add map control

MavLinkNode/mavlinknode.cpp

@@ -2,11 +2,15 @@
 
 MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
 {
-    //Nodethread = new QThread();
 
-    //this->moveToThread(Nodethread);
+    running_flag = false;
 
-    //connect(Nodethread, &QThread::started, this, &MavLinkNode::process);
+    Nodethread = new QThread();
+
+    this->moveToThread(Nodethread);
+
+    connect(Nodethread, &QThread::started, this, &MavLinkNode::process);
+    //connect(Nodethread, &QThread::finished, Nodethread, &QObject::deleteLater);
 
      qDebug() << "MavLink " <<  QThread::currentThreadId();
 
@@ -21,31 +25,32 @@ MavLinkNode::~MavLinkNode()
     }
 }
 
-
-//处理好重启机制
 void MavLinkNode::start()
 {
-    running_flag = true;
-
-    Nodethread = new QThread();
-
-    this->moveToThread(Nodethread);
-
-    Nodethread->start();
-
-    connect(Nodethread, &QThread::started, this, &MavLinkNode::process);
-    connect(Nodethread, &QThread::finished, this, &QObject::deleteLater);
-    qDebug() << "thread start" << running_flag;
+    if(!Nodethread->isRunning())
+    {
+        running_flag = true;
+        Nodethread->start();
+        qDebug() << "thread start" << running_flag;
+    }
+    else
+    {
+        qDebug() << "thread has started";
+    }
 }
 
 
 void MavLinkNode::stop()
 {
-    running_flag = false;
-
-
-
-    qDebug() << "thread stop" << running_flag;
+    if(Nodethread->isRunning())
+    {
+        running_flag = false;
+        qDebug() << "thread stop" << running_flag;
+    }
+    else
+    {
+        qDebug() << "thread is not running";
+    }
 }
 
 
@@ -58,36 +63,25 @@ void MavLinkNode::process()//线程函数
 
      qDebug() << "Process " <<  QThread::currentThreadId();
      count ++;
-     qDebug() << "run 1ms"  << count;
+     qDebug() << "run "  << count << "ms";
      QThread::msleep(1000);
 
     }
-
-
-    //一旦结束，就立即清除连接
-    qDebug() << "disconnect";
-    //disconnect(Nodethread, &QThread::started, this, &MavLinkNode::process);
-    //disconnect(Nodethread, &QThread::finished, this, &QObject::deleteLater);
-
+    //退出线程
+    Nodethread->quit();
 }
 
-/*
-void MavLinkNode::start()//线程函数
+void MavLinkNode::setbuff(QByteArray data)
 {
-
-            qDebug() << "run 1ms";
-            QThread::msleep(1000);
-
-
-
+    if(buff_select == 1)
+    {
+        RawData2.append(data);
+    }
+    else if(buff_select == 2)
+    {
+        RawData1.append(data);
+    }
 }
-*/
-
-
-
-
-
-