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serial.c
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serial.c
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#include "windows.h"
#include"winsock2.h"
#include "niimaq.h"
#include "nivision.h"
#include "formatio.h"
#include <cvirte.h>
#include <userint.h>
#include <utility.h>
#include <ansi_c.h>
#include "MPlay.h"
#include "serial.h"
#include"mbsupp.h"
static int panelHandle;
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <windows.h>
#include "asynctmr.h"
#include "UDP.h"
#include <rs232.h>
#include <formatio.h>
#include <math.h>
/* Image scale. */
#define IMAGE_SCALE 0.5
double Time = 0.0;
double TimeWait = 0.0;
double TotalReplay = 0.0;
double ImageScale = IMAGE_SCALE;
long n = 0;
long ExtendedAttrib = 0;
long NbFrames = 0;
long Selection = 1;
long LicenseModules = 0;
int nCount;
POINT Hor[2];
POINT Ver[2];
SIZE TxtSz;
RECT Txt;
Rect circle;
long ImageWidth, ImageHeight;
long TransparentColor;
int panel_handle,
config_handle,
scan_handle,
cage_handle,
track_handle,
adjust_handle;
scope_handle,
yzmb_handle,
cam_handle,
comport,
baudrate,
portindex,
parity,
databits,
stopbits,
inputq, /* Sets input queue length in OpenComConfig */
outputq, /* Sets output queue length in OpenComConfig */
xmode,
ctsmode,
stringsize,
bytes_sent,
bytes_read,
RS232Error,
config_flag,
breakstatus,
port_open,
com_status,
send_mode,
send_byte,
send_term_index,
read_term_index,
read_term,
inqlen, /* Stores result from GetInQLen */
outqlen; /* Stores result from GetOutQLen */
startOK=0;
sumi,x,y,z;
int send_buf[1000];
int baseaddress=0xd000,keybuf,keyvalue1,keyvalue2,key1,key2,key3,key4;
int ad_buffer[4],adx,ady;
int yc[64],ptyc[128],yc1[64],yc2[64],yc3[64],yc4[64];
short read_cnt;
int command_bit,command_bit1;//;
double timeout;
double timebuf=0;
double gd,gd3,gd2,jl,fw,hx,qx,fy,f,fwj,gdj,dj_jl[20],dj_jl1,dj_jl2;
float gps_hx;
double glat,glon;//任务机经度和纬度
double glat0,glon0; //控制站经度和纬度
double BZ,LZ,BZ1,LZ1; //经纬度坐标
char devicename[30],
send_data[500],
read_data[2000],
tbox_read_data[2000],
com_msg[500],
msg[100];
Rect rectVal;
Point pointVal1, pointVal2,pointVal3,pointVal4;
Point pointArray[6];
int f_table;
int linex,liney;
double ex,ex1;
int ex2;
int sendbit=0;
int keybufbit=0;
int *keybuf1;
int zt,kzzt=0;
int qlbj=0,qlbj1=0;
int ImageStatus=0,Agree=0,ClearOnce=1,DrawOnce=0;
int drawx1,drawx2,drawy1,drawy2,drawx3,drawy3,drawx4,drawy4;
int tvx=0,tvy=0,linex1,liney1,ImageUpdata=0,mbok=0;
char string[80];
char Datastring[100],Datastring1[100],Datastring2[100];
char Timestring[100],Timestring1[100],Timestring2[100];
char mbdisdata[30],pcdisdata[30],mbdisdata1[30],pcdisdata1[30];
int tvctr=1,irctr=1;
float s1,s2,s3,s4,s5,c1,c2,c3,c4,c5;
float d0,d00,d000,d1,d2,d3,a11,a12,a1,a2,a3,a0,a00,b11,b12,b1,b2,b3,b0,b00;
float hx11,fy1,qx1,zj111,zj21,gd1,xm1,ym1,xd1,yd1,fjfw,ptfwj,ptgdj,xm2,ym2,xm3,ym3,xm4,ym4;
float ff,gd0;
float dj_hx1,dj_fy1,dj_qx1,dj_fwj1,dj_gdj1,dj_f1,dj_gd1,dj_xm1,dj_ym1;
float dj_hx2,dj_fy2,dj_qx2,dj_fwj2,dj_gdj2,dj_f2,dj_gd2,dj_xm2,dj_ym2;
float dj_hx[20],dj_fy[20],dj_qx[20],dj_fwj[20],dj_gdj[20],dj_f,dj_gd,dj_xm,dj_ym;
float chx[20],cfy[20],cqx[20],cfwj[20],cgdj[20],cf[20],cgd[20]; //遥测数据暂存单元
int ci=1;
long cxs[20],cys[20]; //遥测数据暂存单
float ahx[20],afy[20],aqx[20],afwj[20],agdj[20],af[20],agd[20]; //遥测数据暂存单元
int ca=0,ca1=0,ca2=0,ca3=0;
long axs[20],ays[20]; //遥测数据暂存单
unsigned pintaihao;
double xs,ys,xs_1,ys_1,xs1,ys1,xs4,ys4;
long xt,yt,xz,yz,dj_xs[20],dj_ys[20];
long dj_xs1,dj_ys1,dj_xs2,dj_ys2;
long prex,prey,pcx,pcy;
long yzmbx,yzmby,yzmbx1,yzmby1,yzmbx2,yzmby2,yzmbx3,yzmby3,yzmbx4,yzmby4,yzmbx5,yzmby5;
long yzmbx6,yzmby6,yzmbx7,yzmby7,yzmbx8,yzmby8,yzmbx9,yzmby9,yzmbx10,yzmby10,yzmbx11,yzmby11,yzmbx12,yzmby12;
//char yzmbstring1[20],yzmbstring2[20],yzmbstring3[20],yzmbstring4[20],yzmbstring5[20];
char yzmbstring6[20],yzmbstring7[20],yzmbstring8[20],yzmbstring9[20],yzmbstring10[20],yzmbstring11[20],yzmbstring12[20];
char yzmbxs[200];
long xs0,ys0;//控制站直角坐标
float xm,ym,xd,yd;
int gd_jggd=0,gdch_buf=0,zdok;
int ycjs=0;
float fjhx,pthxjiao;
int mbxy,mbxbuf,mbybuf;//目标消影
int ptds_bj,ri,ri1,ptycok,portstatus=0;
int spx,czy,czyex,czyex1,czyex2;
int pt_ctr_status;
int hours, minutes, seconds;
int month, day, year;
int mb_zd_shift=0;
int lx_lx,lx_pf,lx_kj,lx_kt;
int active_ccd_ir=0,active_ccd_ir_dj=0; //=4当前为电视=0当前为红外
int time_set_status=0;
int xj_open20_status,xj_open60_status;
int lxj_backinf_display;
int lxjdata1,lxjdata2,lxjdata3,lxjdata4,jgdata1,jgdata2,jgdata3,jgdata4;
char lxj_string[100],lxj_string1[100],lxj_string2[100];
float jg_gd,cha_gd;//激光高度和激光高度与气压高度差
int jg_gd_get=0,gd_get_status,hx_get_status,hx_gpshx_get=0;
float dj_jggd,dj_qygd,dj_jggd1,dj_jggd2,dj_qygs1,dj_qygd2,dj_gpshx,dj_chx;
int filehandle;
char filestring[200];
char xsstring[20],ysstring[20],planestringx[20],planestringy[20],targetstringx[20],targetstringy[20],zdstringx[20],zdstringy[20],pcstringx[20],pcstringy[20];
int stringlength=0;
int pt_sfjg_status,fj_cm_status; //平台收放机构和飞机仓门状态
int ir_view_status;
double ir_f;
int control_fact=6,control_fact1=6;;
int wzpzx_buf,wzpzy_buf;
int wzpz_first;
int active_overlayimage;
int beix,beiy,beijiao;
int plane_beix,plane_beiy;
double plane_beijiao;
char planestring[100];
int focus_ptqxt_shift=0,shiftok=0;
int DisCorrSel; //直角坐标和经纬度坐标转换标志
char filename[30],filename1[50];
char pathname[MAX_PATHNAME_LEN];
int mbnum,bufnum;
int gzss;
int ljex;
int globalX;
int globalY;
int leftBtn;
int rightBtn;
int keyStates;
#define QuitHelp 1
#define InputqHelp 2
int xxyy;
int ffhh;
int readbj=0;
double plane_x0=0;
double plane_y0=0;
int foc_sel=0;
int selstatus=0,selstatus0=1;
int display_status=0;
int controlimage=0;
int newcount=0;
char mbstring[20],pcstring[20],zdstring[20],zbstring[20],mbtzstring[20],gdjdstring[20];
char scalestring[30];
int scalenum,distancex,distancey;
char first,second,three,four,five,six,seven,eight,nine,ten,eleven,twelve;
int datasource=1;
//char *rdata=NULL;
//char *wdata=NULL;
int pp=0;
//int ppt=1;
char testbuf[40];
int djnum=0,djnum1;
int juliz,julil;
int ledstatus=0,ledstatus1=0,tableRS=0;
float image_x,image_y;
int zb_mode,mborzd=1,DWORCT=1;
double jwdx,jwdy,zjx,zjy;
int ctordw;
int image_buf=1;
static int flag=1;
int valuei=0,valuej=0;
int testx[4]={0,0,0,0},testy[4]={0,0,0,0};
static const RGBValue IMAQ_RGB_APP0 = {163,243,139,0};
static const RGBValue IMAQ_RGB_APP1 = {163,139,243,0};
static const RGBValue IMAQ_RGB_GRAY = {250,250,250,0};
static const RGBValue IMAQ_RGB_GRAY0 = {0,246,180,0};
OverlayTextOptions options={"Arial",18,0,0,0,0,IMAQ_LEFT,IMAQ_TOP,{0,0,0,1},0.0};
Point position,position1;
static int PlotFlag;
static SESSION_ID Sid;
static INTERFACE_ID Iid;
static int AcqWinWidth, AcqWinHeight;
static Int8* ImaqBuffer;
/********************************************************************/
void DisplayRS232Error (void);
void SetConfigParms (void);
void GetConfigParms (void);
void DisplayHelp (int);
void EnablePanelControls (int);
void DisplayComStatus (void);
void ActivateSendControls (int);
void SendAscii (void);
void SendByte (void);
void ChangeData(void);
void ReadByte(void);
void CoordinateShift(double,double);
void CoordinateShift1(long,long);
void Initilation(void);
void Drawimage(void);
void StartRS(void);
void CVICALLBACK WSACallback (WinMsgWParam wParam, WinMsgLParam lParam,void *callbackData);
void IMAQ_CALLBACK ExtractImage (WindowEventType event, int windowNumber, Tool tool, Rect rect);
void CVICALLBACK RSCallback (int portNo,int eventMask,void *callbackData);
void CVICALLBACK Event_Char_Detect_Func (int portNo,int eventMask,void *callbackData);
static int CVICALLBACK MyThreadFunction (void *ctrlID);
static int CVICALLBACK ImagePlay(void *ctrlID);
static int SetupApplication (void);
static int ShutdownApplication (void);
void drawcanvas(int scalenum);
void drawinitial(void);
void initYzmb(void);
/********************************************************************/
#define WINDOW_TO_USE 0
#define MAX_THREADS 60
Image* image;
Image* image1;
int status=0,m;
int imagenum;
int *mapbuf=NULL;
int udpHandle, err;
int table1=1,table2=2;
char buf1[23657*2+10],imagedata[23456*2+4094];
int sign=1,result;
int j=0,t=0,q;
int centerX,centerY;
HANDLE myfile;
HWND hwnd;
static int ImaqHandle; // will contain the handle to the imaq window
static int windHandle; // will contain the handle to the CVI window
unsigned long bitDepth;
int readbjj=0,rii=0;
float adjust_heading;
int wucha_x,wucha_y;
unsigned int wmsg;
int NetID;
static int poolHandle = 0;
static volatile int exiting = 0;
int lock;
int frame1;
int ir_or_ccd=0; //=0 ccd;=1 ir
float blxs_x,blxs_y;
/********************************************************************/
int main (int argc, char *argv[])
{
if (InitCVIRTE (0, argv, 0) == 0) /* Needed if linking in external compiler; harmless otherwise */
return -1; /* out of memory */
panel_handle = LoadPanel (0, "serial.uir", SERIAL);
DisplayPanel (panel_handle);
keybuf1=(int*)malloc(2*sizeof(int)); //指针分配空间最好放在前
MakeDir("D:\\temp2");
MakeDir("D:\\temp1");
myfile=CreateFileMapping((HANDLE)0xffffffff,0,PAGE_READWRITE,0,0x300000,"bmp*$#1992");
mapbuf=(int *)MapViewOfFile(myfile,FILE_MAP_ALL_ACCESS, 0,0,0);
initYzmb();
SetCtrlAttribute (panel_handle, SERIAL_LED_3, ATTR_ON_COLOR, MakeColor(104,217,91));
SetCtrlAttribute (panel_handle, SERIAL_LED_3, ATTR_OFF_COLOR,MakeColor(32,101,24));
SetCtrlAttribute (panel_handle, SERIAL_LED_2, ATTR_ON_COLOR, MakeColor(104,217,91));
SetCtrlAttribute (panel_handle, SERIAL_LED_2, ATTR_OFF_COLOR,MakeColor(32,101,24));
SetCtrlAttribute (panel_handle, SERIAL_LED_3, ATTR_ON_COLOR, MakeColor(104,217,91));
SetCtrlAttribute (panel_handle, SERIAL_LED_3, ATTR_OFF_COLOR,MakeColor(32,101,24));
SetCtrlAttribute (panel_handle, SERIAL_YZMB_1, ATTR_ON_COLOR, MakeColor(149,138,47));
SetCtrlAttribute (panel_handle, SERIAL_YZMB_2, ATTR_ON_COLOR, MakeColor(149,138,47));
SetCtrlAttribute (panel_handle, SERIAL_YZMB_3, ATTR_ON_COLOR, MakeColor(149,138,47));
SetCtrlAttribute (panel_handle, SERIAL_YZMB_4, ATTR_ON_COLOR, MakeColor(149,138,47));
SetCtrlAttribute (panel_handle, SERIAL_YZMB_5, ATTR_ON_COLOR, MakeColor(149,138,47));
SetCtrlAttribute (panel_handle, SERIAL_YZMB_6, ATTR_ON_COLOR, MakeColor(149,138,47));
SetCtrlAttribute (panel_handle, SERIAL_YZMB_7, ATTR_ON_COLOR, MakeColor(149,138,47));
SetCtrlAttribute (panel_handle, SERIAL_YZMB_8, ATTR_ON_COLOR, MakeColor(149,138,47));
GetCtrlVal (panel_handle, SERIAL_BINARYSWITCH_2, &datasource);
if(datasource==0)
{
SetCtrlVal (panel_handle, SERIAL_LED_2, 0);
SetCtrlVal (panel_handle, SERIAL_LED_3, 1);
}
else
{
SetCtrlVal (panel_handle, SERIAL_LED_2, 1);
SetCtrlVal (panel_handle, SERIAL_LED_3, 0);
}
// drawinitial();
CmtNewLock (NULL, 0, &lock);
SetupApplication();
UDPOpen (5102, &udpHandle); /*open local port for udp Transmission*/
hwnd=(HWND)GetCVIWindowHandle();
/*acquire data from buffer whenever data arrived*/
wmsg=RegisterWinMsgCallback (WSACallback, NULL, NULL, 0, &NetID, TRUE);
WSAAsyncSelect (udpHandle, hwnd, wmsg, FD_READ);
/*set the image window to be one part of the CVI window*/
imaqSetupWindow(WINDOW_TO_USE,0);
imaqSetWindowPalette(WINDOW_TO_USE,2,NULL,0);
windHandle = (int) FindWindow (NULL, "TARGET LOCATION"); /* get CVI window handle*/
image = imaqCreateImage (IMAQ_IMAGE_RGB, 0);
image1= imaqCreateImage (IMAQ_IMAGE_RGB, 0);
ImaqHandle = (int) imaqGetSystemWindowHandle(0); /*get vision image window handle*/
SetParent( (HWND) ImaqHandle, (HWND)windHandle);
//imaqSetWindowTitle( WINDOW_TO_USE, "Show Image" );
imaqMoveWindow( WINDOW_TO_USE, imaqMakePoint(3,5));
imaqSetCurrentTool (IMAQ_POINT_TOOL);
CmtScheduleThreadPoolFunction (poolHandle,ImagePlay,NULL, NULL);
SetCtrlAttribute (panel_handle, SERIAL_COMMANDBUTTON_5, ATTR_DIMMED, 1);
SetCtrlVal (panel_handle, SERIAL_CHECKBOX, 1);
GetCtrlVal (panel_handle, SERIAL_BINARYSWITCH_2, &datasource);
if(datasource==2)
{
exiting=1;
StartRS();
tableRS=1;
}
zb_mode=1;
//串口初始化
comport=1;
baudrate=38400;//9600;
parity=0;//1;
databits=8;
stopbits=1;
inputq=512;
outputq=512;
RS232Error = OpenComConfig (comport, devicename, baudrate, parity, databits, stopbits, inputq, outputq);
InstallComCallback (1, LWRS_RXCHAR, 0, 0, RSCallback, 0);
RunUserInterface ();
CmtDiscardLock (lock);
ShutdownApplication();
imaqDispose( image );
FlushInQ (5);
return 0;
}
/********************************************************************/
/*functions of RS232 Interruption functions */
void CVICALLBACK RSCallback (int portNo,int eventMask,void *callbackData)
{
GetCtrlVal (panel_handle, SERIAL_BINARYSWITCH_2, &datasource);
if(datasource==2)
{
ReadByte(); // 每80ms接收遥测一次
if(ledstatus1==0)
{
ledstatus1=1;
newcount=0;
SetCtrlVal (panel_handle, SERIAL_LED_2, 0);
}
else
{
ledstatus1=0;
newcount=0;
SetCtrlVal (panel_handle, SERIAL_LED_2, 1);
}
}
}
void CVICALLBACK Event_Char_Detect_Func (int portNo,int eventMask,void *callbackData)
{
int readbuf;
printf("%%%%%%");
readbuf= ComRdByte (comport);
if(readbjj==0)
{
if(readbuf==0xeb)
{
printf("&&&&&&");
readbjj=1;ptyc[0]=0xeb;rii++;
}
}
else
{
ptyc[rii]=readbuf;
if(rii<127)
rii++;
else {readbjj=0;rii=0;}
}
return;
}
/********************************************************************/
static int CVICALLBACK ImagePlay (void *ctrlID)
{
long filesize;
int test1;
while(!exiting)
{
if(controlimage==0)
{
if(*mapbuf==1)
{
imaqDuplicate(image1,image);
test1=imaqReadFile (image, "d:\\temp\\index1.bmp", NULL, NULL);
if(test1==0)
{
imaqDuplicate(image,image1);
}
Drawimage();
imaqDisplayImage (image, WINDOW_TO_USE, TRUE);
display_status=1;
}
else if(*mapbuf==2)
{
imaqDuplicate(image1,image);
test1=imaqReadFile (image, "d:\\temp\\index2.bmp", NULL, NULL);
if(test1==0)
{
imaqDuplicate(image,image1);
}
Drawimage();
imaqDisplayImage (image, WINDOW_TO_USE, TRUE);
display_status=1;
}
}
}
return 0;
}
static int CVICALLBACK MyThreadFunction (void *ctrlID)
{
int ii=0;
char *imagedata1;
if(!exiting)
{
imagedata1=(char*)ctrlID;
CmtGetLock (lock);
while(ii<stringlength+23456*frame1)
{
if(((*((int *)(imagedata1+ii)))&0xff)==0xfd)
if(((*((int *)(imagedata1+ii+1)))&0xff)==0xb1)
if(((*((int *)(imagedata1+ii+2)))&0xff)==0x85)
if(((*((int *)(imagedata1+ii+3)))&0xff)==0x40)
if(((*((int *)(imagedata1+ii+4)))&0xff)==0xfd)
if(((*((int *)(imagedata1+ii+5)))&0xff)==0xb1)
if(((*((int *)(imagedata1+ii+4090)))&0xff)==0x7a)
if(((*((int *)(imagedata1+ii+4091)))&0xff)==0xbf)
if(((*((int *)(imagedata1+ii+4092)))&0xff)==0x02)
if(((*((int *)(imagedata1+ii+4093)))&0xff)==0x4e)
{
if(controlimage==0)
AddBuffer(imagedata1+ii+6);
ii+=4094;
if(ii+4093>=stringlength+23456*frame1)
{
stringlength=stringlength+23456*frame1-ii;
memmove(imagedata,imagedata1+ii,stringlength);
break;
}
continue;
}
if(ii+4093>=stringlength+23456*frame1)
{
stringlength=stringlength+23456*frame1-ii;
memmove(imagedata,imagedata1+ii,stringlength);
break;
}
ii++;
}
CmtReleaseLock(lock);
}
return 0;
}
static int SetupApplication (void)
{
exiting=0;
CmtNewThreadPool (MAX_THREADS, &poolHandle);
return 0;
}
static int ShutdownApplication (void)
{
if (poolHandle != 0) {
exiting = 1;
CmtDiscardThreadPool (poolHandle);
}
return 0;
}
/********************************************************************/
/*functions of UDP Interruption functions */
void CVICALLBACK WSACallback (WinMsgWParam wParam, WinMsgLParam lParam,
void *callbackData)
{
int test0,test,w,ii;
int low,hight,pt_buf,pt_bufh,yc_buf,yc_bufh;
unsigned char total;
int q=0,t=0,fm=0;
int p,frame;
char errortest[10]=" ";
GetCtrlVal (panel_handle, SERIAL_BINARYSWITCH_2, &datasource);
if(datasource==0)
{
/*flush the led when this function works */
/* acquire data from buffer */
test0=UDPRead(udpHandle,buf1, 23657*2+10,5);
if(test0==0)
{
if(ledstatus==0)
{
ledstatus=1;
newcount=0;
SetCtrlVal (panel_handle, SERIAL_LED_3, 0);
}
else
{
ledstatus=0;
newcount=0;
SetCtrlVal (panel_handle, SERIAL_LED_3, 1);
}
}
frame=(*(int *)(buf1+4))&0xff;
low=(*(int *)(buf1+8))&0xff;
hight=(*(int *)(buf1+9))&0xff;
hight=(hight<<8)|low;
CmtGetLock (lock);
frame1=frame;
for(p=0;p<frame1;p++)
{
memcpy(imagedata+stringlength+23456*p,buf1+10+hight*p,23456);
}
CmtReleaseLock(lock);
/* select image data from packet */
CmtScheduleThreadPoolFunction (poolHandle, MyThreadFunction, (void*)imagedata, NULL);
// get the yc data
for(ii=23456;ii<23657;ii++)
{
if(((*((int *)(buf1+ii)))&0xff)==0xEB)
if(((*((int *)(buf1+ii+1)))&0xff)==0x90)
{
pt_buf= ((*((int *)(buf1+ii+3)))&0xff);
switch(pt_buf)
{
case 'A':
yc_buf= ((*((int *)(buf1+ii+4)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+5)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
yc_bufh=yc_buf&0x8000;
if(yc_bufh==0x8000)
{
//yc_buf=|0x8000;
yc_buf=0xffff-yc_buf+1;
yc_buf=yc_buf*(-1);
}
fy=yc_buf*0.1;
//fy=0xfff6;
yc_buf= ((*((int *)(buf1+ii+6)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+7)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
yc_bufh=yc_buf&0x8000;
if(yc_bufh==0x8000)
{
//yc_buf=fy&0x7fff;
yc_buf=0xffff-yc_buf+1;
yc_buf=yc_buf*(-1);
}
qx=yc_buf*0.1;
yc_buf= ((*((int *)(buf1+ii+8)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+9)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
hx=yc_buf*0.1;
//p++;
//printf("AAAA=%d ",p);
break;
case 'B':
yc_buf= ((*((int *)(buf1+ii+4)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+5)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
yc_bufh= ((*((int *)(buf1+ii+6)))&0xff);
yc_buf=(yc_buf&0xffff)|((yc_bufh&0x00ff)<<16);
yc_bufh= ((*((int *)(buf1+ii+7)))&0xff);
yc_buf=(yc_buf&0xffffff)|((yc_bufh&0x00ff)<<24);
yc_bufh=yc_buf&0x80000000;
if(yc_bufh==0x80000000)
{
//yc_buf=fy&0x7fff;
yc_buf=0xffffffff-yc_buf+1;
yc_buf=yc_buf*(-1);
}
glon=yc_buf*0.000001;
// glat=yc_buf*0.000001;
yc_buf= ((*((int *)(buf1+ii+8)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+9)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
yc_bufh= ((*((int *)(buf1+ii+10)))&0xff);
yc_buf=(yc_buf&0xffff)|((yc_bufh&0x00ff)<<16);
yc_bufh= ((*((int *)(buf1+ii+11)))&0xff);
yc_buf=(yc_buf&0xffffff)|((yc_bufh&0x00ff)<<24);
yc_bufh=yc_buf&0x80000000;
if(yc_bufh==0x80000000)
{
//yc_buf=fy&0x7fff;
yc_buf=0xffffffff-yc_buf+1;
yc_buf=yc_buf*(-1);
}
glat=yc_buf*0.000001;
//glon=yc_buf*0.000001;
yc_buf= ((*((int *)(buf1+ii+15)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+16)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
yc_bufh=yc_buf&0x8000;
if(yc_bufh==0x8000)
{
//yc_buf=fy&0x7fff;
yc_buf=0xffff-yc_buf+1;
yc_buf=yc_buf*(-1);
}
gd=yc_buf*0.5-gd3;
yc_buf= ((*((int *)(buf1+ii+13)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+14)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
gps_hx=yc_buf*0.1;
//q++;
//printf("BBBB=%d ",q);
break;
case 'C':
// t++;
// printf("CCCC=%d ",t);
break;
case 'D':
// fm++;
// printf("DDDD=%d ",fm);
break;
}
break;
}
}
if(frame>1)
{
for(ii=23456*2;ii<23657*2;ii++)
{
if(((*((int *)(buf1+ii)))&0xff)==0xEB)
if(((*((int *)(buf1+ii+1)))&0xff)==0x90)
{
pt_buf= ((*((int *)(buf1+ii+3)))&0xff);
switch(pt_buf)
{
case 'A':
yc_buf= ((*((int *)(buf1+ii+4)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+5)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
yc_bufh=yc_buf&0x8000;
if(yc_bufh==0x8000)
{
//yc_buf=fy&0x7fff;
yc_buf=0xffff-yc_buf+1;
yc_buf=yc_buf*(-1);
}
fy=yc_buf*0.1;
// fy=0xfff6;
yc_buf= ((*((int *)(buf1+ii+6)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+7)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
yc_bufh=yc_buf&0x8000;
if(yc_bufh==0x8000)
{
//yc_buf=fy&0x7fff;
yc_buf=0xffff-yc_buf+1;
yc_buf=yc_buf*(-1);
}
qx=yc_buf*0.1;
yc_buf= ((*((int *)(buf1+ii+8)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+9)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
hx=yc_buf*0.1;
//p++;
//printf("AAAA=%d ",p);
break;
case 'B':
yc_buf= ((*((int *)(buf1+ii+4)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+5)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
yc_bufh= ((*((int *)(buf1+ii+6)))&0xff);
yc_buf=(yc_buf&0xffff)|((yc_bufh&0x00ff)<<16);
yc_bufh= ((*((int *)(buf1+ii+7)))&0xff);
yc_buf=(yc_buf&0xffffff)|((yc_bufh&0x00ff)<<24);
yc_bufh=yc_buf&0x80000000;
if(yc_bufh==0x80000000)
{
//yc_buf=fy&0x7fff;
yc_buf=0xffffffff-yc_buf+1;
yc_buf=yc_buf*(-1);
}
glon=yc_buf*0.000001;
yc_buf= ((*((int *)(buf1+ii+8)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+9)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
yc_bufh= ((*((int *)(buf1+ii+10)))&0xff);
yc_buf=(yc_buf&0xffff)|((yc_bufh&0x00ff)<<16);
yc_bufh= ((*((int *)(buf1+ii+11)))&0xff);
yc_buf=(yc_buf&0xffffff)|((yc_bufh&0x00ff)<<24);
yc_bufh=yc_buf&0x80000000;
if(yc_bufh==0x80000000)
{
//yc_buf=fy&0x7fff;
yc_buf=0xffffffff-yc_buf+1;
yc_buf=yc_buf*(-1);
}
glat=yc_buf*0.000001;
yc_buf= ((*((int *)(buf1+ii+15)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+16)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
yc_bufh=yc_buf&0x8000;
if(yc_bufh==0x8000)
{
//yc_buf=fy&0x7fff;
yc_buf=0xffff-yc_buf+1;
yc_buf=yc_buf*(-1);
}
gd=yc_buf*0.5-gd3;
yc_buf= ((*((int *)(buf1+ii+13)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+14)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
gps_hx=yc_buf*0.1;
//q++;
//printf("BBBB=%d ",q);
break;
case 'C':
// t++;
// printf("CCCC=%d ",t);
break;
case 'D':
// fm++;
// printf("DDDD=%d ",fm);
break;
}
break;
}
}
}
//get the platform data
for(ii=23456;ii<23657;ii++)
{
if(((*((int *)(buf1+ii)))&0xff)==0xAA)
if(((*((int *)(buf1+ii+1)))&0xff)==0x55)
{ yc_buf= ((*((int *)(buf1+ii+15)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+16)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
// pt_buf= (ptyc[15]&0xff)|((ptyc[16]&0xff)<<8);
// printf("******1%d",yc_buf);
f=yc_buf;
// f=pt_buf;
f=f*0.01;
yc_buf= ((*((int *)(buf1+ii+7)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+6)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
// printf("******%d",yc_buf);
gdj=yc_buf/100.0-180.0;
yc_buf= ((*((int *)(buf1+ii+5)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+4)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
fwj=yc_buf/100.0;
yc_buf= ((*((int *)(buf1+ii+11)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+12)))&0xff);
jg_gd=((yc_bufh&0x00ff)<<8)|(yc_buf&0xff);
yc_buf= ((*((int *)(buf1+ii+17)))&0xff);
if(yc_buf==0)
ir_or_ccd=0;
else if(yc_buf==0x01)
ir_or_ccd=1;
break;
}
}
//get the platform data
if(frame>1)
{
for(ii=23456*2;ii<23657*2;ii++)
{
if(((*((int *)(buf1+ii)))&0xff)==0xAA)
if(((*((int *)(buf1+ii+1)))&0xff)==0x55)
{
// printf("&&&&&&&&&&&"); =======================================================================================================
yc_buf= ((*((int *)(buf1+ii+15)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+16)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
// pt_buf= (ptyc[15]&0xff)|((ptyc[16]&0xff)<<8);
f=yc_buf;
// f=pt_buf;
f=f*0.01;
yc_buf= ((*((int *)(buf1+ii+7)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+6)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
// printf("####%d",yc_buf);
gdj=yc_buf/100.0-180.0;
yc_buf= ((*((int *)(buf1+ii+5)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+4)))&0xff);
yc_buf=(yc_buf&0xff)|((yc_bufh&0x00ff)<<8);
fwj=yc_buf/100.0;
yc_buf= ((*((int *)(buf1+ii+11)))&0xff);
yc_bufh= ((*((int *)(buf1+ii+12)))&0xff);
jg_gd=((yc_bufh&0x00ff)<<8)|(yc_buf&0xff);
yc_buf= ((*((int *)(buf1+ii+17)))&0xff);
if(yc_buf==0)
ir_or_ccd=0;
else if(yc_buf==0x01)
ir_or_ccd=1;
break;
}
}
}
}
}
/********************************************************************/
void SetConfigParms (void)
{
SetCtrlVal (config_handle, CONFIG_COMPORT, comport);
SetCtrlVal (config_handle, CONFIG_BAUDRATE, baudrate);
SetCtrlVal (config_handle, CONFIG_PARITY, parity);
SetCtrlVal (config_handle, CONFIG_DATABITS, databits);
SetCtrlVal (config_handle, CONFIG_STOPBITS, stopbits);
SetCtrlVal (config_handle, CONFIG_INPUTQ, inputq);
SetCtrlVal (config_handle, CONFIG_OUTPUTQ, outputq);
SetCtrlVal (config_handle, CONFIG_CTSMODE, ctsmode);
SetCtrlVal (config_handle, CONFIG_XMODE, xmode);
SetCtrlIndex (config_handle, CONFIG_COMPORT, portindex);
}
/********************************************************************/
void GetConfigParms (void)
{
GetCtrlVal (config_handle, CONFIG_COMPORT, &comport);
GetCtrlVal (config_handle, CONFIG_BAUDRATE, &baudrate);
GetCtrlVal (config_handle, CONFIG_PARITY, &parity);
GetCtrlVal (config_handle, CONFIG_DATABITS, &databits);
GetCtrlVal (config_handle, CONFIG_STOPBITS, &stopbits);
GetCtrlVal (config_handle, CONFIG_INPUTQ, &inputq);
GetCtrlVal (config_handle, CONFIG_OUTPUTQ, &outputq);
GetCtrlIndex (config_handle, CONFIG_COMPORT, &portindex);
#ifdef _NI_unix_
devicename[0]=0;
#else
GetLabelFromIndex (config_handle, CONFIG_COMPORT, portindex,
devicename);
#endif
}
int CVICALLBACK ConfigCallBack (int panel, int control, int event,
void *callbackData, int eventData1,
int eventData2)
{
switch (event)
{
case EVENT_COMMIT:
config_handle = LoadPanel (panel_handle, "serial.uir", CONFIG);
InstallPopup (config_handle);
if (config_flag) /* Configuration done at least once.*/
SetConfigParms ();
else /* 1st time.*/
config_flag = 1;
break;
case EVENT_RIGHT_CLICK :
break;
}
return(0);
}
int CVICALLBACK CloseConfigCallback(int panel, int control, int event, void *callbackData, int eventData1, int eventData2)
{
switch (event) {
case EVENT_COMMIT :
port_open = 0; /* initialize flag to 0 - unopened */
GetConfigParms ();
DisableBreakOnLibraryErrors ();
RS232Error = OpenComConfig (comport, devicename, baudrate, parity, databits, stopbits, inputq, outputq);
EnableBreakOnLibraryErrors ();
if (RS232Error) DisplayRS232Error ();
if (RS232Error == 0) {
port_open = 1;
GetCtrlVal (config_handle, CONFIG_XMODE, &xmode);
SetXMode (comport, xmode);
GetCtrlVal (config_handle, CONFIG_CTSMODE, &ctsmode);
SetCTSMode (comport, ctsmode);
GetCtrlVal (config_handle, CONFIG_TIMEOUT, &timeout);
SetComTime (comport, timeout);
EnablePanelControls (0); /* Enable: no errors */
}
else
EnablePanelControls (1); /* Disable: errors found */
DiscardPanel (config_handle);
break;
}
return(0);
}
/********************************************************************/
void EnablePanelControls (int enable)
{
ActivateSendControls (enable);
}
/********************************************************************/
/* Activate or deactivate the Send controls. For activate, enable = 0,
for deactivate, enable = 1, since 0 is not dimmed and 1 is dimmed.
*/