change tool_xodrobj. for show parampoly3.

src/driver/driver_group_grpc_server/groupdb.cpp

@@ -1,10 +1,19 @@
 #include "groupdb.h"
 
+#include <QDateTime>
+
 groupdb::groupdb(std::string strdbpath)
 {
-    //建立并打开数据库
+    mstrdbpath = strdbpath;
+
+}
+
+
+void groupdb::OpenDataBase()
+{
+    mbSQL = false;
     mdatabase = QSqlDatabase::addDatabase("QSQLITE");
-    mdatabase.setDatabaseName(strdbpath.data());
+    mdatabase.setDatabaseName(mstrdbpath.data());
     if (!mdatabase.open())
     {
         qDebug("Error: Failed to connect database. error is %s ",mdatabase.lastError());
@@ -16,6 +25,8 @@ groupdb::groupdb(std::string strdbpath)
         qDebug("Succeed to connect database.");
     }
 
+
+
     QSqlQuery sql_query;
 
     bool bHaveTable = true;
@@ -33,14 +44,16 @@ groupdb::groupdb(std::string strdbpath)
         if(sql_query.next())
         {
             int count = sql_query.value(0).toInt();
-            qDebug("count %d ",count);
+//            qDebug("count %d ",count);
             if(count < 1)bHaveTable = false;
         }
     }
 
+
+
     if(bHaveTable == false)
     {
-        if(!sql_query.exec("create table groupdata(id INTEGER primary key AUTOINCREMENT, vehid TEXT,"
+        if(!sql_query.exec("create table groupdata(id INTEGER primary key AUTOINCREMENT,recordid BIGINT, vehid TEXT,"
                            "recvtime BIGINT,msgtime BIGINT,groupid INTEGER,"
                            "intragroupid INTEGER,vehdata BLOB)"))
         {
@@ -57,58 +70,139 @@ groupdb::groupdb(std::string strdbpath)
             qDebug() << "Error: Fail to create index_recvtime."<< sql_query.lastError();
             return;
         }
+        if(!sql_query.exec("CREATE INDEX index_recordid ON groupdata (recordid)"))
+        {
+            qDebug() << "Error: Fail to create index_recordid."<< sql_query.lastError();
+            return;
+        }
+        qDebug("Create Table groupdata successfully.");
     }
 
-    mbSQL = true;
+    //查询数据
+    sql_query.exec("select count(*)  from sqlite_master where type='table' and name = 'recorddata'");
+    if(!sql_query.exec())
+    {
+        qDebug("%s",sql_query.lastError());
+        return;
+    }
+    else
+    {
+
+        if(sql_query.next())
+        {
+            int count = sql_query.value(0).toInt();
+//            qDebug("count %d ",count);
+            if(count < 1)bHaveTable = false;
+        }
+    }
+
+
+    if(bHaveTable == false)
+    {
+        if(!sql_query.exec("create table recorddata(id INTEGER primary key AUTOINCREMENT,recordid BIGINT, groupid INTEGER,"
+                           "vehid TEXT)"))
+        {
+            qDebug() << "Error: Fail to create table."<< sql_query.lastError();
+            return;
+        }
+        if(!sql_query.exec("CREATE INDEX index_vehid_rec ON recorddata (vehid)"))
+        {
+            qDebug() << "Error: Fail to create index_vehid."<< sql_query.lastError();
+            return;
+        }
+
+        if(!sql_query.exec("CREATE INDEX index_groupid_rec ON recorddata (groupid)"))
+        {
+            qDebug() << "Error: Fail to create index_groupid."<< sql_query.lastError();
+            return;
+        }
+
 
+        qDebug("Create Table recorddata successfully.");
+    }
+
+    mbSQL = true;
 }
 
 void groupdb::run()
 {
+
+    msleep(100);
+    OpenDataBase();
+    //建立并打开数据库
+
+
     if(mbSQL == false)
     {
         qDebug("SQL not OK. so not write data to database.");
         return;
     }
 
+    std::vector<iv::groupdbmsg> xvectordbmsg;
+    qint64 nLastWrite = QDateTime::currentMSecsSinceEpoch();
+    qint64 nWriteInterval = 1000;
+
     while(!QThread::isInterruptionRequested())
     {
-        std::vector<iv::groupdbmsg> xvectordbmsg;
+       qint64 nNow = QDateTime::currentMSecsSinceEpoch();
         mMutexmsg.lock();
         if(mvectordbmsg.size() > 0)
         {
-            xvectordbmsg = mvectordbmsg;
+            unsigned int i;
+            for(i=0;i<mvectordbmsg.size();i++)
+            {
+                xvectordbmsg.push_back(mvectordbmsg[i]);
+            }
             mvectordbmsg.clear();
         }
         mMutexmsg.unlock();
-        if(xvectordbmsg.size()>0)
+
+        if(((xvectordbmsg.size()>10000)||((nNow-nLastWrite)>nWriteInterval))&&(xvectordbmsg.size()>0))
         {
+            nLastWrite = nNow;
+            QTime xTime;
+            xTime.start();
             unsigned int i;
+            for(i=0;i<xvectordbmsg.size();i++)
+            {
+                xvectordbmsg.at(i).mrecid = GetRecID(xvectordbmsg[i].mstrvehid,
+                                                     xvectordbmsg[i].mgroupid);
+            }
+            mdatabase.transaction();
+
+
             for(i=0;i<xvectordbmsg.size();i++)
             {
                 QSqlQuery query;
 
                 char strsen[1000];
-                snprintf(strsen,1000,"INSERT INTO groupdata(vehid,recvtime,msgtime,groupid,intragroupid,vehdata)"
-                         "VALUES(\"%s\", %lld, %lld,%d,%d,:vehdata\")",
-                                             xvectordbmsg[i].mstrvehid,xvectordbmsg[i].mrecvtime,
+                snprintf(strsen,1000,"INSERT INTO groupdata(vehid,recordid,recvtime,msgtime,groupid,intragroupid,vehdata)"
+                         "VALUES(\"%s\",%lld, %lld, %lld,%d,%d,:vehdata)",
+                                             xvectordbmsg[i].mstrvehid.data(),xvectordbmsg[i].mrecid,xvectordbmsg[i].mrecvtime,
                          xvectordbmsg[i].mmsgtime,xvectordbmsg[i].mgroupid,xvectordbmsg[i].mintragroupid);
                 query.prepare(strsen);
-//                query.bindValue(":pcddata", bapcd);
+  //              qDebug(strsen);
+                query.bindValue(":vehdata", xvectordbmsg[i].mba);
 //                query.bindValue(":tracedata", batrace);
                 query.exec();
             }
+            mdatabase.commit();
+            xvectordbmsg.clear();
+            qDebug("transaction time :%d",xTime.elapsed());
         }
         else
         {
-            msleep(1);
+            msleep(50);
         }
+//        msleep(1000);
 
     }
+
+    mdatabase.close();
 }
 
 int groupdb::addmsg(qint64 recvtime, std::string strvehid, qint64 msgtime, int groupid,
-                    int intragroupid, std::shared_ptr<char> str_ptr)
+                    int intragroupid, QByteArray & ba)
 {
     mMutexmsg.lock();
     if(mvectordbmsg.size()> 10000)
@@ -125,10 +219,56 @@ int groupdb::addmsg(qint64 recvtime, std::string strvehid, qint64 msgtime, int g
     xmsg.mmsgtime = msgtime;
     xmsg.mrecvtime = recvtime;
     xmsg.mstrvehid = strvehid;
-    xmsg.mstr_ptr = str_ptr;
+    xmsg.mba = ba;
     mvectordbmsg.push_back(xmsg);
     mMutexmsg.unlock();
 
     return 0;
 
 }
+
+qint64 groupdb::GetRecID(std::string strvehid,int groupid)
+{
+    qint64 nrecid = 0;
+    bool bFind = false;
+    mMutexrec.lock();
+    unsigned int i;
+    for(i=0;i<mvectorrecid.size();i++)
+    {
+        if(mvectorrecid[i].mstrvehid == strvehid)
+        {
+            bFind = true;
+            nrecid = mvectorrecid[i].mrecid;
+            mvectorrecid[i].mnLastUpdateTime = QDateTime::currentMSecsSinceEpoch();
+            break;
+        }
+    }
+    if(bFind == false)
+    {
+        iv::recid xrec;
+        xrec.mgroupid = groupid;
+        xrec.mnLastUpdateTime = QDateTime::currentMSecsSinceEpoch();
+        xrec.mrecid = QDateTime::currentMSecsSinceEpoch();
+        xrec.mstrvehid = strvehid;
+        nrecid = xrec.mrecid;
+    }
+    mMutexrec.unlock();
+
+    if(bFind == false)
+    {
+        QSqlQuery query;
+
+        char strsen[1000];
+        snprintf(strsen,1000,"INSERT INTO groupdata(vehid,recordid,recvtime,msgtime,groupid,intragroupid,vehdata)"
+                 "VALUES(\"%s\",%lld, %lld, %lld,%d,%d,:vehdata)",
+                                     xvectordbmsg[i].mstrvehid.data(),xvectordbmsg[i].mrecid,xvectordbmsg[i].mrecvtime,
+                 xvectordbmsg[i].mmsgtime,xvectordbmsg[i].mgroupid,xvectordbmsg[i].mintragroupid);
+        query.prepare(strsen);
+//              qDebug(strsen);
+        query.bindValue(":vehdata", xvectordbmsg[i].mba);
+//                query.bindValue(":tracedata", batrace);
+        query.exec();
+    }
+
+    return nrecid;
+}

src/driver/driver_group_grpc_server/groupdb.h

@@ -18,11 +18,20 @@ namespace iv {
 struct  groupdbmsg
 {
      std::string mstrvehid;
+     qint64 mrecid;
      qint64 mrecvtime;
      qint64 mmsgtime;
      int mgroupid;
      int mintragroupid;
-     std::shared_ptr<char> mstr_ptr;
+     QByteArray mba;
+};
+
+struct recid
+{
+    std::string mstrvehid;
+    qint64 mnLastUpdateTime;
+    qint64 mrecid;
+    int mgroupid;
 };
 }
 
@@ -34,18 +43,25 @@ public:
 private:
     bool mbSQL = false;
     QSqlDatabase mdatabase;
+    std::string mstrdbpath;
 
 public:
     int addmsg(qint64 recvtime,std::string strvehid,
                qint64 msgtime,int groupid, int intragroupid,
-               std::shared_ptr<char> str_ptr);
+               QByteArray & ba);
 
 private:
     std::vector<iv::groupdbmsg> mvectordbmsg;
     QMutex mMutexmsg;
+    std::vector<iv::recid> mvectorrecid;
+    QMutex mMutexrec;
 
 private:
     void run();
+
+private:
+    void OpenDataBase();
+    inline qint64 GetRecID(std::string strvehid,int groupid);
 };
 
 #endif // GROUPDB_H

src/driver/driver_group_grpc_server/groupmsgbuf.cpp

@@ -6,6 +6,7 @@ groupmsgbuf::groupmsgbuf()
 {
     std::string strgroupdbpath = "/home/yuchuli/groupdb.db";
     mpgroupdb = new groupdb(strgroupdbpath.data());
+    mpgroupdb->start();
 
 }
 
@@ -19,6 +20,10 @@ int groupmsgbuf::ProcGroupMsg(const iv::group::groupRequest * preq,iv::group::gr
         return 0;
     }
 
+    QByteArray ba;
+    ba.append(preq->xdata().data(),preq->xdata().size());
+    mpgroupdb->addmsg(QDateTime::currentMSecsSinceEpoch(),preq->strvehid(),preq->msgtime(),preq->ngroup(),
+                      preq->intragroupid(),ba);
 
 
     iv::groupmsgunit * p = NULL;

src/tool/tool_xodrobj/mainwindow.cpp

@@ -244,237 +244,239 @@ void MainWindow::AdjustWPos(QSize sizemain)
 
 void MainWindow::ExecPainter()
 {
-
-
-
+    
+    
+    
     QTime x;
     x.start();
     //    qDebug("painter.");
-
-   painter->begin(image);
-        qDebug("time is %d",x.elapsed());
-        image->fill(QColor(255, 255, 255));//对画布进行填充
-
+    
+    painter->begin(image);
+    qDebug("time is %d",x.elapsed());
+    image->fill(QColor(255, 255, 255));//对画布进行填充
+    
     //    std::vector<iv::GPSData> navigation_data = brain->navigation_data;
-        painter->setRenderHint(QPainter::Antialiasing, true);//设置反锯齿模式，好看一点
-
-        painter->translate(mnMoveX,mnMoveY);
-
-
-        painter->setPen(Qt::black);
-
-        painter->drawLine(VIEW_WIDTH/(-2),0,VIEW_WIDTH/2,0);
-        painter->drawLine(0,VIEW_HEIGHT/(-2),0,VIEW_HEIGHT/2);
-
-        int i;
-
-
-       //         int nfac = 5;;
-
-
-        painter->setPen(Qt::blue);
-                int nfac = mnfac;
-        for(i=0;i<mxodr.GetRoadCount();i++)
+    painter->setRenderHint(QPainter::Antialiasing, true);//设置反锯齿模式，好看一点
+    
+    painter->translate(mnMoveX,mnMoveY);
+    
+    
+    painter->setPen(Qt::black);
+    
+    painter->drawLine(VIEW_WIDTH/(-2),0,VIEW_WIDTH/2,0);
+    painter->drawLine(0,VIEW_HEIGHT/(-2),0,VIEW_HEIGHT/2);
+    
+    int i;
+    
+    
+    //         int nfac = 5;;
+    
+    
+    painter->setPen(Qt::blue);
+    int nfac = mnfac;
+    for(i=0;i<mxodr.GetRoadCount();i++)
+    {
+        int j;
+        Road * pRoad = mxodr.GetRoad(i);
+        for(j=0;j<mxodr.GetRoad(i)->GetGeometryBlockCount();j++)
         {
-            int j;
-            Road * pRoad = mxodr.GetRoad(i);
-            for(j=0;j<mxodr.GetRoad(i)->GetGeometryBlockCount();j++)
+            GeometryBlock * pgeob = pRoad->GetGeometryBlock(j);
+            double x,y;
+            double x_center,y_center;
+            double R;
+            RoadGeometry * pg;
+            GeometryArc * parc;
+            GeometryParamPoly3 * ppp3;
+            GeometrySpiral *pSpiral;
+            GeometryPoly3 *ppoly;
+            double rel_x,rel_y,rel_hdg;
+            pg = pgeob->GetGeometryAt(0);
+            
+            x = pg->GetX();
+            y = pg->GetY();
+            
+            switch (pg->GetGeomType()) {
+            case 0:
+                x = x + mfViewMoveX;
+                y = y + mfViewMoveY;
+                painter->drawLine(QPoint(x*mnfac,y*mnfac*(-1)),
+                                  QPoint((x + pg->GetLength() * cos(pg->GetHdg()))*mnfac,(y + pg->GetLength() * sin(pg->GetHdg()))*mnfac*(-1)));
+                break;
+                
+            case 1:
+                pSpiral = (GeometrySpiral * )pg;
             {
-                GeometryBlock * pgeob = pRoad->GetGeometryBlock(j);
-                double x,y;
-                double x_center,y_center;
-                double R;
-                RoadGeometry * pg;
-                GeometryArc * parc;
-                GeometryParamPoly3 * ppp3;
-                GeometrySpiral *pSpiral;
-                GeometryPoly3 *ppoly;
-                double rel_x,rel_y,rel_hdg;
-                pg = pgeob->GetGeometryAt(0);
-
-                x = pg->GetX();
-                y = pg->GetY();
-
-                switch (pg->GetGeomType()) {
-                case 0:
+                int ncount = pSpiral->GetLength() * mnfac;
+                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() ;
+                painter->setPen(Qt::red);
+                for(k=0;k<ncount;k++)
+                {
+                    pSpiral->GetCoords(s0+sstep*k,rel_x,rel_y,rel_hdg);
+                    
+                    x = rel_x;
+                    y = rel_y;
                     x = x + mfViewMoveX;
                     y = y + mfViewMoveY;
-                    painter->drawLine(QPoint(x*mnfac,y*mnfac*(-1)),
-                                      QPoint((x + pg->GetLength() * cos(pg->GetHdg()))*mnfac,(y + pg->GetLength() * sin(pg->GetHdg()))*mnfac*(-1)));
-                    break;
-
-                case 1:
-                    pSpiral = (GeometrySpiral * )pg;
-                    {
-                       int ncount = pSpiral->GetLength() * mnfac;
-                       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() ;
-                       painter->setPen(Qt::red);
-                       for(k=0;k<ncount;k++)
-                       {
-                           pSpiral->GetCoords(s0+sstep*k,rel_x,rel_y,rel_hdg);
-
-                           x = rel_x;
-                           y = rel_y;
-                           x = x + mfViewMoveX;
-                           y = y + mfViewMoveY;
-                           painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
-
-                       }
-                       painter->setPen(Qt::blue);
-                    }
-
-//                    qDebug("spi");
-                    break;
-                case 2:
-                    {
-                    parc = (GeometryArc *)pg;
-                    R = abs(1.0/parc->GetCurvature());
-                    if(parc->GetCurvature() > 0)
+                    painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
+                    
+                }
+                painter->setPen(Qt::blue);
+            }
+                
+                //                    qDebug("spi");
+                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);
+                }
+                
+                int k;
+                int ncount = parc->GetLength() * mnfac ;
+                double curv = parc->GetCurvature();
+                double hdgstep;
+                double hdg0 = parc->GetHdg();
+                double hdgnow = parc->GetHdg();
+                if(ncount > 0) hdgstep= (parc->GetLength()/R)/ncount;
+                for(k=0;k<ncount;k++)
+                {
+                    double x_draw,y_draw;
+                    
+                    if(curv > 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);
+                        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
                     {
-                        x_center = pg->GetX() + R *cos(pg->GetHdg() -M_PI/2.0);
-                        y_center = pg->GetY() + R * sin(pg->GetHdg() - M_PI/2.0);
-                    }
-
-                    int k;
-                    int ncount = parc->GetLength() * mnfac ;
-                    double curv = parc->GetCurvature();
-                    double hdgstep;
-                    double hdg0 = parc->GetHdg();
-                    double hdgnow = parc->GetHdg();
-                    if(ncount > 0) hdgstep= (parc->GetLength()/R)/ncount;
-                    for(k=0;k<ncount;k++)
-                    {
-                        double x_draw,y_draw;
-
-                        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);
-                        }
-                        x_draw = x_draw + mfViewMoveX;
-                        y_draw = y_draw + mfViewMoveY;
-                        painter->drawPoint(x_draw * mnfac ,y_draw * mnfac *(-1));
-                    }
+                        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);
                     }
-                    break;
-                case 3:
-                    {
-                    painter->setPen(Qt::red);
-                    ppoly = (GeometryPoly3 *)pg;
-                    x = pg->GetX();
-                    y = pg->GetY();
-                    double A,B,C,D;
-                    A = ppoly->GetA();
-                    B = ppoly->GetB();
-                    C = ppoly->GetC();
-                    D = ppoly->GetD();
-                    const double steplim = 0.1;
-                    double du = steplim;
-                    double u = 0;
-                    double v = 0;
-                    double oldx,oldy;
-                    oldx = x;
-                    oldy = y;
-                    double xstart,ystart;
-                    xstart = x;
-                    ystart = y;
-                    double hdgstart = ppoly->GetHdg();
-                    double flen = 0;
-                    while(flen < ppoly->GetLength())
-                    {
-//                        double fdis = 0;
-//                        v = A + B*u + C*u*u + D*u*u*u;
-//                        x = xstart + u*cos(hdgstart) - v*sin(hdgstart);
-//                        y = ystart + u*sin(hdgstart) + v*cos(hdgstart);
-//                        fdis = sqrt(pow(x- oldx,2)+pow(y-oldy,2));
-//                        oldx = x;
-//                        oldy = y;
-//                        if(fdis>(steplim*2.0))du = du/2.0;
-//                        flen = flen + fdis;
-//                        u = u + du;
-                        double fHdg;
-                        ppoly->GetCoords(flen,x,y,fHdg);
- //                       std::cout<<" x: "<<x<<" y:"<<y<<std::endl;
-                        x = x + mfViewMoveX;
-                        y = y + mfViewMoveY;
-                        painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
-                        flen = flen + steplim;
-                    }
-                    painter->setPen(Qt::blue);
-                    }
-                    break;
-                case 4:
-                    {
-                    ppp3 = (GeometryParamPoly3 * )pg;
-                    int ncount = ppp3->GetLength()* mnfac;
-                    double sstep;
-                    if(ncount > 0)sstep = ppp3->GetLength()/ncount;
-                    else sstep = 10000.0;
-                    double s = 0;
-                    while(s < ppp3->GetLength())
-                    {
-                        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();
-                        x = x + mfViewMoveX;
-                        y = y + mfViewMoveY;
-                        painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
-                        s = s+ sstep;
-                    }
-                    }
-                    break;
-                default:
-                    break;
+                    x_draw = x_draw + mfViewMoveX;
+                    y_draw = y_draw + mfViewMoveY;
+                    painter->drawPoint(x_draw * mnfac ,y_draw * mnfac *(-1));
                 }
-
-       //         painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
-
             }
+                break;
+            case 3:
+            {
+                painter->setPen(Qt::red);
+                ppoly = (GeometryPoly3 *)pg;
+                x = pg->GetX();
+                y = pg->GetY();
+                double A,B,C,D;
+                A = ppoly->GetA();
+                B = ppoly->GetB();
+                C = ppoly->GetC();
+                D = ppoly->GetD();
+                const double steplim = 0.1;
+                double du = steplim;
+                double u = 0;
+                double v = 0;
+                double oldx,oldy;
+                oldx = x;
+                oldy = y;
+                double xstart,ystart;
+                xstart = x;
+                ystart = y;
+                double hdgstart = ppoly->GetHdg();
+                double flen = 0;
+                while(flen < ppoly->GetLength())
+                {
+                    //                        double fdis = 0;
+                    //                        v = A + B*u + C*u*u + D*u*u*u;
+                    //                        x = xstart + u*cos(hdgstart) - v*sin(hdgstart);
+                    //                        y = ystart + u*sin(hdgstart) + v*cos(hdgstart);
+                    //                        fdis = sqrt(pow(x- oldx,2)+pow(y-oldy,2));
+                    //                        oldx = x;
+                    //                        oldy = y;
+                    //                        if(fdis>(steplim*2.0))du = du/2.0;
+                    //                        flen = flen + fdis;
+                    //                        u = u + du;
+                    double fHdg;
+                    ppoly->GetCoords(flen,x,y,fHdg);
+                    //                       std::cout<<" x: "<<x<<" y:"<<y<<std::endl;
+                    x = x + mfViewMoveX;
+                    y = y + mfViewMoveY;
+                    painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
+                    flen = flen + steplim;
+                }
+                painter->setPen(Qt::blue);
+            }
+                break;
+            case 4:
+            {
+                ppp3 = (GeometryParamPoly3 * )pg;
+                int ncount = ppp3->GetLength()* mnfac;
+                double sstep;
+                if(ncount > 0)sstep = ppp3->GetLength()/ncount;
+                else sstep = 10000.0;
+                double s = 0;
+                while(s < ppp3->GetLength())
+                {
+                    double fhdg;
+                    ppp3->GetCoords(ppp3->GetS() + s,x,y,fhdg);
+//                    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();
+                    x = x + mfViewMoveX;
+                    y = y + mfViewMoveY;
+                    painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
+                    s = s+ sstep;
+                }
+            }
+                break;
+            default:
+                break;
+            }
+            
+            //         painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
+            
         }
-
-
-
-        if(mbClick)
-        {
+    }
+    
+    
+    
+    if(mbClick)
+    {
         painter->setPen(Qt::red);
         painter->drawEllipse(QPoint(mClickX ,mClickY),mnMarkSize,mnMarkSize);
-
+        
         painter->setPen(Qt::black);
-        }
-
+    }
+    
     if(mbSetObj)
     {
         painter->setPen(Qt::green);
         painter->drawRect(mfObjX*mnfac-mnMarkSize,mfObjY*mnfac*(-1)-mnMarkSize,mnMarkSize*2,mnMarkSize*2);
-
+        
         painter->setPen(Qt::black);
     }
-
+    
     if(mbSetManualStart)
     {
         painter->setPen(Qt::blue);
         QPoint xP[4];
-
+        
         double x[4],y[4];
         double x0[4],y0[4];
         double xu = mnMarkSize;
@@ -490,18 +492,18 @@ void MainWindow::ExecPainter()
             xP[i].setX(mfManualX*mnfac  + x[i]);
             xP[i].setY(mfManualY*mnfac*(-1) + y[i]);
         }
-
-//        painter->drawRect(mfManualX*mnfac-5,mfManualY*mnfac*(-1)-5,10,10);
-
+        
+        //        painter->drawRect(mfManualX*mnfac-5,mfManualY*mnfac*(-1)-5,10,10);
+        
         painter->drawPolygon(xP,4);
         painter->setPen(Qt::black);
     }
-
+    
     if(mbGPSViewUpdate)
     {
         painter->setPen(Qt::green);
         QPoint xP[4];
-
+        
         double x[4],y[4];
         double x0[4],y0[4];
         double xu = mnMarkSize;
@@ -517,34 +519,34 @@ void MainWindow::ExecPainter()
             xP[i].setX((mfNowX + mfViewMoveX)*mnfac  + x[i]);
             xP[i].setY((mfNowY + mfViewMoveY)*mnfac*(-1) + y[i]);
         }
-
-//        painter->drawRect(mfManualX*mnfac-5,mfManualY*mnfac*(-1)-5,10,10);
-
+        
+        //        painter->drawRect(mfManualX*mnfac-5,mfManualY*mnfac*(-1)-5,10,10);
+        
         painter->drawPolygon(xP,4);
         painter->setPen(Qt::black);
         mbGPSViewUpdate = false;
     }
-
-       painter->setPen(Qt::green);
-        mMutexNavi.lock();
-        double x0,y0;
-        GaussProjCal(glon0,glat0,&x0,&y0);
-        int nMapSize = m_navigation_data.size();
-        for(i=0;i<nMapSize;i++)
-        {
-            double x,y;
-            GaussProjCal(m_navigation_data.at(i)->gps_lng,m_navigation_data.at(i)->gps_lat,&x,&y);
-            x = x-x0;
-            y= y-y0;
-
-            x = x + mfViewMoveX;
-            y = y + mfViewMoveY;
-            painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
-        }
-        mMutexNavi.unlock();
-
-
-        painter->end();
+    
+    painter->setPen(Qt::green);
+    mMutexNavi.lock();
+    double x0,y0;
+    GaussProjCal(glon0,glat0,&x0,&y0);
+    int nMapSize = m_navigation_data.size();
+    for(i=0;i<nMapSize;i++)
+    {
+        double x,y;
+        GaussProjCal(m_navigation_data.at(i)->gps_lng,m_navigation_data.at(i)->gps_lat,&x,&y);
+        x = x-x0;
+        y= y-y0;
+        
+        x = x + mfViewMoveX;
+        y = y + mfViewMoveY;
+        painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
+    }
+    mMutexNavi.unlock();
+    
+    
+    painter->end();
 }
 
 //刷新