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App/ComponentUI/Scope/Chart.cpp

@@ -354,24 +354,27 @@ void Chart::chartUpdate(void)
 
                 //qDebug() << s->name() << pv;
 
-                float max = pv.at(0).y();
+                if(pv.size() > 0)
-                float min = pv.at(0).y();
+                {
+                    float max = pv.at(0).y();
+                    float min = pv.at(0).y();
 
-                foreach (QPointF p, pv) {
+                    foreach (QPointF p, pv) {
 
-                    if(max < p.y())
+                        if(max < p.y())
-                    {
+                        {
-                        max = p.y();
+                            max = p.y();
+                        }
+
+                        if(min > p.y())
+                        {
+                            min = p.y();
+                        }
                     }
 
-                    if(min > p.y())
+                    yMax.append(max);
-                    {
+                    yMin.append(min);
-                        min = p.y();
-                    }
                 }
-
-                yMax.append(max);
-                yMin.append(min);
              }
          }
 
@@ -565,6 +568,24 @@ bool Chart::addSeries(QString name = tr("new"),QColor color = QColor("#FFFFFF"),
 
 void Chart::setSerieData(QString name, QVariant data)
 {
+
+#ifdef unix
+
+#else
+    #ifdef __MINGW32__
+
+    #else
+            bool ok;
+
+            data.toDouble(&ok);
+
+            if(!ok)
+            {
+                return;
+            }
+    #endif
+#endif
+
     //timeseries++;
     //qDebug() << timeseries << timeseries;
     //出新了比以前更大或者更小的值，那么就设置一下量程
@@ -640,6 +661,26 @@ void Chart::setSerieData(QString name, QVariant data)
 
 void Chart::setSerieData(QString name,QVariant data,int colorindex = 3)
 {
+
+#ifdef unix
+
+#else
+    #ifdef __MINGW32__
+
+    #else
+            bool ok;
+
+            data.toDouble(&ok);
+
+            if(!ok)
+            {
+                return;
+            }
+    #endif
+#endif
+
+
+
     //timeseries++;
     //qDebug() << timeseries << timeseries;
     //出新了比以前更大或者更小的值，那么就设置一下量程

App/mainwindow.cpp

@@ -239,6 +239,13 @@ MainWindow::MainWindow(QWidget *parent)
     connect(dlink->mavlinknode,SIGNAL(updateDlink(float,uint64_t,uint64_t)),
             this,SLOT(updateDlink(float,uint64_t,uint64_t)));
 
+    connect(dlink,SIGNAL(byteCount(int,int)),
+            this,SLOT(dlinkCount(int,int)));
+
+
+
+
+
     //this ----- map
     connect(map,SIGNAL(TotalDistanceUpdate(double)),
             this,SLOT(TotalDistance(double)));
@@ -846,15 +853,9 @@ void MainWindow::onTabIndexChanged(const int &index)//界面选择管理
             healthui->show();
         }
 
-        /*
-        //发生界面切换，检查一下航线
-        qDebug() <<  "zubie" << map->currentGroup << group;
-        if(map->currentGroup != group)
-        {
-            emit currentGroup(group + 2);
-        }
-        */
 
+        //得到航线组数，数据为1，2，3，4
+        emit currentGroup(group + 2);
     }
     else
     {
@@ -960,10 +961,17 @@ void MainWindow::setCommunicationLostState(bool flag)
 void MainWindow::updateDlink(float rssi,uint64_t in,uint64_t out)
 {
     statusui->setDlink(1,QString::number(rssi,'f',0),
-                         tr("R:%1 / T:%2").arg(QString::number(in)).arg(QString::number(dlink->Byte_Out_per)));
+                         tr("R:%1 / T:%2").arg(QString::number(in)).arg(QString::number(dlinkout)));
 }
 
 
+void MainWindow::dlinkCount(int in,int out)
+{
+    dlinkout = out;
+}
+
+
+
 void MainWindow::setServoOffset(QVariant dirla, QVariant dirra, QVariant dirle, QVariant dirre, QVariant dirru,
                                 QVariant maxla, QVariant maxra, QVariant maxle, QVariant maxre, QVariant maxru,
                                 QVariant scalela, QVariant scalera, QVariant scalele, QVariant scalere, QVariant scaleru,
@@ -1598,7 +1606,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
 
         //get 9-10
 
-        /*
+
         //得到航线组数，数据为1，2，3，4
         group = (int)(getBit(enable,11) << 2) | (int)(getBit(enable,10) << 1) | (int)(getBit(enable,9));
 
@@ -1611,7 +1619,6 @@ void MainWindow::updateUI()//事件驱动式更新数据
         }
 
         group_old = group;
-        */
 
     }
 

App/mainwindow.h

@@ -106,6 +106,10 @@ private slots:
 
     void updateDlink(float rssi, uint64_t in, uint64_t out);
 
+
+    void dlinkCount(int in,int out);
+
+
 protected slots:
 
 
@@ -123,6 +127,8 @@ protected:
 
     int MainIndex = 0;
 
+    int dlinkout = 0;
+
     Config *config = nullptr;
 
     StatusUI *statusui = nullptr;

MavLinkNode/mavlinknode.cpp

@@ -493,12 +493,12 @@ void MavLinkNode::process()//线程函数
          {
              //qDebug() << "client parse";
               Mavlinkparse(SourceType::c_sock,datagram);
-              QApplication::processEvents();
+              //QApplication::processEvents();
          }
          else
          {
-             //QThread::msleep(1000/running_frq);
+             QThread::msleep(1000/running_frq);
-             QThread::yieldCurrentThread();
+             //QThread::yieldCurrentThread();
          }
 
          //解码从串口来的
@@ -509,12 +509,12 @@ void MavLinkNode::process()//线程函数
          {
               //qDebug() << "serial port parse";
               Mavlinkparse(SourceType::s_port,datagram);
-              QApplication::processEvents();
+              //QApplication::processEvents();
          }
          else
          {
-             //QThread::msleep(1000/running_frq);
+             QThread::msleep(1000/running_frq);
-             QThread::yieldCurrentThread();//打开这个CPU占用50%
+             //QThread::yieldCurrentThread();//打开这个CPU占用50%
          }
 
          if(isInterruptionRequested())//退出
@@ -557,7 +557,6 @@ void MavLinkNode::TimerOut(void)
         }
     }
 
-
     emit updateDlink(rssi,rate_in,0);
 }
 
@@ -808,6 +807,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
          case MAVLINK_MSG_ID_SYS_STATUS: {
             mavlink_msg_sys_status_decode(&msg,&vehicle.sys_status);
 
+/*
             sys_status_csv.append(QString::number(vehicle.sys_status.onboard_control_sensors_present));  sys_status_csv.append(',');
             sys_status_csv.append(QString::number(vehicle.sys_status.onboard_control_sensors_enabled));  sys_status_csv.append(',');
             sys_status_csv.append(QString::number(vehicle.sys_status.onboard_control_sensors_health));   sys_status_csv.append(',');
@@ -821,7 +821,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             sys_status_csv.append(QString::number(vehicle.sys_status.errors_count2));                    sys_status_csv.append(',');
             sys_status_csv.append(QString::number(vehicle.sys_status.errors_count3));                    sys_status_csv.append(',');
             sys_status_csv.append(QString::number(vehicle.sys_status.errors_count4));                    sys_status_csv.append('\n');
-
+*/
 
          }break;
          case MAVLINK_MSG_ID_HEARTBEAT: {
@@ -834,14 +834,14 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
            Status->m_heartbeat.system_status   = vehicle.heartbeat.system_status;
            Status->m_heartbeat.type            = vehicle.heartbeat.type;
 
-
+/*
            heartbeat_csv.append(QString::number(vehicle.heartbeat.type));             heartbeat_csv.append(',');
            heartbeat_csv.append(QString::number(vehicle.heartbeat.autopilot));        heartbeat_csv.append(',');
            heartbeat_csv.append(QString::number(vehicle.heartbeat.base_mode));        heartbeat_csv.append(',');
            heartbeat_csv.append(QString::number(vehicle.heartbeat.custom_mode));      heartbeat_csv.append(',');
            heartbeat_csv.append(QString::number(vehicle.heartbeat.system_status));    heartbeat_csv.append(',');
            heartbeat_csv.append(QString::number(vehicle.heartbeat.mavlink_version));  heartbeat_csv.append('\n');
-
+*/
 
             emit beep(msg.sysid);
          }break;
@@ -850,7 +850,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
          }break;
          case MAVLINK_MSG_ID_ATTITUDE: {
             mavlink_msg_attitude_decode(&msg,&vehicle.attitude);
-
+/*
             attitude_csv.append(QString::number(vehicle.attitude.time_boot_ms));   attitude_csv.append(',');
             attitude_csv.append(QString::number(vehicle.attitude.roll));           attitude_csv.append(',');
             attitude_csv.append(QString::number(vehicle.attitude.pitch));          attitude_csv.append(',');
@@ -858,12 +858,12 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             attitude_csv.append(QString::number(vehicle.attitude.rollspeed));      attitude_csv.append(',');
             attitude_csv.append(QString::number(vehicle.attitude.pitchspeed));     attitude_csv.append(',');
             attitude_csv.append(QString::number(vehicle.attitude.yawspeed));       attitude_csv.append('\n');
-
+*/
 
          }break;
          case MAVLINK_MSG_ID_INS1: {
             mavlink_msg_ins1_decode(&msg,&vehicle.ins1);
-
+/*
             ins1_csv.append(QString::number(vehicle.ins1.time_boot_ms));          ins1_csv.append(',');
             ins1_csv.append(QString::number(vehicle.ins1.pitch));                 ins1_csv.append(',');
             ins1_csv.append(QString::number(vehicle.ins1.roll));                  ins1_csv.append(',');
@@ -889,13 +889,13 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             ins1_csv.append(QString::number(vehicle.ins1.eph));                   ins1_csv.append(',');
             ins1_csv.append(QString::number(vehicle.ins1.epv));                   ins1_csv.append(',');
             ins1_csv.append(QString::number(vehicle.ins1.satellites_visible));    ins1_csv.append('\n');
-
+*/
             emit signal_ins1(vehicle.ins1);
 
          }break;
          case MAVLINK_MSG_ID_INS2: {
             mavlink_msg_ins2_decode(&msg,&vehicle.ins2);
-
+/*
             ins2_csv.append(QString::number(vehicle.ins2.time_boot_ms));          ins2_csv.append(',');
             ins2_csv.append(QString::number(vehicle.ins2.pitch));                 ins2_csv.append(',');
             ins2_csv.append(QString::number(vehicle.ins2.roll));                  ins2_csv.append(',');
@@ -921,13 +921,13 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             ins2_csv.append(QString::number(vehicle.ins2.eph));                   ins2_csv.append(',');
             ins2_csv.append(QString::number(vehicle.ins2.epv));                   ins2_csv.append(',');
             ins2_csv.append(QString::number(vehicle.ins2.satellites_visible));    ins2_csv.append('\n');
-
+*/
             emit signal_ins2(vehicle.ins2);
 
          }break;
          case MAVLINK_MSG_ID_GPS_RAW_INT: {
             mavlink_msg_gps_raw_int_decode(&msg,&vehicle.gps_raw_int);
-
+/*
             gps_raw_int_csv.append(QString::number(vehicle.gps_raw_int.time_usec));gps_raw_int_csv.append(',');
             gps_raw_int_csv.append(QString::number(vehicle.gps_raw_int.lat));gps_raw_int_csv.append(',');
             gps_raw_int_csv.append(QString::number(vehicle.gps_raw_int.lon));gps_raw_int_csv.append(',');
@@ -945,7 +945,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             gps_raw_int_csv.append(QString::number(vehicle.gps_raw_int.vel_acc));gps_raw_int_csv.append(',');
             gps_raw_int_csv.append(QString::number(vehicle.gps_raw_int.hdg_acc));gps_raw_int_csv.append(',');
             gps_raw_int_csv.append(QString::number(vehicle.gps_raw_int.yaw));gps_raw_int_csv.append('\n');
-
+*/
 
          }break;
          case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: {
@@ -953,7 +953,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
          }break;
          case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: {
             mavlink_msg_servo_output_raw_decode(&msg,&vehicle.servo_output_raw);
-
+/*
             servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.time_usec));    servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
             servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.port));         servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
             servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo1_raw));   servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
@@ -972,7 +972,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo14_raw));  servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
             servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo15_raw));  servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
             servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo16_raw));  servo_output_raw_csv[vehicle.servo_output_raw.port].append('\n');
-
+*/
 
             emit signal_servo_output_raw(vehicle.servo_output_raw);
 
@@ -983,7 +983,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
          }break;
          case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: {
             mavlink_msg_nav_controller_output_decode(&msg,&vehicle.nav_controller_output);
-
+/*
             nav_controller_output_csv.append(QString::number(vehicle.nav_controller_output.nav_roll));          nav_controller_output_csv.append(',');
             nav_controller_output_csv.append(QString::number(vehicle.nav_controller_output.nav_pitch));         nav_controller_output_csv.append(',');
             nav_controller_output_csv.append(QString::number(vehicle.nav_controller_output.nav_bearing));       nav_controller_output_csv.append(',');
@@ -992,7 +992,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             nav_controller_output_csv.append(QString::number(vehicle.nav_controller_output.alt_error));         nav_controller_output_csv.append(',');
             nav_controller_output_csv.append(QString::number(vehicle.nav_controller_output.aspd_error));        nav_controller_output_csv.append(',');
             nav_controller_output_csv.append(QString::number(vehicle.nav_controller_output.xtrack_error));      nav_controller_output_csv.append('\n');
-
+*/
 
          }break;
          case MAVLINK_MSG_ID_AIRSPEED_AUTOCAL: {
@@ -1003,13 +1003,13 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
          }break;
          case MAVLINK_MSG_ID_SCALED_PRESSURE: {
             mavlink_msg_scaled_pressure_decode(&msg,&vehicle.scaled_pressure);
-
+/*
             scaled_pressure_csv.append(QString::number(vehicle.scaled_pressure.time_boot_ms));           scaled_pressure_csv.append(',');
             scaled_pressure_csv.append(QString::number(vehicle.scaled_pressure.press_abs));              scaled_pressure_csv.append(',');
             scaled_pressure_csv.append(QString::number(vehicle.scaled_pressure.press_diff));             scaled_pressure_csv.append(',');
             scaled_pressure_csv.append(QString::number(vehicle.scaled_pressure.temperature));            scaled_pressure_csv.append(',');
             scaled_pressure_csv.append(QString::number(vehicle.scaled_pressure.temperature_press_diff)); scaled_pressure_csv.append('\n');
-
+*/
 
          }break;
          case MAVLINK_MSG_ID_EXTENDED_SYS_STATE: {
@@ -1050,18 +1050,18 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
          }break;
          case MAVLINK_MSG_ID_VFR_HUD: {
             mavlink_msg_vfr_hud_decode(&msg,&vehicle.vfr_hud);
-
+/*
             vfr_hud_csv.append(QString::number(vehicle.vfr_hud.airspeed));    vfr_hud_csv.append(',');
             vfr_hud_csv.append(QString::number(vehicle.vfr_hud.groundspeed));        vfr_hud_csv.append(',');
             vfr_hud_csv.append(QString::number(vehicle.vfr_hud.alt));            vfr_hud_csv.append(',');
             vfr_hud_csv.append(QString::number(vehicle.vfr_hud.climb));           vfr_hud_csv.append(',');
             vfr_hud_csv.append(QString::number(vehicle.vfr_hud.heading));              vfr_hud_csv.append(',');
             vfr_hud_csv.append(QString::number(vehicle.vfr_hud.throttle));            vfr_hud_csv.append('\n');
-
+*/
          }break;
          case MAVLINK_MSG_ID_EMB_ATMO_COM: {
             mavlink_msg_emb_atmo_com_decode(&msg,&vehicle.emb_atom_com);
-
+/*
             emb_atom_com_csv.append(QString::number(vehicle.emb_atom_com.time_boot_ms));    emb_atom_com_csv.append(',');
             emb_atom_com_csv.append(QString::number(vehicle.emb_atom_com.Airspeed));        emb_atom_com_csv.append(',');
             emb_atom_com_csv.append(QString::number(vehicle.emb_atom_com.beta));            emb_atom_com_csv.append(',');
@@ -1070,12 +1070,12 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             emb_atom_com_csv.append(QString::number(vehicle.emb_atom_com.qbar));            emb_atom_com_csv.append(',');
             emb_atom_com_csv.append(QString::number(vehicle.emb_atom_com.seq));             emb_atom_com_csv.append(',');
             emb_atom_com_csv.append(QString::number(vehicle.emb_atom_com.mach));            emb_atom_com_csv.append('\n');
-
+*/
 
          }break;
          case MAVLINK_MSG_ID_TurbineState: {
             mavlink_msg_turbinestate_decode(&msg,&vehicle.turbinstate);
-
+/*
             turbinstate_csv.append(QString::number(vehicle.turbinstate.time_boot_ms));    turbinstate_csv.append(',');
             turbinstate_csv.append(QString::number(vehicle.turbinstate.RPM_mea));         turbinstate_csv.append(',');
             turbinstate_csv.append(QString::number(vehicle.turbinstate.T5));              turbinstate_csv.append(',');
@@ -1103,11 +1103,11 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             turbinstate_csv.append(QString::number(vehicle.turbinstate.rev));             turbinstate_csv.append(',');
             turbinstate_csv.append(QString::number(vehicle.turbinstate.CFuelMode));       turbinstate_csv.append(',');
             turbinstate_csv.append(QString::number(vehicle.turbinstate.Cmd));             turbinstate_csv.append('\n');
-
+*/
          }break;
          case MAVLINK_MSG_ID_BMUState: {
             mavlink_msg_bmustate_decode(&msg,&vehicle.bmustate);
-
+/*
             bmustate_csv.append(QString::number(vehicle.bmustate.time_boot_ms));         bmustate_csv.append(',');
             bmustate_csv.append(QString::number(vehicle.bmustate.BAT1_group_voltage_mv)); bmustate_csv.append(',');
             bmustate_csv.append(QString::number(vehicle.bmustate.BAT1_group_current_dA)); bmustate_csv.append(',');
@@ -1129,11 +1129,11 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             bmustate_csv.append(QString::number(vehicle.bmustate.BAT2_STA1));             bmustate_csv.append(',');
             bmustate_csv.append(QString::number(vehicle.bmustate.BAT2_STA2));             bmustate_csv.append(',');
             bmustate_csv.append(QString::number(vehicle.bmustate.p500w_enabled));         bmustate_csv.append('\n');
-
+*/
          }break;
          case MAVLINK_MSG_ID_CCMState: {
             mavlink_msg_ccmstate_decode(&msg,&vehicle.ccmstate);
-
+/*
             ccmstate_csv.append(QString::number(vehicle.ccmstate.time_boot_ms));  ccmstate_csv.append(',');
             ccmstate_csv.append(QString::number(vehicle.ccmstate.fuel_level));    ccmstate_csv.append(',');
             ccmstate_csv.append(QString::number(vehicle.ccmstate.temp[0]));       ccmstate_csv.append(',');
@@ -1145,7 +1145,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             ccmstate_csv.append(QString::number(vehicle.ccmstate.volts[2]));      ccmstate_csv.append(',');
             ccmstate_csv.append(QString::number(vehicle.ccmstate.volts[3]));      ccmstate_csv.append(',');
             ccmstate_csv.append(QString::number(vehicle.ccmstate.echo_seq));      ccmstate_csv.append('\n');
-
+*/
 
          }break;
          }

dlink/dlink.cpp

@@ -57,6 +57,10 @@ void DLink::timeout()
 
     Byte_Out_per = Byte_Out_ALL;
     Byte_Out_ALL = 0;
+
+
+    emit byteCount(Byte_In_per,Byte_Out_per);
+
 }
 
 int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)

dlink/dlink.h

@@ -59,6 +59,9 @@ public:
     quint32 Byte_In_ALL = 0;
 
 signals:
+
+   void byteCount(int in,int out);
+
    void showMessage(const QString &message,int TimeOut = 0);
 
    void recieveMessage(quint32 src,QByteArray data);

opmap/mapwidget/opmapwidget.cpp

@@ -1190,7 +1190,6 @@ void OPMapWidget::WPSetVisibleAll(bool value)
 void OPMapWidget::WPDeleteAll()
 {
     //删除一个组
-
     foreach(QGraphicsItem * i, map->childItems()) {
         WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
 
@@ -1272,9 +1271,10 @@ void OPMapWidget::ConnectWP(WayPointItem *item)
     connect(item, SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
             this, SLOT(find_PointNumber()),Qt::DirectConnection);
 
-
+/*
     connect(item, SIGNAL(WPFollowPrevious(bool,WayPointItem*)),
             this, SLOT(WPFollowPrevious(bool,WayPointItem*)),Qt::DirectConnection);
+            */
 
     connect(item, SIGNAL(localPositionChanged(QPointF, WayPointItem *)),
             this, SLOT(WPLocalChanged(QPointF, WayPointItem *)), Qt::DirectConnection);
@@ -1518,7 +1518,6 @@ void OPMapWidget::WPSetCurrent(int seq)
             }
         }
     }
-
 }
 
 
@@ -1859,10 +1858,6 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
         Item->emitWPProperty();
 
     }
-
-
-
-
 }
 
 void OPMapWidget::WPSave(QString path)//带文件目录参数
@@ -1877,7 +1872,7 @@ void OPMapWidget::WPSave(QString path)//带文件目录参数
      QJsonObject rallyPoints;
 
 
-     //geoFence节点写入
+     //geoFence节点写入 （mission type == 1,2）
      {
          QJsonArray circles;
          QJsonArray polygons;
@@ -1887,7 +1882,7 @@ void OPMapWidget::WPSave(QString path)//带文件目录参数
          geoFence.insert("version",2);
      }
 
-     //mission节点写入
+     //mission节点写入 (mission type  == 3...)
      {
          QJsonArray items;
 
@@ -2068,34 +2063,70 @@ void OPMapWidget::WPUpload(void)
 //飞行界面收到的当前航点的消息
 void OPMapWidget::groupchanged(int value)
 {
+    currentMissionType = value;
     //如果当前是在飞行界面，那么就下载，否则不动
-
     if(isWPCreate == true)//编辑界面
     {
 
     }
     else//飞行界面
     {
-        /*
+        qDebug() << "show current group" << currentMissionType;
-        WPDeleteAll();
+        //将不是当前的全部变成灰色，当前的显示
-
-        int sysid = 0;
-        int compid = 0;
-
         foreach(QGraphicsItem * i, map->childItems()) {
-            UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
+            WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
-            if (u) {
+            if (w) {
-                if(u->Select() == true)
+                qDebug() << "missiontype" << w->MissionType();
+                if(w->MissionType() == currentMissionType)
                 {
-                    sysid = u->SysID();
+                    w->setisActive(true);
-                    compid = u->CompID();
+                }
-
+                else
-                    emit signal_WPDownload(sysid,compid,value);
+                {
+                    w->setisActive(false);
                 }
             }
         }
-        */
 
+        //将不是当前的先全部变成灰色,当前的显示
+        foreach(QGraphicsItem * i, map->childItems()) {
+            WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
+            if (l) {
+
+                WayPointItem *from = qgraphicsitem_cast<WayPointItem *>(l->WPLineFrom());
+                WayPointItem *to   = qgraphicsitem_cast<WayPointItem *>(l->WPLineTo());
+
+                if((from)||(to))
+                {
+                    if(from)
+                    {
+                        if(from->MissionType() == currentMissionType)
+                        {
+                            l->setisActive(true);
+                        }
+                        else
+                        {
+                            l->setisActive(false);
+                        }
+                    }
+                    else if(to)
+                    {
+                        if(from->MissionType() == currentMissionType)
+                        {
+                            l->setisActive(true);
+                        }
+                        else
+                        {
+                            l->setisActive(false);
+                        }
+                    }
+                    else//不知道这句对不对
+                    {
+                        l->setisActive(false);
+                    }
+                }
+            }
+        }
     }
 
 
@@ -2167,22 +2198,7 @@ void OPMapWidget::WPGroup(int value)
         }
     }
 
-
-    //按照当前的组生成新的航点和航线
-    /*
-    WPDeleteAll();
-
-    QMap<int,WayPointItem *> group;
-
-    group = waypointgroups.value(currentGroup);
-    */
-
-
-
-
-
     update();
-
 }
 
 
@@ -2222,12 +2238,14 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
 
 
    //emit showMessage(tr("recieve way point %1").arg(seq + 1));
-   emit showMessage(tr("收到航点 %1").arg(seq + 1));
+   emit showMessage(tr("recieve way point group:%1 seq:%2").arg(mission_type).arg(seq + 1));
 
 
     //qDebug() << "receivers Point" << x * 10e-8 << y * 10e-8 << 10e-8;
 
     bool isExist = false;
+
+
     foreach(QGraphicsItem * i, map->childItems()) {
         WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
         if (w) {
@@ -2269,26 +2287,24 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
         }
     }
 
+
     if(!isExist)
     {
-
-
-
         internals::PointLatLng LatLng;
 
         LatLng.SetLat(x * 10e-8);
         LatLng.SetLng(y * 10e-8);
 
-        //设置好当前的航线
+        //获取当前组下面的seq最大值
-        currentGroup = mission_type;
+        WayPointItem *Item = new WayPointItem(LatLng, z,seq+1,mission_type, map);
 
+        ConnectWP(Item);
+        Item->setParentItem(map);
+        Item->SetMissionType(mission_type);
+        int position = Item->Number();
+        emit WPCreated(position, Item);
+        setOverlayOpacity(overlayOpacity);
 
-        //生成的时候默认设定不对，导致下载时切换过去
-        WayPointItem *Item =  WPCreate(LatLng,z);
-
-        Item->SetNumber(seq+1);
-
-        qDebug() << "waypoint not exist:" << Item->Number() << seq+1 <<currentGroup <<  mission_type;
 
         emit setWPProperty(param1,param2,param3,param4,
                            x,y,z,
@@ -2305,23 +2321,17 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
 
         Item->emitWPProperty();
 
+        qDebug() << "waypoint not exist:" << Item->Number() << seq+1 <<currentGroup <<  mission_type;
 
         //===========连线
-/*
-        WayPointItem *w_last = WPFind(mission_type,Item->Number() - 1);
-        if(w_last)
-        {
-            WPLineCreate(w_last,Item,Qt::green,false,2);
-        }
 
 
-        WayPointItem *w_next = WPFind(group,Item->Number() + 1);
+         WayPointItem *w_last = WPFind(Item->MissionType(),Item->Number() - 1);
-        if(w_next)
-        {
-            WPLineCreate(item,w_next,Qt::green,false,2);
-        }
-        */
 
+         if(w_last)
+         {
+             WPLineCreate(w_last,Item,Qt::green,false,2);
+         }
     }
 
     qDebug() << "Exist" << isExist;

opmap/mapwidget/waypointitem.cpp

@@ -687,7 +687,7 @@ void WayPointItem::setWPProperty(float param1,float param2,float param3,float pa
                                          uint8_t autocontinue,
                                          uint8_t mission_type)
 {
-    if(seq == property.seq)
+    if((seq == property.seq)&&(property.mission_type == mission_type))
     {
         qDebug() << seq << "set property";