b

MavLinkNode/ThreadTemplet.cpp

@@ -1,11 +1,9 @@
 #include "ThreadTemplet.h"
 
-ThreadTemplet::ThreadTemplet(QObject *parent) : QObject(parent)
+ThreadTemplet::ThreadTemplet(QObject *parent) : QThread(parent)
 {
     running_flag = false;
     moveToThread(this);
-    //connect(this, &ThreadTemplet::started, this, &ThreadTemplet::process);
-    //setRunFrq(50);//default frq = 50
 
     start();
 
@@ -40,6 +38,7 @@ void ThreadTemplet::process()//线程函数
 
 void ThreadTemplet::run(void)
 {
+    QThread::msleep(1000/running_frq);
 
     exec();
 }

MavLinkNode/ThreadTemplet.h

@@ -36,8 +36,6 @@ signals:
 public slots:
     //线程对外接口
     virtual void setRunFrq(uint32_t frq);
-    virtual void start();
-    virtual void stop();
     virtual void run();
     virtual bool isActive(void)
     {
@@ -61,9 +59,5 @@ protected:
     bool running_flag = false;
     quint32 running_frq = 50;//50Hz
 
-    QThread *thread;
-
-
-
 };
 #endif // THREADTEMPLET_H

MavLinkNode/mavlinknode.cpp

@@ -428,7 +428,7 @@ void MavLinkNode::stop()
     {
         if(rtk->isActive())
         {
-            rtk->stop();
+            //rtk->stop();
             delete rtk;
             rtk = nullptr;
         }

MavLinkNode/parameterprocess.cpp

@@ -152,6 +152,20 @@ void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,const char *i
 }
 
 
+void ParameterProcess::WriteCmd2(uint8_t m_sysid, uint8_t m_compid ,QVariant id,QVariant type,QVariant value)
+{
+    if(status.m_Mode == Nop_Mode)
+    {
+
+        sysid = m_sysid;
+        compid = m_compid;
+
+        float par = getvalue(value,gettype(type));
+
+        WriteCmd(sysid,compid,getid(id.toString()),gettype(type),par);
+    }
+}
+
 //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)
 {
@@ -453,7 +467,7 @@ void ParameterProcess::request_read(const char *id, int16_t index)//
 
 //================================
 
-QVariant ParameterProcess::set_value(mavlink_param_value_t param)
+QVariant ParameterProcess::setvalue(mavlink_param_value_t param)
 {
         QVariant value;
 
@@ -469,7 +483,7 @@ QVariant ParameterProcess::set_value(mavlink_param_value_t param)
         }break;
         case MAV_PARAM_TYPE_UINT16:
         {
-            value = ((uint16_t *)&param.param_value)[0];
+           value = ((uint16_t *)&param.param_value)[0];
         }break;
         case MAV_PARAM_TYPE_INT16:
         {
@@ -483,13 +497,21 @@ QVariant ParameterProcess::set_value(mavlink_param_value_t param)
         {
             value = ((int32_t *)&param.param_value)[0];
         }break;
-        case MAV_PARAM_TYPE_UINT64:
+       case MAV_PARAM_TYPE_UINT64:
         {
+#ifdef unix
+            //value = ((ulong *)&param.param_value)[0];
+#else
             value = ((uint64_t *)&param.param_value)[0];
+#endif
         }break;
         case MAV_PARAM_TYPE_INT64:
         {
+#ifdef unix
+            //value = ((long *)&param.param_value)[0];
+#else
             value = ((int64_t *)&param.param_value)[0];
+#endif
         }break;
         case MAV_PARAM_TYPE_REAL32:
         {
@@ -502,6 +524,7 @@ QVariant ParameterProcess::set_value(mavlink_param_value_t param)
          default:
         {
             value = ((float *)&param.param_value)[0];
+            //qDebug() << "Unsupported type " << param.param_type;
         }break;
 
         }
@@ -509,7 +532,7 @@ QVariant ParameterProcess::set_value(mavlink_param_value_t param)
         return value;
 }
 
-float ParameterProcess::get_value(QVariant param,uint8_t type)
+float ParameterProcess::getvalue(QVariant param,uint8_t type)
 {
         float value;
         union {
@@ -590,64 +613,65 @@ float ParameterProcess::get_value(QVariant param,uint8_t type)
 }
 
 
-QVariant ParameterProcess::set_type(mavlink_param_value_t param)
+QVariant ParameterProcess::settype(mavlink_param_value_t param)
 {
         QVariant value;
 
         switch (param.param_type)
         {
-            case MAV_PARAM_TYPE_UINT8:
-            {
-                value = "uint8";
-            }break;
-            case MAV_PARAM_TYPE_INT8:
-            {
-                value = "int8";
-            }break;
-            case MAV_PARAM_TYPE_UINT16:
-            {
-                value = "uint16";
-            }break;
-            case MAV_PARAM_TYPE_INT16:
-            {
-                value = "int16";
-            }break;
-            case MAV_PARAM_TYPE_UINT32:
-            {
-                value = "uint32";
-            }break;
-            case MAV_PARAM_TYPE_INT32:
-            {
-                value = "int32";
-            }break;
-            case MAV_PARAM_TYPE_UINT64:
-            {
-                value = "uint64";
-            }break;
-            case MAV_PARAM_TYPE_INT64:
-            {
-                value = "int64";
-            }break;
-            case MAV_PARAM_TYPE_REAL32:
-            {
-                value = "float";
-            }break;
-            case MAV_PARAM_TYPE_REAL64:
-            {
-                value = "double";
-            }break;
-             default:
-            {
-                value = "unknow";
-            }break;
+        case MAV_PARAM_TYPE_UINT8:
+        {
+            value = "uint8";
+        }break;
+        case MAV_PARAM_TYPE_INT8:
+        {
+            value = "int8";
+        }break;
+        case MAV_PARAM_TYPE_UINT16:
+        {
+            value = "uint16";
+        }break;
+        case MAV_PARAM_TYPE_INT16:
+        {
+            value = "int16";
+        }break;
+        case MAV_PARAM_TYPE_UINT32:
+        {
+            value = "uint32";
+        }break;
+        case MAV_PARAM_TYPE_INT32:
+        {
+            value = "int32";
+        }break;
+        case MAV_PARAM_TYPE_UINT64:
+        {
+            value = "uint64";
+        }break;
+        case MAV_PARAM_TYPE_INT64:
+        {
+            value = "int64";
+        }break;
+        case MAV_PARAM_TYPE_REAL32:
+        {
+            value = "float";
+        }break;
+        case MAV_PARAM_TYPE_REAL64:
+        {
+            value = "double";
+        }break;
+         default:
+        {
+            value = "unknow";
+        }break;
+
         }
 
         return value;
 }
 
-uint8_t ParameterProcess::get_type(QVariant type)
+uint8_t ParameterProcess::gettype(QVariant type)
 {
-        uint8_t value = 0;
+        uint8_t value;
 
         if(type.toString() == "uint8")
         {
@@ -698,8 +722,8 @@ uint8_t ParameterProcess::get_type(QVariant type)
 }
 
 
-//使用QString
-QString ParameterProcess::set_id(char *id)
+//浣跨敤QString
+QString ParameterProcess::setid(char *id)//璁剧疆id,濡傛灉id灏忎簬16锛岄偅涔堣兘澶熸壘鍒°/0锛屽¦傛灉绛変簬鎴栬€呭ぇ浜庯紝閭ｄ箞浼氭壘涓嶅埌锛屽洜姝や贡鐮
 {
      QString Name;
 
@@ -713,15 +737,7 @@ QString ParameterProcess::set_id(char *id)
      return Name;
 }
 
-char * ParameterProcess::get_id(QVariant Name)
+char * ParameterProcess::getid(QString id)//寰楀埌id
 {
-     QString str = Name.toString();
-
-     return str.toLatin1().data();
+     return id.toLatin1().data();
 }
-
-
-
-
-
-

MavLinkNode/parameterprocess.h

@@ -81,7 +81,7 @@ public slots:
     //读取和写入指令
     void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
     void WriteCmd(uint8_t m_sysid, uint8_t m_compid , const char *id, uint8_t type, float value);
-
+    void WriteCmd2(uint8_t m_sysid, uint8_t m_compid ,QVariant id,QVariant type,QVariant value);
 
 
     //线程对外接口
@@ -95,12 +95,15 @@ public slots:
 
     void Parse(mavlink_message_t msg);
 
-    QVariant set_value(mavlink_param_value_t param);
-    float get_value(QVariant param,uint8_t type);
-    QVariant set_type(mavlink_param_value_t param);
-    uint8_t get_type(QVariant type);
-    QString set_id(char *id);
-    char *get_id(QVariant Name);
+    QVariant setvalue(mavlink_param_value_t param);
+    float getvalue(QVariant param,uint8_t type);
+
+    QVariant settype(mavlink_param_value_t param);
+    uint8_t gettype(QVariant type);
+
+    QString setid(char *id);
+    char * getid(QString id);
+
 
 private slots:
    //线程私有接口

MavLinkNode/rtkprocess.cpp

@@ -11,7 +11,7 @@ rtkprocess::rtkprocess(QObject *parent) : ThreadTemplet(parent)
 
 rtkprocess::~rtkprocess()
 {
-    stop();
+    //stop();
 
 }