update

2025-09-15 12:58:58 +08:00 · 2023-12-03 16:57:38 +08:00 · 2023-12-03 16:57:38 +08:00 · d9441b543d
commit d9441b543d
parent 9e7b153ea2
37 changed files with 323 additions and 700 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -24,7 +24,7 @@ add_subdirectory(3rdpart/JsonStruct)
 add_subdirectory(common)
 add_subdirectory(basic)
 add_subdirectory(channel)
-# add_subdirectory(mainwindow)
-# add_subdirectory(core)
+add_subdirectory(mainwindow)
+add_subdirectory(core)


--- a/basic/msg/msg_info.h
+++ b/basic/msg/msg_info.h
@ -1,15 +1,12 @@
 #pragma once
-namespace Msg {
-enum MsgId {
-  kOccupancyMap = 0,
-  kLocalCostMap = 1,
-  kGlobalCostMap = 2,
-  kRobotPose = 3,
-  kLaserScan = 4,
-  kLocalPath,
-  kGlobalPath,
-  kOdomPose,
-  kSetNavGoalPose,
-  kSetRelocPose,
-};
-} // namespace Msg
+#include "str_enum.h"
+
+#define SOME_ENUM(OneValue)                                                    \
+  OneValue(kOccupancyMap, ) OneValue(kLocalCostMap, )                          \
+      OneValue(kGlobalCostMap, ) OneValue(kRobotPose, ) OneValue(kLaserScan, ) \
+          OneValue(kLocalPath, ) OneValue(kGlobalPath, ) OneValue(kOdomPose, ) \
+              OneValue(kSetNavGoalPose, ) OneValue(kSetRelocPose, )            \
+                  OneValue(kSetRobotSpeed, )
+
+DECLARE_ENUM(MsgId, SOME_ENUM)
+DEFINE_ENUM(MsgId, SOME_ENUM)
--- a/basic/point/point_type.h
+++ b/basic/point/point_type.h
@ -14,6 +14,7 @@
 namespace basic {
 typedef OrientedPoint RobotPose;
 typedef std::vector<Point> RobotPath;
+typedef Eigen::Vector3d Color;
 struct RobotSpeed {
  double vx{0};
  double vy{0};
--- a/basic/str_enum.h
+++ b/basic/str_enum.h
@ -0,0 +1,36 @@
+#pragma once
+#include <stdio.h>
+#include <string.h>
+#include <string>
+// expansion macro for enum value definition
+#define ENUM_VALUE(name, assign) name assign,
+
+// expansion macro for enum to string conversion
+#define ENUM_CASE(name, assign)                                                \
+  case name:                                                                   \
+    return #name;
+
+// expansion macro for string to enum conversion
+#define ENUM_STRCMP(name, assign)                                              \
+  if (!strcmp(str, #name))                                                     \
+    return name;
+
+/// declare the access function and define enum values
+#define DECLARE_ENUM(EnumType, ENUM_DEF)                                       \
+  enum EnumType { ENUM_DEF(ENUM_VALUE) };                                      \
+  inline const std::string ToString(enum EnumType dummy);                      \
+  inline enum EnumType Get##EnumType##Value(const char *str);
+
+/// define the access function names
+#define DEFINE_ENUM(EnumType, ENUM_DEF)                                        \
+  const std::string ToString(enum EnumType value) {                            \
+    switch (value) {                                                           \
+      ENUM_DEF(ENUM_CASE)                                                      \
+    default:                                                                   \
+      return ""; /* handle input error */                                      \
+    }                                                                          \
+  }                                                                            \
+  enum EnumType Get##EnumType##Value(const char *str) {                        \
+    ENUM_DEF(ENUM_STRCMP)                                                      \
+    return (enum EnumType)0; /* handle input error */                          \
+  }
--- a/channel/manager/channel_manager.cc
+++ b/channel/manager/channel_manager.cc
@ -74,8 +74,7 @@ void ChannelManager::CloseChannel() {
  delete channel_ptr_;
  channel_ptr_ = nullptr;
 }
-void ChannelManager::SendMessage(const Msg::MsgId &msg_id,
-                                 const std::any &msg) {
+void ChannelManager::SendMessage(const MsgId &msg_id, const std::any &msg) {
  if (channel_ptr_ != nullptr) {
    channel_ptr_->SendMessage(msg_id, msg);
  }
--- a/channel/manager/channel_manager.h
+++ b/channel/manager/channel_manager.h
@ -13,7 +13,6 @@
 #include <any>
 #include <boost/dll/import.hpp>
 #include <boost/filesystem.hpp>
-using namespace Msg;
 class ChannelManager {
 private:
  VirtualChannelNode *channel_ptr_{nullptr};
@ -23,11 +22,11 @@ public:
  explicit ChannelManager();
  ~ChannelManager();
  /// @brief 传入channel so路径，打开对应的通信channel
-  /// @param name 
-  /// @return 
+  /// @param name
+  /// @return
  bool OpenChannel(const std::string &name);
  /// @brief 自动查找当前可执行程序陆军下的lib目录中的channel并打开
-  /// @return 
+  /// @return
  bool OpenChannelAuto();
  /// @brief 查找lib路径下所有channel
  /// @return channel list
@ -40,6 +39,5 @@ public:
  }
  void CloseChannel();

-  void SendMessage(const Msg::MsgId &msg_id, 
-                   const std::any &msg);
+  void SendMessage(const MsgId &msg_id, const std::any &msg);
 };
--- a/channel/ros2/rclcomm.cpp
+++ b/channel/ros2/rclcomm.cpp
@ -75,16 +75,16 @@ bool rclcomm::Stop() {
  rclcpp::shutdown();
  return true;
 }
-void rclcomm::SendMessage(const Msg::MsgId &msg_id, const std::any &msg) {
+void rclcomm::SendMessage(const MsgId &msg_id, const std::any &msg) {
  switch (msg_id) {
-  case Msg::MsgId::kSetNavGoalPose: {
+  case MsgId::kSetNavGoalPose: {
    auto pose = std::any_cast<basic::RobotPose>(msg);
    std::cout << "recv nav goal pose:" << pose << std::endl;

    PubNavGoal(pose);

  } break;
-  case Msg::MsgId::kSetRelocPose: {
+  case MsgId::kSetRelocPose: {
    auto pose = std::any_cast<basic::RobotPose>(msg);
    std::cout << "recv reloc pose:" << pose << std::endl;
    PubRelocPose(pose);
@ -282,29 +282,30 @@ void rclcomm::localCostMapCallback(
    cost_map(x, y) = msg->data[i];
  }
  cost_map.SetFlip();
+  OnDataCallback(MsgId::kGlobalCostMap, cost_map);
  //      map_image.save("/home/chengyangkj/test.jpg");
-  try {
-    // 坐标变换 将局部代价地图的基础坐标转换为map下 进行绘制显示
-    geometry_msgs::msg::PoseStamped pose_map_frame;
-    geometry_msgs::msg::PoseStamped pose_curr_frame;
-    pose_curr_frame.pose.position.x = origin_x;
-    pose_curr_frame.pose.position.y = origin_y;
-    q.setRPY(0, 0, origin_theta);
-    pose_curr_frame.pose.orientation = tf2::toMsg(q);
-    pose_curr_frame.header.frame_id = msg->header.frame_id;
-    tf_buffer_->transform(pose_curr_frame, pose_map_frame, "map");
-    tf2::fromMsg(pose_map_frame.pose.orientation, q);
-    tf2::Matrix3x3 mat(q);
-    double roll, pitch, yaw;
-    mat.getRPY(roll, pitch, yaw);
+  // try {
+  //   // 坐标变换 将局部代价地图的基础坐标转换为map下 进行绘制显示
+  //   geometry_msgs::msg::PoseStamped pose_map_frame;
+  //   geometry_msgs::msg::PoseStamped pose_curr_frame;
+  //   pose_curr_frame.pose.position.x = origin_x;
+  //   pose_curr_frame.pose.position.y = origin_y;
+  //   q.setRPY(0, 0, origin_theta);
+  //   pose_curr_frame.pose.orientation = tf2::toMsg(q);
+  //   pose_curr_frame.header.frame_id = msg->header.frame_id;
+  //   tf_buffer_->transform(pose_curr_frame, pose_map_frame, "map");
+  //   tf2::fromMsg(pose_map_frame.pose.orientation, q);
+  //   tf2::Matrix3x3 mat(q);
+  //   double roll, pitch, yaw;
+  //   mat.getRPY(roll, pitch, yaw);

-    basic::RobotPose localCostmapPose;
-    localCostmapPose.x = pose_map_frame.pose.position.x;
-    localCostmapPose.y = pose_map_frame.pose.position.y + cost_map.heightMap();
-    localCostmapPose.theta = yaw;
-    // emit emitUpdateLocalCostMap(cost_map, localCostmapPose);
-  } catch (tf2::TransformException &ex) {
-  }
+  //   basic::RobotPose localCostmapPose;
+  //   localCostmapPose.x = pose_map_frame.pose.position.x;
+  //   localCostmapPose.y = pose_map_frame.pose.position.y + cost_map.heightMap();
+  //   localCostmapPose.theta = yaw;
+  //   // emit emitUpdateLocalCostMap(cost_map, localCostmapPose);
+  // } catch (tf2::TransformException &ex) {
+  // }
 }
 void rclcomm::map_callback(const nav_msgs::msg::OccupancyGrid::SharedPtr msg) {
  double origin_x = msg->info.origin.position.x;
--- a/channel/ros2/rclcomm.h
+++ b/channel/ros2/rclcomm.h
@ -52,7 +52,7 @@ public:
  void PubNavGoal(const RobotPose &pose) override;
  void PubRobotSpeed(const RobotSpeed &speed) override;
  basic::RobotPose getTrasnsform(std::string from, std::string to);
-  void SendMessage(const Msg::MsgId &msg_id, const std::any &msg) override;
+  void SendMessage(const MsgId &msg_id, const std::any &msg) override;

 private:
  rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr _publisher;
--- a/channel/test/channel_manager_test.cc
+++ b/channel/test/channel_manager_test.cc
@ -10,10 +10,4 @@ TEST(ChannelManager, OpenDL) {
      }));
  manager.SendMessage(MsgId::kSetNavGoalPose,
                      basic::RobotPose(0.1, 0.001, 0.1));
-  auto th = std::thread([] {
-    while (1) {
-      std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    }
-  });
-  th.join();
 }
--- a/channel/test/channel_ros2_test.cc
+++ b/channel/test/channel_ros2_test.cc
@ -1,3 +0,0 @@
-// #include "rclcomm.h"
-#include <gtest/gtest.h>
-TEST(ChannelRos2Test, Open) {  }
--- a/channel/virtual_channel_node.h
+++ b/channel/virtual_channel_node.h
@ -14,7 +14,6 @@
 #include <any>
 #include <thread>
 using namespace basic;
-using namespace Msg;
 class VirtualChannelNode {

 public:
@ -61,5 +60,5 @@ public:
  std::function<void(const MsgId &id, const std::any &data)> OnDataCallback;
  int loop_rate_{30};
  std::atomic_bool run_flag_{false};
-  virtual void SendMessage(const Msg::MsgId &msg_id, const std::any &msg){};
+  virtual void SendMessage(const MsgId &msg_id, const std::any &msg){};
 };
--- a/common/include/logger/logger.h
+++ b/common/include/logger/logger.h
@ -1,7 +1,37 @@
 #pragma once
 #include "easylogging++.h"
+
+static void InitLogger() {
+
+  el::Configurations defaultConf;
+  defaultConf.setToDefault();
+  //设置最大文件大小
+  defaultConf.setGlobally(el::ConfigurationType::MaxLogFileSize, "1000000");
+  //是否写入文件
+  defaultConf.setGlobally(el::ConfigurationType::ToFile, "true");
+  //是否输出控制台
+  defaultConf.setGlobally(el::ConfigurationType::ToStandardOutput, "false");
+  // filename
+  defaultConf.setGlobally(el::ConfigurationType::Filename,
+                          "ros_qt_gui_app.log");
+  //设置配置文件
+  el::Loggers::reconfigureLogger("default", defaultConf);
+
+  /// 防止Fatal级别日志中断程序
+  el::Loggers::addFlag(el::LoggingFlag::DisableApplicationAbortOnFatalLog);
+
+  /// 选择划分级别的日志
+  el::Loggers::addFlag(el::LoggingFlag::HierarchicalLogging);
+
+  /// 设置级别门阀值，修改参数可以控制日志输出
+  el::Loggers::setLoggingLevel(el::Level::Global);
+}
 #ifndef LOGGER_INFO
-#define LOGGER_INFO(str) LOG(INFO) << str;
+#define LOGGER_INFO(str)                                                       \
+  {                                                                            \
+    std::cout << str << std::endl;                                             \
+    LOG(INFO) << str;                                                          \
+  }
 #endif
 #ifndef LOGGER_ERROR
 #define LOGGER_ERROR(str) LOG(ERROR) << str;
--- a/core/CMakeLists.txt
+++ b/core/CMakeLists.txt
@ -1,9 +1,12 @@

-file(GLOB_RECURSE SOURCE_FILE  CONFIGURE_DEPENDS ${CMAKE_SOURCE_DIR} src/*.cpp src/*.cc)
-file(GLOB_RECURSE UI_FILE CONFIGURE_DEPENDS ${CMAKE_SOURCE_DIR}  ui/*.ui)
-file(GLOB_RECURSE QRC_FILE  CONFIGURE_DEPENDS ${CMAKE_SOURCE_DIR}  resource/*.qrc)
-file(GLOB_RECURSE INCLUDE_FILE CONFIGURE_DEPENDS  ${CMAKE_SOURCE_DIR}  include/*.h *.hpp)
+file(GLOB_RECURSE SOURCE_FILE  CONFIGURE_DEPENDS ${CMAKE_SOURCE_DIR} ./*.cpp ./*.cc)
+file(GLOB_RECURSE INCLUDE_FILE CONFIGURE_DEPENDS  ${CMAKE_SOURCE_DIR}  ./*.h ./*.hpp)
+find_package(Qt5 COMPONENTS Widgets REQUIRED)
 add_executable(
-    ${PROJECT_NAME} main.cpp)
+    ${PROJECT_NAME} ${SOURCE_FILE})

-target_link_libraries(${PROJECT_NAME}  common mainwindow)
+target_link_libraries(${PROJECT_NAME}  common mainwindow Qt5::Core Qt5::Widgets)
+set_target_properties(${PROJECT_NAME} PROPERTIES
+RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}"
+LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib"
+)
--- a/core/main.cpp
+++ b/core/main.cpp
@ -5,8 +5,8 @@
 * @LastEditTime: 2023-10-05 11:39:01
 * @FilePath: /ROS2_Qt5_Gui_App/src/main.cpp
 */
-#include "logger/easylogging++.h"
-#include "mainwindow.h"
+#include "logger/logger.h"
+#include "runtime/application_manager.h"
 #include <QApplication>
 #include <QLabel>
 #include <QMovie>
@ -14,52 +14,11 @@
 #include <QSplashScreen>
 #include <QThread>
 #include <iostream>
-INITIALIZE_EASYLOGGINGPP

 int main(int argc, char *argv[]) {
  QApplication a(argc, argv);
-  //启动动画
-  QPixmap pixmap("://background/loding5.gif");
-  QSplashScreen splash(pixmap);
-  splash.setWindowOpacity(1); // 设置窗口透明度
-  QLabel label(&splash);
-  QMovie mv("://background/loding5.gif");
-  label.setMovie(&mv);
-  mv.start();
-  splash.show();
-  splash.setCursor(Qt::BlankCursor);
-  for (int i = 0; i < 2000; i += mv.speed()) {
-    a.processEvents(); //使程序在显示启动画面的同时仍能响应鼠标等其他事件
-    QThread::msleep(50); // 延时
-  }

-  // logger
-  el::Configurations defaultConf;
-  defaultConf.setToDefault();
-  //设置最大文件大小
-  defaultConf.setGlobally(el::ConfigurationType::MaxLogFileSize, "1000000");
-  //是否写入文件
-  defaultConf.setGlobally(el::ConfigurationType::ToFile, "true");
-  //是否输出控制台
-  defaultConf.setGlobally(el::ConfigurationType::ToStandardOutput, "false");
-  // filename
-  defaultConf.setGlobally(el::ConfigurationType::Filename,
-                          "ros_qt_gui_app.log");
-  //设置配置文件
-  el::Loggers::reconfigureLogger("default", defaultConf);
-
-  /// 防止Fatal级别日志中断程序
-  el::Loggers::addFlag(el::LoggingFlag::DisableApplicationAbortOnFatalLog);
-
-  /// 选择划分级别的日志
-  el::Loggers::addFlag(el::LoggingFlag::HierarchicalLogging);
-
-  /// 设置级别门阀值，修改参数可以控制日志输出
-  el::Loggers::setLoggingLevel(el::Level::Global);
-  LOG(INFO) << "ros qt5 gui app init";
-
-  CMainWindow w;
-  w.show();
-  splash.finish(&w); //在主体对象初始化完成后结束启动动画
+  ApplicationManager manager_;
+  LOGGER_INFO("ros_qt5_gui_app init!")
  return a.exec();
 }
--- a/core/runtime/applaction_manager.cc
+++ b/core/runtime/applaction_manager.cc
--- a/core/runtime/applaction_manager.h
+++ b/core/runtime/applaction_manager.h
--- a/core/runtime/application_manager.cc
+++ b/core/runtime/application_manager.cc
@ -0,0 +1,9 @@
+#include "application_manager.h"
+#include "logger/logger.h"
+INITIALIZE_EASYLOGGINGPP; // logger
+ApplicationManager::ApplicationManager(/* args */) {
+  InitLogger();
+  main_window.show();
+}
+
+ApplicationManager::~ApplicationManager() {}
--- a/core/runtime/application_manager.h
+++ b/core/runtime/application_manager.h
@ -0,0 +1,10 @@
+#pragma once
+#include "mainwindow.h"
+class ApplicationManager {
+private:
+ MainWindow main_window;
+
+public:
+ ApplicationManager(/* args */);
+ ~ApplicationManager();
+};
--- a/mainwindow/CMakeLists.txt
+++ b/mainwindow/CMakeLists.txt
@ -28,5 +28,5 @@ target_include_directories(
 	include/
 ${CMAKE_CURRENT_BINARY_DIR}
 )
-target_link_libraries(${TARGET_NAME} Qt5::Widgets  qt${QT_VERSION_MAJOR}advanceddocking json_struct common basic channel channel_ros2)
+target_link_libraries(${TARGET_NAME} Qt5::Widgets  qt${QT_VERSION_MAJOR}advanceddocking json_struct common basic channel)

--- a/mainwindow/include/display/display_defines.h
+++ b/mainwindow/include/display/display_defines.h
@ -1,15 +1,5 @@
 #pragma once

 namespace Display {
-using LaserDataMap = std::map<int, std::vector<Eigen::Vector2f>>;
-using LaserData = std::vector<Eigen::Vector2f>;
-using LaserColorMap = std::map<int, QColor>;
-using ParticlePointsType = std::vector<Eigen::Vector3f>;
-using RangeVec = Eigen::Vector4f;  // xmin,ymin,xmax,ymax
-using Pose3f = Eigen::Vector3f;
-using Point2f = Eigen::Vector2f;
-using PathData = std::vector<Point2f>;
-using RegionDataMap = std::map<std::string, std::vector<RangeVec>>;
-using TagDataMap = std::map<std::string, Pose3f>;
-using Color =Eigen::Vector3f;
+
 }  // namespace Display
--- a/mainwindow/include/display/display_demo.h
+++ b/mainwindow/include/display/display_demo.h
@ -22,7 +22,6 @@ private:
  void drawFrame(QPainter *painter);

 public:
-  Display::ParticlePointsType particle_data_;
  DisplayDemo(const std::string &display_name, const int &z_value,
              std::string parent_name = "");
  ~DisplayDemo();
--- a/mainwindow/include/display/display_manager.h
+++ b/mainwindow/include/display/display_manager.h
@ -14,12 +14,10 @@
 #include "display_cost_map.h"
 #include "display_occ_map.h"
 #include "display_path.h"
-#include "display_tag.h"
 #include "factory_display.h"
 #include "laser_points.h"
-#include "particle_points.h"
+#include "msg/msg_info.h"
 #include "point_shape.h"
-#include "region.h"
 #include "widgets/set_pose_widget.h"
 #include <Eigen/Dense>
 #include <QGraphicsScene>
@ -30,13 +28,13 @@
 #include <any>
 #include <functional>
 #include <map>
-#define DISPLAY_ROBOT "Robot"
-#define DISPLAY_MAP "OccupyMap"
-#define DISPLAY_LOCAL_COST_MAP "LocalCostMap"
-#define DISPLAY_GLOBAL_COST_MAP "GlobalCostMap"
-#define DISPLAY_GLOBAL_PATH "GlobalPath"
-#define DISPLAY_LOCAL_PATH "LocalPath"
-#define DISPLAY_LASER "LaserScan"
+#define DISPLAY_ROBOT ToString(MsgId::kRobotPose)
+#define DISPLAY_MAP ToString(MsgId::kOccupancyMap)
+#define DISPLAY_LOCAL_COST_MAP ToString(MsgId::kLocalCostMap)
+#define DISPLAY_GLOBAL_COST_MAP ToString(MsgId::kGlobalCostMap)
+#define DISPLAY_GLOBAL_PATH ToString(MsgId::kGlobalPath)
+#define DISPLAY_LOCAL_PATH ToString(MsgId::kLocalPath)
+#define DISPLAY_LASER ToString(MsgId::kLaserScan)
 #define DISPLAY_PARTICLE "Particle"
 #define DISPLAY_REGION "Region"
 #define DISPLAY_TAG "Tag"
@ -44,15 +42,14 @@

 // group
 #define GROUP_MAP "Group_Map"
-
 namespace Display {
 class DisplayManager : public QObject {
  Q_OBJECT
 private:
  std::map<std::string, std::any> display_map_;

-  Eigen::Vector3f robot_pose_{0, 0, 0};
-  Eigen::Vector3f robot_pose_goal_{0, 0, 0};
+  RobotPose robot_pose_{0, 0, 0};
+  RobotPose robot_pose_goal_{0, 0, 0};
  OccupancyMap map_data_;
  std::string focus_display_;
  RobotPose local_cost_world_pose_;
@ -64,7 +61,6 @@ private:
  SetPoseWidget *set_nav_pose_widget_;
 signals:
  void cursorPosMap(QPointF);
-  void DisplayRobotPoseWorld(Eigen::Vector3f pose);
  void signalPub2DPose(const RobotPose &pose);
  void signalPub2DGoal(const RobotPose &pose);
 public slots:
@ -75,25 +71,25 @@ public slots:
  void slotNavGoalScenePoseChanged(const RobotPose &pose);
  void slotSetRobotPose(const RobotPose &pose);
  void slotSetNavPose(const RobotPose &pose);
+  void UpdateTopicData(const MsgId &id, const std::any &data);

 private:
-  Eigen::Vector3f wordPose2Scene(const Eigen::Vector3f &point);
-  QPointF wordPose2Scene(const QPointF &point);
-  QPointF wordPose2Map(const QPointF &pose);
  void FocusDisplay(const std::string &display_name);
  void InitUi();
-  std::vector<Eigen::Vector2f>
-  transLaserPoint(const std::vector<Eigen::Vector2f> &point);
+  std::vector<Point> transLaserPoint(const std::vector<Point> &point);
  QPushButton *btn_move_focus_;

 public:
  DisplayManager(QGraphicsView *viewer);
  ~DisplayManager();
  VirtualDisplay *GetDisplay(const std::string &name);
+  QPointF wordPose2Scene(const QPointF &point);
+  RobotPose wordPose2Scene(const RobotPose &point);
+  QPointF wordPose2Map(const QPointF &pose);
+  RobotPose wordPose2Map(const RobotPose &pose);
  bool UpdateDisplay(const std::string &display_name, const std::any &data);
-  void UpdateRobotPose(const Eigen::Vector3f &pose);
+  void UpdateRobotPose(const RobotPose &pose);
  bool SetDisplayConfig(const std::string &config_name, const std::any &data);
-  Eigen::Vector3f wordPose2Map(const Eigen::Vector3f &pose);
  void SetRelocMode(bool is_move);
  void SetNavGoalMode(bool is_start);

--- a/mainwindow/include/display/display_path.h
+++ b/mainwindow/include/display/display_path.h
@ -15,7 +15,7 @@
 #include <QGraphicsSceneWheelEvent>

 #include "virtual_display.h"
-
+using namespace basic;
 namespace Display {
 class DisplayPath : public VirtualDisplay {
 private:
@ -25,7 +25,7 @@ private:
 private:
  void drawPath(QPainter *painter);

-  void computeBoundRect(const Display::PathData &path);
+  void computeBoundRect(const RobotPath &path);

 public:
  DisplayPath(const std::string &display_name, const int &z_value,
--- a/mainwindow/include/display/display_tag.h
+++ b/mainwindow/include/display/display_tag.h
@ -1,25 +0,0 @@
-#ifndef DISPLAY_TAG
-#define DISPLAY_TAG
-#include <Eigen/Dense>
-#include <QColor>
-#include <QGraphicsItem>
-#include <QGraphicsSceneWheelEvent>
-
-#include "virtual_display.h"
-
-namespace Display {
-class DisplayTag : public VirtualDisplay {
-
-public:
-  Display::TagDataMap tag_data_;
-  QPixmap tag_image_;
-  DisplayTag(const std::string &display_name, const int &z_value,
-             std::string parent_name = "");
-  ~DisplayTag();
-  void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
-             QWidget *widget = nullptr) override;
-  bool UpdateData(const std::any &data) override;
-  void computeBoundRect(Display::TagDataMap &data_map);
-};
-} // namespace Display
-#endif
--- a/mainwindow/include/display/laser_points.h
+++ b/mainwindow/include/display/laser_points.h
@ -6,12 +6,12 @@
 #include <QGraphicsSceneWheelEvent>

 #include "virtual_display.h"
+using namespace basic;
 namespace Display {
 class LaserPoints : public VirtualDisplay {
 public:
  QColor laser_color_;
-  Display::LaserDataMap laser_data_map_;
-  Display::LaserDataMap laser_data_scene_;
+  std::map<int, std::vector<Point>> laser_data_scene_;
  LaserPoints(const std::string &display_name, const int &z_value,
              std::string parent_name = "");
  ~LaserPoints();
@ -23,9 +23,11 @@ public:

 private:
  void Id2Color(int id, int &R, int &G, int &B);
-  void drawLaser(QPainter *painter, int id, std::vector<Eigen::Vector2f>);
-  void computeBoundRect(const Display::LaserDataMap &laser_scan);
-  Display::LaserColorMap location_to_color_;
+  void drawLaser(QPainter *painter, int id, std::vector<Point>);
+  void computeBoundRect(const std::map<int, std::vector<Point>> &laser_scan);
+
+private:
+  std::map<int, QColor> location_to_color_;
 };
 } // namespace Display
 #endif
--- a/mainwindow/include/display/particle_points.h
+++ b/mainwindow/include/display/particle_points.h
@ -1,35 +0,0 @@
-/*
- * @Author: chengyang chengyangkj@outlook.com
- * @Date: 2023-04-11 10:13:22
- * @LastEditors: chengyang chengyangkj@outlook.com
- * @LastEditTime: 2023-04-20 17:02:58
- * @FilePath:
- * ////include/display/display_demo.h
- * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置
- * 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
- */
-#ifndef PARTICLE_POINTS_H
-#define PARTICLE_POINTS_H
-#include <Eigen/Dense>
-#include <QColor>
-#include <QGraphicsItem>
-#include <QGraphicsSceneWheelEvent>
-
-#include "virtual_display.h"
-namespace Display {
-class ParticlePoints : public VirtualDisplay {
-private:
-  void drawParticle(QPainter *painter, Display::ParticlePointsType particle);
-
-public:
-  Display::ParticlePointsType particle_data_;
-  ParticlePoints(const std::string &display_name, const int &z_value,
-                 std::string parent_name = "");
-  ~ParticlePoints();
-  void computeBoundRect(const Display::ParticlePointsType &particle);
-  void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
-             QWidget *widget = nullptr) override;
-  bool UpdateData(const std::any &data) override;
-};
-} // namespace Display
-#endif
--- a/mainwindow/include/display/region.h
+++ b/mainwindow/include/display/region.h
@ -1,33 +0,0 @@
-/*
- * @Author: chengyang chengyangkj@outlook.com
- * @Date: 2023-04-11 10:13:22
- * @LastEditors: chengyang chengyangkj@outlook.com
- * @LastEditTime: 2023-05-09 11:42:35
- * @FilePath:
- * ////include/display/display_demo.h
- * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置
- * 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
- */
-#ifndef DISPLAY_DEMO_H
-#define DISPLAY_DEMO_H
-#include <Eigen/Dense>
-#include <QColor>
-#include <QGraphicsItem>
-#include <QGraphicsSceneWheelEvent>
-
-#include "virtual_display.h"
-namespace Display {
-class Region : public VirtualDisplay {
-
-public:
-  Display::RegionDataMap region_data_;
-  Region(const std::string &display_name, const int &z_value,
-         std::string parent_name = "");
-  ~Region();
-  void computeBoundRect(Display::RegionDataMap &data_map);
-  void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
-             QWidget *widget = nullptr) override;
-  bool UpdateData(const std::any &data) override;
-};
-} // namespace Display
-#endif
--- a/mainwindow/include/mainwindow.h
+++ b/mainwindow/include/mainwindow.h
@ -1,12 +1,12 @@
 #ifndef MAINWINDOW_H
 #define MAINWINDOW_H

-#include "point_type.h"
 #include "DockAreaWidget.h"
 #include "DockManager.h"
 #include "DockWidget.h"
-#include "channel_instance.h"
+#include "channel_manager.h"
 #include "display/display_manager.h"
+#include "point_type.h"
 #include "widgets/dashboard.h"
 #include "widgets/set_pose_widget.h"
 #include "widgets/speed_ctrl.h"
@ -33,26 +33,20 @@
 #include <QWidgetAction>
 QT_BEGIN_NAMESPACE
 namespace Ui {
-class CMainWindow;
+class MainWindow;
 }
 QT_END_NAMESPACE

-class CMainWindow : public QMainWindow {
+class MainWindow : public QMainWindow {
  Q_OBJECT

 public:
-  CMainWindow(QWidget *parent = nullptr);
-  ~CMainWindow();
+  MainWindow(QWidget *parent = nullptr);
+  ~MainWindow();
 public slots:
-  void onRecvData(QString);
-  void updateOdomInfo(RobotState);
-  void slotUpdateRobotPose(RobotPose pose);
-  void slotUpdateLaserPoint(LaserScan scan);
-  void updateGlobalPath(RobotPath path);
-  void updateLocalPath(RobotPath path);
-  void updateLocalCostMap(CostMap, RobotPose);
-  void updateGlobalCostMap(CostMap map);
  void signalCursorPose(QPointF pos);
+  void SendChannelMsg(const MsgId &id, const std::any &data);
+  void updateOdomInfo(RobotState state);

 protected:
  virtual void closeEvent(QCloseEvent *event) override;
@ -61,8 +55,8 @@ private:
  QAction *SavePerspectiveAction = nullptr;
  QWidgetAction *PerspectiveListAction = nullptr;
  QComboBox *PerspectiveComboBox = nullptr;
-
-  Ui::CMainWindow *ui;
+  ChannelManager channel_manager_;
+  Ui::MainWindow *ui;
  DashBoard *speed_dash_board_;
  ads::CDockManager *dock_manager_;
  ads::CDockAreaWidget *StatusDockArea;
@ -75,9 +69,15 @@ private:
  SpeedCtrlWidget *speed_ctrl_widget_;
  StatusBarWidget *status_bar_widget_;
  ToolsBarWidget *tools_bar_widget_;
+signals:
+  void OnRecvChannelData(const MsgId &id, const std::any &data);

 private:
  void setupUi();
+  bool openChannel();
+  bool openChannel(const std::string &channel_name);
+  void closeChannel();
+  void registerChannel();
 private slots:
  void savePerspective();
 };
--- a/mainwindow/src/display/display_demo.cpp
+++ b/mainwindow/src/display/display_demo.cpp
@ -20,7 +20,7 @@ void DisplayDemo::paint(QPainter *painter,
 DisplayDemo::~DisplayDemo() {}
 bool DisplayDemo::UpdateData(const std::any &data) {
  try {
-    particle_data_ = std::any_cast<Display::ParticlePointsType>(data);
+
    update();
  } catch (const std::bad_any_cast &e) {
    std::cout << e.what() << '\n';
--- a/mainwindow/src/display/display_manager.cpp
+++ b/mainwindow/src/display/display_manager.cpp
@ -28,16 +28,13 @@ DisplayManager::DisplayManager(QGraphicsView *viewer)
      ->SetMoveEnable(true)
      ->setVisible(false);
  new LaserPoints(DISPLAY_LASER, 2, DISPLAY_MAP);
-  new ParticlePoints(DISPLAY_PARTICLE, 4, DISPLAY_MAP);
-  new Region(DISPLAY_REGION, 3);
-  new DisplayTag(DISPLAY_TAG, 4);
  new DisplayPath(DISPLAY_GLOBAL_PATH, 6, DISPLAY_MAP);
  new DisplayPath(DISPLAY_LOCAL_PATH, 6, DISPLAY_MAP);

  // defalut display config

-  SetDisplayConfig(DISPLAY_GLOBAL_PATH "/Color", Display::Color(0, 0, 255));
-  SetDisplayConfig(DISPLAY_LOCAL_PATH "/Color", Display::Color(0, 255, 0));
+  SetDisplayConfig(DISPLAY_GLOBAL_PATH + "/Color", Color(0, 0, 255));
+  SetDisplayConfig(DISPLAY_LOCAL_PATH + "/Color", Color(0, 255, 0));

  // connection

@ -50,9 +47,12 @@ DisplayManager::DisplayManager(QGraphicsView *viewer)
  FactoryDisplay::Instance()->SetMoveEnable(DISPLAY_MAP);
  InitUi();
 }
+void DisplayManager::UpdateTopicData(const MsgId &id, const std::any &data) {
+  UpdateDisplay(ToString(id), data);
+}
 void DisplayManager::slotSetRobotPose(const RobotPose &pose) {
  FactoryDisplay::Instance()->SetMoveEnable(DISPLAY_ROBOT, false);
-  UpdateRobotPose(Eigen::Vector3f(pose.x, pose.y, pose.theta));
+  UpdateRobotPose(pose);
  // enable move after 300ms
  QTimer::singleShot(300, [this]() {
    FactoryDisplay::Instance()->SetMoveEnable(DISPLAY_ROBOT, true);
@ -62,7 +62,7 @@ void DisplayManager::slotSetNavPose(const RobotPose &pose) {
  FactoryDisplay::Instance()->SetMoveEnable(DISPLAY_GOAL, false);
  GetDisplay(DISPLAY_GOAL)
      ->UpdateDisplay(
-          wordPose2Map(Eigen::Vector3f(pose.x, pose.y, pose.theta)));
+          wordPose2Map(pose));
  // enable move after 300ms
  QTimer::singleShot(300, [this]() {
    FactoryDisplay::Instance()->SetMoveEnable(DISPLAY_GOAL, true);
@ -75,12 +75,12 @@ void DisplayManager::slotRobotScenePoseChanged(const RobotPose &pose) {
    double x, y;
    map_data_.occPose2xy(occ_pose.x(), occ_pose.y(), x, y);
    // 更新坐标
-    robot_pose_[0] = x;
-    robot_pose_[1] = y;
-    robot_pose_[2] = pose.theta;
+    robot_pose_.x = x;
+    robot_pose_.y = y;
+    robot_pose_.theta = pose.theta;

    set_reloc_pose_widget_->SetPose(
-        RobotPose(robot_pose_[0], robot_pose_[1], robot_pose_[2]));
+        RobotPose(robot_pose_.x, robot_pose_.y, robot_pose_.theta));
  }
 }
 void DisplayManager::slotNavGoalScenePoseChanged(const RobotPose &pose) {
@ -88,11 +88,11 @@ void DisplayManager::slotNavGoalScenePoseChanged(const RobotPose &pose) {
      GetDisplay(DISPLAY_MAP)->mapFromScene(QPointF(pose.x, pose.y));
  double x, y;
  map_data_.occPose2xy(occ_pose.x(), occ_pose.y(), x, y);
-  robot_pose_goal_[0] = x;
-  robot_pose_goal_[1] = y;
-  robot_pose_goal_[2] = pose.theta;
+  robot_pose_goal_.x = x;
+  robot_pose_goal_.y = y;
+  robot_pose_goal_.theta = pose.theta;
  set_nav_pose_widget_->SetPose(
-      RobotPose(robot_pose_goal_[0], robot_pose_goal_[1], robot_pose_goal_[2]));
+      RobotPose(robot_pose_goal_.x, robot_pose_goal_.y, robot_pose_goal_.theta));
 }
 void DisplayManager::InitUi() {
  set_reloc_pose_widget_ = new SetPoseWidget(graphics_view_ptr_);
@ -164,79 +164,36 @@ bool DisplayManager::UpdateDisplay(const std::string &display_name,
  } else if (display_name == DISPLAY_ROBOT) {
    //重定位时屏蔽位置更新
    if (!is_reloc_mode_) {
-      GetAnyData(Pose3f, data, robot_pose_);
+      GetAnyData(RobotPose, data, robot_pose_);
      UpdateRobotPose(robot_pose_);
    }
  } else if (display_name == DISPLAY_LASER) {
-    Display::LaserDataMap laser_data_map, laser_data_scene;
-    GetAnyData(Display::LaserDataMap, data, laser_data_map)
+    LaserScan laser_scan;
+    GetAnyData(LaserScan, data, laser_scan)
        // 点坐标转换为图元坐标系下
-        for (auto one_laser : laser_data_map) {
-      laser_data_scene[one_laser.first] = transLaserPoint(one_laser.second);
-    }

-    display->UpdateDisplay(laser_data_scene);
-  } else if (display_name == DISPLAY_PARTICLE) {
-    // 激光坐标转换为地图的图元坐标
-    Display::ParticlePointsType particles;
-    Display::ParticlePointsType particles_tans;
-    GetAnyData(Display::ParticlePointsType, data, particles);
-    for (auto one_points : particles) {
-      // std::cout << "location:" << one_laser.first << std::endl;
-      // 转换为图元坐标系
-      double x, y;
-      map_data_.xy2occPose(one_points[0], one_points[1], x, y);
-      particles_tans.push_back(Eigen::Vector3f(x, y, one_points[2]));
-    }
-    display->UpdateDisplay(particles_tans);
-  } else if (display_name == DISPLAY_GLOBAL_PATH ||
+        laser_scan.data = transLaserPoint(laser_scan.data);
+
+    display->UpdateDisplay(laser_scan);
+  }else if (display_name == DISPLAY_GLOBAL_PATH ||
             display_name == DISPLAY_LOCAL_PATH) {
    // 激光坐标转换为地图的图元坐标
-    Display::PathData path_data;
-    Display::PathData path_data_trans;
-    GetAnyData(Display::PathData, data, path_data);
+    RobotPath path_data;
+    RobotPath path_data_trans;
+    GetAnyData(RobotPath, data, path_data);
    for (auto one_points : path_data) {
      // std::cout << "location:" << one_laser.first << std::endl;
      // 转换为图元坐标系
      double x, y;
-      map_data_.xy2occPose(one_points[0], one_points[1], x, y);
-      path_data_trans.push_back(Display::Point2f(x, y));
+      map_data_.xy2occPose(one_points.x, one_points.y, x, y);
+      path_data_trans.push_back(Point(x, y));
    }
    display->UpdateDisplay(path_data_trans);
-  } else if (display_name == DISPLAY_REGION) {
-    Display::RegionDataMap region_data;
-    Display::RegionDataMap region_tans;
-    GetAnyData(Display::RegionDataMap, data, region_data);
-    for (auto [region_name, region] : region_data) {
-      std::vector<Display::RangeVec> range_ve;
-      for (auto one_region : region) {
-        Display::RangeVec ivec;
-        double xmin, ymin, xmax, ymax;
-        map_data_.xy2occPose(one_region[0], one_region[1], xmin, ymin);
-        map_data_.xy2occPose(one_region[2], one_region[3], xmax, ymax);
-        ivec[0] = xmin;
-        ivec[1] = ymin;
-        ivec[2] = xmax;
-        ivec[3] = ymax;
-        range_ve.push_back(ivec);
-      }
-      region_tans[region_name] = range_ve;
-    }
-    display->UpdateDisplay(region_tans);
  } else if (display_name == DISPLAY_LOCAL_COST_MAP) {
-    if (data.type() == typeid(RobotPose)) {
-      GetAnyData(RobotPose, data, local_cost_world_pose_);
-    } else if (data.type() == typeid(CostMap)) {
+    if (data.type() == typeid(CostMap)) {
      GetAnyData(CostMap, data, local_cost_map_);
      display->UpdateDisplay(data);
-    } else {
-      display->UpdateDisplay(data);
    }
-    FactoryDisplay::Instance()->SetDisplayPoseInParent(
-        DISPLAY_LOCAL_COST_MAP,
-        wordPose2Map(Eigen::Vector3f(local_cost_world_pose_.x,
-                                     local_cost_world_pose_.y,
-                                     local_cost_world_pose_.theta)));
  } else {
    display->UpdateDisplay(data);
  }
@ -246,19 +203,19 @@ bool DisplayManager::UpdateDisplay(const std::string &display_name,
 * @description:坐标系转换为图元坐标系
 * @return {*}
 */
-std::vector<Eigen::Vector2f>
-DisplayManager::transLaserPoint(const std::vector<Eigen::Vector2f> &point) {
+std::vector<Point>
+DisplayManager::transLaserPoint(const std::vector<Point> &point) {
  // point为车身坐标系下的坐标 需要根据当前机器人坐标转换为map
-  std::vector<Eigen::Vector2f> res;
+  std::vector<Point> res;
  for (auto one_point : point) {
    //根据机器人坐标转换为map坐标系下
    basic::RobotPose map_pose = basic::absoluteSum(
-        basic::RobotPose(robot_pose_[0], robot_pose_[1], robot_pose_[2]),
-        basic::RobotPose(one_point[0], one_point[1], 0));
+        basic::RobotPose(robot_pose_.x, robot_pose_.y, robot_pose_.theta),
+        basic::RobotPose(one_point.x, one_point.y, 0));
    // 转换为图元坐标系
    double x, y;
    map_data_.xy2occPose(map_pose.x, map_pose.y, x, y);
-    res.push_back(Eigen::Vector2f(x, y));
+    res.push_back(Point(x, y));
  }
  return res;
 }
@ -268,9 +225,8 @@ DisplayManager::transLaserPoint(const std::vector<Eigen::Vector2f> &point) {
 * @param {Vector3f&} pose x y theta
 * @return {*}
 */
-void DisplayManager::UpdateRobotPose(const Eigen::Vector3f &pose) {
+void DisplayManager::UpdateRobotPose(const RobotPose &pose) {
  // FocusDisplay(DISPLAY_ROBOT);
-  emit DisplayRobotPoseWorld(pose);
  robot_pose_ = pose;
  GetDisplay(DISPLAY_ROBOT)->UpdateDisplay(wordPose2Map(pose));
 }
@ -282,7 +238,7 @@ void DisplayManager::SetRelocMode(bool is_start) {
  is_reloc_mode_ = is_start;
  if (is_start) {
    set_reloc_pose_widget_->SetPose(
-        RobotPose(robot_pose_[0], robot_pose_[1], robot_pose_[2]));
+        RobotPose(robot_pose_.x, robot_pose_.y, robot_pose_.theta));
    set_reloc_pose_widget_->show();
  } else {
    set_reloc_pose_widget_->hide();
@ -309,19 +265,19 @@ void DisplayManager::FocusDisplay(const std::string &display_name) {
 * @param {Vector2f&} point 传入的点坐标
 * @return {*}
 */
-Eigen::Vector3f DisplayManager::wordPose2Scene(const Eigen::Vector3f &point) {
+RobotPose DisplayManager::wordPose2Scene(const RobotPose &point) {
  // xy在栅格地图上的图元坐标
  double x, y;
-  map_data_.xy2occPose(point[0], point[1], x, y);
+  map_data_.xy2occPose(point.x, point.y, x, y);
  // xy在map图层上的坐标
  QPointF pose = FactoryDisplay::Instance()
                     ->GetDisplay(DISPLAY_MAP)
                     ->PoseToScene(QPointF(x, y));

-  Eigen::Vector3f res;
-  res[0] = pose.x();
-  res[1] = pose.y();
-  res[2] = point[2];
+  RobotPose res;
+  res.x = pose.x();
+  res.y = pose.y();
+  res.theta = point.theta;
  return res;
 }
 /**
@ -337,18 +293,12 @@ QPointF DisplayManager::wordPose2Scene(const QPointF &point) {
      ->GetDisplay(DISPLAY_MAP)
      ->PoseToScene(QPointF(x, y));
 }
-/**
- * @description: 世界坐标系点转为以map图层为栅格地图坐标系
- * @param {Vector2f&} point 传入的点坐标
- * @return {*}
- */
-Eigen::Vector3f DisplayManager::wordPose2Map(const Eigen::Vector3f &pose) {
-  Eigen::Vector3f ret;
+RobotPose DisplayManager::wordPose2Map(const RobotPose &pose) {
+  RobotPose ret = pose;
  double x, y;
-  map_data_.xy2occPose(pose[0], pose[1], x, y);
-  ret[0] = x;
-  ret[1] = y;
-  ret[2] = pose[2];
+  map_data_.xy2occPose(pose.x, pose.y, x, y);
+  ret.x = x;
+  ret.y = y;
  return ret;
 }
 QPointF DisplayManager::wordPose2Map(const QPointF &pose) {
--- a/mainwindow/src/display/display_path.cpp
+++ b/mainwindow/src/display/display_path.cpp
@ -23,8 +23,8 @@ DisplayPath::~DisplayPath() {}
 bool DisplayPath::SetDisplayConfig(const std::string &config_name,
                                   const std::any &config_data) {
  if (config_name == "Color") {
-    Display::Color color;
-    GetAnyData(Display::Color, config_data, color);
+    Color color;
+    GetAnyData(Color, config_data, color);
    color_ = QColor(color[0], color[1], color[2]);
  } else {
    return false;
@ -33,11 +33,11 @@ bool DisplayPath::SetDisplayConfig(const std::string &config_name,
 }
 bool DisplayPath::UpdateData(const std::any &data) {
  try {
-    auto path_data = std::any_cast<Display::PathData>(data);
+    auto path_data = std::any_cast<RobotPath>(data);
    computeBoundRect(path_data);
    path_points_.clear();
    for (auto one_path : path_data) {
-      path_points_.push_back(QPointF(one_path[0], one_path[1]));
+      path_points_.push_back(QPointF(one_path.x, one_path.y));
    }
    update();
  } catch (const std::bad_any_cast &e) {
@ -52,18 +52,18 @@ void DisplayPath::drawPath(QPainter *painter) {
  // }
  painter->drawPoints(path_points_);
 }
-void DisplayPath::computeBoundRect(const Display::PathData &path) {
+void DisplayPath::computeBoundRect(const RobotPath &path) {
  if (path.empty())
    return;
  float xmax, xmin, ymax, ymin;

-  xmax = xmin = path[0][0];
-  ymax = ymin = path[0][1];
+  xmax = xmin = path[0].x;
+  ymax = ymin = path[0].y;
  for (auto p : path) {
-    xmax = xmax > p[0] ? xmax : p[0];
-    xmin = xmin < p[0] ? xmin : p[0];
-    ymax = ymax > p[1] ? ymax : p[1];
-    ymin = ymin < p[1] ? ymin : p[1];
+    xmax = xmax > p.x ? xmax : p.x;
+    xmin = xmin < p.x ? xmin : p.x;
+    ymax = ymax > p.y ? ymax : p.y;
+    ymin = ymin < p.y ? ymin : p.y;
  }
  // std::cout << "xmax:" << xmax << "xmin:" << xmin << "ymax:" << ymax
  //           << "ymin:" << ymin << std::endl;
--- a/mainwindow/src/display/display_tag.cpp
+++ b/mainwindow/src/display/display_tag.cpp
@ -1,62 +0,0 @@
-/*
- * @Author: chengyang chengyangkj@outlook.com
- * @Date: 2023-04-10 15:38:40
- * @LastEditors: chengyangkj chengyangkj@qq.com
- * @LastEditTime: 2023-10-14 09:56:12
- * @FilePath: ////src/display/laser_points.cpp
- * @Description:
- */
-#include "display/display_tag.h"
-namespace Display {
-DisplayTag::DisplayTag(const std::string &display_name, const int &z_value,
-                       std::string parent_name)
-    : VirtualDisplay(display_name, z_value, parent_name) {
-  tag_image_.load("://images/qr.png");
-  // enable_scale_ = false;
-}
-void DisplayTag::paint(QPainter *painter,
-                       const QStyleOptionGraphicsItem *option,
-                       QWidget *widget) {
-  painter->setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
-  for (auto [qr_name, pose] : tag_data_) {
-    // std::cout << "paint qr_name:" << qr_name << std::endl;
-    // 坐标转换为图元坐标系
-    double x, y;
-    map_data_.xy2occPose(pose[0], pose[1], x, y);
-    painter->drawPixmap(x - tag_image_.width() / 2, y - tag_image_.height() / 2,
-                        tag_image_);
-  }
-}
-
-DisplayTag::~DisplayTag() {}
-bool DisplayTag::UpdateData(const std::any &data) {
-  if (data.type() == typeid(Display::TagDataMap)) {
-    tag_data_ = std::any_cast<Display::TagDataMap>(data);
-    // std::cout << "update tag data size: " << tag_data_.size() << std::endl;
-    computeBoundRect(tag_data_);
-    update();
-    return true;
-  }
-}
-void DisplayTag::computeBoundRect(Display::TagDataMap &data_map) {
-  float xmax = -99999, xmin = 99999, ymax = -99999, ymin = 99999;
-  // std::cout << "data map size:" << data_map.size() << std::endl;
-  for (auto [region_name, pose] : data_map) {
-    double x, y;
-    map_data_.xy2occPose(pose[0], pose[1], x, y);
-    if (xmin > x)
-      xmin = x;
-    if (xmax < x)
-      xmax = x;
-
-    if (ymin > y)
-      ymin = y;
-    if (ymax < y)
-      ymax = y;
-
-    // std::cout << "xmax:" << xmax << "xmin:" << xmin << "ymax:" << ymax
-    //           << "ymin:" << ymin <<" x:"<<x<<" y:"<<pose[1]<< std::endl;
-  }
-  SetBoundingRect(QRectF(xmin, ymin, xmax, ymax));
-}
-} // namespace Display
--- a/mainwindow/src/display/laser_points.cpp
+++ b/mainwindow/src/display/laser_points.cpp
@ -22,25 +22,27 @@ void LaserPoints::paint(QPainter *painter,
 LaserPoints::~LaserPoints() {}

 bool LaserPoints::UpdateData(const std::any &data) {
-  if (data.type() == typeid(Display::LaserDataMap)) {
-    laser_data_scene_ = std::any_cast<Display::LaserDataMap>(data);
+  if (data.type() == typeid(LaserScan)) {
+    auto laser_scan = std::any_cast<LaserScan>(data);
+    laser_data_scene_[laser_scan.id] = laser_scan.data;
    computeBoundRect(laser_data_scene_);
  }
  update();
 }
-void LaserPoints::computeBoundRect(const Display::LaserDataMap &laser_scan) {
+void LaserPoints::computeBoundRect(
+    const std::map<int, std::vector<Point>> &laser_scan) {
  float xmax, xmin, ymax, ymin;
  for (auto [id, points] : laser_scan) {
    if (points.empty())
      continue;
-    xmax = xmin = points[0][0];
-    ymax = ymin = points[0][1];
+    xmax = xmin = points[0].x;
+    ymax = ymin = points[0].y;
    for (int i = 1; i < points.size(); ++i) {
-      Eigen::Vector2f p = points[i];
-      xmax = xmax > p[0] ? xmax : p[0];
-      xmin = xmin < p[0] ? xmin : p[0];
-      ymax = ymax > p[1] ? ymax : p[1];
-      ymin = ymin < p[1] ? ymin : p[1];
+      Point p = points[i];
+      xmax = xmax > p.x ? xmax : p.x;
+      xmin = xmin < p.x ? xmin : p.x;
+      ymax = ymax > p.y ? ymax : p.y;
+      ymin = ymin < p.y ? ymin : p.y;
    }
  }
  // std::cout << "xmax:" << xmax << "xmin:" << xmin << "ymax:" << ymax
@ -49,19 +51,11 @@ void LaserPoints::computeBoundRect(const Display::LaserDataMap &laser_scan) {
 }
 bool LaserPoints::SetDisplayConfig(const std::string &config_name,
                                   const std::any &config_data) {
-  if (config_name == "Color") {
-    Display::LaserColorMap new_map;
-    GetAnyData(Display::LaserColorMap, config_data, new_map);
-    for (auto item : new_map) {
-      location_to_color_[item.first] = item.second;
-    }
-  } else {
-    return false;
-  }
+
  return true;
 }
 void LaserPoints::drawLaser(QPainter *painter, int id,
-                            std::vector<Eigen::Vector2f> data) {
+                            std::vector<Point> data) {
  QColor color;
  if (!location_to_color_.count(id)) {
    int r, g, b;
@ -72,7 +66,7 @@ void LaserPoints::drawLaser(QPainter *painter, int id,
  }
  painter->setPen(QPen(color));
  for (auto one_point : data) {
-    QPointF point = QPointF(one_point[0], one_point[1]);
+    QPointF point = QPointF(one_point.x, one_point.y);
    // std::cout<<"point:"<<point.x() <<" "<<point.y()<<std::endl;
    painter->drawPoint(point);
  }
--- a/mainwindow/src/display/particle_points.cpp
+++ b/mainwindow/src/display/particle_points.cpp
@ -1,82 +0,0 @@
-/*
- * @Author: chengyang chengyangkj@outlook.com
- * @Date: 2023-04-10 15:38:40
- * @LastEditors: chengyang chengyangkj@outlook.com
- * @LastEditTime: 2023-04-24 13:46:43
- * @FilePath: ////src/display/laser_points.cpp
- * @Description:
- */
-#include "display/particle_points.h"
-namespace Display {
-ParticlePoints::ParticlePoints(const std::string &display_name,
-                               const int &z_value, std::string parent_name)
-    : VirtualDisplay(display_name, z_value, parent_name) {}
-void ParticlePoints::paint(QPainter *painter,
-                           const QStyleOptionGraphicsItem *option,
-                           QWidget *widget) {
-  drawParticle(painter, particle_data_);
-}
-
-ParticlePoints::~ParticlePoints() {}
-bool ParticlePoints::UpdateData(const std::any &data) {
-  try {
-    // particle_data_ 是地图图元坐标系下的坐标
-    particle_data_ = std::any_cast<Display::ParticlePointsType>(data);
-    computeBoundRect(particle_data_);
-    update();
-  } catch (const std::bad_any_cast &e) {
-    std::cout << e.what() << '\n';
-  }
-}
-void ParticlePoints::drawParticle(QPainter *painter,
-                                  Display::ParticlePointsType particle) {
-  for (auto one_point : particle) {
-    QPen pen(QColor(0x0e, 0xbe, 0xff, 255), 1, Qt::SolidLine, Qt::RoundCap,
-             Qt::RoundJoin);
-    painter->setPen(pen);
-
-    double theta = -one_point[2];
-    int length = 25; // 粒子的箭头长1m
-    int x1 = one_point[0];
-    int y1 = one_point[1];
-    int x2 = x1 + cos(theta) * length;
-    int y2 = y1 + sin(theta) * length;
-    QPointF startPoint = QPointF(x1, y1);
-    QPointF endPoint = QPointF(x2, y2);
-    QLineF line(startPoint, endPoint);
-    painter->drawLine(line);
-    float angle =
-        atan2(endPoint.y() - startPoint.y(), endPoint.x() - startPoint.x()) +
-        3.1415926; //
-    //绘制三角形
-    QPolygonF points;
-    points.push_back(endPoint);
-    QPointF point1, point2;
-    point1.setX(endPoint.x() + 10 * cos(angle - 0.5)); //求得箭头点1坐标
-    point1.setY(endPoint.y() + 10 * sin(angle - 0.5));
-    point2.setX(endPoint.x() + 10 * cos(angle + 0.5)); //求得箭头点2坐标
-    point2.setY(endPoint.y() + 10 * sin(angle + 0.5));
-    points.push_back(point1);
-    points.push_back(point2);
-    painter->drawPolygon(points);
-  }
-}
-void ParticlePoints::computeBoundRect(
-    const Display::ParticlePointsType &particle) {
-  if (particle.empty())
-    return;
-  float xmax, xmin, ymax, ymin;
-
-  xmax = xmin = particle[0][0];
-  ymax = ymin = particle[0][1];
-  for (auto p : particle) {
-    xmax = xmax > p[0] ? xmax : p[0];
-    xmin = xmin < p[0] ? xmin : p[0];
-    ymax = ymax > p[1] ? ymax : p[1];
-    ymin = ymin < p[1] ? ymin : p[1];
-  }
-  // std::cout << "xmax:" << xmax << "xmin:" << xmin << "ymax:" << ymax
-  //           << "ymin:" << ymin << std::endl;
-  SetBoundingRect(QRectF(xmin, ymin, xmax, ymax));
-}
-} // namespace Display
--- a/mainwindow/src/display/region.cpp
+++ b/mainwindow/src/display/region.cpp
@ -1,72 +0,0 @@
-/*
- * @Author: chengyang chengyangkj@outlook.com
- * @Date: 2023-04-10 15:38:40
- * @LastEditors: chengyangkj chengyangkj@qq.com
- * @LastEditTime: 2023-10-14 09:57:01
- * @FilePath: ////src/display/laser_points.cpp
- * @Description:
- */
-#include "display/region.h"
-namespace Display {
-Region::Region(const std::string &display_name, const int &z_value,
-               std::string parent_name)
-    : VirtualDisplay(display_name, z_value, parent_name) {}
-void Region::paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
-                   QWidget *widget) {
-  for (auto [region_name, region] : region_data_) {
-    // std::cout << "region name:" << region_name << std::endl;
-    for (auto one_region : region) {
-      // std::cout << "region:" << one_region[0] << " " << one_region[1] << " "
-      //           << one_region[2] << " " << one_region[3] << std::endl;
-      QPen pen;
-      pen.setColor(QColor(0, 255, 0, 70));
-      QBrush brush;
-      brush.setColor(QColor(0, 255, 0, 70));
-      brush.setStyle(Qt::SolidPattern);
-      painter->setPen(pen);
-      painter->setBrush(brush);
-
-      painter->drawRect(QRectF(QPointF(one_region[0], one_region[1]),
-                               QPointF(one_region[2], one_region[3])));
-      painter->setPen(Qt::blue);
-      QFont font;
-
-      font.setCapitalization(QFont::SmallCaps);
-      // 大小
-      font.setPixelSize(bounding_rect_.height() / 50);
-      painter->setFont(font);
-      painter->drawText(QRectF(QPointF(one_region[0], one_region[1]),
-                               QPointF(one_region[2], one_region[3])),
-                        Qt::AlignCenter, QString::fromStdString(region_name));
-    }
-  }
-}
-void Region::computeBoundRect(Display::RegionDataMap &data_map) {
-  float xmax = -99999, xmin = 99999, ymax = -99999, ymin = 99999;
-  for (auto [region_name, region] : region_data_) {
-    for (auto one_region : region) {
-      if (xmin > one_region[0])
-        xmin = one_region[0];
-      if (xmax < one_region[1])
-        xmax = one_region[1];
-
-      if (ymin > one_region[2])
-        ymin = one_region[2];
-      if (ymax < one_region[3])
-        ymax = one_region[3];
-    }
-    // std::cout << "xmax:" << xmax << "xmin:" << xmin << "ymax:" << ymax
-    //           << "ymin:" << ymin << std::endl;
-    SetBoundingRect(QRectF(xmin, ymin, xmax - xmin, ymax - ymin));
-  }
-}
-Region::~Region() {}
-bool Region::UpdateData(const std::any &data) {
-  if (data.type() == typeid(Display::RegionDataMap)) {
-    region_data_ = std::any_cast<Display::RegionDataMap>(data);
-    computeBoundRect(region_data_);
-    update();
-    return true;
-  }
-}
-} // namespace Display
--- a/mainwindow/src/mainwindow.cpp
+++ b/mainwindow/src/mainwindow.cpp
@ -3,7 +3,7 @@
 * @Date: 2023-10-06 07:12:50
 * @LastEditors: chengyangkj chengyangkj@qq.com
 * @LastEditTime: 2023-10-06 14:02:27
- * @FilePath: /ROS2_Qt5_Gui_App/src/ CMainWindow.cpp
+ * @FilePath: /ROS2_Qt5_Gui_App/src/ MainWindow.cpp
 * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置
 * 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 */
@ -21,10 +21,9 @@
 #include "logger/easylogging++.h"

 using namespace ads;
-
-CMainWindow::CMainWindow(QWidget *parent)
-    : QMainWindow(parent), ui(new Ui::CMainWindow) {
-  LOG(INFO) << " CMainWindow init";
+MainWindow::MainWindow(QWidget *parent)
+    : QMainWindow(parent), ui(new Ui::MainWindow) {
+  LOG(INFO) << " MainWindow init";
  qRegisterMetaType<std::string>("std::string");
  qRegisterMetaType<RobotPose>("RobotPose");
  qRegisterMetaType<RobotSpeed>("RobotSpeed");
@ -33,12 +32,44 @@ CMainWindow::CMainWindow(QWidget *parent)
  qRegisterMetaType<CostMap>("CostMap");
  qRegisterMetaType<LaserScan>("LaserScan");
  qRegisterMetaType<RobotPath>("RobotPath");
+  qRegisterMetaType<MsgId>("MsgId");
+  qRegisterMetaType<std::any>("std::any");
  setupUi();
-  CommInstance::Instance()->start();
 }
+bool MainWindow::openChannel() {
+  if (channel_manager_.OpenChannelAuto()) {
+    registerChannel();
+    return true;
+  }
+  return false;
+}
+bool MainWindow::openChannel(const std::string &channel_name) {
+  if (channel_manager_.OpenChannel(channel_name)) {
+    registerChannel();
+    return true;
+  }
+  return false;
+}
+void MainWindow::registerChannel() {
+  channel_manager_.RegisterOnDataCallback(
+      std::move([=](const MsgId &id, const std::any &data) {
+        switch (id) {
+        case MsgId::kOdomPose:
+          updateOdomInfo(std::any_cast<RobotState>(data));
+          break;

-CMainWindow::~CMainWindow() { delete ui; }
-void CMainWindow::setupUi() {
+        default:
+          break;
+        }
+        emit OnRecvChannelData(id, data);
+      }));
+}
+void MainWindow::SendChannelMsg(const MsgId &id, const std::any &data) {
+  channel_manager_.SendMessage(id, data);
+}
+void MainWindow::closeChannel() { channel_manager_.CloseChannel(); }
+MainWindow::~MainWindow() { delete ui; }
+void MainWindow::setupUi() {
  ui->setupUi(this);
  CDockManager::setConfigFlag(CDockManager::OpaqueSplitterResize, true);
  CDockManager::setConfigFlag(CDockManager::XmlCompressionEnabled, false);
@ -124,7 +155,7 @@ void CMainWindow::setupUi() {
  speed_ctrl_widget_ = new SpeedCtrlWidget();
  connect(speed_ctrl_widget_, &SpeedCtrlWidget::signalControlSpeed,
          [this](const RobotSpeed &speed) {
-            CommInstance::Instance()->PubRobotSpeed(speed);
+            SendChannelMsg(MsgId::kSetRobotSpeed, speed);
          });
  ads::CDockWidget *SpeedCtrlDockWidget = new ads::CDockWidget("SpeedCtrl");
  SpeedCtrlDockWidget->setWidget(speed_ctrl_widget_);
@ -135,38 +166,17 @@ void CMainWindow::setupUi() {

  //////////////////////////////////////////////////////槽链接

-  connect(CommInstance::Instance(), SIGNAL(emitTopicData(QString)), this,
-          SLOT(onRecvData(QString)));
-  connect(CommInstance::Instance(), &VirtualChannelNode::emitUpdateMap,
-          [this](OccupancyMap map) {
-            display_manager_->UpdateDisplay(DISPLAY_MAP, map);
+  connect(this, SIGNAL(OnRecvChannelData(const MsgId &, const std::any &)),
+          display_manager_,
+          SLOT(UpdateTopicData(const MsgId &, const std::any &)));
+  connect(display_manager_, &Display::DisplayManager::signalPub2DPose,
+          [this](const RobotPose &pose) {
+            SendChannelMsg(MsgId::kSetNavGoalPose, pose);
+          });
+  connect(display_manager_, &Display::DisplayManager::signalPub2DGoal,
+          [this](const RobotPose &pose) {
+            SendChannelMsg(MsgId::kSetRelocPose, pose);
          });
-  connect(CommInstance::Instance(),
-          SIGNAL(emitUpdateLocalCostMap(CostMap, RobotPose)), this,
-          SLOT(updateLocalCostMap(CostMap, RobotPose)));
-  connect(CommInstance::Instance(), SIGNAL(emitUpdateGlobalCostMap(CostMap)),
-          this, SLOT(updateGlobalCostMap(CostMap)));
-  connect(CommInstance::Instance(), SIGNAL(emitUpdateRobotPose(RobotPose)),
-          this, SLOT(slotUpdateRobotPose(RobotPose)));
-
-  connect(CommInstance::Instance(), SIGNAL(emitUpdateLaserPoint(LaserScan)),
-          this, SLOT(slotUpdateLaserPoint(LaserScan)));
-  connect(CommInstance::Instance(), SIGNAL(emitUpdatePath(RobotPath)), this,
-          SLOT(updateGlobalPath(RobotPath)));
-  connect(CommInstance::Instance(), SIGNAL(emitUpdateLocalPath(RobotPath)),
-          this, SLOT(updateLocalPath(RobotPath)));
-  connect(CommInstance::Instance(), SIGNAL(emitOdomInfo(RobotState)), this,
-          SLOT(updateOdomInfo(RobotState)));
-  // connect(m_roboItem, SIGNAL(signalRunMap(OccupancyMap)), m_roboGLWidget,
-  //         SLOT(updateRunMap(QPixmap)));
-  //    connect(CommInstance::Instance(),&rclcomm::emitUpdateMap,[this](QImage
-  //    img){
-  //        m_roboItem->updateMap(img);
-  //    });
-  connect(display_manager_, SIGNAL(signalPub2DPose(const RobotPose &)),
-          CommInstance::Instance(), SLOT(PubRelocPose(const RobotPose &)));
-  connect(display_manager_, SIGNAL(signalPub2DGoal(const RobotPose &)),
-          CommInstance::Instance(), SLOT(PubNavGoal(const RobotPose &)));
  // ui相关
  connect(tools_bar_widget_, &ToolsBarWidget::SignalSetRelocPose,
          [=]() { display_manager_->SetRelocPose(); });
@ -177,15 +187,15 @@ void CMainWindow::setupUi() {
          SLOT(signalCursorPose(QPointF)));
 }

-void CMainWindow::signalCursorPose(QPointF pos) {
-  basic::Point mapPos = CommInstance::Instance()->transScenePoint2Word(
-      basic::Point(pos.x(), pos.y()));
-  label_pos_map_->setText("x: " + QString::number(mapPos.x).mid(0, 4) +
-                          "  y: " + QString::number(mapPos.y).mid(0, 4));
+void MainWindow::signalCursorPose(QPointF pos) {
+  // basic::Point mapPos = display_manager_->transScenePoint2Word(
+  //     basic::Point(pos.x(), pos.y()));
+  // label_pos_map_->setText("x: " + QString::number(mapPos.x).mid(0, 4) +
+  //                         "  y: " + QString::number(mapPos.y).mid(0, 4));
  label_pos_scene_->setText("x: " + QString::number(pos.x()).mid(0, 4) +
                            "  y: " + QString::number(pos.y()).mid(0, 4));
 }
-void CMainWindow::savePerspective() {
+void MainWindow::savePerspective() {
  QString PerspectiveName =
      QInputDialog::getText(this, "Save Perspective", "Enter unique name:");
  if (PerspectiveName.isEmpty()) {
@ -200,55 +210,13 @@ void CMainWindow::savePerspective() {
 }

 //============================================================================
-void CMainWindow::closeEvent(QCloseEvent *event) {
+void MainWindow::closeEvent(QCloseEvent *event) {
  // Delete dock manager here to delete all floating widgets. This ensures
  // that all top level windows of the dock manager are properly closed
  dock_manager_->deleteLater();
  QMainWindow::closeEvent(event);
 }
-void CMainWindow::onRecvData(QString msg) {}
-void CMainWindow::updateLocalCostMap(CostMap map, basic::RobotPose pose) {
-  display_manager_->UpdateDisplay(DISPLAY_LOCAL_COST_MAP, map);
-  display_manager_->UpdateDisplay(DISPLAY_LOCAL_COST_MAP, pose);
-}
-void CMainWindow::updateGlobalCostMap(CostMap map) {
-  display_manager_->UpdateDisplay(DISPLAY_GLOBAL_COST_MAP, map);
-}
-void CMainWindow::updateGlobalPath(RobotPath path) {
-  Display::PathData data;
-  for (auto one_point : path) {
-    data.push_back(Display::Point2f(one_point.x, one_point.y));
-  }
-  display_manager_->UpdateDisplay(DISPLAY_GLOBAL_PATH, data);
-}
-void CMainWindow::updateLocalPath(RobotPath path) {
-  Display::PathData data;
-  for (auto one_point : path) {
-    data.push_back(Display::Point2f(one_point.x, one_point.y));
-  }
-  display_manager_->UpdateDisplay(DISPLAY_LOCAL_PATH, data);
-}
-void CMainWindow::slotUpdateLaserPoint(LaserScan scan) {
-  // 数据转换
-  Display::LaserDataMap laser_data;
-
-  Display::LaserData vector_scan;
-  for (auto one_point : scan.data) {
-    Eigen::Vector2f point;
-    point[0] = one_point.x;
-    point[1] = one_point.y;
-    vector_scan.push_back(point);
-  }
-  laser_data[scan.id] = vector_scan;
-
-  display_manager_->UpdateDisplay(DISPLAY_LASER, laser_data);
-}
-void CMainWindow::slotUpdateRobotPose(basic::RobotPose pose) {
-  display_manager_->UpdateDisplay(DISPLAY_ROBOT,
-                                  Display::Pose3f(pose.x, pose.y, pose.theta));
-}
-
-void CMainWindow::updateOdomInfo(RobotState state) {
+void MainWindow::updateOdomInfo(RobotState state) {
  // 转向灯
  //   if (state.w > 0.1) {
  //     ui->label_turnLeft->setPixmap(
--- a/mainwindow/ui/mainwindow.ui
+++ b/mainwindow/ui/mainwindow.ui
@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>CMainWindow</class>
- <widget class="QMainWindow" name="CMainWindow">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
  <property name="geometry">
   <rect>
    <x>0</x>