Initial commit

blacklib/samples/CMakeLists.txt

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+ADD_SUBDIRECTORY(Logging)
+ADD_SUBDIRECTORY(com_server)
+ADD_SUBDIRECTORY(com_client)
+ADD_SUBDIRECTORY(Geodetic2Ecef)
+ADD_SUBDIRECTORY(interpolator)
+ADD_SUBDIRECTORY(config)

blacklib/samples/Geodetic2Ecef/CMakeLists.txt

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+FILE(GLOB SRC *.cpp)
+
+ADD_EXECUTABLE(sample_Geodetic2Ecef ${SRC})
+
+TARGET_LINK_LIBRARIES(sample_Geodetic2Ecef blackmisc blackcore ${QT_LIBRARIES})
+SET_TARGET_PROPERTIES(sample_Geodetic2Ecef PROPERTIES PROJECT_LABEL "Samples - Geodetic to Ecef")

blacklib/samples/Geodetic2Ecef/main.cpp

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+#include <QCoreApplication>
+#include <QElapsedTimer>
+#include <blackmisc/debug.h>
+#include <iostream>
+#include <conio.h>
+#include <windows.h>
+
+#include <blackcore/ecef.h>
+#include <blackcore/vector_geo.h>
+
+using namespace std;
+
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
+    BlackMisc::CApplicationContext myApplicationContext;
+	
+	QElapsedTimer timer;
+	qint64 duration;
+
+    double lat = 27.999999, lon = 86.999999, h = 8820.999999; // Mt Everest
+	
+	BlackCore::CEcef mediumvec;
+	BlackCore::CVectorGeo startVec(lat, lon, h);
+	startVec.print();
+	
+	cout << std::endl;
+	cout << std::endl;
+	
+	BlackCore::CVectorGeo endVec;
+
+	timer.start();
+	mediumvec = startVec.toCartesian();
+	
+	duration = timer.nsecsElapsed();
+	
+	mediumvec.print();
+	
+	cout << std::endl;
+	cout << std::endl;
+	
+	cout << "Needed " << duration << " nanoseconds for the calculation!" << std::endl << std::endl;
+	
+	timer.restart();
+	endVec = mediumvec.toGeodetic();
+	duration = timer.nsecsElapsed();
+	
+	endVec.print();
+	
+	cout << "Needed " << duration << " nanoseconds for the calculation!" << std::endl << std::endl;
+    
+    return a.exec();
+}

blacklib/samples/Logging/CMakeLists.txt

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+FILE(GLOB SRC *.cpp)
+
+ADD_EXECUTABLE(sample_logging ${SRC})
+
+TARGET_LINK_LIBRARIES(sample_logging blackmisc ${QT_LIBRARIES})
+SET_TARGET_PROPERTIES(sample_logging PROPERTIES PROJECT_LABEL "Samples - Logging")

blacklib/samples/Logging/main.cpp

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+#include <QCoreApplication>
+#include <blackmisc/debug.h>
+#include <blackcore/constants.h>
+#include <limits>
+#include <iostream>
+
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
+    BlackMisc::CApplicationContext myApplicationContext;
+
+    bInfo << "This is a Info log message";
+    bWarning << "This is a bWarning log message";
+    bError << "This is a bError log message";
+    bDebug << "This is a bDebug log message";
+    
+    return a.exec();
+}

blacklib/samples/com_client/CMakeLists.txt

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+FILE(GLOB sample_com_client_SOURCES *.cpp)
+SET(sample_com_client_HEADERS client.h)
+
+QT4_WRAP_CPP(sample_com_client_HEADERS_MOC ${sample_com_client_HEADERS})
+
+ADD_EXECUTABLE(sample_com_client ${sample_com_client_SOURCES} ${sample_com_client_HEADERS_MOC})
+
+TARGET_LINK_LIBRARIES(sample_com_client blackmisc ${QT_LIBRARIES})
+SET_TARGET_PROPERTIES(sample_com_client PROPERTIES PROJECT_LABEL "Samples - Com client")

blacklib/samples/com_client/client.cpp

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+#include <blackmisc/debug.h>
+#include "client.h"
+#include <blackmisc/message.h>
+
+using namespace BlackMisc;
+
+Client::Client(QObject *parent) : QObject(parent)
+{
+    connect(&comclient, SIGNAL(doError(QAbstractSocket::SocketError,QString)), this, SLOT(onError(QAbstractSocket::SocketError,QString)));
+    connect(&comclient, SIGNAL(doConnected()), this, SLOT(onClientConnected()));
+
+    QString address = "127.0.0.1";
+    comclient.connectTo(address, 6809);
+}
+
+Client::~Client()
+{
+}
+
+void Client::onError(QAbstractSocket::SocketError error, QString message)
+{
+    bWarning << "Socket error!";
+}
+
+void Client::onClientConnected()
+{
+    QByteArray message_data;
+    QDataStream out(&message_data, QIODevice::WriteOnly);
+
+    IMessage* testmsg = new TestMessage();
+
+    *testmsg >> out;
+
+    comclient.sendMessage(testmsg->getID(), message_data);
+    delete testmsg;
+}

blacklib/samples/com_client/client.h

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+#include <blackmisc/message_system.h>
+#include <blackmisc/com_client.h>
+
+class Client : public QObject
+{
+    Q_OBJECT
+    
+public:
+    explicit Client(QObject *parent = NULL);
+    ~Client();
+
+protected slots:
+    
+    void onError(QAbstractSocket::SocketError,QString);
+    void onClientConnected();
+
+private:
+    BlackMisc::CComClient comclient;
+};

blacklib/samples/com_client/main.cpp

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+#include <QApplication>
+
+#include <blackmisc/context.h>
+#include "client.h"
+
+using namespace BlackMisc;
+
+int main(int argc, char *argv[])
+{
+    BlackMisc::CApplicationContext myApplicationContext;
+    QApplication a(argc, argv);
+
+	Client client;
+    
+    return a.exec();
+}

blacklib/samples/com_server/CMakeLists.txt

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+FILE(GLOB sample_com_server_SOURCES *.cpp)
+SET(sample_com_server_HEADERS server.h)
+
+QT4_WRAP_CPP(sample_com_server_HEADERS_MOC ${sample_com_server_HEADERS})
+
+ADD_EXECUTABLE(sample_com_server ${sample_com_server_SOURCES} ${sample_com_server_HEADERS_MOC})
+
+TARGET_LINK_LIBRARIES(sample_com_server blackmisc ${QT_LIBRARIES})
+SET_TARGET_PROPERTIES(sample_com_server PROPERTIES PROJECT_LABEL "Samples - Com Server")

blacklib/samples/com_server/main.cpp

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+#include <QApplication>
+
+#include <blackmisc/context.h>
+#include "server.h"
+
+using namespace BlackMisc;
+
+int main(int argc, char *argv[])
+{
+    BlackMisc::CApplicationContext myApplicationContext;
+    QApplication a(argc, argv);
+
+	Server server;
+    
+    return a.exec();
+}

blacklib/samples/com_server/server.cpp

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+#include <blackmisc/debug.h>
+#include "server.h"
+
+using namespace BlackMisc;
+
+Server::Server(QObject *parent) : QObject(parent)
+{
+    QHostAddress local = QHostAddress(QHostAddress::LocalHost);
+
+    server.Host(local, 6809);
+
+    connect(&server, SIGNAL(doMessageReceived(QString &, QByteArray&)), this, SLOT(onData(QString &, QByteArray&)));
+
+    CMessageSystem myMessageSystem;
+
+	bInfo << "Com Server running. \n";
+}
+
+Server::~Server()
+{
+}
+
+void Server::onData(QString &messageID, QByteArray &message)
+{
+    BlackMisc::IMessage* test = BlackMisc::CMessageFactory::getInstance().create(messageID);
+    QDataStream stream(&message, QIODevice::ReadOnly);
+
+    bAssert (test);
+    *test << stream;
+
+    CMessageDispatcher::getInstance().append(test);
+    CMessageDispatcher::getInstance().dispatch();
+
+}
+
+void TestMessageHandler::onTestMessage(const TestMessage *testmessage)
+{
+   bDebug << "Message ID: " << testmessage->getID() << " with text: " << testmessage->getTestString();
+}

blacklib/samples/com_server/server.h

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+#include <blackmisc/message_system.h>
+#include <blackmisc/com_server.h>
+
+class TestMessageHandler : public BlackMisc::CMessageHandler
+{
+public:
+    TestMessageHandler()
+    {
+        registerMessageFunction(this, &TestMessageHandler::onTestMessage);
+    }
+private:
+
+    void onTestMessage(const BlackMisc::TestMessage *testmessage);
+
+};
+
+class Server : public QObject
+{
+    Q_OBJECT
+    
+public:
+    explicit Server(QObject *parent = NULL);
+    ~Server();
+
+protected slots:
+    
+    void onData(QString &messageID, QByteArray& message);
+
+private:
+    BlackMisc::CComServer server;
+    TestMessageHandler myHandler;
+};

blacklib/samples/config/CMakeLists.txt

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+FILE(GLOB SRC *.cpp)
+
+ADD_EXECUTABLE(sample_config ${SRC})
+
+TARGET_LINK_LIBRARIES(sample_config blackmisc ${QT_LIBRARIES})
+SET_TARGET_PROPERTIES(sample_config PROPERTIES PROJECT_LABEL "Samples - Config")

blacklib/samples/config/config/position.cfg

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+Longitude=48.999999
+Latitude=11.9999999
+Altitude=300

blacklib/samples/config/config/test.cfg

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+TestString = Hallo
+TestString2 = Welt

blacklib/samples/config/main.cpp

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+#include <QCoreApplication>
+#include <blackmisc/debug.h>
+#include <blackmisc/config_manager.h>
+#include <blackmisc/config.h>
+#include <limits>
+#include <iostream>
+
+using namespace BlackMisc;
+
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
+    BlackMisc::CApplicationContext myApplicationContext;
+   
+	CConfigManager::getInstance().setConfigPath(QString("config"));
+	if (!CConfigManager::getInstance().readConfig())
+	{
+		bWarning << "To run this sample, there must be a config folder";
+		bWarning << "in the same directory, containing *.cfg files.";
+	}
+
+	CConfig *myConfig = CConfigManager::getInstance().getConfig("position");
+	bAssert(myConfig);
+	myConfig->display();
+    
+    return a.exec();
+}

blacklib/samples/interpolator/CMakeLists.txt

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+FILE(GLOB SRC *.cpp)
+
+ADD_EXECUTABLE(sample_interpolator ${SRC})
+
+TARGET_LINK_LIBRARIES(sample_interpolator blackmisc blackcore ${QT_LIBRARIES})
+SET_TARGET_PROPERTIES(sample_interpolator PROPERTIES PROJECT_LABEL "Samples - Interpolator")

blacklib/samples/interpolator/main.cpp

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+#include <QCoreApplication>
+#include <QElapsedTimer>
+
+#include <windows.h>
+
+#include <iostream>
+
+#include <blackcore/matrix_3d.h>
+#include <blackcore/vector_geo.h>
+#include <blackcore/vector_3d.h>
+#include <blackcore/interpolator.h>
+
+using namespace std;
+using namespace BlackCore;
+
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
+    QElapsedTimer timer;
+
+    CVectorGeo myGeo(48.123, 11.75, 400);
+    CVector3D vecNed(1, 0, 0);
+    CVector3D vecEcef;
+
+    CInterpolator interpolator;
+
+    interpolator.initialize();
+
+    CVectorGeo vecGeo(48.340733, 11.750565, 100);
+    CVectorGeo vecGeo2(48.344727, 11.805153, 100);
+
+    cout << "Start position: "  << endl;
+	vecGeo.print();
+
+    cout << "End position: "    << endl;
+	vecGeo2.print();
+
+    timer.start();
+
+    // CVectorGeo pos, double groundVelocity, double heading, double pitch, double bank
+    interpolator.pushUpdate(vecGeo, 20, 80, 0, 0);
+    interpolator.pushUpdate(vecGeo2, 20, 250, 0, 0);
+
+    double duration = timer.nsecsElapsed();
+
+    TPlaneState teststate;
+	
+	timer.restart();
+    interpolator.stateNow(&teststate);
+
+    CEcef pos = teststate.position;
+	CVector3D vel = teststate.velocity;
+	CNed ned = teststate.velNED;
+
+    duration = timer.nsecsElapsed();
+	timer.restart();
+
+	CVectorGeo resultGeo = pos.toGeodetic();
+    duration = timer.nsecsElapsed();
+
+    cout << "End position: "    << endl;
+	resultGeo.print();
+    cout << endl;
+	
+	cout << "End velocity: "    << endl;
+	vel.print();
+    cout << endl;
+
+	cout << "Heading: "    << endl;
+	cout << teststate.orientation.heading << endl;
+    cout << endl;
+
+	cout << duration <<  " nanoseconds" << endl;
+
+    return a.exec();
+}