300TC 机载系统 完整功能，（1）采集影像（2）采集和解析惯导数据（3）惯导磁场校正

Header_Files/sbgrecorder.h

@@ -0,0 +1,78 @@
+#ifndef SBGRECORDER_H
+#define SBGRECORDER_H
+
+#include <QtSerialPort/QSerialPort>
+#include <QtSerialPort/QSerialPortInfo>
+
+#include "sbgerrorcodes.h"
+#include "sbgbuffer.h"
+#include "sbglogparse.h"
+#include "sbgcrc.h"
+
+#include "utility_tc.h"
+
+
+namespace sbgtc
+{
+    class SbgRecorder:public QObject
+    {
+        Q_OBJECT
+
+    public:
+        SbgRecorder();
+
+        QByteArray merge(QByteArray sbgMessage);
+        bool verify(int index,QByteArray sbgMessage);
+        SbgErrorCode extractOneValidFrame(rawBuffer *pHandle, uint8_t *pMsgClass, uint8_t *pMsg, void *pData, size_t *pSize, size_t maxSize);
+        SbgErrorCode sbgBinaryLogParse(SbgEComClass msgClass, SbgEComMsgId msg, const void *pPayload, size_t payloadSize, SbgBinaryLogData *pOutputData);
+        void parseSbgMessage(QByteArray * sbgMessage);
+
+
+        double calculateTimeDifferenceBetweenSystemAndSbg(SbgBinaryLogData logData);
+
+        int getSbgState() const;
+
+    private:
+        //0:没有惯导可用串口;1:惯导对应的串口打开成功,但是波特率等参数设置失败;2:惯导对应的串口打开成功;3:正在采集;
+        int m_iSbgState;
+
+        QSerialPort * m_serial;
+        bool m_bRecordControl;
+
+        bool m_bIsSbgReady;
+        bool m_bIsRecordHyperspecatralImage;
+        bool m_bIsNAV_POSITION_MODE;
+        bool m_bIsAccuracyLessThan7;
+        bool m_bIsSyncSystemTimeBaseGpstime;
+
+        uint32_t m_iSolutionMode;
+        int m_iSolutionModeCounter;
+
+        QString m_baseFileName;
+
+    public slots:
+        void openSerialPort();
+        void closeSerialPort();
+
+        void onSbgReady(double second,QString baseFileName);
+
+        void startRecordSbg();
+        void stopRecordSbg();
+
+        void startRecordHyperspectral();
+        void stopRecordHyperspectral();
+
+
+    signals:
+        void sbgReady(double second,QString baseFileName);
+        void serialPortStatus(int);
+
+        void sbgSolutionModeSignal(int);
+
+        void sbgAccuracySignal(int);
+
+    };
+
+}
+
+#endif // SBGRECORDER_H