前言
在调试osg中模型运动姿态时，总觉得直观性不够强。所以有了想买个硬件陀螺仪（当时并不知道这个硬件应该叫什么名字，在淘宝搜索角度传感器的）。
几个驱动
1.CH340驱动
这个驱动在自带资源包里面，但是不可以用，只能自己在网上找，发现是型号不对。（自己芯片是CH340N，但是资源的驱动是CH341）。
2.串口驱动
切记不要自己炫技自己写，真的是得不偿失，最后在官网找到了。
include "Com.h"的内容：
#ifndef __UART_NET_H
#define __UART_NET_H
signed char SendUARTMessageLength(const unsigned long ulChannelNo, const char chrMessage[],const unsigned short usLen);
unsigned short CollectUARTData(const unsigned long ulChannelNo, char chrUARTBufferOutput[]);
signed char OpenCOMDevice(const unsigned long ulPortNo);
signed char SetBaundrate(const unsigned long ulPortNo,const unsigned long ulBaundrate);
signed char OpenCOMDevice(const unsigned long ulPortNo,const unsigned long ulBaundrate);
void CloseCOMDevice(void);
#endif
include "Com.cpp"的内容：
#include <stdio.h>
#include <tchar.h>
#include <windows.h>
#include "Com.h"
#define TOTAL_PORT_NUM 65
#define START_PORT_NUM 0
#define iBufferSize 250
#define UARTBufferLength 2000
#undef SYNCHRONOUS_MODE
static HANDLE hComDev[TOTAL_PORT_NUM] ={NULL};
static unsigned long long ulComMask = 0;
static HANDLE hCOMThread[TOTAL_PORT_NUM] ={NULL};
static OVERLAPPED stcWriteStatus[TOTAL_PORT_NUM] = {0};
static OVERLAPPED stcReadStatus[TOTAL_PORT_NUM] = {0};
#ifdef SYNCHRONOUS_MODE
static HANDLE hReceiveEvent[TOTAL_PORT_NUM] ={NULL};
#endif
static volatile char chrUARTBuffers[TOTAL_PORT_NUM][UARTBufferLength]={0};
static volatile unsigned long ulUARTBufferStart[TOTAL_PORT_NUM]={0}, ulUARTBufferEnd[UARTBufferLength]={0};
unsigned short CollectUARTData(const unsigned long ulCOMNo,char chrUARTBufferOutput[])
{
unsigned long ulLength=0;
unsigned long ulEnd ;
unsigned long ulStart ;
#ifdef SYNCHRONOUS_MODE
WaitForSingleObject(hReceiveEvent[ulIndexCorrect],INFINITE);
ResetEvent(hReceiveEvent[ulIndexCorrect]);
#endif
ulEnd = ulUARTBufferEnd[ulCOMNo];
ulStart = ulUARTBufferStart[ulCOMNo];
if (ulEnd == ulStart)
return(0);
if (ulEnd > ulStart)
{
memcpy((void*)chrUARTBufferOutput,(void*)(chrUARTBuffers[ulCOMNo]+ulStart),ulEnd-ulStart);
ulLength = ulEnd-ulStart;
}
else
{
memcpy((void*)chrUARTBufferOutput,(void*)(chrUARTBuffers[ulCOMNo]+ulStart),UARTBufferLength-ulStart);
if ( ulEnd != 0 )
{
memcpy((void*)(chrUARTBufferOutput+(UARTBufferLength-ulStart)),(void*)chrUARTBuffers[ulCOMNo],ulEnd);
}
ulLength = UARTBufferLength+ulEnd-ulStart;
}
ulUARTBufferStart[ulCOMNo] = ulEnd;
return (unsigned short) ulLength;
}
signed char SendUARTMessageLength(const unsigned long ulChannelNo, const char chrSendBuffer[],const unsigned short usLen)
{
DWORD iR;
DWORD dwRes;
DCB dcb;
char chrDataToSend[1000] = {0};
memcpy(chrDataToSend,chrSendBuffer,usLen);
memcpy(&chrDataToSend[usLen],chrSendBuffer,usLen);
GetCommState(hComDev[ulChannelNo] ,&dcb);
dcb.fDtrControl = 0;//DTR = 1;发送
SetCommState(hComDev[ulChannelNo] ,&dcb);
if ( WriteFile(hComDev[ulChannelNo],chrSendBuffer,usLen,&iR,&(stcWriteStatus[ulChannelNo])) || GetLastError() != ERROR_IO_PENDING )
return -1;
dwRes = WaitForSingleObject(stcWriteStatus[ulChannelNo].hEvent,1000);
Sleep(10);
dcb.fDtrControl = 1;//DTR = 0;接收
SetCommState(hComDev[ulChannelNo] ,&dcb);
Sleep(10);
if(dwRes != WAIT_OBJECT_0 || ! GetOverlappedResult(hComDev[ulChannelNo], &stcWriteStatus[ulChannelNo], &iR, FALSE))
return 0;
return 0;
}
DWORD WINAPI ReceiveCOMData(PVOID pParam)
{
unsigned long uLen;
unsigned long ulLen1;
unsigned long ulLen2;
DWORD dwRes;
COMSTAT Comstat;
DWORD dwErrorFlags;
char chrBuffer[iBufferSize]={0};
unsigned long ulUARTBufferEndTemp=ulUARTBufferEnd[0];
unsigned long ulComNumber = 0;
memcpy(&ulComNumber,pParam,4);
while (1)
{
if ( ! ReadFile(hComDev[ulComNumber],chrBuffer,iBufferSize-1,&uLen,&(stcReadStatus[ulComNumber])) )
{
dwRes = GetLastError() ;
if ( dwRes != ERROR_IO_PENDING)
{
ClearCommError(hComDev[ulComNumber],&dwErrorFlags,&Comstat);
continue;
}
WaitForSingleObject(stcReadStatus[ulComNumber].hEvent,INFINITE);
if ( !GetOverlappedResult(hComDev[ulComNumber], &(stcReadStatus[ulComNumber]), &uLen, FALSE))
continue;
if(uLen <= 0)
continue;
if ( (ulUARTBufferEndTemp + uLen) > UARTBufferLength )
{
ulLen1 = UARTBufferLength - ulUARTBufferEndTemp;
ulLen2 = uLen - ulLen1;
if (ulLen1 > 0)
{
memcpy((void *)&chrUARTBuffers[ulComNumber][ulUARTBufferEnd[ulComNumber]],(void *)chrBuffer,ulLen1);
}
if (ulLen2 > 0)
{
memcpy((void *)&chrUARTBuffers[ulComNumber][0],(void *)(chrBuffer+ulLen1),ulLen2);
}
ulUARTBufferEndTemp = ulLen2;
}
else
{
memcpy((void *)&chrUARTBuffers[ulComNumber][ulUARTBufferEnd[ulComNumber]],(void *)chrBuffer,uLen);
ulUARTBufferEndTemp+=uLen;
}
if ( ulUARTBufferEndTemp == ulUARTBufferStart[ulComNumber])
{
printf("Error!");
}
else
{
ulUARTBufferEnd[ulComNumber] = ulUARTBufferEndTemp;
}
#ifdef SYNCHRONOUS_MODE
SetEvent(hReceiveEvent[ucComNumber]);
#endif
continue;
}
if(uLen <= 0)
continue;
if ( (ulUARTBufferEndTemp + uLen) > (UARTBufferLength) )
{
ulLen1 = UARTBufferLength - ulUARTBufferEndTemp;
ulLen2 = uLen - ulLen1;
if (ulLen1 > 0)
{
memcpy((void *)&chrUARTBuffers[ulComNumber][ulUARTBufferEnd[ulComNumber]],(void *)chrBuffer,ulLen1);
}
if (ulLen2 > 0)
{
memcpy((void *)&chrUARTBuffers[ulComNumber][0],(void *)(chrBuffer+ulLen1),ulLen2);
}
ulUARTBufferEndTemp = ulLen2;
}
else
{
memcpy((void *)&chrUARTBuffers[ulComNumber][ulUARTBufferEnd[ulComNumber]],(void *)chrBuffer,uLen);
ulUARTBufferEndTemp+=uLen;
}
if ( ulUARTBufferEndTemp== ulUARTBufferStart[ulComNumber])
{
printf("Error!");
}
else
{
ulUARTBufferEnd[ulComNumber] = ulUARTBufferEndTemp;
}
#ifdef SYNCHRONOUS_MODE
SetEvent(hReceiveEvent[ucComNumber]);
#endif
}
return 0;
}
signed char OpenCOMDevice(const unsigned long ulPortNo,const unsigned long ulBaundrate)
{
DWORD dwThreadID,dwThreadParam;
COMSTAT Comstat;
DWORD dwErrorFlags;
DWORD dwRes;
DCB dcb;
COMMTIMEOUTS comTimeOut;
TCHAR PortName[10] = {'\\','\\','.','\\','C','O','M',0,0,0};//"\\\\.\\COM";
TCHAR chrTemple[5]={0};
if(ulPortNo >= TOTAL_PORT_NUM)
{
printf("\nerror: exceed the max com port num\n");
return -1;
}
_itot(ulPortNo+START_PORT_NUM,chrTemple,10);
_tcscat(PortName,chrTemple);
if((hComDev[ulPortNo] = CreateFile(PortName,GENERIC_READ|GENERIC_WRITE,0,NULL,OPEN_EXISTING,FILE_FLAG_OVERLAPPED ,NULL))==INVALID_HANDLE_VALUE)
{
dwRes=GetLastError();
return -1;
}
ulComMask |= 1<<ulPortNo;
SetupComm(hComDev[ulPortNo] ,iBufferSize,iBufferSize);
GetCommState(hComDev[ulPortNo] ,&dcb);
dcb.BaudRate = ulBaundrate;
dcb.fParity = NOPARITY;
dcb.ByteSize=8;
dcb.fDtrControl = 1;//DTR = 0;接收
dcb.fRtsControl = 0;//RTS = 0;接收
dcb.StopBits=ONESTOPBIT;
SetCommState(hComDev[ulPortNo] ,&dcb);
ClearCommError(hComDev[ulPortNo] ,&dwErrorFlags,&Comstat);
dwRes = GetLastError();
comTimeOut.ReadIntervalTimeout = 5;
comTimeOut.ReadTotalTimeoutMultiplier = 10;
comTimeOut.ReadTotalTimeoutConstant = 100;
comTimeOut.WriteTotalTimeoutMultiplier = 5;
comTimeOut.WriteTotalTimeoutConstant = 5;
SetCommTimeouts(hComDev[ulPortNo] ,&comTimeOut);
stcWriteStatus[ulPortNo] .hEvent = CreateEvent(NULL,TRUE,FALSE,NULL);
stcReadStatus[ulPortNo] .hEvent = CreateEvent(NULL,TRUE,FALSE,NULL);
stcReadStatus[ulPortNo].Internal = 0;
stcReadStatus[ulPortNo].InternalHigh = 0;
stcReadStatus[ulPortNo].Offset = 0;
stcReadStatus[ulPortNo].OffsetHigh = 0;
dwThreadParam = ulPortNo;
hCOMThread[dwThreadParam] = CreateThread(NULL,0,(LPTHREAD_START_ROUTINE)ReceiveCOMData,&dwThreadParam,0,&dwThreadID);
SetThreadPriority(hCOMThread[ulPortNo],THREAD_PRIORITY_NORMAL);
Sleep(200);
return 0;
}
signed char SetBaundrate(const unsigned long ulPortNo,const unsigned long ulBaundrate)
{
DCB dcb;
GetCommState(hComDev[ulPortNo] ,&dcb);
dcb.BaudRate = ulBaundrate;
SetCommState(hComDev[ulPortNo] ,&dcb);
return 0;
}
void CloseCOMDevice()
{
unsigned char i;
for(i=0 ; i<sizeof(ulComMask)*8 ; i++)
{
if((ulComMask & (1<<i))==0)
continue;
ulUARTBufferEnd[i] = 0;ulUARTBufferStart[i]=0;
TerminateThread(hCOMThread[i],0);
WaitForSingleObject(hCOMThread[i],10000);
PurgeComm(hComDev[i],PURGE_TXABORT|PURGE_RXABORT|PURGE_TXCLEAR|PURGE_RXCLEAR);
CloseHandle(stcReadStatus[i].hEvent);
CloseHandle(stcWriteStatus[i].hEvent);
CloseHandle(hComDev[i]);
}
ulComMask = 0;
}
上面两个内容，一个代码也没有修改，尊重原始资料。
3.陀螺仪芯片驱动和数据读取
include "JY901.h"的内容（未做任何修改）：
#include "JY901.h"
#include "string.h"
CJY901 ::CJY901 ()
{
}
void CJY901 ::CopeSerialData(char ucData[],unsigned short usLength)
{
static unsigned char chrTemp[2000];
static unsigned char ucRxCnt = 0;
static unsigned short usRxLength = 0;
memcpy(chrTemp,ucData,usLength);
usRxLength += usLength;
while (usRxLength >= 11)
{
if (chrTemp[0] != 0x55)
{
usRxLength--;
memcpy(&chrTemp[0],&chrTemp[1],usRxLength);
continue;
}
switch(chrTemp[1])
{
case 0x50: memcpy(&stcTime,&chrTemp[2],8);break;
case 0x51: memcpy(&stcAcc,&chrTemp[2],8);break;
case 0x52: memcpy(&stcGyro,&chrTemp[2],8);break;
case 0x53: memcpy(&stcAngle,&chrTemp[2],8);break;
case 0x54: memcpy(&stcMag,&chrTemp[2],8);break;
case 0x55: memcpy(&stcDStatus,&chrTemp[2],8);break;
case 0x56: memcpy(&stcPress,&chrTemp[2],8);break;
case 0x57: memcpy(&stcLonLat,&chrTemp[2],8);break;
case 0x58: memcpy(&stcGPSV,&chrTemp[2],8);break;
}
usRxLength -= 11;
memcpy(&chrTemp[0],&chrTemp[11],usRxLength);
}
}
CJY901 JY901 = CJY901();
include "JY901.cpp"的内容（未修改）：
#include "JY901.h"
#include "string.h"
CJY901 ::CJY901 ()
{
}
void CJY901 ::CopeSerialData(char ucData[],unsigned short usLength)
{
static unsigned char chrTemp[2000];
static unsigned char ucRxCnt = 0;
static unsigned short usRxLength = 0;
memcpy(chrTemp,ucData,usLength);
usRxLength += usLength;
while (usRxLength >= 11)
{
if (chrTemp[0] != 0x55)
{
usRxLength--;
memcpy(&chrTemp[0],&chrTemp[1],usRxLength);
continue;
}
switch(chrTemp[1])
{
case 0x50: memcpy(&stcTime,&chrTemp[2],8);break;
case 0x51: memcpy(&stcAcc,&chrTemp[2],8);break;
case 0x52: memcpy(&stcGyro,&chrTemp[2],8);break;
case 0x53: memcpy(&stcAngle,&chrTemp[2],8);break;
case 0x54: memcpy(&stcMag,&chrTemp[2],8);break;
case 0x55: memcpy(&stcDStatus,&chrTemp[2],8);break;
case 0x56: memcpy(&stcPress,&chrTemp[2],8);break;
case 0x57: memcpy(&stcLonLat,&chrTemp[2],8);break;
case 0x58: memcpy(&stcGPSV,&chrTemp[2],8);break;
}
usRxLength -= 11;
memcpy(&chrTemp[0],&chrTemp[11],usRxLength);
}
}
CJY901 JY901 = CJY901();
4.使用
用的例子还是上一节的内容，加载一个飞机的模型，在其中写上一个matrixTransform1->addUpdateCallback(new CAutoPlane( osg::Vec3(0.0f, 0.0f, 0.0f),osg::Vec3(0.000010f, 0.0f, 0.0f) ));
的回调函数，在这个 CAutoPlane类中，调用硬件数据，实时对模型的姿态进行刷新。
#include <Windows.h>
#include <iostream>
#include <osgDB/ReadFile>
#include <osgViewer/ViewerEventHandlers>
#include <osgAnimation/BasicAnimationManager>
#include <osgDB/ReadFile>
#include <osgEarthUtil/ExampleResources>
#include <osgEarth/Registry>
#include <osgEarthUtil/Controls>
#include <osgEarthSymbology/Color>
void model()
{
osg::ref_ptr<osgViewer::Viewer> viewer1 = new osgViewer::Viewer;
osg::ref_ptr<osg::Group> group1 = new osg::Group;
osg::ref_ptr<osg::MatrixTransform> matrixTransform1 = new osg::MatrixTransform;
osg::ref_ptr<osg::Node> node1 = osgDB::readNodeFile("E.......fbx");
AnimationManagerFinder animationManagerFinder1;
group1->accept(animationManagerFinder1);
if (animationManagerFinder1._am.valid())
{
std::string playModeOpt;
osgAnimation::Animation::PlayMode playMode = osgAnimation::Animation::LOOP;
if (osgDB::equalCaseInsensitive(playModeOpt, "ONCE"))
{
playMode = osgAnimation::Animation::ONCE;
}
else if (osgDB::equalCaseInsensitive(playModeOpt, "STAY"))
{
playMode = osgAnimation::Animation::STAY;
}
else if (osgDB::equalCaseInsensitive(playModeOpt, "LOOP"))
{
playMode = osgAnimation::Animation::LOOP;
}
else if (osgDB::equalCaseInsensitive(playModeOpt, "PPONG"))
{
playMode = osgAnimation::Animation::PPONG;
}
for (osgAnimation::AnimationList::const_iterator animIter = animationManagerFinder1._am->getAnimationList().begin();
animIter != animationManagerFinder1._am->getAnimationList().end();
++animIter)
{
(*animIter)->setPlayMode(playMode);
}
}
matrixTransform1->setMatrix(osg::Matrix::translate(0.0, 0.0, 0.0));
matrixTransform1->addChild(node1);
matrixTransform1->addUpdateCallback(
new CAutoPlane(
osg::Vec3(0.0f, 0.0f, 0.0f),
osg::Vec3(0.000010f, 0.0f, 0.0f)
));
group1->addChild(matrixTransform1);
viewer1->setSceneData(group1);
viewer1->setUpViewInWindow(200, 200, 800, 600, 0);
viewer1->run();
}
回调函数 CAutoPlane：
#include "JY901.h"
#include <windows.h>
#include "Com.h"
class CAutoPlane : public osg::NodeCallback
{
public:
CAutoPlane(osg::Vec3 start, osg::Vec3 speed)
{
m_speed = speed;
heading = 0.0;
m_pos = 0.0;
unsigned short usLength = 0, usCnt = 0;
unsigned long ulBaund = 9600;
ulComNo = 4;
signed char cResult = 1;
while (cResult != 0)
{
cResult = OpenCOMDevice(ulComNo, ulBaund);
}
usLength = CollectUARTData(ulComNo, chrBuffer);
if (usLength>0)
{
JY901.CopeSerialData(chrBuffer, usLength);
}
}
~CAutoPlane() {};
osg::Vec3 outRotate()
{
usLength = CollectUARTData(ulComNo, chrBuffer);
if (usLength>0)
{
JY901.CopeSerialData(chrBuffer, usLength);
}
Sleep(100);
if (usCnt++ >= 0)
{
usCnt = 0;
printf("Angle:%.3f %.3f %.3f\r\n", (float)JY901.stcAngle.Angle[0] / 32768 * 180, (float)JY901.stcAngle.Angle[1] / 32768 * 180, (float)JY901.stcAngle.Angle[2] / 32768 * 180);
}
return osg::Vec3((float)JY901.stcAngle.Angle[0] / 32768 * 180, (float)JY901.stcAngle.Angle[1] / 32768 * 180, (float)JY901.stcAngle.Angle[2] / 32768 * 180);
}
virtual void operator()(osg::Node* node, osg::NodeVisitor* nv)
{
outRotate();
osg::MatrixTransform * tx = dynamic_cast <osg::MatrixTransform *> (node);
if (tx != NULL)
{
heading += -osg::PI / 1800.0;
osg::Matrixd orbitRotation;
orbitRotation.makeRotate(
osg::DegreesToRadians(outRotate()[0]), osg::Vec3(0, 1, 0),//roll angle (Y axis)
osg::DegreesToRadians(outRotate()[1]), osg::Vec3(1, 0, 0),//pitch angle (X axis)
osg::DegreesToRadians(outRotate()[2]), osg::Vec3(0, 0, 1)); //heading angle (Z axis)
{
m_start += m_speed;
tx->setMatrix(orbitRotation * osg::Matrixd::translate(m_start));//直接赋值式改变位置
}
}
traverse(node, nv);
}
private:
osg::Vec3 m_start; //汽车的起始位置
osg::Vec3 m_speed; //汽车的行驶速度
osg::Matrix tempmat;
float heading;
float m_pos;
unsigned short usLength ;
unsigned short usCnt;
char chrBuffer[2000];
unsigned long ulComNo ;
};
调用
int main(int argc, char **argv)
{
model();
}
结果
飞机姿态1
飞机姿态2
飞机姿态3
http://www.bilibili.com/video/BV1Zh411k7Ts?share_medium=android&share_source=copy_link&bbid=XY8DB868C46E6A7B9DCC719BE55B83C665BB6&ts=1611922641741
写在最后
（1）买硬件一定要买大厂家的产品，负责，到时候由于相关资料好和资源太少，你会欲哭无泪的。
本系统硬件资料：
链接：
（2）搜索资料，不要找相关，二值要直奔主题，找给厂家的资料，不要像我一样，从：找串口驱动（百度、谷歌、cscd......）——>从自带程序中将C#代码改造成C++——>找技术手册pdf自己写硬件驱动——>修改C51的代码做移植.......最后发现在管网直接由现成的代码考过了就可以用。
(3)关于osg已经oe的各种环境配置，且等我下回分解！
（4）代码链接：链接: https://pan.baidu.com/s/1yGy91iCshJyQokgT0qDqqQ 提取码: 1avh 复制这段内容后打开百度网盘手机App，操作更方便哦
