修改回放

MavLinkNode/mavlinknode.cpp

@@ -121,13 +121,26 @@ MavLinkNode::~MavLinkNode()
         logTimer = nullptr;
     }
 
+    if(timer_1s)
+    {
+        timer_1s->stop();
+        delete timer_1s;
+        timer_1s = nullptr;
+    }
+
+
+
 
     //停止回放
     if(replay)
     {
-        replay->stop();
-        delete replay;
-        replay = nullptr;
+        if(replay->isActive())
+        {
+            replay->stop();
+            QThread::msleep(10);
+            delete replay;
+            replay = nullptr;
+        }
     }
 
     //停止任务
@@ -136,6 +149,7 @@ MavLinkNode::~MavLinkNode()
         if(Mission->isActive())
         {
             Mission->stop();
+            QThread::msleep(10);
             delete Mission;
             Mission = nullptr;
         }
@@ -147,6 +161,7 @@ MavLinkNode::~MavLinkNode()
         if(Parameter->isActive())
         {
             Parameter->stop();
+            QThread::msleep(10);
             delete Parameter;
             Parameter = nullptr;
         }
@@ -157,6 +172,7 @@ MavLinkNode::~MavLinkNode()
         if(Commander->isActive())
         {
             Commander->stop();//可能还没停止线程，后面不能紧跟着删除
+            QThread::msleep(10);
             delete Commander;
             Commander = nullptr;
         }
@@ -167,6 +183,7 @@ MavLinkNode::~MavLinkNode()
         if(Status->isActive())
         {
             Status->stop();//可能还没停止线程，后面不能紧跟着删除
+            QThread::msleep(10);
             delete Status;
             Status = nullptr;
         }
@@ -186,8 +203,8 @@ MavLinkNode::~MavLinkNode()
     }
 
 
-    QThread::msleep(200);
 
+    QThread::msleep(50);
 
     delete thread;
     thread = nullptr;
@@ -258,7 +275,7 @@ void MavLinkNode::start()
 
 
         logTimer = new QTimer();
-        logTimer->setInterval(1 * 60 * 1000);//5min
+        logTimer->setInterval(2 * 10 * 1000);//10s
 
         connect(logTimer,&QTimer::timeout,
                 this,&MavLinkNode::LogTimerOut,Qt::DirectConnection);
@@ -434,10 +451,11 @@ void MavLinkNode::LogTimerOut(void)
         //mavLogFile->bytesToWrite();
 
         //if(!mavLogFile->flush())
-        {
+        //{
+        //qDebug() << "bittotal" << bittotal;
             mavLogFile->close();
             mavLogFile->open(QIODevice::Append);
-        }
+        //}
     }
 }
 
@@ -606,12 +624,33 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
             uint16_t len = mavlink_msg_to_send_buffer(buff+sizeof(quint64), &msg);
             if (mavLogFile)
             {
-                mavLogFile->write((const char *)buff, len+sizeof(quint64));
+
+                    if(mavLogFile->isOpen())
+                    {
+                        if(databuff.size() > 0)
+                        {
+                            mavLogFile->write(databuff);
+                            mavLogFile->write((const char *)buff, len+sizeof(quint64));
+
+
+                            qDebug() << "buff size > 0,write buff to file ;"
+                                     << databuff.size();
+                            databuff.clear();
+                        }
+                        else
+                        {
+
+                            mavLogFile->write((const char *)buff, len+sizeof(quint64));
+                        }
+                    }
+                    else
+                    {
+                        databuff.append((const char *)buff, len+sizeof(quint64));
+                        qDebug() << "file is open ,data write to buff";
+                    }
 
             }
 
-            //mavLogFile->size()
-
 
             count++;
             if(msg.sysid < 250)             //过滤地面站发过来的数据
@@ -676,6 +715,7 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
             case MAVLINK_PARSE_STATE_GOT_BAD_CRC1:{
                  parserFailure += 1;
                  qDebug() << "MAVLINK_PARSE_STATE_GOT_BAD_CRC1";
+                 emit showMessage("mavlink parse CRC error");
             }break;
             case MAVLINK_PARSE_STATE_SIGNATURE_WAIT:{
                  qDebug() << "MAVLINK_PARSE_STATE_SIGNATURE_WAIT";