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zhangzhuo
2023-03-22 09:47:10 +08:00
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Project_Grixis.cpp Normal file
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// Project_Grixis.cpp: 定义应用程序的入口点。
//
#include "Project_Grixis.h"
#include <dji_logger.h>
#include "pch.h"
#include "dji_waypoint_v2.h"
#include "dji_fc_subscription.h"
#include "dji_logger.h"
#include "dji_platform.h"
#include "math.h"
#include "ConfigParser_M300RTK.h"
#include "VehicleController.h"
#include "Widget_M300RTK.h"
#include "MainAcqThread.h"
#include "DataFileManager.h"
#include "Logger.h"
using namespace std;
int main()
{
int argc = 0;
QCoreApplication Grixis(argc, NULL);
//QEventLoop qeLoop;
//QTimer::singleShot(15000, &qeLoop, SLOT(quit()));
//qeLoop.exec();
//QT_LOG::ZZ_InitLogger("/home/data/Log/");
CMainAcqThread MainCtrl;
MainCtrl.SetupContext();
MainCtrl.StartUp();
Grixis.exec();
////////////////////////////////////////////////////Gas test
// IrisSensor_Gas_P0 m_testgas;
// unsigned long ulco2, ulh20;
// float f1, f2, f3;
// m_testgas.Initialize("/dev/ttyS1");
// while (1)
// {
// m_testgas.GetMeasuredData(ulco2, ulh20, f1, f2, f3);
// qDebug() << ulco2 << ulh20;
// qDebug() << f1 << f2 << f3;
// QEventLoop qeLoop;
// QTimer::singleShot(1000, &qeLoop, SLOT(quit()));
// qeLoop.exec();
// }
////////////////////////////////////////////////////WDA test
// IrisSensor_WDA_P0 test1;
// test1.Initialize("/dev/ttyS0");
// float a, b;
// for (int i=0;i<3;i++)
// {
// int iRes = test1.GetSA_NChk(a, b);
// if (iRes==0)
// {
// break;
// }
// a = -1;
// b = -1;
// }
////////////////////////////////////////////////////VehicleController test
//VehicleController vhTest;
//vhTest.SetupEnvironment_M300RTK();
//vhTest.StartupPSDK_M300RTK();
//vhTest.InitSystemDateTime();
//vhTest.SetupSubscriptions();
//
//ZZ_ConfigParser_M300RTK test;
//test.Initialize("/home/DJI/Settings/");
//using namespace ZZ::Device::DJI::M300RTK;
//AppRegInfo reg;
//HardwareInfo hwi;
//test.GetParams(reg,hwi);
//Application application(argc, NULL);
////////////////////////////////////////////////////VehicleController test
////////////////////////////////////////////////////Main Acqtest
////////////////////////////////////////////////////Main Acqtest
////////////////////////////////////////////////////widget test
//DjiCore_SetAlias("LICA_IRIS");
//osalHandler->TaskSleepMs(5000);
//ZZ_Widget_M300RTK test_Widget;
//QString qstrUIFilePath();
//test_Widget.SetUIFilePath("/home/DJI/Widget/",100);
//test_Widget.PreparteEnvironment();
//test_Widget.test_UpdatePSDKFloatMessage("this is a test message");
////////////////////////////////////////////////////widget test
////////////////////////////////////////////////////FcSubscription test
// T_DjiReturnCode djiStat = DjiFcSubscription_Init();
// if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
// {
// qDebug() <<"init data subscription module error.";
// return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
// }
//
// djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ,NULL);
// if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
// {
//
// qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT error.";
// return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
// }
// osalHandler->TaskSleepMs(1000);
//
// T_DjiFcSubscriptionFlightStatus tDjiFlightStatus = { 0 };
// T_DjiFcSubscriptionGpsTime tGpsTime = {0};
// T_DjiDataTimestamp timestamp = { 0 };
// while (1)
// {
// osalHandler->TaskSleepMs(2000);
// djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME,(uint8_t*)&tGpsTime,sizeof(T_DjiFcSubscriptionGpsTime),&timestamp);
// if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
// {
// qDebug() << "get value of topic DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT error";
// //USER_LOG_ERROR("get value of topic battery single info index1 error.");
// }
// else
// {
// qDebug() << "DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT " << tDjiFlightStatus;
// }
//
// djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME, (uint8_t*)&tGpsTime, sizeof(T_DjiFcSubscriptionGpsTime), &timestamp);
// if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
// {
// qDebug() << "get value of topic DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT error";
// //USER_LOG_ERROR("get value of topic battery single info index1 error.");
// }
// else
// {
// qDebug() << "DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT " << tGpsTime;
// }
// }
////////////////////////////////////////////////////FcSubscription test
////////////////////////////////////////////////////other
// QThread* m_pqDataGrabberThreadHolder = new QThread();
// CMainAcqThread test;
// test.moveToThread(m_pqDataGrabberThreadHolder);
// m_pqDataGrabberThreadHolder->start();
// test.Slot_StartCapture();
//
// QEventLoop qeLoop;
// QTimer::singleShot(10000, &qeLoop, SLOT(quit()));
// qeLoop.exec();
//
// test.Slot_StopCapture();
////////////////////////////////////////////////////other
// while (1)
// {
// }
//osalHandler->TaskSleepMs(50000);
////////////////////////////////////////////////////waypoint_cb
// returnCode = DjiWaypointV2_Init();
// if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("Init waypoint V2 module error, stat:0x%08llX", returnCode);
// return returnCode;
// }
//
// returnCode = DjiWaypointV2_RegisterMissionEventCallback(DjiTest_WaypointV2EventCallback);
// if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("Register waypoint V2 event failed, error code: 0x%08X", returnCode);
// }
////////////////////////////////////////////////////waypoint_cb
// DjiTest_WidgetInteractionStartService();
//cout << "Hello CMake." << endl;
//return 0;
}