tangchao0503/witmotionDll
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1、从文件register.h中重构出命令文件witcommand.h；

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2、解析命令行参数；
3、修改串口类（继承基类SerialPortBase）的bug；
4、添加命令行选项--rlx1：任工想要的设置；
This commit is contained in:
tangchao0503
2022-07-15 22:09:06 +08:00
parent 3c0ba621ac
commit 14a4518e2e
10 changed files with 1006 additions and 189 deletions
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125
main.cpp
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@ -4,10 +4,12 @@
#include "witmotiondll.h"
#include "qtserialport.h"
#include "commandlineparser.h"
void delay_tc(uint32_t millisecond)
{
QThread::sleep(millisecond/1000);
std::cout<<"This is delay_tc!!!!!!!!!!"<<std::endl;
// std::cout<<"This is delay_tc!!!!!!!!!!"<<std::endl;
}
void printf_tc(const char* text)
@ -19,38 +21,111 @@ int main(int argc, char *argv[])
{
QCoreApplication a(argc, argv);
// 解析命令行参数
QCommandLineParser parser;
parser.setApplicationDescription("This software is used for config parameter for wit inertial navigation.");
TcQuery query;
QString errorMessage;
switch (parseCommandLine2(parser, &query, &errorMessage))
{
case CommandLineOk:
break;
case CommandLineError:
fputs(qPrintable(errorMessage), stderr);
fputs("\n\n", stderr);
fputs(qPrintable(parser.helpText()), stderr);
return 1;
case CommandLineVersionRequested:
printf("%s %s\n", qPrintable(QCoreApplication::applicationName()),
qPrintable(QCoreApplication::applicationVersion()));
return 0;
case CommandLineHelpRequested:
parser.showHelp();
Q_UNREACHABLE();
}
SerialPortBase * serialPort = new QtSerialport();
// SerialPortBase * serialPort = new windowsSerialPort();
int ret = serialPort->OpenSerialPort(query.serialPort.toStdString(), query.connectBaudrate);//"COM15"
if(ret)
{
std::cout<<"Serial port open failed!!"<<std::endl;
return 1;
}
serialPort->OpenSerialPort("COM15", 9600);
WitmotionDll * witmotion = new WitmotionDll(serialPort);
witmotion->delayMsRegister(delay_tc);
witmotion->printfRegister(printf_tc);
witmotion->setDelayTimeMs(1000);
WitmotionDll * tmp = new WitmotionDll(serialPort);
tmp->delayMsRegister(delay_tc);
tmp->printfRegister(printf_tc);
tmp->setDelayTimeMs(1000);
if(query.isSetAlgorithm)
{
witmotion->algorithm(query.algorithm);
}
tmp->installationOrientation(ORIENT_VERTICAL);
// tmp->algorithm(ALGROITHM9);
// tmp->setTimeZone(UTC_P12);
// tmp->SetBaudrate(WIT_BAUD_115200);
// tmp->SetReturnRate(RRATE_20HZ);
if(query.isSetInstallationOrientation)
{
witmotion->installationOrientation(query.installationOrientation);
}
// tmp->SetDeviceAddress(124);
if(query.isSetTimeZone)
{
witmotion->setTimeZone(query.timeZone);
}
// tmp->setD0Model(DOL);
// tmp->setD0HighLevelPulseWidth(20);
// tmp->setD0Period(5);
// RETURN_CONTENT_STRUCT content;
// content.time = true;
// content.angular_velocity = true;
// content.euler_angle = true;
// content.ground_velocity = true;
// content.quaternion = true;
// tmp->setContent(content);
if(query.isSetDefaultReturnContent)
{
witmotion->setContent(query.defaultReturnContent);
}
// tmp->recordData();
if(query.isSetReturnRate)
{
witmotion->SetReturnRate(query.returnRate);
}
if(query.isSetDeviceAddress)
{
witmotion->SetDeviceAddress(query.deviceAddress);
}
if(query.isSetInterface_D0)
{
witmotion->setD0Model(query.modelForInterface_D0);
witmotion->setD0HighLevelPulseWidth(query.pulseWidth_D0);
witmotion->setD0Period(query.period_D0);
}
if(query.isSetInterface_D1)
{
witmotion->setD1Model(query.modelForInterface_D1);
witmotion->setD1HighLevelPulseWidth(query.pulseWidth_D1);
witmotion->setD1Period(query.period_D1);
}
if(query.isSetInterface_D2)
{
witmotion->setD2Model(query.modelForInterface_D2);
witmotion->setD2HighLevelPulseWidth(query.pulseWidth_D2);
witmotion->setD2Period(query.period_D2);
}
if(query.isSetInterface_D3)
{
witmotion->setD3Model(query.modelForInterface_D3);
witmotion->setD3HighLevelPulseWidth(query.pulseWidth_D3);
witmotion->setD3Period(query.period_D3);
}
if(query.isSetBaudrate)//设置witMotion的通讯速率要放在最后，它后面的设置都会失败
{
witmotion->SetBaudrate(query.baudrate);
}
// witmotion->recordData();
serialPort->CloseSerialPort();