修正程序后出现一个bug，表现为程序启动后卡死，目前还没找到原因

MavLinkNode/mavlinknode.cpp

@@ -192,6 +192,7 @@ 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
         }
         else

MavLinkNode/mavlinknode.h

@@ -80,6 +80,9 @@ public:
      MissionProcess *Mission;
 
 signals:
+
+    void recievemsg(mavlink_message_t msg);
+
     void state_updated();
     void parameter_updated();
     //void mission_updated();

MavLinkNode/missionprocess.cpp

@@ -1,9 +1,5 @@
 #include "missionprocess.h"
 
-void SendMessageTo(uint8_t ch, uint8_t *data,uint16_t len)
-{
-     qDebug() << "data to send is:" << ch << data << len;
-}
 
 MissionProcess::MissionProcess(QObject *parent) : QObject(parent)
 {
@@ -82,7 +78,7 @@ void MissionProcess::SendMessage(mavlink_message_t msg)
 {
     uint8_t  buff[256+20];
     uint16_t len = mavlink_msg_to_send_buffer(buff, &msg);
-    SendMessageTo(0,buff, len);//使用信号和槽
+    emit SendMessageTo(0,buff, len);//使用信号和槽
 }
 
 
@@ -116,10 +112,11 @@ void MissionProcess::MissionParse(mavlink_message_t msg)
     }break;
     case MAVLINK_MSG_ID_MISSION_ITEM_INT: {
        mavlink_msg_mission_item_int_decode(&msg,&mission_item_int);
-       isWaitingforItem = true;
+       isWaitingforItem = false;
     }break;
     case MAVLINK_MSG_ID_MISSION_ITEM: {
        mavlink_msg_mission_item_decode(&msg,&mission_item);
+       isWaitingforItem = false;
     }break;
     case MAVLINK_MSG_ID_MISSION_ACK: {
        mavlink_msg_mission_ack_decode(&msg,&mission_ack);
@@ -247,6 +244,7 @@ void MissionProcess::WriteStateMachine(void)
 
    if(step == 0)
    {
+       //向其他线程或者自己读取航点的数量
        count(20);//发送count
        time = QTime::currentTime().msecsSinceStartOfDay();
        step++;//下一个阶段
@@ -256,7 +254,7 @@ void MissionProcess::WriteStateMachine(void)
        //如果超时，那么重新发一次指令
        if((QTime::currentTime().msecsSinceStartOfDay() - time) > 1000)
        {
-          step = 0;
+          step = 0;//返回上一个阶段
           timeout_count ++;
           if(timeout_count > 5)//如果指令发5次还没发出去，那么结束读取，并报错
           {
@@ -267,39 +265,46 @@ void MissionProcess::WriteStateMachine(void)
        }
        else//如果没有超时，那么就进入下一个阶段
        {
-           if(isRecieveRequest == true)//收到Request
-           {
-              timeout_count = 0;
+          if(isRecieveRequest == true)
+          {
               step ++;
-           }
+          }
        }
 
    }
-   else if(step ==3)//发送航点
+   else if(step == 3)
    {
-       if(isWaitingforItem == false)
+       if((QTime::currentTime().msecsSinceStartOfDay() - time) > 1000)
        {
-           //分成两类，int和不带int
-
-           if(mission_item_int.seq < mission_count.count)
-           {
-              //item_int(mission_item_int.seq+1);//发送航点
-              //开启定时器
-              isWaitingforItem = true;
-           }
-           else
-           {
-               step++;
-           }
+          step = 3;//返回上一个阶段
+          timeout_count ++;
+          if(timeout_count > 5)//如果指令发5次还没发出去，那么结束读取，并报错
+          {
+             step = 0;
+             m_TransmitMode = 0;
+             timeout_count = 0;
+          }
        }
        else
        {
-           //check issended and timeout
+           if(isRecieveRequest == true)//收到Request
+           {
+               //分成两类，int和不带int
+               if(mission_item_int.seq < mission_count.count)
+               {
+                  //item_int(mission_item_int.seq+1);//发送航点
+                  isRecieveRequest = false;
+               }
+               else
+               {
+                   step++;
+               }
+           }
        }
    }
    else if(step == 4)//航线传输结束，等待ack，如果没接收到就算了，超时也结束
    {
-      //ack();
+      //ack();//wait for ack
       step = 0;
       isReadMission = false;
       isRecieveCount = false;

MavLinkNode/missionprocess.h

@@ -80,7 +80,7 @@ private slots:
 signals:
    void readError();
 
-
+   void SendMessageTo(uint8_t ch, uint8_t *data,uint16_t len);
 
 private:
 
@@ -127,12 +127,7 @@ private:
 };
 
 
-#ifdef QtMavlinkNode
-#include <mavlinknodeglobal.h>
-void MAVLINKNODESHARED_EXPORT SendMessageTo(uint8_t ch, uint8_t *data,uint16_t len);
-#else
-void SendMessageTo(uint8_t ch, uint8_t *data,uint16_t len);
-#endif
+
 
 
 

dlink/dlink.cpp

@@ -10,6 +10,8 @@ DLink::DLink(QObject *parent) : QObject(parent)
      qDebug() << "Dlink " <<  QThread::currentThreadId();
 
      mavlinknode = new MavLinkNode(this);
+    // connect(mavlinknode->Mission,SIGNAL(SendMessageTo(uint8_t,uint8_t*,uint16_t)),
+      //      this,SLOT(SendMessageTo(uint8_t,uint8_t*,uint16_t)));
 }
 DLink::~DLink()
 {
@@ -18,7 +20,7 @@ DLink::~DLink()
 }
 
 
-int DLink::SendMessageTo(uint8_t, uint8_t *msg, uint16_t len)
+int DLink::SendMessageTo(uint8_t ch, uint8_t *msg, uint16_t len)
 {
     if (DLink::Clientsock)
     {
@@ -58,6 +60,9 @@ void DLink::setupPort(const QString port, qint32 baudrate, QSerialPort::Parity p
         mavlinknode->start();
 
         connect(serialPort, SIGNAL(readyRead()), this, SLOT(readPendingDatagramsSerialPort()));
+
+
+
         qDebug() << "Serial Port Open Success";
     }
     else

dlink/dlink.h

@@ -36,7 +36,7 @@ public:
 
 
 
-    int SendMessageTo(uint8_t, uint8_t *msg, uint16_t len);
+
 
 
     MavLinkNode *mavlinknode = nullptr;
@@ -51,7 +51,7 @@ public slots:
 
     void readPendingDatagramsClient(void);
 
-
+     int SendMessageTo(uint8_t ch, uint8_t *msg, uint16_t len);
 
 protected: