张卓写的代码

Source/MainAcqThread.h

@@ -0,0 +1,74 @@
+#pragma once
+#include <iostream>
+#include <fstream>
+#include <atomic>
+#include "dji_typedef.h"
+#include "dji_core.h"
+
+#include "pch.h"
+
+#include "VehicleController.h"
+#include "IrisSensor_WDA_P0.h"
+#include "IrisSensor_Gas_P0.h"
+#include "DataFileManager.h"
+#include "MainConfigParser.h"
+
+using namespace  ZZ_DATA_DEF::M300RTK;
+using namespace  ZZ_DATA_DEF::CO2_GAS_SENSOR;
+using namespace  ZZ_DATA_DEF::UA_SENSOR;
+using namespace  ZZ_DATA_DEF::MainConfig;
+
+class CMainAcqThread :public QObject
+{
+	Q_OBJECT
+public:
+	CMainAcqThread(QObject* parent = nullptr);
+	~CMainAcqThread();
+
+private:
+	QTime lastTime;
+	QTimer m_clsCapTimer;
+
+	int iFlagIsPathGenerated;
+
+	MiscControls      m_struMiscCtrls;
+	M300RTKSettings   m_struM300RTKSs;
+	SensorPort        m_struSensorPort;
+
+	M300RTKDataFrame m_struM300RTKDataFrame;
+	GSDataFrame      m_struGSDataFrame;
+	UASDataFrame     m_struUASDataFrame;
+
+	double m_dRotationMatrix[9];
+	float m_fTempWindVecX, m_fTempWindVecY, m_fTempWindVecZ;
+	float m_fTempFixedWindVecX, m_fTempFixedWindVecY, m_fTempFixedWindVecZ;
+public:
+	atomic<int> m_iFlagCaptureStatus;
+private:
+	MainConfigParser m_ctrlConfigParser;
+
+	VehicleController m_ctrlVehicle;
+
+	DataFileManager   m_ctrlData;
+
+	IrisSensor_Gas_P0 m_ctrlGasSensor;
+	IrisSensor_WDA_P0 m_ctrlWindSensor;
+public:
+	int SetupContext();
+	int StartUp();
+private:
+	int SetupMessagePipe();
+	int GetData();
+	int WindSensorCorrection();
+	int QuaternionToRotationMatrix();
+	int ConvertWindData();
+	int RotateWindVec();
+	int FormFixedWindData();
+signals:
+	void Signal_UpdateVehicleMessage(QString qstrMessage);
+public slots:
+	void OnTestTimer();
+	int OnTimerCapture();
+	int Slot_StartCapture();
+	int Slot_StopCapture();
+};