缓存可能有点问题

MavLinkNode/mavlinknode.cpp

@@ -104,6 +104,13 @@ void MavLinkNode::start()
         running_flag = true;
         Nodethread->start();
         qDebug() << "MavLinkNode thread start" << running_flag;
+
+
+        //启动子线程
+        Mission->start();
+        Parameter->start();
+        Commander->start();
+
     }
     else
     {
@@ -202,14 +209,26 @@ void MavLinkNode::setbuff(quint32 src,QByteArray data)
 QByteArray MavLinkNode::readbuff(quint32 src)
 {
     QByteArray datagram;
+    //QByteArray datagram1;
+
+
+    //datagram1.clear();
+    //qDebug() << "datagram1" << datagram1;
+
+    //datagram.clear();
 
     switch (src) {
     default:
     case SourceType::c_sock:
            if(client_buff.select == 0)
            {
-               datagram.clear();
-               datagram.append(client_buff.buff[1]);
+               //datagram.setRawData(client_buff.buff[1],client_buff.buff[1].size());
+               //datagram.append(client_buff.buff[1]);
+
+               for (QByteArray::const_iterator i = client_buff.buff[1].cbegin(); i != client_buff.buff[1].cend(); ++i)
+               {
+                   datagram.append(*i);
+               }
 
                //清除这个未选择的buff
                client_buff.buff[1].clear();
@@ -218,8 +237,14 @@ QByteArray MavLinkNode::readbuff(quint32 src)
            }
            else if(client_buff.select == 1)
            {
-               datagram.clear();
-               datagram.append(client_buff.buff[0]);
+               //datagram.setRawData(client_buff.buff[0],client_buff.buff[0].size());
+               //datagram.append(client_buff.buff[0]);
+
+               for (QByteArray::const_iterator i = client_buff.buff[0].cbegin(); i != client_buff.buff[0].cend(); ++i)
+               {
+                   datagram.append(*i);
+               }
+
                //清除这个未选择的buff
                client_buff.buff[0].clear();
 
@@ -230,7 +255,6 @@ QByteArray MavLinkNode::readbuff(quint32 src)
     case SourceType::s_port:
            if(serial_buff.select == 0)
            {
-               datagram.clear();
                datagram.append(serial_buff.buff[0]);
                //读取完成，可以往这个内存里面写数了
                serial_buff.buff[1].clear();
@@ -238,7 +262,6 @@ QByteArray MavLinkNode::readbuff(quint32 src)
            }
            else if(serial_buff.select == 1)
            {
-               datagram.clear();
                datagram.append(serial_buff.buff[0]);
                //读取完成，可以往这个内存里面写数了
                serial_buff.buff[0].clear();
@@ -261,7 +284,6 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
         {
             emit recievemsg(msg);                    //将信息广播出去
             MAVLinkRcv_Handler(msg);                 //接收完一帧数据并处理
-
         }
         else
         {