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This commit is contained in:
hm
2020-08-08 21:07:33 +08:00
parent 25254c4ee1
commit 02041fcf85
15 changed files with 83 additions and 353 deletions
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App/MissionUI/propertyui.cpp
+2 -1
View File
@@ -1025,7 +1025,7 @@ void propertyui::setallPoint(QMap<int,int> list)
void propertyui::setSeqNav(QVariant value)
{
//读取这个值得航点
emit WPotherPoint(value.toInt());
emit WPotherPoint(value.toInt()+1);
}
void propertyui::on_pushButton_Seq_clicked()
@@ -1535,6 +1535,7 @@ void propertyui::on_pushButton_Param7_clicked()
//模仿qgc
void propertyui::setLoad(QVariant value)
{
qDebug() << "Loadvalue" << value;
if(value.toBool() == true)
{
QFileDialog *dlg = new QFileDialog(this);
App/main.cpp
+4 -1
View File
@@ -143,7 +143,10 @@ int main(int argc, char *argv[])
w.setWindowTitle(QString("GCS New Frame by Qt%1").arg(QT_VERSION_STR));//with version
// 主要是控制HDMI输出，如果是LCD显示，此行无关紧要
w.resize(GetDesktopSize());
//w.resize(GetDesktopSize());
//w.move(0,0);
w.setWindowState(Qt::WindowMaximized);
w.show();
App/mainwindow.cpp
+5 -6
View File
@@ -9,6 +9,8 @@ MainWindow::MainWindow(QWidget *parent)
: QMainWindow(parent)
{
//setGeometry();
//检测qml文件夹,如果不存在，那么就新建一个，这里存着所有的qml文件
QDir *qmlDir = new QDir;
if(!qmlDir->exists("./qml"))
@@ -36,10 +38,6 @@ MainWindow::MainWindow(QWidget *parent)
checkUI = new CheckUI(this);
checkUI->hide();
//---
//inspectui = new InspectUI(this);
//inspectui->hide();
//信息
toolsui = new ToolsUI(this);
toolsui->hide();
@@ -227,7 +225,6 @@ MainWindow::MainWindow(QWidget *parent)
qDebug() << "main window start";
//监测ssl，用于网络连接
qDebug()<<"QSslSocket="<<QSslSocket::sslLibraryBuildVersionString();
qDebug() << "OpenSSL支持情况:" << QSslSocket::supportsSsl();
@@ -302,7 +299,6 @@ void MainWindow::resizeEvent(QResizeEvent *event)
void MainWindow::mousePressEvent(QMouseEvent* event)
{
Q_UNUSED(event)
}
@@ -366,6 +362,9 @@ void MainWindow::keyPressEvent(QKeyEvent *event) //键盘按下事件
break;
case Qt::Key_Space :
{
//map->setcu
map->SetCurrentPosition();
//根据选中的飞机设置当前位置
}
break;
MavLinkNode/commandprocess.cpp
+1 -1
View File
@@ -240,7 +240,7 @@ void commandprocess::WriteStateMachine(void)
}
else if(step == 1)//等待返回
{
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 5000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > sendTimeout)
{
timeout_count ++;
step = 0;//返回上一个步骤
MavLinkNode/commandprocess.h
+5
View File
@@ -141,6 +141,11 @@ private:
int Current_sysID = 0xF1;
int Current_CompID = 0xF1;
//超时时间（ms）
int readTimeout = 5000;
int sendTimeout = 5000;
mavlink_command_int_t cmd_int;
mavlink_command_long_t cmd_long;
MavLinkNode/mavlinknode.cpp
+1 -4
View File
@@ -283,7 +283,7 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
{
if(MAVLINK_FRAMING_OK == mavlink_parse_char(src,*i,&msg,&status))
{
if(msg.compid != Current_CompID)//过滤地面站发过来的数据
if(msg.compid != Current_CompID) //过滤地面站发过来的数据
{
emit recievemsg(msg); //将信息广播出去
MAVLinkRcv_Handler(msg); //接收完一帧数据并处理
@@ -377,8 +377,6 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
case MAVLINK_MSG_ID_EngineState:
case MAVLINK_MSG_ID_VFR_HUD:
StatusParse(msg);
//qDebug() << msg.compid << msg.sysid;
break;
//航线部分
@@ -395,7 +393,6 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
case MAVLINK_MSG_ID_MISSION_ITEM_REACHED:
case MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST:
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
Mission->Parse(msg);
break;
MavLinkNode/missionprocess.cpp
+6 -6
View File
@@ -341,7 +341,7 @@ void MissionProcess::ReadStateMachine(void)
else if(step == 1)//等待收到Count
{
//如果超时，那么重新发一次指令
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > readTimeout)
{
step = 0;//如果超时没有收到就返回上一个步骤
timeout_count ++;
@@ -372,7 +372,7 @@ void MissionProcess::ReadStateMachine(void)
else if(step ==2)//请求航点第0个航点
{
//超过时间
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > readTimeout)
{
timeout_count ++;
qDebug() << "mission request 0 time out " << timeout_count << "times, retry again";
@@ -399,7 +399,7 @@ void MissionProcess::ReadStateMachine(void)
else if(step ==3)//请求航点
{
//超过时间
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > readTimeout)
{
timeout_count ++;
qDebug() << "mission request " << (mission_item_int.seq+1) << " time out " << timeout_count << "times, retry again";
@@ -470,7 +470,7 @@ void MissionProcess::WriteStateMachine(void)
else if(step == 1)//等待收到Request
{
//如果超时，那么重新发一次指令
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > sendTimeout)
{
step = 0;//返回上一个阶段
timeout_count ++;
@@ -501,7 +501,7 @@ void MissionProcess::WriteStateMachine(void)
}
else if(step == 2)
{
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > sendTimeout)
{
timeout_count ++;
if(timeout_count > 5)//如果指令发5次还没发出去，那么结束读取，并报错
@@ -567,7 +567,7 @@ void MissionProcess::WriteStateMachine(void)
}
else if(step == 3)//航线传输结束，等待ack，如果没接收到就算了，超时也结束
{
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > sendTimeout)
{
timeout_count ++;
if(timeout_count > 5)//如果指令发5次还没发出去，那么结束读取
MavLinkNode/missionprocess.h
+5
View File
@@ -187,6 +187,11 @@ private:
int Current_sysID = 0xF1;
int Current_CompID = 0xF1;
//超时时间（ms）
int readTimeout = 3000;
int sendTimeout = 3000;
QList<mapcontrol::WayPointItem *> wplist;
MavLinkNode/parameterprocess.cpp
+4 -4
View File
@@ -163,7 +163,7 @@ void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,const char *i
//这个函数类似中断，专门处理接收到的状态
void ParameterProcess::Parse(mavlink_message_t msg)
{
//qDebug() << "Parameter" << msg.msgid;
switch (msg.msgid) {
case MAVLINK_MSG_ID_PARAM_SET:{
@@ -176,7 +176,7 @@ void ParameterProcess::Parse(mavlink_message_t msg)
status.recieve.isWaitingforValue = false;
status.transmit.isWaitingforValue = false;
//qDebug() << "param_value.param_index" << param_value.param_index;
qDebug() << "param_value.param_index" << param_value.param_index;
}break;
case MAVLINK_MSG_ID_PARAM_EXT_ACK:{
mavlink_msg_param_ext_ack_decode(&msg,&param_ext_ack);
@@ -225,7 +225,7 @@ void ParameterProcess::ReadStateMachine(void)//一整列
else if(step == 1)//等待收到Item
{
//如果超时，那么结束
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > readTimeout)
{
//做一个列表，记录谁丢了，后面单独请求
@@ -310,7 +310,7 @@ void ParameterProcess::WriteStateMachine(void)
}
else if(step == 1)//等待返回
{
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > sendTimeout)
{
timeout_count ++;
step = 0;//返回上一个步骤
MavLinkNode/parameterprocess.h
+5
View File
@@ -135,6 +135,11 @@ private:
int Current_sysID = 0xF1;
int Current_CompID = 0xF1;
//超时时间（ms）
int readTimeout = 3000;
int sendTimeout = 3000;
mavlink_param_set_t param_set;//
mavlink_param_union_t param_union;
mavlink_param_value_t param_value;//
dlink/dlink.cpp
+4 -3
View File
@@ -242,13 +242,14 @@ bool DLink::setupClient(const QHostAddress &local_addr,int local_port,const QHos
Clientsock = new QUdpSocket(this);
if (Clientsock->bind(QHostAddress::AnyIPv4, local_port, QUdpSocket::ShareAddress))
{
Clientsock->joinMulticastGroup(remote_addr);
//Clientsock->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption,1024*1024*8);
//Clientsock->setSocketOption(QAbstractSocket::MulticastTtlOption, 3);
if(Clientsock->open(QIODevice::ReadWrite))
//if(Clientsock->joinMulticastGroup(remote_addr))
{
Clientsock->joinMulticastGroup(remote_addr);
Clientsock->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption,1024*1024*8);
Clientsock->setSocketOption(QAbstractSocket::MulticastTtlOption, 3);
connect(Clientsock, SIGNAL(readyRead()),
this, SLOT(readPendingDatagramsClient()));
dlink/dlink.cpp.autosave
-322
View File
@@ -1,322 +0,0 @@
#include "dlink.h"
#include <string.h>
//#include "windows.h"
#include "QDateTime"
DLink::DLink(QObject *parent) : QObject(parent)
{
qDebug() << "Dlink " << QThread::currentThreadId();
//采用插件导入的方式（plugin）
//mavlink协议节点
mavlinknode = new MavLinkNode();//不允许带参数,因为这是单独的线程
connect(mavlinknode,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
this,SLOT(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);//采用直连的方式，因为是多线程
connect(mavlinknode,SIGNAL(showMessage(QString,int)),
this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
mavlinknode->start();
connect(this,&DLink::REVMessageTo1,
this,&DLink::SendMessageTo1);
//其他协议节点。。。
}
DLink::~DLink()
{
mavlinknode->stop();
delete mavlinknode;
}
int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
{
//让这个函数在其他线程运行
//Q_UNUSED(ch);
//更加ch选择
if (DLink::Clientsock)
{
foreach(Node node,clientSockets)
{
DLink::Clientsock->writeDatagram((const char *)msg, len,
node.addr, node.port);
qDebug() << "Client Send Msg";
}
}
//这个地方有问题，会导致数据中断
emit REVMessageTo1(ch,msg,len);
return 0;
}
int DLink::SendMessageTo1(quint8 ch, quint8 *msg, quint16 len)
{
if (DLink::serialPort)
{
/*
QString num;
for (int i = 0; i < len; ++i) {
num.append(QString::number(msg[i],16).toUpper());
num.append(" ");
}
qDebug() << num;
*/
//qDebug() << QThread::currentThread();
qint64 flag = DLink::serialPort->write((const char *)msg,len);
/*
if(flag != -1)
{
qDebug() << "serial send Success,Send " << flag << "bytes";
}
qDebug() << QThread::currentThread();
*/
qDebug() << "serialPort Send Msg";
}
return 0;
}
bool DLink::setupPort(const QString port, qint32 baudrate, QSerialPort::Parity parity)
{
qDebug() << port
<< baudrate
<< parity;
bool isSuccess = false;
if (serialPort)//多串口接入
{
serialPort->close();
delete serialPort;
}
serialPort = new QSerialPort(this);
serialPort->setPortName(port);
if (serialPort->open(QIODevice::ReadWrite))
{
serialPort->setBaudRate(baudrate);
serialPort->setParity(parity);
serialPort->setDataBits(QSerialPort::Data8);
serialPort->setStopBits(QSerialPort::OneStop);
DLink::serialPort->write("serial connet ok",16);
qDebug() << QThread::currentThread();
//mavlinknode->start();//启动之后串口就找不到了
connect(serialPort, SIGNAL(readyRead()), this, SLOT(readPendingDatagramsSerialPort()));
isSuccess = true;
emit showMessage(tr("Serial Port Open Success"));
qDebug() << "Serial Port Open Success";
}
else
{
isSuccess = false;
emit showMessage(tr("Serial Port Open Fail"));
qDebug() << "Serial Port Open Fail";
delete serialPort;
serialPort = nullptr;
}
return isSuccess;
}
bool DLink::statesPort()
{
return (serialPort != nullptr)?(true):(false);
}
void DLink::stopPort()
{
emit showMessage(tr("Serial Port close"));
serialPort->close();
delete serialPort;
serialPort = nullptr;
}
void DLink::connectSignal(QVariant m_state,
QVariant m_usrName,QVariant m_Type,
QVariant m_Param1,QVariant m_Param2,
QVariant m_Param3,QVariant m_Param4,
QVariant m_Param5)
{
if(m_state.toBool() == true)
{
if(m_Type.toString() == "SerialPort")
{
QSerialPort::Parity parity;
if(m_Param4.toString() == "NONE")
{
parity = QSerialPort::Parity::NoParity;
}
if(m_Param4.toString() == "ODD")
{
parity = QSerialPort::Parity::OddParity;
}
if(m_Param4.toString() == "EVEN")
{
parity = QSerialPort::Parity::EvenParity;
}
qDebug() << m_Type << m_Param1 << m_Param2.toString().toInt() << parity;
if(setupPort(m_Param1.toString(),m_Param2.toString().toInt(),parity))
{
emit PortConnected(true,m_usrName,m_Type,m_Param1,m_Param2,m_Param3,m_Param4,m_Param5);
}
else
{
emit PortConnected(false,m_usrName,m_Type,m_Param1,m_Param2,m_Param3,m_Param4,m_Param5);
}
}
else if(m_Type.toString() == "UDP")
{
//qDebug() << m_Type << m_Param1 << m_Param2 << m_Param4;
if(setupClient(QHostAddress(m_Param1.toString()),m_Param2.toString().toInt(),QHostAddress(m_Param3.toString()),m_Param4.toString().toInt()))
{
emit PortConnected(true,m_usrName,m_Type,m_Param1,m_Param2,m_Param3,m_Param4,m_Param5);
}
else
{
emit PortConnected(false,m_usrName,m_Type,m_Param1,m_Param2,m_Param3,m_Param4,m_Param5);
}
}
}
else
{
qDebug() << "disconnect";
if(m_Type.toString() == "SerialPort")
{
stopPort();
emit PortConnected(false,m_usrName,m_Type,m_Param1,m_Param2,m_Param3,m_Param4,m_Param5);
}
else if(m_Type.toString() == "UDP")
{
emit PortConnected(false,m_usrName,m_Type,m_Param1,m_Param2,m_Param3,m_Param4,m_Param5);
}
}
}
bool DLink::setupClient(const QHostAddress &local_addr,int local_port,const QHostAddress &remote_addr,int remote_port)
{
if(Clientsock)
{
delete Clientsock;
Clientsock = nullptr;
}
bool isSuccess = false;
Clientsock = new QUdpSocket(this);
if (Clientsock->bind(QHostAddress::AnyIPv4, local_port, QUdpSocket::ShareAddress))
{
if(Clientsock->open(QIODevice::ReadWrite))
//if(Clientsock->joinMulticastGroup(remote_addr))
{
Clientsock->joinMulticastGroup(remote_addr);
Clientsock->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption,1024*1024*8);
Clientsock->setSocketOption(QAbstractSocket::MulticastTtlOption, 3);
connect(Clientsock, SIGNAL(readyRead()),
this, SLOT(readPendingDatagramsClient()));
Node node;
node.sock = Clientsock;
node.addr = remote_addr;
node.port = remote_port;
clientSockets.append(node);
qDebug() << "UdpSocket open:"
<< remote_addr
<< local_port
<< remote_port;
isSuccess = true;
emit showMessage(tr("UdpSocket open"));
}
else
{
isSuccess = false;
qDebug() << "sock not open";
}
}
else
{
isSuccess = false;
qWarning("sock is not binded.");
delete Clientsock;
}
return isSuccess;
}
void DLink::readPendingDatagramsSerialPort(void)
{
QByteArray datagram = serialPort->readAll();
mavlinknode->setbuff(SourceType::s_port,datagram);
/*
QString num;
for (int i = 0; i < datagram.size(); ++i) {
num.append(QString::number((uint8_t)datagram.at(i) & 0xFF,16).toUpper());
num.append(" ");
}
qDebug() << num;
*/
//qDebug() << "reci";
}
void DLink::readPendingDatagramsClient(void)
{
//轮番查询
while (Clientsock->hasPendingDatagrams()) {
QByteArray datagram;
datagram.resize(Clientsock->pendingDatagramSize());
Clientsock->readDatagram(datagram.data(), datagram.size());
mavlinknode->setbuff(SourceType::c_sock,datagram);
}
//qDebug() << "client recieve";
}
//在这里做一个检查缓冲区有没有数，有数据就往上发的一个函数
//dlink底下的所有协议都可以往这个缓存发数据
opmap/mapwidget/opmapwidget.cpp
+30 -1
View File
@@ -183,13 +183,34 @@ void OPMapWidget::addUAV(int sysid,int compid)
void OPMapWidget::NOPTimeout()
{
qDebug() << "NOPTimeout";
//qDebug() << "NOPTimeout";
if(isWPCreate == false)
{
isLNOP = true;
}
}
void OPMapWidget::SetCurrentPosition()
{
foreach(QGraphicsItem * i, map->childItems()) {
UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
if (u) {
if(u->Select())//当前选中，那么检查如果超出了屏幕范围，就将位置拉回中点
{
map->core->SetCurrentPosition(u->UAVPos());//缓慢拉回来
}
}
}
}
void OPMapWidget::SetCurrentPosition(internals::PointLatLng const & value)
{
map->core->SetCurrentPosition(value);
}
void OPMapWidget::setUAVPos(int sysid,int compid,double x,double y,double z)
{
//qDebug() << sysid << compid;
@@ -1356,6 +1377,7 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
emit setWPProperty(param1,param2,param3,param4,
x,y,z,
seq,
@@ -1369,6 +1391,7 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
mission_type);
Item->emitWPProperty();
}
@@ -1611,6 +1634,9 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
//Item->setParent(map);
emit setWPProperty(param1,param2,param3,param4,
x,y,z,
seq+1,
@@ -1623,6 +1649,9 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
autocontinue,
mission_type);
Item->emitWPProperty();
}
opmap/mapwidget/opmapwidget.h
+5 -4
View File
@@ -279,10 +279,11 @@ public:
{
return map->core->CurrentPosition();
}
void SetCurrentPosition(internals::PointLatLng const & value)
{
map->core->SetCurrentPosition(value);
}
void SetCurrentPosition();
void SetCurrentPosition(internals::PointLatLng const & value);
double ZoomReal()
{
opmap/mapwidget/uavitem.cpp
+6
View File
@@ -99,10 +99,16 @@ void UAVItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, Q
//qDebug() << "selected" << sysid << compid;
painter->setPen(QColor(255*(1-sysid/255.0f),255*(1-sysid/255.0f),255*(1-sysid/255.0f)));
painter->drawRect(QRectF(boundingRect()));
//qreal width = pic.width(); //获得以前图片的宽和高
//qreal height = pic.height();
//pic.scaled(width*2,height*2,Qt::KeepAspectRatio);
}
// Draw plane
//pic.toImage().setColor(2,Qt::yellow);
painter->drawPixmap(-pic.width() / 2, -pic.height() / 2, pic);
// Return if UAV Info context menu is turned off