2026-06-01 09:46:36 +08:00
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#ifndef STATUSPROCESS_H
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#define STATUSPROCESS_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 statusprocess : public ThreadTemplet {
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#else
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class statusprocess : 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 statusprocess(QObject *parent = nullptr);
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~statusprocess();
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mavlink_heartbeat_t m_heartbeat;
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public slots:
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//读取和写入指令
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//void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
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void setHeartbeat(QVariant state, QVariant frq );
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//线程对外接口
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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 heartbeat(uint32_t custom_mode,
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uint8_t type,
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uint8_t autopilot,
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uint8_t base_mode,
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uint8_t system_status,
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uint8_t mavlink_version);
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signals:
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void readError();
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private:
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};
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#endif // STATUSPROCESS_H
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