添加心跳发送

MavLinkNode/statusprocess.h

@@ -0,0 +1,140 @@
+#ifndef STATUSPROCESS_H
+#define STATUSPROCESS_H
+
+#include <QObject>
+
+#include "QDebug"
+#include "QThread"
+#include "mavlink.h"
+#include "QTimer"
+#include "QTime"
+
+
+#ifdef QtMavlinkNode
+#include <mavlinknodeglobal.h>
+class MAVLINKNODESHARED_EXPORT statusprocess : public QObject {
+#else
+class statusprocess : public QObject
+{
+#endif
+    Q_OBJECT
+
+    enum _modetype {
+        Nop_Mode = 0,
+        RecieveMode,
+        TransmitMode
+    };
+
+
+    typedef struct {
+        //bool isWaitingforCount;
+        bool isWaitingforValue;
+
+
+    }_recieve;
+
+    typedef struct {
+       bool isWaitingforACK;
+       uint8_t type;
+    }_transmit;
+
+    typedef struct
+    {
+        _recieve recieve;
+        _transmit transmit;
+
+
+        _modetype m_Mode;
+
+    }_command_;
+
+
+
+
+public:
+
+    explicit statusprocess(QObject *parent = nullptr);
+
+    _command_ status;
+
+    void setGCSID(int m_sysid, int m_compid)
+    {
+        Current_sysID = m_sysid;
+        Current_CompID = m_compid;
+    }
+
+
+
+    mavlink_heartbeat_t m_heartbeat;
+
+public slots:
+
+    void setID(int m_sysid, int m_compid);
+
+    //读取和写入指令
+    //void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
+    void setHeartbeat(QVariant state, QVariant frq );
+
+
+
+    //线程对外接口
+    void setRunFrq(uint32_t frq);
+    void start();
+    void stop();
+    bool isActive(void)
+    {
+        return running_flag;
+    }
+
+
+private slots:
+   //线程私有接口
+   void SendMessage(mavlink_message_t msg);
+
+   void process();
+
+   //状态机
+   void ReadStateMachine(void);
+   void WriteStateMachine(void);
+
+
+   //所有相关函数
+   void heartbeat(uint32_t custom_mode,
+                  uint8_t type,
+                  uint8_t autopilot,
+                  uint8_t base_mode,
+                  uint8_t system_status,
+                  uint8_t mavlink_version);
+
+
+signals:
+   void readError();
+
+   void SendMessageTo(quint8 ch, quint8 *data,quint16 len);
+
+   void commandAccepted(bool flag,uint16_t command,uint8_t result);
+
+   void showMessage(const QString &message,int TimeOut = 0);
+
+private:
+   bool running_flag = false;
+   quint32 running_frq = 200;//200Hz
+   QThread *thread = nullptr;
+
+   //目标id
+   uint8_t sysid;
+   uint8_t compid;
+
+   //本机的id
+   int Current_sysID = 0xF1;
+   int Current_CompID = 0xF1;
+
+   //超时时间（ms）
+   int readTimeout = 5000;
+   int sendTimeout = 5000;
+
+
+
+};
+
+#endif // STATUSPROCESS_H