完全移植929 mavlinkNode

App/mainwindow.cpp

@@ -158,8 +158,6 @@ MainWindow::MainWindow(QWidget *parent)
     qRegisterMetaType<uint8_t>("uint8_t");
     qRegisterMetaType<uint16_t>("uint16_t");
     qRegisterMetaType<uint32_t>("uint32_t");
-    qRegisterMetaType<float>("float");
-    qRegisterMetaType<double>("double");
 
     //commandbox ----- dlink
     connect(toolsui->command,SIGNAL(cmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),
@@ -194,14 +192,14 @@ MainWindow::MainWindow(QWidget *parent)
             */
 
     //this ----- dlink
-    connect(dlink->mavlinknode,SIGNAL(beep()),
-            this,SLOT(beep()));
+    connect(dlink->mavlinknode,SIGNAL(beep(int)),
+            this,SLOT(beep(int)));
 
     connect(dlink->mavlinknode,SIGNAL(CommuniationLost(bool)),
             this,SLOT(setCommunicationLostState(bool)));
 
-    connect(dlink->mavlinknode,SIGNAL(updateDlink(float,uint64_t)),
-            this,SLOT(updateDlink(float,uint64_t)));
+    connect(dlink->mavlinknode,SIGNAL(updateDlink(float,uint64_t,uint64_t)),
+            this,SLOT(updateDlink(float,uint64_t,uint64_t)));
 
     //this ----- map
     connect(map,SIGNAL(TotalDistanceUpdate(double)),
@@ -819,8 +817,9 @@ void MainWindow::showMessage(const QString &message, int TimeOut)
     toolsui->index1->setLog(message);
 }
 
-void MainWindow::beep(void)
+void MainWindow::beep(int id)
 {
+    Q_UNUSED(id)
     QApplication::beep();
 }
 
@@ -901,10 +900,10 @@ void MainWindow::setCommunicationLostState(bool flag)
 }
 
 
-void MainWindow::updateDlink(float rssi, uint64_t bitrate)
+void MainWindow::updateDlink(float rssi,uint64_t in,uint64_t out)
 {
     statusui->setDlink(1,QString::number(rssi,'f',0),
-                         QString::number(bitrate));
+                         QString::number(in));
 }
 
 

App/mainwindow.h

@@ -74,7 +74,7 @@ public slots:
 
     void setCommunicationLostState(bool flag);
 
-    void beep(void);
+    void beep(int id);
 
 
     void setServoOffset(QVariant dirla, QVariant dirra, QVariant dirle, QVariant dirre, QVariant dirru,
@@ -104,7 +104,7 @@ private slots:
     void Timer_1s_out(void);
 
 
-    void updateDlink(float rssi,uint64_t bitrate);
+    void updateDlink(float rssi, uint64_t in, uint64_t out);
 
 protected slots:
 

MavLinkNode/MavLinkNode.pro

@@ -39,7 +39,7 @@ DEFINES += QT_DEPRECATED_WARNINGS
 
 # include sub project
 
-DESTDIR         = $$PWD/../bin
+DESTDIR         = $$PWD/../thirdpart/lib
 MOC_DIR         = $$PWD/../build
 OBJECTS_DIR     = $$PWD/../build
 
@@ -73,18 +73,18 @@ SOURCES += \
     sbusparser.cpp \
     statusprocess.cpp
 
-INCLUDEPATH += $$DESTDIR/include
+INCLUDEPATH += $$PWD/../thirdpart/include
 
 # Capture whether this is a release/debug build.
 CONFIG(debug, debug|release) {
-    LIBS += -L$$DESTDIR -lcored
-    LIBS += -L$$DESTDIR -linternalsd
-    LIBS += -L$$DESTDIR -lopmapwidgetd
+    LIBS += -L$$PWD/../thirdpart/lib -lcored
+    LIBS += -L$$PWD/../thirdpart/lib -linternalsd
+    LIBS += -L$$PWD/../thirdpart/lib -lopmapwidgetd
 }
 CONFIG(release, debug|release) {
-    LIBS += -L$$DESTDIR -lcore
-    LIBS += -L$$DESTDIR -linternals
-    LIBS += -L$$DESTDIR -lopmapwidget
+    LIBS += -L$$PWD/../thirdpart/lib -lcore
+    LIBS += -L$$PWD/../thirdpart/lib -linternals
+    LIBS += -L$$PWD/../thirdpart/lib -lopmapwidget
 }
 
 
@@ -104,9 +104,9 @@ INCLUDEPATH += $$PWD/../mavlink \
 
 
 
-win32|win64 {
+win32|win64  {
     src_dir = $$PWD\\*.h
-    dst_dir = $$PWD\\..\\bin\\include\\
+    dst_dir = $$PWD\\..\\thirdpart\\include\\
     # dst_dir 最后的 \\ 是必须的，用来标示 xcopy 到一个文件夹，若不存在，创建之
 
     # Replace slashes in paths with backslashes for Windows
@@ -114,13 +114,12 @@ win32|win64 {
     dst_dir ~= s,/,\\,g
 
     system(xcopy $$src_dir $$dst_dir /y /e)
-
 }
 
 
 unix {
     src_dir = $$PWD/*.h
-    dst_dir = $$PWD/../bin/include/
+    dst_dir = $$PWD/../thirdpart/include/
 
     !exists($$dst_dir): system(mkdir -p $$dst_dir)
 

MavLinkNode/mavlinknode.cpp

@@ -488,7 +488,7 @@ void MavLinkNode::process()//线程函数
     while (running_flag)
     {
          count ++;
-         QThread::msleep(1000/running_frq);
+         //QThread::msleep(1000/running_frq);
          //timer->start();
 
          //解码从UDP来的
@@ -498,7 +498,12 @@ void MavLinkNode::process()//线程函数
          {
              //qDebug() << "client parse";
               Mavlinkparse(SourceType::c_sock,datagram);
-
+              QApplication::processEvents();
+         }
+         else
+         {
+             //QThread::msleep(1000/running_frq);
+             QThread::yieldCurrentThread();
          }
 
          //解码从串口来的
@@ -509,7 +514,12 @@ void MavLinkNode::process()//线程函数
          {
               //qDebug() << "serial port parse";
               Mavlinkparse(SourceType::s_port,datagram);
-
+              QApplication::processEvents();
+         }
+         else
+         {
+             //QThread::msleep(1000/running_frq);
+             QThread::yieldCurrentThread();
          }
 
          if(isInterruptionRequested())//退出
@@ -601,6 +611,8 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
 
     hasConneted = true;
 
+    count_in += datagram.size();
+
     for (QByteArray::const_iterator i = datagram.cbegin(); i != datagram.cend(); ++i)
     {
 
@@ -779,7 +791,10 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
 {
 
 
-    _vehicle vehicle = vehicleList.value(msg.sysid);
+    //_vehicle vehicle = vehicleList.value(msg.sysid);
+
+    vehicle.sysid = msg.sysid;
+    vehicle.compid = msg.compid;
 
     switch (msg.msgid) {
          case MAVLINK_MSG_ID_AUTOPILOT_VERSION: {
@@ -1132,13 +1147,14 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
 
 
 
-        vehicleList.insert(msg.sysid,vehicle);//直接覆盖
+
+        //vehicleList.insert(msg.sysid,vehicle);//直接覆盖
 
 
 
         emit signal_vehicle(vehicle);
 
-        //emit state_updated();
+        emit state_updated();
 
 }
 

dlink/dlink.cpp

@@ -8,14 +8,12 @@ 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
+     //采用插件导入的方式（plugin）   
      mavlinknode = new MavLinkNode();//不允许带参数,因为这是单独的线程
 
      //在当前线程运行
      connect(mavlinknode,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
-           this,SLOT(SendMessageTo(quint8,quint8*,quint16)),Qt::BlockingQueuedConnection);//采用直连的方式，因为是多线程
+           this,SLOT(SendMessageTo(quint8,quint8*,quint16)),Qt::BlockingQueuedConnection);//BlockingQueuedConnection);//信号和槽必须在不同的线程中，否则就产生死锁
 
      //在当前线程运行
      connect(mavlinknode,SIGNAL(showMessage(QString,int)),
@@ -25,15 +23,13 @@ DLink::DLink(QObject *parent) : QObject(parent)
      connect(this,SIGNAL(recieveMessage(quint32,QByteArray)),
             mavlinknode,SLOT(setbuff(quint32,QByteArray)),Qt::DirectConnection);
 
-     mavlinknode->start();
-     //其他协议节点。。。
 }
 DLink::~DLink()
 {
     stopPort();
 
-    mavlinknode->stop();
-    mavlinknode->deleteLater();
+
+    delete mavlinknode;
     mavlinknode = nullptr;
 }