b

App/mainwindow.cpp

@@ -170,17 +170,14 @@ MainWindow::MainWindow(QWidget *parent)
     connect(map,SIGNAL(signal_WPUpload(uint8_t,uint8_t,uint32_t)),
             dlink->mavlinknode->Mission,SLOT(WriteCmd(uint8_t,uint8_t,uint32_t)),Qt::DirectConnection);
 
-    //connect(dlink->mavlinknode->Mission,SIGNAL()
-
-
     qRegisterMetaType<int32_t>("int32_t");
 
     connect(dlink->mavlinknode->Mission,SIGNAL(receivedPoint(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
             map,SLOT(receivedPoint(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);
 
 
-    connect(map,SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
+    //connect(map,SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
-            dlink->mavlinknode->Mission,SLOT(transmitPoint(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);
+    //        dlink->mavlinknode->Mission,SLOT(transmitPoint(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);
 
 
 

MavLinkNode/missionprocess.cpp

@@ -140,7 +140,8 @@ void MissionProcess::transmitPoint(float param1,float param2,float param3,float
 
 
     foreach (mapcontrol::WayPointItem::_property item, items) {
-        qDebug() << item.param1
+        qDebug() << "transmit seq"
+                 << item.param1
                  << item.param2
                  << item.param3
                  << item.param4
@@ -159,7 +160,7 @@ void MissionProcess::transmitPoint(float param1,float param2,float param3,float
 
     }
 
-    qDebug() << "transmit" << seq;
+
 
 }
 

opmap/mapwidget/opmapwidget.cpp

@@ -311,7 +311,7 @@ void OPMapWidget::mouseDoubleClickEvent(QMouseEvent *event)
             WayPointItem *Item =  WPCreate(LatLng,50);
 
             WPLineCreate(WPFind(Item->Number() - 1),Item,Qt::green,false,2);
-            //qDebug() << "OPMapWidget" << Item->Number() <<QString::number(LatLng.Lat(),'f',8) << QString::number(LatLng.Lng(),'f',8);
+
         }
     }
     emit MouseDoubleClickEvent(event);
@@ -699,10 +699,10 @@ void OPMapWidget::ConnectWP(WayPointItem *item)
     connect(item,SIGNAL(WPChanged(int,double,double)),this,SIGNAL(WPChanged(int,double,double)));
 
     connect(item, SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
-            this, SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)));
+            this, SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);
 
     connect(this, SIGNAL(setWPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
-            item, SLOT(setWPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)));
+            item, SLOT(setWPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);
 
 
     //生成后立即选中，并且把信息发给ui界面
@@ -911,16 +911,17 @@ void OPMapWidget::WPUpload(void)
          WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
          if (w) {
              list.append(w);
-             w->emitWPProperty();
+             //w->emitWPProperty();
          }
      }
 
      qDebug() << "WPUpload" << list.size();
 
-     emit signal_WPUpload(1,0,list.size());//直接发送全部航点到
+     //emit signal_WPUpload(1,0,list.size());//直接发送全部航点到
 
 }
 
+//这个有可能是其他线程运行，导致生成的航点不对
 void OPMapWidget::receivedPoint(float param1,float param2,float param3,float param4,
                      int32_t x,int32_t y,float z,
                      uint16_t seq,
@@ -943,6 +944,7 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
 
             WayPointItem *Item =  WPCreate(LatLng,z);
 
+            /*
             emit setWPProperty(param1,param2,param3,param4,
                                x,y,z,
                                seq,
@@ -954,6 +956,7 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
                                current,
                                autocontinue,
                                mission_type);
+                               */
 
 
             WPLineCreate(WPFind(Item->Number() - 1),Item,Qt::green,false,2);

opmap/mapwidget/waypointitem.cpp

@@ -544,6 +544,8 @@ void WayPointItem::setWPProperty(float param1,float param2,float param3,float pa
 {
     if(seq == property.seq)
     {
+         qDebug() << seq << "set property";
+
         property.param1 = param1;
         property.param2 = param2;
         property.param3 = param3;
@@ -558,9 +560,6 @@ void WayPointItem::setWPProperty(float param1,float param2,float param3,float pa
         property.current = current;
         property.autocontinue = autocontinue;
         property.mission_type = mission_type;
-
-        qDebug() << seq << "set property";
-
     }
 }
 
@@ -568,6 +567,8 @@ void WayPointItem::setWPProperty(float param1,float param2,float param3,float pa
 void WayPointItem::emitWPProperty(void)
 {
     //发送航点的属性
+    qDebug() << property.seq << "emit property";
+
     emit WPProperty(property.param1,property.param2,property.param3,property.param4,
                           property.x,property.y,property.z,
                           property.seq,
@@ -579,6 +580,8 @@ void WayPointItem::emitWPProperty(void)
                           property.current,
                           property.autocontinue,
                           property.mission_type);
+
+
 }
 
 void WayPointItem::SetDefault(double lat,double lng,float alt,uint16_t seq)