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serialtest.cpp
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#include "serialtest.h"
#include<iostream>
#include <QSerialPortInfo>
#include <QQmlComponent>
#include <QDebug>
#include <string>
#include <QDateTime>
#include <QQmlProperty>
#include <stdio.h>
#include <QPointF>
#include <QTimer>
#include <QtCore>
#include<stdlib.h>
#include <math.h>
SerialTest::Settings currentsetting;//定义设定值结构体的结构体变量
QSerialPort *serialtest;
QString m_serialdataall("");
qint64 mag_corner(0);
qint64 mag_x(0);
qint64 mag_y(0);
qint64 mag_z(0);
qint64 mag_user1(0);
qint64 mag_user2(0);
qint64 mag_user3(0);
qint64 mag_user4(0);
qint64 mag_user5(0);
qint64 mag_user6(0);
QString mag_cornerStr("0\xc2\xb0 \xe5\x8c\x97");
QString m_serialSaveAndApp("");
static qint64 c_sendnumber,c_receivenumber;
static bool settingAddrFlag = false;
static int addr1 = 0;
static int addr2 = 0;
static int addr3 = 0;
static int addrch = 0;
static bool serialOpenFlag = false;
static bool serialDrawClearFlagMag = false;
static bool serialDrawClearFlagIMU = false;
static bool serialDrawClearFlagDrone = false;
static bool serialDrawClearFlagBaro = false;
//static QTimer timerSend;
static bool SerialTestInited = false;
static double currentLon = 0, currentLat = 0;
static int currentNorthSpeed = 0, currentEastSpeed = 0, currentSatelliteNum = 0, currentHdop = 0;
//static QThread * threadSerialPort;
static int StepMotorAngle=0, StepMotorSpeed=0;//fcg
static int BDCMotorAngle=0, BDCMotorSpeed=0;//fcg
//==========================================ace for esc
static int ReadESC_Thro=0, ReadESC_Speed=0,Read_ESCHall=0;//ace
//===========================================ace for esc
static int ACCX = 0, ACCY = 0, ACCZ = 0, GYROX = 0, GYROY = 0, GYROZ = 0;
static double Angle_Acc_X = 0, Angle_Acc_Y;
static int Heigth_Ultrasonic_lowpass = 0, Heigth_Ultrasonic_nofliter = 0;
static double Heigth_Ultrasonic_time = 0;
static double Heigth_Ultrasonic_alpha = 0;
static double anglepitch = 0, angleroll = 0, angleyaw = 0;
static double altitude = 0;
static int TIMEcnt = 0;
static int TIMEINT = 0;
static int pressureRaw = 0, pressureFilter = 0;
static int slideDepth = 8;
static int pressureHeight = 0;
static int opticalflowspeedx = 0, opticalflowspeedy = 0;
static int opticalflowsumx = 0, opticalflowsumy = 0;
static bool serialSendRequest = true;
static int flag_currentPage = 0;//标识符，指示当前页面序号
//1：加速度计模组界面
//2：陀螺仪模组界面
//3：GPS模组界面
//4：气压计模组界面
//5：超声波模组界面
//6：电子罗盘模组界面
//7：无人机整机界面
//8：人脸识别界面
//9：人形跟随界面
//10：姿态识别界面
//11：光流
//12: 轴臂电机
//13: 直流有刷电机
//14: 无刷电调/机器车电机
//15: 演示页面
SerialTest::SerialTest(QSerialPort *parent):
QSerialPort (parent),
m_receivedata("Receive Label"),
m_receivenumber("0"),
m_sendnumber("0")
{
if(false == SerialTestInited)
{
SerialTestInited = true;
serialtest = new QSerialPort;
// QTimer *timerSend = new QTimer(this);
// timerSend.setInterval(50);
// timerSend.setTimerType(Qt::TimerType::PreciseTimer);
// QObject::connect(&timerSend, SIGNAL(timeout()), this, SLOT(timersendtimeout()));
QObject::connect(serialtest, SIGNAL(readyRead()),this, SLOT(receivefrom()));//将端口收到数据产生的信号绑定receivefrom()函数;
// threadSerialPort = new QThread(this);
// serialtest->moveToThread(threadSerialPort);
// threadSerialPort->start();
}
}
//打开端口并设置:函数的参数（……Index由qml中combobox的currentIndex决定），由按钮触发
void SerialTest::openAndSetPort(QString PortName,
int BaudRateIndex,
int DatabitsIndex,
int ParityIndex,
int StopbitsIndex,
int FlowcontrolIndex)
{
////////////////////1.得到当前选择的各项设置//////////////////////////////
//得到当前端口名
// QString allname[6]={"COM1","COM2","COM3","COM4","COM5","COM6"};//列举所有的端口名
// currentsetting.name=allname[PortNameIndex];//由qml里表示name的combobox的currentIndex来确定当前的name
currentsetting.name=PortName;
std::cout<<" ok setPortName to "+ currentsetting.name.toStdString()<< std::endl;//通过输出来验证设定成功
//得到当前波特率
qint32 allbauRate[4]={9600,19200,38400,115200};
currentsetting.baudRate=allbauRate[BaudRateIndex];
//得到当前发送位数
QSerialPort::DataBits allDatabits[4]={QSerialPort::Data5,
QSerialPort::Data6,
QSerialPort::Data7,
QSerialPort::Data8};
currentsetting.dataBits=allDatabits[DatabitsIndex];
//得到当前Parity
QSerialPort::Parity allparity[5]={QSerialPort::NoParity,
QSerialPort::EvenParity,
QSerialPort::OddParity,
QSerialPort::MarkParity,
QSerialPort::SpaceParity};
currentsetting.parity=allparity[ParityIndex];
//得到当前停止位
QSerialPort::StopBits allstopBits[3]={QSerialPort::OneStop,
QSerialPort::OneAndHalfStop,
QSerialPort::TwoStop};
currentsetting.stopBits=allstopBits[StopbitsIndex];
//得到当前FlowControl
QSerialPort::FlowControl allflowControl[3]={QSerialPort::NoFlowControl,
QSerialPort::HardwareControl,
QSerialPort::SoftwareControl};
currentsetting.flowControl=allflowControl[FlowcontrolIndex];
////////////////////2.设定当前端口名//////////////////////////////
serialtest->setPortName(currentsetting.name);
////////////////////3.打开这一端口并按照当前设置信息进行设置//////////////////////////////
if (serialtest->open(QIODevice::ReadWrite))//打开这一端口
{
std::cout<<"open port sucess"<<std::endl;
if(serialtest->setBaudRate(currentsetting.baudRate)//设置各项信息
&& serialtest->setDataBits(currentsetting.dataBits)
&& serialtest->setParity(currentsetting.parity)
&& serialtest->setStopBits(currentsetting.stopBits)
&& serialtest->setFlowControl(currentsetting.flowControl))
{
std::cout<<"set sucess"<<std::endl;
}
serialDrawClearFlagMag = true;
serialDrawClearFlagIMU = true;
serialDrawClearFlagDrone = true;
serialDrawClearFlagBaro = true;
serialOpenFlag = true;
clearSerialDataAll();
QString pagenumber = QString("%1").arg(flag_currentPage, 2, 16, QLatin1Char( '0' ));
sendCMD("2c", "808080800800", pagenumber+"00000000000000");
// timerSend.start();
}
}
void SerialTest::getPortInfo()
{
m_portInfo.clear();
const auto infos = QSerialPortInfo::availablePorts();
for (const QSerialPortInfo &info : infos){
std::cout<<" port name" + info.portName().toStdString()<<std::endl;
m_portInfo.append(info.portName());
}
}
//构建和发送无人机串口通信发送帧
void SerialTest::DroneFrame_MakeAndSerialSend(quint8 Realdata[4],quint8 Realstatus[2],quint8 Command,quint8 CommandData[8],quint8 Heartbeat)
{
quint8 temp_uint8;
//常整形转换为Qstring形
// long a =63;
// QString str=QString::number(a,16); //str="3f";
// QString str=QString::number(a,16).toUpper(); //str="3F";
QString StrDroneFrame;//无人机串口通信发送帧
QString StrFramehead = "ff55";//帧头
QString StrRealdata;
for(temp_uint8=0;temp_uint8<4;temp_uint8++)
{
StrRealdata+=QString::number(Realdata[temp_uint8],16);//实时数据
}
QString StrRealstatus;
for(temp_uint8=0;temp_uint8<2;temp_uint8++)
{
StrRealstatus+=QString::number(Realstatus[temp_uint8],16);//实时状态
}
QString StrCommand=QString::number(Command,16); //功能字
QString StrCommandData;
for(temp_uint8=0;temp_uint8<8;temp_uint8++)
{
StrCommandData+=QString::number(CommandData[temp_uint8],16);//功能字数据
}
QString StrHeartbeat=QString::number(Heartbeat,16); //心跳包
StrDroneFrame=StrFramehead+StrRealdata+StrRealstatus+StrCommand+StrCommandData+StrHeartbeat;
std::cout<<" StrDroneFrame:" + StrDroneFrame.toStdString()<<std::endl;
// sendto(StrDroneFrame);
}
void SerialTest::setRFaddr(QString addr1,QString addr2,QString addr3,QString channel)
{
// QString straddr1 = QString("%1").arg(addr1, 2, 16, QLatin1Char( '0' ));
// QString straddr2 = QString("%1").arg(addr2, 2, 16, QLatin1Char( '0' ));
// QString straddr3 = QString("%1").arg(addr3, 2, 16, QLatin1Char( '0' ));
// QString strchannel = QString("%1").arg(channel, 2, 16, QLatin1Char( '0' ));
// command += straddr1;
// command += straddr2;
// command += straddr3;
// command += straddr1;
// command += straddr2;
// command += straddr3;
// command += strchannel;
// command += "0000";
// QString command = "ff5580808080080029";
QString command = "";
QString straddr1 ;
QString straddr2 ;
QString straddr3 ;
QString strchannel;
bool ok;
quint8 dec;
dec=addr1.toInt(&ok,10); //dec=255 ; ok=rue
straddr1 = QString("%1").arg(dec, 2, 16, QLatin1Char( '0' ));
dec=addr2.toInt(&ok,10); //dec=255 ; ok=rue
straddr2 = QString("%1").arg(dec, 2, 16, QLatin1Char( '0' ));
dec=addr3.toInt(&ok,10); //dec=255 ; ok=rue
straddr3 = QString("%1").arg(dec, 2, 16, QLatin1Char( '0' ));
dec=channel.toInt(&ok,10); //dec=255 ; ok=rue
strchannel = QString("%1").arg(dec, 2, 16, QLatin1Char( '0' ));
command += straddr1;
command += straddr2;
command += straddr3;
command += straddr3;
command += straddr2;
command += straddr1;
command += strchannel;
command += "00";
// std::cout<<" value:" + command.toStdString()<<std::endl;
// sendto(command);
sendCMD("29", "808080800800", command);
}
void SerialTest::setCurrentPage(int current_page)
{
flag_currentPage=current_page;
}
int SerialTest::getCurrentPage(void)
{
return flag_currentPage;
}
void SerialTest::setUltrasonicLowpassfliter(QString value_freq,QString value_confficent)
{
QString command = "";
QString strvalue_freq;
QString stvalue_confficent;
bool ok;
int dec;
float temp_float;
dec=value_freq.toInt(&ok,10);
if(0!=dec)
{
dec=1000/dec;//转换为周期，单位是ms
if(dec>1000)
{
dec=1000;
}
else if(dec<10)
{
dec=10;
}
}
else {
dec=50;
}
strvalue_freq = QString("%1").arg(dec, 4, 16, QLatin1Char( '0' ));
temp_float=value_confficent.toFloat();
// temp_float=value_confficent.toDouble();
temp_float=temp_float*10000;
dec=temp_float;
if(dec>9999)
{
dec=9999;
}
else if(dec<1)
{
dec=1;
}
stvalue_confficent = QString("%1").arg(dec, 4, 16, QLatin1Char( '0' ));
command += strvalue_freq;
command += stvalue_confficent;
command += "0000000000";
// std::cout<<" value" + command.toStdString()<<std::endl;
sendCMD("2e", "808080800800", command);
}
void SerialTest::setLabAngle(QString angle_Roll,QString angle_Yaw)
{
// QString command = "ff55000000000000280000";
QString command = "0000";
QString strangle_Roll;
QString strangle_Yaw;
bool ok;
int dec;
dec=angle_Roll.toInt(&ok,10); //dec=255 ; ok=rue
strangle_Roll = QString("%1").arg(dec, 4, 16, QLatin1Char( '0' ));
dec=angle_Yaw.toInt(&ok,10); //dec=255 ; ok=rue
strangle_Yaw = QString("%1").arg(dec, 4, 16, QLatin1Char( '0' ));
if(strangle_Roll.length() >4){
command += strangle_Roll.mid(12,4);
}else{
command += strangle_Roll;
}
command += strangle_Yaw;
command += "000000";
// std::cout<<" value" + command.toStdString()<<std::endl;
sendCMD("28", "808080800800", command);
}
void SerialTest::setMagCorner(int yawValue,int rollValue)
{
QString yaw = QString("%1").arg(yawValue, 4, 16, QLatin1Char( '0' ));
QString roll = QString("%1").arg(rollValue, 4, 16, QLatin1Char( '0' ));
// QString command = "ff55000020000000280000";
QString command = "0000";
if(roll.length() >4){
command += roll.mid(12,4);
}else{
command += roll;
}
command += yaw;
command += "000000";
// std::cout<<" value" + command.toStdString()<<std::endl;
// sendto(command);
sendCMD("28", "808080800800", command);
}
void SerialTest::setPlatformYawAngle(int yawValue,int yawRateValue)
{
QString yaw = QString("%1").arg(yawValue, 4, 16, QLatin1Char( '0' ));
QString yawrate = QString("%1").arg(yawRateValue, 2, 16, QLatin1Char( '0' ));
QString command1 = "0000";
command1 += yawrate;
command1 += "000000";
QString command2 = "00000000";
command2 += yaw;
command2 += "0000";
// std::cout<<" value" + command.toStdString()<<std::endl;
// sendto(command);
sendCMD("28", command1, command2);
}
void SerialTest::setPlatformRollAngle(int rollValue,int rollRateValue)
{
QString roll = QString("%1").arg(rollValue, 4, 16, QLatin1Char( '0' ));
QString rollrate = QString("%1").arg(rollRateValue, 2, 16, QLatin1Char( '0' ));
QString command1 = "00";
command1 += rollrate;
command1 += "00000000";
QString command2 = "0000";
if(roll.length() >4){
command2 += roll.mid(12,4);
}else{
command2 += roll;
}
command2 += "00000000";
// std::cout<<" value" + command2.toStdString()<<std::endl;
// sendto(command);
sendCMD("28", command1, command2);
}
void SerialTest:: setBaroSlideDepth(int slidedepth)
{
QString yawrateStr = QString("%1").arg(slidedepth, 2, 16, QLatin1Char( '0' ));
QString command1 = "808080800800";
QString command2 = "";
command2 += yawrateStr;
command2 += "00000000000000";
// std::cout<<" value" + command.toStdString()<<std::endl;
// sendto(command);
sendCMD("31", command1, command2);
}
void SerialTest:: setOptDistance(int distance)
{
QString distanceStr = QString("%1").arg(distance, 2, 16, QLatin1Char( '0' ));
QString command1 = "808080800800";
QString command2 = "";
command2 += distanceStr;
command2 += "00000000000000";
// std::cout<<" value" + command.toStdString()<<std::endl;
// sendto(command);
sendCMD("30", command1, command2);
}
//stepmotor:fcg=====================================================================================
void SerialTest::setPlatformInfo(int number,int motorHz,int motorSpeed,int motorAngle,int accSpeed)
{
QString number1 = QString("%1").arg(number, 2, 16, QLatin1Char( '0' ));
QString motorHz1 = QString("%1").arg(motorHz, 4, 16, QLatin1Char( '0' ));
QString motorSpeed1 = QString("%1").arg(motorSpeed, 2, 16, QLatin1Char( '0' ));
QString motorAngle1 = QString("%1").arg(motorAngle, 4, 16, QLatin1Char( '0' ));
QString accSpeed1 = QString("%1").arg(accSpeed, 2, 16, QLatin1Char( '0' ));
QString command1 = "000000000000";
// command1 += motorAngle1;
// command1 += motorSpeed1;
QString command2 = "";
command2 += motorAngle1;
command2 += motorSpeed1;
command2 += accSpeed1;
command2 += number1;
command2 += motorHz1;
command2 +="00";
//command2 += "0000";
sendCMD("32", command1, command2);
}
//BDCmotor:fcg=====================================================================================
void SerialTest::setBDCPlatformInfo(int number,int motorHz,int motorSpeed,int motorAngle,int accSpeed)
{
QString number1 = QString("%1").arg(number, 2, 16, QLatin1Char( '0' ));
QString motorHz1 = QString("%1").arg(motorHz, 4, 16, QLatin1Char( '0' ));
QString motorSpeed1 = QString("%1").arg(motorSpeed, 2, 16, QLatin1Char( '0' ));
QString motorAngle1 = QString("%1").arg(motorAngle, 4, 16, QLatin1Char( '0' ));
QString accSpeed1 = QString("%1").arg(accSpeed, 2, 16, QLatin1Char( '0' ));
QString command1 = "000000000000";
// command1 += motorAngle1;
// command1 += motorSpeed1;
QString command2 = "";
command2 += motorAngle1;
command2 += motorSpeed1;
command2 += accSpeed1;
command2 += number1;
command2 += motorHz1;
command2 +="00";
//command2 += "0000";
sendCMD("34", command1, command2);
}
//=======================================================================
//ace for ESC
void SerialTest::setCarMotorInfo(int RPM,int KP,int KI ,int KD,int Meter,int ExperimentNum)
{
QString RPM_Vaule = QString("%1").arg(RPM, 4, 16, QLatin1Char( '0' ));
QString KP_Vaule = QString("%1").arg(KP, 2, 16, QLatin1Char( '0' ));
QString KI_Vaule = QString("%1").arg(KI, 2, 16, QLatin1Char( '0' ));
QString KD_Vaule = QString("%1").arg(KD, 2, 16, QLatin1Char( '0' ));
QString Dis_Vaule = QString("%1").arg(Meter, 2, 16, QLatin1Char( '0' ));
QString Num = QString("%1").arg(ExperimentNum, 2, 16, QLatin1Char( '0' ));
//QString command2 = "0000000000000000";
QString command2 = "";
command2+=Num;
command2+="00000000000000";
// command1 += motorAngle1;
// command1 += motorSpeed1;
QString command1 = "";
command1 += RPM_Vaule;
command1 += KP_Vaule;
command1 += KI_Vaule;
command1 += KD_Vaule;
command1 +=Dis_Vaule;
sendCMD("33", command1, command2);
}
//ace for ESC
void SerialTest::setESCMotorInfo(int PPM,int INC,int Dec,int Mode)
{
QString PPM_Vaule = QString("%1").arg(PPM, 4, 16, QLatin1Char( '0' ));
QString INC_ACC = QString("%1").arg(INC, 2, 16, QLatin1Char( '0' ));
QString Dec_ACC = QString("%1").arg(Dec, 2, 16, QLatin1Char( '0' ));
QString Mode_Vaule = QString("%1").arg(Mode, 2, 16, QLatin1Char( '0' ));
QString command2 = "0000000000000000";
// command1 += motorAngle1;
// command1 += motorSpeed1;
QString command1 = "";
command1 += PPM_Vaule;
command1 += INC_ACC;
command1 += Dec_ACC;
command1 += Mode_Vaule;
command1 +="00";
sendCMD("2d", command1, command2);
}
//===============================================================================================ace
//ace for ESC
//void SerialTest::setBLDCSpeed(int Speed)
//{
// QString PPM_Vaule = QString("%1").arg(PPM, 4, 16, QLatin1Char( '0' ));
// QString INC_ACC = QString("%1").arg(INC, 2, 16, QLatin1Char( '0' ));
// QString Dec_ACC = QString("%1").arg(Dec, 2, 16, QLatin1Char( '0' ));
// QString Mode_Vaule = QString("%1").arg(Mode, 2, 16, QLatin1Char( '0' ));
// QString command2 = "0000000000000000";
// command1 += motorAngle1;
// command1 += motorSpeed1;
// QString command1 = "";
// command1 += PPM_Vaule;
// command1 += INC_ACC;
// command1 += Dec_ACC;
// command1 += Mode_Vaule;
// command1 +="00";
// sendCMD("2d", command1, command2);
//}
//
QStringList SerialTest:: receivePort()
{
return m_portInfo;
}
static quint8 heartbeat = 0;
////////////////////4.发送数据//////////////////////////////
void SerialTest::sendto(QString sendmessage)//此函数由qml里的send按钮触发，sendmessage来源于qml文本框的当前文本，
{
if(true == serialOpenFlag){
heartbeat++;
QString heartbeatStr = QString("%1").arg(heartbeat, 2, 16, QLatin1Char( '0' ));
QString value = sendmessage.mid(0, 34) + heartbeatStr; // "FFFF" <- just the hex values!
// std::cout<<" value" + value.toStdString()<<std::endl;
QByteArray data = QByteArray::fromHex(value.toLatin1());
// QByteArray data = sendmessage.toLocal8Bit()+'\r';//将QString转为QByteArray，并加上'\r'（回车符）,因为芯片要求在回车符之后再返回数据
qint64 testwritenumber=serialtest->write(data);//写入数据
m_receivedata=m_receivedata+"\n";//加上换行符便于显示
c_sendnumber=c_sendnumber+testwritenumber-1;//发送数据字节数统计（减去回车符）
setsendnumber(QString ::number(c_sendnumber));//更新发送的数据字节总数
// addSerialDataAll("Tx:" + value);
}
}
//static int CMDsendtime = 0;
static QString CMDFormat;
void SerialTest::sendCMD(QString cmd, QString data1, QString data2){
CMDFormat = "ff55" + data1.mid(0,12) + cmd.mid(0,2) + data2.mid(0,16);
qDebug() << CMDFormat;
addSerialDataAll("Tx:" + CMDFormat);
// CMDFormat = QByteArray::fromHex(value.toLatin1());
// CMDsendtime = 1;
sendto(CMDFormat);
}
void SerialTest::timersendtimeout(void){
// QTime currentTime = QTime::currentTime();
// qDebug() << currentTime;
// if(CMDsendtime <= 0){
// if(true == serialSendRequest){
// sendto("ff5580808080080000000000000000000000");
// }
// }
// else{
// CMDsendtime--;
// sendto(CMDFormat);
// }
}
void SerialTest::setsendnumber(QString sendnumber)//更新发送的数据字节总数，触发sendnumberChanged()的消息响应函数sendnumber()来更新显示
{
m_sendnumber=sendnumber;
emit sendnumberChanged();
}
QString SerialTest::sendnumber()//响应sendnumberChanged()消息
{
return m_sendnumber;
}
////////////////////4.接收数据//////////////////////////////
void SerialTest::receivefrom()//由readyRead()消息出发（在前边进行绑定），当串口收到数据此消息被激活（对于串口，每发送出去一个字节，都会将此字节返回，触发readyread消息，当芯片有特殊指令时，收到的信息更多，比如对sim900，发送0000，芯片就会受到0000，但是发送AT，会受到 AT OK）
{
QByteArray data = serialtest->readAll();//读取所有收到的数据
QString receivedata=data.toHex();//将QByteArray转为QString来显示
// qDebug() << receivedata;
QString subString = receivedata.mid(0,4);
QDateTime currentTime = QDateTime::currentDateTime();
QString qs_currenttime = currentTime.toString("ss.zzz");
// qDebug() << qs_currenttime;
bool ok = false;
if(subString == "ff55")
{
if(receivedata.mid(28,2) == "01"){
// bool ok = false;
qint64 corner = (receivedata.mid(4,4).toInt(&ok, 16))/10;
int x = (receivedata.mid(8,4).toInt(&ok, 16));
if(x >= 32768){
x -= 65536;
}
int y = (receivedata.mid(12,4).toInt(&ok, 16));
if(y >= 32768){
y -= 65536;
}
int z = (receivedata.mid(16,4).toInt(&ok, 16));
if(z >= 32768){
z -= 65536;
}
mag_x = x;
mag_y= y;
mag_z = z;
if(6==flag_currentPage)
{
addserialSaveAndApp( "MxMyMz: " +
QString::number(corner,'f',1) + " " +
QString::number(x) + " " +
QString::number(y) + " " +
QString::number(z) + " ");
// qDebug() << corner << " " << x << " " << y << " " << z << " ";
}
if(ok && corner != mag_corner){
mag_corner = corner;
if(mag_corner <= 21 || mag_corner >= 338 ){
setMagCornerStr(QString::number(mag_corner) + "\xc2\xb0 \xe5\x8c\x97");
}else if (mag_corner >= 22 && mag_corner <= 66) {
setMagCornerStr(QString::number(mag_corner) + "\xc2\xb0 \xe4\xb8\x9c\xe5\x8c\x97");
}else if (mag_corner >= 67 && mag_corner <= 112) {
setMagCornerStr(QString::number(mag_corner) + "\xc2\xb0 \xe4\xb8\x9c");
}else if (mag_corner >= 113 && mag_corner <= 156) {
setMagCornerStr(QString::number(mag_corner) + "\xc2\xb0 \xe4\xb8\x9c\xe5\x8d\x97");
}else if (mag_corner >= 157 && mag_corner <= 201) {
setMagCornerStr(QString::number(mag_corner) + "\xc2\xb0 \xe5\x8d\x97");
}else if (mag_corner >= 202 && mag_corner <= 247) {
setMagCornerStr(QString::number(mag_corner) + "\xc2\xb0 \xe8\xa5\xbf\xe5\x8d\x97");
}else if (mag_corner >= 248 && mag_corner <= 291) {
setMagCornerStr(QString::number(mag_corner) + "\xc2\xb0 \xe8\xa5\xbf");
}else if (mag_corner >= 292 && mag_corner <= 337) {
setMagCornerStr(QString::number(mag_corner) + "\xc2\xb0 \xe8\xa5\xbf\xe5\x8c\x97");
}
// std::cout<<" mag_cornerStr:" + mag_cornerStr.toStdString()<<std::endl;
emit receiveMagCornerChanged();
}
}else if(receivedata.mid(28,2) == "06"){
if(settingAddrFlag == true){
settingAddrFlag = false;
// bool ok = false;
addr1 = receivedata.mid(4,2).toInt(&ok, 16);
addr2 = receivedata.mid(6,2).toInt(&ok, 16);
addr3 = receivedata.mid(8,2).toInt(&ok, 16);
addrch = receivedata.mid(16,2).toInt(&ok, 16);
}
}
else if(receivedata.mid(28,2) == "05"){
//gps信息
// bool ok = false;
int u16half = 1 << 15;
int u16 = 1 << 16;
long u32half = 1 << 31;
long u32 = 1 << 32;
int currentLonInt = receivedata.mid(4,8).toInt(&ok, 16);
if(currentLonInt >= (u32half)){
currentLonInt -= u32;
}
currentLon = ((double)currentLonInt / 1e7);
int currentLatInt = receivedata.mid(12,8).toInt(&ok, 16);
if(currentLatInt >= (u32half)){
currentLatInt -= (u32);
}
currentLat = ((double)currentLatInt / 1e7);
currentEastSpeed = receivedata.mid(20,4).toInt(&ok, 16);
if(currentEastSpeed >= u16half){
currentEastSpeed -= u16;
}
currentNorthSpeed = receivedata.mid(24,4).toInt(&ok, 16);
if(currentNorthSpeed >= u16half){
currentNorthSpeed -= u16;
}
currentSatelliteNum = receivedata.mid(30,2).toInt(&ok, 16);
currentHdop = receivedata.mid(32,4).toInt(&ok, 16);
// QDateTime currentTime = QDateTime::currentDateTime();
// QString qs_currenttime = currentTime.toString("hh:mm:ss.zzz");
// if(3==flag_currentPage)
// {
// addserialSaveAndApp("GPS_Data: " +
// getCurrentLon() + " " +
// getCurrentLat() + " ");
// // qDebug() << (QString::number(currentLon) + "," + QString::number(currentLat) + "," +QString::number(currentEastSpeed)
//// +"," +QString::number(currentNorthSpeed) + "," +QString::number(currentSatelliteNum) + "," +QString::number(currentHdop));
//// qDebug() << (1<<15);
// }
}else if(receivedata.mid(28,2) == "02")
{
//接收到IMU模组数据模块1
int u16half = 1 << 15;
int u16 = 1 << 16;
ACCX = receivedata.mid(4,4).toInt(&ok, 16);
if(ACCX >= u16half){
ACCX -= u16;
}
ACCY = receivedata.mid(8,4).toInt(&ok, 16);
if(ACCY >= u16half){
ACCY -= u16;
}
ACCZ = receivedata.mid(12,4).toInt(&ok, 16);
if(ACCZ >= u16half){
ACCZ -= u16;
}
float temp;
temp=atan((double)ACCX/sqrtf(ACCY*ACCY+ACCZ*ACCZ))*180/3.1415926;
temp-=Angle_Acc_X;
if(temp>0.2||temp<-0.2)
{
Angle_Acc_X+=temp;
}
temp=atan((double)ACCY/sqrtf(ACCX*ACCX+ACCZ*ACCZ))*180/3.1415926;
temp-=Angle_Acc_Y;
if(temp>0.2||temp<-0.2)
{
Angle_Acc_Y+=temp;
}
GYROX = receivedata.mid(16,4).toInt(&ok, 16);
if(GYROX >= u16half){
GYROX -= u16;
}
GYROY = receivedata.mid(20,4).toInt(&ok, 16);
if(GYROY >= u16half){
GYROY -= u16;
}
GYROZ = receivedata.mid(24,4).toInt(&ok, 16);
if(GYROZ >= u16half){
GYROZ -= u16;
}
if(0 == TIMEINT)
{
TIMEINT = receivedata.mid(32,4).toInt(&ok, 16);
}
TIMEcnt = receivedata.mid(32,4).toInt(&ok, 16) - TIMEINT;
if(1==flag_currentPage)
{
addserialSaveAndApp("AxAyAz; " +
QString::number((double)ACCX/512,'f',4) + " " +
QString::number((double)ACCY/512,'f',4) + " " +
QString::number((double)ACCZ/512,'f',4) + " " );
// qDebug() << (QString::number(currentLon) + "," + QString::number(currentLat) + "," +QString::number(currentEastSpeed)
}
else if(2==flag_currentPage){
addserialSaveAndApp(QString::number(TIMEcnt*0.05,'f',2)/*qs_currenttime*/ + "; " +
QString::number(GYROZ* 0.061035,'f',6) + "; ");
// qDebug() << (QString::number(currentLon) + "," + QString::number(currentLat) + "," +QString::number(currentEastSpeed)
}
}
else if(receivedata.mid(28,2) == "08")
{
//接收到超声波模组数据
int u16half = 1 << 15;
int u16 = 1 << 16;
Heigth_Ultrasonic_nofliter = receivedata.mid(4,4).toInt(&ok, 16);
if(Heigth_Ultrasonic_nofliter >= u16half){
Heigth_Ultrasonic_nofliter = 1;
}
Heigth_Ultrasonic_lowpass = receivedata.mid(8,4).toInt(&ok, 16);
if(Heigth_Ultrasonic_lowpass >= u16half){
Heigth_Ultrasonic_lowpass = 1;
}
Heigth_Ultrasonic_time = Heigth_Ultrasonic_lowpass/170.0;// / 340 * 2
Heigth_Ultrasonic_alpha = receivedata.mid(16,4).toInt(&ok, 16) / 10000.0;
if(5==flag_currentPage)
{
addserialSaveAndApp("Ultrasonic_Data: " +
getHeigth_Ultrasonic_nofliter() + " " +
getHeigth_Ultrasonic_lowpass());
// qDebug() << Heigth_Ultrasonic_nofliter << Heigth_Ultrasonic_lowpass;
}
}
else if(receivedata.mid(28,2) == "03")
{
//接收到IMU模组数据模块2
int u16half = 1 << 15;
int u16 = 1 << 16;
anglepitch = receivedata.mid(4,4).toInt(&ok, 16);
if(anglepitch >= u16half){
anglepitch -= u16;
}
anglepitch = anglepitch / 10.0;
angleroll = receivedata.mid(8,4).toInt(&ok, 16);
if(angleroll >= u16half){
angleroll -= u16;
}
angleroll = angleroll / 10.0;
angleyaw = receivedata.mid(12,4).toInt(&ok, 16);
if(angleyaw >= u16half){
angleyaw -= u16;
}
angleyaw = (angleyaw/10.0 - 180);
// addserialSaveAndApp(qs_currenttime + "; " +
// getAnglePitch() + "; " +
// getAngleRoll() + "; " +
// getAngleYaw() + "; ");// qDebug() << (QString::number(currentLon) + "," + QString::number(currentLat) + "," +QString::number(currentEastSpeed)
// qDebug() << anglepitch << angleroll << angleyaw;
}
else if(receivedata.mid(28,2) == "00")
{
//接收到无人机整机数据帧
int u16half = 1 << 15;
int u16 = 1 << 16;
int temp;
altitude = receivedata.mid(20,4).toInt(&ok, 16);
angleyaw = receivedata.mid(12,4).toInt(&ok, 16);
if(angleyaw >= u16half){
angleyaw -= u16;
}
angleyaw = angleyaw/10.0;
if(angleyaw<0)
{
angleyaw+=360;
}
temp=receivedata.mid(30,2).toInt(&ok, 16);
if(temp==1)
{
anglepitch = receivedata.mid(32,4).toInt(&ok, 16);
if(anglepitch >= u16half){
anglepitch -= u16;
}
anglepitch = anglepitch / 10.0;
}
else if(temp==2)
{
angleroll = receivedata.mid(32,4).toInt(&ok, 16);
if(angleroll >= u16half){
angleroll -= u16;
}
angleroll = angleroll / 10.0;
}
// else if(temp==3)
// {
// altitude = receivedata.mid(32,4).toInt(&ok, 16);
// if(altitude >= u16half){
// altitude -= u16;
// }
// }