打包保存数据

MavLinkNode/ThreadTemplet.cpp

@@ -9,6 +9,9 @@ ThreadTemplet::ThreadTemplet(QObject *parent) : QObject(parent)
 
     initbuff();
     start();
+
+    Parser2_init(&parser);
+    Packer2_init(&packer);
 }
 
 ThreadTemplet::~ThreadTemplet()
@@ -115,10 +118,60 @@ void ThreadTemplet::Send(mavlink_message_t msg)
         uint8_t buff[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
         uint16_t len = mavlink_msg_to_send_buffer(buff, &msg);
 
+        if(plogFileName.size() > 0)
+        {
+            setLogData(plogFileName,1,msg);
+        }
+
         emit SendMessageTo(0,buff, len);//使用信号和槽
     }
 }
 
+bool ThreadTemplet::setLogData(QString name,uint8_t type,mavlink_message_t msg)
+{
+    mutex.lock();
+    QFile file(name);
+    if(file.open(QIODevice::Append))
+    {
+        uint8_t buff[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
+        qToLittleEndian(type, buff);
+
+
+        quint64 currentTimestamp = (quint64)QDateTime::currentMSecsSinceEpoch();
+        qToLittleEndian(currentTimestamp, buff+1);
+        uint16_t len = mavlink_msg_to_send_buffer(buff+1+sizeof(quint64), &msg);
+
+        auto size  = Packer2_pack(&packer,1,buff,len+1+sizeof(quint64));
+
+
+        QByteArray data;
+        data.clear();
+        data.append((const char *)packer.buff,size);
+
+
+        QDataStream stream(&file);
+
+        stream << data;
+
+        /*
+        if (file.write((const char *)packer.buff, size) == size)
+        {
+
+        }
+        */
+
+        file.flush();
+        file.close();
+        mutex.unlock();
+        return true;
+    }
+
+    mutex.unlock();
+    return false;
+}
+
+
+
 
 void ThreadTemplet::initbuff(void)
 {

MavLinkNode/ThreadTemplet.h

@@ -6,7 +6,12 @@
 #include "QFile"
 #include "QDebug"
 #include "mavlink.h"
-
+#include "QtEndian"
+#include "QDataStream"
+#include "QFile"
+#include "QDateTime"
+#include "ParsePack.h"
+#include "QMutex"
 
 #ifdef QtMavlinkNode
 #include <mavlinknodeglobal.h>
@@ -57,6 +62,10 @@ public slots:
         return running_frq;
     }
 
+    void setPlogName(QString name)
+    {
+        plogFileName = name;
+    }
 
     //缓存对外接口
     Q_INVOKABLE void setbuff(quint32 src,QByteArray data);
@@ -66,6 +75,8 @@ public slots:
 
     void Send(mavlink_message_t msg);
 
+    bool setLogData(QString name, uint8_t type, mavlink_message_t msg);
+
 private slots:
    //线程私有接口
    virtual void process();
@@ -127,5 +138,12 @@ protected:
     uint8_t sysid;
     uint8_t compid;
 
+    Parser2_t parser;
+    Packer2_t packer;
+
+    QString plogFileName;
+
+    QMutex mutex;
+
 };
 #endif // THREADTEMPLET_H

MavLinkNode/mavlinknode.cpp

@@ -85,6 +85,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
 
     Mission = new MissionProcess();
     Mission->setGCSID(Current_sysID,Current_CompID);
+    Mission->setPlogName(plogFileName);
     connect(Mission,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
            this,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);
 
@@ -96,6 +97,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
 
     Parameter = new ParameterProcess();
     Parameter->setGCSID(Current_sysID,Current_CompID);
+    Parameter->setPlogName(plogFileName);
     connect(Parameter,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
            this,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);
 
@@ -104,6 +106,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
 
     Commander = new commandprocess();
     Commander->setGCSID(Current_sysID,Current_CompID);
+    Commander->setPlogName(plogFileName);
     connect(Commander,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
             this,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);
 
@@ -115,6 +118,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
 
     Status = new statusprocess();
     Status->setGCSID(Current_sysID,Current_CompID);
+    Status->setPlogName(plogFileName);
     connect(Status,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
             this,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);
 
@@ -127,6 +131,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
 
     Terminal = new terminal();
     Terminal->setGCSID(Current_sysID,Current_CompID);
+    Terminal->setPlogName(plogFileName);
     connect(Terminal,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
             this,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);
 
@@ -138,7 +143,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
 
     RC = new rcprocess();
     RC->setGCSID(Current_sysID,Current_CompID);
-
+    RC->setPlogName(plogFileName);
     connect(RC,&rcprocess::SendMessageTo,
             this,&MavLinkNode::SendMessageTo,Qt::DirectConnection);
 
@@ -152,7 +157,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
 
     rtk = new rtkprocess();
     rtk->setGCSID(Current_sysID,Current_CompID);
-
+    rtk->setPlogName(plogFileName);
     connect(rtk,&rtkprocess::SendMessageTo,
             this,&MavLinkNode::SendMessageTo,Qt::DirectConnection);
 
@@ -167,8 +172,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
     qDebug() << "mavlink" << QThread::currentThreadId();
 
 
-    Parser2_init(&parser);
-    Packer2_init(&packer);
+
 
 
 }
@@ -567,36 +571,6 @@ void MavLinkNode::LogTimerOut(void)
     */
 }
 
-bool MavLinkNode::setLogData(QString name,uint8_t type,mavlink_message_t msg)
-{
-    QFile file(name);
-    if(file.open(QIODevice::Append))
-    {
-        uint8_t buff[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
-        qToLittleEndian(type, buff);
-
-
-        quint64 currentTimestamp = (quint64)QDateTime::currentMSecsSinceEpoch();
-        qToLittleEndian(currentTimestamp, buff+1);
-        uint16_t len = mavlink_msg_to_send_buffer(buff+1+sizeof(quint64), &msg);
-
-        auto size  = Packer2_pack(&packer,1,buff,len+1+sizeof(quint64));
-
-        QByteArray data;
-        data.clear();
-        data.append((const char *)packer.buff,size);
-
-        QDataStream stream(&file);
-
-        stream << data;
-
-        file.flush();
-        file.close();
-    }
-    return false;
-}
-
-
 
 void MavLinkNode::timer_1s_Out(void)
 {

MavLinkNode/mavlinknode.h

@@ -21,7 +21,6 @@
 
 #include "ThreadTemplet.h"
 
-#include "ParsePack.h"
 
 #ifdef QtMavlinkNode
 #include <mavlinknodeglobal.h>
@@ -273,7 +272,7 @@ private slots:
    void timer_1s_Out(void);
 
 
-   bool setLogData(QString name, uint8_t type, mavlink_message_t msg);
+
 
    //解析
    void Mavlinkparse(quint32 src,QByteArray datagram);
@@ -320,12 +319,9 @@ protected:
     QString mavlogFileName;
     QFile *mavLogFile = NULL;
 
-    QString plogFileName;
-
     QTimer *logTimer = nullptr;
 
-    Parser2_t parser;
-    Packer2_t packer;
+
 
     QTimer *timer_1s = nullptr;