From 91534e59ac99449404bc9ad96696662044dd0afc Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期五, 10 一月 2020 17:04:04 +0800
Subject: [PATCH] s
---
lib/src/main/cpp/rtk_module/rtk.h | 33 +++++++-
lib/src/main/cpp/driver_test.cpp | 2
lib/src/main/cpp/rtk_platform/platform.h | 5
lib/src/main/cpp/rtk_module/rtk.cpp | 99 ++++++++++++------------
lib/src/main/cpp/driver_test.h | 17 ---
lib/src/main/cpp/rtk_platform/platform.cpp | 56 ++++++++++++-
6 files changed, 133 insertions(+), 79 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index 945f6bb..6232383 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -412,7 +412,7 @@
MA_SendExamStatus(1, 0);
}
-void UpdateRTKInfo(struct rtk_info *s)
+void UpdateRTKInfo(rtk_info *s)
{
struct tm test_tm;
diff --git a/lib/src/main/cpp/driver_test.h b/lib/src/main/cpp/driver_test.h
index 85ebb28..14e42e3 100644
--- a/lib/src/main/cpp/driver_test.h
+++ b/lib/src/main/cpp/driver_test.h
@@ -6,20 +6,7 @@
#define RTKDRIVERTEST_DRIVER_TEST_H
#include "Geometry.h"
-
-struct rtk_info {
- int YY;
- int MM;
- int DD;
- int hh;
- int mm;
- int ss;
- int dss;
- int qf;
- double heading;
- double x;
- double y;
-};
+#include "rtk_module/rtk.h"
#define TIRE_OUTSIDE 0
#define TIRE_INSIDE 1
@@ -54,7 +41,7 @@
void SetSensorCfg(int (*sensor)[2], int sensorNum);
void StartDriverExam(int start);
-void UpdateRTKInfo(struct rtk_info *s);
+void UpdateRTKInfo(rtk_info *s);
void UpdateCarCoord(void);
car_model_cache_t *GetCarModelCache(int node);
diff --git a/lib/src/main/cpp/rtk_module/rtk.cpp b/lib/src/main/cpp/rtk_module/rtk.cpp
index 6a2c6fe..8515bb4 100644
--- a/lib/src/main/cpp/rtk_module/rtk.cpp
+++ b/lib/src/main/cpp/rtk_module/rtk.cpp
@@ -38,8 +38,8 @@
static gpsStatus_t gpsStatus;
static int tra_hh, tra_mm, tra_ss, tra_dss;
-struct rtk_info CurrRTKInfo;
-static time_t recved_gprmc_time = 0, recved_gpgga_time = 0;;
+
+static rtk_info CurrRTKInfo;
static void CheckPjkParam(void);
static void CheckPjkParamTimeout(union sigval sig);
@@ -49,10 +49,12 @@
void ConfigRTKModule(void)
{
// TODO
+ DEBUG("ConfigRTKModule");
memset(&CurrRTKInfo, 0, sizeof(CurrRTKInfo));
tra_hh = tra_mm = tra_ss = tra_dss = 0;
memset(&gpsStatus, 0, sizeof(gpsStatus));
+ gpsStatus.hh = -1;
static struct serial_config serialConfig;
@@ -228,48 +230,38 @@
{
DEBUG("handleGPGGA num = %d", s->nmea_num);
if (s->nmea_num >= 10) {
+ gpsStatus.gps_status = str2int(s->nmea_value[5].data, s->nmea_value[5].length);
+
+ int hh = str2int(s->nmea_value[0].data, 2);
+ int mm = str2int(s->nmea_value[0].data + 2, 2);
+ int ss = str2int(s->nmea_value[0].data + 4, 2);
+ int mss = str2int(s->nmea_value[0].data + 7, 2);
+
double lat1, lat2, lon1, lon2, alt;
- int qf;
+ str2float(&lat1, s->nmea_value[1].data, 2);
+ str2float(&lat2, s->nmea_value[1].data+2, s->nmea_value[1].length-2);
- qf = str2int(s->nmea_value[5].data, s->nmea_value[5].length);
+ str2float(&lon1, s->nmea_value[3].data, 3);
+ str2float(&lon2, s->nmea_value[3].data+3, s->nmea_value[3].length-3);
- if (qf > 0) {
- str2float(&lat1, s->nmea_value[1].data, 2);
- str2float(&lat2, s->nmea_value[1].data+2, s->nmea_value[1].length-2);
+ lat1 = lat1 + lat2/60.0;
+ lon1 = lon1 + lon2/60.0;
- str2float(&lon1, s->nmea_value[3].data, 3);
- str2float(&lon2, s->nmea_value[3].data+3, s->nmea_value[3].length-3);
+ str2float(&alt, s->nmea_value[8].data, s->nmea_value[8].length);
- lat1 = lat1 + lat2/60.0;
- lon1 = lon1 + lon2/60.0;
+ gpsStatus.latitude = lat1;
+ gpsStatus.longitude = lon1;
+ gpsStatus.altitude = alt;
+ gpsStatus.satNum = str2int(s->nmea_value[6].data, s->nmea_value[6].length);
- str2float(&alt, s->nmea_value[8].data, s->nmea_value[8].length);
-
- gpsStatus.gps_status = 1;
- gpsStatus.latitude = (uint32_t)(lat1 * 1000000);
- gpsStatus.longitude = (uint32_t)(lon1 * 1000000);
-
-// char buff1[32] = {0};
-// char buff2[32] = {0};
-// char buff3[32] = {0};
-//
-// memcpy(buff1, s->nmea_value[1].data, s->nmea_value[1].length);
-// memcpy(buff2, s->nmea_value[3].data, s->nmea_value[3].length);
-// memcpy(buff3, s->nmea_value[8].data, s->nmea_value[8].length);
-//
-// DEBUG("%s %s %s: lat = %ld lon = %ld alt = %f", buff1, buff2, buff3, gpsStatus.latitude, gpsStatus.longitude, alt);
-
- gpsStatus.altitude = (int) fabs(alt);
-
- recved_gpgga_time = AppTimer_GetTickCount();
-
- if (abs(recved_gpgga_time - recved_gprmc_time) < 500) {
- RequestRtkDownload(gpsStatus.latitude, gpsStatus.longitude, gpsStatus.altitude,
- gpsStatus.bcd_time, 1);
- }
- } else {
- gpsStatus.gps_status = 0;
+ if (hh == gpsStatus.hh && mm == gpsStatus.mm && ss == gpsStatus.ss && mss == gpsStatus.mss) {
+ // 鍚屾鐨凴MC娑堟伅涔熸敹闆嗕簡
+ PlatformStatusChanged(GPS_UPDATE_EVT, (uint8_t *)&gpsStatus, sizeof(gpsStatus));
}
+ gpsStatus.hh = hh;
+ gpsStatus.mm = mm;
+ gpsStatus.ss = ss;
+ gpsStatus.mss = mss;
}
}
@@ -282,29 +274,32 @@
void handleGPRMC(const struct nmea *s)
{
DEBUG("handleGPRMC num = %d", s->nmea_num);
- if (s->nmea_num >= 9) {
+
+ if (s->nmea_num >= 9) {
int hh = str2int(s->nmea_value[0].data, 2);
int mm = str2int(s->nmea_value[0].data + 2, 2);
int ss = str2int(s->nmea_value[0].data + 4, 2);
+ int mss = str2int(s->nmea_value[0].data + 7, 2);
- int DD = str2int(s->nmea_value[8].data, 2);
- int MM = str2int(s->nmea_value[8].data + 2, 2);
- int YY = str2int(s->nmea_value[8].data + 4, 2);
+ gpsStatus.DD = str2int(s->nmea_value[8].data, 2);
+ gpsStatus.MM = str2int(s->nmea_value[8].data + 2, 2);
+ gpsStatus.YY = str2int(s->nmea_value[8].data + 4, 2);
- gpsStatus.bcd_time[0] = ((YY/10)<<4) + (YY%10);
- gpsStatus.bcd_time[1] = ((MM/10)<<4) + (MM%10);
- gpsStatus.bcd_time[2] = ((DD/10)<<4) + (DD%10);
- gpsStatus.bcd_time[3] = ((hh/10)<<4) + (hh%10);
- gpsStatus.bcd_time[4] = ((mm/10)<<4) + (mm%10);
- gpsStatus.bcd_time[5] = ((ss/10)<<4) + (ss%10);
+ double speed;
- recved_gprmc_time = AppTimer_GetTickCount();
+ str2float(&speed, s->nmea_value[6].data, s->nmea_value[6].length);
- if (abs(recved_gpgga_time - recved_gprmc_time) < 500) {
- RequestRtkDownload(gpsStatus.latitude, gpsStatus.longitude, gpsStatus.altitude,
- gpsStatus.bcd_time, 1);
+ gpsStatus.speed = speed * 1.85184; // 鑺� -> 鍏噷
+
+ if (hh == gpsStatus.hh && mm == gpsStatus.mm && ss == gpsStatus.ss && mss == gpsStatus.mss) {
+ // 鍚屾鐨凣GA娑堟伅涔熸敹闆嗕簡
+ PlatformStatusChanged(GPS_UPDATE_EVT, (uint8_t *)&gpsStatus, sizeof(gpsStatus));
}
+ gpsStatus.hh = hh;
+ gpsStatus.mm = mm;
+ gpsStatus.ss = ss;
+ gpsStatus.mss = mss;
}
}
@@ -379,6 +374,7 @@
// }
if (CurrRTKInfo.hh == tra_hh && CurrRTKInfo.mm == tra_mm && CurrRTKInfo.ss == tra_ss && CurrRTKInfo.dss == tra_dss) {
+ PlatformStatusChanged(RTK_UPDATE_EVT, (uint8_t *)&CurrRTKInfo, sizeof(CurrRTKInfo));
UpdateRTKInfo(&CurrRTKInfo);
// up_num++;
/*if ((up_num % 5) == 0)*/ {
@@ -400,6 +396,7 @@
// CurrRTKInfo.heading = 60;
if (CurrRTKInfo.hh == tra_hh && CurrRTKInfo.mm == tra_mm && CurrRTKInfo.ss == tra_ss && CurrRTKInfo.dss == tra_dss) {
+ PlatformStatusChanged(RTK_UPDATE_EVT, (uint8_t *)&CurrRTKInfo, sizeof(CurrRTKInfo));
UpdateRTKInfo(&CurrRTKInfo);
// up_num++;
/*if ((up_num % 5) == 0)*/ {
diff --git a/lib/src/main/cpp/rtk_module/rtk.h b/lib/src/main/cpp/rtk_module/rtk.h
index 72d80f8..99b0087 100644
--- a/lib/src/main/cpp/rtk_module/rtk.h
+++ b/lib/src/main/cpp/rtk_module/rtk.h
@@ -7,12 +7,37 @@
typedef struct {
uint16_t gps_status;
- uint32_t latitude;
- uint32_t longitude;
- uint16_t altitude;
- uint8_t bcd_time[6];
+ int YY;
+ int MM;
+ int DD;
+ int hh;
+ int mm;
+ int ss;
+ int mss;
+ int satNum;
+
+ double latitude;
+ double longitude;
+ double altitude;
+ double speed;
}gpsStatus_t;
+typedef struct {
+ int YY;
+ int MM;
+ int DD;
+ int hh;
+ int mm;
+ int ss;
+ int dss;
+ int qf;
+ double heading;
+ double pitch;
+ double roll;
+ double x;
+ double y;
+}rtk_info;
+
void ConfigRTKModule(void);
void FactorySettings(void);
void RebootModule(void);
diff --git a/lib/src/main/cpp/rtk_platform/platform.cpp b/lib/src/main/cpp/rtk_platform/platform.cpp
index 0ed3ff3..9658a15 100644
--- a/lib/src/main/cpp/rtk_platform/platform.cpp
+++ b/lib/src/main/cpp/rtk_platform/platform.cpp
@@ -7,6 +7,7 @@
#include <cstring>
#include <pthread.h>
#include <semaphore.h>
+#include <cmath>
#include "platform.h"
#include "../jni_log.h"
#include "../common/net.h"
@@ -51,8 +52,6 @@
uint32_t login : 1;
uint32_t downloadRtk : 1;
} platformStatus;
-
-
struct platformSocket exceptSocket, currSocket;
static uint32_t eventMask;
@@ -279,6 +278,39 @@
}
MA_RtkPlatformLogin(data[0]);
}
+ if (events & GPS_UPDATE_EVT) {
+ DEBUG("GPS_UPDATE_EVT");
+ const gpsStatus_t *gps = (gpsStatus_t *)data;
+ struct gpsBrief brief;
+
+ brief.qf = gps->gps_status;
+ brief.latitude = gps->latitude;
+ brief.longitude = gps->longitude;
+ brief.altitude = gps->altitude;
+ brief.speed = gps->speed;
+ brief.sat_num = gps->satNum;
+ sprintf(brief.utc, "%04d%02d%02d%02d%02d%02d.%02d", 2000 + gps->YY, gps->MM, gps->DD, gps->hh, gps->mm, gps->ss, gps->mss);
+
+ MA_SendGpsBrief(&brief);
+ RequestRtkDownload(gps, 1);
+ }
+ if (events & RTK_UPDATE_EVT) {
+ DEBUG("RTK_UPDATE_EVT");
+ const rtk_info *rtk = (rtk_info *)data;
+ struct rtkBrief brief;
+
+ brief.qf = rtk->qf;
+ brief.coord_x = rtk->x;
+ brief.coord_y = rtk->y;
+ brief.heading = rtk->heading;
+ brief.pitch = rtk->pitch;
+ brief.roll = rtk->roll;
+ brief.coord_x_dir = 'N';
+ brief.coord_y_dir = 'E';
+ sprintf(brief.utc, "%04d%02d%02d%02d%02d%02d.%02d", 2000 + rtk->YY, rtk->MM, rtk->DD, rtk->hh, rtk->mm, rtk->ss, rtk->dss);
+
+ MA_SendRtkBrief(&brief);
+ }
}
static void *PlatformDataListenThread(void *p) {
@@ -446,16 +478,28 @@
requestPlatformSendRtk = true;
}
-void RequestRtkDownload(uint32_t latitude, uint32_t longitude, uint16_t altitude,
- const uint8_t *bcd_time, uint16_t rtk_pkt_interval)
+void RequestRtkDownload(const gpsStatus_t *gps, uint16_t rtk_pkt_interval)
{
- if (requestPlatformSendRtk) {
- DisplayText("璇锋眰涓嬭浇RTK鏁版嵁");
+ if (requestPlatformSendRtk && gps->gps_status > 0) {
+ DEBUG("璇锋眰涓嬭浇RTK鏁版嵁");
requestPlatformSendRtk = false;
AppTimer_delete(RequestRtkNoResp);
AppTimer_add(RequestRtkNoResp, D_SEC(5));
+ uint32_t latitude = (uint32_t)(gps->latitude * 1000000);
+ uint32_t longitude = (uint32_t)(gps->longitude * 1000000);
+ int altitude = (int) fabs(gps->altitude);
+
+ uint8_t bcd_time[6];
+
+ bcd_time[0] = ((gps->YY/10)<<4) + (gps->YY%10);
+ bcd_time[1] = ((gps->MM/10)<<4) + (gps->MM%10);
+ bcd_time[2] = ((gps->DD/10)<<4) + (gps->DD%10);
+ bcd_time[3] = ((gps->hh/10)<<4) + (gps->hh%10);
+ bcd_time[4] = ((gps->mm/10)<<4) + (gps->mm%10);
+ bcd_time[5] = ((gps->ss/10)<<4) + (gps->ss%10);
+
SendRTKStart(latitude, longitude, altitude, bcd_time, rtk_pkt_interval);
}
}
diff --git a/lib/src/main/cpp/rtk_platform/platform.h b/lib/src/main/cpp/rtk_platform/platform.h
index 2175133..4008293 100644
--- a/lib/src/main/cpp/rtk_platform/platform.h
+++ b/lib/src/main/cpp/rtk_platform/platform.h
@@ -5,6 +5,8 @@
#ifndef RTKDRIVERTEST_PLATFORM_H
#define RTKDRIVERTEST_PLATFORM_H
+#include "../rtk_module/rtk.h"
+
#define PLATFORM_CONNECT_EVT 0x0001
#define PLATFORM_DISCONNECT_EVT 0x0002
#define PLATFORM_REGISTER_EVT 0x0004
@@ -35,8 +37,7 @@
void DeviceLoginCallback(uint8_t res);
void ReceivedRtk(const uint8_t *data, int length);
-void RequestRtkDownload(uint32_t latitude, uint32_t longitude, uint16_t altitude,
- const uint8_t *bcd_time, uint16_t rtk_pkt_interval);
+void RequestRtkDownload(const gpsStatus_t *gps, uint16_t rtk_pkt_interval);
void StopRtkDownload(void);
#endif //RTKDRIVERTEST_PLATFORM_H
--
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