xin
e7cd1e93a6
- 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
79 lines
1.8 KiB
C++
79 lines
1.8 KiB
C++
#pragma once
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#include <iostream>
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#include <fstream>
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#include <atomic>
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#include "dji_typedef.h"
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#include "dji_core.h"
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#include "pch.h"
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#include "VehicleController.h"
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#include "IrisSensor_WDA_P0.h"
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#include "IrisSensor_Gas_P0.h"
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#include "DataFileManager.h"
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#include "MainConfigParser.h"
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using namespace ZZ_DATA_DEF::DJI;
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using namespace ZZ_DATA_DEF::CO2_GAS_SENSOR;
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using namespace ZZ_DATA_DEF::UA_SENSOR;
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using namespace ZZ_DATA_DEF::MainConfig;
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#define WADCALI 2;
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#define GASGALI 3;
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#define NORMAL 1;
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class CMainAcqThread :public QObject
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{
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Q_OBJECT
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public:
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CMainAcqThread(QObject* parent = nullptr);
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~CMainAcqThread();
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private:
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QTime lastTime;
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QTimer m_clsCapTimer;
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int iFlagIsPathGenerated;
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MiscControls m_struMiscCtrls;
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M300RTKSettings m_struM300RTKSs;
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SensorPort m_struSensorPort;
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M300RTKDataFrame m_struM300RTKDataFrame;
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GSDataFrame m_struGSDataFrame;
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UASDataFrame m_struUASDataFrame;
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double m_dRotationMatrix[9];
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float m_fTempWindVecX, m_fTempWindVecY, m_fTempWindVecZ;
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float m_fTempFixedWindVecX, m_fTempFixedWindVecY, m_fTempFixedWindVecZ;
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public:
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atomic<int> m_iFlagCaptureStatus;
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private:
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MainConfigParser m_ctrlConfigParser;
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VehicleController m_ctrlVehicle;
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DataFileManager m_ctrlData;
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IrisSensor_Gas_P0 m_ctrlGasSensor;
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IrisSensor_WDA_P0 m_ctrlWindSensor;
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public:
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int SetupContext();
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int StartUp();
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private:
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int SetupMessagePipe();
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int GetData();
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int WindSensorCorrection();
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int QuaternionToRotationMatrix();
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int ConvertWindData();
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int RotateWindVec();
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int FormFixedWindData();
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signals:
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void Signal_UpdateVehicleMessage(QString qstrMessage,int linid);
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void SendCommand(QString Worker, QString Command);
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public slots:
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void OnTestTimer();
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int OnTimerCapture();
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int Slot_StartCapture();
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int Slot_StopCapture();
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void GetCommand(QString Worker, QString Command);
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}; |