diff --git a/App/CommandUI/CommandUI.cpp b/App/CommandUI/CommandUI.cpp
index 59f814b..e165c1a 100644
--- a/App/CommandUI/CommandUI.cpp
+++ b/App/CommandUI/CommandUI.cpp
@@ -742,9 +742,9 @@ void CommandUI::commandAccepted(bool flag,uint16_t command,uint8_t result)
if(string.size() > 0)
{
- QTextToSpeech *tts = new QTextToSpeech();
- tts->say(string);
- tts->deleteLater();
+
+ emit say(string);
+
emit showMessage(string);
}
@@ -758,9 +758,8 @@ void CommandUI::commandAccepted(bool flag,uint16_t command,uint8_t result)
{
if(string.size() > 0)
{
- QTextToSpeech *tts = new QTextToSpeech();
- tts->say(string);
- tts->deleteLater();
+ emit say(string);
+
emit showMessage(string);
}
diff --git a/App/CommandUI/CommandUI.h b/App/CommandUI/CommandUI.h
index 176ee8d..764a41e 100644
--- a/App/CommandUI/CommandUI.h
+++ b/App/CommandUI/CommandUI.h
@@ -110,6 +110,8 @@ signals:
void getAllPoint(int);
+ void say(QString str);
+
private slots:
void updateUI(void);
diff --git a/App/Config/Config.cpp b/App/Config/Config.cpp
index 55e1ebb..3a22ed1 100644
--- a/App/Config/Config.cpp
+++ b/App/Config/Config.cpp
@@ -277,8 +277,59 @@ void Config::setMapType(QVariant type)
setJsonObject("Map",obj);
}
-
-
+void Config::getBeep(QVariant *value)
+{
+ QJsonObject obj = getJsonObject("Warnning");
+
+ *value = obj.value("Beep").toBool();
+}
+
+void Config::setBeep(QVariant value)
+{
+ QJsonObject obj;
+
+ obj["Beep"] = value.toBool();
+
+ setJsonObject("Warnning",obj);
+}
+
+void Config::getTTS(QVariant *value)
+{
+ QJsonObject obj = getJsonObject("Sound");
+
+ *value = obj.value("tts").toBool();
+}
+
+void Config::setTTS(QVariant value)
+{
+ QJsonObject obj;
+
+ obj["tts"] = value.toBool();
+
+ setJsonObject("Sound",obj);
+}
+
+void Config::get_ExportInfo(QVariant *state, QVariant *flag, QHostAddress *addr, QVariant *port)
+{
+ QJsonObject obj = getJsonObject("ExportInfo");
+
+ *state = obj.value("state").toBool();
+ *flag = obj.value("flag").toInt();
+ *addr = obj.value("addr").toString();
+ *port = obj.value("port").toInt();
+}
+
+void Config::set_ExportInfo(QVariant state, QVariant flag, QHostAddress addr, QVariant port)
+{
+ QJsonObject obj;
+
+ obj["state"] = state.toBool();
+ obj["flag"] = flag.toInt();
+ obj["addr"] = addr.toString();
+ obj["port"] = port.toInt();
+
+ setJsonObject("ExportInfo",obj);
+}
diff --git a/App/Config/Config.h b/App/Config/Config.h
index 263ccb6..7634852 100644
--- a/App/Config/Config.h
+++ b/App/Config/Config.h
@@ -7,7 +7,7 @@
#include "QJsonDocument"
#include "QJsonObject"
#include "QJsonParseError"
-
+#include "QHostAddress"
#include "QDebug"
class Config : public QObject
@@ -44,6 +44,14 @@ public slots:
void get_GCS_ID(QVariant *id);
void set_GCS_ID(QVariant id);
+ void get_ExportInfo(QVariant *state, QVariant *flag, QHostAddress *addr, QVariant *port);
+ void set_ExportInfo(QVariant state, QVariant flag, QHostAddress addr, QVariant port);
+
+ void getBeep(QVariant *value);
+ void setBeep(QVariant value);
+
+ void getTTS(QVariant *value);
+ void setTTS(QVariant value);
void getServoOffset(QVariant *dirla, QVariant *dirra, QVariant *dirle, QVariant *dirre, QVariant *dirru,
QVariant *maxla, QVariant *maxra, QVariant *maxle, QVariant *maxre, QVariant *maxru,
diff --git a/App/Setting/Index0/Global/GlobalSetting.cpp b/App/Setting/Index0/Global/GlobalSetting.cpp
index d8daac0..5adb3b4 100644
--- a/App/Setting/Index0/Global/GlobalSetting.cpp
+++ b/App/Setting/Index0/Global/GlobalSetting.cpp
@@ -31,20 +31,14 @@ GlobalSetting::GlobalSetting(QWidget *parent) :
ui->doubleSpinBox_right_lng->setValue(135);
-// ui->label_mapcache_info->hide();
-// ui->label_maplat->hide();
-// ui->label_maplevel->hide();
-// ui->label_maplng->hide();
-// ui->label_leftmap->hide();
-// ui->label_rightmap->hide();
+ ui->comboBox_Beep->addItem(tr("开"),true);
+ ui->comboBox_Beep->addItem(tr("关"),false);
-// ui->doubleSpinBox_left_lat->hide();
-// ui->doubleSpinBox_left_lng->hide();
-// ui->doubleSpinBox_right_lat->hide();
-// ui->doubleSpinBox_right_lng->hide();
+ ui->comboBox_TTS->addItem(tr("开"),true);
+ ui->comboBox_TTS->addItem(tr("关"),false);
-// ui->pushButton_map_cache->hide();
-// ui->comboBox_map_level->hide();
+ ui->comboBox_export_state->addItem(tr("输出开启"),true);
+ ui->comboBox_export_state->addItem(tr("输出关闭"),false);
@@ -70,6 +64,18 @@ GlobalSetting::GlobalSetting(QWidget *parent) :
emit setGCSID(id.toInt());//设置全局ID
+ QVariant beep;
+ cfg->getBeep(&beep);
+ ui->comboBox_Beep->setCurrentIndex(ui->comboBox_Beep->findData(beep.toBool()));
+
+ getBeep();
+
+ QVariant tts;
+ cfg->getTTS(&tts);
+ ui->comboBox_TTS->setCurrentIndex(ui->comboBox_TTS->findData(tts.toBool()));
+
+ emit setTTS(tts.toBool());
+
ui->comboBox_dir_la->addItem("1",1);
ui->comboBox_dir_la->addItem("-1",-1);
@@ -111,11 +117,31 @@ GlobalSetting::GlobalSetting(QWidget *parent) :
ui->comboBox_HeartBeat_State->addItem(tr("发送心跳包"),true);
ui->comboBox_HeartBeat_State->addItem(tr("关闭心跳包"),false);
- ui->comboBox_HeartBeat_State->setCurrentIndex(ui->comboBox_HeartBeat_Frq->findData(state));
+ ui->comboBox_HeartBeat_State->setCurrentIndex(ui->comboBox_HeartBeat_State->findData(state));
on_pushButton_getHeartBeat_clicked();
+ QVariant flag;
+ QHostAddress addr;
+ QVariant port;
+
+ cfg->get_ExportInfo(&state, &flag, &addr, &port);
+
+ ui->comboBox_export_state->setCurrentIndex(ui->comboBox_export_state->findData(state));
+
+ bool ss = false;
+ ui->lineEdit_export_flag->setText(QString::number(flag.toUInt()));
+ ui->lineEdit_export_addr->setText(addr.toString());
+ ui->lineEdit_export_port->setText(QString::number(port.toInt()));
+
+ emit setExportInfo(state,flag,addr,port.toInt());
+
+
+
+
+
+
QVariant maptype;
cfg->getMapType(&maptype);
@@ -588,6 +614,83 @@ void GlobalSetting::SetNumberOfTiles(const int &total, const int &actual)
ui->label_mapcache_info->setText(QString(tr("Downloading tile %1 of %2")).arg(actual).arg(total));
}
+void GlobalSetting::getExportInfo(void)
+{
+ on_pushButton_setExport_clicked();
+}
+
+
+void GlobalSetting::on_pushButton_setExport_clicked()
+{
+ QVariant state,flag;
+ QHostAddress addr;
+ qint32 port;
+
+ state = ui->comboBox_export_state->currentData();
+ flag = ui->lineEdit_export_flag->text().toInt();
+ addr = ui->lineEdit_export_addr->text();
+ port = ui->lineEdit_export_port->text().toInt();
+
+ emit setExportInfo(state,flag,addr,port);
+
+
+ Config *cfg = new Config();
+
+ cfg->set_ExportInfo(state, flag, addr, port);
+
+ cfg->deleteLater();
+ delete cfg;
+ emit showMessage((state.toBool())?(tr("入网输出开启")):(tr("入网输出关闭")));
+}
+
+void GlobalSetting::getBeep(void)
+{
+ on_pushButton_Beep_clicked();
+}
+
+void GlobalSetting::on_pushButton_Beep_clicked()
+{
+ QVariant state;
+
+ state = ui->comboBox_Beep->currentData();
+
+ emit setBeep(state.toBool());
+
+ Config *cfg = new Config();
+
+ cfg->setBeep(state);
+
+ cfg->deleteLater();
+ delete cfg;
+
+
+ emit showMessage((state.toBool())?(tr("心跳声音开启")):(tr("心跳声音关闭")));
+}
+
+void GlobalSetting::getTTS(void)
+{
+ on_pushButton_TTS_clicked();
+}
+
+void GlobalSetting::on_pushButton_TTS_clicked()
+{
+ QVariant state;
+
+ state = ui->comboBox_TTS->currentData();
+
+ emit setTTS(state.toBool());
+
+ Config *cfg = new Config();
+
+ cfg->setTTS(state);
+
+ cfg->deleteLater();
+ delete cfg;
+
+
+ emit showMessage((state.toBool())?(tr("语音提示开启")):(tr("语音提示关闭")));
+}
+
diff --git a/App/Setting/Index0/Global/GlobalSetting.h b/App/Setting/Index0/Global/GlobalSetting.h
index e95c74c..69ab1f9 100644
--- a/App/Setting/Index0/Global/GlobalSetting.h
+++ b/App/Setting/Index0/Global/GlobalSetting.h
@@ -5,6 +5,7 @@
#include "QDebug"
#include "Config/Config.h"
#include "Selector.h"
+#include "QHostAddress"
namespace Ui {
class GlobalSetting;
@@ -22,6 +23,9 @@ public:
void getGCSID(void);
void getServo(void);
void getHeartBeat(void);
+ void getTTS(void);
+ void getExportInfo(void);
+ void getBeep(void);
public slots:
void MapTypes(QStringList list);
@@ -57,6 +61,12 @@ private slots:
void on_pushButton_map_cache_clicked();
+ void on_pushButton_setExport_clicked();
+
+ void on_pushButton_Beep_clicked();
+
+ void on_pushButton_TTS_clicked();
+
signals:
void showMessage(const QString &message,int TimeOut = 0);
@@ -70,6 +80,9 @@ signals:
void setHeartBeat(QVariant state,QVariant frq);
+ void setBeep(QVariant beep);
+
+ void setTTS(QVariant flag);
void setMapTypes(QVariant value);
void getMapTypes(void);
@@ -78,6 +91,8 @@ signals:
void mapCache(bool start,qreal lat_l,qreal lng_l,qreal lat_r,qreal lng_r,qint8 zoom);
void mapCacheCancel();
+ void setExportInfo(QVariant value,QVariant id, QHostAddress addr, qint32 port);
+
private:
Ui::GlobalSetting *ui;
diff --git a/App/Setting/Index0/Global/GlobalSetting.ui b/App/Setting/Index0/Global/GlobalSetting.ui
index d1a0fc6..09b760c 100644
--- a/App/Setting/Index0/Global/GlobalSetting.ui
+++ b/App/Setting/Index0/Global/GlobalSetting.ui
@@ -6,47 +6,341 @@
0
0
- 467
- 588
+ 772
+ 465
Form
-
- -
-
-
- Qt::Horizontal
-
-
-
- 40
- 20
-
-
-
+
+
-
+
+
-
+
+
-
+
+
+ 系统设置
+
+
+
-
+
+
+ 心跳声
+
+
+
+ -
+
+
+ -
+
+
+ 设置
+
+
+
+ -
+
+
+ 提示声
+
+
+
+ -
+
+
+ -
+
+
+ 设置
+
+
+
+ -
+
+
+ 设置
+
+
+
+ -
+
+
+ -
+
+
+ 系统号
+
+
+
+
+
+
+ -
+
+
+ 上传心跳
+
+
+
-
+
+
+ -
+
+
+ 频率
+
+
+
+ -
+
+
+ 状态
+
+
+
+ -
+
+
+ 读取
+
+
+
+ -
+
+
+ 保存
+
+
+
+ -
+
+
+
+
+
+
+
+ -
+
+
+ 入网输出设置
+
+
+
-
+
+
+ 标识码
+
+
+
+ -
+
+
+ 1
+
+
+
+ -
+
+
+ IP地址
+
+
+
+ -
+
+
+ 192.168.5.72
+
+
+
+ -
+
+
+ 端口
+
+
+
+ -
+
+
+ 10049
+
+
+
+ -
+
+
-
+
+
+ Qt::Horizontal
+
+
+
+ 40
+ 20
+
+
+
+
+ -
+
+
+ 设置
+
+
+
+ -
+
+
+
+
+
+
+
+ -
+
+
+ 地图设置
+
+
+
-
+
+
+ 地图等级
+
+
+
+ -
+
+
+ 8
+
+
+ -90.000000000000000
+
+
+ 90.000000000000000
+
+
+
+ -
+
+
+ 地图缓存信息
+
+
+
+ -
+
+
+ 右下坐标
+
+
+
+ -
+
+
+ 8
+
+
+ -180.000000000000000
+
+
+ 180.000000000000000
+
+
+
+ -
+
+
+ 选择地图
+
+
+
+ -
+
+
+ 左上坐标
+
+
+
+ -
+
+
+ 8
+
+
+ -90.000000000000000
+
+
+ 90.000000000000000
+
+
+
+ -
+
+
+ 0
+
+
+ %v
+
+
+
+ -
+
+
+ 地图信息
+
+
+
+ -
+
+
+ -
+
+
+ 纬度
+
+
+
+ -
+
+
+ 经度
+
+
+
+ -
+
+
+ 8
+
+
+ -180.000000000000000
+
+
+ 180.000000000000000
+
+
+
+ -
+
+
+ start cache
+
+
+
+
+
+
+
- -
-
-
- ID设置
-
-
-
-
-
-
- -
-
-
- 设置
-
-
-
-
-
-
- -
+
-
舵机显示设置
@@ -371,7 +665,20 @@
- -
+
-
+
+
+ Qt::Horizontal
+
+
+
+ 40
+ 20
+
+
+
+
+ -
Qt::Vertical
@@ -384,186 +691,6 @@
- -
-
-
- 上传心跳
-
-
-
-
-
-
- -
-
-
- 频率
-
-
-
- -
-
-
- 状态
-
-
-
- -
-
-
- 读取
-
-
-
- -
-
-
- 保存
-
-
-
- -
-
-
-
-
-
- -
-
-
- 地图设置
-
-
-
-
-
-
- 0
-
-
- %v
-
-
-
- -
-
-
- 左上坐标
-
-
-
- -
-
-
- 地图等级
-
-
-
- -
-
-
- 经度
-
-
-
- -
-
-
- 纬度
-
-
-
- -
-
-
- 右下坐标
-
-
-
- -
-
-
- 8
-
-
- -90.000000000000000
-
-
- 90.000000000000000
-
-
-
- -
-
-
- start cache
-
-
-
- -
-
-
- 8
-
-
- -90.000000000000000
-
-
- 90.000000000000000
-
-
-
- -
-
-
- -
-
-
- 选择地图
-
-
-
- -
-
-
- 8
-
-
- -180.000000000000000
-
-
- 180.000000000000000
-
-
-
- -
-
-
- 地图缓存信息
-
-
-
- -
-
-
- 8
-
-
- -180.000000000000000
-
-
- 180.000000000000000
-
-
-
- -
-
-
- 地图信息
-
-
-
-
-
-
diff --git a/App/Setting/Index0/Index0.qss b/App/Setting/Index0/Index0.qss
index 06328f7..b034f71 100644
--- a/App/Setting/Index0/Index0.qss
+++ b/App/Setting/Index0/Index0.qss
@@ -18,4 +18,7 @@
font-weight:bold;
}
+.QLineEdit{
+ font :15px "黑体";
+}
diff --git a/App/mainwindow.cpp b/App/mainwindow.cpp
index df55f57..ec80a8e 100644
--- a/App/mainwindow.cpp
+++ b/App/mainwindow.cpp
@@ -560,12 +560,6 @@ MainWindow::MainWindow(QWidget *parent)
-/*
- connect(dlink->mavlinknode->Mission,SIGNAL(currentPoint(int,int)),
- toolsui->diagram,SLOT(setTargetPoint(int,int)));
- */
-
-
//=======setting=====tools====
connect(setting->index1->paramInspect,SIGNAL(APversion(QString)),
toolsui->servosystem,SLOT(setAPversion(QString)));
@@ -577,6 +571,14 @@ MainWindow::MainWindow(QWidget *parent)
connect(setting->index0->globalsetting,&GlobalSetting::setServo,
toolsui->servosystem,&ServoSystem::setServoOffset);
+ connect(setting->index0->globalsetting,&GlobalSetting::setBeep,
+ this,&MainWindow::setBeep);
+
+ connect(setting->index0->globalsetting,&GlobalSetting::setTTS,
+ this,&MainWindow::setTTS);
+
+ connect(setting->index0->globalsetting,&GlobalSetting::setExportInfo,
+ dlink,&DLink::setExportInfo);
//==== showmessage=====
connect(toolsui->servosystem,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
@@ -588,7 +590,7 @@ MainWindow::MainWindow(QWidget *parent)
connect(setting->index0->globalsetting,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
-
+ connect(commandUI,&CommandUI::say,this,&MainWindow::TTSsay);
//connect(menuBarUI,SIGNAL(NewMessage(QString)),toolsui->index1,SLOT(setLog(QString)),Qt::DirectConnection);
@@ -629,8 +631,10 @@ MainWindow::MainWindow(QWidget *parent)
//设置地面站ID
setting->index0->globalsetting->getGCSID();
setting->index0->globalsetting->getServo();
-
setting->index0->globalsetting->getHeartBeat();
+ setting->index0->globalsetting->getBeep();
+ setting->index0->globalsetting->getTTS();
+ setting->index0->globalsetting->getExportInfo();
}
@@ -1006,13 +1010,48 @@ void MainWindow::showMessage(const QString &message, int TimeOut)
void MainWindow::beep(int id)
{
- if(map->getUAVCurrent() == id)
+ if(isEnableBeep)
{
- QApplication::beep();
+ if(map->getUAVCurrent() == id)
+ {
+ QApplication::beep();
+ //Beep(455,50);
+ }
}
}
+void MainWindow::setBeep(QVariant state)
+{
+ isEnableBeep = state.toBool();
+}
+
+void MainWindow::setTTS(QVariant state)
+{
+ isEnableTTS = state.toBool();
+}
+
+void MainWindow::TTSsay(QString str)
+{
+ //qDebug() << u8"播报语音";
+ //把要说的话加入队列
+ if(isEnableTTS)
+ {
+ //qDebug() << u8"把要说的话加入到队列";
+ if(!tts)
+ {
+ tts = new QTextToSpeech();
+ }
+
+ if(tts->state() == QTextToSpeech::Ready)
+ {
+ //qDebug() << u8"准备开始播放语音";
+ //TTS有问题，可能会导致死机
+ tts->say(str);
+ }
+ }
+}
+
void MainWindow::setCommunicationLostState(bool flag)
{
@@ -1027,7 +1066,7 @@ void MainWindow::setCommunicationLostState(bool flag)
if(last != flag)
{
showMessage(tr("Communication Lost"),3000);
- tts->say(tr("Communication Lost"));
+ TTSsay(tr("Communication Lost"));
}
healthui->setState(1,HealthUI::state::failure);
@@ -1082,7 +1121,7 @@ void MainWindow::setCommunicationLostState(bool flag)
if(last != flag)
{
showMessage(tr("Communication Regain"),3000);
- tts->say(tr("Communication Regain"));
+ TTSsay(tr("Communication Regain"));
}
}
@@ -1426,13 +1465,13 @@ void MainWindow::updateUI()//事件驱动式更新数据
if(isStateChanged == true)
{
- tts->say(arm_str);
+ TTSsay(arm_str);
}
if(isCustomChanged == true)
{
mode_str.append(tr("flight mode"));
- tts->say(mode_str);
+ TTSsay(mode_str);
}
diff --git a/App/mainwindow.h b/App/mainwindow.h
index ef67eac..279043e 100644
--- a/App/mainwindow.h
+++ b/App/mainwindow.h
@@ -75,7 +75,10 @@ public slots:
void setCommunicationLostState(bool flag);
void beep(int id);
+ void setBeep(QVariant state);
+ void TTSsay(QString str);
+ void setTTS(QVariant state);
void setServoOffset(QVariant dirla, QVariant dirra, QVariant dirle, QVariant dirre, QVariant dirru,
QVariant maxla, QVariant maxra, QVariant maxle, QVariant maxre, QVariant maxru,
@@ -168,6 +171,8 @@ protected:
bool isEngineStartUp = false;
+ bool isEnableBeep = true;
+ bool isEnableTTS = true;
QVariant dir_la;
QVariant dir_ra;
diff --git a/MavLinkNode/mavlinknode.cpp b/MavLinkNode/mavlinknode.cpp
index 3aff732..c330533 100644
--- a/MavLinkNode/mavlinknode.cpp
+++ b/MavLinkNode/mavlinknode.cpp
@@ -1276,7 +1276,26 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
gpsTimer.min = min;
gpsTimer.sec = sec;
+ _showinfo info;
+ info.flag = 0x23F8;
+ info.id = infoExportID;//1
+ info.time = (int32_t)vehicle.ins1.time;//(second+min*60+hour*3600)*1000
+ info.lng = vehicle.ins1.lon * 10000000;//*10000000
+ info.lat = vehicle.ins1.lat * 10000000;//*10000000
+ info.alt = vehicle.ins1.alt * 100;//*100
+ info.ve = vehicle.ins1.v_east * 100;//*100
+ info.vn = vehicle.ins1.v_north * 100;//*100
+ info.vu = vehicle.ins1.v_up * 100;//*100
+ info.v = sqrt(vehicle.ins1.v_east * vehicle.ins1.v_east +
+ vehicle.ins1.v_north * vehicle.ins1.v_north +
+ vehicle.ins1.v_up * vehicle.ins1.v_up) * 100;//*100
+ info.course = vehicle.ins1.yaw * 100;//*100
+
+
+ //qDebug() << "infoExportID" << infoExportID;
+
+ infoExport(info);
@@ -1938,3 +1957,166 @@ void MavLinkNode::serial_control(void)
}
+
+void MavLinkNode::infoExport(_showinfo info)
+{
+ uint8_t buff[250];
+ int dataCount = 0;
+
+ union {uint8_t B[4];uint16_t D[2];int32_t H;}src;
+
+#if 0
+ src.D[0] = info.flag;
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[0];
+
+ src.D[0] = info.id;
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[0];
+
+ src.H = info.time;
+ buff[dataCount++] = src.B[3];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[0];
+
+ src.H = info.lng;
+ buff[dataCount++] = src.B[3];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[0];
+
+ src.H = info.lat;
+ buff[dataCount++] = src.B[3];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[0];
+
+ src.H = info.alt;
+ buff[dataCount++] = src.B[3];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[0];
+
+ src.H = info.ve;
+ buff[dataCount++] = src.B[3];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[0];
+
+ src.H = info.vn;
+ buff[dataCount++] = src.B[3];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[0];
+
+ src.H = info.vu;
+ buff[dataCount++] = src.B[3];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[0];
+
+ src.H = info.v;
+ buff[dataCount++] = src.B[3];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[0];
+
+ src.H = info.course;
+ buff[dataCount++] = src.B[3];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[0];
+
+ src.H = 0;
+ buff[dataCount++] = src.B[3];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[0];
+
+ src.H = 0;
+ buff[dataCount++] = src.B[3];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[0];
+#else
+ src.D[0] = info.flag;
+ buff[dataCount++] = src.B[0];
+ buff[dataCount++] = src.B[1];
+
+ src.D[0] = info.id;
+ buff[dataCount++] = src.B[0];
+ buff[dataCount++] = src.B[1];
+
+ src.H = info.time;
+ buff[dataCount++] = src.B[0];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[3];
+
+ src.H = info.lng;
+ buff[dataCount++] = src.B[0];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[3];
+
+ src.H = info.lat;
+ buff[dataCount++] = src.B[0];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[3];
+
+ src.H = info.alt;
+ buff[dataCount++] = src.B[0];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[3];
+
+ src.H = info.ve;
+ buff[dataCount++] = src.B[0];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[3];
+
+ src.H = info.vn;
+ buff[dataCount++] = src.B[0];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[3];
+
+ src.H = info.vu;
+ buff[dataCount++] = src.B[0];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[3];
+
+ src.H = info.v;
+ buff[dataCount++] = src.B[0];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[3];
+
+ src.H = info.course;
+ buff[dataCount++] = src.B[0];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[3];
+
+ src.H = 0;
+ buff[dataCount++] = src.B[0];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[3];
+
+ src.H = 0;
+ buff[dataCount++] = src.B[0];
+ buff[dataCount++] = src.B[1];
+ buff[dataCount++] = src.B[2];
+ buff[dataCount++] = src.B[3];
+
+#endif
+
+ emit SendMessageToExport(0,buff,dataCount);
+}
+
+
diff --git a/MavLinkNode/mavlinknode.h b/MavLinkNode/mavlinknode.h
index e125ba0..212af63 100644
--- a/MavLinkNode/mavlinknode.h
+++ b/MavLinkNode/mavlinknode.h
@@ -81,6 +81,22 @@ public:
}_vehicle;
+ typedef struct
+ {
+ uint16_t flag;//0x24a8
+ uint16_t id;//1
+ int32_t time;//(second+min*60+hour*3600)*1000
+ int32_t lng;//*10000000
+ int32_t lat;//*10000000
+ int32_t alt;//*100
+ int32_t ve;//*100
+ int32_t vn;//*100
+ int32_t vu;//*100
+ int32_t v;//*100
+ int32_t course;//*100
+ int32_t backup1;//*100
+ int32_t backup2;//*100
+ }_showinfo;//192.168.5.72:10049
@@ -153,7 +169,7 @@ public:
QFile * ccmstate_file = nullptr;
QFile * serial_control_file = nullptr;
-
+ int infoExportID = 1;
signals:
void signal_autopilot_version(mavlink_autopilot_version_t);
@@ -210,6 +226,8 @@ signals:
void heartbeatTimeStamp(quint32 time);
+
+ void SendMessageToExport(quint8 ch, quint8 *data,quint16 len);
public slots:
//线程对外接口
void CreateCSV(void);
@@ -232,6 +250,8 @@ public slots:
void serial_control(void);
void Transmit(QString msg);
+ void infoExport(_showinfo info);
+
private slots:
//线程私有接口
void process();
diff --git a/dlink/dlink.cpp b/dlink/dlink.cpp
index e5abff8..f0a98f7 100644
--- a/dlink/dlink.cpp
+++ b/dlink/dlink.cpp
@@ -15,6 +15,10 @@ DLink::DLink(QObject *parent) : QObject(parent)
connect(mavlinknode,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
this,SLOT(SendMessageTo(quint8,quint8*,quint16)),Qt::BlockingQueuedConnection);//BlockingQueuedConnection);//信号和槽必须在不同的线程中，否则就产生死锁
+ connect(mavlinknode,SIGNAL(SendMessageToExport(quint8,quint8*,quint16)),
+ this,SLOT(SendMessageToExport(quint8,quint8*,quint16)),Qt::BlockingQueuedConnection);//BlockingQueuedConnection);//信号和槽必须在不同的线程中，否则就产生死锁
+
+
//在当前线程运行
connect(mavlinknode,SIGNAL(showMessage(QString,int)),
this,SIGNAL(showMessage(QString,int)));
@@ -24,6 +28,16 @@ DLink::DLink(QObject *parent) : QObject(parent)
mavlinknode,SLOT(setbuff(quint32,QByteArray)),Qt::DirectConnection);
+ Exportsock = new QUdpSocket(this);
+ int rst = Exportsock->bind(QHostAddress::AnyIPv4,10000);
+ if(rst)
+ {
+ if(Exportsock->open(QIODevice::ReadWrite))
+ {
+ qDebug() << "信息输出端口打开正常";
+ }
+ }
+
PPSTimer = new QTimer();
PPSTimer->setInterval(1000);
@@ -64,6 +78,14 @@ DLink::~DLink()
delete mavlinknode;
mavlinknode = nullptr;
+ if(Exportsock)
+ {
+ Exportsock->abort();
+ delete Exportsock;
+ Exportsock = nullptr;
+ }
+
+
if(PPSTimer)
{
PPSTimer->stop();
@@ -91,6 +113,73 @@ void DLink::timeout()
}
}
+
+
+
+void DLink::setExportInfo(QVariant value,QVariant id, QHostAddress addr, qint32 port)
+{
+ isExportInfo = value.toBool();
+
+ if(isExportInfo)
+ {
+ if(!Exportsock)
+ {
+ Exportsock = new QUdpSocket(this);
+ int rst = Exportsock->bind(QHostAddress::AnyIPv4,10000);
+ if(rst)
+ {
+ if(Exportsock->open(QIODevice::ReadWrite))
+ {
+ qDebug() << "信息输出端口打开正常";
+ }
+ }
+ }
+ }
+ else
+ {
+ if(Exportsock)
+ {
+ Exportsock->abort();
+ delete Exportsock;
+ Exportsock = nullptr;
+ }
+ }
+
+
+ if(mavlinknode)
+ {
+ mavlinknode->infoExportID = id.toInt();
+ }
+
+ Export_addr = addr;
+ Export_port = port;
+
+ qDebug() << "isExportInfo" << value
+ << id
+ << addr
+ << port;
+}
+
+int DLink::SendMessageToExport(quint8 ch, quint8 *msg, quint16 len)
+{
+ Q_UNUSED(ch)
+
+ if(isExportInfo)//使能输出再输出
+ {
+ if(Exportsock)
+ {
+ qint64 flag = Exportsock->writeDatagram((const char *)msg,len,Export_addr, Export_port);
+ if(flag != -1)
+ {
+ qDebug() << "export Client Send Msg" << Export_addr < clientSockets;
QList serials;
@@ -160,6 +165,11 @@ protected:
qint32 multicast_transmit_port;
+ QHostAddress Export_addr;
+ qint32 Export_port;
+
+
+
QTimer *PPSTimer = nullptr;
};