latuscontroller.h

可以接入GPS等三个传感器,并且封装在一个组件里.上层只需拷贝几个文件,就可直接调用,组件的更新不影响上层使用

#pragma once

#include <string>
#include <iostream>
#include "PDI.h"
#include "PDIser.h"
using namespace std;

#define BUFFER_SIZE 0xC6480   // 30 seconds of xyzaer+fc 8 markers at 94 hz

class LatusController
{
private:
	CPDIser  m_pdiSer;
	CPDIlatus m_pdiLatus;
	CPDImdat m_pdiMDat;

	BYTE g_pMotionBuf[BUFFER_SIZE];

	BOOL m_bCnxReady;
	int	m_nReceptor;
	int	m_nMarker;
	ePiBaudRate m_nBaudRate;
	ePiParity m_nParity;
	INT m_nPort;

public:
	LatusController(void);
	virtual ~LatusController(void);

	void AddMsg(string &csMsg);
	void AddResultMsg(LPCSTR szCmd);

	void SetupDevice(void);
	void DoWhoAmI(void);
	void DoMarkerMap(void);
	void DoMarkerIDs(void);
	void DoReceptorMap(void);

	bool Launch(int receptorID);
	void Unlaunch(int markerID);

	bool Init(int receptorID = 2);
	void Clear(void);

	bool GetFrame(double& x, double& y, double& z, double& az, double& el, double& ro);
};