From 3c2021441490ae9b93f7a2ef0f379909b589edd9 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 13 十二月 2025 18:53:16 +0800
Subject: [PATCH] 应该是拍视频的版本，外包在此基础上加了MQTT部分。
---
python/hitl/run_sim.py | 52 ++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 52 insertions(+), 0 deletions(-)
diff --git a/python/hitl/run_sim.py b/python/hitl/run_sim.py
index 6d8baa7..2ea97d0 100644
--- a/python/hitl/run_sim.py
+++ b/python/hitl/run_sim.py
@@ -402,9 +402,11 @@
self.origin_text = QtWidgets.QLineEdit(default_origin_short)
self.origin_text.setPlaceholderText("3949.9120,N,11616.8544,E[,alt]")
self.origin_btn = QtWidgets.QPushButton("鏇存柊鍘熺偣")
+ self.copy_origin_btn = QtWidgets.QPushButton("澶嶅埗瀹忓畾涔�") # 鏂板鎸夐挳
grid.addWidget(QtWidgets.QLabel("鍧愭爣 (lat,N,lon,E):"), 0, 0, 1, 2)
grid.addWidget(self.origin_text, 0, 2, 1, 2)
grid.addWidget(self.origin_btn, 0, 4)
+ grid.addWidget(self.copy_origin_btn, 0, 5) # 娣诲姞鍒板竷灞�
labels = ["E (m)", "N (m)", "U (m)", "Heading (deg)"]
self.pos_spin: List[QtWidgets.QDoubleSpinBox] = []
@@ -484,6 +486,7 @@
self.path_load_btn.clicked.connect(self._load_path_from_text)
self.path_export_btn.clicked.connect(self._export_path_to_mcu)
self.origin_btn.clicked.connect(self._update_origin)
+ self.copy_origin_btn.clicked.connect(self._copy_origin_macro) # 缁戝畾浜嬩欢
self.reset_pose_btn.clicked.connect(self._reset_position)
self.port_refresh_btn.clicked.connect(self._refresh_serial_ports)
self.serial_toggle_btn.clicked.connect(self._toggle_serial)
@@ -492,6 +495,55 @@
self._set_controls_enabled(False)
self._update_serial_ui()
+ def _copy_origin_macro(self):
+ text = self.origin_text.text().strip()
+ if not text:
+ QtWidgets.QMessageBox.warning(self, "澶嶅埗", "鍘熺偣杈撳叆妗嗕负绌�")
+ return
+
+ # 鏍煎紡: lat_val,N,lon_val,E,alt
+ # 渚嬪: 3949.9120,N,11616.8544,E,47.5
+ parts = [p.strip() for p in text.split(",")]
+ if len(parts) < 4:
+ QtWidgets.QMessageBox.warning(self, "澶嶅埗", "鍘熺偣鏍煎紡閿欒锛岄渶鑷冲皯鍖呭惈缁忕含搴�")
+ return
+
+ try:
+ # 瑙ｆ瀽 DDMM.MMMM 鏍煎紡杞� DD.DDDD
+ # 绾害
+ lat_raw = parts[0]
+ lat_deg_int = int(float(lat_raw) / 100)
+ lat_min = float(lat_raw) % 100
+ lat_dd = lat_deg_int + lat_min / 60.0
+ if parts[1].upper() == 'S':
+ lat_dd = -lat_dd
+
+ # 缁忓害
+ lon_raw = parts[2]
+ lon_deg_int = int(float(lon_raw) / 100)
+ lon_min = float(lon_raw) % 100
+ lon_dd = lon_deg_int + lon_min / 60.0
+ if parts[3].upper() == 'W':
+ lon_dd = -lon_dd
+
+ # 楂樺害
+ alt = "0.0"
+ if len(parts) >= 5:
+ alt = parts[4]
+
+ macro = (
+ f"#define MC_CFG_ORIGIN_LAT_DEG ({lat_dd:.6f})\n"
+ f"#define MC_CFG_ORIGIN_LON_DEG ({lon_dd:.6f})\n"
+ f"#define MC_CFG_ORIGIN_ALT_M ({alt})"
+ )
+
+ clipboard = QtWidgets.QApplication.clipboard()
+ clipboard.setText(macro)
+ QtWidgets.QMessageBox.information(self, "澶嶅埗", "宸插鍒跺畯瀹氫箟鍒板壀璐存澘锛�")
+
+ except ValueError as e:
+ QtWidgets.QMessageBox.warning(self, "澶嶅埗", f"鏁板�艰В鏋愰敊璇�: {e}")
+
def _handle_user_pan(self):
if self._auto_follow:
self.follow_checkbox.blockSignals(True)
--
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