2 years ago · 9754ca8be0
--- a/src/common/modulecomm/shm/procsm_if.cpp
+++ b/src/common/modulecomm/shm/procsm_if.cpp
@@ -198,7 +198,7 @@ void procsm_if_readthread::run()
 
				 }
			
 
				 
			
 
				 
			
 
				-mmutex.unlock();
			
 
				+
			
 
				 #ifdef USE_GROUPUDP
			
 
				     void procsm_if_readthread::WakeRead()
			
 
				     {
			
--- a/src/tool/RemoteCtrl_Wide/BaiDuMap.html
+++ b/src/tool/RemoteCtrl_Wide/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/tool/RemoteCtrl_Wide/RemoteCtrl.xml
+++ b/src/tool/RemoteCtrl_Wide/RemoteCtrl.xml
@@ -0,0 +1,11 @@
 
				+<xml>	
			
 
				+	<node name="RemoteCtrl">
			
 
				+		<param name="gpsimu" value="hcp2_gpsimu" />
			
 
				+		<param name="PicFront" value="picfront" />
			
 
				+		<param name="PicRear" value="picrear" />
			
 
				+		<param name="PicLeft" value="picleft" />
			
 
				+		<param name="PicRight" value="picright" />
			
 
				+		<param name="joypath" value="/dev/input/js0" />
			
 
				+		<param name="yamlpath" value="./driver_cloud_grpc_pc.yaml" />
			
 
				+	</node>
			
 
				+</xml>
			
--- a/src/tool/RemoteCtrl_Wide/RemoteCtrl_Wide.pro
+++ b/src/tool/RemoteCtrl_Wide/RemoteCtrl_Wide.pro
@@ -0,0 +1,189 @@
 
				+
			
 
				+
			
 
				+!include(../../../include/common.pri ) {
			
 
				+    error( "Couldn't find the common.pri file!" )
			
 
				+}
			
 
				+
			
 
				+ QT       += core gui  xml network
			
 
				+
			
 
				+
			
 
				+#contains(QMAKE_HOST.arch, aarch64){
			
 
				+#    QT       += core gui  xml #webenginewidgets    #AGX
			
 
				+#    DEFINES += NVIDIA_AGX
			
 
				+#}else{
			
 
				+#    QT       += core gui  xml network  #webenginewidgets    #x86
			
 
				+#}
			
 
				+
			
 
				+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
			
 
				+
			
 
				+
			
 
				+system(protoc -I=./../../include/proto3 --cpp_out=./../../include/msgtype   ./../../include/proto3/uploadthreadmsg.proto)
			
 
				+# 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 += \
			
 
				+    ../../common/common/getinterface/get_interface.cpp \
			
 
				+    ../../common/common/md5/md5_encode.cpp \
			
 
				+    ../../include/msgtype/gps.pb.cc \
			
 
				+    ../../include/msgtype/gpsimu.pb.cc \
			
 
				+    ../../include/msgtype/imu.pb.cc \
			
 
				+    ../../include/msgtype/plugmsg.pb.cc \
			
 
				+    ../../include/msgtype/rawpic.pb.cc \
			
 
				+    ../../include/msgtype/remotectrl.pb.cc \
			
 
				+    ../../plugin/common/pluginapp.cpp \
			
 
				+    dialogsetpassword.cpp \
			
 
				+    dialogsetting.cpp \
			
 
				+    joyreadthread.cpp \
			
 
				+    main.cpp \
			
 
				+    mainwindow.cpp \
			
 
				+    myview.cpp \
			
 
				+    remotectrlini.cpp \
			
 
				+    speed.cpp \
			
 
				+    ../../driver/driver_cloud_grpc_thread/uploadthreadmsg.grpc.pb.cc \
			
 
				+    ../../include/msgtype/cloud.pb.cc \
			
 
				+    ../../include/msgtype/uploadthreadmsg.pb.cc \
			
 
				+    grpcpc.cpp \
			
 
				+    remotecomm.cpp \
			
 
				+    ../../driver/driver_h264_dec/ivh264framedecode.cpp \
			
 
				+    rtspclientdown.cpp
			
 
				+
			
 
				+HEADERS += \
			
 
				+    ../../common/common/getinterface/get_interface.h \
			
 
				+    ../../common/common/md5/md5_encode.h \
			
 
				+    ../../include/msgtype/gps.pb.h \
			
 
				+    ../../include/msgtype/gpsimu.pb.h \
			
 
				+    ../../include/msgtype/imu.pb.h \
			
 
				+    ../../include/msgtype/plugmsg.pb.h \
			
 
				+    ../../include/msgtype/rawpic.pb.h \
			
 
				+    ../../include/msgtype/remotectrl.pb.h \
			
 
				+    ../../plugin/common/pluginapp.h \
			
 
				+    dialogsetpassword.h \
			
 
				+    dialogsetting.h \
			
 
				+    joyreadthread.h \
			
 
				+    mainwindow.h \
			
 
				+    myview.h \
			
 
				+    pos_def.h \
			
 
				+    remotectrlini.h \
			
 
				+    speed.h \
			
 
				+    ../../driver/driver_cloud_grpc_thread/uploadthreadmsg.grpc.pb.h \
			
 
				+    ../../include/msgtype/cloud.pb.h \
			
 
				+    ../../include/msgtype/uploadthreadmsg.pb.h \
			
 
				+    grpcpc.h \
			
 
				+    remotecomm.h \
			
 
				+    ../../driver/driver_h264_dec/ivh264framedecode.h \
			
 
				+    rtspclientdown.h
			
 
				+
			
 
				+FORMS += \
			
 
				+    dialogsetpassword.ui \
			
 
				+    dialogsetting.ui \
			
 
				+    mainwindow.ui
			
 
				+
			
 
				+# Default rules for deployment.
			
 
				+qnx: target.path = /tmp/$${TARGET}/bin
			
 
				+else: unix:!android: target.path = /opt/$${TARGET}/bin
			
 
				+!isEmpty(target.path): INSTALLS += target
			
 
				+
			
 
				+INCLUDEPATH += /usr/include/opencv4
			
 
				+
			
 
				+
			
 
				+
			
 
				+INCLUDEPATH += $$PWD/../../driver/driver_cloud_grpc_thread
			
 
				+
			
 
				+INCLUDEPATH += $$PWD/../../plugin/common
			
 
				+
			
 
				+
			
 
				+INCLUDEPATH += $$PWD/../../driver/driver_h264_dec
			
 
				+
			
 
				+LIBS += -lprotobuf -lyaml-cpp
			
 
				+
			
 
				+
			
 
				+unix: LIBS += -lopencv_highgui -lopencv_core -lopencv_imgproc -lopencv_imgcodecs -lopencv_video  -lopencv_videoio -lpthread #-lopencv_shape
			
 
				+
			
 
				+
			
 
				+#INCLUDEPATH += $$PWD/../../../include/
			
 
				+#LIBS += -L$$PWD/../../../bin/ -lxmlparam -lmodulecomm -livbacktrace #-livlog -livfault
			
 
				+
			
 
				+INCLUDEPATH += $$PWD/../../../thirdpartylib/AGX/qtwebenginewidgets/include/include     # If AGX, Need this line,if x86 please comment this line
			
 
				+
			
 
				+contains(QMAKE_HOST.arch, aarch64){
			
 
				+    LIBS += -lQt5WebEngineWidgets  # If AGX, sudo apt-get install libqt5webenginewidgets5, If x86 comment this line
			
 
				+}
			
 
				+
			
 
				+unix: LIBS += -lQt5WebEngineWidgets
			
 
				+
			
 
				+RESOURCES += \
			
 
				+    remotectrl.qrc
			
 
				+
			
 
				+TRANSLATIONS = zh_CN.ts\
			
 
				+            en_CN.ts
			
 
				+
			
 
				+unix: LIBS += -lboost_system
			
 
				+
			
 
				+win32: DEFINES +=  _WIN32_WINNT=0x0602
			
 
				+!include(../../../include/common.pri ) {
			
 
				+    error( "Couldn't find the common.pri file!" )
			
 
				+}
			
 
				+
			
 
				+!include(../../../include/ivprotobuf.pri ) {
			
 
				+    error( "Couldn't find the ivprotobuf.pri file!" )
			
 
				+}
			
 
				+
			
 
				+!include(../../../include/ivboost.pri ) {
			
 
				+    error( "Couldn't find the ivboost.pri file!" )
			
 
				+}
			
 
				+
			
 
				+!include(../../../include/ivgrpc.pri ) {
			
 
				+    error( "Couldn't find the ivgrpc.pri file!" )
			
 
				+}
			
 
				+
			
 
				+!include(../../../include/ivyaml-cpp.pri ) {
			
 
				+    error( "Couldn't find the ivyaml-cpp.pri file!" )
			
 
				+}
			
 
				+
			
 
				+!include(../../../include/ivopencv.pri ) {
			
 
				+    error( "Couldn't find the ivopencv.pri file!" )
			
 
				+}
			
 
				+
			
 
				+INCLUDEPATH += $$PWD/../../../thirdpartylib/grpc/include
			
 
				+
			
 
				+LIBS += -L$$PWD/../../../thirdpartylib/grpc/lib
			
 
				+
			
 
				+
			
 
				+unix:LIBS += -lgrpc++_unsecure -lgrpc++_reflection -labsl_raw_hash_set -labsl_hashtablez_sampler -labsl_exponential_biased -labsl_hash -labsl_bad_variant_access -labsl_city -labsl_status -labsl_cord -labsl_str_format_internal -labsl_synchronization -labsl_graphcycles_internal -labsl_symbolize -labsl_demangle_internal -labsl_stacktrace -labsl_debugging_internal -labsl_malloc_internal -labsl_time -labsl_time_zone -labsl_civil_time -labsl_strings -labsl_strings_internal -labsl_throw_delegate -labsl_int128 -labsl_base -labsl_spinlock_wait -labsl_bad_optional_access -labsl_raw_logging_internal -labsl_log_severity
			
 
				+
			
 
				+INCLUDEPATH += $$PWD/../../common/common/md5
			
 
				+INCLUDEPATH += $$PWD/../../common/common/getinterface
			
 
				+
			
 
				+#DEFINES += USE_QSV
			
 
				+
			
 
				+
			
 
				+if(contains(DEFINES,USE_QSV)){
			
 
				+INCLUDEPATH += /usr/local/include
			
 
				+INCLUDEPATH += /opt/intel/mediasdk/include
			
 
				+LIBS += /opt/intel/mediasdk/lib/libmfx.so.1
			
 
				+LIBS += -L/opt/intel/mediasdk/lib -lmfx
			
 
				+LIBS += /home/yuchuli/File1/git/ffmpeg/lib/libavcodec.so.59
			
 
				+LIBS += /home/yuchuli/File1/git/ffmpeg/lib/libavutil.so.57
			
 
				+LIBS += /home/yuchuli/File1/git/ffmpeg/lib/libavdevice.so.59
			
 
				+LIBS += /home/yuchuli/File1/git/ffmpeg/lib/libavformat.so.59
			
 
				+
			
 
				+
			
 
				+} else {
			
 
				+
			
 
				+INCLUDEPATH += /usr/include/x86_64-linux-gnu
			
 
				+unix: LIBS +=  -lavcodec -lavformat -lavutil
			
 
				+}
			
 
				+
			
 
				+INCLUDEPATH +=  D:\ffmpegwin\include
			
 
				+
			
 
				+win32:LIBS += -LD:\ffmpegwin\bin
			
 
				+win32:LIBS += -lavcodec-58 -lavformat-58 -lavutil-56  -lwsock32 -lws2_32
			
 
				+
			
--- a/src/tool/RemoteCtrl_Wide/car.png
+++ b/src/tool/RemoteCtrl_Wide/car.png
--- a/src/tool/RemoteCtrl_Wide/dialogsetpassword.cpp
+++ b/src/tool/RemoteCtrl_Wide/dialogsetpassword.cpp
@@ -0,0 +1,78 @@
 
				+#include "dialogsetpassword.h"
			
 
				+#include "ui_dialogsetpassword.h"
			
 
				+
			
 
				+#include <QMessageBox>
			
 
				+#include <iostream>
			
 
				+
			
 
				+#include <remotectrlini.h>
			
 
				+
			
 
				+DialogSetPassWord::DialogSetPassWord(DialogSetPassWord_Type xtype,std::string strmd5, QWidget *parent) :
			
 
				+    QDialog(parent),
			
 
				+    ui(new Ui::DialogSetPassWord)
			
 
				+{
			
 
				+    ui->setupUi(this);
			
 
				+
			
 
				+    mType = xtype;
			
 
				+
			
 
				+    if(xtype == DialogSetPassWord_Type::QUERY)
			
 
				+    {
			
 
				+        setWindowTitle("设置查询密码");
			
 
				+    }
			
 
				+
			
 
				+    if(xtype == DialogSetPassWord_Type::CTRL)
			
 
				+    {
			
 
				+        setWindowTitle("设置控制密码");
			
 
				+    }
			
 
				+
			
 
				+    mstrmd5 = strmd5;
			
 
				+}
			
 
				+
			
 
				+DialogSetPassWord::~DialogSetPassWord()
			
 
				+{
			
 
				+    delete ui;
			
 
				+}
			
 
				+
			
 
				+void DialogSetPassWord::on_pushButton_Set_clicked()
			
 
				+{
			
 
				+    std::string stroldpass = ui->lineEdit_OldPass->text().toStdString();
			
 
				+    std::string strnewpass = ui->lineEdit_NewPass->text().toStdString();
			
 
				+    if(stroldpass =="")
			
 
				+    {
			
 
				+        QMessageBox::warning(this,"Warning"," Old Pass is NULL",QMessageBox::YesAll);
			
 
				+        return;
			
 
				+    }
			
 
				+
			
 
				+    if(strnewpass == "")
			
 
				+    {
			
 
				+        QMessageBox::warning(this,"Warning"," New Pass is NULL",QMessageBox::YesAll);
			
 
				+        return;
			
 
				+    }
			
 
				+
			
 
				+    Md5Encode encode_obj;
			
 
				+    std::string stroldmd5 = encode_obj.Encode(stroldpass);
			
 
				+
			
 
				+    if(stroldmd5 != mstrmd5)
			
 
				+    {
			
 
				+        QMessageBox::warning(this,"Warning"," Old PassWord Error",QMessageBox::YesAll);
			
 
				+        return;
			
 
				+    }
			
 
				+
			
 
				+    std::string strnewmd5 = encode_obj.Encode(strnewpass);
			
 
				+
			
 
				+    std::cout<<"New Pass: "<<strnewmd5<<std::endl;
			
 
				+
			
 
				+    if(mType == DialogSetPassWord_Type::QUERY)
			
 
				+        RemoteCtrlIni::Inst().SetQueryMD5(strnewmd5);
			
 
				+    else
			
 
				+       ServiceRCIni.SetCtrlMD5(strnewmd5);
			
 
				+
			
 
				+    QMessageBox::information(this,"Info","修改密码成功",QMessageBox::YesAll);
			
 
				+
			
 
				+    this->accept();
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void DialogSetPassWord::on_pushButton_Close_clicked()
			
 
				+{
			
 
				+    this->accept();
			
 
				+}
			
--- a/src/tool/RemoteCtrl_Wide/dialogsetpassword.h
+++ b/src/tool/RemoteCtrl_Wide/dialogsetpassword.h
@@ -0,0 +1,39 @@
 
				+#ifndef DIALOGSETPASSWORD_H
			
 
				+#define DIALOGSETPASSWORD_H
			
 
				+
			
 
				+#include <QDialog>
			
 
				+
			
 
				+#include "md5_encode.h"
			
 
				+
			
 
				+namespace Ui {
			
 
				+class DialogSetPassWord;
			
 
				+}
			
 
				+
			
 
				+enum DialogSetPassWord_Type
			
 
				+{
			
 
				+    QUERY,
			
 
				+    CTRL
			
 
				+};
			
 
				+
			
 
				+class DialogSetPassWord : public QDialog
			
 
				+{
			
 
				+    Q_OBJECT
			
 
				+
			
 
				+public:
			
 
				+    explicit DialogSetPassWord(DialogSetPassWord_Type xtype,std::string strmd5, QWidget *parent = nullptr);
			
 
				+    ~DialogSetPassWord();
			
 
				+
			
 
				+private slots:
			
 
				+    void on_pushButton_Set_clicked();
			
 
				+
			
 
				+    void on_pushButton_Close_clicked();
			
 
				+
			
 
				+private:
			
 
				+    Ui::DialogSetPassWord *ui;
			
 
				+
			
 
				+    std::string mstrmd5;
			
 
				+
			
 
				+    DialogSetPassWord_Type mType;
			
 
				+};
			
 
				+
			
 
				+#endif // DIALOGSETPASSWORD_H
			
--- a/src/tool/RemoteCtrl_Wide/dialogsetpassword.ui
+++ b/src/tool/RemoteCtrl_Wide/dialogsetpassword.ui
@@ -0,0 +1,97 @@
 
				+<?xml version="1.0" encoding="UTF-8"?>
			
 
				+<ui version="4.0">
			
 
				+ <class>DialogSetPassWord</class>
			
 
				+ <widget class="QDialog" name="DialogSetPassWord">
			
 
				+  <property name="geometry">
			
 
				+   <rect>
			
 
				+    <x>0</x>
			
 
				+    <y>0</y>
			
 
				+    <width>504</width>
			
 
				+    <height>300</height>
			
 
				+   </rect>
			
 
				+  </property>
			
 
				+  <property name="windowTitle">
			
 
				+   <string>Dialog</string>
			
 
				+  </property>
			
 
				+  <widget class="QLineEdit" name="lineEdit_NewPass">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>180</x>
			
 
				+     <y>103</y>
			
 
				+     <width>221</width>
			
 
				+     <height>40</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QLineEdit" name="lineEdit_OldPass">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>180</x>
			
 
				+     <y>44</y>
			
 
				+     <width>221</width>
			
 
				+     <height>41</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QLabel" name="label_2">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>60</x>
			
 
				+     <y>100</y>
			
 
				+     <width>101</width>
			
 
				+     <height>41</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+   <property name="text">
			
 
				+    <string>新密码</string>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QLabel" name="label">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>60</x>
			
 
				+     <y>40</y>
			
 
				+     <width>101</width>
			
 
				+     <height>41</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+   <property name="text">
			
 
				+    <string>原密码</string>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QPushButton" name="pushButton_Set">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>60</x>
			
 
				+     <y>200</y>
			
 
				+     <width>151</width>
			
 
				+     <height>51</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+   <property name="text">
			
 
				+    <string>设置</string>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QPushButton" name="pushButton_Close">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>300</x>
			
 
				+     <y>200</y>
			
 
				+     <width>151</width>
			
 
				+     <height>51</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+   <property name="text">
			
 
				+    <string>关闭</string>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+ </widget>
			
 
				+ <tabstops>
			
 
				+  <tabstop>lineEdit_OldPass</tabstop>
			
 
				+  <tabstop>lineEdit_NewPass</tabstop>
			
 
				+  <tabstop>pushButton_Set</tabstop>
			
 
				+  <tabstop>pushButton_Close</tabstop>
			
 
				+ </tabstops>
			
 
				+ <resources/>
			
 
				+ <connections/>
			
 
				+</ui>
			
--- a/src/tool/RemoteCtrl_Wide/dialogsetting.cpp
+++ b/src/tool/RemoteCtrl_Wide/dialogsetting.cpp
@@ -0,0 +1,69 @@
 
				+#include "dialogsetting.h"
			
 
				+#include "ui_dialogsetting.h"
			
 
				+
			
 
				+#include <QMessageBox>
			
 
				+
			
 
				+#include "remotectrlini.h"
			
 
				+
			
 
				+DialogSetting::DialogSetting(QWidget *parent) :
			
 
				+    QDialog(parent),
			
 
				+    ui(new Ui::DialogSetting)
			
 
				+{
			
 
				+    ui->setupUi(this);
			
 
				+
			
 
				+
			
 
				+    mstrserverip = ServiceRCIni.GetServerIP();
			
 
				+    mstrserverport = ServiceRCIni.GetServerPort();
			
 
				+    mstrinterval = ServiceRCIni.GetInterval();
			
 
				+    mstrVIN = ServiceRCIni.GetVIN();
			
 
				+
			
 
				+
			
 
				+    ui->lineEdit_serverip->setText(mstrserverip.data());
			
 
				+    ui->lineEdit_serverport->setText(mstrserverport.data());
			
 
				+    ui->lineEdit_queryinterval->setText(mstrinterval.data());
			
 
				+    ui->lineEdit_VIN->setText(mstrVIN.data());
			
 
				+
			
 
				+    ui->comboBox_language->addItem("Chinese");
			
 
				+    ui->comboBox_language->addItem("English");
			
 
				+
			
 
				+    if(ServiceRCIni.GetLanguage() == "Chinese")ui->comboBox_language->setCurrentIndex(0);
			
 
				+    else ui->comboBox_language->setCurrentIndex(1);
			
 
				+
			
 
				+
			
 
				+    setWindowTitle("Set Server");
			
 
				+
			
 
				+}
			
 
				+
			
 
				+DialogSetting::~DialogSetting()
			
 
				+{
			
 
				+    delete ui;
			
 
				+}
			
 
				+
			
 
				+void DialogSetting::on_pushButton_Set_clicked()
			
 
				+{
			
 
				+    mstrserverip = ui->lineEdit_serverip->text().toStdString();
			
 
				+    mstrserverport = ui->lineEdit_serverport->text().toStdString();
			
 
				+    mstrinterval = ui->lineEdit_queryinterval->text().toStdString();
			
 
				+    mstrVIN = ui->lineEdit_VIN->text().toStdString();
			
 
				+
			
 
				+    ServiceRCIni.SetServerIP(mstrserverip);
			
 
				+    ServiceRCIni.SetServerPort(mstrserverport);
			
 
				+    ServiceRCIni.SetInterval(mstrinterval);
			
 
				+    ServiceRCIni.SetVIN(mstrVIN);
			
 
				+
			
 
				+    if(ui->comboBox_language->currentIndex() == 0)
			
 
				+    {
			
 
				+        ServiceRCIni.SetLanguase("Chinese");
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        ServiceRCIni.SetLanguase("English");
			
 
				+    }
			
 
				+
			
 
				+    this->accept();
			
 
				+}
			
 
				+
			
 
				+void DialogSetting::on_pushButton_Close_clicked()
			
 
				+{
			
 
				+    this->reject();
			
 
				+}
			
--- a/src/tool/RemoteCtrl_Wide/dialogsetting.h
+++ b/src/tool/RemoteCtrl_Wide/dialogsetting.h
@@ -0,0 +1,33 @@
 
				+#ifndef DIALOGSETTING_H
			
 
				+#define DIALOGSETTING_H
			
 
				+
			
 
				+#include <QDialog>
			
 
				+#include <QSettings>
			
 
				+
			
 
				+namespace Ui {
			
 
				+class DialogSetting;
			
 
				+}
			
 
				+
			
 
				+class DialogSetting : public QDialog
			
 
				+{
			
 
				+    Q_OBJECT
			
 
				+
			
 
				+public:
			
 
				+    explicit DialogSetting(QWidget *parent = nullptr);
			
 
				+    ~DialogSetting();
			
 
				+
			
 
				+private slots:
			
 
				+    void on_pushButton_Set_clicked();
			
 
				+
			
 
				+    void on_pushButton_Close_clicked();
			
 
				+
			
 
				+private:
			
 
				+    Ui::DialogSetting *ui;
			
 
				+
			
 
				+    std::string mstrserverip;
			
 
				+    std::string mstrserverport;
			
 
				+    std::string mstrinterval;
			
 
				+    std::string mstrVIN;
			
 
				+};
			
 
				+
			
 
				+#endif // DIALOGSETTING_H
			
--- a/src/tool/RemoteCtrl_Wide/dialogsetting.ui
+++ b/src/tool/RemoteCtrl_Wide/dialogsetting.ui
@@ -0,0 +1,160 @@
 
				+<?xml version="1.0" encoding="UTF-8"?>
			
 
				+<ui version="4.0">
			
 
				+ <class>DialogSetting</class>
			
 
				+ <widget class="QDialog" name="DialogSetting">
			
 
				+  <property name="geometry">
			
 
				+   <rect>
			
 
				+    <x>0</x>
			
 
				+    <y>0</y>
			
 
				+    <width>617</width>
			
 
				+    <height>384</height>
			
 
				+   </rect>
			
 
				+  </property>
			
 
				+  <property name="windowTitle">
			
 
				+   <string>Dialog</string>
			
 
				+  </property>
			
 
				+  <widget class="QPushButton" name="pushButton_Set">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>70</x>
			
 
				+     <y>320</y>
			
 
				+     <width>111</width>
			
 
				+     <height>41</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+   <property name="text">
			
 
				+    <string>设置</string>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QPushButton" name="pushButton_Close">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>350</x>
			
 
				+     <y>320</y>
			
 
				+     <width>111</width>
			
 
				+     <height>41</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+   <property name="text">
			
 
				+    <string>关闭</string>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QLabel" name="label">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>50</x>
			
 
				+     <y>20</y>
			
 
				+     <width>101</width>
			
 
				+     <height>41</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+   <property name="text">
			
 
				+    <string>服务器 IP</string>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QLineEdit" name="lineEdit_serverip">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>170</x>
			
 
				+     <y>24</y>
			
 
				+     <width>221</width>
			
 
				+     <height>41</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QLabel" name="label_2">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>50</x>
			
 
				+     <y>80</y>
			
 
				+     <width>101</width>
			
 
				+     <height>41</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+   <property name="text">
			
 
				+    <string>服务器端口</string>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QLabel" name="label_3">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>50</x>
			
 
				+     <y>140</y>
			
 
				+     <width>111</width>
			
 
				+     <height>41</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+   <property name="text">
			
 
				+    <string>查询间隔(ms)</string>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QLineEdit" name="lineEdit_serverport">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>170</x>
			
 
				+     <y>83</y>
			
 
				+     <width>113</width>
			
 
				+     <height>40</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QLineEdit" name="lineEdit_queryinterval">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>170</x>
			
 
				+     <y>140</y>
			
 
				+     <width>113</width>
			
 
				+     <height>40</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QLineEdit" name="lineEdit_VIN">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>170</x>
			
 
				+     <y>196</y>
			
 
				+     <width>221</width>
			
 
				+     <height>41</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QLabel" name="label_5">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>50</x>
			
 
				+     <y>196</y>
			
 
				+     <width>101</width>
			
 
				+     <height>41</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+   <property name="text">
			
 
				+    <string>车辆识别码</string>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QLabel" name="label_6">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>50</x>
			
 
				+     <y>260</y>
			
 
				+     <width>101</width>
			
 
				+     <height>41</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+   <property name="text">
			
 
				+    <string>Language</string>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+  <widget class="QComboBox" name="comboBox_language">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>170</x>
			
 
				+     <y>260</y>
			
 
				+     <width>211</width>
			
 
				+     <height>41</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+  </widget>
			
 
				+ </widget>
			
 
				+ <resources/>
			
 
				+ <connections/>
			
 
				+</ui>
			
--- a/src/tool/RemoteCtrl_Wide/driver_cloud_grpc_pc.yaml
+++ b/src/tool/RemoteCtrl_Wide/driver_cloud_grpc_pc.yaml
@@ -0,0 +1,31 @@
 
				+
			
 
				+
			
 
				+querymessage:
			
 
				+
			
 
				+  hcp2_gpsimu:
			
 
				+    msgname: hcp2_gpsimu
			
 
				+    buffersize: 10000
			
 
				+    buffercount: 1
			
 
				+  simpletrace:
			
 
				+    msgname: simpletrace
			
 
				+    buffersize: 100000
			
 
				+    buffercount: 1
			
 
				+
			
 
				+ctrlmessage:
			
 
				+  xodrdst:
			
 
				+    msgname: xodrdst
			
 
				+    buffersize: 1000
			
 
				+    buffercount: 1
			
 
				+  xodrreq:
			
 
				+    msgname: xodrreq
			
 
				+    buffersize: 1000
			
 
				+    buffercount: 1
			
 
				+    bimportant: true
			
 
				+    keeptime: 3000
			
 
				+  remotectrl:
			
 
				+    msgname: remotectrl
			
 
				+    buffersize: 1000
			
 
				+    buffercount: 1
			
 
				+
			
 
				+
			
 
				+
			
--- a/src/tool/RemoteCtrl_Wide/en_CN.qm
+++ b/src/tool/RemoteCtrl_Wide/en_CN.qm
--- a/src/tool/RemoteCtrl_Wide/grpcpc.cpp
+++ b/src/tool/RemoteCtrl_Wide/grpcpc.cpp
@@ -0,0 +1,580 @@
 
				+#include "grpcpc.h"
			
 
				+
			
 
				+#include "remotectrlini.h"
			
 
				+
			
 
				+static grpcpc * ggrpcpc;
			
 
				+
			
 
				+
			
 
				+
			
 
				+grpcpc::grpcpc(std::string stryamlpath)
			
 
				+{
			
 
				+
			
 
				+    (void)stryamlpath;
			
 
				+
			
 
				+    ggrpcpc = this;
			
 
				+
			
 
				+    int i;
			
 
				+
			
 
				+    if(mbUseRTSP == false)
			
 
				+    {
			
 
				+    for(i=0;i<NUM_CAM;i++)
			
 
				+    {
			
 
				+        unsigned int j;
			
 
				+        for(j=0;j<NUM_THREAD_PERCAM;j++)
			
 
				+        {
			
 
				+            mpThread[i*NUM_THREAD_PERCAM + j] = new std::thread(&grpcpc::threadpicdownload,this,i);
			
 
				+        }
			
 
				+    }
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        mstrrtspserverip = ServiceRCIni.GetServerIP();
			
 
				+        std::string strfront = "rtsp://"+mstrrtspserverip+":"+mstrrtspserverport+"/"+gstrVIN+"-front-"+mstrrtsppass;
			
 
				+        mprtspdown[0] = new rtspclientdown(strfront);
			
 
				+        std::string strrear = "rtsp://"+mstrrtspserverip+":"+mstrrtspserverport+"/"+gstrVIN+"-rear-"+mstrrtsppass;
			
 
				+        mprtspdown[1] = new rtspclientdown(strrear);
			
 
				+        std::string strleft = "rtsp://"+mstrrtspserverip+":"+mstrrtspserverport+"/"+gstrVIN+"-left-"+mstrrtsppass;
			
 
				+        mprtspdown[2] = new rtspclientdown(strleft);
			
 
				+        std::string strright = "rtsp://"+mstrrtspserverip+":"+mstrrtspserverport+"/"+gstrVIN+"-right-"+mstrrtsppass;
			
 
				+        mprtspdown[3] = new rtspclientdown(strright);
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+
			
 
				+int grpcpc::Produceh264frame(int ncampos,iv::h264rawframedata & xframe)
			
 
				+{
			
 
				+    mmutexh264frame[ncampos].lock();
			
 
				+    if(mvectorh264frame[ncampos].size() > mnframebuffersize)
			
 
				+    {
			
 
				+            while(mvectorh264frame[ncampos].size()>mnframebuffersize)
			
 
				+            {
			
 
				+                mvectorh264frame[ncampos].erase(mvectorh264frame[ncampos].begin());
			
 
				+                std::cout<<"Because Consume slow. erase a frame."<<std::endl;
			
 
				+            }
			
 
				+    }
			
 
				+    mvectorh264frame[ncampos].push_back(xframe);
			
 
				+    mmutexh264frame[ncampos].unlock();
			
 
				+    mcv[ncampos].notify_all();
			
 
				+    return 0;
			
 
				+}
			
 
				+
			
 
				+int grpcpc::Consumeh264frame(int ncampos,iv::h264rawframedata & xframe)
			
 
				+{
			
 
				+    if(mbUseRTSP)
			
 
				+    {
			
 
				+        return mprtspdown[ncampos]->Getrtspframe(xframe,0);
			
 
				+    }
			
 
				+    int nrtn = 0;
			
 
				+    mmutexh264frame[ncampos].lock();
			
 
				+    if(mvectorh264frame[ncampos].size() == 0)nrtn = 0;
			
 
				+    else
			
 
				+    {
			
 
				+        xframe = mvectorh264frame[ncampos][0];
			
 
				+        mvectorh264frame[ncampos].erase(mvectorh264frame[ncampos].begin());
			
 
				+        nrtn = 1;
			
 
				+    }
			
 
				+    mmutexh264frame[ncampos].unlock();
			
 
				+    return nrtn;
			
 
				+}
			
 
				+
			
 
				+int grpcpc::Consumeh264frame(int ncampos,iv::h264rawframedata & xframe,int nwaitms)
			
 
				+{
			
 
				+    if(mbUseRTSP)
			
 
				+    {
			
 
				+        return mprtspdown[ncampos]->Getrtspframe(xframe,nwaitms);
			
 
				+    }
			
 
				+    int nrtn = 0;
			
 
				+    mmutexh264frame[ncampos].lock();
			
 
				+    if(mvectorh264frame[ncampos].size() == 0)nrtn = 0;
			
 
				+    else
			
 
				+    {
			
 
				+        xframe = mvectorh264frame[ncampos][0];
			
 
				+        mvectorh264frame[ncampos].erase(mvectorh264frame[ncampos].begin());
			
 
				+        nrtn = 1;
			
 
				+    }
			
 
				+    mmutexh264frame[ncampos].unlock();
			
 
				+    if(nrtn == 1)return nrtn;
			
 
				+    if(nwaitms <= 0)return nrtn;
			
 
				+    std::unique_lock<std::mutex> lk(mmutexh264cv[ncampos]);
			
 
				+    if(mcv[ncampos].wait_for(lk, std::chrono::milliseconds(nwaitms)) == std::cv_status::timeout)
			
 
				+    {
			
 
				+        lk.unlock();
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        lk.unlock();
			
 
				+    }
			
 
				+    mmutexh264frame[ncampos].lock();
			
 
				+    if(mvectorh264frame[ncampos].size() == 0)nrtn = 0;
			
 
				+    else
			
 
				+    {
			
 
				+        xframe = mvectorh264frame[ncampos][0];
			
 
				+        mvectorh264frame[ncampos].erase(mvectorh264frame[ncampos].begin());
			
 
				+        nrtn = 1;
			
 
				+    }
			
 
				+    mmutexh264frame[ncampos].unlock();
			
 
				+    return nrtn;
			
 
				+
			
 
				+
			
 
				+}
			
 
				+
			
 
				+
			
 
				+int grpcpc::SetCtrlMsg(std::string strmsgname,char * strdata,int ndatasize)
			
 
				+{
			
 
				+    mmutexctrlmsg.lock();
			
 
				+    if(mvectorctrlmsg.size() == 0)
			
 
				+    {
			
 
				+        iv::cloud::cloudmsg xmsg;
			
 
				+        mvectorctrlmsg.push_back(xmsg);
			
 
				+    }
			
 
				+    iv::cloud::cloudmsg * pmsg = &mvectorctrlmsg[0];
			
 
				+    bool bExist =false;
			
 
				+    int i;
			
 
				+    for(i=0;i<pmsg->xclouddata_size();i++)
			
 
				+    {
			
 
				+        iv::cloud::cloudunit * punit = pmsg->mutable_xclouddata(i);
			
 
				+        if(strmsgname == punit->msgname())
			
 
				+        {
			
 
				+            punit->set_data(strdata,ndatasize);
			
 
				+            bExist = true;
			
 
				+            break;
			
 
				+        }
			
 
				+    }
			
 
				+    if(bExist == false)
			
 
				+    {
			
 
				+        iv::cloud::cloudunit * punit = pmsg->add_xclouddata();
			
 
				+        punit->set_msgname(strmsgname);
			
 
				+        punit->set_data(strdata,ndatasize);
			
 
				+    }
			
 
				+    mmutexctrlmsg.unlock();
			
 
				+    return 0;
			
 
				+}
			
 
				+
			
 
				+int grpcpc::GetCtrlMsg(iv::cloud::cloudmsg & xcloudmsg)
			
 
				+{
			
 
				+    int nrtn = 0;
			
 
				+    mmutexctrlmsg.lock();
			
 
				+    if(mvectorctrlmsg.size() == 0)nrtn = 0;
			
 
				+    else
			
 
				+    {
			
 
				+        xcloudmsg.CopyFrom(mvectorctrlmsg[0]);
			
 
				+        mvectorctrlmsg.clear();
			
 
				+        nrtn = 1;
			
 
				+    }
			
 
				+    mmutexctrlmsg.unlock();
			
 
				+    return nrtn;
			
 
				+}
			
 
				+
			
 
				+int grpcpc::GetQueryMsg(iv::cloud::cloudmsg & xcloudmsg)
			
 
				+{
			
 
				+    int nrtn = 0;
			
 
				+    mmutexquerymsg.lock();
			
 
				+    if(mvectorquerymsg.size() == 0)nrtn = 0;
			
 
				+    else
			
 
				+    {
			
 
				+        xcloudmsg.CopyFrom(mvectorquerymsg[0]);
			
 
				+        mvectorquerymsg.erase(mvectorquerymsg.begin());
			
 
				+        nrtn = 1;
			
 
				+    }
			
 
				+    mmutexquerymsg.unlock();
			
 
				+    return nrtn;
			
 
				+}
			
 
				+
			
 
				+int grpcpc::GetQueryMsg(iv::cloud::cloudmsg &xcloudmsg, int nwaitms)
			
 
				+{
			
 
				+    int nrtn = 0;
			
 
				+    nrtn = GetQueryMsg(xcloudmsg);
			
 
				+
			
 
				+    if(nrtn == 1)return nrtn;
			
 
				+    if(nwaitms <= 0)return nrtn;
			
 
				+    std::unique_lock<std::mutex> lk(mmutexquerycv);
			
 
				+    if(mcvquery.wait_for(lk, std::chrono::milliseconds(nwaitms)) == std::cv_status::timeout)
			
 
				+    {
			
 
				+        lk.unlock();
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        lk.unlock();
			
 
				+    }
			
 
				+
			
 
				+    return GetQueryMsg(xcloudmsg);
			
 
				+}
			
 
				+
			
 
				+int grpcpc::AddQueryMsg(iv::cloud::cloudmsg & xcloudmsg)
			
 
				+{
			
 
				+    mmutexquerymsg.lock();
			
 
				+    while(mvectorquerymsg.size() > mnquerymsgbufsize)
			
 
				+    {
			
 
				+        mvectorquerymsg.erase(mvectorquerymsg.begin());
			
 
				+    }
			
 
				+    mvectorquerymsg.push_back(xcloudmsg);
			
 
				+    mmutexquerymsg.unlock();
			
 
				+    mcvquery.notify_all();
			
 
				+    return 0;
			
 
				+}
			
 
				+
			
 
				+void grpcpc::run()
			
 
				+{
			
 
				+//    int i;
			
 
				+    qint64 nlasttime = 0;
			
 
				+
			
 
				+    int ninterval = atoi(gstruploadinterval.data());
			
 
				+    if(ninterval<=0)ninterval = 100;
			
 
				+
			
 
				+    QTime xTime;
			
 
				+    xTime.start();
			
 
				+    int nlastsend = xTime.elapsed();
			
 
				+
			
 
				+    std::string target_str = gstrserverip+":";
			
 
				+    target_str = target_str + gstrserverport ;//std::to_string()
			
 
				+    auto cargs = grpc::ChannelArguments();
			
 
				+    cargs.SetMaxReceiveMessageSize(1024 * 1024 * 1024); // 1 GB
			
 
				+    cargs.SetMaxSendMessageSize(1024 * 1024 * 1024);
			
 
				+
			
 
				+    std::shared_ptr<Channel> channel = grpc::CreateCustomChannel(
			
 
				+             target_str, grpc::InsecureChannelCredentials(),cargs);
			
 
				+
			
 
				+    std::unique_ptr<iv::UploadThread::Stub> stub_ = iv::UploadThread::NewStub(channel);
			
 
				+
			
 
				+
			
 
				+    iv::queryReqThread request;
			
 
				+    iv::queryReplyThread xreply;
			
 
				+
			
 
				+    int nid = 0;
			
 
				+    int nctrlid = 0;
			
 
				+
			
 
				+    // Container for the data we expect from the server.
			
 
				+//    iv::queryReply reply;
			
 
				+
			
 
				+    gpr_timespec timespec;
			
 
				+      timespec.tv_sec = 30;//设置阻塞时间为2秒
			
 
				+      timespec.tv_nsec = 0;
			
 
				+      timespec.clock_type = GPR_TIMESPAN;
			
 
				+
			
 
				+
			
 
				+    while(!QThread::isInterruptionRequested())
			
 
				+    {
			
 
				+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
			
 
				+        if(abs(xTime.elapsed()-nlastsend)<ninterval)
			
 
				+        {
			
 
				+            continue;
			
 
				+        }
			
 
				+
			
 
				+        bool bImportant = false;
			
 
				+        int nkeeptime = 0;
			
 
				+
			
 
				+            iv::cloud::cloudmsg xmsg;
			
 
				+            xmsg.clear_xclouddata();
			
 
				+            GetCtrlMsg(xmsg);
			
 
				+            xmsg.set_xtime(QDateTime::currentMSecsSinceEpoch());
			
 
				+            nlastsend = xTime.elapsed();
			
 
				+
			
 
				+//            gMutexMsg.lock();
			
 
				+//            for(i=0;i<nctrlsize;i++)
			
 
				+//            {
			
 
				+//                if(mvectorctrlmsgunit[i].mbRefresh)
			
 
				+//                {
			
 
				+//                    mvectorctrlmsgunit[i].mbRefresh = false;
			
 
				+
			
 
				+//                    if(mvectorctrlmsgunit[i].mbImportant)
			
 
				+//                    {
			
 
				+//                        bImportant = true;
			
 
				+//                    }
			
 
				+//                    if(mvectorctrlmsgunit[i].mnkeeptime > nkeeptime)
			
 
				+//                    {
			
 
				+//                        nkeeptime = mvectorctrlmsgunit[i].mnkeeptime;
			
 
				+//                    }
			
 
				+//                    iv::cloud::cloudunit xcloudunit;
			
 
				+//                    xcloudunit.set_msgname(mvectorctrlmsgunit[i].mstrmsgname);
			
 
				+//                    xcloudunit.set_data(mvectorctrlmsgunit[i].mpstrmsgdata.get(),mvectorctrlmsgunit[i].mndatasize);
			
 
				+//                    iv::cloud::cloudunit * pcu = xmsg.add_xclouddata();
			
 
				+//                    pcu->CopyFrom(xcloudunit);
			
 
				+//                }
			
 
				+
			
 
				+//            }
			
 
				+//            gMutexMsg.unlock();
			
 
				+
			
 
				+
			
 
				+            {
			
 
				+
			
 
				+                ClientContext context ;
			
 
				+                context.set_deadline(timespec);
			
 
				+ //               qint64 time1 = QDateTime::currentMSecsSinceEpoch();
			
 
				+
			
 
				+                request.set_strquerymd5(gstrqueryMD5);
			
 
				+                request.set_strvin(gstrVIN);
			
 
				+
			
 
				+                request.set_nlasttime(nlasttime);
			
 
				+
			
 
				+                request.set_id(nctrlid);nctrlid++;
			
 
				+                request.set_strctrlmd5(gstrctrlMD5);
			
 
				+                request.set_strvin(gstrVIN);
			
 
				+                request.set_ntime(QDateTime::currentMSecsSinceEpoch());
			
 
				+                request.set_bimportant(bImportant);
			
 
				+                request.set_kepptime(nkeeptime);
			
 
				+                if(xmsg.xclouddata_size()>0)
			
 
				+                {
			
 
				+                    int nbytesize = xmsg.ByteSize();
			
 
				+                    std::vector<char> pvectordata;
			
 
				+                    pvectordata.resize(nbytesize);
			
 
				+                    if(xmsg.SerializeToArray(pvectordata.data(),nbytesize))
			
 
				+                    {
			
 
				+
			
 
				+                        request.set_xdata(pvectordata.data(),pvectordata.size());
			
 
				+
			
 
				+                    }
			
 
				+                }
			
 
				+
			
 
				+
			
 
				+                QDateTime xTime;
			
 
				+                xTime.fromMSecsSinceEpoch(1607905685318);  //1607914763641
			
 
				+//                qDebug("time:%s",xTime.toString("yyyy-MM-dd:hh:mm:ss:zzz").toLatin1().data());
			
 
				+//                qDebug("nlasttime is %ld",nlasttime);//1607905685318
			
 
				+                nid++;
			
 
				+                // The actual RPC.
			
 
				+                Status status = stub_->queryctrl(&context, request, &xreply);
			
 
				+                if (status.ok()) {
			
 
				+ //                   std::cout<<nid<<" query successfully, res is "<<xreply.nres()<<std::endl;
			
 
				+                    if(xreply.nres() == 1)
			
 
				+                    {
			
 
				+
			
 
				+                        if(nlasttime != xmsg.xtime())
			
 
				+                        {
			
 
				+                            iv::cloud::cloudmsg xmsg;
			
 
				+                            if(xmsg.ParseFromArray(xreply.xdata().data(),xreply.xdata().size()))
			
 
				+                            {
			
 
				+                                AddQueryMsg(xmsg);
			
 
				+ //                               sharequerymsg(&xmsg);
			
 
				+                            }
			
 
				+                        }
			
 
				+
			
 
				+                        nlasttime = xreply.ntime();
			
 
				+                    }
			
 
				+                    else
			
 
				+                    {
			
 
				+                        std::this_thread::sleep_for(std::chrono::milliseconds(30));
			
 
				+                    }
			
 
				+                } else {
			
 
				+                  std::cout << status.error_code() << ": " << status.error_message()
			
 
				+                            << std::endl;
			
 
				+                  std::cout<<"RPC failed"<<std::endl;
			
 
				+
			
 
				+                  if(status.error_code() == 4)
			
 
				+                  {
			
 
				+                      std::cout<<" RPC Exceed Time, Create New stub_"<<std::endl;
			
 
				+                      channel = grpc::CreateCustomChannel(
			
 
				+                               target_str, grpc::InsecureChannelCredentials(),cargs);
			
 
				+
			
 
				+                      stub_ = iv::UploadThread::NewStub(channel);
			
 
				+                  }
			
 
				+                  std::this_thread::sleep_for(std::chrono::milliseconds(900));
			
 
				+
			
 
				+                }
			
 
				+
			
 
				+            }
			
 
				+
			
 
				+
			
 
				+
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+std::string grpcpc::GetVIN()
			
 
				+{
			
 
				+    return gstrVIN;
			
 
				+}
			
 
				+
			
 
				+
			
 
				+void grpcpc::threadpicdownload(int nCamPos)
			
 
				+{
			
 
				+    std::cout<<"thread cam "<<nCamPos<<"run"<<std::endl;
			
 
				+ //   int nsize = mvectormsgunit.size();
			
 
				+    int i;
			
 
				+
			
 
				+    std::string strcclientid = ServiceRCIni.GetClientID();
			
 
				+
			
 
				+    int ninterval = atoi(gstruploadinterval.data());
			
 
				+    if(ninterval<=0)ninterval = 100;
			
 
				+
			
 
				+    QTime xTime;
			
 
				+    xTime.start();
			
 
				+    int nlastsend = xTime.elapsed();
			
 
				+
			
 
				+    std::string target_str = gstrserverip+":";
			
 
				+    target_str = target_str + gstrserverport ;//std::to_string()
			
 
				+    auto cargs = grpc::ChannelArguments();
			
 
				+    cargs.SetMaxReceiveMessageSize(1024 * 1024 * 1024); // 1 GB
			
 
				+    cargs.SetMaxSendMessageSize(1024 * 1024 * 1024);
			
 
				+
			
 
				+    std::shared_ptr<Channel> channel = grpc::CreateCustomChannel(
			
 
				+             target_str, grpc::InsecureChannelCredentials(),cargs);
			
 
				+
			
 
				+    std::unique_ptr<iv::UploadThread::Stub> stub_ = iv::UploadThread::NewStub(channel);
			
 
				+
			
 
				+
			
 
				+    iv::PicDownReqThread request;
			
 
				+
			
 
				+    int nid = 0;
			
 
				+
			
 
				+    // Container for the data we expect from the server.
			
 
				+    iv::PicDownReplyThread reply;
			
 
				+
			
 
				+    gpr_timespec timespec;
			
 
				+      timespec.tv_sec = 30;//设置阻塞时间为2秒
			
 
				+      timespec.tv_nsec = 0;
			
 
				+      timespec.clock_type = GPR_TIMESPAN;
			
 
				+
			
 
				+ //   ClientContext context;
			
 
				+
			
 
				+    qint64 nlastpicquerytime = 0;
			
 
				+
			
 
				+    while(true)
			
 
				+    {
			
 
				+        std::shared_ptr<char> pstr_ptr;
			
 
				+        if((nCamPos<0)||(nCamPos >= NUM_CAM))
			
 
				+        {
			
 
				+            std::cout<<"Cam Pos Error. "<<"Pos: "<<nCamPos<<" TOTAL:"<<NUM_CAM<<std::endl;
			
 
				+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
			
 
				+            continue;
			
 
				+        }
			
 
				+
			
 
				+        if(abs(xTime.elapsed() - nlastsend)<30)
			
 
				+        {
			
 
				+            std::this_thread::sleep_for(std::chrono::milliseconds(1));
			
 
				+            continue;
			
 
				+        }
			
 
				+
			
 
				+
			
 
				+        request.set_strclientid(strcclientid);
			
 
				+        request.set_ncampos(nCamPos);
			
 
				+        request.set_strquerymd5(gstrqueryMD5);
			
 
				+        request.set_strvin(gstrVIN);
			
 
				+        request.set_npicquerytime(nlastpicquerytime);
			
 
				+
			
 
				+
			
 
				+        ClientContext context ;
			
 
				+        context.set_deadline(timespec);
			
 
				+        qint64 time1 = QDateTime::currentMSecsSinceEpoch();
			
 
				+
			
 
				+
			
 
				+        nlastsend = xTime.elapsed();
			
 
				+        // The actual RPC.
			
 
				+        Status status = stub_->querypic(&context, request, &reply);
			
 
				+        if (status.ok()) {
			
 
				+
			
 
				+            if(reply.nres() == 1)
			
 
				+            {
			
 
				+//                std::cout<<nCamPos<<":pic time is "<<reply.npictime()<<std::endl;
			
 
				+                mnPicUpLatency[nCamPos] = reply.npicuplatency();
			
 
				+                mnFrameRate[nCamPos] = reply.npicframerate();
			
 
				+                mnPicDownLatency[nCamPos] = QDateTime::currentMSecsSinceEpoch() - time1;
			
 
				+
			
 
				+                char * pstrdata = (char * )reply.xdata().data();
			
 
				+                int * pnowsize = (int * )pstrdata;
			
 
				+                int npos = 0;
			
 
				+                while((*pnowsize + npos)<=reply.xdata().size())
			
 
				+                {
			
 
				+                    npos = npos + sizeof(int);
			
 
				+                    iv::h264rawframedata xframe;
			
 
				+                    int ndatasize = *pnowsize;
			
 
				+//                    std::cout<<" i "<<i<<" size: "<<ndatasize<<std::endl;
			
 
				+                    xframe.mdatasize = ndatasize;
			
 
				+                    xframe.mpstr_ptr = std::shared_ptr<char>(new char[ndatasize]);
			
 
				+                    memcpy(xframe.mpstr_ptr.get(),pstrdata + npos,xframe.mdatasize);
			
 
				+                    Produceh264frame(nCamPos,xframe);
			
 
				+                    npos = npos + ndatasize;
			
 
				+                    if(npos>= reply.xdata().size())
			
 
				+                    {
			
 
				+                        break;
			
 
				+                    }
			
 
				+                    pnowsize = (int *)(pstrdata + npos);
			
 
				+                }
			
 
				+
			
 
				+
			
 
				+//                mMutexPic[nCamPos].lock();
			
 
				+//                iv::modulecomm::ModuleSendMsg(mpaPic[nCamPos],reply.xdata().data(),reply.xdata().size());
			
 
				+//                mMutexPic[nCamPos].unlock();
			
 
				+                nlastpicquerytime = reply.npictime();
			
 
				+//                iv::cloud::cloudmsg xmsg;
			
 
				+//                if(xmsg.ParseFromArray(reply.xdata().data(),reply.xdata().size()))
			
 
				+//                {
			
 
				+//                    sharectrlmsg(&xmsg);
			
 
				+//                }
			
 
				+            }
			
 
				+            else
			
 
				+            {
			
 
				+ //               std::cout<<"  slleeeeeep "<<std::endl;
			
 
				+ //               std::this_thread::sleep_for(std::chrono::milliseconds(10));
			
 
				+ //               std::this_thread::sleep_for(std::chrono::milliseconds(10*NUM_THREAD_PERCAM));
			
 
				+            }
			
 
				+        } else {
			
 
				+          std::cout << status.error_code() << ": " << status.error_message()
			
 
				+                    << std::endl;
			
 
				+          std::cout<<"camera dowm"<<nCamPos<<" RPC failed"<<std::endl;
			
 
				+          if(status.error_code() == 4)
			
 
				+          {
			
 
				+              std::cout<<nCamPos<<" RPC Exceed Time, Create New stub_"<<std::endl;
			
 
				+              channel = grpc::CreateCustomChannel(
			
 
				+                       target_str, grpc::InsecureChannelCredentials(),cargs);
			
 
				+
			
 
				+              stub_ = iv::UploadThread::NewStub(channel);
			
 
				+          }
			
 
				+          std::this_thread::sleep_for(std::chrono::milliseconds(900));
			
 
				+
			
 
				+        }
			
 
				+
			
 
				+
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+qint64 grpcpc::GetPicLatency(int nCamPos)
			
 
				+{
			
 
				+    if((nCamPos < 0)||(nCamPos >= NUM_CAM))return -1;
			
 
				+    return mnPicUpLatency[nCamPos];
			
 
				+}
			
 
				+
			
 
				+int grpcpc::GetFrameRate(int nCamPos)
			
 
				+{
			
 
				+    if((nCamPos < 0)||(nCamPos >= NUM_CAM))return -1;
			
 
				+    return mnFrameRate[nCamPos];
			
 
				+}
			
 
				+
			
 
				+qint64 grpcpc::GetPicDownLatency(int nCamPos)
			
 
				+{
			
 
				+    if((nCamPos < 0)||(nCamPos >= NUM_CAM))return -1;
			
 
				+    return mnPicDownLatency[nCamPos];
			
 
				+}
			
 
				+
			
 
				+void grpcpc::setserverip(std::string strip)
			
 
				+{
			
 
				+    gstrserverip = strip;
			
 
				+}
			
 
				+
			
 
				+void grpcpc::setserverport(std::string strport)
			
 
				+{
			
 
				+    gstrserverport = strport;
			
 
				+}
			
 
				+
			
 
				+void grpcpc::setqueryinterval(std::string strinterval)
			
 
				+{
			
 
				+    gstruploadinterval = strinterval;
			
 
				+}
			
 
				+
			
 
				+void grpcpc::setVIN(std::string strVIN)
			
 
				+{
			
 
				+    gstrVIN = strVIN;
			
 
				+}
			
 
				+
			
 
				+void grpcpc::setqueryMD5(std::string strmd5)
			
 
				+{
			
 
				+    gstrqueryMD5 = strmd5;
			
 
				+}
			
 
				+
			
 
				+void grpcpc::setctrlMD5(std::string strmd5)
			
 
				+{
			
 
				+    gstrctrlMD5 = strmd5;
			
 
				+}
			
 
				+
			
 
				+
			
--- a/src/tool/RemoteCtrl_Wide/grpcpc.h
+++ b/src/tool/RemoteCtrl_Wide/grpcpc.h
@@ -0,0 +1,153 @@
 
				+#ifndef GRPCPC_H
			
 
				+#define GRPCPC_H
			
 
				+
			
 
				+#include <QThread>
			
 
				+
			
 
				+#include <yaml-cpp/yaml.h>
			
 
				+
			
 
				+#include <QDateTime>
			
 
				+
			
 
				+#include <iostream>
			
 
				+
			
 
				+#include <vector>
			
 
				+
			
 
				+#include <memory>
			
 
				+
			
 
				+#include <QMutex>
			
 
				+
			
 
				+#include <thread>
			
 
				+
			
 
				+#include "cloud.pb.h"
			
 
				+
			
 
				+#include <iostream>
			
 
				+#include <memory>
			
 
				+#include <string>
			
 
				+#include <condition_variable>
			
 
				+
			
 
				+
			
 
				+#include <grpcpp/grpcpp.h>
			
 
				+
			
 
				+#include "uploadthreadmsg.grpc.pb.h"
			
 
				+
			
 
				+#include "rtspclientdown.h"
			
 
				+
			
 
				+#ifndef NUM_CAM
			
 
				+#define NUM_CAM 4
			
 
				+#endif
			
 
				+
			
 
				+#ifndef NUM_THREAD_PERCAM
			
 
				+#define NUM_THREAD_PERCAM 1
			
 
				+//int NUM_THREAD_PERCAM = 1;
			
 
				+#endif
			
 
				+
			
 
				+using grpc::Channel;
			
 
				+using grpc::ClientContext;
			
 
				+using grpc::Status;
			
 
				+
			
 
				+namespace iv {
			
 
				+struct msgunit
			
 
				+{
			
 
				+    char mstrmsgname[256];
			
 
				+    int mnBufferSize = 10000;
			
 
				+    int mnBufferCount = 1;
			
 
				+    void * mpa;
			
 
				+    std::shared_ptr<char> mpstrmsgdata;
			
 
				+    int mndatasize = 0;
			
 
				+    bool mbRefresh = false;
			
 
				+    bool mbImportant = false;
			
 
				+    int mnkeeptime = 100;
			
 
				+};
			
 
				+
			
 
				+
			
 
				+}
			
 
				+
			
 
				+class grpcpc : public QThread
			
 
				+{
			
 
				+public:
			
 
				+    grpcpc(std::string stryamlpath);
			
 
				+
			
 
				+private:
			
 
				+    void run();
			
 
				+
			
 
				+private:
			
 
				+    std::string gstrserverip = "192.168.14.98";//"111.33.136.149";//"127.0.0.1";// "140.143.237.38";
			
 
				+    std::string gstrserverport = "50051";//"9000";
			
 
				+    std::string gstruploadinterval = "100";
			
 
				+    std::string gstrVIN = "AAAAAAAAAAAAAAAAA";
			
 
				+    std::string gstrqueryMD5 = "5d41402abc4b2a76b9719d911017c592";
			
 
				+    std::string gstrctrlMD5 = "5d41402abc4b2a76b9719d911017c592";
			
 
				+
			
 
				+    int gindex = 0;
			
 
				+
			
 
				+public:
			
 
				+    std::string GetVIN();
			
 
				+
			
 
				+private:
			
 
				+    void threadpicdownload(int nCamPos);
			
 
				+    void * mpaPic[NUM_CAM];
			
 
				+    std::string mstrpicmsgname[NUM_CAM];
			
 
				+
			
 
				+    std::thread * mpThread[NUM_CAM * NUM_THREAD_PERCAM];
			
 
				+
			
 
				+    std::mutex mMutexPic[NUM_CAM];
			
 
				+
			
 
				+    qint64 mnPicUpLatency[NUM_CAM];
			
 
				+    int mnFrameRate[NUM_CAM];
			
 
				+    int mnPicDownLatency[NUM_CAM];
			
 
				+
			
 
				+
			
 
				+public:
			
 
				+    qint64 GetPicLatency(int nCamPos);
			
 
				+    int GetFrameRate(int nCamPos);
			
 
				+    qint64 GetPicDownLatency(int nCamPos);
			
 
				+
			
 
				+
			
 
				+public:
			
 
				+    void setserverip(std::string strip);
			
 
				+    void setserverport(std::string strport);
			
 
				+    void setqueryinterval(std::string strinterval);
			
 
				+    void setVIN(std::string strVIN);
			
 
				+    void setqueryMD5(std::string strmd5);
			
 
				+    void setctrlMD5(std::string strmd5);
			
 
				+
			
 
				+public:
			
 
				+    int Consumeh264frame(int ncampos,iv::h264rawframedata & xframe);
			
 
				+    int Consumeh264frame(int ncampos,iv::h264rawframedata & xframe,int nwaitms);
			
 
				+
			
 
				+    int SetCtrlMsg(std::string strmsgname,char * strdata,int ndatasize);
			
 
				+    int GetQueryMsg(iv::cloud::cloudmsg & xcloudmsg,int nwaitms);
			
 
				+
			
 
				+private:
			
 
				+
			
 
				+    std::vector<iv::h264rawframedata> mvectorh264frame[NUM_CAM];
			
 
				+    QMutex mmutexh264frame[NUM_CAM];
			
 
				+    int Produceh264frame(int ncampos,iv::h264rawframedata & xframe);
			
 
				+
			
 
				+    unsigned int mnframebuffersize = 10;
			
 
				+    std::mutex mmutexh264cv[NUM_CAM];
			
 
				+    std::condition_variable mcv[NUM_CAM];
			
 
				+
			
 
				+
			
 
				+private:
			
 
				+    std::vector<iv::cloud::cloudmsg> mvectorctrlmsg;
			
 
				+    std::vector<iv::cloud::cloudmsg> mvectorquerymsg;
			
 
				+    int GetCtrlMsg(iv::cloud::cloudmsg & xcloudmsg);
			
 
				+    int GetQueryMsg(iv::cloud::cloudmsg & xcloudmsg);
			
 
				+    int AddQueryMsg(iv::cloud::cloudmsg & xcloudmsg);
			
 
				+    std::mutex mmutexctrlmsg;
			
 
				+    std::mutex mmutexquerymsg;
			
 
				+    unsigned int mnquerymsgbufsize = 10;
			
 
				+    std::mutex mmutexquerycv;
			
 
				+    std::condition_variable mcvquery;
			
 
				+
			
 
				+private:
			
 
				+    bool mbUseRTSP = true;  //Use RTSP connect to the server.
			
 
				+    std::string mstrrtspserverip = "111.33.136.149";
			
 
				+    std::string mstrrtspserverport = "9554";
			
 
				+    std::string mstrrtsppass = "hello";
			
 
				+    rtspclientdown * mprtspdown[NUM_CAM];
			
 
				+
			
 
				+
			
 
				+};
			
 
				+
			
 
				+#endif // GRPCPC_H
			
--- a/src/tool/RemoteCtrl_Wide/joyreadthread.cpp
+++ b/src/tool/RemoteCtrl_Wide/joyreadthread.cpp
@@ -0,0 +1,165 @@
 
				+#include "joyreadthread.h"
			
 
				+
			
 
				+#ifndef Q_OS_WIN
			
 
				+#include <assert.h>
			
 
				+#include <math.h>
			
 
				+#include <algorithm>
			
 
				+#include <iostream>
			
 
				+#include <stdexcept>
			
 
				+#include <stdint.h>
			
 
				+#include <string.h>
			
 
				+#include <errno.h>
			
 
				+#include <sys/types.h>
			
 
				+#include <sys/stat.h>
			
 
				+#include <fcntl.h>
			
 
				+#include <string.h>
			
 
				+#include <sstream>
			
 
				+#include <unistd.h>
			
 
				+#include <linux/joystick.h>
			
 
				+
			
 
				+#include <QFile>
			
 
				+
			
 
				+extern std::string gstrjoy_path;
			
 
				+
			
 
				+JoyReadThread::JoyReadThread()
			
 
				+{
			
 
				+
			
 
				+    if ((fd = open(gstrjoy_path.data(), O_RDONLY)) < 0)
			
 
				+    {
			
 
				+        mbJoyOK = false;
			
 
				+      std::ostringstream str;
			
 
				+//      str << filename << ": " << strerror(errno);
			
 
				+//      throw std::runtime_error(str.str());
			
 
				+
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+      // ok
			
 
				+      uint8_t num_axis   = 0;
			
 
				+      uint8_t num_button = 0;
			
 
				+      ioctl(fd, JSIOCGAXES,    &num_axis);
			
 
				+      ioctl(fd, JSIOCGBUTTONS, &num_button);
			
 
				+      axis_count   = num_axis;
			
 
				+      button_count = num_button;
			
 
				+
			
 
				+      // Get Name
			
 
				+      char name_c_str[1024];
			
 
				+      if (ioctl(fd, JSIOCGNAME(sizeof(name_c_str)), name_c_str) < 0)
			
 
				+      {
			
 
				+          mbJoyOK = false;
			
 
				+          std::ostringstream str;
			
 
				+    //      str << filename << ": " << strerror(errno);
			
 
				+          str << "joy:" << ": " << strerror(errno);
			
 
				+  //        throw std::runtime_error(str.str());
			
 
				+      }
			
 
				+      else
			
 
				+      {
			
 
				+          orig_name = name_c_str;
			
 
				+//          try {
			
 
				+//              name = Glib::convert_with_fallback(name_c_str, "UTF-8", "ISO-8859-1");
			
 
				+//          } catch(Glib::ConvertError& err) {
			
 
				+//              std::cout << err.what() << std::endl;
			
 
				+//          }
			
 
				+      }
			
 
				+
			
 
				+//      axis_state.resize(axis_count);
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void JoyReadThread::run()
			
 
				+{
			
 
				+    if(mbJoyOK == false)return;
			
 
				+    while(!QThread::isInterruptionRequested())
			
 
				+    {
			
 
				+        struct js_event event;
			
 
				+
			
 
				+        ssize_t len = read(fd, &event, sizeof(event));
			
 
				+
			
 
				+        if(len < 0)
			
 
				+        {
			
 
				+//            qDebug("fail.");
			
 
				+            mbJoyOK = false;
			
 
				+            break;
			
 
				+        }
			
 
				+
			
 
				+ //       if(len >0)qDebug("len = %d",len);
			
 
				+
			
 
				+        if(len == sizeof(js_event))
			
 
				+        {
			
 
				+            switch (event.number) {
			
 
				+            case 0:
			
 
				+                mfWheel = event.value;
			
 
				+                break;
			
 
				+            case 2:
			
 
				+                mfAcc = event.value;
			
 
				+                break;
			
 
				+            case 3:
			
 
				+                mfBrake = event.value;
			
 
				+                break;
			
 
				+            case 12:
			
 
				+                if(event.value ==1 ) mnShift = 1;
			
 
				+                else mnShift = 0;
			
 
				+                break;
			
 
				+            case 13:
			
 
				+                if(event.value ==1 ) mnShift = 2;
			
 
				+                else mnShift = 0;
			
 
				+                break;
			
 
				+            case 14:
			
 
				+                if(event.value ==1 ) mnShift = 3;
			
 
				+                else mnShift = 0;
			
 
				+                break;
			
 
				+            case 15:
			
 
				+                if(event.value ==1 ) mnShift = 4;
			
 
				+                else mnShift = 0;
			
 
				+                break;
			
 
				+            case 16:
			
 
				+                if(event.value ==1 ) mnShift = 5;
			
 
				+                else mnShift = 0;
			
 
				+                break;
			
 
				+            case 17:
			
 
				+                if(event.value ==1 ) mnShift = 6;
			
 
				+                else mnShift = 0;
			
 
				+                break;
			
 
				+            case 18:
			
 
				+                if(event.value ==1 ) mnShift = -1;
			
 
				+                else mnShift = 0;
			
 
				+                break;
			
 
				+            default:
			
 
				+                break;
			
 
				+            }
			
 
				+            qDebug("shift = %d",mnShift);
			
 
				+//            qDebug("type = %d number = %d value = %d ",event.type,event.number,event.value);
			
 
				+//            qDebug("wheel:%g acc:%g brake:%g",mfWheel,mfAcc,mfBrake);
			
 
				+        }
			
 
				+    }
			
 
				+    close(fd);
			
 
				+    mbJoyOK = false;
			
 
				+}
			
 
				+
			
 
				+bool JoyReadThread::isOK()
			
 
				+{
			
 
				+    return mbJoyOK;
			
 
				+}
			
 
				+
			
 
				+double JoyReadThread::GetAcc()
			
 
				+{
			
 
				+    return mfAcc;
			
 
				+}
			
 
				+
			
 
				+double JoyReadThread::GetBrake()
			
 
				+{
			
 
				+    return mfBrake;
			
 
				+}
			
 
				+
			
 
				+double JoyReadThread::GetWheel()
			
 
				+{
			
 
				+    return mfWheel;
			
 
				+}
			
 
				+
			
 
				+int JoyReadThread::GetShift()
			
 
				+{
			
 
				+    return mnShift;
			
 
				+}
			
 
				+
			
 
				+
			
 
				+#endif
			
--- a/src/tool/RemoteCtrl_Wide/joyreadthread.h
+++ b/src/tool/RemoteCtrl_Wide/joyreadthread.h
@@ -0,0 +1,42 @@
 
				+#ifndef JOYREADTHREAD_H
			
 
				+#define JOYREADTHREAD_H
			
 
				+
			
 
				+#ifndef Q_OS_WIN
			
 
				+#include <QThread>
			
 
				+
			
 
				+#include <QFile>
			
 
				+
			
 
				+class JoyReadThread : public QThread
			
 
				+{
			
 
				+public:
			
 
				+    JoyReadThread();
			
 
				+
			
 
				+public:
			
 
				+    bool isOK();
			
 
				+    double GetWheel();
			
 
				+    double GetAcc();
			
 
				+    double GetBrake();
			
 
				+    int GetShift();
			
 
				+private:
			
 
				+    void run();
			
 
				+
			
 
				+private:
			
 
				+    int fd;
			
 
				+    int axis_count;
			
 
				+    int button_count;
			
 
				+    std::string orig_name;
			
 
				+
			
 
				+    QFile mxFile;
			
 
				+    QFile * mpFile;
			
 
				+    bool mbJoyOK = true;
			
 
				+
			
 
				+    double mfWheel = 0;
			
 
				+    double mfAcc = 32767;
			
 
				+    double mfBrake = 32767;
			
 
				+
			
 
				+    int mnShift = 0; //0 N >0 D -1 R
			
 
				+};
			
 
				+
			
 
				+#endif
			
 
				+
			
 
				+#endif // JOYREADTHREAD_H
			
--- a/src/tool/RemoteCtrl_Wide/main.cpp
+++ b/src/tool/RemoteCtrl_Wide/main.cpp
@@ -0,0 +1,76 @@
 
				+#include "mainwindow.h"
			
 
				+
			
 
				+#include <QApplication>
			
 
				+#include <QList>
			
 
				+
			
 
				+#include <vector>
			
 
				+
			
 
				+#include "pos_def.h"
			
 
				+
			
 
				+#include "xmlparam.h"
			
 
				+#include "ivversion.h"
			
 
				+
			
 
				+std::string gstrmem_gpsimu;
			
 
				+std::string gstrmem_pic[CAMERA_NUM];
			
 
				+std::string gstryaml_path;
			
 
				+std::string gstrjoy_path;
			
 
				+
			
 
				+std::vector<iv::pos_def> gvectorpos;
			
 
				+
			
 
				+
			
 
				+void LoadPos(std::string strfilepath)
			
 
				+{
			
 
				+    QFile xFile;
			
 
				+    xFile.setFileName(strfilepath.data());
			
 
				+    if(xFile.open(QIODevice::ReadOnly))
			
 
				+    {
			
 
				+        QByteArray ba = xFile.readAll();
			
 
				+        QList<QByteArray> baline =  ba.split('\n');
			
 
				+        int nline = baline.size();
			
 
				+        int i;
			
 
				+        for(i=0;i<nline;i++)
			
 
				+        {
			
 
				+            QList<QByteArray> badata = baline[i].split('\t');
			
 
				+            if(badata.size()>=3)
			
 
				+            {
			
 
				+                iv::pos_def xposdef;
			
 
				+                xposdef.mstrstationname = badata[0].toStdString();
			
 
				+                xposdef.mflon = badata[1].toDouble();
			
 
				+                xposdef.mflat = badata[2].toDouble();
			
 
				+                gvectorpos.push_back(xposdef);
			
 
				+
			
 
				+            }
			
 
				+
			
 
				+        }
			
 
				+    }
			
 
				+    xFile.close();
			
 
				+}
			
 
				+
			
 
				+
			
 
				+#include "ivbacktrace.h"
			
 
				+
			
 
				+int main(int argc, char *argv[])
			
 
				+{
			
 
				+
			
 
				+    showversion("RemoteCtl");
			
 
				+    QApplication a(argc, argv);
			
 
				+
			
 
				+    RegisterIVBackTrace();
			
 
				+
			
 
				+
			
 
				+
			
 
				+    iv::xmlparam::Xmlparam xp("RemoteCtrl.xml");
			
 
				+    gstrmem_gpsimu = xp.GetParam("gpsimu","hcp2_gpsimu");
			
 
				+    gstrmem_pic[0] = xp.GetParam("PicFront","h264front");
			
 
				+    gstrmem_pic[1] = xp.GetParam("PicRear","h264rear");
			
 
				+    gstrmem_pic[2] = xp.GetParam("PicLeft","h264left");
			
 
				+    gstrmem_pic[3] = xp.GetParam("PicRight","h264right");
			
 
				+    gstrjoy_path = xp.GetParam("joypath","/dev/input/js0");
			
 
				+    gstryaml_path = xp.GetParam("yamlpath","./driver_cloud_grpc_pc.yaml");
			
 
				+
			
 
				+    LoadPos("pos.txt");
			
 
				+
			
 
				+    MainWindow w;
			
 
				+    w.show();
			
 
				+    return a.exec();
			
 
				+}
			
--- a/src/tool/RemoteCtrl_Wide/mainwindow.cpp
+++ b/src/tool/RemoteCtrl_Wide/mainwindow.cpp
@@ -0,0 +1,1239 @@
 
				+#include "mainwindow.h"
			
 
				+#include "ui_mainwindow.h"
			
 
				+#include "pos_def.h"
			
 
				+
			
 
				+#include "remotectrlini.h"
			
 
				+
			
 
				+MainWindow * gw;
			
 
				+//#include "QStringLiteral"
			
 
				+
			
 
				+#ifdef NVIDIA_AGX
			
 
				+#include "opencv2/imgcodecs/legacy/constants_c.h"   //OpenCV4 use this line
			
 
				+#include <opencv2/imgproc/types_c.h>   //OpenCV4 use this line
			
 
				+#endif
			
 
				+
			
 
				+#include <opencv2/opencv.hpp>
			
 
				+#include <opencv2/core.hpp>
			
 
				+
			
 
				+iv::gps::gpsimu ggpsimu;
			
 
				+qint64 gTimeGPSIMUUpdate = 0;
			
 
				+
			
 
				+iv::vision::rawpic grawpic[CAMERA_NUM];
			
 
				+qint64 gTimeRawPic[CAMERA_NUM] = {0,0,0,0};
			
 
				+QMutex gMutexPic[CAMERA_NUM];
			
 
				+
			
 
				+extern std::string gstrmem_gpsimu;
			
 
				+extern std::string gstrmem_pic[CAMERA_NUM];
			
 
				+extern std::vector<iv::pos_def> gvectorpos;
			
 
				+extern std::string gstryaml_path;
			
 
				+
			
 
				+class xodrobj
			
 
				+{
			
 
				+public:
			
 
				+    double flatsrc;
			
 
				+    double flonsrc;
			
 
				+    double fhgdsrc;
			
 
				+    double flat;
			
 
				+    double flon;
			
 
				+    int lane;
			
 
				+};
			
 
				+
			
 
				+namespace iv {
			
 
				+struct simpletrace
			
 
				+{
			
 
				+    double gps_lat = 0;//纬度
			
 
				+    double gps_lng = 0;//经度
			
 
				+
			
 
				+    double gps_x = 0;
			
 
				+    double gps_y = 0;
			
 
				+    double gps_z = 0;
			
 
				+
			
 
				+
			
 
				+    double ins_heading_angle = 0;	//航向角
			
 
				+};
			
 
				+}
			
 
				+
			
 
				+std::vector<iv::simpletrace> gvectorsimplerace;
			
 
				+QMutex gMutexTrace;
			
 
				+qint64 gTimeTrace = 0;
			
 
				+
			
 
				+
			
 
				+void * gpaframe;
			
 
				+
			
 
				+MainWindow::MainWindow(QWidget *parent)
			
 
				+    : QMainWindow(parent)
			
 
				+    , ui(new Ui::MainWindow)
			
 
				+{
			
 
				+
			
 
				+    m_translator = new QTranslator(this);
			
 
				+    QString strLanguageFile = ":/zh_CN.qm";
			
 
				+    if(ServiceRCIni.GetLanguage() == "Chinese")
			
 
				+    {
			
 
				+        strLanguageFile = ":/zh_CN.qm";
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        strLanguageFile = ":/en_CN.qm";
			
 
				+    }
			
 
				+    if (QFile(strLanguageFile).exists())
			
 
				+    {
			
 
				+        m_translator->load(strLanguageFile);
			
 
				+        qApp->installTranslator(m_translator);
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+    gpaframe = iv::modulecomm::RegisterSend("h264frame",1000000,1);
			
 
				+    gw = this;
			
 
				+
			
 
				+    ui->setupUi(this);
			
 
				+
			
 
				+
			
 
				+
			
 
				+    mstrserverip = ServiceRCIni.GetServerIP();
			
 
				+    mstrserverport = ServiceRCIni.GetServerPort();
			
 
				+    mstruploadinterval = ServiceRCIni.GetInterval();
			
 
				+    mstrVehVIN = ServiceRCIni.GetVIN();
			
 
				+    mstrqueryMD5 = ServiceRCIni.GetQueryMD5();
			
 
				+    mstrctrlMD5 = ServiceRCIni.GetCtrlMD5();
			
 
				+
			
 
				+#ifndef Q_OS_WIN
			
 
				+    mpJRT = new JoyReadThread();
			
 
				+    mpJRT->start();
			
 
				+#endif
			
 
				+
			
 
				+    int i;
			
 
				+
			
 
				+    CreateView();
			
 
				+
			
 
				+    int nstation = gvectorpos.size();
			
 
				+    for(i=0;i<nstation;i++)
			
 
				+    {
			
 
				+        ui->comboBox_Station->addItem(gvectorpos[i].mstrstationname.data());
			
 
				+    }
			
 
				+
			
 
				+    ui->radioButton_auto->setChecked(true);
			
 
				+
			
 
				+    mpa = iv::modulecomm::RegisterSend("remotectrl",10000,1);
			
 
				+
			
 
				+    mpTimerManual = new QTimer(this);
			
 
				+    connect(mpTimerManual,SIGNAL(timeout()),this,SLOT(onTimerManual()));
			
 
				+
			
 
				+    mpTimerRemote = new QTimer(this);
			
 
				+    connect(mpTimerRemote,SIGNAL(timeout()),this,SLOT(onTimerRemote()));
			
 
				+    mpTimerRemote->start(50);
			
 
				+
			
 
				+    mpTimerUpdateView = new QTimer(this);
			
 
				+    connect(mpTimerUpdateView,SIGNAL(timeout()),this,SLOT(onTimerUpdateView()));
			
 
				+    mpTimerUpdateView->start(1000);
			
 
				+
			
 
				+    QTimer * timer = new QTimer(this);
			
 
				+    connect(timer,SIGNAL(timeout()),this,SLOT(onTimerUpdatePic()));
			
 
				+    timer->start(1000);
			
 
				+
			
 
				+    mpadst = iv::modulecomm::RegisterSend("xodrreq",1000,1);
			
 
				+
			
 
				+
			
 
				+    mgrpcpc = new grpcpc(gstryaml_path);
			
 
				+    mgrpcpc->setserverip(mstrserverip);
			
 
				+    mgrpcpc->setserverport(mstrserverport);
			
 
				+    mgrpcpc->setqueryinterval(mstruploadinterval);
			
 
				+    mgrpcpc->setVIN(mstrVehVIN);
			
 
				+    mgrpcpc->setqueryMD5(mstrqueryMD5);
			
 
				+    mgrpcpc->setctrlMD5(mstrctrlMD5);
			
 
				+    mgrpcpc->start();
			
 
				+
			
 
				+    for(i=0;i<NUM_CAM;i++)
			
 
				+    {
			
 
				+        mpImageCam[i] = new QImage(640, 360, QImage::Format_RGB32);
			
 
				+        mbCamUpdate[i] = false;
			
 
				+        mph264decode[i] = new ivh264framedecode(mnframewidth,mnframeheight);
			
 
				+        mpthreadframe[i] = new std::thread(&MainWindow::threadframe,this,i);
			
 
				+        mpthreadpic[i] = new std::thread(&MainWindow::threadpic,this,i);
			
 
				+
			
 
				+    }
			
 
				+    mpthreadinfo = new std::thread(&MainWindow::threadinfo,this);
			
 
				+
			
 
				+    mstrVIN = mgrpcpc->GetVIN().data();
			
 
				+    mstrVIN = " VIN:"+ mstrVIN+" ";
			
 
				+
			
 
				+
			
 
				+
			
 
				+//    mppicdlg = new DialogPic(this);
			
 
				+//    mppicdlg->setModal(false);
			
 
				+//    connect(mppicdlg,SIGNAL(finished(int)),this,SLOT(onCloseDlg()));
			
 
				+
			
 
				+//    mpbigpicdlg = new DialogBigPic(this);
			
 
				+//    mpbigpicdlg->setModal(false);
			
 
				+//    connect(mpbigpicdlg,SIGNAL(finished(int)),this,SLOT(onCloseBigDlg()));
			
 
				+
			
 
				+    QLabel * pLabel = new QLabel();
			
 
				+    pLabel->setFixedWidth(600);
			
 
				+    pLabel->setText("Latency");
			
 
				+    mpLabelLatency = pLabel;
			
 
				+    ui->statusbar->addPermanentWidget(pLabel);
			
 
				+
			
 
				+    ui->horizontalSlider_wheelspeed->setRange(1,30);
			
 
				+
			
 
				+    connect(this,SIGNAL(CamUpdate(int)),this,SLOT(onCamUpdate(int)));
			
 
				+
			
 
				+//    mpbaiduapp = new pluginapp(this->winId(),"baidu","baidumapshow","/home/yuchuli/qt/modularization/src/plugin/build-baidumapshow-Debug");
			
 
				+//    mppicshow = new pluginapp(this->winId(),"main","plugin_picshow","/home/yuchuli/qt/modularization/src/plugin/build-plugin_picshow-Debug");
			
 
				+
			
 
				+//    mppicshow->SetAttr("rawpicmsgname",gstrmem_pic[0].data(),gstrmem_pic[0].size());
			
 
				+
			
 
				+    setWindowTitle(mstrProgName +mstrVIN+  mstrGPSTime + mstrPicTime);
			
 
				+
			
 
				+}
			
 
				+
			
 
				+MainWindow::~MainWindow()
			
 
				+{
			
 
				+
			
 
				+    mbThreadrun = false;
			
 
				+    int i;
			
 
				+    mpthreadinfo->join();
			
 
				+    for(i=0;i<NUM_CAM;i++)
			
 
				+    {
			
 
				+//        mph264decode[i] = new ivh264framedecode(mnframewidth,mnframeheight);
			
 
				+        mpthreadframe[i]->join();
			
 
				+        mpthreadpic[i]->join();
			
 
				+    }
			
 
				+    delete ui;
			
 
				+}
			
 
				+
			
 
				+void MainWindow::CreateView()
			
 
				+{
			
 
				+//    mMapview = new QWebEngineView(ui->centralwidget);
			
 
				+//    qDebug((QDir::currentPath()).toLatin1().data());
			
 
				+//    mMapview->load(QUrl(QString("file:///%1/%2").arg(QApplication::applicationDirPath()).arg("BaiDuMap.html")));
			
 
				+
			
 
				+ //   mMapview->setGeometry(10,10,800,800);
			
 
				+
			
 
				+//    mMapview->page()->runJavaScript("theLocation(117.355,39.066);");  //117.355,39.066
			
 
				+
			
 
				+    mpWheel = new Speed(ui->groupBox_rem);
			
 
				+    mpWheel->settitle(QStringLiteral("方向盘"));
			
 
				+    mpWheel->setminvalue(550);
			
 
				+    mpWheel->setmaxvalue(-550);
			
 
				+
			
 
				+    mpAcc = new Speed(ui->groupBox_rem);
			
 
				+
			
 
				+    mpAcc->settitle(QStringLiteral("油门"));
			
 
				+    mpAcc->updatevalue(0);
			
 
				+    mpAcc->setminvalue(-100);
			
 
				+    mpAcc->setmaxvalue(100);
			
 
				+
			
 
				+    mpBrake = new Speed(ui->groupBox_rem);
			
 
				+    mpBrake->settitle(QStringLiteral("刹车"));
			
 
				+    mpBrake->updatevalue(0);
			
 
				+    mpBrake->setminvalue(0);
			
 
				+    mpBrake->setmaxvalue(100);
			
 
				+
			
 
				+    mmyview = new MyView(ui->centralwidget);
			
 
				+    mmyview->setObjectName(QStringLiteral("graphicsView"));
			
 
				+    mmyview->setGeometry(QRect(30, 30, 600, 600));
			
 
				+    mmyview->setCacheMode(mmyview->CacheBackground);
			
 
				+
			
 
				+    mmyviewLeft = new MyView(ui->centralwidget);
			
 
				+    mmyviewLeft->setObjectName(QStringLiteral("graphicsView"));
			
 
				+    mmyviewLeft->setGeometry(QRect(30, 30, 600, 600));
			
 
				+    mmyviewLeft->setCacheMode(mmyviewLeft->CacheBackground);
			
 
				+
			
 
				+    mmyviewRear = new MyView(ui->centralwidget);
			
 
				+    mmyviewRear->setObjectName(QStringLiteral("graphicsView"));
			
 
				+    mmyviewRear->setGeometry(QRect(30, 30, 600, 600));
			
 
				+    mmyviewRear->setCacheMode(mmyviewRear->CacheBackground);
			
 
				+
			
 
				+    mmyviewRight = new MyView(ui->centralwidget);
			
 
				+    mmyviewRight->setObjectName(QStringLiteral("graphicsView"));
			
 
				+    mmyviewRight->setGeometry(QRect(30, 30, 600, 600));
			
 
				+    mmyviewRight->setCacheMode(mmyviewRight->CacheBackground);
			
 
				+
			
 
				+    mscene = new QGraphicsScene;
			
 
				+    mpsceneImg[0] = mscene;
			
 
				+    mpsceneImg[1] = new QGraphicsScene;
			
 
				+    mpsceneImg[2] = new QGraphicsScene;
			
 
				+    mpsceneImg[3] = new QGraphicsScene;
			
 
				+
			
 
				+    mpviewImg[0] = mmyview;
			
 
				+    mpviewImg[1] = mmyviewRear;
			
 
				+    mpviewImg[2] = mmyviewLeft;
			
 
				+    mpviewImg[3] = mmyviewRight;
			
 
				+
			
 
				+    ui->radioButton_Null->setChecked(true);
			
 
				+
			
 
				+
			
 
				+
			
 
				+}
			
 
				+
			
 
				+
			
 
				+void MainWindow::keyPressEvent(QKeyEvent *event)
			
 
				+{
			
 
				+
			
 
				+    //按键按下，key值放入容器，如果是长按触发的repeat就不判断
			
 
				+    if(!event->isAutoRepeat())
			
 
				+        mPressKeys.insert(event->key());
			
 
				+
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void MainWindow::keyReleaseEvent(QKeyEvent *event)
			
 
				+{
			
 
				+    if(event->key() == Qt::Key_Escape)
			
 
				+    {
			
 
				+        showNormal();
			
 
				+    }
			
 
				+    if(!event->isAutoRepeat())mPressKeys.remove(event->key());
			
 
				+    qDebug("key count is %d",mPressKeys.count());
			
 
				+}
			
 
				+
			
 
				+void MainWindow::resizeEvent(QResizeEvent *event)
			
 
				+{
			
 
				+    (void)event;
			
 
				+    QSize sizemain = ui->centralwidget->size();
			
 
				+    qDebug("size x = %d y=%d",sizemain.width(),sizemain.height());
			
 
				+
			
 
				+//    mMapview->setVisible(false);
			
 
				+//    mMapview->setGeometry(10,10,sizemain.width()/2,sizemain.height()*3/5);
			
 
				+
			
 
				+//    mpbaiduapp->SetGeometry(10,30,sizemain.width()/2,sizemain.height()*3/5);
			
 
				+
			
 
				+    int nMode = 1;
			
 
				+
			
 
				+    ui->lineEdit_lat->setVisible(false);
			
 
				+    ui->lineEdit_lon->setVisible(false);
			
 
				+    ui->pushButton_test->setVisible(false);
			
 
				+
			
 
				+    if(nMode == 0)
			
 
				+    {
			
 
				+
			
 
				+        mmyview->setGeometry(10+sizemain.width()/2+10,10,sizemain.width()/2-30,sizemain.height()*3/5);
			
 
				+
			
 
				+        int nfrontpos_x = sizemain.width()/6;
			
 
				+        int nfrontpos_y = sizemain.height()/3;
			
 
				+        int nfrontsize_x = sizemain.width()*2/3;
			
 
				+        int nfrontsize_y = sizemain.height() * 2/3;
			
 
				+        mmyview->setGeometry(nfrontpos_x,nfrontpos_y,nfrontsize_x,nfrontsize_y);
			
 
				+
			
 
				+        int nleftpos_x = 0;
			
 
				+        int nleftpos_y = 0;
			
 
				+        int nleftsize_x = sizemain.width()/3;
			
 
				+        int nleftsize_y = sizemain.height()/3;
			
 
				+        mmyviewLeft->setGeometry(nleftpos_x,nleftpos_y,nleftsize_x,nleftsize_y);
			
 
				+
			
 
				+        int nrearpos_x = sizemain.width()/3;
			
 
				+        int nrearpos_y = 0;
			
 
				+        int nrearsize_x = sizemain.width()/3;
			
 
				+        int nrearsize_y = sizemain.height()/3;
			
 
				+        mmyviewRear->setGeometry(nrearpos_x,nrearpos_y,nrearsize_x,nrearsize_y);
			
 
				+
			
 
				+        int nrightpos_x = sizemain.width() * 2/3;
			
 
				+        int nrightpos_y = 0;
			
 
				+        int nrightsize_x = sizemain.width()/3;
			
 
				+        int nrightsize_y = sizemain.height()/3;
			
 
				+        mmyviewRight->setGeometry(nrightpos_x,nrightpos_y,nrightsize_x,nrightsize_y);
			
 
				+
			
 
				+        //    mppicshow->SetGeometry(10+sizemain.width()/2+10,10,sizemain.width()/2-30,sizemain.height()*3/5);
			
 
				+
			
 
				+        //    ui->lineEdit_lat->setGeometry(sizemain.width()-100,10,90,30);
			
 
				+        //    ui->lineEdit_lon->setGeometry(sizemain.width()-100,50,90,30);
			
 
				+        //    ui->pushButton_test->setGeometry(sizemain.width()-100,90,90,30);
			
 
				+
			
 
				+
			
 
				+
			
 
				+        //    mpWheel->setGeometry(sizemain.width()/2 + 20,10,200,200);
			
 
				+
			
 
				+        int grouppos_x =  sizemain.width()*5/6;
			
 
				+        int grouppos_y = sizemain.height()/3;
			
 
				+        int grouppos_width = sizemain.width()*1/6;
			
 
				+        int grouppos_height = sizemain.height() * 2/3;
			
 
				+
			
 
				+
			
 
				+        //    int speed_width = grouppos_height-40;
			
 
				+        //    if((speed_width*3 + 150)>grouppos_width)speed_width = (grouppos_width - 150)/3;
			
 
				+
			
 
				+        int speed_width = grouppos_width;
			
 
				+        if(speed_width*3 > (sizemain.height()/2))speed_width = sizemain.height()/6;
			
 
				+        mpWheel->setGeometry(0,sizemain.height()/6 ,speed_width,speed_width);
			
 
				+        mpBrake->setGeometry(0,sizemain.height()/6 + sizemain.height()/6,speed_width,speed_width);
			
 
				+        mpAcc->setGeometry(0 ,sizemain.height()/6 + sizemain.height()/3,speed_width,speed_width);
			
 
				+        ui->groupBox_rem->setGeometry(grouppos_x,grouppos_y,grouppos_width,grouppos_height);
			
 
				+
			
 
				+
			
 
				+
			
 
				+        int groupmap_x = 0;
			
 
				+        int groupmap_y = sizemain.height()*1/3;
			
 
				+        int groupmap_width = sizemain.width()/6;
			
 
				+        int groupmap_height = sizemain.height()*1/10;
			
 
				+
			
 
				+        ui->comboBox_Station->setGeometry(10,30,groupmap_width*3/5,30);
			
 
				+        ui->pushButton_Go->setGeometry(20 + groupmap_width*3/5,30,groupmap_width*2/5 - 30,30);
			
 
				+
			
 
				+        ui->groupBox_map->setGeometry(groupmap_x,groupmap_y,groupmap_width,groupmap_height);
			
 
				+
			
 
				+        int groupgps_x = 0;
			
 
				+        int groupgps_y = sizemain.height()/2;
			
 
				+        int groupgps_width = sizemain.width()/6;
			
 
				+        int groupgps_height = sizemain.height()/2;
			
 
				+
			
 
				+        ui->groupBox_gps->setGeometry(groupgps_x,groupgps_y,groupgps_width,groupgps_height);
			
 
				+
			
 
				+        int lablewidth =groupgps_width*3/10;// (groupgps_width-50)*2/10;
			
 
				+        int lewidth = groupgps_width*6/10;
			
 
				+        int leheight = 26;
			
 
				+
			
 
				+        int nypos = 40;
			
 
				+        ui->label_gpsins->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpsins->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+        nypos = nypos + leheight*11/10;
			
 
				+        ui->label_gpsrtk->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpsrtk->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+        nypos = nypos + leheight*11/10;
			
 
				+        ui->label_gpslon->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpslon->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+        nypos = nypos + leheight*11/10;
			
 
				+        ui->label_gpslat->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpslat->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+        nypos = nypos + leheight*11/10;
			
 
				+        ui->label_gpsheading->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpsheading->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+        nypos = nypos + leheight*11/10;
			
 
				+        ui->label_gpsheight->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpsheight->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+        nypos = nypos + leheight*11/10;
			
 
				+        ui->label_gpsspeed->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpsspeed->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+        nypos = nypos + leheight*11/10;
			
 
				+        ui->label_gpssat->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpssat->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+
			
 
				+        double fscale = (sizemain.width()*2/3)*1.0/mnframewidth;
			
 
				+        double fscale2 = (sizemain.height()*2/3)*1.0/mnframeheight;
			
 
				+        if(fscale > fscale2) fscale = fscale2;
			
 
				+        fscale = fscale * 0.99;
			
 
				+        mmyview->viewscaleto(fscale);
			
 
				+
			
 
				+        int i;
			
 
				+        for(i=1;i<NUM_CAM;i++)
			
 
				+        {
			
 
				+            fscale =  (sizemain.width()*1/3)*1.0/mnframewidth;
			
 
				+            fscale2 = (sizemain.height()*1/3)*1.0/mnframeheight;
			
 
				+            if(fscale > fscale2) fscale = fscale2;
			
 
				+            fscale = fscale * 0.99;
			
 
				+            mpviewImg[i]->viewscaleto(fscale);
			
 
				+        }
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+    if(nMode == 1)
			
 
				+    {
			
 
				+
			
 
				+        int nfrontpos_x = sizemain.width()*2/5;
			
 
				+        int nfrontpos_y = 0;
			
 
				+        int nfrontsize_x = sizemain.width()*1/5;
			
 
				+        int nfrontsize_y = sizemain.height();
			
 
				+        mmyview->setGeometry(nfrontpos_x,nfrontpos_y,nfrontsize_x,nfrontsize_y);
			
 
				+
			
 
				+        int nleftpos_x = 0;
			
 
				+        int nleftpos_y = 0;
			
 
				+        int nleftsize_x = sizemain.width()*1/5;
			
 
				+        int nleftsize_y = sizemain.height();
			
 
				+        mmyviewLeft->setGeometry(nleftpos_x,nleftpos_y,nleftsize_x,nleftsize_y);
			
 
				+
			
 
				+//        int nrearpos_x = sizemain.width()/3;
			
 
				+//        int nrearpos_y = 0;
			
 
				+//        int nrearsize_x = sizemain.width()/3;
			
 
				+//        int nrearsize_y = sizemain.height()/3;
			
 
				+//        mmyviewRear->setGeometry(nrearpos_x,nrearpos_y,nrearsize_x,nrearsize_y);
			
 
				+
			
 
				+        mmyviewRear->setVisible(false);
			
 
				+
			
 
				+        int nrightpos_x = sizemain.width() * 4/5;
			
 
				+        int nrightpos_y = 0;
			
 
				+        int nrightsize_x = sizemain.width()*1/5;
			
 
				+        int nrightsize_y = sizemain.height();
			
 
				+        mmyviewRight->setGeometry(nrightpos_x,nrightpos_y,nrightsize_x,nrightsize_y);
			
 
				+
			
 
				+        //    mppicshow->SetGeometry(10+sizemain.width()/2+10,10,sizemain.width()/2-30,sizemain.height()*3/5);
			
 
				+
			
 
				+        //    ui->lineEdit_lat->setGeometry(sizemain.width()-100,10,90,30);
			
 
				+        //    ui->lineEdit_lon->setGeometry(sizemain.width()-100,50,90,30);
			
 
				+        //    ui->pushButton_test->setGeometry(sizemain.width()-100,90,90,30);
			
 
				+
			
 
				+
			
 
				+
			
 
				+        //    mpWheel->setGeometry(sizemain.width()/2 + 20,10,200,200);
			
 
				+
			
 
				+        int grouppos_x =  sizemain.width()*1/5;
			
 
				+        int grouppos_y = sizemain.height()/2;
			
 
				+        int grouppos_width = sizemain.width()*1/5;
			
 
				+        int grouppos_height = sizemain.height() * 1/2;
			
 
				+
			
 
				+
			
 
				+        //    int speed_width = grouppos_height-40;
			
 
				+        //    if((speed_width*3 + 150)>grouppos_width)speed_width = (grouppos_width - 150)/3;
			
 
				+
			
 
				+        int speed_width = grouppos_width;
			
 
				+        if(speed_width*3 > (sizemain.height()/2))speed_width = sizemain.height()/6;
			
 
				+        mpWheel->setGeometry(0,sizemain.height()/6 ,speed_width,speed_width);
			
 
				+        mpBrake->setGeometry(0,sizemain.height()/6 + sizemain.height()/6,speed_width,speed_width);
			
 
				+        mpAcc->setGeometry(0 ,sizemain.height()/6 + sizemain.height()/3,speed_width,speed_width);
			
 
				+        ui->groupBox_rem->setGeometry(grouppos_x,grouppos_y,grouppos_width,grouppos_height);
			
 
				+
			
 
				+
			
 
				+
			
 
				+        int groupmap_x = sizemain.width()*1/5;
			
 
				+        int groupmap_y = sizemain.height();
			
 
				+        int groupmap_width = sizemain.width()/5;
			
 
				+        int groupmap_height = sizemain.height();
			
 
				+
			
 
				+        ui->comboBox_Station->setGeometry(10,30,groupmap_width*3/5,30);
			
 
				+        ui->pushButton_Go->setGeometry(20 + groupmap_width*3/5,30,groupmap_width*2/5 - 30,30);
			
 
				+
			
 
				+        ui->groupBox_map->setGeometry(groupmap_x,groupmap_y,groupmap_width,groupmap_height);
			
 
				+
			
 
				+        int groupgps_x = sizemain.width()*1/5;
			
 
				+        int groupgps_y = sizemain.height()/2;
			
 
				+        int groupgps_width = sizemain.width()/5;
			
 
				+        int groupgps_height = sizemain.height()/2;
			
 
				+
			
 
				+        ui->groupBox_gps->setGeometry(groupgps_x,groupgps_y,groupgps_width,groupgps_height);
			
 
				+
			
 
				+        int lablewidth =groupgps_width*3/10;// (groupgps_width-50)*2/10;
			
 
				+        int lewidth = groupgps_width*6/10;
			
 
				+        int leheight = 26;
			
 
				+
			
 
				+        int nypos = 40;
			
 
				+        ui->label_gpsins->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpsins->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+        nypos = nypos + leheight*11/10;
			
 
				+        ui->label_gpsrtk->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpsrtk->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+        nypos = nypos + leheight*11/10;
			
 
				+        ui->label_gpslon->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpslon->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+        nypos = nypos + leheight*11/10;
			
 
				+        ui->label_gpslat->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpslat->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+        nypos = nypos + leheight*11/10;
			
 
				+        ui->label_gpsheading->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpsheading->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+        nypos = nypos + leheight*11/10;
			
 
				+        ui->label_gpsheight->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpsheight->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+        nypos = nypos + leheight*11/10;
			
 
				+        ui->label_gpsspeed->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpsspeed->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+        nypos = nypos + leheight*11/10;
			
 
				+        ui->label_gpssat->setGeometry(10,nypos,lablewidth,leheight);
			
 
				+        ui->lineEdit_gpssat->setGeometry(20+lablewidth,nypos,lewidth,leheight);
			
 
				+
			
 
				+
			
 
				+        double fscale = (sizemain.width()*1/5)*1.0/mnframewidth;
			
 
				+        double fscale2 = (sizemain.height()*1/1)*1.0/mnframeheight;
			
 
				+        if(fscale > fscale2) fscale = fscale2;
			
 
				+        fscale = fscale * 0.99;
			
 
				+        mmyview->viewscaleto(fscale);
			
 
				+
			
 
				+        int i;
			
 
				+        for(i=1;i<NUM_CAM;i++)
			
 
				+        {
			
 
				+            fscale =  (sizemain.width()*1/5)*1.0/mnframewidth;
			
 
				+            fscale2 = (sizemain.height()*1/1)*1.0/mnframeheight;
			
 
				+            if(fscale > fscale2) fscale = fscale2;
			
 
				+            fscale = fscale * 0.99;
			
 
				+            mpviewImg[i]->viewscaleto(fscale);
			
 
				+        }
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+}
			
 
				+
			
 
				+
			
 
				+void MainWindow::on_pushButton_test_clicked()
			
 
				+{
			
 
				+    double flat = ui->lineEdit_lat->text().toDouble();
			
 
				+    double flon = ui->lineEdit_lon->text().toDouble();
			
 
				+
			
 
				+    char strscript[256];
			
 
				+    snprintf(strscript,255,"theLocation(%11.7f,%11.7f);",flon,flat);
			
 
				+//    mMapview->page()->runJavaScript(strscript);
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_radioButton_manual_clicked()
			
 
				+{
			
 
				+    ui->radioButton_manual->setChecked(true);
			
 
				+    mPressKeys.clear();
			
 
				+    mfAcc = 0;
			
 
				+    mfWheel = 0;
			
 
				+    mfBrake = 0;
			
 
				+    mpWheel->updatevalue(mfWheel);
			
 
				+    mpAcc->updatevalue(mfAcc);
			
 
				+    mpBrake->updatevalue(mfBrake);
			
 
				+    mManualTime.restart();
			
 
				+    mnLastTime = mManualTime.elapsed();
			
 
				+    mpTimerManual->start(10);
			
 
				+}
			
 
				+
			
 
				+void MainWindow::onTimerManual()
			
 
				+{
			
 
				+
			
 
				+    static qint64 nLastKeepKeyTime = 0;
			
 
				+    const qint64 nKeepTime = 3000; //if press c key, 5 seconds. in keep mode.
			
 
				+    double fOldWheel = mfWheel;
			
 
				+    double fOldAcc = mfAcc;
			
 
				+    double fOldBrake = mfBrake;
			
 
				+    int timediff = mManualTime.elapsed() - mnLastTime;
			
 
				+    mnLastTime = mManualTime.elapsed();
			
 
				+
			
 
				+    bool bInKeepMode = false;
			
 
				+
			
 
				+    int nOldShift = mnShift;
			
 
				+
			
 
				+#ifndef Q_OS_WIN
			
 
				+    if(mpJRT->isOK())
			
 
				+    {
			
 
				+        mfWheel = mpJRT->GetWheel() * (-100.0)/32768.0;
			
 
				+        mfAcc = ((mpJRT->GetAcc()-32767.0)/65535)*(-100.0);
			
 
				+        mfBrake = ((mpJRT->GetBrake()-32767.0)/65535)*(-100.0);
			
 
				+        if(mfWheel != fOldWheel)mpWheel->updatevalue(mfWheel);
			
 
				+        if(mfAcc != fOldAcc)mpAcc->updatevalue(mfAcc);
			
 
				+        if(mfBrake != fOldBrake)mpBrake->updatevalue(mfBrake);
			
 
				+
			
 
				+        int x = mpJRT->GetShift();
			
 
				+        if(x > 0)mnShift = 1;
			
 
				+        if(x == 0)mnShift = 0;
			
 
				+        if(x < 0)mnShift = -1;
			
 
				+        if(mnShift != nOldShift)
			
 
				+        {
			
 
				+            switch (mnShift) {
			
 
				+            case 1:
			
 
				+                ui->radioButton_Drive->setChecked(true);
			
 
				+                break;
			
 
				+            case 0:
			
 
				+                ui->radioButton_Null->setChecked(true);
			
 
				+                break;
			
 
				+            case -1:
			
 
				+                ui->radioButton_Rear->setChecked(true);
			
 
				+                break;
			
 
				+            default:
			
 
				+                break;
			
 
				+            }
			
 
				+        }
			
 
				+        return;
			
 
				+    }
			
 
				+#endif
			
 
				+
			
 
				+    if(mPressKeys.contains(Qt::Key_C)||(mPressKeys.contains(Qt::Key_A))||(mPressKeys.contains(Qt::Key_D))||(mPressKeys.contains(Qt::Key_W))||(mPressKeys.contains(Qt::Key_S)))
			
 
				+    {
			
 
				+        nLastKeepKeyTime = QDateTime::currentMSecsSinceEpoch();
			
 
				+    }
			
 
				+
			
 
				+    if(abs(QDateTime::currentMSecsSinceEpoch() - nLastKeepKeyTime)  < nKeepTime)
			
 
				+    {
			
 
				+        bInKeepMode = true;
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+    if(mPressKeys.contains(Qt::Key_A)&&(mPressKeys.contains((Qt::Key_D))))
			
 
				+    {
			
 
				+        mfWheel = mfWheel;
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        if(mPressKeys.contains(Qt::Key_A))
			
 
				+        {
			
 
				+//            if(mfWheel<0)mfWheel = 0;
			
 
				+//            else
			
 
				+//            {
			
 
				+                mfWheel = mfWheel + timediff*mfWheelSpeed/1000;
			
 
				+                if(mfWheel < -100)mfWheel = -100;
			
 
				+                if(mfWheel > 100 )mfWheel = 100;
			
 
				+//            }
			
 
				+        }
			
 
				+
			
 
				+        if(mPressKeys.contains(Qt::Key_D))
			
 
				+        {
			
 
				+//            if(mfWheel>0)mfWheel = 0;
			
 
				+//            else
			
 
				+//            {
			
 
				+                mfWheel = mfWheel - timediff*mfWheelSpeed/1000;
			
 
				+                if(mfWheel < -100)mfWheel = -100;
			
 
				+                if(mfWheel > 100 )mfWheel = 100;
			
 
				+//            }
			
 
				+        }
			
 
				+
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+    if(mPressKeys.contains(Qt::Key_Z))
			
 
				+    {
			
 
				+        mfWheel = 0;
			
 
				+    }
			
 
				+
			
 
				+    if(!mPressKeys.contains(Qt::Key_A)&&(!mPressKeys.contains((Qt::Key_D)))&&(bInKeepMode == false))
			
 
				+    {
			
 
				+        if(mfWheel != 0)
			
 
				+        {
			
 
				+            if(mfWheel > 0)mfWheel = mfWheel - timediff*mfWheelAutoDownSpeed/1000;
			
 
				+            else mfWheel = mfWheel + timediff*mfWheelAutoDownSpeed/1000;
			
 
				+            if(fabs(mfWheel)< 10)mfWheel =0;
			
 
				+        }
			
 
				+    }
			
 
				+
			
 
				+    if(mnVehMode == 2)   //ACC BRAKE
			
 
				+    {
			
 
				+        if(mPressKeys.contains(Qt::Key_W)&&(mPressKeys.contains((Qt::Key_S))))
			
 
				+        {
			
 
				+            mfAcc = 0;
			
 
				+            mfBrake = mfBrake + timediff*mfBrakeSpeed/1000;
			
 
				+            if(mfBrake<0)mfBrake = 0;
			
 
				+            if(mfBrake > 100)mfBrake = 100;
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            if(mPressKeys.contains(Qt::Key_W))
			
 
				+            {
			
 
				+                mfBrake = 0;
			
 
				+                mfAcc = mfAcc + timediff*mfAccSpeed/1000;
			
 
				+                if(mfAcc<0)mfAcc = 0;
			
 
				+                if(mfAcc > 100)mfAcc = 100;
			
 
				+
			
 
				+            }
			
 
				+
			
 
				+            if(mPressKeys.contains(Qt::Key_S))
			
 
				+            {
			
 
				+                mfAcc = 0;
			
 
				+                mfBrake = mfBrake + timediff*mfBrakeSpeed/1000;
			
 
				+                if(mfBrake<0)mfBrake = 0;
			
 
				+                if(mfBrake > 100)mfBrake = 100;
			
 
				+            }
			
 
				+
			
 
				+
			
 
				+        }
			
 
				+    }
			
 
				+    else   //Speed Mode
			
 
				+    {
			
 
				+        if(mPressKeys.contains(Qt::Key_W)&&(mPressKeys.contains((Qt::Key_S))))
			
 
				+        {
			
 
				+            if(mfAcc > 0)
			
 
				+            {
			
 
				+                mfAcc = mfAcc - 10*timediff*mfAccSpeed/1000;
			
 
				+                if(mfAcc<0)mfAcc = 0;
			
 
				+            }
			
 
				+            else
			
 
				+            {
			
 
				+                mfBrake = mfBrake + timediff*mfBrakeSpeed/1000;
			
 
				+                if(mfBrake<0)mfBrake = 0;
			
 
				+                if(mfBrake > 100)mfBrake = 100;
			
 
				+            }
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            if(mPressKeys.contains(Qt::Key_W))
			
 
				+            {
			
 
				+                mfBrake = 0;
			
 
				+                mfAcc = mfAcc + timediff*mfAccSpeed/1000;
			
 
				+                if(mfAcc<0)mfAcc = 0;
			
 
				+                if(mfAcc > 100)mfAcc = 100;
			
 
				+
			
 
				+            }
			
 
				+
			
 
				+            if(mPressKeys.contains(Qt::Key_S))
			
 
				+            {
			
 
				+                if(mfAcc > 0)
			
 
				+                {
			
 
				+                    mfAcc = mfAcc - 10*timediff*mfAccSpeed/1000;
			
 
				+                    if(mfAcc<0)mfAcc = 0;
			
 
				+                }
			
 
				+                else
			
 
				+                {
			
 
				+                    mfBrake = mfBrake + timediff*mfBrakeSpeed/1000;
			
 
				+                    if(mfBrake<0)mfBrake = 0;
			
 
				+                    if(mfBrake > 100)mfBrake = 100;
			
 
				+                }
			
 
				+            }
			
 
				+
			
 
				+
			
 
				+        }
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+    if(!mPressKeys.contains(Qt::Key_W)&&(!mPressKeys.contains((Qt::Key_S)))&&(bInKeepMode == false))
			
 
				+    {
			
 
				+        if(mfBrake != 0)
			
 
				+        {
			
 
				+//            mfBrake = mfBrake - timediff*mfBrakeAutoDownSpeed/1000;
			
 
				+//            if(mfBrake<0)mfBrake = 0;
			
 
				+//            if(mfBrake > 100)mfBrake = 100;
			
 
				+        }
			
 
				+
			
 
				+        if(mfAcc != 0)
			
 
				+        {
			
 
				+            mfAcc = mfAcc - timediff*mfAccAutoDownSpeed/1000;
			
 
				+            if(mfAcc<0)mfAcc = 0;
			
 
				+            if(mfAcc > 100)mfAcc = 100;
			
 
				+        }
			
 
				+    }
			
 
				+
			
 
				+    if(mfWheel != fOldWheel)mpWheel->updatevalue(mfWheel*5.5);
			
 
				+    if(mfAcc != fOldAcc)mpAcc->updatevalue(mfAcc);
			
 
				+    if(mfBrake != fOldBrake)mpBrake->updatevalue(mfBrake);
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_radioButton_auto_clicked()
			
 
				+{
			
 
				+    ui->radioButton_auto->setChecked(true);
			
 
				+    mPressKeys.clear();
			
 
				+    mpTimerManual->stop();
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void MainWindow::onTimerRemote()
			
 
				+{
			
 
				+    if(ui->radioButton_auto->isChecked())
			
 
				+    {
			
 
				+        mremotectrl.set_ntype(iv::remotectrl_CtrlType_AUTO);
			
 
				+//        mfAcc = 0;
			
 
				+//        mfBrake = 0;
			
 
				+//        mfWheel =0;
			
 
				+//        mpWheel->updatevalue(mfWheel);
			
 
				+//        mpAcc->updatevalue(mfAcc);
			
 
				+//        mpBrake->updatevalue(mfBrake);
			
 
				+
			
 
				+
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        mremotectrl.set_ntype(iv::remotectrl_CtrlType_REMOTE);
			
 
				+
			
 
				+    }
			
 
				+    mremotectrl.set_acc(mfAcc);
			
 
				+    mremotectrl.set_brake(mfBrake);
			
 
				+    mremotectrl.set_wheel(mfWheel);
			
 
				+    mremotectrl.set_shift(mnShift);
			
 
				+
			
 
				+
			
 
				+    int nsersize = mremotectrl.ByteSize();
			
 
				+    char * strbuf = new char[nsersize];
			
 
				+    if(mremotectrl.SerializeToArray(strbuf,nsersize))
			
 
				+    {
			
 
				+        mgrpcpc->SetCtrlMsg("remotectrl",strbuf,nsersize);
			
 
				+//        iv::modulecomm::ModuleSendMsg(mpa,strbuf,nsersize);
			
 
				+    }
			
 
				+    delete strbuf;
			
 
				+}
			
 
				+
			
 
				+void MainWindow::onTimerUpdatePic()
			
 
				+{
			
 
				+    static qint64 time_pic = 0;
			
 
				+
			
 
				+    static qint64 time_trace = 0;
			
 
				+    static int pos = 0;
			
 
				+    static std::vector<iv::simpletrace> xvectorsimpletrace;
			
 
				+
			
 
				+
			
 
				+
			
 
				+    if(gTimeTrace != time_trace)
			
 
				+    {
			
 
				+        time_trace = gTimeTrace;
			
 
				+
			
 
				+        gMutexTrace.lock();
			
 
				+        xvectorsimpletrace = gvectorsimplerace;
			
 
				+        gMutexTrace.unlock();
			
 
				+        pos = 0;
			
 
				+        if(xvectorsimpletrace.size()> 0)
			
 
				+        {
			
 
				+            QJsonArray num_json,num2_json;                       //声明QJsonArray
			
 
				+            QJsonDocument num_document,num2_document;    //将QJsonArray改为QJsonDocument类
			
 
				+            QByteArray num_byteArray,num2_byteArray;      //
			
 
				+
			
 
				+            int i=0;
			
 
				+            for(i=0;i<xvectorsimpletrace.size();i++)                            //将数组传入压入num_json
			
 
				+            {
			
 
				+                num_json.append(xvectorsimpletrace[i].gps_lng);
			
 
				+                num2_json.append(xvectorsimpletrace[i].gps_lat);
			
 
				+            }
			
 
				+
			
 
				+            num_document.setArray(num_json);
			
 
				+            num2_document.setArray(num2_json);
			
 
				+            num_byteArray = num_document.toJson(QJsonDocument::Compact);
			
 
				+            num2_byteArray = num2_document.toJson(QJsonDocument::Compact);
			
 
				+            QString numJson(num_byteArray);             //再转为QString
			
 
				+            QString num2Json(num2_byteArray);             //再转为QString
			
 
				+
			
 
				+
			
 
				+            QString cmd = QString("settrace(\"%1\",\"%2\")").arg(numJson).arg(num2Json);
			
 
				+//            mMapview->page()->runJavaScript(cmd);
			
 
				+        }
			
 
				+
			
 
				+    }
			
 
				+
			
 
				+//    if(pos<xvectorsimpletrace.size())
			
 
				+//    {
			
 
				+//        if(pos == 0)
			
 
				+//        {
			
 
				+//            mMapview->page()->runJavaScript("clear()");
			
 
				+//        }
			
 
				+
			
 
				+//        char strscript[256];
			
 
				+//        snprintf(strscript,255,"mapLocation(%11.7f,%11.7f);",xvectorsimpletrace[pos].gps_lng,xvectorsimpletrace[pos].gps_lat);
			
 
				+//        mMapview->page()->runJavaScript(strscript);
			
 
				+//        pos++;
			
 
				+
			
 
				+//    }
			
 
				+}
			
 
				+
			
 
				+void MainWindow::onTimerUpdateView()
			
 
				+{
			
 
				+    static qint64 time_gps = 0;
			
 
				+
			
 
				+    unsigned int i;
			
 
				+
			
 
				+   char strlatency[1000];
			
 
				+   char strtem[100];
			
 
				+   snprintf(strlatency,1000,"Latency(Up|FrameRate|Down): ");
			
 
				+   snprintf(strtem,100,"FT(%d|%d|%d) ",mgrpcpc->GetPicLatency(0),mgrpcpc->GetFrameRate(0),mgrpcpc->GetPicDownLatency(0));strncat(strlatency,strtem,1000);
			
 
				+   snprintf(strtem,100,"RR(%d|%d|%d) ",mgrpcpc->GetPicLatency(1),mgrpcpc->GetFrameRate(1),mgrpcpc->GetPicDownLatency(1));strncat(strlatency,strtem,1000);
			
 
				+   snprintf(strtem,100,"LT(%d|%d|%d) ",mgrpcpc->GetPicLatency(2),mgrpcpc->GetFrameRate(2),mgrpcpc->GetPicDownLatency(2));strncat(strlatency,strtem,1000);
			
 
				+   snprintf(strtem,100,"RT(%d|%d|%d) ",mgrpcpc->GetPicLatency(3),mgrpcpc->GetFrameRate(3),mgrpcpc->GetPicDownLatency(3));strncat(strlatency,strtem,1000);
			
 
				+
			
 
				+   mpLabelLatency->setText(strlatency);
			
 
				+
			
 
				+
			
 
				+    if(gTimeGPSIMUUpdate != time_gps)
			
 
				+    {
			
 
				+        time_gps = gTimeGPSIMUUpdate;
			
 
				+        char strscript[256];
			
 
				+        snprintf(strscript,255,"theLocation(%11.7f,%11.7f,%11.3f);",ggpsimu.lon(),ggpsimu.lat(),ggpsimu.heading());
			
 
				+//        mMapview->page()->runJavaScript(strscript);
			
 
				+
			
 
				+        iv::gps::gpsimu xgpsimu;
			
 
				+        xgpsimu.CopyFrom(ggpsimu);
			
 
				+
			
 
				+        ui->lineEdit_gpsins->setText(QString::number(xgpsimu.ins_state()));
			
 
				+        ui->lineEdit_gpsrtk->setText(QString::number(xgpsimu.rtk_state()));
			
 
				+        ui->lineEdit_gpslon->setText(QString::number(xgpsimu.lon(),'f',7));
			
 
				+        ui->lineEdit_gpslat->setText(QString::number(xgpsimu.lat(),'f',7));
			
 
				+        ui->lineEdit_gpsheading->setText(QString::number(xgpsimu.heading(),'f',2));
			
 
				+        ui->lineEdit_gpsheight->setText(QString::number(xgpsimu.height(),'f',2));
			
 
				+        ui->lineEdit_gpsspeed->setText(QString::number(xgpsimu.speed(),'f',2));
			
 
				+        ui->lineEdit_gpssat->setText(QString::number(xgpsimu.satnum1()));
			
 
				+
			
 
				+        mstrGPSTime =  QDateTime::fromMSecsSinceEpoch(xgpsimu.msgtime()).toString("GPS: yyyy-MM-dd hh:mm:ss  ");
			
 
				+        setWindowTitle(mstrProgName + mstrVIN + mstrGPSTime + mstrPicTime);
			
 
				+    }
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void MainWindow::onCamUpdate(int ncampos, QImage image)
			
 
				+{
			
 
				+    int i = ncampos;
			
 
				+ //   ui->label_pic->setPixmap(QPixmap::fromImage(image));
			
 
				+    mpsceneImg[i]->clear();
			
 
				+//           mpsceneImg[i]->addPixmap(QPixmap::fromImage(image));
			
 
				+    mpsceneImg[i]->addPixmap(QPixmap::fromImage(image));
			
 
				+    mpviewImg[i]->setScene(mpsceneImg[i]);
			
 
				+    mpviewImg[i]->show();
			
 
				+}
			
 
				+
			
 
				+void MainWindow::paintEvent(QPaintEvent *)
			
 
				+{
			
 
				+    int i;
			
 
				+    QTime xTime;
			
 
				+    xTime;
			
 
				+    xTime.start();
			
 
				+    int nupdate = 0;
			
 
				+    for(i=0;i<NUM_CAM;i++)
			
 
				+    {
			
 
				+ //       continue;
			
 
				+        if(mbCamUpdate[i])
			
 
				+        {
			
 
				+            nupdate++;
			
 
				+ //           xTime.start();
			
 
				+ //           std::cout<<" copy image. "<<std::endl;
			
 
				+            mMutexCam[i].lock();
			
 
				+//            QImage image = mpImageCam[i]->copy();
			
 
				+            mbCamUpdate[i] = false;
			
 
				+
			
 
				+
			
 
				+            //       QImage image = mpPicView->GetImage();
			
 
				+            mpsceneImg[i]->clear();
			
 
				+ //           mpsceneImg[i]->addPixmap(QPixmap::fromImage(image));
			
 
				+            mpsceneImg[i]->addPixmap(QPixmap::fromImage(*mpImageCam[i]));
			
 
				+            mpviewImg[i]->setScene(mpsceneImg[i]);
			
 
				+            mpviewImg[i]->show();
			
 
				+            mMutexCam[i].unlock();
			
 
				+//            std::cout<<" update a image use. "<<xTime.elapsed()<<std::endl;
			
 
				+        }
			
 
				+    }
			
 
				+//    std::cout<<" time upadate time: "<<xTime.elapsed()<<" update cout:"<<nupdate<<std::endl;
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_pushButton_Go_clicked()
			
 
				+{
			
 
				+
			
 
				+
			
 
				+
			
 
				+    if(ui->comboBox_Station->currentIndex() < 0)return;
			
 
				+    int index = ui->comboBox_Station->currentIndex();
			
 
				+
			
 
				+    if(index<0 ||  index>= gvectorpos.size())
			
 
				+    {
			
 
				+        std::cout<<"out range."<<std::endl;
			
 
				+        return;
			
 
				+    }
			
 
				+    iv::pos_def xpos = gvectorpos[index];
			
 
				+
			
 
				+    double lon,lat;
			
 
				+    lon = xpos.mflon;
			
 
				+    lat = xpos.mflat;
			
 
				+
			
 
				+    xodrobj xo;
			
 
				+    xo.flon = lon;
			
 
				+    xo.flat = lat;
			
 
				+    xo.lane = 3;
			
 
				+
			
 
				+
			
 
				+    mgrpcpc->SetCtrlMsg("xodrreq",(char *)&xo,sizeof(xodrobj));
			
 
				+//    iv::modulecomm::ModuleSendMsg(mpadst,(char *)&xo,sizeof(xodrobj));
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_comboBox_Station_currentIndexChanged(int index)
			
 
				+{
			
 
				+    if(index<0 ||  index>= gvectorpos.size())
			
 
				+    {
			
 
				+        std::cout<<"out range."<<std::endl;
			
 
				+        return;
			
 
				+    }
			
 
				+    iv::pos_def xpos = gvectorpos[index];
			
 
				+
			
 
				+    char strscript[256];
			
 
				+    snprintf(strscript,255,"objLocation(%11.7f,%11.7f);",xpos.mflon,xpos.mflat);
			
 
				+ //   mMapview->page()->runJavaScript(strscript);
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_checkBox_Drive_stateChanged(int arg1)
			
 
				+{
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_checkBox_Drive_clicked()
			
 
				+{
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_checkBox_Null_clicked()
			
 
				+{
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_checkBox_Rear_clicked()
			
 
				+{
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_radioButton_Drive_clicked()
			
 
				+{
			
 
				+    mnShift = 1;
			
 
				+
			
 
				+//    on_radioButton_picfront_clicked();
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_radioButton_Null_clicked()
			
 
				+{
			
 
				+    mnShift = 0;
			
 
				+}
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+void MainWindow::onCloseDlg()
			
 
				+{
			
 
				+    qDebug("cloase");
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_checkBox_clicked()
			
 
				+{
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void MainWindow::saveavi(int index)
			
 
				+{
			
 
				+    (void)index;
			
 
				+}
			
 
				+
			
 
				+
			
 
				+
			
 
				+void MainWindow::onCloseBigDlg()
			
 
				+{
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_actionSet_Query_Pass_triggered()
			
 
				+{
			
 
				+    DialogSetPassWord xdlg(DialogSetPassWord_Type::QUERY,mstrqueryMD5,this);
			
 
				+    if(xdlg.exec() == xdlg.Accepted)
			
 
				+    {
			
 
				+        mgrpcpc->setqueryMD5(ServiceRCIni.GetQueryMD5());
			
 
				+        mstrqueryMD5 = ServiceRCIni.GetQueryMD5();
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_actionSetting_triggered()
			
 
				+{
			
 
				+    DialogSetting xdlg(this);
			
 
				+    if(xdlg.exec() == QDialog::Accepted)
			
 
				+    {
			
 
				+        mgrpcpc->setVIN(ServiceRCIni.GetVIN());
			
 
				+        mstrVehVIN = ServiceRCIni.GetVIN();
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_actionSet_Ctrl_Pass_triggered()
			
 
				+{
			
 
				+    DialogSetPassWord xdlg(DialogSetPassWord_Type::CTRL,mstrctrlMD5,this);
			
 
				+    if(xdlg.exec() == xdlg.Accepted)
			
 
				+    {
			
 
				+        mgrpcpc->setctrlMD5(ServiceRCIni.GetCtrlMD5());
			
 
				+        mstrctrlMD5 = ServiceRCIni.GetCtrlMD5();
			
 
				+    }
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void MainWindow::threadinfo()
			
 
				+{
			
 
				+    int nrtn;
			
 
				+    iv::cloud::cloudmsg xcloudmsg;
			
 
				+    while(mbThreadrun)
			
 
				+    {
			
 
				+        nrtn = mgrpcpc->GetQueryMsg(xcloudmsg,1000);
			
 
				+        if(nrtn == 1)
			
 
				+        {
			
 
				+            int i;
			
 
				+            for(i=0;i<xcloudmsg.xclouddata_size();i++)
			
 
				+            {
			
 
				+                iv::cloud::cloudunit * punit = xcloudmsg.mutable_xclouddata(i);
			
 
				+                if(punit->msgname() == "hcp2_gpsimu")
			
 
				+                {
			
 
				+                    iv::gps::gpsimu xgpsimu;
			
 
				+                    if(!xgpsimu.ParseFromArray(punit->data().data(),punit->data().size()))
			
 
				+                    {
			
 
				+                        std::cout<<"ListenRaw Parse error."<<std::endl;
			
 
				+                        continue;
			
 
				+                    }
			
 
				+                    ggpsimu.CopyFrom(xgpsimu);
			
 
				+                    gTimeGPSIMUUpdate = QDateTime::currentMSecsSinceEpoch();
			
 
				+                }
			
 
				+            }
			
 
				+ //           std::cout<<" receive info msg. "<<std::endl;
			
 
				+        }
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void MainWindow::threadframe(int ncamppos)
			
 
				+{
			
 
				+    iv::h264rawframedata xframe;
			
 
				+    while(mbThreadrun)
			
 
				+    {
			
 
				+//        std::this_thread::sleep_for(std::chrono::milliseconds(100));
			
 
				+//        continue;
			
 
				+        int nrtn;
			
 
				+        nrtn = mgrpcpc->Consumeh264frame(ncamppos,xframe,10);
			
 
				+        if(nrtn == 1)
			
 
				+        {
			
 
				+//            std::cout<<"recv a frame."<<std::endl;
			
 
				+            iv::rawframedata xrawframe;
			
 
				+            xrawframe.mpstr_ptr = xframe.mpstr_ptr;
			
 
				+            xrawframe.ndatasize = xframe.mdatasize;
			
 
				+            mph264decode[ncamppos]->addframedata(xrawframe);
			
 
				+        }
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void MainWindow::threadpic(int ncampos)
			
 
				+{
			
 
				+
			
 
				+    while(mbThreadrun)
			
 
				+    {
			
 
				+        int nindex = mph264decode[ncampos]->GetUpdatedIndex(10);
			
 
				+        if(nindex<0)continue;
			
 
				+//        std::cout<<" recv a yuv."<<std::endl;
			
 
				+        iv::framedecodebuf * pbuf =  mph264decode[ncampos]->LockReadBuff(nindex);
			
 
				+        int cy = pbuf->frameheight;
			
 
				+        int cx = pbuf->framewidth;
			
 
				+        cv::Mat rgbImg(cy, cx,CV_8UC3);
			
 
				+
			
 
				+#ifndef USE_QSV
			
 
				+        cv::cvtColor(pbuf->myuvImg, rgbImg,  CV_YUV2RGB_I420);
			
 
				+#endif
			
 
				+#ifdef USE_QSV
			
 
				+        cv::cvtColor(pbuf->myuvImg, rgbImg,  CV_YUV2RGB_NV12);
			
 
				+#endif
			
 
				+        mph264decode[ncampos]->UnlockReadBuff(nindex);
			
 
				+
			
 
				+        QImage image2 = QImage((uchar*)(rgbImg.data), rgbImg.cols, rgbImg.rows,  QImage::Format_RGB888);
			
 
				+
			
 
				+        mMutexCam[ncampos].lock();
			
 
				+//        emit CamUpdate(ncampos,image2);
			
 
				+        *mpImageCam[ncampos] = image2.copy();
			
 
				+        mbCamUpdate[ncampos] = true;
			
 
				+        mMutexCam[ncampos].unlock();
			
 
				+        emit CamUpdate(ncampos);
			
 
				+//        cv::cvtColor(rgbImg, rgbImg, CV_BGR2RGB);
			
 
				+//        QImage image2 = QImage((uchar*)(rgbImg.data), rgbImg.cols, rgbImg.rows,  QImage::Format_RGB888);
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void MainWindow::onCamUpdate(int ncampos)
			
 
				+{
			
 
				+    (void)ncampos;
			
 
				+    static int64_t nlastupdate =0;
			
 
				+    int64_t nnow = std::chrono::system_clock::now().time_since_epoch().count()/1000000;
			
 
				+    if(abs(nnow - nlastupdate)>30)
			
 
				+    {
			
 
				+        nlastupdate = std::chrono::system_clock::now().time_since_epoch().count()/1000000;
			
 
				+        update();
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_actionFullScreem_triggered()
			
 
				+{
			
 
				+    showFullScreen();
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_actionNormal_triggered()
			
 
				+{
			
 
				+    showNormal();
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_horizontalSlider_wheelspeed_sliderMoved(int position)
			
 
				+{
			
 
				+    (void)position;
			
 
				+    mfWheelSpeed = mfWheelBaseSpeed * ui->horizontalSlider_wheelspeed->value();
			
 
				+}
			
 
				+
			
 
				+void MainWindow::on_horizontalSlider_wheelspeed_valueChanged(int value)
			
 
				+{
			
 
				+    (void)value;
			
 
				+    mfWheelSpeed = mfWheelBaseSpeed * ui->horizontalSlider_wheelspeed->value();
			
 
				+}
			
--- a/src/tool/RemoteCtrl_Wide/mainwindow.h
+++ b/src/tool/RemoteCtrl_Wide/mainwindow.h
@@ -0,0 +1,236 @@
 
				+#ifndef MAINWINDOW_H
			
 
				+#define MAINWINDOW_H
			
 
				+
			
 
				+
			
 
				+#define CAMERA_NUM 4
			
 
				+
			
 
				+#include <QMainWindow>
			
 
				+
			
 
				+#include <QTranslator>
			
 
				+
			
 
				+#include <QtWidgets>
			
 
				+//#include <QtWebEngineWidgets/QtWebEngineWidgets>
			
 
				+#include <QSet>
			
 
				+#include <QMutex>
			
 
				+#include <QLabel>
			
 
				+
			
 
				+#include <iostream>
			
 
				+
			
 
				+#include <speed.h>
			
 
				+
			
 
				+#include "remotectrl.pb.h"
			
 
				+#include "gpsimu.pb.h"
			
 
				+#include "rawpic.pb.h"
			
 
				+
			
 
				+#include "myview.h"
			
 
				+#include "grpcpc.h"
			
 
				+#include "modulecomm.h"
			
 
				+#include "joyreadthread.h"
			
 
				+#include "dialogsetpassword.h"
			
 
				+#include "dialogsetting.h"
			
 
				+#include "ivh264framedecode.h"
			
 
				+
			
 
				+#include "pluginapp.h"
			
 
				+
			
 
				+QT_BEGIN_NAMESPACE
			
 
				+namespace Ui { class MainWindow; }
			
 
				+QT_END_NAMESPACE
			
 
				+
			
 
				+class MainWindow : public QMainWindow
			
 
				+{
			
 
				+    Q_OBJECT
			
 
				+
			
 
				+public:
			
 
				+    MainWindow(QWidget *parent = nullptr);
			
 
				+    ~MainWindow();
			
 
				+
			
 
				+private slots:
			
 
				+    void on_pushButton_test_clicked();
			
 
				+
			
 
				+    virtual void paintEvent(QPaintEvent *);
			
 
				+
			
 
				+    void on_radioButton_manual_clicked();
			
 
				+
			
 
				+    void onTimerManual();
			
 
				+
			
 
				+    void onTimerRemote();
			
 
				+
			
 
				+    void onTimerUpdateView();
			
 
				+
			
 
				+    void onTimerUpdatePic();
			
 
				+
			
 
				+    void on_radioButton_auto_clicked();
			
 
				+
			
 
				+//    virtual void paintEvent(QPaintEvent *);
			
 
				+
			
 
				+
			
 
				+
			
 
				+    void on_pushButton_Go_clicked();
			
 
				+
			
 
				+    void on_comboBox_Station_currentIndexChanged(int index);
			
 
				+
			
 
				+    void on_checkBox_Drive_stateChanged(int arg1);
			
 
				+
			
 
				+    void on_checkBox_Drive_clicked();
			
 
				+
			
 
				+    void on_checkBox_Null_clicked();
			
 
				+
			
 
				+    void on_checkBox_Rear_clicked();
			
 
				+
			
 
				+    void on_radioButton_Drive_clicked();
			
 
				+
			
 
				+    void on_radioButton_Null_clicked();
			
 
				+
			
 
				+
			
 
				+
			
 
				+    void onCloseDlg();
			
 
				+    void onCloseBigDlg();
			
 
				+
			
 
				+    void on_checkBox_clicked();
			
 
				+
			
 
				+
			
 
				+    void on_actionSet_Query_Pass_triggered();
			
 
				+
			
 
				+    void on_actionSetting_triggered();
			
 
				+
			
 
				+    void on_actionSet_Ctrl_Pass_triggered();
			
 
				+
			
 
				+    void onCamUpdate(int ncampos);
			
 
				+
			
 
				+    void on_actionFullScreem_triggered();
			
 
				+
			
 
				+    void on_actionNormal_triggered();
			
 
				+
			
 
				+    void on_horizontalSlider_wheelspeed_sliderMoved(int position);
			
 
				+
			
 
				+    void on_horizontalSlider_wheelspeed_valueChanged(int value);
			
 
				+
			
 
				+    void onCamUpdate(int ncampos,QImage image);
			
 
				+
			
 
				+signals:
			
 
				+    void CamUpdate(int ncampos);
			
 
				+    void CamUpdate(int ncampos,QImage image);
			
 
				+public:
			
 
				+     void resizeEvent(QResizeEvent *event);
			
 
				+
			
 
				+     void keyPressEvent(QKeyEvent *event) Q_DECL_OVERRIDE;
			
 
				+
			
 
				+     void keyReleaseEvent(QKeyEvent *event) Q_DECL_OVERRIDE;
			
 
				+
			
 
				+
			
 
				+
			
 
				+private:
			
 
				+    Ui::MainWindow *ui;
			
 
				+
			
 
				+
			
 
				+//    QWebEngineView * mMapview;
			
 
				+
			
 
				+    Speed * mpWheel, * mpAcc, * mpBrake;
			
 
				+
			
 
				+     QSet<int> mPressKeys;
			
 
				+
			
 
				+     QTimer * mpTimerManual;
			
 
				+     QTimer * mpTimerRemote;
			
 
				+
			
 
				+     double mfWheel = 0;
			
 
				+     double mfAcc = 0;
			
 
				+     double mfBrake = 0;
			
 
				+
			
 
				+     int mnLastTime;
			
 
				+     QTime mManualTime;
			
 
				+
			
 
				+     double mfWheelSpeed = 10; //100degree/s
			
 
				+     double mfAccSpeed = 30; //30/s
			
 
				+     double mfBrakeSpeed = 100; //100/s
			
 
				+
			
 
				+     double mfWheelBaseSpeed = 10;
			
 
				+
			
 
				+     double mfWheelAutoDownSpeed = 0;
			
 
				+     double mfAccAutoDownSpeed = 10;
			
 
				+     double mfBrakeAutoDownSpeed = 30;
			
 
				+
			
 
				+     iv::remotectrl mremotectrl;
			
 
				+
			
 
				+     void * mpa;
			
 
				+
			
 
				+     QTimer * mpTimerUpdateView;
			
 
				+
			
 
				+     MyView * mmyview;
			
 
				+     QGraphicsScene *mscene;
			
 
				+
			
 
				+     MyView * mmyviewLeft,* mmyviewRear,*mmyviewRight;
			
 
				+
			
 
				+     MyView * mpviewImg[NUM_CAM];
			
 
				+     QGraphicsScene * mpsceneImg[NUM_CAM];
			
 
				+
			
 
				+     void * mpadst;
			
 
				+     void * mpasimpletrace;
			
 
				+
			
 
				+     grpcpc * mgrpcpc;
			
 
				+
			
 
				+     QString mstrProgName = "ADC IV Remote Control  ";
			
 
				+     QString mstrGPSTime = " GPS:";
			
 
				+     QString mstrPicTime = " Pic:";
			
 
				+
			
 
				+     QString mstrVIN;
			
 
				+
			
 
				+#ifndef Q_OS_WIN
			
 
				+     JoyReadThread * mpJRT;
			
 
				+#endif
			
 
				+
			
 
				+     int mnShift = 0;
			
 
				+
			
 
				+     int mnSelPic = 0;
			
 
				+
			
 
				+
			
 
				+
			
 
				+     bool mbSavePic = false;
			
 
				+
			
 
				+public:
			
 
				+     void saveavi(int index);
			
 
				+
			
 
				+
			
 
				+private:
			
 
				+    void CreateView();
			
 
				+
			
 
				+private:
			
 
				+    QLabel * mpLabelLatency;
			
 
				+
			
 
				+private:
			
 
				+    std::string mstrserverip = "192.168.14.98";//"111.33.136.149";//"127.0.0.1";// "140.143.237.38";
			
 
				+    std::string mstrserverport = "50051";//"9000";
			
 
				+    std::string mstruploadinterval = "100";
			
 
				+    std::string mstrVehVIN = "AAAAAAAAAAAAAAAAA";
			
 
				+    std::string mstrqueryMD5 = "5d41402abc4b2a76b9719d911017c592";
			
 
				+    std::string mstrctrlMD5 = "5d41402abc4b2a76b9719d911017c592";
			
 
				+
			
 
				+private:
			
 
				+    pluginapp * mpbaiduapp;
			
 
				+    pluginapp * mppicshow;
			
 
				+
			
 
				+private:
			
 
				+    bool mbThreadrun = true;
			
 
				+private:
			
 
				+    void threadframe(int ncamppos);
			
 
				+    void threadpic(int ncampos);
			
 
				+    void threadinfo();
			
 
				+
			
 
				+private:
			
 
				+    ivh264framedecode * mph264decode[NUM_CAM];
			
 
				+
			
 
				+    int mnframewidth = 1920;
			
 
				+    int mnframeheight = 1080;
			
 
				+
			
 
				+    std::thread * mpthreadframe[NUM_CAM];
			
 
				+    std::thread * mpthreadpic[NUM_CAM];
			
 
				+    std::thread * mpthreadinfo;
			
 
				+
			
 
				+    QImage * mpImageCam[NUM_CAM];
			
 
				+    bool mbCamUpdate[NUM_CAM];
			
 
				+    QMutex mMutexCam[NUM_CAM];
			
 
				+
			
 
				+    int mnVehMode = 1; //1 Speed Mode  2 AccBrakeMode
			
 
				+
			
 
				+    QTranslator * m_translator;
			
 
				+};
			
 
				+#endif // MAINWINDOW_H
			
--- a/src/tool/RemoteCtrl_Wide/mainwindow.ui
+++ b/src/tool/RemoteCtrl_Wide/mainwindow.ui
@@ -0,0 +1,463 @@
 
				+<?xml version="1.0" encoding="UTF-8"?>
			
 
				+<ui version="4.0">
			
 
				+ <class>MainWindow</class>
			
 
				+ <widget class="QMainWindow" name="MainWindow">
			
 
				+  <property name="geometry">
			
 
				+   <rect>
			
 
				+    <x>0</x>
			
 
				+    <y>0</y>
			
 
				+    <width>1920</width>
			
 
				+    <height>270</height>
			
 
				+   </rect>
			
 
				+  </property>
			
 
				+  <property name="windowTitle">
			
 
				+   <string>MainWindow</string>
			
 
				+  </property>
			
 
				+  <property name="windowIcon">
			
 
				+   <iconset resource="remotectrl.qrc">
			
 
				+    <normaloff>:/remotectrl.png</normaloff>:/remotectrl.png</iconset>
			
 
				+  </property>
			
 
				+  <widget class="QWidget" name="centralwidget">
			
 
				+   <widget class="QLineEdit" name="lineEdit_lat">
			
 
				+    <property name="geometry">
			
 
				+     <rect>
			
 
				+      <x>940</x>
			
 
				+      <y>50</y>
			
 
				+      <width>113</width>
			
 
				+      <height>25</height>
			
 
				+     </rect>
			
 
				+    </property>
			
 
				+   </widget>
			
 
				+   <widget class="QLineEdit" name="lineEdit_lon">
			
 
				+    <property name="geometry">
			
 
				+     <rect>
			
 
				+      <x>940</x>
			
 
				+      <y>110</y>
			
 
				+      <width>113</width>
			
 
				+      <height>25</height>
			
 
				+     </rect>
			
 
				+    </property>
			
 
				+   </widget>
			
 
				+   <widget class="QPushButton" name="pushButton_test">
			
 
				+    <property name="geometry">
			
 
				+     <rect>
			
 
				+      <x>950</x>
			
 
				+      <y>190</y>
			
 
				+      <width>89</width>
			
 
				+      <height>25</height>
			
 
				+     </rect>
			
 
				+    </property>
			
 
				+    <property name="text">
			
 
				+     <string>Test</string>
			
 
				+    </property>
			
 
				+   </widget>
			
 
				+   <widget class="QGroupBox" name="groupBox_rem">
			
 
				+    <property name="geometry">
			
 
				+     <rect>
			
 
				+      <x>840</x>
			
 
				+      <y>240</y>
			
 
				+      <width>291</width>
			
 
				+      <height>311</height>
			
 
				+     </rect>
			
 
				+    </property>
			
 
				+    <property name="title">
			
 
				+     <string>Control</string>
			
 
				+    </property>
			
 
				+    <widget class="QRadioButton" name="radioButton_manual">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>10</x>
			
 
				+       <y>30</y>
			
 
				+       <width>61</width>
			
 
				+       <height>23</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+     <property name="text">
			
 
				+      <string>远程</string>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QRadioButton" name="radioButton_auto">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>80</x>
			
 
				+       <y>30</y>
			
 
				+       <width>61</width>
			
 
				+       <height>23</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+     <property name="text">
			
 
				+      <string>自动</string>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QGroupBox" name="groupBox">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>210</x>
			
 
				+       <y>20</y>
			
 
				+       <width>71</width>
			
 
				+       <height>101</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+     <property name="title">
			
 
				+      <string>档位</string>
			
 
				+     </property>
			
 
				+     <widget class="QRadioButton" name="radioButton_Drive">
			
 
				+      <property name="geometry">
			
 
				+       <rect>
			
 
				+        <x>10</x>
			
 
				+        <y>30</y>
			
 
				+        <width>112</width>
			
 
				+        <height>23</height>
			
 
				+       </rect>
			
 
				+      </property>
			
 
				+      <property name="text">
			
 
				+       <string>前进</string>
			
 
				+      </property>
			
 
				+     </widget>
			
 
				+     <widget class="QRadioButton" name="radioButton_Null">
			
 
				+      <property name="geometry">
			
 
				+       <rect>
			
 
				+        <x>10</x>
			
 
				+        <y>50</y>
			
 
				+        <width>112</width>
			
 
				+        <height>23</height>
			
 
				+       </rect>
			
 
				+      </property>
			
 
				+      <property name="text">
			
 
				+       <string>空档</string>
			
 
				+      </property>
			
 
				+     </widget>
			
 
				+     <widget class="QRadioButton" name="radioButton_Rear">
			
 
				+      <property name="geometry">
			
 
				+       <rect>
			
 
				+        <x>10</x>
			
 
				+        <y>70</y>
			
 
				+        <width>112</width>
			
 
				+        <height>23</height>
			
 
				+       </rect>
			
 
				+      </property>
			
 
				+      <property name="text">
			
 
				+       <string>后退</string>
			
 
				+      </property>
			
 
				+     </widget>
			
 
				+    </widget>
			
 
				+    <widget class="QSlider" name="horizontalSlider_wheelspeed">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>10</x>
			
 
				+       <y>100</y>
			
 
				+       <width>181</width>
			
 
				+       <height>21</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+     <property name="orientation">
			
 
				+      <enum>Qt::Horizontal</enum>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLabel" name="label">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>10</x>
			
 
				+       <y>60</y>
			
 
				+       <width>131</width>
			
 
				+       <height>31</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+     <property name="text">
			
 
				+      <string>Wheel Speed:</string>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+   </widget>
			
 
				+   <widget class="QGroupBox" name="groupBox_map">
			
 
				+    <property name="geometry">
			
 
				+     <rect>
			
 
				+      <x>420</x>
			
 
				+      <y>190</y>
			
 
				+      <width>351</width>
			
 
				+      <height>121</height>
			
 
				+     </rect>
			
 
				+    </property>
			
 
				+    <property name="title">
			
 
				+     <string>Map</string>
			
 
				+    </property>
			
 
				+    <widget class="QPushButton" name="pushButton_Go">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>240</x>
			
 
				+       <y>50</y>
			
 
				+       <width>91</width>
			
 
				+       <height>41</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+     <property name="text">
			
 
				+      <string>前往</string>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QComboBox" name="comboBox_Station">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>10</x>
			
 
				+       <y>50</y>
			
 
				+       <width>211</width>
			
 
				+       <height>41</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+   </widget>
			
 
				+   <widget class="QGroupBox" name="groupBox_gps">
			
 
				+    <property name="geometry">
			
 
				+     <rect>
			
 
				+      <x>200</x>
			
 
				+      <y>320</y>
			
 
				+      <width>411</width>
			
 
				+      <height>351</height>
			
 
				+     </rect>
			
 
				+    </property>
			
 
				+    <property name="title">
			
 
				+     <string>GPS</string>
			
 
				+    </property>
			
 
				+    <widget class="QLineEdit" name="lineEdit_gpsins">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>80</x>
			
 
				+       <y>30</y>
			
 
				+       <width>81</width>
			
 
				+       <height>25</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLabel" name="label_gpsins">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>10</x>
			
 
				+       <y>30</y>
			
 
				+       <width>67</width>
			
 
				+       <height>17</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+     <property name="text">
			
 
				+      <string>Ins</string>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLabel" name="label_gpsrtk">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>190</x>
			
 
				+       <y>30</y>
			
 
				+       <width>67</width>
			
 
				+       <height>17</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+     <property name="text">
			
 
				+      <string>RTK</string>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLineEdit" name="lineEdit_gpsrtk">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>250</x>
			
 
				+       <y>30</y>
			
 
				+       <width>81</width>
			
 
				+       <height>25</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLineEdit" name="lineEdit_gpslon">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>80</x>
			
 
				+       <y>60</y>
			
 
				+       <width>81</width>
			
 
				+       <height>25</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLineEdit" name="lineEdit_gpslat">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>250</x>
			
 
				+       <y>60</y>
			
 
				+       <width>81</width>
			
 
				+       <height>25</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLabel" name="label_gpslon">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>10</x>
			
 
				+       <y>60</y>
			
 
				+       <width>67</width>
			
 
				+       <height>17</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+     <property name="text">
			
 
				+      <string>Lon</string>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLabel" name="label_gpslat">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>190</x>
			
 
				+       <y>60</y>
			
 
				+       <width>67</width>
			
 
				+       <height>17</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+     <property name="text">
			
 
				+      <string>Lat</string>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLabel" name="label_gpsheading">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>10</x>
			
 
				+       <y>90</y>
			
 
				+       <width>67</width>
			
 
				+       <height>17</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+     <property name="text">
			
 
				+      <string>Heading</string>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLineEdit" name="lineEdit_gpsheading">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>80</x>
			
 
				+       <y>90</y>
			
 
				+       <width>81</width>
			
 
				+       <height>25</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLineEdit" name="lineEdit_gpsheight">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>250</x>
			
 
				+       <y>90</y>
			
 
				+       <width>81</width>
			
 
				+       <height>25</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLabel" name="label_gpsheight">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>190</x>
			
 
				+       <y>90</y>
			
 
				+       <width>67</width>
			
 
				+       <height>17</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+     <property name="text">
			
 
				+      <string>Height</string>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLineEdit" name="lineEdit_gpsspeed">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>80</x>
			
 
				+       <y>120</y>
			
 
				+       <width>81</width>
			
 
				+       <height>25</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLineEdit" name="lineEdit_gpssat">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>250</x>
			
 
				+       <y>120</y>
			
 
				+       <width>81</width>
			
 
				+       <height>25</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLabel" name="label_gpsspeed">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>10</x>
			
 
				+       <y>120</y>
			
 
				+       <width>67</width>
			
 
				+       <height>17</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+     <property name="text">
			
 
				+      <string>Speed</string>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+    <widget class="QLabel" name="label_gpssat">
			
 
				+     <property name="geometry">
			
 
				+      <rect>
			
 
				+       <x>190</x>
			
 
				+       <y>120</y>
			
 
				+       <width>67</width>
			
 
				+       <height>17</height>
			
 
				+      </rect>
			
 
				+     </property>
			
 
				+     <property name="text">
			
 
				+      <string>Sat</string>
			
 
				+     </property>
			
 
				+    </widget>
			
 
				+   </widget>
			
 
				+  </widget>
			
 
				+  <widget class="QMenuBar" name="menubar">
			
 
				+   <property name="geometry">
			
 
				+    <rect>
			
 
				+     <x>0</x>
			
 
				+     <y>0</y>
			
 
				+     <width>1920</width>
			
 
				+     <height>28</height>
			
 
				+    </rect>
			
 
				+   </property>
			
 
				+   <widget class="QMenu" name="menuFile">
			
 
				+    <property name="title">
			
 
				+     <string>File</string>
			
 
				+    </property>
			
 
				+    <addaction name="actionSetting"/>
			
 
				+    <addaction name="actionSet_Query_Pass"/>
			
 
				+    <addaction name="actionSet_Ctrl_Pass"/>
			
 
				+   </widget>
			
 
				+   <widget class="QMenu" name="menuView">
			
 
				+    <property name="title">
			
 
				+     <string>View</string>
			
 
				+    </property>
			
 
				+    <addaction name="actionFullScreem"/>
			
 
				+    <addaction name="actionNormal"/>
			
 
				+   </widget>
			
 
				+   <addaction name="menuFile"/>
			
 
				+   <addaction name="menuView"/>
			
 
				+  </widget>
			
 
				+  <widget class="QStatusBar" name="statusbar"/>
			
 
				+  <action name="actionSetting">
			
 
				+   <property name="text">
			
 
				+    <string>Setting</string>
			
 
				+   </property>
			
 
				+  </action>
			
 
				+  <action name="actionSet_Query_Pass">
			
 
				+   <property name="text">
			
 
				+    <string>Set Query Pass</string>
			
 
				+   </property>
			
 
				+  </action>
			
 
				+  <action name="actionSet_Ctrl_Pass">
			
 
				+   <property name="text">
			
 
				+    <string>Set Ctrl Pass</string>
			
 
				+   </property>
			
 
				+  </action>
			
 
				+  <action name="actionFullScreem">
			
 
				+   <property name="text">
			
 
				+    <string>FullScreen</string>
			
 
				+   </property>
			
 
				+  </action>
			
 
				+  <action name="actionNormal">
			
 
				+   <property name="text">
			
 
				+    <string>Normal</string>
			
 
				+   </property>
			
 
				+  </action>
			
 
				+ </widget>
			
 
				+ <resources>
			
 
				+  <include location="remotectrl.qrc"/>
			
 
				+ </resources>
			
 
				+ <connections/>
			
 
				+</ui>
			
--- a/src/tool/RemoteCtrl_Wide/myview.cpp
+++ b/src/tool/RemoteCtrl_Wide/myview.cpp
@@ -0,0 +1,128 @@
 
				+#include "myview.h"
			
 
				+#include <QScrollBar>
			
 
				+#include <iostream>
			
 
				+#define VIEW_CENTER viewport()->rect().center()
			
 
				+const double PI = 3.1415926535898;
			
 
				+
			
 
				+MyView::MyView(QWidget *parent) :
			
 
				+     QGraphicsView(parent),
			
 
				+    beishu(1.00000)
			
 
				+{
			
 
				+    setDragMode(QGraphicsView::ScrollHandDrag);
			
 
				+}
			
 
				+
			
 
				+void MyView::mousePressEvent(QMouseEvent *event)
			
 
				+{
			
 
				+//    qDebug("x is %d",event->pos().x());
			
 
				+    bottonstatus = true;
			
 
				+    QGraphicsView::mousePressEvent(event);
			
 
				+}
			
 
				+void MyView::mouseMoveEvent(QMouseEvent *event)
			
 
				+{
			
 
				+    QGraphicsView::mouseMoveEvent(event);
			
 
				+//    QScrollBar * ps = verticalScrollBar();
			
 
				+//    std::cout<<" size is "<<ps->size().height()<<" v = "<<ps->value()<<std::endl;
			
 
				+//    QScrollBar * ps2= horizontalScrollBar();
			
 
				+//     std::cout<<" size is "<<ps2->size().width()<<" h = "<<ps2->value()<<std::endl;
			
 
				+}
			
 
				+void MyView::mouseReleaseEvent(QMouseEvent *event)
			
 
				+{
			
 
				+    bottonstatus = false;
			
 
				+    QGraphicsView::mouseReleaseEvent(event);
			
 
				+}
			
 
				+
			
 
				+// 放大/缩小
			
 
				+void MyView::wheelEvent(QWheelEvent *event)
			
 
				+{
			
 
				+    // 滚轮的滚动量
			
 
				+    QPoint scrollAmount = event->angleDelta();
			
 
				+    // 正值表示滚轮远离使用者（放大），负值表示朝向使用者（缩小）
			
 
				+    scrollAmount.y() > 0 ? zoomIn() : zoomOut();
			
 
				+}
			
 
				+
			
 
				+
			
 
				+// 放大
			
 
				+void MyView::zoomIn()
			
 
				+{
			
 
				+
			
 
				+    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;
			
 
				+
			
 
				+    scale(1.1, 1.1);
			
 
				+    beishu *= 1.1;
			
 
				+ //   centerOn(450, 700 - (200 / beishu));
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+
			
 
				+    centerOn(centerx,centery);
			
 
				+
			
 
				+//    QPoint x = viewport()->rect().center();
			
 
				+
			
 
				+
			
 
				+//    std::cout<<" x is"<<sceneRect().bottom()<<" y is "<<sceneRect().y()<<std::endl;
			
 
				+//    QScrollBar * ps = verticalScrollBar();
			
 
				+//    std::cout<<" size is "<<ps->size().height()<<" v = "<<ps->value()<<std::endl;
			
 
				+
			
 
				+}
			
 
				+
			
 
				+// 缩小
			
 
				+void MyView::zoomOut()
			
 
				+{
			
 
				+
			
 
				+    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;
			
 
				+
			
 
				+    scale(1 / 1.1, 1 / 1.1);
			
 
				+    beishu /= 1.1;
			
 
				+//    centerOn(450, 700 - (200 / beishu));
			
 
				+
			
 
				+    centerOn(centerx,centery);
			
 
				+}
			
 
				+
			
 
				+void MyView::mouseDoubleClickEvent(QMouseEvent *event)
			
 
				+{
			
 
				+
			
 
				+    QScrollBar * psV = verticalScrollBar();
			
 
				+    QScrollBar * psH = horizontalScrollBar();
			
 
				+
			
 
				+    int centery = (psV->value() + psV->size().height()/2)/beishu;
			
 
				+    int centerx = (psH->value() + psH->size().width()/2)/beishu;
			
 
				+
			
 
				+
			
 
				+//    qDebug("x is %d y is %d view center x is %d  centerx is %d",event->pos().x(),
			
 
				+//           event->pos().y(),
			
 
				+//           viewport()->rect().center().x(),centerx);
			
 
				+
			
 
				+    int viewx,viewy;
			
 
				+    if(beishu == 0)return;
			
 
				+    viewx = centerx +(event->pos().x() - viewport()->rect().center().x())/beishu;
			
 
				+    viewy = centery +(event->pos().y() - viewport()->rect().center().y())/beishu;
			
 
				+
			
 
				+    QPoint viewpoint;
			
 
				+    viewpoint.setX(viewx);
			
 
				+    viewpoint.setY(viewy);
			
 
				+
			
 
				+//    qDebug("view x is %d view y is %d ",viewx,viewy);
			
 
				+}
			
 
				+
			
 
				+void MyView::viewscaleto(double fratio)
			
 
				+{
			
 
				+    double fscale = fratio/beishu;
			
 
				+    scale(fscale,fscale);
			
 
				+    beishu *= fscale;
			
 
				+    centerOn(450, 700 - (200 / beishu));
			
 
				+}
			
--- a/src/tool/RemoteCtrl_Wide/myview.h
+++ b/src/tool/RemoteCtrl_Wide/myview.h
@@ -0,0 +1,36 @@
 
				+#ifndef MYVIEW_H
			
 
				+#define MYVIEW_H
			
 
				+
			
 
				+#include <qtimer.h>
			
 
				+#include <qpainter.h>
			
 
				+#include <QGraphicsView>
			
 
				+#include <QWheelEvent>
			
 
				+#include <QKeyEvent>
			
 
				+#include <QPoint>
			
 
				+#include <QPointF>
			
 
				+#include <QGraphicsItem>
			
 
				+#include <QKeyEvent>
			
 
				+
			
 
				+class MyView : public QGraphicsView
			
 
				+{
			
 
				+    Q_OBJECT
			
 
				+
			
 
				+public:
			
 
				+    explicit MyView(QWidget *parent =0);
			
 
				+    qreal x, y, beishu;
			
 
				+    void viewscaleto(double fratio);
			
 
				+protected:
			
 
				+    void wheelEvent(QWheelEvent *event) Q_DECL_OVERRIDE;
			
 
				+    void mouseMoveEvent(QMouseEvent *event) Q_DECL_OVERRIDE;
			
 
				+    void mousePressEvent(QMouseEvent *event) Q_DECL_OVERRIDE;
			
 
				+    void mouseReleaseEvent(QMouseEvent *event) Q_DECL_OVERRIDE;
			
 
				+    void mouseDoubleClickEvent(QMouseEvent *event) Q_DECL_OVERRIDE;
			
 
				+public Q_SLOTS:
			
 
				+    void zoomIn();  // 放大
			
 
				+    void zoomOut();  // 缩小
			
 
				+private:
			
 
				+    bool bottonstatus = false;
			
 
				+    QPoint myview_lastMousePos;
			
 
				+};
			
 
				+
			
 
				+#endif // MYVIEW_H
			
--- a/src/tool/RemoteCtrl_Wide/pos.txt
+++ b/src/tool/RemoteCtrl_Wide/pos.txt
@@ -0,0 +1,2 @@
 
				+站点1	117.02730168	39.12070791
			
 
				+站点2	117.02730387	39.12051011
			
--- a/src/tool/RemoteCtrl_Wide/pos_def.h
+++ b/src/tool/RemoteCtrl_Wide/pos_def.h
@@ -0,0 +1,16 @@
 
				+#ifndef POS_DEF_H
			
 
				+#define POS_DEF_H
			
 
				+
			
 
				+#include <string>
			
 
				+
			
 
				+namespace  iv {
			
 
				+struct pos_def
			
 
				+{
			
 
				+    double mflon;
			
 
				+    double mflat;
			
 
				+    std::string mstrstationname;
			
 
				+};
			
 
				+
			
 
				+}
			
 
				+
			
 
				+#endif // POS_DEF_H
			
--- a/src/tool/RemoteCtrl_Wide/remotecomm.cpp
+++ b/src/tool/RemoteCtrl_Wide/remotecomm.cpp
@@ -0,0 +1,6 @@
 
				+#include "remotecomm.h"
			
 
				+
			
 
				+remotecomm::remotecomm(grpcpc * pgrpcpc,QObject *parent) : QObject(parent)
			
 
				+{
			
 
				+    mpgrpcpc = pgrpcpc;
			
 
				+}
			
--- a/src/tool/RemoteCtrl_Wide/remotecomm.h
+++ b/src/tool/RemoteCtrl_Wide/remotecomm.h
@@ -0,0 +1,24 @@
 
				+#ifndef REMOTECOMM_H
			
 
				+#define REMOTECOMM_H
			
 
				+
			
 
				+#include <QObject>
			
 
				+
			
 
				+#include "modulecomm.h"
			
 
				+
			
 
				+#include "grpcpc.h"
			
 
				+
			
 
				+class remotecomm : public QObject
			
 
				+{
			
 
				+    Q_OBJECT
			
 
				+public:
			
 
				+    explicit remotecomm(grpcpc * pgrpcpc, QObject *parent = nullptr);
			
 
				+
			
 
				+signals:
			
 
				+
			
 
				+public slots:
			
 
				+
			
 
				+private:
			
 
				+    grpcpc * mpgrpcpc;
			
 
				+};
			
 
				+
			
 
				+#endif // REMOTECOMM_H
			
--- a/src/tool/RemoteCtrl_Wide/remotectrl.png
+++ b/src/tool/RemoteCtrl_Wide/remotectrl.png
--- a/src/tool/RemoteCtrl_Wide/remotectrl.qrc
+++ b/src/tool/RemoteCtrl_Wide/remotectrl.qrc
@@ -0,0 +1,7 @@
 
				+<RCC>
			
 
				+    <qresource prefix="/">
			
 
				+        <file>remotectrl.png</file>
			
 
				+        <file>zh_CN.qm</file>
			
 
				+        <file>en_CN.qm</file>
			
 
				+    </qresource>
			
 
				+</RCC>
			
--- a/src/tool/RemoteCtrl_Wide/remotectrlini.cpp
+++ b/src/tool/RemoteCtrl_Wide/remotectrlini.cpp
@@ -0,0 +1,162 @@
 
				+#include "remotectrlini.h"
			
 
				+#include <QSettings>
			
 
				+#include "get_interface.h"
			
 
				+
			
 
				+RemoteCtrlIni::RemoteCtrlIni()
			
 
				+{
			
 
				+    mstrinipath = "RemoteCtrl_Thread.ini";
			
 
				+    QSettings * configini = new QSettings(mstrinipath,QSettings::IniFormat);
			
 
				+
			
 
				+    mstrserverip = configini->value("setting/serverip").toString().toStdString();
			
 
				+    if(mstrserverip == "")
			
 
				+    {
			
 
				+        mstrserverip = "111.33.136.149";
			
 
				+    }
			
 
				+
			
 
				+    mstrserverport = configini->value("setting/serverport").toString().toStdString();
			
 
				+    if(mstrserverport == "")
			
 
				+    {
			
 
				+        mstrserverport = "50051";
			
 
				+    }
			
 
				+
			
 
				+    mstruploadinterval = configini->value("setting/interval").toString().toStdString();
			
 
				+    if(mstruploadinterval == "")
			
 
				+    {
			
 
				+        mstruploadinterval = "100";
			
 
				+    }
			
 
				+
			
 
				+    mstrVehVIN = configini->value("setting/VIN").toString().toStdString();
			
 
				+    if(mstrVehVIN == "")
			
 
				+    {
			
 
				+        mstrVehVIN = "AAAAAAAAAAAAAAAAA";
			
 
				+    }
			
 
				+
			
 
				+    mstrqueryMD5 = configini->value("setting/queryMD5").toString().toStdString();
			
 
				+    if(mstrqueryMD5 == "")
			
 
				+    {
			
 
				+        mstrqueryMD5 = "5d41402abc4b2a76b9719d911017c592";
			
 
				+    }
			
 
				+
			
 
				+    mstrctrlMD5 = configini->value("setting/ctrlMD5").toString().toStdString();
			
 
				+    if(mstrctrlMD5 == "")
			
 
				+    {
			
 
				+        mstrctrlMD5 = "5d41402abc4b2a76b9719d911017c592";
			
 
				+    }
			
 
				+
			
 
				+    mstrlanguage = configini->value("setting/language").toString().toStdString();
			
 
				+    if(mstrlanguage == "")
			
 
				+    {
			
 
				+        mstrlanguage = "Chinese";
			
 
				+    }
			
 
				+
			
 
				+    delete configini;
			
 
				+
			
 
				+    std::string strclientid;
			
 
				+    if(getmac(strclientid) == 1)
			
 
				+    {
			
 
				+        mstrclientid = strclientid;
			
 
				+    }
			
 
				+
			
 
				+}
			
 
				+
			
 
				+RemoteCtrlIni & RemoteCtrlIni::Inst()
			
 
				+{
			
 
				+    static RemoteCtrlIni xRemoteIni;
			
 
				+    return xRemoteIni;
			
 
				+}
			
 
				+
			
 
				+std::string RemoteCtrlIni::GetQueryMD5()
			
 
				+{
			
 
				+    return mstrqueryMD5;
			
 
				+}
			
 
				+
			
 
				+void RemoteCtrlIni::SetQueryMD5(std::string strmd5)
			
 
				+{
			
 
				+    mstrqueryMD5 = strmd5;
			
 
				+    QSettings * configini = new QSettings(mstrinipath,QSettings::IniFormat);
			
 
				+    configini->setValue("setting/queryMD5",strmd5.data());
			
 
				+    delete configini;
			
 
				+}
			
 
				+
			
 
				+std::string RemoteCtrlIni::GetServerIP()
			
 
				+{
			
 
				+    return mstrserverip;
			
 
				+}
			
 
				+
			
 
				+void RemoteCtrlIni::SetServerIP(std::string strserverip)
			
 
				+{
			
 
				+    mstrserverip = strserverip;
			
 
				+    QSettings * configini = new QSettings(mstrinipath,QSettings::IniFormat);
			
 
				+    configini->setValue("setting/serverip",strserverip.data());
			
 
				+    delete configini;
			
 
				+}
			
 
				+
			
 
				+std::string RemoteCtrlIni::GetServerPort()
			
 
				+{
			
 
				+    return mstrserverport;
			
 
				+}
			
 
				+
			
 
				+void RemoteCtrlIni::SetServerPort(std::string strserverport)
			
 
				+{
			
 
				+    mstrserverport = strserverport;
			
 
				+    QSettings * configini = new QSettings(mstrinipath,QSettings::IniFormat);
			
 
				+    configini->setValue("setting/serverport",strserverport.data());
			
 
				+    delete configini;
			
 
				+}
			
 
				+
			
 
				+std::string RemoteCtrlIni::GetInterval()
			
 
				+{
			
 
				+    return mstruploadinterval;
			
 
				+}
			
 
				+
			
 
				+void RemoteCtrlIni::SetInterval(std::string strinterval)
			
 
				+{
			
 
				+    mstruploadinterval = strinterval;
			
 
				+    QSettings * configini = new QSettings(mstrinipath,QSettings::IniFormat);
			
 
				+    configini->setValue("setting/interval",strinterval.data());
			
 
				+    delete configini;
			
 
				+}
			
 
				+
			
 
				+std::string RemoteCtrlIni::GetVIN()
			
 
				+{
			
 
				+    return mstrVehVIN;
			
 
				+}
			
 
				+
			
 
				+void RemoteCtrlIni::SetVIN(std::string strVIN)
			
 
				+{
			
 
				+    mstrVehVIN = strVIN;
			
 
				+    QSettings * configini = new QSettings(mstrinipath,QSettings::IniFormat);
			
 
				+    configini->setValue("setting/VIN",strVIN.data());
			
 
				+    delete configini;
			
 
				+}
			
 
				+
			
 
				+std::string RemoteCtrlIni::GetCtrlMD5()
			
 
				+{
			
 
				+    return mstrctrlMD5;
			
 
				+}
			
 
				+
			
 
				+void RemoteCtrlIni::SetCtrlMD5(std::string strmd5)
			
 
				+{
			
 
				+    mstrctrlMD5 = strmd5;
			
 
				+    QSettings * configini = new QSettings(mstrinipath,QSettings::IniFormat);
			
 
				+    configini->setValue("setting/ctrlMD5",strmd5.data());
			
 
				+    delete configini;
			
 
				+}
			
 
				+
			
 
				+std::string RemoteCtrlIni::GetClientID()
			
 
				+{
			
 
				+    return mstrclientid;
			
 
				+}
			
 
				+
			
 
				+std::string RemoteCtrlIni::GetLanguage()
			
 
				+{
			
 
				+    return mstrlanguage;
			
 
				+}
			
 
				+
			
 
				+void RemoteCtrlIni::SetLanguase(std::string strlanguase)
			
 
				+{
			
 
				+    mstrlanguage = strlanguase;
			
 
				+    QSettings * configini = new QSettings(mstrinipath,QSettings::IniFormat);
			
 
				+    configini->setValue("setting/language",strlanguase.data());
			
 
				+    delete configini;
			
 
				+}
			
--- a/src/tool/RemoteCtrl_Wide/remotectrlini.h
+++ b/src/tool/RemoteCtrl_Wide/remotectrlini.h
@@ -0,0 +1,58 @@
 
				+#ifndef REMOTECTRLINI_H
			
 
				+#define REMOTECTRLINI_H
			
 
				+
			
 
				+#include <string>
			
 
				+
			
 
				+#include <QSettings>
			
 
				+
			
 
				+class RemoteCtrlIni
			
 
				+{
			
 
				+public:
			
 
				+    RemoteCtrlIni();
			
 
				+
			
 
				+public:
			
 
				+    static RemoteCtrlIni & Inst();
			
 
				+
			
 
				+public:
			
 
				+    std::string GetQueryMD5();
			
 
				+    void SetQueryMD5(std::string strmd5);
			
 
				+
			
 
				+    std::string GetServerIP();
			
 
				+    void SetServerIP(std::string strserverip);
			
 
				+
			
 
				+    std::string GetServerPort();
			
 
				+    void SetServerPort(std::string strserverport);
			
 
				+
			
 
				+    std::string GetInterval();
			
 
				+    void SetInterval(std::string strinterval);
			
 
				+
			
 
				+    std::string GetVIN();
			
 
				+    void SetVIN(std::string strVIN);
			
 
				+
			
 
				+    std::string GetCtrlMD5();
			
 
				+    void SetCtrlMD5(std::string strmd5);
			
 
				+
			
 
				+    std::string GetClientID();
			
 
				+
			
 
				+    std::string GetLanguage();
			
 
				+    void SetLanguase(std::string strlanguase);
			
 
				+
			
 
				+private:
			
 
				+    QString mstrinipath;
			
 
				+
			
 
				+private:
			
 
				+    std::string mstrserverip = "192.168.14.98";//"111.33.136.149";//"127.0.0.1";// "140.143.237.38";
			
 
				+    std::string mstrserverport = "50051";//"9000";
			
 
				+    std::string mstruploadinterval = "100";
			
 
				+    std::string mstrVehVIN = "AAAAAAAAAAAAAAAAA";
			
 
				+    std::string mstrqueryMD5 = "5d41402abc4b2a76b9719d911017c592";
			
 
				+    std::string mstrctrlMD5 = "5d41402abc4b2a76b9719d911017c592";
			
 
				+
			
 
				+    std::string mstrclientid = "test";
			
 
				+
			
 
				+    std::string mstrlanguage = "Chinese";
			
 
				+};
			
 
				+
			
 
				+#define ServiceRCIni RemoteCtrlIni::Inst()
			
 
				+
			
 
				+#endif // REMOTECTRLINI_H
			
--- a/src/tool/RemoteCtrl_Wide/rtspclientdown.cpp
+++ b/src/tool/RemoteCtrl_Wide/rtspclientdown.cpp
@@ -0,0 +1,136 @@
 
				+#include "rtspclientdown.h"
			
 
				+
			
 
				+#include <iostream>
			
 
				+
			
 
				+rtspclientdown::rtspclientdown(std::string strrtspserver)
			
 
				+{
			
 
				+    mpthread = new std::thread(&rtspclientdown::threadrtspdown,this,strrtspserver);
			
 
				+}
			
 
				+
			
 
				+
			
 
				+rtspclientdown::~rtspclientdown()
			
 
				+{
			
 
				+    mbthreadrun = false;
			
 
				+    mpthread->join();
			
 
				+}
			
 
				+
			
 
				+int rtspclientdown::Getretrycount()
			
 
				+{
			
 
				+    return mretrycount;
			
 
				+}
			
 
				+
			
 
				+void rtspclientdown::threadrtspdown(std::string strrtspserver)
			
 
				+{
			
 
				+
			
 
				+    AVFormatContext *i_fmt_ctx;
			
 
				+    /* should set to NULL so that avformat_open_input() allocate a new one */
			
 
				+    i_fmt_ctx = NULL;
			
 
				+
			
 
				+    AVDictionary *avdic=NULL;
			
 
				+    char option_key[]="rtsp_transport";
			
 
				+    char option_value[]="tcp";
			
 
				+    av_dict_set(&avdic,option_key,option_value,0);
			
 
				+
			
 
				+    bool bConnected = false;
			
 
				+
			
 
				+    while(mbthreadrun)
			
 
				+    {
			
 
				+        if(bConnected == false)
			
 
				+        {
			
 
				+            i_fmt_ctx = NULL;
			
 
				+            if (avformat_open_input(&i_fmt_ctx, strrtspserver.data(), NULL, &avdic)!=0)
			
 
				+            {
			
 
				+                fprintf(stderr, " = could not open input file\n");
			
 
				+                std::this_thread::sleep_for(std::chrono::milliseconds(1000));
			
 
				+                mretrycount++;
			
 
				+                continue ;
			
 
				+            }
			
 
				+
			
 
				+
			
 
				+            if (avformat_find_stream_info(i_fmt_ctx,NULL)<0)
			
 
				+            {
			
 
				+                fprintf(stderr, " = could not find stream info\n");
			
 
				+                std::this_thread::sleep_for(std::chrono::milliseconds(1000));
			
 
				+                continue ;
			
 
				+            }
			
 
				+            bConnected = true;
			
 
				+        }
			
 
				+        AVPacket i_pkt;
			
 
				+        av_init_packet(&i_pkt);
			
 
				+        i_pkt.size = 0;
			
 
				+        i_pkt.data = NULL;
			
 
				+        if (av_read_frame(i_fmt_ctx, &i_pkt) <0 )
			
 
				+        {
			
 
				+            bConnected = false;
			
 
				+            std::cout<<"connect fail. retry."<<std::endl;
			
 
				+            continue;
			
 
				+        }
			
 
				+
			
 
				+        iv::h264rawframedata xframe;
			
 
				+        xframe.mdatasize = i_pkt.size;
			
 
				+        xframe.mpstr_ptr = std::shared_ptr<char>(new char[xframe.mdatasize]);
			
 
				+        memcpy(xframe.mpstr_ptr.get(),i_pkt.data,xframe.mdatasize);
			
 
				+        mmutexframe.lock();
			
 
				+        while(mvectorframe.size()>900)
			
 
				+        {
			
 
				+            std::cout<<" rtspclientdown::threadrtspdown. erase frame."<<std::endl;
			
 
				+            mvectorframe.erase(mvectorframe.begin());
			
 
				+        }
			
 
				+        mvectorframe.push_back(xframe);
			
 
				+        mmutexframe.unlock();
			
 
				+
			
 
				+        mcv.notify_all();
			
 
				+
			
 
				+
			
 
				+         av_packet_unref(&i_pkt);
			
 
				+    }
			
 
				+}
			
 
				+
			
 
				+int rtspclientdown::Getrtspframe(iv::h264rawframedata &xframe, int nwaitms)
			
 
				+{
			
 
				+    int nrtn = 0;
			
 
				+    if(mvectorframe.size()>0)
			
 
				+    {
			
 
				+        mmutexframe.lock();
			
 
				+        if(mvectorframe.size()>0)
			
 
				+        {
			
 
				+            xframe = mvectorframe[0];
			
 
				+            mvectorframe.erase(mvectorframe.begin());
			
 
				+            nrtn = 1;
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            nrtn = 0;
			
 
				+        }
			
 
				+        mmutexframe.unlock();
			
 
				+        return nrtn;
			
 
				+    }
			
 
				+
			
 
				+    if(nwaitms == 0)return nrtn;
			
 
				+
			
 
				+    std::unique_lock<std::mutex> lk(mmutexcv);
			
 
				+    if(mcv.wait_for(lk, std::chrono::milliseconds(nwaitms)) == std::cv_status::timeout)
			
 
				+    {
			
 
				+        lk.unlock();
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        lk.unlock();
			
 
				+    }
			
 
				+
			
 
				+    mmutexframe.lock();
			
 
				+    if(mvectorframe.size()>0)
			
 
				+    {
			
 
				+        xframe = mvectorframe[0];
			
 
				+        mvectorframe.erase(mvectorframe.begin());
			
 
				+        nrtn = 1;
			
 
				+    }
			
 
				+    else
			
 
				+    {
			
 
				+        nrtn = 0;
			
 
				+    }
			
 
				+    mmutexframe.unlock();
			
 
				+    return nrtn;
			
 
				+
			
 
				+
			
 
				+}
			
--- a/src/tool/RemoteCtrl_Wide/rtspclientdown.h
+++ b/src/tool/RemoteCtrl_Wide/rtspclientdown.h
@@ -0,0 +1,54 @@
 
				+#ifndef RTSPCLIENTDOWN_H
			
 
				+#define RTSPCLIENTDOWN_H
			
 
				+
			
 
				+extern "C"
			
 
				+{
			
 
				+#include <libavcodec/avcodec.h>
			
 
				+#include <libavutil/opt.h>
			
 
				+#include <libavutil/imgutils.h>
			
 
				+#include <libavutil/common.h>
			
 
				+#include "libavutil/error.h"
			
 
				+#include "libavutil/hwcontext.h"
			
 
				+#include "libavformat/avformat.h"
			
 
				+#include "libavformat/avio.h"
			
 
				+}
			
 
				+
			
 
				+#include <mutex>
			
 
				+#include <condition_variable>
			
 
				+#include <thread>
			
 
				+#include <vector>
			
 
				+
			
 
				+namespace iv {
			
 
				+struct h264rawframedata
			
 
				+{
			
 
				+    std::shared_ptr<char> mpstr_ptr;
			
 
				+    int mdatasize;
			
 
				+};
			
 
				+}
			
 
				+
			
 
				+class rtspclientdown
			
 
				+{
			
 
				+public:
			
 
				+    rtspclientdown(std::string strrtspserver);
			
 
				+    ~rtspclientdown();
			
 
				+
			
 
				+private:
			
 
				+    std::thread * mpthread;
			
 
				+    bool mbthreadrun = true;
			
 
				+
			
 
				+    std::vector<iv::h264rawframedata> mvectorframe;
			
 
				+    std::mutex mmutexframe;
			
 
				+    std::mutex mmutexcv;
			
 
				+    std::condition_variable mcv;
			
 
				+
			
 
				+    int mretrycount = 0;
			
 
				+
			
 
				+private:
			
 
				+    void threadrtspdown(std::string strrtspserver);
			
 
				+
			
 
				+public:
			
 
				+    int Getrtspframe(iv::h264rawframedata & xframe,int nwaitms);
			
 
				+    int Getretrycount();
			
 
				+};
			
 
				+
			
 
				+#endif // RTSPCLIENTDOWN_H
			
--- a/src/tool/RemoteCtrl_Wide/speed.cpp
+++ b/src/tool/RemoteCtrl_Wide/speed.cpp
@@ -0,0 +1,199 @@
 
				+#include "speed.h"
			
 
				+
			
 
				+
			
 
				+#include <QPainter>
			
 
				+
			
 
				+#include <math.h>
			
 
				+
			
 
				+Speed::Speed(QWidget *parent) : QWidget(parent)
			
 
				+{
			
 
				+    m_background = Qt::black;
			
 
				+    m_foreground = Qt::green;
			
 
				+
			
 
				+    m_startAngle = 60;
			
 
				+    m_endAngle = 60;
			
 
				+    m_scaleMajor = 10;
			
 
				+    m_minValue = 100;
			
 
				+    m_maxValue = -100;
			
 
				+    m_scaleMajor = 10;//分度
			
 
				+    m_scaleMinor = 10;
			
 
				+    m_units = "";
			
 
				+    m_title = "Wheel";
			
 
				+    m_precision = 2;
			
 
				+    m_value = 0;
			
 
				+}
			
 
				+
			
 
				+void Speed::drawCrown(QPainter *painter) //绘制表冠
			
 
				+{
			
 
				+    painter->save();
			
 
				+    int radius = 100;
			
 
				+    QLinearGradient lg1(0, -radius, 0, radius);
			
 
				+
			
 
				+    lg1.setColorAt(0, Qt::white); //设置渐变的颜色和路径比例
			
 
				+    lg1.setColorAt(1, Qt::gray); //只是粗略的颜色，具体的可以参考RGB颜色查询对照表
			
 
				+
			
 
				+    painter->setBrush(lg1); // 创建QBrush对象,把这个渐变对象传递进去：
			
 
				+    painter->setPen(Qt::NoPen); //边框线无色
			
 
				+    painter->drawEllipse(-radius, -radius, radius << 1, radius << 1);
			
 
				+    painter->setBrush(m_background = Qt::black);
			
 
				+    painter->drawEllipse(-92, -92, 184, 184);
			
 
				+    painter->restore();
			
 
				+}
			
 
				+
			
 
				+void Speed::drawScaleNum(QPainter *painter) //绘制刻度数字
			
 
				+{
			
 
				+    painter->save();
			
 
				+    painter->setPen(m_foreground);
			
 
				+    //m_startAngle是起始角度，m_endAngle是结束角度，m_scaleMajor在一个量程中分成的刻度数
			
 
				+    double startRad = ( 270-m_startAngle) * (3.14 / 180);
			
 
				+    double deltaRad = (360 - m_startAngle - m_endAngle) * (3.14 / 180) / m_scaleMajor;
			
 
				+    double sina,cosa;
			
 
				+    int x, y;
			
 
				+    QFontMetricsF fm(this->font());
			
 
				+    double w, h, tmpVal;
			
 
				+    QString str;
			
 
				+
			
 
				+    for (int i = 0; i <= m_scaleMajor; i++)
			
 
				+    {
			
 
				+        sina = sin(startRad - i * deltaRad);
			
 
				+        cosa = cos(startRad - i * deltaRad);
			
 
				+
			
 
				+        tmpVal = 1.0 * i *((m_maxValue - m_minValue) / m_scaleMajor) + m_minValue;
			
 
				+        // tmpVal = 50;
			
 
				+        str = QString( "%1" ).arg(tmpVal);  //%1作为占位符   arg()函数比起 sprintf()来是类型安全的
			
 
				+        w = fm.size(Qt::TextSingleLine,str).width();
			
 
				+        h = fm.size(Qt::TextSingleLine,str).height();
			
 
				+        x = 82 * cosa - w / 2;
			
 
				+        y = -82 * sina + h / 4;
			
 
				+        painter->drawText(x, y, str); //函数的前两个参数是显示的坐标位置，后一个是显示的内容，是字符类型""
			
 
				+
			
 
				+    }
			
 
				+    painter->restore();
			
 
				+}
			
 
				+
			
 
				+void Speed::drawScale(QPainter *painter) //绘制刻度线
			
 
				+{
			
 
				+    painter->save();
			
 
				+    painter->rotate(m_startAngle);
			
 
				+    int steps = (m_scaleMajor * m_scaleMinor); //相乘后的值是分的份数
			
 
				+    double angleStep = (360.0 - m_startAngle - m_endAngle) / steps; //每一个份数的角度
			
 
				+
			
 
				+    // painter->setPen(m_foreground); //m_foreground是颜色的设置
			
 
				+    // QPen pen = painter->pen(); //第一种方法
			
 
				+    QPen pen ;
			
 
				+    pen.setColor(Qt::green); //推荐使用第二种方式
			
 
				+    for (int i = 0; i <= steps; i++)
			
 
				+    {
			
 
				+        if (i % m_scaleMinor == 0)//整数刻度显示加粗
			
 
				+        {
			
 
				+            pen.setWidth(1); //设置线宽
			
 
				+            painter->setPen(pen); //使用面向对象的思想，把画笔关联上画家。通过画家画出来
			
 
				+
			
 
				+            painter->drawLine(0, 62, 0, 72); //两个参数应该是两个坐标值
			
 
				+        }
			
 
				+        else
			
 
				+        {
			
 
				+            pen.setWidth(0);
			
 
				+            painter->setPen(pen);
			
 
				+            painter->drawLine(0, 67, 0, 72);
			
 
				+        }
			
 
				+        painter->rotate(angleStep);
			
 
				+    }
			
 
				+    painter->restore();
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void Speed::drawTitle(QPainter *painter)
			
 
				+{
			
 
				+    painter->save();
			
 
				+    painter->setPen(m_foreground);
			
 
				+    //painter->setBrush(m_foreground);
			
 
				+    QString str(m_title); //显示仪表的功能
			
 
				+    QFontMetricsF fm(this->font());
			
 
				+    double w = fm.size(Qt::TextSingleLine,str).width();
			
 
				+    painter->drawText(-w / 2, -30, str);
			
 
				+    painter->restore();
			
 
				+}
			
 
				+
			
 
				+void Speed::drawNumericValue(QPainter *painter)
			
 
				+{
			
 
				+    QString str = QString("%1 %2").arg(m_value, 0, 'f', m_precision).arg(m_units);
			
 
				+    QFontMetricsF fm(font());
			
 
				+    double w = fm.size(Qt::TextSingleLine,str).width();
			
 
				+    painter->setPen(m_foreground);
			
 
				+    painter->drawText(-w / 2, 42, str);
			
 
				+}
			
 
				+
			
 
				+void Speed::drawIndicator(QPainter *painter)
			
 
				+{
			
 
				+    painter->save();
			
 
				+    QPolygon pts;
			
 
				+    pts.setPoints(3, -2, 0, 2, 0, 0, 60);	/* (-2,0)/(2,0)/(0,60) *///第一个参数是 ，坐标的个数。后边的是坐标
			
 
				+
			
 
				+    painter->rotate(m_startAngle);
			
 
				+    double degRotate = (360.0 - m_startAngle - m_endAngle) / (m_maxValue - m_minValue)*(m_value - m_minValue);
			
 
				+
			
 
				+    //画指针
			
 
				+    painter->rotate(degRotate);  //顺时针旋转坐标系统
			
 
				+    QRadialGradient haloGradient(0, 0, 60, 0, 0);  //辐射渐变
			
 
				+    haloGradient.setColorAt(0, QColor(60, 60, 60));
			
 
				+    haloGradient.setColorAt(1, QColor(160, 160, 160)); //灰
			
 
				+    painter->setPen(Qt::white); //定义线条文本颜色  设置线条的颜色
			
 
				+    painter->setBrush(haloGradient);//刷子定义形状如何填满 填充后的颜色
			
 
				+    painter->drawConvexPolygon(pts); //这是个重载函数，绘制多边形。
			
 
				+    painter->restore();
			
 
				+
			
 
				+    //画中心点
			
 
				+    QColor niceBlue(150, 150, 200);
			
 
				+    QConicalGradient coneGradient(0, 0, -90.0);  //角度渐变
			
 
				+    coneGradient.setColorAt(0.0, Qt::darkGray);
			
 
				+    coneGradient.setColorAt(0.2, niceBlue);
			
 
				+    coneGradient.setColorAt(0.5, Qt::white);
			
 
				+    coneGradient.setColorAt(1.0, Qt::darkGray);
			
 
				+    painter->setPen(Qt::NoPen);  //没有线，填满没有边界
			
 
				+    painter->setBrush(coneGradient);
			
 
				+    painter->drawEllipse(-5, -5, 10, 10);
			
 
				+}
			
 
				+
			
 
				+void Speed ::paintEvent(QPaintEvent *)
			
 
				+{
			
 
				+    QPainter painter(this);//一个类中的this表示一个指向该类自己的指针
			
 
				+    painter.setRenderHint(QPainter::Antialiasing);  /* 使用反锯齿(如果可用) */
			
 
				+    painter.translate(width() / 2, height() / 2);   /* 坐标变换为窗体中心 */
			
 
				+    int side = qMin(width(), height());
			
 
				+    painter.scale(side / 200.0, side / 200.0);      /* 比例缩放 */
			
 
				+
			
 
				+   drawCrown(&painter);                                 /* 画表盘边框 */
			
 
				+   drawScaleNum(&painter);                          /* 画刻度数值值 */
			
 
				+   drawScale(&painter);                                 /* 画刻度线 */
			
 
				+   drawTitle(&painter);                                     /* 画单位 */
			
 
				+   drawNumericValue(&painter);                      /* 画数字显示 */
			
 
				+   drawIndicator(&painter);                             /* 画表针 */
			
 
				+
			
 
				+}
			
 
				+
			
 
				+void Speed::setminvalue(int value)
			
 
				+{
			
 
				+    m_minValue = value;
			
 
				+}
			
 
				+
			
 
				+void Speed::setmaxvalue(int value)
			
 
				+{
			
 
				+    m_maxValue = value;
			
 
				+}
			
 
				+
			
 
				+void Speed::updatevalue(double value)
			
 
				+{
			
 
				+    m_value = value;
			
 
				+    update();
			
 
				+}
			
 
				+
			
 
				+void Speed::setunits(QString strunits)
			
 
				+{
			
 
				+    m_units = strunits;
			
 
				+}
			
 
				+
			
 
				+void Speed::settitle(QString strtitle)
			
 
				+{
			
 
				+    m_title = strtitle;
			
 
				+}
			
--- a/src/tool/RemoteCtrl_Wide/speed.h
+++ b/src/tool/RemoteCtrl_Wide/speed.h
@@ -0,0 +1,51 @@
 
				+#ifndef SPEED_H
			
 
				+#define SPEED_H
			
 
				+
			
 
				+#include <QWidget>
			
 
				+
			
 
				+class Speed : public QWidget
			
 
				+{
			
 
				+    Q_OBJECT
			
 
				+public:
			
 
				+    explicit Speed(QWidget *parent = nullptr);
			
 
				+
			
 
				+protected:
			
 
				+    void paintEvent(QPaintEvent *);
			
 
				+
			
 
				+    void drawCrown(QPainter *painter);
			
 
				+    void drawBackground(QPainter *painter);
			
 
				+    void drawScale(QPainter *painter);
			
 
				+    void drawScaleNum(QPainter *painter);
			
 
				+    void drawTitle(QPainter *painter);
			
 
				+    void drawIndicator(QPainter *painter);
			
 
				+    void drawNumericValue(QPainter *painter);
			
 
				+
			
 
				+private:
			
 
				+    QColor m_background;
			
 
				+    QColor m_foreground;
			
 
				+
			
 
				+
			
 
				+    int m_maxValue;
			
 
				+    int m_minValue;
			
 
				+    int m_startAngle;
			
 
				+    int m_endAngle;
			
 
				+
			
 
				+    int m_scaleMajor;
			
 
				+    int m_scaleMinor;
			
 
				+    double m_value;
			
 
				+    int m_precision;
			
 
				+    QTimer *m_updateTimer;
			
 
				+    QString m_units;
			
 
				+    QString m_title;
			
 
				+    public Q_SLOTS:
			
 
				+//	void UpdateAngle();
			
 
				+
			
 
				+public:
			
 
				+    void setminvalue(int value);
			
 
				+    void setmaxvalue(int value);
			
 
				+    void updatevalue(double value);
			
 
				+    void setunits(QString strunits);
			
 
				+    void settitle(QString strtitle);
			
 
				+};
			
 
				+
			
 
				+#endif // SPEED_H
			
--- a/src/tool/RemoteCtrl_Wide/zh_CN.qm
+++ b/src/tool/RemoteCtrl_Wide/zh_CN.qm