2021-04-29 09:54:21 +08:00
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#ifndef RCPROCESS_H
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#define RCPROCESS_H
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#include <QObject>
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#include "QDebug"
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#include "QtEndian"
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#include "QDateTime"
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#include "sbusparser.h"
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2021-07-08 18:35:03 +08:00
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#include "ThreadTemplet.h"
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2021-04-29 09:54:21 +08:00
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#ifdef QtMavlinkNode
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#include <mavlinknodeglobal.h>
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2021-07-08 18:35:03 +08:00
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class MAVLINKNODESHARED_EXPORT rcprocess : public ThreadTemplet {
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2021-04-29 09:54:21 +08:00
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#else
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2021-07-08 18:35:03 +08:00
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class rcprocess : public ThreadTemplet
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2021-04-29 09:54:21 +08:00
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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 rcprocess(QObject *parent = nullptr);
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~rcprocess();
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signals:
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void new_remote_ctrl(QList<uint16_t>);
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public slots:
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//缓存对外接口
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void SoftRCUpdate(QList<uint16_t> rc);
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void setRCActive(uint32_t value)
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{
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isRCActive = value;
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qDebug() << "set ch" << isRCActive;
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}
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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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//缓存私有接口
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void update15Hz(void);
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//解析
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void parse(quint32 src,QByteArray datagram);
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protected:
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uint16_t rcin[20];
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int rcin_cnt = 0;
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bool rcin_update = true;
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uint32_t isRCActive = 0;
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SBusParser sbus;
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QList<uint16_t> sbuslist;
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};
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#endif // RCPROCESS_H
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