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数据链可以断开链接后重新链接

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This commit is contained in:
hm
2022-08-26 14:28:12 +08:00
parent 3eefe9a96d
commit 924f2881d9
3 changed files with 203 additions and 67 deletions
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App/ToolsUI/LandingGear_AJ500/landinggear.cpp
+1 -1
View File
@@ -268,7 +268,7 @@ void landinggear::actuator_info(Parse::_actuator info)
ui->label_0_temp->setText(QString::number(info.temp));
qDebug() << info.left_brake << info.right_brake;
//qDebug() << info.left_brake << info.right_brake;
}
dlink/dlink.cpp
+181 -64
View File
@@ -76,6 +76,20 @@ DLink::~DLink()
}
}
foreach(clientNode node,clientSockets)
{
if(node.sock)
{
node.sock->leaveMulticastGroup(node.addr);
node.sock->abort();
qWarning("leave multicast Group");
delete node.sock;
node.sock = nullptr;
}
}
disconnect(this, nullptr, nullptr, nullptr);
delete mavlinknode;
mavlinknode = nullptr;
@@ -168,30 +182,54 @@ int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
foreach(clientNode node,clientSockets)
{
qint64 flag = node.sock->writeDatagram((const char *)msg,len,node.addr, node.port);
if(flag != -1)
if(node.sock->isOpen()||node.sock->isWritable()||node.sock->isValid())
{
//qDebug() << "Client Send Msg";
if(node.type == devtype::datalink)
{
qint64 flag = node.sock->writeDatagram((const char *)msg,len,node.addr, node.port);
if(flag != -1)
{
//qDebug() << "Client Send Msg";
}
else
{
//qDebug() << "Client Send Msg failure";
}
}
}
}
if (serialPort)
{
qint64 flag = serialPort->write((const char *)msg,len);
if(flag != -1)
{
//qDebug() << "serialPort Send Msg";
}
foreach (serialNode node, serials) {
if(node.port)
{
if(node.port->isOpen()||node.port->isWritable())
{
if(node.type == devtype::datalink)
{
qint64 flag = node.port->write((const char *)msg,len);
if(flag != -1)
{
//qDebug() << "serialPort Send Msg";
}
else
{
//qDebug() << "Client Send Msg failure";
}
}
}
}
}
if (multicast_sock)
{
qint64 flag = multicast_sock->writeDatagram((const char *)msg, len,multicast_transmit_addr, multicast_transmit_port);
if(flag != -1)
if(multicast_sock->isOpen()||multicast_sock->isWritable())
{
//qDebug() << "multicast Send Msg";
qint64 flag = multicast_sock->writeDatagram((const char *)msg, len,multicast_transmit_addr, multicast_transmit_port);
if(flag != -1)
{
//qDebug() << "multicast Send Msg";
}
}
}
@@ -201,20 +239,31 @@ int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
//这个函数就在本线程内运行
bool DLink::setupPort(const QString port, qint32 baudrate, QSerialPort::Parity parity)
{
qWarning() << port
<< baudrate
<< parity;
bool isSuccess = false;
if (serialPort)//多串口接入
{
serialPort->close();
delete serialPort;
}
serialPort = new QSerialPort(this);
foreach (serialNode node, serials) {
if(node.port)
{
if(node.name == port)
{
if(node.port->isOpen())
{
node.port->close();
}
serialPort->setPortName(port);
//断掉所有的连接
disconnect(node.port,nullptr,nullptr,nullptr);
delete node.port;
node.port = nullptr;
serials.removeAt(serials.indexOf(node));
}
}
}
QSerialPort *serialPort = new QSerialPort(port,this);
if (serialPort->open(QIODevice::ReadWrite))
{
@@ -232,8 +281,9 @@ bool DLink::setupPort(const QString port, qint32 baudrate, QSerialPort::Parity p
node.baud = baudrate;
node.parity = parity;
node.name = port;
node.type = devtype::datalink;
serials.insert(serials.size(),node);
serials.append(node);
emit showMessage(tr("Serial Port Open Success"));
qWarning() << "Serial Port Open Success";
@@ -257,7 +307,7 @@ bool DLink::setupPort(const QString port, qint32 baudrate, QSerialPort::Parity p
* 发起任务读写，新建一个线程，航线读取发送结束，航线线程结束
* 发起参数读写，新建一个线程，参数读取发送结束，参数线程结束
*/
bool DLink::PortSetup(const QString port, qint32 baud, QSerialPort::Parity parity, const char * method)
bool DLink::PortSetup(devtype type,const QString port, qint32 baud, QSerialPort::Parity parity, const char * method)
{
bool isSuccess = false;
QSerialPort *serialPort = new QSerialPort(port, this);
@@ -274,10 +324,11 @@ bool DLink::PortSetup(const QString port, qint32 baud, QSerialPort::Parity parit
serialNode node;
node.port = serialPort;
node.baud = baud;
node.port = serialPort;
node.baud = baud;
node.parity = parity;
node.name = port;
node.name = port;
node.type = type;
serials.insert(serials.size(),node);
}
@@ -310,6 +361,9 @@ bool DLink::PortState(const QString name)
bool DLink::PortStop(const QString name)
{
bool flag = false;
int index = -1;
foreach (serialNode node, serials) {
if(node.port)
{
@@ -327,10 +381,14 @@ bool DLink::PortStop(const QString name)
delete node.port;
node.port = nullptr;
serials.removeOne(node);
flag = true;
}
}
}
return flag;
}
@@ -447,22 +505,19 @@ void DLink::connectSignal(QVariant m_state,
else if(m_Type.toString() == "UDP")
{
//断开连接
if(Clientsock)
for(int i = 0;i < clientSockets.count();i++)
{
for(int i = 0;i < clientSockets.count();i++)
if((clientSockets.at(i).addr == QHostAddress(m_Param3.toString()))&&(clientSockets.at(i).port == m_Param4.toInt()))
{
if(clientSockets.at(i).addr == QHostAddress(m_Param3.toString()))
{
clientSockets.removeAt(i);
}
clientSockets.at(i).sock->leaveMulticastGroup(QHostAddress(m_Param3.toString()));
clientSockets.at(i).sock->close();
qWarning("leave multicast Group");
clientSockets.at(i).sock->deleteLater();
clientSockets.removeAt(i);
}
Clientsock->leaveMulticastGroup(QHostAddress(m_Param3.toString()));
Clientsock->close();
qWarning("leave multicast Group");
delete Clientsock;
Clientsock = nullptr;
}
emit PortConnected(false,m_usrName,m_Type,m_Param1,m_Param2,m_Param3,m_Param4,m_Param5);
@@ -486,35 +541,50 @@ void DLink::connectSignal(QVariant m_state,
bool DLink::setupClient(const QHostAddress &local_addr,int local_port,const QHostAddress &remote_addr,int remote_port)
{
bool isSuccess = false;
if(Clientsock)
{
Clientsock->disconnect();
delete Clientsock;
Clientsock = nullptr;
foreach (clientNode node, clientSockets) {
if(node.sock)
{
if((node.addr == remote_addr)&&(node.port == remote_port))
{
if(node.sock->isOpen())
{
node.sock->leaveMulticastGroup(node.addr);
node.sock->close();
}
//断掉所有的连接
disconnect(node.sock,nullptr,nullptr,nullptr);
node.sock->deleteLater();
//node.sock = nullptr;
clientSockets.removeAt(clientSockets.indexOf(node));
}
}
}
qDebug() << "sock connect";
bool isSuccess = false;
Clientsock = new QUdpSocket(this);
int rst = Clientsock->bind(QHostAddress::AnyIPv4,local_port);
QUdpSocket *clientsock = new QUdpSocket(this);
int rst = clientsock->bind(QHostAddress::AnyIPv4,local_port,QAbstractSocket::ShareAddress);
if(rst)
{
if(Clientsock->open(QIODevice::ReadWrite))
if(clientsock->open(QIODevice::ReadWrite))
{
connect(Clientsock, SIGNAL(readyRead()),
connect(clientsock, SIGNAL(readyRead()),
this, SLOT(readPendingDatagramsClient()));
clientNode node;
node.sock = Clientsock;
node.sock = clientsock;
node.addr = remote_addr;
node.port = remote_port;
node.type = devtype::datalink;
clientSockets.append(node);
qWarning() << "UdpSocket open:"
@@ -527,20 +597,20 @@ bool DLink::setupClient(const QHostAddress &local_addr,int local_port,const QHos
}
else
{
Clientsock->close();
clientsock->close();
isSuccess = false;
qWarning() << "sock not open";
delete Clientsock;
Clientsock = nullptr;
delete clientsock;
clientsock = nullptr;
}
}
else
{
isSuccess = false;
Clientsock->close();
clientsock->close();
qWarning("sock is not binded.");
delete Clientsock;
Clientsock = nullptr;
delete clientsock;
clientsock = nullptr;
}
return isSuccess;
@@ -596,6 +666,28 @@ bool DLink::setup_multicast(const QString &recieveIP, qint32 recievePort,
bool DLink::setup_remote(const QString port, qint32 baud, QSerialPort::Parity parity)
{
bool isSuccess = false;
foreach (serialNode node, serials) {
if(node.port)
{
if(node.name == port)
{
if(node.port->isOpen())
{
node.port->close();
}
//断掉所有的连接
disconnect(node.port,nullptr,nullptr,nullptr);
delete node.port;
node.port = nullptr;
serials.removeAt(serials.indexOf(node));
}
}
}
QSerialPort *serialPort = new QSerialPort(port, this);
if (serialPort->open(QIODevice::ReadWrite))
@@ -613,6 +705,7 @@ bool DLink::setup_remote(const QString port, qint32 baud, QSerialPort::Parity pa
node.baud = baud;
node.parity = parity;
node.name = port;
node.type = devtype::remote;
serials.insert(serials.size(),node);
}
@@ -627,6 +720,29 @@ bool DLink::setup_remote(const QString port, qint32 baud, QSerialPort::Parity pa
bool DLink::setup_rtk(const QString port, qint32 baudrate, QSerialPort::Parity parity)
{
bool isSuccess = false;
foreach (serialNode node, serials) {
if(node.port)
{
if(node.name == port)
{
if(node.port->isOpen())
{
node.port->close();
}
//断掉所有的连接
disconnect(node.port,nullptr,nullptr,nullptr);
delete node.port;
node.port = nullptr;
serials.removeAt(serials.indexOf(node));
}
}
}
QSerialPort *serialPort = new QSerialPort(port, this);
if (serialPort->open(QIODevice::ReadWrite))
@@ -644,6 +760,7 @@ bool DLink::setup_rtk(const QString port, qint32 baudrate, QSerialPort::Parity p
node.baud = baudrate;
node.parity = parity;
node.name = port;
node.type = devtype::rtk;
serials.insert(serials.size(),node);
}
dlink/dlink.h
+21 -2
View File
@@ -27,7 +27,8 @@ class DLink : public QObject
ganeral = 0,
datalink,
remote,
rtk
rtk,
video
};
struct clientNode{
@@ -35,6 +36,15 @@ class DLink : public QObject
QHostAddress addr;
quint16 port;
devtype type;
bool operator==(const clientNode& other)
{
if (this->sock == other.sock)
{
return true;
}
return false;
}
};
struct serialNode{
@@ -43,6 +53,15 @@ class DLink : public QObject
qint32 baud;
QSerialPort::Parity parity;
devtype type;
bool operator==(const serialNode& other)
{
if (this->name == other.name)
{
return true;
}
return false;
}
};
@@ -54,7 +73,7 @@ public:
//bool statesPort(const QString name);
//void stopPort(const QString name);
bool PortSetup(const QString port, qint32 baud, QSerialPort::Parity parity, const char *method);
bool PortSetup(devtype type,const QString port, qint32 baud, QSerialPort::Parity parity, const char *method);
bool PortState(const QString name);