上传文件至 'src/v2x/v2xhik'

src/v2x/v2xhik/main.cpp

@@ -0,0 +1,27 @@
+#include <QApplication>
+#include "ivexit.h"
+#include <thread>
+#include "mainwindow.h"
+
+#include "ivlog.h"
+std::string gstrcarvin;
+std::string gstrobuvin;
+QApplication * gApp;
+iv::Ivlog * gIvlog;
+void ExitFunc()
+{
+    gApp->quit();
+    std::this_thread::sleep_for(std::chrono::milliseconds(900));
+}
+int main(int argc, char *argv[])
+{
+    QApplication a(argc, argv);
+    gApp=&a;
+    gIvlog = new iv::Ivlog("ui_v2x");
+    gIvlog->info("ui_v2x start");
+    MainWindow w;
+
+    w.show();
+    iv::ivexit::RegIVExitCall(ExitFunc);
+    return a.exec();
+}

src/v2x/v2xhik/mainwindow.cpp

@@ -0,0 +1,1432 @@
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+#include <QtMath>
+
+extern std::string gstrcarvin;
+extern std::string gstrobuvin;
+extern iv::Ivlog * gIvlog;
+
+int camera_trafficlight_type=200;
+int camera_trafficlight_time=200;
+
+
+
+MainWindow::MainWindow(QWidget *parent) :
+    QMainWindow(parent),
+    ui(new Ui::MainWindow)
+{
+    ui->setupUi(this);
+    m_pc5=new PC5();
+    m_tbox=new V2X();
+    timer = new QTimer(this);
+    connect(timer,SIGNAL(timeout()),SLOT(heartBeat()));
+    //timer->start(1000);
+    timer->start(500);
+
+    sendProto_flag=false;
+
+    initUI();
+    initMemory();
+    initproto();
+    initLight1();
+    initLight2();
+    initLight3();
+    initLight4();
+    initFace();
+}
+
+void MainWindow::initMemory()
+{
+    m_structMGpsImu.gps_lat=39.149170;
+    m_structMGpsImu.gps_lng=117.094250;
+    m_structMGpsImu.speed=0.0;
+    m_structMGpsImu.yaw=0.0;
+    m_structMGpsImu.accx=0.0;
+    m_structMGpsImu.accy=0.0;
+
+    seneor_m.lidar_left=0;
+    seneor_m.lidar_mid=0;
+    seneor_m.lidar_right=0;
+    seneor_m.radar=0;
+    seneor_m.gps_flag=0;
+    seneor_m.camera_front=0;
+    seneor_m.camera_back=0;
+    seneor_m.camera_left=0;
+    seneor_m.camera_right=0;
+    m_tbox->setSensorMemmory(seneor_m);
+    setTboxMemoryRaw();
+    m_pc5->setGpsImuMemory(m_structMGpsImu);
+
+}
+
+void MainWindow::initproto()
+{
+    mpmem_radio_send_addr = iv::modulecomm::RegisterSend("v2r_send",1000,3);
+
+    ModuleFun fungpsimu =std::bind(&MainWindow::UpdateGps,this,std::placeholders::_1, \
+                                   std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
+    mpMemGPS = iv::modulecomm::RegisterRecvPlus(gstrmemgps.data(),fungpsimu);
+
+//     mpMemGPS = iv::modulecomm::RegisterRecv("hcp_gpsimu",iv::V2X::UpdateGps);
+
+    ModuleFun funcamera =std::bind(&MainWindow::UpdateCAM,this,std::placeholders::_1, \
+                                   std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
+    mpMemcamera=iv::modulecomm::RegisterRecvPlus(gstrmecamera.data(),funcamera);
+
+    ModuleFun funlidar =std::bind(&MainWindow::UpdateLIDAR,this,std::placeholders::_1, \
+                                   std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
+    mpMemlidar=iv::modulecomm::RegisterRecvPlus(gstrmelidar.data(),funlidar);
+
+    ModuleFun funradar =std::bind(&MainWindow::UpdateRADAR,this,std::placeholders::_1, \
+                                   std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
+    mpMemradar=iv::modulecomm::RegisterRecvPlus(gstrmeradar.data(),funradar);
+
+    ModuleFun lightState =std::bind(&MainWindow::Updatelight,this,std::placeholders::_1, \
+                                   std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
+    vision_lightMem = iv::modulecomm::RegisterRecvPlus(gstrmemlight.data(),lightState);
+
+}
+
+void MainWindow::initUI()
+{
+    redimg.load(":/light/light/light-red.png");
+    redimg = redimg.scaled(66,66,Qt::IgnoreAspectRatio);
+
+    greenimg.load(":/light/light/light-green.png");
+    greenimg = greenimg.scaled(66,66,Qt::IgnoreAspectRatio);
+
+    yellowimg.load(":/light/light/light-yellow.png");
+    yellowimg = yellowimg.scaled(66,66,Qt::IgnoreAspectRatio);
+
+    blackimg.load(":/light/light/light-black.png");
+    blackimg = blackimg.scaled(66,66,Qt::IgnoreAspectRatio);
+
+    nofaceimg.load(":/light/light/noface.png");
+    nofaceimg = nofaceimg.scaled(60,50,Qt::IgnoreAspectRatio);
+
+    facetoimg.load(":/light/light/faceto.png");
+    facetoimg = facetoimg.scaled(60,50,Qt::IgnoreAspectRatio);
+
+    QString strpath = QCoreApplication::applicationDirPath();
+
+    //strpath = strpath + "/v2xTcpClientWL.xml";
+    strpath = "./v2xTcpClient.xml";
+
+    iv::xmlparam::Xmlparam xp(strpath.toStdString());
+
+    std::string rsutype = xp.GetParam("OBU_Type","serial");
+        if(rsutype=="eth")
+        {
+            m_pc5->eth_enable=true;
+            std::string localIP = xp.GetParam("obuip","127.0.0.1");
+            QString localsetIP =QString::fromStdString(localIP);
+
+            std::string localPort = xp.GetParam("obuport","7777");
+            int localsetport=std::stoi(localPort);
+
+            m_pc5->setobu(localsetIP,localsetport);
+
+            RSUTYPE=true;
+        }
+        else
+        {
+            m_pc5->eth_enable=false;
+            std::string localIP = xp.GetParam("port_name","/dev/ttyUSB0");
+            QString localsetIP =QString::fromStdString(localIP);
+
+            std::string localPort = xp.GetParam("baud","9600");
+            int localsetport=std::stoi(localPort);
+
+            m_pc5->setSerial(localsetIP,localsetport);
+            RSUTYPE=false;
+        }
+
+
+    std::string strCarVIN = xp.GetParam("carVIN","catarc001");
+    ui->lineEdit->setText(QString::fromStdString(strCarVIN));
+
+    std::string strObuVIN = xp.GetParam("obuNUM","1");
+    ui->lineEdit_obu_vin->setText(QString::fromStdString(strObuVIN));
+    int obunum=std::stoi(strObuVIN);
+
+    std::string hostIP = xp.GetParam("hostIP","127.0.0.1");
+    QString IP =QString::fromStdString(hostIP);
+    ui->lineEdit_severip->setText(IP);
+    std::string hostPort = xp.GetParam("hostPort","8000");
+    int port=std::stoi(hostPort);
+
+
+
+    gstrmemgps = xp.GetParam("gps","gpsimu");
+    gstrmecamera = xp.GetParam("camera","rawpic");
+    gstrmelidar = xp.GetParam("lidar","lidarstate");
+    gstrmeradar = xp.GetParam("radar","radarobject");
+    gstrmemlight = xp.GetParam("vision_light","lightarray");
+
+    std::string Stophead1 = xp.GetParam("light1Stophead","0");
+    light1Stophead=std::stod(Stophead1);
+    std::string StopLat1 = xp.GetParam("light1StopLat","0");
+    light1StopLat=std::stod(StopLat1);
+    std::string StopLon1 = xp.GetParam("light1StopLon","0");
+    light1StopLon=std::stod(StopLon1);
+
+    ui->ea_long->setText(QString::fromStdString(StopLon1));
+    ui->ea_lat->setText(QString::fromStdString(StopLat1));
+    ui->ea_head->setText(QString::fromStdString(Stophead1));
+
+    std::string Stophead2 = xp.GetParam("light2Stophead","0");
+    light2Stophead=std::stod(Stophead2);
+    std::string StopLat2 = xp.GetParam("light2StopLat","0");
+    light2StopLat=std::stod(StopLat2);
+    std::string StopLon2 = xp.GetParam("light2StopLon","0");
+    light2StopLon=std::stod(StopLon2);
+
+    ui->ns_long->setText(QString::fromStdString(StopLon2));
+    ui->ns_lat->setText(QString::fromStdString(StopLat2));
+    ui->ns_head->setText(QString::fromStdString(Stophead2));
+
+    std::string visionsend = xp.GetParam("OpenVisionSend","0");
+    visionsendstate=std::stoi(visionsend);
+    visionflag=visionsendstate;
+    m_pc5->setVin(strCarVIN);
+    m_pc5->setobuNewVin(obunum);
+
+    m_tbox->setTboxNewVin(strCarVIN);
+    m_tbox->setIPandPort(IP,port);
+}
+
+void MainWindow::initLight1()
+{
+    ui->label_39->setPixmap(QPixmap::fromImage(blackimg));
+    ui->lcdgreen_2->display(0);
+//    ui->label_7->setPixmap(QPixmap::fromImage(nofaceimg));
+//    ui->label_18->setText('');
+//    ui->vertical_lighthead->setText("");
+}
+
+void MainWindow::initLight2()
+{
+    ui->label_40->setPixmap(QPixmap::fromImage(blackimg));
+    ui->lcdgreen_3->display(0);
+//    ui->label_14->setPixmap(QPixmap::fromImage(nofaceimg));
+//    ui->label_17->setText('');
+//    ui->vertical_lighthead_2->setText("");
+}
+
+void MainWindow::initLight3()
+{
+    ui->label_41->setPixmap(QPixmap::fromImage(blackimg));
+    ui->lcdgreen_4->display(0);
+//    ui->label_15->setPixmap(QPixmap::fromImage(nofaceimg));
+//    ui->label_18->setText('');
+//    ui->vertical_lighthead_3->setText("");
+}
+
+void MainWindow::initLight4()
+{
+    ui->label_42->setPixmap(QPixmap::fromImage(blackimg));
+    ui->lcdgreen_5->display(0);
+//    ui->label_16->setPixmap(QPixmap::fromImage(nofaceimg));
+//    ui->label_20->setText('');
+//    ui->vertical_lighthead_4->setText("");
+}
+
+void MainWindow::initFace()
+{
+    ui->label_7->setPixmap(QPixmap::fromImage(nofaceimg));
+    ui->label_18->setText("");
+    ui->label_14->setPixmap(QPixmap::fromImage(nofaceimg));
+    ui->label_17->setText("");
+    ui->label_15->setPixmap(QPixmap::fromImage(nofaceimg));
+    ui->label_19->setText("");
+    ui->label_16->setPixmap(QPixmap::fromImage(nofaceimg));
+    ui->label_20->setText("");
+}
+
+void MainWindow::heartBeat()
+{
+    protobuf.Clear();
+//-----------------------------------------send runflag---------------------------------------------------------
+
+    if (mv2xRunmodEn)
+    {
+        bool runmod=m_tbox->upRunMod();
+        //qDebug()<<runmod;
+        outmbpause(runmod);
+        sendProto_flag=true;
+        mpc5RunmodEn=false;
+        ui->button_pc5runmod_en->setStyleSheet("background-color: gray");
+    }
+    else{
+        outmbpause(false);
+        sendProto_flag=true;
+    }
+    if (mpc5RunmodEn)
+    {
+        bool runmod=m_pc5->upRunMod();
+        //qDebug()<<runmod;
+        outmbpause(runmod);
+        sendProto_flag=true;
+        mv2xRunmodEn=false;
+        ui->button_v2xrunmod_en->setStyleSheet("background-color: gray");
+    }
+    else{
+        outmbpause(false);
+        sendProto_flag=true;
+    }
+    if (visionflag)
+    {
+        onelightMessage onelight;
+        onelight.lightType= camera_trafficlight_type;
+        if(onelight.lightType==2)
+        {
+            onelight.timeRemaining=5;
+        }
+        else if(onelight.lightType==3)
+        {
+            onelight.timeRemaining=3;
+        }
+        else if(onelight.lightType==1)
+        {
+            onelight.timeRemaining = 5;
+        }
+        //std::cout<<"######################: "<<camera_trafficlight_type<<" "<<onelight.timeRemaining<<std::endl;
+        //onelight.timeRemaining= camera_trafficlight_time;
+        outLight(onelight);
+        sendProto_flag=true;
+    }
+//-----------------------------------------获取连接状态--------------------------------------std::fmod-------------------
+    if(mobuEn)
+    {
+        bool radio_flag=m_pc5->isLinked();//路测连接状态
+        if (radio_flag)
+        {
+            ui->button_obu_en->setStyleSheet("background-color: green");
+        }
+        else
+        {
+            ui->button_obu_en->setStyleSheet("background-color: red");
+        }
+        if (mshowdebugEn)
+        {
+            QByteArray pc5_read=m_pc5->show_readdata();
+            QByteArray pc5_error=m_pc5->show_error();
+            ui->textBrowser_3->append(QTime::currentTime().toString("hh:mm:ss.zzz")+"接收:"+pc5_read);
+            ui->textBrowser_4->append(QTime::currentTime().toString("hh:mm:ss.zzz")+":"+pc5_error);
+        }
+    }
+
+    if (mplatformEn)
+    {
+        bool v2x_flag=m_tbox->isLinked();//云平台连接状态
+        if (v2x_flag)
+        {
+            ui->button_platform_en->setStyleSheet("background-color: green");
+        }
+        else
+        {
+            ui->button_platform_en->setStyleSheet("background-color: red");
+        }
+        if (mshowdebugEn)
+        {
+            QByteArray v2x_read=m_tbox->show_readdata();
+            QByteArray v2x_error=m_tbox->show_error();
+            ui->textBrowser->append(QTime::currentTime().toString("hh:mm:ss.zzz")+"接收:"+v2x_read);
+            ui->textBrowser_2->append(QTime::currentTime().toString("hh:mm:ss.zzz")+":"+v2x_error);
+        }
+    }
+//-----------------------------------------延时清空传感器状态---------------------------------------------------------
+    if(mGPSs>0)
+    {
+        mGPSs--;
+        if (mGPSs<=0)
+        {
+            seneor_m.gps_flag=0x00;
+            m_tbox->setSensorMemmory(seneor_m);
+        }
+    }
+
+    if(mCAMs>0)
+    {
+        mCAMs--;
+        if(mCAMs<=0)
+        {
+            seneor_m.camera_back=0x00;
+            seneor_m.camera_front=0x00;
+            seneor_m.camera_left=0x00;
+            seneor_m.camera_right=0x00;
+            m_tbox->setSensorMemmory(seneor_m);
+        }
+    }
+
+    if(mLIDARs>0)
+    {
+        mLIDARs--;
+        if(mLIDARs<=0)
+        {
+            seneor_m.lidar_left=0x00;
+            seneor_m.lidar_mid=0x00;
+            seneor_m.lidar_right=0x00;
+            m_tbox->setSensorMemmory(seneor_m);
+        }
+    }
+
+    if(mRADARs>0)
+    {
+        mRADARs--;
+        if (mRADARs<=0)
+        {
+            seneor_m.radar=0x00;
+            m_tbox->setSensorMemmory(seneor_m);
+        }
+    }
+
+//---------------------------------------路况信息显示-----------------------------------------------------------
+    if (mbTrafficInfoEn)
+    {
+        TrafficMessage=m_pc5->ui_RealtimeTraffic();
+        if (TrafficMessage.isEnable)
+        {
+            QString event;
+            ui->button_trafficInfoLight_st->setStyleSheet("background-color: green");
+            switch(TrafficMessage.trafficInfo){
+            case 0:
+                event="无";
+                ui->lineEd_trafficInfo->setText("正常行驶");
+                break;
+            case 3 :
+                event="道路结冰";
+                //ui->lineEd_trafficInfo->setText("减速至 " + QString::number(TrafficMessage.speedLimit) + "km/h");
+                ui->lineEd_trafficInfo->setText("减速慢行");
+                break;
+            case 4 :
+                event="限速";
+                ui->lineEd_trafficInfo->setText("减速至 " + QString::number(TrafficMessage.speedLimit) + "km/h");
+                break;
+            case 1 :
+                event="塌方";
+                ui->lineEd_trafficInfo->setText("停车");
+                break;
+            case 2 :
+                event="施工";
+                ui->lineEd_trafficInfo->setText("停车");
+                break;
+            default:
+                break;
+            }
+            ui->textBr_trafficInfo->append(QTime::currentTime().toString("hh:mm:ss.zzz") + \
+                                           "\n\t事件范围[ 经度:" + QString::number(TrafficMessage.lng,'g',10) +\
+                                           " 纬度:" + QString::number(TrafficMessage.lat,'g',10) + \
+                                           " ]\n\t辐射范围: " + QString::number(TrafficMessage.scope) + "米" + \
+                                           "\n\t事件类型: " + event);
+            outRealtimeTraffic(TrafficMessage);
+            sendProto_flag=true;
+        }
+        else
+        {
+            ui->button_trafficInfoLight_st->setStyleSheet("background-color: gray");
+            ui->textBr_trafficInfo->append("等待接收");
+        }
+    }
+
+//-----------------------------------------碰撞预警显示---------------------------------------------------------
+
+    if (mbFCWEn)
+    {
+        collisionWarning=m_pc5->ui_Warning();
+        if (collisionWarning.isEnable)
+        {
+            ui->button_FWCLight_st->setStyleSheet("background-color: green");
+            switch (collisionWarning.warningType)
+            {
+            case 1:
+                ui->textBr_FCW->append(QTime::currentTime().toString("hh:mm:ss.zzz") + \
+                                   "前方碰撞预警，减速至:" + QString::number(collisionWarning.speedLimit));
+                break;
+            case 2:
+                ui->textBr_FCW->append(QTime::currentTime().toString("hh:mm:ss.zzz") + \
+                                          "前方碰撞预警，停车");
+            default:
+                break;
+            }
+            outCollisionWarning(collisionWarning);
+            sendProto_flag=true;
+        }
+        else
+        {
+            ui->button_FWCLight_st->setStyleSheet("background-color: gray");
+            //ui->textBr_FCW->append("连接丢失");
+        }
+    }
+
+//--------------------------------------红绿灯显示------------------------------------------------------------
+
+    light=m_pc5->ui_Light();
+    if (light.isEnable)
+    {
+        visionflag=false;  //stop vision result upload of traffic light information
+//        qDebug()<<light.myface;
+        switch (int(light.myface))
+        {
+        case 1:
+            initFace();
+            ui->label_7->setPixmap(QPixmap::fromImage(facetoimg));
+            ui->label_18->setText("此时面向");
+            break;
+        case 2:
+            initFace();
+            ui->label_14->setPixmap(QPixmap::fromImage(facetoimg));
+            ui->label_17->setText("此时面向");
+            break;
+        case 3:
+            initFace();
+            ui->label_15->setPixmap(QPixmap::fromImage(facetoimg));
+            ui->label_19->setText("此时面向");
+            break;
+        case 4:
+            initFace();
+            ui->label_16->setPixmap(QPixmap::fromImage(facetoimg));
+            ui->label_20->setText("此时面向");
+            break;
+        default:
+            initFace();
+            break;
+        }
+
+        ui->vertical_lighthead->setText(QString("%1").arg(light.light1head));
+        switch (int(light.light1Type))
+        {
+        case 1:
+            initLight1();
+            ui->lcdgreen_2->display((int)light.light1timeRemaining);
+            ui->label_39->setPixmap(QPixmap::fromImage(greenimg));
+            break;
+        case 2:
+            initLight1();
+            ui->lcdgreen_2->display((int)light.light1timeRemaining);
+            ui->label_39->setPixmap(QPixmap::fromImage(redimg));
+            break;
+        case 3:
+            initLight1();
+            ui->lcdgreen_2->display((int)light.light1timeRemaining);
+            ui->label_39->setPixmap(QPixmap::fromImage(yellowimg));
+            break;
+        default:
+            initLight1();
+            break;
+        }
+
+        ui->vertical_lighthead_2->setText(QString("%1").arg(light.light2head));
+        switch (int(light.light2Type))
+        {
+        case 1:
+            initLight2();
+            ui->lcdgreen_3->display((int)light.light2timeRemaining);
+            ui->label_40->setPixmap(QPixmap::fromImage(greenimg));
+            break;
+        case 2:
+            initLight2();
+            ui->lcdgreen_3->display((int)light.light2timeRemaining);
+            ui->label_40->setPixmap(QPixmap::fromImage(redimg));
+            break;
+        case 3:
+            initLight2();
+            ui->lcdgreen_3->display((int)light.light2timeRemaining);
+            ui->label_40->setPixmap(QPixmap::fromImage(yellowimg));
+            break;
+        default:
+            initLight2();
+            break;
+        }
+        ui->vertical_lighthead_3->setText(QString("%1").arg(light.light3head));
+        switch (int(light.light3Type))
+        {
+        case 1:
+            initLight3();
+            ui->lcdgreen_4->display((int)light.light3timeRemaining);
+            ui->label_41->setPixmap(QPixmap::fromImage(greenimg));
+            break;
+        case 2:
+            initLight3();
+            ui->lcdgreen_4->display((int)light.light3timeRemaining);
+            ui->label_41->setPixmap(QPixmap::fromImage(redimg));
+            break;
+        case 3:
+            initLight3();
+            ui->lcdgreen_4->display((int)light.light3timeRemaining);
+            ui->label_41->setPixmap(QPixmap::fromImage(yellowimg));
+            break;
+        default:
+            initLight3();
+            break;
+        }
+        ui->vertical_lighthead_4->setText(QString("%1").arg(light.light4head));
+        switch (int(light.light4Type))
+        {
+        case 1:
+            initLight4();
+            ui->lcdgreen_5->display((int)light.light4timeRemaining);
+            ui->label_42->setPixmap(QPixmap::fromImage(greenimg));
+            break;
+        case 2:
+            initLight4();
+            ui->lcdgreen_5->display((int)light.light4timeRemaining);
+            ui->label_42->setPixmap(QPixmap::fromImage(redimg));
+            break;
+        case 3:
+            initLight4();
+            ui->lcdgreen_5->display((int)light.light4timeRemaining);
+            ui->label_42->setPixmap(QPixmap::fromImage(yellowimg));
+            break;
+        default:
+            initLight4();
+            break;
+        }
+
+        onelightMessage onelight;
+//        float yaw=m_structMGpsImu.yaw+180;
+//        //qDebug()<<yaw<<light.light1head<<light.light1head;
+//        if (yaw>=360)
+//        {
+//            yaw=yaw-360;
+//        }
+//        if (yaw<=light.light1head+30 and yaw>=light.light1head-30)//判断与正向红绿灯的朝向
+//        {
+//            onelight.isEnable=true;
+//            onelight.lightType=light.light1Type;
+//            onelight.timeRemaining=light.light1timeRemaining;
+//            lightStopLat=light1StopLat;
+//            lightStopLon=light1StopLon;
+//        }
+//        else if (yaw<=light.light2head+30 and yaw>=light.light2head-30)//判断与侧向红绿灯的朝向
+//        {
+//            onelight.isEnable=true;
+//            onelight.lightType=light.light2Type;
+//            onelight.timeRemaining=light.light2timeRemaining;
+//            lightStopLat=light2StopLat;
+//            lightStopLon=light2StopLon;
+//        }
+//        else//不面向红绿灯无效
+//        {
+//            onelight.lightType=0xff;
+//            onelight.timeRemaining=0xff;
+//        }
+        if(!RSUTYPE)
+        {
+        float yaw=m_structMGpsImu.yaw+180;
+        //qDebug()<<yaw<<light.light1head<<light.light1head;
+        if (yaw>=360)
+        {
+            yaw=yaw-360;
+        }
+        double angleDifference1 = std::fmod(yaw-light.light1head+360,360);
+        double angleDifference2 = std::fmod(yaw-light.light2head+360,360);
+        if (angleDifference1<=30.0 || angleDifference1>=360.0-30.0)
+        {
+                onelight.isEnable=true;
+                onelight.lightType=light.light1Type;
+                onelight.timeRemaining=light.light1timeRemaining;
+                lightStopLat=light1StopLat;
+                lightStopLon=light1StopLon;
+                light.myface=0x01;
+
+        }
+        else if (angleDifference2<=30.0 || angleDifference2>=360.0-30.0)
+        {
+                onelight.isEnable=true;
+                onelight.lightType=light.light2Type;
+                onelight.timeRemaining=light.light2timeRemaining;
+                lightStopLat=light2StopLat;
+                lightStopLon=light2StopLon;
+                light.myface=0x02;
+        }
+        else
+        {
+                onelight.lightType=0xff;
+                onelight.timeRemaining=0xff;
+        }
+        }
+
+
+        if (RSUTYPE)
+        {
+
+        switch (int(light.myface))
+        {
+        case 1:
+            onelight.isEnable=true;
+            onelight.lightType=light.light1Type;
+            onelight.timeRemaining=light.light1timeRemaining;
+            lightStopLat=light1StopLat;
+            lightStopLon=light1StopLon;
+            break;
+        case 2:
+            onelight.isEnable=true;
+            onelight.lightType=light.light2Type;
+            onelight.timeRemaining=light.light2timeRemaining;
+            lightStopLat=light2StopLat;
+            lightStopLon=light2StopLon;
+            break;
+        case 3:
+            onelight.isEnable=true;
+            onelight.lightType=light.light1Type;
+            onelight.timeRemaining=light.light1timeRemaining;
+            lightStopLat=light1StopLat;
+            lightStopLon=light1StopLon;
+            break;
+        case 4:
+            onelight.isEnable=true;
+            onelight.lightType=light.light2Type;
+            onelight.timeRemaining=light.light2timeRemaining;
+            lightStopLat=light2StopLat;
+            lightStopLon=light2StopLon;
+            break;
+        default:
+            onelight.lightType=0xff;
+            onelight.timeRemaining=0xff;
+            break;
+        }
+        }
+        outLight(onelight);
+        sendProto_flag=true;
+    }
+else
+    {
+        initLight1();
+        initLight2();
+        initLight3();
+        initLight4();
+        initFace();
+        ui->vertical_lighthead->setText("");
+        ui->vertical_lighthead_2->setText("");
+        ui->vertical_lighthead_3->setText("");
+        ui->vertical_lighthead_4->setText("");
+        if (visionsendstate)
+        {
+            visionflag=true;//start vision result upload of traffic light information
+        }
+    }
+
+//-----------------------------------------显示虚拟车发送---------------------------------------------------------
+
+    congestionIdenti=m_pc5->ui_identification();
+    if (congestionIdenti.isEnable)
+    {
+        ui->lineEdit_jamsMode->setText("虚拟车信息已发送");
+        ui->button_jamsMode->setStyleSheet("background-color: green");
+        outCongestionIdenti(congestionIdenti);
+        sendProto_flag=true;
+    }
+    else
+    {
+        ui->lineEdit_jamsMode->setText("");
+        ui->button_jamsMode->setStyleSheet("background-color: gray");
+    }
+
+
+//------------------------------------------危险驾驶显示-------------------------------------------------------
+    if (mbdriCrimsEn)
+    {
+        bool warn_driver=m_pc5->show_warn_driver();
+        if (warn_driver)
+        {
+            ui->textBr_FCW_2->append(QTime::currentTime().toString("hh:mm:ss.zzz")+"进入危险驾驶模式");
+            ui->button_DriCrimsLight_st->setStyleSheet("background-color: red");
+        }
+        else
+        {
+            ui->button_DriCrimsLight_st->setStyleSheet("background-color: gray");
+            //ui->textBr_FCW->append("连接丢失");
+        }
+    }
+
+
+    if (sendProto_flag)
+    {
+        sendProto(protobuf);
+        sendProto_flag=false;
+    }
+
+}
+//------------------------------------------共享内存读取------------------------------------------------------------------
+void MainWindow::setTboxMemoryRaw()//云平台信息写入
+{
+    Memory tboxM;
+    tboxM.gps_lng=m_structMGpsImu.gps_lng;
+    tboxM.gps_lat=m_structMGpsImu.gps_lat;
+    tboxM.speed=m_structMGpsImu.speed;
+    tboxM.yaw=m_structMGpsImu.yaw;
+//    tboxM.ele_voltage=m_structChassisRaw.soc;
+//    tboxM.error=getError();
+    m_tbox->setTboxMemmory(tboxM);
+}
+
+void MainWindow::UpdateGps(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
+{
+    bool isSend=false;
+    double heading,ve,vn;
+    iv::gps::gpsimu  xgpsimu;
+    //qDebug()<<111;
+    if(!xgpsimu.ParseFromArray(strdata,nSize))
+    {
+//        mivlog->warn("ADCIntelligentVehicle::UpdateGPSIMU parse error. nSize is %d",nSize);
+        return;
+    }
+    if(xgpsimu.has_lat())
+    {
+        isSend=true;
+        m_structMGpsImu.gps_lat=xgpsimu.lat();
+        //qDebug()<<xgpsimu.lat();
+    }
+    if(xgpsimu.has_lon())
+    {
+        isSend=true;
+        m_structMGpsImu.gps_lng=xgpsimu.lon();
+        //qDebug()<<xgpsimu.lon();
+    }
+    if(xgpsimu.has_heading())
+    {
+        isSend=true;
+        heading = xgpsimu.heading();
+        if(heading<0)
+        {
+            heading = heading+360.0;
+        }
+        m_structMGpsImu.yaw=float(heading);
+    }
+    if((xgpsimu.has_ve())&&(xgpsimu.has_vn()))
+    {
+        isSend = true;
+        ve = xgpsimu.ve();    //东向速度,单位(米/秒)
+        vn = xgpsimu.vn();    //北向速度,单位(米/秒)
+        m_structMGpsImu.speed=float(sqrt(ve*ve+vn*vn))* 3.6;
+    }
+    if(xgpsimu.has_acce_x())
+    {
+        isSend=true;
+        m_structMGpsImu.accx=float(xgpsimu.acce_x());
+    }
+    if(xgpsimu.has_acce_y())
+    {
+        isSend=true;
+        m_structMGpsImu.accy = float(xgpsimu.acce_y());
+    }
+    if (xgpsimu.has_rtk_state())
+    {
+
+        if (xgpsimu.rtk_state()==6)
+        {
+            seneor_m.gps_flag=0x01;
+            mGPSs=3;
+            m_tbox->setSensorMemmory(seneor_m);
+        }
+    }
+    if(isSend)
+    {
+
+        setTboxMemoryRaw();
+
+        m_pc5->setGpsImuMemory(m_structMGpsImu);
+    }
+}
+
+void MainWindow::UpdateCAM(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
+{
+    iv::vision::rawpic  xrawpic;
+
+    if(!xrawpic.ParseFromArray(strdata,nSize))
+    {
+        return;
+    }
+    seneor_m.camera_back=0x01;
+    seneor_m.camera_front=0x01;
+    seneor_m.camera_left=0x01;
+    seneor_m.camera_right=0x01;
+    mCAMs=5;
+    m_tbox->setSensorMemmory(seneor_m);
+}
+
+void MainWindow::UpdateLIDAR(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
+{
+//    iv::fusion::fusionobject  xfusionobject;
+//    if(!xfusionobject.ParseFromArray(strdata,nSize))
+//    {
+
+//        return;
+//    }
+    unsigned int * pHeadSize = (unsigned int *)strdata;
+    if(*pHeadSize > nSize)
+    {
+        std::cout<<"ListenPointCloud data is small headsize ="<<*pHeadSize<<"  data size is"<<nSize<<std::endl;
+    }
+    seneor_m.lidar_left=0x01;
+    seneor_m.lidar_mid=0x01;
+    seneor_m.lidar_right=0x01;
+    mLIDARs=3;
+    m_tbox->setSensorMemmory(seneor_m);
+
+}
+
+void MainWindow::UpdateRADAR(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
+{
+    //qDebug()<<'recve radar';
+    iv::radar::radarobject xradarobject;
+    if(!xradarobject.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<"radar data is small headsize ="<<std::endl;
+    }
+    seneor_m.radar=0x01;
+    mRADARs=3;
+    m_tbox->setSensorMemmory(seneor_m);
+}
+
+//转发视觉红绿灯识别的数据
+void MainWindow::Updatelight(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
+{
+    iv::vision::Lightarray  lightmessage;
+    onelightMessage visionligth;
+    if(lightmessage.ParseFromArray(strdata,nSize))
+    {
+        if (lightmessage.light(0).has_type() and visionflag)
+        {
+            visionligth.lightType=lightmessage.light(0).type();
+            visionligth.timeRemaining=0xff;
+
+
+             camera_trafficlight_type=visionligth.lightType;
+
+            //qDebug()<<111;
+            lightStopLat=light1StopLat;
+            lightStopLon=light1StopLon;
+            sendProto_flag=true;
+            outLight(visionligth);
+        }
+    }
+}
+
+//--------------------------------------------共享内存写入--------------------------------------------------------------
+void MainWindow::outmbpause(bool runmod)
+{
+    protobuf.set_mbpause(runmod);
+}
+
+void MainWindow::outLight(onelightMessage light1)
+{
+    //iv::v2r::v2r_send protobuf;
+    protobuf.set_radiolighttype(light1.lightType);
+    if (visionflag)
+    {
+        if(light1.lightType==2)
+        {
+            light1.timeRemaining=5;
+        }
+        else if(light1.lightType==3)
+        {
+            light1.timeRemaining=3;
+        }
+        else if(light1.lightType==1)
+        {
+            light1.timeRemaining = 5;
+        }
+    }
+    protobuf.set_radiolightremain(light1.timeRemaining);
+//    if(visionflag)
+//    {
+//        float yaw=m_structMGpsImu.yaw+180;
+//        if (yaw>=360)
+//        {
+//            yaw=yaw-360;
+//        }
+//        if (yaw<=light1Stophead+30 and yaw>=light1Stophead-30)//判断与正向红绿灯的朝向
+//        {
+//            lightStopLat=light1StopLat;
+//            lightStopLon=light1StopLon;
+
+//        }
+//        else if (yaw<=light2Stophead+30 and yaw>=light2Stophead-30)//判断与侧向红绿灯的朝向
+//        {
+//            lightStopLat=light2StopLat;
+//            lightStopLon=light2StopLon;
+//        }
+//        else{
+//            lightStopLat=0xff;
+//            lightStopLon=0xff;
+//        }
+//        protobuf.set_trafficlightstoplat(lightStopLat);
+//        protobuf.set_trafficlightstoplon(lightStopLon);
+//        //sendProto(protobuf);
+
+//    }
+
+//    if (visionflag)
+//    {
+//        float yaw=m_structMGpsImu.yaw+180;
+//        if (yaw>=360)
+//        {
+//            yaw=yaw-360;
+//        }
+//        double angleDifference1 = std::fmod(yaw - light1Stophead + 360.0, 360.0);
+//        double angleDifference2 = std::fmod(yaw - light2Stophead + 360.0, 360.0);
+//        if (angleDifference1<=30.0 || angleDifference1>=360.0-30.0)
+//            {
+//                lightStopLat=light1StopLat;
+//                lightStopLon=light1StopLon;
+//            }
+//        else if (angleDifference2<=30.0 || angleDifference2>=360.0-30.0)
+//            {
+//                lightStopLat=light2StopLat;
+//                lightStopLon=light2StopLon;
+//            }
+//        else
+//            {
+//                lightStopLat=0xff;
+//                lightStopLon=0xff;
+//            }
+//    }
+    if(visionflag)
+    {
+        lightStopLat=light1StopLat;
+        lightStopLon=light1StopLon;
+    }
+    protobuf.set_trafficlightstoplat(lightStopLat);
+    protobuf.set_trafficlightstoplon(lightStopLon);
+    //sendProto(protobuf);
+    //qDebug()<<"outLight";
+}
+
+void MainWindow::outRealtimeTraffic(realtimeTrafficMessage realtimeTraffic)
+{
+
+    double lat=((double)realtimeTraffic.lat);//1000000.0;
+    double lon=((double)realtimeTraffic.lng);//1000000.0;
+    protobuf.set_radiobroadcastgpslat(lat);
+    protobuf.set_radiobroadcastgpslon(lon);
+    protobuf.set_radiobroadcastrange(realtimeTraffic.scope);
+    protobuf.set_radiobroadcasttraffictype(realtimeTraffic.trafficInfo);
+    protobuf.set_radiobroadcastspeedlimit(realtimeTraffic.speedLimit);
+    //sendProto(protobuf);
+    //qDebug()<<"outRealtimeTraffic"<<lat<<lon<<realtimeTraffic.scope<<realtimeTraffic.trafficInfo<<realtimeTraffic.speedLimit;
+}
+
+void MainWindow::outCollisionWarning(collisionEarlyWarningMessage collisionWarning)
+{
+    //iv::v2r::v2r_send protobuf;
+    protobuf.set_radiowarningtype(collisionWarning.warningType);
+    protobuf.set_radiowarningspeedlimit(collisionWarning.speedLimit);
+    //qDebug()<<"[Radio]:warning type is "<<collisionWarning.warningType<<".speed limit is:"<<collisionWarning.speedLimit<<endl;
+    //sendProto(protobuf);
+}
+
+void MainWindow::outCongestionIdenti(congestionIdentificationMessage congestionIdenti)
+{
+    //iv::v2r::v2r_send protobuf;
+    protobuf.set_radioidentistart(congestionIdenti.openCommand);
+    //qDebug()<<"[Radio]:congestion identi open command is "<<congestionIdenti.openCommand<<endl;
+    //sendProto(protobuf);
+}
+
+void MainWindow::sendProto(iv::v2r::v2r_send radio_protobuf_send)
+{
+    char * strser;
+    bool bser;
+    int nbytesize;
+    nbytesize = radio_protobuf_send.ByteSize();
+    strser = new char[nbytesize];
+    bser = radio_protobuf_send.SerializeToArray(strser,nbytesize);
+    if(bser)
+    {
+        //qDebug()<<"[Radio]:ready send protobuffer"<<endl;
+        iv::modulecomm::ModuleSendMsg(mpmem_radio_send_addr,strser,nbytesize);
+        //qDebug()<<"[Radio]:has sended protobuffer"<<endl;
+    } else
+    {
+        //qDebug()<<"proto fail"<<endl;
+        //mivlog->error("sendData","[%s:] radio serialize error.",__func__);
+//        gfault->SetFaultState(1, 0, "radio serialize err");
+    }
+    delete strser;
+}
+//--------------------------------------------按钮使能控制---------------------------------------------------------------
+//云平台使能控制
+void MainWindow::on_button_platform_en_clicked()
+{
+    if(mplatformEn)
+    {
+        ui->button_platform_en->setStyleSheet("background-color: gray");
+        mplatformEn = false;
+        m_tbox->setTboxConnectEnable(false);
+    }
+    else
+    {
+        ui->button_platform_en->setStyleSheet("background-color: green");
+        mplatformEn = true;
+        m_tbox->setTboxConnectEnable(true);
+    }
+}
+
+//路测设备使能控制
+void MainWindow::on_button_obu_en_clicked()
+{
+    if(mobuEn==1)
+    {
+        ui->button_obu_en->setStyleSheet("background-color: gray");
+        mobuEn = 0;
+        m_pc5->setConnectEnable(false);
+    }
+    else
+    {
+        ui->button_obu_en->setStyleSheet("background-color: green");
+        mobuEn = 1;
+        m_pc5->setConnectEnable(true);
+    }
+}
+
+//云平台控制启停使能控制
+void MainWindow::on_button_v2xrunmod_en_clicked()
+{
+    if (mpc5RunmodEn==0){
+        if(mv2xRunmodEn==1)
+        {
+            ui->button_v2xrunmod_en->setStyleSheet("background-color: gray");
+            mv2xRunmodEn = 0;
+        }
+        else
+        {
+            ui->button_v2xrunmod_en->setStyleSheet("background-color: green");
+            mv2xRunmodEn = 1;
+        }
+        if (!mplatformEn)
+        {
+            ui->button_v2xrunmod_en->setStyleSheet("background-color: red");
+            mv2xRunmodEn = 0;
+        }
+    }
+
+}
+
+void MainWindow::on_button_pc5runmod_en_clicked()
+{
+    if (mv2xRunmodEn==0){
+        if(mpc5RunmodEn==1)
+        {
+            ui->button_pc5runmod_en->setStyleSheet("background-color: gray");
+            mpc5RunmodEn = 0;
+        }
+        else
+        {
+            ui->button_pc5runmod_en->setStyleSheet("background-color: green");
+            mpc5RunmodEn = 1;
+        }
+        if (!mobuEn)
+        {
+            ui->button_pc5runmod_en->setStyleSheet("background-color: red");
+            mpc5RunmodEn = 0;
+        }
+    }
+
+}
+void MainWindow::on_button_car_vin_set_clicked()
+{
+    bool ok;
+    QString text = QInputDialog::getText(this, tr("输入车辆VIN："),
+                                         tr("VIN:"), QLineEdit::Normal,
+                                         Q_NULLPTR, &ok);
+    if (ok && !text.isEmpty())
+    {
+        gstrcarvin = text.toStdString();
+        ui->lineEdit->setText(text);
+        m_tbox->setTboxNewVin(gstrcarvin);
+        m_pc5->setVin(gstrcarvin);
+    }
+}
+
+void MainWindow::on_button_obu_vin_set_clicked()
+{
+    bool ok;
+    QString text = QInputDialog::getText(this, tr("输入路侧VIN："),
+                                         tr("VIN:"), QLineEdit::Normal,
+                                         Q_NULLPTR, &ok);
+    if (ok && !text.isEmpty())
+    {
+        int gstrobuvin = text.toInt();
+        ui->lineEdit_obu_vin->setText(text);
+        m_pc5->setobuNewVin(gstrobuvin);
+    }
+}
+
+void MainWindow::on_button_trafficInfo_en_clicked()
+{
+    if(mbTrafficInfoEn==1)
+    {
+        ui->button_trafficInfo_en->setStyleSheet("background-color: gray");
+        mbTrafficInfoEn = 0;
+    }
+    else
+    {
+        ui->button_trafficInfo_en->setStyleSheet("background-color: green");
+        mbTrafficInfoEn = 1;
+    }
+}
+
+void MainWindow::on_button_FCW_en_clicked()
+{
+    if(mbFCWEn==1)
+    {
+        ui->button_FCW_en->setStyleSheet("background-color: gray");
+        mbFCWEn = 0;
+    }
+    else
+    {
+        ui->button_FCW_en->setStyleSheet("background-color: green");
+        mbFCWEn = 1;
+    }
+}
+
+void MainWindow::on_button_DriCrims_en_clicked()
+{
+    if(mbdriCrimsEn==1)
+    {
+        ui->button_DriCrims_en->setStyleSheet("background-color: gray");
+        mbdriCrimsEn = 0;
+    }
+    else
+    {
+        ui->button_DriCrims_en->setStyleSheet("background-color: green");
+        mbdriCrimsEn = 1;
+    }
+}
+
+void MainWindow::on_button_SimCar_en_clicked()
+{
+    ui_set_virtualVehicleM struct_ui_VirtualVehicle;
+    struct_ui_VirtualVehicle.lngMax= ui->lineEdit_jamsLon_up->text().toDouble();
+    struct_ui_VirtualVehicle.lngMin= ui->lineEdit_jamsLon_low->text().toDouble();
+    struct_ui_VirtualVehicle.latMax=ui->lineEdit_jamsLat_Up->text().toDouble();
+    struct_ui_VirtualVehicle.latMin=ui->lineEdit_jamsLat_low->text().toDouble();
+    struct_ui_VirtualVehicle.yawMax=ui->lineEdit_jamsHead_up->text().toDouble();
+    struct_ui_VirtualVehicle.yawMin=ui->lineEdit_jamsHead_low->text().toDouble();
+    struct_ui_VirtualVehicle.virtualVehicleNum= int(ui->lineEdit_jamsCarNum->text().toInt());
+    struct_ui_VirtualVehicle.speedMax=ui->lineEdit_jamsSpeed_up->text().toDouble();
+    struct_ui_VirtualVehicle.speedMin=ui->lineEdit_jamsSpeed_low->text().toDouble();
+    m_pc5->my_ui_set=struct_ui_VirtualVehicle;
+    //m_pc5->upVirtualVehicle(struct_ui_VirtualVehicle);
+//    virtualVehicleM structVirtualVehicle;
+//    int randId=qrand()%10000;
+//    m_vectorRandom.push_back(randId);
+//    for(int i=1;i<virtualVehicleNum;i++) {
+//        getRandomNum();
+//    }
+//    for(int i=0;i<virtualVehicleNum;i++) {
+//        structVirtualVehicle.vin = m_vectorVin[i];
+//        structVirtualVehicle.gps_lat=latMin+((double(m_vectorRandom[i]))/10000.0)*(latMax-latMin);
+//        structVirtualVehicle.gps_lng=lngMin+((double(m_vectorRandom[i]))/10000.0)*(lngMax-lngMin);
+//        structVirtualVehicle.speed=speedMin+((float(m_vectorRandom[i]))/10000.0)*(speedMax-speedMin);
+//        structVirtualVehicle.yaw=yawMin+((float(m_vectorRandom[i]))/10000.0)*(yawMax-yawMin);
+//        m_pc5->upVirtualVehicle(structVirtualVehicle);
+//    }
+}
+//void MainWindow::on_button_SimCar_en_clicked()
+//{
+
+//    double lngMax= ui->lineEdit_jamsLon_up->text().toDouble();
+//    double lngMin= ui->lineEdit_jamsLon_low->text().toDouble();
+//    double latMax=ui->lineEdit_jamsLat_Up->text().toDouble();
+//    double latMin=ui->lineEdit_jamsLat_low->text().toDouble();
+//    float yawMax=ui->lineEdit_jamsHead_up->text().toDouble();
+//    float yawMin=ui->lineEdit_jamsHead_low->text().toDouble();
+//    int virtualVehicleNum= int(ui->lineEdit_jamsCarNum->text().toInt());
+//    float speedMax=ui->lineEdit_jamsSpeed_up->text().toDouble();
+//    float speedMin=ui->lineEdit_jamsSpeed_low->text().toDouble();
+//    virtualVehicleM structVirtualVehicle;
+//    int randId=qrand()%10000;
+//    m_vectorRandom.push_back(randId);
+//    for(int i=1;i<virtualVehicleNum;i++) {
+//        getRandomNum();
+//    }
+//    for(int i=0;i<virtualVehicleNum;i++) {
+//        structVirtualVehicle.vin = m_vectorVin[i];
+//        structVirtualVehicle.gps_lat=latMin+((double(m_vectorRandom[i]))/10000.0)*(latMax-latMin);
+//        structVirtualVehicle.gps_lng=lngMin+((double(m_vectorRandom[i]))/10000.0)*(lngMax-lngMin);
+//        structVirtualVehicle.speed=speedMin+((float(m_vectorRandom[i]))/10000.0)*(speedMax-speedMin);
+//        structVirtualVehicle.yaw=yawMin+((float(m_vectorRandom[i]))/10000.0)*(yawMax-yawMin);
+//        m_pc5->upVirtualVehicle(structVirtualVehicle);
+//    }
+//}
+void MainWindow::on_show_debug_clicked()
+{
+    if(mshowdebugEn==1)
+    {
+        ui->show_debug->setStyleSheet("background-color: gray");
+        mshowdebugEn = 0;
+    }
+    else
+    {
+        bool ok;
+        QString text = QInputDialog::getText(this, tr("scode："),
+                                             tr("scode:"), QLineEdit::Password,
+                                             Q_NULLPTR, &ok);
+        if (ok && !text.isEmpty())
+        {
+            std::string scode = text.toStdString();
+            if (scode=="catarc")
+            {
+                ui->show_debug->setStyleSheet("background-color: green");
+                mshowdebugEn = 1;
+            }
+        }
+    }
+}
+
+void MainWindow::on_ea_collect_clicked()
+{
+    float lat=m_structMGpsImu.gps_lat;
+    float lon=m_structMGpsImu.gps_lng;
+    float head=m_structMGpsImu.yaw+180;
+    if (head>=360){
+        head=head-360;
+    }
+
+    light1StopLat=lat;
+    light1StopLon=lon;
+    light1Stophead=head;
+
+    ui->ea_long->setText(QString::number(lon,'g',10));
+    ui->ea_lat->setText(QString::number(lat,'g',10));
+    ui->ea_head->setText(QString::number(head,'g',10));
+
+    QFile inputFile("./v2xTcpClient.xml"); // 替换成你的XML文件路径
+
+    if (!inputFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
+        qDebug() << "Failed to open the XML file for reading.";
+    }
+
+    QTextStream inputStream(&inputFile);
+    QString xmlContent = inputStream.readAll();
+
+    inputFile.close();
+
+    // 2. 使用正则表达式查找和替换参数值
+
+    QMap<QString, QString> parameterMap;
+    parameterMap["light1Stophead"] = ui->ea_head->text();
+    parameterMap["light1StopLat"] = ui->ea_lat->text();
+    parameterMap["light1StopLon"] = ui->ea_long->text();
+
+
+    // 3. 遍历映射并使用正则表达式查找和替换参数值
+    for (const QString &paramName : parameterMap.keys()) {
+       QRegExp regex("name=\"" + paramName + "\" value=\"[^\"]+\"");
+       const QString &newValue = parameterMap[paramName];
+
+       int pos = 0;
+       while ((pos = regex.indexIn(xmlContent, pos)) != -1) {
+           xmlContent.replace(pos, regex.matchedLength(), "name=\"" + paramName + "\" value=\"" + newValue + "\"");
+           pos += regex.matchedLength();
+       }
+    }
+    // 3. 创建一个临时文件用于保存更新后的XML
+    QFile outputFile("temp_updated_xml_file.xml");
+    if (!outputFile.open(QIODevice::WriteOnly | QIODevice::Text)) {
+        qDebug() << "Failed to open the temporary output XML file for writing.";
+
+    }
+
+    QTextStream outputStream(&outputFile);
+
+    // 4. 重新写入XML文件内容，包括修改后的参数
+    outputStream << xmlContent;
+
+    // 5. 关闭文件
+    outputFile.close();
+
+    // 6. 删除原始XML文件
+    QFile::remove("v2xTcpClient.xml");
+
+    // 7. 重命名临时文件为原始XML文件名
+    QFile::rename("temp_updated_xml_file.xml", "v2xTcpClient.xml");
+
+    qDebug() << "XML file has been updated with the original attribute order and parameter change.";
+}
+
+void MainWindow::on_ns_collect_clicked()
+{
+
+    float lat=m_structMGpsImu.gps_lat;
+    float lon=m_structMGpsImu.gps_lng;
+    float head=m_structMGpsImu.yaw+180;
+    if (head>=360){
+        head=head-360;
+    }
+    light2StopLat=lat;
+    light2StopLon=lon;
+    light2Stophead=head;
+    ui->ns_long->setText(QString::number(lon,'g',10));
+    ui->ns_lat->setText(QString::number(lat,'g',10));
+    ui->ns_head->setText(QString::number(head,'g',10));
+    QFile inputFile("./v2xTcpClient.xml"); // 替换成你的XML文件路径
+
+    if (!inputFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
+        qDebug() << "Failed to open the XML file for reading.";
+    }
+
+    QTextStream inputStream(&inputFile);
+    QString xmlContent = inputStream.readAll();
+
+    inputFile.close();
+
+    // 2. 使用正则表达式查找和替换参数值
+
+    QMap<QString, QString> parameterMap;
+    parameterMap["light2Stophead"] = ui->ns_head->text();
+    parameterMap["light2StopLat"] = ui->ns_lat->text();
+    parameterMap["light2StopLon"] = ui->ns_long->text();
+
+
+    // 3. 遍历映射并使用正则表达式查找和替换参数值
+    for (const QString &paramName : parameterMap.keys()) {
+       QRegExp regex("name=\"" + paramName + "\" value=\"[^\"]+\"");
+       const QString &newValue = parameterMap[paramName];
+
+       int pos = 0;
+       while ((pos = regex.indexIn(xmlContent, pos)) != -1) {
+           xmlContent.replace(pos, regex.matchedLength(), "name=\"" + paramName + "\" value=\"" + newValue + "\"");
+           pos += regex.matchedLength();
+       }
+    }
+    // 3. 创建一个临时文件用于保存更新后的XML
+    QFile outputFile("temp_updated_xml_file.xml");
+    if (!outputFile.open(QIODevice::WriteOnly | QIODevice::Text)) {
+        qDebug() << "Failed to open the temporary output XML file for writing.";
+
+    }
+
+    QTextStream outputStream(&outputFile);
+
+    // 4. 重新写入XML文件内容，包括修改后的参数
+    outputStream << xmlContent;
+
+    // 5. 关闭文件
+    outputFile.close();
+
+    // 6. 删除原始XML文件
+    QFile::remove("v2xTcpClient.xml");
+
+    // 7. 重命名临时文件为原始XML文件名
+    QFile::rename("temp_updated_xml_file.xml", "v2xTcpClient.xml");
+
+    qDebug() << "XML file has been updated with the original attribute order and parameter change.";
+}
+
+MainWindow::~MainWindow()
+{
+    timer->stop();
+    iv::modulecomm::Unregister(mpMemGPS);
+    iv::modulecomm::Unregister(mpMemcamera);
+    iv::modulecomm::Unregister(mpMemlidar);
+    iv::modulecomm::Unregister(mpMemradar);
+    iv::modulecomm::Unregister(vision_lightMem);
+    delete ui;
+
+
+
+}

src/v2x/v2xhik/mainwindow.h

@@ -0,0 +1,137 @@
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+#include "v2x.h"
+#include "pc5.h"
+#include <QMainWindow>
+#include <QDialog>
+#include <QInputDialog>
+#include <iostream>
+#include "QDebug"
+#include <QTextCodec>
+#include "xmlparam.h"
+#include <string>
+#include "v2r.pb.h"
+#include "gpsimu.pb.h"
+#include "rawpic.pb.h"
+#include "fusionobject.pb.h"
+#include "radarobject.pb.h"
+#include "lightarray.pb.h"
+#include "ivlog.h"
+#include "modulecomm.h"
+#include <QtXml>
+#include <QDomComment>
+#include <QFile>
+namespace Ui {
+class MainWindow;
+}
+struct onelightMessage
+{
+    bool isEnable=false;
+    unsigned char lightType;//0x01：绿灯；0x02：红灯；0x03：黄灯；
+    int timeRemaining;
+};
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    explicit MainWindow(QWidget *parent = 0);
+    ~MainWindow();
+    PC5 *m_pc5;
+    V2X *m_tbox;
+    void initUI();//程序初始化
+    void initproto();//共享内存初始化
+    void initLight1();//红绿灯1初始化
+    void initLight2();//红绿灯2初始化
+    void initLight3();//红绿灯3初始化
+    void initLight4();//红绿灯4初始化
+    void initFace();//红绿灯4初始化
+    void sendProto(iv::v2r::v2r_send radio_protobuf_send);//发送共享内存数据
+    void UpdateGps(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取共享内存
+    void UpdateCAM(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取共享内存
+    void UpdateLIDAR(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取共享内存
+    void UpdateRADAR(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取共享内存
+    void Updatelight(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取红绿灯共享内存并转发
+    void outLight(onelightMessage light);//设置红绿灯共享内存数据
+    void outRealtimeTraffic(realtimeTrafficMessage realtimeTraffic);//设置路况信息共享内存数据
+    void outCollisionWarning(collisionEarlyWarningMessage collisionWarning);//设置碰撞预警共享内存数据
+    void outCongestionIdenti(congestionIdentificationMessage congestionIdenti);//设置交通拥堵共享内存数据
+    void outmbpause(bool runmod);//设置自动驾驶启停共享内存数据
+    void setTboxMemoryRaw();//云平台发送数据设置
+    void initMemory();//云平台路测数据赋初值
+    bool RSUTYPE=false;
+//    void getRandomNum();
+//    void initRadio();
+private:
+
+    Ui::MainWindow *ui;
+    QTimer *timer;
+    //----------共享内存变量--------------------
+    std::string gstrmemgps;
+    std::string gstrmemlight;
+    std::string gstrmecamera;
+    std::string gstrmelidar;
+    std::string gstrmeradar;
+    void *mpMemGPS;
+    void *mpMemcamera;
+    void *mpMemlidar;
+    void *mpMemradar;
+    void *vision_lightMem;
+    int visionsendstate;
+    double lightStopLat;
+    double lightStopLon;
+    double light1Stophead;
+    double light1StopLat;
+    double light1StopLon;
+    double light2Stophead;
+    double light2StopLat;
+    double light2StopLon;
+    //-----------使能变量-------------------------
+    bool mplatformEn = false;//云平台使能状态
+    bool mobuEn = false;//obu使能状态
+    bool mv2xRunmodEn=false;
+    bool mpc5RunmodEn=false;
+    bool mVirtualEn=false;//虚拟车使能状态
+    bool mbTrafficInfoEn = false; //路况信息使能
+    bool mbFCWEn = false;//碰撞预警使能状态
+    bool mbdriCrimsEn = false;//危险驾驶使能状态
+    bool visionflag=true;//视觉红绿灯识别转发使能
+    bool mshowdebugEn = false;
+    int mGPSs=0;//GPS状态清零计数
+    int mCAMs=0;//视觉状态清零计数
+    int mLIDARs=0;//激光状态清零计数
+    int mRADARs=0;//毫米波状态清零计数
+    bool sendProto_flag;//共享内存发送使能
+//    std::vector<int> m_vectorRandom;
+//    std::vector<std::string> m_vectorVin;
+    //-------------结构数据----------------------
+    QImage redimg,greenimg,yellowimg,blackimg,nofaceimg,facetoimg;
+    realtimeTrafficMessage TrafficMessage;
+    lightMessage light;
+    collisionEarlyWarningMessage collisionWarning;
+    congestionIdentificationMessage congestionIdenti;
+    void * mpmem_radio_send_addr = nullptr;
+    gpsImuM m_structMGpsImu;
+    sensor_state seneor_m;
+    iv::v2r::v2r_send protobuf;
+
+private slots:
+    void heartBeat();
+    void on_button_platform_en_clicked();
+    void on_button_obu_en_clicked();
+    void on_button_v2xrunmod_en_clicked();
+    void on_button_pc5runmod_en_clicked();
+    void on_button_car_vin_set_clicked();
+    void on_button_obu_vin_set_clicked();
+    void on_button_trafficInfo_en_clicked();
+    void on_button_FCW_en_clicked();
+    void on_button_DriCrims_en_clicked();
+
+    void on_button_SimCar_en_clicked();
+    void on_show_debug_clicked();
+
+    void on_ea_collect_clicked();
+    void on_ns_collect_clicked();
+};
+
+#endif // MAINWINDOW_H

src/v2x/v2xhik/mainwindow.ui

@@ -0,0 +1,15403 @@
+<?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>880</width>
+    <height>710</height>
+   </rect>
+  </property>
+  <property name="palette">
+   <palette>
+    <active>
+     <colorrole role="WindowText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Button">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>46</red>
+        <green>52</green>
+        <blue>54</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Light">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>238</red>
+        <green>238</green>
+        <blue>236</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Midlight">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>186</red>
+        <green>189</green>
+        <blue>182</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Dark">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>136</red>
+        <green>138</green>
+        <blue>133</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Mid">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>186</red>
+        <green>189</green>
+        <blue>182</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Text">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="BrightText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ButtonText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Base">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Window">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>46</red>
+        <green>52</green>
+        <blue>54</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Shadow">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>136</red>
+        <green>138</green>
+        <blue>133</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="AlternateBase">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>238</red>
+        <green>238</green>
+        <blue>236</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ToolTipBase">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>220</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ToolTipText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+    </active>
+    <inactive>
+     <colorrole role="WindowText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Button">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>46</red>
+        <green>52</green>
+        <blue>54</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Light">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>238</red>
+        <green>238</green>
+        <blue>236</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Midlight">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>186</red>
+        <green>189</green>
+        <blue>182</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Dark">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>136</red>
+        <green>138</green>
+        <blue>133</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Mid">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>186</red>
+        <green>189</green>
+        <blue>182</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Text">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="BrightText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ButtonText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Base">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Window">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>46</red>
+        <green>52</green>
+        <blue>54</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Shadow">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>136</red>
+        <green>138</green>
+        <blue>133</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="AlternateBase">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>238</red>
+        <green>238</green>
+        <blue>236</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ToolTipBase">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>220</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ToolTipText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+    </inactive>
+    <disabled>
+     <colorrole role="WindowText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>136</red>
+        <green>138</green>
+        <blue>133</blue>
+       </color>
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+     </colorrole>
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+        </property>
+        <attribute name="title">
+         <string>路况信息</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout">
+         <item row="1" column="0">
+          <widget class="QPushButton" name="button_trafficInfo_en">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>开始</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QPushButton" name="trafficInfo_st">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>当前动作</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="2">
+          <widget class="QLineEdit" name="lineEd_trafficInfo">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+             <horstretch>0</horstretch>
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+           <property name="text">
+            <string>减速至--km/h</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="3">
+          <widget class="QPushButton" name="button_trafficInfoLight_st">
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+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="layoutDirection">
+            <enum>Qt::LeftToRight</enum>
+           </property>
+           <property name="text">
+            <string>状态</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0" colspan="4">
+          <widget class="QTextBrowser" name="textBr_trafficInfo">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>57</red>
+                 <green>65</green>
+                 <blue>67</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>23</red>
+                 <green>26</green>
+                 <blue>27</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>30</red>
+                 <green>34</green>
+                 <blue>36</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>57</red>
+                 <green>65</green>
+                 <blue>67</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>23</red>
+                 <green>26</green>
+                 <blue>27</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>30</red>
+                 <green>34</green>
+                 <blue>36</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>57</red>
+                 <green>65</green>
+                 <blue>67</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>23</red>
+                 <green>26</green>
+                 <blue>27</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>30</red>
+                 <green>34</green>
+                 <blue>36</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="autoFillBackground">
+            <bool>false</bool>
+           </property>
+           <property name="html">
+            <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+       <widget class="QWidget" name="tab_FCW">
+        <property name="palette">
+         <palette>
+          <active>
+           <colorrole role="WindowText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Button">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Light">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Midlight">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>50</red>
+              <green>50</green>
+              <blue>50</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Dark">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>20</red>
+              <green>20</green>
+              <blue>20</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Mid">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>26</red>
+              <green>26</green>
+              <blue>26</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Text">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="BrightText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>255</red>
+              <green>255</green>
+              <blue>255</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="ButtonText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Base">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Window">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Shadow">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>0</red>
+              <green>0</green>
+              <blue>0</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="AlternateBase">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>20</red>
+              <green>20</green>
+              <blue>20</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="ToolTipBase">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>255</red>
+              <green>255</green>
+              <blue>220</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="ToolTipText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>0</red>
+              <green>0</green>
+              <blue>0</blue>
+             </color>
+            </brush>
+           </colorrole>
+          </active>
+          <inactive>
+           <colorrole role="WindowText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Button">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Light">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Midlight">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>50</red>
+              <green>50</green>
+              <blue>50</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Dark">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>20</red>
+              <green>20</green>
+              <blue>20</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Mid">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>26</red>
+              <green>26</green>
+              <blue>26</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Text">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="BrightText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>255</red>
+              <green>255</green>
+              <blue>255</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="ButtonText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Base">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Window">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Shadow">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>0</red>
+              <green>0</green>
+              <blue>0</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="AlternateBase">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>20</red>
+              <green>20</green>
+              <blue>20</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="ToolTipBase">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>255</red>
+              <green>255</green>
+              <blue>220</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="ToolTipText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>0</red>
+              <green>0</green>
+              <blue>0</blue>
+             </color>
+            </brush>
+           </colorrole>
+          </inactive>
+          <disabled>
+           <colorrole role="WindowText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Button">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Light">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Midlight">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>50</red>
+              <green>50</green>
+              <blue>50</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Dark">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>20</red>
+              <green>20</green>
+              <blue>20</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Mid">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>26</red>
+              <green>26</green>
+              <blue>26</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Text">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="BrightText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>255</red>
+              <green>255</green>
+              <blue>255</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="ButtonText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Base">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Window">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Shadow">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>0</red>
+              <green>0</green>
+              <blue>0</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="AlternateBase">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>40</red>
+              <green>40</green>
+              <blue>40</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="ToolTipBase">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>255</red>
+              <green>255</green>
+              <blue>220</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="ToolTipText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>0</red>
+              <green>0</green>
+              <blue>0</blue>
+             </color>
+            </brush>
+           </colorrole>
+          </disabled>
+         </palette>
+        </property>
+        <attribute name="title">
+         <string>碰撞预警</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout_2">
+         <item row="1" column="1" colspan="4">
+          <widget class="QTextBrowser" name="textBr_FCW">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="html">
+            <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="QPushButton" name="button_FCW_en">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>开始</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="4">
+          <widget class="QPushButton" name="button_FWCLight_st">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>状态</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+       <widget class="QWidget" name="tab_trafficJams">
+        <property name="palette">
+         <palette>
+          <active>
+           <colorrole role="WindowText">
+            <brush brushstyle="SolidPattern">
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+              <red>238</red>
+              <green>238</green>
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+            </brush>
+           </colorrole>
+           <colorrole role="Button">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Light">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Midlight">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>50</red>
+              <green>50</green>
+              <blue>50</blue>
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+            </brush>
+           </colorrole>
+           <colorrole role="Dark">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>20</red>
+              <green>20</green>
+              <blue>20</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Mid">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>26</red>
+              <green>26</green>
+              <blue>26</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Text">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="BrightText">
+            <brush brushstyle="SolidPattern">
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+              <red>255</red>
+              <green>255</green>
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+           <colorrole role="ButtonText">
+            <brush brushstyle="SolidPattern">
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+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
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+           <colorrole role="Base">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
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+           <colorrole role="Window">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
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+           <colorrole role="Shadow">
+            <brush brushstyle="SolidPattern">
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+           <colorrole role="AlternateBase">
+            <brush brushstyle="SolidPattern">
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+              <green>20</green>
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+           </colorrole>
+           <colorrole role="ToolTipBase">
+            <brush brushstyle="SolidPattern">
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+              <red>255</red>
+              <green>255</green>
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+             </color>
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+           </colorrole>
+           <colorrole role="ToolTipText">
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+              <green>0</green>
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+             </color>
+            </brush>
+           </colorrole>
+          </active>
+          <inactive>
+           <colorrole role="WindowText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Button">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
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+           <colorrole role="Light">
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+         <property name="title">
+          <string>仿真车辆数据设置</string>
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+               </colorrole>
+               <colorrole role="ToolTipBase">
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+                 <color alpha="255">
+                  <red>255</red>
+                  <green>255</green>
+                  <blue>220</blue>
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+                </brush>
+               </colorrole>
+               <colorrole role="ToolTipText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>0</red>
+                  <green>0</green>
+                  <blue>0</blue>
+                 </color>
+                </brush>
+               </colorrole>
+              </inactive>
+              <disabled>
+               <colorrole role="WindowText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Button">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Light">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>0</red>
+                  <green>0</green>
+                  <blue>0</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Midlight">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>0</red>
+                  <green>0</green>
+                  <blue>0</blue>
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+               </colorrole>
+               <colorrole role="Dark">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>0</red>
+                  <green>0</green>
+                  <blue>0</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Mid">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>0</red>
+                  <green>0</green>
+                  <blue>0</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Text">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
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+               </colorrole>
+               <colorrole role="BrightText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>255</red>
+                  <green>255</green>
+                  <blue>255</blue>
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+                </brush>
+               </colorrole>
+               <colorrole role="ButtonText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
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+                </brush>
+               </colorrole>
+               <colorrole role="Base">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
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+                  <green>60</green>
+                  <blue>60</blue>
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+               </colorrole>
+               <colorrole role="Window">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Shadow">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
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+                  <green>0</green>
+                  <blue>0</blue>
+                 </color>
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+               </colorrole>
+               <colorrole role="AlternateBase">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
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+                  <blue>0</blue>
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+                </brush>
+               </colorrole>
+               <colorrole role="ToolTipBase">
+                <brush brushstyle="SolidPattern">
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+                  <red>255</red>
+                  <green>255</green>
+                  <blue>220</blue>
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+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
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+                  <green>0</green>
+                  <blue>0</blue>
+                 </color>
+                </brush>
+               </colorrole>
+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string>航向角范围</string>
+            </property>
+           </widget>
+          </item>
+          <item row="8" column="2">
+           <widget class="QPushButton" name="button_SimCar_en">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="palette">
+             <palette>
+              <active>
+               <colorrole role="WindowText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Button">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Text">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="ButtonText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Base">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Window">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
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+                </brush>
+               </colorrole>
+              </active>
+              <inactive>
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+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Text">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="ButtonText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
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+                </brush>
+               </colorrole>
+               <colorrole role="Base">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
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+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Window">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+              </inactive>
+              <disabled>
+               <colorrole role="WindowText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Button">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Text">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="ButtonText">
+                <brush brushstyle="SolidPattern">
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+                  <red>238</red>
+                  <green>238</green>
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+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Base">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Window">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string>确定</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="2">
+           <widget class="QLineEdit" name="lineEdit_jamsLat_Up">
+            <property name="palette">
+             <palette>
+              <active>
+               <colorrole role="WindowText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Button">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Text">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
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+               </colorrole>
+               <colorrole role="ButtonText">
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+                  <green>238</green>
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+                  <green>60</green>
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+                  <green>60</green>
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+               </colorrole>
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+                  <green>60</green>
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+                  <green>238</green>
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+                  <red>60</red>
+                  <green>60</green>
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+               <colorrole role="Window">
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+               </colorrole>
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+                  <green>238</green>
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+               </colorrole>
+               <colorrole role="Button">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Text">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="ButtonText">
+                <brush brushstyle="SolidPattern">
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+                  <green>238</green>
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+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLabel" name="label">
+            <property name="palette">
+             <palette>
+              <active>
+               <colorrole role="WindowText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
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+                </brush>
+               </colorrole>
+               <colorrole role="Button">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Light">
+                <brush brushstyle="SolidPattern">
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+                  <red>255</red>
+                  <green>255</green>
+                  <blue>255</blue>
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+               <colorrole role="Midlight">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>255</red>
+                  <green>255</green>
+                  <blue>255</blue>
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+                </brush>
+               </colorrole>
+               <colorrole role="Dark">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>127</red>
+                  <green>127</green>
+                  <blue>127</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Mid">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>170</red>
+                  <green>170</green>
+                  <blue>170</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Text">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
+                 </color>
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+               </colorrole>
+               <colorrole role="BrightText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>255</red>
+                  <green>255</green>
+                  <blue>255</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="ButtonText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
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+               </colorrole>
+               <colorrole role="Base">
+                <brush brushstyle="SolidPattern">
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+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
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+                </brush>
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+               <colorrole role="Window">
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+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
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+               </colorrole>
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+                <brush brushstyle="SolidPattern">
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+                  <red>255</red>
+                  <green>255</green>
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+               <colorrole role="ToolTipBase">
+                <brush brushstyle="SolidPattern">
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+                  <green>255</green>
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+                  <green>238</green>
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+                  <red>60</red>
+                  <green>60</green>
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+               <colorrole role="Light">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>255</red>
+                  <green>255</green>
+                  <blue>255</blue>
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+               <colorrole role="Midlight">
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+                  <red>255</red>
+                  <green>255</green>
+                  <blue>255</blue>
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+                </brush>
+               </colorrole>
+               <colorrole role="Dark">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>127</red>
+                  <green>127</green>
+                  <blue>127</blue>
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+                  <green>170</green>
+                  <blue>170</blue>
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+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
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+               <colorrole role="BrightText">
+                <brush brushstyle="SolidPattern">
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+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
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+               <colorrole role="Window">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Shadow">
+                <brush brushstyle="SolidPattern">
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+                  <green>0</green>
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+                  <green>255</green>
+                  <blue>255</blue>
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+                  <red>255</red>
+                  <green>255</green>
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+                  <green>127</green>
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+                </brush>
+               </colorrole>
+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string>上限</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLabel" name="label_2">
+            <property name="palette">
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+                  <green>255</green>
+                  <blue>255</blue>
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+               <colorrole role="Dark">
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+                  <green>127</green>
+                  <blue>127</blue>
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+                  <green>170</green>
+                  <blue>170</blue>
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+                  <green>60</green>
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+               </colorrole>
+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string>下限</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <widget class="QLabel" name="label_lon_limits_2">
+            <property name="palette">
+             <palette>
+              <active>
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+                 </color>
+                </brush>
+               </colorrole>
+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string>纬度范围</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_lon_limits">
+            <property name="palette">
+             <palette>
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+               </colorrole>
+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string>经度范围</string>
+            </property>
+           </widget>
+          </item>
+          <item row="8" column="1">
+           <widget class="QLineEdit" name="lineEdit_jamsCarNum">
+            <property name="palette">
+             <palette>
+              <active>
+               <colorrole role="WindowText">
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+           <colorrole role="Light">
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+              <red>60</red>
+              <green>60</green>
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+              <green>20</green>
+              <blue>20</blue>
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+           </colorrole>
+           <colorrole role="Mid">
+            <brush brushstyle="SolidPattern">
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+              <red>26</red>
+              <green>26</green>
+              <blue>26</blue>
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+            </brush>
+           </colorrole>
+           <colorrole role="Text">
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+              <green>238</green>
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+              <green>60</green>
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+              <green>50</green>
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+              <green>26</green>
+              <blue>26</blue>
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+           </colorrole>
+           <colorrole role="Text">
+            <brush brushstyle="SolidPattern">
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+              <green>238</green>
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+           </colorrole>
+           <colorrole role="BrightText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>255</red>
+              <green>255</green>
+              <blue>255</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="ButtonText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Base">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Window">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Shadow">
+            <brush brushstyle="SolidPattern">
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+              <green>0</green>
+              <blue>0</blue>
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+           <colorrole role="AlternateBase">
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+              <green>20</green>
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+           </colorrole>
+           <colorrole role="ToolTipBase">
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+              <green>255</green>
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+           </colorrole>
+           <colorrole role="ToolTipText">
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+           </colorrole>
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+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
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+           </colorrole>
+           <colorrole role="Button">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Light">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
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+            </brush>
+           </colorrole>
+           <colorrole role="Midlight">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>50</red>
+              <green>50</green>
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+            </brush>
+           </colorrole>
+           <colorrole role="Dark">
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+             <color alpha="255">
+              <red>20</red>
+              <green>20</green>
+              <blue>20</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Mid">
+            <brush brushstyle="SolidPattern">
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+              <red>26</red>
+              <green>26</green>
+              <blue>26</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Text">
+            <brush brushstyle="SolidPattern">
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+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
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+           </colorrole>
+           <colorrole role="BrightText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>255</red>
+              <green>255</green>
+              <blue>255</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="ButtonText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Base">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Window">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Shadow">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>0</red>
+              <green>0</green>
+              <blue>0</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="AlternateBase">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>40</red>
+              <green>40</green>
+              <blue>40</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="ToolTipBase">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>255</red>
+              <green>255</green>
+              <blue>220</blue>
+             </color>
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+           </colorrole>
+           <colorrole role="ToolTipText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
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+              <green>0</green>
+              <blue>0</blue>
+             </color>
+            </brush>
+           </colorrole>
+          </disabled>
+         </palette>
+        </property>
+        <attribute name="title">
+         <string>危险驾驶</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout_5">
+         <item row="1" column="3">
+          <widget class="QPushButton" name="button_DriCrimsLight_st">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
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+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
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+                 <blue>60</blue>
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+              </colorrole>
+              <colorrole role="Window">
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+                 <green>60</green>
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+              <colorrole role="Button">
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+                 <green>60</green>
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+              <colorrole role="Text">
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+                 <green>238</green>
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+              <colorrole role="ButtonText">
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+                 <green>238</green>
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+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
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+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
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+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
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+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>状态</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0" colspan="4">
+          <widget class="QTextBrowser" name="textBr_FCW_2">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
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+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
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+                 <green>60</green>
+                 <blue>60</blue>
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+               </brush>
+              </colorrole>
+             </active>
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+                 <green>238</green>
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+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
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+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
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+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
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+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
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+                 <green>60</green>
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+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
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+                 <green>60</green>
+                 <blue>60</blue>
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+               </brush>
+              </colorrole>
+             </inactive>
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+              <colorrole role="WindowText">
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+                 <green>238</green>
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+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
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+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
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+                 <green>60</green>
+                 <blue>60</blue>
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+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
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+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="html">
+            <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QPushButton" name="button_DriCrims_en">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
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+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
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+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>开始</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+   <widget class="QGroupBox" name="groupBox_3">
+    <property name="geometry">
+     <rect>
+      <x>1330</x>
+      <y>10</y>
+      <width>241</width>
+      <height>611</height>
+     </rect>
+    </property>
+    <property name="title">
+     <string>调试</string>
+    </property>
+    <layout class="QGridLayout" name="gridLayout_6">
+     <item row="2" column="0">
+      <widget class="QTextBrowser" name="textBrowser_3"/>
+     </item>
+     <item row="0" column="0">
+      <widget class="QTextBrowser" name="textBrowser"/>
+     </item>
+     <item row="1" column="0">
+      <widget class="QTextBrowser" name="textBrowser_2"/>
+     </item>
+     <item row="3" column="0">
+      <widget class="QTextBrowser" name="textBrowser_4"/>
+     </item>
+     <item row="4" column="0">
+      <widget class="QPushButton" name="show_debug">
+       <property name="text">
+        <string>显示</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+   <widget class="QGroupBox" name="groupBox_12">
+    <property name="geometry">
+     <rect>
+      <x>40</x>
+      <y>410</y>
+      <width>161</width>
+      <height>181</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="title">
+     <string>东向红绿灯</string>
+    </property>
+    <widget class="QLCDNumber" name="lcdgreen_2">
+     <property name="geometry">
+      <rect>
+       <x>80</x>
+       <y>50</y>
+       <width>64</width>
+       <height>33</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="digitCount">
+      <number>3</number>
+     </property>
+     <property name="segmentStyle">
+      <enum>QLCDNumber::Flat</enum>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_39">
+     <property name="geometry">
+      <rect>
+       <x>-20</x>
+       <y>40</y>
+       <width>111</width>
+       <height>131</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="pixmap">
+      <pixmap resource="light.qrc">:/light/light/light-black.png</pixmap>
+     </property>
+     <property name="scaledContents">
+      <bool>true</bool>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="vertical_lighthead">
+     <property name="geometry">
+      <rect>
+       <x>80</x>
+       <y>140</y>
+       <width>61</width>
+       <height>25</height>
+      </rect>
+     </property>
+     <property name="palette">
+      <palette>
+       <active>
+        <colorrole role="WindowText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Button">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Light">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>69</red>
+           <green>78</green>
+           <blue>81</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Midlight">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>57</red>
+           <green>65</green>
+           <blue>67</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Dark">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Mid">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>30</red>
+           <green>34</green>
+           <blue>36</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Text">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="BrightText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>255</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ButtonText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Base">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Window">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Shadow">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="AlternateBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>220</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+       </active>
+       <inactive>
+        <colorrole role="WindowText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Button">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Light">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>69</red>
+           <green>78</green>
+           <blue>81</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Midlight">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>57</red>
+           <green>65</green>
+           <blue>67</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Dark">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
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+        </colorrole>
+        <colorrole role="Mid">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>30</red>
+           <green>34</green>
+           <blue>36</blue>
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+         </brush>
+        </colorrole>
+        <colorrole role="Text">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="BrightText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>255</blue>
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+         </brush>
+        </colorrole>
+        <colorrole role="ButtonText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Base">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Window">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Shadow">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="AlternateBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
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+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>220</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipText">
+         <brush brushstyle="SolidPattern">
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+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
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+       <disabled>
+        <colorrole role="WindowText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Button">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Light">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>69</red>
+           <green>78</green>
+           <blue>81</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Midlight">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>57</red>
+           <green>65</green>
+           <blue>67</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Dark">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Mid">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>30</red>
+           <green>34</green>
+           <blue>36</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Text">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="BrightText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>255</blue>
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+        </colorrole>
+        <colorrole role="ButtonText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
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+         </brush>
+        </colorrole>
+        <colorrole role="Base">
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+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
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+         </brush>
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+        <colorrole role="Window">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Shadow">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
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+        <colorrole role="AlternateBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>220</blue>
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+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+       </disabled>
+      </palette>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_8">
+     <property name="geometry">
+      <rect>
+       <x>80</x>
+       <y>100</y>
+       <width>31</width>
+       <height>17</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>航向</string>
+     </property>
+    </widget>
+   </widget>
+   <widget class="QGroupBox" name="groupBox_5">
+    <property name="geometry">
+     <rect>
+      <x>40</x>
+      <y>240</y>
+      <width>351</width>
+      <height>151</height>
+     </rect>
+    </property>
+    <property name="title">
+     <string>系统信息</string>
+    </property>
+    <widget class="QLineEdit" name="lineEdit_obu_vin">
+     <property name="geometry">
+      <rect>
+       <x>130</x>
+       <y>70</y>
+       <width>221</width>
+       <height>25</height>
+      </rect>
+     </property>
+     <property name="readOnly">
+      <bool>true</bool>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="lineEdit">
+     <property name="geometry">
+      <rect>
+       <x>80</x>
+       <y>30</y>
+       <width>271</width>
+       <height>25</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="echoMode">
+      <enum>QLineEdit::Normal</enum>
+     </property>
+     <property name="readOnly">
+      <bool>true</bool>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_6">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>70</y>
+       <width>111</width>
+       <height>21</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>路测单元识别码</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_5">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>30</y>
+       <width>67</width>
+       <height>21</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>车辆VIN</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_9">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>110</y>
+       <width>81</width>
+       <height>17</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>服务器地址</string>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="lineEdit_severip">
+     <property name="geometry">
+      <rect>
+       <x>100</x>
+       <y>110</y>
+       <width>251</width>
+       <height>25</height>
+      </rect>
+     </property>
+     <property name="readOnly">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </widget>
+   <widget class="QGroupBox" name="groupBox_13">
+    <property name="geometry">
+     <rect>
+      <x>260</x>
+      <y>410</y>
+      <width>161</width>
+      <height>181</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="title">
+     <string>南向红绿灯</string>
+    </property>
+    <widget class="QLCDNumber" name="lcdgreen_3">
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+     <property name="geometry">
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+       <y>100</y>
+       <width>31</width>
+       <height>17</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>航向</string>
+     </property>
+    </widget>
+   </widget>
+   <widget class="QGroupBox" name="groupBox_14">
+    <property name="geometry">
+     <rect>
+      <x>480</x>
+      <y>410</y>
+      <width>161</width>
+      <height>181</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="title">
+     <string>西向红绿灯</string>
+    </property>
+    <widget class="QLCDNumber" name="lcdgreen_4">
+     <property name="geometry">
+      <rect>
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+     <property name="styleSheet">
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+     <property name="digitCount">
+      <number>3</number>
+     </property>
+     <property name="segmentStyle">
+      <enum>QLCDNumber::Flat</enum>
+     </property>
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+     <property name="text">
+      <string/>
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+     <property name="pixmap">
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+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Button">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Light">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>69</red>
+           <green>78</green>
+           <blue>81</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Midlight">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>57</red>
+           <green>65</green>
+           <blue>67</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Dark">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Mid">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>30</red>
+           <green>34</green>
+           <blue>36</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Text">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="BrightText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>255</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ButtonText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Base">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Window">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Shadow">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="AlternateBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>220</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+       </disabled>
+      </palette>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_11">
+     <property name="geometry">
+      <rect>
+       <x>80</x>
+       <y>100</y>
+       <width>31</width>
+       <height>17</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>航向</string>
+     </property>
+    </widget>
+   </widget>
+   <widget class="QGroupBox" name="groupBox_15">
+    <property name="geometry">
+     <rect>
+      <x>690</x>
+      <y>410</y>
+      <width>161</width>
+      <height>181</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="title">
+     <string>北向红绿灯</string>
+    </property>
+    <widget class="QLCDNumber" name="lcdgreen_5">
+     <property name="geometry">
+      <rect>
+       <x>80</x>
+       <y>50</y>
+       <width>64</width>
+       <height>33</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="digitCount">
+      <number>3</number>
+     </property>
+     <property name="segmentStyle">
+      <enum>QLCDNumber::Flat</enum>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_42">
+     <property name="geometry">
+      <rect>
+       <x>-20</x>
+       <y>40</y>
+       <width>111</width>
+       <height>131</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="pixmap">
+      <pixmap resource="light.qrc">:/light/light/light-black.png</pixmap>
+     </property>
+     <property name="scaledContents">
+      <bool>true</bool>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="vertical_lighthead_4">
+     <property name="geometry">
+      <rect>
+       <x>80</x>
+       <y>140</y>
+       <width>61</width>
+       <height>25</height>
+      </rect>
+     </property>
+     <property name="palette">
+      <palette>
+       <active>
+        <colorrole role="WindowText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Button">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Light">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>69</red>
+           <green>78</green>
+           <blue>81</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Midlight">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>57</red>
+           <green>65</green>
+           <blue>67</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Dark">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Mid">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>30</red>
+           <green>34</green>
+           <blue>36</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Text">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="BrightText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>255</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ButtonText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Base">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Window">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Shadow">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="AlternateBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>220</blue>
+          </color>
+         </brush>
+        </colorrole>
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+         <brush brushstyle="SolidPattern">
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+           <green>0</green>
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+          </color>
+         </brush>
+        </colorrole>
+       </active>
+       <inactive>
+        <colorrole role="WindowText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Button">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Light">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>69</red>
+           <green>78</green>
+           <blue>81</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Midlight">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>57</red>
+           <green>65</green>
+           <blue>67</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Dark">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Mid">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>30</red>
+           <green>34</green>
+           <blue>36</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Text">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
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+         </brush>
+        </colorrole>
+        <colorrole role="BrightText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
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+           <green>255</green>
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+        </colorrole>
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+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
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+         </brush>
+        </colorrole>
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+         <brush brushstyle="SolidPattern">
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+        <colorrole role="Window">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Shadow">
+         <brush brushstyle="SolidPattern">
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+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
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+         <brush brushstyle="SolidPattern">
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+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
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+           <blue>236</blue>
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+        <colorrole role="Button">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
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+         </brush>
+        </colorrole>
+        <colorrole role="Light">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>69</red>
+           <green>78</green>
+           <blue>81</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Midlight">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>57</red>
+           <green>65</green>
+           <blue>67</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Dark">
+         <brush brushstyle="SolidPattern">
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+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
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+        <colorrole role="Mid">
+         <brush brushstyle="SolidPattern">
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+           <red>30</red>
+           <green>34</green>
+           <blue>36</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Text">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="BrightText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>255</blue>
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+         </brush>
+        </colorrole>
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+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
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+         </brush>
+        </colorrole>
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+         <brush brushstyle="SolidPattern">
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+           <red>46</red>
+           <green>52</green>
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+         </brush>
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+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Shadow">
+         <brush brushstyle="SolidPattern">
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+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
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+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>220</blue>
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+           <green>0</green>
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+          </color>
+         </brush>
+        </colorrole>
+       </disabled>
+      </palette>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_13">
+     <property name="geometry">
+      <rect>
+       <x>80</x>
+       <y>100</y>
+       <width>31</width>
+       <height>17</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>航向</string>
+     </property>
+    </widget>
+   </widget>
+   <widget class="QLabel" name="label_7">
+    <property name="geometry">
+     <rect>
+      <x>90</x>
+      <y>590</y>
+      <width>60</width>
+      <height>50</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="pixmap">
+     <pixmap resource="light.qrc">:/light/light/noface.png</pixmap>
+    </property>
+    <property name="scaledContents">
+     <bool>true</bool>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_14">
+    <property name="geometry">
+     <rect>
+      <x>310</x>
+      <y>590</y>
+      <width>60</width>
+      <height>50</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="pixmap">
+     <pixmap resource="light.qrc">:/light/light/noface.png</pixmap>
+    </property>
+    <property name="scaledContents">
+     <bool>true</bool>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_15">
+    <property name="geometry">
+     <rect>
+      <x>530</x>
+      <y>590</y>
+      <width>60</width>
+      <height>50</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="pixmap">
+     <pixmap resource="light.qrc">:/light/light/noface.png</pixmap>
+    </property>
+    <property name="scaledContents">
+     <bool>true</bool>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_16">
+    <property name="geometry">
+     <rect>
+      <x>740</x>
+      <y>590</y>
+      <width>60</width>
+      <height>50</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="pixmap">
+     <pixmap resource="light.qrc">:/light/light/noface.png</pixmap>
+    </property>
+    <property name="scaledContents">
+     <bool>true</bool>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_17">
+    <property name="geometry">
+     <rect>
+      <x>310</x>
+      <y>650</y>
+      <width>67</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_18">
+    <property name="geometry">
+     <rect>
+      <x>90</x>
+      <y>650</y>
+      <width>67</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_19">
+    <property name="geometry">
+     <rect>
+      <x>530</x>
+      <y>650</y>
+      <width>67</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_20">
+    <property name="geometry">
+     <rect>
+      <x>740</x>
+      <y>650</y>
+      <width>67</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+   </widget>
+   <widget class="QTabWidget" name="tabWidget">
+    <property name="enabled">
+     <bool>true</bool>
+    </property>
+    <property name="geometry">
+     <rect>
+      <x>40</x>
+      <y>10</y>
+      <width>351</width>
+      <height>221</height>
+     </rect>
+    </property>
+    <property name="tabPosition">
+     <enum>QTabWidget::North</enum>
+    </property>
+    <property name="tabShape">
+     <enum>QTabWidget::Rounded</enum>
+    </property>
+    <property name="currentIndex">
+     <number>0</number>
+    </property>
+    <property name="elideMode">
+     <enum>Qt::ElideNone</enum>
+    </property>
+    <property name="usesScrollButtons">
+     <bool>true</bool>
+    </property>
+    <property name="documentMode">
+     <bool>false</bool>
+    </property>
+    <property name="tabsClosable">
+     <bool>false</bool>
+    </property>
+    <property name="movable">
+     <bool>false</bool>
+    </property>
+    <property name="tabBarAutoHide">
+     <bool>true</bool>
+    </property>
+    <widget class="QWidget" name="tab_3">
+     <attribute name="title">
+      <string>系统设置</string>
+     </attribute>
+     <widget class="QGroupBox" name="groupBox_2">
+      <property name="enabled">
+       <bool>true</bool>
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+              <color alpha="255">
+               <red>30</red>
+               <green>34</green>
+               <blue>36</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="BrightText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ButtonText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>46</red>
+               <green>52</green>
+               <blue>54</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>46</red>
+               <green>52</green>
+               <blue>54</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Shadow">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>0</red>
+               <green>0</green>
+               <blue>0</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="AlternateBase">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>46</red>
+               <green>52</green>
+               <blue>54</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ToolTipBase">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>220</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ToolTipText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>0</red>
+               <green>0</green>
+               <blue>0</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="font">
+          <font>
+           <family>AR PL UKai CN</family>
+          </font>
+         </property>
+         <property name="styleSheet">
+          <string notr="true"/>
+         </property>
+         <property name="text">
+          <string>接受路测控制</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+    <widget class="QWidget" name="tab_4">
+     <attribute name="title">
+      <string>数据采集</string>
+     </attribute>
+     <widget class="QWidget" name="gridLayoutWidget">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>40</y>
+        <width>160</width>
+        <height>89</height>
+       </rect>
+      </property>
+      <layout class="QGridLayout" name="gridLayout_3">
+       <item row="0" column="0">
+        <widget class="QLabel" name="label_21">
+         <property name="text">
+          <string>经度</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
+        <widget class="QLabel" name="label_23">
+         <property name="text">
+          <string>航向</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QLabel" name="label_22">
+         <property name="text">
+          <string>纬度</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="1">
+        <widget class="QLineEdit" name="ea_long"/>
+       </item>
+       <item row="1" column="1">
+        <widget class="QLineEdit" name="ea_lat"/>
+       </item>
+       <item row="2" column="1">
+        <widget class="QLineEdit" name="ea_head"/>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="gridLayoutWidget_2">
+      <property name="geometry">
+       <rect>
+        <x>180</x>
+        <y>40</y>
+        <width>160</width>
+        <height>89</height>
+       </rect>
+      </property>
+      <layout class="QGridLayout" name="gridLayout_7">
+       <item row="0" column="0">
+        <widget class="QLabel" name="label_24">
+         <property name="text">
+          <string>经度</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
+        <widget class="QLabel" name="label_25">
+         <property name="text">
+          <string>航向</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QLabel" name="label_26">
+         <property name="text">
+          <string>纬度</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="1">
+        <widget class="QLineEdit" name="ns_long"/>
+       </item>
+       <item row="1" column="1">
+        <widget class="QLineEdit" name="ns_lat"/>
+       </item>
+       <item row="2" column="1">
+        <widget class="QLineEdit" name="ns_head"/>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QLabel" name="label_27">
+      <property name="geometry">
+       <rect>
+        <x>60</x>
+        <y>10</y>
+        <width>67</width>
+        <height>17</height>
+       </rect>
+      </property>
+      <property name="text">
+       <string>东西向</string>
+      </property>
+     </widget>
+     <widget class="QLabel" name="label_28">
+      <property name="geometry">
+       <rect>
+        <x>230</x>
+        <y>10</y>
+        <width>67</width>
+        <height>17</height>
+       </rect>
+      </property>
+      <property name="text">
+       <string>南北向</string>
+      </property>
+     </widget>
+     <widget class="QPushButton" name="ea_collect">
+      <property name="geometry">
+       <rect>
+        <x>50</x>
+        <y>140</y>
+        <width>89</width>
+        <height>25</height>
+       </rect>
+      </property>
+      <property name="text">
+       <string>采集</string>
+      </property>
+     </widget>
+     <widget class="QPushButton" name="ns_collect">
+      <property name="geometry">
+       <rect>
+        <x>220</x>
+        <y>140</y>
+        <width>89</width>
+        <height>25</height>
+       </rect>
+      </property>
+      <property name="text">
+       <string>采集</string>
+      </property>
+     </widget>
+    </widget>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>880</width>
+     <height>28</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <resources>
+  <include location="light.qrc"/>
+ </resources>
+ <connections/>
+ <slots>
+  <slot>on_button_platform_en_clicked()</slot>
+  <slot>on_button_obu_en_clicked()</slot>
+ </slots>
+</ui>