构建新的cmakelist工程
修改了 delay_tc函数 修返回频率为20hz 修改波特率修改后先重新设置通讯波特率在保存
This commit is contained in:
652
source/commandlineparser.cpp
Normal file
652
source/commandlineparser.cpp
Normal file
@ -0,0 +1,652 @@
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#include "commandlineparser.h"
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CommandLineParseResult parseCommandLine2(QCommandLineParser &parser, TcQuery *query, QString *errorMessage)
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{
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//添加命令
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parser.setSingleDashWordOptionMode(QCommandLineParser::ParseAsLongOptions);
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QCommandLineOption helpOption = parser.addHelpOption();//Adds the help option (-h, --help and -? on Windows) This option is handled automatically by QCommandLineParser.
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QCommandLineOption versionOption = parser.addVersionOption();//This option is handled automatically by QCommandLineParser.
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QCommandLineOption serialPort("serialPort", "Serial port.", "serialPort");
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parser.addOption(serialPort);
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QCommandLineOption connectBaudrate("connectBaudrate", "ConnectBaudrate of wit motion.", "connectBaudrate");
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parser.addOption(connectBaudrate);
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QCommandLineOption algorithm("algorithm", "Algorithm of wit motion.", "algorithm");
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parser.addOption(algorithm);
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QCommandLineOption installationOrientation("installationOrientation", "InstallationOrientation of wit motion.", "installationOrientation");
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parser.addOption(installationOrientation);
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QCommandLineOption timeZone("timeZone", "TimeZone of wit motion.", "timeZone");
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parser.addOption(timeZone);
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// A boolean option with multiple names (-r, --record)
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QCommandLineOption isSetDefaultReturnContent(QStringList() << "d" << "isSetDefaultReturnContent", "isSetDefaultReturnContent");
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parser.addOption(isSetDefaultReturnContent);
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QCommandLineOption baudrate("baudrate", "Baudrate of wit motion.", "baudrate");
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parser.addOption(baudrate);
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QCommandLineOption returnRate("returnRate", "ReturnRate of wit motion.", "returnRate");
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parser.addOption(returnRate);
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QCommandLineOption deviceAddress("deviceAddress", "DeviceAddress of wit motion.", "deviceAddress");
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parser.addOption(deviceAddress);
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QCommandLineOption modelForInterface_D0("modelForInterface_D0", "modelForInterface_D0 of interface number.", "modelForInterface_D0");
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parser.addOption(modelForInterface_D0);
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QCommandLineOption pulseWidth_D0("pulseWidth_D0", "PulseWidth_D0 of interface number.", "pulseWidth_D0");
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pulseWidth_D0.setDefaultValue("0");//设置默认参数
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parser.addOption(pulseWidth_D0);
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QCommandLineOption period_D0("period_D0", "Period_D0 of wit interface number.", "period_D0");
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period_D0.setDefaultValue("0");//设置默认参数
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parser.addOption(period_D0);
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QCommandLineOption modelForInterface_D1("modelForInterface_D1", "modelForInterface_D1 of interface number.", "modelForInterface_D1");
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parser.addOption(modelForInterface_D1);
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QCommandLineOption pulseWidth_D1("pulseWidth_D1", "PulseWidth_D1 of interface number.", "pulseWidth_D1");
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pulseWidth_D1.setDefaultValue("0");//设置默认参数
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parser.addOption(pulseWidth_D1);
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QCommandLineOption period_D1("period_D1", "Period_D1 of wit interface number.", "period_D1");
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period_D1.setDefaultValue("0");//设置默认参数
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parser.addOption(period_D1);
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QCommandLineOption modelForInterface_D2("modelForInterface_D2", "modelForInterface_D2 of interface number.", "modelForInterface_D2");
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parser.addOption(modelForInterface_D2);
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QCommandLineOption pulseWidth_D2("pulseWidth_D2", "PulseWidth_D2 of interface number.", "pulseWidth_D2");
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pulseWidth_D2.setDefaultValue("0");//设置默认参数
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parser.addOption(pulseWidth_D2);
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QCommandLineOption period_D2("period_D2", "Period_D2 of wit interface number.", "period_D2");
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period_D2.setDefaultValue("0");//设置默认参数
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parser.addOption(period_D2);
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QCommandLineOption modelForInterface_D3("modelForInterface_D3", "modelForInterface_D3 of interface number.", "modelForInterface_D3");
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parser.addOption(modelForInterface_D3);
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QCommandLineOption pulseWidth_D3("pulseWidth_D3", "PulseWidth_D3 of interface number.", "pulseWidth_D3");
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pulseWidth_D3.setDefaultValue("0");//设置默认参数
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parser.addOption(pulseWidth_D3);
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QCommandLineOption period_D3("period_D3", "Period_D3 of wit interface number.", "period_D3");
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period_D3.setDefaultValue("0");//设置默认参数
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parser.addOption(period_D3);
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// QCommandLineOption rlx1("rlx1", "rlx1 parm of wit motion.", "rlx1");
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// parser.addOption(rlx1);
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QCommandLineOption rlx1(QStringList() << "rlx1" << "rlx1 long", "rlx1 parm of wit motion.");
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parser.addOption(rlx1);
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//解析命令
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if (!parser.parse(QCoreApplication::arguments()))//Process the actual command line arguments given by the user
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{
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*errorMessage = parser.errorText();
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return CommandLineError;
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}
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if (parser.isSet(versionOption))
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return CommandLineVersionRequested;
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if (parser.isSet(helpOption))
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return CommandLineHelpRequested;
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if (parser.isSet(serialPort))
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{
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const QString serialPortTmp = parser.value(serialPort);
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query->serialPort = serialPortTmp;
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}
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else//默认参数
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{
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*errorMessage = "No serialPort set.";
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return CommandLineError;
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}
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if (parser.isSet(connectBaudrate))
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{
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const QString connectBaudrateTmp = parser.value(connectBaudrate);
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query->connectBaudrate = connectBaudrateTmp.toInt();
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}
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else//默认参数
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{
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*errorMessage = "No connectBaudrate set.";
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return CommandLineError;
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}
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if (parser.isSet(algorithm))
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{
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const QString algorithmTmp1 = parser.value(algorithm);
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int algorithmTmp2 = algorithmTmp1.toInt();
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switch (algorithmTmp2)
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{
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case 9:
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query->algorithm = ALGROITHM9;
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query->isSetAlgorithm = true;
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break;
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case 6:
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query->algorithm = ALGROITHM6;
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query->isSetAlgorithm = true;
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break;
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default:
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*errorMessage = "Algorithm set error.";
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return CommandLineError;
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break;
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}
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}
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else//默认参数
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{
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query->isSetAlgorithm = false;
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}
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if (parser.isSet(installationOrientation))
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{
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const QString installationOrientationTmp1 = parser.value(installationOrientation);
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int installationOrientationTmp2 = installationOrientationTmp1.toInt();
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switch (installationOrientationTmp2)
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{
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case 0:
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query->installationOrientation = ORIENT_HORIZONTAL;
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query->isSetInstallationOrientation = true;
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break;
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case 1:
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query->installationOrientation = ORIENT_VERTICAL;
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query->isSetInstallationOrientation = true;
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break;
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default:
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*errorMessage = "InstallationOrientation set error.";
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return CommandLineError;
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break;
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}
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}
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else//默认参数
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{
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query->isSetInstallationOrientation = false;
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}
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if (parser.isSet(timeZone))
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{
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const QString timeZoneTmp1 = parser.value(timeZone);
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int timeZoneTmp2 = timeZoneTmp1.toInt();
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switch (timeZoneTmp2)
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{
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case 0:
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query->timeZone = UTC_N12;
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query->isSetTimeZone = true;
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break;
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case 1:
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query->timeZone = UTC_N11;
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query->isSetTimeZone = true;
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break;
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case 2:
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query->timeZone = UTC_N10;
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query->isSetTimeZone = true;
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break;
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case 3:
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query->timeZone = UTC_N9;
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query->isSetTimeZone = true;
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break;
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case 4:
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query->timeZone = UTC_N8;
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query->isSetTimeZone = true;
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break;
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case 5:
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query->timeZone = UTC_N7;
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query->isSetTimeZone = true;
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break;
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case 6:
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query->timeZone = UTC_N6;
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query->isSetTimeZone = true;
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break;
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case 7:
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query->timeZone = UTC_N5;
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query->isSetTimeZone = true;
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break;
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case 8:
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query->timeZone = UTC_N4;
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query->isSetTimeZone = true;
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break;
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case 9:
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query->timeZone = UTC_N3;
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query->isSetTimeZone = true;
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break;
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case 10:
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query->timeZone = UTC_N2;
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query->isSetTimeZone = true;
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break;
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case 11:
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query->timeZone = UTC_N1;
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query->isSetTimeZone = true;
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break;
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case 12:
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query->timeZone = UTC;
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query->isSetTimeZone = true;
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break;
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case 13:
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query->timeZone = UTC_N1;
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query->isSetTimeZone = true;
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break;
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case 14:
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query->timeZone = UTC_N2;
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query->isSetTimeZone = true;
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break;
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case 15:
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query->timeZone = UTC_N3;
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query->isSetTimeZone = true;
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break;
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case 16:
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query->timeZone = UTC_N4;
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query->isSetTimeZone = true;
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break;
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case 17:
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query->timeZone = UTC_N5;
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query->isSetTimeZone = true;
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break;
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case 18:
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query->timeZone = UTC_N6;
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query->isSetTimeZone = true;
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break;
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case 19:
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query->timeZone = UTC_N7;
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query->isSetTimeZone = true;
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break;
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case 20:
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query->timeZone = UTC_N8;
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query->isSetTimeZone = true;
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break;
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case 21:
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query->timeZone = UTC_N9;
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query->isSetTimeZone = true;
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break;
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case 22:
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query->timeZone = UTC_N10;
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query->isSetTimeZone = true;
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break;
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case 23:
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query->timeZone = UTC_N11;
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query->isSetTimeZone = true;
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break;
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case 24:
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query->timeZone = UTC_N12;
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query->isSetTimeZone = true;
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break;
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default:
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*errorMessage = "timeZone set error.";
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return CommandLineError;
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break;
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}
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}
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else//默认参数
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{
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query->isSetTimeZone = false;
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}
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query->isSetDefaultReturnContent = parser.isSet(isSetDefaultReturnContent);
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if (parser.isSet(baudrate))
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{
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const QString baudrateTmp1 = parser.value(baudrate);
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int baudrateTmp2 = baudrateTmp1.toInt();
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switch (baudrateTmp2)
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{
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case 2400:
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query->baudrate = WIT_BAUD_2400;
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query->isSetBaudrate = true;
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break;
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case 4800:
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query->baudrate = WIT_BAUD_4800;
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query->isSetBaudrate = true;
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break;
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case 9600:
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query->baudrate = WIT_BAUD_9600;
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query->isSetBaudrate = true;
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break;
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case 19200:
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query->baudrate = WIT_BAUD_19200;
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query->isSetBaudrate = true;
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break;
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case 38400:
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query->baudrate = WIT_BAUD_38400;
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query->isSetBaudrate = true;
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break;
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case 57600:
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query->baudrate = WIT_BAUD_57600;
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query->isSetBaudrate = true;
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break;
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case 115200:
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query->baudrate = WIT_BAUD_115200;
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query->isSetBaudrate = true;
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break;
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case 230400:
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query->baudrate = WIT_BAUD_230400;
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query->isSetBaudrate = true;
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break;
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case 460800:
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query->baudrate = WIT_BAUD_460800;
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query->isSetBaudrate = true;
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break;
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case 921600:
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query->baudrate = WIT_BAUD_921600;
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query->isSetBaudrate = true;
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break;
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default:
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*errorMessage = "baudrate set error.";
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return CommandLineError;
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break;
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}
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}
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else//默认参数
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{
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query->isSetBaudrate = false;
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}
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if (parser.isSet(returnRate))
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{
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const QString returnRateTmp1 = parser.value(returnRate);
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int returnRateTmp2 = returnRateTmp1.toInt();
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switch (returnRateTmp2)
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{
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// case 0.1:
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// query->returnRate = RRATE_01HZ;
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// query->isSetReturnRate = true;
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// break;
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// case 0.5:
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// query->returnRate = RRATE_05HZ;
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// query->isSetReturnRate = true;
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// break;
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case 1:
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query->returnRate = RRATE_1HZ;
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query->isSetReturnRate = true;
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break;
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case 2:
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query->returnRate = RRATE_2HZ;
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query->isSetReturnRate = true;
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break;
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case 5:
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query->returnRate = RRATE_5HZ;
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query->isSetReturnRate = true;
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break;
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case 10:
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query->returnRate = RRATE_10HZ;
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query->isSetReturnRate = true;
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break;
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case 20:
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query->returnRate = RRATE_20HZ;
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query->isSetReturnRate = true;
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break;
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case 50:
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query->returnRate = RRATE_50HZ;
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query->isSetReturnRate = true;
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break;
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case 100:
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query->returnRate = RRATE_100HZ;
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query->isSetReturnRate = true;
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break;
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// case "none":
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// query->returnRate = RRATE_NONE;
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// query->isSetReturnRate = true;
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// break;
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case 200:
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query->returnRate = RRATE_200HZ;
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query->isSetReturnRate = true;
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break;
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// case "once":
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// query->returnRate = RRATE_ONCE;
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// query->isSetReturnRate = true;
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// break;
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default:
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*errorMessage = "timeZone set error.";
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return CommandLineError;
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break;
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}
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}
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else//默认参数
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{
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query->isSetReturnRate = false;
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}
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if (parser.isSet(deviceAddress))
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{
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const QString deviceAddressTmp = parser.value(deviceAddress);
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query->deviceAddress = deviceAddressTmp.toInt();
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query->isSetDeviceAddress = true;
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}
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else//默认参数
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{
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query->isSetDeviceAddress = false;
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}
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bool ret;
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ret=processModelParm(parser,modelForInterface_D0,query->modelForInterface_D0,query->isSetInterface_D0);
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if(!ret)
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{
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*errorMessage = "modelForInterface_D0 set error.";
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return CommandLineError;
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}
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ret=processPulseWidthParm(parser,pulseWidth_D0, query->pulseWidth_D0, query->isSetInterface_D0);
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ret=processPeriodParm(parser,period_D0, query->period_D0, query->isSetInterface_D0);
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ret=processModelParm_D1(parser,modelForInterface_D1,query->modelForInterface_D1,query->isSetInterface_D1);
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if(!ret)
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{
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*errorMessage = "modelForInterface_D1 set error.";
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return CommandLineError;
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}
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ret=processPulseWidthParm(parser,pulseWidth_D1, query->pulseWidth_D1, query->isSetInterface_D1);
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ret=processPeriodParm(parser,period_D1, query->period_D1, query->isSetInterface_D1);
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ret=processModelParm(parser,modelForInterface_D2,query->modelForInterface_D2,query->isSetInterface_D2);
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if(!ret)
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{
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*errorMessage = "modelForInterface_D2 set error.";
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return CommandLineError;
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}
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ret=processPulseWidthParm(parser,pulseWidth_D2, query->pulseWidth_D2, query->isSetInterface_D2);
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ret=processPeriodParm(parser,period_D2, query->period_D2, query->isSetInterface_D2);
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ret=processModelParm(parser,modelForInterface_D3,query->modelForInterface_D3,query->isSetInterface_D3);
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if(!ret)
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{
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*errorMessage = "modelForInterface_D3 set error.";
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return CommandLineError;
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}
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ret=processPulseWidthParm(parser,pulseWidth_D3, query->pulseWidth_D3, query->isSetInterface_D3);
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ret=processPeriodParm(parser,period_D3, query->period_D3, query->isSetInterface_D3);
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if (parser.isSet(rlx1))
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{
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query->isSetAlgorithm = true;
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query->algorithm = ALGROITHM9;
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query->isSetInstallationOrientation = true;
|
||||
query->installationOrientation = ORIENT_HORIZONTAL;
|
||||
|
||||
query->isSetDefaultReturnContent = true;
|
||||
|
||||
query->isSetBaudrate = true;
|
||||
query->baudrate = WIT_BAUD_115200;
|
||||
|
||||
query->isSetReturnRate = true;
|
||||
query->returnRate = RRATE_10HZ;
|
||||
|
||||
query->isSetInterface_D1 = true;
|
||||
query->modelForInterface_D1 = AIN_D1;
|
||||
query->pulseWidth_D1 = 0;
|
||||
query->period_D1 = 0;
|
||||
|
||||
query->isSetInterface_D2 = true;
|
||||
query->modelForInterface_D2 = PWM;
|
||||
query->pulseWidth_D2 = 1500;
|
||||
query->period_D2 = 20000;
|
||||
|
||||
query->isSetInterface_D3 = true;
|
||||
query->modelForInterface_D3 = PWM;
|
||||
query->pulseWidth_D3 = 1500;
|
||||
query->period_D3 = 20000;
|
||||
|
||||
query->isSetReturnRate= true;
|
||||
query->returnRate=RRATE_20HZ;
|
||||
}
|
||||
|
||||
|
||||
return CommandLineOk;
|
||||
}
|
||||
|
||||
bool getModel(int modelIndex, MODEL_D0_D2_D3_ENUM & model)
|
||||
{
|
||||
switch (modelIndex)
|
||||
{
|
||||
case 0:
|
||||
model = AIN;
|
||||
return true;
|
||||
case 1:
|
||||
model = DIN;
|
||||
return true;
|
||||
case 2:
|
||||
model = DOH;
|
||||
return true;
|
||||
case 3:
|
||||
model = DOL;
|
||||
return true;
|
||||
case 4:
|
||||
model = PWM;
|
||||
return true;
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool getModel_D1(int modelIndex, MODEL_D1_ENUM & model)
|
||||
{
|
||||
switch (modelIndex)
|
||||
{
|
||||
case 0:
|
||||
model = AIN_D1;
|
||||
return true;
|
||||
case 1:
|
||||
model = DIN_D1;
|
||||
return true;
|
||||
case 2:
|
||||
model = DOH_D1;
|
||||
return true;
|
||||
case 3:
|
||||
model = DOL_D1;
|
||||
return true;
|
||||
case 4:
|
||||
model = PWM_D1;
|
||||
return true;
|
||||
case 5:
|
||||
model = CLR_D1;
|
||||
return true;
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool processModelParm(QCommandLineParser &parser, QCommandLineOption commandLineOption, MODEL_D0_D2_D3_ENUM & model, bool &isSetInterface)
|
||||
{
|
||||
if(parser.isSet(commandLineOption))
|
||||
{
|
||||
const QString modelForInterface_D0Tmp1 = parser.value(commandLineOption);
|
||||
int modelForInterface_D0Tmp2 = modelForInterface_D0Tmp1.toInt();
|
||||
|
||||
bool ret = getModel(modelForInterface_D0Tmp2, model);
|
||||
|
||||
if(ret)
|
||||
{
|
||||
isSetInterface = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
isSetInterface = false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool processModelParm_D1(QCommandLineParser &parser, QCommandLineOption commandLineOption, MODEL_D1_ENUM & model, bool &isSetInterface)
|
||||
{
|
||||
if(parser.isSet(commandLineOption))
|
||||
{
|
||||
const QString modelForInterface_D0Tmp1 = parser.value(commandLineOption);
|
||||
int modelForInterface_D0Tmp2 = modelForInterface_D0Tmp1.toInt();
|
||||
|
||||
bool ret = getModel_D1(modelForInterface_D0Tmp2, model);
|
||||
|
||||
if(ret)
|
||||
{
|
||||
isSetInterface = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
isSetInterface = false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool processPulseWidthParm(QCommandLineParser &parser, QCommandLineOption commandLineOption, int & pulseWidth, bool &isSetInterface)
|
||||
{
|
||||
if (isSetInterface && parser.isSet(commandLineOption))
|
||||
{
|
||||
const QString pulseWidth_D0Tmp = parser.value(commandLineOption);
|
||||
pulseWidth = pulseWidth_D0Tmp.toInt();
|
||||
|
||||
isSetInterface = true;
|
||||
}
|
||||
else//默认参数
|
||||
{
|
||||
QStringList tmp = commandLineOption.defaultValues();
|
||||
pulseWidth = tmp[0].toInt();
|
||||
|
||||
isSetInterface = false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool processPeriodParm(QCommandLineParser &parser, QCommandLineOption commandLineOption, int & period, bool &isSetInterface)
|
||||
{
|
||||
if (isSetInterface && parser.isSet(commandLineOption))
|
||||
{
|
||||
const QString period_Tmp = parser.value(commandLineOption);
|
||||
period = period_Tmp.toInt();
|
||||
}
|
||||
else//默认参数
|
||||
{
|
||||
QStringList tmp = commandLineOption.defaultValues();
|
||||
period = tmp[0].toInt();
|
||||
|
||||
isSetInterface = false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
73
source/commandlineparser.h
Normal file
73
source/commandlineparser.h
Normal file
@ -0,0 +1,73 @@
|
||||
#ifndef COMMANDLINEPARSER_H
|
||||
#define COMMANDLINEPARSER_H
|
||||
|
||||
#include <QCommandLineParser>
|
||||
#include <QDir>
|
||||
|
||||
#include <string>
|
||||
|
||||
#include "witcommand.h"
|
||||
|
||||
enum CommandLineParseResult
|
||||
{
|
||||
CommandLineOk,
|
||||
CommandLineError,
|
||||
CommandLineVersionRequested,
|
||||
CommandLineHelpRequested
|
||||
};
|
||||
|
||||
struct TcQuery
|
||||
{
|
||||
QString serialPort;
|
||||
int connectBaudrate;
|
||||
|
||||
bool isSetAlgorithm;
|
||||
ALGROITHM_ENUM algorithm;
|
||||
bool isSetInstallationOrientation;
|
||||
ORIENT_ENUM installationOrientation;
|
||||
bool isSetTimeZone;
|
||||
TIMEZONE_ENUM timeZone;
|
||||
|
||||
bool isSetDefaultReturnContent;//wit默认 + 经纬度
|
||||
RETURN_CONTENT_STRUCT defaultReturnContent;
|
||||
RETURN_CONTENT_STRUCT returnContent;
|
||||
|
||||
bool isSetBaudrate;
|
||||
BAUD_ENUM baudrate;
|
||||
bool isSetReturnRate;
|
||||
RRATE_ENUM returnRate;
|
||||
bool isSetDeviceAddress;
|
||||
int deviceAddress;
|
||||
|
||||
|
||||
bool isSetInterface_D0;
|
||||
MODEL_D0_D2_D3_ENUM modelForInterface_D0;//模式
|
||||
int pulseWidth_D0;//脉宽
|
||||
int period_D0;//周期
|
||||
|
||||
bool isSetInterface_D1;
|
||||
MODEL_D1_ENUM modelForInterface_D1;//模式
|
||||
int pulseWidth_D1;//脉宽
|
||||
int period_D1;//周期
|
||||
|
||||
bool isSetInterface_D2;
|
||||
MODEL_D0_D2_D3_ENUM modelForInterface_D2;//模式
|
||||
int pulseWidth_D2;//脉宽
|
||||
int period_D2;//周期
|
||||
|
||||
bool isSetInterface_D3;
|
||||
MODEL_D0_D2_D3_ENUM modelForInterface_D3;//模式
|
||||
int pulseWidth_D3;//脉宽
|
||||
int period_D3;//周期
|
||||
};
|
||||
|
||||
CommandLineParseResult parseCommandLine2(QCommandLineParser &parser, TcQuery *query, QString *errorMessage);
|
||||
|
||||
bool getModel(int modelIndex, MODEL_D0_D2_D3_ENUM & model);
|
||||
bool getModel_D1(int modelIndex, MODEL_D1_ENUM & model);
|
||||
|
||||
bool processModelParm(QCommandLineParser &parser, QCommandLineOption commandLineOption, MODEL_D0_D2_D3_ENUM & model, bool &isSetInterface);
|
||||
bool processModelParm_D1(QCommandLineParser &parser, QCommandLineOption commandLineOption, MODEL_D1_ENUM & model, bool &isSetInterface);
|
||||
bool processPulseWidthParm(QCommandLineParser &parser, QCommandLineOption commandLineOption, int & pulseWidth, bool &isSetInterface);
|
||||
bool processPeriodParm(QCommandLineParser &parser, QCommandLineOption commandLineOption, int & period, bool &isSetInterface);
|
||||
#endif // COMMANDLINEPARSER_H
|
||||
142
source/main.cpp
Normal file
142
source/main.cpp
Normal file
@ -0,0 +1,142 @@
|
||||
#include <QCoreApplication>
|
||||
#include <QThread>
|
||||
|
||||
#include "witmotiondll.h"
|
||||
#include "qtserialport.h"
|
||||
|
||||
#include "commandlineparser.h"
|
||||
|
||||
void delay_tc(uint32_t millisecond)
|
||||
{
|
||||
QThread::msleep(millisecond);
|
||||
// std::cout<<"This is delay_tc!!!!!!!!!!"<<std::endl;
|
||||
}
|
||||
|
||||
void printf_tc(const char* text)
|
||||
{
|
||||
printf(text);
|
||||
}
|
||||
|
||||
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();
|
||||
int ret = serialPort->OpenSerialPort(query.serialPort.toStdString(), query.connectBaudrate);//"COM15"
|
||||
if(ret)
|
||||
{
|
||||
std::cout<<"Serial port open failed!!"<<std::endl;
|
||||
return 1;
|
||||
}
|
||||
|
||||
WitmotionDll * witmotion = new WitmotionDll(serialPort);
|
||||
witmotion->delayMsRegister(delay_tc);
|
||||
witmotion->printfRegister(printf_tc);
|
||||
witmotion->setDelayTimeMs(200);
|
||||
|
||||
|
||||
if(query.isSetAlgorithm)
|
||||
{
|
||||
witmotion->algorithm(query.algorithm);
|
||||
}
|
||||
|
||||
if(query.isSetInstallationOrientation)
|
||||
{
|
||||
witmotion->installationOrientation(query.installationOrientation);
|
||||
}
|
||||
|
||||
if(query.isSetTimeZone)
|
||||
{
|
||||
witmotion->setTimeZone(query.timeZone);
|
||||
}
|
||||
|
||||
if(query.isSetDefaultReturnContent)
|
||||
{
|
||||
witmotion->setContent(query.defaultReturnContent);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
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.isSetReturnRate)//设置witMotion的通讯速率要放在最后，它后面的设置都会失败
|
||||
{
|
||||
witmotion->SetReturnRate(query.returnRate);
|
||||
}
|
||||
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);
|
||||
// serialPort->CloseSerialPort();//设置完波特率 已经无法通讯 需要重新简历连接
|
||||
serialPort->SetBaudrate(115200);
|
||||
//ret = serialPort->OpenSerialPort(query.serialPort.toStdString(), query.baudrate);//重新建立连接
|
||||
witmotion->saveInstruction();
|
||||
}
|
||||
|
||||
|
||||
// witmotion->recordData();
|
||||
std::cout<<"Set IMU OK"<<std::flush;
|
||||
serialPort->CloseSerialPort();
|
||||
|
||||
// return a.exec();
|
||||
}
|
||||
122
source/qtserialport.cpp
Normal file
122
source/qtserialport.cpp
Normal file
@ -0,0 +1,122 @@
|
||||
#include "qtserialport.h"
|
||||
|
||||
int QtSerialport::OpenSerialPort(string portName, int baudrate)
|
||||
{
|
||||
QList<QSerialPortInfo> infos = QSerialPortInfo::availablePorts();
|
||||
|
||||
for (int i=0; i<infos.length();i++)
|
||||
{
|
||||
qDebug()<<infos[i].portName();
|
||||
// std::cout<<infos[i].portName()<<std::endl;
|
||||
}
|
||||
|
||||
//std::cout<<"number of availablePorts:"<<infos.size()<<std::endl;
|
||||
|
||||
//如果在构造函数中创建m_serial就会出现错误:
|
||||
//QObject: Cannot create children for a parent that is in a different thread.
|
||||
//(Parent is QSerialPort(0x2e31b20), parent's thread is QThread(0x2e2f130), current thread is QThread(0x2e31110)
|
||||
m_serial = new QSerialPort();
|
||||
|
||||
if(m_serial->isOpen())//如果串口已经打开了 先给他关闭了
|
||||
{
|
||||
m_serial->clear();
|
||||
m_serial->close();
|
||||
}
|
||||
|
||||
m_serial->setPortName(QString::fromStdString(portName));
|
||||
m_serial->open(QIODevice::ReadWrite);
|
||||
|
||||
|
||||
int x=SetBaudrate(baudrate);
|
||||
if(x == 0)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
int QtSerialport::CloseSerialPort()
|
||||
{
|
||||
m_serial->close();
|
||||
return 0;
|
||||
}
|
||||
|
||||
int QtSerialport::SetBaudrate(int baudrate)
|
||||
{
|
||||
bool x=m_serial->setBaudRate(baudrate);//qt的串口类，设置波特率时任何数字都能成功，这是什么鬼？？？？
|
||||
int tmp = m_serial->baudRate();
|
||||
|
||||
if(x)
|
||||
{
|
||||
return 0;//成功
|
||||
}
|
||||
else
|
||||
{
|
||||
return 1;//失败
|
||||
}
|
||||
}
|
||||
|
||||
//qint64 write(const char *data, qint64 len);
|
||||
int QtSerialport::SendData1(const char *data, const unsigned int len)
|
||||
{
|
||||
QByteArray tmp(data, len);
|
||||
|
||||
// QByteArray tmp2 = tmp.toHex();
|
||||
|
||||
|
||||
//QIODevice::write(const char *data, qint64 maxSize)
|
||||
int num = m_serial->write(tmp);
|
||||
|
||||
bool re = m_serial->waitForBytesWritten(1000);
|
||||
|
||||
if(re)
|
||||
{
|
||||
return num;
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
int QtSerialport::SendData(const char chrSendBuffer[],const unsigned short usLen)
|
||||
{
|
||||
int num = m_serial->write(chrSendBuffer, usLen);
|
||||
return num;
|
||||
}
|
||||
|
||||
int QtSerialport::ReadData(char * receivedData)
|
||||
{
|
||||
FILE * fileHandle=fopen("D:\\cpp_qtcreator\\witmotionDll_use-build\\debug\\test.dat","w+b");
|
||||
QByteArray requestData;
|
||||
|
||||
while (true)
|
||||
{
|
||||
//std::cout<<"SbgRecorder::startRecordSbg--------------:"<<std::endl;
|
||||
if(m_serial->waitForReadyRead(1000))
|
||||
{
|
||||
//requestData.resize(m_serial->size());
|
||||
requestData = m_serial->readAll();
|
||||
std::cout<<"size: "<< requestData.size() <<std::endl;
|
||||
fwrite(requestData.data(),requestData.size(),1,fileHandle);
|
||||
// fflush(fileHandle);
|
||||
|
||||
// if(!m_bIsSbgReady)
|
||||
// {
|
||||
// parseSbgMessage(&requestData);
|
||||
// }
|
||||
// parseSbgMessage(&requestData);//边采集惯导数据边解析，并不会导致惯导漏帧
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout<<"SbgRecorder::startRecordSbg----:Wait write response timeout"<<std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
36
source/qtserialport.h
Normal file
36
source/qtserialport.h
Normal file
@ -0,0 +1,36 @@
|
||||
#ifndef QTSERIALPORT_H
|
||||
#define QTSERIALPORT_H
|
||||
|
||||
#include "serialportbase.h"
|
||||
|
||||
#include <QtSerialPort/QSerialPort>
|
||||
#include <QtSerialPort/QSerialPortInfo>
|
||||
#include <qdebug.h>
|
||||
#include <QDebug>
|
||||
|
||||
#include <iostream>
|
||||
|
||||
|
||||
class QtSerialport :public SerialPortBase
|
||||
{
|
||||
// Q_OBJECT
|
||||
|
||||
public:
|
||||
// QtSerialport();
|
||||
// ~QtSerialport();
|
||||
|
||||
|
||||
int OpenSerialPort(string portName, int baudrate);
|
||||
int CloseSerialPort();
|
||||
int SetBaudrate(int baudrate);
|
||||
int SendData(const char chrSendBuffer[],const unsigned short usLen);
|
||||
int SendData1(const char *data, const unsigned int len);
|
||||
int ReadData(char * receivedData);
|
||||
|
||||
protected:
|
||||
private:
|
||||
QSerialPort * m_serial;
|
||||
};
|
||||
|
||||
|
||||
#endif // QTSERIALPORT_H
|
||||
58
source/register.h
Normal file
58
source/register.h
Normal file
@ -0,0 +1,58 @@
|
||||
#ifndef REGISTER_H
|
||||
#define REGISTER_H
|
||||
|
||||
#define SAVE 0x00
|
||||
#define CALSW 0x01
|
||||
#define RSW 0x02
|
||||
#define RRATE 0x03
|
||||
#define BAUD 0x04
|
||||
#define AXOFFSET 0x05
|
||||
#define AYOFFSET 0x06
|
||||
#define AZOFFSET 0x07
|
||||
#define GXOFFSET 0x08
|
||||
#define GYOFFSET 0x09
|
||||
#define GZOFFSET 0x0a
|
||||
#define HXOFFSET 0x0b
|
||||
#define HYOFFSET 0x0c
|
||||
#define HZOFFSET 0x0d
|
||||
#define D0MODE 0x0e
|
||||
#define D1MODE 0x0f
|
||||
#define D2MODE 0x10
|
||||
#define D3MODE 0x11
|
||||
#define D0PWMH 0x12
|
||||
#define D1PWMH 0x13
|
||||
#define D2PWMH 0x14
|
||||
#define D3PWMH 0x15
|
||||
#define D0PWMT 0x16
|
||||
#define D1PWMT 0x17
|
||||
#define D2PWMT 0x18
|
||||
#define D3PWMT 0x19
|
||||
#define IICADDR 0x1a
|
||||
#define LEDOFF 0x1b
|
||||
#define MAGRANGX 0x1c
|
||||
#define MAGRANGY 0x1d
|
||||
#define MAGRANGZ 0x1e
|
||||
#define BANDWIDTH 0x1f
|
||||
#define GYRORANGE 0x20
|
||||
#define ACCRANGE 0x21
|
||||
#define SLEEP 0x22
|
||||
#define ORIENT 0x23
|
||||
#define AXIS6 0x24
|
||||
#define FILTK 0x25
|
||||
#define GPSBAUD 0x26
|
||||
#define READADDR 0x27
|
||||
#define BWSCALE 0x28
|
||||
#define MOVETHR 0x28
|
||||
#define MOVESTA 0x29
|
||||
#define ACCFILT 0x2A
|
||||
#define GYROFILT 0x2b
|
||||
#define MAGFILT 0x2c
|
||||
#define POWONSEND 0x2d
|
||||
#define VERSION 0x2e
|
||||
|
||||
#define KEY 0x69
|
||||
#define TIMEZONE 0x6B
|
||||
|
||||
|
||||
|
||||
#endif // REGISTER_H
|
||||
25
source/serialportbase.h
Normal file
25
source/serialportbase.h
Normal file
@ -0,0 +1,25 @@
|
||||
#ifndef SERIALPORTBASE_H
|
||||
#define SERIALPORTBASE_H
|
||||
|
||||
#include <iostream>
|
||||
|
||||
using namespace std;
|
||||
|
||||
class SerialPortBase
|
||||
{
|
||||
|
||||
public:
|
||||
// SerialPortBase();
|
||||
// ~SerialPortBase();
|
||||
|
||||
virtual int OpenSerialPort(string portName, int baudrate) = 0;
|
||||
virtual int CloseSerialPort() = 0;
|
||||
virtual int SetBaudrate(int baudrate) = 0;
|
||||
virtual int SendData1(const char *data, const unsigned int len) = 0;
|
||||
virtual int SendData(const char chrSendBuffer[],const unsigned short usLen) = 0;
|
||||
virtual int ReadData(char * receivedData) = 0;
|
||||
protected:
|
||||
private:
|
||||
};
|
||||
|
||||
#endif // SERIALPORTBASE_H
|
||||
161
source/witcommand.h
Normal file
161
source/witcommand.h
Normal file
@ -0,0 +1,161 @@
|
||||
#ifndef WITCOMMAND_H
|
||||
#define WITCOMMAND_H
|
||||
|
||||
/* KEY */
|
||||
#define KEY_UNLOCK 0xB588
|
||||
|
||||
/* SAVE */
|
||||
#define SAVE_PARAM 0x00
|
||||
#define SAVE_SWRST 0xFF
|
||||
|
||||
/* algorithm */
|
||||
enum ALGROITHM_ENUM {
|
||||
ALGROITHM9 = 0,
|
||||
ALGROITHM6 = 1
|
||||
};
|
||||
|
||||
/* ORIENT */
|
||||
enum ORIENT_ENUM {
|
||||
ORIENT_HORIZONTAL = 0,
|
||||
ORIENT_VERTICAL
|
||||
};
|
||||
|
||||
/* ORIENT */
|
||||
enum POWONSEND_ENUM {
|
||||
CLOSE = 0,
|
||||
OPEN
|
||||
};
|
||||
|
||||
/* CALSW */
|
||||
enum CAL_ENUM {
|
||||
EXIT = 0,
|
||||
GYROACC,
|
||||
MAGNETIC,
|
||||
ALTITUDE,
|
||||
ALANGLEZ
|
||||
};
|
||||
|
||||
#define EXITCAL 0x00
|
||||
#define CALGYROACC 0x01
|
||||
#define CALMAG 0x02
|
||||
#define CALALTITUDE 0x03
|
||||
#define CALANGLEZ 0x04
|
||||
|
||||
/* time zone */
|
||||
enum TIMEZONE_ENUM {
|
||||
UTC_N12 = 0,
|
||||
UTC_N11,
|
||||
UTC_N10,
|
||||
UTC_N9,
|
||||
UTC_N8,
|
||||
UTC_N7,
|
||||
UTC_N6,
|
||||
UTC_N5,
|
||||
UTC_N4,
|
||||
UTC_N3,
|
||||
UTC_N2,
|
||||
UTC_N1,
|
||||
UTC,
|
||||
UTC_P1,
|
||||
UTC_P2,
|
||||
UTC_P3,
|
||||
UTC_P4,
|
||||
UTC_P5,
|
||||
UTC_P6,
|
||||
UTC_P7,
|
||||
UTC_P8,//default
|
||||
UTC_P9,
|
||||
UTC_P10,
|
||||
UTC_P11,
|
||||
UTC_P12
|
||||
};
|
||||
|
||||
/* RETURN CONTENT */
|
||||
#define SetBit(VAR, Place) (VAR |= (1 << Place))
|
||||
#define ClrBit(VAR, Place) (VAR &= ((1 << Place) ^ 255))
|
||||
|
||||
enum RETURN_CONTENT_ENUM {
|
||||
//低位
|
||||
TIME = 0,
|
||||
ACCELERATION,
|
||||
ANGULAR_VELOCITY,
|
||||
EULER_ANGLE,
|
||||
MAGNETIC_FIELD,
|
||||
PORT_STATUS,
|
||||
ATMOSPHERIC_PRESSURE_ALTITUDE,
|
||||
LATITUDE_LONGITUDE,
|
||||
|
||||
//高位
|
||||
GROUND_VELOCITY,
|
||||
QUATERNION,//四元数
|
||||
SATELLITE_ACCURACY
|
||||
};
|
||||
|
||||
struct RETURN_CONTENT_STRUCT
|
||||
{
|
||||
//低位
|
||||
bool time = false;
|
||||
bool acceleration = true;
|
||||
bool angular_velocity = true;
|
||||
bool euler_angle = true;
|
||||
bool magnetic_field = true;
|
||||
bool port_status = false;
|
||||
bool atmospheric_pressure_altitude = false;
|
||||
bool latitude_longitude = true;
|
||||
|
||||
//高位
|
||||
bool ground_velocity = false;
|
||||
bool quaternion = false;
|
||||
bool satellite_accuracy = false;
|
||||
};
|
||||
|
||||
|
||||
/* BAUD */
|
||||
enum BAUD_ENUM {
|
||||
WIT_BAUD_2400 = 0,
|
||||
WIT_BAUD_4800,
|
||||
WIT_BAUD_9600,//default
|
||||
WIT_BAUD_19200,
|
||||
WIT_BAUD_38400,
|
||||
WIT_BAUD_57600,
|
||||
WIT_BAUD_115200,
|
||||
WIT_BAUD_230400,
|
||||
WIT_BAUD_460800,
|
||||
WIT_BAUD_921600
|
||||
};
|
||||
|
||||
/**RRATE*****/
|
||||
enum RRATE_ENUM {
|
||||
RRATE_01HZ = 1,
|
||||
RRATE_05HZ,
|
||||
RRATE_1HZ,
|
||||
RRATE_2HZ,
|
||||
RRATE_5HZ,
|
||||
RRATE_10HZ,//default
|
||||
RRATE_20HZ,
|
||||
RRATE_50HZ,
|
||||
RRATE_100HZ,
|
||||
RRATE_NONE,//保留
|
||||
RRATE_200HZ,
|
||||
RRATE_ONCE
|
||||
};
|
||||
|
||||
/* 端口模式 */
|
||||
enum MODEL_D0_D2_D3_ENUM {
|
||||
AIN = 0,//default
|
||||
DIN,
|
||||
DOH,
|
||||
DOL,
|
||||
PWM
|
||||
};
|
||||
|
||||
enum MODEL_D1_ENUM {
|
||||
AIN_D1 = 0,//default
|
||||
DIN_D1,
|
||||
DOH_D1,
|
||||
DOL_D1,
|
||||
PWM_D1,
|
||||
CLR_D1
|
||||
};
|
||||
|
||||
#endif // WITCOMMAND_H
|
||||
35
source/witmotionDll.pro
Normal file
35
source/witmotionDll.pro
Normal file
@ -0,0 +1,35 @@
|
||||
QT += core
|
||||
QT -= gui
|
||||
QT += serialport
|
||||
|
||||
CONFIG += c++11
|
||||
|
||||
TARGET = witmotionDll
|
||||
CONFIG += console
|
||||
CONFIG -= app_bundle
|
||||
|
||||
TEMPLATE = app
|
||||
|
||||
SOURCES += main.cpp \
|
||||
witmotiondll.cpp \
|
||||
qtserialport.cpp \
|
||||
commandlineparser.cpp
|
||||
|
||||
# The following define makes your compiler emit warnings if you use
|
||||
# any feature of Qt which as been marked deprecated (the exact warnings
|
||||
# depend on your compiler). Please consult the documentation of the
|
||||
# deprecated API in order to know how to port your code away from it.
|
||||
DEFINES += QT_DEPRECATED_WARNINGS
|
||||
|
||||
# You can also make your code fail to compile if you use deprecated APIs.
|
||||
# In order to do so, uncomment the following line.
|
||||
# You can also select to disable deprecated APIs only up to a certain version of Qt.
|
||||
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
|
||||
|
||||
HEADERS += \
|
||||
register.h \
|
||||
serialportbase.h \
|
||||
witmotiondll.h \
|
||||
qtserialport.h \
|
||||
commandlineparser.h \
|
||||
witcommand.h
|
||||
407
source/witmotiondll.cpp
Normal file
407
source/witmotiondll.cpp
Normal file
@ -0,0 +1,407 @@
|
||||
#include "witmotiondll.h"
|
||||
|
||||
//当没有注册 延时函数（m_delayFunction）时，运行会停止在调用延时函数（m_delayFunction）处；
|
||||
//此函数就是为了解决上面说的问题
|
||||
void delay_default(uint32_t millisecond)
|
||||
{
|
||||
;
|
||||
}
|
||||
|
||||
void printf_default(const char* text)
|
||||
{
|
||||
;
|
||||
}
|
||||
|
||||
WitmotionDll::WitmotionDll(SerialPortBase * serialPort)
|
||||
{
|
||||
m_SerialPort = serialPort;
|
||||
|
||||
m_delayFunction = delay_default;
|
||||
|
||||
m_witPrintf = printf_default;
|
||||
}
|
||||
|
||||
int WitmotionDll::delayMsRegister(delay delayFunction)
|
||||
{
|
||||
m_delayFunction = delayFunction;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::printfRegister(witPrintf printfFunction)
|
||||
{
|
||||
m_witPrintf = printfFunction;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void WitmotionDll::setDelayTimeMs(uint32_t millisecond)
|
||||
{
|
||||
TIME_TO_SLEEP = millisecond;
|
||||
}
|
||||
|
||||
int WitmotionDll::constructAndSendInstruction(int registerAddress, int registerContent)
|
||||
{
|
||||
uint8_t unBuffer[8];
|
||||
unBuffer[0]=0xFF;
|
||||
unBuffer[1]=0xAA;
|
||||
unBuffer[2]=registerAddress & 0xFF;
|
||||
unBuffer[3]=registerContent & 0xff;
|
||||
unBuffer[4]=registerContent >> 8;
|
||||
|
||||
int num = m_SerialPort->SendData1((char *)unBuffer,5);
|
||||
m_delayFunction(TIME_TO_SLEEP);
|
||||
|
||||
return num;
|
||||
}
|
||||
|
||||
int WitmotionDll::unlockInstruction()
|
||||
{
|
||||
int numOfSend = constructAndSendInstruction(KEY, KEY_UNLOCK);
|
||||
m_witPrintf("WitmotionDll::unlockInstruction: \n");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::saveInstruction()
|
||||
{
|
||||
int numOfSend = constructAndSendInstruction(SAVE, SAVE_PARAM);
|
||||
m_witPrintf("WitmotionDll::saveInstruction: \n");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::algorithm(ALGROITHM_ENUM algorithm)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(AXIS6, algorithm);
|
||||
m_witPrintf("WitmotionDll::algorithm: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::installationOrientation(ORIENT_ENUM orient)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(ORIENT, orient);
|
||||
m_witPrintf("WitmotionDll::installationOrientation:\n");
|
||||
|
||||
saveInstruction();
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::instructStart(POWONSEND_ENUM command)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(POWONSEND, command);
|
||||
m_witPrintf("WitmotionDll::instructStart: \n");
|
||||
|
||||
saveInstruction();
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::exitCalibration()
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(CALSW, EXITCAL);
|
||||
m_witPrintf("WitmotionDll::exitCalibration: \n");
|
||||
|
||||
saveInstruction();
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::magneticCalibration()
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(CALSW, CALMAG);
|
||||
m_witPrintf("WitmotionDll::magneticCalibration: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setHeightToZero()
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(CALSW, CALALTITUDE);
|
||||
m_witPrintf("WitmotionDll::setHeightToZero: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setZAxisAngleToZero()
|
||||
{
|
||||
//需要读取参数，确保处于算法ALGROITHM6下
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(CALSW, CALANGLEZ);
|
||||
m_witPrintf("WitmotionDll::setZAxisAngleToZero: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setAngleReference()
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
uint16_t registerContent = 0x08;//询问技术支持才得到的命令
|
||||
int numOfSend = constructAndSendInstruction(CALSW, registerContent);
|
||||
m_witPrintf("WitmotionDll::setAngleReference: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void WitmotionDll::recordData()
|
||||
{
|
||||
char * receivedData;
|
||||
m_SerialPort->ReadData(receivedData);
|
||||
}
|
||||
|
||||
int WitmotionDll::setTimeZone(TIMEZONE_ENUM timeZone)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(TIMEZONE, timeZone);
|
||||
m_witPrintf("WitmotionDll::setTimeZone: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setContent(RETURN_CONTENT_STRUCT content)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
uint16_t registerContent = 0;
|
||||
|
||||
if(content.time)
|
||||
SetBit(registerContent, TIME);
|
||||
if(content.acceleration)
|
||||
SetBit(registerContent, ACCELERATION);
|
||||
if(content.angular_velocity)
|
||||
SetBit(registerContent, ANGULAR_VELOCITY);
|
||||
if(content.euler_angle)
|
||||
SetBit(registerContent, EULER_ANGLE);
|
||||
if(content.magnetic_field)
|
||||
SetBit(registerContent, MAGNETIC_FIELD);
|
||||
if(content.port_status)
|
||||
SetBit(registerContent, PORT_STATUS);
|
||||
if(content.atmospheric_pressure_altitude)
|
||||
SetBit(registerContent, ATMOSPHERIC_PRESSURE_ALTITUDE);
|
||||
if(content.latitude_longitude)
|
||||
SetBit(registerContent, LATITUDE_LONGITUDE);
|
||||
|
||||
if(content.ground_velocity)
|
||||
SetBit(registerContent, GROUND_VELOCITY);
|
||||
if(content.quaternion)
|
||||
SetBit(registerContent, QUATERNION);
|
||||
if(content.satellite_accuracy)
|
||||
SetBit(registerContent, SATELLITE_ACCURACY);
|
||||
|
||||
int numOfSend = constructAndSendInstruction(RSW, registerContent);
|
||||
m_witPrintf("WitmotionDll::setContent: \n");
|
||||
|
||||
saveInstruction();
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::clearContent(RETURN_CONTENT_STRUCT content)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::SetBaudrate(BAUD_ENUM baudrate)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(BAUD, baudrate);
|
||||
m_witPrintf("WitmotionDll::SetBaudrate: \n");
|
||||
|
||||
// saveInstruction(); //设置完波特率 已经无法通讯 需要重新简历连接
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::SetReturnRate(RRATE_ENUM returnRate)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(RRATE, returnRate);
|
||||
m_witPrintf("WitmotionDll::SetReturnRate: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::SetDeviceAddress(int deviceAddress)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(IICADDR, deviceAddress);
|
||||
m_witPrintf("WitmotionDll::SetDeviceAddress: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setD0Model(MODEL_D0_D2_D3_ENUM model)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(D0MODE, model);
|
||||
m_witPrintf("WitmotionDll::setD0Model: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setD1Model(MODEL_D1_ENUM model)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(D1MODE, model);
|
||||
m_witPrintf("WitmotionDll::setD1Model: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setD2Model(MODEL_D0_D2_D3_ENUM model)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(D2MODE, model);
|
||||
m_witPrintf("WitmotionDll::setD2Model: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setD3Model(MODEL_D0_D2_D3_ENUM model)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(D3MODE, model);
|
||||
m_witPrintf("WitmotionDll::setD3Model: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setD0HighLevelPulseWidth(int PWMH)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(D0PWMH, PWMH);
|
||||
m_witPrintf("WitmotionDll::setD0HighLevelPulseWidth: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setD1HighLevelPulseWidth(int PWMH)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(D1PWMH, PWMH);
|
||||
m_witPrintf("WitmotionDll::setD1HighLevelPulseWidth: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setD2HighLevelPulseWidth(int PWMH)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(D2PWMH, PWMH);
|
||||
m_witPrintf("WitmotionDll::setD2HighLevelPulseWidth: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setD3HighLevelPulseWidth(int PWMH)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(D3PWMH, PWMH);
|
||||
m_witPrintf("WitmotionDll::setD3HighLevelPulseWidth: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setD0Period(int period)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(D0PWMT, period);
|
||||
m_witPrintf("WitmotionDll::setD0Period: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setD1Period(int period)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(D1PWMT, period);
|
||||
m_witPrintf("WitmotionDll::setD1Period: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setD2Period(int period)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(D2PWMT, period);
|
||||
m_witPrintf("WitmotionDll::setD2Period: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WitmotionDll::setD3Period(int period)
|
||||
{
|
||||
unlockInstruction();
|
||||
|
||||
int numOfSend = constructAndSendInstruction(D3PWMT, period);
|
||||
m_witPrintf("WitmotionDll::setD3Period: \n");
|
||||
|
||||
saveInstruction();
|
||||
|
||||
return 0;
|
||||
}
|
||||
85
source/witmotiondll.h
Normal file
85
source/witmotiondll.h
Normal file
@ -0,0 +1,85 @@
|
||||
#ifndef WITMOTIONDLL_H
|
||||
#define WITMOTIONDLL_H
|
||||
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <thread>
|
||||
|
||||
#include "serialportbase.h"
|
||||
#include "register.h"
|
||||
#include "witcommand.h"
|
||||
|
||||
typedef void (*delay)(uint32_t millisecond);
|
||||
typedef void (*witPrintf)(const char* text);
|
||||
|
||||
class WitmotionDll
|
||||
{
|
||||
|
||||
public:
|
||||
WitmotionDll(SerialPortBase * serialPort);
|
||||
|
||||
int delayMsRegister(delay delayFunction);
|
||||
int printfRegister(witPrintf printfFunction);
|
||||
void setDelayTimeMs(uint32_t millisecond);
|
||||
|
||||
int constructAndSendInstruction(int registerAddress, int registerContent);
|
||||
|
||||
int unlockInstruction();
|
||||
int saveInstruction();
|
||||
|
||||
void recordData();
|
||||
|
||||
//系统
|
||||
int algorithm(ALGROITHM_ENUM algorithm);
|
||||
int installationOrientation(ORIENT_ENUM orient);
|
||||
int instructStart(POWONSEND_ENUM command);//是否上电输出数据，可以防止鼠标乱跳
|
||||
|
||||
|
||||
//校准：完成后，需要退出校准模式（ 调用exitCalibration）
|
||||
int exitCalibration();//退出校准模式
|
||||
|
||||
int magneticCalibration();
|
||||
int setHeightToZero();//需要JY901B带有高度数据输出的模块才能进行高度校准，此为相对高度，短时间内有效
|
||||
int setZAxisAngleToZero();//Z轴角度归零，只在切换成 6 轴算法下才能成功置零;
|
||||
int setAngleReference();//询问技术支持，文档没有，不建议使用，设置后只能在静态下运动，即原点旋转单轴，其他方式旋转出来会有比较大的误差
|
||||
|
||||
|
||||
//范围
|
||||
int setTimeZone(TIMEZONE_ENUM timeZone);
|
||||
|
||||
//设置回传内容
|
||||
int setContent(RETURN_CONTENT_STRUCT content);
|
||||
int clearContent(RETURN_CONTENT_STRUCT content);
|
||||
|
||||
//通讯
|
||||
int SetBaudrate(BAUD_ENUM baudrate);
|
||||
int SetReturnRate(RRATE_ENUM returnRate);
|
||||
int SetDeviceAddress(int deviceAddress);//（1）只用于IIC协议，串口不用（2）设置、保存后，重新上电生效（3）最大为0x7f(124)
|
||||
|
||||
//接口
|
||||
int setD0Model(MODEL_D0_D2_D3_ENUM model);
|
||||
int setD1Model(MODEL_D1_ENUM model);
|
||||
int setD2Model(MODEL_D0_D2_D3_ENUM model);
|
||||
int setD3Model(MODEL_D0_D2_D3_ENUM model);
|
||||
|
||||
int setD0HighLevelPulseWidth(int PWMH);
|
||||
int setD1HighLevelPulseWidth(int PWMH);
|
||||
int setD2HighLevelPulseWidth(int PWMH);
|
||||
int setD3HighLevelPulseWidth(int PWMH);
|
||||
|
||||
int setD0Period(int period);
|
||||
int setD1Period(int period);
|
||||
int setD2Period(int period);
|
||||
int setD3Period(int period);
|
||||
|
||||
private:
|
||||
SerialPortBase * m_SerialPort;
|
||||
uint32_t TIME_TO_SLEEP = 500;//毫秒
|
||||
|
||||
delay m_delayFunction;
|
||||
witPrintf m_witPrintf;
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif // WITMOTIONDLL_H
|
||||
Reference in New Issue
Block a user