全局地图显示改为使用百度地图

src/ui/ui_ads_hmi/ADCIntelligentVehicle.cpp

@@ -237,19 +237,34 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
   //  QObject::connect(ui->listWidget,SIGNAL(currentRowChanged(int)),ui->stackedWidget,SLOT(on_listWidget_clicked()));//信号与槽
     QObject::connect(ui->listWidget,SIGNAL(currentRowChanged(int)),this,SLOT(on_listWidget_clicked()));//信号与槽
 
+//    /********************************** 百度地图显示  ********************************/
+//    mMapview = new QWebEngineView(ui->stackedWidget->widget(0));
+////    qDebug((QDir::currentPath()).toLatin1().data());
+//    mMapview->load(QUrl(QString("file:///%1/%2").arg(QApplication::applicationDirPath()).arg("BaiDuMap.html")));
+//    mMapview->setGeometry(750,250,400,400);
+//    /********************************************************************************/
+
     ui->listWidget->setCurrentRow(1);    //apollo_fu debug 20200409
 
     myview = new MyView(ui->stackedWidget->widget(1));
     myview->setObjectName(QStringLiteral("graphicsView"));
     myview->setGeometry(QRect(0, 100, 900, 900)); //从屏幕上（0，100）位置开始（即为最左上角的点），显示一个900*900的界面（宽900，高900）
 
+#if 0
     myview_small = new MyView(ui->stackedWidget->widget(1));
     myview_small->setObjectName(QStringLiteral("graphicsView_small"));
     myview_small->setGeometry(QRect(1000,100,500,500));
     myview_small->setAlignment(Qt::AlignLeft | Qt::AlignTop);
+#endif
 //    myview_small->scale(0.7,0.7);
     //myview_small->centerOn(-200,-200);
 
+    /********************************** 百度地图显示  ********************************/
+    mMapview = new QWebEngineView(ui->stackedWidget->widget(1));
+//    qDebug((QDir::currentPath()).toLatin1().data());
+    mMapview->load(QUrl(QString("file:///%1/%2").arg(QApplication::applicationDirPath()).arg("BaiDuMap.html")));
+    mMapview->setGeometry(1000,100,500,500);
+    /********************************************************************************/
 
     image = new QImage(900 * 2, 900 * 2, QImage::Format_RGB32);//画布的初始化大小设为600*500，使用32位颜色
     //QImage的32、24、8位图。 图像格式:QImage::Format_RGB32 ,QImage::Format_RGB888,QImage::Format_Indexed8。
@@ -257,8 +272,9 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
     image_small = new QImage(1800,1800,QImage::Format_RGB32);
 
     myview->setCacheMode(myview->CacheBackground);
+#if 0
     myview_small->setCacheMode(myview_small->CacheBackground);
-
+#endif
     painter = new QPainter(image);   //创建QPainter对象
     painter_small = new QPainter(image_small);   //创建QPainter对象
     scene = new QGraphicsScene;
@@ -290,6 +306,10 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
     connect(&mTimerState,SIGNAL(timeout()),this,SLOT(onStateTimer()));//广播发送UDP数据报
     mTimerState.start(100);   //定时100ms
 
+    mTimerStateMap.setTimerType(Qt::PreciseTimer);    //
+    connect(&mTimerStateMap,SIGNAL(timeout()),this,SLOT(onStateTimerMap()));//
+    mTimerStateMap.start(500);   //定时500ms
+
     is_show_enable = true;
 
 #ifdef USE_PAD_CTRL
@@ -753,6 +773,20 @@ void ADCIntelligentVehicle::onStateTimer()
     // multicast, 224.0.0.1~224.0.0.255 is multicast address of LAN
 
     //   _udp->writeDatagram(str.toUtf8(), QHostAddress("224.0.0.131"), 10002);
+
+}
+void ADCIntelligentVehicle::onStateTimerMap()
+{
+    /*******************************更新百度地图******************************/
+
+    double flat = ServiceCarStatus.location->gps_lat;
+    double flon = ServiceCarStatus.location->gps_lng;
+    double fang = ServiceCarStatus.location->ins_heading_angle;
+
+    char strscript[256];
+    snprintf(strscript,255,"theLocation(%11.7f,%11.7f,%11.7f);",flon,flat,fang);
+    mMapview->page()->runJavaScript(strscript);
+    /************************************************************************/
 }
 
 /**
@@ -923,7 +957,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
         mnTimeLastUpdatePaint = mTime.elapsed();
         //       qDebug("enter paint. time is %d",mTime.elapsed());
         painter->begin(image);
-        painter_small->begin(image_small);
+//        painter_small->begin(image_small);
 
        // image->fill(QColor(60, 60, 60));//对画布进行填充
        image->fill(QColor(220, 220, 220));//对画布进行填充
@@ -955,7 +989,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
 
 
         int pointx = 450, pointy = 700;//确定坐标轴起点坐标，这里定义(35,280)
-        int pointx_small = 450, pointy_small = 700;
+//        int pointx_small = 450, pointy_small = 700;
         //        double x0[22000], y0[22000], lng[22000], x1[22000], y1[22000], x2[22000], y2[22000];
 
                 double * x0, * y0, * lng, * x1, * y1, * x2, * y2;
@@ -988,19 +1022,19 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
         //先绘制车位置点及框图
         static const QPointF points1[2] = { QPointF(300, 700), QPointF(600, 700) };
         static const QPointF points2[2] = { QPointF(450, 0), QPointF(450, 900) };
-        static const QPointF points1_small[2] = { QPointF(300, 700), QPointF(600, 700) };
-        static const QPointF points2_small[2] = { QPointF(450, 0), QPointF(450, 900) };
+//        static const QPointF points1_small[2] = { QPointF(300, 700), QPointF(600, 700) };
+//        static const QPointF points2_small[2] = { QPointF(450, 0), QPointF(450, 900) };
 
         penPoint.setColor(Qt::red);
         penPoint.setWidth(2);
         painter->setPen(penPoint);
-        painter_small->setPen(penPoint);
+//        painter_small->setPen(penPoint);
         painter->drawPoint(pointx, pointy);
-        painter_small->drawPoint(pointx_small,pointy_small);
+//        painter_small->drawPoint(pointx_small,pointy_small);
         painter->drawPolyline(points1, 2);
         painter->drawPolyline(points2, 2);
-        painter_small->drawPolyline(points1_small, 2);
-        painter_small->drawPolyline(points2_small, 2);
+//        painter_small->drawPolyline(points1_small, 2);
+//        painter_small->drawPolyline(points2_small, 2);
 
         //路径点的预处理
         for (int i = 0; i < sizeN; i++)
@@ -1035,7 +1069,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
         if (ServiceCarStatus.location->gps_x == 0)
         {
             painter->drawText(rect(), Qt::AlignLeft, QString::fromLocal8Bit("等待车辆实时GPS位置信息"));
-            painter_small->drawText(rect(), Qt::AlignLeft, QString::fromLocal8Bit("等待车辆实时GPS位置信息"));
+//            painter_small->drawText(rect(), Qt::AlignLeft, QString::fromLocal8Bit("等待车辆实时GPS位置信息"));
         }
         else
         {
@@ -1069,8 +1103,8 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
             #endif
         }
 
-        double kx_small = (double)(1200) / (abs(y_max - y_min));//x轴的系数
-        double ky_small = (double)(1200) / (abs(y_max - y_min));//y方向的比例系数
+//        double kx_small = (double)(1200) / (abs(y_max - y_min));//x轴的系数
+//        double ky_small = (double)(1200) / (abs(y_max - y_min));//y方向的比例系数
 
         double kx = 10;
         double ky = 10;
@@ -1086,22 +1120,22 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
         for (int i = 1; i < sizeN - 1; i++)
         {
             painter->setPen(penPoint);//蓝色的笔，用于标记各个点
-            painter_small->setPen(penPoint);//蓝色的笔，用于标记各个点
+//            painter_small->setPen(penPoint);//蓝色的笔，用于标记各个点
             painter->drawPoint(pointx + x0[i] * kx, pointy - y0[i] * ky);
-            painter_small->drawPoint(pointx_small + x0[i] * kx_small, pointy_small - y0[i] * ky_small);
+//            painter_small->drawPoint(pointx_small + x0[i] * kx_small, pointy_small - y0[i] * ky_small);
             painter->drawPoint(pointx + x1[i] * kx, pointy - y1[i] * ky);
-            painter_small->drawPoint(pointx_small + x1[i] * kx_small, pointy_small - y1[i] * ky_small);
+//            painter_small->drawPoint(pointx_small + x1[i] * kx_small, pointy_small - y1[i] * ky_small);
             painter->drawPoint(pointx + x2[i] * kx, pointy - y2[i] * ky);
-            painter_small->drawPoint(pointx_small + x2[i] * kx_small, pointy_small - y2[i] * ky_small);
+//            painter_small->drawPoint(pointx_small + x2[i] * kx_small, pointy_small - y2[i] * ky_small);
         }
         painter->drawPoint(pointx + x0[sizeN - 1] * kx, pointy - y0[sizeN - 1] * ky);//绘制最后一个点
-        painter_small->drawPoint(pointx_small + x0[sizeN - 1] * kx_small, pointy_small - y0[sizeN - 1] * ky_small);//绘制最后一个点
+//        painter_small->drawPoint(pointx_small + x0[sizeN - 1] * kx_small, pointy_small - y0[sizeN - 1] * ky_small);//绘制最后一个点
 
         penPoint.setColor(Qt::red);
         penPoint.setWidth(2);
 
         painter->drawPoint(pointx + x0[0] * kx, pointy - y0[0] * ky);
-        painter_small->drawPoint(pointx_small + x0[0] * kx_small, pointy_small - y0[0] * ky_small);
+//        painter_small->drawPoint(pointx_small + x0[0] * kx_small, pointy_small - y0[0] * ky_small);
 
 #if 0
         // draw plan trace
@@ -1159,7 +1193,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
         //pix.load("car.png");
         pix.load(":/ADCIntelligentVehicle/car1.png");
         painter->drawPixmap(435,667,30,67,pix);
-        painter_small->drawPixmap(442,683,16,34,pix);
+//        painter_small->drawPixmap(442,683,16,34,pix);
 ///////////////////////////////////////////////////////////////////
 
 
@@ -1253,15 +1287,15 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
 
 
         painter->end();
-        painter_small->end();
+//        painter_small->end();
         scene->clear();
-        scene_small->clear();
+//        scene_small->clear();
         scene->addPixmap(QPixmap::fromImage(*image));
-        scene_small->addPixmap(QPixmap::fromImage(*image_small));
+//        scene_small->addPixmap(QPixmap::fromImage(*image_small));
         myview->setScene(scene);
-        myview_small->setScene(scene_small);
+//        myview_small->setScene(scene_small);
         myview->show();
-        myview_small->show();
+//        myview_small->show();
         navigation_data.clear();
 
         if(mfSOC != 0.0)

src/ui/ui_ads_hmi/ADCIntelligentVehicle.h

@@ -40,6 +40,8 @@
 
 #include <QSet>
 
+#include <QtWebEngineWidgets/QtWebEngineWidgets>
+
 #include "common/can_type.h"
 #include "common/decition_type.h"
 #include "common/vehiclestate_type.h"
@@ -179,6 +181,7 @@ public slots:
 
     void onRecvUDP();
     void onStateTimer();
+    void onStateTimerMap();
     void onStateTimer1();
 protected:
 
@@ -206,6 +209,9 @@ private slots:
 
 private:
     Ui::ADCIntelligentVehicle *ui;
+    /**************************************/
+    QWebEngineView * mMapview;
+    /**************************************/
     //    boost::shared_ptr<iv::decition::BrainDecition> brain;
     bool is_brain_running_flag_ = false;
     bool is_map_loaded_flag_ = false;
@@ -250,6 +256,7 @@ private:
     QUdpSocket msocksend;
     QUdpSocket msockrecv;
     QTimer mTimerState;
+    QTimer mTimerStateMap;
     DataToUI mDataToUI;
 
     QTime mTime;

src/ui/ui_ads_hmi/ui_ads_hmi.pro

@@ -4,7 +4,7 @@
 #
 #-------------------------------------------------
 
-QT       += core gui network
+QT       += core gui network webenginewidgets
 
 greaterThan(QT_MAJOR_VERSION, 4): QT += widgets