99 lines
2.5 KiB
C++
99 lines
2.5 KiB
C++
#pragma once
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#include <iostream>
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#include <fstream>
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#include "dji_typedef.h"
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#include "dji_core.h"
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#include "dji_waypoint_v2.h"
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#include "ConfigParser_DJI.h"
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#include "pch.h"
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//#include "ConfigParser_M300RTK.h"
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#include "Widget_Nikira.h"
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#include "ZZ_Types.h"
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using namespace std;
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using namespace ZZ_DATA_DEF::DJI;
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//using namespace ZZ_DATA_DEF::MainConfig;
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class VehicleController :public QObject
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{
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Q_OBJECT
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public:
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VehicleController(QObject* parent = nullptr);
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virtual ~VehicleController();
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public:
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static int m_siFlagIsPumpWorking;
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static int m_siFlagIsStartCaptureSignalEmitted;
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static VehicleController* spCaller;
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static char m_scCaptureMode;
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SensorPort m_struSensorPort;
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private:
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///////////Config need modify
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ZZ_ConfigParser_M350RTK m_clsConfigParser;
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AppRegInfo m_struAppRegInfo;
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HardwareInfo m_struHardwareInfo;
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//ZZ_ConfigParser_M300RTK m_clsConfigParser;
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ZZ_Widget_Nikira m_clsWidget;
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//M300RTKSettings m_struM300RTKSs;
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//AppRegInfo m_struAppRegInfo;
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//HardwareInfo m_struHardwareInfo;
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//UIConfig m_struUIConfig;
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int m_iFlagIsVehicleTakeoff;
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int m_iFlagIsVehicleCapturing;
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int m_iFlagIsCaptureModeInited;
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float m_fHeightOfHomePoint_BM;
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public:
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/// test func Do Not Call
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static T_DjiReturnCode DjiTest_FcSubscriptionReceiveFlightStatusCallback(const uint8_t* ccData, uint16_t sDataSize,const T_DjiDataTimestamp* tDjiTimestamp);
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static T_DjiReturnCode DjiTest_FcSubscriptionReceiveHeightCallback(const uint8_t* data, uint16_t dataSize,const T_DjiDataTimestamp* timestamp);
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/// callback func to monitor flight status
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static T_DjiReturnCode ZZ_DjiWaypointV2EventCallback(T_DjiWaypointV2MissionEventPush eventData);
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public:
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/// call First
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int Initialize();
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int SetupEnvironment();
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/// call Seconde
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int StartupPSDK_M350RTK();
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///call to save Settings
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int UpdateUIConfig();
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/// data call
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int GetOneDataFrame(M350RTKDataFrame &M350RTKDataFrame);
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private:
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///
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int SetupMessagePipe();
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///
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int SetupWidget();
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///
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public:///for test
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int InitSystemParams();
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int SetupSubscriptions();
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///
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public:///for test
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int SetupWaypointStatusCallback();
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///
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///
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int LoadUserAppInfo(T_DjiUserInfo* struDjiUserInfo);
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static T_DjiReturnCode DjiUser_PrintMessage(const uint8_t* data, uint16_t dataLen);
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signals:
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int Signal_StartCapture();
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int Signal_StopCapture();
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void Signal_UpdateVehicleMessage(QString qstrMessage);
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public slots:
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int Slot_OnChangeCaptureMode(char cMode);
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///for test
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int Slot_TestStartCapture();
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int Slot_TestStopCapture();
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};
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