修正线程占用CPU过大问题

MavLinkNode/commandprocess.cpp

@@ -4,7 +4,7 @@
 //留出一个接口给界面去注册指令
 //收到ACK后发送一个信号
 
-commandprocess::commandprocess(QObject *parent) : QObject(parent)
+commandprocess::commandprocess(QObject *parent) : ThreadTemplet(parent)
 {
     setRunFrq(10);
 
@@ -12,92 +12,33 @@ commandprocess::commandprocess(QObject *parent) : QObject(parent)
 
 }
 
-
-void commandprocess::setRunFrq(uint32_t frq)
+commandprocess::~commandprocess()
 {
-    if((frq != 0)||(frq <= 1000))
-    {
-        running_frq = frq;
-        qDebug() << "set command thread running frquency:" <<frq <<"Hz";
-    }
-}
-
-void commandprocess::start()
-{
-    if(thread == nullptr)
-    {
-        thread = new QThread();
-        this->moveToThread(thread);
-        connect(thread, &QThread::started, this, &commandprocess::process);
-    }
-
-    if(!thread->isRunning())
-    {
-        running_flag = true;
-        thread->start();
-        qDebug() << "thread start" << running_flag;
-    }
-    else
-    {
-        qDebug() << "thread has started";
-    }
-}
-
-void commandprocess::stop()
-{
-    if(thread->isRunning())
-    {
-        running_flag = false;
-        qDebug() << "thread stop"
-                 << QThread::currentThreadId()
-                 << QThread::currentThread()
-                 << "running state:"
-                 << running_flag;
-        disconnect(thread, nullptr, nullptr, nullptr);
-    }
-    else
-    {
-        qDebug() << "thread is not running";
-    }
+    qDebug() << "stop commmand" << QThread::currentThreadId();
 }
 
 void commandprocess::process()//线程函数
 {
     uint8_t count = 0;
 
-    while (running_flag)
+     qDebug() << "command" << QThread::currentThreadId();
+
+    while (true)
     {
          count ++;
-         //QThread::msleep(1000.0/running_frq);
-
-
          switch(status.m_Mode)
          {
             default:
-            case Nop_Mode     : QThread::yieldCurrentThread();break;
+            case Nop_Mode     : QThread::msleep(1000.0/frq());break;
             case RecieveMode  : ReadStateMachine();QApplication::processEvents();break;
             case TransmitMode : WriteStateMachine();QApplication::processEvents();break;
          }
 
+         if(isInterruptionRequested())//退出
+         {
+             break;
+         }
     }
-    //退出线程
-    thread->quit();
-    //thread->wait(200);//等待结束
-    thread->deleteLater();
-    thread = nullptr;
-}
-
-void commandprocess::setID(int m_sysid,int m_compid)
-{
-    sysid  = (uint8_t)m_sysid;
-    compid = (uint8_t)m_compid;
-}
-
-void commandprocess::SendMessage(mavlink_message_t msg)
-{
-    uint8_t  buff[256+20];
-    uint16_t len = mavlink_msg_to_send_buffer(buff, &msg);
-    emit SendMessageTo(0,buff, len);//使用信号和槽
 }
 
 //发送函数
@@ -130,7 +71,6 @@ void commandprocess::WriteCmd_int(uint8_t m_sysid, uint8_t m_compid ,
      status.transmit.type = 0;
      status.m_Mode = TransmitMode;//发送模式
 
-     start();//开启线程
     }
     else
     {
@@ -161,7 +101,7 @@ void commandprocess::WriteCmd_long(float param1, float param2,  float param3, fl
         //开启线程开始传输
         status.m_Mode = TransmitMode;//发送模式
         status.transmit.type = 1;
-        start();//开启线程
+
     }
     else
     {
@@ -187,7 +127,7 @@ void commandprocess::Parse(mavlink_message_t msg)
     case MAVLINK_MSG_ID_COMMAND_ACK:
          mavlink_msg_command_ack_decode(&msg,&command_ack);
 
-         if(command_ack.target_system != Current_sysID)
+         if(command_ack.target_system != GCS_SysID)
          {
              qDebug() << command_ack.target_system << "this msg is'nt mine";
              //break;//如果目标系统不是自己，那么就抛弃该指令
@@ -397,8 +337,8 @@ void commandprocess::_int(float param1,
     command_int.current = current;
     command_int.autocontinue = autocontinue;
 
-    mavlink_msg_command_int_encode(Current_sysID,Current_CompID, &msg,&command_int);
-    SendMessage(msg);
+    mavlink_msg_command_int_encode(GCS_SysID,GCS_CompID, &msg,&command_int);
+    Send(msg);
 }
 
 void commandprocess::_long(float param1,
@@ -427,8 +367,8 @@ void commandprocess::_long(float param1,
     command_long.command = command;
     command_long.confirmation = confirmation;
 
-    mavlink_msg_command_long_encode(Current_sysID,Current_CompID, &msg,&command_long);
-    SendMessage(msg);
+    mavlink_msg_command_long_encode(GCS_SysID,GCS_CompID, &msg,&command_long);
+    Send(msg);
 }
 
 
@@ -455,8 +395,8 @@ void commandprocess::ack(uint16_t command,uint8_t result,uint8_t progress,int32_
     command_ack.progress = progress;
     command_ack.result_param2 = result_param2;
 
-    mavlink_msg_command_ack_encode(Current_sysID,Current_CompID, &msg,&command_ack);
-    SendMessage(msg);
+    mavlink_msg_command_ack_encode(GCS_SysID,GCS_CompID, &msg,&command_ack);
+    Send(msg);
 }