数据解析编写完成
This commit is contained in:
@@ -0,0 +1,83 @@
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#include "ECU.h"
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#include "ui_ECU.h"
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ECU::ECU(QWidget *parent) :
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ToolsWidget(parent),
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ui(new Ui::ECU)
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{
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ui->setupUi(this);
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QFile file(":/qss/ECU.qss");
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file.open(QFile::ReadOnly);
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QTextStream filetext(&file);
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QString stylesheet = filetext.readAll();
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this->setStyleSheet(stylesheet);
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file.close();
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setWindowTitle(tr("ECU"));
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}
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ECU::~ECU()
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{
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delete ui;
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}
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void ECU::recieveData(const int &id, const QByteArray &data)
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{
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Parse *parse = new Parse;
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connect(this,&ECU::parseData,
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parse,&Parse::parseData);
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connect(parse,&Parse::INS_Info,
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this,&ECU::INS_Info);
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connect(parse,&Parse::NAV_Info,
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this,&ECU::NAV_Info);
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connect(parse,&Parse::EADC_Info,
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this,&ECU::EADC_Info);
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connect(parse,&Parse::ECU_Info,
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this,&ECU::ECU_Info);
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connect(parse,&Parse::SSPC_Info,
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this,&ECU::SSPC_Info);
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QThreadPool::globalInstance()->start(parse);
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emit parseData(id,data);
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}
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void ECU::INS_Info(Parse::_ins info)
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{
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}
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void ECU::NAV_Info(Parse::_nav info)
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{
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}
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void ECU::EADC_Info(Parse::_eadc info)
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{
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}
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void ECU::ECU_Info(Parse::_ecu info)
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{
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}
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void ECU::SSPC_Info(Parse::_sspc info)
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{
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}
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@@ -0,0 +1,42 @@
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#ifndef ECU_H
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#define ECU_H
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#include <QWidget>
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#include "ToolsUI/ToolsWidget.h"
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#include "Parse.h"
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#include "QThreadPool"
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namespace Ui {
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class ECU;
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}
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class ECU : public ToolsWidget
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{
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Q_OBJECT
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public:
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explicit ECU(QWidget *parent = nullptr);
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~ECU();
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public slots:
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void recieveData(const int &id,const QByteArray &data);
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void INS_Info(Parse::_ins info);
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void NAV_Info(Parse::_nav info);
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void EADC_Info(Parse::_eadc info);
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void ECU_Info(Parse::_ecu info);
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void SSPC_Info(Parse::_sspc info);
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signals:
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void parseData(const int &id,const QByteArray &data);
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private:
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Ui::ECU *ui;
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};
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#endif // EVTOL_H
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@@ -0,0 +1,41 @@
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QT += opengl
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QT += network
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QT += sql
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QT += svg
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QT += quickwidgets
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QT += quick
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QT += qml
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RESOURCES += \
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$$PWD/ECU.qrc
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FORMS += \
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$$PWD/ECU.ui
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HEADERS += \
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$$PWD/ECU.h \
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$$PWD/Parse.h
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SOURCES += \
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$$PWD/ECU.cpp \
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$$PWD/Parse.cpp
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@@ -0,0 +1,6 @@
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<RCC>
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<qresource prefix="/qss">
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<file>ECU.qss</file>
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</qresource>
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<qresource prefix="/img"/>
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</RCC>
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@@ -0,0 +1,86 @@
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.QFrame {
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background-color: #FFFFFF;
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}
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.QProgressBar::chunk[state="0"]{
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background-color: #00FF00;
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width: 20px;
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}
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.QProgressBar::chunk[state="1"]{
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background-color: #FF0000;
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width: 20px;
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}
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.QPushButton {
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background-color: #FFFFFF /*palegoldenrod*/;
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border-width: 2px;
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border-color: darkkhaki;
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border-style: solid;
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border-radius: 5;
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padding: 3px;
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font: 20px "Arial";
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}
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.QPushButton:pressed {
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background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
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stop: 0 #dadbde, stop: 1 #f6f7fa);
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}
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.QLabel {
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font: 20px "Arial";
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}
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.QLabel[state="0"] {
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border-image:url(:/img/success_rect.png);
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}
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.QLabel[state="1"] {
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border-image:url(:/img/fail_rect.png);
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}
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.QLabel[state="2"] {
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border-image:url(:/img/warning_rect.png);
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}
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.QLabel[state="3"] {
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border-image:url(:/img/rect_gray.png);
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}
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.QComboBox {
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background-color: #FFFFFF;
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font: 20px "Arial";
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}
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.QCheckBox{
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font: 20px "Arial";
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width: 25px;
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height: 25px;
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}
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.QCheckBox::indicator {
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width: 15px;
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height: 15px;
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}
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.QCheckBox::indicator[state="0"] {
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image:url(:/img/normal.png);
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}
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.QCheckBox::indicator[state="1"] {
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image:url(:/img/fail.png);
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}
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@@ -0,0 +1,48 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<class>ECU</class>
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<widget class="QWidget" name="ECU">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>800</width>
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<height>519</height>
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</rect>
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</property>
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<property name="minimumSize">
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<size>
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<width>0</width>
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<height>0</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>16777215</width>
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<height>16777215</height>
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</size>
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</property>
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<property name="windowTitle">
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<string>Form</string>
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</property>
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<layout class="QGridLayout" name="gridLayout">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<property name="spacing">
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<number>0</number>
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</property>
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</layout>
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</widget>
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<resources/>
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<connections/>
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</ui>
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@@ -0,0 +1,570 @@
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#include "Parse.h"
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Parse::Parse(QObject *parent) : QObject(parent)
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{
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setAutoDelete(true);
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qRegisterMetaType<Parse::_eadc>("Parse::_eadc");
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qRegisterMetaType<Parse::_ecu>("Parse::_ecu");
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qRegisterMetaType<Parse::_sspc>("Parse::_sspc");
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}
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Parse::~Parse()
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{
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}
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void Parse::run()
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{
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QElapsedTimer time;
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time.start();
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qDebug() << "current thread is:" << QThread::currentThread();
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while (raw.size() > 0) {
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switch (index) {
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case 0x00:
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{
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if(raw.size() >= 18)//0~17
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{
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union{uint8_t B[4];uint16_t I[2]; int16_t i[2]; uint32_t H; int32_t h;float F;}src;
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QByteArray data = raw.mid(0,17);
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_ins ins;
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int data_count = 0;
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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ins.roll_rate = src.i[0] * 400.0/32767;//滚转角速度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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ins.yaw_rate = src.i[0] * 400.0/32767;//偏航角速度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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ins.pitch_rate = src.i[0] * 400.0/32767;//俯仰角速度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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ins.yaw = src.i[0] * 3.1415926/32767;//航向角
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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ins.pitch = src.i[0] * 3.1415926/32767;//俯仰角
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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ins.roll = src.i[0] * 3.1415926/32767;//滚转角
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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ins.ax = src.i[0] * 100.0/32767;//机体纵向加速度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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ins.ay = src.i[0] * 100.0/32767;//机体法向加速度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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ins.az = src.i[0] * 100.0/32767;//机体侧向加速度
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emit INS_Info(ins);
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}
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if(raw.size() >= 73)//18~72
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{
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union{uint8_t B[4];uint16_t I[2]; int16_t i[2]; uint32_t H; int32_t h;float F;}src;
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QByteArray data = raw.mid(0,17);
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_nav nav;
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int data_count = 0;
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union//低在前，高位在后
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{
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quint8 byte;
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struct
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{
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quint8 Satellite:2;
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quint8 heading:2;
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quint8 ins:2;
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quint8 nav:2;
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};
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}state1;
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state1.byte = data[data_count++];
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nav.state1.navStatus = state1.nav;//D7D6 导航状态
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nav.state1.insStatus = state1.ins;//D5D4 组合状态
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nav.state1.headingSrc = state1.heading;//D3D2 航向信号源
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nav.state1.Satellite = state1.Satellite;//D1D0 卫星信号源
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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src.B[2] = data[data_count++];
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src.B[3] = data[data_count++];
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nav.longitude = src.h * M_PI / (0x7FFFFFFF - 1);//位置经度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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src.B[2] = data[data_count++];
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src.B[3] = data[data_count++];
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nav.latitude = src.h * M_PI / (0x7FFFFFFF - 1);//位置纬度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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nav.altitude = src.i[0] * 12000.0 / (0x7FFF - 1);//组合高度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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nav.worktime = src.I[0];//本状态工作时间
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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nav.Ve = src.i[0] * 400.0 / (0x7FFF - 1);//东向速度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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nav.Vn = src.i[0] * 400.0 / (0x7FFF - 1);//北向速度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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nav.Vu = src.i[0] * 400.0 / (0x7FFF - 1);//天向速度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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nav.Gs = src.i[0] * 400.0 / (0x7FFF - 1);//地速
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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nav.heading = src.i[0] * M_PI / (0x7FFF - 1);//航迹角
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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nav.Ae = src.i[0] * 100.0 / (0x7FFF - 1);//东向加速度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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nav.An = src.i[0] * 100.0 / (0x7FFF - 1);//北向加速度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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nav.Au = src.i[0] * 100.0 / (0x7FFF - 1);//天向加速度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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src.B[2] = data[data_count++];
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src.B[3] = data[data_count++];
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nav.satellite_longitude = src.h * M_PI / (0x7FFFFFFF - 1);//卫星经度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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src.B[2] = data[data_count++];
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src.B[3] = data[data_count++];
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nav.satellite_latitude = src.h * M_PI / (0x7FFFFFFF - 1);//卫星纬度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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nav.satellite_altitude = src.i[0] * 12000.0 / (0x7FFF - 1);//卫星高度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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nav.satellite_Ve = src.i[0] * 400.0 / (0x7FFF - 1);//卫星东向速度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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nav.satellite_Vn = src.i[0] * 400.0 / (0x7FFF - 1);//卫星北向速度
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src.B[0] = data[data_count++];
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src.B[1] = data[data_count++];
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nav.satellite_Vu = src.i[0] * 400.0 / (0x7FFF - 1);//卫星天向速度
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union//低在前，高位在后
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{
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quint8 byte;
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struct
|
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{
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bool communication:1;//通讯状态
|
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bool heading: 1;//双天线航向有效位
|
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bool satellite: 1;//内置卫星数据有效位
|
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bool RTK: 1;//内置差分数据有效位
|
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bool exSatellite: 1;//外置卫星数据有效位
|
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bool exRTK: 1;//外置差分数据有效位
|
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bool altitude: 1;//组合高度有效位
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bool ins: 1;//惯导数据有效位
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};
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}state2;
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state2.byte = data[data_count++];
|
||||
nav.state2.ins = (state2.ins)? (tr("有效")):(tr("无效"));//惯导数据有效位
|
||||
nav.state2.altitude = (state2.altitude)? (tr("有效")):(tr("无效"));//组合高度有效位
|
||||
nav.state2.exRTK = (state2.exRTK)? (tr("有效")):(tr("无效"));//外置差分数据有效位
|
||||
nav.state2.exSatellite = (state2.exSatellite)? (tr("有效")):(tr("无效"));//外置卫星数据有效位
|
||||
nav.state2.RTK = (state2.RTK)? (tr("有效")):(tr("无效"));//内置差分数据有效位
|
||||
nav.state2.satellite = (state2.satellite)? (tr("有效")):(tr("无效"));//内置卫星数据有效位
|
||||
nav.state2.heading = (state2.heading)? (tr("有效")):(tr("无效"));//双天线航向有效位
|
||||
nav.state2.communication = (state2.communication)?(tr("有效")):(tr("无效"));//通讯状态
|
||||
|
||||
|
||||
union//低在前，高位在后
|
||||
{
|
||||
quint8 byte;
|
||||
struct
|
||||
{
|
||||
bool back0: 1;//
|
||||
bool back1: 1;//
|
||||
quint8 altitudeInfo: 2;//D3D2 高度阻尼信号
|
||||
bool back4: 1;//
|
||||
bool install: 1;//外部状态偏角有效位
|
||||
bool das: 1;//大气数据有效位
|
||||
bool back7: 1;//
|
||||
};
|
||||
}state3;
|
||||
|
||||
state3.byte = data[data_count++];
|
||||
nav.state3.back7 = (state3.back7)? (tr("有效")):(tr("无效"));//
|
||||
nav.state3.das = (state3.das)? (tr("有效")):(tr("无效"));//大气数据有效位
|
||||
nav.state3.install = (state3.install)? (tr("有效")):(tr("无效"));//外部状态偏角有效位
|
||||
nav.state3.back4 = (state3.back4)? (tr("有效")):(tr("无效"));//
|
||||
|
||||
switch (state3.altitudeInfo) {
|
||||
case 0x00:
|
||||
nav.state3.altitudeInfo = tr("无");
|
||||
break;
|
||||
case 0x01:
|
||||
nav.state3.altitudeInfo = tr("卫星");
|
||||
break;
|
||||
case 0x02:
|
||||
nav.state3.altitudeInfo = tr("气压");
|
||||
break;
|
||||
}
|
||||
|
||||
nav.state3.back1 = (state3.back1)? (tr("有效")):(tr("无效"));//
|
||||
nav.state3.back0 = (state3.back0)? (tr("有效")):(tr("无效"));//
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
nav.year = src.I[0];//UTC年
|
||||
|
||||
nav.month = data[data_count++];;//UTC月
|
||||
nav.day = data[data_count++];;//UTC日
|
||||
nav.hour = data[data_count++];;//UTC时
|
||||
nav.minute = data[data_count++];;//UTC分
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
nav.second = src.I[0] * 60.0 / (0xFFFF - 1);//UTC秒
|
||||
|
||||
emit NAV_Info(nav);
|
||||
}
|
||||
|
||||
}break;
|
||||
case 0x01:
|
||||
{
|
||||
if(raw.size() >= 74)//0~73
|
||||
{
|
||||
union{uint8_t B[4];uint16_t I[2]; int16_t i[2]; uint32_t H; int32_t h;float F;}src;
|
||||
|
||||
QByteArray data = raw.mid(0,74);
|
||||
_eadc eadc;
|
||||
int data_count = 0;
|
||||
|
||||
|
||||
//加温模式
|
||||
switch (data[data_count++]) {
|
||||
case 0x33:
|
||||
eadc.heatmode = tr("强制加温");
|
||||
break;
|
||||
case 0x66:
|
||||
eadc.heatmode = tr("强制不加温");
|
||||
break;
|
||||
case 0x99:
|
||||
eadc.heatmode = tr("自动加温控制");
|
||||
break;
|
||||
}
|
||||
|
||||
//加温状态
|
||||
switch (data[data_count++]) {
|
||||
case 0x55:
|
||||
eadc.heatstatus = tr("正在加温");
|
||||
break;
|
||||
case 0xAA:
|
||||
eadc.heatstatus = tr("停止加温");
|
||||
break;
|
||||
}
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
src.B[2] = data[data_count++];
|
||||
src.B[3] = data[data_count++];
|
||||
eadc.psi = src.H * 1.0/1024;//指示静压
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
src.B[2] = data[data_count++];
|
||||
src.B[3] = data[data_count++];
|
||||
eadc.ps = src.H * 1.0/1024;//静压
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
src.B[2] = data[data_count++];
|
||||
src.B[3] = data[data_count++];
|
||||
eadc.qci = src.h * 1.0/1024;//指示动压
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
src.B[2] = data[data_count++];
|
||||
src.B[3] = data[data_count++];
|
||||
eadc.qc = src.h * 1.0/1024;//真实动压
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
src.B[2] = data[data_count++];
|
||||
src.B[3] = data[data_count++];
|
||||
eadc.hp = src.h * 1.0/16;//气压高度
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.hpr = src.i[0] * 1.0/16;//升降速度
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.ts = src.i[0] * 1.0/16;//静温
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.tt = src.i[0] * 1.0/16;//总温
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.mi = src.I[0] * 1.0/1024;//马赫数
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.vi = src.I[0] * 1.0/16;//指示空速
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.vt = src.I[0] * 1.0/16;//真空速
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.adr = src.I[0] * 1.0/256;//大气密度比
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.aoai1 = src.i[0] * 1.0/128;//局部攻角1
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.aoai2 = src.i[0] * 1.0/128;//局部攻角2
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.aoat1 = src.i[0] * 1.0/128;//真攻角1
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.aoat2 = src.i[0] * 1.0/128;//真攻角2
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.aosi1 = src.i[0] * 1.0/128;//局部侧滑角1
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.aosi2 = src.i[0] * 1.0/128;//局部侧滑角2
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.aost1 = src.i[0] * 1.0/128;//真侧滑角1
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.aost2 = src.i[0] * 1.0/128;//真侧滑角2
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
quint16 faultword = src.I[0];//故障字
|
||||
|
||||
eadc.faultword.ps = (faultword & 0x0001)?(true):(false);//静压传感器故障
|
||||
eadc.faultword.qc = (faultword & 0x0002)?(true):(false);//动压传感器故障
|
||||
eadc.faultword.ts = (faultword & 0x0004)?(true):(false);//静温传感器故障
|
||||
eadc.faultword.aoa1 = (faultword & 0x0008)?(true):(false);//攻角1故障
|
||||
eadc.faultword.aoa2 = (faultword & 0x0010)?(true):(false);//攻角2故障
|
||||
eadc.faultword.aos1 = (faultword & 0x0020)?(true):(false);//侧滑角1故障
|
||||
eadc.faultword.aos2 = (faultword & 0x0040)?(true):(false);//侧滑角2故障
|
||||
eadc.faultword.heat = (faultword & 0x0080)?(true):(false);//加热故障
|
||||
eadc.faultword.ex_storage = (faultword & 0x0100)?(true):(false);//外部存储故障
|
||||
eadc.faultword.aoa_diff = (faultword & 0x0200)?(true):(false);//双余度攻角不跟随故障
|
||||
eadc.faultword.aos_diff = (faultword & 0x0400)?(true):(false);//双余度侧滑角不跟随故障
|
||||
eadc.faultword.qc_zero = (faultword & 0x0800)?(true):(false);//动压零位过度修正
|
||||
eadc.faultword.back1 = (faultword & 0x1000)?(true):(false);
|
||||
eadc.faultword.back2 = (faultword & 0x2000)?(true):(false);
|
||||
eadc.faultword.overtemp = (faultword & 0x4000)?(true):(false);//管头过热故障
|
||||
eadc.faultword.system = (faultword & 0x8000)?(true):(false);//大气数据计算机故障
|
||||
|
||||
|
||||
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
src.B[2] = data[data_count++];
|
||||
src.B[3] = data[data_count++];
|
||||
quint32 datavalid = src.H;//数据有效性
|
||||
|
||||
eadc.datavalid.psi = (datavalid & 0x00000001)?(true):(false);//指示静压
|
||||
eadc.datavalid.ps = (datavalid & 0x00000002)?(true):(false);//真实静压
|
||||
eadc.datavalid.qci = (datavalid & 0x00000004)?(true):(false);//指示动压
|
||||
eadc.datavalid.qc = (datavalid & 0x00000008)?(true):(false);//真实动压
|
||||
eadc.datavalid.hp = (datavalid & 0x00000010)?(true):(false);//气压高度
|
||||
eadc.datavalid.hpr = (datavalid & 0x00000020)?(true):(false);//升降速度
|
||||
eadc.datavalid.ts = (datavalid & 0x00000040)?(true):(false);//静温
|
||||
eadc.datavalid.tt = (datavalid & 0x00000080)?(true):(false);//总温
|
||||
eadc.datavalid.mi = (datavalid & 0x00000100)?(true):(false);//马赫数
|
||||
eadc.datavalid.vi = (datavalid & 0x00000200)?(true):(false);//指示空速
|
||||
eadc.datavalid.vt = (datavalid & 0x00000400)?(true):(false);//真空速
|
||||
eadc.datavalid.adr = (datavalid & 0x00000800)?(true):(false);//大气密度比
|
||||
eadc.datavalid.aoai1 = (datavalid & 0x00001000)?(true):(false);//局部攻角1
|
||||
eadc.datavalid.aoai2 = (datavalid & 0x00002000)?(true):(false);//局部攻角2
|
||||
eadc.datavalid.aoat1 = (datavalid & 0x00004000)?(true):(false);//真攻角1
|
||||
eadc.datavalid.aoat2 = (datavalid & 0x00008000)?(true):(false);//真攻角2
|
||||
eadc.datavalid.aosi1 = (datavalid & 0x00010000)?(true):(false);//局部侧滑角1
|
||||
eadc.datavalid.aosi2 = (datavalid & 0x00020000)?(true):(false);//局部侧滑角2
|
||||
eadc.datavalid.aost1 = (datavalid & 0x00040000)?(true):(false);//真侧滑角1
|
||||
eadc.datavalid.aost2 = (datavalid & 0x00080000)?(true):(false);//真侧滑角2
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.coffpress_k0 = src.i[0] * 1.0/256;//压力校准系数K0
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.coffpress_k1 = src.i[0] * 1.0/256;//压力校准系数K1
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.coffpress_k2 = src.i[0] * 1.0/256;//压力校准系数K2
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.coffpress_k3 = src.i[0] * 1.0/256;//压力校准系数K3
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.coffangle_k0 = src.i[0] * 1.0/1024;//攻角侧滑角校准系数K0
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.coffangle_k1 = src.i[0] * 1.0/1024;//攻角侧滑角校准系数K1
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.coffangle_k2 = src.i[0] * 1.0/1024;//攻角侧滑角校准系数K2
|
||||
|
||||
src.B[0] = data[data_count++];
|
||||
src.B[1] = data[data_count++];
|
||||
eadc.coffangle_k3 = src.i[0] * 1.0/1024;//攻角侧滑角校准系数K3
|
||||
|
||||
emit EADC_Info(eadc);
|
||||
|
||||
}
|
||||
|
||||
if(raw.size() >= 79)//74~78
|
||||
{
|
||||
_ecu ecu;
|
||||
QByteArray data = raw.mid(74,5);
|
||||
|
||||
ecu.rpm = data[0] * 3000.0 / 255;
|
||||
ecu.t1 = data[1] * 0.6 / 255;
|
||||
ecu.p2 = (data[2] - 0x84) / 55.0 * (85 + 55) - 55;
|
||||
ecu.servo_current = data[3] * 150.0 / 255;
|
||||
|
||||
switch (data[4]) {
|
||||
case 0x00:
|
||||
ecu.states = tr("转速大于600r/min");
|
||||
break;
|
||||
case 0xA5:
|
||||
ecu.states = tr("收到起动指令并且判断出发动机起动正常");
|
||||
break;
|
||||
case 0xA1:
|
||||
ecu.states = tr("收到起动指令后还未判断出发动机起动是否正常");
|
||||
break;
|
||||
case 0xAF:
|
||||
ecu.states = tr("收到起动指令并且判断出发动机起动异常");
|
||||
break;
|
||||
case 0xC5:
|
||||
ecu.states = tr("收到转级指令并且判断出发动机转级正常");
|
||||
break;
|
||||
case 0xC1:
|
||||
ecu.states = tr("收到转级指令后还未判断出发动机转级是否正常");
|
||||
break;
|
||||
case 0xCF:
|
||||
ecu.states = tr("收到转级指令并且发动机转级异常");
|
||||
break;
|
||||
case 0xFF:
|
||||
ecu.states = tr("收到飞控阶段指令");
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
if(ecu.p2 < 0.15)
|
||||
{
|
||||
ecu.p2_high = tr("滑油压力过低");
|
||||
}
|
||||
else if(ecu.p2 > 0.28)
|
||||
{
|
||||
ecu.p2_high = tr("滑油压力过高");
|
||||
}
|
||||
else{
|
||||
ecu.p2_high = tr("滑油压力正常");
|
||||
}
|
||||
|
||||
emit ECU_Info(ecu);
|
||||
}
|
||||
|
||||
if(raw.size() >= 97)//79~98
|
||||
{
|
||||
_sspc sspc;
|
||||
QByteArray data = raw.mid(79,18);
|
||||
|
||||
|
||||
sspc.bus_voltage = data[0];
|
||||
sspc.battery_voltage = 10 + data[1] * 0.1;
|
||||
sspc.battery_current = data[2];
|
||||
sspc.main_voltage = 10 + data[3] * 0.1;
|
||||
sspc.main_current = data[4];
|
||||
sspc.current_ch1 = data[5] * 0.2;
|
||||
sspc.current_ch2 = data[6] * 0.2;
|
||||
sspc.current_ch3 = data[7] * 0.1;
|
||||
sspc.current_ch4 = data[8] * 0.1;
|
||||
sspc.current_ch5 = data[9] * 0.1;
|
||||
sspc.current_ch6 = data[10] * 0.1;
|
||||
sspc.current_ch7 = data[11] * 0.1;
|
||||
sspc.current_ch8 = data[12] * 0.1;
|
||||
sspc.current_ch9 = data[13] * 0.1;
|
||||
sspc.current_ch10 = data[14] * 0.1;
|
||||
sspc.current_ch11 = data[15] * 0.1;
|
||||
sspc.current_ch12 = data[16] * 0.1;
|
||||
sspc.current_ch13 = data[17] * 0.1;
|
||||
|
||||
emit SSPC_Info(sspc);
|
||||
}
|
||||
}break;
|
||||
}
|
||||
|
||||
break;//退出，结束线程
|
||||
}
|
||||
qDebug() << "thread finished, time: " << time.elapsed() << "ms";
|
||||
}
|
||||
|
||||
void Parse::parseData(const int &id,const QByteArray &data)
|
||||
{
|
||||
index = id;
|
||||
raw.push_back(data);
|
||||
}
|
||||
@@ -0,0 +1,228 @@
|
||||
#ifndef PARSE_H
|
||||
#define PARSE_H
|
||||
|
||||
#include <QObject>
|
||||
#include "QRunnable"
|
||||
#include "QDebug"
|
||||
#include "QThread"
|
||||
#include "QElapsedTimer"
|
||||
#include "QtMath"
|
||||
|
||||
|
||||
class Parse : public QObject, public QRunnable
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
|
||||
typedef struct
|
||||
{
|
||||
qreal roll_rate;//滚转角速度
|
||||
qreal yaw_rate;//偏航角速度
|
||||
qreal pitch_rate;//俯仰角速度
|
||||
qreal yaw;//航向角
|
||||
qreal pitch;//俯仰角
|
||||
qreal roll;//滚转角
|
||||
qreal ax;//机体纵向加速度
|
||||
qreal ay;//机体法向加速度
|
||||
qreal az;//机体侧向加速度
|
||||
}_ins;//1~18
|
||||
|
||||
typedef struct
|
||||
{
|
||||
struct{
|
||||
QString navStatus;//D7D6 导航状态
|
||||
QString insStatus;//D5D4 组合状态
|
||||
QString headingSrc;//D3D2 航向信号源
|
||||
QString Satellite;//D1D0 卫星信号源
|
||||
}state1;//工作状态字
|
||||
qreal longitude;//位置经度
|
||||
qreal latitude;//位置纬度
|
||||
qreal altitude;//组合高度
|
||||
quint16 worktime;//本状态工作时间
|
||||
qreal Ve;//东向速度
|
||||
qreal Vn;//北向速度
|
||||
qreal Vu;//天向速度
|
||||
qreal Gs;//地速
|
||||
qreal heading;//航迹角
|
||||
qreal Ae;//东向加速度
|
||||
qreal An;//北向加速度
|
||||
qreal Au;//天向加速度
|
||||
qreal satellite_longitude;//卫星经度
|
||||
qreal satellite_latitude;//卫星纬度
|
||||
qreal satellite_altitude;//卫星高度
|
||||
qreal satellite_Ve;//卫星东向速度
|
||||
qreal satellite_Vn;//卫星北向速度
|
||||
qreal satellite_Vu;//卫星天向速度
|
||||
struct
|
||||
{
|
||||
QString ins;//惯导数据有效位
|
||||
QString altitude;//组合高度有效位
|
||||
QString exRTK;//外置差分数据有效位
|
||||
QString exSatellite;//外置卫星数据有效位
|
||||
QString RTK;//内置差分数据有效位
|
||||
QString satellite;//内置卫星数据有效位
|
||||
QString heading;//双天线航向有效位
|
||||
QString communication;//通讯状态
|
||||
}state2;
|
||||
|
||||
struct
|
||||
{
|
||||
QString back7;//
|
||||
QString das;//大气数据有效位
|
||||
QString install;//外部状态偏角有效位
|
||||
QString back4;//
|
||||
QString altitudeInfo;//D3D2 高度阻尼信号
|
||||
QString back1;//
|
||||
QString back0;//
|
||||
}state3;
|
||||
quint16 year;//UTC年
|
||||
quint8 month;//UTC月
|
||||
quint8 day;//UTC日
|
||||
quint8 hour;//UTC时
|
||||
quint8 minute;//UTC分
|
||||
qreal second;//UTC秒
|
||||
}_nav;//19~73
|
||||
|
||||
|
||||
typedef struct
|
||||
{
|
||||
QString heatmode;//加温模式
|
||||
QString heatstatus;//加温状态
|
||||
qreal psi;//指示静压
|
||||
qreal ps;//真实静压
|
||||
qreal qci;//指示动压
|
||||
qreal qc;//真实动压
|
||||
qreal hp;//气压高度
|
||||
qreal hpr;//升降速度
|
||||
qreal ts;//静温
|
||||
qreal tt;//总温
|
||||
qreal mi;//马赫数
|
||||
qreal vi;//指示空速
|
||||
qreal vt;//真空速
|
||||
qreal adr;//大气密度比
|
||||
qreal aoai1;//局部攻角1
|
||||
qreal aoai2;//局部攻角2
|
||||
qreal aoat1;//真攻角1
|
||||
qreal aoat2;//真攻角2
|
||||
qreal aosi1;//局部侧滑角1
|
||||
qreal aosi2;//局部侧滑角2
|
||||
qreal aost1;//真侧滑角1
|
||||
qreal aost2;//真侧滑角2
|
||||
struct
|
||||
{
|
||||
bool ps;//静压传感器故障
|
||||
bool qc;//动压传感器故障
|
||||
bool ts;//静温传感器故障
|
||||
bool aoa1;//攻角1故障
|
||||
bool aoa2;//攻角2故障
|
||||
bool aos1;//侧滑角1故障
|
||||
bool aos2;//侧滑角2故障
|
||||
bool heat;//加热故障
|
||||
bool ex_storage;//外部存储故障
|
||||
bool aoa_diff;//双余度攻角不跟随故障
|
||||
bool aos_diff;//双余度侧滑角不跟随故障
|
||||
bool qc_zero;//动压零位过度修正
|
||||
bool back1;
|
||||
bool back2;
|
||||
bool overtemp;//管头过热故障
|
||||
bool system;//大气数据计算机故障
|
||||
}faultword;//故障字
|
||||
struct
|
||||
{
|
||||
bool psi;//指示静压
|
||||
bool ps;//真实静压
|
||||
bool qci;//指示动压
|
||||
bool qc;//真实动压
|
||||
bool hp;//气压高度
|
||||
bool hpr;//升降速度
|
||||
bool ts;//静温
|
||||
bool tt;//总温
|
||||
bool mi;//马赫数
|
||||
bool vi;//指示空速
|
||||
bool vt;//真空速
|
||||
bool adr;//大气密度比
|
||||
bool aoai1;//局部攻角1
|
||||
bool aoai2;//局部攻角2
|
||||
bool aoat1;//真攻角1
|
||||
bool aoat2;//真攻角2
|
||||
bool aosi1;//局部侧滑角1
|
||||
bool aosi2;//局部侧滑角2
|
||||
bool aost1;//真侧滑角1
|
||||
bool aost2;//真侧滑角2
|
||||
}datavalid;//数据有效性
|
||||
qreal coffpress_k0;//压力校准系数K0
|
||||
qreal coffpress_k1;//压力校准系数K1
|
||||
qreal coffpress_k2;//压力校准系数K2
|
||||
qreal coffpress_k3;//压力校准系数K3
|
||||
qreal coffangle_k0;//攻角侧滑角校准系数K0
|
||||
qreal coffangle_k1;//攻角侧滑角校准系数K1
|
||||
qreal coffangle_k2;//攻角侧滑角校准系数K2
|
||||
qreal coffangle_k3;//攻角侧滑角校准系数K3
|
||||
|
||||
}_eadc;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
qreal rpm;//rpm 0~30000
|
||||
qreal t1;//℃ -60~+90
|
||||
qreal t5;//℃ 报警大于900
|
||||
qreal p2;//MPa 报警大于 0.28 或小于 0.15
|
||||
qreal servo_current;//mA 0~150
|
||||
QString oil_low;//小于 0.15
|
||||
QString p2_high;//大于900
|
||||
QString states;
|
||||
}_ecu;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
qreal bus_voltage;//汇流条电压
|
||||
qreal battery_voltage;//蓄电池电压
|
||||
qreal battery_current;//蓄电池电流
|
||||
qreal main_voltage;//主电源电压
|
||||
qreal main_current;//主电源电流
|
||||
qreal current_ch1;//燃油泵及流量计 (32A)
|
||||
qreal current_ch2;//副翼及前起舵机(22A)
|
||||
qreal current_ch3;//56V电池加温1 (10A)
|
||||
qreal current_ch4;//28V电池加温(10A)
|
||||
qreal current_ch5;//智能计算机(2A)
|
||||
qreal current_ch6;//发动机控制器(2A)
|
||||
qreal current_ch7;//空速管加温 (2A)
|
||||
qreal current_ch8;//温度变换器(1A)
|
||||
qreal current_ch9;//燃油切断阀(1A)
|
||||
qreal current_ch10;//56V电池加温2 (10A)
|
||||
qreal current_ch11;//垂直舵机(6A)
|
||||
qreal current_ch12;//56V并网(5A)
|
||||
qreal current_ch13;//滑油压力变换器(1A)
|
||||
}_sspc;
|
||||
|
||||
|
||||
|
||||
explicit Parse(QObject *parent = nullptr);
|
||||
~Parse();
|
||||
|
||||
|
||||
void run() override;
|
||||
|
||||
public slots:
|
||||
|
||||
void parseData(const int &id, const QByteArray &data);
|
||||
|
||||
|
||||
signals:
|
||||
|
||||
void INS_Info(Parse::_ins info);
|
||||
void NAV_Info(Parse::_nav info);
|
||||
|
||||
void EADC_Info(Parse::_eadc info);
|
||||
void ECU_Info(Parse::_ecu info);
|
||||
void SSPC_Info(Parse::_sspc info);
|
||||
|
||||
private:
|
||||
|
||||
QByteArray raw;
|
||||
int index;
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif // PARSE_H
|
||||
@@ -0,0 +1,27 @@
|
||||
#include "Template.h"
|
||||
#include "ui_Template.h"
|
||||
|
||||
Template::Template(QWidget *parent) :
|
||||
ToolsWidget(parent),
|
||||
ui(new Ui::Template)
|
||||
{
|
||||
ui->setupUi(this);
|
||||
|
||||
QFile file(":/qss/Template.qss");
|
||||
file.open(QFile::ReadOnly);
|
||||
QTextStream filetext(&file);
|
||||
QString stylesheet = filetext.readAll();
|
||||
this->setStyleSheet(stylesheet);
|
||||
file.close();
|
||||
|
||||
setWindowTitle(tr("Template"));
|
||||
}
|
||||
|
||||
Template::~Template()
|
||||
{
|
||||
delete ui;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,26 @@
|
||||
#ifndef TEMPLATE_H
|
||||
#define TEMPLATE_H
|
||||
|
||||
#include <QWidget>
|
||||
#include "ToolsUI/ToolsWidget.h"
|
||||
|
||||
namespace Ui {
|
||||
class Template;
|
||||
}
|
||||
|
||||
class Template : public ToolsWidget
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit Template(QWidget *parent = nullptr);
|
||||
~Template();
|
||||
|
||||
public slots:
|
||||
|
||||
|
||||
private:
|
||||
Ui::Template *ui;
|
||||
};
|
||||
|
||||
#endif // TEMPLATE_H
|
||||
@@ -0,0 +1,41 @@
|
||||
|
||||
QT += opengl
|
||||
QT += network
|
||||
QT += sql
|
||||
QT += svg
|
||||
QT += quickwidgets
|
||||
QT += quick
|
||||
QT += qml
|
||||
|
||||
RESOURCES += \
|
||||
$$PWD/Template.qrc
|
||||
|
||||
FORMS += \
|
||||
$$PWD/Template.ui
|
||||
|
||||
|
||||
HEADERS += \
|
||||
$$PWD/Template.h
|
||||
|
||||
SOURCES += \
|
||||
$$PWD/Template.cpp
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,6 @@
|
||||
<RCC>
|
||||
<qresource prefix="/qss">
|
||||
<file>Template.qss</file>
|
||||
</qresource>
|
||||
<qresource prefix="/img"/>
|
||||
</RCC>
|
||||
@@ -0,0 +1,86 @@
|
||||
|
||||
|
||||
.QFrame {
|
||||
background-color: #FFFFFF;
|
||||
}
|
||||
|
||||
|
||||
|
||||
.QProgressBar::chunk[state="0"]{
|
||||
background-color: #00FF00;
|
||||
width: 20px;
|
||||
}
|
||||
|
||||
.QProgressBar::chunk[state="1"]{
|
||||
background-color: #FF0000;
|
||||
width: 20px;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
.QPushButton {
|
||||
background-color: #FFFFFF /*palegoldenrod*/;
|
||||
border-width: 2px;
|
||||
border-color: darkkhaki;
|
||||
border-style: solid;
|
||||
border-radius: 5;
|
||||
padding: 3px;
|
||||
font: 20px "Arial";
|
||||
}
|
||||
|
||||
.QPushButton:pressed {
|
||||
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
|
||||
stop: 0 #dadbde, stop: 1 #f6f7fa);
|
||||
}
|
||||
|
||||
.QLabel {
|
||||
font: 20px "Arial";
|
||||
}
|
||||
|
||||
.QLabel[state="0"] {
|
||||
border-image:url(:/img/success_rect.png);
|
||||
}
|
||||
|
||||
.QLabel[state="1"] {
|
||||
border-image:url(:/img/fail_rect.png);
|
||||
}
|
||||
|
||||
.QLabel[state="2"] {
|
||||
border-image:url(:/img/warning_rect.png);
|
||||
}
|
||||
|
||||
.QLabel[state="3"] {
|
||||
border-image:url(:/img/rect_gray.png);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
.QComboBox {
|
||||
background-color: #FFFFFF;
|
||||
font: 20px "Arial";
|
||||
}
|
||||
|
||||
.QCheckBox{
|
||||
font: 20px "Arial";
|
||||
width: 25px;
|
||||
height: 25px;
|
||||
}
|
||||
|
||||
.QCheckBox::indicator {
|
||||
width: 15px;
|
||||
height: 15px;
|
||||
}
|
||||
|
||||
.QCheckBox::indicator[state="0"] {
|
||||
image:url(:/img/normal.png);
|
||||
}
|
||||
|
||||
.QCheckBox::indicator[state="1"] {
|
||||
image:url(:/img/fail.png);
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,48 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<ui version="4.0">
|
||||
<class>Template</class>
|
||||
<widget class="QWidget" name="Template">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>800</width>
|
||||
<height>519</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>Form</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</layout>
|
||||
</widget>
|
||||
<resources/>
|
||||
<connections/>
|
||||
</ui>
|
||||
+21
-10
@@ -37,16 +37,23 @@ ToolsUI::ToolsUI(QWidget *parent) :
|
||||
senser = new Senser();
|
||||
remotecontrol = new RemoteControl();
|
||||
|
||||
ecu = new ECU();
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
install(index0 ,tr("Inspector"));
|
||||
install(index1 ,tr("Log"));
|
||||
install(index2 ,tr("Replay"));
|
||||
install(index3 ,tr("Terminal"));
|
||||
install(index4 ,tr("Servos"));
|
||||
install(command ,tr("CommandBox"));
|
||||
install(senser ,tr("Senser"));
|
||||
install(remotecontrol,tr("RC"));
|
||||
install(ecu ,tr("ECU"));
|
||||
|
||||
|
||||
install(index0, 0,tr("Inspector"));
|
||||
install(index1, 1,tr("Log"));
|
||||
install(index2, 2,tr("Replay"));
|
||||
install(index3, 3,tr("Terminal"));
|
||||
install(index4, 4,tr("Servos"));
|
||||
install(command, 7,tr("CommandBox"));
|
||||
install(senser, 9,tr("Senser"));
|
||||
install(remotecontrol,9,tr("RC"));
|
||||
|
||||
|
||||
|
||||
@@ -104,7 +111,7 @@ void ToolsUI::setPushButtonState(QWidget *w,state s)
|
||||
}
|
||||
|
||||
|
||||
void ToolsUI::install(ToolsWidget *widget,int key, QString name)
|
||||
void ToolsUI::install(ToolsWidget *widget, QString name)
|
||||
{
|
||||
if(!ToolsList.values().contains(widget))
|
||||
{
|
||||
@@ -120,13 +127,17 @@ void ToolsUI::install(ToolsWidget *widget,int key, QString name)
|
||||
connect(btn,&QPushButton::clicked,
|
||||
this,&ToolsUI::btnClicked);
|
||||
|
||||
ui->gridLayout_Indexs->addWidget(btn,ToolsList.size(),1);
|
||||
ui->gridLayout_Indexs->addWidget(btn,ToolsList.size(),1);
|
||||
|
||||
widget->setParent(ui->frame);
|
||||
widget->setWindowTitle(name);
|
||||
widget->setIcon(widget->Icon());
|
||||
widget->hide();
|
||||
ToolsList.insert(ToolsList.size(),widget);
|
||||
|
||||
//接收到信号，每个界面自己解析，获取自己想要的信息
|
||||
connect(this,&ToolsUI::recieveData,
|
||||
widget,&ToolsWidget::recieveData);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
@@ -19,6 +19,7 @@
|
||||
#include "ToolsWidget.h"
|
||||
#include "evtol/evtol.h"
|
||||
#include "RemoteControl/remotecontrol.h"
|
||||
#include "ECU/ECU.h"
|
||||
|
||||
namespace Ui {
|
||||
class ToolsUI;
|
||||
@@ -54,10 +55,13 @@ public:
|
||||
|
||||
RemoteControl *remotecontrol = nullptr;
|
||||
|
||||
ECU *ecu = nullptr;
|
||||
|
||||
|
||||
|
||||
private slots:
|
||||
|
||||
void install(ToolsWidget *widget, int key, QString name);
|
||||
void install(ToolsWidget *widget, QString name);
|
||||
|
||||
void setPushButtonState(QWidget *w,state s);
|
||||
void onTabIndexChanged(const int &index);
|
||||
@@ -70,6 +74,8 @@ private slots:
|
||||
signals:
|
||||
void IndexChanged(const int &index);
|
||||
|
||||
void recieveData(const int &id,const QByteArray &data);
|
||||
|
||||
|
||||
private:
|
||||
Ui::ToolsUI *ui;
|
||||
|
||||
@@ -19,6 +19,8 @@ include (./Diagram/Diagram.pri)
|
||||
include (./Senser/Senser.pri)
|
||||
include (./evtol/evtol.pri)
|
||||
include (./RemoteControl/RemoteControl.pri)
|
||||
include (./ECU/ECU.pri)
|
||||
include(./Template/Template.pri )
|
||||
|
||||
|
||||
INCLUDEPATH += $$PWD/tools_Index0 \
|
||||
|
||||
@@ -74,6 +74,10 @@ void ToolsWidget::closeEvent(QCloseEvent *event)
|
||||
event->ignore();
|
||||
}
|
||||
|
||||
void ToolsWidget::recieveData(int const &id,const QByteArray &data)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -42,6 +42,9 @@ signals:
|
||||
|
||||
|
||||
public slots:
|
||||
|
||||
virtual void recieveData(const int &id, const QByteArray &data);
|
||||
|
||||
virtual void setFloat(void);
|
||||
virtual void setColor(QWidget *w,state s);
|
||||
virtual void setValue(QLabel *w, QString s);
|
||||
|
||||
+1
-1
@@ -71,7 +71,7 @@ QSize GetDesktopSize() {
|
||||
}
|
||||
|
||||
//return QSize(screen_width, screen_height);//最大1366*768
|
||||
return QSize(1920, 1080);//最大1366*768
|
||||
return QSize(1080, 720);//最大1366*768
|
||||
}
|
||||
|
||||
void CheckDir(const QString &path) {
|
||||
|
||||
+4
-1
@@ -367,6 +367,9 @@ MainWindow::MainWindow(QWidget *parent)
|
||||
this,&MainWindow::setServoOffset);
|
||||
|
||||
|
||||
//tools -------- dlink
|
||||
connect(dlink->mavlinknode,SIGNAL(recieveData(int,QByteArray)),
|
||||
toolsui,SIGNAL(recieveData(int,QByteArray)));
|
||||
|
||||
|
||||
//command ----- dlink
|
||||
@@ -1445,7 +1448,7 @@ void MainWindow::updateVehicle(MavLinkNode::_vehicle vehicle)//事件驱动式
|
||||
|
||||
menuBarUI->setTargetAlt(vehicle.sys_status.load);
|
||||
|
||||
qDebug() << "time" << time;
|
||||
//qDebug() << "time" << time;
|
||||
|
||||
uint8_t hour = time / 3600;//得出小时
|
||||
uint8_t min = (time - hour * 3600)/60;//得出分钟
|
||||
|
||||
@@ -984,6 +984,8 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
|
||||
emit signal_servo_output_raw(vehicle.servo_output_raw);
|
||||
|
||||
|
||||
|
||||
|
||||
}break;
|
||||
case MAVLINK_MSG_ID_RC_CHANNELS_RAW: {
|
||||
mavlink_msg_rc_channels_raw_decode(&msg,&vehicle.rc_channels_raw);
|
||||
@@ -1155,6 +1157,19 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
|
||||
|
||||
|
||||
}break;
|
||||
case MAVLINK_MSG_ID_ENCAPSULATED_DATA: {
|
||||
|
||||
mavlink_encapsulated_data_t encapsulated_data;
|
||||
|
||||
mavlink_msg_encapsulated_data_decode(&msg,&encapsulated_data);
|
||||
|
||||
QByteArray data((const char *)encapsulated_data.data);
|
||||
|
||||
emit recieveData(encapsulated_data.seqnr,data);
|
||||
|
||||
|
||||
}break;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -237,6 +237,11 @@ signals:
|
||||
void setPos(int sysid,int compid,double x,double y,double z);
|
||||
void setHeading(int sysid,int compid,double x,double y,double z);
|
||||
|
||||
|
||||
void recieveData(const int &id,const QByteArray &data);
|
||||
|
||||
|
||||
|
||||
public slots:
|
||||
//线程对外接口
|
||||
void CreateCSV(void);
|
||||
|
||||
+1
-1
Submodule VehicleManage updated: c8ba57fcb7...210a807611
@@ -26,7 +26,7 @@ class AltitudeItem : public QObject, public QGraphicsItem {
|
||||
Q_OBJECT Q_INTERFACES(QGraphicsItem)
|
||||
|
||||
public:
|
||||
|
||||
enum { Type = UserType + 5 };
|
||||
|
||||
AltitudeItem(MapGraphicItem *map, QColor background = Qt::green);
|
||||
|
||||
|
||||
@@ -19,7 +19,7 @@ class VirtualMargin : public QObject, public QGraphicsItem {
|
||||
|
||||
Q_OBJECT Q_INTERFACES(QGraphicsItem)
|
||||
public:
|
||||
enum { Type = UserType + 4 };
|
||||
enum { Type = UserType + 11 };
|
||||
VirtualMargin(int index,internals::PointLatLng const & coord, int const & altitude, QBrush color, MapGraphicItem *map);
|
||||
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,QWidget *widget);
|
||||
QRectF boundingRect() const;
|
||||
|
||||
@@ -25,7 +25,7 @@ class VirtualMarginLine : public QObject, public QGraphicsLineItem {
|
||||
|
||||
Q_OBJECT Q_INTERFACES(QGraphicsItem)
|
||||
public:
|
||||
enum { Type = UserType + 8 };
|
||||
enum { Type = UserType + 10 };
|
||||
VirtualMarginLine(VirtualMargin *from, VirtualMargin *to, MapGraphicItem *map, QColor color = Qt::green, bool dashed = false, int width = 2);
|
||||
int type() const;
|
||||
QPainterPath shape() const;
|
||||
|
||||
Reference in New Issue
Block a user