diff --git a/MapDisplay.pro b/MapDisplay.pro
index ad85b646..7afbe757 100644
--- a/MapDisplay.pro
+++ b/MapDisplay.pro
@@ -13,6 +13,7 @@ SOURCES += \
     angle.cpp \
     bindroutedialog.cpp \
     bindroutetablemodel.cpp \
+    collisiondetectionthread.cpp \
     computeoffsetpositiondialog.cpp \
     displayroutedialog.cpp \
     geocomputation.cpp \
@@ -35,6 +36,7 @@ SOURCES += \
     mycheckbox.cpp \
     plane.cpp \
     plane3d.cpp \
+    realtimepositioninfothread.cpp \
     routeglobalvariant.cpp \
     saveroutedialog.cpp \
     scenecontrol.cpp \
@@ -52,6 +54,7 @@ HEADERS += \
     angle.h \
     bindroutedialog.h \
     bindroutetablemodel.h \
+    collisiondetectionthread.h \
     computeoffsetpositiondialog.h \
     displayroutedialog.h \
     exportsDefine.h \
@@ -74,6 +77,7 @@ HEADERS += \
     mycheckbox.h \
     plane.h \
     plane3d.h \
+    realtimepositioninfothread.h \
     routeglobalvariant.h \
     saveroutedialog.h \
     scenecontrol.h \
@@ -176,11 +180,13 @@ win32{
             DESTDIR = "../../sample/release/x64"
             LIBS += -L"../../sample/release/x64" -lExtensions4Qt
             LIBS += -L"$$PWD/lib/lib_x64" -lerkir
+            LIBS += -L"$$PWD/lib/lib_x64" -lQNotify
             LIBPATH = "../../lib/lib_x64"
         }else{
             DESTDIR = "../release/x86"
             LIBS += -L"../release/x86" -lExtensions4Qt
             LIBS += -L"$$PWD/lib/lib_x64" -lerkir
+            LIBS += -L"$$PWD/lib/lib_x64" -lQNotify
             LIBPATH = "../../lib/lib"
         }
         LIBS += -lSuToolkit \
diff --git a/MapDisplay.pro.user b/MapDisplay.pro.user
index b4847440..e6dc5738 100644
--- a/MapDisplay.pro.user
+++ b/MapDisplay.pro.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 10.0.2, 2023-07-12T13:14:28. -->
+<!-- Written by QtCreator 11.0.0, 2023-07-29T11:34:19. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -76,6 +76,7 @@
     <value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
     <value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
     <value type="int" key="ClangTools.ParallelJobs">4</value>
+    <value type="bool" key="ClangTools.PreferConfigFile">false</value>
     <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
     <valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
     <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
@@ -245,12 +246,11 @@
     <valuelist type="QVariantList" key="CustomOutputParsers"/>
     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+    <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:D:/supermap-iobjectscpp/MyProject/MapDisplay/MapDisplay.pro</value>
     <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey">D:/supermap-iobjectscpp/MyProject/MapDisplay/MapDisplay.pro</value>
-    <value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
     <value type="bool" key="RunConfiguration.UseLibrarySearchPath">true</value>
-    <value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
     <value type="QString" key="RunConfiguration.WorkingDirectory.default">D:/supermap-iobjectscpp/MyProject/build-MapDisplay-Desktop_Qt_5_15_2_MSVC2019_64bit-Release/../../sample/release/x64</value>
    </valuemap>
diff --git a/Resources/Test.png b/Resources/Test.png
new file mode 100644
index 00000000..ed2a0d37
Binary files /dev/null and b/Resources/Test.png differ
diff --git a/Resources/WarningLevel1.png b/Resources/WarningLevel1.png
new file mode 100644
index 00000000..ad92a38b
Binary files /dev/null and b/Resources/WarningLevel1.png differ
diff --git a/Resources/WarningLevel2.png b/Resources/WarningLevel2.png
new file mode 100644
index 00000000..d17c167e
Binary files /dev/null and b/Resources/WarningLevel2.png differ
diff --git a/Resources/WarningLevel3.png b/Resources/WarningLevel3.png
new file mode 100644
index 00000000..41b63d03
Binary files /dev/null and b/Resources/WarningLevel3.png differ
diff --git a/bin/bin_x64/QNotify.dll b/bin/bin_x64/QNotify.dll
new file mode 100644
index 00000000..505e5f69
Binary files /dev/null and b/bin/bin_x64/QNotify.dll differ
diff --git a/collisiondetectionthread.cpp b/collisiondetectionthread.cpp
new file mode 100644
index 00000000..ac1caa1a
--- /dev/null
+++ b/collisiondetectionthread.cpp
@@ -0,0 +1,275 @@
+#include "collisiondetectionthread.h"
+#include "qdebug.h"
+#include <QPointF>
+
+//#pragma execution_character_set("utf-8")
+
+CollisionDetectionThread::CollisionDetectionThread(QMapControl* pMapControl,QObject *parent)
+    : QObject{parent}
+{
+//    trayIcon = new QSystemTrayIcon(this);
+
+    this->detectFlag = false;
+    this->endFlag = false;
+    this->pMapControl = pMapControl;
+    this->ms = 1000;
+
+    this->collisionX = -1;
+    this->collisionY = -1;
+
+    resetWarning();
+}
+
+CollisionDetectionThread::~CollisionDetectionThread()
+{
+//    delete trayIcon;
+
+}
+
+//执行地形碰撞检测子线程逻辑
+void CollisionDetectionThread::working(double lon,double lat,double relativeAlititude,double heading,double speed)
+{
+    double detectDist = speed * 60;//计算探测距离
+    int offsetDist = 10; //偏移距离，考虑到左右机翼长度
+    //计算当前坐标点垂直左右偏点
+    QPointF curLPointOffset = geoComputation.getDestinationPoint(lon,lat,heading-90,offsetDist);
+    QPointF curRPointOffset = geoComputation.getDestinationPoint(lon,lat,heading+90,offsetDist);
+
+    QList<QPointF> ptList;
+    ptList.append(curLPointOffset);
+    ptList.append(QPointF(lon,lat));
+    ptList.append(curRPointOffset);
+
+    double collisionDistance = -1;
+    QPointF collisionPt;
+    double collisionAlititude;
+    foreach(QPointF pt,ptList)
+    {
+        QPointF destPt = geoComputation.getDestinationPoint(pt.x(),pt.y(),heading,detectDist);
+        UGPoint2D pntView(pt.x(),pt.y());//观察点
+        UGPoint2D pntObject(destPt.x(),destPt.y()); //目标点
+        UG3DAnalyst::SingleResult* result = spatialAnalysis.DoublePointVisibility(pMapControl,pntView,pntObject,relativeAlititude);
+        if(!result->bVisible)
+        {
+            //计算碰撞距离
+            double tmpDist = geoComputation.getSphericalDistance(pt.x(),pt.y(),result->pnt3D.x,result->pnt3D.y);
+            if(collisionDistance<0)
+            {
+                collisionDistance = tmpDist;
+                collisionPt.setX(result->pnt3D.x);
+                collisionPt.setY(result->pnt3D.y);
+                collisionAlititude = result->pnt3D.z;
+            }
+            else if(tmpDist<collisionDistance)
+            {//获取距离最近的一个碰撞点
+                collisionDistance = tmpDist;
+                collisionPt.setX(result->pnt3D.x);
+                collisionPt.setY(result->pnt3D.y);
+                collisionAlititude = result->pnt3D.z;
+            }
+        }
+    };
+
+    if(collisionDistance<0) return;
+    else
+    {
+        double collisionLon = collisionPt.x();
+        double collisionLat = collisionPt.y();
+//        qDebug()<<"*******curLon:"<<QString::number(lon,'f',6)<<" curLat:"<<QString::number(lat,'f',6)<<" collisionLon:"<<QString::number(collisionLon,'f',6)<<" collisionLat:"<<QString::number(collisionLat,'f',6);
+        //判断是否同一碰撞点，不是的话进行预警重置
+        if(!isIdenticalCollisionPoint(collisionLon,collisionLat)) resetWarning();
+        //预警逻辑实现
+        int collisionTime = collisionDistance/speed;
+        /***********************预警提示**************************/
+        showWarningNotify(collisionTime,collisionDistance,collisionAlititude);
+    }
+
+    /*
+    //计算目标点
+    QPointF destPoint = geoComputation.getDestinationPoint(lon,lat,heading,detectDist);
+//    QPointF destLPointOffset = geoComputation.getDestinationPoint(curLPointOffset.x(),curLPointOffset.y(),heading,detectDist);
+//    QPointF destRPointOffset = geoComputation.getDestinationPoint(curRPointOffset.x(),curRPointOffset.x(),heading,detectDist);
+//    qDebug()<<"*******lon:"<<QString::number(destPoint.x(),'f',6)<<" lat:"<<QString::number(destPoint.y(),'f',6);
+    //进行通视分析
+    UGPoint2D pntView(lon,lat);//观察点
+    UGPoint2D pntObject(destPoint.x(),destPoint.y()); //目标点
+    UG3DAnalyst::SingleResult* result = spatialAnalysis.DoublePointVisibility(pMapControl,pntView,pntObject,relativeAlititude);
+    if(result->bVisible)
+    {//两点通视，无障碍，不做任何处理
+        return;
+    }
+    else
+    {//发现碰撞点，进行预警提示
+        //第一碰撞点
+        double collisionLon = result->pnt3D.x;
+        double collisionLat = result->pnt3D.y;
+        qDebug()<<"*******curLon:"<<QString::number(lon,'f',6)<<" curLat:"<<QString::number(lat,'f',6)<<" collisionLon:"<<QString::number(collisionLon,'f',6)<<" collisionLat:"<<QString::number(collisionLat,'f',6);
+        //判断是否同一碰撞点，不是的话进行预警重置
+        if(!isIdenticalCollisionPoint(collisionLon,collisionLat)) resetWarning();
+
+        //计算碰撞距离(m)
+        double collisionDistance = geoComputation.getSphericalDistance(lon,lat,collisionLon,collisionLat);
+        //预警逻辑实现
+        int collisionTime = collisionDistance/speed;
+        //预警提示
+        showWarningNotify(collisionTime,collisionDistance,result->pnt3D.z);
+    }
+    */
+//    this->detectFlag = false;
+}
+
+void CollisionDetectionThread::start(int ms)
+{
+    emit requestPositionInfo(ms);
+}
+
+//接收飞机位置信息
+void CollisionDetectionThread::receiveLocationData(QList<double> lon,QList<double> lat,QList<double> relativeAlititude,
+                                                   QList<double> heading,QList<double> speed)
+{
+//    this->currentLat1 = currentLat1;
+//    this->currentLon1 = currentLon1;
+//    this->heading = heading;
+//    this->relativeAltitude = relativeAltitude;
+//    this->speed = speed;
+//    qDebug()<<"*********************Lon:"<<lon.takeLast();
+    if(lon.isEmpty()) return;
+    for(int i=0;i<lon.size();i++)
+    {
+        working(lon.at(i),lat.at(i),relativeAlititude.at(i),heading.at(i),speed.at(i));
+    }
+    //    this->detectFlag = true;
+}
+
+//关闭线程
+void CollisionDetectionThread::closedCollisionDetection()
+{
+    emit stopSendData();//通知RealTimePositionInfoThread停止发送数据
+}
+
+//判断是否同一碰撞点
+bool CollisionDetectionThread::isIdenticalCollisionPoint(double collisionLon,double collisionLat)
+{
+    UGPoint2D pt(collisionLon,collisionLat);
+    UGDatasetRasterPtr datasetRaster = pMapControl->getDemDataSet(pt);
+    UGPoint pntImg;
+    datasetRaster->XYToImg(pt,pntImg);
+    datasetRaster = NULL;
+//    qDebug()<<"**************x:"<<pntImg.x<<" y:"<<pntImg.y;
+//    qDebug()<<"*****collisionX:"<<this->collisionX<<" y:"<<this->collisionY;
+//    if(this->collisionX == pntImg.x && this->collisionY==pntImg.y)
+//    {//同一碰撞点
+//        qDebug()<<"**************true:";
+//        return true;
+//    }
+    if(abs(this->collisionX - pntImg.x)<=1 && abs(this->collisionY-pntImg.y)<=1)//设置1像素的容差
+    {//同一碰撞点
+        qDebug()<<"**************true:";
+        return true;
+    }
+    else
+    {//不是同一碰撞点，更新碰撞点记录
+//        qDebug()<<"******imgX:"<<pntImg.x<<" collisionX:"<<this->collisionX<<" imgY:"<<pntImg.y<<" collisionY:"<<this->collisionY;
+        this->collisionX = pntImg.x;
+        this->collisionY = pntImg.y;
+        return false;
+    }
+}
+
+//重置预警
+void CollisionDetectionThread::resetWarning()
+{
+    this->highWarning = false;
+    this->middleWarning = false;
+    this->lowWarning = false;
+}
+
+//显示预警通知
+void CollisionDetectionThread::showWarningNotify(int collisionTime,int collisionDist,int collisionHeight)
+{
+//    qDebug()<<"*************************showWarningNotify:";
+    QString title;
+    QString message = "";
+//    QString message = QString(u8"前方大约") + QString::number(collisionTime) + QString("s ") + QString(u8"后有") + QString::number(collisionHeight) + QString("m ") + QString("地形障碍物 ");
+    message += "前方" + QString::number(collisionDist) + "m存在高度为" + QString::number(collisionHeight) + "m的地形障碍物;"
+               + "大约" + QString::number(collisionTime) + "s到达;" + "请尽快提高飞行高度!";
+//    qDebug()<<"*************************message:"<<message;
+    QVariantMap data;
+    if(collisionTime>40)
+    {
+        if(lowWarning) return;
+        title = "三级碰撞黄色警告!";
+        data["icon"] = ":/Resources/WarningLevel3.png";
+        qDebug()<<"*********message3:"<<message;
+        emit showNotify(title,message,data);
+        this->lowWarning = true;
+    }else if(collisionTime>20)
+    {
+        if(middleWarning) return;
+        title = "二级碰撞橙色警告!";
+        data["icon"] = ":/Resources/WarningLevel2.png";
+        qDebug()<<"**********message2:"<<message;
+        emit showNotify(title,message,data);
+        this->middleWarning = true;
+    }else if(collisionTime<=20)
+    {
+        if(highWarning) return;
+        title = "一级碰撞红色警告!";
+        data["icon"] = ":/Resources/WarningLevel1.png";
+        qDebug()<<"***********message1:"<<message;
+        emit showNotify(title,message,data);
+        this->highWarning = true;
+    }
+//    notifyManager->notify(title,message,data);
+}
+
+
+
+/********************************测试线程:发送飞机实时位置************************************/
+SendDataTestThread::SendDataTestThread(QObject *parent): QObject{parent}
+{
+
+}
+
+void SendDataTestThread::working()
+{
+//    qDebug()<<"***************************SendDataTestThread";
+
+    pt.setX(119.668);
+    pt.setY(32.23);
+//    int i = 0;
+
+    m_timer = new QTimer;
+    connect(m_timer,&QTimer::timeout,this,[=](){
+        generateData();
+        emit sendPositionData(lon,lat,relativeAlititude,heading,speed);
+    });
+    m_timer->start(200);
+
+}
+
+void SendDataTestThread::stopGenerateData()
+{
+    m_timer->stop();
+    delete m_timer;
+//    this->deleteLater();
+    qDebug()<<"*******************************stopGenerateData";
+}
+
+void SendDataTestThread::generateData()
+{
+//    qDebug() << "SendDataTestThread address: " << QThread::currentThread();
+    lon.clear();
+    lat.clear();
+    heading.clear();
+    speed.clear();
+    relativeAlititude.clear();
+
+    pt = geoComputation.getDestinationPoint(pt.x(),pt.y(),90,4);
+//    qDebug()<<"***********lon:"<<QString::number(pt.x(),'f',6)<<" lat:"<<QString::number(pt.y(),'f',6);
+    lon.append(pt.x());
+    lat.append(pt.y());
+    heading.append(90);
+    speed.append(20);
+    relativeAlititude.append(90);
+}
diff --git a/collisiondetectionthread.h b/collisiondetectionthread.h
new file mode 100644
index 00000000..30d4dc76
--- /dev/null
+++ b/collisiondetectionthread.h
@@ -0,0 +1,122 @@
+
+#ifndef COLLISIONDETECTIONTHREAD_H
+#define COLLISIONDETECTIONTHREAD_H
+/*
+ * @cbwu
+ * @brief 基于地形的碰撞检测子线程
+ */
+
+//#if _MSC_VER >= 1600
+//#pragma execution_character_set("utf-8")
+//#endif
+
+#include <QApplication>
+#include <QObject>
+#include <QIcon>
+#include <QSystemTrayIcon>
+#include <QList>
+#include <QTimer>
+#include <QThread>
+#include "qmapcontrol.h"
+#include "geocomputation.h"
+#include "geospatialanalysis.h"
+#include "routeglobalvariant.h"
+
+class CollisionDetectionThread : public QObject
+{
+    Q_OBJECT
+public:
+    explicit CollisionDetectionThread(QMapControl* pMapControl,QObject *parent = nullptr);
+    ~CollisionDetectionThread();
+    //执行子线程业务逻辑
+    void working(double lon,double lat,double relativeAlititude,double heading,double speed);
+
+    void start(int ms);
+
+public slots:
+    //接收飞机状态信息
+    void receiveLocationData(QList<double> lon,QList<double> lat,QList<double> relativeAlititude,
+                             QList<double> heading,QList<double> speed);
+    //停止检测
+    void closedCollisionDetection();
+
+signals:
+    void requestPositionInfo(int ms);//请求接收数据
+    void stopSendData();//停止接收数据
+    void showNotify(QString title,QString body,QVariantMap data);
+private:
+    //判断是否同一碰撞点
+    bool isIdenticalCollisionPoint(double collisionLon,double collisionLat);
+
+    //重置预警
+    void resetWarning();
+
+    //显示预警通知
+    void showWarningNotify(int collisionTime,int collisionDist,int collisionHeight);
+
+private:
+    int ms; //探测时间间隔
+
+//    double currentLon1; //飞机当前经度
+//    double currentLat1; //飞机当前纬度
+//    double heading;  //航向角
+//    double relativeAltitude; //相对高度
+//    double speed;//飞行速度(m/s)
+//    const double detectDist = 500;  //探测距离
+    QMapControl* pMapControl;
+    GeoComputation geoComputation;
+    GeoSpatialAnalysis spatialAnalysis;
+
+    //历史碰撞点
+    int collisionX;
+    int collisionY;
+    //预警等级
+    bool highWarning;
+    bool middleWarning;
+    bool lowWarning;
+
+//    QSystemTrayIcon *trayIcon;
+//    QIcon icon;
+
+    //探测标志
+    bool detectFlag;
+    bool endFlag;
+};
+
+
+
+/********************发数据测试线程**************************/
+class SendDataTestThread : public QObject
+{
+    Q_OBJECT
+public:
+    explicit SendDataTestThread(QObject *parent = nullptr);
+    //    ~SendDataTestThread();
+    //执行子线程业务逻辑
+    void working();
+
+public slots:
+    void stopGenerateData();
+
+private:
+    void generateData();
+
+signals:
+    void sendPositionData(QList<double> lon,QList<double> lat,QList<double> relativeAlititude,
+                          QList<double> heading,QList<double> speed);
+
+    void sendPositionData1(QList<double> lon,QList<double> lat,QList<double> heading);
+
+    void sendTest(int i);
+
+private:
+    QPointF pt;
+    QList<double> lon, lat, heading,speed,relativeAlititude;
+    QTimer* m_timer;
+    bool stopFlag = false;
+    GeoComputation geoComputation;
+};
+
+#endif // COLLISIONDETECTIONTHREAD_H
+
+
diff --git a/geospatialanalysis.cpp b/geospatialanalysis.cpp
index 205223ec..ac33bc55 100644
--- a/geospatialanalysis.cpp
+++ b/geospatialanalysis.cpp
@@ -1,4 +1,4 @@
-
+
 #include "geospatialanalysis.h"
 #include <QMessageBox>
 
@@ -10,8 +10,10 @@ GeoSpatialAnalysis::GeoSpatialAnalysis()
 /*@brief 两点间的可视性
  * @param pntView 观察点
  * @param pntObject 目标点
+ * @param relativeAltitude 飞机相对高度，默认值为0
+ * @tolerance 误差容限
  */
-UG3DAnalyst::SingleResult *GeoSpatialAnalysis::DoublePointVisibility(QMapControl* pMapControl,UGPoint2D pntView, UGPoint2D pntObject)
+UG3DAnalyst::SingleResult *GeoSpatialAnalysis::DoublePointVisibility(QMapControl* pMapControl,UGPoint2D pntView, UGPoint2D pntObject,double relativeAltitude,int tolerance)
 {
     //通过下面的方法首先判断点所在的位置是否存在高程数据；
     UGDatasetRasterPtr viewPtDataset = pMapControl->getDemDataSet(pntView);
@@ -38,21 +40,23 @@ UG3DAnalyst::SingleResult *GeoSpatialAnalysis::DoublePointVisibility(QMapControl
     //高程值需根据x,y查询数据集得到
     //得到当前测量点的高程值
     // 1.首先将坐标点转换为栅格数据集对应的行和列
-    UGPoint pntviewImg;
-    double altitude;
+    UGPoint pntviewImg;//观察点
+    double altitude;//地形高度
     datasetRaster->XYToImg(pntView,pntviewImg);
     altitude = datasetRaster->GetValue(pntviewImg.x,pntviewImg.y);
     pntView3D.x = pntView.x;
     pntView3D.y = pntView.y;
-    pntView3D.z = altitude;
+//    pntView3D.z = altitude + relativeAltitude - tolerance;
+    pntView3D.z = relativeAltitude - tolerance; //用于测试，把相对高度当成海拔高度
 
-    UGPoint pntObjectImg;
-    //坐标点转换为栅格数据集对应的行和列
-    datasetRaster->XYToImg(pntObject,pntObjectImg);
-    altitude = datasetRaster->GetValue(pntObjectImg.x,pntObjectImg.y);
+    //目标点
+//    UGPoint pntObjectImg;
+//    //坐标点转换为栅格数据集对应的行和列
+//    datasetRaster->XYToImg(pntObject,pntObjectImg);
+//    altitude = datasetRaster->GetValue(pntObjectImg.x,pntObjectImg.y);
     pntObject3D.x = pntObject.x;
     pntObject3D.y = pntObject.y;
-    pntObject3D.z = altitude;
+    pntObject3D.z = pntView3D.z;
 
     //进行通视分析查询；
     UG3DAnalyst::SingleResult* result = visAnalsyt.IsVisible(datasetRaster,pntView3D,pntObject3D);
diff --git a/geospatialanalysis.h b/geospatialanalysis.h
index 65a83bc1..25b1db9a 100644
--- a/geospatialanalysis.h
+++ b/geospatialanalysis.h
@@ -22,7 +22,7 @@ public:
     GeoSpatialAnalysis();
 
     //两点间的可视性
-    UG3DAnalyst::SingleResult* DoublePointVisibility(QMapControl* pMapControl,UGPoint2D pntView, UGPoint2D pntObject);
+    UG3DAnalyst::SingleResult* DoublePointVisibility(QMapControl* pMapControl,UGPoint2D pntView, UGPoint2D pntObject,double relativeAltitude=0,int tolerance=0);
 
 private:
 
diff --git a/include/QNotify/ArrangedWidget.h b/include/QNotify/ArrangedWidget.h
new file mode 100644
index 00000000..f34dbced
--- /dev/null
+++ b/include/QNotify/ArrangedWidget.h
@@ -0,0 +1,29 @@
+#ifndef ARRANGEWND_H
+#define ARRANGEWND_H
+
+#include <QWidget>
+#include <QMouseEvent>
+#include <QPropertyAnimation>
+#include "NotifyManager.h"
+#include "QNotify_global.h"
+
+class NotifyManager;
+
+// 排列父界面，为什么要定义这个类，就是要同时作为NotifyWidget和NotifyCountWidget的父类，好让NotifyCountWidget始终在NotifyWidget的上方
+class QNOTIFY_EXPORT ArrangedWidget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit ArrangedWidget(NotifyManager *manager, QWidget *parent = 0);
+    void showArranged(int posIndex); // 根据通知在队列中的索引，来设置其的位置，相当于更新排序
+
+signals:
+    void visibleChanged(bool visible); // 界面可见状态改变的信号
+
+protected:
+    NotifyManager *m_manager;
+    int m_posIndex;
+};
+
+#endif // ARRANGEWND_H
diff --git a/include/QNotify/NotifyManager.h b/include/QNotify/NotifyManager.h
new file mode 100644
index 00000000..0bab2283
--- /dev/null
+++ b/include/QNotify/NotifyManager.h
@@ -0,0 +1,58 @@
+#ifndef NOTIFYMANAGER_H
+#define NOTIFYMANAGER_H
+
+#include <QtCore>
+#include <QApplication>
+#include <QScreen>
+#include "QNotify_global.h"
+
+class NotifyWidget;
+class NotifyCountWidget;
+class QNOTIFY_EXPORT NotifyManager : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit NotifyManager( QObject *parent = 0);
+    void notify(const QString &title, const QString &body, const QVariantMap &data = QVariantMap()); // 弹出通知框
+    void setMaxCount(int count); // 设置通知框的最大数目
+    int displayTime() const; // 获取通知框显示时间
+    void setDisplayTime(int displayTime); // 设置通知框显示时间
+    int animateTime() const; // 获取动画时间
+    void setAnimateTime(int animateTime); // 设置动画时间
+    int spacing() const; // 获取通知框之间的间距
+    void setSpacing(int spacing); // 设置通知框之间的间距
+    QPoint cornerPos() const; // 获取最下面的通知框的右下角坐标
+    void setCornerMargins(int right, int bottom); // 传入边距以设置最下面的通知的右下角坐标
+    QSize notifyWndSize() const; // 获取通知框的尺寸
+    void setNotifyWndSize(int width, int height); // 设置通知框的尺寸
+    QString defaultIcon() const; // 获取默认图标的路径
+    void setDefaultIcon(const QString &defaultIcon); // 设置默认图标
+    QString styleSheet(const QString &theme = "default") const; // 获取指定theme的样式
+    void setStyleSheet(const QString &styleSheet, const QString &theme = "default"); // 设置指定theme的样式
+
+    void setShowQueueCount(bool isShowQueueCount); // 设置是否显示队列的通知数目
+
+signals:
+    void notifyDetail(const QVariantMap &data);
+
+private:
+    void showNext(); // 显示下一条通知
+    void showQueueCount(); // 显示队列的通知数目
+
+    QQueue<QVariantMap> m_dataQueue; // 存放标题栏和内容数据的队列
+    QList<NotifyWidget *> m_notifyList; // 通知框列表
+    NotifyCountWidget *m_notifyCount; // 队列的剩余通知数目界面
+
+    int m_maxCount; // 通知框的最大数目
+    bool m_isShowQueueCount; // 是否显示队列的剩余通知数目
+    int m_displayTime; // 通知框显示时间
+    int m_animateTime; // 动画时间
+    int m_spacing; // 通知框之间的间距
+    QPoint m_cornerPos; // 最下面的通知框的右下角坐标
+    QSize m_notifyWndSize; // 通知框的尺寸
+    QString m_defaultIcon; // 默认图标
+    QMap<QString, QString> m_styleSheets; // 存放多个theme的样式的map
+};
+
+#endif // NOTIFYMANAGER_H
diff --git a/include/QNotify/NotifyWidget.h b/include/QNotify/NotifyWidget.h
new file mode 100644
index 00000000..888a50ea
--- /dev/null
+++ b/include/QNotify/NotifyWidget.h
@@ -0,0 +1,47 @@
+#ifndef NOTIFYWND_H
+#define NOTIFYWND_H
+
+
+#include <QLabel>
+#include <QPushButton>
+#include <QBoxLayout>
+#include <QGraphicsDropShadowEffect>
+#include "ArrangedWidget.h"
+#include "QNotify_global.h"
+
+// 通知框
+class QNOTIFY_EXPORT NotifyWidget : public ArrangedWidget
+{
+    Q_OBJECT
+
+public:
+    explicit NotifyWidget(NotifyManager *manager, QWidget *parent = 0);
+
+    QVariantMap data() const; // 获取数据
+    void setData(const QVariantMap &data); // 设置数据
+
+private:
+    QVariantMap m_data; // 存放数据的map
+    QFrame *m_pFrameBack; // 背景界面
+    QLabel *m_pLabIcon; // 图标标签
+    QLabel *m_pLabTitle; // 标题标签
+    QLabel *m_pLabBody; // 内容标签
+    QPushButton *m_pBtnClose; // 关闭按钮
+};
+
+// 队列中的剩余通知数目
+class QNOTIFY_EXPORT NotifyCountWidget : public ArrangedWidget
+{
+    Q_OBJECT
+
+public:
+    explicit NotifyCountWidget(NotifyManager *manager, QWidget *parent = 0);
+    void setCount(int count); // 设置剩余通知数目
+
+private:
+    QLabel *m_pLabIcon;
+    QLabel *m_pLabCount;
+    QPropertyAnimation *flickerAnim;
+};
+
+#endif // NOTIFYWND_H
diff --git a/include/QNotify/QNotify_global.h b/include/QNotify/QNotify_global.h
new file mode 100644
index 00000000..c673eaa2
--- /dev/null
+++ b/include/QNotify/QNotify_global.h
@@ -0,0 +1,12 @@
+#ifndef QNOTIFY_GLOBAL_H
+#define QNOTIFY_GLOBAL_H
+
+#include <QtCore/qglobal.h>
+
+#if defined(QNOTIFY_LIBRARY)
+#  define QNOTIFY_EXPORT Q_DECL_EXPORT
+#else
+#  define QNOTIFY_EXPORT Q_DECL_IMPORT
+#endif
+
+#endif // QNOTIFY_GLOBAL_H
diff --git a/lib/lib_x64/QNotify.dll b/lib/lib_x64/QNotify.dll
new file mode 100644
index 00000000..505e5f69
Binary files /dev/null and b/lib/lib_x64/QNotify.dll differ
diff --git a/lib/lib_x64/QNotify.exp b/lib/lib_x64/QNotify.exp
new file mode 100644
index 00000000..c7b69957
Binary files /dev/null and b/lib/lib_x64/QNotify.exp differ
diff --git a/lib/lib_x64/QNotify.ilk b/lib/lib_x64/QNotify.ilk
new file mode 100644
index 00000000..9a936cc4
Binary files /dev/null and b/lib/lib_x64/QNotify.ilk differ
diff --git a/lib/lib_x64/QNotify.lib b/lib/lib_x64/QNotify.lib
new file mode 100644
index 00000000..3ed6ec1e
Binary files /dev/null and b/lib/lib_x64/QNotify.lib differ
diff --git a/lib/lib_x64/QNotify.pdb b/lib/lib_x64/QNotify.pdb
new file mode 100644
index 00000000..24e76ed5
Binary files /dev/null and b/lib/lib_x64/QNotify.pdb differ
diff --git a/loadscenedatathread.h b/loadscenedatathread.h
index e8904600..5d4badd2 100644
--- a/loadscenedatathread.h
+++ b/loadscenedatathread.h
@@ -31,7 +31,6 @@ private:
     QStringList terrianPathList;
 
     QMutex m_mutex;
-
 };
 
 #endif // LOADSCENEDATATHREAD_H
diff --git a/main.cpp b/main.cpp
index fd3e5334..4b9da804 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,10 +1,22 @@
-#include "mainwindow.h"
+#include "mainwindow.h"
 
 #include <QApplication>
-
+#include<QMetaType>
+#include <QTextCodec>
+Q_DECLARE_METATYPE(QVector<double>);
 int main(int argc, char *argv[])
 {
+//    QTextCodec::setCodecForLocale(QTextCodec::codecForName("UTF-8"));
     QApplication a(argc, argv);
+
+    qRegisterMetaType<QList<double>>("QList<double>");
+    qRegisterMetaType<QMap<int,QList<double>>>("QMap<int,QList<double>>&");
+
+//    QTextCodec *codec = QTextCodec::codecForName("UTF-8");
+//    QTextCodec::setCodecForTr(codec);
+//    QTextCodec::setCodecForLocale(QTextCodec::codecForLocale());
+//    QTextCodec::setCodecForCStrings(QTextCodec::codecForLocale());
+
     MainWindow w;
     w.show();
     return a.exec();
diff --git a/mainwindow.cpp b/mainwindow.cpp
index 581104b1..5a61f1ce 100644
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -1,12 +1,14 @@
 
 #include "mainwindow.h"
 #include "FileParser/UGModelConfigParams.h"
+#include "collisiondetectionthread.h"
 #include "computeoffsetpositiondialog.h"
 #include "displayroutedialog.h"
 #include "geospatialanalysis.h"
 #include "importscenedatadialog.h"
 #include "maplocationdialog.h"
 #include "qregularexpression.h"
+#include "realtimepositioninfothread.h"
 #include "routeglobalvariant.h"
 #include "ui_mainwindow.h"
 
@@ -33,11 +35,14 @@
 #include <QProgressDialog>
 #include <QRegularExpressionValidator>
 #include <QThreadPool>
+#include <QSystemTrayIcon>
+
 #include "math.h"
 #include "cmath"
 #include "mapdatamaneger.h"
 #include "loadscenedatathread.h"
 #include "symbolresources.h"
+#include "QNotify/NotifyManager.h"
 //三维
 #include "sceneview.h"
 #include "workspace.h"
@@ -102,10 +107,8 @@
 //#include "FileParser/UGFileParserTile.h"
 //#include "FileParser/UGSimpleConfigParams.h"
 //#include "FileParser/UGFileParseVector.h"
-
 #include "Symbol/UGMarkerSymbolLib.h"
 
-#include "erkir/sphericalpoint.h"
 
 //工作空间及数据源默认存储路径及别名
 const QString wsName = "MapWorkspace"; //工作空间别名
@@ -386,26 +389,20 @@ MainWindow::MainWindow(QWidget *parent)
     QString demName = "ASTGTMV003_N32E119_dem";
     qMapControl->addDEMDataset(demName);
 
-    UGPoint2D ptView(119.703784,32.228956);
-    UGPoint2D ptObject(119.707676,32.227302);
-    GeoSpatialAnalysis geoSAnalysis;
-    UG3DAnalyst::SingleResult* result = geoSAnalysis.DoublePointVisibility(qMapControl,ptView,ptObject);
-    if(!result==NULL)
-    {
-        qDebug()<<"*******************bVisible:"<<result->bVisible;
-        qDebug()<<"*******************x:"<<result->pnt3D.x;
-        qDebug()<<"*******************y:"<<result->pnt3D.y;
-        qDebug()<<"*******************z:"<<result->pnt3D.z;
-    }
-
-    erkir::spherical::Point p1{ 52.205, 0.119 };
-    erkir::spherical::Point p2{ 48.857, 2.351 };
-    auto d = p1.distanceTo(p2); // 404.3 km
+//    UGPoint2D ptView(119.708645,32.234523);
+//    UGPoint2D ptObject(119.711544,32.223927);
+//    GeoSpatialAnalysis geoSAnalysis;
+//    UG3DAnalyst::SingleResult* result = geoSAnalysis.DoublePointVisibility(qMapControl,ptView,ptObject,14);
+//    if(!result==NULL)
+//    {
+//        qDebug()<<"*******************bVisible:"<<result->bVisible;
+//        qDebug()<<"*******************x:"<<QString::number(result->pnt3D.x,'f',6);
+//        qDebug()<<"*******************y:"<<QString::number(result->pnt3D.y,'f',6);
+//        qDebug()<<"*******************z:"<<QString::number(result->pnt3D.z,'f',6);
+//    }
 
-    erkir::spherical::Point p3{ 51.4778, -0.0015 };
-    auto dest = p3.destinationPoint(7794.0, 300.7); // 51.5135°N, 000.0983°W
+    qDebug()<<"*******************z:"<<abs(-1);
 
-    qDebug()<<"*******************z:";
     /*
     qDebug()<<"****************:" <<QDir("./").absolutePath();
     UGDatasetVector* dv = (UGDatasetVector*) m_pWorkspace->GetDataSource(0)->GetDataset(line3DSetAlias).get();
@@ -462,6 +459,39 @@ void MainWindow::setupUI(QMainWindow *mainWindow)
 
     //初始化工具条
     initMainToolBar(mainWindow);
+
+    //初始化消息通知对象
+    initNotifyManager();
+}
+
+//全局消息通知对象初始化设置
+void MainWindow::initNotifyManager()
+{
+    notifyManager = new NotifyManager(this);
+    notifyManager->setMaxCount(5);
+    notifyManager->setDisplayTime(3000);
+    notifyManager->setNotifyWndSize(500, 140);
+    notifyManager->setStyleSheet("#notify-background {"
+                               "background: black;"
+                               "}"
+                               "#notify-title{"
+                               "font: bold 24px 微软雅黑;"
+                               "color: #eeeeee;"
+                               "}"
+                               "#notify-body{"
+                               "font: 22px 微软雅黑;"
+                               "color: #dddddd;"
+                               "}"
+                               "#notify-close-btn{ "
+                               "border: 0;"
+                               "color: #999999;"
+                               "}"
+                               "#notify-close-btn:hover{ "
+                               "background: #444444;"
+                               "}", "black");
+//    QVariantMap data;
+//    data["icon"] = ":/Resources/WarningLevel1.png"; // 自定义消息图标，也可传入QPixmap
+//    notifyManager->notify("新消息","前方910m存在高度为126m的地形障碍物;大约45s到达;请尽快提高飞行高度!",data);
 }
 
 //工作空间初始化
@@ -700,6 +730,10 @@ void MainWindow::addMapAction(QMainWindow *mainWindow)
     actionImportData = new QAction(QIcon(":/Resources/import_data.png"),"导入数据",this);
     mainToolBar->addAction(actionImportData);
 
+
+    /*******************************Test*******************************/
+    actionTest = new QAction(QIcon("D:/supermap-iobjectscpp/MyProject/MapDisplay/Resources/Test.png"),"测试",this);
+    mainToolBar->addAction(actionTest);
 }
 
 //添加地图右键菜单QAction
@@ -739,6 +773,9 @@ void MainWindow::addEditToolAction()
 //Map连接信号和槽的函数
 void MainWindow::addMapConnect()
 {
+    connect(actionTest,&QAction::triggered,this,&MainWindow::test);
+    /*********************************以上连接仅用于测试**************************************/
+
     connect(qMapControl,&QMapControl::sendPreviousPoint,inputPosDlg,&ComputeOffsetPositionDialog::acceptPresiousPoint);
     connect(inputPosDlg,&ComputeOffsetPositionDialog::sendComputedPoint,qMapControl,&QMapControl::clickedComputedPoint);
 
@@ -2257,7 +2294,151 @@ void MainWindow::contextMenuEvent(QContextMenuEvent *event)
         sceneRBtnMenu->exec(QCursor::pos());	// 右键菜单被模态显示出来了
     }
 
-//    qDebug()<<"*****************contextMenuEvent:";
+    //    qDebug()<<"*****************contextMenuEvent:";
+}
+
+//启动接收实时位置数据总线程
+void MainWindow::startReceiveRealTimePositionInfoThread()
+{
+    receiveRealTimePositionInfoThread = new QThread;
+    receiveRealTimePositionInfoTask = new RealTimePositionInfoThread;
+    receiveRealTimePositionInfoTask->moveToThread(receiveRealTimePositionInfoThread);
+    receiveRealTimePositionInfoThread->start();
+}
+//关闭接收实时位置数据总线程
+void MainWindow::closeReceiveRealTimePositionInfoThread()
+{
+    receiveRealTimePositionInfoTask->deleteLater();
+    receiveRealTimePositionInfoThread->quit();
+    receiveRealTimePositionInfoThread->wait();
+    receiveRealTimePositionInfoThread->deleteLater();
+}
+
+//启动碰撞检测子线程
+void MainWindow::startCollisionDetectThread(int ms)
+{
+    collisionThread = new QThread;
+    collisionDetectionTask = new CollisionDetectionThread(qMapControl);
+    collisionDetectionTask->moveToThread(collisionThread);
+    collisionThread->start();
+
+    connect(receiveRealTimePositionInfoTask,&RealTimePositionInfoThread::sendCollisionDetectPosInfo,collisionDetectionTask,&CollisionDetectionThread::receiveLocationData);
+    connect(collisionDetectionTask,&CollisionDetectionThread::requestPositionInfo,receiveRealTimePositionInfoTask,&RealTimePositionInfoThread::startSendCollisionDetectionPosInfo);
+    connect(this,&MainWindow::startCollisionDetect,collisionDetectionTask,&CollisionDetectionThread::start);
+    connect(receiveRealTimePositionInfoTask,&RealTimePositionInfoThread::sendCollisionDetectPosInfo,collisionDetectionTask,&CollisionDetectionThread::receiveLocationData);
+    connect(collisionDetectionTask,&CollisionDetectionThread::showNotify,this,&MainWindow::showNotify);
+
+    connect(collisionDetectionTask,&CollisionDetectionThread::closedCollisionDetection,receiveRealTimePositionInfoTask,&RealTimePositionInfoThread::stopSendCollisionDetectionPosInfo);
+
+    emit startCollisionDetect(ms);
+}
+//关闭碰撞检测子线程
+void MainWindow::closeCollisionDetectThread()
+{
+    connect(this,&MainWindow::closeCollisionDetect,collisionDetectionTask,&CollisionDetectionThread::closedCollisionDetection);
+    connect(collisionThread,&QThread::finished,[=](){
+        collisionThread->deleteLater();
+    });
+
+    emit closeCollisionDetect();
+    collisionDetectionTask->deleteLater();//任务对象销毁
+    collisionThread->quit();//结束线程消息循环
+    collisionThread->wait();
+}
+
+//********用于测试*************
+void MainWindow::test()
+{
+    /*
+    QTimer* sendData = new QTimer;
+    sendData->setInterval(200);
+//    QPointF pt;
+    pt.setX(119.668);
+    pt.setY(32.23);
+//    QList<double> lon, lat, heading,speed,relativeAlititude;
+//    GeoComputation geoComputation;
+    connect(sendData,&QTimer::timeout,this,[=](){
+//        qDebug()<<"***************TimeOut:";
+        //    int i = 0;
+        lon.clear();
+        lat.clear();
+        heading.clear();
+        speed.clear();
+        relativeAlititude.clear();
+        pt = geoComputation.getDestinationPoint(pt.x(),pt.y(),90,4);
+        lon.append(pt.x());
+        lat.append(pt.y());
+        heading.append(90);
+        speed.append(20);
+        relativeAlititude.append(50);
+//                    qDebug()<<"***************lon:"<<lon.takeLast();
+            //        qDebug()<<"***************lat:"<<lat.takeLast();
+            //        qDebug()<<"***************heading:"<<heading.takeLast();
+            //        qDebug()<<"*********************************";
+        emit sendPositionData1(lon,lat,heading);
+    });
+    */
+
+    testFlag = !testFlag;
+
+    qDebug()<<"*******************:"<<testFlag;
+    qDebug() << "MainThread address: " << QThread::currentThread();
+    /*
+    receiveRealTimePositionInfoThread = new QThread;
+    receiveRealTimePositionInfoTask = new RealTimePositionInfoThread;
+    receiveRealTimePositionInfoTask->moveToThread(receiveRealTimePositionInfoThread);
+    receiveRealTimePositionInfoThread->start();
+
+    collisionThread = new QThread;
+    collisionDetectionTask = new CollisionDetectionThread(qMapControl);
+    collisionDetectionTask->moveToThread(collisionThread);
+    collisionThread->start();
+    connect(collisionDetectionTask,&CollisionDetectionThread::showNotify,this,&MainWindow::showNotify);
+    connect(collisionDetectionTask,&CollisionDetectionThread::requestPositionInfo,receiveRealTimePositionInfoTask,&RealTimePositionInfoThread::startSendCollisionDetectionPosInfo);
+    connect(this,&MainWindow::startCollisionDetect,collisionDetectionTask,&CollisionDetectionThread::start);
+    connect(receiveRealTimePositionInfoTask,&RealTimePositionInfoThread::sendCollisionDetectPosInfo,collisionDetectionTask,&CollisionDetectionThread::receiveLocationData);
+    */
+
+    startReceiveRealTimePositionInfoThread();
+
+    QThread* sendDataThread = new QThread;
+    SendDataTestThread* sendDataTask = new SendDataTestThread;
+    sendDataTask->moveToThread(sendDataThread);
+    sendDataThread->start();
+    connect(sendDataTask,&SendDataTestThread::sendPositionData,receiveRealTimePositionInfoTask,&RealTimePositionInfoThread::receiveRealTimePositionInfo);
+    connect(this,&MainWindow::startGenerate,sendDataTask,&SendDataTestThread::working);
+    connect(this,&MainWindow::stopGenerate,sendDataTask,&SendDataTestThread::stopGenerateData);
+    connect(sendDataThread,&QThread::finished,this,[=](){
+        qDebug()<<"*******************finished:";
+    });
+
+    //二维飞机实时位置显示测试
+    ShowPlane* m_pShowPlane = new ShowPlane(qMapControl);
+    Plane* plane = new Plane("plane1",2,119.668,32.23);
+    m_pShowPlane->addPlane(plane);
+    connect(m_pShowPlane,&ShowPlane::requestPositionInfo,receiveRealTimePositionInfoTask,&RealTimePositionInfoThread::startSendDisplayInfo);
+    connect(receiveRealTimePositionInfoTask,&RealTimePositionInfoThread::sendDisplayInfo,m_pShowPlane,&ShowPlane::receivePositionInfo);
+
+    if(testFlag)
+    {
+        emit startGenerate();
+//        emit startCollisionDetect(1000);
+        startCollisionDetectThread(1000);
+    }
+    m_pShowPlane->startFly();
+//    receiveRealTimePositionInfoThread->start();
+//    receiveRealTimePositionInfoTask->start();
+//    receiveRealTimePositionInfoTask->working();
+//    QThread::msleep(1000);
+//    emit stopGenerate();
+//    sendDataThread->quit();
+
+    if(!testFlag) emit testEnd();
+}
+
+void MainWindow::showNotify(QString title, QString body, QVariantMap data)
+{
+    notifyManager->notify(title,body,data);
 }
 
 //Slot:打开栅格地图
@@ -2303,12 +2484,6 @@ void MainWindow::openRasterMap()
     dataSource = NULL;
 
     /************************************test*******************************/
-    //二维飞机实时位置显示测试
-//    ShowPlane* m_pShowPlane = new ShowPlane(qMapControl);
-//    Plane* plane = new Plane("plane1",2,119.668,32.23);
-//    m_pShowPlane->addPlane(plane);
-//    m_pShowPlane->startFly();
-
 
 //    UGGeoPoint* p = new UGGeoPoint();
 //    p->SetX(119.718414);
@@ -2357,6 +2532,16 @@ void MainWindow::viewEntire()
 //平移浏览地图操作
 void MainWindow::pan()
 {
+//    QVariantMap data;
+//    data["icon"] = ":/Resources/WarningLevel1.png"; // 自定义消息图标，也可传入QPixmap
+//    notifyManager->notify("新消息","消息主体",data);
+
+//    QSystemTrayIcon* trayIcon = new QSystemTrayIcon(this);
+//    QIcon icon1(":/Resources/WarningLevel1.png");
+//    trayIcon->setIcon(icon1);
+//    trayIcon->show();
+//    trayIcon->showMessage("title", "this is a message",icon1,2000);
+
     if(mapType==MapType::Map2D)
         qMapControl->Pan();
     else if(mapType==MapType::Map3D)
diff --git a/mainwindow.h b/mainwindow.h
index e9140028..9ebb73b7 100644
--- a/mainwindow.h
+++ b/mainwindow.h
@@ -17,6 +17,7 @@
 #include "saveroutedialog.h"
 #include "bindroutedialog.h"
 #include "computeoffsetpositiondialog.h"
+#include "QNotify/NotifyManager.h"
 
 //supermap
 #include <Workspace/UGWorkspace.h>
@@ -25,6 +26,9 @@
 #include "scenecontrol.h"
 #include "sceneview.h"
 
+#include "realtimepositioninfothread.h"
+#include "collisiondetectionthread.h"
+
 namespace UGC
 {
     class UGWorkspace;
@@ -71,6 +75,8 @@ public:
 private:
     void setupUI(QMainWindow* mainWindow);//声明搭建界面的函数
 
+    void initNotifyManager();//全局消息通知对象初始化设置
+
     void initWorkSpace();//工作空间初始化
 
     void initMapControl(); //二维地图容器初始化
@@ -114,12 +120,26 @@ protected:
     // 如果窗口设置了 Qt::DefaultContextMenu 策略,
     // 点击鼠标右键该函数被Qt框架调用
     void contextMenuEvent(QContextMenuEvent *event);
+public:
+    //启动|关闭接收实时位置数据总线程
+    void startReceiveRealTimePositionInfoThread();
+    void closeReceiveRealTimePositionInfoThread();
+    //启动|关闭碰撞检测子线程
+    void startCollisionDetectThread(int ms=1000);
+    void closeCollisionDetectThread();
 
 private:
     Ui::MainWindow *ui;
     QStackedWidget* stackedWidget;
     QProgressDialog* progressDlg;
 
+    NotifyManager* notifyManager;//全局消息通知管理对象
+    //线程对象
+    QThread* receiveRealTimePositionInfoThread;//接收外部实时数据线程对象
+    RealTimePositionInfoThread* receiveRealTimePositionInfoTask;//接收外部实时数据线程任务对象
+    QThread* collisionThread; //碰撞检测线程对象
+    CollisionDetectionThread* collisionDetectionTask;//碰撞检测线程任务对象
+
     RBtnMenuType rMenuType;
     MapType mapType;
 
@@ -220,14 +240,35 @@ private:
 
 //    QThread* loadSceneDataThread;
 
+    /**************************Test**************************/
+    QAction *actionTest;
+
 signals:
     void sendAddRouteState(int addState);// 航线是否添加成功信号
 
     void sendSceneDataList(SceneControl* pSceneControl,UGDataSource* pDataSource,QStringList imagePathList,QStringList terrianPathList);
 
 //    void closedProgressDialog();
+    /******************************Test signal************************************/
+    void testEnd();
+    void startReceiveData();
+    void startGenerate();
+    void stopGenerate();
+    void sendPositionData1(QList<double> lon,QList<double> lat,QList<double> heading);
+    void startCollisionDetect(int ms);
+    void closeCollisionDetect();
+
+private:
+    bool testFlag = false;
+    QPointF pt;
+    QList<double> lon, lat, heading,speed,relativeAlititude;
+    GeoComputation geoComputation;
+//    QThread* receiveRealTimePositionInfoThread;
 
 public slots:
+    void test();//仅用于测试
+    void showNotify(QString title,QString body,QVariantMap data);
+
     void openRasterMap(); //声明槽函数openRasterMap（打开地图操作）
 
     void zoomIn();//声明槽函数zoomIn（放大地图操作）
@@ -274,5 +315,8 @@ public slots:
 
     void highLightKMLGeometry(int currentGeometryID,int lastGeometryID); //高亮当前导入的KML 3D几何对象
 
+    /********************以下用于测试***********************/
+public:
+
 };
 #endif // MAINWINDOW_H
diff --git a/plane.cpp b/plane.cpp
index 5a1ed816..5636e42f 100644
--- a/plane.cpp
+++ b/plane.cpp
@@ -6,13 +6,15 @@ Plane::Plane()
 
 }
 
-Plane::Plane(QString planeName,int planeType, double lon, double lat)
+Plane::Plane(QString planeName,int planeType, double lon, double lat,double heading)
 {
     this->planeName = planeName;
     m_pGeoPoint = new UGGeoPoint();
     m_pGeoPoint->SetX(lon);
     m_pGeoPoint->SetY(lat);
+    this->heading = heading;
     m_pGeoPoint->SetStyle(getPlaneStyle(planeType));
+
 }
 
 //设置飞机位置
@@ -32,6 +34,11 @@ double Plane::getPointY()
     return m_pGeoPoint->GetY();
 }
 
+double Plane::getHeading()
+{
+    return this->heading;
+}
+
 UGGeoPoint *Plane::getGeometry()
 {
     return m_pGeoPoint;
diff --git a/plane.h b/plane.h
index 75a2742a..9069e4b3 100644
--- a/plane.h
+++ b/plane.h
@@ -16,12 +16,13 @@ class Plane
 {
 public:
     Plane();
-    Plane(QString planeName,int planeType,double lon=0,double lat=0);
+    Plane(QString planeName,int planeType,double lon=0,double lat=0,double heading=0);
 
     void setPosition(double lon,double lat);  //设置飞机位置
 
     double getPointX();
     double getPointY();
+    double getHeading();
 
     UGGeoPoint* getGeometry();
     QString getPlaneName();
@@ -35,6 +36,7 @@ private:
 
     double lat;
     double lon;
+    double heading;
 
     QString planeName;
 };
diff --git a/realtimepositioninfothread.cpp b/realtimepositioninfothread.cpp
new file mode 100644
index 00000000..3809a123
--- /dev/null
+++ b/realtimepositioninfothread.cpp
@@ -0,0 +1,117 @@
+#include "realtimepositioninfothread.h"
+#include "qdebug.h"
+
+/*
+ * @brief 实时接收飞机位置信息子线程,并将位置信息传递给其他线程
+ */
+RealTimePositionInfoThread::RealTimePositionInfoThread(QObject *parent)
+    : QObject{parent}
+{
+//    showPos_timer.setInterval(200);
+//    showPos_timer.start();
+//    connect(&showPos_timer,&QTimer::timeout,this,[=](){
+//        emit sendPos(this->qmapLon[0],this->qmapLat[0],this->qmapHeading[0]);
+//    });
+}
+
+void RealTimePositionInfoThread::working()
+{
+//    qDebug()<<"*************************RealTimePositionInfoThread:"<<QThread::currentThread();
+//    while(true)
+//    {
+//        if(this->qmapLon[0].size()>=MAX_CONTAINER)
+//        {
+//            mutex.lock();
+//            removePositionContainer(50);
+//            mutex.unlock();
+//        }
+//        QThread::msleep(100);
+//    }
+
+}
+
+//定时任务：发送地形碰撞检测所需位置信息
+void RealTimePositionInfoThread::startSendCollisionDetectionPosInfo(int ms)
+{
+    collisionDetect_timer = new QTimer;
+    connect(collisionDetect_timer,&QTimer::timeout,this,&RealTimePositionInfoThread::collisionDetectTimeout);
+    collisionDetect_timer->start(ms);
+}
+
+//接收实时飞行位置信息
+void RealTimePositionInfoThread::receiveRealTimePositionInfo(QList<double> lon, QList<double> lat, QList<double> relativeAlititude, QList<double> heading, QList<double> speed)
+{
+//    qDebug() << "RealTimePositionThread address: " << QThread::currentThread();
+//    qDebug()<<"*************************receiveRealTimePositionInfo:";
+    mutex.lock();
+//    qDebug()<<"*************************size:"<<this->qmapLon[0].size();
+    if(this->qmapLon[0].size()>=MAX_CONTAINER)
+    {
+        removePositionContainer(50);
+    }
+    for(int index=0;index<lon.size();index++)//飞机数量
+    {
+        this->qmapLon[index].append(lon.at(index));
+        this->qmapLat[index].append(lat.at(index));
+        this->qmapRelativeAlititude[index].append(relativeAlititude.at(index));
+        this->qmapHeading[index].append(heading.at(index));
+        this->qmapSpeed[index].append(speed.at(index));
+    }
+    mutex.unlock();
+}
+
+//发送位置信息用于实时显示飞机位置
+void RealTimePositionInfoThread::startSendDisplayInfo(int ms)
+{
+
+    showPos_timer = new QTimer;
+    connect(showPos_timer,&QTimer::timeout,this,[=](){
+//        qDebug()<<"*************************RealTimePositionInfoThread:";
+        emit sendDisplayInfo(this->qmapLon,this->qmapLat,this->qmapHeading);
+    });
+    showPos_timer->start(ms);
+}
+
+//停止发送数据给碰撞探测子线程
+void RealTimePositionInfoThread::stopSendCollisionDetectionPosInfo()
+{
+    collisionDetect_timer->stop();
+    delete collisionDetect_timer;
+}
+
+void RealTimePositionInfoThread::receiveTest(int i)
+{
+    qDebug() << "************************receive i:"<<i;
+}
+
+void RealTimePositionInfoThread::removePositionContainer(int count)
+{
+    for(int i=0;i<this->qmapLon.size();i++)
+    {
+        for(int j=0;j<count;j++)
+        {
+            this->qmapLon[i].pop_front();
+            this->qmapLat[i].pop_front();
+            this->qmapRelativeAlititude[i].pop_front();
+            this->qmapHeading[i].pop_front();
+            this->qmapSpeed[i].pop_front();
+        }
+    }
+}
+
+void RealTimePositionInfoThread::collisionDetectTimeout()
+{
+//    qDebug()<<"*****************************collisionDetectTimeout:";
+    QList<double> lon,lat,relativeAlititude,heading,speed;
+    mutex.lock();
+    for(int i=0;i<this->qmapLon.keys().size();i++)
+    {
+        lon.append(this->qmapLon[i].takeLast());
+        lat.append(this->qmapLat[i].takeLast());
+        relativeAlititude.append(this->qmapRelativeAlititude[i].takeLast());
+        heading.append(this->qmapHeading[i].takeLast());
+        speed.append(this->qmapSpeed[i].takeLast());
+    }
+    mutex.unlock();
+    emit sendCollisionDetectPosInfo(lon,lat,relativeAlititude,heading,speed);
+}
diff --git a/realtimepositioninfothread.h b/realtimepositioninfothread.h
new file mode 100644
index 00000000..1eab16a6
--- /dev/null
+++ b/realtimepositioninfothread.h
@@ -0,0 +1,70 @@
+#ifndef REALTIMEPOSITIONINFOTHREAD_H
+#define REALTIMEPOSITIONINFOTHREAD_H
+/*
+ * @brief 实时接收飞机位置信息子线程
+ */
+
+#include <QObject>
+#include <QVector>
+#include <QList>
+#include <QMap>
+#include <QTimer>
+#include <QMutex>
+#include <QThread>
+
+class RealTimePositionInfoThread : public QObject
+{
+    Q_OBJECT
+public:
+    explicit RealTimePositionInfoThread(QObject *parent = nullptr);
+    //执行子线程业务逻辑
+    void working();
+
+    void startSendCollisionDetectionPosInfo(int ms);
+
+public slots:
+    void receiveRealTimePositionInfo(QList<double> lon,QList<double> lat,QList<double> relativeAlititude,
+                                     QList<double> heading,QList<double> speed);
+
+    //发送位置信息用于实时显示飞机位置
+    void startSendDisplayInfo(int ms);
+    //停止发送数据给碰撞探测子线程
+    void stopSendCollisionDetectionPosInfo();
+
+    /***********************Test***********************/
+    void receiveTest(int i);
+
+signals:
+    void sendDisplayInfo(QMap<int,QList<double>>& qmapLon,QMap<int,QList<double>>& qmapLat,QMap<int,QList<double>>& qmapHeading);
+    void sendCollisionDetectPosInfo(QList<double> lon,QList<double> lat,QList<double> relativeAlititude,
+                                    QList<double> heading,QList<double> speed);
+
+    void sendPos(QList<double> lon,QList<double> lat,QList<double> heading);
+
+private:
+    QMutex mutex;
+
+    //存储飞机的位置信息的列表
+    QMap<int,QList<double>> qmapLon;               //经度
+    QMap<int,QList<double>> qmapLat;               //纬度
+    QMap<int,QList<double>> qmapRelativeAlititude; //相对高度
+    QMap<int,QList<double>> qmapHeading;          //航向
+    QMap<int,QList<double>> qmapSpeed;            //速度
+
+    //容量最大值
+    const int MAX_CONTAINER = 100;
+
+    //数据转发定时器
+    QTimer* showPos_timer; //用于实时位置显示
+    QTimer* collisionDetect_timer;//用于地形碰撞检测
+
+
+private:
+    //清除部分容器值
+    void removePositionContainer(int count);
+
+    void collisionDetectTimeout();
+
+};
+
+#endif // REALTIMEPOSITIONINFOTHREAD_H
diff --git a/res.qrc b/res.qrc
index f0900d3b..85acaace 100644
--- a/res.qrc
+++ b/res.qrc
@@ -84,5 +84,8 @@
         <file>Resources/DeleteNode.png</file>
         <file>Resources/Edit1.png</file>
         <file>Resources/EditNode1.png</file>
+        <file>Resources/WarningLevel1.png</file>
+        <file>Resources/WarningLevel2.png</file>
+        <file>Resources/WarningLevel3.png</file>
     </qresource>
 </RCC>
diff --git a/routeglobalvariant.cpp b/routeglobalvariant.cpp
index 66b4686e..c6882b77 100644
--- a/routeglobalvariant.cpp
+++ b/routeglobalvariant.cpp
@@ -1,5 +1,8 @@
 #include "routeglobalvariant.h"
 
+//NotifyManager* notifyManager = NULL; //全局消息通知管理对象初始化
+
+
 RouteGlobalVariant::RouteGlobalVariant()
 {
 
diff --git a/routeglobalvariant.h b/routeglobalvariant.h
index 11295eb5..ee671f50 100644
--- a/routeglobalvariant.h
+++ b/routeglobalvariant.h
@@ -1,4 +1,4 @@
-#ifndef ROUTEGLOBALVARIANT_H
+#ifndef ROUTEGLOBALVARIANT_H
 #define ROUTEGLOBALVARIANT_H
 
 #include "Base3D/UGStyle3D.h"
@@ -7,6 +7,8 @@
 #include <QMap>
 #include <Toolkit/UGStyle.h>
 #include "Base3D/UGTextStyle3D.h"
+#include "QNotify/NotifyManager.h"
+#include "QNotify/QNotify_global.h"
 
 using namespace UGC;
 
@@ -31,6 +33,9 @@ struct WorkspaceDataName
     const  UGString Line3DDatasetName = _U("FlightLines3D");
 };
 
+//全局消息通知管理对象
+//extern NotifyManager* notifyManager; //声明
+
 class RouteGlobalVariant
 {
 public:
diff --git a/scenecontrol.cpp b/scenecontrol.cpp
index f1742d84..27acca34 100644
--- a/scenecontrol.cpp
+++ b/scenecontrol.cpp
@@ -1,4 +1,4 @@
-/*
+/*
  *  Author: Jun0x01@github.com
  *  Date:   2019.06.06
  */
@@ -86,6 +86,13 @@ void SceneControl::Initialize(void* pWndHandle, int dpiX, int dpiY)
 //    pScene->SetDrawMode(UGC::DRAW_SCREEN);
 
     m_pCameraWorld = pScene->CreateCamera(_U("Camera"));
+    UGCameraState ChinaState;
+    ChinaState.dLon= UGMathEngine::DegreesToRadians(105);
+    ChinaState.dLat= UGMathEngine::DegreesToRadians(33);
+    ChinaState.dHeading = 0;
+    ChinaState.dTilt=0;
+    ChinaState.dAltitude=11269380;
+    m_pCameraWorld->SetCamera(ChinaState);
     pScene->GetRenderTarget()->AddViewport(m_pCameraWorld, 0);
     m_pRoot3D->SetActiveScene(pScene);
 
diff --git a/showplane.cpp b/showplane.cpp
index 53f3b3d1..4dee4c7d 100644
--- a/showplane.cpp
+++ b/showplane.cpp
@@ -13,8 +13,11 @@ ShowPlane::ShowPlane(QMapControl *pMapControl)
 {
     m_pMapControl = pMapControl;
     addPlaneDyLayer(pMapControl);
+    this->refreshTime = 500;
 
     pMapControl->GetMap()->SetRefreshFlag(false);
+
+//    num_data = 0;
 }
 
 ShowPlane::~ShowPlane()
@@ -26,17 +29,21 @@ void ShowPlane::startFly()
 {
     addPlaneToDyLayer();
     //每500ms刷新一次
-    m_timer.setInterval(500);
-    connect(&m_timer,&QTimer::timeout,this,&ShowPlane::movePlane);
-    m_timer.start();
+//    m_timer.setInterval(500);
+//    connect(&m_timer,&QTimer::timeout,this,&ShowPlane::movePlane);
+//    m_timer.start();
     m_pDynamicLayer->SetVisible(true);
+    emit requestPositionInfo(this->refreshTime);
 }
 
 void ShowPlane::stopFly()
 {
-    m_timer.stop();
+//    m_timer.stop();
 //    m_pDynamicLayer->SetVisible(false);
+    emit rejectPositionInfo();
     m_pMapControl->refreshDynamicLayer();
+
+//    num_data = 0;
 //    m_pDynamicLayer->RemoveAll();
 //    m_planes.clear();
 }
@@ -50,19 +57,66 @@ void ShowPlane::addPlane(Plane* plane)
 //设置刷新时间
 void ShowPlane::setRefreshTime(int ms)
 {
+    this->refreshTime = ms;
     m_timer.setInterval(ms);
 }
 
-void ShowPlane::movePlane()
+//接收飞机的位置信息
+void ShowPlane::receivePosition(QList<double> lon,QList<double> lat,QList<double> heading)
 {
-//    qDebug()<<"*************************movePlane";
+//    qDebug()<<"***************lon:"<<lon.takeLast();
+    /*
+    mutex.lock();
+    //        qDebug()<<"***************lon:"<<lon.takeLast();
+    //        qDebug()<<"***************lat:"<<lat.takeLast();
+    //        qDebug()<<"***************heading:"<<heading.takeLast();
+//            qDebug()<<"*********************************receivePosition";
+    for(int index=0;index<lon.size();index++)
+    {
+        this->qmapLon[index].append(lon.at(index));
+        this->qmapLat[index].append(lat.at(index));
+        this->qmapHeading[index].append(heading.at(index));
+    }
+//    qDebug()<<"************************Lon:"<<this->qmapLon[0].takeLast();
+//    num_data++;
+
+//    movePlane();
+    if(this->qmapLon[0].size()==MAX) removePositionContainer(20);
+    mutex.unlock();
+    */
+
+    m_planes[0]->setPosition(lon.takeLast(),lat.takeLast());
+    m_pMapControl->refreshDynamicLayer();
+}
+
+void ShowPlane::receivePositionInfo(QMap<int, QList<double> > &qmapLon, QMap<int, QList<double> > &qmapLat, QMap<int, QList<double> > &qmapHeading)
+{
+//    this->qmapLon = qmapLon;
+//    this->qmapLat = qmapLat;
+//    this->qmapHeading = qmapHeading;
+
+//    qDebug()<<"************************show lon:"<<qmapLon[0].takeLast();
+    mutex.lock();
+    movePlane(qmapLon,qmapLat,qmapHeading);
+    mutex.unlock();
+//    m_planes[0]->setPosition(qmapLon[0].takeLast(),qmapLat[0].takeLast());
+//    m_pMapControl->refreshDynamicLayer();
+}
+
+void ShowPlane::movePlane(QMap<int,QList<double>> qmapLon,QMap<int,QList<double>> qmapLat,QMap<int,QList<double>> qmapHeading)
+{
+    int i = 0;
+//    if(this->qmapLon[i].isEmpty()) return;
+//    qDebug()<<"*************************movePlaneLon:";//<<this->qmapLon[0].takeLast();
     foreach (Plane* plane, m_planes)
     {
-        qDebug()<<"***************PlaneX:"<<plane->getPointX();
-        plane->setPosition(plane->getPointX()+0.001,plane->getPointY());
+//        qDebug()<<"***************PlaneX:"<<plane->getPointX();
+        plane->setPosition(qmapLon[i].takeLast(),qmapLat[i].takeLast());
+        i++;
+//        plane->setPosition(plane->getPointX()+0.001,plane->getPointY());
     }
+
     m_pMapControl->refreshDynamicLayer();
-//    m_pMapControl->Refresh();
 }
 
 //添加飞机到动态层
@@ -90,7 +144,16 @@ void ShowPlane::addPlaneDyLayer(QMapControl* pMapControl)
         m_pDynamicLayer = pDyLayers->GetDynamicLayer(dylayername);
     }
 
-
-
     pMapControl->GetMap()->SetRefreshFlag(false);
 }
+
+//清除部分容器值
+void ShowPlane::removePositionContainer(int count)
+{
+    for(int i=0;i<m_planes.count();i++)
+    {
+//        this->qmapLon[i].remove(0,count);
+//        this->qmapLat[i].remove(0,count);
+//        this->qmapHeading[i].remove(0,count);
+    }
+}
diff --git a/showplane.h b/showplane.h
index d3bb2c3b..51322097 100644
--- a/showplane.h
+++ b/showplane.h
@@ -4,6 +4,9 @@
 #include <QObject>
 #include <QList>
 #include <QTimer>
+#include <QVector>
+#include <QMap>
+#include <QMutex>
 #include "qmapcontrol.h"
 #include "plane.h"
 #include "Map/UGDynamicLayer.h"
@@ -25,22 +28,51 @@ public:
     void addPlane(Plane* plane);
     void setRefreshTime(int ms);
 
+public slots:
+    //接收飞机的位置信息
+    void receivePosition(QList<double> lon,QList<double> lat,QList<double> heading);
+    void receivePositionInfo(QMap<int,QList<double>>& qmapLon,QMap<int,QList<double>>& qmapLat,QMap<int,QList<double>>& qmapHeading);
+
 signals:
+    void requestPositionInfo(int ms);//请求飞机位置信息
+    void rejectPositionInfo();//停止接收飞机位置信息
+    //test
+    void sendPostion(QMapControl* pMapControl,double currentLon1,double currentLat1,double heading,double relativeAltitude,double speed);
 
-private slots:
-    void movePlane();
+private:
+    void movePlane(QMap<int,QList<double>> qmapLon,QMap<int,QList<double>> qmapLat,QMap<int,QList<double>> qmapHeading);
 private:
     QMapControl* m_pMapControl;
     UGDynamicLayer* m_pDynamicLayer;
 
     QList<Plane*> m_planes;
 
+    int refreshTime;
+
     QTimer m_timer;
+    QMutex mutex;
+
+    //存储飞机的位置信息的列表
+//    QMap<int,QVector<double>> qmapLon;      //经度
+//    QMap<int,QVector<double>> qmapLat;      //纬度
+//    QMap<int,QVector<double>> qmapHeading;  //航向
+
+    QMap<int,QList<double>>* qmapLon;      //经度
+    QMap<int,QList<double>>* qmapLat;      //纬度
+    QMap<int,QList<double>>* qmapHeading;  //航向
+
+    //容量最大值
+    const int MAX = 60;
+
+//    int num_data = 0;
 
 private:
     void addPlaneToDyLayer();  //添加飞机到动态层
 
     void addPlaneDyLayer(QMapControl* pMapControl); //添加飞机图层
+
+    //清除部分容器值
+    void removePositionContainer(int count);
 };
 
 #endif // SHOWPLANE_H