From 8725cf2da61391f6ccc29e2e126aef90d7772651 Mon Sep 17 00:00:00 2001
From: wanghaoyu <1580258873@qq.com>
Date: Mon, 14 Apr 2025 09:00:13 +0800
Subject: [PATCH] =?UTF-8?q?feat:=E6=96=B0=E5=A2=9E=E5=9B=9B=E5=8C=BB?=
 =?UTF-8?q?=E5=A4=A7=E5=85=89=E7=94=B5=E5=90=8A=E8=88=B1=E6=8E=A7=E5=88=B6?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .gitignore                      |    3 +
 src/CMakeLists.txt              |    6 +-
 src/commandwidget.cpp           |  468 +++++++++++
 src/commandwidget.h             |  113 +++
 src/commandwidget.ui            | 1349 ++++++++++++++++++++++++++++---
 src/communicationsettingdlg.cpp |   90 ++-
 src/communicationsettingdlg.h   |    8 +
 src/communicationsettingdlg.ui  |  598 ++++++++++----
 src/mainwindow.cpp              |  117 +++
 src/mainwindow.h                |   18 +
 src/mainwindow.ui               |   11 +-
 src/resources/images/c.png      |  Bin 0 -> 7851 bytes
 src/resources/images/circle.png |  Bin 0 -> 5970 bytes
 src/resources/res.qrc           |    2 +
 src/streamaddrsettingsdlg.cpp   |    9 +
 src/streamaddrsettingsdlg.h     |    3 +
 src/utils/CUdpSocket.cpp        |   74 ++
 src/utils/CUdpSocket.h          |   41 +
 src/utils/protocolPodTJ.cpp     |  123 +++
 src/utils/protocolPodTJ.h       |   28 +
 src/utils/switchbutton.cpp      |  201 +++++
 src/utils/switchbutton.h        |   70 ++
 22 files changed, 3056 insertions(+), 276 deletions(-)
 create mode 100644 src/resources/images/c.png
 create mode 100644 src/resources/images/circle.png
 create mode 100644 src/utils/CUdpSocket.cpp
 create mode 100644 src/utils/CUdpSocket.h
 create mode 100644 src/utils/protocolPodTJ.cpp
 create mode 100644 src/utils/protocolPodTJ.h
 create mode 100644 src/utils/switchbutton.cpp
 create mode 100644 src/utils/switchbutton.h

diff --git a/.gitignore b/.gitignore
index 16a004e..aaf9aab 100644
--- a/.gitignore
+++ b/.gitignore
@@ -80,3 +80,6 @@ CMakeLists.txt.user*
 .rcc/
 .uic/
 /build*/
+.vs/
+*.json
+/out/
\ No newline at end of file
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index ef4ecb7..0ac9992 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -13,7 +13,9 @@ qt_add_executable(VideoClient
     videoControl.h videoControl.ui videoControl.cpp
     wprogressbar.h wprogressbar.cpp
     webmapwidget.h webmapwidget.cpp
-
+    utils/CUdpSocket.cpp utils/CUdpSocket.h
+    utils/protocolPodTJ.cpp utils/protocolPodTJ.h 
+    utils/switchbutton.h utils/switchbutton.cpp
 )
 
 qt6_add_resources(VideoClient "resources"
@@ -28,7 +30,7 @@ set(FFMPEG_DIR ${3RDPARTY_DIR}/ffmpeg)
 # add_subdirectory(shared)
 add_subdirectory(video)
 add_subdirectory(3rdparty)
-
+# add_subdirectory(utils)
 
 target_link_libraries(VideoClient
     PRIVATE
diff --git a/src/commandwidget.cpp b/src/commandwidget.cpp
index 829c58b..1a9ddcf 100644
--- a/src/commandwidget.cpp
+++ b/src/commandwidget.cpp
@@ -1,6 +1,8 @@
 #include "commandwidget.h"
 
 #include "ui_commandwidget.h"
+#include <QIntValidator>
+#include "utils/switchbutton.h"
 
 CommandWidget::CommandWidget(QWidget *parent)
     : QWidget(parent), ui(new Ui::CommandWidget) {
@@ -13,6 +15,10 @@ CommandWidget::CommandWidget(QWidget *parent)
     } else {
         qDebug() << "绑定 UDP 套接字失败";
     }
+
+    //创建自定义套接字
+    m_CUdpSocket = new CUdpSocket(this);
+    initmUdpParam();
 }
 
 CommandWidget::~CommandWidget() {
@@ -78,6 +84,21 @@ void CommandWidget::buttonResponse(quint8 cmd) {
     }
 }
 
+void CommandWidget::receiveUavTypeIndex(int index)
+{
+    switch (index)
+    {
+    case FP98:
+        ui->cmdStackedWidget->setCurrentWidget(ui->stackedWidgetPage1);
+        break;
+    case MEDICAL_UNIVERSITY:
+        ui->cmdStackedWidget->setCurrentWidget(ui->stackedWidgePage2);
+        break;
+    default:
+        break;
+    }
+}
+
 void CommandWidget::on_pushButton_clicked() {
     buttonResponse(0x75);
 }
@@ -145,3 +166,450 @@ void CommandWidget::on_pushButton_16_clicked() {
 void CommandWidget::on_pushButton_15_clicked() {
     buttonResponse(0xC9);
 }
+
+
+/** 武汉天进吊舱 */
+void CommandWidget::on_pushButton_left_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7000"), 
+        m_protocolPodTJ.cmdLeft(ui->cmdSlider->value())));
+}
+
+
+void CommandWidget::on_pushButton_left_released()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7000"), 
+        QByteArray::fromHex("00000000")));
+}
+
+
+void CommandWidget::on_pushButton_right_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7000"), 
+        m_protocolPodTJ.cmdRight(ui->cmdSlider->value())));
+}
+
+
+void CommandWidget::on_pushButton_right_released()
+{
+    on_pushButton_left_released();
+}
+
+
+void CommandWidget::on_pushButton_up_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7000"), 
+        m_protocolPodTJ.cmdUp(ui->cmdSlider->value())));
+}
+
+
+void CommandWidget::on_pushButton_up_released()
+{
+    on_pushButton_left_released();
+}
+
+void CommandWidget::on_pushButton_down_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7000"), 
+        m_protocolPodTJ.cmdDown(ui->cmdSlider->value())));
+}
+
+void CommandWidget::on_pushButton_down_released()
+{
+    on_pushButton_left_released();
+}
+
+
+void CommandWidget::on_pushButton_center_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7100")));
+}
+
+
+void CommandWidget::on_pushButton_guid_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7200"), 
+        m_protocolPodTJ.digitalGuid(ui->guidLineEdit->text().toInt(), ui->poseLineEdit->text().toInt())));
+}
+
+
+void CommandWidget::on_pushButton_pose_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7C00"),
+        m_protocolPodTJ.digitalGuid(ui->guidLineEdit->text().toInt(), ui->poseLineEdit->text().toInt())));
+}
+
+
+void CommandWidget::on_pushButton_directL_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7A00")));
+}
+
+
+void CommandWidget::on_pushButton_directS_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7B00")));
+}
+
+
+void CommandWidget::on_pushButton_lookDown_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7300")));
+}
+
+
+void CommandWidget::on_pushButton_packUp_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7400")));
+}
+
+void CommandWidget::on_pushButton_scanning_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7900")));
+}
+
+
+void CommandWidget::on_pushButton_close_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7500")));
+}
+
+void CommandWidget::on_comboBox1_activated(int index)
+{
+    if (index >= 0)
+    {
+        QByteArray data = ui->comboBox1->currentData().toByteArray();
+        //qDebug() << data.toHex();
+        m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("2300"),data));
+    }
+}
+
+void CommandWidget::on_comboBox2_activated(int index)
+{
+    if (index >= 0)
+    {
+        QByteArray data = ui->comboBox2->currentData().toByteArray();
+        //qDebug() << data.toHex();
+        m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("2500"), data));
+
+    }
+}
+
+void CommandWidget::on_pushButton_videoSwitch_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3100")));
+}
+
+void CommandWidget::on_pushButton_video_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3300")));
+}
+
+void CommandWidget::on_pushButton_photo_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3200")));
+}
+
+void CommandWidget::on_pushButton_zoomp_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4500"),
+        m_protocolPodTJ.cmdZoom(0x01,ui->comboBox3->currentIndex())));
+}
+
+void CommandWidget::on_pushButton_zoomp_released()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4500")));
+}
+
+void CommandWidget::on_pushButton_zoomd_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4500"),
+        m_protocolPodTJ.cmdZoom(0x02, ui->comboBox3->currentIndex())));
+}
+
+void CommandWidget::on_pushButton_zoomd_released()
+{
+    on_pushButton_zoomp_released();
+}
+
+void CommandWidget::on_pushButton_focusP_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4500"),
+        m_protocolPodTJ.cmdZoom(0x03, ui->comboBox3->currentIndex())));
+}
+
+void CommandWidget::on_pushButton_focusP_released()
+{
+    on_pushButton_zoomp_released();
+}
+
+void CommandWidget::on_pushButton_focusD_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4500"),
+        m_protocolPodTJ.cmdZoom(0x04, ui->comboBox3->currentIndex())));
+}
+
+void CommandWidget::on_pushButton_focusD_released()
+{
+    on_pushButton_zoomp_released();
+}
+
+void CommandWidget::on_pushButton_auto_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4500"),
+        m_protocolPodTJ.cmdZoom(0x05, 0x00)));
+}
+
+void CommandWidget::on_pushButton_auto_released()
+{
+    on_pushButton_zoomp_released();
+}
+
+void CommandWidget::on_pushButton_contrastP_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4100"), 
+        QByteArray::fromHex("01010000")));
+}
+
+void CommandWidget::on_pushButton_contrastD_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4100"), 
+        QByteArray::fromHex("01020000")));
+}
+
+void CommandWidget::on_pushButton_lightP_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4100"), 
+        QByteArray::fromHex("02010000")));
+}
+
+void CommandWidget::on_pushButton_lightD_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4100"), 
+        QByteArray::fromHex("02020000")));
+}
+
+void CommandWidget::on_comboBox4_activated(int index)
+{
+    if (index >= 0)
+    {
+        QByteArray data = ui->comboBox4->currentData().toByteArray();
+        //qDebug() << data.toHex();
+        m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4A00"), data));
+    }
+}
+
+void CommandWidget::on_pushButton_zoomp_2_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("5000"), 
+        QByteArray::fromHex("0F000000")));
+}
+
+void CommandWidget::on_pushButton_zoomp_2_released()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("5000"), 
+        QByteArray::fromHex("00000000")));
+}
+
+void CommandWidget::on_pushButton_zoomd_2_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("5000"), 
+        QByteArray::fromHex("10000000")));
+}
+
+void CommandWidget::on_pushButton_zoomd_2_released()
+{
+    on_pushButton_zoomp_2_released();
+}
+
+void CommandWidget::on_pushButton_contrastP_2_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("5A00")));
+}
+
+void CommandWidget::on_pushButton_contrastD_2_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("5A00"), 
+        QByteArray::fromHex("01000000")));
+}
+
+void CommandWidget::on_pushButton_color_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("5300")));
+}
+
+void CommandWidget::on_comboBox5_activated(int index)
+{
+    if (index >= 0)
+    {
+        QByteArray data = ui->comboBox5->currentData().toByteArray();
+        m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("5300"), data));
+    }
+}
+
+void CommandWidget::on_pushButton_distance_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3D00")));
+}
+
+void CommandWidget::on_pushButton_distanceC_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3E00"),
+        m_protocolPodTJ.cmdLaser(ui->comboBox6->currentIndex() + 1)));
+}
+
+void CommandWidget::on_pushButton_distanceS_pressed()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3F00")));
+}
+
+void CommandWidget::on_cmdLineEdit_textChanged(const QString text)
+{
+    qDebug() << text;
+    if (text.toInt() < 10)//数据小于10不响应
+    {
+        return;
+    }
+    ui->cmdSlider->setMaximum(text.toInt());
+}
+
+void CommandWidget::setPodIPConfig(NetworkIPStruct networkIP, bool isConnect)
+{
+    qDebug() << "ip设置槽函数调用了";
+
+    if (!isConnect) 
+    {
+        m_CUdpSocket->close();
+        return; 
+    }
+
+    if (m_CUdpSocket->close())
+    {
+        if (!m_CUdpSocket->bind(networkIP.localIP, networkIP.localPort))
+        {
+            qDebug() << "端口号绑定失败";
+        }
+
+        //绑定目标IP Port
+        m_CUdpSocket->setTargetInfo(networkIP.remoteIP, networkIP.remotePort);
+    }
+
+}
+
+void CommandWidget::setMoveParm(QPointF size)
+{
+    int x = std::clamp(static_cast<int>(size.x() / 10), -60, 60);
+    int y = std::clamp(static_cast<int>(-size.y() / 10), -60, 60);
+    qDebug() << "缩减之后的屏幕滑动参数==>" << "x:" << x << "y:" << y;
+
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("7000"),
+        m_protocolPodTJ.cmdServo(x, y)));
+}
+
+
+void CommandWidget::stopServo()
+{
+    on_pushButton_left_released();
+}
+
+void CommandWidget::setTargetTracking(double dir, double pitch)
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3A00"),
+        m_protocolPodTJ.targetTracking(static_cast<int>(std::round(dir)), static_cast<int>(std::round(pitch)))));
+}
+
+void CommandWidget::setStopTracking()
+{
+    m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("3B00")));
+}
+
+/***武汉天进吊舱控制***/
+void CommandWidget::initmUdpParam()
+{
+    if (!m_CUdpSocket->bind("172.10.0.249", 10001))
+    {
+        qDebug() << "端口号绑定失败";
+    }
+
+    //绑定目标IP Port
+    m_CUdpSocket->setTargetInfo("172.10.0.249", 10000);
+
+    QIntValidator* validator = new QIntValidator(0, 100, this);
+    ui->cmdLineEdit->setValidator(validator);
+    ui->cmdLineEdit->setText("40");
+    ui->cmdSlider->setValue(20);
+
+    //AI开关
+    connect(ui->switchButton1, &WBSwitchButton::sigSwitchChanged, this, [=](bool onOroff){
+        if (onOroff) //开关打开
+        {
+            m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("9100"), 
+                QByteArray::fromHex("01000000")));
+        }
+        else
+        {
+            m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("9100")));
+        }
+    });
+
+    ui->comboBox1->addItem("16 * 16", QByteArray::fromHex("01000000"));
+    ui->comboBox1->addItem("32 * 32", QByteArray::fromHex("02000000"));
+    ui->comboBox1->addItem("64 * 64", QByteArray::fromHex("03000000"));
+    ui->comboBox1->addItem("128 * 128", QByteArray::fromHex("04000000"));
+
+    ui->comboBox2->addItem("红外", QByteArray::fromHex("00000000"));
+    ui->comboBox2->addItem("可见光", QByteArray::fromHex("01000000"));
+    ui->comboBox2->addItem("上下分屏", QByteArray::fromHex("02000000"));
+    ui->comboBox2->addItem("画中画1", QByteArray::fromHex("03000000"));
+    ui->comboBox2->addItem("画中画2", QByteArray::fromHex("04000000"));
+    ui->comboBox2->addItem("左右分屏", QByteArray::fromHex("05000000"));
+
+    ui->comboBox3->setCurrentIndex(4);
+
+    //低照度
+    connect(ui->btn_light, &WBSwitchButton::sigSwitchChanged, this, [=](bool onOroff) {
+        if (onOroff) //开关打开
+        {
+            m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4B00"), 
+                QByteArray::fromHex("01000000")));
+        }
+        else
+        {
+            m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4B00")));
+        }
+    });
+
+    //电子稳像
+    connect(ui->btn_stable, &WBSwitchButton::sigSwitchChanged, this, [=](bool onOroff) {
+        if (onOroff) //开关打开
+        {
+            m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4100"), 
+                QByteArray::fromHex("04010000")));
+        }
+        else
+        {
+            m_CUdpSocket->sendData(ProtocolPodTJ::encode(QByteArray::fromHex("4100"),
+                QByteArray::fromHex("04020000")));
+        }
+    });
+
+    //图像去雾
+    ui->comboBox4->addItem("关", QByteArray::fromHex("00000000"));
+    ui->comboBox4->addItem("低", QByteArray::fromHex("01000000"));
+    ui->comboBox4->addItem("中", QByteArray::fromHex("02000000"));
+    ui->comboBox4->addItem("强", QByteArray::fromHex("03000000"));
+
+    //伪彩选择
+    ui->comboBox5->addItem("白热", QByteArray::fromHex("01000000"));
+    ui->comboBox5->addItem("黑热", QByteArray::fromHex("01010000"));
+    ui->comboBox5->addItem("蓝红黄", QByteArray::fromHex("01020000"));
+    ui->comboBox5->addItem("紫红黄", QByteArray::fromHex("01030000"));
+    ui->comboBox5->addItem("蓝绿红", QByteArray::fromHex("01040000"));
+    ui->comboBox5->addItem("彩虹1", QByteArray::fromHex("01050000"));
+    ui->comboBox5->addItem("彩虹2", QByteArray::fromHex("01060000"));
+    ui->comboBox5->addItem("黑-红", QByteArray::fromHex("01070000"));
+    ui->comboBox5->addItem("墨绿-红", QByteArray::fromHex("01080000"));
+    ui->comboBox5->addItem("蓝绿红-粉", QByteArray::fromHex("01090000"));
+    ui->comboBox5->addItem("混合色", QByteArray::fromHex("010A0000"));
+    ui->comboBox5->addItem("红头", QByteArray::fromHex("010B0000"));
+}
\ No newline at end of file
diff --git a/src/commandwidget.h b/src/commandwidget.h
index f042863..4b83908 100644
--- a/src/commandwidget.h
+++ b/src/commandwidget.h
@@ -6,6 +6,8 @@
 
 #include "communicationsettingdlg.h"
 #include "global.h"
+#include "utils/CUdpSocket.h"
+#include "utils/protocolPodTJ.h"
 
 typedef struct struProtocalKB {
     quint8 head[2];   // 帧头0x
@@ -71,6 +73,12 @@ const quint16 CRC8TAB[256] = {
     0x0082, 0x00B3, 0x00E0, 0x00D1, 0x0046, 0x0077, 0x0024, 0x0015, 0x003B,
     0x000A, 0x0059, 0x0068, 0x00FF, 0x00CE, 0x009D, 0x00AC};
 
+enum uav_type
+{
+    FP98=0,
+    MEDICAL_UNIVERSITY=5
+};
+
 namespace Ui {
 class CommandWidget;
 }
@@ -122,18 +130,123 @@ private slots:
 
     void on_pushButton_15_clicked();
 
+    /*武汉天进吊舱控制*/
+    void on_pushButton_left_pressed();
+    void on_pushButton_left_released();
+
+    void on_pushButton_right_pressed();
+    void on_pushButton_right_released();
+
+    void on_pushButton_up_pressed();
+    void on_pushButton_up_released();
+
+    void on_pushButton_down_pressed();
+    void on_pushButton_down_released();
+
+    void on_pushButton_center_pressed();
+
+    //姿态指引
+    void on_pushButton_guid_pressed();
+    void on_pushButton_pose_pressed();
+
+    //航向锁定
+    void on_pushButton_directL_pressed();
+    //航向随动
+    void on_pushButton_directS_pressed();
+    //垂直下视
+    void on_pushButton_lookDown_pressed();
+    //镜头收藏
+    void on_pushButton_packUp_pressed();
+    //扫描
+    void on_pushButton_scanning_pressed();
+    //关伺服
+    void on_pushButton_close_pressed();
+    //设置检测模板
+    void on_comboBox1_activated(int index);
+    //显示模式
+    void on_comboBox2_activated(int index);
+    //视频切换
+    void on_pushButton_videoSwitch_pressed();
+    //开始录像
+    void on_pushButton_video_pressed();
+    //拍照
+    void on_pushButton_photo_pressed();
+    //可见光变倍+
+    void on_pushButton_zoomp_pressed();
+    void on_pushButton_zoomp_released();
+    //可见光变倍-
+    void on_pushButton_zoomd_pressed();
+    void on_pushButton_zoomd_released();
+    //可见光变焦+
+    void on_pushButton_focusP_pressed();
+    void on_pushButton_focusP_released();
+    //可见光变焦-
+    void on_pushButton_focusD_pressed();
+    void on_pushButton_focusD_released();
+    //自动对焦
+    void on_pushButton_auto_pressed();
+    void on_pushButton_auto_released();
+    //对比度
+    void on_pushButton_contrastP_pressed();
+    void on_pushButton_contrastD_pressed();
+    //亮度
+    void on_pushButton_lightP_pressed();
+    void on_pushButton_lightD_pressed();
+    //图像去雾
+    void on_comboBox4_activated(int index);
+    //红外变倍+
+    void on_pushButton_zoomp_2_pressed();
+    void on_pushButton_zoomp_2_released();
+    //红外变倍-
+    void on_pushButton_zoomd_2_pressed();
+    void on_pushButton_zoomd_2_released();
+    //对比度
+    void on_pushButton_contrastP_2_pressed();
+    void on_pushButton_contrastD_2_pressed();
+    //伪彩循环切换
+    void on_pushButton_color_pressed();
+    //伪彩选择
+    void on_comboBox5_activated(int index);
+    //单次测距
+    void on_pushButton_distance_pressed();
+    //连续测距
+    void on_pushButton_distanceC_pressed();
+    //停止测距
+    void on_pushButton_distanceS_pressed();
+
+    void on_cmdLineEdit_textChanged(const QString text);
+
 private:
     Ui::CommandWidget *ui;
     QUdpSocket *m_commandUdpSocket = nullptr;
 
     QString m_remoteIP;
     int m_remotePort;
+    CUdpSocket* m_CUdpSocket = nullptr;
+    ProtocolPodTJ m_protocolPodTJ;
 
     unsigned char getCrc(quint8 *data, quint8 length);
     ProtocalKB EncodeCommandCmd(quint8 cmd);
     bool writeBufferToClient(const QByteArray &data);
 
     void buttonResponse(quint8 cmd);
+
+    void initmUdpParam();
+
+public slots:
+    void receiveUavTypeIndex(int index);
+
+    //设置通信IP及Port 连接udp
+    void setPodIPConfig(NetworkIPStruct networkIP, bool isConnect);
+public:
+    //设置窗口传递参数
+    void setMoveParm(QPointF size);
+    //伺服停止
+    void stopServo();
+    //目标跟踪
+    void setTargetTracking(double dir, double pitch);
+    //停止跟踪
+    void setStopTracking();
 };
 
 #endif  // COMMANDWIDGET_H
diff --git a/src/commandwidget.ui b/src/commandwidget.ui
index daed3d5..2007436 100644
--- a/src/commandwidget.ui
+++ b/src/commandwidget.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>295</width>
-    <height>541</height>
+    <height>819</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -30,7 +30,7 @@
     <number>0</number>
    </property>
    <item>
-    <widget class="QFrame" name="frame">
+    <widget class="QStackedWidget" name="cmdStackedWidget">
      <property name="styleSheet">
       <string notr="true">#frame{
     border: 1px solid white;
@@ -43,175 +43,1322 @@
      <property name="frameShadow">
       <enum>QFrame::Shadow::Raised</enum>
      </property>
-     <layout class="QVBoxLayout" name="verticalLayout">
-      <property name="leftMargin">
-       <number>2</number>
-      </property>
-      <property name="topMargin">
-       <number>0</number>
-      </property>
-      <property name="rightMargin">
-       <number>2</number>
-      </property>
-      <property name="bottomMargin">
-       <number>0</number>
-      </property>
-      <item>
-       <layout class="QGridLayout" name="gridLayout">
+     <property name="currentIndex">
+      <number>1</number>
+     </property>
+     <widget class="QWidget" name="stackedWidgetPage1">
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <property name="leftMargin">
+        <number>2</number>
+       </property>
+       <property name="topMargin">
+        <number>0</number>
+       </property>
+       <property name="rightMargin">
+        <number>2</number>
+       </property>
+       <property name="bottomMargin">
+        <number>0</number>
+       </property>
+       <item>
+        <layout class="QGridLayout" name="gridLayout">
+         <property name="leftMargin">
+          <number>6</number>
+         </property>
+         <property name="topMargin">
+          <number>8</number>
+         </property>
+         <property name="rightMargin">
+          <number>6</number>
+         </property>
+         <property name="bottomMargin">
+          <number>6</number>
+         </property>
+         <property name="spacing">
+          <number>14</number>
+         </property>
+         <item row="4" column="0">
+          <widget class="QPushButton" name="pushButton_10">
+           <property name="text">
+            <string>红外小</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="2">
+          <widget class="QPushButton" name="pushButton_8">
+           <property name="text">
+            <string>画中画开</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="2">
+          <widget class="QPushButton" name="pushButton_7">
+           <property name="text">
+            <string>画中画关</string>
+           </property>
+          </widget>
+         </item>
+         <item row="5" column="2">
+          <widget class="QPushButton" name="pushButton_15">
+           <property name="text">
+            <string>4-6图拼接</string>
+           </property>
+          </widget>
+         </item>
+         <item row="4" column="1">
+          <widget class="QPushButton" name="pushButton_17">
+           <property name="text">
+            <string>图像切换</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <widget class="QPushButton" name="pushButton_5">
+           <property name="text">
+            <string>变焦推远</string>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="0">
+          <widget class="QPushButton" name="pushButton_6">
+           <property name="text">
+            <string>变焦拉近</string>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="1">
+          <widget class="QPushButton" name="pushButton_13">
+           <property name="text">
+            <string>吊舱</string>
+           </property>
+          </widget>
+         </item>
+         <item row="5" column="0">
+          <widget class="QPushButton" name="pushButton_9">
+           <property name="text">
+            <string>红外大</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="2">
+          <widget class="QPushButton" name="pushButton_12">
+           <property name="text">
+            <string>复位</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="QPushButton" name="pushButton_14">
+           <property name="text">
+            <string>扫描</string>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="2">
+          <widget class="QPushButton" name="pushButton_11">
+           <property name="text">
+            <string>锁定</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QPushButton" name="pushButton_4">
+           <property name="text">
+            <string>俯仰+</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0">
+          <widget class="QPushButton" name="pushButton">
+           <property name="text">
+            <string>方位+</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QPushButton" name="pushButton_2">
+           <property name="text">
+            <string>方位-</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QPushButton" name="pushButton_3">
+           <property name="text">
+            <string>俯仰-</string>
+           </property>
+          </widget>
+         </item>
+         <item row="4" column="2">
+          <widget class="QPushButton" name="pushButton_16">
+           <property name="text">
+            <string>0-3图拼接</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <spacer name="verticalSpacer">
+         <property name="orientation">
+          <enum>Qt::Orientation::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>219</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="stackedWidgePage2">
+      <widget class="QWidget" name="widget" native="true">
+       <property name="geometry">
+        <rect>
+         <x>10</x>
+         <y>70</y>
+         <width>110</width>
+         <height>110</height>
+        </rect>
+       </property>
+       <layout class="QGridLayout" name="gridLayout_3">
         <property name="leftMargin">
-         <number>6</number>
+         <number>0</number>
         </property>
         <property name="topMargin">
-         <number>8</number>
+         <number>0</number>
         </property>
         <property name="rightMargin">
-         <number>6</number>
+         <number>0</number>
         </property>
         <property name="bottomMargin">
-         <number>6</number>
+         <number>0</number>
         </property>
         <property name="spacing">
-         <number>14</number>
+         <number>0</number>
         </property>
-        <item row="4" column="0">
-         <widget class="QPushButton" name="pushButton_10">
-          <property name="text">
-           <string>红外小</string>
-          </property>
-         </widget>
-        </item>
-        <item row="0" column="2">
-         <widget class="QPushButton" name="pushButton_8">
+        <item row="1" column="0">
+         <widget class="QPushButton" name="pushButton_left">
           <property name="text">
-           <string>画中画开</string>
+           <string/>
           </property>
          </widget>
         </item>
         <item row="1" column="2">
-         <widget class="QPushButton" name="pushButton_7">
+         <widget class="QPushButton" name="pushButton_right">
           <property name="text">
-           <string>画中画关</string>
+           <string/>
           </property>
          </widget>
         </item>
-        <item row="5" column="2">
-         <widget class="QPushButton" name="pushButton_15">
+        <item row="2" column="1">
+         <widget class="QPushButton" name="pushButton_down">
           <property name="text">
-           <string>4-6图拼接</string>
+           <string/>
           </property>
          </widget>
         </item>
-        <item row="4" column="1">
-         <widget class="QPushButton" name="pushButton_17">
+        <item row="1" column="1">
+         <widget class="QPushButton" name="pushButton_center">
           <property name="text">
-           <string>图像切换</string>
+           <string/>
           </property>
          </widget>
         </item>
-        <item row="2" column="0">
-         <widget class="QPushButton" name="pushButton_5">
+        <item row="0" column="1">
+         <widget class="QPushButton" name="pushButton_up">
           <property name="text">
-           <string>变焦推远</string>
+           <string/>
           </property>
          </widget>
         </item>
-        <item row="3" column="0">
-         <widget class="QPushButton" name="pushButton_6">
-          <property name="text">
-           <string>变焦拉近</string>
+       </layout>
+      </widget>
+      <widget class="QSlider" name="cmdSlider">
+       <property name="geometry">
+        <rect>
+         <x>32</x>
+         <y>20</y>
+         <width>191</width>
+         <height>22</height>
+        </rect>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">/*滑块的样式*/
+QSlider::groove:horizontal {
+border: 1px solid #64AA64;
+background: #64AA64;
+height: 2px;
+border-radius: 1px;
+padding-left:0px;
+padding-right:0px;
+}
+
+/*滑块经过的颜色:前面的颜色*/
+QSlider::sub-page:horizontal {
+background: #64AA64;
+border: 1px solid #64AA64;
+height: 2px;
+border-radius: 2px;
+}
+
+QSlider::add-page:horizontal {
+background: #EAEAEA;
+border: 0px solid #EAEAEA;
+height: 2px;
+border-radius: 2px;
+}
+QSlider::handle:horizontal 
+{
+    background: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, 
+    stop:0.6 #64AA64,stop:0.98409 rgba(255, 255, 255, 255));
+
+    width: 15px;
+    margin-top: -6px;
+    margin-bottom: -6px;
+    border-radius: 5px;
+}
+
+QSlider::handle:horizontal:hover {
+    background: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, 
+    stop:0.6 #64AA64,stop:0.98409 rgba(255, 255, 255, 255));
+
+    width: 15px;
+    margin-top: -6px;
+    margin-bottom: -6px;
+    border-radius: 5px;
+}</string>
+       </property>
+       <property name="orientation">
+        <enum>Qt::Orientation::Horizontal</enum>
+       </property>
+      </widget>
+      <widget class="QLineEdit" name="cmdLineEdit">
+       <property name="geometry">
+        <rect>
+         <x>230</x>
+         <y>20</y>
+         <width>31</width>
+         <height>21</height>
+        </rect>
+       </property>
+      </widget>
+      <widget class="QPushButton" name="pushButton_guid">
+       <property name="geometry">
+        <rect>
+         <x>130</x>
+         <y>50</y>
+         <width>61</width>
+         <height>24</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>数字引导</string>
+       </property>
+      </widget>
+      <widget class="QPushButton" name="pushButton_pose">
+       <property name="geometry">
+        <rect>
+         <x>200</x>
+         <y>50</y>
+         <width>61</width>
+         <height>24</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>姿态引导</string>
+       </property>
+      </widget>
+      <widget class="QLineEdit" name="guidLineEdit">
+       <property name="geometry">
+        <rect>
+         <x>160</x>
+         <y>90</y>
+         <width>31</width>
+         <height>21</height>
+        </rect>
+       </property>
+      </widget>
+      <widget class="QLineEdit" name="poseLineEdit">
+       <property name="geometry">
+        <rect>
+         <x>230</x>
+         <y>90</y>
+         <width>31</width>
+         <height>21</height>
+        </rect>
+       </property>
+      </widget>
+      <widget class="QLabel" name="label">
+       <property name="geometry">
+        <rect>
+         <x>128</x>
+         <y>90</y>
+         <width>31</width>
+         <height>21</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>方位：</string>
+       </property>
+      </widget>
+      <widget class="QLabel" name="label_2">
+       <property name="geometry">
+        <rect>
+         <x>198</x>
+         <y>90</y>
+         <width>31</width>
+         <height>21</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>俯仰：</string>
+       </property>
+      </widget>
+      <widget class="QPushButton" name="pushButton_diectionL">
+       <property name="geometry">
+        <rect>
+         <x>130</x>
+         <y>120</y>
+         <width>61</width>
+         <height>24</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>航向锁定</string>
+       </property>
+      </widget>
+      <widget class="QPushButton" name="pushButton_diectionS">
+       <property name="geometry">
+        <rect>
+         <x>200</x>
+         <y>120</y>
+         <width>61</width>
+         <height>24</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>航向随动</string>
+       </property>
+      </widget>
+      <widget class="QPushButton" name="pushButton_lookDown">
+       <property name="geometry">
+        <rect>
+         <x>130</x>
+         <y>150</y>
+         <width>61</width>
+         <height>24</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>垂直下视</string>
+       </property>
+      </widget>
+      <widget class="QPushButton" name="pushButton_packUp">
+       <property name="geometry">
+        <rect>
+         <x>200</x>
+         <y>150</y>
+         <width>61</width>
+         <height>24</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>镜头收藏</string>
+       </property>
+      </widget>
+      <widget class="QPushButton" name="pushButton_scanning">
+       <property name="geometry">
+        <rect>
+         <x>130</x>
+         <y>180</y>
+         <width>61</width>
+         <height>24</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>扫描</string>
+       </property>
+      </widget>
+      <widget class="QPushButton" name="pushButton_close">
+       <property name="geometry">
+        <rect>
+         <x>200</x>
+         <y>180</y>
+         <width>61</width>
+         <height>24</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>关伺服</string>
+       </property>
+      </widget>
+      <widget class="QGroupBox" name="groupBox">
+       <property name="geometry">
+        <rect>
+         <x>0</x>
+         <y>210</y>
+         <width>281</width>
+         <height>51</height>
+        </rect>
+       </property>
+       <property name="title">
+        <string>检测跟踪</string>
+       </property>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <property name="spacing">
+         <number>0</number>
+        </property>
+        <property name="leftMargin">
+         <number>2</number>
+        </property>
+        <property name="topMargin">
+         <number>0</number>
+        </property>
+        <property name="rightMargin">
+         <number>5</number>
+        </property>
+        <property name="bottomMargin">
+         <number>0</number>
+        </property>
+        <item>
+         <widget class="QLabel" name="label_3">
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>20</height>
+           </size>
           </property>
-         </widget>
-        </item>
-        <item row="3" column="1">
-         <widget class="QPushButton" name="pushButton_13">
           <property name="text">
-           <string>吊舱</string>
+           <string>检测框：</string>
           </property>
-         </widget>
-        </item>
-        <item row="5" column="0">
-         <widget class="QPushButton" name="pushButton_9">
-          <property name="text">
-           <string>红外大</string>
+          <property name="alignment">
+           <set>Qt::AlignmentFlag::AlignCenter</set>
           </property>
          </widget>
         </item>
-        <item row="2" column="2">
-         <widget class="QPushButton" name="pushButton_12">
-          <property name="text">
-           <string>复位</string>
+        <item>
+         <widget class="WBSwitchButton" name="switchButton1" native="true">
+          <property name="maximumSize">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
           </property>
          </widget>
         </item>
-        <item row="2" column="1">
-         <widget class="QPushButton" name="pushButton_14">
-          <property name="text">
-           <string>扫描</string>
+        <item>
+         <widget class="QLabel" name="label_4">
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>20</height>
+           </size>
           </property>
-         </widget>
-        </item>
-        <item row="3" column="2">
-         <widget class="QPushButton" name="pushButton_11">
           <property name="text">
-           <string>锁定</string>
+           <string>模板大小</string>
           </property>
-         </widget>
-        </item>
-        <item row="0" column="1">
-         <widget class="QPushButton" name="pushButton_4">
-          <property name="text">
-           <string>俯仰+</string>
+          <property name="alignment">
+           <set>Qt::AlignmentFlag::AlignCenter</set>
           </property>
          </widget>
         </item>
+        <item>
+         <widget class="QComboBox" name="comboBox1"/>
+        </item>
+       </layout>
+      </widget>
+      <widget class="QGroupBox" name="groupBox_2">
+       <property name="geometry">
+        <rect>
+         <x>0</x>
+         <y>260</y>
+         <width>281</width>
+         <height>61</height>
+        </rect>
+       </property>
+       <property name="title">
+        <string>视频</string>
+       </property>
+       <layout class="QGridLayout" name="gridLayout_2">
         <item row="0" column="0">
-         <widget class="QPushButton" name="pushButton">
-          <property name="text">
-           <string>方位+</string>
-          </property>
-         </widget>
+         <widget class="QComboBox" name="comboBox2"/>
         </item>
-        <item row="1" column="0">
-         <widget class="QPushButton" name="pushButton_2">
+        <item row="0" column="2">
+         <widget class="QPushButton" name="pushButton_video">
+          <property name="minimumSize">
+           <size>
+            <width>60</width>
+            <height>0</height>
+           </size>
+          </property>
           <property name="text">
-           <string>方位-</string>
+           <string>开始录像</string>
           </property>
          </widget>
         </item>
-        <item row="1" column="1">
-         <widget class="QPushButton" name="pushButton_3">
+        <item row="0" column="1">
+         <widget class="QPushButton" name="pushButton_videoSwitch">
+          <property name="minimumSize">
+           <size>
+            <width>60</width>
+            <height>0</height>
+           </size>
+          </property>
           <property name="text">
-           <string>俯仰-</string>
+           <string>视频切换</string>
           </property>
          </widget>
         </item>
-        <item row="4" column="2">
-         <widget class="QPushButton" name="pushButton_16">
+        <item row="0" column="3">
+         <widget class="QPushButton" name="pushButton_photo">
           <property name="text">
-           <string>0-3图拼接</string>
+           <string>拍照</string>
           </property>
          </widget>
         </item>
        </layout>
-      </item>
-      <item>
-       <spacer name="verticalSpacer">
-        <property name="orientation">
-         <enum>Qt::Orientation::Vertical</enum>
+      </widget>
+      <widget class="QGroupBox" name="groupBox_5">
+       <property name="geometry">
+        <rect>
+         <x>0</x>
+         <y>320</y>
+         <width>281</width>
+         <height>171</height>
+        </rect>
+       </property>
+       <property name="title">
+        <string>可见光</string>
+       </property>
+       <widget class="QPushButton" name="pushButton_zoomp">
+        <property name="geometry">
+         <rect>
+          <x>10</x>
+          <y>56</y>
+          <width>60</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>变倍+</string>
+        </property>
+       </widget>
+       <widget class="QPushButton" name="pushButton_focusP">
+        <property name="geometry">
+         <rect>
+          <x>73</x>
+          <y>56</y>
+          <width>60</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>变焦+</string>
+        </property>
+       </widget>
+       <widget class="QPushButton" name="pushButton_contrastP">
+        <property name="geometry">
+         <rect>
+          <x>136</x>
+          <y>56</y>
+          <width>60</width>
+          <height>24</height>
+         </rect>
         </property>
-        <property name="sizeHint" stdset="0">
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>对比度+</string>
+        </property>
+       </widget>
+       <widget class="QPushButton" name="pushButton_lightP">
+        <property name="geometry">
+         <rect>
+          <x>199</x>
+          <y>56</y>
+          <width>72</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>亮度+</string>
+        </property>
+       </widget>
+       <widget class="QPushButton" name="pushButton_zoomd">
+        <property name="geometry">
+         <rect>
+          <x>10</x>
+          <y>85</y>
+          <width>60</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>变倍-</string>
+        </property>
+       </widget>
+       <widget class="QPushButton" name="pushButton_focusP_2">
+        <property name="geometry">
+         <rect>
+          <x>73</x>
+          <y>85</y>
+          <width>60</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>变焦-</string>
+        </property>
+       </widget>
+       <widget class="QPushButton" name="pushButton_contrastD">
+        <property name="geometry">
+         <rect>
+          <x>136</x>
+          <y>85</y>
+          <width>60</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>对比度-</string>
+        </property>
+       </widget>
+       <widget class="QPushButton" name="pushButton_lightD">
+        <property name="geometry">
+         <rect>
+          <x>199</x>
+          <y>85</y>
+          <width>72</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>亮度-</string>
+        </property>
+       </widget>
+       <widget class="QLabel" name="label_10">
+        <property name="geometry">
+         <rect>
+          <x>10</x>
+          <y>29</y>
+          <width>60</width>
+          <height>16</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>60</width>
+          <height>20</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>速度：</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignmentFlag::AlignCenter</set>
+        </property>
+       </widget>
+       <widget class="QComboBox" name="comboBox3">
+        <property name="geometry">
+         <rect>
+          <x>73</x>
+          <y>27</y>
+          <width>45</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="currentText">
+         <string>0</string>
+        </property>
+        <item>
+         <property name="text">
+          <string>0</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>1</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>2</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>3</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>4</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>5</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>6</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>7</string>
+         </property>
+        </item>
+       </widget>
+       <widget class="QLabel" name="label_11">
+        <property name="geometry">
+         <rect>
+          <x>136</x>
+          <y>29</y>
+          <width>60</width>
+          <height>16</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>60</width>
+          <height>20</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>透雾：</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignmentFlag::AlignCenter</set>
+        </property>
+       </widget>
+       <widget class="QComboBox" name="comboBox4">
+        <property name="geometry">
+         <rect>
+          <x>199</x>
+          <y>27</y>
+          <width>72</width>
+          <height>24</height>
+         </rect>
+        </property>
+       </widget>
+       <widget class="QLabel" name="label_12">
+        <property name="geometry">
+         <rect>
+          <x>10</x>
+          <y>116</y>
+          <width>71</width>
+          <height>16</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>80</width>
+          <height>20</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>夜间模式：</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignmentFlag::AlignCenter</set>
+        </property>
+       </widget>
+       <widget class="WBSwitchButton" name="btn_light" native="true">
+        <property name="geometry">
+         <rect>
+          <x>90</x>
+          <y>116</y>
+          <width>40</width>
+          <height>20</height>
+         </rect>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </widget>
+       <widget class="QLabel" name="label_13">
+        <property name="geometry">
+         <rect>
+          <x>10</x>
+          <y>143</y>
+          <width>71</width>
+          <height>16</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>80</width>
+          <height>20</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>电子稳像：</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignmentFlag::AlignCenter</set>
+        </property>
+       </widget>
+       <widget class="WBSwitchButton" name="btn_stable" native="true">
+        <property name="geometry">
+         <rect>
+          <x>90</x>
+          <y>143</y>
+          <width>40</width>
+          <height>20</height>
+         </rect>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </widget>
+       <widget class="QPushButton" name="pushButton_auto">
+        <property name="geometry">
+         <rect>
+          <x>136</x>
+          <y>114</y>
+          <width>75</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>自动对焦</string>
+        </property>
+       </widget>
+      </widget>
+      <widget class="QLabel" name="label_9">
+       <property name="geometry">
+        <rect>
+         <x>0</x>
+         <y>20</y>
+         <width>31</width>
+         <height>21</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>速度：</string>
+       </property>
+      </widget>
+      <widget class="QGroupBox" name="groupBox_6">
+       <property name="geometry">
+        <rect>
+         <x>0</x>
+         <y>490</y>
+         <width>281</width>
+         <height>91</height>
+        </rect>
+       </property>
+       <property name="title">
+        <string>红外</string>
+       </property>
+       <widget class="QPushButton" name="pushButton_zoomp_2">
+        <property name="geometry">
+         <rect>
+          <x>10</x>
+          <y>20</y>
+          <width>60</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>变倍+</string>
+        </property>
+       </widget>
+       <widget class="QPushButton" name="pushButton_zoomd_2">
+        <property name="geometry">
+         <rect>
+          <x>10</x>
+          <y>50</y>
+          <width>60</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>变倍-</string>
+        </property>
+       </widget>
+       <widget class="QPushButton" name="pushButton_contrastP_2">
+        <property name="geometry">
+         <rect>
+          <x>73</x>
+          <y>20</y>
+          <width>60</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>对比度+</string>
+        </property>
+       </widget>
+       <widget class="QPushButton" name="pushButton_contrastD_2">
+        <property name="geometry">
+         <rect>
+          <x>73</x>
+          <y>50</y>
+          <width>60</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>对比度-</string>
+        </property>
+       </widget>
+       <widget class="QLabel" name="label_14">
+        <property name="geometry">
+         <rect>
+          <x>140</x>
+          <y>20</y>
+          <width>40</width>
+          <height>20</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
          <size>
           <width>20</width>
-          <height>219</height>
+          <height>0</height>
          </size>
         </property>
-       </spacer>
-      </item>
-     </layout>
+        <property name="maximumSize">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>伪彩：</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignmentFlag::AlignCenter</set>
+        </property>
+       </widget>
+       <widget class="QComboBox" name="comboBox5">
+        <property name="geometry">
+         <rect>
+          <x>180</x>
+          <y>20</y>
+          <width>91</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="currentText">
+         <string/>
+        </property>
+       </widget>
+       <widget class="QPushButton" name="pushButton_color">
+        <property name="geometry">
+         <rect>
+          <x>180</x>
+          <y>50</y>
+          <width>91</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>伪彩循环切换</string>
+        </property>
+       </widget>
+      </widget>
+      <widget class="QGroupBox" name="groupBox_7">
+       <property name="geometry">
+        <rect>
+         <x>0</x>
+         <y>590</y>
+         <width>281</width>
+         <height>61</height>
+        </rect>
+       </property>
+       <property name="title">
+        <string>激光</string>
+       </property>
+       <widget class="QPushButton" name="pushButton_distance">
+        <property name="geometry">
+         <rect>
+          <x>10</x>
+          <y>20</y>
+          <width>60</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>单次测距</string>
+        </property>
+       </widget>
+       <widget class="QPushButton" name="pushButton_distanceC">
+        <property name="geometry">
+         <rect>
+          <x>73</x>
+          <y>20</y>
+          <width>60</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>连续测距</string>
+        </property>
+       </widget>
+       <widget class="QComboBox" name="comboBox6">
+        <property name="geometry">
+         <rect>
+          <x>135</x>
+          <y>20</y>
+          <width>31</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="currentText">
+         <string>1</string>
+        </property>
+        <item>
+         <property name="text">
+          <string>1</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>2</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>3</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>4</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>5</string>
+         </property>
+        </item>
+       </widget>
+       <widget class="QPushButton" name="pushButton_distanceS">
+        <property name="geometry">
+         <rect>
+          <x>210</x>
+          <y>20</y>
+          <width>60</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>停止测距</string>
+        </property>
+       </widget>
+       <widget class="QLabel" name="label_15">
+        <property name="geometry">
+         <rect>
+          <x>170</x>
+          <y>20</y>
+          <width>35</width>
+          <height>24</height>
+         </rect>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>35</width>
+          <height>24</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>60</width>
+          <height>20</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>次/秒</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignmentFlag::AlignCenter</set>
+        </property>
+       </widget>
+      </widget>
+     </widget>
     </widget>
    </item>
   </layout>
  </widget>
+ <customwidgets>
+  <customwidget>
+   <class>WBSwitchButton</class>
+   <extends>QWidget</extends>
+   <header>utils/switchbutton.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
  <resources/>
  <connections/>
 </ui>
diff --git a/src/communicationsettingdlg.cpp b/src/communicationsettingdlg.cpp
index 3e66ebb..f8deb52 100644
--- a/src/communicationsettingdlg.cpp
+++ b/src/communicationsettingdlg.cpp
@@ -18,6 +18,90 @@ CommunicationSettingDlg::~CommunicationSettingDlg() {
 
 void CommunicationSettingDlg::showEvent(QShowEvent *event) {
     setSaveSettingParms();
+    setPodIniSetting();
+}
+
+
+bool CommunicationSettingDlg::isValidIP()
+{
+    QHostAddress addrLocal(ui->podLocalIP->currentText());
+    QHostAddress addrremote(ui->podRemoteIPEdit->text());
+    
+    if (addrLocal.isNull() || addrLocal.protocol() != QAbstractSocket::IPv4Protocol)
+    {
+        emit sendErrorMessage("本地IP格式错误!", 2);
+        return false;
+    }
+
+    if (addrremote.isNull() || addrremote.protocol() != QAbstractSocket::IPv4Protocol)
+    {
+        emit sendErrorMessage("远端IP格式错误!", 2);
+        return false;
+    }
+
+    if (ui->podLocalPort->value() == 0 || ui->podRemotePort->value() == 0)
+    {
+        emit sendErrorMessage("请输入正确的端口号!", 2);
+        return false;
+    }
+    return true;
+}
+
+void CommunicationSettingDlg::savePodIniSetting()
+{
+    g_networkSettingInfo->setValue("PodSetting/localIP",
+        ui->podLocalIP->currentText());
+    g_networkSettingInfo->setValue("PodSetting/remoteIP",
+        ui->podRemoteIPEdit->text());
+    g_networkSettingInfo->setValue("PodSetting/localPort",
+        ui->podLocalPort->value());
+    g_networkSettingInfo->setValue("PodSetting/remotePort",
+        ui->podRemotePort->value());
+}
+
+void CommunicationSettingDlg::setPodIniSetting()
+{
+    ui->podRemoteIPEdit->setText(
+        g_networkSettingInfo->value("PodSetting/remoteIP", "192.168.1.160").toString());
+    ui->podRemotePort->setValue(
+        g_networkSettingInfo->value("PodSetting/remotePort", 10000).toInt());
+    ui->podLocalPort->setValue(
+        g_networkSettingInfo->value("PodSetting/localPort", 10001).toInt());
+
+    QString localIP =
+        g_networkSettingInfo->value("PodSetting/localIP").toString();
+    for (int i = 0; i < ui->podLocalIP->count(); ++i) {
+        if (localIP == ui->podLocalIP->itemText(i)) {
+            ui->podLocalIP->setCurrentIndex(i);
+        }
+    }
+}
+
+
+void CommunicationSettingDlg::on_podConnectBtn_clicked()
+{
+    if (!isValidIP()) { return; }
+    
+    savePodIniSetting();
+
+    NetworkIPStruct networkIP;
+    if (!_commIsConnect)//断开时点击连接
+    {
+        _commIsConnect = true;//状态为连接
+        networkIP.localIP = ui->podLocalIP->currentText();
+        networkIP.remoteIP = ui->podRemoteIPEdit->text();
+        networkIP.localPort = ui->podLocalPort->value();
+        networkIP.remotePort = ui->podRemotePort->value();
+        emit sendPodData(networkIP, _commIsConnect);
+        ui->podConnectBtn->setText("断开");
+    }
+    else
+    {
+        _commIsConnect = false;//状态为连接
+        emit sendPodData(networkIP, _commIsConnect);
+        ui->podConnectBtn->setText("连接");
+    }
+    
 }
 
 void CommunicationSettingDlg::initCombobox() {
@@ -31,10 +115,14 @@ void CommunicationSettingDlg::initNetworkSetting() {
     QStringList localIPList;
     getLocalIP(localIPList);
     ui->localIP->addItems(localIPList);
+    ui->podLocalIP->addItems(localIPList);
 
     ui->remoteIPEdit->setText(QStringLiteral("223.0.0.1"));
     ui->remotePort->setValue(8080);
     ui->localPort->setValue(8082);
+
+    ui->podRemotePort->setValue(10000);
+    ui->podLocalPort->setValue(10001);
 }
 
 void CommunicationSettingDlg::setSaveSettingParms() {
@@ -64,7 +152,7 @@ void CommunicationSettingDlg::setSaveSettingParms() {
 
     QString localIP =
         g_networkSettingInfo->value(groupName + "/localIP").toString();
-    for (int i = 0; i < ui->dataSourceCombox->count(); ++i) {
+    for (int i = 0; i < ui->localIP->count(); ++i) {
         if (localIP == ui->localIP->itemText(i)) {
             ui->localIP->setCurrentIndex(i);
         }
diff --git a/src/communicationsettingdlg.h b/src/communicationsettingdlg.h
index 2ae4dfd..a3f733c 100644
--- a/src/communicationsettingdlg.h
+++ b/src/communicationsettingdlg.h
@@ -23,9 +23,11 @@ protected:
 
 signals:
     void sendErrorMessage(QString message, int type);
+    void sendPodData(NetworkIPStruct networkIP, bool isConnect);
 private slots:
 
     void on_saveSettingBtn_clicked();
+    void on_podConnectBtn_clicked();
 
 private:
     void initCombobox();
@@ -34,8 +36,14 @@ private:
 
     void setSaveSettingParms();
 
+    bool isValidIP();
+
+    void savePodIniSetting();
+
+    void setPodIniSetting();
 private:
     Ui::CommunicationSettingDlg *ui;
+    bool _commIsConnect{ false };
 };
 
 #endif  // COMMUNICATIONSETTINGDLG_H
diff --git a/src/communicationsettingdlg.ui b/src/communicationsettingdlg.ui
index aa2fb4f..a87f1e7 100644
--- a/src/communicationsettingdlg.ui
+++ b/src/communicationsettingdlg.ui
@@ -6,192 +6,450 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>307</width>
-    <height>275</height>
+    <width>600</width>
+    <height>350</height>
    </rect>
   </property>
+  <property name="minimumSize">
+   <size>
+    <width>600</width>
+    <height>350</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>600</width>
+    <height>350</height>
+   </size>
+  </property>
   <property name="windowTitle">
    <string>Dialog</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout" stretch="0,0">
-   <property name="leftMargin">
-    <number>4</number>
-   </property>
-   <property name="topMargin">
-    <number>4</number>
+  <widget class="QGroupBox" name="groupBox">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>10</y>
+     <width>551</width>
+     <height>171</height>
+    </rect>
    </property>
-   <property name="rightMargin">
-    <number>4</number>
+   <property name="font">
+    <font>
+     <pointsize>10</pointsize>
+    </font>
    </property>
-   <property name="bottomMargin">
-    <number>4</number>
+   <property name="title">
+    <string>网络设置</string>
    </property>
-   <item>
-    <widget class="QGroupBox" name="groupBox">
-     <property name="font">
-      <font>
-       <pointsize>10</pointsize>
-      </font>
-     </property>
-     <property name="title">
-      <string>网络设置</string>
-     </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_2">
+   <layout class="QHBoxLayout" name="horizontalLayout_2">
+    <property name="leftMargin">
+     <number>4</number>
+    </property>
+    <property name="topMargin">
+     <number>2</number>
+    </property>
+    <property name="rightMargin">
+     <number>4</number>
+    </property>
+    <property name="bottomMargin">
+     <number>2</number>
+    </property>
+    <item>
+     <layout class="QGridLayout" name="gridLayout" columnstretch="1,0,0,0,0,0">
       <property name="leftMargin">
        <number>4</number>
       </property>
-      <property name="topMargin">
-       <number>2</number>
-      </property>
       <property name="rightMargin">
        <number>4</number>
       </property>
-      <property name="bottomMargin">
-       <number>2</number>
-      </property>
-      <item>
-       <layout class="QGridLayout" name="gridLayout" columnstretch="1,2">
-        <property name="leftMargin">
-         <number>4</number>
-        </property>
-        <property name="rightMargin">
-         <number>4</number>
-        </property>
-        <property name="horizontalSpacing">
-         <number>7</number>
-        </property>
-        <item row="1" column="0">
-         <widget class="QLabel" name="label">
-          <property name="font">
-           <font>
-            <pointsize>10</pointsize>
-           </font>
-          </property>
-          <property name="text">
-           <string>本地IP：</string>
-          </property>
-         </widget>
-        </item>
-        <item row="1" column="1">
-         <widget class="QComboBox" name="localIP"/>
-        </item>
-        <item row="2" column="1">
-         <widget class="QLineEdit" name="remoteIPEdit"/>
-        </item>
-        <item row="2" column="0">
-         <widget class="QLabel" name="label_2">
-          <property name="font">
-           <font>
-            <pointsize>10</pointsize>
-           </font>
-          </property>
-          <property name="text">
-           <string>网络IP：</string>
-          </property>
-         </widget>
-        </item>
-        <item row="0" column="0">
-         <widget class="QLabel" name="label_4">
-          <property name="text">
-           <string>数据来源:</string>
-          </property>
-         </widget>
-        </item>
-        <item row="0" column="1">
-         <widget class="QComboBox" name="dataSourceCombox"/>
-        </item>
-        <item row="3" column="0">
-         <widget class="QLabel" name="label_12">
-          <property name="font">
-           <font>
-            <pointsize>10</pointsize>
-           </font>
-          </property>
-          <property name="text">
-           <string>网络端口：</string>
-          </property>
-         </widget>
-        </item>
-        <item row="3" column="1">
-         <widget class="QSpinBox" name="remotePort">
-          <property name="buttonSymbols">
-           <enum>QAbstractSpinBox::ButtonSymbols::NoButtons</enum>
-          </property>
-          <property name="maximum">
-           <number>65534</number>
-          </property>
-         </widget>
-        </item>
-        <item row="4" column="0">
-         <widget class="QLabel" name="label_13">
-          <property name="font">
-           <font>
-            <pointsize>10</pointsize>
-           </font>
-          </property>
-          <property name="text">
-           <string>本地端口：</string>
-          </property>
-         </widget>
-        </item>
-        <item row="4" column="1">
-         <widget class="QSpinBox" name="localPort">
-          <property name="buttonSymbols">
-           <enum>QAbstractSpinBox::ButtonSymbols::NoButtons</enum>
-          </property>
-          <property name="maximum">
-           <number>65534</number>
-          </property>
-         </widget>
-        </item>
-       </layout>
+      <property name="horizontalSpacing">
+       <number>6</number>
+      </property>
+      <item row="1" column="4">
+       <widget class="QSpinBox" name="remotePort">
+        <property name="minimumSize">
+         <size>
+          <width>100</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="buttonSymbols">
+         <enum>QAbstractSpinBox::ButtonSymbols::NoButtons</enum>
+        </property>
+        <property name="maximum">
+         <number>65534</number>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="4">
+       <widget class="QSpinBox" name="localPort">
+        <property name="buttonSymbols">
+         <enum>QAbstractSpinBox::ButtonSymbols::NoButtons</enum>
+        </property>
+        <property name="maximum">
+         <number>65534</number>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QLineEdit" name="remoteIPEdit"/>
+      </item>
+      <item row="0" column="0">
+       <spacer name="horizontalSpacer_2">
+        <property name="orientation">
+         <enum>Qt::Orientation::Horizontal</enum>
+        </property>
+        <property name="sizeType">
+         <enum>QSizePolicy::Policy::Fixed</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>20</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="label_4">
+        <property name="maximumSize">
+         <size>
+          <width>150</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>数据来源:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLabel" name="label_2">
+        <property name="maximumSize">
+         <size>
+          <width>50</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="font">
+         <font>
+          <pointsize>10</pointsize>
+         </font>
+        </property>
+        <property name="text">
+         <string>网络IP：</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="2" colspan="3">
+       <widget class="QComboBox" name="dataSourceCombox"/>
+      </item>
+      <item row="1" column="3">
+       <widget class="QLabel" name="label_12">
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>60</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="font">
+         <font>
+          <pointsize>10</pointsize>
+         </font>
+        </property>
+        <property name="text">
+         <string>网络端口：</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="5" rowspan="2">
+       <widget class="QWidget" name="widget" native="true">
+        <layout class="QVBoxLayout" name="verticalLayout">
+         <item>
+          <widget class="QPushButton" name="saveSettingBtn">
+           <property name="font">
+            <font>
+             <pointsize>10</pointsize>
+            </font>
+           </property>
+           <property name="text">
+            <string>保存设置</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QLabel" name="label">
+        <property name="maximumSize">
+         <size>
+          <width>50</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="font">
+         <font>
+          <pointsize>10</pointsize>
+         </font>
+        </property>
+        <property name="text">
+         <string>本地IP：</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="3">
+       <widget class="QLabel" name="label_13">
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>60</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="font">
+         <font>
+          <pointsize>10</pointsize>
+         </font>
+        </property>
+        <property name="text">
+         <string>本地端口：</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="5">
+       <spacer name="horizontalSpacer_3">
+        <property name="orientation">
+         <enum>Qt::Orientation::Horizontal</enum>
+        </property>
+        <property name="sizeType">
+         <enum>QSizePolicy::Policy::Fixed</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>100</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item row="2" column="2">
+       <widget class="QComboBox" name="localIP"/>
       </item>
      </layout>
-    </widget>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <item>
-      <spacer name="horizontalSpacer_3">
-       <property name="orientation">
-        <enum>Qt::Orientation::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="saveSettingBtn">
-       <property name="font">
-        <font>
-         <pointsize>10</pointsize>
-        </font>
-       </property>
-       <property name="text">
-        <string>保存设置</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_2">
-       <property name="orientation">
-        <enum>Qt::Orientation::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </item>
-  </layout>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QGroupBox" name="groupBox_2">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>190</y>
+     <width>551</width>
+     <height>131</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>吊舱网络设置</string>
+   </property>
+   <layout class="QGridLayout" name="gridLayout_2">
+    <item row="0" column="4">
+     <widget class="QSpinBox" name="podRemotePort">
+      <property name="maximumSize">
+       <size>
+        <width>100</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="buttonSymbols">
+       <enum>QAbstractSpinBox::ButtonSymbols::NoButtons</enum>
+      </property>
+      <property name="maximum">
+       <number>65534</number>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="3">
+     <widget class="QLabel" name="label_14">
+      <property name="minimumSize">
+       <size>
+        <width>60</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>60</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="text">
+       <string>本地端口：</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="2">
+     <widget class="QLineEdit" name="podRemoteIPEdit">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="5" rowspan="2">
+     <widget class="QWidget" name="widget_2" native="true">
+      <property name="maximumSize">
+       <size>
+        <width>100</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QPushButton" name="podConnectBtn">
+         <property name="text">
+          <string>连接</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </item>
+    <item row="1" column="2">
+     <widget class="QComboBox" name="podLocalIP"/>
+    </item>
+    <item row="1" column="1">
+     <widget class="QLabel" name="label_3">
+      <property name="maximumSize">
+       <size>
+        <width>50</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="text">
+       <string>本地IP：</string>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="4">
+     <widget class="QSpinBox" name="podLocalPort">
+      <property name="maximumSize">
+       <size>
+        <width>100</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="buttonSymbols">
+       <enum>QAbstractSpinBox::ButtonSymbols::NoButtons</enum>
+      </property>
+      <property name="maximum">
+       <number>65534</number>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="3">
+     <widget class="QLabel" name="label_15">
+      <property name="minimumSize">
+       <size>
+        <width>60</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>60</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="text">
+       <string>远端端口：</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignmentFlag::AlignLeading|Qt::AlignmentFlag::AlignLeft|Qt::AlignmentFlag::AlignVCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="1">
+     <widget class="QLabel" name="label_5">
+      <property name="maximumSize">
+       <size>
+        <width>50</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="text">
+       <string>远端P：</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="0">
+     <spacer name="horizontalSpacer">
+      <property name="orientation">
+       <enum>Qt::Orientation::Horizontal</enum>
+      </property>
+      <property name="sizeType">
+       <enum>QSizePolicy::Policy::Fixed</enum>
+      </property>
+      <property name="sizeHint" stdset="0">
+       <size>
+        <width>20</width>
+        <height>20</height>
+       </size>
+      </property>
+     </spacer>
+    </item>
+    <item row="1" column="0">
+     <spacer name="horizontalSpacer_6">
+      <property name="orientation">
+       <enum>Qt::Orientation::Horizontal</enum>
+      </property>
+      <property name="sizeType">
+       <enum>QSizePolicy::Policy::Fixed</enum>
+      </property>
+      <property name="sizeHint" stdset="0">
+       <size>
+        <width>20</width>
+        <height>20</height>
+       </size>
+      </property>
+     </spacer>
+    </item>
+   </layout>
+  </widget>
  </widget>
  <resources/>
  <connections/>
diff --git a/src/mainwindow.cpp b/src/mainwindow.cpp
index 5f2a291..b73dc88 100644
--- a/src/mainwindow.cpp
+++ b/src/mainwindow.cpp
@@ -59,8 +59,10 @@ MainWindow::MainWindow(QWidget *parent)
     initChangeVideoLayoutConnection();
 
     initHideButton();
+    initWidget();
 
     setSavedVideoDir();
+    initPodParam();
     // ui->stackedWidget->setCurrentIndex(1);
     // ui->videoWidget1->play(list.at(0));
     // ui->videoWidget2->play(list.at(0));
@@ -123,6 +125,8 @@ void MainWindow::initSignalConnection() {
 
     connect(ui->videoControlWidget, &VideoControl::stopVideoSignal, this,
             &MainWindow::closeVideoSlot);
+
+    connect(&streamAddrSettingsDlg, &StreamAddrSettingsDlg::sendUavTypeIndex, ui->commandWidget, &CommandWidget::receiveUavTypeIndex);
 }
 
 void MainWindow::initNotifyMessageConnection() {
@@ -132,6 +136,8 @@ void MainWindow::initNotifyMessageConnection() {
             &MainWindow::showMessageSlots);
     connect(ui->commandWidget, &CommandWidget::sendErrorMessage, this,
             &MainWindow::showMessageSlots);
+    connect(&settingDlg, &CommunicationSettingDlg::sendErrorMessage, this,
+        &MainWindow::showMessageSlots);
 }
 
 void MainWindow::initChangeVideoLayoutConnection() {
@@ -319,6 +325,11 @@ void MainWindow::initHideButton() {
             &MainWindow::hideCommandWidgetSlot);
 }
 
+void MainWindow::initWidget()
+{
+    ui->commandWidget->receiveUavTypeIndex(g_networkSettingInfo->value("NetworkStreamSettings/uavType").toInt());
+}
+
 void MainWindow::showSettingDlgSlot() {
     settingDlg.exec();
 }
@@ -506,3 +517,109 @@ void MainWindow::showMap3DSlot() {
         m_mapWidget->show();
     }
 }
+
+void MainWindow::initPodParam()
+{
+    _wheelStopTime = new QTimer(this);
+    _wheelStopTime->setInterval(300);
+    _wheelStopTime->setSingleShot(true);
+
+    firstLocation = new QLabel(this);
+    firstLocation->setPixmap(QPixmap(":/images/c.png"));
+    firstLocation->setScaledContents(true);
+    firstLocation->resize(30, 30);
+    firstLocation->setStyleSheet("border: none; background: transparent;");
+    firstLocation->hide();
+
+    lastLocation = new QLabel(this);
+    lastLocation->setPixmap(QPixmap(":/images/circle.png"));
+    lastLocation->setScaledContents(true);
+    lastLocation->resize(25, 25);
+    lastLocation->setStyleSheet("border: none; background: transparent;");
+    lastLocation->hide();
+
+    connect(&settingDlg, &CommunicationSettingDlg::sendPodData, ui->commandWidget, &CommandWidget::setPodIPConfig);
+}
+
+void MainWindow::mousePressEvent(QMouseEvent* event)
+{
+    if (ui->videoWidget->underMouse())
+    {
+        if (event->button() == Qt::LeftButton)
+        {
+            //记录鼠标按下位置
+            _dragStartPositon = event->pos();
+            //QPointF b = event->globalPosition();
+            qDebug() << "局部坐标" << "x" << _dragStartPositon.x() << "y" << _dragStartPositon.y();
+            //qDebug() << "全局坐标" << "x" << b.x() << "y" << b.y();
+            _dragFlag = true;
+        }
+        else if (event->button() == Qt::RightButton)
+        {
+            //鼠标右键取消目标跟踪
+            ui->commandWidget->setStopTracking();
+            qDebug() << "取消跟踪";
+        }
+    }
+}
+
+void MainWindow::mouseMoveEvent(QMouseEvent* event)
+{
+    if (_dragFlag)//点击并且移动
+    {
+        QPointF diff = event->pos() - _dragStartPositon;
+        qDebug() << "x:" << diff.x() << "y:" << diff.y();
+        ui->commandWidget->setMoveParm(diff);
+
+        if (qAbs(diff.x()) > 5 || qAbs(diff.y()) > 5)//像素点超过5ptx才算移动，否则为跟踪
+        {
+            _moveFlag = true;
+            firstLocation->move((_dragStartPositon - QPoint(firstLocation->width() / 2, firstLocation->height() / 2)).toPoint());
+            lastLocation->move(event->pos() - QPoint(lastLocation->width() / 2, lastLocation->height() / 2));
+            firstLocation->show();
+            lastLocation->show();
+        }
+
+        QPointF widgetPos = mapFromGlobal(event->globalPosition());
+
+        //如果移动的时候超过了画面显示区域，则自动退出伺服控制
+        if (!ui->videoWidget->rect().contains(widgetPos.toPoint()))
+        {
+            _moveFlag = false;
+            _dragFlag = false;
+            
+            ui->commandWidget->stopServo();
+            firstLocation->hide();
+            lastLocation->hide();
+        }
+    }
+}
+
+void MainWindow::mouseReleaseEvent(QMouseEvent* event)
+{
+    if (ui->videoWidget->underMouse())
+    {
+        if (event->button() == Qt::LeftButton && _moveFlag)
+        {
+            _moveFlag = false;
+           
+            ui->commandWidget->stopServo();
+
+            firstLocation->hide();
+            lastLocation->hide();
+        }
+        else if (event->button() == Qt::LeftButton && _dragFlag)
+        {
+            // 目标跟踪
+            QPointF sPoint1 = event->globalPosition();
+            QPointF widgetPoint = ui->videoWidget->mapFromGlobal(sPoint1);
+            double a = ui->videoWidget->width();
+            double b = ui->videoWidget->height();
+            double dir = 1920 / a * widgetPoint.rx() - 960;
+            double pitch = -(1080 / b * widgetPoint.ry() - 540);
+            
+            ui->commandWidget->setTargetTracking(dir, pitch);
+            qDebug() << "=========>目标跟踪" << " dir:" << dir << " pitch:" << pitch << " a:" << a << " b:" << b;
+        }
+    }
+}
diff --git a/src/mainwindow.h b/src/mainwindow.h
index 0412624..1022393 100644
--- a/src/mainwindow.h
+++ b/src/mainwindow.h
@@ -22,6 +22,7 @@
 #include "windowsx.h"
 #pragma comment(lib, "user32.lib")
 #endif
+#include <QLabel>
 
 namespace QWK {
 class WidgetWindowAgent;
@@ -68,6 +69,7 @@ private:
     void setSavedVideoDir();
 
     void initHideButton();
+    void initWidget();
 
 private slots:
     void showSettingDlgSlot();
@@ -92,5 +94,21 @@ private:
     QToolButton *hideCommandWidgetBtn = nullptr;
 
     WebMapWidget *m_mapWidget = nullptr;
+
+    //�����˻���������
+    int _delta{0};                       //���ֹ�����
+    QTimer* _wheelStopTime;
+    QPointF _dragStartPositon;           //��¼����������ǰ����ľֲ�����
+    bool  _dragFlag{false};              //��¼������ʼ��־
+    bool  _moveFlag{false};              //��¼���ڻ����еı�־
+    QLabel* firstLocation;
+    QLabel* lastLocation;
+
+    void initPodParam();
+public:
+    void mousePressEvent(QMouseEvent* event) override; // �¼�������
+    void mouseMoveEvent(QMouseEvent* event) override;  // �¼�������
+    void mouseReleaseEvent(QMouseEvent* event) override;
+
 };
 #endif  // MAINWINDOW_H
diff --git a/src/mainwindow.ui b/src/mainwindow.ui
index 51eb3aa..9249638 100644
--- a/src/mainwindow.ui
+++ b/src/mainwindow.ui
@@ -105,7 +105,14 @@
      </layout>
     </item>
     <item>
-     <widget class="CommandWidget" name="commandWidget" native="true"/>
+     <widget class="CommandWidget" name="commandWidget" native="true">
+      <property name="minimumSize">
+       <size>
+        <width>300</width>
+        <height>0</height>
+       </size>
+      </property>
+     </widget>
     </item>
    </layout>
   </widget>
@@ -115,7 +122,7 @@
      <x>0</x>
      <y>0</y>
      <width>1388</width>
-     <height>24</height>
+     <height>33</height>
     </rect>
    </property>
   </widget>
diff --git a/src/resources/images/c.png b/src/resources/images/c.png
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z%4!5O|I@?c20T1)<2hArKDj*S)0%oJSg^2@6{Op^Ylw;!OC<&7b;~nC?5Cc1D~r27
z<FaeuZx3e3zEuf|Ckmipf`X0I-h*+n8li#>bm3#pI<|}w`#d02D$ZYPS8>(})u-WN
z^>xVE_rfWqZ4qflUZ3!PR1)r3=M*s&8S?{Z1jHDK^&@{Pm5hkuM*8X_aEvShV>_oc
zZ7Yl&D!xf4CsIUir_<<2uhXHBvA?OeS1w_5ZCK{{Qc`5z>#c9makBXpR2_$&DXg4m
zKK+7-i+)PMuhU%=j0AcWT7o96O8!B`FCr$VKKnoT=oTWu%8lj=67`*t6d<n$J)nGz
z$O|UnF>6FBNZSCKx^D!mF=22Om+=o+-K`SEaoJ_-iWST!Ms4a|WEsoMgk_Ay!F*%N
zJ9w{g<qqgozG6M)l%K$cy6(`sAn%7NxBZdrh8L~U0j+&xi;3%-r%JhdK>l9JL7h%c
zLb=C#hL|09Dn1@2ZHzyIz;c#&D9VaC;n;1DMg3N~vJpRSb1`N+O|V8p)>GRXo5b;q
z+2!zd-#k8xz=BJohfy(24<xeMk}i|K!h21h9+dswmHuV;H!k4tn3f&-Uj5~c)x~(4
z5}P-Ji#UdZsm=PVTL2&yvh+UZ_|hS6X-U(K&K^T|C>G){qB*XKJmWz8b-nqUuphBQ
znspq^+v|Ut4e$NBP_#fupT|05YR#CiwN5)+WVvKYdXJq7D;$<b*Sau!M*BOFqxWjZ
z4i!tF`H0xKl*XJS{ngCMNx7sUgzTfrKA&JsGd0v}zCRO?wozF)B22y`e4iqaD6s1F
zYE0cQTN<3CiQrWhqA#U|qv|cIoym`)955b#pG0?W<*l-*yZl)v71-r%u=3%e>^fCt
zfgtb<8oSwQ-jnh8(Y6Mpv4!(F=1>7qUVYD*m93XQpIo&OrWxwjtiqSOeJhwU33H^;
zC2N=+4us?2C6W};9N6vHmq{+u8N`XDh(lx7zf_X`%i67eWhHhdH7WL4NB@5+ErNUI
zfy80aZ?mfWK+W3x5t3yOqITm+1x~VzL!P~lCO*^KzPL~=5?Omy>PN>mwfqJ3TtPlV
z%j?8LBZpXj=*#X-#p29vEY@0DBAEO$%)U}v{}DPnu)V|xKu~lRjS(%`HKf1d>OH9c
f#^S<u^-nRe>f;hl)6uO~j-x22_Pk2gH2D7j7qltr

literal 0
HcmV?d00001

diff --git a/src/resources/res.qrc b/src/resources/res.qrc
index 424cc77..81a54a3 100644
--- a/src/resources/res.qrc
+++ b/src/resources/res.qrc
@@ -37,5 +37,7 @@
         <file>images/play1.75X.png</file>
         <file>images/play1X.png</file>
         <file>images/play2X.png</file>
+        <file>images/c.png</file>
+        <file>images/circle.png</file>
     </qresource>
 </RCC>
diff --git a/src/streamaddrsettingsdlg.cpp b/src/streamaddrsettingsdlg.cpp
index 564e61f..42b6380 100644
--- a/src/streamaddrsettingsdlg.cpp
+++ b/src/streamaddrsettingsdlg.cpp
@@ -14,6 +14,7 @@ StreamAddrSettingsDlg::StreamAddrSettingsDlg(QWidget *parent)
     uavTypeList.append("FP981C");
     uavTypeList.append("FP981CS");
     uavTypeList.append("FP981A");
+    uavTypeList.append("四医大");
     ui->uavTypeCombox->insertItems(0, uavTypeList);
     //
     ui->pushStreamIPCombox->insertItem(0, QStringLiteral("航天飞鹏服务器"));
@@ -157,3 +158,11 @@ void StreamAddrSettingsDlg::on_pushStreamBtn_clicked() {
 
     ui->pushStreamBtn->setDisabled(false);
 }
+
+void StreamAddrSettingsDlg::on_uavTypeCombox_activated(int index)
+{
+    qDebug() << index;
+    g_networkSettingInfo->setValue("NetworkStreamSettings/uavType",
+        ui->uavTypeCombox->currentIndex());
+    emit sendUavTypeIndex(index);
+}
diff --git a/src/streamaddrsettingsdlg.h b/src/streamaddrsettingsdlg.h
index 4cfbc2c..25a1517 100644
--- a/src/streamaddrsettingsdlg.h
+++ b/src/streamaddrsettingsdlg.h
@@ -22,6 +22,7 @@ protected:
 signals:
     void startPullStreamSignal(bool bPull);
     void startPushStreamSignal(bool bPush);
+    void sendUavTypeIndex(int index);
 
 private slots:
     void on_pushStreamIPCombox_currentIndexChanged(int index);
@@ -32,6 +33,8 @@ private slots:
 
     void on_pushStreamBtn_clicked();
 
+    void on_uavTypeCombox_activated(int index);
+
 private:
     void initSavedParms();
     void saveParms();
diff --git a/src/utils/CUdpSocket.cpp b/src/utils/CUdpSocket.cpp
new file mode 100644
index 0000000..c256dcb
--- /dev/null
+++ b/src/utils/CUdpSocket.cpp
@@ -0,0 +1,74 @@
+#include "CUdpSocket.h"
+
+CUdpSocket::CUdpSocket(QObject* parent) : QObject(parent)
+{
+    //创建UDP套接字内存空间
+    m_sock = new QUdpSocket;
+    // 连接数据读取信号槽
+    connect(m_sock, &QUdpSocket::readyRead, this, &CUdpSocket::on_readyReadData);
+}
+
+CUdpSocket::~CUdpSocket()
+{
+    // 释放UDP套接字内存空间
+    m_sock->close();
+    delete m_sock;
+}
+
+bool CUdpSocket::bind(QString ip, ushort port)
+{
+    // 返回绑定函数返回值
+     
+    if (!m_sock->bind(QHostAddress(ip), port))
+    {
+        qDebug() << "Bind failed:" << m_sock->errorString();
+        isSocketBind = false;
+        return false;
+    }
+    isSocketBind = true;
+    return true;
+}
+
+void CUdpSocket::sendData(QByteArray data)
+{
+    // 发送传入的数据到指定的信息的位置
+    if (isSocketBind)
+    {
+        m_sock->writeDatagram(data, m_hostAddr, m_port);
+    }
+}
+
+void CUdpSocket::setTargetInfo(QString ip, quint16 port)
+{
+    // 存储传入的IP和端口号
+    m_hostAddr = QHostAddress(ip);
+    m_port = port;
+}
+
+bool CUdpSocket::close()
+{
+    m_sock->close();
+    if (m_sock->state() == QUdpSocket::UnconnectedState) {
+        qDebug() << "Socket 已成功关闭";
+        return true;
+    }
+  
+    qDebug() << "Socket 关闭失败，当前状态:" << m_sock->state();
+    return false;
+}
+
+void CUdpSocket::on_readyReadData()
+{
+    // 通过函数判断当前是否有等待读取的数据并循环获取
+    while (m_sock->hasPendingDatagrams())
+    {
+        //创建数据存储容器，并设置长度为将接收的数据长度
+        QByteArray data;
+        data.resize(m_sock->pendingDatagramSize());
+        //读取数据并保存信息发送者的地址和ip(方便发送时指定发送位置)
+        m_sock->readDatagram(data.data(), data.size(), &m_hostAddr, &m_port);
+        //发送接收数据的信号
+        emit recvDataSignal(data);
+    }
+}
+
diff --git a/src/utils/CUdpSocket.h b/src/utils/CUdpSocket.h
new file mode 100644
index 0000000..5d4865d
--- /dev/null
+++ b/src/utils/CUdpSocket.h
@@ -0,0 +1,41 @@
+#ifndef CUDPSOCKET_H
+#define CUDPSOCKET_H
+
+#include <QObject>
+#include <QUdpSocket>
+#include <QHostAddress>
+class CUdpSocket : public QObject
+{    Q_OBJECT
+public:    
+    explicit CUdpSocket(QObject* parent = nullptr);    
+    ~CUdpSocket();   
+
+    //绑定本机的ip和端口号信息    
+    bool bind(QString ip, ushort port);  
+
+    //通过该函数发送数据    
+    void sendData(QByteArray data);
+
+    //设置目标主机的ip和端口号    
+    void setTargetInfo(QString ip, quint16 port);
+
+    //关闭socket
+    bool close();
+
+signals:    
+    //通过该信号传递接收到的数据    
+    void recvDataSignal(QString data);
+
+public slots:    
+    //读取数据的槽函数    
+    void on_readyReadData();
+
+private:    
+    QUdpSocket*     m_sock;         //UDP套接字指针    
+    QHostAddress    m_hostAddr;     //保存目标的地址对象    
+    quint16         m_port;         //保存目标的端口号(类型一致)
+
+    bool isSocketBind{false};       //数据绑定成功or失败
+};
+
+#endif
\ No newline at end of file
diff --git a/src/utils/protocolPodTJ.cpp b/src/utils/protocolPodTJ.cpp
new file mode 100644
index 0000000..30c19f0
--- /dev/null
+++ b/src/utils/protocolPodTJ.cpp
@@ -0,0 +1,123 @@
+#include "protocolPodTJ.h"
+
+QByteArray ProtocolPodTJ::encode(const QByteArray& cmd, const QByteArray& loadData)
+{
+    QByteArray buffer;
+
+    // ֡ͷ
+    buffer.append(0xFB);
+    buffer.append(0x2C);
+    buffer.append(0xAA);
+
+    // ֡����ָ��2�ֽ� + ���ݣ�
+    quint8 length = 2 + loadData.size();
+    buffer.append(length);
+
+    // ָ���λ��ǰ��
+    buffer.append(cmd);
+
+    // ������
+    buffer.append(loadData);
+
+    // У�飨��֡����ʼ �����һ�������ֽڣ�
+    quint8 xorSum = calculateXOR(buffer, 3, buffer.size() - 1);
+    buffer.append(xorSum);
+
+    return buffer;
+}
+
+QByteArray ProtocolPodTJ::cmdLeft(uint16_t sliderValue)
+{
+    QByteArray param(4, 0x00);
+    //С����ǰ
+    param[0] = -sliderValue & 0xFF;
+    param[1] = ((-sliderValue >> 8) & 0xFF);
+    return param;
+}
+
+QByteArray ProtocolPodTJ::cmdRight(uint16_t sliderValue)
+{
+    QByteArray param(4, 0x00);
+    //С����ǰ
+    param[0] = sliderValue & 0xFF;
+    param[1] = ((sliderValue >> 8) & 0xFF);
+    return param;
+}
+
+QByteArray ProtocolPodTJ::cmdUp(uint16_t sliderValue)
+{
+    QByteArray param(4, 0x00);
+    //С����ǰ
+    param[2] = sliderValue & 0xFF;
+    param[3]= ((sliderValue >> 8) & 0xFF);
+    return param;
+}
+
+QByteArray ProtocolPodTJ::cmdDown(uint16_t sliderValue)
+{
+    QByteArray param(4, 0x00);
+    //С����ǰ
+    param[2] = -sliderValue & 0xFF;
+    param[3] = ((-sliderValue >> 8) & 0xFF);
+    return param;
+}
+
+QByteArray ProtocolPodTJ::cmdZoom(uint8_t model, uint8_t speed)
+{
+    QByteArray param(4, 0x00);
+    //С����ǰ
+    param[0] = model;
+    param[1] = speed;
+    return param;
+}
+
+QByteArray ProtocolPodTJ::cmdLaser(uint8_t fre)
+{
+    QByteArray param(4, 0x00);
+    //С����ǰ
+    param[0] = fre;
+    return param;
+}
+
+QByteArray ProtocolPodTJ::digitalGuid(uint8_t directionAngle, uint8_t pitchAngle)
+{
+    QByteArray param(4, 0x00);
+    //С����ǰ
+    param[0] = (directionAngle * 100) & 0xFF;
+    param[1] = (((directionAngle * 100) >> 8) & 0xFF);
+    param[2] = (pitchAngle * 100) & 0xFF;
+    param[3] = (((pitchAngle * 100) >> 8) & 0xFF);
+    return param;
+}
+
+QByteArray ProtocolPodTJ::cmdServo(int pointX, int pointY)
+{
+    QByteArray param(4, 0x00);
+    //С����ǰ
+    param[0] = pointX & 0xFF;
+    param[1] = ((pointX >> 8) & 0xFF);
+    param[2] = pointY & 0xFF;
+    param[3] = ((pointY >> 8) & 0xFF);
+    return param;
+}
+
+QByteArray ProtocolPodTJ::targetTracking(uint16_t dir, uint16_t pitch)
+{
+    QByteArray param(4, 0x00);
+    //С����ǰ
+    param[0] = dir & 0xFF;
+    param[1] = ((dir >> 8) & 0xFF);
+    param[2] = pitch & 0xFF;
+    param[3] = ((pitch >> 8) & 0xFF);
+    return param;
+}
+
+//������
+quint8 ProtocolPodTJ::calculateXOR(const QByteArray& data, int begin, int end)
+{
+    quint8 xorVal = 0;
+    for (int i = begin; i <= end; ++i) {
+        xorVal ^= static_cast<quint8>(data[i]);
+    }
+    return xorVal;
+}
diff --git a/src/utils/protocolPodTJ.h b/src/utils/protocolPodTJ.h
new file mode 100644
index 0000000..0caab4d
--- /dev/null
+++ b/src/utils/protocolPodTJ.h
@@ -0,0 +1,28 @@
+#include <QByteArray>
+class ProtocolPodTJ
+{
+public:
+	static QByteArray encode(const QByteArray& cmd, const QByteArray& loadData = QByteArray::fromHex("00000000"));
+
+	
+public:
+	//����ָ��
+    QByteArray cmdLeft(uint16_t sliderValue);
+    QByteArray cmdRight(uint16_t sliderValue);
+    QByteArray cmdUp(uint16_t sliderValue);
+    QByteArray cmdDown(uint16_t sliderValue);
+    QByteArray cmdZoom(uint8_t model, uint8_t speed);
+    QByteArray cmdLaser(uint8_t fre);
+
+    //��������
+    QByteArray digitalGuid(uint8_t directionAngle, uint8_t pitchAngle);
+
+    //�ŷ�����
+    QByteArray cmdServo(int pointX, int pointY);
+
+    //Ŀ�����
+    QByteArray targetTracking(uint16_t dir, uint16_t pitch);
+
+private:
+	static quint8 calculateXOR(const QByteArray& data, int begin, int end);
+};
diff --git a/src/utils/switchbutton.cpp b/src/utils/switchbutton.cpp
new file mode 100644
index 0000000..347cd3e
--- /dev/null
+++ b/src/utils/switchbutton.cpp
@@ -0,0 +1,201 @@
+#include "switchbutton.h"
+#include <QDebug>
+
+WBSwitchButton::WBSwitchButton(QWidget* parent)
+    : QWidget{ parent }
+{
+
+}
+
+bool WBSwitchButton::getSwitch() {
+    return mOnOff;
+}
+
+void WBSwitchButton::setSwitch(bool onoff) {
+    if (mWaitSigModel) return;
+    /// ״̬�л�
+    mOnOff = onoff;
+    /// �����ź�
+    sigSwitchChanged(mOnOff);
+    /// ����-������ɫ
+    QPropertyAnimation* colorAnimation = new QPropertyAnimation(this, "pBackColor");
+    colorAnimation->setDuration(mAnimationPeriod);
+    colorAnimation->setStartValue(mBackColor);
+    colorAnimation->setEndValue(mOnOff ? mBackOnColor : mBackOffColor);
+    colorAnimation->start(QAbstractAnimation::DeletionPolicy::DeleteWhenStopped);   //ֹͣ��ɾ��
+    /// ����-���ذ�ťλ��
+    QVariantAnimation* posAnimation = new QVariantAnimation(this);
+    posAnimation->setDuration(mAnimationPeriod);
+    posAnimation->setStartValue(mButtonRect.topLeft());
+    posAnimation->setEndValue(mOnOff ? mRightPos : mLeftPos);
+    connect(posAnimation, &QPropertyAnimation::valueChanged, [=](const QVariant& value) {
+        mButtonRect.moveTo(value.toPointF());
+        update();
+        });
+    posAnimation->start(QAbstractAnimation::DeletionPolicy::DeleteWhenStopped);   //ֹͣ��ɾ��
+}
+
+void WBSwitchButton::setSwitchForWaitModel(bool onoff)
+{
+    if (!mWaitSigModel) return;
+    if (mOnOff == onoff) {
+        /// ��ʾֵδ�ı������а�ťλ�ö���
+        QVariantAnimation* posAnimation = new QVariantAnimation(this);
+        posAnimation->setDuration(mAnimationPeriod);
+        posAnimation->setStartValue(mOnOff ? mLeftPos : mRightPos);
+        posAnimation->setEndValue(mOnOff ? mRightPos : mLeftPos);
+        connect(posAnimation, &QVariantAnimation::valueChanged, [=](const QVariant& value) {
+            mButtonRect.moveTo(value.toPointF());
+            update();
+            });
+        posAnimation->start(QAbstractAnimation::DeletionPolicy::DeleteWhenStopped);   //ֹͣ��ɾ��
+        return;
+    }
+    /// ״̬�л�
+    mOnOff = onoff;
+    /// �����ź�
+    sigSwitchChanged(mOnOff);
+    /// �����б�����ɫ����
+    QPropertyAnimation* colorAnimation = new QPropertyAnimation(this, "pBackColor");
+    colorAnimation->setDuration(mAnimationPeriod);
+    colorAnimation->setStartValue(mBackColor);
+    colorAnimation->setEndValue(mOnOff ? mBackOnColor : mBackOffColor);
+    colorAnimation->start(QAbstractAnimation::DeletionPolicy::DeleteWhenStopped);   //ֹͣ��ɾ��
+    connect(colorAnimation, &QPropertyAnimation::valueChanged, [=](const QVariant& value) {
+        update();
+        });
+}
+
+void WBSwitchButton::setEnabled(bool enable) {
+    QWidget::setEnabled(enable);
+    mEnable = enable;
+    emit sigEnableChanged(mEnable);
+    update();
+}
+
+bool WBSwitchButton::getEnabled()
+{
+    return mEnable;
+}
+
+void WBSwitchButton::setAnimationPeriod(int period) {
+    mAnimationPeriod = period;
+}
+
+void WBSwitchButton::setPrecisionClick(bool flag) {
+    mPrecisionClickFlagh = flag;
+}
+
+void WBSwitchButton::setWaitModel(bool flag)
+{
+    mWaitSigModel = flag;
+}
+
+void WBSwitchButton::setButtonColor(QColor color) {
+    mButtonColor = color;
+    update();
+}
+
+void WBSwitchButton::setBackOnColor(QColor color) {
+    mBackOnColor = color;
+    update();
+}
+
+void WBSwitchButton::setBackOffColor(QColor color) {
+    mBackOffColor = color;
+    update();
+}
+
+void WBSwitchButton::setEdgeColor(QColor color) {
+    mEdgeColor = color;
+    update();
+}
+
+void WBSwitchButton::paintEvent(QPaintEvent* event) {
+    Q_UNUSED(event)
+        QPainter painter(this);
+    painter.setRenderHint(QPainter::Antialiasing, true);
+    painter.setPen(Qt::NoPen);
+
+    /// ���Ʊ�Ե��ɫ
+    QPainterPath path;
+    path.addRect(this->rect());
+    path.addRoundedRect(this->rect(), mRadius, mRadius);
+    path.setFillRule(Qt::OddEvenFill);
+    painter.setBrush(mEdgeColor);
+    painter.drawPath(path);
+
+    /// ���Ʊ�����ɫ
+    painter.setBrush(mBackColor);
+    painter.drawRoundedRect(this->rect(), mRadius, mRadius);
+
+    /// ����Բ�ΰ�ť
+    painter.setBrush(mButtonColor);
+    painter.drawEllipse(mButtonRect);
+
+    /// ���ư�ť��Ӱ
+    painter.setBrush(Qt::NoBrush);
+    QColor color(Qt::black);
+    int count = (this->height() - mButtonRect.height()) / 2;
+    float stepColor = (0.15 - 0.0) / count;
+    for (int i = mButtonRect.height() / 2 + 1; i < this->height() / 2; i++) {
+        color.setAlphaF(0.15 - stepColor * (i - mButtonRect.height() / 2));
+        painter.setPen(color);
+        painter.drawEllipse(mButtonRect.center(), i, i);
+    }
+
+    /// ʧ����ʾ������һ���ɲ�
+    if (!mEnable) {
+        QColor disable(Qt::black);
+        disable.setAlphaF(0.5);
+        painter.setBrush(disable);
+        painter.drawRoundedRect(this->rect(), mRadius, mRadius);
+    }
+}
+
+void WBSwitchButton::resizeEvent(QResizeEvent* event) {
+    Q_UNUSED(event)
+        /// ���°�ť��С��Բ�Ǵ�С����������λ��
+        int size = qMin(this->width(), this->height());
+    mRadius = size / 2;
+    float width = size * 3 / 4;
+    float border = (size - width) / 2;
+    mLeftPos = QPoint(border, border);
+    mRightPos = QPoint(this->width() - border - width, border);
+    mButtonRect.setWidth(width);
+    mButtonRect.setHeight(width);
+    mButtonRect.moveTo(mOnOff ? mRightPos : mLeftPos);
+    mBackColor = mOnOff ? mBackOnColor : mBackOffColor;
+    update();
+}
+
+void WBSwitchButton::mouseReleaseEvent(QMouseEvent* event) {
+    if (mWaitSigModel) {
+        /// �����а�ťλ�ö���
+        QVariantAnimation* posAnimation = new QVariantAnimation(this);
+        posAnimation->setDuration(mAnimationPeriod);
+        posAnimation->setStartValue(mOnOff ? mRightPos : mLeftPos);
+        posAnimation->setEndValue(mOnOff ? mLeftPos : mRightPos);
+        connect(posAnimation, &QVariantAnimation::valueChanged, [=](const QVariant& value) {
+            mButtonRect.moveTo(value.toPointF());
+            update();
+            });
+        posAnimation->start(QAbstractAnimation::DeletionPolicy::DeleteWhenStopped);   //ֹͣ��ɾ��
+        return;
+    }
+    if (!mEnable)    return;
+    if (mButtonRect.contains(event->pos()) || !mPrecisionClickFlagh) {
+        setSwitch(!mOnOff);
+    }
+}
+
+void WBSwitchButton::enterEvent(QEvent* event) {
+    Q_UNUSED(event)
+        mHover = true;
+}
+
+void WBSwitchButton::leaveEvent(QEvent* event) {
+    Q_UNUSED(event)
+        mHover = false;
+}
+
diff --git a/src/utils/switchbutton.h b/src/utils/switchbutton.h
new file mode 100644
index 0000000..df71292
--- /dev/null
+++ b/src/utils/switchbutton.h
@@ -0,0 +1,70 @@
+#ifndef WBSWITCHBUTTON_H
+#define WBSWITCHBUTTON_H
+
+#include <QWidget>
+#include <QPropertyAnimation>
+#include <QPainterPath>
+#include <QPainter>
+#include <QRadialGradient>
+#include <QMouseEvent>
+
+///
+/// \brief 基础控件-Switch开关按钮
+///
+class WBSwitchButton : public QWidget
+{
+    Q_OBJECT
+public:
+    Q_PROPERTY(QColor pBackColor MEMBER mBackColor)  //新增背景颜色属性,用于动画
+
+        explicit WBSwitchButton(QWidget* parent = nullptr);
+    bool getSwitch();   /// 获取开关状态
+
+public slots:
+    void setSwitch(bool onoff);    /// 设置开关状态,default:0
+    void setEnabled(bool enable);    /// 设置使能状态,default:1
+    bool getEnabled();    /// 获取使能状态
+    void setAnimationPeriod(int period);    /// 设置切换状态周期
+    void setPrecisionClick(bool flag);    /// 设置精确点击，即只有点中按钮的时候才开关
+    void setWaitModel(bool flag);    /// 设置等待模式，点击后不会主动切换开关，需要setSwitch
+    void setSwitchForWaitModel(bool onoff);    /// 设置开关状态,default:0
+
+    void setButtonColor(QColor color);    /// 设置开关（圆形按钮）颜色
+    void setBackOnColor(QColor color);    /// 设置背景颜色-开
+    void setBackOffColor(QColor color);    /// 设置背景颜色-关
+    void setEdgeColor(QColor color);    /// 设置边缘颜色，默认透明
+
+signals:
+    void sigEnableChanged(bool enable);    /// 使能状态变化信号
+    void sigSwitchChanged(bool onoff);    /// 开关状态变化信号
+
+protected:
+    void paintEvent(QPaintEvent* event);
+    void resizeEvent(QResizeEvent* event);
+    void mouseReleaseEvent(QMouseEvent* event);
+    void enterEvent(QEvent* event);
+    void leaveEvent(QEvent* event);
+
+private:
+    bool mOnOff{ 0 };     //开关状态
+    bool mEnable{ 1 };    //使能状态
+    bool mPrecisionClickFlagh{ 0 };   //精确点击标志位
+    bool mWaitSigModel{ 0 };  //等待模式，点击后按钮位置会进行切换，但是颜色需要等待外部信号变动
+    bool mAnimationOnOff{ 1 };    //动画开关，default：1
+    bool mHover{ 0 };
+
+    QColor mButtonColor{ Qt::white };    //开关（圆形按钮）颜色
+    QColor mBackColor{ Qt::red };
+    QColor mEdgeColor{ Qt::transparent };  //边缘颜色
+    QRectF mButtonRect; //开关按钮rect
+    int mRadius{ 8 }; // 开关外观边缘圆角
+
+    int mAnimationPeriod{ 200 };  //动画周期
+    QPointF mRightPos;       // 动画位置-开
+    QPointF mLeftPos;        // 动画位置-关
+    QColor mBackOnColor{ Qt::green };  //背景颜色-开
+    QColor mBackOffColor{ Qt::darkGray };  //背景颜色-关
+};
+
+#endif // WBSWITCHBUTTON_H
+