上传文件至 'src/v2x/v2xhik'

与海康路测系统通讯的V2X模块

src/v2x/v2xhik/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">
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+       <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>
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+     </colorrole>
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+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
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+      </brush>
+     </colorrole>
+     <colorrole role="ButtonText">
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+        <green>255</green>
+        <blue>255</blue>
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+     </colorrole>
+     <colorrole role="Base">
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+        <green>138</green>
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+        <green>255</green>
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+        <green>238</green>
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+        <green>189</green>
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+        <green>138</green>
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+        <green>238</green>
+        <blue>236</blue>
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+     </colorrole>
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+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>220</blue>
+       </color>
+      </brush>
+     </colorrole>
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+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+    </disabled>
+   </palette>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <widget class="QGroupBox" name="groupBox_2">
+    <property name="enabled">
+     <bool>true</bool>
+    </property>
+    <property name="geometry">
+     <rect>
+      <x>40</x>
+      <y>30</y>
+      <width>341</width>
+      <height>291</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>系统设置</string>
+    </property>
+    <layout class="QGridLayout" name="gridLayout_8">
+     <item row="0" column="0">
+      <widget class="QPushButton" name="button_obu_en">
+       <property name="palette">
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+             <green>52</green>
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+             <red>69</red>
+             <green>78</green>
+             <blue>81</blue>
+            </color>
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+             <red>57</red>
+             <green>65</green>
+             <blue>67</blue>
+            </color>
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+             <green>26</green>
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+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>路测开关</string>
+       </property>
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+     </item>
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+         <family>AR PL UKai CN</family>
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+        <string>VIN设置</string>
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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>
+        <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>
+            </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>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">
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+            <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>碰撞预警</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout_2">
+         <item row="1" column="1" colspan="4">
+          <widget class="QTextBrowser" name="textBr_FCW">
+           <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>
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+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
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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>
+                </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="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;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">
+             <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>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>
+                 <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">
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+                 <red>60</red>
+                 <green>60</green>
+                 <blue>60</blue>
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+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <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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+               </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>
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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">
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+                 <green>238</green>
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+              <colorrole role="ButtonText">
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+              <colorrole role="Base">
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+                 <blue>60</blue>
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+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
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+                 <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">
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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 role="Text">
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+              <green>238</green>
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+              <green>26</green>
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+           <colorrole role="Text">
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+              <green>238</green>
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+         </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>
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+               <green>60</green>
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+            <colorrole role="Text">
+             <brush brushstyle="SolidPattern">
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+               <green>238</green>
+               <blue>236</blue>
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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>
+        <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>
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+         <property name="palette">
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+               <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>
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+         <property name="palette">
+          <palette>
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+           </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>
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+               <red>60</red>
+               <green>60</green>
+               <blue>60</blue>
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+               <green>238</green>
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+                  <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>0</red>
+                  <green>0</green>
+                  <blue>0</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>
+            <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>
+               <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>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>
+                </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>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLabel" name="label">
+            <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>255</red>
+                  <green>255</green>
+                  <blue>255</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Dark">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>127</red>
+                  <green>127</green>
+                  <blue>127</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Mid">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>170</red>
+                  <green>170</green>
+                  <blue>170</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">
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+                  <green>0</green>
+                  <blue>0</blue>
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+              <inactive>
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+                <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="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>255</red>
+                  <green>255</green>
+                  <blue>255</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Dark">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>127</red>
+                  <green>127</green>
+                  <blue>127</blue>
+                 </color>
+                </brush>
+               </colorrole>
+               <colorrole role="Mid">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <red>170</red>
+                  <green>170</green>
+                  <blue>170</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>0</red>
+                  <green>0</green>
+                  <blue>0</blue>
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+                </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="Light">
+                <brush brushstyle="SolidPattern">
+                 <color alpha="255">
+                  <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 role="Dark">
+                <brush brushstyle="SolidPattern">
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+                  <red>127</red>
+                  <green>127</green>
+                  <blue>127</blue>
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+               <colorrole role="Mid">
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+                  <red>170</red>
+                  <green>170</green>
+                  <blue>170</blue>
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+               </colorrole>
+               <colorrole role="Text">
+                <brush brushstyle="SolidPattern">
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+                  <red>238</red>
+                  <green>238</green>
+                  <blue>236</blue>
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+               <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>
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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>
+                 </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">
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+                  <red>0</red>
+                  <green>0</green>
+                  <blue>0</blue>
+                 </color>
+                </brush>
+               </colorrole>
+              </disabled>
+             </palette>
+            </property>
+            <property name="text">
+             <string>上限</string>
+            </property>
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+            <property name="text">
+             <string>下限</string>
+            </property>
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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>
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+           </widget>
+          </item>
+          <item row="8" column="1">
+           <widget class="QLineEdit" name="lineEdit_jamsCarNum">
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+         </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">
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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">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
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+           <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;
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+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>
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+               </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/v2xhik/pc5.cpp

@@ -0,0 +1,980 @@
+#include "pc5.h"
+#include <QtNetwork>
+#include "QDebug"
+extern iv::Ivlog * gIvlog;
+
+PC5::PC5()
+{
+//    server=new QTcpServer(this);
+//    connect(server,SIGNAL(newConnection()),this,SLOT(newConnectionSlot()));
+
+    client=new QTcpSocket(this);
+    connect(client,&QTcpSocket::readyRead,this,&PC5::readDataSlot);
+
+
+    timer = new QTimer(this);
+    connect(timer,SIGNAL(timeout()),SLOT(heartBeat()));
+    timer->start(100);
+    //m_strVin="A0000000CATARCS02";
+    //m_rsuVin=256;
+    m_bEnableRadio = false;
+    m_bIsConnect = false;
+    m_bEnConnect=false;
+
+    initRadio();
+
+    m_traffic_heart=100;
+    m_light_heart=100;
+    m_WarningMessage_heart=100;
+    m_IdentificationMessage_heart=100;
+    m_warndriver_heart=100;
+    warn_driver=false;
+
+}
+void PC5::setobu(QString str,int port)
+{
+    obuip=str;
+    obuport=port;
+}
+void PC5::connectPlatform()
+{
+    client->connectToHost(obuip,obuport);
+    if(client->waitForConnected(100))
+    {
+        //qDebug()<<"ok";
+        error_data="connect success";
+        isConnected=true;
+    }
+    else
+    {
+        error_data="connect fail";
+        isConnected=false;
+    }
+}
+
+//void PC5::newConnectionSlot()
+//{
+//    qDebug()<<"new connection";
+//    client=server->nextPendingConnection();
+//    //qDebug()<<client<<endl;
+//    QString ip=client->peerAddress().toString().split("::ffff:")[1];
+
+//    connect(client,&QTcpSocket::readyRead,this,&PC5::readDataSlot);
+//    //connect(client,&QTcpSocket::disconnected,this,&V2X::disconnectedSlot);
+//    qDebug()<<ip<<" 连接成功\n"<<endl;
+//    isConnected=true;
+//    //修改status
+//    //qDebug()<<"连接成功\n"<<endl;
+//    m_bIsConnect=true;
+
+
+//}
+void PC5::serialPortInit()
+{
+    m_serialPort_Radio = new QSerialPort();
+    m_serialPort_Radio->setPortName(portname);
+    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<100)//超时后设置消息不生效
+    {
+        m_traffic_heart++;
+        if (m_traffic_heart>=30)
+        {
+            realtimeTraffic.isEnable=false;
+        }
+    }
+
+    if (m_light_heart<100)
+    {
+        m_light_heart++;
+        if (m_light_heart>=30)
+        {
+            light.isEnable=false;
+        }
+    }
+
+    if (m_WarningMessage_heart<100)
+    {
+        m_WarningMessage_heart++;
+        if (m_WarningMessage_heart>=30)
+        {
+            collisionWarning.isEnable=false;
+        }
+    }
+
+    if (m_IdentificationMessage_heart<100)
+    {
+        m_IdentificationMessage_heart++;
+        if (m_IdentificationMessage_heart>=30)
+        {
+            congestionIdenti.isEnable=false;
+        }
+    }
+
+    if (m_warndriver_heart<100)
+    {
+        m_warndriver_heart++;
+        if(m_warndriver_heart>=30)
+        {
+            warn_driver=false;
+        }
+    }
+    //qDebug()<<eth_enable;
+    //服务器连接
+    if (eth_enable)
+    {
+        if(m_bEnConnect)
+        {
+            if(!m_bEnableRadio)
+            {
+                connectPlatform();
+                error_data="等待";
+            }
+            QAbstractSocket::SocketState state = client->state();
+            if (state == QAbstractSocket::ConnectedState)
+            {
+                isConnected= true;
+
+            }
+            else{
+                isConnected= false;
+                connectPlatform();
+                error_data="Connect Failed";
+            }
+            if(isConnected)
+            {
+                sendData();
+            }
+        }
+        else
+        {
+            if(m_bEnableRadio)
+            {
+                disconnectPlatform();
+            }
+        }
+        m_bEnableRadio = m_bEnConnect;
+    }
+    else
+    {
+        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;
+    float fyaw=m_structMGpsImu.yaw*100;
+    int yaw=int(fyaw);
+    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);
+    if (eth_enable)
+    {
+        client->write(sendBuf,headLen+dataLen+1);
+        client->flush();
+    }
+    else
+    {
+        m_serialPort_Radio->write(sendBuf,headLen+dataLen+1);
+        m_serialPort_Radio->flush();
+    }
+
+
+}
+
+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);
+    if (eth_enable)
+    {
+        client->write(sendBuf,headLen+dataLen+1);
+        client->flush();
+    }
+    else
+    {
+        m_serialPort_Radio->write(sendBuf,headLen+dataLen+1);
+        m_serialPort_Radio->flush();
+    }
+    //qDebug()<<"发送2"<<sendBuf;
+
+    //m_serialPort_Radio->write("sendBuf");
+}
+
+void PC5::readDataSlot()
+{
+    qint64 rLen = client->bytesAvailable();
+    if (rLen <= 0) {
+            return;
+        }
+    char *_data = new char[rLen + 1];
+        if (_data == NULL) {
+            return;
+        }
+    memset(_data, 0, rLen + 1);
+    int ret = client->read(_data, rLen);
+    if(ret <= 0)
+        {
+            error_data="read error";
+            //qDebug() << "read error";
+            return;
+        }
+    QByteArray data(_data, ret);
+    delete [] _data;
+//    qDebug() << data <<endl;
+
+    static int BATH_LENTH = 31;
+    if(data.size()>= BATH_LENTH) {
+        // 防包太大
+        if (data.size() > 512) {
+            error_data="size too large";
+            //qDebug() << "size too large";
+            data.clear();
+            return;
+        }
+        //  ##
+        QByteArray datahex = data.toHex(' ');
+        qDebug() <<"datahex: "<<datahex;
+        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(16);
+            int low = data.at(17);
+            int dataLen = (high << 8) | low;
+            //qDebug() << "dataLen:" << dataLen;
+            // 长度不对
+            if ((dataLen + sizeof(packageDataHead)) > data.size()) {
+                //qDebug() << "message len error";
+                error_data="message len error";
+                return;
+            }
+            QByteArray temp = data.left(sizeof(packageDataHead) + dataLen + 1);
+            //queue_mutex.lock();
+            readData.enqueue(temp);
+            replyMessage();
+            //queue_mutex.unlock();
+            data.remove(0, sizeof(packageDataHead) + dataLen + 1);
+        }
+    }
+}
+
+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";
+            error_data="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";
+                error_data="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";
+        error_data="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;
+
+        //qDebug() <<obuvin;
+        if (obuvin==m_obuVin)
+        {
+            error_data="ObuNum ok";
+            switch(recvBuf[5])
+            {
+                case TrafficLight: {
+                    light.isEnable=true;
+                    m_light_heart=0;
+                    light.myface=recvBuf[18];
+                    try
+                    {
+                        light.light1face=recvBuf[19];
+                        if (recvBuf[22]!=0xff)
+                        {
+                            float head=(((recvBuf[20]<<8)&0xFF00)|((recvBuf[21])&0xFF));
+                            light.light1head=head/100;
+                            light.light1Type=recvBuf[22];
+                            light.light1timeRemaining=(((recvBuf[23]<<8)&0xFF00)|((recvBuf[24])&0xFF));
+                            error_data="recv light1";
+                        }
+                        else
+                        {
+                            qDebug()<<0xff;
+                        }
+
+                    }
+                    catch(...){
+                        qDebug()<<"...";
+                    }
+                    try
+                    {
+                        if(recvBuf[28]!=0Xff)
+                        {
+                            light.light2face=recvBuf[25];
+                            float head=(((recvBuf[26]<<8)&0xFF00)|((recvBuf[27])&0xFF));
+                            light.light2head=head/100;
+                            light.light2Type=recvBuf[28];
+                            light.light2timeRemaining=(((recvBuf[29]<<8)&0xFF00)|((recvBuf[30])&0xFF));
+                            error_data="recv light2";
+                        }
+                        else
+                        {
+                            qDebug()<<0xff;
+                        }
+
+                    }
+                    catch(...){
+                        qDebug()<<"...";
+                    }
+                    try
+                    {
+                        if (recvBuf[34]!=0xff)
+                        {
+                            light.light3face=recvBuf[31];
+                            float head=(((recvBuf[32]<<8)&0xFF00)|((recvBuf[33])&0xFF));
+                            light.light3head=head/100;
+                            light.light3Type=recvBuf[34];
+                            light.light3timeRemaining=(((recvBuf[35]<<8)&0xFF00)|((recvBuf[36])&0xFF));
+                            error_data="recv light3";
+                        }
+                        else
+                        {
+                            qDebug()<<0xff;
+                        }
+
+                    }
+                    catch(...){
+                        qDebug()<<"...";
+                    }
+                    try
+                    {
+                        if (recvBuf[40]!=0xff)
+                        {
+                            light.light4face=recvBuf[37];
+                            float head=(((recvBuf[38]<<8)&0xFF00)|((recvBuf[39])&0xFF));
+                            light.light4head=head/100;
+                            light.light4Type=recvBuf[40];
+                            light.light4timeRemaining=(((recvBuf[41]<<8)&0xFF00)|((recvBuf[42])&0xFF));
+                            error_data="recv light4";
+                        }
+                        else
+                        {
+                            qDebug()<<0xff;
+                        }
+
+                    }
+                    catch(...){
+                        qDebug()<<"...";
+                    }
+//                    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)
+                    {
+                        if (recvBuf[18]!=0xff and recvBuf[22]!=0xff)
+                        {
+                            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;
+                        }
+                        else
+                        {
+                            error_data="recv RTT 0xff";
+                        }
+
+                    }
+                }
+                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;
+                        }
+                    }
+            case AutoDriveSystemOpenFlag:{
+                if(recvBuf[4]==0x07)
+                {
+
+//                    QString recvvin =QString(data.at(18));
+//                    for (int i=19;i<=34;++i)
+//                    {
+//                        recvvin=recvvin+QString(data.at(i));
+//                    }
+                    QString recvvin=QString(data.mid(18,17));
+                    //qDebug()<<recvvin;
+                    std::string openvin=recvvin.toStdString();
+                    unsigned char run_flag=recvBuf[35];
+                    if (openvin==m_strVin)
+                    {
+                        error_data="vin ok";
+                        if (run_flag==0x00)
+                        {
+                            m_runmod=true;
+                            error_data="stop run";
+                            //qDebug()<<"stop";
+                        }
+                        else if (run_flag==0x01)
+                        {
+                            m_runmod=false;
+                            //qDebug()<<"start";
+                            error_data="start run";
+                        }
+                        else
+                        {
+                            error_data="recv 21 error";
+                            m_runmod=0;
+                            error_data="recv 21 error";
+                        }
+                    }
+
+                    else{
+                        error_data="vin error";
+                    }
+                }
+            }
+            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;
+                }
+            }
+        }
+    }
+}
+
+bool PC5::upRunMod()
+{
+    return m_runmod;
+}
+
+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);
+    client->write(sendBuf,headLen+dataLen+1);
+    client->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;
+}
+void PC5::disconnectPlatform()
+{
+    client->disconnectFromHost();
+    error_data="disconncet";
+
+    isConnected=false;
+}
+PC5::~PC5()
+{
+    disconnectPlatform();
+    delete client;
+    timer->stop();
+    delete timer;
+}

src/v2x/v2xhik/pc5.h

@@ -0,0 +1,256 @@
+#ifndef PC5_H
+#define PC5_H
+//#include <QWidget>
+//#include <QAbstractSocket>
+//#include <QDialog>
+#include <QTimer>
+#include <QDateTime>
+#include <QQueue>
+//#include <QUdpSocket>
+#include <QTcpServer>
+#include <QSerialPort>
+#include "ivlog.h"
+//std::string VIN="A1000000CATARCS01";
+
+#define TrafficLight (0x01)
+#define RealtimeTraffic (0x02)
+#define CollisionEarlyWarning (0x03)
+#define CongestionIdentification (0x04)
+#define AutoDriveSystemOpenFlag (0x21)
+#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 myface=0;
+    unsigned char light1face;//0x01横向 0x02纵向
+    float light1head=0;//面朝方向
+    unsigned char light1Type=0x00;//0x01：绿灯；0x02：红灯；0x03：黄灯；
+    int light1timeRemaining=200;//红绿灯时间
+
+    unsigned char light2face;//0x01横向 0x02纵向
+    float light2head=0;//面朝方向
+    unsigned char light2Type=0x00;//0x01：绿灯；0x02：红灯；0x03：黄灯；
+    int light2timeRemaining=200;//红绿灯时间
+
+    unsigned char light3face;//0x01横向 0x02纵向
+    float light3head=0;//面朝方向
+    unsigned char light3Type=0x00;//0x01：绿灯；0x02：红灯；0x03：黄灯；
+    int light3timeRemaining=200;//红绿灯时间
+
+    unsigned char light4face;//0x01横向 0x02纵向
+    float light4head=0;//面朝方向
+    unsigned char light4Type=0x00;//0x01：绿灯；0x02：红灯；0x03：黄灯；
+    int light4timeRemaining=200;//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 encryptionType;//数据加密方式
+    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。
+    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 connectPlatform();
+    void disconnectPlatform();
+    void setobu(QString str,int port);
+    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
+    bool upRunMod();
+    bool m_runmod=false;
+    bool eth_enable = false;
+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
+    int obuport;
+    QString obuip;
+    QTcpServer *server;
+    QTcpSocket *client;
+    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 newConnectionSlot();
+    void readDataSlot();
+//    void disconnectedSlot();
+    void heartBeat();
+};
+
+#endif // PC5_H

src/v2x/v2xhik/v2x.cpp

@@ -0,0 +1,456 @@
+#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_bIsConnect)
+        {
+            connectPlatform();
+            error_data="等待";
+        }
+        QAbstractSocket::SocketState state = client->state();
+        if (state == QAbstractSocket::ConnectedState)
+        {
+            m_bIsConnect= true;
+        }
+        else{
+            m_bIsConnect= false;
+            connectPlatform();
+        }
+        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(500))
+    {
+        //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(' ');
+    qDebug()<<'v2x'<<datahex;
+    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/v2xhik/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=false;
+    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