#记录——储存原始数据

1.调用一下创建的文件夹

在OnStartUp

if(MakeDirectory("/home/heu/datadisk/DVL/")==1)  
    {
        MOOSTrace("文件夹创建成功\n");
        CreateTxtFile(MOOSTime());
    }

    else MOOSTrace("文件夹创建失败\n");

2.在getdata输出原始数据

（1）方法一：直接输出

if(bcreattxt && file != NULL) 
            {
                double t = MOOSTime();
                struct tm *pt;
                long seconds = (long)t;
                pt = localtime((time_t *)&seconds);

                fprintf(file, "\n%4d%02d%02d", 1900 + pt->tm_year, 1 + pt->tm_mon, pt->tm_mday);
                fprintf(file, "%02d%02d%02d  ", pt->tm_hour, pt->tm_min, pt->tm_sec);
                fprintf(file, "%s", SliceA.c_str());
            }

（2）方法二：再列一个函数

PrintData();

bool ZCINS_HEU::PrintData(const vector<uint8_t> &frame)
{
    double t = MOOSTime();
    struct tm *pt;
    long seconds = (long)t;
    pt = localtime((time_t *)&seconds);

     if (bcreattxt && file != NULL)
    {
        fprintf(file, "\n%4d%02d%02d", 1900 + pt->tm_year, 1 + pt->tm_mon, pt->tm_mday);
        fprintf(file, "%02d%02d%02d  ", pt->tm_hour, pt->tm_min, pt->tm_sec);

       for(uint8_t byte : frame) fprintf(file, "%02X ", byte);
        return true;
    }
}

3.创建文件夹

void DVL_HEU::CreateTxtFile(double nowtime)
{
    double t = nowtime;
    struct tm *pt;
    long seconds = (long)t;
    int year, mon, day, hour, min, sec;
    std::string sFilePathName, sDirName, sSuffixName;
	
    pt = localtime((time_t *)&seconds);
    year = 1900 + pt->tm_year;
    mon = 1 + pt->tm_mon;
    day = pt->tm_mday;
    hour = pt->tm_hour;
    min = pt->tm_min;
    sec = pt->tm_sec;
    sDirName = "/home/heu/datadisk/DVL/"; 
    sSuffixName = ".txt";
    sFilePathName = MOOSFormat("%sDVL_%04d_%02d_%02d_%02d_%02d_%02d%s", sDirName.c_str(), year, mon, day, hour, min, sec, sSuffixName.c_str());
    
    if ((file = fopen(sFilePathName.c_str(), "w+")) == NULL) MOOSTrace("创建txt文件失败\n");
    else
    {
        MOOSTrace("创建txt文件成功\n");
        bcreattxt = true;
    }
}

补充需要的函数

int DVL_HEU::MakeDirectory(const char *folder_path)
{
	if (!access(folder_path, F_OK))
    {
        /* 判断目标文件夹是否存在 */
        return 1;
    }

    char path[512];
    char *path_buf;
    char temp_path[512]; 
    char *temp;          
    int temp_len;        

    memset(path, 0, sizeof(path));
    memset(temp_path, 0, sizeof(temp_path));
    strcat(path, folder_path);
    path_buf = path;

    while ((temp = strsep(&path_buf, "/")) != NULL)
    {
        temp_len = strlen(temp);
        if (0 == temp_len)
        {
            continue;
        }
        strcat(temp_path, "/");
        strcat(temp_path, temp);
        printf("temp_path = %s\n", temp_path);
        if (-1 == access(temp_path, F_OK))
        {
            if (-1 == mkdir(temp_path, 0777))
            {
                return 2;
            }
        }
    }
    return 1;
}

另外，在数据储存是毫秒级时，占容量太大，设置1s/次输出储存数据

if(MOOSTime() - timer > 1){
                 PrintData(SliceA);
                timer = MOOSTime();
            }

添加功能-记录对准时间，

新添加一个MOOS变量，保存对准时间，再通过UDP转发给上位机

设置为if状态1==01，记录对准时间

           if状态1==0B，对准结束

可以在解析数据中添加

static int flag1 = 0;
    static int flag2 = 0;
    static double time1 = 0.0;
    static double time2 = 0.0;
    
    if(uStatus1 == 0x01 && flag1 == 0)
    {
        flag1 = 1;
        time1 = MOOSTime();
    }
    if(uStatus1 == 0x0B && flag2 == 0)
    {
        flag2 = 1;
        time2 = MOOSTime();
    }
    if(flag1 == 1 && flag2 == 1)
    {
        double dfAlignTime = time2 - time1;
        Notify("INS_AlignTime", dfAlignTime);
    }