在UI中删除地图采集器的代码

src/ui/ui_ads_hmi/ADCIntelligentVehicle.cpp

@@ -345,15 +345,7 @@ void ADCIntelligentVehicle::savestabuyEditinfo(const QString &txt)
     //ServiceControlStatus.set_accelerate((float)txt.toDouble());
 }
 
-/**
- * @brief ADCIntelligentVehicle::gps_collector_exit
- */
-void ADCIntelligentVehicle::gps_collector_exit()
-{
-    is_gps_collector_run = false;
-    gps_connect.disconnect();
-    delete gps_collector;
-}
+
 
 /**
  * @brief ADCIntelligentVehicle::timeoutslot
@@ -1161,22 +1153,6 @@ void ADCIntelligentVehicle::on_hs_wheel_angle_valueChanged(int value) {
     //ServiceControlStatus.set_wheel_angle((float)value);
 }
 
-/**
- * @brief ADCIntelligentVehicle::on_pushButton_2_clicked
- */
-void ADCIntelligentVehicle::on_pushButton_2_clicked(){
-    if(is_gps_collector_run == false)
-    {
-        gps_collector = new GPS_Collect;
-        gps_connect = gps_collector->gps_collector_close.connect(boost::bind(&ADCIntelligentVehicle::gps_collector_exit,this));
-        is_gps_collector_run = true;
-        gps_collector->show();
-    }
-    else
-    {
-        QMessageBox::information(NULL, QStringLiteral("提示"), QStringLiteral("程序已打开"));
-    }
-}
 
 /**
  * @brief ADCIntelligentVehicle::on_pushButton_3_clicked

src/ui/ui_ads_hmi/ADCIntelligentVehicle.h

@@ -9,7 +9,6 @@
 #include "ui_ADCIntelligentVehicle.h"
 //#include <decition/brain.h>
 //#include <control/can.h>
-#include "gps_collect.h"
 #include "look.h"
 #include <common/car_status.h>
 #include <qtimer.h>
@@ -144,7 +143,6 @@ class ADCIntelligentVehicle : public QMainWindow
 
 public:
     explicit ADCIntelligentVehicle(QWidget *parent = 0);
-    void gps_collector_exit();
     //~ADCIntelligentVehicle();
 
 public slots:
@@ -164,7 +162,7 @@ public slots:
     void on_hs_accelerate_percent_valueChanged(int value);	//响应油门改变
     void on_hs_wheel_angle_valueChanged(int value);		//响应方向盘改变
 
-    void on_pushButton_2_clicked();
+//    void on_pushButton_2_clicked();    //打开地图采集器
     void on_pushButton_3_clicked();
     void on_pushButton_4_clicked();
 
@@ -211,10 +209,7 @@ private:
     bool is_3 = false;
     bool is_speed_control_mode_enable_ = false;
     bool is_show_enable = false;
-    bool is_gps_collector_run = false;
 
-    boost::signals2::connection gps_connect;
-    GPS_Collect *gps_collector;
     Look_decition *look_decition;
     Mobileye_info *mobileye_info;
     Qt::MouseButton m_translateButton;  // 平移按钮

src/ui/ui_ads_hmi/ADCIntelligentVehicle.ui

@@ -98,7 +98,7 @@
      </rect>
     </property>
     <property name="currentIndex">
-     <number>0</number>
+     <number>2</number>
     </property>
     <widget class="QWidget" name="page_0">
      <widget class="QGroupBox" name="groupBox_2">
@@ -748,27 +748,6 @@ background-color: rgb(85, 87, 83);</string>
        </property>
       </widget>
      </widget>
-     <widget class="QPushButton" name="pushButton_2">
-      <property name="geometry">
-       <rect>
-        <x>10</x>
-        <y>490</y>
-        <width>151</width>
-        <height>31</height>
-       </rect>
-      </property>
-      <property name="font">
-       <font>
-        <family>AR PL UKai CN</family>
-       </font>
-      </property>
-      <property name="styleSheet">
-       <string notr="true">color: rgb(238, 238, 236);</string>
-      </property>
-      <property name="text">
-       <string>地图采集器</string>
-      </property>
-     </widget>
      <widget class="QPushButton" name="pushButton_3">
       <property name="geometry">
        <rect>
@@ -2065,7 +2044,7 @@ p, li { white-space: pre-wrap; }
      <x>0</x>
      <y>0</y>
      <width>1900</width>
-     <height>22</height>
+     <height>28</height>
     </rect>
    </property>
   </widget>

src/ui/ui_ads_hmi/gps_collect.cpp

@@ -1,1131 +0,0 @@
-#include "gps_collect.h"
-
-// General constants.
-#define NOUTPUT_PACKET_LENGTH  (72)       //!< NCom packet length.
-#define NCOM_SYNC           (0xE7)        //!< NCom sync byte.
-#define PKT_PERIOD          (0.01)        //!< 10ms updates.
-#define TIME2SEC            (1e-3)        //!< Units of 1 ms.
-#define FINETIME2SEC        (4e-6)        //!< Units of 4 us.
-#define TIMECYCLE           (60000)       //!< Units of TIME2SEC (i.e. 60 seconds).
-#define WEEK2CYCLES         (10080)       //!< Time cycles in a week.
-#define ACC2MPS2            (1e-4)        //!< Units of 0.1 mm/s^2.
-#define RATE2RPS            (1e-5)        //!< Units of 0.01 mrad/s.
-#define VEL2MPS             (1e-4)        //!< Units of 0.1 mm/s.
-#define ANG2RAD             (1e-6)        //!< Units of 0.001 mrad.
-#define INNFACTOR           (0.1)         //!< Resolution of 0.1.
-#define POSA2M              (1e-3)        //!< Units of 1 mm.
-#define VELA2MPS            (1e-3)        //!< Units of 1 mm/s.
-#define ANGA2RAD            (1e-5)        //!< Units of 0.01 mrad.
-#define GB2RPS              (5e-6)        //!< Units of 0.005 mrad/s.
-#define AB2MPS2             (1e-4)        //!< Units of 0.1 mm/s^2.
-#define GSFACTOR            (1e-6)        //!< Units of 1 ppm.
-#define ASFACTOR            (1e-6)        //!< Units of 1 ppm.
-#define GBA2RPS             (1e-6)        //!< Units of 0.001 mrad/s.
-#define ABA2MPS2            (1e-5)        //!< Units of 0.01 mm/s^2.
-#define GSAFACTOR           (1e-6)        //!< Units of 1 ppm.
-#define ASAFACTOR           (1e-6)        //!< Units of 1 ppm.
-#define GPSPOS2M            (1e-3)        //!< Units of 1 mm.
-#define GPSATT2RAD          (1e-4)        //!< Units of 0.1 mrad.
-#define GPSPOSA2M           (1e-4)        //!< Units of 0.1 mm.
-#define GPSATTA2RAD         (1e-5)        //!< Units of 0.01 mrad.
-#define INNFACTOR           (0.1)         //!< Resolution of 0.1.
-#define DIFFAGE2SEC         (1e-2)        //!< Units of 0.01 s.
-#define REFPOS2M            (0.0012)      //!< Units of 1.2 mm.
-#define REFANG2RAD          (1e-4)        //!< Units of 0.1 mrad.
-#define OUTPOS2M            (1e-3)        //!< Units of 1 mm.
-#define ZVPOS2M             (1e-3)        //!< Units of 1 mm.
-#define ZVPOSA2M            (1e-4)        //!< Units of 0.1 mm.
-#define NSPOS2M             (1e-3)        //!< Units of 1 mm.
-#define NSPOSA2M            (1e-4)        //!< Units of 0.1 mm.
-#define ALIGN2RAD           (1e-4)        //!< Units of 0.1 mrad.
-#define ALIGNA2RAD          (1e-5)        //!< Units of 0.01 mrad.
-#define SZVDELAY2S          (1.0)         //!< Units of 1.0 s.
-#define SZVPERIOD2S         (0.1)         //!< Units of 0.1 s.
-#define TOPSPEED2MPS        (0.5)         //!< Units of 0.5 m/s.
-#define NSDELAY2S           (0.1)         //!< Units of 0.1 s.
-#define NSPERIOD2S          (0.02)        //!< Units of 0.02 s.
-#define NSACCEL2MPS2        (0.04)        //!< Units of 0.04 m/s^2.
-#define NSSPEED2MPS         (0.1)         //!< Units of 0.1 m/s.
-#define NSRADIUS2M          (0.5)         //!< Units of 0.5 m.
-#define INITSPEED2MPS       (0.1)         //!< Units of 0.1 m/s.
-#define HLDELAY2S           (1.0)         //!< Units of 1.0 s.
-#define HLPERIOD2S          (0.1)         //!< Units of 0.1 s.
-#define STATDELAY2S         (1.0)         //!< Units of 1.0 s.
-#define STATSPEED2MPS       (0.01)        //!< Units of 1.0 cm/s.
-#define WSPOS2M             (1e-3)        //!< Units of 1 mm.
-#define WSPOSA2M            (1e-4)        //!< Units of 0.1 mm.
-#define WSSF2PPM            (0.1)         //!< Units of 0.1 pulse per metre (ppm).
-#define WSSFA2PC            (0.002)       //!< Units of 0.002% of scale factor.
-#define WSDELAY2S           (0.1)         //!< Units of 0.1 s.
-#define WSNOISE2CNT         (0.1)         //!< Units of 0.1 count for wheel speed noise.
-#define UNDUL2M             (0.005)       //!< Units of 5 mm.
-#define DOPFACTOR           (0.1)         //!< Resolution of 0.1.
-#define OMNISTAR_MIN_FREQ   (1.52e9)      //!< (Hz) i.e. 1520.0 MHz.
-#define OMNIFREQ2HZ         (1000.0)      //!< Resolution of 1 kHz.
-#define SNR2DB              (0.2)         //!< Resolution of 0.2 dB.
-#define LTIME2SEC           (1.0)         //!< Resolution of 1.0 s.
-#define TEMPK_OFFSET        (203.15)      //!< Temperature offset in degrees K.
-#define ABSZERO_TEMPC       (-273.15)     //!< Absolute zero (i.e. 0 deg K) in deg C.
-
-// For more accurate and complete local coordinates
-#define FINEANG2RAD (1.74532925199433e-9) //!< Units of 0.1 udeg.
-#define ALT2M               (1e-3)        //!< Units of 1 mm.
-
-// For GPS supply voltage
-#define SUPPLYV2V           (0.1)         //!< Units of 0.1 V.
-
-// Mathematical constant definitions
-#ifndef M_PI
-#define M_PI (3.1415926535897932384626433832795)  //!< Pi.
-#endif
-#define DEG2RAD             (M_PI/180.0)  //!< Convert degrees to radians.
-#define RAD2DEG             (180.0/M_PI)  //!< Convert radians to degrees.
-#define POS_INT_24          (8388607)     //!< Maximum value of a two's complement 24 bit integer.
-#define NEG_INT_24          (-8388607)    //!< Minimum value of a two's complement 24 bit integer.
-#define INV_INT_24          (-8388608)    //!< Represents an invalid two's complement 24 bit integer.
-
-#define NCOM_COUNT_TOO_OLD  (150)         //!< Cycle counter for data too old.
-#define NCOM_STDCNT_MAX     (0xFF)        //!< Definition for the RTBNS accuracy counter.
-#define MIN_HORZ_SPEED      (0.07)        //!< 0.07 m/s hold distance.
-#define MIN_VERT_SPEED      (0.07)        //!< 0.07 m/s hold distance.
-#define SPEED_HOLD_FACTOR   (2.0)         //!< Hold distance when speed within 2 sigma of 0.
-#define MINUTES_IN_WEEK     (10080)       //!< Number of minutes in a week.
-
-// OmniStar status definitions
-#define NCOM_OMNI_STATUS_UNKNOWN      (0xFF)
-#define NCOM_OMNI_STATUS_VBSEXPIRED   (0x01)
-#define NCOM_OMNI_STATUS_VBSREGION    (0x02)
-#define NCOM_OMNI_STATUS_VBSNOBASE    (0x04)
-#define NCOM_OMNI_STATUS_HPEXPIRED    (0x08)
-#define NCOM_OMNI_STATUS_HPREGION     (0x10)
-#define NCOM_OMNI_STATUS_HPNOBASE     (0x20)
-#define NCOM_OMNI_STATUS_HPNOCONVERGE (0x40)
-#define NCOM_OMNI_STATUS_HPKEYINVALID (0x80)
-
-// GPS hardware status definitions
-#define NCOM_GPS_ANT_STATUS_BITMASK   (0x03)
-#define NCOM_GPS_ANT_STATUS_DONTKNOW  (0x03)
-#define NCOM_GPS_ANT_STATUS_BITSHIFT  (0)
-#define NCOM_GPS_ANT_POWER_BITMASK    (0x0C)
-#define NCOM_GPS_ANT_POWER_DONTKNOW   (0x0C)
-#define NCOM_GPS_ANT_POWER_BITSHIFT   (2)
-
-// GPS feature set 1 definitions
-#define NCOM_GPS_FEATURE_PSRDIFF      (0x01)
-#define NCOM_GPS_FEATURE_SBAS         (0x02)
-#define NCOM_GPS_FEATURE_OMNIVBS      (0x08)
-#define NCOM_GPS_FEATURE_OMNIHP       (0x10)
-#define NCOM_GPS_FEATURE_L1DIFF       (0x20)
-#define NCOM_GPS_FEATURE_L1L2DIFF     (0x40)
-
-// GPS feature set 2 definitions
-#define NCOM_GPS_FEATURE_GLONASS      (0x01)
-#define NCOM_GPS_FEATURE_GALILEO      (0x02)
-#define NCOM_GPS_FEATURE_RAWRNG       (0x04)
-#define NCOM_GPS_FEATURE_RAWDOP       (0x08)
-#define NCOM_GPS_FEATURE_RAWL1        (0x10)
-#define NCOM_GPS_FEATURE_RAWL2        (0x20)
-#define NCOM_GPS_FEATURE_RAWL5        (0x40)
-
-// GPS feature valid definition
-#define NCOM_GPS_FEATURE_VALID        (0x80)
-
-// The start of GPS time in a time_t style. In this version it is a constant, but this constant assumes that
-// the local machine uses 00:00:00 01/01/1970 as its Epoch time. If your machine is different then you need to
-// convert 00:00:00 06/01/1980 in to the local machine's time_t time.
-#define GPS_TIME_START_TIME_T         (315964800)
-
-// Second order filter class
-#define INPUT_JITTER_TOLERANCE     (0.01)  // i.e. 1%
-
-
-/*index*/
-#define		PI_SYNC             0
-#define		PI_TIME             1
-#define		PI_ACCEL_X          3
-#define		PI_ACCEL_Y          6
-#define		PI_ACCEL_Z          9
-#define		PI_ANG_RATE_X      12
-#define		PI_ANG_RATE_Y      15
-#define		PI_ANG_RATE_Z      18
-#define		PI_INS_NAV_MODE    21
-#define		PI_CHECKSUM_1      22
-#define		PI_POS_LAT         23
-#define		PI_POS_LON         31
-#define		PI_POS_ALT         39
-#define		PI_VEL_N           43
-#define		PI_VEL_E           46
-#define		PI_VEL_D           49
-#define		PI_ORIEN_H         52
-#define		PI_ORIEN_P         55
-#define		PI_ORIEN_R         58
-#define		PI_CHECKSUM_2      61
-#define		PI_CHANNEL_INDEX   62
-#define		PI_CHANNEL_STATUS  63
-#define		PI_SAT_NUM		   67
-#define		PI_RTK_STATUS	   68
-#define		PI_CHECKSUM_3      71
-
-/*RTK IMU status check*/
-#define		RTK_IMU_OK		0
-#define		IMU_STATUS_ERR	1
-#define		RTK_STATUS_ERR	2
-#define		UNKNOWN			0xFF
-
-struct GPS_INS
-{
-    int valid = 0xff;
-    int index = 0;	//gps点序号
-
-    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_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
-    double ins_pitch_angle = 0;	//俯仰角
-    double ins_heading_angle = 0;	//航向角
-
-    int ins_status = 0;	//惯导状态 4
-    int rtk_status = 0;	//rtk状态 6 -5 -3
-    int gps_satelites_num = 0;
-
-    //-----加速度--------------
-    double accel_x = 0;
-    double accel_y = 0;
-    double accel_z = 0;
-
-    //-------角速度------------
-    double ang_rate_x = 0;
-    double ang_rate_y = 0;
-    double ang_rate_z = 0;
-
-    //-----------方向速度--------------
-    double vel_N = 0;
-    double vel_E = 0;
-    double vel_D = 0;
-
-    int speed_mode = 0;
-    int mode2 = 0;
-    double speed = 0;			//速度  若导航点则为导航预设速度  若为当前点则为当前车速
-
-};
-
-typedef boost::shared_ptr<GPS_INS> GPSData;
-
-class CarStatus : public boost::noncopyable {
-public:
-    float speed;			//车速
-    std::int16_t wheel_angle;		//方向盘转角
-    std::uint8_t braking_pressure;	//刹车压力
-    GPSData location;		//当前车辆位置
-
-    CarStatus() {
-        speed = 0;
-        braking_pressure = 0;
-        wheel_angle = 0;
-        location = boost::shared_ptr<GPS_INS>(new GPS_INS);
-    }
-    ~CarStatus() {
-
-    }
-};
-typedef boost::serialization::singleton<CarStatus> CarStatusSingleton;
-
-#define ServiceCarStatus CarStatusSingleton::get_mutable_instance()
-
-
-static double   cast_8_byte_to_double(const uint8_t *b);
-static int32_t cast_3_byte_to_int32(const uint8_t *b);
-
-GPSSensor::GPSSensor() {
-}
-
-GPSSensor::~GPSSensor() {
-
-}
-
-void GPSSensor::start()
-{
-    thread_sensor_run_ = new boost::thread(boost::bind(&GPSSensor::processSensor, this));
-}
-
-void GPSSensor::stop()
-{
-    thread_sensor_run_->interrupt();
-    thread_sensor_run_->join();
-}
-
-void GPSSensor::obs_modechange(int rec)
-{
-    _mtx.lock();
-    obs_modes = rec;
-    _mtx.unlock();
-}
-
-void GPSSensor::speed_modechange(int rec)
-{
-    _mtx.lock();
-    speed_modes = rec;
-    _mtx.unlock();
-}
-
-void GPSSensor::lane_num_modechange(int rec)
-{
-    _mtx.lock();
-    lane_num = rec;
-    _mtx.unlock();
-}
-
-void GPSSensor::lane_status_modechange(int rec)
-{
-    _mtx.lock();
-    lane_status = rec;
-    _mtx.unlock();
-}
-
-void GPSSensor::start_or_end(bool rec)
-{
-    _mtx2.lock();
-    writegps = rec;
-    _mtx2.unlock();
-}
-
-void GPSSensor::collect_modechange(bool rec)
-{
-    _mtx3.lock();
-    is_forbidden = rec;
-    _mtx3.unlock();
-}
-
-void GPSSensor::jianju_change(double rec)
-{
-    _mtx4.lock();
-    jianju = rec;
-    _mtx4.unlock();
-}
-
-bool GPSSensor::isRunning() const
-{
-    return (thread_sensor_run_ != NULL && !thread_sensor_run_->timed_join(boost::posix_time::milliseconds(10)));
-}
-
-void GPSSensor::processSensor()
-{
-    //todo  GPS/惯导 设备接口 对接
-    /*Initialize udp server, listen on port 3000.*/
-    /*int sockfd;
-    struct sockaddr_in addr;
-    socklen_t addrlen;
-    sockfd = socket(AF_INET, SOCK_DGRAM, 0);
-    if (sockfd < 0)
-    {
-       printf("socket failed\n");
-       exit(EXIT_FAILURE);
-    }
-    addrlen = sizeof(struct sockaddr_in);
-    bzero(&addr, addrlen);
-    addr.sin_family = AF_INET;
-    addr.sin_addr.s_addr = htonl(INADDR_ANY);
-    addr.sin_port = htons(3000);
-    if (bind(sockfd, (struct sockaddr*)(&addr), addrlen) < 0)
-    {
-       printf("bind fail\n");
-       exit(EXIT_FAILURE);
-    }*/
-    QUdpSocket *udpsocket;//summer
-    udpsocket = new QUdpSocket();
-    udpsocket->bind(QHostAddress::Any, 3000);
-    /*    udpsocket->bind(3000);
-    if(!udpsocket->waitForConnected())
-    {
-        printf("bind fail\n");
-        exit(EXIT_FAILURE);
-    }
-*/
-    unsigned char recvBuf[100] = { 0 };
-
-    GPSData data(new GPS_INS);
-    int x;
-
-    ServiceCarStatus.location->gps_x = 0;
-    ServiceCarStatus.location->gps_y = 0;
-
-    std::string sk;
-    std::stringstream ss;
-    while (true)
-    {
-        ss.clear();
-        ss.str("");
-        sk.clear();
-        gps_index = 0;
-        testcount = 0;
-        _mtx2.lock();
-        while (writegps == false)
-        {
-            _mtx2.unlock();
-            if(should_exit == true)
-            {
-                udpsocket->close();
-                ready_exit++;
-                return;
-            }
-            //boost::this_thread::sleep(boost::posix_time::milliseconds(10));
-
-#ifdef linux
-            usleep(10000);
-#endif
-#ifdef WIN32
-            boost::this_thread::sleep(boost::posix_time::milliseconds(10));
-            //         Sleep(10);
-#endif
-            _mtx2.lock();
-        }
-        std::ofstream fout;
-        fout.setf(std::ios::fixed, std::ios::floatfield);  // 设定为 fixed 模式，以小数点表示浮点数
-        fout.precision(12);  // 设置精度 2
-        time_t now;
-        struct tm *timenow;
-        time(&now);
-        timenow = localtime(&now);
-        ss << "/home/adc/" << timenow->tm_year+1900 << "-" << timenow->tm_mon+1 << "-" << timenow->tm_mday << "-" << timenow->tm_hour << "h-" << timenow->tm_min << "m-" << timenow->tm_sec << "s.txt";
-        sk = ss.str();
-        fout.open(sk);
-        while (writegps) {
-            _mtx2.unlock();
-            if(should_exit == true)
-            {
-                udpsocket->close();
-                fout.close();
-                ready_exit++;
-                return;
-            }
-            char *buf = new char[100];
-            memset(buf,0,100);
-            int rec = 0;
-            if(udpsocket->waitForReadyRead())
-                rec = udpsocket->read(buf,100);
-            convertStrToUnChar(buf,recvBuf);
-            //int rec = recvfrom(sockfd, recvBuf, 100, 0, (struct sockaddr *)(&addr), &addrlen);
-
-            if (rec != NOUTPUT_PACKET_LENGTH) {
-                std::cout << "ERR: rec must be 72 bytes\n" << std::endl;
-                continue;
-            }
-
-            if (recvBuf[PI_SYNC] != NCOM_SYNC) {
-                std::cout << "ERR: head always be 0xE7\n" << std::endl;
-                continue;
-            }
-            data->gps_lat = cast_8_byte_to_double(recvBuf + PI_POS_LAT) * RAD2DEG;
-            data->gps_lng = cast_8_byte_to_double(recvBuf + PI_POS_LON) * RAD2DEG;
-
-            x = cast_3_byte_to_int32(recvBuf + PI_ORIEN_H);
-            if (x != INV_INT_24) data->ins_heading_angle = x * (ANG2RAD * RAD2DEG);
-            if (data->ins_heading_angle < 0.0)
-            {
-                data->ins_heading_angle += 360.0;
-            }
-
-            if (abs(data->gps_lng - 117.0) < 5)
-            {
-                ServiceCarStatus.location->gps_lat = data->gps_lat;
-                ServiceCarStatus.location->gps_lng = data->gps_lng;
-                ServiceCarStatus.location->ins_heading_angle = data->ins_heading_angle;
-                if (testcount < 1000)
-                {
-                    testcount++;
-                }
-                else
-                {
-                    double x = (ServiceCarStatus.location->gps_x - data->gps_x)*(ServiceCarStatus.location->gps_x - data->gps_x) + (ServiceCarStatus.location->gps_y - data->gps_y)*(ServiceCarStatus.location->gps_y - data->gps_y);
-
-                    if (x > (jianju*jianju))
-                    {
-                        if (is_forbidden == false)
-                        {
-                            _mtx.try_lock();
-                            fout << gps_index << "\t" << data->gps_lng << "\t" << data->gps_lat << "\t" << ServiceCarStatus.location->speed_mode << "\t" << ServiceCarStatus.location->mode2 << "\t" << data->ins_heading_angle << "\t" << obs_modes << "\t" << speed_modes << "\t" << lane_num << "\t" << lane_status << std::endl;
-                            _mtx.unlock();
-                        }
-                        else
-                        {
-                            _mtx.try_lock();
-                            fout << gps_index << "\t" << data->gps_lng << "\t" << data->gps_lat << "\t" << ServiceCarStatus.location->speed_mode << "\t" << ServiceCarStatus.location->mode2 << "\t" << data->ins_heading_angle << std::endl;
-                            _mtx.unlock();
-                        }
-                        gps_index++;
-                        ServiceCarStatus.location->gps_x = data->gps_x;
-                        ServiceCarStatus.location->gps_y = data->gps_y;
-                    }
-                }
-            }
-            _mtx2.lock();
-        }
-        _mtx2.unlock();
-        fout.close();                  //关闭文件
-    }
-    udpsocket->close();
-}
-
-void GPSSensor::wait_exit()
-{
-    while(true)
-    {
-        should_exit = true;
-#ifdef linux
-        usleep(5000);
-#endif
-#ifdef WIN32
-        boost::this_thread::sleep(boost::posix_time::milliseconds(5));
-        //           Sleep(5);
-#endif
-        if(ready_exit == 1)
-        {
-            return;
-        }
-    }
-}
-
-static double cast_8_byte_to_double(const uint8_t *b)
-{
-    union { double x; uint8_t c[8]; } u;
-    u.c[0] = b[0];
-    u.c[1] = b[1];
-    u.c[2] = b[2];
-    u.c[3] = b[3];
-    u.c[4] = b[4];
-    u.c[5] = b[5];
-    u.c[6] = b[6];
-    u.c[7] = b[7];
-    return u.x;
-}
-
-static int32_t cast_3_byte_to_int32(const uint8_t *b)
-{
-    union { int32_t x; uint8_t c[4]; } u;
-    u.c[1] = b[0];
-    u.c[2] = b[1];
-    u.c[3] = b[2];
-    return u.x >> 8;
-}
-
-GPS_Collect::GPS_Collect(QWidget *parent):
-    QWidget(parent)
-{
-    //gps_collector_close = new boost::signals2::signal<void()>();
-
-    this->setObjectName(QStringLiteral("GPS_Collector"));
-    this->resize(800, 700);
-    frame = new QFrame(this);
-    frame->setObjectName(QStringLiteral("frame"));
-    frame->setGeometry(QRect(440, 390, 120, 80));
-    frame->setFrameShape(QFrame::StyledPanel);
-    frame->setFrameShadow(QFrame::Raised);
-    label = new QLabel(this);
-    label->setObjectName(QStringLiteral("label"));
-    label->setGeometry(QRect(20, 20, 90, 35));
-    comboBox = new QComboBox(this);
-    comboBox->setObjectName(QStringLiteral("comboBox"));
-    comboBox->setGeometry(QRect(120, 60, 100, 35));
-    QFont font;
-    font.setPointSize(16);
-    comboBox->setFont(font);
-    label_2 = new QLabel(this);
-    label_2->setObjectName(QStringLiteral("label_2"));
-    label_2->setGeometry(QRect(20, 60, 90, 35));
-    lineEdit = new QLineEdit(this);
-    lineEdit->setObjectName(QStringLiteral("lineEdit"));
-    lineEdit->setGeometry(QRect(120, 20, 100, 35));
-    lineEdit->setFont(font);
-    lineEdit->setAlignment(Qt::AlignCenter);
-    label_3 = new QLabel(this);
-    label_3->setObjectName(QStringLiteral("label_3"));
-    label_3->setGeometry(QRect(270, 20, 30, 16));
-    label_4 = new QLabel(this);
-    label_4->setObjectName(QStringLiteral("label_4"));
-    label_4->setGeometry(QRect(270, 40, 30, 16));
-    label_5 = new QLabel(this);
-    label_5->setObjectName(QStringLiteral("label_5"));
-    label_5->setGeometry(QRect(270, 60, 60, 16));
-    label_6 = new QLabel(this);
-    label_6->setObjectName(QStringLiteral("label_6"));
-    label_6->setGeometry(QRect(440, 20, 80, 16));
-    label_7 = new QLabel(this);
-    label_7->setObjectName(QStringLiteral("label_7"));
-    label_7->setGeometry(QRect(440, 80, 80, 16));
-    label_8 = new QLabel(this);
-    label_8->setObjectName(QStringLiteral("label_8"));
-    label_8->setGeometry(QRect(440, 40, 80, 16));
-    label_9 = new QLabel(this);
-    label_9->setObjectName(QStringLiteral("label_9"));
-    label_9->setGeometry(QRect(440, 60, 80, 16));
-    lineEdit_2 = new QLineEdit(this);
-    lineEdit_2->setObjectName(QStringLiteral("lineEdit_2"));
-    lineEdit_2->setGeometry(QRect(310, 20, 120, 20));
-    lineEdit_3 = new QLineEdit(this);
-    lineEdit_3->setObjectName(QStringLiteral("lineEdit_3"));
-    lineEdit_3->setGeometry(QRect(310, 40, 120, 20));
-    lineEdit_4 = new QLineEdit(this);
-    lineEdit_4->setObjectName(QStringLiteral("lineEdit_4"));
-    lineEdit_4->setGeometry(QRect(340, 60, 90, 20));
-    lineEdit_5 = new QLineEdit(this);
-    lineEdit_5->setObjectName(QStringLiteral("lineEdit_5"));
-    lineEdit_5->setGeometry(QRect(520, 20, 90, 20));
-    lineEdit_6 = new QLineEdit(this);
-    lineEdit_6->setObjectName(QStringLiteral("lineEdit_6"));
-    lineEdit_6->setGeometry(QRect(520, 40, 90, 20));
-    lineEdit_7 = new QLineEdit(this);
-    lineEdit_7->setObjectName(QStringLiteral("lineEdit_7"));
-    lineEdit_7->setGeometry(QRect(520, 60, 90, 20));
-    lineEdit_8 = new QLineEdit(this);
-    lineEdit_8->setObjectName(QStringLiteral("lineEdit_8"));
-    lineEdit_8->setGeometry(QRect(520, 80, 90, 20));
-
-    this->setWindowTitle(QApplication::translate("GPS_Collector", "GPS_Collector", nullptr));
-    label->setText(QApplication::translate("GPS_Collector", "\351\207\207\351\233\206\347\202\271\351\227\264\350\267\235(m)", nullptr));
-    label_2->setText(QApplication::translate("GPS_Collector", "\347\246\201\347\224\250\351\231\204\345\212\240\345\261\236\346\200\247", nullptr));
-    label_3->setText(QApplication::translate("GPS_Collector", "\347\273\217\345\272\246", nullptr));
-    label_4->setText(QApplication::translate("GPS_Collector", "\347\272\254\345\272\246", nullptr));
-    label_5->setText(QApplication::translate("GPS_Collector", "\345\267\262\351\207\207\351\233\206\347\202\271\346\225\260", nullptr));
-    label_6->setText(QApplication::translate("GPS_Collector", "\351\201\277\351\232\234\346\250\241\345\274\217", nullptr));
-    label_7->setText(QApplication::translate("GPS_Collector", "\346\211\200\345\234\250\350\275\246\351\201\223", nullptr));
-    label_8->setText(QApplication::translate("GPS_Collector", "\351\200\237\345\272\246\346\216\247\345\210\266\346\250\241\345\274\217", nullptr));
-    label_9->setText(QApplication::translate("GPS_Collector", "\350\275\246\351\201\223\346\200\273\346\225\260", nullptr));
-
-    pushButtonstart = new QPushButton(this);
-    pushButtonstart->setObjectName(QStringLiteral("pushButtonstart"));
-    pushButtonstart->setGeometry(QRect(630, 11, 158, 50));
-    pushButtonstart->setText("start");
-    connect(pushButtonstart, SIGNAL(clicked()), this, SLOT(ClickButton_start()));
-    pushButtonend = new QPushButton(this);
-    pushButtonend->setObjectName(QStringLiteral("pushButtonend"));
-    pushButtonend->setGeometry(QRect(630, 70, 158, 50));
-    pushButtonend->setText("end");
-    connect(pushButtonend, SIGNAL(clicked()), this, SLOT(ClickButton_end()));
-
-    pushButton0 = new QPushButton(this);
-    pushButton0->setObjectName(QStringLiteral("pushButton0"));
-    pushButton0->setGeometry(QRect(20, 130, 192, 93));
-    pushButton0->setText(QStringLiteral("停障"));
-    connect(pushButton0, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_0()));
-    pushButton1 = new QPushButton(this);
-    pushButton1->setObjectName(QStringLiteral("pushButton1"));
-    pushButton1->setGeometry(QRect(20, 223, 192, 93));
-    pushButton1->setText(QStringLiteral("避障"));
-    connect(pushButton1, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_1()));
-    pushButton2 = new QPushButton(this);
-    pushButton2->setObjectName(QStringLiteral("pushButton2"));
-    pushButton2->setGeometry(QRect(20, 316, 192, 93));
-    pushButton2->setText(QStringLiteral("不停不避"));
-    connect(pushButton2, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_2()));
-    pushButton33 = new QPushButton(this);
-    pushButton33->setObjectName(QStringLiteral("pushButton33"));
-    pushButton33->setGeometry(QRect(20, 409, 192, 93));
-    pushButton33->setText(QStringLiteral("保留"));
-    connect(pushButton33, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_33()));
-    pushButton34 = new QPushButton(this);
-    pushButton34->setObjectName(QStringLiteral("pushButton34"));
-    pushButton34->setGeometry(QRect(20, 502, 192, 93));
-    pushButton34->setText(QStringLiteral("保留"));
-    connect(pushButton34, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_34()));
-
-    pushButton3 = new QPushButton(this);
-    pushButton3->setObjectName(QStringLiteral("pushButton3"));
-    pushButton3->setGeometry(QRect(212, 130, 96, 46));
-    pushButton3->setText(QStringLiteral("常速行驶"));
-    connect(pushButton3, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_3()));
-    pushButton4 = new QPushButton(this);
-    pushButton4->setObjectName(QStringLiteral("pushButton4"));
-    pushButton4->setGeometry(QRect(308, 130, 96, 46));
-    pushButton4->setText(QStringLiteral("入口"));
-    connect(pushButton4, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_4()));
-    pushButton5 = new QPushButton(this);
-    pushButton5->setObjectName(QStringLiteral("pushButton5"));
-    pushButton5->setGeometry(QRect(212, 176, 96, 47));
-    pushButton5->setText(QStringLiteral("事故区"));
-    connect(pushButton5, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_5()));
-    pushButton6 = new QPushButton(this);
-    pushButton6->setObjectName(QStringLiteral("pushButton6"));
-    pushButton6->setGeometry(QRect(308, 176, 96, 47));
-    pushButton6->setText(QStringLiteral("驻车点"));
-    connect(pushButton6, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_6()));
-    pushButton7 = new QPushButton(this);
-    pushButton7->setObjectName(QStringLiteral("pushButton7"));
-    pushButton7->setGeometry(QRect(212, 223, 96, 46));
-    pushButton7->setText(QStringLiteral("隧道"));
-    connect(pushButton7, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_7()));
-    pushButton18 = new QPushButton(this);
-    pushButton18->setObjectName(QStringLiteral("pushButton18"));
-    pushButton18->setGeometry(QRect(308, 223, 96, 46));
-    pushButton18->setText(QStringLiteral("低速"));
-    connect(pushButton18, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_18()));
-    pushButton19 = new QPushButton(this);
-    pushButton19->setObjectName(QStringLiteral("pushButton19"));
-    pushButton19->setGeometry(QRect(212, 269, 96, 47));
-    pushButton19->setText(QStringLiteral("红绿灯"));
-    connect(pushButton19, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_19()));
-    pushButton20 = new QPushButton(this);
-    pushButton20->setObjectName(QStringLiteral("pushButton20"));
-    pushButton20->setGeometry(QRect(308, 269, 96, 47));
-    pushButton20->setText(QStringLiteral("行人"));
-    connect(pushButton20, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_20()));
-    pushButton21 = new QPushButton(this);
-    pushButton21->setObjectName(QStringLiteral("pushButton21"));
-    pushButton21->setGeometry(QRect(212, 316, 96, 46));
-    pushButton21->setText(QStringLiteral("雾区"));
-    connect(pushButton21, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_21()));
-    pushButton22 = new QPushButton(this);
-    pushButton22->setObjectName(QStringLiteral("pushButton22"));
-    pushButton22->setGeometry(QRect(308, 316, 96, 46));
-    pushButton22->setText(QStringLiteral("变道停车"));
-    connect(pushButton22, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_22()));
-    pushButton23 = new QPushButton(this);
-    pushButton23->setObjectName(QStringLiteral("pushButton23"));
-    pushButton23->setGeometry(QRect(212, 362, 96, 47));
-    pushButton23->setText(QStringLiteral("等人停车"));
-    connect(pushButton23, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_23()));
-    pushButton24 = new QPushButton(this);
-    pushButton24->setObjectName(QStringLiteral("pushButton24"));
-    pushButton24->setGeometry(QRect(308, 362, 96, 47));
-    pushButton24->setText(QStringLiteral("疯狂加速"));
-    connect(pushButton24, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_24()));
-    pushButton25 = new QPushButton(this);
-    pushButton25->setObjectName(QStringLiteral("pushButton25"));
-    pushButton25->setGeometry(QRect(212, 409, 96, 46));
-    pushButton25->setText(QStringLiteral("跟随"));
-    connect(pushButton25, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_25()));
-    pushButton26 = new QPushButton(this);
-    pushButton26->setObjectName(QStringLiteral("pushButton26"));
-    pushButton26->setGeometry(QRect(308, 409, 96, 46));
-    pushButton26->setText(QStringLiteral("保留"));
-    connect(pushButton26, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_26()));
-    pushButton27 = new QPushButton(this);
-    pushButton27->setObjectName(QStringLiteral("pushButton27"));
-    pushButton27->setGeometry(QRect(212, 455, 96, 47));
-    pushButton27->setText(QStringLiteral("保留"));
-    connect(pushButton27, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_27()));
-    pushButton28 = new QPushButton(this);
-    pushButton28->setObjectName(QStringLiteral("pushButton28"));
-    pushButton28->setGeometry(QRect(308, 455, 96, 47));
-    pushButton28->setText(QStringLiteral("保留"));
-    connect(pushButton28, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_28()));
-    pushButton29 = new QPushButton(this);
-    pushButton29->setObjectName(QStringLiteral("pushButton29"));
-    pushButton29->setGeometry(QRect(212, 502, 96, 46));
-    pushButton29->setText(QStringLiteral("保留"));
-    connect(pushButton29, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_29()));
-    pushButton30 = new QPushButton(this);
-    pushButton30->setObjectName(QStringLiteral("pushButton30"));
-    pushButton30->setGeometry(QRect(308, 502, 96, 46));
-    pushButton30->setText(QStringLiteral("保留"));
-    connect(pushButton30, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_30()));
-    pushButton31 = new QPushButton(this);
-    pushButton31->setObjectName(QStringLiteral("pushButton31"));
-    pushButton31->setGeometry(QRect(212, 548, 96, 47));
-    pushButton31->setText(QStringLiteral("保留"));
-    connect(pushButton31, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_31()));
-    pushButton32 = new QPushButton(this);
-    pushButton32->setObjectName(QStringLiteral("pushButton32"));
-    pushButton32->setGeometry(QRect(308, 548, 96, 47));
-    pushButton32->setText(QStringLiteral("保留"));
-    connect(pushButton32, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_32()));
-
-    pushButton8 = new QPushButton(this);
-    pushButton8->setObjectName(QStringLiteral("pushButton8"));
-    pushButton8->setGeometry(QRect(404, 130, 192, 93));
-    pushButton8->setText(QStringLiteral("单车道"));
-    connect(pushButton8, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_8()));
-    pushButton9 = new QPushButton(this);
-    pushButton9->setObjectName(QStringLiteral("pushButton9"));
-    pushButton9->setGeometry(QRect(404, 223, 192, 93));
-    pushButton9->setText(QStringLiteral("双车道"));
-    connect(pushButton9, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_9()));
-    pushButton10 = new QPushButton(this);
-    pushButton10->setObjectName(QStringLiteral("pushButton10"));
-    pushButton10->setGeometry(QRect(404, 316, 192, 93));
-    pushButton10->setText(QStringLiteral("三车道"));
-    connect(pushButton10, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_10()));
-    pushButton11 = new QPushButton(this);
-    pushButton11->setObjectName(QStringLiteral("pushButton11"));
-    pushButton11->setGeometry(QRect(404, 409, 192, 93));
-    pushButton11->setText(QStringLiteral("四车道"));
-    connect(pushButton11, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_11()));
-    pushButton12 = new QPushButton(this);
-    pushButton12->setObjectName(QStringLiteral("pushButton12"));
-    pushButton12->setGeometry(QRect(404, 502, 192, 93));
-    pushButton12->setText(QStringLiteral("五车道"));
-    connect(pushButton12, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_12()));
-
-    pushButton13 = new QPushButton(this);
-    pushButton13->setObjectName(QStringLiteral("pushButton13"));
-    pushButton13->setGeometry(QRect(596, 130, 192, 93));
-    pushButton13->setText(QStringLiteral("在车道0"));
-    connect(pushButton13, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_13()));
-    pushButton14 = new QPushButton(this);
-    pushButton14->setObjectName(QStringLiteral("pushButton0"));
-    pushButton14->setGeometry(QRect(596, 223, 192, 93));
-    pushButton14->setText(QStringLiteral("在车道1"));
-    connect(pushButton14, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_14()));
-    pushButton15 = new QPushButton(this);
-    pushButton15->setObjectName(QStringLiteral("pushButton0"));
-    pushButton15->setGeometry(QRect(596, 316, 192, 93));
-    pushButton15->setText(QStringLiteral("在车道2"));
-    connect(pushButton15, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_15()));
-    pushButton16 = new QPushButton(this);
-    pushButton16->setObjectName(QStringLiteral("pushButton0"));
-    pushButton16->setGeometry(QRect(596, 409, 192, 93));
-    pushButton16->setText(QStringLiteral("在车道3"));
-    connect(pushButton16, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_16()));
-    pushButton17 = new QPushButton(this);
-    pushButton17->setObjectName(QStringLiteral("pushButton0"));
-    pushButton17->setGeometry(QRect(596, 502, 192, 93));
-    pushButton17->setText(QStringLiteral("在车道4"));
-    connect(pushButton17, SIGNAL(clicked()), this, SLOT(ClickButton_nomall_17()));
-
-    lineEdit->setText(QStringLiteral("0.1"));
-    connect(lineEdit, SIGNAL(textEdited(const QString &)), this, SLOT(savestabuyEditinfo(const QString &)));
-    comboBox->addItem(QStringLiteral("  禁用"));
-    comboBox->addItem(QStringLiteral(" 不禁用"));
-    connect(comboBox, SIGNAL(currentIndexChanged(const QString &)), this, SLOT(mycombox(const QString &)));
-
-    timer = new QTimer(this);
-    connect(timer, SIGNAL(timeout()), this, SLOT(timeoutslot1()));
-    connect(timer, SIGNAL(timeout()), this, SLOT(timeoutslot2()));
-    timer->start(20);
-
-    sensor_gps = new GPSSensor();
-    sensor_gps->start();
-
-}
-
-GPS_Collect::~GPS_Collect()
-{
-
-}
-//刷新
-void GPS_Collect::paintEvent(QPaintEvent *)
-{
-
-}
-
-void GPS_Collect::savestabuyEditinfo(const QString &txt)
-{
-    jianju = txt.toDouble();
-    if (jianju > 0.01)
-    {
-        sensor_gps->jianju_change(jianju);
-    }
-}
-
-void GPS_Collect::mycombox(const QString &txt)
-{
-    if (txt == QStringLiteral("  禁用"))
-    {
-        is_forbidden = true;
-    }
-    else
-    {
-        is_forbidden = false;
-    }
-    sensor_gps->collect_modechange(is_forbidden);
-}
-
-void GPS_Collect::timeoutslot1()
-{
-    //update();
-}
-
-void GPS_Collect::timeoutslot2()
-{
-    lineEdit_2->setText(QString::number(ServiceCarStatus.location->gps_lng));
-    lineEdit_3->setText(QString::number(ServiceCarStatus.location->gps_lat));
-    lineEdit_4->setText(QString::number(sensor_gps->gps_index));
-    lineEdit_5->setText(QString::number(obs_modes));
-    lineEdit_6->setText(QString::number(speed_modes));
-    lineEdit_7->setText(QString::number(lane_num));
-    lineEdit_8->setText(QString::number(lane_status));
-}
-
-void GPS_Collect::ClickButton_start()
-{
-    starts = true;
-    sensor_gps->start_or_end(starts);
-}
-void GPS_Collect::ClickButton_end()
-{
-    starts = false;
-    sensor_gps->start_or_end(starts);
-}
-
-
-
-
-/////////////////////////////////////////////////////
-void GPS_Collect::ClickButton_nomall_0()
-{
-    obs_modes = 0;
-    sensor_gps->obs_modechange(obs_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_1()
-{
-    obs_modes = 1;
-    sensor_gps->obs_modechange(obs_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_2()
-{
-    obs_modes = 2;
-    sensor_gps->obs_modechange(obs_modes);
-}
-
-
-
-
-////////////////////////////////////////////////////////
-void GPS_Collect::ClickButton_nomall_3()
-{
-    speed_modes = 0;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_4()
-{
-    speed_modes = 1;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_5()
-{
-    speed_modes = 2;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_6()
-{
-    speed_modes = 3;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_7()
-{
-    speed_modes = 4;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-
-
-/////////////////////////////////////////////////////////
-void GPS_Collect::ClickButton_nomall_8()
-{
-    lane_num = 1;
-    sensor_gps->lane_num_modechange(lane_num);
-}
-
-void GPS_Collect::ClickButton_nomall_9()
-{
-    lane_num = 2;
-    sensor_gps->lane_num_modechange(lane_num);
-}
-
-void GPS_Collect::ClickButton_nomall_10()
-{
-    lane_num = 3;
-    sensor_gps->lane_num_modechange(lane_num);
-}
-
-void GPS_Collect::ClickButton_nomall_11()
-{
-    lane_num = 4;
-    sensor_gps->lane_num_modechange(lane_num);
-}
-
-void GPS_Collect::ClickButton_nomall_12()
-{
-    lane_num = 5;
-    sensor_gps->lane_num_modechange(lane_num);
-}
-
-
-
-//////////////////////////////////////////////////////////
-void GPS_Collect::ClickButton_nomall_13()
-{
-    lane_status = 0;
-    sensor_gps->lane_status_modechange(lane_status);
-}
-
-void GPS_Collect::ClickButton_nomall_14()
-{
-    lane_status = 1;
-    sensor_gps->lane_status_modechange(lane_status);
-}
-
-void GPS_Collect::ClickButton_nomall_15()
-{
-    lane_status = 2;
-    sensor_gps->lane_status_modechange(lane_status);
-}
-
-void GPS_Collect::ClickButton_nomall_16()
-{
-    lane_status = 3;
-    sensor_gps->lane_status_modechange(lane_status);
-}
-
-void GPS_Collect::ClickButton_nomall_17()
-{
-    lane_status = 4;
-    sensor_gps->lane_status_modechange(lane_status);
-}
-
-
-
-/////////////////////////////////////////////////////////
-void GPS_Collect::ClickButton_nomall_18()
-{
-    speed_modes = 5;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_19()
-{
-    speed_modes = 6;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_20()
-{
-    speed_modes = 7;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_21()
-{
-    speed_modes = 8;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_22()
-{
-    speed_modes = 9;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_23()
-{
-    speed_modes = 10;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_24()
-{
-    speed_modes = 11;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_25()
-{
-    speed_modes = 12;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_26()
-{
-    speed_modes = 13;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_27()
-{
-    speed_modes = 14;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_28()
-{
-    speed_modes = 15;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_29()
-{
-    speed_modes = 16;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_30()
-{
-    speed_modes = 17;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_31()
-{
-    speed_modes = 18;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_32()
-{
-    speed_modes = 19;
-    sensor_gps->speed_modechange(speed_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_33()
-{
-    obs_modes = 3;
-    sensor_gps->obs_modechange(obs_modes);
-}
-
-void GPS_Collect::ClickButton_nomall_34()
-{
-    obs_modes = 4;
-    sensor_gps->obs_modechange(obs_modes);
-}
-
-
-void GPS_Collect::closeEvent(QCloseEvent *event)
-{
-    if(should_close == false)
-    {
-        QMessageBox::StandardButton button;
-        button=QMessageBox::question(this,tr("退出程序"),QString(tr("确认退出程序")),QMessageBox::Yes|QMessageBox::No);
-        if(button==QMessageBox::No)
-        {
-            event->ignore(); // 忽略退出信号，程序继续进行
-        }
-        else if(button==QMessageBox::Yes)
-        {
-            sensor_gps->wait_exit();
-            event->accept(); // 接受退出信号，程序退出
-            gps_collector_close();
-        }
-    }
-    else
-    {
-        event->accept(); // 接受退出信号，程序退出
-    }
-}
-
-void GPSSensor::convertStrToUnChar(char* str, unsigned char* UnChar)
-{
-    int i = strlen(str), j = 0, counter = 0;
-    char c[2];
-    unsigned int bytes[2];
-
-    for (j = 0; j < i; j += 2)
-    {
-        if(0 == j % 2)
-        {
-            c[0] = str[j];
-            c[1] = str[j + 1];
-            sscanf(c, "%02x" , &bytes[0]);
-            UnChar[counter] = bytes[0];
-            counter++;
-        }
-    }
-}

src/ui/ui_ads_hmi/gps_collect.h

@@ -1,216 +0,0 @@
-#ifndef GPS_COLLECT_H
-#define GPS_COLLECT_H
-
-#include <QWidget>
-#include <QCloseEvent>
-#include <QtWidgets/qpushbutton.h>
-#include <qtimer.h>
-#include <qpainter.h>
-#include <QGraphicsView>
-#include <QWheelEvent>
-#include <QKeyEvent>
-#include <QPoint>
-#include <QPointF>
-#include <qfiledialog.h>
-#include <qmessagebox.h>
-#include <qabstractscrollarea.h>
-#include <QGraphicsItem>
-#include <QKeyEvent>
-#include <qpainter.h>
-#include <QDebug>
-#include <QtCore/QVariant>
-#include <QtWidgets/QAction>
-#include <QtWidgets/QApplication>
-#include <QtWidgets/QButtonGroup>
-#include <QtWidgets/QComboBox>
-#include <QtWidgets/QFrame>
-#include <QtWidgets/QHeaderView>
-#include <QtWidgets/QLabel>
-#include <QtWidgets/QLineEdit>
-#include <QtWidgets/QMainWindow>
-#include <QtWidgets/QMenuBar>
-#include <QtWidgets/QStatusBar>
-#include <QtWidgets/QWidget>
-#include <boost/serialization/singleton.hpp>
-#include <boost/signals2/slot.hpp>
-#include <boost/thread/mutex.hpp>
-#include <boost/shared_ptr.hpp>
-#include <boost/signals2.hpp>
-#include <boost/thread.hpp>
-#include <iostream>
-#include <fstream>
-#include <sstream>
-#include <stdio.h>
-#include <math.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <time.h>
-#include <stdlib.h>
-#include <string.h>
-#include <sys/types.h>
-#include <QtNetwork/QUdpSocket>
-
-class GPSSensor
-{
-public:
-    GPSSensor();
-    ~GPSSensor();
-
-    void start();
-    void stop();
-    void obs_modechange(int rec);
-    void speed_modechange(int rec);
-    void lane_num_modechange(int rec);
-    void lane_status_modechange(int rec);
-    void start_or_end(bool rec);
-    void collect_modechange(bool rec);
-    void jianju_change(double rec);
-    bool isRunning() const;
-    void processSensor();
-    void wait_exit();
-    void convertStrToUnChar(char* str, unsigned char* UnChar);//summer
-
-    boost::mutex _mtx, _mtx2, _mtx3, _mtx4;
-    boost::thread* thread_sensor_run_;			//传感器运行的线程
-    bool should_exit = false;
-    int ready_exit = 0;
-    bool writegps = false;
-    bool is_forbidden = true;
-    int obs_modes = 0, speed_modes = 0, lane_num = 1, lane_status = 0;
-    int gps_index, testcount;
-    double jianju = 0.1;
-};
-
-class GPS_Collect : public QWidget
-{
-    Q_OBJECT
-
-public:
-    explicit GPS_Collect(QWidget *parent = 0);
-    ~GPS_Collect();
-    bool should_close = false;
-    boost::signals2::signal<void()> gps_collector_close;
-
-public slots:
-    void savestabuyEditinfo(const QString &txt);
-    void mycombox(const QString &txt);
-    void timeoutslot1();
-    void timeoutslot2();
-    void ClickButton_start();
-    void ClickButton_end();
-    void ClickButton_nomall_0();
-    void ClickButton_nomall_1();
-    void ClickButton_nomall_2();
-    void ClickButton_nomall_3();
-    void ClickButton_nomall_4();
-    void ClickButton_nomall_5();
-    void ClickButton_nomall_6();
-    void ClickButton_nomall_7();
-    void ClickButton_nomall_8();
-    void ClickButton_nomall_9();
-    void ClickButton_nomall_10();
-    void ClickButton_nomall_11();
-    void ClickButton_nomall_12();
-    void ClickButton_nomall_13();
-    void ClickButton_nomall_14();
-    void ClickButton_nomall_15();
-    void ClickButton_nomall_16();
-    void ClickButton_nomall_17();
-    void ClickButton_nomall_18();
-    void ClickButton_nomall_19();
-    void ClickButton_nomall_20();
-    void ClickButton_nomall_21();
-    void ClickButton_nomall_22();
-    void ClickButton_nomall_23();
-    void ClickButton_nomall_24();
-    void ClickButton_nomall_25();
-    void ClickButton_nomall_26();
-    void ClickButton_nomall_27();
-    void ClickButton_nomall_28();
-    void ClickButton_nomall_29();
-    void ClickButton_nomall_30();
-    void ClickButton_nomall_31();
-    void ClickButton_nomall_32();
-    void ClickButton_nomall_33();
-    void ClickButton_nomall_34();
-
-protected:
-    void paintEvent(QPaintEvent *);
-    void closeEvent(QCloseEvent *event);
-private:
-    QWidget *centralWidget;
-    QFrame *frame;
-    QLabel *label;
-    QComboBox *comboBox;
-    QLabel *label_2;
-    QLineEdit *lineEdit;
-    QLabel *label_3;
-    QLabel *label_4;
-    QLabel *label_5;
-    QLabel *label_6;
-    QLabel *label_7;
-    QLabel *label_8;
-    QLabel *label_9;
-    QLineEdit *lineEdit_2;
-    QLineEdit *lineEdit_3;
-    QLineEdit *lineEdit_4;
-    QLineEdit *lineEdit_5;
-    QLineEdit *lineEdit_6;
-    QLineEdit *lineEdit_7;
-    QLineEdit *lineEdit_8;
-    QMenuBar *menuBar;
-    QStatusBar *statusBar;
-    GPSSensor* sensor_gps;
-    QGraphicsView *view;
-    QImage *image;
-    QPainter *painter;
-    QTimer *timer;
-    QGraphicsScene *scene;
-    QPushButton *pushButtonstart;
-    QPushButton *pushButtonend;
-    QPushButton *pushButton0;
-    QPushButton *pushButton1;
-    QPushButton *pushButton2;
-    QPushButton *pushButton3;
-    QPushButton *pushButton4;
-    QPushButton *pushButton5;
-    QPushButton *pushButton6;
-    QPushButton *pushButton7;
-    QPushButton *pushButton8;
-    QPushButton *pushButton9;
-    QPushButton *pushButton10;
-    QPushButton *pushButton11;
-    QPushButton *pushButton12;
-    QPushButton *pushButton13;
-    QPushButton *pushButton14;
-    QPushButton *pushButton15;
-    QPushButton *pushButton16;
-    QPushButton *pushButton17;
-    QPushButton *pushButton18;
-    QPushButton *pushButton19;
-    QPushButton *pushButton20;
-    QPushButton *pushButton21;
-    QPushButton *pushButton22;
-    QPushButton *pushButton23;
-    QPushButton *pushButton24;
-    QPushButton *pushButton25;
-    QPushButton *pushButton26;
-    QPushButton *pushButton27;
-    QPushButton *pushButton28;
-    QPushButton *pushButton29;
-    QPushButton *pushButton30;
-    QPushButton *pushButton31;
-    QPushButton *pushButton32;
-    QPushButton *pushButton33;
-    QPushButton *pushButton34;
-    QString qstr;
-    std::string sk;
-    std::stringstream ss;
-    int obs_modes = 0, speed_modes = 0, lane_num = 1, lane_status = 0;
-    int ready_exit = 0;
-    double jianju = 0.0;
-    bool starts = false;
-    bool is_forbidden = false;
-};
-
-#endif // GPS_COLLECT_H

src/ui/ui_ads_hmi/main.cpp

@@ -57,5 +57,6 @@ int main(int argc, char *argv[])
     w.setWindowTitle("ADS-UI-Ver2.0 ");
 //    w.showMinimized();  //apollo_fu 20200413
     w.showMaximized();
+
     return a.exec();
 }

src/ui/ui_ads_hmi/ui_ads_hmi.pro

@@ -38,7 +38,6 @@ include(common/common.pri)
 SOURCES += \
         main.cpp \
         ADCIntelligentVehicle.cpp \
-    gps_collect.cpp \
     look.cpp \
     mobileye_info.cpp \
     perceptionoutput.cpp \
@@ -55,7 +54,6 @@ SOURCES += \
 
 HEADERS += \
         ADCIntelligentVehicle.h \
-    gps_collect.h \
     look.h \
     mobileye_info.h \
     ultrasonic_type.h \