航线读取状态机完成，无法采用定时器的方式，只能读取当前时间来做时间差判断超时
This commit is contained in:
+146
-146
@@ -1,146 +1,146 @@
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#include "dlink.h"
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#include <string.h>
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//#include "windows.h"
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#include "QDateTime"
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DLink::DLink(QObject *parent) : QObject(parent)
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{
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qDebug() << "Dlink " << QThread::currentThreadId();
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mavlinknode = new MavLinkNode();
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}
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DLink::~DLink()
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{
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mavlinknode->stop();
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delete mavlinknode;
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}
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int DLink::SendMessageTo(uint8_t, uint8_t *msg, uint16_t len)
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{
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if (DLink::Clientsock)
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{
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foreach(Node node,clientSockets)
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{
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DLink::Clientsock->writeDatagram((const char *)msg, len,
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node.addr, node.port);
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}
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}
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if (DLink::serialPort)
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{
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DLink::serialPort->write((const char *)msg,len);
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}
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return 0;
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}
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void DLink::setupPort(const QString port, qint32 baudrate, QSerialPort::Parity parity)
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{
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if (serialPort)
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{
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serialPort->close();
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delete serialPort;
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}
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serialPort = new QSerialPort(port,this);
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if (serialPort->open(QIODevice::ReadWrite))
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{
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serialPort->setBaudRate(baudrate);
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serialPort->setParity(parity);
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serialPort->setDataBits(QSerialPort::Data8);
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serialPort->setStopBits(QSerialPort::OneStop);
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mavlinknode->start();
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connect(serialPort, SIGNAL(readyRead()), this, SLOT(readPendingDatagramsSerialPort()));
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qDebug() << "Serial Port Open Success";
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}
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else
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{
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qDebug() << "Serial Port Open Fail";
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delete serialPort;
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serialPort = nullptr;
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}
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}
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bool DLink::statesPort()
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{
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return (serialPort != nullptr)?(true):(false);
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}
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void DLink::stopPort()
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{
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serialPort->close();
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delete serialPort;
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serialPort = nullptr;
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}
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void DLink::setupClient(const QHostAddress &remote_addr, int remote_port, int local_port)
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{
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Clientsock = new QUdpSocket(this);
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if (Clientsock->bind(QHostAddress::Any, local_port))
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{
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if(Clientsock->open(QIODevice::ReadWrite))
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{
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connect(Clientsock, SIGNAL(readyRead()),
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this, SLOT(readPendingDatagramsClient()));
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Node node;
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node.sock = Clientsock;
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node.addr = remote_addr;
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node.port = remote_port;
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clientSockets.append(node);
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qDebug() << "UdpSocket open:"
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<< remote_addr
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<< local_port
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<< remote_port;
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mavlinknode->start();
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}
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else
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{
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qDebug() << "sock not open";
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}
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}
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else
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{
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qWarning("sock is not binded.");
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delete Clientsock;
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}
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}
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void DLink::readPendingDatagramsSerialPort(void)
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{
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QByteArray datagram = serialPort->readAll();
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mavlinknode->setbuff(SourceType::s_port,datagram);
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}
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void DLink::readPendingDatagramsClient(void)
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{
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//轮番查询
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while (Clientsock->hasPendingDatagrams()) {
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QByteArray datagram;
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datagram.resize(Clientsock->pendingDatagramSize());
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Clientsock->readDatagram(datagram.data(), datagram.size());
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mavlinknode->setbuff(SourceType::c_sock,datagram);
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}
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}
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#include "dlink.h"
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#include <string.h>
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//#include "windows.h"
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#include "QDateTime"
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DLink::DLink(QObject *parent) : QObject(parent)
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{
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qDebug() << "Dlink " << QThread::currentThreadId();
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mavlinknode = new MavLinkNode(this);
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}
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DLink::~DLink()
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{
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mavlinknode->stop();
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delete mavlinknode;
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}
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int DLink::SendMessageTo(uint8_t, uint8_t *msg, uint16_t len)
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{
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if (DLink::Clientsock)
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{
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foreach(Node node,clientSockets)
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{
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DLink::Clientsock->writeDatagram((const char *)msg, len,
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node.addr, node.port);
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}
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}
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if (DLink::serialPort)
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{
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DLink::serialPort->write((const char *)msg,len);
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}
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return 0;
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}
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void DLink::setupPort(const QString port, qint32 baudrate, QSerialPort::Parity parity)
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{
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if (serialPort)
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{
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serialPort->close();
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delete serialPort;
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}
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serialPort = new QSerialPort(port,this);
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if (serialPort->open(QIODevice::ReadWrite))
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{
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serialPort->setBaudRate(baudrate);
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serialPort->setParity(parity);
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serialPort->setDataBits(QSerialPort::Data8);
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serialPort->setStopBits(QSerialPort::OneStop);
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mavlinknode->start();
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connect(serialPort, SIGNAL(readyRead()), this, SLOT(readPendingDatagramsSerialPort()));
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qDebug() << "Serial Port Open Success";
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}
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else
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{
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qDebug() << "Serial Port Open Fail";
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delete serialPort;
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serialPort = nullptr;
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}
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}
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bool DLink::statesPort()
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{
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return (serialPort != nullptr)?(true):(false);
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}
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void DLink::stopPort()
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{
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serialPort->close();
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delete serialPort;
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serialPort = nullptr;
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}
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void DLink::setupClient(const QHostAddress &remote_addr, int remote_port, int local_port)
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{
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Clientsock = new QUdpSocket(this);
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if (Clientsock->bind(QHostAddress::Any, local_port))
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{
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if(Clientsock->open(QIODevice::ReadWrite))
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{
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connect(Clientsock, SIGNAL(readyRead()),
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this, SLOT(readPendingDatagramsClient()));
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Node node;
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node.sock = Clientsock;
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node.addr = remote_addr;
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node.port = remote_port;
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clientSockets.append(node);
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qDebug() << "UdpSocket open:"
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<< remote_addr
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<< local_port
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<< remote_port;
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mavlinknode->start();
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}
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else
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{
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qDebug() << "sock not open";
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}
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}
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else
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{
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qWarning("sock is not binded.");
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delete Clientsock;
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}
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}
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void DLink::readPendingDatagramsSerialPort(void)
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{
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QByteArray datagram = serialPort->readAll();
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mavlinknode->setbuff(SourceType::s_port,datagram);
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}
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void DLink::readPendingDatagramsClient(void)
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{
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//轮番查询
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while (Clientsock->hasPendingDatagrams()) {
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QByteArray datagram;
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datagram.resize(Clientsock->pendingDatagramSize());
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Clientsock->readDatagram(datagram.data(), datagram.size());
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mavlinknode->setbuff(SourceType::c_sock,datagram);
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}
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}
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//在这里做一个检查缓冲区有没有数，有数据就往上发的一个函数
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//dlink底下的所有协议都可以往这个缓存发数据
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+73
-78
@@ -1,78 +1,73 @@
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#ifndef DLINK_H
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#define DLINK_H
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#include <QObject>
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#include "QtSerialPort"
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#include <QHostAddress>
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#include <QUdpSocket>
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#include "QDebug"
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#include "mavlinknode.h"
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#ifdef QtDlink
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#include <dlinkglobal.h>
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class DLINKSHARED_EXPORT DLink : public QObject {
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#else
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class DLink : public QObject
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{
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#endif
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Q_OBJECT
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struct Node{
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QUdpSocket * sock;
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QHostAddress addr;
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quint16 port;
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};
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public:
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explicit DLink(QObject *parent = nullptr);
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~DLink();
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void setupPort(const QString port, qint32 baudrate, QSerialPort::Parity parity);
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bool statesPort();
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void stopPort();
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void setupClient(const QHostAddress &remote_addr, int remote_port, int local_port);
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int SendMessageTo(uint8_t, uint8_t *msg, uint16_t len);
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MavLinkNode *mavlinknode = nullptr;
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signals:
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public slots:
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void readPendingDatagramsSerialPort(void);
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void readPendingDatagramsClient(void);
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protected:
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enum SourceType{
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c_sock = 0,
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s_port = 1
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};
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QSerialPort *serialPort = nullptr;
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QUdpSocket *Clientsock = nullptr;
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QList<Node> clientSockets;
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};
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#endif // DLINK_H
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#ifndef DLINK_H
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#define DLINK_H
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#include <QObject>
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#include "QtSerialPort"
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#include <QHostAddress>
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#include <QUdpSocket>
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#include "QDebug"
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#include "mavlinknode.h"
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#ifdef QtDlink
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#include <dlinkglobal.h>
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class DLINKSHARED_EXPORT DLink : public QObject {
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#else
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class DLink : public QObject
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{
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#endif
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Q_OBJECT
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struct Node{
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QUdpSocket * sock;
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QHostAddress addr;
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quint16 port;
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};
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public:
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explicit DLink(QObject *parent = nullptr);
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~DLink();
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void setupPort(const QString port, qint32 baudrate, QSerialPort::Parity parity);
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bool statesPort();
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void stopPort();
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void setupClient(const QHostAddress &remote_addr, int remote_port, int local_port);
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int SendMessageTo(uint8_t, uint8_t *msg, uint16_t len);
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MavLinkNode *mavlinknode = nullptr;
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signals:
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public slots:
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void readPendingDatagramsSerialPort(void);
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void readPendingDatagramsClient(void);
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protected:
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enum SourceType{
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c_sock = 0,
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s_port = 1
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};
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QSerialPort *serialPort = nullptr;
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QUdpSocket *Clientsock = nullptr;
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QList<Node> clientSockets;
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};
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#endif // DLINK_H
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Reference in New Issue
Block a user