add apollolib folder.

src/apollo/apollolib/hcp2/.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/apollo/apollolib/hcp2/hcp2.cpp

@@ -0,0 +1,192 @@
+#include "hcp2.h"
+
+
+
+static bool checknmeasen(const char * strsen,const unsigned int nlen)
+{
+    if(nlen< 4)return false;
+
+    int i;
+    char check;
+    int nstarpos = -1;
+    check = strsen[1]^strsen[2];
+    for(i=3;i<static_cast<int>(nlen);i++)
+    {
+        if(strsen[i] == '*')
+        {
+            nstarpos = i;
+            break;
+        }
+        check = check^strsen[i];
+    }
+    if(nstarpos < 0)return false;
+    if(nstarpos >(static_cast<int>(nlen) -3))return false;
+    char strcheck[3];
+    int ncheck = check;
+    snprintf(strcheck,3,"%02X",ncheck);
+    char strsencheck[3];
+    strsencheck[2] = 0;
+    strsencheck[0] = strsen[nstarpos + 1];
+    strsencheck[1] = strsen[nstarpos + 2];
+    if(strncmp(strcheck,strsencheck,2) == 0)
+    {
+   //     qDebug("  r sen is %s",strsen);
+        return true;
+    }
+
+    std::cout<<std::chrono::system_clock::now().time_since_epoch().count()<<" cal check is "<<strcheck<<" sen check is "<<strsencheck<<std::endl;
+
+//    qDebug("  sen is %s",strsen);
+    return false;
+}
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <fcntl.h>
+//#include <asm/termios.h>
+#include <termios.h>
+
+static void set_baudrate (struct termios *opt, unsigned int baudrate)
+{
+    cfsetispeed(opt, baudrate);
+    cfsetospeed(opt, baudrate);
+}
+
+static void set_data_bit (struct termios *opt, unsigned int databit)
+{
+    opt->c_cflag &= ~CSIZE;
+    switch (databit) {
+    case 8:
+        opt->c_cflag |= CS8;
+        break;
+    case 7:
+        opt->c_cflag |= CS7;
+        break;
+    case 6:
+        opt->c_cflag |= CS6;
+        break;
+    case 5:
+        opt->c_cflag |= CS5;
+        break;
+    default:
+        opt->c_cflag |= CS8;
+        break;
+    }
+
+}
+
+static void set_parity (struct termios *opt, char parity)
+{
+    switch (parity) {
+    case 'N':                  /* no parity check */
+        opt->c_cflag &= ~PARENB;
+        break;
+    case 'E':                  /* even */
+        opt->c_cflag |= PARENB;
+        opt->c_cflag &= ~PARODD;
+        break;
+    case 'O':                  /* odd */
+        opt->c_cflag |= PARENB;
+        opt->c_cflag |= ~PARODD;
+        break;
+    default:                   /* no parity check */
+        opt->c_cflag &= ~PARENB;
+        break;
+    }
+}
+
+static void set_stopbit (struct termios *opt, const char *stopbit)
+{
+    if (0 == strcmp (stopbit, "1")) {
+        opt->c_cflag &= ~CSTOPB; /* 1 stop bit */
+    }	else if (0 == strcmp (stopbit, "1")) {
+        opt->c_cflag &= ~CSTOPB; /* 1.5 stop bit */
+    }   else if (0 == strcmp (stopbit, "2")) {
+        opt->c_cflag |= CSTOPB;  /* 2 stop bits */
+    } else {
+        opt->c_cflag &= ~CSTOPB; /* 1 stop bit */
+    }
+}
+
+//https://blog.csdn.net/morixinguan/article/details/80898172
+//串口设置
+int  set_port_attr (
+              int fd,
+              int  baudrate,          // B1200 B2400 B4800 B9600 .. B115200
+              int  databit,           // 5, 6, 7, 8
+              const char *stopbit,    //  "1", "1.5", "2"
+              char parity,            // N(o), O(dd), E(ven)
+              int vtime,
+              int vmin )
+{
+     struct termios opt;
+     tcgetattr(fd, &opt);
+     //设置波特率
+     set_baudrate(&opt, baudrate);
+     opt.c_cflag 		 |= CLOCAL | CREAD;      /* | CRTSCTS */
+     //设置数据位
+     set_data_bit(&opt, databit);
+     //设置校验位
+     set_parity(&opt, parity);
+     //设置停止位
+     set_stopbit(&opt, stopbit);
+     //其它设置
+     opt.c_oflag 		 = 0;
+     opt.c_lflag            	|= 0;
+     opt.c_oflag          	&= ~OPOST;
+     opt.c_cc[VTIME]     	 = vtime;
+     opt.c_cc[VMIN]         	 = vmin;
+     tcflush (fd, TCIFLUSH);
+     return (tcsetattr (fd, TCSANOW, &opt));
+}
+
+hcp2::hcp2(std::string strportname)
+{
+    mstrportname = strportname;
+    mbthreadrun = true;
+    mpthread = new std::thread(&hcp2::threadrecv,this);
+}
+
+hcp2::~hcp2()
+{
+    mbthreadrun = false;
+    mpthread->join();
+}
+
+void hcp2::threadrecv()
+{
+    int fd;
+    int len, i,ret;
+    (void)i;
+    (void)ret;
+
+    fd = open(mstrportname.data(), O_RDWR | O_NOCTTY);
+        if(fd < 0) {
+                perror(mstrportname.data());
+                return;
+        }
+
+    set_port_attr(fd,B230400,8,"1",'N',0,0);
+
+    char strbuf[1000];
+    bool bSerialPortOpen  = true;
+    (void)bSerialPortOpen;
+
+    while(mbthreadrun)
+    {
+        len = read(fd, strbuf, 999);
+        if(len > 0)
+        {
+            strbuf[len] = 0;
+            mstrgpsdata = mstrgpsdata + strbuf;
+//            mstrHCP2.append(strbuf);
+//            SerialGPSDecode();
+        }
+        else
+        {
+            std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        }
+    }
+
+}

src/apollo/apollolib/hcp2/hcp2.h

@@ -0,0 +1,27 @@
+#ifndef HCP2_H
+#define HCP2_H
+
+
+#include <iostream>
+#include <string>
+#include <cstring>
+#include <thread>
+
+class  hcp2
+{
+public:
+    hcp2(std::string strportname);
+    ~hcp2();
+
+private:
+    bool mbthreadrun = true;
+    std::thread * mpthread;
+    std::string mstrportname;
+
+    std::string mstrgpsdata;
+
+private:
+    void threadrecv();
+};
+
+#endif // HCP2_H

src/apollo/apollolib/hcp2/hcp2.pro

@@ -0,0 +1,29 @@
+CONFIG -= qt
+
+TEMPLATE = lib
+DEFINES += HCP2_LIBRARY
+
+CONFIG += c++11
+
+# 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 += \
+    hcp2.cpp
+
+HEADERS += \
+    hcp2.h
+
+# Default rules for deployment.
+unix {
+    target.path = /usr/lib
+}
+!isEmpty(target.path): INSTALLS += target