change ivmapmake_sharemem. fix a bug, not gw init.

README.md

@@ -1,6 +1,6 @@
 # modularization
 
-技术发展室模块化自动驾驶系统源代码仓库
+技术发展室模块化自动驾驶系统源代码仓库  
 
 
 

sedrp.sh

@@ -2,7 +2,7 @@ if [ "$#" -lt 1 ]; then
 echo "没有输入"
 echo "$1"
 exit
-fi
+fi 
 
 HOSTQTLIB='/opt/qt/5.10.1/gcc_64/lib'  #当前qt环境的lib目录
 RPATH='/home/root/ADS/lib'  #运行依赖库的路径，目标板的qt库配置到该路径

src/driver/driver_can_vci/driver_can_vci.pro

@@ -1,56 +1,61 @@
-QT -= gui
-
-QT += network
-
-CONFIG += c++11 console
-CONFIG -= app_bundle
-
-QMAKE_LFLAGS += -no-pie
-
-DEFINES += NV
-
-# The following define makes your compiler emit warnings if you use
-# any feature of Qt which as been marked deprecated (the exact warnings
-# depend on your compiler). Please consult the documentation of the
-# deprecated API in order to know how to port your code away from it.
-DEFINES += QT_DEPRECATED_WARNINGS
-
-!include(../../../include/common.pri ) {
-    error( "Couldn't find the common.pri file!" )
-}
-
-!include(../../../include/ivprotobuf.pri ) {
-    error( "Couldn't find the ivprotobuf.pri file!" )
-}
-
-INCLUDEPATH += $$PWD/../../include/base/driver/can
-
-# You can also make your code fail to compile if you use deprecated APIs.
-# In order to do so, uncomment the following line.
-# You can also select to disable deprecated APIs only up to a certain version of Qt.
-#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
-
-SOURCES += main.cpp \
-    canctrl.cpp \
-    ../../include/msgtype/canmsg.pb.cc \
-    ../../include/msgtype/canraw.pb.cc \
-    ../../include/msgtype/canstate.pb.cc \
-    ../../include/base/driver/can/basecan.cpp \
-    vcican.cpp
-
-HEADERS += \
-    canctrl.h \
-    ../../include/msgtype/canmsg.pb.h \
-    ../../include/msgtype/canraw.pb.h \
-    ../../include/msgtype/canstate.pb.h \
-    ../../include/base/driver/can/basecan.h \
-    controlcan.h \
-    vcican.h
-
-contains(QMAKE_HOST.arch, aarch64){
-    unix:!macx: LIBS += -L$$PWD/arm -lcontrolcan
-}else{
-    unix:!macx: LIBS += -L$$PWD/x86_64 -lcontrolcan
-}
-
-
+QT -= gui
+
+QT += network
+
+CONFIG += c++11 console
+CONFIG -= app_bundle
+
+QMAKE_LFLAGS += -no-pie
+
+DEFINES += NV
+
+# The following define makes your compiler emit warnings if you use
+# any feature of Qt which as been marked deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+!include(../../../include/common.pri ) {
+    error( "Couldn't find the common.pri file!" )
+}
+
+!include(../../../include/ivprotobuf.pri ) {
+    error( "Couldn't find the ivprotobuf.pri file!" )
+}
+
+INCLUDEPATH += $$PWD/../../include/base/driver/can
+
+# You can also make your code fail to compile if you use deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += main.cpp \
+    canctrl.cpp \
+    ../../include/msgtype/canmsg.pb.cc \
+    ../../include/msgtype/canraw.pb.cc \
+    ../../include/msgtype/canstate.pb.cc \
+    ../../include/base/driver/can/basecan.cpp \
+    mingw_controlcan.cpp \
+    vcican.cpp
+
+HEADERS += \
+    canctrl.h \
+    ../../include/msgtype/canmsg.pb.h \
+    ../../include/msgtype/canraw.pb.h \
+    ../../include/msgtype/canstate.pb.h \
+    ../../include/base/driver/can/basecan.h \
+    controlcan.h \
+    mingw_controlcan.h \
+    vcican.h
+
+contains(QMAKE_HOST.arch, aarch64){
+    unix:!macx: LIBS += -L$$PWD/arm -lcontrolcan
+}else{
+    unix:!macx: LIBS += -L$$PWD/x86_64 -lcontrolcan
+}
+
+
+win32: DEFINES += IV_WIN
+
+

src/driver/driver_can_vci/vcican.cpp

@@ -27,6 +27,11 @@ extern iv::Ivlog *mivlog;
 
 vcican::vcican(int devnum,int nbaudindex,int nch2baudindex )
 {
+
+#ifdef IV_WIN
+    LoadVCILibrary();
+
+#endif
     mnDevNum = devnum;
 
     unsigned char timing0,timing1;
@@ -79,6 +84,7 @@ void vcican::run()
     if(status != 1)
     {
         mivlog->error("open can card fail");
+        std::cout<<"open can card fail"<<std::endl;
         mfault->SetFaultState(1, 0, "Open can card fail");
         VCI_CloseDevice(4,mnDevNum);
 
@@ -134,6 +140,8 @@ void vcican::run()
     mbCANOpen = true; //01910000837  01910000829
     emit SIG_CANOPENSTATE(true,0,"open can card successfully");
 
+    std::cout<<"open vci can card successfully."<<std::endl;
+
 
 //    VCI_BOARD_INFO xinfo;
 //    VCI_ReadBoardInfo(4,mnDevNum,&xinfo);

src/driver/driver_can_vci/vcican.h

@@ -5,6 +5,7 @@
 
 #include "controlcan.h"
 
+#include "mingw_controlcan.h"
 
 #include <vector>
 #include <QMutex>

src/driver/driver_cloud_grpc_client/grpcclient.cpp

@@ -128,6 +128,7 @@ void grpcclient::run()
                 // The actual RPC.
                 Status status = stub_->upload(&context, request, &reply);
                 if (status.ok()) {
+                    std::cout<<"  data size is "<<nbytesize<<std::endl;
                     std::cout<<nid<<" upload successfully"<<std::endl;
                     if(reply.nres() == 1)
                     {

src/tool/RemoteCtrl/main.cpp

@@ -61,7 +61,7 @@ int main(int argc, char *argv[])
 
     iv::xmlparam::Xmlparam xp("RemoteCtrl.xml");
     gstrmem_gpsimu = xp.GetParam("gpsimu","hcp2_gpsimu");
-    gstrmem_pic[0] = xp.GetParam("PicFront","picfront");
+    gstrmem_pic[0] = xp.GetParam("PicFront","image00");
     gstrmem_pic[1] = xp.GetParam("PicRear","picrear");
     gstrmem_pic[2] = xp.GetParam("PicLeft","picleft");
     gstrmem_pic[3] = xp.GetParam("PicRight","picright");

src/tool/ivmapmake_sharemem/gps_collect.cpp

@@ -476,6 +476,7 @@ static int32_t cast_3_byte_to_int32(const uint8_t *b)
 GPS_Collect::GPS_Collect(QWidget *parent):
     QWidget(parent)
 {
+    gw = this;
     //gps_collector_close = new boost::signals2::signal<void()>();
 
     this->setObjectName(QStringLiteral("GPS_Collector"));
@@ -824,7 +825,7 @@ GPS_Collect::~GPS_Collect()
 //刷新
 void GPS_Collect::paintEvent(QPaintEvent *)
 {
-    if(pointf.empty()){
+    if(pointf.isEmpty()){
         return;
    }