表格完善，测量功能添加

App/MissionUI/MissionUI.cpp

@@ -17,11 +17,6 @@ MissionUI::MissionUI(QWidget *parent) :
     this->setStyleSheet(stylesheet);
     file.close();
 
-    //this->setFocus();
-    //this->setFocusPolicy(Qt::StrongFocus);
-
-
-
     ui->pushButton_load->setFixedSize(80,40);
     ui->pushButton_save->setFixedSize(80,40);
     ui->pushButton_upload->setFixedSize(80,40);
@@ -67,11 +62,11 @@ MissionUI::MissionUI(QWidget *parent) :
 
              table->setHorizontalHeaderLabels(QStringList() <<tr("number")<<tr("command")<<tr("par1")<<tr("par2")<<tr("par3")<<tr("par4")<<tr("lat")<<tr("lng")<<tr("alt"));
              QHeaderView* V_headerView = table->verticalHeader();
-             V_headerView->setHidden(true);                                 //行名隐藏
+             V_headerView->setHidden(true);                           //行名隐藏
 
              QHeaderView* H_headerView = table->horizontalHeader();
-             H_headerView->setDefaultAlignment(Qt::AlignLeft);              //表头信息显示居中靠左
+             H_headerView->setDefaultAlignment(Qt::AlignLeft);        //表头信息显示居中靠左
-             H_headerView->setHighlightSections(false);//高亮选中内容的所在列标题
+             H_headerView->setHighlightSections(false);               //不高亮选中内容的所在列标题
              H_headerView->setStretchLastSection(true);
 
 
@@ -247,6 +242,8 @@ void MissionUI::setCurrent(int group,int idx)
     {
         widget->selectRow(idx - 1);
     }
+
+    //settableGroup(group);//切换会引起变化事件，导致重新刷新
 }
 
 void MissionUI::settableGroup(int group)
@@ -342,6 +339,35 @@ void MissionUI::on_pushButton_upload_clicked()
 
 void MissionUI::on_pushButton_download_clicked()
 {
+    QTableWidget *widget;
+    //根据tabwidget
+    int tab_idx =ui->tabWidget->currentIndex();
+
+    switch (tab_idx) {
+    case 0:
+        widget = tablelist.value(1);
+        break;
+    case 1:
+        widget = tablelist.value(3);
+        break;
+    case 2:
+        widget = tablelist.value(4);
+        break;
+    case 3:
+        widget = tablelist.value(5);
+        break;
+    case 4:
+        widget = tablelist.value(6);
+        break;
+    default:
+        break;
+    }
+
+    while (widget->rowCount() > 0) {
+        widget->removeRow(widget->currentRow());
+    }
+
+
     emit WPDownload();
 }
 
@@ -471,19 +497,11 @@ void MissionUI::on_pushButton_clean_clicked()
     default:
         break;
     }
-/*
-    int count  = widget->rowCount();
-    for (int i = 0;i < count;i++) {
-          widget->removeRow(i);
-    }
-    */
 
     while (widget->rowCount() > 0) {
         widget->removeRow(widget->currentRow());
     }
 
-
-
     emit WPDeleteAll();
 
 }
@@ -577,6 +595,12 @@ void MissionUI::itemDoubleClicked(QTableWidgetItem *item)
                      widget->removeCellWidget(row,column);
                      emit setCommand(str);//直接修改底层，让底层返回数据更新到界面
                  });
+
+                 connect(combox,&QComboBox::editTextChanged,[=]{
+                     QString str = combox->currentText();
+                     widget->removeCellWidget(row,column);
+                     emit setCommand(str);//直接修改底层，让底层返回数据更新到界面
+                 });
              }
              else if(column == 2)
              {

App/MissionUI/propertyui.cpp

@@ -2167,9 +2167,22 @@ void propertyui::on_pushButton_Group_clicked()
     selector->show();
 }
 
+
+void propertyui::measureState(bool flag)
+{
+    if(flag == true)
+    {
+        ui->pushButton_Ruler->setText("Measuring");
+    }
+    else
+    {
+        ui->pushButton_Ruler->setText("Measure");
+    }
+}
+
 void propertyui::on_pushButton_Ruler_clicked()
 {
-
+      emit ruler_clicked();
 }
 
 void propertyui::on_pushButton_Table_clicked()

App/MissionUI/propertyui.h

@@ -219,7 +219,7 @@ public slots:
 
 
 
-
+    void measureState(bool flag);
 
 
 
@@ -260,6 +260,9 @@ Q_SIGNALS:
 
     void getAllPoints(int group);
 
+    void ruler_clicked();
+
+
 private slots:
 
     void GroupChanged(int value);

App/MissionUI/propertyui.ui

@@ -662,7 +662,7 @@
       </size>
      </property>
      <property name="text">
-      <string>Ruler</string>
+      <string>Measure</string>
      </property>
     </widget>
    </item>

App/mainwindow.cpp

@@ -278,8 +278,6 @@ MainWindow::MainWindow(QWidget *parent)
     connect(toolsui->index2,SIGNAL(setMultiple(double)),
             dlink->mavlinknode->replay,SLOT(setMultiple(double)),Qt::DirectConnection);
 
-
-
     connect(dlink->mavlinknode->replay,SIGNAL(currentPercentage(float)),
             toolsui->index2,SLOT(setCurrentPercentage(float)));
 
@@ -416,6 +414,15 @@ MainWindow::MainWindow(QWidget *parent)
             map,SLOT(getAllPoints(int)));
 
 
+    connect(map,SIGNAL(settableGroup(int)),
+            missionUI,SIGNAL(settableGroup(int)));
+
+    connect(missionUI,SIGNAL(ruler_clicked()),
+            map,SLOT(ruler_clicked()));
+
+    connect(map,SIGNAL(measureState(bool)),
+            missionUI,SLOT(measureState(bool)));
+
 
     //dlink  ----- map
     connect(map,SIGNAL(signal_WPDownload(uint8_t,uint8_t,int)),

MavLinkNode/mavlinknode.cpp

@@ -1,5 +1,5 @@
 #include "mavlinknode.h"
-
+#include "QElapsedTimer"
 /*
  * mavlink 解析相关内容请参考如下
  * https://mavlink.io/en/services/command.html
@@ -18,7 +18,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
     CommucationOverTimer = 1000;
 
 
-    setRunFrq(10);//50
+    setRunFrq(100);//50
 
 
 
@@ -481,10 +481,18 @@ void MavLinkNode::process()//线程函数
     uint8_t count = 0;
     QByteArray datagram = nullptr;
     bool isIdle = true;
+
+
+    QElapsedTimer time;
+    time.start();
+
     while (running_flag)
     {
+         time.restart();
+
+
          count ++;
-         //QThread::msleep(1000/running_frq);
+         QThread::msleep(1000/running_frq);
          //timer->start();
 
          //解码从UDP来的
@@ -519,6 +527,9 @@ void MavLinkNode::process()//线程函数
          {
            // QThread::msleep(1000/running_frq);
          }
+
+         int nsec = time.nsecsElapsed();
+         //qDebug() << "mavlinknode a loop using time:" << nsec << "ns";
     }
 }
 

dlink/dlink.cpp

@@ -1,7 +1,7 @@
 #include "dlink.h"
 #include <string.h>
 #include "QDateTime"
-
+#include "QElapsedTimer"
 
 DLink::DLink(QObject *parent) : QObject(parent)
 {
@@ -428,6 +428,8 @@ void DLink::readPendingDatagramsSerialPort(void)
 
 void DLink::readPendingDatagramsClient(void)
 {
+   QElapsedTimer time;
+   time.start();
    //轮番查询
     if(Clientsock)
     {
@@ -439,6 +441,10 @@ void DLink::readPendingDatagramsClient(void)
             emit recieveMessage(SourceType::c_sock,datagram);
         }
     }
+    int milsec = time.elapsed();
+
+    //qDebug() << "a loop using time:" << milsec << "ms";
+
 }
 
 void DLink::processPendingMulticastDatagrams(void)

opmap/mapwidget/measureline.cpp

@@ -76,7 +76,7 @@ void MeasureLine::paint(QPainter *painter, const QStyleOptionGraphicsItem *optio
     }
     else
     {
-        myPen.setColor("#ffff00");
+        myPen.setColor("#FF00FF");
     }
 
     painter->setPen(myPen);

opmap/mapwidget/opmapwidget.cpp

@@ -125,11 +125,6 @@ OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView
     connect(waypointsetting,SIGNAL(WPLoad(QString)),
             this,SLOT(WPLoad(QString)));
 
-    /*
-    connect(this,SIGNAL(allPoint(QMap<int,int>)),
-            waypointsetting,SLOT(setallPoint(QMap<int,int>)));
-            */
-
     connect(waypointsetting,SIGNAL(searchall()),
             this,SLOT(WPsearchall()));
 
@@ -198,7 +193,12 @@ void OPMapWidget::ruler_clicked(void)
     if(isMeasure)
     {
         isMeasure = false;
-        this->setCursor(Qt::ArrowCursor);
+        //this->setCursor(Qt::ArrowCursor);
+        if(measureline)
+        {
+            measureline->hide();
+
+        }
     }
     else
     {
@@ -210,9 +210,11 @@ void OPMapWidget::ruler_clicked(void)
             measureline->show();
         }
 
-        QPixmap pix(":/markers/images/ruler.png");
+        //QPixmap pix(":/markers/images/ruler.png");
-        this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
+        //this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
     }
+
+    emit measureState(isMeasure);
 }
 
 void OPMapWidget::table_clicked(void)
@@ -632,8 +634,8 @@ void OPMapWidget::mouseMoveEvent(QMouseEvent *event)
 
     if(isMeasure)
     {
-        QPixmap pix(":/markers/images/ruler.png");
+        //QPixmap pix(":/markers/images/ruler.png");
-        this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
+        //this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
     }
 
 
@@ -709,8 +711,8 @@ void OPMapWidget::mousePressEvent(QMouseEvent *event)
 
     if(isMeasure)
     {
-        QPixmap pix(":/markers/images/ruler.png");
+        //QPixmap pix(":/markers/images/ruler.png");
-        this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
+        //this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
     }
 
 
@@ -725,8 +727,8 @@ void OPMapWidget::mouseReleaseEvent(QMouseEvent *event)
 
     if(isMeasure)
     {
-        QPixmap pix(":/markers/images/ruler.png");
+        //QPixmap pix(":/markers/images/ruler.png");
-        this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
+        //this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
     }
 
     //qDebug() << "relea";
@@ -738,8 +740,8 @@ void OPMapWidget::mouseDoubleClickEvent(QMouseEvent *event)
 
     if(isMeasure)
     {
-        QPixmap pix(":/markers/images/ruler.png");
+        //QPixmap pix(":/markers/images/ruler.png");
-        this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
+        //this->setCursor(QCursor(pix.scaled(QSize(50,50), Qt::KeepAspectRatio)));
     }
 
     if(isMeasure)
@@ -2213,6 +2215,8 @@ void OPMapWidget::WPGroup(int value)
 {
     currentGroup = value;
 
+
+
     qDebug() << "group checkout" << value;
 
     //切换当前航线，其他都隐藏，或者高亮当前
@@ -2273,6 +2277,8 @@ void OPMapWidget::WPGroup(int value)
         }
     }
 
+    emit settableGroup(currentGroup);
+
     update();
 }
 

opmap/mapwidget/opmapwidget.h

@@ -532,6 +532,7 @@ signals:
     //map property
     void MapTypes(QStringList list);
 
+    void settableGroup(int);
 
     void TotalDistanceUpdate(double);
 
@@ -631,6 +632,9 @@ signals:
 
     void setCurrent(int seq);
 
+    void measureState(bool);
+
+
 
 public slots: