|
|
@@ -2,14 +2,27 @@
|
|
|
#include "ui_mainwindow.h"
|
|
|
|
|
|
#include <QFileDialog>
|
|
|
+#include <QMessageBox>
|
|
|
|
|
|
#include <iostream>
|
|
|
|
|
|
+#include "google/protobuf/io/zero_copy_stream_impl.h"
|
|
|
+#include "google/protobuf/text_format.h"
|
|
|
+
|
|
|
MainWindow::MainWindow(QWidget *parent) :
|
|
|
QMainWindow(parent),
|
|
|
ui(new Ui::MainWindow)
|
|
|
{
|
|
|
ui->setupUi(this);
|
|
|
+
|
|
|
+ mpTimer = new QTimer();
|
|
|
+ connect(mpTimer,SIGNAL(timeout()),this,SLOT(onTimer()));
|
|
|
+ mpTimer->setInterval(10);
|
|
|
+
|
|
|
+ connect(this,SIGNAL(CurState(int)),this,SLOT(onCurState(int)));
|
|
|
+
|
|
|
+ ui->progressBar->setRange(0,100);
|
|
|
+ ui->progressBar->setValue(0);
|
|
|
}
|
|
|
|
|
|
MainWindow::~MainWindow()
|
|
|
@@ -31,14 +44,250 @@ void MainWindow::on_pushButton_decode_clicked()
|
|
|
QString strivd = QFileDialog::getOpenFileName(this,tr("Open file"),"",tr("Record File(*.ivd)"));
|
|
|
if(strivd.isEmpty())return;
|
|
|
|
|
|
- mpthread = new std::thread(strivd.toStdString());
|
|
|
+ mpthread = new std::thread(&MainWindow::threadconvert,this, strivd,strdir);
|
|
|
mbRunning = true;
|
|
|
ui->pushButton_decode->setEnabled(false);
|
|
|
|
|
|
+ mpTimer->start();
|
|
|
+
|
|
|
+
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::onCurState(int nstate)
|
|
|
+{
|
|
|
+ if(nstate == -1)
|
|
|
+ {
|
|
|
+ QMessageBox::warning(this,tr("Warning"),tr("Open File Fail."),QMessageBox::YesAll);
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ if(nstate == 0)
|
|
|
+ {
|
|
|
+ ui->progressBar->setValue(100);
|
|
|
+ }
|
|
|
+
|
|
|
+ ui->pushButton_decode->setEnabled(true);
|
|
|
+ mpTimer->stop();
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::onTimer()
|
|
|
+{
|
|
|
+ qint64 nSize = mnFileSize;
|
|
|
+ if(nSize<=0)return;
|
|
|
+
|
|
|
+ int nPos = mnPos*100/mnFileSize;
|
|
|
+ ui->progressBar->setValue(nPos);
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::threadconvert(QString strfilepath,QString strdir)
|
|
|
+{
|
|
|
+ mFile.setFileName(strfilepath);
|
|
|
+ if(mFile.open(QFile::ReadOnly))
|
|
|
+ {
|
|
|
+ mbOpen = true;
|
|
|
+ mnFileSize = mFile.size();
|
|
|
+ mnPos = 0;
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ mnFileSize = 0;
|
|
|
+ mbReplay = false;
|
|
|
+ mnPos = 0;
|
|
|
+ mbOpen = false;
|
|
|
+ }
|
|
|
+
|
|
|
+ if(mbOpen == false)
|
|
|
+ {
|
|
|
+ emit onCurState(-1);
|
|
|
+ return;
|
|
|
+ }
|
|
|
+
|
|
|
+ bool bx = true;
|
|
|
+ while(bx == true)
|
|
|
+ {
|
|
|
+ int nReadSize = 0;
|
|
|
+ int nDataSize;
|
|
|
+ char * strData;
|
|
|
+ char * strName;
|
|
|
+ bx = ReadARecord(nReadSize,&strName,&nDataSize,&strData);
|
|
|
+
|
|
|
+ mnPos = mnPos + nReadSize;
|
|
|
+ if(bx == true)
|
|
|
+ {
|
|
|
+ std::cout<<" read a record."<<std::endl;
|
|
|
+
|
|
|
+
|
|
|
+ std::cout<<" name : "<<strName<<std::endl;
|
|
|
+ if(strncmp(strName,"lidar_pc",256)==0)
|
|
|
+ {
|
|
|
+ QString strpath = strdir + "/" + mdtcurpos.toString("yyyy-MM-dd-hh-mm-ss-zzz") + ".pcd";
|
|
|
+ savepointcloud(strData,nDataSize,strpath);
|
|
|
+ }
|
|
|
+
|
|
|
+ if(strncmp(strName,"hcp2_gpsimu",256)==0)
|
|
|
+ {
|
|
|
+ QString strpath = strdir + "/" + mdtcurpos.toString("yyyy-MM-dd-hh-mm-ss-zzz") + ".txt";
|
|
|
+ savegps(strData,nDataSize,strpath);
|
|
|
+ }
|
|
|
+
|
|
|
+
|
|
|
+ delete strData;
|
|
|
+ delete strName;
|
|
|
+ }
|
|
|
+
|
|
|
+ }
|
|
|
+ std::cout<<"complete."<<std::endl;
|
|
|
+
|
|
|
+ emit onCurState(0);
|
|
|
|
|
|
}
|
|
|
|
|
|
-void MainWindow::threadconvert(std::string strfilepath)
|
|
|
+inline QDateTime MainWindow::GetDateTimeFromRH(iv::RecordHead rh)
|
|
|
{
|
|
|
+ QDateTime dt;
|
|
|
+ QDate datex;
|
|
|
+ QTime timex;
|
|
|
+ datex.setDate(rh.mYear,rh.mMon,rh.mDay);
|
|
|
+ timex.setHMS(rh.mHour,rh.mMin,rh.mSec,rh.mMSec);
|
|
|
+ dt.setDate(datex);
|
|
|
+ dt.setTime(timex);
|
|
|
|
|
|
+ return dt;
|
|
|
}
|
|
|
+
|
|
|
+inline bool MainWindow::ReadARecord(int & nRecSize,char ** pstrName, int * pnDataSize, char ** pstrData)
|
|
|
+{
|
|
|
+ char strmark[10];
|
|
|
+ int nTotalSize,nHeadSize,nNameSize,nDataSize;
|
|
|
+ int nRead = mFile.read(strmark,1);
|
|
|
+ if(nRead == 0)return false;
|
|
|
+ nRead = mFile.read((char *)&nTotalSize,sizeof(int));
|
|
|
+ if(nRead < (int)sizeof(int))return false;
|
|
|
+ nRead = mFile.read((char *)&nHeadSize,sizeof(int));
|
|
|
+ if(nRead < (int)sizeof(int))return false;
|
|
|
+ nRead = mFile.read((char *)&nNameSize,sizeof(int));
|
|
|
+ if(nRead< (int)sizeof(int))return false;
|
|
|
+ nRead = mFile.read((char *)&nDataSize,sizeof(int));
|
|
|
+ if(nRead< (int)sizeof(int))return false;
|
|
|
+ if(nTotalSize !=(nHeadSize + nNameSize + nDataSize + 4*(int)sizeof(int) ))
|
|
|
+ {
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+ iv::RecordHead rh;
|
|
|
+ char * strName = new char[1000];
|
|
|
+ char * strData = new char[nDataSize];
|
|
|
+
|
|
|
+ nRead = mFile.read((char *)&rh,sizeof(iv::RecordHead));
|
|
|
+ if(nRead < (int)sizeof(iv::RecordHead))
|
|
|
+ {
|
|
|
+ delete strData;
|
|
|
+ delete strName;
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+
|
|
|
+ mdtcurpos = GetDateTimeFromRH(rh);
|
|
|
+
|
|
|
+ nRead = mFile.read(strName,nNameSize);
|
|
|
+ if(nRead < nNameSize)
|
|
|
+ {
|
|
|
+ delete strData;
|
|
|
+ delete strName;
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+ strName[nNameSize] = 0;
|
|
|
+ // qDebug(strName);
|
|
|
+// qDebug("file pos is %d ms is %d",mFile.pos(),rh.mMSec);
|
|
|
+
|
|
|
+ nRead = mFile.read(strData,nDataSize);
|
|
|
+ if(nRead < nDataSize)
|
|
|
+ {
|
|
|
+ delete strData;
|
|
|
+ delete strName;
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+
|
|
|
+ //Share Data
|
|
|
+
|
|
|
+ *pnDataSize = nDataSize;
|
|
|
+ *pstrName = strName;
|
|
|
+ *pstrData = strData;
|
|
|
+
|
|
|
+
|
|
|
+// delete strData;
|
|
|
+ nRecSize = nTotalSize + 1;
|
|
|
+ return true;
|
|
|
+
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::savepointcloud(const char *strdata, const unsigned int nSize, QString strfilepath)
|
|
|
+{
|
|
|
+ if(nSize <=16)return;
|
|
|
+ unsigned int * pHeadSize = (unsigned int *)strdata;
|
|
|
+ if(*pHeadSize > nSize)
|
|
|
+ {
|
|
|
+ std::cout<<"ListenPointCloud data is small headsize ="<<*pHeadSize<<" data size is"<<nSize<<std::endl;
|
|
|
+ }
|
|
|
+
|
|
|
+ pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud(
|
|
|
+ new pcl::PointCloud<pcl::PointXYZI>());
|
|
|
+ int nNameSize;
|
|
|
+ nNameSize = *pHeadSize - 4-4-8;
|
|
|
+ char * strName = new char[nNameSize+1];strName[nNameSize] = 0;
|
|
|
+ memcpy(strName,(char *)((char *)strdata +4),nNameSize);
|
|
|
+ point_cloud->header.frame_id = strName;
|
|
|
+ memcpy(&point_cloud->header.seq,(char *)strdata+4+nNameSize,4);
|
|
|
+ memcpy(&point_cloud->header.stamp,(char *)strdata+4+nNameSize+4,8);
|
|
|
+ int nPCount = (nSize - *pHeadSize)/sizeof(pcl::PointXYZI);
|
|
|
+ int i;
|
|
|
+ pcl::PointXYZI * p;
|
|
|
+ p = (pcl::PointXYZI *)((char *)strdata + *pHeadSize);
|
|
|
+ for(i=0;i<nPCount;i++)
|
|
|
+ {
|
|
|
+ pcl::PointXYZI xp;
|
|
|
+ xp.x = p->x;
|
|
|
+ xp.y = p->y;
|
|
|
+ xp.z = p->z;
|
|
|
+ xp.intensity = p->intensity;
|
|
|
+ point_cloud->push_back(xp);
|
|
|
+ p++;
|
|
|
+
|
|
|
+ // std::cout<<" x is "<<xp.x<<" y is "<<xp.y<<std::endl;
|
|
|
+ }
|
|
|
+
|
|
|
+ if(0 == pcl::io::savePCDFile(strfilepath.toLatin1().data(),*point_cloud))
|
|
|
+ {
|
|
|
+
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ std::cout<<" save pcd file fail. "<<std::endl;
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void MainWindow::savegps(const char *strdata, const unsigned int nSize, QString strfilepath)
|
|
|
+{
|
|
|
+ iv::gps::gpsimu xgpsimu;
|
|
|
+ if(xgpsimu.ParseFromArray(strdata,nSize))
|
|
|
+ {
|
|
|
+ using google::protobuf::TextFormat;
|
|
|
+ using google::protobuf::io::FileOutputStream;
|
|
|
+ using google::protobuf::io::ZeroCopyOutputStream;
|
|
|
+ std::string strout;
|
|
|
+ ZeroCopyOutputStream *output = new google::protobuf::io::StringOutputStream(&strout);//new FileOutputStream(file_descriptor);
|
|
|
+
|
|
|
+ bool success = TextFormat::Print(xgpsimu, output);
|
|
|
+ if(success)
|
|
|
+ {
|
|
|
+ QFile xFile;
|
|
|
+ xFile.setFileName(strfilepath);
|
|
|
+ if(xFile.open(QIODevice::ReadWrite))
|
|
|
+ {
|
|
|
+ xFile.write(strout.data(),strout.size());
|
|
|
+ xFile.close();
|
|
|
+ }
|
|
|
+ // std::cout<<strout<<std::endl;
|
|
|
+// qDebug(strout.data());
|
|
|
+ }
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
