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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