调整所有的线程，使用线程模板管理

MavLinkNode/Terminal.h

@@ -10,83 +10,29 @@
 #include "QTime"
 #include <QtEndian>
 
+#include "ThreadTemplet.h"
 
 #ifdef QtMavlinkNode
 #include <mavlinknodeglobal.h>
-class MAVLINKNODESHARED_EXPORT terminal : public QObject {
+class MAVLINKNODESHARED_EXPORT terminal : public ThreadTemplet {
 #else
-class terminal : public QObject
+class terminal : public ThreadTemplet
 {
 #endif
     Q_OBJECT
-
-    enum _modetype {
-        Nop_Mode = 0,
-        RecieveMode,
-        TransmitMode
-    };
-
-
-    typedef struct {
-        //bool isWaitingforCount;
-        bool isWaitingforValue;
-
-
-    }_recieve;
-
-    typedef struct {
-       bool isWaitingforACK;
-       uint8_t type;
-    }_transmit;
-
-    typedef struct
-    {
-        _recieve recieve;
-        _transmit transmit;
-        _modetype m_Mode;
-    }_status_;
-
-
-
-
 public:
-
     explicit terminal(QObject *parent = nullptr);
-
-    _status_ status;
-
-    void setGCSID(int m_sysid, int m_compid)
-    {
-        Current_sysID = m_sysid;
-        Current_CompID = m_compid;
-    }
-
-
-
+    ~terminal();
     mavlink_serial_control_t m_serial_control;
 
 public slots:
-
-    void setID(int m_sysid, int m_compid);
-
     //读取和写入指令
-
     void Transmit(QString msg);
 
-
     //线程对外接口
-    void setRunFrq(uint32_t frq);
-    void start();
-    void stop();
-    bool isActive(void)
-    {
-        return running_flag;
-    }
-
     void Parse(mavlink_message_t msg);
 private slots:
    //线程私有接口
-   void Send(mavlink_message_t msg);
 
    void process();
 
@@ -102,29 +48,15 @@ private slots:
 signals:
    void readError();
 
-   void SendMessageTo(quint8 ch, quint8 *data,quint16 len);
-
    void commandAccepted(bool flag,uint16_t command,uint8_t result);
 
-   void showMessage(const QString &message,int TimeOut = 0);
-
-
    void Recieve(QString msg);
 
-
-
 private:
    bool running_flag = false;
    quint32 running_frq = 200;//200Hz
    QThread *thread = nullptr;
 
-   //目标id
-   int sysid;
-   int compid;
-
-   //本机的id
-   int Current_sysID = 0xF1;
-   int Current_CompID = 0xF1;
 
    //超时时间（ms）
    int readTimeout = 5000;