缓存bug修复，状态机完成

MavLinkNode/mavlinknode.cpp

@@ -7,12 +7,12 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
     Nodethread = new QThread();
     this->moveToThread(Nodethread);
     connect(Nodethread, &QThread::started, this, &MavLinkNode::process);
-    setRunFrq(50);//50
+    setRunFrq(10);//50
     //初始化buff
     initbuff();
 
     Mission = new MissionProcess(this);
-    Mission->setRunFrq(200);
+
 
 
 
@@ -130,15 +130,17 @@ void MavLinkNode::setbuff(quint32 src,QByteArray data)
            if(client_buff.buff[client_buff.select].size() >= client_buff.max_size)
            {
                client_buff.buff[client_buff.select].clear();
+               qDebug() << "client_buff.buff" << client_buff.select << "OVERFLOW";
            }
            client_buff.buff[client_buff.select].append(data);
-          qDebug() << "buff" << client_buff.select <<   client_buff.buff[client_buff.select].size() ;
+
         break;
     case SourceType::s_port:
         //当前的buff超过10M字节之后就清除，防爆机制，不然buff太大后容易卡死
            if(serial_buff.buff[serial_buff.select].size() >= serial_buff.max_size)
            {
                serial_buff.buff[serial_buff.select].clear();
+               qDebug() << "serial_buff.buff" << client_buff.select << "OVERFLOW";
            }
            serial_buff.buff[serial_buff.select].append(data);
         break;
@@ -165,6 +167,7 @@ QByteArray MavLinkNode::readbuff(quint32 src)
                datagram.setRawData(client_buff.buff[0],client_buff.buff[0].size());
                //清除这个未选择的buff
                client_buff.buff[0].clear();
+
                //读取完成，可以往这个内存里面写数了
                client_buff.select = 0;
            }
@@ -174,12 +177,14 @@ QByteArray MavLinkNode::readbuff(quint32 src)
            {
                datagram.setRawData(serial_buff.buff[1],serial_buff.buff[1].size());
                //读取完成，可以往这个内存里面写数了
+               serial_buff.buff[1].clear();
                serial_buff.select = 1;
            }
            else if(serial_buff.select == 1)
            {
                datagram.setRawData(serial_buff.buff[0],serial_buff.buff[0].size());
                //读取完成，可以往这个内存里面写数了
+               serial_buff.buff[0].clear();
                serial_buff.select = 0;
            }
         break;