添加航点的线程

2020-03-07 14:46:50 +08:00
parent a39507704e
commit 8f94ed1d47
6 changed files with 846 additions and 690 deletions
@@ -0,0 +1,87 @@
+#include "missionprocess.h"
+
+MissionProcess::MissionProcess(QObject *parent) : QObject(parent)
+{
+    //mission thread
+    /*
+    Missionthread = new QThread();
+    this->moveToThread(Missionthread);
+    connect(Missionthread, &QThread::started, this, &MavLinkNode::process);
+    */
+}
+
+
+
+
+void MissionProcess::setRunFrq(uint32_t frq)
+{
+    if((frq != 0)||(frq <= 1000))
+    {
+        running_frq = frq;
+        qDebug() << "set mission thread running frquency:" <<frq <<"Hz";
+    }
+}
+
+
+void MissionProcess::start()
+{
+    if(Missionthread == nullptr)
+    {
+        Missionthread = new QThread();
+        this->moveToThread(Missionthread);
+        connect(Missionthread, &QThread::started, this, &MissionProcess::process);
+    }
+
+    if(!Missionthread->isRunning())
+    {
+        running_flag = true;
+        Missionthread->start();
+        qDebug() << "thread start" << running_flag;
+    }
+    else
+    {
+        qDebug() << "thread has started";
+    }
+}
+
+
+void MissionProcess::stop()
+{
+    if(Missionthread->isRunning())
+    {
+        running_flag = false;
+        qDebug() << "thread stop" << running_flag;
+    }
+    else
+    {
+        qDebug() << "thread is not running";
+    }
+}
+
+
+//这里一直传输和接收航线信息
+void MissionProcess::process()//线程函数
+{
+    uint8_t count = 0;
+    while (running_flag)
+    {
+         count ++;
+         QThread::msleep(1000/running_frq);
+
+
+    }
+    //退出线程
+    Missionthread->quit();
+    Missionthread->deleteLater();
+    Missionthread = nullptr;
+
+}
+
+
+
+
+
+
+
+
+