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修改指令界面

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This commit is contained in:
hm
2020-10-12 21:08:37 +08:00
parent 5fa54bde78
commit b0c2606b4f
10 changed files with 624 additions and 220 deletions
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App/CommandBox/CommandBox.cpp
+168 -3
View File
@@ -68,8 +68,6 @@ CommandBox::CommandBox(QWidget *parent) :
ui->comboBox_TestValue->setCurrentIndex(-1);
}
CommandBox::~CommandBox()
@@ -181,8 +179,72 @@ void CommandBox::on_comboBox_TestPoint_currentIndexChanged(int index)
}
}
//二次确认
void CommandBox::setSecondConfirm(QVariant value)
{
if(value.toBool() == true)
{
emit cmd_long(m_param1,m_param2,m_param3,m_param4,m_param5,m_param6,m_param7,m_command,m_confirm);
}
else
{
m_param1 = 0;
m_param2 = 0;
m_param3 = 0;
m_param4 = 0;
m_param5 = 0;
m_param6 = 0;
m_param7 = 0;
m_command = 0;
m_confirm = 0;
}
}
void CommandBox::on_pushButton_SendCommand_clicked()
{
emit cmd_long(m_param1,m_param2,m_param3,m_param4,m_param5,m_param6,m_param7,m_command,m_confirm);
}
void CommandBox::on_pushButton_Cancel_clicked()
{
m_param1 = 0;
m_param2 = 0;
m_param3 = 0;
m_param4 = 0;
m_param5 = 0;
m_param6 = 0;
m_param7 = 0;
m_command = 0;
m_confirm = 0;
}
void CommandBox::on_commandClicked(QString name,
float param1,float param2,float param3,float param4,
float param5,float param6,float param7,
uint16_t command,uint8_t confirmation)
{
m_name = name;
m_param1 = param1;
m_param2 = param2;
m_param3 = param3;
m_param4 = param4;
m_param5 = param5;
m_param6 = param6;
m_param7 = param7;
m_command = command;
m_confirm = confirmation;
ui->lineEdit_CommandName->setText(name);
}
//测试指令
void CommandBox::on_pushButton_SendTest_clicked()
{
//判断 两个 内容是否是空，
float testPoint = 0;
float testValue = 0;
@@ -196,10 +258,113 @@ void CommandBox::on_pushButton_SendTest_clicked()
testPoint = ui->comboBox_TestPoint->currentData(Qt::UserRole).toFloat();
}
qDebug() << "send test:" << testPoint << testValue;
on_commandClicked(ui->comboBox_TestPoint->currentText() + " " + ui->comboBox_TestValue->currentText() ,
102,0,0,0,0,0,0,180,0);
}
//伺服指令
void CommandBox::on_pushButton_AirHeatOn_clicked()
{
on_commandClicked(ui->pushButton_AirHeatOn->text(),
102,0,0,0,0,0,0,180,0);
}
void CommandBox::on_pushButton_AirHeatOff_clicked()
{
on_commandClicked(ui->pushButton_AirHeatOff->text(),
102,0,0,0,0,0,0,180,0);
}
//舵机指令
void CommandBox::on_pushButton_Servo_Check_clicked()
{
on_commandClicked(ui->pushButton_Servo_Check->text(),
102,0,0,0,0,0,0,180,0);
}
void CommandBox::on_pushButton_Servo_Read_clicked()
{
on_commandClicked(ui->pushButton_Servo_Read->text(),
102,0,0,0,0,0,0,180,0);
}
void CommandBox::on_pushButton_Servo_Zero_clicked()
{
on_commandClicked(ui->pushButton_Servo_Zero->text(),
102,0,0,0,0,0,0,180,0);
}
void CommandBox::on_pushButton_Servo_Work_clicked()
{
on_commandClicked(ui->pushButton_Servo_Work->text(),
102,0,0,0,0,0,0,180,0);
}
void CommandBox::on_pushButton_coldrun_clicked()
{
on_commandClicked(ui->pushButton_coldrun->text(),
102,0,0,0,0,0,0,180,0);
}
void CommandBox::on_pushButton_groundstartup_clicked()
{
on_commandClicked(ui->pushButton_groundstartup->text(),
102,0,0,0,0,0,0,180,0);
}
void CommandBox::on_pushButton_Afterburner_off_clicked()
{
on_commandClicked(ui->pushButton_Afterburner_off->text(),
102,0,0,0,0,0,0,180,0);
}
void CommandBox::on_pushButton_stop_clicked()
{
on_commandClicked(ui->pushButton_stop->text(),
102,0,0,0,0,0,0,180,0);
}
void CommandBox::on_pushButton_EmergencyStop_clicked()
{
on_commandClicked(ui->pushButton_EmergencyStop->text(),
102,0,0,0,0,0,0,180,0);
}
void CommandBox::on_pushButton_Hardware_off_clicked()
{
on_commandClicked(ui->pushButton_Hardware_off->text(),
102,0,0,0,0,0,0,180,0);
}
void CommandBox::on_pushButton_Hardware_on_clicked()
{
on_commandClicked(ui->pushButton_Hardware_on->text(),
102,0,0,0,0,0,0,180,0);
}
void CommandBox::on_pushButton_Afterburner_on_clicked()
{
on_commandClicked(ui->pushButton_Afterburner_on->text() + " " + ui->comboBox_Full->currentText(),
102,0,0,0,0,0,0,180,0);
}
void CommandBox::on_pushButton_Afterburner_half_clicked()
{
on_commandClicked(ui->pushButton_Afterburner_half->text() + " " + ui->comboBox_Half->currentText(),
102,0,0,0,0,0,0,180,0);
}
void CommandBox::on_pushButton_setRPM_clicked()
{
on_commandClicked(ui->pushButton_setRPM->text() + " " + ui->comboBox_rate->currentText(),
102,0,0,0,0,0,0,180,0);
}
App/CommandBox/CommandBox.h
+71
View File
@@ -7,6 +7,14 @@
#include "QContextMenuEvent"
#include "QMenu"
#include "multiselector.h"
#include "Selector.h"
#include "Inputter.h"
#include "CharInputter.h"
#include "Confirm.h"
#include "CommandEditor.h"
namespace Ui {
class CommandBox;
}
@@ -32,6 +40,55 @@ public slots:
void on_comboBox_TestPoint_currentIndexChanged(int index);
void on_pushButton_SendTest_clicked();
void setSecondConfirm(QVariant value);
void on_commandClicked(QString name,
float param1, float param2, float param3, float param4,
float param5, float param6, float param7,
uint16_t command, uint8_t confirmation);
signals:
void cmd_int(float param1, float param2, float param3, float param4, int x, int y, float z);
void cmd_long( float param1,float param2,float param3,float param4,float param5,float param6,float param7,uint16_t command,uint8_t confirmation);
private slots:
void on_pushButton_Servo_Check_clicked();
void on_pushButton_Servo_Read_clicked();
void on_pushButton_Servo_Zero_clicked();
void on_pushButton_Servo_Work_clicked();
void on_pushButton_AirHeatOn_clicked();
void on_pushButton_AirHeatOff_clicked();
void on_pushButton_coldrun_clicked();
void on_pushButton_groundstartup_clicked();
void on_pushButton_Afterburner_off_clicked();
void on_pushButton_stop_clicked();
void on_pushButton_EmergencyStop_clicked();
void on_pushButton_Hardware_off_clicked();
void on_pushButton_Hardware_on_clicked();
void on_pushButton_Afterburner_on_clicked();
void on_pushButton_Afterburner_half_clicked();
void on_pushButton_setRPM_clicked();
void on_pushButton_SendCommand_clicked();
void on_pushButton_Cancel_clicked();
private:
QWidget *m_parent;
@@ -39,6 +96,20 @@ private:
bool floatflag = true;
Ui::CommandBox *ui;
QString m_name = 0;
float m_param1 = 0;
float m_param2 = 0;
float m_param3 = 0;
float m_param4 = 0;
float m_param5 = 0;
float m_param6 = 0;
float m_param7 = 0;
uint16_t m_command = 10;
uint8_t m_confirm = 10;
};
#endif // COMMANDBOX_H
App/CommandBox/CommandBox.pri
+2
View File
@@ -11,6 +11,8 @@ INCLUDEPATH += $$PWD/../ComponentUI/CharInputter
INCLUDEPATH += $$PWD/../ComponentUI/Inputter
INCLUDEPATH += $$PWD/../ComponentUI/MultiSelector
INCLUDEPATH += $$PWD/../ComponentUI/Selector
INCLUDEPATH += $$PWD/../ComponentUI/Confirm
INCLUDEPATH += $$PWD/../ComponentUI/CommandEditor
App/CommandBox/CommandBox.ui
+282 -205
View File
@@ -6,149 +6,263 @@
<rect>
<x>0</x>
<y>0</y>
<width>358</width>
<height>461</height>
<width>710</width>
<height>465</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout_6">
<layout class="QGridLayout" name="gridLayout_7">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<property name="spacing">
<number>0</number>
</property>
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>发动机指令</string>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout_6">
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox_3">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>待发指令</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_CommandName">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_SendCommand">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>150</height>
</size>
</property>
<property name="text">
<string>发送</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_Cancel">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>150</height>
</size>
</property>
<property name="text">
<string>取消</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0">
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>控制指令</string>
<string>发动机指令</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="2">
<widget class="QPushButton" name="pushButton_coldrun">
<property name="text">
<string>冷运转</string>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox_3">
<property name="title">
<string>控制指令</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QPushButton" name="pushButton_groundstartup">
<property name="text">
<string>地面启动</string>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="2">
<widget class="QPushButton" name="pushButton_coldrun">
<property name="text">
<string>冷运转</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QPushButton" name="pushButton_groundstartup">
<property name="text">
<string>地面启动</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_55">
<property name="text">
<string>全加力档</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="comboBox_Full"/>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="pushButton_Afterburner_on">
<property name="text">
<string>全加力</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QPushButton" name="pushButton_Afterburner_off">
<property name="text">
<string>关全加力</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_56">
<property name="text">
<string>半加力档</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="comboBox_Half"/>
</item>
<item row="2" column="2">
<widget class="QPushButton" name="pushButton_Afterburner_half">
<property name="text">
<string>半加力</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QPushButton" name="pushButton_stop">
<property name="text">
<string>停车</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_57">
<property name="text">
<string>给定转速</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="comboBox_rate"/>
</item>
<item row="3" column="2">
<widget class="QPushButton" name="pushButton_setRPM">
<property name="text">
<string>给定转速</string>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QPushButton" name="pushButton_EmergencyStop">
<property name="text">
<string>紧急停车</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QPushButton" name="pushButton_Hardware_on">
<property name="text">
<string>硬件停车开</string>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QPushButton" name="pushButton_Hardware_off">
<property name="text">
<string>硬件停车关</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_55">
<property name="text">
<string>全加力档</string>
<widget class="QGroupBox" name="groupBox_4">
<property name="styleSheet">
<string notr="true"/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="comboBox_Full"/>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="pushButton_Afterburner_on">
<property name="text">
<string>全加力</string>
<property name="title">
<string>测试指令</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QPushButton" name="pushButton_Afterburner_off">
<property name="text">
<string>关全加力</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_56">
<property name="text">
<string>半加力档</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="comboBox_Half"/>
</item>
<item row="2" column="2">
<widget class="QPushButton" name="pushButton_Afterburner_half">
<property name="text">
<string>半加力</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QPushButton" name="pushButton_stop">
<property name="text">
<string>停车</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_57">
<property name="text">
<string>给定转速</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="comboBox_rate"/>
</item>
<item row="3" column="2">
<widget class="QPushButton" name="pushButton_setRPM">
<property name="text">
<string>给定转速</string>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QPushButton" name="pushButton_EmergencyStop">
<property name="text">
<string>紧急停车</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QPushButton" name="pushButton_Hardware_on">
<property name="text">
<string>硬件停车开</string>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QPushButton" name="pushButton_Hardware_off">
<property name="text">
<string>硬件停车关</string>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_TestPoint"/>
</item>
<item row="1" column="3">
<widget class="QFrame" name="framex">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="pushButton_SendTest">
<property name="text">
<string>测试</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_58">
<property name="text">
<string>测试项</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_TestValue">
<property name="text">
<string>测试值</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="comboBox_TestValue"/>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
<item row="1" column="0">
<widget class="QGroupBox" name="groupBox_4">
<property name="styleSheet">
<string notr="true"/>
</property>
<item row="2" column="0">
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>测试指令</string>
<string>伺服指令</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_TestPoint"/>
</item>
<item row="1" column="3">
<widget class="QFrame" name="frame">
<layout class="QGridLayout" name="gridLayout_5">
<item row="0" column="3">
<widget class="QFrame" name="frame_2">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
@@ -157,111 +271,74 @@
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="pushButton_SendTest">
<item row="0" column="1">
<widget class="QPushButton" name="pushButton_AirHeatOff">
<property name="text">
<string>测试</string>
<string>空速加热关闭</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="comboBox_TestValue"/>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_58">
<widget class="QPushButton" name="pushButton_AirHeatOn">
<property name="text">
<string>测试项</string>
<string>空速加热打开</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_TestValue">
<property name="text">
<string>测试值</string>
<item row="0" column="2">
<widget class="QFrame" name="frame_3">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
<item row="1" column="0">
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>伺服指令</string>
</property>
<layout class="QGridLayout" name="gridLayout_5">
<item row="0" column="0">
<widget class="QPushButton" name="pushButton_56V_On">
<property name="text">
<string>56V供电打开</string>
<item row="3" column="0">
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
<string>舵机指令</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="pushButton_Servo_Check">
<property name="text">
<string>上电自检</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_Servo_Read">
<property name="text">
<string>舵面找零</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_Servo_Zero">
<property name="text">
<string>地面自检 </string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_Servo_Work">
<property name="text">
<string>工作模式</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="pushButton_56V_Off">
<property name="text">
<string>56V供电关闭</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="pushButton_AirHeatOn">
<property name="text">
<string>空速加热打开</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QPushButton" name="pushButton_AirHeatOff">
<property name="text">
<string>空速加热关闭</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="2" column="0">
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
<string>舵机指令</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="pushButton_Servo_Check">
<property name="text">
<string>上电自检</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_Servo_Read">
<property name="text">
<string>舵面找零</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_Servo_Zero">
<property name="text">
<string>地面自检 </string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_Servo_Work">
<property name="text">
<string>工作模式</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
App/CommandUI/CommandUI.cpp
-1
View File
@@ -398,7 +398,6 @@ void CommandUI::setSecondConfirm(QVariant value)
}
}
void CommandUI::on_commandClicked()
{
//找到消息的发送者
App/mainwindow.cpp
+62 -2
View File
@@ -112,6 +112,10 @@ MainWindow::MainWindow(QWidget *parent)
connect(dlink->mavlinknode,SIGNAL(beep()),
this,SLOT(beep()),Qt::DirectConnection);
connect(dlink->mavlinknode,SIGNAL(CommuniationLost(bool)),
this,SLOT(setCommunicationLostState(bool)),Qt::DirectConnection);
//this ----- map
connect(map,SIGNAL(TotalDistanceUpdate(double)),
this,SLOT(TotalDistance(double)));
@@ -630,7 +634,29 @@ void MainWindow::beep(void)
}
void MainWindow::setCommunicationLostState(bool flag)
{
static bool last = false;
healthui->setState(6,(dlink->mavlinknode->isCommunicationLost)?(1):(0));//DLINK
if(flag == true)//通讯丢失
{
if(last != flag)
{
tts->say(tr("Communication Lost"));
}
}
else
{
if(last != flag)
{
tts->say(tr("Communication Regain"));
}
}
last = flag;
}
@@ -830,7 +856,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
mode_str.append(tr("AUTO_FOLLOW_TARGET"));
break;
default:
mode_str.append(tr("unsported"));
//mode_str.append(tr("unsported"));
break;
}
copk->setMode(mode_str);
@@ -939,7 +965,8 @@ void MainWindow::updateUI()//事件驱动式更新数据
healthui->setState(3,getBit(health,9)?(getBit(health,3)?(0):(2)):(1));//ECU
healthui->setState(5,getBit(health,10)?(getBit(health,4)?(0):(2)):(1));//CCM
healthui->setState(6,getBit(health,(dlink->mavlinknode->isCommunicationLost)?(1):(0)));//DLINK
//qDebug() << dlink->mavlinknode->isCommunicationLost;
//healthui->setState(6,(dlink->mavlinknode->isCommunicationLost)?(1):(0));//DLINK
healthui->setState(7,getBit(health,13));//AIR
healthui->setState(8,getBit(health,14));//record
@@ -965,6 +992,39 @@ void MainWindow::updateUI()//事件驱动式更新数据
healthui->setState(26,getBit(health,12)?(2):(0));//sel
healthui->setValueState(26,getBit(health,12)?(tr("连接内置惯导")):(tr("连接SBG")));//sel
statusui->setState(1,1,2);
statusui->setState(2,QString::number(dlink->mavlinknode->vehicle.attitude.pitch * 57.3,'f',1),2);
statusui->setState(3,QString::number(dlink->mavlinknode->vehicle.attitude.roll * 57.3,'f',1),2);
statusui->setState(4,QString::number(dlink->mavlinknode->vehicle.attitude.yaw * 57.3,'f',1),2);
statusui->setState(5,QString::number(dlink->mavlinknode->vehicle.nav_controller_output.xtrack_error,'f',1),2);
statusui->setState(6,QString::number(dlink->mavlinknode->vehicle.gps_raw_int.alt,'f',1),2);
statusui->setState(7,QString::number(dlink->mavlinknode->vehicle.vfr_hud.airspeed,'f',1),2);
statusui->setState(8,QString::number(dlink->mavlinknode->vehicle.vfr_hud.airspeed,'f',1),2);
statusui->setState(9,QString::number(dlink->mavlinknode->vehicle.vfr_hud.airspeed/340.0,'f',1),2);
statusui->setState(10,QString::number(dlink->mavlinknode->vehicle.vfr_hud.climb,'f',1),2);
statusui->setServo(1,1,1);
statusui->setServo(2,1,1);
statusui->setServo(3,1,1);
statusui->setServo(4,1,1);
statusui->setServo(5,1,1);
statusui->setEngine(1,1);
statusui->setEngine(2,1);
statusui->setEngine(3,1);
statusui->setEngine(4,1);
statusui->setEngine(5,1);
statusui->setEngine(6,1);
statusui->setBattery(1,1);
statusui->setBattery(2,1);
statusui->setBattery(3,1);
statusui->setBattery(4,1);
statusui->setDlink(1,1);
statusui->setDlink(2,1);
}
App/mainwindow.h
+1
View File
@@ -69,6 +69,7 @@ public:
public slots:
void showMessage(const QString &message,int TimeOut = 0);
void setCommunicationLostState(bool flag);
void beep(void);
MavLinkNode/mavlinknode.cpp
+25 -9
View File
@@ -28,18 +28,17 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
int Current_sysID = 0xFB;
int Current_CompID = MAV_COMP_ID_MISSIONPLANNER;
CommucationOverTimer = 5000;
CommucationOverTimer = 1000;
timer = new QTimer(this);
timer->moveToThread(thread);
//timer->moveToThread(thread);
timer->setInterval(CommucationOverTimer);
connect(thread, SIGNAL(started()), timer, SLOT(start()));
//connect(thread, SIGNAL(started()), timer, SLOT(start()));
connect(timer,SIGNAL(timeout()),
this,SLOT(TimerOut,Qt::DirectConnection));
this,SLOT(TimerOut()),Qt::DirectConnection);
//timer->start();
timer->start();
qDebug() << "start timer";
@@ -240,6 +239,8 @@ void MavLinkNode::process()//线程函数
{
uint8_t count = 0;
QByteArray datagram = nullptr;
while (running_flag)
@@ -276,8 +277,20 @@ void MavLinkNode::process()//线程函数
void MavLinkNode::TimerOut(void)
{
isCommunicationLost = true;
qDebug() << "timeout" << "communication lost";
CommucationOverCount --;
if(CommucationOverCount <= 0)
{
CommucationOverCount = 0;
isCommunicationLost = true;
//qDebug() << "timeout" << "communication lost";
emit CommuniationLost(isCommunicationLost);
}
else
{
emit CommuniationLost(isCommunicationLost);
}
}
@@ -396,8 +409,11 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
if(msg.sysid < 250) //过滤地面站发过来的数据
{
//timer->start();
isCommunicationLost = true;
CommucationOverCount = 5;
isCommunicationLost = false;
//emit CommuniationLost(isCommunicationLost);
MAVLinkRcv_Handler(msg); //接收完一帧数据并处理
emit recievemsg(msg); //将信息广播出去
MavLinkNode/mavlinknode.h
+3
View File
@@ -73,6 +73,8 @@ public:
bool isCommunicationLost = false;
signals:
void CommuniationLost(bool);
void showMessage(const QString &message,int TimeOut = 0);
void beep(void);
@@ -150,6 +152,7 @@ protected:
s_port = 1
};
int32_t CommucationOverCount = 5;
uint64_t CommucationOverTimer = 5000;
uint8_t GCS_System_ID = 0xFF;
readme.md
+10
View File
@@ -32,6 +32,16 @@
| BMU | 180 | 102 | 0/1）|
| CCM | 180 | xx | 参考command |
# 疑问
* HUD界面，侧偏距正负，高度差正负，升降速率正负
* <b>航点下载经纬度超限要处理<\b>
* combox设置要判断是否有数
*
*