添加DLink，用于把所有的通讯设备都聚到一起管理的一个插件

2020-02-26 00:19:59 +08:00
parent 21ff0ea1e7
commit 9502eecea5
12 changed files with 637 additions and 396 deletions
@@ -0,0 +1,161 @@
+#include "dlink.h"
+#include <string.h>
+//#include "windows.h"
+#include "QDateTime"
+
+
+
+DLink::DLink(QObject *parent) : QObject(parent)
+{
+
+}
+DLink::~DLink()
+{
+
+}
+
+
+int DLink::SendMessageTo(uint8_t, uint8_t *msg, uint16_t len)
+{
+    //mavlinknode::bytes_num_out += len;
+    if (DLink::Clientsock)
+    {
+        DLink::Clientsock->writeDatagram((const char *)msg, len,
+                                   DLink::clientSockets.last().addr, DLink::clientSockets.last().port);
+    }
+
+    if (DLink::serialPort)
+    {
+        DLink::serialPort->write((const char *)msg,len);
+    }
+
+    return 0;
+}
+
+
+
+void DLink::setupPort(const QString port, qint32 baudrate, QSerialPort::Parity parity)
+{
+    if (serialPort)
+    {
+        serialPort->close();
+        delete serialPort;
+    }
+    serialPort = new QSerialPort(port, this);
+
+    if (serialPort->open(QIODevice::ReadWrite))
+    {
+        serialPort->setBaudRate(baudrate);
+        serialPort->setParity(parity);
+        serialPort->setDataBits(QSerialPort::Data8);
+        serialPort->setStopBits(QSerialPort::OneStop);
+
+        connect(serialPort, SIGNAL(readyRead()), this, SLOT(readPendingDatagrams()));
+    }
+    else
+    {
+        delete serialPort;
+        serialPort = nullptr;
+    }
+}
+
+bool DLink::statesPort()
+{
+    return (serialPort != nullptr)?(true):(false);
+}
+
+void DLink::stopPort()
+{
+    serialPort->close();
+    delete serialPort;
+    serialPort = nullptr;
+}
+
+
+
+void DLink::setupClient(const QHostAddress &remote_addr, int remote_port, int local_port)
+{
+
+    Clientsock = new QUdpSocket(this);
+    if (Clientsock->bind(QHostAddress::Any, local_port))
+    {
+        if(Clientsock->open(QIODevice::ReadWrite))
+        {
+            connect(Clientsock, SIGNAL(readyRead()),
+                    this, SLOT(readPendingDatagramsClient()));
+            Node node;
+            node.sock = Clientsock;
+            node.addr = remote_addr;
+            node.port = remote_port;
+            clientSockets.append(node);
+            qDebug() << "sock open:"
+                     << remote_addr
+                     << local_port
+                     << remote_port;
+        }
+        else
+        {
+            qDebug() << "sock not open";
+        }
+    }
+    else
+    {
+        qWarning("sock is not binded.");
+        delete Clientsock;
+    }
+
+}
+
+
+
+void DLink::readPendingDatagramsSerialPort(void)
+{
+    QByteArray datagram = serialPort->readAll();
+
+    //static mavlink_message_t msg;
+    //static mavlink_status_t  status;
+    uint8_t ret = '\0';
+
+
+    SendMessageTo(ret,(uint8_t *)datagram.data(),datagram.size());
+
+    for (QByteArray::const_iterator i = datagram.cbegin(); i != datagram.cend(); ++i)
+    {
+        /*
+        ret = mavlink_parse_char(MAVLINK_COMM_0,*i,&msg,&status);
+        if(MAVLINK_FRAMING_OK == ret)
+        {
+            MAVLinkRcv_Handler(msg);                 //接收完一帧数据并处理
+        }
+        */
+    }
+}
+
+void DLink::readPendingDatagramsClient(void)
+{
+
+
+
+    while (Clientsock->hasPendingDatagrams()) {
+        QByteArray datagram;
+        datagram.resize(Clientsock->pendingDatagramSize());
+        Clientsock->readDatagram(datagram.data(), datagram.size());
+
+         //SendMessageTo(ret,(uint8_t *)datagram.data(),datagram.size());
+
+
+        //qDebug() << "Client Read All" << datagram;
+
+        /*
+        for (QByteArray::const_iterator i = datagram.cbegin(); i != datagram.cend(); ++i)
+        {
+            ret = mavlink_parse_char(MAVLINK_COMM_0,*i,&msg,&status);
+            if(MAVLINK_FRAMING_OK == ret)
+            {
+                MAVLinkRcv_Handler(msg);                 //接收完一帧数据并处理
+            }
+        }
+        */
+    }
+
+}