add v2xpc5

src/v2x/v2xpc5/light.qrc

@@ -0,0 +1,8 @@
+<RCC>
+    <qresource prefix="/light">
+        <file>light/zhixing-black.png</file>
+        <file>light/zhixing-green.png</file>
+        <file>light/zhixing-red.png</file>
+        <file>light/zhixing-yellow.png</file>
+    </qresource>
+</RCC>

src/v2x/v2xpc5/main.cpp

@@ -0,0 +1,27 @@
+#include <QApplication>
+#include "ivexit.h"
+#include <thread>
+#include "mainwindow.h"
+
+#include "ivlog.h"
+std::string gstrcarvin;
+std::string gstrobuvin;
+QApplication * gApp;
+iv::Ivlog * gIvlog;
+void ExitFunc()
+{
+    gApp->quit();
+    std::this_thread::sleep_for(std::chrono::milliseconds(900));
+}
+int main(int argc, char *argv[])
+{
+    QApplication a(argc, argv);
+    gApp=&a;
+    gIvlog = new iv::Ivlog("ui_v2x");
+    gIvlog->info("ui_v2x start");
+    MainWindow w;
+
+    w.show();
+    iv::ivexit::RegIVExitCall(ExitFunc);
+    return a.exec();
+}

src/v2x/v2xpc5/mainwindow.cpp

@@ -0,0 +1,939 @@
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+#include <QtMath>
+extern std::string gstrcarvin;
+extern std::string gstrobuvin;
+extern iv::Ivlog * gIvlog;
+
+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);
+
+    sendProto_flag=false;
+
+    initUI();
+    initMemory();
+    initproto();
+    initLight1();
+    initLight2();
+}
+
+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/zhixing-red.png");
+    redimg = redimg.scaled(66,66,Qt::IgnoreAspectRatio);
+
+    greenimg.load(":/light/light/zhixing-green.png");
+    greenimg = greenimg.scaled(66,66,Qt::IgnoreAspectRatio);
+
+    yellowimg.load(":/light/light/zhixing-yellow.png");
+    yellowimg = yellowimg.scaled(66,66,Qt::IgnoreAspectRatio);
+
+    blackimg.load(":/light/light/zhixing-black.png");
+    blackimg = blackimg.scaled(66,66,Qt::IgnoreAspectRatio);
+
+    QString strpath = QCoreApplication::applicationDirPath();
+    //strpath = strpath + "/v2xTcpClientWL.xml";
+    strpath = "./v2xTcpClient.xml";
+    iv::xmlparam::Xmlparam xp(strpath.toStdString());
+
+    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);
+
+    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);
+
+    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);
+
+    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);
+
+    std::string visionsend = xp.GetParam("OpenVisionSend","0");
+    visionsendstate=std::stoi(visionsend);
+    visionflag=visionsendstate;
+    m_pc5->setVin(strCarVIN);
+    m_pc5->setobuNewVin(obunum);
+    m_pc5->setSerial(localsetIP,localsetport);
+    m_tbox->setTboxNewVin(strCarVIN);
+    m_tbox->setIPandPort(IP,port);
+}
+
+void MainWindow::initLight1()
+{
+    ui->label_33->setPixmap(QPixmap::fromImage(blackimg));
+    ui->label_38->setPixmap(QPixmap::fromImage(blackimg));
+    ui->label_35->setPixmap(QPixmap::fromImage(blackimg));
+
+    ui->lcdgreen->display(0);
+    ui->lcdyellow->display(0);
+    ui->lcdred->display(0);
+}
+
+void MainWindow::initLight2()
+{
+    ui->label_39->setPixmap(QPixmap::fromImage(blackimg));
+    ui->label_40->setPixmap(QPixmap::fromImage(blackimg));
+    ui->label_41->setPixmap(QPixmap::fromImage(blackimg));
+
+    ui->lcdgreen_2->display(0);
+    ui->lcdyellow_2->display(0);
+    ui->lcdred_2->display(0);
+}
+
+void MainWindow::heartBeat()
+{
+    protobuf.Clear();
+//-----------------------------------------send runflag---------------------------------------------------------
+    if (mRunmodEn)
+    {
+        bool runmod=m_tbox->upRunMod();
+        //qDebug()<<runmod;
+        outmbpause(runmod);
+        sendProto_flag=true;
+    }
+//-----------------------------------------获取连接状态---------------------------------------------------------
+    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 (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="前方限速";
+                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("连接丢失");
+        }
+    }
+
+//-----------------------------------------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)
+    {
+        visionflag=false;  //stop vision result upload of traffic light information
+        ui->cross_lighthead->setText(QString("%1").arg(light.light1head));
+        switch (int(light.light1Type))
+        {
+        case 1:
+            initLight1();
+            ui->lcdgreen->display((int)light.light1timeRemaining);
+            ui->label_38->setPixmap(QPixmap::fromImage(greenimg));
+            break;
+        case 2:
+            initLight1();
+            ui->lcdred->display((int)light.light1timeRemaining);
+            ui->label_35->setPixmap(QPixmap::fromImage(redimg));
+            break;
+        case 3:
+            initLight1();
+            ui->lcdyellow->display((int)light.light1timeRemaining);
+            ui->label_33->setPixmap(QPixmap::fromImage(yellowimg));
+            break;
+        default:
+            initLight1();
+            break;
+        }
+
+        ui->vertical_lighthead->setText(QString("%1").arg(light.light2head));
+        switch (int(light.light2Type))
+        {
+        case 1:
+            initLight2();
+            ui->lcdgreen_2->display((int)light.light2timeRemaining);
+            ui->label_39->setPixmap(QPixmap::fromImage(greenimg));
+            break;
+        case 2:
+            initLight2();
+            ui->lcdred_2->display((int)light.light2timeRemaining);
+            ui->label_41->setPixmap(QPixmap::fromImage(redimg));
+            break;
+        case 3:
+            initLight2();
+            ui->lcdyellow_2->display((int)light.light2timeRemaining);
+            ui->label_40->setPixmap(QPixmap::fromImage(yellowimg));
+            break;
+        default:
+            initLight2();
+            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;
+        }
+        outLight(onelight);
+        sendProto_flag=true;
+    }
+    else
+    {
+        ui->cross_lighthead->setText("");
+        ui->vertical_lighthead->setText("");
+        initLight1();
+        initLight2();
+        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");
+        }
+    }
+
+
+    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 = float(xgpsimu.acce_y());
+    }
+    if(isSend)
+    {
+        seneor_m.gps_flag=0x01;
+        mGPSs=3;
+        setTboxMemoryRaw();
+        m_tbox->setSensorMemmory(seneor_m);
+        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)
+{
+    iv::radar::radarobject xradarobject;
+    if(!xradarobject.ParseFromArray(strdata,nSize))
+    {
+        return;
+    }
+    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;
+            //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);
+    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);
+
+    }
+
+    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::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);
+    }
+}
+
+//云平台控制启停使能控制
+void MainWindow::on_button_runmod_en_clicked()
+{
+    if(mRunmodEn==1)
+    {
+        ui->button_runmod_en->setStyleSheet("background-color: gray");
+        mRunmodEn = 0;
+    }
+    else
+    {
+        ui->button_runmod_en->setStyleSheet("background-color: green");
+        mRunmodEn = 1;
+    }
+    if (!mplatformEn)
+    {
+        ui->button_runmod_en->setStyleSheet("background-color: red");
+        mRunmodEn = 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_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::Normal,
+                                             Q_NULLPTR, &ok);
+        if (ok && !text.isEmpty())
+        {
+            std::string scode = text.toStdString();
+            if (scode=="catarc")
+            {
+                ui->show_debug->setStyleSheet("background-color: green");
+                mshowdebugEn = 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;
+
+
+
+}

src/v2x/v2xpc5/mainwindow.h

@@ -0,0 +1,126 @@
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+#include "v2x.h"
+#include "pc5.h"
+#include <QMainWindow>
+#include <QDialog>
+#include <QInputDialog>
+#include <iostream>
+#include "QDebug"
+#include <QTextCodec>
+#include "xmlparam.h"
+#include <string>
+#include "v2r.pb.h"
+#include "gpsimu.pb.h"
+#include "rawpic.pb.h"
+#include "fusionobject.pb.h"
+#include "radarobject.pb.h"
+#include "lightarray.pb.h"
+#include "ivlog.h"
+#include "modulecomm.h"
+
+namespace Ui {
+class MainWindow;
+}
+struct onelightMessage
+{
+    bool isEnable=false;
+    unsigned char lightType;//0x01：绿灯；0x02：红灯；0x03：黄灯；
+    int timeRemaining;
+};
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    explicit MainWindow(QWidget *parent = 0);
+    ~MainWindow();
+    PC5 *m_pc5;
+    V2X *m_tbox;
+    void initUI();//程序初始化
+    void initproto();//共享内存初始化
+    void initLight1();//红绿灯1初始化
+    void initLight2();//红绿灯2初始化
+    void sendProto(iv::v2r::v2r_send radio_protobuf_send);//发送共享内存数据
+    void UpdateGps(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取共享内存
+    void UpdateCAM(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取共享内存
+    void UpdateLIDAR(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取共享内存
+    void UpdateRADAR(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取共享内存
+    void Updatelight(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);//读取红绿灯共享内存并转发
+    void outLight(onelightMessage light);//设置红绿灯共享内存数据
+    void outRealtimeTraffic(realtimeTrafficMessage realtimeTraffic);//设置路况信息共享内存数据
+    void outCollisionWarning(collisionEarlyWarningMessage collisionWarning);//设置碰撞预警共享内存数据
+    void outCongestionIdenti(congestionIdentificationMessage congestionIdenti);//设置交通拥堵共享内存数据
+    void outmbpause(bool runmod);//设置自动驾驶启停共享内存数据
+    void setTboxMemoryRaw();//云平台发送数据设置
+    void initMemory();//云平台路测数据赋初值
+//    void getRandomNum();
+//    void initRadio();
+private:
+
+    Ui::MainWindow *ui;
+    QTimer *timer;
+    //----------共享内存变量--------------------
+    std::string gstrmemgps;
+    std::string gstrmemlight;
+    std::string gstrmecamera;
+    std::string gstrmelidar;
+    std::string gstrmeradar;
+    void *mpMemGPS;
+    void *mpMemcamera;
+    void *mpMemlidar;
+    void *mpMemradar;
+    void *vision_lightMem;
+    int visionsendstate;
+    double lightStopLat;
+    double lightStopLon;
+    double light1Stophead;
+    double light1StopLat;
+    double light1StopLon;
+    double light2Stophead;
+    double light2StopLat;
+    double light2StopLon;
+    //-----------使能变量-------------------------
+    bool mplatformEn = false;//云平台使能状态
+    bool mobuEn = false;//obu使能状态
+    bool mRunmodEn=false;
+    bool mVirtualEn=false;//虚拟车使能状态
+    bool mbTrafficInfoEn = false; //路况信息使能
+    bool mbFCWEn = false;//碰撞预警使能状态
+    bool mbdriCrimsEn = false;//危险驾驶使能状态
+    bool visionflag=true;//视觉红绿灯识别转发使能
+    bool mshowdebugEn = false;
+    int mGPSs=0;//GPS状态清零计数
+    int mCAMs=0;//视觉状态清零计数
+    int mLIDARs=0;//激光状态清零计数
+    int mRADARs=0;//毫米波状态清零计数
+    bool sendProto_flag;//共享内存发送使能
+//    std::vector<int> m_vectorRandom;
+//    std::vector<std::string> m_vectorVin;
+    //-------------结构数据----------------------
+    QImage redimg,greenimg,yellowimg,blackimg;
+    realtimeTrafficMessage TrafficMessage;
+    lightMessage light;
+    collisionEarlyWarningMessage collisionWarning;
+    congestionIdentificationMessage congestionIdenti;
+    void * mpmem_radio_send_addr = nullptr;
+    gpsImuM m_structMGpsImu;
+    sensor_state seneor_m;
+    iv::v2r::v2r_send protobuf;
+
+private slots:
+    void heartBeat();
+    void on_button_platform_en_clicked();
+    void on_button_obu_en_clicked();
+    void on_button_runmod_en_clicked();
+    void on_button_car_vin_set_clicked();
+    void on_button_obu_vin_set_clicked();
+    void on_button_trafficInfo_en_clicked();
+    void on_button_FCW_en_clicked();
+    void on_button_DriCrims_en_clicked();
+
+    void on_button_SimCar_en_clicked();
+    void on_show_debug_clicked();
+};
+
+#endif // MAINWINDOW_H

src/v2x/v2xpc5/mainwindow.ui

@@ -0,0 +1,13863 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>866</width>
+    <height>701</height>
+   </rect>
+  </property>
+  <property name="palette">
+   <palette>
+    <active>
+     <colorrole role="WindowText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Button">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>46</red>
+        <green>52</green>
+        <blue>54</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Light">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>238</red>
+        <green>238</green>
+        <blue>236</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Midlight">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>186</red>
+        <green>189</green>
+        <blue>182</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Dark">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>136</red>
+        <green>138</green>
+        <blue>133</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Mid">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>186</red>
+        <green>189</green>
+        <blue>182</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Text">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="BrightText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ButtonText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Base">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
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+         <family>AR PL UKai CN</family>
+        </font>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>接受云平台控制</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+   <widget class="QGroupBox" name="groupBox">
+    <property name="geometry">
+     <rect>
+      <x>410</x>
+      <y>0</y>
+      <width>441</width>
+      <height>401</height>
+     </rect>
+    </property>
+    <property name="palette">
+     <palette>
+      <active>
+       <colorrole role="WindowText">
+        <brush brushstyle="SolidPattern">
+         <color alpha="255">
+          <red>255</red>
+          <green>255</green>
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+       </colorrole>
+       <colorrole role="Button">
+        <brush brushstyle="SolidPattern">
+         <color alpha="255">
+          <red>60</red>
+          <green>60</green>
+          <blue>60</blue>
+         </color>
+        </brush>
+       </colorrole>
+       <colorrole role="Text">
+        <brush brushstyle="SolidPattern">
+         <color alpha="255">
+          <red>238</red>
+          <green>238</green>
+          <blue>236</blue>
+         </color>
+        </brush>
+       </colorrole>
+       <colorrole role="ButtonText">
+        <brush brushstyle="SolidPattern">
+         <color alpha="255">
+          <red>238</red>
+          <green>238</green>
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+        </brush>
+       </colorrole>
+       <colorrole role="Base">
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+          <green>60</green>
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+       </colorrole>
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+          <green>60</green>
+          <blue>60</blue>
+         </color>
+        </brush>
+       </colorrole>
+       <colorrole role="Window">
+        <brush brushstyle="SolidPattern">
+         <color alpha="255">
+          <red>60</red>
+          <green>60</green>
+          <blue>60</blue>
+         </color>
+        </brush>
+       </colorrole>
+      </inactive>
+      <disabled>
+       <colorrole role="WindowText">
+        <brush brushstyle="SolidPattern">
+         <color alpha="255">
+          <red>190</red>
+          <green>190</green>
+          <blue>190</blue>
+         </color>
+        </brush>
+       </colorrole>
+       <colorrole role="Button">
+        <brush brushstyle="SolidPattern">
+         <color alpha="255">
+          <red>60</red>
+          <green>60</green>
+          <blue>60</blue>
+         </color>
+        </brush>
+       </colorrole>
+       <colorrole role="Text">
+        <brush brushstyle="SolidPattern">
+         <color alpha="255">
+          <red>190</red>
+          <green>190</green>
+          <blue>190</blue>
+         </color>
+        </brush>
+       </colorrole>
+       <colorrole role="ButtonText">
+        <brush brushstyle="SolidPattern">
+         <color alpha="255">
+          <red>190</red>
+          <green>190</green>
+          <blue>190</blue>
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+       </colorrole>
+       <colorrole role="Base">
+        <brush brushstyle="SolidPattern">
+         <color alpha="255">
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+          <green>60</green>
+          <blue>60</blue>
+         </color>
+        </brush>
+       </colorrole>
+       <colorrole role="Window">
+        <brush brushstyle="SolidPattern">
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+          <green>60</green>
+          <blue>60</blue>
+         </color>
+        </brush>
+       </colorrole>
+      </disabled>
+     </palette>
+    </property>
+    <property name="title">
+     <string>车路协同</string>
+    </property>
+    <layout class="QGridLayout" name="gridLayout_9">
+     <item row="0" column="0">
+      <widget class="QTabWidget" name="tabWidget_IVICS">
+       <property name="enabled">
+        <bool>true</bool>
+       </property>
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="palette">
+        <palette>
+         <active>
+          <colorrole role="WindowText">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>238</red>
+             <green>238</green>
+             <blue>236</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Button">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>60</red>
+             <green>60</green>
+             <blue>60</blue>
+            </color>
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+          </colorrole>
+          <colorrole role="Light">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>69</red>
+             <green>78</green>
+             <blue>81</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Midlight">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>57</red>
+             <green>65</green>
+             <blue>67</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Dark">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>23</red>
+             <green>26</green>
+             <blue>27</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Mid">
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+             <green>78</green>
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+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="currentIndex">
+        <number>0</number>
+       </property>
+       <widget class="QWidget" name="tab_trafficInfo">
+        <property name="palette">
+         <palette>
+          <active>
+           <colorrole role="WindowText">
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+          </disabled>
+         </palette>
+        </property>
+        <attribute name="title">
+         <string>路况信息</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout">
+         <item row="1" column="0">
+          <widget class="QPushButton" name="button_trafficInfo_en">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
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+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>开始</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QPushButton" name="trafficInfo_st">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>当前动作</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="2">
+          <widget class="QLineEdit" name="lineEd_trafficInfo">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>减速至--km/h</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="3">
+          <widget class="QPushButton" name="button_trafficInfoLight_st">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="layoutDirection">
+            <enum>Qt::LeftToRight</enum>
+           </property>
+           <property name="text">
+            <string>状态</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0" colspan="4">
+          <widget class="QTextBrowser" name="textBr_trafficInfo">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>57</red>
+                 <green>65</green>
+                 <blue>67</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>23</red>
+                 <green>26</green>
+                 <blue>27</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>30</red>
+                 <green>34</green>
+                 <blue>36</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
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+                 <green>238</green>
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+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
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+              <colorrole role="Window">
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+                 <green>60</green>
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+               </brush>
+              </colorrole>
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+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
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+              <colorrole role="Button">
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+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
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+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
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+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
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+                 <green>60</green>
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+              <colorrole role="Window">
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+                 <green>60</green>
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+                 <green>60</green>
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+              <colorrole role="Text">
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+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="html">
+            <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="QPushButton" name="button_FCW_en">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
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+                 <green>238</green>
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+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
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+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
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+                 <red>238</red>
+                 <green>238</green>
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+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
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+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>开始</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="4">
+          <widget class="QPushButton" name="button_FWCLight_st">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
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+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
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+               </brush>
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+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
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+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
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+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
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+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
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+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
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+                 <red>238</red>
+                 <green>238</green>
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+               </brush>
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+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>状态</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+       <widget class="QWidget" name="tab_trafficJams">
+        <property name="palette">
+         <palette>
+          <active>
+           <colorrole role="WindowText">
+            <brush brushstyle="SolidPattern">
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+              <red>238</red>
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+           <colorrole role="Button">
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+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
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+           <colorrole role="Light">
+            <brush brushstyle="SolidPattern">
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+              <blue>60</blue>
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+           <colorrole role="Midlight">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
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+              <green>50</green>
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+            </brush>
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+           <colorrole role="Dark">
+            <brush brushstyle="SolidPattern">
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+              <green>20</green>
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+            </brush>
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+           <colorrole role="Mid">
+            <brush brushstyle="SolidPattern">
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+              <red>26</red>
+              <green>26</green>
+              <blue>26</blue>
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+           </colorrole>
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+           </colorrole>
+           <colorrole role="ToolTipBase">
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+           </colorrole>
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+          <inactive>
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+              <green>238</green>
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+           <colorrole role="Button">
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+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
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+           <colorrole role="Light">
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+              <green>60</green>
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+            <brush brushstyle="SolidPattern">
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+              <red>50</red>
+              <green>50</green>
+              <blue>50</blue>
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+            </brush>
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+           <colorrole role="Dark">
+            <brush brushstyle="SolidPattern">
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+              <red>20</red>
+              <green>20</green>
+              <blue>20</blue>
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+            </brush>
+           </colorrole>
+           <colorrole role="Mid">
+            <brush brushstyle="SolidPattern">
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+              <red>26</red>
+              <green>26</green>
+              <blue>26</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Text">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
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+            </brush>
+           </colorrole>
+           <colorrole role="BrightText">
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+              <green>255</green>
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+           <colorrole role="ButtonText">
+            <brush brushstyle="SolidPattern">
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+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Base">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Window">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Shadow">
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+              <blue>0</blue>
+             </color>
+            </brush>
+           </colorrole>
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+            <brush brushstyle="SolidPattern">
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+              <green>20</green>
+              <blue>20</blue>
+             </color>
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+           </colorrole>
+           <colorrole role="ToolTipBase">
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+            </brush>
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+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Window">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Shadow">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>0</red>
+                  <green>0</green>
+                  <blue>0</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="AlternateBase">
+                <brush brushstyle="SolidPattern">
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+                  <blue>0</blue>
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+               </colorrole>
+               <colorrole role="ToolTipBase">
+                <brush brushstyle="SolidPattern">
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+                  <blue>220</blue>
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+                 </color>
+                </brush>
+               </colorrole>
+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string>航向角范围</string>
+            </property>
+           </widget>
+          </item>
+          <item row="8" column="2">
+           <widget class="QPushButton" name="button_SimCar_en">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="palette">
+             <palette>
+              <active>
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+                  <red>238</red>
+                  <green>238</green>
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+               <colorrole role="Button">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Text">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="ButtonText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
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+                </brush>
+               </colorrole>
+               <colorrole role="Base">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Window">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
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+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Text">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
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+               </colorrole>
+               <colorrole role="ButtonText">
+                <brush brushstyle="SolidPattern">
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+                  <green>238</green>
+                  <blue>236</blue>
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+               </colorrole>
+               <colorrole role="Base">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Window">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+              </inactive>
+              <disabled>
+               <colorrole role="WindowText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Button">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Text">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
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+               <colorrole role="ButtonText">
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+               <colorrole role="Base">
+                <brush brushstyle="SolidPattern">
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+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
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+               </colorrole>
+               <colorrole role="Window">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
+                 </color>
+                </brush>
+               </colorrole>
+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string>确定</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="2">
+           <widget class="QLineEdit" name="lineEdit_jamsLat_Up">
+            <property name="palette">
+             <palette>
+              <active>
+               <colorrole role="WindowText">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
+                 </color>
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+               </colorrole>
+               <colorrole role="Button">
+                <brush brushstyle="SolidPattern">
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+                  <red>60</red>
+                  <green>60</green>
+                  <blue>60</blue>
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+                </brush>
+               </colorrole>
+               <colorrole role="Text">
+                <brush brushstyle="SolidPattern">
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+               </colorrole>
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+               </colorrole>
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+                  <green>60</green>
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+               </colorrole>
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+                  <green>60</green>
+                  <blue>60</blue>
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+                 </color>
+                </brush>
+               </colorrole>
+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLabel" name="label">
+            <property name="palette">
+             <palette>
+              <active>
+               <colorrole role="WindowText">
+                <brush brushstyle="SolidPattern">
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+               <colorrole role="Button">
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+                  <green>60</green>
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+                  <green>255</green>
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+                  <green>127</green>
+                  <blue>127</blue>
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+               <colorrole role="Mid">
+                <brush brushstyle="SolidPattern">
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+                  <red>170</red>
+                  <green>170</green>
+                  <blue>170</blue>
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+               <colorrole role="Text">
+                <brush brushstyle="SolidPattern">
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+                  <green>238</green>
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+               <colorrole role="BrightText">
+                <brush brushstyle="SolidPattern">
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+                  <green>255</green>
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+                  <green>255</green>
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+                  <red>127</red>
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+                 </color>
+                </brush>
+               </colorrole>
+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string>上限</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLabel" name="label_2">
+            <property name="palette">
+             <palette>
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+               <colorrole role="Light">
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+                  <red>255</red>
+                  <green>255</green>
+                  <blue>255</blue>
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+                  <red>255</red>
+                  <green>255</green>
+                  <blue>255</blue>
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+               </colorrole>
+               <colorrole role="Dark">
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+                  <red>127</red>
+                  <green>127</green>
+                  <blue>127</blue>
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+               </colorrole>
+               <colorrole role="Mid">
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+                  <red>170</red>
+                  <green>170</green>
+                  <blue>170</blue>
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+                  <green>127</green>
+                  <blue>127</blue>
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+                  <red>170</red>
+                  <green>170</green>
+                  <blue>170</blue>
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+               <colorrole role="Text">
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+                  <green>238</green>
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+                  <green>60</green>
+                  <blue>60</blue>
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+                  <green>127</green>
+                  <blue>127</blue>
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+                  <green>60</green>
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+               </colorrole>
+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string>下限</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <widget class="QLabel" name="label_lon_limits_2">
+            <property name="palette">
+             <palette>
+              <active>
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+               </colorrole>
+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string>纬度范围</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_lon_limits">
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+            <property name="text">
+             <string>经度范围</string>
+            </property>
+           </widget>
+          </item>
+          <item row="8" column="1">
+           <widget class="QLineEdit" name="lineEdit_jamsCarNum">
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+          </disabled>
+         </palette>
+        </property>
+        <attribute name="title">
+         <string>危险驾驶</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout_5">
+         <item row="1" column="3">
+          <widget class="QPushButton" name="button_DriCrimsLight_st">
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+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>状态</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0" colspan="4">
+          <widget class="QTextBrowser" name="textBr_FCW_2">
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+            <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
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+p, li { white-space: pre-wrap; }
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+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>开始</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+   <widget class="QGroupBox" name="groupBox_11">
+    <property name="geometry">
+     <rect>
+      <x>460</x>
+      <y>420</y>
+      <width>341</width>
+      <height>231</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <family>AR PL UKai CN</family>
+     </font>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">color: rgb(238, 238, 236);</string>
+    </property>
+    <property name="title">
+     <string>横向红绿灯</string>
+    </property>
+    <widget class="QLCDNumber" name="lcdgreen">
+     <property name="geometry">
+      <rect>
+       <x>20</x>
+       <y>110</y>
+       <width>64</width>
+       <height>33</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="digitCount">
+      <number>3</number>
+     </property>
+     <property name="segmentStyle">
+      <enum>QLCDNumber::Flat</enum>
+     </property>
+    </widget>
+    <widget class="QLCDNumber" name="lcdred">
+     <property name="geometry">
+      <rect>
+       <x>240</x>
+       <y>110</y>
+       <width>64</width>
+       <height>33</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="digitCount">
+      <number>3</number>
+     </property>
+     <property name="segmentStyle">
+      <enum>QLCDNumber::Flat</enum>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_38">
+     <property name="geometry">
+      <rect>
+       <x>20</x>
+       <y>30</y>
+       <width>66</width>
+       <height>66</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_31">
+     <property name="geometry">
+      <rect>
+       <x>260</x>
+       <y>160</y>
+       <width>54</width>
+       <height>26</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">color: rgb(238, 238, 236);</string>
+     </property>
+     <property name="text">
+      <string>红灯</string>
+     </property>
+    </widget>
+    <widget class="QLCDNumber" name="lcdyellow">
+     <property name="geometry">
+      <rect>
+       <x>130</x>
+       <y>110</y>
+       <width>64</width>
+       <height>33</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="digitCount">
+      <number>3</number>
+     </property>
+     <property name="segmentStyle">
+      <enum>QLCDNumber::Flat</enum>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_34">
+     <property name="geometry">
+      <rect>
+       <x>30</x>
+       <y>160</y>
+       <width>54</width>
+       <height>26</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">color: rgb(238, 238, 236);</string>
+     </property>
+     <property name="text">
+      <string>绿灯</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_33">
+     <property name="geometry">
+      <rect>
+       <x>130</x>
+       <y>30</y>
+       <width>66</width>
+       <height>66</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_35">
+     <property name="geometry">
+      <rect>
+       <x>250</x>
+       <y>30</y>
+       <width>66</width>
+       <height>66</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_36">
+     <property name="geometry">
+      <rect>
+       <x>140</x>
+       <y>160</y>
+       <width>54</width>
+       <height>26</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">color: rgb(238, 238, 236);</string>
+     </property>
+     <property name="text">
+      <string>黄灯</string>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="cross_lighthead">
+     <property name="geometry">
+      <rect>
+       <x>220</x>
+       <y>190</y>
+       <width>113</width>
+       <height>25</height>
+      </rect>
+     </property>
+     <property name="palette">
+      <palette>
+       <active>
+        <colorrole role="WindowText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Button">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Light">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>69</red>
+           <green>78</green>
+           <blue>81</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Midlight">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>57</red>
+           <green>65</green>
+           <blue>67</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Dark">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Mid">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>30</red>
+           <green>34</green>
+           <blue>36</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Text">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="BrightText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>255</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ButtonText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Base">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Window">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Shadow">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="AlternateBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>220</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+       </active>
+       <inactive>
+        <colorrole role="WindowText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Button">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Light">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>69</red>
+           <green>78</green>
+           <blue>81</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Midlight">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>57</red>
+           <green>65</green>
+           <blue>67</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Dark">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Mid">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>30</red>
+           <green>34</green>
+           <blue>36</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Text">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="BrightText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>255</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ButtonText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Base">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Window">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Shadow">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="AlternateBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>220</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+       </inactive>
+       <disabled>
+        <colorrole role="WindowText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Button">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Light">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>69</red>
+           <green>78</green>
+           <blue>81</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Midlight">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>57</red>
+           <green>65</green>
+           <blue>67</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Dark">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Mid">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>30</red>
+           <green>34</green>
+           <blue>36</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Text">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="BrightText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>255</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ButtonText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Base">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Window">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Shadow">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="AlternateBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>220</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+       </disabled>
+      </palette>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_7">
+     <property name="geometry">
+      <rect>
+       <x>180</x>
+       <y>190</y>
+       <width>31</width>
+       <height>17</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>方向</string>
+     </property>
+    </widget>
+   </widget>
+   <widget class="QGroupBox" name="groupBox_3">
+    <property name="geometry">
+     <rect>
+      <x>1330</x>
+      <y>10</y>
+      <width>241</width>
+      <height>611</height>
+     </rect>
+    </property>
+    <property name="title">
+     <string>调试</string>
+    </property>
+    <layout class="QGridLayout" name="gridLayout_6">
+     <item row="2" column="0">
+      <widget class="QTextBrowser" name="textBrowser_3"/>
+     </item>
+     <item row="0" column="0">
+      <widget class="QTextBrowser" name="textBrowser"/>
+     </item>
+     <item row="1" column="0">
+      <widget class="QTextBrowser" name="textBrowser_2"/>
+     </item>
+     <item row="3" column="0">
+      <widget class="QTextBrowser" name="textBrowser_4"/>
+     </item>
+     <item row="4" column="0">
+      <widget class="QPushButton" name="show_debug">
+       <property name="text">
+        <string>显示</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+   <widget class="QGroupBox" name="groupBox_12">
+    <property name="geometry">
+     <rect>
+      <x>40</x>
+      <y>420</y>
+      <width>341</width>
+      <height>231</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <family>AR PL UKai CN</family>
+     </font>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">color: rgb(238, 238, 236);</string>
+    </property>
+    <property name="title">
+     <string>纵向红绿灯</string>
+    </property>
+    <widget class="QLCDNumber" name="lcdgreen_2">
+     <property name="geometry">
+      <rect>
+       <x>20</x>
+       <y>110</y>
+       <width>64</width>
+       <height>33</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="digitCount">
+      <number>3</number>
+     </property>
+     <property name="segmentStyle">
+      <enum>QLCDNumber::Flat</enum>
+     </property>
+    </widget>
+    <widget class="QLCDNumber" name="lcdred_2">
+     <property name="geometry">
+      <rect>
+       <x>240</x>
+       <y>110</y>
+       <width>64</width>
+       <height>33</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="digitCount">
+      <number>3</number>
+     </property>
+     <property name="segmentStyle">
+      <enum>QLCDNumber::Flat</enum>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_39">
+     <property name="geometry">
+      <rect>
+       <x>20</x>
+       <y>30</y>
+       <width>66</width>
+       <height>66</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_32">
+     <property name="geometry">
+      <rect>
+       <x>260</x>
+       <y>160</y>
+       <width>54</width>
+       <height>26</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">color: rgb(238, 238, 236);</string>
+     </property>
+     <property name="text">
+      <string>红灯</string>
+     </property>
+    </widget>
+    <widget class="QLCDNumber" name="lcdyellow_2">
+     <property name="geometry">
+      <rect>
+       <x>130</x>
+       <y>110</y>
+       <width>64</width>
+       <height>33</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="digitCount">
+      <number>3</number>
+     </property>
+     <property name="segmentStyle">
+      <enum>QLCDNumber::Flat</enum>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_37">
+     <property name="geometry">
+      <rect>
+       <x>30</x>
+       <y>160</y>
+       <width>54</width>
+       <height>26</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">color: rgb(238, 238, 236);</string>
+     </property>
+     <property name="text">
+      <string>绿灯</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_40">
+     <property name="geometry">
+      <rect>
+       <x>130</x>
+       <y>30</y>
+       <width>66</width>
+       <height>66</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_41">
+     <property name="geometry">
+      <rect>
+       <x>250</x>
+       <y>30</y>
+       <width>66</width>
+       <height>66</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_42">
+     <property name="geometry">
+      <rect>
+       <x>140</x>
+       <y>160</y>
+       <width>54</width>
+       <height>26</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">color: rgb(238, 238, 236);</string>
+     </property>
+     <property name="text">
+      <string>黄灯</string>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="vertical_lighthead">
+     <property name="geometry">
+      <rect>
+       <x>210</x>
+       <y>190</y>
+       <width>113</width>
+       <height>25</height>
+      </rect>
+     </property>
+     <property name="palette">
+      <palette>
+       <active>
+        <colorrole role="WindowText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Button">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Light">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>69</red>
+           <green>78</green>
+           <blue>81</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Midlight">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>57</red>
+           <green>65</green>
+           <blue>67</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Dark">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Mid">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>30</red>
+           <green>34</green>
+           <blue>36</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Text">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="BrightText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>255</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ButtonText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Base">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Window">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Shadow">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="AlternateBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>220</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+       </active>
+       <inactive>
+        <colorrole role="WindowText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Button">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Light">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>69</red>
+           <green>78</green>
+           <blue>81</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Midlight">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>57</red>
+           <green>65</green>
+           <blue>67</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Dark">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Mid">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>30</red>
+           <green>34</green>
+           <blue>36</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Text">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="BrightText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>255</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ButtonText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Base">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Window">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Shadow">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="AlternateBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>220</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+       </inactive>
+       <disabled>
+        <colorrole role="WindowText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Button">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Light">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>69</red>
+           <green>78</green>
+           <blue>81</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Midlight">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>57</red>
+           <green>65</green>
+           <blue>67</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Dark">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>23</red>
+           <green>26</green>
+           <blue>27</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Mid">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>30</red>
+           <green>34</green>
+           <blue>36</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Text">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="BrightText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>255</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ButtonText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>238</red>
+           <green>238</green>
+           <blue>236</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Base">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Window">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="Shadow">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="AlternateBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>46</red>
+           <green>52</green>
+           <blue>54</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipBase">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>255</red>
+           <green>255</green>
+           <blue>220</blue>
+          </color>
+         </brush>
+        </colorrole>
+        <colorrole role="ToolTipText">
+         <brush brushstyle="SolidPattern">
+          <color alpha="255">
+           <red>0</red>
+           <green>0</green>
+           <blue>0</blue>
+          </color>
+         </brush>
+        </colorrole>
+       </disabled>
+      </palette>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_8">
+     <property name="geometry">
+      <rect>
+       <x>170</x>
+       <y>190</y>
+       <width>31</width>
+       <height>17</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>方向</string>
+     </property>
+    </widget>
+   </widget>
+   <widget class="QGroupBox" name="groupBox_5">
+    <property name="geometry">
+     <rect>
+      <x>40</x>
+      <y>240</y>
+      <width>341</width>
+      <height>151</height>
+     </rect>
+    </property>
+    <property name="title">
+     <string>系统信息</string>
+    </property>
+    <widget class="QLineEdit" name="lineEdit_obu_vin">
+     <property name="geometry">
+      <rect>
+       <x>130</x>
+       <y>70</y>
+       <width>221</width>
+       <height>25</height>
+      </rect>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="lineEdit">
+     <property name="geometry">
+      <rect>
+       <x>80</x>
+       <y>30</y>
+       <width>271</width>
+       <height>25</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_6">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>70</y>
+       <width>111</width>
+       <height>21</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>路侧单元识别码</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_5">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>30</y>
+       <width>67</width>
+       <height>21</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>车辆VIN</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_9">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>110</y>
+       <width>64</width>
+       <height>17</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>服务器地址</string>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="lineEdit_severip">
+     <property name="geometry">
+      <rect>
+       <x>90</x>
+       <y>110</y>
+       <width>251</width>
+       <height>25</height>
+      </rect>
+     </property>
+    </widget>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>866</width>
+     <height>19</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <resources/>
+ <connections/>
+ <slots>
+  <slot>on_button_platform_en_clicked()</slot>
+  <slot>on_button_obu_en_clicked()</slot>
+ </slots>
+</ui>

src/v2x/v2xpc5/mainwindow_copy.ui

@@ -0,0 +1,12591 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>861</width>
+    <height>701</height>
+   </rect>
+  </property>
+  <property name="palette">
+   <palette>
+    <active>
+     <colorrole role="WindowText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Button">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>46</red>
+        <green>52</green>
+        <blue>54</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Light">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>238</red>
+        <green>238</green>
+        <blue>236</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Midlight">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>186</red>
+        <green>189</green>
+        <blue>182</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Dark">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>136</red>
+        <green>138</green>
+        <blue>133</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Mid">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>186</red>
+        <green>189</green>
+        <blue>182</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Text">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="BrightText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ButtonText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Base">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Window">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>46</red>
+        <green>52</green>
+        <blue>54</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Shadow">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>136</red>
+        <green>138</green>
+        <blue>133</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="AlternateBase">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>238</red>
+        <green>238</green>
+        <blue>236</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ToolTipBase">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>220</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ToolTipText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+    </active>
+    <inactive>
+     <colorrole role="WindowText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Button">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>46</red>
+        <green>52</green>
+        <blue>54</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Light">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>238</red>
+        <green>238</green>
+        <blue>236</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Midlight">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>186</red>
+        <green>189</green>
+        <blue>182</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Dark">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>136</red>
+        <green>138</green>
+        <blue>133</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Mid">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>186</red>
+        <green>189</green>
+        <blue>182</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Text">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="BrightText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ButtonText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
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+    </property>
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+    <property name="title">
+     <string>系统设置</string>
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+       <property name="text">
+        <string>路测开关</string>
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+        <string>VIN设置</string>
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+          <green>60</green>
+          <blue>60</blue>
+         </color>
+        </brush>
+       </colorrole>
+      </disabled>
+     </palette>
+    </property>
+    <property name="title">
+     <string>车路协同</string>
+    </property>
+    <layout class="QGridLayout" name="gridLayout_9">
+     <item row="0" column="0">
+      <widget class="QTabWidget" name="tabWidget_IVICS">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="palette">
+        <palette>
+         <active>
+          <colorrole role="WindowText">
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+             <red>238</red>
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+           <brush brushstyle="SolidPattern">
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+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="currentIndex">
+        <number>0</number>
+       </property>
+       <widget class="QWidget" name="tab_trafficInfo">
+        <property name="palette">
+         <palette>
+          <active>
+           <colorrole role="WindowText">
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+          </disabled>
+         </palette>
+        </property>
+        <attribute name="title">
+         <string>路况信息</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout">
+         <item row="1" column="0">
+          <widget class="QPushButton" name="button_trafficInfo_en">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
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+           <property name="palette">
+            <palette>
+             <active>
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+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>开始</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QPushButton" name="trafficInfo_st">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
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+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>当前动作</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="2">
+          <widget class="QLineEdit" name="lineEd_trafficInfo">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>减速至--km/h</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="3">
+          <widget class="QPushButton" name="button_trafficInfoLight_st">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="layoutDirection">
+            <enum>Qt::LeftToRight</enum>
+           </property>
+           <property name="text">
+            <string>状态</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0" colspan="4">
+          <widget class="QTextBrowser" name="textBr_trafficInfo">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>57</red>
+                 <green>65</green>
+                 <blue>67</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>23</red>
+                 <green>26</green>
+                 <blue>27</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>30</red>
+                 <green>34</green>
+                 <blue>36</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
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+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>57</red>
+                 <green>65</green>
+                 <blue>67</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>23</red>
+                 <green>26</green>
+                 <blue>27</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>30</red>
+                 <green>34</green>
+                 <blue>36</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
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+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
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+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="QPushButton" name="button_FCW_en">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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+             <verstretch>0</verstretch>
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+                 <green>60</green>
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+                 <green>60</green>
+                 <blue>60</blue>
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+                 <green>60</green>
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+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
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+              <colorrole role="Window">
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+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>开始</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="4">
+          <widget class="QPushButton" name="button_FWCLight_st">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
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+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
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+               <brush brushstyle="SolidPattern">
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+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
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+                 <blue>60</blue>
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+              <colorrole role="Text">
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+                 <green>238</green>
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+               <brush brushstyle="SolidPattern">
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+                 <green>60</green>
+                 <blue>60</blue>
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+                 <green>60</green>
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+              <colorrole role="WindowText">
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+                 <green>238</green>
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+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
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+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
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+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
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+                 <green>238</green>
+                 <blue>236</blue>
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+               <brush brushstyle="SolidPattern">
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+                 <red>238</red>
+                 <green>238</green>
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+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
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+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>状态</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+       <widget class="QWidget" name="tab_trafficJams">
+        <property name="palette">
+         <palette>
+          <active>
+           <colorrole role="WindowText">
+            <brush brushstyle="SolidPattern">
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+           <colorrole role="Button">
+            <brush brushstyle="SolidPattern">
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+              <red>60</red>
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+           <colorrole role="Light">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
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+              <blue>60</blue>
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+           <colorrole role="Midlight">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>50</red>
+              <green>50</green>
+              <blue>50</blue>
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+           <colorrole role="Dark">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
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+              <green>20</green>
+              <blue>20</blue>
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+           <colorrole role="Mid">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>26</red>
+              <green>26</green>
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+           <colorrole role="Text">
+            <brush brushstyle="SolidPattern">
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+           <colorrole role="ButtonText">
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+              <green>60</green>
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+           <colorrole role="Window">
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+             <color alpha="255">
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+              <green>60</green>
+              <blue>60</blue>
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+           <colorrole role="Shadow">
+            <brush brushstyle="SolidPattern">
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+              <green>238</green>
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+            <brush brushstyle="SolidPattern">
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+              <green>255</green>
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+           <colorrole role="ButtonText">
+            <brush brushstyle="SolidPattern">
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+              <red>238</red>
+              <green>238</green>
+              <blue>236</blue>
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+             <color alpha="255">
+              <red>60</red>
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+              <red>60</red>
+              <green>60</green>
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+              <green>60</green>
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+              <green>26</green>
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+            <brush brushstyle="SolidPattern">
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+           <colorrole role="Shadow">
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+          </disabled>
+         </palette>
+        </property>
+        <attribute name="title">
+         <string>交通拥堵</string>
+        </attribute>
+        <widget class="QPushButton" name="button_jams_en">
+         <property name="geometry">
+          <rect>
+           <x>10</x>
+           <y>10</y>
+           <width>80</width>
+           <height>31</height>
+          </rect>
+         </property>
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="WindowText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Button">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ButtonText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="WindowText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Button">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ButtonText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="WindowText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Button">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ButtonText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="text">
+          <string>开始</string>
+         </property>
+        </widget>
+        <widget class="QPushButton" name="button_jamsLight_st">
+         <property name="geometry">
+          <rect>
+           <x>330</x>
+           <y>10</y>
+           <width>80</width>
+           <height>31</height>
+          </rect>
+         </property>
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="WindowText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Button">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ButtonText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="WindowText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Button">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ButtonText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="WindowText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Button">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ButtonText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="text">
+          <string>状态</string>
+         </property>
+        </widget>
+        <widget class="QPushButton" name="button_jamsMode">
+         <property name="geometry">
+          <rect>
+           <x>10</x>
+           <y>47</y>
+           <width>80</width>
+           <height>31</height>
+          </rect>
+         </property>
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="WindowText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Button">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ButtonText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="WindowText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Button">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ButtonText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="WindowText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Button">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ButtonText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="text">
+          <string>拥堵模式</string>
+         </property>
+        </widget>
+        <widget class="QLineEdit" name="lineEdit_jamsMode">
+         <property name="geometry">
+          <rect>
+           <x>100</x>
+           <y>50</y>
+           <width>142</width>
+           <height>25</height>
+          </rect>
+         </property>
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="WindowText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Button">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ButtonText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="WindowText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Button">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ButtonText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="WindowText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Button">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ButtonText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+        <widget class="QPushButton" name="button_jamsVIN">
+         <property name="geometry">
+          <rect>
+           <x>10</x>
+           <y>84</y>
+           <width>80</width>
+           <height>25</height>
+          </rect>
+         </property>
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="WindowText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Button">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="ButtonText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="WindowText">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Button">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>238</red>
+               <green>238</green>
+               <blue>236</blue>
+              </color>
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+            </property>
+            <property name="text">
+             <string>仿真车数量</string>
+            </property>
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+          </item>
+          <item row="3" column="1">
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+            <property name="text">
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+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string>下限</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
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+            </property>
+            <property name="text">
+             <string>纬度范围</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_lon_limits">
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+            <property name="text">
+             <string>经度范围</string>
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+          </item>
+          <item row="8" column="1">
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+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Window">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>60</red>
+              <green>60</green>
+              <blue>60</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Shadow">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>0</red>
+              <green>0</green>
+              <blue>0</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="AlternateBase">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>40</red>
+              <green>40</green>
+              <blue>40</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="ToolTipBase">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>255</red>
+              <green>255</green>
+              <blue>220</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="ToolTipText">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>0</red>
+              <green>0</green>
+              <blue>0</blue>
+             </color>
+            </brush>
+           </colorrole>
+          </disabled>
+         </palette>
+        </property>
+        <attribute name="title">
+         <string>危险驾驶</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout_5">
+         <item row="1" column="3">
+          <widget class="QPushButton" name="button_DriCrimsLight_st">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
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+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
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+               <brush brushstyle="SolidPattern">
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+                 <red>238</red>
+                 <green>238</green>
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+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>状态</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0" colspan="4">
+          <widget class="QTextBrowser" name="textBr_FCW_2">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
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+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
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+              </colorrole>
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+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
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+                 <red>238</red>
+                 <green>238</green>
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+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
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+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
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+                 <green>60</green>
+                 <blue>60</blue>
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+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="html">
+            <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QPushButton" name="button_DriCrims_en">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
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+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
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+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
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+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
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+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>238</red>
+                 <green>238</green>
+                 <blue>236</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>开始</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+   <widget class="QGroupBox" name="groupBox_11">
+    <property name="geometry">
+     <rect>
+      <x>40</x>
+      <y>340</y>
+      <width>341</width>
+      <height>201</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <family>AR PL UKai CN</family>
+     </font>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">color: rgb(238, 238, 236);</string>
+    </property>
+    <property name="title">
+     <string>V2X红绿灯</string>
+    </property>
+    <widget class="QLCDNumber" name="lcdStraight">
+     <property name="geometry">
+      <rect>
+       <x>250</x>
+       <y>110</y>
+       <width>64</width>
+       <height>33</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="digitCount">
+      <number>3</number>
+     </property>
+     <property name="segmentStyle">
+      <enum>QLCDNumber::Flat</enum>
+     </property>
+    </widget>
+    <widget class="QLCDNumber" name="lcdTurn">
+     <property name="geometry">
+      <rect>
+       <x>20</x>
+       <y>110</y>
+       <width>64</width>
+       <height>33</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="digitCount">
+      <number>3</number>
+     </property>
+     <property name="segmentStyle">
+      <enum>QLCDNumber::Flat</enum>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_38">
+     <property name="geometry">
+      <rect>
+       <x>20</x>
+       <y>30</y>
+       <width>66</width>
+       <height>66</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_31">
+     <property name="geometry">
+      <rect>
+       <x>260</x>
+       <y>160</y>
+       <width>54</width>
+       <height>26</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">color: rgb(238, 238, 236);</string>
+     </property>
+     <property name="text">
+      <string>红灯</string>
+     </property>
+    </widget>
+    <widget class="QLCDNumber" name="lcdLeft">
+     <property name="geometry">
+      <rect>
+       <x>130</x>
+       <y>110</y>
+       <width>64</width>
+       <height>33</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="digitCount">
+      <number>3</number>
+     </property>
+     <property name="segmentStyle">
+      <enum>QLCDNumber::Flat</enum>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_34">
+     <property name="geometry">
+      <rect>
+       <x>30</x>
+       <y>160</y>
+       <width>54</width>
+       <height>26</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">color: rgb(238, 238, 236);</string>
+     </property>
+     <property name="text">
+      <string>绿灯</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_33">
+     <property name="geometry">
+      <rect>
+       <x>130</x>
+       <y>30</y>
+       <width>66</width>
+       <height>66</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_35">
+     <property name="geometry">
+      <rect>
+       <x>250</x>
+       <y>30</y>
+       <width>66</width>
+       <height>66</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_36">
+     <property name="geometry">
+      <rect>
+       <x>140</x>
+       <y>160</y>
+       <width>54</width>
+       <height>26</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">color: rgb(238, 238, 236);</string>
+     </property>
+     <property name="text">
+      <string>黄灯</string>
+     </property>
+    </widget>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>861</width>
+     <height>28</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/v2x/v2xpc5/pc5.cpp

@@ -0,0 +1,698 @@
+#include "pc5.h"
+#include <QtNetwork>
+#include "QDebug"
+extern iv::Ivlog * gIvlog;
+
+PC5::PC5()
+{
+//    udpSocket= new QUdpSocket();
+//    udpSocket->abort();
+//    connect(udpSocket,&QTcpSocket::readyRead,this,&PC5::recvData);
+//    void (QAbstractSocket::*p)(QAbstractSocket::SocketError) =&QAbstractSocket::error;
+//    connect(tcpSocket,p,this,&PC5::ReadError);
+//    isConnected = udpSocket->bind(QHostAddress("127.0.0.1"),2100,QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
+//    connect(udpSocket,&QUdpSocket::readyRead,this,&PC5::recvData);
+
+    timer = new QTimer(this);
+    connect(timer,SIGNAL(timeout()),SLOT(heartBeat()));
+    timer->start(1000);
+    //m_strVin="A0000000CATARCS02";
+    //m_rsuVin=256;
+    m_bEnableRadio = false;
+    m_bIsConnect = false;
+    m_bEnConnect=false;
+
+    initRadio();
+
+    m_traffic_heart=10;
+    m_light_heart=10;
+    m_WarningMessage_heart=10;
+    m_IdentificationMessage_heart=10;
+    m_warndriver_heart=10;
+    warn_driver=false;
+
+}
+
+void PC5::serialPortInit()
+{
+//    QStringList m_serialPortName;
+//    foreach(const QSerialPortInfo &info,QSerialPortInfo::availablePorts())
+//    {
+//        m_serialPortName << info.portName();
+//        qDebug()<<"serialPortName:"<<info.portName();
+//    }
+
+    m_serialPort_Radio = new QSerialPort();
+    m_serialPort_Radio->setPortName(portname);
+    //m_serialPort_Radio->setPortName("/dev/ttyUSB4");
+    //m_serialPort_Radio->setBaudRate(QSerialPort::Baud115200);
+    m_serialPort_Radio->setBaudRate(Baud);
+    m_serialPort_Radio->setParity(QSerialPort::NoParity);
+    m_serialPort_Radio->setDataBits(QSerialPort::Data8);
+    m_serialPort_Radio->setStopBits(QSerialPort::OneStop);
+    m_serialPort_Radio->setFlowControl(QSerialPort::NoFlowControl);
+    m_serialPort_Radio->setReadBufferSize(0);
+    connect(m_serialPort_Radio,SIGNAL(readyRead()),this,SLOT(recvData()));
+}
+
+void PC5::setSerial(QString str1,int num1)
+{
+    portname=str1;
+    Baud=num1;
+    serialPortInit();
+}
+
+void PC5::openSerial()
+{
+    if(m_serialPort_Radio->open(QSerialPort::ReadWrite)) {
+        isConnected = true;
+    }
+}
+
+void PC5::closeSerial()
+{
+    if(m_serialPort_Radio->isOpen())//如果串口已经打开了
+    {
+        m_serialPort_Radio->clear();
+        m_serialPort_Radio->close();
+        isConnected = false;
+    }
+}
+
+void PC5::setobuNewVin(int vin)
+{
+    m_obuVin=vin;
+}
+
+void PC5::initRadio()
+{
+    std::string str="12345678912345678";
+    int randId0,randId1,randId2,randId3,randId4,randId5,randId6,randId7,randId8,randId9,randId10,randId11,randId12,randId13,randId14,randId15,randId16;
+    for(int i=0;i<100;i++) {
+        randId0=qrand()%10;
+        randId1=qrand()%10;
+        randId2=qrand()%10;
+        randId3=qrand()%10;
+        randId4=qrand()%10;
+        randId5=qrand()%10;
+        randId6=qrand()%10;
+        randId7=qrand()%10;
+        randId8=qrand()%10;
+        randId9=qrand()%10;
+        randId10=qrand()%10;
+        randId11=qrand()%10;
+        randId12=qrand()%10;
+        randId13=qrand()%10;
+        randId14=qrand()%10;
+        randId15=qrand()%10;
+        randId16=qrand()%10;
+        char c[17]={char('0'+randId0),
+                    char('0'+randId1),
+                    char('0'+randId2),
+                    char('0'+randId3),
+                    char('0'+randId4),
+                    char('0'+randId5),
+                    char('0'+randId6),
+                    char('0'+randId7),
+                    char('0'+randId8),
+                    char('0'+randId9),
+                    char('0'+randId10),
+                    char('0'+randId11),
+                    char('0'+randId12),
+                    char('0'+randId13),
+                    char('0'+randId14),
+                    char('0'+randId15),
+                    char('0'+randId16)};
+        str=c;
+        m_vectorVin.push_back(str);
+    }
+}
+
+void PC5::getRandomNum()
+{
+    int randId=qrand()%10000;
+    for(int i = 0 ; i < m_vectorRandom.size() ; i++) {
+        if(randId==m_vectorRandom[i]) {
+            getRandomNum();
+        }
+    }
+    m_vectorRandom.push_back(randId);
+}
+
+void PC5::setVin(std::string vin)
+{
+    m_strVin=vin;
+}
+
+void PC5::heartBeat()
+{
+    if (m_traffic_heart<10)//超时后设置消息不生效
+    {
+        m_traffic_heart++;
+        if (m_traffic_heart>=3)
+        {
+            realtimeTraffic.isEnable=false;
+        }
+    }
+
+    if (m_light_heart<10)
+    {
+        m_light_heart++;
+        if (m_light_heart>=3)
+        {
+            light.isEnable=false;
+        }
+    }
+
+    if (m_WarningMessage_heart<10)
+    {
+        m_WarningMessage_heart++;
+        if (m_WarningMessage_heart>=3)
+        {
+            collisionWarning.isEnable=false;
+        }
+    }
+
+    if (m_IdentificationMessage_heart<10)
+    {
+        m_IdentificationMessage_heart++;
+        if (m_IdentificationMessage_heart>=3)
+        {
+            congestionIdenti.isEnable=false;
+        }
+    }
+
+    if (m_warndriver_heart<10)
+    {
+        m_warndriver_heart++;
+        if(m_warndriver_heart>=3)
+        {
+            warn_driver=false;
+        }
+    }
+
+    //服务器连接
+    if(m_bEnConnect)
+    {
+        if(!m_bEnableRadio)
+        {
+            openSerial();
+            error_data="等待";
+        }
+        if(isConnected)
+        {
+            sendData();
+        }
+    }
+    else
+    {
+        if(m_bEnableRadio)
+        {
+            closeSerial();
+        }
+    }
+    m_bEnableRadio = m_bEnConnect;
+}
+
+void PC5::setConnectEnable(bool isEnable)
+{
+    m_bEnConnect = isEnable;
+    //return isConnected;
+}
+
+int PC5::PackagetHeadInfo( unsigned char featureID,unsigned char commendID, unsigned char respondID,int dataLen)
+{
+    packageDataHead.startSymbol1 = 0x24;//
+    packageDataHead.startSymbol2 = 0x24;
+    packageDataHead.RSU_Vin[0]=m_obuVin>>8;
+    packageDataHead.RSU_Vin[1]=m_obuVin&0xff;
+    packageDataHead.featureSymbol = featureID;
+    packageDataHead.commentSymbol  = commendID;
+    packageDataHead.responseSymbol = respondID;
+    packageDataHead.encryptionType = 0x01;
+    //秒级时间戳（十位）
+    long timestamp = QDateTime::currentMSecsSinceEpoch() / 1000;
+    packageDataHead.time[0]=(timestamp>>56)&0xff;
+    packageDataHead.time[1]=(timestamp>>48)&0xff;
+    packageDataHead.time[2]=(timestamp>>40)&0xff;
+    packageDataHead.time[3]=(timestamp>>32)&0xff;
+    packageDataHead.time[4]=(timestamp>>24)&0xff;
+    packageDataHead.time[5]=(timestamp>>16)&0xff;
+    packageDataHead.time[6]=(timestamp>>8)&0xff;
+    packageDataHead.time[7]=(timestamp)&0xff;
+    packageDataHead.dataLength[0] = (dataLen >> 8) & 0xFF;
+    packageDataHead.dataLength[1] = dataLen & 0xFF;
+    int headLen = sizeof(packageDataHead)/sizeof(unsigned char);
+    return headLen;
+}
+
+char PC5::BCCEncode(char sbuf[],int len)//计算校验
+{
+    if(sbuf == NULL || len < 4)
+        return false;
+    char BBCcode;
+    BBCcode = sbuf[0];
+    for (int i = 1; i < len; i++) {
+        BBCcode = BBCcode^sbuf[i];
+    }
+    return BBCcode;
+}
+
+bool PC5::BCCDecode(char sbuf[], int len)
+{
+    if(sbuf == NULL || len < 4)
+        return false;
+    char BBCcode;
+    BBCcode = sbuf[0];
+    for (int i = 1; i < len-1; i++) {
+        BBCcode = BBCcode^sbuf[i];
+    }
+    if (BBCcode == sbuf[len-1])
+        return true;
+    else
+        return false;
+}
+
+void PC5::setGpsImuMemory(gpsImuM m)
+{
+    m_structMGpsImu=m;
+}
+
+void PC5::sendData()
+{
+    char sendBuf[100];
+    memset(sendBuf,0,100);
+    CarFormationInfoData carFormationInfo;
+    std::string vin=m_strVin;
+    vin.copy(carFormationInfo.vin, vin.length(), 0);
+
+    carFormationInfo.type=0x01;
+    float flng,flat;
+    flng = (m_structMGpsImu.gps_lng*1000000);
+    flat = (m_structMGpsImu.gps_lat*1000000);
+    int lng,lat;
+    lng=int(flng);
+    lat=int(flat);
+    carFormationInfo.gps_lng[0] = (lng>>24)&0xff;
+    carFormationInfo.gps_lng[1] = (lng>>16)&0xff;
+    carFormationInfo.gps_lng[2] = (lng>>8)&0xff;
+    carFormationInfo.gps_lng[3] = (lng)&0xff;
+
+    carFormationInfo.gps_lat[0] = (lat>>24)&0xff;
+    carFormationInfo.gps_lat[1] = (lat>>16)&0xff;
+    carFormationInfo.gps_lat[2] = (lat>>8)&0xff;
+    carFormationInfo.gps_lat[3] = (lat)&0xff;
+    int ispeed;
+    ispeed = int(m_structMGpsImu.speed);;
+    unsigned char speed=(ispeed)&0xff;
+    carFormationInfo.car_speed = speed;
+    int yaw=int(m_structMGpsImu.yaw);
+    carFormationInfo.car_yaw[0] = (yaw>>24)&0xff;
+    carFormationInfo.car_yaw[1] = (yaw>>16)&0xff;
+    carFormationInfo.car_yaw[2] = (yaw>>8)&0xff;
+    carFormationInfo.car_yaw[3] = (yaw)&0xff;
+    carFormationInfo.electricalVoltage=0xFF;
+    float faccx=(m_structMGpsImu.accx)*10.0;
+    int iaccx=int(faccx);
+    carFormationInfo.acc_x=(iaccx)&0xff;
+    float faccy=m_structMGpsImu.accy*10.0;
+    int iaccy=int(faccy);
+    carFormationInfo.acc_y=(iaccy)&0xff;
+    carFormationInfo.error=0xFF;
+    //qDebug()<<lng<<lat<<speed<<yaw<<iaccx<<iaccy;
+    int dataLen = sizeof(CarFormationInfoData)/sizeof(unsigned char);
+    int headLen = PackagetHeadInfo(0x05,VehicleBaseInfo,commentsend,dataLen);
+    memcpy(sendBuf,&packageDataHead,headLen);
+    memcpy(sendBuf+headLen,&carFormationInfo,dataLen);
+    sendBuf[headLen+dataLen] = BCCEncode(sendBuf,headLen+dataLen);
+    //tcpSocket->write(sendBuf,100);
+    m_serialPort_Radio->write(sendBuf,headLen+dataLen+1);
+    m_serialPort_Radio->flush();
+    //qDebug()<<"发送1"<<sendBuf;
+}
+
+void PC5::upVirtualVehicle(ui_set_virtualVehicleM ui_set)
+{
+    m_iVirtualVehicle=0;
+    virtualVehicleM virtualVehicle;
+
+    int randId=qrand()%10000;
+    m_vectorRandom.push_back(randId);
+    double lngMax=ui_set.lngMax;
+    double lngMin=ui_set.lngMin;
+    double latMax=ui_set.latMax;
+    double latMin=ui_set.latMin;
+    float yawMax=ui_set.yawMax;
+    float yawMin=ui_set.yawMin;
+    int virtualVehicleNum=ui_set.virtualVehicleNum;
+    float speedMax=ui_set.speedMax;
+    float speedMin=ui_set.speedMin;
+    for(int i=1;i<=virtualVehicleNum;i++) {
+        getRandomNum();
+    }
+    isConnected=false;//关闭常规发送
+    for(int i=0;i<=virtualVehicleNum-1;i++) {
+        virtualVehicle.vin = m_vectorVin[i];
+        virtualVehicle.gps_lat=latMin+((double(m_vectorRandom[i]))/10000.0)*(latMax-latMin);
+        virtualVehicle.gps_lng=lngMin+((double(m_vectorRandom[i]))/10000.0)*(lngMax-lngMin);
+        virtualVehicle.speed=speedMin+((float(m_vectorRandom[i]))/10000.0)*(speedMax-speedMin);
+        virtualVehicle.yaw=yawMin+((float(m_vectorRandom[i]))/10000.0)*(yawMax-yawMin);
+        m_structMVirtualVehicle=virtualVehicle;
+        upVirtualVehicleRaw();
+    }
+    isConnected=true;//虚拟车发送完毕，恢复常规发送
+    //qDebug() << "[RADIO]:up virtual vehicle message "<<endl;
+}
+
+void PC5::upVirtualVehicleRaw()
+{
+    char sendBuf[100];
+    memset(sendBuf,0,100);
+    upVirtualVehicleInfo virtualVehicleInfo;
+    std::string vin=m_structMVirtualVehicle.vin;
+    vin.copy(virtualVehicleInfo.vin, 17, 0);
+
+    float flng,flat;
+    flng = (m_structMVirtualVehicle.gps_lng);
+    flat = (m_structMVirtualVehicle.gps_lat);
+    int lng,lat;
+    lng=int(flng);
+    lat=int(flat);
+    virtualVehicleInfo.lng[0] = (lng>>24)&0xff;
+    virtualVehicleInfo.lng[1] = (lng>>16)&0xff;
+    virtualVehicleInfo.lng[2] = (lng>>8)&0xff;
+    virtualVehicleInfo.lng[3] = (lng)&0xff;
+
+    virtualVehicleInfo.lat[0] = (lat>>24)&0xff;
+    virtualVehicleInfo.lat[1] = (lat>>16)&0xff;
+    virtualVehicleInfo.lat[2] = (lat>>8)&0xff;
+    virtualVehicleInfo.lat[3] = (lat)&0xff;
+    int ispeed;
+    ispeed = int(m_structMVirtualVehicle.speed);
+    unsigned char speed=(ispeed)&0xff;
+    virtualVehicleInfo.speed = speed;
+    int yaw=int(m_structMVirtualVehicle.yaw);
+    virtualVehicleInfo.yaw[0] = (yaw>>24)&0xff;
+    virtualVehicleInfo.yaw[1] = (yaw>>16)&0xff;
+    virtualVehicleInfo.yaw[2] = (yaw>>8)&0xff;
+    virtualVehicleInfo.yaw[3] = (yaw)&0xff;
+
+    int dataLen = sizeof(upVirtualVehicleInfo)/sizeof(unsigned char);
+    int headLen = PackagetHeadInfo(0x03,VirtualVehicle,commentsend,dataLen);
+    memcpy(sendBuf,&packageDataHead,headLen);
+    memcpy(sendBuf+headLen,&virtualVehicleInfo,dataLen);
+    sendBuf[headLen+dataLen] = BCCEncode(sendBuf,headLen+dataLen);
+    m_serialPort_Radio->write(sendBuf,headLen+dataLen+1);
+    m_serialPort_Radio->flush();
+    //qDebug()<<"发送2"<<sendBuf;
+
+    //m_serialPort_Radio->write("sendBuf");
+}
+
+void PC5::recvData()
+{
+    QByteArray _ba;
+    _ba.clear();
+    _ba = m_serialPort_Radio->readAll();
+    m_data.append(_ba);
+    static int BATH_LENTH = 31;
+    if(m_data.size()>= BATH_LENTH) {
+        // 防包太大
+        if (m_data.size() > 512) {
+            //qDebug() << "size too large";
+            m_data.clear();
+            return;
+        }
+        //  ##
+        char first;
+        char second;
+        // 寻找报文开头
+        while (m_data.size() >= BATH_LENTH) {
+            while (1) {
+                first = m_data[0];
+                second = m_data[1];
+                if (first == '$' && second == '$') {
+                    break;
+                }
+                // 删除一个字符
+                m_data.remove(0, 1);
+                if (m_data.size() < BATH_LENTH)
+                    return;
+            }
+            int high = m_data.at(16);
+            int low = m_data.at(17);
+            int dataLen = (high << 8) | low;
+            //qDebug() << "dataLen:" << dataLen;
+            // 长度不对
+            if ((dataLen + sizeof(packageDataHead)) > m_data.size()) {
+                //qDebug() << "message len error";
+                return;
+            }
+            QByteArray temp = m_data.left(sizeof(packageDataHead) + dataLen + 1);
+            //queue_mutex.lock();
+            readData.enqueue(temp);
+            replyMessage();
+            //queue_mutex.unlock();
+            m_data.remove(0, sizeof(packageDataHead) + dataLen + 1);
+        }
+    }
+}
+
+QByteArray PC5::show_readdata()
+{
+    return datahex;
+}
+
+void PC5::replyMessage()
+{
+    //queue_mutex.lock();
+    if(readData.isEmpty())
+    {
+        //queue_mutex.unlock();
+        return;
+    }
+    QByteArray data = readData.dequeue();
+    //queue_mutex.unlock();
+    int len = data.size();
+    char *recvBuf = data.data();
+    datahex = data.toHex(' ');
+    //qDebug() << datahex;
+    if(len < 21 || recvBuf == NULL)
+    {
+        //qDebug() << "len error";
+        return;
+    }
+    bool is_checkok = false;
+    is_checkok = BCCDecode(recvBuf,len);
+    //is_checkok=true;
+    if(is_checkok==false)
+    {
+        error_data="check error";
+        return;
+    }
+    else
+    {
+        error_data="check ok";
+        unsigned char obuvin_high = recvBuf[2];
+        unsigned char obuvin_low = recvBuf[3];
+        int obuvin =(obuvin_high*256)+obuvin_low;
+        error_data="ObuNum ok";
+        if (obuvin==m_obuVin)
+        {
+            switch(recvBuf[5])
+            {
+                case TrafficLight: {
+                    light.isEnable=true;
+                    m_light_heart=0;
+                    light.light1face=recvBuf[18];
+                    float head=(((recvBuf[19]<<8)&0xFF00)|((recvBuf[20])&0xFF));
+                    light.light1head=head/100;
+                    light.light1Type=recvBuf[21];
+                    light.light1timeRemaining=(((recvBuf[22]<<8)&0xFF00)|((recvBuf[23])&0xFF));
+
+                    light.light2face=recvBuf[24];
+                    head=(((recvBuf[25]<<8)&0xFF00)|((recvBuf[26])&0xFF));
+                    light.light2head=head/100;
+                    light.light2Type=recvBuf[27];
+                    light.light2timeRemaining=(((recvBuf[28]<<8)&0xFF00)|((recvBuf[29])&0xFF));
+                    error_data="recv light";
+                    //qDebug() << "light1 "<<int(light.light1face)<<int(light.light1Type)<<light.light1head<<light.light1Type<<" and remaining is "<<light.light1timeRemaining;
+                    //qDebug() << "light2 "<<int(light.light2face)<<int(light.light2Type)<<light.light2head<<light.light2Type<<" and remaining is "<<light.light2timeRemaining;
+                    break;
+                }
+                case RealtimeTraffic: {
+                    if((recvBuf[4]==0x01)&&(recvBuf[3]==0x00)&&(recvBuf[2]==0x01))
+                    {
+                        realtimeTraffic.isEnable=true;
+                        m_traffic_heart=0;
+                        realtimeTraffic.lng=double(((recvBuf[18]<<24)&0xFF000000)|((recvBuf[19]<<16)&0xFF0000)|((recvBuf[20]<<8)&0xFF00)|((recvBuf[21])&0xFF))/1000000;
+                        realtimeTraffic.lat=double(((recvBuf[22]<<24)&0xFF000000)|((recvBuf[23]<<16)&0xFF0000)|((recvBuf[24]<<8)&0xFF00)|((recvBuf[25])&0xFF))/1000000;
+                        realtimeTraffic.scope=(((recvBuf[26]<<8)&0xFF00)|((recvBuf[27])&0xFF));
+                        realtimeTraffic.trafficInfo=recvBuf[28];
+                        realtimeTraffic.speedLimit=(recvBuf[29]&0xFF);
+                        error_data="recv realtimeTraffic";
+                        //qDebug() << "[RADIO]:receive real time traffic message "<<endl;
+                        break;
+                    }
+                }
+                case CollisionEarlyWarning: {
+                    //qDebug()<<"[JLLTest]:INTO WARNING"<<recvBuf[0]<<recvBuf[1]<<recvBuf[2]<<recvBuf[3]<<recvBuf[4]<<recvBuf[5]<<recvBuf[35]<<recvBuf[36]<<endl;
+                    if(recvBuf[4]==0x02)
+                    {
+//                        char *str=new char[17];
+//                        memcpy(str, recvBuf+18, 17);
+                        QString recvvin =QString(data.at(19));
+                        for (int i=20;i<=35;++i)
+                        {
+                            recvvin=recvvin+QString(data.at(i));
+                        }
+                        //qDebug()<<recvvin;
+                        collisionWarning.vin=recvvin.toStdString();
+                        if (collisionWarning.vin==m_strVin)
+                        {
+                            collisionWarning.isEnable=true;
+                            m_WarningMessage_heart=0;
+    //                        collisionWarning.vin=str;
+    //                        delete []str;
+                            collisionWarning.warningType=recvBuf[35];
+                            collisionWarning.speedLimit=recvBuf[36];
+                            m_responseType=collisionWarning.warningType;
+                            error_data="recv EarlyWarning";
+                            upRespondMessage(0x02);
+                        }
+                        break;
+        //                if(collisionWarning.vin==m_sVin) {
+        //                    //qDebug() << "[RADIO]:receive collisionEarlyWarning message "<<endl;
+        //                    outCollisionWarning(collisionWarning);
+        //                    responseCollisionEarlyWarning(collisionWarning);
+        //                    m_responseType=collisionWarning.warningType;
+        //                    m_bEnUpRespond=true;
+        //                    //upRespondMessage();
+        //                } else {
+        //                    //qDebug()<<"[CollisionEarlyWarning] vin error"<<endl;
+                        }
+                    }
+                case CongestionIdentification: {
+                    if(recvBuf[4]==0x03)
+                    {
+//                        char *str=new char[17];
+//                        memcpy(str, recvBuf+18, 17);
+
+//                        congestionIdenti.vin=str;
+//                        qDebug()<< congestionIdenti.vin;
+//                        delete []str;
+                        QString recvvin =QString(data.at(19));
+                        for (int i=20;i<=35;++i)
+                        {
+                            recvvin=recvvin+QString(data.at(i));
+                        }
+                        //qDebug()<<recvvin;
+                        congestionIdenti.vin=recvvin.toStdString();
+                        congestionIdenti.openCommand=recvBuf[35];
+                        if (congestionIdenti.vin==m_strVin and congestionIdenti.openCommand==0x01){
+                            congestionIdenti.isEnable=true;
+                            m_IdentificationMessage_heart=0;
+                            if (my_ui_set.virtualVehicleNum>0)
+                            {
+                                error_data="send virtual";
+                                //qDebug()<<"send virtual"<<my_ui_set.virtualVehicleNum;
+                                upVirtualVehicle(my_ui_set);
+                            }
+                        }
+                        break;
+        //                if(congestionIdenti.vin==m_sVin) {
+        //                    //qDebug() << "[RADIO]:receive congestion identification message "<<endl;
+        //                    responseCongestionIdentification(congestionIdenti);
+        //                    outCongestionIdenti(congestionIdenti);
+        //                } else {
+        //                   // qDebug()<<"[CongestionIdentification] vin error"<<endl;
+                        }
+                    }
+            default:
+                if (recvBuf[4]==0x04)//危险驾驶,需要更改协议，只能超时复位
+                {
+                    m_warndriver_heart=0;
+                    error_data="warn_driver";
+                    warn_driver=true;
+                    isConnected=false;
+                    upRespondMessage(0x04);
+                    isConnected=true;
+                }
+                else
+                {
+                    warn_driver=false;
+                }
+            }
+        }
+    }
+}
+
+
+void PC5::upRespondMessage(unsigned char featureId)
+{
+    char sendBuf[100];
+    memset(sendBuf,0,100);
+    upResponseInfo responseInfo;
+    std::string vin=m_strVin;
+    vin.copy(responseInfo.vin, vin.length(), 0);
+    responseInfo.reponseType = m_responseType;
+    int dataLen = sizeof(upResponseInfo)/sizeof(unsigned char);
+    int headLen;
+    if(featureId==0x02) {
+        headLen = PackagetHeadInfo(0x02,ResponseMessage,resuccess,dataLen);
+    } else if (featureId==0x04) {
+        headLen = PackagetHeadInfo(0x04,ResponseMessage,resuccess,dataLen);
+    }
+    memcpy(sendBuf,&packageDataHead,headLen);
+    memcpy(sendBuf+headLen,&responseInfo,dataLen);
+    sendBuf[headLen+dataLen] = BCCEncode(sendBuf,headLen+dataLen);
+    //udpSocket->writeDatagram(sendBuf,headLen+dataLen+1,QHostAddress("192.168.100.1"),2100);
+    m_serialPort_Radio->write(sendBuf,headLen+dataLen+1);
+    m_serialPort_Radio->flush();
+}
+
+realtimeTrafficMessage PC5::ui_RealtimeTraffic()
+{
+    return realtimeTraffic;
+}
+
+lightMessage PC5::ui_Light()
+{
+    return light;
+}
+
+collisionEarlyWarningMessage PC5::ui_Warning()
+{
+    return collisionWarning;
+}
+
+congestionIdentificationMessage PC5::ui_identification()
+{
+    return congestionIdenti;
+}
+
+bool PC5::show_warn_driver()
+{
+    return  warn_driver;
+}
+
+QByteArray PC5::show_error()
+{
+    return error_data;
+}
+
+bool PC5::isLinked()
+{
+    return isConnected;
+}
+
+PC5::~PC5()
+{
+    if (m_serialPort_Radio->isOpen())
+        {
+            m_serialPort_Radio->close();
+        }
+    delete m_serialPort_Radio;
+    timer->stop();
+    delete timer;
+}

src/v2x/v2xpc5/pc5.h

@@ -0,0 +1,229 @@
+#ifndef PC5_H
+#define PC5_H
+//#include <QWidget>
+//#include <QAbstractSocket>
+//#include <QDialog>
+#include <QTimer>
+#include <QDateTime>
+#include <QQueue>
+//#include <QUdpSocket>
+#include <QSerialPort>
+#include "ivlog.h"
+//std::string VIN="A1000000CATARCS01";
+
+#define TrafficLight (0x01)
+#define RealtimeTraffic (0x02)
+#define CollisionEarlyWarning (0x03)
+#define CongestionIdentification (0x04)
+#define VehicleBaseInfo (0x80)
+#define ResponseMessage (0x81)
+#define VirtualVehicle (0x82)
+#define commentsend (0xFE)//命令
+#define resuccess (0x01)//成功
+#define reerror (0x02)//错误
+#define periodic_send (0x00)
+
+struct realtimeTrafficMessage
+{
+    bool isEnable=false;
+    double lng;
+    double lat;
+    int scope;
+    int trafficInfo;//0x01：塌方；0x02：施工；0x03：道路结冰；0x04：前方限速；“0xFE”表示异常，“0xFF”表示无效
+    int speedLimit;
+};
+
+struct upResponseInfo
+{
+    char vin[17];//车辆识别码
+    unsigned char reponseType;//0x01：减速；0x02：停车；“0xFE”表示异常，“0xFF”表示无效
+};
+
+struct collisionEarlyWarningMessage
+{
+    bool isEnable=false;
+    std::string vin;//17位vin码
+    unsigned char warningType;//0x01：减速；0x02：停车；“0xFE”表示异常，“0xFF”表示无效
+    int speedLimit;
+};
+
+struct congestionIdentificationMessage
+{
+    bool isEnable=false;
+    std::string vin;//17位vin码
+    unsigned char openCommand;//0x01：开启；“0xFE”表示异常，“0xFF”表示无效
+};
+
+struct lightMessage//红绿灯状态
+{
+    bool isEnable=false;
+    unsigned char light1face;//0x01横向 0x02纵向
+    float light1head;//面朝方向
+    unsigned char light1Type;//0x01：绿灯；0x02：红灯；0x03：黄灯；
+    int light1timeRemaining;//红绿灯时间
+
+    unsigned char light2face;//0x01横向 0x02纵向
+    float light2head;//面朝方向
+    unsigned char light2Type;//0x01：绿灯；0x02：红灯；0x03：黄灯；
+    int light2timeRemaining;//红绿灯时间
+};
+
+struct gpsImuM//车辆状态传输
+{
+    float gps_lng;//real value
+    float gps_lat;
+    float speed;//real value
+    float yaw;//real value
+    float accx;//real value
+    float accy;
+};
+
+//struct responseCollisionEarlyWarningInfo
+//{
+//    char vin[17];//车辆识别码
+//    unsigned char warningType;
+//    unsigned char speedLimit;
+//};
+
+struct DataPackageHead//数据包结构
+{
+    unsigned char startSymbol1;//起始符1
+    unsigned char startSymbol2;//起始符2
+    char RSU_Vin[2];//路测系统编码
+    unsigned char featureSymbol;//功能识别码
+    unsigned char commentSymbol;//命令标识
+    unsigned char responseSymbol;//应答标识
+    unsigned char time[8];//本报文时间戳。格林威治时间1970年01月01日00时00分00秒(北京时间1970年01月01日08时00分00秒)起至现在的总秒数。
+    unsigned char encryptionType;//数据加密方式
+    char dataLength[2];//数据单元长度
+    // unsigned char *data;//数据单元
+    // unsigned char verifyCode;//校验码
+};
+
+struct CarFormationInfoData  //车况数据
+{
+    char vin[17];//车辆识别码
+    unsigned char type;//0A
+    unsigned char gps_lng[4];//经度 有效值范围：0～180；精确到小数点后6位；“0xFF,0xFF,0xFF,0xFE”表示异常，“0xFF,0xFF,0xFF,0xFF”表示无效
+    unsigned char gps_lat[4];//维度 有效值范围：0～180；精确到小数点后6位；“0xFF,0xFF,0xFF,0xFE”表示异常，“0xFF,0xFF,0xFF,0xFF”表示无效
+    unsigned char car_speed;//车速 有效值范围：0～200（表示0km/h～200km/h）,最小计量单元：1km/h；“0xFE”表示异常，“0xFF”表示无效
+    unsigned char car_yaw[4];//航向角 有效值范围：0～360(表示0°～360°)；“0xFF,0xFF,0xFF,0xFE”表示异常，“0xFF,0xFF,0xFF,0xFF”表示无效
+    unsigned char electricalVoltage;
+    unsigned char acc_x;//-6.0～6.0(表示0m/s2～4m/s2)，最小计量单元：0.1 m/s2；
+    unsigned char acc_y;
+    unsigned char error;
+};
+
+struct ui_set_virtualVehicleM//虚拟车范围设置
+{
+    double lngMax;
+    double lngMin;
+    double latMax;
+    double latMin;
+    float yawMax;
+    float yawMin;
+    int virtualVehicleNum;//虚拟车数量
+    float speedMax;
+    float speedMin;
+};
+
+struct virtualVehicleM
+{
+    std::string vin;
+    double gps_lng;//real value
+    double gps_lat;
+    float speed;//real value
+    float yaw;//real value
+};
+
+struct  upVirtualVehicleInfo
+{
+    char vin[17];//车辆识别码
+    unsigned char lng[4];//*1000000
+    unsigned char lat[4];
+    unsigned char speed;
+    unsigned char yaw[4];
+};
+
+class PC5:public QObject
+{
+    Q_OBJECT
+public:
+    PC5();
+    ~PC5();
+    void serialPortInit();//串口初始化
+    void openSerial();//打开串口
+    void closeSerial();//关闭串口
+    void setSerial(QString str1,int num1);//串口设置
+    void setConnectEnable(bool isEnable);//主界面调用以开关串口
+    bool isLinked();//返回连接状态
+    void setVin(std::string vin);//设置车辆vin
+    void setobuNewVin(int vin);//设置obu编号
+    void initRadio();//随机虚拟车vin
+    void getRandomNum();//抽取虚拟vin
+
+    void sendData();//车况数据发送
+    void replyMessage();//接受数据解析
+    QByteArray show_error();//主界面调用显示错误信息
+    QByteArray show_readdata();//主界面调用显示收到数据
+
+    int PackagetHeadInfo( unsigned char featureID,unsigned char commendID, unsigned char respondID,int dataLen);//包头写入
+    void upVirtualVehicleRaw();//发送虚拟车数据
+    void setGpsImuMemory(gpsImuM m);//接收车辆状态信息
+    char BCCEncode(char sbuf[],int len);//计算校验
+    bool BCCDecode(char sbuf[], int len);//核实校验位
+    void upVirtualVehicle(ui_set_virtualVehicleM ui_set);//生成虚拟车信息
+    ui_set_virtualVehicleM my_ui_set;
+    void upRespondMessage(unsigned char featureId);//发送应答回复
+
+    realtimeTrafficMessage ui_RealtimeTraffic();//主界面调用显示车况
+    lightMessage ui_Light();//主界面调用显示红绿灯
+    collisionEarlyWarningMessage ui_Warning();//主界面调用显示碰撞预警
+    congestionIdentificationMessage ui_identification();//主界面调用显示交通拥堵
+    bool show_warn_driver();//主界面调用显示危险驾驶
+
+private:
+    QByteArray error_data;//程序状态
+    QByteArray datahex;//接收数据显示
+    QSerialPort *m_serialPort_Radio;
+    QString portname;//串口号
+    int Baud;//波特率
+    QTimer *timer;
+    bool isConnected=false;//连接状态
+    std::string m_strVin;//车辆vin
+    int m_obuVin;//路测编号
+
+    gpsImuM m_structMGpsImu;
+
+    DataPackageHead packageDataHead;
+    realtimeTrafficMessage realtimeTraffic;
+    lightMessage light;
+    collisionEarlyWarningMessage collisionWarning;
+    congestionIdentificationMessage congestionIdenti;
+    virtualVehicleM m_structMVirtualVehicle;
+    int m_iVirtualVehicle;
+    std::vector<std::string> m_vectorVin;
+    std::vector<int> m_vectorRandom;
+
+    QByteArray m_data;
+    QQueue<QByteArray> readData;
+
+    bool m_bIsConnect;
+    bool m_bEnableRadio;
+    bool m_bEnConnect;
+
+    int m_traffic_heart;
+    int m_light_heart;
+    int m_WarningMessage_heart;
+    int m_IdentificationMessage_heart;
+    int m_warndriver_heart;
+
+    unsigned char m_responseType;
+    bool warn_driver;
+
+private slots:
+    void recvData();
+    void heartBeat();
+};
+
+#endif // PC5_H

src/v2x/v2xpc5/v2x.cpp

@@ -0,0 +1,436 @@
+#include "v2x.h"
+extern iv::Ivlog * gIvlog;
+V2X::V2X()
+{
+    client=new QTcpSocket(this);
+    connect(client,&QTcpSocket::readyRead,this,&V2X::readDataSlot);
+    timer = new QTimer(this);
+    connect(timer,SIGNAL(timeout()),SLOT(heartBeat()));
+    timer->start(1000);
+    m_bEnablePlatform = false;
+    m_bIsConnect = false;
+    //m_strVin="A0000000CATARCS02";
+    m_bEnConnect=false;
+}
+
+void V2X::setTboxNewVin(std::string str)
+{
+    m_strVin=str;
+}
+
+void V2X::heartBeat()
+{
+    //qDebug()<<"消息：Into hearbeat!"<<endl;
+    if(m_bEnConnect) {
+        if(!m_bEnablePlatform) {
+            connectPlatform();
+            error_data="等待";
+        }
+        if(m_bIsConnect) {
+            upDataStream();
+        }
+
+    } else {
+        if(m_bEnablePlatform) {
+            disconnectPlatform();
+        }
+    }
+    m_bEnablePlatform = m_bEnConnect;
+}
+
+void V2X::setTboxConnectEnable(bool isEnable)
+{
+    m_bEnConnect = isEnable;
+}
+
+void V2X::setIPandPort(QString str,int num)
+{
+    hostip=str;
+    port=num;
+}
+
+void V2X::connectPlatform()
+{
+    client->connectToHost(hostip,port);
+    if(client->waitForConnected(1000))
+    {
+        //qDebug()<<"ok";
+        error_data="connect success";
+        m_bIsConnect=true;
+    }
+    else
+    {
+        error_data="connect fail";
+        m_bIsConnect=false;
+    }
+}
+bool V2X::isLinked()
+{
+    return m_bIsConnect;
+}
+char V2X::BCCEncode(char sbuf[],int len)//计算校验
+{
+    if(sbuf == NULL || len < 4)
+        return false;
+    char BBCcode;
+    BBCcode = sbuf[2];
+    for (int i = 3; i < len; i++) {
+        BBCcode = BBCcode^sbuf[i];
+    }
+    //qDebug()<<"check"<<BBCcode;
+    return BBCcode;
+}
+
+bool V2X::BCCDecode(char sbuf[], int len)
+{
+    if(sbuf == NULL || len < 4)
+        return false;
+    char BBCcode;
+    BBCcode = sbuf[2];
+    for (int i = 3; i < len-1; i++) {
+        BBCcode = BBCcode^sbuf[i];
+    }
+    if (BBCcode == sbuf[len-1])
+        return true;
+    else
+        return false;
+}
+
+int V2X::PackagetHeadInfo( unsigned char commendID, int dataLen)
+{
+    packageDataHead.startSymbol1 = '#';
+    packageDataHead.startSymbol2 = '#';
+    packageDataHead.commentSymbol  = commendID;
+    packageDataHead.responseSymbol = 0xFE;
+    std::string vin=m_strVin;
+    vin.copy(packageDataHead.vin, vin.length(), 0);
+    packageDataHead.encryptionType = 0x01;
+    packageDataHead.dataLength[0] = (dataLen >> 8) & 0xFF;
+    packageDataHead.dataLength[1] = dataLen & 0xFF;
+    int headLen = sizeof(packageDataHead)/sizeof(unsigned char);
+    return headLen;
+}
+
+void V2X::setTboxMemmory(Memory m)
+{
+    m_structM = m;
+}
+
+void V2X::setSensorMemmory(sensor_state s)
+{
+    m_sensor = s;
+}
+
+void V2X::upDataStream()
+{
+    char sendBuf[100];
+    memset(sendBuf,0,100);
+    CarFormationInfoData_v2x carFormationInfo;
+    //秒级时间戳（十位）
+    long timestamp = QDateTime::currentMSecsSinceEpoch() / 1000;
+
+    carFormationInfo.time[0]=(timestamp>>56)&0xff;
+    carFormationInfo.time[1]=(timestamp>>48)&0xff;
+    carFormationInfo.time[2]=(timestamp>>40)&0xff;
+    carFormationInfo.time[3]=(timestamp>>32)&0xff;
+    carFormationInfo.time[4]=(timestamp>>24)&0xff;
+    carFormationInfo.time[5]=(timestamp>>16)&0xff;
+    carFormationInfo.time[6]=(timestamp>>8)&0xff;
+    carFormationInfo.time[7]=(timestamp)&0xff;
+    carFormationInfo.type=0x0A;
+    float flng,flat;
+    flng = (m_structM.gps_lng*1000000);
+    flat = (m_structM.gps_lat*1000000);
+    int lng,lat;
+    lng=int(flng);
+    lat=int(flat);
+    carFormationInfo.gps_lng[0] = (lng>>24)&0xff;
+    carFormationInfo.gps_lng[1] = (lng>>16)&0xff;
+    carFormationInfo.gps_lng[2] = (lng>>8)&0xff;
+    carFormationInfo.gps_lng[3] = (lng)&0xff;
+    carFormationInfo.gps_lat[0] = (lat>>24)&0xff;
+    carFormationInfo.gps_lat[1] = (lat>>16)&0xff;
+    carFormationInfo.gps_lat[2] = (lat>>8)&0xff;
+    carFormationInfo.gps_lat[3] = (lat)&0xff;
+    int ispeed;
+    ispeed = int(m_structM.speed);
+    unsigned char speed=(ispeed)&0xff;
+    carFormationInfo.car_speed = speed;
+    int yaw=int(m_structM.yaw);
+    carFormationInfo.car_yaw[0] = (yaw>>24)&0xff;
+    carFormationInfo.car_yaw[1] = (yaw>>16)&0xff;
+    carFormationInfo.car_yaw[2] = (yaw>>8)&0xff;
+    carFormationInfo.car_yaw[3] = (yaw)&0xff;
+    carFormationInfo.lidar_left[0]=m_sensor.lidar_left;
+    carFormationInfo.lidar_mid[0]=m_sensor.lidar_mid;
+    carFormationInfo.lidar_right[0]=m_sensor.lidar_right;
+    carFormationInfo.radar[0]=m_sensor.radar;
+    carFormationInfo.gps_flag[0]=m_sensor.gps_flag;
+    carFormationInfo.camera_front[0]=m_sensor.camera_front;
+    carFormationInfo.camera_back[0]=m_sensor.camera_back;
+    carFormationInfo.camera_left[0]=m_sensor.camera_left;
+    carFormationInfo.camera_right[0]=m_sensor.camera_right;
+    //qDebug()<<lng<<lat<<speed<<yaw;
+    //qDebug()<<m_sensor.lidar_left<<m_sensor.gps_flag<<m_sensor.camera_front;
+    int dataLen = sizeof(CarFormationInfoData_v2x)/sizeof(unsigned char);
+    int headLen = PackagetHeadInfo(0x02,dataLen);
+    memcpy(sendBuf,&packageDataHead,headLen);
+    memcpy(sendBuf+headLen,&carFormationInfo,dataLen);
+    sendBuf[headLen+dataLen] = BCCEncode(sendBuf,headLen+dataLen);
+
+    client->write(sendBuf,headLen+dataLen+1);
+    client->flush();
+    //error_data="send data";
+    //qDebug()<<timestamp<<"发送"<<endl;
+    //qDebug()<<"发送\n"<<sendBuf<<dataLen<<endl;
+    //m_bIsConnect=false;
+}
+
+void V2X::readDataSlot()
+{
+    qint64 rLen = client->bytesAvailable();
+    //qDebug() << "rLen:"<<rLen;
+    if (rLen <= 0) {
+        return;
+    }
+    char *_data = new char[rLen + 1];
+    if (_data == NULL) {
+        return;
+    }
+    memset(_data, 0, rLen + 1);
+    //socket_mutex.lock();
+    int ret = client->read(_data, rLen);
+    //socket_mutex.unlock();
+    if(ret <= 0)
+    {
+        //qDebug() << "read error";
+        return;
+    }
+    QByteArray data(_data, ret);
+    delete [] _data;
+    // 数据拆开
+    //qDebug() << data <<endl;
+    ReceiveDecode(data);
+    replyMessage();
+}
+
+void V2X::ReceiveDecode(QByteArray &data)
+{
+    static int BATH_LENTH = 31;
+    // 防包太大
+    if (data.size() > 2048) {
+        //qDebug() << "size too large";
+        return;
+    }
+    //  ##
+    char first;
+    char second;
+    // 寻找报文开头
+    while (data.size() >= BATH_LENTH) {
+        while (1) {
+            first = data[0];
+            second = data[1];
+            if (first == '#' && second == '#') {
+                break;
+            }
+            // 删除一个字符
+            data.remove(0, 1);
+            if (data.size() < BATH_LENTH)
+                return;
+        }
+        int high = data.at(22);
+        int low = data.at(23);
+        int dataLen = (high << 8) | low;
+        //qDebug() << "dataLen:" << dataLen;
+        // 长度不对
+        if ((dataLen + sizeof(packageDataHead)) > data.size())
+        {
+            //qDebug() << "message len error";
+            return;
+        }
+
+        QByteArray temp = data.left(sizeof(packageDataHead) + dataLen + 1);
+        //queue_mutex.lock();
+        readData.enqueue(temp);
+        //queue_mutex.unlm_strVinock();
+        data.remove(0, sizeof(packageDataHead) + dataLen + 1);//need check,20210915,jiaolili
+    }
+}
+
+QByteArray V2X::show_readdata()
+{
+    return datahex;
+}
+
+QByteArray V2X::show_error()
+{
+    return error_data;
+}
+bool V2X::upRunMod()
+{
+    return m_runmod;
+}
+void V2X::replyMessage()
+{
+    //queue_mutex.lock();
+    if(readData.isEmpty())
+    {
+        //queue_mutex.unlock();
+        return;
+    }
+
+    QByteArray data = readData.dequeue();
+    //queue_mutex.unlock();
+
+    int len = data.size();
+
+    char *recvBuf = data.data();
+    if(len < 31 || recvBuf == NULL)
+    {
+        //qDebug() << "len error";
+        return;
+    }
+
+    datahex = data.toHex(' ');
+    bool is_checkok = false;
+    is_checkok = BCCDecode(recvBuf,len);
+
+    bool vin_check=false;
+    QString recvvin =QString(data.at(4));
+    for (int i=5;i<=20;++i)
+    {
+        recvvin=recvvin+QString(data.at(i));
+    }
+    if (recvvin.toStdString()==m_strVin)
+    {
+
+        vin_check=true;
+        error_data="vin true";
+    }
+    else
+    {
+        vin_check=false;
+        error_data="vin false";
+    }
+
+    if(is_checkok==false or vin_check==false) {
+        error_data="BCC check false";
+    } else {
+
+        unsigned char commend_flag=recvBuf[3];
+        unsigned char aim_flag=recvBuf[2];
+
+        //qDebug() <<"datahex: "<<datahex;
+
+        if (commend_flag==0xfe)
+        {
+            error_data="commend";
+            m_bIsConnect=false;
+            if (aim_flag==0x0b)
+            {
+                error_data="recv 0b";
+                unsigned char run_flag=recvBuf[32];
+                //qDebug() << run_flag;
+                if (run_flag==0x00)
+                {
+                    m_runmod=true;
+                    error_data="stop run";
+                    //qDebug()<<"stop";
+                    recvBuf[3]=0x01;
+                }
+                else if (run_flag==0x01)
+                {
+                    m_runmod=false;
+                    //qDebug()<<"start";
+                    error_data="start run";
+                    recvBuf[3]=0x01;
+                }
+                else
+                {
+                    m_runmod=0;
+                    error_data="recv 0b error";
+                    recvBuf[3]=0x02;
+                }
+            }
+            else if (aim_flag==0x0a)
+            {
+                error_data="recv 0a";
+                recvBuf[3]=0x01;
+            }
+            else
+            {
+                recvBuf[3]=0x02;
+                error_data="error commend";
+            }
+        client->write(recvBuf,len);
+        client->flush();
+        m_bIsConnect=true;
+        }
+    }
+
+//    qDebug() << recvBuf[2];
+//    if (recvBuf[3]==0xFE)
+//    {
+//        qDebug() << "commend";
+//        m_bIsConnect=false;
+//        if(recvBuf[2]==0x0B)
+//        {
+
+//            if (recvBuf[31]==0x00)
+//            {
+//                m_runmod=0;
+//                qDebug() << "stop";
+//            }
+//            else{
+//                m_runmod=1;
+//                qDebug() << "go";
+//            }
+//            recvBuf[3]=0x01;
+//            client->write(recvBuf,100);
+//            client->flush();
+//        //232302fe4c4d574850315332374a31303035393035010017000000006142e3393b9aca0077359400140000000c63028c
+//        //if(recvBuf[2]==0x02) {
+//            //qDebug() << "receive vin change return";
+
+//            //upDataStream();
+//        }
+//        else if (recvBuf[2]==0x0B)
+//        {
+//            qDebug() << "vin change";
+//            recvBuf[3]=0x01;
+//            client->write(recvBuf,100);
+//            client->flush();
+//        }
+//        else
+//        {
+//            recvBuf[3]=0x02;
+//            qDebug() << "error commend";
+//            client->write(recvBuf,100);
+//            client->flush();
+//        }
+//        m_bIsConnect=true;
+//    }
+
+}
+
+void V2X::disconnectPlatform()
+{
+    client->disconnectFromHost();
+    error_data="disconncet";
+    //修改status
+    m_bIsConnect=false;
+}
+
+void V2X::disconnectedSlot()
+{
+    //修改status
+    m_bIsConnect = false;
+    //qDebug()<<"client disconnected!\n"<<endl;
+}
+V2X::~V2X()
+{
+    client->disconnectFromHost();
+    delete client;
+    timer->stop();
+    delete timer;
+}

src/v2x/v2xpc5/v2x.h

@@ -0,0 +1,116 @@
+#ifndef V2X_H
+#define V2X_H
+#include <QTcpSocket>
+#include <QTcpServer>
+#include <QTimer>
+#include <QDateTime>
+#include <QQueue>
+#include "ivlog.h"
+struct DataPackageHead_v2x//数据包结构
+{
+    unsigned char startSymbol1;//起始符1
+    unsigned char startSymbol2;//起始符2
+    unsigned char commentSymbol;//命令标识
+    unsigned char responseSymbol;//应答标识
+    char vin[17];//车辆识别码
+    unsigned char encryptionType;//数据加密方式
+    char dataLength[2];//数据单元长度
+    // unsigned char *data;//数据单元
+    // unsigned char verifyCode;//校验码
+};
+
+struct sensor_state//传感器工作状态
+{
+    int lidar_left;
+    int lidar_mid;
+    int lidar_right;
+    int radar;
+    int gps_flag;
+    int camera_front;
+    int camera_back;
+    int camera_left;
+    int camera_right;
+};
+
+struct CarFormationInfoData_v2x  //车况数据
+{
+    unsigned char time[8];//本报文时间戳。格林威治时间1970年01月01日00时00分00秒(北京时间1970年01月01日08时00分00秒)起至现在的总秒数。
+    unsigned char type;//0A
+    unsigned char gps_lng[4];//经度 有效值范围：0～180；精确到小数点后6位；“0xFF,0xFF,0xFF,0xFE”表示异常，“0xFF,0xFF,0xFF,0xFF”表示无效
+    unsigned char gps_lat[4];//维度 有效值范围：0～180；精确到小数点后6位；“0xFF,0xFF,0xFF,0xFE”表示异常，“0xFF,0xFF,0xFF,0xFF”表示无效
+    unsigned char car_speed;//车速 有效值范围：0～200（表示0km/h～200km/h）,最小计量单元：1km/h；“0xFE”表示异常，“0xFF”表示无效
+    unsigned char car_yaw[4];//航向角 有效值范围：0～360(表示0°～360°)；“0xFF,0xFF,0xFF,0xFE”表示异常，“0xFF,0xFF,0xFF,0xFF”表示无效
+    unsigned char lidar_left[1];//左侧北科雷达工作状态，0不工作，1工作
+    unsigned char lidar_mid[1];//中间镭神雷达工作状态，0不工作，1工作
+    unsigned char lidar_right[1];//右侧北科雷达工作状态，0不工作，1工作
+    unsigned char radar[1];//毫米波工作状态，0不工作，1工作
+    unsigned char gps_flag[1];//惯导工作状态，0不工作，1工作
+    unsigned char camera_front[1];//前视摄像头
+    unsigned char camera_back[1];//后视摄像头
+    unsigned char camera_left[1];//左视摄像头
+    unsigned char camera_right[1];//右视摄像头
+};
+
+struct Memory  //车辆状态传输
+{
+    float gps_lng;
+    float gps_lat;
+    float speed;
+    float yaw;
+//    float ele_voltage;
+//    unsigned char error;//车辆故障状态 0x01：存在故障；0x02：不存在故障；“0xFE”表示异常，“0xFF”表示无效
+
+};
+
+class V2X:public QObject
+{
+    Q_OBJECT
+public:
+    V2X();
+    ~V2X();
+    void connectPlatform();//连接服务器
+    void disconnectPlatform();//断开连接
+    void upDataStream();//上传数据
+    void setTboxConnectEnable(bool isEnable);//主界面调用以开关连接
+    int PackagetHeadInfo(unsigned char commendID, int dataLen);//包头写入
+    char BCCEncode(char sbuf[],int len);//计算校验
+    bool BCCDecode(char sbuf[], int len);//核实校验位
+    void ReceiveDecode(QByteArray &data);//接收数据
+    void replyMessage();//数据解析
+    void setTboxNewVin(std::string str);//设置车辆vin
+    QByteArray show_readdata();//主界面调用显示错误信息
+    QByteArray show_error();//主界面调用显示收到数据
+    void setIPandPort(QString str,int num);//设置ip和端口
+    void setTboxMemmory(Memory m);//车辆状态传入
+    void setSensorMemmory(sensor_state s);//传感器状态传入
+    bool isLinked();//返回连接状态
+    bool upRunMod();//主程序调用返回云平台下发启停
+private:
+    QTcpServer *server;
+    QTcpSocket *client;
+    QTimer *timer;
+    DataPackageHead_v2x packageDataHead;
+    bool m_bIsConnect;
+    bool m_bEnablePlatform;
+    std::string m_strVin;
+    bool m_runmod=true;
+    QByteArray datahex;
+    QByteArray error_data;
+    QQueue<QByteArray> readData;
+    bool m_bEnConnect;
+    QString hostip;
+    int port;
+    Memory m_structM;
+    sensor_state m_sensor;
+
+
+
+private slots:
+
+    void heartBeat();
+
+    void readDataSlot();
+    void disconnectedSlot();
+};
+
+#endif // V2X_H

src/v2x/v2xpc5/v2xTcpClient.xml

@@ -0,0 +1,24 @@
+<xml>	
+	<node name="v2xTcpClient">
+		<param name="carVIN" value="A0000000CATARC001" />
+		<param name="obuNUM" value="256" />
+		<param name="hostIP" value="121.89.236.9" />
+		<param name="hostPort" value="18089" />
+		<param name="port_name" value="/dev/ttyUART_232_B" />
+		<param name="baud" value="115200" />
+
+		<param name="gps" value="hcp2_gpsimu" />
+		<param name="camera" value="image00" />
+		<param name="lidar" value="lidar_pc" />
+		<param name="radar" value="radarobject" />
+		<param name="vision_light" value="lightarray" />
+
+		<param name="light1Stophead" value="278.74" />
+		<param name="light1StopLat" value="39.1001960" />
+		<param name="light1StopLon" value="116.9987639" />
+		<param name="light2Stophead" value="8.74" />
+		<param name="light2StopLat" value="39.1001960" />
+		<param name="light2StopLon" value="116.9987639" />
+		<param name="OpenVisionSend" value="1" />
+	</node>
+</xml>

src/v2x/v2xpc5/v2xpc5.pro

@@ -0,0 +1,47 @@
+QT -= gui
+QT       += network
+QT       += serialport
+CONFIG += c++11 console
+CONFIG -= app_bundle
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+# The following define makes your compiler emit warnings if you use
+# any feature of Qt which as been marked deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if you use deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+INCLUDEPATH += $$PWD/../../../include/
+LIBS += -L$$PWD/../../../bin/ -lxmlparam -lmodulecomm -livlog -livexit -livfault -lprotobuf
+
+INCLUDEPATH += $$PWD/../../include/msgtype
+SOURCES += main.cpp \
+    v2x.cpp \
+    pc5.cpp \
+    mainwindow.cpp \
+    ../../include/msgtype/v2r.pb.cc \
+    ../../include/msgtype/gpsimu.pb.cc \
+    ../../include/msgtype/rawpic.pb.cc \
+    ../../include/msgtype/fusionobject.pb.cc \
+    ../../include/msgtype/radarobject.pb.cc \
+    ../../include/msgtype/lightarray.pb.cc
+
+HEADERS += \
+    v2x.h \
+    pc5.h \
+    mainwindow.h \
+    ../../include/msgtype/v2r.pb.h \
+    ../../include/msgtype/gpsimu.pb.h \
+    ../../include/msgtype/rawpic.pb.h \
+    ../../include/msgtype/fusionobject.pb.h \
+    ../../include/msgtype/radarobject.pb.h \
+    ../../include/msgtype/lightarray.pb.h \
+
+FORMS += \
+    mainwindow.ui
+
+RESOURCES += \
+    light.qrc