重改播放

MavLinkNode/mavlinknode.h

@@ -3,10 +3,11 @@
 
 #include <QObject>
 #include "QThread"
-
+#include "QFile"
 #include "QDebug"
 
 #include "mavlink.h"
+#include "replay.h"
 #include "missionprocess.h"
 #include "parameterprocess.h"
 #include "commandprocess.h"
@@ -52,23 +53,17 @@ class MavLinkNode : public QObject
         mavlink_vfr_hud_t vfr_hud;
     }_vehicle;
 
-
-
-
-
-
 public:
     explicit MavLinkNode(QObject *parent = nullptr);
     ~MavLinkNode();
 
      _vehicle vehicle;
-     MissionProcess *Mission;
-     ParameterProcess *Parameter;
-     commandprocess *Commander;
-
-     //MAVLinkInspector *mavlinkinspector = nullptr;
 
+     Replay *replay = nullptr;
 
+     MissionProcess *Mission = nullptr;
+     ParameterProcess *Parameter = nullptr;
+     commandprocess *Commander = nullptr;
 
 
 signals:
@@ -103,11 +98,12 @@ public slots:
         return running_flag;
     }
     //缓存对外接口
+    void readPendingDatagramsReplay(void);
     void setbuff(quint32 src, QByteArray data);
 
     void setCurrentSelected(int sysid,int compid);
 
-
+    void setLogfile(QString file);
 
 private slots:
    //线程私有接口
@@ -146,7 +142,7 @@ protected:
     bool running_flag = false;
     quint32 running_frq = 200;//200Hz
 
-    QThread *Nodethread;
+    QThread *thread;
 
 
     QThread *Parameterthread;
@@ -158,6 +154,9 @@ protected:
 
     _buffdef serial_buff;
     _buffdef client_buff;
+
+    QFile *mavLogFile = NULL;
+
 };
 
 #endif // MAVLINKNODE_H