diff --git a/2.Firmware/GeekTrack/components/GeekHAL/HAL/HAL_Network.cpp b/2.Firmware/GeekTrack/components/GeekHAL/HAL/HAL_Network.cpp index baa9a36..a2d613c 100644 --- a/2.Firmware/GeekTrack/components/GeekHAL/HAL/HAL_Network.cpp +++ b/2.Firmware/GeekTrack/components/GeekHAL/HAL/HAL_Network.cpp @@ -45,8 +45,10 @@ void Network_UdpSendData() while (1) { float yaw = 0.0f, roll = 0.0f, pitch = 0.0f; + float quat[4] = {0.0f}; MPU9250_GetEulerAngles(&yaw, &roll, &pitch); - sprintf(buff, "%s %f %f %f\n",ConfigString, yaw, roll, pitch); + MPU9250_GetQuaternion(quat); + sprintf(buff, "%s %f %f %f %f\n",ConfigString, quat[0],quat[1],quat[2],quat[3]); err = sendto(sock, buff, 256, 0, (struct sockaddr *)&saddr, sizeof(struct sockaddr_in)); if (err < 0) { diff --git a/2.Firmware/GeekTrack/components/Libraries/include/mpu9250.h b/2.Firmware/GeekTrack/components/Libraries/include/mpu9250.h index 94c8016..0eb9b33 100644 --- a/2.Firmware/GeekTrack/components/Libraries/include/mpu9250.h +++ b/2.Firmware/GeekTrack/components/Libraries/include/mpu9250.h @@ -185,6 +185,7 @@ void AHRSUpdate(float gx, float gy, float gz, void MPU9250_GetEulerAngles(float* yaw,float* roll, float* pitch); +void MPU9250_GetQuaternion(float quat[4]); #ifdef __cplusplus } diff --git a/2.Firmware/GeekTrack/components/Libraries/src/mpu9250.c b/2.Firmware/GeekTrack/components/Libraries/src/mpu9250.c index 63c9f11..b5469d0 100644 --- a/2.Firmware/GeekTrack/components/Libraries/src/mpu9250.c +++ b/2.Firmware/GeekTrack/components/Libraries/src/mpu9250.c @@ -116,6 +116,14 @@ void MPU9250_GetEulerAngles(float* yaw,float* roll, float* pitch) *pitch = mpu9250.pitch; } +void MPU9250_GetQuaternion(float quat[4]){ + quat[0] = q0; + quat[1] = q1; + quat[2] = q2; + quat[3] = q3; +} + + void AHRSUpdate(float gx, float gy, float gz, float ax, float ay, float az) { float halfT = 0.5 * (10.0f / 1000.0f); diff --git a/4.Software/GeekTrackSDK/Project/GeekTrack.cpp b/4.Software/GeekTrackSDK/Project/GeekTrack.cpp index cb6c687..4729336 100644 --- a/4.Software/GeekTrackSDK/Project/GeekTrack.cpp +++ b/4.Software/GeekTrackSDK/Project/GeekTrack.cpp @@ -12,11 +12,11 @@ struct GeekTrackNode_t { EulerAngles_t Pose; + Quaternion_t Quat; bool devOnline; GeekTrackNode_t() { - Pose.x = 0.0f; - Pose.y = 0.0f; - Pose.z = 0.0f; + memset(&Pose, 0, sizeof(EulerAngles_t)); + memset(&Quat, 0, sizeof(Quaternion_t)); devOnline = false; } }; @@ -34,13 +34,31 @@ void GeekTrackUpdate() { int i = 0; while (1) { + //printf("...\n"); //从广播地址接收消息,注意用来绑定的地址和接收消息的地址是不一样的 recvfrom(sock, buf, 256, 0, (struct sockaddr FAR*) &from, (int FAR*) & fromlength); Sleep(10); - float yaw = 0.0f, roll = 0.0f, pitch = 0.0f; + float q[4] = { 0.0f }; int id = 0; - int ret = sscanf_s(buf, "%d %f %f %f\n", &id, &yaw, &roll, &pitch); + //printf("%s\n", buf); + int ret = sscanf_s(buf, "%d %f %f %f %f\n", &id, &q[0], &q[1], &q[2], &q[3]); if (ret > 0 && (id >= 0 && id < MAX_SUPPORT_DEV_NUM)) { + + float yaw = 0.0f, pitch = 0.0f, roll = 0.0f; + + pitch = asin((-2.0 * ((double)q[3]*q[1] - (double)q[0]*q[2]))); // * (180.0f / 3.141592f); */ + yaw = atan2((double)q[2]*q[1] + (double)q[0]*q[3], 0.5 - (double)q[2]*q[2] - (double)q[3]*q[3]); // * (180.0f /3.141592f); + roll = atan2((double)q[2]*q[3] + (double)q[0]*q[1], 0.5 - (double)q[2]*q[2] - (double)q[1]*q[1]); //* (180.0f /3.141592f); + + yaw *= (180.0f / 3.141592f); + roll *= (180.0f / 3.141592f); + pitch *= (180.0f / 3.141592f); + + TrackNode[id].Quat.w = q[0]; + TrackNode[id].Quat.x = q[1]; + TrackNode[id].Quat.y = q[2]; + TrackNode[id].Quat.z = q[3]; + TrackNode[id].Pose.x = pitch; TrackNode[id].Pose.y = roll; TrackNode[id].Pose.z = yaw; @@ -55,7 +73,7 @@ void GeekTrack_Init() { static bool optval = false; //启动SOCKET库,版本为2.0 - if (optval == false) { + if (optval == true) { return; } WSAStartup(0x0202, &wsdata); @@ -89,12 +107,20 @@ EulerAngles_t GetEulerAngles(int devId) { return Pose; } +Quaternion_t GetQuaternion(int devId) { + if (devId >= 0 && devId < MAX_SUPPORT_DEV_NUM) { + return TrackNode[devId].Quat; + } + Quaternion_t Quat = { 0.0f, 0.0f, 0.0f, 0.0f }; + return Quat; +} + int main() { GeekTrack_Init(); int devId = 0; while (1) { - Sleep(50); + Sleep(30); printf("%d,%f,%f,%f\n", devId,TrackNode[devId].Pose.x, TrackNode[devId].Pose.y, TrackNode[devId].Pose.z); } diff --git a/4.Software/GeekTrackSDK/Src/GeekTrackSDK.h b/4.Software/GeekTrackSDK/Src/GeekTrackSDK.h index 441da79..0c7353f 100644 --- a/4.Software/GeekTrackSDK/Src/GeekTrackSDK.h +++ b/4.Software/GeekTrackSDK/Src/GeekTrackSDK.h @@ -7,10 +7,15 @@ typedef struct { float x, y, z; }EulerAngles_t; +typedef struct { + float w, x, y, z; +}Quaternion_t; __declspec(dllexport) void GeekTrack_Init(); __declspec(dllexport) EulerAngles_t GetEulerAngles(int devId); + +__declspec(dllexport) Quaternion_t GetQuaternion(int devId); } #endif \ No newline at end of file diff --git a/4.Software/TestGeekTrackSDK/.vs/TestGeekTrack/DesignTimeBuild/.dtbcache.v2 b/4.Software/TestGeekTrackSDK/.vs/TestGeekTrack/DesignTimeBuild/.dtbcache.v2 index 6c84f1e..8e769a7 100644 Binary files a/4.Software/TestGeekTrackSDK/.vs/TestGeekTrack/DesignTimeBuild/.dtbcache.v2 and b/4.Software/TestGeekTrackSDK/.vs/TestGeekTrack/DesignTimeBuild/.dtbcache.v2 differ diff --git a/4.Software/TestGeekTrackSDK/.vs/TestGeekTrack/v16/.suo b/4.Software/TestGeekTrackSDK/.vs/TestGeekTrack/v16/.suo index 9f0eea0..85f746a 100644 Binary files a/4.Software/TestGeekTrackSDK/.vs/TestGeekTrack/v16/.suo and b/4.Software/TestGeekTrackSDK/.vs/TestGeekTrack/v16/.suo differ diff --git a/4.Software/TestGeekTrackSDK/TestGeekTrack/Program.cs b/4.Software/TestGeekTrackSDK/TestGeekTrack/Program.cs index 66ce1e6..5405907 100644 --- a/4.Software/TestGeekTrackSDK/TestGeekTrack/Program.cs +++ b/4.Software/TestGeekTrackSDK/TestGeekTrack/Program.cs @@ -11,20 +11,29 @@ namespace TestGeekTrack public float x, y, z; }; + public struct GeekQuaternion + { + public float w, x, y, z; + }; + [DllImport("GeekTrackSDK.dll", EntryPoint = "GeekTrack_Init", CallingConvention = CallingConvention.Cdecl)] public extern static void GeekTrack_Init(); [DllImport("GeekTrackSDK.dll", EntryPoint = "GetEulerAngles", CallingConvention = CallingConvention.Cdecl)] public extern static GeekEulerAngles GetEulerAngles(int devId); + [DllImport("GeekTrackSDK.dll", EntryPoint = "GetQuaternion", CallingConvention = CallingConvention.Cdecl)] + public extern static GeekQuaternion GetQuaternion(int devId); + static void Main(string[] args) { GeekTrack_Init(); while (true) { GeekEulerAngles angles = GetEulerAngles(0); + GeekQuaternion quat = GetQuaternion(0); Thread.Sleep(100); //Debug.Log("" + + ""); - Console.WriteLine(angles.x + "," + angles.y + "," + angles.z); + Console.WriteLine(quat.w + "," + quat.x + "," + quat.y + "," + quat.z); } } diff --git a/4.Software/TestGeekTrackSDK/TestGeekTrack/bin/x64/Debug/netcoreapp3.1/GeekTrackSDK.dll b/4.Software/TestGeekTrackSDK/TestGeekTrack/bin/x64/Debug/netcoreapp3.1/GeekTrackSDK.dll index 1c4dc93..cf09382 100644 Binary files a/4.Software/TestGeekTrackSDK/TestGeekTrack/bin/x64/Debug/netcoreapp3.1/GeekTrackSDK.dll and b/4.Software/TestGeekTrackSDK/TestGeekTrack/bin/x64/Debug/netcoreapp3.1/GeekTrackSDK.dll differ diff --git a/4.Software/TestGeekTrackSDK/TestGeekTrack/bin/x64/Debug/netcoreapp3.1/TestGeekTrack.dll b/4.Software/TestGeekTrackSDK/TestGeekTrack/bin/x64/Debug/netcoreapp3.1/TestGeekTrack.dll index 792d810..d6e877d 100644 Binary files a/4.Software/TestGeekTrackSDK/TestGeekTrack/bin/x64/Debug/netcoreapp3.1/TestGeekTrack.dll and b/4.Software/TestGeekTrackSDK/TestGeekTrack/bin/x64/Debug/netcoreapp3.1/TestGeekTrack.dll differ diff --git a/4.Software/TestGeekTrackSDK/TestGeekTrack/bin/x64/Debug/netcoreapp3.1/TestGeekTrack.pdb b/4.Software/TestGeekTrackSDK/TestGeekTrack/bin/x64/Debug/netcoreapp3.1/TestGeekTrack.pdb index 62512e0..1d1c896 100644 Binary files a/4.Software/TestGeekTrackSDK/TestGeekTrack/bin/x64/Debug/netcoreapp3.1/TestGeekTrack.pdb and b/4.Software/TestGeekTrackSDK/TestGeekTrack/bin/x64/Debug/netcoreapp3.1/TestGeekTrack.pdb differ diff --git a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/TestGeekTrack.csproj.nuget.dgspec.json b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/TestGeekTrack.csproj.nuget.dgspec.json index 56bd282..60a537a 100644 --- a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/TestGeekTrack.csproj.nuget.dgspec.json +++ b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/TestGeekTrack.csproj.nuget.dgspec.json @@ -1,17 +1,17 @@ { "format": 1, "restore": { - "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK_V1.0\\TestGeekTrack\\TestGeekTrack.csproj": {} + "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK\\TestGeekTrack\\TestGeekTrack.csproj": {} }, "projects": { - "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK_V1.0\\TestGeekTrack\\TestGeekTrack.csproj": { + "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK\\TestGeekTrack\\TestGeekTrack.csproj": { "version": "1.0.0", "restore": { - "projectUniqueName": "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK_V1.0\\TestGeekTrack\\TestGeekTrack.csproj", + "projectUniqueName": "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK\\TestGeekTrack\\TestGeekTrack.csproj", "projectName": "TestGeekTrack", - "projectPath": "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK_V1.0\\TestGeekTrack\\TestGeekTrack.csproj", + "projectPath": "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK\\TestGeekTrack\\TestGeekTrack.csproj", "packagesPath": "C:\\Users\\Administrator\\.nuget\\packages\\", - "outputPath": "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK_V1.0\\TestGeekTrack\\obj\\", + "outputPath": "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK\\TestGeekTrack\\obj\\", "projectStyle": "PackageReference", "fallbackFolders": [ "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages", diff --git a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/project.assets.json b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/project.assets.json index 77bbae8..1ce23c3 100644 --- a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/project.assets.json +++ b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/project.assets.json @@ -15,11 +15,11 @@ "project": { "version": "1.0.0", "restore": { - "projectUniqueName": "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK_V1.0\\TestGeekTrack\\TestGeekTrack.csproj", + "projectUniqueName": "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK\\TestGeekTrack\\TestGeekTrack.csproj", "projectName": "TestGeekTrack", - "projectPath": "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK_V1.0\\TestGeekTrack\\TestGeekTrack.csproj", + "projectPath": "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK\\TestGeekTrack\\TestGeekTrack.csproj", "packagesPath": "C:\\Users\\Administrator\\.nuget\\packages\\", - "outputPath": "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK_V1.0\\TestGeekTrack\\obj\\", + "outputPath": "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK\\TestGeekTrack\\obj\\", "projectStyle": "PackageReference", "fallbackFolders": [ "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages", diff --git a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/project.nuget.cache b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/project.nuget.cache index 90b755c..55865aa 100644 --- a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/project.nuget.cache +++ b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/project.nuget.cache @@ -1,8 +1,8 @@ { "version": 2, - "dgSpecHash": "9JxXv/tIWM0ENP1AlM+SwchvhgqL8V/ELkvxXz7e1HCbpr1e0lic0NCd+Exl+hwSZQkLYUjftNhgZYaAKodQGQ==", + "dgSpecHash": "6OhT4/s2fKivJ76Rl050qvNGtjBukr/ejkwO8BeIFOyKHlhB9Jggz5KO5hpJvO3UvBnCSAADMzUQvxXBUM7G9A==", "success": true, - "projectFilePath": "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK_V1.0\\TestGeekTrack\\TestGeekTrack.csproj", + "projectFilePath": "E:\\Hardware Project\\GeekTrack\\4.Software\\TestGeekTrackSDK\\TestGeekTrack\\TestGeekTrack.csproj", "expectedPackageFiles": [], "logs": [] } \ No newline at end of file diff --git a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.GeneratedMSBuildEditorConfig.editorconfig b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.GeneratedMSBuildEditorConfig.editorconfig index ff31fbd..76600e2 100644 --- a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.GeneratedMSBuildEditorConfig.editorconfig +++ b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.GeneratedMSBuildEditorConfig.editorconfig @@ -1,3 +1,3 @@ is_global = true build_property.RootNamespace = TestGeekTrack -build_property.ProjectDir = E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK_V1.0\TestGeekTrack\ +build_property.ProjectDir = E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\ diff --git a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.assets.cache b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.assets.cache index 9ef7033..2f6ecf9 100644 Binary files a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.assets.cache and b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.assets.cache differ diff --git a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.csproj.FileListAbsolute.txt b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.csproj.FileListAbsolute.txt index e7c0d74..79f1c3e 100644 --- a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.csproj.FileListAbsolute.txt +++ b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.csproj.FileListAbsolute.txt @@ -25,3 +25,17 @@ E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK_V1.0\TestGeekTrack\obj E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK_V1.0\TestGeekTrack\obj\x64\Debug\netcoreapp3.1\TestGeekTrack.dll E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK_V1.0\TestGeekTrack\obj\x64\Debug\netcoreapp3.1\TestGeekTrack.pdb E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK_V1.0\TestGeekTrack\obj\x64\Debug\netcoreapp3.1\TestGeekTrack.genruntimeconfig.cache +E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\bin\x64\Debug\netcoreapp3.1\TestGeekTrack.exe +E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\bin\x64\Debug\netcoreapp3.1\TestGeekTrack.deps.json +E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\bin\x64\Debug\netcoreapp3.1\TestGeekTrack.runtimeconfig.json +E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\bin\x64\Debug\netcoreapp3.1\TestGeekTrack.runtimeconfig.dev.json +E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\bin\x64\Debug\netcoreapp3.1\TestGeekTrack.dll +E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\bin\x64\Debug\netcoreapp3.1\TestGeekTrack.pdb +E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\obj\x64\Debug\netcoreapp3.1\TestGeekTrack.csproj.AssemblyReference.cache +E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\obj\x64\Debug\netcoreapp3.1\TestGeekTrack.GeneratedMSBuildEditorConfig.editorconfig +E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\obj\x64\Debug\netcoreapp3.1\TestGeekTrack.AssemblyInfoInputs.cache +E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\obj\x64\Debug\netcoreapp3.1\TestGeekTrack.AssemblyInfo.cs +E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\obj\x64\Debug\netcoreapp3.1\TestGeekTrack.csproj.CoreCompileInputs.cache +E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\obj\x64\Debug\netcoreapp3.1\TestGeekTrack.dll +E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\obj\x64\Debug\netcoreapp3.1\TestGeekTrack.pdb +E:\Hardware Project\GeekTrack\4.Software\TestGeekTrackSDK\TestGeekTrack\obj\x64\Debug\netcoreapp3.1\TestGeekTrack.genruntimeconfig.cache diff --git a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.dll b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.dll index 792d810..d6e877d 100644 Binary files a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.dll and b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.dll differ diff --git a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.genruntimeconfig.cache b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.genruntimeconfig.cache index 2b88599..dbca69a 100644 --- a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.genruntimeconfig.cache +++ b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.genruntimeconfig.cache @@ -1 +1 @@ -99993d063c3f93a631daf010ae6d9c95462d21a7 +6ce667a04e91fed21d0709417c88ad041d8af50e diff --git a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.pdb b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.pdb index 62512e0..1d1c896 100644 Binary files a/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.pdb and b/4.Software/TestGeekTrackSDK/TestGeekTrack/obj/x64/Debug/netcoreapp3.1/TestGeekTrack.pdb differ