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参数可以读写

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Company
2020-06-08 12:12:18 +08:00
parent 8215407015
commit 7df5b6bc98
3 changed files with 219 additions and 5 deletions
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MavLinkNode/ParameterInspector/ParameterInspector.cpp
+202 -5
View File
@@ -172,7 +172,7 @@ void ParameterInspector::refreshView()//来一个参数更新一次
QTreeWidgetItem* paraItem = new QTreeWidgetItem();
paraItem->setData(0,Qt::DisplayRole,param_id(param.param_id));
paraItem->setData(1,Qt::DisplayRole,param_value(param));
paraItem->setData(2,Qt::DisplayRole,param.param_type);
paraItem->setData(2,Qt::DisplayRole,param_type(param));
widgetitems.insert(param.param_index,paraItem);
}
}
@@ -306,6 +306,201 @@ QVariant ParameterInspector::param_value(mavlink_param_value_t param)
return value;
}
float ParameterInspector::param_getvalue(QVariant param,uint8_t type)
{
float value;
union {
uint8_t u8[8];
int8_t i8[8];
uint16_t u16[4];
int16_t i16[4];
uint32_t u32[2];
int32_t i32[2];
uint64_t u64;
int64_t i64;
float f[2];
double d;
}src;
//src.f[0] = param.toInt();
qDebug() << src.f[0];
switch (type)
{
case MAV_PARAM_TYPE_UINT8:
{
src.u8[0] = param.toUInt();
((uint8_t *)&value)[0] = src.u8[0];
}break;
case MAV_PARAM_TYPE_INT8:
{
src.i8[0] = param.toUInt();
((int8_t *)&value)[0] = src.i8[0];
}break;
case MAV_PARAM_TYPE_UINT16:
{
src.u16[0] = param.toUInt();
((uint16_t *)&value)[0] = src.u16[0];
}break;
case MAV_PARAM_TYPE_INT16:
{
src.i16[0] = param.toUInt();
((int16_t *)&value)[0] = src.i16[0];
}break;
case MAV_PARAM_TYPE_UINT32:
{
src.u32[0] = param.toUInt();
((uint32_t *)&value)[0] = (uint32_t)src.u32[0];
}break;
case MAV_PARAM_TYPE_INT32:
{
src.i32[0] = param.toUInt();
((int32_t *)&value)[0] = (int32_t)src.i32[0];
}break;
case MAV_PARAM_TYPE_UINT64:
{
src.u64 = param.toUInt();
((uint64_t *)&value)[0] = (uint64_t )src.u64;
}break;
case MAV_PARAM_TYPE_INT64:
{
src.i64 = param.toUInt();
((int64_t *)&value)[0] = (int64_t)src.i64;
}break;
case MAV_PARAM_TYPE_REAL32:
{
src.f[0] = param.toFloat();
((float *)&value)[0] = (float)src.f[0];
}break;
case MAV_PARAM_TYPE_REAL64:
{
src.d = param.toDouble();
((double *)&value)[0]= (double)src.d;
}break;
default:
{
src.i32[0] = param.toUInt();
((int32_t *)&value)[0] = (int32_t)src.i32[0];
}break;
}
return value;
}
QVariant ParameterInspector::param_type(mavlink_param_value_t param)
{
QVariant value;
switch (param.param_type)
{
case MAV_PARAM_TYPE_UINT8:
{
value = "uint8";
}break;
case MAV_PARAM_TYPE_INT8:
{
value = "int8";
}break;
case MAV_PARAM_TYPE_UINT16:
{
value = "uint16";
}break;
case MAV_PARAM_TYPE_INT16:
{
value = "int16";
}break;
case MAV_PARAM_TYPE_UINT32:
{
value = "uint32";
}break;
case MAV_PARAM_TYPE_INT32:
{
value = "int32";
}break;
case MAV_PARAM_TYPE_UINT64:
{
value = "uint64";
}break;
case MAV_PARAM_TYPE_INT64:
{
value = "int64";
}break;
case MAV_PARAM_TYPE_REAL32:
{
value = "float";
}break;
case MAV_PARAM_TYPE_REAL64:
{
value = "double";
}break;
default:
{
value = "unknow";
}break;
}
return value;
}
uint8_t ParameterInspector::param_gettype(QVariant type)
{
uint8_t value;
if(type.toString() == "uint8")
{
value = MAV_PARAM_TYPE_UINT8;
}
else if(type.toString() == "int8")
{
value = MAV_PARAM_TYPE_INT8;
}
else if(type.toString() == "uint16")
{
value = MAV_PARAM_TYPE_UINT16;
}
else if(type.toString() == "int16")
{
value = MAV_PARAM_TYPE_INT16;
}
else if(type.toString() == "uint32")
{
value = MAV_PARAM_TYPE_UINT32;
}
else if(type.toString() == "int32")
{
value = MAV_PARAM_TYPE_INT32;
}
else if(type.toString() == "uint64")
{
value = MAV_PARAM_TYPE_UINT64;
}
else if(type.toString() == "int64")
{
value = MAV_PARAM_TYPE_INT64;
}
else if(type.toString() == "float")
{
value = MAV_PARAM_TYPE_REAL32;
}
else if(type.toString() == "double")
{
value = MAV_PARAM_TYPE_REAL64;
}
else if(type.toString() == "unknow")
{
value = 0;
}
return value;
}
char* ParameterInspector::param_id(char *id)//设置id,如果id小于16，那么能够找到/0，如果等于或者大于，那么会找不到，因此乱码
{
@@ -348,7 +543,7 @@ void ParameterInspector::on_treeWidget_itemDoubleClicked(QTreeWidgetItem *item,
parentItem = item->parent()->data(0,Qt::DisplayRole).toString();
currentSelectType = item->data(2,Qt::DisplayRole).toUInt();
currentSelectType = param_gettype(item->data(2,Qt::DisplayRole));
}
}
@@ -364,11 +559,13 @@ void ParameterInspector::on_WriteButton_clicked()
QString parentid = parentItem.mid(8);
uint8_t sysid = parentid.toInt();
char *id = ui->SearchlineEdit->text().toLatin1().data();
//char *id = ui->SearchlineEdit->text().toLatin1().data();
float value = ui->ValuelineEdit->text().toFloat();
//qDebug() << id;
emit WriteCmd(sysid,1,id,currentSelectType,value);
float value = param_getvalue(ui->ValuelineEdit->text().toFloat(),currentSelectType);
emit WriteCmd(sysid,1,ui->SearchlineEdit->text().toLatin1().data(),currentSelectType,value);
//读取是哪设备，是哪个参数，然后发送出去
}
MavLinkNode/ParameterInspector/ParameterInspector.h
+7
View File
@@ -141,6 +141,13 @@ private slots:
QVariant param_value(mavlink_param_value_t param);
float param_getvalue(QVariant param,uint8_t type);
QVariant param_type(mavlink_param_value_t param);
uint8_t param_gettype(QVariant type);
char* param_id(char *id);
MavLinkNode/parameterprocess.cpp
+10
View File
@@ -132,8 +132,18 @@ void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,const char *i
status.m_Mode = TransmitMode;//发送模式
/*
if(sizeof(id) < 16)
{
memcpy(param_set.param_id,id,sizeof(id));
}
else
{
}
*/
memcpy(param_set.param_id,id,16);
param_set.param_type = type;
param_set.param_value = value;