添加属性函数

Vehicle.cpp

@@ -38,6 +38,7 @@ Vehicle::~Vehicle()
 
 }
 
+//自动检测，如果收到了，检测到buff不为空，则自动生成一个线程解析，解析完成后关闭线程，等待下一次解析
 void Vehicle::_Handler(mavlink_message_t msg)
 {
         //用于给参数添加设备，便于读取
@@ -89,17 +90,139 @@ void Vehicle::_Handler(mavlink_message_t msg)
         }
 }
 
-
-
-void Vehicle::setType(int t)
+void Vehicle::receiveMessage(mavlink_message_t message)
 {
-    Q_UNUSED(t)
-    //type = t;
+    //Q_UNUSED(link);
+/*
+    if(message.sysid != sysid)//如果不是自己，那就无视
+    {
+        return;
+    }
+
+    quint64 receiveTime;
+
+
+    // Create dynamically an array to store the messages for UAS
+    if (!MessageStorage.contains(message.sysid))
+    {
+        mavlink_message_t* msg = new mavlink_message_t;
+        *msg = message;
+        MessageStorage.insertMulti(message.sysid,msg);//存在多个这个消息
+    }
+
+    bool msgFound = false;
+    QMap<int, mavlink_message_t* >::const_iterator iteMsg = MessageStorage.find(message.sysid);
+    mavlink_message_t* uasMessage = iteMsg.value();
+    while((iteMsg != MessageStorage.end()) && (iteMsg.key() == message.sysid))
+    {
+        if (iteMsg.value()->msgid == message.msgid)
+        {
+            msgFound = true;
+            uasMessage = iteMsg.value();
+            break;
+        }
+        ++iteMsg;
+    }
+    if (!msgFound)
+    {
+        mavlink_message_t* msgIdMessage = new mavlink_message_t;
+        *msgIdMessage = message;
+        MessageStorage.insertMulti(message.sysid,msgIdMessage);
+    }
+    else
+    {
+        *uasMessage = message;
+    }
+
+    // Looking if this message has already been received once
+    msgFound = false;
+    QMap<int, QMap<int, quint64>* >::const_iterator ite = uasLastMessageUpdate.find(message.sysid);
+    QMap<int, quint64>* lastMsgUpdate = ite.value();
+    while((ite != uasLastMessageUpdate.end()) && (ite.key() == message.sysid))
+    {
+        if(ite.value()->contains(message.msgid))
+        {
+            msgFound = true;
+
+            // Point to the found message
+            lastMsgUpdate = ite.value();
+            break;
+        }
+        ++ite;
+    }
+
+    //输入时间
+    receiveTime = QDateTime::currentMSecsSinceEpoch();//0;//QGC::groundTimeMilliseconds();
+
+    // If the message doesn't exist, create a map for the frequency, message count and time of reception
+    if(!msgFound)
+    {
+        // Create a map for the message frequency
+        QMap<int, float>* messageHz = new QMap<int,float>;
+        messageHz->insert(message.msgid,0.0f);
+        uasMessageHz.insertMulti(message.sysid,messageHz);
+
+        // Create a map for the message count
+        QMap<int, unsigned int>* messagesCount = new QMap<int, unsigned int>;
+        messagesCount->insert(message.msgid,0);
+        uasMessageCount.insertMulti(message.sysid,messagesCount);
+
+        // Create a map for the time of reception of the message
+        QMap<int, quint64>* lastMessage = new QMap<int, quint64>;
+        lastMessage->insert(message.msgid,receiveTime);
+        uasLastMessageUpdate.insertMulti(message.sysid,lastMessage);
+
+        // Point to the created message
+        lastMsgUpdate = lastMessage;
+    }
+    else
+    {
+        // The message has been found/created
+        if ((lastMsgUpdate->contains(message.msgid))&&(uasMessageCount.contains(message.sysid)))
+        {
+            // Looking for and updating the message count
+            unsigned int count = 0;
+            QMap<int, QMap<int, unsigned int>* >::const_iterator iter = uasMessageCount.find(message.sysid);
+            QMap<int, unsigned int> * uasMsgCount = iter.value();
+            while((iter != uasMessageCount.end()) && (iter.key() == message.sysid))
+            {
+                if(iter.value()->contains(message.msgid))
+                {
+                    uasMsgCount = iter.value();
+                    count = uasMsgCount->value(message.msgid,0);
+                    uasMsgCount->insert(message.msgid,count+1);
+                    break;
+                }
+                ++iter;
+            }
+        }
+        lastMsgUpdate->insert(message.msgid,receiveTime);
+    }
+
+    if (selectedSystemID == 0 || selectedComponentID == 0)
+    {
+        return;
+    }
+
+    switch (message.msgid)
+    {
+        case MAVLINK_MSG_ID_DATA_STREAM:
+            {
+                mavlink_data_stream_t stream;
+                mavlink_msg_data_stream_decode(&message, &stream);
+                onboardMessageInterval.insert(stream.stream_id, stream.message_rate);
+            }
+            break;
+
+    }
+    */
 }
 
+
+
 void Vehicle::setMsg(mavlink_message_t *msg)
 {
-   messages.insert(msg->msgid,msg);
+   //messages.insert(msg->msgid,msg);
 }
 
 void Vehicle::setParam(mavlink_param_value_t *param)

Vehicle.h

@@ -7,15 +7,23 @@
 #include "QHash"
 #include "QMap"
 #include "QDebug"
-
+#include "QDateTime"
 #include "mavlink.h"
 
 /*
 
+ 定时往外发消息
+
  航线 航迹 图片 颜色
 
  参数 状态 指令
 
+ 消息 警告
+
+
+ 自己在发送心跳
+
+
 */
 
 
@@ -26,88 +34,224 @@ public:
     explicit Vehicle(QObject *parent = nullptr);
     ~Vehicle();
 
-signals:
-
-
 
 public slots:
 
-    void setSysID(int id)
+    QString Name(void)
     {
-        sysid = id;
+        return name;
     }
+    void setName(QString value)
+    {
+        name = value;
+    }
+
+    QIcon Icon(void)
+    {
+        return icon;
+    }
+    void setIcon(QIcon value)
+    {
+        icon = value;
+    }
+
+    QColor TailColor(void)
+    {
+        return tailColor;
+    }
+    void setTailColor(QColor value)
+    {
+        tailColor = value;
+    }
+
+    QColor WayColor(void)
+    {
+        return wayColor;
+    }
+    void setWayColor(QColor value)
+    {
+        wayColor = value;
+    }
+
 
     int SysID(void)
     {
         return sysid;
     }
+    void setSysID(int value)
+    {
+        sysid = value;
+    }
 
 
+    int Type(void)
+    {
+        return type;
+    }
+    void setType(int value)
+    {
+        type = value;
+    }
 
-    void setType(int t);
+
+    bool Selected(void)
+    {
+        return isSelected;
+    }
+    void setSelected(bool value)
+    {
+        isSelected = value;
+    }
+
+    bool Heartbeat(void)
+    {
+        return heartbeat;
+    }
+    void setHeartbeat(bool value)
+    {
+        heartbeat = value;
+        //发一次声音 beep
+    }
+
+    bool Arm(void)
+    {
+        return arm;
+    }
+    void setArm(bool value)
+    {
+        arm = value;
+        //有变化后要播报语音
+    }
+
+    int Flightmode(void)
+    {
+        return flightmode;
+    }
+    void setFlightmode(int value)
+    {
+        flightmode = value;
+        //有变化后要播报语音
+    }
+
+    int Flightstate(void)
+    {
+        return flightstate;
+    }
+    void setFlightstate(int value)
+    {
+        flightstate = value;
+        //有变化后要播报语音
+    }
 
     void setMsg(mavlink_message_t *msg);
     void setParam(mavlink_param_value_t *param);
     void setMission(mavlink_mission_item_int_t *item);
 
+    void _Handler(mavlink_message_t msg);
+
 
 private slots:
 
+    void receiveMessage(mavlink_message_t message);
+
+signals:
 
 private:
 
+    //一些可以配置的东西可以存在json里面，一旦生成这个飞机就导入json的设置
     //基本信息
-
-    QIcon icon = "fixwing.png";
+    QString name = "vehicle";
+    QIcon icon = QIcon("fixwing.png");
     QColor tailColor = "#026F80";
     QColor wayColor = "#F09382";
 
     int sysid = 0;
-    bool isSeleted = false;
     int type = 0;//设备类型
+    bool isSelected = false;
+    bool heartbeat = false;//反复变化
+    bool arm = false;//false 上锁 true 解锁
+    int flightmode = 0;
+    int flightstate = 0;
 
-    bool arm;
-    int flightmode;
+    int imu_select = 0;//惯导选择
+    int das_select = 0;//大气选择
 
-    bool heartbeat = false;
-    bool isOnline = false;
+    //健康字
+    bool inner_INS = false;
+    bool outer_INS = false;
+    bool servosystem = false;
+    bool loadinggear = false;
+    bool recorder = false;//数据记录健康
+    bool inner_das = false;
+    bool outer_das = false;
 
     //惯性
-    qreal roll;
-    qreal pitch;
-    qreal yaw;
+    qreal roll = 0;
+    qreal pitch = 0;
+    qreal yaw = 0;
 
-    qreal p;
-    qreal q;
-    qreal r;
+    qreal p = 0;
+    qreal q = 0;
+    qreal r = 0;
 
-    qreal ax;
-    qreal ay;
-    qreal az;
+    qreal ax = 0;
+    qreal ay = 0;
+    qreal az = 0;
 
     //导航
-    double lat;
-    double lng;
-    qreal RelativeAltitude;//相对海拔
-    qreal AbsoluteAltitude;//绝对海拔
+    double lat = 0;
+    double lng = 0;
+    qreal gpsalt = 0;//GPS海拔
+    qreal relalt = 0;//相对海拔
+    qreal absalt = 0;//绝对海拔
+    qreal baroalt = 0;//气压海拔
 
-    qreal groudspeed;
-    qreal heading;
+    qreal groudspeed = 0;
+    qreal heading = 0;
 
-    int fixType;
-    int Satellites;
+    int fixtype = 0;
+    int directioncapture = false;
+    int satellites = 0;
+
+    qreal vn = 0;
+    qreal ve = 0;
+    qreal vd = 0;
 
     //大气
-    qreal tas;
-    qreal cas;
-    qreal Ma;
-    qreal alpha;
-    qreal beta;
+    qreal tas = 0;//真空速
+    qreal cas = 0;//表速
+    qreal Ma = 0;//马赫数
+    qreal alpha = 0;//攻角
+    qreal beta = 0;//侧滑角
 
     //控制
+    qreal aileron = 0;//副翼
+    qreal elevator = 0;//升降舵
+    qreal throttle = 0;//油门
+    qreal ruddor = 0;//方向舵
+    //...
 
 
 
+    //遥控
+    QList<uint16_t> rc = {0};
+
+    //电压
+    qreal mainvoltage = 0;//飞控电压
+    qreal servovoltage = 0;//舵机电压
+    qreal powervoltage = 0;//动力电压
+    QList<qreal> battery = {0};//其余电压
+    QList<qreal> voltagegain = {1};//电压转换系数
+
+    //数据链
+    bool isOnline = false;//数据链有没有丢失
+    qreal rssi = 0;//数据链强度
+    int datain = 0;//数据输入量
+    int dataout = 0;//数据输出量
+
+    //数据记录
+    bool isrecording = false;//是否在记录
+
 
 
 
@@ -126,14 +270,26 @@ private:
      *
      */
 
+    //当前飞机的航线
     QMap<int,mavlink_mission_item_int_t *> waypoints;//航线组
 
 
-    QMap<quint32,mavlink_message_t *> messages;
-
-
+    //飞机的参数
     QMap<int,mavlink_param_value_t *> parameters;
 
+    //飞机收到的消息
+    QMap<uint16_t,mavlink_message_t *> MessageStorage;
+
+    //飞机要发出去的消息
+
+
+
+    //飞机收到的指令
+
+
+
+
+    //飞机要发出去的指令
 
 
 

VehicleManage.cpp

@@ -25,6 +25,8 @@ void VehicleManage::setMsg(int sysid,int s)
     Vehicle *v = Vehicles.value(sysid);
 
 
+
+
     //v->setMsg(s,s);
 
 }