Add v2r msg parse&show logic

src/ui/ui_ads_hmi_1px/ADCIntelligentVehicle.cpp

@@ -69,10 +69,10 @@ void MyView::keyPressEvent(QKeyEvent *event)
     {
         emit CtrlManual(false);
     }
- //   qDebug("key count is %d",mPressKeys.count());
-//    QDateTime dt;
-//    qDebug("key press %ld",QDateTime::currentMSecsSinceEpoch());
-//    qDebug("  key is %d",event->key());
+    //   qDebug("key count is %d",mPressKeys.count());
+    //    QDateTime dt;
+    //    qDebug("key press %ld",QDateTime::currentMSecsSinceEpoch());
+    //    qDebug("  key is %d",event->key());
 
 }
 
@@ -80,8 +80,8 @@ void MyView::keyReleaseEvent(QKeyEvent *event)
 {
     if(!event->isAutoRepeat())mPressKeys.remove(event->key());
     qDebug("key count is %d",mPressKeys.count());
-//    QDateTime dt;
-//    qDebug("key release %ld",QDateTime::currentMSecsSinceEpoch());
+    //    QDateTime dt;
+    //    qDebug("key release %ld",QDateTime::currentMSecsSinceEpoch());
 }
 
 /**
@@ -125,7 +125,7 @@ ADCIntelligentVehicle * gAV;
  */
 void ListenCANState(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
-//    gIvlog->debug("ListenCanState");
+    //    gIvlog->debug("ListenCanState");
     gAV->UpdateCANState(strdata,nSize);
 }
 
@@ -172,9 +172,9 @@ void ListenOBS(const char * strdata,const unsigned int nSize,const unsigned int
 //v2x使能状态请求
 void ListenV2xStReq(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
-//    gIvlog->info("hmi", "v2x enable request %d %d",nSize,sizeof(iv::v2x::v2xStReq));
-//    if(nSize < sizeof(iv::v2x::v2xStReq))
-//        return;
+    //    gIvlog->info("hmi", "v2x enable request %d %d",nSize,sizeof(iv::v2x::v2xStReq));
+    //    if(nSize < sizeof(iv::v2x::v2xStReq))
+    //        return;
 
     iv::v2x::v2xStReq xv2xStReqMsg;
     if(!xv2xStReqMsg.ParseFromArray(strdata,nSize))
@@ -192,17 +192,13 @@ void ListenV2xStReq(const char * strdata,const unsigned int nSize,const unsigned
 //vbu数据处理
 void ListenObu(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
-//    iv::v2x::v2xStReq xv2xStReqMsg;
-//    if(!xv2xStReqMsg.ParseFromArray(strdata,nSize))
-//    {
-//        gIvlog->error("hmi", "iv::v2x::xv2xStReqMsg::ListenV2xStReq parse error");
-//        return;
-//    }
-//    if(xv2xStReqMsg.v2xstreq())
-//    {
-//        gAV->UpdateV2xStEn(gAV->mv2xStEn);
-//        gIvlog->info("hmi", "v2x enable request %d",gAV->mv2xStEn);
-//    }
+    iv::v2r::v2r_send xv2rSendMsg;
+    if(!xv2rSendMsg.ParseFromArray(strdata,nSize))
+    {
+        gIvlog->error("hmi", "iv::v2r::xv2rSendMsg::ListenObu parse error");
+        return;
+    }
+    gAV->updateV2R(xv2rSendMsg);
 }
 
 /**
@@ -226,7 +222,7 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
     gAV = this;
     gIvlog->info("ADCIntelligentVehicle Start Initialize");
     mTime.start();
-/*
+    /*
     QString strpath = QCoreApplication::applicationDirPath();
     strpath = strpath + "/ADS_decision.xml";
     iv::xmlparam::Xmlparam xp(strpath.toStdString());
@@ -253,15 +249,15 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
     ui->listWidget->setIconSize(QSize(40,40));
     ui->stackedWidget->setCurrentIndex(0);
 
-  //  QObject::connect(ui->listWidget,SIGNAL(currentRowChanged(int)),ui->stackedWidget,SLOT(on_listWidget_clicked()));//信号与槽
+    //  QObject::connect(ui->listWidget,SIGNAL(currentRowChanged(int)),ui->stackedWidget,SLOT(on_listWidget_clicked()));//信号与槽
     QObject::connect(ui->listWidget,SIGNAL(currentRowChanged(int)),this,SLOT(on_listWidget_clicked()));//信号与槽
 
-//    /********************************** 百度地图显示  ********************************/
-//    mMapview = new QWebEngineView(ui->stackedWidget->widget(0));
-////    qDebug((QDir::currentPath()).toLatin1().data());
-//    mMapview->load(QUrl(QString("file:///%1/%2").arg(QApplication::applicationDirPath()).arg("BaiDuMap.html")));
-//    mMapview->setGeometry(750,250,400,400);
-//    /********************************************************************************/
+    //    /********************************** 百度地图显示  ********************************/
+    //    mMapview = new QWebEngineView(ui->stackedWidget->widget(0));
+    ////    qDebug((QDir::currentPath()).toLatin1().data());
+    //    mMapview->load(QUrl(QString("file:///%1/%2").arg(QApplication::applicationDirPath()).arg("BaiDuMap.html")));
+    //    mMapview->setGeometry(750,250,400,400);
+    //    /********************************************************************************/
 
     ui->listWidget->setCurrentRow(1);    //apollo_fu debug 20200409
 
@@ -275,7 +271,7 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
     myview_small->setGeometry(QRect(1000,100,500,500));
     myview_small->setAlignment(Qt::AlignLeft | Qt::AlignTop);
 #endif
-//    myview_small->scale(0.7,0.7);
+    //    myview_small->scale(0.7,0.7);
     //myview_small->centerOn(-200,-200);
 
     image = new QImage(900 * 2, 900 * 2, QImage::Format_RGB32);//画布的初始化大小设为600*500，使用32位颜色
@@ -357,13 +353,11 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
     gIvlog->debug("canState ptr: %x",mpacanstate);
 
     ModuleFun funbrainstate =std::bind(&ADCIntelligentVehicle::UpdateVehicleState,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
-   // mpaVechicleState = iv::modulecomm::RegisterRecvPlus("vehiclestate",funbrainstate);
+    // mpaVechicleState = iv::modulecomm::RegisterRecvPlus("vehiclestate",funbrainstate);
     mpaVechicleState = iv::modulecomm::RegisterRecvPlus("brainstate",funbrainstate);
 
     ModuleFun fundecition =std::bind(&ADCIntelligentVehicle::UpdateDecition,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
-
-//    mpaDecition = iv::modulecomm::RegisterRecvPlus("decition",fundecition);
-    mpaDecition = iv::modulecomm::RegisterRecvPlus("deciton",fundecition);    
+    mpaDecition = iv::modulecomm::RegisterRecvPlus("deciton",fundecition);
     mpaLidar = iv::modulecomm::RegisterRecv("lidar_obs",ListenOBS);
     mpaObu = iv::modulecomm::RegisterRecv("obu",ListenObu);
     mpaHMI = iv::modulecomm::RegisterSend("hmi",10*sizeof(iv::hmi::HMIBasic),10);
@@ -379,7 +373,7 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
     connect(mTimerManual,SIGNAL(timeout()),this,SLOT(onTimerManual()));
     connect(myview,SIGNAL(CtrlManual(bool)),this,SLOT(onCtrlManual(bool)));
     mnCtrlValue[0] = 0; mnCtrlValue[1] = 0; mnCtrlValue[2] = 0;
-//    timermanualctrl->start(10);
+    //    timermanualctrl->start(10);
 
     //connect(ui->lineEdit_6, SIGNAL(textEdited(const QString &)), this, SLOT(savestabuyEditinfo(const QString &)));
 
@@ -445,7 +439,7 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
     connect(&mTimerState1,SIGNAL(timeout()),this,SLOT(onStateTimerTraffic()));//广播发送UDP数据报
     mTimerState1.start(100);   //定时100ms
 
-    #endif
+#endif
 
     ui->lineEdit_vin->setText(QString::fromStdString(gstrvin));
     mdLon = QString::fromStdString(gstrLon).toDouble();
@@ -612,6 +606,42 @@ void ADCIntelligentVehicle::timeoutslot()
 
 //}
 
+void ADCIntelligentVehicle::updateV2R(iv::v2r::v2r_send xv2rMsg)
+{
+    if(xv2rMsg.has_radiolighttype())
+    {
+        miLightType = xv2rMsg.radiolighttype();
+        miLightRemain = xv2rMsg.radiolightremain();
+        ServiceCarStatus.st_straight = miLightType;
+        ServiceCarStatus.time_straight = miLightRemain;
+        miobuSt = 0;
+    }
+    if(xv2rMsg.has_radiobroadcastgpslat())
+    {
+        miBroadcastGpsLat = xv2rMsg.radiobroadcastgpslat();
+        miBroadcastGpsLon = xv2rMsg.radiobroadcastgpslon();
+        miBroadcastRange  = xv2rMsg.radiobroadcastrange();
+        miBroadcastTrafficType = xv2rMsg.radiobroadcasttraffictype();
+    }
+    if(xv2rMsg.has_radiowarningspeedlimit())
+    {
+        miBroadcastSpeedLimit = xv2rMsg.radiobroadcastspeedlimit();
+    }
+    if(xv2rMsg.has_radiowarningtype())
+    {
+        miWarningType = xv2rMsg.radiowarningtype();
+    }
+
+    if(xv2rMsg.has_radiowarningspeedlimit())
+    {
+        miWarningSpeedLimit = xv2rMsg.radiowarningspeedlimit();
+    }
+    if(xv2rMsg.has_radioidentistart())
+    {
+        miIdentiStart = xv2rMsg.radioidentistart();
+    }
+}
+
 /**
  * @brief ADCIntelligentVehicle::onRecvUDP
  */
@@ -752,118 +782,100 @@ void ADCIntelligentVehicle::AutoStart()
 
 void ADCIntelligentVehicle::onStateTimerTraffic()
 {
-    ui->lcdTurn->display((int)ServiceCarStatus.time_turn);
-    ui->lcdLeft->display((int)ServiceCarStatus.time_left);
-    ui->lcdStraight->display((int)ServiceCarStatus.time_straight);
-    ui->lcdRight->display((int)ServiceCarStatus.time_right);
-    switch (ServiceCarStatus.st_turn) {
-    case 0:
-        img.load(":/light_image/diaotou-black.png");
-        img = img.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_38->setPixmap(QPixmap::fromImage(img));
-        break;
-    case 1:
-        img.load(":/light_image/diaotou-green.png");
-        img = img.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_38->setPixmap(QPixmap::fromImage(img));
-        break;
-    case 2:
-        img.load(":/light_image/diaotou-red.png");
-        img = img.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_38->setPixmap(QPixmap::fromImage(img));
-        break;
-    case 3:
-        img.load(":/light_image/diaotou-yellow.png");
-        img = img.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_38->setPixmap(QPixmap::fromImage(img));
-        break;
-    default:
-        img.load(":/light_image/diaotou-black.png");
-        img = img.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_38->setPixmap(QPixmap::fromImage(img));
-        break;
-    }
-    switch (ServiceCarStatus.st_left) {
-    case 0:
-        img2.load(":/light_image/zuoguai-black.png");
-        img2 = img2.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_33->setPixmap(QPixmap::fromImage(img2));
-        break;
-    case 1:
-        img2.load(":/light_image/zuoguai-green.png");
-        img2 = img2.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_33->setPixmap(QPixmap::fromImage(img2));
-        break;
-    case 2:
-        img2.load(":/light_image/zuoguai-red.png");
-        img2 = img2.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_33->setPixmap(QPixmap::fromImage(img2));
-        break;
-    case 3:
-        img2.load(":/light_image/zuoguai-yellow.png");
-        img2 = img2.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_33->setPixmap(QPixmap::fromImage(img2));
-        break;
-    default:
-        img2.load(":/light_image/zuoguai-black.png");
-        img2 = img2.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_33->setPixmap(QPixmap::fromImage(img2));
-        break;
-    }
-    switch (ServiceCarStatus.st_straight) {
-    case 0:
-        img3.load(":/light_image/zhixing-black.png");
-        img3 = img3.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_35->setPixmap(QPixmap::fromImage(img3));
-        break;
-    case 1:
-        img3.load(":/light_image/zhixing-green.png");
-        img3 = img3.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_35->setPixmap(QPixmap::fromImage(img3));
-        break;
-    case 2:
-        img3.load(":/light_image/zhixing-red.png");
-        img3 = img3.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_35->setPixmap(QPixmap::fromImage(img3));
-        break;
-    case 3:
-        img3.load(":/light_image/zhixing-yellow.png");
-        img3 = img3.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_35->setPixmap(QPixmap::fromImage(img3));
-        break;
-    default:
-        img3.load(":/light_image/zhixing-black.png");
-        img3 = img3.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_35->setPixmap(QPixmap::fromImage(img3));
-        break;
+    if(miobuSt < 10)
+    {
+        miobuSt++;
+        ui->lcdStraight->display((int)ServiceCarStatus.time_straight);
+        switch (ServiceCarStatus.st_straight) {
+        case 0:
+            img3.load(":/light_image/zhixing-black.png");
+            img3 = img3.scaled(66,66,Qt::IgnoreAspectRatio);
+            ui->label_35->setPixmap(QPixmap::fromImage(img3));
+            break;
+        case 1:
+            img3.load(":/light_image/zhixing-green.png");
+            img3 = img3.scaled(66,66,Qt::IgnoreAspectRatio);
+            ui->label_35->setPixmap(QPixmap::fromImage(img3));
+            break;
+        case 2:
+            img3.load(":/light_image/zhixing-red.png");
+            img3 = img3.scaled(66,66,Qt::IgnoreAspectRatio);
+            ui->label_35->setPixmap(QPixmap::fromImage(img3));
+            break;
+        case 3:
+            img3.load(":/light_image/zhixing-yellow.png");
+            img3 = img3.scaled(66,66,Qt::IgnoreAspectRatio);
+            ui->label_35->setPixmap(QPixmap::fromImage(img3));
+            break;
+        default:
+            img3.load(":/light_image/zhixing-black.png");
+            img3 = img3.scaled(66,66,Qt::IgnoreAspectRatio);
+            ui->label_35->setPixmap(QPixmap::fromImage(img3));
+            break;
+        }
     }
-    switch (ServiceCarStatus.st_right) {
-    case 0:
-        img4.load(":/light_image/youguai-black.png");
-        img4 = img4.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_32->setPixmap(QPixmap::fromImage(img4));
-        break;
-    case 1:
-        img4.load(":/light_image/youguai-green.png");
-        img4 = img4.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_32->setPixmap(QPixmap::fromImage(img4));
-        break;
-    case 2:
-        img4.load(":/light_image/youguai-red.png");
-        img4 = img4.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_32->setPixmap(QPixmap::fromImage(img4));
-        break;
-    case 3:
-        img4.load(":/light_image/youguai-yellow.png");
-        img4 = img4.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_32->setPixmap(QPixmap::fromImage(img4));
-        break;
-    default:
-        img4.load(":/light_image/youguai-black.png");
-        img4 = img4.scaled(66,66,Qt::IgnoreAspectRatio);
-        ui->label_32->setPixmap(QPixmap::fromImage(img4));
-        break;
+    if(mobuEn)
+    {
+        if(mbTrafficInfoEn)
+        {
+            if(miobuSt<10)
+            {
+                ui->button_trafficInfoLight_st->setStyleSheet("background-color: green");
+                ui->lineEd_trafficInfo->setText("减速至xx km/h");
+                ui->textBr_trafficInfo->append(QTime::currentTime().toString("hh:mm:ss.zzz") + "xxxxx");
+            }
+            else
+            {
+                ui->button_trafficInfoLight_st->setStyleSheet("background-color: red");
+                ui->textBr_trafficInfo->clear();
+                ui->lineEd_trafficInfo->clear();
+            }
+        }
+        else if(mbFCWEn)//碰撞预警
+        {
+            if(miobuSt<10)
+            {
+                ui->textBr_FCW->append(QTime::currentTime().toString("hh:mm:ss.zzz") + "xxxxx");
+                ui->button_FWCLight_st->setStyleSheet("background-color: green");
+            }
+            else
+            {
+                ui->textBr_FCW->clear();
+                ui->button_FWCLight_st->setStyleSheet("background-color: red");
+            }
+        }
+        else if(mbjamsEn)//交通拥堵
+        {
+            if(miobuSt<10)
+            {
+                ui->button_jamsLight_st->setStyleSheet("background-color: green");
+                ui->lineEdit_jamsMode->setText("xxx");
+                ui->lineEdit_jamsVIN->setText(QString::fromStdString(gstrvin));
+
+            }
+            else
+            {
+                ui->button_jamsLight_st->setStyleSheet("background-color: red");
+                ui->lineEdit_jamsMode->clear();
+                ui->lineEdit_jamsVIN->clear();
+            }
+        }
+        else if(mbdriCrimsEn)//危险驾驶
+        {
+            if(miobuSt<10)
+            {
+                ui->button_DriCrimsLight_st->setStyleSheet("background-color: green");
+                ui->textBr_FCW_2->append(QTime::currentTime().toString("hh:mm:ss.zzz")+"进入危险驾驶模式");
+            }
+            else
+            {
+                ui->button_DriCrimsLight_st->setStyleSheet("background-color: red");
+                ui->textBr_FCW_2->clear();
+            }
+        }
     }
+
+
 }
 
 /**
@@ -967,11 +979,11 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
         mnTimeLastUpdatePaint = mTime.elapsed();
         //       qDebug("enter paint. time is %d",mTime.elapsed());
         painter->begin(image);
-//        painter_small->begin(image_small);
+        //        painter_small->begin(image_small);
 
-       // image->fill(QColor(60, 60, 60));//对画布进行填充
-       image->fill(QColor(220, 220, 220));//对画布进行填充
-       image_small->fill(QColor(220,220,220));
+        // image->fill(QColor(60, 60, 60));//对画布进行填充
+        image->fill(QColor(220, 220, 220));//对画布进行填充
+        image_small->fill(QColor(220,220,220));
         std::vector<iv::GPSData> navigation_data;
         mMutexNavi.lock();
         navigation_data = m_navigation_data;
@@ -989,7 +1001,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
         mMutexPlan_right.lock();
         myplan_right = m_plan_right;
         mMutexPlan_right.unlock();
-//        std::cout<<"plan size is "<<myplan.size()<<std::endl;
+        //        std::cout<<"plan size is "<<myplan.size()<<std::endl;
 
 
 
@@ -999,27 +1011,27 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
 
 
         int pointx = 450, pointy = 700;//确定坐标轴起点坐标，这里定义(35,280)
-//        int pointx_small = 450, pointy_small = 700;
+        //        int pointx_small = 450, pointy_small = 700;
         //        double x0[22000], y0[22000], lng[22000], x1[22000], y1[22000], x2[22000], y2[22000];
 
-                double * x0, * y0, * lng, * x1, * y1, * x2, * y2;
-                std::shared_ptr<double> ptrx0,ptry0,ptrlng,ptrx1,ptry1,ptrx2,ptry2;
-                int nmapsize = navigation_data.size();
-                x0 = new double[nmapsize];
-                y0 = new double[nmapsize];
-                lng = new double[nmapsize];
-                x1 = new double[nmapsize];
-                y1 = new double[nmapsize];
-                x2 = new double[nmapsize];
-                y2 = new double[nmapsize];
-
-                ptrx0.reset(x0);
-                ptry0.reset(y0);
-                ptrlng.reset(lng);
-                ptrx1.reset(x1);
-                ptry1.reset(y1);
-                ptrx2.reset(x2);
-                ptry2.reset(y2);
+        double * x0, * y0, * lng, * x1, * y1, * x2, * y2;
+        std::shared_ptr<double> ptrx0,ptry0,ptrlng,ptrx1,ptry1,ptrx2,ptry2;
+        int nmapsize = navigation_data.size();
+        x0 = new double[nmapsize];
+        y0 = new double[nmapsize];
+        lng = new double[nmapsize];
+        x1 = new double[nmapsize];
+        y1 = new double[nmapsize];
+        x2 = new double[nmapsize];
+        y2 = new double[nmapsize];
+
+        ptrx0.reset(x0);
+        ptry0.reset(y0);
+        ptrlng.reset(lng);
+        ptrx1.reset(x1);
+        ptry1.reset(y1);
+        ptrx2.reset(x2);
+        ptry2.reset(y2);
         double xx = 0, yy = 0;
         double sumx = 0, sumy = 0;//, ave_x = 0, ave_y = 0;
         int sizeN = navigation_data.size();
@@ -1032,19 +1044,19 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
         //先绘制车位置点及框图
         static const QPointF points1[2] = { QPointF(300, 700), QPointF(600, 700) };
         static const QPointF points2[2] = { QPointF(450, 0), QPointF(450, 900) };
-//        static const QPointF points1_small[2] = { QPointF(300, 700), QPointF(600, 700) };
-//        static const QPointF points2_small[2] = { QPointF(450, 0), QPointF(450, 900) };
+        //        static const QPointF points1_small[2] = { QPointF(300, 700), QPointF(600, 700) };
+        //        static const QPointF points2_small[2] = { QPointF(450, 0), QPointF(450, 900) };
 
         penPoint.setColor(Qt::red);
         penPoint.setWidth(2);
         painter->setPen(penPoint);
-//        painter_small->setPen(penPoint);
+        //        painter_small->setPen(penPoint);
         painter->drawPoint(pointx, pointy);
-//        painter_small->drawPoint(pointx_small,pointy_small);
+        //        painter_small->drawPoint(pointx_small,pointy_small);
         painter->drawPolyline(points1, 2);
         painter->drawPolyline(points2, 2);
-//        painter_small->drawPolyline(points1_small, 2);
-//        painter_small->drawPolyline(points2_small, 2);
+        //        painter_small->drawPolyline(points1_small, 2);
+        //        painter_small->drawPolyline(points2_small, 2);
 
         //路径点的预处理
         for (int i = 0; i < sizeN; i++)
@@ -1079,7 +1091,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
         if (ServiceCarStatus.location->gps_x == 0)
         {
             painter->drawText(rect(), Qt::AlignLeft, QString::fromLocal8Bit("等待车辆实时GPS位置信息"));
-//            painter_small->drawText(rect(), Qt::AlignLeft, QString::fromLocal8Bit("等待车辆实时GPS位置信息"));
+            //            painter_small->drawText(rect(), Qt::AlignLeft, QString::fromLocal8Bit("等待车辆实时GPS位置信息"));
         }
         else
         {
@@ -1100,21 +1112,21 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
             y0[i] = xx * sin(lng[0] * PI / 180) + yy * cos(lng[0] * PI / 180);
             k1 = sin((90 + (lng[i] - lng[0])) * PI / 180);
             k2 = cos((90 + (lng[i] - lng[0])) * PI / 180);
-            #if 0
+#if 0
             x1[i] = x0[i] + k1 * 5;
             y1[i] = y0[i] + k2 * 5;
             x2[i] = x0[i] - k1 * 5;
             y2[i] = y0[i] - k2 * 5;
-            #else
+#else
             x1[i] = x0[i] + k1 * 1.75;
             y1[i] = y0[i] + k2 * 1.75;
             x2[i] = x0[i] - k1 * 1.75;
             y2[i] = y0[i] - k2 * 1.75;
-            #endif
+#endif
         }
 
-//        double kx_small = (double)(1200) / (abs(y_max - y_min));//x轴的系数
-//        double ky_small = (double)(1200) / (abs(y_max - y_min));//y方向的比例系数
+        //        double kx_small = (double)(1200) / (abs(y_max - y_min));//x轴的系数
+        //        double ky_small = (double)(1200) / (abs(y_max - y_min));//y方向的比例系数
 
         double kx = 10;
         double ky = 10;
@@ -1130,22 +1142,22 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
         for (int i = 1; i < sizeN - 1; i++)
         {
             painter->setPen(penPoint);//蓝色的笔，用于标记各个点
-//            painter_small->setPen(penPoint);//蓝色的笔，用于标记各个点
+            //            painter_small->setPen(penPoint);//蓝色的笔，用于标记各个点
             painter->drawPoint(pointx + x0[i] * kx, pointy - y0[i] * ky);
-//            painter_small->drawPoint(pointx_small + x0[i] * kx_small, pointy_small - y0[i] * ky_small);
+            //            painter_small->drawPoint(pointx_small + x0[i] * kx_small, pointy_small - y0[i] * ky_small);
             painter->drawPoint(pointx + x1[i] * kx, pointy - y1[i] * ky);
-//            painter_small->drawPoint(pointx_small + x1[i] * kx_small, pointy_small - y1[i] * ky_small);
+            //            painter_small->drawPoint(pointx_small + x1[i] * kx_small, pointy_small - y1[i] * ky_small);
             painter->drawPoint(pointx + x2[i] * kx, pointy - y2[i] * ky);
-//            painter_small->drawPoint(pointx_small + x2[i] * kx_small, pointy_small - y2[i] * ky_small);
+            //            painter_small->drawPoint(pointx_small + x2[i] * kx_small, pointy_small - y2[i] * ky_small);
         }
         painter->drawPoint(pointx + x0[sizeN - 1] * kx, pointy - y0[sizeN - 1] * ky);//绘制最后一个点
-//        painter_small->drawPoint(pointx_small + x0[sizeN - 1] * kx_small, pointy_small - y0[sizeN - 1] * ky_small);//绘制最后一个点
+        //        painter_small->drawPoint(pointx_small + x0[sizeN - 1] * kx_small, pointy_small - y0[sizeN - 1] * ky_small);//绘制最后一个点
 
         penPoint.setColor(Qt::red);
         penPoint.setWidth(2);
 
         painter->drawPoint(pointx + x0[0] * kx, pointy - y0[0] * ky);
-//        painter_small->drawPoint(pointx_small + x0[0] * kx_small, pointy_small - y0[0] * ky_small);
+        //        painter_small->drawPoint(pointx_small + x0[0] * kx_small, pointy_small - y0[0] * ky_small);
 
 #if 1
         // draw plan trace
@@ -1165,7 +1177,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
         }
 #endif
 #if 1
-//        penPoint.setColor(Qt::gray);
+        //        penPoint.setColor(Qt::gray);
         penPoint.setColor(QColor(187, 255, 255, 100));
         penPoint.setWidth(2);
         painter->setPen(penPoint);
@@ -1181,9 +1193,9 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
             }
         }
 
-//        penPoint.setColor(Qt::gray);
-//        penPoint.setWidth(2);
-//        painter->setPen(penPoint);
+        //        penPoint.setColor(Qt::gray);
+        //        penPoint.setWidth(2);
+        //        painter->setPen(penPoint);
         QPointF tracePoints_right[myplan_right.size()];
         if(myplan_right.size()>2)
         {
@@ -1196,15 +1208,15 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
             }
         }
 #endif
- //       painter->drawPolyline(tracePoints,myplan.size());
+        //       painter->drawPolyline(tracePoints,myplan.size());
         // draw plan trace end
-/////////////////////////////////////apollo add car icon  20200409
+        /////////////////////////////////////apollo add car icon  20200409
         QPixmap pix;
         //pix.load("car.png");
         pix.load(":/ADCIntelligentVehicle/car1.png");
         painter->drawPixmap(435,667,30,67,pix);
-//        painter_small->drawPixmap(442,683,16,34,pix);
-///////////////////////////////////////////////////////////////////
+        //        painter_small->drawPixmap(442,683,16,34,pix);
+        ///////////////////////////////////////////////////////////////////
 
 
         penPoint.setColor(Qt::blue);
@@ -1263,21 +1275,21 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
                     }
                 }
             }
-         }
+        }
 
 
 
 
         painter->end();
-//        painter_small->end();
+        //        painter_small->end();
         scene->clear();
-//        scene_small->clear();
+        //        scene_small->clear();
         scene->addPixmap(QPixmap::fromImage(*image));
-//        scene_small->addPixmap(QPixmap::fromImage(*image_small));
+        //        scene_small->addPixmap(QPixmap::fromImage(*image_small));
         myview->setScene(scene);
-//        myview_small->setScene(scene_small);
+        //        myview_small->setScene(scene_small);
         myview->show();
-//        myview_small->show();
+        //        myview_small->show();
         navigation_data.clear();
     }
 }
@@ -1340,7 +1352,7 @@ void ADCIntelligentVehicle::UpdatePlanTrace_left(const char * strdata,const unsi
     int nplansize = nSize/sizeof(iv::Point2D);
     if(nplansize < 1)
         std::cout<<"UpdatePlanTrace_left size is 0................. "<<std::endl;
-//        return;
+    //        return;
     int npsize = sizeof(iv::Point2D);
     int i;
     for(i=0;i<nplansize;i++)
@@ -1525,7 +1537,7 @@ void GaussProjCal(double longitude, double latitude, double *X, double *Y)
     iPI = 0.0174532925199433; ////3.1415926535898/180.0;
     ZoneWide = 6; ////6度带宽
     a = 6378245.0; f = 1.0 / 298.3; //54年北京坐标系参数
-                                    ////a=6378140.0; f=1/298.257; //80年西安坐标系参数
+    ////a=6378140.0; f=1/298.257; //80年西安坐标系参数
     ProjNo = (int)(longitude / ZoneWide);
     longitude0 = ProjNo * ZoneWide + ZoneWide / 2;
     longitude0 = longitude0 * iPI;
@@ -1539,11 +1551,11 @@ void GaussProjCal(double longitude, double latitude, double *X, double *Y)
     C = ee * cos(latitude1)*cos(latitude1);
     A = (longitude1 - longitude0)*cos(latitude1);
     M = a * ((1 - e2 / 4 - 3 * e2*e2 / 64 - 5 * e2*e2*e2 / 256)*latitude1 - (3 * e2 / 8 + 3 * e2*e2 / 32 + 45 * e2*e2
-        *e2 / 1024)*sin(2 * latitude1)
-        + (15 * e2*e2 / 256 + 45 * e2*e2*e2 / 1024)*sin(4 * latitude1) - (35 * e2*e2*e2 / 3072)*sin(6 * latitude1));
+                                                                             *e2 / 1024)*sin(2 * latitude1)
+             + (15 * e2*e2 / 256 + 45 * e2*e2*e2 / 1024)*sin(4 * latitude1) - (35 * e2*e2*e2 / 3072)*sin(6 * latitude1));
     xval = NN * (A + (1 - T + C)*A*A*A / 6 + (5 - 18 * T + T * T + 72 * C - 58 * ee)*A*A*A*A*A / 120);
     yval = M + NN * tan(latitude1)*(A*A / 2 + (5 - T + 9 * C + 4 * C*C)*A*A*A*A / 24
-        + (61 - 58 * T + T * T + 600 * C - 330 * ee)*A*A*A*A*A*A / 720);
+                                    + (61 - 58 * T + T * T + 600 * C - 330 * ee)*A*A*A*A*A*A / 720);
     X0 = 1000000L * (ProjNo + 1) + 500000L;
     Y0 = 0;
     xval = xval + X0; yval = yval + Y0;
@@ -1667,7 +1679,7 @@ void ADCIntelligentVehicle::UpdateRADAR(const char * strdata,const unsigned int
         return;
     }
 
- //   gIvlog->verbose("radar time is %ld",QDateTime::currentMSecsSinceEpoch());
+    //   gIvlog->verbose("radar time is %ld",QDateTime::currentMSecsSinceEpoch());
 
     if((QDateTime::currentMSecsSinceEpoch() - oldrecvtime)>100)
     {
@@ -1687,7 +1699,7 @@ void ADCIntelligentVehicle::UpdateRADAR(const char * strdata,const unsigned int
     //        memcpy(&x,pdata + i*sizeof(iv::ObstacleBasic),sizeof(iv::ObstacleBasic));
     //        ServiceCarStatus.obs_radar[i] = x;
     //    }
-        ServiceCarStatus.mRadarS = 10;
+    ServiceCarStatus.mRadarS = 10;
     //    mnTimeUpdateRadar = mTimeState.elapsed();
     //    mnTimeUpdateCANState = mTimeState.elapsed();
 }
@@ -1706,36 +1718,36 @@ void ADCIntelligentVehicle::UpdateCANState(const char *pdata, const int ndatasiz
         return;
     }
 
-//    if(ndatasize<sizeof(iv::can_state))return;
-//    char ccanstate[ndatasize];
+    //    if(ndatasize<sizeof(iv::can_state))return;
+    //    char ccanstate[ndatasize];
 
-//    memcpy(ccanstate,pdata,4);
+    //    memcpy(ccanstate,pdata,4);
 #if 1
     if(recCanstate.b_canstate())
-    {        
-//        gIvlog->debug("UpdateCANState<success>");
+    {
+        //        gIvlog->debug("UpdateCANState<success>");
         mDataToUI.mInfo.is_initSuccess = 1;
     }
     else
     {
-//        gIvlog->debug("UpdateCANState<failed>size %d %s ");
+        //        gIvlog->debug("UpdateCANState<failed>size %d %s ");
         mDataToUI.mInfo.is_initSuccess = 0;
     }
 #endif
 
 
 
-//    iv::can_state x;
-//    memcpy(&x,pdata,sizeof(iv::can_state));
+    //    iv::can_state x;
+    //    memcpy(&x,pdata,sizeof(iv::can_state));
 
-//    if(x.mbCANOpen)
-//    {
-//        mDataToUI.mInfo.is_initSuccess = 1;
-//    }
-//    else
-//    {
-//        mDataToUI.mInfo.is_initSuccess = 0;
-//    }
+    //    if(x.mbCANOpen)
+    //    {
+    //        mDataToUI.mInfo.is_initSuccess = 1;
+    //    }
+    //    else
+    //    {
+    //        mDataToUI.mInfo.is_initSuccess = 0;
+    //    }
 
 }
 
@@ -1928,7 +1940,7 @@ void ADCIntelligentVehicle::UpdateChassis(const char *strdata, const unsigned in
 
 void ADCIntelligentVehicle::onTimerManual()
 {
-//    if(myview->mPressKeys.count() == 0)return;
+    //    if(myview->mPressKeys.count() == 0)return;
 
     if(mbManual == false)
     {
@@ -2032,6 +2044,8 @@ void ADCIntelligentVehicle::UpdateVbox(const char * strdata,const unsigned int n
     ServiceCarStatus.time_turn = xvbox.time_turn();
 
 
+
+
 }
 
 void ADCIntelligentVehicle::on_button_start_clicked()
@@ -2057,7 +2071,7 @@ void ADCIntelligentVehicle::on_button_platform_en_clicked()
         mplatformEn = 1;
     }
     gIvlog->info("hmi","platform enable:%d", mplatformEn);
-//    UpdateV2xStEn(mv2xStEn);
+    //    UpdateV2xStEn(mv2xStEn);
     iv::hmi::hmimsg hmi;
     hmi.set_platformen(mplatformEn);
     ShareHMIMsgPro(hmi);
@@ -2074,7 +2088,7 @@ void ADCIntelligentVehicle::on_button_obu_en_clicked()
         mobuEn = 1;
     }
     gIvlog->info("hmi","platform enable:%d", mobuEn);
-//    UpdateV2xStEn(mv2xStEn);
+    //    UpdateV2xStEn(mv2xStEn);
     iv::hmi::hmimsg hmi;
     hmi.set_obuen(mobuEn);
     ShareHMIMsgPro(hmi);
@@ -2082,33 +2096,33 @@ void ADCIntelligentVehicle::on_button_obu_en_clicked()
 
 void ADCIntelligentVehicle::on_button_map_set_clicked()
 {
-     QString fileName = QFileDialog::getOpenFileName(this,
-                                 tr("选择地图文件"),
-                                 "/home/nvidia",
-                                 tr("Text Files (*.xodr)"));
-     if (fileName.isEmpty())
-     {
+    QString fileName = QFileDialog::getOpenFileName(this,
+                                                    tr("选择地图文件"),
+                                                    "/home/nvidia",
+                                                    tr("Text Files (*.xodr)"));
+    if (fileName.isEmpty())
+    {
         QMessageBox msgBox(QMessageBox::Warning, tr("警告"),
-                                "No Map Selected", 0, this);
+                           "No Map Selected", 0, this);
         msgBox.addButton(tr("OK"), QMessageBox::AcceptRole);
-//         msgBox.addButton(tr("&Continue"), QMessageBox::RejectRole);
-//         if (msgBox.exec() == QMessageBox::AcceptRole)
-//             qDebug()<<"accept";
-//         else
-//             qDebug()<<"reject";
-     }else{
-         //发送地图文件名到driver_map_xodrload
-         iv::hmi::hmimsg hmi;
-         hmi.set_mapname(fileName.toStdString());
-         ShareHMIMsgPro(hmi);
-
-         //发送站点gps信息
-         xodrobj xo;
-         xo.flon = mdLon;
-         xo.flat = mdLat;
-         xo.lane = 1;
-         iv::modulecomm::ModuleSendMsg(mpadst,(char *)&xo,sizeof(xodrobj));
-     }
+        //         msgBox.addButton(tr("&Continue"), QMessageBox::RejectRole);
+        //         if (msgBox.exec() == QMessageBox::AcceptRole)
+        //             qDebug()<<"accept";
+        //         else
+        //             qDebug()<<"reject";
+    }else{
+        //发送地图文件名到driver_map_xodrload
+        iv::hmi::hmimsg hmi;
+        hmi.set_mapname(fileName.toStdString());
+        ShareHMIMsgPro(hmi);
+
+        //发送站点gps信息
+        xodrobj xo;
+        xo.flon = mdLon;
+        xo.flat = mdLat;
+        xo.lane = 1;
+        iv::modulecomm::ModuleSendMsg(mpadst,(char *)&xo,sizeof(xodrobj));
+    }
 }
 
 void ADCIntelligentVehicle::on_button_vin_set_clicked()
@@ -2134,7 +2148,7 @@ void ADCIntelligentVehicle::on_button_speedLimit_set_clicked()
                                        tr("Amount:"), 0.0, 0, 30, 1, &ok);
     if (ok)
     {
-//        doubleLabel->setText(QString("$%1").arg(d));
+        //        doubleLabel->setText(QString("$%1").arg(d));
         mdspeedLimit = d;
         iv::hmi::hmimsg hmi;
         hmi.set_speedlimit(mdspeedLimit);
@@ -2162,7 +2176,7 @@ void ADCIntelligentVehicle::on_button_trafficInfo_en_clicked()
         mbTrafficInfoEn = true;
     }
     gIvlog->info("hmi","traffic info enable:%d", mbTrafficInfoEn);
-//    UpdateV2xStEn(mv2xStEn);
+    //    UpdateV2xStEn(mv2xStEn);
     iv::hmi::hmimsg hmi;
     mbFCWEn = false;
     mbjamsEn = false;
@@ -2186,7 +2200,7 @@ void ADCIntelligentVehicle::on_button_FCW_en_clicked()
         mbFCWEn = true;
     }
     gIvlog->info("hmi","traffic FCW enable:%d", mbFCWEn);
-//    UpdateV2xStEn(mv2xStEn);
+    //    UpdateV2xStEn(mv2xStEn);
     iv::hmi::hmimsg hmi;
     mbTrafficInfoEn = false;
     mbjamsEn = false;
@@ -2210,7 +2224,7 @@ void ADCIntelligentVehicle::on_button_jams_en_clicked()
         mbjamsEn = true;
     }
     gIvlog->info("hmi","traffic jams enable:%d", mbjamsEn);
-//    UpdateV2xStEn(mv2xStEn);
+    //    UpdateV2xStEn(mv2xStEn);
     iv::hmi::hmimsg hmi;
     mbTrafficInfoEn = false;
     mbFCWEn = false;
@@ -2247,7 +2261,7 @@ void ADCIntelligentVehicle::on_button_DriCrims_en_clicked()
         mbdriCrimsEn = true;
     }
     gIvlog->info("hmi","traffic jams enable:%d", mbdriCrimsEn);
-//    UpdateV2xStEn(mv2xStEn);
+    //    UpdateV2xStEn(mv2xStEn);
     iv::hmi::hmimsg hmi;
     mbTrafficInfoEn = false;
     mbFCWEn = false;

src/ui/ui_ads_hmi_1px/ADCIntelligentVehicle.h

@@ -62,6 +62,7 @@
 #include "brainstate.pb.h"
 #include "canstate.pb.h"
 #include "v2x.pb.h"
+#include "v2r.pb.h"
 #include "ivlog.h"
 #include "mapreq.pb.h"
 #include "vbox.pb.h"
@@ -284,13 +285,7 @@ private:
 public:
     void UpdateGPSIMU(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
     unsigned int mv2xStEn = 0;
-    bool mplatformEn = false;//云平台使能状态
-    bool mobuEn = false;//obu使能状态
-    bool mbTrafficInfoEn = false;
-    bool mbFCWEn = false;//碰撞预警使能状态
-    bool mbjamsEn = false;//拥堵使能状态
-//    bool mbSimCarEn = false;//仿真车辆设置使能
-    bool mbdriCrimsEn = false;//危险驾驶使能状态
+
 private:
     void * mparadar;
 private:
@@ -351,9 +346,30 @@ public:
 private:
     void * mp_v2xStSend;
     void ShareHMIMsg(iv::hmi::HMIBasic xhmi);
-
+/********1+x start***********************************/
+    bool mplatformEn = false;//云平台使能状态
+    bool mobuEn = false;//obu使能状态
+    bool mbTrafficInfoEn = false; //路况信息使能
+    bool mbFCWEn = false;//碰撞预警使能状态
+    bool mbjamsEn = false;//拥堵使能状态
+//    bool mbSimCarEn = false;//仿真车辆设置使能
+    bool mbdriCrimsEn = false;//危险驾驶使能状态
+    int miobuSt=0; //obu状态监控,1s未更新判定为离线
     void ShareHMIMsgPro(iv::hmi::hmimsg xhmimsg);
-    iv::Ivlog * mpivlog;
+    int miLightType = 255;//红绿灯类型 1:绿灯 2：红灯 3：黄灯 254：异常 255：无效
+    int miLightRemain = 0;//当前灯剩余时间 单位：S
+    double miBroadcastGpsLat = 0;//实时路况广播lat
+    double miBroadcastGpsLon = 0;//实时路况广播lon
+    int  miBroadcastRange    = 65535;//实时路况广播辐射范围 有效范围1-1000，单位：M ，65534：异常 65535：无效
+    int  miBroadcastTrafficType  = 255;//实时路况广播交通状况类型 1：塌方 2：施工 3：道路结冰 4： 前方限速 254：异常 255：无效
+    int  miBroadcastSpeedLimit   = 255;//实时路况广播限速值 有效范围1-120，单位：KM/H 254：异常 255：无效
+    int  miWarningType           = 255;//碰撞预警类型 1：减速 2：停车 254：异常 255：无效
+    int  miWarningSpeedLimit     = 255;//碰撞预警限速值 有效范围1-120，单位：KM/H 254：异常 255：无效
+    int  miIdentiStart= 255;//拥堵识别开启指令 1：开启 254：异常 255：无效
+
+public:
+    void updateV2R(iv::v2r::v2r_send xv2rMsg);
+/********1+x end*************************************/
 
     //     iv::platform::Client mplatform_client;
 
@@ -363,9 +379,9 @@ public:
 
 private:
     void * mpaVbox;
+    iv::Ivlog * mpivlog;
 public:
     void UpdateVbox(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
-
 private:
     QImage img,img2,img3,img4;
     QTimer mTimerState1;

src/ui/ui_ads_hmi_1px/ADCIntelligentVehicle.ui

@@ -110,7 +110,7 @@
      </rect>
     </property>
     <property name="currentIndex">
-     <number>0</number>
+     <number>1</number>
     </property>
     <widget class="QWidget" name="page_0">
      <widget class="QGroupBox" name="groupBox_2">
@@ -1231,7 +1231,7 @@
           </palette>
          </property>
          <property name="currentIndex">
-          <number>3</number>
+          <number>2</number>
          </property>
          <widget class="QWidget" name="tab_trafficInfo">
           <property name="palette">
@@ -6599,7 +6599,7 @@ p, li { white-space: pre-wrap; }
                </palette>
               </property>
               <property name="text">
-               <string>d</string>
+               <string/>
               </property>
              </widget>
             </item>

src/ui/ui_ads_hmi_1px/ui_ads_hmi_1px.pro

@@ -46,6 +46,7 @@ SOURCES += \
     ../../include/msgtype/gpsimu.pb.cc \
     ../../include/msgtype/canstate.pb.cc \
     ../../include/msgtype/v2x.pb.cc \
+    ../../include/msgtype/v2r.pb.cc \
     ../../include/msgtype/chassis.pb.cc \
     ../../include/msgtype/mapreq.pb.cc  \
     ../../include/msgtype/vbox.pb.cc \
@@ -65,6 +66,7 @@ HEADERS += \
     ../../include/msgtype/canstate.pb.h \
     ../../include/msgtype/gpsimu.pb.h \
     ../../include/msgtype/v2x.pb.h \
+    ../../include/msgtype/v2r.pb.h \
     ../../include/msgtype/chassis.pb.h \
     ../../include/msgtype/mapreq.pb.h \
     ../../include/msgtype/vbox.pb.h \