use thread

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);
+
+
+
+}
+*/
+