【902项目】qgis+qt+vs结合socket与串口通信远程控制界面（地面端）

该项目以前发过一篇博客：https://blog.csdn.net/xx970829/article/details/111997428
在原来的基础上新添加了一些功能，并且打包好，不仅能跨平台运行，还能在其他win10系统下的vs中编译（亲测）

在vs中配置qt插件，然后就可以运行了，中途可能报vs版本的问题，很好解决，直接百度，若报qt问题，尝试将qt_bin目录里的文件复制到主程序文件夹，即qt_bin所在文件夹，里面的控制界面exe可直接运行，快捷方式可以直接拖拽到桌面运行。。。

环境搭建

【直接下载完整项目的话就不需要搭建环境了，只需在vs中安装qt插件】
win10中vs+qt+qgis环境搭建
环境搭建见我另一篇博客：（很详细，免编译）https://blog.csdn.net/xx970829/article/details/109890931
环境搭建常见问题及解决方案：
https://blog.csdn.net/xx970829/article/details/109891607

源代码

main.cpp

#include "QtWidgetsApplicationxx.h"
#include <QtWidgets/QApplication>
///

#include<qgsapplication.h>
#include<qgsvectorlayer.h>
#include<iostream>
#include<qapplication.h>
#include <windows.h>
#include<qgsmapcanvas.h>
#include <qgsproviderregistry.h>
#include<string>

using namespace std;


int main(int argc, char *argv[])
{
	QApplication a(argc, argv);
	//

	QgsApplication b(argc, argv, true);
	QgsApplication::setPrefixPath("./qgis", true);//QGIS路径 F://OSGeo4W64/apps/
	QgsApplication::initQgis();//初始化QGIS应用

  ///
	QtWidgetsApplicationxx w;


	w.show();
	return a.exec();
}

QtWidgetsApplicationxx.h

#pragma once
 
#include <QtWidgets/QMainWindow>
#include "ui_QtWidgetsApplicationxx.h"
#include "WinsockMatTransmission.h"

#include<string>
#include<iostream>
#include <iomanip>
#include <windows.h>
#include<qapplication.h>
#include <io.h>
#include <fstream> 
#include<stdio.h> 

//qt
#include <qmessagebox.h>
#include <QString>
#include <QFileDialog>
#include <QWidget>
#include <QSerialPort>
#include<QtConcurrent>
#include<QHBoxLayout>
#include<QDebug>
#include <QByteArray>
#include <QApplication>
#include <QSerialPortInfo>
#include <QComboBox>
#include <QPushButton>
#include <QMainWindow>
#include <QtSvg/QGraphicsSvgItem>//QtSvg/QGraphicsSvgItem        QGraphicsSvgItem
#include<QKeyEvent>
#include<QtWidgets/QApplication>
#include <QStringList>
#include<QMessageBox>
#include<QObject>
#include <QList>
#include <QFileInfoList>
#include <QDir>
#include <QLibrary>
#include<QTabWidget>
#include<QMutex>

//gis
#include <qgssinglesymbolrenderer.h>
#include <qgsvectordataprovider.h>
#include <qgsrasterlayer.h>
#include<qgsCoordinatetransform.h>
#include<qgsmaplayerref.h>
#include<qgsmaplayerrenderer.h>
#include<qgsauthimportcertdialog.h>
#include<qgsapplication.h>
#include<qgsvectorlayer.h>
#include<qgsmapcanvas.h>
#include<qgsmaplayerstore.h>//qgsmaplayerstore.h                 qgsmaplayerregistry.h
#include <qgsproviderregistry.h>
#include <qgssymbollayer.h>
#include <qgssymbol.h>
#include <qgsmarkersymbollayer.h>
#include <qgsvectorlayerrenderer.h>
#include <qgsrendercontext.h>


class QtWidgetsApplicationxx : public QMainWindow
{
	Q_OBJECT

public:
	QtWidgetsApplicationxx(QWidget *parent = Q_NULLPTR);
	~QtWidgetsApplicationxx();

	//QtWidgetsClass map;//创建一个窗体，类似于Qt

	QStringList getPortNameList();//获取可用的串口列表

	void openPort();//打开串口
	bool start = true;
	//void listenthread();//读取数据

	void countxy(double r[8], double *xx, double *yy);

	void socketcountxy(double r[10], double *xx, double *yy);

	int power(int x, int n);
	void readline(const char* strPath, int &line);
	void newfile(char filename[200]);
	void pushnum(const char* strPath);
	//----------------------------------------------------------------------------------------------
	void AddLine();
	void openMap(QgsMapCanvas *mapCanvas, QgsVectorLayer* newLayer, QgsVectorLayer* newLayer1, QgsVectorLayer* newLayer2, QgsVectorLayer* newLayer3);

	QgsVectorLayer* drawfire(QgsVectorLayer* newLayer, double x, double y);

	QgsVectorLayer* drawfireline(QgsVectorLayer* newLayer, QString strPath, double x, double y);

	QgsVectorLayer* drawplane(QgsVectorLayer* newLayer, double x, double y);

	QgsVectorLayer* createLayer(QgsVectorLayer* newLayer);

	//QgsVectorLayer* createLayer();QgsRasterLayerQMessageBoxQgsProject

	//----------------------------------------------------------------------------------------------
public slots:
	void receiveInfo();

protected:
	//键盘事件
	void keyPressEvent(QKeyEvent *event);

private slots:

	void on_pushButton_3_clicked();

	void on_pushButton_4_clicked();

	void on_pushButton_5_clicked();

	void on_pushButton_6_clicked();

	void on_pushButton_7_clicked();

	void on_pushButton_8_clicked();

	void on_pushButton_9_clicked();

	void on_pushButton_10_clicked();

	void on_pushButton_11_clicked();

	void on_pushButton_12_clicked();

	void on_pushButton_13_clicked();

	void on_pushButton_14_clicked();

	void on_pushButton_15_clicked();

	void on_pushButton_16_clicked();
	
	void on_pushButton_17_clicked();

	void on_pushButton_18_clicked();

	void on_pushButton_19_clicked();

	void on_pushButton_20_clicked();

	void on_action_triggered();

	void on_action_1_triggered();

	void on_action_2_triggered();

	void on_action_3_triggered();

private:

	Ui::QtWidgetsApplicationxxClass ui;
	 
	QSerialPort* m_serialPort; //串口类
	QStringList m_portNameList;

	QgsVectorLayer *newLayer;
	QgsVectorLayer *newLayer1;
	QgsVectorLayer *newLayer2;
	QgsVectorLayer *newLayer3;

	QgsMapCanvas *mapCanvas;

	QVBoxLayout *mpMapLayout;

	WinsockMatTransmission *socketMat;
};
 

QtWidgetsApplicationxx.cpp

#include "QtWidgetsApplicationxx.h"
#include<QWidget> 

//-----------------------------------------------------------------------
using namespace std;
double fire[32];
double file[2];
char filename[200];//数据存储文件名
FILE *fp;//保存数据
QString firecolor;
int thread_ = 0, thread_4 = 0, thread_5= 0, thread_6= 0, thread_7= 0, m_=0;//控制线程
int k = 0, kk = 0, k_ = 0, kk_ = 0;//控制检测火qDebug
int lei = 0, guan = 0, xiang = 0, ros = 0, bao = 0, m = 0, por = 0;//控制设备
int lei_ = 2, guan_ = 2, xiang_ = 2, bao_ = 2,Reset = 2;
int comp = 0, reboot = 0;//控制工控机
int page = 0;//控制页
QFuture<void> thread;//线程
QFuture<void> thread1;
QFuture<void> thread2;
QFuture<void> thread3;
QFuture<void> thread4;
QFuture<void> thread5;
QFuture<void> thread6;
QFuture<void> thread7;
vector<double> V;
QList<QgsMapLayer*>layerlist;
QtWidgetsApplicationxx::QtWidgetsApplicationxx(QWidget *parent)
	: QMainWindow(parent)
{
	ui.setupUi(this);
	this->setWindowTitle("serialport");
	firecolor = "./fire.svg";
	m_serialPort = new QSerialPort();
	m_portNameList = getPortNameList();
	ui.comboBox->addItems(m_portNameList);
	
	newLayer = new QgsVectorLayer();
	newLayer1 = new QgsVectorLayer();
	newLayer2 = new QgsVectorLayer();
	newLayer3 = new QgsVectorLayer();
	mapCanvas = new QgsMapCanvas();

	socketMat = new WinsockMatTransmission();
	
	newLayer = createLayer(newLayer);
	newLayer1 = createLayer(newLayer1);
	newLayer2 = createLayer(newLayer2);
	newLayer3 = createLayer(newLayer3);

	//ui.widget_4->setStyleSheet("QWidget{border: 2px outset green }");
	connect(ui.pushButton_2, &QPushButton::clicked, this, &QtWidgetsApplicationxx::openPort);
	connect(ui.pushButton_3, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_3_clicked);//101
	connect(ui.pushButton_4, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_4_clicked);//102
	connect(ui.pushButton_5, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_5_clicked);//103
	connect(ui.pushButton_6, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_6_clicked);//104
	connect(ui.pushButton_7, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_7_clicked);//105
	connect(ui.pushButton_8, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_8_clicked);
	connect(ui.pushButton_9, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_9_clicked);//107
	connect(ui.pushButton_10, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_10_clicked);//106
	connect(ui.pushButton_11, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_11_clicked);
	connect(ui.pushButton_12, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_12_clicked);//222
	connect(ui.pushButton_13, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_13_clicked);
	connect(ui.pushButton_14, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_14_clicked);//225
	connect(ui.pushButton_15, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_15_clicked);//223
	connect(ui.pushButton_16, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_16_clicked);
	connect(ui.pushButton_17, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_17_clicked);
	connect(ui.pushButton_18, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_18_clicked);
	connect(ui.pushButton_19, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_19_clicked);
	connect(ui.pushButton_20, &QPushButton::click, this, &QtWidgetsApplicationxx::on_pushButton_20_clicked);
	connect(ui.actionxx, &QAction::triggered, this, &QtWidgetsApplicationxx::on_action_triggered);
	connect(ui.action, &QAction::triggered, this, &QtWidgetsApplicationxx::on_action_1_triggered);
	connect(ui.action_2, &QAction::triggered, this, &QtWidgetsApplicationxx::on_action_2_triggered);
	connect(ui.action_3, &QAction::triggered, this, &QtWidgetsApplicationxx::on_action_3_triggered);
	 
	//---------------------------------------------------------------------------------------------------------
	connect(ui.comboBox_2, static_cast<void (QComboBox::*)(const QString &)>(&QComboBox::activated),
		[=]() {
		if (ui.comboBox_2->currentIndex() == 0)
		{
			ui.lineEdit->setText("101");

		}if (ui.comboBox_2->currentIndex() == 1)
		{
			ui.lineEdit->setText("102");
		}if (ui.comboBox_2->currentIndex() == 2)
		{
			ui.lineEdit->setText("103");
		}if (ui.comboBox_2->currentIndex() == 3)
		{
			ui.lineEdit->setText("104");
		}if (ui.comboBox_2->currentIndex() == 4)
		{
			ui.lineEdit->setText("105");
		}if (ui.comboBox_2->currentIndex() == 5)
		{
			ui.lineEdit->setText("106");
		}if (ui.comboBox_2->currentIndex() == 6)
		{
			ui.lineEdit->setText("107");
		}if (ui.comboBox_2->currentIndex() == 7)
		{
			ui.lineEdit->setText("201");
		}if (ui.comboBox_2->currentIndex() == 8)
		{
			ui.lineEdit->setText("202");
		}if (ui.comboBox_2->currentIndex() == 9)
		{
			ui.lineEdit->setText("203");
		}if (ui.comboBox_2->currentIndex() == 10)
		{
			ui.lineEdit->setText("222");
		}if (ui.comboBox_2->currentIndex() == 11)
		{
			ui.lineEdit->setText("223");
		}if (ui.comboBox_2->currentIndex() == 12)
		{
			ui.lineEdit->setText("224");
		}if (ui.comboBox_2->currentIndex() == 13)
		{
			ui.lineEdit->setText("225");
		}
	});

	connect(ui.comboBox_4, static_cast<void (QComboBox::*)(const QString &)>(&QComboBox::activated),
		[=]() {
		if (ui.comboBox_4->currentIndex() == 0)
		{
			QString f= ui.comboBox_4->currentText();//获取comboBox选项
			firecolor = "./" + f+ ".svg";
		}if (ui.comboBox_4->currentIndex() == 1)
		{
			QString f = ui.comboBox_4->currentText();
			firecolor = "./fire" + f + ".svg";
		}if (ui.comboBox_4->currentIndex() == 2)
		{
			QString f = ui.comboBox_4->currentText();
			firecolor = "./fire" + f + ".svg";
		}if (ui.comboBox_4->currentIndex() == 3)
		{
			QString f = ui.comboBox_4->currentText();
			firecolor = "./fire" + f + ".svg";
		}
	});
}
//----------------------------------------------------------------------------------------------------------
//切换页
void QtWidgetsApplicationxx::on_action_triggered()
{
	ui.stackedWidget->setCurrentIndex(0);
	ui.textEdit_2->append("//*******************************************************");
}
void QtWidgetsApplicationxx::on_action_1_triggered()
{
	ui.stackedWidget->setCurrentIndex(1);
	ui.textEdit_2->append("//*******************************************************");
}
void QtWidgetsApplicationxx::on_action_2_triggered()
{
	ui.stackedWidget->setCurrentIndex(2);
	ui.textEdit_2->append("//*******************************************************");
}
void QtWidgetsApplicationxx::on_action_3_triggered()
{
	ui.stackedWidget->setCurrentIndex(3);
	ui.textEdit_2->append("//*******************************************************");
}

//打开串口
void QtWidgetsApplicationxx::openPort()
{

	if (m_serialPort->isOpen())//如果串口已经打开了 先给他关闭了
	{
		m_serialPort->clear();
		m_serialPort->close();
	}
	m_serialPort->setPortName(ui.comboBox->currentText());//当前选择的串口名字

	if (!m_serialPort->open(QIODevice::ReadWrite))//用ReadWrite 的模式尝试打开串口
	{

		ui.lineEdit_3->setText("Failed to open serial port!");
		ui.textEdit_2->append("serialport$:Failed to open serial port!");
		return;
	}
	ui.lineEdit_3->setText("Serial Port Open successfully!");
	ui.textEdit_2->append("serialport$:Serial Port Open successfully!");
	//QSerialPort::Baud9600
	m_serialPort->setBaudRate(QSerialPort::Baud9600, QSerialPort::AllDirections);//设置波特率和读写方向
	m_serialPort->setDataBits(QSerialPort::Data8);      //数据位为8位
	m_serialPort->setFlowControl(QSerialPort::NoFlowControl);//无流控制
	m_serialPort->setParity(QSerialPort::NoParity); //无奇偶校验位
	m_serialPort->setStopBits(QSerialPort::OneStop); //一位停止位
	m_serialPort->open(QIODevice::ReadWrite);
	connect(m_serialPort, &QSerialPort::readyRead, this, &QtWidgetsApplicationxx::receiveInfo);
	por = 1;//控制串口
	comp = 0;//控制工控机
	//检测是否开机
	QByteArray temp;
	temp.resize(1);
	temp[0] = 224;
	m_serialPort->write(temp);
}
///
QtWidgetsApplicationxx::~QtWidgetsApplicationxx()
{
	if (m_serialPort->isOpen())
	{
		m_serialPort->close();
	}
	delete m_serialPort;
}
QStringList QtWidgetsApplicationxx::getPortNameList()
{
	QStringList m_serialPortName;
	foreach(const QSerialPortInfo &info, QSerialPortInfo::availablePorts())
	{
		m_serialPortName << info.portName();
		//qDebug() << "serialPortName:" << info.portName();
	}
	return m_serialPortName;
}

//-------------------------------------------------------------------------------------------------
//快捷键设置
void QtWidgetsApplicationxx::keyPressEvent(QKeyEvent *event)
{
	if (event->key() == Qt::Key_Return)
	{
		on_pushButton_11_clicked();//发送数据
	}if (event->key() == Qt::Key_R)
	{
		on_pushButton_12_clicked();//复位。。。。
	}if (event->key() == Qt::Key_L)
	{
		on_pushButton_3_clicked();//雷达
	}if (event->key() == Qt::Key_G)
	{
		on_pushButton_4_clicked();//惯导
	}if (event->key() == Qt::Key_I)
	{
		on_pushButton_5_clicked();//红外相机
	}if (event->key() == Qt::Key_M)
	{
		on_pushButton_8_clicked();//地图
	}if (event->key() == Qt::Key_T)
	{
		on_pushButton_9_clicked();//检测火
	}if (event->key() == Qt::Key_Delete)
	{
		on_pushButton_13_clicked();//清空特征	 
	}if (event->key() == Qt::Key_Escape)
	{
		on_pushButton_14_clicked();
		ui.lineEdit->setText("Shutdown ..");//关机
		ui.textEdit_2->append("serialport$:Shutdown ..");
	}if (event->key() == Qt::Key_F1)
	{
		on_pushButton_15_clicked();
		ui.lineEdit->setText("Reboot ..");//重启Control
		ui.textEdit_2->append("serialport$:Reboot ..");
	}if (event->key() == Qt::Key_Control)
	{
		comp = 1;
		ui.lineEdit_3->setText("Booting successful!!");//默认开机成功
		ui.lineEdit->setText("Booting successful!!");
		ui.textEdit_2->append("##:Booting successful!!");
	}if (event->key() == Qt::Key_S)
	{
		por = 1;
		ui.textEdit_2->append("##:Serial Port Open successfully!!");//默认串口已打开
	}if (event->key() == Qt::Key_Shift)
	{
		page++;
		if (page == 1) {             //切换页
			on_action_triggered();
		}if (page == 2) {
			on_action_1_triggered();
		}if (page == 3) {
			on_action_2_triggered();
		}if (page == 4) {
			on_action_3_triggered();
			page = 0;
		}
	}
}
//combx设置---------------------------------------------------------------------------------------------------
/*listenthread  getPortNameList
void QtWidgetsApplicationxx::print_s()
{
	if (ui.comboBox->currentIndex() == 0)
	{
		ui.lineEdit->setText("101");
	}if (ui.comboBox->currentIndex() == 1)
	{
		ui.lineEdit->setText("102");
	}
}*/
//------------------------------------------------------------------------------------------------------
//解析接收到数据
void QtWidgetsApplicationxx::receiveInfo()
{
	QByteArray info = m_serialPort->readAll();

	double *temp = new double[32];
	int j = 0;
	QString strDisplay;
	QString str = info.toHex().data();
	for (int i = 0; i < str.length(); i += 2)
	{
		QString st = str.mid(i, 2);//返回一个字符串 从指定位置返回n个字符
		strDisplay += st;
		strDisplay += " ";//每个字节中间的空格
		QString str_hex = st; //获取十六进制数
		double dec = str_hex.toInt(0, 16);
		//qDebug() << "dec==:" << dec;
		temp[j] = dec;
		j++;
	}

	//
	if (temp[0] == 101 && (k != 2) && lei_ == 1)//激光雷达启动成功
	{
		lei = 1;
		ui.pushButton_3->setText("Lidar ON");
		ui.lineEdit_3->setText("Lidar activated!!");
		ui.lineEdit->setText("Lidar activated!!");
		ui.textEdit_2->append("##:Lidar activated!!");
	}if (temp[0] == 201 && (k != 2) && lei_ == 0)//激光雷达已关闭
	{
		lei = 0;
		ui.pushButton_3->setText("Lidar OFF");
		ui.lineEdit_3->setText("Lidar is down!!");
		ui.lineEdit->setText("Lidar is down!!");
		ui.textEdit_2->append("##:Lidar is down!!");
	}
	if (temp[0] == 102 && (k != 2) && guan_ == 1)//惯导启动成功GNSS/INS
	{
		guan = 1;
		ui.pushButton_4->setText("GNSS/INS ON");
		ui.lineEdit_3->setText("GNSS/INS activated!!");
		ui.lineEdit->setText("GNSS/INS activated!!");
		ui.textEdit_2->append("##:GNSS/INS activated!!");
	}if (temp[0] == 202 && (k != 2) && guan_ == 0)//惯导已关闭
	{
		guan = 0;
		ui.pushButton_4->setText("GNSS/INS OFF");
		ui.lineEdit_3->setText("GNSS/INS is down!!");
		ui.lineEdit->setText("GNSS/INS is down!!");
		ui.textEdit_2->append("##:GNSS/INS is down!!");
	}
	if (temp[0] == 103 && (k != 2) && xiang_ == 1)//红外相机启动成功
	{
		xiang = 1;
		ui.pushButton_5->setText("I-Camera ON");
		ui.lineEdit_3->setText("I-Camera activated!!");
		ui.lineEdit->setText("I-Camera activated!!");
		ui.textEdit_2->append("##:I-Camera activated!!");
	}if (temp[0] == 203 && (k != 2) && xiang_ == 0)//红外相机已关闭
	{
		xiang = 0;
		ui.pushButton_5->setText("I-Camera OFF");
		ui.lineEdit_3->setText("I-Camera is down!!");
		ui.lineEdit->setText("I-Camera is down!!");
		ui.textEdit_2->append("##:I-Camera is down!!");
	}
	if (temp[0] == 104 && ros == 0)//正在记录ROS包
	{
		ros = 1;
		ui.lineEdit_3->setText("Recording packets...");
		ui.lineEdit->setText("Recording packets...");
		ui.textEdit_2->append("##:Recording packets.....");
	}
	if (temp[0] == 105 && ros == 1)//ROS包记录结束
	{
		ros = 0;
		ui.lineEdit_3->setText("Package record closed!!");
		ui.lineEdit->setText("Package record closed!!");
		ui.textEdit_2->append("##:Package record closed!!");
	}
	if (temp[0] == 106 && bao_ == 1)//开始播放ROS包
	{
		bao = 1;
		k = 2;
		ui.lineEdit_3->setText("Playing the Ros package..");
		ui.lineEdit->setText("Playing Ros package..");
		ui.textEdit_2->append("##:Playing Ros package.....");
	}if (temp[0] == 206 && bao_ == 0)//ROS包播放结束
	{
		bao = 0;
		ui.lineEdit_3->setText("End of Ros package!!");
		ui.lineEdit->setText("End Ros package!!");
		ui.textEdit_2->append("##:End Ros package!!");
	}
	if (temp[0] == 222 && Reset == 1)//复位
	{
		Reset = 0;
		ui.lineEdit_3->setText("Reset successful!!");
		ui.lineEdit->setText("Reset successful!!");
		ui.textEdit_2->append("##:Reset successful!!");
	}
	if (temp[0] == 207 && k_ == 1)
	{
		k_ = 0;
		k = 1;
		ui.lineEdit_3->setText("Stop the fire detection!!");
		ui.lineEdit->setText("Stop fire detection!!");
		ui.textEdit_2->append("##:Stop fire detection!!");
	}if (temp[0] == 223)
	{
		comp = 0;
		reboot = 1;
		ui.lineEdit_3->setText("Reboot successful!!");//重启成功
		ui.lineEdit->setText("Reboot successful!!");
		ui.textEdit_2->append("##:Reboot successful!!");
	}if (temp[0] == 224)
	{
		comp = 1;//comp == 1
		reboot = 0;
		ui.lineEdit_3->setText("Booting successful!!");//开机成功
		ui.lineEdit->setText("Booting successful!!");
		ui.textEdit_2->append("##:Booting successful!!");
	}if (temp[0] == 225)
	{
		comp = 0;
		ui.lineEdit_3->setText("Shutdown successful!!");//关机成功
		ui.lineEdit->setText("Shutdown successful!!");
		ui.textEdit_2->append("##:Shutdown successful!!");
	}
	///Booting successful
	if (kk == 1 && k == 2 && (k_ != 0) && (temp[0] < 100))
	{
		//ui.lineEdit_3->setText(strDisplay);
		double xx, yy;
		countxy(temp, &xx, &yy);
		if (yy < 100)
		{

			//QString s = QString::number(xx);
			//ui.lineEdit_3->setText(s);
			newLayer1->startEditing();
			newLayer1->deleteFeatures(newLayer1->allFeatureIds());//删除特征（清空图层）
			newLayer1->commitChanges();
			// 更新范围
			newLayer1->updateExtents();
			drawplane(newLayer1, xx, yy);//qgis 画点--plane

		}
		/*
		if (yy > 100)
		{
			yy = yy - 100;
			drawfire(newLayer2, xx, yy);//qgis 画点--fire
		}
		*/
	} //
		if (temp[0] == 107 && k_ == 0)
		{
			k_ = 1;
			k = 2;
			ui.lineEdit_3->setText("Start testing the fire!!");
			ui.lineEdit->setText("Start testing fire!!");
			ui.textEdit_2->append("##:Start testing fire!!");
		}

}

//------------------------------------------------------------------------------------------------
//int lei = 0, guan = 0, xiang = 0, ros = 0, rosclose = 0;
//激光雷达
void QtWidgetsApplicationxx::on_pushButton_3_clicked()
{
	QByteArray temp;
	temp.resize(1);
	if (lei == 0 && (k != 2) && comp == 1)
	{
		lei_ = 1;
		temp[0] = 101;//启动激光雷达
		ui.lineEdit_3->setText("Turn on the Lidar");
		ui.textEdit_2->append("serialport$:Turn on the Lidar");
		m_serialPort->write(temp);
	}
	if (lei == 1 && (k != 2) && comp == 1)
	{
		lei_ = 0;
		temp[0] = 201;//关闭激光雷达
		ui.lineEdit_3->setText("Turn off the Lidar");
		ui.textEdit_2->append("serialport$:Turn off the Lidar");
		m_serialPort->write(temp);
	}
	if (comp == 0)
	{
		ui.lineEdit_3->setText("Please turn on the computer");
		ui.textEdit_2->append("[Warning]:Please turn on the computer");
	}
	if (por == 0)
	{
		ui.lineEdit_3->setText("Please open the Serial Port");
		ui.textEdit_2->append("[Warning]:Please open the Serial Port");
	}
}
//惯导
void QtWidgetsApplicationxx::on_pushButton_4_clicked()
{


	QByteArray temp;
	temp.resize(1);
	if (guan == 0 && (k != 2) && comp == 1)
	{
		guan_ = 1;
		temp[0] = 102;//启动惯导
		ui.lineEdit_3->setText("Turn on the GNSS/INS");
		ui.textEdit_2->append("serialport$:Turn on the GNSS/INS");
		m_serialPort->write(temp);
	}if (guan == 1 && (k != 2) && comp == 1)
	{
		guan_ = 0;
		temp[0] = 202;//关闭惯导
		ui.lineEdit_3->setText("Turn off the GNSS/INS");
		ui.textEdit_2->append("serialport$:Turn off the GNSS/INS");
		m_serialPort->write(temp);
	}if (comp == 0)
	{
		ui.lineEdit_3->setText("Please turn on the computer");
		ui.textEdit_2->append("[Warning]:Please turn on the computer");
	}if (por == 0)
	{
		ui.lineEdit_3->setText("Please open the Serial Port");
		ui.textEdit_2->append("[Warning]:Please open the Serial Port");
	}
	

}
//红外相机
void QtWidgetsApplicationxx::on_pushButton_5_clicked()
{
	QByteArray temp;
	temp.resize(1);
	if (xiang == 0 && (k != 2) && comp == 1)
	{
		xiang_ = 1;
		temp[0] = 103;//启动红外相机
		ui.lineEdit_3->setText("Turn on the I-camera");
		ui.textEdit_2->append("serialport$:Turn on the I-camera");
		m_serialPort->write(temp);
	}if (xiang == 1 && (k != 2) && comp == 1)
	{
		xiang_ = 0;
		temp[0] = 203;//关闭红外相机
		ui.lineEdit_3->setText("Turn off the I-camera");
		ui.textEdit_2->append("serialport$:Turn on the I-camera");
		m_serialPort->write(temp);
	}if (comp == 0)
	{
		ui.lineEdit_3->setText("Please turn on the computer");
		ui.textEdit_2->append("[Warning]:Please turn on the computer");
	}if (por == 0)
	{
		ui.lineEdit_3->setText("Please open the Serial Port");
		ui.textEdit_2->append("[Warning]:Please open the Serial Port");
	}


}
//记录ROS包
void QtWidgetsApplicationxx::on_pushButton_6_clicked()
{
	QByteArray temp;
	temp.resize(1);
	temp[0] = 104;//开始记录ROS包
	if (ros == 0 && comp == 1)
	{
		m_serialPort->write(temp);
		ui.lineEdit_3->setText("Start recording the Ros package");
		ui.textEdit_2->append("serialport$:Start recording the Ros package");
	}if (comp == 0)
	{
		ui.lineEdit_3->setText("Please turn on the computer");
		ui.textEdit_2->append("[Warning]:Please turn on the computer");
	}if (por == 0)
	{
		ui.lineEdit_3->setText("Please open the Serial Port");
		ui.textEdit_2->append("[Warning]:Please open the Serial Port");
	}
}
//记录结束
void QtWidgetsApplicationxx::on_pushButton_7_clicked()
{
	QByteArray temp;
	temp.resize(1);
	temp[0] = 105;//记录结束
	if (ros == 1 && comp == 1)
	{
		m_serialPort->write(temp);
		ui.lineEdit_3->setText("End of record");
		ui.textEdit_2->append("serialport$:End of record");
	}if (comp == 0)
	{
		ui.lineEdit_3->setText("Please turn on the computer");
		ui.textEdit_2->append("[Warning]:Please turn on the computer");
	}if (por == 0)
	{
		ui.lineEdit_3->setText("Please open the Serial Port");
		ui.textEdit_2->append("[Warning]:Please open the Serial Port");
	}
}

//--------------------------------------------------------------------------------------------------------------
//打开地图
void QtWidgetsApplicationxx::on_pushButton_8_clicked()
{
	if (m % 2 == 0)//打开地图
	{
		m_ = 1;
		openMap(mapCanvas, newLayer, newLayer1, newLayer2, newLayer3);
		//------------------------------------------------------
		/*
		//将窗口部件布局
		mpMapLayout = new QVBoxLayout();
		mpMapLayout->addWidget(mapCanvas);
		ui.widget->setLayout(mpMapLayout);
		setCentralWidget(ui.widget);
		*/
		//——-------------------------------------------------
		ui.pushButton_8->setText("Close Map");
		kk = 1;
	}if (m % 2 == 1)
	{
		mapCanvas->close();
		m_ = 0;
		ui.pushButton_8->setText("Open Map");
		kk = 0;
	}
	m++;
}
//检测火
void QtWidgetsApplicationxx::on_pushButton_9_clicked()
{
	//kk == 1 && k == 2 && (k_ != 0) && (temp[0] < 100)
	QByteArray temp;
	temp.resize(1);
	if (k_ == 0 && comp == 1)
	{
		kk_ = 1;
		temp[0] = 107;//开始检测火
		ui.lineEdit_3->setText("Start testing the fire");
		ui.textEdit_2->append("serialport$:Start testing the fire");
		m_serialPort->write(temp);
		on_pushButton_16_clicked();
	}if (k_ == 1 && comp == 1)
	{
		temp[0] = 207;//停止检测
		kk_ = 0;
		ui.lineEdit_3->setText("Stop the fire detection");
		ui.textEdit_2->append("serialport$:Stop the fire detection");
		m_serialPort->write(temp);
		on_pushButton_17_clicked();
	}if (comp == 0)
	{
		ui.lineEdit_3->setText("Please turn on the computer");
		ui.textEdit_2->append("[Warning]:Please turn on the computer");
	}if (por == 0)
	{
		ui.lineEdit_3->setText("Please open the Serial Port");
		ui.textEdit_2->append("[Warning]:Please open the Serial Port");
	}

}
//播放ROS包
void QtWidgetsApplicationxx::on_pushButton_10_clicked()
{
	if (kk_ == 1)
	{
		k = 0;
	}
	QByteArray temp;
	temp.resize(1);//lei_ = 2, guan_ = 2, xiang_ = 2
	if (lei_ == 1)
	{
		ui.lineEdit_3->setText("Please turn off the LIDAR");
		ui.textEdit_2->append("[Warning]:Please turn off the LIDAR");
	}if (guan_ == 1)
	{
		ui.lineEdit_3->setText("Please turn off the GNSS/INS");
		ui.textEdit_2->append("[Warning]:Please turn off the GNSS/INS");
	}if (xiang_ == 1)
	{
		ui.lineEdit_3->setText("Please turn off the I-camera");
		ui.textEdit_2->append("[Warning]:Please turn off the I-camera");
	}if ((lei_ != 1) && (guan_ != 1) && (xiang_ != 1) && comp == 1)
	{
		if (bao == 0)
		{
			bao_ = 1;
			temp[0] = 106;//开始播放ROS包
			ui.lineEdit_3->setText("Start playing the Ros package");
			ui.textEdit_2->append("serialport$:Start playing the Ros package");
			m_serialPort->write(temp);
		}if (bao == 1)
		{
			bao_ = 0;
			temp[0] = 206;//停止播放ROS包
			ui.lineEdit_3->setText("Stop playing the Ros package");
			ui.textEdit_2->append("serialport$:Stop playing the Ros package");
			m_serialPort->write(temp);
		}
	} //
		if (comp == 0)
		{
			ui.lineEdit_3->setText("Please turn on the computer");
			ui.textEdit_2->append("[Warning]:Please turn on the computer");
		}
	if (por == 0)
	{
		ui.lineEdit_3->setText("Please open the Serial Port");
		ui.textEdit_2->append("[Warning]:Please open the Serial Port");
	}

}
//自定义发送数据
void QtWidgetsApplicationxx::on_pushButton_11_clicked()
{
	QString str = ui.lineEdit->text();//自定义发送数据
	int dec = str.toInt(0, 10);
	QByteArray temp;
	temp.resize(1);
	temp[0] = dec;
	if (comp == 1)
	{
		m_serialPort->write(temp);
		ui.lineEdit_3->setText("Sending data now..");
		ui.textEdit_2->append("serialport$:Sending data now..");
	}if (comp == 0)
	{
		ui.lineEdit_3->setText("Please turn on the computer");
		ui.textEdit_2->append("[Warning]:Please turn on the computer");
	}
	if (por == 0)
	{
		ui.lineEdit->setText("Please open the Serial Port");
		ui.textEdit_2->append("[Warning]:Please open the Serial Port");
	}
}
//复位
void QtWidgetsApplicationxx::on_pushButton_12_clicked()
{
	/*
	int k = 0, kk = 0, k_ = 0;//控制检测火
	int lei = 0, guan = 0, xiang = 0, ros = 0, bao =0 ;//控制设备
	int lei_ = 2, guan_ = 2, xiang_ = 2, bao_ = 2, Reset = 2;
	*/
	k = 0;   //复位
	//kk = 0;//打开地图
	kk_ = 0;
	k_ = 0;

	lei = 0;
	guan = 0;
	xiang = 0;
	ros = 0;
	bao = 0;

	lei_ = 2;
	guan_ = 2;
	xiang_ = 2;
	bao_ = 2;
	Reset = 2;

	QByteArray temp;
	temp.resize(1);
	temp[0] = 222;
	if (comp == 1)
	{
		m_serialPort->write(temp);
	}

	//mapCanvas->close();

	ui.pushButton_3->setText("Lidar");//
	ui.pushButton_4->setText("GNSS/INS");
	ui.pushButton_5->setText("I-Camera");
	ui.lineEdit_3->setText("Reset..");
	ui.textEdit_2->append("serialport$:Reset..");
	if (comp == 0)
	{
		ui.lineEdit_3->setText("Please turn on the computer");
		ui.textEdit_2->append("[Warning]:Please turn on the computer");
	}if (por == 0)
	{
		ui.lineEdit_3->setText("Please open the Serial Port");
		ui.textEdit_2->append("[Warning]:Please open the Serial Port");
	}
}
//清空图层
void QtWidgetsApplicationxx::on_pushButton_13_clicked()
{
	newLayer->startEditing();
	newLayer->deleteFeatures(newLayer->allFeatureIds());//删除特征（清空图层）
	newLayer->commitChanges();
	newLayer->updateExtents();// 更新范围

	newLayer1->startEditing();
	newLayer1->deleteFeatures(newLayer1->allFeatureIds());
	newLayer1->commitChanges();
	newLayer1->updateExtents();

	newLayer2->startEditing();
	newLayer2->deleteFeatures(newLayer2->allFeatureIds());
	newLayer2->commitChanges();
	newLayer2->updateExtents();

	newLayer3->startEditing();
	newLayer3->deleteFeatures(newLayer3->allFeatureIds());
	newLayer3->commitChanges();
	newLayer3->updateExtents();
}
//关机
void QtWidgetsApplicationxx::on_pushButton_14_clicked()
{
	QByteArray temp;
	temp.resize(1);
	temp[0] = 225;//关机
	if (comp == 1)
	{
		m_serialPort->write(temp);
		ui.lineEdit_3->setText("Computer shutdown");
		ui.textEdit_2->append("serialport$:Computer shutdown");
	}

}
//重启
void QtWidgetsApplicationxx::on_pushButton_15_clicked()
{
	QByteArray temp;
	temp.resize(1);
	temp[0] = 223;//重启
	if (comp == 1 && reboot == 0)
	{
		m_serialPort->write(temp);
		ui.lineEdit_3->setText("Reboot the computer");
		ui.textEdit_2->append("serialport$:Reboot the computer");
	}

}
//--------------------------------------------------------------------------------------------------------------
//打开线程
void QtWidgetsApplicationxx::on_pushButton_16_clicked()
{
	start = true;
	if (thread_ == 0)
	{
		thread1 = QtConcurrent::run([=]()//开启一个新线程（创建socket通信）
		{
			ui.lineEdit_2->setText("please wait...");
			ui.textEdit_2->append("socket$:please wait...");
			thread_ = 1;//自锁
			socketMat->socketConnect_server(7777);
			//QString s = "hello new thread!";
			ui.lineEdit_2->setText("hello new thread!");
			ui.textEdit_2->append("socket$:hello new thread!");
			QMutex  mutex1;
			while (start)
			{
				char imge[32];
				socketMat->receive3(imge);
				mutex1.lock();
				for (int i = 0; i < 32; i++) {

					fire[i] = imge[i];
				}
				mutex1.unlock();
				//Sleep(20);
			}
		});
		thread2 = QtConcurrent::run([=]()//开启一个新线程(画火点)
		{
			QMutex  mutex2;
			while (start)
			{
				mutex2.lock();

				if (fire[0] == 77 && fire[11] == 77)
				{
					double temp[10];
					double xx, yy;
					for (int i = 1; i < 11; i++) {
						int j = i - 1;
						temp[j] = fire[i];
					}
					socketcountxy(temp, &xx, &yy);
					fire[0] = 0;
					if (yy < 100)
					{
						file[0] = xx;
						file[1] = yy;
						drawfire(newLayer2, xx, yy);//qgis 画点--fire
						QString qs = QString::number(xx)+"   "+ QString::number(yy);
						ui.lineEdit_2->setText(qs);
					}
				}
				mutex2.unlock();
				//Sleep(20);
			}
		});
		thread3 = QtConcurrent::run([=]()//开启一个新线程（保存火点数据）
		{

			QMutex  mutex3;
			newfile(filename);//以日期建立文件名

			while (start)
			{
				mutex3.lock();
				fp = fopen(filename, "a+");
				if (file[0] != 0)
				{
					for (int j = 0; j < 2; j++)
					{
						fprintf(fp, "%12.6f", file[j]);
					}
					fprintf(fp, "\n");
				}
				file[0] = 0;
				fclose(fp);
				mutex3.unlock();
				//Sleep(20);
			}
		});
	}

}
//关闭线程
void QtWidgetsApplicationxx::on_pushButton_17_clicked()
{
	QString s = "thread is down!";
	ui.lineEdit_2->setText(s);
	ui.textEdit_2->append("socket$:thread is down!!");
	socketMat->socketDisconnect();//关闭socket连接
	thread1.cancel();//关闭线程
	thread2.cancel();
	thread3.cancel();
	thread_ = 0;
	start = false;
}
//获取TXT文件目录
void QtWidgetsApplicationxx::on_pushButton_18_clicked()
{

	QDir dir(QDir::currentPath());//当前文件路径
	QString filtername = "*.txt";
	QStringList filter;
	filter << filtername;
	dir.setNameFilters(filter);
	QStringList Neuronindex = dir.entryList();
	ui.comboBox_3->addItems(Neuronindex);//把列表加载到comboBox_3
	QString s = QString::number(Neuronindex.size());//txt文件个数
	ui.lineEdit_2->setText(s);
}
//离线火点
void QtWidgetsApplicationxx::on_pushButton_19_clicked()
{
	if (m_ == 0)
	{
		on_pushButton_8_clicked();
	}
	m_ = 1;

	if (thread_4 == 0)
	{
		thread4.cancel();
	}if (thread_5 == 0)
	{
		thread5.cancel();
	}if (thread_6 == 0)
	{
		thread6.cancel();
	}if (thread_7 == 0)
	{
		thread7.cancel();
	}

	QString str = ui.comboBox_3->currentText();//获取comboBox选项
	char *ch;              //将QString转为char
	QByteArray ba = str.toLatin1();
	ch = ba.data();
	const char * filename = ch;
	int line = 1;
	pushnum(filename);
	readline(filename, line);
	QString s = QString::number(line);
	ui.lineEdit_2->setText(s);

	if ((ui.comboBox_4->currentIndex() == 0) && (thread_4 == 0))
	{
		
		thread4 = QtConcurrent::run([=]()//开启一个新线程
		{
			thread_4 = 1;//自锁
			
			QMutex  mutex4;
			mutex4.lock();
			QString f = ui.comboBox_4->currentText();//获取comboBox选项
			firecolor = "./" + f + ".svg";
		/
			vector<double> M4 = V;
			V.clear();
			mutex4.unlock();
			int i = 0;
			vector<double>::iterator it;
			for (it = M4.begin(); it != M4.end(); it++)
			{
				double x = *it;
				it++;
				double y = *it;
				drawfireline(newLayer, firecolor, x, y);//qgis 画点--fire
				i++;
				QString qs ="fire"+ QString::number(line) + " : " + QString::number(i);
				ui.lineEdit_2->setText(qs);
				Sleep(100);
			}
			M4.clear();
			thread_4 = 0;
		});
	}if ((ui.comboBox_4->currentIndex() == 1) && (thread_5 == 0))
	{
		
		thread5 = QtConcurrent::run([=]()//开启一个新线程
		{
			thread_5 = 1;//自锁
			QMutex  mutex5;
			mutex5.lock();
			QString f = ui.comboBox_4->currentText();
			firecolor = "./fire" + f + ".svg";
			vector<double> M5= V;
			V.clear();
			mutex5.unlock();
			int i = 0;
			vector<double>::iterator it;
			for (it = M5.begin(); it != M5.end(); it++)
			{
				double x = *it;
				it++;
				double y = *it;
				drawfireline(newLayer1, firecolor, x, y);//qgis 画点--fire
				i++;
				QString qs = "fire" + QString::number(line) + " : " + QString::number(i);
				ui.lineEdit_2->setText(qs);
				Sleep(100);
			}
			M5.clear();
			thread_5 = 0;
		});
	}if ((ui.comboBox_4->currentIndex() == 2) && (thread_6 == 0))
	{
		QString f = ui.comboBox_4->currentText();
		firecolor = "./fire" + f + ".svg";
		thread6 = QtConcurrent::run([=]()//开启一个新线程
		{
			thread_6 = 1;//自锁
			QMutex  mutex6;
			mutex6.lock();
		
			vector<double> M6 = V;
			V.clear();
			mutex6.unlock();
			int i = 0;
			vector<double>::iterator it;
			for (it = M6.begin(); it != M6.end(); it++)
			{
				double x = *it;
				it++;
				double y = *it;
				drawfireline(newLayer2, firecolor, x, y);
				i++;
				QString qs = "fire" + QString::number(line) + " : " + QString::number(i);
				ui.lineEdit_2->setText(qs);
				Sleep(100);
			}
			M6.clear();
			thread_6 = 0;
		});
	}if ((ui.comboBox_4->currentIndex() == 3) && (thread_7 == 0))
	{
		QString f = ui.comboBox_4->currentText();
		firecolor = "./fire" + f + ".svg";
		thread7 = QtConcurrent::run([=]()//开启一个新线程
		{
			thread_7 = 1;//自锁
			QMutex  mutex7;
			mutex7.lock();
		
			vector<double> M7 = V;
			V.clear();
			mutex7.unlock();
			int i = 0;
			vector<double>::iterator it;
			for (it = M7.begin(); it != M7.end(); it++)
			{
				double x = *it;
				it++;
				double y = *it;
				drawfireline(newLayer3, firecolor, x, y);//qgis 画点--fire
				i++;
				QString qs = "fire" + QString::number(line) + " : " + QString::number(i);
				ui.lineEdit_2->setText(qs);
				Sleep(100);
			}
			M7.clear();
			thread_7 = 0;
		});
	}

	/*
	QString str = ui.comboBox_3->currentText();//获取comboBox选项
	char *ch;              //将QString转为char
	QByteArray ba = str.toLatin1();
	ch = ba.data();
	const char * filename = ch;
	int line = 1;
	pushnum(filename);
	readline(filename, line);
	QtConcurrent::run([=]()//开启一个新线程
	{
		QMutex  mutex4;
		mutex4.lock();
		QString s = QString::number(line);
		ui.lineEdit_2->setText(s);
		int i = 0;
		vector<double> M = V;
		V.clear();
		vector<double>::iterator it;
		if (ui.comboBox_4->currentIndex() == 0)
		{
			for (it = M.begin(); it != M.end(); it++)
			{
				double x = *it;
				it++;
				double y = *it;
				drawfire(newLayer, x, y);//qgis 画点--fire
				i++;
				QString qs = QString::number(line) + " : " + QString::number(i);
				ui.lineEdit_2->setText(qs);
				Sleep(100);
			}
		}if (ui.comboBox_4->currentIndex() == 1)
		{
			for (it = M.begin(); it != M.end(); it++)
			{
				double x = *it;
				it++;
				double y = *it;
				drawfire(newLayer1, x, y);//qgis 画点--fire
				i++;
				QString qs = QString::number(line) + " : " + QString::number(i);
				ui.lineEdit_2->setText(qs);
				Sleep(100);
			}
		}if (ui.comboBox_4->currentIndex() == 2)
		{
			for (it = M.begin(); it != M.end(); it++)
			{
				double x = *it;
				it++;
				double y = *it;
				drawfire(newLayer2, x, y);//qgis 画点--fire
				i++;
				QString qs = QString::number(line) + " : " + QString::number(i);
				ui.lineEdit_2->setText(qs);
				Sleep(100);
			}
		}if (ui.comboBox_4->currentIndex() == 3)
		{
			for (it = M.begin(); it != M.end(); it++)
			{
				double x = *it;
				it++;
				double y = *it;
				drawfire(newLayer3, x, y);//qgis 画点--fire
				i++;
				QString qs = QString::number(line) + " : " + QString::number(i);
				ui.lineEdit_2->setText(qs);
				Sleep(100);
			}
		}
		M.clear();
		mutex4.unlock();
	});
	*/
}
//清空离线火点图层
void QtWidgetsApplicationxx::on_pushButton_20_clicked()
{
	if (ui.comboBox_4->currentIndex() == 0)
	{
		newLayer->startEditing();
		newLayer->deleteFeatures(newLayer->allFeatureIds());//删除特征（清空图层）
		newLayer->commitChanges();
		newLayer->updateExtents();// 更新范围
	}if (ui.comboBox_4->currentIndex() == 1)
	{
		newLayer1->startEditing();
		newLayer1->deleteFeatures(newLayer1->allFeatureIds());
		newLayer1->commitChanges();
		newLayer1->updateExtents();
	}if (ui.comboBox_4->currentIndex() == 2)
	{
		newLayer2->startEditing();
		newLayer2->deleteFeatures(newLayer2->allFeatureIds());
		newLayer2->commitChanges();
		newLayer2->updateExtents();
	}if (ui.comboBox_4->currentIndex() == 3)
	{
		newLayer3->startEditing();
		newLayer3->deleteFeatures(newLayer3->allFeatureIds());
		newLayer3->commitChanges();
		newLayer3->updateExtents();
	}
}
//---------------------------------------------------------------------------------------------------------------
//计算无人机
void QtWidgetsApplicationxx::countxy(double r[8], double *xx, double *yy)
{
	double x = r[0] * power(255, 3) + r[1] * power(255, 2) + r[2] * 255 + r[3];
	double y = r[4] * power(255, 3) + r[5] * power(255, 2) + r[6] * 255 + r[7];
	x = x / 1000000;
	y = y / 1000000;
	cout << setprecision(6) << fixed << x << endl;
	cout << setprecision(6) << fixed << y << endl;
	*xx = x;
	*yy = y;
}
//计算火点
void QtWidgetsApplicationxx::socketcountxy(double r[10], double *xx, double *yy)
{
	double x = r[0] * power(127, 4) + r[1] * power(127, 3)+ r[2] * power(127, 2) + r[3] * 127 + r[4];
	double y = r[5] * power(127, 4) + r[6] * power(127, 3) + r[7] * power(127, 2) + r[8] * 127 + r[9];
	x = x / 1000000;
	y = y / 1000000;
	cout << setprecision(6) << fixed << x << endl;
	cout << setprecision(6) << fixed << y << endl;
	*xx = x;
	*yy = y;
}
//x的y次方
int QtWidgetsApplicationxx::power(int x, int n)
{
	int val = 1;
	while (n--)
		val *= x;
	return val;
}
//获取当前日期
void QtWidgetsApplicationxx::newfile(char filename[200])
{
	time_t nowtime = time(NULL);
	struct tm* p = localtime(&nowtime);
	sprintf(filename, "afire%d.%d.%d.%d.%d.txt", 1900 + p->tm_year, 1 + p->tm_mon, p->tm_mday, p->tm_hour, p->tm_min);
	cout << filename << endl;
	
}
//计算txt文件行数
void QtWidgetsApplicationxx::readline(const char* strPath, int &line)
{
	ifstream is(strPath);
	char c;
	while (is.get(c))
	{
		if (c == '\n')
			line++;
	}
	is.close();
	cout << "line=" << line << endl;
}
//将数据压入堆栈
void QtWidgetsApplicationxx::pushnum(const char* strPath)
{
	ifstream is(strPath);
	double d;
	while (is >> d)
	{
		V.push_back(d);
	}
	is.close();
}
//--------------------------------------------------------------------------------------------------------------------
//---------------------------------------------------------------------------------------------------------------------
//---------------------------------------------------------------------------------------------------------------------
//************  创建图层  **********************************************************************************************
QgsVectorLayer* QtWidgetsApplicationxx::createLayer(QgsVectorLayer*newLayer)
{
	QString layerProperties = "Point?";    // 定义了我们创建图层的几何类型，可以是"Point"、"LineString"、"Polygon"、"MultiPoint"、"MultiLineString"、"MultiPolygon"其中之一
	layerProperties.append(QString("crs=EPSG:4236&"));    //定义图层的参照坐标，如果需要一定灵活性可以参照QGis的方式通过对话框选取，或是根据自己的需求来实现，需要改变的仅仅是"EPSG:4326" 而已
	layerProperties.append(QString("field=id:integer&field=name:string(50)&"));    //定义的图层字段，多个字段用"&" 进行连接，完整形式为 field=name:type(length,precision) ，从参数看不仅可以定义长度还可以定义其精度
	layerProperties.append(QString("index=yes&"));        // 定义空间索引，于数据量较大的图层很有用
	layerProperties.append(QString(                         // 通过QUuid创建了一个全局唯一标识符（UUID），Qt中解释主要是用于分布式计算环境中的实体标识，而此处是用于当我们多次创建临时图层时的唯一标识符
		"memoryid=%1").arg(QUuid::createUuid().toString()));

	newLayer = new QgsVectorLayer(layerProperties, QString("临时点层"), QString("memory"));//开始创建临时图层

																					   //QgsMapLayerRegistry::instance()->addMapLayer(newLayer);

	return newLayer;
}
//***************  获取地图  *******************************************************************************************
/*QgsVectorLayer* */
void QtWidgetsApplicationxx::openMap(QgsMapCanvas *mapCanvas, QgsVectorLayer*newLayer, QgsVectorLayer*newLayer1, QgsVectorLayer*newLayer2, QgsVectorLayer*newLayer3)
{


	QString myPluginsDir = "..\\plugins";  //注册插件库
	QgsProviderRegistry::instance(myPluginsDir);

	//QList<QgsMapLayer*>layer;
	
	//创建地图画布
	//QgsMapCanvas*mapCanvas = new QgsMapCanvas();
	//mapCanvas = new QgsMapCanvas();

	//*************获取网络地图************************
	//QgsRasterLayer*rastermap = new QgsRasterLayer("type=xyz&url=https://webst01.is.autonavi.com/appmaptile?style%3D6%26x%3D%7Bx%7D%26y%3D%7By%7D%26z%3D%7Bz%7D&zmax=18&zmin=0","gaode", "wms");
	QgsRasterLayer*rastermap = new QgsRasterLayer("type=xyz&url=https://tile.openstreetmap.org/%7Bz%7D/%7Bx%7D/%7By%7D.png&zmax=19&zmin=0", "  ", "wms");

	//*************添加shp地图*************************
	//QString fileName = QFileDialog::getOpenFileName(this, tr("Open shape file"), "", "*.shp");
	//QStringList temp = fileName.split('/');
	//QString basename = temp.at(temp.size() - 1);
	//QgsVectorLayer*rastermap = new QgsVectorLayer(fileName, basename, "ogr"); 
	if (!rastermap->isValid())
	{

		QMessageBox::critical(this, "error", QString("This layer is invalid"));
	}
	else
	{
		layerlist.append(newLayer);
	}
	//把图层添加到地图画布并显示
	mapCanvas->setExtent(rastermap->extent());// 设置显示范围。Extent：范围、尺度
	 
	layerlist.append(newLayer1);//将图层1加载到地图中
	QgsProject::instance()->addMapLayers(layerlist);
	layerlist.append(newLayer2);
	QgsProject::instance()->addMapLayers(layerlist);
	layerlist.append(newLayer3);
	QgsProject::instance()->addMapLayers(layerlist);

	layerlist.append(rastermap);
	mapCanvas->setLayers(layerlist);//设置图层集合
	mapCanvas->setVisible(false);//设置是否可见
	mapCanvas->freeze(false);//解冻对图层的操作
	mapCanvas->resize(800, 500);
	mapCanvas->refresh();
	mapCanvas->show();

	//return newLayer1;
}
//***************  创建点  ******************************************************************************************
QgsVectorLayer* QtWidgetsApplicationxx::drawplane(QgsVectorLayer*newLayer1, double x, double y)
{

	//定义坐标转换对象trans，从src向dest转换(CRS转换)
	//EPSG：4326指的是WGS84系统..EPSG是最常用的授权机构，它涵盖了全世界范围广泛的坐标系统。
	QgsCoordinateReferenceSystem src(4326, QgsCoordinateReferenceSystem::EpsgCrsId);
	QgsCoordinateReferenceSystem dest(3857, QgsCoordinateReferenceSystem::EpsgCrsId);
	QgsCoordinateTransformContext context;
	QgsCoordinateTransform trans(src, dest, context);
	//转换坐标
	QgsPointXY point1 = trans.transform(x, y);
	//QgsVectorDataProvider* dateProvider = newLayer1->dataProvider();//创建一个容器 

	// plane

	QgsSvgMarkerSymbolLayer* svgMarker1 = new QgsSvgMarkerSymbolLayer("./plane13.svg");//  F:/OSGeo4W64/QtQgisVs
	QgsSymbolLayerList symList1;
	symList1.append(svgMarker1);
	QgsMarkerSymbol* markSym1 = new QgsMarkerSymbol(symList1);
	QgsSingleSymbolRenderer* symRenderer1 = new QgsSingleSymbolRenderer(markSym1);
	newLayer1->setRenderer(symRenderer1);
	svgMarker1->setSize(10);

	QgsFeature MyFeature1;
	MyFeature1.setGeometry(QgsGeometry::fromPointXY(point1));
	MyFeature1.setAttributes(QgsAttributes() << QVariant(2) << QVariant("test"));
	//MyFeature1.setc
	// 开始编辑
	newLayer1->startEditing();
	// 添加要素 
	newLayer1->addFeatures(QgsFeatureList() << MyFeature1);

	//plane

		// 保存
		newLayer1->commitChanges();
	// 更新范围
	newLayer1->updateExtents();
	//newLayer1->s


	//mapCanvas->refresh();
	//mapCanvas->show();

	return newLayer1;
}
/// fire ///
QgsVectorLayer* QtWidgetsApplicationxx::drawfire(QgsVectorLayer*newLayer, double x, double y)
{
	//定义坐标转换对象trans，从src向dest转换(CRS转换)
//EPSG：4326指的是WGS84系统..EPSG是最常用的授权机构，它涵盖了全世界范围广泛的坐标系统。
	QgsCoordinateReferenceSystem src(4326, QgsCoordinateReferenceSystem::EpsgCrsId);
	QgsCoordinateReferenceSystem dest(3857, QgsCoordinateReferenceSystem::EpsgCrsId);
	QgsCoordinateTransformContext context;
	QgsCoordinateTransform trans(src, dest, context);
	//转换坐标
	QgsPointXY point = trans.transform(x, y);
	//QgsVectorDataProvider* dateProvider = newLayer->dataProvider();//创建一个容器 

	QgsFeature MyFeature;
	//fire
	QgsSvgMarkerSymbolLayer* svgMarker = new QgsSvgMarkerSymbolLayer(firecolor);// F:/OSGeo4W64/QtQgisVs
	QgsSymbolLayerList symList;
	symList.append(svgMarker);
	QgsMarkerSymbol* markSym = new QgsMarkerSymbol(symList);
	QgsSingleSymbolRenderer* symRenderer = new QgsSingleSymbolRenderer(markSym);
	newLayer->setRenderer(symRenderer);
	svgMarker->setSize(3);

	//fire

	MyFeature.setGeometry(QgsGeometry::fromPointXY(point));
	MyFeature.setAttributes(QgsAttributes() << QVariant(1) << QVariant("test"));
	// 开始编辑
	newLayer->startEditing();
	// 添加要素
	newLayer->addFeatures(QgsFeatureList() << MyFeature);

	// 保存
	newLayer->commitChanges();
	// 更新范围
	newLayer->updateExtents();

	//mapCanvas->refresh();

	return newLayer;

}
//***************  创建线  ******************************************************************************************

QgsVectorLayer* QtWidgetsApplicationxx::drawfireline(QgsVectorLayer*newLayer, QString strPath, double x, double y)
{
	//定义坐标转换对象trans，从src向dest转换(CRS转换)
//EPSG：4326指的是WGS84系统..EPSG是最常用的授权机构，它涵盖了全世界范围广泛的坐标系统。
	QgsCoordinateReferenceSystem src(4326, QgsCoordinateReferenceSystem::EpsgCrsId);
	QgsCoordinateReferenceSystem dest(3857, QgsCoordinateReferenceSystem::EpsgCrsId);
	QgsCoordinateTransformContext context;
	QgsCoordinateTransform trans(src, dest, context);
	//转换坐标
	QgsPointXY point = trans.transform(x, y);
	//QgsVectorDataProvider* dateProvider = newLayer->dataProvider();//创建一个容器 

	QgsFeature MyFeature;
	//fire
	QgsSvgMarkerSymbolLayer* svgMarker = new QgsSvgMarkerSymbolLayer(strPath);// F:/OSGeo4W64/QtQgisVs
	QgsSymbolLayerList symList;
	symList.append(svgMarker);
	QgsMarkerSymbol* markSym = new QgsMarkerSymbol(symList);
	QgsSingleSymbolRenderer* symRenderer = new QgsSingleSymbolRenderer(markSym);
	newLayer->setRenderer(symRenderer);
	svgMarker->setSize(3);

	//fire

	MyFeature.setGeometry(QgsGeometry::fromPointXY(point));
	MyFeature.setAttributes(QgsAttributes() << QVariant(1) << QVariant("test"));
	// 开始编辑
	newLayer->startEditing();
	// 添加要素
	newLayer->addFeatures(QgsFeatureList() << MyFeature);

	// 保存
	newLayer->commitChanges();
	// 更新范围
	newLayer->updateExtents();

	return newLayer;

}
void QtWidgetsApplicationxx::AddLine()
{
	// 创建一个线图层。
	QgsVectorLayer *Line_Layer = new QgsVectorLayer("LineString?crs=epsg:4326", "MyLine", "memory");
	QgsVectorDataProvider *dataProder = Line_Layer->dataProvider();
	//在指定坐标添加点
	QgsFeature feature;
	QgsGeometry geometry = QgsGeometry::fromPointXY(QgsPointXY(50, 50));
	//通过点坐标进行画线
	QgsPolyline line;
	line << QgsPoint(100.4443, 32.2123) << QgsPoint(130.5557, 50.4445);
	geometry = QgsGeometry::fromPolyline(line);
	feature.setGeometry(geometry);
	dataProder->addFeatures(QgsFeatureList() << feature);
	Line_Layer->updateExtents();
	//将线图层加载到链表中
	layerlist.append(Line_Layer);
	QgsProject::instance()->addMapLayers(layerlist);
}

WinsockMatTransmission.h

#pragma once

#ifndef __WINSOCKMATTRANSMISSIONCLIENT_H__
#define __WINSOCKMATTRANSMISSIONCLIENT_H__

#include <stdio.h>
#include <Winsock2.h>
#include<iostream>
#pragma comment(lib,"WS2_32.lib")


//待传输图像默认大小为 640*480，可修改
#define IMG_WIDTH 640	// 需传输图像的宽
#define IMG_HEIGHT 480	// 需传输图像的高
//默认格式为CV_8UC3
#define BUFFER_SIZE 32

struct sentbuf
{
	char sbuf[BUFFER_SIZE];
	int sflag;
};

struct recvbuf
{
	char rbuf[BUFFER_SIZE];
	int rflag;
};

class WinsockMatTransmission
{
public:
	WinsockMatTransmission(void);
	~WinsockMatTransmission(void);

private:
	SOCKET sockClient;
	SOCKET sockConn;
	struct sentbuf sdata;
	struct recvbuf rdata;

public:
	int buff[100];
	// 打开socket连接
	// params :	IP		服务器的ip地址
	//			PORT	传输端口
	// return : -1		连接失败
	//			1		连接成功
	int socketConnect_client(const char* IP, int PORT);
	int socketConnect_server(int PORT);

	// 传输图像
	// params : image 待传输图像
	// return : -1		传输失败
	//			1		传输成功
	int transmit(int& a);

	int receive(char*image[32]);
	int receive2(char &image);//传递数
	int receive3(char image[32]);//传递数组
	// 断开socket连接
	void socketDisconnect(void);
};

#endif

WinsockMatTransmission.cpp

#include "WinsockMatTransmission.h"

WinsockMatTransmission::WinsockMatTransmission(void)
{
}

WinsockMatTransmission::~WinsockMatTransmission(void)
{
}
//建立连接
int WinsockMatTransmission::socketConnect_client(const char* IP, int PORT)
{
	
	WORD wVersionRequested;
	WSADATA wsaData;
	int err;

	wVersionRequested = MAKEWORD(1, 1);

	err = WSAStartup(wVersionRequested, &wsaData);
	if (err != 0) {
		return -1;
	}

	if (LOBYTE(wsaData.wVersion) != 1 ||
		HIBYTE(wsaData.wVersion) != 1) {
		WSACleanup();
		return -1;
	}
	
	err = (sockClient = socket(AF_INET, SOCK_STREAM, 0));
	if (err < 0) {
		printf("create socket error: %s(errno: %d)\n\n", strerror(errno), errno);
		return -1;
	}
	else
	{
		printf("create socket successful!\nnow connect ...\n\n");
	}

	SOCKADDR_IN addrSrv;
	addrSrv.sin_addr.S_un.S_addr = inet_addr(IP);
	addrSrv.sin_family = AF_INET;
	addrSrv.sin_port = htons(PORT);

	err = connect(sockClient, (SOCKADDR*)&addrSrv, sizeof(SOCKADDR));
	if (err < 0)
	{
		printf("connect error: %s(errno: %d)\n\n", strerror(errno), errno);
		return -1;
	}
	else
	{
		printf("connect successful!\n\n");
		return 1;
	}
	
}

int WinsockMatTransmission::socketConnect_server(int PORT)
{
	WORD wVersionRequested;
	WSADATA wsaData;
	int err;

	wVersionRequested = MAKEWORD(1, 1);

	err = WSAStartup(wVersionRequested, &wsaData);

	if (err != 0)
	{
		return -1;
	}

	if (LOBYTE(wsaData.wVersion) != 1 ||
		HIBYTE(wsaData.wVersion) != 1)
	{
		WSACleanup();
		return -1;
	}

	SOCKET sockSrv = socket(AF_INET, SOCK_STREAM, 0);

	SOCKADDR_IN addrSrv;
	addrSrv.sin_addr.S_un.S_addr = htonl(INADDR_ANY);
	addrSrv.sin_family = AF_INET;
	addrSrv.sin_port = htons(PORT);
	bind(sockSrv, (SOCKADDR*)&addrSrv, sizeof(SOCKADDR));
	listen(sockSrv, 5);

	SOCKADDR_IN addrClient;
	int len = sizeof(SOCKADDR);
	//套接字处于监听状态时，可以通过 accept() 函数来接收客户端请求
	sockConn = accept(sockSrv, (SOCKADDR*)&addrClient, &len);

	int nRecvBuf = 1024 * 1024 * 10;
	setsockopt(sockConn, SOL_SOCKET, SO_RCVBUF, (const char*)&nRecvBuf, sizeof(int));
}


void WinsockMatTransmission::socketDisconnect(void)
{
	closesocket(sockClient);
	closesocket(sockConn);
	WSACleanup();
}
//发送数据
int WinsockMatTransmission::transmit(int& image)
{
	            sdata.sbuf[8] =12 ;
				sdata.sbuf[16] = 127;
				sdata.sbuf[31] = 28;
		if (send(sockClient, (char *)(&sdata), sizeof(sdata), 0) < 0)
		{
			printf("send msg error: %s(errno: %d)\n", strerror(errno), errno);
			return -1;
		}			
}
//接收数据
int WinsockMatTransmission::receive(char *image[32])
{
	 
	int needRecv = sizeof(recvbuf);
	int strLen = recv(sockConn, (char*)(&rdata), needRecv, 0);

	*image = rdata.rbuf;
	return 0;
}
int WinsockMatTransmission::receive2(char &image)
{
	 
	int needRecv = sizeof(recvbuf);
	int strLen = recv(sockConn, (char*)(&rdata), needRecv, 0);
	//send(sockConn, (char*)(&rdata), strLen, 0);  //将数据原样返回

	image = rdata.rbuf[1];
	//std::cout << "a= " << a << std::endl;

	return 0;
}
int WinsockMatTransmission::receive3(char image[32])
{

	int needRecv = sizeof(recvbuf);
	int strLen = recv(sockConn, (char*)(&rdata), needRecv, 0);
	for (int i = 0; i <32; i++) {

		image[i] = rdata.rbuf[i];
	}
	
	return 0;
}

界面搭建

主要参考原来那篇博客：https://blog.csdn.net/xx970829/article/details/111997428

第一页

第二页

1.下拉框comboBox_2选项加入如下选项
2.菜单栏中建活动用于切换stackedWidget页（当然，也设有快捷键shift）

第三页

第四页->说明

快捷键：

 R        复位
 L        雷达
 G        惯导
 I        红外相机
 M        地图
 T        检测火
 F1       重启
 Esc      关机
 Enter    发送
 Delete   清空特征
 Shift    切换页码
 S        默认串口已打开
 Control  默认工控机已开机

控制参数表：

 101：  打开激光雷达
 102：  打开惯导
 103：  打开红外相机
 104：  开始记录ROS包
 105：  ROS包记录结束
 106：  播放ROS包
 107：  开始检测火
 201：  关闭激光雷达
 202：  关闭惯导
 203：  关闭红外相机
 222：  复位
 223：  工控机重启
 224：  工控机开机验证 
 225：  工控机关机

说明：

1.只有收到返回的数据才能启动/关闭成
  功；
2.除了“记录ROS包、结束记录”外，其他
  按钮启动和关闭均由一个键控制；
3.开始检测火点后雷达、惯导、红外相机将
  无法点击；
4.复位不会关闭地图或清空特征；
5.223：重启工控机，此时其他发送指令的
  按钮将失效，其快捷键为F1，224:验证工
  控机是否处于开机状态，225:工控机关
  机,其快捷键为Esc。

[注意：]每次打开串口都会检测工控机是否开
机，只有接收到224时才能进行其他操
作，所以脱离工控机调试时，每次点击打
开串口按钮都需要另一设备发送数据
224，或者点击键盘ctrl来默认工控机已
打开。

【其他细节请参考我以前的那篇博客：https://blog.csdn.net/xx970829/article/details/111997428】

运行结果

项目下载

由于环境配在项目里面，所以里面头文件、dll文件这些很多，大约1G
链接：https://pan.baidu.com/s/1-9WZJHFFq6vhG-c5qAOkWA
提取码：elx4