串口收发+六分科技差分定位官方sdk融合

1.串口收发+六分科技差分定位官方sdk融合
1.1代码分析
1.1.1串口收发
首先，官方sdk中存在三种工作状态：初始化、start和running

while (SIXENTS_TRUE)
    {
        usleep(200 * 1000); // 200ms
        /****************************************
         * csdk_run_step: 0 sdk init
         *                1 sdk start
         *                2 work
         ****************************************/
        switch (csdk_run_step)
        {
        case 0:
        {
            retVal = sixents_sdkInit(&param);
            if (retVal != SIXENTS_RET_OK)
            {
                printf("---MAIN case 0| sixents_sdkInit failed! retVal:%d.\r\n", retVal);
                sixents_sdkFinal();
            }
            else
            {
                printf("---MAIN case 0| sixents_sdkInit success---\r\n");
                csdk_run_step = 1;
            }
        }
        break;
        case 1:
        {
            printf("---MAIN case 1| sixents_sdkStart start---\r\n");
            retVal = sixents_sdkStart();
            if (retVal != SIXENTS_RET_OK)
            {
                printf("---MAIN case 1| sixents_sdkStart failed! retVal:%d ---\r\n", retVal);
                usleep(3000 * 1000); // 3s
            }
            else
            {
                printf("---MAIN case 1| sixents_sdkStart success---\r\n");
                csdk_run_step = 2;
            }
        }
        break;
        case 2:
        {
            if ((count % 5) == 0) // 1s发送一次GGA
            {
                //pthread_create(&recvthread,NULL,recv_thread,NULL);
                res = read(fd, buf, 110);         
                if(res==0)
                 continue;
                buf[res]=0;
                printf("%s",buf);
                printf("\n");
                sixents_char gga_temp[3];
                printf("buf_len %d\n",strlen(buf));
              
                //if(TRUE == recv_done){
                retVal = sixents_sdkSendGGAStr(buf,strlen(buf));  
                //GetDiffData(test,110);  
                if (retVal != SIXENTS_RET_OK)
                {
                    printf("%s| Send GGA failed with error: %d.\n", __FUNCTION__, retVal);
                     if(retVal == SIXENTS_RET_INVALID_PARAM){
                    printf("!!!!!!!!!!!\n");
                }
                }
                //}
            }
            retVal = sixents_sdkTick();
            if (retVal != SIXENTS_RET_OK)
            {
                printf("%s| sdkTick failed with error: %d.\n", __FUNCTION__, retVal);        
            }
            count++;
        }
        break;
        default:
            printf("[six-log]:switch nothing\r\n");
            break;
        }
    } // while
    return retVal;
}

只要连上网络，sdk就会初始化和start成功，我们就把串口收发写到case running：阶段。
（1）首先,打开串口/dev/ttyUSB0，然后设置波特率以及校验位。

     printf("uart Start...\n");
    fd = open(UART_DEVICE, O_RDWR|O_NOCTTY);
    if (fd < 0) {
        perror(UART_DEVICE);
        exit(1);
    }
    printf("uart Open...\n");
    set_speed(fd,115200);
	if (set_parity(fd,8,1,'N') == FALSE)  {
		printf("Set Parity Error\n");
		exit (0);
	}

打开串口之后，就要到串口去读数据：

	res = read(fd, buf, 110);         
	if(res==0)
	  continue;
	 buf[res]=0;
	 printf("%s",buf);
	 printf("\n");
     printf("buf_len %d\n",strlen(buf));

读完数据就要把buf放到这里上传服务器，进行差分定位

  retVal = sixents_sdkSendGGAStr(buf,strlen(buf));  
     //GetDiffData(test,110);  
   if (retVal != SIXENTS_RET_OK)
     {
        printf("%s| Send GGA failed with error: %d.\n", __FUNCTION__, retVal);
        if(retVal == SIXENTS_RET_INVALID_PARAM)
        {
             printf("!!!!!!!!!!!\n");
        }
     }

服务器回传回来的差分数据会进入一个回调函数里，然后进行处理：

void GetDiffData( sixents_char *buff, sixents_uint32 len)
{
    sixents_uint32 i;
    int res = 0;
    printf("len isNNNNNNNNNNNNNNNNN: %d\n",len);
    // if ((buff == sixents_null) || (len == 0))
    // {
    //     return;
    // }
    printf("len isBBBBBBBBBBBBBBBBB: %d\n",len);
    write(fd,buff,sizeof(buff));
    sixents_char test();
   //sixents_char buff();
   // //ToDo: 以下应该修改为客户自己对差分数据处理的逻辑
    //  for (i = 0; i < len; i++)
    //  {

    //     printf("%x ", (sixents_uint8)buff[i]);
        
    //    if ((i + 1) % 80u == 0)
    //    {
    //        printf("\n");
    //    }
    //  }
    //  write(fd,buff,sizeof(buff));
    //printf("%s ", buff);
    // memcpy(gga,buff,sizeof(buff));
    //pthread_mutex_lock(&g_mutex_recv_info);
    //pthread_cond_wait(&gCond_recv_DATA, &g_mutex_recv_info);
    //write(fd, buff, strlen(buff));
    ///printf("\n");
    //pthread_mutex_unlock(&g_mutex_recv_info);
}

以上的效果是，终端界面可以打印出GPFPD数据，但是下发是乱码

1.2存在的问题：
（1）接收数据为乱码
解决：后来自己写了一个线程

pthread_t recvthread;

char *recv_thread()
{
    int c=0, res;
    int i=0;
    int j=0;
    sixents_char buf[1024]={'\0'};
   // char buff[sizeof(char)]={'\0'};
    char *p_GPGGA = NULL;
    p_GPGGA = (char*)malloc(1024);
    char *q_GPGGA = NULL;
    q_GPGGA = (char*)malloc(1024);
    fd = open(UART_DEVICE, O_RDWR|O_NOCTTY);
    if (fd < 0) {
        perror(UART_DEVICE);
        exit(1);
    }
    printf("uart Open...\n");
    set_speed(fd,115200);
	if (set_parity(fd,8,1,'N') == FALSE)  {
		printf("Set Parity Error\n");
	}
    read(fd, buf, 512);

    printf("read buf len is: %d\n",strlen(buf));

     for(i=0;i<strlen(buf);i++)
     {
         printf("%c", buf[i]);
     }
     printf("\n");

    printf("read done\n"); 

    for(i=0;i<strlen(buf);i++)
    {
        if(buf[i]==SIX_GPGGA)
        {
            j++;
        }
    }
    printf("j++ done\n");
    if(j!=14)
    {
        printf("Get Num Error");
    }
    p_GPGGA = strchr(buf, '*');
    p_GPGGA = strchr(buf, SIX_GPGGA);
    /*获取北京时间,获取到的时间格式为hhmmss.ss,小数点后的ss为毫秒*/
    p_GPGGA++;
    q_GPGGA = strchr(p_GPGGA, SIX_GPGGA);
    *q_GPGGA = 0;
    recvbuf.time_GPGGA = (int)(atof(p_GPGGA) * 100);
    /* 获取纬度 */
    q_GPGGA++;
    p_GPGGA = strchr(q_GPGGA, SIX_GPGGA);
    *p_GPGGA = 0;
    recvbuf.lat = atof(q_GPGGA);
    /* 获取是北纬还是南纬 */
    p_GPGGA++;
    q_GPGGA = strchr(p_GPGGA, SIX_GPGGA);
    *q_GPGGA = 0;
    recvbuf.lat_dir = (unsigned char)atoi(p_GPGGA);
    /* 获取经度 */
    q_GPGGA++;
    p_GPGGA = strchr(q_GPGGA, SIX_GPGGA);
    *p_GPGGA = 0;
    recvbuf.lon = atof(q_GPGGA);
    /* 获取西经还是东经 */
    p_GPGGA++;
    q_GPGGA = strchr(p_GPGGA, SIX_GPGGA);
    *q_GPGGA = 0;
    recvbuf.lon_dir = (unsigned char)atoi(p_GPGGA);
    /* 获取当前GPS、状态 */
    q_GPGGA++;
    p_GPGGA = strchr(q_GPGGA, SIX_GPGGA);
    *p_GPGGA = 0;
    recvbuf.qual_GPGGA = (unsigned char)atoi(q_GPGGA);
    /* 获取当前卫星数目 */
    p_GPGGA++;
    q_GPGGA = strchr(p_GPGGA, SIX_GPGGA);
    *q_GPGGA = 0;
    recvbuf.sats_GPGGA = (unsigned char)atoi(p_GPGGA);
    /* 获取水平精度因子 */
    q_GPGGA++;
    p_GPGGA = strchr(q_GPGGA, SIX_GPGGA);
    *p_GPGGA = 0;
    recvbuf.hdop_GPGGA = (float)atof(q_GPGGA);
    /* 获取天线高度 */
    p_GPGGA++;
    q_GPGGA = strchr(p_GPGGA, SIX_GPGGA);
    *q_GPGGA = 0;
    recvbuf.alt_GPGGA = atof(p_GPGGA);
    /* 获取天线高度单位 */
    q_GPGGA++;
    p_GPGGA = strchr(q_GPGGA, SIX_GPGGA);
    *p_GPGGA = 0;
    recvbuf.a_unit_GPGGA = *q_GPGGA;
    /* 获取大地水准面差距 */
    p_GPGGA++;
    q_GPGGA = strchr(p_GPGGA, SIX_GPGGA);
    *q_GPGGA = 0;
    recvbuf.undulation_GPGGA = atof(p_GPGGA);
    /* 获取大地水准差距单位 */
    q_GPGGA++;
    p_GPGGA = strchr(q_GPGGA, SIX_GPGGA);
    *p_GPGGA = 0;
    recvbuf.u_unit_GPGGA = *q_GPGGA;
    /* 获取差分数据龄期，单位为秒 */
    p_GPGGA++;
    q_GPGGA = strchr(p_GPGGA, SIX_GPGGA);
    *q_GPGGA = 0;
    recvbuf.age_GPGGA = (unsigned short)atoi(p_GPGGA);
    /* 获取差分基站ID */
    q_GPGGA++;
    p_GPGGA = strchr(q_GPGGA, '*');
    *p_GPGGA = 0;
    recvbuf.stn_GPGGA = (unsigned short)atoi(q_GPGGA);
    recv_done = TRUE;
    pthread_mutex_lock(&g_mutex_recv_info);
//  memset(gga, 0, sizeof(gga));
	memcpy(gga,&recvbuf,sizeof(gga));
//pthread_cond_signal(&gCond_recv_DATA);
    pthread_mutex_unlock(&g_mutex_recv_info);
    pthread_join(recv_thread, NULL);
    free(p_GPGGA);
    free(q_GPGGA);
}

（2）回调函数有问题：
这个回调函数我没看懂

void GetDiffData( sixents_char *buff, sixents_uint32 len)
{
    sixents_uint32 i;
    int res = 0;
    printf("len isNNNNNNNNNNNNNNNNN: %d\n",len);
    // if ((buff == sixents_null) || (len == 0))
    // {
    //     return;
    // }
    write(fd,buff,sizeof(buff));
    sixents_char test();
   //sixents_char buff();
 }

这是回调函数吗？
我特定去查了一下，回调函数参数是函数指针，如下形式：
/回调函数：如果函数中的参数带有函数指针，就称这个函数为回调函数

void call(void(*pl)())
{
    hello();
    show();
}

void hello()
{
    printf("\n");
}

void show()
{
    printf("\n");
}

int main(int argc, char *argv[])
{
    call(hello);
    call(show);
    return 0;
}

接下来我仿照写了一个：

sixents_char test()
{
    int i = 0;
    for (i = 0; i < strlen(buf); i++)
      {

        printf("CCCCCCCCCCCCCc:%c ", buf[i]);
        
     }
     write(fd,buf,sizeof(buf));
}

void GetDiffData( sixents_char (*buff)(), sixents_uint32 len)
{
    sixents_uint32 i;
    int res = 0;
    printf("len isNNNNNNNNNNNNNNNNN: %d\n",len);
    // if ((buff == sixents_null) || (len == 0))
    // {
    //     return;
    // }
    sixents_char test();
    sixents_char buff();
}

int main()
{
    retVal = sixents_sdkSendGGAStr(buf,strlen(buf));  
    GetDiffData(test,110);  
}