#include "Parse.h" Parse::Parse(QObject *parent) : QObject(parent) { setAutoDelete(true); qRegisterMetaType("Parse::_ins"); qRegisterMetaType("Parse::_nav"); qRegisterMetaType("Parse::_eadc"); qRegisterMetaType("Parse::_ecu"); qRegisterMetaType("Parse::_sspc"); qRegisterMetaType("Parse::_gear"); qRegisterMetaType("Parse::_actuator"); qRegisterMetaType("Parse::_actuator1"); qRegisterMetaType("Parse::_actuator2"); qRegisterMetaType("Parse::_imu"); qRegisterMetaType("Parse::_euler"); qRegisterMetaType("Parse::_vel"); qRegisterMetaType("Parse::_pos"); } Parse::~Parse() { } void Parse::run() { QElapsedTimer time; time.start(); //qDebug() << "current thread is:" << QThread::currentThread(); while (raw.size() > 0) { //qDebug() << "size" <= 18)//0~17 INS { 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); _ins ins; int data_count = 0; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; ins.roll_rate = src.i[0] * 400.0/32767;//滚转角速度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; ins.yaw_rate = src.i[0] * 400.0/32767;//偏航角速度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; ins.pitch_rate = src.i[0] * 400.0/32767;//俯仰角速度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; ins.yaw = src.i[0] * M_PI/32767 * 57.29;//航向角 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; ins.pitch = src.i[0] * M_PI/32767 * 57.29;//俯仰角 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; ins.roll = src.i[0] * M_PI/32767 * 57.29;//滚转角 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; ins.ax = src.i[0] * 100.0/32767;//机体纵向加速度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; ins.ay = src.i[0] * 100.0/32767;//机体法向加速度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; ins.az = src.i[0] * 100.0/32767;//机体侧向加速度 /* qDebug() << ins.roll_rate << ins.yaw_rate << ins.pitch_rate << ins.yaw << ins.pitch << ins.roll << ins.ax << ins.ay << ins.az; */ emit INS_Info(ins); } if(raw.size() >= 73)//18~72 NAV { 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(18); _nav nav; int data_count = 0; union//低在前，高位在后 { quint8 byte; struct { quint8 Satellite:2; quint8 heading:2; quint8 ins:2; quint8 nav:2; }; }state1; state1.byte = data[data_count++]; //D7D6 导航状态 switch (state1.nav) { case 0x01: nav.state1.navStatus = tr("准备"); break; case 0x02: nav.state1.navStatus = tr("对准"); break; case 0x03: nav.state1.navStatus = tr("导航"); break; } //D5D4 组合状态 switch (state1.ins) { case 0x00: nav.state1.insStatus = tr("纯惯导"); break; case 0x01: nav.state1.insStatus = tr("惯性/卫星组合"); break; case 0x02: nav.state1.insStatus = tr("惯性/差分卫星组合"); break; case 0x03: nav.state1.insStatus = tr("预留"); break; } //D3D2 航向信号源 switch (state1.heading) { case 0x00: nav.state1.headingSrc = tr("未使用外部航向"); break; case 0x01: nav.state1.headingSrc = tr("使用双天线航向"); break; case 0x02: nav.state1.headingSrc = tr("使用磁航向"); break; } //D1D0 卫星信号源 switch (state1.Satellite) { case 0x01: nav.state1.Satellite = tr("未使用卫星"); break; case 0x02: nav.state1.Satellite = tr("使用内部卫星"); break; case 0x03: nav.state1.Satellite = tr("使用外部卫星"); 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++]; nav.longitude = src.h * M_PI / (0x7FFFFFFF - 1) * 57.29;//位置经度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; nav.latitude = src.h * M_PI / (0x7FFFFFFF - 1) * 57.29;//位置纬度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; nav.altitude = src.i[0] * 12000.0 / (0x7FFF - 1);//组合高度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; nav.worktime = src.I[0];//本状态工作时间 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; nav.Ve = src.i[0] * 400.0 / (0x7FFF - 1);//东向速度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; nav.Vn = src.i[0] * 400.0 / (0x7FFF - 1);//北向速度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; nav.Vu = src.i[0] * 400.0 / (0x7FFF - 1);//天向速度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; nav.Gs = src.i[0] * 400.0 / (0x7FFF - 1);//地速 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; nav.heading = src.i[0] * M_PI / (0x7FFF - 1) * 57.29;//航迹角 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; nav.Ae = src.i[0] * 100.0 / (0x7FFF - 1);//东向加速度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; nav.An = src.i[0] * 100.0 / (0x7FFF - 1);//北向加速度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; nav.Au = src.i[0] * 100.0 / (0x7FFF - 1);//天向加速度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; nav.satellite_longitude = src.h * M_PI / (0x7FFFFFFF - 1) * 57.29;//卫星经度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; nav.satellite_latitude = src.h * M_PI / (0x7FFFFFFF - 1) * 57.29;//卫星纬度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; nav.satellite_altitude = src.i[0] * 12000.0 / (0x7FFF - 1);//卫星高度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; nav.satellite_Ve = src.i[0] * 400.0 / (0x7FFF - 1);//卫星东向速度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; nav.satellite_Vn = src.i[0] * 400.0 / (0x7FFF - 1);//卫星北向速度 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; nav.satellite_Vu = src.i[0] * 400.0 / (0x7FFF - 1);//卫星天向速度 union//低在前，高位在后 { quint8 byte; struct { bool communication:1;//通讯状态 bool heading: 1;//双天线航向有效位 bool satellite: 1;//内置卫星数据有效位 bool RTK: 1;//内置差分数据有效位 bool exSatellite: 1;//外置卫星数据有效位 bool exRTK: 1;//外置差分数据有效位 bool altitude: 1;//组合高度有效位 bool ins: 1;//惯导数据有效位 }; }state2; state2.byte = data[data_count++]; nav.state2.ins = state2.ins;//惯导数据有效位 nav.state2.altitude = state2.altitude;//组合高度有效位 nav.state2.exRTK = state2.exRTK;//外置差分数据有效位 nav.state2.exSatellite = state2.exSatellite;//外置卫星数据有效位 nav.state2.RTK = state2.RTK;//内置差分数据有效位 nav.state2.satellite = state2.satellite;//内置卫星数据有效位 nav.state2.heading = state2.heading;//双天线航向有效位 nav.state2.communication = state2.communication;//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;// nav.state3.das = state3.das;//大气数据有效位 nav.state3.install = state3.install;//外部状态偏角有效位 nav.state3.back4 = state3.back4;// 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;// nav.state3.back0 = state3.back0;// 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); } if(raw.size() >= 115)//73~114 GEAR { 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(73); _gear group; int data_count = 0; int swidx = 0; group.SW[swidx++] = (((uint8_t)data[0] & 0x80) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[0] & 0x40) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[0] & 0x20) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[0] & 0x10) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[0] & 0x08) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[0] & 0x04) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[0] & 0x02) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[0] & 0x01) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[1] & 0x80) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[1] & 0x40) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[1] & 0x20) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[1] & 0x10) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[1] & 0x08) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[1] & 0x04) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[1] & 0x02) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[1] & 0x01) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[2] & 0x80) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[2] & 0x40) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[2] & 0x20) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[2] & 0x10) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[2] & 0x08) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[2] & 0x04) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[2] & 0x02) > 0)?(true):(false); group.SW[swidx++] = (((uint8_t)data[2] & 0x01) > 0)?(true):(false); data_count = 3; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.LeftPressure = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.RightPressure = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.AirPressure = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.LeftWheel = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.RightWheel = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.rpm3 = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.rpm4 = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.fuel = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.cpu_load = src.I[0]; swidx = 0; group.DO[swidx++] = (((uint8_t)data[data_count] & 0x80) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x40) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x20) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x10) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x08) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x04) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x02) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x01) > 0)?(true):(false); data_count++; group.DO[swidx++] = (((uint8_t)data[data_count] & 0x80) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x40) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x20) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x10) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x08) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x04) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x02) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x01) > 0)?(true):(false); data_count++; group.DO[swidx++] = (((uint8_t)data[data_count] & 0x80) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x40) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x20) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x10) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x08) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x04) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x02) > 0)?(true):(false); group.DO[swidx++] = (((uint8_t)data[data_count] & 0x01) > 0)?(true):(false); data_count++; group.cmd = (data[data_count++])?(true):(false); group.status = data[data_count++]; emit gear_Info(group); } if(raw.size() >= 127)//115~126 ACT { 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(110); _actuator group; int data_count = 0; //qDebug() << "index 0:" << data.size() << data; group.type = data[data_count++]; group.id = data[data_count++]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.wheel = src.i[0] * 60.0 / 0x7FF; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.left_trans = src.i[0] * 55.0 / 0x7FF; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.right_trans = src.i[0] * 55.0 / 0x7FF; group.status = data[data_count++]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.current = src.i[0] * 0.1; group.temp = data[data_count++]; emit actuator_info(group); } if(raw.size() >= 141)//127~140 ACT1 { 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(122); _actuator1 group; int data_count = 0; group.type = data[data_count++]; group.id = data[data_count++]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.left_ail = src.i[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.right_ail = src.i[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.left_rud = src.i[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.right_rud = src.i[0]; group.status = data[data_count++]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.current = src.i[0]; group.temp = data[data_count++]; emit actuator1_info(group); } if(raw.size() >= 155)//141~154 ACT2 { 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(136); _actuator2 group; int data_count = 0; group.type = data[data_count++]; group.id = data[data_count++]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.left_ele = src.i[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.right_ele = src.i[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.left_brake = src.i[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.right_brake = src.i[0]; group.status = data[data_count++]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.current = src.i[0]; group.temp = data[data_count++]; emit actuator2_info(group); } if(raw.size() >= 213)//155~212 IMU { union{uint8_t B[4];uint16_t I[2]; int16_t i[2]; uint32_t H; int32_t h;float F;}src; union//低在前，高位在后 { quint16 byte; struct { bool com_ok:1;//0 bool status_bit:1; bool accel_x_bit:1; bool accel_y_bit:1; bool accel_z_bit:1; bool gyro_x_bit:1; bool gyro_y_bit:1; bool gyro_z_bit:1; bool accel_in_range:1; bool gyro_in_range:1;//9 }; }status; QByteArray data = raw.mid(150); _imu group; int data_count = 0; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.time_stamp = src.H; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; status.byte = src.I[0]; group.status.com_ok = status.com_ok;//0 group.status.status_bit = status.status_bit; group.status.accel_x_bit = status.accel_x_bit; group.status.accel_y_bit = status.accel_y_bit; group.status.accel_z_bit = status.accel_z_bit; group.status.gyro_x_bit = status.gyro_x_bit; group.status.gyro_y_bit = status.gyro_y_bit; group.status.gyro_z_bit = status.gyro_z_bit; group.status.accel_in_range = status.accel_in_range; group.status.gyro_in_range = status.gyro_in_range;//9 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.accel_x = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.accel_y = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.accel_z = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.gyro_x = src.F * 57.29; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.gyro_y = src.F * 57.29; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.gyro_z = src.F * 57.29; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.temp = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.delta_vel_x = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.delta_vel_y = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.delta_vel_z = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.delta_angle_x = src.F * 57.29; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.delta_angle_y = src.F * 57.29; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.delta_angle_z = src.F * 57.29; emit imu_info(group); } if(raw.size() >= 245)//213~244 EULER { union{uint8_t B[4];uint16_t I[2]; int16_t i[2]; uint32_t H; int32_t h;float F;}src; union//低在前，高位在后 { quint32 byte; struct { quint8 solutionMode:4;//0-3 bool attitude_valid:1;//4 bool heading_valid:1;//5 bool velocity_valid:1;//6 bool position_valid:1;//7 bool vert_ref_used:1;//8 bool mag_ref_used:1;//9 bool gps1_vel_used:1;//10 bool gps1_pos_used:1;//11 bool none1:1; bool gps1_hdt_used:1;//13 bool gps2_vel_used:1;//14 bool gps2_pos_used:1;//15 bool none2:1; bool gps2_hdt_used:1;//17 bool odo_used:1;//18 bool dvl_bt_used:1;//19 bool dvl_wt_used:1;//20 quint8 none3:3; bool usel_used:1;//24 bool air_data_used:1;//25 bool zupt_used:1;//26 bool align_valid:1;//27 bool depth_used:1;//28 }; }status; QByteArray data = raw.mid(208); _euler group; int data_count = 0; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.time_stamp = src.H; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.roll = src.F * 57.29; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.pitch = src.F * 57.29; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.yaw = src.F * 57.29; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.roll_acc = src.F * 57.29; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.pitch_acc = src.F * 57.29; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.yaw_acc = src.F * 57.29; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; status.byte = src.H; switch (status.solutionMode& 0x07) { case 0: group.solution.solutionMode = tr("UNINITIALIZED"); break; case 1: group.solution.solutionMode = tr("VERTICAL_GYRO"); break; case 2: group.solution.solutionMode = tr("AHRS"); break; case 3: group.solution.solutionMode = tr("NAV_VELOCITY"); break; case 4: group.solution.solutionMode = tr("NAV_POSTION"); break; } group.solution.attitude_valid = status.attitude_valid; group.solution.heading_valid = status.heading_valid; group.solution.velocity_valid = status.velocity_valid; group.solution.position_valid = status.position_valid; group.solution.vert_ref_used = status.vert_ref_used; group.solution.mag_ref_used = status.mag_ref_used; group.solution.gps1_vel_used = status.gps1_vel_used; group.solution.gps1_pos_used = status.gps1_pos_used; group.solution.gps1_hdt_used = status.gps1_hdt_used; group.solution.gps2_vel_used = status.gps2_vel_used; group.solution.gps2_pos_used = status.gps2_pos_used; group.solution.gps2_hdt_used = status.gps2_hdt_used; group.solution.odo_used = status.odo_used; group.solution.dvl_bt_used = status.dvl_bt_used; group.solution.dvl_wt_used = status.dvl_wt_used; group.solution.usel_used = status.usel_used; group.solution.air_data_used = status.air_data_used; group.solution.zupt_used = status.zupt_used; group.solution.align_valid = status.align_valid; group.solution.depth_used = status.depth_used; emit euler_info(group); } if(raw.size() >= 253)//245~252 zero { 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(240); _euler group; int data_count = 0; } }break; case 0x01: { if(raw.size() >= 74)//0~73 EADC { 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); _eadc eadc; int data_count = 0; //加温模式 switch ((uint8_t)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 //qDebug() << QString::number(data[data_count],16).toUpper(); switch ((uint8_t)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 * 1000.0/1024;//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 * 1000.0/1024;//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 * 1000.0/1024;//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 * 1000.0/1024;//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] * 1.0/57.6;//指示空速 src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; eadc.vt = src.I[0] * 1.0/57.6;//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() >= 83)//74~82 ECU { 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(74); _ecu group; int data_count = 0; group.rpm_c = data[0] * (29500.0*0.39) / 255 + 17995; src.B[0] = data[1]; src.B[1] = data[2]; group.rpm = src.I[0] * 30000.0 / 65535; src.B[0] = data[3]; src.B[1] = data[4]; group.rpm_t = src.I[0] * 30000.0 / 65535; group.t1 = ((quint8)data[5] - 0x84) * (85.0 + 55.0)/85.0 - 55; group.p2 = data[6] * 0.6 / 255; group.servo_current = data[7] * 150.0 / 255; //qDebug() << QString::number((quint8)data[5],16) << group.t1; switch ((uint8_t)data[8]) { case 0x00: group.states = tr("转速大于600r/min,未收到转速指令"); break; case 0xA0: group.states = tr("转速大于600r/min,转速未到达设定值"); break; case 0xA1: group.states = tr("收到转速指令，转速未到达设定值"); break; case 0xA4: group.states = tr("转速大于600r/min,并且判断出发动机起动正常"); break; case 0xA5: group.states = tr("收到起动指令并且判断出发动机起动正常"); break; case 0xAE: group.states = tr("未收到启动指令且判断出发动机启动异常"); break; case 0xAF: group.states = tr("收到起动指令并且判断出发动机起动异常"); break; case 0xA6: group.states = tr("飞行阶段受最小物理转速22650rpm,限制未达到指令合折转速"); break; case 0xA7: group.states = tr("飞行阶段受最小物理转速29000rpm,限制未达到指令合折转速"); break; case 0xC5: group.states = tr("收到降落A指令，判断出发动机降落A阶段正常"); break; case 0xC6: group.states = tr("在降落A阶段，受最小物理转速18000rpm限制未达到指令合折转速"); break; case 0xD5: group.states = tr("收到降落B指令，判断出发动机降落B阶段正常"); break; case 0xD6: group.states = tr("在降落B阶段，受最小物理转速20650rpm限制未达到指令合折转速"); break; case 0xD7: group.states = tr("在降落B阶段，受最大物理转速29000rpm限制未达到指令合折转速"); break; case 0xE1: group.states = tr("在飞行和降落阶段发动机物理转速小于14000rpm，判定为发动机异常停车"); 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(group); } if(raw.size() >= 101)//83~100 SSPC { _sspc sspc; QByteArray data = raw.mid(83); 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); } if(raw.size() >= 113)//101~112 ACT { 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(101); //QByteArray data = raw.mid(110); _actuator group; int data_count = 0; //qDebug() << "index 1:" << data.size() << data; group.type = data[data_count++]; group.id = data[data_count++]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.wheel = src.i[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.left_trans = src.i[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.right_trans = src.i[0]; group.status = data[data_count++]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.current = src.i[0]; group.temp = data[data_count++]; emit actuator_info(group); } if(raw.size() >= 127)//113~126 ACT1 { 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(113); _actuator1 group; int data_count = 0; group.type = data[data_count++]; group.id = data[data_count++]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.left_ail = src.i[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.right_ail = src.i[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.left_rud = src.i[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.right_rud = src.i[0]; group.status = data[data_count++]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.current = src.i[0]; group.temp = data[data_count++]; emit actuator1_info(group); } if(raw.size() >= 141)//127~140 ACT2 { 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(127); _actuator2 group; int data_count = 0; group.type = data[data_count++]; group.id = data[data_count++]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.left_ele = src.i[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.right_ele = src.i[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.left_brake = src.i[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.right_brake = src.i[0]; group.status = data[data_count++]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.current = src.i[0]; group.temp = data[data_count++]; emit actuator2_info(group); } if(raw.size() >= 185)//141~184 GPS_VEL { union{uint8_t B[4];uint16_t I[2]; int16_t i[2]; uint32_t H; int32_t h;float F;}src; union//低在前，高位在后 { quint32 byte; struct { quint8 stats:6; quint8 type:6; quint32 none1:20; }; }status; QByteArray data = raw.mid(141); _vel group; int data_count = 0; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.time_stamp = src.H; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; status.byte = src.H; switch (status.stats& 0x03) { case 0: group.status.vel_status = tr("SOL_COMPUTED"); break; case 1: group.status.vel_status = tr("INSUFFICIENT_OBS"); break; case 2: group.status.vel_status = tr("INTERNAL_ERROR"); break; case 3: group.status.vel_status = tr("LIMIT"); break; default: group.status.vel_status = tr("undefined status"); } group.status.status_value = status.stats; switch (status.type& 0x03) { case 0: group.status.vel_type = tr("NO_SOLUTION"); break; case 1: group.status.vel_type = tr("UNKNOWN_TYPE"); break; case 2: group.status.vel_type = tr("DOPPLER"); break; case 3: group.status.vel_type = tr("DIFFERENTIAL"); break; default: group.status.vel_type = tr("undefined status"); } group.status.type_value = status.type; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.tow = src.H; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.vel_n = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.vel_e = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.vel_d = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.vel_acc_n = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.vel_acc_e = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.vel_acc_d = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.course = src.F; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.course_acc = src.F; emit vel_info(group); } if(raw.size() >= 242)//185~241 GPS_POS { union{uint8_t B[8];uint16_t I[4]; int16_t i[4]; uint32_t H[2]; int32_t h[2];float F[2];double D;}src; union//低在前，高位在后 { quint32 byte; struct { quint8 stats:6; quint8 type:6; quint8 GPS_L1:1; quint8 GPS_L2:1; quint8 GPS_L5:1; quint8 GLO_L1:1; quint8 GLO_L2:1; quint8 GLO_L3:1; quint8 GLA_E1:1; quint8 GLA_E5A:1; quint8 GLA_E5B:1; quint8 GLA_E5ALT:1; quint8 GLA_E6:1; quint8 BDS_B1:1; quint8 BDS_B2:1; quint8 BDS_B3:1; quint8 NONE:6; }; }status; QByteArray data = raw.mid(185); _pos group; int data_count = 0; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.time_stamp = src.H[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; status.byte = src.H[0]; switch (status.stats& 0x03) { case 0: group.status.pos_status = tr("SOL_COMPUTED"); break; case 1: group.status.pos_status = tr("INSUFFICIENT_OBS"); break; case 2: group.status.pos_status = tr("INTERNAL_ERROR"); break; case 3: group.status.pos_status = tr("HEIGHT_LIMIT"); break; default: group.status.pos_status = tr("undefined status"); } group.status.status_value = status.stats; switch ((quint8)status.type& 0x0F) { case 0: group.status.pos_type = tr("NO_SOLUTION"); break; case 1: group.status.pos_type = tr("PUNKNOWN_TYPE"); break; case 2: group.status.pos_type = tr("SINGLE"); break; case 3: group.status.pos_type = tr("PSRDIFF"); break; case 4: group.status.pos_type = tr("SBAS"); break; case 5: group.status.pos_type = tr("OMNISTAR"); break; case 6: group.status.pos_type = tr("RTK_FLOAT"); break; case 7: group.status.pos_type = tr("RTK_INT"); break; case 8: group.status.pos_type = tr("PPP_FLOAT"); break; case 9: group.status.pos_type = tr("PPP_INT"); break; case 10: group.status.pos_type = tr("FIXED"); break; default: group.status.pos_type = tr("undefined status"); } group.status.type_value = status.type; group.status.gps_l1_used = status.GPS_L1; group.status.gps_l2_used = status.GPS_L2; group.status.gps_l5_used = status.GPS_L5; group.status.glo_l1_used = status.GLO_L1; group.status.glo_l2_used = status.GLO_L2; group.status.glo_l3_used = status.GLO_L3; group.status.gal_e1_used = status.GLA_E1; group.status.gal_e5a_used = status.GLA_E5A; group.status.gal_e5b_used = status.GLA_E5B; group.status.gal_e5alt_used = status.GLA_E5ALT; group.status.gal_e6_used = status.GLA_E6; group.status.bds_b1_used = status.BDS_B1; group.status.bds_b2_used = status.BDS_B2; group.status.bds_b3_used = status.BDS_B3; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.tow = src.H[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; src.B[4] = data[data_count++]; src.B[5] = data[data_count++]; src.B[6] = data[data_count++]; src.B[7] = data[data_count++]; group.lat = src.D; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; src.B[4] = data[data_count++]; src.B[5] = data[data_count++]; src.B[6] = data[data_count++]; src.B[7] = data[data_count++]; group.lng = src.D; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; src.B[4] = data[data_count++]; src.B[5] = data[data_count++]; src.B[6] = data[data_count++]; src.B[7] = data[data_count++]; group.alt = src.D; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.undulation = src.F[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.pos_acc_lat = src.F[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.pos_acc_lng = src.F[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; src.B[2] = data[data_count++]; src.B[3] = data[data_count++]; group.pos_acc_alt = src.F[0]; group.num_sv_used = data[data_count++]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.base_station_id = src.I[0]; src.B[0] = data[data_count++]; src.B[1] = data[data_count++]; group.diff_age = src.I[0]; emit pos_info(group); } if(raw.size() >= 253)//242~252 zero { 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(242); _euler group; int data_count = 0; //qDebug() << data.size() << data; } }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); raw = data; /* QString str; QString str3 = data.toHex().data();//以十六进制显示 str3 = str3.toUpper ();//转换为大写 for(int i = 0;i