线程操作加锁

MavLinkNode/parameterprocess.cpp

@@ -63,14 +63,14 @@ void ParameterProcess::process()//线程函数
     while (running_flag)
     {
          count ++;
-         QThread::msleep(1000.0/running_frq);
+         //QThread::msleep(1000.0/running_frq);
 
          switch(status.m_Mode)
          {
             default:
-            case Nop_Mode     :break;
-            case RecieveMode  : ReadStateMachine();break;
-            case TransmitMode : WriteStateMachine();break;
+            case Nop_Mode     : QThread::yieldCurrentThread();break;
+            case RecieveMode  : ReadStateMachine();QApplication::processEvents();break;
+            case TransmitMode : WriteStateMachine();QApplication::processEvents();break;
          }
 
     }
@@ -176,6 +176,7 @@ void ParameterProcess::Parse(mavlink_message_t msg)
          status.transmit.isWaitingforValue = false;
 
          qDebug() << "param_value" << param_value.param_index << param_value.param_value;
+         emit showMessage(tr("recieve parameter %1 %2").arg(param_value.param_id).arg(param_value.param_value));
     }break;
     case MAVLINK_MSG_ID_PARAM_EXT_ACK:{
          mavlink_msg_param_ext_ack_decode(&msg,&param_ext_ack);
@@ -216,6 +217,8 @@ void ParameterProcess::ReadStateMachine(void)//一整列
        qDebug() << "start reading parameter";
        status.recieve.isWaitingforValue = true;
 
+       emit showMessage(tr("Start Reading Parameters,use All Mode"));
+
        request_list();//一整列,也可以一个,龚老师飞控并不支持这个
 
        step++;
@@ -235,16 +238,19 @@ void ParameterProcess::ReadStateMachine(void)//一整列
 
           if(status.recieve.type == _readtype::All)//如果是ALL的情况下，那么再用单独一个一个去请求一次
           {
+              emit showMessage(tr("Start Reading Parameters,use One Mode"));
               qDebug() << "try One mode";
               status.recieve.type =_readtype::One;
               status.recieve.isWaitingforValue = true;
               time = QTime::currentTime().msecsSinceStartOfDay();
               request_read("xxx",0);//读取0
+
           }
           else
           {
               step = 2;
               qDebug() << "parameter read fail";
+              emit showMessage(tr("Fail to Read Parameters"));
           }
        }
        else//如果没有超时
@@ -282,6 +288,7 @@ void ParameterProcess::ReadStateMachine(void)//一整列
       //停止线程,不能停止
       //stop();
 
+      emit showMessage(tr("Reading parameters complete"));
    }
 }
 
@@ -296,7 +303,7 @@ void ParameterProcess::WriteStateMachine(void)
    {
        //向其他线程或者自己读取航点的数量
        status.transmit.isWaitingforValue = true;
-
+       emit showMessage(tr("write parameter %1,%2").arg(param_set.param_id).arg(param_set.param_value));
        set(param_set.param_id,param_set.param_type,param_set.param_value);//发送一个参数
        time = QTime::currentTime().msecsSinceStartOfDay();
        step++;//下一个阶段