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int(input("请输入当前风向角度：")) + +try: + while True: + # 计算风速 + wind_time = time.time() - wind_last_time + if wind_time > 5: + wind_speed = wind_count / wind_time * 2.4 # 转化为mph + wind_count = 0 + wind_last_time = time.time() + + # 计算风向 + wind_direction = math.floor((wind_direction_angle + 11.25) / 22.5) + wind_direction_str = wind_directions[wind_direction % 16] + + print("风速：{:.1f} mph\t 风向：{}".format(wind_speed, wind_direction_str)) + time.sleep(0.1) +except KeyboardInterrupt: + pass diff --git a/src/FireDetect/main.py b/src/FireDetect/main.py new file mode 100644 index 0000000..b51f14e --- /dev/null +++ b/src/FireDetect/main.py @@ -0,0 +1,603 @@ +import math +import threading +import time +import contextlib +import logging +import cv2 +import numpy as np +import torch +import torchvision +from models.common import DetectMultiBackend +from utils.plots import Annotator +import json +import base64 +import socket +from pathlib import Path +from utils.general import (LOGGER, Profile, check_file, check_imshow, check_requirements, colorstr, cv2, + increment_path, non_max_suppression, print_args, scale_boxes, strip_optimizer, xyxy2xywh) +import sys +import os +import nvidia_smi +from ctypes import windll +import math +from termcolor import colored, cprint +import requests +import platform + +if platform.system() == 'Windows': + import windows_curses as curses +else: + import curses + +FILE = Path(__file__).resolve() +ROOT = FILE.parents[0] # YOLOv5 root directory +if str(ROOT) not in sys.path: + sys.path.append(str(ROOT)) # add ROOT to PATH +ROOT = Path(os.path.relpath(ROOT, Path.cwd())) # relative + + +# 清空命令指示符输出 + +def clear(): + # 对于非 Windows 系统使用 ANSI 转义序列来清除屏幕 + if platform.system() != 'Windows': + print("\033c") + return + + try: + # 使用 curses 库来清除屏幕，从而避免使用 os.system() . + stdscr = curses.initscr() + curses.curs_set(0) # 隐藏光标 + stdscr.clear() # 清空屏幕 + stdscr.refresh() # 刷新屏幕 + time.sleep(0.1) # 等待一会儿以确保清屏成功 + except Exception as e: + logging.error(f"Clear screen failed with error: {e}") + # 引发异常以向调用者报告错误 + + finally: + # 恢复 curses 库的原始设置 + curses.endwin() + + # 添加一些额外的效果来增强用户体验（可选） + cprint(colored('屏幕已被清除!', 'green', attrs=['bold', 'underline'])) + time.sleep(0.5) + cprint(colored('请稍等...', 'cyan', attrs=['blink', 'reverse'])) + + +_cache = None +# 检查是否为管理员权限 +def is_admin(): + global _cache + if _cache is not None: + # 若缓存可用，则立即返回缓存结果 + return _cache + + try: + # 检查当前平台是否支持获取管理员权限 + if os.name != 'nt': + raise OSError('Unsupported platform') + + # 检查当前用户是否为管理员 + is_admin = (os.getuid() == 0) or (os.system('net session >nul 2>&1') == 0) + _cache = is_admin # 缓存当前结果 + return is_admin + except OSError as err: + logging.error('Failed to check admin status: %s', err) + raise err # 抛出异常以引起关注 + +# 简单检查gpu是否够格 +def check_gpu(): + nvidia_smi.nvmlInit() + gpu_handle = nvidia_smi.nvmlDeviceGetHandleByIndex(0) # 默认卡1 + gpu_name = nvidia_smi.nvmlDeviceGetName(gpu_handle) + memory_info = nvidia_smi.nvmlDeviceGetMemoryInfo(gpu_handle) + nvidia_smi.nvmlShutdown() + if b'RTX' in gpu_name: + return 2 + memory_total = memory_info.total / 1024 / 1024 + if memory_total > 3000: + return 1 + return 0 + +#获取最接近 x 且可以被除数 divisor 整除的整数 +def make_divisible(x, divisor): + # 取最大值并转换为整数类型 + if isinstance(divisor, torch.Tensor): + divisor = int(divisor.max().item()) + + # 计算最接近 x 且可以被除数 divisor 整除的整数 + return math.ceil(x / divisor) * divisor + +def check_img_size(imgsz, s=32, floor=0): + # 验证图像大小在每个维度上是否都是 stride s 的倍数 + if isinstance(imgsz, int): + # 整数类型，例如 img_size=640 + new_size = max(make_divisible(imgsz, int(s)), floor) + elif isinstance(imgsz, (list, tuple)) and len(imgsz) == 2: + # 列表或元组类型，例如 img_size=[640, 480] + new_size = [max(make_divisible(x, int(s)), floor) for x in imgsz] + else: + raise TypeError("imgsz 应该是一个整数或包含两个元素的列表或元组。") + + if isinstance(new_size, int): + # 如果 new_size 是整数类型，则构造一个只有一个元素的列表 + new_size = [new_size] + + if new_size != imgsz: + LOGGER.warning(f'警告⚠️ -- 图像大小 {imgsz} 必须是 {s} 的倍数，已更新为 {new_size}') + return new_size + +#将边界框 (xyxy 格式) 限制在图像大小内 +def clip_boxes(boxes, shape): + if isinstance(boxes, torch.Tensor): + # 判断输入类型是否为 torch.Tensor，以提高处理速度 + # 使用 torch.split 方法将 tensor 分割成 x_min、y_min、x_max、y_max 四个部分 + x_min, y_min, x_max, y_max = torch.split(boxes, 1, dim=1) + # 使用 clamp_ 方法将 x_min、x_max、y_min、y_max 限制在给定形状范围内 + x_min, x_max = x_min.clip(0, shape[1]), x_max.clip(0, shape[1]) + y_min, y_max = y_min.clip(0, shape[0]), y_max.clip(0, shape[0]) + # 使用 torch.cat 方法将四个部分拼接成新的 tensor + boxes = torch.cat([x_min, y_min, x_max, y_max], dim=1) + else: + # 对于 np.ndarray 类型，可以直接使用 numpy 的 vectorizing 方法进行限制范围 + # 使用 clip 函数将 x_min、x_max、y_min、y_max 限制在给定形状范围内 + boxes[:, [0, 2]] = np.clip(boxes[:, [0, 2]], a_min=0, a_max=shape[1]) # x1, x2 + boxes[:, [1, 3]] = np.clip(boxes[:, [1, 3]], a_min=0, a_max=shape[0]) # y1, y2 + return boxes + +#将边界框 (xyxy 格式) 从 img1_shape 缩放到 img0_shape +def scale_boxes(img1_shape, boxes, img0_shape, ratio_pad=None): + # 检查输入参数的正确性 + if not isinstance(img1_shape, tuple) or len(img1_shape) != 2: + raise TypeError("img1_shape 应该是包含两个元素的元组，分别表示图像的高度和宽度。") + if not isinstance(img0_shape, tuple) or len(img0_shape) != 2: + raise TypeError("img0_shape 应该是包含两个元素的元组，分别表示图像的高度和宽度。") + if not isinstance(boxes, np.ndarray) or boxes.ndim != 2 or boxes.shape[1] != 4: + raise ValueError("boxes 应该是一个二维 numpy 数组，其形状为 [N, 4]，其中 N 表示边界框数量。") + if ratio_pad is not None: + if not isinstance(ratio_pad, tuple) or len(ratio_pad) != 2: + raise ValueError("ratio_pad 应该是一个元组，包含两个元素，分别表示宽高比和填充大小。") + if not isinstance(ratio_pad[0], (int, float)): + raise TypeError("ratio_pad[0] 应该是一个整数或浮点数，用于表示缩放比例。") + if not isinstance(ratio_pad[1], tuple) or len(ratio_pad[1]) != 2: + raise ValueError("ratio_pad[1] 应该是一个包含两个元素的元组，分别表示宽度和高度填充大小。") + if not all(isinstance(i, (int, float)) for i in ratio_pad[1]): + raise TypeError("ratio_pad[1] 中的两个元素应该均为整数或浮点数，用于表示填充大小。") + + # 复制边界框数组，以避免修改原始数据 + boxes = boxes.copy() + + # 计算宽高比和填充大小 + if ratio_pad is None: + gain = min(img1_shape[0] / img0_shape[0], img1_shape[1] / img0_shape[1]) + pad_w = (img1_shape[1] - img0_shape[1] * gain) / 2 + pad_h = (img1_shape[0] - img0_shape[0] * gain) / 2 + else: + gain = ratio_pad[0] + pad_w, pad_h = ratio_pad[1] + + # 对边界框进行填充和缩放操作 + boxes[:, [0, 2]] -= pad_w + boxes[:, [1, 3]] -= pad_h + boxes[:, :4] /= gain + + # 对边界框的坐标进行限制范围，确保它们不会超出目标图像的大小 + boxes = clip_boxes(boxes, img0_shape) + + return boxes + + +#调整图像大小并填充边框以适应模型输入尺寸 +def letterbox(image, target_size=(640, 640), color=(114, 114, 114), auto=True, scale_fill=False, scale_up=True, stride=32): + # 计算新的图像比例 + height, width = image.shape[:2] + target_h, target_w = target_size + scale = min(target_h / height, target_w / width) + if not scale_up: + scale = min(scale, 1.0) + + # 计算填充和缩放后的宽度和高度 + new_w = round(width * scale) + new_h = round(height * scale) + dw = target_w - new_w + dh = target_h - new_h + + # 如果需要，调整填充以便其尺寸是步幅的倍数 + if auto: + dw = dw % stride + dh = dh % stride + + # 如果需要，进行缩放和拉伸来填充目标形状 + if scale_fill: + target_h = max(target_h, new_h) + target_w = max(target_w, new_w) + dw = (target_w - new_w) / 2 + dh = (target_h - new_h) / 2 + + # 计算填充边框 + top = round(dh - 0.1) + bottom = round(dh + 0.1) + left = round(dw - 0.1) + right = round(dw + 0.1) + + # 进行填充并返回结果 + image = cv2.resize(image, (new_w, new_h), interpolation=cv2.INTER_LINEAR) + image = cv2.copyMakeBorder(image, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color) + ratio = (new_w / width, new_h / height) + padding = (dw, dh) + return image, ratio, padding + + +#选择推理设备 +def select_device(device='', batch_size=0, newline=True): + s = f'torch-{torch.__version__} ' + + # 转换 device 参数为字符串，'cuda:0' -> '0' + device = str(device).strip().lower().replace('cuda:', '').replace('none', '') + + # 如果请求的是 CPU 或 MPS 等非 GPU 设备 + cpu = device == 'cpu' + mps = device == 'mps' + if cpu or mps: + os.environ['CUDA_VISIBLE_DEVICES'] = '-1' # 禁止使用 GPU 加速 + elif device: + # 请求的是 GPU 设备 + os.environ['CUDA_VISIBLE_DEVICES'] = device # 设置 CUDA_VISIBLE_DEVICES 环境变量 + assert torch.cuda.is_available() and torch.cuda.device_count() >= len(device.replace(',', '')), \ + f"Invalid CUDA '--device {device}' requested, use '--device cpu' or pass valid CUDA device(s)" + + # 选择计算设备 + if not cpu and not mps and torch.cuda.is_available(): # 优先使用 GPU + devices = device.split(',') if device else '0' # 可选设备编号列表，例如 '0, 1' + n = len(devices) # 设备数量 + if n > 1 and batch_size > 0: # 确保 batch_size 是设备数量的倍数 + assert batch_size % n == 0, f'batch-size {batch_size} not multiple of GPU count {n}' + space = ' ' * (len(s) + 1) + for i, d in enumerate(devices): + p = torch.cuda.get_device_properties(i) + s += f"{'' if i == 0 else space}CUDA:{d} ({p.name}, {p.total_memory / (1 << 20):.0f}MiB)\n" + arg = 'cuda:0' + elif mps and getattr(torch, 'has_mps', False) and torch.backends.mps.is_available(): # 如果可用，优先使用 MPS + s += 'MPS\n' + arg = 'mps' + else: # 否则回退到 CPU + s += 'CPU\n' + arg = 'cpu' + + # 日志输出设备信息 + if not newline: + s = s.rstrip() + print(s) + + # 返回所选设备的 PyTorch 设备对象 + return torch.device(arg) + +class YOLO: + # 将参数初始化工作提取出来 + def __init__(self, + path, + device, + imgsz, + conf=0.3, + iou=0.25, + classes=None, + max_det=50, + half=True, + dnn=False, + agnostic_nms=False): + self.half = half + self.device = torch.device(device) + self.conf = conf + self.iou_thres = iou + self.agnostic_nms = agnostic_nms + self.max_det = max_det + model = DetectMultiBackend(path, device=self.device, dnn=dnn) + model.eval() + self.stride, self.names, self.pt, self.jit, self.onnx = model.stride, model.names, model.pt, model.jit, model.onnx + imgsz = (imgsz, imgsz) if isinstance(imgsz, int) else imgsz + self.img_size = check_img_size(imgsz, s=self.stride) # check image size + if self.pt: + model.model.half() if half else model.model.float() + dtype = torch.float16 if half else torch.float32 + model(torch.zeros(1, 3, *self.img_size).to(device).type(dtype)) # warmup + self.model = model + self.classes = classes + + @torch.no_grad() + def predict(self, im, window_name='UAV'): + # Load model + model = self.model + # Half + half = self.half # half precision only supported by PyTorch on CUDA + device = self.device + + # 图像预处理 + img = preprocess_image(im, self.img_size, self.stride) + + im = torch.from_numpy(img).to(device) + im = im.half() if half else im.float() + im /= 255 + + if len(im.shape) == 3: + im = im[None] + # Inference + pred = model(im) + + # NMS + pred = non_max_suppression(pred, self.conf, self.iou_thres, self.classes, self.agnostic_nms, + max_det=self.max_det) + # 新建 annotator 对象并在循环内不断更新 + annotator = Annotator(im.squeeze(0).copy(), line_width=2) + for i, det in enumerate(pred): + if len(det): + target_list = [] + result = "fire" + det[:, :4] = scale_boxes(im.shape[2:], det[:, :4], img.shape).round() + for *xyxy, conf, cls in reversed(det): + xywh = (xyxy2xywh(torch.tensor(xyxy).view(1, 4))).view(-1).tolist() # normalized xywh + annotator.box_label(xyxy, label=f'[{YOLO.names[int(cls)]} {conf:.2f}]', + color=(34, 139, 34), + txt_color=(0, 191, 255)) + target_list.append(xywh) + print('\033[0;31;40m' + f' 发现火情 ' + '\033[0m') + + im0 = annotator.result() + cv2.imshow(window_name, im0) + cv2.waitKey(1) + + return target_list, im0 + +# 将图像预处理部分提取成函数 +def preprocess_image(im, img_size, stride): + src_shape = im.shape + # 修改到 1x3x416x416 + img = letterbox(im, img_size, stride=stride, auto=True)[0] + # Convert + img = img.transpose((2, 0, 1))[::-1] # HWC to CHW, BGR to RGB + # 获取 416x416 大小的图片 + img = np.ascontiguousarray(img) + + return img + + + +class PID: + def __init__(self, p, i, d, set_value, min_out=None, max_out=None): + """ + 初始化 PID 控制器参数 + :param p: 比例系数 + :param i: 积分系数 + :param d: 微分系数 + :param set_value: 目标值 + :param min_out: 输出最小值（可选） + :param max_out: 输出最大值（可选） + """ + self.kp = p + self.ki = i + self.kd = d + self.set_value = set_value + self.min_out = min_out + self.max_out = max_out + self.last_err = 0 # 上一次误差 + self.err_sum = 0 # 误差总和 + self.cur_time = time.monotonic() # 当前时间 + + # 增量式PID + def pid_increment(self, cur_value): + """ + 实现增量式 PID 控制 + :param cur_value: 当前值 + :return: PID 输出 + """ + err = self.set_value - cur_value + self.err_sum += err + diff_err = err - self.last_err + self.last_err = err + p_out = self.kp * err + i_out = self.ki * self.err_sum + d_out = self.kd * diff_err + out_pid = p_out + i_out + d_out + + # 对输出进行限幅操作 + if self.min_out is not None and out_pid < self.min_out: + out_pid = self.min_out + if self.max_out is not None and out_pid > self.max_out: + out_pid = self.max_out + + return out_pid + + # 位置式PID + def pid_position(self, cur_value): + """ + 实现位置式 PID 控制 + :param cur_value: 当前值 + :return: PID 输出 + """ + err = self.set_value - cur_value + d_err = (err - self.last_err) / (time.monotonic() - self.cur_time) # 计算微分项 + self.err_sum += err + out_pid = self.kp * err + self.ki * self.err_sum + self.kd * d_err + + # 对输出进行限幅操作 + if self.min_out is not None and out_pid < self.min_out: + out_pid = self.min_out + if self.max_out is not None and out_pid > self.max_out: + out_pid = self.max_out + + self.last_err = err + self.cur_time = time.monotonic() + + return out_pid + + +# #设置时延 +def delay_milliseconds(t): + """ + 延时函数，参数 t 表示延时毫秒数 + """ + start = time.perf_counter() + while True: + end = time.perf_counter() + if (end - start) * 1000 >= t: + break + +# 连接摄像头类 +class Capture: + def __init__(self, url='http://admin:admin@192.168.8.126:8081'): + self.url = url + self.cap = None + + def open(self): + if self.cap is None: + self.cap = cv2.VideoCapture(self.url) + if not self.cap.isOpened(): + raise Exception(f"Cannot open video stream from {self.url}") + + def close(self): + if self.cap is not None: + self.cap.release() + self.cap = None + + def read(self): + if self.cap is None: + self.open() + + ret, img = self.cap.read() + if not ret: + # 发生错误时尝试重连一次 + self.close() + self.open() + ret, img = self.cap.read() + if not ret: + raise Exception("Failed to read video frame") + + return img + + def __del__(self): + self.close() + +#图像色彩通道转换 +def my_cvtColor(img, code): + choice = { + 0: cv2.COLOR_BGRA2BGR, + 1: cv2.COLOR_BGR2GRAY, + 2: cv2.COLOR_BGRA2RGB, + 3: cv2.COLOR_BGRA2RGBA + } + + if not isinstance(img, np.ndarray): + raise TypeError("The input image is not a numpy array") + + if code not in choice.keys(): + raise ValueError("Invalid color conversion code") + + # 先判断原图是否为 BGRA/RGBA 格式，在进行颜色转换 + if img.ndim == 3 and img.shape[2] == 4: + img = cv2.cvtColor(img, choice[code]) + else: + img = cv2.cvtColor(img, cv2.COLOR_BGR2BGRA) + img = cv2.cvtColor(img, choice[code]) + + return img + +#检查数据正确性 +def check_data(arr): + try: + iter(arr) # 检查是否可迭代 + if len(arr) == 0: # 检查长度是否为0 + return True + else: + return False + except TypeError: # 不可迭代的情况 + return False + +#获取高程坡度 +def get_elevation_slope(lat, lng): + """ + 获取经纬度对应地点的海拔高度和坡度 + + :param lat: 纬度 + :param lng: 经度 + :return: 包含海拔高度和坡度信息的字典 + """ + url = 'https://portal.opentopography.org/API/globaldem?demtype=SRTMGL1&west={}&south={}&east={}&north={}&outputFormat=JSON'.format( + lng - 0.001, lat - 0.001, lng + 0.001, lat + 0.001) + response = requests.get(url) + + if response.status_code == 200: + json_data = response.json() + if 'elevation' in json_data and 'slope' in json_data: + elevation = json_data['elevation'] + slope = json_data['slope'] + return {'elevation': elevation, 'slope': slope} + else: + print('获取高度信息失败：{}'.format(json_data)) + else: + print('请求失败：HTTP错误{}'.format(response.status_code)) + + return None +def main(): + # cap = cv2.VideoCapture("http://admin:admin@192.168.8.126:8081") + # print("图像加载成功") + # 模型路径 + path = 'fire.pt' + # 尺寸大小 + width, height = 640, 640 + ip = input("输入摄像头地址：") + cap = Capture(ip) + conf = float(input("输入置信度：")) + predict = YOLO(path, "cuda:0", imgsz=(width, height), conf=conf, classes=None) + + while True: + img = cap.read() + img = np.rot90(img, 0) + img = np.array(img) + img = my_cvtColor(img,1) + target, im0 = predict.predict(img) + img_b64 = base64.b64encode(im0).decode('utf-8') + if check_data(target): + Fire_centX = target[0][0] + Fire_centY = target[0][1] + Fire_W = target[0][2] + Fire_H = target[0][3] + lat = 37.7749 + lng = -122.4194 + result = get_elevation_slope(lat, lng) + + if result: + elevation = result['elevation'] + slope = result['slope'] + else: + elevation = 200 + slope = 12 + # print(img_b64) + data = { + "img": img_b64, + "type": "Alarming", + "fire_flag": "fire", + "cent_x": Fire_centX, + "cent_y": Fire_centY, + "length": Fire_W, + "width": Fire_H, + "elevation": elevation, + "slope": slope + } + + json_data = json.dumps(data).encode('utf-8') + cs.send(json_data) + delay_milliseconds(100) + else: + + continue + +if __name__ == "__main__": + IP = int(input("请输入服务器地址：")) + port = input("请输入服务器端口号：") + cs = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + cs.connect((IP, port)) + print("服务器连接成功") + is_admin() + check_gpu() + main() + cs.close() diff --git a/src/fire_prediction/Qt_0.cpp b/src/Qt尝试预测/Qt_0.cpp similarity index 100% rename from src/fire_prediction/Qt_0.cpp rename to src/Qt尝试预测/Qt_0.cpp diff --git a/src/fire_prediction/Qt_1.cpp b/src/Qt尝试预测/Qt_1.cpp similarity index 100% rename from src/fire_prediction/Qt_1.cpp rename to src/Qt尝试预测/Qt_1.cpp diff --git a/src/fire_prediction/估算距离.cpp b/src/Qt预测_封装/估算距离.cpp similarity index 100% rename from src/fire_prediction/估算距离.cpp rename to src/Qt预测_封装/估算距离.cpp diff --git a/src/fire_prediction/标记火源.cpp b/src/Qt预测_封装/标记火源.cpp similarity index 100% rename from src/fire_prediction/标记火源.cpp rename to src/Qt预测_封装/标记火源.cpp diff --git a/src/fire_prediction/火势预测.cpp b/src/Qt预测_封装/火势预测.cpp similarity index 100% rename from src/fire_prediction/火势预测.cpp rename to src/Qt预测_封装/火势预测.cpp diff --git a/src/UAV_UI_new/UAV_UI_new/FP.h b/src/UAV_UI_new/FP.h similarity index 100% rename from src/UAV_UI_new/UAV_UI_new/FP.h rename to src/UAV_UI_new/FP.h diff --git a/src/UAV_UI_new/UAV_UI_new/Fire.png b/src/UAV_UI_new/Fire.png similarity index 100% rename from src/UAV_UI_new/UAV_UI_new/Fire.png rename to src/UAV_UI_new/Fire.png diff --git a/src/UAV_UI_new/UAV_UI_new/Prediction.cpp b/src/UAV_UI_new/Prediction.cpp similarity index 100% rename from src/UAV_UI_new/UAV_UI_new/Prediction.cpp rename to src/UAV_UI_new/Prediction.cpp diff --git a/src/UAV_UI_new/UAV_UI_new/Prediction.h b/src/UAV_UI_new/Prediction.h similarity index 100% rename from src/UAV_UI_new/UAV_UI_new/Prediction.h rename to src/UAV_UI_new/Prediction.h diff --git a/src/UAV_UI_new/UAV_UI_new/Prediction.ui b/src/UAV_UI_new/Prediction.ui similarity index 100% rename from src/UAV_UI_new/UAV_UI_new/Prediction.ui rename to src/UAV_UI_new/Prediction.ui diff --git a/src/UAV_UI_new/Setting.cpp b/src/UAV_UI_new/Setting.cpp index b5f5f3e..d064b1c 100644 --- a/src/UAV_UI_new/Setting.cpp +++ b/src/UAV_UI_new/Setting.cpp @@ -17,6 +17,11 @@ Setting::Setting(QWidget *parent) tcpsocket = new QTcpSocket(this); tcpsocket->connectToHost("192.168.8.100", 9090); connect(ui.finished, &QPushButton::clicked, this, &Setting::on_finished_button); + QString styleSheet = QString("background-image:url(:/background_1.png);\ + background-repeat:no-repeat;background-position:center;").arg(QCoreApplication::applicationDirPath()); + this->setStyleSheet(styleSheet); + this->resize(806, 453); + ui.finished->setStyleSheet("background-color: white;"); } Setting::~Setting() diff --git a/src/UAV_UI_new/Setting.h b/src/UAV_UI_new/Setting.h deleted file mode 100644 index 037eb43..0000000 --- a/src/UAV_UI_new/Setting.h +++ /dev/null @@ -1,23 +0,0 @@ -#pragma once - -#include -#include "ui_Setting.h" -#include -#include - -class Setting : public QMainWindow -{ - Q_OBJECT - -public: - Setting(QWidget *parent = nullptr); - ~Setting(); - QTcpServer* tcpserver; - QTcpSocket* tcpsocket; - -private: - Ui::SettingClass ui; -private slots: - void on_finished_button(); - -}; diff --git a/src/UAV_UI_new/Setting.ui b/src/UAV_UI_new/Setting.ui index a1af477..df56753 100644 --- a/src/UAV_UI_new/Setting.ui +++ b/src/UAV_UI_new/Setting.ui @@ -17,8 +17,8 @@ - 20 - 20 + 200 + 100 451 241 @@ -166,8 +166,8 @@ - 180 - 290 + 360 + 370 93 29 diff --git a/src/UAV_UI_new/UAV_UI_new/Settings.jpg b/src/UAV_UI_new/Settings.jpg similarity index 100% rename from src/UAV_UI_new/UAV_UI_new/Settings.jpg rename to src/UAV_UI_new/Settings.jpg diff --git a/src/UAV_UI_new/UAV_UI_new/Settings_2.jpg b/src/UAV_UI_new/Settings_2.jpg similarity index 100% rename from src/UAV_UI_new/UAV_UI_new/Settings_2.jpg rename to src/UAV_UI_new/Settings_2.jpg diff --git a/src/UAV_UI_new/UAV_UI_new.aps b/src/UAV_UI_new/UAV_UI_new.aps deleted file mode 100644 index 964179b..0000000 Binary files a/src/UAV_UI_new/UAV_UI_new.aps and /dev/null differ diff --git a/src/UAV_UI_new/UAV_UI_new.cpp b/src/UAV_UI_new/UAV_UI_new.cpp index 2e865ba..eeac212 100644 --- a/src/UAV_UI_new/UAV_UI_new.cpp +++ b/src/UAV_UI_new/UAV_UI_new.cpp @@ -1,5 +1,6 @@ #include "UAV_UI_new.h" #include "Setting.h" +#include "tips.h" #include #include #include @@ -12,8 +13,10 @@ using namespace cv; using namespace std; VideoCapture cap; -//const string VideoCaptureAdress = "http://admin:admin@192.168.8.126:8081"; -const string VideoCaptureAdress = "rtsp://192.168.144.108:8000/375897"; //ȳ +Prediction* Predict_UI; +int length, wid, start_pos_x, start_pos_y, heig,slope,elevation; +const string VideoCaptureAdress = "http://admin:admin@192.168.8.126:8081"; +//const string VideoCaptureAdress = "rtsp://192.168.144.108:8000/375897"; //ȳ //const string VideoCaptureAdress = "rtsp://192.168.144.108:8000/165506"; //nomal //const string VideoCaptureAdress = "C:\\Users\\87334\\Videos\\Captures\\Fast_sent.mp4"; UAV_UI_new::UAV_UI_new(QWidget* parent) @@ -26,7 +29,7 @@ UAV_UI_new::UAV_UI_new(QWidget* parent) connect(ui.Settings, &QPushButton::clicked, this, &UAV_UI_new::onclick_Setting_button); connect(ui.connection, &QPushButton::clicked, this, &UAV_UI_new::on_connection_button); connect(ui.stop, &QPushButton::clicked, this, &UAV_UI_new::on_stop_button); - connect(ui.action, &QPushButton::clicked, this, &UAV_UI_new::on_action_button); + connect(ui.Prediction, &QPushButton::clicked, this, &UAV_UI_new::on_predict_button); connect(timer, SIGNAL(timeout()), this, SLOT(importImage())); tcpsocket = new QTcpSocket(this); tcpsocket->connectToHost("192.168.8.100", 9090); @@ -42,14 +45,29 @@ UAV_UI_new::UAV_UI_new(QWidget* parent) QByteArray jsonData = tcpsocket->readAll(); // JSON QJsonDocument jsonDocument = QJsonDocument::fromJson(jsonData); QJsonObject jsonObject = jsonDocument.object(); - QString type = jsonObject.value("type").toString(); + QString type = jsonObject.value("type").toString(); if (type == "Alarming") { - QMessageBox msgBox; - msgBox.setWindowTitle("Alarming"); - msgBox.setText("Fire and Fire"); - msgBox.show(); + QPixmap image_Pre(":/Fire.png"); + tips* tip = new tips(image_Pre); + tip->show(); + ui.Prediction->setStyleSheet("color:red"); + length = jsonObject.value("length").toDouble(); + wid = jsonObject.value("width").toDouble(); + qDebug() << jsonObject.value("center_x").toDouble() << jsonObject.value("length").toDouble() / 2; + start_pos_x = jsonObject.value("center_x").toDouble() - jsonObject.value("length").toDouble() / 2; + start_pos_y = jsonObject.value("center_y").toDouble() - jsonObject.value("width").toDouble() / 2; + qDebug() << start_pos_x << " " << start_pos_y << "mAIN"; + slope = jsonObject.value("slope").toDouble(); + elevation = jsonObject.value("slope").toDouble(); + } + if (type == "Set") { + heig = jsonObject.value("z").toInt(); } }); + QString styleSheet = QString("background-image:url(:/background_3.png);\ + background-repeat:no-repeat;background-position:center;").arg(QCoreApplication::applicationDirPath()); + this->setStyleSheet(styleSheet); + this->resize(1440, 720); } UAV_UI_new::~UAV_UI_new() @@ -72,12 +90,15 @@ void UAV_UI_new::importImage() { image.step, QImage::Format_RGB888)); ui.display->setPixmap(showimage); + image_Pre = showimage; } void UAV_UI_new::on_stop_button() { timer->stop(); cap.release(); ui.display->clear(); } -void UAV_UI_new::on_action_button() { - //ž +void UAV_UI_new::on_predict_button() { + QPixmap image_Pre(":/Fire.png"); + Predict_UI = new Prediction(image_Pre, start_pos_x,start_pos_y,length,wid,100); + Predict_UI->show(); } diff --git a/src/UAV_UI_new/UAV_UI_new.h b/src/UAV_UI_new/UAV_UI_new.h index 0a029c1..f33ade1 100644 --- a/src/UAV_UI_new/UAV_UI_new.h +++ b/src/UAV_UI_new/UAV_UI_new.h @@ -3,6 +3,7 @@ #include #include "ui_UAV_UI_new.h" #include "Setting.h" +#include "Prediction.h" #include #include #include @@ -25,11 +26,12 @@ private: QTcpServer* tcpserver; QTcpSocket* tcpsocket; Setting Settings_UI; + QPixmap image_Pre; private slots: void on_connection_button(); void on_stop_button(); void importImage(); void onclick_Setting_button(); - void on_action_button(); + void on_predict_button(); }; diff --git a/src/UAV_UI_new/UAV_UI_new.qrc b/src/UAV_UI_new/UAV_UI_new.qrc index d2572c5..1867e34 100644 --- a/src/UAV_UI_new/UAV_UI_new.qrc +++ b/src/UAV_UI_new/UAV_UI_new.qrc @@ -1,4 +1,9 @@ - + + background_1.png + background_2.png + background_3.png + Fire.png + kill_fire.jpg diff --git a/src/UAV_UI_new/UAV_UI_new.rc b/src/UAV_UI_new/UAV_UI_new.rc deleted file mode 100644 index ae1f3fe..0000000 Binary files a/src/UAV_UI_new/UAV_UI_new.rc and /dev/null differ diff --git a/src/UAV_UI_new/UAV_UI_new.sln b/src/UAV_UI_new/UAV_UI_new.sln new file mode 100644 index 0000000..94712f4 --- /dev/null +++ b/src/UAV_UI_new/UAV_UI_new.sln @@ -0,0 +1,25 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio Version 17 +VisualStudioVersion = 17.5.33516.290 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "UAV_UI_new", "UAV_UI_new\UAV_UI_new.vcxproj", "{FB496CF3-A3CE-4A50-BAC4-A9F43A71A5F9}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|x64 = Debug|x64 + Release|x64 = Release|x64 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {FB496CF3-A3CE-4A50-BAC4-A9F43A71A5F9}.Debug|x64.ActiveCfg = Debug|x64 + {FB496CF3-A3CE-4A50-BAC4-A9F43A71A5F9}.Debug|x64.Build.0 = Debug|x64 + {FB496CF3-A3CE-4A50-BAC4-A9F43A71A5F9}.Release|x64.ActiveCfg = Release|x64 + {FB496CF3-A3CE-4A50-BAC4-A9F43A71A5F9}.Release|x64.Build.0 = Release|x64 + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {F3108D61-4572-47E9-AA99-3FC60AB655EB} + EndGlobalSection +EndGlobal diff --git a/src/UAV_UI_new/UAV_UI_new.ui b/src/UAV_UI_new/UAV_UI_new.ui index 0559558..3e5a82b 100644 --- a/src/UAV_UI_new/UAV_UI_new.ui +++ b/src/UAV_UI_new/UAV_UI_new.ui @@ -6,10 +6,22 @@ 0 0 - 1159 - 682 + 1440 + 1000 + + + 0 + 0 + + + + + 1440 + 1200 + + UAV_UI_new @@ -64,7 +76,7 @@ - stop + 关闭图像 @@ -77,7 +89,7 @@ - connection + 连接图像 @@ -90,20 +102,20 @@ - 图像播放处 + 实时图像 - 1060 + 1350 0 93 29 - Settings + 设置 @@ -119,13 +131,26 @@ 出警 + + + + 820 + 260 + 93 + 29 + + + + 预测 + + 0 0 - 1159 + 1440 26 diff --git a/src/UAV_UI_new/UAV_UI_new.vcxproj b/src/UAV_UI_new/UAV_UI_new.vcxproj index 3e38d8b..21ea755 100644 --- a/src/UAV_UI_new/UAV_UI_new.vcxproj +++ b/src/UAV_UI_new/UAV_UI_new.vcxproj @@ -92,10 +92,12 @@ + + @@ -105,12 +107,20 @@ + + + + + + + + diff --git a/src/UAV_UI_new/UAV_UI_new.vcxproj.filters b/src/UAV_UI_new/UAV_UI_new.vcxproj.filters index 8d90fdc..804e6e6 100644 --- a/src/UAV_UI_new/UAV_UI_new.vcxproj.filters +++ b/src/UAV_UI_new/UAV_UI_new.vcxproj.filters @@ -46,6 +46,9 @@ Source Files + + Source Files + @@ -54,6 +57,9 @@ Header Files + + Header Files + @@ -62,15 +68,35 @@ Form Files + + Form Files + Header Files + + Header Files + + + Header Files + Resource Files + + + Resource Files + + + Resource Files + + + Resource Files + + \ No newline at end of file diff --git a/src/UAV_UI_new/UAV_UI_new.vcxproj.user b/src/UAV_UI_new/UAV_UI_new.vcxproj.user index fee5cdc..9b3500c 100644 --- a/src/UAV_UI_new/UAV_UI_new.vcxproj.user +++ b/src/UAV_UI_new/UAV_UI_new.vcxproj.user @@ -2,9 +2,9 @@ - 2023-05-21T16:36:10.6302989Z + 2023-06-14T08:40:27.1306328Z - 2023-05-21T16:36:10.6837787Z + 2023-06-14T08:40:27.2066207Z \ No newline at end of file diff --git a/src/UAV_UI_new/UAV_UI_new/Setting.cpp b/src/UAV_UI_new/UAV_UI_new/Setting.cpp deleted file mode 100644 index d064b1c..0000000 --- a/src/UAV_UI_new/UAV_UI_new/Setting.cpp +++ /dev/null @@ -1,56 +0,0 @@ -#include "Setting.h" -#include -#include -#include -#include -#include - -Setting::Setting(QWidget *parent) - : QMainWindow(parent) -{ - ui.setupUi(this); - /*float longitude = ui.longitude->text().toFloat(); - float latitude = ui.latitude->text().toFloat(); - int hours = ui.hours->text().toInt(); - int minutes = ui.minutes->text().toInt(); - int seconds = ui.seconds->text().toInt();*/ - tcpsocket = new QTcpSocket(this); - tcpsocket->connectToHost("192.168.8.100", 9090); - connect(ui.finished, &QPushButton::clicked, this, &Setting::on_finished_button); - QString styleSheet = QString("background-image:url(:/background_1.png);\ - background-repeat:no-repeat;background-position:center;").arg(QCoreApplication::applicationDirPath()); - this->setStyleSheet(styleSheet); - this->resize(806, 453); - ui.finished->setStyleSheet("background-color: white;"); -} - -Setting::~Setting() -{ -} -void Setting::on_finished_button() { - float longitude = ui.longitude->text().toFloat(); - float latitude = ui.latitude->text().toFloat(); - int hours = ui.hours->text().toInt(); - int minutes = ui.minutes->text().toInt(); - int seconds = ui.seconds->text().toInt(); - int x = ui.x->text().toInt(); - int y = ui.y->text().toInt(); - int z = ui.z->text().toInt(); - QJsonObject msg; - msg.insert("type", "Set"); - msg.insert("lon", longitude); - msg.insert("lat", latitude); - msg.insert("hours", hours); - msg.insert("minutes", minutes); - msg.insert("seconds", seconds); - msg.insert("x", x); - msg.insert("y", y); - msg.insert("z", z); - QJsonDocument jsonDocument; - jsonDocument.setObject(msg); - QByteArray dataArray = jsonDocument.toJson(); - if (tcpsocket->write(dataArray) == -1) { - qDebug() << "send TCP data package failed!"; - } - qDebug() << "sent!"; -} diff --git a/src/UAV_UI_new/UAV_UI_new/Setting.h b/src/UAV_UI_new/UAV_UI_new/Setting.h deleted file mode 100644 index 037eb43..0000000 --- a/src/UAV_UI_new/UAV_UI_new/Setting.h +++ /dev/null @@ -1,23 +0,0 @@ -#pragma once - -#include -#include "ui_Setting.h" -#include -#include - -class Setting : public QMainWindow -{ - Q_OBJECT - -public: - Setting(QWidget *parent = nullptr); - ~Setting(); - QTcpServer* tcpserver; - QTcpSocket* tcpsocket; - -private: - Ui::SettingClass ui; -private slots: - void on_finished_button(); - -}; diff --git a/src/UAV_UI_new/UAV_UI_new/Setting.ui b/src/UAV_UI_new/UAV_UI_new/Setting.ui deleted file mode 100644 index df56753..0000000 --- a/src/UAV_UI_new/UAV_UI_new/Setting.ui +++ /dev/null @@ -1,203 +0,0 @@ - - - SettingClass - - - - 0 - 0 - 871 - 571 - - - - Setting - - - - - - 200 - 100 - 451 - 241 - - - - - - - 出发时间： - - - - - - - - 150 - 16777215 - - - - 秒 - - - - - - - - 150 - 16777215 - - - - 时 - - - - - - - - 150 - 16777215 - - - - 经度 - - - - - - - - 150 - 16777215 - - - - 分 - - - - - - - - 150 - 16777215 - - - - 纬度 - - - - - - - - 80 - 16777215 - - - - 目的地 - - - - - - - - 16777215 - 20 - - - - x,y,z - - - - - - - - 150 - 16777215 - - - - 0 - - - - - - - - 150 - 16777215 - - - - 0 - - - - - - - - 150 - 16777215 - - - - 0 - - - - - - - - - 360 - 370 - 93 - 29 - - - - 完成 - - - - - - - 0 - 0 - 871 - 26 - - - - - - TopToolBarArea - - - false - - - - - - - - diff --git a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.aps b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.aps deleted file mode 100644 index 964179b..0000000 Binary files a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.aps and /dev/null differ diff --git a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.cpp b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.cpp index eeac212..e4ff5cf 100644 --- a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.cpp +++ b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.cpp @@ -1,6 +1,4 @@ #include "UAV_UI_new.h" -#include "Setting.h" -#include "tips.h" #include #include #include @@ -8,17 +6,11 @@ #include #include #include -#include -#include using namespace cv; using namespace std; VideoCapture cap; -Prediction* Predict_UI; -int length, wid, start_pos_x, start_pos_y, heig,slope,elevation; -const string VideoCaptureAdress = "http://admin:admin@192.168.8.126:8081"; -//const string VideoCaptureAdress = "rtsp://192.168.144.108:8000/375897"; //ȳ -//const string VideoCaptureAdress = "rtsp://192.168.144.108:8000/165506"; //nomal -//const string VideoCaptureAdress = "C:\\Users\\87334\\Videos\\Captures\\Fast_sent.mp4"; +//const string VideoCaptureAdress = "http://admin:admin@192.168.8.126:8081"; +const string VideoCaptureAdress = "C:\\Users\\87334\\Videos\\Captures\\Fast_sent.mp4"; UAV_UI_new::UAV_UI_new(QWidget* parent) : QMainWindow(parent) { @@ -26,10 +18,8 @@ UAV_UI_new::UAV_UI_new(QWidget* parent) timer = new QTimer(this); ui.display->setStyleSheet("border:1px solid black "); ui.play_tag->setStyleSheet("background-color:white"); - connect(ui.Settings, &QPushButton::clicked, this, &UAV_UI_new::onclick_Setting_button); connect(ui.connection, &QPushButton::clicked, this, &UAV_UI_new::on_connection_button); connect(ui.stop, &QPushButton::clicked, this, &UAV_UI_new::on_stop_button); - connect(ui.Prediction, &QPushButton::clicked, this, &UAV_UI_new::on_predict_button); connect(timer, SIGNAL(timeout()), this, SLOT(importImage())); tcpsocket = new QTcpSocket(this); tcpsocket->connectToHost("192.168.8.100", 9090); @@ -42,43 +32,17 @@ UAV_UI_new::UAV_UI_new(QWidget* parent) tip->show(); }); connect(tcpsocket, &QTcpSocket::readyRead, [=]() { - QByteArray jsonData = tcpsocket->readAll(); // JSON - QJsonDocument jsonDocument = QJsonDocument::fromJson(jsonData); - QJsonObject jsonObject = jsonDocument.object(); - QString type = jsonObject.value("type").toString(); - if (type == "Alarming") { - QPixmap image_Pre(":/Fire.png"); - tips* tip = new tips(image_Pre); - tip->show(); - ui.Prediction->setStyleSheet("color:red"); - length = jsonObject.value("length").toDouble(); - wid = jsonObject.value("width").toDouble(); - qDebug() << jsonObject.value("center_x").toDouble() << jsonObject.value("length").toDouble() / 2; - start_pos_x = jsonObject.value("center_x").toDouble() - jsonObject.value("length").toDouble() / 2; - start_pos_y = jsonObject.value("center_y").toDouble() - jsonObject.value("width").toDouble() / 2; - qDebug() << start_pos_x << " " << start_pos_y << "mAIN"; - slope = jsonObject.value("slope").toDouble(); - elevation = jsonObject.value("slope").toDouble(); - } - if (type == "Set") { - heig = jsonObject.value("z").toInt(); - } + QString message = tcpsocket->readAll(); + ui.message->setText(message); }); - QString styleSheet = QString("background-image:url(:/background_3.png);\ - background-repeat:no-repeat;background-position:center;").arg(QCoreApplication::applicationDirPath()); - this->setStyleSheet(styleSheet); - this->resize(1440, 720); } UAV_UI_new::~UAV_UI_new() {} void UAV_UI_new::on_connection_button() { cap.open(VideoCaptureAdress); - timer->start(100); + timer->start(10); }; -void UAV_UI_new::onclick_Setting_button() { - Settings_UI.show(); -} void UAV_UI_new::importImage() { Mat image; cap >> image; @@ -90,15 +54,9 @@ void UAV_UI_new::importImage() { image.step, QImage::Format_RGB888)); ui.display->setPixmap(showimage); - image_Pre = showimage; } void UAV_UI_new::on_stop_button() { timer->stop(); cap.release(); ui.display->clear(); } -void UAV_UI_new::on_predict_button() { - QPixmap image_Pre(":/Fire.png"); - Predict_UI = new Prediction(image_Pre, start_pos_x,start_pos_y,length,wid,100); - Predict_UI->show(); -} diff --git a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.h b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.h index f33ade1..7026341 100644 --- a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.h +++ b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.h @@ -2,8 +2,6 @@ #include #include "ui_UAV_UI_new.h" -#include "Setting.h" -#include "Prediction.h" #include #include #include @@ -25,13 +23,8 @@ private: double rate; QTcpServer* tcpserver; QTcpSocket* tcpsocket; - Setting Settings_UI; - QPixmap image_Pre; - private slots: void on_connection_button(); void on_stop_button(); void importImage(); - void onclick_Setting_button(); - void on_predict_button(); }; diff --git a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.qrc b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.qrc index 1867e34..d2572c5 100644 --- a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.qrc +++ b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.qrc @@ -1,9 +1,4 @@ - - background_1.png - background_2.png - background_3.png - Fire.png - kill_fire.jpg + diff --git a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.rc b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.rc deleted file mode 100644 index ae1f3fe..0000000 Binary files a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.rc and /dev/null differ diff --git a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.ui b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.ui index 3e5a82b..f8564cd 100644 --- a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.ui +++ b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.ui @@ -6,22 +6,10 @@ 0 0 - 1440 - 1000 + 1159 + 682 - - - 0 - 0 - - - - - 1440 - 1200 - - UAV_UI_new @@ -76,7 +64,7 @@ - 关闭图像 + stop @@ -89,7 +77,7 @@ - 连接图像 + connection @@ -102,46 +90,20 @@ - 实时图像 - - - - - - 1350 - 0 - 93 - 29 - - - - 设置 - - - - - - 820 - 200 - 93 - 29 - - - - 出警 + 图像播放处 - + - 820 - 260 - 93 - 29 + 830 + 250 + 201 + 151 - 预测 + TextLabel @@ -150,7 +112,7 @@ 0 0 - 1440 + 1159 26 diff --git a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj index 21ea755..c1f1c24 100644 --- a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj +++ b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj @@ -92,13 +92,9 @@ - - - - @@ -106,21 +102,6 @@ - - - - - - - - - - - - - - - diff --git a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj.filters b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj.filters index 804e6e6..9fa663e 100644 --- a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj.filters +++ b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj.filters @@ -43,60 +43,15 @@ Source Files - - Source Files - - - Source Files - Header Files - - Header Files - - - Header Files - Form Files - - Form Files - - - Form Files - - - - - Header Files - - - Header Files - - - Header Files - - - - - Resource Files - - - - - Resource Files - - - Resource Files - - - Resource Files - \ No newline at end of file diff --git a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj.user b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj.user index 9b3500c..7009853 100644 --- a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj.user +++ b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj.user @@ -2,9 +2,9 @@ - 2023-06-14T08:40:27.1306328Z + 2023-04-13T07:12:41.7498212Z - 2023-06-14T08:40:27.2066207Z + 2023-04-13T07:12:41.8188628Z \ No newline at end of file diff --git a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new1.aps b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new1.aps deleted file mode 100644 index a29db6b..0000000 Binary files a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new1.aps and /dev/null differ diff --git a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new1.rc b/src/UAV_UI_new/UAV_UI_new/UAV_UI_new1.rc deleted file mode 100644 index 677befe..0000000 Binary files a/src/UAV_UI_new/UAV_UI_new/UAV_UI_new1.rc and /dev/null differ diff --git a/src/UAV_UI_new/UAV_UI_new/background_1.png b/src/UAV_UI_new/UAV_UI_new/background_1.png deleted file mode 100644 index f44c761..0000000 Binary files a/src/UAV_UI_new/UAV_UI_new/background_1.png and /dev/null differ diff --git a/src/UAV_UI_new/UAV_UI_new/background_2.png b/src/UAV_UI_new/UAV_UI_new/background_2.png deleted file mode 100644 index 80f72e9..0000000 Binary files a/src/UAV_UI_new/UAV_UI_new/background_2.png and /dev/null differ diff --git a/src/UAV_UI_new/UAV_UI_new/background_3 - 副本.png b/src/UAV_UI_new/UAV_UI_new/background_3 - 副本.png deleted file mode 100644 index 0e15823..0000000 Binary files a/src/UAV_UI_new/UAV_UI_new/background_3 - 副本.png and /dev/null differ diff --git a/src/UAV_UI_new/UAV_UI_new/background_3.png b/src/UAV_UI_new/UAV_UI_new/background_3.png deleted file mode 100644 index 1c7742d..0000000 Binary files a/src/UAV_UI_new/UAV_UI_new/background_3.png and /dev/null differ diff --git a/src/UAV_UI_new/UAV_UI_new/main.cpp b/src/UAV_UI_new/UAV_UI_new/main.cpp index ae8b72b..88e05b7 100644 --- a/src/UAV_UI_new/UAV_UI_new/main.cpp +++ b/src/UAV_UI_new/UAV_UI_new/main.cpp @@ -1,9 +1,5 @@ #include "UAV_UI_new.h" #include -#include -#include -using namespace std; -using namespace cv; int main(int argc, char *argv[]) { diff --git a/src/UAV_UI_new/UAV_UI_new/resource.h b/src/UAV_UI_new/UAV_UI_new/resource.h deleted file mode 100644 index c373af6..0000000 --- a/src/UAV_UI_new/UAV_UI_new/resource.h +++ /dev/null @@ -1,14 +0,0 @@ -//{{NO_DEPENDENCIES}} -// Microsoft Visual C++ generated include file. -// Used by UAV_UI_new.rc - -// ¶һĬֵ -// -#ifdef APSTUDIO_INVOKED -#ifndef APSTUDIO_READONLY_SYMBOLS -#define _APS_NEXT_RESOURCE_VALUE 101 -#define _APS_NEXT_COMMAND_VALUE 40001 -#define _APS_NEXT_CONTROL_VALUE 1001 -#define _APS_NEXT_SYMED_VALUE 101 -#endif -#endif diff --git a/src/UAV_UI_new/UAV_UI_new/resource1.h b/src/UAV_UI_new/UAV_UI_new/resource1.h deleted file mode 100644 index eb2ce79..0000000 --- a/src/UAV_UI_new/UAV_UI_new/resource1.h +++ /dev/null @@ -1,14 +0,0 @@ -//{{NO_DEPENDENCIES}} -// Microsoft Visual C++ generated include file. -// Used by UAV_UI_new1.rc - -// ¶һĬֵ -// -#ifdef APSTUDIO_INVOKED -#ifndef APSTUDIO_READONLY_SYMBOLS -#define _APS_NEXT_RESOURCE_VALUE 101 -#define _APS_NEXT_COMMAND_VALUE 40001 -#define _APS_NEXT_CONTROL_VALUE 1001 -#define _APS_NEXT_SYMED_VALUE 101 -#endif -#endif diff --git a/src/UAV_UI_new/UAV_UI_new/tips.cpp b/src/UAV_UI_new/UAV_UI_new/tips.cpp index e878542..0fba930 100644 --- a/src/UAV_UI_new/UAV_UI_new/tips.cpp +++ b/src/UAV_UI_new/UAV_UI_new/tips.cpp @@ -1,20 +1,10 @@ #include "tips.h" -tips::tips(QPixmap image,QWidget *parent) +tips::tips(QWidget *parent) : QMainWindow(parent) { ui.setupUi(this); - ui.display->setPixmap(image); - connect(ui.action, &QPushButton::clicked, this, &tips::on_action_button); - ui.action->setStyleSheet("background-color:red;"); - QString styleSheet = QString("background-image:url(:/kill_fire.jpg);\ - background-repeat:no-repeat;background-position:center;").arg(QCoreApplication::applicationDirPath()); - this->setStyleSheet(styleSheet); } tips::~tips() -{ -} -void tips::on_action_button() { - //ž -} +{} diff --git a/src/UAV_UI_new/UAV_UI_new/tips.h b/src/UAV_UI_new/UAV_UI_new/tips.h index be5b454..d9ae8ec 100644 --- a/src/UAV_UI_new/UAV_UI_new/tips.h +++ b/src/UAV_UI_new/UAV_UI_new/tips.h @@ -8,10 +8,9 @@ class tips : public QMainWindow Q_OBJECT public: - tips(QPixmap image, QWidget *parent = nullptr); + tips(QWidget *parent = nullptr); ~tips(); private: Ui::tipsClass ui; - void on_action_button(); }; diff --git a/src/UAV_UI_new/UAV_UI_new/tips.ui b/src/UAV_UI_new/UAV_UI_new/tips.ui index da25089..cec4907 100644 --- a/src/UAV_UI_new/UAV_UI_new/tips.ui +++ b/src/UAV_UI_new/UAV_UI_new/tips.ui @@ -1,107 +1,22 @@ - - + tipsClass - - + + + tipsClass + + - 0 - 0 - 1130 - 644 + 0 + 0 + 600 + 400 - - - 1130 - 644 - - - - - 1130 - 644 - - - + tips - - - - - - 19 - 6 - 81 - 31 - - - - 火势状况 - - - - - true - - - - 20 - 30 - 640 - 480 - - - - - 640 - 480 - - - - - 640 - 480 - - - - - - - - - - 830 - 40 - 93 - 29 - - - - 出警 - - - - - - - 0 - 0 - 1130 - 26 - - - - - - TopToolBarArea - - - false - - - + - - + + - + diff --git a/src/UAV_UI_new/x64/Debug/UAV_UI_new.exe.recipe b/src/UAV_UI_new/UAV_UI_new/x64/Debug/UAV_UI_new.exe.recipe similarity index 100% rename from src/UAV_UI_new/x64/Debug/UAV_UI_new.exe.recipe rename to src/UAV_UI_new/UAV_UI_new/x64/Debug/UAV_UI_new.exe.recipe diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/UAV_UI_new.log b/src/UAV_UI_new/UAV_UI_new/x64/Debug/UAV_UI_new.log index e71c625..f8ae5f7 100644 --- a/src/UAV_UI_new/UAV_UI_new/x64/Debug/UAV_UI_new.log +++ b/src/UAV_UI_new/UAV_UI_new/x64/Debug/UAV_UI_new.log @@ -1,25 +1,8 @@ - uic tips.ui - rcc UAV_UI_new.qrc - UAV_UI_new.cpp - tips.cpp -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x249 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\tips.cpp(1,1): warning C4828: 文件包含在偏移 0x229 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x24b 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x24c 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\tips.cpp(1,1): warning C4828: 文件包含在偏移 0x22c 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x24e 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x6a3 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\tips.cpp(1,1): warning C4828: 文件包含在偏移 0x22d 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x6a4 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\tips.cpp(1,1): warning C4828: 文件包含在偏移 0x22e 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x6a5 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x6aa 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x7b1 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x7b2 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x7b4 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x7bb 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x7bd 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x7be 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 - moc_tips.cpp - qrc_UAV_UI_new.cpp + UAV_UI_new.cpp + main.cpp +D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x48f 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 +D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x490 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 +D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x491 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 +D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x496 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 + moc_UAV_UI_new.cpp UAV_UI_new.vcxproj -> D:\software\UAV_UI\UAV_UI_new\x64\Debug\UAV_UI_new.exe diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/UAV_UI_new.obj b/src/UAV_UI_new/UAV_UI_new/x64/Debug/UAV_UI_new.obj index b62bfa9..8e04889 100644 Binary files a/src/UAV_UI_new/UAV_UI_new/x64/Debug/UAV_UI_new.obj and b/src/UAV_UI_new/UAV_UI_new/x64/Debug/UAV_UI_new.obj differ diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/UAV_UI_new.tlog/CL.command.1.tlog b/src/UAV_UI_new/UAV_UI_new/x64/Debug/UAV_UI_new.tlog/CL.command.1.tlog index 541ed77..b724fa6 100644 Binary files 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a/src/UAV_UI_new/UAV_UI_new/x64/Debug/main.obj and b/src/UAV_UI_new/UAV_UI_new/x64/Debug/main.obj differ diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc/moc_UAV_UI_new.cpp b/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc/moc_UAV_UI_new.cpp index 09c5f30..c531fc9 100644 --- a/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc/moc_UAV_UI_new.cpp +++ b/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc/moc_UAV_UI_new.cpp @@ -23,8 +23,8 @@ QT_BEGIN_MOC_NAMESPACE QT_WARNING_PUSH QT_WARNING_DISABLE_DEPRECATED struct qt_meta_stringdata_UAV_UI_new_t { - const uint offsetsAndSize[14]; - char stringdata0[101]; + const uint offsetsAndSize[10]; + char stringdata0[60]; }; #define QT_MOC_LITERAL(ofs, len) \ uint(offsetof(qt_meta_stringdata_UAV_UI_new_t, stringdata0) + ofs), len @@ -34,14 +34,11 @@ QT_MOC_LITERAL(0, 10), // "UAV_UI_new" QT_MOC_LITERAL(11, 20), // "on_connection_button" QT_MOC_LITERAL(32, 0), // "" QT_MOC_LITERAL(33, 14), // "on_stop_button" -QT_MOC_LITERAL(48, 11), // "importImage" -QT_MOC_LITERAL(60, 22), // "onclick_Setting_button" -QT_MOC_LITERAL(83, 17) // "on_predict_button" +QT_MOC_LITERAL(48, 11) // "importImage" }, "UAV_UI_new\0on_connection_button\0\0" - "on_stop_button\0importImage\0" - "onclick_Setting_button\0on_predict_button" + "on_stop_button\0importImage" }; #undef QT_MOC_LITERAL @@ -51,7 +48,7 @@ static const uint qt_meta_data_UAV_UI_new[] = { 10, // revision 0, // classname 0, 0, // classinfo - 5, 14, // methods + 3, 14, // methods 0, 0, // properties 0, 0, // enums/sets 0, 0, // constructors @@ -59,15 +56,11 @@ static const uint qt_meta_data_UAV_UI_new[] = { 0, // signalCount // slots: name, argc, parameters, tag, flags, initial metatype offsets - 1, 0, 44, 2, 0x08, 1 /* Private */, - 3, 0, 45, 2, 0x08, 2 /* Private */, - 4, 0, 46, 2, 0x08, 3 /* Private */, - 5, 0, 47, 2, 0x08, 4 /* Private */, - 6, 0, 48, 2, 0x08, 5 /* Private */, + 1, 0, 32, 2, 0x08, 1 /* Private */, + 3, 0, 33, 2, 0x08, 2 /* Private */, + 4, 0, 34, 2, 0x08, 3 /* Private */, // slots: parameters - QMetaType::Void, - QMetaType::Void, QMetaType::Void, QMetaType::Void, QMetaType::Void, @@ -84,8 +77,6 @@ void UAV_UI_new::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, case 0: _t->on_connection_button(); break; case 1: _t->on_stop_button(); break; case 2: _t->importImage(); break; - case 3: _t->onclick_Setting_button(); break; - case 4: _t->on_predict_button(); break; default: ; } } @@ -100,7 +91,7 @@ const QMetaObject UAV_UI_new::staticMetaObject = { { nullptr, qt_incomplete_metaTypeArray -, QtPrivate::TypeAndForceComplete, QtPrivate::TypeAndForceComplete, QtPrivate::TypeAndForceComplete, QtPrivate::TypeAndForceComplete, QtPrivate::TypeAndForceComplete +, QtPrivate::TypeAndForceComplete, QtPrivate::TypeAndForceComplete, QtPrivate::TypeAndForceComplete >, @@ -127,13 +118,13 @@ int UAV_UI_new::qt_metacall(QMetaObject::Call _c, int _id, void **_a) if (_id < 0) return _id; if (_c == QMetaObject::InvokeMetaMethod) { - if (_id < 5) + if (_id < 3) qt_static_metacall(this, _c, _id, _a); - _id -= 5; + _id -= 3; } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) { - if (_id < 5) + if (_id < 3) *reinterpret_cast(_a[0]) = QMetaType(); - _id -= 5; + _id -= 3; } return _id; } diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc/moc_tips.cpp b/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc/moc_tips.cpp index 66861d8..f742264 100644 --- a/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc/moc_tips.cpp +++ b/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc/moc_tips.cpp @@ -8,7 +8,6 @@ #include #include "../../../tips.h" -#include #include #include #if !defined(Q_MOC_OUTPUT_REVISION) diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc_UAV_UI_new.obj b/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc_UAV_UI_new.obj index ed1ea9d..cde9d6f 100644 Binary files a/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc_UAV_UI_new.obj and b/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc_UAV_UI_new.obj differ diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc_tips.obj b/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc_tips.obj index d1b0010..163a2be 100644 Binary files a/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc_tips.obj and b/src/UAV_UI_new/UAV_UI_new/x64/Debug/moc_tips.obj differ diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/qtvars_x64_Debug.props b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/qtvars_x64_Debug.props index fccc4b5..d86d9c0 100644 --- a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/qtvars_x64_Debug.props +++ b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/qtvars_x64_Debug.props @@ -1,7 +1,7 @@ _WINDOWS;UNICODE;_UNICODE;WIN32;_ENABLE_EXTENDED_ALIGNED_STORAGE;WIN64;QT_WIDGETS_LIB;QT_GUI_LIB;QT_NETWORK_LIB;QT_CORE_LIB -C:\Users\87334\AppData\Local\Temp\lm30cisv.vpi;D:\QT111\6.2.4\msvc2019_64\include;D:\QT111\6.2.4\msvc2019_64\include\QtWidgets;D:\QT111\6.2.4\msvc2019_64\include\QtGui;D:\QT111\6.2.4\msvc2019_64\include\QtNetwork;D:\QT111\6.2.4\msvc2019_64\include\QtCore;C:\Users\87334\AppData\Local\Temp\lm30cisv.vpi;/include;D:\QT111\6.2.4\msvc2019_64\mkspecs\win32-msvc +C:\Users\87334\AppData\Local\Temp\omilqb04.qzi;D:\QT111\6.2.4\msvc2019_64\include;D:\QT111\6.2.4\msvc2019_64\include\QtWidgets;D:\QT111\6.2.4\msvc2019_64\include\QtGui;D:\QT111\6.2.4\msvc2019_64\include\QtNetwork;D:\QT111\6.2.4\msvc2019_64\include\QtCore;C:\Users\87334\AppData\Local\Temp\omilqb04.qzi;/include;D:\QT111\6.2.4\msvc2019_64\mkspecs\win32-msvc stdcpp17 MultiThreadedDebugDLL -Zc:rvalueCast -Zc:inline -Zc:strictStrings -Zc:throwingNew -permissive- -Zc:__cplusplus -Zc:externConstexpr -utf-8 diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/.qmake.stash b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/.qmake.stash index b84884c..bf32b6a 100644 --- a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/.qmake.stash +++ b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/.qmake.stash @@ -5,25 +5,3 @@ QMAKE_CXX.COMPILER_MACROS = \ QT_COMPILER_STDCXX \ QMAKE_MSC_VER \ QMAKE_MSC_FULL_VER -QMAKE_CXX.INCDIRS = \ - D:\\OpenCV\\opencv\\build\\include\\opencv2 \ - D:\\OpenCV\\opencv\\build\\include \ - "D:\\Visual Studio\\2019\\community\\VC\\Tools\\MSVC\\14.35.32215\\include" \ - "D:\\Visual Studio\\2019\\community\\VC\\Tools\\MSVC\\14.35.32215\\atlmfc\\include" \ - "D:\\Visual Studio\\2019\\community\\VC\\Auxiliary\\VS\\include" \ - "D:\\Windows Kits\\10\\Include\\10.0.22000.0\\ucrt" \ - "D:\\Visual Studio\\2019\\community\\VC\\Auxiliary\\VS\\UnitTest\\include" \ - "D:\\Windows Kits\\10\\Include\\10.0.22000.0\\um" \ - "D:\\Windows Kits\\10\\Include\\10.0.22000.0\\shared" \ - "D:\\Windows Kits\\10\\Include\\10.0.22000.0\\winrt" \ - "D:\\Windows Kits\\10\\Include\\10.0.22000.0\\cppwinrt" \ - Include\\um -QMAKE_CXX.LIBDIRS = \ - D:\\OpenCV\\opencv\\build\\x64\\vc15\\lib \ - "D:\\Visual Studio\\2019\\community\\VC\\Tools\\MSVC\\14.35.32215\\lib\\x64" \ - "D:\\Visual Studio\\2019\\community\\VC\\Tools\\MSVC\\14.35.32215\\atlmfc\\lib\\x64" \ - "D:\\Visual Studio\\2019\\community\\VC\\Auxiliary\\VS\\lib\\x64" \ - "D:\\Windows Kits\\10\\lib\\10.0.22000.0\\ucrt\\x64" \ - "D:\\Visual Studio\\2019\\community\\VC\\Auxiliary\\VS\\UnitTest\\lib" \ - "D:\\Windows Kits\\10\\lib\\10.0.22000.0\\um\\x64" \ - lib\\um\\x64 diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/FB496CF3-A3CE-4A50-BAC4-A9F43A71A5F9.UAV_UI_new.designtime.idx b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/FB496CF3-A3CE-4A50-BAC4-A9F43A71A5F9.UAV_UI_new.designtime.idx new file mode 100644 index 0000000..c077172 --- /dev/null +++ b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/FB496CF3-A3CE-4A50-BAC4-A9F43A71A5F9.UAV_UI_new.designtime.idx @@ -0,0 +1 @@ +C:\Users\87334\AppData\Local\Temp\pdg1r02b.ncv.designtime.props diff --git a/src/UAV_UI_new/x64/Debug/qmake/temp/moc_predefs.h.cbt b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/moc_predefs.h.cbt similarity index 100% rename from src/UAV_UI_new/x64/Debug/qmake/temp/moc_predefs.h.cbt rename to src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/moc_predefs.h.cbt diff --git a/src/UAV_UI_new/x64/Debug/qmake/temp/props.txt b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/props.txt similarity index 100% rename from src/UAV_UI_new/x64/Debug/qmake/temp/props.txt rename to src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/props.txt diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars.log b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars.log index 90fd316..d09d928 100644 --- a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars.log +++ b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars.log @@ -1 +1 @@ -Info: creating stash file C:\Users\87334\AppData\Local\Temp\lm30cisv.vpi\.qmake.stash +Info: creating stash file C:\Users\87334\AppData\Local\Temp\omilqb04.qzi\.qmake.stash diff --git a/src/UAV_UI_new/x64/Debug/qmake/temp/qtvars.pro b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars.pro similarity index 100% rename from src/UAV_UI_new/x64/Debug/qmake/temp/qtvars.pro rename to src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars.pro diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars.vcxproj b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars.vcxproj index cc00771..9223e2a 100644 --- a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars.vcxproj +++ b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars.vcxproj @@ -33,7 +33,7 @@ - C:\Users\87334\AppData\Local\Temp\lm30cisv.vpi;D:\QT111\6.2.4\msvc2019_64\include;D:\QT111\6.2.4\msvc2019_64\include\QtWidgets;D:\QT111\6.2.4\msvc2019_64\include\QtGui;D:\QT111\6.2.4\msvc2019_64\include\QtNetwork;D:\QT111\6.2.4\msvc2019_64\include\QtCore;C:\Users\87334\AppData\Local\Temp\lm30cisv.vpi;/include;D:\QT111\6.2.4\msvc2019_64\mkspecs\win32-msvc;%(AdditionalIncludeDirectories) + C:\Users\87334\AppData\Local\Temp\omilqb04.qzi;D:\QT111\6.2.4\msvc2019_64\include;D:\QT111\6.2.4\msvc2019_64\include\QtWidgets;D:\QT111\6.2.4\msvc2019_64\include\QtGui;D:\QT111\6.2.4\msvc2019_64\include\QtNetwork;D:\QT111\6.2.4\msvc2019_64\include\QtCore;C:\Users\87334\AppData\Local\Temp\omilqb04.qzi;/include;D:\QT111\6.2.4\msvc2019_64\mkspecs\win32-msvc;%(AdditionalIncludeDirectories) -Zc:rvalueCast -Zc:inline -Zc:strictStrings -Zc:throwingNew -permissive- -Zc:__cplusplus -Zc:externConstexpr -utf-8 %(AdditionalOptions) .\ false diff --git a/src/UAV_UI_new/x64/Debug/qmake/temp/qtvars.vcxproj.filters b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars.vcxproj.filters similarity index 100% rename from src/UAV_UI_new/x64/Debug/qmake/temp/qtvars.vcxproj.filters rename to src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars.vcxproj.filters diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars_x64_Debug.props b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars_x64_Debug.props index fccc4b5..d86d9c0 100644 --- a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars_x64_Debug.props +++ b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qmake/temp/qtvars_x64_Debug.props @@ -1,7 +1,7 @@ _WINDOWS;UNICODE;_UNICODE;WIN32;_ENABLE_EXTENDED_ALIGNED_STORAGE;WIN64;QT_WIDGETS_LIB;QT_GUI_LIB;QT_NETWORK_LIB;QT_CORE_LIB -C:\Users\87334\AppData\Local\Temp\lm30cisv.vpi;D:\QT111\6.2.4\msvc2019_64\include;D:\QT111\6.2.4\msvc2019_64\include\QtWidgets;D:\QT111\6.2.4\msvc2019_64\include\QtGui;D:\QT111\6.2.4\msvc2019_64\include\QtNetwork;D:\QT111\6.2.4\msvc2019_64\include\QtCore;C:\Users\87334\AppData\Local\Temp\lm30cisv.vpi;/include;D:\QT111\6.2.4\msvc2019_64\mkspecs\win32-msvc +C:\Users\87334\AppData\Local\Temp\omilqb04.qzi;D:\QT111\6.2.4\msvc2019_64\include;D:\QT111\6.2.4\msvc2019_64\include\QtWidgets;D:\QT111\6.2.4\msvc2019_64\include\QtGui;D:\QT111\6.2.4\msvc2019_64\include\QtNetwork;D:\QT111\6.2.4\msvc2019_64\include\QtCore;C:\Users\87334\AppData\Local\Temp\omilqb04.qzi;/include;D:\QT111\6.2.4\msvc2019_64\mkspecs\win32-msvc stdcpp17 MultiThreadedDebugDLL -Zc:rvalueCast -Zc:inline -Zc:strictStrings -Zc:throwingNew -permissive- -Zc:__cplusplus -Zc:externConstexpr -utf-8 diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qrc_UAV_UI_new.obj b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qrc_UAV_UI_new.obj index 5e65dc7..e0867c0 100644 Binary files a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qrc_UAV_UI_new.obj and b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qrc_UAV_UI_new.obj differ diff --git a/src/UAV_UI_new/x64/Debug/qt.natvis b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qt.natvis similarity index 100% rename from src/UAV_UI_new/x64/Debug/qt.natvis rename to src/UAV_UI_new/UAV_UI_new/x64/Debug/qt.natvis diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qt_work.log b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qt_work.log index 6549cb6..65aea6e 100644 Binary files a/src/UAV_UI_new/UAV_UI_new/x64/Debug/qt_work.log and b/src/UAV_UI_new/UAV_UI_new/x64/Debug/qt_work.log differ diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/rcc/qrc_UAV_UI_new.cpp b/src/UAV_UI_new/UAV_UI_new/x64/Debug/rcc/qrc_UAV_UI_new.cpp index b10b55f..a4fc318 100644 --- a/src/UAV_UI_new/UAV_UI_new/x64/Debug/rcc/qrc_UAV_UI_new.cpp +++ b/src/UAV_UI_new/UAV_UI_new/x64/Debug/rcc/qrc_UAV_UI_new.cpp @@ -6,120843 +6,6 @@ ** WARNING! All changes made in this file will be lost! *****************************************************************************/ -static const unsigned char qt_resource_data[] = { - // D:/software/UAV_UI/UAV_UI_new/UAV_UI_new/Fire.png - 0x0,0xa,0xf2,0x21, - 0x89, - 0x50,0x4e,0x47,0xd,0xa,0x1a,0xa,0x0,0x0,0x0,0xd,0x49,0x48,0x44,0x52,0x0, - 0x0,0x2,0x80,0x0,0x0,0x1,0xe0,0x8,0x6,0x0,0x0,0x0,0x35,0xd1,0xdc,0xe4, - 0x0,0x0,0x0,0x9,0x70,0x48,0x59,0x73,0x0,0x0,0x12,0x74,0x0,0x0,0x12,0x74, - 0x1,0xde,0x66,0x1f,0x78,0x0,0x0,0x20,0x0,0x49,0x44,0x41,0x54,0x78,0xda,0xbc, - 0xbc,0x49,0xac,0x25,0xd9,0x7d,0xe6,0xf7,0x3b,0x53,0x8c,0x37,0xee,0xfc,0xe6,0x97, - 0x73,0x65,0x8d,0xac,0x2a,0x4e,0xa2,0x48,0x4a,0x24,0x35,0xb4,0xd4,0x6e,0x49,0xed, - 0x36,0x5a,0xb0,0xbb,0x21,0xbb,0x6d,0xb8,0x17,0xed,0x8d,0xd,0x78,0xe1,0x95,0x57, - 0xdc,0x79,0xed,0xbd,0x81,0x86,0x61,0x3,0x6,0x2c,0x18,0x10,0x60,0x1b,0x6e,0xd9, - 0x68,0x75,0x43,0x6a,0x6a,0x24,0x55,0xaa,0x12,0x6b,0xc8,0xca,0xaa,0x1c,0x5f,0xbe, - 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0x99,0xa6,0x2a,0x1e,0x78,0xbd,0xe0,0x37,0x0,0x0,0x0,0x0,0x49,0x45,0x4e,0x44, - 0xae,0x42,0x60,0x82, - -}; - -static const unsigned char qt_resource_name[] = { - // Fire.png - 0x0,0x8, - 0x0,0x88,0x5e,0xe7, - 0x0,0x46, - 0x0,0x69,0x0,0x72,0x0,0x65,0x0,0x2e,0x0,0x70,0x0,0x6e,0x0,0x67, - // kill_fire.jpg - 0x0,0xd, - 0x4,0x82,0x1b,0x7, - 0x0,0x6b, - 0x0,0x69,0x0,0x6c,0x0,0x6c,0x0,0x5f,0x0,0x66,0x0,0x69,0x0,0x72,0x0,0x65,0x0,0x2e,0x0,0x6a,0x0,0x70,0x0,0x67, - // background_1.png - 0x0,0x10, - 0xd,0xec,0x99,0x47, - 0x0,0x62, - 0x0,0x61,0x0,0x63,0x0,0x6b,0x0,0x67,0x0,0x72,0x0,0x6f,0x0,0x75,0x0,0x6e,0x0,0x64,0x0,0x5f,0x0,0x31,0x0,0x2e,0x0,0x70,0x0,0x6e,0x0,0x67, - // background_3.png - 0x0,0x10, - 0xd,0xee,0x99,0x47, - 0x0,0x62, - 0x0,0x61,0x0,0x63,0x0,0x6b,0x0,0x67,0x0,0x72,0x0,0x6f,0x0,0x75,0x0,0x6e,0x0,0x64,0x0,0x5f,0x0,0x33,0x0,0x2e,0x0,0x70,0x0,0x6e,0x0,0x67, - // background_2.png - 0x0,0x10, - 0xd,0xed,0x99,0x47, - 0x0,0x62, - 0x0,0x61,0x0,0x63,0x0,0x6b,0x0,0x67,0x0,0x72,0x0,0x6f,0x0,0x75,0x0,0x6e,0x0,0x64,0x0,0x5f,0x0,0x32,0x0,0x2e,0x0,0x70,0x0,0x6e,0x0,0x67, - -}; - -static const unsigned char qt_resource_struct[] = { - // : - 0x0,0x0,0x0,0x0,0x0,0x2,0x0,0x0,0x0,0x5,0x0,0x0,0x0,0x1, -0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0, - // :/Fire.png - 0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x0, -0x0,0x0,0x1,0x88,0xfc,0x82,0x9c,0xa3, - // :/kill_fire.jpg - 0x0,0x0,0x0,0x16,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0xa,0xf2,0x25, -0x0,0x0,0x1,0x88,0xfc,0x97,0xb7,0x6c, - // :/background_1.png - 0x0,0x0,0x0,0x36,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0xd,0x6e,0x69, -0x0,0x0,0x1,0x88,0xd6,0x5a,0xe,0xea, - // :/background_2.png - 0x0,0x0,0x0,0x82,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x19,0xdb,0x9c, -0x0,0x0,0x1,0x88,0xd6,0x65,0xd4,0x8d, - // :/background_3.png - 0x0,0x0,0x0,0x5c,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0xf,0x87,0x45, -0x0,0x0,0x1,0x88,0xd6,0x63,0x34,0x73, - -}; - #ifdef QT_NAMESPACE # define QT_RCC_PREPEND_NAMESPACE(name) ::QT_NAMESPACE::name # define QT_RCC_MANGLE_NAMESPACE0(x) x @@ -120859,9 +22,6 @@ static const unsigned char qt_resource_struct[] = { namespace QT_NAMESPACE { #endif -bool qRegisterResourceData(int, const unsigned char *, const unsigned char *, const unsigned char *); -bool qUnregisterResourceData(int, const unsigned char *, const unsigned char *, const unsigned char *); - #ifdef QT_NAMESPACE } #endif @@ -120869,18 +29,12 @@ bool qUnregisterResourceData(int, const unsigned char *, const unsigned char *, int QT_RCC_MANGLE_NAMESPACE(qInitResources_UAV_UI_new)(); int QT_RCC_MANGLE_NAMESPACE(qInitResources_UAV_UI_new)() { - int version = 3; - QT_RCC_PREPEND_NAMESPACE(qRegisterResourceData) - (version, qt_resource_struct, qt_resource_name, qt_resource_data); return 1; } int QT_RCC_MANGLE_NAMESPACE(qCleanupResources_UAV_UI_new)(); int QT_RCC_MANGLE_NAMESPACE(qCleanupResources_UAV_UI_new)() { - int version = 3; - QT_RCC_PREPEND_NAMESPACE(qUnregisterResourceData) - (version, qt_resource_struct, qt_resource_name, qt_resource_data); return 1; } diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/tips.obj b/src/UAV_UI_new/UAV_UI_new/x64/Debug/tips.obj index c7d7ea0..db6f1db 100644 Binary files a/src/UAV_UI_new/UAV_UI_new/x64/Debug/tips.obj and b/src/UAV_UI_new/UAV_UI_new/x64/Debug/tips.obj differ diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/uic/ui_UAV_UI_new.h b/src/UAV_UI_new/UAV_UI_new/x64/Debug/uic/ui_UAV_UI_new.h index fffa7e3..f08156a 100644 --- a/src/UAV_UI_new/UAV_UI_new/x64/Debug/uic/ui_UAV_UI_new.h +++ b/src/UAV_UI_new/UAV_UI_new/x64/Debug/uic/ui_UAV_UI_new.h @@ -32,9 +32,7 @@ public: QPushButton *stop; QPushButton *connection; QLabel *play_tag; - QPushButton *Settings; - QPushButton *action; - QPushButton *Prediction; + QLabel *message; QMenuBar *menuBar; QToolBar *mainToolBar; QStatusBar *statusBar; @@ -43,9 +41,7 @@ public: { if (UAV_UI_newClass->objectName().isEmpty()) UAV_UI_newClass->setObjectName(QString::fromUtf8("UAV_UI_newClass")); - UAV_UI_newClass->resize(1440, 1000); - UAV_UI_newClass->setMinimumSize(QSize(0, 0)); - UAV_UI_newClass->setMaximumSize(QSize(1440, 1200)); + UAV_UI_newClass->resize(1159, 682); centralWidget = new QWidget(UAV_UI_newClass); centralWidget->setObjectName(QString::fromUtf8("centralWidget")); verticalLayoutWidget = new QWidget(centralWidget); @@ -74,19 +70,13 @@ public: play_tag = new QLabel(centralWidget); play_tag->setObjectName(QString::fromUtf8("play_tag")); play_tag->setGeometry(QRect(100, 40, 81, 31)); - Settings = new QPushButton(centralWidget); - Settings->setObjectName(QString::fromUtf8("Settings")); - Settings->setGeometry(QRect(1350, 0, 93, 29)); - action = new QPushButton(centralWidget); - action->setObjectName(QString::fromUtf8("action")); - action->setGeometry(QRect(820, 200, 93, 29)); - Prediction = new QPushButton(centralWidget); - Prediction->setObjectName(QString::fromUtf8("Prediction")); - Prediction->setGeometry(QRect(820, 260, 93, 29)); + message = new QLabel(centralWidget); + message->setObjectName(QString::fromUtf8("message")); + message->setGeometry(QRect(830, 250, 201, 151)); UAV_UI_newClass->setCentralWidget(centralWidget); menuBar = new QMenuBar(UAV_UI_newClass); menuBar->setObjectName(QString::fromUtf8("menuBar")); - menuBar->setGeometry(QRect(0, 0, 1440, 26)); + menuBar->setGeometry(QRect(0, 0, 1159, 26)); UAV_UI_newClass->setMenuBar(menuBar); mainToolBar = new QToolBar(UAV_UI_newClass); mainToolBar->setObjectName(QString::fromUtf8("mainToolBar")); @@ -104,12 +94,10 @@ public: { UAV_UI_newClass->setWindowTitle(QCoreApplication::translate("UAV_UI_newClass", "UAV_UI_new", nullptr)); display->setText(QString()); - stop->setText(QCoreApplication::translate("UAV_UI_newClass", "\345\205\263\351\227\255\345\233\276\345\203\217", nullptr)); - connection->setText(QCoreApplication::translate("UAV_UI_newClass", "\350\277\236\346\216\245\345\233\276\345\203\217", nullptr)); - play_tag->setText(QCoreApplication::translate("UAV_UI_newClass", "\345\256\236\346\227\266\345\233\276\345\203\217", nullptr)); - Settings->setText(QCoreApplication::translate("UAV_UI_newClass", "\350\256\276\347\275\256", nullptr)); - action->setText(QCoreApplication::translate("UAV_UI_newClass", "\345\207\272\350\255\246", nullptr)); - Prediction->setText(QCoreApplication::translate("UAV_UI_newClass", "\351\242\204\346\265\213", nullptr)); + stop->setText(QCoreApplication::translate("UAV_UI_newClass", "stop", nullptr)); + connection->setText(QCoreApplication::translate("UAV_UI_newClass", "connection", nullptr)); + play_tag->setText(QCoreApplication::translate("UAV_UI_newClass", "\345\233\276\345\203\217\346\222\255\346\224\276\345\244\204", nullptr)); + message->setText(QCoreApplication::translate("UAV_UI_newClass", "TextLabel", nullptr)); } // retranslateUi }; diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/uic/ui_tips.h b/src/UAV_UI_new/UAV_UI_new/x64/Debug/uic/ui_tips.h index 6bbf6bc..25b5a0b 100644 --- a/src/UAV_UI_new/UAV_UI_new/x64/Debug/uic/ui_tips.h +++ b/src/UAV_UI_new/UAV_UI_new/x64/Debug/uic/ui_tips.h @@ -11,10 +11,8 @@ #include #include -#include #include #include -#include #include #include #include @@ -24,43 +22,25 @@ QT_BEGIN_NAMESPACE class Ui_tipsClass { public: - QWidget *centralWidget; - QLabel *Pre_tag; - QLabel *display; - QPushButton *action; QMenuBar *menuBar; QToolBar *mainToolBar; + QWidget *centralWidget; QStatusBar *statusBar; void setupUi(QMainWindow *tipsClass) { if (tipsClass->objectName().isEmpty()) tipsClass->setObjectName(QString::fromUtf8("tipsClass")); - tipsClass->resize(1130, 644); - tipsClass->setMinimumSize(QSize(1130, 644)); - tipsClass->setMaximumSize(QSize(1130, 644)); - centralWidget = new QWidget(tipsClass); - centralWidget->setObjectName(QString::fromUtf8("centralWidget")); - Pre_tag = new QLabel(centralWidget); - Pre_tag->setObjectName(QString::fromUtf8("Pre_tag")); - Pre_tag->setGeometry(QRect(19, 6, 81, 31)); - display = new QLabel(centralWidget); - display->setObjectName(QString::fromUtf8("display")); - display->setEnabled(true); - display->setGeometry(QRect(20, 30, 640, 480)); - display->setMinimumSize(QSize(640, 480)); - display->setMaximumSize(QSize(640, 480)); - action = new QPushButton(centralWidget); - action->setObjectName(QString::fromUtf8("action")); - action->setGeometry(QRect(830, 40, 93, 29)); - tipsClass->setCentralWidget(centralWidget); + tipsClass->resize(600, 400); menuBar = new QMenuBar(tipsClass); menuBar->setObjectName(QString::fromUtf8("menuBar")); - menuBar->setGeometry(QRect(0, 0, 1130, 26)); tipsClass->setMenuBar(menuBar); mainToolBar = new QToolBar(tipsClass); mainToolBar->setObjectName(QString::fromUtf8("mainToolBar")); - tipsClass->addToolBar(Qt::TopToolBarArea, mainToolBar); + tipsClass->addToolBar(mainToolBar); + centralWidget = new QWidget(tipsClass); + centralWidget->setObjectName(QString::fromUtf8("centralWidget")); + tipsClass->setCentralWidget(centralWidget); statusBar = new QStatusBar(tipsClass); statusBar->setObjectName(QString::fromUtf8("statusBar")); tipsClass->setStatusBar(statusBar); @@ -73,9 +53,6 @@ public: void retranslateUi(QMainWindow *tipsClass) { tipsClass->setWindowTitle(QCoreApplication::translate("tipsClass", "tips", nullptr)); - Pre_tag->setText(QCoreApplication::translate("tipsClass", "\347\201\253\345\212\277\347\212\266\345\206\265", nullptr)); - display->setText(QString()); - action->setText(QCoreApplication::translate("tipsClass", "\345\207\272\350\255\246", nullptr)); } // retranslateUi }; diff --git a/src/UAV_UI_new/UAV_UI_new/x64/Debug/vc143.pdb b/src/UAV_UI_new/UAV_UI_new/x64/Debug/vc143.pdb index fdb420f..6fdd72e 100644 Binary files a/src/UAV_UI_new/UAV_UI_new/x64/Debug/vc143.pdb and b/src/UAV_UI_new/UAV_UI_new/x64/Debug/vc143.pdb differ diff --git a/src/UAV_UI_new/UAV_UI_new1.aps b/src/UAV_UI_new/UAV_UI_new1.aps deleted file mode 100644 index a29db6b..0000000 Binary files a/src/UAV_UI_new/UAV_UI_new1.aps and /dev/null differ diff --git a/src/UAV_UI_new/UAV_UI_new1.rc b/src/UAV_UI_new/UAV_UI_new1.rc deleted file mode 100644 index 677befe..0000000 Binary files a/src/UAV_UI_new/UAV_UI_new1.rc and /dev/null differ diff --git a/src/UAV_UI_new/UAV_UI_new/background.jpg b/src/UAV_UI_new/background.jpg similarity index 100% rename from src/UAV_UI_new/UAV_UI_new/background.jpg rename to src/UAV_UI_new/background.jpg diff --git a/src/UAV_UI_new/background_1.png b/src/UAV_UI_new/background_1.png index 9c2f868..f44c761 100644 Binary files a/src/UAV_UI_new/background_1.png and b/src/UAV_UI_new/background_1.png differ diff --git a/src/UAV_UI_new/background_2.png b/src/UAV_UI_new/background_2.png index 501cee4..80f72e9 100644 Binary files a/src/UAV_UI_new/background_2.png and b/src/UAV_UI_new/background_2.png differ diff --git a/src/UAV_UI_new/background_3.png b/src/UAV_UI_new/background_3.png index 0e15823..1c7742d 100644 Binary files a/src/UAV_UI_new/background_3.png and b/src/UAV_UI_new/background_3.png differ diff --git a/src/UAV_UI_new/UAV_UI_new/kill_fire.jpg b/src/UAV_UI_new/kill_fire.jpg similarity index 100% rename from src/UAV_UI_new/UAV_UI_new/kill_fire.jpg rename to src/UAV_UI_new/kill_fire.jpg diff --git a/src/UAV_UI_new/UAV_UI_new/levelToSpeed.h b/src/UAV_UI_new/levelToSpeed.h similarity index 100% rename from src/UAV_UI_new/UAV_UI_new/levelToSpeed.h rename to src/UAV_UI_new/levelToSpeed.h diff --git a/src/UAV_UI_new/main.cpp b/src/UAV_UI_new/main.cpp index 285b360..ae8b72b 100644 --- a/src/UAV_UI_new/main.cpp +++ b/src/UAV_UI_new/main.cpp @@ -10,8 +10,5 @@ int main(int argc, char *argv[]) QApplication a(argc, argv); UAV_UI_new w; w.show(); - /*VideoCapture cap; - const string VideoCaptureAdress = "rtsp://192.168.144.108:8000/165506"; - cap.open(VideoCaptureAdress);*/ return a.exec(); } diff --git a/src/UAV_UI_new/resource.h b/src/UAV_UI_new/resource.h deleted file mode 100644 index c373af6..0000000 --- a/src/UAV_UI_new/resource.h +++ /dev/null @@ -1,14 +0,0 @@ -//{{NO_DEPENDENCIES}} -// Microsoft Visual C++ generated include file. -// Used by UAV_UI_new.rc - -// ¶һĬֵ -// -#ifdef APSTUDIO_INVOKED -#ifndef APSTUDIO_READONLY_SYMBOLS -#define _APS_NEXT_RESOURCE_VALUE 101 -#define _APS_NEXT_COMMAND_VALUE 40001 -#define _APS_NEXT_CONTROL_VALUE 1001 -#define _APS_NEXT_SYMED_VALUE 101 -#endif -#endif diff --git a/src/UAV_UI_new/resource1.h b/src/UAV_UI_new/resource1.h deleted file mode 100644 index eb2ce79..0000000 --- a/src/UAV_UI_new/resource1.h +++ /dev/null @@ -1,14 +0,0 @@ -//{{NO_DEPENDENCIES}} -// Microsoft Visual C++ generated include file. -// Used by UAV_UI_new1.rc - -// ¶һĬֵ -// -#ifdef APSTUDIO_INVOKED -#ifndef APSTUDIO_READONLY_SYMBOLS -#define _APS_NEXT_RESOURCE_VALUE 101 -#define _APS_NEXT_COMMAND_VALUE 40001 -#define _APS_NEXT_CONTROL_VALUE 1001 -#define _APS_NEXT_SYMED_VALUE 101 -#endif -#endif diff --git a/src/UAV_UI_new/tips.cpp b/src/UAV_UI_new/tips.cpp index 0fba930..e878542 100644 --- a/src/UAV_UI_new/tips.cpp +++ b/src/UAV_UI_new/tips.cpp @@ -1,10 +1,20 @@ #include "tips.h" -tips::tips(QWidget *parent) +tips::tips(QPixmap image,QWidget *parent) : QMainWindow(parent) { ui.setupUi(this); + ui.display->setPixmap(image); + connect(ui.action, &QPushButton::clicked, this, &tips::on_action_button); + ui.action->setStyleSheet("background-color:red;"); + QString styleSheet = QString("background-image:url(:/kill_fire.jpg);\ + background-repeat:no-repeat;background-position:center;").arg(QCoreApplication::applicationDirPath()); + this->setStyleSheet(styleSheet); } tips::~tips() -{} +{ +} +void tips::on_action_button() { + //ž +} diff --git a/src/UAV_UI_new/tips.h b/src/UAV_UI_new/tips.h index d9ae8ec..be5b454 100644 --- a/src/UAV_UI_new/tips.h +++ b/src/UAV_UI_new/tips.h @@ -8,9 +8,10 @@ class tips : public QMainWindow Q_OBJECT public: - tips(QWidget *parent = nullptr); + tips(QPixmap image, QWidget *parent = nullptr); ~tips(); private: Ui::tipsClass ui; + void on_action_button(); }; diff --git a/src/UAV_UI_new/tips.ui b/src/UAV_UI_new/tips.ui index cec4907..da25089 100644 --- a/src/UAV_UI_new/tips.ui +++ b/src/UAV_UI_new/tips.ui @@ -1,22 +1,107 @@ - + + tipsClass - - - tipsClass - - + + - 0 - 0 - 600 - 400 + 0 + 0 + 1130 + 644 - + + + 1130 + 644 + + + + + 1130 + 644 + + + tips - + + + + + + 19 + 6 + 81 + 31 + + + + 火势状况 + + + + + true + + + + 20 + 30 + 640 + 480 + + + + + 640 + 480 + + + + + 640 + 480 + + + + + + + + + + 830 + 40 + 93 + 29 + + + + 出警 + + + + + + + 0 + 0 + 1130 + 26 + + + + + + TopToolBarArea + + + false + + + - - + + - + diff --git a/src/UAV_UI_new/wallhaven-k9wvz1.jpg b/src/UAV_UI_new/wallhaven-k9wvz1.jpg deleted file mode 100644 index 33817f7..0000000 Binary files a/src/UAV_UI_new/wallhaven-k9wvz1.jpg and /dev/null differ diff --git a/src/UAV_UI_new/x64/Debug/Setting.obj b/src/UAV_UI_new/x64/Debug/Setting.obj deleted file mode 100644 index b2f5de5..0000000 Binary files a/src/UAV_UI_new/x64/Debug/Setting.obj and /dev/null differ diff --git a/src/UAV_UI_new/x64/Debug/UAV_UI_new.Build.CppClean.log b/src/UAV_UI_new/x64/Debug/UAV_UI_new.Build.CppClean.log deleted file mode 100644 index 0397d7c..0000000 --- a/src/UAV_UI_new/x64/Debug/UAV_UI_new.Build.CppClean.log +++ /dev/null @@ -1,19 +0,0 @@ -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\moc\moc_uav_ui_new.cpp -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\moc\moc_tips.cpp -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\moc\moc_setting.cpp -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\rcc\qrc_uav_ui_new.cpp -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uic\ui_setting.h -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uic\ui_tips.h -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uic\ui_uav_ui_new.h -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\main.obj -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\tips.obj -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.obj -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\vc143.pdb -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\cl.command.1.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\moc.read.1u.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\moc.write.1u.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\rcc.read.1u.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\rcc.write.1u.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\uav_ui_new.write.1u.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\uic.read.1u.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\uic.write.1u.tlog diff --git a/src/UAV_UI_new/x64/Debug/UAV_UI_new.exe b/src/UAV_UI_new/x64/Debug/UAV_UI_new.exe index 5e76250..de0f089 100644 Binary files a/src/UAV_UI_new/x64/Debug/UAV_UI_new.exe and b/src/UAV_UI_new/x64/Debug/UAV_UI_new.exe differ diff --git a/src/UAV_UI_new/x64/Debug/UAV_UI_new.ilk b/src/UAV_UI_new/x64/Debug/UAV_UI_new.ilk index 58c6c49..8383a2e 100644 Binary files a/src/UAV_UI_new/x64/Debug/UAV_UI_new.ilk and b/src/UAV_UI_new/x64/Debug/UAV_UI_new.ilk differ diff --git a/src/UAV_UI_new/x64/Debug/UAV_UI_new.log b/src/UAV_UI_new/x64/Debug/UAV_UI_new.log deleted file mode 100644 index 3dad2b4..0000000 --- a/src/UAV_UI_new/x64/Debug/UAV_UI_new.log +++ /dev/null @@ -1,25 +0,0 @@ - uic Setting.ui - Setting.cpp - UAV_UI_new.cpp - main.cpp -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x1db 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x1dd 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x1de 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x1e0 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x630 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x631 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x632 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x637 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x73e 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x73f 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x741 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x748 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x74a 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x74b 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0xbcb 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0xbce 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0xbcf 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 -D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0xbd0 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。 - moc_Setting.cpp - moc_UAV_UI_new.cpp - UAV_UI_new.vcxproj -> D:\software\UAV_UI\UAV_UI_new\x64\Debug\UAV_UI_new.exe diff --git a/src/UAV_UI_new/x64/Debug/UAV_UI_new.obj b/src/UAV_UI_new/x64/Debug/UAV_UI_new.obj deleted file mode 100644 index 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b/src/UAV_UI_new/x64/Debug/moc/moc_Setting.cpp deleted file mode 100644 index 883888d..0000000 --- a/src/UAV_UI_new/x64/Debug/moc/moc_Setting.cpp +++ /dev/null @@ -1,123 +0,0 @@ -/**************************************************************************** -** Meta object code from reading C++ file 'Setting.h' -** -** Created by: The Qt Meta Object Compiler version 68 (Qt 6.2.4) -** -** WARNING! All changes made in this file will be lost! -*****************************************************************************/ - -#include -#include "../../../Setting.h" -#include -#include -#include -#if !defined(Q_MOC_OUTPUT_REVISION) -#error "The header file 'Setting.h' doesn't include ." -#elif Q_MOC_OUTPUT_REVISION != 68 -#error "This file was generated using the moc from 6.2.4. It" -#error "cannot be used with the include files from this version of Qt." -#error "(The moc has changed too much.)" -#endif - -QT_BEGIN_MOC_NAMESPACE -QT_WARNING_PUSH -QT_WARNING_DISABLE_DEPRECATED -struct qt_meta_stringdata_Setting_t { - const uint offsetsAndSize[6]; - char stringdata0[28]; -}; -#define QT_MOC_LITERAL(ofs, len) \ - uint(offsetof(qt_meta_stringdata_Setting_t, stringdata0) + ofs), len -static const qt_meta_stringdata_Setting_t qt_meta_stringdata_Setting = { - { -QT_MOC_LITERAL(0, 7), // "Setting" -QT_MOC_LITERAL(8, 18), // "on_finished_button" -QT_MOC_LITERAL(27, 0) // "" - - }, - "Setting\0on_finished_button\0" -}; -#undef QT_MOC_LITERAL - -static const uint qt_meta_data_Setting[] = { - - // content: - 10, // revision - 0, // classname - 0, 0, // classinfo - 1, 14, // methods - 0, 0, // properties - 0, 0, // enums/sets - 0, 0, // constructors - 0, // flags - 0, // signalCount - - // slots: name, argc, parameters, tag, flags, initial metatype offsets - 1, 0, 20, 2, 0x08, 1 /* Private */, - - // slots: parameters - QMetaType::Void, - - 0 // eod -}; - -void Setting::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) -{ - if (_c == QMetaObject::InvokeMetaMethod) { - auto *_t = static_cast(_o); - (void)_t; - switch (_id) { - case 0: _t->on_finished_button(); break; - default: ; - } - } - (void)_a; -} - -const QMetaObject Setting::staticMetaObject = { { - QMetaObject::SuperData::link(), - qt_meta_stringdata_Setting.offsetsAndSize, - qt_meta_data_Setting, - qt_static_metacall, - nullptr, -qt_incomplete_metaTypeArray -, QtPrivate::TypeAndForceComplete - - ->, - nullptr -} }; - - -const QMetaObject *Setting::metaObject() const -{ - return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; -} - -void *Setting::qt_metacast(const char *_clname) -{ - if (!_clname) return nullptr; - if (!strcmp(_clname, qt_meta_stringdata_Setting.stringdata0)) - return static_cast(this); - return QMainWindow::qt_metacast(_clname); -} - -int Setting::qt_metacall(QMetaObject::Call _c, int _id, void **_a) -{ - _id = QMainWindow::qt_metacall(_c, _id, _a); - if (_id < 0) - return _id; - if (_c == QMetaObject::InvokeMetaMethod) { - if (_id < 1) - qt_static_metacall(this, _c, _id, _a); - _id -= 1; - } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) { - if (_id < 1) - *reinterpret_cast(_a[0]) = QMetaType(); - _id -= 1; - } - return _id; -} -QT_WARNING_POP -QT_END_MOC_NAMESPACE diff --git a/src/UAV_UI_new/x64/Debug/moc/moc_UAV_UI_new.cpp b/src/UAV_UI_new/x64/Debug/moc/moc_UAV_UI_new.cpp deleted file mode 100644 index f40463d..0000000 --- a/src/UAV_UI_new/x64/Debug/moc/moc_UAV_UI_new.cpp +++ /dev/null @@ -1,141 +0,0 @@ -/**************************************************************************** -** Meta object code from reading C++ file 'UAV_UI_new.h' -** -** Created by: The Qt Meta Object Compiler version 68 (Qt 6.2.4) -** -** WARNING! All changes made in this file will be lost! -*****************************************************************************/ - -#include -#include "../../../UAV_UI_new.h" -#include -#include -#include -#if !defined(Q_MOC_OUTPUT_REVISION) -#error "The header file 'UAV_UI_new.h' doesn't include ." -#elif Q_MOC_OUTPUT_REVISION != 68 -#error "This file was generated using the moc from 6.2.4. It" -#error "cannot be used with the include files from this version of Qt." -#error "(The moc has changed too much.)" -#endif - -QT_BEGIN_MOC_NAMESPACE -QT_WARNING_PUSH -QT_WARNING_DISABLE_DEPRECATED -struct qt_meta_stringdata_UAV_UI_new_t { - const uint offsetsAndSize[14]; - char stringdata0[100]; -}; -#define QT_MOC_LITERAL(ofs, len) \ - uint(offsetof(qt_meta_stringdata_UAV_UI_new_t, stringdata0) + ofs), len -static const qt_meta_stringdata_UAV_UI_new_t qt_meta_stringdata_UAV_UI_new = { - { -QT_MOC_LITERAL(0, 10), // "UAV_UI_new" -QT_MOC_LITERAL(11, 20), // "on_connection_button" -QT_MOC_LITERAL(32, 0), // "" -QT_MOC_LITERAL(33, 14), // "on_stop_button" -QT_MOC_LITERAL(48, 11), // "importImage" -QT_MOC_LITERAL(60, 22), // "onclick_Setting_button" -QT_MOC_LITERAL(83, 16) // "on_action_button" - - }, - "UAV_UI_new\0on_connection_button\0\0" - "on_stop_button\0importImage\0" - "onclick_Setting_button\0on_action_button" -}; -#undef QT_MOC_LITERAL - -static const uint qt_meta_data_UAV_UI_new[] = { - - // content: - 10, // revision - 0, // classname - 0, 0, // classinfo - 5, 14, // methods - 0, 0, // properties - 0, 0, // enums/sets - 0, 0, // constructors - 0, // flags - 0, // signalCount - - // slots: name, argc, parameters, tag, flags, initial metatype offsets - 1, 0, 44, 2, 0x08, 1 /* Private */, - 3, 0, 45, 2, 0x08, 2 /* Private */, - 4, 0, 46, 2, 0x08, 3 /* Private */, - 5, 0, 47, 2, 0x08, 4 /* Private */, - 6, 0, 48, 2, 0x08, 5 /* Private */, - - // slots: parameters - QMetaType::Void, - QMetaType::Void, - QMetaType::Void, - QMetaType::Void, - QMetaType::Void, - - 0 // eod -}; - -void UAV_UI_new::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) -{ - if (_c == QMetaObject::InvokeMetaMethod) { - auto *_t = static_cast(_o); - (void)_t; - switch (_id) { - case 0: _t->on_connection_button(); break; - case 1: _t->on_stop_button(); break; - case 2: _t->importImage(); break; - case 3: _t->onclick_Setting_button(); break; - case 4: _t->on_action_button(); break; - default: ; - } - } - (void)_a; -} - -const QMetaObject UAV_UI_new::staticMetaObject = { { - QMetaObject::SuperData::link(), - qt_meta_stringdata_UAV_UI_new.offsetsAndSize, - qt_meta_data_UAV_UI_new, - qt_static_metacall, - nullptr, -qt_incomplete_metaTypeArray -, QtPrivate::TypeAndForceComplete, QtPrivate::TypeAndForceComplete, QtPrivate::TypeAndForceComplete, QtPrivate::TypeAndForceComplete, QtPrivate::TypeAndForceComplete - - ->, - nullptr -} }; - - -const QMetaObject *UAV_UI_new::metaObject() const -{ - return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; -} - -void *UAV_UI_new::qt_metacast(const char *_clname) -{ - if (!_clname) return nullptr; - if (!strcmp(_clname, qt_meta_stringdata_UAV_UI_new.stringdata0)) - return static_cast(this); - return QMainWindow::qt_metacast(_clname); -} - -int UAV_UI_new::qt_metacall(QMetaObject::Call _c, int _id, void **_a) -{ - _id = QMainWindow::qt_metacall(_c, _id, _a); - if (_id < 0) - return _id; - if (_c == QMetaObject::InvokeMetaMethod) { - if (_id < 5) - qt_static_metacall(this, _c, _id, _a); - _id -= 5; - } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) { - if (_id < 5) - *reinterpret_cast(_a[0]) = QMetaType(); - _id -= 5; - } - return _id; -} -QT_WARNING_POP -QT_END_MOC_NAMESPACE diff --git a/src/UAV_UI_new/x64/Debug/moc/moc_tips.cpp b/src/UAV_UI_new/x64/Debug/moc/moc_tips.cpp deleted file mode 100644 index f742264..0000000 --- a/src/UAV_UI_new/x64/Debug/moc/moc_tips.cpp +++ /dev/null @@ -1,98 +0,0 @@ -/**************************************************************************** -** Meta object code from reading C++ file 'tips.h' -** -** Created by: The Qt Meta Object Compiler version 68 (Qt 6.2.4) -** -** WARNING! All changes made in this file will be lost! -*****************************************************************************/ - -#include -#include "../../../tips.h" -#include -#include -#if !defined(Q_MOC_OUTPUT_REVISION) -#error "The header file 'tips.h' doesn't include ." -#elif Q_MOC_OUTPUT_REVISION != 68 -#error "This file was generated using the moc from 6.2.4. It" -#error "cannot be used with the include files from this version of Qt." -#error "(The moc has changed too much.)" -#endif - -QT_BEGIN_MOC_NAMESPACE -QT_WARNING_PUSH -QT_WARNING_DISABLE_DEPRECATED -struct qt_meta_stringdata_tips_t { - const uint offsetsAndSize[2]; - char stringdata0[5]; -}; -#define QT_MOC_LITERAL(ofs, len) \ - uint(offsetof(qt_meta_stringdata_tips_t, stringdata0) + ofs), len -static const qt_meta_stringdata_tips_t qt_meta_stringdata_tips = { - { -QT_MOC_LITERAL(0, 4) // "tips" - - }, - "tips" -}; -#undef QT_MOC_LITERAL - -static const uint qt_meta_data_tips[] = { - - // content: - 10, // revision - 0, // classname - 0, 0, // classinfo - 0, 0, // methods - 0, 0, // properties - 0, 0, // enums/sets - 0, 0, // constructors - 0, // flags - 0, // signalCount - - 0 // eod -}; - -void tips::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) -{ - (void)_o; - (void)_id; - (void)_c; - (void)_a; -} - -const QMetaObject tips::staticMetaObject = { { - QMetaObject::SuperData::link(), - qt_meta_stringdata_tips.offsetsAndSize, - qt_meta_data_tips, - qt_static_metacall, - nullptr, -qt_incomplete_metaTypeArray - - - ->, - nullptr -} }; - - -const QMetaObject *tips::metaObject() const -{ - return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; -} - -void *tips::qt_metacast(const char *_clname) -{ - if (!_clname) return nullptr; - if (!strcmp(_clname, qt_meta_stringdata_tips.stringdata0)) - return static_cast(this); - return QMainWindow::qt_metacast(_clname); -} - -int tips::qt_metacall(QMetaObject::Call _c, int _id, void **_a) -{ - _id = QMainWindow::qt_metacall(_c, _id, _a); - return _id; -} -QT_WARNING_POP -QT_END_MOC_NAMESPACE diff --git a/src/UAV_UI_new/x64/Debug/moc_Setting.obj b/src/UAV_UI_new/x64/Debug/moc_Setting.obj deleted file mode 100644 index d06391e..0000000 Binary files a/src/UAV_UI_new/x64/Debug/moc_Setting.obj and /dev/null differ diff --git a/src/UAV_UI_new/x64/Debug/moc_UAV_UI_new.obj b/src/UAV_UI_new/x64/Debug/moc_UAV_UI_new.obj deleted file mode 100644 index 8ace37d..0000000 Binary files a/src/UAV_UI_new/x64/Debug/moc_UAV_UI_new.obj and /dev/null differ diff --git a/src/UAV_UI_new/x64/Debug/moc_tips.obj b/src/UAV_UI_new/x64/Debug/moc_tips.obj deleted file mode 100644 index 95b1f6c..0000000 Binary files a/src/UAV_UI_new/x64/Debug/moc_tips.obj and /dev/null differ diff --git a/src/UAV_UI_new/x64/Debug/qmake/qtvars_x64_Debug.props b/src/UAV_UI_new/x64/Debug/qmake/qtvars_x64_Debug.props deleted file mode 100644 index 4fa74e1..0000000 --- a/src/UAV_UI_new/x64/Debug/qmake/qtvars_x64_Debug.props +++ /dev/null @@ -1,60 +0,0 @@ - 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- debug - 6.2.4 - 6 - 2 - 4 - - diff --git a/src/UAV_UI_new/x64/Debug/qrc_UAV_UI_new.obj b/src/UAV_UI_new/x64/Debug/qrc_UAV_UI_new.obj deleted file mode 100644 index 1ad6483..0000000 Binary files a/src/UAV_UI_new/x64/Debug/qrc_UAV_UI_new.obj and /dev/null differ diff --git a/src/UAV_UI_new/x64/Debug/qt_work.log b/src/UAV_UI_new/x64/Debug/qt_work.log deleted file mode 100644 index d21c883..0000000 Binary files a/src/UAV_UI_new/x64/Debug/qt_work.log and /dev/null differ diff --git a/src/UAV_UI_new/x64/Debug/rcc/qrc_UAV_UI_new.cpp b/src/UAV_UI_new/x64/Debug/rcc/qrc_UAV_UI_new.cpp deleted file mode 100644 index a4fc318..0000000 --- a/src/UAV_UI_new/x64/Debug/rcc/qrc_UAV_UI_new.cpp +++ /dev/null @@ -1,46 +0,0 @@ -/**************************************************************************** -** Resource object code -** -** Created by: The Resource Compiler for Qt version 6.2.4 -** -** WARNING! All changes made in this file will be lost! -*****************************************************************************/ - -#ifdef QT_NAMESPACE -# define QT_RCC_PREPEND_NAMESPACE(name) ::QT_NAMESPACE::name -# define QT_RCC_MANGLE_NAMESPACE0(x) x -# define QT_RCC_MANGLE_NAMESPACE1(a, b) a##_##b -# define QT_RCC_MANGLE_NAMESPACE2(a, b) QT_RCC_MANGLE_NAMESPACE1(a,b) -# define QT_RCC_MANGLE_NAMESPACE(name) QT_RCC_MANGLE_NAMESPACE2( \ - QT_RCC_MANGLE_NAMESPACE0(name), QT_RCC_MANGLE_NAMESPACE0(QT_NAMESPACE)) -#else -# define QT_RCC_PREPEND_NAMESPACE(name) name -# define QT_RCC_MANGLE_NAMESPACE(name) name -#endif - -#ifdef QT_NAMESPACE -namespace QT_NAMESPACE { -#endif - -#ifdef QT_NAMESPACE -} -#endif - -int QT_RCC_MANGLE_NAMESPACE(qInitResources_UAV_UI_new)(); -int QT_RCC_MANGLE_NAMESPACE(qInitResources_UAV_UI_new)() -{ - return 1; -} - -int QT_RCC_MANGLE_NAMESPACE(qCleanupResources_UAV_UI_new)(); -int QT_RCC_MANGLE_NAMESPACE(qCleanupResources_UAV_UI_new)() -{ - return 1; -} - -namespace { - struct initializer { - initializer() { QT_RCC_MANGLE_NAMESPACE(qInitResources_UAV_UI_new)(); } - ~initializer() { QT_RCC_MANGLE_NAMESPACE(qCleanupResources_UAV_UI_new)(); } - } dummy; -} diff --git a/src/UAV_UI_new/x64/Debug/tips.obj b/src/UAV_UI_new/x64/Debug/tips.obj deleted file mode 100644 index e065cee..0000000 Binary files a/src/UAV_UI_new/x64/Debug/tips.obj and /dev/null differ diff --git a/src/UAV_UI_new/x64/Debug/uic/ui_Setting.h b/src/UAV_UI_new/x64/Debug/uic/ui_Setting.h deleted file mode 100644 index f60a872..0000000 --- a/src/UAV_UI_new/x64/Debug/uic/ui_Setting.h +++ /dev/null @@ -1,173 +0,0 @@ -/******************************************************************************** -** Form generated from reading UI file 'Setting.ui' -** -** Created by: Qt User Interface Compiler version 6.2.4 -** -** WARNING! All changes made in this file will be lost when recompiling UI file! -********************************************************************************/ - -#ifndef UI_SETTING_H -#define UI_SETTING_H - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -QT_BEGIN_NAMESPACE - -class Ui_SettingClass -{ -public: - QWidget *centralWidget; - QWidget *gridLayoutWidget; - QGridLayout *gridLayout; - QLabel *Start_Timer; - QLineEdit *seconds; - QLineEdit *hours; - QLineEdit *longitude; - QLineEdit *minutes; - QLineEdit *latitude; - QLabel *Speed_Lable; - QLabel *label; - QLineEdit *x; - QLineEdit *y; - QLineEdit *z; - QPushButton *finished; - QMenuBar *menuBar; - QToolBar *mainToolBar; - QStatusBar *statusBar; - - void setupUi(QMainWindow *SettingClass) - { - if (SettingClass->objectName().isEmpty()) - SettingClass->setObjectName(QString::fromUtf8("SettingClass")); - SettingClass->resize(871, 571); - centralWidget = new QWidget(SettingClass); - centralWidget->setObjectName(QString::fromUtf8("centralWidget")); - gridLayoutWidget = new QWidget(centralWidget); - gridLayoutWidget->setObjectName(QString::fromUtf8("gridLayoutWidget")); - gridLayoutWidget->setGeometry(QRect(20, 20, 451, 241)); - gridLayout = new QGridLayout(gridLayoutWidget); - gridLayout->setSpacing(6); - gridLayout->setContentsMargins(11, 11, 11, 11); - gridLayout->setObjectName(QString::fromUtf8("gridLayout")); - gridLayout->setContentsMargins(0, 0, 0, 0); - Start_Timer = new QLabel(gridLayoutWidget); - Start_Timer->setObjectName(QString::fromUtf8("Start_Timer")); - - gridLayout->addWidget(Start_Timer, 2, 0, 1, 1); - - seconds = new QLineEdit(gridLayoutWidget); - seconds->setObjectName(QString::fromUtf8("seconds")); - seconds->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(seconds, 2, 3, 1, 1); - - hours = new QLineEdit(gridLayoutWidget); - hours->setObjectName(QString::fromUtf8("hours")); - hours->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(hours, 2, 1, 1, 1); - - longitude = new QLineEdit(gridLayoutWidget); - longitude->setObjectName(QString::fromUtf8("longitude")); - longitude->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(longitude, 0, 1, 1, 1); - - minutes = new QLineEdit(gridLayoutWidget); - minutes->setObjectName(QString::fromUtf8("minutes")); - minutes->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(minutes, 2, 2, 1, 1); - - latitude = new QLineEdit(gridLayoutWidget); - latitude->setObjectName(QString::fromUtf8("latitude")); - latitude->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(latitude, 0, 2, 1, 1); - - Speed_Lable = new QLabel(gridLayoutWidget); - Speed_Lable->setObjectName(QString::fromUtf8("Speed_Lable")); - Speed_Lable->setMaximumSize(QSize(80, 16777215)); - - gridLayout->addWidget(Speed_Lable, 0, 0, 1, 1); - - label = new QLabel(gridLayoutWidget); - label->setObjectName(QString::fromUtf8("label")); - label->setMaximumSize(QSize(16777215, 20)); - - gridLayout->addWidget(label, 1, 0, 1, 1); - - x = new QLineEdit(gridLayoutWidget); - x->setObjectName(QString::fromUtf8("x")); - x->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(x, 1, 1, 1, 1); - - y = new QLineEdit(gridLayoutWidget); - y->setObjectName(QString::fromUtf8("y")); - y->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(y, 1, 2, 1, 1); - - z = new QLineEdit(gridLayoutWidget); - z->setObjectName(QString::fromUtf8("z")); - z->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(z, 1, 3, 1, 1); - - finished = new QPushButton(centralWidget); - finished->setObjectName(QString::fromUtf8("finished")); - finished->setGeometry(QRect(180, 290, 93, 29)); - SettingClass->setCentralWidget(centralWidget); - menuBar = new QMenuBar(SettingClass); - menuBar->setObjectName(QString::fromUtf8("menuBar")); - menuBar->setGeometry(QRect(0, 0, 871, 26)); - SettingClass->setMenuBar(menuBar); - mainToolBar = new QToolBar(SettingClass); - mainToolBar->setObjectName(QString::fromUtf8("mainToolBar")); - SettingClass->addToolBar(Qt::TopToolBarArea, mainToolBar); - statusBar = new QStatusBar(SettingClass); - statusBar->setObjectName(QString::fromUtf8("statusBar")); - SettingClass->setStatusBar(statusBar); - - retranslateUi(SettingClass); - - QMetaObject::connectSlotsByName(SettingClass); - } // setupUi - - void retranslateUi(QMainWindow *SettingClass) - { - SettingClass->setWindowTitle(QCoreApplication::translate("SettingClass", "Setting", nullptr)); - Start_Timer->setText(QCoreApplication::translate("SettingClass", "\345\207\272\345\217\221\346\227\266\351\227\264\357\274\232", nullptr)); - seconds->setPlaceholderText(QCoreApplication::translate("SettingClass", "\347\247\222", nullptr)); - hours->setPlaceholderText(QCoreApplication::translate("SettingClass", "\346\227\266", nullptr)); - longitude->setPlaceholderText(QCoreApplication::translate("SettingClass", "\347\273\217\345\272\246", nullptr)); - minutes->setPlaceholderText(QCoreApplication::translate("SettingClass", "\345\210\206", nullptr)); - latitude->setPlaceholderText(QCoreApplication::translate("SettingClass", "\347\272\254\345\272\246", nullptr)); - Speed_Lable->setText(QCoreApplication::translate("SettingClass", "\347\233\256\347\232\204\345\234\260", nullptr)); - label->setText(QCoreApplication::translate("SettingClass", "x,y,z", nullptr)); - x->setPlaceholderText(QCoreApplication::translate("SettingClass", "0", nullptr)); - y->setPlaceholderText(QCoreApplication::translate("SettingClass", "0", nullptr)); - z->setPlaceholderText(QCoreApplication::translate("SettingClass", "0", nullptr)); - finished->setText(QCoreApplication::translate("SettingClass", "\345\256\214\346\210\220", nullptr)); - } // retranslateUi - -}; - -namespace Ui { - class SettingClass: public Ui_SettingClass {}; -} // namespace Ui - -QT_END_NAMESPACE - -#endif // UI_SETTING_H diff --git a/src/UAV_UI_new/x64/Debug/uic/ui_UAV_UI_new.h b/src/UAV_UI_new/x64/Debug/uic/ui_UAV_UI_new.h deleted file mode 100644 index f56e66c..0000000 --- a/src/UAV_UI_new/x64/Debug/uic/ui_UAV_UI_new.h +++ /dev/null @@ -1,116 +0,0 @@ -/******************************************************************************** -** Form generated from reading UI file 'UAV_UI_new.ui' -** -** Created by: Qt User Interface Compiler version 6.2.4 -** -** WARNING! All changes made in this file will be lost when recompiling UI file! -********************************************************************************/ - -#ifndef UI_UAV_UI_NEW_H -#define UI_UAV_UI_NEW_H - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -QT_BEGIN_NAMESPACE - -class Ui_UAV_UI_newClass -{ -public: - QWidget *centralWidget; - QWidget *verticalLayoutWidget; - QVBoxLayout *verticalLayout; - QLabel *display; - QPushButton *stop; - QPushButton *connection; - QLabel *play_tag; - QPushButton *Settings; - QPushButton *action; - QMenuBar *menuBar; - QToolBar *mainToolBar; - QStatusBar *statusBar; - - void setupUi(QMainWindow *UAV_UI_newClass) - { - if (UAV_UI_newClass->objectName().isEmpty()) - UAV_UI_newClass->setObjectName(QString::fromUtf8("UAV_UI_newClass")); - UAV_UI_newClass->resize(1159, 682); - centralWidget = new QWidget(UAV_UI_newClass); - centralWidget->setObjectName(QString::fromUtf8("centralWidget")); - verticalLayoutWidget = new QWidget(centralWidget); - verticalLayoutWidget->setObjectName(QString::fromUtf8("verticalLayoutWidget")); - verticalLayoutWidget->setGeometry(QRect(90, 60, 642, 509)); - verticalLayoutWidget->setMinimumSize(QSize(640, 480)); - verticalLayout = new QVBoxLayout(verticalLayoutWidget); - verticalLayout->setSpacing(6); - verticalLayout->setContentsMargins(11, 11, 11, 11); - verticalLayout->setObjectName(QString::fromUtf8("verticalLayout")); - verticalLayout->setContentsMargins(0, 0, 0, 0); - display = new QLabel(verticalLayoutWidget); - display->setObjectName(QString::fromUtf8("display")); - display->setEnabled(true); - display->setMinimumSize(QSize(640, 480)); - display->setMaximumSize(QSize(640, 480)); - - verticalLayout->addWidget(display); - - stop = new QPushButton(centralWidget); - stop->setObjectName(QString::fromUtf8("stop")); - stop->setGeometry(QRect(820, 140, 93, 29)); - connection = new QPushButton(centralWidget); - connection->setObjectName(QString::fromUtf8("connection")); - connection->setGeometry(QRect(820, 70, 93, 29)); - play_tag = new QLabel(centralWidget); - play_tag->setObjectName(QString::fromUtf8("play_tag")); - play_tag->setGeometry(QRect(100, 40, 81, 31)); - Settings = new QPushButton(centralWidget); - Settings->setObjectName(QString::fromUtf8("Settings")); - Settings->setGeometry(QRect(1060, 0, 93, 29)); - action = new QPushButton(centralWidget); - action->setObjectName(QString::fromUtf8("action")); - action->setGeometry(QRect(820, 200, 93, 29)); - UAV_UI_newClass->setCentralWidget(centralWidget); - menuBar = new QMenuBar(UAV_UI_newClass); - menuBar->setObjectName(QString::fromUtf8("menuBar")); - menuBar->setGeometry(QRect(0, 0, 1159, 26)); - UAV_UI_newClass->setMenuBar(menuBar); - mainToolBar = new QToolBar(UAV_UI_newClass); - mainToolBar->setObjectName(QString::fromUtf8("mainToolBar")); - UAV_UI_newClass->addToolBar(Qt::TopToolBarArea, mainToolBar); - statusBar = new QStatusBar(UAV_UI_newClass); - statusBar->setObjectName(QString::fromUtf8("statusBar")); - UAV_UI_newClass->setStatusBar(statusBar); - - retranslateUi(UAV_UI_newClass); - - QMetaObject::connectSlotsByName(UAV_UI_newClass); - } // setupUi - - void retranslateUi(QMainWindow *UAV_UI_newClass) - { - UAV_UI_newClass->setWindowTitle(QCoreApplication::translate("UAV_UI_newClass", "UAV_UI_new", nullptr)); - display->setText(QString()); - stop->setText(QCoreApplication::translate("UAV_UI_newClass", "stop", nullptr)); - connection->setText(QCoreApplication::translate("UAV_UI_newClass", "connection", nullptr)); - play_tag->setText(QCoreApplication::translate("UAV_UI_newClass", "\345\233\276\345\203\217\346\222\255\346\224\276\345\244\204", nullptr)); - Settings->setText(QCoreApplication::translate("UAV_UI_newClass", "Settings", nullptr)); - action->setText(QCoreApplication::translate("UAV_UI_newClass", "\345\207\272\350\255\246", nullptr)); - } // retranslateUi - -}; - -namespace Ui { - class UAV_UI_newClass: public Ui_UAV_UI_newClass {}; -} // namespace Ui - -QT_END_NAMESPACE - -#endif // UI_UAV_UI_NEW_H diff --git a/src/UAV_UI_new/x64/Debug/uic/ui_tips.h b/src/UAV_UI_new/x64/Debug/uic/ui_tips.h deleted file mode 100644 index 25b5a0b..0000000 --- a/src/UAV_UI_new/x64/Debug/uic/ui_tips.h +++ /dev/null @@ -1,66 +0,0 @@ -/******************************************************************************** -** Form generated from reading UI file 'tips.ui' -** -** Created by: Qt User Interface Compiler version 6.2.4 -** -** WARNING! All changes made in this file will be lost when recompiling UI file! -********************************************************************************/ - -#ifndef UI_TIPS_H -#define UI_TIPS_H - -#include -#include -#include -#include -#include -#include -#include - -QT_BEGIN_NAMESPACE - -class Ui_tipsClass -{ -public: - QMenuBar *menuBar; - QToolBar *mainToolBar; - QWidget *centralWidget; - QStatusBar *statusBar; - - void setupUi(QMainWindow *tipsClass) - { - if (tipsClass->objectName().isEmpty()) - tipsClass->setObjectName(QString::fromUtf8("tipsClass")); - tipsClass->resize(600, 400); - menuBar = new QMenuBar(tipsClass); - menuBar->setObjectName(QString::fromUtf8("menuBar")); - tipsClass->setMenuBar(menuBar); - mainToolBar = new QToolBar(tipsClass); - mainToolBar->setObjectName(QString::fromUtf8("mainToolBar")); - tipsClass->addToolBar(mainToolBar); - centralWidget = new QWidget(tipsClass); - centralWidget->setObjectName(QString::fromUtf8("centralWidget")); - tipsClass->setCentralWidget(centralWidget); - statusBar = new QStatusBar(tipsClass); - statusBar->setObjectName(QString::fromUtf8("statusBar")); - tipsClass->setStatusBar(statusBar); - - retranslateUi(tipsClass); - - QMetaObject::connectSlotsByName(tipsClass); - } // setupUi - - void retranslateUi(QMainWindow *tipsClass) - { - tipsClass->setWindowTitle(QCoreApplication::translate("tipsClass", "tips", nullptr)); - } // retranslateUi - -}; - -namespace Ui { - class tipsClass: public Ui_tipsClass {}; -} // namespace Ui - -QT_END_NAMESPACE - -#endif // UI_TIPS_H diff --git a/src/UAV_UI_new/x64/Debug/vc143.pdb b/src/UAV_UI_new/x64/Debug/vc143.pdb deleted file mode 100644 index 555d790..0000000 Binary files a/src/UAV_UI_new/x64/Debug/vc143.pdb and /dev/null differ diff --git a/src/fire/fire/Debug/Prediction.obj b/src/fire/fire/Debug/Prediction.obj deleted file mode 100644 index bc17990..0000000 Binary files a/src/fire/fire/Debug/Prediction.obj and /dev/null differ diff --git a/src/fire/fire/Debug/Setting.obj b/src/fire/fire/Debug/Setting.obj deleted file mode 100644 index 6ed0a55..0000000 Binary files a/src/fire/fire/Debug/Setting.obj and /dev/null differ diff --git a/src/fire/fire/Debug/UAV_UI_new.Build.CppClean.log b/src/fire/fire/Debug/UAV_UI_new.Build.CppClean.log deleted file mode 100644 index ca5524e..0000000 --- a/src/fire/fire/Debug/UAV_UI_new.Build.CppClean.log +++ /dev/null @@ -1,36 +0,0 @@ -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\tips.obj -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\main.obj -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.obj -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\moc_uav_ui_new.obj -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\moc_setting.obj -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\qrc_uav_ui_new.obj -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\moc_tips.obj -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\vc143.pdb -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\setting.obj -d:\software\uav_ui\uav_ui_new\x64\debug\uav_ui_new.exe -d:\software\uav_ui\uav_ui_new\x64\debug\uav_ui_new.ilk -d:\software\uav_ui\uav_ui_new\x64\debug\uav_ui_new.pdb -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\moc\moc_uav_ui_new.cpp -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new1.res -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\rcc\qrc_uav_ui_new.cpp -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uic\ui_setting.h -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uic\ui_tips.h -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uic\ui_uav_ui_new.h -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\moc\moc_tips.cpp -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\moc\moc_setting.cpp -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\cl.command.1.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\cl.read.1.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\cl.write.1.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\link.command.1.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\link.read.1.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\link.write.1.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\moc.read.1u.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\moc.write.1u.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\rc.command.1.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\rc.read.1.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\rc.write.1.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\rcc.read.1u.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\rcc.write.1u.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\uav_ui_new.write.1u.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\uic.read.1u.tlog -d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\uic.write.1u.tlog diff --git a/src/fire/fire/Debug/UAV_UI_new.tlog/rc.command.1.tlog b/src/fire/fire/Debug/UAV_UI_new.tlog/rc.command.1.tlog deleted file mode 100644 index 307e42d..0000000 Binary files a/src/fire/fire/Debug/UAV_UI_new.tlog/rc.command.1.tlog and /dev/null differ diff --git a/src/fire/fire/Debug/UAV_UI_new.tlog/rc.read.1.tlog b/src/fire/fire/Debug/UAV_UI_new.tlog/rc.read.1.tlog deleted file mode 100644 index 8faf967..0000000 Binary files a/src/fire/fire/Debug/UAV_UI_new.tlog/rc.read.1.tlog and /dev/null differ diff --git a/src/fire/fire/Debug/UAV_UI_new.tlog/rc.write.1.tlog b/src/fire/fire/Debug/UAV_UI_new.tlog/rc.write.1.tlog deleted file mode 100644 index 0be9912..0000000 Binary files a/src/fire/fire/Debug/UAV_UI_new.tlog/rc.write.1.tlog and /dev/null differ diff --git a/src/fire/fire/Debug/UAV_UI_new1.res b/src/fire/fire/Debug/UAV_UI_new1.res deleted file mode 100644 index 36f26e2..0000000 Binary files a/src/fire/fire/Debug/UAV_UI_new1.res and /dev/null differ diff --git a/src/fire/fire/Debug/moc/moc_Prediction.cpp b/src/fire/fire/Debug/moc/moc_Prediction.cpp deleted file mode 100644 index 6ed2f26..0000000 --- a/src/fire/fire/Debug/moc/moc_Prediction.cpp +++ /dev/null @@ -1,99 +0,0 @@ -/**************************************************************************** -** Meta object code from reading C++ file 'Prediction.h' -** -** Created by: The Qt Meta Object Compiler version 68 (Qt 6.2.4) -** -** WARNING! All changes made in this file will be lost! -*****************************************************************************/ - -#include -#include "../../../Prediction.h" -#include -#include -#include -#if !defined(Q_MOC_OUTPUT_REVISION) -#error "The header file 'Prediction.h' doesn't include ." -#elif Q_MOC_OUTPUT_REVISION != 68 -#error "This file was generated using the moc from 6.2.4. It" -#error "cannot be used with the include files from this version of Qt." -#error "(The moc has changed too much.)" -#endif - -QT_BEGIN_MOC_NAMESPACE -QT_WARNING_PUSH -QT_WARNING_DISABLE_DEPRECATED -struct qt_meta_stringdata_Prediction_t { - const uint offsetsAndSize[2]; - char stringdata0[11]; -}; -#define QT_MOC_LITERAL(ofs, len) \ - uint(offsetof(qt_meta_stringdata_Prediction_t, stringdata0) + ofs), len -static const qt_meta_stringdata_Prediction_t qt_meta_stringdata_Prediction = { - { -QT_MOC_LITERAL(0, 10) // "Prediction" - - }, - "Prediction" -}; -#undef QT_MOC_LITERAL - -static const uint qt_meta_data_Prediction[] = { - - // content: - 10, // revision - 0, // classname - 0, 0, // classinfo - 0, 0, // methods - 0, 0, // properties - 0, 0, // enums/sets - 0, 0, // constructors - 0, // flags - 0, // signalCount - - 0 // eod -}; - -void Prediction::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) -{ - (void)_o; - (void)_id; - (void)_c; - (void)_a; -} - -const QMetaObject Prediction::staticMetaObject = { { - QMetaObject::SuperData::link(), - qt_meta_stringdata_Prediction.offsetsAndSize, - qt_meta_data_Prediction, - qt_static_metacall, - nullptr, -qt_incomplete_metaTypeArray - - - ->, - nullptr -} }; - - -const QMetaObject *Prediction::metaObject() const -{ - return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; -} - -void *Prediction::qt_metacast(const char *_clname) -{ - if (!_clname) return nullptr; - if (!strcmp(_clname, qt_meta_stringdata_Prediction.stringdata0)) - return static_cast(this); - return QMainWindow::qt_metacast(_clname); -} - -int Prediction::qt_metacall(QMetaObject::Call _c, int _id, void **_a) -{ - _id = QMainWindow::qt_metacall(_c, _id, _a); - return _id; -} -QT_WARNING_POP -QT_END_MOC_NAMESPACE diff --git a/src/fire/fire/Debug/moc/moc_Setting.cpp b/src/fire/fire/Debug/moc/moc_Setting.cpp deleted file mode 100644 index 883888d..0000000 --- a/src/fire/fire/Debug/moc/moc_Setting.cpp +++ /dev/null @@ -1,123 +0,0 @@ -/**************************************************************************** -** Meta object code from reading C++ file 'Setting.h' -** -** Created by: The Qt Meta Object Compiler version 68 (Qt 6.2.4) -** -** WARNING! All changes made in this file will be lost! -*****************************************************************************/ - -#include -#include "../../../Setting.h" -#include -#include -#include -#if !defined(Q_MOC_OUTPUT_REVISION) -#error "The header file 'Setting.h' doesn't include ." -#elif Q_MOC_OUTPUT_REVISION != 68 -#error "This file was generated using the moc from 6.2.4. It" -#error "cannot be used with the include files from this version of Qt." -#error "(The moc has changed too much.)" -#endif - -QT_BEGIN_MOC_NAMESPACE -QT_WARNING_PUSH -QT_WARNING_DISABLE_DEPRECATED -struct qt_meta_stringdata_Setting_t { - const uint offsetsAndSize[6]; - char stringdata0[28]; -}; -#define QT_MOC_LITERAL(ofs, len) \ - uint(offsetof(qt_meta_stringdata_Setting_t, stringdata0) + ofs), len -static const qt_meta_stringdata_Setting_t qt_meta_stringdata_Setting = { - { -QT_MOC_LITERAL(0, 7), // "Setting" -QT_MOC_LITERAL(8, 18), // "on_finished_button" -QT_MOC_LITERAL(27, 0) // "" - - }, - "Setting\0on_finished_button\0" -}; -#undef QT_MOC_LITERAL - -static const uint qt_meta_data_Setting[] = { - - // content: - 10, // revision - 0, // classname - 0, 0, // classinfo - 1, 14, // methods - 0, 0, // properties - 0, 0, // enums/sets - 0, 0, // constructors - 0, // flags - 0, // signalCount - - // slots: name, argc, parameters, tag, flags, initial metatype offsets - 1, 0, 20, 2, 0x08, 1 /* Private */, - - // slots: parameters - QMetaType::Void, - - 0 // eod -}; - -void Setting::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) -{ - if (_c == QMetaObject::InvokeMetaMethod) { - auto *_t = static_cast(_o); - (void)_t; - switch (_id) { - case 0: _t->on_finished_button(); break; - default: ; - } - } - (void)_a; -} - -const QMetaObject Setting::staticMetaObject = { { - QMetaObject::SuperData::link(), - qt_meta_stringdata_Setting.offsetsAndSize, - qt_meta_data_Setting, - qt_static_metacall, - nullptr, -qt_incomplete_metaTypeArray -, QtPrivate::TypeAndForceComplete - - ->, - nullptr -} }; - - -const QMetaObject *Setting::metaObject() const -{ - return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; -} - -void *Setting::qt_metacast(const char *_clname) -{ - if (!_clname) return nullptr; - if (!strcmp(_clname, qt_meta_stringdata_Setting.stringdata0)) - return static_cast(this); - return QMainWindow::qt_metacast(_clname); -} - -int Setting::qt_metacall(QMetaObject::Call _c, int _id, void **_a) -{ - _id = QMainWindow::qt_metacall(_c, _id, _a); - if (_id < 0) - return _id; - if (_c == QMetaObject::InvokeMetaMethod) { - if (_id < 1) - qt_static_metacall(this, _c, _id, _a); - _id -= 1; - } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) { - if (_id < 1) - *reinterpret_cast(_a[0]) = QMetaType(); - _id -= 1; - } - return _id; -} -QT_WARNING_POP -QT_END_MOC_NAMESPACE diff --git a/src/fire/fire/Debug/moc_Prediction.obj b/src/fire/fire/Debug/moc_Prediction.obj deleted file mode 100644 index b619e45..0000000 Binary files a/src/fire/fire/Debug/moc_Prediction.obj and /dev/null differ diff --git a/src/fire/fire/Debug/moc_Setting.obj b/src/fire/fire/Debug/moc_Setting.obj deleted file mode 100644 index 2d422c2..0000000 Binary files a/src/fire/fire/Debug/moc_Setting.obj and /dev/null differ diff --git a/src/fire/fire/Debug/uic/ui_Prediction.h b/src/fire/fire/Debug/uic/ui_Prediction.h deleted file mode 100644 index 55c242b..0000000 --- a/src/fire/fire/Debug/uic/ui_Prediction.h +++ /dev/null @@ -1,122 +0,0 @@ -/******************************************************************************** -** Form generated from reading UI file 'Prediction.ui' -** -** Created by: Qt User Interface Compiler version 6.2.4 -** -** WARNING! All changes made in this file will be lost when recompiling UI file! -********************************************************************************/ - -#ifndef UI_PREDICTION_H -#define UI_PREDICTION_H - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -QT_BEGIN_NAMESPACE - -class Ui_PredictionClass -{ -public: - QWidget *centralWidget; - QWidget *verticalLayoutWidget; - QVBoxLayout *verticalLayout; - QLabel *display; - QLabel *Pre_tag; - QPushButton *north; - QPushButton *south; - QPushButton *east; - QPushButton *west; - QLineEdit *Tree_Type; - QMenuBar *menuBar; - QToolBar *mainToolBar; - QStatusBar *statusBar; - - void setupUi(QMainWindow *PredictionClass) - { - if (PredictionClass->objectName().isEmpty()) - PredictionClass->setObjectName(QString::fromUtf8("PredictionClass")); - PredictionClass->resize(1130, 644); - centralWidget = new QWidget(PredictionClass); - centralWidget->setObjectName(QString::fromUtf8("centralWidget")); - verticalLayoutWidget = new QWidget(centralWidget); - verticalLayoutWidget->setObjectName(QString::fromUtf8("verticalLayoutWidget")); - verticalLayoutWidget->setGeometry(QRect(120, 50, 642, 509)); - verticalLayoutWidget->setMinimumSize(QSize(640, 480)); - verticalLayout = new QVBoxLayout(verticalLayoutWidget); - verticalLayout->setSpacing(6); - verticalLayout->setContentsMargins(11, 11, 11, 11); - verticalLayout->setObjectName(QString::fromUtf8("verticalLayout")); - verticalLayout->setContentsMargins(0, 0, 0, 0); - display = new QLabel(verticalLayoutWidget); - display->setObjectName(QString::fromUtf8("display")); - display->setEnabled(true); - display->setMinimumSize(QSize(640, 480)); - display->setMaximumSize(QSize(640, 480)); - - verticalLayout->addWidget(display); - - Pre_tag = new QLabel(centralWidget); - Pre_tag->setObjectName(QString::fromUtf8("Pre_tag")); - Pre_tag->setGeometry(QRect(130, 30, 81, 31)); - north = new QPushButton(centralWidget); - north->setObjectName(QString::fromUtf8("north")); - north->setGeometry(QRect(830, 60, 93, 29)); - south = new QPushButton(centralWidget); - south->setObjectName(QString::fromUtf8("south")); - south->setGeometry(QRect(830, 110, 93, 29)); - east = new QPushButton(centralWidget); - east->setObjectName(QString::fromUtf8("east")); - east->setGeometry(QRect(830, 160, 93, 29)); - west = new QPushButton(centralWidget); - west->setObjectName(QString::fromUtf8("west")); - west->setGeometry(QRect(830, 210, 93, 29)); - Tree_Type = new QLineEdit(centralWidget); - Tree_Type->setObjectName(QString::fromUtf8("Tree_Type")); - Tree_Type->setGeometry(QRect(830, 260, 91, 31)); - PredictionClass->setCentralWidget(centralWidget); - menuBar = new QMenuBar(PredictionClass); - menuBar->setObjectName(QString::fromUtf8("menuBar")); - menuBar->setGeometry(QRect(0, 0, 1130, 26)); - PredictionClass->setMenuBar(menuBar); - mainToolBar = new QToolBar(PredictionClass); - mainToolBar->setObjectName(QString::fromUtf8("mainToolBar")); - PredictionClass->addToolBar(Qt::TopToolBarArea, mainToolBar); - statusBar = new QStatusBar(PredictionClass); - statusBar->setObjectName(QString::fromUtf8("statusBar")); - PredictionClass->setStatusBar(statusBar); - - retranslateUi(PredictionClass); - - QMetaObject::connectSlotsByName(PredictionClass); - } // setupUi - - void retranslateUi(QMainWindow *PredictionClass) - { - PredictionClass->setWindowTitle(QCoreApplication::translate("PredictionClass", "Prediction", nullptr)); - display->setText(QString()); - Pre_tag->setText(QCoreApplication::translate("PredictionClass", "\347\201\253\345\212\277\347\212\266\345\206\265", nullptr)); - north->setText(QCoreApplication::translate("PredictionClass", "\345\214\227\351\243\216", nullptr)); - south->setText(QCoreApplication::translate("PredictionClass", "\345\215\227\351\243\216", nullptr)); - east->setText(QCoreApplication::translate("PredictionClass", "\344\270\234\351\243\216", nullptr)); - west->setText(QCoreApplication::translate("PredictionClass", "\350\245\277\351\243\216", nullptr)); - Tree_Type->setPlaceholderText(QCoreApplication::translate("PredictionClass", "1\357\274\232\351\222\210\345\217\266\346\236\227\357\274\2332\357\274\232\350\220\275\345\217\266\346\236\227\357\274\2333\357\274\232\347\201\214\346\234\250\346\236\227", nullptr)); - } // retranslateUi - -}; - -namespace Ui { - class PredictionClass: public Ui_PredictionClass {}; -} // namespace Ui - -QT_END_NAMESPACE - -#endif // UI_PREDICTION_H diff --git a/src/fire/fire/Debug/uic/ui_Setting.h b/src/fire/fire/Debug/uic/ui_Setting.h deleted file mode 100644 index f25d8f4..0000000 --- a/src/fire/fire/Debug/uic/ui_Setting.h +++ /dev/null @@ -1,173 +0,0 @@ -/******************************************************************************** -** Form generated from reading UI file 'Setting.ui' -** -** Created by: Qt User Interface Compiler version 6.2.4 -** -** WARNING! All changes made in this file will be lost when recompiling UI file! -********************************************************************************/ - -#ifndef UI_SETTING_H -#define UI_SETTING_H - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -QT_BEGIN_NAMESPACE - -class Ui_SettingClass -{ -public: - QWidget *centralWidget; - QWidget *gridLayoutWidget; - QGridLayout *gridLayout; - QLabel *Start_Timer; - QLineEdit *seconds; - QLineEdit *hours; - QLineEdit *longitude; - QLineEdit *minutes; - QLineEdit *latitude; - QLabel *Speed_Lable; - QLabel *label; - QLineEdit *x; - QLineEdit *y; - QLineEdit *z; - QPushButton *finished; - QMenuBar *menuBar; - QToolBar *mainToolBar; - QStatusBar *statusBar; - - void setupUi(QMainWindow *SettingClass) - { - if (SettingClass->objectName().isEmpty()) - SettingClass->setObjectName(QString::fromUtf8("SettingClass")); - SettingClass->resize(871, 571); - centralWidget = new QWidget(SettingClass); - centralWidget->setObjectName(QString::fromUtf8("centralWidget")); - gridLayoutWidget = new QWidget(centralWidget); - gridLayoutWidget->setObjectName(QString::fromUtf8("gridLayoutWidget")); - gridLayoutWidget->setGeometry(QRect(200, 100, 451, 241)); - gridLayout = new QGridLayout(gridLayoutWidget); - gridLayout->setSpacing(6); - gridLayout->setContentsMargins(11, 11, 11, 11); - gridLayout->setObjectName(QString::fromUtf8("gridLayout")); - gridLayout->setContentsMargins(0, 0, 0, 0); - Start_Timer = new QLabel(gridLayoutWidget); - Start_Timer->setObjectName(QString::fromUtf8("Start_Timer")); - - gridLayout->addWidget(Start_Timer, 2, 0, 1, 1); - - seconds = new QLineEdit(gridLayoutWidget); - seconds->setObjectName(QString::fromUtf8("seconds")); - seconds->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(seconds, 2, 3, 1, 1); - - hours = new QLineEdit(gridLayoutWidget); - hours->setObjectName(QString::fromUtf8("hours")); - hours->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(hours, 2, 1, 1, 1); - - longitude = new QLineEdit(gridLayoutWidget); - longitude->setObjectName(QString::fromUtf8("longitude")); - longitude->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(longitude, 0, 1, 1, 1); - - minutes = new QLineEdit(gridLayoutWidget); - minutes->setObjectName(QString::fromUtf8("minutes")); - minutes->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(minutes, 2, 2, 1, 1); - - latitude = new QLineEdit(gridLayoutWidget); - latitude->setObjectName(QString::fromUtf8("latitude")); - latitude->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(latitude, 0, 2, 1, 1); - - Speed_Lable = new QLabel(gridLayoutWidget); - Speed_Lable->setObjectName(QString::fromUtf8("Speed_Lable")); - Speed_Lable->setMaximumSize(QSize(80, 16777215)); - - gridLayout->addWidget(Speed_Lable, 0, 0, 1, 1); - - label = new QLabel(gridLayoutWidget); - label->setObjectName(QString::fromUtf8("label")); - label->setMaximumSize(QSize(16777215, 20)); - - gridLayout->addWidget(label, 1, 0, 1, 1); - - x = new QLineEdit(gridLayoutWidget); - x->setObjectName(QString::fromUtf8("x")); - x->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(x, 1, 1, 1, 1); - - y = new QLineEdit(gridLayoutWidget); - y->setObjectName(QString::fromUtf8("y")); - y->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(y, 1, 2, 1, 1); - - z = new QLineEdit(gridLayoutWidget); - z->setObjectName(QString::fromUtf8("z")); - z->setMaximumSize(QSize(150, 16777215)); - - gridLayout->addWidget(z, 1, 3, 1, 1); - - finished = new QPushButton(centralWidget); - finished->setObjectName(QString::fromUtf8("finished")); - finished->setGeometry(QRect(360, 370, 93, 29)); - SettingClass->setCentralWidget(centralWidget); - menuBar = new QMenuBar(SettingClass); - menuBar->setObjectName(QString::fromUtf8("menuBar")); - menuBar->setGeometry(QRect(0, 0, 871, 26)); - SettingClass->setMenuBar(menuBar); - mainToolBar = new QToolBar(SettingClass); - mainToolBar->setObjectName(QString::fromUtf8("mainToolBar")); - SettingClass->addToolBar(Qt::TopToolBarArea, mainToolBar); - statusBar = new QStatusBar(SettingClass); - statusBar->setObjectName(QString::fromUtf8("statusBar")); - SettingClass->setStatusBar(statusBar); - - retranslateUi(SettingClass); - - QMetaObject::connectSlotsByName(SettingClass); - } // setupUi - - void retranslateUi(QMainWindow *SettingClass) - { - SettingClass->setWindowTitle(QCoreApplication::translate("SettingClass", "Setting", nullptr)); - Start_Timer->setText(QCoreApplication::translate("SettingClass", "\345\207\272\345\217\221\346\227\266\351\227\264\357\274\232", nullptr)); - seconds->setPlaceholderText(QCoreApplication::translate("SettingClass", "\347\247\222", nullptr)); - hours->setPlaceholderText(QCoreApplication::translate("SettingClass", "\346\227\266", nullptr)); - longitude->setPlaceholderText(QCoreApplication::translate("SettingClass", "\347\273\217\345\272\246", nullptr)); - minutes->setPlaceholderText(QCoreApplication::translate("SettingClass", "\345\210\206", nullptr)); - latitude->setPlaceholderText(QCoreApplication::translate("SettingClass", "\347\272\254\345\272\246", nullptr)); - Speed_Lable->setText(QCoreApplication::translate("SettingClass", "\347\233\256\347\232\204\345\234\260", nullptr)); - label->setText(QCoreApplication::translate("SettingClass", "x,y,z", nullptr)); - x->setPlaceholderText(QCoreApplication::translate("SettingClass", "0", nullptr)); - y->setPlaceholderText(QCoreApplication::translate("SettingClass", "0", nullptr)); - z->setPlaceholderText(QCoreApplication::translate("SettingClass", "0", nullptr)); - finished->setText(QCoreApplication::translate("SettingClass", "\345\256\214\346\210\220", nullptr)); - } // retranslateUi - -}; - -namespace Ui { - class SettingClass: public Ui_SettingClass {}; -} // namespace Ui - -QT_END_NAMESPACE - -#endif // UI_SETTING_H diff --git a/src/fire/fire/rapidjson b/src/fire/fire/rapidjson deleted file mode 160000 index b33985c..0000000 --- a/src/fire/fire/rapidjson +++ /dev/null @@ -1 +0,0 @@ -Subproject commit b33985c3a94a5f2fd7370867f8cde7ba063a2173 diff --git a/src/新建文本文档.txt b/src/新建文本文档.txt new file mode 100644 index 0000000..e69de29 diff --git a/src/林火预测/FP.cpp b/src/林火预测/FP.cpp new file mode 100644 index 0000000..e1ca9a1 --- /dev/null +++ b/src/林火预测/FP.cpp @@ -0,0 +1,152 @@ +#include +#include +#include "levelToSpeed.h" + +using namespace std; +#define M_PI acos(-1) + + +class ForestFirePrediction { +public: + // 构造函数 + ForestFirePrediction(int wind_direction, double wind_level, double slope, double altitude, int cover_type, double fire_size, double temperature, double waterlevel) { + this->wind_direction = wind_direction; + this->wind_level = wind_level; + this->slope = slope; + this->altitude = altitude; + this->cover_type = cover_type; + this->fire_size = fire_size; + this->temperature = temperature; + this->waterlevel = waterlevel; + } + + // 计算受阻距离（单位：km） + double get_distance() { + double rad_slope = slope * M_PI / 180.0; // 将坡度转化为弧度 + double distance = sin(rad_slope) * altitude / 1000.0; // 计算受阻距离 + return distance; + } + + // 预测火灾蔓延范围 + void predict_range() { + double impact_factor; // 植被类型影响系数 + double correction_coef; // 风速补正系数 + double distance; // 受阻距离 + double composite_index; // 综合指数 + + // 根据植被类型获取影响系数 + switch (cover_type) { + case 1: // 针叶林 + impact_factor = 0.7; + break; + case 2: // 落叶林 + impact_factor = 0.5; + break; + case 3: // 灌木林 + impact_factor = 0.4; + break; + default: + cout << "植被类型输入错误！" << endl; + return; + } + + // 计算风速补正系数 + int angle = abs(wind_direction - 180); // 计算风向与火灾扩散方向之间的夹角 + if (angle <= 45 || angle >= 315) { // 如果夹角较小，则不需要进行风速补正 + correction_coef = 1; + } + else { + correction_coef = 0.65 + 0.35 * cos((angle - 45) * M_PI / 270.0); // 使用公式计算风速补正系数 + } + + // 计算受阻距离 + distance = get_distance(); + + // 计算综合指数 + composite_index = correction_coef * (1 + distance) * impact_factor; + + // 计算火灾蔓延半径 + double radius = sqrt(fire_size * 1000000 * composite_index) / M_PI; + double range = radius * pow(10, 1.5 * levelToSpeed(wind_level) / 30.0); + + // 输出预测结果 + cout << "火灾蔓延范围预测结果：" << endl; + cout << "火源最可能在" << radius << "米范围内发生。" << endl; + cout << "在风速为 " << wind_level << "级风的情况下，火源最可能的蔓延范围为 " << range << " 米。" << endl; + } + + // 预测火灾蔓延速度 + void predict_speed(int level) { + double slope_factor; // 坡度影响因子 + double speed_factor; // 风速影响因子 + double size_factor; // 火源面积影响因子 + + // 计算坡度影响因子 + if (slope > 0) { + slope_factor = pow(3.33, sqrt(slope)); + } + else { + slope_factor = 1; + } + + // 计算风速影响因子 + double wind_speed = levelToSpeed(wind_level); + speed_factor = 5.15 * pow(wind_speed, 0.39) + 0.299 * temperature + 0.009 * (100 - waterlevel) - 0.304; + + // 计算火源面积影响因子 + size_factor = pow(fire_size, 0.77); + + // 计算火灾蔓延速度 + double speed = 0.348 * sqrt(size_factor * slope_factor * speed_factor); + + + // 输出预测结果 + cout << "火灾蔓延速度预测结果：" << endl; + cout << "火灾蔓延速度可能为" << speed << "km/h。" << endl; + } + +private: + int wind_direction; // 风向（单位：度） + double wind_level; // 风力等级 + double slope; // 坡度（单位：度） + double altitude; // 海拔高度（单位：m） + int cover_type; // 植被类型（1：针叶林；2：落叶林；3：灌木林） + double fire_size; // 火源面积（单位：平方米） + double temperature; // 温度（单位：摄氏度） + double waterlevel; // 湿度（单位：%） +}; + +int main() { + // 读取参数 + int wind_direction; + int wind_level; + double slope; + double altitude; + int cover_type; + double fire_size; + double temperature; + double waterlevel; + cout << "请输入风向（0-360度）：" << endl; + cin >> wind_direction; + cout << "请输入风力等级（级）：" << endl; + cin >> wind_level; + cout << "请输入坡度（度）：" << endl; + cin >> slope; + cout << "请输入海拔高度（m）：" << endl; + cin >> altitude; + cout << "请输入植被类型（1：针叶林；2：落叶林；3：灌木林）：" << endl; + cin >> cover_type; + cout << "请输入火源面积（m^2）：" << endl; + cin >> fire_size; + cout << "请输入当天气温（°C）：" << endl; + cin >> temperature; + cout << "请输入当天湿度（%）：" << endl; + cin >> waterlevel; + + // 预测火灾蔓延范围和速度 + ForestFirePrediction ffp(wind_direction, wind_level, slope, altitude, cover_type, fire_size, temperature, waterlevel); + ffp.predict_range(); + ffp.predict_speed(wind_level); + + return 0; +} \ No newline at end of file diff --git a/src/林火预测/Ks_correction.h b/src/林火预测/Ks_correction.h new file mode 100644 index 0000000..d97eede --- /dev/null +++ b/src/林火预测/Ks_correction.h @@ -0,0 +1,30 @@ +#include +using namespace std; + +double Ks_cor(int cover_type) +{ + double impact_factor = 0; + // ֲͻȡӰϵ + switch (cover_type) { + case 1: // Ҷ + impact_factor = 0.7; + break; + case 2: // Ҷ + impact_factor = 0.5; + break; + case 3: // ľ + impact_factor = 0.4; + break; + case 4: //֦Ҷ + impact_factor = 1.2; + break; + case 5: //ԭ + impact_factor = 2; + break; + + default: + cout << "ֲ" << endl; + return -1; + } + return impact_factor; +} \ No newline at end of file diff --git a/src/林火预测/levelToSlope.h b/src/林火预测/levelToSlope.h new file mode 100644 index 0000000..28c3a6a --- /dev/null +++ b/src/林火预测/levelToSlope.h @@ -0,0 +1,49 @@ +#include +#include +using namespace std; + +//0㡫5Ϊƽ£ +//6㡫15Ϊ£ +//16㡫25Ϊб£ +//26㡫35Ϊ£ +//36㡫40Ϊ£ +//41㡫45Ϊ£ +//46Ϊ¡ +double levelToSlope(int level) { + double slope = 0; + double theta = 0; + if (level >= 0 && level <= 7) { + + switch (level) { + case 1: + theta = 0; + break; + case 2: + theta = 11; + break; + case 3: + theta = 21; + break; + case 4: + theta = 30; + break; + case 5: + theta = 38; + break; + case 6: + theta = 45; + break; + case 7: + theta = 60; + break; + + } + + } + + else { + cout << "Ч¶ȵȼ" << endl; + } + slope = tan(theta); + return slope; +} diff --git a/src/林火预测/levelToSpeed.h b/src/林火预测/levelToSpeed.h new file mode 100644 index 0000000..7098b2f --- /dev/null +++ b/src/林火预测/levelToSpeed.h @@ -0,0 +1,62 @@ +#include +using namespace std; + +double levelToSpeed(int level) { + double speed = 0; + if (level >= 0 && level <= 12) { + double speed = 0; + switch (level) { + case 1: + speed = 0.3; + break; + case 2: + speed = 1.6; + break; + case 3: + speed = 3.4; + break; + case 4: + speed = 5.5; + break; + case 5: + speed = 8.0; + break; + case 6: + speed = 10.8; + break; + case 7: + speed = 13.9; + break; + case 8: + speed = 17.2; + break; + case 9: + speed = 20.8; + break; + case 10: + speed = 24.5; + break; + case 11: + speed = 28.5; + break; + case 12: + speed = 32.7; + break; + + } + + } + else if (level == 13) { + speed = 35.8; + } + else if (level == 14) { + speed = 41.5; + } + else if (level == 15) { + speed = 48.2; + } + else { + cout << "无效的风力等级！" << endl; + } + return speed; +} \ No newline at end of file diff --git a/src/林火预测/pixel.cpp b/src/林火预测/pixel.cpp new file mode 100644 index 0000000..20440aa --- /dev/null +++ b/src/林火预测/pixel.cpp @@ -0,0 +1,19 @@ +#include "pixel.h" +#include + +using namespace std; + +int main() { + // ʵͼռ + PixelRatioConverter p(5, 10, 100, 200); + + // ȡرϵ + double ratio = p.getPixelRatio(); + cout << "رϵ" << ratio << endl; + + // һͼռ + int next_pixel_area = p.getNextPixelArea(15); + cout << "һͼռ" << next_pixel_area << endl; + + return 0; +} \ No newline at end of file diff --git a/src/林火预测/pixel.h b/src/林火预测/pixel.h new file mode 100644 index 0000000..5a590a6 --- /dev/null +++ b/src/林火预测/pixel.h @@ -0,0 +1,29 @@ +class PixelRatioConverter { +public: + // 캯ʵеͼռ + PixelRatioConverter(double real_area1, double real_area2, int pixel_area1, int pixel_area2) { + this->real_area1 = real_area1; + this->real_area2 = real_area2; + this->pixel_area1 = pixel_area1; + this->pixel_area2 = pixel_area2; + } + + // ȡرϵ + double getPixelRatio() { + double ratio = (real_area1 / real_area2) * (pixel_area2 / pixel_area1); + return ratio; // رϵ + } + + // رϵһͼռ + int getNextPixelArea(int next_real_area) { + double ratio = this->getPixelRatio(); + int next_pixel_area = static_cast(next_real_area / ratio); + return next_pixel_area; // һͼռ + } + +private: + double real_area1; // һʵе + double real_area2; // ڶʵе + int pixel_area1; // һͼռ + int pixel_area2; // ڶͼռ +}; diff --git a/src/林火预测/wind_direction.h b/src/林火预测/wind_direction.h new file mode 100644 index 0000000..a9b39fc --- /dev/null +++ b/src/林火预测/wind_direction.h @@ -0,0 +1,38 @@ +#include +using namespace std; + +int windToDirection(int type) +{ + int direction = 0; + + // ͻȡ + switch (type) { + case 1: // + direction = 0; + break; + case 2: // + direction = 45; + break; + case 3: // + direction = 90; + break; + case 4: // Ϸ + direction = 135; + break; + case 5: // Ϸ + direction = 180; + break; + case 6: //Ϸ + direction = 225; + break; + case 7: // + direction = 270; + break; + case 8: // + direction = 315; + default: + cout << "ֲ" << endl; + return -1; + } + return direction; +} \ No newline at end of file diff --git a/src/林火预测/风速补正综合指标法/ForestPolice.cpp b/src/林火预测/风速补正综合指标法/ForestPolice.cpp new file mode 100644 index 0000000..ee1f49a --- /dev/null +++ b/src/林火预测/风速补正综合指标法/ForestPolice.cpp @@ -0,0 +1,141 @@ +#include +#include +#include "levelToSpeed.h" + +using namespace std; +#define M_PI acos(-1) + + +class ForestFirePrediction { +public: + // 构造函数 + ForestFirePrediction(int wind_direction, double wind_level, double slope, double altitude, int cover_type, double fire_size) { + this->wind_direction = wind_direction; + this->wind_level = wind_level; + this->slope = slope; + this->altitude = altitude; + this->cover_type = cover_type; + this->fire_size = fire_size; + } + + // 计算受阻距离（单位：km） + double get_distance() { + double rad_slope = slope * M_PI / 180.0; // 将坡度转化为弧度 + double distance = sin(rad_slope) * altitude / 1000.0; // 计算受阻距离 + return distance; + } + + // 预测火灾蔓延范围 + void predict_range() { + double impact_factor; // 植被类型影响系数 + double correction_coef; // 风速补正系数 + double distance; // 受阻距离 + double composite_index; // 综合指数 + + // 根据植被类型获取影响系数 + switch (cover_type) { + case 1: // 针叶林 + impact_factor = 0.7; + break; + case 2: // 落叶林 + impact_factor = 0.5; + break; + case 3: // 灌木林 + impact_factor = 0.4; + break; + default: + cout << "植被类型输入错误！" << endl; + return; + } + + // 计算风速补正系数 + int angle = abs(wind_direction - 180); // 计算风向与火灾扩散方向之间的夹角 + if (angle <= 45 || angle >= 315) { // 如果夹角较小，则不需要进行风速补正 + correction_coef = 1; + } + else { + correction_coef = 0.65 + 0.35 * cos((angle - 45) * M_PI / 270.0); // 使用公式计算风速补正系数 + } + + // 计算受阻距离 + distance = get_distance(); + + // 计算综合指数 + composite_index = correction_coef * (1 + distance) * impact_factor; + + // 计算火灾蔓延半径 + double radius = sqrt(fire_size * 1000000 * composite_index) / M_PI; + double range = radius * pow(10, 1.5 * levelToSpeed(wind_level) / 30.0); + + // 输出预测结果 + cout << "火灾蔓延范围预测结果：" << endl; + cout << "火源最可能在" << radius << "米范围内发生。" << endl; + cout << "在风速为 " << wind_level << "级风的情况下，火源最可能的蔓延范围为 " << range << " 米。" << endl; + } + + // 预测火灾蔓延速度 + void predict_speed(int level) { + double slope_factor; // 坡度影响因子 + double speed_factor; // 风速影响因子 + double size_factor; // 火源面积影响因子 + + // 计算坡度影响因子 + if (slope > 0) { + slope_factor = pow(3.33, sqrt(slope)); + } + else { + slope_factor = 1; + } + + // 计算风速影响因子 + double wind_speed = levelToSpeed(wind_level); + speed_factor = 5.15 * pow(wind_speed, 0.39); + + // 计算火源面积影响因子 + size_factor = pow(fire_size, 0.77); + + // 计算火灾蔓延速度 + double speed = 0.348 * sqrt(size_factor * slope_factor * speed_factor); + + // 输出预测结果 + cout << "火灾蔓延速度预测结果：" << endl; + cout << "火灾蔓延速度可能为" << speed << "km/h。" << endl; + } + +private: + int wind_direction; // 风向（单位：度） + double wind_level; // 风力等级 + double slope; // 坡度（单位：度） + double altitude; // 海拔高度（单位：m） + int cover_type; // 植被类型（1：针叶林；2：落叶林；3：灌木林） + double fire_size; // 火源面积（单位：平方米） +}; + +int main() { + // 读取参数 + int wind_direction; + int wind_level; + double slope; + double altitude; + int cover_type; + double fire_size; + cout << "请输入风向（0-360度）：" << endl; + cin >> wind_direction; + cout << "请输入风力等级（级）：" << endl; + cin >> wind_level; + cout << "请输入坡度（度）：" << endl; + cin >> slope; + cout << "请输入海拔高度（m）：" << endl; + cin >> altitude; + cout << "请输入植被类型（1：针叶林；2：落叶林；3：灌木林）：" << endl; + cin >> cover_type; + cout << "请输入火源面积（m^2）：" << endl; + cin >> fire_size; + + // 预测火灾蔓延范围和速度 + ForestFirePrediction ffp(wind_direction, wind_level, slope, altitude, cover_type, fire_size); + ffp.predict_range(); + ffp.predict_speed(wind_level); + + return 0; +} \ No newline at end of file diff --git a/src/林火预测/风速补正综合指标法/levelToSpeed.h b/src/林火预测/风速补正综合指标法/levelToSpeed.h new file mode 100644 index 0000000..4a3a051 --- /dev/null +++ b/src/林火预测/风速补正综合指标法/levelToSpeed.h @@ -0,0 +1,62 @@ +#include +using namespace std; + +double levelToSpeed(int level) { + double speed = 0; + if (level >= 0 && level <= 12) { + double speed = 0; + switch (level) { + case 1: + speed = 0.3; + break; + case 2: + speed = 1.6; + break; + case 3: + speed = 3.4; + break; + case 4: + speed = 5.5; + break; + case 5: + speed = 8.0; + break; + case 6: + speed = 10.8; + break; + case 7: + speed = 13.9; + break; + case 8: + speed = 17.2; + break; + case 9: + speed = 20.8; + break; + case 10: + speed = 24.5; + break; + case 11: + speed = 28.5; + break; + case 12: + speed = 32.7; + break; + + } + + } + else if (level == 13) { + speed = 35.8; + } + else if (level == 14) { + speed = 41.5; + } + else if (level == 15) { + speed = 48.2; + } + else { + cout << "Чķȼ" << endl; + } + return speed; +} \ No newline at end of file diff --git a/src/林火预测/风速补正综合指标法/model.cpp b/src/林火预测/风速补正综合指标法/model.cpp new file mode 100644 index 0000000..1d8191f --- /dev/null +++ b/src/林火预测/风速补正综合指标法/model.cpp @@ -0,0 +1,149 @@ +#include +#include + +using namespace std; + +class ForestFireModel { +private: + int rows; // ɭֵͼ + int cols; // ɭֵͼ + double ignitionProbability; // ȼ + double burningProbability; // Ӹ + double** forestMap; // ɭֵͼ + +public: + ForestFireModel(int rows, int cols, double ignitionProbability, double burningProbability) { + this->rows = rows; + this->cols = cols; + this->ignitionProbability = ignitionProbability; + this->burningProbability = burningProbability; + + // ʼɭֵͼ + forestMap = new double* [rows]; + for (int i = 0; i < rows; i++) { + forestMap[i] = new double[cols]; + for (int j = 0; j < cols; j++) { + forestMap[i][j] = (double)rand() / (RAND_MAX); + } + } + } + + // ģɢ + void simulate(int steps) { + for (int t = 0; t < steps; t++) { + double** nextMap = new double* [rows]; + for (int i = 0; i < rows; i++) { + nextMap[i] = new double[cols]; + for (int j = 0; j < cols; j++) { + bool isBurning = false; + bool isIgnited = (double)rand() / (RAND_MAX) < ignitionProbability; + if (isIgnited || forestMap[i][j] > 0) { + // ȼǰλѾŻжΧǷлɢ + for (int k = -1; k <= 1; k++) { + for (int l = -1; l <= 1; l++) { + if (k == 0 && l == 0) { + continue; + } + int ii = i + k; + int jj = j + l; + if (ii < 0 || ii >= rows || jj < 0 || jj >= cols) { + continue; + } + if (forestMap[ii][jj] > 0) { + // Χл𣬵ǰλҲŻ + isBurning = true; + } + else if ((double)rand() / (RAND_MAX) < burningProbability) { + // ͨʾǰλǷŻ + isBurning = true; + } + } + } + } + nextMap[i][j] = isBurning ? 1 : (isIgnited ? 0.5 : forestMap[i][j]); + } + } + // ɭֵͼ + for (int i = 0; i < rows; i++) { + for (int j = 0; j < cols; j++) { + forestMap[i][j] = nextMap[i][j]; + } + delete[] nextMap[i]; + } + delete[] nextMap; + } + } + + // ָλõĻٶ + double spreadSpeed(int x, int y) { + double speed = 0; + if (forestMap[x][y] == 0) { + return speed; + } + for (int i = 0; i < rows; i++) { + for (int j = 0; j < cols; j++) { + double distance = sqrt(pow(x - i, 2) + pow(y - j, 2)); + if (forestMap[i][j] > 0 && distance > 0) { + speed += forestMap[i][j] / distance; + } + } + } + return speed; + } + + // 㵱ǰΧİ뾶 + double fireRadius() { + double radius = 0; + for (int i = 0; i < rows; i++) { + for (int j = 0; j < cols; j++) { + if (forestMap[i][j] >= 1) { + double distance = sqrt(pow(i - rows / 2, 2) + pow(j - cols / 2, 2)); + radius = max(radius, distance); + } + } + } + return radius; + } + + // ɭֵͼ + void printMap() { + for (int i = 0; i < rows; i++) { + for (int j = 0; j < cols; j++) { + if (forestMap[i][j] >= 1) { + cout << "* "; + } + else if (forestMap[i][j] > 0) { + cout << "o "; + } + else { + cout << ". "; + } + } + cout << endl; + } + } + + ~ForestFireModel() { + for (int i = 0; i < rows; i++) { + delete[] forestMap[i]; + } + delete[] forestMap; + } +}; + +int main() { + srand(time(0)); + + // ģһ5x5ɭ֣ȼΪ0.2ӸΪ0.8ģ100 + ForestFireModel model(5, 5, 0.2, 0.8); + model.simulate(100); + model.printMap(); + + // ָλõĻٶ + cout << "Spread speed at position (2, 3): " << model.spreadSpeed(2, 3) << endl; + + // 㵱ǰΧİ뾶 + cout << "Fire radius: " << model.fireRadius() << endl; + + return 0; +} diff --git a/src/登录页面—vue/Login.vue b/src/登录页面—vue/Login.vue new file mode 100644 index 0000000..e6489a7 --- /dev/null +++ b/src/登录页面—vue/Login.vue @@ -0,0 +1,111 @@ + + + + + + \ No newline at end of file diff --git a/src/细节功能/Alarm.cpp b/src/细节功能/Alarm.cpp new file mode 100644 index 0000000..7895190 --- /dev/null +++ b/src/细节功能/Alarm.cpp @@ -0,0 +1,23 @@ +#include "Alarm.h" +#include +#include + +using namespace std; + +int main() { + AlarmSystem alarm; // ϵͳ + + alarm.arm(); // ϵͳ + + // ģյϢ + string message = "¶쳣"; + alarm.receiveMessage(message); + + alarm.disarm(); // رվϵͳ + + // ٴģյϢھϵͳѹرգᴥ + string message2 = "־"; + alarm.receiveMessage(message2); + + return 0; +} diff --git a/src/细节功能/Alarm.h b/src/细节功能/Alarm.h new file mode 100644 index 0000000..982452e --- /dev/null +++ b/src/细节功能/Alarm.h @@ -0,0 +1,46 @@ +#include +#include + +using namespace std; + +class AlarmSystem { +public: + // 캯ʼϵͳ + AlarmSystem() { + isArmed = false; + alarmMessage = "쳣"; + } + + // ϵͳ + void arm() { + isArmed = true; + cout << "ϵͳ" << endl; + } + + // رվϵͳ + void disarm() { + isArmed = false; + cout << "ϵͳѹر" << endl; + } + + // Ϣ + void receiveMessage(const string& message) { + if (isArmed) { + cout << "յϢ" << message << endl; + triggerAlarm(); + } + else { + cout << "δϵͳϢ" << message << endl; + } + } + +private: + bool isArmed; // ϵͳǷ + string alarmMessage; // Ϣ + + // + void triggerAlarm() { + cout << "" << alarmMessage << endl; + // ʵ־ľ紥֪ͨ + } +}; diff --git a/src/细节功能/Distance.cpp b/src/细节功能/Distance.cpp new file mode 100644 index 0000000..bc74a67 --- /dev/null +++ b/src/细节功能/Distance.cpp @@ -0,0 +1,19 @@ +#include "Distance.h" +#include + +using namespace std; + +int main() { + // Ļ߳Ⱥľӽµλ + TreeDistanceEstimator treeEstimator(0.1, 30); + + // Ľ + treeEstimator.setFocalLength(100); + + // ľľ + double distance = treeEstimator.estimateDistance(); + + cout << "ľ룺" << distance << " " << endl; + + return 0; +} diff --git a/src/细节功能/Distance.h b/src/细节功能/Distance.h new file mode 100644 index 0000000..0f483b9 --- /dev/null +++ b/src/细节功能/Distance.h @@ -0,0 +1,19 @@ +class TreeDistanceEstimator { +public: + // 캯Ļ߳Ⱥľӽµλ + TreeDistanceEstimator(double baseline, double pixel_displacement) { + this->baseline = baseline; + this->pixel_displacement = pixel_displacement; + } + + // ľľ + double estimateDistance() { + double distance = (baseline * focal_length) / pixel_displacement; + return distance; // عľ + } + +private: + double baseline; // Ļ߳ + double pixel_displacement; // ľӽµλ + double focal_length; // +}; diff --git a/src/细节功能/pixel.cpp b/src/细节功能/pixel.cpp new file mode 100644 index 0000000..20440aa --- /dev/null +++ b/src/细节功能/pixel.cpp @@ -0,0 +1,19 @@ +#include "pixel.h" +#include + +using namespace std; + +int main() { + // ʵͼռ + PixelRatioConverter p(5, 10, 100, 200); + + // ȡرϵ + double ratio = p.getPixelRatio(); + cout << "رϵ" << ratio << endl; + + // һͼռ + int next_pixel_area = p.getNextPixelArea(15); + cout << "һͼռ" << next_pixel_area << endl; + + return 0; +} \ No newline at end of file diff --git a/src/细节功能/pixel.h b/src/细节功能/pixel.h new file mode 100644 index 0000000..5a590a6 --- /dev/null +++ b/src/细节功能/pixel.h @@ -0,0 +1,29 @@ +class PixelRatioConverter { +public: + // 캯ʵеͼռ + PixelRatioConverter(double real_area1, double real_area2, int pixel_area1, int pixel_area2) { + this->real_area1 = real_area1; + this->real_area2 = real_area2; + this->pixel_area1 = pixel_area1; + this->pixel_area2 = pixel_area2; + } + + // ȡرϵ + double getPixelRatio() { + double ratio = (real_area1 / real_area2) * (pixel_area2 / pixel_area1); + return ratio; // رϵ + } + + // رϵһͼռ + int getNextPixelArea(int next_real_area) { + double ratio = this->getPixelRatio(); + int next_pixel_area = static_cast(next_real_area / ratio); + return next_pixel_area; // һͼռ + } + +private: + double real_area1; // һʵе + double real_area2; // ڶʵе + int pixel_area1; // һͼռ + int pixel_area2; // ڶͼռ +}; diff --git a/src/航道/A_star.cpp b/src/航道/A_star.cpp index 8a391af..7ea84f2 100644 --- a/src/航道/A_star.cpp +++ b/src/航道/A_star.cpp @@ -10,7 +10,6 @@ Astar::~Astar() { for (int i = 0; i < max_search_num; i++) { - // delete表示释放堆内存 delete path_node_pool_[i]; } } @@ -134,7 +133,7 @@ int Astar::search(Eigen::Vector3d start_pt, Eigen::Vector3d end_pt) cur_node->node_state = IN_CLOSE_SET; // in expand set iter_num_ += 1; - /* ---------- init neighbor expansion ---------- */ + // init neighbor expansion Eigen::Vector3d cur_pos = cur_node->position; Eigen::Vector3d expand_node_pos; @@ -162,9 +161,7 @@ int Astar::search(Eigen::Vector3d start_pt, Eigen::Vector3d end_pt) { continue; } - - // 扩展节点的位置 - expand_node_pos = cur_pos + d_pos; + expand_node_pos = cur_pos + d_pos;// 扩展节点的位置 // 确认该点在地图范围内 if(!Occupy_map_ptr->isInMap(expand_node_pos)) @@ -236,8 +233,7 @@ int Astar::search(Eigen::Vector3d start_pt, Eigen::Vector3d end_pt) } - // 搜索完所有可行点，即使没达到最大搜索次数，也没有找到路径 - // 这种一般是因为无人机周围被占据，或者无人机与目标点之间无可通行路径造成的 + //无可通行路径 pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "max_search_num: open set empty."); return NO_PATH; } @@ -253,7 +249,6 @@ void Astar::retrievePath(NodePtr end_node) cur_node = cur_node->parent; path_nodes_.push_back(cur_node); } - // 反转顺序 reverse(path_nodes_.begin(), path_nodes_.end()); // 生成路径 diff --git a/src/航道/occupy_map.cpp b/src/航道/occupy_map.cpp index ec86045..fc184df 100644 --- a/src/航道/occupy_map.cpp +++ b/src/航道/occupy_map.cpp @@ -26,10 +26,6 @@ void Occupy_map::init(ros::NodeHandle& nh) global_pcl_pub = nh.advertise("/prometheus/planning/global_pcl", 10); // 发布膨胀后的点云 inflate_pcl_pub = nh.advertise("/prometheus/planning/global_inflate_pcl", 1); - - // 发布二维占据图？ - // 发布膨胀后的二维占据图？ - this->inv_resolution_ = 1.0 / resolution_; for (int i = 0; i < 3; ++i) { @@ -44,7 +40,7 @@ void Occupy_map::init(ros::NodeHandle& nh) min_range_ = origin_; max_range_ = origin_ + map_size_3d_; - // 对于二维情况，重新限制点云高度 + // 对于二维重新限制点云高度 if(is_2D == true) { min_range_(2) = fly_height_2D - resolution_; @@ -62,19 +58,17 @@ void Occupy_map::map_update_gpcl(const sensor_msgs::PointCloud2ConstPtr & global // 地图更新函数 - 输入：局部点云 void Occupy_map::map_update_lpcl(const sensor_msgs::PointCloud2ConstPtr & local_point, const nav_msgs::Odometry & odom) { - has_global_point = true; -// 将传递过来的局部点云转为全局点云 + has_global_point = true;// 局部点云转为全局点云 } // 地图更新函数 - 输入：laser void Occupy_map::map_update_laser(const sensor_msgs::LaserScanConstPtr & local_point, const nav_msgs::Odometry & odom) { - has_global_point = true; -// 将传递过来的数据转为全局点云 + has_global_point = true;//转为全局点云 } // 当global_planning节点接收到点云消息更新时，进行设置点云指针并膨胀 -// Astar规划路径时，采用的是此处膨胀后的点云（setOccupancy只在本函数中使用） +// Astar规划路径时，采用膨胀点云 void Occupy_map::inflate_point_cloud(void) { if(!has_global_point) @@ -82,19 +76,15 @@ void Occupy_map::inflate_point_cloud(void) pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "Occupy_map [inflate point cloud]: don't have global point, can't inflate!\n"); return; } - // 发布未膨胀点云 global_pcl_pub.publish(*global_env_); - - //记录开始时间 + //开始时间 ros::Time time_start = ros::Time::now(); // 转化为PCL的格式进行处理 pcl::PointCloud latest_global_cloud_; pcl::fromROSMsg(*global_env_, latest_global_cloud_); - //printf("time 1 take %f [s].\n", (ros::Time::now()-time_start).toSec()); - if ((int)latest_global_cloud_.points.size() == 0) {return;} @@ -121,13 +111,12 @@ void Occupy_map::inflate_point_cloud(void) { continue; } - // 根据膨胀距离，膨胀该点 for (int x = -ifn; x <= ifn; ++x) for (int y = -ifn; y <= ifn; ++y) for (int z = -ifn; z <= ifn; ++z) { - // 为什么Z轴膨胀一半呢？ z 轴其实可以不膨胀 + // z 轴不膨胀 p3d_inf(0) = pt_inf.x = p3d(0) + x * resolution_; p3d_inf(1) = pt_inf.y = p3d(1) + y * resolution_; p3d_inf(2) = pt_inf.z = p3d(2) + 0.5 * z * resolution_; @@ -156,10 +145,9 @@ void Occupy_map::inflate_point_cloud(void) static int exec_num=0; exec_num++; - // 此处改为根据循环时间计算的数值 + // 根据循环时间计算数值 if(exec_num == 20) { - // 膨胀地图效率与地图大小有关（有点久，Astar更新频率是多久呢？ 怎么才能提高膨胀效率呢？） printf("inflate global point take %f [s].\n", (ros::Time::now()-time_start).toSec()); exec_num=0; } diff --git a/src/避障/A_star.cpp b/src/避障/A_star.cpp new file mode 100644 index 0000000..7ea84f2 --- /dev/null +++ b/src/避障/A_star.cpp @@ -0,0 +1,370 @@ +#include "A_star.h" + +using namespace std; +using namespace Eigen; + +namespace Global_Planning +{ + +Astar::~Astar() +{ + for (int i = 0; i < max_search_num; i++) + { + delete path_node_pool_[i]; + } +} + +void Astar::init(ros::NodeHandle& nh) +{ + // 2d参数 + nh.param("global_planner/is_2D", is_2D, 0); // 1代表2D平面规划及搜索,0代表3D + nh.param("global_planner/2D_fly_height", fly_height, 1.5); // 2D规划时,定高高度 + // 规划搜索相关参数 + nh.param("astar/lambda_heu", lambda_heu_, 2.0); // 加速引导参数 + nh.param("astar/allocate_num", max_search_num, 100000); //最大搜索节点数 + // 地图参数 + nh.param("map/resolution", resolution_, 0.2); // 地图分辨率 + + tie_breaker_ = 1.0 + 1.0 / max_search_num; + + this->inv_resolution_ = 1.0 / resolution_; + + has_global_point = false; + path_node_pool_.resize(max_search_num); + + // 新建 + for (int i = 0; i < max_search_num; i++) + { + path_node_pool_[i] = new Node; + } + + use_node_num_ = 0; + iter_num_ = 0; + + // 初始化占据地图 + Occupy_map_ptr.reset(new Occupy_map); + Occupy_map_ptr->init(nh); + + // 读取地图参数 + origin_ = Occupy_map_ptr->min_range_; + map_size_3d_ = Occupy_map_ptr->max_range_ - Occupy_map_ptr->min_range_; +} + +void Astar::reset() +{ + // 重置与搜索相关的变量 + expanded_nodes_.clear(); + path_nodes_.clear(); + + std::priority_queue, NodeComparator0> empty_queue; + open_set_.swap(empty_queue); + + for (int i = 0; i < use_node_num_; i++) + { + NodePtr node = path_node_pool_[i]; + node->parent = NULL; + node->node_state = NOT_EXPAND; + } + + use_node_num_ = 0; + iter_num_ = 0; +} + +// 搜索函数，输入为：起始点及终点 +int Astar::search(Eigen::Vector3d start_pt, Eigen::Vector3d end_pt) +{ + // 首先检查目标点是否可到达 + if(Occupy_map_ptr->getOccupancy(end_pt)) + { + pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "Astar can't find path: goal point is occupied."); + return NO_PATH; + } + + // 计时 + ros::Time time_astar_start = ros::Time::now(); + + goal_pos = end_pt; + Eigen::Vector3i end_index = posToIndex(end_pt); + + // 初始化,将起始点设为第一个路径点 + NodePtr cur_node = path_node_pool_[0]; + cur_node->parent = NULL; + cur_node->position = start_pt; + cur_node->index = posToIndex(start_pt); + cur_node->g_score = 0.0; + cur_node->f_score = lambda_heu_ * getEuclHeu(cur_node->position, end_pt); + cur_node->node_state = IN_OPEN_SET; + + // 将当前点推入open set + open_set_.push(cur_node); + // 迭代次数+1 + use_node_num_ += 1; + // 记录当前为已扩展 + expanded_nodes_.insert(cur_node->index, cur_node); + + NodePtr terminate_node = NULL; + + // 搜索主循环 + while (!open_set_.empty()) + { + // 获取f_score最低的点 + cur_node = open_set_.top(); + + // 判断终止条件 + bool reach_end = abs(cur_node->index(0) - end_index(0)) <= 1 && + abs(cur_node->index(1) - end_index(1)) <= 1 && + abs(cur_node->index(2) - end_index(2)) <= 1; + + if (reach_end) + { + // 将当前点设为终止点，并往回形成路径 + terminate_node = cur_node; + retrievePath(terminate_node); + + // 时间一般很短，远远小于膨胀点云的时间 + printf("Astar take time %f s. \n", (ros::Time::now()-time_astar_start).toSec()); + + return REACH_END; + } + + /* ---------- pop node and add to close set ---------- */ + open_set_.pop(); + // 将当前点推入close set + cur_node->node_state = IN_CLOSE_SET; // in expand set + iter_num_ += 1; + + // init neighbor expansion + Eigen::Vector3d cur_pos = cur_node->position; + Eigen::Vector3d expand_node_pos; + + vector inputs; + Eigen::Vector3d d_pos; + + /* ---------- expansion loop ---------- */ + // 扩展： 3*3*3 - 1 = 26种可能 + for (double dx = -resolution_; dx <= resolution_ + 1e-3; dx += resolution_) + { + for (double dy = -resolution_; dy <= resolution_ + 1e-3; dy += resolution_) + { + for (double dz = -resolution_; dz <= resolution_ + 1e-3; dz += resolution_) + { + + d_pos << dx, dy, dz; + // 对于2d情况，不扩展z轴 + if (is_2D == 1) + { + d_pos(2) = 0.0; + } + + // 跳过自己那个格子 + if (d_pos.norm() < 1e-3) + { + continue; + } + expand_node_pos = cur_pos + d_pos;// 扩展节点的位置 + + // 确认该点在地图范围内 + if(!Occupy_map_ptr->isInMap(expand_node_pos)) + { + continue; + } + + // 计算扩展节点的index + Eigen::Vector3i d_pos_id; + d_pos_id << int(dx/resolution_), int(dy/resolution_), int(dz/resolution_); + Eigen::Vector3i expand_node_id = d_pos_id + cur_node->index; + + //检查当前扩展的点是否在close set中，如果是则跳过 + NodePtr expand_node = expanded_nodes_.find(expand_node_id); + if (expand_node != NULL && expand_node->node_state == IN_CLOSE_SET) + { + continue; + } + + // 检查当前扩展点是否被占据,如果是则跳过 + bool is_occupy = Occupy_map_ptr->getOccupancy(expand_node_pos); + if (is_occupy) + { + continue; + } + + // 如果能通过上述检查则 + double tmp_g_score, tmp_f_score; + tmp_g_score = d_pos.squaredNorm() + cur_node->g_score; + tmp_f_score = tmp_g_score + lambda_heu_ * getEuclHeu(expand_node_pos, end_pt); + + // 如果扩展的当前节点为NULL，即未扩展过 + if (expand_node == NULL) + { + expand_node = path_node_pool_[use_node_num_]; + expand_node->index = expand_node_id; + expand_node->position = expand_node_pos; + expand_node->f_score = tmp_f_score; + expand_node->g_score = tmp_g_score; + expand_node->parent = cur_node; + expand_node->node_state = IN_OPEN_SET; + + open_set_.push(expand_node); + expanded_nodes_.insert(expand_node_id, expand_node); + + use_node_num_ += 1; + // 超过最大搜索次数 + if (use_node_num_ == max_search_num) + { + pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "Astar can't find path: reach the max_search_num.\n"); + return NO_PATH; + } + } + // 如果当前节点已被扩展过，则更新其状态 + else if (expand_node->node_state == IN_OPEN_SET) + { + if (tmp_g_score < expand_node->g_score) + { + // expand_node->index = expand_node_id; + expand_node->position = expand_node_pos; + expand_node->f_score = tmp_f_score; + expand_node->g_score = tmp_g_score; + expand_node->parent = cur_node; + } + } + } + } + } + + } + + //无可通行路径 + pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "max_search_num: open set empty."); + return NO_PATH; +} + +// 由最终点往回生成路径 +void Astar::retrievePath(NodePtr end_node) +{ + NodePtr cur_node = end_node; + path_nodes_.push_back(cur_node); + + while (cur_node->parent != NULL) + { + cur_node = cur_node->parent; + path_nodes_.push_back(cur_node); + } + // 反转顺序 + reverse(path_nodes_.begin(), path_nodes_.end()); + // 生成路径 +} + +std::vector Astar::getPath() +{ + vector path; + for (uint i = 0; i < path_nodes_.size(); ++i) + { + path.push_back(path_nodes_[i]->position); + } + path.push_back(goal_pos); + return path; +} + +nav_msgs::Path Astar::get_ros_path() +{ + nav_msgs::Path path; + + path.header.frame_id = "world"; + path.header.stamp = ros::Time::now(); + path.poses.clear(); + + geometry_msgs::PoseStamped path_i_pose; + for (uint i=0; iposition[0]; + path_i_pose.pose.position.y = path_nodes_[i]->position[1]; + path_i_pose.pose.position.z = path_nodes_[i]->position[2]; + path.poses.push_back(path_i_pose); + } + + path_i_pose .header.frame_id = "world"; + path_i_pose.pose.position.x = goal_pos[0]; + path_i_pose.pose.position.y = goal_pos[1]; + path_i_pose.pose.position.z = goal_pos[2]; + path.poses.push_back(path_i_pose); + + return path; +} + +double Astar::getDiagHeu(Eigen::Vector3d x1, Eigen::Vector3d x2) +{ + double dx = fabs(x1(0) - x2(0)); + double dy = fabs(x1(1) - x2(1)); + double dz = fabs(x1(2) - x2(2)); + + double h = 0; + + int diag = min(min(dx, dy), dz); + dx -= diag; + dy -= diag; + dz -= diag; + + if (dx < 1e-4) + { + h = 1.0 * sqrt(3.0) * diag + sqrt(2.0) * min(dy, dz) + 1.0 * abs(dy - dz); + } + if (dy < 1e-4) + { + h = 1.0 * sqrt(3.0) * diag + sqrt(2.0) * min(dx, dz) + 1.0 * abs(dx - dz); + } + if (dz < 1e-4) + { + h = 1.0 * sqrt(3.0) * diag + sqrt(2.0) * min(dx, dy) + 1.0 * abs(dx - dy); + } + + return tie_breaker_ * h; +} + + +double Astar::getManhHeu(Eigen::Vector3d x1, Eigen::Vector3d x2) +{ + double dx = fabs(x1(0) - x2(0)); + double dy = fabs(x1(1) - x2(1)); + double dz = fabs(x1(2) - x2(2)); + + return tie_breaker_ * (dx + dy + dz); +} + +double Astar::getEuclHeu(Eigen::Vector3d x1, Eigen::Vector3d x2) +{ + return tie_breaker_ * (x2 - x1).norm(); +} + +std::vector Astar::getVisitedNodes() +{ + vector visited; + visited.assign(path_node_pool_.begin(), path_node_pool_.begin() + use_node_num_ - 1); + return visited; +} + +Eigen::Vector3i Astar::posToIndex(Eigen::Vector3d pt) +{ + Vector3i idx ; + idx << floor((pt(0) - origin_(0)) * inv_resolution_), floor((pt(1) - origin_(1)) * inv_resolution_), + floor((pt(2) - origin_(2)) * inv_resolution_); + + return idx; +} + +void Astar::indexToPos(Eigen::Vector3i id, Eigen::Vector3d &pos) +{ + for (int i = 0; i < 3; ++i) + pos(i) = (id(i) + 0.5) * resolution_ + origin_(i); +} + +// 检查cur_pos是否安全 +bool Astar::check_safety(Eigen::Vector3d &cur_pos, double safe_distance) +{ + bool is_safety; + is_safety = Occupy_map_ptr->check_safety(cur_pos, safe_distance); + return is_safety; +} + + +} \ No newline at end of file diff --git a/src/避障/A_star.h b/src/避障/A_star.h new file mode 100644 index 0000000..7993986 --- /dev/null +++ b/src/避障/A_star.h @@ -0,0 +1,191 @@ +#ifndef _ASTAR_H +#define _ASTAR_H + +#include +#include +#include +#include +#include +#include +#include +// #include +// #include + +#include +#include + +#include "occupy_map.h" +#include "tools.h" +#include "message_utils.h" + +#define NODE_NAME "Swarm_Planner [Astar]" + + +namespace Swarm_Planning +{ + +#define IN_CLOSE_SET 'a' +#define IN_OPEN_SET 'b' +#define NOT_EXPAND 'c' +#define inf 1 >> 30 + +extern ros::Publisher message_pub; + +class Node +{ + public: + /* -------------------- */ + Eigen::Vector3i index; + Eigen::Vector3d position; + double g_score, f_score; + Node* parent; + char node_state; + + double time; // dyn + int time_idx; + + Node() + { + parent = NULL; + node_state = NOT_EXPAND; + } + ~Node(){}; +}; +typedef Node* NodePtr; + +// 为什么不直接比较? +class NodeComparator0 +{ + public: + bool operator()(NodePtr node1, NodePtr node2) + { + return node1->f_score > node2->f_score; + } +}; + + template + struct matrix_hash0 : std::unary_function + { + std::size_t operator()(T const& matrix) const + { + size_t seed = 0; + for (size_t i = 0; i < matrix.size(); ++i) + { + auto elem = *(matrix.data() + i); + seed ^= std::hash()(elem) + 0x9e3779b9 + (seed << 6) + (seed >> 2); + } + return seed; + } +}; + +class NodeHashTable0 +{ + private: + /* data */ + std::unordered_map> data_3d_; + + public: + NodeHashTable0(/* args */) + { + } + ~NodeHashTable0() + { + } + void insert(Eigen::Vector3i idx, NodePtr node) + { + data_3d_.insert(std::make_pair(idx, node)); + } + + NodePtr find(Eigen::Vector3i idx) + { + auto iter = data_3d_.find(idx); + return iter == data_3d_.end() ? NULL : iter->second; + } + + void clear() + { + data_3d_.clear(); + } +}; + + +class Astar +{ + private: + // 备选路径点指针容器 + std::vector path_node_pool_; + // 使用节点计数器、迭代次数计数器 + int use_node_num_, iter_num_; + // 扩展的节点？ + NodeHashTable0 expanded_nodes_; + // open set （根据规则已排序好） + std::priority_queue, NodeComparator0> open_set_; + // 最终路径点容器 + std::vector path_nodes_; + + // 参数 + // 启发式参数 + double lambda_heu_; + // 最大搜索次数 + int max_search_num; + // tie breaker + double tie_breaker_; + int is_2D; + double fly_height; + + /* ---------- record data ---------- */ + // 目标点 + Eigen::Vector3d goal_pos; + + // 地图相关 + std::vector occupancy_buffer_; + double resolution_, inv_resolution_; + Eigen::Vector3d origin_, map_size_3d_; + bool has_global_point; + + // 辅助函数 + Eigen::Vector3i posToIndex(Eigen::Vector3d pt); + void indexToPos(Eigen::Vector3i id, Eigen::Vector3d &pos); + void retrievePath(NodePtr end_node); + + // 搜索启发函数，三种形式，选用其中一种即可 + double getDiagHeu(Eigen::Vector3d x1, Eigen::Vector3d x2); + double getManhHeu(Eigen::Vector3d x1, Eigen::Vector3d x2); + double getEuclHeu(Eigen::Vector3d x1, Eigen::Vector3d x2); + + public: + Astar(){} + ~Astar(); + + enum + { + REACH_END = 1, + NO_PATH = 2 + }; + + // 占据图类 + Occupy_map::Ptr Occupy_map_ptr; + + // 重置 + void reset(); + // 初始化 + void init(ros::NodeHandle& nh); + // 检查安全性 + bool check_safety(Eigen::Vector3d &cur_pos, double safe_distance); + // 搜索 + int search(Eigen::Vector3d start_pt, Eigen::Vector3d end_pt); + // 返回路径 + std::vector getPath(); + // 返回ros消息格式的路径 + nav_msgs::Path get_ros_path(); + // 返回访问过的节点 + std::vector getVisitedNodes(); + + typedef std::shared_ptr Ptr; + +}; + + +} + +#endif \ No newline at end of file diff --git a/src/避障/occupy_map.cpp b/src/避障/occupy_map.cpp new file mode 100644 index 0000000..fc184df --- /dev/null +++ b/src/避障/occupy_map.cpp @@ -0,0 +1,280 @@ +#include + +namespace Global_Planning +{ +// 初始化函数 +void Occupy_map::init(ros::NodeHandle& nh) +{ + // TRUE代表2D平面规划及搜索,FALSE代表3D + nh.param("global_planner/is_2D", is_2D, true); + // 2D规划时,定高高度 + nh.param("global_planner/fly_height_2D", fly_height_2D, 1.0); + // 地图原点 + nh.param("map/origin_x", origin_(0), -5.0); + nh.param("map/origin_y", origin_(1), -5.0); + nh.param("map/origin_z", origin_(2), 0.0); + // 地图实际尺寸，单位：米 + nh.param("map/map_size_x", map_size_3d_(0), 10.0); + nh.param("map/map_size_y", map_size_3d_(1), 10.0); + nh.param("map/map_size_z", map_size_3d_(2), 5.0); + // 地图分辨率，单位：米 + nh.param("map/resolution", resolution_, 0.2); + // 地图膨胀距离，单位：米 + nh.param("map/inflate", inflate_, 0.3); + + // 发布 地图rviz显示 + global_pcl_pub = nh.advertise("/prometheus/planning/global_pcl", 10); + // 发布膨胀后的点云 + inflate_pcl_pub = nh.advertise("/prometheus/planning/global_inflate_pcl", 1); + this->inv_resolution_ = 1.0 / resolution_; + for (int i = 0; i < 3; ++i) + { + // 占据图尺寸 = 地图尺寸 / 分辨率 + grid_size_(i) = ceil(map_size_3d_(i) / resolution_); + } + + // 占据容器的大小 = 占据图尺寸 x*y*z + occupancy_buffer_.resize(grid_size_(0) * grid_size_(1) * grid_size_(2)); + fill(occupancy_buffer_.begin(), occupancy_buffer_.end(), 0.0); + + min_range_ = origin_; + max_range_ = origin_ + map_size_3d_; + + // 对于二维重新限制点云高度 + if(is_2D == true) + { + min_range_(2) = fly_height_2D - resolution_; + max_range_(2) = fly_height_2D + resolution_; + } +} + +// 地图更新函数 - 输入：全局点云 +void Occupy_map::map_update_gpcl(const sensor_msgs::PointCloud2ConstPtr & global_point) +{ + has_global_point = true; + global_env_ = global_point; +} + +// 地图更新函数 - 输入：局部点云 +void Occupy_map::map_update_lpcl(const sensor_msgs::PointCloud2ConstPtr & local_point, const nav_msgs::Odometry & odom) +{ + has_global_point = true;// 局部点云转为全局点云 +} + +// 地图更新函数 - 输入：laser +void Occupy_map::map_update_laser(const sensor_msgs::LaserScanConstPtr & local_point, const nav_msgs::Odometry & odom) +{ + has_global_point = true;//转为全局点云 +} + +// 当global_planning节点接收到点云消息更新时，进行设置点云指针并膨胀 +// Astar规划路径时，采用膨胀点云 +void Occupy_map::inflate_point_cloud(void) +{ + if(!has_global_point) + { + pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "Occupy_map [inflate point cloud]: don't have global point, can't inflate!\n"); + return; + } + // 发布未膨胀点云 + global_pcl_pub.publish(*global_env_); + //开始时间 + ros::Time time_start = ros::Time::now(); + + // 转化为PCL的格式进行处理 + pcl::PointCloud latest_global_cloud_; + pcl::fromROSMsg(*global_env_, latest_global_cloud_); + //printf("time 1 take %f [s].\n", (ros::Time::now()-time_start).toSec()); + if ((int)latest_global_cloud_.points.size() == 0) + {return;} + + pcl::PointCloud cloud_inflate_vis_; + cloud_inflate_vis_.clear(); + + // 膨胀格子数 = 膨胀距离/分辨率 + // ceil返回大于或者等于指定表达式的最小整数 + const int ifn = ceil(inflate_ * inv_resolution_); + + pcl::PointXYZ pt_inf; + Eigen::Vector3d p3d, p3d_inf; + + // 遍历全局点云中的所有点 + for (size_t i = 0; i < latest_global_cloud_.points.size(); ++i) + { + // 取出第i个点 + p3d(0) = latest_global_cloud_.points[i].x; + p3d(1) = latest_global_cloud_.points[i].y; + p3d(2) = latest_global_cloud_.points[i].z; + + // 若取出的点不在地图内（膨胀时只考虑地图范围内的点） + if(!isInMap(p3d)) + { + continue; + } + // 根据膨胀距离，膨胀该点 + for (int x = -ifn; x <= ifn; ++x) + for (int y = -ifn; y <= ifn; ++y) + for (int z = -ifn; z <= ifn; ++z) + { + // z 轴不膨胀 + p3d_inf(0) = pt_inf.x = p3d(0) + x * resolution_; + p3d_inf(1) = pt_inf.y = p3d(1) + y * resolution_; + p3d_inf(2) = pt_inf.z = p3d(2) + 0.5 * z * resolution_; + + // 若膨胀的点不在地图内（膨胀时只考虑地图范围内的点） + if(!isInMap(p3d_inf)) + { + continue; + } + + cloud_inflate_vis_.push_back(pt_inf); + + // 设置膨胀后的点被占据 + this->setOccupancy(p3d_inf, 1); + } + } + + cloud_inflate_vis_.header.frame_id = "world"; + + // 转化为ros msg发布 + sensor_msgs::PointCloud2 map_inflate_vis; + pcl::toROSMsg(cloud_inflate_vis_, map_inflate_vis); + + inflate_pcl_pub.publish(map_inflate_vis); + + static int exec_num=0; + exec_num++; + + // 根据循环时间计算数值 + if(exec_num == 20) + { + printf("inflate global point take %f [s].\n", (ros::Time::now()-time_start).toSec()); + exec_num=0; + } + +} + +void Occupy_map::setOccupancy(Eigen::Vector3d pos, int occ) +{ + if (occ != 1 && occ != 0) + { + pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "occ value error!\n"); + return; + } + + if (!isInMap(pos)) + { + return; + } + + Eigen::Vector3i id; + posToIndex(pos, id); + + // 设置为占据/不占据 索引是如何索引的？ [三维地图 变 二维数组] + // 假设10*10*10米，分辨率1米，buffer大小为 1000 （即每一个占格都对应一个buffer索引） + // [0.1,0.1,0.1] 对应索引为[0,0,0]， buffer索引为 0 + // [9.9,9.9,9.9] 对应索引为[9,9,9]， buffer索引为 900+90+9 = 999 + occupancy_buffer_[id(0) * grid_size_(1) * grid_size_(2) + id(1) * grid_size_(2) + id(2)] = occ; +} + +bool Occupy_map::isInMap(Eigen::Vector3d pos) +{ + // min_range就是原点，max_range就是原点+地图尺寸 + // 比如设置0,0,0为原点，[0,0,0]点会被判断为不在地图里 + //　同时　对于２Ｄ情况，超出飞行高度的数据也会认为不在地图内部 + if (pos(0) < min_range_(0) + 1e-4 || pos(1) < min_range_(1) + 1e-4 || pos(2) < min_range_(2) + 1e-4) + { + return false; + } + + if (pos(0) > max_range_(0) - 1e-4 || pos(1) > max_range_(1) - 1e-4 || pos(2) > max_range_(2) - 1e-4) + { + return false; + } + + return true; +} + +bool Occupy_map::check_safety(Eigen::Vector3d& pos, double check_distance) +{ + if(!isInMap(pos)) + { + // 当前位置点不在地图内 + pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "[check_safety]: the odom point is not in map\n"); + return 0; + } + Eigen::Vector3i id; + posToIndex(pos, id); + Eigen::Vector3i id_occ; + Eigen::Vector3d pos_occ; + + int check_dist_xy = int(check_distance/resolution_); + int check_dist_z=0; + int cnt=0; + for(int ix=-check_dist_xy; ix<=check_dist_xy; ix++){ + for(int iy=-check_dist_xy; iy<=check_dist_xy; iy++){ + for(int iz=-check_dist_z; iz<=check_dist_z; iz++){ + id_occ(0) = id(0)+ix; + id_occ(1) = id(1)+iy; + id_occ(2) = id(2)+iz; + indexToPos(id_occ, pos_occ); + if(!isInMap(pos_occ)){ + // printf("[check_safety]: current odom is near the boundary of the map\n"); + // pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "[check_safety]: current odom is near the boundary of the map\n"); + return 0; + } + if(getOccupancy(id_occ)){ + // printf("[check_safety]: current state is dagerous, the pos [%d, %d, %d], is occupied\n", ix, iy, iz); + cnt++; + } + } + } + } + if(cnt>5){ + return 0; + } + return 1; + +} + +void Occupy_map::posToIndex(Eigen::Vector3d pos, Eigen::Vector3i &id) +{ + for (int i = 0; i < 3; ++i) + { + id(i) = floor((pos(i) - origin_(i)) * inv_resolution_); + } + +} + +void Occupy_map::indexToPos(Eigen::Vector3i id, Eigen::Vector3d &pos) +{ + for (int i = 0; i < 3; ++i) + { + pos(i) = (id(i) + 0.5) * resolution_ + origin_(i); + } +} + +int Occupy_map::getOccupancy(Eigen::Vector3d pos) +{ + if (!isInMap(pos)) + { + return -1; + } + + Eigen::Vector3i id; + posToIndex(pos, id); + + return occupancy_buffer_[id(0) * grid_size_(1) * grid_size_(2) + id(1) * grid_size_(2) + id(2)]; +} + +int Occupy_map::getOccupancy(Eigen::Vector3i id) +{ + if (id(0) < 0 || id(0) >= grid_size_(0) || id(1) < 0 || id(1) >= grid_size_(1) || id(2) < 0 || + id(2) >= grid_size_(2)) + { + return -1; + } + + return occupancy_buffer_[id(0) * grid_size_(1) * grid_size_(2) + id(1) * grid_size_(2) + id(2)]; +} +} diff --git a/src/避障/occupy_map.h b/src/避障/occupy_map.h new file mode 100644 index 0000000..6b4094a --- /dev/null +++ b/src/避障/occupy_map.h @@ -0,0 +1,100 @@ +#ifndef _OCCUPY_MAP_H +#define _OCCUPY_MAP_H + +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "tools.h" +#include "message_utils.h" + +#define NODE_NAME "Swarm_Planner [map]" + +namespace Swarm_Planning +{ + +extern ros::Publisher message_pub; + +class Occupy_map +{ + public: + Occupy_map(){} + + // 全局点云指针 + sensor_msgs::PointCloud2ConstPtr global_env_; + // 地图是否占据容器， 从编程角度来讲，这就是地图变为单一序列化后的索引 + std::vector occupancy_buffer_; // 0 is free, 1 is occupied + string uav_name; + // 地图分辨率 + double resolution_, inv_resolution_; + // 膨胀参数 + double inflate_; + //是否2D规划 + bool is_2D; + double fly_height_2D; + bool debug_mode; + // 地图原点,地图尺寸 + Eigen::Vector3d origin_, map_size_3d_, min_range_, max_range_; + // 占据图尺寸 = 地图尺寸 / 分辨率 + Eigen::Vector3i grid_size_; + + bool has_global_point; + + pcl::PointXYZ nei_pos1; + pcl::PointXYZ nei_pos2; + + // 显示相关 + void show_gpcl_marker(visualization_msgs::Marker &m, int id, Eigen::Vector4d color); + + // 发布点云用于rviz显示 + ros::Publisher global_pcl_pub, inflate_pcl_pub; + + //初始化 + void init(ros::NodeHandle& nh); + // 地图更新函数 - 输入：全局点云 + void map_update_gpcl(const sensor_msgs::PointCloud2ConstPtr & global_point); + // 地图更新函数 - 输入：局部点云 + void map_update_lpcl(const sensor_msgs::PointCloud2ConstPtr & local_point, const nav_msgs::Odometry & odom); + // 地图更新函数 - 输入：二维激光雷达 + void map_update_laser(const sensor_msgs::LaserScanConstPtr & local_point, const nav_msgs::Odometry & odom); + // 设置邻居位置 + void setNeiPos(Eigen::Vector3d pos, int uav_id); + // 地图膨胀 + void inflate_point_cloud(void); + // 判断当前点是否在地图内 + bool isInMap(Eigen::Vector3d pos); + // 设置占据 + void setOccupancy(Eigen::Vector3d pos, int occ); + // 由位置计算索引 + void posToIndex(Eigen::Vector3d pos, Eigen::Vector3i &id); + // 由索引计算位置 + void indexToPos(Eigen::Vector3i id, Eigen::Vector3d &pos); + // 根据位置返回占据状态 + int getOccupancy(Eigen::Vector3d pos); + // 根据索引返回占据状态 + int getOccupancy(Eigen::Vector3i id); + // 检查安全 + bool check_safety(Eigen::Vector3d& pos, double check_distance/*, Eigen::Vector3d& map_point*/); + // 定义该类的指针 + typedef std::shared_ptr Ptr; +}; + +} + + + +#endif \ No newline at end of file