添加RTK和RC输入显示，防止没有数据输入

App/StatusUI/StatusUI.cpp

@@ -170,14 +170,14 @@ StatusUI::StatusUI(QWidget *parent) :
                                                {3,StateWidget::state::red},
                                                {5,StateWidget::state::orange},
                                                {15,StateWidget::state::green}});
-
+/*
     install(battery,0,"左轮速[RPM]",0,
             QMap<QVariant, StateWidget::state>{{1,StateWidget::state::red},
                                                {120,StateWidget::state::green}});
     install(battery,0,"右轮速[RPM]",0,
             QMap<QVariant, StateWidget::state>{{1,StateWidget::state::red},
                                                {120,StateWidget::state::green}});
-
+*/
 
     install(communication,0,"信号[%]",0,
             QMap<QVariant, StateWidget::state>{{50,StateWidget::state::red},

App/mainwindow.cpp

@@ -165,8 +165,12 @@ MainWindow::MainWindow(QWidget *parent)
 
 
 
+    qRegisterMetaType<QList<uint16_t>>("QList<uint16_t>");
+    qRegisterMetaType<uint32_t>("uint32_t");
+    qRegisterMetaType<uint16_t>("uint16_t");
+    qRegisterMetaType<uint8_t>("uint8_t");
 
-
+    qRegisterMetaType<MavLinkNode::_vehicle>("MavLinkNode::_vehicle");
 
 
 
@@ -366,6 +370,12 @@ MainWindow::MainWindow(QWidget *parent)
             toolsui->remotecontrol,SLOT(setChannelOveride(QList<uint16_t>)));
             */
 
+
+    //dlink --- this
+    connect(dlink,SIGNAL(RC_Byte(uint32_t)),this,SLOT(RC_Byte(uint32_t)));
+    connect(dlink,SIGNAL(RTCM_Byte(uint32_t)),this,SLOT(RTCM_Byte(uint32_t)));
+
+
     //dlink  --- toolui-index3
     connect(dlink->mavlinknode->Terminal,SIGNAL(Recieve(QString)),
             toolsui->index3,SLOT(Recieve(QString)));
@@ -375,10 +385,7 @@ MainWindow::MainWindow(QWidget *parent)
 
 
     //dlink ---- rc
-    qRegisterMetaType<QList<uint16_t>>("QList<uint16_t>");
-    qRegisterMetaType<uint32_t>("uint32_t");
-    qRegisterMetaType<uint16_t>("uint16_t");
-    qRegisterMetaType<uint8_t>("uint8_t");
+
 
     connect(dlink->mavlinknode->RC,SIGNAL(new_remote_ctrl(QList<uint16_t>)),
             toolsui->remotecontrol,SLOT(setChannelOveride(QList<uint16_t>)));
@@ -440,6 +447,7 @@ MainWindow::MainWindow(QWidget *parent)
 
 
 
+
     //tools -------- dlink
     connect(dlink->mavlinknode,SIGNAL(recieveData(int,QByteArray)),
             toolsui,SIGNAL(recieveData(int,QByteArray)));
@@ -475,7 +483,7 @@ MainWindow::MainWindow(QWidget *parent)
             this,SLOT(updateUI()));
             */
 
-    qRegisterMetaType<MavLinkNode::_vehicle>("MavLinkNode::_vehicle");
+
     connect(dlink->mavlinknode,SIGNAL(signal_vehicle(MavLinkNode::_vehicle)),
             this,SLOT(updateVehicle(MavLinkNode::_vehicle)));
 
@@ -1280,6 +1288,25 @@ void MainWindow::setCommunicationLostState(bool flag)
 }
 
 
+void MainWindow::RTCM_Byte(uint32_t count)
+{
+     if(copk)
+     {
+         copk->setRTCMByte(count);
+     }
+}
+
+void MainWindow::RC_Byte(uint32_t count)
+{
+
+    if(copk)
+    {
+        copk->setRCByte(count);
+    }
+
+}
+
+
 void MainWindow::updateDlink(float rssi, uint64_t in,uint64_t out)
 {
     statusui->setValue(1,1,0,QString::number(rssi,'f',0));
@@ -2632,12 +2659,12 @@ void MainWindow::actuator_info_brake(Parse::_actuator info)
         if(info.left_brake == 0x11)
         {
             healthui->setValue(18,tr("变体抱死"));
-            healthui->setColor(18,HealthUI::state::failure);//变体抱死
+            healthui->setColor(18,HealthUI::state::success);//变体抱死
         }
         else
         {
             healthui->setValue(18,tr("变体解锁"));
-            healthui->setColor(18,HealthUI::state::success);//变体解锁
+            healthui->setColor(18,HealthUI::state::failure);//变体解锁
         }
     }
 }

App/mainwindow.h

@@ -122,6 +122,11 @@ public slots:
 
     void onTabIndexChanged(const int &index);
 
+
+    void RTCM_Byte(uint32_t count);
+    void RC_Byte(uint32_t count);
+
+
 protected slots:
 
     bool event(QEvent *event);

Cockpit/Cockpit.cpp

@@ -585,6 +585,20 @@ void Cockpit::setLed(QColor LED)
     m_Target.isUpdate = true;
 }
 
+void Cockpit::setRCByte(uint32_t byte)
+{
+
+    m_State.rc_byte =  byte;
+    m_State.isUpdate = true;
+}
+
+void Cockpit::setRTCMByte(uint32_t byte)
+{
+
+    m_State.rtcm_byte =  byte;
+    m_State.isUpdate = true;
+}
+
 
 void Cockpit::paintEvent(QPaintEvent *)
 {
@@ -617,6 +631,7 @@ void Cockpit::paintEvent(QPaintEvent *)
         drawVRate(&painter);
         drawYawScale(&painter);
         drawTopStatuts(&painter);
+        drawRC_RTCM(&painter);
     }
     else//简单显示
     {
@@ -2162,3 +2177,52 @@ void Cockpit::drawTopStatuts(QPainter *painter)
 
     painter->restore();//所有结束
 }
+
+void Cockpit::drawRC_RTCM(QPainter *painter)
+{
+    painter->save();
+    //平移坐标
+    painter->translate(600,800);
+
+    QPen ePen;
+    QFont font;
+    //画一个半透明的小方块
+    painter->save();
+   // painter->setOpacity(0.3);
+
+    ePen.setWidth(8);
+    ePen.setColor(Qt::green);
+    painter->setPen(ePen);
+
+    painter->setBrush(QColor("#000000"));
+    painter->drawRect(QRect(0,0,550,150));
+    painter->drawRect(QRect(0,200,550,150));
+    painter->restore();//画底部结束
+
+    //画刻度
+    painter->save();
+
+    ePen.setColor(Qt::white);
+    ePen.setWidth(12);
+    font.setPixelSize(90);
+    font.setWeight(QFont::Bold);
+    font.setFamily("黑体");//非衬线
+
+    painter->setPen(ePen);
+    painter->setFont(font);
+    //在下方显示当前值
+    painter->drawText(QRect(10,0,530,150),Qt::AlignVCenter|Qt::AlignLeft,tr("RCin:") + QString::number(m_State.rc_byte));
+    painter->drawText(QRect(10,200,530,150),Qt::AlignVCenter|Qt::AlignLeft,tr("RTCM:") + QString::number(m_State.rtcm_byte));
+    painter->restore();//画当前值结束
+
+
+
+    painter->restore();//全部结束
+}
+
+
+
+
+
+
+

Cockpit/Cockpit.h

@@ -92,7 +92,8 @@ typedef struct {
         quint8 AltitudeFlag = 0;
 
 
-
+        uint32_t rc_byte;
+        uint32_t rtcm_byte;
 
         bool isUpdate;
 
@@ -202,6 +203,10 @@ public Q_SLOTS:
     void setWP_dist(double value);
     void setAlt_err(double value);
 
+    void setRCByte(uint32_t byte);
+    void setRTCMByte(uint32_t byte);
+
+
 protected:
 
     void mouseMoveEvent(QMouseEvent *e);
@@ -230,6 +235,7 @@ protected:
 
     void drawTopStatuts(QPainter *painter);
 
+    void drawRC_RTCM(QPainter *painter);
 private slots:
 
     void UpdateTimeout(void);

dlink/dlink.cpp

@@ -61,6 +61,9 @@ DLink::DLink(QObject *parent) : QObject(parent)
      }
 
 
+     RecieveRCtime = QDateTime::currentMSecsSinceEpoch();
+     RecieveRTCMtime = QDateTime::currentMSecsSinceEpoch();
+
 }
 DLink::~DLink()
 {   
@@ -137,6 +140,18 @@ void DLink::bitTimerout(void)
         last = QDateTime::currentMSecsSinceEpoch();
 
         emit info(rssi_bits,in_bits,out_bits);
+
+
+        if((QDateTime::currentMSecsSinceEpoch() - RecieveRCtime) > 2000)
+        {
+             emit RC_Byte(0);
+        }
+
+        if((QDateTime::currentMSecsSinceEpoch() - RecieveRTCMtime) > 2000)
+        {
+             emit RTCM_Byte(0);
+        }
+
     }
 }
 
@@ -846,7 +861,15 @@ void DLink::readRTKPendingDatagrams(void)
 
             if(datagram.size() > 0)
             {
-                emit getRTK(SourceType::s_port,datagram);
+                emit RTCM_Byte(datagram.size());
+
+                RecieveRTCMtime = QDateTime::currentMSecsSinceEpoch();
+
+                isRecieveRTCM = true;
+                if(sendRTCM == true)
+                {
+                    emit getRTK(SourceType::s_port,datagram);
+                }
             }
         }
     }
@@ -865,6 +888,11 @@ void DLink::readRemotePendingDatagrams(void)
 
             if(datagram.size() > 0)
             {
+                emit RC_Byte(datagram.size());
+
+                RecieveRCtime = QDateTime::currentMSecsSinceEpoch();
+
+                isRecieveRC = true;
                 emit getRemote(SourceType::s_port,datagram);
             }
         }

dlink/dlink.h

@@ -111,6 +111,10 @@ signals:
    void getRTK(quint32,QByteArray);
 
 
+   void RTCM_Byte(uint32_t);
+   void RC_Byte(uint32_t);
+
+
    void info(double rssi,double in,double out);
 
 public slots:
@@ -140,6 +144,18 @@ public slots:
 
     //void replay(QString file);
 
+
+    void setSendRTCM(bool flag)
+    {
+       sendRTCM = flag;
+    }
+
+    bool isSendRTCM(void)
+    {
+        return sendRTCM;
+    }
+
+
 private slots:
 
     void bitTimerout(void);
@@ -196,6 +212,14 @@ protected:
     double in_bits  = 0;
     double rssi_bits = 0;
 
+    bool sendRTCM = false;
+
+
+    bool isRecieveRC = false;
+    bool isRecieveRTCM = false;
+
+    uint64_t RecieveRCtime = 0;
+    uint64_t RecieveRTCMtime = 0;
 
 
 };