219 lines
7.2 KiB
C++
219 lines
7.2 KiB
C++
// Project_Grixis.cpp: 定义应用程序的入口点。
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//
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#include "Project_Grixis.h"
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#include <dji_logger.h>
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#include "pch.h"
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#include "dji_waypoint_v2.h"
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#include "dji_fc_subscription.h"
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#include "dji_logger.h"
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#include "dji_platform.h"
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#include "math.h"
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#include "ConfigParser_M300RTK.h"
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#include "VehicleController.h"
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#include "Widget_M300RTK.h"
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#include "MainAcqThread.h"
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#include "DataFileManager.h"
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#include "Logger.h"
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#include "EGM96/EGM96.h"
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using namespace std;
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int main()
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{
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int argc = 0;
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QCoreApplication Grixis(argc, NULL);
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QEventLoop qeLoop;
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QTimer::singleShot(15000, &qeLoop, SLOT(quit()));
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qeLoop.exec();
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QT_LOG::ZZ_InitLogger("/home/data/Log/");
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CMainAcqThread MainCtrl;
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MainCtrl.SetupContext();
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MainCtrl.StartUp();
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Grixis.exec();
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//////////////////////////////////////////////////////////////////////////test for new wind sensor
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// IrisSensor_WDA_P0 test1;
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// test1.Initialize("/dev/ttyS2");
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// float a, b,c;
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// for (int i = 0; i < 10; i++)
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// {
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// int iRes = test1.GetSA_NChk(a, b,c);
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// if (iRes == 0)
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// {
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// //break;
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// }
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// a = -1;
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// b = -1;
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// }
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// Grixis.exec();
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//////////////////////////////////////////////////////////////////////////test EGM96
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// qDebug() << "entering time:" << QTime::currentTime();
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// QTime currentTime;
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// QTime lastTime;
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// int elapsed = 0;
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//
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// if (lastTime == QTime())
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// {
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// lastTime = QTime::currentTime();
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// }
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// else
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// {
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// currentTime = QTime::currentTime();
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// elapsed = lastTime.msecsTo(currentTime);
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// lastTime = QTime::currentTime();
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// }
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//
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// qDebug() << "Run.elapsed =" << elapsed << "ms";
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//
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// for (int i=0;i<10;i++)
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// {
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//
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// double a = egm96_compute_altitude_offset(32.34116099116942, 87.55318631548599);
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// qDebug() << a;
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// }
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//
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//
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// qDebug() << "leave time:" << QTime::currentTime();
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//////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////Gas test
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/*IrisSensor_Gas_P0 m_testgas;
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unsigned long ulco2, ulh20;
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float f1, f2, f3;
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m_testgas.Initialize("/dev/ttyS1");
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m_testgas.StopAutoSending();*/
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// while (1)
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// {
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// m_testgas.GetMeasuredData(ulco2, ulh20, f1, f2, f3);
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// qDebug() << ulco2 << ulh20;
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// qDebug() << f1 << f2 << f3;
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// QEventLoop qeLoop;
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// QTimer::singleShot(1000, &qeLoop, SLOT(quit()));
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// qeLoop.exec();
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// }
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////////////////////////////////////////////////////WDA test
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// IrisSensor_WDA_P0 test1;
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// test1.Initialize("/dev/ttyS0");
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// float a, b;
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// for (int i=0;i<3;i++)
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// {
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// int iRes = test1.GetSA_NChk(a, b);
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// if (iRes==0)
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// {
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// break;
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// }
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// a = -1;
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// b = -1;
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// }
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////////////////////////////////////////////////////VehicleController test
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//VehicleController vhTest;
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//vhTest.SetupEnvironment_M300RTK();
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//vhTest.StartupPSDK_M300RTK();
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//vhTest.InitSystemDateTime();
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//vhTest.SetupSubscriptions();
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//
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//ZZ_ConfigParser_M300RTK test;
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//test.Initialize("/home/DJI/Settings/");
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//using namespace ZZ::Device::DJI::M300RTK;
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//AppRegInfo reg;
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//HardwareInfo hwi;
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//test.GetParams(reg,hwi);
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//Application application(argc, NULL);
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////////////////////////////////////////////////////VehicleController test
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////////////////////////////////////////////////////Main Acqtest
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////////////////////////////////////////////////////Main Acqtest
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////////////////////////////////////////////////////widget test
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//DjiCore_SetAlias("LICA_IRIS");
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//osalHandler->TaskSleepMs(5000);
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//ZZ_Widget_M300RTK test_Widget;
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//QString qstrUIFilePath();
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//test_Widget.SetUIFilePath("/home/DJI/Widget/",100);
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//test_Widget.PreparteEnvironment();
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//test_Widget.test_UpdatePSDKFloatMessage("this is a test message");
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////////////////////////////////////////////////////widget test
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////////////////////////////////////////////////////FcSubscription test
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// T_DjiReturnCode djiStat = DjiFcSubscription_Init();
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// if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
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// {
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// qDebug() <<"init data subscription module error.";
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// return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
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// }
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//
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// djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ,NULL);
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// if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
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// {
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//
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// qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT error.";
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// return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
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// }
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// osalHandler->TaskSleepMs(1000);
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//
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// T_DjiFcSubscriptionFlightStatus tDjiFlightStatus = { 0 };
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// T_DjiFcSubscriptionGpsTime tGpsTime = {0};
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// T_DjiDataTimestamp timestamp = { 0 };
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// while (1)
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// {
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// osalHandler->TaskSleepMs(2000);
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// djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME,(uint8_t*)&tGpsTime,sizeof(T_DjiFcSubscriptionGpsTime),×tamp);
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// if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
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// {
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// qDebug() << "get value of topic DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT error";
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// //USER_LOG_ERROR("get value of topic battery single info index1 error.");
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// }
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// else
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// {
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// qDebug() << "DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT " << tDjiFlightStatus;
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// }
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//
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// djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME, (uint8_t*)&tGpsTime, sizeof(T_DjiFcSubscriptionGpsTime), ×tamp);
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// if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
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// {
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// qDebug() << "get value of topic DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT error";
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// //USER_LOG_ERROR("get value of topic battery single info index1 error.");
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// }
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// else
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// {
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// qDebug() << "DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT " << tGpsTime;
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// }
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// }
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////////////////////////////////////////////////////FcSubscription test
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////////////////////////////////////////////////////other
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// QThread* m_pqDataGrabberThreadHolder = new QThread();
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// CMainAcqThread test;
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// test.moveToThread(m_pqDataGrabberThreadHolder);
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// m_pqDataGrabberThreadHolder->start();
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// test.Slot_StartCapture();
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//
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// QEventLoop qeLoop;
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// QTimer::singleShot(10000, &qeLoop, SLOT(quit()));
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// qeLoop.exec();
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//
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// test.Slot_StopCapture();
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////////////////////////////////////////////////////other
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// while (1)
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// {
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// }
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//osalHandler->TaskSleepMs(50000);
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////////////////////////////////////////////////////waypoint_cb
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// returnCode = DjiWaypointV2_Init();
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// if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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// USER_LOG_ERROR("Init waypoint V2 module error, stat:0x%08llX", returnCode);
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// return returnCode;
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// }
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//
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// returnCode = DjiWaypointV2_RegisterMissionEventCallback(DjiTest_WaypointV2EventCallback);
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// if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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// USER_LOG_ERROR("Register waypoint V2 event failed, error code: 0x%08X", returnCode);
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// }
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////////////////////////////////////////////////////waypoint_cb
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// DjiTest_WidgetInteractionStartService();
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//cout << "Hello CMake." << endl;
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//return 0;
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}
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