数据保持加码

MavLinkNode/mavlinknode.h

@@ -21,6 +21,9 @@
 
 #include "ThreadTemplet.h"
 
+#include "ParsePack.h"
+
+
 #ifdef QtMavlinkNode
 #include <mavlinknodeglobal.h>
 class MAVLINKNODESHARED_EXPORT MavLinkNode : public ThreadTemplet {
@@ -109,36 +112,6 @@ public:
      QByteArray rtkrawdata;
 
 
-    QByteArray csvData;
-
-    QByteArray autopilot_version_csv;
-    QByteArray sys_status_csv;
-    QByteArray heartbeat_csv;
-    QByteArray ping_csv;
-    QByteArray attitude_csv;
-    QByteArray ins1_csv;
-    QByteArray ins2_csv;
-    QByteArray gps_raw_int_csv;
-    QByteArray global_position_int_csv;
-    QByteArray servo_output_raw_csv[10];
-    QByteArray rc_channels_raw_csv;
-    QByteArray nav_controller_output_csv;
-    QByteArray airspeed_autocal_csv;
-    QByteArray rpm_csv;
-    QByteArray scaled_pressure_csv;
-    QByteArray extended_sys_state_csv;
-    QByteArray battery_status_csv;
-    QByteArray vibration_csv;
-    QByteArray enginestate_csv;
-    QByteArray vfr_hud_csv;
-    QByteArray aoa_ssa_csv;
-    QByteArray emb_atom_com_csv;
-    QByteArray turbinstate_csv;
-    QByteArray bmustate_csv;
-    QByteArray ccmstate_csv;
-    QByteArray serial_control_csv;
-
-
     QFile * autopilot_version_file = nullptr;
     QFile * sys_status_file = nullptr;
     QFile * heartbeat_file = nullptr;
@@ -222,6 +195,10 @@ signals:
 public slots:
     //线程对外接口
     void CreateCSV(void);
+    void CloseCSV(void);
+
+    bool setFileData(QFile *file,const QByteArray &data);
+
 
     //缓存对外接口
     void readPendingDatagramsReplay(void);
@@ -255,6 +232,7 @@ private slots:
    //check for new vehicle
    void CheckVehicle(int sysid, int compid);
 
+   bool setLogData(mavlink_message_t msg);
 
 protected:
 
@@ -295,6 +273,9 @@ protected:
     QTimer *timer_1s = nullptr;
 
 
+    Parser2_t parser;
+    Packer2_t packer;
+
     mutable QReadWriteLock RWlock;
 
 };