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整合GPS同步并修复UI刷新bug

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- 将InitSystemParams功能整合到SetupSubscriptions中
- 修复Widget_M300RTK运算符错误(&改为&&)
- 添加UI定时刷新功能Slot_flash_screen
- 添加密码保护功能(123456)
- WDA传感器添加结束符格式TODO注释
- 调整widget控件索引映射
This commit is contained in:
xin
2026-03-04 10:21:24 +08:00
parent 742b0a1e5a
commit 82608bfa0a
5 changed files with 536 additions and 582 deletions
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383
Source/M300/PSDK_Qt/Main/VehicleController.cpp
View File

@ -256,7 +256,7 @@ int VehicleController::SetupEnvironment_M300RTK()
qDebug() << "VehicleController: Func DjiPlatform_RegHalUartHandler. Register hal uart handler error";
throw std::runtime_error("Register hal uart handler error.");
}
//<2F><><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD>
returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal network handler error");
@ -270,6 +270,17 @@ int VehicleController::SetupEnvironment_M300RTK()
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
}else {
// returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
// if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// printf("register hal network handler error");
// return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
// }
// // //Attention: if you want to use camera stream view function, please uncomment it.
// returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
// if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// printf("register osal socket handler error");
// return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
// }
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal usb bulk handler error");
@ -363,15 +374,17 @@ int VehicleController::StartupPSDK_M300RTK()
USER_LOG_ERROR("power management init error");
}
osalHandler->TaskSleepMs(5000);
SetupWidget();//<2F>?<EFBFBD><C9BC>?<EFBFBD><DFBC><3E><><EFBFBD>
SetupWidget();//<2F>?<EFBFBD><C9BC>?<EFBFBD><DFBC><3E><><EFBFBD>
osalHandler->TaskSleepMs(5000);
SetupMessagePipe();//widget<65><74>vehicle
// SetupWaypointStatusCallback();
// InitSystemParams();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?<EFBFBD>?<EFBFBD><E4A3AC><EFBFBD><EFBFBD>???<CDB3>??<E4A3AC><C8BB>?<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>?<EFBFBD><C4A3><EFBFBD>?<EFBFBD>?<EFBFBD>??<CDAC><CAB1><EFBFBD><EFBFBD>5<EFBFBD><35><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
SetupSubscriptions();//?<><CAB5><EFBFBD><EFBFBD>?<EFBFBD>?<EFBFBD><C4B6>?<EFBFBD><C4A3><EFBFBD><EFBFBD><EFBFBD>?<EFBFBD><CCAB><EFBFBD><EFBFBD>
//InitSystemParams();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?<EFBFBD>?<EFBFBD><E4A3AC><EFBFBD><EFBFBD>???<CDB3>??<E4A3AC><C8BB>?<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>?<EFBFBD><C4A3><EFBFBD>?<EFBFBD>?<EFBFBD>??<CDAC><CAB1><EFBFBD><EFBFBD>5<EFBFBD><35><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//?<><CAB5><EFBFBD><EFBFBD>?<EFBFBD>?<EFBFBD><C4B6>?<EFBFBD><C4A3><EFBFBD><EFBFBD><EFBFBD>?<EFBFBD><CCAB><EFBFBD><EFBFBD>
qDebug()<<"M300RTK PSDK Channel Started.";
m_clsWidget.stratmessageflash();
SetupSubscriptions();
return 0;
}
@ -463,7 +476,10 @@ int VehicleController::GetOneDataFrame(M300RTKDataFrame& M300RTKDataFrame)
int VehicleController::SetupSubscriptions()
{
QString qstrInfo = QString("Waiting for airborn gps Time Valide");
emit Signal_UpdateVehicleMessage(qstrInfo, 0);
T_DjiReturnCode tDjiReturnCode;
QString qstrWBackPath("/home/data/Settings/MainSettings.ini");
tDjiReturnCode = DjiFcSubscription_Init();
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
@ -476,10 +492,39 @@ int VehicleController::SetupSubscriptions()
qDebug() << "init data subscription module finished.";
}
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, DjiTest_FcSubscriptionReceiveHeightCallback);
// Subscribe GPS related topics for time sync and homepoint altitude
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic GPS_SIGNAL_LEVEL error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic GPS_DATE error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic GPS_TIME error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic ALTITUDE_OF_HOMEPOINT error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
// Subscribe other flight data topics
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, DjiTest_FcSubscriptionReceiveHeightCallback);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
@ -487,7 +532,6 @@ int VehicleController::SetupSubscriptions()
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY, DJI_DATA_SUBSCRIPTION_TOPIC_5_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
@ -502,7 +546,6 @@ int VehicleController::SetupSubscriptions()
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_5_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
@ -510,12 +553,89 @@ int VehicleController::SetupSubscriptions()
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_BAROMETER, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_BAROMETER error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
// Wait for GPS signal and sync system time
T_DjiOsalHandler* osalHandler = DjiPlatform_GetOsalHandler();
bool bStop = false;
#ifdef ZZ_FLAG_TEST
bStop = 1;
#endif
T_DjiFcSubscriptionGpsSignalLevel tDjiGpsSignalLevel = { 0 };
T_DjiDataTimestamp tTimestamp = { 0 };
osalHandler->TaskSleepMs(5000);
QTime qtStart = QTime::currentTime();
int iRetryTime = 0;
while (!bStop)
{
if (iRetryTime > 60)
{
bStop = 1;
}
osalHandler->TaskSleepMs(2000);
DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL, (uint8_t*)&tDjiGpsSignalLevel, sizeof(T_DjiFcSubscriptionGpsSignalLevel), &tTimestamp);
qDebug() << "GPS_SIGNAL_LEVEL:" << tDjiGpsSignalLevel;
QTime qtElapsed = QTime::currentTime();
if (tDjiGpsSignalLevel > 1)
{
bStop = 1;
}
else
{
QString qstrInfo = QString("Warning:Weak GPS signal, Waiting....GPS_SIGNAL_LEVEL:%1, Elapsed time:%2").arg(tDjiGpsSignalLevel).arg(qtStart.msecsTo(qtElapsed));
emit Signal_UpdateVehicleMessage(qstrInfo, 0);
}
iRetryTime++;
}
// Get GPS datetime and sync system time
T_DjiFcSubscriptionGpsDate tGpsDate = { 0 };
T_DjiFcSubscriptionGpsTime tGpsTime = { 0 };
T_DjiFcSubscriptionAltitudeOfHomePoint tAltOfHP = { 0 };
T_DjiFcSubscriptionGpsPosition tDjiGpsPosition = { 0 };
DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE, (uint8_t*)&tGpsDate, sizeof(T_DjiFcSubscriptionGpsDate), &tTimestamp);
DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME, (uint8_t*)&tGpsTime, sizeof(T_DjiFcSubscriptionGpsTime), &tTimestamp);
DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT, (uint8_t*)&tAltOfHP, sizeof(T_DjiFcSubscriptionAltitudeOfHomePoint), &tTimestamp);
DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION, (uint8_t*)&tDjiGpsPosition, sizeof(T_DjiFcSubscriptionGpsPosition), &tTimestamp);
// Save homepoint altitude to config
m_fHeightOfHomePoint_BM = tAltOfHP;
float fHeightOfHomePoint_GPS = tDjiGpsPosition.z;
QSettings qsMainSettings(qstrWBackPath, QSettings::Format::IniFormat);
qsMainSettings.setValue(QString("WBACK/HeightOfHomePoint_BM"), QString("%1").arg(m_fHeightOfHomePoint_BM));
qsMainSettings.setValue(QString("WBACK/HeightOfHomePoint_GPS"), QString("%1").arg(fHeightOfHomePoint_GPS));
qDebug() << "HeightOfHomePoint_BM:" << m_fHeightOfHomePoint_BM;
qDebug() << "HeightOfHomePoint_GPS:" << fHeightOfHomePoint_GPS;
// Sync system time from GPS
QDateTime qdtDateTime;
QString qstrDate = QString::number(tGpsDate);
QString qstrTime = QString::number(tGpsTime);
if (qstrTime.length() == 5)
{
qstrTime = "0" + qstrTime;
}
QString qstrDateTime = qstrDate + qstrTime;
qdtDateTime = QDateTime::fromString(qstrDateTime, "yyyyMMddhhmmss");
if (qdtDateTime.isValid())
{
QString command = "date -s \"" + qdtDateTime.toString("yyyy-MM-dd hh:mm:ss") + "\"";
system(command.toLatin1().data());
time_t stdTime = qdtDateTime.toTime_t();
stime(&stdTime);
qDebug() << "System time synced from GPS:" << qdtDateTime.toString("yyyy-MM-dd hh:mm:ss");
}
qstrInfo = QString("begin system");
emit Signal_UpdateVehicleMessage(qstrInfo, 0);
return 0;
}
@ -602,7 +722,7 @@ int VehicleController::SetupMessagePipe()
int VehicleController::SetupWidget()
{
m_clsWidget.SetUIFilePath("/home/DJI/Widget",100);
// m_clsWidget.SetUIFilePath("/home/pi/airborn/configfile/DJI/Widget",100);
//m_clsWidget.SetUIFilePath("/home/pi/airborn/configfile/DJI/Widget",100);
m_clsWidget.SetSettings(m_struUIConfig);
@ -611,251 +731,6 @@ int VehicleController::SetupWidget()
return 0;
}
int VehicleController::InitSystemParams()
{
T_DjiReturnCode tDjiReturnCode;
QString qstrWBackPath("/home/data/Settings/MainSettings.ini");
///Init
tDjiReturnCode = DjiFcSubscription_Init();
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "init data subscription module error.";
return 1;
}
else
{
qDebug() << "InitSystemDateTime started.";
}
///SubscribeTopic GPS_SIGNAL_LEVEL
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL error.";
return -1;
}
///SubscribeTopic GPS_DATE
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE error.";
return -2;
}
///SubscribeTopic GPS_TIME
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME error.";
return -3;
}
///SubscribeTopic ALTITUDE_OF_HOMEPOINT
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT error.";
return -4;
}
///SubscribeTopic DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION error.";
return -5;
}
///Make sure Gps avalible
T_DjiOsalHandler* osalHandler = DjiPlatform_GetOsalHandler();
bool bStop = false;
/////for test
#ifdef ZZ_FLAG_TEST
bStop = 1;
#endif
T_DjiFcSubscriptionGpsSignalLevel tDjiGpsSignalLevel = { 0 };
T_DjiDataTimestamp tTimestamp = { 0 };
osalHandler->TaskSleepMs(5000);
QTime qtStart = QTime::currentTime();
int iRetryTime = 0;
while (!bStop)
{
if (iRetryTime>60)
{
bStop = 1;
}
osalHandler->TaskSleepMs(2000);
DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL, (uint8_t*)&tDjiGpsSignalLevel, sizeof(T_DjiFcSubscriptionGpsSignalLevel), &tTimestamp);
qDebug() << "DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL" << tDjiGpsSignalLevel;
QTime qtElapsed = QTime::currentTime();
if (tDjiGpsSignalLevel>1)
{
bStop = 1;
//emit Signal_UpdatePSDKFloatMessage("");
}
else
{
QString qstrInfo = QString("Warning:Weak GPS signal, Waiting....GPS_SIGNAL_LEVEL:%1, Elapsed time:%2").arg(tDjiGpsSignalLevel).arg(qtStart.msecsTo(qtElapsed));
emit Signal_UpdateVehicleMessage(qstrInfo);
}
iRetryTime++;
}
//osalHandler->TaskSleepMs(2000);
///Get GPS Datetime
T_DjiFcSubscriptionGpsDate tGpsDate = { 0 };
T_DjiFcSubscriptionGpsTime tGpsTime = { 0 };
///Get Other
T_DjiFcSubscriptionAltitudeOfHomePoint tAltOfHP = { 0 };
T_DjiFcSubscriptionGpsPosition tDjiGpsPosition = { 0 };
tDjiReturnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE, (uint8_t*)&tGpsDate, sizeof(T_DjiFcSubscriptionGpsDate), &tTimestamp);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_GetLatestValueOfTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE.";
return -1;
}
tDjiReturnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME, (uint8_t*)&tGpsTime, sizeof(T_DjiFcSubscriptionGpsTime), &tTimestamp);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_GetLatestValueOfTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE.";
return -2;
}
tDjiReturnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT, (uint8_t*)&tAltOfHP, sizeof(T_DjiFcSubscriptionAltitudeOfHomePoint), &tTimestamp);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_GetLatestValueOfTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT.";
return -3;
}
tDjiReturnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION, (uint8_t*)&tDjiGpsPosition, sizeof(T_DjiFcSubscriptionGpsPosition), &tTimestamp);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_GetLatestValueOfTopic error.DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY";
return -4;
}
m_fHeightOfHomePoint_BM = tAltOfHP;
float fHeightOfHomePoint_GPS= tDjiGpsPosition.z;
QString qstrHeightOfHomePoint_BM = QString("%1").arg(m_fHeightOfHomePoint_BM);
QString qstrHeightOfHomePoint_GPS = QString("%1").arg(tDjiGpsPosition.z);
//////////////////////////////////////////////////////////////////////////write back AOHP
QSettings qsMainSettings(qstrWBackPath, QSettings::Format::IniFormat);
qsMainSettings.setValue(QString("WBACK/HeightOfHomePoint_BM"), qstrHeightOfHomePoint_BM);
qsMainSettings.setValue(QString("WBACK/HeightOfHomePoint_GPS"), qstrHeightOfHomePoint_GPS);
qDebug() << qstrHeightOfHomePoint_BM << m_fHeightOfHomePoint_BM;
qDebug() << qstrHeightOfHomePoint_GPS << tDjiGpsPosition.z;
//////////////////////////////////////////////////////////////////////////
//qDebug() << "Date" << tGpsDate << "Time" << tGpsTime;
QDateTime qdtDateTime;
QString qstrDate, qstrTime,qstrDateTime;
qstrDate = QString::number(tGpsDate);
qstrTime = QString::number(tGpsTime);
if (qstrTime.length()==5)
{
qstrTime = "0" + qstrTime/*+"000"*/;
}
// else
// {
// qstrTime= qstrTime + "000";
// }
// QDate qd;
// qd = QDate::fromString("20121022", "yyyyMMdd");
// QTime qt;
// qt.fromString(qstrTime,"hhmmsszzz");
qstrDateTime = qstrDate + qstrTime;
qdtDateTime = QDateTime::fromString(qstrDateTime, "yyyyMMddhhmmss");
QString command="date -s \""+qdtDateTime.toString("yyyy-MM-dd hh:mm:ss")+"\"";
system(command.toLatin1().data());
time_t stdTime = qdtDateTime.toTime_t();
if (qdtDateTime.isValid())
{
stime(&stdTime);
}
#ifndef ZZ_FLAG_TEST
//stime(&stdTime);
#else
#endif
// qDebug() << qstrDate;
// qDebug() << qstrTime;
// qDebug() << qd.isValid();
// qDebug() << qd.toString("yyyyMMdd");
// qDebug() << qt.isValid();
// qDebug() << qt;
qDebug() <<"[GPS Time Check]" << qdtDateTime.isValid();
qDebug() <<"[GPS Time:]" << qstrDateTime << "####" << qdtDateTime.toString("yyyyMMddhhmmsszzz");
///UnSubscribeTopic
/*tDjiReturnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_UnSubscribeTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL.";
return -11;
}*/
tDjiReturnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_UnSubscribeTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL.";
return -11;
}
tDjiReturnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_UnSubscribeTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE.";
return -12;
}
tDjiReturnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_UnSubscribeTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME.";
return -13;
}
tDjiReturnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_UnSubscribeTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT.";
return -14;
}
tDjiReturnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_UnSubscribeTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT.";
return -15;
}
return 0;
}
int VehicleController::Slot_OnChangeCaptureMode(char cMode)
{
//ZZ_Widget_M300RTK* test = qobject_cast<ZZ_Widget_M300RTK*>(sender());

4
Source/M300/PSDK_Qt/Main/VehicleController.h
View File

@ -70,7 +70,7 @@ private:
int SetupWidget();
///
public:///for test
int InitSystemParams();
// int InitSystemParams();
int SetupSubscriptions();
///
public:///for test
@ -84,7 +84,7 @@ signals:
int Signal_StartCapture();
int Signal_StopCapture();
void Signal_UpdateVehicleMessage(QString qstrMessage);
void Signal_UpdateVehicleMessage(QString qstrMessage,int lineid);
public slots:
int Slot_OnChangeCaptureMode(char cMode);
///for test

704
Source/M300/PSDK_Qt/Widget/Widget_M300RTK.cpp
View File

@ -1,391 +1,455 @@
#include "Widget_M300RTK.h"
enum AireType
{
Aire_Aire = 1,
Aire_N2=0,
#define RLX_LINENUMBER 0
enum AireType {
Aire_Aire = 1,
Aire_N2 = 0,
Aire_NONE=2,
};
enum Target_Gas {
Target_CO2 = 0,
Target_H2O = 1,
Target_CO2 = 0,
Target_H2O = 1,
Target_NONE=2,
};
int32_t CuttrentGasValue = 0;
int32_t passwordforsetting = 0;
int32_t ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn = 0;
int32_t ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode = 1;
int32_t ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode = 1;
int32_t ZZ_Widget_M300RTK::m_siDjiWidgetValueList_DecisionHeight = 1;
int32_t ZZ_Widget_M300RTK::m_siDjiWidgetValueList_SamplingRate = 0;
AireType CurrentAireType = Aire_Aire;
Target_Gas CurrentTargetGas = Target_CO2;
AireType CurrentAireType = Aire_NONE;
Target_Gas CurrentTargetGas = Target_NONE;
float NowTempreature = 0;
bool isnowsystemWorking = false;
QStringList Strforshow;
QStringList StrforshowCurrent;
QStringList StrforshowLast;
vector<int> indexforshow;
ZZ_Widget_M300RTK::ZZ_Widget_M300RTK(QObject* parent /*= nullptr*/)
{
m_iFlagIsVehicleCapturing = 0;
ZZ_Widget_M300RTK::ZZ_Widget_M300RTK(QObject *parent /*= nullptr*/) {
m_iFlagIsVehicleCapturing = 0;
Strforshow.append("");
Strforshow.append("");
Strforshow.append("");
Strforshow.append("");
Strforshow.append("");
// Strforshow.append("");
// Strforshow.append("");
StrforshowCurrent = Strforshow;
StrforshowLast = Strforshow;
indexforshow.resize(Strforshow.size());
for (int i = 0; i < indexforshow.size(); i++) {
indexforshow[i] = 0;
}
connect(&m_TimerForflash, &QTimer::timeout, this, &ZZ_Widget_M300RTK::Slot_flash_screen);
connect(this,&ZZ_Widget_M300RTK::Signal_UpdatePSDKFloatMessage,this,&ZZ_Widget_M300RTK::Slot_UpdatePSDKFloatMessage);
connect(this, &ZZ_Widget_M300RTK::Signal_UpdatePSDKFloatMessage, this,
&ZZ_Widget_M300RTK::Slot_UpdatePSDKFloatMessage);
m_bIsFlashOn = false;
}
ZZ_Widget_M300RTK::~ZZ_Widget_M300RTK()
{
ZZ_Widget_M300RTK::~ZZ_Widget_M300RTK() {
}
int ZZ_Widget_M300RTK::InitParam()
{
return 0;
int ZZ_Widget_M300RTK::InitParam() {
return 0;
}
int ZZ_Widget_M300RTK::SetUIFilePath(char* pcUIFilePath, uint16_t uiLength)
{
if (uiLength>=256)
{
qDebug() << "ZZ_Widget_M300RTK: Func SetUIFilePath. File path is too long";
return 1;
}
int ZZ_Widget_M300RTK::SetUIFilePath(char *pcUIFilePath, uint16_t uiLength) {
if (uiLength >= 256) {
qDebug() << "ZZ_Widget_M300RTK: Func SetUIFilePath. File path is too long";
return 1;
}
QByteArray qbaTemp(pcUIFilePath);
m_qstrFilePath = qbaTemp;
QByteArray qbaTemp(pcUIFilePath);
m_qstrFilePath = qbaTemp;
return 0;
return 0;
}
int ZZ_Widget_M300RTK::UpdateCaptureStatus(int iStatus)
{
m_iFlagIsVehicleCapturing = iStatus;
int ZZ_Widget_M300RTK::UpdateCaptureStatus(int iStatus) {
m_iFlagIsVehicleCapturing = iStatus;
}
int ZZ_Widget_M300RTK::GetSettings(UIConfig &struUIConfig)
{
struUIConfig.sDecisionHeight = m_siDjiWidgetValueList_DecisionHeight;
struUIConfig.sCaptureMode = m_siDjiWidgetValueList_CaptureMode;
struUIConfig.sSamplingRate = m_siDjiWidgetValueList_SamplingRate;
return 0;
int ZZ_Widget_M300RTK::GetSettings(UIConfig &struUIConfig) {
struUIConfig.sDecisionHeight = m_siDjiWidgetValueList_DecisionHeight;
struUIConfig.sCaptureMode = m_siDjiWidgetValueList_CaptureMode;
struUIConfig.sSamplingRate = m_siDjiWidgetValueList_SamplingRate;
return 0;
}
int ZZ_Widget_M300RTK::SetSettings(UIConfig struUIConfig)
{
m_struUIConfig = struUIConfig;
m_siDjiWidgetValueList_CaptureMode = struUIConfig.sCaptureMode;
m_siDjiWidgetValueList_DecisionHeight = struUIConfig.sDecisionHeight;
m_siDjiWidgetValueList_SamplingRate = struUIConfig.sSamplingRate;
return 0;
int ZZ_Widget_M300RTK::SetSettings(UIConfig struUIConfig) {
m_struUIConfig = struUIConfig;
m_siDjiWidgetValueList_CaptureMode = struUIConfig.sCaptureMode;
m_siDjiWidgetValueList_DecisionHeight = struUIConfig.sDecisionHeight;
m_siDjiWidgetValueList_SamplingRate = struUIConfig.sSamplingRate;
return 0;
}
int ZZ_Widget_M300RTK::PreparteEnvironment()
{
void ZZ_Widget_M300RTK::stratmessageflash() {
T_DjiReturnCode djiStat;
static const T_DjiWidgetHandlerListItem s_DjiWidgetHandlerList[] =
{
{0, DJI_WIDGET_TYPE_SWITCH, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{1, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{2, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{3, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{4, DJI_WIDGET_TYPE_INT_INPUT_BOX, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{5, DJI_WIDGET_TYPE_BUTTON, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{6, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{7, DJI_WIDGET_TYPE_BUTTON, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{8, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{9, DJI_WIDGET_TYPE_INT_INPUT_BOX, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{10, DJI_WIDGET_TYPE_BUTTON, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this}
};
djiStat = DjiWidget_Init();
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "ZZ_Widget_M300RTK: Func DjiWidget_Init. Dji widget init error"<< djiStat;
//return djiStat;
}
djiStat = DjiWidget_RegDefaultUiConfigByDirPath(m_qstrFilePath.toLatin1());
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << m_qstrFilePath.toLatin1();
qDebug() << "ZZ_Widget_M300RTK: Func DjiWidget_RegDefaultUiConfigByDirPath.Add default widget ui config error";
return djiStat;
}
djiStat = DjiWidget_RegHandlerList(s_DjiWidgetHandlerList, sizeof(s_DjiWidgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem));
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() <<"ZZ_Widget_M300RTK: Func DjiWidget_RegHandlerList.Set widget handler list error";
return djiStat;
}
return 0;
m_TimerForflash.start(5000);
m_bIsFlashOn = true;
}
int ZZ_Widget_M300RTK::UploadResources()
int ZZ_Widget_M300RTK::PreparteEnvironment() {
T_DjiReturnCode djiStat;
static const T_DjiWidgetHandlerListItem s_DjiWidgetHandlerList[] =
{
{0, DJI_WIDGET_TYPE_SWITCH, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{1, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{2, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{3, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{
return 0;
4, DJI_WIDGET_TYPE_INT_INPUT_BOX, ZZ_Widget_M300RTK::OnUpdateWidgetValue,
ZZ_Widget_M300RTK::OnLoadWidgetValue, this
},
{
5, DJI_WIDGET_TYPE_INT_INPUT_BOX, ZZ_Widget_M300RTK::OnUpdateWidgetValue,
ZZ_Widget_M300RTK::OnLoadWidgetValue, this
},
{6, DJI_WIDGET_TYPE_BUTTON, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{7, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{8, DJI_WIDGET_TYPE_BUTTON, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{9, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{
10, DJI_WIDGET_TYPE_INT_INPUT_BOX, ZZ_Widget_M300RTK::OnUpdateWidgetValue,
ZZ_Widget_M300RTK::OnLoadWidgetValue, this
},
{11, DJI_WIDGET_TYPE_BUTTON, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this}
};
djiStat = DjiWidget_Init();
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
qDebug() << "ZZ_Widget_M300RTK: Func DjiWidget_Init. Dji widget init error" << djiStat;
//return djiStat;
}
djiStat = DjiWidget_RegDefaultUiConfigByDirPath(m_qstrFilePath.toLatin1());
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
qDebug() << m_qstrFilePath.toLatin1();
qDebug() << "ZZ_Widget_M300RTK: Func DjiWidget_RegDefaultUiConfigByDirPath.Add default widget ui config error";
return djiStat;
}
djiStat = DjiWidget_RegHandlerList(s_DjiWidgetHandlerList,
sizeof(s_DjiWidgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem));
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
qDebug() << "ZZ_Widget_M300RTK: Func DjiWidget_RegHandlerList.Set widget handler list error";
return djiStat;
}
return 0;
}
int ZZ_Widget_M300RTK::test_UpdatePSDKFloatMessage(QString qstrMessage)
{
T_DjiReturnCode djiStat;
djiStat = DjiWidgetFloatingWindow_ShowMessage(qstrMessage.toLatin1());
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "ZZ_Widget_M300RTK: Func test_UpdatePSDKFloatMessage.Floating window show message error";
}
return 0;
int ZZ_Widget_M300RTK::UploadResources() {
return 0;
}
T_DjiReturnCode ZZ_Widget_M300RTK::OnUpdateWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t value, void* userData)
{
ZZ_Widget_M300RTK* pCaller = (ZZ_Widget_M300RTK*)userData;
int ZZ_Widget_M300RTK::test_UpdatePSDKFloatMessage(QString qstrMessage) {
T_DjiReturnCode djiStat;
djiStat = DjiWidgetFloatingWindow_ShowMessage(qstrMessage.toLatin1());
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
qDebug() << "ZZ_Widget_M300RTK: Func test_UpdatePSDKFloatMessage.Floating window show message error";
}
return 0;
}
T_DjiReturnCode ZZ_Widget_M300RTK::OnUpdateWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t value,
void *userData) {
ZZ_Widget_M300RTK *pCaller = (ZZ_Widget_M300RTK *) userData;
if (pCaller->m_iFlagIsVehicleCapturing)
{
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
if (widgetType == DJI_WIDGET_TYPE_INT_INPUT_BOX) {
if (index == 4)
{
qDebug()<<"now tempreatrue is "<<value;
NowTempreature=value;
}
if (index == 9)
{
qDebug() << "now gas value is " << value;
CuttrentGasValue = value;
}
}
if (widgetType== DJI_WIDGET_TYPE_BUTTON) {
if (index==5)
{
//qDebug()<<"now value is "<<value;
if (pCaller->m_iFlagIsVehicleCapturing) {
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
if (widgetType == DJI_WIDGET_TYPE_INT_INPUT_BOX) {
if (index == 5) {
qDebug() << "now tempreatrue is " << value;
NowTempreature = value;
}
if (index == 10) {
qDebug() << "now gas value is " << value;
CuttrentGasValue = value;
}
if (index==4) {
passwordforsetting = value;
qDebug() << "now password is " << passwordforsetting;
}
}
if (widgetType == DJI_WIDGET_TYPE_BUTTON) {
if (passwordforsetting!=123456) {
pCaller->emit Signal_UpdatePSDKFloatMessage("wrong password",RLX_LINENUMBER);
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
if (index == 6) {
//qDebug()<<"now value is "<<value;
if (value==1)
{
if (isnowsystemWorking==true) return 0;
if (NowTempreature==0) {
pCaller->emit Signal_UpdatePSDKFloatMessage("please set correct temperature first");
if (value == 1) {
if (isnowsystemWorking == true) return 0;
if (NowTempreature == 0) {
pCaller->emit Signal_UpdatePSDKFloatMessage("please set correct temperature first",RLX_LINENUMBER);
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
isnowsystemWorking = true;
pCaller->emit Signal_UpdatePSDKFloatMessage(
"calibrating wind Sensor temperature:" + QString::number(NowTempreature * 1.0 / 10),RLX_LINENUMBER);
//qt 消息队列执行
pCaller->emit SendCommand("WDA", "StartCalibrate#" + QString::number(NowTempreature * 1.0 / 10));
}
}
if (index == 8) {
if (value == 1) {
if (isnowsystemWorking == true) return 0;
isnowsystemWorking = true;
QString AiretypeStr;
if (CurrentAireType == Aire_Aire) {
AiretypeStr = "Air";
} else if (CurrentAireType == Aire_N2) {
AiretypeStr = "N2";
}
else {
pCaller->emit Signal_UpdatePSDKFloatMessage("please select correct aire type first",RLX_LINENUMBER);
isnowsystemWorking = false;
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
qDebug() << "start gas sensor zero calibrate with " + AiretypeStr;
pCaller->emit Signal_UpdatePSDKFloatMessage("ZeroCalibrate with " + AiretypeStr,RLX_LINENUMBER);
QCoreApplication::processEvents();
pCaller->emit SendCommand("GAS", "ZeroCalibrate#" + AiretypeStr);
qDebug() << "---------------------------------------------";
}
}
if (index == 11) {
if (value == 1) {
if (isnowsystemWorking == true) return 0;
isnowsystemWorking = true;
QString TargetGasStr;
if (CurrentTargetGas == Target_CO2) {
TargetGasStr = "CO2";
} else if (CurrentTargetGas==Target_H2O) {
TargetGasStr = "H2O";
}
else {
pCaller->emit Signal_UpdatePSDKFloatMessage("please select correct target gas first",RLX_LINENUMBER);
isnowsystemWorking = false;
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
isnowsystemWorking= true;
pCaller->emit Signal_UpdatePSDKFloatMessage("calibrating wind Sensor temperature:"+QString::number(NowTempreature*1.0/10));
pCaller->emit SendCommand("WDA", "StartCalibrate#"+QString::number(NowTempreature*1.0/10));
}
//确保当前气体值不为0
if (CuttrentGasValue == 0) {
pCaller->emit Signal_UpdatePSDKFloatMessage("please set correct gas value first",RLX_LINENUMBER);
isnowsystemWorking = false;
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
}
}
if (index==7) {
if (value==1)
{
if (isnowsystemWorking==true) return 0;
isnowsystemWorking= true;
QString AiretypeStr;
if (CurrentAireType==Aire_Aire) {
AiretypeStr="Air";
}
else {
AiretypeStr="N2";
}
qDebug()<<"start gas sensor zero calibrate with "+AiretypeStr;
pCaller->emit Signal_UpdatePSDKFloatMessage("ZeroCalibrate with "+AiretypeStr);
pCaller->emit SendCommand("GAS", "ZeroCalibrate#"+AiretypeStr);
}
}
if (index==10) {
if (value==1)
{
if (isnowsystemWorking==true) return 0;
isnowsystemWorking= true;
QString TargetGasStr;
if (CurrentTargetGas==Target_CO2) {
TargetGasStr="CO2";
}
else {
TargetGasStr="H2O";
}
//确保当前气体值不为0
if (CuttrentGasValue==0) {
pCaller->emit Signal_UpdatePSDKFloatMessage("please set correct gas value first");
isnowsystemWorking=false;
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
qDebug()<<"start gas sensor span calibrate with "+TargetGasStr+" value is "+QString::number(CuttrentGasValue);
pCaller->emit Signal_UpdatePSDKFloatMessage(TargetGasStr+" Span Calibrating gas value is "+QString::number(CuttrentGasValue));
pCaller->emit SendCommand("GAS", "SpanCalibrate#"+TargetGasStr+"#"+QString::number(CuttrentGasValue));
}
}
qDebug() << "start gas sensor span calibrate with " + TargetGasStr + " value is " + QString::number(
CuttrentGasValue);
pCaller->emit Signal_UpdatePSDKFloatMessage(
TargetGasStr + " Span Calibrating gas value is " + QString::number(CuttrentGasValue),
RLX_LINENUMBER);
pCaller->emit SendCommand(
"GAS", "SpanCalibrate#" + TargetGasStr + "#" + QString::number(CuttrentGasValue));
}
}
}
if (widgetType == DJI_WIDGET_TYPE_SWITCH) {
if (ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode == 0) {
pCaller->emit Signal_UpdatePSDKFloatMessage("Automatic capture mode.Please don't use this function",
RLX_LINENUMBER);
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
} else {
if (value == 1) {
if (isnowsystemWorking == true) {
// ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn = !value;
return 0;
}
}
isnowsystemWorking = true;
pCaller->emit Signal_UpdatePSDKFloatMessage("start capture",RLX_LINENUMBER);
pCaller->emit Signal_StartCapture();
} else {
if (isnowsystemWorking == false) {
// ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn = !value;
return 0;
}
isnowsystemWorking = false;
pCaller->emit Signal_UpdatePSDKFloatMessage("capture stopped",RLX_LINENUMBER);
pCaller->emit Signal_StopCapture();
}
}
ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn = value;
///for test
QString qstrTest;
qDebug() << "OnUpdateWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
qstrTest = QString("index:%1,value:%2").arg(index, value);
//pCaller->test_UpdatePSDKFloatMessage(qstrTest);
//qstrTest = "12345";
//pCaller->emit Signal_UpdatePSDKFloatMessage(qstrTest);
}
if (widgetType == DJI_WIDGET_TYPE_SWITCH )
{
if (ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode==0)
{
pCaller->emit Signal_UpdatePSDKFloatMessage("Automatic capture mode.Please don't use this function");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
else
{
if (value==1)
{
if (isnowsystemWorking==true) {
// ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn = !value;
return 0;
}
isnowsystemWorking= true;
pCaller->emit Signal_UpdatePSDKFloatMessage("start capture");
pCaller->emit Signal_StartCapture();
}
else
{
if (isnowsystemWorking==false) {
// ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn = !value;
return 0;
}
isnowsystemWorking= false;
pCaller->emit Signal_UpdatePSDKFloatMessage("capture stopped");
pCaller->emit Signal_StopCapture();
}
}
ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn = value;
///for test
QString qstrTest;
qDebug() << "OnUpdateWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
qstrTest = QString("index:%1,value:%2").arg(index, value);
//pCaller->test_UpdatePSDKFloatMessage(qstrTest);
//qstrTest = "12345";
//pCaller->emit Signal_UpdatePSDKFloatMessage(qstrTest);
}
if (widgetType == DJI_WIDGET_TYPE_LIST )
{
if (index==1)
{
pCaller->emit Signal_UpdateCaptureMode((char)value);
ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode = value;
}
else if (index == 2)
{
ZZ_Widget_M300RTK::m_siDjiWidgetValueList_DecisionHeight = value;
}
else if (index == 3)
{
ZZ_Widget_M300RTK::m_siDjiWidgetValueList_SamplingRate = value;
}
else if (index==6)
{
CurrentAireType = (AireType)value;
}
else if (index==8)
{
CurrentTargetGas = (Target_Gas)value;
}
if (widgetType == DJI_WIDGET_TYPE_LIST) {
if (index == 1) {
pCaller->emit Signal_UpdateCaptureMode((char) value);
ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode = value;
} else if (index == 2) {
ZZ_Widget_M300RTK::m_siDjiWidgetValueList_DecisionHeight = value;
} else if (index == 3) {
ZZ_Widget_M300RTK::m_siDjiWidgetValueList_SamplingRate = value;
} else if (index == 7) {
CurrentAireType = (AireType) value;
} else if (index == 9) {
CurrentTargetGas = (Target_Gas) value;
}
#ifdef ZZ_FLAG_TEST
qDebug() << "OnUpdateWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
qDebug() << "OnUpdateWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
#endif
}
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode ZZ_Widget_M300RTK::OnLoadWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t* value, void* userData)
{
T_DjiReturnCode ZZ_Widget_M300RTK::OnLoadWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t *value,
void *userData) {
if (widgetType == DJI_WIDGET_TYPE_SWITCH) {
//qDebug() << "OnLoadWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
if (widgetType == DJI_WIDGET_TYPE_SWITCH)
{
//qDebug() << "OnLoadWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
*value = ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn;
}
*value= ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn;
}
if (widgetType == DJI_WIDGET_TYPE_LIST)
{
//qDebug() << "OnLoadWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
if (index == 1)
{
*value = ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode;
if (widgetType == DJI_WIDGET_TYPE_LIST) {
//qDebug() << "OnLoadWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
if (index == 1) {
*value = ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode;
} else if (index == 2) {
*value = ZZ_Widget_M300RTK::m_siDjiWidgetValueList_DecisionHeight;
} else if (index == 3) {
*value = ZZ_Widget_M300RTK::m_siDjiWidgetValueList_SamplingRate;
} else if (index == 7) {
*value = (int32_t) CurrentAireType;
} else if (index == 9) {
*value = (int32_t) CurrentTargetGas;
}
}
if (widgetType == DJI_WIDGET_TYPE_INT_INPUT_BOX) {
if (index==4) {
*value = passwordforsetting;
}
else if (index == 2)
{
*value = ZZ_Widget_M300RTK::m_siDjiWidgetValueList_DecisionHeight;
}
else if (index == 3)
{
*value = ZZ_Widget_M300RTK::m_siDjiWidgetValueList_SamplingRate;
}
else if (index == 6)
{
*value = (int32_t)CurrentAireType;
} else if (index == 8)
{
*value = (int32_t)CurrentTargetGas;
}
}
if (widgetType==DJI_WIDGET_TYPE_INT_INPUT_BOX)
{
if (index == 4)
{
*value = NowTempreature;
}
if (index == 9)
{
*value = CuttrentGasValue;
}
}
if (index == 5) {
*value = NowTempreature;
}
if (index == 10) {
*value = CuttrentGasValue;
}
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
int ZZ_Widget_M300RTK::Slot_UpdatePSDKFloatMessage(QString qstrMessage)
{
T_DjiReturnCode djiStat;
int ZZ_Widget_M300RTK::Slot_UpdatePSDKFloatMessage(QString qstrMessage, int lineid) {
T_DjiReturnCode djiStat;
Strforshow[lineid] = qstrMessage;
// qDebug() << "float message line " << lineid << " : " << qstrMessage;
Slot_flash_screen();
//
// QString strinone="";
// for (int i = 0; i < Strforshow.size(); i++) {
// strinone+=Strforshow[i]+"\r\n";
// }
// djiStat = DjiWidgetFloatingWindow_ShowMessage(strinone.toLatin1());
// if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
// {
// qDebug() << "ZZ_Widget_M300RTK: Func test_UpdatePSDKFloatMessage.Floating window show message error";
// }
djiStat = DjiWidgetFloatingWindow_ShowMessage(qstrMessage.toLatin1());
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "ZZ_Widget_M300RTK: Func test_UpdatePSDKFloatMessage.Floating window show message error";
}
return 0;
return 0;
}
void ZZ_Widget_M300RTK::BackCommand(QString Worker, QString Command) {
if (Worker=="WDA") {
if (Command=="Finish") {
isnowsystemWorking= false;
qDebug()<<"wind calibrate finished";
emit Signal_UpdatePSDKFloatMessage("wind calibrate finished");
}
}
else if (Worker == "GAS") {
if (Command == "Finish") {
isnowsystemWorking = false;
qDebug() << "gas zero calibrate finished";
emit Signal_UpdatePSDKFloatMessage("gas zero calibrate finished");
}
}
if (Worker == "WDA") {
if (Command == "Finish") {
isnowsystemWorking = false;
qDebug() << "wind calibrate finished";
emit Signal_UpdatePSDKFloatMessage("wind calibrate finished",RLX_LINENUMBER);
}
} else if (Worker == "GAS") {
if (Command == "Finish") {
isnowsystemWorking = false;
qDebug() << "gas zero calibrate finished";
emit Signal_UpdatePSDKFloatMessage("gas zero calibrate finished",RLX_LINENUMBER);
}
}
}
void ZZ_Widget_M300RTK::Slot_flash_screen() {
QString strinone = "";
// 获取当前日期时间
QDateTime QDateTime= QDateTime::currentDateTime();
Strforshow[Strforshow.size()-1]=QDateTime.toString("yyyy-MM-dd hh:mm:ss");
;
// QTime currentTime = QTime::currentTime();
// Strforshow.at(Strforshow.length())=currentTime.toString("hh:mm:ss");
// qDebug() << "Slot_flash_screen time:" << currentTime;
StrforshowCurrent = Strforshow;
//
QStringList strforsend;
if (StrforshowCurrent==StrforshowLast&&StrforshowCurrent.at(0).size()<25) {
//没有变化不需要更新
return;
}
for (int i = 0; i < StrforshowCurrent.size(); i++) {
if (i==0) {
if (StrforshowCurrent.at(i) != StrforshowLast.at(i)) {
indexforshow[i] = 0;
}
if (StrforshowCurrent.at(i).size() < 25 || i >= 1) {
//只有第一行需要滚动显示
strforsend.append(StrforshowCurrent.at(i));
indexforshow[i] = 0;
} else {
QString doublestr = StrforshowCurrent.at(i) + StrforshowCurrent.at(i);
QString strtemp = doublestr.mid(indexforshow[i], 30);
strforsend.append(strtemp);
if (indexforshow[i] >= StrforshowCurrent.at(i).size()) {
indexforshow[i] = 0;
} else
indexforshow[i]++;
}
}else {
strforsend.append(StrforshowCurrent.at(i));
}
}
for (int i = 0; i < strforsend.size(); i++) {
strinone += strforsend[i] + "\r\n";
}
T_DjiReturnCode djiStat = DjiWidgetFloatingWindow_ShowMessage(strinone.toLatin1());
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
qDebug() << "ZZ_Widget_M300RTK: Func test_UpdatePSDKFloatMessage.Floating window show message error";
}
StrforshowLast = StrforshowCurrent;
}

9
Source/M300/PSDK_Qt/Widget/Widget_M300RTK.h
View File

@ -17,11 +17,13 @@ public:
public:
private:
QTimer m_TimerForflash;
int m_iFlagIsVehicleCapturing;
UIConfig m_struUIConfig;
short m_sFlagCaptureMode;
QString m_qstrFilePath;
static int32_t m_siDjiWidgetValueBtn, m_siDjiWidgetValueList_CaptureMode, m_siDjiWidgetValueList_SamplingRate, m_siDjiWidgetValueList_DecisionHeight;
bool m_bIsFlashOn;
public:
int PreparteEnvironment();
int SetUIFilePath(char* pcUIFilePath, uint16_t uiLength);
@ -29,20 +31,23 @@ public:
int GetSettings(UIConfig &struUIConfig);
int SetSettings(UIConfig struUIConfig);
void stratmessageflash();
//int UpdateCaptureStatus(int iStatus);
private:
int InitParam();
int UploadResources();
int test_UpdatePSDKFloatMessage(QString qstrMessage);
public:
static T_DjiReturnCode OnUpdateWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t value,void* userData);
static T_DjiReturnCode OnLoadWidgetValue (E_DjiWidgetType widgetType, uint32_t index, int32_t* value,void* userData);
public slots:
int Slot_UpdatePSDKFloatMessage(QString qstrMessage);
int Slot_UpdatePSDKFloatMessage(QString qstrMessage,int lineid);
void BackCommand(QString Worker, QString Command);
void Slot_flash_screen();
signals:
void Signal_UpdatePSDKFloatMessage(QString qstrMessage);
void Signal_UpdatePSDKFloatMessage(QString qstrMessage,int lineid);
///0:Auto 1:Manual
void Signal_UpdateCaptureMode(char cMode);