完全移植929 mavlinkNode

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();
 
 }