免费的行情软件网站不下载,推广公司的新产品英语,wordpress做管理网站,详情页尺寸详见昨天做的测试代码#xff0c;代码网址#xff1a;BWS2000倾角传感器c测试代码【2】-CSDN博客文章浏览阅读268次#xff0c;点赞7次#xff0c;收藏8次。倾角传感器测试与编写思路https://blog.csdn.net/m0_47489229/article/details/135128748
问题一#xff1a;新的…
详见昨天做的测试代码代码网址BWS2000倾角传感器c测试代码【2】-CSDN博客文章浏览阅读268次点赞7次收藏8次。倾角传感器测试与编写思路https://blog.csdn.net/m0_47489229/article/details/135128748
问题一新的问题出现---存在时间延缓的问题
昨天的代码今天打开之后再进行测试出现了一个问题就是当移动倾角传感器之后可以见到传感器显示的数值变化是比实际慢很多的可以明显看出来。
由于昨天的代码存在相应的时间延迟不方便后面进行传感器的时间同步。我的思路是搞个多线程
由于倾角传感器存在时间延迟的问题但是厂家给出的软件之中并不存在时间延迟的问题。所以为了解决这个问题我的想法是创建一个线程进行实时处理传输的接口信息对于通信接口进行连接判断。连接的瞬间就进行数据处理。
写个测试案例 首先创建一个线程实时监督接口与进行数据处理 void sensorThread()
{std::cout std::endl;std::cout 开始采集 std::endl;int i 0;while (1){ReadFile(hSerial, dataReceived, sizeof(dataReceived), bytesRead, NULL);auto startTime std::chrono::high_resolution_clock::now();for (int i 0; i sizeof(dataReceived); i) {printf(%02X , dataReceived[i]);}bool flag1 false;int flag;for (int i 0; i sizeof(dataReceived); i) {if (dataReceived[i] 0x77 dataReceived[i 1] 0x10 dataReceived[i 2] 0x00 dataReceived[i 3] 0xFFFFFF84){flag1 true;flag i;break;}}std::cout std::endl;//std::this_thread::sleep_for(std::chrono::milliseconds(4000));if (flag1 true){//x轴// Given hexadecimal valuesint hexValues[] { dataReceived[flag 5] 0xFF, dataReceived[flag 6] 0xFF, dataReceived[flag 7] 0xFF };int hexValues1[] { dataReceived[flag 9] 0xFF, dataReceived[flag 10] 0xFF, dataReceived[flag 11] 0xFF };int numValues sizeof(hexValues) / sizeof(hexValues[0]);std::stringstream ss;ss std::setfill(0) std::setw(2) std::hex hexValues[0];for (int i 1; i numValues; i) {ss . std::setw(2) std::hex hexValues[i];}std::string resultString ss.str();std::string inputString resultString;std::string outputString;size_t firstDotIndex inputString.find(.);size_t secondDotIndex inputString.find(., firstDotIndex 1);if (firstDotIndex ! std::string::npos secondDotIndex ! std::string::npos) {outputString inputString.substr(0, secondDotIndex) inputString.substr(secondDotIndex 1);}else {outputString inputString;}double resultDouble std::stod(outputString);if (dataReceived[flag 4] 0x00){Sensor_Angle_RX0 resultDouble;}else{Sensor_Angle_RX0 -resultDouble;}std::cout x轴角度 Sensor_Angle_RX0 std::endl;//Y轴int numValues1 sizeof(hexValues1) / sizeof(hexValues1[0]);std::stringstream ss1;ss1 std::setfill(0) std::setw(2) std::hex hexValues1[0];for (int i 1; i numValues1; i) {ss1 . std::setw(2) std::hex hexValues1[i];}std::string resultString1 ss1.str();std::string inputString1 resultString1;std::string outputString1;size_t firstDotIndex1 inputString1.find(.);size_t secondDotIndex1 inputString1.find(., firstDotIndex1 1);if (firstDotIndex1 ! std::string::npos secondDotIndex1 ! std::string::npos) {outputString1 inputString1.substr(0, secondDotIndex1) inputString1.substr(secondDotIndex1 1);}else {outputString1 inputString1;}double resultDouble1 std::stod(outputString1);if (dataReceived[flag 8] 0x00){Sensor_Angle_RY0 resultDouble1;}else{Sensor_Angle_RY0 -resultDouble1;}std::cout y轴: Sensor_Angle_RY0 std::endl;// 计算执行代码所花费的时间auto endTime std::chrono::high_resolution_clock::now();auto duration std::chrono::duration_caststd::chrono::milliseconds(endTime - startTime);// 计算需要延迟的时间int delay interval - duration.count();//std::cout delay std::endl;if (delay interval){std::cout 频率正确 std::endl;}else if (delay 0) {// 延迟执行std::this_thread::sleep_for(std::chrono::milliseconds(delay));std::cout 频率正确 std::endl;}else if (delay 0){std::cout 时间不够ms*************************************** delay std::endl;//std::this_thread::sleep_for(std::chrono::milliseconds(200000000));}}}//std::this_thread::sleep_for(std::chrono::milliseconds(2000));}在主函数函数之中对于接口进行初步的数据处理 int main()
{// 创建传感器数据读取线程std::thread sensorThreadObj(sensorThread);//CString str123 strValue1;//CString strA(COM10);//CString strB(\\\\.\\);//strB strA;//const char* portName strB.GetString();//strB.ReleaseBuffer();//strA.ReleaseBuffer();wchar_t portName[] L\\\\.\\COM10; // Note the L before the stringhSerial CreateFile(\\\\.\\COM10, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);if (hSerial INVALID_HANDLE_VALUE) {if (GetLastError() ERROR_FILE_NOT_FOUND) {std::cout Serial port not available. std::endl;}return 1;}dcbSerialParams.DCBlength sizeof(dcbSerialParams);if (!GetCommState(hSerial, dcbSerialParams)) {std::cout Error getting serial port state. std::endl;CloseHandle(hSerial);return 1;}dcbSerialParams.BaudRate CBR_9600;dcbSerialParams.ByteSize 8;dcbSerialParams.StopBits ONESTOPBIT;dcbSerialParams.Parity NOPARITY;if (!SetCommState(hSerial, dcbSerialParams)) {std::cout Error setting serial port state. std::endl;CloseHandle(hSerial);return 1;}timeouts.ReadIntervalTimeout 500;timeouts.ReadTotalTimeoutConstant 500;timeouts.ReadTotalTimeoutMultiplier 100;timeouts.WriteTotalTimeoutConstant 500;timeouts.WriteTotalTimeoutMultiplier 100;if (!SetCommTimeouts(hSerial, timeouts)){std::cout Error setting timeouts. std::endl;CloseHandle(hSerial);return 1;}//默认为9600的时候进行对话模式char command_R4[] { 0x77, 0x05, 0x00, 0x0C, 0x00, 0x11 };if (!WriteFile(hSerial, command_R4, sizeof(command_R4), bytesWritten4, NULL)) {std::cout 第一次9600的对话模式配置失败 std::endl;CloseHandle(hSerial);return 1;}if (!ReadFile(hSerial, dataReceived, sizeof(dataReceived), bytesRead, NULL)) {std::cout 第一次9600的对话模式数据读取失败. std::endl;CloseHandle(hSerial);return 1;}std::cout 第一次初始波特率: dcbSerialParams.BaudRate std::endl;for (int i 0; i sizeof(dataReceived); i) {printf(%02X , dataReceived[i]);}bool exists false; // 标志位记录元素是否存在int falsecount 0;// 循环遍历数组while (!exists) {for (int i 0; i sizeof(dataReceived); i) {printf(%02X , dataReceived[i]);}for (int i 0; i sizeof(dataReceived); i) {if (dataReceived[i] 0x77 dataReceived[i 3] 0xFFFFFF8C) {exists true; // 元素存在设置标志位为truestd::cout falsecount std::endl;std::cout 应答模式配置成功 std::endl;//std::this_thread::sleep_for(std::chrono::milliseconds(400000));break; // 跳出for循环}}if (exists){break;}if (!exists) {falsecount;if (falsecount 2)//说明原有配置是115200波特率{dcbSerialParams.BaudRate CBR_115200;dcbSerialParams.ByteSize 8;dcbSerialParams.StopBits ONESTOPBIT;dcbSerialParams.Parity NOPARITY;if (!SetCommState(hSerial, dcbSerialParams)) {std::cout Error setting serial port state. std::endl;CloseHandle(hSerial);return 1;}timeouts.ReadIntervalTimeout 500;timeouts.ReadTotalTimeoutConstant 500;timeouts.ReadTotalTimeoutMultiplier 100;timeouts.WriteTotalTimeoutConstant 500;timeouts.WriteTotalTimeoutMultiplier 100;if (!SetCommTimeouts(hSerial, timeouts)){std::cout Error setting timeouts. std::endl;CloseHandle(hSerial);return 1;}}if (!WriteFile(hSerial, command_R4, sizeof(command_R4), bytesWritten4, NULL)) {std::cout 115200的对话模式配置失败. std::endl;CloseHandle(hSerial);return 1;}if (!ReadFile(hSerial, dataReceived, sizeof(dataReceived), bytesRead, NULL)) {std::cout 115200的对话模式回复失败. std::endl;CloseHandle(hSerial);return 1;}}}//设置频率为115200char command_R1[] { 0x77, 0x05, 0x00, 0x0B, 0x04, 0x14 };//115200 if (!WriteFile(hSerial, command_R1, sizeof(command_R1), bytesWritten1, NULL)){std::cout Error writing to serial port. std::endl;CloseHandle(hSerial);return 1;}if (!ReadFile(hSerial, dataReceived, sizeof(dataReceived), bytesRead, NULL)){std::cout Error reading from serial port. std::endl;CloseHandle(hSerial);return 1;}exists false;while (!exists){for (int i 0; i sizeof(dataReceived); i) {printf(%02X , dataReceived[i]);}for (int i 0; i sizeof(dataReceived); i) {if (dataReceived[i] 0x77 dataReceived[i 3] 0xFFFFFF8B) {//设置成功exists true; // 元素存在设置标志位为truestd::cout 115200波特率配置成功 std::endl;break; // 跳出for循环}}if (exists){break;}if (!exists) {if (!WriteFile(hSerial, command_R1, sizeof(command_R1), bytesWritten1, NULL)) {std::cout Error writing to serial port. std::endl;CloseHandle(hSerial);return 1;}if (!ReadFile(hSerial, dataReceived, sizeof(dataReceived), bytesRead, NULL)) {std::cout Error reading from serial port. std::endl;CloseHandle(hSerial);return 1;}std::cout 重复配置115200波特率 std::endl;// 可以在这里添加需要执行的语句std::this_thread::sleep_for(std::chrono::milliseconds(4000));}}//00-11:应答模式 05-50Hz 04-25Hz//06-100 05-50 04-25 char command_R3[] { 0x77, 0x05, 0x00, 0x0C, 0x03, 0x14 };//50Hzif (!WriteFile(hSerial, command_R3, sizeof(command_R3), bytesWritten3, NULL)) {std::cout Error writing to serial port. std::endl;CloseHandle(hSerial);return 1;}if (!ReadFile(hSerial, dataReceived, sizeof(dataReceived), bytesRead, NULL)) {std::cout Error reading from serial port. std::endl;CloseHandle(hSerial);return 1;}for (int i 0; i sizeof(dataReceived); i) {printf(%02X , dataReceived[i]);}exists false;while (!exists) {for (int i 0; i sizeof(dataReceived); i) {printf(%02X , dataReceived[i]);}for (int i 0; i sizeof(dataReceived); i) {if (dataReceived[i] 0x77 dataReceived[i3] 0xFFFFFF8C) {//设置成功exists true; // 元素存在设置标志位为truestd::cout 50Hz配置成功 std::endl;break; // 跳出for循环}}if (exists){break;}if (!exists) {if (!WriteFile(hSerial, command_R3, sizeof(command_R3), bytesWritten3, NULL)) {std::cout Error writing to serial port. std::endl;CloseHandle(hSerial);return 1;}if (!ReadFile(hSerial, dataReceived, sizeof(dataReceived), bytesRead, NULL)) {std::cout Error reading from serial port. std::endl;CloseHandle(hSerial);return 1;}std::cout 元素不存在继续执行某条语句... std::endl;// 可以在这里添加需要执行的语句}}//sensorThreadObj.join();return 0;
}
完整代码段
#include Windows.h#include iostream
#include iomanip
#include iostream
#include chrono
#include thread
#include iostream
#include iomanip
#include iostream
#include sstream
#include iomanipHANDLE hSerial;
DCB dcbSerialParams { 0 };
COMMTIMEOUTS timeouts { 0 };
DWORD bytesRead, bytesRead1, bytesWritten, bytesWritten1, bytesWritten2, bytesWritten3, bytesWritten4, bytesWritten5, response_R1;char command_R[] { 0x77, 0x04, 0x00, 0x04, 0x08 };//读X、Y轴角度 发送命令 77 04 00 04 08
char response_R[34];
double Sensor_Angle_RX0;
double Sensor_Angle_RY0;char dataReceived[34];
const int interval 100;void sensorThread()
{std::cout std::endl;std::cout 开始采集 std::endl;int i 0;while (1){auto startTime std::chrono::high_resolution_clock::now();ReadFile(hSerial, dataReceived, sizeof(dataReceived), bytesRead, NULL);for (int i 0; i sizeof(dataReceived); i) {printf(%02X , dataReceived[i]);}bool flag1 false;int flag;for (int i 0; i sizeof(dataReceived); i) {if (dataReceived[i] 0x77 dataReceived[i 1] 0x10 dataReceived[i 2] 0x00 dataReceived[i 3] 0xFFFFFF84){flag1 true;flag i;break;}}std::cout std::endl;//std::this_thread::sleep_for(std::chrono::milliseconds(4000));if (flag1 true){//x轴// Given hexadecimal valuesint hexValues[] { dataReceived[flag 5] 0xFF, dataReceived[flag 6] 0xFF, dataReceived[flag 7] 0xFF };int hexValues1[] { dataReceived[flag 9] 0xFF, dataReceived[flag 10] 0xFF, dataReceived[flag 11] 0xFF };int numValues sizeof(hexValues) / sizeof(hexValues[0]);std::stringstream ss;ss std::setfill(0) std::setw(2) std::hex hexValues[0];for (int i 1; i numValues; i) {ss . std::setw(2) std::hex hexValues[i];}std::string resultString ss.str();std::string inputString resultString;std::string outputString;size_t firstDotIndex inputString.find(.);size_t secondDotIndex inputString.find(., firstDotIndex 1);if (firstDotIndex ! std::string::npos secondDotIndex ! std::string::npos) {outputString inputString.substr(0, secondDotIndex) inputString.substr(secondDotIndex 1);}else {outputString inputString;}double resultDouble std::stod(outputString);if (dataReceived[flag 4] 0x00){Sensor_Angle_RX0 resultDouble;}else{Sensor_Angle_RX0 -resultDouble;}std::cout x轴角度 Sensor_Angle_RX0 std::endl;//Y轴int numValues1 sizeof(hexValues1) / sizeof(hexValues1[0]);std::stringstream ss1;ss1 std::setfill(0) std::setw(2) std::hex hexValues1[0];for (int i 1; i numValues1; i) {ss1 . std::setw(2) std::hex hexValues1[i];}std::string resultString1 ss1.str();std::string inputString1 resultString1;std::string outputString1;size_t firstDotIndex1 inputString1.find(.);size_t secondDotIndex1 inputString1.find(., firstDotIndex1 1);if (firstDotIndex1 ! std::string::npos secondDotIndex1 ! std::string::npos) {outputString1 inputString1.substr(0, secondDotIndex1) inputString1.substr(secondDotIndex1 1);}else {outputString1 inputString1;}double resultDouble1 std::stod(outputString1);if (dataReceived[flag 8] 0x00){Sensor_Angle_RY0 resultDouble1;}else{Sensor_Angle_RY0 -resultDouble1;}std::cout y轴: Sensor_Angle_RY0 std::endl;// 计算执行代码所花费的时间auto endTime std::chrono::high_resolution_clock::now();auto duration std::chrono::duration_caststd::chrono::milliseconds(endTime - startTime);// 计算需要延迟的时间int delay interval - duration.count();//std::cout delay std::endl;if (delay interval){std::cout 频率正确 std::endl;}else if (delay 0) {// 延迟执行std::this_thread::sleep_for(std::chrono::milliseconds(delay));std::cout 频率正确 std::endl;}else if (delay 0){std::cout 时间不够ms*************************************** delay std::endl;//std::this_thread::sleep_for(std::chrono::milliseconds(200000000));}}}//std::this_thread::sleep_for(std::chrono::milliseconds(2000));}int main()
{// 创建传感器数据读取线程std::thread sensorThreadObj(sensorThread);//CString str123 strValue1;//CString strA(COM10);//CString strB(\\\\.\\);//strB strA;//const char* portName strB.GetString();//strB.ReleaseBuffer();//strA.ReleaseBuffer();wchar_t portName[] L\\\\.\\COM10; // Note the L before the stringhSerial CreateFile(\\\\.\\COM10, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);if (hSerial INVALID_HANDLE_VALUE) {if (GetLastError() ERROR_FILE_NOT_FOUND) {std::cout Serial port not available. std::endl;}return 1;}dcbSerialParams.DCBlength sizeof(dcbSerialParams);if (!GetCommState(hSerial, dcbSerialParams)) {std::cout Error getting serial port state. std::endl;CloseHandle(hSerial);return 1;}dcbSerialParams.BaudRate CBR_9600;dcbSerialParams.ByteSize 8;dcbSerialParams.StopBits ONESTOPBIT;dcbSerialParams.Parity NOPARITY;if (!SetCommState(hSerial, dcbSerialParams)) {std::cout Error setting serial port state. std::endl;CloseHandle(hSerial);return 1;}timeouts.ReadIntervalTimeout 500;timeouts.ReadTotalTimeoutConstant 500;timeouts.ReadTotalTimeoutMultiplier 100;timeouts.WriteTotalTimeoutConstant 500;timeouts.WriteTotalTimeoutMultiplier 100;if (!SetCommTimeouts(hSerial, timeouts)){std::cout Error setting timeouts. std::endl;CloseHandle(hSerial);return 1;}//默认为9600的时候进行对话模式char command_R4[] { 0x77, 0x05, 0x00, 0x0C, 0x00, 0x11 };if (!WriteFile(hSerial, command_R4, sizeof(command_R4), bytesWritten4, NULL)) {std::cout 第一次9600的对话模式配置失败 std::endl;CloseHandle(hSerial);return 1;}if (!ReadFile(hSerial, dataReceived, sizeof(dataReceived), bytesRead, NULL)) {std::cout 第一次9600的对话模式数据读取失败. std::endl;CloseHandle(hSerial);return 1;}std::cout 第一次初始波特率: dcbSerialParams.BaudRate std::endl;for (int i 0; i sizeof(dataReceived); i) {printf(%02X , dataReceived[i]);}bool exists false; // 标志位记录元素是否存在int falsecount 0;// 循环遍历数组while (!exists) {for (int i 0; i sizeof(dataReceived); i) {printf(%02X , dataReceived[i]);}for (int i 0; i sizeof(dataReceived); i) {if (dataReceived[i] 0x77 dataReceived[i 3] 0xFFFFFF8C) {exists true; // 元素存在设置标志位为truestd::cout falsecount std::endl;std::cout 应答模式配置成功 std::endl;//std::this_thread::sleep_for(std::chrono::milliseconds(400000));break; // 跳出for循环}}if (exists){break;}if (!exists) {falsecount;if (falsecount 2)//说明原有配置是115200波特率{dcbSerialParams.BaudRate CBR_115200;dcbSerialParams.ByteSize 8;dcbSerialParams.StopBits ONESTOPBIT;dcbSerialParams.Parity NOPARITY;if (!SetCommState(hSerial, dcbSerialParams)) {std::cout Error setting serial port state. std::endl;CloseHandle(hSerial);return 1;}timeouts.ReadIntervalTimeout 500;timeouts.ReadTotalTimeoutConstant 500;timeouts.ReadTotalTimeoutMultiplier 100;timeouts.WriteTotalTimeoutConstant 500;timeouts.WriteTotalTimeoutMultiplier 100;if (!SetCommTimeouts(hSerial, timeouts)){std::cout Error setting timeouts. std::endl;CloseHandle(hSerial);return 1;}}if (!WriteFile(hSerial, command_R4, sizeof(command_R4), bytesWritten4, NULL)) {std::cout 115200的对话模式配置失败. std::endl;CloseHandle(hSerial);return 1;}if (!ReadFile(hSerial, dataReceived, sizeof(dataReceived), bytesRead, NULL)) {std::cout 115200的对话模式回复失败. std::endl;CloseHandle(hSerial);return 1;}}}//设置频率为115200char command_R1[] { 0x77, 0x05, 0x00, 0x0B, 0x04, 0x14 };//115200 if (!WriteFile(hSerial, command_R1, sizeof(command_R1), bytesWritten1, NULL)){std::cout Error writing to serial port. std::endl;CloseHandle(hSerial);return 1;}if (!ReadFile(hSerial, dataReceived, sizeof(dataReceived), bytesRead, NULL)){std::cout Error reading from serial port. std::endl;CloseHandle(hSerial);return 1;}exists false;while (!exists){for (int i 0; i sizeof(dataReceived); i) {printf(%02X , dataReceived[i]);}for (int i 0; i sizeof(dataReceived); i) {if (dataReceived[i] 0x77 dataReceived[i 3] 0xFFFFFF8B) {//设置成功exists true; // 元素存在设置标志位为truestd::cout 115200波特率配置成功 std::endl;break; // 跳出for循环}}if (exists){break;}if (!exists) {if (!WriteFile(hSerial, command_R1, sizeof(command_R1), bytesWritten1, NULL)) {std::cout Error writing to serial port. std::endl;CloseHandle(hSerial);return 1;}if (!ReadFile(hSerial, dataReceived, sizeof(dataReceived), bytesRead, NULL)) {std::cout Error reading from serial port. std::endl;CloseHandle(hSerial);return 1;}std::cout 重复配置115200波特率 std::endl;// 可以在这里添加需要执行的语句std::this_thread::sleep_for(std::chrono::milliseconds(4000));}}//00-11:应答模式 05-50Hz 04-25Hz//06-100 05-50 04-25 char command_R3[] { 0x77, 0x05, 0x00, 0x0C, 0x03, 0x14 };//50Hzif (!WriteFile(hSerial, command_R3, sizeof(command_R3), bytesWritten3, NULL)) {std::cout Error writing to serial port. std::endl;CloseHandle(hSerial);return 1;}if (!ReadFile(hSerial, dataReceived, sizeof(dataReceived), bytesRead, NULL)) {std::cout Error reading from serial port. std::endl;CloseHandle(hSerial);return 1;}for (int i 0; i sizeof(dataReceived); i) {printf(%02X , dataReceived[i]);}exists false;while (!exists) {for (int i 0; i sizeof(dataReceived); i) {printf(%02X , dataReceived[i]);}for (int i 0; i sizeof(dataReceived); i) {if (dataReceived[i] 0x77 dataReceived[i3] 0xFFFFFF8C) {//设置成功exists true; // 元素存在设置标志位为truestd::cout 50Hz配置成功 std::endl;break; // 跳出for循环}}if (exists){break;}if (!exists) {if (!WriteFile(hSerial, command_R3, sizeof(command_R3), bytesWritten3, NULL)) {std::cout Error writing to serial port. std::endl;CloseHandle(hSerial);return 1;}if (!ReadFile(hSerial, dataReceived, sizeof(dataReceived), bytesRead, NULL)) {std::cout Error reading from serial port. std::endl;CloseHandle(hSerial);return 1;}std::cout 元素不存在继续执行某条语句... std::endl;// 可以在这里添加需要执行的语句}}//sensorThreadObj.join();return 0;
}我不知道为啥程序可以正常运行但是时间过长的情况下偶尔会出现下面的这个问题如果哪个大佬要是知道可以告诉我一下学习学习 问题二界面化设计简化版
前面已经完成了对于倾角传感器初步的设定与时间延缓问题的补偿下一步需要对于倾角传感器的界面进行设计了。不写那么复杂直接就是连接之后实时显示。 其中Combo Box的ID我设置为IDC_COMBO1。x轴、y轴控件之间添加变量为m_x11、x_x22。可以见到在.h文件之中生成绑定变量。
在.h之中添加自己想要的变量。
HANDLE hSerial_L;DCB dcbSerialParams_L { 0 };COMMTIMEOUTS timeouts_L { 0 };DWORD bytesRead_L, bytesRead_L1, bytesWritten, bytesWritten1, bytesWritten2, bytesWritten3, bytesWritten4, bytesWritten5, response_R1;char dataReceived[34];const int interval 100;char dataReceived_L[23];
在.cpp的初始化函数OnInit之中添加线程监控与按钮初始化
AfxBeginThread(ReadCom1Thread, this);CComboBox* pCombo_S_L (CComboBox*)GetDlgItem(IDC_COMBO1);pCombo_S_L-AddString(_T(断开连接));pCombo_S_L-AddString(_T(COM1));pCombo_S_L-AddString(_T(COM2));pCombo_S_L-AddString(_T(COM3));pCombo_S_L-AddString(_T(COM4));pCombo_S_L-AddString(_T(COM5));pCombo_S_L-AddString(_T(COM6));pCombo_S_L-AddString(_T(COM7));pCombo_S_L-AddString(_T(COM8));pCombo_S_L-AddString(_T(COM9));pCombo_S_L-AddString(_T(COM10));pCombo_S_L-AddString(_T(COM11));pCombo_S_L-AddString(_T(COM12));pCombo_S_L-AddString(_T(COM13));pCombo_S_L-AddString(_T(COM14));pCombo_S_L-AddString(_T(COM15));pCombo_S_L-AddString(_T(COM16));pCombo_S_L-AddString(_T(COM17));pCombo_S_L-AddString(_T(COM18));pCombo_S_L-AddString(_T(COM19));pCombo_S_L-AddString(_T(COM20));pCombo_S_L-SetCurSel(0);
线程函数如下所示 volatile bool bThreadRunning1 false; // 线程1运行标志
//UINT CMFCApplication1Dlg::ReadCom1Thread(LPVOID pParam)
UINT ReadCom1Thread(LPVOID pParam)
{CMFCApplication1Dlg* pDlg (CMFCApplication1Dlg*)pParam;CString strText;bThreadRunning1 true;double LX, LY;std::cout std::endl;std::cout 开始采集 std::endl;int i 0;while (1){auto startTime std::chrono::high_resolution_clock::now();ReadFile(pDlg-hSerial_L, pDlg-dataReceived, sizeof(pDlg-dataReceived), (pDlg-bytesRead_L), NULL);for (int i 0; i sizeof(pDlg-dataReceived); i) {printf(%02X , pDlg-dataReceived[i]);}bool flag1 false;int flag;for (int i 0; i sizeof(pDlg-dataReceived); i) {if (pDlg-dataReceived[i] 0x77 pDlg-dataReceived[i 1] 0x10 pDlg-dataReceived[i 2] 0x00 pDlg-dataReceived[i 3] 0xFFFFFF84){flag1 true;flag i;break;}}std::cout std::endl;//std::this_thread::sleep_for(std::chrono::milliseconds(4000));if (flag1 true){//x轴// Given hexadecimal valuesint hexValues[] { pDlg-dataReceived[flag 5] 0xFF, pDlg-dataReceived[flag 6] 0xFF, pDlg-dataReceived[flag 7] 0xFF };int hexValues1[] { pDlg-dataReceived[flag 9] 0xFF, pDlg-dataReceived[flag 10] 0xFF, pDlg-dataReceived[flag 11] 0xFF };int numValues sizeof(hexValues) / sizeof(hexValues[0]);std::stringstream ss;ss std::setfill(0) std::setw(2) std::hex hexValues[0];for (int i 1; i numValues; i) {ss . std::setw(2) std::hex hexValues[i];}std::string resultString ss.str();std::string inputString resultString;std::string outputString;size_t firstDotIndex inputString.find(.);size_t secondDotIndex inputString.find(., firstDotIndex 1);if (firstDotIndex ! std::string::npos secondDotIndex ! std::string::npos) {outputString inputString.substr(0, secondDotIndex) inputString.substr(secondDotIndex 1);}else {outputString inputString;}double resultDouble std::stod(outputString);if (pDlg-dataReceived[flag 4] 0x00){LX resultDouble;}else{LX -resultDouble;}//Y轴int numValues1 sizeof(hexValues1) / sizeof(hexValues1[0]);std::stringstream ss1;ss1 std::setfill(0) std::setw(2) std::hex hexValues1[0];for (int i 1; i numValues1; i) {ss1 . std::setw(2) std::hex hexValues1[i];}std::string resultString1 ss1.str();std::string inputString1 resultString1;std::string outputString1;size_t firstDotIndex1 inputString1.find(.);size_t secondDotIndex1 inputString1.find(., firstDotIndex1 1);if (firstDotIndex1 ! std::string::npos secondDotIndex1 ! std::string::npos) {outputString1 inputString1.substr(0, secondDotIndex1) inputString1.substr(secondDotIndex1 1);}else {outputString1 inputString1;}double resultDouble1 std::stod(outputString1);if (pDlg-dataReceived[flag 8] 0x00){LY resultDouble1;}else{LY -resultDouble1;}CString strValue;strValue.Format(_T(%.4f°), LX); // 将 double 值转换成字符串保留四位小数pDlg-m_x11.ResetContent();pDlg-m_x11.AddString(strValue); // 将字符串添加到 ListBox 中CString strValue1;strValue1.Format(_T(%.4f°), LY); // 将 double 值转换成字符串保留四位小数pDlg-m_x22.ResetContent();pDlg-m_x22.AddString(strValue1); // 将字符串添加到 ListBox 中// 计算执行代码所花费的时间auto endTime std::chrono::high_resolution_clock::now();auto duration std::chrono::duration_caststd::chrono::milliseconds(endTime - startTime);// 计算需要延迟的时间int delay pDlg-interval - duration.count();//std::cout delay std::endl;if (delay pDlg-interval){std::cout 频率正确 std::endl;}else if (delay 0) {// 延迟执行std::this_thread::sleep_for(std::chrono::milliseconds(delay));std::cout 频率正确 std::endl;}else if (delay 0){std::cout 时间不够ms*************************************** delay std::endl;//std::this_thread::sleep_for(std::chrono::milliseconds(200000000));}}}//// 关闭串口1CloseHandle(pDlg-hSerial_L);return 0;
}
双击COM口选择控件添加如下函数 void CMFCApplication1Dlg::OnCbnSelchangeCombo1()
{// TODO: 在此添加控件通知处理程序代码// TODO: 在此添加控件通知处理程序代码CComboBox* pCombo12 (CComboBox*)GetDlgItem(IDC_COMBO1);CString strValue1;pCombo12-GetLBText(pCombo12-GetCurSel(), strValue1);CString vl11 strValue1;CStringA strA(strValue1);CStringA strB(\\\\.\\);strB strA;const char* portName strB.GetString();// 释放 portName 的资源strB.ReleaseBuffer();strA.ReleaseBuffer();CString duankai(断开连接);if (vl11 duankai){MessageBox(L断开与倾角传感器的连接);}else{CStringW widePortName(portName);hSerial_L CreateFile(widePortName, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);//hSerial CreateFile(portName, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);if (hSerial_L INVALID_HANDLE_VALUE) {if (GetLastError() ERROR_FILE_NOT_FOUND) {std::cout Serial port not available. std::endl;}}dcbSerialParams_L.DCBlength sizeof(dcbSerialParams_L);if (!GetCommState(hSerial_L, dcbSerialParams_L)) {std::cout Error getting serial port state. std::endl;CloseHandle(hSerial_L);}dcbSerialParams_L.BaudRate CBR_9600;dcbSerialParams_L.ByteSize 8;dcbSerialParams_L.StopBits ONESTOPBIT;dcbSerialParams_L.Parity NOPARITY;if (!SetCommState(hSerial_L, dcbSerialParams_L)) {std::cout Error setting serial port state. std::endl;CloseHandle(hSerial_L);}timeouts_L.ReadIntervalTimeout 500;timeouts_L.ReadTotalTimeoutConstant 500;timeouts_L.ReadTotalTimeoutMultiplier 100;timeouts_L.WriteTotalTimeoutConstant 500;timeouts_L.WriteTotalTimeoutMultiplier 100;if (!SetCommTimeouts(hSerial_L, timeouts_L)){std::cout Error setting timeouts. std::endl;CloseHandle(hSerial_L);}//默认为9600的时候进行对话模式char command_R4[] { 0x77, 0x05, 0x00, 0x0C, 0x00, 0x11 };if (!WriteFile(hSerial_L, command_R4, sizeof(command_R4), bytesWritten4, NULL)) {std::cout 第一次9600的对话模式配置失败 std::endl;CloseHandle(hSerial_L);}if (!ReadFile(hSerial_L, dataReceived_L, sizeof(dataReceived_L), bytesRead_L, NULL)) {std::cout 第一次9600的对话模式数据读取失败. std::endl;CloseHandle(hSerial_L);}std::cout 第一次初始波特率: dcbSerialParams_L.BaudRate std::endl;for (int i 0; i sizeof(dataReceived_L); i) {printf(%02X , dataReceived_L[i]);}bool exists false; // 标志位记录元素是否存在int falsecount 0;// 循环遍历数组while (!exists) {for (int i 0; i sizeof(dataReceived_L); i) {printf(%02X , dataReceived_L[i]);}for (int i 0; i sizeof(dataReceived_L); i) {if (dataReceived_L[i] 0x77 dataReceived_L[i 3] 0xFFFFFF8C) {exists true; // 元素存在设置标志位为truestd::cout falsecount std::endl;std::cout 应答模式配置成功 std::endl;//std::this_thread::sleep_for(std::chrono::milliseconds(400000));break; // 跳出for循环}}if (exists){break;}if (!exists) {falsecount;if (falsecount 2)//说明原有配置是115200波特率{dcbSerialParams_L.BaudRate CBR_115200;dcbSerialParams_L.ByteSize 8;dcbSerialParams_L.StopBits ONESTOPBIT;dcbSerialParams_L.Parity NOPARITY;if (!SetCommState(hSerial_L, dcbSerialParams_L)) {std::cout Error setting serial port state. std::endl;CloseHandle(hSerial_L);}timeouts_L.ReadIntervalTimeout 500;timeouts_L.ReadTotalTimeoutConstant 500;timeouts_L.ReadTotalTimeoutMultiplier 100;timeouts_L.WriteTotalTimeoutConstant 500;timeouts_L.WriteTotalTimeoutMultiplier 100;if (!SetCommTimeouts(hSerial_L, timeouts_L)){std::cout Error setting timeouts. std::endl;CloseHandle(hSerial_L);}}if (!WriteFile(hSerial_L, command_R4, sizeof(command_R4), bytesWritten4, NULL)) {std::cout 115200的对话模式配置失败. std::endl;CloseHandle(hSerial_L);}if (!ReadFile(hSerial_L, dataReceived_L, sizeof(dataReceived_L), bytesRead_L, NULL)) {std::cout 115200的对话模式回复失败. std::endl;CloseHandle(hSerial_L);}}}//设置频率为115200char command_R1[] { 0x77, 0x05, 0x00, 0x0B, 0x04, 0x14 };//115200 if (!WriteFile(hSerial_L, command_R1, sizeof(command_R1), bytesWritten1, NULL)){std::cout Error writing to serial port. std::endl;CloseHandle(hSerial_L);}if (!ReadFile(hSerial_L, dataReceived_L, sizeof(dataReceived_L), bytesRead_L, NULL)){std::cout Error reading from serial port. std::endl;CloseHandle(hSerial_L);}exists false;while (!exists){for (int i 0; i sizeof(dataReceived_L); i) {printf(%02X , dataReceived_L[i]);}for (int i 0; i sizeof(dataReceived_L); i) {if (dataReceived_L[i] 0x77 dataReceived_L[i 3] 0xFFFFFF8B) {//设置成功exists true; // 元素存在设置标志位为truestd::cout 115200波特率配置成功 std::endl;break; // 跳出for循环}}if (exists){break;}if (!exists) {if (!WriteFile(hSerial_L, command_R1, sizeof(command_R1), bytesWritten1, NULL)) {std::cout Error writing to serial port. std::endl;CloseHandle(hSerial_L);}if (!ReadFile(hSerial_L, dataReceived_L, sizeof(dataReceived_L), bytesRead_L, NULL)) {std::cout Error reading from serial port. std::endl;CloseHandle(hSerial_L);}std::cout 重复配置115200波特率 std::endl;// 可以在这里添加需要执行的语句}}//00-11:应答模式 05-50Hz 04-25Hz//06-100 05-50 04-25 char command_R3[] { 0x77, 0x05, 0x00, 0x0C, 0x03, 0x14 };//50Hzif (!WriteFile(hSerial_L, command_R3, sizeof(command_R3), bytesWritten3, NULL)) {std::cout Error writing to serial port. std::endl;CloseHandle(hSerial_L);}if (!ReadFile(hSerial_L, dataReceived_L, sizeof(dataReceived_L), bytesRead_L, NULL)) {std::cout Error reading from serial port. std::endl;CloseHandle(hSerial_L);}for (int i 0; i sizeof(dataReceived_L); i) {printf(%02X , dataReceived_L[i]);}exists false;while (!exists) {for (int i 0; i sizeof(dataReceived_L); i) {printf(%02X , dataReceived_L[i]);}for (int i 0; i sizeof(dataReceived_L); i) {if (dataReceived_L[i] 0x77 dataReceived_L[i 3] 0xFFFFFF8C) {//设置成功exists true; // 元素存在设置标志位为truestd::cout 50Hz配置成功 std::endl;break; // 跳出for循环}}if (exists){break;}if (!exists) {if (!WriteFile(hSerial_L, command_R3, sizeof(command_R3), bytesWritten3, NULL)) {std::cout Error writing to serial port. std::endl;CloseHandle(hSerial_L);;}if (!ReadFile(hSerial_L, dataReceived_L, sizeof(dataReceived_L), bytesRead_L, NULL)) {std::cout Error reading from serial port. std::endl;CloseHandle(hSerial_L);}std::cout 元素不存在继续执行某条语句... std::endl;// 可以在这里添加需要执行的语句}}}} 实时读取界面完成。
问题三时间同步问题
因为在实际的使用过程之中需要用到的数据不可能只是一个倾角传感器的数据如何进行多传感器的时间的同步是一个比较重要的问题。
针对于这个时间帧对齐方式当存在多个传感器的时候多个传感器的输出频率是不一致的情况下最佳的方式是将其频率调节到整数倍的情况下。然后使用插值的方式使得其帧率变为一致的情况。
以相机而言如下所示可以调用相机的SDK进行人为设置相机的帧率。 可以见到相应的相机的帧率是稳定不变的以将相机与倾角传感器时间帧进行对齐为例。首先选定一个参考物也就是所谓的时间的参考物我是以相机为参考时间的将倾角传感器的频率设置为100Hz由于此处我是将receive的长度设置为34也就是采集长度的二倍因此实际输出的频率为原来的1/2也就是50Hz。这样做的目的是方式出现丢帧的问题
我的想法是使用时间戳的方式进行对齐首先将相机的帧率设置为10FPS需要进行注意的是相机设置为10FPS的过程相机是逐渐成为10FPS的有一个时间延迟延迟一段时间并且记录下此时的时间戳t1。同理倾角传感器在进行采集的过程之中也是存在相应的时间延迟延迟之后记录下此时的时间戳t2。
其含义为相机在t1时刻以后以10Hz的频率进行采集倾角传感器在t2时刻以后以50Hz的频率进行采集。其中10Hz对应100ms/次50Hz对应20ms/次。其中如何对齐后面再想。
