合并分支 'shihao' 到 'master'

修改joy驱动

查看合并请求 !2

chair_code/chair_code.cpp

@@ -33,6 +33,12 @@ chair_code::~chair_code()
 	feedback_data::release();//释放车铲反馈数据
 	logger_module::release();//释放log记录
 
+	//if (_refresh_reveal_timer) {
+	//	_refresh_reveal_timer->stop();
+	//	delete _refresh_reveal_timer;
+	//	_refresh_reveal_timer = nullptr;
+	//}//释放定时器
+
 	delete ui;
 	ui = nullptr;
 	global_signal::instance()->record_debug_logger("~chair_code()");
@@ -63,8 +69,9 @@ void chair_code::initialize_main_window()//初始化界面
 		initialize_car_chair_gui();//车界面
 	}
 
-	_refresh_reveal_timer = new QTimer();//启动刷新界面显示的计时器
-	connect(_refresh_reveal_timer, &QTimer::timeout, this, &chair_code::refresh_display);
+	std::unique_ptr<QTimer> _refresh_reveal_timer = std::make_unique<QTimer>();
+	//_refresh_reveal_timer = new QTimer();//启动刷新界面显示的计时器
+	connect(_refresh_reveal_timer.get(), &QTimer::timeout, this, &chair_code::refresh_display);
 	_refresh_reveal_timer->setTimerType(Qt::PreciseTimer);
 	_refresh_reveal_timer->start(100);
 }

chair_code/chair_code.h

@@ -13,6 +13,8 @@
 #include "feedback_data.h"
 #include "control_module.h"
 
+
+
 #ifdef WIN32
 #pragma execution_character_set("utf-8")// 该指令仅支持VS环境
 #endif
@@ -45,13 +47,14 @@ private slots:
 
 private:
 	Ui::chair_codeClass* ui;
-	QTimer* _refresh_reveal_timer = nullptr;
+	//QTimer* _refresh_reveal_timer = nullptr;
 
 	std::unique_ptr<grpc_module> _grpc_module = nullptr;
 	std::unique_ptr<network_module> _network_module = nullptr;
 	std::unique_ptr<remote_module> _remote_module = nullptr;
 	std::unique_ptr<control_module> _control_module = nullptr;
 
+
 	//单例类
 	std::shared_ptr<acquire_config> _acquire_config = nullptr;
 	std::shared_ptr<module_data> _module_data = nullptr;

chair_code/chair_code.vcxproj

@@ -45,7 +45,7 @@
     <QtBuildConfig>debug</QtBuildConfig>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="QtSettings">
-    <QtInstall>5.14.2_msvc2017_64</QtInstall>
+    <QtInstall>5.14.0_msvc2017_64</QtInstall>
     <QtModules>core;network;gui;widgets;serialport;concurrent</QtModules>
     <QtBuildConfig>release</QtBuildConfig>
   </PropertyGroup>
@@ -115,6 +115,7 @@
     <ClCompile Include="module_data.cpp" />
     <ClCompile Include="moza_module.cpp" />
     <ClCompile Include="network_module.cpp" />
+    <ClCompile Include="sdl_module.cpp" />
     <ClCompile Include="shovel_chair.grpc.pb.cc" />
     <ClCompile Include="shovel_chair.pb.cc" />
     <ClCompile Include="tcp_thread.cpp">
@@ -152,6 +153,7 @@
     <QtMoc Include="remote_module.h" />
     <QtMoc Include="feishi_module.h" />
     <QtMoc Include="control_module.h" />
+    <QtMoc Include="sdl_module.h" />
     <ClInclude Include="shovel_chair.grpc.pb.h" />
     <ClInclude Include="shovel_chair.pb.h" />
     <ClInclude Include="shovel_server_impl.h" />

chair_code/chair_code.vcxproj.filters

@@ -103,6 +103,9 @@
     <ClCompile Include="main.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="sdl_module.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="shovel_server_impl.h">
@@ -192,5 +195,8 @@
     <QtMoc Include="tcp_thread.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="sdl_module.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
 </Project>
\ No newline at end of file

chair_code/chair_code.vcxproj.user

@@ -2,9 +2,9 @@
 <Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <PropertyGroup />
   <PropertyGroup Label="QtSettings" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <QtLastBackgroundBuild>2023-12-19T08:48:42.6569979Z</QtLastBackgroundBuild>
+    <QtLastBackgroundBuild>2023-12-20T01:47:47.9984857Z</QtLastBackgroundBuild>
   </PropertyGroup>
   <PropertyGroup Label="QtSettings" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <QtLastBackgroundBuild>2023-12-19T08:48:42.7051859Z</QtLastBackgroundBuild>
+    <QtLastBackgroundBuild>2023-12-20T01:49:57.5420612Z</QtLastBackgroundBuild>
   </PropertyGroup>
 </Project>
\ No newline at end of file

chair_code/conf/config-default.ini

@@ -4,7 +4,7 @@ publish_message_type=2;//1云端，2直连
 username=boonray;//登录用户名
 password=Boonray@123;//登录密码
 server_url=http://139.196.75.44:8900;//服务器
-server_grpc_host=192.168.1.3;//grpc server ip
+server_grpc_host=192.168.9.198;//grpc server ip
 mqtt_host=139.196.75.44;//mqtt ip
 mqtt_port=28884;//mqtt 端口
 hardware_to_chair_way=2;//读取硬件座椅数据的方式1: joystick,2:tcp,3:udp
@@ -16,7 +16,7 @@ publish_control_frequency=10;//发送车铲控制数据的HZ数
 publish_status_frequency=10;//发送车铲状态数据的HZ数
 
 [Shovel]
-chair_name=moza;//座椅名称
+chair_name=gzy;//座椅名称
 chair_sn=shihao_test_01;//本座椅的sn
 device_sn=;//默认所控的sn
 chair_host=192.168.9.198;//座椅程序IP，不接收0.0.0.0
@@ -27,7 +27,7 @@ hardware_host=192.168.9.53;//硬件座椅IP 用于接收座椅指令数据  当
 hardware_to_chair_port=18855;//硬件座椅端口 用于接收座椅指令数据
 
 [Car]
-chair_name=feishi;//gzy:湖州的白色座椅 bulldozer:挖机
+chair_name=gzy;//gzy:湖州的白色座椅 bulldozer:挖机
 chair_sn=car_chair_shihao;//本座椅的sn
 device_sn=;//默认所控的sn
 chair_host=0.0.0.0;//座椅程序IP

chair_code/conf/controller_config.txt

+0300eef8bc2000006312000000000000
+03001b3c6e3400000300000000000000

chair_code/control_module.cpp

@@ -13,14 +13,13 @@ control_module::control_module(QObject* parent)
 	_module_data = module_data::instance();//全局数据中转
 	_feedback_data = feedback_data::instance();//车铲反馈数据
 
-	_write_control_timer = new QTimer(this);
-	_write_status_timer = new QTimer(this);
+	_write_control_timer = std::make_unique<QTimer>(this);
+	_write_status_timer = std::make_unique<QTimer>(this);
+	_udp_thread = std::make_unique<udp_thread>(_module_data->chair_host, _module_data->chair_port, "control_module");
 
-	_udp_thread = new udp_thread(_module_data->chair_host, _module_data->chair_port, "control_module");
-
-	connect(_write_control_timer, &QTimer::timeout, this, &control_module::on_write_control_timer);
-	connect(_write_status_timer, &QTimer::timeout, this, &control_module::on_write_statusl_timer);
-	connect(_udp_thread, &udp_thread::udp_received_data, this, &control_module::no_udp_received_data);
+	connect(_write_control_timer.get(), &QTimer::timeout, this, &control_module::on_write_control_timer);
+	connect(_write_status_timer.get(), &QTimer::timeout, this, &control_module::on_write_statusl_timer);
+	connect(_udp_thread.get(), &udp_thread::udp_received_data, this, &control_module::no_udp_received_data);
 
 	control_time_start();//启动下发状态数据的定时器
 	status_time_start();//启动下发控制的定时器
@@ -30,6 +29,9 @@ control_module::control_module(QObject* parent)
 
 control_module::~control_module()
 {
+	_write_control_timer.reset();
+	_write_status_timer.reset();
+	_udp_thread.reset();
 	global_signal::instance()->record_debug_logger("~control_module()");
 }
 
@@ -70,7 +72,7 @@ void control_module::on_write_control_timer()
 		global_signal::instance()->record_info_logger("control", "write control[" + _module_data->current_controls_device_ip + "]->" + dataarray.data());
 	}
 	else {
-		
+
 	}
 }
 
@@ -83,7 +85,7 @@ void control_module::on_write_statusl_timer()
 	QByteArray dataarray = vehicle_generate_realtime_status_message(i);
 	_udp_thread->udp_write_date(dataarray, _module_data->_configiplist.at(i).ip, _module_data->_configiplist.at(i).port);
 	i++;
-	
+
 }
 
 void control_module::no_udp_received_data(const QByteArray& data, const QHostAddress& device_address)
@@ -101,7 +103,7 @@ void control_module::no_udp_received_data(const QByteArray& data, const QHostAdd
 
 	this->process_device_data(data);//解析设备端数据/处理切车逻辑
 
-//	global_signal::instance()->PublishMsgToWinodw(data);
+	//	global_signal::instance()->PublishMsgToWinodw(data);
 }
 
 void control_module::process_device_data(const QByteArray& data)

chair_code/control_module.h

@@ -14,7 +14,7 @@ class control_module : public QObject
 public:
 	explicit control_module(QObject* parent = nullptr);
 	~control_module();
-	
+
 private:
 	void control_time_start();
 	void control_time_stop();
@@ -38,9 +38,12 @@ private slots:
 	void on_write_statusl_timer();
 
 private:
-	udp_thread* _udp_thread = nullptr;
-	QTimer* _write_control_timer = nullptr;
-	QTimer* _write_status_timer = nullptr;
+	//udp_thread* _udp_thread = nullptr;
+	//QTimer* _write_control_timer = nullptr;
+	//QTimer* _write_status_timer = nullptr;
+	std::unique_ptr<udp_thread> _udp_thread = nullptr;
+	std::unique_ptr<QTimer> _write_control_timer = nullptr;
+	std::unique_ptr<QTimer> _write_status_timer = nullptr;
 
 	std::shared_ptr<module_data> _module_data = nullptr;
 	std::shared_ptr<feedback_data> _feedback_data = nullptr;

chair_code/feishi_module.cpp

@@ -2,17 +2,17 @@
 #include "global_signal.h"
 #include <QTimer>
 #include <QThread>
-feishi_module::feishi_module(const QString& ip, quint16 port, QObject *parent)
+feishi_module::feishi_module(const QString& ip, quint16 port, QObject* parent)
 	: QObject(parent)
 {
 	_module_data = module_data::instance();//全局数据中转
 
 	_tcp_thread = std::make_unique<tcp_thread>(ip, port, "feishi_module");
-	_send_cmd_timer = new QTimer(this);
-
+	/*_send_cmd_timer = new QTimer(this);*/
+	_send_cmd_timer = std::make_unique<QTimer>(this);
 	connect(_tcp_thread.get(), &tcp_thread::tcp_received_data, this, &feishi_module::no_tcp_received_data);
 	connect(this, &feishi_module::tcp_write_date, _tcp_thread.get(), &tcp_thread::on_tcp_write_date);
-	connect(_send_cmd_timer, &QTimer::timeout, this, &feishi_module::on_send_cmd_timer);
+	connect(_send_cmd_timer.get(), &QTimer::timeout, this, &feishi_module::on_send_cmd_timer);
 
 	_send_cmd_timer->setTimerType(Qt::PreciseTimer);
 	_send_cmd_timer->start(1000 / sending_interval);
@@ -22,7 +22,7 @@ feishi_module::feishi_module(const QString& ip, quint16 port, QObject *parent)
 
 feishi_module::~feishi_module()
 {
-	_send_cmd_timer->stop();
+	_send_cmd_timer.reset();
 	_tcp_thread.reset();
 	global_signal::instance()->record_debug_logger("~feishi_module()");
 }
@@ -46,25 +46,25 @@ void feishi_module::no_tcp_received_data(const QByteArray& data)//获取座椅
 			_device_feishi_struct.Tab[i] = data[i];
 			//printf("%02x ", _device_feishi_struct.Tab[i]);
 		}
-	//	printf("\n");
-
-		// 检查座椅指令是否有变化，并更新控制指令的值
-		//if (_device_feishi_struct.data.gear_r != _last_gear_r) {
-		//	_module_data->target_gear = _GEAR_R;
-		//	_last_gear_r = _device_feishi_struct.data.gear_r;
-		//	qDebug() << "R";
-		//}
-		//if (_device_feishi_struct.data.gear_n != _last_gear_n) {
-		//	_module_data->target_gear = _GEAR_N;
-		//	_last_gear_n = _device_feishi_struct.data.gear_n;
-		//	qDebug() << "N";
-		//}
-		//if (_device_feishi_struct.data.gear_d != _last_gear_d) {
-		//	_module_data->target_gear = _GEAR_D;
-		//	_last_gear_d = _device_feishi_struct.data.gear_d;
-		//	qDebug() << "D";
-		//}
-		if (_device_feishi_struct.data.auto_lock_a_2){//P档
+		//	printf("\n");
+
+			// 检查座椅指令是否有变化，并更新控制指令的值
+			//if (_device_feishi_struct.data.gear_r != _last_gear_r) {
+			//	_module_data->target_gear = _GEAR_R;
+			//	_last_gear_r = _device_feishi_struct.data.gear_r;
+			//	qDebug() << "R";
+			//}
+			//if (_device_feishi_struct.data.gear_n != _last_gear_n) {
+			//	_module_data->target_gear = _GEAR_N;
+			//	_last_gear_n = _device_feishi_struct.data.gear_n;
+			//	qDebug() << "N";
+			//}
+			//if (_device_feishi_struct.data.gear_d != _last_gear_d) {
+			//	_module_data->target_gear = _GEAR_D;
+			//	_last_gear_d = _device_feishi_struct.data.gear_d;
+			//	qDebug() << "D";
+			//}
+		if (_device_feishi_struct.data.auto_lock_a_2) {//P档
 			_module_data->target_gear = _GEAR_P;
 		}
 		else {
@@ -79,7 +79,7 @@ void feishi_module::no_tcp_received_data(const QByteArray& data)//获取座椅
 			}
 		}
 
-		
+
 
 		if (_device_feishi_struct.data.scram_switch != _last_scram_switch) {
 			_module_data->target_emergency_stop = _device_feishi_struct.data.scram_switch;
@@ -130,7 +130,7 @@ void feishi_module::no_tcp_received_data(const QByteArray& data)//获取座椅
 		//_module_data->target_low_beam = _device_feishi_struct.data.low_beam_lamp;//近光灯
 		//_module_data->target_high_beam = _device_feishi_struct.data.high_beam_lamp;//远光灯
 		//_module_data->target_horn = _device_feishi_struct.data.horn;//喇叭
- 
+
 		//_module_data->target_steering = _device_feishi_struct.data.strrting_wheel;//方向盘
 		//_module_data->target_throttle = _device_feishi_struct.data.acceleration_pedal;//油门踏板
 		//_module_data->target_brake = _device_feishi_struct.data.brake_pedal;//刹车

chair_code/feishi_module.h

-#pragma once
+#pragma once
 
 #include "tcp_thread.h"
 #include "module_data.h"
 #include <QObject>
 
-class feishi_module  : public QObject
+class feishi_module : public QObject
 {
 	Q_OBJECT
 
@@ -19,67 +19,67 @@ private:
 		int8_t  Tab[14];
 		struct
 		{
-			uint8_t version_number : 8;//版本号
-			uint8_t message_type : 8;//报文类型
-			uint8_t message_id : 8;//报文ID
-			uint8_t message_length : 8;//报文长度
-			uint8_t gear_n : 1;//N 档
-			uint8_t gear_r : 1;//R 档
-			uint8_t gear_d : 1;//R 档
-			uint8_t auto_reset_a_1 : 1;//自复位按钮
-			uint8_t auto_lock_a_1 : 1;//自锁按钮1
-			uint8_t auto_lock_a_2 : 1;//自锁按钮2
-			uint8_t auto_lock_b_1 : 1;//自锁按钮1
-			uint8_t auto_lock_b_2 : 1;//自锁拨杆2
-
-			uint8_t auto_lock_b_3 : 1;//自锁拨杆3
-			uint8_t auto_lock_b_4 : 1;//自锁拨杆4
-			uint8_t auto_lock_b_5 : 1;//自锁拨杆5
-			uint8_t auto_lock_q_1 : 1;//自锁翘板1
-			uint8_t auto_lock_q_2 : 1;//自锁翘板2
-			uint8_t auto_lock_q_3 : 1;//自锁翘板3
-			uint8_t auto_lock_q_4 : 1;//自锁翘板4
-			uint8_t auto_lock_q_5 : 1;//自锁翘板5
-
-			uint8_t auto_lock_q_6 : 1;//自锁翘板6
-			uint8_t auto_lock_q_7_1 : 1;//自锁翘板7_1
-			uint8_t auto_lock_q_7_2 : 1;//自锁翘板7_2
-			uint8_t auto_lock_q_8_1 : 1;//自锁翘板8_1
-			uint8_t auto_lock_q_8_2 : 1;//自锁翘板8_2
-			uint8_t scram_switch : 1;//急停开关
-			uint8_t null1 : 2;//空
-
-			uint8_t up_trouble : 1;//点火
-			uint8_t horn : 1;//喇叭
-			uint8_t width_lamp : 1;//示宽灯
-			uint8_t low_beam_lamp : 1;//近光灯
-			uint8_t high_beam_lamp : 1;//远光灯
-			uint8_t fog_lamp : 1;//雾灯
-			uint8_t left_turn_lamp : 1;//左转向灯
-			uint8_t rigth_turn_lamp : 1;//右转向灯
-
-			uint8_t wiper_int : 1;//雨刮INT
-			uint8_t wiper_lo : 1;//雨刮LO
-			uint8_t wiper_hi : 1;//雨刮HI
-			uint8_t null2 : 5;//空
-
-			uint8_t manual_drive : 1;//人工驾驶
-			uint8_t remote_drive : 1;//远程驾驶
-			uint8_t auto_drive : 1;//自动驾驶
-			uint8_t direction_upkey : 1;//方向上键-自复位（可用于选择车辆）
-			uint8_t direction_downkey : 1;//方向下键-自复位（可用于选择车辆）
-			uint8_t affirm_but : 1;//确认（可用于确认选择）
-			uint8_t return_but : 1;//返回（从模式选择界面返回车辆选择界面）
-			uint8_t null3 : 1;//空
-
-			int16_t strrting_wheel : 16;//方向盘转角
-			uint8_t acceleration_pedal : 8;//油门踏板
-			uint8_t brake_pedal : 8;//刹车踏板
+			uint8_t version_number : 8;//版本号
+			uint8_t message_type : 8;//报文类型
+			uint8_t message_id : 8;//报文ID
+			uint8_t message_length : 8;//报文长度
+			uint8_t gear_n : 1;//N 档
+			uint8_t gear_r : 1;//R 档
+			uint8_t gear_d : 1;//R 档
+			uint8_t auto_reset_a_1 : 1;//自复位按钮
+			uint8_t auto_lock_a_1 : 1;//自锁按钮1
+			uint8_t auto_lock_a_2 : 1;//自锁按钮2
+			uint8_t auto_lock_b_1 : 1;//自锁按钮1
+			uint8_t auto_lock_b_2 : 1;//自锁拨杆2
+
+			uint8_t auto_lock_b_3 : 1;//自锁拨杆3
+			uint8_t auto_lock_b_4 : 1;//自锁拨杆4
+			uint8_t auto_lock_b_5 : 1;//自锁拨杆5
+			uint8_t auto_lock_q_1 : 1;//自锁翘板1
+			uint8_t auto_lock_q_2 : 1;//自锁翘板2
+			uint8_t auto_lock_q_3 : 1;//自锁翘板3
+			uint8_t auto_lock_q_4 : 1;//自锁翘板4
+			uint8_t auto_lock_q_5 : 1;//自锁翘板5
+
+			uint8_t auto_lock_q_6 : 1;//自锁翘板6
+			uint8_t auto_lock_q_7_1 : 1;//自锁翘板7_1
+			uint8_t auto_lock_q_7_2 : 1;//自锁翘板7_2
+			uint8_t auto_lock_q_8_1 : 1;//自锁翘板8_1
+			uint8_t auto_lock_q_8_2 : 1;//自锁翘板8_2
+			uint8_t scram_switch : 1;//急停开关
+			uint8_t null1 : 2;//空
+
+			uint8_t up_trouble : 1;//点火
+			uint8_t horn : 1;//喇叭
+			uint8_t width_lamp : 1;//示宽灯
+			uint8_t low_beam_lamp : 1;//近光灯
+			uint8_t high_beam_lamp : 1;//远光灯
+			uint8_t fog_lamp : 1;//雾灯
+			uint8_t left_turn_lamp : 1;//左转向灯
+			uint8_t rigth_turn_lamp : 1;//右转向灯
+
+			uint8_t wiper_int : 1;//雨刮INT
+			uint8_t wiper_lo : 1;//雨刮LO
+			uint8_t wiper_hi : 1;//雨刮HI
+			uint8_t null2 : 5;//空
+
+			uint8_t manual_drive : 1;//人工驾驶
+			uint8_t remote_drive : 1;//远程驾驶
+			uint8_t auto_drive : 1;//自动驾驶
+			uint8_t direction_upkey : 1;//方向上键-自复位（可用于选择车辆）
+			uint8_t direction_downkey : 1;//方向下键-自复位（可用于选择车辆）
+			uint8_t affirm_but : 1;//确认（可用于确认选择）
+			uint8_t return_but : 1;//返回（从模式选择界面返回车辆选择界面）
+			uint8_t null3 : 1;//空
+
+			int16_t strrting_wheel : 16;//方向盘转角
+			uint8_t acceleration_pedal : 8;//油门踏板
+			uint8_t brake_pedal : 8;//刹车踏板
 
 		}data;
 	}device_feishi_struct;
 #pragma pack(pop)
-	device_feishi_struct _device_feishi_struct = {0};
+	device_feishi_struct _device_feishi_struct = { 0 };
 
 public slots:
 	void no_tcp_received_data(const QByteArray& data);
@@ -90,15 +90,17 @@ signals:
 	void tcp_write_date(const QByteArray& data);
 
 private:
-	QTimer* _send_cmd_timer = nullptr;
-
+	//QTimer* _send_cmd_timer = nullptr;
 	std::unique_ptr<tcp_thread> _tcp_thread = nullptr;
+	std::unique_ptr<QTimer> _send_cmd_timer = nullptr;
+
+
 	std::shared_ptr<module_data> _module_data = nullptr;
 
-	const int read_data_length = 14;//接收数据长度
-	const int sending_interval = 10;         // 发送数据的时间间隔（以毫秒为单位）
+	const int read_data_length = 14;//接收数据长度
+	const int sending_interval = 10;         // 发送数据的时间间隔（以毫秒为单位）
 
-	// 定义控制指令的值
+	// 定义控制指令的值
 	bool _target_emergency_stop;
 	bool _target_left_light;
 	bool _target_right_light;
@@ -107,7 +109,7 @@ private:
 	bool _target_horn;
 	int _target_gear;
 
-	// 定义座椅指令的值和上次解析时的值
+	// 定义座椅指令的值和上次解析时的值
 	bool _last_gear_r;
 	bool _last_gear_n;
 	bool _last_gear_d;

chair_code/grpc_module.cpp

@@ -31,12 +31,13 @@ void grpc_module::on_grpc_endthread()
 		std::ifstream cert_file(client_ca_file);
 		if (!cert_file.good()) {
 			std::cerr << "Failed to open cert file: " << client_ca_file << std::endl;
-			//此处检查不到整数的存在
+			//此处检查不到证书存在
 			require_client_cert = false;//关闭ssl
 		}
 	}
 
 	std::string serverAddress = _module_data->server_grpc_host.toStdString();
+
 	if (_module_data->isIpAddressValid(serverAddress)) {//检查IP地址的有效性
 		serverAddress = _module_data->grpc_server_address.toStdString();
 		global_signal::instance()->record_debug_logger("gRPC  ");
@@ -104,7 +105,7 @@ void grpc_module::grpc_server(const std::string& serverAddress,
 		else if (_module_data->chair_type == _SHOVEL) {
 			builder.RegisterService(_shovel_service);
 		}
-		server = builder.BuildAndStart(); 
+		server = builder.BuildAndStart();
 
 
 		global_signal::instance()->record_debug_logger("gRPC server listening on " + QString::fromStdString(serverAddress));

chair_code/gzy_module.cpp

@@ -7,145 +7,41 @@ gzy_module::gzy_module(QObject* parent)
 	: QObject(parent)
 {
 	_module_data = module_data::instance();//全局数据中转
+	_sdl_module = std::make_unique<sdl_module>();
 
-	QTimer* epb_timer = new QTimer(this);
-	connect(epb_timer, &QTimer::timeout, this, &gzy_module::analyze_seat_epb);
-	epb_timer->setTimerType(Qt::PreciseTimer);
-	epb_timer->start(20);
+	connect(_sdl_module.get(), &sdl_module::buttonStateEvent, this, &gzy_module::analyze_seat_button);
+	connect(_sdl_module.get(), &sdl_module::axisMotionEvent, this, &gzy_module::analyze_seat_axis);
+
+	//QTimer* epb_timer = new QTimer(this);
+	//connect(epb_timer, &QTimer::timeout, this, &gzy_module::analyze_seat_epb);
+	//epb_timer->setTimerType(Qt::PreciseTimer);
+	//epb_timer->start(20);
 }
 
 gzy_module::~gzy_module()
 {
+	_sdl_module.reset();
 	qDebug() << "~gzy_module()";
 }
 
-void gzy_module::analyze_seat_axis(int joyIndex, int axis, double value)
+void gzy_module::analyze_seat_axis(int joystickIndex, const QString& guid, int axis, double value)
 {
-	if (axis == 0) {
-		//_module_data->steering = -(value * 100) - _module_data->set_steering_val;
-		_module_data->target_steering = -(value * 100);
-	}
-	else if (axis == 1) {
-		double is_value = value * 100.0;
-		if (abs(is_value) > 150) {
-			is_value = 0;
-		}
-
-		if (is_value >= 10.0)
-		{
-			_module_data->target_brake = is_value;
-		}
-		else if (is_value <= (-5.0)) {
-			_module_data->target_throttle = -is_value;
-		}
-		else {
-			_module_data->target_brake = 0.0;
-			_module_data->target_throttle = 0.0;
-		}
-	}
+	double is_value = 0.0;
+	is_value = _module_data->map_value(value, -32768.00, 32767.00, 0.0, 100.0);
+	std::cout << "Axis motion event: JoystickIndex = " << joystickIndex << ", GUID = " << guid.toStdString() << ", Axis = " << axis << ", Value = " << is_value << std::endl;
 }
 
 
-void gzy_module::analyze_seat_button(int joyIndex, int button, bool pressed)
+void gzy_module::analyze_seat_button(int joystickIndex, const QString& guid, int button, bool pressed)
 {
-	button += 1;
-	static bool G_P = false; static bool G_R = false; static bool G_N = false; static bool G_D = false;
-
-	if (button == 1) {
-		if (!pressed) {
-			global_signal::instance()->record_info_logger("cmd", "下电");
-		}
-		else {
-			global_signal::instance()->record_info_logger("cmd", "上电");
-		}
-	}
-	else if (button == 2) {
-		if (pressed) {
-			_module_data->target_left_light = 1; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("左转灯开"));
-		}
-		else {
-			_module_data->target_left_light = 0; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("左转灯关"));
-		}
-	}
-	else if (button == 3) {
-		if (pressed) {
-			_module_data->target_right_light = 1; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("右转灯开"));
-		}
-		else {
-			_module_data->target_right_light = 0; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("右转灯关"));
-		}
-	}
-	else if (button == 4) {
-		if (pressed) {
-			_module_data->target_low_beam = 1; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("近光灯开"));
-		}
-		else {
-			_module_data->target_low_beam = 0; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("近光灯关"));
-		}
-	}
-	else if (button == 5) {
-		if (pressed) {
-			_module_data->target_high_beam = 1; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("远光灯开"));
-		}
-		else {
-			_module_data->target_high_beam = 0; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("远光灯关"));
-		}
-	}
-	else if (button == 6) {
-		if (pressed) {
-			global_signal::instance()->record_info_logger("cmd", "安全带开");
-		}
-		else {
-			global_signal::instance()->record_info_logger("cmd", "安全带关");
-		}
-	}
-	else if (button == 7) {
-		if (pressed) {
-			global_signal::instance()->record_info_logger("cmd", "示宽开");
-		}
-		else {
-			global_signal::instance()->record_info_logger("cmd", "示宽关");
-		}
-	}
-	else if (button == 8) {}
-	else if (((button == 9) || (button == 10) || (button == 11) || (button == 12)) && (!handbrake)) {
-		if (button == 9) {
-			_module_data->target_gear = 2; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("档位切换到 N 档"));
-		}
-		if (button == 10) {
-			G_N = pressed;
-		}
-		if (button == 11) {
-			G_R = pressed;
-			_module_data->target_gear = 1; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("档位切换到 R 档"));
-		}
-		if (button == 12) {
-			G_D = pressed; _module_data->target_gear = 3; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("档位切换到 D 档"));
-		}
-		if (!G_P && !G_R && !G_D) {
-			_module_data->target_gear = 2; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("档位切换到 N 档"));
-		}
-
-	}
-	else if (button == 15) {
-		handbrake = pressed;
-		handbrakesta = true;
-	}
-	else if (button == 16) {
-		if (pressed) {
-			_module_data->target_emergency_stop = 0; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("急停关"));
-		}
-		else {
-			_module_data->target_emergency_stop = 1; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("急停开"));
-		}
+	std::cout << "Button down event: JoystickIndex = " << joystickIndex << ", GUID = " << guid.toStdString() << ", Button = " << button << std::endl;
+	if (pressed == 1)
+	{
+		std::cout << "Button is pressed" << std::endl;
 	}
-	else if (button == 17) {
-		if (pressed) {
-			_module_data->target_horn = 1; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("喇叭开"));
-		}
-		else {
-			_module_data->target_horn = 0; global_signal::instance()->PublishMsgToWinodw(QStringLiteral("喇叭关"));
-		}
+	else
+	{
+		std::cout << "Button is released" << std::endl;
 	}
 }
 

chair_code/gzy_module.h

@@ -2,6 +2,8 @@
 
 #include <QObject>
 #include "module_data.h"
+#include "sdl_module.h"
+
 
 class gzy_module : public QObject
 {
@@ -12,12 +14,14 @@ public:
 	~gzy_module();
 
 public slots:
-	void analyze_seat_axis(int joyIndex, int axis, double value);
-	void analyze_seat_button(int joyIndex, int button, bool pressed);
+	void analyze_seat_axis(int joystickIndex, const QString& guid, int axis, double value);
+	void analyze_seat_button(int joystickIndex, const QString& guid, int button, bool state);
 
 private slots:
 	void analyze_seat_epb();
 private:
+
+	std::unique_ptr<sdl_module> _sdl_module = nullptr;
 	//单例类
 	std::shared_ptr<module_data> _module_data = nullptr;
 

chair_code/joy_thread.h

 #pragma once
 
-#include "module_data.h"
+
 #include <QtCore>
 #include <SFML/Window.hpp>
 #include <iostream>
 #include <QObject>
-
+#include "module_data.h"
 
 
 class joy_thread : public QObject

chair_code/main.cpp

-#include "chair_code.h"
+#define SDL_MAIN_HANDLED
+
+#include "chair_code.h"
 #include <QtWidgets/QApplication>
 #include <QTextCodec>
 

chair_code/module_data.cpp

 #include "module_data.h"
 #include "global_signal.h"
 #include <QHostAddress>
-
+#include <QAbstractSocket>
 
 std::shared_ptr<module_data> module_data::m_instance = nullptr;
 std::mutex module_data::m_mutex;
@@ -120,4 +120,20 @@ bool module_data::isIpAddressValid(const std::string& ipAddress)
 	}
 	QHostAddress address(QString::fromStdString(ipAddress));
 	return address.protocol() != QAbstractSocket::UnknownNetworkLayerProtocol;
+}
+
+
+
+double module_data::map_value(double input_value, double min_value, double max_value, double target_min_value, double target_max_value)
+{
+	// 计算相对位置
+	double relative_position = (input_value - min_value) / (max_value - min_value);
+
+	// 映射到目标范围
+	double mapped_value = relative_position * (target_max_value - target_min_value);
+
+	// 添加目标范围的最小值
+	double final_value = mapped_value + target_min_value;
+
+	return final_value;
 }
\ No newline at end of file

chair_code/module_data.h

@@ -33,6 +33,7 @@ public:
 
 	QString acquire_device_ip(QString _target_device_sn);
 	bool isIpAddressValid(const std::string& ipAddress);//检查IP地址的有效性
+	double map_value(double input_value, double min_value, double max_value, double target_min_value, double target_max_value);
 public:
 	QString chair_name = "";
 	QString chair_sn = "";

chair_code/moza_module.cpp

@@ -4,14 +4,16 @@ moza_module::moza_module(QObject* parent)
 	: QObject(parent)
 {
 	_module_data = module_data::instance();//全局数据中转
-	_joy_thread = new joy_thread();//实例读座椅数据 解析类
-	connect(_joy_thread, &joy_thread::joy_received_button, this, &moza_module::analyze_seat_button);
-	connect(_joy_thread, &joy_thread::joy_received_axis, this, &moza_module::analyze_seat_axis);
+	//_joy_thread = new joy_thread();//实例读座椅数据 解析类
+	_joy_thread = std::make_unique<joy_thread>(this);
+	connect(_joy_thread.get(), &joy_thread::joy_received_button, this, &moza_module::analyze_seat_button);
+	connect(_joy_thread.get(), &joy_thread::joy_received_axis, this, &moza_module::analyze_seat_axis);
 
 }
 
 moza_module::~moza_module()
 {
+	_joy_thread.reset();
 	qDebug() << "~moza_module()";
 }
 

chair_code/moza_module.h

@@ -18,6 +18,6 @@ public slots:
 private:
 	//单例类
 	std::shared_ptr<module_data> _module_data = nullptr;
-
-	joy_thread* _joy_thread = nullptr;
+	std::unique_ptr<joy_thread> _joy_thread = nullptr;
+	//joy_thread* _joy_thread = nullptr;
 };

chair_code/remote_module.cpp

@@ -21,7 +21,7 @@ remote_module::remote_module(QObject* parent)
 		_gzy_module = std::make_unique<gzy_module>();
 	}
 	else if (_module_data->chair_name == "bulldozer") {//临时兼容推土机ID3
-	//	_bulldozer_module = new bulldozer_module("", _module_data->hardware_to_chair_port);
+		//	_bulldozer_module = new bulldozer_module("", _module_data->hardware_to_chair_port);
 		_bulldozer_module = std::make_unique<bulldozer_module>("", _module_data->hardware_to_chair_port);
 	}
 
@@ -30,6 +30,17 @@ remote_module::remote_module(QObject* parent)
 
 remote_module::~remote_module()
 {
-	_feishi_module.reset();
+	if (_module_data->chair_name == "moza") {
+		_moza_module.reset();
+	}
+	else if (_module_data->chair_name == "feishi") {
+		_feishi_module.reset();
+	}
+	else if (_module_data->chair_name == "gzy") {//湖州的白色座椅
+		_gzy_module.reset();
+	}
+	else if (_module_data->chair_name == "bulldozer") {//临时兼容推土机ID3
+		_bulldozer_module.reset();
+	}
 	global_signal::instance()->record_debug_logger("~remote_module()");
 }

chair_code/runlog/debug/debug_20231220_095854.log

+[2023-12-20 09:58:54.569] [logger4] [debug] tcp_thread connect_server:[feishi_module]:192.168.1.3 44444
+[2023-12-20 09:58:54.580] [logger4] [debug] [control_module]:_udp_socket port:8801
+[2023-12-20 09:59:03.149] [logger4] [debug] ~tcp_thread()
+[2023-12-20 09:59:03.149] [logger4] [debug] ~feishi_module()
+[2023-12-20 09:59:03.149] [logger4] [debug] ~remote_module()
+[2023-12-20 09:59:03.149] [logger4] [debug] ~network_module()
+[2023-12-20 09:59:03.149] [logger4] [debug] ~control_module()

chair_code/runlog/debug/debug_20231220_160420.log

+[2023-12-20 16:04:20.646] [logger4] [debug] [control_module]:_udp_socket port:8801
+[2023-12-20 16:04:20.818] [logger4] [debug] gRPC  
+[2023-12-20 16:04:20.818] [logger4] [debug] gRPC server listening on 192.168.9.198:50052
+[2023-12-20 16:05:18.090] [logger4] [debug] ~grpc_module()
+[2023-12-20 16:05:18.091] [logger4] [debug] ~remote_module()
+[2023-12-20 16:05:18.091] [logger4] [debug] ~network_module()
+[2023-12-20 16:05:18.091] [logger4] [debug] ~control_module()

chair_code/runlog/debug/debug_20231220_182225.log

+[2023-12-20 18:22:25.937] [logger4] [debug] [control_module]:_udp_socket port:8801
+[2023-12-20 18:22:26.118] [logger4] [debug] gRPC  
+[2023-12-20 18:22:26.118] [logger4] [debug] gRPC server listening on 192.168.9.198:50052
+[2023-12-20 18:22:45.253] [logger4] [debug] ~grpc_module()
+[2023-12-20 18:22:45.254] [logger4] [debug] ~remote_module()
+[2023-12-20 18:22:45.255] [logger4] [debug] ~network_module()
+[2023-12-20 18:22:45.255] [logger4] [debug] ~udp_thread()
+[2023-12-20 18:22:45.255] [logger4] [debug] ~control_module()

chair_code/runlog/debug/debug_20231220_182655.log

+[2023-12-20 18:26:55.208] [logger4] [debug] [control_module]:_udp_socket port:8801
+[2023-12-20 18:26:55.380] [logger4] [debug] gRPC  
+[2023-12-20 18:26:55.380] [logger4] [debug] gRPC server listening on 192.168.9.198:50052
+[2023-12-20 18:27:18.277] [logger4] [debug] ~grpc_module()
+[2023-12-20 18:27:18.279] [logger4] [debug] ~remote_module()
+[2023-12-20 18:27:18.279] [logger4] [debug] ~network_module()
+[2023-12-20 18:27:18.280] [logger4] [debug] ~udp_thread()
+[2023-12-20 18:27:18.280] [logger4] [debug] ~control_module()