地面站数据解析
HAOYI20181216_GC
thread.h
#ifndef THREAD_H #define THREAD_H #include <QThread> #include <QString> #include <QtSerialPort/QSerialPort> #include <QtSerialPort/QSerialPortInfo> #include <qfiledialog> #include <QSettings> #include <qdebug.h> #include <QTextCodec> #include "ui_mainwindow.h" class Thread : public QThread { Q_OBJECT public: Thread( QObject *parent); ~Thread(); void run(); void stopThread(); void comThreadInit(QString portName,int baudRate); void HAOYI_DT_Data_Receive_Prepare(quint8 data); void HAOYI_DT_Data_Receive_Prepare2(quint8 data);//对应购买的can口的通信协议 void HAOYI_DT_Data_Receive_Anl(quint8 *data_buf,quint8 num); void HAOYI_DT_Data_Receive_Anl2(quint8 *data_buf);//对应购买的can口的通信协议 float rec_lat,rec_lon; volatile bool stopped; QSerialPort *myCom;//串口变量 QTimer *myTime; public Q_SLOTS: void sendDateSlot(char *TxData,int num); void read_Data(); //读取数据 Q_SIGNALS: void sendATIOk(float roll,float pitch,float yaw,float current_Yaw); void send_Now_Atti(float roll,float pitch,float yaw,float target_Yaw); void send_Air_Rec_Commatti(float roll,float pitch,float yaw); void sendURGData(int data,int whitchnum); void transReceiveData(QByteArray requestData); void transTargetPosition(float lat,float lon); private: QByteArray requestData; }; #endif // THREAD_H
thread.cpp
#include "thread.h" #include "mainwindow.h" #include<qdebug.h> static int URGDataTemp[280]; Thread::Thread(QObject *parent) :QThread(parent) { qDebug()<<"begin"; myCom= new QSerialPort(); stopped = 1; } Thread::~Thread() { stopThread(); delete myCom; //执行delete时会调用析构函数 } void Thread::run() { QByteArray tempStr; char *ch;//不要定义成ch[n]; int bytenum = 0; qDebug()<<"run"; while(stopped) { // msleep(50); //delay 5ms comThreadState=1; qDebug()<<"running"; if(myCom->isOpen()) { // myTime = new QTimer();// // connect(myTime, SIGNAL(timeout()), this, SLOT(read_Data()));//也进行定时读取数据 // connect(myCom, SIGNAL(readyRead()), this, SLOT(read_Data())); //也可以按信号来接收 bytenum = myCom->bytesAvailable(); if(bytenum>=20) //限制频繁进行数据读取 { qDebug()<<"receiving"; tempStr= myCom->read(bytenum); if(!tempStr.isNull()){ Q_EMIT transReceiveData(tempStr);//可十六进制显示接收的内容 } ch = tempStr.data(); for(int i=0;i<bytenum;i++) { //数据间的相互转化的网址：http://blog.csdn.net/ymc0329/article/details/7284514 HAOYI_DT_Data_Receive_Prepare(*(ch+i)); } } } } } void Thread::read_Data() { QByteArray tempStr; char *ch;//不要定义成ch[n]; int bytenum = 0; bytenum = myCom->bytesAvailable(); if(bytenum>=30) //限制频繁进行数据读取 { qDebug()<<"receiving"; tempStr= myCom->read(bytenum); if(!tempStr.isNull()){ Q_EMIT transReceiveData(tempStr);//可十六进制显示接收的内容 } ch = tempStr.data(); for(int i=0;i<bytenum;i++) { //数据间的相互转化的网址：http://blog.csdn.net/ymc0329/article/details/7284514 HAOYI_DT_Data_Receive_Prepare(*(ch+i)); } } } void Thread::stopThread() { stopped = 0; QByteArray temp =myCom->readAll();//清除缓冲区数据 if(myCom->isOpen()) { myCom->close(); } } ///////////////////////////////////////////////////////////////////////////////////// //Data_Receive_Prepare函数是协议预解析，根据协议的格式，将收到的数据进行一次格式性解析，格式正确的话再进行数据解析 //移植时，此函数应由用户根据自身使用的通信方式自行调用，比如串口每收到一字节数据，则调用此函数一次 //此函数解析出符合格式的数据帧后，会自行调用数据解析函数 void Thread::HAOYI_DT_Data_Receive_Prepare(quint8 data) { //一次最大接收数据120个 static quint8 RxBuffer[120]; static quint8 _data_len = 0,_data_cnt = 0; static quint8 state = 0; if(state==0&&data==0xAA) { state=1; RxBuffer[0]=data; // qDebug()<< "0"; } else if((state==1)&&(data==0xAA)) { state=2; RxBuffer[1]=data; // qDebug()<< "1"; } else if(state==2&&(data==0XC0||data==0X05)) { state=3; RxBuffer[2]=data; // qDebug()<< "2"; } else if(state==3&&data<60) { state = 4; RxBuffer[3]=data; //数据长度 _data_len = data; _data_cnt = 0; // qDebug()<< "3"; } else if(state==4&&_data_len>0) { _data_len--; RxBuffer[4+_data_cnt++]=data; //存储数据 if(_data_len==0){state = 5;} } else if(state==5) { // qDebug()<< "n"; state = 0; RxBuffer[4+_data_cnt]=data; //应该是最后一个数据 HAOYI_DT_Data_Receive_Anl(RxBuffer,_data_cnt+5); } else state = 0; } //该协议解析对应于购买的那个CAN转串口的那个模块 void Thread::HAOYI_DT_Data_Receive_Prepare2(quint8 data) { //一次最大接收数据120个 static quint8 RxBuffer[120]; static quint8 _data_len = 0,_data_cnt = 0; static quint8 state = 0; if(state==0&&data==0xD1) { state=1; RxBuffer[0]=data; } else if(state==0&&data==0xD2) { state=11; RxBuffer[0]=data; } else if((state==1)&&(data==0x0F)) { state=21; RxBuffer[1]=data; } else if((state==11)&&(data==0xD2)) { state=12; RxBuffer[1]=data; } else if((state==12)&&(data==0xD2)) { state=13; RxBuffer[2]=data; _data_len = 5; _data_cnt = 0; } else if(state==13) { _data_len--; RxBuffer[3+_data_cnt++]=data; if(_data_len==1){state = 14;} } else if(state==14) { state = 0; RxBuffer[4+_data_cnt]=data; //应该是最后一个数据 HAOYI_DT_Data_Receive_Anl2(RxBuffer); } else if((state==1)&&(data==0x0A||data==0x00)) { state=22; RxBuffer[1]=data; } else if((state==1)&&(data==0xAA)) { state=22; RxBuffer[1]=data; } else if(state==21&&(data==0XC0)) { state=31; RxBuffer[2]=data; _data_len = 8; _data_cnt = 0; } else if(state==22&&(data==0X00)) { state=32; RxBuffer[2]=data; _data_len = 8; _data_cnt = 0; } else if(state==22&&(data==0X0A)) { state=32; RxBuffer[2]=data; _data_len = 8; _data_cnt = 0; } else if(state==31) { _data_len--; RxBuffer[3+_data_cnt++]=data; if(_data_len==1){state = 41;} } else if(state==32) { _data_len--; RxBuffer[3+_data_cnt++]=data; if(_data_len==1){state = 42;} } else if(state==41) { state = 0; RxBuffer[4+_data_cnt]=data; //应该是最后一个数据 HAOYI_DT_Data_Receive_Anl2(RxBuffer); } else if(state==42) { state = 0; RxBuffer[4+_data_cnt]=data; //应该是最后一个数据 HAOYI_DT_Data_Receive_Anl2(RxBuffer); } else state = 0; } void Thread::HAOYI_DT_Data_Receive_Anl2(quint8 *data_buf) { float commRoll,commPitch,commYaw,current_Yaw; float now_roll,now_pitch,now_yaw,target_yaw; float air_rec_roll,air_rec_pitch,air_rec_yaw; if(!((*(data_buf)==0xD1||*(data_buf)==0xD2) && (*(data_buf+1)==0x0F||*(data_buf+1)==0x0A||*(data_buf+1)==0xAA||*(data_buf+1)==0x00||*(data_buf+1)==0xD2))) return; //判断帧头 if(*(data_buf+2)==0X00&&*(data_buf+1)==0X0A) //接收姿态命令信息 { quint8 sum = 0; for(qint8 i=3;i<9;i++) { sum += *(data_buf+i); } if(!(sum==*(data_buf+9))) return; //判断sum //这里存在一个量纲的变化 commRoll=0.01*((qint16)(*(data_buf+3)<< 8 | *(data_buf+4))); commPitch=0.01*((qint16)(*(data_buf+5)<< 8 | *(data_buf+6))); commYaw=0.01*((qint16)(*(data_buf+7)<< 8 | *(data_buf+8))); current_Yaw=10; Q_EMIT sendATIOk(commRoll,commPitch,commYaw,current_Yaw); } else if(*(data_buf+2)==0X00&&*(data_buf+1)==0X00) //接收当前姿态信息 { quint8 sum = 0; for(qint8 i=3;i<9;i++) { sum += *(data_buf+i); } if(!(sum==*(data_buf+9))) return; //判断sum now_roll=(qint16)(*(data_buf+3)); now_pitch=(qint16)(*(data_buf+4)); now_yaw=((qint16)(*(data_buf+5)<< 8 | *(data_buf+6))); target_yaw=((qint16)(*(data_buf+7)<< 8 | *(data_buf+8))); Q_EMIT send_Now_Atti(now_roll,now_pitch,now_yaw,target_yaw); } else if(*(data_buf+2)==0XC0)//接收激光雷达数据，这里不是 { quint8 sum = 0; for(qint8 t=3;t<8;t++) { sum += *(data_buf+t); } if(!(sum==*(data_buf+8))) return; //判断sum URGDataTemp[*(data_buf+7)]=(int)((*(data_buf+3)<< 24) |(*(data_buf+4)<< 16) | (*(data_buf+5) << 8) |*(data_buf+6)); Q_EMIT sendURGData(URGDataTemp[*(data_buf+7)],(int)*(data_buf+7)); } else if(*(data_buf+2)==0X0A)//接收查询回复的目标position { rec_lat=(float)((int)((*(data_buf+3)<< 24) |(*(data_buf+4)<< 16) | (*(data_buf+5) << 8) |*(data_buf+6))*0.0000001f); rec_lon=(float)((int)((*(data_buf+7)<< 24) |(*(data_buf+8)<< 16) | (*(data_buf+9) << 8) |*(data_buf+10))*0.0000001f); Q_EMIT transTargetPosition(rec_lat,rec_lon); } else if(*(data_buf+2)==0XD2)//接收飞机穿过来的飞机接收到的姿态命令 { quint8 sum = 0; for(qint8 t=3;t<7;t++) { sum += *(data_buf+t); } if(!(sum==*(data_buf+7))) return; //判断sum air_rec_roll=(float)(*(data_buf+3)); air_rec_pitch=(float)(*(data_buf+4)); air_rec_yaw=(float)(*(data_buf+5)<<8|*(data_buf+6)); qDebug()<< "air_rec_roll is"<< air_rec_roll<< "air_rec_pitch is"<< air_rec_pitch<<"air_rec_yaw is"<< air_rec_yaw; Q_EMIT send_Air_Rec_Commatti(air_rec_roll,air_rec_pitch,air_rec_yaw); } } ///////////////////////////////////////////////////////////////////////////////////// //Data_Receive_Anl函数是协议数据解析函数，函数参数是符合协议格式的一个数据帧，该函数会首先对协议数据进行校验 //校验通过后对数据进行解析，实现相应功能 //此函数可以不用用户自行调用，由函数Data_Receive_Prepare自动调用 void Thread::HAOYI_DT_Data_Receive_Anl(quint8 *data_buf,quint8 num) { quint8 sum = 0; float commRoll,commPitch,commYaw,current_Yaw; for(qint8 i=0;i<(num-1);i++) sum += *(data_buf+i); if(!(sum==*(data_buf+num-1))) return; //判断sum if(!(*(data_buf)==0xAA && *(data_buf+1)==0xAA)) return; //判断帧头 if(*(data_buf+2)==0X05) //接收姿态命令信息 { //这里存在一个量纲的变化 commRoll=0.01*((qint16)(*(data_buf+4)<< 8 | *(data_buf+5)));//将其缩放回原来的倍数 commPitch=0.01*((qint16)(*(data_buf+6)<< 8 | *(data_buf+7))); commYaw=0.01*((qint16)(*(data_buf+8)<< 8 | *(data_buf+9))); current_Yaw=0.01*((qint16)(*(data_buf+10)<< 8 | *(data_buf+11))); qDebug()<<"have data"; Q_EMIT sendATIOk(commRoll,commPitch,commYaw,current_Yaw);//在主界面和激光雷达画布上接收该信号 } else if(*(data_buf+2)==0XC0)//接收激光雷达数据，yes { // qDebug()<< "got URG!"; if(*(data_buf+4)<0) *(data_buf+4)=0; if(*(data_buf+4)>31) *(data_buf+4)=31; for(qint8 i=0;i<8;i++) { URGDataTemp[*(data_buf+4)*8+i]=(quint16)( (*(data_buf+5+2*i) << 8) |*(data_buf+6+2*i)); Q_EMIT sendURGData(URGDataTemp[*(data_buf+4)*8+i],(*(data_buf+4)*8+i)); } } } void Thread::comThreadInit(QString portName,int baudRate) { qDebug()<<"connected"; // myCom= new QSerialPort(); if(myCom->isOpen()) { myCom->close(); } stopped = 1; myCom->setPortName(portName); myCom->open(QIODevice::ReadWrite); myCom->setBaudRate(baudRate); myCom->setDataBits(QSerialPort::Data8);//数据位8位 myCom->setParity(QSerialPort::NoParity) ;//无奇偶校验 myCom->setStopBits(QSerialPort::OneStop);//停止位1位 myCom->setFlowControl(QSerialPort::NoFlowControl);//无流控制 qDebug()<< baudRate<< portName; } void Thread::sendDateSlot(char *TxData,int num) { myCom->write(TxData,num); qDebug()<<"send aaaa"; }
