1、将工程从动态库变为命令行程序：修改pro文件、删除文件witmotiondll_global.h；

2、继承串口基类SerialPortBase实现串口类QtSerialport；
3、写维特惯导设置示例程序main.cpp；

main.cpp

@@ -0,0 +1,58 @@
+#include <QCoreApplication>
+#include <QThread>
+
+#include "witmotiondll.h"
+#include "qtserialport.h"
+
+void delay_tc(uint32_t millisecond)
+{
+    QThread::sleep(millisecond/1000);
+    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);
+
+    SerialPortBase * serialPort = new QtSerialport();
+//    SerialPortBase * serialPort = new windowsSerialPort();
+
+    serialPort->OpenSerialPort("COM15", 9600);
+
+    WitmotionDll * tmp = new WitmotionDll(serialPort);
+    tmp->delayMsRegister(delay_tc);
+    tmp->printfRegister(printf_tc);
+    tmp->setDelayTimeMs(1000);
+
+    tmp->installationOrientation(ORIENT_VERTICAL);
+//    tmp->algorithm(ALGROITHM9);
+//    tmp->setTimeZone(UTC_P12);
+//    tmp->SetBaudrate(WIT_BAUD_115200);
+//    tmp->SetReturnRate(RRATE_20HZ);
+
+//    tmp->SetDeviceAddress(124);
+
+//    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);
+
+
+//    tmp->recordData();
+
+    serialPort->CloseSerialPort();
+
+//    return a.exec();
+}

qtserialport.cpp

@@ -0,0 +1,115 @@
+#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);
+
+
+    bool x=SetBaudrate(baudrate);
+    if(x)
+    {
+        std::cout<<"波特率被成功设置为:"<<m_serial->baudRate()<<std::endl;
+        return 0;
+    }
+    else
+    {
+        std::cout<<"波特率设置失败!"<<std::endl;
+        return 1;
+    }
+}
+
+int QtSerialport::CloseSerialPort()
+{
+    m_serial->close();
+    return 0;
+}
+
+int QtSerialport::SetBaudrate(int baudrate)
+{
+    bool x=m_serial->setBaudRate(baudrate);
+    return 0;
+}
+
+//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();
+
+    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())
+        {
+            //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;
+}

qtserialport.h

@@ -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

serialportbase.h

@@ -17,7 +17,7 @@ public:
     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() = 0;
+    virtual int ReadData(char * receivedData) = 0;
 protected:
 private:
 };

witmotionDll.pro

@@ -1,16 +1,21 @@
-#-------------------------------------------------
-#
-# Project created by QtCreator 2022-05-25T15:16:09
-#
-#-------------------------------------------------
+QT += core
+QT -= gui
+QT += serialport
+
+CONFIG += c++11
 
 TARGET = witmotionDll
-TEMPLATE = lib
+CONFIG += console
+CONFIG -= app_bundle
 
-DEFINES += WITMOTIONDLL_LIBRARY
+TEMPLATE = app
+
+SOURCES += main.cpp \
+    witmotiondll.cpp \
+    qtserialport.cpp
 
 # The following define makes your compiler emit warnings if you use
-# any feature of Qt which as been marked as deprecated (the exact warnings
+# 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
@@ -20,16 +25,8 @@ DEFINES += QT_DEPRECATED_WARNINGS
 # 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
 
-SOURCES += \
-    witmotiondll.cpp
-
 HEADERS += \
-        witmotiondll.h \
-        witmotiondll_global.h \  
+    register.h \
     serialportbase.h \
-    register.h
-
-unix {
-    target.path = /usr/lib
-    INSTALLS += target
-}
+    witmotiondll.h \
+    qtserialport.h

witmotiondll.cpp

@@ -2,12 +2,12 @@
 
 //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_tc(uint32_t millisecond)
+void delay_default(uint32_t millisecond)
 {
     ;
 }
 
-void printf_tc(const char* text)
+void printf_default(const char* text)
 {
     ;
 }
@@ -16,9 +16,9 @@ WitmotionDll::WitmotionDll(SerialPortBase * serialPort)
 {
     m_SerialPort = serialPort;
 
-    m_delayFunction = delay_tc;
+    m_delayFunction = delay_default;
 
-    m_witPrintf = printf_tc;
+    m_witPrintf = printf_default;
 }
 
 int WitmotionDll::delayMsRegister(delay delayFunction)
@@ -168,7 +168,8 @@ int WitmotionDll::setAngleReference()
 
 void WitmotionDll::recordData()
 {
-    m_SerialPort->ReadData();
+    char * receivedData;
+    m_SerialPort->ReadData(receivedData);
 }
 
 int WitmotionDll::setTimeZone(TIMEZONE_ENUM timeZone)

witmotiondll.h

@@ -1,8 +1,6 @@
 #ifndef WITMOTIONDLL_H
 #define WITMOTIONDLL_H
 
-#include "witmotiondll_global.h"
-
 #include <iostream>
 #include <string>
 #include <thread>
@@ -13,7 +11,7 @@
 typedef void (*delay)(uint32_t millisecond);
 typedef void (*witPrintf)(const char* text);
 
-class WITMOTIONDLLSHARED_EXPORT WitmotionDll
+class WitmotionDll
 {
 
 public:

witmotiondll_global.h

@@ -1,12 +0,0 @@
-#ifndef WITMOTIONDLL_GLOBAL_H
-#define WITMOTIONDLL_GLOBAL_H
-
-#include <QtCore/qglobal.h>
-
-#if defined(WITMOTIONDLL_LIBRARY)
-#  define WITMOTIONDLLSHARED_EXPORT Q_DECL_EXPORT
-#else
-#  define WITMOTIONDLLSHARED_EXPORT Q_DECL_IMPORT
-#endif
-
-#endif // WITMOTIONDLL_GLOBAL_H