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@@ -0,0 +1,1188 @@
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+#include "mainwindowcenter.h"
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+#include "ui_mainwindowcenter.h"
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+#include "pos_def.h"
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+
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+#include "remotectrlini.h"
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+
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+#include "mainwindowleft.h"
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+
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+MainWindow * gw;
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+
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+extern MainWindowLeft * gwleft,*gwright;
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+//#include "QStringLiteral"
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+
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+#ifdef NVIDIA_AGX
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+#include "opencv2/imgcodecs/legacy/constants_c.h" //OpenCV4 use this line
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+#include <opencv2/imgproc/types_c.h> //OpenCV4 use this line
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+#endif
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+
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+#include <opencv2/opencv.hpp>
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+#include <opencv2/core.hpp>
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+
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+iv::gps::gpsimu ggpsimu;
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+qint64 gTimeGPSIMUUpdate = 0;
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+
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+iv::vision::rawpic grawpic[CAMERA_NUM];
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+qint64 gTimeRawPic[CAMERA_NUM] = {0,0,0,0};
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+QMutex gMutexPic[CAMERA_NUM];
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+
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+extern std::string gstrmem_gpsimu;
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+extern std::string gstrmem_pic[CAMERA_NUM];
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+extern std::vector<iv::pos_def> gvectorpos;
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+extern std::string gstryaml_path;
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+
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+class xodrobj
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+{
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+public:
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+ double flatsrc;
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+ double flonsrc;
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+ double fhgdsrc;
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+ double flat;
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+ double flon;
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+ int lane;
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+};
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+
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+namespace iv {
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+struct simpletrace
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+{
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+ double gps_lat = 0;//纬度
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+ double gps_lng = 0;//经度
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+
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+ double gps_x = 0;
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+ double gps_y = 0;
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+ double gps_z = 0;
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+
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+
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+ double ins_heading_angle = 0; //航向角
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+};
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+}
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+
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+std::vector<iv::simpletrace> gvectorsimplerace;
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+QMutex gMutexTrace;
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+qint64 gTimeTrace = 0;
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+
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+
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+void * gpaframe;
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+
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+MainWindow::MainWindow(QWidget *parent)
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+ : QMainWindow(parent)
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+ , ui(new Ui::MainWindowCenter)
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+{
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+
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+ m_translator = new QTranslator(this);
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+ QString strLanguageFile = ":/zh_CN.qm";
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+ if(ServiceRCIni.GetLanguage() == "Chinese")
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+ {
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+ strLanguageFile = ":/zh_CN.qm";
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+ }
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+ else
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+ {
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+ strLanguageFile = ":/en_CN.qm";
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+ }
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+ if (QFile(strLanguageFile).exists())
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+ {
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+ m_translator->load(strLanguageFile);
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+ qApp->installTranslator(m_translator);
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+ }
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+
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+
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+ gpaframe = iv::modulecomm::RegisterSend("h264frame",1000000,1);
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+ gw = this;
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+
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+ ui->setupUi(this);
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+
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+
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+
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+ mstrserverip = ServiceRCIni.GetServerIP();
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+ mstrserverport = ServiceRCIni.GetServerPort();
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+ mstruploadinterval = ServiceRCIni.GetInterval();
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+ mstrVehVIN = ServiceRCIni.GetVIN();
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+ mstrqueryMD5 = ServiceRCIni.GetQueryMD5();
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+ mstrctrlMD5 = ServiceRCIni.GetCtrlMD5();
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+
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+
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+ mpJRT = new JoyReadThread();
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+ mpJRT->start();
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+
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+ unsigned int i;
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+
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+ CreateView();
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+
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+ unsigned int nstation = static_cast<unsigned int>(gvectorpos.size()) ;
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+ for(i=0;i<nstation;i++)
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+ {
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+ ui->comboBox_Station->addItem(gvectorpos[i].mstrstationname.data());
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+ }
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+
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+ ui->radioButton_auto->setChecked(true);
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+
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+ mpa = iv::modulecomm::RegisterSend("remotectrl",10000,1);
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+
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+ mpTimerManual = new QTimer(this);
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+ connect(mpTimerManual,SIGNAL(timeout()),this,SLOT(onTimerManual()));
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+
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+ mpTimerRemote = new QTimer(this);
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+ connect(mpTimerRemote,SIGNAL(timeout()),this,SLOT(onTimerRemote()));
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+ mpTimerRemote->start(50);
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+
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+ mpTimerUpdateView = new QTimer(this);
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+ connect(mpTimerUpdateView,SIGNAL(timeout()),this,SLOT(onTimerUpdateView()));
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+ mpTimerUpdateView->start(1000);
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+
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+ QTimer * timer = new QTimer(this);
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+ connect(timer,SIGNAL(timeout()),this,SLOT(onTimerUpdatePic()));
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+ timer->start(1000);
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+
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+ mpadst = iv::modulecomm::RegisterSend("xodrreq",1000,1);
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+
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+
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+ mgrpcpc = new grpcpc(gstryaml_path);
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+ mgrpcpc->setserverip(mstrserverip);
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+ mgrpcpc->setserverport(mstrserverport);
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+ mgrpcpc->setqueryinterval(mstruploadinterval);
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+ mgrpcpc->setVIN(mstrVehVIN);
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+ mgrpcpc->setqueryMD5(mstrqueryMD5);
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+ mgrpcpc->setctrlMD5(mstrctrlMD5);
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+ mgrpcpc->StartRTSP();
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+ mgrpcpc->start();
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+
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+ for(i=0;i<NUM_CAM;i++)
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+ {
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+ mpImageCam[i] = new QImage(640, 360, QImage::Format_RGB32);
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+ mbCamUpdate[i] = false;
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+ mph264decode[i] = new ivh264framedecode(mnframewidth,mnframeheight);
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+ mpthreadframe[i] = new std::thread(&MainWindow::threadframe,this,i);
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+ mpthreadpic[i] = new std::thread(&MainWindow::threadpic,this,i);
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+
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+ }
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+ mpthreadinfo = new std::thread(&MainWindow::threadinfo,this);
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+
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+ mstrVIN = mgrpcpc->GetVIN().data();
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+ mstrVIN = " VIN:"+ mstrVIN+" ";
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+
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+
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+ QLabel * pLabel = new QLabel();
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+ pLabel->setFixedWidth(600);
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+ pLabel->setText("Latency");
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+ mpLabelLatency = pLabel;
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+ ui->statusbar->addPermanentWidget(pLabel);
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+
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+ ui->horizontalSlider_wheelspeed->setRange(1,30);
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+
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+ connect(this,SIGNAL(CamUpdate(int)),this,SLOT(onCamUpdate(int)));
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+
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+
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+ setWindowTitle(mstrProgName +mstrVIN+ mstrGPSTime + mstrPicTime);
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+
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+}
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+
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+MainWindow::~MainWindow()
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+{
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+
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+
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+ mpJRT->requestInterruption();
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+ mbThreadrun = false;
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+ int i;
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+ mpthreadinfo->join();
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+ for(i=0;i<NUM_CAM;i++)
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+ {
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+// mph264decode[i] = new ivh264framedecode(mnframewidth,mnframeheight);
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+ mpthreadframe[i]->join();
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+ mpthreadpic[i]->join();
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+ }
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+
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+ std::cout<<" ~MainWindow. "<<std::endl;
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+ delete ui;
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+}
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+
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+void MainWindow::CreateView()
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+{
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+// mMapview = new QWebEngineView(ui->centralwidget);
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+// qDebug((QDir::currentPath()).toLatin1().data());
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+// mMapview->load(QUrl(QString("file:///%1/%2").arg(QApplication::applicationDirPath()).arg("BaiDuMap.html")));
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+
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+ // mMapview->setGeometry(10,10,800,800);
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+
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+// mMapview->page()->runJavaScript("theLocation(117.355,39.066);"); //117.355,39.066
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+
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+ mpWheel = new Speed(ui->groupBox_rem);
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+ mpWheel->settitle(QStringLiteral("方向盘"));
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+ mpWheel->setminvalue(450);
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+ mpWheel->setmaxvalue(-450);
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+
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+ mpAcc = new Speed(ui->groupBox_rem);
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+
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+ mpAcc->settitle(QStringLiteral("油门"));
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+ mpAcc->updatevalue(0);
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+ mpAcc->setminvalue(-100);
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+ mpAcc->setmaxvalue(100);
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+
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+ mpBrake = new Speed(ui->groupBox_rem);
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+ mpBrake->settitle(QStringLiteral("刹车"));
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+ mpBrake->updatevalue(0);
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+ mpBrake->setminvalue(0);
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+ mpBrake->setmaxvalue(100);
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+
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+ mpVehSpeed = new Speed(ui->centralwidget);
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+ mpVehSpeed->settitle(QStringLiteral("车速(km/h)"));
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+ mpVehSpeed->updatevalue(0);
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+ mpVehSpeed->setminvalue(0);
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+ mpVehSpeed->setmaxvalue( mnSpeedMax);
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+
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+ mmyview = new MyView(ui->centralwidget);
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+ mmyview->setObjectName(QStringLiteral("graphicsView"));
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+ mmyview->setGeometry(QRect(30, 30, 600, 600));
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+ mmyview->setCacheMode(mmyview->CacheBackground);
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+
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+
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+ mmyviewRear = new MyView(ui->centralwidget);
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+ mmyviewRear->setObjectName(QStringLiteral("graphicsView"));
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+ mmyviewRear->setGeometry(QRect(30, 30, 600, 600));
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+ mmyviewRear->setCacheMode(mmyviewRear->CacheBackground);
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+
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+
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+ mscene = new QGraphicsScene;
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+ mpsceneImg[0] = mscene;
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+ mpsceneImg[1] = new QGraphicsScene;
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+// mpsceneImg[2] = new QGraphicsScene;
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+// mpsceneImg[3] = new QGraphicsScene;
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+
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+ mpviewImg[0] = mmyview;
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+ mpviewImg[1] = mmyviewRear;
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+// mpviewImg[2] = mmyviewLeft;
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+// mpviewImg[3] = mmyviewRight;
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+
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+ ui->radioButton_Null->setChecked(true);
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+
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+
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+
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+}
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+
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+
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+void MainWindow::keyPressEvent(QKeyEvent *event)
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+{
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+
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+ //按键按下，key值放入容器，如果是长按触发的repeat就不判断
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+ if(!event->isAutoRepeat())
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+ mPressKeys.insert(event->key());
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+
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+
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+}
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+
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+void MainWindow::keyReleaseEvent(QKeyEvent *event)
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+{
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+ if((event->key() == Qt::Key_Escape)||(event->key() == Qt::Key_F11))
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+ {
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+ showNormal();
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+ ui->menubar->setVisible(true);
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+ ui->statusbar->setVisible(true);
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+ }
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+ if(!event->isAutoRepeat())mPressKeys.remove(event->key());
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+ qDebug("key count is %d",mPressKeys.count());
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+}
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+
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+void MainWindow::resizeEvent(QResizeEvent *event)
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+{
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+ (void)event;
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+ QSize sizemain = ui->centralwidget->size();
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+ qDebug("size x = %d y=%d",sizemain.width(),sizemain.height());
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+
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+// mMapview->setVisible(false);
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+// mMapview->setGeometry(10,10,sizemain.width()/2,sizemain.height()*3/5);
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+
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+// mpbaiduapp->SetGeometry(10,30,sizemain.width()/2,sizemain.height()*3/5);
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+
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+ int nMode = 0;
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+
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+
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+ ui->lineEdit_lat->setVisible(false);
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+ ui->lineEdit_lon->setVisible(false);
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+ ui->pushButton_test->setVisible(false);
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+
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+ if(nMode == 0)
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+ {
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+
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+
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+ double fMainRatio = 0.8;
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+ mpVehSpeed->setVisible(false);
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+
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+ double fVideoRatio = 9.0/16.0;
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+
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+
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+ int nfrontsize_y = static_cast<int>(sizemain.height()* fMainRatio );
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+ int nfrontsize_x = static_cast<int>(nfrontsize_y/fVideoRatio ) ;
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+
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+ int nfrontpos_x = sizemain.width()/2 - nfrontsize_x/2;
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+ int nfrontpos_y = sizemain.height() - nfrontsize_y;
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+
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+ mmyview->setGeometry(nfrontpos_x,nfrontpos_y,nfrontsize_x,nfrontsize_y);
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+
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+
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+ int nrearsize_y = sizemain.height() - nfrontsize_y;
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+ int nrearsize_x = static_cast<int>(nrearsize_y/fVideoRatio ) ;
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+
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+ int nrearpos_x = sizemain.width()/2 - nrearsize_x/2;
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+ int nrearpos_y = 0;
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+
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+ mmyviewRear->setGeometry(nrearpos_x,nrearpos_y,nrearsize_x,nrearsize_y);
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+
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+
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+ int grouppos_x = nfrontpos_x + nfrontsize_x;
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+ int grouppos_y = nfrontpos_y;
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+ int grouppos_width = sizemain.width() - grouppos_x;
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+ int grouppos_height = nfrontsize_y;
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+
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+
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+ // int speed_width = grouppos_height-40;
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+ // if((speed_width*3 + 150)>grouppos_width)speed_width = (grouppos_width - 150)/3;
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+
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+ int speed_width = grouppos_width;
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+ int ngroupkeep = 260;
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+ if(grouppos_width >(grouppos_height -260)*3/2)
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+ {
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+ speed_width = grouppos_width/3;
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+ if(speed_width> (grouppos_height -260))speed_width = grouppos_height -260;
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+ mpWheel->setGeometry(0,ngroupkeep ,speed_width,speed_width);
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+ mpBrake->setGeometry(0+speed_width,ngroupkeep ,speed_width,speed_width);
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+ mpAcc->setGeometry(0 +speed_width*2,ngroupkeep,speed_width,speed_width);
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+
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+ }
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+ else
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+ {
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+ if((speed_width*3 > (grouppos_height-ngroupkeep))&&(ngroupkeep<grouppos_height)) speed_width = (grouppos_height-ngroupkeep)/3;
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+ mpWheel->setGeometry(0,ngroupkeep ,speed_width,speed_width);
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+ mpBrake->setGeometry(0,ngroupkeep + speed_width,speed_width,speed_width);
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+ mpAcc->setGeometry(0 ,ngroupkeep + speed_width*2,speed_width,speed_width);
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+ }
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+ ui->groupBox_rem->setGeometry(grouppos_x,grouppos_y,grouppos_width,grouppos_height);
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+
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+
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+
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+ int groupmap_x = 0;
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+ int groupmap_y = 0;
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+ int groupmap_width = nfrontpos_x;
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+ int groupmap_height = 100;
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+
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+ ui->comboBox_Station->setGeometry(10,30,groupmap_width*3/5,30);
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+ ui->pushButton_Go->setGeometry(20 + groupmap_width*3/5,30,groupmap_width*2/5 - 30,30);
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+
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+ ui->groupBox_map->setGeometry(groupmap_x,groupmap_y,groupmap_width,groupmap_height);
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+
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+ int groupgps_x = 0;
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+ int groupgps_y = nfrontpos_y;
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+ int groupgps_width = nfrontpos_x;
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+ int groupgps_height = nfrontsize_y;
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+
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+ ui->groupBox_gps->setGeometry(groupgps_x,groupgps_y,groupgps_width,groupgps_height);
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+
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+ int lablewidth =groupgps_width*3/10;// (groupgps_width-50)*2/10;
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+ int lewidth = groupgps_width*6/10;
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+ int leheight = 26;
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+
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+ int nypos = 40;
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+ ui->label_gpsins->setGeometry(10,nypos,lablewidth,leheight);
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+ ui->lineEdit_gpsins->setGeometry(20+lablewidth,nypos,lewidth,leheight);
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+
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+ nypos = nypos + leheight*11/10;
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+ ui->label_gpsrtk->setGeometry(10,nypos,lablewidth,leheight);
|
|
|
+ ui->lineEdit_gpsrtk->setGeometry(20+lablewidth,nypos,lewidth,leheight);
|
|
|
+
|
|
|
+ nypos = nypos + leheight*11/10;
|
|
|
+ ui->label_gpslon->setGeometry(10,nypos,lablewidth,leheight);
|
|
|
+ ui->lineEdit_gpslon->setGeometry(20+lablewidth,nypos,lewidth,leheight);
|
|
|
+
|
|
|
+ nypos = nypos + leheight*11/10;
|
|
|
+ ui->label_gpslat->setGeometry(10,nypos,lablewidth,leheight);
|
|
|
+ ui->lineEdit_gpslat->setGeometry(20+lablewidth,nypos,lewidth,leheight);
|
|
|
+
|
|
|
+ nypos = nypos + leheight*11/10;
|
|
|
+ ui->label_gpsheading->setGeometry(10,nypos,lablewidth,leheight);
|
|
|
+ ui->lineEdit_gpsheading->setGeometry(20+lablewidth,nypos,lewidth,leheight);
|
|
|
+
|
|
|
+ nypos = nypos + leheight*11/10;
|
|
|
+ ui->label_gpsheight->setGeometry(10,nypos,lablewidth,leheight);
|
|
|
+ ui->lineEdit_gpsheight->setGeometry(20+lablewidth,nypos,lewidth,leheight);
|
|
|
+
|
|
|
+ nypos = nypos + leheight*11/10;
|
|
|
+ ui->label_gpsspeed->setGeometry(10,nypos,lablewidth,leheight);
|
|
|
+ ui->lineEdit_gpsspeed->setGeometry(20+lablewidth,nypos,lewidth,leheight);
|
|
|
+
|
|
|
+ nypos = nypos + leheight*11/10;
|
|
|
+ ui->label_gpssat->setGeometry(10,nypos,lablewidth,leheight);
|
|
|
+ ui->lineEdit_gpssat->setGeometry(20+lablewidth,nypos,lewidth,leheight);
|
|
|
+
|
|
|
+
|
|
|
+ double fscale = nfrontsize_x*0.99/mnframewidth;
|
|
|
+ double fscale2 = nrearsize_x*0.99/mnframewidth;
|
|
|
+ // fscale = fscale * 0.99;
|
|
|
+ mmyview->viewscaleto(fscale);
|
|
|
+ mmyviewRear->viewscaleto(fscale2);
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+
|
|
|
+ mbNeedSetBack = true;
|
|
|
+
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+void MainWindow::on_pushButton_test_clicked()
|
|
|
+{
|
|
|
+ double flat = ui->lineEdit_lat->text().toDouble();
|
|
|
+ double flon = ui->lineEdit_lon->text().toDouble();
|
|
|
+
|
|
|
+ char strscript[256];
|
|
|
+ snprintf(strscript,255,"theLocation(%11.7f,%11.7f);",flon,flat);
|
|
|
+// mMapview->page()->runJavaScript(strscript);
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_radioButton_manual_clicked()
|
|
|
+{
|
|
|
+ ui->radioButton_manual->setChecked(true);
|
|
|
+ mPressKeys.clear();
|
|
|
+ mfAcc = 0;
|
|
|
+ mfWheel = 0;
|
|
|
+ mfBrake = 0;
|
|
|
+ mpWheel->updatevalue(mfWheel);
|
|
|
+ mpAcc->updatevalue(mfAcc);
|
|
|
+ mpBrake->updatevalue(mfBrake);
|
|
|
+ mManualTime.restart();
|
|
|
+ mnLastTime = mManualTime.elapsed();
|
|
|
+ mpTimerManual->start(10);
|
|
|
+ mbNeedSetBack = true;
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::onTimerManual()
|
|
|
+{
|
|
|
+
|
|
|
+ static qint64 nLastKeepKeyTime = 0;
|
|
|
+ const qint64 nKeepTime = 3000; //if press c key, 5 seconds. in keep mode.
|
|
|
+ double fOldWheel = mfWheel;
|
|
|
+ double fOldAcc = mfAcc;
|
|
|
+ double fOldBrake = mfBrake;
|
|
|
+ int timediff = mManualTime.elapsed() - mnLastTime;
|
|
|
+ mnLastTime = mManualTime.elapsed();
|
|
|
+
|
|
|
+ bool bInKeepMode = false;
|
|
|
+
|
|
|
+ int nOldShift = mnShift;
|
|
|
+
|
|
|
+
|
|
|
+ if(mpJRT->isOK())
|
|
|
+ {
|
|
|
+ mfWheel = mpJRT->GetWheel() * (-100.0)/32768.0;
|
|
|
+ mfAcc = ((mpJRT->GetAcc()-32767.0)/65535)*(-100.0);
|
|
|
+ mfBrake = ((mpJRT->GetBrake()-32767.0)/65535)*(-100.0);
|
|
|
+ if(mfWheel != fOldWheel)mpWheel->updatevalue(mfWheel*5.5);
|
|
|
+ if(mfAcc != fOldAcc)mpAcc->updatevalue(mfAcc);
|
|
|
+ if(mfBrake != fOldBrake)mpBrake->updatevalue(mfBrake);
|
|
|
+
|
|
|
+ int x = mpJRT->GetShift();
|
|
|
+ if(x > 0)mnShift = 1;
|
|
|
+ if(x == 0)mnShift = 0;
|
|
|
+ if(x < 0)mnShift = -1;
|
|
|
+ if(mnShift != nOldShift)
|
|
|
+ {
|
|
|
+ switch (mnShift) {
|
|
|
+ case 1:
|
|
|
+ ui->radioButton_Drive->setChecked(true);
|
|
|
+ break;
|
|
|
+ case 0:
|
|
|
+ ui->radioButton_Null->setChecked(true);
|
|
|
+ break;
|
|
|
+ case -1:
|
|
|
+ ui->radioButton_Rear->setChecked(true);
|
|
|
+ break;
|
|
|
+ default:
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ return;
|
|
|
+ }
|
|
|
+
|
|
|
+
|
|
|
+ if(mPressKeys.contains(Qt::Key_C)||(mPressKeys.contains(Qt::Key_A))||(mPressKeys.contains(Qt::Key_D))||(mPressKeys.contains(Qt::Key_W))||(mPressKeys.contains(Qt::Key_S)))
|
|
|
+ {
|
|
|
+ nLastKeepKeyTime = QDateTime::currentMSecsSinceEpoch();
|
|
|
+ }
|
|
|
+
|
|
|
+ if(abs(QDateTime::currentMSecsSinceEpoch() - nLastKeepKeyTime) < nKeepTime)
|
|
|
+ {
|
|
|
+ bInKeepMode = true;
|
|
|
+ }
|
|
|
+
|
|
|
+
|
|
|
+ if(mPressKeys.contains(Qt::Key_A)&&(mPressKeys.contains((Qt::Key_D))))
|
|
|
+ {
|
|
|
+ mfWheel = mfWheel;
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ if(mPressKeys.contains(Qt::Key_A))
|
|
|
+ {
|
|
|
+// if(mfWheel<0)mfWheel = 0;
|
|
|
+// else
|
|
|
+// {
|
|
|
+ mfWheel = mfWheel + timediff*mfWheelSpeed/1000;
|
|
|
+ if(mfWheel < -100)mfWheel = -100;
|
|
|
+ if(mfWheel > 100 )mfWheel = 100;
|
|
|
+// }
|
|
|
+ }
|
|
|
+
|
|
|
+ if(mPressKeys.contains(Qt::Key_D))
|
|
|
+ {
|
|
|
+// if(mfWheel>0)mfWheel = 0;
|
|
|
+// else
|
|
|
+// {
|
|
|
+ mfWheel = mfWheel - timediff*mfWheelSpeed/1000;
|
|
|
+ if(mfWheel < -100)mfWheel = -100;
|
|
|
+ if(mfWheel > 100 )mfWheel = 100;
|
|
|
+// }
|
|
|
+ }
|
|
|
+
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ if(mPressKeys.contains(Qt::Key_Z))
|
|
|
+ {
|
|
|
+ mfWheel = 0;
|
|
|
+ }
|
|
|
+
|
|
|
+ if(!mPressKeys.contains(Qt::Key_A)&&(!mPressKeys.contains((Qt::Key_D)))&&(bInKeepMode == false))
|
|
|
+ {
|
|
|
+ if(mfWheel != 0)
|
|
|
+ {
|
|
|
+ if(mfWheel > 0)mfWheel = mfWheel - timediff*mfWheelAutoDownSpeed/1000;
|
|
|
+ else mfWheel = mfWheel + timediff*mfWheelAutoDownSpeed/1000;
|
|
|
+ if(fabs(mfWheel)< 10)mfWheel =0;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ if(mnVehMode == 2) //ACC BRAKE
|
|
|
+ {
|
|
|
+ if(mPressKeys.contains(Qt::Key_W)&&(mPressKeys.contains((Qt::Key_S))))
|
|
|
+ {
|
|
|
+ mfAcc = 0;
|
|
|
+ mfBrake = mfBrake + timediff*mfBrakeSpeed/1000;
|
|
|
+ if(mfBrake<0)mfBrake = 0;
|
|
|
+ if(mfBrake > 100)mfBrake = 100;
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ if(mPressKeys.contains(Qt::Key_W))
|
|
|
+ {
|
|
|
+ mfBrake = 0;
|
|
|
+ mfAcc = mfAcc + timediff*mfAccSpeed/1000;
|
|
|
+ if(mfAcc<0)mfAcc = 0;
|
|
|
+ if(mfAcc > 100)mfAcc = 100;
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ if(mPressKeys.contains(Qt::Key_S))
|
|
|
+ {
|
|
|
+ mfAcc = 0;
|
|
|
+ mfBrake = mfBrake + timediff*mfBrakeSpeed/1000;
|
|
|
+ if(mfBrake<0)mfBrake = 0;
|
|
|
+ if(mfBrake > 100)mfBrake = 100;
|
|
|
+ }
|
|
|
+
|
|
|
+
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else //Speed Mode
|
|
|
+ {
|
|
|
+ if(mPressKeys.contains(Qt::Key_W)&&(mPressKeys.contains((Qt::Key_S))))
|
|
|
+ {
|
|
|
+ if(mfAcc > 0)
|
|
|
+ {
|
|
|
+ mfAcc = mfAcc - 10*timediff*mfAccSpeed/1000;
|
|
|
+ if(mfAcc<0)mfAcc = 0;
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ mfBrake = mfBrake + timediff*mfBrakeSpeed/1000;
|
|
|
+ if(mfBrake<0)mfBrake = 0;
|
|
|
+ if(mfBrake > 100)mfBrake = 100;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ if(mPressKeys.contains(Qt::Key_W))
|
|
|
+ {
|
|
|
+ mfBrake = 0;
|
|
|
+ mfAcc = mfAcc + timediff*mfAccSpeed/1000;
|
|
|
+ if(mfAcc<0)mfAcc = 0;
|
|
|
+ if(mfAcc > 100)mfAcc = 100;
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ if(mPressKeys.contains(Qt::Key_S))
|
|
|
+ {
|
|
|
+ if(mfAcc > 0)
|
|
|
+ {
|
|
|
+ mfAcc = mfAcc - 10*timediff*mfAccSpeed/1000;
|
|
|
+ if(mfAcc<0)mfAcc = 0;
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ mfBrake = mfBrake + timediff*mfBrakeSpeed/1000;
|
|
|
+ if(mfBrake<0)mfBrake = 0;
|
|
|
+ if(mfBrake > 100)mfBrake = 100;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+
|
|
|
+ if(!mPressKeys.contains(Qt::Key_W)&&(!mPressKeys.contains((Qt::Key_S)))&&(bInKeepMode == false))
|
|
|
+ {
|
|
|
+ if(mfBrake != 0)
|
|
|
+ {
|
|
|
+// mfBrake = mfBrake - timediff*mfBrakeAutoDownSpeed/1000;
|
|
|
+// if(mfBrake<0)mfBrake = 0;
|
|
|
+// if(mfBrake > 100)mfBrake = 100;
|
|
|
+ }
|
|
|
+
|
|
|
+ if(mfAcc != 0)
|
|
|
+ {
|
|
|
+ mfAcc = mfAcc - timediff*mfAccAutoDownSpeed/1000;
|
|
|
+ if(mfAcc<0)mfAcc = 0;
|
|
|
+ if(mfAcc > 100)mfAcc = 100;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ if(mfWheel != fOldWheel)mpWheel->updatevalue(mfWheel*4.5);
|
|
|
+ if(mfAcc != fOldAcc)mpAcc->updatevalue(mfAcc);
|
|
|
+ if(mfBrake != fOldBrake)mpBrake->updatevalue(mfBrake);
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_radioButton_auto_clicked()
|
|
|
+{
|
|
|
+ ui->radioButton_auto->setChecked(true);
|
|
|
+ mPressKeys.clear();
|
|
|
+ mpTimerManual->stop();
|
|
|
+
|
|
|
+ mbNeedSetBack = true;
|
|
|
+
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::onTimerRemote()
|
|
|
+{
|
|
|
+ if(ui->radioButton_auto->isChecked())
|
|
|
+ {
|
|
|
+ mremotectrl.set_ntype(iv::remotectrl_CtrlType_AUTO);
|
|
|
+// mfAcc = 0;
|
|
|
+// mfBrake = 0;
|
|
|
+// mfWheel =0;
|
|
|
+// mpWheel->updatevalue(mfWheel);
|
|
|
+// mpAcc->updatevalue(mfAcc);
|
|
|
+// mpBrake->updatevalue(mfBrake);
|
|
|
+
|
|
|
+
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ mremotectrl.set_ntype(iv::remotectrl_CtrlType_REMOTE);
|
|
|
+
|
|
|
+ }
|
|
|
+ mremotectrl.set_acc(mfAcc);
|
|
|
+ mremotectrl.set_brake(mfBrake);
|
|
|
+ mremotectrl.set_wheel(mfWheel);
|
|
|
+ mremotectrl.set_shift(mnShift);
|
|
|
+
|
|
|
+
|
|
|
+ int nsersize = mremotectrl.ByteSize();
|
|
|
+ char * strbuf = new char[nsersize];
|
|
|
+ if(mremotectrl.SerializeToArray(strbuf,nsersize))
|
|
|
+ {
|
|
|
+ mgrpcpc->SetCtrlMsg("remotectrl",strbuf,nsersize);
|
|
|
+// iv::modulecomm::ModuleSendMsg(mpa,strbuf,nsersize);
|
|
|
+ }
|
|
|
+ delete strbuf;
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::onTimerUpdatePic()
|
|
|
+{
|
|
|
+ static qint64 time_pic = 0;
|
|
|
+
|
|
|
+ static qint64 time_trace = 0;
|
|
|
+ static int pos = 0;
|
|
|
+ static std::vector<iv::simpletrace> xvectorsimpletrace;
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+ if(gTimeTrace != time_trace)
|
|
|
+ {
|
|
|
+ time_trace = gTimeTrace;
|
|
|
+
|
|
|
+ gMutexTrace.lock();
|
|
|
+ xvectorsimpletrace = gvectorsimplerace;
|
|
|
+ gMutexTrace.unlock();
|
|
|
+ pos = 0;
|
|
|
+ if(xvectorsimpletrace.size()> 0)
|
|
|
+ {
|
|
|
+ QJsonArray num_json,num2_json; //声明QJsonArray
|
|
|
+ QJsonDocument num_document,num2_document; //将QJsonArray改为QJsonDocument类
|
|
|
+ QByteArray num_byteArray,num2_byteArray; //
|
|
|
+
|
|
|
+ int i=0;
|
|
|
+ for(i=0;i<xvectorsimpletrace.size();i++) //将数组传入压入num_json
|
|
|
+ {
|
|
|
+ num_json.append(xvectorsimpletrace[i].gps_lng);
|
|
|
+ num2_json.append(xvectorsimpletrace[i].gps_lat);
|
|
|
+ }
|
|
|
+
|
|
|
+ num_document.setArray(num_json);
|
|
|
+ num2_document.setArray(num2_json);
|
|
|
+ num_byteArray = num_document.toJson(QJsonDocument::Compact);
|
|
|
+ num2_byteArray = num2_document.toJson(QJsonDocument::Compact);
|
|
|
+ QString numJson(num_byteArray); //再转为QString
|
|
|
+ QString num2Json(num2_byteArray); //再转为QString
|
|
|
+
|
|
|
+
|
|
|
+ QString cmd = QString("settrace(\"%1\",\"%2\")").arg(numJson).arg(num2Json);
|
|
|
+// mMapview->page()->runJavaScript(cmd);
|
|
|
+ }
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+// if(pos<xvectorsimpletrace.size())
|
|
|
+// {
|
|
|
+// if(pos == 0)
|
|
|
+// {
|
|
|
+// mMapview->page()->runJavaScript("clear()");
|
|
|
+// }
|
|
|
+
|
|
|
+// char strscript[256];
|
|
|
+// snprintf(strscript,255,"mapLocation(%11.7f,%11.7f);",xvectorsimpletrace[pos].gps_lng,xvectorsimpletrace[pos].gps_lat);
|
|
|
+// mMapview->page()->runJavaScript(strscript);
|
|
|
+// pos++;
|
|
|
+
|
|
|
+// }
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::onTimerUpdateView()
|
|
|
+{
|
|
|
+ static qint64 time_gps = 0;
|
|
|
+
|
|
|
+ unsigned int i;
|
|
|
+
|
|
|
+ char strlatency[1000];
|
|
|
+ char strtem[100];
|
|
|
+ snprintf(strlatency,1000,"Latency(Up|FrameRate|Down): ");
|
|
|
+ snprintf(strtem,100,"FT(%d|%d|%d) ",mgrpcpc->GetPicLatency(0),mgrpcpc->GetFrameRate(0),mgrpcpc->GetPicDownLatency(0));strncat(strlatency,strtem,1000);
|
|
|
+ snprintf(strtem,100,"RR(%d|%d|%d) ",mgrpcpc->GetPicLatency(1),mgrpcpc->GetFrameRate(1),mgrpcpc->GetPicDownLatency(1));strncat(strlatency,strtem,1000);
|
|
|
+ snprintf(strtem,100,"LT(%d|%d|%d) ",mgrpcpc->GetPicLatency(2),mgrpcpc->GetFrameRate(2),mgrpcpc->GetPicDownLatency(2));strncat(strlatency,strtem,1000);
|
|
|
+ snprintf(strtem,100,"RT(%d|%d|%d) ",mgrpcpc->GetPicLatency(3),mgrpcpc->GetFrameRate(3),mgrpcpc->GetPicDownLatency(3));strncat(strlatency,strtem,1000);
|
|
|
+
|
|
|
+ mpLabelLatency->setText(strlatency);
|
|
|
+
|
|
|
+
|
|
|
+ if(gTimeGPSIMUUpdate != time_gps)
|
|
|
+ {
|
|
|
+ time_gps = gTimeGPSIMUUpdate;
|
|
|
+ char strscript[256];
|
|
|
+ snprintf(strscript,255,"theLocation(%11.7f,%11.7f,%11.3f);",ggpsimu.lon(),ggpsimu.lat(),ggpsimu.heading());
|
|
|
+// mMapview->page()->runJavaScript(strscript);
|
|
|
+
|
|
|
+ iv::gps::gpsimu xgpsimu;
|
|
|
+ xgpsimu.CopyFrom(ggpsimu);
|
|
|
+
|
|
|
+ ui->lineEdit_gpsins->setText(QString::number(xgpsimu.ins_state()));
|
|
|
+ ui->lineEdit_gpsrtk->setText(QString::number(xgpsimu.rtk_state()));
|
|
|
+ ui->lineEdit_gpslon->setText(QString::number(xgpsimu.lon(),'f',7));
|
|
|
+ ui->lineEdit_gpslat->setText(QString::number(xgpsimu.lat(),'f',7));
|
|
|
+ ui->lineEdit_gpsheading->setText(QString::number(xgpsimu.heading(),'f',2));
|
|
|
+ ui->lineEdit_gpsheight->setText(QString::number(xgpsimu.height(),'f',2));
|
|
|
+ ui->lineEdit_gpsspeed->setText(QString::number(xgpsimu.speed(),'f',2));
|
|
|
+ ui->lineEdit_gpssat->setText(QString::number(xgpsimu.satnum1()));
|
|
|
+
|
|
|
+ mstrGPSTime = QDateTime::fromMSecsSinceEpoch(xgpsimu.msgtime()).toString("GPS: yyyy-MM-dd hh:mm:ss ");
|
|
|
+ setWindowTitle(mstrProgName + mstrVIN + mstrGPSTime + mstrPicTime);
|
|
|
+
|
|
|
+ double fVehSpeed = xgpsimu.speed()*3.6;
|
|
|
+
|
|
|
+
|
|
|
+ if(fVehSpeed>30)
|
|
|
+ {
|
|
|
+ if(mnSpeedMax != 130)
|
|
|
+ {
|
|
|
+ mnSpeedMax = 130;
|
|
|
+ mpVehSpeed->setmaxvalue(130);
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ if(fVehSpeed<20)
|
|
|
+ {
|
|
|
+ if(mnSpeedMax != 30)
|
|
|
+ {
|
|
|
+ mnSpeedMax = 30;
|
|
|
+ mpVehSpeed->setmaxvalue(130);
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ mpVehSpeed->updatevalue(fVehSpeed);
|
|
|
+ }
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::onCamUpdate(int ncampos, QImage image)
|
|
|
+{
|
|
|
+ int i = ncampos;
|
|
|
+ if(i<2)
|
|
|
+ {
|
|
|
+ // ui->label_pic->setPixmap(QPixmap::fromImage(image));
|
|
|
+ mpsceneImg[i]->clear();
|
|
|
+// mpsceneImg[i]->addPixmap(QPixmap::fromImage(image));
|
|
|
+ mpsceneImg[i]->addPixmap(QPixmap::fromImage(image));
|
|
|
+ mpviewImg[i]->setScene(mpsceneImg[i]);
|
|
|
+ mpviewImg[i]->show();
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::paintEvent(QPaintEvent *)
|
|
|
+{
|
|
|
+
|
|
|
+ QTime xTime;
|
|
|
+
|
|
|
+ static int mnDraw = 10;
|
|
|
+ if(mbNeedSetBack == true)
|
|
|
+ {
|
|
|
+ mnDraw = 10;
|
|
|
+ mbNeedSetBack = false;
|
|
|
+ }
|
|
|
+ if(mnDraw>0)
|
|
|
+ {
|
|
|
+ mpainter_background = new QPainter(this);
|
|
|
+ mpainter_background->drawPixmap(0, 0, this->width(), this->height(), QPixmap(":/pic/background2.jpg"));
|
|
|
+ delete mpainter_background;
|
|
|
+ mnDraw--;
|
|
|
+ }
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+ int i;
|
|
|
+
|
|
|
+ xTime.start();
|
|
|
+ int nupdate = 0;
|
|
|
+
|
|
|
+ for(i=0;i<NUM_CAM;i++)
|
|
|
+ {
|
|
|
+ if(i<2)
|
|
|
+ {
|
|
|
+ // continue;
|
|
|
+ if(mbCamUpdate[i])
|
|
|
+ {
|
|
|
+ nupdate++;
|
|
|
+ // xTime.start();
|
|
|
+ // std::cout<<" copy image. "<<std::endl;
|
|
|
+ mMutexCam[i].lock();
|
|
|
+ // QImage image = mpImageCam[i]->copy();
|
|
|
+ mbCamUpdate[i] = false;
|
|
|
+
|
|
|
+
|
|
|
+ // QImage image = mpPicView->GetImage();
|
|
|
+ mpsceneImg[i]->clear();
|
|
|
+ // mpsceneImg[i]->addPixmap(QPixmap::fromImage(image));
|
|
|
+ mpsceneImg[i]->addPixmap(QPixmap::fromImage(*mpImageCam[i]));
|
|
|
+ mpviewImg[i]->setScene(mpsceneImg[i]);
|
|
|
+ mpviewImg[i]->show();
|
|
|
+ mMutexCam[i].unlock();
|
|
|
+ // std::cout<<" update a image use. "<<xTime.elapsed()<<std::endl;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+// std::cout<<" time upadate time: "<<xTime.elapsed()<<" update cout:"<<nupdate<<std::endl;
|
|
|
+
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_pushButton_Go_clicked()
|
|
|
+{
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+ if(ui->comboBox_Station->currentIndex() < 0)return;
|
|
|
+ int index = ui->comboBox_Station->currentIndex();
|
|
|
+
|
|
|
+ if(index<0 || index>= gvectorpos.size())
|
|
|
+ {
|
|
|
+ std::cout<<"out range."<<std::endl;
|
|
|
+ return;
|
|
|
+ }
|
|
|
+ iv::pos_def xpos = gvectorpos[index];
|
|
|
+
|
|
|
+ double lon,lat;
|
|
|
+ lon = xpos.mflon;
|
|
|
+ lat = xpos.mflat;
|
|
|
+
|
|
|
+ xodrobj xo;
|
|
|
+ xo.flon = lon;
|
|
|
+ xo.flat = lat;
|
|
|
+ xo.lane = 3;
|
|
|
+
|
|
|
+
|
|
|
+ mgrpcpc->SetCtrlMsg("xodrreq",(char *)&xo,sizeof(xodrobj));
|
|
|
+// iv::modulecomm::ModuleSendMsg(mpadst,(char *)&xo,sizeof(xodrobj));
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_comboBox_Station_currentIndexChanged(int index)
|
|
|
+{
|
|
|
+ if(index<0 || index>= gvectorpos.size())
|
|
|
+ {
|
|
|
+ std::cout<<"out range."<<std::endl;
|
|
|
+ return;
|
|
|
+ }
|
|
|
+ iv::pos_def xpos = gvectorpos[index];
|
|
|
+
|
|
|
+ char strscript[256];
|
|
|
+ snprintf(strscript,255,"objLocation(%11.7f,%11.7f);",xpos.mflon,xpos.mflat);
|
|
|
+ // mMapview->page()->runJavaScript(strscript);
|
|
|
+ mbNeedSetBack = true;
|
|
|
+
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_checkBox_Drive_stateChanged(int arg1)
|
|
|
+{
|
|
|
+
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_checkBox_Drive_clicked()
|
|
|
+{
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_checkBox_Null_clicked()
|
|
|
+{
|
|
|
+
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_checkBox_Rear_clicked()
|
|
|
+{
|
|
|
+ mbNeedSetBack = true;
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_radioButton_Drive_clicked()
|
|
|
+{
|
|
|
+ mnShift = 1;
|
|
|
+ mbNeedSetBack = true;
|
|
|
+
|
|
|
+// on_radioButton_picfront_clicked();
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_radioButton_Null_clicked()
|
|
|
+{
|
|
|
+ mnShift = 0;
|
|
|
+ mbNeedSetBack = true;
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+void MainWindow::onCloseDlg()
|
|
|
+{
|
|
|
+ qDebug("cloase");
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_checkBox_clicked()
|
|
|
+{
|
|
|
+
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::saveavi(int index)
|
|
|
+{
|
|
|
+ (void)index;
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+void MainWindow::onCloseBigDlg()
|
|
|
+{
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_actionSet_Query_Pass_triggered()
|
|
|
+{
|
|
|
+ DialogSetPassWord xdlg(DialogSetPassWord_Type::QUERY,mstrqueryMD5,this);
|
|
|
+ if(xdlg.exec() == xdlg.Accepted)
|
|
|
+ {
|
|
|
+ mgrpcpc->setqueryMD5(ServiceRCIni.GetQueryMD5());
|
|
|
+ mstrqueryMD5 = ServiceRCIni.GetQueryMD5();
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_actionSetting_triggered()
|
|
|
+{
|
|
|
+ DialogSetting xdlg(this);
|
|
|
+ if(xdlg.exec() == QDialog::Accepted)
|
|
|
+ {
|
|
|
+ mgrpcpc->setVIN(ServiceRCIni.GetVIN());
|
|
|
+ mstrVehVIN = ServiceRCIni.GetVIN();
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_actionSet_Ctrl_Pass_triggered()
|
|
|
+{
|
|
|
+ DialogSetPassWord xdlg(DialogSetPassWord_Type::CTRL,mstrctrlMD5,this);
|
|
|
+ if(xdlg.exec() == xdlg.Accepted)
|
|
|
+ {
|
|
|
+ mgrpcpc->setctrlMD5(ServiceRCIni.GetCtrlMD5());
|
|
|
+ mstrctrlMD5 = ServiceRCIni.GetCtrlMD5();
|
|
|
+ }
|
|
|
+
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::threadinfo()
|
|
|
+{
|
|
|
+ int nrtn;
|
|
|
+ iv::cloud::cloudmsg xcloudmsg;
|
|
|
+ while(mbThreadrun)
|
|
|
+ {
|
|
|
+ nrtn = mgrpcpc->GetQueryMsg(xcloudmsg,1000);
|
|
|
+ if(nrtn == 1)
|
|
|
+ {
|
|
|
+ int i;
|
|
|
+ for(i=0;i<xcloudmsg.xclouddata_size();i++)
|
|
|
+ {
|
|
|
+ iv::cloud::cloudunit * punit = xcloudmsg.mutable_xclouddata(i);
|
|
|
+ if(punit->msgname() == "hcp2_gpsimu")
|
|
|
+ {
|
|
|
+ iv::gps::gpsimu xgpsimu;
|
|
|
+ if(!xgpsimu.ParseFromArray(punit->data().data(),punit->data().size()))
|
|
|
+ {
|
|
|
+ std::cout<<"ListenRaw Parse error."<<std::endl;
|
|
|
+ continue;
|
|
|
+ }
|
|
|
+ ggpsimu.CopyFrom(xgpsimu);
|
|
|
+ gTimeGPSIMUUpdate = QDateTime::currentMSecsSinceEpoch();
|
|
|
+ }
|
|
|
+ }
|
|
|
+ // std::cout<<" receive info msg. "<<std::endl;
|
|
|
+ }
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::threadframe(int ncamppos)
|
|
|
+{
|
|
|
+ iv::h264rawframedata xframe;
|
|
|
+ while(mbThreadrun)
|
|
|
+ {
|
|
|
+// std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
|
|
+// continue;
|
|
|
+ int nrtn;
|
|
|
+ nrtn = mgrpcpc->Consumeh264frame(ncamppos,xframe,10);
|
|
|
+ if(nrtn == 1)
|
|
|
+ {
|
|
|
+// std::cout<<"recv a frame."<<std::endl;
|
|
|
+ iv::rawframedata xrawframe;
|
|
|
+ xrawframe.mpstr_ptr = xframe.mpstr_ptr;
|
|
|
+ xrawframe.ndatasize = xframe.mdatasize;
|
|
|
+ mph264decode[ncamppos]->addframedata(xrawframe);
|
|
|
+ }
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::threadpic(int ncampos)
|
|
|
+{
|
|
|
+
|
|
|
+ while(mbThreadrun)
|
|
|
+ {
|
|
|
+ int nindex = mph264decode[ncampos]->GetUpdatedIndex(10);
|
|
|
+ if(nindex<0)continue;
|
|
|
+// std::cout<<" recv a yuv."<<std::endl;
|
|
|
+ iv::framedecodebuf * pbuf = mph264decode[ncampos]->LockReadBuff(nindex);
|
|
|
+ int cy = pbuf->frameheight;
|
|
|
+ int cx = pbuf->framewidth;
|
|
|
+ cv::Mat rgbImg(cy, cx,CV_8UC3);
|
|
|
+
|
|
|
+ if((cy!=mnframeheight) || (cx != mnframewidth))
|
|
|
+ {
|
|
|
+ mnframeheight = cy;
|
|
|
+ mnframewidth = cx;
|
|
|
+ resizeEvent(NULL);
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+
|
|
|
+#ifndef USE_QSV
|
|
|
+ cv::cvtColor(pbuf->myuvImg, rgbImg, CV_YUV2RGB_I420);
|
|
|
+#endif
|
|
|
+#ifdef USE_QSV
|
|
|
+ cv::cvtColor(pbuf->myuvImg, rgbImg, CV_YUV2RGB_NV12);
|
|
|
+#endif
|
|
|
+ mph264decode[ncampos]->UnlockReadBuff(nindex);
|
|
|
+
|
|
|
+ QImage image2 = QImage((uchar*)(rgbImg.data), rgbImg.cols, rgbImg.rows, QImage::Format_RGB888);
|
|
|
+
|
|
|
+#ifndef TESTH264
|
|
|
+ mMutexCam[ncampos].lock();
|
|
|
+// emit CamUpdate(ncampos,image2);
|
|
|
+ *mpImageCam[ncampos] = image2.copy();
|
|
|
+ mbCamUpdate[ncampos] = true;
|
|
|
+ mMutexCam[ncampos].unlock();
|
|
|
+ emit CamUpdate(ncampos);
|
|
|
+#else
|
|
|
+ unsigned int j;
|
|
|
+ for(j=0;j<NUM_CAM;j++)
|
|
|
+ {
|
|
|
+ mMutexCam[j].lock();
|
|
|
+ // emit CamUpdate(ncampos,image2);
|
|
|
+ *mpImageCam[j] = image2.copy();
|
|
|
+ mbCamUpdate[j] = true;
|
|
|
+ mMutexCam[j].unlock();
|
|
|
+ emit CamUpdate( static_cast<int>(j));
|
|
|
+ }
|
|
|
+ gwleft->SetImage(image2);
|
|
|
+ gwright->SetImage(image2);
|
|
|
+#endif
|
|
|
+// cv::cvtColor(rgbImg, rgbImg, CV_BGR2RGB);
|
|
|
+// QImage image2 = QImage((uchar*)(rgbImg.data), rgbImg.cols, rgbImg.rows, QImage::Format_RGB888);
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::onCamUpdate(int ncampos)
|
|
|
+{
|
|
|
+ (void)ncampos;
|
|
|
+ static int64_t nlastupdate =0;
|
|
|
+ int64_t nnow = std::chrono::system_clock::now().time_since_epoch().count()/1000000;
|
|
|
+ if(abs(nnow - nlastupdate)>30)
|
|
|
+ {
|
|
|
+ nlastupdate = std::chrono::system_clock::now().time_since_epoch().count()/1000000;
|
|
|
+ update();
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_actionFullScreem_triggered()
|
|
|
+{
|
|
|
+ showFullScreen();
|
|
|
+ ui->menubar->setVisible(false);
|
|
|
+ ui->statusbar->setVisible(false);
|
|
|
+ mbNeedSetBack = true;
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_actionNormal_triggered()
|
|
|
+{
|
|
|
+ showNormal();
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_horizontalSlider_wheelspeed_sliderMoved(int position)
|
|
|
+{
|
|
|
+ (void)position;
|
|
|
+ mfWheelSpeed = mfWheelBaseSpeed * ui->horizontalSlider_wheelspeed->value();
|
|
|
+ mbNeedSetBack = true;
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::on_horizontalSlider_wheelspeed_valueChanged(int value)
|
|
|
+{
|
|
|
+ (void)value;
|
|
|
+ mfWheelSpeed = mfWheelBaseSpeed * ui->horizontalSlider_wheelspeed->value();
|
|
|
+ mbNeedSetBack = true;
|
|
|
+}
|
