修正线程占用CPU过大问题

MavLinkNode/statusprocess.cpp

@@ -3,84 +3,36 @@
 //留出一个接口给界面去注册指令
 //收到ACK后发送一个信号
 
-statusprocess::statusprocess(QObject *parent) : QObject(parent)
+statusprocess::statusprocess(QObject *parent) : ThreadTemplet(parent)
 {
     setRunFrq(1);
-
     status.m_Mode = _modetype::Nop_Mode;
-
 }
 
-
-void statusprocess::setRunFrq(uint32_t frq)
+statusprocess::~statusprocess()
 {
-    if((frq != 0)||(frq <= 1000))
-    {
-        running_frq = frq;
-        qDebug() << "set command thread running frquency:" <<frq <<"Hz";
-    }
+    qDebug() << "stop status" << QThread::currentThreadId();
+     status.m_Mode = _modetype::Nop_Mode;
+
 }
 
-void statusprocess::start()
-{
-    if(thread == nullptr)
-    {
-        thread = new QThread();
-        this->moveToThread(thread);
-        connect(thread, &QThread::started, this, &statusprocess::process);
-    }
-
-    if(!thread->isRunning())
-    {
-        running_flag = true;
-        thread->start();
-        qDebug() << "thread start" << running_flag;
-    }
-    else
-    {
-        qDebug() << "thread has started";
-    }
-}
-
-void statusprocess::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";
-    }
-}
 
 void statusprocess::process()//线程函数
 {
     uint8_t count = 0;
-
     static int time = 0;
-
-    while (running_flag)
+    while (true)
     {
          count ++;
-         //QThread::msleep(1000.0/running_frq);
+
 
          switch(status.m_Mode)
          {
             default:
-            case Nop_Mode     : QThread::yieldCurrentThread();break;
-            case RecieveMode  : ReadStateMachine();QApplication::processEvents();break;
+            case Nop_Mode     : QThread::msleep(1000.0/frq());break;
+            case RecieveMode  : ReadStateMachine();break;
             case TransmitMode :
              {
-
                  if((QTime::currentTime().msecsSinceStartOfDay() - time) > (1000.0/running_frq))
                  {
                      heartbeat(m_heartbeat.custom_mode,
@@ -90,36 +42,21 @@ void statusprocess::process()//线程函数
                                m_heartbeat.system_status,
                                m_heartbeat.mavlink_version);
                      time = QTime::currentTime().msecsSinceStartOfDay();
-                     QApplication::processEvents();
                  }
                  else
                  {
-                     QThread::yieldCurrentThread();
+                     QThread::msleep(1000.0/frq());
+                     //QThread::yieldCurrentThread();
                  }
-
-                 //qDebug() << "heartbeat";
              }
          }
+
+         if(isInterruptionRequested())//退出
+         {
+             break;
+         }
+
     }
-    //退出线程
-    disconnect(thread, nullptr, nullptr, nullptr);
-    thread->quit();
-    //thread->wait(200);//等待结束
-    thread->deleteLater();
-    thread = nullptr;
-}
-
-void statusprocess::setID(int m_sysid,int m_compid)
-{
-    sysid  = (uint8_t)m_sysid;
-    compid = (uint8_t)m_compid;
-}
-
-void statusprocess::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
@@ -127,8 +64,6 @@ void statusprocess::setHeartbeat(QVariant state,QVariant frq)
 {
      //给指令赋值
 
-    qDebug() << state << frq;
-
      //开启线程开始传输
      status.transmit.type = 0;
 
@@ -138,13 +73,10 @@ void statusprocess::setHeartbeat(QVariant state,QVariant frq)
      }
      else
      {
-          status.m_Mode = _modetype::Nop_Mode;//发送模式
+          status.m_Mode = _modetype::Nop_Mode;//空闲模式
      }
 
-     setRunFrq(frq.toInt());
-
-     start();//开启线程
-
+     setRunFrq(frq.toFloat());
 }
 
 
@@ -183,8 +115,8 @@ void statusprocess::heartbeat(uint32_t custom_mode,uint8_t type,uint8_t autopilo
     heartbeat.system_status = system_status;
     heartbeat.mavlink_version = mavlink_version;
 
-    mavlink_msg_heartbeat_encode(Current_sysID,Current_CompID, &msg,&heartbeat);
-    SendMessage(msg);
+    mavlink_msg_heartbeat_encode(GCS_SysID,GCS_CompID, &msg,&heartbeat);
+    Send(msg);
 }