64 lines
1.3 KiB
C
64 lines
1.3 KiB
C
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#pragma once
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#include <iostream>
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#include <thread>
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#include <chrono>
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#include <string>
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#include <boost/asio.hpp>
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#include <boost/array.hpp>
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#include <vector>
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#include <opencv2/core/core.hpp>
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using namespace std;
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// 结构体定义 IMU 数据
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struct IMUData {
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cv::Point3f vAcc;
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cv::Point3f vGyro;
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double timestamp;
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};
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class IMUReader {
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public:
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// 构造函数
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IMUReader(std::string ComNumber);
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// 构造函数
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IMUReader();
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// 析构函数
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~IMUReader();
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// 初始化 IMU
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void IMUInit(std::string ComNumber);
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// 获取 IMU 数据状态
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int ReadData(IMUData& data);
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int IMUReadData();
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std::vector<IMUData> imubuffer;
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IMUData getdata() const{
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std::unique_lock<std::mutex> lock(dataMutex);
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return data;
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};
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private:
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boost::asio::io_service io;
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boost::asio::serial_port* serial;
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// boost::asio::serial_port serial(io, "/dev/ttyUSB0"); // 替换成你的串口设备路径
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bool isRunning; // 控制是否退出循环的标志变量
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std::thread dataThread; // 数据读取线程
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IMUData data;
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mutable std::mutex dataMutex;
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// 读取 IMU 数据的循环
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void IMUReadDataThread(void);
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};
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