modify ui xviz

src/ui/xviz_civetweb/datacluster.cpp

@@ -144,7 +144,7 @@ void DataCluster::UpdateGPSIMU(const char * strdata,const unsigned int nSize,con
     data->vel_E = xgpsimu.ve();    //东向速度,单位(米/秒)
     data->vel_N = xgpsimu.vn();    //北向速度,单位(米/秒)
     GaussProjCal(data->gps_lng,data->gps_lat,&data->gps_x,&data->gps_y);
-//    qDebug()<<data->gps_x<<data->gps_y;
+    //    qDebug()<<data->gps_x<<data->gps_y;
     ServiceCarStatus.mRTKStatus = data->rtk_status;
     ServiceCarStatus.speed = data->speed;
     ServiceCarStatus.location->gps_lat = data->gps_lat;
@@ -616,89 +616,91 @@ QJsonObject DataCluster::fillPrimitivesTest()
     std::vector<iv::TracePoint> xplan(m_plan_right);
     mMutexPlanRight.unlock();
     size = xplan.size();
-    for(int i = 0; i < 300; i++)
+    if(size)
     {
-        QJsonArray arrVerticesEle;
-        arrVerticesEle.insert(0,QJsonValue(xplan.at(i).y));
-        arrVerticesEle.insert(1,QJsonValue(-xplan.at(i).x));
-        arrVerticesEle.insert(2,QJsonValue(0));
-        arrVertices.insert(i,QJsonValue(arrVerticesEle));
-    }
-    objVertices.insert("vertices",QJsonValue(arrVertices));
-    arrPolylinesk.insert(0,QJsonValue(objVertices));
-    objTrajectory.insert("polylines",QJsonValue(arrPolylinesk));
+        for(int i = 0; i < 300; i++)
+        {
+            QJsonArray arrVerticesEle;
+            arrVerticesEle.insert(0,QJsonValue(xplan.at(i).y));
+            arrVerticesEle.insert(1,QJsonValue(-xplan.at(i).x));
+            arrVerticesEle.insert(2,QJsonValue(0));
+            arrVertices.insert(i,QJsonValue(arrVerticesEle));
+        }
+        objVertices.insert("vertices",QJsonValue(arrVertices));
+        arrPolylinesk.insert(0,QJsonValue(objVertices));
+        objTrajectory.insert("polylines",QJsonValue(arrPolylinesk));
 
-    //zhangaiwu
-    QJsonObject objPloygons;
-    QJsonArray arrPloygons;
+        //zhangaiwu
+        QJsonObject objPloygons;
+        QJsonArray arrPloygons;
+
+        QJsonArray arrVertices1,arrClass;
+        QJsonObject objBase,objStyle,objvertices;
+        QJsonArray arrVerticesElm1;
+        QJsonArray arrVerticesElm2;
+        QJsonArray arrVerticesElm3;
+        QJsonArray arrVerticesElm4;
+        QJsonArray arrVerticesElm5;
+        double x,y,x1,x2,x3,y1,y2,y3;
+        double r = -ServiceCarStatus.location->ins_heading_angle*PI/180;
+        x = xplan.at(100).x;
+        y = xplan.at(100).y;
+
+        x1 = x+2*cos(r);
+        y1 = y + 2*sin(r);
+        x2 = x-5*sin(r)+2*cos(r);
+        y2 = 2*sin(r)+y+5*cos(r);
+        x3 = x-5*sin(r);
+        y3 = y+5*cos(r);
+
+        //    arrVerticesElm1.append(QJsonValue(xplan.at(100).y));
+        //    arrVerticesElm1.append(QJsonValue(-xplan.at(100).x+0.8));
+        //    arrVerticesElm1.append(QJsonValue(-1));
+        //    arrVerticesElm2.append(QJsonValue(xplan.at(100).y));
+        //    arrVerticesElm2.append(QJsonValue(-xplan.at(100).x-0.8));
+        //    arrVerticesElm2.append(QJsonValue(-1));
+        //    arrVerticesElm3.append(QJsonValue(xplan.at(130).y));
+        //    arrVerticesElm3.append(QJsonValue(-xplan.at(100).x-0.8));
+        //    arrVerticesElm3.append(QJsonValue(-1));
+        //    arrVerticesElm4.append(QJsonValue(xplan.at(130).y));
+        //    arrVerticesElm4.append(QJsonValue(-xplan.at(100).x+0.8));
+        //    arrVerticesElm4.append(QJsonValue(-1));
+        //    arrVerticesElm5.append(QJsonValue(xplan.at(100).y));
+        //    arrVerticesElm5.append(QJsonValue(-xplan.at(100).x+0.8));
+        //    arrVerticesElm5.append(QJsonValue(-1));
+        arrVerticesElm1.append(QJsonValue(y));
+        arrVerticesElm1.append(QJsonValue(-x));
+        arrVerticesElm1.append(QJsonValue(-1));
+        arrVerticesElm2.append(QJsonValue(y1));
+        arrVerticesElm2.append(QJsonValue(-x1));
+        arrVerticesElm2.append(QJsonValue(-1));
+        arrVerticesElm3.append(QJsonValue(y2));
+        arrVerticesElm3.append(QJsonValue(-x2));
+        arrVerticesElm3.append(QJsonValue(-1));
+        arrVerticesElm4.append(QJsonValue(y3));
+        arrVerticesElm4.append(QJsonValue(-x3));
+        arrVerticesElm4.append(QJsonValue(-1));
+        //    arrVerticesElm5.append(QJsonValue(y));
+        //    arrVerticesElm5.append(QJsonValue(-x));
+        //    arrVerticesElm5.append(QJsonValue(-1));
+        arrVertices1.append(QJsonValue(arrVerticesElm1));
+        arrVertices1.append(QJsonValue(arrVerticesElm2));
+        arrVertices1.append(QJsonValue(arrVerticesElm3));
+        arrVertices1.append(QJsonValue(arrVerticesElm4));
+        //    arrVertices1.append(QJsonValue(arrVerticesElm5));
+
+        objvertices.insert("vertices",QJsonValue(arrVertices1));
+        objBase.insert("object_id",QJsonValue(1));
+        objStyle.insert("height",QJsonValue(1));
+        objBase.insert("style",QJsonValue(objStyle));
+        arrClass.append(QJsonValue("Car"));//TODO:leixing
+        objBase.insert("classes",QJsonValue(arrClass));
+
+        objvertices.insert("base",QJsonValue(objBase));
 
-    QJsonArray arrVertices1,arrClass;
-    QJsonObject objBase,objStyle,objvertices;
-    QJsonArray arrVerticesElm1;
-    QJsonArray arrVerticesElm2;
-    QJsonArray arrVerticesElm3;
-    QJsonArray arrVerticesElm4;
-    QJsonArray arrVerticesElm5;
-    double x,y,x1,x2,x3,y1,y2,y3;
-    double r = -ServiceCarStatus.location->ins_heading_angle*PI/180;
-    x = xplan.at(100).x;
-    y = xplan.at(100).y;
-
-    x1 = x+2*cos(r);
-    y1 = y + 2*sin(r);
-    x2 = x-5*sin(r)+2*cos(r);
-    y2 = 2*sin(r)+y+5*cos(r);
-    x3 = x-5*sin(r);
-    y3 = y+5*cos(r);
-
-    //    arrVerticesElm1.append(QJsonValue(xplan.at(100).y));
-    //    arrVerticesElm1.append(QJsonValue(-xplan.at(100).x+0.8));
-    //    arrVerticesElm1.append(QJsonValue(-1));
-    //    arrVerticesElm2.append(QJsonValue(xplan.at(100).y));
-    //    arrVerticesElm2.append(QJsonValue(-xplan.at(100).x-0.8));
-    //    arrVerticesElm2.append(QJsonValue(-1));
-    //    arrVerticesElm3.append(QJsonValue(xplan.at(130).y));
-    //    arrVerticesElm3.append(QJsonValue(-xplan.at(100).x-0.8));
-    //    arrVerticesElm3.append(QJsonValue(-1));
-    //    arrVerticesElm4.append(QJsonValue(xplan.at(130).y));
-    //    arrVerticesElm4.append(QJsonValue(-xplan.at(100).x+0.8));
-    //    arrVerticesElm4.append(QJsonValue(-1));
-    //    arrVerticesElm5.append(QJsonValue(xplan.at(100).y));
-    //    arrVerticesElm5.append(QJsonValue(-xplan.at(100).x+0.8));
-    //    arrVerticesElm5.append(QJsonValue(-1));
-    arrVerticesElm1.append(QJsonValue(y));
-    arrVerticesElm1.append(QJsonValue(-x));
-    arrVerticesElm1.append(QJsonValue(-1));
-    arrVerticesElm2.append(QJsonValue(y1));
-    arrVerticesElm2.append(QJsonValue(-x1));
-    arrVerticesElm2.append(QJsonValue(-1));
-    arrVerticesElm3.append(QJsonValue(y2));
-    arrVerticesElm3.append(QJsonValue(-x2));
-    arrVerticesElm3.append(QJsonValue(-1));
-    arrVerticesElm4.append(QJsonValue(y3));
-    arrVerticesElm4.append(QJsonValue(-x3));
-    arrVerticesElm4.append(QJsonValue(-1));
-    //    arrVerticesElm5.append(QJsonValue(y));
-    //    arrVerticesElm5.append(QJsonValue(-x));
-    //    arrVerticesElm5.append(QJsonValue(-1));
-    arrVertices1.append(QJsonValue(arrVerticesElm1));
-    arrVertices1.append(QJsonValue(arrVerticesElm2));
-    arrVertices1.append(QJsonValue(arrVerticesElm3));
-    arrVertices1.append(QJsonValue(arrVerticesElm4));
-    //    arrVertices1.append(QJsonValue(arrVerticesElm5));
-
-    objvertices.insert("vertices",QJsonValue(arrVertices1));
-    objBase.insert("object_id",QJsonValue(1));
-    objStyle.insert("height",QJsonValue(1));
-    objBase.insert("style",QJsonValue(objStyle));
-    arrClass.append(QJsonValue("Car"));//TODO:leixing
-    objBase.insert("classes",QJsonValue(arrClass));
-
-    objvertices.insert("base",QJsonValue(objBase));
-
-    arrPloygons.append(QJsonValue(objvertices));
+        arrPloygons.append(QJsonValue(objvertices));
 
-    objPloygons.insert("polygons",QJsonValue(arrPloygons));
+        objPloygons.insert("polygons",QJsonValue(arrPloygons));
     //tracking point
     QJsonArray arrCircles;
     QJsonObject objCircles;
@@ -723,6 +725,7 @@ QJsonObject DataCluster::fillPrimitivesTest()
     objPrimtives.insert("/tracklets/tracking_point",QJsonValue(objCircles));
     objPrimtives.insert("/tracklets/roadmap",QJsonValue(fillMapTrace()));
     return objPrimtives;
+    }
 }
 QJsonObject DataCluster::fillMapTrace()
 {
@@ -855,11 +858,11 @@ QJsonObject DataCluster::fillFrame()
     QJsonObject objData,objFrame;
     QJsonObject objposeData,objPriData,objUpdates;
     objposeData = fillPoseData();
-    objPriData = fillPrimitivesTest();
+//    objPriData = fillPrimitivesTest();
     arrTimeSeries = fillTimeSeries();
     objUpdates.insert("timestamp",QJsonValue(QDateTime::currentMSecsSinceEpoch()/100));
     objUpdates.insert("poses",QJsonValue(objposeData));
-    objUpdates.insert("primitives",QJsonValue(objPriData));
+//    objUpdates.insert("primitives",QJsonValue(objPriData));
     objUpdates.insert("time_series",QJsonValue(arrTimeSeries));
     arrUpdates.insert(0,QJsonValue(objUpdates));
 
@@ -869,7 +872,7 @@ QJsonObject DataCluster::fillFrame()
     objFrame.insert("type",QJsonValue("xviz/state_update"));
     objFrame.insert("data",QJsonValue(objData));
 
-    //    qDebug()<<"frame: "<<objFrame;
+//        qDebug()<<"frame: "<<objFrame;
     return objFrame;
 }
 

src/ui/xviz_civetweb/wshandler.cpp

@@ -48,10 +48,14 @@ void WSHandler::ThreadSend(mg_connection *conn)
     QByteArray bameta;
     QByteArray baframe;
     QFile xFile;
-    xFile.setFileName("/home/nvidia/frame/1-frame.json");
+        xFile.setFileName("/root/code/frame/1-frame.json");
+//    xFile.setFileName("/home/nvidia/code/frame/1-frame.json");
+    qDebug()<<"read meta data";
+    std::cout<<"read meta data"<<std::endl;
     if(!xFile.open(QIODevice::ReadOnly))
     {
-        std::cout<<"Read meta File Fail."<<std::endl;
+         std::cout<<"read meta data Faile"<<std::endl;
+         std::cout<<xFile.fileName().data()<<std::endl;
         return;
     }
     bameta = xFile.readAll();
@@ -60,7 +64,7 @@ void WSHandler::ThreadSend(mg_connection *conn)
     //ceshi
     if(0)
     {
-        xFile.setFileName("/home/nvidia/frame/2-frame.json");
+        xFile.setFileName("/root/code/frame/1-frame.json");
         if(!xFile.open(QIODevice::ReadOnly))
         {
             std::cout<<"Read frame File Fail."<<std::endl;
@@ -70,6 +74,8 @@ void WSHandler::ThreadSend(mg_connection *conn)
         xFile.close();
     }
     //发送metadata数据
+
+    qDebug()<<"Start send metadata.";
     int nsend = mg_websocket_write(conn, MG_WEBSOCKET_OPCODE_TEXT, \
                                    bameta.data(),bameta.size());
     if(nsend == 0)
@@ -89,11 +95,12 @@ void WSHandler::ThreadSend(mg_connection *conn)
     {
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
         QJsonObject obj = dataCluster.fillFrame();
-//        qDebug()<<"obj"<<obj;
 //        timer.start();
         baframe = QJsonDocument(obj).toJson();
         nsend = mg_websocket_write(conn, MG_WEBSOCKET_OPCODE_TEXT, \
                                    baframe.data(),baframe.size());
+
+        qDebug()<<"obj"<<obj<<"nsend"<<nsend;
 //        qDebug()<<timer.elapsed();
         if(nsend == 0)
         {

src/ui/xviz_civetweb/xviz_civetweb.pro

@@ -1,6 +1,7 @@
 QT -= gui
 
-CONFIG += c++11 console
+CONFIG += c++11
+CONFIG += console
 CONFIG -= app_bundle
 
 # The following define makes your compiler emit warnings if you use