基于嵌入式的车载导航定位系统设计

sudo apt install make
sudo apt install gcc
sudo apt install g++

如果在编译运行程序时， 提示缺少 cannot find -lGL 库报错， 可以按照下面方法解决：
在命令行执行： locate libGL.so //这一步是查看本地系统里有没有这个库
/usr/lib/x86_64-linux-gnu/mesa/libGL.so.1 //如果提示这两行， 说明系统有这个库
/usr/lib/x86_64-linux-gnu/mesa/libGL.so.1.2.0
下面只需要做一个链接即可：
sudo ln -s /usr/lib/x86_64-linux-gnu/mesa/libGL.so.1 /usr/lib/libGL.so
如果系统里没有查找到库， 就在命令行敲下面命令进行在线安装：
sudo apt-get install libgl1-mesa-dev

// mainwindow.h
#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include <QNetworkAccessManager>
#include <QNetworkRequest>
#include <QNetworkReply>
#include <QImage>
#include <QLabel>

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    MainWindow(QWidget *parent = nullptr);
    ~MainWindow();

private slots:
    void onMapImageReceived(QNetworkReply *reply);

private:
    QLabel *mapLabel;
    QNetworkAccessManager *networkManager;
};

#endif // MAINWINDOW_H
cppCopy Code// mainwindow.cpp
#include "mainwindow.h"
#include <QUrl>

MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
{
    mapLabel = new QLabel(this);
    mapLabel->setGeometry(10, 10, 600, 400);  // 设置地图图片显示位置和大小

    networkManager = new QNetworkAccessManager(this);
    connect(networkManager, &QNetworkAccessManager::finished, this, &MainWindow::onMapImageReceived);

    QString mapUrl = "http://api.map.baidu.com/staticimage/v2";
    QUrl url(mapUrl);
    url.addQueryItem("ak", "your_baidu_map_api_key");  // 替换为你的百度地图API密钥
    url.addQueryItem("center", "北京");  // 地图中心位置
    url.addQueryItem("width", "600");  // 图片宽度
    url.addQueryItem("height", "400");  // 图片高度
    url.addQueryItem("zoom", "11");  // 缩放级别

    QNetworkRequest request(url);
    networkManager->get(request);
}

MainWindow::~MainWindow()
{
}

void MainWindow::onMapImageReceived(QNetworkReply *reply)
{
    if (reply->error() == QNetworkReply::NoError) {
        QByteArray imageData = reply->readAll();
        QImage mapImage;
        mapImage.loadFromData(imageData);
        mapLabel->setPixmap(QPixmap::fromImage(mapImage));
    } else {
        qDebug() << "Error: " << reply->errorString();
    }

    reply->deleteLater();
}

#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <alsa/asoundlib.h>

#define BUFFER_SIZE 1024

int main(int argc, char *argv[])
{
    int err;
    int fd;
    snd_pcm_t *pcm_handle;
    snd_pcm_hw_params_t *hw_params;
    unsigned int rate = 44100;
    unsigned int channels = 2;
    unsigned int buffer_time = 500000;  // 500ms
    unsigned int period_time = 100000;  // 100ms
    snd_pcm_uframes_t buffer_size;
    snd_pcm_uframes_t period_size;
    char *buffer;

    buffer = (char *)malloc(BUFFER_SIZE);
    if (!buffer) {
        printf("Error: Failed to allocate memory.\n");
        return -1;
    }

    // 打开PCM设备
    err = snd_pcm_open(&pcm_handle, "default", SND_PCM_STREAM_PLAYBACK, 0);
    if (err < 0) {
        printf("Error: Failed to open PCM device. %s\n", snd_strerror(err));
        return -1;
    }

    // 配置PCM设备参数
    snd_pcm_hw_params_alloca(&hw_params);
    err = snd_pcm_hw_params_any(pcm_handle, hw_params);
    if (err < 0) {
        printf("Error: Failed to get PCM device parameters. %s\n", snd_strerror(err));
        return -1;
    }
    err = snd_pcm_hw_params_set_access(pcm_handle, hw_params, SND_PCM_ACCESS_RW_INTERLEAVED);
    if (err < 0) {
        printf("Error: Failed to set PCM device access mode. %s\n", snd_strerror(err));
        return -1;
    }
    err = snd_pcm_hw_params_set_format(pcm_handle, hw_params, SND_PCM_FORMAT_S16_LE);
    if (err < 0) {
        printf("Error: Failed to set PCM device sample format. %s\n", snd_strerror(err));
        return -1;
    }
    err = snd_pcm_hw_params_set_channels(pcm_handle, hw_params, channels);
    if (err < 0) {
        printf("Error: Failed to set PCM device channel count. %s\n", snd_strerror(err));
        return -1;
    }
    err = snd_pcm_hw_params_set_rate_near(pcm_handle, hw_params, &rate, 0);
    if (err < 0) {
        printf("Error: Failed to set PCM device sample rate. %s\n", snd_strerror(err));
        return -1;
    }
    err = snd_pcm_hw_params_set_buffer_time_near(pcm_handle, hw_params, &buffer_time, 0);
    if (err < 0) {
        printf("Error: Failed to set PCM device buffer time. %s\n", snd_strerror(err));
        return -1;
    }
    err = snd_pcm_hw_params_set_period_time_near(pcm_handle, hw_params, &period_time, 0);
    if (err < 0) {
        printf("Error: Failed to set PCM device period time. %s\n", snd_strerror(err));
        return -1;
    }
    err = snd_pcm_hw_params(pcm_handle, hw_params);
    if (err < 0) {
        printf("Error: Failed to set PCM device parameters. %s\n", snd_strerror(err));
        return -1;
    }

    // 获取PCM设备缓冲区大小和周期大小
    err = snd_pcm_get_params(pcm_handle, &buffer_size, &period_size);
    if (err < 0) {
        printf("Error: Failed to get PCM device buffer and period sizes. %s\n", snd_strerror(err));
        return -1;
    }

    // 打开音频文件
    fd = open(argv[1], O_RDONLY);
    if (fd < 0) {
        printf("Error: Failed to open audio file.\n");
        return -1;
    }

    // 播放音频
    while (1) {
        long frames = read(fd, buffer, BUFFER_SIZE);
        if (frames == 0) {  // 播放完成
            break;
        } else if (frames < 0) {  // 读取错误
            printf("Error: Failed to read audio data.\n");
            break;
        }
        while (frames > 0) {
            long n = snd_pcm_writei(pcm_handle, buffer, frames);
            if (n < 0) {  // 发生错误，重新配置PCM设备
                printf("Error: Failed to write audio data to PCM device. %s\n", snd_strerror(n));
                snd_pcm_prepare(pcm_handle);
            } else {
                frames -= n;
                buffer += n * channels * 2;  // 每个采样点为16位（2字节），乘以通道数
            }
        }
    }

    // 关闭PCM设备和音频文件
    snd_pcm_close(pcm_handle);
    close(fd);
    free(buffer);

    return 0;
}

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <libserialport.h>

void parse_gps_data(char *data) {
    char *token;
    token = strtok(data, ",");
    int count = 0;
    double latitude, longitude;

    while (token != NULL) {
        if (count == 2) { // 纬度数据在第3个字段
            latitude = atof(token);
        } else if (count == 4) { // 经度数据在第5个字段
            longitude = atof(token);
        }

        token = strtok(NULL, ",");
        count++;
    }

    printf("Latitude: %f, Longitude: %f\n", latitude, longitude);
}

int main() {
    struct sp_port *port;
    int err;

    // 打开串口
    err = sp_get_port_by_name("/dev/ttyUSB0", &port);
    if (err != SP_OK) {
        fprintf(stderr, "Error: Failed to open serial port\n");
        return -1;
    }

    err = sp_open(port, SP_MODE_READ);
    if (err != SP_OK) {
        fprintf(stderr, "Error: Failed to open serial port for reading\n");
        sp_free_port(port);
        return -1;
    }

    // 设置串口参数
    struct sp_port_config *config;
    sp_new_config(&config);
    sp_set_config_baudrate(config, 9600);
    sp_set_config_bits(config, 8);
    sp_set_config_parity(config, SP_PARITY_NONE);
    sp_set_config_stopbits(config, 1);
    sp_set_config(port, config);

    // 读取GPS数据
    char data[256];
    int bytes_read;
    while (1) {
        bytes_read = sp_input_waiting(port);
        if (bytes_read > 0) {
            sp_blocking_read(port, data, sizeof(data), 0);
            parse_gps_data(data);
        }
        usleep(100000); // 延时100ms
    }

    // 关闭串口
    sp_close(port);
    sp_free_port(port);

    return 0;
}