make version 1.0

App/CommandUI/CommandUI.cpp

@@ -199,7 +199,6 @@ void CommandUI::on_commandClicked()
          }
 
          //找到id或者名字一样的按键，找到参数，发出去
-
          QString  _name = info.toObject().find(_TextJsonKey).value().toString();
          QString _text = btn->text();
 
@@ -219,6 +218,9 @@ void CommandUI::on_commandClicked()
            //如果confirm 不为0，那么弹出确认对话框
            if(confirm != 0)
            {
+
+               //根据这个comfirm 确定要输入的参数
+
                Confirm *confirmor = new Confirm(this);
                confirmor->setGeometry(0,0,this->width(),this->height());
 
@@ -261,10 +263,10 @@ void CommandUI::on_commandClicked()
 
 void CommandUI::commandAccepted(bool flag,uint16_t command,uint8_t result)
 {
+    bool isFundSender = false;
+    QString string;
     //找到消息的发送者
     QObjectList list = ui->groupBox_Command->children();
-
-
     for(QJsonValue info: CMD_infoArray) {
         if (!info.isObject()) {
             return;
@@ -272,6 +274,8 @@ void CommandUI::commandAccepted(bool flag,uint16_t command,uint8_t result)
 
         if(command == info.toObject().find(_commandJsonKey).value().toInt())
         {
+            isFundSender = true;
+
             foreach (QObject *obj, list)
             {
                 QPushButton *btn = qobject_cast<QPushButton *>(obj);
@@ -279,10 +283,9 @@ void CommandUI::commandAccepted(bool flag,uint16_t command,uint8_t result)
                 {
 
                     QString btn_name = btn->text();
-
                     if(btn_name == info.toObject().find(_TextJsonKey).value().toString())
                     {
-                        QString string;
+
                         if(flag)
                         {
                             btn->setProperty("state",state::success);
@@ -318,17 +321,45 @@ void CommandUI::commandAccepted(bool flag,uint16_t command,uint8_t result)
 
                         btn->style()->unpolish(btn);
                         btn->style()->polish(btn);
+                    }
+                }
+            }
+
+        }
+    }
+
+
+    if(isFundSender == false)
+    {
+            switch (result) {
+            case MAV_RESULT_ACCEPTED:
+                string.append(tr("%1 accepted and executed").arg(command));
+                break;
+            case MAV_RESULT_TEMPORARILY_REJECTED:
+                string.append(tr("%1 rejected").arg(command));
+                break;
+            case MAV_RESULT_DENIED:
+                string.append(tr("%1 permanently denied").arg(command));
+                break;
+            case MAV_RESULT_UNSUPPORTED:
+                string.append(tr("%1 unsupported").arg(command));
+                break;
+            case MAV_RESULT_FAILED:
+                string.append(tr("%1 failed").arg(command));
+                break;
+            case MAV_RESULT_IN_PROGRESS:
+                string.append(tr("%1 being executed").arg(command));
+                break;
+            default:
+                break;
+            }
+    }
+
 
     QTextToSpeech *tts = new QTextToSpeech();
     tts->say(string);
 
 }
-                }
-            }
-
-        }
-    }
-}
 
 
 

App/ComponentUI/Inputter/Inputter.cpp

@@ -1,4 +1,4 @@
- #include "Inputter.h"
+ #include "Inputter.h"
 #include "ui_Inputter.h"
 
 Inputter::Inputter(QWidget *parent) :
@@ -17,12 +17,21 @@ Inputter::Inputter(QWidget *parent) :
 
     curentStr = "";
     currentValue = 0;
-    inputType = 0;
+    inputType = type::Normal;
     DecimalPlaces = -1;
 
     ui->lineEdit->setText(curentStr);
     ui->lineEdit->setReadOnly(true);
 
+
+    DoubleClickTimer = new QTimer(this);
+    DoubleClickTimer->setInterval(300);//0.5s之内再点击，那就相当于双击
+    connect(DoubleClickTimer,SIGNAL(timeout()),
+            this,SLOT(DoubleClickTimeout()));
+
+
+
+
 }
 
 Inputter::~Inputter()
@@ -41,7 +50,17 @@ bool Inputter::event(QEvent *event)
 
 void Inputter::setInputType(int Type)
 {
-    inputType = Type;
+    switch (Type) {
+    default:
+    case 0:
+        inputType = type::Normal;
+        break;
+    case 1:
+        inputType = type::MAC;
+        ui->pushButton_nan->setEnabled(false);
+        ui->pushButton_minus->setEnabled(false);
+        break;
+    }
 }
 
 void Inputter::setInitValue(QVariant value)
@@ -56,11 +75,60 @@ void Inputter::setDecimalPlaces(int value)
 }
 
 void Inputter::on_NumberClicked(QString str)
+{
+    if((!curentStr.contains('n'))&&(!curentStr.contains('a')))
+    {
+        if(inputType == type::Normal)
         {
             curentStr.append(str);
-
             ui->lineEdit->setText(curentStr);
         }
+        else//检查当前释放点和点连在一起，是否点之间数字大于255
+        {
+            QString mac = curentStr;
+
+            int index;
+            if(mac.contains('.'))
+            {
+                index = mac.lastIndexOf('.')+1;
+            }
+            else
+            {
+                index = 0;
+            }
+
+            mac = mac.mid(index);
+            mac.append(str);
+
+            if(mac.toInt() <= 255)
+            {
+                //如果上一个是0，这个也是0，那么就不用连接
+                if(mac != 0)
+                {
+                    curentStr.append(str);
+                    ui->lineEdit->setText(curentStr);
+                }
+            }
+            else
+            {
+               if(curentStr.count('.') < 3)
+               {
+                    curentStr.append('.');
+                    curentStr.append(str);
+                    ui->lineEdit->setText(curentStr);
+               }
+            }
+
+        }
+    }
+}
+
+
+void Inputter::DoubleClickTimeout()
+{
+    DoubleClickTimer->stop();
+}
+
 
 void Inputter::on_pushButton_1_clicked()
 {
@@ -109,7 +177,7 @@ void Inputter::on_pushButton_9_clicked()
 
 void Inputter::on_pushButton_point_clicked()
 {
-    if(inputType == 0)
+    if(inputType == type::Normal)
     {
         if(curentStr.size()>0)
         {
@@ -131,10 +199,20 @@ void Inputter::on_pushButton_point_clicked()
         }
     }
     else
+    {
+        if(curentStr.size()>0)
+        {
+           if((curentStr.data()[curentStr.size() -1]!= '.')&&(curentStr.count('.')<3))//数量小于3
            {
                 on_NumberClicked(ui->pushButton_point->text());
            }
         }
+        else
+        {
+            qDebug() << "point can't be set in first char";
+        }
+    }
+}
 
 void Inputter::on_pushButton_0_clicked()
 {
@@ -143,7 +221,9 @@ void Inputter::on_pushButton_0_clicked()
 
 void Inputter::on_pushButton_minus_clicked()
 {
-    if(inputType == 0)
+    if(inputType == type::Normal)
+    {
+        if((!curentStr.contains('n'))&&(!curentStr.contains('a')))
         {
             if(curentStr.at(0) == '-')
             {
@@ -153,6 +233,7 @@ void Inputter::on_pushButton_minus_clicked()
             {
                 curentStr.insert(0,'-');
             }
+        }
 
         ui->lineEdit->setText(curentStr);
     }
@@ -163,6 +244,20 @@ void Inputter::on_pushButton_del_clicked()
 {
     curentStr = curentStr.mid(0,curentStr.size() - 1);
     ui->lineEdit->setText(curentStr);
+
+    if(DoubleClickTimer)
+    {
+        if(DoubleClickTimer->isActive())
+        {
+            curentStr.clear();
+            ui->lineEdit->clear();
+            DoubleClickTimer->stop();
+        }
+        else
+        {
+            DoubleClickTimer->start();
+        }
+    }
 }
 
 void Inputter::on_pushButton_cancel_clicked()
@@ -172,7 +267,7 @@ void Inputter::on_pushButton_cancel_clicked()
 
 void Inputter::on_pushButton_ok_clicked()
 {
-    if(inputType == 0)
+    if(inputType == type::Normal)
     {
         while(curentStr.at(0) == '0')
         {
@@ -219,7 +314,27 @@ void Inputter::on_pushButton_ok_clicked()
     else
     {
         //mac模式
-        //点数不能超过3个，而且间隔的数字不能大于255
+        //检查是否填充完成，没有那么就填零，把格式填对
+        //curentStr
+
+        while(curentStr.count('.') < 3)//检查点，如果不够就进行编辑
+        {
+            if(curentStr.data()[curentStr.size()-1] == '.')
+            {
+                curentStr.append(QString::number(0));
+            }
+            else
+            {
+                curentStr.append('.');
+            }
+
+            if(curentStr.count('.') >= 3)
+            {
+                break;
+            }
+
+        }
+
 
     }
 

App/ComponentUI/Inputter/Inputter.h

@@ -1,10 +1,10 @@
-#ifndef INPUTTER_H
+#ifndef INPUTTER_H
 #define INPUTTER_H
 
 #include <QWidget>
 #include "QDebug"   `
 #include "QFile"
-
+#include "QTimer"
 
 namespace Ui {
 class Inputter;
@@ -15,6 +15,12 @@ class Inputter : public QWidget
     Q_OBJECT
 
 public:
+
+    enum type{
+      Normal = 0,
+      MAC,
+    };
+
     explicit Inputter(QWidget *parent = nullptr);
     ~Inputter();
 
@@ -34,6 +40,8 @@ protected:
     bool event(QEvent *event);
 
 private slots:
+   void DoubleClickTimeout();
+
    void on_NumberClicked(QString str);
 
    void on_pushButton_1_clicked();
@@ -71,6 +79,10 @@ private slots:
 private:
     Ui::Inputter *ui;
 
+    QTimer *DoubleClickTimer = nullptr;
+
+
+
     int inputType = 0;
     int DecimalPlaces;
 

App/ComponentUI/Scope/Scope.cpp

@@ -34,11 +34,8 @@ Scope::Scope(QWidget *parent) :
     //chartView->setRubberBand(QChartView::RectangleRubberBand);
     //chartView->chart()->setAcceptDrops(true);
 
-
-
-
     QValueAxis *axisX = new QValueAxis();
-    axisX->setRange(0, 10);
+    axisX->setRange(-5, 5);
     axisX->setTickCount(11);
     axisX->setLabelFormat("%.2f");
     chartView->chart()->addAxis(axisX, Qt::AlignBottom);
@@ -54,7 +51,14 @@ Scope::Scope(QWidget *parent) :
      //默认不使用，因为使用显卡加速图形会闪
     setUseOpenGL(false);
 
-    QTimer::singleShot(10,this,SLOT(timeout()));
+
+    updateTimer = new QTimer(this);
+    connect(updateTimer,SIGNAL(timeout()),
+            this,SLOT(timeout()));
+    updateTimer->start(50);//20hz刷新
+
+    //不要轻易使用singleShot,容易引起内存超限
+    //QTimer::singleShot(10,this,SLOT(timeout()));
 
 
 }
@@ -180,27 +184,6 @@ void Scope::chartUpdate(void)
 {
      //读取新数据，如果没有，那就保持
 
-     //setSerieData("sin",sin(timeseries));
-     //setSerieData("cos",cos(timeseries));
-     //setSerieData("tan",tan(timeseries));
-     //setSerieData("acos",acos(timeseries));
-     //setSerieData("asin",asin(timeseries));
-     //setSerieData("atan",atan(timeseries));
-
-     //setSerieData("x1",1 * timeseries + 1);
-     //setSerieData("x2",timeseries * timeseries + 1);
-     //setSerieData("x3",timeseries * timeseries * timeseries + 1);
-     //setSerieData("sqrt",sqrt(timeseries));
-     //setSerieData("pow",pow(timeseries,2));
-     //setSerieData("log",log(timeseries + 1));
-
-     //setSerieData("log10",log10(timeseries));
-     //setSerieData("exp",exp(timeseries));
-     //setSerieData("tan+1",tan(timeseries + 1));
-     //setSerieData("log2",log2(timeseries));
-     //setSerieData("timeseries",timeseries);
-     //setSerieData("12",timeseries * log(timeseries));
-
      //滚动显示器
      //当到达最大时（0.95），开始滚动
 

App/ComponentUI/Scope/Scope.h

@@ -1,4 +1,4 @@
-#ifndef SCOPE_H
+#ifndef SCOPE_H
 #define SCOPE_H
 
 #include <QWidget>
@@ -102,6 +102,8 @@ private:
     QChartView *chartView;
     QLineSeries *series;
 
+    QTimer *updateTimer = nullptr;
+
     qreal timeseries = 0;//时间基准，注意时间长度，可能会出现时间反转的情况
 
     bool isOpenGL = false;

App/GCS_zh_CN.ts

@@ -335,35 +335,65 @@
         <translation>指令 版本：</translation>
     </message>
     <message>
-        <location filename="CommandUI/CommandUI.cpp" line="298"/>
+        <location filename="CommandUI/CommandUI.cpp" line="301"/>
         <source>%1,%2 accepted and executed</source>
         <translation>%1，%2 执行成功</translation>
     </message>
     <message>
-        <location filename="CommandUI/CommandUI.cpp" line="301"/>
+        <location filename="CommandUI/CommandUI.cpp" line="304"/>
         <source>%1,%2 rejected</source>
         <translation>%1，%2 拒绝执行</translation>
     </message>
     <message>
-        <location filename="CommandUI/CommandUI.cpp" line="304"/>
+        <location filename="CommandUI/CommandUI.cpp" line="307"/>
         <source>%1,%2 permanently denied</source>
         <translation>%1，%2 永久拒绝</translation>
     </message>
     <message>
-        <location filename="CommandUI/CommandUI.cpp" line="307"/>
+        <location filename="CommandUI/CommandUI.cpp" line="310"/>
         <source>%1,%2 unsupported</source>
         <translation>%1，%2 不支持</translation>
     </message>
     <message>
-        <location filename="CommandUI/CommandUI.cpp" line="310"/>
+        <location filename="CommandUI/CommandUI.cpp" line="313"/>
         <source>%1,%2 failed</source>
         <translation>%1，%2 发送失败</translation>
     </message>
     <message>
-        <location filename="CommandUI/CommandUI.cpp" line="313"/>
+        <location filename="CommandUI/CommandUI.cpp" line="316"/>
         <source>%1,%2 being executed</source>
         <translation>%1，%2 正在执行</translation>
     </message>
+    <message>
+        <location filename="CommandUI/CommandUI.cpp" line="336"/>
+        <source>%1 accepted and executed</source>
+        <translation>%1 执行成功</translation>
+    </message>
+    <message>
+        <location filename="CommandUI/CommandUI.cpp" line="339"/>
+        <source>%1 rejected</source>
+        <translation>%1 拒绝执行</translation>
+    </message>
+    <message>
+        <location filename="CommandUI/CommandUI.cpp" line="342"/>
+        <source>%1 permanently denied</source>
+        <translation>%1 永久拒绝</translation>
+    </message>
+    <message>
+        <location filename="CommandUI/CommandUI.cpp" line="345"/>
+        <source>%1 unsupported</source>
+        <translation>%1 不支持</translation>
+    </message>
+    <message>
+        <location filename="CommandUI/CommandUI.cpp" line="348"/>
+        <source>%1 failed</source>
+        <translation>%1 发送失败</translation>
+    </message>
+    <message>
+        <location filename="CommandUI/CommandUI.cpp" line="351"/>
+        <source>%1 being executed</source>
+        <translation>%1 正在执行</translation>
+    </message>
     <message>
         <source>command %1,%2 success</source>
         <translation type="vanished">指令 %1，%2 执行成功</translation>
@@ -377,7 +407,7 @@
         <translation type="vanished">按下将发送指令至无人机</translation>
     </message>
     <message>
-        <location filename="CommandUI/CommandUI.cpp" line="243"/>
+        <location filename="CommandUI/CommandUI.cpp" line="245"/>
         <source>clicked</source>
         <translation>点击</translation>
     </message>
@@ -938,167 +968,162 @@
         <translation type="vanished">参数</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="216"/>
-        <source>存在bug，连接界面udp数字输入的.可以超过3个，不合理</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <location filename="mainwindow.cpp" line="565"/>
+        <location filename="mainwindow.cpp" line="564"/>
         <source>%1D Fix</source>
         <translation>%1D 定位</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="568"/>
+        <location filename="mainwindow.cpp" line="567"/>
         <source>Fixed</source>
         <translation>固定差分</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="571"/>
+        <location filename="mainwindow.cpp" line="570"/>
         <source>Float</source>
         <translation>浮点差分</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="574"/>
+        <location filename="mainwindow.cpp" line="573"/>
         <source>gps err</source>
         <translation>GPS错误</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="601"/>
+        <location filename="mainwindow.cpp" line="600"/>
         <source>ARM</source>
         <translation>已解锁</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="604"/>
+        <location filename="mainwindow.cpp" line="603"/>
         <source>DISARM</source>
         <translation>未解锁</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="627"/>
+        <location filename="mainwindow.cpp" line="626"/>
         <source>MANUAL</source>
         <translation>手动</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="630"/>
+        <location filename="mainwindow.cpp" line="629"/>
         <source>ALTCTL</source>
         <translation>定高</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="633"/>
+        <location filename="mainwindow.cpp" line="632"/>
         <source>POSCTL</source>
         <translation>定点</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="636"/>
+        <location filename="mainwindow.cpp" line="635"/>
         <source>AUTO</source>
         <translation>自主</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="639"/>
+        <location filename="mainwindow.cpp" line="638"/>
         <source>ACRO</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="642"/>
+        <location filename="mainwindow.cpp" line="641"/>
         <source>OFFBOARD</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="645"/>
+        <location filename="mainwindow.cpp" line="644"/>
         <source>STABILIZED</source>
         <translation>增稳</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="648"/>
+        <location filename="mainwindow.cpp" line="647"/>
         <source>RATTITUDE</source>
         <translation>速率</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="651"/>
+        <location filename="mainwindow.cpp" line="650"/>
         <source>AUTO_READY</source>
         <translation>就绪</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="654"/>
+        <location filename="mainwindow.cpp" line="653"/>
         <source>AUTO_TAKEOFF</source>
         <translation>起飞</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="657"/>
+        <location filename="mainwindow.cpp" line="656"/>
         <source>AUTO_LOITER</source>
         <translation>盘旋</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="660"/>
+        <location filename="mainwindow.cpp" line="659"/>
         <source>AUTO_MISSION</source>
         <translation>任务</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="663"/>
+        <location filename="mainwindow.cpp" line="662"/>
         <source>AUTO_RTL</source>
         <translation>返航</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="666"/>
+        <location filename="mainwindow.cpp" line="665"/>
         <source>AUTO_LAND</source>
         <translation>着陆</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="669"/>
+        <location filename="mainwindow.cpp" line="668"/>
         <source>AUTO_RTGS</source>
         <translation>RTGS</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="672"/>
+        <location filename="mainwindow.cpp" line="671"/>
         <source>AUTO_FOLLOW_TARGET</source>
         <translation>目标跟随</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="675"/>
+        <location filename="mainwindow.cpp" line="674"/>
         <source>unsported</source>
         <translation>未支持</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="689"/>
+        <location filename="mainwindow.cpp" line="688"/>
         <source>flight mode</source>
         <translation>飞行模式</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="715"/>
+        <location filename="mainwindow.cpp" line="714"/>
         <source>&lt;h6&gt;数据强度：&lt;font color=red&gt;%1&lt;/font&gt;	</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="716"/>
+        <location filename="mainwindow.cpp" line="715"/>
         <source>定位类型：&lt;font color=red&gt;%1&lt;/font&gt;	</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="717"/>
+        <location filename="mainwindow.cpp" line="716"/>
         <source>卫星数目：&lt;font color=red&gt;%1&lt;/font&gt;颗&lt;/h6&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="718"/>
+        <location filename="mainwindow.cpp" line="717"/>
         <source>&lt;h6&gt;电池电压：&lt;font color=red&gt;%1&lt;/font&gt;V	</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="719"/>
+        <location filename="mainwindow.cpp" line="718"/>
         <source>剩余时间：&lt;font color=red&gt;%1&lt;/font&gt;&lt;/h6&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="733"/>
+        <location filename="mainwindow.cpp" line="732"/>
         <source>&lt;h6&gt;总航程：&lt;font color=red&gt;%1&lt;/font&gt;米	&lt;/h6&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="734"/>
+        <location filename="mainwindow.cpp" line="733"/>
         <source>&lt;h6&gt;最远距离：&lt;font color=red&gt;%1&lt;/font&gt;米	&lt;/h6&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="735"/>
+        <location filename="mainwindow.cpp" line="734"/>
         <source>&lt;h6&gt;预计飞行时间：&lt;font color=red&gt;%1&lt;/font&gt;小时	&lt;/h6&gt;</source>
         <translation type="unfinished"></translation>
     </message>
@@ -1255,10 +1280,10 @@
         <translation>类型</translation>
     </message>
     <message>
-        <location filename="Setting/Index1/ParameterInspector/ParameterInspector.cpp" line="86"/>
-        <location filename="Setting/Index1/ParameterInspector/ParameterInspector.cpp" line="187"/>
-        <location filename="Setting/Index1/ParameterInspector/ParameterInspector.cpp" line="201"/>
-        <location filename="Setting/Index1/ParameterInspector/ParameterInspector.cpp" line="544"/>
+        <location filename="Setting/Index1/ParameterInspector/ParameterInspector.cpp" line="93"/>
+        <location filename="Setting/Index1/ParameterInspector/ParameterInspector.cpp" line="194"/>
+        <location filename="Setting/Index1/ParameterInspector/ParameterInspector.cpp" line="208"/>
+        <location filename="Setting/Index1/ParameterInspector/ParameterInspector.cpp" line="551"/>
         <source>Vehicle %1</source>
         <translation>无人机 %1</translation>
     </message>
@@ -1315,7 +1340,7 @@
     </message>
     <message>
         <location filename="ComponentUI/Scope/Scope.ui" line="90"/>
-        <location filename="ComponentUI/Scope/Scope.cpp" line="401"/>
+        <location filename="ComponentUI/Scope/Scope.cpp" line="384"/>
         <source>Pause</source>
         <translation>暂停</translation>
     </message>
@@ -1340,7 +1365,7 @@
         <translation>关闭</translation>
     </message>
     <message>
-        <location filename="ComponentUI/Scope/Scope.cpp" line="397"/>
+        <location filename="ComponentUI/Scope/Scope.cpp" line="380"/>
         <source>Scroll</source>
         <translation>滚动</translation>
     </message>
@@ -1561,7 +1586,7 @@
         <translation>绝对</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="1567"/>
+        <location filename="MissionUI/propertyui.cpp" line="1568"/>
         <source>click to clear all points</source>
         <translation type="unfinished"></translation>
     </message>
@@ -1616,8 +1641,8 @@
         <translation>参数6</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="1541"/>
-        <location filename="MissionUI/propertyui.cpp" line="1580"/>
+        <location filename="MissionUI/propertyui.cpp" line="1542"/>
+        <location filename="MissionUI/propertyui.cpp" line="1581"/>
         <source>Select Loading File...</source>
         <translation>选择载入文件...</translation>
     </message>

App/Setting/Index1/ParameterInspector/ParameterInspector.cpp

@@ -30,7 +30,14 @@ ParameterInspector::ParameterInspector(QWidget *parent) :
     ui->WriteButton->setEnabled(false);
 
     TimerRunningFlag = true;
-    QTimer::singleShot(1000,this,SLOT(mReflush()));
+
+    flushTimer = new QTimer(this);
+    connect(flushTimer,SIGNAL(timeout()),
+            this,SLOT(mReflush()));
+    flushTimer->start(1000);
+
+    //不要轻易使用这个，容易引起超限
+    //QTimer::singleShot(1000,this,SLOT(mReflush()));
 }
 
 ParameterInspector::~ParameterInspector()

App/Setting/Index1/ParameterInspector/ParameterInspector.h

@@ -214,6 +214,11 @@ private:
 
 
     Ui::ParameterInspector *ui;
+
+
+    QTimer *flushTimer = nullptr;
+
+
 };
 
 #endif // PARAMETERINSPECTOR_H

App/ToolsUI/tools_Index0/MAVLinkInspector/MAVLinkInspector.cc

@@ -757,7 +757,7 @@ void MAVLinkInspector::updateField(mavlink_message_t* msg, const mavlink_message
         {
             if(scope)
             {
-                scope->setSerieData(item->data(0,Qt::DisplayRole).toString(),item->data(1,Qt::DisplayRole));
+                //scope->setSerieData(item->data(0,Qt::DisplayRole).toString(),item->data(1,Qt::DisplayRole));
             }
         }
     }

App/mainwindow.cpp

@@ -80,7 +80,7 @@ MainWindow::MainWindow(QWidget *parent)
 
     //this ----- dlink
     connect(dlink->mavlinknode,SIGNAL(beep()),
-            this,SLOT(beep()));
+            this,SLOT(beep()),Qt::DirectConnection);
 
     //this ----- map
     connect(map,SIGNAL(TotalDistanceUpdate(double)),
@@ -701,7 +701,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
                    dlink->mavlinknode->vehicle.compid,
                    dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
 
-
+    //QTimer::singleShot
 
 
 

Cockpit/Cockpit.cpp

@@ -835,7 +835,7 @@ void Cockpit::drawLeftScale(QPainter *painter)
       ePen.setColor(m_Color.CentreLineColor);
       ePen.setWidth(15);
 
-      font.setPointSize(90);
+      font.setPixelSize(90);
       font.setWeight(QFont::ExtraLight);
       font.setFamily("Arial");//非衬线
 
@@ -877,7 +877,7 @@ void Cockpit::drawLeftScale(QPainter *painter)
 
           ePen.setColor(m_Color.CentreLineColor);
           ePen.setWidth(15);
-          font.setPointSize(90);
+          font.setPixelSize(90);
           font.setFamily("Arial");//非衬线
 
           painter->setPen(ePen);
@@ -1105,7 +1105,7 @@ void Cockpit::drawRightScale(QPainter *painter)
         QFont font;
         ePen.setColor(m_Color.CentreLineColor);
         ePen.setWidth(10);
-        font.setPointSize(60);
+        font.setPixelSize(60);
 
         font.setWeight(QFont::ExtraLight);
         font.setFamily("Arial");//非衬线
@@ -1230,7 +1230,7 @@ void Cockpit::drawRightScale(QPainter *painter)
 
       ePen.setColor(m_Color.CentreLineColor);
       ePen.setWidth(10);
-      font.setPointSize(90);
+      font.setPixelSize(90);
       painter->setPen(ePen);
       painter->setFont(font);
 
@@ -1264,7 +1264,7 @@ void Cockpit::drawRightScale(QPainter *painter)
 
             ePen.setColor(m_Color.CentreLineColor);
             ePen.setWidth(10);
-            font.setPointSize(90);
+            font.setPixelSize(90);
             painter->setPen(ePen);
             painter->setFont(font);
             painter->drawText(QRect(160,-50,90,100),Qt::AlignVCenter|Qt::AlignRight, thousandText);
@@ -1280,7 +1280,7 @@ void Cockpit::drawRightScale(QPainter *painter)
 
       ePen.setColor(m_Color.CentreLineColor);
       ePen.setWidth(10);
-      font.setPointSize(70);
+      font.setPixelSize(70);
       painter->setPen(ePen);
       painter->setFont(font);
       //写百位
@@ -1336,7 +1336,7 @@ void Cockpit::drawRightScale(QPainter *painter)
 
               ePen.setColor(m_Color.CentreLineColor);
               ePen.setWidth(10);
-              font.setPointSize(70);
+              font.setPixelSize(70);
 
               painter->setPen(ePen);
               painter->setFont(font);
@@ -1426,7 +1426,7 @@ void Cockpit::drawVRate(QPainter *painter)
 
         ePen.setWidth(8);
         ePen.setColor(Qt::white);
-        font.setPointSize(50);
+        font.setPixelSize(50);
         font.setWeight(QFont::ExtraLight);
         font.setFamily("Arial");//非衬线
 
@@ -1518,7 +1518,7 @@ void Cockpit::drawVRate(QPainter *painter)
 
     ePen.setWidth(8);
     ePen.setColor(m_Color.TargetColor);
-    font.setPointSize(50);
+    font.setPixelSize(50);
     font.setWeight(QFont::ExtraLight);
     font.setFamily("Arial");//非衬线
 
@@ -1537,7 +1537,7 @@ void Cockpit::drawVRate(QPainter *painter)
 
     ePen.setWidth(8);
     ePen.setColor(m_Color.CurrentColor);
-    font.setPointSize(50);
+    font.setPixelSize(50);
     font.setWeight(QFont::ExtraLight);
     font.setFamily("Arial");//非衬线
 
@@ -1756,7 +1756,7 @@ void Cockpit::drawYawScale(QPainter *painter)
     painter->drawPolygon(Rectpoints,4);
 
     ePen.setColor(m_Color.CurrentColor);
-    font.setPointSize(60);
+    font.setPixelSize(60);
     painter->setPen(ePen);
     painter->setFont(font);
     painter->drawText(QRect(-90,-625,180,80),Qt::AlignCenter,QString::number(m_State.yaw,'f',0));
@@ -1766,7 +1766,7 @@ void Cockpit::drawYawScale(QPainter *painter)
     ePen.setColor(m_Color.CentreLineColor);
     ePen.setWidth(10);
 
-    font.setPointSize(60);
+    font.setPixelSize(60);
     painter->setPen(ePen);
     painter->setFont(font);
 
@@ -1870,7 +1870,7 @@ void Cockpit::drawTopStatuts(QPainter *painter)
     //画大字
     ePen.setColor(m_Color.StatusColor);
     ePen.setWidth(12);
-    font.setPointSize(60);
+    font.setPixelSize(60);
     font.setFamily("Arial");//非衬线
 
     painter->setPen(ePen);

MavLinkNode/commandprocess.cpp

@@ -60,7 +60,7 @@ void commandprocess::process()//线程函数
     while (running_flag)
     {
          count ++;
-         QThread::msleep(1000/running_frq);
+         QThread::msleep(1000.0/running_frq);
 
          switch(status.m_Mode)
          {
@@ -143,7 +143,7 @@ void commandprocess::WriteCmd_long(float param1, float param2,  float param3, fl
     //开启线程开始传输
     status.m_Mode = TransmitMode;//发送模式
     status.transmit.type = 1;
-    //start();//开启线程
+    start();//开启线程
 }
 
 
@@ -173,7 +173,7 @@ void commandprocess::Parse(mavlink_message_t msg)
              //break;//如果目标系统不是自己，那么就抛弃该指令
          }
 
-         qDebug() << "command_ack.result" << command_ack.result;
+         //qDebug() << "command_ack.result" << command_ack.result;
 
          if(command_ack.result == MAV_RESULT_ACCEPTED)
          {

MavLinkNode/mavlinknode.cpp

@@ -103,9 +103,9 @@ void MavLinkNode::start()
 
 
         //启动子线程
-        Mission->start();
-        Parameter->start();
-        Commander->start();
+        //Mission->start();
+        //Parameter->start();
+        //Commander->start();
 
     }
     else
@@ -425,6 +425,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
         }break;
         case MAVLINK_MSG_ID_HEARTBEAT: {
            mavlink_msg_heartbeat_decode(&msg,&vehicle.heartbeat);
+           //qDebug() << "recieve heartbeat";
            emit beep();
         }break;
         case MAVLINK_MSG_ID_PING: {

MavLinkNode/missionprocess.cpp

@@ -3,7 +3,7 @@
 
 MissionProcess::MissionProcess(QObject *parent) : QObject(parent)
 {
-    setRunFrq(200);//默认200Hz频率运行
+    setRunFrq(50);//默认200Hz频率运行
 }
 
 
@@ -56,7 +56,7 @@ void MissionProcess::process()//线程函数
     while (running_flag)
     {
          count ++;
-         QThread::msleep(1000/running_frq);
+         QThread::msleep(1000.0/running_frq);
 
          switch(mission_status.m_Mode)
          {
@@ -118,7 +118,7 @@ void MissionProcess::ReadCmd(uint8_t m_sysid, uint8_t m_compid)
 
     qDebug() << "read mission" << sysid << compid;
 
-    //start();//开启线程
+    start();//开启线程
 }
 
 void MissionProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count )
@@ -127,7 +127,7 @@ void MissionProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count
     mission_status.transmit.count = count;
     mission_status.m_Mode = TransmitMode;//发送模式
     qDebug() << "write mission" << sysid << compid;
-    //start();//开启线程
+    start();//开启线程
 }
 
 

MavLinkNode/parameterprocess.cpp

@@ -2,27 +2,7 @@
 
 ParameterProcess::ParameterProcess(QObject *parent) : QObject(parent)
 {
-    setRunFrq(200);
-
- /*   paramInspect = new ParameterInspector();
-
-
-    qRegisterMetaType<uint8_t>("uint8_t");
-    qRegisterMetaType<uint16_t>("uint16_t");
-    qRegisterMetaType<uint32_t>("uint32_t");
-
-
-    //开启线程之后signal失效
-
-    connect(paramInspect,SIGNAL(ReadCmd(uint8_t,uint8_t,uint8_t)),
-            this,SLOT(ReadCmd(uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);//多线程连接方式
-
-    connect(paramInspect,SIGNAL(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),
-            this,SLOT(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),Qt::DirectConnection);
-
-    //隐藏
-    paramInspect->hide();
-*/
+    setRunFrq(20);
 }
 
 void ParameterProcess::setRunFrq(uint32_t frq)
@@ -74,7 +54,7 @@ void ParameterProcess::process()//线程函数
     while (running_flag)
     {
          count ++;
-         QThread::msleep(1000/running_frq);
+         QThread::msleep(1000.0/running_frq);
 
          switch(status.m_Mode)
          {
@@ -120,7 +100,7 @@ void ParameterProcess::ReadCmd(uint8_t m_sysid, uint8_t m_compid,uint8_t type)
              << "type" << status.recieve.type << endl
              << "start...";
 
-    //start();//开启线程
+    start();//开启线程
 }
 
 void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,const char *id,uint8_t type,float value)
@@ -156,14 +136,14 @@ void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,const char *i
              << "type" << status.recieve.type << endl
              << "start...";
 
-    //start();//开启线程
+    start();//开启线程
 }
 
 
 //这个函数类似中断，专门处理接收到的状态
 void ParameterProcess::Parse(mavlink_message_t msg)
 {
-    //qDebug() << "Parameter" << msg.msgid;
+    qDebug() << "Parameter" << msg.msgid;
 
     switch (msg.msgid) {
     case MAVLINK_MSG_ID_PARAM_SET:{

dlink/dlink.cpp

@@ -22,9 +22,10 @@ DLink::DLink(QObject *parent) : QObject(parent)
      mavlinknode->start();
 
 
+     /*
      connect(this,&DLink::REVMessageTo1,
              this,&DLink::SendMessageTo1);
-
+    */
      //其他协议节点。。。
 
 }
@@ -52,9 +53,11 @@ int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
         }
     }
 
-    //这个地方有问题，会导致数据中断
-    emit REVMessageTo1(ch,msg,len);
-
+    if (DLink::serialPort)
+    {
+       qint64 flag =  DLink::serialPort->write((const char *)msg,len);
+       qDebug() << "serialPort Send Msg";
+    }
 
     return 0;
 }
@@ -63,34 +66,7 @@ int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
 int DLink::SendMessageTo1(quint8 ch, quint8 *msg, quint16 len)
 {
 
-    if (DLink::serialPort)
-    {
 
-        /*
-        QString num;
-        for (int i = 0; i < len; ++i) {
-            num.append(QString::number(msg[i],16).toUpper());
-            num.append(" ");
-        }
-        qDebug() << num;
-        */
-
-        //qDebug() << QThread::currentThread();
-
-       qint64 flag =  DLink::serialPort->write((const char *)msg,len);
-
-       /*
-       if(flag != -1)
-       {
-           qDebug() << "serial send Success,Send " << flag << "bytes";
-       }
-
-       qDebug() << QThread::currentThread();
-
-       */
-        qDebug() << "serialPort Send Msg";
-
-    }
 
     return 0;
 }
@@ -299,7 +275,7 @@ void DLink::readPendingDatagramsSerialPort(void)
     qDebug() << num;
     */
 
-    //qDebug() << "reci";
+    qDebug() << "port recieve";
 
 }
 
@@ -313,7 +289,7 @@ void DLink::readPendingDatagramsClient(void)
         mavlinknode->setbuff(SourceType::c_sock,datagram);
     }
 
-    //qDebug() << "client recieve";
+    qDebug() << "client recieve";
 
 }
 

opmap/mapwidget/opmapwidget.cpp

@@ -184,6 +184,7 @@ void OPMapWidget::addUAV(int sysid,int compid)
 void OPMapWidget::NOPTimeout()
 {
      //qDebug() << "NOPTimeout";
+    //这个超限
      if(isWPCreate == false)
      {
         isLNOP = true;