b

MavLinkNode/ThreadTemplet.cpp

@@ -3,16 +3,18 @@
 ThreadTemplet::ThreadTemplet(QObject *parent) : QObject(parent)
 {
     running_flag = false;
-    thread = new QThread();
-    this->moveToThread(thread);
-    connect(thread, &QThread::started, this, &ThreadTemplet::process);
-    setRunFrq(50);//default frq = 50
+    moveToThread(this);
+    //connect(this, &ThreadTemplet::started, this, &ThreadTemplet::process);
+    //setRunFrq(50);//default frq = 50
+
+    start();
 
 }
 
 ThreadTemplet::~ThreadTemplet()
 {
-   stop();
+    quit();
+    wait();
 }
 
 void ThreadTemplet::setRunFrq(uint32_t frq)
@@ -24,45 +26,6 @@ void ThreadTemplet::setRunFrq(uint32_t frq)
     }
 }
 
-void ThreadTemplet::start()
-{
-    if(!thread->isRunning())
-    {
-        running_flag = true;
-        thread->start();
-        qDebug() << "thread start" << running_flag;
-
-    }
-    else
-    {
-        qDebug() << "thread has started";
-    }
-}
-
-void ThreadTemplet::stop()
-{
-    if(thread)
-    {
-        if(!thread->isFinished())
-        {
-            running_flag = false;
-
-            disconnect(thread, nullptr, nullptr, nullptr);
-
-
-            thread->quit();
-            thread->deleteLater();
-
-            thread = nullptr;
-
-        }
-        else
-        {
-            qDebug() << "thread is not running";
-        }
-    }
-
-}
 
 void ThreadTemplet::process()//线程函数
 {
@@ -75,7 +38,11 @@ void ThreadTemplet::process()//线程函数
     }
 }
 
-
+void ThreadTemplet::run(void)
+{
+
+    exec();
+}
 
 
 

MavLinkNode/ThreadTemplet.h

@@ -9,9 +9,9 @@
 
 #ifdef QtMavlinkNode
 #include <mavlinknodeglobal.h>
-class MAVLINKNODESHARED_EXPORT ThreadTemplet : public QObject {
+class MAVLINKNODESHARED_EXPORT ThreadTemplet : public QThread {
 #else
-class ThreadTemplet : public QObject
+class ThreadTemplet : public QThread
 {
 #endif
     Q_OBJECT
@@ -38,6 +38,7 @@ public slots:
     virtual void setRunFrq(uint32_t frq);
     virtual void start();
     virtual void stop();
+    virtual void run();
     virtual bool isActive(void)
     {
         return running_flag;

MavLinkNode/mavlinknode.cpp

@@ -132,8 +132,12 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
 
     RC = new rcprocess();
     RC->setGCSID(Current_sysID,Current_CompID);
-    connect(RC,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
+   /* connect(RC,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
             this,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);
+            */
+
+    connect(RC,&rcprocess::SendMessageTo,
+            this,&MavLinkNode::SendMessageTo);
 
 
     connect(this,SIGNAL(setCurrentID(int,int)),
@@ -325,6 +329,8 @@ void MavLinkNode::start()
     {
         qDebug() << "MavLinkNode thread has started";
     }
+
+
 }
 
 

MavLinkNode/rcprocess.cpp

@@ -1,5 +1,6 @@
 #include "rcprocess.h"
 
+
 rcprocess::rcprocess(QObject *parent) : QObject(parent)
 {
     //初始化ID
@@ -98,6 +99,7 @@ void rcprocess::stop()
 
 
             thread->quit();
+            thread->wait();
             thread->deleteLater();
 
             thread = nullptr;
@@ -107,12 +109,7 @@ void rcprocess::stop()
         {
             qDebug() << "thread is not running";
         }
-
-        qDebug() << "thread ";
-
     }
-
-
 }
 
 //这里一直在解码，一直检查双缓冲里面是否有数据，有就解码，没有就休息

MavLinkNode/rtkprocess.cpp

@@ -12,6 +12,7 @@ rtkprocess::rtkprocess(QObject *parent) : ThreadTemplet(parent)
 rtkprocess::~rtkprocess()
 {
     stop();
+
 }
 
 void rtkprocess::setID(int m_sysid,int m_compid)