Merge branch 'master' into 1+x

.gitignore

@@ -233,6 +233,7 @@ src/common/modulecomm/systemdef.pri
 # Qt-Creator build
 build-*-Debug
 build-*-Release
+*.qmake.stash
 
 # vscode
 *.vscode
@@ -241,3 +242,6 @@ build-*-Release
 src/common/makeprotointerface/makeprotointerface
 src/common/ivprotoif/*
 include/ivprotoif.h
+
+# deploy
+deploy/*

autodeploy.sh

@@ -1,5 +1,5 @@
 PRO_DIR=`pwd`
-CONFIG_IVSysMan="IVSysMan_midcar.xml"
+CONFIG_IVSysMan="IVSysMan_HAPO_1.xml"
 
 check_result=`whereis patchelf | awk '{print $2}'`
 if [ ! $check_result ];then
@@ -61,11 +61,6 @@ do
 	fi
 done
 
-#echo "creat IVSysMan.xml"
-#cp ./other/$CONFIG_IVSysMan ./deploy/app/IVSysMan.xml
-#cp ./other/ADS_decision.xml ./deploy/app/ADS_decision.xml
-#sed -i "s|xxxxxx|$PRO_DIR/deploy/app|g" ./deploy/app/IVSysMan.xml
-
 cp ./bin/*.so ./deploy/app/lib/
 
 qt_com=`arch`

autogen.sh

@@ -43,7 +43,6 @@ cd ../../../
 
 cd src/common/modulecomm/
 $qtmake modulecomm.pro
-check_result $?
 make $MAKEOPT
 check_result $?
 make clean
@@ -132,6 +131,16 @@ rm Makefile
 rm .qmake.stash
 cd ../../../
 
+cd src/common/ivchart/
+$qtmake ivchart.pro
+make $MAKEOPT
+check_result $?
+make clean
+cp libivchart.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
 controller_app_name=(
 	controller_hunter
 )
@@ -191,7 +200,6 @@ done
 
 detect_app_name=(
 	detection_chassis
-	detection_lidar_grid
 )
 
 for x in ${detect_app_name[@]}
@@ -208,6 +216,25 @@ do
 	cd ../../../
 done
 
+
+fution_app_name=(
+	lidar_radar_fusion_cnn
+)
+
+for x in ${fution_app_name[@]}
+do
+	cd src/fusion/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	check_result $?
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+
 tool_app_name=(
 	view_pointcloud
 	view_gps
@@ -249,3 +276,4 @@ do
 	rm ${x}
 	cd ../../../
 done
+

include/common.pri

@@ -44,4 +44,9 @@ if(contains(DEFINES,USE_FASTRTPS)){
 LIBS +=  -lfastcdr -lfastrtps -ltinyxml2
 }
 
+CONFIG(release,debug|release){
+    DEFINES += QT_NO_WARNING_OUTPUT
+    DEFINES += QT_NO_DEBUG_OUTPUT
+}
+
 

map/dongli_wuzhaji_youlukouxianzhi_1012.xodr

@@ -0,0 +1,11308 @@
+<?xml version="1.0" ?>
+<OpenDRIVE>
+    <header revMajor="1" revMinor="1" name="adcmap" version="1.1" date="2021-07-21" north="0.0000000000000000e+00" south="0.0000000000000000e+00" east="0.0000000000000000e+00" west="0.0000000000000000e+00" lat0="3.9067764300000000e+01" lon0="1.1735483680000000e+02" hdg0="3.6000000000000000e+02" vendor="adc" />
+    <road name="" length="1.6219042379150739e+01" id="10001" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800000" contactPoint="start" />
+            <successor elementType="junction" elementId="800001" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.7371139847523338e+01" y="-1.0027933610548020e+02" hdg="4.3154417225422357e+00" length="1.6219042379150739e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6856575444237070e+00" b="1.9499245903697770e-03" c="-1.6537192373956361e-04" d="2.4989411196293447e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.9562315399664305e+00" b="-1.6248351744922767e-02" c="7.2512653662643110e-04" d="-9.1794809710303353e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.8967604394936961e+00" b="7.3207595250667867e-04" c="-2.9728632736727824e-05" d="3.7145135259947416e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="5" t="0" id="69" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0" value="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="6" t="0" id="70" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0" value="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="16.219" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="6.9420696415221343e+01" id="10002" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800001" contactPoint="start" />
+            <successor elementType="junction" elementId="800002" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.1627865149781179e+01" y="-1.3423039616258293e+02" hdg="4.3167759282036320e+00" length="6.9420696415221343e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6434768721263806e+00" b="-9.6835673349559030e-04" c="5.6006187609479075e-06" d="-2.3526642141263908e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
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+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
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+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-2.1875599999999999e-04" c="2.6050300000000000e-06" d="-8.4013900000000005e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="6" t="0" id="73" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0" value="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="7" t="0" id="74" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0" value="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="0" t="0" id="75" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0" value="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="0" t="0" id="87" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0" value="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="5" t="0" id="8" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0" value="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="69.421" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="6.5855973388251115e+01" id="10003" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800002" contactPoint="start" />
+            <successor elementType="junction" elementId="800004" contactPoint="end" />
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+        <userData code="roadborrow">
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map/dongli_wuzhaji_youlukouxianzhi_1026.xodr

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+    </junction>
+</OpenDRIVE>

map/map_1021.xodr

@@ -0,0 +1,11737 @@
+<?xml version="1.0" ?>
+<OpenDRIVE>
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map/map_dongli1020.xodr

@@ -0,0 +1,11733 @@
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map/map_xunluoche_shunshizhen.txt

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+6364	117.3546442	 39.0672528	0	0	     22.845	0	0	1	0
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+6373	117.3546483	 39.0672602	0	0	     22.845	0	0	1	0
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+6400	117.3546605	 39.0672826	0	0	     22.845	0	0	1	0
+6401	117.3546610	 39.0672834	0	0	     22.845	0	0	1	0
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+6403	117.3546619	 39.0672851	0	0	     22.845	0	0	1	0
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+6405	117.3546628	 39.0672867	0	0	     22.845	0	0	1	0
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+6407	117.3546637	 39.0672884	0	0	     22.845	0	0	1	0
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+6410	117.3546650	 39.0672909	0	0	     22.845	0	0	1	0
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+6412	117.3546659	 39.0672925	0	0	     22.845	0	0	1	0
+6413	117.3546664	 39.0672934	0	0	     22.845	0	0	1	0
+6414	117.3546668	 39.0672942	0	0	     22.845	0	0	1	0
+6415	117.3546673	 39.0672950	0	0	     22.845	0	0	1	0
+6416	117.3546677	 39.0672958	0	0	     22.845	0	0	1	0
+6417	117.3546682	 39.0672967	0	0	     22.845	0	0	1	0
+6418	117.3546687	 39.0672975	0	0	     22.845	0	0	1	0
+6419	117.3546691	 39.0672983	0	0	     22.845	0	0	1	0
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+6421	117.3546700	 39.0673000	0	0	     22.845	0	0	1	0
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+6423	117.3546709	 39.0673016	0	0	     22.845	0	0	1	0
+6424	117.3546714	 39.0673025	0	0	     22.845	0	0	1	0
+6425	117.3546718	 39.0673033	0	0	     22.845	0	0	1	0
+6426	117.3546723	 39.0673041	0	0	     22.845	0	0	1	0
+6427	117.3546727	 39.0673050	0	0	     22.845	0	0	1	0
+6428	117.3546732	 39.0673058	0	0	     22.845	0	0	1	0
+6429	117.3546736	 39.0673066	0	0	     22.845	0	0	1	0
+6430	117.3546741	 39.0673075	0	0	     22.845	0	0	1	0
+6431	117.3546745	 39.0673083	0	0	     22.845	0	0	1	0
+6432	117.3546750	 39.0673091	0	0	     22.845	0	0	1	0
+6433	117.3546754	 39.0673099	0	0	     22.845	0	0	1	0
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+6435	117.3546764	 39.0673116	0	0	     22.845	0	0	1	0
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+6439	117.3546782	 39.0673149	0	0	     22.845	0	0	1	0
+6440	117.3546786	 39.0673157	0	0	     22.845	0	0	1	0
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+6445	117.3546809	 39.0673199	0	0	     22.845	0	0	1	0
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+6447	117.3546818	 39.0673215	0	0	     22.845	0	0	1	0
+6448	117.3546822	 39.0673224	0	0	     22.845	0	0	1	0
+6449	117.3546827	 39.0673232	0	0	     22.845	0	0	1	0
+6450	117.3546831	 39.0673240	0	0	     22.845	0	0	1	0
+6451	117.3546836	 39.0673249	0	0	     22.845	0	0	1	0
+6452	117.3546840	 39.0673257	0	0	     22.845	0	0	1	0
+6453	117.3546845	 39.0673265	0	0	     22.845	0	0	1	0
+6454	117.3546850	 39.0673273	0	0	     22.845	0	0	1	0
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+6457	117.3546863	 39.0673298	0	0	     22.845	0	0	1	0
+6458	117.3546868	 39.0673307	0	0	     22.845	0	0	1	0
+6459	117.3546872	 39.0673315	0	0	     22.845	0	0	1	0
+6460	117.3546877	 39.0673323	0	0	     22.845	0	0	1	0
+6461	117.3546881	 39.0673331	0	0	     22.845	0	0	1	0
+6462	117.3546886	 39.0673340	0	0	     22.845	0	0	1	0
+6463	117.3546890	 39.0673348	0	0	     22.845	0	0	1	0
+6464	117.3546895	 39.0673356	0	0	     22.845	0	0	1	0
+6465	117.3546899	 39.0673365	0	0	     22.845	0	0	1	0
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+6470	117.3546922	 39.0673406	0	0	     22.845	0	0	1	0
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+6473	117.3546936	 39.0673431	0	0	     22.845	0	0	1	0
+6474	117.3546940	 39.0673439	0	0	     22.845	0	0	1	0
+6475	117.3546945	 39.0673447	0	0	     22.845	0	0	1	0
+6476	117.3546949	 39.0673456	0	0	     22.845	0	0	1	0
+6477	117.3546954	 39.0673464	0	0	     22.845	0	0	1	0
+6478	117.3546958	 39.0673472	0	0	     22.845	0	0	1	0
+6479	117.3546963	 39.0673481	0	0	     22.845	0	0	1	0
+6480	117.3546967	 39.0673489	0	0	     22.845	0	0	1	0
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+6482	117.3546976	 39.0673505	0	0	     22.845	0	0	1	0
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+6490	117.3547013	 39.0673572	0	0	     22.845	0	0	1	0
+6491	117.3547017	 39.0673580	0	0	     22.845	0	0	1	0
+6492	117.3547022	 39.0673588	0	0	     22.845	0	0	1	0
+6493	117.3547026	 39.0673597	0	0	     22.845	0	0	1	0
+6494	117.3547031	 39.0673605	0	0	     22.845	0	0	1	0
+6495	117.3547035	 39.0673613	0	0	     22.845	0	0	1	0
+6496	117.3547040	 39.0673621	0	0	     22.845	0	0	1	0
+6497	117.3547044	 39.0673630	0	0	     22.845	0	0	1	0
+6498	117.3547049	 39.0673638	0	0	     22.845	0	0	1	0
+6499	117.3547053	 39.0673646	0	0	     22.845	0	0	1	0
+6500	117.3547058	 39.0673655	0	0	     22.845	0	0	1	0
+6501	117.3547062	 39.0673663	0	0	     22.845	0	0	1	0
+6502	117.3547067	 39.0673671	0	0	     22.845	0	0	1	0
+6503	117.3547071	 39.0673679	0	0	     22.845	0	0	1	0
+6504	117.3547076	 39.0673688	0	0	     22.845	0	0	1	0
+6505	117.3547080	 39.0673696	0	0	     22.845	0	0	1	0
+6506	117.3547085	 39.0673704	0	0	     22.845	0	0	1	0
+6507	117.3547090	 39.0673713	0	0	     22.845	0	0	1	0
+6508	117.3547094	 39.0673721	0	0	     22.845	0	0	1	0
+6509	117.3547099	 39.0673729	0	0	     22.845	0	0	1	0
+6510	117.3547103	 39.0673737	0	0	     22.845	0	0	1	0
+6511	117.3547108	 39.0673746	0	0	     22.845	0	0	1	0
+6512	117.3547112	 39.0673754	0	0	     22.845	0	0	1	0
+6513	117.3547117	 39.0673762	0	0	     22.845	0	0	1	0
+6514	117.3547121	 39.0673771	0	0	     22.845	0	0	1	0
+6515	117.3547126	 39.0673779	0	0	     22.845	0	0	1	0
+6516	117.3547130	 39.0673787	0	0	     22.845	0	0	1	0
+6517	117.3547135	 39.0673795	0	0	     22.845	0	0	1	0
+6518	117.3547139	 39.0673804	0	0	     22.845	0	0	1	0
+6519	117.3547144	 39.0673812	0	0	     22.845	0	0	1	0
+6520	117.3547148	 39.0673820	0	0	     22.845	0	0	1	0
+6521	117.3547153	 39.0673829	0	0	     22.845	0	0	1	0
+6522	117.3547157	 39.0673837	0	0	     22.845	0	0	1	0
+6523	117.3547162	 39.0673845	0	0	     22.845	0	0	1	0
+6524	117.3547167	 39.0673853	0	0	     22.845	0	0	1	0
+6525	117.3547171	 39.0673862	0	0	     22.845	0	0	1	0
+6526	117.3547176	 39.0673870	0	0	     22.845	0	0	1	0
+6527	117.3547180	 39.0673878	0	0	     22.845	0	0	1	0
+6528	117.3547185	 39.0673887	0	0	     22.845	0	0	1	0
+6529	117.3547189	 39.0673895	0	0	     22.845	0	0	1	0
+6530	117.3547194	 39.0673903	0	0	     22.845	0	0	1	0
+6531	117.3547198	 39.0673911	0	0	     22.845	0	0	1	0
+6532	117.3547203	 39.0673920	0	0	     22.845	0	0	1	0
+6533	117.3547207	 39.0673928	0	0	     22.845	0	0	1	0
+6534	117.3547212	 39.0673936	0	0	     22.845	0	0	1	0
+6535	117.3547216	 39.0673945	0	0	     22.845	0	0	1	0
+6536	117.3547221	 39.0673953	0	0	     22.845	0	0	1	0
+6537	117.3547225	 39.0673961	0	0	     22.845	0	0	1	0
+6538	117.3547230	 39.0673969	0	0	     22.845	0	0	1	0
+6539	117.3547234	 39.0673978	0	0	     22.845	0	0	1	0
+6540	117.3547239	 39.0673986	0	0	     22.845	0	0	1	0
+6541	117.3547244	 39.0673994	0	0	     22.845	0	0	1	0
+6542	117.3547248	 39.0674003	0	0	     22.845	0	0	1	0
+6543	117.3547253	 39.0674011	0	0	     22.845	0	0	1	0
+6544	117.3547257	 39.0674019	0	0	     22.845	0	0	1	0
+6545	117.3547262	 39.0674027	0	0	     22.845	0	0	1	0
+6546	117.3547266	 39.0674036	0	0	     22.845	0	0	1	0
+6547	117.3547271	 39.0674044	0	0	     22.845	0	0	1	0
+6548	117.3547275	 39.0674052	0	0	     22.845	0	0	1	0
+6549	117.3547280	 39.0674061	0	0	     22.845	0	0	1	0
+6550	117.3547284	 39.0674069	0	0	     22.845	0	0	1	0
+6551	117.3547289	 39.0674077	0	0	     22.845	0	0	1	0
+6552	117.3547293	 39.0674085	0	0	     22.845	0	0	1	0

map/pos/pos_dongli_2pai_1020.txt

@@ -0,0 +1,12 @@
+1主楼	117.3537089	39.0670905
+2EMC	117.3588944	39.0658633
+3碰撞1	117.3581309	39.0637176
+3碰撞2	117.3580963	39.0637293
+3碰撞3	117.3582208	39.0638846
+3碰撞4	117.3581863	39.0639014
+4跑道	117.3572350	39.0628067
+5网联楼	117.3548637	39.0644184
+6风洞	117.3535495	39.0647477
+7软测	117.3536904	39.0654975
+7软测新	117.3535756	39.0652627
+7软测对	117.3534841	39.0652500

map/pos/pos_dongli_2pai_1021.txt

@@ -0,0 +1,12 @@
+1主楼	117.3537089	39.0670905
+2EMC	117.3588944	39.0658633
+3碰撞1	117.3581233	39.0637171
+3碰撞2	117.3580910	39.0637262
+3碰撞3	117.3581815	39.0638142
+3碰撞4	117.3581377	39.0638216
+4跑道	117.3572350	39.0628067
+5网联楼	117.3548637	39.0644184
+6风洞	117.3535495	39.0647477
+7软测	117.3536904	39.0654975
+7软测新	117.3535756	39.0652627
+7软测对	117.3534841	39.0652500

sh/HAPO/agx1/autodeploy.sh

@@ -8,31 +8,32 @@ if [ ! $check_result ];then
 fi
 
 app_name=(
-######controller##
-controller_midcar
-
-######decition####
-decition_brain
-
 ######driver######
 driver_lidar_rs16
-#driver_lidar_vlp16
-#driver_gps_hcp2
-#driver_radio_p900
+driver_gps_hcp2
 driver_can_nvidia_agx
-#driver_can_kvaser
-#driver_can_vci
 driver_map_trace
 driver_map_xodrload
 driver_rpc_server
 driver_cloud_grpc_client
+driver_grpc_server
+driver_rpc_server
+driver_group_grpc_client
 
 ######detection#####
-detection_lidar_cnn_segmentation
+detection_lidar_PointPillars_MultiHead
 detection_radar_delphi_esr
-detection_gps_hcp2
 detection_chassis
 
+######fusion#####
+lidar_radar_fusion_cnn
+
+######controller######
+controller_hapo
+
+######decition######
+decition_brain_sf
+
 ######tools########
 view_pointcloud
 view_gps
@@ -42,10 +43,10 @@ IVSysMan
 ivmapmake
 view_ivlog
 tool_querymsg
-ui_ads_hmi
 tool_xodrobj
 ivlog_record
 adciv_record
+ui_ads_hmi
 )
 
 for x in ${app_name[@]}
@@ -54,7 +55,6 @@ do
 	cp ./bin/${x} ./
 	./deploy.sh $x
 	if [ $? == 1 ];then
-		echo "build $x faile"
 		echo "build $x faile"
 		exit 1
 	fi
@@ -83,13 +83,19 @@ do
 	fi
 done
 
-echo "creat IVSysMan.xml"
-cp ./other/$CONFIG_IVSysMan ./deploy/app/IVSysMan.xml
-cp ./other/ADS_decision.xml ./deploy/app/ADS_decision.xml
-sed -i "s|xxxxxx|$PRO_DIR/deploy/app|g" ./deploy/app/IVSysMan.xml
-
 cp ./bin/*.so ./deploy/app/lib/
 
+qt_com=`arch`
+if [ $qt_com = "aarch64" ];then
+cp -r /usr/lib/aarch64-linux-gnu/nss/* ./deploy/app/lib/
+else
+cp -r /usr/lib/x86_64-linux-gnu/nss/* ./deploy/app/lib/
+fi
+
+cp ./sh/BaiDuMap.html ./deploy/app/
+cp ./sh/car.png ./deploy/app/
+cp ./sh/asphalt.jpg ./deploy/app/
+
 echo ""
 echo "***************"
 echo "***  done!  ***"

sh/HAPO/agx1/autogen.sh

@@ -1,19 +1,18 @@
+#qt_com=$(arch)
+qt_com=`arch`
+if [ $qt_com = "aarch64" ];then
+qtmake="/usr/lib/aarch64-linux-gnu/qt5/bin/qmake"
+else
+qtmake="/opt/Qt5.10.1/5.10.1/gcc_64/bin/qmake"
+fi
 
-#qtmake="/opt/Qt5.10.1/5.10.1/gcc_64/bin/qmake"
-#qtmake=/usr/bin/qmake
-#qtmake="/usr/lib/aarch64-linux-gnu/qt5/bin/qmake"
-if [ ! $qtmake ];then
-	echo -e "\e[33m qtmake not set, auto find it\e[0m"
-	qtmake=`find /opt -name "qmake" 2>/dev/null | grep 'gcc_64'`
+if [ $(uname -m) == "x86_64" ]; then
+    qtmake="/usr/lib/x86_64-linux-gnu/qt5/bin/qmake"
 fi
 
 if [ ! $qtmake ];then
-	echo -e "\e[33m qtmake not ,may be agx, auto find it\e[0m"
-	if [ -d '/usr/lib/aarch64-linux-gnu/qt5' ]; then
-    		qtmake='/usr/lib/aarch64-linux-gnu/qt5/bin/qmake'
-  	else
-    		echo "if NVIDIA,please sudo apt install qt"
-  	fi
+	echo -e "\e[33m qtmake not set, auto find it\e[0m"
+	qtmake=`find /opt -name "qmake" 2>/dev/null | grep 'gcc_64'`
 fi
 
 if [ ! $qtmake ];then
@@ -34,37 +33,6 @@ check_result()
 	fi
 }
 
-function checkOS_TYPE(){
-    if [[ ! -z "`uname | grep Darwin`" ]];then
-        OS_TYPE=osx
-		install_path=/Applications
-    elif [[ ! -z "`uname | grep Linux`" ]];then
-        OS_TYPE=linux
-		install_path=/usr/lib
-    else
-        echo "Unsupported operating systems!"
-        exit 1
-    fi
-    echo "The current operating system is"
-    echo $OS_TYPE
-}
-
-function checkos(){
-    if [[ -f /etc/redhat-release ]];then
-        OS=Centos
-    elif [[ ! -z "`cat /etc/issue | grep bian`" ]];then
-        OS=Debian
-    elif [[ ! -z "`cat /etc/issue | grep Ubuntu`" ]];then
-        OS=Ubuntu
-    else
-        echo "Unknow!!!"
-    fi
-	echo $OS
-}
-
-checkOS_TYPE
-checkos
-
 MAKEOPT=-j8
 
 mkdir bin
@@ -164,7 +132,7 @@ rm .qmake.stash
 cd ../../../
 
 controller_app_name=(
-    controller_midcar
+    controller_hapo
 )
 
 for x in ${controller_app_name[@]}
@@ -182,7 +150,7 @@ do
 done
 
 decition_app_name=(
-	decition_brain
+	decition_brain_sf
 	#decition_brain_ge3
 	#decition_brain_qingyuan
 	#decition_brain_vv7
@@ -210,6 +178,9 @@ driver_app_name=(
 	driver_map_xodrload
 	driver_rpc_server
 	driver_cloud_grpc_client
+	driver_grpc_server
+	driver_rpc_server
+	driver_group_grpc_client
 )
 
 for x in ${driver_app_name[@]}
@@ -227,9 +198,8 @@ do
 done
 
 detect_app_name=(
-	detection_lidar_cnn_segmentation
+	detection_lidar_PointPillars_MultiHead
 	detection_radar_delphi_esr
-	detection_gps_hcp2
 	detection_chassis
 )
 
@@ -247,6 +217,25 @@ do
 	cd ../../../
 done
 
+
+fution_app_name=(
+	lidar_radar_fusion_cnn
+)
+
+for x in ${fution_app_name[@]}
+do
+	cd src/fusion/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	check_result $?
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+
 tool_app_name=(
 	view_pointcloud
 	view_gps

sh/HAPO/agx2/IVSysMan.xml

@@ -1,14 +1,14 @@
 <xml>	
-	<module app="driver_can_nvidia_agx" dir="/home/nvidia/app" args=" " autostart="true"  group="Driver"/>
-	<module app="driver_rpc_client" dir="/home/nvidia/app" args=" " autostart="true"  group="Driver"/>	
-	<module app="driver_rpc_server" dir="/home/nvidia/app" args=" " autostart="true"  group="Driver"/>	
-	<module app="detection_radar_delphi_srr" dir="/home/nvidia/app" args=" " autostart="true"  group="Detection"/>
-	<module app="detection_mobileye" dir="/home/nvidia/app" args=" " autostart="true"  group="Detection"/>
-	<module app="detection_ultra_forvision" dir="/home/nvidia/app" args=" " autostart="true"  group="Detection"/>
-	<module app="fusion_radar_merge" dir="/home/nvidia/app" args=" " autostart="true"  group="Fusion"/>
-	<module app="view_ivlog" dir="/home/nvidia/app" args=" " autostart="false"  group="Tool"/>
-	<module app="view_radar" dir="/home/nvidia/app" args=" " autostart="false"  group="Tool"/>
-	<module app="view_gps" dir="/home/nvidia/app" args=" " autostart="false"  group="Tool"/>
-	<module app="adciv_record" dir="/home/nvidia/app" args=" " autostart="true"  group="Tool"/>
-	<module app="ivlog_record" dir="/home/nvidia/app" args=" " autostart="true1"  group="Tool"/>
+	<module app="driver_can_nvidia_agx" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>
+	<module app="driver_rpc_client" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
+	<module app="driver_rpc_server" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true1"  group="Driver"/>	
+	<module app="detection_radar_delphi_srr" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true1"  group="Detection"/>
+	<module app="detection_mobileye" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
+	<module app="detection_ultra_forvision" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true1"  group="Detection"/>
+	<module app="fusion_radar_merge" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true1"  group="Fusion"/>
+	<module app="view_ivlog" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+	<module app="view_radar" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+	<module app="view_gps" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+	<module app="adciv_record" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="tru1e"  group="Tool"/>
+	<module app="ivlog_record" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true1"  group="Tool"/>
 </xml>

sh/HAPO/agx2/adciv_record.xml

@@ -7,6 +7,7 @@
 		<param name="MEMNAME001" value="hcp2_gpsimu" />
 		<param name="MEMNAME002" value="radar_merge" />
 		<param name="MEMNAME003" value="ultra" />
+		<param name="MEMNAME004" value="mobileye" />
 
 	</node>
 </xml>

sh/HAPO/agx2/autodeploy.sh

@@ -13,7 +13,7 @@ driver_can_nvidia_agx
 driver_rpc_client
 
 ######detection#####
-detection_radar_delphi_srr
+#detection_radar_delphi_srr
 detection_mobileye
 
 ######tools########
@@ -44,6 +44,7 @@ lib_name=(
 	libivlog.so
 	libplatformif.so
 	libivexit.so
+	libivchart.so
 )
 
 for x in ${lib_name[@]}
@@ -56,13 +57,24 @@ do
 	fi
 done
 
-echo "creat IVSysMan.xml"
-cp ./other/$CONFIG_IVSysMan ./deploy/app/IVSysMan.xml
-cp ./other/ADS_decision.xml ./deploy/app/ADS_decision.xml
-sed -i "s|xxxxxx|$PRO_DIR/deploy/app|g" ./deploy/app/IVSysMan.xml
+#echo "creat IVSysMan.xml"
+#cp ./other/$CONFIG_IVSysMan ./deploy/app/IVSysMan.xml
+#cp ./other/ADS_decision.xml ./deploy/app/ADS_decision.xml
+#sed -i "s|xxxxxx|$PRO_DIR/deploy/app|g" ./deploy/app/IVSysMan.xml
 
 cp ./bin/*.so ./deploy/app/lib/
 
+qt_com=`arch`
+if [ $qt_com = "aarch64" ];then
+cp -r /usr/lib/aarch64-linux-gnu/nss/* ./deploy/app/lib/
+else
+cp -r /usr/lib/x86_64-linux-gnu/nss/* ./deploy/app/lib/
+fi
+
+cp ./sh/BaiDuMap.html ./deploy/app/
+cp ./sh/car.png ./deploy/app/
+cp ./sh/asphalt.jpg ./deploy/app/
+
 echo ""
 echo "***************"
 echo "***  done!  ***"

sh/HAPO/agx2/autogen.sh

@@ -1,19 +1,18 @@
+#qt_com=$(arch)
+qt_com=`arch`
+if [ $qt_com = "aarch64" ];then
+qtmake="/usr/lib/aarch64-linux-gnu/qt5/bin/qmake"
+else
+qtmake="/opt/Qt5.10.1/5.10.1/gcc_64/bin/qmake"
+fi
 
-#qtmake="/opt/Qt5.10.1/5.10.1/gcc_64/bin/qmake"
-#qtmake=/usr/bin/qmake
-#qtmake="/usr/lib/aarch64-linux-gnu/qt5/bin/qmake"
-if [ ! $qtmake ];then
-	echo -e "\e[33m qtmake not set, auto find it\e[0m"
-	qtmake=`find /opt -name "qmake" 2>/dev/null | grep 'gcc_64'`
+if [ $(uname -m) == "x86_64" ]; then
+    qtmake="/usr/lib/x86_64-linux-gnu/qt5/bin/qmake"
 fi
 
 if [ ! $qtmake ];then
-	echo -e "\e[33m qtmake not ,may be agx, auto find it\e[0m"
-	if [ -d '/usr/lib/aarch64-linux-gnu/qt5' ]; then
-    		qtmake='/usr/lib/aarch64-linux-gnu/qt5/bin/qmake'
-  	else
-    		echo "if NVIDIA,please sudo apt install qt"
-  	fi
+	echo -e "\e[33m qtmake not set, auto find it\e[0m"
+	qtmake=`find /opt -name "qmake" 2>/dev/null | grep 'gcc_64'`
 fi
 
 if [ ! $qtmake ];then
@@ -34,37 +33,6 @@ check_result()
 	fi
 }
 
-function checkOS_TYPE(){
-    if [[ ! -z "`uname | grep Darwin`" ]];then
-        OS_TYPE=osx
-		install_path=/Applications
-    elif [[ ! -z "`uname | grep Linux`" ]];then
-        OS_TYPE=linux
-		install_path=/usr/lib
-    else
-        echo "Unsupported operating systems!"
-        exit 1
-    fi
-    echo "The current operating system is"
-    echo $OS_TYPE
-}
-
-function checkos(){
-    if [[ -f /etc/redhat-release ]];then
-        OS=Centos
-    elif [[ ! -z "`cat /etc/issue | grep bian`" ]];then
-        OS=Debian
-    elif [[ ! -z "`cat /etc/issue | grep Ubuntu`" ]];then
-        OS=Ubuntu
-    else
-        echo "Unknow!!!"
-    fi
-	echo $OS
-}
-
-checkOS_TYPE
-checkos
-
 MAKEOPT=-j8
 
 mkdir bin
@@ -75,6 +43,7 @@ cd ../../../
 
 cd src/common/modulecomm/
 $qtmake modulecomm.pro
+check_result $?
 make $MAKEOPT
 check_result $?
 make clean
@@ -153,6 +122,16 @@ rm Makefile
 rm .qmake.stash
 cd ../../../
 
+cd src/common/ivchart/
+$qtmake ivchart.pro
+make $MAKEOPT
+check_result $?
+make clean
+cp libivchart.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
 controller_app_name=(
 #    controller_midcar
 )
@@ -212,7 +191,7 @@ do
 done
 
 detect_app_name=(
-	detection_radar_delphi_srr
+#	detection_radar_delphi_srr
 	detection_mobileye
 )
 

src/common/ivlog/ivlog.cpp

@@ -6,10 +6,14 @@
 
 namespace  iv {
 
+static int gminlevel = 0;
+static bool gbStdOut = false;
 
 Ivlog::Ivlog(const char * strmodulename)
 {
    ivlog_impl * p = new ivlog_impl(strmodulename);
+   gminlevel = p->GetMinLevel();
+   gbStdOut = p->GetbStdOut();
    p->start();
    mpimpl = (void *)p;
 }
@@ -30,6 +34,8 @@ va_end(ap) 用来清除list
 */
 void Ivlog::verbose(const char *str,...)
 {
+    if((gbStdOut== false) && (gminlevel > 0))return;
+
     va_list arg;
     char * strlog = new char[65636];
     std::shared_ptr<char> pstrlog; pstrlog.reset(strlog);
@@ -37,12 +43,21 @@ void Ivlog::verbose(const char *str,...)
     vsnprintf(strlog,65535,str,arg);
     va_end(arg);
 
+    if(gbStdOut)
+    {
+        std::cout<<strlog<<std::endl;
+    }
+
+    if(gminlevel>0)return;
+
     ivlog_impl * p = (ivlog_impl *)mpimpl;
     p->verbose(strlog);
 }
 
 void Ivlog::verbose(const char * strtag,const char *str,...)
 {
+    if((gbStdOut== false) && (gminlevel > 0))return;
+
     va_list arg;
     char * strlog = new char[65636];
     std::shared_ptr<char> pstrlog; pstrlog.reset(strlog);
@@ -50,103 +65,198 @@ void Ivlog::verbose(const char * strtag,const char *str,...)
     vsnprintf(strlog,65535,str,arg);
     va_end(arg);
 
+    if(gbStdOut)
+    {
+        std::cout<<strlog<<std::endl;
+    }
+
+
+    if(gminlevel>0)return;
+
     ivlog_impl * p = (ivlog_impl *)mpimpl;
     p->verbose(strlog,strtag);
 }
 
 void Ivlog::debug(const char *str,...)
 {
+    if((gbStdOut== false) && (gminlevel > 1))return;
+
+    ivlog_impl * p = (ivlog_impl *)mpimpl;
     va_list arg;
     char * strlog = new char[65636];
     std::shared_ptr<char> pstrlog; pstrlog.reset(strlog);
     va_start(arg, str);
     vsnprintf(strlog,65535,str,arg);
     va_end(arg);
-    ivlog_impl * p = (ivlog_impl *)mpimpl;
+
+    if(gbStdOut)
+    {
+        std::cout<<strlog<<std::endl;
+    }
+
+    if(gminlevel>1)return;
+
+
+
     p->debug(strlog);
 }
 
 void Ivlog::debug(const char * strtag,const char *str,...)
 {
+    if((gbStdOut== false) && (gminlevel > 1))return;
+
     va_list arg;
     char * strlog = new char[65636];
     std::shared_ptr<char> pstrlog; pstrlog.reset(strlog);
     va_start(arg, str);
     vsnprintf(strlog,65535,str,arg);
     va_end(arg);
+
+    if(gbStdOut)
+    {
+        std::cout<<strlog<<std::endl;
+    }
+
+    if(gminlevel>1)return;
     ivlog_impl * p = (ivlog_impl *)mpimpl;
+
     p->debug(strlog,strtag);
 }
 
 void Ivlog::info(const char *str,...)
 {
+    if((gbStdOut== false) && (gminlevel > 2))return;
+
     va_list arg;
     char * strlog = new char[65636];
     std::shared_ptr<char> pstrlog; pstrlog.reset(strlog);
     va_start(arg, str);
     vsnprintf(strlog,65535,str,arg);
     va_end(arg);
+
+    if(gbStdOut)
+    {
+        std::cout<<strlog<<std::endl;
+    }
+
+    if(gminlevel>2)return;
     ivlog_impl * p = (ivlog_impl *)mpimpl;
+
     p->info(strlog);
 }
 
 void Ivlog::info(const char * strtag,const char *str,...)
 {
+    if((gbStdOut== false) && (gminlevel > 2))return;
+
     va_list arg;
     char * strlog = new char[65636];
     std::shared_ptr<char> pstrlog; pstrlog.reset(strlog);
     va_start(arg, str);
     vsnprintf(strlog,65535,str,arg);
     va_end(arg);
+
+    if(gbStdOut)
+    {
+        std::cout<<strlog<<std::endl;
+    }
+
+    if(gminlevel>2)return;
     ivlog_impl * p = (ivlog_impl *)mpimpl;
+
     p->info(strlog,strtag);
 }
 
 void Ivlog::warn(const char *str,...)
 {
+    if((gbStdOut== false) && (gminlevel > 3))return;
+
     va_list arg;
     char * strlog = new char[65636];
     std::shared_ptr<char> pstrlog; pstrlog.reset(strlog);
     va_start(arg, str);
     vsnprintf(strlog,65535,str,arg);
     va_end(arg);
-   ivlog_impl * p = (ivlog_impl *)mpimpl;
+
+    if(gbStdOut)
+    {
+        std::cout<<strlog<<std::endl;
+    }
+
+    if(gminlevel>3)return;
+    ivlog_impl * p = (ivlog_impl *)mpimpl;
+
    p->warn(strlog);
 }
 
 void Ivlog::warn(const char * strtag,const char *str,...)
 {
+    if((gbStdOut== false) && (gminlevel > 3))return;
+
     va_list arg;
     char * strlog = new char[65636];
     std::shared_ptr<char> pstrlog; pstrlog.reset(strlog);
     va_start(arg, str);
     vsnprintf(strlog,65535,str,arg);
     va_end(arg);
-   ivlog_impl * p = (ivlog_impl *)mpimpl;
+
+    if(gbStdOut)
+    {
+        std::cout<<strlog<<std::endl;
+    }
+
+    if(gminlevel>3)return;
+    ivlog_impl * p = (ivlog_impl *)mpimpl;
+
    p->warn(strlog,strtag);
 }
 
 void Ivlog::error(const char *str,...)
 {
+    if((gbStdOut== false) && (gminlevel > 4))return;
+
     va_list arg;
     char * strlog = new char[65636];
     std::shared_ptr<char> pstrlog; pstrlog.reset(strlog);
     va_start(arg, str);
     vsnprintf(strlog,65535,str,arg);
     va_end(arg);
+
+    if(gbStdOut)
+    {
+        std::cout<<strlog<<std::endl;
+    }
+
+    if(gminlevel>4)return;
     ivlog_impl * p = (ivlog_impl *)mpimpl;
+
+
+
     p->error(strlog);
 }
 
 void Ivlog::error(const char * strtag, const char *str,...)
 {
+    if((gbStdOut== false) && (gminlevel > 4))return;
+
     va_list arg;
     char * strlog = new char[65636];
     std::shared_ptr<char> pstrlog; pstrlog.reset(strlog);
     va_start(arg, str);
     vsnprintf(strlog,65535,str,arg);
     va_end(arg);
+
+    if(gbStdOut)
+    {
+        std::cout<<strlog<<std::endl;
+    }
+
+
+    if(gminlevel>4)return;
     ivlog_impl * p = (ivlog_impl *)mpimpl;
+
+
+
     p->error(strlog,strtag);
 }
 

src/common/ivlog/ivlog.ini

@@ -0,0 +1,2 @@
+[setting]
+level=3

src/common/ivlog/ivlog_impl.cpp

@@ -2,6 +2,41 @@
 
 ivlog_impl::ivlog_impl(const char * strmodulename)
 {
+
+    QSettings * configini = new QSettings("ivlog.ini",QSettings::IniFormat);
+
+    QString strlevel = configini->value("setting/level").toString();
+
+    QString strstdout = configini->value("setting/stdout").toString();
+
+    if(strlevel == "")
+    {
+        mnMinLevel = 0;
+    }
+    else
+    {
+        mnMinLevel = strlevel.toInt();
+        if(mnMinLevel<0)mnMinLevel = 0;
+    }
+
+    if(strstdout == "")
+    {
+        mbStdOut = false;
+    }
+    else
+    {
+        if(strstdout == "true")
+        {
+            mbStdOut = true;
+        }
+    }
+
+    qDebug("log level is %d",mnMinLevel);
+    std::cout<<"log stdout is "<<mbStdOut<<std::endl;
+
+    delete configini;
+
+
     strncpy(mstrmodulename,strmodulename,255);
     mpid = getpid();
     mmsg = QDBusMessage::createSignal("/catarc/adc",  "adciv.interface", "ivlog");
@@ -24,26 +59,31 @@ ivlog_impl::~ivlog_impl()
 
 void ivlog_impl::verbose(const char *str,const char * strtag)
 {
+    if(mnMinLevel>0)return;
     setlog(iv::log::logdata_LOGCLASS_VERBOSE,str,strtag);
 }
 
 void ivlog_impl::debug(const char *str,const char * strtag)
 {
+    if(mnMinLevel>1)return;
     setlog(iv::log::logdata_LOGCLASS_DEBUG,str,strtag);
 }
 
 void ivlog_impl::info(const char *str,const char * strtag)
 {
+    if(mnMinLevel>2)return;
     setlog(iv::log::logdata_LOGCLASS_INFO,str,strtag);
 }
 
 void ivlog_impl::warn(const char *str,const char * strtag)
 {
+    if(mnMinLevel>3)return;
     setlog(iv::log::logdata_LOGCLASS_WARN,str,strtag);
 }
 
 void ivlog_impl::error(const char *str,const char * strtag)
 {
+    if(mnMinLevel>4)return;
     setlog(iv::log::logdata_LOGCLASS_ERROR,str,strtag);
 }
 
@@ -56,11 +96,23 @@ inline void ivlog_impl::setlog(iv::log::logdata_LOGCLASS logclass, const char *l
     log.set_modulename(mstrmodulename,strnlen(mstrmodulename,255));
     log.set_pid(mpid);
     if(strtag != 0)log.set_logtag(strtag,strnlen(strtag,256));
-    mMutexVector.lock();
-    mvectorlog.push_back(log);
-    mMutexVector.unlock();
     int logxc = (int)logclass;
     int logrealmin = (int)iv::log::logdata_LOGCLASS_WARN;
+    mMutexVector.lock();
+    if(mvectorlog.size()<1000)
+    {
+        mvectorlog.push_back(log);
+    }
+    else
+    {
+        if(mvectorlog.size()<2000)
+        {
+            if(logxc >= logrealmin) mvectorlog.push_back(log);
+        }
+    }
+    mMutexVector.unlock();
+
+
     if(logxc >= logrealmin)
     {
         mwc.wakeAll();
@@ -118,6 +170,16 @@ int ivlog_impl::writelog(std::vector<iv::log::logdata> xvectorlog)
     return 0;
 }
 
+int ivlog_impl::GetMinLevel()
+{
+    return mnMinLevel;
+}
+
+bool ivlog_impl::GetbStdOut()
+{
+    return mbStdOut;
+}
+
 void ivlog_impl::run()
 {
     std::vector<iv::log::logdata> xvectorlog;
@@ -133,6 +195,7 @@ void ivlog_impl::run()
         mMutexVector.unlock();
         if(xvectorlog.size() > 0)
         {
+//            qDebug("write log");
             writelog(xvectorlog);
         }
     }

src/common/ivlog/ivlog_impl.h

@@ -11,6 +11,7 @@
 #include <vector>
 #include <memory>
 #include <iostream>
+#include <QSettings>
 
 #include <unistd.h>
 
@@ -43,6 +44,13 @@ private:
     std::vector<iv::log::logdata> mvectorlog;
     QMutex mMutexVector;
     int writelog(std::vector<iv::log::logdata>xvectorlog);
+
+    int mnMinLevel = 0;
+    bool mbStdOut = false;
+
+public:
+    int GetMinLevel();
+    bool GetbStdOut();
 };
 
 #endif // IVLOG_IMPL_H

src/common/modulecomm/shm/procsm.cpp

@@ -9,6 +9,25 @@
 #include <unistd.h>
 #endif
 
+
+//#define RESET   "\033[0m"
+//#define BLACK   "\033[30m"      /* Black */
+//#define RED     "\033[31m"      /* Red */
+//#define GREEN   "\033[32m"      /* Green */
+//#define YELLOW  "\033[33m"      /* Yellow */
+//#define BLUE    "\033[34m"      /* Blue */
+//#define MAGENTA "\033[35m"      /* Magenta */
+//#define CYAN    "\033[36m"      /* Cyan */
+//#define WHITE   "\033[37m"      /* White */
+//#define BOLDBLACK   "\033[1m\033[30m"      /* Bold Black */
+//#define BOLDRED     "\033[1m\033[31m"      /* Bold Red */
+//#define BOLDGREEN   "\033[1m\033[32m"      /* Bold Green */
+//#define BOLDYELLOW  "\033[1m\033[33m"      /* Bold Yellow */
+//#define BOLDBLUE    "\033[1m\033[34m"      /* Bold Blue */
+//#define BOLDMAGENTA "\033[1m\033[35m"      /* Bold Magenta */
+//#define BOLDCYAN    "\033[1m\033[36m"      /* Bold Cyan */
+//#define BOLDWHITE   "\033[1m\033[37m"      /* Bold White */
+
 class AttachThread : public QThread
 {
   public:
@@ -28,16 +47,44 @@ class AttachThread : public QThread
     }
 };
 
+void procsm::threadAttachMon()
+{
+    std::cout<<"\033[1m\033[32m"<<mstrsmname<<" threadAttachMon run."<<"\033[0m"<<std::endl;
+
+    int nCount = 0;
+    while(mbAttachRun)
+    {
+        if(mbInitComplete)
+        {
+            std::cout<<"\033[1m\033[32m"<<mstrsmname<<" Init Succesffuly."<<"\033[0m"<<std::endl;
+            break;
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        nCount++;
+        if(nCount>300)
+        {
+            std::cerr<<"\033[1m\033[31m"<<" modulecomm msg "<<mstrsmname<<" Attach Fail."<<" Now Exit."<<"\033[0m"<<std::endl;
+            std::this_thread::sleep_for(std::chrono::milliseconds(10));
+            exit(-1);
+        }
+    }
+    mbAttachThreadComplete = true;
+}
+
 procsm::procsm(const char * strsmname,const unsigned int nBufSize,const unsigned int nMaxPacCount,const int nMode)
 {
 //    mnBufSize = nBufSize;
 
 //    qDebug("create dbus");
 
+
+
     strncpy(mstrsmname,strsmname,256);
 
     mpASMPtr = new QSharedMemory(strsmname);
 
+    mpthreadattmon = new std::thread(&procsm::threadAttachMon,this);
+
 
     char strasmname[256];
 
@@ -63,6 +110,7 @@ procsm::procsm(const char * strsmname,const unsigned int nBufSize,const unsigned
     }
     else
     {
+        mbInitComplete = true;
         return;
     }
 
@@ -159,6 +207,36 @@ procsm::procsm(const char * strsmname,const unsigned int nBufSize,const unsigned
 
 
     }
+
+    mbInitComplete = true;
+}
+
+procsm::~procsm()
+{
+    if(mbAttachThreadComplete == false)
+    {
+        std::cout<<" Try to end Attach Monitor Thread."<<std::endl;
+        mbAttachRun = false;
+        mpthreadattmon->join();
+    }
+
+    if(mpASMPtr->isAttached())
+    {
+        std::cout<<"\033[32m"<<mstrsmname<<" detach ASMPtr "<<"\033[0m"<<std::endl;
+        mpASMPtr->lock();
+        if(mpASM->isAttached())
+        {
+            std::cout<<"\033[32m"<<mstrsmname<<" detach ASM "<<"\033[0m"<<std::endl;
+            mpASM->detach();
+        }
+        mpASMPtr->unlock();
+        delete mpASM;
+        mpASMPtr->detach();
+    }
+    delete mpASMPtr;
+    std::cout<<"\033[32m"<<mstrsmname<<" ~procsm() "<<"\033[0m"<<std::endl;
+
+
 }
 
 void procsm::recreateasm(int nbufsize)
@@ -529,7 +607,7 @@ int procsm::readmsg(unsigned int index, char *str, unsigned int nMaxSize,unsigne
     if(mbAttach == false)
     {
         std::cout<<"ShareMemory Attach fail."<<std::endl;
-        return -1;
+        return -3;
     }    
     int nRtn = 0;
     mpASM->lock();

src/common/modulecomm/shm/procsm.h

@@ -6,6 +6,7 @@
 #include <QDateTime>
 #include <QList>
 #include <QVariant>
+#include <thread>
 
 #ifdef USEDBUS
 #include <QtDBus/QDBusMessage>
@@ -79,6 +80,7 @@ class procsm : public QObject
 #endif
 public:
     procsm(const char * strsmname,const unsigned int nBufSize,const unsigned int nMaxPacCount,const int nMode);
+    ~procsm();
     int writemsg(const char * str,const unsigned int nSize);
     unsigned int getcurrentnext();
     int readmsg(unsigned int index,char * str,unsigned int nMaxSize,unsigned int * nRead,QDateTime * pdt);
@@ -124,6 +126,15 @@ private:
 private:
     char mstrsmname[256];
 
+private:
+    bool mbInitComplete = false;
+    void threadAttachMon();
+    bool mbAttachRun = true;
+    bool mbAttachThreadComplete = false;
+
+private:
+    std::thread * mpthreadattmon;
+
 
 
 };

src/common/modulecomm/shm/procsm_if.cpp

@@ -137,6 +137,7 @@ void procsm_if_readthread::run()
                 delete str;
                 if(nBufLen < 1)nBufLen = 1;
                 str = new char[nBufLen];
+  //              std::cout<<"modulecomm resize str to "<<nBufLen<<std::endl;
             }
             else
             {

src/controller/controller_UI_test/boost.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#ifndef _IV_BOOST_H_
+#define _IV_BOOST_H_
+
+#if defined __GNUC__
+#  pragma GCC system_header 
+#endif
+#ifndef __CUDACC__
+//https://bugreports.qt-project.org/browse/QTBUG-22829
+#ifndef Q_MOC_RUN
+#include <boost/version.hpp>
+#include <boost/numeric/conversion/cast.hpp>
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/condition.hpp>
+#include <boost/thread.hpp>
+#include <boost/thread/thread.hpp>
+#include <boost/filesystem.hpp>
+#include <boost/bind.hpp>
+#include <boost/cstdint.hpp>
+#include <boost/function.hpp>
+#include <boost/tuple/tuple.hpp>
+#include <boost/shared_ptr.hpp>
+#include <boost/weak_ptr.hpp>
+#include <boost/mpl/fold.hpp>
+#include <boost/mpl/inherit.hpp>
+#include <boost/mpl/inherit_linearly.hpp>
+#include <boost/mpl/joint_view.hpp>
+#include <boost/mpl/transform.hpp>
+#include <boost/mpl/vector.hpp>
+#include <boost/algorithm/string.hpp>
+#ifndef Q_MOC_RUN
+#include <boost/date_time/posix_time/posix_time.hpp>
+#endif
+#if BOOST_VERSION >= 104700
+#include <boost/chrono.hpp>
+#endif
+#include <boost/tokenizer.hpp>
+#include <boost/foreach.hpp>
+#include <boost/shared_array.hpp>
+#include <boost/interprocess/sync/file_lock.hpp>
+#if BOOST_VERSION >= 104900
+#include <boost/interprocess/permissions.hpp>
+#endif
+#include <boost/iostreams/device/mapped_file.hpp>
+#define BOOST_PARAMETER_MAX_ARITY 7
+#include <boost/signals2.hpp>
+#include <boost/signals2/slot.hpp>
+#endif
+#endif
+#endif    // _IV_BOOST_H_

src/controller/controller_UI_test/common/boost.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#ifndef _IV_BOOST_H_
+#define _IV_BOOST_H_
+
+#if defined __GNUC__
+#  pragma GCC system_header 
+#endif
+#ifndef __CUDACC__
+//https://bugreports.qt-project.org/browse/QTBUG-22829
+#ifndef Q_MOC_RUN
+#include <boost/version.hpp>
+#include <boost/numeric/conversion/cast.hpp>
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/condition.hpp>
+#include <boost/thread.hpp>
+#include <boost/thread/thread.hpp>
+#include <boost/filesystem.hpp>
+#include <boost/bind.hpp>
+#include <boost/cstdint.hpp>
+#include <boost/function.hpp>
+#include <boost/tuple/tuple.hpp>
+#include <boost/shared_ptr.hpp>
+#include <boost/weak_ptr.hpp>
+#include <boost/mpl/fold.hpp>
+#include <boost/mpl/inherit.hpp>
+#include <boost/mpl/inherit_linearly.hpp>
+#include <boost/mpl/joint_view.hpp>
+#include <boost/mpl/transform.hpp>
+#include <boost/mpl/vector.hpp>
+#include <boost/algorithm/string.hpp>
+#ifndef Q_MOC_RUN
+#include <boost/date_time/posix_time/posix_time.hpp>
+#endif
+#if BOOST_VERSION >= 104700
+#include <boost/chrono.hpp>
+#endif
+#include <boost/tokenizer.hpp>
+#include <boost/foreach.hpp>
+#include <boost/shared_array.hpp>
+#include <boost/interprocess/sync/file_lock.hpp>
+#if BOOST_VERSION >= 104900
+#include <boost/interprocess/permissions.hpp>
+#endif
+#include <boost/iostreams/device/mapped_file.hpp>
+#define BOOST_PARAMETER_MAX_ARITY 7
+#include <boost/signals2.hpp>
+#include <boost/signals2/slot.hpp>
+#endif
+#endif
+#endif    // _IV_BOOST_H_

src/controller/controller_UI_test/common/car_status.cpp

@@ -0,0 +1,20 @@
+#include "common/car_status.h"
+
+#ifdef linux
+
+unsigned long GetTickCount()
+{
+ struct timespec ts;
+ clock_gettime(CLOCK_MONOTONIC,&ts);
+ return (ts.tv_sec * 1000 + ts.tv_nsec/(1000*1000) );
+}
+#endif
+
+iv::CarStatus::CarStatus()
+{
+
+}
+
+iv::CarStatus::~CarStatus()
+{
+}

src/controller/controller_UI_test/common/car_status.h

@@ -0,0 +1,28 @@
+#pragma once
+#ifndef _IV_COMMON_CAR_STATUS_
+#define _IV_COMMON_CAR_STATUS_
+
+#include <common/boost.h>
+#include <boost/serialization/singleton.hpp>
+#include <time.h>
+#include <QTime>
+#include <QVector>
+
+
+#ifdef linux
+unsigned long GetTickCount();
+#endif
+namespace iv {
+class CarStatus : public boost::noncopyable {
+public:
+    CarStatus();
+    ~CarStatus();
+
+    float wheelangle = 0;
+    float torque = 0;
+    float brake = 0;
+};
+typedef boost::serialization::singleton<iv::CarStatus> CarStatusSingleton;//非线程安全，注意多线程加锁，单例模式
+}
+#define ServiceCarStatus iv::CarStatusSingleton::get_mutable_instance()
+#endif // !_IV_COMMON_CAR_STATUS_

src/controller/controller_UI_test/control/control.pri

@@ -0,0 +1,10 @@
+HEADERS += \
+    $$PWD/controller.h \
+    $$PWD/control_status.h \
+    $$PWD/vv7.h
+
+SOURCES += \
+    $$PWD/controller.cpp \
+    $$PWD/control_status.cpp
+
+DISTFILES +=

src/controller/controller_UI_test/control/control_status.cpp

@@ -0,0 +1,488 @@
+#include <control/control_status.h>
+#include <QDebug>
+
+
+
+
+
+//#if 1
+
+
+void iv::control::ControlStatus::set_cmd_checksum(unsigned char cmd_id)
+{
+    unsigned int check_sum=0;
+    if(cmd_id==0x10)
+    {
+        for(int i=0;i<7;i++)
+        {
+            check_sum^=(ServiceControlStatus.command10.byte[i]);
+        }
+        ServiceControlStatus.command10.byte[7]=check_sum;
+    }else if(cmd_id==0x11)
+    {
+        for(int i=0;i<7;i++)
+        {
+            check_sum^=(ServiceControlStatus.command11.byte[i]);
+        }
+        ServiceControlStatus.command11.byte[7]=check_sum;
+    }else if(cmd_id==0x12)
+    {
+        for(int i=0;i<7;i++)
+        {
+            check_sum^=(ServiceControlStatus.command12.byte[i]);
+        }
+        ServiceControlStatus.command12.byte[7]=check_sum;
+    }
+}
+
+
+
+
+void iv::control::ControlStatus::set_wheel_angle(float angle)
+{
+
+    int ang =(angle+870)*10;
+    ServiceControlStatus.command12.bit.ang_H = (ang)  /256;
+    ServiceControlStatus.command12.bit.ang_L = (ang)  % 256;
+}
+
+
+
+void iv::control::ControlStatus::set_wheel_speed(float speed)
+{
+
+    int angSpeed =speed;
+    ServiceControlStatus.command12.bit.ang_speed = angSpeed;
+}
+
+void iv::control::ControlStatus::set_wheel_enable(bool enable)
+{
+
+    if(enable){
+        ServiceControlStatus.command12.bit.ang_enable = 1;
+    }else{
+        ServiceControlStatus.command12.bit.ang_enable = 0;
+    }
+}
+
+
+
+
+ void iv::control::ControlStatus::set_speed_limit(float speed)
+ {
+     ServiceControlStatus.command11.bit.speed_limit = (unsigned)speed;
+ }
+
+
+
+void iv::control::ControlStatus::set_aeb(float aeb)
+{
+    int aebBrake =(aeb+16)/0.000488;
+    ServiceControlStatus.command11.bit.aeb_H = (aebBrake)  /256;
+    ServiceControlStatus.command11.bit.aeb_L = (aebBrake)  % 256;
+}
+
+void iv::control::ControlStatus::set_torque(float troque)
+{
+    command11.bit.torque=(unsigned)(troque*2.5);
+}
+
+void iv::control::ControlStatus::set_brake(float brake)
+{
+    command11.bit.brake=(unsigned)brake;
+}
+
+
+
+void iv::control::ControlStatus::set_gear(int gear)
+{
+    command11.bit.gear = (unsigned)gear;
+}
+
+void iv::control::ControlStatus::set_handBrake(bool handbrake)
+{
+    if(handbrake){
+        command11.bit.park = 2;
+    }else{
+        command11.bit.park = 1;
+    }
+}
+
+void iv::control::ControlStatus::set_driveMode(char driveMode)
+{
+    command11.bit.driveMode = (unsigned)driveMode;
+}
+
+void iv::control::ControlStatus::set_gear_enable(bool enable){
+    if (enable == true)
+        command11.bit.gear_enable = 1;
+    else
+        command11.bit.gear_enable = 0;
+}
+
+void iv::control::ControlStatus::set_acc_enable(bool enable){
+    if (enable == true)
+        command11.bit.acc_enable = 1;
+    else
+        command11.bit.acc_enable = 0;
+}
+
+void iv::control::ControlStatus::set_aeb_enable(bool enable){
+    if (enable == true)
+        command11.bit.aeb_enable = 1;
+    else
+        command11.bit.aeb_enable = 0;
+}
+
+
+//void iv::control::ControlStatus::set_win_lf(char para)
+//{
+//    command10.bit.windowlf = (unsigned)para;
+//}
+
+//void iv::control::ControlStatus::set_win_rf(char para)
+//{
+//    command10.bit.windowrf = (unsigned)para;
+//}
+
+//void iv::control::ControlStatus::set_win_lr(char para)
+//{
+//    command10.bit.windowlr = (unsigned)para;
+//}
+
+//void iv::control::ControlStatus::set_win_rr(char para)
+//{
+//    command10.bit.windowrr = (unsigned)para;
+//}
+
+//空调控制
+void iv::control::ControlStatus::set_air_on(char para)
+{
+    command10.bit.air_on = (unsigned)para;
+}
+
+
+
+//void iv::control::ControlStatus::set_air_cricle(char para)
+//{
+//    command10.bit.air_cricle = (unsigned)para;
+//}
+
+
+//void iv::control::ControlStatus::set_air_auto(char para)
+//{
+//    command10.bit.air_auto = (unsigned)para;
+//}
+
+
+//void iv::control::ControlStatus::set_air_off(char para)
+//{
+//    command10.bit.air_off = (unsigned)para;
+//}
+
+
+//void iv::control::ControlStatus::set_air_temup(char para)
+//{
+//    command10.bit.tem_up = (unsigned)para;
+//}
+
+
+//void iv::control::ControlStatus::set_air_temdown(char para)
+//{
+//    command10.bit.tem_down = (unsigned)para;
+//}
+
+
+//void iv::control::ControlStatus::set_air_powerup(char para)
+//{
+//    command10.bit.power_up = (unsigned)para;
+//}
+
+
+//void iv::control::ControlStatus::set_air_powerdown(char para)
+//{
+//    command10.bit.power_down = (unsigned)para;
+//}
+
+
+void iv::control::ControlStatus::set_obligate(char para)
+{
+    command10.bit.ignition = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_door(char enable)
+{
+    command10.bit.door = (unsigned)enable;
+}
+
+
+void iv::control::ControlStatus::set_turnsignals_control(bool left, bool right)
+{
+    if ( (left == true) && (right == false) )
+    {
+        command10.bit.turn_light = 0x01;
+    }
+    else if ( (left == false) && (right == true) )
+    {
+        command10.bit.turn_light = 0x02;
+    }
+    else if ((left == false) && (right == false))
+    {
+        command10.bit.turn_light = 0x00;
+    }
+    else
+    {
+        command10.bit.turn_light = 0x03;
+    }
+}
+
+
+void iv::control::ControlStatus::set_small_light(char para)
+{
+    command10.bit.small_light = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_near_light(char para)
+{
+    command10.bit.near_light = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_horn(char para)
+{
+    command10.bit.horn = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_far_light(char para)
+{
+    command10.bit.far_light = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_frog_light(char para)
+{
+    command10.bit.fog_light = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_wiper(char para)
+{
+    command10.bit.wiper = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_brake_light(char para)
+{
+    command10.bit.brake_light = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_defrog(char para)
+{
+    command10.bit.defrog = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_reverse_light(char para)
+{
+    command10.bit.revers_light = (unsigned)para;
+}
+
+
+void set_air_temp(char para);
+void set_air_mode(char para);
+void set_air_enable(bool enable);
+void set_wind_level(char para);
+void set_roof_light(char para);
+void set_home_light(char para);
+void set_air_worktime(char para);
+void set_air_offtime(char para);
+
+void iv::control::ControlStatus::set_air_temp(char para)
+{
+    command10.bit.air_temp = (unsigned)para+40;
+}
+
+
+void iv::control::ControlStatus::set_air_mode(char para)
+{
+    command10.bit.air_mode = (unsigned)para;
+}
+
+void iv::control::ControlStatus::set_air_enable(bool enable)
+{
+    if(enable){
+        command10.bit.air_enable = 0x01;
+    }else{
+        command10.bit.air_enable = 0x00;
+    }
+}
+
+void iv::control::ControlStatus::set_wind_level(char para)
+{
+    command10.bit.air_wind_level = (unsigned)para;
+}
+
+void iv::control::ControlStatus::set_roof_light(char para)
+{
+    command10.bit.roof_light = (unsigned)para;
+}
+
+void iv::control::ControlStatus::set_home_light(char para)
+{
+    command10.bit.home_light = (unsigned)para;
+}
+
+void iv::control::ControlStatus::set_air_worktime(char para)
+{
+    command10.bit.air_work_time = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_air_offtime(char para)
+{
+    command10.bit.air_off_time = (unsigned)para;
+}
+
+
+//void iv::control::ControlStatus::set_speaker(bool enable){
+//    if (enable == true)
+//        command.bit.speaker = 1;
+//    else
+//        command.bit.speaker = 0;
+//}
+
+//void iv::control::ControlStatus::set_door(char enable){
+//    if (enable == true)
+//        command.bit.door = 1;
+//    else
+//        command.bit.door = 0;
+//}
+
+//void iv::control::ControlStatus::set_doorEnable(bool enable){
+//    if (enable == true){
+//        command.bit.doorEnable = 1;
+//        command.bit.door=1;
+//    }
+//    else{
+//        command.bit.doorEnable = 0;
+//        command.bit.door=0;
+//    }
+//}
+
+////void iv::control::ControlStatus::set_flicker(bool enable){
+////    if (enable == true)
+////        command.bit.flicker = 1;
+////    else
+////        command.bit.flicker = 0;
+////}
+//void iv::control::ControlStatus::set_light(bool enable){
+//    if (enable == true)
+//       command.bit.bright = 1;
+//    else
+//       command.bit.bright = 0;
+//}
+
+//void iv::control::ControlStatus::set_leftlight(bool enable){
+//    if (enable == true)
+//       command.bit.left_turn = 1;
+//    else
+//       command.bit.left_turn = 0;
+//}
+
+
+//void iv::control::ControlStatus::set_rightlight(bool enable){
+//    if (enable == true)
+//       command.bit.right_turn = 1;
+//    else
+//       command.bit.right_turn = 0;
+//}
+
+
+
+
+
+
+//void iv::control::ControlStatus::set_turnsignals_control(bool left, bool right){
+//    if (left == true)
+//    {
+//        command.bit.left_turn = 1;
+//        command.bit.right_turn = 0;
+//    }
+//    else if (right == true)
+//    {
+//        command.bit.left_turn = 0;
+//        command.bit.right_turn = 1;
+//    }
+//    else
+//    {
+//        command.bit.left_turn = 0;
+//        command.bit.right_turn = 0;
+//    }
+//}
+
+
+
+
+
+
+
+
+//#else
+
+//void iv::control::ControlStatus::set_accelerate(float percent)
+//{
+//    command.bit.acce = (unsigned)((percent + 7) * 20);
+//}
+//void iv::control::ControlStatus::set_wheel_angle(float angle)
+//{
+//    command.bit.ang_H = angle * 10 >> 8;
+
+//    command.bit.ang_L = angle * 10 % 256;
+//}
+//void iv::control::ControlStatus::set_engine(char enable)
+//{
+//    command.bit.engine = enable;
+//}
+//void iv::control::ControlStatus::set_door(char enable){
+//    command.bit.door = enable;
+//}
+//void iv::control::ControlStatus::set_speaker(bool enable){
+//    if (enable == true)
+//        command.bit.speaker = 1;
+//    else
+//        command.bit.speaker = 0;
+//}
+//void iv::control::ControlStatus::set_flicker(bool enable){
+//    if (enable == true)
+//        command.bit.flicker = 1;
+//    else
+//        command.bit.flicker = 0;
+//}
+//void iv::control::ControlStatus::set_light(bool enable){
+//    if (enable == true)
+//       command.bit.bright = 1;
+//    else
+//       command.bit.bright = 0;
+//}
+//void iv::control::ControlStatus::set_turnsignals_control(bool left, bool right){
+//    if (left == true)
+//    {
+//        command.bit.left_turn = 1;
+//        command.bit.right_turn = 0;
+//    }
+//    else if (right == true)
+//    {
+//        command.bit.left_turn = 0;
+//        command.bit.right_turn = 1;
+//    }
+//    else
+//    {
+//        command.bit.left_turn = 0;
+//        command.bit.right_turn = 0;
+//    }
+//}
+//#endif

src/controller/controller_UI_test/control/control_status.h

@@ -0,0 +1,108 @@
+#pragma once
+//由于控制器指令共享同一个ID 0x20，建立此类维护控制指令的最新状态
+
+#include <boost.h>
+#include <cstdint>
+#include <boost/serialization/singleton.hpp>
+#include <control/vv7.h>
+
+namespace iv {
+namespace control {
+class ControlStatus : public boost::noncopyable
+{
+public:
+    /*****************
+             * ****测试标志位*****
+             * ***************/
+    int normal_speed  = 0;//常规速度
+    int swerve_speed  = 0;//转弯速度
+    int high_speed = 0;//快速
+    int mid_speed = 0;//中速
+    int low_speed = 0;//慢速
+    int change_line  = -1;//换道标志
+    int stop_obstacle = -1;//停障标志
+    int elude_obstacle = -1;//避障标志
+    int special_signle = -1;//特殊信号标志
+    int car_pullover = -1;//靠边停车标志位
+    float torque = 0.0;
+    float brake = 0.0;
+    float acc=0.0;
+
+    Command10 command10 ;
+    Command11 command11 ;
+    Command12 command12;
+    Command_Response command_reponse;
+
+    int command_ID10 = 0x10;
+    int command_ID11 = 0x11;
+    int command_ID12 = 0x12;
+
+
+    void set_wheel_angle(float angle);
+    void set_wheel_speed(float speed);
+    void set_wheel_enable(bool enable);
+
+
+
+
+
+    void set_speed_limit(float speed);
+    void set_torque(float percent);
+    void set_aeb(float aeb);
+    void set_brake(float brake);
+    void set_gear(int gear);
+    void set_handBrake(bool handBrake);
+    void set_driveMode(char mode);
+    void set_gear_enable(bool enable);
+    void set_aeb_enable(bool enable);
+    void set_acc_enable(bool enable);
+
+
+
+
+    void set_win_lf(char para);
+    void set_win_rf(char para);
+    void set_win_lr(char para);
+    void set_win_rr(char para);
+    void set_air_on(char para);
+    void set_air_cricle(char para);
+    void set_air_auto(char para);
+    void set_air_off(char para);
+    void set_air_temup(char para);
+    void set_air_temdown(char para);
+    void set_air_powerup(char para);
+    void set_air_powerdown(char para);
+    void set_obligate(char para);
+    void set_door(char enable);
+    void set_turnsignals_control(bool left, bool right);
+    void set_small_light(char para);
+    void set_near_light(char para);
+    void set_horn(char para);
+    void set_far_light(char para);
+    void set_frog_light(char para);
+    void set_wiper(char para);
+    void set_brake_light(char para);
+    void set_defrog(char para);
+    void set_reverse_light(char para);
+
+    void set_air_temp(char para);
+    void set_air_mode(char para);
+    void set_air_enable(bool enable);
+    void set_wind_level(char para);
+    void set_roof_light(char para);
+    void set_home_light(char para);
+    void set_air_worktime(char para);
+    void set_air_offtime(char para);
+
+    void set_cmd_checksum(unsigned char cmd_id);
+
+
+
+
+
+
+};
+typedef boost::serialization::singleton<iv::control::ControlStatus> ControlStatusSingleton;
+}
+}
+#define ServiceControlStatus iv::control::ControlStatusSingleton::get_mutable_instance()

src/controller/controller_UI_test/control/controlcan.h

@@ -0,0 +1,145 @@
+#ifndef CONTROLCAN1_H
+#define CONTROLCAN1_H
+
+
+#ifdef linux
+//接口卡类型定义
+#define VCI_PCI5121		1
+#define VCI_PCI9810		2
+#define VCI_USBCAN1		3
+#define VCI_USBCAN2		4
+#define VCI_PCI9820		5
+#define VCI_CAN232		6
+#define VCI_PCI5110		7
+#define VCI_CANLite		8
+#define VCI_ISA9620		9
+#define VCI_ISA5420		10
+
+//CAN错误码
+#define	ERR_CAN_OVERFLOW			0x0001	//CAN控制器内部FIFO溢出
+#define	ERR_CAN_ERRALARM			0x0002	//CAN控制器错误报警
+#define	ERR_CAN_PASSIVE				0x0004	//CAN控制器消极错误
+#define	ERR_CAN_LOSE				0x0008	//CAN控制器仲裁丢失
+#define	ERR_CAN_BUSERR				0x0010	//CAN控制器总线错误
+
+//通用错误码
+#define	ERR_DEVICEOPENED			0x0100	//设备已经打开
+#define	ERR_DEVICEOPEN				0x0200	//打开设备错误
+#define	ERR_DEVICENOTOPEN			0x0400	//设备没有打开
+#define	ERR_BUFFEROVERFLOW			0x0800	//缓冲区溢出
+#define	ERR_DEVICENOTEXIST			0x1000	//此设备不存在
+#define	ERR_LOADKERNELDLL			0x2000	//装载动态库失败
+#define ERR_CMDFAILED				0x4000	//执行命令失败错误码
+#define	ERR_BUFFERCREATE			0x8000	//内存不足
+
+
+//函数调用返回状态值
+#define	STATUS_OK					1
+#define STATUS_ERR					0
+	
+#define USHORT unsigned short int
+#define BYTE unsigned char
+#define CHAR char
+#define UCHAR unsigned char
+#define UINT unsigned int
+#define DWORD unsigned int
+#define PVOID void*
+#define ULONG unsigned int
+#define INT int
+#define UINT32 UINT
+#define LPVOID void*
+#define BOOL BYTE
+#define TRUE 1
+#define FALSE 0
+
+
+#if 1
+
+typedef  struct  _VCI_BOARD_INFO{//1.ZLGCAN系列接口卡信息的数据类型。
+		USHORT	hw_Version;
+		USHORT	fw_Version;
+		USHORT	dr_Version;
+		USHORT	in_Version;
+		USHORT	irq_Num;
+		BYTE	can_Num;
+		CHAR	str_Serial_Num[20];
+		CHAR	str_hw_Type[40];
+		USHORT	Reserved[4];
+} VCI_BOARD_INFO,*PVCI_BOARD_INFO; 
+
+
+typedef  struct  _VCI_CAN_OBJ{//2.定义CAN信息帧的数据类型。
+	UINT	ID;
+	UINT	TimeStamp;
+	BYTE	TimeFlag;
+	BYTE	SendType;
+	BYTE	RemoteFlag;//是否是远程帧
+	BYTE	ExternFlag;//是否是扩展帧
+	BYTE	DataLen;
+	BYTE	Data[8];
+	BYTE	Reserved[3];
+}VCI_CAN_OBJ,*PVCI_CAN_OBJ;
+
+
+typedef struct _VCI_CAN_STATUS{//3.定义CAN控制器状态的数据类型。
+	UCHAR	ErrInterrupt;
+	UCHAR	regMode;
+	UCHAR	regStatus;
+	UCHAR	regALCapture;
+	UCHAR	regECCapture; 
+	UCHAR	regEWLimit;
+	UCHAR	regRECounter; 
+	UCHAR	regTECounter;
+	DWORD	Reserved;
+}VCI_CAN_STATUS,*PVCI_CAN_STATUS;
+
+
+typedef struct _ERR_INFO{//4.定义错误信息的数据类型。
+		UINT	ErrCode;
+		BYTE	Passive_ErrData[3];
+		BYTE	ArLost_ErrData;
+} VCI_ERR_INFO,*PVCI_ERR_INFO;
+
+
+typedef struct _INIT_CONFIG{//5.定义初始化CAN的数据类型
+	DWORD	AccCode;
+	DWORD	AccMask;
+	DWORD	Reserved;
+	UCHAR	Filter;
+	UCHAR	Timing0;	
+	UCHAR	Timing1;	
+	UCHAR	Mode;
+}VCI_INIT_CONFIG,*PVCI_INIT_CONFIG;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+DWORD VCI_OpenDevice(DWORD DeviceType,DWORD DeviceInd,DWORD Reserved);
+DWORD VCI_CloseDevice(DWORD DeviceType,DWORD DeviceInd);
+DWORD VCI_InitCAN(DWORD DeviceType, DWORD DeviceInd, DWORD CANInd, PVCI_INIT_CONFIG pInitConfig);
+
+DWORD VCI_ReadBoardInfo(DWORD DeviceType,DWORD DeviceInd,PVCI_BOARD_INFO pInfo);
+DWORD VCI_ReadErrInfo(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_ERR_INFO pErrInfo);
+DWORD VCI_ReadCANStatus(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_CAN_STATUS pCANStatus);
+
+DWORD VCI_GetReference(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,DWORD RefType,PVOID pData);
+DWORD VCI_SetReference(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,DWORD RefType,PVOID pData);
+
+ULONG VCI_GetReceiveNum(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+DWORD VCI_ClearBuffer(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+
+DWORD VCI_StartCAN(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+DWORD VCI_ResetCAN(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+
+ULONG VCI_Transmit(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_CAN_OBJ pSend,UINT Len);
+ULONG VCI_Receive(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_CAN_OBJ pReceive,UINT Len,INT WaitTime);
+
+#ifdef __cplusplus
+}
+#endif
+#endif
+
+#endif
+
+#endif

src/controller/controller_UI_test/control/controller.cpp

@@ -0,0 +1,204 @@
+#include <control/controller.h>
+
+iv::control::Controller::Controller() {
+
+}
+
+iv::control::Controller::~Controller() {
+
+}
+
+void iv::control::Controller::inialize() {
+
+}
+
+
+
+
+
+//校验和
+void iv::control::Controller::cmd_checksum(unsigned char cmd_id) {
+    ServiceControlStatus.set_cmd_checksum(cmd_id);
+}
+//方向盘控制
+void iv::control::Controller::control_wheel(float angle) {
+    ServiceControlStatus.set_wheel_angle(angle);
+}
+
+void iv::control::Controller:: control_angle_speed(float angSpeed){
+    ServiceControlStatus.set_wheel_speed(angSpeed);
+}
+
+void iv::control::Controller:: control_angle_enable(bool enable){
+    ServiceControlStatus.set_wheel_enable(enable);
+}
+//速度限制
+void iv::control::Controller:: control_speed_limit(float speedLimit){
+    ServiceControlStatus.set_speed_limit(speedLimit);
+}
+//油门控制
+void iv::control::Controller::control_torque(float percent){
+    ServiceControlStatus.set_torque(percent);
+}
+void iv::control::Controller::control_acc_en(bool enanble){
+    ServiceControlStatus.set_acc_enable(enanble);
+}
+
+
+void iv::control::Controller::control_aeb(float aeb){
+    ServiceControlStatus.set_aeb(aeb);
+}
+void iv::control::Controller::control_aeb_en(bool enable){
+    ServiceControlStatus.set_aeb_enable(enable);
+}
+//刹车控制
+void iv::control::Controller::control_brake(float brake){
+    ServiceControlStatus.set_brake(brake);
+}
+//档位控制
+void iv::control::Controller::control_gear(float gear){
+    ServiceControlStatus.set_gear(gear);
+}
+void iv::control::Controller::control_gear_en(bool enable){
+    ServiceControlStatus.set_gear_enable(enable);
+}
+//手刹
+void iv::control::Controller::control_handBrake(bool  enable){
+    ServiceControlStatus.set_handBrake(enable);
+}
+//驾驶模式
+void iv::control::Controller::control_mode(char mode){
+    ServiceControlStatus.set_driveMode(mode);
+}
+//车窗控制
+//void iv::control::Controller::control_win_lf(char para){
+//     ServiceControlStatus.set_win_lf(para);
+//}
+//void iv::control::Controller::control_win_rf(char para){
+//     ServiceControlStatus.set_win_rf(para);
+//}
+
+//void iv::control::Controller::control_win_lr(char para){
+//     ServiceControlStatus.set_win_lr(para);
+//}
+
+//void iv::control::Controller::control_win_rr(char para){
+//     ServiceControlStatus.set_win_rr(para);
+//}
+
+//空调控制
+void iv::control::Controller::control_air_on(bool enable){
+    if(enable){
+        ServiceControlStatus.set_air_on(1);
+    }else{
+        ServiceControlStatus.set_air_on(0);
+    }
+}
+//void iv::control::Controller::control_air_cricle(char para){
+//     ServiceControlStatus.set_air_cricle(para);
+//}
+//void iv::control::Controller::control_air_auto(char para){
+//     ServiceControlStatus.set_air_auto(para);
+//}
+//void iv::control::Controller::control_air_off(char para){
+//     ServiceControlStatus.set_air_off(para);
+//}
+//void iv::control::Controller::control_air_temup(char para){
+//     ServiceControlStatus.set_air_temup(para);
+//}
+//void iv::control::Controller::control_air_temdown(char para){
+//     ServiceControlStatus.set_air_temdown(para);
+//}
+//void iv::control::Controller::control_air_powerup(char para){
+//     ServiceControlStatus.set_air_powerup(para);
+//}
+//void iv::control::Controller::control_air_powerdown(char para){
+//     ServiceControlStatus.set_air_powerdown(para);
+//}
+//点火控制
+void iv::control::Controller::control_obligate(char para){
+    ServiceControlStatus.set_obligate(para);
+}
+//车门控制
+void iv::control::Controller::control_door(char enable){
+    ServiceControlStatus.set_door(enable);
+}
+//车灯控制
+void iv::control::Controller::control_turnsignals(bool left, bool right){
+    ServiceControlStatus.set_turnsignals_control(left,right);
+}
+void iv::control::Controller::control_small_light(char para){
+    ServiceControlStatus.set_small_light(para);
+}
+void iv::control::Controller::control_near_light(char para){
+    ServiceControlStatus.set_near_light(para);
+}
+
+void iv::control::Controller::control_far_light(char para){
+    ServiceControlStatus.set_far_light(para);
+}
+void iv::control::Controller::control_frog_light(char para){
+    ServiceControlStatus.set_frog_light(para);
+}
+void iv::control::Controller::control_brake_light(char para){
+    ServiceControlStatus.set_brake_light(para);
+}
+void iv::control::Controller::control_defrog(char para){
+    ServiceControlStatus.set_defrog(para);
+}
+void iv::control::Controller::control_reverse_light(char para){
+    ServiceControlStatus.set_reverse_light(para);
+}
+
+//喇叭控制
+void iv::control::Controller::control_horn(char para){
+    ServiceControlStatus.set_horn(para);
+}
+//雨刷控制
+void iv::control::Controller::control_wiper(char para){
+    ServiceControlStatus.set_wiper(para);
+}
+
+
+void iv::control::Controller::control_air_temp(char para){
+    ServiceControlStatus.set_air_temp(para);
+}
+
+void iv::control::Controller::control_air_mode(char para){
+    ServiceControlStatus.set_air_mode(para);
+}
+
+void iv::control::Controller::control_air_enable(bool enable){
+    ServiceControlStatus.set_air_enable(enable);
+}
+
+void iv::control::Controller::control_wind_level(char para){
+    ServiceControlStatus.set_wind_level(para);
+}
+
+void iv::control::Controller::control_roof_light(char para){
+    ServiceControlStatus.set_roof_light(para);
+}
+
+void iv::control::Controller::control_home_light(char para){
+    ServiceControlStatus.set_home_light(para);
+}
+
+void iv::control::Controller::control_air_worktime(char para){
+    ServiceControlStatus.set_air_worktime(para);
+}
+
+void iv::control::Controller::control_air_offtime(char para){
+    ServiceControlStatus.set_air_offtime(para);
+}
+
+
+
+
+
+//void iv::control::Controller::control_flicker(bool enable){
+//    ServiceControlStatus.set_flicker(enable);
+//}
+//void iv::control::Controller::control_braking(float percent){
+
+//}

src/controller/controller_UI_test/control/controller.h

@@ -0,0 +1,83 @@
+#pragma once
+/*
+*控制器
+*/
+#ifndef _IV_CONTROL_CONTROLLER_
+#define _IV_CONTROL_CONTROLLER_
+
+#include <boost.h>
+//#include <common/car_status.h>
+#include <control/control_status.h>
+
+namespace iv {
+    namespace control {
+        class Controller
+        {
+        public:
+            Controller();
+            ~Controller();
+            void inialize();// 初始化
+
+
+            void control_wheel(float angle);		//方向盘控制
+            void control_angle_speed(float angSpeed);
+            void control_angle_enable(bool enable);
+
+            void control_speed_limit(float speedLimit);
+            void control_torque(float percent);	//油门开度控制
+            void control_aeb(float aeb);	//油门开度控制
+            void control_brake(float brake);
+            void control_gear(float gear);
+            void control_handBrake(bool  enable);
+            void control_mode(char mode);
+            void control_gear_en(bool enable);
+            void control_aeb_en(bool enable);
+            void control_acc_en(bool enanble);
+
+
+            void control_win_lf(char para);
+            void control_win_rf(char para);
+            void control_win_lr(char para);
+            void control_win_rr(char para);
+            void control_air_on(bool enable);
+            void control_air_cricle(char para);
+            void control_air_auto(char para);
+            void control_air_off(char para);
+            void control_air_temup(char para);
+            void control_air_temdown(char para);
+            void control_air_powerup(char para);
+            void control_air_powerdown(char para);
+            void control_obligate(char para);
+            void control_door(char enable);
+            void control_turnsignals(bool left, bool right);
+            void control_small_light(char para);
+            void control_near_light(char para);
+            void control_horn(char para);
+            void control_far_light(char para);
+            void control_frog_light(char para);
+            void control_wiper(char para);
+            void control_brake_light(char para);
+            void control_defrog(char para);
+            void control_reverse_light(char para);
+            void cmd_checksum(unsigned char cmd_id);
+
+
+
+            void control_air_temp(char para);
+            void control_air_mode(char para);
+            void control_air_enable(bool enable);
+            void control_wind_level(char para);
+            void control_roof_light(char para);
+            void control_home_light(char para);
+            void control_air_worktime(char para);
+            void control_air_offtime(char para);
+
+            ///* 获取当前车辆状态*/
+            //void getCurrentCarStatus(iv::CarStatus & car_status);
+
+        private:
+        };
+    }
+}
+
+#endif // !_IV_CONTROL_CONTROLLER_

src/controller/controller_UI_test/control/vv7.h

@@ -0,0 +1,190 @@
+#pragma once
+
+struct Command_Bit10
+{
+
+
+
+    unsigned char air_temp ;
+
+
+    unsigned char air_mode : 3;
+    unsigned char air_enable : 1;
+    unsigned char air_wind_level : 3;
+    unsigned char air_reserved : 1;
+
+
+
+
+    unsigned char ignition : 2;
+    unsigned char door : 2;
+    unsigned char Reserved :2;
+    unsigned char air_on : 2;
+
+
+
+    unsigned char turn_light : 2;
+
+    unsigned char small_light : 1;
+
+    unsigned char near_light : 1;
+
+    unsigned char horn : 1;
+
+    unsigned char far_light : 1;
+
+    unsigned char fog_light : 1;
+
+    unsigned char wiper : 1;
+
+
+
+    unsigned char brake_light : 1;
+
+    unsigned char defrog : 1;
+
+    unsigned char revers_light : 1;
+    unsigned char roof_light : 1;
+    unsigned char home_light : 1;
+
+    unsigned char Reserved0 :3;
+
+
+
+
+    unsigned char air_work_time;
+
+    unsigned char  air_off_time;
+
+    unsigned char  checkSum;
+
+
+
+
+};
+
+
+union Command10
+{
+    Command_Bit10 bit;
+
+    unsigned char byte[8];
+};
+
+
+struct Command_Bit11
+{
+    unsigned char speed_limit;
+
+    unsigned char  aeb_H;
+
+    unsigned char  aeb_L;
+
+    unsigned char torque;
+
+    unsigned char brake;
+
+
+    unsigned char gear:3;
+    unsigned char Reserved :1;
+    unsigned char park :2;
+    unsigned char Reserved0 :2;
+
+    unsigned char Reserved1 :2;
+    unsigned char Reserved2 :2;
+    unsigned char driveMode :1;
+    unsigned char gear_enable :1;
+    unsigned char aeb_enable :1;
+    unsigned char acc_enable :1;
+
+    unsigned char checkSum;
+
+
+};
+
+
+
+
+union Command11
+{
+    Command_Bit11 bit;
+
+    unsigned char byte[8];
+};
+
+
+struct Command_Bit12
+{
+    unsigned char ang_speed;
+
+    unsigned char  ang_H;
+
+    unsigned char  ang_L;
+
+    unsigned char reserved0;
+
+    unsigned char reserved1;
+
+    unsigned char reserved2;
+
+
+    unsigned char Reserved : 6;
+
+    unsigned char ang_enable : 1;
+
+    unsigned char Reserved0 : 1;
+
+
+
+
+    unsigned char checkSum;
+
+
+};
+
+
+
+
+union Command12
+{
+    Command_Bit12 bit;
+
+    unsigned char byte[8];
+};
+
+
+
+
+
+
+
+
+
+struct Command_Response_Bit
+{
+    unsigned char head;
+
+
+    unsigned char grade : 2;
+    unsigned char driveMode : 2;
+    unsigned char epb : 1;
+    unsigned char epsMode : 2;
+    unsigned char  obligate: 1;
+
+
+};
+
+union Command_Response
+{
+    Command_Response_Bit bit;
+
+    unsigned char byte[2];
+};
+
+
+
+
+
+
+
+

src/controller/controller_UI_test/controller_UI_test.pro

@@ -0,0 +1,79 @@
+QT += core gui network xml dbus
+
+CONFIG += c++11 console
+CONFIG -= app_bundle
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+TARGET = controller_UI_test
+TEMPLATE = app
+
+
+# The following define makes your compiler emit warnings if you use
+# any feature of Qt which as been marked deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+
+# You can also make your code fail to compile if you use deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += $$PWD/main.cpp \
+    ../../include/msgtype/cameraobject.pb.cc \
+    ../../include/msgtype/cameraobjectarray.pb.cc \
+    ../../include/msgtype/decition.pb.cc \
+    ../../include/msgtype/brainstate.pb.cc \
+    ../../include/msgtype/canmsg.pb.cc \
+    ../../include/msgtype/canraw.pb.cc \
+    ../../include/msgtype/chassis.pb.cc \
+    mainwindow.cpp \
+    common/car_status.cpp
+
+include($$PWD/control/control.pri)
+
+!include(../../../include/common.pri ) {
+    error( "Couldn't find the common.pri file!" )
+}
+
+!include(../../../include/ivprotobuf.pri ) {
+    error( "Couldn't find the ivprotobuf.pri file!" )
+}
+
+!include(../../../include/ivboost.pri ) {
+    error( "Couldn't find the ivboost.pri file!" )
+}
+
+!include(../controllercommon/controllercommon.pri ) {
+    error( "Couldn't find the controllercommon.pri.pri file!" )
+}
+
+INCLUDEPATH += $$PWD/../controllercommon
+
+
+DEFINES += TORQUEBRAKETEST
+
+#unix:!macx: LIBS += -L/home/yuchuli/qt/lib -lncomgnss -ladcmemshare
+
+unix:!macx: INCLUDEPATH += $$PWD/.
+unix:!macx: DEPENDPATH += $$PWD/.
+
+HEADERS += \
+    ../../include/msgtype/cameraobject.pb.h \
+    ../../include/msgtype/cameraobjectarray.pb.h \
+    ../../include/msgtype/decition.pb.h \
+    ../../include/msgtype/canmsg.pb.h \
+    ../../include/msgtype/canraw.pb.h \
+    ../../include/msgtype/chassis.pb.h \
+    mainwindow.h \
+    control/boost.h \
+    control/car_status.h \
+    common/boost.h \
+    common/car_status.h
+
+FORMS += \
+    mainwindow.ui
+
+

src/controller/controller_UI_test/main.cpp

@@ -0,0 +1,310 @@
+#include <QCoreApplication>
+#include "mainwindow.h"
+#include <QApplication>
+#include <QTime>
+
+#include <QMutex>
+
+#include "control/control_status.h"
+#include "control/controller.h"
+
+#include "xmlparam.h"
+#include "modulecomm.h"
+#include "ivbacktrace.h"
+#include "ivversion.h"
+
+#include "canmsg.pb.h"
+#include "decition.pb.h"
+#include "chassis.pb.h"
+
+#include "torquebrake.h"
+
+#include <thread>
+
+#include <common/car_status.h>
+
+void * gpacansend;
+void * gpadecition;
+void * gpachassis;
+
+std::string gstrmemdecition;
+std::string gstrmemcansend;
+std::string gstrmemchassis;
+bool gbSendRun = true;
+
+bool gbChassisEPS = false;
+
+iv::brain::decition gdecition_def;
+iv::brain::decition gdecition;
+
+QTime gTime;
+int gnLastSendTime = 0;
+int gnLastRecvDecTime = -1000;
+int gnDecitionNum = 0; //when is zero,send default;
+const int gnDecitionNumMax = 100;
+int gnIndex = 0;
+
+boost::shared_ptr<iv::control::Controller> gcontroller;	//实际车辆控制器
+
+
+static QMutex gMutex;
+
+
+void executeDecition(const iv::brain::decition decition)
+{
+
+//    std::cout<<"acc is "<<decition.torque()<<" ang is "<<decition.wheelangle()<<std::endl;
+
+    gcontroller->control_acc_en(true);
+    gcontroller->control_angle_enable(true);
+    gcontroller->control_gear_en(true);
+    gcontroller->control_speed_limit(30);
+
+//    gcontroller->control_wheel(decition.wheelangle());
+    gcontroller->control_wheel(ServiceCarStatus.wheelangle);
+//    gcontroller->control_angle_speed(decition.wheelspeed());
+    gcontroller->control_angle_speed(10);//陈工没有处理
+//    gcontroller->control_torque(decition.torque());
+    gcontroller->control_torque(ServiceCarStatus.torque);
+
+//    gcontroller->control_brake(decition.brake());
+    gcontroller->control_brake(ServiceCarStatus.brake);
+    gcontroller->control_gear(decition.gear());
+//    gcontroller->control_gear(4);
+
+    gcontroller->control_handBrake(decition.handbrake());
+    gcontroller->control_mode(decition.mode());
+    //   gcontroller->control_mode(1);
+    gcontroller->control_near_light(decition.dippedlight());
+
+
+    gcontroller->control_air_enable(decition.air_enable());
+    gcontroller->control_air_on(decition.air_on());
+    gcontroller->control_air_temp(decition.air_temp());
+    gcontroller->control_air_mode(decition.air_mode());
+    gcontroller->control_wind_level(decition.wind_level());
+    gcontroller->control_roof_light(decition.roof_light());
+    gcontroller->control_home_light(decition.home_light());
+    gcontroller->control_air_worktime(decition.air_worktime());
+    gcontroller->control_air_offtime(decition.air_offtime());
+    gcontroller->control_turnsignals(decition.leftlamp(),decition.rightlamp());
+    gcontroller->control_door(decition.door());
+
+#ifdef TORQUEBRAKETEST
+    if(gnothavetb < 10)
+    {
+        iv::controller::torquebrake xtb;
+        gMutextb.lock();
+        xtb.CopyFrom(gtb);
+        gMutextb.unlock();
+        if(xtb.enable())
+        {
+            gcontroller->control_torque(xtb.torque());
+            gcontroller->control_brake(xtb.brake());
+            qDebug("use tb value torque is %f brake is %f",xtb.torque(),xtb.brake());
+        }
+        else
+        {
+//            qDebug("torquebrake not enable.");
+        }
+        gnothavetb++;
+    }
+
+#endif
+
+    gcontroller->cmd_checksum(0x10);
+    gcontroller->cmd_checksum(0x11);
+    gcontroller->cmd_checksum(0x12);
+
+    //    qDebug("dangwei is %d mode is %d",decition.gear(),decition.mode());
+}
+
+void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
+{
+    iv::chassis xchassis;
+    static int ncount = 0;
+    if(!xchassis.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<"iv::decition::BrainDecition::UpdateChassis ParseFrom Array Error."<<std::endl;
+        return;
+    }
+
+    if(xchassis.epsmode() == 0)
+    {
+        gbChassisEPS = true;
+    }
+
+
+}
+
+
+void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+    qint64 oldtime;
+    iv::brain::decition xdecition;
+
+    if(!xdecition.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<"ListenDecition parse error."<<std::endl;
+        return;
+    }
+
+    if(xdecition.gear() != 4)
+    {
+//        qDebug("not D");
+    }
+    if((oldtime - QDateTime::currentMSecsSinceEpoch())<-100)qDebug("dection time is %ld diff is %ld ",QDateTime::currentMSecsSinceEpoch(),oldtime - QDateTime::currentMSecsSinceEpoch());
+    oldtime = QDateTime::currentMSecsSinceEpoch();
+    gMutex.lock();
+    gdecition.CopyFrom(xdecition);
+    gMutex.unlock();
+    gnDecitionNum = gnDecitionNumMax;
+    gbChassisEPS = false;
+
+}
+
+void ExecSend()
+{
+    iv::can::canmsg xmsg;
+    iv::can::canraw xraw;
+    unsigned char * strp = (unsigned char *)&(ServiceControlStatus.command10.byte[0]);
+    //    qDebug("%02x %02x %02x %02x %02x %02x %02x %02x",strp[0]
+    //            ,strp[1],strp[2],strp[3],strp[4],strp[5],strp[6],strp[7]);
+    xraw.set_id(ServiceControlStatus.command_ID10);
+    xraw.set_data(ServiceControlStatus.command10.byte,8);
+    xraw.set_bext(false);
+    xraw.set_bremote(false);
+    xraw.set_len(8);
+    iv::can::canraw * pxraw = xmsg.add_rawmsg();
+    pxraw->CopyFrom(xraw);
+    xmsg.set_channel(0);
+    xmsg.set_index(gnIndex);
+
+    xraw.set_id(ServiceControlStatus.command_ID11);
+    xraw.set_data(ServiceControlStatus.command11.byte,8);
+    int a = ServiceControlStatus.command11.byte[5]&0x0f;
+    if(a != 0x04)
+    {
+//        qDebug("not D.");
+    }
+    xraw.set_bext(false);
+    xraw.set_bremote(false);
+    xraw.set_len(8);
+    iv::can::canraw * pxraw1 = xmsg.add_rawmsg();
+    pxraw1->CopyFrom(xraw);
+    xmsg.set_channel(0);
+    xmsg.set_index(gnIndex);
+
+    xraw.set_id(ServiceControlStatus.command_ID12);
+    xraw.set_data(ServiceControlStatus.command12.byte,8);
+    xraw.set_bext(false);
+    xraw.set_bremote(false);
+    xraw.set_len(8);
+    iv::can::canraw * pxraw2 = xmsg.add_rawmsg();
+    pxraw2->CopyFrom(xraw);
+    xmsg.set_channel(0);
+    xmsg.set_index(gnIndex);
+
+    gnIndex++;
+    xmsg.set_mstime(QDateTime::currentMSecsSinceEpoch());
+    int ndatasize = xmsg.ByteSize();
+    char * strser = new char[ndatasize];
+    std::shared_ptr<char> pstrser;
+    pstrser.reset(strser);
+    if(xmsg.SerializeToArray(strser,ndatasize))
+    {
+        iv::modulecomm::ModuleSendMsg(gpacansend,strser,ndatasize);
+    }
+    else
+    {
+        std::cout<<"MainWindow::onTimer serialize error."<<std::endl;
+    }
+}
+
+void initial()
+{
+    //    ServiceControlStatus.command.byte[0] = 0;
+    //    ServiceControlStatus.command.byte[1] = 0;
+    //    ServiceControlStatus.command.byte[2] = 0;
+    //    ServiceControlStatus.command.byte[3] = 0;
+    //    ServiceControlStatus.command.byte[4] = 0;
+    //    ServiceControlStatus.command.byte[5] = 0;
+    //    ServiceControlStatus.command.byte[6] = 0;
+    //    ServiceControlStatus.command.byte[7] = 0;
+}
+
+void sendthread()
+{
+    initial();
+    iv::brain::decition xdecition;
+    while(gbSendRun)
+    {
+        if(gnDecitionNum <= 0)
+        {
+            xdecition.CopyFrom(gdecition_def);
+        }
+        else
+        {
+            gMutex.lock();
+            xdecition.CopyFrom(gdecition);
+            gMutex.unlock();
+            gnDecitionNum--;
+        }
+        executeDecition(xdecition);
+        if(gbChassisEPS == false) ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
+int main(int argc, char *argv[])
+{
+//    RegisterIVBackTrace();
+    showversion("controller_UI_test");
+//    QCoreApplication a(argc, argv);
+    QApplication a(argc, argv);
+
+    QString strpath = QCoreApplication::applicationDirPath();
+
+    if(argc < 2)
+        strpath = strpath + "/controller_vv7.xml";
+    else
+        strpath = argv[1];
+    std::cout<<strpath.toStdString()<<std::endl;
+
+    gdecition_def.set_accelerator(-0.5);
+    //    gdecition_def.set_brake(1.0);
+    gdecition_def.set_brake(20);   //apollo_fu 20200417
+    gdecition_def.set_torque(0);
+    // gdecition_def.set_rightlamp(true);
+    //  gdecition_def.set_doublespark(true);
+    gdecition_def.set_wheelangle(0);
+    gdecition_def.set_mode(1);
+    gdecition_def.set_grade(1);
+    gdecition_def.set_gear(1);
+    gdecition_def.set_engine(0);
+    //    gdecition_def.set_gear(0);
+    gTime.start();
+
+    gcontroller = boost::shared_ptr<iv::control::Controller>(new iv::control::Controller());
+
+    iv::xmlparam::Xmlparam xp(strpath.toStdString());
+
+    gstrmemcansend = xp.GetParam("cansend","cansend0");
+    gstrmemdecition = xp.GetParam("dection","deciton");
+    gstrmemchassis = xp.GetParam("chassismsgname","chassis");
+
+    gpacansend = iv::modulecomm::RegisterSend(gstrmemcansend.data(),10000,1);
+    gpadecition = iv::modulecomm::RegisterRecv(gstrmemdecition.data(),ListenDeciton);
+    gpachassis = iv::modulecomm::RegisterRecv(gstrmemchassis.data(),UpdateChassis);
+
+#ifdef TORQUEBRAKETEST
+    EnableTorqueBrakeTest();
+#endif
+
+    std::thread xthread(sendthread);
+
+    MainWindow w;
+    w.show();
+
+    return a.exec();
+}

src/controller/controller_UI_test/mainwindow.cpp

@@ -0,0 +1,33 @@
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+
+MainWindow::MainWindow(QWidget *parent) :
+    QMainWindow(parent),
+    ui(new Ui::MainWindow)
+{
+    ui->setupUi(this);
+    ui->lineEdit->setValidator(new QIntValidator(ui->lineEdit));
+    ui->lineEdit_2->setValidator(new QIntValidator(ui->lineEdit_2));
+    ui->lineEdit_3->setValidator(new QIntValidator(ui->lineEdit_3));
+
+}
+
+MainWindow::~MainWindow()
+{
+    delete ui;
+}
+
+void MainWindow::on_pushButton_clicked()
+{
+    ServiceCarStatus.wheelangle = ui->lineEdit->text().toInt();
+}
+
+void MainWindow::on_pushButton_2_clicked()
+{
+    ServiceCarStatus.torque = ui->lineEdit_2->text().toInt();
+}
+
+void MainWindow::on_pushButton_3_clicked()
+{
+    ServiceCarStatus.brake = ui->lineEdit_3->text().toInt();
+}

src/controller/controller_UI_test/mainwindow.h

@@ -0,0 +1,30 @@
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+#include <common/car_status.h>
+
+namespace Ui {
+class MainWindow;
+}
+
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    explicit MainWindow(QWidget *parent = 0);
+    ~MainWindow();
+
+private slots:
+    void on_pushButton_clicked();
+
+    void on_pushButton_2_clicked();
+
+    void on_pushButton_3_clicked();
+
+private:
+    Ui::MainWindow *ui;
+};
+
+#endif // MAINWINDOW_H

src/controller/controller_UI_test/mainwindow.ui

@@ -0,0 +1,140 @@
+<?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>800</width>
+    <height>600</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <widget class="QPushButton" name="pushButton">
+    <property name="geometry">
+     <rect>
+      <x>250</x>
+      <y>70</y>
+      <width>89</width>
+      <height>25</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>OK</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label">
+    <property name="geometry">
+     <rect>
+      <x>40</x>
+      <y>70</y>
+      <width>67</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>目标角度</string>
+    </property>
+   </widget>
+   <widget class="QLineEdit" name="lineEdit">
+    <property name="geometry">
+     <rect>
+      <x>120</x>
+      <y>70</y>
+      <width>113</width>
+      <height>25</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_2">
+    <property name="geometry">
+     <rect>
+      <x>40</x>
+      <y>150</y>
+      <width>67</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>目标车速</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="pushButton_2">
+    <property name="geometry">
+     <rect>
+      <x>250</x>
+      <y>140</y>
+      <width>89</width>
+      <height>25</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>OK</string>
+    </property>
+   </widget>
+   <widget class="QLineEdit" name="lineEdit_2">
+    <property name="geometry">
+     <rect>
+      <x>120</x>
+      <y>140</y>
+      <width>113</width>
+      <height>25</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QLineEdit" name="lineEdit_3">
+    <property name="geometry">
+     <rect>
+      <x>120</x>
+      <y>230</y>
+      <width>113</width>
+      <height>25</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="pushButton_3">
+    <property name="geometry">
+     <rect>
+      <x>250</x>
+      <y>230</y>
+      <width>89</width>
+      <height>25</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>OK</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_3">
+    <property name="geometry">
+     <rect>
+      <x>40</x>
+      <y>230</y>
+      <width>67</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>目标制动</string>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>800</width>
+     <height>28</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/controller/controller_hapo/main.cpp

@@ -87,15 +87,15 @@ void executeDecition(const iv::brain::decition decition)
     gcontroller->control_near_light(decition.dippedlight());
 
 
-    gcontroller->control_air_enable(decition.air_enable());
-    gcontroller->control_air_on(decition.air_on());
-    gcontroller->control_air_temp(decition.air_temp());
-    gcontroller->control_air_mode(decition.air_mode());
-    gcontroller->control_wind_level(decition.wind_level());
+    //gcontroller->control_air_enable(decition.air_enable());
+    //gcontroller->control_air_on(decition.air_on());
+    //gcontroller->control_air_temp(decition.air_temp());
+    //gcontroller->control_air_mode(decition.air_mode());
+    //gcontroller->control_wind_level(decition.wind_level());
     gcontroller->control_roof_light(decition.roof_light());
     gcontroller->control_home_light(decition.home_light());
-    gcontroller->control_air_worktime(decition.air_worktime());
-    gcontroller->control_air_offtime(decition.air_offtime());
+    //gcontroller->control_air_worktime(decition.air_worktime());
+    //gcontroller->control_air_offtime(decition.air_offtime());
     gcontroller->control_turnsignals(decition.leftlamp(),decition.rightlamp());
     gcontroller->control_door(decition.door());
 

src/controller/controller_midcar/main.cpp

@@ -140,7 +140,7 @@ void ListenRemotectrl(const char * strdata,const unsigned int nSize,const unsign
         xdecition.set_torque(xrc.acc());
         xdecition.set_brake(xrc.brake());
         xdecition.set_wheelangle(xrc.wheel()*5.5f);
-        xdecition.set_speed(5);
+        xdecition.set_speed(105);
         if(xrc.shift() > 0) //D shift
             xdecition.set_gear(1); //0P 1D 2R 3N
         else if(xrc.shift() < 0)

src/decition/common/common/car_status.h

@@ -164,7 +164,7 @@ namespace iv {
         int vehGroupId;
         double mfEPSOff = 0.0;
         float socfDis=15;   //停障触发距离
-        float aocfDis=20;   //避障触发距离
+        float aocfDis=25;   //避障触发距离//20
         float aocfTimes=3; //避障触发次数
         float aobzDis=5;   //避障保障距离
         /// traffice light : 0x90

src/decition/common/common/obstacle_type.h

@@ -41,7 +41,7 @@ namespace iv {
         double speed_x;
         double speed_y;
         double yaw;
-        int type;
+        int type;      //1:vehicle  2:person  3:others
         double high;
         double low;
         double obshight;

src/decition/common/main.cpp

@@ -9,6 +9,16 @@
 #include "ivbacktrace.h"
 
 #include "ivchart.h"
+
+#include "ivfault.h"
+
+#include "ivexit.h"
+#include <thread>
+
+#include <signal.h>
+
+QCoreApplication * gApp;
+
 iv::Ivchart * givchart;
 
 std::string gstrmemgps;
@@ -19,13 +29,32 @@ std::string gstrmemchassis;
 std::string gstrmembraincarstate;
 
 iv::Ivlog * givlog;
+iv::Ivfault * givfault;
 
+void ExitFunc()
+{
+    gApp->quit();
+    std::this_thread::sleep_for(std::chrono::milliseconds(900));
+}
+
+void signal_handler(int sig)
+{
+    if(sig == SIGINT)
+    {
+        ExitFunc();
+    }
+}
 
 int main(int argc, char *argv[])
 {
     RegisterIVBackTrace();
     showversion("decition_brain");
     QCoreApplication a(argc, argv);
+    gApp = &a;
+
+    givfault = new iv::Ivfault("decition_brain_sf");
+
+    givfault->SetFaultState(0,0,"Application Started.");
 
      QString strpath = QCoreApplication::applicationDirPath();
 
@@ -52,5 +81,14 @@ int main(int argc, char *argv[])
     iv::decition::BrainDecition brain;
     brain.inialize();
     brain.start();
-    return a.exec();
+
+    iv::ivexit::RegIVExitCall(ExitFunc);
+
+    signal(SIGINT,signal_handler);
+
+    int nrc =  a.exec();
+
+    brain.stop();
+
+    return nrc;
 }

src/decition/common/perception_sf/eyes.cpp

@@ -8,6 +8,10 @@ iv::perception::Eyes::Eyes() {
 }
 iv::perception::Eyes::~Eyes() {
 
+    delete sensor_gps;
+//    delete sensor_camera;
+//    delete sensor_radar;
+    delete sensor_lidar;
 }
 
 void iv::perception::Eyes::inialize() {

src/decition/common/perception_sf/impl_gps.cpp

@@ -53,7 +53,7 @@ void iv::perception::GPSSensor::processSensor()
 
 	//iv::CarStatus currentCarStatus;
 	//ODS("\n\n\n------>thread gps: %X\n\n\n\n", GetCurrentThreadId());
-	while (true) {
+    while (!boost::this_thread::interruption_requested()) {
         int rec = 0;
         if(udpsocket->hasPendingDatagrams())
         {

src/decition/common/perception_sf/sensor_gps.cpp

@@ -39,6 +39,9 @@ iv::perception::GPSSensor::GPSSensor() {
 }
 iv::perception::GPSSensor::~GPSSensor() {
 
+    thread_sensor_run_->interrupt();
+    iv::modulecomm::Unregister(mpagpsimu);
+    std::cout<<"~GPSSensor()"<<std::endl;
 }
 
 void iv::perception::GPSSensor::start()

src/decition/common/perception_sf/sensor_lidar.cpp

@@ -17,7 +17,9 @@ iv::perception::LiDARSensor::LiDARSensor() {
     JiGuangLeiDa = boost::shared_ptr<std::vector<iv::ObstacleBasic>>(new std::vector<iv::ObstacleBasic>);
 }
 iv::perception::LiDARSensor::~LiDARSensor() {
-
+//    iv::modulecomm::Unregister(mpa);
+//    iv::modulecomm::Unregister(mpb);
+    std::cout<<"~LiDARSensor()"<<std::endl;
 }
 
 void ListenPer(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)

src/decition/decition_brain_sf/decition/adc_adapter/hapo_adapter.cpp

@@ -190,6 +190,12 @@ iv::decition::Decition iv::decition::HapoAdapter::getAdapterDeciton(GPS_INS now_
     if((obsDistance>8.0)&&(obsSpeed<reverse_speed)){
         controlBrake =0;
         controlSpeed =0;
+        accAim=0;
+    }
+    if(obsDistance>60){
+        if(accAim<-0.5){
+            accAim=max(accAim,-0.5f);
+        }
     }
 
 
@@ -206,6 +212,9 @@ iv::decition::Decition iv::decition::HapoAdapter::getAdapterDeciton(GPS_INS now_
     {
         double ftorque,fbrake;
         GetTorqueBrake(now_gps_ins.speed, accAim,ftorque,fbrake);
+        if(accAim>0){
+            ftorque=max(ftorque,3.2);
+        }
         (*decition)->brake = fbrake;
 
         (*decition)->torque= ftorque;

src/decition/decition_brain_sf/decition/adc_controller/pid_controller.cpp

@@ -167,7 +167,7 @@ float iv::decition::PIDController::getPidAcc (GPS_INS gpsIns,float dSpeed, float
 
     std::cout << "\n计算用obs速度:%f\n" << obsSpeed << std::endl;
     std::cout << "\n计算用obs距离:%f\n" << obsDistance << std::endl;
-    if(obsDistance<10 && obsDistance>0){
+    if(obsDistance<8 && obsDistance>0){
         dSpeed=0;
     }
     float dSecSpeed = dSpeed / 3.6;

src/decition/decition_brain_sf/decition/adc_tools/compute_00.cpp

@@ -512,9 +512,14 @@ int iv::decition::Compute00::getNearestPointIndex(GPS_INS rp, const std::vector<
     int preDistance=max(100,(int)(rp.speed*10));
         preDistance=min(500,preDistance);
 
-    int startIndex = max((int)(lastIndex - 100),(int)(lastIndex-map_size));     // startIndex = 0 则每一次都是遍历整条地图路线
-    int endIndex = min((int)(lastIndex + preDistance ),(int)(lastIndex+map_size));
-
+    //int startIndex = max((int)(lastIndex - 100),(int)(lastIndex-map_size));     // startIndex = 0 则每一次都是遍历整条地图路线
+    int endIndex = min((int)(lastIndex + preDistance ),(int)(map_size-1));
+    int startIndex=0;
+    if(lastIndex>100){
+        startIndex = max((int)(lastIndex - 100),(int)(lastIndex-map_size));
+    }else{
+        startIndex=0;
+    }
 
     for (int j = startIndex; j < endIndex; j++)
     {
@@ -529,7 +534,7 @@ int iv::decition::Compute00::getNearestPointIndex(GPS_INS rp, const std::vector<
             index = i;
             minDis = tmpdis;
             maxAng = min(abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle), abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle - 360));
-            maxAng = min(maxAngle, abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle + 360));
+            maxAng = min(maxAng, abs(rp.ins_heading_angle - (*gpsMap[i]).ins_heading_angle + 360));
         }
     }
 

src/decition/decition_brain_sf/decition/brain.cpp

@@ -12,6 +12,9 @@
 #include <fstream>
 #include <QTime>
 
+#include "ivfault.h"
+extern iv::Ivfault * givfault;
+
 using namespace std;
 
 extern std::string gstrmemdecition;
@@ -80,6 +83,7 @@ iv::decition::BrainDecition * gbrain;
 
 iv::decition::BrainDecition::BrainDecition()
 {
+    givfault->SetFaultState(0,0,"Application Initializing.");
     //    mpasd = new Adcivstatedb();
     look1 = 0.0;
     look2 = 0.0;
@@ -134,7 +138,7 @@ iv::decition::BrainDecition::BrainDecition()
     mpamapreq = iv::modulecomm::RegisterSend("mapreq",1000,1);
 
     ModuleFun funchassis =std::bind(&iv::decition::BrainDecition::UpdateChassis,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
-    void * pa = iv::modulecomm::RegisterRecvPlus(gstrmemchassis.data(),funchassis);
+    mpaChassis = iv::modulecomm::RegisterRecvPlus(gstrmemchassis.data(),funchassis);
 
 
     ModuleFun fungroupgrpc =std::bind(&iv::decition::BrainDecition::UpdateGRPCGroupMsg,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
@@ -152,6 +156,25 @@ iv::decition::BrainDecition::BrainDecition()
 
 iv::decition::BrainDecition::~BrainDecition()
 {
+
+    iv::modulecomm::Unregister(mpaObsTraceRight);
+    iv::modulecomm::Unregister(mpaObsTraceLeft);
+    iv::modulecomm::Unregister(mpaPlanTrace);
+    iv::modulecomm::Unregister(mpaChassis);
+    iv::modulecomm::Unregister(mpamapreq);
+    iv::modulecomm::Unregister(mpaGroup);
+    iv::modulecomm::Unregister(mpaPlatform);
+    iv::modulecomm::Unregister(mpaHMI);
+    iv::modulecomm::Unregister(mpaDecition);
+    iv::modulecomm::Unregister(mpaToPlatform);
+    iv::modulecomm::Unregister(mpfusion);
+    iv::modulecomm::Unregister(mpaCarstate);
+    iv::modulecomm::Unregister(mpaVechicleState);
+    iv::modulecomm::Unregister(mpvbox);
+    iv::modulecomm::Unregister(mpa);
+
+    delete eyes;
+    std::cout<<"Brain Unialize."<<std::endl;
 }
 
 
@@ -164,6 +187,7 @@ void iv::decition::BrainDecition::inialize() {
 
 void iv::decition::BrainDecition::run() {
 
+    givfault->SetFaultState(0,0,"Start Running.");
     double last = 0;
 
     iv::decition::Decition decition_gps = NULL;
@@ -437,7 +461,9 @@ void iv::decition::BrainDecition::run() {
     mstrmemmap_index = xp.GetParam("msg_mapindex","map_index");
 
 
-    while (eyes->isAllSensorRunning())
+    givfault->SetFaultState(0,0,"OK.");
+
+    while (eyes->isAllSensorRunning() &&(!boost::this_thread::interruption_requested()))
     {
         if(navigation_data.size() <1)
         {

src/decition/decition_brain_sf/decition/brain.h

@@ -152,6 +152,7 @@ namespace iv {
             void * mpaPlatform;
             void *mpaGroup;
             void * mpmapChangeSig;
+            void * mpaChassis;
             std::string mstrmemmap_index;
 
             int mnOldTime;

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

@@ -174,7 +174,7 @@ std::vector<std::vector<double>> doubledata;//大地坐标系下x,y,phi,delta，
 
 enum VehState { normalRun, park, readyPark, stopObs, avoidObs, preAvoid, avoiding, backOri,preBack,
                 waitAvoid ,shoushaTest,justRun, changingRoad, chaoche, chaocheBack, reverseCar,reversing, reverseCircle, reverseDirect,reverseArr,
-                dRever,dRever0,dRever1,dRever2,dRever3,dRever4} vehState;
+                dRever,dRever0,dRever1,dRever2,dRever3,dRever4} vehState,lastVehState;
 
 
 std::vector<iv::Point2D>  gpsTraceAim; //记录变道后的目标路径，若车辆经frenet规划行驶至该路径上后，就关闭frenet规划
@@ -196,6 +196,7 @@ bool qiedianCount = false;
 
 static int obstacle_avoid_flag=0;
 static int front_car_id=-1;
+static int front_car_vector_id=-1;
 
 //日常展示
 
@@ -227,6 +228,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         for(int i=0;i<xgroupgrpcinfo.mvehinfo_size();i++){
             if((xgroupgrpcinfo.mutable_mvehinfo(i)->intragroupid()+1)==ServiceCarStatus.curID){
                         front_car_id=xgroupgrpcinfo.mutable_mvehinfo(i)->intragroupid();
+                        front_car_vector_id=i;
             }
         }
     }else{
@@ -234,35 +236,36 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     }
 
     if(front_car_id>0){
-       if(xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->has_mgpsimu()){
-          front_car.front_car_ins.gps_lat=xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->mgpsimu().lat();
-          front_car.front_car_ins.gps_lng=xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->mgpsimu().lon();
-          front_car.front_car_ins.ins_heading_angle=xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->mgpsimu().heading();
+       if(xgroupgrpcinfo.mutable_mvehinfo(front_car_vector_id)->has_mgpsimu()){
+          front_car.front_car_ins.gps_lat=xgroupgrpcinfo.mutable_mvehinfo(front_car_vector_id)->mgpsimu().lat();
+          front_car.front_car_ins.gps_lng=xgroupgrpcinfo.mutable_mvehinfo(front_car_vector_id)->mgpsimu().lon();
+          front_car.front_car_ins.ins_heading_angle=xgroupgrpcinfo.mutable_mvehinfo(front_car_vector_id)->mgpsimu().heading();
+          front_car.front_car_ins.speed=xgroupgrpcinfo.mutable_mvehinfo(front_car_vector_id)->mgpsimu().speed();
           GaussProjCal(front_car.front_car_ins.gps_lng,front_car.front_car_ins.gps_lat, &front_car.front_car_ins.gps_x, &front_car.front_car_ins.gps_y);
           front_car.front_car_dis=GetDistance(now_gps_ins,front_car.front_car_ins);
        }else{
           front_car.front_car_dis=500;
        }
-       if(xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->has_mcarstate()){
-           front_car.vehState=xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->mcarstate().mstate();
-           int avoidX_record=xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->mcarstate().mavoidx();
+       if(xgroupgrpcinfo.mutable_mvehinfo(front_car_vector_id)->has_mcarstate()){
+           front_car.vehState=xgroupgrpcinfo.mutable_mvehinfo(front_car_vector_id)->mcarstate().mstate();
+           int avoidX_record=xgroupgrpcinfo.mutable_mvehinfo(front_car_vector_id)->mcarstate().mavoidx();
            if(front_car.vehState!=0&&avoidX_record!=0)
                  front_car.avoidX=avoidX_record;
            else
                  front_car.avoidX=0;
-           front_car.obs_distance=xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->mcarstate().mobsdistance();
-           front_car.obs_speed=xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->mcarstate().mobsspeed();
+           front_car.obs_distance=xgroupgrpcinfo.mutable_mvehinfo(front_car_vector_id)->mcarstate().mobsdistance();
+           front_car.obs_speed=xgroupgrpcinfo.mutable_mvehinfo(front_car_vector_id)->mcarstate().mobsspeed();
        }
        givlog->debug("decition_brain","front_car_id: %d,FrontState: %d,FrontAvoidX: %d,FrontDis: %f,FrontObs: %f",
                        front_car_id,front_car.vehState,front_car.avoidX,front_car.front_car_dis,front_car.obs_distance);
     }
 
     if(front_car_id>0){
-        if(front_car.front_car_dis>30){
+        if(front_car.front_car_dis>35){
             front_car_decide_avoid=true;
-        }else if((front_car.front_car_dis<=30)&&(front_car.avoidX==0)){
+        }else if((front_car.front_car_dis<=35)&&(front_car.avoidX==0)){
             front_car_decide_avoid=false;
-        }else if((front_car.front_car_dis<=30)&&(front_car.avoidX!=0)){
+        }else if((front_car.front_car_dis<=35)&&(front_car.avoidX!=0)){
             front_car_decide_avoid=true;
         }
     }else{
@@ -1031,10 +1034,9 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
 
     double acc_end = 0.1;
-
+    static double distoend=1000;
     if((ServiceCarStatus.table_look_up_on==true)&&(hapo_Adapter->IsINterpolationOK()))
     {
-                static double distoend=1000;
                 if(PathPoint+1000>gpsMapLine.size()){
                     distoend=computeDistToEnd(gpsMapLine,PathPoint);
                 }else{
@@ -1042,14 +1044,14 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
                 }
                 if(!circleMode && distoend<50){
                         double nowspeed = realspeed/3.6;
-                        if((distoend<10)||(distoend<(nowspeed*nowspeed)))
+                        if((distoend<10)||(distoend<(nowspeed*nowspeed)+2))
                         {
                             if(distoend == 0.0)distoend = 0.09;
                             acc_end = (-1.0)*nowspeed*nowspeed/(2.0*distoend);
                             if(acc_end<(-3.0))acc_end = -3.0;
                         }
 
-                        if(distoend < 0.1)acc_end = -0.5;
+                        if((distoend < 2.1)||(PathPoint>=gpsMapLine.size()-2))acc_end = -0.5;
                 }
     }else{
 //                if(!circleMode && PathPoint>gpsMapLine.size()-brake_distance){
@@ -1512,9 +1514,11 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
     }
 #ifdef AVOID_NEW
-    if((vehState==avoiding)||(vehState==backOri)||(avoidXNew!=0)||(vehState==preAvoid))
+    if((vehState==avoiding)||(vehState==preAvoid))
     {
         dSpeed = min(8.0,dSpeed);
+    }else if((vehState==backOri)||(avoidXNew!=0)){
+        dSpeed = min(12.0,dSpeed);
     }
 #else
     if((vehState==avoiding)||(vehState==backOri)||(roadNow != roadOri)||(vehState==preAvoid))
@@ -1532,6 +1536,19 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 //        }
     }
 
+    if(front_car_id>0){
+        static bool brake_state=false;
+        if(((front_car.vehState!=0)||(front_car.avoidX!=0))&&(front_car.front_car_dis<15)){
+            brake_state=true;
+        }
+        if(brake_state==true){
+            dSpeed=min(dSpeed,ServiceCarStatus.mroadmode_vel.mfmode18);
+        }
+        if(((front_car.vehState==0)&&(front_car.avoidX==0))||(front_car.front_car_dis>25)){
+            brake_state=false;
+        }
+
+    }
 
     dSpeed = limitSpeed(controlAng, dSpeed);
     dSecSpeed = dSpeed / 3.6;
@@ -1619,8 +1636,32 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     ServiceCarStatus.mObsDistance=obsDistance;
     ServiceCarStatus.mObsSpeed=obs_speed_for_avoid;
 
-    //old_bz--------------------------------------------------------------------------------------------------
+    //group map end park pro--------start
+    if(front_car_id>0){
+        static  bool final_lock=false;
+        if((distoend<90)&&(front_car.front_car_dis<obsDistance+10)){
+            if((obsDistance>3)&&(obsDistance<20)){
+                if((realspeed>3)&&(final_lock==false)){
+                    minDecelerate=-0.7;
+                }else{
+                    dSpeed = min(3.0,dSpeed);
+                    final_lock=true;
+                }
+                obsDistance=200;
+            }else if((obsDistance>1)&&(obsDistance<3)){
+                minDecelerate=-0.5;
+                obsDistance=200;
+            }else if(obsDistance<1){
+                minDecelerate=-1.0;
+            }
+            if(realspeed<1){
+                final_lock=false;
+            }
+        }
+    }
+    //group map end park pro-----------end
 
+    //old_bz--------------------------------------------------------------------------------------------------
     if (vehState == avoiding)
     {
         double avoidDistance=GetDistance(startAvoidGpsIns,now_gps_ins);
@@ -1782,13 +1823,13 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     }*/
 
     road_permit_avoid=false;
-    if(PathPoint+600<gpsMapLine.size()){
+    if(PathPoint+400<gpsMapLine.size()){
         int road_permit_sum=0;
-        for(int k=PathPoint;k<PathPoint+600;k++){
+        for(int k=PathPoint;k<PathPoint+400;k++){
                 if((gpsMapLine[k]->mbnoavoid==false)&&(gpsMapLine[k]->roadSum>1))
                                  road_permit_sum++;
         }
-        if(road_permit_sum>=600)
+        if(road_permit_sum>=400)
             road_permit_avoid=true;
     }
 
@@ -2267,6 +2308,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
 
     lastAngle=gps_decition->wheel_angle;
+    lastVehState=vehState;
 
     //   qDebug("decide1 time is %d",xTime.elapsed());
     return gps_decition;
@@ -3168,6 +3210,7 @@ void iv::decition::DecideGps00::computeObsOnRoad(iv::LidarGridPtr lidarGridPtr,
         obsSpeed=obsSd;
     }
 
+
     if(obsDistance<500&&obsDistance>0){
      std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "obsDistance<500:" << obsDistance << std::endl;
     }
@@ -3259,6 +3302,10 @@ void iv::decition::DecideGps00::computeObsOnRoadXY(iv::LidarGridPtr lidarGridPtr
         obsSpeed=obsSd;
     }
 
+    if(obsPoint.obs_type==2){
+        obsSpeed=-secSpeed;
+    }
+
     if(obsDistance<500&&obsDistance>0){
      std::cout <<ServiceCarStatus.mRunTime.elapsed()<<"ms:"<< "obsDistance<500:" << obsDistance << std::endl;
     }
@@ -4114,7 +4161,7 @@ void iv::decition::DecideGps00::transferGpsMode2( const std::vector<GPSData> gps
     if(speed_slowdown_flag==1)
     {
             if((realspeed>ServiceCarStatus.mroadmode_vel.mfmode18)&&(lock_flag==false)){
-                minDecelerate=-0.5;
+                minDecelerate=-0.3;
             }else{
                 dSpeed=min(dSpeed,ServiceCarStatus.mroadmode_vel.mfmode18);
                 lock_flag=true;
@@ -4288,13 +4335,14 @@ void iv::decition::DecideGps00::computeObsOnRoadNew(iv::LidarGridPtr lidarGridPt
         obsva->obs_distance=500;
     }else{
         obsva->obs_distance=obs;
+        obsva->obs_speed=obsSd;
     }
 }
 
 int iv::decition::DecideGps00::computeBackDistance(iv::LidarGridPtr lidarGridPtr, GPS_INS now_gps_ins, const std::vector<GPSData> gpsMapLine,std::vector<iv::Perception::PerceptionOutput> lidar_per,int avoidLeft,int avoidRight,int avoidXNow) {
 
     obs_property.clear();
-    double record_avoidX=20,signed_record_avoidX=0,obs_cur_distance=500;
+    double record_avoidX=20,signed_record_avoidX=0,obs_cur_distance=500,obs_cur_speed=0;
     for (int i =  avoidLeft; i <= avoidRight; i++)
     {
         obsvalue x_value;
@@ -4304,8 +4352,10 @@ int iv::decition::DecideGps00::computeBackDistance(iv::LidarGridPtr lidarGridPtr
         gpsTraceBack = getGpsTraceOffset(gpsTraceOri, i);
         computeObsOnRoadNew(lidarGridPtr, gpsTraceBack, i,gpsMapLine,lidar_per,x);
         obs_property.push_back(x_value);
-        if(i==0)
+        if(i==0){
             obs_cur_distance=x_value.obs_distance;
+            obs_cur_speed=x_value.obs_speed;
+        }
         givlog->debug("decition_brain","i: %d,obs:%f",x_value.avoid_distance,x_value.obs_distance);
 
     }
@@ -4330,7 +4380,17 @@ int iv::decition::DecideGps00::computeBackDistance(iv::LidarGridPtr lidarGridPtr
             }
         }
     }
-    if((obs_cur_distance>100)&&(GetDistance(now_gps_ins, startAvoidGps)>max(avoidMinDistance,40.0)))
+    /*if((obs_cur_distance>100)&&(GetDistance(now_gps_ins, startAvoidGps)>max(avoidMinDistance,40.0)))
+    {
+        if(PathPoint+300<gpsMapLine.size()){
+            for(int k=PathPoint;k<PathPoint+300;k++){
+                    if((gpsMapLine[k]->mfCurvature>0.02))
+                                     return 20;
+            }
+            return 0;
+        }
+    }*/
+    if((obs_cur_distance>100||obs_cur_speed>1)&&(lastVehState==normalRun))
     {
         if(PathPoint+300<gpsMapLine.size()){
             for(int k=PathPoint;k<PathPoint+300;k++){

src/decition/decition_brain_sf/decition/decide_gps_00.h

@@ -128,6 +128,7 @@ public:
     struct obsvalue{
         int avoid_distance;
         double obs_distance;
+        double obs_speed;
     };
     std::vector<obsvalue> obs_property;
 
@@ -262,7 +263,7 @@ public:
     float  ObsTimeSpan=-1;
     double ObsTimeStart=-1;
     double ObsTimeEnd=-1;
-    float ObsTimeWidth=30.0;   //500   zj-30
+    float ObsTimeWidth=70.0;   //500   zj-30
     std::vector<iv::TracePoint> planTrace;
 
     bool roadNowStart=true;

src/decition/decition_brain_sf/decition_brain_sf.pro

@@ -2,7 +2,7 @@ QT -= gui
 
 QT += network dbus xml
 
-#CONFIG += c++11 console
+CONFIG += c++11 console
 CONFIG -= app_bundle
 
 # The following define makes your compiler emit warnings if you use

src/detection/detection_lidar_PointPillars_MultiHead/main.cpp

@@ -129,8 +129,9 @@ void GetLidarObj(std::vector<float> out_detections,std::vector<int> out_labels,
 
 void DectectOnePCD(const pcl::PointCloud<pcl::PointXYZI>::Ptr &pc_ptr)
 {
-    float* points_array = new float[pc_ptr->size() * kNumPointFeature];
-    PclXYZITToArray(pc_ptr, points_array, 1.0);
+    std::shared_ptr<float> points_array_ptr = std::shared_ptr<float>(new float[pc_ptr->size() * kNumPointFeature]);
+ //   float* points_array = new float[pc_ptr->size() * kNumPointFeature];
+    PclXYZITToArray(pc_ptr, points_array_ptr.get(), 1.0);
 
     int    in_num_points = pc_ptr->width;
 
@@ -143,7 +144,7 @@ void DectectOnePCD(const pcl::PointCloud<pcl::PointXYZI>::Ptr &pc_ptr)
     xTime.start();
 
     cudaDeviceSynchronize();
-    pPillars->DoInference(points_array, in_num_points, &out_detections, &out_labels , &out_scores);
+    pPillars->DoInference(points_array_ptr.get(), in_num_points, &out_detections, &out_labels , &out_scores);
     cudaDeviceSynchronize();
     int BoxFeature = 7;
     int num_objects = out_detections.size() / BoxFeature;
@@ -162,6 +163,7 @@ void DectectOnePCD(const pcl::PointCloud<pcl::PointXYZI>::Ptr &pc_ptr)
     int ntlen;
     std::string out = lidarobjvec.SerializeAsString();
     iv::modulecomm::ModuleSendMsg(gpdetect,out.data(),out.length());
+
 //    givlog->verbose("lenth is %d",out.length());
 }
 
@@ -185,6 +187,8 @@ void ListenPointCloud(const char *strdata,const unsigned int nSize,const unsigne
     int nNameSize;
     nNameSize = *pHeadSize - 4-4-8;
     char * strName = new char[nNameSize+1];strName[nNameSize] = 0;
+    std::shared_ptr<char> str_ptr;
+    str_ptr.reset(strName);
     memcpy(strName,(char *)((char *)strdata +4),nNameSize);
     point_cloud->header.frame_id = strName;
     memcpy(&point_cloud->header.seq,(char *)strdata+4+nNameSize,4);
@@ -260,6 +264,25 @@ void exitfunc()
     std::cout<<"exit func complete"<<std::endl;
 }
 
+#include <QDir>
+#include <QFile>
+
+bool trtisexist(std::string strpfe,std::string strbackbone)
+{
+    QFile xFile;
+    xFile.setFileName(strpfe.data());
+    if(xFile.exists() == false)
+    {
+        return false;
+    }
+    xFile.setFileName(strbackbone.data());
+    if(xFile.exists() == false)
+    {
+        return false;
+    }
+    return true;
+}
+
 int main(int argc, char *argv[])
 {
     QCoreApplication a(argc, argv);
@@ -274,8 +297,15 @@ int main(int argc, char *argv[])
     char * strhome = getenv("HOME");
     std::string pfe_file = strhome;
     pfe_file += "/models/lidar/cbgs_pp_multihead_pfe.onnx";
+    std::string pfe_trt_file = strhome;
+    pfe_trt_file += "/models/lidar/cbgs_pp_multihead_pfe.trt";
+
     std::string backbone_file = strhome;
     backbone_file += "/models/lidar/cbgs_pp_multihead_backbone.onnx";
+    std::string backbone_trt_file = strhome;
+    backbone_trt_file += "/models/lidar/cbgs_pp_multihead_backbone.trt";
+
+    bool btrtexist = trtisexist(pfe_trt_file,backbone_trt_file);
 
 
     QString strpath = QCoreApplication::applicationDirPath();
@@ -293,6 +323,10 @@ int main(int argc, char *argv[])
     backbone_file = xparam.GetParam("backbone_file",backbone_file.data());
     gstrinput = xparam.GetParam("input","lidar_pc");
     gstroutput = xparam.GetParam("output","lidar_pointpillar");
+    if(btrtexist == false)
+    {
+
+       std::cout<<"use onnx model."<<std::endl;
     pPillars = new PointPillars(
       0.1,
       0.2,
@@ -301,6 +335,19 @@ int main(int argc, char *argv[])
       backbone_file,
       pp_config
     );
+    }
+    else
+    {
+        std::cout<<"use engine mode."<<std::endl;
+    pPillars = new PointPillars(
+      0.1,
+      0.2,
+      false,
+      pfe_trt_file,
+      backbone_trt_file,
+      pp_config
+    );
+    }
     std::cout<<"PointPillars Init OK."<<std::endl;
 
     gpa = iv::modulecomm::RegisterRecv(gstrinput.data(),ListenPointCloud);

src/detection/detection_lidar_PointPillars_MultiHead/pointpillars.cc

@@ -284,14 +284,32 @@ void PointPillars::SetDeviceMemoryToZero() {
 }
 
 
+#include <fstream>
+#include <iostream>
+#
 
+void PointPillars::SaveEngine(nvinfer1::ICudaEngine* pengine,std::string strpath)
+{
+    nvinfer1::IHostMemory* data = pengine->serialize();
+    std::ofstream file;
+    file.open(strpath,std::ios::binary | std::ios::out);
+    if(!file.is_open())
+    {
+        std::cout << "read create engine file" << strpath <<" failed" << std::endl;
+        return;
+    }
 
+    file.write((const char*)data->data(), data->size());
+    file.close();
+}
 
 void PointPillars::InitTRT(const bool use_onnx) {
   if (use_onnx_) {
     // create a TensorRT model from the onnx model and load it into an engine
     OnnxToTRTModel(pfe_file_, &pfe_engine_);
+    SaveEngine(pfe_engine_,"/home/nvidia/models/lidar/cbgs_pp_multihead_pfe.trt");
     OnnxToTRTModel(backbone_file_, &backbone_engine_);
+    SaveEngine(backbone_engine_,"/home/nvidia/models/lidar/cbgs_pp_multihead_backbone.trt");
   }else {
     EngineToTRTModel(pfe_file_, &pfe_engine_);
     EngineToTRTModel(backbone_file_, &backbone_engine_);
@@ -345,6 +363,59 @@ void PointPillars::OnnxToTRTModel(
     builder->destroy();
 }
 
+void PointPillars::LoadEngineModel(const string &engine_file, nvinfer1::ICudaEngine **engine_ptr)
+{
+//    using namespace std;
+//    fstream file;
+
+//    file.open(engine_file,ios::binary | ios::in);
+//    if(!file.is_open())
+//    {
+//        cout << "read engine file" << engine_file <<" failed" << endl;
+//        return;
+//    }
+//    file.seekg(0, ios::end);
+//    int length = file.tellg();
+//    file.seekg(0, ios::beg);
+//    std::unique_ptr<char[]> data(new char[length]);
+//    file.read(data.get(), length);
+
+//    file.close();
+
+//    std::cout << "deserializing" << std::endl;
+//    mTrtRunTime = createInferRuntime(gLogger);
+//    assert(mTrtRunTime != nullptr);
+//    mTrtEngine= mTrtRunTime->deserializeCudaEngine(data.get(), length, &mTrtPluginFactory);
+//    assert(mTrtEngine != nullptr);
+
+//    nvinfer1::IRuntime* runtime = nvinfer1::createInferRuntime(g_logger_);
+
+//    if (runtime == nullptr) {
+//        std::string msg("failed to build runtime parser");
+//        g_logger_.log(nvinfer1::ILogger::Severity::kERROR, msg.c_str());
+//        exit(EXIT_FAILURE);
+//    }
+
+
+
+//    std::cout << "                                                                  "<< std::endl;
+//    std::cout << "------------------------------------------------------------------"<< std::endl;
+//    std::cout << ">>>>                                                          >>>>"<< std::endl;
+//    std::cout << "                                                                  "<< std::endl;
+//    std::cout << "Input filename:   " << engine_file << std::endl;
+//    std::cout << "                                                                  "<< std::endl;
+//    std::cout << ">>>>                                                          >>>>"<< std::endl;
+//    std::cout << "------------------------------------------------------------------"<< std::endl;
+//    std::cout << "                                                                  "<< std::endl;
+
+//    nvinfer1::ICudaEngine* engine = runtime->deserializeCudaEngine(modelMem, modelSize, NULL);
+//    if (engine == nullptr) {
+//        std::string msg("failed to build engine parser");
+//        g_logger_.log(nvinfer1::ILogger::Severity::kERROR, msg.c_str());
+//        exit(EXIT_FAILURE);
+//    }
+//    *engine_ptr = engine;
+}
 
 void PointPillars::EngineToTRTModel(
     const std::string &engine_file ,     
@@ -490,6 +561,8 @@ void PointPillars::DoInference(const float* in_points_array,
 //        std::cout << setiosflags(ios::left) << setw(14) << Modules[i]  << setw(8)  << Times[i] * 1000 << " ms" << resetiosflags(ios::left) << std::endl;
 //    }
 //    std::cout << "------------------------------------" << std::endl;
+
+    GPU_CHECK(cudaFree(dev_points));
     cudaStreamDestroy(stream);
 
 }

src/detection/detection_lidar_PointPillars_MultiHead/pointpillars.h

@@ -243,6 +243,9 @@ class PointPillars {
     void EngineToTRTModel(const std::string &engine_file ,     
                         nvinfer1::ICudaEngine** engine_ptr) ;
 
+    void LoadEngineModel(const std::string &engine_file ,
+                         nvinfer1::ICudaEngine** engine_ptr) ;
+
     /**
      * @brief Preproces points
      * @param[in] in_points_array Point cloud array
@@ -269,6 +272,8 @@ class PointPillars {
                 const std::string pp_config);
     ~PointPillars();
 
+    void SaveEngine(nvinfer1::ICudaEngine* pengine,std::string strpath);
+
     /**
      * @brief Call PointPillars for the inference
      * @param[in] in_points_array Point cloud array

src/detection/detection_lidar_PointPillars_MultiHead/postprocess.cu

@@ -380,5 +380,6 @@ void PostprocessCuda::DoPostprocessCuda(
 
         GPU_CHECK(cudaFree(dev_indexes));
         GPU_CHECK(cudaFree(dev_sorted_filtered_box));
+        GPU_CHECK(cudaFree(dev_sorted_filtered_scores));
     }
 }

src/driver/driver_camera_ioctl/main.cpp

@@ -34,6 +34,11 @@
 
 #include "ivversion.h"
 
+#include "ivexit.h"
+#include <signal.h>
+
+QCoreApplication * gApp;
+
 
 void * gpa;
 
@@ -213,7 +218,7 @@ void threadcapture()
             if((gpixel_format_name_ != "mjpeg")&&(gbcompress))
             {
                 std::vector<int> param = std::vector<int>(2);
-                param[0] = CV_IMWRITE_JPEG_QUALITY;
+                param[0] = 1;//CV_IMWRITE_JPEG_QUALITY;
                 param[1] = 95; // default(95) 0-100
                 std::vector<unsigned char> buff;
 
@@ -257,10 +262,25 @@ void threadcapture()
 
 }
 
+void ExitFunc()
+{
+    gApp->quit();
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+}
+
+void signal_handler(int sig)
+{
+    if(sig == SIGINT)
+    {
+        ExitFunc();
+    }
+}
+
 int main(int argc, char *argv[])
 {
     showversion("driver_camera_ioctl");
     QCoreApplication a(argc, argv);
+    gApp = &a;
 
     QString strpath = QCoreApplication::applicationDirPath();
 //    QString apppath = strpath;
@@ -323,5 +343,14 @@ int main(int argc, char *argv[])
 //    (void)conthread;
 //    (void)compressthread;
 
-    return a.exec();
+    iv::ivexit::RegIVExitCall(ExitFunc);
+    signal(SIGINT,signal_handler);
+
+    int nrc = a.exec();
+
+    iv::modulecomm::Unregister(gpa);
+
+    std::cout<<"driver_camera_ioctl quit."<<nrc<<std::endl;
+
+    return nrc;
 }

src/driver/driver_camera_usb/main.cpp

@@ -193,12 +193,30 @@ void VideoThread(int n)
 }
 
 
+#include <thread>
+
+void testthread()
+{
+    void * mpx = iv::modulecomm::RegisterSend("test121",10000000,1);
+    char * str = new char[10000000];
+    while(1)
+    {
+        iv::modulecomm::ModuleSendMsg(mpx,str,9000000);
+    }
+}
+
 
 int main(int argc, char *argv[])
 {
+
+
+
     showversion("driver_camera_usb");
     QCoreApplication a(argc, argv);
 
+    std::thread * pthread = new std::thread(testthread);
+    return a.exec();
+
     QString strpath = QCoreApplication::applicationDirPath();
 //    QString apppath = strpath;
     if(argc < 2)

src/driver/driver_can_nvidia_agx/canctrl.cpp

@@ -51,6 +51,20 @@ canctrl::canctrl(const char * strmemsend0,const char * strmemsend1,const char *
     mpcan->startdev();
 }
 
+canctrl::~canctrl()
+{
+    mpcan->stopdev();
+
+    delete mpcan;
+
+    iv::modulecomm::Unregister(mpasend1);
+    iv::modulecomm::Unregister(mpasend0);
+    iv::modulecomm::Unregister(mpcanState);
+    iv::modulecomm::Unregister(mparecv1);
+    iv::modulecomm::Unregister(mparecv0);
+
+}
+
 void canctrl::run()
 {
 
@@ -59,6 +73,7 @@ void canctrl::run()
     int nOldTime = xTime.elapsed();
     int i;
 
+
     while(!isInterruptionRequested())
     {
         if(mbCANOpen)
@@ -75,6 +90,7 @@ void canctrl::run()
                 sharecanmsg(mparecv1,xmsg,nRec2,1);
             }
 
+
             nSend1 = 0;
             nSend2 = 0;
 
@@ -122,9 +138,11 @@ void canctrl::run()
                 exit(-1);
             }
         }
-        mpcan->mfault->SetFaultState(0, 0, "ok");
+//        mpcan->mfault->SetFaultState(0, 0, "ok");
     }
 
+    qDebug("thread canctrl complete.");
+
 }
 
 void canctrl::onCANState(bool bCAN, int nR, const char *strres)
@@ -137,7 +155,7 @@ void canctrl::sendmsg(int index, iv::can::canmsg xmsg)
 {
     if((index <0)||(index > 1))
     {
-        mpcan->mfault->SetFaultState(1, 0, "sendmsg index error");
+ //       mpcan->mfault->SetFaultState(1, 0, "sendmsg index error");
         mpcan->mivlog->error("sendmsg index err");
         std::cout<<"canctrl::sendmsg index error"<<std::endl;
         return;
@@ -179,8 +197,9 @@ void canctrl::sendmsg(int index, iv::can::canmsg xmsg)
         if((nlen < 0) || (nlen > 8))
         {
             nlen = 0;
-            mpcan->mivlog->error("sendmsg nlen err");
-            mpcan->mfault->SetFaultState(1, 0, "sendmsg nlen err");
+            mpcan->mivlog->warn("sendmsg nlen err");
+            continue;
+ //           mpcan->mfault->SetFaultState(1, 0, "sendmsg nlen err");
         }
         sendmsg.nLen = nlen;
         if(sendmsg.nLen > 0)
@@ -224,8 +243,8 @@ void canctrl::sharecanmsg(void *xpa, basecan_msg * pxmsg,int ncount,int nch)
     }
     else
     {
-        mpcan->mivlog->error("canctrl::sharecanmsg serialize error");
-        mpcan->mfault->SetFaultState(1, 0, "sharecanmsg serialize error");
+        mpcan->mivlog->warn("canctrl::sharecanmsg serialize error");
+//        mpcan->mfault->SetFaultState(1, 0, "sharecanmsg serialize error");
     }
     delete strdata;
 }

src/driver/driver_can_nvidia_agx/canctrl.h

@@ -19,6 +19,7 @@ class canctrl : public QThread
     Q_OBJECT
 public:
     canctrl(const char * strmemsend0,const char * strmemsend1,const char * strmemrecv0,const char * strmemrecv1);
+    ~canctrl();
 
 private slots:
     void onCANState(bool bCAN,int nR,const char * strres);

src/driver/driver_can_nvidia_agx/main.cpp

@@ -14,26 +14,38 @@
 #include <xmlparam.h>
 
 #include "ivversion.h"
+#include "ivexit.h"
+#include <signal.h>
 
 
-//void func()
-//{
-//    int i;
-//    i = 0;
-//    while(1)
-//    {
-//        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
-//        i++;
-//        qDebug("pid is ",getpid());
-//        if(i == 10)break;
-//    }
-//    qDebug("pid is %d ",getpid());
-//    kill(getpid(),SIGINT);
-//}
+static canctrl * gpcanctrl;
 
+void exitfunc()
+{
+    qDebug("enter exit func.");
+    gpcanctrl->requestInterruption();
+
+    QTime  xTime;
+    xTime.start();
+    while(xTime.elapsed()<1000)
+    {
+        if(gpcanctrl->isFinished())
+        {
+            qDebug("canctrl complete.");
+            delete gpcanctrl;
+            break;
+        }
+    }
 
+}
 
-static canctrl * gpcanctrl;
+void signal_handler(int sig)
+{
+    if(sig == SIGINT)
+    {
+        exitfunc();
+    }
+}
 
 
 int main(int argc, char *argv[])
@@ -58,6 +70,10 @@ int main(int argc, char *argv[])
     gpcanctrl = new canctrl(strmemsend0.data(),strmemsend1.data(),strmemrecv0.data(),strmemrecv1.data());
     gpcanctrl->start();
 
+    iv::ivexit::RegIVExitCall(exitfunc);
+
+    signal(SIGINT,signal_handler);
+
  //   std::thread b(func);
 
     return a.exec();

src/driver/driver_can_nvidia_agx/nvcan.cpp

@@ -22,6 +22,8 @@
 #include <linux/can.h>
 #include <linux/can/raw.h>
 
+#include <QDateTime>
+
 #include <iostream>
 
 /* for hardware timestamps - since Linux 2.6.30 */
@@ -60,6 +62,9 @@ nvcan::nvcan()
     mivlog = new iv::Ivlog("can_agx");
 
 
+    mfault->SetFaultState(0,0,"Prepare Initialize.");
+
+
 }
 
 void nvcan::run()
@@ -79,11 +84,14 @@ void nvcan::run()
     struct ifreq ifr;
     struct timeval tv, last_tv;
     struct timeval timeout_config = { 0, 0 }, *timeout_current = 0;
+
+    mfault->SetFaultState(0,0,"Initializing.");
     
     for(i=0;i<currmax;i++)
     {
         s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
         if (s[i] < 0) {
+            mfault->SetFaultState(2,1,"Create Socket Error.");
             emit SIG_CANOPENSTATE(false,-1,"Create Socket Error");
             return;
         }
@@ -94,12 +102,14 @@ void nvcan::run()
         strncpy(ifr.ifr_name, CANNAME[i].data(), 5);
 
         if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
+            mfault->SetFaultState(2,2,"SIOCGIFINDEX.");
             emit SIG_CANOPENSTATE(false,-2,"SIOCGIFINDEX");
             return;
         }
         addr.can_ifindex = ifr.ifr_ifindex;
 
         if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+            mfault->SetFaultState(2,3,"bind error.");
             emit SIG_CANOPENSTATE(false,-3,"bind error");
             return;
         }
@@ -107,6 +117,7 @@ void nvcan::run()
 
     mbCANOpen = true;
     mivlog->verbose("open can succesfully.");
+    mfault->SetFaultState(0,0,"CAN OK.");
     emit SIG_CANOPENSTATE(true,0,"open can card successfully");
 
     iov.iov_base = &frame;
@@ -115,6 +126,13 @@ void nvcan::run()
     msg.msg_iovlen = 1;
     msg.msg_control = &ctrlmsg;
 
+    qint64 nLastRecv = QDateTime::currentMSecsSinceEpoch();
+    int nRecvState = 0; // 0 Have Data  1 No Data;
+
+    mbRunning = true;
+
+    int nrecvcount = 0;
+
     while((!QThread::isInterruptionRequested())&&(mbCANOpen))
     {
         FD_ZERO(&rdfs);
@@ -130,6 +148,7 @@ void nvcan::run()
         ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, timeout_current);
         if (ret < 0) {
             emit SIG_CANOPENSTATE(false,-4,"select error");
+            mfault->SetFaultState(2,4,"select error.");
             mbCANOpen = false;
             continue;
         }
@@ -138,6 +157,7 @@ void nvcan::run()
 
             if (FD_ISSET(s[i], &rdfs)) {
 
+                nLastRecv = QDateTime::currentMSecsSinceEpoch();
                 /* these settings may be modified by recvmsg() */
                 iov.iov_len = sizeof(frame);
                 msg.msg_namelen = sizeof(addr);
@@ -169,6 +189,7 @@ void nvcan::run()
                     continue;
                 }
 
+                nrecvcount++;
   //              qDebug("receive msg.");
                 mMutex.lock();
 
@@ -190,6 +211,23 @@ void nvcan::run()
             }
         }
 
+        if((QDateTime::currentMSecsSinceEpoch() - nLastRecv)> 1000)
+        {
+            if(nRecvState == 0)
+            {
+                nRecvState = -1;
+                mfault->SetFaultState(0,1,"More than 1 second not receive data.");
+            }
+        }
+        else
+        {
+            if(nRecvState == -1)
+            {
+                nRecvState = 0;
+                mfault->SetFaultState(0,0,"CAN OK.");
+            }
+        }
+
         struct canfd_frame framesend[2500];
 
         for(int nch =0;nch<currmax;nch++)
@@ -238,6 +276,8 @@ void nvcan::run()
     {
         close(s[i]);
     }
+    qDebug("nvcan thread close.");
+    mbRunning = false;
 }
 
 void nvcan::startdev()
@@ -256,6 +296,7 @@ void nvcan::stopdev()
         {
             mfault->SetFaultState(1, 0, "can closed");
             mivlog->error("can is closed at %d",xTime.elapsed());
+            qDebug("can is closed.");
             break;
         }
     }

src/driver/driver_cloud_grpc_client/driver_cloud_grpc_client.pro

@@ -11,6 +11,8 @@ QMAKE_LFLAGS += -no-pie
 # deprecated API in order to know how to port your code away from it.
 DEFINES += QT_DEPRECATED_WARNINGS
 
+system(protoc -I=./../../include/proto3 --cpp_out=./../../include/msgtype   ./../../include/proto3/uploadmsg.proto)
+
 # You can also make your code fail to compile if it uses deprecated APIs.
 # In order to do so, uncomment the following line.
 # You can also select to disable deprecated APIs only up to a certain version of Qt.

src/driver/driver_cloud_grpc_client/prototocpp.txt

@@ -1,3 +1,3 @@
 protoc -I . --plugin=protoc-gen-grpc=/home/yuchuli/git/grpc-framework/build2/grpc_cpp_plugin --grpc_out=. uploadmsg.proto
 
-protoc -I . --cpp_out=. uploadmsg.proto 
+protoc -I=./../../include/proto3 --cpp_out=./../../include/msgtype   ./../../include/proto3/uploadmsg.proto 

src/driver/driver_cloud_grpc_client_BS/driver_cloud_grpc_client_BS.yaml

@@ -3,7 +3,7 @@ upload_port : 10591
 patrol_port : 10592
 control_port : 20591
 
-uploadinterval : 500 //ms
+uploadinterval : 100 #ms
 patrolinterval : 1000
 controlinterval : 100
 uploadmapinterval : 1000

src/driver/driver_cloud_grpc_client_BS/main.cpp

@@ -41,7 +41,7 @@ std::string gstrserverip =  "111.33.136.150";//"123.57.212.138";
 std::string gstruploadPort = "10591";//"9000";
 std::string gstrpatrolPort = "10592";//"9000";
 std::string gstrcontrolPort = "20591";//"9000";
-std::string gstruploadInterval = "500";
+std::string gstruploadInterval = "100";
 std::string gstrpatrolInterval = "1000";
 std::string gstrcontrolInterval = "100";
 std::string gstruploadMapInterval = "1000";
@@ -74,43 +74,53 @@ void dec_yaml(const char * stryamlpath)
     if(config["server"])
     {
         gstrserverip = config["server"].as<std::string>();
+        std::cout<<"server:"<<gstrserverip<<std::endl;
     }
-    if(config["uploadPort"])
+    if(config["upload_port"])
     {
-        gstruploadPort = config["uploadPort"].as<std::string>();
+        gstruploadPort = config["upload_port"].as<std::string>();
+        std::cout<<"upload_port:"<<gstruploadPort<<std::endl;
     }
-    if(config["patrolPort"])
+    if(config["patrol_port"])
     {
-        gstrpatrolPort = config["patrolPort"].as<std::string>();
+        gstrpatrolPort = config["patrol_port"].as<std::string>();
+        std::cout<<"patrol_port:"<<gstrpatrolPort<<std::endl;
     }
-    if(config["controlPort"])
+    if(config["control_port"])
     {
-        gstrcontrolPort = config["controlPort"].as<std::string>();
+        gstrcontrolPort = config["control_port"].as<std::string>();
+        std::cout<<"control_port:"<<gstrcontrolPort<<std::endl;
     }
-    if(config["uploadInterval"])
+    if(config["uploadinterval"])
     {
-        gstruploadInterval = config["uploadInterval"].as<std::string>();
+        gstruploadInterval = config["uploadinterval"].as<std::string>();
+        std::cout<<"uploadinterval:"<<gstruploadInterval<<"ms"<<std::endl;
     }
-    if(config["patrolInterval"])
+    if(config["patrolinterval"])
     {
-        gstrpatrolInterval = config["patrolInterval"].as<std::string>();
+        gstrpatrolInterval = config["patrolinterval"].as<std::string>();
+        std::cout<<"patrolinterval:"<<gstrpatrolInterval<<"ms"<<std::endl;
     }
     if(config["controlinterval"])
     {
         gstrcontrolInterval = config["controlinterval"].as<std::string>();
+        std::cout<<"controlinterval:"<<gstrcontrolInterval<<"ms"<<std::endl;
     }
     if(config["uploadmapinterval"])
     {
         gstruploadMapInterval = config["uploadmapinterval"].as<std::string>();
+        std::cout<<"uploadmapinterval:"<<gstruploadMapInterval<<"ms"<<std::endl;
     }
 
     if(config["id"])
     {
         gstrid = config["id"].as<std::string>();
+        std::cout<<"id:"<<gstrid<<std::endl;
     }
     if(config["plateNumber"])
     {
         gstrplateNumber = config["plateNumber"].as<std::string>();
+        std::cout<<"plateNumber:"<<gstrplateNumber<<std::endl;
     }
 
     return;
@@ -160,7 +170,7 @@ int main(int argc, char *argv[])
     vehicleuploadmap->start();
 
 //    std::cout<<patrol_str<<std::endl;
-//    VehiclePatrolExceptionClient vehiclepatrol(grpc::CreateChannel(patrol_str, grpc::InsecureChannelCredentials()));
+    VehiclePatrolExceptionClient vehiclepatrol(grpc::CreateChannel(patrol_str, grpc::InsecureChannelCredentials()));
 //    vehiclepatrol.start();
 
     return a.exec();

src/driver/driver_cloud_grpc_client_BS/vehicle_control.cpp

@@ -1,5 +1,7 @@
 #include "vehicle_control.h"
 
+#include <math.h>
+
 #include "modulecomm.h"
 #include "remotectrl.pb.h"
 
@@ -64,7 +66,7 @@ void VehicleControlClient::dec_yaml(const char *stryamlpath)
             strncpy(shmRemoteCtrl.mstrmsgname,strmsgname.data(),255);
             shmRemoteCtrl.mnBufferSize = config["remote_ctrl"]["buffersize"].as<int>();
             shmRemoteCtrl.mnBufferCount = config["remote_ctrl"]["buffercount"].as<int>();
-//            std::cout << shmRemoteCtrl.mstrmsgname << shmRemoteCtrl.mnBufferSize << shmRemoteCtrl.mnBufferCount << std::endl;
+            std::cout << "RemoteCtrl:" << shmRemoteCtrl.mstrmsgname << "," << shmRemoteCtrl.mnBufferSize << "," << shmRemoteCtrl.mnBufferCount << std::endl;
         }
     }
     else
@@ -124,6 +126,10 @@ std::string VehicleControlClient::vehicleControl(void)
         {
             std::cout << "vehicleControl RPC connect timeout" << std::endl;
         }
+        shiftCMD = ShiftStatus::SHIFT_DRIVE;
+        steeringWheelAngleCMD = 0.0;
+        throttleCMD = 0.0;
+        brakeCMD = 100.0;
         return "vehicleControl RPC failed";
     }
 }
@@ -136,10 +142,10 @@ void VehicleControlClient::updateControlData(void)
     std::cout<<"throttle:"<<throttleCMD<<std::endl;
     std::cout<<"brake:"<<brakeCMD<<std::endl;
 #endif
-//    std::cout<<"\n"<<"shift:"<<shiftCMD<<std::endl;
-//    std::cout<<"steeringWheelAngle:"<<steeringWheelAngleCMD<<std::endl;
-//    std::cout<<"throttle:"<<throttleCMD<<std::endl;
-//    std::cout<<"brake:"<<brakeCMD<<"\n"<<std::endl;
+    std::cout<<"\n"<<"shift:"<<shiftCMD<<std::endl;
+    std::cout<<"steeringWheelAngle:"<<steeringWheelAngleCMD<<std::endl;
+    std::cout<<"throttle:"<<throttleCMD<<std::endl;
+    std::cout<<"brake:"<<brakeCMD<<"\n"<<std::endl;
 
     iv::remotectrl xmsg;
     if(modeCMD == CtrlMode::CMD_REMOTE || modeCMD == CtrlMode::CMD_CLOUD_PLATFORM)
@@ -256,6 +262,7 @@ std::string VehicleChangeCtrlModeClient::changeCtrlMode(void)
         {
             std::cout << "vehicleControl RPC connect timeout" << std::endl;
         }
+        modeCMD = CtrlMode::CMD_EMERGENCY_STOP;
         return "changeCtrlMode RPC failed";
     }
 }
@@ -278,7 +285,7 @@ void VehicleChangeCtrlModeClient::run()
         if(abs(xTime.elapsed() - lastTime)>=interval)
         {
             std::string reply = changeCtrlMode();
-            std::cout<< reply <<std::endl;
+//            std::cout<< reply <<std::endl;
             updateCtrolMode();
             lastTime = xTime.elapsed();
         }

src/driver/driver_cloud_grpc_client_BS/vehicle_patrol.cpp

@@ -1,6 +1,7 @@
 #include "vehicle_patrol.h"
 
 #include <QFile>
+#include <math.h>
 
 #include "modulecomm.h"
 #include "gpsimu.pb.h"
@@ -19,6 +20,11 @@ using org::jeecg::defsPatrol::grpc::GPSPoint;
 VehiclePatrolExceptionClient::VehiclePatrolExceptionClient(std::shared_ptr<Channel> channel)
 {
     stub_ = VehiclePatrolException::NewStub(channel);
+
+    dec_yaml(stryamlpath);
+
+    ModuleFun funupdate = std::bind(&VehiclePatrolExceptionClient::ListenGPSIMUMsg,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
+    shmGPSIMU.mpa = iv::modulecomm::RegisterRecvPlus(shmGPSIMU.mstrmsgname,funupdate);
 }
 
 VehiclePatrolExceptionClient::~VehiclePatrolExceptionClient(void)
@@ -56,7 +62,7 @@ void VehiclePatrolExceptionClient::dec_yaml(const char *stryamlpath)
             strncpy(shmGPSIMU.mstrmsgname,strmsgname.data(),255);
             shmGPSIMU.mnBufferSize = config["GPS_IMU"]["buffersize"].as<int>();
             shmGPSIMU.mnBufferCount = config["GPS_IMU"]["buffercount"].as<int>();
-//            std::cout << shmGPSIMU.mstrmsgname << shmGPSIMU.mnBufferSize << shmGPSIMU.mnBufferCount << std::endl;
+            std::cout << "GPS_IMU:" << shmGPSIMU.mstrmsgname << "," << shmGPSIMU.mnBufferSize << "," << shmGPSIMU.mnBufferCount << std::endl;
         }
     }
     else
@@ -70,6 +76,24 @@ void VehiclePatrolExceptionClient::dec_yaml(const char *stryamlpath)
     return;
 }
 
+void VehiclePatrolExceptionClient::ListenGPSIMUMsg(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname) // need a lock
+{
+    iv::gps::gpsimu xdata;
+    if(!xdata.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<" MainWindow::UpdateSlider parese error."<<std::endl;
+        return;
+    }
+
+    gMutex_GPSIMU.lock();
+    currentPosition.set_latitude(xdata.lat());
+    currentPosition.set_longitude(xdata.lon());
+    currentPosition.set_height(xdata.height());
+    gMutex_GPSIMU.unlock();
+
+}
+
+
 std::string VehiclePatrolExceptionClient::uploadVehiclePatrolInfo(void)
 {
     // Data we are sending to the server.

src/driver/driver_cloud_grpc_client_BS/vehicle_patrol.h

@@ -6,6 +6,7 @@
 #include <QDateTime>
 #include <QVector>
 #include <QThread>
+#include <QMutex>
 
 #include <iostream>
 #include <memory>
@@ -58,6 +59,8 @@ public:
 
     void dec_yaml(const char * stryamlpath);
 
+    void ListenGPSIMUMsg(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
+
 protected:
     void run();
 
@@ -66,6 +69,9 @@ private:
 
     iv::msgunit shmGPSIMU;
 
+    QMutex gMutex_GPSIMU;
+    org::jeecg::defsPatrol::grpc::GPSPoint currentPosition;
+
     std::string id;
 
     bool isTVR; //Traffic Violation Recognition

src/driver/driver_cloud_grpc_client_BS/vehicle_upload.cpp

@@ -87,7 +87,7 @@ void DataExchangeClient::dec_yaml(const char *stryamlpath)
             strncpy(shmPicFront.mstrmsgname,strmsgname.data(),255);
             shmPicFront.mnBufferSize = config["pic_front"]["buffersize"].as<int>();
             shmPicFront.mnBufferCount = config["pic_front"]["buffercount"].as<int>();
-//            std::cout << shmPicFront.mstrmsgname << shmPicFront.mnBufferSize << shmPicFront.mnBufferCount << std::endl;
+            std::cout << "pic_front:" << shmPicFront.mstrmsgname << "," << shmPicFront.mnBufferSize << "," << shmPicFront.mnBufferCount << std::endl;
         }
     }
     else
@@ -106,7 +106,7 @@ void DataExchangeClient::dec_yaml(const char *stryamlpath)
             strncpy(shmPicRear.mstrmsgname,strmsgname.data(),255);
             shmPicRear.mnBufferSize = config["pic_rear"]["buffersize"].as<int>();
             shmPicRear.mnBufferCount = config["pic_rear"]["buffercount"].as<int>();
-//            std::cout << shmPicRear.mstrmsgname << shmPicRear.mnBufferSize << shmPicRear.mnBufferCount << std::endl;
+            std::cout << "pic_rear:" << shmPicRear.mstrmsgname << "," << shmPicRear.mnBufferSize << "," << shmPicRear.mnBufferCount << std::endl;
         }
     }
     else
@@ -125,7 +125,7 @@ void DataExchangeClient::dec_yaml(const char *stryamlpath)
             strncpy(shmPicLeft.mstrmsgname,strmsgname.data(),255);
             shmPicLeft.mnBufferSize = config["pic_left"]["buffersize"].as<int>();
             shmPicLeft.mnBufferCount = config["pic_left"]["buffercount"].as<int>();
-//            std::cout << shmPicLeft.mstrmsgname << shmPicLeft.mnBufferSize << shmPicLeft.mnBufferCount << std::endl;
+            std::cout << "pic_left:" << shmPicLeft.mstrmsgname << "," << shmPicLeft.mnBufferSize << "," << shmPicLeft.mnBufferCount << std::endl;
         }
     }
     else
@@ -144,7 +144,7 @@ void DataExchangeClient::dec_yaml(const char *stryamlpath)
             strncpy(shmPicRight.mstrmsgname,strmsgname.data(),255);
             shmPicRight.mnBufferSize = config["pic_right"]["buffersize"].as<int>();
             shmPicRight.mnBufferCount = config["pic_right"]["buffercount"].as<int>();
-//            std::cout << shmPicRight.mstrmsgname << shmPicRight.mnBufferSize << shmPicRight.mnBufferCount << std::endl;
+            std::cout << "pic_right:" << shmPicRight.mstrmsgname << "," << shmPicRight.mnBufferSize << "," << shmPicRight.mnBufferCount << std::endl;
         }
     }
     else
@@ -163,7 +163,7 @@ void DataExchangeClient::dec_yaml(const char *stryamlpath)
             strncpy(shmChassis.mstrmsgname,strmsgname.data(),255);
             shmChassis.mnBufferSize = config["chassis"]["buffersize"].as<int>();
             shmChassis.mnBufferCount = config["chassis"]["buffercount"].as<int>();
-//            std::cout << shmChassis.mstrmsgname << shmChassis.mnBufferSize << shmChassis.mnBufferCount << std::endl;
+            std::cout << "chassis:" << shmChassis.mstrmsgname << "," << shmChassis.mnBufferSize << "," << shmChassis.mnBufferCount << std::endl;
         }
     }
     else
@@ -182,7 +182,7 @@ void DataExchangeClient::dec_yaml(const char *stryamlpath)
             strncpy(shmPlatformFeedback.mstrmsgname,strmsgname.data(),255);
             shmPlatformFeedback.mnBufferSize = config["platform_feedback"]["buffersize"].as<int>();
             shmPlatformFeedback.mnBufferCount = config["platform_feedback"]["buffercount"].as<int>();
-//            std::cout << shmPlatformFeedback.mstrmsgname << shmPlatformFeedback.mnBufferSize << shmPlatformFeedback.mnBufferCount << std::endl;
+            std::cout << "platform_feedback:" << shmPlatformFeedback.mstrmsgname << "," << shmPlatformFeedback.mnBufferSize << "," << shmPlatformFeedback.mnBufferCount << std::endl;
         }
     }
     else
@@ -201,7 +201,7 @@ void DataExchangeClient::dec_yaml(const char *stryamlpath)
             strncpy(shmGPSIMU.mstrmsgname,strmsgname.data(),255);
             shmGPSIMU.mnBufferSize = config["GPS_IMU"]["buffersize"].as<int>();
             shmGPSIMU.mnBufferCount = config["GPS_IMU"]["buffercount"].as<int>();
-//            std::cout << shmGPSIMU.mstrmsgname << shmGPSIMU.mnBufferSize << shmGPSIMU.mnBufferCount << std::endl;
+            std::cout << "GPS_IMU:" << shmGPSIMU.mstrmsgname << "," << shmGPSIMU.mnBufferSize << "," << shmGPSIMU.mnBufferCount << std::endl;
         }
     }
     else
@@ -226,7 +226,10 @@ void DataExchangeClient::ListenFrontPicMsg(const char * strdata,const unsigned i
 
     gMutex_ImageFront.lock();
     cameraImageFront.clear();
-    if(gShift_Status == 6)cameraImageFront.append(xdata.picdata().data(),xdata.picdata().size());
+    if(statusFeedback == VehicleStatus::STATUS_REMOTE && gShift_Status == 6)
+        cameraImageFront.append(xdata.picdata().data(),xdata.picdata().size());
+    else if(statusFeedback == VehicleStatus::STATUS_AUTO || statusFeedback == VehicleStatus::STATUS_EMERGENCY_STOP)
+        cameraImageFront.append(xdata.picdata().data(),xdata.picdata().size());
     gMutex_ImageFront.unlock();
 }
 
@@ -241,7 +244,10 @@ void DataExchangeClient::ListenRearPicMsg(const char * strdata,const unsigned in
 
     gMutex_ImageRear.lock();
     cameraImageRear.clear();
-    if(gShift_Status == 4)cameraImageRear.append(xdata.picdata().data(),xdata.picdata().size());
+    if(statusFeedback == VehicleStatus::STATUS_REMOTE && gShift_Status == 4)
+        cameraImageRear.append(xdata.picdata().data(),xdata.picdata().size());
+    else if(statusFeedback == VehicleStatus::STATUS_AUTO || statusFeedback == VehicleStatus::STATUS_EMERGENCY_STOP)
+        cameraImageRear.append(xdata.picdata().data(),xdata.picdata().size());
     gMutex_ImageRear.unlock();
 }
 
@@ -256,7 +262,10 @@ void DataExchangeClient::ListenLeftPicMsg(const char * strdata,const unsigned in
 
     gMutex_ImageLeft.lock();
     cameraImageLeft.clear();
-    if(gShift_Status == 5)cameraImageLeft.append(xdata.picdata().data(),xdata.picdata().size());
+    if(statusFeedback == VehicleStatus::STATUS_REMOTE && gShift_Status == 5)
+        cameraImageLeft.append(xdata.picdata().data(),xdata.picdata().size());
+    else if(statusFeedback == VehicleStatus::STATUS_AUTO || statusFeedback == VehicleStatus::STATUS_EMERGENCY_STOP)
+        cameraImageLeft.append(xdata.picdata().data(),xdata.picdata().size());
     gMutex_ImageLeft.unlock();
 }
 
@@ -271,7 +280,10 @@ void DataExchangeClient::ListenRightPicMsg(const char * strdata,const unsigned i
 
     gMutex_ImageRight.lock();
     cameraImageRight.clear();
-    if(gShift_Status == 5)cameraImageRight.append(xdata.picdata().data(),xdata.picdata().size());
+    if(statusFeedback == VehicleStatus::STATUS_REMOTE && gShift_Status == 5)
+        cameraImageRight.append(xdata.picdata().data(),xdata.picdata().size());
+    else if(statusFeedback == VehicleStatus::STATUS_AUTO || statusFeedback == VehicleStatus::STATUS_EMERGENCY_STOP)
+        cameraImageRight.append(xdata.picdata().data(),xdata.picdata().size());
     gMutex_ImageRight.unlock();
 }
 
@@ -287,6 +299,7 @@ void DataExchangeClient::ListenChassisMsg(const char * strdata,const unsigned in
     gMutex_Chassis.lock();
     SOC = xdata.soc();
     gMutex_Chassis.unlock();
+//    std::cout<<SOC<<std::endl;
 }
 
 void DataExchangeClient::ListenGPSIMUMsg(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname) // need a lock
@@ -448,7 +461,7 @@ std::string DataExchangeClient::uploadVehicleInfo(void)
     // Act upon its status.
     if (status.ok()) {
         destinationPosition.CopyFrom(reply.destinationposition());
-//        std::cout<<"lat:"<<destinationPosition.latitude()<<"lon:"<<destinationPosition.longitude()<<"height:"<<destinationPosition.height()<<std::endl;
+//        std::cout<<std::setprecision(12)<<"lat:"<<reply.destinationposition().latitude()<<"lon:"<<reply.destinationposition().longitude()<<"height:"<<reply.destinationposition().height()<<std::endl;
         return "uploadVehicleInfo RPC successed";
     } else {
         std::cout << status.error_code() << ": " << status.error_message()
@@ -511,23 +524,23 @@ void DataExchangeClient::updateData(uint64_t timeInterval_ms)
 {
     id = gstrid;
     timeStamp = QDateTime::currentMSecsSinceEpoch();
-    SOC = 87.5;
-    statusFeedback = VehicleStatus::STATUS_REMOTE;
+//    SOC = 87.5;
+//    statusFeedback = VehicleStatus::STATUS_REMOTE;
     gMutex_GPSIMU.lock();
     mileage += (speed * timeInterval_ms/1000.0)/1000.0; // kilometer
     gMutex_GPSIMU.unlock();
-    speed = 0.0; // m/s
-    shiftFeedback = ShiftStatus::SHIFT_DRIVE;
-    steeringWheelAngleFeedback = 1.23; //+/-540 degree
-    throttleFeedback = 0.12;
-    brakeFeedback = 0.34;
-    GPSRTKStatus = 6; //GPS-RTK status 0-6 6 is best
-    positionFeedback.set_latitude(39.0666552);
-    positionFeedback.set_longitude(117.3540963);
-    positionFeedback.set_height(0.84);
-    pitch = 0.03;
-    roll = 0.02;
-    heading = 198.4;
+//    speed = 0.0; // m/s
+//    shiftFeedback = ShiftStatus::SHIFT_DRIVE;
+//    steeringWheelAngleFeedback = 1.23; //+/-540 degree
+//    throttleFeedback = 0.12;
+//    brakeFeedback = 0.34;
+//    GPSRTKStatus = 6; //GPS-RTK status 0-6 6 is best
+//    positionFeedback.set_latitude(39.0666552);
+//    positionFeedback.set_longitude(117.3540963);
+//    positionFeedback.set_height(0.84);
+//    pitch = 0.03;
+//    roll = 0.02;
+//    heading = 198.4;
 
 //    QFile xFile;
 //    xFile.setFileName("/home/nvidia/Pictures/123.jpg");
@@ -608,6 +621,7 @@ void DataExchangeClient::run()
         {
             QString strMileage = QString::number(mileage,'f',4);
             mileageFile.write(strMileage.toUtf8());
+            std::cout<<"file not exist. mileage has been cleared. "<<mileage<<std::endl;
         }
         mileageFile.flush();
         mileageFile.close();
@@ -621,8 +635,8 @@ void DataExchangeClient::run()
         {
             updateData(abs(xTime.elapsed() - lastTime));
             std::string reply = uploadVehicleInfo();
-            std::cout<< reply <<std::endl;
-            std::cout<<std::setprecision(8)<<destinationPosition.latitude()<<","<<destinationPosition.longitude()<<std::endl;
+//            std::cout<< reply <<std::endl;
+//            std::cout<<std::setprecision(12)<<destinationPosition.latitude()<<","<<destinationPosition.longitude()<<std::endl;
             lastTime = xTime.elapsed();
         }
 
@@ -644,7 +658,7 @@ void DataExchangeClient::patrolPOI_Recieved_Slot(std::string pathID)
 {
     std::cout<<"patrol path calculating"<<std::endl;
     QFile mapfile;
-    mapfile.setFileName("/home/samuel/Documents/path2.txt");
+    mapfile.setFileName("/home/nvidia/Documents/path2.txt");
     QVector<org::jeecg::defsDetails::grpc::MapPoint> somePoints;
     if(mapfile.open(QIODevice::ReadOnly | QIODevice::Text))
     {

src/driver/driver_cloud_grpc_client_BS/vehicle_upload.h

@@ -91,7 +91,7 @@ private:
     uint64_t timeStamp = QDateTime::currentMSecsSinceEpoch();
     double SOC; //0.0-100.0%
     VehicleStatus statusFeedback = VehicleStatus::STATUS_EMERGENCY_STOP;
-    double mileage; // kilometer
+    double mileage = 0.0; // kilometer
     uint64_t timeMileageRecord = QDateTime::currentMSecsSinceEpoch();
     double speed; // m/s
     org::jeecg::defsDetails::grpc::ShiftStatus shiftFeedback = org::jeecg::defsDetails::grpc::ShiftStatus::SHIFT_PARKING;

src/driver/driver_cloud_grpc_pc_thread/grpcpc.cpp

@@ -0,0 +1,489 @@
+#include "grpcpc.h"
+
+
+static grpcpc * ggrpcpc;
+
+void ListenData(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+    ggrpcpc->UpdateData(strdata,nSize,strmemname);
+}
+
+
+grpcpc::grpcpc(std::string stryamlpath)
+{
+
+    mstrpicmsgname[0] = "picfront";
+    mstrpicmsgname[1] = "picrear";
+    mstrpicmsgname[2] = "picleft";
+    mstrpicmsgname[3] = "picright";
+
+
+    ggrpcpc = this;
+    dec_yaml(stryamlpath.data());
+    unsigned int i;
+    for(i=0;i<mvectormsgunit.size();i++)
+    {
+        mvectormsgunit[i].mpa = iv::modulecomm::RegisterSend(mvectormsgunit[i].mstrmsgname,mvectormsgunit[i].mnBufferSize,mvectormsgunit[i].mnBufferCount);
+    }
+
+    for(i=0;i<mvectorctrlmsgunit.size();i++)
+    {
+        mvectorctrlmsgunit[i].mpa = iv::modulecomm::RegisterRecv(mvectorctrlmsgunit[i].mstrmsgname,ListenData);
+    }
+
+    for(i=0;i<NUM_CAM;i++)
+    {
+        mpaPic[i] = iv::modulecomm::RegisterSend(mstrpicmsgname[i].data(),2000000,1);
+    }
+
+
+    for(i=0;i<NUM_CAM;i++)
+    {
+        unsigned int j;
+        for(j=0;j<NUM_THREAD_PERCAM;j++)
+        {
+            mpThread[i*NUM_THREAD_PERCAM + j] = new std::thread(&grpcpc::threadpicdownload,this,i);
+        }
+    }
+}
+
+
+void grpcpc::run()
+{
+    int nsize = mvectormsgunit.size();
+    int nctrlsize = mvectorctrlmsgunit.size();
+    int i;
+
+    qint64 nlasttime = 0;
+
+    int ninterval = atoi(gstruploadinterval.data());
+    if(ninterval<=0)ninterval = 100;
+
+    QTime xTime;
+    xTime.start();
+    int nlastsend = xTime.elapsed();
+
+    std::string target_str = gstrserverip+":";
+    target_str = target_str + gstrserverport ;//std::to_string()
+    auto cargs = grpc::ChannelArguments();
+    cargs.SetMaxReceiveMessageSize(1024 * 1024 * 1024); // 1 GB
+    cargs.SetMaxSendMessageSize(1024 * 1024 * 1024);
+
+    std::shared_ptr<Channel> channel = grpc::CreateCustomChannel(
+             target_str, grpc::InsecureChannelCredentials(),cargs);
+
+    std::unique_ptr<iv::UploadThread::Stub> stub_ = iv::UploadThread::NewStub(channel);
+
+
+    iv::queryReqThread request;
+    iv::queryReplyThread xreply;
+
+    int nid = 0;
+    int nctrlid = 0;
+
+    // Container for the data we expect from the server.
+//    iv::queryReply reply;
+
+    gpr_timespec timespec;
+      timespec.tv_sec = 30;//设置阻塞时间为2秒
+      timespec.tv_nsec = 0;
+      timespec.clock_type = GPR_TIMESPAN;
+
+
+    while(!QThread::isInterruptionRequested())
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        if(abs(xTime.elapsed()-nlastsend)<ninterval)
+        {
+            continue;
+        }
+
+        bool bImportant = false;
+        int nkeeptime = 0;
+
+            iv::cloud::cloudmsg xmsg;
+            xmsg.set_xtime(QDateTime::currentMSecsSinceEpoch());
+            nlastsend = xTime.elapsed();
+            gMutexMsg.lock();
+
+  //          std::vector<iv::msgunit> xv = mvectorctrlmsgunit;
+            for(i=0;i<nctrlsize;i++)
+            {
+                if(mvectorctrlmsgunit[i].mbRefresh)
+                {
+                    mvectorctrlmsgunit[i].mbRefresh = false;
+
+                    if(mvectorctrlmsgunit[i].mbImportant)
+                    {
+                        bImportant = true;
+                    }
+                    if(mvectorctrlmsgunit[i].mnkeeptime > nkeeptime)
+                    {
+                        nkeeptime = mvectorctrlmsgunit[i].mnkeeptime;
+                    }
+                    iv::cloud::cloudunit xcloudunit;
+                    xcloudunit.set_msgname(mvectorctrlmsgunit[i].mstrmsgname);
+                    xcloudunit.set_data(mvectorctrlmsgunit[i].mpstrmsgdata.get(),mvectorctrlmsgunit[i].mndatasize);
+                    iv::cloud::cloudunit * pcu = xmsg.add_xclouddata();
+                    pcu->CopyFrom(xcloudunit);
+                }
+
+            }
+            gMutexMsg.unlock();
+
+
+            {
+
+                ClientContext context ;
+                context.set_deadline(timespec);
+ //               qint64 time1 = QDateTime::currentMSecsSinceEpoch();
+
+                request.set_strquerymd5(gstrqueryMD5);
+                request.set_strvin(gstrVIN);
+
+                request.set_nlasttime(nlasttime);
+
+                request.set_id(nctrlid);nctrlid++;
+                request.set_strctrlmd5(gstrctrlMD5);
+                request.set_strvin(gstrVIN);
+                request.set_ntime(QDateTime::currentMSecsSinceEpoch());
+                request.set_bimportant(bImportant);
+                request.set_kepptime(nkeeptime);
+                if(xmsg.xclouddata_size()>0)
+                {
+                    int nbytesize = xmsg.ByteSize();
+                    std::vector<char> pvectordata;
+                    pvectordata.resize(nbytesize);
+                    if(xmsg.SerializeToArray(pvectordata.data(),nbytesize))
+                    {
+
+                        request.set_xdata(pvectordata.data(),pvectordata.size());
+
+                    }
+                }
+
+
+                QDateTime xTime;
+                xTime.fromMSecsSinceEpoch(1607905685318);  //1607914763641
+//                qDebug("time:%s",xTime.toString("yyyy-MM-dd:hh:mm:ss:zzz").toLatin1().data());
+//                qDebug("nlasttime is %ld",nlasttime);//1607905685318
+                nid++;
+                // The actual RPC.
+                Status status = stub_->queryctrl(&context, request, &xreply);
+                if (status.ok()) {
+ //                   std::cout<<nid<<" query successfully, res is "<<xreply.nres()<<std::endl;
+                    if(xreply.nres() == 1)
+                    {
+
+                        if(nlasttime != xmsg.xtime())
+                        {
+                            iv::cloud::cloudmsg xmsg;
+                            if(xmsg.ParseFromArray(xreply.xdata().data(),xreply.xdata().size()))
+                            {
+                                sharequerymsg(&xmsg);
+                            }
+                        }
+
+                        nlasttime = xreply.ntime();
+                    }
+                    else
+                    {
+                        std::this_thread::sleep_for(std::chrono::milliseconds(30));
+                    }
+                } else {
+                  std::cout << status.error_code() << ": " << status.error_message()
+                            << std::endl;
+                  std::cout<<"RPC failed"<<std::endl;
+
+                  if(status.error_code() == 4)
+                  {
+                      std::cout<<" RPC Exceed Time, Create New stub_"<<std::endl;
+                      channel = grpc::CreateCustomChannel(
+                               target_str, grpc::InsecureChannelCredentials(),cargs);
+
+                      stub_ = iv::UploadThread::NewStub(channel);
+                  }
+                  std::this_thread::sleep_for(std::chrono::milliseconds(900));
+
+                }
+
+            }
+
+
+
+    }
+}
+
+
+void grpcpc::dec_yaml(const char *stryamlpath)
+{
+    YAML::Node config;
+    try
+    {
+        config = YAML::LoadFile(stryamlpath);
+    }
+    catch(YAML::BadFile e)
+    {
+        qDebug("load error.");
+        return;
+    }
+
+    std::vector<std::string> vecmodulename;
+
+
+    if(config["server"])
+    {
+        gstrserverip = config["server"].as<std::string>();
+    }
+    if(config["port"])
+    {
+        gstrserverport = config["port"].as<std::string>();
+    }
+    if(config["uploadinterval"])
+    {
+        gstruploadinterval = config["uploadinterval"].as<std::string>();
+    }
+
+
+    if(config["VIN"])
+    {
+        gstrVIN = config["VIN"].as<std::string>();
+    }
+
+    if(config["queryMD5"])
+    {
+        gstrqueryMD5 = config["queryMD5"].as<std::string>();
+    }
+
+    if(config["ctrlMD5"])
+    {
+        gstrctrlMD5 = config["ctrlMD5"].as<std::string>();
+    }
+
+
+    std::string strmsgname;
+
+    if(config["querymessage"])
+    {
+
+        for(YAML::const_iterator it= config["querymessage"].begin(); it != config["querymessage"].end();++it)
+        {
+            std::string strtitle = it->first.as<std::string>();
+            std::cout<<strtitle<<std::endl;
+
+            if(config["querymessage"][strtitle]["msgname"]&&config["querymessage"][strtitle]["buffersize"]&&config["querymessage"][strtitle]["buffercount"])
+            {
+                iv::msgunit xmu;
+                strmsgname = config["querymessage"][strtitle]["msgname"].as<std::string>();
+                strncpy(xmu.mstrmsgname,strmsgname.data(),255);
+                xmu.mnBufferSize = config["querymessage"][strtitle]["buffersize"].as<int>();
+                xmu.mnBufferCount = config["querymessage"][strtitle]["buffercount"].as<int>();
+                mvectormsgunit.push_back(xmu);
+
+
+            }
+        }
+    }
+    else
+    {
+
+    }
+
+    if(config["ctrlmessage"])
+    {
+        std::string strnodename = "ctrlmessage";
+        for(YAML::const_iterator it= config[strnodename].begin(); it != config[strnodename].end();++it)
+        {
+            std::string strtitle = it->first.as<std::string>();
+            std::cout<<strtitle<<std::endl;
+
+            if(config[strnodename][strtitle]["msgname"]&&config[strnodename][strtitle]["buffersize"]&&config[strnodename][strtitle]["buffercount"])
+            {
+                iv::msgunit xmu;
+                strmsgname = config[strnodename][strtitle]["msgname"].as<std::string>();
+                strncpy(xmu.mstrmsgname,strmsgname.data(),255);
+                xmu.mnBufferSize = config[strnodename][strtitle]["buffersize"].as<int>();
+                xmu.mnBufferCount = config[strnodename][strtitle]["buffercount"].as<int>();
+
+                if(config[strnodename][strtitle]["bimportant"])
+                {
+                   std::string strimportant =    config[strnodename][strtitle]["bimportant"].as<std::string>();
+                   if(strimportant == "true")
+                   {
+                       xmu.mbImportant = true;
+                   }
+                }
+                if(config[strnodename][strtitle]["keeptime"])
+                {
+                   std::string strkeep =    config[strnodename][strtitle]["keeptime"].as<std::string>();
+                   xmu.mnkeeptime = atoi(strkeep.data());
+                }
+                mvectorctrlmsgunit.push_back(xmu);
+            }
+        }
+    }
+    else
+    {
+
+    }
+
+    return;
+}
+
+void grpcpc::sharequerymsg(iv::cloud::cloudmsg *pxmsg)
+{
+    int i;
+    int nsize = pxmsg->xclouddata_size();
+    for(i=0;i<nsize;i++)
+    {
+        int j;
+        int nquerysize = mvectormsgunit.size();
+        for(j=0;j<nquerysize;j++)
+        {
+            if(strncmp(pxmsg->xclouddata(i).msgname().data(), mvectormsgunit[j].mstrmsgname,255) == 0)
+            {
+                qDebug("size is %d ",pxmsg->xclouddata(i).data().size());
+                iv::modulecomm::ModuleSendMsg(mvectormsgunit[j].mpa,pxmsg->xclouddata(i).data().data(),pxmsg->xclouddata(i).data().size());
+                break;
+            }
+        }
+    }
+}
+
+void grpcpc::UpdateData(const char *strdata, const unsigned int nSize,const char * strmemname)
+{
+    int nsize = mvectorctrlmsgunit.size();
+    int i;
+    for(i=0;i<nsize;i++)
+    {
+        if(strncmp(strmemname,mvectorctrlmsgunit[i].mstrmsgname,255) == 0)
+        {
+            gMutexMsg.lock();
+            char * strtem = new char[nSize];
+            memcpy(strtem,strdata,nSize);
+            mvectorctrlmsgunit[i].mpstrmsgdata.reset(strtem);
+            mvectorctrlmsgunit[i].mndatasize = nSize;
+            mvectorctrlmsgunit[i].mbRefresh = true;
+            gMutexMsg.unlock();
+            break;
+        }
+    }
+}
+
+std::string grpcpc::GetVIN()
+{
+    return gstrVIN;
+}
+
+
+//int gnPicNum[NUM_CAM];
+//QMutex gMutexPic[NUM_CAM];
+//qint64 gnTimeSecond[NUM_CAM];
+
+
+void grpcpc::threadpicdownload(int nCamPos)
+{
+    std::cout<<"thread cam "<<nCamPos<<"run"<<std::endl;
+    int nsize = mvectormsgunit.size();
+    int i;
+
+    std::string strcclientid = "test";
+
+    int ninterval = atoi(gstruploadinterval.data());
+    if(ninterval<=0)ninterval = 100;
+
+    QTime xTime;
+    xTime.start();
+    int nlastsend = xTime.elapsed();
+
+    std::string target_str = gstrserverip+":";
+    target_str = target_str + gstrserverport ;//std::to_string()
+    auto cargs = grpc::ChannelArguments();
+    cargs.SetMaxReceiveMessageSize(1024 * 1024 * 1024); // 1 GB
+    cargs.SetMaxSendMessageSize(1024 * 1024 * 1024);
+
+    std::shared_ptr<Channel> channel = grpc::CreateCustomChannel(
+             target_str, grpc::InsecureChannelCredentials(),cargs);
+
+    std::unique_ptr<iv::UploadThread::Stub> stub_ = iv::UploadThread::NewStub(channel);
+
+
+    iv::PicDownReqThread request;
+
+    int nid = 0;
+
+    // Container for the data we expect from the server.
+    iv::PicDownReplyThread reply;
+
+    gpr_timespec timespec;
+      timespec.tv_sec = 30;//设置阻塞时间为2秒
+      timespec.tv_nsec = 0;
+      timespec.clock_type = GPR_TIMESPAN;
+
+ //   ClientContext context;
+
+
+
+    while(true)
+    {
+        std::shared_ptr<char> pstr_ptr;
+        if((nCamPos<0)||(nCamPos >= NUM_CAM))
+        {
+            std::cout<<"Cam Pos Error. "<<"Pos: "<<nCamPos<<" TOTAL:"<<NUM_CAM<<std::endl;
+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
+            continue;
+        }
+
+
+        request.set_strclientid(strcclientid);
+        request.set_ncampos(nCamPos);
+        request.set_strquerymd5(gstrqueryMD5);
+        request.set_strvin(gstrVIN);
+
+
+        ClientContext context ;
+        context.set_deadline(timespec);
+        qint64 time1 = QDateTime::currentMSecsSinceEpoch();
+
+
+        nlastsend = xTime.elapsed();
+        // The actual RPC.
+        Status status = stub_->querypic(&context, request, &reply);
+        if (status.ok()) {
+
+            if(reply.nres() == 1)
+            {
+                std::cout<<nCamPos<<":pic time is "<<reply.npictime()<<std::endl;
+                mMutexPic.lock();
+                iv::modulecomm::ModuleSendMsg(mpaPic[nCamPos],reply.xdata().data(),reply.xdata().size());
+                mMutexPic.unlock();
+//                iv::cloud::cloudmsg xmsg;
+//                if(xmsg.ParseFromArray(reply.xdata().data(),reply.xdata().size()))
+//                {
+//                    sharectrlmsg(&xmsg);
+//                }
+            }
+            else
+            {
+                std::this_thread::sleep_for(std::chrono::milliseconds(100));
+            }
+        } else {
+          std::cout << status.error_code() << ": " << status.error_message()
+                    << std::endl;
+          std::cout<<"RPC failed"<<std::endl;
+          if(status.error_code() == 4)
+          {
+              std::cout<<nCamPos<<" RPC Exceed Time, Create New stub_"<<std::endl;
+              channel = grpc::CreateCustomChannel(
+                       target_str, grpc::InsecureChannelCredentials(),cargs);
+
+              stub_ = iv::UploadThread::NewStub(channel);
+          }
+          std::this_thread::sleep_for(std::chrono::milliseconds(900));
+
+        }
+
+
+    }
+}
+

src/driver/driver_cloud_grpc_pc_thread/grpcpc.h

@@ -0,0 +1,109 @@
+#ifndef GRPCPC_H
+#define GRPCPC_H
+
+#include <QThread>
+
+#include <yaml-cpp/yaml.h>
+
+#include <QDateTime>
+
+#include <iostream>
+
+#include <vector>
+
+#include <memory>
+
+#include <QMutex>
+
+#include <thread>
+
+#include "modulecomm.h"
+
+
+#include "cloud.pb.h"
+
+#include <iostream>
+#include <memory>
+#include <string>
+
+#include <grpcpp/grpcpp.h>
+
+#include "uploadthreadmsg.grpc.pb.h"
+
+#ifndef NUM_CAM
+#define NUM_CAM 4
+#endif
+
+#ifndef NUM_THREAD_PERCAM
+#define NUM_THREAD_PERCAM 4
+#endif
+
+using grpc::Channel;
+using grpc::ClientContext;
+using grpc::Status;
+
+namespace iv {
+struct msgunit
+{
+    char mstrmsgname[256];
+    int mnBufferSize = 10000;
+    int mnBufferCount = 1;
+    void * mpa;
+    std::shared_ptr<char> mpstrmsgdata;
+    int mndatasize = 0;
+    bool mbRefresh = false;
+    bool mbImportant = false;
+    int mnkeeptime = 100;
+};
+}
+
+class grpcpc : public QThread
+{
+public:
+    grpcpc(std::string stryamlpath);
+
+private:
+    void run();
+
+private:
+    std::string gstrserverip = "111.33.136.149";//"192.168.14.98";//"127.0.0.1";// "140.143.237.38";
+    std::string gstrserverport = "50051";//"9000";
+    std::string gstruploadinterval = "100";
+    void * gpa;
+    QMutex gMutexMsg;
+    std::vector<iv::msgunit> mvectormsgunit;
+
+    std::vector<iv::msgunit> mvectorctrlmsgunit;
+
+
+    std::string gstrVIN = "AAAAAAAAAAAAAAAAA";
+    std::string gstrqueryMD5 = "5d41402abc4b2a76b9719d911017c592";
+    std::string gstrctrlMD5 = "5d41402abc4b2a76b9719d911017c592";
+
+
+
+
+    int gindex = 0;
+
+
+private:
+    void dec_yaml(const char * stryamlpath);
+    void sharequerymsg(iv::cloud::cloudmsg * pxmsg);
+
+public:
+    void UpdateData(const char * strdata,const unsigned int nSize,const char * strmemname);
+    std::string GetVIN();
+
+private:
+    void threadpicdownload(int nCamPos);
+    void * mpaPic[NUM_CAM];
+    std::string mstrpicmsgname[NUM_CAM];
+
+    std::thread * mpThread[NUM_CAM * NUM_THREAD_PERCAM];
+
+    QMutex mMutexPic;
+
+
+};
+
+#endif // GRPCPC_H

src/driver/driver_cloud_grpc_server_thread/clientime.cpp

@@ -0,0 +1,64 @@
+#include "clientime.h"
+
+clientime::clientime()
+{
+
+}
+
+iv::clientinfo * clientime::FindClientInfo(std::string strclientid)
+{
+    unsigned int i;
+    bool bFind = false;
+    unsigned int nPos= 0;
+    for(i=0;i<mvectorclient.size();i++)
+    {
+        if(strclientid == mvectorclient[i].mstrclientid)
+        {
+            bFind = true;
+            nPos = i;
+            break;
+        }
+    }
+    if(bFind)
+    {
+        return &mvectorclient[nPos];
+    }
+
+    iv::clientinfo xclient;
+    xclient.mstrclientid = strclientid;
+    for(i=0;i<CAM_NUM;i++)
+    {
+        xclient.mnCamLastTime[i] = 0;
+    }
+    mvectorclient.push_back(xclient);
+    return &mvectorclient[mvectorclient.size() -1];
+
+}
+
+int clientime::SetClientCamLastTime(std::string strclientid, int nCamPos, qint64 nLastTime)
+{
+    if((nCamPos<0)||(nCamPos >= CAM_NUM))
+    {
+        return -1;
+    }
+
+    mMutex.lock();
+    iv::clientinfo * pclient = FindClientInfo(strclientid);
+    pclient->mnCamLastTime[nCamPos] = nLastTime;
+    mMutex.unlock();
+    return 0;
+}
+
+int clientime::GetClientCamLastTime(std::string strclientid, int nCamPos, qint64 &nLastTime)
+{
+    if((nCamPos<0)||(nCamPos >= CAM_NUM))
+    {
+        return -1;
+    }
+    mMutex.lock();
+    iv::clientinfo * pclient = FindClientInfo(strclientid);
+    nLastTime = pclient->mnCamLastTime[nCamPos];
+    mMutex.unlock();
+    return 0;
+
+}

src/driver/driver_cloud_grpc_server_thread/clientime.h

@@ -0,0 +1,40 @@
+#ifndef CLIENTIME_H
+#define CLIENTIME_H
+
+#include <string>
+#include <vector>
+#include <QThread>
+#include <QMutex>
+
+#ifndef CAM_NUM
+#define  CAM_NUM 4
+#endif
+
+namespace  iv {
+
+struct clientinfo
+{
+  std::string mstrclientid;
+  qint64 mnCamLastTime[CAM_NUM];
+};
+}
+
+
+class clientime
+{
+public:
+    clientime();
+
+private:
+    std::vector<iv::clientinfo> mvectorclient;
+    QMutex mMutex;
+
+private:
+    inline iv::clientinfo * FindClientInfo(std::string strclientid);
+
+public:
+    int GetClientCamLastTime(std::string strclientid,int nCamPos,qint64 & nLastTime);
+    int SetClientCamLastTime(std::string strclientid,int nCamPos,qint64 nLastTime);
+};
+
+#endif // CLIENTIME_H

src/driver/driver_cloud_grpc_server_thread/cumsgbuffer.cpp

@@ -0,0 +1,210 @@
+#include "cumsgbuffer.h"
+
+cumsgbuffer::cumsgbuffer()
+{
+
+}
+
+void cumsgbuffer::addmsg(int id, qint64 ntime, std::string strVIN, std::string strqueryMD5, std::string strctrlMD5, std::vector<char> *pxdata,bool bImportant,int nkeeptime)
+{
+    qDebug("ntime is %lld",ntime);
+    mMutex.lock();
+    iv::cumsg * pmsg = 0;
+    int nsize = mvectormsg.size();
+    int i;
+    for(i=0;i<nsize;i++)
+    {
+        if(strncmp(mvectormsg[i].strVIN.data(),strVIN.data(),255) == 0)
+        {
+            pmsg = &mvectormsg[i];
+            break;
+        }
+    }
+    if(pmsg == 0)
+    {
+        iv::cumsg cmsg;
+        cmsg.id = id;
+        cmsg.ntime = ntime;
+        cmsg.strVIN = strVIN;
+        cmsg.strqueryMD5 = strqueryMD5;
+        cmsg.strctrlMD5 = strctrlMD5;
+        if(pxdata->size() > 0)
+        {
+            cmsg.xdata.resize(pxdata->size());
+            memcpy(cmsg.xdata.data(),pxdata->data(),pxdata->size());
+        }
+        cmsg.mlastuptime = QDateTime::currentMSecsSinceEpoch();
+        cmsg.mbImportant = bImportant;
+        cmsg.mkeeptime = nkeeptime;
+        cmsg.mbhavequery = false;
+        mvectormsg.push_back(cmsg);
+        mMutex.unlock();
+        return;
+    }
+
+    if((pmsg->mbImportant != true)||(pmsg->mbhavequery)||((QDateTime::currentMSecsSinceEpoch() - pmsg->mlastuptime)>=pmsg->mkeeptime))
+    {
+        pmsg->id = id;
+        pmsg->ntime = ntime;
+        pmsg->mbImportant = bImportant;
+        pmsg->mbhavequery = false;
+        pmsg->mlastuptime = QDateTime::currentMSecsSinceEpoch();
+        pmsg->mkeeptime = nkeeptime;
+        pmsg->strqueryMD5 = strqueryMD5;
+        pmsg->strctrlMD5 = strctrlMD5;
+        pmsg->xdata.clear();
+        if(pxdata->size()>0)
+        {
+            pmsg->xdata.resize(pxdata->size());
+            memcpy(pmsg->xdata.data(),pxdata->data(),pxdata->size());
+        }
+    }
+
+    mMutex.unlock();
+}
+
+
+int cumsgbuffer::getmsg(std::string strVIN,std::string strqueryMD5, qint64 nlasttime, int &id, qint64 &ntime,   std::vector<char> *pxdata)
+{
+    mMutex.lock();
+    iv::cumsg * pmsg = 0;
+    int nsize = mvectormsg.size();
+    int i;
+    for(i=0;i<nsize;i++)
+    {
+        if(strncmp(mvectormsg[i].strVIN.data(),strVIN.data(),255) == 0)
+        {
+            pmsg = &mvectormsg[i];
+            break;
+        }
+    }
+
+    if(pmsg == 0)
+    {
+        std::cout<<" no this vin data"<<std::endl;;
+        mMutex.unlock();
+        return -1;
+    }
+
+    if(strqueryMD5 != pmsg->strqueryMD5)
+    {
+        std::cout<<" query error."<<std::endl;
+        mMutex.unlock();
+        return -2;
+    }
+    pmsg->mbhavequery = true;
+    if(nlasttime == pmsg->ntime)
+    {
+        mMutex.unlock();
+        return 0;
+    }
+    id = pmsg->id;
+    ntime = pmsg->ntime;
+    pxdata->clear();
+    int ndatasize = pmsg->xdata.size();
+    pxdata->resize(ndatasize);
+    memcpy(pxdata->data(),pmsg->xdata.data(),ndatasize);
+    mMutex.unlock();
+    return 1;
+}
+
+void cumsgbuffer::addPicData(std::string strVIN, const char *strdata, const unsigned int ndatasize,
+                             qint64 npictime, int nCamPos)
+{
+    mMutex.lock();
+    iv::cumsg * pmsg = 0;
+    int nsize = mvectormsg.size();
+    int i;
+    for(i=0;i<nsize;i++)
+    {
+        if(strncmp(mvectormsg[i].strVIN.data(),strVIN.data(),255) == 0)
+        {
+            pmsg = &mvectormsg[i];
+            break;
+        }
+    }
+    if(pmsg == 0)
+    {
+        std::cout<<" Not Found buf. Need Data Prepare."<<std::endl;
+    }
+    else
+    {
+        if((nCamPos<0)||(nCamPos>= CAM_NUM))
+        {
+            std::cout<<"Camera Postion error . nCamPos = "<<nCamPos<<std::endl;
+        }
+        else
+        {
+            iv::PicData xPicData;
+            xPicData.mdata_ptr = std::shared_ptr<char>(new char[ndatasize]);
+            memcpy(xPicData.mdata_ptr.get(),strdata,ndatasize);
+            xPicData.mdatasize = ndatasize;
+            xPicData.mnMsgTime = npictime;
+            pmsg->mpicbuf[nCamPos].AddData(xPicData);
+        }
+    }
+
+    mMutex.unlock();
+}
+
+int cumsgbuffer::getPicData(std::string strVIN, std::string strqueryMD5,std::shared_ptr<char> &pdata_ptr,
+                            unsigned int &ndatasize,std::string strclientid, int nCamPos,qint64 & nPicTime)
+{
+    mMutex.lock();
+    iv::cumsg * pmsg = 0;
+    int nsize = mvectormsg.size();
+    int i;
+    for(i=0;i<nsize;i++)
+    {
+        if(strncmp(mvectormsg[i].strVIN.data(),strVIN.data(),255) == 0)
+        {
+            pmsg = &mvectormsg[i];
+            break;
+        }
+    }
+
+    if(pmsg == 0)
+    {
+        std::cout<<" no this vin data"<<std::endl;;
+        mMutex.unlock();
+        return -1;
+    }
+
+    if(strqueryMD5 != pmsg->strqueryMD5)
+    {
+        std::cout<<" query error."<<std::endl;
+        mMutex.unlock();
+        return -2;
+    }
+
+    if((nCamPos<0)||(nCamPos>= CAM_NUM))
+    {
+        std::cout<<"cumsgbuffer::getPicData Camera Postion error . nCamPos = "<<nCamPos<<std::endl;
+        mMutex.unlock();
+        return -3;
+    }
+
+    qint64 nLastPicTime = 0;
+
+    if(mclienttime.GetClientCamLastTime(strclientid,nCamPos,nLastPicTime) < 0)
+    {
+        std::cout<<"cumsgbuffer::getPicData Can't Get Camera LastTime"<<std::endl;
+        mMutex.unlock();
+        return -4;
+    }
+
+    iv::PicData xPicData;
+    int nrtn = pmsg->mpicbuf[nCamPos].GetData(nLastPicTime,xPicData);
+    if(nrtn == 1)
+    {
+        pdata_ptr = xPicData.mdata_ptr;
+        ndatasize = xPicData.mdatasize;
+        nPicTime = nLastPicTime;
+    }
+
+    mclienttime.SetClientCamLastTime(strclientid,nCamPos,nLastPicTime);
+
+
+    mMutex.unlock();
+    return nrtn;
+}

src/driver/driver_cloud_grpc_server_thread/cumsgbuffer.h

@@ -0,0 +1,70 @@
+#ifndef CUMSGBUFFER_H
+#define CUMSGBUFFER_H
+
+#include <QDateTime>
+#include <QMutex>
+#include <string>
+#include <iostream>
+#include <vector>
+
+#include <memory>
+
+#include <picbuf.h>
+#include "clientime.h"
+
+#ifndef CAM_NUM
+#define CAM_NUM 4
+#endif
+
+namespace iv {
+struct cumsg
+{
+
+public:
+
+    int id;
+    qint64 ntime;
+    std::string strVIN;
+    std::string strqueryMD5;
+    std::string strctrlMD5;
+    std::vector<char> xdata;
+    qint64 mlastuptime;  //更新时间
+    bool mbImportant = false;
+    int mkeeptime;
+    bool mbhavequery = false;
+    PicBuf mpicbuf[CAM_NUM];
+};
+}
+
+class cumsgbuffer
+{
+public:
+    cumsgbuffer();
+
+private:
+    std::vector<iv::cumsg> mvectormsg;
+    clientime mclienttime;
+
+    QMutex mMutex;
+
+public:
+    void addmsg(int id,qint64 ntime,std::string strVIN,std::string strqueryMD5,
+                std::string strctrlMD5,std::vector<char> * pxdata,bool bImportant,int nkeeptime);
+
+
+    //if no new msg return 0
+    // -1 no this vin
+    // -2 queryMD5 error
+    int getmsg(std::string strVIN,std::string strqueryMD5,qint64 nlasttime, int & id,qint64 & ntime,
+                std::vector<char> * pxdata);
+
+
+    void addPicData(std::string strVIN,const char * strdata,const unsigned int ndatasize,qint64 npictime,int nCamPos);
+
+    int getPicData(std::string strVIN,std::string strqueryMD5,std::shared_ptr<char> & pdata_ptr,unsigned int & ndatasize,
+                   std::string strclientid,int nCamPos,qint64 & nPicTime);
+
+
+};
+
+#endif // CUMSGBUFFER_H

src/driver/driver_cloud_grpc_server_thread/driver_cloud_grpc_server_thread.pro

@@ -0,0 +1,59 @@
+QT -= gui
+
+CONFIG += c++11 console
+CONFIG -= app_bundle
+
+QMAKE_LFLAGS += -no-pie
+
+
+# The following define makes your compiler emit warnings if you use
+# any Qt feature that has been marked deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+        ../../include/msgtype/uploadthreadmsg.pb.cc \
+        ../driver_cloud_grpc_thread/uploadthreadmsg.grpc.pb.cc \
+        cumsgbuffer.cpp \
+        main.cpp \
+        pcmsgbuffer.cpp \
+        picbuf.cpp \
+    clientime.cpp
+
+# Default rules for deployment.
+qnx: target.path = /tmp/$${TARGET}/bin
+else: unix:!android: target.path = /opt/$${TARGET}/bin
+!isEmpty(target.path): INSTALLS += target
+
+!include(../../../include/common.pri ) {
+    error( "Couldn't find the common.pri file!" )
+}
+
+!include(../../../include/ivprotobuf.pri ) {
+    error( "Couldn't find the ivprotobuf.pri file!" )
+}
+
+!include(../../../include/ivboost.pri ) {
+    error( "Couldn't find the ivboost.pri file!" )
+}
+
+!include(../../../include/ivgrpc.pri ) {
+    error( "Couldn't find the ivgrpc.pri file!" )
+}
+
+
+INCLUDEPATH += $$PWD/../driver_cloud_grpc_thread
+
+HEADERS += \
+    ../../include/msgtype/uploadthreadmsg.pb.h \
+    ../driver_cloud_grpc_thread/uploadthreadmsg.grpc.pb.h \
+    cumsgbuffer.h \
+    pcmsgbuffer.h  \
+    picbuf.h \
+    clientime.h

src/driver/driver_cloud_grpc_server_thread/main.cpp

@@ -0,0 +1,208 @@
+#include <QCoreApplication>
+#include <QDateTime>
+#include <iostream>
+#include <vector>
+
+#include "cumsgbuffer.h"
+#include "pcmsgbuffer.h"
+
+#include <iostream>
+#include <memory>
+#include <string>
+
+#include <grpcpp/grpcpp.h>
+#include <grpcpp/health_check_service_interface.h>
+#include <grpcpp/ext/proto_server_reflection_plugin.h>
+
+#include "uploadthreadmsg.grpc.pb.h"
+
+using grpc::Server;
+using grpc::ServerBuilder;
+using grpc::ServerContext;
+using grpc::Status;
+
+
+
+#include <QDateTime>
+
+
+
+
+
+
+static cumsgbuffer gcumsgbuf;
+static pcmsgbuffer gpcmsgbuf;
+
+
+// Logic and data behind the server's behavior.
+class UploadServiceImpl final : public iv::UploadThread::Service {
+  Status uploaddata(ServerContext* context, const iv::UploadRequestThread* request,
+                  iv::UploadReplyThread* reply) override {
+
+    std::vector<char> xvectordata;
+    qDebug("size is %d",request->xdata().size());
+    if(request->xdata().size()>0)
+    {
+
+        xvectordata.resize(request->xdata().size());
+        memcpy(xvectordata.data(),request->xdata().data(),request->xdata().size());
+    }
+
+    gcumsgbuf.addmsg(request->id(),request->ntime(),request->strvin(),request->strquerymd5(),request->strctrlmd5(),
+                     &xvectordata,request->bimportant(),request->kepptime());
+
+ //   std::string strVIN,strctrlMD5;
+    int id;
+    qint64 ntime;
+
+    std::vector<char > xvectorctrldata;
+
+    int nres = gpcmsgbuf.getmsg(request->strvin(),request->strctrlmd5(),id,ntime,&xvectorctrldata);
+
+    reply->set_nres(nres);
+    reply->set_nreqsendtime(request->nsendtime());
+
+    if(nres == 1)
+    {
+
+        reply->set_xdata(xvectorctrldata.data(),xvectorctrldata.size());
+    }
+
+
+
+//    char * strdata = new char[10000000];
+//    qint64 time = QDateTime::currentMSecsSinceEpoch();
+//    memcpy(strdata,&time,8);
+//    reply->set_data(strdata,10000000);
+//    delete strdata;
+    return Status::OK;
+  }
+
+  Status queryctrl(ServerContext* context, const iv::queryReqThread* request,
+                  iv::queryReplyThread* reply) override {
+
+      int id;
+      qint64 ntime;
+      std::vector<char > xvectorquerydata;
+
+      std::vector<char> xvectordata;
+      if(request->xdata().size()>0)
+      {
+          xvectordata.resize(request->xdata().size());
+          memcpy(xvectordata.data(),request->xdata().data(),request->xdata().size());
+          gpcmsgbuf.addmsg(request->id(),request->ntime(),request->strvin(),request->strctrlmd5(),&xvectordata,
+                                     request->bimportant(),request->kepptime());
+      }
+
+
+
+      int nres = gcumsgbuf.getmsg(request->strvin(),request->strquerymd5(),request->nlasttime(),id,ntime,&xvectorquerydata);
+
+      reply->set_nres(nres);
+      if(nres > 0)
+      {
+          reply->set_xdata(xvectorquerydata.data(),xvectorquerydata.size());
+          reply->set_id(id);
+          reply->set_ntime(ntime);
+      }
+
+      return Status::OK;
+
+
+  }
+
+  Status uploadpic(ServerContext* context, const iv::PicUpRequestThread* request,
+                  iv::PicUpReplyThread* reply) override {
+      gcumsgbuf.addPicData(request->strvin(),request->xdata().data(),
+                           request->xdata().size(),request->npictime(),request->ncampos());
+      reply->set_nres(0);
+
+      return Status::OK;
+
+  }
+
+  Status querypic(grpc::ServerContext *context, const iv::PicDownReqThread *request, iv::PicDownReplyThread *response) override {
+
+        std::shared_ptr<char> pstr_data;
+        unsigned int ndatasize;
+        qint64 nPicTime;
+        int nres =gcumsgbuf.getPicData(request->strvin(),request->strquerymd5(),pstr_data,ndatasize,request->strclientid(), request->ncampos(),nPicTime);
+        response->set_nres(nres);
+        if(nres == 1)
+        {
+            response->set_ncampos(request->ncampos());
+            response->set_npictime(nPicTime);
+            response->set_xdata(pstr_data.get(),ndatasize);
+        }
+
+        return Status::OK;
+  }
+
+//  Status ctrl(ServerContext* context, const iv::ctrlreq* request,
+//                  iv::ctrlReply * reply) override {
+
+//      std::vector<char> xvectordata;
+//      if(request->data().size()>0)
+//      {
+//          xvectordata.resize(request->data().size());
+//          memcpy(xvectordata.data(),request->data().data(),request->data().size());
+//      }
+
+//      int nid = gpcmsgbuf.addmsg(request->id(),request->ntime(),request->strvin(),request->strctrlmd5(),&xvectordata,
+//                                 request->bimportant(),request->kepptime());
+
+//      reply->set_nsendid(nid);
+
+
+//      return Status::OK;
+
+
+//  }
+
+
+};
+
+void RunServer() {
+  std::string server_address("0.0.0.0:50051");
+  UploadServiceImpl service;
+
+  grpc::EnableDefaultHealthCheckService(true);
+//  grpc::reflection::InitProtoReflectionServerBuilderPlugin();
+  ServerBuilder builder;
+  // Listen on the given address without any authentication mechanism.
+  builder.AddListeningPort(server_address, grpc::InsecureServerCredentials());
+
+  builder.SetMaxReceiveMessageSize(300000000);
+ // builder.SetMaxMessageSize(100000000);
+
+
+//  builder.SetMaxSendMessageSize(100000000);
+  // Register "service" as the instance through which we'll communicate with
+  // clients. In this case it corresponds to an *synchronous* service.
+  builder.RegisterService(&service);
+  // Finally assemble the server.
+  std::unique_ptr<Server> server(builder.BuildAndStart());
+  std::cout << "Server listening on " << server_address << std::endl;
+
+  // Wait for the server to shutdown. Note that some other thread must be
+  // responsible for shutting down the server for this call to ever return.
+  server->Wait();
+}
+
+
+
+
+
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
+
+    gpcmsgbuf.start();
+
+    RunServer();
+
+
+
+
+    return a.exec();
+}

src/driver/driver_cloud_grpc_server_thread/pcmsgbuffer.cpp

@@ -0,0 +1,171 @@
+#include "pcmsgbuffer.h"
+
+pcmsgbuffer::pcmsgbuffer()
+{
+
+}
+
+void pcmsgbuffer::run()
+{
+    while(!QThread::isInterruptionRequested())
+    {
+        mMutex.lock();
+        qint64 nowtime = QDateTime::currentMSecsSinceEpoch();
+        int i;
+        for(i=0;i<mvectorpcmsgstate.size();i++)
+        {
+            if((nowtime - mvectorpcmsgstate[i].nsendtime) > OVERTIME)
+            {
+                mvectorpcmsgstate.erase(mvectorpcmsgstate.begin() + i);
+                i--;
+            }
+        }
+        mMutex.unlock();
+        msleep(100);
+    }
+}
+
+unsigned int pcmsgbuffer::addmsg(int id, qint64 ntime, std::string strVIN, std::string strctrlMD5, std::vector<char> *pxdata,bool bImportant,int nkeeptime)
+{
+    unsigned int nrtn;
+    mMutex.lock();
+    iv::pcmsg * pmsg = 0;
+    int nsize = mvectormsg.size();
+    int i;
+    for(i=0;i<nsize;i++)
+    {
+        if(strncmp(mvectormsg[i].strVIN.data(),strVIN.data(),255) == 0)
+        {
+            pmsg = &mvectormsg[i];
+            break;
+        }
+    }
+    if(pmsg == 0)
+    {
+        iv::pcmsg cmsg;
+        cmsg.id = id;
+        cmsg.ntime = ntime;
+        cmsg.strVIN = strVIN;
+        cmsg.strctrlMD5 = strctrlMD5;
+        if(pxdata->size() > 0)
+        {
+            cmsg.xdata.resize(pxdata->size());
+            memcpy(cmsg.xdata.data(),pxdata->data(),pxdata->size());
+        }
+        cmsg.mlastuptime = QDateTime::currentMSecsSinceEpoch();
+        cmsg.nsendid = muid;
+        cmsg.mbImportant = bImportant;
+        cmsg.mkeeptime = nkeeptime;
+        nrtn = muid;
+        muid++;
+        mvectormsg.push_back(cmsg);
+        iv::pcmsgstate xpms;xpms.nsendid = cmsg.nsendid;
+        xpms.nsendtime = QDateTime::currentMSecsSinceEpoch();
+        mvectorpcmsgstate.push_back(xpms);
+        mMutex.unlock();
+        return nrtn;
+    }
+
+    if((pmsg->mbImportant != true)||((QDateTime::currentMSecsSinceEpoch() - pmsg->mlastuptime)>=pmsg->mkeeptime))
+    {
+        changesendstate(pmsg->nsendid,-2);
+        pmsg->mbImportant = bImportant;
+        pmsg->mkeeptime = nkeeptime;
+        pmsg->id = id;
+        pmsg->ntime = ntime;
+        pmsg->strctrlMD5 = strctrlMD5;
+        pmsg->xdata.clear();
+        pmsg->nsendid = muid;
+ //       cmsg.mlastuptime = QDateTime::currentMSecsSinceEpoch();
+        nrtn = muid;
+        iv::pcmsgstate xpms;xpms.nsendid = pmsg->nsendid;
+        pmsg->mlastuptime = QDateTime::currentMSecsSinceEpoch();
+        mvectorpcmsgstate.push_back(xpms);
+        muid++;
+        if(pxdata->size()>0)
+        {
+            pmsg->xdata.resize(pxdata->size());
+            memcpy(pmsg->xdata.data(),pxdata->data(),pxdata->size());
+        }
+    }
+
+
+    mMutex.unlock();
+    return nrtn;
+}
+
+int pcmsgbuffer::getmsg(std::string strVIN, std::string strctrlMD5, int &id, qint64 &ntime, std::vector<char> *pxdata)
+{
+    mMutex.lock();
+    iv::pcmsg * pmsg = 0;
+    int nsize = mvectormsg.size();
+    int i;
+    int npos;
+    for(i=0;i<nsize;i++)
+    {
+        if(strncmp(mvectormsg[i].strVIN.data(),strVIN.data(),255) == 0)
+        {
+            pmsg = &mvectormsg[i];
+            npos = i;
+            break;
+        }
+    }
+
+    if(pmsg == 0)
+    {
+        std::cout<<" no this vin data"<<std::endl;;
+        mMutex.unlock();
+        return 0;
+    }
+    if(strctrlMD5 != pmsg->strctrlMD5)
+    {
+        std::cout<<" ctrl error."<<std::endl;
+        changesendstate(pmsg->nsendid,-1);
+        mMutex.unlock();
+        return -2;
+    }
+
+    id = pmsg->id;
+    ntime = pmsg->ntime;
+    pxdata->clear();
+    int ndatasize = pmsg->xdata.size();
+    pxdata->resize(ndatasize);
+    memcpy(pxdata->data(),pmsg->xdata.data(),ndatasize);
+    changesendstate(pmsg->nsendid,1);
+
+    mvectormsg.erase(mvectormsg.begin()+npos);
+    mMutex.unlock();
+    return 1;
+}
+
+void pcmsgbuffer::changesendstate(int nsendid, int nstate)
+{
+    int nstatesize = mvectorpcmsgstate.size();
+    int i;
+    for(i=0;i<nstatesize;i++)
+    {
+        if(nsendid == mvectorpcmsgstate[i].nsendid)
+        {
+            mvectorpcmsgstate[i].nstate = nstate; //Send OK
+            break;
+        }
+    }
+}
+
+int pcmsgbuffer::querysendstate(int nsendid)
+{
+    int nrtn = -2;
+    mMutex.lock();
+    int nstatesize = mvectorpcmsgstate.size();
+    int i;
+    for(i=0;i<nstatesize;i++)
+    {
+        if(nsendid == mvectorpcmsgstate[i].nsendid)
+        {
+            nrtn = mvectorpcmsgstate[i].nstate;
+            break;
+        }
+    }
+    mMutex.unlock();
+    return nrtn;
+}

src/driver/driver_cloud_grpc_server_thread/pcmsgbuffer.h

@@ -0,0 +1,66 @@
+#ifndef PCMSGBUFFER_H
+#define PCMSGBUFFER_H
+
+#include <QDateTime>
+#include <QMutex>
+#include <string>
+#include <iostream>
+
+#include <QThread>
+
+namespace iv {
+struct pcmsg
+{
+    int id;
+    qint64 ntime;
+    std::string strVIN;
+    std::string strctrlMD5;
+    std::vector<char> xdata;
+    qint64 mlastuptime;  //更新时间
+    unsigned int nsendid; //send id
+    bool mbImportant = false;
+    int mkeeptime;
+    bool mbhavequery = false;
+};
+}
+
+namespace  iv {
+struct pcmsgstate
+{
+    qint64 nsendtime;
+    unsigned int nsendid;
+    int nstate = 0; //0 wait send 1 send ok -1 md5 error -2 timeout.
+};
+}
+
+class pcmsgbuffer:public QThread
+{
+public:
+    pcmsgbuffer();
+
+private:
+    std::vector<iv::pcmsg> mvectormsg;
+    std::vector<iv::pcmsgstate> mvectorpcmsgstate;
+    QMutex mMutex;
+    const int OVERTIME = 60000; //60 seconds
+    unsigned int muid = 0;
+
+public:
+
+    unsigned int addmsg(int id,qint64 ntime,std::string strVIN,
+                std::string strctrlMD5,std::vector<char> * pxdata,bool bImportant,int nkeeptime);
+
+    //if no new msg return 0
+    // -2 queryMD5 error
+    int getmsg(std::string strVIN,std::string strctrlMD5,int & id,qint64 & ntime,
+                std::vector<char> * pxdata);
+
+    int querysendstate(int nsendid);
+private:
+    void changesendstate(int nsendid,int nstate);
+
+private:
+    void run();
+};
+
+#endif // PCMSGBUFFER_H

src/driver/driver_cloud_grpc_server_thread/picbuf.cpp

@@ -0,0 +1,125 @@
+#include "picbuf.h"
+
+#include <iostream>
+
+PicBuf::PicBuf()
+{
+
+}
+
+void PicBuf::AddData(iv::PicData xPicData)
+{
+ //   std::cout<<"pic time is "<<xPicData.mnMsgTime<<std::endl;
+    qint64 xsecond = QDateTime::currentMSecsSinceEpoch()/1000;
+    mnFrameSecondCount++;
+    if(xsecond != mnSecondTime)
+    {
+        mnSecondTime = xsecond;
+        mnFrameRate = mnFrameSecondCount;
+        mnFrameSecondCount = 0;
+        std::cout<<"pic framefate: "<<mnFrameRate<<std::endl;
+
+    }
+    static int nunusual = 0;
+    mMutexBuf.lock();
+
+    if((xPicData.mnMsgTime + mBufTime*30) < mLastBufTime)
+    {
+        nunusual++;
+    }
+    else
+    {
+        nunusual = 0;
+    }
+
+    if(nunusual > 10)
+    {
+        std::cout<<" Time Unusual.Reset Buffer"<<std::endl;
+        mvectordata_ptr.clear();
+    }
+
+
+    if(mvectordata_ptr.size() == 0)
+    {
+        mvectordata_ptr.push_back(xPicData);
+        mLastBufTime = xPicData.mnMsgTime;
+        mMutexBuf.unlock();
+        return;
+    }
+
+
+
+    if(xPicData.mnMsgTime > mLastBufTime)
+    {
+        mvectordata_ptr.push_back(xPicData);
+        mLastBufTime = xPicData.mnMsgTime;
+
+    }
+    else
+    {
+        unsigned int j;
+        for(j=0;j<mvectordata_ptr.size();j++)
+        {
+            if(mvectordata_ptr.at(j).mnMsgTime > xPicData.mnMsgTime)
+            {
+                mvectordata_ptr.insert(mvectordata_ptr.begin()+j,xPicData);
+                break;
+            }
+        }
+    }
+
+    int i;
+    for(i=0;i<(int)(mvectordata_ptr.size());i++)
+    {
+        if(abs(mLastBufTime - mvectordata_ptr.at(i).mnMsgTime) > mBufTime)
+        {
+            mvectordata_ptr.erase(mvectordata_ptr.begin() + i);
+            i--;
+        }
+    }
+
+    mMutexBuf.unlock();
+}
+
+int PicBuf::GetData(qint64 &nLastTime, iv::PicData &xPicData)
+{
+    int nrtn = 0;
+    mMutexBuf.lock();
+    if(nLastTime > mLastBufTime)
+    {
+        nLastTime = mLastBufTime;
+        mMutexBuf.unlock();
+        return 0;
+    }
+
+    unsigned int i;
+    for(i=0;i<mvectordata_ptr.size();i++)
+    {
+        if(mvectordata_ptr.at(i).mnMsgTime > (mLastBufTime - mnReceiveBufTime ))
+        {
+            break; //becuase in this time Data not complete.
+        }
+        if(mvectordata_ptr.at(i).mnMsgTime > nLastTime)
+        {
+            nLastTime = mvectordata_ptr.at(i).mnMsgTime;
+            xPicData = mvectordata_ptr.at(i);
+            nrtn = 1;
+            break;
+        }
+    }
+    mMutexBuf.unlock();
+    return nrtn;
+}
+
+PicBuf::PicBuf(const PicBuf &other)
+{
+    mvectordata_ptr = other.mvectordata_ptr;
+    mBufTime = other.mBufTime;
+    mnReceiveBufTime = other.mnReceiveBufTime;
+    mLastBufTime = other.mLastBufTime;
+}
+
+int PicBuf::GetFrameRate()
+{
+    return mnFrameRate;
+}

src/driver/driver_cloud_grpc_server_thread/picbuf.h

@@ -0,0 +1,41 @@
+#ifndef PICBUF_H
+#define PICBUF_H
+
+#include <memory>
+#include <vector>
+#include <QMutex>
+#include <QDateTime>
+
+namespace iv {
+struct PicData
+{
+public:
+    qint64 mnMsgTime;
+    std::shared_ptr<char> mdata_ptr;
+    unsigned int mdatasize;
+};
+
+}
+
+class PicBuf
+{
+private:
+    std::vector<iv::PicData> mvectordata_ptr;
+    qint64 mBufTime = 500;
+    qint64 mnReceiveBufTime = 50;
+    qint64 mLastBufTime = 0;
+    QMutex mMutexBuf;
+
+private:
+    int mnFrameRate = 0;
+    qint64 mnSecondTime = 0;   //Time  Second.
+    int mnFrameSecondCount =0; //Last Second Receive message
+public:
+    PicBuf();
+    PicBuf(const PicBuf & other);
+    void AddData(iv::PicData xPicData);
+    int GetData(qint64 & nLastTime,iv::PicData & xPicData);  //0 No Data  1 Have Data
+    int GetFrameRate();
+};
+
+#endif // PICBUF_H

src/driver/driver_cloud_grpc_thread/driver_cloud_grpc_thread.pro

@@ -0,0 +1,59 @@
+QT -= gui
+
+CONFIG += c++11 console
+CONFIG -= app_bundle
+
+QMAKE_LFLAGS += -no-pie
+
+# The following define makes your compiler emit warnings if you use
+# any Qt feature that has been marked deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+system(protoc -I=./../../include/proto3 --cpp_out=./../../include/msgtype   ./../../include/proto3/uploadthreadmsg.proto)
+
+# You can also make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+        ../../include/msgtype/cloud.pb.cc \
+    ../../include/msgtype/uploadthreadmsg.pb.cc \
+        main.cpp \
+    grpcclient.cpp \
+    uploadthreadmsg.grpc.pb.cc
+
+# Default rules for deployment.
+qnx: target.path = /tmp/$${TARGET}/bin
+else: unix:!android: target.path = /opt/$${TARGET}/bin
+!isEmpty(target.path): INSTALLS += target
+
+!include(../../../include/common.pri ) {
+    error( "Couldn't find the common.pri file!" )
+}
+
+!include(../../../include/ivprotobuf.pri ) {
+    error( "Couldn't find the ivprotobuf.pri file!" )
+}
+
+!include(../../../include/ivboost.pri ) {
+    error( "Couldn't find the ivboost.pri file!" )
+}
+
+!include(../../../include/ivgrpc.pri ) {
+    error( "Couldn't find the ivgrpc.pri file!" )
+}
+
+!include(../../../include/ivyaml-cpp.pri ) {
+    error( "Couldn't find the ivyaml-cpp.pri file!" )
+}
+
+
+
+HEADERS += \
+    ../../include/msgtype/cloud.pb.h \
+    ../../include/msgtype/uploadthreadmsg.pb.h \
+    grpcclient.h \
+    uploadthreadmsg.grpc.pb.h

src/driver/driver_cloud_grpc_thread/driver_cloud_grpc_thread.yaml

@@ -0,0 +1,48 @@
+server : 47.96.250.93
+port : 50051
+uploadinterval : 100
+skip : 2  # 1 no skip 2 skip 50%  3 skip %66
+
+VIN : AAAAAAAAAAAAAAAAA
+queryMD5 : 5d41402abc4b2a76b9719d911017c592
+ctrlMD5  : 5d41402abc4b2a76b9719d911017c592
+
+
+uploadmessage:
+  usbpic:
+    msgname: compresspic
+    buffersize: 10000000
+    buffercount: 1
+  hcp2_gpsimu:
+    msgname: hcp2_gpsimu
+    buffersize: 100000
+    buffercount: 1
+
+#  tracemap:
+#    msgname: tracemap
+#    buffersize: 10000000
+#    buffercount: 1
+
+  simpletrace:
+    msgname: simpletrace
+    buffersize: 10000000
+    buffercount: 1
+    bimportant: true
+    keeptime: 3000
+
+ctrlmessage:
+  xodrsrc:
+    msgname: xodrsrc
+    buffersize: 1000
+    buffercount: 1
+  xodrreq:
+    msgname: xodrreq
+    buffersize: 1000
+    buffercount: 1
+  remotectrl:
+    msgname: remotectrl
+    buffersize: 10000
+    buffercount: 1
+
+
+

src/driver/driver_cloud_grpc_thread/grpcclient.cpp

@@ -0,0 +1,609 @@
+#include "grpcclient.h"
+
+grpcclient * ggrpcclient;
+
+void ListenData(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+    ggrpcclient->UpdateData(strdata,nSize,strmemname);
+
+}
+
+void ListenPicData(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+    ggrpcclient->UpdatePicData(strdata,nSize,strmemname);
+
+}
+
+
+grpcclient::grpcclient(std::string stryamlpath)
+{
+    ggrpcclient = this;
+    dec_yaml(stryamlpath.data());
+
+
+    mstrpicmsgname[0] = "picfront";
+    mstrpicmsgname[1] = "picrear";
+    mstrpicmsgname[2] = "picleft";
+    mstrpicmsgname[3] = "picright";
+
+    unsigned int i;
+    for(i=0;i<mvectormsgunit.size();i++)
+    {
+        mvectormsgunit[i].mpa = iv::modulecomm::RegisterRecv(mvectormsgunit[i].mstrmsgname,ListenData);
+    }
+
+    for(i=0;i<mvectorctrlmsgunit.size();i++)
+    {
+        mvectorctrlmsgunit[i].mpa = iv::modulecomm::RegisterSend(mvectorctrlmsgunit[i].mstrmsgname,mvectorctrlmsgunit[i].mnBufferSize,
+                                                                 mvectorctrlmsgunit[i].mnBufferCount);
+    }
+
+    for(i=0;i<NUM_CAM;i++)
+    {
+        mpaPic[i] = iv::modulecomm::RegisterRecv(mstrpicmsgname[i].data(),ListenPicData);
+    }
+
+
+    for(i=0;i<NUM_CAM;i++)
+    {
+        unsigned int j;
+        for(j=0;j<NUM_THREAD_PERCAM;j++)
+        {
+            mpThread[i*NUM_THREAD_PERCAM + j] = new std::thread(&grpcclient::threadpicupload,this,i);
+        }
+    }
+
+    for(i=0;i<NUM_CAM;i++)
+    {
+        mpicbuf[i].mnSkipBase = mnskip;
+    }
+
+}
+
+grpcclient::~grpcclient()
+{
+    std::cout<<" enter ~grpcclient"<<std::endl;
+    mbPicUpload = false;
+
+    requestInterruption();
+    while(this->isFinished() == false)
+    {
+
+    }
+
+    std::cout<<"now join grpcclient thread"<<std::endl;
+
+    unsigned int i;
+    for(i=0;i<NUM_CAM;i++)
+    {
+        unsigned int j;
+        for(j=0;j<NUM_THREAD_PERCAM;j++)
+        {
+            mpThread[i*NUM_THREAD_PERCAM + j]->join();
+        }
+    }
+
+    for(i=0;i<mvectorctrlmsgunit.size();i++)
+    {
+        iv::modulecomm::Unregister(mvectorctrlmsgunit[i].mpa);
+    }
+
+    for(i=0;i<mvectormsgunit.size();i++)
+    {
+        iv::modulecomm::Unregister(mvectormsgunit[i].mpa);
+    }
+
+    std::cout<<"complete ~grpcclient"<<std::endl;
+
+}
+
+void grpcclient::run()
+{
+    int nsize = mvectormsgunit.size();
+    int i;
+
+    int ninterval = atoi(gstruploadinterval.data());
+    if(ninterval<=0)ninterval = 100;
+
+    QTime xTime;
+    xTime.start();
+    int nlastsend = xTime.elapsed();
+
+    std::string target_str = gstrserverip+":";
+    target_str = target_str + gstrserverport ;//std::to_string()
+    auto cargs = grpc::ChannelArguments();
+    cargs.SetMaxReceiveMessageSize(1024 * 1024 * 1024); // 1 GB
+    cargs.SetMaxSendMessageSize(1024 * 1024 * 1024);
+
+    std::shared_ptr<Channel> channel = grpc::CreateCustomChannel(
+             target_str, grpc::InsecureChannelCredentials(),cargs);
+
+    std::unique_ptr<iv::UploadThread::Stub> stub_ = iv::UploadThread::NewStub(channel);
+
+
+    iv::UploadRequestThread request;
+
+    int nid = 0;
+
+    // Container for the data we expect from the server.
+    iv::UploadReplyThread reply;
+
+    gpr_timespec timespec;
+      timespec.tv_sec = 30;//设置阻塞时间为2秒
+      timespec.tv_nsec = 0;
+      timespec.clock_type = GPR_TIMESPAN;
+
+ //   ClientContext context;
+
+    std::vector<qint64> xvectorlatency;
+
+
+    while(!QThread::isInterruptionRequested())
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        if((xTime.elapsed()-nlastsend)<ninterval)
+        {
+            continue;
+        }
+
+            bool bImportant = false;
+            int nkeeptime = 0;
+            iv::cloud::cloudmsg xmsg;
+            xmsg.set_xtime(QDateTime::currentMSecsSinceEpoch());
+            gMutexMsg.lock();
+            for(i=0;i<nsize;i++)
+            {
+                if(mvectormsgunit[i].mbRefresh)
+                {
+                    mvectormsgunit[i].mbRefresh = false;
+                    if(mvectormsgunit[i].mbImportant)
+                    {
+                        bImportant = true;
+                    }
+                    if(mvectormsgunit[i].mnkeeptime > nkeeptime)
+                    {
+                        nkeeptime = mvectormsgunit[i].mnkeeptime;
+                    }
+                    iv::cloud::cloudunit xcloudunit;
+                    xcloudunit.set_msgname(mvectormsgunit[i].mstrmsgname);
+                    xcloudunit.set_data(mvectormsgunit[i].mpstrmsgdata.get(),mvectormsgunit[i].mndatasize);
+                    iv::cloud::cloudunit * pcu = xmsg.add_xclouddata();
+                    pcu->CopyFrom(xcloudunit);
+                }
+
+            }
+            gMutexMsg.unlock();
+
+            int nbytesize = xmsg.ByteSize();
+            char * strbuf = new char[nbytesize];
+            std::shared_ptr<char> pstrbuf;
+            pstrbuf.reset(strbuf);
+            if(xmsg.SerializeToArray(strbuf,nbytesize))
+            {
+
+                ClientContext context ;
+                context.set_deadline(timespec);
+                qint64 time1 = QDateTime::currentMSecsSinceEpoch();
+
+
+
+                request.set_id(nid);
+                request.set_ntime(time1);
+                request.set_strquerymd5(gstrqueryMD5);
+                request.set_strctrlmd5(gstrctrlMD5);
+                request.set_strvin(gstrVIN);
+                request.set_xdata(strbuf,nbytesize);
+                request.set_kepptime(nkeeptime);
+                request.set_bimportant(bImportant);
+                request.set_nsendtime(QDateTime::currentMSecsSinceEpoch());
+                request.set_nlatency(CalcLateny(xvectorlatency));
+                nid++;
+
+                nlastsend = xTime.elapsed();
+                // The actual RPC.
+                Status status = stub_->uploaddata(&context, request, &reply);
+                if (status.ok()) {
+                    std::cout<<"  data size is "<<nbytesize<<std::endl;
+                    std::cout<<nid<<" upload successfully"<<std::endl;
+                    xvectorlatency.push_back((QDateTime::currentMSecsSinceEpoch() - reply.nreqsendtime()));
+                    while(xvectorlatency.size()>10)xvectorlatency.erase(xvectorlatency.begin());
+                    if(reply.nres() == 1)
+                    {
+                        iv::cloud::cloudmsg xmsg;
+                        if(xmsg.ParseFromArray(reply.xdata().data(),reply.xdata().size()))
+                        {
+                            sharectrlmsg(&xmsg);
+                        }
+                    }
+                } else {
+                  std::cout << status.error_code() << ": " << status.error_message()
+                            << std::endl;
+                  std::cout<<"RPC failed"<<std::endl;
+                  if(status.error_code() == 4)
+                  {
+                      std::cout<<" RPC Exceed Time, Create New stub_"<<std::endl;
+                      channel = grpc::CreateCustomChannel(
+                               target_str, grpc::InsecureChannelCredentials(),cargs);
+
+                      stub_ = iv::UploadThread::NewStub(channel);
+                  }
+                  std::this_thread::sleep_for(std::chrono::milliseconds(300));
+
+                }
+
+            }
+
+
+    }
+
+    std::cout<<" grpcclient:run complete."<<std::endl;
+}
+
+
+void grpcclient::dec_yaml(const char * stryamlpath)
+{
+
+    YAML::Node config;
+    try
+    {
+        config = YAML::LoadFile(stryamlpath);
+    }
+    catch(YAML::BadFile e)
+    {
+        qDebug("load error.");
+        return;
+    }
+
+    std::vector<std::string> vecmodulename;
+
+
+    if(config["server"])
+    {
+        gstrserverip = config["server"].as<std::string>();
+    }
+    if(config["port"])
+    {
+        gstrserverport = config["port"].as<std::string>();
+    }
+    if(config["uploadinterval"])
+    {
+        gstruploadinterval = config["uploadinterval"].as<std::string>();
+    }
+    if(config["skip"])
+    {
+        std::string strskip = config["skip"].as<std::string>();
+        mnskip = atoi(strskip.data());
+        if(mnskip<1)mnskip = 1;
+    }
+
+    if(config["VIN"])
+    {
+        gstrVIN = config["VIN"].as<std::string>();
+    }
+
+    if(config["queryMD5"])
+    {
+        gstrqueryMD5 = config["queryMD5"].as<std::string>();
+    }
+    else
+    {
+        return;
+    }
+
+    if(config["ctrlMD5"])
+    {
+        gstrctrlMD5 = config["ctrlMD5"].as<std::string>();
+    }
+
+
+    std::string strmsgname;
+
+    if(config["uploadmessage"])
+    {
+
+        for(YAML::const_iterator it= config["uploadmessage"].begin(); it != config["uploadmessage"].end();++it)
+        {
+            std::string strtitle = it->first.as<std::string>();
+            std::cout<<strtitle<<std::endl;
+
+            if(config["uploadmessage"][strtitle]["msgname"]&&config["uploadmessage"][strtitle]["buffersize"]&&config["uploadmessage"][strtitle]["buffercount"])
+            {
+                iv::msgunit xmu;
+                strmsgname = config["uploadmessage"][strtitle]["msgname"].as<std::string>();
+                strncpy(xmu.mstrmsgname,strmsgname.data(),255);
+                xmu.mnBufferSize = config["uploadmessage"][strtitle]["buffersize"].as<int>();
+                xmu.mnBufferCount = config["uploadmessage"][strtitle]["buffercount"].as<int>();
+                if(config["uploadmessage"][strtitle]["bimportant"])
+                {
+                   std::string strimportant =    config["uploadmessage"][strtitle]["bimportant"].as<std::string>();
+                   if(strimportant == "true")
+                   {
+                       xmu.mbImportant = true;
+                   }
+                }
+                if(config["uploadmessage"][strtitle]["keeptime"])
+                {
+                   std::string strkeep =    config["uploadmessage"][strtitle]["keeptime"].as<std::string>();
+                   xmu.mnkeeptime = atoi(strkeep.data());
+                }
+                mvectormsgunit.push_back(xmu);
+            }
+        }
+    }
+    else
+    {
+
+
+    }
+
+    if(!config["ctrlMD5"])
+    {
+       return;
+    }
+
+    if(config["ctrlmessage"])
+    {
+        std::string strnodename = "ctrlmessage";
+        for(YAML::const_iterator it= config[strnodename].begin(); it != config[strnodename].end();++it)
+        {
+            std::string strtitle = it->first.as<std::string>();
+            std::cout<<strtitle<<std::endl;
+
+            if(config[strnodename][strtitle]["msgname"]&&config[strnodename][strtitle]["buffersize"]&&config[strnodename][strtitle]["buffercount"])
+            {
+                iv::msgunit xmu;
+                strmsgname = config[strnodename][strtitle]["msgname"].as<std::string>();
+                strncpy(xmu.mstrmsgname,strmsgname.data(),255);
+                xmu.mnBufferSize = config[strnodename][strtitle]["buffersize"].as<int>();
+                xmu.mnBufferCount = config[strnodename][strtitle]["buffercount"].as<int>();
+                mvectorctrlmsgunit.push_back(xmu);
+            }
+        }
+    }
+    else
+    {
+
+    }
+
+    return;
+
+}
+
+void grpcclient::sharectrlmsg(iv::cloud::cloudmsg * pxmsg)
+{
+    int i;
+    int nsize = pxmsg->xclouddata_size();
+    for(i=0;i<nsize;i++)
+    {
+        int j;
+        int nquerysize = mvectorctrlmsgunit.size();
+        for(j=0;j<nquerysize;j++)
+        {
+            if(strncmp(pxmsg->xclouddata(i).msgname().data(), mvectorctrlmsgunit[j].mstrmsgname,255) == 0)
+            {
+ //               qDebug("size is %d ",pxmsg->xclouddata(i).data().size());
+                iv::modulecomm::ModuleSendMsg(mvectorctrlmsgunit[j].mpa,pxmsg->xclouddata(i).data().data(),pxmsg->xclouddata(i).data().size());
+                break;
+            }
+        }
+    }
+}
+
+void grpcclient::UpdateData(const char *strdata, const unsigned int nSize, const char *strmemname)
+{
+    int nsize = mvectormsgunit.size();
+    int i;
+    for(i=0;i<nsize;i++)
+    {
+        if(strncmp(strmemname,mvectormsgunit[i].mstrmsgname,255) == 0)
+        {
+            gMutexMsg.lock();
+            char * strtem = new char[nSize];
+            memcpy(strtem,strdata,nSize);
+            mvectormsgunit[i].mpstrmsgdata.reset(strtem);
+            mvectormsgunit[i].mndatasize = nSize;
+            mvectormsgunit[i].mbRefresh = true;
+            gMutexMsg.unlock();
+            break;
+        }
+    }
+}
+
+void grpcclient::UpdatePicData(const char *strdata, const unsigned int nSize, const char *strmemname)
+{
+    int npos = -1;
+
+    unsigned int i;
+    for(i=0;i<NUM_CAM;i++)
+    {
+        if(strncmp(strmemname,mstrpicmsgname[i].data(),255) == 0)
+        {
+            npos = i;
+            break;
+        }
+    }
+
+    if(npos<0)
+    {
+        std::cout<<"grpcclient::UpdatePicData not found pic. msg name is "<<strmemname<<std::endl;
+        return;
+    }
+
+    if(npos>= NUM_CAM)
+    {
+        std::cout<<"Camera count is "<<NUM_CAM<<" NOW camear is "<<npos<<std::endl;
+        return;
+    }
+
+    mpicbuf[npos].mMutex.lock();
+    mpicbuf[npos].mnMsgTime = QDateTime::currentMSecsSinceEpoch();
+    mpicbuf[npos].mbRefresh = true;
+    mpicbuf[npos].mpstrmsgdata = std::shared_ptr<char>(new char[nSize]);
+    mpicbuf[npos].mDataSize = nSize;
+    memcpy(mpicbuf[npos].mpstrmsgdata.get(),strdata,nSize);
+    mpicbuf[npos].mMutex.unlock();
+    mpicbuf[npos].mwc.wakeAll();
+}
+
+
+void grpcclient::threadpicupload(int nCamPos)
+{
+    std::cout<<"thread cam "<<nCamPos<<"run"<<std::endl;
+    int nsize = mvectormsgunit.size();
+    int i;
+
+    int ninterval = atoi(gstruploadinterval.data());
+    if(ninterval<=0)ninterval = 100;
+
+    QTime xTime;
+    xTime.start();
+    int nlastsend = xTime.elapsed();
+
+    std::string target_str = gstrserverip+":";
+    target_str = target_str + gstrserverport ;//std::to_string()
+    auto cargs = grpc::ChannelArguments();
+    cargs.SetMaxReceiveMessageSize(1024 * 1024 * 1024); // 1 GB
+    cargs.SetMaxSendMessageSize(1024 * 1024 * 1024);
+
+    std::shared_ptr<Channel> channel = grpc::CreateCustomChannel(
+             target_str, grpc::InsecureChannelCredentials(),cargs);
+
+    std::unique_ptr<iv::UploadThread::Stub> stub_ = iv::UploadThread::NewStub(channel);
+
+
+    iv::PicUpRequestThread request;
+
+    int nid = 0;
+
+    // Container for the data we expect from the server.
+    iv::PicUpReplyThread reply;
+
+    gpr_timespec timespec;
+      timespec.tv_sec = 30;//设置阻塞时间为2秒
+      timespec.tv_nsec = 0;
+      timespec.clock_type = GPR_TIMESPAN;
+
+ //   ClientContext context;
+
+    while(mbPicUpload)
+    {
+        std::shared_ptr<char> pstr_ptr;
+        if((nCamPos<0)||(nCamPos >= NUM_CAM))
+        {
+            std::cout<<"Cam Pos Error. "<<"Pos: "<<nCamPos<<" TOTAL:"<<NUM_CAM<<std::endl;
+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
+            continue;
+        }
+
+        bool bUpdate = false;
+        qint64 nMsgTime = 0;
+        int nSize = 0;
+        qint64 npiclatency;
+        int nSkipBase = 1;
+        int nCount;
+
+        mpicbuf[nCamPos].mWaitMutex.lock();
+        mpicbuf[nCamPos].mwc.wait(&mpicbuf[nCamPos].mWaitMutex,100);
+        mpicbuf[nCamPos].mWaitMutex.unlock();
+
+        mpicbuf[nCamPos].mMutex.lock();
+        bUpdate = mpicbuf[nCamPos].mbRefresh;
+        if(bUpdate == true)
+        {
+            nMsgTime = mpicbuf[nCamPos].mnMsgTime;
+
+            mpicbuf[nCamPos].mbRefresh = false;
+            pstr_ptr = mpicbuf[nCamPos].mpstrmsgdata;
+            nSize = mpicbuf[nCamPos].mDataSize;
+            npiclatency = CalcLateny(mpicbuf[nCamPos].mvectorlatency);
+            nSkipBase = mpicbuf[nCamPos].mnSkipBase;
+            nCount = mpicbuf[nCamPos].mnCount;
+            mpicbuf[nCamPos].mnCount++;
+//            if(npiclatency >  500)
+//            {
+//                if(mpicbuf[nCamPos].mnSkipBase<30)mpicbuf[nCamPos].mnSkipBase++;
+//            }
+//            else
+//            {
+//                if(npiclatency<300)
+//                    if(mpicbuf[nCamPos].mnSkipBase > mpicbuf[nCamPos].mnDefSkipBase)mpicbuf[nCamPos].mnSkipBase--;
+//            }
+            std::cout<<"upload "<<nMsgTime<<"  latency:  "<<npiclatency<<" skip param: "<<nSkipBase<<std::endl;
+        }
+        mpicbuf[nCamPos].mMutex.unlock();
+        if(bUpdate == false)
+        {
+ //           std::this_thread::sleep_for(std::chrono::milliseconds(10));
+            continue;
+        }
+
+        if(nCount%nSkipBase != 0)
+        {
+            continue;
+        }
+
+
+
+        ClientContext context ;
+        context.set_deadline(timespec);
+        qint64 time1 = QDateTime::currentMSecsSinceEpoch();
+
+        request.set_npictime(nMsgTime);
+        request.set_ncampos(nCamPos);
+        request.set_strvin(gstrVIN);
+        request.set_xdata(pstr_ptr.get(),nSize);
+        request.set_nlatency(npiclatency);
+        nid++;
+
+        nlastsend = xTime.elapsed();
+        // The actual RPC.
+        Status status = stub_->uploadpic(&context, request, &reply);
+        if (status.ok()) {
+
+            qint64 nlaten = QDateTime::currentMSecsSinceEpoch() - time1;
+            mpicbuf[nCamPos].mMutex.lock();
+            mpicbuf[nCamPos].mvectorlatency.push_back(nlaten);
+            while(mpicbuf[nCamPos].mvectorlatency.size()>10)mpicbuf[nCamPos].mvectorlatency.erase(mpicbuf[nCamPos].mvectorlatency.begin());
+            mpicbuf[nCamPos].mMutex.unlock();
+            if(reply.nres() == 1)
+            {
+//                iv::cloud::cloudmsg xmsg;
+//                if(xmsg.ParseFromArray(reply.xdata().data(),reply.xdata().size()))
+//                {
+//                    sharectrlmsg(&xmsg);
+//                }
+            }
+        } else {
+          std::cout << status.error_code() << ": " << status.error_message()
+                    << std::endl;
+          std::cout<<"RPC failed"<<std::endl;
+          if(status.error_code() == 4)
+          {
+              std::cout<<nCamPos<<" RPC Exceed Time, Create New stub_"<<std::endl;
+              channel = grpc::CreateCustomChannel(
+                       target_str, grpc::InsecureChannelCredentials(),cargs);
+
+              stub_ = iv::UploadThread::NewStub(channel);
+          }
+          std::this_thread::sleep_for(std::chrono::milliseconds(900));
+
+        }
+
+
+    }
+
+    std::cout<<"threadpicupload cam pos: "<<nCamPos<<" exit."<<std::endl;
+}
+
+qint64 grpcclient::CalcLateny(std::vector<qint64> &xvectorlatency)
+{
+    if(xvectorlatency.size() == 0)return 1000;
+    unsigned int i;
+    qint64 nLatencyTotal = 0;
+    for(i=0;i<xvectorlatency.size();i++)
+    {
+        nLatencyTotal = nLatencyTotal + xvectorlatency[i];
+    }
+    qint64 nLatencyAvg = nLatencyTotal/xvectorlatency.size();
+    return nLatencyAvg;
+}

src/driver/driver_cloud_grpc_thread/grpcclient.h

@@ -0,0 +1,128 @@
+#ifndef GRPCCLIENT_H
+#define GRPCCLIENT_H
+
+#include <QThread>
+
+#include <yaml-cpp/yaml.h>
+
+#include <QDateTime>
+
+#include <iostream>
+
+#include <vector>
+
+#include <memory>
+
+#include <QMutex>
+#include <QWaitCondition>
+
+#include <thread>
+
+#include "modulecomm.h"
+
+#include "cloud.pb.h"
+
+#include <iostream>
+#include <memory>
+#include <string>
+
+#include <grpcpp/grpcpp.h>
+
+
+#include "uploadthreadmsg.grpc.pb.h"
+
+#define NUM_CAM 4
+#define NUM_THREAD_PERCAM 4
+
+namespace iv {
+struct msgunit
+{
+    char mstrmsgname[256];
+    int mnBufferSize = 10000;
+    int mnBufferCount = 1;
+    void * mpa;
+    std::shared_ptr<char> mpstrmsgdata;
+    int mndatasize = 0;
+    bool mbRefresh = false;
+    bool mbImportant = false;
+    int mnkeeptime = 100;
+
+};
+
+struct  threadpicunit
+{
+     bool mbRefresh = false;
+     qint64 mnMsgTime;
+     std::shared_ptr<char> mpstrmsgdata;
+     int mDataSize;
+     QMutex mWaitMutex;
+     QWaitCondition mwc;
+     QMutex mMutex;
+     std::vector<qint64> mvectorlatency;
+     int mnSkipBase = 2;
+     int mnDefSkipBase = 1;
+     int mnCount = 0;
+};
+}
+
+
+using grpc::Channel;
+using grpc::ClientContext;
+using grpc::Status;
+
+class grpcclient : public QThread
+{
+public:
+    grpcclient(std::string stryamlpath);
+    ~grpcclient();
+
+private:
+    std::string gstrserverip = "127.0.0.1";//111.33.136.149";//"0.0.0.0";//"192.168.14.98";// "123.57.212.138";
+    std::string gstrserverport = "50051";//"9000";
+    std::string gstruploadinterval = "1000";
+    void * gpa;
+    QMutex gMutexMsg;
+    std::thread * guploadthread;
+
+
+
+
+    std::vector<iv::msgunit> mvectormsgunit;
+
+    std::vector<iv::msgunit> mvectorctrlmsgunit;
+
+
+    std::string gstrVIN = "AAAAAAAAAAAAAAAAA";
+    std::string gstrqueryMD5 = "5d41402abc4b2a76b9719d911017c591";//"5d41402abc4b2a76b9719d911017c592";
+    std::string gstrctrlMD5 = "5d41402abc4b2a76b9719d911017c591";
+
+
+
+    int gindex = 0;
+public:
+    void UpdateData(const char * strdata,const unsigned int nSize,const char * strmemname);
+    void UpdatePicData(const char * strdata,const unsigned int nSize,const char * strmemname);
+private:
+    void run();
+    void dec_yaml(const char * stryamlpath);
+    void sharectrlmsg(iv::cloud::cloudmsg * pxmsg);
+
+private:
+    void threadpicupload(int nCamPos);
+
+    iv::threadpicunit mpicbuf[NUM_CAM];
+
+    void * mpaPic[NUM_CAM];
+    std::string mstrpicmsgname[NUM_CAM];
+
+    std::thread * mpThread[NUM_CAM * NUM_THREAD_PERCAM];
+
+    bool mbPicUpload = true;
+
+    qint64 CalcLateny(std::vector<qint64> & xvectorlatency);
+
+    int mnskip = 2;
+
+};
+
+#endif // GRPCCLIENT_H

src/driver/driver_cloud_grpc_thread/main.cpp

@@ -0,0 +1,67 @@
+#include <QCoreApplication>
+
+#include <signal.h>
+
+#include "grpcclient.h"
+
+#include "ivversion.h"
+#include "ivexit.h"
+#include "ivbacktrace.h"
+
+static QCoreApplication * gApp;
+
+static grpcclient * gpgrpcclient;
+
+void ExitFunc()
+{
+//    gApp->quit();
+    delete gpgrpcclient;
+    std::cout<<"driver_cloud_grpc_thread exit."<<std::endl;
+    gApp->quit();
+}
+
+void signal_handler(int sig)
+{
+    if(sig == SIGINT)
+    {
+        ExitFunc();
+    }
+}
+
+int main(int argc, char *argv[])
+{
+    showversion("driver_cloud_grpc_client");
+
+    RegisterIVBackTrace();
+
+
+
+    QCoreApplication a(argc, argv);
+    gApp = &a;
+
+ //   std::thread * ptest = new std::thread(test);
+
+ //   return a.exec();
+
+    char stryamlpath[256];
+    if(argc<2)
+    {
+        snprintf(stryamlpath,255,"driver_cloud_grpc_thread.yaml");
+//        strncpy(stryamlpath,abs_ymlpath,255);
+    }
+    else
+    {
+        strncpy(stryamlpath,argv[1],255);
+    }
+//    dec_yaml(stryamlpath);
+
+    grpcclient * pgrpcclient = new grpcclient(stryamlpath);
+    pgrpcclient->start();
+    gpgrpcclient = pgrpcclient;
+
+    signal(SIGINT,signal_handler);
+
+    iv::ivexit::RegIVExitCall(ExitFunc);
+
+    return a.exec();
+}

src/driver/driver_cloud_grpc_thread/prototocpp.txt

@@ -0,0 +1,4 @@
+protoc -I=./../../include/proto3 --plugin=protoc-gen-grpc=/home/yuchuli/git/grpc-framework/build2/grpc_cpp_plugin --grpc_out=. ./../../include/proto3/uploadthreadmsg.proto
+
+protoc -I=./../../include/proto3 --cpp_out=./../../include/msgtype   ./../../include/proto3/uploadthreadmsg.proto
+

src/driver/driver_cloud_grpc_thread/uploadthreadmsg.grpc.pb.cc

@@ -0,0 +1,212 @@
+// Generated by the gRPC C++ plugin.
+// If you make any local change, they will be lost.
+// source: uploadthreadmsg.proto
+
+#include "uploadthreadmsg.pb.h"
+#include "uploadthreadmsg.grpc.pb.h"
+
+#include <functional>
+#include <grpcpp/impl/codegen/async_stream.h>
+#include <grpcpp/impl/codegen/async_unary_call.h>
+#include <grpcpp/impl/codegen/channel_interface.h>
+#include <grpcpp/impl/codegen/client_unary_call.h>
+#include <grpcpp/impl/codegen/client_callback.h>
+#include <grpcpp/impl/codegen/message_allocator.h>
+#include <grpcpp/impl/codegen/method_handler.h>
+#include <grpcpp/impl/codegen/rpc_service_method.h>
+#include <grpcpp/impl/codegen/server_callback.h>
+#include <grpcpp/impl/codegen/server_callback_handlers.h>
+#include <grpcpp/impl/codegen/server_context.h>
+#include <grpcpp/impl/codegen/service_type.h>
+#include <grpcpp/impl/codegen/sync_stream.h>
+namespace iv {
+
+static const char* UploadThread_method_names[] = {
+  "/iv.UploadThread/uploaddata",
+  "/iv.UploadThread/uploadpic",
+  "/iv.UploadThread/queryctrl",
+  "/iv.UploadThread/querypic",
+};
+
+std::unique_ptr< UploadThread::Stub> UploadThread::NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options) {
+  (void)options;
+  std::unique_ptr< UploadThread::Stub> stub(new UploadThread::Stub(channel));
+  return stub;
+}
+
+UploadThread::Stub::Stub(const std::shared_ptr< ::grpc::ChannelInterface>& channel)
+  : channel_(channel), rpcmethod_uploaddata_(UploadThread_method_names[0], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_uploadpic_(UploadThread_method_names[1], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_queryctrl_(UploadThread_method_names[2], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_querypic_(UploadThread_method_names[3], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  {}
+
+::grpc::Status UploadThread::Stub::uploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread& request, ::iv::UploadReplyThread* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::iv::UploadRequestThread, ::iv::UploadReplyThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_uploaddata_, context, request, response);
+}
+
+void UploadThread::Stub::experimental_async::uploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread* request, ::iv::UploadReplyThread* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::iv::UploadRequestThread, ::iv::UploadReplyThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_uploaddata_, context, request, response, std::move(f));
+}
+
+void UploadThread::Stub::experimental_async::uploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread* request, ::iv::UploadReplyThread* response, ::grpc::experimental::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_uploaddata_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::iv::UploadReplyThread>* UploadThread::Stub::PrepareAsyncuploaddataRaw(::grpc::ClientContext* context, const ::iv::UploadRequestThread& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::iv::UploadReplyThread, ::iv::UploadRequestThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_uploaddata_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::iv::UploadReplyThread>* UploadThread::Stub::AsyncuploaddataRaw(::grpc::ClientContext* context, const ::iv::UploadRequestThread& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncuploaddataRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
+::grpc::Status UploadThread::Stub::uploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread& request, ::iv::PicUpReplyThread* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::iv::PicUpRequestThread, ::iv::PicUpReplyThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_uploadpic_, context, request, response);
+}
+
+void UploadThread::Stub::experimental_async::uploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread* request, ::iv::PicUpReplyThread* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::iv::PicUpRequestThread, ::iv::PicUpReplyThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_uploadpic_, context, request, response, std::move(f));
+}
+
+void UploadThread::Stub::experimental_async::uploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread* request, ::iv::PicUpReplyThread* response, ::grpc::experimental::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_uploadpic_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::iv::PicUpReplyThread>* UploadThread::Stub::PrepareAsyncuploadpicRaw(::grpc::ClientContext* context, const ::iv::PicUpRequestThread& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::iv::PicUpReplyThread, ::iv::PicUpRequestThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_uploadpic_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::iv::PicUpReplyThread>* UploadThread::Stub::AsyncuploadpicRaw(::grpc::ClientContext* context, const ::iv::PicUpRequestThread& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncuploadpicRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
+::grpc::Status UploadThread::Stub::queryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread& request, ::iv::queryReplyThread* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::iv::queryReqThread, ::iv::queryReplyThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_queryctrl_, context, request, response);
+}
+
+void UploadThread::Stub::experimental_async::queryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread* request, ::iv::queryReplyThread* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::iv::queryReqThread, ::iv::queryReplyThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_queryctrl_, context, request, response, std::move(f));
+}
+
+void UploadThread::Stub::experimental_async::queryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread* request, ::iv::queryReplyThread* response, ::grpc::experimental::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_queryctrl_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::iv::queryReplyThread>* UploadThread::Stub::PrepareAsyncqueryctrlRaw(::grpc::ClientContext* context, const ::iv::queryReqThread& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::iv::queryReplyThread, ::iv::queryReqThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_queryctrl_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::iv::queryReplyThread>* UploadThread::Stub::AsyncqueryctrlRaw(::grpc::ClientContext* context, const ::iv::queryReqThread& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncqueryctrlRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
+::grpc::Status UploadThread::Stub::querypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread& request, ::iv::PicDownReplyThread* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::iv::PicDownReqThread, ::iv::PicDownReplyThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_querypic_, context, request, response);
+}
+
+void UploadThread::Stub::experimental_async::querypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread* request, ::iv::PicDownReplyThread* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::iv::PicDownReqThread, ::iv::PicDownReplyThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_querypic_, context, request, response, std::move(f));
+}
+
+void UploadThread::Stub::experimental_async::querypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread* request, ::iv::PicDownReplyThread* response, ::grpc::experimental::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_querypic_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::iv::PicDownReplyThread>* UploadThread::Stub::PrepareAsyncquerypicRaw(::grpc::ClientContext* context, const ::iv::PicDownReqThread& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::iv::PicDownReplyThread, ::iv::PicDownReqThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_querypic_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::iv::PicDownReplyThread>* UploadThread::Stub::AsyncquerypicRaw(::grpc::ClientContext* context, const ::iv::PicDownReqThread& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncquerypicRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
+UploadThread::Service::Service() {
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      UploadThread_method_names[0],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< UploadThread::Service, ::iv::UploadRequestThread, ::iv::UploadReplyThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](UploadThread::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::iv::UploadRequestThread* req,
+             ::iv::UploadReplyThread* resp) {
+               return service->uploaddata(ctx, req, resp);
+             }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      UploadThread_method_names[1],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< UploadThread::Service, ::iv::PicUpRequestThread, ::iv::PicUpReplyThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](UploadThread::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::iv::PicUpRequestThread* req,
+             ::iv::PicUpReplyThread* resp) {
+               return service->uploadpic(ctx, req, resp);
+             }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      UploadThread_method_names[2],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< UploadThread::Service, ::iv::queryReqThread, ::iv::queryReplyThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](UploadThread::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::iv::queryReqThread* req,
+             ::iv::queryReplyThread* resp) {
+               return service->queryctrl(ctx, req, resp);
+             }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      UploadThread_method_names[3],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< UploadThread::Service, ::iv::PicDownReqThread, ::iv::PicDownReplyThread, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](UploadThread::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::iv::PicDownReqThread* req,
+             ::iv::PicDownReplyThread* resp) {
+               return service->querypic(ctx, req, resp);
+             }, this)));
+}
+
+UploadThread::Service::~Service() {
+}
+
+::grpc::Status UploadThread::Service::uploaddata(::grpc::ServerContext* context, const ::iv::UploadRequestThread* request, ::iv::UploadReplyThread* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
+::grpc::Status UploadThread::Service::uploadpic(::grpc::ServerContext* context, const ::iv::PicUpRequestThread* request, ::iv::PicUpReplyThread* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
+::grpc::Status UploadThread::Service::queryctrl(::grpc::ServerContext* context, const ::iv::queryReqThread* request, ::iv::queryReplyThread* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
+::grpc::Status UploadThread::Service::querypic(::grpc::ServerContext* context, const ::iv::PicDownReqThread* request, ::iv::PicDownReplyThread* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
+
+}  // namespace iv
+

src/driver/driver_cloud_grpc_thread/uploadthreadmsg.grpc.pb.h

@@ -0,0 +1,914 @@
+// Generated by the gRPC C++ plugin.
+// If you make any local change, they will be lost.
+// source: uploadthreadmsg.proto
+// Original file comments:
+// Copyright 2015 gRPC authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+#ifndef GRPC_uploadthreadmsg_2eproto__INCLUDED
+#define GRPC_uploadthreadmsg_2eproto__INCLUDED
+
+#include "uploadthreadmsg.pb.h"
+
+#include <functional>
+#include <grpc/impl/codegen/port_platform.h>
+#include <grpcpp/impl/codegen/async_generic_service.h>
+#include <grpcpp/impl/codegen/async_stream.h>
+#include <grpcpp/impl/codegen/async_unary_call.h>
+#include <grpcpp/impl/codegen/client_callback.h>
+#include <grpcpp/impl/codegen/client_context.h>
+#include <grpcpp/impl/codegen/completion_queue.h>
+#include <grpcpp/impl/codegen/message_allocator.h>
+#include <grpcpp/impl/codegen/method_handler.h>
+#include <grpcpp/impl/codegen/proto_utils.h>
+#include <grpcpp/impl/codegen/rpc_method.h>
+#include <grpcpp/impl/codegen/server_callback.h>
+#include <grpcpp/impl/codegen/server_callback_handlers.h>
+#include <grpcpp/impl/codegen/server_context.h>
+#include <grpcpp/impl/codegen/service_type.h>
+#include <grpcpp/impl/codegen/status.h>
+#include <grpcpp/impl/codegen/stub_options.h>
+#include <grpcpp/impl/codegen/sync_stream.h>
+
+namespace iv {
+
+// The Upload service definition.
+class UploadThread final {
+ public:
+  static constexpr char const* service_full_name() {
+    return "iv.UploadThread";
+  }
+  class StubInterface {
+   public:
+    virtual ~StubInterface() {}
+    // Sends a Upload
+    virtual ::grpc::Status uploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread& request, ::iv::UploadReplyThread* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::UploadReplyThread>> Asyncuploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::UploadReplyThread>>(AsyncuploaddataRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::UploadReplyThread>> PrepareAsyncuploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::UploadReplyThread>>(PrepareAsyncuploaddataRaw(context, request, cq));
+    }
+    virtual ::grpc::Status uploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread& request, ::iv::PicUpReplyThread* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::PicUpReplyThread>> Asyncuploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::PicUpReplyThread>>(AsyncuploadpicRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::PicUpReplyThread>> PrepareAsyncuploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::PicUpReplyThread>>(PrepareAsyncuploadpicRaw(context, request, cq));
+    }
+    virtual ::grpc::Status queryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread& request, ::iv::queryReplyThread* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::queryReplyThread>> Asyncqueryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::queryReplyThread>>(AsyncqueryctrlRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::queryReplyThread>> PrepareAsyncqueryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::queryReplyThread>>(PrepareAsyncqueryctrlRaw(context, request, cq));
+    }
+    virtual ::grpc::Status querypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread& request, ::iv::PicDownReplyThread* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::PicDownReplyThread>> Asyncquerypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::PicDownReplyThread>>(AsyncquerypicRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::PicDownReplyThread>> PrepareAsyncquerypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::PicDownReplyThread>>(PrepareAsyncquerypicRaw(context, request, cq));
+    }
+    class experimental_async_interface {
+     public:
+      virtual ~experimental_async_interface() {}
+      // Sends a Upload
+      virtual void uploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread* request, ::iv::UploadReplyThread* response, std::function<void(::grpc::Status)>) = 0;
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      virtual void uploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread* request, ::iv::UploadReplyThread* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      #else
+      virtual void uploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread* request, ::iv::UploadReplyThread* response, ::grpc::experimental::ClientUnaryReactor* reactor) = 0;
+      #endif
+      virtual void uploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread* request, ::iv::PicUpReplyThread* response, std::function<void(::grpc::Status)>) = 0;
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      virtual void uploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread* request, ::iv::PicUpReplyThread* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      #else
+      virtual void uploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread* request, ::iv::PicUpReplyThread* response, ::grpc::experimental::ClientUnaryReactor* reactor) = 0;
+      #endif
+      virtual void queryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread* request, ::iv::queryReplyThread* response, std::function<void(::grpc::Status)>) = 0;
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      virtual void queryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread* request, ::iv::queryReplyThread* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      #else
+      virtual void queryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread* request, ::iv::queryReplyThread* response, ::grpc::experimental::ClientUnaryReactor* reactor) = 0;
+      #endif
+      virtual void querypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread* request, ::iv::PicDownReplyThread* response, std::function<void(::grpc::Status)>) = 0;
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      virtual void querypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread* request, ::iv::PicDownReplyThread* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      #else
+      virtual void querypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread* request, ::iv::PicDownReplyThread* response, ::grpc::experimental::ClientUnaryReactor* reactor) = 0;
+      #endif
+    };
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    typedef class experimental_async_interface async_interface;
+    #endif
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    async_interface* async() { return experimental_async(); }
+    #endif
+    virtual class experimental_async_interface* experimental_async() { return nullptr; }
+  private:
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::iv::UploadReplyThread>* AsyncuploaddataRaw(::grpc::ClientContext* context, const ::iv::UploadRequestThread& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::iv::UploadReplyThread>* PrepareAsyncuploaddataRaw(::grpc::ClientContext* context, const ::iv::UploadRequestThread& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::iv::PicUpReplyThread>* AsyncuploadpicRaw(::grpc::ClientContext* context, const ::iv::PicUpRequestThread& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::iv::PicUpReplyThread>* PrepareAsyncuploadpicRaw(::grpc::ClientContext* context, const ::iv::PicUpRequestThread& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::iv::queryReplyThread>* AsyncqueryctrlRaw(::grpc::ClientContext* context, const ::iv::queryReqThread& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::iv::queryReplyThread>* PrepareAsyncqueryctrlRaw(::grpc::ClientContext* context, const ::iv::queryReqThread& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::iv::PicDownReplyThread>* AsyncquerypicRaw(::grpc::ClientContext* context, const ::iv::PicDownReqThread& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::iv::PicDownReplyThread>* PrepareAsyncquerypicRaw(::grpc::ClientContext* context, const ::iv::PicDownReqThread& request, ::grpc::CompletionQueue* cq) = 0;
+  };
+  class Stub final : public StubInterface {
+   public:
+    Stub(const std::shared_ptr< ::grpc::ChannelInterface>& channel);
+    ::grpc::Status uploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread& request, ::iv::UploadReplyThread* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::UploadReplyThread>> Asyncuploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::UploadReplyThread>>(AsyncuploaddataRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::UploadReplyThread>> PrepareAsyncuploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::UploadReplyThread>>(PrepareAsyncuploaddataRaw(context, request, cq));
+    }
+    ::grpc::Status uploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread& request, ::iv::PicUpReplyThread* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::PicUpReplyThread>> Asyncuploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::PicUpReplyThread>>(AsyncuploadpicRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::PicUpReplyThread>> PrepareAsyncuploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::PicUpReplyThread>>(PrepareAsyncuploadpicRaw(context, request, cq));
+    }
+    ::grpc::Status queryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread& request, ::iv::queryReplyThread* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::queryReplyThread>> Asyncqueryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::queryReplyThread>>(AsyncqueryctrlRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::queryReplyThread>> PrepareAsyncqueryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::queryReplyThread>>(PrepareAsyncqueryctrlRaw(context, request, cq));
+    }
+    ::grpc::Status querypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread& request, ::iv::PicDownReplyThread* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::PicDownReplyThread>> Asyncquerypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::PicDownReplyThread>>(AsyncquerypicRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::PicDownReplyThread>> PrepareAsyncquerypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::PicDownReplyThread>>(PrepareAsyncquerypicRaw(context, request, cq));
+    }
+    class experimental_async final :
+      public StubInterface::experimental_async_interface {
+     public:
+      void uploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread* request, ::iv::UploadReplyThread* response, std::function<void(::grpc::Status)>) override;
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      void uploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread* request, ::iv::UploadReplyThread* response, ::grpc::ClientUnaryReactor* reactor) override;
+      #else
+      void uploaddata(::grpc::ClientContext* context, const ::iv::UploadRequestThread* request, ::iv::UploadReplyThread* response, ::grpc::experimental::ClientUnaryReactor* reactor) override;
+      #endif
+      void uploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread* request, ::iv::PicUpReplyThread* response, std::function<void(::grpc::Status)>) override;
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      void uploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread* request, ::iv::PicUpReplyThread* response, ::grpc::ClientUnaryReactor* reactor) override;
+      #else
+      void uploadpic(::grpc::ClientContext* context, const ::iv::PicUpRequestThread* request, ::iv::PicUpReplyThread* response, ::grpc::experimental::ClientUnaryReactor* reactor) override;
+      #endif
+      void queryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread* request, ::iv::queryReplyThread* response, std::function<void(::grpc::Status)>) override;
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      void queryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread* request, ::iv::queryReplyThread* response, ::grpc::ClientUnaryReactor* reactor) override;
+      #else
+      void queryctrl(::grpc::ClientContext* context, const ::iv::queryReqThread* request, ::iv::queryReplyThread* response, ::grpc::experimental::ClientUnaryReactor* reactor) override;
+      #endif
+      void querypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread* request, ::iv::PicDownReplyThread* response, std::function<void(::grpc::Status)>) override;
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      void querypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread* request, ::iv::PicDownReplyThread* response, ::grpc::ClientUnaryReactor* reactor) override;
+      #else
+      void querypic(::grpc::ClientContext* context, const ::iv::PicDownReqThread* request, ::iv::PicDownReplyThread* response, ::grpc::experimental::ClientUnaryReactor* reactor) override;
+      #endif
+     private:
+      friend class Stub;
+      explicit experimental_async(Stub* stub): stub_(stub) { }
+      Stub* stub() { return stub_; }
+      Stub* stub_;
+    };
+    class experimental_async_interface* experimental_async() override { return &async_stub_; }
+
+   private:
+    std::shared_ptr< ::grpc::ChannelInterface> channel_;
+    class experimental_async async_stub_{this};
+    ::grpc::ClientAsyncResponseReader< ::iv::UploadReplyThread>* AsyncuploaddataRaw(::grpc::ClientContext* context, const ::iv::UploadRequestThread& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::iv::UploadReplyThread>* PrepareAsyncuploaddataRaw(::grpc::ClientContext* context, const ::iv::UploadRequestThread& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::iv::PicUpReplyThread>* AsyncuploadpicRaw(::grpc::ClientContext* context, const ::iv::PicUpRequestThread& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::iv::PicUpReplyThread>* PrepareAsyncuploadpicRaw(::grpc::ClientContext* context, const ::iv::PicUpRequestThread& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::iv::queryReplyThread>* AsyncqueryctrlRaw(::grpc::ClientContext* context, const ::iv::queryReqThread& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::iv::queryReplyThread>* PrepareAsyncqueryctrlRaw(::grpc::ClientContext* context, const ::iv::queryReqThread& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::iv::PicDownReplyThread>* AsyncquerypicRaw(::grpc::ClientContext* context, const ::iv::PicDownReqThread& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::iv::PicDownReplyThread>* PrepareAsyncquerypicRaw(::grpc::ClientContext* context, const ::iv::PicDownReqThread& request, ::grpc::CompletionQueue* cq) override;
+    const ::grpc::internal::RpcMethod rpcmethod_uploaddata_;
+    const ::grpc::internal::RpcMethod rpcmethod_uploadpic_;
+    const ::grpc::internal::RpcMethod rpcmethod_queryctrl_;
+    const ::grpc::internal::RpcMethod rpcmethod_querypic_;
+  };
+  static std::unique_ptr<Stub> NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options = ::grpc::StubOptions());
+
+  class Service : public ::grpc::Service {
+   public:
+    Service();
+    virtual ~Service();
+    // Sends a Upload
+    virtual ::grpc::Status uploaddata(::grpc::ServerContext* context, const ::iv::UploadRequestThread* request, ::iv::UploadReplyThread* response);
+    virtual ::grpc::Status uploadpic(::grpc::ServerContext* context, const ::iv::PicUpRequestThread* request, ::iv::PicUpReplyThread* response);
+    virtual ::grpc::Status queryctrl(::grpc::ServerContext* context, const ::iv::queryReqThread* request, ::iv::queryReplyThread* response);
+    virtual ::grpc::Status querypic(::grpc::ServerContext* context, const ::iv::PicDownReqThread* request, ::iv::PicDownReplyThread* response);
+  };
+  template <class BaseClass>
+  class WithAsyncMethod_uploaddata : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_uploaddata() {
+      ::grpc::Service::MarkMethodAsync(0);
+    }
+    ~WithAsyncMethod_uploaddata() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status uploaddata(::grpc::ServerContext* /*context*/, const ::iv::UploadRequestThread* /*request*/, ::iv::UploadReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void Requestuploaddata(::grpc::ServerContext* context, ::iv::UploadRequestThread* request, ::grpc::ServerAsyncResponseWriter< ::iv::UploadReplyThread>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(0, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithAsyncMethod_uploadpic : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_uploadpic() {
+      ::grpc::Service::MarkMethodAsync(1);
+    }
+    ~WithAsyncMethod_uploadpic() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status uploadpic(::grpc::ServerContext* /*context*/, const ::iv::PicUpRequestThread* /*request*/, ::iv::PicUpReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void Requestuploadpic(::grpc::ServerContext* context, ::iv::PicUpRequestThread* request, ::grpc::ServerAsyncResponseWriter< ::iv::PicUpReplyThread>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(1, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithAsyncMethod_queryctrl : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_queryctrl() {
+      ::grpc::Service::MarkMethodAsync(2);
+    }
+    ~WithAsyncMethod_queryctrl() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status queryctrl(::grpc::ServerContext* /*context*/, const ::iv::queryReqThread* /*request*/, ::iv::queryReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void Requestqueryctrl(::grpc::ServerContext* context, ::iv::queryReqThread* request, ::grpc::ServerAsyncResponseWriter< ::iv::queryReplyThread>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(2, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithAsyncMethod_querypic : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_querypic() {
+      ::grpc::Service::MarkMethodAsync(3);
+    }
+    ~WithAsyncMethod_querypic() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status querypic(::grpc::ServerContext* /*context*/, const ::iv::PicDownReqThread* /*request*/, ::iv::PicDownReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void Requestquerypic(::grpc::ServerContext* context, ::iv::PicDownReqThread* request, ::grpc::ServerAsyncResponseWriter< ::iv::PicDownReplyThread>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(3, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  typedef WithAsyncMethod_uploaddata<WithAsyncMethod_uploadpic<WithAsyncMethod_queryctrl<WithAsyncMethod_querypic<Service > > > > AsyncService;
+  template <class BaseClass>
+  class ExperimentalWithCallbackMethod_uploaddata : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    ExperimentalWithCallbackMethod_uploaddata() {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::Service::
+    #else
+      ::grpc::Service::experimental().
+    #endif
+        MarkMethodCallback(0,
+          new ::grpc::internal::CallbackUnaryHandler< ::iv::UploadRequestThread, ::iv::UploadReplyThread>(
+            [this](
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+                   ::grpc::CallbackServerContext*
+    #else
+                   ::grpc::experimental::CallbackServerContext*
+    #endif
+                     context, const ::iv::UploadRequestThread* request, ::iv::UploadReplyThread* response) { return this->uploaddata(context, request, response); }));}
+    void SetMessageAllocatorFor_uploaddata(
+        ::grpc::experimental::MessageAllocator< ::iv::UploadRequestThread, ::iv::UploadReplyThread>* allocator) {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(0);
+    #else
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::experimental().GetHandler(0);
+    #endif
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::iv::UploadRequestThread, ::iv::UploadReplyThread>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~ExperimentalWithCallbackMethod_uploaddata() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status uploaddata(::grpc::ServerContext* /*context*/, const ::iv::UploadRequestThread* /*request*/, ::iv::UploadReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    virtual ::grpc::ServerUnaryReactor* uploaddata(
+      ::grpc::CallbackServerContext* /*context*/, const ::iv::UploadRequestThread* /*request*/, ::iv::UploadReplyThread* /*response*/)
+    #else
+    virtual ::grpc::experimental::ServerUnaryReactor* uploaddata(
+      ::grpc::experimental::CallbackServerContext* /*context*/, const ::iv::UploadRequestThread* /*request*/, ::iv::UploadReplyThread* /*response*/)
+    #endif
+      { return nullptr; }
+  };
+  template <class BaseClass>
+  class ExperimentalWithCallbackMethod_uploadpic : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    ExperimentalWithCallbackMethod_uploadpic() {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::Service::
+    #else
+      ::grpc::Service::experimental().
+    #endif
+        MarkMethodCallback(1,
+          new ::grpc::internal::CallbackUnaryHandler< ::iv::PicUpRequestThread, ::iv::PicUpReplyThread>(
+            [this](
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+                   ::grpc::CallbackServerContext*
+    #else
+                   ::grpc::experimental::CallbackServerContext*
+    #endif
+                     context, const ::iv::PicUpRequestThread* request, ::iv::PicUpReplyThread* response) { return this->uploadpic(context, request, response); }));}
+    void SetMessageAllocatorFor_uploadpic(
+        ::grpc::experimental::MessageAllocator< ::iv::PicUpRequestThread, ::iv::PicUpReplyThread>* allocator) {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(1);
+    #else
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::experimental().GetHandler(1);
+    #endif
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::iv::PicUpRequestThread, ::iv::PicUpReplyThread>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~ExperimentalWithCallbackMethod_uploadpic() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status uploadpic(::grpc::ServerContext* /*context*/, const ::iv::PicUpRequestThread* /*request*/, ::iv::PicUpReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    virtual ::grpc::ServerUnaryReactor* uploadpic(
+      ::grpc::CallbackServerContext* /*context*/, const ::iv::PicUpRequestThread* /*request*/, ::iv::PicUpReplyThread* /*response*/)
+    #else
+    virtual ::grpc::experimental::ServerUnaryReactor* uploadpic(
+      ::grpc::experimental::CallbackServerContext* /*context*/, const ::iv::PicUpRequestThread* /*request*/, ::iv::PicUpReplyThread* /*response*/)
+    #endif
+      { return nullptr; }
+  };
+  template <class BaseClass>
+  class ExperimentalWithCallbackMethod_queryctrl : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    ExperimentalWithCallbackMethod_queryctrl() {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::Service::
+    #else
+      ::grpc::Service::experimental().
+    #endif
+        MarkMethodCallback(2,
+          new ::grpc::internal::CallbackUnaryHandler< ::iv::queryReqThread, ::iv::queryReplyThread>(
+            [this](
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+                   ::grpc::CallbackServerContext*
+    #else
+                   ::grpc::experimental::CallbackServerContext*
+    #endif
+                     context, const ::iv::queryReqThread* request, ::iv::queryReplyThread* response) { return this->queryctrl(context, request, response); }));}
+    void SetMessageAllocatorFor_queryctrl(
+        ::grpc::experimental::MessageAllocator< ::iv::queryReqThread, ::iv::queryReplyThread>* allocator) {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(2);
+    #else
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::experimental().GetHandler(2);
+    #endif
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::iv::queryReqThread, ::iv::queryReplyThread>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~ExperimentalWithCallbackMethod_queryctrl() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status queryctrl(::grpc::ServerContext* /*context*/, const ::iv::queryReqThread* /*request*/, ::iv::queryReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    virtual ::grpc::ServerUnaryReactor* queryctrl(
+      ::grpc::CallbackServerContext* /*context*/, const ::iv::queryReqThread* /*request*/, ::iv::queryReplyThread* /*response*/)
+    #else
+    virtual ::grpc::experimental::ServerUnaryReactor* queryctrl(
+      ::grpc::experimental::CallbackServerContext* /*context*/, const ::iv::queryReqThread* /*request*/, ::iv::queryReplyThread* /*response*/)
+    #endif
+      { return nullptr; }
+  };
+  template <class BaseClass>
+  class ExperimentalWithCallbackMethod_querypic : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    ExperimentalWithCallbackMethod_querypic() {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::Service::
+    #else
+      ::grpc::Service::experimental().
+    #endif
+        MarkMethodCallback(3,
+          new ::grpc::internal::CallbackUnaryHandler< ::iv::PicDownReqThread, ::iv::PicDownReplyThread>(
+            [this](
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+                   ::grpc::CallbackServerContext*
+    #else
+                   ::grpc::experimental::CallbackServerContext*
+    #endif
+                     context, const ::iv::PicDownReqThread* request, ::iv::PicDownReplyThread* response) { return this->querypic(context, request, response); }));}
+    void SetMessageAllocatorFor_querypic(
+        ::grpc::experimental::MessageAllocator< ::iv::PicDownReqThread, ::iv::PicDownReplyThread>* allocator) {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(3);
+    #else
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::experimental().GetHandler(3);
+    #endif
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::iv::PicDownReqThread, ::iv::PicDownReplyThread>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~ExperimentalWithCallbackMethod_querypic() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status querypic(::grpc::ServerContext* /*context*/, const ::iv::PicDownReqThread* /*request*/, ::iv::PicDownReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    virtual ::grpc::ServerUnaryReactor* querypic(
+      ::grpc::CallbackServerContext* /*context*/, const ::iv::PicDownReqThread* /*request*/, ::iv::PicDownReplyThread* /*response*/)
+    #else
+    virtual ::grpc::experimental::ServerUnaryReactor* querypic(
+      ::grpc::experimental::CallbackServerContext* /*context*/, const ::iv::PicDownReqThread* /*request*/, ::iv::PicDownReplyThread* /*response*/)
+    #endif
+      { return nullptr; }
+  };
+  #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+  typedef ExperimentalWithCallbackMethod_uploaddata<ExperimentalWithCallbackMethod_uploadpic<ExperimentalWithCallbackMethod_queryctrl<ExperimentalWithCallbackMethod_querypic<Service > > > > CallbackService;
+  #endif
+
+  typedef ExperimentalWithCallbackMethod_uploaddata<ExperimentalWithCallbackMethod_uploadpic<ExperimentalWithCallbackMethod_queryctrl<ExperimentalWithCallbackMethod_querypic<Service > > > > ExperimentalCallbackService;
+  template <class BaseClass>
+  class WithGenericMethod_uploaddata : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_uploaddata() {
+      ::grpc::Service::MarkMethodGeneric(0);
+    }
+    ~WithGenericMethod_uploaddata() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status uploaddata(::grpc::ServerContext* /*context*/, const ::iv::UploadRequestThread* /*request*/, ::iv::UploadReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
+  class WithGenericMethod_uploadpic : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_uploadpic() {
+      ::grpc::Service::MarkMethodGeneric(1);
+    }
+    ~WithGenericMethod_uploadpic() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status uploadpic(::grpc::ServerContext* /*context*/, const ::iv::PicUpRequestThread* /*request*/, ::iv::PicUpReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
+  class WithGenericMethod_queryctrl : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_queryctrl() {
+      ::grpc::Service::MarkMethodGeneric(2);
+    }
+    ~WithGenericMethod_queryctrl() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status queryctrl(::grpc::ServerContext* /*context*/, const ::iv::queryReqThread* /*request*/, ::iv::queryReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
+  class WithGenericMethod_querypic : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_querypic() {
+      ::grpc::Service::MarkMethodGeneric(3);
+    }
+    ~WithGenericMethod_querypic() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status querypic(::grpc::ServerContext* /*context*/, const ::iv::PicDownReqThread* /*request*/, ::iv::PicDownReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
+  class WithRawMethod_uploaddata : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_uploaddata() {
+      ::grpc::Service::MarkMethodRaw(0);
+    }
+    ~WithRawMethod_uploaddata() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status uploaddata(::grpc::ServerContext* /*context*/, const ::iv::UploadRequestThread* /*request*/, ::iv::UploadReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void Requestuploaddata(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(0, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithRawMethod_uploadpic : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_uploadpic() {
+      ::grpc::Service::MarkMethodRaw(1);
+    }
+    ~WithRawMethod_uploadpic() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status uploadpic(::grpc::ServerContext* /*context*/, const ::iv::PicUpRequestThread* /*request*/, ::iv::PicUpReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void Requestuploadpic(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(1, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithRawMethod_queryctrl : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_queryctrl() {
+      ::grpc::Service::MarkMethodRaw(2);
+    }
+    ~WithRawMethod_queryctrl() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status queryctrl(::grpc::ServerContext* /*context*/, const ::iv::queryReqThread* /*request*/, ::iv::queryReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void Requestqueryctrl(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(2, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class WithRawMethod_querypic : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_querypic() {
+      ::grpc::Service::MarkMethodRaw(3);
+    }
+    ~WithRawMethod_querypic() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status querypic(::grpc::ServerContext* /*context*/, const ::iv::PicDownReqThread* /*request*/, ::iv::PicDownReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void Requestquerypic(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(3, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
+  class ExperimentalWithRawCallbackMethod_uploaddata : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    ExperimentalWithRawCallbackMethod_uploaddata() {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::Service::
+    #else
+      ::grpc::Service::experimental().
+    #endif
+        MarkMethodRawCallback(0,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+                   ::grpc::CallbackServerContext*
+    #else
+                   ::grpc::experimental::CallbackServerContext*
+    #endif
+                     context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->uploaddata(context, request, response); }));
+    }
+    ~ExperimentalWithRawCallbackMethod_uploaddata() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status uploaddata(::grpc::ServerContext* /*context*/, const ::iv::UploadRequestThread* /*request*/, ::iv::UploadReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    virtual ::grpc::ServerUnaryReactor* uploaddata(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)
+    #else
+    virtual ::grpc::experimental::ServerUnaryReactor* uploaddata(
+      ::grpc::experimental::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)
+    #endif
+      { return nullptr; }
+  };
+  template <class BaseClass>
+  class ExperimentalWithRawCallbackMethod_uploadpic : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    ExperimentalWithRawCallbackMethod_uploadpic() {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::Service::
+    #else
+      ::grpc::Service::experimental().
+    #endif
+        MarkMethodRawCallback(1,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+                   ::grpc::CallbackServerContext*
+    #else
+                   ::grpc::experimental::CallbackServerContext*
+    #endif
+                     context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->uploadpic(context, request, response); }));
+    }
+    ~ExperimentalWithRawCallbackMethod_uploadpic() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status uploadpic(::grpc::ServerContext* /*context*/, const ::iv::PicUpRequestThread* /*request*/, ::iv::PicUpReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    virtual ::grpc::ServerUnaryReactor* uploadpic(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)
+    #else
+    virtual ::grpc::experimental::ServerUnaryReactor* uploadpic(
+      ::grpc::experimental::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)
+    #endif
+      { return nullptr; }
+  };
+  template <class BaseClass>
+  class ExperimentalWithRawCallbackMethod_queryctrl : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    ExperimentalWithRawCallbackMethod_queryctrl() {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::Service::
+    #else
+      ::grpc::Service::experimental().
+    #endif
+        MarkMethodRawCallback(2,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+                   ::grpc::CallbackServerContext*
+    #else
+                   ::grpc::experimental::CallbackServerContext*
+    #endif
+                     context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->queryctrl(context, request, response); }));
+    }
+    ~ExperimentalWithRawCallbackMethod_queryctrl() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status queryctrl(::grpc::ServerContext* /*context*/, const ::iv::queryReqThread* /*request*/, ::iv::queryReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    virtual ::grpc::ServerUnaryReactor* queryctrl(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)
+    #else
+    virtual ::grpc::experimental::ServerUnaryReactor* queryctrl(
+      ::grpc::experimental::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)
+    #endif
+      { return nullptr; }
+  };
+  template <class BaseClass>
+  class ExperimentalWithRawCallbackMethod_querypic : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    ExperimentalWithRawCallbackMethod_querypic() {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::Service::
+    #else
+      ::grpc::Service::experimental().
+    #endif
+        MarkMethodRawCallback(3,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+                   ::grpc::CallbackServerContext*
+    #else
+                   ::grpc::experimental::CallbackServerContext*
+    #endif
+                     context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->querypic(context, request, response); }));
+    }
+    ~ExperimentalWithRawCallbackMethod_querypic() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status querypic(::grpc::ServerContext* /*context*/, const ::iv::PicDownReqThread* /*request*/, ::iv::PicDownReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    virtual ::grpc::ServerUnaryReactor* querypic(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)
+    #else
+    virtual ::grpc::experimental::ServerUnaryReactor* querypic(
+      ::grpc::experimental::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)
+    #endif
+      { return nullptr; }
+  };
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_uploaddata : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_uploaddata() {
+      ::grpc::Service::MarkMethodStreamed(0,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::iv::UploadRequestThread, ::iv::UploadReplyThread>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::iv::UploadRequestThread, ::iv::UploadReplyThread>* streamer) {
+                       return this->Streameduploaddata(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_uploaddata() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status uploaddata(::grpc::ServerContext* /*context*/, const ::iv::UploadRequestThread* /*request*/, ::iv::UploadReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status Streameduploaddata(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::iv::UploadRequestThread,::iv::UploadReplyThread>* server_unary_streamer) = 0;
+  };
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_uploadpic : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_uploadpic() {
+      ::grpc::Service::MarkMethodStreamed(1,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::iv::PicUpRequestThread, ::iv::PicUpReplyThread>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::iv::PicUpRequestThread, ::iv::PicUpReplyThread>* streamer) {
+                       return this->Streameduploadpic(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_uploadpic() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status uploadpic(::grpc::ServerContext* /*context*/, const ::iv::PicUpRequestThread* /*request*/, ::iv::PicUpReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status Streameduploadpic(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::iv::PicUpRequestThread,::iv::PicUpReplyThread>* server_unary_streamer) = 0;
+  };
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_queryctrl : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_queryctrl() {
+      ::grpc::Service::MarkMethodStreamed(2,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::iv::queryReqThread, ::iv::queryReplyThread>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::iv::queryReqThread, ::iv::queryReplyThread>* streamer) {
+                       return this->Streamedqueryctrl(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_queryctrl() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status queryctrl(::grpc::ServerContext* /*context*/, const ::iv::queryReqThread* /*request*/, ::iv::queryReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status Streamedqueryctrl(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::iv::queryReqThread,::iv::queryReplyThread>* server_unary_streamer) = 0;
+  };
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_querypic : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_querypic() {
+      ::grpc::Service::MarkMethodStreamed(3,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::iv::PicDownReqThread, ::iv::PicDownReplyThread>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::iv::PicDownReqThread, ::iv::PicDownReplyThread>* streamer) {
+                       return this->Streamedquerypic(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_querypic() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status querypic(::grpc::ServerContext* /*context*/, const ::iv::PicDownReqThread* /*request*/, ::iv::PicDownReplyThread* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status Streamedquerypic(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::iv::PicDownReqThread,::iv::PicDownReplyThread>* server_unary_streamer) = 0;
+  };
+  typedef WithStreamedUnaryMethod_uploaddata<WithStreamedUnaryMethod_uploadpic<WithStreamedUnaryMethod_queryctrl<WithStreamedUnaryMethod_querypic<Service > > > > StreamedUnaryService;
+  typedef Service SplitStreamedService;
+  typedef WithStreamedUnaryMethod_uploaddata<WithStreamedUnaryMethod_uploadpic<WithStreamedUnaryMethod_queryctrl<WithStreamedUnaryMethod_querypic<Service > > > > StreamedService;
+};
+
+}  // namespace iv
+
+
+#endif  // GRPC_uploadthreadmsg_2eproto__INCLUDED

src/driver/driver_db_grpc_server/grpcdb.grpc.pb.cc

@@ -25,6 +25,7 @@ namespace db {
 static const char* dbservice_method_names[] = {
   "/iv.db.dbservice/querylist",
   "/iv.db.dbservice/querydata",
+  "/iv.db.dbservice/downdbfile",
 };
 
 std::unique_ptr< dbservice::Stub> dbservice::NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options) {
@@ -36,6 +37,7 @@ std::unique_ptr< dbservice::Stub> dbservice::NewStub(const std::shared_ptr< ::gr
 dbservice::Stub::Stub(const std::shared_ptr< ::grpc::ChannelInterface>& channel)
   : channel_(channel), rpcmethod_querylist_(dbservice_method_names[0], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   , rpcmethod_querydata_(dbservice_method_names[1], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_downdbfile_(dbservice_method_names[2], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   {}
 
 ::grpc::Status dbservice::Stub::querylist(::grpc::ClientContext* context, const ::iv::db::listRequest& request, ::iv::db::listReply* response) {
@@ -84,6 +86,29 @@ void dbservice::Stub::experimental_async::querydata(::grpc::ClientContext* conte
   return result;
 }
 
+::grpc::Status dbservice::Stub::downdbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq& request, ::iv::db::FiledbReply* response) {
+  return ::grpc::internal::BlockingUnaryCall< ::iv::db::Filedbreq, ::iv::db::FiledbReply, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), rpcmethod_downdbfile_, context, request, response);
+}
+
+void dbservice::Stub::experimental_async::downdbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq* request, ::iv::db::FiledbReply* response, std::function<void(::grpc::Status)> f) {
+  ::grpc::internal::CallbackUnaryCall< ::iv::db::Filedbreq, ::iv::db::FiledbReply, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_downdbfile_, context, request, response, std::move(f));
+}
+
+void dbservice::Stub::experimental_async::downdbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq* request, ::iv::db::FiledbReply* response, ::grpc::experimental::ClientUnaryReactor* reactor) {
+  ::grpc::internal::ClientCallbackUnaryFactory::Create< ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(stub_->channel_.get(), stub_->rpcmethod_downdbfile_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::iv::db::FiledbReply>* dbservice::Stub::PrepareAsyncdowndbfileRaw(::grpc::ClientContext* context, const ::iv::db::Filedbreq& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc::internal::ClientAsyncResponseReaderHelper::Create< ::iv::db::FiledbReply, ::iv::db::Filedbreq, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(channel_.get(), cq, rpcmethod_downdbfile_, context, request);
+}
+
+::grpc::ClientAsyncResponseReader< ::iv::db::FiledbReply>* dbservice::Stub::AsyncdowndbfileRaw(::grpc::ClientContext* context, const ::iv::db::Filedbreq& request, ::grpc::CompletionQueue* cq) {
+  auto* result =
+    this->PrepareAsyncdowndbfileRaw(context, request, cq);
+  result->StartCall();
+  return result;
+}
+
 dbservice::Service::Service() {
   AddMethod(new ::grpc::internal::RpcServiceMethod(
       dbservice_method_names[0],
@@ -105,6 +130,16 @@ dbservice::Service::Service() {
              ::iv::db::dataReply* resp) {
                return service->querydata(ctx, req, resp);
              }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      dbservice_method_names[2],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< dbservice::Service, ::iv::db::Filedbreq, ::iv::db::FiledbReply, ::grpc::protobuf::MessageLite, ::grpc::protobuf::MessageLite>(
+          [](dbservice::Service* service,
+             ::grpc::ServerContext* ctx,
+             const ::iv::db::Filedbreq* req,
+             ::iv::db::FiledbReply* resp) {
+               return service->downdbfile(ctx, req, resp);
+             }, this)));
 }
 
 dbservice::Service::~Service() {
@@ -124,6 +159,13 @@ dbservice::Service::~Service() {
   return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
 }
 
+::grpc::Status dbservice::Service::downdbfile(::grpc::ServerContext* context, const ::iv::db::Filedbreq* request, ::iv::db::FiledbReply* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
 
 }  // namespace iv
 }  // namespace db

src/driver/driver_db_grpc_server/grpcdb.grpc.pb.h

@@ -66,6 +66,13 @@ class dbservice final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::db::dataReply>> PrepareAsyncquerydata(::grpc::ClientContext* context, const ::iv::db::dataRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::db::dataReply>>(PrepareAsyncquerydataRaw(context, request, cq));
     }
+    virtual ::grpc::Status downdbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq& request, ::iv::db::FiledbReply* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::db::FiledbReply>> Asyncdowndbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::db::FiledbReply>>(AsyncdowndbfileRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::db::FiledbReply>> PrepareAsyncdowndbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::iv::db::FiledbReply>>(PrepareAsyncdowndbfileRaw(context, request, cq));
+    }
     class experimental_async_interface {
      public:
       virtual ~experimental_async_interface() {}
@@ -81,6 +88,12 @@ class dbservice final {
       #else
       virtual void querydata(::grpc::ClientContext* context, const ::iv::db::dataRequest* request, ::iv::db::dataReply* response, ::grpc::experimental::ClientUnaryReactor* reactor) = 0;
       #endif
+      virtual void downdbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq* request, ::iv::db::FiledbReply* response, std::function<void(::grpc::Status)>) = 0;
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      virtual void downdbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq* request, ::iv::db::FiledbReply* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      #else
+      virtual void downdbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq* request, ::iv::db::FiledbReply* response, ::grpc::experimental::ClientUnaryReactor* reactor) = 0;
+      #endif
     };
     #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
     typedef class experimental_async_interface async_interface;
@@ -94,6 +107,8 @@ class dbservice final {
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::iv::db::listReply>* PrepareAsyncquerylistRaw(::grpc::ClientContext* context, const ::iv::db::listRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::iv::db::dataReply>* AsyncquerydataRaw(::grpc::ClientContext* context, const ::iv::db::dataRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::iv::db::dataReply>* PrepareAsyncquerydataRaw(::grpc::ClientContext* context, const ::iv::db::dataRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::iv::db::FiledbReply>* AsyncdowndbfileRaw(::grpc::ClientContext* context, const ::iv::db::Filedbreq& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::iv::db::FiledbReply>* PrepareAsyncdowndbfileRaw(::grpc::ClientContext* context, const ::iv::db::Filedbreq& request, ::grpc::CompletionQueue* cq) = 0;
   };
   class Stub final : public StubInterface {
    public:
@@ -112,6 +127,13 @@ class dbservice final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::db::dataReply>> PrepareAsyncquerydata(::grpc::ClientContext* context, const ::iv::db::dataRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::db::dataReply>>(PrepareAsyncquerydataRaw(context, request, cq));
     }
+    ::grpc::Status downdbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq& request, ::iv::db::FiledbReply* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::db::FiledbReply>> Asyncdowndbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::db::FiledbReply>>(AsyncdowndbfileRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::db::FiledbReply>> PrepareAsyncdowndbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::iv::db::FiledbReply>>(PrepareAsyncdowndbfileRaw(context, request, cq));
+    }
     class experimental_async final :
       public StubInterface::experimental_async_interface {
      public:
@@ -127,6 +149,12 @@ class dbservice final {
       #else
       void querydata(::grpc::ClientContext* context, const ::iv::db::dataRequest* request, ::iv::db::dataReply* response, ::grpc::experimental::ClientUnaryReactor* reactor) override;
       #endif
+      void downdbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq* request, ::iv::db::FiledbReply* response, std::function<void(::grpc::Status)>) override;
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      void downdbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq* request, ::iv::db::FiledbReply* response, ::grpc::ClientUnaryReactor* reactor) override;
+      #else
+      void downdbfile(::grpc::ClientContext* context, const ::iv::db::Filedbreq* request, ::iv::db::FiledbReply* response, ::grpc::experimental::ClientUnaryReactor* reactor) override;
+      #endif
      private:
       friend class Stub;
       explicit experimental_async(Stub* stub): stub_(stub) { }
@@ -142,8 +170,11 @@ class dbservice final {
     ::grpc::ClientAsyncResponseReader< ::iv::db::listReply>* PrepareAsyncquerylistRaw(::grpc::ClientContext* context, const ::iv::db::listRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::iv::db::dataReply>* AsyncquerydataRaw(::grpc::ClientContext* context, const ::iv::db::dataRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::iv::db::dataReply>* PrepareAsyncquerydataRaw(::grpc::ClientContext* context, const ::iv::db::dataRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::iv::db::FiledbReply>* AsyncdowndbfileRaw(::grpc::ClientContext* context, const ::iv::db::Filedbreq& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::iv::db::FiledbReply>* PrepareAsyncdowndbfileRaw(::grpc::ClientContext* context, const ::iv::db::Filedbreq& request, ::grpc::CompletionQueue* cq) override;
     const ::grpc::internal::RpcMethod rpcmethod_querylist_;
     const ::grpc::internal::RpcMethod rpcmethod_querydata_;
+    const ::grpc::internal::RpcMethod rpcmethod_downdbfile_;
   };
   static std::unique_ptr<Stub> NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options = ::grpc::StubOptions());
 
@@ -153,6 +184,7 @@ class dbservice final {
     virtual ~Service();
     virtual ::grpc::Status querylist(::grpc::ServerContext* context, const ::iv::db::listRequest* request, ::iv::db::listReply* response);
     virtual ::grpc::Status querydata(::grpc::ServerContext* context, const ::iv::db::dataRequest* request, ::iv::db::dataReply* response);
+    virtual ::grpc::Status downdbfile(::grpc::ServerContext* context, const ::iv::db::Filedbreq* request, ::iv::db::FiledbReply* response);
   };
   template <class BaseClass>
   class WithAsyncMethod_querylist : public BaseClass {
@@ -194,7 +226,27 @@ class dbservice final {
       ::grpc::Service::RequestAsyncUnary(1, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
-  typedef WithAsyncMethod_querylist<WithAsyncMethod_querydata<Service > > AsyncService;
+  template <class BaseClass>
+  class WithAsyncMethod_downdbfile : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_downdbfile() {
+      ::grpc::Service::MarkMethodAsync(2);
+    }
+    ~WithAsyncMethod_downdbfile() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status downdbfile(::grpc::ServerContext* /*context*/, const ::iv::db::Filedbreq* /*request*/, ::iv::db::FiledbReply* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void Requestdowndbfile(::grpc::ServerContext* context, ::iv::db::Filedbreq* request, ::grpc::ServerAsyncResponseWriter< ::iv::db::FiledbReply>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(2, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  typedef WithAsyncMethod_querylist<WithAsyncMethod_querydata<WithAsyncMethod_downdbfile<Service > > > AsyncService;
   template <class BaseClass>
   class ExperimentalWithCallbackMethod_querylist : public BaseClass {
    private:
@@ -289,11 +341,58 @@ class dbservice final {
     #endif
       { return nullptr; }
   };
+  template <class BaseClass>
+  class ExperimentalWithCallbackMethod_downdbfile : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    ExperimentalWithCallbackMethod_downdbfile() {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::Service::
+    #else
+      ::grpc::Service::experimental().
+    #endif
+        MarkMethodCallback(2,
+          new ::grpc::internal::CallbackUnaryHandler< ::iv::db::Filedbreq, ::iv::db::FiledbReply>(
+            [this](
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+                   ::grpc::CallbackServerContext*
+    #else
+                   ::grpc::experimental::CallbackServerContext*
+    #endif
+                     context, const ::iv::db::Filedbreq* request, ::iv::db::FiledbReply* response) { return this->downdbfile(context, request, response); }));}
+    void SetMessageAllocatorFor_downdbfile(
+        ::grpc::experimental::MessageAllocator< ::iv::db::Filedbreq, ::iv::db::FiledbReply>* allocator) {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(2);
+    #else
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::experimental().GetHandler(2);
+    #endif
+      static_cast<::grpc::internal::CallbackUnaryHandler< ::iv::db::Filedbreq, ::iv::db::FiledbReply>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~ExperimentalWithCallbackMethod_downdbfile() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status downdbfile(::grpc::ServerContext* /*context*/, const ::iv::db::Filedbreq* /*request*/, ::iv::db::FiledbReply* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    virtual ::grpc::ServerUnaryReactor* downdbfile(
+      ::grpc::CallbackServerContext* /*context*/, const ::iv::db::Filedbreq* /*request*/, ::iv::db::FiledbReply* /*response*/)
+    #else
+    virtual ::grpc::experimental::ServerUnaryReactor* downdbfile(
+      ::grpc::experimental::CallbackServerContext* /*context*/, const ::iv::db::Filedbreq* /*request*/, ::iv::db::FiledbReply* /*response*/)
+    #endif
+      { return nullptr; }
+  };
   #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
-  typedef ExperimentalWithCallbackMethod_querylist<ExperimentalWithCallbackMethod_querydata<Service > > CallbackService;
+  typedef ExperimentalWithCallbackMethod_querylist<ExperimentalWithCallbackMethod_querydata<ExperimentalWithCallbackMethod_downdbfile<Service > > > CallbackService;
   #endif
 
-  typedef ExperimentalWithCallbackMethod_querylist<ExperimentalWithCallbackMethod_querydata<Service > > ExperimentalCallbackService;
+  typedef ExperimentalWithCallbackMethod_querylist<ExperimentalWithCallbackMethod_querydata<ExperimentalWithCallbackMethod_downdbfile<Service > > > ExperimentalCallbackService;
   template <class BaseClass>
   class WithGenericMethod_querylist : public BaseClass {
    private:
@@ -329,6 +428,23 @@ class dbservice final {
     }
   };
   template <class BaseClass>
+  class WithGenericMethod_downdbfile : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_downdbfile() {
+      ::grpc::Service::MarkMethodGeneric(2);
+    }
+    ~WithGenericMethod_downdbfile() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status downdbfile(::grpc::ServerContext* /*context*/, const ::iv::db::Filedbreq* /*request*/, ::iv::db::FiledbReply* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
   class WithRawMethod_querylist : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
@@ -369,6 +485,26 @@ class dbservice final {
     }
   };
   template <class BaseClass>
+  class WithRawMethod_downdbfile : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_downdbfile() {
+      ::grpc::Service::MarkMethodRaw(2);
+    }
+    ~WithRawMethod_downdbfile() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status downdbfile(::grpc::ServerContext* /*context*/, const ::iv::db::Filedbreq* /*request*/, ::iv::db::FiledbReply* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void Requestdowndbfile(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(2, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
   class ExperimentalWithRawCallbackMethod_querylist : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
@@ -445,6 +581,44 @@ class dbservice final {
       { return nullptr; }
   };
   template <class BaseClass>
+  class ExperimentalWithRawCallbackMethod_downdbfile : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    ExperimentalWithRawCallbackMethod_downdbfile() {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::Service::
+    #else
+      ::grpc::Service::experimental().
+    #endif
+        MarkMethodRawCallback(2,
+          new ::grpc::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+                   ::grpc::CallbackServerContext*
+    #else
+                   ::grpc::experimental::CallbackServerContext*
+    #endif
+                     context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->downdbfile(context, request, response); }));
+    }
+    ~ExperimentalWithRawCallbackMethod_downdbfile() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status downdbfile(::grpc::ServerContext* /*context*/, const ::iv::db::Filedbreq* /*request*/, ::iv::db::FiledbReply* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    virtual ::grpc::ServerUnaryReactor* downdbfile(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)
+    #else
+    virtual ::grpc::experimental::ServerUnaryReactor* downdbfile(
+      ::grpc::experimental::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)
+    #endif
+      { return nullptr; }
+  };
+  template <class BaseClass>
   class WithStreamedUnaryMethod_querylist : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
@@ -498,9 +672,36 @@ class dbservice final {
     // replace default version of method with streamed unary
     virtual ::grpc::Status Streamedquerydata(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::iv::db::dataRequest,::iv::db::dataReply>* server_unary_streamer) = 0;
   };
-  typedef WithStreamedUnaryMethod_querylist<WithStreamedUnaryMethod_querydata<Service > > StreamedUnaryService;
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_downdbfile : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_downdbfile() {
+      ::grpc::Service::MarkMethodStreamed(2,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::iv::db::Filedbreq, ::iv::db::FiledbReply>(
+            [this](::grpc::ServerContext* context,
+                   ::grpc::ServerUnaryStreamer<
+                     ::iv::db::Filedbreq, ::iv::db::FiledbReply>* streamer) {
+                       return this->Streameddowndbfile(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_downdbfile() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status downdbfile(::grpc::ServerContext* /*context*/, const ::iv::db::Filedbreq* /*request*/, ::iv::db::FiledbReply* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status Streameddowndbfile(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::iv::db::Filedbreq,::iv::db::FiledbReply>* server_unary_streamer) = 0;
+  };
+  typedef WithStreamedUnaryMethod_querylist<WithStreamedUnaryMethod_querydata<WithStreamedUnaryMethod_downdbfile<Service > > > StreamedUnaryService;
   typedef Service SplitStreamedService;
-  typedef WithStreamedUnaryMethod_querylist<WithStreamedUnaryMethod_querydata<Service > > StreamedService;
+  typedef WithStreamedUnaryMethod_querylist<WithStreamedUnaryMethod_querydata<WithStreamedUnaryMethod_downdbfile<Service > > > StreamedService;
 };
 
 }  // namespace db

src/driver/driver_group_grpc_server/driver_group_grpc_server.pro

@@ -6,6 +6,7 @@ CONFIG += c++11 console
 CONFIG -= app_bundle
 
 
+system(protoc -I=./../../include/proto3 --cpp_out=./../../include/msgtype   ./../../include/proto3/grpcdb.proto)
 system(protoc -I=./../../include/proto3 --cpp_out=./../../include/msgtype   ./../../include/proto3/grpcgroup.proto)
 # The following define makes your compiler emit warnings if you use
 # any Qt feature that has been marked deprecated (the exact warnings

src/driver/driver_group_grpc_server/groupdb.cpp

@@ -2,12 +2,30 @@
 
 #include <QDateTime>
 
+#include <QDir>
+
 groupdb::groupdb(std::string strdbpath)
 {
     mstrdbpath = strdbpath;
 
 }
 
+groupdb::~groupdb()
+{
+    this->requestInterruption();
+    QTime xTime;
+    xTime.start();
+    while(mbRunning)
+    {
+        if(xTime.elapsed()>3000)
+        {
+            break;
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+    }
+    qDebug("gropudb close.");
+
+}
 
 void groupdb::OpenDataBase()
 {
@@ -197,7 +215,7 @@ void groupdb::run()
 
             for(i=0;i<xvectordbmsg.size();i++)
             {
-                QSqlQuery query;
+                QSqlQuery query(mdatabase);
 
                 char strsen[1000];
                 snprintf(strsen,1000,"INSERT INTO groupdata(vehid,recordid,recvtime,msgtime,groupid,intragroupid,vehdata)"
@@ -216,13 +234,33 @@ void groupdb::run()
         }
         else
         {
-            msleep(50);
+            mqueryWaitMutex.lock();
+            mwc_query.wait(&mqueryWaitMutex,50);
+            mqueryWaitMutex.unlock();
+
+//            msleep(50);
+        }
+
+        if(mql_bUpdate)
+        {
+            ExecQueryList();
+            mql_wc.wakeAll();
+        }
+
+        if(mqd_bUpdate)
+        {
+            ExecQueryData();
+            mqd_wc.wakeAll();
         }
 //        msleep(1000);
 
     }
 
     mdatabase.close();
+
+    qDebug("groupdb thread close");
+
+    mbRunning = false;
 }
 
 int groupdb::addmsg(qint64 recvtime, std::string strvehid, qint64 msgtime, int groupid,
@@ -283,7 +321,7 @@ qint64 groupdb::GetRecID(std::string strvehid,int groupid)
     if(bFind == false)
     {
 
-        QSqlQuery query;
+        QSqlQuery query(mdatabase);
 
         char strsen[1000];
         snprintf(strsen,1000,"INSERT INTO recorddata(recordid,groupid,vehid)"
@@ -316,52 +354,254 @@ void groupdb::CheckRecID()
     mMutexrec.unlock();
 }
 
-int groupdb::getlist(qint64 xfrom,qint64 xto,std::string &strvehid, std::vector<qint64> &xvectorrecordtime)
+void groupdb::ExecQueryList()
 {
+    QTime xTime;
+    xTime.start();
+    mql_Mutexdata.lock();
+    QSqlQuery query(mdatabase);
+    char strsen[1000];
+    snprintf(strsen,1000,"select * from recorddata where((recorddata.recordid >= %lld) &(recorddata.recordid <= %lld) &(recorddata.vehid = \"%s\"))",
+             mql_xfrom,mql_xto,mql_strvehid.data());
+    query.exec(strsen);
+    mql_xvectorrecordtime.clear();
+    if(!query.exec(strsen))
+    {
+        qDebug()<<query.lastError();
+    }
+    else
+    {
+        while(query.next())
+        {
+            int id = query.value(0).toInt();
+            qint64 recordid = query.value(1).toLongLong();
+            mql_xvectorrecordtime.push_back(recordid);
+            std::string strvehid = query.value(3).toString().toStdString();
 
-    QSqlDatabase xdatabase ;
+        }
+    }
+    mql_bUpdate = false;
+    mql_bUpdateRes = true;
+    mql_Mutexdata.unlock();
+    qDebug("Exec query time is : %d ",xTime.elapsed());
+}
 
-//    if(QSqlDatabase::contains("sqliteadc"))
-//        xdatabase = QSqlDatabase::database("sqliteadc");
-//    else
-        xdatabase = QSqlDatabase::addDatabase("QSQLITE","sqliteadc");
+int groupdb::GetFilePathDir(QString &strdir)
+{
+    int nrtn = 0;
+    strdir = getenv("HOME");
+
+    strdir = strdir + "/groupdbtmp";
+    QDir xDir;
 
-    xdatabase.setDatabaseName(mstrdbpath.data());
-    if (!xdatabase.open())
+    if(xDir.exists(strdir) == false)
     {
-        qDebug("Error: Failed to connect database. error is %s ",xdatabase.lastError());
-        return -1;
+        qDebug("%s is not exist.Create ",strdir.toLatin1().data());
+        if(false == xDir.mkdir(strdir))
+        {
+            nrtn = -1;
+        }
     }
-    else
+    return nrtn;
+}
+
+void groupdb::ExecQueryData()
+{
+    QString strdir;
+    if(GetFilePathDir(strdir ) == -1)
     {
+        qDebug("Directory Fail.");
+        mqd_bUpdateRes = false;
+        mqd_nError = -11;
+        return;
+    }
+    QString filename = QString(mqd_strvehid.data()) + "-"
+            +QString::number(mqd_nrecordid)+"-"
+            +QDateTime::currentDateTime().toString("yyyyMMddhhmmsszzz");
 
- //       qDebug("Succeed to connect database.");
+    QFile xFile;
+    xFile.setFileName(strdir + "/" + filename);
+    if(!xFile.open(QIODevice::ReadWrite))
+    {
+        qDebug("Open File Fail.");
+        mqd_bUpdateRes = false;
+        mqd_nError = -12;
+        return;
     }
 
-    QSqlQuery query(xdatabase);
 
+    QTime xTime;
+    mqd_filename = filename.toStdString();
+    mqd_filesize = 0;
+    xTime.start();
+    mqd_Mutexdata.lock();
+    mqd_filesize = 0;
+    QSqlQuery query(mdatabase);
     char strsen[1000];
-    snprintf(strsen,1000,"select * from recorddata");
+    snprintf(strsen,1000,"select * from groupdata where((groupdata.recordid = %lld)  &(groupdata.vehid = \"%s\"))",
+             mqd_nrecordid,mqd_strvehid.data());
     query.exec(strsen);
     if(!query.exec(strsen))
     {
         qDebug()<<query.lastError();
+        mqd_nError = -13;
+        mqd_bUpdateRes = false;
     }
     else
     {
         while(query.next())
         {
-            int id = query.value(0).toInt();
-            qint64 recordid = query.value(1).toLongLong();
-            std::string strvehid = query.value(3).toString().toStdString();
+            QByteArray badata =query.value(7).toByteArray();
+            mqd_filesize = mqd_filesize + badata.size();
+            xFile.write(badata);
+//            int id = query.value(0).toInt();
+//            qint64 recordid = query.value(1).toLongLong();
+//            mql_xvectorrecordtime.push_back(recordid);
+//            std::string strvehid = query.value(3).toString().toStdString();
+
+        }
+
+
+        mqd_bUpdateRes = true;
+    }
+    mqd_bUpdate = false;
+
+    xFile.close();
+    mqd_Mutexdata.unlock();
+    qDebug("Exec querydata time is : %d ",xTime.elapsed());
+}
+
+int groupdb::getlist(qint64 xfrom,qint64 xto,std::string &strvehid, std::vector<qint64> &xvectorrecordtime)
+{
+    if(mbSQL == false)
+    {
+        return -1;
+    }
+
+    int nres = 0;
+
+    mql_Mutex.lock();
+    mql_Mutexdata.lock();
+    mql_xfrom = xfrom;
+    mql_xto = xto;
+    mql_bUpdateRes = false;
+    mql_bUpdate = true;
+    mql_strvehid = strvehid;
+    mql_Mutexdata.unlock();
+
+    mwc_query.wakeAll();
+    QTime xTime;
+    xTime.start();
+    mql_waitmutex.lock();
+    mql_wc.wait(&mql_waitmutex,300);
+    mql_waitmutex.unlock();
+    qDebug("query time is %d ",xTime.elapsed());
+
+    if(mql_bUpdateRes == false)
+    {
+        nres = -2;
+    }
+    else
+    {
+        mql_Mutexdata.lock();
+        xvectorrecordtime = mql_xvectorrecordtime;
+        mql_bUpdateRes = false;
+        mql_Mutexdata.unlock();
+    }
+
+    mql_Mutex.unlock();
+
+    return nres;
+
+}
 
+int groupdb::getfilepath(qint64 nrecordid, std::string strvehid,std::string & strfilename,int & nfilesize)
+{
+    if(mbSQL == false)
+    {
+        return -1;
+    }
+
+    int nres = 0;
+
+    mqd_Mutex.lock();
+    mqd_Mutexdata.lock();
+    mqd_nrecordid = nrecordid;
+    mqd_strvehid = strvehid;
+    mqd_bUpdateRes = false;
+    mqd_bUpdate = true;
+    mqd_Mutexdata.unlock();
+
+    mwc_query.wakeAll();
+    QTime xTime;
+    xTime.start();
+    mqd_waitmutex.lock();
+    mqd_wc.wait(&mqd_waitmutex,10000);
+    mqd_waitmutex.unlock();
+    qDebug("query time is %d ",xTime.elapsed());
+
+    if(mqd_bUpdateRes == false)
+    {
+        if((mqd_nError == -11)||(mqd_nError == -12))
+        {
+            nres =  -3;
+        }
+        else
+        {
+            nres = -2;
         }
     }
+    else
+    {
+        mqd_Mutexdata.lock();
+        mqd_bUpdateRes = false;
+        strfilename = mqd_filename;
+        nfilesize = mqd_filesize;
+        mqd_Mutexdata.unlock();
+    }
+
+    mqd_Mutex.unlock();
 
-    xdatabase.close();
+    return nres;
+}
 
-    qDebug("query suc.");
+int groupdb::GetFileData(std::string strfilename, qint64 nPos, qint64 nSize, qint64 & nFilesize, QByteArray &ba)
+{
+    QString strpath;
+    if(GetFilePathDir(strpath)!= 0)
+    {
+        qDebug("Directory not exist.");
+        return -1; //File Directory can't found.
+    }
+    strpath = strpath + "/"+ strfilename.data();
 
+    if(nPos<0)
+    {
+        QFile xFile;
+        xFile.setFileName(strpath);
+        xFile.remove();
+        nFilesize = 0;
+        return 0;
+    }
 
+    QFile xFile;
+    xFile.setFileName(strpath);
+    if(!xFile.open(QIODevice::ReadOnly))
+    {
+        qDebug("Open File Fail.");
+        return -2; //File Not Exist
+    }
+    if(xFile.seek(nPos) == false)
+    {
+        qDebug("Seek File Fail. pos is %lld",nPos);
+        xFile.close();
+        return -3;
+    }
+    ba.clear();
+    ba = xFile.read(nSize);
+    nFilesize = xFile.size();
+    xFile.close();
+    int nrtn = ba.size();
+    return nrtn;
 
 }