修正线程占用CPU过大问题

2021-11-13 20:06:59 +08:00
parent 7ec108c5dc
commit baa57420b0
42 changed files with 2325 additions and 2563 deletions
@@ -0,0 +1,216 @@
+#include "ThreadTemplet.h"
+
+ThreadTemplet::ThreadTemplet(QObject *parent) : QObject(parent)
+{
+    running_flag = false;
+    thread = new QThread();
+    this->moveToThread(thread);
+    connect(thread, &QThread::started, this, &ThreadTemplet::process);
+
+    initbuff();
+    start();
+}
+
+ThreadTemplet::~ThreadTemplet()
+{
+    stop();
+
+    if(thread)
+    {
+        thread->deleteLater();
+    }
+}
+
+void ThreadTemplet::setRunFrq(qreal frq)
+{
+    if((frq != 0)||(frq <= 1000))
+    {
+        running_frq = frq;
+        qDebug() << "set running frquency:" <<frq <<"Hz";
+    }
+}
+
+void ThreadTemplet::start()
+{
+    if(!thread->isRunning())
+    {
+        running_flag = true;
+        thread->start();
+        qDebug() << "thread start" << thread->isRunning();
+
+    }
+    else
+    {
+        qDebug() << "thread has started";
+    }
+}
+
+void ThreadTemplet::stop()
+{
+    disconnect(this, nullptr, nullptr, nullptr);
+
+    if(thread)
+    {
+        if(!thread->isFinished())
+        {
+            running_flag = false;
+            thread->requestInterruption();
+            thread->setPriority(QThread::HighPriority);//设置成最高，让线程优先退出
+
+            bool flag = disconnect(thread, nullptr, nullptr, nullptr);//没有完全断开
+
+            qDebug() << "disconnect" << flag << "isInterruptionRequested" << thread->isInterruptionRequested();
+
+
+            thread->quit();
+            thread->wait(100);//这个地方有问题、没办法退出线程,断开之前，先断开串口连接，这样就能断开线程，否则一直在占用
+        }
+        else
+        {
+            qDebug() << "thread is not running";
+        }
+    }
+}
+
+void ThreadTemplet::wakeup()
+{
+    sleep_time = 1000/frq();
+}
+
+void ThreadTemplet::pause()
+{
+    sleep_time = -1;
+}
+
+void ThreadTemplet::process()//线程函数
+{
+    while (true)
+    {
+         QThread::msleep(1000/frq());
+
+         emit error(tr("thread run base"));
+
+         if(isInterruptionRequested())//退出
+         {
+             break;
+         }
+         //QThread::yieldCurrentThread();
+    }
+
+}
+
+void ThreadTemplet::setGCSID(int m_sysid, int m_compid)
+{
+    GCS_SysID = m_sysid;
+    GCS_CompID = m_compid;
+}
+
+void ThreadTemplet::setID(int m_sysid,int m_compid)
+{
+    sysid  = (uint8_t)m_sysid;
+    compid = (uint8_t)m_compid;
+}
+
+
+void ThreadTemplet::Send(mavlink_message_t msg)
+{
+    if(isActive())
+    {
+        uint8_t buff[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
+        uint16_t len = mavlink_msg_to_send_buffer(buff, &msg);
+
+        emit SendMessageTo(0,buff, len);//使用信号和槽
+    }
+}
+
+
+void ThreadTemplet::initbuff(void)
+{
+    client_buff.max_size = 10 * 1024 *1024;//10M
+    client_buff.buff[0].clear();
+    client_buff.buff[1].clear();
+    client_buff.select = 0;
+
+    serial_buff.max_size = 10 * 1024 *1024;
+    serial_buff.buff[0].clear();
+    serial_buff.buff[1].clear();
+    serial_buff.select = 0;
+}
+
+void ThreadTemplet::setbuff(quint32 src,QByteArray data)
+{
+    QMutexLocker locker(&mutex);
+    switch (src) {
+    default:
+    case SourceType::c_sock:
+           //当前的buff超过10M字节之后就清除，防爆机制，不然buff太大后容易卡死
+           if(client_buff.buff[client_buff.select].size() >= client_buff.max_size)
+           {
+               client_buff.buff[client_buff.select].clear();
+               qDebug() << "client_buff.buff " << client_buff.select <<" OVERFLOW";
+           }
+           client_buff.buff[client_buff.select].append(data);
+
+        break;
+    case SourceType::s_port:
+        //当前的buff超过10M字节之后就清除，防爆机制，不然buff太大后容易卡死
+           if(serial_buff.buff[serial_buff.select].size() >= serial_buff.max_size)
+           {
+               serial_buff.buff[serial_buff.select].clear();
+               qDebug() << "serial_buff.buff " << serial_buff.select <<" OVERFLOW";
+           }
+           serial_buff.buff[serial_buff.select].append(data);
+        break;
+    }
+}
+
+QByteArray ThreadTemplet::readbuff(quint32 src)
+{
+    QMutexLocker locker(&mutex);
+    QByteArray datagram;
+    switch (src) {
+    default:
+    case SourceType::c_sock:
+           if(client_buff.select == 0)
+           {
+               datagram.clear();
+               datagram.append(client_buff.buff[1]);
+               //清除这个未选择的buff
+               client_buff.buff[1].clear();
+               //读取完成，可以往这个内存里面写数了
+               client_buff.select = 1;
+           }
+           else if(client_buff.select == 1)
+           {
+               datagram.clear();
+               datagram.append(client_buff.buff[0]);
+               //清除这个未选择的buff
+               client_buff.buff[0].clear();
+               //读取完成，可以往这个内存里面写数了
+               client_buff.select = 0;
+           }
+        break;
+    case SourceType::s_port:
+           if(serial_buff.select == 0)
+           {
+               datagram.clear();
+               datagram.append(serial_buff.buff[1]);
+               //读取完成，可以往这个内存里面写数了
+               serial_buff.buff[1].clear();
+               serial_buff.select = 1;
+           }
+           else if(serial_buff.select == 1)
+           {
+               datagram.clear();
+               datagram.append(serial_buff.buff[0]);
+               //读取完成，可以往这个内存里面写数了
+               serial_buff.buff[0].clear();
+               serial_buff.select = 0;
+           }
+        break;
+    }
+    return datagram;
+}
+
+
+