143 lines
3.9 KiB
C++
143 lines
3.9 KiB
C++
#include <QCoreApplication>
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#include <QThread>
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#include "witmotiondll.h"
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#include "qtserialport.h"
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#include "commandlineparser.h"
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void delay_tc(uint32_t millisecond)
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{
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QThread::msleep(millisecond);
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// std::cout<<"This is delay_tc!!!!!!!!!!"<<std::endl;
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}
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void printf_tc(const char* text)
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{
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printf(text);
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}
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int main(int argc, char *argv[])
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{
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QCoreApplication a(argc, argv);
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// 解析命令行参数
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QCommandLineParser parser;
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parser.setApplicationDescription("This software is used for config parameter for wit inertial navigation.");
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TcQuery query;
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QString errorMessage;
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switch (parseCommandLine2(parser, &query, &errorMessage))
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{
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case CommandLineOk:
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break;
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case CommandLineError:
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fputs(qPrintable(errorMessage), stderr);
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fputs("\n\n", stderr);
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fputs(qPrintable(parser.helpText()), stderr);
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return 1;
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case CommandLineVersionRequested:
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printf("%s %s\n", qPrintable(QCoreApplication::applicationName()),
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qPrintable(QCoreApplication::applicationVersion()));
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return 0;
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case CommandLineHelpRequested:
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parser.showHelp();
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Q_UNREACHABLE();
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}
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SerialPortBase * serialPort = new QtSerialport();
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int ret = serialPort->OpenSerialPort(query.serialPort.toStdString(), query.connectBaudrate);//"COM15"
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if(ret)
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{
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std::cout<<"Serial port open failed!!"<<std::endl;
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return 1;
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}
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WitmotionDll * witmotion = new WitmotionDll(serialPort);
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witmotion->delayMsRegister(delay_tc);
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witmotion->printfRegister(printf_tc);
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witmotion->setDelayTimeMs(200);
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if(query.isSetAlgorithm)
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{
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witmotion->algorithm(query.algorithm);
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}
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if(query.isSetInstallationOrientation)
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{
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witmotion->installationOrientation(query.installationOrientation);
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}
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if(query.isSetTimeZone)
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{
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witmotion->setTimeZone(query.timeZone);
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}
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if(query.isSetDefaultReturnContent)
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{
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witmotion->setContent(query.defaultReturnContent);
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}
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if(query.isSetReturnRate)
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{
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witmotion->SetReturnRate(query.returnRate);
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}
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if(query.isSetDeviceAddress)
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{
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witmotion->SetDeviceAddress(query.deviceAddress);
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}
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if(query.isSetInterface_D0)
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{
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witmotion->setD0Model(query.modelForInterface_D0);
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witmotion->setD0HighLevelPulseWidth(query.pulseWidth_D0);
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witmotion->setD0Period(query.period_D0);
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}
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if(query.isSetInterface_D1)
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{
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witmotion->setD1Model(query.modelForInterface_D1);
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witmotion->setD1HighLevelPulseWidth(query.pulseWidth_D1);
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witmotion->setD1Period(query.period_D1);
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}
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if(query.isSetInterface_D2)
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{
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witmotion->setD2Model(query.modelForInterface_D2);
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witmotion->setD2HighLevelPulseWidth(query.pulseWidth_D2);
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witmotion->setD2Period(query.period_D2);
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}
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if(query.isSetInterface_D3)
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{
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witmotion->setD3Model(query.modelForInterface_D3);
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witmotion->setD3HighLevelPulseWidth(query.pulseWidth_D3);
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witmotion->setD3Period(query.period_D3);
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}
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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
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{
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witmotion->SetReturnRate(query.returnRate);
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}
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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
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{
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witmotion->SetBaudrate(query.baudrate);
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// serialPort->CloseSerialPort();//设置完波特率 已经无法通讯 需要重新简历连接
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serialPort->SetBaudrate(115200);
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//ret = serialPort->OpenSerialPort(query.serialPort.toStdString(), query.baudrate);//重新建立连接
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witmotion->saveInstruction();
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}
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// witmotion->recordData();
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std::cout<<"Set IMU OK"<<std::flush;
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serialPort->CloseSerialPort();
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// return a.exec();
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}
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