gcs-nf/MavLinkNode/missionprocess.h

#ifndef MISSIONPROCESS_H
#define MISSIONPROCESS_H

#include <QObject>
//#include "mavlinknode.h"

#include "QDebug"
#include "QThread"
#include "mavlink.h"
#include "QTimer"
#include "QTime"
#ifdef QtMavlinkNode
#include <mavlinknodeglobal.h>
class MAVLINKNODESHARED_EXPORT MissionProcess : public QObject {
#else
class MissionProcess : public QObject
{
#endif
    Q_OBJECT

    enum _modetype {
        Nop_Mode = 0,
        RecieveMode,
        TransmitMode
    };


    typedef struct {
        bool isWaitingforCount;
        bool isWaitingforItem;
    }_recieve;

    typedef struct {
       uint32_t count;
       bool isWaiteforRequest;
       bool isWaiteforACK;
    }_transmit;

    typedef struct
    {
        _recieve recieve;
        _transmit transmit;


        _modetype m_Mode;

    }_mission_;

public:
    explicit MissionProcess(QObject *parent = nullptr);

    _mission_ mission_status;

    //读取航线的指令
    void ReadCmd(uint8_t m_sysid, uint8_t m_compid);
    void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count );
public slots:
    //线程对外接口
    void setRunFrq(uint32_t frq);
    void start();
    void stop();


    void Parse(mavlink_message_t msg);






private slots:
   //线程私有接口
   void SendMessage(mavlink_message_t msg);

   void process();

   //定时器


   //状态机
   void ReadStateMachine(void);
   void WriteStateMachine(void);

   //所有的相关函数
   void request_list(void);
   void count(uint16_t count);
   void request_int(uint16_t seq);
   void request(uint16_t seq);
   void item_int(float param1,float param2,float param3,float param4,
                 float x,float y,float z,
                 uint16_t seq,uint16_t command,
                 uint8_t frame,uint8_t current,
                 uint8_t autocontinue,uint8_t mission_type);
   void item(float param1,float param2,float param3,float param4,
             float x,float y,float z,
             uint16_t seq,uint16_t command,
             uint8_t frame,uint8_t current,
             uint8_t autocontinue,uint8_t mission_type);
   void ack(void);
   void current(void);
   void setcurrent(void);
   void clear_all(void);

   void item_reached(void);
   void request_partial_list(void);
   void write_partial_list(void);

signals:
   void readError();

   void SendMessageTo(quint8 ch, quint8 *data,quint16 len);

private:

   uint8_t sysid;
   uint8_t compid;

   mavlink_mission_request_list_t mission_request_list;
   mavlink_mission_count_t mission_count;
   mavlink_mission_request_int_t mission_request_int;
   mavlink_mission_request_t mission_request;
   mavlink_mission_item_int_t mission_item_int;
   mavlink_mission_item_t mission_item;
   mavlink_mission_ack_t mission_ack;
   mavlink_mission_current_t mission_current;
   mavlink_mission_set_current_t mission_set_current;
   mavlink_mission_clear_all_t mission_clear_all;
   mavlink_mission_item_reached_t mission_item_reached;
   mavlink_mission_request_partial_list_t mission_request_partial_list;
   mavlink_mission_write_partial_list_t mission_write_partial_list;

    bool running_flag = false;
    quint32 running_frq = 200;//200Hz
    QThread *Missionthread = nullptr;






    //bool isReadMission = false;



    //bool isWriteMission = false;




    //bool ismTimerTimeOut = false;

};







#endif // MISSIONPROCESS_H