线程修正

MavLinkNode/Terminal.cpp

@@ -12,7 +12,6 @@ terminal::terminal(QObject *parent) : ThreadTemplet(parent)
 terminal::~terminal()
 {
     qDebug() << "stop terminal" << QThread::currentThreadId();
-    //stop();
 }
 
 void terminal::process()//线程函数
@@ -26,7 +25,7 @@ void terminal::process()//线程函数
          switch(status.m_Mode)
          {
             default:
-            case Nop_Mode     : break;
+            case Nop_Mode     : QThread::yieldCurrentThread();break;
             case RecieveMode  : ReadStateMachine();break;
             case TransmitMode : WriteStateMachine();break;
          }
@@ -35,7 +34,6 @@ void terminal::process()//线程函数
          {
              break;
          }
-         QThread::yieldCurrentThread();
     }
 }
 

MavLinkNode/ThreadTemplet.cpp

@@ -6,12 +6,8 @@ ThreadTemplet::ThreadTemplet(QObject *parent) : QObject(parent)
     thread = new QThread();
     this->moveToThread(thread);
     connect(thread, &QThread::started, this, &ThreadTemplet::process);
-    //connect(thread, &QThread::finished, this, &ThreadTemplet::deleteLater);
 
-
-    setRunFrq(1);//1hz
     initbuff();
-
     start();
 }
 
@@ -25,7 +21,7 @@ ThreadTemplet::~ThreadTemplet()
     }
 }
 
-void ThreadTemplet::setRunFrq(uint32_t frq)
+void ThreadTemplet::setRunFrq(qreal frq)
 {
     if((frq != 0)||(frq <= 1000))
     {
@@ -80,13 +76,13 @@ void ThreadTemplet::process()//线程函数
     {
          QThread::msleep(1000/frq());
 
-         qDebug() <<  QThread::idealThreadCount();
+         //qDebug() <<  QThread::idealThreadCount();
 
          /*
           do something
           */
 
-         emit showMessage(tr("软件没有正常启动，请重启"));
+         emit error(tr("thread run base"));
 
 
          if(isInterruptionRequested())//退出

MavLinkNode/ThreadTemplet.h

@@ -12,7 +12,7 @@
 #include <mavlinknodeglobal.h>
 class MAVLINKNODESHARED_EXPORT ThreadTemplet : public QObject {
 #else
-class ThreadTemplet : public QThread
+class ThreadTemplet : public QObject
 {
 #endif
     Q_OBJECT
@@ -25,6 +25,8 @@ public:
 
 signals:
 
+    void error(QVariant type);
+
     void SendMessageTo(quint8 ch, quint8 *data,quint16 len);
 
     void showMessage(const QString &message,int TimeOut = 0);
@@ -35,7 +37,7 @@ public slots:
     void setID(int m_sysid,int m_compid);
 
     //线程对外接口
-    void setRunFrq(uint32_t frq);
+    void setRunFrq(qreal frq);
     void start();
     void stop();
     bool isActive(void)
@@ -108,7 +110,7 @@ protected:
     _status_ status;
 
     bool running_flag = false;
-    float running_frq = 10;//10Hz
+    qreal running_frq = 0.01;//1Hz
 
     QThread *thread = nullptr;
 

MavLinkNode/commandprocess.cpp

@@ -15,7 +15,6 @@ commandprocess::commandprocess(QObject *parent) : ThreadTemplet(parent)
 commandprocess::~commandprocess()
 {
     qDebug() << "stop commmand" << QThread::currentThreadId();
-    //stop();
 }
 
 void commandprocess::process()//线程函数
@@ -41,9 +40,6 @@ void commandprocess::process()//线程函数
          {
              break;
          }
-         QThread::yieldCurrentThread();
-
-
     }
 }
 

MavLinkNode/mavlinknode.cpp

@@ -241,7 +241,6 @@ MavLinkNode::~MavLinkNode()
         rtk = nullptr;
     }
 
-   //stop();
     qDebug() << "stop mavlink" << QThread::currentThreadId();
 }
 
@@ -709,7 +708,7 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
             case MAVLINK_PARSE_STATE_GOT_BAD_CRC1:{
                  parserFailure += 1;
                  qDebug() << "MAVLINK_PARSE_STATE_GOT_BAD_CRC1";
-                 emit showMessage("mavlink parse CRC error");
+                 emit showMessage("mavlink got bad crc1");
             }break;
             case MAVLINK_PARSE_STATE_SIGNATURE_WAIT:{
                  qDebug() << "MAVLINK_PARSE_STATE_SIGNATURE_WAIT";
@@ -802,7 +801,6 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
          }break;
          case MAVLINK_MSG_ID_HEARTBEAT: {
             mavlink_msg_heartbeat_decode(&msg,&vehicle.heartbeat);
-            //qDebug() << "recieve heartbeat";
 
            Status->m_heartbeat.autopilot       = vehicle.heartbeat.autopilot;
            Status->m_heartbeat.base_mode       = vehicle.heartbeat.base_mode;
@@ -1187,65 +1185,3 @@ void MavLinkNode::setLogfile(QString file)
     }
 }
 
-
-
-/*
-void MavLinkNode::saveExcel(QString filepath)
-{
-     //QString filepath = QFileDialog::getSaveFileName(this,tr("Save orbit"),".",tr("Microsoft Office 2007 (*.xlsx)"));//获取保存路径
-           if(!filepath.isEmpty()){
-               QAxObject *excel = new QAxObject(this);
-               excel->setControl("Excel.Application");//连接Excel控件
-               excel->dynamicCall("SetVisible (bool Visible)","false");//不显示窗体
-               excel->setProperty("DisplayAlerts", false);//不显示任何警告信息。如果为true那么在关闭是会出现类似“文件已修改，是否保存”的提示
-
-               QAxObject *workbooks = excel->querySubObject("WorkBooks");//获取工作簿集合
-               workbooks->dynamicCall("Add");//新建一个工作簿
-               QAxObject *workbook = excel->querySubObject("ActiveWorkBook");//获取当前工作簿
-               QAxObject *worksheets = workbook->querySubObject("Sheets");//获取工作表集合
-               QAxObject *worksheet = worksheets->querySubObject("Item(int)",1);//获取工作表集合的工作表1，即sheet1
-
-               QAxObject *cellA,*cellB,*cellC,*cellD;
-
-               //设置标题
-               int cellrow=1;
-               QString A="A"+QString::number(cellrow);//设置要操作的单元格，如A1
-               QString B="B"+QString::number(cellrow);
-               QString C="C"+QString::number(cellrow);
-               QString D="D"+QString::number(cellrow);
-               cellA = worksheet->querySubObject("Range(QVariant, QVariant)",A);//获取单元格
-               cellB = worksheet->querySubObject("Range(QVariant, QVariant)",B);
-               cellC = worksheet->querySubObject("Range(QVariant, QVariant)",C);
-               cellD = worksheet->querySubObject("Range(QVariant, QVariant)",D);
-               cellA->dynamicCall("SetValue(const QVariant&)",QVariant("流水号"));//设置单元格的值
-               cellB->dynamicCall("SetValue(const QVariant&)",QVariant("用户名"));
-               cellC->dynamicCall("SetValue(const QVariant&)",QVariant("金额"));
-               cellD->dynamicCall("SetValue(const QVariant&)",QVariant("日期"));
-               cellrow++;
-
-               int rows=this->model->rowCount();
-               for(int i=0;i<rows;i++){
-                   QString A="A"+QString::number(cellrow);//设置要操作的单元格，如A1
-                   QString B="B"+QString::number(cellrow);
-                   QString C="C"+QString::number(cellrow);
-                   QString D="D"+QString::number(cellrow);
-                   cellA = worksheet->querySubObject("Range(QVariant, QVariant)",A);//获取单元格
-                   cellB = worksheet->querySubObject("Range(QVariant, QVariant)",B);
-                   cellC=worksheet->querySubObject("Range(QVariant, QVariant)",C);
-                   cellD=worksheet->querySubObject("Range(QVariant, QVariant)",D);
-                   cellA->dynamicCall("SetValue(const QVariant&)",QVariant(this->model->item(i,0)->data(Qt::DisplayRole).toString()));//设置单元格的值
-                   cellB->dynamicCall("SetValue(const QVariant&)",QVariant(this->model->item(i,1)->data(Qt::DisplayRole).toString()));
-                   cellC->dynamicCall("SetValue(const QVariant&)",QVariant(this->model->item(i,2)->data(Qt::DisplayRole).toString()));
-                   cellD->dynamicCall("SetValue(const QVariant&)",QVariant(this->model->item(i,3)->data(Qt::DisplayRole).toString()));
-                   cellrow++;
-               }
-
-               workbook->dynamicCall("SaveAs(const QString&)",QDir::toNativeSeparators(filepath));//保存至filepath，注意一定要用QDir::toNativeSeparators将路径中的"/"转换为"\"，不然一定保存不了。
-               workbook->dynamicCall("Close()");//关闭工作簿
-               excel->dynamicCall("Quit()");//关闭excel
-               delete excel;
-               excel=nullptr;
-           }
-           return true;
-}
-*/

MavLinkNode/missionprocess.cpp

@@ -3,7 +3,7 @@
 
 MissionProcess::MissionProcess(QObject *parent) : ThreadTemplet(parent)
 {
-    setRunFrq(20);//默认50Hz频率运行
+    setRunFrq(20);//默认20Hz频率运行
 
     mission_status.m_Mode = Nop_Mode;
 }
@@ -11,7 +11,6 @@ MissionProcess::MissionProcess(QObject *parent) : ThreadTemplet(parent)
 MissionProcess::~MissionProcess()
 {
     qDebug() << "stop mission" << QThread::currentThreadId();
-    //stop();
 }
 
 void MissionProcess::process()//线程函数
@@ -46,8 +45,6 @@ void MissionProcess::process()//线程函数
          {
              break;
          }
-         QThread::yieldCurrentThread();
-
     }
 }
 

MavLinkNode/missionprocess.h

@@ -175,23 +175,8 @@ private:
     QList<mapcontrol::WayPointItem *> wplist;
 
 
-    //bool isReadMission = false;
-
-
-
-    //bool isWriteMission = false;
-
-
     QMap<int,mapcontrol::WayPointItem::_property> items;
 
-    //bool ismTimerTimeOut = false;
 
 };
-
-
-
-
-
-
-
 #endif // MISSIONPROCESS_H

MavLinkNode/parameterprocess.cpp

@@ -11,7 +11,6 @@ ParameterProcess::ParameterProcess(QObject *parent) : ThreadTemplet(parent)
 ParameterProcess::~ParameterProcess()
 {
     qDebug() << "stop parameter" << QThread::currentThreadId();
-     //stop();
 }
 
 void ParameterProcess::process()//线程函数

MavLinkNode/parameterprocess.h

@@ -107,9 +107,6 @@ private slots:
    void request_read(const char *id, int16_t index);
 
 signals:
-   void readError();
-
-
    void RecieveValue(mavlink_message_t msg);
 
 private:

MavLinkNode/rcprocess.cpp

@@ -31,7 +31,6 @@ rcprocess::rcprocess(QObject *parent) : ThreadTemplet(parent)
 rcprocess::~rcprocess()
 {
     qDebug() << "stop rc" << QThread::currentThreadId();
-   //stop();
 }
 
 //这里一直在解码，一直检查双缓冲里面是否有数据，有就解码，没有就休息

MavLinkNode/replay.cpp

@@ -11,7 +11,6 @@ Replay::Replay(QObject *parent) : ThreadTemplet(parent)
 Replay::~Replay()
 {
     qDebug() << "stop replay" << QThread::currentThreadId();
-  //stop();
 }
 
 void Replay::process()//线程函数

MavLinkNode/rtkprocess.cpp

@@ -8,7 +8,6 @@ rtkprocess::rtkprocess(QObject *parent) : ThreadTemplet(parent)
 rtkprocess::~rtkprocess()
 {
     qDebug() << "stop rtk" << QThread::currentThreadId();
-    //stop();
 }
 
 void rtkprocess::process()//线程函数
@@ -41,7 +40,6 @@ void rtkprocess::process()//线程函数
 
           if(isInterruptionRequested())//退出
           {
-              qDebug() << "want to exit";
               break;
           }
           QThread::yieldCurrentThread();

MavLinkNode/statusprocess.cpp

@@ -12,7 +12,6 @@ statusprocess::statusprocess(QObject *parent) : ThreadTemplet(parent)
 statusprocess::~statusprocess()
 {
     qDebug() << "stop status" << QThread::currentThreadId();
-    //stop();
 }
 
 
@@ -40,13 +39,11 @@ void statusprocess::process()//线程函数
                            m_heartbeat.mavlink_version);
              }
          }
-         //qDebug() << "yunxing" << (quint64)QDateTime::currentMSecsSinceEpoch() << frq() << status.m_Mode;
 
          if(isInterruptionRequested())//退出
          {
              break;
          }
-         QThread::yieldCurrentThread();
     }
 }