dlink

dlink/dlink.cpp

@@ -13,7 +13,11 @@ DLink::DLink(QObject *parent) : QObject(parent)
      //mavlink协议节点
      mavlinknode = new MavLinkNode();//不允许带参数,因为这是单独的线程
      connect(mavlinknode,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
-            this,SLOT(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);//采用直连的方式，因为是多线程
+           this,SLOT(SendMessageTo(quint8,quint8*,quint16)),Qt::DirectConnection);//采用直连的方式，因为是多线程
+
+     //connect(mavlinknode,&MavLinkNode::SendMessageTo,
+     //        this,&DLink::SendMessageTo);
+
 
      connect(mavlinknode,SIGNAL(showMessage(QString,int)),
              this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
@@ -33,13 +37,15 @@ int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
 {
     Q_UNUSED(ch);
 
+    qDebug() << "发送数据";
+
     if (DLink::Clientsock)
     {
         foreach(Node node,clientSockets)
         {
             DLink::Clientsock->writeDatagram((const char *)msg, len,
                                        node.addr, node.port);
-            //qDebug() << "Client Send Msg";
+            qDebug() << "Client Send Msg";
         }
     }
 
@@ -63,6 +69,8 @@ int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
        qDebug() << flag;
         //serialPort->write()
 
+       qDebug() << QThread::currentThread();
+
         //qDebug() << "serialPort Send Msg" << msg;
 
     }
@@ -94,7 +102,11 @@ bool DLink::setupPort(const QString port, qint32 baudrate, QSerialPort::Parity p
         serialPort->setDataBits(QSerialPort::Data8);
         serialPort->setStopBits(QSerialPort::OneStop);
 
-        mavlinknode->start();
+        DLink::serialPort->write("serial connet ok",16);
+
+        qDebug() << QThread::currentThread();
+
+        mavlinknode->start();//启动之后串口就找不到了
 
         connect(serialPort, SIGNAL(readyRead()), this, SLOT(readPendingDatagramsSerialPort()));
 
@@ -204,6 +216,8 @@ bool DLink::setupClient(const QHostAddress &remote_addr, int remote_port, int lo
     Clientsock = new QUdpSocket(this);
     if (Clientsock->bind(QHostAddress::Any, local_port))
     {
+        Clientsock->joinMulticastGroup(remote_addr);//加入组播
+
         if(Clientsock->open(QIODevice::ReadWrite))
         {
             connect(Clientsock, SIGNAL(readyRead()),