first commit

source/MainAcqThread.h

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+#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 "DataFileManager.h"
+#include "ConfigParser_DJI.h"
+#include "CCtrlNikiraPMA.h"
+
+using namespace  ZZ_DATA_DEF::DJI;
+using namespace  ZZ_DATA_DEF::UA_SENSOR;
+using namespace  ZZ_DATA_DEF::CH4_GAS_SENSOR;
+//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;
+
+	M350RTKDataFrame m_struM350RTKDataFrame;
+	//M300RTKDataFrame m_struM300RTKDataFrame;
+	//GSDataFrame      m_struGSDataFrame;
+	UASDataFrame     m_struUASDataFrame;
+	NikiraDataFrame  m_struGasDataFrame;
+
+	double m_dRotationMatrix[9];
+	float m_fTempWindVecX, m_fTempWindVecY, m_fTempWindVecZ;
+	float m_fTempFixedWindVecX, m_fTempFixedWindVecY, m_fTempFixedWindVecZ;
+public:
+	atomic<int> m_iFlagCaptureStatus;
+private:
+	VehicleController m_ctrlVehicle;
+
+	DataFileManager   m_ctrlData;
+
+	CtrlNikiraPMA     m_ctrlGasSensor;
+	IrisSensor_WDA_P0 m_ctrlWindSensor;
+public:
+	int SetupContext();
+	int StartUp();
+private:
+	//int StartDataGrab();
+	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();
+};