update

src/UAV_UI_new/FP.h

@@ -0,0 +1,116 @@
+#include <math.h>
+#include <iostream>
+#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
+     double predict_speed() {
+        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
+        return speed;
+    }
+
+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：%）
+};

src/UAV_UI_new/Prediction.cpp

@@ -0,0 +1,179 @@
+#include "Prediction.h"
+#include <QJsonObject>
+#include <QJsonDocument>
+#include "FP.h"
+#include <QUrlQuery>
+#include <QNetworkAccessManager>
+#include <QNetworkReply>
+#include <QMessageBox>
+
+double Wind_direction, Wind_speed, Humidity, temp;
+double fire_size;
+
+Prediction::Prediction(QPixmap image,double start_pos_x, double start_pos_y,double length,double width, double height, QWidget *parent)
+	: QMainWindow(parent)
+{
+	ui.setupUi(this);
+    double dis = distance_of_pix(height, length, width);
+    qDebug() << start_pos_x << " " << start_pos_y;
+    QRect rect1(start_pos_x, start_pos_y,length , width);
+    QPainter painter(&image);
+    painter.setCompositionMode(QPainter::CompositionMode_Clear);
+    painter.setCompositionMode(QPainter::CompositionMode_SourceOver);
+    painter.fillRect(rect1, QColor(255, 0, 0, 100));
+	QString styleSheet = QString("background-image:url(:/background_2.png);\
+        background-repeat:no-repeat;background-position:center;").arg(QCoreApplication::applicationDirPath());
+	this->setStyleSheet(styleSheet);
+	this->resize(1080, 640);
+    getWeatherInfo("beijing");
+    fire_size = dis * length * dis * width;
+    connect(ui.east, &QPushButton::clicked, this, [=] {
+        int type = 0;
+        int Tree_Type = ui.Tree_Type->text().toInt();
+        QPixmap pixmap = ui.display->pixmap();
+        int grow_pix = onclick_wind_button(dis, type, Tree_Type, start_pos_x, start_pos_y, length, width);
+        qDebug() << grow_pix << "?";
+        QPainter painter_1(&pixmap);
+        QRect rect2(start_pos_x + length, start_pos_y, grow_pix, width);
+        if (painter_1.isActive()) {
+            painter_1.fillRect(rect2, QColor(0, 0, 255, 100));
+            ui.display->setPixmap(pixmap);
+        }
+        else {
+            qDebug() << "painter is not initialized";
+            return;
+        }
+        //painter_1.fillRect(rect2, QColor(0, 0, 255, 100));
+        //ui.display->setPixmap(pixmap);
+        });
+    connect(ui.west, &QPushButton::clicked, this, [=] {
+        int type = 1;
+        int Tree_Type = ui.Tree_Type->text().toInt();
+        QPixmap pixmap = ui.display->pixmap();
+        int grow_pix = onclick_wind_button(dis, type, Tree_Type, start_pos_x, start_pos_y, length, width);
+        QPainter painter_1(&pixmap);
+        QRect rect2(start_pos_x - grow_pix, start_pos_y, grow_pix, width);
+        if (painter_1.isActive()) {
+            painter_1.fillRect(rect2, QColor(0, 0, 255, 100));
+            ui.display->setPixmap(pixmap);
+        }
+        else {
+            qDebug() << "painter is not initialized";
+            return;
+        }
+        //painter_1.fillRect(rect2, QColor(0, 0, 255, 100));
+        //ui.display->setPixmap(pixmap);
+        });
+    connect(ui.north, &QPushButton::clicked, this, [=] {
+        int type = 2;
+        int Tree_Type = ui.Tree_Type->text().toInt();
+        QPixmap pixmap = ui.display->pixmap();
+        int grow_pix = onclick_wind_button(dis, type, Tree_Type, start_pos_x, start_pos_y, length, width);
+        QPainter painter_1(&pixmap);
+        QRect rect2(start_pos_x, start_pos_y - grow_pix, length, grow_pix);
+        if (painter_1.isActive()) {
+            painter_1.fillRect(rect2, QColor(0, 0, 255, 100));
+            ui.display->setPixmap(pixmap);
+        }
+        else {
+            qDebug() << "painter is not initialized";
+            return;
+        }
+        //painter_1.fillRect(rect2, QColor(0, 0, 255, 100));
+        //ui.display->setPixmap(pixmap);
+        });
+    connect(ui.south, &QPushButton::clicked, this, [=] {
+        int type = 3;
+        int Tree_Type = ui.Tree_Type->text().toInt();
+        QPixmap pixmap = ui.display->pixmap();
+        int grow_pix = onclick_wind_button(dis, type, Tree_Type, start_pos_x, start_pos_y, length, width);
+        QPainter painter_1(&pixmap);
+        QRect rect2(start_pos_x, start_pos_y + width, length, grow_pix);
+        if (painter_1.isActive()) {
+            painter_1.fillRect(rect2, QColor(0, 0, 255, 100));
+            ui.display->setPixmap(pixmap);
+        }
+        else {
+            qDebug() << "painter is not initialized";
+            return;
+        }
+        //painter_1.fillRect(rect2, QColor(0, 0, 255, 100));
+        //ui.display->setPixmap(pixmap);
+        });
+    ui.display->setPixmap(image);
+}
+
+Prediction::~Prediction()
+{
+
+}
+double Prediction::distance_of_pix(int height,int length, int width) {
+    // 假设无人机高度为 H，图像中一片区域的像素长度为 L
+    double f = 50.0;   // 摄像头的焦距，单位为毫米
+    double w = 60.0;   // 摄像头的水平视野，单位为度
+    double A = (2.0 * atan(w / (2.0 * f))) * M_PI / 180.0;   // 视角，单位为弧度
+    double r = height / tan(A);   // 实际距离与图像距离的比值
+    double D = (length * r) / f;   // 计算实际长度，单位为米
+    double res = D / length;
+    // 输出计算结果
+    return res;
+}
+int Prediction::onclick_wind_button(double dis, int type, int Tree_Type, int start_pos_x, int start_pos_y, int length, int wid) {
+    //0 for east 1 for west 2 for north 3 for south
+    double wind_level = std::pow(Wind_speed / 0.836, 0.16);
+    if (type == 0) {
+        ForestFirePrediction ffp((int)Wind_direction, wind_level, 12, 200, Tree_Type, fire_size, temp, Humidity);
+        int speed = ffp.predict_speed();
+        int grow_pix = (speed  / 12) / dis;
+        return grow_pix;
+        if (type == 1) {
+            ForestFirePrediction ffp((int)Wind_direction, wind_level, 12, 200, Tree_Type, fire_size, temp, Humidity);
+            int speed = ffp.predict_speed();
+            int grow_pix = (speed / 12) / dis;
+            return grow_pix;
+        }
+        if (type == 2) {
+            ForestFirePrediction ffp((int)Wind_direction, wind_level, 12, 200, Tree_Type, fire_size, temp, Humidity);
+            int speed = ffp.predict_speed();
+            int grow_pix = (speed / 12) / dis;
+            return grow_pix;
+            qDebug() << speed << " " << grow_pix << "Grow";
+
+        }
+        if (type == 3) {
+            ForestFirePrediction ffp((int)Wind_direction, wind_level, 12, 200, Tree_Type, fire_size, temp, Humidity);
+            int speed = ffp.predict_speed();
+            int grow_pix = (speed / 12) / dis;
+            return grow_pix;
+        }
+    }
+}
+void Prediction::getWeatherInfo(QString city)
+{
+    // 对城市名称进行 URL 编码
+    QString encodedCity = QUrl::toPercentEncoding(city);
+
+    // 构造 API URL 地址
+    QString url = "http://api.openweathermap.org/data/2.5/weather?q=" + encodedCity + "&appid=8a4595940d39d20fbb6f4f94ba813c65";
+
+    // 创建网络访问管理器对象
+    QNetworkAccessManager* nam = new QNetworkAccessManager();
+
+    // 发送 GET 请求
+    QNetworkReply* reply = nam->get(QNetworkRequest(QUrl(url)));
+
+    // 等待请求完成
+    while (!reply->isFinished()) {
+        qApp->processEvents();
+    }
+
+    // 读取返回的 JSON 数据
+    QByteArray jsonData = reply->readAll();
+    QJsonDocument jsonDocument = QJsonDocument::fromJson(jsonData);
+    QJsonObject jsonObject = jsonDocument.object();
+    Wind_direction = jsonObject["wind"].toObject()["deg"].toDouble();
+    Wind_speed = jsonObject["wind"].toObject()["speed"].toDouble();
+    Humidity = jsonObject["main"].toObject()["humidity"].toDouble();
+    temp = jsonObject.value("main").toObject().value("temp").toDouble();
+    qDebug() << Wind_direction << Wind_speed << Humidity;
+}

src/UAV_UI_new/Prediction.h

@@ -0,0 +1,24 @@
+#pragma once
+
+#include <QMainWindow>
+#include "ui_Prediction.h"
+#include <QPixmap>
+#include <QPainter>
+#include <QTcpServer>
+#include <QTcpSocket>
+
+class Prediction : public QMainWindow
+{
+	Q_OBJECT
+
+public:
+	Prediction(QPixmap image, double start_pos_x, double start_pos_y, double length, double width, double height, QWidget *parent = nullptr);
+	~Prediction();
+	//QPainter *painter;
+
+private:
+	Ui::PredictionClass ui;
+	double distance_of_pix(int height,int length,int width);
+	int onclick_wind_button(double dis,int type,int Tree_Type,int start_pos_x,int start_pos_y,int length,int wid);
+	void getWeatherInfo(QString city);
+};

src/UAV_UI_new/Prediction.ui

@@ -0,0 +1,159 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PredictionClass</class>
+ <widget class="QMainWindow" name="PredictionClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1130</width>
+    <height>644</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Prediction</string>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <widget class="QWidget" name="verticalLayoutWidget">
+    <property name="geometry">
+     <rect>
+      <x>120</x>
+      <y>50</y>
+      <width>642</width>
+      <height>509</height>
+     </rect>
+    </property>
+    <property name="minimumSize">
+     <size>
+      <width>640</width>
+      <height>480</height>
+     </size>
+    </property>
+    <layout class="QVBoxLayout" name="verticalLayout">
+     <item>
+      <widget class="QLabel" name="display">
+       <property name="enabled">
+        <bool>true</bool>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>640</width>
+         <height>480</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>640</width>
+         <height>480</height>
+        </size>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+   <widget class="QLabel" name="Pre_tag">
+    <property name="geometry">
+     <rect>
+      <x>130</x>
+      <y>30</y>
+      <width>81</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>火势状况</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="north">
+    <property name="geometry">
+     <rect>
+      <x>830</x>
+      <y>60</y>
+      <width>93</width>
+      <height>29</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>北风</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="south">
+    <property name="geometry">
+     <rect>
+      <x>830</x>
+      <y>110</y>
+      <width>93</width>
+      <height>29</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>南风</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="east">
+    <property name="geometry">
+     <rect>
+      <x>830</x>
+      <y>160</y>
+      <width>93</width>
+      <height>29</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>东风</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="west">
+    <property name="geometry">
+     <rect>
+      <x>830</x>
+      <y>210</y>
+      <width>93</width>
+      <height>29</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>西风</string>
+    </property>
+   </widget>
+   <widget class="QLineEdit" name="Tree_Type">
+    <property name="geometry">
+     <rect>
+      <x>830</x>
+      <y>260</y>
+      <width>91</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <property name="placeholderText">
+     <string>1：针叶林；2：落叶林；3：灌木林</string>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>1130</width>
+     <height>26</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

src/UAV_UI_new/Setting.cpp

@@ -0,0 +1,56 @@
+#include "Setting.h"
+#include <QTcpServer>
+#include <QTcpSocket>
+#include <QMessageBox>
+#include <QJsonObject>
+#include <QJsonDocument>
+
+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!";
+}

src/UAV_UI_new/Setting.ui

@@ -0,0 +1,203 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>SettingClass</class>
+ <widget class="QMainWindow" name="SettingClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>871</width>
+    <height>571</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Setting</string>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <widget class="QWidget" name="gridLayoutWidget">
+    <property name="geometry">
+     <rect>
+      <x>200</x>
+      <y>100</y>
+      <width>451</width>
+      <height>241</height>
+     </rect>
+    </property>
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="2" column="0">
+      <widget class="QLabel" name="Start_Timer">
+       <property name="text">
+        <string>出发时间：</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="3">
+      <widget class="QLineEdit" name="seconds">
+       <property name="maximumSize">
+        <size>
+         <width>150</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="placeholderText">
+        <string>秒</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="1">
+      <widget class="QLineEdit" name="hours">
+       <property name="maximumSize">
+        <size>
+         <width>150</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="placeholderText">
+        <string>时</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="1">
+      <widget class="QLineEdit" name="longitude">
+       <property name="maximumSize">
+        <size>
+         <width>150</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="placeholderText">
+        <string>经度</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="2">
+      <widget class="QLineEdit" name="minutes">
+       <property name="maximumSize">
+        <size>
+         <width>150</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="placeholderText">
+        <string>分</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="2">
+      <widget class="QLineEdit" name="latitude">
+       <property name="maximumSize">
+        <size>
+         <width>150</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="placeholderText">
+        <string>纬度</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="0">
+      <widget class="QLabel" name="Speed_Lable">
+       <property name="maximumSize">
+        <size>
+         <width>80</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>目的地</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="label">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>20</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>x,y,z</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="1">
+      <widget class="QLineEdit" name="x">
+       <property name="maximumSize">
+        <size>
+         <width>150</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="placeholderText">
+        <string>0</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="2">
+      <widget class="QLineEdit" name="y">
+       <property name="maximumSize">
+        <size>
+         <width>150</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="placeholderText">
+        <string>0</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="3">
+      <widget class="QLineEdit" name="z">
+       <property name="maximumSize">
+        <size>
+         <width>150</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="placeholderText">
+        <string>0</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+   <widget class="QPushButton" name="finished">
+    <property name="geometry">
+     <rect>
+      <x>360</x>
+      <y>370</y>
+      <width>93</width>
+      <height>29</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>完成</string>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>871</width>
+     <height>26</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

src/UAV_UI_new/UAV_UI_new.cpp

@@ -0,0 +1,104 @@
+#include "UAV_UI_new.h"
+#include "Setting.h"
+#include "tips.h"
+#include <opencv2/opencv.hpp>
+#include <string.h>
+#include <qlabel.h>
+#include <qdebug.h>
+#include <QTcpServer>
+#include <QTcpSocket>
+#include <QMessageBox>
+#include <QJsonObject>
+#include <QJsonDocument>
+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"; //热成像
+//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)
+    : QMainWindow(parent)
+{
+    ui.setupUi(this);
+    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);
+    connect(tcpsocket, &QTcpSocket::connected, [=]() {
+        QMessageBox *tip = new QMessageBox(this);
+        //QLabel *tip = new QLabel(this);
+        tip->setText("连接成功");
+        tip->setInformativeText("connected successfully");
+        tip->setStandardButtons(QMessageBox::Ok);
+        tip->show();
+        });
+    connect(tcpsocket, &QTcpSocket::readyRead, [=]() {
+        QByteArray jsonData = tcpsocket->readAll(); // 接收 JSON 数据
+        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 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);
+};
+void UAV_UI_new::onclick_Setting_button() {
+    Settings_UI.show();
+}
+void UAV_UI_new::importImage() {
+    Mat image;
+    cap >> image;
+    cvtColor(image, image, COLOR_BGR2RGB);
+    cv::resize(image, image, Size(640, 480));
+    QPixmap showimage = QPixmap::fromImage(QImage((const uchar*)(image.data),
+        image.cols,
+        image.rows,
+        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();
+}

src/UAV_UI_new/UAV_UI_new.h

@@ -0,0 +1,37 @@
+#pragma once
+
+#include <QtWidgets/QMainWindow>
+#include "ui_UAV_UI_new.h"
+#include "Setting.h"
+#include "Prediction.h"
+#include <QTimer>
+#include <qpushbutton.h>
+#include <QPushbutton>
+#include <opencv2/opencv.hpp>
+#include <QTcpServer>
+#include <QTcpSocket>
+
+class UAV_UI_new : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    UAV_UI_new(QWidget *parent = nullptr);
+    ~UAV_UI_new();
+
+private:
+    Ui::UAV_UI_newClass ui;
+    QTimer* timer;
+    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();
+};

src/UAV_UI_new/UAV_UI_new.qrc

@@ -0,0 +1,9 @@
+<RCC>
+    <qresource prefix="/">
+	<file>background_1.png</file>
+	<file>background_2.png</file>
+	<file>background_3.png</file>
+	<file>Fire.png</file>
+	<file>kill_fire.jpg</file>
+    </qresource>
+</RCC>

src/UAV_UI_new/UAV_UI_new.ui

@@ -0,0 +1,173 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UAV_UI_newClass</class>
+ <widget class="QMainWindow" name="UAV_UI_newClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1440</width>
+    <height>1000</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>0</width>
+    <height>0</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>1440</width>
+    <height>1200</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>UAV_UI_new</string>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <widget class="QWidget" name="verticalLayoutWidget">
+    <property name="geometry">
+     <rect>
+      <x>90</x>
+      <y>60</y>
+      <width>642</width>
+      <height>509</height>
+     </rect>
+    </property>
+    <property name="minimumSize">
+     <size>
+      <width>640</width>
+      <height>480</height>
+     </size>
+    </property>
+    <layout class="QVBoxLayout" name="verticalLayout">
+     <item>
+      <widget class="QLabel" name="display">
+       <property name="enabled">
+        <bool>true</bool>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>640</width>
+         <height>480</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>640</width>
+         <height>480</height>
+        </size>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+   <widget class="QPushButton" name="stop">
+    <property name="geometry">
+     <rect>
+      <x>820</x>
+      <y>140</y>
+      <width>93</width>
+      <height>29</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>关闭图像</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="connection">
+    <property name="geometry">
+     <rect>
+      <x>820</x>
+      <y>70</y>
+      <width>93</width>
+      <height>29</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>连接图像</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="play_tag">
+    <property name="geometry">
+     <rect>
+      <x>100</x>
+      <y>40</y>
+      <width>81</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>实时图像</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="Settings">
+    <property name="geometry">
+     <rect>
+      <x>1350</x>
+      <y>0</y>
+      <width>93</width>
+      <height>29</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>设置</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="action">
+    <property name="geometry">
+     <rect>
+      <x>820</x>
+      <y>200</y>
+      <width>93</width>
+      <height>29</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>出警</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="Prediction">
+    <property name="geometry">
+     <rect>
+      <x>820</x>
+      <y>260</y>
+      <width>93</width>
+      <height>29</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>预测</string>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>1440</width>
+     <height>26</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources>
+  <include location="UAV_UI_new.qrc"/>
+ </resources>
+ <connections/>
+</ui>

src/UAV_UI_new/UAV_UI_new.vcxproj

@@ -0,0 +1,130 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="17.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|x64">
+      <Configuration>Debug</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <ProjectGuid>{FB496CF3-A3CE-4A50-BAC4-A9F43A71A5F9}</ProjectGuid>
+    <Keyword>QtVS_v304</Keyword>
+    <WindowsTargetPlatformVersion Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">10.0.22000.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">10.0.22000.0</WindowsTargetPlatformVersion>
+    <QtMsBuild Condition="'$(QtMsBuild)'=='' OR !Exists('$(QtMsBuild)\qt.targets')">$(MSBuildProjectDirectory)\QtMsBuild</QtMsBuild>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <PlatformToolset>v143</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <PlatformToolset>v143</PlatformToolset>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Condition="Exists('$(QtMsBuild)\qt_defaults.props')">
+    <Import Project="$(QtMsBuild)\qt_defaults.props" />
+  </ImportGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="QtSettings">
+    <QtInstall>6.2.4</QtInstall>
+    <QtModules>core;gui;network;widgets</QtModules>
+    <QtBuildConfig>debug</QtBuildConfig>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="QtSettings">
+    <QtInstall>6.2.4</QtInstall>
+    <QtModules>core;gui;widgets</QtModules>
+    <QtBuildConfig>release</QtBuildConfig>
+  </PropertyGroup>
+  <Target Name="QtMsBuildNotFound" BeforeTargets="CustomBuild;ClCompile" Condition="!Exists('$(QtMsBuild)\qt.targets') or !Exists('$(QtMsBuild)\qt.props')">
+    <Message Importance="High" Text="QtMsBuild: could not locate qt.targets, qt.props; project may not build correctly." />
+  </Target>
+  <ImportGroup Label="ExtensionSettings" />
+  <ImportGroup Label="Shared" />
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+    <Import Project="$(QtMsBuild)\Qt.props" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+    <Import Project="$(QtMsBuild)\Qt.props" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
+    <IncludePath>D:\OpenCV\opencv\build\include\opencv2;D:\OpenCV\opencv\build\include;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\OpenCV\opencv\build\x64\vc15\lib;$(LibraryPath)</LibraryPath>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
+  </PropertyGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <Link>
+      <AdditionalLibraryDirectories>D:\OpenCV\opencv\build\x64\vc15\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalDependencies>opencv_world455d.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="Configuration">
+    <ClCompile>
+      <TreatWChar_tAsBuiltInType>true</TreatWChar_tAsBuiltInType>
+      <MultiProcessorCompilation>true</MultiProcessorCompilation>
+      <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+      <Optimization>Disabled</Optimization>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="Configuration">
+    <ClCompile>
+      <TreatWChar_tAsBuiltInType>true</TreatWChar_tAsBuiltInType>
+      <MultiProcessorCompilation>true</MultiProcessorCompilation>
+      <DebugInformationFormat>None</DebugInformationFormat>
+      <Optimization>MaxSpeed</Optimization>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <GenerateDebugInformation>false</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <QtRcc Include="UAV_UI_new.qrc" />
+    <QtUic Include="Prediction.ui" />
+    <QtUic Include="Setting.ui" />
+    <QtUic Include="tips.ui" />
+    <QtUic Include="UAV_UI_new.ui" />
+    <QtMoc Include="UAV_UI_new.h" />
+    <ClCompile Include="Prediction.cpp" />
+    <ClCompile Include="Setting.cpp" />
+    <ClCompile Include="tips.cpp" />
+    <ClCompile Include="UAV_UI_new.cpp" />
+    <ClCompile Include="main.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <QtMoc Include="tips.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <QtMoc Include="Prediction.h" />
+    <ClInclude Include="FP.h" />
+    <ClInclude Include="levelToSpeed.h" />
+    <ClInclude Include="resource1.h" />
+    <QtMoc Include="Setting.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <ResourceCompile Include="UAV_UI_new1.rc" />
+  </ItemGroup>
+  <ItemGroup>
+    <Image Include="background.jpg" />
+    <Image Include="Settings.jpg" />
+    <Image Include="Settings_2.jpg" />
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Condition="Exists('$(QtMsBuild)\qt.targets')">
+    <Import Project="$(QtMsBuild)\qt.targets" />
+  </ImportGroup>
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>

src/UAV_UI_new/UAV_UI_new.vcxproj.filters

@@ -0,0 +1,102 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="Source Files">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>qml;cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+    </Filter>
+    <Filter Include="Header Files">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions>
+    </Filter>
+    <Filter Include="Resource Files">
+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>qrc;rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+    </Filter>
+    <Filter Include="Form Files">
+      <UniqueIdentifier>{99349809-55BA-4b9d-BF79-8FDBB0286EB3}</UniqueIdentifier>
+      <Extensions>ui</Extensions>
+    </Filter>
+    <Filter Include="Translation Files">
+      <UniqueIdentifier>{639EADAA-A684-42e4-A9AD-28FC9BCB8F7C}</UniqueIdentifier>
+      <Extensions>ts</Extensions>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <QtRcc Include="UAV_UI_new.qrc">
+      <Filter>Resource Files</Filter>
+    </QtRcc>
+    <QtUic Include="UAV_UI_new.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtMoc Include="UAV_UI_new.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <ClCompile Include="UAV_UI_new.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="main.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="tips.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Setting.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Prediction.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <QtMoc Include="tips.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="Setting.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="Prediction.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+  </ItemGroup>
+  <ItemGroup>
+    <QtUic Include="tips.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="Setting.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="Prediction.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="resource1.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="levelToSpeed.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="FP.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+  </ItemGroup>
+  <ItemGroup>
+    <ResourceCompile Include="UAV_UI_new1.rc">
+      <Filter>Resource Files</Filter>
+    </ResourceCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <Image Include="background.jpg">
+      <Filter>Resource Files</Filter>
+    </Image>
+    <Image Include="Settings.jpg">
+      <Filter>Resource Files</Filter>
+    </Image>
+    <Image Include="Settings_2.jpg">
+      <Filter>Resource Files</Filter>
+    </Image>
+  </ItemGroup>
+</Project>

src/UAV_UI_new/UAV_UI_new.vcxproj.user

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup />
+  <PropertyGroup Label="QtSettings" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <QtLastBackgroundBuild>2023-06-14T08:40:27.1306328Z</QtLastBackgroundBuild>
+  </PropertyGroup>
+  <PropertyGroup Label="QtSettings" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <QtLastBackgroundBuild>2023-06-14T08:40:27.2066207Z</QtLastBackgroundBuild>
+  </PropertyGroup>
+</Project>

src/UAV_UI_new/levelToSpeed.h

@@ -0,0 +1,62 @@
+#include<iostream>
+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;
+}

src/UAV_UI_new/main.cpp

@@ -0,0 +1,14 @@
+#include "UAV_UI_new.h"
+#include <QtWidgets/QApplication>
+#include <opencv2/opencv.hpp>
+#include <string.h>
+using namespace std;
+using namespace cv;
+
+int main(int argc, char *argv[])
+{
+    QApplication a(argc, argv);
+    UAV_UI_new w;
+    w.show();
+    return a.exec();
+}

src/UAV_UI_new/tips.cpp

@@ -0,0 +1,20 @@
+#include "tips.h"
+
+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() {
+	//·Å¾¯±¨
+}

src/UAV_UI_new/tips.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#include <QMainWindow>
+#include "ui_tips.h"
+
+class tips : public QMainWindow
+{
+	Q_OBJECT
+
+public:
+	tips(QPixmap image, QWidget *parent = nullptr);
+	~tips();
+
+private:
+	Ui::tipsClass ui;
+	void on_action_button();
+};

src/UAV_UI_new/tips.ui

@@ -0,0 +1,107 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>tipsClass</class>
+ <widget class="QMainWindow" name="tipsClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1130</width>
+    <height>644</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>1130</width>
+    <height>644</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>1130</width>
+    <height>644</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>tips</string>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <widget class="QLabel" name="Pre_tag">
+    <property name="geometry">
+     <rect>
+      <x>19</x>
+      <y>6</y>
+      <width>81</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>火势状况</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="display">
+    <property name="enabled">
+     <bool>true</bool>
+    </property>
+    <property name="geometry">
+     <rect>
+      <x>20</x>
+      <y>30</y>
+      <width>640</width>
+      <height>480</height>
+     </rect>
+    </property>
+    <property name="minimumSize">
+     <size>
+      <width>640</width>
+      <height>480</height>
+     </size>
+    </property>
+    <property name="maximumSize">
+     <size>
+      <width>640</width>
+      <height>480</height>
+     </size>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="action">
+    <property name="geometry">
+     <rect>
+      <x>830</x>
+      <y>40</y>
+      <width>93</width>
+      <height>29</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>出警</string>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>1130</width>
+     <height>26</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>