DLM 通讯初始化语句

最新推荐文章于 2021-09-10 20:55:14 发布

SGUav

最新推荐文章于 2021-09-10 20:55:14 发布

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文章标签： CSS DLM 通讯初始化

本文链接：https://blog.csdn.net/ss15/article/details/38302863

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	// DLM 与 CSS 间通讯初始化, 
	m_CssDlink.Init(&m_Protocol, this); 


	// 内存数据交换帧初始化设定
	blRet = m_CssDlink.CreateFrame(_T("PPZ Frame"));
	ASSERT(blRet);
	blRet = m_CssDlink.InsertField(_T("phi") ,  DL_FLOAT, (LPVOID) &m_Protocol.phi,   sizeof(m_Protocol.phi));
	blRet = m_CssDlink.InsertField(_T("psi"),   DL_FLOAT, (LPVOID) &m_Protocol.psi,   sizeof(m_Protocol.psi));
	blRet = m_CssDlink.InsertField(_T("theta"), DL_FLOAT, (LPVOID) &m_Protocol.theta, sizeof(m_Protocol.theta));

	blRet = m_CssDlink.CreateFrame(_T("PPZ INS"));
	ASSERT(blRet);
	blRet = m_CssDlink.InsertField(_T("ins_x") , DL_FLOAT, (LPVOID) &m_Protocol.ins_x, sizeof(m_Protocol.ins_x));
	blRet = m_CssDlink.InsertField(_T("ins_y") , DL_FLOAT, (LPVOID) &m_Protocol.ins_y, sizeof(m_Protocol.ins_y));
	blRet = m_CssDlink.InsertField(_T("ins_z") , DL_FLOAT, (LPVOID) &m_Protocol.ins_z, sizeof(m_Protocol.ins_z));
	

  	// 命令处理函数初始化
	blRet = m_CssDlink.BindCmd2Function(_T("ExampleFun_1"), DLCMD_USER + 1, CProtocol::CmdFunExample_1);
	blRet = m_CssDlink.BindCmd2Function(_T("ExampleFun_2"), DLCMD_USER + 2, CProtocol::CmdFunExample_2);


	// 航点序列数据初始化
	m_CssDlink.InitSeqDat_Wp(_T("Wp_Lon"), _T("Wp_Lat"),  _T("Wp_GpsH_CM"));
	for(i = 0; i < 10; i++)
	{
		m_CssDlink.CreateSeqRec_Wp();

		m_CssDlink.InsertSeqField_Wp(0, DL_DOUBLE, sizeof(m_Protocol.m_arWpSet[i].dWpLon),   &(m_Protocol.m_arWpSet[i].dWpLon)   );
		m_CssDlink.InsertSeqField_Wp(1, DL_DOUBLE, sizeof(m_Protocol.m_arWpSet[i].dWpLat),   &(m_Protocol.m_arWpSet[i].dWpLat)   );
		m_CssDlink.InsertSeqField_Wp(2, DL_INT   , sizeof(m_Protocol.m_arWpSet[i].nGpsH_CM), &(m_Protocol.m_arWpSet[i].nGpsH_CM) );
	}
	m_CssDlink.SeqDatEnd_Wp();


	// 参数序列数据初始化
	m_Protocol.TestFun();

	m_CssDlink.InitSeqDat_Para(_T("ParaName"), _T("SetValue"), _T("NmlValue"));
	for(i = 0; i < MAX_FLICHTPARA; i++)
	{
		m_CssDlink.CreateSeqRec_Para();

		m_CssDlink.InsertSeqField_Para(0, 
			                           DL_STRING, 
									   LEN_PARANAME, 
									   (LPVOID) m_Protocol.m_arFlightPara[i].szParaName );

		m_CssDlink.InsertSeqField_Para(1, 
			                           DL_DOUBLE, 
									   sizeof(m_Protocol.m_arFlightPara[i].dParaSet),    
			                           (LPVOID) &(m_Protocol.m_arFlightPara[i].dParaSet) );

		m_CssDlink.InsertSeqField_Para(2, 
			                           DL_DOUBLE, 
									   sizeof(m_Protocol.m_arFlightPara[i].dParaNormal), 
			                           (LPVOID) &(m_Protocol.m_arFlightPara[i].dParaNormal) );
	}
	m_CssDlink.SeqDatEnd_Para();



	// 全部初始化完成
	m_CssDlink.InitEnd();