witmotionDll/source/main.cpp

#include <QCoreApplication>
#include <QThread>

#include "witmotiondll.h"
#include "qtserialport.h"

#include "commandlineparser.h"

void delay_tc(uint32_t millisecond)
{
    QThread::msleep(millisecond);
//    std::cout<<"This is delay_tc!!!!!!!!!!"<<std::endl;
}

void printf_tc(const char* text)
{
    printf(text);
}

int main(int argc, char *argv[])
{
    QCoreApplication a(argc, argv);

    // 解析命令行参数
    QCommandLineParser parser;
    parser.setApplicationDescription("This software is used for config parameter for wit inertial navigation.");
    TcQuery query;
    QString errorMessage;

    switch (parseCommandLine2(parser, &query, &errorMessage))
    {
        case CommandLineOk:
            break;
        case CommandLineError:
            fputs(qPrintable(errorMessage), stderr);
            fputs("\n\n", stderr);
            fputs(qPrintable(parser.helpText()), stderr);
            return 1;
        case CommandLineVersionRequested:
            printf("%s %s\n", qPrintable(QCoreApplication::applicationName()),
                   qPrintable(QCoreApplication::applicationVersion()));
            return 0;
        case CommandLineHelpRequested:
            parser.showHelp();
            Q_UNREACHABLE();
    }

    SerialPortBase * serialPort = new QtSerialport();
    int ret = serialPort->OpenSerialPort(query.serialPort.toStdString(), query.connectBaudrate);//"COM15"
    if(ret)
    {
        std::cout<<"Serial port open failed!!"<<std::endl;
        return 1;
    }

    WitmotionDll * witmotion = new WitmotionDll(serialPort);
    witmotion->delayMsRegister(delay_tc);
    witmotion->printfRegister(printf_tc);
    witmotion->setDelayTimeMs(200);


    if(query.isSetAlgorithm)
    {
        witmotion->algorithm(query.algorithm);
    }

    if(query.isSetInstallationOrientation)
    {
        witmotion->installationOrientation(query.installationOrientation);
    }

    if(query.isSetTimeZone)
    {
        witmotion->setTimeZone(query.timeZone);
    }

    if(query.isSetDefaultReturnContent)
    {
        witmotion->setContent(query.defaultReturnContent);
    }




    if(query.isSetReturnRate)
    {
        witmotion->SetReturnRate(query.returnRate);
    }
    if(query.isSetDeviceAddress)
    {
        witmotion->SetDeviceAddress(query.deviceAddress);
    }



    if(query.isSetInterface_D0)
    {
        witmotion->setD0Model(query.modelForInterface_D0);
        witmotion->setD0HighLevelPulseWidth(query.pulseWidth_D0);
        witmotion->setD0Period(query.period_D0);
    }

    if(query.isSetInterface_D1)
    {
        witmotion->setD1Model(query.modelForInterface_D1);
        witmotion->setD1HighLevelPulseWidth(query.pulseWidth_D1);
        witmotion->setD1Period(query.period_D1);
    }

    if(query.isSetInterface_D2)
    {
        witmotion->setD2Model(query.modelForInterface_D2);
        witmotion->setD2HighLevelPulseWidth(query.pulseWidth_D2);
        witmotion->setD2Period(query.period_D2);
    }

    if(query.isSetInterface_D3)
    {
        witmotion->setD3Model(query.modelForInterface_D3);
        witmotion->setD3HighLevelPulseWidth(query.pulseWidth_D3);
        witmotion->setD3Period(query.period_D3);
    }
    if(query.isSetReturnRate)//设置witMotion的通讯速率要放在最后，它后面的设置都会失败
    {
        witmotion->SetReturnRate(query.returnRate);
    }
    if(query.isSetBaudrate)//设置witMotion的通讯速率要放在最后，它后面的设置都会失败
    {
        witmotion->SetBaudrate(query.baudrate);
       // serialPort->CloseSerialPort();//设置完波特率 已经无法通讯 需要重新简历连接
        serialPort->SetBaudrate(115200);
        //ret = serialPort->OpenSerialPort(query.serialPort.toStdString(), query.baudrate);//重新建立连接
        witmotion->saveInstruction();
    }


//    witmotion->recordData();
    std::cout<<"Set IMU OK"<<std::flush;
    serialPort->CloseSerialPort();

//    return a.exec();
}