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/udpserver.h

@@ -0,0 +1,103 @@
+#ifndef UDPSERVER_H
+#define UDPSERVER_H
+
+#include <iostream>
+#include <string.h>
+#include <time.h>
+#include <ctime>
+
+#include <QCoreApplication>
+#include <QUdpSocket>
+#include <QObject>
+#include <QThread>
+#include <QDir>
+
+#include "ximeaimager.h"
+#include "sbgrecorder.h"
+#include "fileoperation.h"
+
+extern "C"
+{
+    #include <sbgEComLib.h>
+    #include <stdlib.h>
+}
+
+
+class sbgMagCibWorkThread:public QThread
+{
+    Q_OBJECT
+public:
+    sbgMagCibWorkThread();
+
+    int m_iMagCalibStopControl;
+    void displayMagCalibResults(SbgEComMagCalibMode mode, const SbgEComMagCalibResults *pMagCalibResults);
+protected:
+    void run();
+private:
+//  0:串口打开错误;
+//  1:磁场矫正失败;
+//	2:Unable to get onboard magnetic calibration results;
+//	3:磁场数据无效:invalid;
+//	4:写入磁场数据失败;
+//	5:POOR;
+//	6:GOOD;
+//	7:OPTIMAL;
+    int m_iMagCalibState;
+
+    void signalWrap(int state);
+
+signals:
+    void magCalibStateSignal(int);
+
+};
+
+class UdpServer:public QObject
+{
+    Q_OBJECT
+
+  public:
+    UdpServer();
+    QThread * m_RecordThread;
+    QThread * m_RecordSbgThread;
+    QThread * m_CopyFileThread;
+
+  private slots:
+    void processPendingDatagrams();
+
+  private:
+    QUdpSocket * m_udpSocket;
+
+    sbgMagCibWorkThread * m_sbgMagCibWorkThread;
+
+    QHostAddress m_clientIpAddress;
+    quint16 m_clientPort;
+
+    XimeaImager * m_imager;
+    sbgtc::SbgRecorder * m_sbgRecorder;
+    FileOperation * m_copyFile;
+    double getTimeDifferenceBetweenSystemAndSbg(double secondSbg);
+
+    void sender(int status);
+
+signals:
+    void systemStart();
+    void systemStop();
+    void startRecordHyperspectralSignal();
+    void startCopyFileSignal();
+    void startDeleteFileSignal();
+
+    void recordXimeaOnlySignal(double,QString);
+
+public slots:
+    void onRecordFinished();
+
+    void sendSerialPortStatus(int serialPortStatus);
+    void sendSbgMagCalibState(int SbgMagCalibState);
+
+    void sendSbgSolutionModeState(int SolutionMode);
+    void sendSbgAccuracyState(int Accuracy);
+
+    void sendXimeaImageStatus(int ximeaImageStatus);
+    void sendCopyFileStatus(int fileStatus);
+};
+#endif // UDPSERVER_H