add colored qr code

app/src/main/cpp/CMakeLists.txt

@@ -165,6 +165,21 @@ add_library( # Sets the name of the library.
         lib_hyper_lpr/src/SegmentationFreeRecognizer.cpp
         lib_hyper_lpr/javaWarpper.cpp)
 
+add_library( # Sets the name of the library.
+        colored_qr_code
+
+        # Sets the library as a shared library.
+        SHARED
+
+        # Provides a relative path to your source file(s).
+        color_reco.cpp
+        public_types.cpp
+        opencv_support.cpp
+        opencv_libqr/cv_qrcode.cpp
+        colored_qr_detect/QRCode.cpp
+        colored_qr_detect/QRCodeSet.cpp
+        colored_qr_detect/colored_qr_decode.cpp)
+
 # Searches for a specified prebuilt library and stores the path as a
 # variable. Because CMake includes system libraries in the search path by
 # default, you only need to specify the name of the public NDK library
@@ -287,3 +302,12 @@ target_link_libraries( # Specifies the target library.
         ${OpenCV_LIBS}
         ${jnigraphics-lib}
         ${log-lib})
+
+target_link_libraries( # Specifies the target library.
+        colored_qr_code
+
+        # Links the target library to the log library
+        # included in the NDK.
+        ${OpenCV_LIBS}
+        ${jnigraphics-lib}
+        ${log-lib})

app/src/main/cpp/color_reco.cpp

@@ -16,13 +16,13 @@ namespace uns
 	}
 	
 	//识别颜色，逐像素便利并统计出现次数最多的颜色作为最终结果
-	std::string ColorReco::RecoColor(const cv::Mat& img)
+	Colors::CVColor ColorReco::RecoColor(const cv::Mat &img)
 	{
 		int max_count = 0;
-		std::string color_name = "null";
+		Colors::CVColor max_color;
 		Colors::ColorCount counter = basic_color_counter;
 		if (img.empty())
-			return color_name;
+			return std_color_white;
 		for (int r = 0; r < img.rows; r++)
 		{
 			for (int c = 0; c < img.cols; c++)
@@ -46,17 +46,42 @@ namespace uns
 					counter[std_color_white]++;
 			}
 		}
-		for (auto& ele : counter)
+		for (auto &ele: counter)
 		{
-			if ((ele.first == std_color_white)/* || (ele.first == std_color_yellow)*/)
+			if ((ele.first == std_color_white))
 				continue;
 			if (ele.second > max_count)
 			{
+				max_color = ele.first;
 				max_count = ele.second;
-				color_name = color_name_map.at(ele.first);
 			}
 		}
-		return color_name;
+		return max_color;
+	}
+	
+	std::string ColorReco::RecoColorStr(const Colors::CVColor &color)
+	{
+		return color_name_map.at(color);
+	}
+	
+	bool ColorReco::IsRed(const Colors::CVColor &result)
+	{
+		return (result == std_color_red);
+	}
+	
+	bool ColorReco::IsGreen(const Colors::CVColor &result)
+	{
+		return (result == std_color_green);
+	}
+	
+	bool ColorReco::IsBlue(const Colors::CVColor &result)
+	{
+		return (result == std_color_blue);
+	}
+	
+	bool ColorReco::IsYellow(const Colors::CVColor &result)
+	{
+		return (result == std_color_yellow);
 	}
 	
 };

app/src/main/cpp/color_reco.h

@@ -44,19 +44,31 @@ namespace uns
 		};
 		std::map<Colors::CVColor, std::string> color_name_map =
 		{
-			{ std_color_red, "red" },
-			{ std_color_green, "green"},
-			{ std_color_blue, "blue"},
-			{ std_color_yellow, "yellow"},
-			{ std_color_purple, "purple"},
-			{ std_color_cyan, "cyan"},
-			{ std_color_black, "black"},
-			{ std_color_white, "white"},
+				{std_color_red,    "red" },
+				{std_color_green,  "green"},
+				{std_color_blue,   "blue"},
+				{std_color_yellow, "yellow"},
+				{std_color_purple, "purple"},
+				{std_color_cyan,   "cyan"},
+				{std_color_black,  "black"},
+				{std_color_white,  "white"},
 		};
 	private:
 		bool MuchLarger(int a, int b, double rate);
+	
 	public:
-		std::string RecoColor(const cv::Mat& img);
+		Colors::CVColor RecoColor(const cv::Mat &img);
+		
+		std::string RecoColorStr(const Colors::CVColor &color);
+	
+	public:
+		bool IsRed(const Colors::CVColor &result);
+		
+		bool IsGreen(const Colors::CVColor &result);
+		
+		bool IsBlue(const Colors::CVColor &result);
+		
+		bool IsYellow(const Colors::CVColor &result);
 	};
 };
 

app/src/main/cpp/colored_qr_detect/QRCode.cpp

@@ -0,0 +1,66 @@
+#include "QRCode.h"
+
+namespace uns
+{
+	bool QRCode::IsSameRect(const cv::Rect &r1, const cv::Rect &r2) const
+	{
+		cv::Point c1 = r1.tl();
+		cv::Point c2 = r2.tl();
+		int x_offset = __ABS__(c1.x - c2.x);
+		int y_offset = __ABS__(c1.y - c2.y);
+		return ((x_offset <= EQUAL_OFFSET) && (y_offset <= EQUAL_OFFSET));
+	}
+	
+	QRCode::QRCode()
+	{
+		color = Color::Invalidate;
+	}
+	
+	QRCode::QRCode(const cv::Rect &r)
+	{
+		position = r;
+		color = Color::Invalidate;
+	}
+	
+	QRCode::QRCode(const QRCode &obj)
+	{
+		color = obj.color;
+		position = obj.position;
+	}
+	
+	QRCode::QRCode(Color c, const cv::Rect &r)
+	{
+		color = c;
+		position = r;
+	}
+	
+	QRCode::Color QRCode::GetColor() const
+	{
+		return color;
+	}
+	
+	cv::Rect QRCode::GetRect() const
+	{
+		return position;
+	}
+	
+	void QRCode::SetColor(Color color)
+	{
+		this->color = color;
+	}
+	
+	void QRCode::SetRect(const cv::Rect &rect)
+	{
+		position = rect;
+	}
+	
+	bool QRCode::operator==(const QRCode &obj) const
+	{
+		return IsSameRect(position, obj.position);
+	}
+	
+	bool QRCode::operator!=(const QRCode &obj) const
+	{
+		return (!IsSameRect(position, obj.position));
+	}
+}

app/src/main/cpp/colored_qr_detect/QRCode.h

@@ -0,0 +1,52 @@
+#pragma once
+
+#include <vector>
+#include <opencv2/core/core.hpp>
+
+#define __ABS__(x) (x < 0 ? -x : x)
+
+namespace uns
+{
+	class QRCode
+	{
+	public:
+		enum class Color
+		{
+			Red = 0,
+			Green = 1,
+			Yellow = 2,
+			Blue = 3,
+			Invalidate = -1
+		};
+	private:
+		Color color;
+		cv::Rect position;
+		const int EQUAL_OFFSET = 2;
+	private:
+		bool IsSameRect(const cv::Rect &r1, const cv::Rect &r2) const;
+	
+	public:
+		QRCode();
+		
+		QRCode(const cv::Rect &r);
+		
+		QRCode(const QRCode &obj);
+		
+		QRCode(Color c, const cv::Rect &r);
+	
+	public:
+		Color GetColor() const;
+		
+		cv::Rect GetRect() const;
+		
+		void SetColor(Color color);
+		
+		void SetRect(const cv::Rect &rect);
+	
+	public:
+		bool operator==(const QRCode &obj) const;
+		
+		bool operator!=(const QRCode &obj) const;
+	};
+}
+

app/src/main/cpp/colored_qr_detect/QRCodeSet.cpp

@@ -0,0 +1,72 @@
+#include "QRCodeSet.h"
+
+namespace uns
+{
+	QRCodeSet::QRCodeSet()
+	{
+	}
+	
+	QRCodeSet::QRCodeSet(const QRCodeSet &obj)
+	{
+		qr_codes.clear();
+		qr_codes.shrink_to_fit();
+		current_index = obj.current_index;
+		for (auto &ele: obj.qr_codes)
+			qr_codes.push_back(ele);
+	}
+	
+	void QRCodeSet::Clear()
+	{
+		qr_codes.clear();
+		current_index = 0;
+	}
+	
+	size_t QRCodeSet::Size()
+	{
+		return qr_codes.size();
+	}
+	
+	bool QRCodeSet::HasNextCode()
+	{
+		return (current_index < qr_codes.size());
+	}
+	
+	void QRCodeSet::ResetPointer()
+	{
+		current_index = 0;
+	}
+	
+	QRCode &QRCodeSet::GetNextCode()
+	{
+		return qr_codes[current_index++];
+	}
+	
+	void QRCodeSet::Insert(const QRCode &obj, const cv::Mat &source_img)
+	{
+		for (auto &ele: qr_codes)
+			if (ele == obj)
+				return;
+		if (obj.GetColor() != QRCode::Color::Invalidate)
+			qr_codes.push_back(obj);
+		else
+		{
+			QRCode code(obj);
+			ColorReco color_reco;
+			Colors::CVColor result = color_reco.RecoColor(source_img(code.GetRect()));
+			if (color_reco.IsRed(result))
+				code.SetColor(QRCode::Color::Red);
+			else if (color_reco.IsGreen(result))
+				code.SetColor(QRCode::Color::Green);
+			else if (color_reco.IsBlue(result))
+				code.SetColor(QRCode::Color::Blue);
+			else if (color_reco.IsYellow(result))
+				code.SetColor(QRCode::Color::Yellow);
+			qr_codes.push_back(code);
+		}
+	}
+	
+	QRCode &QRCodeSet::operator[](size_t index)
+	{
+		return qr_codes[index];
+	}
+}

app/src/main/cpp/colored_qr_detect/QRCodeSet.h

@@ -0,0 +1,36 @@
+#pragma once
+
+#include <vector>
+#include "QRCode.h"
+#include "../color_reco.h"
+
+namespace uns
+{
+	class QRCodeSet
+	{
+	private:
+		int current_index = 0;
+		std::vector<QRCode> qr_codes;
+	public:
+		QRCodeSet();
+		
+		QRCodeSet(const QRCodeSet &obj);
+	
+	public:
+		void Clear();
+		
+		size_t Size();
+		
+		bool HasNextCode();
+		
+		void ResetPointer();
+		
+		QRCode &GetNextCode();
+		
+		void Insert(const QRCode &obj, const cv::Mat &source_img);
+	
+	public:
+		QRCode &operator[](size_t index);
+	};
+}
+

app/src/main/cpp/colored_qr_detect/colored_qr_decode.cpp

@@ -0,0 +1,253 @@
+#include "colored_qr_decode.h"
+
+namespace uns
+{
+	SingleQRImage::SingleQRImage()
+	{
+		color = QRCode::Color::Invalidate;
+	}
+	
+	SingleQRImage::SingleQRImage(const SingleQRImage &img)
+	{
+		color = img.color;
+		img.binary.copyTo(binary);
+		img.colored.copyTo(colored);
+	}
+	
+	SingleQRImage::SingleQRImage(const cv::Mat &clr_src, const RGBChannel &rgb_src,
+								 const QRCode &code)
+	{
+		clr_src(code.GetRect()).copyTo(colored);
+		switch (code.GetColor())
+		{
+			case QRCode::Color::Red:
+				rgb_src[1](code.GetRect()).copyTo(binary);
+				break;
+			case QRCode::Color::Green:
+				rgb_src[0](code.GetRect()).copyTo(binary);
+				break;
+			case QRCode::Color::Blue:
+				rgb_src[0](code.GetRect()).copyTo(binary);
+				break;
+			case QRCode::Color::Yellow:
+				rgb_src[2](code.GetRect()).copyTo(binary);
+				break;
+			default:
+				clr_src(code.GetRect()).copyTo(binary);
+				break;
+		}
+		color = code.GetColor();
+	}
+	
+	bool SingleQRImage::DataValidate() const
+	{
+		return ((!binary.empty()) && (!colored.empty()));
+	}
+	
+	QRCode::Color SingleQRImage::GetColor() const
+	{
+		return color;
+	}
+	
+	cv::Mat SingleQRImage::GetBinaryImage() const
+	{
+		return binary;
+	}
+	
+	cv::Mat SingleQRImage::GetColoredImage() const
+	{
+		return colored;
+	}
+	
+	RGBChannel ColoredQrDecode::SplitRGBChannel(const cv::Mat &obj)
+	{
+		cv::Mat r(obj.size(), CV_8UC1), g(obj.size(), CV_8UC1), b(obj.size(), CV_8UC1);
+		for (int i = 0; i < obj.rows; i++)
+		{
+			for (int j = 0; j < obj.cols; j++)
+			{
+				cv::Vec3b pixel = obj.at<cv::Vec3b>(i, j);
+				r.at<uchar>(i, j) = pixel[2];
+				g.at<uchar>(i, j) = pixel[1];
+				b.at<uchar>(i, j) = pixel[0];
+			}
+		}
+		return RGBChannel({r, g, b});
+	}
+	
+	//旋转图片45°
+	bool ColoredQrDecode::RotateImage(const cv::Mat &src, cv::Mat &dst, float angle)
+	{
+		if (src.empty())
+			return false;
+		double alpha = -angle * CV_PI / 180.0;//convert angle to radian format 
+		cv::Point2f srcP[3];
+		cv::Point2f dstP[3];
+		srcP[0] = cv::Point2f(0, (float) src.rows);
+		srcP[1] = cv::Point2f((float) src.cols, 0);
+		srcP[2] = cv::Point2f((float) src.cols, (float) src.rows);
+		//rotate the pixels
+		for (int i = 0; i < 3; i++)
+			dstP[i] = cv::Point2f(srcP[i].x * cos(alpha) - srcP[i].y * sin(alpha),
+								  srcP[i].y * cos(alpha) + srcP[i].x * sin(alpha));
+		double minx, miny, maxx, maxy;
+		minx = std::min(std::min(std::min(dstP[0].x, dstP[1].x), dstP[2].x), float(0.0));
+		miny = std::min(std::min(std::min(dstP[0].y, dstP[1].y), dstP[2].y), float(0.0));
+		maxx = std::max(std::max(std::max(dstP[0].x, dstP[1].x), dstP[2].x), float(0.0));
+		maxy = std::max(std::max(std::max(dstP[0].y, dstP[1].y), dstP[2].y), float(0.0));
+		int w = maxx - minx;
+		int h = maxy - miny;
+		//translation
+		for (int i = 0; i < 3; i++)
+		{
+			if (minx < 0)
+				dstP[i].x -= minx;
+			if (miny < 0)
+				dstP[i].y -= miny;
+		}
+		cv::Mat warpMat = cv::getAffineTransform(srcP, dstP);
+		cv::warpAffine(src, dst, warpMat, cv::Size(w, h), 1, 0,
+					   cv::Scalar(255, 255, 255));//extend size
+		return true;
+	}
+	
+	//使用导出的OpenCV库切分多个二维码
+	bool ColoredQrDecode::SplitMultipleQR(const cv::Mat &img, std::vector<cv::Rect> &rects)
+	{
+		uns_cv_export::QRCodeDetector qrcode;
+		std::vector<cv::Point> corners;
+		if (!qrcode.detectMulti(img, corners))
+			return false;
+		if (!corners.empty())
+		{
+			if ((corners.size() % 4) != 0)
+				return false;
+			for (size_t i = 0; i < corners.size(); i += 4)
+				rects.push_back(cv::boundingRect(
+						std::vector<cv::Point>(corners.begin() + i, corners.begin() + i + 4)));
+			return true;
+		}
+		else
+			return false;
+	}
+	
+	//检查是否有下一个二维码图片
+	bool ColoredQrDecode::HasNextImage()
+	{
+		return qr_codes.HasNextCode();
+	}
+	
+	//获取下一个二维码图片
+	SingleQRImage ColoredQrDecode::GetNextImage()
+	{
+		return SingleQRImage(source_image, split_channel_image, qr_codes.GetNextCode());
+	}
+	
+	//获取指定颜色的二维码
+	SingleQRImage ColoredQrDecode::GetCodeByColor(QRCode::Color color)
+	{
+		qr_codes.ResetPointer();
+		while (qr_codes.HasNextCode())
+		{
+			QRCode code = qr_codes.GetNextCode();
+			if (code.GetColor() == color)
+			{
+				qr_codes.ResetPointer();
+				return SingleQRImage(source_image, split_channel_image, code);
+			}
+		}
+		qr_codes.ResetPointer();
+		return SingleQRImage();
+	}
+	
+	//切分并存储二维码
+	bool ColoredQrDecode::SplitQR(const cv::Mat &img, bool rotate_45)
+	{
+		std::vector<cv::Rect> rects;
+		if (rotate_45)
+			RotateImage(img, source_image, 45.00f);
+		else
+			img.copyTo(source_image);
+		qr_codes.Clear();
+		split_channel_image = SplitRGBChannel(source_image);
+		SplitMultipleQR(split_channel_image[0], rects);
+		SplitMultipleQR(split_channel_image[1], rects);
+		SplitMultipleQR(split_channel_image[2], rects);
+		for (const auto &ele: rects)
+			qr_codes.Insert(QRCode(ele), source_image);
+		return (qr_codes.Size() != 0);
+	}
+	
+	//清空存储
+	void ColoredQrDecode::Clear()
+	{
+		qr_codes.Clear();
+	}
+};
+
+uns::ColoredQrDecode global_colored_qr_decoder;
+uns::QRCode::Color global_current_qr_color = uns::QRCode::Color::Invalidate;
+
+//导出的图像处理函数
+extern "C" JNIEXPORT
+jboolean JNICALL
+Java_com_uns_maincar_cpp_1interface_ColoredQRDecoder_ProcessColoredQR(JNIEnv *env, jclass _this,
+																	  jobject image,
+																	  jboolean rotate)
+{
+	cv::Mat img_input;
+	if (!BitmapToMat(env, image, img_input))
+		return false;
+	global_colored_qr_decoder.Clear();
+	return global_colored_qr_decoder.SplitQR(img_input, rotate);
+}
+
+//导出的检查是否有下一个二维码函数
+extern "C" JNIEXPORT
+jboolean JNICALL
+Java_com_uns_maincar_cpp_1interface_ColoredQRDecoder_HasNextQR(JNIEnv *env, jclass _this)
+{
+	return global_colored_qr_decoder.HasNextImage();
+}
+
+//导出的获取下一个二维码图片函数
+extern "C" JNIEXPORT
+jobject JNICALL
+Java_com_uns_maincar_cpp_1interface_ColoredQRDecoder_GetNextQR(JNIEnv *env, jclass _this)
+{
+	uns::SingleQRImage qr_img = global_colored_qr_decoder.GetNextImage();
+	global_current_qr_color = qr_img.GetColor();
+	cv::Mat next = qr_img.GetBinaryImage();
+	jobject bmp = GenerateBitmap(env, next.cols, next.rows);
+	MatToBitmap(env, next, bmp);
+	return bmp;
+}
+
+//导出的获取当前返回的二维码颜色函数
+extern "C" JNIEXPORT
+jint JNICALL
+Java_com_uns_maincar_cpp_1interface_ColoredQRDecoder_GetCurrentQRColor(JNIEnv *env, jclass _this)
+{
+	return (jint) global_current_qr_color;
+}
+
+//导出的根据指定颜色获取二维码函数
+extern "C" JNIEXPORT
+jobject JNICALL
+Java_com_uns_maincar_cpp_1interface_ColoredQRDecoder_GetSpecColorQR(JNIEnv *env, jclass _this,
+																	jint color)
+{
+	cv::Mat next = global_colored_qr_decoder.GetCodeByColor(
+			(uns::QRCode::Color) color).GetBinaryImage();
+	jobject bmp = GenerateBitmap(env, next.cols, next.rows);
+	MatToBitmap(env, next, bmp);
+	return bmp;
+}
+
+//导出的强制清空函数
+extern "C" JNIEXPORT
+void JNICALL
+Java_com_uns_maincar_cpp_1interface_ColoredQRDecoder_ForceClear(JNIEnv *env, jclass _this)
+{
+	global_colored_qr_decoder.Clear();
+}

app/src/main/cpp/colored_qr_detect/colored_qr_decode.h

@@ -0,0 +1,61 @@
+#include <array>
+#include <jni.h>
+#include <vector>
+#include "QRCodeSet.h"
+#include "../opencv_support.h"
+#include <opencv2/core/core.hpp>
+#include "../opencv_libqr/cv_qrcode.h"
+#include <opencv2/imgproc/imgproc.hpp>
+
+namespace uns
+{
+	using RGBChannel = std::array<cv::Mat, 3>;
+	
+	class SingleQRImage
+	{
+	private:
+		cv::Mat binary;
+		cv::Mat colored;
+		QRCode::Color color;
+	public:
+		SingleQRImage();
+		
+		SingleQRImage(const SingleQRImage &img);
+		
+		SingleQRImage(const cv::Mat &clr_src, const RGBChannel &rgb_src, const QRCode &code);
+	
+	public:
+		bool DataValidate() const;
+		
+		QRCode::Color GetColor() const;
+		
+		cv::Mat GetBinaryImage() const;
+		
+		cv::Mat GetColoredImage() const;
+	};
+	
+	class ColoredQrDecode
+	{
+	private:
+		QRCodeSet qr_codes;
+		cv::Mat source_image;
+		RGBChannel split_channel_image;
+	private:
+		RGBChannel SplitRGBChannel(const cv::Mat &obj);
+		
+		bool RotateImage(const cv::Mat &src, cv::Mat &dst, float angle);
+		
+		bool SplitMultipleQR(const cv::Mat &img, std::vector<cv::Rect> &rects);
+	
+	public:
+		void Clear();
+		
+		bool HasNextImage();
+		
+		SingleQRImage GetNextImage();
+		
+		SingleQRImage GetCodeByColor(QRCode::Color color);
+		
+		bool SplitQR(const cv::Mat &img, bool rotate_45 = false);
+	};
+};

app/src/main/java/com/uns/maincar/constants/Commands.java

@@ -61,6 +61,17 @@ public class Commands
 	public static byte OCR_TEXT_DATA = (byte) 0xD9;
 	public static byte OCR_TEXT_FINISH = (byte) 0xE9;
 	
+	//车型
+	public static byte VEHICLE_SUCCESS = (byte) 0xAA;
+	public static byte VEHICLE_FAILURE = (byte) 0xBA;
+	public static byte VEHICLE_TYPE_BIKE = (byte) 0x0A;
+	public static byte VEHICLE_TYPE_MOTOR = (byte) 0x0B;
+	public static byte VEHICLE_TYPE_CAR = (byte) 0x0C;
+	public static byte VEHICLE_TYPE_TRUCK = (byte) 0x0D;
+	public static byte VEHICLE_TYPE_VAN = (byte) 0x0E;
+	public static byte VEHICLE_TYPE_BUS = (byte) 0x0F;
+	
+	
 	//运行指定任务
 	public static byte RUN_SINGE_TASK = (byte) 0xA0;
 	public static byte TASK_NUMBER_0 = 0x00;
@@ -98,4 +109,5 @@ public class Commands
 	public static final byte RECEIVE_TRAFFIC_SIGN = (byte) 0xA6;
 	public static final byte RECEIVE_TEXT_OCR = (byte) 0xA7;
 	public static final byte RECEIVE_OCR_DATA_OK = (byte) 0xB7;
+	public static final byte RECEIVE_VEHICLE = (byte) 0xA8;
 }

app/src/main/java/com/uns/maincar/cpp_interface/ColoredQRDecoder.java

@@ -0,0 +1,125 @@
+/*
+ * Copyright (c) 2023. UnknownNetworkService Group
+ * This file is created by UnknownObject at 2023 - 6 - 16
+ */
+
+package com.uns.maincar.cpp_interface;
+
+import static com.uns.maincar.cpp_interface.QRDecoder.ERR_DECODE_FAILED;
+import static com.uns.maincar.cpp_interface.QRDecoder.ERR_IMAGE_GENERATOR_FAILED;
+import static com.uns.maincar.cpp_interface.QRDecoder.ERR_NATIVE_LIBRARY_FAILED;
+import static com.uns.maincar.cpp_interface.QRDecoder.ERR_NO_CODE_DETECTED;
+import static com.uns.maincar.cpp_interface.QRDecoder.ERR_NO_MORE_CODE;
+
+import android.graphics.Bitmap;
+
+import com.uns.maincar.constants.GlobalColor;
+import com.zxingcpp.BarcodeReader;
+
+public class ColoredQRDecoder
+{
+	static
+	{
+		System.loadLibrary("colored_qr_code");
+	}
+	
+	public static final String ERR_COLOR_INVALIDATE = "QR: Invalid Color Parameter.";
+	
+	private static native void ForceClear();
+	
+	private static native Bitmap GetNextQR();
+	
+	private static native boolean HasNextQR();
+	
+	private static native int GetCurrentQRColor();
+	
+	private static native Bitmap GetSpecColorQR(int color);
+	
+	private static native boolean ProcessColoredQR(Bitmap image, boolean rotate);
+	
+	public static boolean BeginQRDecode(Bitmap img, boolean rotate)
+	{
+		return ProcessColoredQR(img, rotate);
+	}
+	
+	public static boolean HasNextCode()
+	{
+		return HasNextQR();
+	}
+	
+	public static String DecodeNextQR()
+	{
+		BarcodeReader reader = new BarcodeReader();
+		if (HasNextQR())
+		{
+			Bitmap bmp = GetNextQR();
+			if (bmp == null)
+				return ERR_IMAGE_GENERATOR_FAILED;
+			BarcodeReader.Result result = reader.read(bmp, QRDecoder.GetRect(bmp), 0);
+			if (result != null)
+				return result.getText();
+			else
+				return ERR_DECODE_FAILED;
+		}
+		else
+			return ERR_NO_MORE_CODE;
+	}
+	
+	public static GlobalColor GetThisQRColor()
+	{
+		switch (GetCurrentQRColor())
+		{
+			case 0:
+				return GlobalColor.RED;
+			case 1:
+				return GlobalColor.GREEN;
+			case 2:
+				return GlobalColor.YELLOW;
+			case 3:
+				return GlobalColor.BLUE;
+		}
+		return GlobalColor.INVALIDATE;
+	}
+	
+	public static String DecodeSpecColorQR(GlobalColor color)
+	{
+		int i_color = -1;
+		switch (color)
+		{
+			case RED:
+				i_color = 0;
+				break;
+			case GREEN:
+				i_color = 1;
+				break;
+			case YELLOW:
+				i_color = 2;
+				break;
+			case BLUE:
+				i_color = 3;
+				break;
+		}
+		if (i_color <= -1)
+			return ERR_COLOR_INVALIDATE;
+		BarcodeReader reader = new BarcodeReader();
+		Bitmap bmp = GetSpecColorQR(i_color);
+		if (bmp == null)
+			return ERR_IMAGE_GENERATOR_FAILED;
+		BarcodeReader.Result result = reader.read(bmp, QRDecoder.GetRect(bmp), 0);
+		if (result != null)
+			return result.getText();
+		else
+			return ERR_DECODE_FAILED;
+	}
+	
+	public static String SelfTest(Bitmap img)
+	{
+		if (!ProcessColoredQR(img, false))
+			return ERR_NATIVE_LIBRARY_FAILED;
+		if (!HasNextQR())
+			return ERR_NO_CODE_DETECTED;
+		String result = DecodeNextQR();
+		ForceClear();
+		return result;
+	}
+}

app/src/main/java/com/uns/maincar/cpp_interface/QRDecoder.java

@@ -29,9 +29,9 @@ public class QRDecoder
 	private static native Bitmap GetNextQR();
 	private static native boolean ProcessQR(Bitmap image);
 	
-	private static Rect GetRect(Bitmap img)
+	protected static Rect GetRect(Bitmap img)
 	{
-		return new Rect(0,0,img.getWidth(),img.getHeight());
+		return new Rect(0, 0, img.getWidth(), img.getHeight());
 	}
 	
 	public static boolean BeginQRDecode(Bitmap img)

app/src/main/java/com/uns/maincar/gui/DebugPage.java

@@ -15,6 +15,8 @@ import androidx.appcompat.app.AppCompatActivity;
 import com.uns.maincar.R;
 import com.uns.maincar.constants.Flags;
 
+import java.util.Objects;
+
 public class DebugPage extends AppCompatActivity
 {
 	
@@ -27,6 +29,8 @@ public class DebugPage extends AppCompatActivity
 		super.onCreate(savedInstanceState);
 		setContentView(R.layout.activity_debug_page);
 		
+		Objects.requireNonNull(getSupportActionBar()).setTitle("主车远端服务程序 - 调试");
+		
 		if (Parent == null)
 		{
 			Toast.makeText(this, "Context is null!", Toast.LENGTH_SHORT).show();

app/src/main/java/com/uns/maincar/gui/MainActivity.java

@@ -5,6 +5,10 @@
 
 package com.uns.maincar.gui;
 
+import static com.uns.maincar.cpp_interface.ColoredQRDecoder.ERR_COLOR_INVALIDATE;
+import static com.uns.maincar.cpp_interface.QRDecoder.ERR_DECODE_FAILED;
+import static com.uns.maincar.cpp_interface.QRDecoder.ERR_IMAGE_GENERATOR_FAILED;
+
 import android.annotation.SuppressLint;
 import android.app.Activity;
 import android.content.Context;
@@ -36,15 +40,14 @@ import com.uns.maincar.communication.WifiTransferCore;
 import com.uns.maincar.constants.Commands;
 import com.uns.maincar.constants.Flags;
 import com.uns.maincar.constants.Flags.TrafficLightColors;
-import com.uns.maincar.constants.GlobalSignType;
+import com.uns.maincar.constants.GlobalColor;
 import com.uns.maincar.cpp_interface.CarLicense;
+import com.uns.maincar.cpp_interface.ColoredQRDecoder;
 import com.uns.maincar.cpp_interface.EnvTest;
 import com.uns.maincar.cpp_interface.MainCarAES;
 import com.uns.maincar.cpp_interface.OCR;
 import com.uns.maincar.cpp_interface.QRDecoder;
-import com.uns.maincar.cpp_interface.ShapeColor;
 import com.uns.maincar.cpp_interface.TrafficLight;
-import com.uns.maincar.cpp_interface.TrafficSign;
 import com.uns.maincar.data_type.ShapeColorResult;
 import com.uns.maincar.open_source.shape.ShapeDetector;
 import com.uns.maincar.open_source.traffic_sign.YoloV5_tfLite_TSDetector;
@@ -173,7 +176,8 @@ public class MainActivity extends AppCompatActivity
 										break;
 									//收到QR指令，开始识别二维码，回传识别成功的数据
 									case Commands.RECEIVE_QR:
-										byte[] cmd = RecognizeQrCode();
+										//默认情况下使用黑白二维码识别
+										byte[] cmd = RecognizeQrCode(false, GlobalColor.INVALIDATE);
 										if (cmd[2] == Commands.QR_FAILED)
 											dtc_client.Send(cmd);
 										else
@@ -204,7 +208,9 @@ public class MainActivity extends AppCompatActivity
 									case Commands.RECEIVE_TEXT_OCR:
 										OCRRecognizeText();
 										break;
-									//收到未知指令，回传异常指令，表示无法解析当前指令
+									case Commands.RECEIVE_VEHICLE:
+										dtc_client.Send(RecognizeVehicle());
+										//收到未知指令，回传异常指令，表示无法解析当前指令
 									default:
 										CommandEncoder error = new CommandEncoder();
 										dtc_client.Send(error.GenerateCommand(Commands.CMD_NOT_MATCH, (byte) 0x00, (byte) 0x00, (byte) 0x00));
@@ -249,6 +255,16 @@ public class MainActivity extends AppCompatActivity
 			return MainCarAES.CalcAES(validate_result);
 	}
 	
+	//处理彩色二维码数据，使用从C++代码中导出的算法
+	private byte[] ProcessColoredQRData(String qr_data)
+	{
+		CommandEncoder encoder = new CommandEncoder();
+		if (qr_data.equals(""))
+			return encoder.GenerateCommand(Commands.QR_FAILED, (byte) 0, (byte) 0, (byte) 0);
+		else
+			return MainCarAES.CalcAES(qr_data);
+	}
+	
 	//获取程序自检指令，根据自检状态返回成功或失败
 	private byte[] SystemStatusCommand()
 	{
@@ -260,20 +276,39 @@ public class MainActivity extends AppCompatActivity
 	}
 	
 	//识别二维码
-	private byte[] RecognizeQrCode()
+	private byte[] RecognizeQrCode(boolean colored, GlobalColor target_color)
 	{
 		CommandEncoder encoder = new CommandEncoder();
-		ArrayList<String> qr_result = new ArrayList<>();
-		if (!QRDecoder.BeginQRDecode(currImage))
-			return encoder.GenerateCommand(Commands.QR_FAILED, (byte) 0, (byte) 0, (byte) 0);
-		while (QRDecoder.HasNextCode())
-			qr_result.add(QRDecoder.DecodeNextQR());
-		if (qr_result.size() <= 0)
-			return encoder.GenerateCommand(Commands.QR_FAILED, (byte) 0, (byte) 0, (byte) 0);
+		if (!colored)
+		{
+			ArrayList<String> qr_result = new ArrayList<>();
+			if (!QRDecoder.BeginQRDecode(currImage))
+				return encoder.GenerateCommand(Commands.QR_FAILED, (byte) 0, (byte) 0, (byte) 0);
+			while (QRDecoder.HasNextCode())
+				qr_result.add(QRDecoder.DecodeNextQR());
+			if (qr_result.size() <= 0)
+				return encoder.GenerateCommand(Commands.QR_FAILED, (byte) 0, (byte) 0, (byte) 0);
+			else
+			{
+				qr_result.forEach(qr -> ToastLog(qr, false, true));
+				return ProcessQRData(qr_result);
+			}
+		}
 		else
 		{
-			qr_result.forEach(qr -> ToastLog(qr, false, true));
-			return ProcessQRData(qr_result);
+			boolean success = ColoredQRDecoder.BeginQRDecode(currImage, false);
+			if (!success)
+				success = ColoredQRDecoder.BeginQRDecode(currImage, true);
+			if (!success)
+				return encoder.GenerateCommand(Commands.QR_FAILED, (byte) 0, (byte) 0, (byte) 0);
+			String result = ColoredQRDecoder.DecodeSpecColorQR(target_color);
+			if (Objects.equals(result, ERR_COLOR_INVALIDATE) || Objects.equals(result, ERR_IMAGE_GENERATOR_FAILED) || Objects.equals(result, ERR_DECODE_FAILED))
+				return encoder.GenerateCommand(Commands.QR_FAILED, (byte) 0, (byte) 0, (byte) 0);
+			else
+			{
+				ToastLog(target_color + ":" + result, false, true);
+				return ProcessColoredQRData(result);
+			}
 		}
 	}
 	
@@ -300,54 +335,20 @@ public class MainActivity extends AppCompatActivity
 	private byte[] RecognizeShapeColor()
 	{
 		CommandEncoder encoder = new CommandEncoder();
-		if (!ShapeColor.RecognizeEverything(currImage))
+		/*if (!ShapeColor.RecognizeEverything(currImage))
 			return encoder.GenerateCommand(Commands.COLOR_SHAPE_FAILED, (byte) 0, (byte) 0, (byte) 0);
 		else
 		{
 			byte a = 0, b = 0, c = 0;
-			//测试用输出
-			/*ToastLog("C-R-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.RED), false, false);
-			ToastLog("C-BL-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.BLACK), false, false);
-			ToastLog("C-G-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.GREEN), false, false);
-			ToastLog("C-BU-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.BLUE), false, false);
-			ToastLog("C-C-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.CYAN), false, false);
-			ToastLog("C-P-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.PURPLE), false, false);
-			ToastLog("C-W-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.WHITE), false, false);
-			ToastLog("C-Y-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.YELLOW), false, false);
-			ToastLog("S-R-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.RED), false, false);
-			ToastLog("S-BL-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.BLACK), false, false);
-			ToastLog("S-G-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.GREEN), false, false);
-			ToastLog("S-BU-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.BLUE), false, false);
-			ToastLog("S-C-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.CYAN), false, false);
-			ToastLog("S-P-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.PURPLE), false, false);
-			ToastLog("S-W-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.WHITE), false, false);
-			ToastLog("S-Y-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.YELLOW), false, false);
-			ToastLog("s-R-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.RED), false, false);
-			ToastLog("s-BL-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.BLACK), false, false);
-			ToastLog("s-G-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.GREEN), false, false);
-			ToastLog("s-BU-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.BLUE), false, false);
-			ToastLog("s-C-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.CYAN), false, false);
-			ToastLog("s-P-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.PURPLE), false, false);
-			ToastLog("s-W-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.WHITE), false, false);
-			ToastLog("s-Y-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.YELLOW), false, false);
-			ToastLog("R-R-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.RED), false, false);
-			ToastLog("R-BL-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.BLACK), false, false);
-			ToastLog("R-G-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.GREEN), false, false);
-			ToastLog("R-BU-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.BLUE), false, false);
-			ToastLog("R-C-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.CYAN), false, false);
-			ToastLog("R-P-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.PURPLE), false, false);
-			ToastLog("R-W-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.WHITE), false, false);
-			ToastLog("R-Y-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.YELLOW), false, false);
-			ToastLog("T-R-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.RED), false, false);
-			ToastLog("T-BL-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.BLACK), false, false);
-			ToastLog("T-G-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.GREEN), false, false);
-			ToastLog("T-BU-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.BLUE), false, false);
-			ToastLog("T-C-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.CYAN), false, false);
-			ToastLog("T-P-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.PURPLE), false, false);
-			ToastLog("T-W-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.WHITE), false, false);
-			ToastLog("T-Y-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.YELLOW), false, false);*/
+			
 			return encoder.GenerateCommand(Commands.COLOR_SHAPE_SUCCESS, a, b, c);
-		}
+		}*/
+		//形状颜色识别改用开源AI模型
+		ShapeDetector detector = new ShapeDetector();
+		detector.shapePicProcess(currImage);
+		ShapeColorResult result = detector.GetAllResult();
+		ToastLog(result.toString(), false, true);
+		return encoder.GenerateCommand();
 	}
 	
 	//识别车牌
@@ -401,7 +402,7 @@ public class MainActivity extends AppCompatActivity
 	private byte[] RecognizeTrafficSign()
 	{
 		CommandEncoder encoder = new CommandEncoder();
-		GlobalSignType type = TrafficSign.SignRecognize(currImage);
+		/*GlobalSignType type = TrafficSign.SignRecognize(currImage);
 		if (type == GlobalSignType.Failure)
 			return encoder.GenerateCommand(Commands.TRAFFIC_SIGN_FAILED, (byte) 0, (byte) 0, (byte) 0);
 		else
@@ -429,7 +430,11 @@ public class MainActivity extends AppCompatActivity
 					break;
 			}
 			return encoder.GenerateCommand();
-		}
+		}*/
+		//交通标志改用开源AI模型识别
+		String result = TS_Detector.processImage(currImage);
+		ToastLog("Traffic Sign: " + result, false, true);
+		return encoder.GenerateCommand();
 	}
 	
 	//识别静态文本
@@ -468,6 +473,16 @@ public class MainActivity extends AppCompatActivity
 		}
 	}
 	
+	//识别车型
+	private byte[] RecognizeVehicle()
+	{
+		CommandEncoder encoder = new CommandEncoder();
+		//使用开源AI模型识别车型
+		String result = VID_Detector.processImage(currImage);
+		ToastLog("Vehicle: " + result, false, true);
+		return encoder.GenerateCommand();
+	}
+	
 	//数组转字符串，仅用于调试输出
 	private String ByteArray2String(byte[] arr)
 	{
@@ -570,19 +585,47 @@ public class MainActivity extends AppCompatActivity
 		context.findViewById(R.id.btn_start_qr).setOnClickListener(view ->
 		{
 			ToastLog("QR Code Started", false, false);
-			ToastLog("QR Result: " + ByteArray2String(RecognizeQrCode()), false, false);
+			//默认情况下使用黑白二维码识别
+			ToastLog("QR Result: " + ByteArray2String(RecognizeQrCode(false, GlobalColor.INVALIDATE)), false, false);
+			context.finish();
+		});
+		
+		context.findViewById(R.id.btn_start_red_qr).setOnClickListener(view ->
+		{
+			ToastLog("QR Code Started (Red)", false, false);
+			//针对彩色二维码单独测试二维码识别
+			ToastLog("QR (Red) Result: " + ByteArray2String(RecognizeQrCode(true, GlobalColor.RED)), false, false);
+			context.finish();
+		});
+		
+		context.findViewById(R.id.btn_start_green_qr).setOnClickListener(view ->
+		{
+			ToastLog("QR Code Started (Green)", false, false);
+			//针对彩色二维码单独测试二维码识别
+			ToastLog("QR (Green) Result: " + ByteArray2String(RecognizeQrCode(true, GlobalColor.GREEN)), false, false);
+			context.finish();
+		});
+		
+		context.findViewById(R.id.btn_start_yellow_qr).setOnClickListener(view ->
+		{
+			ToastLog("QR Code Started (Yellow)", false, false);
+			//针对彩色二维码单独测试二维码识别
+			ToastLog("QR (Yellow) Result: " + ByteArray2String(RecognizeQrCode(true, GlobalColor.YELLOW)), false, false);
+			context.finish();
 		});
 		
 		context.findViewById(R.id.btn_start_light).setOnClickListener(view ->
 		{
 			ToastLog("Traffic Light Started", false, false);
 			ToastLog("TL Result: " + ByteArray2String(RecognizeTrafficLight()), false, false);
+			context.finish();
 		});
 		
 		context.findViewById(R.id.btn_start_color_shape).setOnClickListener(view ->
 		{
 			ToastLog("Color Shape Started", false, false);
 			ToastLog("CS Result: " + ByteArray2String(RecognizeShapeColor()), false, false);
+			context.finish();
 		});
 		
 		context.findViewById(R.id.btn_start_car_id).setOnClickListener(view ->
@@ -591,12 +634,14 @@ public class MainActivity extends AppCompatActivity
 			Thread th_debug = new Thread(this::RecognizeCarID);
 			th_debug.start();
 			ToastLog("CID Finished", false, false);
+			context.finish();
 		});
 		
 		context.findViewById(R.id.btn_start_sign).setOnClickListener(view ->
 		{
 			ToastLog("Traffic Sign Started", false, false);
 			ToastLog("TS Result: " + ByteArray2String(RecognizeTrafficSign()), false, false);
+			context.finish();
 		});
 		
 		context.findViewById(R.id.btn_start_ocr).setOnClickListener(view ->
@@ -604,6 +649,7 @@ public class MainActivity extends AppCompatActivity
 			ToastLog("OCR Started", false, false);
 			Thread th_debug = new Thread(this::OCRRecognizeText);
 			th_debug.start();
+			context.finish();
 		});
 		
 		context.findViewById(R.id.btn_tft_page_down).setOnClickListener(view ->
@@ -611,6 +657,7 @@ public class MainActivity extends AppCompatActivity
 			CommandEncoder encoder = new CommandEncoder();
 			dtc_client.ThreadSend(encoder.GenerateCommand(Commands.TFT_PAGE_DOWN, (byte) 0, (byte) 0, (byte) 0));
 			ToastLog("TFT Page Down Command Send.", false, true);
+			context.finish();
 		});
 		
 		context.findViewById(R.id.btn_movement_control).setOnClickListener(view -> startActivity(new Intent(this, MovementController.class)));
@@ -629,18 +676,21 @@ public class MainActivity extends AppCompatActivity
 			detector.shapePicProcess(currImage);
 			ShapeColorResult result = detector.GetAllResult();
 			ToastLog(result.toString(), false, false);
+			context.finish();
 		});
 		
 		context.findViewById(R.id.btn_os_trafficsign).setOnClickListener(view ->
 		{
 			String res = TS_Detector.processImage(currImage);
 			ToastLog("Traffic Sign Result: " + res, false, false);
+			context.finish();
 		});
 		
 		context.findViewById(R.id.btn_os_vehicle).setOnClickListener(view ->
 		{
 			String res = TS_Detector.processImage(currImage);
 			ToastLog("Vehicle Result: " + res, false, false);
+			context.finish();
 		});
 	}
 	//----------------------------------------到此处终止----------------------------------------

app/src/main/java/com/uns/maincar/gui/PermissionGetter.java

@@ -22,6 +22,8 @@ import androidx.core.content.ContextCompat;
 
 import com.uns.maincar.R;
 
+import java.util.Objects;
+
 //Android的存储权限的获取
 public class PermissionGetter extends AppCompatActivity
 {
@@ -72,6 +74,8 @@ public class PermissionGetter extends AppCompatActivity
 		super.onCreate(savedInstanceState);
 		setContentView(R.layout.activity_permission_getter);
 		
+		Objects.requireNonNull(getSupportActionBar()).setTitle("主车远端服务程序 - 权限获取");
+		
 		GetExternalStoragePrivilege();
 	}
 	

app/src/main/java/com/uns/maincar/gui/RaceTasks.java

@@ -16,6 +16,8 @@ import com.uns.maincar.R;
 import com.uns.maincar.constants.Commands;
 import com.uns.maincar.constants.Flags;
 
+import java.util.Objects;
+
 public class RaceTasks extends AppCompatActivity
 {
 	
@@ -49,6 +51,8 @@ public class RaceTasks extends AppCompatActivity
 		super.onCreate(savedInstanceState);
 		setContentView(R.layout.activity_race_tasks);
 		
+		Objects.requireNonNull(getSupportActionBar()).setTitle("主车远端服务程序 - 比赛任务");
+		
 		if (Parent == null)
 		{
 			Toast.makeText(this, "Context is null!", Toast.LENGTH_SHORT).show();

app/src/main/java/com/uns/maincar/gui/SingleFunctionTest.java

@@ -15,6 +15,8 @@ import androidx.appcompat.app.AppCompatActivity;
 import com.uns.maincar.R;
 import com.uns.maincar.constants.Flags;
 
+import java.util.Objects;
+
 public class SingleFunctionTest extends AppCompatActivity
 {
 	
@@ -27,6 +29,8 @@ public class SingleFunctionTest extends AppCompatActivity
 		super.onCreate(savedInstanceState);
 		setContentView(R.layout.activity_single_function_test);
 		
+		Objects.requireNonNull(getSupportActionBar()).setTitle("主车远端服务程序 - 独立测试");
+		
 		if (Parent == null)
 		{
 			Toast.makeText(this, "Context is null!", Toast.LENGTH_SHORT).show();

app/src/main/res/layout/activity_single_function_test.xml

@@ -215,4 +215,34 @@
             android:layout_weight="1"
             android:text="开源\n车型识别" />
     </LinearLayout>
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:orientation="horizontal">
+
+        <Button
+            android:id="@+id/btn_start_red_qr"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginHorizontal="3dp"
+            android:layout_weight="1"
+            android:text="红色\n二维码识别" />
+
+        <Button
+            android:id="@+id/btn_start_green_qr"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginHorizontal="3dp"
+            android:layout_weight="1"
+            android:text="绿色\n二维码识别" />
+
+        <Button
+            android:id="@+id/btn_start_yellow_qr"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginHorizontal="3dp"
+            android:layout_weight="1"
+            android:text="黄色\n二维码识别" />
+    </LinearLayout>
 </LinearLayout>