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删除多余线程,减少CPU支出

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This commit is contained in:
hm
2022-07-18 01:23:55 +08:00
parent adf77ef3f6
commit 5a35692017
7 changed files with 168 additions and 20 deletions
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App/mainwindow.cpp
+5 -4
View File
@@ -286,11 +286,11 @@ MainWindow::MainWindow(QWidget *parent)
//dlink --- toolui-index3
connect(dlink->mavlinknode->Terminal,SIGNAL(Recieve(QString)),
connect(dlink->mavlinknode,SIGNAL(Recieve(QString)),
toolsui->index3,SLOT(Recieve(QString)));
connect(toolsui->index3,SIGNAL(Terminal_Transmit(QString)),
dlink->mavlinknode->Terminal,SLOT(Transmit(QString)),Qt::DirectConnection);
dlink->mavlinknode,SLOT(Transmit(QString)),Qt::DirectConnection);
@@ -632,7 +632,7 @@ MainWindow::MainWindow(QWidget *parent)
dlink->mavlinknode,&MavLinkNode::setGCSID,Qt::DirectConnection);
connect(setting->index0->globalsetting,&GlobalSetting::setHeartBeat,
dlink->mavlinknode->Status,&statusprocess::setHeartbeat,Qt::DirectConnection);
dlink->mavlinknode,&MavLinkNode::setHeartbeat,Qt::DirectConnection);
//设置地面站ID
@@ -1750,7 +1750,8 @@ void MainWindow::updateUI()//事件驱动式更新数据
}
healthui->setState(28,getBit(health,31)?(HealthUI::state::inital):(HealthUI::state::failure));
healthui->setState(28,getBit(health,31)?(HealthUI::state::inital):(HealthUI::state::failure));//上行有效
healthui->setState(29,getBit(health,30)?(HealthUI::state::success):(HealthUI::state::inital));
//healthui->setValueState(29,getBit(health,30)?(tr("记录已打开")):(tr("")));//sel
MavLinkNode/Terminal.cpp
+5 -5
View File
@@ -55,15 +55,15 @@ void terminal::Parse(mavlink_message_t msg)
switch (msg.msgid) {
case MAVLINK_MSG_ID_SERIAL_CONTROL :
mavlink_serial_control_t serial_control;
mavlink_serial_control_t serial_control;
mavlink_msg_serial_control_decode(&msg,&serial_control);
mavlink_msg_serial_control_decode(&msg,&serial_control);
QByteArray str;
QByteArray str;
str.append((char *)serial_control.data,serial_control.count);
str.append((char *)serial_control.data,serial_control.count);
emit Recieve(str);
emit Recieve(str);
break;
MavLinkNode/ThreadTemplet.cpp
+1
View File
@@ -86,6 +86,7 @@ void ThreadTemplet::pause()
}
void ThreadTemplet::process()//线程函数
{
MavLinkNode/commandprocess.cpp
+1
View File
@@ -26,6 +26,7 @@ void commandprocess::process()//线程函数
while (true)
{
//QThread::msleep((status.m_Mode != 0)?(0):(-1));
count ++;
switch(status.m_Mode)
{
MavLinkNode/mavlinknode.cpp
+133 -10
View File
@@ -110,6 +110,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
connect(Commander,SIGNAL(showMessage(QString,int)),
this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
/*
Status = new statusprocess();
Status->setGCSID(Current_sysID,Current_CompID);
connect(Status,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
@@ -120,8 +121,9 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
connect(Status,SIGNAL(showMessage(QString,int)),
this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
*/
/*
Terminal = new terminal();
Terminal->setGCSID(Current_sysID,Current_CompID);
connect(Terminal,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
@@ -132,6 +134,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
connect(Terminal,SIGNAL(showMessage(QString,int)),
this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
*/
/*
RC = new rcprocess();
RC->setGCSID(Current_sysID,Current_CompID);
@@ -147,6 +150,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
*/
/*
rtk = new rtkprocess();
rtk->setGCSID(Current_sysID,Current_CompID);
@@ -158,6 +162,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
connect(rtk,SIGNAL(showMessage(QString,int)),
this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
*/
isCommunicationLost = false;
@@ -169,6 +174,14 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
Parser2_init(&parser);
Packer2_init(&packer);
m_heartbeat.autopilot = 1;
m_heartbeat.base_mode = 0;
m_heartbeat.custom_mode = 0;
m_heartbeat.mavlink_version = 3;
m_heartbeat.system_status = 0;
m_heartbeat.type = 0;
}
MavLinkNode::~MavLinkNode()
@@ -219,17 +232,20 @@ MavLinkNode::~MavLinkNode()
Commander = nullptr;
}
/*
if(Status)
{
delete Status;
Status = nullptr;
}
*/
/*
if(Terminal)
{
delete Terminal;
Terminal = nullptr;
}
*/
/*
if(RC)
{
@@ -238,11 +254,13 @@ MavLinkNode::~MavLinkNode()
}
*/
/*
if(rtk)
{
delete rtk;
rtk = nullptr;
}
*/
qDebug() << "stop mavlink" << QThread::currentThreadId();
}
@@ -268,11 +286,13 @@ void MavLinkNode::setGCSID(int id)
Commander->setGCSID(gcsid,MAV_COMP_ID_MISSIONPLANNER);
}
/*
if(Status)
{
Status->setGCSID(gcsid,MAV_COMP_ID_MISSIONPLANNER);
}
if(Terminal)
{
Terminal->setGCSID(gcsid,MAV_COMP_ID_MISSIONPLANNER);
@@ -287,6 +307,8 @@ void MavLinkNode::setGCSID(int id)
{
rtk->setGCSID(gcsid,MAV_COMP_ID_MISSIONPLANNER);
}
*/
}
void MavLinkNode::CreateCSV(void)
@@ -585,6 +607,9 @@ void MavLinkNode::process()//线程函数
bool isIdle = true;
int HeartBeatTime = QTime::currentTime().msecsSinceStartOfDay();
QElapsedTimer time;
time.start();
@@ -597,6 +622,27 @@ void MavLinkNode::process()//线程函数
QThread::msleep(1000/running_frq);
//timer->start();
if(isSendHeartBeat == true)
{
if((QTime::currentTime().msecsSinceStartOfDay() - HeartBeatTime) > (1000.0/heartbeatFrq))
{
heartbeat(m_heartbeat.custom_mode,
m_heartbeat.type,
m_heartbeat.autopilot,
m_heartbeat.base_mode,
m_heartbeat.system_status,
m_heartbeat.mavlink_version);
HeartBeatTime = QTime::currentTime().msecsSinceStartOfDay();
}
}
if(isSendTerminal == true)
{
isSendTerminal = false;
serial_control();
}
//解码从UDP来的
datagram.clear();
datagram = readbuff(SourceType::c_sock);//每次全部读取
@@ -618,6 +664,8 @@ void MavLinkNode::process()//线程函数
}
if(isInterruptionRequested())//退出
{
break;
@@ -923,8 +971,19 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
//终端
case MAVLINK_MSG_ID_SERIAL_CONTROL:
Terminal->Parse(msg);
break;
{
//Terminal->Parse(msg);
mavlink_serial_control_t serial_control;
mavlink_msg_serial_control_decode(&msg,&serial_control);
QByteArray str;
str.append((char *)serial_control.data,serial_control.count);
emit Recieve(str);
}break;
//状态
@@ -1012,12 +1071,12 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
case MAVLINK_MSG_ID_HEARTBEAT: {
mavlink_msg_heartbeat_decode(&msg,&vehicle.heartbeat);
Status->m_heartbeat.autopilot = vehicle.heartbeat.autopilot;
Status->m_heartbeat.base_mode = vehicle.heartbeat.base_mode;
Status->m_heartbeat.custom_mode = vehicle.heartbeat.custom_mode;
Status->m_heartbeat.mavlink_version = vehicle.heartbeat.mavlink_version;
Status->m_heartbeat.system_status = vehicle.heartbeat.system_status;
Status->m_heartbeat.type = vehicle.heartbeat.type;
m_heartbeat.autopilot = vehicle.heartbeat.autopilot;
m_heartbeat.base_mode = vehicle.heartbeat.base_mode;
m_heartbeat.custom_mode = vehicle.heartbeat.custom_mode;
m_heartbeat.mavlink_version = vehicle.heartbeat.mavlink_version;
m_heartbeat.system_status = vehicle.heartbeat.system_status;
m_heartbeat.type = vehicle.heartbeat.type;
QByteArray csvdata;
csvdata.clear();
@@ -1753,3 +1812,67 @@ void MavLinkNode::setLogfile(QString file)
}
}
//发送函数
void MavLinkNode::setHeartbeat(QVariant state,QVariant frq)
{
//给指令赋值
//开启线程开始传输
if(state.toBool() == true)
{
isSendHeartBeat = true;//发送模式
}
else
{
isSendHeartBeat = false;//空闲模式
}
heartbeatFrq = frq.toDouble();
}
void MavLinkNode::heartbeat(uint32_t custom_mode,uint8_t type,uint8_t autopilot,uint8_t base_mode,uint8_t system_status,uint8_t mavlink_version)
{
static mavlink_message_t msg;
static mavlink_heartbeat_t heartbeat;
heartbeat.custom_mode = custom_mode;
heartbeat.type = type;
heartbeat.autopilot = autopilot;
heartbeat.base_mode = base_mode;
heartbeat.system_status = system_status;
heartbeat.mavlink_version = mavlink_version;
mavlink_msg_heartbeat_encode(GCS_SysID,GCS_CompID, &msg,&heartbeat);
Send(msg);
}
void MavLinkNode::Transmit(QString msg)
{
SerialData.clear();
SerialData.append(msg);
isSendTerminal = true;
}
void MavLinkNode::serial_control(void)
{
static mavlink_message_t msg;
static mavlink_serial_control_t serial_control;
serial_control.baudrate = 115200;
serial_control.count = SerialData.size();
memcpy(serial_control.data,SerialData.toLocal8Bit().data(),SerialData.size());
serial_control.flags = SERIAL_CONTROL_FLAG_EXCLUSIVE | SERIAL_CONTROL_FLAG_RESPOND | SERIAL_CONTROL_FLAG_MULTI;
serial_control.device = SERIAL_CONTROL_DEV_SHELL;
serial_control.timeout = 5000;
mavlink_msg_serial_control_encode(GCS_SysID,GCS_CompID, &msg,&serial_control);
Send(msg);
}
MavLinkNode/mavlinknode.h
+22
View File
@@ -205,6 +205,8 @@ signals:
void setPos(int sysid,int compid,double x,double y,double z);
void setHeading(int sysid,int compid,double x,double y,double z);
void Recieve(QString msg);
public slots:
//线程对外接口
void CreateCSV(void);
@@ -222,6 +224,10 @@ public slots:
void setGCSID(int id);
void setHeartbeat(QVariant state, QVariant frq );
void serial_control(void);
void Transmit(QString msg);
private slots:
//线程私有接口
@@ -247,6 +253,13 @@ private slots:
bool setLogData(mavlink_message_t msg);
void heartbeat(uint32_t custom_mode,
uint8_t type,
uint8_t autopilot,
uint8_t base_mode,
uint8_t system_status,
uint8_t mavlink_version);
protected:
int Current_sysID = 0xF1;
@@ -294,7 +307,16 @@ protected:
mutable QReadWriteLock RWlock;
qreal heartbeatFrq = 1;
bool isSendHeartBeat = false;
mavlink_heartbeat_t m_heartbeat;
QTimer *heartbeatTimer = nullptr;
bool isSendTerminal = false;
QString SerialData;
};
dlink/dlink.cpp
+1 -1
View File
@@ -57,7 +57,7 @@ void DLink::timeout()
qint64 time = QDateTime::currentMSecsSinceEpoch() - last;
if(time >= 2000)
if(time >= 3000)
{
Byte_Out_per = (double)Byte_Out_ALL / (time * 0.001);