增加变体数据文件

App/ToolsUI/Parse.cpp

@@ -1,4 +1,4 @@
-#include "Parse.h"
+#include "Parse.h"
 
 Parse::Parse(QObject *parent) : QObject(parent)
 {
@@ -920,28 +920,28 @@ void Parse::run()
 
                 union
                 {
-                    char ch1;
-                    char ch2;
+                    uint8_t c[2];
+
                     int t;
                 } test;
 
                 test.t = 0;
-
                 data = raw.mid(247);
-                test.ch1 = data[0];
-                test.ch2 = data[1];
+                test.c[0] = data[0];
+                test.c[1] = data[1];
 
                 var.l_var_current = test.t * 0.1;
 
                 test.t = 0;
-                test.ch1 = data[2];
-                test.ch2 = data[3];
+                test.c[0] = data[2];
+                test.c[1] = data[3];
 
                 var.r_var_current = test.t * 0.1;
 
                 var.l_var_dir = data[4];
                 var.r_var_dir = data[5];
 
+                qDebug() << "variant: " << data;
 
                 saveActuatorDataToFile(group);
                 emit actuator_info_brake(group);
@@ -1878,6 +1878,28 @@ void Parse::parseData(const int id, const QByteArray data)
     */
 }
 
+void Parse::saveVariantToFile(const Variant &var)
+{
+    QFile file(ins_file_name);
+    if(file.open(QIODevice::Append) )
+    {
+        //qDebug() << u8"保存ins数据";
+        QTextStream stream(&file);
+        stream.setCodec("UTF-8");
+
+        stream << QDateTime::currentDateTime().toString("yyyyMMddHHmmss").toUtf8() << ",";
+        stream << var.l_var_current << ",";
+        stream << var.r_var_current << ",";
+        stream << (var.l_var_dir ? "反转" : "正转") << ",";
+        stream << (var.r_var_dir ? "反转" : "正转") << "\n";
+
+        stream.flush();
+
+        file.flush();
+        file.close();
+    }
+}
+
 void Parse::saveInsDataToFile(const _ins &ins)
 {
     QFile file(ins_file_name);

App/ToolsUI/Parse.h

@@ -11,6 +11,7 @@
 #include "QFile"
 #include "QDateTime"
 #include "QDataStream"
+#include <QMetaType>
 
 typedef struct
 {
@@ -20,6 +21,9 @@ typedef struct
     quint8 r_var_dir;   //右变体方向
 } Variant;
 
+Q_DECLARE_METATYPE(Variant);
+
+
 class Parse : public QObject, public QRunnable
 {
     Q_OBJECT
@@ -505,6 +509,7 @@ public:
     QString sspc_file_name;
     QString vel_file_name;
     QString pos_file_name;
+    QString variant_file_name;
 
     explicit Parse(QObject *parent = nullptr);
     ~Parse();
@@ -548,6 +553,11 @@ signals:
    void variantInfo(Variant const &info);
 
 private:
+   /**
+    * @brief 将变体的信息保存到文件中
+    * @param var
+    */
+   void saveVariantToFile(Variant const &var);
    /**
     * @brief 把ins解析的数据保存到文件
     * @param ins 保存ins数据的结构体

App/ToolsUI/ToolsUI.cpp

@@ -1,4 +1,4 @@
-#include "ToolsUI.h"
+#include "ToolsUI.h"
 #include "ui_ToolsUI.h"
 #include <QTextStream>
 
@@ -221,6 +221,7 @@ void ToolsUI::recieveDataSlot(const int &id, const QByteArray &data)
     parse->sspc_file_name = sspc_file_name;
     parse->vel_file_name = vel_file_name;
     parse->pos_file_name = pos_file_name;
+    parse->variant_file_name = variant_file_name;
 
     connect(this,&ToolsUI::parseData,
             parse,&Parse::parseData);
@@ -944,6 +945,26 @@ void ToolsUI::createRecordDataFiles()
         file.flush();   //将数据刷新到文件中
         file.close(); //关闭文件
     }
+
+    variant_file_name = QString("./log/other/variant_%1.csv").arg(QDateTime::currentDateTime().toString("yyyyMMddHHmmss") );
+    file.setFileName(variant_file_name);
+    if(file.open(QIODevice::WriteOnly | QIODevice::Text) )
+    {
+//        QByteArray data;
+
+        QTextStream stream(&file);
+
+        stream.setCodec("utf-8");
+        stream << tr("time,");
+        stream << tr("l_var_current,");
+        stream << tr("r_var_current,");
+        stream << tr("l_var_dir,");
+        stream << tr("r_var_dir\n");
+
+//        stream << data;
+        file.flush();   //将数据刷新到文件中
+        file.close(); //关闭文件
+    }
 }
 
 

App/ToolsUI/ToolsUI.h

@@ -146,6 +146,8 @@ private:
     QString sspc_file_name;
     QString vel_file_name;
     QString pos_file_name;
+    QString variant_file_name;
+
 
 };
 

App/mainwindow.cpp

@@ -171,6 +171,8 @@ MainWindow::MainWindow(QWidget *parent)
     qRegisterMetaType<uint8_t>("uint8_t");
 
     qRegisterMetaType<MavLinkNode::_vehicle>("MavLinkNode::_vehicle");
+    qRegisterMetaType<Variant>("Variant");
+