添加终端

MavLinkNode/mavlinknode.cpp

@@ -99,6 +99,18 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
             this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
 
 
+    Terminal = new terminal();
+    Terminal->setGCSID(Current_sysID,Current_CompID);
+    connect(Terminal,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
+            this,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);
+
+    connect(this,SIGNAL(setCurrentID(int,int)),
+            Terminal,SLOT(setID(int,int)),Qt::DirectConnection);
+
+    connect(Terminal,SIGNAL(showMessage(QString,int)),
+            this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
+
+
 
     isCommunicationLost = false;
 
@@ -189,6 +201,17 @@ MavLinkNode::~MavLinkNode()
         }
     }
 
+    if(Terminal)
+    {
+        if(Terminal->isActive())
+        {
+            Terminal->stop();//可能还没停止线程，后面不能紧跟着删除
+            QThread::msleep(10);
+            delete Terminal;
+            Terminal = nullptr;
+        }
+    }
+
     if(timer)
     {
         timer->stop();
@@ -236,6 +259,11 @@ void MavLinkNode::setGCSID(int id)
       {
           Status->setGCSID(gcsid,MAV_COMP_ID_MISSIONPLANNER);
       }
+
+      if(Terminal)
+      {
+          Terminal->setGCSID(gcsid,MAV_COMP_ID_MISSIONPLANNER);
+      }
 }
 
 
@@ -317,6 +345,11 @@ void MavLinkNode::start()
         {
             Parameter->start();
         }
+
+        if(Terminal)
+        {
+            Terminal->start();
+        }
     }
     else
     {
@@ -768,6 +801,12 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
            Commander->Parse(msg);
         break;
 
+        //终端
+        case MAVLINK_MSG_ID_SERIAL_CONTROL:
+           Terminal->Parse(msg);
+        break;
+
+
         //状态
         default:
             StatusParse(msg);