modularization/src/v2x/v2xpro/mainwindow.cpp

#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <QtMath>

extern std::string gstrcarvin;
extern std::string gstrobuvin;
extern iv::Ivlog * gIvlog;

int camera_trafficlight_type=200;
int camera_trafficlight_time=200;



MainWindow::MainWindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainWindow)
{
    ui->setupUi(this);
    m_pc5=new PC5();
    m_tbox=new V2X();
    timer = new QTimer(this);
    connect(timer,SIGNAL(timeout()),SLOT(heartBeat()));
    //timer->start(1000);
    timer->start(500);

    timerV2V= new QTimer(this);
    connect(timerV2V,SIGNAL(timeout()),SLOT(V2VOUT()));

    timerV2V->start(100);

    sendProto_flag=false;
    initUI();
    initMemory();
    initproto();
    initLight1();
    initLight2();
    initLight3();
    initLight4();
    initFace();
}

void MainWindow::initMemory()
{
    m_structMGpsImu.gps_lat=39.149170;
    m_structMGpsImu.gps_lng=117.094250;
    m_structMGpsImu.speed=0.0;
    m_structMGpsImu.yaw=0.0;
    m_structMGpsImu.accx=0.0;
    m_structMGpsImu.accy=0.0;

    seneor_m.lidar_left=0;
    seneor_m.lidar_mid=0;
    seneor_m.lidar_right=0;
    seneor_m.radar=0;
    seneor_m.gps_flag=0;
    seneor_m.camera_front=0;
    seneor_m.camera_back=0;
    seneor_m.camera_left=0;
    seneor_m.camera_right=0;
    m_tbox->setSensorMemmory(seneor_m);
    setTboxMemoryRaw();
    m_pc5->setGpsImuMemory(m_structMGpsImu);

}

void MainWindow::initproto()
{
    mpmem_radio_send_addr = iv::modulecomm::RegisterSend("v2r_send",1000,3);

    ModuleFun fungpsimu =std::bind(&MainWindow::UpdateGps,this,std::placeholders::_1, \
                                   std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
    mpMemGPS = iv::modulecomm::RegisterRecvPlus(gstrmemgps.data(),fungpsimu);

//     mpMemGPS = iv::modulecomm::RegisterRecv("hcp_gpsimu",iv::V2X::UpdateGps);

    ModuleFun funcamera =std::bind(&MainWindow::UpdateCAM,this,std::placeholders::_1, \
                                   std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
    mpMemcamera=iv::modulecomm::RegisterRecvPlus(gstrmecamera.data(),funcamera);

    ModuleFun funlidar =std::bind(&MainWindow::UpdateLIDAR,this,std::placeholders::_1, \
                                   std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
    mpMemlidar=iv::modulecomm::RegisterRecvPlus(gstrmelidar.data(),funlidar);

    ModuleFun funradar =std::bind(&MainWindow::UpdateRADAR,this,std::placeholders::_1, \
                                   std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
    mpMemradar=iv::modulecomm::RegisterRecvPlus(gstrmeradar.data(),funradar);

    ModuleFun lightState =std::bind(&MainWindow::Updatelight,this,std::placeholders::_1, \
                                   std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
    vision_lightMem = iv::modulecomm::RegisterRecvPlus(gstrmemlight.data(),lightState);

}

void MainWindow::initUI()
{
    redimg.load(":/light/light/light-red.png");
    redimg = redimg.scaled(66,66,Qt::IgnoreAspectRatio);

    greenimg.load(":/light/light/light-green.png");
    greenimg = greenimg.scaled(66,66,Qt::IgnoreAspectRatio);

    yellowimg.load(":/light/light/light-yellow.png");
    yellowimg = yellowimg.scaled(66,66,Qt::IgnoreAspectRatio);

    blackimg.load(":/light/light/light-black.png");
    blackimg = blackimg.scaled(66,66,Qt::IgnoreAspectRatio);

    nofaceimg.load(":/light/light/noface.png");
    nofaceimg = nofaceimg.scaled(60,50,Qt::IgnoreAspectRatio);

    facetoimg.load(":/light/light/faceto.png");
    facetoimg = facetoimg.scaled(60,50,Qt::IgnoreAspectRatio);

    QString strpath = QCoreApplication::applicationDirPath();

    //strpath = strpath + "/v2xTcpClientWL.xml";
    strpath = "./v2xTcpClient.xml";

    iv::xmlparam::Xmlparam xp(strpath.toStdString());

    std::string rsutype = xp.GetParam("OBU_Type","serial");
        if(rsutype=="eth")
        {
            m_pc5->eth_enable=true;
            std::string localIP = xp.GetParam("obuip","127.0.0.1");
            QString localsetIP =QString::fromStdString(localIP);

            std::string localPort = xp.GetParam("obuport","7777");
            int localsetport=std::stoi(localPort);

            m_pc5->setobu(localsetIP,localsetport);

            RSUTYPE=true;
        }
        else
        {
            m_pc5->eth_enable=false;
            std::string localIP = xp.GetParam("port_name","/dev/ttyUSB0");
            QString localsetIP =QString::fromStdString(localIP);

            std::string localPort = xp.GetParam("baud","9600");
            int localsetport=std::stoi(localPort);

            m_pc5->setSerial(localsetIP,localsetport);
            RSUTYPE=false;
        }


    std::string strCarVIN = xp.GetParam("carVIN","catarc001");
    ui->lineEdit->setText(QString::fromStdString(strCarVIN));

    std::string strObuVIN = xp.GetParam("obuNUM","1");
    ui->lineEdit_obu_vin->setText(QString::fromStdString(strObuVIN));
    int obunum=std::stoi(strObuVIN);

    std::string hostIP = xp.GetParam("hostIP","127.0.0.1");
    QString IP =QString::fromStdString(hostIP);
    ui->lineEdit_severip->setText(IP);
    std::string hostPort = xp.GetParam("hostPort","8000");
    int port=std::stoi(hostPort);



    gstrmemgps = xp.GetParam("gps","gpsimu");
    gstrmecamera = xp.GetParam("camera","rawpic");
    gstrmelidar = xp.GetParam("lidar","lidarstate");
    gstrmeradar = xp.GetParam("radar","radarobject");
    gstrmemlight = xp.GetParam("vision_light","lightarray");

    std::string Stophead1 = xp.GetParam("light1Stophead","0");
    light1Stophead=std::stod(Stophead1);
    std::string StopLat1 = xp.GetParam("light1StopLat","0");
    light1StopLat=std::stod(StopLat1);
    std::string StopLon1 = xp.GetParam("light1StopLon","0");
    light1StopLon=std::stod(StopLon1);

    ui->ea_long->setText(QString::fromStdString(StopLon1));
    ui->ea_lat->setText(QString::fromStdString(StopLat1));
    ui->ea_head->setText(QString::fromStdString(Stophead1));

    std::string Stophead2 = xp.GetParam("light2Stophead","0");
    light2Stophead=std::stod(Stophead2);
    std::string StopLat2 = xp.GetParam("light2StopLat","0");
    light2StopLat=std::stod(StopLat2);
    std::string StopLon2 = xp.GetParam("light2StopLon","0");
    light2StopLon=std::stod(StopLon2);

    ui->ns_long->setText(QString::fromStdString(StopLon2));
    ui->ns_lat->setText(QString::fromStdString(StopLat2));
    ui->ns_head->setText(QString::fromStdString(Stophead2));

    std::string visionsend = xp.GetParam("OpenVisionSend","0");
    visionsendstate=std::stoi(visionsend);
    visionflag=visionsendstate;
    m_pc5->setVin(strCarVIN);
    m_pc5->setobuNewVin(obunum);

    m_tbox->setTboxNewVin(strCarVIN);
    m_tbox->setIPandPort(IP,port);

}
void MainWindow::initLight1()
{
    ui->label_39->setPixmap(QPixmap::fromImage(blackimg));
    ui->lcdgreen_2->display(0);
//    ui->label_7->setPixmap(QPixmap::fromImage(nofaceimg));
//    ui->label_18->setText('');
//    ui->vertical_lighthead->setText("");
}

void MainWindow::initLight2()
{
    ui->label_40->setPixmap(QPixmap::fromImage(blackimg));
    ui->lcdgreen_3->display(0);
//    ui->label_14->setPixmap(QPixmap::fromImage(nofaceimg));
//    ui->label_17->setText('');
//    ui->vertical_lighthead_2->setText("");
}

void MainWindow::initLight3()
{
    ui->label_41->setPixmap(QPixmap::fromImage(blackimg));
    ui->lcdgreen_4->display(0);
//    ui->label_15->setPixmap(QPixmap::fromImage(nofaceimg));
//    ui->label_18->setText('');
//    ui->vertical_lighthead_3->setText("");
}

void MainWindow::initLight4()
{
    ui->label_42->setPixmap(QPixmap::fromImage(blackimg));
    ui->lcdgreen_5->display(0);
//    ui->label_16->setPixmap(QPixmap::fromImage(nofaceimg));
//    ui->label_20->setText('');
//    ui->vertical_lighthead_4->setText("");
}

void MainWindow::initFace()
{
    ui->label_7->setPixmap(QPixmap::fromImage(nofaceimg));
    ui->label_18->setText("");
    ui->label_14->setPixmap(QPixmap::fromImage(nofaceimg));
    ui->label_17->setText("");
    ui->label_15->setPixmap(QPixmap::fromImage(nofaceimg));
    ui->label_19->setText("");
    ui->label_16->setPixmap(QPixmap::fromImage(nofaceimg));
    ui->label_20->setText("");
}
void MainWindow::V2VOUT()
{
    //---------------------------------------V2V--------------------------------------------------------------------
    if (v2vEn)
    {
        try
        {
            QMap<QString,OBUCarFormation> V2VMessage=m_pc5->updateV2V();

            outV2VData(V2VMessage);
        }
        catch(...){
            qDebug()<<"...";
        }

    }
}

void MainWindow::heartBeat()
{
    protobuf.Clear();
//-----------------------------------------send runflag---------------------------------------------------------
    //qDebug()<<mv2xRunmodEn<<mpc5RunmodEn;
    if (mv2xRunmodEn)
    {
        bool runmod=m_tbox->upRunMod();
        //qDebug()<<runmod;
        outmbpause(runmod);
        sendProto_flag=true;
        mpc5RunmodEn=false;
        ui->button_pc5runmod_en->setStyleSheet("background-color: gray");
    }
    else if (mpc5RunmodEn)
    {
        bool runmod=m_pc5->upRunMod();
        //qDebug()<<runmod;
        outmbpause(runmod);
        sendProto_flag=true;
        mv2xRunmodEn=false;
        ui->button_v2xrunmod_en->setStyleSheet("background-color: gray");
    }
    else{
        outmbpause(false);
        sendProto_flag=true;
    }
    if (visionflag)
    {
        onelightMessage onelight;
        onelight.lightType= camera_trafficlight_type;
        if(onelight.lightType==2)
        {
            onelight.timeRemaining=5;
        }
        else if(onelight.lightType==3)
        {
            onelight.timeRemaining=3;
        }
        else if(onelight.lightType==1)
        {
            onelight.timeRemaining = 5;
        }
        //std::cout<<"######################: "<<camera_trafficlight_type<<" "<<onelight.timeRemaining<<std::endl;
        //onelight.timeRemaining= camera_trafficlight_time;
        outLight(onelight);
        sendProto_flag=true;
    }
//-----------------------------------------获取连接状态--------------------------------------std::fmod-------------------
    if(mobuEn)
    {
        bool radio_flag=m_pc5->isLinked();//路测连接状态
        if (radio_flag)
        {
            ui->button_obu_en->setStyleSheet("background-color: green");

        }
        else
        {
            ui->button_obu_en->setStyleSheet("background-color: red");

        }
        if (mshowdebugEn)
        {
            QByteArray pc5_read=m_pc5->show_readdata();
            QByteArray pc5_error=m_pc5->show_error();

            ui->textBrowser_3->append(QTime::currentTime().toString("hh:mm:ss.zzz")+"接收:"+pc5_read);
            ui->textBrowser_4->append(QTime::currentTime().toString("hh:mm:ss.zzz")+":"+pc5_error);
        }

        if(mcusdatashowEn)
        {
            QByteArray cus_show=m_pc5->upCustomshow();
            if (cus_show.size()>0)
            {
                ui->textBrowser_5->append(QTime::currentTime().toString("hh:mm:ss.zzz")+"接收:"+cus_show);
                cus_show.clear();
            }
        }
    }

    if(v2vEn)
    {
        bool radio_flag=m_pc5->isLinked();//路测连接状态
        if (radio_flag)
        {

            ui->button_v2v_en->setStyleSheet("background-color: green");
        }
        else
        {

            ui->button_v2v_en->setStyleSheet("background-color: red");
        }
        if (mshowdebugEn)
        {
            QByteArray pc5_read=m_pc5->show_readdata();
            QByteArray pc5_error=m_pc5->show_error();
            ui->textBrowser_3->append(QTime::currentTime().toString("hh:mm:ss.zzz")+"接收:"+pc5_read);
            ui->textBrowser_4->append(QTime::currentTime().toString("hh:mm:ss.zzz")+":"+pc5_error);
        }
    }

    if (mplatformEn)
    {
        bool v2x_flag=m_tbox->isLinked();//云平台连接状态
        if (v2x_flag)
        {
            ui->button_platform_en->setStyleSheet("background-color: green");
        }
        else
        {
            ui->button_platform_en->setStyleSheet("background-color: red");
        }
        if (mshowdebugEn)
        {
            QByteArray v2x_read=m_tbox->show_readdata();
            QByteArray v2x_error=m_tbox->show_error();
            ui->textBrowser->append(QTime::currentTime().toString("hh:mm:ss.zzz")+"接收:"+v2x_read);
            ui->textBrowser_2->append(QTime::currentTime().toString("hh:mm:ss.zzz")+":"+v2x_error);
        }
    }
//-----------------------------------------延时清空传感器状态---------------------------------------------------------
    if(mGPSs>0)
    {
        mGPSs--;
        if (mGPSs<=0)
        {
            seneor_m.gps_flag=0x00;
            m_tbox->setSensorMemmory(seneor_m);
        }
    }

    if(mCAMs>0)
    {
        mCAMs--;
        if(mCAMs<=0)
        {
            seneor_m.camera_back=0x00;
            seneor_m.camera_front=0x00;
            seneor_m.camera_left=0x00;
            seneor_m.camera_right=0x00;
            m_tbox->setSensorMemmory(seneor_m);
        }
    }

    if(mLIDARs>0)
    {
        mLIDARs--;
        if(mLIDARs<=0)
        {
            seneor_m.lidar_left=0x00;
            seneor_m.lidar_mid=0x00;
            seneor_m.lidar_right=0x00;
            m_tbox->setSensorMemmory(seneor_m);
        }
    }

    if(mRADARs>0)
    {
        mRADARs--;
        if (mRADARs<=0)
        {
            seneor_m.radar=0x00;
            m_tbox->setSensorMemmory(seneor_m);
        }
    }

//---------------------------------------路况信息显示-----------------------------------------------------------
    if (mbTrafficInfoEn)
    {
        TrafficMessage=m_pc5->ui_RealtimeTraffic();
        if (TrafficMessage.isEnable)
        {
            QString event;
            ui->button_trafficInfoLight_st->setStyleSheet("background-color: green");
            switch(TrafficMessage.trafficInfo){
            case 0:
                event="无";
                ui->lineEd_trafficInfo->setText("正常行驶");
                break;
            case 3 :
                event="道路结冰";
                //ui->lineEd_trafficInfo->setText("减速至 " + QString::number(TrafficMessage.speedLimit) + "km/h");
                ui->lineEd_trafficInfo->setText("减速慢行");
                break;
            case 4 :
                event="限速";
                ui->lineEd_trafficInfo->setText("减速至 " + QString::number(TrafficMessage.speedLimit) + "km/h");
                break;
            case 1 :
                event="塌方";
                ui->lineEd_trafficInfo->setText("停车");
                break;
            case 2 :
                event="施工";
                ui->lineEd_trafficInfo->setText("停车");
                break;
            default:
                break;
            }
            ui->textBr_trafficInfo->append(QTime::currentTime().toString("hh:mm:ss.zzz") + \
                                           "\n\t事件范围[ 经度:" + QString::number(TrafficMessage.lng,'g',10) +\
                                           " 纬度:" + QString::number(TrafficMessage.lat,'g',10) + \
                                           " ]\n\t辐射范围: " + QString::number(TrafficMessage.scope) + "米" + \
                                           "\n\t事件类型: " + event);
            outRealtimeTraffic(TrafficMessage);
            sendProto_flag=true;
        }
        else
        {
            ui->button_trafficInfoLight_st->setStyleSheet("background-color: gray");
            ui->textBr_trafficInfo->append("等待接收");
        }
    }

//-----------------------------------------碰撞预警显示---------------------------------------------------------

    if (mbFCWEn)
    {
        collisionWarning=m_pc5->ui_Warning();
        if (collisionWarning.isEnable)
        {
            ui->button_FWCLight_st->setStyleSheet("background-color: green");
            switch (collisionWarning.warningType)
            {
            case 1:
                ui->textBr_FCW->append(QTime::currentTime().toString("hh:mm:ss.zzz") + \
                                   "前方碰撞预警，减速至:" + QString::number(collisionWarning.speedLimit));
                break;
            case 2:
                ui->textBr_FCW->append(QTime::currentTime().toString("hh:mm:ss.zzz") + \
                                          "前方碰撞预警，停车");
            default:
                break;
            }
            outCollisionWarning(collisionWarning);
            sendProto_flag=true;
        }
        else
        {
            ui->button_FWCLight_st->setStyleSheet("background-color: gray");
            //ui->textBr_FCW->append("连接丢失");
        }
    }

//--------------------------------------红绿灯显示------------------------------------------------------------

    light=m_pc5->ui_Light();

    if (light.isEnable && mobuEn)
    {
        visionflag=false;  //stop vision result upload of traffic light information
//        qDebug()<<light.myface;
        switch (int(light.myface))
        {
        case 1:
            initFace();
            ui->label_7->setPixmap(QPixmap::fromImage(facetoimg));
            ui->label_18->setText("此时面向");
            break;
        case 2:
            initFace();
            ui->label_14->setPixmap(QPixmap::fromImage(facetoimg));
            ui->label_17->setText("此时面向");
            break;
        case 3:
            initFace();
            ui->label_15->setPixmap(QPixmap::fromImage(facetoimg));
            ui->label_19->setText("此时面向");
            break;
        case 4:
            initFace();
            ui->label_16->setPixmap(QPixmap::fromImage(facetoimg));
            ui->label_20->setText("此时面向");
            break;
        default:
            initFace();
            break;
        }

        ui->vertical_lighthead->setText(QString("%1").arg(light.light1head));
        switch (int(light.light1Type))
        {
        case 1:
            initLight1();
            ui->lcdgreen_2->display((int)light.light1timeRemaining);
            ui->label_39->setPixmap(QPixmap::fromImage(greenimg));
            break;
        case 2:
            initLight1();
            ui->lcdgreen_2->display((int)light.light1timeRemaining);
            ui->label_39->setPixmap(QPixmap::fromImage(redimg));
            break;
        case 3:
            initLight1();
            ui->lcdgreen_2->display((int)light.light1timeRemaining);
            ui->label_39->setPixmap(QPixmap::fromImage(yellowimg));
            break;
        default:
            initLight1();
            break;
        }

        ui->vertical_lighthead_2->setText(QString("%1").arg(light.light2head));
        switch (int(light.light2Type))
        {
        case 1:
            initLight2();
            ui->lcdgreen_3->display((int)light.light2timeRemaining);
            ui->label_40->setPixmap(QPixmap::fromImage(greenimg));
            break;
        case 2:
            initLight2();
            ui->lcdgreen_3->display((int)light.light2timeRemaining);
            ui->label_40->setPixmap(QPixmap::fromImage(redimg));
            break;
        case 3:
            initLight2();
            ui->lcdgreen_3->display((int)light.light2timeRemaining);
            ui->label_40->setPixmap(QPixmap::fromImage(yellowimg));
            break;
        default:
            initLight2();
            break;
        }
        ui->vertical_lighthead_3->setText(QString("%1").arg(light.light3head));
        switch (int(light.light3Type))
        {
        case 1:
            initLight3();
            ui->lcdgreen_4->display((int)light.light3timeRemaining);
            ui->label_41->setPixmap(QPixmap::fromImage(greenimg));
            break;
        case 2:
            initLight3();
            ui->lcdgreen_4->display((int)light.light3timeRemaining);
            ui->label_41->setPixmap(QPixmap::fromImage(redimg));
            break;
        case 3:
            initLight3();
            ui->lcdgreen_4->display((int)light.light3timeRemaining);
            ui->label_41->setPixmap(QPixmap::fromImage(yellowimg));
            break;
        default:
            initLight3();
            break;
        }
        ui->vertical_lighthead_4->setText(QString("%1").arg(light.light4head));
        switch (int(light.light4Type))
        {
        case 1:
            initLight4();
            ui->lcdgreen_5->display((int)light.light4timeRemaining);
            ui->label_42->setPixmap(QPixmap::fromImage(greenimg));
            break;
        case 2:
            initLight4();
            ui->lcdgreen_5->display((int)light.light4timeRemaining);
            ui->label_42->setPixmap(QPixmap::fromImage(redimg));
            break;
        case 3:
            initLight4();
            ui->lcdgreen_5->display((int)light.light4timeRemaining);
            ui->label_42->setPixmap(QPixmap::fromImage(yellowimg));
            break;
        default:
            initLight4();
            break;
        }

        onelightMessage onelight;
//        float yaw=m_structMGpsImu.yaw+180;
//        //qDebug()<<yaw<<light.light1head<<light.light1head;
//        if (yaw>=360)
//        {
//            yaw=yaw-360;
//        }
//        if (yaw<=light.light1head+30 and yaw>=light.light1head-30)//判断与正向红绿灯的朝向
//        {
//            onelight.isEnable=true;
//            onelight.lightType=light.light1Type;
//            onelight.timeRemaining=light.light1timeRemaining;
//            lightStopLat=light1StopLat;
//            lightStopLon=light1StopLon;
//        }
//        else if (yaw<=light.light2head+30 and yaw>=light.light2head-30)//判断与侧向红绿灯的朝向
//        {
//            onelight.isEnable=true;
//            onelight.lightType=light.light2Type;
//            onelight.timeRemaining=light.light2timeRemaining;
//            lightStopLat=light2StopLat;
//            lightStopLon=light2StopLon;
//        }
//        else//不面向红绿灯无效
//        {
//            onelight.lightType=0xff;
//            onelight.timeRemaining=0xff;
//        }
        if(!RSUTYPE)
        {
        float yaw=m_structMGpsImu.yaw+180;
        //qDebug()<<yaw<<light.light1head<<light.light1head;
        if (yaw>=360)
        {
            yaw=yaw-360;
        }
        double angleDifference1 = std::fmod(yaw-light.light1head+360,360);
        double angleDifference2 = std::fmod(yaw-light.light2head+360,360);
        if (angleDifference1<=30.0 || angleDifference1>=360.0-30.0)
        {
                onelight.isEnable=true;
                onelight.lightType=light.light1Type;
                onelight.timeRemaining=light.light1timeRemaining;
                lightStopLat=light1StopLat;
                lightStopLon=light1StopLon;
                light.myface=0x01;

        }
        else if (angleDifference2<=30.0 || angleDifference2>=360.0-30.0)
        {
                onelight.isEnable=true;
                onelight.lightType=light.light2Type;
                onelight.timeRemaining=light.light2timeRemaining;
                lightStopLat=light2StopLat;
                lightStopLon=light2StopLon;
                light.myface=0x02;
        }
        else
        {
                onelight.lightType=0xff;
                onelight.timeRemaining=0xff;
        }
        }


        if (RSUTYPE)
        {

        switch (int(light.myface))
        {
        case 1:
            onelight.isEnable=true;
            onelight.lightType=light.light1Type;
            onelight.timeRemaining=light.light1timeRemaining;
            lightStopLat=light1StopLat;
            lightStopLon=light1StopLon;
            break;
        case 2:
            onelight.isEnable=true;
            onelight.lightType=light.light2Type;
            onelight.timeRemaining=light.light2timeRemaining;
            lightStopLat=light2StopLat;
            lightStopLon=light2StopLon;
            break;
        case 3:
            onelight.isEnable=true;
            onelight.lightType=light.light3Type;
            onelight.timeRemaining=light.light1timeRemaining;
            lightStopLat=light1StopLat;
            lightStopLon=light1StopLon;
            break;
        case 4:
            onelight.isEnable=true;
            onelight.lightType=light.light4Type;
            onelight.timeRemaining=light.light2timeRemaining;
            lightStopLat=light2StopLat;
            lightStopLon=light2StopLon;
            break;
        default:
            onelight.lightType=0xff;
            onelight.timeRemaining=0xff;
            break;
        }
        }
        outLight(onelight);
        sendProto_flag=true;
    }
else
    {
        initLight1();
        initLight2();
        initLight3();
        initLight4();
        initFace();
        ui->vertical_lighthead->setText("");
        ui->vertical_lighthead_2->setText("");
        ui->vertical_lighthead_3->setText("");
        ui->vertical_lighthead_4->setText("");
        if (visionsendstate)
        {
            visionflag=true;//start vision result upload of traffic light information
        }
    }

//-----------------------------------------显示虚拟车发送---------------------------------------------------------

    congestionIdenti=m_pc5->ui_identification();
    if (congestionIdenti.isEnable)
    {
        ui->lineEdit_jamsMode->setText("虚拟车信息已发送");
        ui->button_jamsMode->setStyleSheet("background-color: green");
        outCongestionIdenti(congestionIdenti);
        sendProto_flag=true;
    }
    else
    {
        ui->lineEdit_jamsMode->setText("");
        ui->button_jamsMode->setStyleSheet("background-color: gray");
    }


//------------------------------------------危险驾驶显示-------------------------------------------------------
    if (mbdriCrimsEn)
    {
        bool warn_driver=m_pc5->show_warn_driver();
        if (warn_driver)
        {
            ui->textBr_FCW_2->append(QTime::currentTime().toString("hh:mm:ss.zzz")+"进入危险驾驶模式");
            ui->button_DriCrimsLight_st->setStyleSheet("background-color: red");
        }
        else
        {
            ui->button_DriCrimsLight_st->setStyleSheet("background-color: gray");
            //ui->textBr_FCW->append("连接丢失");
        }
    }





//------------------------------------sendproto--------------------------------------------------------------------
    if (sendProto_flag)
    {
        sendProto(protobuf);
        sendProto_flag=false;
    }



}
//------------------------------------------共享内存读取------------------------------------------------------------------
void MainWindow::setTboxMemoryRaw()//云平台信息写入
{
    Memory tboxM;
    tboxM.gps_lng=m_structMGpsImu.gps_lng;
    tboxM.gps_lat=m_structMGpsImu.gps_lat;
    tboxM.speed=m_structMGpsImu.speed;
    tboxM.yaw=m_structMGpsImu.yaw;
//    tboxM.ele_voltage=m_structChassisRaw.soc;
//    tboxM.error=getError();
    m_tbox->setTboxMemmory(tboxM);
}

void MainWindow::UpdateGps(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
{
    bool isSend=false;
    double heading,ve,vn;
    iv::gps::gpsimu  xgpsimu;
    //qDebug()<<111;
    if(!xgpsimu.ParseFromArray(strdata,nSize))
    {
//        mivlog->warn("ADCIntelligentVehicle::UpdateGPSIMU parse error. nSize is %d",nSize);
        return;
    }
    if(xgpsimu.has_lat())
    {
        isSend=true;
        m_structMGpsImu.gps_lat=xgpsimu.lat();
        //qDebug()<<xgpsimu.lat();
    }
    if(xgpsimu.has_lon())
    {
        isSend=true;
        m_structMGpsImu.gps_lng=xgpsimu.lon();
        //qDebug()<<xgpsimu.lon();
    }
    if(xgpsimu.has_heading())
    {
        isSend=true;
        heading = xgpsimu.heading();
        if(heading<0)
        {
            heading = heading+360.0;
        }
        m_structMGpsImu.yaw=float(heading);
    }
    if((xgpsimu.has_ve())&&(xgpsimu.has_vn()))
    {
        isSend = true;
        ve = xgpsimu.ve();    //东向速度,单位(米/秒)
        vn = xgpsimu.vn();    //北向速度,单位(米/秒)
        m_structMGpsImu.speed=float(sqrt(ve*ve+vn*vn))* 3.6;
    }
    if(xgpsimu.has_acce_x())
    {
        isSend=true;
        m_structMGpsImu.accx=float(xgpsimu.acce_x());
    }
    if(xgpsimu.has_acce_y())
    {
        isSend=true;
        m_structMGpsImu.accy = (xgpsimu.acce_y());
    }
    if (xgpsimu.has_rtk_state())
    {

        if (xgpsimu.rtk_state()==6)
        {
            seneor_m.gps_flag=0x01;
            mGPSs=3;
            m_tbox->setSensorMemmory(seneor_m);
        }
    }
    if(isSend)
    {

        setTboxMemoryRaw();

        m_pc5->setGpsImuMemory(m_structMGpsImu);
    }
}

void MainWindow::UpdateCAM(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
{
    iv::vision::rawpic  xrawpic;

    if(!xrawpic.ParseFromArray(strdata,nSize))
    {
        return;
    }
    seneor_m.camera_back=0x01;
    seneor_m.camera_front=0x01;
    seneor_m.camera_left=0x01;
    seneor_m.camera_right=0x01;
    mCAMs=5;
    m_tbox->setSensorMemmory(seneor_m);
}

void MainWindow::UpdateLIDAR(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
{
//    iv::fusion::fusionobject  xfusionobject;
//    if(!xfusionobject.ParseFromArray(strdata,nSize))
//    {

//        return;
//    }
    unsigned int * pHeadSize = (unsigned int *)strdata;
    if(*pHeadSize > nSize)
    {
        std::cout<<"ListenPointCloud data is small headsize ="<<*pHeadSize<<"  data size is"<<nSize<<std::endl;
    }
    seneor_m.lidar_left=0x01;
    seneor_m.lidar_mid=0x01;
    seneor_m.lidar_right=0x01;
    mLIDARs=3;
    m_tbox->setSensorMemmory(seneor_m);

}

void MainWindow::UpdateRADAR(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
{
    //qDebug()<<'recve radar';
    iv::radar::radarobject xradarobject;
    if(!xradarobject.ParseFromArray(strdata,nSize))
    {
        std::cout<<"radar data is small headsize ="<<std::endl;
    }
    seneor_m.radar=0x01;
    mRADARs=3;
    m_tbox->setSensorMemmory(seneor_m);
}

//转发视觉红绿灯识别的数据
void MainWindow::Updatelight(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
{
    iv::vision::Lightarray  lightmessage;
    onelightMessage visionligth;
    if(lightmessage.ParseFromArray(strdata,nSize))
    {
        if (lightmessage.light(0).has_type() and visionflag)
        {
            visionligth.lightType=lightmessage.light(0).type();
            visionligth.timeRemaining=0xff;


             camera_trafficlight_type=visionligth.lightType;

            //qDebug()<<111;
            lightStopLat=light1StopLat;
            lightStopLon=light1StopLon;
            sendProto_flag=true;
            outLight(visionligth);
        }
    }
}

//--------------------------------------------共享内存写入--------------------------------------------------------------
void MainWindow::outmbpause(bool runmod)
{
    protobuf.set_mbpause(runmod);
}

void MainWindow::outLight(onelightMessage light1)
{
    //iv::v2r::v2r_send protobuf;
    protobuf.set_radiolighttype(light1.lightType);
    if (visionflag)
    {
        if(light1.lightType==2)
        {
            light1.timeRemaining=5;
        }
        else if(light1.lightType==3)
        {
            light1.timeRemaining=3;
        }
        else if(light1.lightType==1)
        {
            light1.timeRemaining = 5;
        }
    }
    protobuf.set_radiolightremain(light1.timeRemaining);
//    if(visionflag)
//    {
//        float yaw=m_structMGpsImu.yaw+180;
//        if (yaw>=360)
//        {
//            yaw=yaw-360;
//        }
//        if (yaw<=light1Stophead+30 and yaw>=light1Stophead-30)//判断与正向红绿灯的朝向
//        {
//            lightStopLat=light1StopLat;
//            lightStopLon=light1StopLon;

//        }
//        else if (yaw<=light2Stophead+30 and yaw>=light2Stophead-30)//判断与侧向红绿灯的朝向
//        {
//            lightStopLat=light2StopLat;
//            lightStopLon=light2StopLon;
//        }
//        else{
//            lightStopLat=0xff;
//            lightStopLon=0xff;
//        }
//        protobuf.set_trafficlightstoplat(lightStopLat);
//        protobuf.set_trafficlightstoplon(lightStopLon);
//        //sendProto(protobuf);

//    }

//    if (visionflag)
//    {
//        float yaw=m_structMGpsImu.yaw+180;
//        if (yaw>=360)
//        {
//            yaw=yaw-360;
//        }
//        double angleDifference1 = std::fmod(yaw - light1Stophead + 360.0, 360.0);
//        double angleDifference2 = std::fmod(yaw - light2Stophead + 360.0, 360.0);
//        if (angleDifference1<=30.0 || angleDifference1>=360.0-30.0)
//            {
//                lightStopLat=light1StopLat;
//                lightStopLon=light1StopLon;
//            }
//        else if (angleDifference2<=30.0 || angleDifference2>=360.0-30.0)
//            {
//                lightStopLat=light2StopLat;
//                lightStopLon=light2StopLon;
//            }
//        else
//            {
//                lightStopLat=0xff;
//                lightStopLon=0xff;
//            }
//    }
    if(visionflag)
    {
        lightStopLat=light1StopLat;
        lightStopLon=light1StopLon;
    }
    protobuf.set_trafficlightstoplat(lightStopLat);
    protobuf.set_trafficlightstoplon(lightStopLon);
    //sendProto(protobuf);
    //qDebug()<<"outLight";
}

void MainWindow::outRealtimeTraffic(realtimeTrafficMessage realtimeTraffic)
{

    double lat=((double)realtimeTraffic.lat);//1000000.0;
    double lon=((double)realtimeTraffic.lng);//1000000.0;
    protobuf.set_radiobroadcastgpslat(lat);
    protobuf.set_radiobroadcastgpslon(lon);
    protobuf.set_radiobroadcastrange(realtimeTraffic.scope);
    protobuf.set_radiobroadcasttraffictype(realtimeTraffic.trafficInfo);
    protobuf.set_radiobroadcastspeedlimit(realtimeTraffic.speedLimit);
    //sendProto(protobuf);
    //qDebug()<<"outRealtimeTraffic"<<lat<<lon<<realtimeTraffic.scope<<realtimeTraffic.trafficInfo<<realtimeTraffic.speedLimit;
}

void MainWindow::outCollisionWarning(collisionEarlyWarningMessage collisionWarning)
{
    //iv::v2r::v2r_send protobuf;
    protobuf.set_radiowarningtype(collisionWarning.warningType);
    protobuf.set_radiowarningspeedlimit(collisionWarning.speedLimit);
    //qDebug()<<"[Radio]:warning type is "<<collisionWarning.warningType<<".speed limit is:"<<collisionWarning.speedLimit<<endl;
    //sendProto(protobuf);
}

void MainWindow::outCongestionIdenti(congestionIdentificationMessage congestionIdenti)
{
    //iv::v2r::v2r_send protobuf;
    protobuf.set_radioidentistart(congestionIdenti.openCommand);
    //qDebug()<<"[Radio]:congestion identi open command is "<<congestionIdenti.openCommand<<endl;
    //sendProto(protobuf);
}

void MainWindow::outV2VData(QMap<QString, OBUCarFormation> V2VMessage)
{
    int id=0;


    iv::fusion::fusionobjectarray out_v2v;
    out_v2v.Clear();
    std::string out;
    out.clear();
    if (v2vshow)
    {
        ui->v2vnumlineEdit->setText("车辆数："+QString::number(V2VMessage.size()));
        ui->v2vcomboBox->clear();
    }
    for (auto it=V2VMessage.begin();it !=V2VMessage.end();++it)
    {

        iv::fusion::fusionobject v2v_object;
        iv::fusion::fusionobject *v2v_object_;
        OBUCarFormation V2Vcar=it.value();
        if (v2vshow)
        {
            ui->v2vcomboBox->addItem(V2Vcar.vin);
        }


        double lng=V2Vcar.gps_lng;
        double lat=V2Vcar.gps_lat;
        float yaw=V2Vcar.car_yaw;

        yaw=calculateRelativeAngle(m_structMGpsImu.yaw,yaw);


        float x=V2Vcar.car_length;
        float y=V2Vcar.car_width;
        float z=V2Vcar.car_height;
        float centroid_x=V2Vcar.coordinate_front;
        float centroid_y=V2Vcar.coordinate_left;

        v2v_object.set_id(id);
        v2v_object.set_type(0);
        v2v_object.set_sensor_type(0);

        v2v_object.set_yaw(yaw);
        iv::fusion::Dimension dimension;
        iv::fusion::Dimension *dimension_;
        dimension.set_x(x);
        dimension.set_y(y);
        dimension.set_z(z);
        dimension_ = v2v_object.mutable_dimensions();
        dimension_->CopyFrom(dimension);

        double now_x,now_y,gps_x,gps_y,car_x,car_y;
        GaussProjCal(m_structMGpsImu.gps_lng,m_structMGpsImu.gps_lat,now_x,now_y);
        GaussProjCal(lng,lat,gps_x,gps_y);

        Coordinate_Transfer(gps_x,gps_y,now_x,now_y,m_structMGpsImu.yaw,car_x,car_y);
        if (v2vshowmore)
        {

            if (V2Vcar.vin==ui->v2vcomboBox->currentText())
            {
                ui->textBr_v2vdata->setText(QTime::currentTime().toString("hh:mm:ss.zzz") + \
                                               "\n\t位置[ 经度:" + QString::number(lng,'g',10) +\
                                               " 纬度:" + QString::number(lat,'g',10) +\
                                            " \n\t横向:" + QString::number(car_x)+ "m"+\
                                            " 纵向:" + QString::number(car_y)+ "m"+ \
                                               " ]\n\t航向: " + QString::number(V2Vcar.car_yaw) + "°" + \
                                           "\n\t大小[ 长:" + QString::number(x) + "m"+\
                                           " 宽:" + QString::number(y) + "m"+ \
                                           " 高:" + QString::number(z) + "m"+ \
                                            "]\n\t方向盘转角:"+QString::number(V2Vcar.steering_wheel_angle)+ "°");
                QByteArray v2v_error=m_pc5->upV2Vdatashow();


                ui->textBr_v2vdata_2->setText(QTime::currentTime().toString("hh:mm:ss.zzz")+":"+v2v_error);


            }
        }
        iv::fusion::PointXYZ centroid;
        iv::fusion::PointXYZ *centroid_;
        centroid.set_x(car_x);
        centroid.set_y(car_y);
        centroid.set_z(0);
        centroid_ = v2v_object.mutable_centroid();
        centroid_->CopyFrom(centroid);

//        int xp = (int)((x/0.2)/2.0);
//        if(xp == 0)xp=1;
//        int yp = (int)((y/0.2)/2.0);
//        if(yp == 0)yp=1;
//        int ix,iy;
//        for(ix = 0; ix<(xp*2); ix++)
//        {
//            for(iy = 0; iy<(yp*2); iy++)
//            {
//                iv::fusion::NomalXYZ nomal_centroid;
//                iv::fusion::NomalXYZ *nomal_centroid_;
//                float nomal_x = ix*0.2 - xp*0.2;
//                float nomal_y = iy*0.2 - yp*0.2;
//                float nomal_z = 1.0;
//                float s = nomal_x*cos(yaw)
//                        - nomal_y*sin(yaw);
//                float t = nomal_x*sin(yaw)
//                        + nomal_y*cos(yaw);
//                nomal_centroid.set_nomal_x(car_x + s);
//                nomal_centroid.set_nomal_y(car_y + t);
//                if(abs(car_x + s) <1.3 &&
//                        car_y + t <1.0) continue;
//                else{
//                    nomal_centroid.set_nomal_x(car_x + s);
//                    nomal_centroid.set_nomal_y(car_y + t);
//                    //iv::fusion::fusionobject &fusion_obj = (iv::fusion::fusionobject &)lidar_radar_fusion_object_array.obj(i);
//                    nomal_centroid_ = v2v_object.add_nomal_centroid();
//                    nomal_centroid_->CopyFrom(nomal_centroid);
//                }
//            }
//        }

        v2v_object_ = out_v2v.add_obj();
        v2v_object_->CopyFrom(v2v_object);

        id++;
    }
    if (v2vshow==1)
    {
        v2vshow=0;
        ui->button_v2vshow_en->setStyleSheet("background-color: gray");

    }
    if(out_v2v.obj_size()==0)
    {
        iv::fusion::fusionobject fake_obj;
        iv::fusion::fusionobject *fake_obj_;
        iv::fusion::PointXYZ fake_cen;
        iv::fusion::PointXYZ *fake_cen_;
        fake_cen.set_x(10000);
        fake_cen.set_y(10000);
        fake_cen.set_z(10000);
        fake_cen_ = fake_obj.mutable_centroid();
        fake_cen_ ->CopyFrom(fake_cen);

        fake_obj_ = out_v2v.add_obj();
        fake_obj_->CopyFrom(fake_obj);
        out = out_v2v.SerializeAsString();
    }
    else{
        out = out_v2v.SerializeAsString();
    }
    //qDebug()<<out_v2v.obj_size();
    iv::modulecomm::ModuleSendMsg(gfu,out.data(),out.length());
}

void MainWindow::sendProto(iv::v2r::v2r_send radio_protobuf_send)
{
    char * strser;
    bool bser;
    int nbytesize;
    nbytesize = radio_protobuf_send.ByteSize();
    strser = new char[nbytesize];
    bser = radio_protobuf_send.SerializeToArray(strser,nbytesize);
    if(bser)
    {
        //qDebug()<<"[Radio]:ready send protobuffer"<<endl;
        iv::modulecomm::ModuleSendMsg(mpmem_radio_send_addr,strser,nbytesize);
        //qDebug()<<"[Radio]:has sended protobuffer"<<endl;
    } else
    {
        //qDebug()<<"proto fail"<<endl;
        //mivlog->error("sendData","[%s:] radio serialize error.",__func__);
//        gfault->SetFaultState(1, 0, "radio serialize err");
    }
    delete strser;
}
//--------------------------------------------按钮使能控制---------------------------------------------------------------
//云平台使能控制
void MainWindow::on_button_platform_en_clicked()
{
    if(mplatformEn)
    {
        ui->button_platform_en->setStyleSheet("background-color: gray");
        mplatformEn = false;
        m_tbox->setTboxConnectEnable(false);
    }
    else
    {
        ui->button_platform_en->setStyleSheet("background-color: green");
        mplatformEn = true;
        m_tbox->setTboxConnectEnable(true);
    }
}

//路测设备使能控制
void MainWindow::on_button_obu_en_clicked()
{
    if(mobuEn==1)
    {
        ui->button_obu_en->setStyleSheet("background-color: gray");
        mobuEn = 0;
        m_pc5->setConnectEnable(false);
    }
    else
    {
        ui->button_obu_en->setStyleSheet("background-color: green");
        mobuEn = 1;
        m_pc5->setConnectEnable(true);
    }
}


void MainWindow::on_button_v2v_en_clicked()
{
    if(v2vEn==1)
    {
        ui->button_v2v_en->setStyleSheet("background-color: gray");
        v2vEn = 0;
        m_pc5->setConnectEnable2(false);
        QMap<QString,OBUCarFormation> V2VMessage;
        outV2VData(V2VMessage);
    }
    else
    {
        ui->button_v2v_en->setStyleSheet("background-color: green");
        v2vEn = 1;
        m_pc5->setConnectEnable2(true);
    }
}

//云平台控制启停使能控制
void MainWindow::on_button_v2xrunmod_en_clicked()
{
    if (mpc5RunmodEn==0){
        if(mv2xRunmodEn==1)
        {
            ui->button_v2xrunmod_en->setStyleSheet("background-color: gray");
            mv2xRunmodEn = 0;
        }
        else
        {
            ui->button_v2xrunmod_en->setStyleSheet("background-color: green");
            mv2xRunmodEn = 1;
        }
        if (!mplatformEn)
        {
            ui->button_v2xrunmod_en->setStyleSheet("background-color: red");
            mv2xRunmodEn = 0;
        }
    }

}

void MainWindow::on_button_pc5runmod_en_clicked()
{
    if (mv2xRunmodEn==0){
        if(mpc5RunmodEn==1)
        {
            ui->button_pc5runmod_en->setStyleSheet("background-color: gray");
            mpc5RunmodEn = 0;
        }
        else
        {
            ui->button_pc5runmod_en->setStyleSheet("background-color: green");
            mpc5RunmodEn = 1;
        }
        if (!mobuEn)
        {
            ui->button_pc5runmod_en->setStyleSheet("background-color: red");
            mpc5RunmodEn = 0;
        }
    }

}
void MainWindow::on_button_car_vin_set_clicked()
{
    bool ok;
    QString text = QInputDialog::getText(this, tr("输入车辆VIN："),
                                         tr("VIN:"), QLineEdit::Normal,
                                         Q_NULLPTR, &ok);
    if (ok && !text.isEmpty())
    {
        gstrcarvin = text.toStdString();
        ui->lineEdit->setText(text);
        m_tbox->setTboxNewVin(gstrcarvin);
        m_pc5->setVin(gstrcarvin);
    }
}

void MainWindow::on_button_obu_vin_set_clicked()
{
    bool ok;
    QString text = QInputDialog::getText(this, tr("输入路侧VIN："),
                                         tr("VIN:"), QLineEdit::Normal,
                                         Q_NULLPTR, &ok);
    if (ok && !text.isEmpty())
    {
        int gstrobuvin = text.toInt();
        ui->lineEdit_obu_vin->setText(text);
        m_pc5->setobuNewVin(gstrobuvin);
    }
}

void MainWindow::on_button_trafficInfo_en_clicked()
{
    if(mbTrafficInfoEn==1)
    {
        ui->button_trafficInfo_en->setStyleSheet("background-color: gray");
        mbTrafficInfoEn = 0;
    }
    else
    {
        ui->button_trafficInfo_en->setStyleSheet("background-color: green");
        mbTrafficInfoEn = 1;
    }
}

void MainWindow::on_button_FCW_en_clicked()
{
    if(mbFCWEn==1)
    {
        ui->button_FCW_en->setStyleSheet("background-color: gray");
        mbFCWEn = 0;
    }
    else
    {
        ui->button_FCW_en->setStyleSheet("background-color: green");
        mbFCWEn = 1;
    }
}

void MainWindow::on_button_DriCrims_en_clicked()
{
    if(mbdriCrimsEn==1)
    {
        ui->button_DriCrims_en->setStyleSheet("background-color: gray");
        mbdriCrimsEn = 0;
    }
    else
    {
        ui->button_DriCrims_en->setStyleSheet("background-color: green");
        mbdriCrimsEn = 1;
    }
}

void MainWindow::on_button_v2vshow_en_clicked()
{
    if(v2vshow==1)
    {
        ui->button_v2vshow_en->setStyleSheet("background-color: gray");
        v2vshow = 0;
    }
    else
    {
        ui->button_v2vshow_en->setStyleSheet("background-color: green");
        v2vshow = 1;
    }

}

void MainWindow::on_button_v2vshowmore_en_clicked()
{
    if(v2vshowmore==1)
    {
        ui->button_v2vshowmore_en->setStyleSheet("background-color: gray");
        v2vshowmore = 0;
    }
    else
    {
        ui->button_v2vshowmore_en->setStyleSheet("background-color: green");
        v2vshowmore = 1;
    }
}



void MainWindow::on_button_SimCar_en_clicked()
{
    ui_set_virtualVehicleM struct_ui_VirtualVehicle;
    struct_ui_VirtualVehicle.lngMax= ui->lineEdit_jamsLon_up->text().toDouble();
    struct_ui_VirtualVehicle.lngMin= ui->lineEdit_jamsLon_low->text().toDouble();
    struct_ui_VirtualVehicle.latMax=ui->lineEdit_jamsLat_Up->text().toDouble();
    struct_ui_VirtualVehicle.latMin=ui->lineEdit_jamsLat_low->text().toDouble();
    struct_ui_VirtualVehicle.yawMax=ui->lineEdit_jamsHead_up->text().toDouble();
    struct_ui_VirtualVehicle.yawMin=ui->lineEdit_jamsHead_low->text().toDouble();
    struct_ui_VirtualVehicle.virtualVehicleNum= int(ui->lineEdit_jamsCarNum->text().toInt());
    struct_ui_VirtualVehicle.speedMax=ui->lineEdit_jamsSpeed_up->text().toDouble();
    struct_ui_VirtualVehicle.speedMin=ui->lineEdit_jamsSpeed_low->text().toDouble();
    m_pc5->my_ui_set=struct_ui_VirtualVehicle;
    //m_pc5->upVirtualVehicle(struct_ui_VirtualVehicle);
//    virtualVehicleM structVirtualVehicle;
//    int randId=qrand()%10000;
//    m_vectorRandom.push_back(randId);
//    for(int i=1;i<virtualVehicleNum;i++) {
//        getRandomNum();
//    }
//    for(int i=0;i<virtualVehicleNum;i++) {
//        structVirtualVehicle.vin = m_vectorVin[i];
//        structVirtualVehicle.gps_lat=latMin+((double(m_vectorRandom[i]))/10000.0)*(latMax-latMin);
//        structVirtualVehicle.gps_lng=lngMin+((double(m_vectorRandom[i]))/10000.0)*(lngMax-lngMin);
//        structVirtualVehicle.speed=speedMin+((float(m_vectorRandom[i]))/10000.0)*(speedMax-speedMin);
//        structVirtualVehicle.yaw=yawMin+((float(m_vectorRandom[i]))/10000.0)*(yawMax-yawMin);
//        m_pc5->upVirtualVehicle(structVirtualVehicle);
//    }
}
//void MainWindow::on_button_SimCar_en_clicked()
//{

//    double lngMax= ui->lineEdit_jamsLon_up->text().toDouble();
//    double lngMin= ui->lineEdit_jamsLon_low->text().toDouble();
//    double latMax=ui->lineEdit_jamsLat_Up->text().toDouble();
//    double latMin=ui->lineEdit_jamsLat_low->text().toDouble();
//    float yawMax=ui->lineEdit_jamsHead_up->text().toDouble();
//    float yawMin=ui->lineEdit_jamsHead_low->text().toDouble();
//    int virtualVehicleNum= int(ui->lineEdit_jamsCarNum->text().toInt());
//    float speedMax=ui->lineEdit_jamsSpeed_up->text().toDouble();
//    float speedMin=ui->lineEdit_jamsSpeed_low->text().toDouble();
//    virtualVehicleM structVirtualVehicle;
//    int randId=qrand()%10000;
//    m_vectorRandom.push_back(randId);
//    for(int i=1;i<virtualVehicleNum;i++) {
//        getRandomNum();
//    }
//    for(int i=0;i<virtualVehicleNum;i++) {
//        structVirtualVehicle.vin = m_vectorVin[i];
//        structVirtualVehicle.gps_lat=latMin+((double(m_vectorRandom[i]))/10000.0)*(latMax-latMin);
//        structVirtualVehicle.gps_lng=lngMin+((double(m_vectorRandom[i]))/10000.0)*(lngMax-lngMin);
//        structVirtualVehicle.speed=speedMin+((float(m_vectorRandom[i]))/10000.0)*(speedMax-speedMin);
//        structVirtualVehicle.yaw=yawMin+((float(m_vectorRandom[i]))/10000.0)*(yawMax-yawMin);
//        m_pc5->upVirtualVehicle(structVirtualVehicle);
//    }
//}
void MainWindow::on_show_debug_clicked()
{
    if(mshowdebugEn==1)
    {
        ui->show_debug->setStyleSheet("background-color: gray");
        mshowdebugEn = 0;
    }
    else
    {
        bool ok;
        QString text = QInputDialog::getText(this, tr("scode："),
                                             tr("scode:"), QLineEdit::Password,
                                             Q_NULLPTR, &ok);
        if (ok && !text.isEmpty())
        {
            std::string scode = text.toStdString();
            if (scode=="catarc")
            {
                ui->show_debug->setStyleSheet("background-color: green");
                mshowdebugEn = 1;
            }
        }
    }
}

void MainWindow::on_ea_collect_clicked()
{
    double lat=m_structMGpsImu.gps_lat;
    double lon=m_structMGpsImu.gps_lng;
    float head=m_structMGpsImu.yaw+180;
    if (head>=360){
        head=head-360;
    }

    light1StopLat=lat;
    light1StopLon=lon;
    light1Stophead=head;

    ui->ea_long->setText(QString::number(lon,'g',10));
    ui->ea_lat->setText(QString::number(lat,'g',10));
    ui->ea_head->setText(QString::number(head,'g',10));

    QFile inputFile("./v2xTcpClient.xml"); // 替换成你的XML文件路径

    if (!inputFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
        qDebug() << "Failed to open the XML file for reading.";
    }

    QTextStream inputStream(&inputFile);
    QString xmlContent = inputStream.readAll();

    inputFile.close();

    // 2. 使用正则表达式查找和替换参数值

    QMap<QString, QString> parameterMap;
    parameterMap["light1Stophead"] = ui->ea_head->text();
    parameterMap["light1StopLat"] = ui->ea_lat->text();
    parameterMap["light1StopLon"] = ui->ea_long->text();


    // 3. 遍历映射并使用正则表达式查找和替换参数值
    for (const QString &paramName : parameterMap.keys()) {
       QRegExp regex("name=\"" + paramName + "\" value=\"[^\"]+\"");
       const QString &newValue = parameterMap[paramName];

       int pos = 0;
       while ((pos = regex.indexIn(xmlContent, pos)) != -1) {
           xmlContent.replace(pos, regex.matchedLength(), "name=\"" + paramName + "\" value=\"" + newValue + "\"");
           pos += regex.matchedLength();
       }
    }
    // 3. 创建一个临时文件用于保存更新后的XML
    QFile outputFile("temp_updated_xml_file.xml");
    if (!outputFile.open(QIODevice::WriteOnly | QIODevice::Text)) {
        qDebug() << "Failed to open the temporary output XML file for writing.";

    }

    QTextStream outputStream(&outputFile);

    // 4. 重新写入XML文件内容，包括修改后的参数
    outputStream << xmlContent;

    // 5. 关闭文件
    outputFile.close();

    // 6. 删除原始XML文件
    QFile::remove("v2xTcpClient.xml");

    // 7. 重命名临时文件为原始XML文件名
    QFile::rename("temp_updated_xml_file.xml", "v2xTcpClient.xml");

    qDebug() << "XML file has been updated with the original attribute order and parameter change.";
}

void MainWindow::on_ns_collect_clicked()
{

    double lat=m_structMGpsImu.gps_lat;
    double lon=m_structMGpsImu.gps_lng;
    float head=m_structMGpsImu.yaw+180;
    if (head>=360){
        head=head-360;
    }
    light2StopLat=lat;
    light2StopLon=lon;
    light2Stophead=head;
    ui->ns_long->setText(QString::number(lon,'g',10));
    ui->ns_lat->setText(QString::number(lat,'g',10));
    ui->ns_head->setText(QString::number(head,'g',10));
    QFile inputFile("./v2xTcpClient.xml"); // 替换成你的XML文件路径

    if (!inputFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
        qDebug() << "Failed to open the XML file for reading.";
    }

    QTextStream inputStream(&inputFile);
    QString xmlContent = inputStream.readAll();

    inputFile.close();

    // 2. 使用正则表达式查找和替换参数值

    QMap<QString, QString> parameterMap;
    parameterMap["light2Stophead"] = ui->ns_head->text();
    parameterMap["light2StopLat"] = ui->ns_lat->text();
    parameterMap["light2StopLon"] = ui->ns_long->text();


    // 3. 遍历映射并使用正则表达式查找和替换参数值
    for (const QString &paramName : parameterMap.keys()) {
       QRegExp regex("name=\"" + paramName + "\" value=\"[^\"]+\"");
       const QString &newValue = parameterMap[paramName];

       int pos = 0;
       while ((pos = regex.indexIn(xmlContent, pos)) != -1) {
           xmlContent.replace(pos, regex.matchedLength(), "name=\"" + paramName + "\" value=\"" + newValue + "\"");
           pos += regex.matchedLength();
       }
    }
    // 3. 创建一个临时文件用于保存更新后的XML
    QFile outputFile("temp_updated_xml_file.xml");
    if (!outputFile.open(QIODevice::WriteOnly | QIODevice::Text)) {
        qDebug() << "Failed to open the temporary output XML file for writing.";

    }

    QTextStream outputStream(&outputFile);

    // 4. 重新写入XML文件内容，包括修改后的参数
    outputStream << xmlContent;

    // 5. 关闭文件
    outputFile.close();

    // 6. 删除原始XML文件
    QFile::remove("v2xTcpClient.xml");

    // 7. 重命名临时文件为原始XML文件名
    QFile::rename("temp_updated_xml_file.xml", "v2xTcpClient.xml");

    qDebug() << "XML file has been updated with the original attribute order and parameter change.";
}



void MainWindow::on_ea_cf_clicked()
{
    double x,y,head;
    x= ui->ea_cf_x->text().toDouble();
//    x=-x;
    y= ui->ea_cf_y->text().toDouble();
    head=m_structMGpsImu.yaw;
    if (head>90)
    {
        head=360-(head-90);
    }
    else{
        head=90-head;
    }
    double now_x,now_y,lat,lon,aim_x,aim_y,aim_lat,aim_lon,dis,add_x,add_y;
    GaussProjCal(m_structMGpsImu.gps_lng,m_structMGpsImu.gps_lat,now_x,now_y);
    add_x=y*qCos(qDegreesToRadians(head))+x*qSin(qDegreesToRadians(head));
    add_y=y*qSin(qDegreesToRadians(head))-x*qCos(qDegreesToRadians(head));

    aim_x=now_x+add_x;
    aim_y=now_y+add_y;
    GaussProjInvCal(aim_x,aim_y,&aim_lon,&aim_lat);


    QFile inputFile("./v2xTcpClient.xml"); // 替换成你的XML文件路径

    if (!inputFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
        qDebug() << "Failed to open the XML file for reading.";
    }

    QTextStream inputStream(&inputFile);
    QString xmlContent = inputStream.readAll();

    inputFile.close();

    // 2. 使用正则表达式查找和替换参数值

    QMap<QString, QString> parameterMap;
    parameterMap["light_CF_Lat"] = QString::number(aim_lat,'g',10);
    parameterMap["light_CF_Lon"] = QString::number(aim_lon,'g',10);


    // 3. 遍历映射并使用正则表达式查找和替换参数值
    for (const QString &paramName : parameterMap.keys()) {
       QRegExp regex("name=\"" + paramName + "\" value=\"[^\"]+\"");
       const QString &newValue = parameterMap[paramName];

       int pos = 0;
       while ((pos = regex.indexIn(xmlContent, pos)) != -1) {
           xmlContent.replace(pos, regex.matchedLength(), "name=\"" + paramName + "\" value=\"" + newValue + "\"");
           pos += regex.matchedLength();
       }
    }
    // 3. 创建一个临时文件用于保存更新后的XML
    QFile outputFile("temp_updated_xml_file.xml");
    if (!outputFile.open(QIODevice::WriteOnly | QIODevice::Text)) {
        qDebug() << "Failed to open the temporary output XML file for writing.";

    }

    QTextStream outputStream(&outputFile);

    // 4. 重新写入XML文件内容，包括修改后的参数
    outputStream << xmlContent;

    // 5. 关闭文件
    outputFile.close();

    // 6. 删除原始XML文件
    QFile::remove("v2xTcpClient.xml");

    // 7. 重命名临时文件为原始XML文件名
    QFile::rename("temp_updated_xml_file.xml", "v2xTcpClient.xml");

    qDebug() << "XML file has been updated with the original attribute order and parameter change.";




}

void MainWindow::on_ns_cf_clicked()
{
    double x,y,head;
    x= ui->ns_cf_x->text().toDouble();
    x=-x;
    y= ui->ns_cf_y->text().toDouble();
    head=m_structMGpsImu.yaw;
    if (head>90)
    {
        head=360-(head-90);
    }
    else{
        head=90-head;
    }
    double now_x,now_y,lat,lon,aim_x,aim_y,aim_lat,aim_lon,dis,add_x,add_y;
    GaussProjCal(m_structMGpsImu.gps_lng,m_structMGpsImu.gps_lat,now_x,now_y);
    add_x=y*qCos(qDegreesToRadians(head))+x*qSin(qDegreesToRadians(head));
    add_y=y*qSin(qDegreesToRadians(head))-x*qCos(qDegreesToRadians(head));

    aim_x=now_x+add_x;
    aim_y=now_y+add_y;
    GaussProjInvCal(aim_x,aim_y,&aim_lon,&aim_lat);
    QFile inputFile("./v2xTcpClient.xml"); // 替换成你的XML文件路径

    if (!inputFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
        qDebug() << "Failed to open the XML file for reading.";
    }

    QTextStream inputStream(&inputFile);
    QString xmlContent = inputStream.readAll();

    inputFile.close();

    // 2. 使用正则表达式查找和替换参数值

    QMap<QString, QString> parameterMap;
    parameterMap["light_CF_Lat"] = QString::number(aim_lat,'g',10);
    parameterMap["light_CF_Lon"] = QString::number(aim_lon,'g',10);


    // 3. 遍历映射并使用正则表达式查找和替换参数值
    for (const QString &paramName : parameterMap.keys()) {
       QRegExp regex("name=\"" + paramName + "\" value=\"[^\"]+\"");
       const QString &newValue = parameterMap[paramName];

       int pos = 0;
       while ((pos = regex.indexIn(xmlContent, pos)) != -1) {
           xmlContent.replace(pos, regex.matchedLength(), "name=\"" + paramName + "\" value=\"" + newValue + "\"");
           pos += regex.matchedLength();
       }
    }
    // 3. 创建一个临时文件用于保存更新后的XML
    QFile outputFile("temp_updated_xml_file.xml");
    if (!outputFile.open(QIODevice::WriteOnly | QIODevice::Text)) {
        qDebug() << "Failed to open the temporary output XML file for writing.";

    }

    QTextStream outputStream(&outputFile);

    // 4. 重新写入XML文件内容，包括修改后的参数
    outputStream << xmlContent;

    // 5. 关闭文件
    outputFile.close();

    // 6. 删除原始XML文件
    QFile::remove("v2xTcpClient.xml");

    // 7. 重命名临时文件为原始XML文件名
    QFile::rename("temp_updated_xml_file.xml", "v2xTcpClient.xml");

    qDebug() << "XML file has been updated with the original attribute order and parameter change.";

}
void MainWindow::on_button_pc5send_clicked()
{
    QString send_data=ui->plainTextEdit->toPlainText();
    m_pc5->CustomDataSend(send_data);
}
void MainWindow::on_button_pc5show_clicked()
{
    if (mcusdatashowEn==1)
    {
        ui->button_pc5show->setStyleSheet("background-color: gray");
        mcusdatashowEn=0;
    }
    else
    {
        ui->button_pc5show->setStyleSheet("background-color: green");
        mcusdatashowEn=1;
    }
}

MainWindow::~MainWindow()
{
    timer->stop();
    iv::modulecomm::Unregister(mpMemGPS);
    iv::modulecomm::Unregister(mpMemcamera);
    iv::modulecomm::Unregister(mpMemlidar);
    iv::modulecomm::Unregister(mpMemradar);
    iv::modulecomm::Unregister(vision_lightMem);
    delete ui;
}