change tool_xodrobj. add fusion_gpsimu.

src/tool/tool_xodrobj/mainwindow.cpp

@@ -252,12 +252,14 @@ MainWindow::MainWindow(QWidget *parent) :
 
     ModuleFun fungpsimu =std::bind(&MainWindow::UpdateGPSIMU,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
     mpagpsimu = iv::modulecomm::RegisterRecvPlus("hcp2_gpsimu",fungpsimu);
+    mpafusiongpsimu = iv::modulecomm::RegisterRecvPlus("fusion_gpsimu",fungpsimu);
 
 }
 
 MainWindow::~MainWindow()
 {
 
+    iv::modulecomm::Unregister(mpafusiongpsimu);
     iv::modulecomm::Unregister(mpagpsimu);
     iv::modulecomm::Unregister(mpatrace);
     iv::modulecomm::Unregister(mpadst);
@@ -1503,9 +1505,13 @@ void MainWindow::UpdateMap(const char * strdata,const unsigned int nSize,const u
  * @param strmemname
  */
 
+
+#include <thread>
+
 void MainWindow::UpdateGPSIMU(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
 {
 
+    static int64_t nlastfusionupdate = 0;// std::chrono::system_clock::now().time_since_epoch().count()/1000000 ;
     iv::gps::gpsimu  xgpsimu;
     if(!xgpsimu.ParseFromArray(strdata,nSize))
     {
@@ -1513,6 +1519,23 @@ void MainWindow::UpdateGPSIMU(const char * strdata,const unsigned int nSize,cons
         return;
     }
 
+    int64_t nnow = std::chrono::system_clock::now().time_since_epoch().count()/1000000;
+
+    if(strncmp(strmemname,"fusion_gpsimu",255)!= 0)
+    {
+        if(abs(nnow - nlastfusionupdate)<1000)
+        {
+            return;
+        }
+
+    }
+    else
+    {
+  //      std::cout<<"use fusion."<<std::endl;
+        nlastfusionupdate = nnow;
+    }
+
+
     double flat,flon,fhead;
     flat = xgpsimu.lat();
     flon = xgpsimu.lon();

src/tool/tool_xodrobj/mainwindow.h

@@ -192,6 +192,7 @@ private:
     std::vector<iv::GPSData> m_navigation_data;
 
     void *    mpagpsimu;
+    void *    mpafusiongpsimu;
 
 private:
     void UpdateMap(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);