增加底盘测试小程序和controller模块，detection_chassis模块结合使用实现底盘线控测试

src/chassis_test/shenlan_test/main.cpp

@@ -0,0 +1,11 @@
+#include "mainwindow.h"
+#include <QApplication>
+
+int main(int argc, char *argv[])
+{
+    QApplication a(argc, argv);
+    MainWindow w;
+    w.show();
+
+    return a.exec();
+}

src/chassis_test/shenlan_test/mainwindow.cpp

@@ -0,0 +1,155 @@
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+#include "iostream"
+#include  "modulecomm.h"
+#include "decition.pb.h"
+#include "chassis.pb.h"
+
+#include <QTimer>
+
+static bool gbHaveVehSpd = false;
+static double gfVehSpd = 0.0;
+static double gfAng=0.0;
+QString qsSpd ;
+QString qsAng ;
+void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);
+//void ListenChassis(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+//{
+//    UpdateChassis(strdata,nSize);
+//}
+
+
+MainWindow* instance;
+MainWindow::MainWindow(QWidget *parent) :
+    QMainWindow(parent),
+    ui(new Ui::MainWindow)
+{
+    ui->setupUi(this);
+    instance=this;
+
+    this->setWindowTitle("中汽智联车辆线控测试系统");
+
+    this->setObjectName("parent");
+    this->setStyleSheet("#parent { border-image: url(:/new/prefix1/background4.png);}");
+    this->setWindowFlags(Qt::WindowMinimizeButtonHint|Qt::WindowCloseButtonHint);
+
+    timer =new QTimer(this);
+
+    mpaVechicleDeciton = iv::modulecomm::RegisterSend("deciton",10000,10);
+    gpachassis = iv::modulecomm::RegisterRecv("chassis",UpdateChassis);
+
+    connect(timer,SIGNAL(timeout()),this,SLOT(ShareChassisDebug()));
+
+    timer->start(20);
+
+    decition_debug.set_wheelangle(5);
+    decition_debug.set_torque(1);
+    decition_debug.set_brake(2);
+
+}
+
+
+//建立自身调用
+MainWindow *MainWindow::getInstance()
+{
+    return instance;
+}
+
+void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
+{
+    (void)index;
+    (void)dt;
+    (void)strmemname;
+    iv::chassis xchassis;
+    //    static int ncount = 0;
+    if(!xchassis.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<"iv::decition::BrainDecition::UpdateChassis ParseFrom Array Error."<<std::endl;
+        return;
+    }
+
+    if(xchassis.has_epsmode())
+    {
+    if(xchassis.epsmode() == 0)
+    {
+        bool gbChassisEPS = true;
+    }
+    }
+
+    if(xchassis.has_vel())
+    {
+        gfVehSpd = xchassis.vel();
+        gbHaveVehSpd = true;
+        qsSpd = QString::number(gfVehSpd, 'f', 2);
+
+  //      std::cout<<" gf Veh speed : "<<gfVehSpd<<std::endl;
+    }
+    if(xchassis.has_angle_feedback())
+    {
+       gfAng = xchassis.angle_feedback();
+       qsAng = QString::number(gfAng, 'f', 2);
+    }
+
+    MainWindow::getInstance()->ShowChassisData();
+}
+
+void MainWindow::ShowChassisData()
+{
+    ui->Vehicle_Speed->setText(qsSpd);
+    ui->EPS_Ang->setText(qsAng);
+}
+
+void MainWindow::ShareChassisDebug()
+{
+    int nsize = decition_debug.ByteSize();
+    char * str = new char[nsize];
+    std::shared_ptr<char> pstr;
+    pstr.reset(str);
+    if(decition_debug.SerializeToArray(str,nsize))
+    {
+        iv::modulecomm::ModuleSendMsg(mpaVechicleDeciton,str,nsize);
+    }
+    else
+    {
+        std::cout<<"iv::decition::ShareChassisDebug::ShareChassisDebug serialize error."<<std::endl;
+    }
+}
+
+MainWindow::~MainWindow()
+{
+    iv::modulecomm::Unregister(mpaVechicleDeciton);
+    delete ui;
+}
+
+void MainWindow::on_doubleang_pos_valueChanged(double arg1)
+{
+    decition_debug.set_wheelangle(arg1);
+}
+
+void MainWindow::on_targe_acc_valueChanged(double arg1)  //加速扭矩
+{
+    if(arg1>=0.0)
+    {
+      decition_debug.set_torque(arg1);
+      decition_debug.set_brake(0);
+      ui->brake->setValue(0.0);
+    }
+    else
+    {
+      decition_debug.set_torque(0);
+    }
+}
+
+void MainWindow::on_brake_valueChanged(double arg1)
+{
+    if(arg1<=0.0)
+    {
+      decition_debug.set_torque(0);
+      decition_debug.set_brake(arg1);
+      ui->targe_acc->setValue(0.0);
+    }
+    else
+    {
+      decition_debug.set_brake(arg1);
+    }
+}

src/chassis_test/shenlan_test/mainwindow.h

@@ -0,0 +1,49 @@
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+#include  "modulecomm.h"
+#include "decition.pb.h"
+
+    namespace Ui {
+    class MainWindow;
+    }
+
+    using namespace iv;
+
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+private slots:
+     //void ShareChassisDebug(iv::brain::decition xbs);
+     void ShareChassisDebug();
+
+     void on_doubleang_pos_valueChanged(double arg1);
+
+     void on_targe_acc_valueChanged(double arg1);
+
+     void on_brake_valueChanged(double arg1);
+
+public:
+    explicit MainWindow(QWidget *parent = 0);
+    ~MainWindow();
+    void * mpaVechicleDeciton;
+    void * gpachassis;
+    iv::brain::decition decition_debug;
+    static MainWindow* getInstance();
+     void UpdateDecition(const char *pdata, const int ndatasize);
+     void ShowChassisData();
+//     void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);
+
+private:
+    Ui::MainWindow *ui;
+
+
+    QTimer *timer;
+
+};
+
+
+
+#endif // MAINWINDOW_H

src/chassis_test/shenlan_test/mainwindow.ui

@@ -0,0 +1,1606 @@
+<?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>965</width>
+    <height>706</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <property name="windowIcon">
+   <iconset resource="resources.qrc">
+    <normaloff>:/new/prefix1/adc.ico</normaloff>:/new/prefix1/adc.ico</iconset>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <layout class="QGridLayout" name="gridLayout">
+    <item row="1" column="1">
+     <widget class="QGroupBox" name="groupBox">
+      <property name="enabled">
+       <bool>true</bool>
+      </property>
+      <property name="styleSheet">
+       <string notr="true"/>
+      </property>
+      <property name="title">
+       <string>车辆状态实时信息</string>
+      </property>
+      <layout class="QGridLayout" name="gridLayout_8">
+       <item row="0" column="2">
+        <layout class="QHBoxLayout" name="horizontalLayout_16">
+         <item>
+          <widget class="QLabel" name="label_14">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>加速度（m/s2）</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="real_acc">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0.0</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="11" column="2">
+        <layout class="QHBoxLayout" name="horizontalLayout_27">
+         <item>
+          <widget class="QLabel" name="label_5">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>右前轮轮速(km/h)</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="RFspeed">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="13" column="2">
+        <layout class="QHBoxLayout" name="horizontalLayout_12">
+         <item>
+          <widget class="QLabel" name="label_7">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>右后轮轮速(km/h)</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="RBspeed">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="8" column="1">
+        <layout class="QHBoxLayout" name="horizontalLayout_28">
+         <item>
+          <widget class="QLabel" name="label_24">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>近光灯</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="dippbeam_status">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="1" column="1">
+        <layout class="QHBoxLayout" name="horizontalLayout_2">
+         <item>
+          <widget class="QLabel" name="label_13">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>方向盘转向</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="steer_sign">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>R</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="4" column="1">
+        <layout class="QHBoxLayout" name="horizontalLayout_17">
+         <property name="spacing">
+          <number>6</number>
+         </property>
+         <property name="sizeConstraint">
+          <enum>QLayout::SetDefaultConstraint</enum>
+         </property>
+        </layout>
+       </item>
+       <item row="3" column="1">
+        <layout class="QHBoxLayout" name="horizontalLayout_8">
+         <item>
+          <widget class="QLabel" name="label_15">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>当前挡位</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="real_gear">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>P</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="1" column="2">
+        <layout class="QHBoxLayout" name="horizontalLayout_20"/>
+       </item>
+       <item row="10" column="1">
+        <layout class="QHBoxLayout" name="horizontalLayout_32">
+         <item>
+          <widget class="QLabel" name="label_28">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>制动灯</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="brakelight_status">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="11" column="1">
+        <layout class="QHBoxLayout" name="horizontalLayout_26">
+         <item>
+          <widget class="QLabel" name="label_11">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>驾驶模式</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="driving_state">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="autoFillBackground">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>Manual</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="4" column="2">
+        <layout class="QHBoxLayout" name="horizontalLayout_7">
+         <item>
+          <widget class="QLabel" name="gas_show">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>人工干预油门百分比</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="gas_pedal">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="12" column="2">
+        <layout class="QHBoxLayout" name="horizontalLayout_11">
+         <item>
+          <widget class="QLabel" name="label_6">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>左后轮轮速(km/h)</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="LBspeed">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="2" column="2">
+        <layout class="QHBoxLayout" name="horizontalLayout_24">
+         <item>
+          <widget class="QLabel" name="label_20">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>纵向工作模式</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="longitude_mode">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="9" column="1">
+        <layout class="QHBoxLayout" name="horizontalLayout_30">
+         <item>
+          <widget class="QLabel" name="label_26">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>雾灯</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="frog_status">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="0" column="1">
+        <layout class="QHBoxLayout" name="horizontalLayout">
+         <item>
+          <widget class="QLabel" name="label_2">
+           <property name="enabled">
+            <bool>true</bool>
+           </property>
+           <property name="text">
+            <string>方向盘转角（°）</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="EPS_Ang">
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="3" column="2">
+        <layout class="QHBoxLayout" name="horizontalLayout_25">
+         <item>
+          <widget class="QLabel" name="label_3">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>制动踏板状态</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="brake_press">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="7" column="2">
+        <layout class="QHBoxLayout" name="horizontalLayout_10">
+         <item>
+          <widget class="QLabel" name="label_19">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>双闪</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="emergency_status">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="14" column="1">
+        <layout class="QHBoxLayout" name="horizontalLayout_21">
+         <property name="spacing">
+          <number>13</number>
+         </property>
+         <property name="sizeConstraint">
+          <enum>QLayout::SetDefaultConstraint</enum>
+         </property>
+         <item>
+          <widget class="QLabel" name="label_10">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>手刹状态</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="epb_state">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>0</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="autoFillBackground">
+            <bool>false</bool>
+           </property>
+           <property name="styleSheet">
+            <string notr="true">background-image: url(:/new/pic/EPB_Parking.png)</string>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::NoFrame</enum>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="2" column="1">
+        <layout class="QHBoxLayout" name="horizontalLayout_23">
+         <item>
+          <widget class="QLabel" name="eps_mode_label">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>EPS模式</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="eps_mode">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="10" column="2">
+        <layout class="QHBoxLayout" name="horizontalLayout_9">
+         <item>
+          <widget class="QLabel" name="label_4">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>左前轮轮速（km/h)</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="LFspeed">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="8" column="2">
+        <layout class="QHBoxLayout" name="horizontalLayout_29">
+         <item>
+          <widget class="QLabel" name="label_25">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>远光灯</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="highbeam_status">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="9" column="2">
+        <layout class="QHBoxLayout" name="horizontalLayout_31">
+         <item>
+          <widget class="QLabel" name="label_27">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>雨刮</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="windshieldwiper_status">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="7" column="1">
+        <layout class="QHBoxLayout" name="horizontalLayout_13">
+         <item>
+          <widget class="QLabel" name="label_21">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>转向灯</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="turn_lightst">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="text">
+            <string>R</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+      </layout>
+     </widget>
+    </item>
+    <item row="0" column="0" colspan="2">
+     <widget class="QGroupBox" name="groupBox_9">
+      <property name="title">
+       <string>CAN卡操作</string>
+      </property>
+      <layout class="QGridLayout" name="gridLayout_11">
+       <item row="1" column="0">
+        <widget class="QCheckBox" name="start_send">
+         <property name="enabled">
+          <bool>false</bool>
+         </property>
+         <property name="text">
+          <string>握手信号</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="0">
+        <widget class="QPushButton" name="pushButton">
+         <property name="enabled">
+          <bool>false</bool>
+         </property>
+         <property name="text">
+          <string>启动CAN设备</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="1">
+        <widget class="QPushButton" name="pushButton_2">
+         <property name="enabled">
+          <bool>false</bool>
+         </property>
+         <property name="text">
+          <string>关闭CAN设备</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </item>
+    <item row="1" column="0">
+     <widget class="QGroupBox" name="groupBox_2">
+      <property name="title">
+       <string>车辆控制</string>
+      </property>
+      <layout class="QGridLayout" name="gridLayout_5">
+       <item row="2" column="0" colspan="3">
+        <layout class="QHBoxLayout" name="horizontalLayout_3">
+         <item>
+          <widget class="QLineEdit" name="lineEdit_2">
+           <property name="enabled">
+            <bool>true</bool>
+           </property>
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>90</width>
+             <height>0</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>90</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>方向盘转角</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QDoubleSpinBox" name="doubleang_pos">
+           <property name="minimumSize">
+            <size>
+             <width>78</width>
+             <height>0</height>
+            </size>
+           </property>
+           <property name="decimals">
+            <number>1</number>
+           </property>
+           <property name="minimum">
+            <double>-430.000000000000000</double>
+           </property>
+           <property name="maximum">
+            <double>430.000000000000000</double>
+           </property>
+           <property name="singleStep">
+            <double>20.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QSpinBox" name="ang_pos">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>42</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="minimum">
+            <number>-800</number>
+           </property>
+           <property name="maximum">
+            <number>800</number>
+           </property>
+           <property name="value">
+            <number>20</number>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLineEdit" name="lineEdit_3">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>70</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>刹车</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QSpinBox" name="ang_speed">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>42</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="minimum">
+            <number>0</number>
+           </property>
+           <property name="maximum">
+            <number>500</number>
+           </property>
+           <property name="singleStep">
+            <number>1</number>
+           </property>
+           <property name="value">
+            <number>50</number>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <spacer name="horizontalSpacer_3">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>40</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </item>
+       <item row="0" column="0">
+        <widget class="QGroupBox" name="groupBox_6">
+         <property name="title">
+          <string>驾驶模式选择</string>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout_5">
+          <item>
+           <widget class="QCheckBox" name="mode">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>驾驶模式使能</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QCheckBox" name="brkgas_en">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>纵向使能</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QCheckBox" name="eps_en">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>转向使能</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QCheckBox" name="gear_en">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>挡位使能</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item row="4" column="0" colspan="3">
+        <layout class="QHBoxLayout" name="horizontalLayout_15">
+         <item>
+          <widget class="QLabel" name="label_12">
+           <property name="enabled">
+            <bool>true</bool>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>90</width>
+             <height>0</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>90</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>减速度</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QDoubleSpinBox" name="brake">
+           <property name="enabled">
+            <bool>true</bool>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>78</width>
+             <height>0</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>78</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="minimum">
+            <double>-5.000000000000000</double>
+           </property>
+           <property name="maximum">
+            <double>0.000000000000000</double>
+           </property>
+           <property name="singleStep">
+            <double>0.200000000000000</double>
+           </property>
+           <property name="value">
+            <double>0.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QCheckBox" name="aeb_en">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>AEB使能</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="label_9">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>AEB减速度</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QDoubleSpinBox" name="aeb_acc">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="minimum">
+            <double>-16.000000000000000</double>
+           </property>
+           <property name="maximum">
+            <double>0.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <spacer name="horizontalSpacer_2">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>40</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </item>
+       <item row="0" column="3">
+        <widget class="QGroupBox" name="groupBox_4">
+         <property name="enabled">
+          <bool>true</bool>
+         </property>
+         <property name="title">
+          <string>手刹控制</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_2">
+          <item row="0" column="0">
+           <layout class="QVBoxLayout" name="verticalLayout_2">
+            <item>
+             <widget class="QCheckBox" name="hand_brake">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="text">
+               <string>手刹</string>
+              </property>
+              <property name="checked">
+               <bool>true</bool>
+              </property>
+              <attribute name="buttonGroup">
+               <string notr="true">EPB_buttonGroup</string>
+              </attribute>
+             </widget>
+            </item>
+            <item>
+             <widget class="QCheckBox" name="push_hand_brake">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="text">
+               <string>松手刹</string>
+              </property>
+              <attribute name="buttonGroup">
+               <string notr="true">EPB_buttonGroup</string>
+              </attribute>
+             </widget>
+            </item>
+           </layout>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item row="0" column="2">
+        <widget class="QGroupBox" name="groupBox_7">
+         <property name="enabled">
+          <bool>true</bool>
+         </property>
+         <property name="title">
+          <string>发动机车门锁控制</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_4">
+          <item row="0" column="0">
+           <layout class="QVBoxLayout" name="verticalLayout_4">
+            <item>
+             <widget class="QCheckBox" name="engine">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="text">
+               <string>点火</string>
+              </property>
+              <attribute name="buttonGroup">
+               <string notr="true">engineer_buttonGroup</string>
+              </attribute>
+             </widget>
+            </item>
+            <item>
+             <widget class="QCheckBox" name="stop_engine">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="text">
+               <string>熄火</string>
+              </property>
+              <property name="checked">
+               <bool>true</bool>
+              </property>
+              <attribute name="buttonGroup">
+               <string notr="true">engineer_buttonGroup</string>
+              </attribute>
+             </widget>
+            </item>
+            <item>
+             <widget class="QCheckBox" name="door_lock">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="text">
+               <string>车门上锁</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item row="0" column="1">
+        <widget class="QGroupBox" name="groupBox_3">
+         <property name="enabled">
+          <bool>true</bool>
+         </property>
+         <property name="title">
+          <string>挡位控制</string>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout">
+          <item>
+           <widget class="QCheckBox" name="gear_D">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>D</string>
+            </property>
+            <attribute name="buttonGroup">
+             <string notr="true">gear_buttonGroup</string>
+            </attribute>
+           </widget>
+          </item>
+          <item>
+           <widget class="QCheckBox" name="gear_N">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>N</string>
+            </property>
+            <attribute name="buttonGroup">
+             <string notr="true">gear_buttonGroup</string>
+            </attribute>
+           </widget>
+          </item>
+          <item>
+           <widget class="QCheckBox" name="gear_R">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>R</string>
+            </property>
+            <attribute name="buttonGroup">
+             <string notr="true">gear_buttonGroup</string>
+            </attribute>
+           </widget>
+          </item>
+          <item>
+           <widget class="QCheckBox" name="gear_P">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>P</string>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+            <attribute name="buttonGroup">
+             <string notr="true">gear_buttonGroup</string>
+            </attribute>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item row="3" column="0" colspan="3">
+        <layout class="QHBoxLayout" name="horizontalLayout_6">
+         <item>
+          <widget class="QLabel" name="label_acc">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>90</width>
+             <height>0</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>90</width>
+             <height>20</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>加速扭矩</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QDoubleSpinBox" name="targe_acc">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>78</width>
+             <height>0</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>78</width>
+             <height>20</height>
+            </size>
+           </property>
+           <property name="decimals">
+            <number>0</number>
+           </property>
+           <property name="minimum">
+            <double>0.000000000000000</double>
+           </property>
+           <property name="maximum">
+            <double>1000.000000000000000</double>
+           </property>
+           <property name="singleStep">
+            <double>10.000000000000000</double>
+           </property>
+           <property name="value">
+            <double>0.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="label_8">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>限速</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QSpinBox" name="limit_spd">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="maximum">
+            <number>255</number>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <spacer name="horizontalSpacer">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>40</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </item>
+       <item row="1" column="0" colspan="4">
+        <widget class="QGroupBox" name="groupBox_5">
+         <property name="enabled">
+          <bool>true</bool>
+         </property>
+         <property name="title">
+          <string>声光控制</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_3">
+          <item row="0" column="0">
+           <widget class="QCheckBox" name="left_turn">
+            <property name="text">
+             <string>左转向</string>
+            </property>
+            <property name="checked">
+             <bool>false</bool>
+            </property>
+            <property name="tristate">
+             <bool>false</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="4">
+           <widget class="QCheckBox" name="airc_ac">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>空调AC</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QCheckBox" name="speaker">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>喇叭</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="5">
+           <widget class="QCheckBox" name="window">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>车窗上升</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QCheckBox" name="pos_light">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>位置灯</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="4">
+           <widget class="QCheckBox" name="airc_recirc">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>空调内循环</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QCheckBox" name="right_turn">
+            <property name="text">
+             <string>右转向</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QCheckBox" name="dipped_light">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>近光灯</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QCheckBox" name="frog">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>雾灯</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QCheckBox" name="wiper">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>雨刮</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QCheckBox" name="high_beam">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>远光灯</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QCheckBox" name="flicker">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>双闪</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="4">
+           <widget class="QCheckBox" name="airc_auto">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>空调auto</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="4">
+           <widget class="QCheckBox" name="airc_off">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>空调off</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="2">
+           <widget class="QCheckBox" name="brake_light">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>制动灯</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="1">
+           <widget class="QCheckBox" name="defrost">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>除霜</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <widget class="QCheckBox" name="reverse_light">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>倒车灯</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item row="3" column="3">
+        <widget class="QLabel" name="label">
+         <property name="enabled">
+          <bool>true</bool>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>17</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>当前车速(km/h)</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="3">
+        <widget class="QLabel" name="Vehicle_Speed">
+         <property name="enabled">
+          <bool>true</bool>
+         </property>
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>17</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>16777215</width>
+           <height>50</height>
+          </size>
+         </property>
+         <property name="mouseTracking">
+          <bool>false</bool>
+         </property>
+         <property name="tabletTracking">
+          <bool>false</bool>
+         </property>
+         <property name="autoFillBackground">
+          <bool>false</bool>
+         </property>
+         <property name="styleSheet">
+          <string notr="true"/>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::Box</enum>
+         </property>
+         <property name="text">
+          <string>0</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>965</width>
+     <height>22</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources>
+  <include location="resources.qrc"/>
+ </resources>
+ <connections/>
+ <buttongroups>
+  <buttongroup name="engineer_buttonGroup"/>
+  <buttongroup name="gear_buttonGroup"/>
+  <buttongroup name="EPB_buttonGroup"/>
+ </buttongroups>
+</ui>

src/chassis_test/shenlan_test/mainwindowYUAN.ui

@@ -0,0 +1,82 @@
+<?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>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <widget class="QLineEdit" name="lineEdit">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>70</y>
+      <width>81</width>
+      <height>25</height>
+     </rect>
+    </property>
+    <property name="autoFillBackground">
+     <bool>false</bool>
+    </property>
+    <property name="inputMethodHints">
+     <set>Qt::ImhNone</set>
+    </property>
+    <property name="text">
+     <string>方向盘转角</string>
+    </property>
+    <property name="readOnly">
+     <bool>true</bool>
+    </property>
+   </widget>
+   <widget class="QSpinBox" name="EPS_spinBox">
+    <property name="geometry">
+     <rect>
+      <x>100</x>
+      <y>70</y>
+      <width>61</width>
+      <height>26</height>
+     </rect>
+    </property>
+    <property name="minimum">
+     <number>-430</number>
+    </property>
+    <property name="maximum">
+     <number>430</number>
+    </property>
+    <property name="singleStep">
+     <number>10</number>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>400</width>
+     <height>22</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

src/chassis_test/shenlan_test/resources.qrc

@@ -0,0 +1,6 @@
+<RCC>
+    <qresource prefix="/new/prefix1">
+        <file>background4.png</file>
+        <file>adc.ico</file>
+    </qresource>
+</RCC>

src/chassis_test/shenlan_test/shenlan_test.pro

@@ -0,0 +1,59 @@
+#-------------------------------------------------
+#
+# Project created by QtCreator 2023-04-26T14:20:55
+#
+#-------------------------------------------------
+
+QT       += core gui
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+QT += network dbus xml widgets
+
+CONFIG += c++11 console
+CONFIG -= app_bundle
+
+TARGET = shenlan_test
+TEMPLATE = app
+
+
+# The following define makes your compiler emit warnings if you use
+# any feature of Qt which has been marked as deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if 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
+
+INCLUDEPATH += $$PWD/../common
+
+INCLUDEPATH += $$PWD/../../include/msgtype
+
+LIBS += -lprotobuf
+
+!include(../../../include/common.pri ) {
+    error( "Couldn't find the common.pri file!" )
+}
+
+unix:!macx: INCLUDEPATH += $$PWD/.
+unix:!macx: DEPENDPATH += $$PWD/.
+
+SOURCES += \
+        main.cpp \
+        mainwindow.cpp\
+        ../../include/msgtype/decition.pb.cc \
+        ../../include/msgtype/chassis.pb.cc \
+
+HEADERS += \
+        mainwindow.h\
+        ../../include/msgtype/decition.pb.h \
+        ../../include/msgtype/chassis.pb.h \
+
+FORMS += \
+        mainwindow.ui
+
+RESOURCES += \
+    resources.qrc

src/decition/shenlan _chassis_test/decition/chassic_form.ui

@@ -0,0 +1,21 @@
+<ui version="4.0" >
+ <author></author>
+ <comment></comment>
+ <exportmacro></exportmacro>
+ <class>Form</class>
+ <widget class="QWidget" name="Form" >
+  <property name="geometry" >
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle" >
+   <string>Form</string>
+  </property>
+ </widget>
+ <pixmapfunction></pixmapfunction>
+ <connections/>
+</ui>