repay

dlink/dlink.cpp

@@ -16,6 +16,7 @@ DLink::DLink(QObject *parent) : QObject(parent)
      }
 
 
+
      connect(this,SIGNAL(recieveMessage(quint32,QByteArray)),
              this,SLOT(record(quint32,QByteArray)));
 
@@ -41,12 +42,15 @@ DLink::DLink(QObject *parent) : QObject(parent)
      mavlinknode->start();
      //其他协议节点。。。
 
+
+
+     replay("./Tlog/20200818210716.tlog");
+
+
 }
 DLink::~DLink()
 {
     stopPort();
-
-
     //查询所有的接口，然后删除
     if (mavLogFile)
     {
@@ -63,12 +67,14 @@ DLink::~DLink()
 int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
 {
     //让这个函数在其他线程运行
+    /*
     QString num;
     for (int i = 0; i < len; ++i) {
         num.append(QString::number(msg[i],16).toUpper());
         num.append(" ");
     }
     qDebug() << num;
+    */
     //Q_UNUSED(ch);
 
     //更加ch选择
@@ -294,6 +300,8 @@ bool DLink::setupClient(const QHostAddress &local_addr,int local_port,const QHos
         }
         else
         {
+            Clientsock->leaveMulticastGroup(remote_addr);
+            Clientsock->close();
             isSuccess = false;
             qWarning() << "sock not open";
         }
@@ -301,6 +309,8 @@ bool DLink::setupClient(const QHostAddress &local_addr,int local_port,const QHos
     else
     {
          isSuccess = false;
+         Clientsock->leaveMulticastGroup(remote_addr);
+         Clientsock->close();
         qWarning("sock is not binded.");
         delete Clientsock;
     }
@@ -311,9 +321,11 @@ bool DLink::setupClient(const QHostAddress &local_addr,int local_port,const QHos
 
 void DLink::readPendingDatagramsSerialPort(void)
 {
-    QByteArray datagram = serialPort->readAll();
-
-    emit recieveMessage(SourceType::s_port,datagram);
+    if(serialPort)
+    {
+        QByteArray datagram = serialPort->readAll();
+        emit recieveMessage(SourceType::s_port,datagram);
+    }
 }
 
 void DLink::readPendingDatagramsClient(void)
@@ -328,22 +340,69 @@ void DLink::readPendingDatagramsClient(void)
     }
 }
 
+void DLink::readPendingDatagramsReplay(void)
+{
+
+    if(play)
+    {
+        QByteArray datagram = play->readAll();
+        emit recieveMessage(SourceType::c_sock,datagram);
+        //qDebug() << "play" << datagram;
+    }
+
+
+    /*
+    if(play)
+    {
+        QByteArray datagram = play->readAll();
+
+        if(serialPort)
+        {
+            serialPort->write(datagram);
+        }
+    }
+    */
+
+}
+
 
 void DLink::record(quint32 src,QByteArray data)
 {
     Q_UNUSED(src)
-
     //加时间撮
-
     if (mavLogFile)
     {
+        char buff[sizeof(quint64)];
+
+        quint64 currentTimestamp = ((quint64)QDateTime::currentMSecsSinceEpoch()) * 1000;
+        qToBigEndian(currentTimestamp, buff);
+
+        data.append(buff);
+
         //使用数据流的方式可能更好
-        mavLogFile->write((const char *)data, sizeof(data));
+        mavLogFile->write((const char *)data,data.size());
+        //qDebug() << data;
     }
 }
 
-void DLink::replay(quint32 src,QByteArray data)
+void DLink::replay(QString file)
 {
-//定时器回放
+    //得到文件的路
+    if(!play)
+    {
+        play = new Replay();
+
+        connect(play,&Replay::readReady,
+                this,&DLink::readPendingDatagramsReplay);
+    }
+
+    play->setLogfile(file);
+    //使用多线程进行读取数据
+    play->start();//开始线程
+
+    /*QThread::sleep(100);
+    play->stop();
+    QThread::sleep(100);
+    play->start();*/
 }