use thread

App/mainwindow.cpp

@@ -58,6 +58,10 @@ MainWindow::MainWindow(QWidget *parent)
             this,SLOT(dlink_triggered()));
 
 
+    MavLinkNode *node = new MavLinkNode();
+
+
+     qDebug() << "mainwindow " <<  QThread::currentThreadId();
    //this->layout()->addWidget(connectpush);
    //this->layout()->addWidget(disconnectpush);
    //this->setLayout(layout);

App/mainwindow.h

@@ -8,7 +8,7 @@
 
 #include "mavlinknode.h"
 
-
+#include "QThread"
 
 
 class MainWindow : public QMainWindow
@@ -35,6 +35,7 @@ protected:
     Cockpit *copk;
 
 
+
 };
 
 #endif // MAINWINDOW_H

Cockpit/Cockpit.cpp

@@ -230,16 +230,16 @@ void Cockpit::paintEvent(QPaintEvent *)
     painter.scale(side / 2000.0, side / 2000.0);	/* 比例缩放 */
     painter.setPen(Qt::NoPen);
 
-    drawAttitude(&painter);
-    drawYawScale(&painter);
-    drawScale(&painter);
-    drawCenterLine(&painter);
+    //drawAttitude(&painter);
+    //drawYawScale(&painter);
+    //drawScale(&painter);
+    //drawCenterLine(&painter);
     //drawText(&painter);
     //drawGPS(&painter);
     //drawHight(&painter);
     //drawSpeed(&painter);
     //drawBattery(&painter);
-    drawLed(&painter);
+    //drawLed(&painter);
     //drawProtect(&painter);
 
 

GCS.pro

@@ -1,15 +1,21 @@
 
 TEMPLATE = subdirs
 
-SUBDIRS += App
-SUBDIRS += SerialPortDialog
-SUBDIRS += ClientLinkDialog
-SUBDIRS += Skin
 
-SUBDIRS += qnavigationwidget
+CONFIG += ordered
 
-SUBDIRS += Cockpit
 
 
 SUBDIRS += MavLinkNode
+SUBDIRS += SerialPortDialog
+SUBDIRS += ClientLinkDialog
+SUBDIRS += Skin
+SUBDIRS += qnavigationwidget
+SUBDIRS += Cockpit
 
+
+
+
+
+
+SUBDIRS += App

MavLinkNode/mavlinknode.cpp

@@ -2,29 +2,62 @@
 
 MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
 {
-      this->run();
+    Nodethread = new QThread();
+
+
+    this->moveToThread(Nodethread);
+
+    Nodethread->start();
+
+
+    connect(Nodethread, &QThread::started, this, &MavLinkNode::process);
+
+    connect(Nodethread, &QThread::finished, this, &QObject::deleteLater);
+
+
+     qDebug() << "MavLink " <<  QThread::currentThreadId();
+
 }
 
-
-
-
-
-
-
-int MavLinkNode::run()//线程函数
+MavLinkNode::~MavLinkNode()
 {
-       while(1)
-       {
-            qDebug() << "run 1ms";
-            QThread::sleep(1);
-       }
-
-       return 0;
+    if(Nodethread->isRunning())
+    {
+        Nodethread->quit();
+        Nodethread->wait();
+    }
 }
 
 
 
 
+//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;
+    while (1) {
+
+     qDebug() << "Process " <<  QThread::currentThreadId();
+     count ++;
+     qDebug() << "run 1ms"  << count;
+     QThread::msleep(1000);
+
+    }
+
+}
+
+/*
+void MavLinkNode::start()//线程函数
+{
+
+            qDebug() << "run 1ms";
+            QThread::msleep(1000);
+
+
+
+}
+*/
+
 
 
 

MavLinkNode/mavlinknode.h

@@ -12,20 +12,20 @@ class MavLinkNode : public QObject
     Q_OBJECT
 public:
     explicit MavLinkNode(QObject *parent = nullptr);
+    ~MavLinkNode();
 
 
-
-
+    //void start();
 
 signals:
 
 public slots:
-
+    void process();
 
 protected:
-    int run();
 
 
+    QThread *Nodethread;
 
 
 };