| #include <stdio.h> |
| #include <string.h> |
| #include <strings.h> |
| #include <stdlib.h> |
| #include <errno.h> |
| #include <termios.h> |
| #include <unistd.h> |
| #include <fcntl.h> |
| #include <signal.h> |
| #include <sys/types.h> |
| #include <unistd.h> |
| #include <pthread.h> |
| #include <termios.h> |
| #include <time.h> |
| #include <sys/ioctl.h> |
| #include <dlfcn.h> |
| #include <stdint.h> |
| #include "lynq_gnss.h" |
| |
| void cb(uint32_t h_loc, e_msg_id_t e_msg_id, void *pv_data, void *context_ptr) |
| { |
| printf("e_msg_id=%d\n", e_msg_id); |
| switch(e_msg_id) |
| { |
| case E_MT_LOC_MSG_ID_LOCATION_INFO: //选择mode1，输出定位信息 |
| { |
| mopen_location_info_t *pt_location = (mopen_location_info_t *)pv_data; |
| printf("**** flag=0x%X, Latitude = %f, Longitude=%f, altitude = %f, speed = %f, timestamp = %lld ****\n", |
| pt_location->flags, |
| pt_location->latitude, |
| pt_location->longitude, |
| pt_location->altitude, |
| pt_location->speed, |
| pt_location->timestamp); |
| break; |
| } |
| case E_MT_LOC_MSG_ID_NMEA_INFO: //选择mode3，输出nmea数据信息 |
| { |
| mopen_gnss_nmea_info_t *pt_nmea = (mopen_gnss_nmea_info_t *)pv_data; |
| |
| printf("**** NMEA info: timestamp=%lld, length=%d, nmea=%s ****\n", |
| pt_nmea->timestamp, pt_nmea->length, pt_nmea->nmea); |
| break; |
| } |
| } |
| } |
| |
| void async_cb(qser_gnss_error_e state) |
| { |
| printf("start gnss async state: %d \n", state); |
| } |
| |
| void user_help(void) |
| { |
| printf("\t-1 exit\n" |
| "\t1 gnss init\n" |
| "\t2 gnss deinit \n" |
| "\t3 gnss add nmea callback\n" |
| "\t4 gnss set local mode\n" |
| "\t5 gnss set nmea mode\n" |
| "\t6 gnss start\n" |
| "\t7 gnss stop\n" |
| "\t8 gnss Delete_Aiding_Data and reset (new not support)\n" |
| "\t9 gnss injecttime (new not support)\n" |
| "\t10 gnss download agps\n" |
| "\t11 gnss set frequency\n" |
| "\t12 gnss send agps data to gnss\n" |
| "\t13 gnss config agps server info\n" |
| "\t14 gnss set async cb\n" |
| "\t15 gnss start async\n" |
| "please input operator: >> \n"); |
| } |
| void delete_type(void) |
| { |
| printf("\t0 DELETE_NOTHING\n" |
| "\t1 DELETE_EPHEMERIS\n" |
| "\t2 DELETE_ALMANAC\n" |
| "\t3 DELETE_POSITION_TIME \n" |
| "\t4 DELETE_UTC\n" |
| "\t5 DELETE_ALL\n" |
| "please input operator: >> \n"); |
| } |
| |
| int main(int argc, char *argv[]) |
| { |
| int ret; |
| int opt = 0; |
| //char *lynqLib_gnss = "/lib/liblynq-qser-gnss.so"; |
| char dev_file[12] = {0}; |
| uint32_t ph_gnss; |
| //dlHandle_gnss = dlopen(lynqLib_gnss, RTLD_NOW); |
| while(1) |
| { |
| printf("=========gnss main=========\n"); |
| user_help(); |
| scanf("%d", &opt); |
| switch (opt) |
| { |
| case -1: |
| { |
| qser_Gnss_Stop(ph_gnss); |
| qser_Gnss_Deinit(ph_gnss); |
| printf("main exit\n"); |
| return 0; |
| } |
| |
| case 1: |
| { |
| ret = qser_Gnss_Init(&ph_gnss); |
| if(ret < 0) |
| { |
| printf("qser_Gnss_Init FAIL.\n"); |
| } |
| else |
| { |
| printf("qser_Gnss_Init success , with address=%08x\n", ph_gnss); |
| } |
| break; |
| } |
| case 2: |
| { |
| ret =qser_Gnss_Deinit(ph_gnss); |
| if(ret < 0) |
| { |
| printf("qser_Gnss_Deinit FAIL.\n"); |
| } |
| else |
| { |
| printf("qser_Gnss_Deinit success \n"); |
| } |
| break; |
| } |
| case 3: |
| { |
| ret = qser_AddRxIndMsgHandler((gnss_handler_func_t)&cb,ph_gnss); |
| if(ret < 0) |
| { |
| printf("qser_AddRxIndMsgHandler fail\n"); |
| } |
| else |
| { |
| printf("add success\n"); |
| } |
| break; |
| } |
| case 4: |
| { |
| e_msg_id_t ptr2=E_MT_LOC_MSG_ID_LOCATION_INFO; |
| ret = qser_Set_Indications(ph_gnss,ptr2); |
| if(ret < 0) |
| { |
| printf("qser_Set_Indications fail\n"); |
| } |
| else |
| { |
| printf("set location mode success\n"); |
| } |
| break; |
| } |
| case 5: |
| { |
| e_msg_id_t ptr4=E_MT_LOC_MSG_ID_NMEA_INFO; |
| ret = qser_Set_Indications(ph_gnss,ptr4); |
| if(ret < 0) |
| { |
| printf("qser_Set_Indications fail\n"); |
| } |
| else |
| { |
| printf("set nmea mode success\n"); |
| } |
| break; |
| } |
| case 6: |
| { |
| ret = qser_Gnss_Start(ph_gnss); |
| if(ret < 0) |
| { |
| printf("qser_Gnss_Start fail\n"); |
| } |
| else |
| { |
| printf("start success\n"); |
| } |
| break; |
| } |
| case 7: |
| { |
| ret = qser_Gnss_Stop(ph_gnss); |
| if(ret < 0) |
| { |
| printf("qser_Gnss_Stop fail\n"); |
| } |
| else |
| { |
| printf("stop success\n"); |
| } |
| break; |
| } |
| case 8: |
| { |
| int opt_1; |
| DELETE_AIDING_DATA_TYPE_T ptr; |
| printf("=========delete aiding data type=========\n"); |
| delete_type(); |
| scanf("%d", &opt_1); |
| switch(opt_1) |
| { |
| case 0: |
| { |
| ptr = DELETE_NOTHING;//hot |
| break; |
| } |
| case 1: |
| { |
| ptr = DELETE_EPHEMERIS;//warm |
| break; |
| } |
| case 2: |
| { |
| ptr = DELETE_ALMANAC; |
| break; |
| } |
| case 3: |
| { |
| ptr = DELETE_POSITION_TIME; |
| break; |
| } |
| case 4: |
| { |
| ptr = DELETE_UTC; |
| break; |
| } |
| case 5: |
| { |
| ptr = DELETE_ALL;//cold |
| break; |
| } |
| } |
| ret = qser_Gnss_Delete_Aiding_Data(ph_gnss,ptr); |
| if(ret < 0) |
| { |
| printf("qser_Gnss_Delete_Aiding_Data %d fail\n",opt_1); |
| } |
| else |
| { |
| printf("qser_Gnss_Delete_Aiding_Data %d success\n",opt_1); |
| } |
| break; |
| } |
| case 9: |
| { |
| LYNQ_INJECT_TIME_INTO_T time_test; |
| ret = qser_Gnss_InjectTime(ph_gnss,&time_test); |
| if(ret < 0) |
| { |
| printf("qser_Gnss_InjectTime fail\n"); |
| } |
| else |
| { |
| printf("qser_Gnss_InjectTime success\n"); |
| } |
| break; |
| } |
| case 10: |
| { |
| ret = qser_Gnss_download_tle(); |
| if(ret < 0) |
| { |
| printf("qser_Gnss_download_tle fail\n"); |
| } |
| else |
| { |
| printf("qser_Gnss_download_tle success\n"); |
| } |
| break; |
| } |
| case 11: |
| { |
| int frequency; |
| printf("=========Set Frequency=========\n"); |
| scanf("%d", &frequency); |
| ret = qser_Gnss_Set_Frequency(ph_gnss,frequency); |
| if(ret < 0) |
| { |
| printf("qser_Gnss_Set_Frequency fail\n"); |
| } |
| else |
| { |
| printf("frequency is %d\n",frequency); |
| printf("qser_Gnss_Set_Frequency success\n"); |
| } |
| break; |
| } |
| case 12: |
| { |
| ret = qser_Gnss_injectEphemeris(ph_gnss); |
| if(ret < 0) |
| { |
| printf("qser_Gnss_injectEphemeris fail\n"); |
| } |
| else |
| { |
| printf("qser_Gnss_injectEphemeri ssuccess\n"); |
| } |
| break; |
| } |
| case 13: |
| { |
| ret = qser_Gnss_Server_Configuration("http://uagnss.allystar.com:80/ephemeris/HD_GPS_BDS.hdb","yikecs1","Z38w5urAuawubTxi"); |
| if(ret < 0) |
| { |
| printf("qser_Gnss_Server_Configuration fail\n"); |
| } |
| else |
| { |
| printf("qser_Gnss_Server_Configuration ssuccess\n"); |
| } |
| break; |
| } |
| case 14: |
| { |
| ret = qser_Gnss_Set_Async_Callback(async_cb); |
| if(ret < 0) |
| { |
| printf("qser_Gnss_Set_Async_Callback fail\n"); |
| } |
| else |
| { |
| printf("qser_Gnss_Set_Async_Callback ssuccess\n"); |
| } |
| break; |
| } |
| case 15: |
| { |
| ret = qser_Gnss_Start_Async(ph_gnss); |
| if(ret < 0) |
| { |
| printf("qser_Gnss_Start_Async fail\n"); |
| } |
| else |
| { |
| printf("qser_Gnss_Start_Async ssuccess\n"); |
| } |
| break; |
| } |
| } |
| } |
| return 0; |
| } |