画了一个简单的qml界面用于测试指令

App/base.qml

@@ -1,98 +1,170 @@
 import QtQuick 2.6
-//import QtQuick.Controls 2.2
+import QtQuick.Controls 2.5
+
+//导入指令模块，这样就能发指令了
+//import Protocol.MavLinkNode 1.0
+
 
 Rectangle {
+
+    id:root
+
     visible: true
     x:0
     y:0
+    border.width: 1
+    border.color: "blue"
     color: "white"
 
+    signal btnclicked_int(real param1, real param2, real param3, real param4, int x, int y, real z)
+    signal btnclicked_long(real param1, real param2,  real param3, real param4, real param5, real param6, real param7)
+
 
     Rectangle {
-        id:loadqml
+        id:armbtn
-        x:20
+        x:10
         y:20
-        width: 100
+        radius: 5
+        width: 80
         height: 40
+        border.width:1
+        color: "lightgreen"
 
-        color: "blue"
+        Text{
+           anchors.centerIn: parent
+           text: qsTr("ARM")
+        }
 
         MouseArea {
             hoverEnabled: true //默认是false
-            x:0
-            y:0
             anchors.fill: parent
 
             onEntered: {
-                loadqml.color = "yellow"
+                parent.color = "yellow"
-                console.log("Entered")
             }
             onExited:{
-                loadqml.color = "blue"
+                parent.color = "lightgreen"
-                console.log("Exited")
+            }
+
+            onPressed: {
+                parent.width = parent.width - 4
+                parent.height = parent.height - 2
+                parent.x = parent.x + 2
+                parent.y = parent.y + 1
+                parent.border.width = 2
+
+            }
+            onReleased:{
+                parent.width = parent.width + 4
+                parent.height = parent.height + 2
+                parent.x = parent.x - 2
+                parent.y = parent.y - 1
+                parent.border.width = 1
+            }
+
+            onClicked: {
+                console.log("clicked")
+                btnclicked_int(0,0,0,0,0,0,0)
             }
-            onClicked: console.log("Clicked")
-            onReleased: console.log("Released")
         }
 
     }
 
     Rectangle {
-        id: loadbtn
+        id: takeoffbtn
 
-        x:20
+        x:100
-        y:80
+        y:20
-        width: 100
+        radius: 5
-        height: 20
+        width:  80
-
+        height: 40
-        color: "blue"
+        border.width:1
+        color: "lightgreen"
 
         Text{
-           text: qsTr("Load")
+           anchors.centerIn: parent
+           text: qsTr("TakeOff")
         }
 
         MouseArea{
+            hoverEnabled: true //默认是false
             anchors.fill: parent
-            onClicked:  console.log("loadbtn")
 
             onEntered: {
-                loadbtn.color = "yellow"
+                parent.color = "yellow"
-                console.log("Entered")
             }
             onExited:{
-                loadbtn.color = "blue"
+                parent.color = "lightgreen"
-                console.log("Exited")
+            }
+            onPressed: {
+                parent.width = parent.width - 4
+                parent.height = parent.height - 2
+                parent.x = parent.x + 2
+                parent.y = parent.y + 1
+                parent.border.width = 2
+
+            }
+            onReleased:{
+                parent.width = parent.width + 4
+                parent.height = parent.height + 2
+                parent.x = parent.x - 2
+                parent.y = parent.y - 1
+                parent.border.width = 1
+            }
+
+            onClicked: {
+                console.log("clicked")
             }
 
         }
     }
 
     Rectangle {
-        id: resetbtn
+        id: killbtn
 
-        x:20
+        x:190
-        y:150
+        y:20
-        width: 100
+        radius: 5
-        height: 20
+        width:  80
+        height: 40
+        border.width:1
+        color: "darkorange"
 
-        color: "blue"
 
         Text{
-           text: qsTr("Reset")
+           anchors.centerIn: parent
+           text: qsTr("Kill")
         }
 
         MouseArea{
-
+            hoverEnabled: true //默认是false
             anchors.fill: parent
-            onClicked:  console.log("resetbtn")
 
             onEntered: {
-                resetbtn.color = "yellow"
+                parent.color = "yellow"
-                console.log("Entered")
             }
             onExited:{
-                resetbtn.color = "blue"
+                parent.color = "darkorange"
-                console.log("Exited")
+            }
+            onPressed: {
+                parent.color = "red"
+                parent.width = parent.width - 4
+                parent.height = parent.height - 2
+                parent.x = parent.x + 2
+                parent.y = parent.y + 1
+                parent.border.width = 2
+
+            }
+            onReleased:{
+                parent.width = parent.width + 4
+                parent.height = parent.height + 2
+                parent.x = parent.x - 2
+                parent.y = parent.y - 1
+                parent.border.width = 1
+            }
+
+            onClicked: {
+                console.log("clicked")
             }
 
         }

App/main.cpp

@@ -13,6 +13,8 @@
 #include <QDebug>
 #include <QTextCodec>
 
+#include <QQmlEngine>
+
 //#include <windows.h>
 //#include <winver.h>
 //#pragma comment(lib, "Version")
@@ -108,6 +110,13 @@ int main(int argc, char *argv[])
 
     a.setAttribute(Qt::AA_DontCreateNativeWidgetSiblings);
 
+
+
+
+
+
+
+
     w.show();
 
     return a.exec();

App/mainwindow.cpp

@@ -1,21 +1,15 @@
 #include "mainwindow.h"
-
 #include "QPushButton"
 #include "QAction"
 
-
 #include "QHBoxLayout"
 
 
-
-
 MainWindow::MainWindow(QWidget *parent)
     : QMainWindow(parent)
 {
 
-
+    //qmlRegisterType<DLink>("Protocol.DLink", 1, 0, "DLink");
-    //this->setAttribute(Qt::AA_NativeWindows);
-
 
     //ui initial
     linkui = new LinkUI(this);
@@ -45,7 +39,6 @@ MainWindow::MainWindow(QWidget *parent)
 
 
     map = new mapcontrol::OPMapWidget(this);
-
     map->SetShowHome(false);
     map->SetShowCompass(false);
     map->SetUseOpenGL(true);
@@ -61,6 +54,9 @@ MainWindow::MainWindow(QWidget *parent)
     QIcon icon;
 
     nav = new QNavigationWidget(this);
+
+    nav->setAttribute(Qt::WA_AlwaysStackOnTop);
+
     nav->setGeometry(0,0,50,this->height());
     nav->setRowHeight(50);
     nav->addItem(tr("Flight"),icon);
@@ -71,6 +67,8 @@ MainWindow::MainWindow(QWidget *parent)
     nav->addItem(tr("Data"),icon);//all data
     nav->addItem(tr("Tools"),icon);//soft setting  help about
 
+
+
     connect(nav,SIGNAL(ItemChanged(int)),
             this,SLOT(onTabIndexChanged(int)));
 
@@ -143,14 +141,19 @@ void MainWindow::resizeEvent(QResizeEvent *event)
                      this->width()- copk->width() - nav->width(),
                      this->height());
 
+/*
+    map->setGeometry(0,
+                     0,
+                     this->width(),
+                     this->height());
+                     */
+
+
     nav->setGeometry(0,0,nav->width(),this->height());
-
-
-
     copk->setGeometry(this->width() - copk->width(),0,copk->width(),copk->height());
-
     quick->setGeometry(this->width() - quick->width(),copk->height(),quick->width(),this->height() - copk->height());
 
+
 }
 
 
@@ -162,11 +165,9 @@ void MainWindow::keyPressEvent(QKeyEvent *event)   //键盘按下事件
        case Qt::Key_A:
        break;
        case Qt::Key_D:
-
             if(event->modifiers() == Qt::AltModifier)
             {
                 qInfo() << "alt + D";
-                dlink->mavlinknode->Mission->ReadCmd(1,1);
             }
        break;
         case Qt::Key_U :
@@ -174,8 +175,6 @@ void MainWindow::keyPressEvent(QKeyEvent *event)   //键盘按下事件
             if(event->modifiers() == Qt::AltModifier)
             {
               qInfo() << "atl + U";
-              //dlink->Mavlink_msg_mission_count(map->WPTotal());
-              //qDebug() << map->WPTotal();
             }
         }break;
         case Qt::Key_P :
@@ -183,8 +182,6 @@ void MainWindow::keyPressEvent(QKeyEvent *event)   //键盘按下事件
             if(event->modifiers() == Qt::AltModifier)
             {//下载参数
               qInfo() << "atl + P";
-              dlink->mavlinknode->Parameter->ReadCmd(1,1,1);
-
             }
         }break;
         case Qt::Key_O :
@@ -192,8 +189,6 @@ void MainWindow::keyPressEvent(QKeyEvent *event)   //键盘按下事件
             if(event->modifiers() == Qt::AltModifier)
             {//上传参数
               qInfo() << "atl + O";
-              //dlink->Mavlink_msg_mission_count(map->WPTotal());
-
             }
         }break;
         case Qt::Key_S:
@@ -211,8 +206,6 @@ void MainWindow::keyPressEvent(QKeyEvent *event)   //键盘按下事件
         case Qt::Key_Space :
         {
             internals::PointLatLng LatLng;
-            //LatLng.SetLat(dlink->v*1e-7);
-            //LatLng.SetLng(dlink->vehicle.gps_raw_int.lon*1e-7);
             map->SetCurrentPosition(LatLng);
         }
         break;
@@ -354,7 +347,7 @@ void MainWindow::dlink_triggered()
         disconnectdialog dlg(this);
 
         dlg.setWindowTitle(tr("SerialPort"));
-        dlg.setWindowIcon(QIcon(":/images/LinkUI/SerialPort.ico"));
+        dlg.setWindowIcon(QIcon("qrc:/images/LinkUI/SerialPort.ico"));
 
         int ret = dlg.exec();
         if (QDialog::Accepted == ret)
@@ -367,7 +360,7 @@ void MainWindow::dlink_triggered()
         ConnectDialog dlg(this);
 
         dlg.setWindowTitle(tr("SerialPort"));
-        dlg.setWindowIcon(QIcon(":/images/LinkUI/SerialPort.ico"));
+        dlg.setWindowIcon(QIcon("qrc:/images/LinkUI/SerialPort.ico"));
 
         dlg.baudrate = 115200;
         dlg.parity = QSerialPort::NoParity;

MavLinkNode/MavLinkNode.pro

@@ -9,7 +9,6 @@ QT    += core gui network
 greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
 
 
-
 TARGET = MavLinkNode
 TEMPLATE = lib
 

MavLinkNode/commandprocess.cpp

@@ -85,6 +85,49 @@ void commandprocess::SendMessage(mavlink_message_t msg)
     emit SendMessageTo(0,buff, len);//使用信号和槽
 }
 
+//发送函数
+void commandprocess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,
+                              float param1,
+                              float param2,
+                              float param3,
+                              float param4,
+                              int32_t x,
+                              int32_t y,
+                              float z, uint16_t command, uint8_t frame, uint8_t current, uint8_t autocontinue)
+{
+     sysid = m_sysid;
+     compid = m_compid;
+
+     //给指令赋值
+     cmd_int.param1 = param1;
+     cmd_int.param2 = param2;
+     cmd_int.param3 = param3;
+     cmd_int.param4 = param4;
+     cmd_int.x = x;
+     cmd_int.y = y;
+     cmd_int.z = z;
+
+     cmd_int.command = command;
+     cmd_int.frame = frame;
+     cmd_int.current = current;
+     cmd_int.autocontinue = autocontinue;
+
+     //开启线程开始传输
+
+     status.m_Mode = TransmitMode;//发送模式
+
+     start();//开启线程
+
+}
+
+
+
+
+
+
+
+
+
 //这个函数类似中断，专门处理接收到的状态
 void commandprocess::Parse(mavlink_message_t msg)
 {
@@ -106,6 +149,10 @@ void commandprocess::Parse(mavlink_message_t msg)
          {
              status.transmit.isWaitingforACK = false;
          }
+         else
+         {
+             //拒绝该指令
+         }
     break;
     }
 }
@@ -142,7 +189,9 @@ void commandprocess::WriteStateMachine(void)
    {
        status.transmit.isWaitingforACK = true;
 
-       //set("id",0,1);//发送一个指令
+       _int(cmd_int.param1,cmd_int.param2,cmd_int.param3,cmd_int.param4,
+            cmd_int.x,cmd_int.y,cmd_int.z,
+            cmd_int.command,cmd_int.frame,cmd_int.current,cmd_int.autocontinue);//发送一个指令
        time = QTime::currentTime().msecsSinceStartOfDay();
        step++;//下一个阶段
    }
@@ -159,6 +208,20 @@ void commandprocess::WriteStateMachine(void)
              status.m_Mode = Nop_Mode;
              status.transmit.isWaitingforACK = false;
              timeout_count = 0;
+
+             //清除指令
+             cmd_int.param1 = 0;
+             cmd_int.param2 = 0;
+             cmd_int.param3 = 0;
+             cmd_int.param4 = 0;
+             cmd_int.x = 0;
+             cmd_int.y = 0;
+             cmd_int.z = 0;
+             cmd_int.command = 0;
+             cmd_int.frame = 0;
+             cmd_int.current = 0;
+             cmd_int.autocontinue = 0;
+
           }
        }
        else
@@ -170,6 +233,19 @@ void commandprocess::WriteStateMachine(void)
                status.m_Mode = Nop_Mode;
                status.transmit.isWaitingforACK = false;
                timeout_count = 0;
+
+               //清除指令
+               cmd_int.param1 = 0;
+               cmd_int.param2 = 0;
+               cmd_int.param3 = 0;
+               cmd_int.param4 = 0;
+               cmd_int.x = 0;
+               cmd_int.y = 0;
+               cmd_int.z = 0;
+               cmd_int.command = 0;
+               cmd_int.frame = 0;
+               cmd_int.current = 0;
+               cmd_int.autocontinue = 0;
            }
        }
    }

MavLinkNode/commandprocess.h

@@ -58,7 +58,14 @@ public:
 public slots:
     //读取和写入指令
     //void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
-    //void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count);
+    void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,
+                  float param1,
+                  float param2,
+                  float param3,
+                  float param4,
+                  int32_t x,
+                  int32_t y,
+                  float z, uint16_t command, uint8_t frame, uint8_t current, uint8_t autocontinue);
 
 
 
@@ -116,7 +123,8 @@ private:
    uint8_t sysid;
    uint8_t compid;
 
-
+   mavlink_command_int_t cmd_int;
+   mavlink_command_long_t cmd_long;
 
 
 

MavLinkNode/mavlinknode.cpp

@@ -9,6 +9,10 @@
 
 MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
 {
+
+ //   qmlRegisterType<commandprocess>(static_cast<void>("Protocol.Command"), static_cast<void>(1), static_cast<void>(0), "Command");
+
+
     //main thread
     running_flag = false;
     Nodethread = new QThread();

MavLinkNode/parameterprocess.cpp

@@ -270,6 +270,9 @@ void ParameterProcess::ReadStateMachine(void)//一整列
       status.m_Mode = Nop_Mode;//切换到什么都不做
       timeout_count = 0;
       status.recieve.isWaitingforValue = false;
+      //停止线程,不能停止
+      //stop();
+
    }
 }