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add command

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This commit is contained in:
hm
2020-04-03 09:39:31 +08:00
parent 063f0c0f55
commit 37690ac676
33 changed files with 606 additions and 147 deletions
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App/App.pro
+1 -1
View File
@@ -101,7 +101,7 @@ win32|win64 {
src_dir ~= s,/,\\,g
dst_dir ~= s,/,\\,g
#system(xcopy $$src_dir $$dst_dir /y /e)
system(xcopy $$src_dir $$dst_dir /y /e)
}
App/InspectUI/InspectUI.cpp
+3 -3
View File
@@ -16,15 +16,15 @@ InspectUI::~InspectUI()
void InspectUI::on_MavlinkpushButton_clicked()
{
emit clicked(ui->MavlinkpushButton->text());
emit clicked(tr("Mavlink"));
}
void InspectUI::on_ParampushButton_clicked()
{
emit clicked(ui->ParampushButton->text());
emit clicked(tr("Parameter"));
}
void InspectUI::on_AddpushButton_clicked()
{
emit clicked(ui->AddpushButton->text());
emit clicked(tr("add component"));
}
App/InspectUI/InspectUI.ui
+23 -3
View File
@@ -16,7 +16,7 @@
<widget class="QPushButton" name="MavlinkpushButton">
<property name="geometry">
<rect>
<x>180</x>
<x>170</x>
<y>10</y>
<width>100</width>
<height>100</height>
@@ -25,11 +25,21 @@
<property name="text">
<string>Mavlink</string>
</property>
<property name="icon">
<iconset>
<normaloff>:/BlueType/images/LinkUI/plane.ico</normaloff>:/BlueType/images/LinkUI/plane.ico</iconset>
</property>
<property name="iconSize">
<size>
<width>90</width>
<height>90</height>
</size>
</property>
</widget>
<widget class="QPushButton" name="ParampushButton">
<property name="geometry">
<rect>
<x>290</x>
<x>280</x>
<y>10</y>
<width>100</width>
<height>100</height>
@@ -38,11 +48,21 @@
<property name="text">
<string>Parameter</string>
</property>
<property name="icon">
<iconset>
<normaloff>:/BlueType/images/LinkUI/params.ico</normaloff>:/BlueType/images/LinkUI/params.ico</iconset>
</property>
<property name="iconSize">
<size>
<width>90</width>
<height>90</height>
</size>
</property>
</widget>
<widget class="QPushButton" name="AddpushButton">
<property name="geometry">
<rect>
<x>400</x>
<x>390</x>
<y>10</y>
<width>100</width>
<height>100</height>
App/LinkUI/LinkUI.cpp
+12 -3
View File
@@ -6,8 +6,17 @@ LinkUI::LinkUI(QWidget *parent) :
ui(new Ui::LinkUI)
{
ui->setupUi(this);
ui->SerialPortpushButton->setIcon(QPixmap(":/images/LinkUI/SerialPort.ico"));
ui->UDPpushButton->setIcon(QPixmap(":/images/LinkUI/Client.ico"));
}
LinkUI::~LinkUI()
{
delete ui;
@@ -15,15 +24,15 @@ LinkUI::~LinkUI()
void LinkUI::on_SerialPortpushButton_clicked()
{
emit clicked(ui->SerialPortpushButton->text());
emit clicked(tr("SerialPort"));
}
void LinkUI::on_UDPpushButton_clicked()
{
emit clicked(ui->UDPpushButton->text());
emit clicked(tr("UDP"));
}
void LinkUI::on_AddpushButton_clicked()
{
emit clicked(ui->AddpushButton->text());
emit clicked(tr("add component"));
}
App/LinkUI/LinkUI.ui
+21 -1
View File
@@ -23,7 +23,17 @@
</rect>
</property>
<property name="text">
<string>Serial Port</string>
<string>SerialPort</string>
</property>
<property name="icon">
<iconset>
<normaloff>:/BlueType/images/LinkUI/SerialPort.ico</normaloff>:/BlueType/images/LinkUI/SerialPort.ico</iconset>
</property>
<property name="iconSize">
<size>
<width>90</width>
<height>90</height>
</size>
</property>
</widget>
<widget class="QPushButton" name="UDPpushButton">
@@ -38,6 +48,16 @@
<property name="text">
<string>UDP</string>
</property>
<property name="icon">
<iconset>
<normaloff>:/BlueType/images/LinkUI/Client.ico</normaloff>:/BlueType/images/LinkUI/Client.ico</iconset>
</property>
<property name="iconSize">
<size>
<width>90</width>
<height>90</height>
</size>
</property>
</widget>
<widget class="QPushButton" name="AddpushButton">
<property name="geometry">
App/mainwindow.cpp
+7 -9
View File
@@ -251,7 +251,7 @@ void MainWindow::keyPressEvent(QKeyEvent *event) //键盘按下事件
void MainWindow::subui(QString arg)//子界面管理
{
if(arg == tr("Serial Port"))
if(arg == tr("SerialPort"))
{
dlink_triggered();
}
@@ -273,14 +273,12 @@ void MainWindow::subui(QString arg)//子界面管理
}
else if(arg == tr("Setting"))
{
help->show();
setting->show();
}
else if(arg == tr("Help"))
{
setting->show();
help->show();
}
}
@@ -315,7 +313,7 @@ void MainWindow::onTabIndexChanged(const int &index)//界面选择管理
if(index == 5)
{
qDebug() << "index:" << index;
qDebug() << "index:" << index;
}
else
{
@@ -336,7 +334,7 @@ void MainWindow::dlink_triggered()
disconnectdialog dlg(this);
dlg.setWindowTitle(tr("SerialPort"));
//dlg.setWindowIcon(ui->action_dlink->icon());
dlg.setWindowIcon(QIcon(":/images/LinkUI/SerialPort.ico"));
int ret = dlg.exec();
if (QDialog::Accepted == ret)
@@ -349,7 +347,7 @@ void MainWindow::dlink_triggered()
ConnectDialog dlg(this);
dlg.setWindowTitle(tr("SerialPort"));
//dlg.setWindowIcon(ui->action_dlink->icon());
dlg.setWindowIcon(QIcon(":/images/LinkUI/SerialPort.ico"));
dlg.baudrate = 115200;
dlg.parity = QSerialPort::NoParity;
@@ -367,7 +365,7 @@ void MainWindow::client_triggered()
ClientLinkDialog dlg(this);
dlg.setWindowTitle(tr("ClientLink"));
//dlg.setWindowIcon(ui->action_dlink->icon());
dlg.setWindowIcon(QIcon(":/images/LinkUI/Client.ico"));
int ret = dlg.exec();
if (QDialog::Accepted == ret)
MavLinkNode/MavLinkNode.pro
+2
View File
@@ -42,10 +42,12 @@ DEFINES += QtMavlinkNode
HEADERS += \
commandprocess.h \
mavlinknode.h \
parameterprocess.h
SOURCES += \
commandprocess.cpp \
mavlinknode.cpp \
parameterprocess.cpp
MavLinkNode/ParameterInspector/ParameterInspector.ui
+90 -90
View File
@@ -14,96 +14,7 @@
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<widget class="QSplitter" name="splitter_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<widget class="QWidget" name="layoutWidget">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>System</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="systemComboBox">
<property name="minimumSize">
<size>
<width>90</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_2">
<property name="text">
<string>Component</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="componentComboBox"/>
</item>
<item>
<widget class="QPushButton" name="clearButton">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="ReadButton">
<property name="maximumSize">
<size>
<width>75</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>read</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
<item row="1" column="0">
<widget class="QTreeWidget" name="treeWidget">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<column>
<property name="text">
<string notr="true">1</string>
</property>
</column>
</widget>
</item>
<item row="3" column="0" colspan="2">
<item row="2" column="0" colspan="2">
<widget class="QProgressBar" name="progressBar">
<property name="value">
<number>0</number>
@@ -205,6 +116,95 @@
</item>
</layout>
</item>
<item row="0" column="0">
<widget class="QSplitter" name="splitter_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<widget class="QWidget" name="layoutWidget">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>System</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="systemComboBox">
<property name="minimumSize">
<size>
<width>90</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_2">
<property name="text">
<string>Component</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="componentComboBox"/>
</item>
<item>
<widget class="QPushButton" name="clearButton">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="ReadButton">
<property name="maximumSize">
<size>
<width>75</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>read</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
<item row="1" column="0">
<widget class="QTreeWidget" name="treeWidget">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<column>
<property name="text">
<string notr="true">1</string>
</property>
</column>
</widget>
</item>
</layout>
</widget>
<resources/>
MavLinkNode/commandprocess.cpp
+259
View File
@@ -0,0 +1,259 @@
#include "commandprocess.h"
//留出一个接口给界面去注册指令
//收到ACK后发送一个信号
commandprocess::commandprocess(QObject *parent) : QObject(parent)
{
setRunFrq(500);
}
void commandprocess::setRunFrq(uint32_t frq)
{
if((frq != 0)||(frq <= 1000))
{
running_frq = frq;
qDebug() << "set command thread running frquency:" <<frq <<"Hz";
}
}
void commandprocess::start()
{
if(thread == nullptr)
{
thread = new QThread();
this->moveToThread(thread);
connect(thread, &QThread::started, this, &commandprocess::process);
}
if(!thread->isRunning())
{
running_flag = true;
thread->start();
qDebug() << "thread start" << running_flag;
}
else
{
qDebug() << "thread has started";
}
}
void commandprocess::stop()
{
if(thread->isRunning())
{
running_flag = false;
qDebug() << "thread stop" << running_flag;
}
else
{
qDebug() << "thread is not running";
}
}
void commandprocess::process()//线程函数
{
uint8_t count = 0;
while (running_flag)
{
count ++;
QThread::msleep(1000/running_frq);
switch(status.m_Mode)
{
default:
case Nop_Mode :break;
case RecieveMode : ReadStateMachine();break;
case TransmitMode : WriteStateMachine();break;
}
}
//退出线程
thread->quit();
thread->wait(200);//等待结束
thread->deleteLater();
thread = nullptr;
}
void commandprocess::SendMessage(mavlink_message_t msg)
{
uint8_t buff[256+20];
uint16_t len = mavlink_msg_to_send_buffer(buff, &msg);
emit SendMessageTo(0,buff, len);//使用信号和槽
}
//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)
{
switch (msg.msgid) {
case MAVLINK_MSG_ID_COMMAND_INT:
mavlink_msg_command_int_decode(&msg,&command_int);
case MAVLINK_MSG_ID_COMMAND_LONG:
mavlink_msg_command_long_decode(&msg,&command_long);
case MAVLINK_MSG_ID_COMMAND_ACK:
mavlink_msg_command_ack_decode(&msg,&command_ack);
}
}
//读状态机
void commandprocess::ReadStateMachine(void)//没有读指令这个说法
{
static uint8_t step = 0;
static uint8_t timeout_count = 0;
static uint32_t time = 0;
if(step == 0)
{
qDebug() << "start reading parameter";
status.recieve.isWaitingforValue = true;
//request_list();
step++;
time = QTime::currentTime().msecsSinceStartOfDay();
}
}
//写状态机
void commandprocess::WriteStateMachine(void)
{
static uint8_t step = 0;
static uint8_t timeout_count = 0;
static uint32_t time = 0;
if(step == 0)
{
status.transmit.isWaitingforACK = true;
//set("id",0,1);//发送一个指令
time = QTime::currentTime().msecsSinceStartOfDay();
step++;//下一个阶段
}
else if(step == 1)//等待返回
{
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 1000)
{
timeout_count ++;
step = 0;//返回上一个步骤
if(timeout_count > 5)//如果指令发5次还没发出去，那么结束发送
{
qDebug() << "command set value fail";
step = 0;
status.m_Mode = Nop_Mode;
status.transmit.isWaitingforACK = false;
timeout_count = 0;
}
}
else
{
//收到Value
if(status.transmit.isWaitingforACK == false)
{
step = 0;
status.m_Mode = Nop_Mode;
status.transmit.isWaitingforACK = false;
timeout_count = 0;
}
}
}
}
/*all msg
MAVLINK_MSG_ID_COMMAND_INT
MAVLINK_MSG_ID_COMMAND_LONG
MAVLINK_MSG_ID_COMMAND_ACK
*/
void commandprocess::_int(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)
{
static mavlink_message_t msg;
static mavlink_command_int_t command_int;
command_int.target_system = sysid;
command_int.target_component = compid;
command_int.param1 = param1;
command_int.param2 = param2;
command_int.param3 = param3;
command_int.param4 = param4;
command_int.x = x;
command_int.y = y;
command_int.z = z;
command_int.command = command;
command_int.frame. = frame;
command_int.current = current;
command_int.autocontinue = autocontinue;
mavlink_msg_command_int_encode(2,MAV_COMP_ID_MISSIONPLANNER, &msg,&command_int);
SendMessage(msg);
}
void commandprocess::_long(float param1,
float param2,
float param3,
float param4,
float param5,
float param6,
float param7,
uint16_t command,
uint8_t confirmation)
{
static mavlink_message_t msg;
static mavlink_command_long_t command_long;
command_long.target_system = sysid;
command_long.target_component = compid;
command_long.param1 = param1;
command_long.param2 = param2;
command_long.param3 = param3;
command_long.param4 = param4;
command_long.param5 = param5;
command_long.param6 = param6;
command_long.param7 = param7;
command_long.command = command;
command_long.confirmation = confirmation;
mavlink_msg_command_long_encode(2,MAV_COMP_ID_MISSIONPLANNER, &msg,&command_long);
SendMessage(msg);
}
/*
MAV_RESULT_ACCEPTED=0,
MAV_RESULT_TEMPORARILY_REJECTED=1,
MAV_RESULT_DENIED=2,
MAV_RESULT_UNSUPPORTED=3,
MAV_RESULT_FAILED=4,
MAV_RESULT_IN_PROGRESS=5,
**/
void commandprocess::ack()//地面站几乎不可能放这个函数
{
}
MavLinkNode/commandprocess.h
+127
View File
@@ -0,0 +1,127 @@
#ifndef COMMANDPROCESS_H
#define COMMANDPROCESS_H
#include <QObject>
#include "QDebug"
#include "QThread"
#include "mavlink.h"
#include "QTimer"
#include "QTime"
#ifdef QtMavlinkNode
#include <mavlinknodeglobal.h>
class MAVLINKNODESHARED_EXPORT commandprocess : public QObject {
#else
class commandprocess : public QObject
{
#endif
Q_OBJECT
enum _modetype {
Nop_Mode = 0,
RecieveMode,
TransmitMode
};
typedef struct {
//bool isWaitingforCount;
bool isWaitingforValue;
}_recieve;
typedef struct {
bool isWaitingforACK;
}_transmit;
typedef struct
{
_recieve recieve;
_transmit transmit;
_modetype m_Mode;
}_command_;
public:
explicit commandprocess(QObject *parent = nullptr);
_command_ status;
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);
//线程对外接口
void setRunFrq(uint32_t frq);
void start();
void stop();
void Parse(mavlink_message_t msg);
private slots:
//线程私有接口
void SendMessage(mavlink_message_t msg);
void process();
//状态机
void ReadStateMachine(void);
void WriteStateMachine(void);
//所有相关函数
void _int(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);
void _long(float param1,
float param2,
float param3,
float param4,
float param5,
float param6,
float param7,
uint16_t command,
uint8_t confirmation);
void ack();
signals:
void readError();
void SendMessageTo(quint8 ch, quint8 *data,quint16 len);
private:
bool running_flag = false;
quint32 running_frq = 200;//200Hz
QThread *thread = nullptr;
//目标id
uint8_t sysid;
uint8_t compid;
mavlink_command_int_t command_int;
mavlink_command_long_t command_long;
mavlink_command_ack_t command_ack;
};
#endif // COMMANDPROCESS_H
MavLinkNode/mavlinknode.cpp
+26 -14
View File
@@ -1,5 +1,12 @@
#include "mavlinknode.h"
/*
* mavlink 解析相关内容请参考如下
* https://mavlink.io/en/services/command.html
* 包含了各个函数、参数、状态机等及其说明
**/
MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
{
//main thread
@@ -12,24 +19,23 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
initbuff();
Mission = new MissionProcess();
/*connect(Mission,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
this,SIGNAL(SendMessageTo(quint8,quint8*,quint16)));*/
connect(Mission,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
this,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);
Parameter = new ParameterProcess();
/*
connect(Parameter,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
this,SIGNAL(SendMessageTo(quint8,quint8*,quint16)));*/
this,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);
Commander = new commandprocess();
connect(Commander,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
this,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);
/*
connect(Parameter,&ParameterProcess::SendMessageTo,
this,&MavLinkNode::SendMessageTo);*/
mavlinkinspector = new MAVLinkInspector("mavlink inspector",nullptr,nullptr);
connect(this,SIGNAL(recievemsg(mavlink_message_t)),
mavlinkinspector,SLOT(receiveMessage(mavlink_message_t)),Qt::DirectConnection);
@@ -47,6 +53,10 @@ MavLinkNode::~MavLinkNode()
delete Parameter;
Parameter = nullptr;
Commander->stop();
delete Commander;
Commander = nullptr;
if(Nodethread->isRunning())
{
Nodethread->quit();
@@ -157,7 +167,7 @@ void MavLinkNode::setbuff(quint32 src,QByteArray data)
if(client_buff.buff[client_buff.select].size() >= client_buff.max_size)
{
client_buff.buff[client_buff.select].clear();
qDebug() << "client_buff.buff" << client_buff.select << "OVERFLOW";
qDebug() << "client_buff.buff " << client_buff.select <<" OVERFLOW";
}
client_buff.buff[client_buff.select].append(data);
@@ -167,7 +177,7 @@ void MavLinkNode::setbuff(quint32 src,QByteArray data)
if(serial_buff.buff[serial_buff.select].size() >= serial_buff.max_size)
{
serial_buff.buff[serial_buff.select].clear();
qDebug() << "serial_buff.buff" << client_buff.select << "OVERFLOW";
qDebug() << "serial_buff.buff " << serial_buff.select <<" OVERFLOW";
}
serial_buff.buff[serial_buff.select].append(data);
break;
@@ -336,7 +346,7 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
case MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST:
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
Mission->MissionParse(msg);
Mission->Parse(msg);
break;
//参数
@@ -344,12 +354,14 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
case MAVLINK_MSG_ID_PARAM_SET:
case MAVLINK_MSG_ID_PARAM_VALUE:
Parameter->ParameterParse(msg);
Parameter->Parse(msg);
break;
//命令
case MAVLINK_MSG_ID_COMMAND_INT:
case MAVLINK_MSG_ID_COMMAND_LONG:
case MAVLINK_MSG_ID_COMMAND_ACK:
CommandParse(msg);
Commander->Parse(msg);
break;
}
MavLinkNode/mavlinknode.h
+3 -2
View File
@@ -9,7 +9,7 @@
#include "mavlink.h"
#include "missionprocess.h"
#include "parameterprocess.h"
#include "commandprocess.h"
#include "MAVLinkInspector/MAVLinkInspector.h"
@@ -53,7 +53,7 @@ class MavLinkNode : public QObject
mavlink_enginestate_t enginestate;
mavlink_vfr_hud_t vfr_hud;
mavlink_command_int_t command_int;
@@ -71,6 +71,7 @@ public:
_vehicle vehicle;
MissionProcess *Mission;
ParameterProcess *Parameter;
commandprocess *Commander;
MAVLinkInspector *mavlinkinspector = nullptr;
MavLinkNode/missionprocess.cpp
+1 -1
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@@ -103,7 +103,7 @@ void MissionProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count
//这个函数类似中断，专门处理接收到的状态
void MissionProcess::MissionParse(mavlink_message_t msg)
void MissionProcess::Parse(mavlink_message_t msg)
{
switch (msg.msgid) {
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: {
MavLinkNode/missionprocess.h
+1 -1
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@@ -61,7 +61,7 @@ public slots:
void stop();
void MissionParse(mavlink_message_t msg);
void Parse(mavlink_message_t msg);
MavLinkNode/parameterprocess.cpp
+4 -2
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@@ -33,7 +33,7 @@ void ParameterProcess::setRunFrq(uint32_t frq)
if((frq != 0)||(frq <= 1000))
{
running_frq = frq;
qDebug() << "set thread running frquency:" <<frq <<"Hz";
qDebug() << "set parameter thread running frquency:" <<frq <<"Hz";
}
}
@@ -129,6 +129,8 @@ void ParameterProcess::ReadCmd(uint8_t m_sysid, uint8_t m_compid,uint8_t type)
void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count )
{
Q_UNUSED(count);
sysid = m_sysid;
compid = m_compid;
//mission_status.transmit.count = count;
@@ -145,7 +147,7 @@ void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t coun
//这个函数类似中断，专门处理接收到的状态
void ParameterProcess::ParameterParse(mavlink_message_t msg)
void ParameterProcess::Parse(mavlink_message_t msg)
{
MavLinkNode/parameterprocess.h
+3 -1
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@@ -81,7 +81,7 @@ public slots:
void stop();
void ParameterParse(mavlink_message_t msg);
void Parse(mavlink_message_t msg);
private slots:
//线程私有接口
@@ -111,10 +111,12 @@ signals:
private:
//线程运行参数
bool running_flag = false;
quint32 running_frq = 200;//200Hz
QThread *thread = nullptr;
//目标id
uint8_t sysid;
uint8_t compid;
Skin/images.qrc
+14 -5
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@@ -1,5 +1,14 @@
<RCC>
<qresource prefix="/BlueType">
<file>images/dlink.png</file>
</qresource>
</RCC>
<RCC>
<qresource prefix="/">
<file>images/LinkUI/Emergency.ico</file>
<file>images/LinkUI/exit.ico</file>
<file>images/LinkUI/Fet.ico</file>
<file>images/LinkUI/SerialPort.ico</file>
<file>images/LinkUI/Client.ico</file>
<file>images/LinkUI/params.ico</file>
<file>images/LinkUI/plane.ico</file>
<file>images/LinkUI/Remote.ico</file>
<file>images/LinkUI/rtk.ico</file>
<file>images/LinkUI/WindowsQGC.ico</file>
</qresource>
</RCC>
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dlink/dlink.cpp
+9 -11
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@@ -9,16 +9,14 @@ DLink::DLink(QObject *parent) : QObject(parent)
{
qDebug() << "Dlink " << QThread::currentThreadId();
//采用插件导入的方式（plugin）
//mavlink协议节点
mavlinknode = new MavLinkNode();//不允许带参数,因为这是单独的线程
/*connect(mavlinknode,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
this,SLOT(SendMessageTo(quint8,quint8*,quint16)));*/
connect(mavlinknode,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
this,SLOT(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);//采用直连的方式，因为是多线程
connect(mavlinknode->Mission,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
this,SLOT(SendMessageTo(quint8,quint8*,quint16)));
connect(mavlinknode->Parameter,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
this,SLOT(SendMessageTo(quint8,quint8*,quint16)));
//其他协议节点。。。
}
DLink::~DLink()
@@ -45,6 +43,8 @@ int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
if (DLink::serialPort)
{
DLink::serialPort->write((const char *)msg,len);
//qDebug() << "serialPort Send Msg" << msg;
}
return 0;
@@ -54,7 +54,7 @@ int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
void DLink::setupPort(const QString port, qint32 baudrate, QSerialPort::Parity parity)
{
if (serialPort)
if (serialPort)//多串口接入
{
serialPort->close();
delete serialPort;
@@ -72,8 +72,6 @@ void DLink::setupPort(const QString port, qint32 baudrate, QSerialPort::Parity p
connect(serialPort, SIGNAL(readyRead()), this, SLOT(readPendingDatagramsSerialPort()));
qDebug() << "Serial Port Open Success";
}
else
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