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指令可以在线载入，语音播报高度速度

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This commit is contained in:
hm
2020-08-22 23:05:13 +08:00
parent 8ca8016d55
commit 580a311af3
22 changed files with 661 additions and 70 deletions
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App/CommandUI/CommandUI.cpp
+165 -11
View File
@@ -15,6 +15,7 @@ const char* CommandUI::_CommandButtonJsonKey = "CommandButton";
const char* CommandUI::_WidthJsonKey = "Width";
const char* CommandUI::_HeightJsonKey = "Height";
const char* CommandUI::_dialogJsonKey = "Dialog";
const char* CommandUI::_TextJsonKey = "Text";
const char* CommandUI::_rowJsonKey = "row";
const char* CommandUI::_columnJsonKey = "column";
@@ -57,8 +58,7 @@ CommandUI::CommandUI(QWidget *parent) :
//载入json
//loadCommandJson(":/json/Command.json");
loadCommandJson("./commands/Command.json");
loadCommandJson(CommandFile);
ui->groupBox_Command->setTitle(tr("Command Version:") + QString::number(CMD_version));
@@ -90,6 +90,12 @@ CommandUI::CommandUI(QWidget *parent) :
}
DoubleClickTimer = new QTimer(this);
DoubleClickTimer->setInterval(200);//0.2s之内再点击，那就相当于双击
connect(DoubleClickTimer,SIGNAL(timeout()),
this,SLOT(DoubleClickTimeout()));
}
CommandUI::~CommandUI()
@@ -120,6 +126,138 @@ void CommandUI::wheelEvent(QWheelEvent *e)
}
}
void CommandUI::mousePressEvent(QMouseEvent *event)
{
qDebug() << "clicked";
if (event->button() == Qt::MiddleButton)
{
QObjectList olist = ui->groupBox_Command->children();
foreach (QObject *obj, olist) {
QPushButton *btn = qobject_cast<QPushButton *>(obj);
if(btn)
{
disconnect(btn,SIGNAL(clicked(bool)),
this,SLOT(on_commandClicked()));
delete btn;
}
QLabel *lab = qobject_cast<QLabel *>(obj);
if(lab)
{
delete lab;
}
}
loadCommandJson(CommandFile);
ui->groupBox_Command->setTitle(tr("Command Version:") + QString::number(CMD_version));
for(QJsonValue info: CMD_infoArray) {
if (!info.isObject()) {
return;
}
QPushButton *btn = new QPushButton(ui->groupBox_Command);
btn->setText(info.toObject().find(_TextJsonKey).value().toString());
//btn->setMinimumSize(CMDwidth,CMDheight);
//btn->resize(CMDwidth,CMDheight);
btn->setFixedSize(CMDwidth,CMDheight);
ui->gridLayout_Command->addWidget(btn,
info.toObject().find(_rowJsonKey).value().toInt(),
info.toObject().find(_columnJsonKey).value().toInt());
btn->setProperty("state",state::success);
btn->style()->unpolish(btn);
btn->style()->polish(btn);
connect(btn,SIGNAL(clicked(bool)),
this,SLOT(on_commandClicked()));
}
}
else if (event->button() == Qt::RightButton)
{
if(event->modifiers() == Qt::ControlModifier)
{
QFileDialog *dlg = new QFileDialog();
QString fileName = dlg->getOpenFileName(this, tr("Selete Command File..."),
"./commands/",
tr("command file (*.json)"));
if(!fileName.isEmpty())
{
setCommandFile(fileName);
}
}
else if(event->modifiers() == Qt::AltModifier)
{
CommandEditor *edit = new CommandEditor();
edit->show();
}
}
}
void CommandUI::setCommandFile(QString File)
{
CommandFile = File;
QObjectList olist = ui->groupBox_Command->children();
foreach (QObject *obj, olist) {
QPushButton *btn = qobject_cast<QPushButton *>(obj);
if(btn)
{
disconnect(btn,SIGNAL(clicked(bool)),
this,SLOT(on_commandClicked()));
delete btn;
}
QLabel *lab = qobject_cast<QLabel *>(obj);
if(lab)
{
delete lab;
}
}
loadCommandJson(CommandFile);
ui->groupBox_Command->setTitle(tr("Command Version:") + QString::number(CMD_version));
for(QJsonValue info: CMD_infoArray) {
if (!info.isObject()) {
return;
}
QPushButton *btn = new QPushButton(ui->groupBox_Command);
btn->setText(info.toObject().find(_TextJsonKey).value().toString());
//btn->setMinimumSize(CMDwidth,CMDheight);
//btn->resize(CMDwidth,CMDheight);
btn->setFixedSize(CMDwidth,CMDheight);
ui->gridLayout_Command->addWidget(btn,
info.toObject().find(_rowJsonKey).value().toInt(),
info.toObject().find(_columnJsonKey).value().toInt());
btn->setProperty("state",state::success);
btn->style()->unpolish(btn);
btn->style()->polish(btn);
connect(btn,SIGNAL(clicked(bool)),
this,SLOT(on_commandClicked()));
}
}
void CommandUI::loadCommandJson(const QString& jsonFilename)
{
if (jsonFilename.isEmpty()) {
@@ -148,6 +286,8 @@ void CommandUI::loadCommandJson(const QString& jsonFilename)
CMD_version = json.value(_versionJsonKey).toInt();
qDebug() << "command version :" << CMD_version;
/*
if (version != 1) {
qWarning() << jsonFilename << "Invalid version" << version;
@@ -166,11 +306,8 @@ void CommandUI::loadCommandJson(const QString& jsonFilename)
return;
}
// Iterate over MissionCommandUIInfo objects
CMD_infoArray = jsonValue.toArray();
//qDebug() << CMD_infoArray;
for(QJsonValue info: CMD_infoArray) {
if (!info.isObject()) {
qWarning() << jsonFilename << "mavCmdArray should contain objects";
@@ -244,7 +381,7 @@ void CommandUI::on_commandClicked()
m_confirm = info.toObject().find(_confirmJsonKey).value().toInt();
//如果confirm 不为0，那么弹出确认对话框
if(m_confirm != 0)
if(info.toObject().find(_dialogJsonKey).value().toInt() != 0)
{
//根据这个comfirm 确定要输入的参数
@@ -414,11 +551,28 @@ void CommandUI::missionConfirm(int seq)
}
void CommandUI::DoubleClickTimeout()
{
DoubleClickTimer->stop();
}
void CommandUI::on_groupBox_Command_clicked()
{
qDebug() << "clicked";
if(DoubleClickTimer)
{
if(DoubleClickTimer->isActive())
{
//双击后的效果
qDebug() << "double";
DoubleClickTimer->stop();
}
else
{
qDebug() << "clicked";
DoubleClickTimer->start();
}
}
}
App/CommandUI/CommandUI.h
+14 -1
View File
@@ -13,6 +13,7 @@
#include "QJsonParseError"
#include "QDir"
#include "QFileDialog"
#include <QCommonStyle>
#include "QStyle"
@@ -22,6 +23,7 @@
#include "Inputter.h"
#include "CharInputter.h"
#include "Confirm.h"
#include "CommandEditor.h"
#include "QMouseEvent"
@@ -49,6 +51,7 @@ public:
protected:
void wheelEvent(QWheelEvent *e);
void mousePressEvent(QMouseEvent *event);
public slots:
@@ -56,6 +59,8 @@ public slots:
void missionConfirm(int seq);
void setCommandFile(QString File);
signals:
void SetCurrentPoint(int seq);
@@ -67,11 +72,14 @@ private slots:
void on_commandClicked();
void DoubleClickTimeout();
void setSecondConfirm(QVariant value);
void setCurrent(QVariant value);
void on_groupBox_Command_clicked();
protected:
void loadCommandJson(const QString& jsonFilename);
@@ -85,7 +93,7 @@ private:
static const char* _WidthJsonKey;
static const char* _HeightJsonKey;
static const char* _dialogJsonKey;
static const char* _TextJsonKey;
static const char* _rowJsonKey;
static const char* _columnJsonKey;
@@ -113,6 +121,11 @@ private:
Ui::CommandUI *ui;
QTimer *DoubleClickTimer = nullptr;
QString CommandFile = "./commands/Command.json";
QString m_name = 0;
float m_param1 = 0;
App/CommandUI/CommandUI.pri
+1 -1
View File
@@ -14,7 +14,7 @@ INCLUDEPATH += $$PWD/../ComponentUI/Inputter
INCLUDEPATH += $$PWD/../ComponentUI/MultiSelector
INCLUDEPATH += $$PWD/../ComponentUI/Selector
INCLUDEPATH += $$PWD/../ComponentUI/Confirm
INCLUDEPATH += $$PWD/../ComponentUI/CommandEditor
#添加mavlink目录
App/ComponentUI/CommandEditor/CommandEditor.cpp
+57
View File
@@ -0,0 +1,57 @@
#include "CommandEditor.h"
#include "ui_CommandEditor.h"
CommandEditor::CommandEditor(QWidget *parent) :
QWidget(parent),
ui(new Ui::CommandEditor)
{
ui->setupUi(this);
QWidget::setAcceptDrops(true);
}
CommandEditor::~CommandEditor()
{
delete ui;
}
void CommandEditor::mousePressEvent(QMouseEvent *event)
{
if (event->button() == Qt::LeftButton) {
QDrag *drag = new QDrag(this);
QMimeData *mimeData = new QMimeData;
mimeData->setText(ui->pushButton->text());
mimeData->setObjectName("pu");
drag->setMimeData(mimeData);
//drag->setPixmap(iconPixmap);
Qt::DropAction dropAction = drag->exec();
qDebug() << dropAction;
}
}
void CommandEditor::dragEnterEvent(QDragEnterEvent *event)
{
qDebug() << event;
event->accept();
}
void CommandEditor::dragLeaveEvent(QDragLeaveEvent *event)
{
qDebug() << event;
event->accept();
}
void CommandEditor::dragMoveEvent(QDragMoveEvent *event)
{
qDebug() << event;
event->accept();
}
App/ComponentUI/CommandEditor/CommandEditor.h
+33
View File
@@ -0,0 +1,33 @@
#ifndef COMMANDEDITOR_H
#define COMMANDEDITOR_H
#include <QWidget>
#include "QDebug"
#include "QMouseEvent"
#include "QDrag"
#include "QDropEvent"
#include "QMimeData"
namespace Ui {
class CommandEditor;
}
class CommandEditor : public QWidget
{
Q_OBJECT
public:
explicit CommandEditor(QWidget *parent = nullptr);
~CommandEditor();
protected:
void mousePressEvent(QMouseEvent *event);
void dragEnterEvent(QDragEnterEvent *event);
void dragLeaveEvent(QDragLeaveEvent *event);
void dragMoveEvent(QDragMoveEvent *event);
private:
Ui::CommandEditor *ui;
};
#endif // COMMANDEDITOR_H
App/ComponentUI/CommandEditor/CommandEditor.pri
+28
View File
@@ -0,0 +1,28 @@
RESOURCES += \
$$PWD/CommandEditor.qrc
FORMS += \
$$PWD/CommandEditor.ui
HEADERS += \
$$PWD/CommandEditor.h
SOURCES += \
$$PWD/CommandEditor.cpp
App/ComponentUI/CommandEditor/CommandEditor.qrc
+5
View File
@@ -0,0 +1,5 @@
<RCC>
<qresource prefix="/qss">
<file>CommandEditor.qss</file>
</qresource>
</RCC>
App/ComponentUI/CommandEditor/CommandEditor.qss
+47
View File
@@ -0,0 +1,47 @@
.QFrame {
background-color: #FFFFFF;
}
QListWidget {
background-color: #F0FFFF;
border-width: 2px;
border-color: darkkhaki;
border-style: solid;
border-radius: 5;
padding: 3px;
font: 20px;
}
QListWidget::Item {
height: 60;
}
QScrollBar{
width:60;
background-color:palegoldenrod;
}
.QPushButton {
background-color: #FFFFFF;
border-width: 2px;
border-color: darkkhaki;
border-style: solid;
border-radius: 5;
padding: 3px;
font :15px;
}
.QPushButton:pressed {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #dadbde, stop: 1 #f6f7fa);
}
App/ComponentUI/CommandEditor/CommandEditor.ui
+98
View File
@@ -0,0 +1,98 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CommandEditor</class>
<widget class="QWidget" name="CommandEditor">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>767</width>
<height>425</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="1">
<widget class="QFrame" name="frame_2">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="0">
<widget class="QPushButton" name="pushButton">
<property name="minimumSize">
<size>
<width>80</width>
<height>80</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>80</height>
</size>
</property>
<property name="acceptDrops">
<bool>true</bool>
</property>
<property name="text">
<string>Command</string>
</property>
</widget>
</item>
<item row="3" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="pushButton_2">
<property name="acceptDrops">
<bool>true</bool>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="0" column="2">
<widget class="QFrame" name="frame_3">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
App/ComponentUI/ComponentUI.pri
+1 -1
View File
@@ -6,7 +6,7 @@ include(./Multiselector/Multiselector.pri)
include(./Selector/Selector.pri)
include(./Confirm/Confirm.pri)
include(./Scope/Scope.pri)
include(./CommandEditor/CommandEditor.pri)
App/MissionUI/propertyui.cpp
+14 -24
View File
@@ -1538,20 +1538,16 @@ void propertyui::setLoad(QVariant value)
qDebug() << "Loadvalue" << value;
if(value.toBool() == true)
{
QFileDialog *dlg = new QFileDialog(this);
dlg->setWindowTitle(tr("Select Loading File..."));
dlg->show();
QFileDialog *dlg = new QFileDialog();
QStringList sFileDir;
int ret = dlg->exec();
if (QDialog::Accepted == ret)
QString fileName = dlg->getOpenFileName(this, tr("Selete Way Point File..."),
"./plan/",
tr("plan file (*.plan)"));
if(!fileName.isEmpty())
{
sFileDir = dlg->selectedFiles();
qDebug() << sFileDir.at(0);
emit WPLoad(sFileDir.at(0));
emit WPLoad(fileName);
}
}
else
{
@@ -1576,22 +1572,16 @@ void propertyui::on_pushButton_Load_clicked()
void propertyui::on_pushButton_Save_clicked()
{
QFileDialog *dlg = new QFileDialog(this);
QFileDialog *dlg = new QFileDialog();
dlg->setWindowTitle(tr("Select Loading File..."));
dlg->show();
QStringList sFileDir;
int ret = dlg->exec();
if (QDialog::Accepted == ret)
QString fileName = dlg->getSaveFileName(this, tr("Selete Way Point File..."),
"./plan/",
tr("plan file (*.plan)"));
if(!fileName.isEmpty())
{
sFileDir = dlg->selectedFiles();
qDebug() << sFileDir.at(0);
emit WPSave(sFileDir.at(0));
emit WPSave(fileName);
}
}
void propertyui::on_pushButton_Upload_clicked()
App/Setting/Index1/ParameterInspector/ParameterInspector.cpp
+74 -5
View File
@@ -46,6 +46,61 @@ ParameterInspector::~ParameterInspector()
delete ui;
}
void ParameterInspector::keyPressEvent(QKeyEvent *event) //键盘按下事件
{
qDebug() << "keyPressEvent" << event;
}
void ParameterInspector::keyReleaseEvent(QKeyEvent *event) //键盘松开事件
{
switch (event->key()) {
case Qt::Key_Backspace:
fineItem = fineItem.mid(0,fineItem.size() - 1);
break;
case Qt::Key_Delete:
fineItem = fineItem.mid(0,fineItem.size() - 1);
break;
default:
fineItem.append(event->text());
break;
}
qDebug() << fineItem;
QTreeWidgetItemIterator I(ui->treeWidget);
//while(*Item)
if(*I)
{
QTreeWidgetItem *item = *I;
if(!item->parent())
{
qDebug() << "orphan" ;
//找到最顶的项
QList<QTreeWidgetItem *> childList = item->takeChildren();
for(QTreeWidgetItem * child:childList)
{
qDebug() << child->text(0);
}
}
}
//QTreeWidgetItem *item;
//item = ui->treeWidget
//parentItem = item->parent()->data(0,Qt::DisplayRole).toString();
//currentSelectType = param_gettype(item->data(2,Qt::DisplayRole));
//触发一次查询
}
void ParameterInspector::mReflush()
{
if(isReflush == true)
@@ -86,9 +141,6 @@ void ParameterInspector::addVehicles(int sysid, int compid)
}
}
//直接接受整个msg，这个函数传来的只有param_value这一帧，因此不需要识别
void ParameterInspector::appendParameter(mavlink_message_t msg)
{
@@ -109,14 +161,28 @@ void ParameterInspector::appendParameter(mavlink_message_t msg)
//如果当前是航点0，那么设置状态条
if(param_value.param_index == 0)
{
isNew = true;
ui->progressBar->setMaximum(0);
ui->progressBar->setMaximum(param_value.param_count - 1);
}
if(isNew)
{
currentpersent = param_value.param_index;
}
if(param_value.param_index == (param_value.param_count - 1))
{
isNew = false;
}
//这里可能有bug,程序会死机
//ui->progressBar->setValue((int)param_value.param_index);
currentpersent = param_value.param_index;
//检查是否包含了该参数，如果没有，那么添加
QMap<int, mavlink_param_value_t> ParameterStorage;
@@ -207,7 +273,10 @@ void ParameterInspector::refreshView()//来一个参数更新一次
ui->treeWidget->addTopLevelItems(uasTopLevelItems.values());
ui->treeWidget->expandAll();
ui->treeWidget->scrollToBottom();
if(isNew)
{
ui->treeWidget->scrollToBottom();
}
}
}
App/Setting/Index1/ParameterInspector/ParameterInspector.h
+10 -4
View File
@@ -10,12 +10,12 @@
#include "QPushButton"
#include "QTreeView"
#include "QDebug"
#include <QTreeWidgetItemIterator>
#include "QMap"
#include <QList>
#include "QStandardItemModel"
#include "QTimer"
#include "QKeyEvent"
#include "QDateTime"
@@ -127,8 +127,9 @@ public slots:
void appendParameter(mavlink_message_t msg);
protected:
void keyPressEvent(QKeyEvent *event);
void keyReleaseEvent(QKeyEvent *event);
private slots:
@@ -218,6 +219,11 @@ private:
QTimer *flushTimer = nullptr;
bool isNew = true;
QString fineItem;
};
App/Setting/Index1/ParameterInspector/ParameterInspector.ui
+3
View File
@@ -204,6 +204,9 @@
<property name="textDirection">
<enum>QProgressBar::BottomToTop</enum>
</property>
<property name="format">
<string/>
</property>
</widget>
</item>
</layout>
App/ToolsUI/tools_Index4/tools_Index4.ui
+4 -4
View File
@@ -63,10 +63,10 @@
<item row="14" column="1">
<widget class="QProgressBar" name="progressBar_0_15">
<property name="minimum">
<number>800</number>
<number>0</number>
</property>
<property name="maximum">
<number>2200</number>
<number>65536</number>
</property>
<property name="value">
<number>1500</number>
@@ -413,10 +413,10 @@
<item row="13" column="1">
<widget class="QProgressBar" name="progressBar_0_14">
<property name="minimum">
<number>800</number>
<number>0</number>
</property>
<property name="maximum">
<number>2200</number>
<number>65536</number>
</property>
<property name="value">
<number>1500</number>
App/mainwindow.cpp
+27
View File
@@ -215,6 +215,10 @@ MainWindow::MainWindow(QWidget *parent)
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);
connect(dlink->mavlinknode->Mission,SIGNAL(clearWaypoint()),
map,SLOT(WPDeleteAll()));
connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
map,SLOT(addUAV(int,int)));
@@ -555,6 +559,9 @@ void MainWindow::updateUI()//事件驱动式更新数据
bool isCustomChanged = false;
bool isStateChanged = false;
static quint64 lastTime = QDateTime::currentMSecsSinceEpoch();
/*
static int frq_count = 0;
@@ -647,6 +654,24 @@ void MainWindow::updateUI()//事件驱动式更新数据
switch (state) {
case MAV_MODE_FLAG_SAFETY_ARMED:
arm_str.append(tr("ARM"));
if(tts)
{
if((QDateTime::currentMSecsSinceEpoch() - lastTime) >= 5000)
{
lastTime = QDateTime::currentMSecsSinceEpoch();
QString status;
status.append(tr("高度:%1").arg(QString::number(dlink->mavlinknode->vehicle.global_position_int.relative_alt * 0.001,'f',0)));
status.append(tr("速度:%1").arg(QString::number(dlink->mavlinknode->vehicle.vfr_hud.airspeed,'f',0)));
tts->say(status);
}
}
break;
case 0:
arm_str.append(tr("DISARM"));
@@ -741,6 +766,8 @@ void MainWindow::updateUI()//事件驱动式更新数据
//经纬度大于正常值，将舍弃
double lat = (double)(dlink->mavlinknode->vehicle.gps_raw_int.lat * 10e-8);
MavLinkNode/missionprocess.cpp
+5
View File
@@ -260,6 +260,11 @@ void MissionProcess::Parse(mavlink_message_t msg)
qDebug() << "recieve mission " << mission_item_int.seq;
if(mission_item_int.seq == 0)
{
emit clearWaypoint();
}
//把航点发出去
emit receivedPoint(mission_item_int.param1,mission_item_int.param2,mission_item_int.param3,mission_item_int.param4,
mission_item_int.x,mission_item_int.y,mission_item_int.z,
MavLinkNode/missionprocess.h
+2
View File
@@ -142,6 +142,8 @@ private slots:
signals:
void clearWaypoint(void);
void readReady();
MavLinkNode/replay.cpp
+69 -19
View File
@@ -8,7 +8,7 @@ Replay::Replay(QObject *parent) : QObject(parent)
thread = new QThread();
this->moveToThread(thread);
connect(thread, SIGNAL(started()), this, SLOT(process()));
setRunFrq(20);//100
setRunFrq(5);//100
logFile.clear();
}
@@ -97,24 +97,46 @@ void Replay::stop()
void Replay::process()//线程函数
{
quint64 lastTimestamp = 0;
quint64 currentTimestamp = 0;
quint64 timeStamp = 0;
while (running_flag)
{
//mutex.lock();
if(isplaying)
{
if(!ispause)//不暂停
{
QThread::msleep(5);
//读取数据放到缓存里面
if(file)//已经有文件，那么可以读取
{
if(position <= file->size())
{
QByteArray raw;
file->seek(position);
raw = file->read(500);
QByteArray time;
file->seek(position);
raw = file->read(MAVLINK_MAX_PACKET_LEN + sizeof(quint64));
if(raw.indexOf(0xFD) >= 8)
{
time = raw.mid(raw.indexOf(0xFD) - 8,8);
}
else
{
position -= 8 - raw.indexOf(0xFD);
file->seek(position);
raw = file->read(MAVLINK_MAX_PACKET_LEN + sizeof(quint64));
time = raw.mid(raw.indexOf(0xFD) - 8,8);
}
//qDebug() << raw.indexOf(0xFD);
QByteArray time = raw.mid(raw.indexOf(0xFD) - 8,8);
quint64 currentTimestamp = 0;
union {uint8_t B[8];uint64_t DW;}src;
@@ -129,35 +151,63 @@ void Replay::process()//线程函数
currentTimestamp = src.DW/1000;
QThread::msleep(currentTimestamp - lastTimestamp);
if(lastTimestamp == 0)
{
lastTimestamp = currentTimestamp - 50;
}
if(((currentTimestamp - lastTimestamp) >0)&&((currentTimestamp - lastTimestamp) < 5000))
{
timeStamp = currentTimestamp - lastTimestamp;
}
if((currentTimestamp - lastTimestamp) >0)
{
QThread::msleep(timeStamp);
}
position += (uint8_t)raw.at(raw.indexOf(0xFD)+1) + 20;
buff.clear();
buff = raw.mid(raw.indexOf(0xFD),(uint8_t)raw.at(raw.indexOf(0xFD) +1) + 12);
//读取一帧数据
//将百分比增加，或者位置增加
percentage = (float)position / file->size();
emit currentPercentage(percentage);
emit readReady();
/*
qDebug() << position
<< currentTimestamp
<< lastTimestamp
<< currentTimestamp - lastTimestamp;
*/
lastTimestamp = currentTimestamp;
}
else
{
emit replayComplete();
isplaying = false;//换成另外的标志
isplaying = false;
}
//qDebug() << position << file->size() << percentage;
//读取一帧数据
//将百分比增加，或者位置增加
percentage = (float)position / file->size();
emit currentPercentage(percentage);
}
//发送就绪信号
emit readReady();
}
else
{
QThread::msleep(1000);//如果没有播放，那么每秒钟检测一下是否要播放
}
}
else
{
QThread::msleep(1000);//如果没有播放，那么每秒钟检测一下是否要播放
}
//mutex.unlock();
}
//退出线程
disconnect(thread, nullptr, nullptr, nullptr);
MavLinkNode/replay.h
+4
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@@ -3,6 +3,7 @@
#include <QObject>
#include "QThread"
#include "QMutex"
#include "QMessageBox"
#include "QDebug"
#include "QFile"
@@ -68,6 +69,8 @@ protected:
bool running_flag = false;
bool isSleep = false;
quint32 running_frq = 200;//200Hz
QMutex mutex;
QThread *thread = nullptr;
QString logFile;
@@ -79,6 +82,7 @@ protected:
bool isplaying = false;//控制开始和结束
QByteArray buff;
};
#endif // MAVLINKNODE_H
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