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修正buffer里面的数据处理方式，以前那个清除之后指针丢失

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This commit is contained in:
hm
2020-08-06 16:44:49 +08:00
parent ecb73699cd
commit 6db2b44969
10 changed files with 153 additions and 52 deletions
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opmap/mapwidget/opmapwidget.cpp
+103 -29
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@@ -1267,6 +1267,8 @@ void OPMapWidget::WPFollowPrevious(bool flag,WayPointItem *w)
//先清除再读取
void OPMapWidget::WPLoad(QString path)//带文件目录参数
{
//清除所有
WPDeleteAll();
qDebug() << "WPLoad" << path;
//读取
QFile jsonFile(path);
@@ -1288,11 +1290,70 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
QJsonObject json = doc.object();
//解码
QJsonArray itemValue = json.value("mission").toObject().value("items").toArray();
QJsonArray itemsArray = json.value("mission").toObject().value("items").toArray();
for(QJsonValue item: itemsArray) {
if (!item.isObject()) {
return;
}
uint8_t AMSLAltAboveTerrain = item.toObject().find("AMSLAltAboveTerrain").value().toInt();
uint8_t Altitude = item.toObject().find("Altitude").value().toDouble();
uint8_t AltitudeMode = item.toObject().find("AltitudeMode").value().toInt();
uint8_t autocontinue = item.toObject().find("autoContinue").value().toInt();//bool
uint8_t command = item.toObject().find("command").value().toInt();
uint16_t seq = item.toObject().find("doJumpId").value().toInt();
uint8_t frame = item.toObject().find("frame").value().toInt();
QJsonArray params = item.toObject().find("params").value().toArray();//array
uint8_t mission_type = item.toObject().find("type").value().toInt();
float param1 = params.at(0).toDouble();
float param2 = params.at(1).toDouble();
float param3 = params.at(2).toDouble();
float param4 = params.at(3).toDouble();
float x = params.at(4).toDouble();
float y = params.at(5).toDouble();
float z = params.at(6).toDouble();
internals::PointLatLng LatLng;
LatLng.SetLat(x);
LatLng.SetLng(y);
WayPointItem *Item = WPCreate(LatLng,z);
Item->SetNumber(seq);
if(command > MAV_CMD::MAV_CMD_NAV_LAST)
{
}
else
{
//WPLineCreate(WPFind(Item->Number() - 1),Item,Qt::green,false,2);
}
//Item->setParent(map);
emit setWPProperty(param1,param2,param3,param4,
x,y,z,
seq,
0,
command,
0,
0,
frame,
0,
autocontinue,
mission_type);
}
qDebug() << itemValue;
}
@@ -1322,41 +1383,52 @@ void OPMapWidget::WPSave(QString path)//带文件目录参数
{
QJsonArray items;
QJsonArray plannedHomePosition;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {//逐渐往下增加
//存到items
QJsonArray params;
params.append(w->Param1());
params.append(w->Param2());
params.append(w->Param3());
params.append(w->Param4());
params.append(w->Coord().Lat());
params.append(w->Coord().Lng());
params.append(w->Alt());
//可能有点问题
QJsonObject item;
item.insert("AMSLAltAboveTerrain",0);
item.insert("Altitude",w->Alt());
item.insert("AltitudeMode",1);
item.insert("autoContinue",w->AutoContinue());
item.insert("command",w->Command());
item.insert("doJumpId",w->Number());
item.insert("frame",w->Frame());
item.insert("params",params);
item.insert("type","SimpleItem");
if(w->Number()>0)
{
//这里有问题
items.append(item);
//存到items
QJsonArray params;
params.append(w->Param1());
params.append(w->Param2());
params.append(w->Param3());
params.append(w->Param4());
params.append(w->Coord().Lat());
params.append(w->Coord().Lng());
params.append(w->Alt());
//可能有点问题
QJsonObject item;
item.insert("AMSLAltAboveTerrain",0);
item.insert("Altitude",w->Alt());
item.insert("AltitudeMode",1);
item.insert("autoContinue",w->AutoContinue()?true:false);
item.insert("command",w->Command());
item.insert("doJumpId",w->Number());
item.insert("frame",w->Frame());
item.insert("params",params);
item.insert("type","SimpleItem");
//这里有问题
items.append(item);
}
else
{
plannedHomePosition.append(w->Coord().Lat());
plannedHomePosition.append(w->Coord().Lng());
plannedHomePosition.append(w->Alt());
}
}
}
QJsonArray plannedHomePosition;
plannedHomePosition.append(0);
plannedHomePosition.append(1);
plannedHomePosition.append(2);
mission.insert("cruiseSpeed",2);
@@ -1504,6 +1576,8 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
WayPointItem *Item = WPCreate(LatLng,z);
Item->SetNumber(seq+1);
if(command > MAV_CMD::MAV_CMD_NAV_LAST)
{
@@ -1518,7 +1592,7 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
emit setWPProperty(param1,param2,param3,param4,
x,y,z,
seq,
seq+1,
group,
command,
target_system,