add adapi_driver_gps_python.

src/api/adapi_driver_camera/main.cpp

@@ -12,7 +12,6 @@
 
 static void * gpa;
 
-
 static void CallDetect(iv::vision::rawpic & xrawpic)
 {
     cv::Mat mat(xrawpic.height(),xrawpic.width(),xrawpic.mattype());

src/api/adapi_driver_gps/.gitignore

@@ -0,0 +1,73 @@
+# This file is used to ignore files which are generated
+# ----------------------------------------------------------------------------
+
+*~
+*.autosave
+*.a
+*.core
+*.moc
+*.o
+*.obj
+*.orig
+*.rej
+*.so
+*.so.*
+*_pch.h.cpp
+*_resource.rc
+*.qm
+.#*
+*.*#
+core
+!core/
+tags
+.DS_Store
+.directory
+*.debug
+Makefile*
+*.prl
+*.app
+moc_*.cpp
+ui_*.h
+qrc_*.cpp
+Thumbs.db
+*.res
+*.rc
+/.qmake.cache
+/.qmake.stash
+
+# qtcreator generated files
+*.pro.user*
+
+# xemacs temporary files
+*.flc
+
+# Vim temporary files
+.*.swp
+
+# Visual Studio generated files
+*.ib_pdb_index
+*.idb
+*.ilk
+*.pdb
+*.sln
+*.suo
+*.vcproj
+*vcproj.*.*.user
+*.ncb
+*.sdf
+*.opensdf
+*.vcxproj
+*vcxproj.*
+
+# MinGW generated files
+*.Debug
+*.Release
+
+# Python byte code
+*.pyc
+
+# Binaries
+# --------
+*.dll
+*.exe
+

src/api/adapi_driver_gps/Readme.md

@@ -0,0 +1,5 @@
+
+protoc -I=./ --cpp_out=./ gpsimu.proto
+
+
+

src/api/adapi_driver_gps/adapi_driver_gps.pro

@@ -0,0 +1,31 @@
+QT -= gui
+
+CONFIG += c++11 console
+CONFIG -= app_bundle
+
+# The following define makes your compiler emit warnings if you use
+# any Qt feature that has been marked deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+        gpsimu.pb.cc \
+        main.cpp
+
+# Default rules for deployment.
+qnx: target.path = /tmp/$${TARGET}/bin
+else: unix:!android: target.path = /opt/$${TARGET}/bin
+!isEmpty(target.path): INSTALLS += target
+
+LIBS += -lprotobuf
+
+LIBS += -L$$PWD -lmodulecomm
+
+HEADERS += \
+    gpsimu.pb.h

src/api/adapi_driver_gps/gpsimu.proto

@@ -0,0 +1,82 @@
+syntax = "proto2";
+
+package iv.gps;
+
+message pos_accuracy_def
+{
+ optional double latstd = 1;
+ optional double lonstd = 2;
+ optional double hstd = 3;
+};
+
+message vel_accuracy_def
+{
+ optional double vnstd = 1;
+ optional double vestd = 2;
+ optional double vdstd = 3;
+};
+
+message pose_accuracy_def
+{
+ optional double rollstd = 1;
+ optional double pitchstd = 2;
+ optional double yawstd = 3;
+};
+
+message dev_temp_def
+{
+ optional double temp = 1;
+};
+
+message gps_state_def
+{
+ optional int32 pos_state = 1;
+ optional int32 satnum = 2;
+ optional int32 heading_state = 3;
+};
+
+message wheel_state_def
+{
+ optional int32 wheeldata = 1;
+};
+
+
+
+message gpsimu
+{
+ optional double pitch = 1;
+ optional double roll = 2;
+ optional double heading = 3;
+ optional double gyro_x = 4; //惯导x轴角速度
+ optional double gyro_y = 5; //惯导y轴角速度
+ optional double gyro_z = 6; //惯导z轴角速度
+ optional double acce_x = 7;
+ optional double acce_y = 8;
+ optional double acce_z = 9;
+ optional double lat = 10;
+ optional double lon = 11;
+ optional double height = 12;
+ optional double vn = 13;//北向速度
+ optional double ve = 14;//东向速度
+ optional double vd = 15;//地向速度
+ optional int32 state = 16;
+ optional int32 type = 17;
+ optional pos_accuracy_def pos_accuracy = 18;
+ optional vel_accuracy_def vel_accuracy = 19;
+ optional dev_temp_def dev_temp = 20;
+ optional gps_state_def gps_state = 21;
+ optional wheel_state_def wheel_state = 22;
+ optional double time = 23;
+ optional bytes check = 24;
+ optional pose_accuracy_def pose_accuracy = 25;
+ optional int64 msgtime = 26;
+ optional double rtk_state = 27;
+ optional double ins_state = 28;
+ optional double acc_calc = 29;
+ optional int32 satnum1 = 30;
+ optional int32 satnum2 = 31;
+ optional int32 gpsweek = 32; //from 1980-1-6 weeks.
+ optional int32 gpstime = 33; //from sunday 0:00:00 seconds.
+ optional double speed = 34;
+
+};

src/api/adapi_driver_gps/main.cpp

@@ -0,0 +1,31 @@
+#include <QCoreApplication>
+
+#include <iostream>
+#include "modulecomm.h"
+#include "gpsimu.pb.h"
+
+static void * gpa;
+
+void Listengpsimu(const char * strdata,const unsigned int nSize,const unsigned int index,
+               const QDateTime * dt,const char * strmemname)
+{
+    (void)index; (void)dt;  (void)strmemname;
+    iv::gps::gpsimu xgpsimu;
+    if(false == xgpsimu.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<"Listengpsimu fail."<<std::endl;
+        return;
+    }
+//    std::cout<<"Longitude: "<<xgpsimu.lon()<<"Lattitude: "<<xgpsimu.lat()<<std::endl;
+
+}
+
+
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
+
+    gpa = iv::modulecomm::RegisterRecv("hcp2_gpsimu",Listengpsimu);
+
+    return a.exec();
+}

src/api/adapi_driver_gps_python/PyModuleCommModule.py

@@ -0,0 +1,91 @@
+
+import threading  
+import time  
+
+import modulecommpython
+import numpy as np  
+
+
+modulelock = threading.Lock()  
+nThread = 0
+  
+class PyModuleComm:  
+    def __init__(self,strname):  
+        # 初始化代码...  
+        print("name: ",strname)
+        self.strmemname = strname
+        self.mbRegister = False
+        global nThread
+        nThread = nThread+1
+        self.mnMode = 0
+        print("nThread = ",nThread)
+        self.obj = modulecommpython.get_ca_object()
+        pass  
+
+    def RegisterRecv(self,call):
+        if self.mbRegister:
+            print(" Have register, can't register other.")
+            return
+        print("Register: ",self.strmemname)
+        self.mpcall = call
+        self.mbRegister = True
+        self.mbRun = True
+        self.mpthread = threading.Thread(target=self.threadrecvdata, args=(self.strmemname,))  
+        self.mpthread.start()
+        print("complete create thread.")
+        self.mnMode = 1
+        self.obj.RegisterRecv(self.strmemname)
+
+    def RegiseterSend(self,nSize,nPacCount):
+        if self.mbRegister:
+            print(" Have register, can't register other.")
+            return
+        print("Register: ",self.strmemname)
+        self.mnsize = nSize
+        self.mnPacCount = nPacCount
+        self.mbRegister = True
+        self.mnMode = 2
+        self.obj.RegisterSend(self.strmemname,nSize,nPacCount)
+    
+    def SendData(self,arr,nsendsize):      
+    #    nrealsize = np.zeros(1, dtype=np.int32)  
+        nrtn = self.obj.SendData(arr,nsendsize)
+  
+    def threadrecvdata(self, arg):  
+        # 这个函数将被线程执行  
+ #       print(f"线程开始执行，参数是 {arg}")  
+        nBuffSize = int(1000)
+        arr = np.zeros(nBuffSize,dtype=np.int8)
+        recvtime = np.zeros(1,dtype=np.int64)
+        nrealsize = np.zeros(1,dtype=np.int32)
+        while self.mbRun:
+            nrtn = self.obj.RecvData(arr,nBuffSize,nrealsize,recvtime)
+            if nrtn > 0:
+                self.mpcall(arr,nrtn,recvtime)
+            else:
+                pass
+            if nrtn < 0:
+                nBuffSize = int(nrealsize[0] * 2)
+                arr = np.zeros(nBuffSize,dtype=np.int8)
+            else:
+                time.sleep(0.001)
+            
+        print("threadrecvdata complete.")
+
+    def stop_thread(self):
+        self.mbRun = False
+        self.mpthread.join()
+  
+    def start_thread(self, arg):  
+        # 创建线程对象，target参数指向要在线程中运行的函数  
+        self.mbRun = True
+        self.mpthread = threading.Thread(target=self.my_function, args=(arg,))  
+          
+        # 启动线程  
+        self.mpthread.start()  
+          
+        # 可以在这里添加其他代码，主线程会继续执行  
+        print("主线程继续执行...")  
+  
+        # 如果需要等待线程结束，可以调用 join() 方法  
+        # thread.join()  

src/api/adapi_driver_gps_python/Readme.md

@@ -0,0 +1,2 @@
+protoc *.proto -I=./ --python_out=./
+

src/api/adapi_driver_gps_python/gpsimu.proto

@@ -0,0 +1,82 @@
+syntax = "proto2";
+
+package iv.gps;
+
+message pos_accuracy_def
+{
+ optional double latstd = 1;
+ optional double lonstd = 2;
+ optional double hstd = 3;
+};
+
+message vel_accuracy_def
+{
+ optional double vnstd = 1;
+ optional double vestd = 2;
+ optional double vdstd = 3;
+};
+
+message pose_accuracy_def
+{
+ optional double rollstd = 1;
+ optional double pitchstd = 2;
+ optional double yawstd = 3;
+};
+
+message dev_temp_def
+{
+ optional double temp = 1;
+};
+
+message gps_state_def
+{
+ optional int32 pos_state = 1;
+ optional int32 satnum = 2;
+ optional int32 heading_state = 3;
+};
+
+message wheel_state_def
+{
+ optional int32 wheeldata = 1;
+};
+
+
+
+message gpsimu
+{
+ optional double pitch = 1;
+ optional double roll = 2;
+ optional double heading = 3;
+ optional double gyro_x = 4; //惯导x轴角速度
+ optional double gyro_y = 5; //惯导y轴角速度
+ optional double gyro_z = 6; //惯导z轴角速度
+ optional double acce_x = 7;
+ optional double acce_y = 8;
+ optional double acce_z = 9;
+ optional double lat = 10;
+ optional double lon = 11;
+ optional double height = 12;
+ optional double vn = 13;//北向速度
+ optional double ve = 14;//东向速度
+ optional double vd = 15;//地向速度
+ optional int32 state = 16;
+ optional int32 type = 17;
+ optional pos_accuracy_def pos_accuracy = 18;
+ optional vel_accuracy_def vel_accuracy = 19;
+ optional dev_temp_def dev_temp = 20;
+ optional gps_state_def gps_state = 21;
+ optional wheel_state_def wheel_state = 22;
+ optional double time = 23;
+ optional bytes check = 24;
+ optional pose_accuracy_def pose_accuracy = 25;
+ optional int64 msgtime = 26;
+ optional double rtk_state = 27;
+ optional double ins_state = 28;
+ optional double acc_calc = 29;
+ optional int32 satnum1 = 30;
+ optional int32 satnum2 = 31;
+ optional int32 gpsweek = 32; //from 1980-1-6 weeks.
+ optional int32 gpstime = 33; //from sunday 0:00:00 seconds.
+ optional double speed = 34;
+
+};

src/api/adapi_driver_gps_python/pythongps.py

@@ -0,0 +1,39 @@
+import modulecommpython
+import numpy as np  
+import time
+import sys  
+import gpsimu_pb2
+
+from PyModuleCommModule import PyModuleComm
+
+time_gpsimu = 0
+msg_gpsimu = gpsimu_pb2.gpsimu()
+
+def gpsimu_callback(arr : np,nsize,time):  
+    global msg_gpsimu
+    global time_gpsimu
+    sub_arr = arr[0:nsize]
+    databytes = sub_arr.tobytes()
+    msg = gpsimu_pb2.gpsimu()
+    msg.ParseFromString(databytes)
+    msg_gpsimu = msg
+    time_gpsimu = time
+ #   print("lon: ",msg.lon)
+
+def main():  
+
+    mc = PyModuleComm("hcp2_gpsimu")
+    mc.RegisterRecv(gpsimu_callback)
+
+    try:
+        while True:
+            time.sleep(0.05)  # 模拟程序正在工作
+    except KeyboardInterrupt:
+        print("\n捕获到 Ctrl+C，程序正在退出...")
+        mc.stop_thread()
+    finally:
+        print("程序退出完成。")
+  
+# 调用main函数  
+if __name__ == "__main__":  
+    main()