From a5fc50e704a4301b712d9a4a07664cb82bd41d84 Mon Sep 17 00:00:00 2001
From: zhangxusong <328180668@qq.com>
Date: Thu, 19 Sep 2024 10:12:11 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E8=BD=AC=E5=8F=91bug?=
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---
 MavLinkNode/mavlinknode.cpp | 14 +++++++++-----
 MavLinkNode/mavlinknode.h   |  6 +++++-
 dlink/dlink.cpp             |  6 +++---
 3 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/MavLinkNode/mavlinknode.cpp b/MavLinkNode/mavlinknode.cpp
index b8963dd..35f1380 100644
--- a/MavLinkNode/mavlinknode.cpp
+++ b/MavLinkNode/mavlinknode.cpp
@@ -241,12 +241,11 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
      m_heartbeat.type            = 0;
 
 
-     connect(&showInfoTimer, &QTimer::timeout, this, [this]()
-            {
-                infoExport(info);
-            });
+     showInfoTimer = new QTimer;
+     showInfoTimer->setInterval(200);
+     connect(showInfoTimer, &QTimer::timeout, this, &MavLinkNode::showInfoTimerTimeout, Qt::DirectConnection);
 
-     showInfoTimer.start(200);
+     showInfoTimer->start();
 }
 
 MavLinkNode::~MavLinkNode()
@@ -2069,6 +2068,11 @@ void MavLinkNode::heartbeat(uint32_t custom_mode,uint8_t type,uint8_t autopilot,
     Send(msg);
 }
 
+void MavLinkNode::showInfoTimerTimeout()
+{
+    infoExport(info);
+}
+
 void MavLinkNode::Transmit(QString msg)
 {
 
diff --git a/MavLinkNode/mavlinknode.h b/MavLinkNode/mavlinknode.h
index 2af9cae..4c3eb1e 100644
--- a/MavLinkNode/mavlinknode.h
+++ b/MavLinkNode/mavlinknode.h
@@ -24,6 +24,7 @@
 #include "ParsePack.h"
 #include "QTime"
 #include "QDateTime"
+#include <QTimer>
 
 #ifdef QtMavlinkNode
 #include <mavlinknodeglobal.h>
@@ -356,8 +357,11 @@ protected:
     QDateTime *gpstimebase = nullptr;
 
     _showinfo info;
-    QTimer showInfoTimer;
 
+    QPointer<QTimer> showInfoTimer = nullptr;
+
+private slots:
+    void showInfoTimerTimeout();
 };
 
 #endif // MAVLINKNODE_H
diff --git a/dlink/dlink.cpp b/dlink/dlink.cpp
index f69719b..6c8f00e 100644
--- a/dlink/dlink.cpp
+++ b/dlink/dlink.cpp
@@ -1,4 +1,4 @@
-#include "dlink.h"
+#include "dlink.h"
 #include <string.h>
 #include "QDateTime"
 #include "QElapsedTimer"
@@ -13,10 +13,10 @@ DLink::DLink(QObject *parent) : QObject(parent)
 
      //在当前线程运行
      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
+           this,SLOT(SendMessageTo(quint8,quint8*,quint16)));//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
+           this,SLOT(SendMessageToExport(quint8,quint8*,quint16)));//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