 
				+    std::vector<InterListenUnit *> mvectorlisten;
			
 
				+    QWaitCondition mwc;
			
 
				+    bool mbHaveWriter = false;
			
 
				+
			
 
				+};
			
 
				+
			
 
				+std::vector<interunit *> gvectorinter;
			
 
				+QMutex gMutexInter;
			
 
				+
			
 
				+
			
 
				+static interunit * FindInterUnitByName(const char * strname)
			
 
				+{
			
 
				+    interunit * p = 0;
			
 
				+    int i;
			
 
				+    int nsize;
			
 
				+    nsize = gvectorinter.size();
			
 
				+    for(i=0;i<nsize;i++)
			
 
				+    {
			
 
				+        if(strncmp(strname,gvectorinter.at(i)->strintername,256) == 0)
			
 
				+        {
			
 
				+            return (gvectorinter.at(i));
			
 
				+        }
			
 
				+    }
			
 
				+    return p;
			
 
				+}
			
 
				+
			
 
				+
			
 
				+intercomm::intercomm(const char * strsmname,const unsigned int nBufSize,const unsigned int nMaxPacCount,const int nMode)
			
 
				+{
			
 
				+    strncpy(mstrsmname,strsmname,256);
			
 
				+
			
 
				+    mnMode = nMode;
			
 
				+    if(nMode == ModeWrite)
			
 
				+    {
			
 
				+        gMutexInter.lock();
			
 
				+        interunit * p = FindInterUnitByName(strsmname);
			
 
				+        if(p == 0)
			
 
				+        {
			
 
				+            interunit * pnewinter = new interunit;
			
 
				+            strncpy(pnewinter->strintername,strsmname,256);
			
 
				+            pnewinter->strdatabuf = new char[sizeof(procinter_info)+nMaxPacCount*sizeof(procinter_head) + nBufSize];
			
 
				+            pnewinter->nPacCount = nMaxPacCount;
			
 
				+            pnewinter->nbufsize = nBufSize;
			
 
				+            gvectorinter.push_back(pnewinter);
			
 
				+            mpa = pnewinter;
			
 
				+
			
 
				+
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            p->mMutexUnit.lock();
			
 
				+            delete p->strdatabuf;
			
 
				+            p->strdatabuf = new char[sizeof(procinter_info)+nMaxPacCount*sizeof(procinter_head) + nBufSize];
			
 
				+            p->nPacCount = nMaxPacCount;
			
 
				+            p->nbufsize = nBufSize;
			
 
				+            p->mMutexUnit.unlock();
			
 
				+            mpa = p;
			
 
				+        }
			
 
				+
			
 
				+        interunit * pinter = (interunit * )mpa;
			
 
				+        char * pdata = (char *)pinter->strdatabuf;
			
 
				+        mpinfo = (procinter_info *)pdata;
			
 
				+        mphead = (procinter_head *)(pdata+sizeof(procinter_info));
			
 
				+        mpinfo->mCap = nMaxPacCount;
			
 
				+        mpinfo->mnBufSize = nBufSize;
			
 
				+        mpinfo->mFirst = 0;
			
 
				+        mpinfo->mNext = 0;
			
 
				+        mpinfo->mLock = 0;
			
 
				+        pinter->mbHaveWriter = true;
			
 
				+
			
 
				+        gMutexInter.unlock();
			
 
				+
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        gMutexInter.lock();
			
 
				+        interunit * p = FindInterUnitByName(strsmname);
			
 
				+        if(p == 0)
			
 
				+        {
			
 
				+            interunit * pnewinter = new interunit;
			
 
				+            strncpy(pnewinter->strintername,strsmname,256);
			
 
				+            gvectorinter.push_back(pnewinter);
			
 
				+            mpa = pnewinter;
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            mpa = p;
			
 
				+        }
			
 
				+
			
 
				+        interunit * pinter = (interunit * )mpa;
			
 
				+        char * pdata = (char *)pinter->strdatabuf;
			
 
				+        mpinfo = (procinter_info *)pdata;
			
 
				+        mphead = (procinter_head *)(pdata+sizeof(procinter_info));
			
 
				+
			
 
				+        gMutexInter.unlock();
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+intercomm::~intercomm()
			
 
				+{
			
 
				+    if(mnMode == ModeRead)
			
 
				+    {
			
 
				+        stoplisten();
			
 
				+        interunit * p = (interunit *)mpa;
			
 
				+        p->mMutexUnit.lock();
			
 
				+        InterListenUnit * plisten = (InterListenUnit *)mplistenunit;
			
 
				+        int i;
			
 
				+        for(i=0;i<p->mvectorlisten.size();i++)
			
 
				+        {
			
 
				+            if(plisten == p->mvectorlisten.at(i))
			
 
				+            {
			
 
				+                p->mvectorlisten.erase(p->mvectorlisten.begin() + i);
			
 
				+                delete plisten;
			
 
				+                break;
			
 
				+            }
			
 
				+        }
			
 
				+        p->mMutexUnit.unlock();
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+int intercomm::listenmsg(ModuleFun xFun)
			
 
				+{
			
 
				+    if(mnMode == ModeWrite)
			
 
				+    {
			
 
				+        std::cout<<"intercomm::listenmsg this is Write. Can't Listen."<<std::endl;
			
 
				+        return - 1;
			
 
				+    }
			
 
				+
			
 
				+    interunit * p = (interunit *)mpa;
			
 
				+    p->mMutexUnit.lock();
			
 
				+    InterListenUnit * pnewlisten = new InterListenUnit;
			
 
				+    pnewlisten->mbFunPlus = true;
			
 
				+    pnewlisten->mFun = xFun;
			
 
				+    pnewlisten->mpwc = &p->mwc;
			
 
				+    p->mvectorlisten.push_back(pnewlisten);
			
 
				+    p->mMutexUnit.unlock();
			
 
				+
			
 
				+    mplistenunit = (void *)pnewlisten;
			
 
				+
			
 
				+    mplistenthread = new std::thread(&intercomm::listernrun,this);
			
 
				+    return 0;
			
 
				+}
			
 
				+
			
 
				+int intercomm::listenmsg(SMCallBack pCall)
			
 
				+{
			
 
				+    if(mnMode == ModeWrite)
			
 
				+    {
			
 
				+        std::cout<<"intercomm::listenmsg this is Write. Can't Listen."<<std::endl;
			
 
				+        return - 1;
			
 
				+    }
			
 
				+
			
 
				+    interunit * p = (interunit *)mpa;
			
 
				+    p->mMutexUnit.lock();
			
 
				+    InterListenUnit * pnewlisten = new InterListenUnit;
			
 
				+    pnewlisten->mbFunPlus = false;
			
 
				+    pnewlisten->mpCall = pCall;
			
 
				+    pnewlisten->mpwc = &p->mwc;
			
 
				+    p->mvectorlisten.push_back(pnewlisten);
			
 
				+    p->mMutexUnit.unlock();
			
 
				+    mplistenunit = (void *)pnewlisten;
			
 
				+    mplistenthread = new std::thread(&intercomm::listernrun,this);
			
 
				+    return 0;
			
 
				+}
			
 
				+
			
 
				+void intercomm::stoplisten()
			
 
				+{
			
 
				+    mblistenrun = false;
			
 
				+    if(mplistenthread != 0)
			
 
				+    {
			
 
				+        mplistenthread->join();
			
 
				+        mplistenthread = 0;
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void intercomm::pausecomm()
			
 
				+{
			
 
				+    mbPause = true;
			
 
				+}
			
 
				+
			
 
				+void intercomm::continuecomm()
			
 
				+{
			
 
				+    mbPause = false;
			
 
				+}
			
 
				+
			
 
				+void intercomm::listernrun()
			
 
				+{
			
 
				+    InterListenUnit * pILU = (InterListenUnit * )mplistenunit;
			
 
				+    QTime xTime;
			
 
				+    xTime.start();
			
 
				+    unsigned int nBufLen = 1;
			
 
				+    unsigned int nRead;
			
 
				+    char * str = new char[nBufLen];
			
 
				+    unsigned int index =0;
			
 
				+    QDateTime *pdt = new QDateTime();
			
 
				+    interunit * pinter = (interunit *)mpa;
			
 
				+    while(mblistenrun)
			
 
				+    {
			
 
				+        if(mbPause)
			
 
				+        {
			
 
				+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
			
 
				+            continue;
			
 
				+        }
			
 
				+        if(pinter->mbHaveWriter == false)
			
 
				+        {
			
 
				+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
			
 
				+            continue;
			
 
				+        }
			
 
				+        pILU->mWaitMutex.lock();
			
 
				+        pILU->mpwc->wait(&pILU->mWaitMutex,100);
			
 
				+        pILU->mWaitMutex.unlock();
			
 
				+        int nRtn = readmsg(index,str,nBufLen,&nRead,pdt);
			
 
				+        while ((nRtn != 0)&&(mblistenrun))
			
 
				+        {
			
 
				+            if(nRtn == -1)
			
 
				+            {
			
 
				+                nBufLen = nRead;
			
 
				+                delete str;
			
 
				+                if(nBufLen < 1)nBufLen = 1;
			
 
				+                str = new char[nBufLen];
			
 
				+            }
			
 
				+            else
			
 
				+            {
			
 
				+                if(nRtn == -2)
			
 
				+                {
			
 
				+                   index = getcurrentnext();
			
 
				+                }
			
 
				+                else
			
 
				+                {
			
 
				+                   if(nRtn >0)
			
 
				+                   {
			
 
				+                       if(pILU->mbFunPlus)
			
 
				+                       {
			
 
				+                           pILU->mFun(str,nRtn,index,pdt,mstrsmname);
			
 
				+                       }
			
 
				+                       else
			
 
				+                       {
			
 
				+                          (*pILU->mpCall)(str,nRtn,index,pdt,mstrsmname);
			
 
				+                       }
			
 
				+                       index++;
			
 
				+                   }
			
 
				+                   else
			
 
				+                   {
			
 
				+                       std::this_thread::sleep_for(std::chrono::milliseconds(100));
			
 
				+                   }
			
 
				+                }
			
 
				+            }
			
 
				+            nRtn = readmsg(index,str,nBufLen,&nRead,pdt);
			
 
				+        }
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+    delete str;
			
 
				+    delete pdt;
			
 
				+}
			
 
				+
			
 
				+int intercomm::writemsg(const char *str, const unsigned int nSize)
			
 
				+{
			
 
				+    if(mbPause)return -2;
			
 
				+    if(mnMode == ModeRead)
			
 
				+    {
			
 
				+        std::cout<<"Register read. can't write."<<std::endl;
			
 
				+        return -1;
			
 
				+    }
			
 
				+    interunit * pinter = (interunit *)mpa;
			
 
				+
			
 
				+    pinter->mMutexUnit.lock();
			
 
				+    char * pdata = (char *)pinter->strdatabuf;
			
 
				+    mpinfo = (procinter_info *)pdata;
			
 
				+    mphead = (procinter_head *)(pdata+sizeof(procinter_info));
			
 
				+    if(nSize > pinter->nbufsize)
			
 
				+    {
			
 
				+        qDebug("procsm::writemsg message size is very big");
			
 
				+        return -1;
			
 
				+    }
			
 
				+
			
 
				+WRITEMSG:
			
 
				+
			
 
				+    char * pH,*pD;
			
 
				+    QDateTime dt;
			
 
				+    pH = (char *)pinter->strdatabuf;pH = pH + sizeof(procinter_info);
			
 
				+    pD = (char *)pinter->strdatabuf;pD = pD + sizeof(procinter_info) + pinter->nPacCount * sizeof(procinter_head);
			
 
				+    procinter_head * phh = (procinter_head *)pH;
			
 
				+    unsigned int nPac = mpinfo->mNext - mpinfo->mFirst;
			
 
				+    if(nPac>=pinter->nPacCount)
			
 
				+    {
			
 
				+        unsigned int nRemove = pinter->nPacCount/3;
			
 
				+        if(nRemove == 0)nRemove = 1;
			
 
				+        MoveMem(nRemove);
			
 
				+        goto WRITEMSG;
			
 
				+    }
			
 
				+    if(nPac == 0)
			
 
				+    {
			
 
				+        memcpy(pD,str,nSize);
			
 
				+        dt = QDateTime::currentDateTime();
			
 
				+        phh->SetDate(dt);
			
 
				+        phh->mindex = mpinfo->mNext;
			
 
				+        phh->mnPos = 0;
			
 
				+        phh->mnLen = nSize;
			
 
				+        mpinfo->mNext = mpinfo->mNext+1;
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        if(((phh+nPac-1)->mnPos+(phh+nPac-1)->mnLen + nSize)>=pinter->nbufsize)
			
 
				+        {
			
 
				+            unsigned int nRemove = pinter->nPacCount/2;
			
 
				+            if(nRemove == 0)nRemove = 1;
			
 
				+            MoveMem(nRemove);
			
 
				+            goto WRITEMSG;
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            unsigned int nPos = (phh+nPac-1)->mnPos + (phh+nPac-1)->mnLen;
			
 
				+            memcpy(pD+nPos,str,nSize);
			
 
				+            dt = QDateTime::currentDateTime();
			
 
				+            (phh+nPac)->SetDate(dt);
			
 
				+            (phh+nPac)->mindex = mpinfo->mNext;
			
 
				+            (phh+nPac)->mnPos = nPos;
			
 
				+            (phh+nPac)->mnLen = nSize;
			
 
				+            mpinfo->mNext = mpinfo->mNext+1;
			
 
				+        }
			
 
				+    }
			
 
				+
			
 
				+    const unsigned int nTM = 0x6fffffff;
			
 
				+    if((mpinfo->mNext >nTM)&&(mpinfo->mFirst>nTM))
			
 
				+    {
			
 
				+       nPac = mpinfo->mNext - mpinfo->mFirst;
			
 
				+       unsigned int i;
			
 
				+       for(i=0;i<nPac;i++)
			
 
				+       {
			
 
				+           (phh+i)->mindex = (phh+i)->mindex-nTM;
			
 
				+       }
			
 
				+       mpinfo->mFirst = mpinfo->mFirst-nTM;
			
 
				+       mpinfo->mNext = mpinfo->mNext - nTM;
			
 
				+    }
			
 
				+
			
 
				+    pinter->mMutexUnit.unlock();
			
 
				+    pinter->mwc.wakeAll();
			
 
				+    return 0;
			
 
				+}
			
 
				+
			
 
				+int intercomm::MoveMem(const unsigned int nSize)
			
 
				+{
			
 
				+    unsigned int nRemove = nSize;
			
 
				+    if(nRemove == 0)return -1;
			
 
				+    interunit * pinter = (interunit *)mpa;
			
 
				+    char * pH,*pD;
			
 
				+    pH = (char *)pinter->strdatabuf;pH = pH + sizeof(procinter_info);
			
 
				+    pD = (char *)pinter->strdatabuf;pD = pD + sizeof(procinter_info) + pinter->nPacCount * sizeof(procinter_head);
			
 
				+    procinter_head * phh = (procinter_head *)pH;
			
 
				+    unsigned int nPac = mpinfo->mNext - mpinfo->mFirst;
			
 
				+
			
 
				+    if(nRemove >nPac)
			
 
				+    {
			
 
				+        nRemove = nPac;
			
 
				+    }
			
 
				+
			
 
				+    if(nRemove == nPac)
			
 
				+    {
			
 
				+        mpinfo->mFirst = mpinfo->mFirst + (unsigned int)nRemove;
			
 
				+        return 0;
			
 
				+    }
			
 
				+
			
 
				+    unsigned int i;
			
 
				+    int nDataMove = 0;
			
 
				+    for(i=0;i<nRemove;i++)
			
 
				+    {
			
 
				+        procinter_head * phd = phh+i;
			
 
				+        nDataMove = nDataMove + phd->mnLen;
			
 
				+    }
			
 
				+    unsigned int nDataTotal;
			
 
				+    for(i=0;i<(nPac - nRemove);i++)
			
 
				+    {
			
 
				+        memcpy(phh+i,phh+i+nRemove,sizeof(procinter_head));
			
 
				+        (phh+i)->mnPos = (phh+i)->mnPos - nDataMove;
			
 
				+    }
			
 
				+    nDataTotal = (phh + nPac-nRemove-1)->mnPos + (phh+nPac-nRemove-1)->mnLen;
			
 
				+    char * strtem = new char[pinter->nbufsize];
			
 
				+    memcpy(strtem,pD+nDataMove,nDataTotal);
			
 
				+    memcpy(pD,strtem,nDataTotal);
			
 
				+    delete strtem;
			
 
				+
			
 
				+    mpinfo->mFirst = mpinfo->mFirst + (unsigned int)nRemove;
			
 
				+    return 0;
			
 
				+}
			
 
				+
			
 
				+int intercomm::readmsg(unsigned int index, char *str, unsigned int nMaxSize, unsigned int *nRead, QDateTime *pdt)
			
 
				+{
			
 
				+    int nRtn = 0;
			
 
				+
			
 
				+    interunit * pinter = (interunit *)mpa;
			
 
				+
			
 
				+    if(pinter->nbufsize == 0)return 0;
			
 
				+    char * pdata = (char *)pinter->strdatabuf;
			
 
				+    mpinfo = (procinter_info *)pdata;
			
 
				+    mphead = (procinter_head *)(pdata+sizeof(procinter_info));
			
 
				+
			
 
				+    if((index< mpinfo->mFirst)||(index > mpinfo->mNext))
			
 
				+    {
			
 
				+        nRtn = -2;
			
 
				+    }
			
 
				+    if(nRtn != (-2))
			
 
				+    {
			
 
				+        if(index == mpinfo->mNext)
			
 
				+        {
			
 
				+            nRtn = 0;
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            char * pH,*pD;
			
 
				+ //           pH = (char *)mpASM->data();pH = pH + 2*sizeof(unsigned int);
			
 
				+
			
 
				+ //           pD = (char *)mpASM->data();pD = pD + 2*sizeof(unsigned int) + mnMaxPacCount * sizeof(procsm_head);
			
 
				+            pD = (char *)pinter->strdatabuf;pD = pD+ sizeof(procinter_info) + mpinfo->mCap*sizeof(procinter_head);
			
 
				+            pH = (char *)pinter->strdatabuf;pH = pH+sizeof(procinter_info);
			
 
				+            procinter_head * phh = (procinter_head *)pH;
			
 
				+            unsigned int nPac = mpinfo->mNext - mpinfo->mFirst;
			
 
				+            if(nPac == 0)
			
 
				+            {
			
 
				+                nRtn = 0;
			
 
				+            }
			
 
				+            else
			
 
				+            {
			
 
				+                unsigned int nPos = index - mpinfo->mFirst;
			
 
				+                *nRead = (phh+nPos)->mnLen;
			
 
				+                if((phh+nPos)->mnLen > nMaxSize)
			
 
				+                {
			
 
				+                    nRtn = -1;
			
 
				+
			
 
				+                }
			
 
				+                else
			
 
				+                {
			
 
				+        //            qDebug("read pos = %d",(phh+nPos)->mnPos);
			
 
				+                   memcpy(str,pD + (phh+nPos)->mnPos,(phh+nPos)->mnLen);
			
 
				+          //         qDebug("read pos = %d",(phh+nPos)->mnPos);
			
 
				+                   nRtn = (phh+nPos)->mnLen;
			
 
				+                   (phh+nPos)->GetDate(pdt);
			
 
				+           //        memcpy(pdt,&((phh+nPos)->mdt),sizeof(QDateTime));
			
 
				+                }
			
 
				+            }
			
 
				+        }
			
 
				+    }
			
 
				+    return nRtn;
			
 
				+}
			
 
				+
			
 
				+unsigned int intercomm::getcurrentnext()
			
 
				+{
			
 
				+    unsigned int nNext;
			
 
				+    interunit * pinter = (interunit *)mpa;
			
 
				+    char * pdata = (char *)pinter->strdatabuf;
			
 
				+    mpinfo = (procinter_info *)pdata;
			
 
				+    mphead = (procinter_head *)(pdata+sizeof(procinter_info));
			
 
				+    nNext = mpinfo->mNext;
			
 
				+    return nNext;
			
 
				+}
			
 
				+
			
 
				+}
			
--- a/src1/common/modulecomm_inter/intercomm.h
+++ b/src1/common/modulecomm_inter/intercomm.h
@@ -0,0 +1,109 @@
 
				+#ifndef INTERCOMM_H
			
 
				+#define INTERCOMM_H
			
 
				+
			
 
				+#include <QDateTime>
			
 
				+#include "vector"
			
 
				+#include <functional>
			
 
				+#include <thread>
			
 
				+
			
 
				+typedef void (* SMCallBack)(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
			
 
				+using namespace std::placeholders;
			
 
				+typedef std::function<void(const char * ,const unsigned int , const unsigned int , QDateTime * ,const char *)> ModuleFun;
			
 
				+
			
 
				+
			
 
				+class procinter_info
			
 
				+{
			
 
				+public:
			
 
				+  unsigned int mFirst;
			
 
				+  unsigned int mNext;
			
 
				+  unsigned int mCap;
			
 
				+  unsigned int mLock;
			
 
				+  unsigned int mnBufSize;
			
 
				+};
			
 
				+
			
 
				+class procinter_head
			
 
				+{
			
 
				+public:
			
 
				+    unsigned short mYear;
			
 
				+    unsigned char mMonth;
			
 
				+    unsigned char mDay;
			
 
				+    unsigned char mHour;
			
 
				+    unsigned char mMinute;
			
 
				+    unsigned char mSec;
			
 
				+    unsigned short mMSec;
			
 
				+    unsigned int mindex;
			
 
				+    unsigned int mnPos;
			
 
				+    unsigned int mnLen;
			
 
				+public:
			
 
				+    void SetDate(QDateTime dt)
			
 
				+    {
			
 
				+        mYear = dt.date().year();
			
 
				+        mMonth = dt.date().month();
			
 
				+        mDay = dt.date().day();
			
 
				+        mHour = dt.time().hour();
			
 
				+        mMinute = dt.time().minute();
			
 
				+        mSec = dt.time().second();
			
 
				+        mMSec = dt.time().msec();
			
 
				+    }
			
 
				+    void GetDate(QDateTime * pdt)
			
 
				+    {
			
 
				+        QDate dt;
			
 
				+        dt.setDate(mYear,mMonth,mDay);
			
 
				+        QTime time;
			
 
				+        time.setHMS(mHour,mMinute,mSec,mMSec);
			
 
				+        pdt->setDate(dt);
			
 
				+        pdt->setTime(time);
			
 
				+
			
 
				+    }
			
 
				+};
			
 
				+
			
 
				+
			
 
				+namespace  iv {
			
 
				+
			
 
				+class intercomm
			
 
				+{
			
 
				+public:
			
 
				+    intercomm(const char * strsmname,const unsigned int nBufSize,const unsigned int nMaxPacCount,const int nMode);
			
 
				+    ~intercomm();
			
 
				+
			
 
				+    int listenmsg(SMCallBack pCall);
			
 
				+    int listenmsg(ModuleFun xFun);
			
 
				+    void stoplisten();
			
 
				+
			
 
				+    void pausecomm();
			
 
				+    void continuecomm();
			
 
				+
			
 
				+    const static int ModeRead = 1;
			
 
				+    const static int ModeWrite = 0;
			
 
				+
			
 
				+    int writemsg(const char * str,const unsigned int nSize);
			
 
				+
			
 
				+private:
			
 
				+
			
 
				+
			
 
				+    char mstrsmname[256];
			
 
				+    int mnMode;
			
 
				+    void * mpa;
			
 
				+    void * mplistenunit;
			
 
				+
			
 
				+private:
			
 
				+    void listernrun();
			
 
				+    bool mblistenrun = true;
			
 
				+    bool mbPause = false;
			
 
				+    std::thread * mplistenthread = 0;
			
 
				+
			
 
				+    procinter_info * mpinfo;
			
 
				+    procinter_head * mphead;
			
 
				+
			
 
				+
			
 
				+private:
			
 
				+
			
 
				+    int readmsg(unsigned int index,char * str,unsigned int nMaxSize,unsigned int * nRead,QDateTime * pdt);
			
 
				+    int MoveMem(const unsigned int nSize);
			
 
				+    unsigned int getcurrentnext();
			
 
				+};
			
 
				+}
			
 
				+
			
 
				+
			
 
				+
			
 
				+#endif // INTERCOMM_H
			
--- a/src1/common/modulecomm_inter/modulecomm_inter.cpp
+++ b/src1/common/modulecomm_inter/modulecomm_inter.cpp
@@ -0,0 +1,56 @@
 
				+#include "modulecomm_inter.h"
			
 
				+#include <iostream>
			
 
				+
			
 
				+#include "intercomm.h"
			
 
				+
			
 
				+namespace iv {
			
 
				+namespace modulecomm_inter {
			
 
				+
			
 
				+void *  RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount)
			
 
				+{
			
 
				+    iv::intercomm * pinter = new iv::intercomm(strcommname,nBufSize,nMsgBufCount,iv::intercomm::ModeWrite);
			
 
				+    return (void *)pinter;
			
 
				+}
			
 
				+
			
 
				+void  *  RegisterRecv(const char * strcommname,SMCallBack pCall)
			
 
				+{
			
 
				+    iv::intercomm * pif = new iv::intercomm(strcommname,0,0,iv::intercomm::ModeRead);
			
 
				+    pif->listenmsg(pCall);
			
 
				+    return (void *)pif;
			
 
				+}
			
 
				+
			
 
				+void * MODULECOMM_INTER_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun)
			
 
				+{
			
 
				+    iv::intercomm * pif = new iv::intercomm(strcommname,0,0,iv::intercomm::ModeRead);
			
 
				+    pif->listenmsg(xFun);
			
 
				+    return (void *)pif;
			
 
				+}
			
 
				+void  ModuleSendMsg(void * pHandle,const char * strdata,const unsigned int nDataLen)
			
 
				+{
			
 
				+    iv::intercomm * pif = (iv::intercomm *)pHandle;
			
 
				+    pif->writemsg(strdata,nDataLen);
			
 
				+}
			
 
				+
			
 
				+void  Unregister(void * pHandle)
			
 
				+{
			
 
				+    iv::intercomm * pif = (iv::intercomm *)pHandle;
			
 
				+    delete pif;
			
 
				+}
			
 
				+
			
 
				+void PauseComm(void *pHandle)
			
 
				+{
			
 
				+    iv::intercomm * pif = (iv::intercomm *)pHandle;
			
 
				+    pif->pausecomm();
			
 
				+}
			
 
				+
			
 
				+void ContintuComm(void *pHandle)
			
 
				+{
			
 
				+    iv::intercomm * pif = (iv::intercomm *)pHandle;
			
 
				+    pif->continuecomm();
			
 
				+}
			
 
				+
			
 
				+}
			
 
				+}
			
 
				+
			
 
				+
			
 
				+
			
--- a/src1/common/modulecomm_inter/modulecomm_inter.h
+++ b/src1/common/modulecomm_inter/modulecomm_inter.h
@@ -0,0 +1,37 @@
 
				+#ifndef MODULECOMM_INTER_H
			
 
				+#define MODULECOMM_INTER_H
			
 
				+
			
 
				+#include <QtCore/qglobal.h>
			
 
				+
			
 
				+#include <functional>
			
 
				+#include <QDateTime>
			
 
				+
			
 
				+#if defined(MODULECOMM_INTER_LIBRARY)
			
 
				+#  define MODULECOMM_INTER_EXPORT Q_DECL_EXPORT
			
 
				+#else
			
 
				+#  define MODULECOMM_INTER_EXPORT Q_DECL_IMPORT
			
 
				+#endif
			
 
				+
			
 
				+#ifndef IV_MODULE_FUN
			
 
				+
			
 
				+typedef std::function<void(const char * ,const unsigned int , const unsigned int , QDateTime * ,const char *)> ModuleFun;
			
 
				+typedef void (* SMCallBack)(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
			
 
				+#define IV_MODULE_FUN
			
 
				+#endif
			
 
				+
			
 
				+
			
 
				+namespace iv {
			
 
				+namespace modulecomm_inter {
			
 
				+void * MODULECOMM_INTER_EXPORT RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount);
			
 
				+void * MODULECOMM_INTER_EXPORT RegisterRecv(const char * strcommname,SMCallBack pCall);
			
 
				+void * MODULECOMM_INTER_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun);
			
 
				+void MODULECOMM_INTER_EXPORT ModuleSendMsg(void * pHandle,const char * strdata,const unsigned int nDataLen);
			
 
				+void MODULECOMM_INTER_EXPORT Unregister(void * pHandle);
			
 
				+void MODULECOMM_INTER_EXPORT PauseComm(void * pHandle);
			
 
				+void MODULECOMM_INTER_EXPORT ContintuComm(void * pHandle);
			
 
				+
			
 
				+}
			
 
				+
			
 
				+}
			
 
				+
			
 
				+#endif // MODULECOMM_INTER_H
			
--- a/src1/common/modulecomm_inter/modulecomm_inter.pro
+++ b/src1/common/modulecomm_inter/modulecomm_inter.pro
@@ -0,0 +1,33 @@
 
				+QT -= gui
			
 
				+
			
 
				+TEMPLATE = lib
			
 
				+DEFINES += MODULECOMM_INTER_LIBRARY
			
 
				+
			
 
				+CONFIG += c++11
			
 
				+
			
 
				+CONFIG += plugin
			
 
				+
			
 
				+# The following define makes your compiler emit warnings if you use
			
 
				+# any Qt feature that has been marked 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 it uses 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 += \
			
 
				+    intercomm.cpp \
			
 
				+    modulecomm_inter.cpp
			
 
				+
			
 
				+HEADERS += \
			
 
				+    intercomm.h \
			
 
				+    modulecomm_inter.h
			
 
				+
			
 
				+# Default rules for deployment.
			
 
				+unix {
			
 
				+    target.path = /usr/lib
			
 
				+}
			
 
				+!isEmpty(target.path): INSTALLS += target
			
--- a/src1/common/modulecomm_shm/ReadMe.md
+++ b/src1/common/modulecomm_shm/ReadMe.md
@@ -0,0 +1,90 @@
 
				+# How to use share memory
			
 
				+
			
 
				+共享内存使用分为发送端和接收端，以下分别介绍
			
 
				+
			
 
				+## 发送端
			
 
				+
			
 
				+**1. 添加共享内存消息格式文件**
			
 
				+
			
 
				+共享内存中数据采用protobuf格式存储，Protobuf是一种平台无关、语言无关、可扩展且轻便高效的序列化数据结构的协议，可以用于**网络通信**和**数据存储**。
			
 
				+
			
 
				+为使用共享内存，需添加一个相应的proto文件，文件位于`modularization/src/include/proto/hmi.proto`，可参考已有的文件编写
			
 
				+
			
 
				+```protobuf
			
 
				+syntax = "proto2";
			
 
				+package iv.hmi;
			
 
				+message hmimsg
			
 
				+{
			
 
				+ required bool mbPause = 1;
			
 
				+ required bool mbBocheMode = 2;
			
 
				+ required bool mbbusmode = 3;
			
 
				+};
			
 
				+```
			
 
				+
			
 
				+**2. 注册共享内存**
			
 
				+
			
 
				+在工程配置文件***.pro中添加引用信息：
			
 
				+
			
 
				+```
			
 
				+SOURCES += \
			
 
				+    ../../include/msgtype/ui.pb.cc
			
 
				+HEADERS += \   
			
 
				+    ../../include/msgtype/ui.pb.h
			
 
				+LIBS += -lprotobuf
			
 
				+INCLUDEPATH += $$PWD/../../include/msgtype
			
 
				+LIBS += -L$$PWD/../../../bin/ -lmodulecomm 
			
 
				+```
			
 
				+
			
 
				+设置共享内存名并注册：
			
 
				+
			
 
				+```c++
			
 
				+std::string strmemvbox = "test"
			
 
				+gpa = iv::modulecomm::RegisterSend(strmemvbox.data(),100000,3);iv::modulecomm::RegisterSend(strmemvbox.data(),100000,3);
			
 
				+```
			
 
				+
			
 
				+写入数据：
			
 
				+
			
 
				+```c++
			
 
				+char * str = new char[gobj.ByteSize()]; //gobj是一个probuf数据，使用方法参考protobuf的使用
			
 
				+int nsize = gobj.ByteSize();
			
 
				+if(gobj.SerializeToArray(str,nsize))
			
 
				+{
			
 
				+    iv::modulecomm::ModuleSendMsg(gpa,str,nsize);
			
 
				+}
			
 
				+```
			
 
				+
			
 
				+## 接收端
			
 
				+
			
 
				+**从共享内中读取数据**
			
 
				+
			
 
				+工程配置文件中添加配置信息：
			
 
				+
			
 
				+```pro
			
 
				+SOURCES += \
			
 
				+    ../../include/msgtype/ui.pb.cc
			
 
				+HEADERS += \   
			
 
				+    ../../include/msgtype/ui.pb.h
			
 
				+LIBS += -lprotobuf
			
 
				+INCLUDEPATH += $$PWD/../../include/msgtype
			
 
				+LIBS += -L$$PWD/../../../bin/ -lmodulecomm 
			
 
				+```
			
 
				+
			
 
				+源码中实现：
			
 
				+
			
 
				+```c++
			
 
				+std::string strmemcan = “test”;//设置共享内存名字
			
 
				+iv::modulecomm::RegisterRecv(strmemcan.data(),listen); 
			
 
				+//数据接收函数，共享内存收到数据时，会调用：
			
 
				+void listen(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
			
 
				+{
			
 
				+    if(nSize<1)return;
			
 
				+    iv::can::canmsg xmsg;
			
 
				+    if(false == xmsg.ParseFromArray(strdata,nSize))
			
 
				+    {
			
 
				+        std::cout<<"esr Listencan0 fail."<<std::endl;
			
 
				+        return;
			
 
				+    }
			
 
				+    DecodeVboxData(xmsg);
			
 
				+}
			
 
				+```
			
 
				+
			
--- a/src1/common/modulecomm_shm/ivmodulemsg_type.h
+++ b/src1/common/modulecomm_shm/ivmodulemsg_type.h
@@ -0,0 +1,13 @@
 
				+#ifndef IVMODULEMSG_TYPE_H
			
 
				+#define IVMODULEMSG_TYPE_H
			
 
				+
			
 
				+namespace iv {
			
 
				+struct modulemsg_type
			
 
				+{
			
 
				+    char mstrmsgname[256];
			
 
				+    int mnBufSize;
			
 
				+    int mnMsgBufCount;
			
 
				+};
			
 
				+
			
 
				+}
			
 
				+#endif // IVMODULEMSG_TYPE_H
			
--- a/src1/common/modulecomm_shm/modulecomm_shm.cpp
+++ b/src1/common/modulecomm_shm/modulecomm_shm.cpp
@@ -0,0 +1,54 @@
 
				+#include "modulecomm_shm.h"
			
 
				+#include "procsm_if.h"
			
 
				+#include "procsm.h"
			
 
				+#include <iostream>
			
 
				+
			
 
				+namespace iv {
			
 
				+namespace modulecomm_shm {
			
 
				+
			
 
				+void *  RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount)
			
 
				+{
			
 
				+
			
 
				+    procsm_if * pif = new procsm_if(strcommname,nBufSize,nMsgBufCount,procsm::ModeWrite);
			
 
				+    return (void *)pif;
			
 
				+}
			
 
				+
			
 
				+void  *  RegisterRecv(const char * strcommname,SMCallBack pCall)
			
 
				+{
			
 
				+    procsm_if * pif = new procsm_if(strcommname,0,0,procsm::ModeRead);
			
 
				+    pif->listenmsg(pCall);
			
 
				+    return (void *)pif;
			
 
				+}
			
 
				+
			
 
				+void * MODULECOMMSHARED_SHM_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun)
			
 
				+{
			
 
				+    procsm_if * pif = new procsm_if(strcommname,0,0,procsm::ModeRead);
			
 
				+    pif->listenmsg(xFun);
			
 
				+    return (void *)pif;
			
 
				+}
			
 
				+void  ModuleSendMsg(void * pHandle,const char * strdata,const unsigned int nDataLen)
			
 
				+{
			
 
				+    procsm_if * pif = (procsm_if *)pHandle;
			
 
				+    pif->writemsg(strdata,nDataLen);
			
 
				+}
			
 
				+
			
 
				+void  Unregister(void * pHandle)
			
 
				+{
			
 
				+    procsm_if * pif = (procsm_if *)pHandle;
			
 
				+    delete pif;
			
 
				+}
			
 
				+
			
 
				+void PauseComm(void *pHandle)
			
 
				+{
			
 
				+    procsm_if * pif = (procsm_if *)pHandle;
			
 
				+    pif->pausecomm();
			
 
				+}
			
 
				+
			
 
				+void ContintuComm(void *pHandle)
			
 
				+{
			
 
				+    procsm_if * pif = (procsm_if *)pHandle;
			
 
				+    pif->continuecomm();
			
 
				+}
			
 
				+
			
 
				+}
			
 
				+}
			
--- a/src1/common/modulecomm_shm/modulecomm_shm.h
+++ b/src1/common/modulecomm_shm/modulecomm_shm.h
@@ -0,0 +1,42 @@
 
				+#ifndef MODULECOMM_SHM_H
			
 
				+#define MODULECOMM_SHM_H
			
 
				+
			
 
				+#include <QtCore/qglobal.h>
			
 
				+#include <QDateTime>
			
 
				+
			
 
				+#include <functional>
			
 
				+
			
 
				+#if defined(MODULECOMM_SHM_LIBRARY)
			
 
				+#  define MODULECOMMSHARED_SHM_EXPORT Q_DECL_EXPORT
			
 
				+#else
			
 
				+#  define MODULECOMMSHARED_SHM_EXPORT Q_DECL_IMPORT
			
 
				+#endif
			
 
				+
			
 
				+
			
 
				+
			
 
				+//#include <iostream>
			
 
				+//#include <thread>
			
 
				+
			
 
				+#ifndef IV_MODULE_FUN
			
 
				+
			
 
				+typedef std::function<void(const char * ,const unsigned int , const unsigned int , QDateTime * ,const char *)> ModuleFun;
			
 
				+typedef void (* SMCallBack)(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
			
 
				+#define IV_MODULE_FUN
			
 
				+#endif
			
 
				+namespace iv {
			
 
				+namespace modulecomm_shm {
			
 
				+void * MODULECOMMSHARED_SHM_EXPORT RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount);
			
 
				+void * MODULECOMMSHARED_SHM_EXPORT RegisterRecv(const char * strcommname,SMCallBack pCall);
			
 
				+void * MODULECOMMSHARED_SHM_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun);
			
 
				+void MODULECOMMSHARED_SHM_EXPORT ModuleSendMsg(void * pHandle,const char * strdata,const unsigned int nDataLen);
			
 
				+void MODULECOMMSHARED_SHM_EXPORT Unregister(void * pHandle);
			
 
				+void MODULECOMMSHARED_SHM_EXPORT PauseComm(void * pHandle);
			
 
				+void MODULECOMMSHARED_SHM_EXPORT ContintuComm(void * pHandle);
			
 
				+
			
 
				+}
			
 
				+
			
 
				+}
			
 
				+
			
 
				+
			
 
				+
			
 
				+#endif 
			
--- a/src1/common/modulecomm_shm/modulecomm_shm.pro
+++ b/src1/common/modulecomm_shm/modulecomm_shm.pro
@@ -0,0 +1,41 @@
 
				+#-------------------------------------------------
			
 
				+#
			
 
				+# Project created by QtCreator 2018-07-10T05:46:48
			
 
				+#
			
 
				+#-------------------------------------------------
			
 
				+
			
 
				+QT       -= gui
			
 
				+
			
 
				+QT       += dbus
			
 
				+
			
 
				+
			
 
				+#DEFINES += USELCM
			
 
				+
			
 
				+DEFINES += USEDBUS
			
 
				+
			
 
				+TARGET = modulecomm_shm
			
 
				+TEMPLATE = lib
			
 
				+
			
 
				+DEFINES += MODULECOMM_SHM_LIBRARY
			
 
				+
			
 
				+#VERSION = 1.0.1
			
 
				+CONFIG += plugin
			
 
				+
			
 
				+
			
 
				+SOURCES += modulecomm_shm.cpp \
			
 
				+    procsm.cpp \
			
 
				+    procsm_if.cpp
			
 
				+
			
 
				+HEADERS += modulecomm_shm.h \
			
 
				+    procsm.h \
			
 
				+    procsm_if.h \
			
 
				+    ivmodulemsg_type.h
			
 
				+
			
 
				+unix {
			
 
				+    target.path = /usr/lib
			
 
				+    INSTALLS += target
			
 
				+}
			
 
				+
			
 
				+#INCLUDEPATH += $$PWD/../../../include/
			
 
				+LIBS += -L$$PWD
			
 
				+
			
--- a/src1/common/modulecomm_shm/procsm.cpp
+++ b/src1/common/modulecomm_shm/procsm.cpp
@@ -0,0 +1,378 @@
 
				+#include <iostream>
			
 
				+#include <thread>
			
 
				+#include <QTime>
			
 
				+#include <QThread>
			
 
				+
			
 
				+#include "procsm.h"
			
 
				+
			
 
				+
			
 
				+class AttachThread : public QThread
			
 
				+{
			
 
				+  public:
			
 
				+    AttachThread(QSharedMemory * pa,bool & bAttach)
			
 
				+    {
			
 
				+       mbAttach = bAttach;
			
 
				+       mpa = pa;
			
 
				+       mbrun = true;
			
 
				+    }
			
 
				+    QSharedMemory * mpa;
			
 
				+    bool mbAttach = false;
			
 
				+    bool mbrun = true;
			
 
				+    void run()
			
 
				+    {
			
 
				+        mbAttach = mpa->attach();
			
 
				+        mbrun = false;
			
 
				+    }
			
 
				+};
			
 
				+
			
 
				+procsm::procsm(const char * strsmname,const unsigned int nBufSize,const unsigned int nMaxPacCount,const int nMode)
			
 
				+{
			
 
				+//    mnBufSize = nBufSize;
			
 
				+
			
 
				+//    qDebug("create dbus");
			
 
				+
			
 
				+    mpASM = new QSharedMemory(strsmname);
			
 
				+
			
 
				+    if(nMode == ModeWrite)
			
 
				+    {
			
 
				+
			
 
				+        mmodulemsg_type.mnBufSize = nBufSize;
			
 
				+        mmodulemsg_type.mnMsgBufCount = nMaxPacCount;
			
 
				+        strncpy(mmodulemsg_type.mstrmsgname,strsmname,255);
			
 
				+#ifdef USEDBUS
			
 
				+        mmsg = QDBusMessage::createSignal("/catarc/adc",  "adc.adciv.modulecomm", strsmname);
			
 
				+        mmsg<<1;
			
 
				+#endif
			
 
				+
			
 
				+        bool bAttach = false;
			
 
				+        AttachThread AT(mpASM,bAttach);
			
 
				+        AT.start();
			
 
				+        QTime xTime;
			
 
				+        xTime.start();
			
 
				+        while(xTime.elapsed()<100)
			
 
				+        {
			
 
				+            if(AT.mbrun == false)
			
 
				+            {
			
 
				+                bAttach = AT.mbAttach;
			
 
				+                break;
			
 
				+            }
			
 
				+        }
			
 
				+ //       qDebug("time is %d",xTime.elapsed());
			
 
				+        if(xTime.elapsed()>= 1000)
			
 
				+        {
			
 
				+            qDebug("in 1000ms Attach fail.terminate it .");
			
 
				+            AT.terminate();
			
 
				+            bAttach = false;
			
 
				+        }
			
 
				+
			
 
				+ //       if(!mpASM->attach())
			
 
				+        if(!bAttach)
			
 
				+        {
			
 
				+
			
 
				+            mpASM->create(sizeof(procsm_info)+nMaxPacCount*sizeof(procsm_head) + nBufSize);
			
 
				+            char * p = (char *)mpASM->data();
			
 
				+            mpinfo = (procsm_info *)p;
			
 
				+            mphead = (procsm_head *)(p+sizeof(procsm_info));
			
 
				+            mpinfo->mCap = nMaxPacCount;
			
 
				+            mpinfo->mnBufSize = nBufSize;
			
 
				+            mpinfo->mFirst = 0;
			
 
				+            mpinfo->mNext = 0;
			
 
				+            mpinfo->mLock = 0;
			
 
				+        }
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+        if(mpASM->isAttached())
			
 
				+        {
			
 
				+
			
 
				+            mbAttach = true;
			
 
				+            char * p = (char *)mpASM->data();
			
 
				+            mpinfo = (procsm_info *)p;
			
 
				+            mphead = (procsm_head *)(p+sizeof(procsm_info));
			
 
				+            mnMaxPacCount = mpinfo->mCap;
			
 
				+            mnBufSize = mpinfo->mnBufSize;
			
 
				+    //        qDebug("attach successful");
			
 
				+            mstrtem = new char[mnBufSize];
			
 
				+
			
 
				+#ifdef USEDBUS
			
 
				+            mmsgres = QDBusMessage::createSignal("/catarc/adc",  "adciv.interface", "modulemsgres");
			
 
				+            mmsgres<<1;
			
 
				+
			
 
				+            bool bconnect = QDBusConnection::sessionBus().connect(QString(),"/catarc/adc",  "adciv.interface", "modulemsgquery",this,SLOT(onQuery()));
			
 
				+            if(bconnect == false)
			
 
				+            {
			
 
				+                std::cout<<"procsm_if_readthread::procsm_if_readthread bconect is false"<<std::endl;
			
 
				+            }
			
 
				+#endif
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+          mbAttach = false;
			
 
				+            qDebug("Share Memory Error.");
			
 
				+        }
			
 
				+
			
 
				+
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+#ifdef USEDBUS
			
 
				+    void procsm::onQuery()
			
 
				+    {
			
 
				+        QByteArray ba;
			
 
				+        ba.append((char *)&mmodulemsg_type,sizeof(iv::modulemsg_type));
			
 
				+
			
 
				+        QList<QVariant> x;
			
 
				+        x<<ba;
			
 
				+        mmsgres.setArguments(x);
			
 
				+        QDBusConnection::sessionBus().send(mmsgres);
			
 
				+    }
			
 
				+
			
 
				+#endif
			
 
				+
			
 
				+bool procsm::AttachMem()
			
 
				+{
			
 
				+    mpASM->attach();
			
 
				+    if(mpASM->isAttached())
			
 
				+    {
			
 
				+        mbAttach = true;
			
 
				+        char * p = (char *)mpASM->data();
			
 
				+        mpinfo = (procsm_info *)p;
			
 
				+        mphead = (procsm_head *)(p+sizeof(procsm_info));
			
 
				+        mnMaxPacCount = mpinfo->mCap;
			
 
				+        mnBufSize = mpinfo->mnBufSize;
			
 
				+        return true;
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        return false;
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+int procsm::MoveMem(const unsigned int nSize)
			
 
				+{
			
 
				+//    qDebug("move mem");
			
 
				+     unsigned int nRemove = nSize;
			
 
				+     if(nRemove == 0)return -1;
			
 
				+
			
 
				+//     unsigned int * pIndexFirst = (unsigned int *)mpASM->data();
			
 
				+//     unsigned int * pIndexNext = pIndexFirst+1;
			
 
				+//     qDebug("first = %d next = %d",*pIndexFirst,*pIndexNext);
			
 
				+//    unsigned int * pIndexNext = pIndexFirst;
			
 
				+    char * pH,*pD;
			
 
				+    pH = (char *)mpASM->data();pH = pH + sizeof(procsm_info);
			
 
				+    pD = (char *)mpASM->data();pD = pD + sizeof(procsm_info) + mnMaxPacCount * sizeof(procsm_head);
			
 
				+    procsm_head * phh = (procsm_head *)pH;
			
 
				+    unsigned int nPac = mpinfo->mNext - mpinfo->mFirst;
			
 
				+
			
 
				+    if(nRemove >nPac)
			
 
				+    {
			
 
				+  //      qDebug("procsm::MoveMem nRemove > nPac nRemove = %d",nRemove);
			
 
				+        nRemove = nPac;
			
 
				+    }
			
 
				+
			
 
				+    if(nRemove == nPac)
			
 
				+    {
			
 
				+        mpinfo->mFirst = mpinfo->mFirst + (unsigned int)nRemove;
			
 
				+        return 0;
			
 
				+    }
			
 
				+
			
 
				+    unsigned int i;
			
 
				+    int nDataMove = 0;
			
 
				+    for(i=0;i<nRemove;i++)
			
 
				+    {
			
 
				+        procsm_head * phd = phh+i;
			
 
				+        nDataMove = nDataMove + phd->mnLen;
			
 
				+    }
			
 
				+    unsigned int nDataTotal;
			
 
				+    for(i=0;i<(nPac - nRemove);i++)
			
 
				+    {
			
 
				+        memcpy(phh+i,phh+i+nRemove,sizeof(procsm_head));
			
 
				+        (phh+i)->mnPos = (phh+i)->mnPos - nDataMove;
			
 
				+    }
			
 
				+    nDataTotal = (phh + nPac-nRemove-1)->mnPos + (phh+nPac-nRemove-1)->mnLen;
			
 
				+    memcpy(mstrtem,pD+nDataMove,nDataTotal);
			
 
				+    memcpy(pD,mstrtem,nDataTotal);
			
 
				+
			
 
				+//    for(i=0;i<nDataTotal;i++)
			
 
				+//    {
			
 
				+//        *(pD+i) = *(pD+i+nDataMove);
			
 
				+//    }
			
 
				+    mpinfo->mFirst = mpinfo->mFirst + (unsigned int)nRemove;
			
 
				+    return 0;
			
 
				+}
			
 
				+
			
 
				+int procsm::writemsg(const char *str, const unsigned int nSize)
			
 
				+{
			
 
				+    if(nSize > mnBufSize)
			
 
				+    {
			
 
				+        qDebug("procsm::writemsg message size is very big");
			
 
				+        return -1;
			
 
				+    }
			
 
				+    if(mbAttach == false)
			
 
				+    {
			
 
				+        std::cout<<"ShareMemory Attach fail."<<std::endl;
			
 
				+        return -1;
			
 
				+    }
			
 
				+    mpASM->lock();
			
 
				+
			
 
				+
			
 
				+
			
 
				+//    unsigned int * pIndexFirst = (unsigned int *)mpASM->data();
			
 
				+//    unsigned int * pIndexNext = pIndexFirst+1;
			
 
				+    if(mpinfo->mLock == 1)
			
 
				+    {
			
 
				+        std::cout<<"ShareMemory have lock.Init."<<std::endl;
			
 
				+        mpinfo->mLock = 0;
			
 
				+        mpinfo->mFirst = 0;
			
 
				+        mpinfo->mNext = 0;
			
 
				+    }
			
 
				+    mpinfo->mLock =1;
			
 
				+WRITEMSG:
			
 
				+    char * pH,*pD;
			
 
				+    QDateTime dt;
			
 
				+    pH = (char *)mpASM->data();pH = pH + sizeof(procsm_info);
			
 
				+    pD = (char *)mpASM->data();pD = pD + sizeof(procsm_info) + mnMaxPacCount * sizeof(procsm_head);
			
 
				+    procsm_head * phh = (procsm_head *)pH;
			
 
				+    unsigned int nPac = mpinfo->mNext - mpinfo->mFirst;
			
 
				+    if(nPac>=mnMaxPacCount)
			
 
				+    {
			
 
				+        unsigned int nRemove = mnMaxPacCount/3;
			
 
				+        if(nRemove == 0)nRemove = 1;
			
 
				+        MoveMem(nRemove);
			
 
				+        goto WRITEMSG;
			
 
				+    }
			
 
				+    if(nPac == 0)
			
 
				+    {
			
 
				+        memcpy(pD,str,nSize);
			
 
				+        dt = QDateTime::currentDateTime();
			
 
				+    //    phh->mdt = dt;
			
 
				+        phh->SetDate(dt);
			
 
				+   //     memcpy(&phh->mdt,&dt,sizeof(QDateTime));
			
 
				+   //     phh->mdt = QDateTime::currentDateTime();
			
 
				+        phh->mindex = mpinfo->mNext;
			
 
				+        phh->mnPos = 0;
			
 
				+        phh->mnLen = nSize;
			
 
				+        mpinfo->mNext = mpinfo->mNext+1;
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        if(((phh+nPac-1)->mnPos+(phh+nPac-1)->mnLen + nSize)>=mnBufSize)
			
 
				+        {
			
 
				+            unsigned int nRemove = mnMaxPacCount/2;
			
 
				+            if(nRemove == 0)nRemove = 1;
			
 
				+            MoveMem(nRemove);
			
 
				+            goto WRITEMSG;
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            unsigned int nPos = (phh+nPac-1)->mnPos + (phh+nPac-1)->mnLen;
			
 
				+     //       qDebug("write pos = %d",nPos);
			
 
				+            memcpy(pD+nPos,str,nSize);
			
 
				+            dt = QDateTime::currentDateTime();
			
 
				+            (phh+nPac)->SetDate(dt);
			
 
				+ //           memcpy(&(phh+nPac)->mdt,&dt,sizeof(QDateTime));
			
 
				+ //           (phh+nPac)->mdt = QDateTime::currentDateTime();
			
 
				+            (phh+nPac)->mindex = mpinfo->mNext;
			
 
				+            (phh+nPac)->mnPos = nPos;
			
 
				+            (phh+nPac)->mnLen = nSize;
			
 
				+            mpinfo->mNext = mpinfo->mNext+1;
			
 
				+        }
			
 
				+    }
			
 
				+
			
 
				+    const unsigned int nTM = 0x6fffffff;
			
 
				+    if((mpinfo->mNext >nTM)&&(mpinfo->mFirst>nTM))
			
 
				+    {
			
 
				+       nPac = mpinfo->mNext - mpinfo->mFirst;
			
 
				+       unsigned int i;
			
 
				+       for(i=0;i<nPac;i++)
			
 
				+       {
			
 
				+           (phh+i)->mindex = (phh+i)->mindex-nTM;
			
 
				+       }
			
 
				+       mpinfo->mFirst = mpinfo->mFirst-nTM;
			
 
				+       mpinfo->mNext = mpinfo->mNext - nTM;
			
 
				+    }
			
 
				+
			
 
				+    mpinfo->mLock = 0;
			
 
				+    mpASM->unlock();
			
 
				+#ifdef USEDBUS
			
 
				+    QDBusConnection::sessionBus().send(mmsg);
			
 
				+#endif
			
 
				+    return 0;
			
 
				+}
			
 
				+
			
 
				+unsigned int procsm::getcurrentnext()
			
 
				+{
			
 
				+
			
 
				+
			
 
				+    unsigned int nNext;
			
 
				+    mpASM->lock();
			
 
				+    nNext = mpinfo->mNext;
			
 
				+    mpASM->unlock();
			
 
				+    return nNext;
			
 
				+}
			
 
				+
			
 
				+
			
 
				+//if return 0 No Data.
			
 
				+//if return -1 nMaxSize is small
			
 
				+//if retrun -2 index is not in range,call getcurrentnext get position
			
 
				+//if return > 0 readdata
			
 
				+int procsm::readmsg(unsigned int index, char *str, unsigned int nMaxSize,unsigned int * nRead,QDateTime * pdt)
			
 
				+{
			
 
				+    if(mbAttach == false)
			
 
				+    {
			
 
				+        std::cout<<"ShareMemory Attach fail."<<std::endl;
			
 
				+        return -1;
			
 
				+    }
			
 
				+    int nRtn = 0;
			
 
				+    mpASM->lock();
			
 
				+
			
 
				+    if((index< mpinfo->mFirst)||(index > mpinfo->mNext))
			
 
				+    {
			
 
				+        nRtn = -2;
			
 
				+    }
			
 
				+    if(nRtn != (-2))
			
 
				+    {
			
 
				+        if(index == mpinfo->mNext)
			
 
				+        {
			
 
				+            nRtn = 0;
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            char * pH,*pD;
			
 
				+ //           pH = (char *)mpASM->data();pH = pH + 2*sizeof(unsigned int);
			
 
				+
			
 
				+ //           pD = (char *)mpASM->data();pD = pD + 2*sizeof(unsigned int) + mnMaxPacCount * sizeof(procsm_head);
			
 
				+            pD = (char *)mpASM->data();pD = pD+ sizeof(procsm_info) + mpinfo->mCap*sizeof(procsm_head);
			
 
				+            pH = (char *)mpASM->data();pH = pH+sizeof(procsm_info);
			
 
				+            procsm_head * phh = (procsm_head *)pH;
			
 
				+            unsigned int nPac = mpinfo->mNext - mpinfo->mFirst;
			
 
				+            if(nPac == 0)
			
 
				+            {
			
 
				+                nRtn = 0;
			
 
				+            }
			
 
				+            else
			
 
				+            {
			
 
				+                unsigned int nPos = index - mpinfo->mFirst;
			
 
				+                *nRead = (phh+nPos)->mnLen;
			
 
				+                if((phh+nPos)->mnLen > nMaxSize)
			
 
				+                {
			
 
				+                    nRtn = -1;
			
 
				+
			
 
				+                }
			
 
				+                else
			
 
				+                {
			
 
				+        //            qDebug("read pos = %d",(phh+nPos)->mnPos);
			
 
				+                   memcpy(str,pD + (phh+nPos)->mnPos,(phh+nPos)->mnLen);
			
 
				+          //         qDebug("read pos = %d",(phh+nPos)->mnPos);
			
 
				+                   nRtn = (phh+nPos)->mnLen;
			
 
				+                   (phh+nPos)->GetDate(pdt);
			
 
				+           //        memcpy(pdt,&((phh+nPos)->mdt),sizeof(QDateTime));
			
 
				+                }
			
 
				+            }
			
 
				+        }
			
 
				+    }
			
 
				+    mpASM->unlock();
			
 
				+    return nRtn;
			
 
				+}
			
 
				+
			
--- a/src1/common/modulecomm_shm/procsm.h
+++ b/src1/common/modulecomm_shm/procsm.h
@@ -0,0 +1,112 @@
 
				+#ifndef PROCSM_H
			
 
				+#define PROCSM_H
			
 
				+
			
 
				+#include <QThread>
			
 
				+#include <QSharedMemory>
			
 
				+#include <QDateTime>
			
 
				+#include <QList>
			
 
				+#include <QVariant>
			
 
				+
			
 
				+#ifdef USEDBUS
			
 
				+#include <QtDBus/QDBusMessage>
			
 
				+#include <QtDBus/QDBusConnection>
			
 
				+
			
 
				+#endif
			
 
				+
			
 
				+#include "ivmodulemsg_type.h"
			
 
				+
			
 
				+class procsm_info
			
 
				+{
			
 
				+public:
			
 
				+  unsigned int mFirst;
			
 
				+  unsigned int mNext;
			
 
				+  unsigned int mCap;
			
 
				+  unsigned int mLock;
			
 
				+  unsigned int mnBufSize;
			
 
				+};
			
 
				+
			
 
				+class procsm_head
			
 
				+{
			
 
				+public:
			
 
				+    unsigned short mYear;
			
 
				+    unsigned char mMonth;
			
 
				+    unsigned char mDay;
			
 
				+    unsigned char mHour;
			
 
				+    unsigned char mMinute;
			
 
				+    unsigned char mSec;
			
 
				+    unsigned short mMSec;
			
 
				+    unsigned int mindex;
			
 
				+    unsigned int mnPos;
			
 
				+    unsigned int mnLen;
			
 
				+public:
			
 
				+    void SetDate(QDateTime dt)
			
 
				+    {
			
 
				+        mYear = dt.date().year();
			
 
				+        mMonth = dt.date().month();
			
 
				+        mDay = dt.date().day();
			
 
				+        mHour = dt.time().hour();
			
 
				+        mMinute = dt.time().minute();
			
 
				+        mSec = dt.time().second();
			
 
				+        mMSec = dt.time().msec();
			
 
				+    }
			
 
				+    void GetDate(QDateTime * pdt)
			
 
				+    {
			
 
				+        QDate dt;
			
 
				+        dt.setDate(mYear,mMonth,mDay);
			
 
				+        QTime time;
			
 
				+        time.setHMS(mHour,mMinute,mSec,mMSec);
			
 
				+        pdt->setDate(dt);
			
 
				+        pdt->setTime(time);
			
 
				+
			
 
				+    }
			
 
				+};
			
 
				+
			
 
				+class procsm : public QObject
			
 
				+{
			
 
				+#ifdef USEDBUS
			
 
				+    Q_OBJECT
			
 
				+
			
 
				+#endif
			
 
				+public:
			
 
				+    procsm(const char * strsmname,const unsigned int nBufSize,const unsigned int nMaxPacCount,const int nMode);
			
 
				+    int writemsg(const char * str,const unsigned int nSize);
			
 
				+    unsigned int getcurrentnext();
			
 
				+    int readmsg(unsigned int index,char * str,unsigned int nMaxSize,unsigned int * nRead,QDateTime * pdt);
			
 
				+
			
 
				+    bool AttachMem();
			
 
				+
			
 
				+private:
			
 
				+    int MoveMem(const unsigned int nSize);
			
 
				+    QSharedMemory * mpASM;
			
 
				+    unsigned int mnBufSize;
			
 
				+    unsigned int mnMaxPacCount;
			
 
				+    procsm_info * mpinfo;
			
 
				+    procsm_head * mphead;
			
 
				+
			
 
				+    bool mbAttach;
			
 
				+
			
 
				+    char * mstrtem;
			
 
				+
			
 
				+public:
			
 
				+    const static int ModeRead = 1;
			
 
				+    const static int ModeWrite = 0;
			
 
				+
			
 
				+    iv::modulemsg_type mmodulemsg_type;
			
 
				+
			
 
				+#ifdef USEDBUS
			
 
				+private slots:
			
 
				+    void onQuery();
			
 
				+
			
 
				+#endif
			
 
				+private:
			
 
				+#ifdef USEDBUS
			
 
				+    QDBusMessage mmsg;
			
 
				+    QDBusMessage mmsgres;  //Response Message Query;
			
 
				+
			
 
				+#endif
			
 
				+
			
 
				+
			
 
				+
			
 
				+};
			
 
				+
			
 
				+#endif // PROCSM_H
			
--- a/src1/common/modulecomm_shm/procsm_if.cpp
+++ b/src1/common/modulecomm_shm/procsm_if.cpp
@@ -0,0 +1,310 @@
 
				+#include "procsm_if.h"
			
 
				+#include <QTimer>
			
 
				+
			
 
				+#include <iostream>
			
 
				+
			
 
				+
			
 
				+
			
 
				+procsm_if_readthread::procsm_if_readthread(procsm *pPSM,SMCallBack pCall,const char * strsmname)
			
 
				+{
			
 
				+    mpPSM = pPSM;
			
 
				+    mpCall = pCall;
			
 
				+    strncpy(mstrsmname,strsmname,255);
			
 
				+
			
 
				+#ifdef USEDBUS
			
 
				+    bool bconnect = QDBusConnection::sessionBus().connect(QString(),"/catarc/adc",  "adc.adciv.modulecomm", strsmname,this,SLOT(onNewMsg(int)));
			
 
				+    if(bconnect == false)
			
 
				+    {
			
 
				+        std::cout<<"procsm_if_readthread::procsm_if_readthread bconect is false"<<std::endl;
			
 
				+    }
			
 
				+#endif
			
 
				+}
			
 
				+
			
 
				+procsm_if_readthread::procsm_if_readthread(procsm *pPSM,ModuleFun xFun,const char * strsmname)
			
 
				+{
			
 
				+    mpPSM = pPSM;
			
 
				+    mFun = xFun;
			
 
				+    strncpy(mstrsmname,strsmname,255);
			
 
				+    mbFunPlus = true;
			
 
				+
			
 
				+#ifdef USEDBUS
			
 
				+    bool bconnect = QDBusConnection::sessionBus().connect(QString(),"/catarc/adc",  "adc.adciv.modulecomm", strsmname,this,SLOT(onNewMsg(int)));
			
 
				+    if(bconnect == false)
			
 
				+    {
			
 
				+        std::cout<<"procsm_if_readthread::procsm_if_readthread bconect is false"<<std::endl;
			
 
				+        mbDBUSOK = false;
			
 
				+        QTimer * timer = new QTimer();
			
 
				+        timer->setTimerType(Qt::PreciseTimer);
			
 
				+        delete timer;
			
 
				+    }
			
 
				+#endif
			
 
				+}
			
 
				+
			
 
				+
			
 
				+#ifdef USELCM
			
 
				+    void procsm_if_readthread::handlerMethod(const lcm::ReceiveBuffer *rbuf, const std::string &channel)
			
 
				+    {
			
 
				+        qDebug("lcm receiv data. ");
			
 
				+        mxindex++;
			
 
				+        QDateTime dt = QDateTime::currentDateTime();
			
 
				+        if(mbFunPlus)
			
 
				+        {
			
 
				+            mFun((char *)rbuf->data,rbuf->data_size,mxindex,&dt,mstrsmname);
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+           (*mpCall)((char *)rbuf->data,rbuf->data_size,mxindex,&dt,mstrsmname);
			
 
				+        }
			
 
				+    }
			
 
				+#endif
			
 
				+
			
 
				+
			
 
				+void procsm_if_readthread::puaseread()
			
 
				+{
			
 
				+    mbRun = false;
			
 
				+}
			
 
				+
			
 
				+void procsm_if_readthread::continueread()
			
 
				+{
			
 
				+    mbRun = true;
			
 
				+}
			
 
				+
			
 
				+void procsm_if_readthread::run()
			
 
				+{
			
 
				+#ifdef USELCM
			
 
				+    mlcm.subscribe(mstrsmname,&procsm_if_readthread::handlerMethod,this);
			
 
				+    while(!QThread::isInterruptionRequested())
			
 
				+    {
			
 
				+        mlcm.handle();
			
 
				+    }
			
 
				+    return;
			
 
				+#endif
			
 
				+    QTime xTime;
			
 
				+    xTime.start();
			
 
				+    unsigned int nBufLen = 1;
			
 
				+    unsigned int nRead;
			
 
				+    char * str = new char[nBufLen];
			
 
				+    unsigned int index =0;
			
 
				+
			
 
				+
			
 
				+    QDateTime *pdt = new QDateTime();
			
 
				+
			
 
				+    bool bAttach = false;
			
 
				+    while(!QThread::isInterruptionRequested())
			
 
				+    {
			
 
				+        if(mbRun == false)
			
 
				+        {
			
 
				+            msleep(10);
			
 
				+            continue;
			
 
				+        }
			
 
				+        if(bAttach == false)
			
 
				+        {
			
 
				+            bAttach = mpPSM->AttachMem();
			
 
				+            if(bAttach == false)
			
 
				+            {
			
 
				+                msleep(1);
			
 
				+                continue;
			
 
				+            }
			
 
				+            else
			
 
				+            {
			
 
				+                index = mpPSM->getcurrentnext();
			
 
				+            }
			
 
				+        }
			
 
				+
			
 
				+        int nRtn = mpPSM->readmsg(index,str,nBufLen,&nRead,pdt);
			
 
				+        if(nRtn == 0)
			
 
				+        {
			
 
				+#ifdef USEDBUS
			
 
				+            if(mbDBUSOK == true)
			
 
				+            {
			
 
				+                mWaitMutex.lock();
			
 
				+                mwc.wait(&mWaitMutex,10);
			
 
				+                mWaitMutex.unlock();
			
 
				+            }
			
 
				+            else
			
 
				+            {
			
 
				+                msleep(1);
			
 
				+            }
			
 
				+#else
			
 
				+            msleep(1);
			
 
				+#endif
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            if(nRtn == -1)
			
 
				+            {
			
 
				+                nBufLen = nRead;
			
 
				+                delete str;
			
 
				+                if(nBufLen < 1)nBufLen = 1;
			
 
				+                str = new char[nBufLen];
			
 
				+            }
			
 
				+            else
			
 
				+            {
			
 
				+                if(nRtn == -2)
			
 
				+                {
			
 
				+                   index = mpPSM->getcurrentnext();
			
 
				+                }
			
 
				+                else
			
 
				+                {
			
 
				+                   if(nRtn >0)
			
 
				+                   {
			
 
				+                       if(mbFunPlus)
			
 
				+                       {
			
 
				+                           mFun(str,nRtn,index,pdt,mstrsmname);
			
 
				+                       }
			
 
				+                       else
			
 
				+                       {
			
 
				+                          (*mpCall)(str,nRtn,index,pdt,mstrsmname);
			
 
				+                       }
			
 
				+                       index++;
			
 
				+                   }
			
 
				+                   else
			
 
				+                   {
			
 
				+                       usleep(100);
			
 
				+                   }
			
 
				+                }
			
 
				+            }
			
 
				+        }
			
 
				+
			
 
				+    }
			
 
				+    delete str;
			
 
				+    delete pdt;
			
 
				+//    qDebug("Thread finish.");
			
 
				+}
			
 
				+
			
 
				+#ifdef USEDBUS
			
 
				+
			
 
				+void procsm_if_readthread::onNewMsg(int x)
			
 
				+{
			
 
				+    if(x == 100)std::cout<<x<<std::endl;
			
 
				+    mwc.wakeAll();
			
 
				+//    qDebug("wake");
			
 
				+}
			
 
				+
			
 
				+#endif
			
 
				+
			
 
				+procsm_if::procsm_if(const char * strsmname,const unsigned int nBufSize,const unsigned int nMaxPacCount,const int nMode)
			
 
				+{
			
 
				+    strncpy(mstrsmname,strsmname,255);
			
 
				+#ifdef USELCM
			
 
				+    if(nMode == procsm::ModeWrite)
			
 
				+    {
			
 
				+
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+
			
 
				+    }
			
 
				+    return;
			
 
				+#endif
			
 
				+    mpPSM = new procsm(strsmname,nBufSize,nMaxPacCount,nMode);
			
 
				+    mnType = nMode;
			
 
				+
			
 
				+    mTimer.setTimerType(Qt::PreciseTimer);
			
 
				+
			
 
				+}
			
 
				+
			
 
				+procsm_if::~procsm_if()
			
 
				+{
			
 
				+    if(mnType == procsm::ModeRead)
			
 
				+    {
			
 
				+
			
 
				+        mpReadThread->requestInterruption();
			
 
				+        while(!mpReadThread->isFinished())
			
 
				+        {
			
 
				+
			
 
				+        }
			
 
				+        delete mpReadThread;
			
 
				+    }
			
 
				+    delete mpPSM;
			
 
				+}
			
 
				+
			
 
				+
			
 
				+
			
 
				+int procsm_if::writemsg(const char *str, const unsigned int nSize)
			
 
				+{
			
 
				+    if(mbRun == false)return -2;
			
 
				+#ifdef USELCM
			
 
				+    int nres = mlcm.publish(mstrsmname,str,nSize);
			
 
				+    qDebug("publish message. res = %d",nres);
			
 
				+    return 0;
			
 
				+#endif
			
 
				+    if(mnType == procsm::ModeRead)return -1; //this is listen.
			
 
				+    return mpPSM->writemsg(str,nSize);
			
 
				+}
			
 
				+
			
 
				+#ifdef USELCM
			
 
				+    void procsm_if::handlerMethod(const lcm::ReceiveBuffer *rbuf, const std::string &channel)
			
 
				+    {
			
 
				+        qDebug("receiv data. ");
			
 
				+    }
			
 
				+#endif
			
 
				+int procsm_if::listenmsg(SMCallBack pCall)
			
 
				+{
			
 
				+//#ifdef USELCM
			
 
				+////     mlcm.subscribe(mstrsmname,&handlerMethod2);
			
 
				+//    mlcm.subscribe(mstrsmname,&procsm_if::handlerMethod,this);
			
 
				+//    while(true)
			
 
				+//    {
			
 
				+//        mlcm.handle();
			
 
				+//    }
			
 
				+//    return 0;
			
 
				+//#endif
			
 
				+    if(mnType == procsm::ModeWrite)return -1; //listening.
			
 
				+    mpReadThread = new procsm_if_readthread(mpPSM,pCall,mstrsmname);
			
 
				+//    mpReadThread->setPriority(QThread::TimeCriticalPriority);
			
 
				+//    mpReadThread->start();
			
 
				+    mpReadThread->start(QThread::HighestPriority);
			
 
				+//    mnType = 1;
			
 
				+    return 0;
			
 
				+}
			
 
				+
			
 
				+int procsm_if::listenmsg(ModuleFun xFun)
			
 
				+{
			
 
				+//#ifdef USELCM
			
 
				+//    mlcm.subscribe(mstrsmname,&procsm_if::handlerMethod,this);
			
 
				+//    while(true)
			
 
				+//    {
			
 
				+//        mlcm.handle();
			
 
				+//    }
			
 
				+//    return 0;
			
 
				+//#endif
			
 
				+    if(mnType == procsm::ModeWrite)return -1; //listening.
			
 
				+    mpReadThread = new procsm_if_readthread(mpPSM,xFun,mstrsmname);
			
 
				+//    mpReadThread->setPriority(QThread::TimeCriticalPriority);
			
 
				+//    mpReadThread->start();
			
 
				+    mpReadThread->start(QThread::HighestPriority);
			
 
				+//    mnType = 1;
			
 
				+    return 0;
			
 
				+}
			
 
				+
			
 
				+void procsm_if::stoplisten()
			
 
				+{
			
 
				+    if(mnType != 1)return;
			
 
				+    mpReadThread->requestInterruption();
			
 
				+    while(!mpReadThread->isFinished());
			
 
				+    mnType = 0;
			
 
				+//    mpReadThread->deleteLater();
			
 
				+    qDebug("stop listen ok");
			
 
				+}
			
 
				+
			
 
				+void procsm_if::pausecomm()
			
 
				+{
			
 
				+    mbRun = false;
			
 
				+    if(mnType == procsm::ModeRead)
			
 
				+    {
			
 
				+        mpReadThread->puaseread();
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void procsm_if::continuecomm()
			
 
				+{
			
 
				+    mbRun = true;
			
 
				+    if(mnType == procsm::ModeRead)
			
 
				+    {
			
 
				+        mpReadThread->continueread();
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+
			
 
				+
			
--- a/src1/common/modulecomm_shm/procsm_if.h
+++ b/src1/common/modulecomm_shm/procsm_if.h
@@ -0,0 +1,99 @@
 
				+#ifndef PROCSM_IF_H
			
 
				+#define PROCSM_IF_H
			
 
				+
			
 
				+#include <QThread>
			
 
				+#include <QTimer>
			
 
				+#include <QWaitCondition>
			
 
				+#include <QMutex>
			
 
				+#include <functional>
			
 
				+
			
 
				+#ifdef USEDBUS
			
 
				+#include <QtDBus/QDBusMessage>
			
 
				+#include <QtDBus/QDBusConnection>
			
 
				+
			
 
				+#endif
			
 
				+
			
 
				+#include "procsm.h"
			
 
				+
			
 
				+typedef void (* SMCallBack)(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
			
 
				+using namespace std::placeholders;
			
 
				+typedef std::function<void(const char * ,const unsigned int , const unsigned int , QDateTime * ,const char *)> ModuleFun;
			
 
				+
			
 
				+class procsm_if_readthread:public QThread
			
 
				+{
			
 
				+    Q_OBJECT
			
 
				+public:
			
 
				+#ifdef USELCM
			
 
				+
			
 
				+#endif
			
 
				+    procsm_if_readthread(procsm * pPSM,SMCallBack pCall,const char * strsmname);
			
 
				+    procsm_if_readthread(procsm * pPSM,ModuleFun xFun,const char * strsmname);
			
 
				+
			
 
				+    void puaseread();
			
 
				+    void continueread();
			
 
				+private slots:
			
 
				+#ifdef USEDBUS
			
 
				+    void onNewMsg(int x);
			
 
				+#endif
			
 
				+private:
			
 
				+
			
 
				+#ifdef USELCM
			
 
				+    lcm::LCM mlcm;
			
 
				+    void handlerMethod(const lcm::ReceiveBuffer *rbuf,const std::string &channel);
			
 
				+    int mxindex = 0;
			
 
				+#endif
			
 
				+    void run();
			
 
				+    procsm * mpPSM;
			
 
				+    SMCallBack  mpCall;
			
 
				+    ModuleFun mFun;
			
 
				+    char mstrsmname[256];
			
 
				+
			
 
				+    QWaitCondition mwc;
			
 
				+
			
 
				+    QMutex mWaitMutex;
			
 
				+    bool mbFunPlus = false;
			
 
				+    bool mbRun = true;
			
 
				+    bool mbDBUSOK = true;
			
 
				+};
			
 
				+
			
 
				+class procsm_if
			
 
				+{
			
 
				+
			
 
				+
			
 
				+public:
			
 
				+    procsm_if(const char * strsmname,const unsigned int nBufSize,const unsigned int nMaxPacCount,const int nMode);
			
 
				+    ~procsm_if();
			
 
				+
			
 
				+    int writemsg(const char * str,const unsigned int nSize);
			
 
				+    int listenmsg(SMCallBack pCall);
			
 
				+    int listenmsg(ModuleFun xFun);
			
 
				+    void stoplisten();
			
 
				+
			
 
				+    void pausecomm();
			
 
				+    void continuecomm();
			
 
				+
			
 
				+
			
 
				+private:
			
 
				+    procsm * mpPSM;
			
 
				+    int mnType;
			
 
				+    procsm_if_readthread * mpReadThread;
			
 
				+    QTimer mTimer;
			
 
				+    char mstrsmname[256];
			
 
				+
			
 
				+    bool mbRun = true;
			
 
				+
			
 
				+
			
 
				+
			
 
				+#ifdef USELCM
			
 
				+    lcm::LCM mlcm;
			
 
				+    void handlerMethod(const lcm::ReceiveBuffer *rbuf,const std::string &channel);
			
 
				+#endif
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+};
			
 
				+
			
 
				+#endif // PROCSM_IF_H
			
--- a/src1/driver/driver_lidar_rs16/.gitignore
+++ b/src1/driver/driver_lidar_rs16/.gitignore
@@ -0,0 +1,73 @@
 
				+# This file is used to ignore files which are generated
			
 
				+# ----------------------------------------------------------------------------
			
 
				+
			
 
				+*~
			
 
				+*.autosave
			
 
				+*.a
			
 
				+*.core
			
 
				+*.moc
			
 
				+*.o
			
 
				+*.obj
			
 
				+*.orig
			
 
				+*.rej
			
 
				+*.so
			
 
				+*.so.*
			
 
				+*_pch.h.cpp
			
 
				+*_resource.rc
			
 
				+*.qm
			
 
				+.#*
			
 
				+*.*#
			
 
				+core
			
 
				+!core/
			
 
				+tags
			
 
				+.DS_Store
			
 
				+.directory
			
 
				+*.debug
			
 
				+Makefile*
			
 
				+*.prl
			
 
				+*.app
			
 
				+moc_*.cpp
			
 
				+ui_*.h
			
 
				+qrc_*.cpp
			
 
				+Thumbs.db
			
 
				+*.res
			
 
				+*.rc
			
 
				+/.qmake.cache
			
 
				+/.qmake.stash
			
 
				+
			
 
				+# qtcreator generated files
			
 
				+*.pro.user*
			
 
				+
			
 
				+# xemacs temporary files
			
 
				+*.flc
			
 
				+
			
 
				+# Vim temporary files
			
 
				+.*.swp
			
 
				+
			
 
				+# Visual Studio generated files
			
 
				+*.ib_pdb_index
			
 
				+*.idb
			
 
				+*.ilk
			
 
				+*.pdb
			
 
				+*.sln
			
 
				+*.suo
			
 
				+*.vcproj
			
 
				+*vcproj.*.*.user
			
 
				+*.ncb
			
 
				+*.sdf
			
 
				+*.opensdf
			
 
				+*.vcxproj
			
 
				+*vcxproj.*
			
 
				+
			
 
				+# MinGW generated files
			
 
				+*.Debug
			
 
				+*.Release
			
 
				+
			
 
				+# Python byte code
			
 
				+*.pyc
			
 
				+
			
 
				+# Binaries
			
 
				+# --------
			
 
				+*.dll
			
 
				+*.exe
			
 
				+
			
--- a/src1/driver/driver_lidar_rs16/driver_lidar_rs16.pro
+++ b/src1/driver/driver_lidar_rs16/driver_lidar_rs16.pro
@@ -0,0 +1,61 @@
 
				+QT -= gui
			
 
				+
			
 
				+QT += network
			
 
				+
			
 
				+CONFIG += c++11 console
			
 
				+CONFIG -= app_bundle
			
 
				+
			
 
				+# The following define makes your compiler emit warnings if you use
			
 
				+# any Qt feature that has been marked 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 it uses 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 += \
			
 
				+        ../../interface/ivmodule.cpp \
			
 
				+        ../interface/ivdriver.cpp \
			
 
				+        ../interface/ivdriver_lidar.cpp \
			
 
				+        ../interface/lidarmain.cpp \
			
 
				+        ivdriver_lidar_rs16.cpp \
			
 
				+        main.cpp
			
 
				+
			
 
				+# Default rules for deployment.
			
 
				+qnx: target.path = /tmp/$${TARGET}/bin
			
 
				+else: unix:!android: target.path = /opt/$${TARGET}/bin
			
 
				+!isEmpty(target.path): INSTALLS += target
			
 
				+
			
 
				+HEADERS += \
			
 
				+    ../../interface/ivmodule.h \
			
 
				+    ../interface/ivdriver.h \
			
 
				+    ../interface/ivdriver_lidar.h \
			
 
				+    ../interface/lidarmain.h \
			
 
				+    ivdriver_lidar_rs16.h
			
 
				+
			
 
				+!include(../../../include/ivpcl.pri ) {
			
 
				+    error( "Couldn't find the ivpcl.pri file!" )
			
 
				+}
			
 
				+
			
 
				+!include(../../../include/ivyaml-cpp.pri ) {
			
 
				+    error( "Couldn't find the ivyaml-cpp.pri file!" )
			
 
				+}
			
 
				+
			
 
				+
			
 
				+INCLUDEPATH += $$PWD/../interface
			
 
				+INCLUDEPATH += $$PWD/../../interface
			
 
				+
			
 
				+
			
 
				+INCLUDEPATH += $$PWD/../../common/modulecomm
			
 
				+
			
 
				+INCLUDEPATH += $$PWD/../../common/modulecomm_shm
			
 
				+INCLUDEPATH += $$PWD/../../common/modulecomm_fastrtps
			
 
				+INCLUDEPATH += $$PWD/../../common/modulecomm_inter
			
 
				+
			
 
				+LIBS += -L$$PWD/../../common/build-modulecomm-Debug -lmodulecomm
			
 
				+LIBS += -L$$PWD/../../common/build-modulecomm_fastrtps-Debug -lmodulecomm_fastrtps
			
 
				+LIBS += -L$$PWD/../../common/build-modulecomm_shm-Debug -lmodulecomm_shm
			
 
				+LIBS += -L$$PWD/../../common/build-modulecomm_inter-Debug -lmodulecomm_inter
			
--- a/src1/driver/driver_lidar_rs16/ivdriver_lidar_rs16.cpp
+++ b/src1/driver/driver_lidar_rs16/ivdriver_lidar_rs16.cpp
@@ -0,0 +1,139 @@
 
				+#include "ivdriver_lidar_rs16.h"
			
 
				+
			
 
				+namespace iv {
			
 
				+
			
 
				+
			
 
				+ivdriver_lidar_rs16::ivdriver_lidar_rs16()
			
 
				+{
			
 
				+
			
 
				+}
			
 
				+
			
 
				+int ivdriver_lidar_rs16::processudpData(QByteArray ba, pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud)
			
 
				+{
			
 
				+    static double fAngle_Total = 0;
			
 
				+    static double fAngle_Last = 0;
			
 
				+
			
 
				+    int nrtn = 0;
			
 
				+
			
 
				+    float Ang = 0;
			
 
				+    float Range = 0;
			
 
				+    int Group = 0;
			
 
				+    int pointi = 0;
			
 
				+    float wt = 0;
			
 
				+    int wt1 = 0;
			
 
				+
			
 
				+    float V_theta[16] = {-15,-13,-11,-9,-7,-5,-3,-1,15,13,11,9,7,5,3,1};
			
 
				+
			
 
				+    char * pstr = ba.data();
			
 
				+
			
 
				+    wt1 = ((pstr[2 + Group * 100] *256) + pstr[ 3 + Group * 100]) ;
			
 
				+    wt = wt1/ 100.0;
			
 
				+
			
 
				+    double fAngX = wt;
			
 
				+    if(fabs(fAngX-fAngle_Last)>300)
			
 
				+    {
			
 
				+        fAngle_Total = fAngle_Total + fabs(fabs(fAngX-fAngle_Last)-360);
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        fAngle_Total = fAngle_Total + fabs(fabs(fAngX-fAngle_Last));
			
 
				+    }
			
 
				+
			
 
				+    fAngle_Last = fAngX;
			
 
				+    if(fAngle_Total > 360)
			
 
				+    {
			
 
				+        nrtn = 1;
			
 
				+        fAngle_Total = 0;
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+    for (Group = 0; Group <= 11; Group++)
			
 
				+    {
			
 
				+        wt1 = ((pstr[2 + Group * 100] *256) + pstr[ 3 + Group * 100]) ;
			
 
				+        wt = wt1/ 100.0;
			
 
				+
			
 
				+
			
 
				+        for (pointi = 0; pointi <16; pointi++)
			
 
				+        {
			
 
				+//                        Ang = (0 - wt - w * T[pointi] - H_BETA[pointi]+213) / 180.0 * Lidar_Pi;
			
 
				+            Ang = (0 - wt) / 180.0 * M_PI;
			
 
				+            Range = ((pstr[ Group * 100 + 4 + 3 * pointi] << 8) + pstr[Group * 100 + 5 + 3 * pointi]);
			
 
				+            unsigned char intensity = pstr[ Group * 100 + 6 + 3 * pointi];
			
 
				+            Range=Range* 5.0/1000.0;
			
 
				+
			
 
				+            if(Range<150)
			
 
				+            {
			
 
				+                pcl::PointXYZI point;
			
 
				+                point.x  = Range*cos(V_theta[pointi] / 180 * M_PI)*cos(Ang + mfrollang);
			
 
				+                point.y  = Range*cos(V_theta[pointi] / 180 * M_PI)*sin(Ang + mfrollang);
			
 
				+                point.z  = Range*sin(V_theta[pointi] / 180 * M_PI);
			
 
				+                if(mbinclix)
			
 
				+                {
			
 
				+                    double y,z;
			
 
				+                    y = point.y;
			
 
				+                    z = point.z;
			
 
				+                    point.y = y*mcos_finclinationang_xaxis +z*msin_finclinationang_xaxis;
			
 
				+                    point.z = z*mcos_finclinationang_xaxis - y*msin_finclinationang_xaxis;
			
 
				+                }
			
 
				+                if(mbincliy)
			
 
				+                {
			
 
				+                    double z,x;
			
 
				+                    z = point.z;
			
 
				+                    x = point.x;
			
 
				+                    point.z = z*mcos_finclinationang_yaxis + x*msin_finclinationang_yaxis;
			
 
				+                    point.x = x*mcos_finclinationang_yaxis - z*msin_finclinationang_yaxis;
			
 
				+                }
			
 
				+                point.intensity = intensity;
			
 
				+                point_cloud->points.push_back(point);
			
 
				+
			
 
				+
			
 
				+                ++point_cloud->width;
			
 
				+            }
			
 
				+        }
			
 
				+
			
 
				+
			
 
				+        wt = wt + 0.18;
			
 
				+
			
 
				+
			
 
				+
			
 
				+        for (pointi = 0; pointi < 16; pointi++)
			
 
				+        {
			
 
				+            Ang = (0 - wt) / 180.0 * M_PI;
			
 
				+   //         Ang = Ang+angdiff;
			
 
				+            Range = ((pstr[ Group * 100 + 52 + 3 * pointi] << 8) + pstr[Group * 100 + 53 + 3 * pointi]);
			
 
				+            unsigned char intensity = pstr[ Group * 100 + 54 + 3 * pointi];
			
 
				+            Range=Range* 5.0/1000.0;
			
 
				+
			
 
				+            if(Range<150)
			
 
				+            {
			
 
				+                pcl::PointXYZI point;
			
 
				+                point.x  = Range*cos(V_theta[pointi] / 180 * M_PI)*cos(Ang + mfrollang);
			
 
				+                point.y  = Range*cos(V_theta[pointi] / 180 * M_PI)*sin(Ang + mfrollang);
			
 
				+                point.z  = Range*sin(V_theta[pointi] / 180 * M_PI);
			
 
				+                if(mbinclix)
			
 
				+                {
			
 
				+                    double y,z;
			
 
				+                    y = point.y;z = point.z;
			
 
				+                    point.y = y*mcos_finclinationang_xaxis +z*msin_finclinationang_xaxis;
			
 
				+                    point.z = z*mcos_finclinationang_xaxis - y*msin_finclinationang_xaxis;
			
 
				+                }
			
 
				+                if(mbincliy)
			
 
				+                {
			
 
				+                    double z,x;
			
 
				+                    z = point.z;x = point.x;
			
 
				+                    point.z = z*mcos_finclinationang_yaxis + x*msin_finclinationang_yaxis;
			
 
				+                    point.x = x*mcos_finclinationang_yaxis - z*msin_finclinationang_yaxis;
			
 
				+                }
			
 
				+                point.intensity = intensity;
			
 
				+                point_cloud->points.push_back(point);
			
 
				+
			
 
				+
			
 
				+                ++point_cloud->width;
			
 
				+            }
			
 
				+        }
			
 
				+    }
			
 
				+    return nrtn;
			
 
				+
			
 
				+}
			
 
				+
			
 
				+}
			
--- a/src1/driver/driver_lidar_rs16/ivdriver_lidar_rs16.h
+++ b/src1/driver/driver_lidar_rs16/ivdriver_lidar_rs16.h
@@ -0,0 +1,20 @@
 
				+#ifndef IVDRIVER_LIDAR_RS16_H
			
 
				+#define IVDRIVER_LIDAR_RS16_H
			
 
				+
			
 
				+#include "ivdriver_lidar.h"
			
 
				+
			
 
				+namespace iv {
			
 
				+
			
 
				+
			
 
				+class ivdriver_lidar_rs16 : public ivdriver_lidar
			
 
				+{
			
 
				+public:
			
 
				+    ivdriver_lidar_rs16();
			
 
				+    virtual int processudpData(QByteArray ba,pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud);
			
 
				+
			
 
				+
			
 
				+};
			
 
				+
			
 
				+}
			
 
				+
			
 
				+#endif // IVDRIVER_LIDAR_RS16_H
			
--- a/src1/driver/driver_lidar_rs16/main.cpp
+++ b/src1/driver/driver_lidar_rs16/main.cpp
@@ -0,0 +1,19 @@
 
				+#include <QCoreApplication>
			
 
				+
			
 
				+#include "lidarmain.h"
			
 
				+
			
 
				+#include "ivdriver_lidar_rs16.h"
			
 
				+
			
 
				+int main(int argc, char *argv[])
			
 
				+{
			
 
				+    QCoreApplication a(argc, argv);
			
 
				+
			
 
				+    iv::ivdriver_lidar * pivm = new iv::ivdriver_lidar_rs16();
			
 
				+    int nrtn = lidarmain(pivm,argc,argv,&a,"driver_lidar_rs16");
			
 
				+
			
 
				+    if(nrtn == 0)
			
 
				+    {
			
 
				+        return 0;
			
 
				+    }
			
 
				+    return a.exec();
			
 
				+}
			
--- a/src1/driver/interface/ivdriver.cpp
+++ b/src1/driver/interface/ivdriver.cpp
@@ -0,0 +1,10 @@
 
				+#include "ivdriver.h"
			
 
				+
			
 
				+namespace iv {
			
 
				+
			
 
				+ivdriver::ivdriver()
			
 
				+{
			
 
				+
			
 
				+}
			
 
				+
			
 
				+}
			
--- a/src1/driver/interface/ivdriver.h
+++ b/src1/driver/interface/ivdriver.h
@@ -0,0 +1,16 @@
 
				+#ifndef IVDRIVER_H
			
 
				+#define IVDRIVER_H
			
 
				+
			
 
				+#include "ivmodule.h"
			
 
				+
			
 
				+namespace  iv {
			
 
				+
			
 
				+class ivdriver : public ivmodule
			
 
				+{
			
 
				+public:
			
 
				+    ivdriver();
			
 
				+};
			
 
				+
			
 
				+}
			
 
				+
			
 
				+#endif // IVDRIVER_H
			
--- a/src1/driver/interface/ivdriver_lidar.cpp
+++ b/src1/driver/interface/ivdriver_lidar.cpp
@@ -0,0 +1,141 @@
 
				+#include "ivdriver_lidar.h"
			
 
				+
			
 
				+#include <iostream>
			
 
				+
			
 
				+namespace  iv {
			
 
				+ivdriver_lidar::ivdriver_lidar()
			
 
				+{
			
 
				+    strncpy(mstr_hostip,"0.0.0.0",256);
			
 
				+    strncpy(mstr_port,"6699",256);
			
 
				+    strncpy(mstr_memname,"lidar_pc",256);
			
 
				+}
			
 
				+
			
 
				+void ivdriver_lidar::RegisterPointMsg(const char * strmemname,iv::modulecomm::ModuleComm_TYPE xtype)
			
 
				+{
			
 
				+    mpa = iv::modulecomm::RegisterSend(strmemname,10000000,1,xtype);
			
 
				+}
			
 
				+
			
 
				+
			
 
				+
			
 
				+void ivdriver_lidar::SharePointCloud(pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud)
			
 
				+{
			
 
				+    char * strOut = new char[4+sizeof(point_cloud->header.frame_id.size()) + 4+8+point_cloud->width * sizeof(pcl::PointXYZI)];
			
 
				+
			
 
				+    int * pHeadSize = (int *)strOut;
			
 
				+    *pHeadSize = 4 + point_cloud->header.frame_id.size()+4+8;
			
 
				+    memcpy(strOut+4,point_cloud->header.frame_id.c_str(),point_cloud->header.frame_id.size());
			
 
				+    pcl::uint32_t * pu32 = (pcl::uint32_t *)(strOut+4+sizeof(point_cloud->header.frame_id.size()));
			
 
				+    *pu32 = point_cloud->header.seq;
			
 
				+    memcpy(strOut+4+sizeof(point_cloud->header.frame_id.size()) + 4,&point_cloud->header.stamp,8);
			
 
				+    pcl::PointXYZI * p;
			
 
				+    p = (pcl::PointXYZI *)(strOut +4+sizeof(point_cloud->header.frame_id.size()) + 4+8 );
			
 
				+    memcpy(p,point_cloud->points.data(),point_cloud->width * sizeof(pcl::PointXYZI));
			
 
				+
			
 
				+    iv::modulecomm::ModuleSendMsg(mpa,strOut,4+sizeof(point_cloud->header.frame_id.size()) + 4+8+point_cloud->width * sizeof(pcl::PointXYZI));
			
 
				+    delete strOut;
			
 
				+}
			
 
				+
			
 
				+
			
 
				+void ivdriver_lidar::modulerun()
			
 
				+{
			
 
				+
			
 
				+    if(mfinclinationang_xaxis != 0.0)mbinclix = true;
			
 
				+    if(mfinclinationang_yaxis != 0.0)mbincliy = true;
			
 
				+    mcos_finclinationang_xaxis= cos(mfinclinationang_xaxis);
			
 
				+    msin_finclinationang_xaxis = sin(mfinclinationang_xaxis);
			
 
				+    mcos_finclinationang_yaxis = cos(mfinclinationang_yaxis);
			
 
				+    msin_finclinationang_yaxis = sin(mfinclinationang_yaxis);
			
 
				+
			
 
				+    RegisterPointMsg(mstr_memname,getdefefaultcommtype());
			
 
				+
			
 
				+    mbrunudpthread = true;
			
 
				+    std::thread * xudpthread = new std::thread(&ivdriver_lidar::threadudp,this);
			
 
				+
			
 
				+    QDateTime dt = QDateTime::currentDateTime();
			
 
				+    pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud(
			
 
				+                new pcl::PointCloud<pcl::PointXYZI>());
			
 
				+
			
 
				+    point_cloud->header.frame_id = "velodyne";
			
 
				+    point_cloud->height = 1;
			
 
				+    point_cloud->header.stamp = dt.currentMSecsSinceEpoch();
			
 
				+    point_cloud->width = 0;
			
 
				+    point_cloud->header.seq =m_seq;
			
 
				+    m_seq++;
			
 
				+
			
 
				+    while(mbrun)
			
 
				+    {
			
 
				+        if(mvectorba.size()>0)
			
 
				+        {
			
 
				+            mMutexba.lock();
			
 
				+            QByteArray ba = mvectorba[0];
			
 
				+            mvectorba.erase(mvectorba.begin());
			
 
				+            mMutexba.unlock();
			
 
				+            if(processudpData(ba,point_cloud) == 1)
			
 
				+            {
			
 
				+                SharePointCloud(point_cloud);
			
 
				+                point_cloud->clear();
			
 
				+                point_cloud->height = 1;
			
 
				+                point_cloud->header.stamp = dt.currentMSecsSinceEpoch();
			
 
				+                point_cloud->width = 0;
			
 
				+                point_cloud->header.seq =m_seq;
			
 
				+                m_seq++;
			
 
				+            }
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            std::this_thread::sleep_for(std::chrono::milliseconds(1));
			
 
				+        }
			
 
				+    }
			
 
				+
			
 
				+    mbrunudpthread = false;
			
 
				+    xudpthread->join();
			
 
				+
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void ivdriver_lidar::threadudp()
			
 
				+{
			
 
				+    QUdpSocket * udpSocket = new QUdpSocket( );
			
 
				+    bool bbind =     udpSocket->bind(QHostAddress(mstr_hostip), atoi(mstr_port));
			
 
				+    if(bbind == false)
			
 
				+    {
			
 
				+        qDebug("bind socket %s:%s error.",mstr_hostip,mstr_port);
			
 
				+        return;
			
 
				+    }
			
 
				+    int nnotrecv = 0;
			
 
				+    while(mbrunudpthread)
			
 
				+    {
			
 
				+        if(udpSocket->hasPendingDatagrams())
			
 
				+        {
			
 
				+            if(nnotrecv > 10000)
			
 
				+            {
			
 
				+                std::cout<<" Recv Data."<<std::endl;
			
 
				+            }
			
 
				+            QNetworkDatagram datagram = udpSocket->receiveDatagram();
			
 
				+            mMutexba.lock();
			
 
				+            if(mvectorba.size()<1000)
			
 
				+            {
			
 
				+                mvectorba.push_back(datagram.data());
			
 
				+            }
			
 
				+            else
			
 
				+            {
			
 
				+                std::cout<<" proc buffer is full."<<std::endl;
			
 
				+            }
			
 
				+            mMutexba.unlock();
			
 
				+            datagram.clear();
			
 
				+            nnotrecv = 0;
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            nnotrecv++;
			
 
				+//            std::cout<<"running."<<std::endl;
			
 
				+            std::this_thread::sleep_for(std::chrono::microseconds(100));
			
 
				+            if(nnotrecv == 10000)
			
 
				+            {
			
 
				+                std::cout<<"not recv datagram."<<std::endl;
			
 
				+            }
			
 
				+        }
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+}
			
--- a/src1/driver/interface/ivdriver_lidar.h
+++ b/src1/driver/interface/ivdriver_lidar.h
@@ -0,0 +1,64 @@
 
				+#ifndef IVDRIVER_LIDAR_H
			
 
				+#define IVDRIVER_LIDAR_H
			
 
				+
			
 
				+#include <QUdpSocket>
			
 
				+#include <QNetworkDatagram>
			
 
				+#include <vector>
			
 
				+#include <QMutex>
			
 
				+
			
 
				+#include <pcl/point_cloud.h>
			
 
				+#include <pcl/point_types.h>
			
 
				+
			
 
				+#include "ivdriver.h"
			
 
				+
			
 
				+#include "modulecomm.h"
			
 
				+
			
 
				+namespace  iv {
			
 
				+
			
 
				+
			
 
				+class ivdriver_lidar : public ivdriver
			
 
				+{
			
 
				+public:
			
 
				+    ivdriver_lidar();
			
 
				+
			
 
				+    void RegisterPointMsg(const char * strmemname,iv::modulecomm::ModuleComm_TYPE xtype);
			
 
				+    void SharePointCloud(pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud);
			
 
				+    virtual void modulerun();
			
 
				+    virtual int processudpData(QByteArray ba,pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud) = 0;
			
 
				+
			
 
				+private:
			
 
				+    void * mpa;
			
 
				+    pcl::PointCloud<pcl::PointXYZI>::Ptr mpoint_cloud;
			
 
				+    qint64 m_seq = 0;
			
 
				+public:
			
 
				+    char mstr_memname[256];
			
 
				+    double mfrollang = 0;
			
 
				+    double  mfinclinationang_yaxis = 0;  //from y axis
			
 
				+    double mfinclinationang_xaxis = 0;  //from x axis
			
 
				+    char mstr_hostip[256];
			
 
				+    char mstr_port[256];
			
 
				+    double mfoffset_x = 0;
			
 
				+    double mfoffset_y = 0;
			
 
				+    double mfoffset_z = 0;
			
 
				+
			
 
				+    bool mbinclix = false;
			
 
				+    bool mbincliy = false;
			
 
				+ //   if(finclinationang_xaxis != 0.0)binclix = true;
			
 
				+ //   if(finclinationang_yaxis != 0.0)bincliy = true;
			
 
				+
			
 
				+    double mcos_finclinationang_xaxis;// = cos(mfinclinationang_xaxis);
			
 
				+    double msin_finclinationang_xaxis;// = sin(mfinclinationang_xaxis);
			
 
				+    double mcos_finclinationang_yaxis;// = cos(mfinclinationang_yaxis);
			
 
				+    double msin_finclinationang_yaxis;// = sin(mfinclinationang_yaxis);
			
 
				+
			
 
				+private:
			
 
				+    void threadudp();
			
 
				+    bool mbrunudpthread = false;
			
 
				+    std::vector<QByteArray> mvectorba;
			
 
				+    QMutex mMutexba;
			
 
				+
			
 
				+};
			
 
				+
			
 
				+}
			
 
				+
			
 
				+#endif // IVDRIVER_LIDAR_H
			
--- a/src1/driver/interface/lidarmain.cpp
+++ b/src1/driver/interface/lidarmain.cpp
@@ -0,0 +1,220 @@
 
				+#include <QCoreApplication>
			
 
				+
			
 
				+
			
 
				+#include "ivdriver_lidar_rs16.h"
			
 
				+
			
 
				+#include <signal.h>
			
 
				+
			
 
				+#include <getopt.h>
			
 
				+#include <iostream>
			
 
				+
			
 
				+#include <iostream>
			
 
				+#include <fstream>
			
 
				+#include <yaml-cpp/yaml.h>
			
 
				+
			
 
				+iv::ivmodule * gpivmodule;
			
 
				+QCoreApplication * gpapp;
			
 
				+
			
 
				+void sigint_handler(int sig){
			
 
				+    if(sig == SIGINT){
			
 
				+        // ctrl+c退出时执行的代码
			
 
				+        delete gpivmodule;
			
 
				+        gpapp->exit(0);
			
 
				+    }
			
 
				+}
			
 
				+char gstr_memname[256];
			
 
				+char gstr_rollang[256];
			
 
				+char gstr_inclinationang_yaxis[256];  //from y axis
			
 
				+char gstr_inclinationang_xaxis[256];  //from x axis
			
 
				+char gstr_hostip[256];
			
 
				+char gstr_port[256];
			
 
				+char gstr_yaml[256];
			
 
				+
			
 
				+
			
 
				+void print_useage()
			
 
				+{
			
 
				+    std::cout<<" -m --memname $memname : share memory name. eq.  -m lidar_pc"<<std::endl;
			
 
				+    std::cout<<" -r --rollang $rollang : roll angle. eq.  -r 10.0"<<std::endl;
			
 
				+    std::cout<<" -x --inclinationang_xaxis $inclinationang_xaxis : inclination angle from x axis. eq.  -x 0.0"<<std::endl;
			
 
				+    std::cout<<" -y --inclinationang_yaxis $inclinationang_yaxis : inclination angle from y axis. eq.  -y 0.0"<<std::endl;
			
 
				+    std::cout<<" -o --hostip $hostip : host ip. eq.  -o 192.168.1.111"<<std::endl;
			
 
				+    std::cout<<" -p --port $port : port . eq.  -p 2368"<<std::endl;
			
 
				+    std::cout<<" -s --setyaml $yaml : port . eq.  -s rs1.yaml"<<std::endl;
			
 
				+    std::cout<<" -h --help print help"<<std::endl;
			
 
				+}
			
 
				+
			
 
				+int  GetOptLong(int argc, char *argv[]) {
			
 
				+    int nRtn = 0;
			
 
				+    int opt; // getopt_long() 的返回值
			
 
				+    int digit_optind = 0; // 设置短参数类型及是否需要参数
			
 
				+
			
 
				+    // 如果option_index非空，它指向的变量将记录当前找到参数符合long_opts里的
			
 
				+    // 第几个元素的描述，即是long_opts的下标值
			
 
				+    int option_index = 0;
			
 
				+    // 设置短参数类型及是否需要参数
			
 
				+    const char *optstring = "m:r:x:y:o:p:s:h";
			
 
				+
			
 
				+    // 设置长参数类型及其简写，比如 --reqarg <==>-r
			
 
				+    /*
			
 
				+    struct option {
			
 
				+             const char * name;  // 参数的名称
			
 
				+             int has_arg; // 是否带参数值，有三种：no_argument， required_argument，optional_argument
			
 
				+             int * flag; // 为空时，函数直接将 val 的数值从getopt_long的返回值返回出去，
			
 
				+                     // 当非空时，val的值会被赋到 flag 指向的整型数中，而函数返回值为0
			
 
				+             int val; // 用于指定函数找到该选项时的返回值，或者当flag非空时指定flag指向的数据的值
			
 
				+        };
			
 
				+    其中：
			
 
				+        no_argument(即0)，表明这个长参数不带参数（即不带数值，如：--name）
			
 
				+            required_argument(即1)，表明这个长参数必须带参数（即必须带数值，如：--name Bob）
			
 
				+            optional_argument(即2)，表明这个长参数后面带的参数是可选的，（即--name和--name Bob均可）
			
 
				+     */
			
 
				+    static struct option long_options[] = {
			
 
				+        {"memname", required_argument, NULL, 'm'},
			
 
				+        {"rollang", required_argument, NULL, 'r'},
			
 
				+        {"inclinationang_xaxis", required_argument, NULL, 'x'},
			
 
				+        {"inclinationang_yaxis", required_argument, NULL, 'y'},
			
 
				+        {"hostip", required_argument, NULL, 'o'},
			
 
				+        {"port", required_argument, NULL, 'p'},
			
 
				+        {"setyaml", required_argument, NULL, 's'},
			
 
				+        {"help",  no_argument,       NULL, 'h'},
			
 
				+ //       {"optarg", optional_argument, NULL, 'o'},
			
 
				+        {0, 0, 0, 0}  // 添加 {0, 0, 0, 0} 是为了防止输入空值
			
 
				+    };
			
 
				+
			
 
				+    while ( (opt = getopt_long(argc,
			
 
				+                               argv,
			
 
				+                               optstring,
			
 
				+                               long_options,
			
 
				+                               &option_index)) != -1) {
			
 
				+//        printf("opt = %c\n", opt); // 命令参数，亦即 -a -b -n -r
			
 
				+//        printf("optarg = %s\n", optarg); // 参数内容
			
 
				+//        printf("optind = %d\n", optind); // 下一个被处理的下标值
			
 
				+//        printf("argv[optind - 1] = %s\n",  argv[optind - 1]); // 参数内容
			
 
				+//        printf("option_index = %d\n", option_index);  // 当前打印参数的下标值
			
 
				+//        printf("\n");
			
 
				+        switch(opt)
			
 
				+        {
			
 
				+        case 'm':
			
 
				+            strncpy(gstr_memname,optarg,255);
			
 
				+            break;
			
 
				+        case 'r':
			
 
				+            strncpy(gstr_rollang,optarg,255);
			
 
				+            break;
			
 
				+        case 'x':
			
 
				+            strncpy(gstr_inclinationang_xaxis,optarg,255);
			
 
				+            break;
			
 
				+        case 'y':
			
 
				+            strncpy(gstr_inclinationang_yaxis,optarg,255);
			
 
				+            break;
			
 
				+        case 'o':
			
 
				+            strncpy(gstr_hostip,optarg,255);
			
 
				+            break;
			
 
				+        case 'p':
			
 
				+            strncpy(gstr_port,optarg,255);
			
 
				+            break;
			
 
				+        case 's':
			
 
				+            strncpy(gstr_yaml,optarg,255);
			
 
				+            break;
			
 
				+        case 'h':
			
 
				+            print_useage();
			
 
				+            nRtn = 1; //because use -h
			
 
				+            break;
			
 
				+        default:
			
 
				+            break;
			
 
				+        }
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+    return nRtn;
			
 
				+}
			
 
				+
			
 
				+void decodeyaml(const char * stryaml)
			
 
				+{
			
 
				+    YAML::Node config;
			
 
				+    try
			
 
				+    {
			
 
				+        config = YAML::LoadFile(stryaml);
			
 
				+    }
			
 
				+    catch(YAML::BadFile e)
			
 
				+    {
			
 
				+        qDebug("load yaml error.");
			
 
				+        return;
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+    if(config["memname"])
			
 
				+    {
			
 
				+        strncpy(gstr_memname,config["memname"].as<std::string>().data(),255);
			
 
				+    }
			
 
				+    if(config["rollang"])
			
 
				+    {
			
 
				+        strncpy(gstr_rollang,config["rollang"].as<std::string>().data(),255);
			
 
				+    }
			
 
				+    if(config["inclinationang_xaxis"])
			
 
				+    {
			
 
				+        strncpy(gstr_inclinationang_xaxis,config["inclinationang_xaxis"].as<std::string>().data(),255);
			
 
				+    }
			
 
				+    if(config["inclinationang_yaxis"])
			
 
				+    {
			
 
				+        strncpy(gstr_inclinationang_yaxis,config["inclinationang_yaxis"].as<std::string>().data(),255);
			
 
				+    }
			
 
				+    if(config["hostip"])
			
 
				+    {
			
 
				+        strncpy(gstr_hostip,config["hostip"].as<std::string>().data(),255);
			
 
				+    }
			
 
				+    if(config["port"])
			
 
				+    {
			
 
				+        strncpy(gstr_port,config["port"].as<std::string>().data(),255);
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+
			
 
				+//    std::cout<<gstr_memname<<std::endl;
			
 
				+//    std::cout<<gstr_rollang<<std::endl;
			
 
				+//    std::cout<<gstr_inclinationang_xaxis<<std::endl;
			
 
				+//    std::cout<<gstr_inclinationang_yaxis<<std::endl;
			
 
				+//    std::cout<<gstr_hostip<<std::endl;
			
 
				+//    std::cout<<gstr_port<<std::endl;
			
 
				+}
			
 
				+
			
 
				+
			
 
				+
			
 
				+int lidarmain(iv::ivdriver_lidar * pivm,int argc, char *argv[],QCoreApplication * pa,const char * strmodulename)
			
 
				+{
			
 
				+
			
 
				+    snprintf(gstr_memname,255,"lidar_pc");
			
 
				+    snprintf(gstr_rollang,255,"-9.0");
			
 
				+    snprintf(gstr_inclinationang_xaxis,255,"0.0");
			
 
				+    snprintf(gstr_inclinationang_yaxis,255,"0");
			
 
				+    snprintf(gstr_hostip,255,"0.0.0.0");
			
 
				+    snprintf(gstr_port,255,"6699");//默认端口号
			
 
				+    snprintf(gstr_yaml,255,"");
			
 
				+
			
 
				+    int nRtn = GetOptLong(argc,argv);
			
 
				+    if(nRtn == 1)  //show help,so exit.
			
 
				+    {
			
 
				+        return 0;
			
 
				+    }
			
 
				+
			
 
				+    if(strnlen(gstr_yaml,255)>0)
			
 
				+    {
			
 
				+        decodeyaml(gstr_yaml);
			
 
				+    }
			
 
				+
			
 
				+    strncpy(pivm->mstr_memname,gstr_memname,256);
			
 
				+    strncpy(pivm->mstr_hostip,gstr_hostip,256);
			
 
				+    strncpy(pivm->mstr_port,gstr_port,256);
			
 
				+    pivm->mfrollang = atof(gstr_rollang)*M_PI/180.0;
			
 
				+    pivm->mfinclinationang_xaxis = atof(gstr_inclinationang_xaxis)*M_PI/180.0;
			
 
				+    pivm->mfinclinationang_yaxis = atof(gstr_inclinationang_yaxis)*M_PI/180.0;
			
 
				+
			
 
				+    iv::ivmodule * pivmodule = pivm;
			
 
				+    signal(SIGINT, sigint_handler);
			
 
				+    gpivmodule = pivmodule;
			
 
				+    pivmodule->start();
			
 
				+    gpapp = pa;
			
 
				+
			
 
				+    return 1;
			
 
				+
			
 
				+
			
 
				+}
			
--- a/src1/driver/interface/lidarmain.h
+++ b/src1/driver/interface/lidarmain.h
@@ -0,0 +1,8 @@
 
				+#ifndef LIDARMAIN_H
			
 
				+#define LIDARMAIN_H
			
 
				+
			
 
				+#include "ivmodule.h"
			
 
				+#include "ivdriver_lidar.h"
			
 
				+
			
 
				+int lidarmain(iv::ivdriver_lidar * pivm,int argc, char *argv[],QCoreApplication * pa,const char * strmodulename);
			
 
				+#endif // LIDARMAIN_H
			
--- a/src1/interface/ivmodule.cpp
+++ b/src1/interface/ivmodule.cpp
@@ -0,0 +1,45 @@
 
				+#include "ivmodule.h"
			
 
				+
			
 
				+#include <string.h>
			
 
				+
			
 
				+namespace iv {
			
 
				+
			
 
				+
			
 
				+ivmodule::ivmodule()
			
 
				+{
			
 
				+
			
 
				+}
			
 
				+
			
 
				+ivmodule::~ivmodule()
			
 
				+{
			
 
				+    mbrun = false;
			
 
				+    mpthread->join();
			
 
				+}
			
 
				+
			
 
				+void ivmodule::start()
			
 
				+{
			
 
				+    mbrun = true;
			
 
				+    mpthread = new std::thread(&ivmodule::modulerun,this);
			
 
				+}
			
 
				+
			
 
				+void ivmodule::modulerun()
			
 
				+{
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void ivmodule::setmodulename(const char *strmodulename)
			
 
				+{
			
 
				+    strncpy(mstrmodulename,strmodulename,256);
			
 
				+}
			
 
				+
			
 
				+void ivmodule::setdefaultcommtype(iv::modulecomm::ModuleComm_TYPE xtype)
			
 
				+{
			
 
				+    mdefcommtype = xtype;
			
 
				+}
			
 
				+
			
 
				+iv::modulecomm::ModuleComm_TYPE ivmodule::getdefefaultcommtype()
			
 
				+{
			
 
				+    return mdefcommtype;
			
 
				+}
			
 
				+
			
 
				+}
			
--- a/src1/interface/ivmodule.h
+++ b/src1/interface/ivmodule.h
@@ -0,0 +1,31 @@
 
				+#ifndef IVMODULE_H
			
 
				+#define IVMODULE_H
			
 
				+
			
 
				+#include <thread>
			
 
				+
			
 
				+#include "modulecomm.h"
			
 
				+
			
 
				+namespace  iv {
			
 
				+
			
 
				+class ivmodule
			
 
				+{
			
 
				+public:
			
 
				+    ivmodule();
			
 
				+    ~ivmodule();
			
 
				+
			
 
				+public:
			
 
				+    void start();
			
 
				+    virtual void modulerun();
			
 
				+    void setmodulename(const char * strmodulename);
			
 
				+    void setdefaultcommtype(iv::modulecomm::ModuleComm_TYPE xtype);
			
 
				+    iv::modulecomm::ModuleComm_TYPE getdefefaultcommtype();
			
 
				+public:
			
 
				+    bool mbrun = false;
			
 
				+private:
			
 
				+    std::thread * mpthread;
			
 
				+    iv::modulecomm::ModuleComm_TYPE mdefcommtype = iv::modulecomm::ModuleComm_SHAREMEM;
			
 
				+    char mstrmodulename[256];
			
 
				+};
			
 
				+}
			
 
				+
			
 
				+#endif // IVMODULE_H
			
--- a/src1/test/testmodulecomm_inter/.gitignore
+++ b/src1/test/testmodulecomm_inter/.gitignore
@@ -0,0 +1,73 @@
 
				+# This file is used to ignore files which are generated
			
 
				+# ----------------------------------------------------------------------------
			
 
				+
			
 
				+*~
			
 
				+*.autosave
			
 
				+*.a
			
 
				+*.core
			
 
				+*.moc
			
 
				+*.o
			
 
				+*.obj
			
 
				+*.orig
			
 
				+*.rej
			
 
				+*.so
			
 
				+*.so.*
			
 
				+*_pch.h.cpp
			
 
				+*_resource.rc
			
 
				+*.qm
			
 
				+.#*
			
 
				+*.*#
			
 
				+core
			
 
				+!core/
			
 
				+tags
			
 
				+.DS_Store
			
 
				+.directory
			
 
				+*.debug
			
 
				+Makefile*
			
 
				+*.prl
			
 
				+*.app
			
 
				+moc_*.cpp
			
 
				+ui_*.h
			
 
				+qrc_*.cpp
			
 
				+Thumbs.db
			
 
				+*.res
			
 
				+*.rc
			
 
				+/.qmake.cache
			
 
				+/.qmake.stash
			
 
				+
			
 
				+# qtcreator generated files
			
 
				+*.pro.user*
			
 
				+
			
 
				+# xemacs temporary files
			
 
				+*.flc
			
 
				+
			
 
				+# Vim temporary files
			
 
				+.*.swp
			
 
				+
			
 
				+# Visual Studio generated files
			
 
				+*.ib_pdb_index
			
 
				+*.idb
			
 
				+*.ilk
			
 
				+*.pdb
			
 
				+*.sln
			
 
				+*.suo
			
 
				+*.vcproj
			
 
				+*vcproj.*.*.user
			
 
				+*.ncb
			
 
				+*.sdf
			
 
				+*.opensdf
			
 
				+*.vcxproj
			
 
				+*vcxproj.*
			
 
				+
			
 
				+# MinGW generated files
			
 
				+*.Debug
			
 
				+*.Release
			
 
				+
			
 
				+# Python byte code
			
 
				+*.pyc
			
 
				+
			
 
				+# Binaries
			
 
				+# --------
			
 
				+*.dll
			
 
				+*.exe
			
 
				+
			
--- a/src1/test/testmodulecomm_inter/main.cpp
+++ b/src1/test/testmodulecomm_inter/main.cpp
@@ -0,0 +1,42 @@
 
				+#include <QCoreApplication>
			
 
				+
			
 
				+#include <thread>
			
 
				+
			
 
				+#include "modulecomm.h"
			
 
				+
			
 
				+void * gpa;
			
 
				+
			
 
				+std::chrono::time_point<std::chrono::steady_clock, std::chrono::duration<double,std::nano>> t1,t2;
			
 
				+
			
 
				+void testcall(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
			
 
				+{
			
 
				+    qint64 sendtime;
			
 
				+    t2 = std::chrono::steady_clock::now();
			
 
				+    double dr_ns = std::chrono::duration<double,std::nano>(t2-t1).count();
			
 
				+    memcpy(&sendtime,strdata,8);
			
 
				+    qDebug("lat is %d ns is %f ",QDateTime::currentMSecsSinceEpoch() - sendtime,dr_ns);
			
 
				+}
			
 
				+
			
 
				+void threadsend()
			
 
				+{
			
 
				+    char * strdata = new char[3000000];
			
 
				+    while(1)
			
 
				+    {
			
 
				+        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
			
 
				+        qint64 ntime = QDateTime::currentMSecsSinceEpoch();
			
 
				+        memcpy(strdata,&ntime,8);
			
 
				+        iv::modulecomm::ModuleSendMsg(gpa,strdata,2000000);
			
 
				+        t1 =  std::chrono::steady_clock::now();
			
 
				+        qDebug("send msg.");
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+int main(int argc, char *argv[])
			
 
				+{
			
 
				+    QCoreApplication a(argc, argv);
			
 
				+
			
 
				+    gpa = iv::modulecomm::RegisterSend("test1",3000000,1,iv::modulecomm::ModuleComm_INTERIOR);
			
 
				+    iv::modulecomm::RegisterRecv("test1",testcall,iv::modulecomm::ModuleComm_INTERIOR);
			
 
				+    std::thread * xthread = new std::thread(threadsend);
			
 
				+    return a.exec();
			
 
				+}
			
--- a/src1/test/testmodulecomm_inter/testmodulecomm_inter.pro
+++ b/src1/test/testmodulecomm_inter/testmodulecomm_inter.pro
@@ -0,0 +1,35 @@
 
				+QT -= gui
			
 
				+
			
 
				+CONFIG += c++11 console
			
 
				+CONFIG -= app_bundle
			
 
				+
			
 
				+# The following define makes your compiler emit warnings if you use
			
 
				+# any Qt feature that has been marked 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 it uses 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
			
 
				+
			
 
				+# Default rules for deployment.
			
 
				+qnx: target.path = /tmp/$${TARGET}/bin
			
 
				+else: unix:!android: target.path = /opt/$${TARGET}/bin
			
 
				+!isEmpty(target.path): INSTALLS += target
			
 
				+
			
 
				+INCLUDEPATH += $$PWD/../../common/modulecomm
			
 
				+
			
 
				+INCLUDEPATH += $$PWD/../../common/modulecomm_shm
			
 
				+INCLUDEPATH += $$PWD/../../common/modulecomm_fastrtps
			
 
				+INCLUDEPATH += $$PWD/../../common/modulecomm_inter
			
 
				+
			
 
				+LIBS += -L$$PWD/../../common/build-modulecomm-Debug -lmodulecomm
			
 
				+LIBS += -L$$PWD/../../common/build-modulecomm_fastrtps-Debug -lmodulecomm_fastrtps
			
 
				+LIBS += -L$$PWD/../../common/build-modulecomm_shm-Debug -lmodulecomm_shm
			
 
				+LIBS += -L$$PWD/../../common/build-modulecomm_inter-Debug -lmodulecomm_inter
			
 
				+
		`@@ -0,0 +1 @@`
		`+src = E:\\ProgramFiles\\Tools\\Android\\android-sdk\\extras\\android\\m2repository\\com\\android\\support\\support-v4`