机载第一版

othersoft/GPSLog/project/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+
+project(GPSLog)
+
+set(CMAKE_CXX_STANDARD 11)
+
+# Qt 5.12 需要手动指定 Qt 模块
+set(QT_MODULES Core SerialPort)
+
+find_package(Qt5 COMPONENTS ${QT_MODULES} REQUIRED)
+
+include_directories(${Qt5Core_INCLUDE_DIRS} ${Qt5SerialPort_INCLUDE_DIRS})
+include_directories("../src/Logger")
+
+# Source files
+file(GLOB SOURCES "../src/*.cpp" "../src/*.h")
+
+# Tell CMake to run moc when necessary
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+
+message(STATUS "SOURCES: ${SOURCES}")
+
+add_executable(GPSLog ${SOURCES})
+
+qt5_use_modules(GPSLog Core SerialPort)
+
+target_link_libraries(GPSLog Qt5::Core Qt5::SerialPort)

othersoft/GPSLog/src/DataLogger.cpp

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+#include "DataLogger.h"
+#include <QDebug>
+
+DataLogger::DataLogger(const QString &filePath, QObject *parent)
+    : QObject(parent),
+      m_filePath(filePath),
+      m_file(filePath)
+{
+    m_stream.setDevice(&m_file);
+}
+
+bool DataLogger::openFile()
+{
+    if (m_file.open(QIODevice::WriteOnly | QIODevice::Append | QIODevice::Text)) {
+        qDebug() << "Data log file opened: " << m_filePath;
+        return true;
+    } else {
+        qDebug() << "Failed to open data log file: " << m_filePath << ", error: " << m_file.errorString();
+        return false;
+    }
+}
+
+void DataLogger::closeFile()
+{
+    if (m_file.isOpen()) {
+        m_stream.flush();
+        m_file.close();
+        qDebug() << "Data log file closed: " << m_filePath;
+    }
+}
+
+void DataLogger::logData(const QString &computerTime, const QString &gpsTime, double latitude, double longitude, double altitude)
+{
+    m_stream << computerTime << "," << gpsTime << "," << latitude << "," << longitude << "," << altitude << "\n";
+    m_stream.flush();
+}

othersoft/GPSLog/src/DataLogger.h

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+#ifndef DATALOGGER_H
+#define DATALOGGER_H
+
+#include <QObject>
+#include <QString>
+#include <QFile>
+#include <QTextStream>
+
+class DataLogger : public QObject
+{
+    Q_OBJECT
+public:
+    explicit DataLogger(const QString &filePath, QObject *parent = nullptr);
+
+    bool openFile();
+    void closeFile();
+    void logData(const QString &computerTime, const QString &gpsTime, double latitude, double longitude, double altitude);
+
+private:
+    QString m_filePath;
+    QFile m_file;
+    QTextStream m_stream;
+};
+
+#endif // DATALOGGER_H

othersoft/GPSLog/src/GPSDataParser.cpp

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+#include "GPSDataParser.h"
+#include <QDebug>
+#include <QStringList>
+#include <QString>
+#include <QByteArray>
+
+GPSDataParser::GPSDataParser(QObject *parent)
+    : QObject(parent),
+      m_latitude(0.0),
+      m_longitude(0.0),
+      m_altitude(0.0)
+{
+}
+
+long timeshasrecive=0;
+float alttiude_last=0.0;
+void GPSDataParser::parse(const QByteArray &nmeaData)
+{
+    if (timeshasrecive>=2000)timeshasrecive=0;
+    timeshasrecive++;
+    if (timeshasrecive<10)
+     qDebug() << "Received NMEA data: " << nmeaData;
+
+
+    QString nmeaString = QString::fromUtf8(nmeaData);
+    QStringList nmeaParts = nmeaString.split(",");
+
+    // if (nmeaParts.size() < 11) {
+    //     qDebug() << "Invalid NMEA data: " << nmeaString;
+    //     return;
+    // }
+
+    // Parse GPGGA sentence
+    // qDebug() << " first " << nmeaParts[0];
+    if (nmeaParts[0] == "$GPGGA"|| nmeaParts[0] == "$GNGGA") {
+        // qDebug() << " GGA data: " << nmeaString;
+        if (nmeaParts.size() < 10) {
+            qDebug() << "Invalid GGA data: " << nmeaString;
+            return;
+        }
+        QString utcTime = nmeaParts[1];
+
+        bool ok;
+        double latitudeDegrees = nmeaParts[2].toDouble(&ok);
+        if (!ok) return;
+        char latitudeDirection = nmeaParts[3].at(0).toLatin1();
+
+        double longitudeDegrees = nmeaParts[4].toDouble(&ok);
+        if (!ok) return;
+        char longitudeDirection = nmeaParts[5].at(0).toLatin1();
+
+        double altitude = nmeaParts[9].toDouble(&ok);
+        if (!ok) return;
+
+        double latitude = convertToDecimalDegrees(latitudeDegrees, latitudeDirection);
+        double longitude = convertToDecimalDegrees(longitudeDegrees, longitudeDirection);
+        //emit dataParsed(utcTime, latitude, longitude, altitude);
+        alttiude_last=altitude;
+    } else if (nmeaParts[0] == "$GPRMC"|| nmeaParts[0] == "$GNRMC") {
+
+        // qDebug() << "valid RMC data: " << nmeaString;
+        if (nmeaParts.size() < 7) {
+            qDebug() << "Invalid RMC data: " << nmeaString;
+            return;
+        }
+        QString utcTime = nmeaParts[1];
+        char status = nmeaParts[2].at(0).toLatin1();
+        if (status == 'A') {
+
+            bool ok;
+            double latitudeDegrees = nmeaParts[3].toDouble(&ok);
+            if (!ok) return;
+            char latitudeDirection = nmeaParts[4].at(0).toLatin1();
+
+            double longitudeDegrees = nmeaParts[5].toDouble(&ok);
+            if (!ok) return;
+            char longitudeDirection = nmeaParts[6].at(0).toLatin1();
+
+            double latitude = convertToDecimalDegrees(latitudeDegrees, latitudeDirection);
+            double longitude = convertToDecimalDegrees(longitudeDegrees, longitudeDirection);
+            double altitude = 0.0; // RMC doesn't have altitude
+            emit dataParsed(utcTime, latitude, longitude, alttiude_last);
+            // // 输出utc lat long alt
+            // qDebug()<< "RMC Parsed Data - UTC Time:" << utcTime
+            //          << "Latitude:" << latitude
+            //          << "Longitude:" << longitude
+            //          << "Altitude:" << altitude;
+            system("gpio mode 13 out");
+        }
+    } else {
+       // qDebug() << "other NMEA data: " << nmeaString;
+    }
+}
+double GPSDataParser::convertToDecimalDegrees(double degreesMinutes, char direction)
+{
+    double degrees = int(degreesMinutes / 100);
+    double minutes = degreesMinutes - (degrees * 100);
+    double decimalDegrees = degrees + (minutes / 60);
+
+    if (direction == 'S' || direction == 'W') {
+        decimalDegrees *= -1;
+    }
+
+    return decimalDegrees;
+}

othersoft/GPSLog/src/GPSDataParser.h

@@ -0,0 +1,36 @@
+#ifndef GPSDATAPARSER_H
+#define GPSDATAPARSER_H
+
+#include <QObject>
+#include <QString>
+#include <QByteArray>
+
+class GPSDataParser : public QObject
+{
+    Q_OBJECT
+public:
+    explicit GPSDataParser(QObject *parent = nullptr);
+
+    void parse(const QByteArray &nmeaData);
+
+signals:
+    void dataParsed(const QString &gpsTime, double latitude, double longitude, double altitude);
+
+
+private:
+    double convertToDecimalDegrees(double degreesMinutes, char direction);
+
+private:
+    QString m_utcTime;
+    double m_latitude;
+    double m_longitude;
+    double m_altitude;
+
+public:
+    inline QString getUTCTime() const { return m_utcTime; }
+    inline double getLatitude() const { return m_latitude; }
+    inline double getLongitude() const { return m_longitude; }
+    inline double getAltitude() const { return m_altitude; }
+};
+
+#endif // GPSDATAPARSER_H

othersoft/GPSLog/src/Logger/Logger.h

@@ -0,0 +1,94 @@
+//
+// Created by xin on 2021/8/17.
+//edit by zz.
+//fixed code page problem;added a new initialize function; --20211101
+#pragma once
+
+#include <QFile>
+#include <QTextStream>
+#include <QDateTime>
+#include "qmutex.h"
+#include "QtMsgHandler"
+#include <iostream>
+#include <QDir>
+namespace QT_LOG
+{
+    static int m_LogLevel = 1;
+    static QString m_LogFile = QString("%1_GPS.log").arg(QDateTime::currentDateTime().toString("yyyyMMddhhmmss"));
+    QMutex m_LogMutex;
+
+    void customMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg)
+    {
+        if (type < m_LogLevel)
+        {
+            return;
+        }
+
+        QString log_info;
+        switch (type)
+        {
+            case QtDebugMsg:
+                log_info = QString("%1:%2").arg(QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss"),msg);
+                break;
+
+            case QtWarningMsg:
+                log_info = QString("%1[Warning]:%2").arg(QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss"),msg);
+                break;
+
+            case QtCriticalMsg:
+                log_info = QString("%1[Critical]:%2").arg(QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss"),msg);
+                break;
+
+            case QtFatalMsg:
+                log_info = QString("%1[Fatal]:%2").arg(QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss"),msg);
+                abort();
+        }
+
+        m_LogMutex.lock();
+
+        QFile outFile(m_LogFile);
+        outFile.open(QIODevice::WriteOnly | QIODevice::Append | QIODevice::Text);
+        QTextStream ts(&outFile);
+        ts << log_info << endl;
+
+        std::cout<<log_info.toStdString()<<std::endl;
+
+        outFile.close();
+
+        m_LogMutex.unlock();
+    }
+    void logInit(QString logFile = "",int logLevel = 0)
+    {
+
+#ifndef _Debug
+        if ((logLevel < 0) || (logLevel > 3))
+        {
+            m_LogLevel = 1;
+        }
+        else
+        {
+            m_LogLevel = logLevel;
+        }
+
+        if (!logFile.isEmpty())
+        {
+            m_LogFile = logFile+"/"+m_LogFile;
+        }
+
+        qInstallMessageHandler(customMessageHandler);
+        //qInstallMsgHandler(customMessageHandler);
+#endif
+    }
+
+	//added by IRIS_ZZ initialize from main 
+	void InitLogger(QString qstrDir)
+	{
+		QDir qdLogFolder;
+		qdLogFolder.mkdir(qstrDir);
+		qDebug() << QT_LOG::m_LogFile;
+		QT_LOG::logInit(qstrDir);
+	}
+};
+
+
+

othersoft/GPSLog/src/SerialPortReader.cpp

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+#include "SerialPortReader.h"
+
+SerialPortReader::SerialPortReader(const QString &portName, int baudRate, QObject *parent)
+    : QObject(parent),
+      m_portName(portName),
+      m_baudRate(baudRate),
+      m_serialPort(new QSerialPort(this))
+{
+    m_serialPort->setPortName(m_portName);
+    m_serialPort->setBaudRate(115200);
+
+    connect(m_serialPort, &QSerialPort::readyRead, this, &SerialPortReader::readData);
+}
+
+SerialPortReader::~SerialPortReader()
+{
+    closePort();
+}
+
+bool SerialPortReader::openPort()
+{
+    if (m_serialPort->open(QIODevice::ReadOnly)) {
+        qDebug() << "Serial port opened: " << m_portName;
+        return true;
+    } else {
+        qDebug() << "Failed to open serial port: " << m_portName << ", error: " << m_serialPort->errorString();
+        return false;
+    }
+}
+
+void SerialPortReader::closePort()
+{
+    if (m_serialPort->isOpen()) {
+        m_serialPort->close();
+        qDebug() << "Serial port closed: " << m_portName;
+    }
+}
+
+void SerialPortReader::start()
+{
+    if (!openPort()) {
+        return;
+    }
+}
+
+void SerialPortReader::readData()
+{
+    QByteArray newData = m_serialPort->readAll();
+    m_buffer.append(newData);
+
+    int nmeaEndIndex = m_buffer.indexOf("\r\n");
+    while (nmeaEndIndex != -1) {
+        QByteArray nmeaData = m_buffer.left(nmeaEndIndex);
+        m_buffer.remove(0, nmeaEndIndex + 2);
+        nmeaEndIndex = m_buffer.indexOf("\r\n");
+        emit dataReceived(nmeaData);
+    }
+}

othersoft/GPSLog/src/SerialPortReader.h

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+#ifndef SERIALPORTREADER_H
+#define SERIALPORTREADER_H
+
+#include <QObject>
+#include <QThread>
+#include <QSerialPort>
+#include <QSerialPortInfo>
+#include <QDebug>
+
+class SerialPortReader : public QObject
+{
+    Q_OBJECT
+public:
+    explicit SerialPortReader(const QString &portName, int baudRate, QObject *parent = nullptr);
+    ~SerialPortReader();
+
+    bool openPort();
+    void closePort();
+
+    void start();
+
+signals:
+    void dataReceived(const QByteArray &data);
+
+private slots:
+    void readData();
+
+private:
+    QString m_portName;
+    int m_baudRate;
+    QSerialPort *m_serialPort;
+    QByteArray m_buffer;
+};
+
+#endif // SERIALPORTREADER_H

othersoft/GPSLog/src/main.cpp

@@ -0,0 +1,62 @@
+#include <QCoreApplication>
+#include <QDateTime>
+#include <QDebug>
+#include <QSerialPort>
+#include <QSerialPortInfo>
+
+#include "SerialPortReader.h"
+#include "GPSDataParser.h"
+#include "DataLogger.h"
+#include "Logger/Logger.h"
+
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
+    system("gpio mode 13 input");
+    QT_LOG::InitLogger("/home/data/Log/");
+
+    // 1. 查找可用的串口
+    QString serialPortName;
+    const auto serialPortInfos = QSerialPortInfo::availablePorts();
+    if (!serialPortInfos.isEmpty()) {
+        for (const QSerialPortInfo &serialPortInfo : serialPortInfos) {
+            qDebug() << "Available serial port: " << serialPortInfo.portName();
+        }
+        // 默认使用第一个串口
+        serialPortName = serialPortInfos.first().portName();
+    } else {
+        qDebug() << "No serial port found.";
+        return 1;
+    }
+
+    // 3. 创建 SerialPortReader, GPSDataParser, DataLogger
+    SerialPortReader serialPortReader("/dev/ttyS2", 115200);
+    GPSDataParser gpsDataParser;
+    QDateTime datenow=QDateTime::currentDateTime();
+    QString fileparenth=QString("/home/data/GPS_Data/%1").arg(datenow.toString("yyyyMMdd"));
+    QString command=QString("mkdir -p %1").arg(fileparenth);
+    system(command.toStdString().c_str());
+    QString filePath = fileparenth+QString("/%1_gps.csv").arg( datenow.toString("yyyyMMdd_HHmmss"));
+    DataLogger dataLogger(filePath);
+    if (!dataLogger.openFile()) {
+        return 1;
+    }
+
+    // 4. 连接信号和槽
+    QObject::connect(&serialPortReader, &SerialPortReader::dataReceived, &gpsDataParser, &GPSDataParser::parse);
+    QObject::connect(&gpsDataParser, &GPSDataParser::dataParsed, [&](const QString &gpsTime, double latitude, double longitude, double altitude) {
+        QString computerTime = QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss.zzz");
+        dataLogger.logData(computerTime, gpsTime, latitude, longitude, altitude);
+    });
+
+    // 5. 启动串口读取
+    serialPortReader.start();
+
+    // 6. 启动应用程序事件循环
+    int result = a.exec();
+
+    // 7. 关闭文件
+    dataLogger.closeFile();
+
+    return result;
+}