协同dlink和mavlink

App/mainwindow.cpp

@@ -14,6 +14,10 @@ MainWindow::MainWindow(QWidget *parent)
 
      //ui->maintoolBar->addAction(ui->action);
 
+    dlink = new DLink();
+
+
+
     nav = new QNavigationWidget(this);
 
    copk = new Cockpit(this);
@@ -25,17 +29,29 @@ MainWindow::MainWindow(QWidget *parent)
 
 
     nav->setRowHeight(50);
-    nav->addItem(tr("设备"));
+    nav->addItem(tr("DRV"));
-    nav->addItem(tr("地图"));
+    nav->addItem(tr("MAP"));
-    nav->addItem(tr("指令"));
+    nav->addItem(tr("CMD"));
-    nav->addItem(tr("检查"));
+    nav->addItem(tr("CHK"));
-    nav->addItem(tr("航线"));
+    nav->addItem(tr("WAY"));
-    nav->addItem(tr("任务"));
+    nav->addItem(tr("MIS"));
-    nav->addItem(tr("数据"));
+    nav->addItem(tr("DAT"));
-    nav->addItem(tr("回放"));
+    nav->addItem(tr("REP"));
-    nav->addItem(tr("关于"));
+    nav->addItem(tr("COM"));
+/*
+    connect(nav,SIGNAL(currentItemChanged(const int &index)),
+            this,SLOT(onTabIndexChanged(const int &index)));
+            */
+
+    connect(nav,SIGNAL(ItemChanged(int)),
+            this,SLOT(onTabIndexChanged(int)));
+
+    //connect(nav,&QNavigationWidget::currentItemChanged,
+      //      this,&MainWindow::onTabIndexChanged);
+
+
+
 
-    node = new MavLinkNode();
     //node->start();
 
     qDebug() << "mainwindow " <<  QThread::currentThreadId();
@@ -89,7 +105,17 @@ void MainWindow::resizeEvent(QResizeEvent *e)
 
 }
 
-
+void MainWindow::onTabIndexChanged(const int &index)
+{
+    if(index == 1)
+    {
+        dlink_triggered();
+    }
+    else if (index == 2)
+    {
+        client_triggered();
+    }
+}
 
 
 void MainWindow::dlink_triggered()
@@ -105,9 +131,6 @@ void MainWindow::dlink_triggered()
         if (QDialog::Accepted == ret)
         {
             dlink->stopPort();
-           // statusBar()->showMessage(tr("SerialPort Disconnect"));
-
-
         }
     }
     else
@@ -123,22 +146,26 @@ void MainWindow::dlink_triggered()
         if (QDialog::Accepted == ret)
         {
             dlink->setupPort(dlg.port, dlg.baudrate,dlg.parity);
-            //statusBar()->showMessage(tr("SerialPort Connected:")  + dlg.port + tr(",") + QString::number(dlg.baudrate));
-
-            node->start();
-
-        }
-        else
-        {
-            node->stop();
         }
     }
 }
 
+void MainWindow::client_triggered()
+{
+    ClientLinkDialog dlg(this);
+
+    dlg.setWindowTitle(tr("ClientLink"));
+    //dlg.setWindowIcon(ui->action_dlink->icon());
+
+    int ret = dlg.exec();
+    if (QDialog::Accepted == ret)
+    {
+        dlink->setupClient(dlg.remote_addr,dlg.remote_port,dlg.local_port);
+    }
+}
+
 
 
 
 
 
-
-

App/mainwindow.h

@@ -17,7 +17,7 @@
 #include "opmapwidget.h"
 #include "Cockpit.h"
 #include "dlink.h"
-
+#include "clientlinkdialog.h"
 #include "mavlinknode.h"
 
 #pragma execution_character_set("utf-8")
@@ -38,15 +38,19 @@ public:
 public slots:
 
     void dlink_triggered();
-
+    void client_triggered();
 protected:
     void resizeEvent(QResizeEvent * e);
 
+
+private slots:
+    void onTabIndexChanged(const int &index);
+
 protected:
 
     Cockpit *copk;
 
-    MavLinkNode *node;
+
     QNavigationWidget *nav;
     mapcontrol::OPMapWidget *map;
 

MavLinkNode/mavlinknode.cpp

@@ -2,9 +2,7 @@
 
 MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
 {
-
     running_flag = false;
-
     Nodethread = new QThread();
 
     this->moveToThread(Nodethread);
@@ -25,6 +23,16 @@ MavLinkNode::~MavLinkNode()
     }
 }
 
+void MavLinkNode::setRunFrq(uint32_t frq)
+{
+    if((frq != 0)||(frq <= 1000))
+    {
+        running_frq = frq;
+        qDebug() << "set running frquency:" <<frq <<"Hz";
+    }
+}
+
+
 void MavLinkNode::start()
 {
     if(!Nodethread->isRunning())
@@ -61,17 +69,17 @@ void MavLinkNode::process()//线程函数
     uint8_t count = 0;
     while (running_flag) {
 
-     //qDebug() << "Process " <<  QThread::currentThreadId();
+     //qDebug() << "mavlink Process " <<  QThread::currentThreadId();
      count ++;
      //qDebug() << "run "  << count << "ms";
-     QThread::msleep(20);//50Hz
+     QThread::msleep(1000/running_frq);//50Hz
 
     }
     //退出线程
     Nodethread->quit();
 }
 
-void MavLinkNode::setbuff(QByteArray data)
+void MavLinkNode::setbuff(uint32_t src,QByteArray data)
 {
     if(buff_select == 1)
     {

MavLinkNode/mavlinknode.h

@@ -21,8 +21,8 @@ public:
     explicit MavLinkNode(QObject *parent = nullptr);
     ~MavLinkNode();
 
+    void setRunFrq(uint32_t frq);
 
-    //void start();
 
 signals:
 
@@ -35,11 +35,12 @@ public slots:
 
 
     //对外的填充数据的接口
-    void setbuff(QByteArray data);
+    void setbuff(uint32_t src, QByteArray data);
 
 protected:
 
     bool running_flag = false;
+    quint32 running_frq = 10;//10Hz
 
     QThread *Nodethread;
 

dlink/dlink.cpp

@@ -7,11 +7,16 @@
 
 DLink::DLink(QObject *parent) : QObject(parent)
 {
+     qDebug() << "Dlink " <<  QThread::currentThreadId();
+
+     mavlinknode = new MavLinkNode();
+
 
 }
 DLink::~DLink()
 {
-
+    mavlinknode->stop();
+    delete mavlinknode;
 }
 
 
@@ -20,8 +25,11 @@ int DLink::SendMessageTo(uint8_t, uint8_t *msg, uint16_t len)
     //mavlinknode::bytes_num_out += len;
     if (DLink::Clientsock)
     {
-        DLink::Clientsock->writeDatagram((const char *)msg, len,
+        foreach(Node node,clientSockets)
-                                   DLink::clientSockets.last().addr, DLink::clientSockets.last().port);
+        {
+            DLink::Clientsock->writeDatagram((const char *)msg, len,
+                                       node.addr, node.port);
+        }
     }
 
     if (DLink::serialPort)
@@ -41,7 +49,7 @@ void DLink::setupPort(const QString port, qint32 baudrate, QSerialPort::Parity p
         serialPort->close();
         delete serialPort;
     }
-    serialPort = new QSerialPort(port, this);
+    serialPort = new QSerialPort(port,this);
 
     if (serialPort->open(QIODevice::ReadWrite))
     {
@@ -50,7 +58,11 @@ void DLink::setupPort(const QString port, qint32 baudrate, QSerialPort::Parity p
         serialPort->setDataBits(QSerialPort::Data8);
         serialPort->setStopBits(QSerialPort::OneStop);
 
-        connect(serialPort, SIGNAL(readyRead()), this, SLOT(readPendingDatagrams()));
+        mavlinknode->start();
+
+        connect(serialPort, SIGNAL(readyRead()), this, SLOT(readPendingDatagramsSerialPort()));
+
+        qDebug() << "Serial Port Open Success";
     }
     else
     {
@@ -74,8 +86,7 @@ void DLink::stopPort()
 
 
 void DLink::setupClient(const QHostAddress &remote_addr, int remote_port, int local_port)
-{
+{    
-
     Clientsock = new QUdpSocket(this);
     if (Clientsock->bind(QHostAddress::Any, local_port))
     {
@@ -87,11 +98,40 @@ void DLink::setupClient(const QHostAddress &remote_addr, int remote_port, int lo
             node.sock = Clientsock;
             node.addr = remote_addr;
             node.port = remote_port;
+
             clientSockets.append(node);
-            qDebug() << "sock open:"
+            qDebug() << "UdpSocket open:"
                      << remote_addr
                      << local_port
                      << remote_port;
+
+            mavlinknode->start();
+
+
+            //想办法只让这个UDP打开一次
+            /*
+            foreach(Node nodex,clientSockets)
+            {
+                qDebug() << "in";
+                //如果不存在就添加进去
+                if((nodex.sock == node.sock)&&
+                   (nodex.addr == node.addr)&&
+                   (nodex.port == node.port))
+                {
+                    continue;
+                }
+                else {
+                    clientSockets.append(node);
+                    qDebug() << "sock open:"
+                             << remote_addr
+                             << local_port
+                             << remote_port;
+                }
+            }
+            */
+
+
+
         }
         else
         {
@@ -112,40 +152,35 @@ void DLink::readPendingDatagramsSerialPort(void)
 {
     QByteArray datagram = serialPort->readAll();
 
-    //static mavlink_message_t msg;
+    mavlinknode->setbuff(SourceType::s_port,datagram);
-    //static mavlink_status_t  status;
-    uint8_t ret = '\0';
-
-
-    SendMessageTo(ret,(uint8_t *)datagram.data(),datagram.size());
 
+/*
     for (QByteArray::const_iterator i = datagram.cbegin(); i != datagram.cend(); ++i)
     {
-        /*
+
         ret = mavlink_parse_char(MAVLINK_COMM_0,*i,&msg,&status);
         if(MAVLINK_FRAMING_OK == ret)
         {
             MAVLinkRcv_Handler(msg);                 //接收完一帧数据并处理
         }
-        */
+
     }
+*/
+
 }
 
 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);
+
          //SendMessageTo(ret,(uint8_t *)datagram.data(),datagram.size());
 
-
-        //qDebug() << "Client Read All" << datagram;
-
         /*
         for (QByteArray::const_iterator i = datagram.cbegin(); i != datagram.cend(); ++i)
         {
@@ -159,3 +194,14 @@ void DLink::readPendingDatagramsClient(void)
     }
 
 }
+
+
+
+
+
+
+
+
+
+
+

dlink/dlink.h

@@ -6,6 +6,7 @@
 #include <QHostAddress>
 #include <QUdpSocket>
 #include "QDebug"
+#include "mavlinknode.h"
 //#include "mavlink/ardupilotmega/mavlink.h"
 
 
@@ -91,6 +92,7 @@ signals:
 
 
 public slots:
+
     void readPendingDatagramsSerialPort(void);
 
     void readPendingDatagramsClient(void);
@@ -99,6 +101,12 @@ public slots:
 
 private:
 
+    enum SourceType{
+       s_port = 0,
+       c_sock = 1
+    };
+
+
     QSerialPort *serialPort = nullptr;
 
     QUdpSocket *Clientsock = nullptr;
@@ -106,6 +114,8 @@ private:
     QList<Node> clientSockets;
 
 
+    MavLinkNode *mavlinknode = nullptr;
+
 
 
 

dlink/dlink.pro

@@ -3,7 +3,7 @@ QT       += serialport
 QT       += network
 
 greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
-
+CONFIG += c++11
 
 TARGET = Dlink
 TEMPLATE = lib
@@ -16,6 +16,7 @@ CONFIG += plugin \
 
 
 
+
 # The following define makes your compiler emit warnings if you use
 # any feature of Qt which has been marked as deprecated (the exact warnings
 # depend on your compiler). Please consult the documentation of the
@@ -35,6 +36,12 @@ HEADERS += \
 SOURCES += \
     $$PWD/dlink.cpp
 
+#加入第三方库
+INCLUDEPATH += $$PWD/../thirdpart/include
+
+LIBS += -L$$PWD/../thirdpart/lib -lMavLinkNode
+
+
 
 
 DESTDIR         = $$PWD/../thirdpart/lib

qNavigationWidget/qnavigationwidget.cpp

@@ -257,7 +257,7 @@ void QNavigationWidget::mousePressEvent(QMouseEvent *e)
     {
         currentIndex = e->y() / rowHeight;
 
-        emit currentItemChanged(currentIndex);
+        emit ItemChanged(currentIndex);
 
         update();
     }

qNavigationWidget/qnavigationwidget.h

@@ -30,6 +30,10 @@ public:
 
     int Index(void);
 
+signals:
+    void ItemChanged(const int &index);
+
+
 protected:
     void paintEvent(QPaintEvent *);
     void mouseMoveEvent(QMouseEvent *);
@@ -57,8 +61,7 @@ private:
     bool isHidden = false;
 
 
-signals:
+
-    void currentItemChanged(const int &index);
 };
 
 #endif