change controller_vv7. add remote control.

src/controller/controller_vv7/controller_vv7.pro

@@ -22,7 +22,8 @@ SOURCES += $$PWD/main.cpp \
     ../../include/msgtype/decition.pb.cc \
     ../../include/msgtype/brainstate.pb.cc \
     ../../include/msgtype/canmsg.pb.cc \
-    ../../include/msgtype/canraw.pb.cc
+    ../../include/msgtype/canraw.pb.cc \
+    ../../include/msgtype/remotectrl.pb.cc
 
 include($$PWD/control/control.pri)
 
@@ -48,6 +49,7 @@ HEADERS += \
     ../../include/msgtype/cameraobjectarray.pb.h \
     ../../include/msgtype/decition.pb.h \
     ../../include/msgtype/canmsg.pb.h \
-    ../../include/msgtype/canraw.pb.h
+    ../../include/msgtype/canraw.pb.h \
+    ../../include/msgtype/remotectrl.pb.h
 
 

src/controller/controller_vv7/main.cpp

@@ -13,17 +13,31 @@
 #include "canmsg.pb.h"
 #include "decition.pb.h"
 #include <thread>
+#include <QMutex>
+
+#include "remotectrl.pb.h"
+
+QMutex gMutex;
 
 void * gpacansend;
 void * gpadecition;
+void * gparemote;
 
 std::string gstrmemdecition;
 std::string gstrmemcansend;
+std::string gstrmemremote; //Remote Ctrl
 bool gbSendRun = true;
 
 iv::brain::decition gdecition_def;
 iv::brain::decition gdecition;
 
+bool gbAllowRemote = false;   //Default, Not Allow Remote
+
+bool gbAutoDriving = true; //if true, Auto Driving, false, remote controll
+
+iv::brain::decition gdecition_remote;
+
+qint64 gLastRemoteTime = 0;
 
 QTime gTime;
 int gnLastSendTime = 0;
@@ -74,6 +88,47 @@ void executeDecition(const iv::brain::decition decition)
         }
 }
 
+void ListenRemotectrl(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+//    qint64 oldtime;
+    iv::brain::decition xdecition;
+
+    iv::remotectrl xrc;
+
+    if(!xrc.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<"ListenRemotectrl parse error."<<std::endl;
+        return;
+    }
+
+    if(xrc.ntype() == iv::remotectrl_CtrlType_AUTO)
+    {
+        gbAutoDriving = true;
+    }
+    else
+    {
+        gbAutoDriving = false;
+        xdecition.set_accelerator(xrc.acc()*0.01);
+        xdecition.set_brake(xrc.brake());
+        xdecition.set_wheelangle(xrc.wheel()*5.5f);
+        xdecition.set_gear(1);
+        xdecition.set_handbrake(0);
+        xdecition.set_grade(1);
+        xdecition.set_mode(1);
+        xdecition.set_speak(0);
+        xdecition.set_headlight(false);
+        xdecition.set_engine(0);
+        xdecition.set_taillight(false);
+        gMutex.lock();
+        gdecition_remote.CopyFrom(xdecition);
+        gMutex.unlock();
+        gLastRemoteTime = QDateTime::currentMSecsSinceEpoch();
+
+    }
+
+}
+
+
 
 void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
@@ -129,14 +184,32 @@ void sendthread()
     iv::brain::decition xdecition;
     while(gbSendRun)
     {
-        if(gnDecitionNum <= 0)
+        if(gbAutoDriving)
         {
-            xdecition.CopyFrom(gdecition_def);
+            if(gnDecitionNum <= 0)
+            {
+                xdecition.CopyFrom(gdecition_def);
+            }
+            else
+            {
+                gMutex.lock();
+                xdecition.CopyFrom(gdecition);
+                gMutex.unlock();
+                gnDecitionNum--;
+            }
         }
         else
         {
-            xdecition.CopyFrom(gdecition);
-            gnDecitionNum--;
+            if((QDateTime::currentMSecsSinceEpoch() - gLastRemoteTime)> 1000)
+            {
+                xdecition.CopyFrom(gdecition_def);
+            }
+            else
+            {
+                gMutex.lock();
+                xdecition.CopyFrom(gdecition_remote);
+                gMutex.unlock();
+            }
         }
         executeDecition(xdecition);
         ExecSend();
@@ -176,6 +249,18 @@ int main(int argc, char *argv[])
 
     gpacansend = iv::modulecomm::RegisterSend(gstrmemcansend.data(),10000,3);
     gpadecition = iv::modulecomm::RegisterRecv(gstrmemdecition.data(),ListenDeciton);
+    gstrmemremote =  xp.GetParam("remotectrl","remotectrl");
+
+    std::string strremote = xp.GetParam("allowremote","true");
+    if(strremote == "true")
+    {
+        gbAllowRemote = true;
+    }
+
+    if(gbAllowRemote)
+    {
+        gparemote = iv::modulecomm::RegisterRecv(gstrmemremote.data(),ListenRemotectrl);
+    }
 
     std::thread xthread(sendthread);
 

src/decition/common/common/obstacle_type.h

@@ -2,7 +2,9 @@
 #ifndef _IV_COMMON_OBSTACLE_TYPE_
 #define _IV_COMMON_OBSTACLE_TYPE_
 #include <vector>
+#ifndef Android
 #include <common/boost.h>
+#endif
 /**
 *障碍物类型
 */
@@ -27,10 +29,12 @@ namespace iv {
         int esr_ID;
     };
 
+#ifndef Android
     typedef boost::shared_ptr<std::vector<iv::ObstacleBasic>> ObsLiDAR;
     typedef boost::shared_ptr<std::vector<iv::ObstacleBasic>> ObsRadar;
     typedef boost::shared_ptr<std::vector<iv::ObstacleBasic>> ObsCamera;
     typedef boost::shared_ptr<std::vector<iv::ObstacleBasic>>ObsRadarPointer;
+#endif
     struct Obs_grid
     {
         int  id;

src/driver/driver_grpc_client/grpcclientthread.cpp

@@ -3,6 +3,11 @@
 
 grpcclientthread * ggrpcclient;
 
+#ifdef Android
+#include "adcintelligentshow.h"
+extern ADCIntelligentShow * gAShow;
+#endif
+
 void ListenData(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
     ggrpcclient->UpdateData(strdata,nSize,strmemname);
@@ -343,7 +348,12 @@ void grpcclientthread::sharequerymsg(const iv::ModuleMsg *pxmsg)
             {
                 std::cout<<"trace map size is "<<pxmsg->xdata().size()<<std::endl;
             }
+
+#ifndef Android
             iv::modulecomm::ModuleSendMsg(mvectorquerymsgunit[i].mpa,pxmsg->xdata().data(),pxmsg->xdata().size());
+#else
+            gAShow->AndroidSetMsg(pxmsg->msgname().data(),pxmsg->xdata().data(),pxmsg->xdata().size());
+#endif
             break;
         }
     }

src/driver/driver_grpc_server/driver_grpc_server.yaml

@@ -2,9 +2,9 @@
 port : 30051
 
 querymessage:
-  usbpic:
-    msgname: usbpic
-    buffersize: 10000000
+  radar:
+    msgname: radar
+    buffersize: 100000
     buffercount: 1
   hcp2_gpsimu:
     msgname: hcp2_gpsimu

src/ui/ADCIntelligentShow_grpc/adcintelligentshow.cpp

@@ -11,6 +11,14 @@ extern std::vector<iv::pos_def> gvectorpos;
 ADCIntelligentShow * gAShow;
 
 
+#include "grpcclientthread.h"
+
+
+#ifdef Android
+    extern grpcclientthread * ggt;
+#endif
+
+
 const double PI = 3.1415926535898;
 
 class xodrobj
@@ -122,6 +130,36 @@ void ListenTraceMap(const char * strdata,const unsigned int nSize,const unsigned
     gAShow->UpdateMap(strdata,nSize);
 }
 
+#ifdef Android
+    void ADCIntelligentShow::AndroidSetMsg(const char * msgname , const char *strdata, const unsigned int nDataLen)
+    {
+        if(strncmp(msgname,"hcp2_gpsimu",256) == 0)
+        {
+            Listengpsimu(strdata,nDataLen,0,0,0);
+        }
+        if(strncmp(msgname,"tracemap",256) == 0)
+        {
+            ListenTraceMap(strdata,nDataLen,0,0,0);
+        }
+        if(strncmp(msgname,"lidar_obs",256) == 0)
+        {
+            ListenOBS(strdata,nDataLen,0,0,0);
+        }
+        if(strncmp(msgname,"brainstate",256) == 0)
+        {
+            ListenBrainState(strdata,nDataLen,0,0,0);
+        }
+        if(strncmp(msgname,"deciton",256) == 0)
+        {
+            ListenDection(strdata,nDataLen,0,0,0);
+        }
+        if(strncmp(msgname,"radar",256) == 0)
+        {
+            ListenRadar(strdata,nDataLen,0,0,0);
+        }
+    }
+#endif
+
 ADCIntelligentShow::ADCIntelligentShow(QWidget *parent) :
     QMainWindow(parent),
     ui(new Ui::ADCIntelligentShow)
@@ -130,6 +168,7 @@ ADCIntelligentShow::ADCIntelligentShow(QWidget *parent) :
     ui->setupUi(this);
     ui->pushButton->setEnabled(false);
 
+
     //样式 3-26
     qApp->setStyleSheet("QPushButton#pushButton_2\n{\nborder-image: url(:/new/pic/restart1.png);\n}"
                         "QPushButton#pushButton_2:hover\n{border-image: url(:/new/pic/restart4.png);\n}"
@@ -195,6 +234,7 @@ ADCIntelligentShow::ADCIntelligentShow(QWidget *parent) :
     ///added by kkcai, 2019-12-02
     soundAlarm = new QSound(":/new/pic/alarm.wav");
     connect(this, SIGNAL(sigAlarm()), this, SLOT(slotAlarm()));
+#ifndef Android
 
     void * pa;
     pa = iv::modulecomm::RegisterRecv("hcp2_gpsimu",Listengpsimu);
@@ -217,6 +257,8 @@ ADCIntelligentShow::ADCIntelligentShow(QWidget *parent) :
     mpapad = iv::modulecomm::RegisterSend("pad",1000,1);
 
 
+#endif
+
     connect(this,SIGNAL(signalGPSIMU()),this,SLOT(onUpdateGPSIMU()));
     connect(this,SIGNAL(signalbrainstate()),this,SLOT(onUpdateBrainState()));
     connect(this,SIGNAL(signaldection()),this,SLOT(onUpdateDection()));
@@ -232,7 +274,7 @@ ADCIntelligentShow::ADCIntelligentShow(QWidget *parent) :
     ui->pushButton_go->setStyleSheet("background: green; color: white;");
     ui->pushButton_prestation->setStyleSheet("background: green; color: white;");
     ui->pushButton_nextstation->setStyleSheet("background: green; color: white;");
-    ui->label_station->setStyleSheet("background: transparent; color: white;");
+    ui->label_station->setStyleSheet("background: transparent; color: white;font: 15pt 'Arial';");
     ui->label_station->setText("");
 
     if(gvectorpos.size()>0)
@@ -275,12 +317,19 @@ void ADCIntelligentShow::resizeEvent(QResizeEvent *event)
     (void)event;
     QSize sizemain = ui->centralWidget->size();
     ui->widget_2->setGeometry(730,0,sizemain.width()-730,sizemain.height()-0);
-    myview->setGeometry(0,100,sizemain.width()-730-0,sizemain.height()-100);
+    myview->setGeometry(0,150,sizemain.width()-730-0,sizemain.height()-150);
 
+#ifndef Android
     ui->pushButton_prestation->setGeometry(50,30,100,50);
     ui->label_station->setGeometry(160,30,200,50);
     ui->pushButton_nextstation->setGeometry(380,30,100,50);
     ui->pushButton_go->setGeometry(490,30,100,50);
+#else
+    ui->pushButton_prestation->setGeometry(50,30,200,100);
+    ui->label_station->setGeometry(260,30,400,100);
+    ui->pushButton_nextstation->setGeometry(680,30,200,100);
+    ui->pushButton_go->setGeometry(990,30,200,100);
+#endif
 
 }
 
@@ -309,7 +358,12 @@ void ADCIntelligentShow::on_pushButton_clicked()
     char * str = new char[nsize];
     if(xhmi.SerializeToArray(str,1000))
     {
+#ifndef Android
         iv::modulecomm::ModuleSendMsg(mpapad,str,nsize);
+#else
+        ggt->UpdateData(str,nsize,"pad");
+#endif
+
     }
     else
     {
@@ -572,265 +626,7 @@ void ADCIntelligentShow::paintEvent(QPaintEvent *)
         myview->show();
     }
     return;
-    //painter_background->drawPixmap(0, 0, this->width(), this->height(), QPixmap(":/new/pic/background1.png"));
- //   painter->drawPixmap(0, 0, this->width(), this->height(), QPixmap(":/new/pic/background2.jpg"));
-
-    //qDebug() << "size:" << navigation_data.size();
-
-    if (navigation_data.size()>0)
-    {
 
-        //qDebug("++++++++++++++++++");
-        painter->begin(image);
-        image->fill(QColor(208,208,208));//对画布进行填充
-        painter->setRenderHint(QPainter::Antialiasing, true);//设置反锯齿模式，好看一点
-
-        int pointx = 450, pointy = 700;//确定坐标轴起点坐标，这里定义(35,280)
-        double x0[22000], y0[22000], lng[22000], x1[22000], y1[22000], x2[22000], y2[22000];
-        double xx = 0, yy = 0;
-        double sumx = 0, sumy = 0;//, ave_x = 0, ave_y = 0;
-        int sizeN = navigation_data.size();
-        //int max_x_pos = 0, min_x_pos = 0, max_y_pos = 0, min_y_pos = 0;
-        int x_max = 0, y_max = 0;//数组里的最大值
-        int x_min = 0x3f3f3f3f, y_min = 0x3f3f3f3f;//inf为 #define inf 0x3f3f3f3f
-        double k1, k2;
-        QPen pen, penPoint;
-
-        //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) };
-
-        penPoint.setColor(Qt::red);
-        penPoint.setWidth(2);
-        painter->setPen(penPoint);
-        painter->drawPoint(pointx, pointy);
-        painter->drawPolyline(points1, 2);
-        painter->drawPolyline(points2, 2);
-
-        //路径点的预处理
-        for (int i = 0; i < sizeN; i++)
-        {
-            x0[i] = navigation_data[i]->gps_x;
-            y0[i] = navigation_data[i]->gps_y;
-            lng[i] = navigation_data[i]->ins_heading_angle;
-            sumx = sumx + navigation_data[i]->gps_x;
-            sumy = sumy + navigation_data[i]->gps_y;
-            if (x0[i] > x_max) {
-                x_max = x0[i];
-                //max_x_pos = i;
-            }
-            if (x0[i] < x_min) {
-                x_min = x0[i];
-                //min_x_pos = i;
-            }
-
-            if (y0[i] > y_max) {
-                y_max = y0[i];
-                //max_y_pos = i;
-            }
-            if (y0[i] < y_min) {
-                y_min = y0[i];
-                //min_y_pos = i;
-            }
-        }
-        //ave_x = sumx / sizeN;
-        //ave_y = sumy / sizeN;
-
-        //获取到实时 GPS信息，并做路径点的显示更新
-        double gps_x = 0.0,gps_y = 0.0;
-        if(DataUI->mInfo.gps_lng!=0.0&&DataUI->mInfo.gps_lat != 0.0)
-        {
-            GaussProjCal(DataUI->mInfo.gps_lng, DataUI->mInfo.gps_lat, &gps_x, &gps_y);
-        }
-        if (gps_x == 0)
-        {
-            painter->drawText(rect(), Qt::AlignLeft, QStringLiteral("等待车辆实时GPS位置信息"));
-        }
-        else
-        {
-            x0[0] = gps_x;
-            y0[0] = gps_y;
-            lng[0] = DataUI->mInfo.gps_inshead;
-        }
-        //根据标定原点的选取，对路径点进行转化
-        for (int i = 1; i < sizeN; i++)
-        {
-            x0[i] = x0[i] - x0[0];
-            y0[i] = y0[i] - y0[0];
-            xx = x0[i];
-            yy = y0[i];
-            x0[i] = xx * cos(lng[0] * PI / 180) - yy * sin(lng[0] * PI / 180);
-            y0[i] = xx * sin(lng[0] * PI / 180) + yy * cos(lng[0] * PI / 180);
-            k1 = sin((90 + (lng[i] - lng[0])) * PI / 180);
-            k2 = cos((90 + (lng[i] - lng[0])) * PI / 180);
-            x1[i] = x0[i] + k1 * 5;
-            y1[i] = y0[i] + k2 * 5;
-            x2[i] = x0[i] - k1 * 5;
-            y2[i] = y0[i] - k2 * 5;
-        }
-
-        double kx = (double)(600) / (abs(y_max - y_min));//x轴的系数
-        double ky = (double)(600) / (abs(y_max - y_min));//y方向的比例系数
-
-        //距离车正前方10m处画一条线
-        static const QPointF points3[2] = { QPointF(0, 700 - 10 * ky), QPointF(900, 700 - 10 * ky) };
-        painter->drawPolyline(points3, 2);
-
-        //绘制路径点
-        penPoint.setColor(Qt::black);
-        penPoint.setWidth(1);
-
-        for (int i = 1; i < sizeN - 1; i++)
-        {
-            painter->setPen(penPoint);//蓝色的笔，用于标记各个点
-            painter->drawPoint(pointx + x0[i] * kx, pointy - y0[i] * ky);
-            painter->drawPoint(pointx + x1[i] * kx, pointy - y1[i] * ky);
-            painter->drawPoint(pointx + x2[i] * kx, pointy - y2[i] * ky);
-        }
-        painter->drawPoint(pointx + x0[sizeN - 1] * kx, pointy - y0[sizeN - 1] * ky);//绘制最后一个点
-
-        penPoint.setColor(Qt::red);
-        penPoint.setWidth(2);
-
-        painter->drawPoint(pointx + x0[0] * kx, pointy - y0[0] * ky);
-
-        QPixmap pix;
-        //pix.load("car.png");
-        pix.load(":/new/pic/car.png");
-        painter->drawPixmap(435,667,30,67,pix);
-
-        penPoint.setColor(Qt::blue);
-        penPoint.setWidth(3);
-        painter->setPen(penPoint);
-
-        QFont font;
-        font.setFamily("Microsoft YaHei");
-        font.setPointSize(50);
-        font.setItalic(true);
-        painter->setFont(font);
-
-        //////////////////////////////////////
-        //	显示毫米波雷达和激光雷达的信息       //
-        //////////////////////////////////////
-
-        painter->setPen(QPen(Qt::black, 2));
-        painter->setBrush(Qt::yellow);
-        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[20];
-        for (int a = 0; a < 64; a++)
-        {
-            if(DataUI->mInfo.point[a]!=0)
-            {
-                painter->drawEllipse(DataUI->mInfo.point[a] * 10 + 450, -DataUI->mInfo.point[a+64] * 10 + 700, 10, 10);
-                sprintf(coordinate_ear, "(%d, %d)", (int)DataUI->mInfo.point[a], (int)DataUI->mInfo.point[a+64]);
-                painter->drawText(DataUI->mInfo.point[a] * 10 + 450, -DataUI->mInfo.point[a+64] * 10 + 700, QString(coordinate_ear));
-            }
-        }
-
-        //send alarm
-        for (int a = 0; a < 64; a++)
-        {
-            if(DataUI->mInfo.point[a]!=0)
-            {
-                float x = DataUI->mInfo.point[a];
-                float y = DataUI->mInfo.point[a+64];
-                if((y > 0 && y < 2) || ((x*x + y*y) < 25))
-                {
-                    emit sigAlarm();
-                    break;
-                }
-            }
-        }
-
-        //ServiceLidar.copylidarto(Lidar_read);		//激光雷达障碍物
-        //ServiceLidar.copylidarobsto(Lidar_obsread);
-        painter->setPen(QPen(Qt::red, 2));
-        for (unsigned int x = 0; x <mlidarpoint.lidar_size; x++)
-        {
-            painter->drawPoint(mlidarpoint.lidar_point[x]* 10 + 450, -mlidarpoint.lidar_point[x+5000]* 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 * 10 + 700);
-        }*/
-
-        /////////////////////////////////
-        //      实时状态信息显示         //
-        ////////////////////////////////
-        /* QString is_ok;
-        ui->lineEdit->setText(QString::number(ServiceCarStatus.location->rtk_status));//rtk状态
-        if(ServiceCarStatus.location->rtk_status==6)ui->push_10->setStyleSheet("background-color: green");
-        else ui->pushButton_10->setStyleSheet("background-color: red");
-        ui->lineEdit_2->setText(QString::number(ServiceCarStatus.location->ins_status));//ins状态
-        if(ServiceCarStatus.location->ins_status==4)ui->pushButton_11->setStyleSheet("background-color: green");
-        else ui->pushButton_11->setStyleSheet("background-color: red");
-        is_ok = (ServiceCanUtil.did_radar_ok() == true)?QStringLiteral("ok"):QStringLiteral("error");
-        ui->lineEdit_3->setText(is_ok);//毫米波雷达状态
-        if(ServiceCanUtil.did_radar_ok() == true)ui->pushButton_12->setStyleSheet("background-color: green");
-        else ui->pushButton_12->setStyleSheet("background-color:red");
-        is_ok = (ServiceLidar.did_lidar_ok() == true)?QStringLiteral("ok"):QStringLiteral("error");
-        ui->lineEdit_4->setText(is_ok);//激光雷达状态
-        if(ServiceLidar.did_lidar_ok() == true)ui->pushButton_13->setStyleSheet("background-color: green");
-        else ui->pushButton_13->setStyleSheet("background-color:red");
-        ui->lineEdit_5->setText(QString::number(brain->decision_period)+QStringLiteral("ms"));//决策周期
-        if(brain->decision_period>0)ui->pushButton_14->setStyleSheet("background-color: green");
-        else ui->pushButton_14->setStyleSheet("background-color:red");
-
-        /////////////////////////////////
-        //      实时显示障碍物状态        //
-        /////////////////////////////////
-        //if(brain->look7>90.0||brain->look7==0.0)ui->label_13->setText(QString("前方没有障碍物"));
-        //else ui->label_13->setText("前方"+QString::number(brain->look7)+"米处有障碍物");
-
-        /////////////////////////////////
-        //      模式选择标志置位         //
-        ////////////////////////////////
-        if(ui->checkBox->isChecked()==true)ServiceControlStatus.change_line = 1;//是否换道标志
-        else ServiceControlStatus.change_line = 0;
-        if(ui->checkBox_2->isChecked()==true)ServiceControlStatus.stop_obstacle = 1;//是否停障标志
-        else ServiceControlStatus.stop_obstacle = 0;
-        if(ui->checkBox_3->isChecked()==true)ServiceControlStatus.elude_obstacle = 1;//是否避障标志
-        else ServiceControlStatus.elude_obstacle = 0;
-        if(ui->checkBox_4->isChecked()==true)ServiceControlStatus.special_signle = 1;//是否特殊信号输入标志
-        else ServiceControlStatus.special_signle = 0;
-        if(ui->checkBox_5->isChecked()==true)ServiceControlStatus.car_pullover = 1;//是否靠边停车标志位
-        else ServiceControlStatus.car_pullover = 0;*/
-
-        painter->end();
-        scene->clear();
-        scene->addPixmap(QPixmap::fromImage(*image));
-        myview->setScene(scene);
-        myview->show();
-        //       navigation_data.clear();
-
-    }
-    //叫车模式选择
-    if(ui->checkBox->isChecked())
-    {
-        int xRun = 3;
-        socket->writeDatagram((char *)&xRun,4,QHostAddress::Broadcast,9998);
-    }
-    else
-    {
-        int xRun = 4;
-        socket->writeDatagram((char *)&xRun,4,QHostAddress::Broadcast,9998);
-    }
-
-    //编队模式选择
-    if(ui->checkBox_2->isChecked())
-    {
-        int xRun = 5;
-        socket->writeDatagram((char *)&xRun,4,QHostAddress::Broadcast,9998);
-    }
-    else
-    {
-        int xRun = 6;
-        socket->writeDatagram((char *)&xRun,4,QHostAddress::Broadcast,9998);
-    }
 }
 
 
@@ -1002,7 +798,11 @@ void ADCIntelligentShow::on_pushButton_2_clicked()
     char * str = new char[nsize];
     if(xhmi.SerializeToArray(str,1000))
     {
+#ifndef Android
         iv::modulecomm::ModuleSendMsg(mpapad,str,nsize);
+#else
+        ggt->UpdateData(str,nsize,"pad");
+#endif
     }
     else
     {
@@ -1082,7 +882,7 @@ void ADCIntelligentShow::onUpdateGPSIMU()
 void ADCIntelligentShow::UpdateMap(const char *mapdata, const int mapdatasize)
 {
         std::cout<<"update map "<<std::endl;
-    int gpsunitsize = sizeof(iv::GPS_INS);
+    int gpsunitsize = sizeof(iv::MAP_GPS_INS);
     int nMapSize = mapdatasize/gpsunitsize;
     //    std::cout<<"map size is "<<nMapSize<<std::endl;
 
@@ -1095,8 +895,8 @@ void ADCIntelligentShow::UpdateMap(const char *mapdata, const int mapdatasize)
     }
     else
     {
-        iv::GPS_INS * p = (iv::GPS_INS *)mapdata;
-        if((p->gps_lat == navigation_data.at(0)->gps_lat)&&(p->ins_heading_angle == navigation_data.at(0)->ins_heading_angle))
+        iv::MAP_GPS_INS * p = (iv::MAP_GPS_INS *)mapdata;
+        if((p->gps_lat == navigation_data.at(0).gps_lat)&&(p->ins_heading_angle == navigation_data.at(0).ins_heading_angle))
         {
             //           qDebug("same map");
             bUpdate = false;
@@ -1115,11 +915,9 @@ void ADCIntelligentShow::UpdateMap(const char *mapdata, const int mapdatasize)
         navigation_data.clear();
         for(i=0;i<nMapSize;i++)
         {
-            iv::GPS_INS x;
+            iv::MAP_GPS_INS x;
             memcpy(&x,mapdata + i*gpsunitsize,gpsunitsize);
-            iv::GPSData data(new iv::GPS_INS);
-            *data = x;
-            navigation_data.push_back(data);
+            navigation_data.push_back(x);
         }
 
         mpivmapview->setmap(navigation_data);
@@ -1261,5 +1059,9 @@ void ADCIntelligentShow::on_pushButton_go_clicked()
     xo.flat = gvectorpos[mnStationIndex].mflat;
     xo.lane = 3;
 
+#ifndef Android
     iv::modulecomm::ModuleSendMsg(mpadst,(char *)&xo,sizeof(xodrobj));
+#else
+    ggt->UpdateData((char *)&xo,sizeof(xodrobj),"xodrreq");
+#endif
 }

src/ui/ADCIntelligentShow_grpc/adcintelligentshow.h

@@ -25,11 +25,12 @@
 #include "gpsimu.pb.h"
 #include "brainstate.pb.h"
 
-#include "gps_type.h"
+
 #include "decition.pb.h"
 #include "hmi.pb.h"
 #include "radarobjectarray.pb.h"
 
+#include "gps_nbtype.h"
 #include "myview.h"
 #include "ivmapview.h"
 
@@ -171,7 +172,7 @@ private:
     bool mbHaveData;
     DataToUI * DataUI;
     LidarPoint mlidarpoint;
-    vector<iv::GPSData> navigation_data;
+    vector<iv::MAP_GPS_INS> navigation_data;
     QMutex mMutexMap;
     bool loadMapFromFile(std::string fileName);
     void GaussProjCal(double longitude, double latitude, double *X, double *Y);
@@ -217,6 +218,12 @@ public:
     void UpdateDection(iv::brain::decition xdecision);
     void UpdateRADAR(iv::radar::radarobjectarray * pxobj);
 
+
+#ifdef Android
+public:
+    void AndroidSetMsg(const char * strmsgname,const char * strdata,const unsigned int nDataLen);
+#endif
+
 private:
     QMutex mMutexGPSIMU;
     iv::gps::gpsimu mgpsimu;

src/ui/ADCIntelligentShow_grpc/adcintelligentshow.ui

@@ -35,6 +35,15 @@
       <height>181</height>
      </rect>
     </property>
+    <property name="font">
+     <font>
+      <family>微软雅黑</family>
+      <pointsize>80</pointsize>
+      <weight>9</weight>
+      <italic>false</italic>
+      <bold>false</bold>
+     </font>
+    </property>
     <property name="styleSheet">
      <string notr="true">font: 75 80pt &quot;微软雅黑&quot;;
 color: rgb(238, 238, 238);</string>

src/ui/ADCIntelligentShow_grpc/ivmapview.cpp

@@ -3,7 +3,7 @@
 #define VIEW_WIDTH  1100
 #define VIEW_HEIGHT 1100
 
-
+#include <math.h>
 //高斯投影由经纬度(Unit:DD)反算大地坐标(含带号，Unit:Metres)
 static void GaussProjCal(double longitude, double latitude, double *X, double *Y)
 {
@@ -85,7 +85,7 @@ void ivmapview::paint()
 {
 
     qint64 xTime = QDateTime::currentMSecsSinceEpoch();
-    std::vector<iv::GPSData> xnavigation_data;
+    std::vector<iv::MAP_GPS_INS> xnavigation_data;
     iv::gps::gpsimu xgpsimu;
     mMutexMap.lock();
     xnavigation_data = mnavigation_data;
@@ -153,11 +153,11 @@ void ivmapview::paint()
         //路径点的预处理
         for (int i = 0; i < sizeN; i++)
         {
-            x0[i] = xnavigation_data[i]->gps_x;
-            y0[i] = xnavigation_data[i]->gps_y;
-            lng[i] = xnavigation_data[i]->ins_heading_angle;
-            sumx = sumx + xnavigation_data[i]->gps_x;
-            sumy = sumy + xnavigation_data[i]->gps_y;
+            x0[i] = xnavigation_data[i].gps_x;
+            y0[i] = xnavigation_data[i].gps_y;
+            lng[i] = xnavigation_data[i].ins_heading_angle;
+            sumx = sumx + xnavigation_data[i].gps_x;
+            sumy = sumy + xnavigation_data[i].gps_y;
             if (x0[i] > x_max) {
                 x_max = x0[i];
                 //max_x_pos = i;
@@ -352,7 +352,7 @@ int ivmapview::GetType()
     return 2;
 }
 
-void ivmapview::setmap(std::vector<iv::GPSData> xnavigation_data)
+void ivmapview::setmap(std::vector<iv::MAP_GPS_INS> xnavigation_data)
 {
     mMutexMap.lock();
     mnavigation_data = xnavigation_data;

src/ui/ADCIntelligentShow_grpc/ivmapview.h

@@ -6,7 +6,7 @@
 #include "ivview.h"
 
 #include "gpsimu.pb.h"
-#include "gps_type.h"
+#include "gps_nbtype.h"
 #include "obstacle_type.h"
 
 #include "radarobjectarray.pb.h"
@@ -38,7 +38,7 @@ private:
     QImage * mimagepaint;
 
 private:
-    std::vector<iv::GPSData> mnavigation_data;
+    std::vector<iv::MAP_GPS_INS> mnavigation_data;
     QMutex mMutexMap;
     iv::gps::gpsimu mgpsimu;
     qint64 mnTimeGPSUpdate = 0;
@@ -55,7 +55,7 @@ private:
 
 public:
     void setgps(iv::gps::gpsimu * pxgpsimu);
-    void setmap(std::vector<iv::GPSData> xnavigation_data);
+    void setmap(std::vector<iv::MAP_GPS_INS> xnavigation_data);
     void setobs(std::shared_ptr<std::vector<iv::ObstacleBasic>> xobs);
     void setradar(iv::radar::radarobjectarray * pradarobj);
 };

src/ui/ADCIntelligentShow_grpc/main.cpp

@@ -1,12 +1,26 @@
 #include "adcintelligentshow.h"
 #include <QApplication>
 #include <QDebug>
+#include <QStringList>
+
+#ifdef Android
+#include <QAndroidJniEnvironment>
+#include <QtAndroid>
+//#include <QAndr
+#include <QAndroidJniObject>
+
+#endif
 
 #include <iostream>
-#include "xmlparam.h"
+//#include "xmlparam.h"
 
 #include "grpcclientthread.h"
 
+
+#ifdef Android
+    grpcclientthread * ggt;
+#endif
+
 std::string gstrmode = "false";
 std::string gstrserverip = "192.168.1.102";
 std::string gstrserverport = "30051";
@@ -16,20 +30,29 @@ std::string gstrqueryinterval = "10";
 
 std::vector<iv::pos_def> gvectorpos;
 
-
 void LoadPos(std::string strfilepath)
 {
     QFile xFile;
+
+#ifdef Android
+    QString strpath = "/storage/emulated/0/pos.txt";
+    xFile.setFileName(strpath);
+#else
     xFile.setFileName(strfilepath.data());
+#endif
+
     if(xFile.open(QIODevice::ReadOnly))
     {
         QByteArray ba = xFile.readAll();
-        QList<QByteArray> baline =  ba.split('\n');
+        QList<QByteArray> baline =ba.split('\n');//x.split(QRegExp("\n ")) ;//ba.split('\n');
         int nline = baline.size();
         int i;
         for(i=0;i<nline;i++)
         {
-            QList<QByteArray> badata = baline[i].split('\t');
+            QString x(baline[i]);
+   //         QList<QByteArray> badata = baline[i].split('\t');
+            QStringList badata = x.split(QRegExp("[\t ,;]"));
+
             if(badata.size()>=3)
             {
                 iv::pos_def xposdef;
@@ -49,23 +72,63 @@ int main(int argc, char *argv[])
 {
     QApplication a(argc, argv);
 
+
+#ifdef Android
+
+    QAndroidJniEnvironment env;
+    QAndroidJniObject activity = QtAndroid::androidActivity();
+
+
+    QAndroidJniObject name = QAndroidJniObject::getStaticObjectField(
+                "android/content/Context",
+                "POWER_SERVICE",
+                "Ljava/lang/String;"
+                );
+//    CHECK_EXCEPTION();
+    QAndroidJniObject powerService = activity.callObjectMethod(
+                "getSystemService",
+                "(Ljava/lang/String;)Ljava/lang/Object;",
+                name.object<jstring>());
+//    CHECK_EXCEPTION();
+    QAndroidJniObject tag = QAndroidJniObject::fromString("QtJniWakeLock");
+    QAndroidJniObject k = powerService.callObjectMethod(
+                "newWakeLock",
+                "(ILjava/lang/String;)Landroid/os/PowerManager$WakeLock;",
+                10, //SCREEN_BRIGHT_WAKE_LOCK
+                tag.object<jstring>()
+                );
+
+    if(k.isValid())
+    {
+        k.callMethod<void>("acquire");
+
+    }
+//    CHECK_EXCEPTION();
+
+
+#endif
+
     QString strpath = QCoreApplication::applicationDirPath();
 
-   if(argc < 2)
-       strpath = strpath + "/ADCIntelligentShow_grpc.xml";
-   else
-       strpath = argv[1];
-   std::cout<<strpath.toStdString()<<std::endl;
+//   if(argc < 2)
+//       strpath = strpath + "/ADCIntelligentShow_grpc.xml";
+//   else
+//       strpath = argv[1];
+//   std::cout<<strpath.toStdString()<<std::endl;
 
-   iv::xmlparam::Xmlparam xp(strpath.toStdString());
+//   iv::xmlparam::Xmlparam xp(strpath.toStdString());
 
-   gstrmode = xp.GetParam("useoutgrpc","false");
-   gstrserverip = xp.GetParam("serverip","192.168.1.102");
-   gstrserverport = xp.GetParam("serverport","30051");
-   gstrqueryinterval = xp.GetParam("queryinterval","10");
+//   gstrmode = xp.GetParam("useoutgrpc","false");
+//   gstrserverip = xp.GetParam("serverip","192.168.1.102");
+//   gstrserverport = xp.GetParam("serverport","30051");
+//   gstrqueryinterval = xp.GetParam("queryinterval","10");
 
    grpcclientthread xrpcthread;
 
+#ifdef Android
+   ggt = &xrpcthread;
+#endif
+
    if(strncmp(gstrmode.data(),"false",255) == 0)
    {
        xrpcthread.setserverip(gstrserverip);
@@ -78,17 +141,29 @@ int main(int argc, char *argv[])
        xrpcthread.addquerymsgunit("deciton",10000,1);
        xrpcthread.addctrlmsgunit("pad",1000,1);
        xrpcthread.addctrlmsgunit("xodrreq",1000,1);
+
+#ifndef Android
        xrpcthread.startlisten();
+#endif
        xrpcthread.start();
    }
 
-   LoadPos("pos.txt");
+#ifndef Android
+    LoadPos("pos.txt");
+#else
+//    LoadPos("/storage/emulated/0/pos.txt");
+    LoadPos("/storage/emulated/0/pos.txt");
+#endif
 
     ADCIntelligentShow w;
-    //w.showFullScreen();
-    w.showMaximized();
 
-    //w.show();
+#ifdef Android
+    w.showFullScreen();
+//    w.showMaximized();
+
+#else
+     w.show();
+#endif
 
     return a.exec();
 }