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M350b版本

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xin
2026-01-08 16:00:08 +08:00
parent 7396728ea7
commit a76d4b77e9
213 changed files with 8883 additions and 7196579 deletions
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181
Source/M300/PSDK_Qt/Widget/Widget_M300RTK.cpp
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@ -1,9 +1,23 @@
#include "Widget_M300RTK.h"
enum AireType
{
Aire_Aire = 1,
Aire_N2=0,
};
enum Target_Gas {
Target_CO2 = 0,
Target_H2O = 1,
};
int32_t CuttrentGasValue = 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_DecisionHeight = 1;
int32_t ZZ_Widget_M300RTK::m_siDjiWidgetValueList_SamplingRate = 0;
AireType CurrentAireType = Aire_Aire;
Target_Gas CurrentTargetGas = Target_CO2;
float NowTempreature = 0;
bool isnowsystemWorking = false;
ZZ_Widget_M300RTK::ZZ_Widget_M300RTK(QObject* parent /*= nullptr*/)
{
@ -71,7 +85,14 @@ int ZZ_Widget_M300RTK::PreparteEnvironment()
{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}
{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();
@ -82,7 +103,7 @@ int ZZ_Widget_M300RTK::PreparteEnvironment()
}
djiStat = DjiWidget_RegDefaultUiConfigByDirPath(m_qstrFilePath.toLatin1());
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
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";
@ -120,11 +141,91 @@ int ZZ_Widget_M300RTK::test_UpdatePSDKFloatMessage(QString qstrMessage)
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 (value==1)
{
if (isnowsystemWorking==true) return 0;
if (NowTempreature==0) {
pCaller->emit Signal_UpdatePSDKFloatMessage("please set correct temperature first");
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));
}
}
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));
}
}
}
if (widgetType == DJI_WIDGET_TYPE_SWITCH )
{
@ -135,17 +236,29 @@ T_DjiReturnCode ZZ_Widget_M300RTK::OnUpdateWidgetValue(E_DjiWidgetType widgetTyp
}
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;
@ -156,12 +269,12 @@ T_DjiReturnCode ZZ_Widget_M300RTK::OnUpdateWidgetValue(E_DjiWidgetType widgetTyp
//pCaller->test_UpdatePSDKFloatMessage(qstrTest);
//qstrTest = "12345";
//pCaller->emit Signal_UpdatePSDKFloatMessage(qstrTest);
}
if (widgetType == DJI_WIDGET_TYPE_LIST )
if (widgetType == DJI_WIDGET_TYPE_LIST )
{
if (index==1)
{
@ -176,14 +289,22 @@ T_DjiReturnCode ZZ_Widget_M300RTK::OnUpdateWidgetValue(E_DjiWidgetType widgetTyp
{
ZZ_Widget_M300RTK::m_siDjiWidgetValueList_SamplingRate = value;
}
else if (index==6)
{
CurrentAireType = (AireType)value;
}
else if (index==8)
{
CurrentTargetGas = (Target_Gas)value;
}
#ifdef ZZ_FLAG_TEST
qDebug() << "OnUpdateWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
#endif
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
@ -193,7 +314,7 @@ T_DjiReturnCode ZZ_Widget_M300RTK::OnLoadWidgetValue(E_DjiWidgetType widgetType,
if (widgetType == DJI_WIDGET_TYPE_SWITCH)
{
//qDebug() << "OnLoadWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
*value= ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn;
}
@ -212,8 +333,27 @@ T_DjiReturnCode ZZ_Widget_M300RTK::OnLoadWidgetValue(E_DjiWidgetType widgetType,
{
*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;
}
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
@ -231,4 +371,21 @@ int ZZ_Widget_M300RTK::Slot_UpdatePSDKFloatMessage(QString qstrMessage)
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");
}
}
}