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
2023-02-13 09:15:17 +08:00
parent d870c42486
commit 277e347e56
12 changed files with 61 additions and 7 deletions
--- a/source/main.cpp
+++ b/source/main.cpp
@ -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();
+}