苦逼

2020-12-18 09:35:41 +08:00
parent 0a2695a2dd
commit c2969920f1
13 changed files with 825 additions and 174 deletions
@@ -377,6 +377,76 @@ void MavLinkNode::stop()
        }


+        //停止回放
+        if(replay)
+        {
+            if(replay->isActive())
+            {
+                replay->stop();
+                QThread::msleep(10);
+                delete replay;
+                replay = nullptr;
+            }
+        }
+
+        //停止任务
+        if(Mission)
+        {
+            if(Mission->isActive())
+            {
+                Mission->stop();
+                QThread::msleep(10);
+                delete Mission;
+                Mission = nullptr;
+            }
+        }
+
+        //停止参数
+        if(Parameter)
+        {
+            if(Parameter->isActive())
+            {
+                Parameter->stop();
+                QThread::msleep(10);
+                delete Parameter;
+                Parameter = nullptr;
+            }
+        }
+
+        if(Commander)
+        {
+            if(Commander->isActive())
+            {
+                Commander->stop();//可能还没停止线程，后面不能紧跟着删除
+                QThread::msleep(10);
+                delete Commander;
+                Commander = nullptr;
+            }
+        }
+
+        if(Status)
+        {
+            if(Status->isActive())
+            {
+                Status->stop();//可能还没停止线程，后面不能紧跟着删除
+                QThread::msleep(10);
+                delete Status;
+                Status = nullptr;
+            }
+        }
+
+        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;
+            }
+        }
+
+
        running_flag = false;
        qDebug() << "thread stop"
                 << QThread::currentThreadId()