优化气体传感器数据解析和消息传递
- 使用union解析CO2/H2O数据，解决大小端问题 - 添加LINECOMMEND/LINEDATASHOW消息类型区分 - 添加WorkingState/SavingDate原子变量 - 修正气体传感器部分逻辑
This commit is contained in:
@ -2,13 +2,18 @@
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#include "unistd.h"
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#include <cmath>
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#include "hal_uart.h"
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#define LINECOMMEND 0
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#define LINEDATASHOW 1
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std::atomic<int> WorkingState;
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std::atomic<int> SavingDate;
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CMainAcqThread::CMainAcqThread(QObject* parent /*= nullptr*/)
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{
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m_iFlagCaptureStatus = 0;
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iFlagIsPathGenerated = false;
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m_clsCapTimer.setTimerType(Qt::PreciseTimer);
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WorkingState = 0;
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SavingDate = 0;
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#ifdef ZZ_FLAG_TEST
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//connect(&m_clsCapTimer, &QTimer::timeout, this, &CMainAcqThread::OnTestTimer);
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@ -52,15 +57,16 @@ int CMainAcqThread::StartUp()
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m_ctrlVehicle.StartupPSDK_M300RTK();
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QString qstrMessage = "Initializing sensors,Please wait...";
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emit Signal_UpdateVehicleMessage(qstrMessage);
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emit Signal_UpdateVehicleMessage(qstrMessage,LINECOMMEND);
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int iRes = m_ctrlGasSensor.Initialize(m_struSensorPort.qstrGasSensorPort.toStdString());
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if (iRes!=0)
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{
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qstrMessage.clear();
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qstrMessage.append("Fatal Error!!! Gas sensor not connected.Please check.");
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//qstrMessage = "Fatal Error!!! Gas sensor not connected.Please check.";
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emit Signal_UpdateVehicleMessage(qstrMessage);
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qstrMessage = "Fatal Error!!! Gas sensor not connected.Please check.";
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emit Signal_UpdateVehicleMessage(qstrMessage,LINECOMMEND);
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qDebug() << qstrMessage;
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//return 1;
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}
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@ -69,28 +75,30 @@ int CMainAcqThread::StartUp()
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if (iRes != 0)
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{
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qstrMessage.append("Fatal Error!!! Wind sensor not connected.Please check.");
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//qstrMessage = "Fatal Error!!! Wind sensor not connected.Please check.";
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emit Signal_UpdateVehicleMessage(qstrMessage);
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qstrMessage = "Fatal Error!!! Wind sensor not connected.Please check.";
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emit Signal_UpdateVehicleMessage(qstrMessage,LINECOMMEND);
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qDebug() << qstrMessage;
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//return 2;
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}
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qstrMessage.append("System ready.Waiting for signals");
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//qstrMessage = "System ready.Waiting for signals";
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emit Signal_UpdateVehicleMessage(qstrMessage);
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// qstrMessage = "System ready.Waiting for signals";
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// qstrMessage="123456789123456789123456789123456789123456789123456789123456789";
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emit Signal_UpdateVehicleMessage(qstrMessage,LINECOMMEND);
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return 0;
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}
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int CMainAcqThread::SetupMessagePipe()
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{
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connect(&m_ctrlVehicle, &VehicleController::Signal_StartCapture, this, &CMainAcqThread::Slot_StartCapture);
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connect(&m_ctrlVehicle.m_clsWidget,&ZZ_Widget_M300RTK::SendCommand,this,&CMainAcqThread::GetCommand);
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connect(&m_ctrlVehicle.m_clsWidget,&ZZ_Widget_M300RTK::SendCommand,this,&CMainAcqThread::GetCommand,Qt::QueuedConnection);
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connect(this, &CMainAcqThread::SendCommand, &m_ctrlVehicle.m_clsWidget, &ZZ_Widget_M300RTK::BackCommand);
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connect(&m_ctrlVehicle, &VehicleController::Signal_StopCapture, this, &CMainAcqThread::Slot_StopCapture);
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connect(this, &CMainAcqThread::Signal_UpdateVehicleMessage, &m_ctrlVehicle, &VehicleController::Signal_UpdateVehicleMessage);
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connect(&m_clsCapTimer, &QTimer::timeout, this, &CMainAcqThread::OnTimerCapture);
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m_clsCapTimer.start(1000);
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return 0;
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}
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@ -146,10 +154,21 @@ int CMainAcqThread::FormFixedWindData()
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m_fTempFixedWindVecY = m_fTempFixedWindVecY - m_struM300RTKDataFrame.stVelocity.y;
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m_fTempFixedWindVecZ = m_fTempFixedWindVecZ - m_struM300RTKDataFrame.stVelocity.z;
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double dDotProduct = m_fTempFixedWindVecX; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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double dVectorLength = sqrt(m_fTempFixedWindVecX * m_fTempFixedWindVecX + m_fTempFixedWindVecY * m_fTempFixedWindVecY + m_fTempFixedWindVecZ * m_fTempFixedWindVecZ); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3>
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double dAngleInRadians = acos(dDotProduct / dVectorLength); // <20><><EFBFBD><EFBFBD>нǵĻ<C7B5><C4BB><EFBFBD>ֵ
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double angleInDegrees = dAngleInRadians * (180.0 / M_PI); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>
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double dVectorLength = sqrt(m_fTempFixedWindVecX * m_fTempFixedWindVecX + m_fTempFixedWindVecY * m_fTempFixedWindVecY + m_fTempFixedWindVecZ * m_fTempFixedWindVecZ);
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if (dVectorLength < 0.0001)
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{
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m_struUASDataFrame.fFixedWindDirection = 0;
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m_struUASDataFrame.fFixedWindSpeed = 0;
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return 0;
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}
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double dDotProduct = m_fTempFixedWindVecX;
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double dCosAngle = dDotProduct / dVectorLength;
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if (dCosAngle > 1.0) dCosAngle = 1.0;
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if (dCosAngle < -1.0) dCosAngle = -1.0;
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double dAngleInRadians = acos(dCosAngle);
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double angleInDegrees = dAngleInRadians * (180.0 / M_PI);
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m_struUASDataFrame.fFixedWindDirection = angleInDegrees;
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m_struUASDataFrame.fFixedWindSpeed = dVectorLength;
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@ -188,7 +207,7 @@ void CMainAcqThread::OnTestTimer()
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int CMainAcqThread::GetData()
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{
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unsigned long ulCO2=0, ulH2O=0;
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double ulCO2=0, ulH2O=0;
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float fGasTemp=-1,fPP=-1,fPB=-1;
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m_ctrlGasSensor.GetMeasuredData(ulCO2, ulH2O, fGasTemp, fPP, fPB);
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m_struGSDataFrame.ulCO2 = ulCO2;
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@ -207,10 +226,14 @@ int CMainAcqThread::GetData()
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m_ctrlVehicle.GetOneDataFrame(m_struM300RTKDataFrame);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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}
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// #define ZZ_FLAG_TEST
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int CMainAcqThread::OnTimerCapture()
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{
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if (m_iFlagCaptureStatus >1)
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{
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return 0;
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}
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#ifdef ZZ_FLAG_TEST
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qDebug() << "OnTimerCapture entering time:" << QTime::currentTime();
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#endif
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@ -227,14 +250,23 @@ int CMainAcqThread::OnTimerCapture()
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QString qstrMessage;
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qstrMessage = QString("CO2: %1ppm, H20: %2ppm\r\nFixed Wind Speed: %3m/s\r\nFixed Wind Direction: %4deg").arg(m_struGSDataFrame.ulCO2).arg(m_struGSDataFrame.ulH2O)
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.arg(m_struUASDataFrame.fFixedWindSpeed).arg(m_struUASDataFrame.fFixedWindDirection);
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emit Signal_UpdateVehicleMessage(qstrMessage);
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emit Signal_UpdateVehicleMessage("CO2:"+QString::number(m_struGSDataFrame.ulCO2,'f',1)+"\t H2O:"+QString::number(m_struGSDataFrame.ulH2O,'f',1),LINEDATASHOW);
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emit Signal_UpdateVehicleMessage("WS:"+QString::number(m_struUASDataFrame.fFixedWindSpeed,'f',2)+"\t D:"+QString::number(m_struUASDataFrame.fFixedWindDirection,'f',2)+"",LINEDATASHOW+1);
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// emit Signal_UpdateVehicleMessage("PP:"+QString::number(m_struGSDataFrame.fPP,'f',2)+"\t PB:"+QString::number(m_struGSDataFrame.fPB,'f',2)+"",LINEDATASHOW+2);
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emit Signal_UpdateVehicleMessage("T:"+QString::number(m_struGSDataFrame.fTemp,'f',2)+"\t PB:"+QString::number(m_struGSDataFrame.fPB,'f',2),LINEDATASHOW+2);
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// emit Signal_UpdateVehicleMessage(qstrMessage);
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//////////////////////////////////////////////////////////////////////////
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#ifdef ZZ_FLAG_TEST
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qDebug() << m_struM300RTKDataFrame.stGPSPosition.x << m_struM300RTKDataFrame.stGPSPosition.y << m_struM300RTKDataFrame.stGPSPosition.z
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<< m_struM300RTKDataFrame.stVelocity.x << m_struM300RTKDataFrame.stVelocity.y << m_struM300RTKDataFrame.stVelocity.z;
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#endif
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if (SavingDate==1)
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{
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m_ctrlData.WriteData(m_struM300RTKDataFrame, m_struGSDataFrame, m_struUASDataFrame);
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}
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m_ctrlData.WriteData(m_struM300RTKDataFrame, m_struGSDataFrame, m_struUASDataFrame);
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#ifdef ZZ_FLAG_TEST
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@ -258,12 +290,13 @@ int CMainAcqThread::Slot_StartCapture()
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m_ctrlData.GenerateFile();
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m_clsCapTimer.start(1000);
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// m_clsCapTimer.start(1000);
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#ifdef ZZ_FLAG_TEST
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qDebug() << "CMainAcqThread Test Cap Started";
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#endif // ZZ_FLAG_TEST
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m_iFlagCaptureStatus = 1;
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SavingDate = 1;
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return 0;
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}
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@ -275,7 +308,8 @@ int CMainAcqThread::Slot_StopCapture()
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iFlagIsPathGenerated = false;
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m_clsCapTimer.stop();
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SavingDate=0;
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//m_clsCapTimer.stop();
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m_ctrlData.CloseData();
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#ifdef ZZ_FLAG_TEST
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@ -283,7 +317,7 @@ int CMainAcqThread::Slot_StopCapture()
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#endif // ZZ_FLAG_TEST
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QString qstrMessage = QString("Capture Stopped.");
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emit Signal_UpdateVehicleMessage(qstrMessage);
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emit Signal_UpdateVehicleMessage(qstrMessage,LINECOMMEND);
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return 0;
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}
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@ -296,20 +330,26 @@ void CMainAcqThread::GetCommand(QString Worker, QString Command) {
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int waitetime=10;
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qDebug()<<"GetCommand Worker:"<<Worker<<" Command:"<<Command;
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if (Worker=="WDA") {
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m_iFlagCaptureStatus=WADCALI;
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QThread::msleep(1100);
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//#分割字符comman
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QStringList arc=Command.split("#");
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if (arc[0]=="StartCalibrate") {
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if (arc.length()<2) {
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emit SendCommand("WDA","Finish");
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m_iFlagCaptureStatus=NORMAL;
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return;
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}
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m_ctrlWindSensor.CalibrateWDA(arc[1].toDouble());
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emit SendCommand("WDA","Finish");
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m_iFlagCaptureStatus=NORMAL;
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}
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}
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else if (Worker == "GAS") {
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m_iFlagCaptureStatus = GASGALI;
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QStringList arc = Command.split("#");
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qDebug()<<"arc is"<<arc;
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if (arc[0] == "ZeroCalibrate") {
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@ -349,7 +389,7 @@ void CMainAcqThread::GetCommand(QString Worker, QString Command) {
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if (arc.size()<3) {
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emit SendCommand("GAS", "Finish");
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m_iFlagCaptureStatus=NORMAL;
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return;
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}
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char cChannel=0;
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@ -360,7 +400,7 @@ void CMainAcqThread::GetCommand(QString Worker, QString Command) {
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}
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else {
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emit SendCommand("GAS", "Finish");
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m_iFlagCaptureStatus=NORMAL;
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return;
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}
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unsigned int uiPPM=arc[2].toUInt();
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@ -376,6 +416,6 @@ void CMainAcqThread::GetCommand(QString Worker, QString Command) {
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}
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m_iFlagCaptureStatus=NORMAL;
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}
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}
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