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线程问题

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This commit is contained in:
hm
2020-10-13 21:15:35 +08:00
parent bd946e9333
commit 39d8c3940e
7 changed files with 41 additions and 29 deletions
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App/ToolsUI/ServoSystem/ServoSystem.cpp
+15 -6
View File
@@ -93,11 +93,20 @@ void ServoSystem::setBUMState(mavlink_bmustate_t *t)
ui->label_onBoard_56V_Current->setText(QString::number((float)((int16_t)t->BAT2_group_current_dA) *0.1f,'f',1));
}
void ServoSystem::setServoState(mavlink_servo_output_raw_t *t)
{
ui->label_rud_curr->setText(QString::number(t->servo1_raw));
ui->label_ele_l_curr->setText(QString::number(t->servo2_raw));
ui->label_ele_r_curr->setText(QString::number(t->servo3_raw));
ui->label_ail_l_curr->setText(QString::number(t->servo4_raw));
ui->label_ail_r_curr->setText(QString::number(t->servo5_raw));
ui->label_rud_cmd->setText(QString::number(t->servo6_raw));
ui->label_ele_l_cmd->setText(QString::number(t->servo7_raw));
ui->label_ele_r_cmd->setText(QString::number(t->servo8_raw));
ui->label_ail_l_cmd->setText(QString::number(t->servo9_raw));
ui->label_ail_r_cmd->setText(QString::number(t->servo10_raw));
}
App/ToolsUI/ServoSystem/ServoSystem.h
+1 -1
View File
@@ -43,7 +43,7 @@ public slots:
void setValue(QLabel *w,QString s);
void setBUMState(mavlink_bmustate_t *t);
void setServoState(mavlink_servo_output_raw_t *t);
private:
QWidget *m_parent;
App/ToolsUI/ServoSystem/ServoSystem.ui
+10 -10
View File
@@ -30,7 +30,7 @@
</property>
<layout class="QGridLayout" name="gridLayout_7">
<item row="1" column="1">
<widget class="QLabel" name="label_24">
<widget class="QLabel" name="label_ail_l_curr">
<property name="minimumSize">
<size>
<width>0</width>
@@ -107,7 +107,7 @@
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_21">
<widget class="QLabel" name="label_ail_l_cmd">
<property name="minimumSize">
<size>
<width>150</width>
@@ -161,7 +161,7 @@
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_17">
<widget class="QLabel" name="label_ele_r_curr">
<property name="minimumSize">
<size>
<width>150</width>
@@ -211,7 +211,7 @@
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_14">
<widget class="QLabel" name="label_ele_r_cmd">
<property name="minimumSize">
<size>
<width>0</width>
@@ -309,7 +309,7 @@
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_28">
<widget class="QLabel" name="label_ail_r_cmd">
<property name="minimumSize">
<size>
<width>150</width>
@@ -366,7 +366,7 @@
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_31">
<widget class="QLabel" name="label_ail_r_curr">
<property name="minimumSize">
<size>
<width>0</width>
@@ -507,7 +507,7 @@
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_35">
<widget class="QLabel" name="label_ele_l_cmd">
<property name="minimumSize">
<size>
<width>150</width>
@@ -564,7 +564,7 @@
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_38">
<widget class="QLabel" name="label_ele_l_curr">
<property name="minimumSize">
<size>
<width>0</width>
@@ -662,7 +662,7 @@
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_4">
<widget class="QLabel" name="label_rud_cmd">
<property name="minimumSize">
<size>
<width>0</width>
@@ -687,7 +687,7 @@
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_5">
<widget class="QLabel" name="label_rud_curr">
<property name="minimumSize">
<size>
<width>150</width>
App/mainwindow.cpp
+3 -2
View File
@@ -676,9 +676,8 @@ void MainWindow::updateUI()//事件驱动式更新数据
static qint64 frq_time = 0;
if((QDateTime::currentMSecsSinceEpoch() - frq_time) <= 100)
if((QDateTime::currentMSecsSinceEpoch() - frq_time) <= 200)
{
qDebug() << "10hz";
return;
}
frq_time = QDateTime::currentMSecsSinceEpoch();
@@ -940,6 +939,8 @@ void MainWindow::updateUI()//事件驱动式更新数据
toolsui->powersystem->setTurbineState(&dlink->mavlinknode->vehicle.turbinstate);
toolsui->servosystem->setBUMState(&dlink->mavlinknode->vehicle.bmustate);
toolsui->servosystem->setServoState(&dlink->mavlinknode->vehicle.servo_output_raw);
MavLinkNode/mavlinknode.cpp
+5 -7
View File
@@ -236,12 +236,6 @@ void MavLinkNode::stop()
//这里一直在解码，一直检查双缓冲里面是否有数据，有就解码，没有就休息
void MavLinkNode::process()//线程函数
{
uint8_t count = 0;
QByteArray datagram = nullptr;
while (running_flag)
@@ -275,7 +269,11 @@ void MavLinkNode::process()//线程函数
//退出线程
disconnect(thread, nullptr, nullptr, nullptr);
thread->quit();
thread->wait();
//thread->wait();
thread->deleteLater();
thread = nullptr;
}
void MavLinkNode::TimerOut(void)
MavLinkNode/replay.cpp
+3
View File
@@ -213,6 +213,9 @@ void Replay::process()//线程函数
disconnect(thread, nullptr, nullptr, nullptr);
thread->quit();
thread->wait();
thread->deleteLater();
thread = nullptr;
}
//类相关函数
dlink/dlink.cpp
+4 -3
View File
@@ -216,17 +216,18 @@ bool DLink::setupClient(const QHostAddress &local_addr,int local_port,const QHos
{
if(Clientsock)
{
Clientsock->disconnect();
delete Clientsock;
Clientsock = nullptr;
}
bool isSuccess = false;
Clientsock = new QUdpSocket(this);
if (Clientsock->bind(QHostAddress::AnyIPv4, local_port, QUdpSocket::ShareAddress))
if (Clientsock->bind(QHostAddress::AnyIPv4, local_port, QUdpSocket::ShareAddress|QUdpSocket::ReuseAddressHint))
{
Clientsock->joinMulticastGroup(remote_addr);
//Clientsock->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption,1024*1024*8);
//Clientsock->setSocketOption(QAbstractSocket::MulticastTtlOption, 3);
Clientsock->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption,1024*1024*8);
Clientsock->setSocketOption(QAbstractSocket::MulticastTtlOption, 3);
if(Clientsock->open(QIODevice::ReadWrite))
//if(Clientsock->joinMulticastGroup(remote_addr))