添加航点的线程

GCS.pro

@@ -16,3 +16,4 @@ SUBDIRS += opmap
 SUBDIRS += dlink
 
 SUBDIRS += App
+

MavLinkNode/MavLinkNode.pro

@@ -58,11 +58,14 @@ INCLUDEPATH += $$PWD/../mavlink \
 
 
 HEADERS += \
-    mavlinknode.h \ \
-    mavlinknodeglobal.h
+    mavlinknode.h \
+    mavlinknodeglobal.h \
+    missionprocess.h
 
 SOURCES += \
-    mavlinknode.cpp
+    mavlinknode.cpp \
+    missionprocess.cpp
+
 
 
 win32|win64 {

MavLinkNode/mavlinknode.cpp

@@ -2,16 +2,24 @@
 
 MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
 {
+    //main thread
     running_flag = false;
     Nodethread = new QThread();
-
     this->moveToThread(Nodethread);
     connect(Nodethread, &QThread::started, this, &MavLinkNode::process);
-
     setRunFrq(50);//50
-
     //初始化buff
     initbuff();
+
+    Mission = new MissionProcess();
+    Mission->setRunFrq(200);
+    Mission->start();
+
+
+
+    Parameterthread = new QThread();
+
+
 }
 
 MavLinkNode::~MavLinkNode()
@@ -432,3 +440,9 @@ void MavLinkNode::MissionParse(mavlink_message_t msg)
         }break;
     }
 }
+
+
+
+
+
+

MavLinkNode/mavlinknode.h

@@ -7,6 +7,8 @@
 #include "QDebug"
 
 #include "mavlink.h"
+#include "missionprocess.h"
+
 
 #ifdef QtMavlinkNode
 #include <mavlinknodeglobal.h>
@@ -126,6 +128,10 @@ protected:
     quint32 running_frq = 200;//200Hz
 
     QThread *Nodethread;
+    MissionProcess *Mission = nullptr;
+
+    QThread *Parameterthread;
+
 
     _buffdef serial_buff;
     _buffdef client_buff;

MavLinkNode/missionprocess.cpp

@@ -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;
+
+}
+
+
+
+
+
+
+
+
+

MavLinkNode/missionprocess.h

@@ -0,0 +1,45 @@
+#ifndef MISSIONPROCESS_H
+#define MISSIONPROCESS_H
+
+#include <QObject>
+//#include "mavlinknode.h"
+
+#include "QDebug"
+#include "QThread"
+
+
+#ifdef QtMavlinkNode
+#include <mavlinknodeglobal.h>
+class MAVLINKNODESHARED_EXPORT MissionProcess : public QObject {
+#else
+class MissionProcess : public QObject
+{
+#endif
+
+    Q_OBJECT
+public:
+    explicit MissionProcess(QObject *parent = nullptr);
+
+
+public slots:
+    //线程对外接口
+    void setRunFrq(uint32_t frq);
+    void start();
+    void stop();
+
+private slots:
+   //线程私有接口
+   void process();
+
+signals:
+
+
+private:
+
+    bool running_flag = false;
+    quint32 running_frq = 200;//200Hz
+    QThread *Missionthread = nullptr;
+
+};
+
+#endif // MISSIONPROCESS_H