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udp

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This commit is contained in:
hm
2020-08-08 14:35:57 +08:00
parent 8311ccbe81
commit 25254c4ee1
7 changed files with 346 additions and 23 deletions
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App/App.pro
+1 -1
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@@ -169,4 +169,4 @@ TRANSLATIONS = GCS_zh_CN.ts
RESOURCES += \
res.qrc
RC_FILE += version.rc
App/logo.ico
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Width:  |  Height:  |  Size: 264 KiB

App/mainwindow.cpp
+1 -1
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@@ -213,7 +213,7 @@ MainWindow::MainWindow(QWidget *parent)
map,SLOT(WPSetCurrent(int)),Qt::DirectConnection);
menuBarUI->showMessage(tr("存在bug，连接界面udp数字输入的.可以超过3个，不合理"));
//menuBarUI->showMessage(tr("存在bug，连接界面udp数字输入的.可以超过3个，不合理"));
//==== showmessage=====
connect(copk,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
App/version.rc
+3 -1
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@@ -1,4 +1,6 @@
IDI_ICON1 ICON DISCARDABLE "LYL/icons/tubiao.ico"
IDI_ICON1 ICON DISCARDABLE "logo.ico"
#if defined(UNDER_CE)
#include <winbase.h>
MavLinkNode/mavlinknode.cpp
+5 -6
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@@ -22,7 +22,6 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
int Current_sysID = 0xF1;
int Current_CompID = MAV_COMP_ID_MISSIONPLANNER;
Mission = new MissionProcess();
Mission->setGCSID(Current_sysID,Current_CompID);
connect(Mission,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
@@ -34,8 +33,6 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
connect(Mission,SIGNAL(showMessage(QString,int)),
this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
Parameter = new ParameterProcess();
Parameter->setGCSID(Current_sysID,Current_CompID);
connect(Parameter,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
@@ -44,7 +41,6 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
connect(Parameter,SIGNAL(showMessage(QString,int)),
this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
Commander = new commandprocess();
Commander->setGCSID(Current_sysID,Current_CompID);
connect(Commander,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
@@ -287,8 +283,11 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
{
if(MAVLINK_FRAMING_OK == mavlink_parse_char(src,*i,&msg,&status))
{
emit recievemsg(msg); //将信息广播出去
MAVLinkRcv_Handler(msg); //接收完一帧数据并处理
if(msg.compid != Current_CompID)//过滤地面站发过来的数据
{
emit recievemsg(msg); //将信息广播出去
MAVLinkRcv_Handler(msg); //接收完一帧数据并处理
}
}
else
{
dlink/dlink.cpp
+14 -14
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@@ -46,15 +46,6 @@ int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
{
foreach(Node node,clientSockets)
{
/*
QString num;
for (int i = 0; i < len; ++i) {
num.append(QString::number(msg[i],16).toUpper());
num.append(" ");
}
qDebug() << num;
*/
DLink::Clientsock->writeDatagram((const char *)msg, len,
node.addr, node.port);
qDebug() << "Client Send Msg";
@@ -241,16 +232,27 @@ void DLink::connectSignal(QVariant m_state,
bool DLink::setupClient(const QHostAddress &local_addr,int local_port,const QHostAddress &remote_addr,int remote_port)
{
if(Clientsock)
{
delete Clientsock;
Clientsock = nullptr;
}
bool isSuccess = false;
Clientsock = new QUdpSocket(this);
if (Clientsock->bind(QHostAddress::AnyIPv4, local_port))
if (Clientsock->bind(QHostAddress::AnyIPv4, local_port, QUdpSocket::ShareAddress))
{
Clientsock->joinMulticastGroup(remote_addr);//加入组播
if(Clientsock->open(QIODevice::ReadWrite))
//if(Clientsock->joinMulticastGroup(remote_addr))
{
Clientsock->joinMulticastGroup(remote_addr);
Clientsock->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption,1024*1024*8);
Clientsock->setSocketOption(QAbstractSocket::MulticastTtlOption, 3);
connect(Clientsock, SIGNAL(readyRead()),
this, SLOT(readPendingDatagramsClient()));
Node node;
node.sock = Clientsock;
node.addr = remote_addr;
@@ -262,8 +264,6 @@ bool DLink::setupClient(const QHostAddress &local_addr,int local_port,const QHos
<< local_port
<< remote_port;
//mavlinknode->start();//启动
isSuccess = true;
emit showMessage(tr("UdpSocket open"));
}
dlink/dlink.cpp.autosave
+322
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@@ -0,0 +1,322 @@
#include "dlink.h"
#include <string.h>
//#include "windows.h"
#include "QDateTime"
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
mavlinknode = new MavLinkNode();//不允许带参数,因为这是单独的线程
connect(mavlinknode,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
this,SLOT(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);//采用直连的方式，因为是多线程
connect(mavlinknode,SIGNAL(showMessage(QString,int)),
this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
mavlinknode->start();
connect(this,&DLink::REVMessageTo1,
this,&DLink::SendMessageTo1);
//其他协议节点。。。
}
DLink::~DLink()
{
mavlinknode->stop();
delete mavlinknode;
}
int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
{
//让这个函数在其他线程运行
//Q_UNUSED(ch);
//更加ch选择
if (DLink::Clientsock)
{
foreach(Node node,clientSockets)
{
DLink::Clientsock->writeDatagram((const char *)msg, len,
node.addr, node.port);
qDebug() << "Client Send Msg";
}
}
//这个地方有问题，会导致数据中断
emit REVMessageTo1(ch,msg,len);
return 0;
}
int DLink::SendMessageTo1(quint8 ch, quint8 *msg, quint16 len)
{
if (DLink::serialPort)
{
/*
QString num;
for (int i = 0; i < len; ++i) {
num.append(QString::number(msg[i],16).toUpper());
num.append(" ");
}
qDebug() << num;
*/
//qDebug() << QThread::currentThread();
qint64 flag = DLink::serialPort->write((const char *)msg,len);
/*
if(flag != -1)
{
qDebug() << "serial send Success,Send " << flag << "bytes";
}
qDebug() << QThread::currentThread();
*/
qDebug() << "serialPort Send Msg";
}
return 0;
}
bool DLink::setupPort(const QString port, qint32 baudrate, QSerialPort::Parity parity)
{
qDebug() << port
<< baudrate
<< parity;
bool isSuccess = false;
if (serialPort)//多串口接入
{
serialPort->close();
delete serialPort;
}
serialPort = new QSerialPort(this);
serialPort->setPortName(port);
if (serialPort->open(QIODevice::ReadWrite))
{
serialPort->setBaudRate(baudrate);
serialPort->setParity(parity);
serialPort->setDataBits(QSerialPort::Data8);
serialPort->setStopBits(QSerialPort::OneStop);
DLink::serialPort->write("serial connet ok",16);
qDebug() << QThread::currentThread();
//mavlinknode->start();//启动之后串口就找不到了
connect(serialPort, SIGNAL(readyRead()), this, SLOT(readPendingDatagramsSerialPort()));
isSuccess = true;
emit showMessage(tr("Serial Port Open Success"));
qDebug() << "Serial Port Open Success";
}
else
{
isSuccess = false;
emit showMessage(tr("Serial Port Open Fail"));
qDebug() << "Serial Port Open Fail";
delete serialPort;
serialPort = nullptr;
}
return isSuccess;
}
bool DLink::statesPort()
{
return (serialPort != nullptr)?(true):(false);
}
void DLink::stopPort()
{
emit showMessage(tr("Serial Port close"));
serialPort->close();
delete serialPort;
serialPort = nullptr;
}
void DLink::connectSignal(QVariant m_state,
QVariant m_usrName,QVariant m_Type,
QVariant m_Param1,QVariant m_Param2,
QVariant m_Param3,QVariant m_Param4,
QVariant m_Param5)
{
if(m_state.toBool() == true)
{
if(m_Type.toString() == "SerialPort")
{
QSerialPort::Parity parity;
if(m_Param4.toString() == "NONE")
{
parity = QSerialPort::Parity::NoParity;
}
if(m_Param4.toString() == "ODD")
{
parity = QSerialPort::Parity::OddParity;
}
if(m_Param4.toString() == "EVEN")
{
parity = QSerialPort::Parity::EvenParity;
}
qDebug() << m_Type << m_Param1 << m_Param2.toString().toInt() << parity;
if(setupPort(m_Param1.toString(),m_Param2.toString().toInt(),parity))
{
emit PortConnected(true,m_usrName,m_Type,m_Param1,m_Param2,m_Param3,m_Param4,m_Param5);
}
else
{
emit PortConnected(false,m_usrName,m_Type,m_Param1,m_Param2,m_Param3,m_Param4,m_Param5);
}
}
else if(m_Type.toString() == "UDP")
{
//qDebug() << m_Type << m_Param1 << m_Param2 << m_Param4;
if(setupClient(QHostAddress(m_Param1.toString()),m_Param2.toString().toInt(),QHostAddress(m_Param3.toString()),m_Param4.toString().toInt()))
{
emit PortConnected(true,m_usrName,m_Type,m_Param1,m_Param2,m_Param3,m_Param4,m_Param5);
}
else
{
emit PortConnected(false,m_usrName,m_Type,m_Param1,m_Param2,m_Param3,m_Param4,m_Param5);
}
}
}
else
{
qDebug() << "disconnect";
if(m_Type.toString() == "SerialPort")
{
stopPort();
emit PortConnected(false,m_usrName,m_Type,m_Param1,m_Param2,m_Param3,m_Param4,m_Param5);
}
else if(m_Type.toString() == "UDP")
{
emit PortConnected(false,m_usrName,m_Type,m_Param1,m_Param2,m_Param3,m_Param4,m_Param5);
}
}
}
bool DLink::setupClient(const QHostAddress &local_addr,int local_port,const QHostAddress &remote_addr,int remote_port)
{
if(Clientsock)
{
delete Clientsock;
Clientsock = nullptr;
}
bool isSuccess = false;
Clientsock = new QUdpSocket(this);
if (Clientsock->bind(QHostAddress::AnyIPv4, local_port, QUdpSocket::ShareAddress))
{
if(Clientsock->open(QIODevice::ReadWrite))
//if(Clientsock->joinMulticastGroup(remote_addr))
{
Clientsock->joinMulticastGroup(remote_addr);
Clientsock->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption,1024*1024*8);
Clientsock->setSocketOption(QAbstractSocket::MulticastTtlOption, 3);
connect(Clientsock, SIGNAL(readyRead()),
this, SLOT(readPendingDatagramsClient()));
Node node;
node.sock = Clientsock;
node.addr = remote_addr;
node.port = remote_port;
clientSockets.append(node);
qDebug() << "UdpSocket open:"
<< remote_addr
<< local_port
<< remote_port;
isSuccess = true;
emit showMessage(tr("UdpSocket open"));
}
else
{
isSuccess = false;
qDebug() << "sock not open";
}
}
else
{
isSuccess = false;
qWarning("sock is not binded.");
delete Clientsock;
}
return isSuccess;
}
void DLink::readPendingDatagramsSerialPort(void)
{
QByteArray datagram = serialPort->readAll();
mavlinknode->setbuff(SourceType::s_port,datagram);
/*
QString num;
for (int i = 0; i < datagram.size(); ++i) {
num.append(QString::number((uint8_t)datagram.at(i) & 0xFF,16).toUpper());
num.append(" ");
}
qDebug() << num;
*/
//qDebug() << "reci";
}
void DLink::readPendingDatagramsClient(void)
{
//轮番查询
while (Clientsock->hasPendingDatagrams()) {
QByteArray datagram;
datagram.resize(Clientsock->pendingDatagramSize());
Clientsock->readDatagram(datagram.data(), datagram.size());
mavlinknode->setbuff(SourceType::c_sock,datagram);
}
//qDebug() << "client recieve";
}
//在这里做一个检查缓冲区有没有数，有数据就往上发的一个函数
//dlink底下的所有协议都可以往这个缓存发数据