添加定时器

MavLinkNode/mavlinknode.cpp

@@ -28,6 +28,24 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
     int Current_sysID = 0xFB;
     int Current_CompID = MAV_COMP_ID_MISSIONPLANNER;
 
+    CommucationOverTimer = 5000;
+
+
+    timer = new QTimer(this);
+    timer->moveToThread(thread);
+    timer->setInterval(CommucationOverTimer);
+
+    connect(thread, SIGNAL(started()), timer, SLOT(start()));
+    connect(timer,SIGNAL(timeout()),
+            this,SLOT(TimerOut,Qt::DirectConnection));
+
+    //timer->start();
+
+    qDebug() << "start timer";
+
+
+    //comm
+
     replay = new Replay();
     connect(replay,SIGNAL(readReady()),
             this,SLOT(readPendingDatagramsReplay()),Qt::DirectConnection);
@@ -63,6 +81,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
     connect(Commander,SIGNAL(showMessage(QString,int)),
             this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
 
+    isCommunicationLost = false;
 
     showMessage(tr("解锁才能有航迹，需要修正,示波器显示时间不对"));
 }
@@ -117,6 +136,13 @@ MavLinkNode::~MavLinkNode()
         }
     }
 
+    if(timer)
+    {
+        timer->stop();
+        delete timer;
+    }
+
+
     if(thread->isRunning())
     {
         thread->quit();
@@ -160,6 +186,8 @@ void MavLinkNode::start()
         qDebug() << "MavLinkNode thread start" << running_flag;
 
 
+
+
         if(replay)
         {
             replay->start();
@@ -210,6 +238,8 @@ void MavLinkNode::stop()
 //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
 void MavLinkNode::process()//线程函数
 {
+
+
     uint8_t count = 0;
     QByteArray datagram = nullptr;
     while (running_flag)
@@ -244,6 +274,13 @@ void MavLinkNode::process()//线程函数
     thread->wait();
 }
 
+void MavLinkNode::TimerOut(void)
+{
+    isCommunicationLost = true;
+    qDebug() << "timeout" << "communication lost";
+}
+
+
 void MavLinkNode::initbuff(void)
 {
     client_buff.max_size = 10 * 1024 *1024;//10M
@@ -358,6 +395,10 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
             count++;
             if(msg.sysid < 250)             //过滤地面站发过来的数据
             {
+                //timer->start();
+                isCommunicationLost = true;
+
+
                 MAVLinkRcv_Handler(msg);                 //接收完一帧数据并处理
                 emit recievemsg(msg);                    //将信息广播出去
             }