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