702 lines
18 KiB
C++
702 lines
18 KiB
C++
#ifndef PARSE_H
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#define PARSE_H
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#include <QObject>
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#include "QRunnable"
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#include "QDebug"
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#include "QThread"
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#include "QElapsedTimer"
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#include "QtMath"
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#include "QThreadPool"
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#include "QFile"
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#include "QDateTime"
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#include "QDataStream"
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#include <QMetaType>
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typedef struct
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{
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float l_var_current; //左变体电流
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float r_var_current; //右变体电流
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quint8 l_var_dir; //左变体方向
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quint8 r_var_dir; //右变体方向
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} Variant;
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Q_DECLARE_METATYPE(Variant);
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class Parse : public QObject, public QRunnable
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{
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Q_OBJECT
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public:
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typedef struct
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{
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qreal roll_rate;//滚转角速度
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qreal yaw_rate;//偏航角速度
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qreal pitch_rate;//俯仰角速度
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qreal yaw;//航向角
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qreal pitch;//俯仰角
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qreal roll;//滚转角
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qreal ax;//机体纵向加速度
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qreal ay;//机体法向加速度
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qreal az;//机体侧向加速度
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}_ins;//1~18
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typedef struct
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{
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struct{
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QString navStatus;//D7D6 导航状态
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QString insStatus;//D5D4 组合状态
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QString headingSrc;//D3D2 航向信号源
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QString Satellite;//D1D0 卫星信号源
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}state1;//工作状态字
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qreal longitude;//位置经度
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qreal latitude;//位置纬度
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qreal altitude;//组合高度
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quint16 worktime;//本状态工作时间
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qreal Ve;//东向速度
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qreal Vn;//北向速度
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qreal Vu;//天向速度
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qreal Gs;//地速
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qreal heading;//航迹角
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qreal Ae;//东向加速度
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qreal An;//北向加速度
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qreal Au;//天向加速度
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qreal satellite_longitude;//卫星经度
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qreal satellite_latitude;//卫星纬度
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qreal satellite_altitude;//卫星高度
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qreal satellite_Ve;//卫星东向速度
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qreal satellite_Vn;//卫星北向速度
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qreal satellite_Vu;//卫星天向速度
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struct
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{
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bool ins;//惯导数据有效位
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bool altitude;//组合高度有效位
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bool exRTK;//外置差分数据有效位
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bool exSatellite;//外置卫星数据有效位
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bool RTK;//内置差分数据有效位
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bool satellite;//内置卫星数据有效位
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bool heading;//双天线航向有效位
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bool communication;//通讯状态
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}state2;
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struct
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{
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bool back7;//
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bool das;//大气数据有效位
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bool install;//外部状态偏角有效位
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bool back4;//
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QString altitudeInfo;//D3D2 高度阻尼信号
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bool back1;//
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bool back0;//
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}state3;
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quint16 year;//UTC年
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quint8 month;//UTC月
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quint8 day;//UTC日
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quint8 hour;//UTC时
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quint8 minute;//UTC分
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qint16 second;//UTC秒
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quint8 starsRecNum; //收星数
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quint16 PDOP; //PDOP值
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quint16 HDOP; //HDOP值
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QString locateMode; //定位方式
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}_nav;//19~73
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typedef struct
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{
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bool SW[24];
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quint8 DI[3];
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qreal LeftWheel;
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qreal RightWheel;
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qreal rpm3;
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qreal rpm4;
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qreal fuel;
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qreal LeftPressure;
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qreal RightPressure;
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qreal AirPressure;
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quint16 cpu_load;
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bool DO[24];
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bool cmd;
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quint8 status;
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}_gear;
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typedef struct
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{
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quint8 type;
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quint8 id;
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qint16 wheel;
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qint16 left_trans;
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qint16 right_trans;
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quint8 status;
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quint16 current;
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qint8 temp;
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qint8 left_brake;
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qint8 right_brake;
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}_actuator;
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typedef struct
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{
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quint8 type;
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quint8 id;
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qint16 left_ail;
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qint16 right_ail;
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qint16 left_rud;
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qint16 right_rud;
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quint8 status;
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quint16 current;
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qint8 temp;
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}_actuator1;
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typedef struct
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{
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quint8 type;
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quint8 id;
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qint16 left_ele;
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qint16 right_ele;
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qint16 left_brake;
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qint16 right_brake;
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quint8 status;
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quint16 current;
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qint8 temp;
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}_actuator2;
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typedef struct
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{
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quint8 ignitionStatus1;
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quint8 ignitionCommand1;
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quint8 ignitionStatus2;
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quint8 ignitionCommand2;
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}thruster;
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typedef struct
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{
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quint32 time_stamp;
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struct
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{
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bool com_ok;//0
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bool status_bit;
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bool accel_x_bit;
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bool accel_y_bit;
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bool accel_z_bit;
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bool gyro_x_bit;
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bool gyro_y_bit;
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bool gyro_z_bit;
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bool accel_in_range;
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bool gyro_in_range;//9
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}status;
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qreal accel_x;
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qreal accel_y;
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qreal accel_z;
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qreal gyro_x;
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qreal gyro_y;
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qreal gyro_z;
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qreal temp;
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qreal delta_vel_x;
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qreal delta_vel_y;
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qreal delta_vel_z;
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qreal delta_angle_x;
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qreal delta_angle_y;
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qreal delta_angle_z;
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}_imu;
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typedef struct
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{
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quint32 time_stamp;
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qreal roll;
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qreal pitch;
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qreal yaw;
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qreal roll_acc;
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qreal pitch_acc;
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qreal yaw_acc;
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struct
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{
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QString solutionMode;//0-3
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bool attitude_valid;//4
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bool heading_valid;//5
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bool velocity_valid;//6
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bool position_valid;//7
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bool vert_ref_used;//8
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bool mag_ref_used;//9
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bool gps1_vel_used;//10
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bool gps1_pos_used;//11
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bool gps1_hdt_used;//13
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bool gps2_vel_used;//14
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bool gps2_pos_used;//15
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bool gps2_hdt_used;//17
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bool odo_used;//18
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bool dvl_bt_used;//19
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bool dvl_wt_used;//20
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bool usel_used;//24
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bool air_data_used;//25
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bool zupt_used;//26
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bool align_valid;//27
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bool depth_used;//28
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}solution;
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}_euler;
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typedef struct
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{
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qreal ps;//静压
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qreal hp;//气压高度
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qreal tt;//总温
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qreal mi;//马赫数
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qreal vi;//指示空速
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qreal tp; //总压
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qreal attA; //迎角
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qreal sideA; //侧滑角
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qreal attAAcq; //迎角采集值
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qreal sideAAcq; //侧滑角采集值
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qreal dp; //动压
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qreal vt; //真空速
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struct
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{
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bool productFault; //产品故障
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bool memoryFault; //存储器故障
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bool vmcFault; //VMC通讯故障
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bool cpuFault; //cpu故障
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bool tpFault; //总压传感器故障
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bool psFault; //静压传感器故障
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bool batteryFault; //电源故障
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}faultword;//故障字
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struct
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{
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bool hp; //气压高度有效性
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bool ps; //静压有效性
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bool mi; //马赫数有效性
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bool vi; //指示空速有效性
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bool tp; //总压有效性
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bool attA; //迎角有效性
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bool sideA; //侧滑角有效性
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bool tt; //总温有效
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}datavalid;//数据有效性
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struct
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{
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bool probeHeating; //探头加温状态
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bool attAAcq; //迎角采集值有效性
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bool sideAAcq; //侧滑角采集值有效性
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}validAndStatus;
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}_eadc;
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typedef struct
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{
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// qreal rpm_c;
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qreal rpm;//rpm 0~30000
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// qreal rpm_t;
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qreal t1;//℃ -60~+90
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// qreal t5;//℃ 报警大于900
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qreal p2;//MPa 报警大于 0.28 或小于 0.15
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qreal servo_current;//mA 0~150
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// QString oil_low;//小于 0.15
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// QString p2_high;//大于900
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QString states;
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}_ecu;
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typedef struct
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{
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qreal bus_voltage;//汇流条电压
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qreal battery_voltage;//蓄电池电压
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qreal battery_current;//蓄电池电流
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qreal main_voltage;//主电源电压
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qreal main_current;//主电源电流
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qreal current_ch1;//燃油泵及流量计 (32A)
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qreal current_ch2;//副翼及前起舵机(22A)
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qreal current_ch3;//56V电池加温1 (10A)
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qreal current_ch4;//28V电池加温(10A)
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qreal current_ch5;//智能计算机(2A)
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qreal current_ch6;//发动机控制器(2A)
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qreal current_ch7;//空速管加温 (2A)
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qreal current_ch8;//温度变换器(1A)
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qreal current_ch9;//燃油切断阀(1A)
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qreal current_ch10;//56V电池加温2 (10A)
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qreal current_ch11;//垂直舵机(6A)
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qreal current_ch12;//56V并网(5A)
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qreal current_ch13;//滑油压力变换器(1A)
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quint8 source;
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struct
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{
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bool current_ch1;//燃油泵及流量计 (32A)
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bool current_ch2;//副翼及前起舵机(22A)
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bool current_ch3;//56V电池加温1 (10A)
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bool current_ch4;//28V电池加温(10A)
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bool current_ch5;//智能计算机(2A)
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bool current_ch6;//发动机控制器(2A)
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bool current_ch7;//空速管加温 (2A)
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bool current_ch8;//温度变换器(1A)
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}state1;
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struct
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{
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bool current_ch9;//燃油切断阀(1A)
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bool current_ch10;//56V电池加温2 (10A)
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bool current_ch11;//垂直舵机(6A)
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bool current_ch12;//56V并网(5A)
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bool current_ch13;//直流接触器控制输出
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bool current_ch14;//滑油压力变换器(1A)
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bool current_ch15;//备份
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bool current_ch16;//备份
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}state2;
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struct
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{
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bool CUP_STA;//CPU 状态
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bool current;//直流电源变送器输出接触器状态
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bool current_10A;//10A板CAN通讯状态
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bool current_40A;//40A板CAN通讯状态
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}check;
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struct
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{
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bool ins_sbg;//SBG熔断器
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bool ins_320;//320惯导熔断器
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bool dlink_l;//l链熔断器
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bool dlink_u;//u链熔断器
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bool eadc;//大气计算机熔断器
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bool rec;//飞参记录仪熔断器
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bool landinggear;//起落架熔断器
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bool act1;//舵机1熔断器
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}err1;
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struct
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{
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bool act2;//舵机2熔断器
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bool act3;//舵机3熔断器
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bool computer;//飞管计算机熔断器
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}err2;
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struct
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{
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quint8 pump;//燃油及流量计
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quint8 ail;//副翼及前起舵机
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quint8 temp_56v;//56V电池加温
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quint8 temp_28v;//28V电池加温
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}err3;
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struct
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{
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quint8 computer;//智能计算机
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quint8 ecu;//发动机控制器
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quint8 eadc;//空速管加温
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quint8 temp;//温度变送器
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}err4;
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struct
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{
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quint8 fuel;//智能计算机
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quint8 temp_56v2;//发动机控制器
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quint8 v_act;//空速管加温
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quint8 current56V;//温度变送器
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}err5;
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struct
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{
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quint8 oil_press;//智能计算机
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}err6;
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}_sspc;
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typedef struct
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{
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quint32 time_stamp;
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struct
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{
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quint32 status_value;
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quint32 type_value;
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QString vel_status;//0~5
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QString vel_type;//6~11
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}status;
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quint32 tow;
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qreal vel_n;
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qreal vel_e;
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qreal vel_d;
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qreal vel_acc_n;
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qreal vel_acc_e;
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qreal vel_acc_d;
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qreal course;
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qreal course_acc;
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}_vel;
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typedef struct
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{
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quint32 time_stamp;
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struct
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{
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quint32 status_value;
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quint32 type_value;
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QString pos_status;//0~5
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QString pos_type;//6~11
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bool gps_l1_used;//12
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bool gps_l2_used;
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bool gps_l5_used;
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bool glo_l1_used;
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bool glo_l2_used;
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bool glo_l3_used;
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bool gal_e1_used;
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bool gal_e5a_used;
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bool gal_e5b_used;
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bool gal_e5alt_used;
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bool gal_e6_used;
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bool bds_b1_used;
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bool bds_b2_used;
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bool bds_b3_used;//25
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bool qzss_l1_used;
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bool qzss_l2_used;
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bool qzss_l3_used;//2
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}status;
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quint32 tow;
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qreal lat;
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qreal lng;
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qreal alt;
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qreal undulation;
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qreal pos_acc_lat;
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qreal pos_acc_lng;
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qreal pos_acc_alt;
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quint8 num_sv_used;
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quint16 base_station_id;
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quint16 diff_age;
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}_pos;
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typedef struct
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{
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quint16 GPSWeek;
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quint32 tow_ms;
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quint32 GPSWeek1;
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qreal tow;
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struct
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{
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bool XGyroState1;
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bool YGyroState;
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bool ZGyroState;
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bool XAccelerometerState1;
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bool YAccelerometerState;
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bool ZAccelerometerState;
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}IMUState;
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qreal az;
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qreal ax;
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qreal ay;
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qreal q;
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qreal p;
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qreal r;
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}_100eIMU;
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typedef struct
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{
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quint32 tick;
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struct
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{
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int ahrs;
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bool compassCalibration;
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bool compass;
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bool gyroscope;
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bool additive;
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bool barometer;
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}state;
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float pitch;
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float roll;
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float yaw;
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float gps_yaw;
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float pitch_rate;
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float roll_rate;
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float yaw_rate;
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qreal lon;
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qreal lat;
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qreal alt_baro;
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qreal alt_gps;
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qreal alt;
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float velocity_n;
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float velocity_e;
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float velocity_d;
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float velocity_air;
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float accel_n;
|
|
float accel_e;
|
|
float accel_d;
|
|
quint8 satellite_num;
|
|
float hdop;
|
|
float vdop;
|
|
QString gps_fixtype;
|
|
QString time;
|
|
qint8 temperature;
|
|
float gps_hdg;
|
|
float gps_hdg_dev;
|
|
|
|
struct
|
|
{
|
|
QString additive;
|
|
QString gyroscope;
|
|
QString compass;
|
|
QString gps;
|
|
}redundancy;
|
|
|
|
qint32 gps0_dt;
|
|
qint32 gps1_dt;
|
|
float gps_vn;
|
|
float gps_ve;
|
|
float gps_vd;
|
|
quint16 gps_msec;
|
|
quint8 gps_day;
|
|
quint16 gps_week;
|
|
QString work_state;
|
|
}_100eIns;
|
|
|
|
//记录数据文件的文件名
|
|
QString ecu_file_name;
|
|
QString ins_file_name;
|
|
QString nav_file_name;
|
|
QString gear_file_name;
|
|
QString actuator_file_name;
|
|
QString actuator1_file_name;
|
|
QString actuator2_file_name;
|
|
QString imu_file_name;
|
|
QString euler_file_name;
|
|
QString eadc_file_name;
|
|
QString sspc_file_name;
|
|
QString vel_file_name;
|
|
QString pos_file_name;
|
|
QString variant_file_name;
|
|
|
|
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 gear_Info(Parse::_gear info);
|
|
|
|
|
|
void EADC_Info(Parse::_eadc info);
|
|
void ECU_Info(Parse::_ecu info);
|
|
void SSPC_Info(Parse::_sspc info);
|
|
|
|
|
|
void actuator_info(Parse::_actuator info);
|
|
void actuator_info_brake(Parse::_actuator info);
|
|
|
|
void actuator1_info(Parse::_actuator1 info);
|
|
void actuator2_info(Parse::_actuator2 info);
|
|
|
|
void imu_info(Parse::_imu info);
|
|
void _100eIMUInfo(Parse::_100eIMU info);
|
|
void _100eInsInfo(Parse::_100eIns info);
|
|
void euler_info(Parse::_euler info);
|
|
void vel_info(Parse::_vel info);
|
|
void pos_info(Parse::_pos info);
|
|
|
|
void thrusterInfo(Parse::thruster info);
|
|
|
|
void SSPC_Info_state(Parse::_sspc info);
|
|
/**
|
|
* @brief 变体舵机信息
|
|
* @param info
|
|
*/
|
|
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
|
|
*/
|
|
void saveInsDataToFile(Parse::_ins const &ins);
|
|
/**
|
|
* @brief 把nav解析的数据保存到文件
|
|
* @param nav 保存nav数据的结构器
|
|
*/
|
|
void saveNavDataToFile(Parse::_nav const &nav);
|
|
/**
|
|
* @brief 把gear解析的数据保存到文件
|
|
* @param gear 保存gear数据的结构体
|
|
*/
|
|
void saveGearDataToFile(Parse::_gear const &gear);
|
|
/**
|
|
* @brief 把actuator解析的数据保存到文件
|
|
* @param actuator 保存actuator数据的结构体
|
|
*/
|
|
void saveActuatorDataToFile(Parse::_actuator const &actuator);
|
|
/**
|
|
* @brief 把actuator1的数据保存到文件中
|
|
* @param actuator1 保存actuator1数据的结构体
|
|
*/
|
|
void saveActuator1DataToFile(Parse::_actuator1 const &actuator1);
|
|
/**
|
|
* @brief 把actuator2的数据保存到文件中
|
|
* @param actuator2 保存actuator2数据的结构体
|
|
*/
|
|
void saveActuator2DataToFile(Parse::_actuator2 const &actuator2);
|
|
/**
|
|
* @brief 把imu的数据保存到文件中
|
|
* @param imu imu数据的的结构体
|
|
*/
|
|
void saveImuDataToFile(Parse::_imu const &imu);
|
|
/**
|
|
* @brief 把euler的数据保存到文件中
|
|
* @param euler euler数据的结构体
|
|
*/
|
|
void saveEulerDataToFile(Parse::_euler const &euler);
|
|
/**
|
|
* @brief 把eadu的数据保存到文件中
|
|
* @param eadc 数据的结构体
|
|
*/
|
|
void saveEadcDataToFile(Parse::_eadc const &eadc);
|
|
/**
|
|
* @brief 把ecu的数据保存到文件中
|
|
* @param ecu 数据的结构体
|
|
*/
|
|
void saveEcuDataToFile(Parse::_ecu const &ecu);
|
|
/**
|
|
* @brief 把sspc的数据保存到文件中
|
|
* @param sspc 保存数据的结构体
|
|
*/
|
|
void saveSspcDataToFile(Parse::_sspc const &sspc);
|
|
/**
|
|
* @brief 把vel的数据保存到文件中
|
|
* @param vel 保存数据的结构体
|
|
*/
|
|
void saveVelDataToFile(Parse::_vel const &vel);
|
|
/**
|
|
* @brief 把pos的数据保存到文件中
|
|
* @param pos pos数据的结构体
|
|
*/
|
|
void savePosDataToFile(Parse::_pos const &pos);
|
|
private:
|
|
|
|
QByteArray raw;
|
|
int index;
|
|
|
|
|
|
|
|
};
|
|
|
|
#endif // PARSE_H
|