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This commit is contained in:
hm
2020-08-19 14:12:36 +08:00
parent 097b9a7056
commit 044c660ea6
7 changed files with 345 additions and 15 deletions
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App/ToolsUI/tools_Index2/tools_Index2.ui
+26
View File
@@ -34,6 +34,32 @@
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QLineEdit" name="lineEdit"/>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="pushButton_2">
<property name="text">
<string>PushButton</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSlider" name="horizontalSlider">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QPushButton" name="pushButton">
<property name="text">
<string>PushButton</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
MavLinkNode/mavlinknode.cpp
+3 -1
View File
@@ -85,7 +85,7 @@ MavLinkNode::~MavLinkNode()
{
if(Commander->isActive())
{
Commander->stop();
Commander->stop();//可能还没停止线程，后面不能紧跟着删除
delete Commander;
Commander = nullptr;
}
@@ -292,6 +292,8 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
mavlink_message_t msg;
mavlink_status_t status;
//qDebug() << datagram;
for (QByteArray::const_iterator i = datagram.cbegin(); i != datagram.cend(); ++i)
{
if(MAVLINK_FRAMING_OK == mavlink_parse_char(src,*i,&msg,&status))
dlink/dlink.cpp
+69 -10
View File
@@ -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();*/
}
dlink/dlink.h
+11 -2
View File
@@ -8,6 +8,8 @@
#include "QDebug"
#include "mavlinknode.h"
#include "replay.h"
QT_BEGIN_NAMESPACE
@@ -70,12 +72,15 @@ public slots:
void readPendingDatagramsClient(void);
void readPendingDatagramsReplay(void);
int SendMessageTo(quint8 ch, quint8 *msg, quint16 len);
private slots:
void record(quint32 src,QByteArray data);
void replay(quint32 src,QByteArray data);
void replay(QString file);
@@ -84,8 +89,10 @@ private slots:
protected:
enum SourceType{
c_sock = 0,
s_port = 1
s_port = 1,
p_port = 2,
};
@@ -97,6 +104,8 @@ protected:
QFile *mavLogFile = NULL;
Replay *play = nullptr;
};
dlink/dlink.pro
+4 -2
View File
@@ -45,10 +45,12 @@ DEFINES += QT_DEPRECATED_WARNINGS
HEADERS += \
$$PWD/dlink.h \
dlinkglobal.h
$$PWD/dlinkglobal.h \
$$PWD/replay.h
SOURCES += \
$$PWD/dlink.cpp
$$PWD/dlink.cpp \
$$PWD/replay.cpp
#加入第三方库
INCLUDEPATH += $$PWD/../thirdpart/include
dlink/replay.cpp
+148
View File
@@ -0,0 +1,148 @@
#include "Replay.h"
Replay::Replay(QObject *parent) : QObject(parent)
{
//main thread
running_flag = false;
thread = new QThread();
this->moveToThread(thread);
connect(thread, SIGNAL(started()), this, SLOT(process()));
setRunFrq(20);//100
logFile.clear();
}
Replay::~Replay()
{
if(thread->isRunning())
{
thread->quit();
thread->wait();
}
delete thread;
thread = nullptr;
}
//线程相关函数
void Replay::setRunFrq(uint32_t frq)
{
if((frq != 0)||(frq <= 1000))
{
running_frq = frq;
qDebug() << "set thread running frquency:" <<frq <<"Hz";
}
}
void Replay::start()
{
if(!thread)
{
thread = new QThread();
this->moveToThread(thread);
connect(thread, SIGNAL(started()), this, SLOT(process()));
}
if(!thread->isRunning())
{
if(!file)
{
file = new QFile();
file->setFileName(logFile);
if(!file->open(QIODevice::ReadOnly))
{
QMessageBox::warning(nullptr,
tr("Error"),
tr("%1").arg(file->errorString()));
delete file;
file = nullptr;
}
else
{
running_flag = true;
thread->start();
qDebug() << "thread start" << running_flag;
}
}
}
else
{
qDebug() << "thread has started";
}
}
void Replay::stop()
{
if(thread->isRunning())
{
running_flag = false;
qDebug() << "thread stop" << running_flag;
}
else
{
qDebug() << "thread is not running";
}
}
void Replay::process()//线程函数
{
uint8_t count = 0;
while (running_flag)
{
count ++;
QThread::msleep(1000/running_frq);
//读取数据放到缓存里面
if(file)//已经有文件，那么可以读取
{
if(position <= file->size())
{
buff.clear();
file->seek(position);
buff = file->read(100);
position += 100;
}
else
{
running_flag = false;//换成另外的标志
}
qDebug() << position << file->size();
//读取一帧数据
//将百分比增加，或者位置增加
}
//发送就绪信号
emit readReady();
}
//退出线程
thread->quit();
thread->wait();
}
//类相关函数
QByteArray Replay::readAll(void)
{
//把buff里面的数据返回
QByteArray data;
data.clear();
if(!buff.isEmpty())
{
data.append(buff);
buff.clear();
}
return data;
}
void Replay::setLogfile(QString name)
{
logFile = name;
//重置各种参数
percentage = 0;
ispause = false;
isplaying = false;
}
dlink/replay.h
+84
View File
@@ -0,0 +1,84 @@
#ifndef REPLAY_H
#define REPLAY_H
#include <QObject>
#include "QThread"
#include "QMessageBox"
#include "QDebug"
#include "QFile"
#include "replay.h"
#include "QDataStream"
#ifdef QtDlink
#include <dlinkglobal.h>
class DLINKSHARED_EXPORT Replay : public QObject {
#else
class Replay : public QObject
{
#endif
Q_OBJECT
typedef struct {
qint32 max_size;
quint8 select;
QByteArray buff[2];
}_buffdef;
public:
explicit Replay(QObject *parent = nullptr);
~Replay();
QByteArray readAll(void);
void setLogfile(QString name);
signals:
void showMessage(const QString &message,int TimeOut = 0);
void readReady();
public slots:
//线程对外接口
void setRunFrq(uint32_t frq);
void start();
void stop();
bool isActive(void)
{
return running_flag;
}
//缓存对外接口
private slots:
//线程私有接口
void process();
protected:
bool running_flag = false;
quint32 running_frq = 200;//200Hz
QThread *thread = nullptr;
QString logFile;
QFile *file = nullptr;
//QDataStream *stream = nullptr;
float percentage = 0;
int position = 0;
bool ispause = false;//控制暂停
bool isplaying = false;//控制开始和结束
QByteArray buff;
};
#endif // MAVLINKNODE_H