2026-06-01 09:46:36 +08:00
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#ifndef TERMINAL_H
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#define TERMINAL_H
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#include <QObject>
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#include "QDebug"
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#include "QThread"
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#include "mavlink.h"
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#include "QTimer"
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#include "QTime"
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#include <QtEndian>
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#include "ThreadTemplet.h"
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#ifdef QtMavlinkNode
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#include <mavlinknodeglobal.h>
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class MAVLINKNODESHARED_EXPORT terminal : public ThreadTemplet {
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#else
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class terminal : public ThreadTemplet
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{
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#endif
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Q_OBJECT
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public:
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explicit terminal(QObject *parent = nullptr);
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~terminal();
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mavlink_serial_control_t m_serial_control;
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public slots:
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//读取和写入指令
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void Transmit(QString msg);
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//线程对外接口
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void Parse(mavlink_message_t msg);
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private slots:
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//线程私有接口
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void process();
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//状态机
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void ReadStateMachine(void);
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void WriteStateMachine(void);
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//所有相关函数
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void serial_control(void);
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signals:
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void readError();
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void commandAccepted(bool flag,uint16_t command,uint8_t result);
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void Recieve(QString msg);
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private:
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bool running_flag = false;
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quint32 running_frq = 200;//200Hz
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QThread *thread = nullptr;
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//超时时间（ms）
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int readTimeout = 5000;
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int sendTimeout = 5000;
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QString SerialData;
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};
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#endif // STATUSPROCESS_H
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