添加了参数界面显示，尚未调通，需要检查信号和槽

App/mainwindow.cpp

@@ -245,6 +245,7 @@ void MainWindow::onTabIndexChanged(const int &index)
                 */
 
         inspector->show();
+
     }
 }
 

MavLinkNode/MavLinkNode.pro

@@ -31,7 +31,7 @@ DEFINES += QT_DEPRECATED_WARNINGS
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
 
-
+include (./ParameterInspector/ParameterInspector.pri)
 
 
 DESTDIR         = $$PWD/../thirdpart/lib
@@ -104,6 +104,3 @@ unix {
 
 
 
-
-
-

MavLinkNode/ParameterInspector/ParameterInspector.cpp

@@ -0,0 +1,319 @@
+#include "ParameterInspector.h"
+#include "ui_ParameterInspector.h"
+
+ParameterInspector::ParameterInspector(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::ParameterInspector)
+{
+    ui->setupUi(this);
+
+    setWindowTitle(tr("ParameterInspector"));
+
+    parView = new QTreeView(this);
+
+    //parView->setEditTriggers(QTreeView::NoEditTriggers);			//单元格不能编辑
+    parView->setSelectionBehavior(QTreeView::SelectRows);			//一次选中整行
+    parView->setSelectionMode(QTreeView::SingleSelection);        //单选，配合上面的整行就是一次选单行
+    parView->setAlternatingRowColors(true);                       //每间隔一行颜色不一样，当有qss时该属性无效
+    parView->setFocusPolicy(Qt::NoFocus);
+    //parView->setHeaderHidden(true);
+
+    //QHeaderView *mheader = new QHeaderView(Qt::Orientation,this);
+    //parView->setHeader(mheader);
+    parView->show();
+
+
+
+
+
+}
+
+ParameterInspector::~ParameterInspector()
+{
+    delete model;
+    delete  parView;
+    delete ui;
+}
+
+void ParameterInspector::resizeEvent(QResizeEvent * event)
+{
+    //qDebug() << event;
+
+
+    Q_UNUSED(event);
+
+    parView->resize(this->size());
+
+}
+
+
+
+
+
+
+void ParameterInspector::appendParameter(mavlink_param_value_t item)
+{
+    //qDebug() << "new parameter";
+    //查找是否已经存这一项，是那么就更新，如没有存在，那么就查index，如果index在中间就插入，在后面就连接
+    bool isFine = false;
+
+    QList<mavlink_param_value_t>::iterator li; //遍历
+    for ( li = list.begin(); li != list.end(); ++li )
+    {
+        if(li->param_index == item.param_index)//用ID还是用目录，这个需要斟酌
+        {
+            isFine = true;
+            qDebug() << "has found par:" << item.param_id;
+            list.replace(li->param_index,item);
+        }
+    }
+
+    if(isFine == false)
+    {
+         list.append(item);
+         qDebug() << "first time:" << item.param_id;
+    }
+
+    //if(list.last().param_index == (list.count() - 1))
+   //{
+         refreshView();
+   // }
+
+
+}
+void ParameterInspector::refreshView()
+{
+    QString ParID = "";
+    int IDindex = 0;
+
+    QString ParType;
+    float ParValue;
+    if(model)
+    {
+        //qDebug() << "modle true";
+        //model->clear();
+        QList<mavlink_param_value_t>::iterator li; //遍历
+        for ( li = list.begin(); li != list.end(); ++li )
+        {
+            ParID.clear();
+            IDindex = 0;
+            while((li->param_id[IDindex] != '\0')&&(IDindex < 16))
+            {
+                ParID.append(li->param_id[IDindex]);
+                IDindex ++;
+                if(IDindex >= 16) break;
+            }
+
+
+
+            //qDebug() << ParID;
+
+            switch(li->param_type)
+            {
+               case MAV_PARAM_TYPE_UINT8:{
+
+                ParType = "UINT8";
+                //ParValue = ((uint8_t *)&li->param_value)[0];
+                model->setItem(li->param_index,
+                               2,
+                               new QStandardItem(QString::number(((uint8_t *)&li->param_value)[0])));
+
+            }break;
+               case MAV_PARAM_TYPE_INT8:{
+
+                ParType = "INT8";
+                //ParValue = ((int8_t *)&li->param_value)[0];
+                model->setItem(li->param_index,
+                               2,
+                               new QStandardItem(QString::number(((int8_t *)&li->param_value)[0])));
+            }break;
+               case MAV_PARAM_TYPE_UINT16:{
+
+                ParType = "UINT16";
+                //ParValue = ((uint16_t *)&li->param_value)[0];
+                model->setItem(li->param_index,
+                               2,
+                               new QStandardItem(QString::number(((uint16_t *)&li->param_value)[0])));
+            }break;
+               case MAV_PARAM_TYPE_INT16:{
+
+                ParType = "INT16";
+                //ParValue = ((int16_t *)&li->param_value)[0];
+                model->setItem(li->param_index,
+                               2,
+                               new QStandardItem(QString::number(((int16_t *)&li->param_value)[0])));
+            }break;
+               case MAV_PARAM_TYPE_UINT32:{
+
+                ParType = "UINT32";
+                //ParValue = ((uint32_t *)&li->param_value)[0];
+                //qDebug() << ((uint32_t *)&li->param_value)[0];
+                model->setItem(li->param_index,
+                               2,
+                               new QStandardItem(QString::number(((uint32_t *)&li->param_value)[0])));
+
+            }break;
+               case MAV_PARAM_TYPE_INT32:{
+
+                ParType = "INT32";
+                //ParValue = ((int32_t *)&li->param_value)[0];
+                model->setItem(li->param_index,
+                               2,
+                               new QStandardItem(QString::number(((int32_t *)&li->param_value)[0])));
+            }break;
+               case MAV_PARAM_TYPE_UINT64:{
+
+                ParType = "UINT64";
+                //ParValue = ((uint64_t *)&li->param_value)[0];
+                model->setItem(li->param_index,
+                               2,
+                               new QStandardItem(QString::number(((uint64_t *)&li->param_value)[0])));
+            }break;
+               case MAV_PARAM_TYPE_INT64:{
+
+                ParType = "INT64";
+                //ParValue = ((int64_t *)&li->param_value)[0];
+                model->setItem(li->param_index,
+                               2,
+                               new QStandardItem(QString::number(((int64_t *)&li->param_value)[0])));
+            }break;
+               case MAV_PARAM_TYPE_REAL32:{
+
+                ParType = "REAL32";
+                //ParValue = (float)li->param_value;
+                model->setItem(li->param_index,
+                               2,
+                               new QStandardItem(QString::number(((float *)&li->param_value)[0])));
+            }break;
+               case MAV_PARAM_TYPE_REAL64:{
+
+                ParType = "REAL64";
+                //ParValue = (double)li->param_value;
+                model->setItem(li->param_index,
+                               2,
+                               new QStandardItem(QString::number(((double *)&li->param_value)[0])));
+            }break;
+               case MAV_PARAM_TYPE_ENUM_END:{
+
+                ParType = "END";
+            }break;
+            }
+
+
+
+
+            model->setItem(li->param_index, 0, new QStandardItem(QString::number(li->param_index)));
+            model->setItem(li->param_index, 1, new QStandardItem(ParID));
+            //model->setItem(li->param_index, 2, new QStandardItem(QString::number(ParValue)));
+            model->setItem(li->param_index, 3, new QStandardItem(ParType));
+        }
+        //parView->setModel(model);
+    }
+    else
+    {
+        qDebug() << "model false";
+        model = new QStandardItemModel(4,4);
+
+        model->setHeaderData(0, Qt::Horizontal, tr("Index"));
+        model->setHeaderData(1, Qt::Horizontal, tr("Description"));
+        model->setHeaderData(2, Qt::Horizontal, tr("Value"));
+        model->setHeaderData(3, Qt::Horizontal, tr("Type"));
+
+        QList<mavlink_param_value_t>::iterator li; //遍历
+        for ( li = list.begin(); li != list.end(); ++li )
+        {
+            switch(li->param_type)
+            {
+               case MAV_PARAM_TYPE_UINT8: ParType = "UINT8";break; /* 8-bit unsigned integer | */
+               case MAV_PARAM_TYPE_INT8:  ParType = "INT8";break; /* 8-bit signed integer | */
+               case MAV_PARAM_TYPE_UINT16:ParType = "UINT16";break;  /* 16-bit unsigned integer | */
+               case MAV_PARAM_TYPE_INT16: ParType = "INT16";break;  /* 16-bit signed integer | */
+               case MAV_PARAM_TYPE_UINT32:ParType = "UINT32";break;  /* 32-bit unsigned integer | */
+               case MAV_PARAM_TYPE_INT32: ParType = "INT32";break;  /* 32-bit signed integer | */
+               case MAV_PARAM_TYPE_UINT64:ParType = "UINT64";break;  /* 64-bit unsigned integer | */
+               case MAV_PARAM_TYPE_INT64: ParType = "INT64";break;  /* 64-bit signed integer | */
+               case MAV_PARAM_TYPE_REAL32:ParType = "REAL32";break;  /* 32-bit floating-point | */
+               case MAV_PARAM_TYPE_REAL64:ParType = "REAL64";break;  /* 64-bit floating-point | */
+               case MAV_PARAM_TYPE_ENUM_END:ParType = "END";break;  /*  | */
+            }
+
+            model->setItem(li->param_index, 0, new QStandardItem(ParType));
+            model->setItem(li->param_index, 1, new QStandardItem(QString::number(li->param_index)));
+            model->setItem(li->param_index, 2, new QStandardItem(ParID));
+            model->setItem(li->param_index, 3, new QStandardItem(QString::number(li->param_value)));
+        }
+        parView->setModel(model);
+
+
+    }
+
+
+
+}
+
+void ParameterInspector::addItem(void)//添加
+{
+
+}
+
+void ParameterInspector::delItem(void)//删除
+{
+
+}
+
+void ParameterInspector::insItem(void)//插入
+{
+
+}
+
+
+
+QStandardItem *ParameterInspector::getItem(QStandardItemModel *model, QString s)
+{
+    QStandardItem *getitem = nullptr;
+    if(!model->hasChildren())//判断是否有孩子,没有则返回0
+        return nullptr;
+    QList<QStandardItem*> list = model->findItems(s);
+    qDebug() << tr("list's lenght is %1").arg(list.length());
+    if(list.length() == 0)//如果链表长度为0，即没找到文本为s的条目
+    {
+        //将搜索子条目是否存在文本为s的条目
+        for(int i = 0;i < model->rowCount()&& getitem == nullptr;i++)//遍历model下的所有条目,如果getitem有获得对象，则退出循环
+        {
+            getitem = getItem(model->item(i),s);//寻找第i行条目下的子条目列中是否存在文本为s的条目。
+        }
+    }
+    else
+    {
+        return list.at(0);
+    }
+    return getitem;
+}
+
+QStandardItem *ParameterInspector::getItem(QStandardItem *item, QString s)
+{
+    if(item == nullptr)
+        return nullptr;
+    qDebug() << tr("fine %1").arg(item->text());
+    QStandardItem *getitem = nullptr;
+    if(item->text().compare(s) == 0)
+        return item;
+    if(!item->hasChildren())//判断是否有孩子,没有则返回0
+        return nullptr;
+    for(int i = 0;i < item->rowCount() && getitem == nullptr;i++)//遍历item下所有子条目，若果getitme有获得对象，则退出循环
+    {
+        QStandardItem * childitem = item->child(i);
+        getitem = getItem(childitem,s);//寻找这个子条目的所有子条目是否存在文本为s的条目。
+    }
+    return getitem;
+}
+
+
+
+
+
+
+
+
+
+

MavLinkNode/ParameterInspector/ParameterInspector.h

@@ -0,0 +1,133 @@
+#ifndef PARAMETERINSPECTOR_H
+#define PARAMETERINSPECTOR_H
+
+#include <QWidget>
+
+
+#include <QObject>
+#include <QWidget>
+
+#include "QPushButton"
+#include "QTreeView"
+#include "QDebug"
+
+#include "QMap"
+#include <QList>
+#include "QStandardItemModel"
+
+
+#include "mavlink.h"
+
+#include "QHeaderView"
+
+#ifdef QtMavlinkNode
+#include <mavlinknodeglobal.h>
+
+namespace Ui {
+class ParameterInspector;
+}
+
+class MAVLINKNODESHARED_EXPORT ParameterInspector : public QWidget{
+#else
+namespace Ui {
+class ParameterInspector;
+}
+
+class ParameterInspector : public QWidget
+{
+#endif
+
+
+    Q_OBJECT
+
+public:
+    explicit ParameterInspector(QWidget *parent = nullptr);
+    ~ParameterInspector();
+
+    void resizeEvent(QResizeEvent * event);
+
+
+    const QHash<int, QString> _mavlinkCompIdHash {
+        { MAV_COMP_ID_CAMERA,   "Camera1" },
+        { MAV_COMP_ID_CAMERA2,  "Camera2" },
+        { MAV_COMP_ID_CAMERA3,  "Camera3" },
+        { MAV_COMP_ID_CAMERA4,  "Camera4" },
+        { MAV_COMP_ID_CAMERA5,  "Camera5" },
+        { MAV_COMP_ID_CAMERA6,  "Camera6" },
+        { MAV_COMP_ID_SERVO1,   "Servo1" },
+        { MAV_COMP_ID_SERVO2,   "Servo2" },
+        { MAV_COMP_ID_SERVO3,   "Servo3" },
+        { MAV_COMP_ID_SERVO4,   "Servo4" },
+        { MAV_COMP_ID_SERVO5,   "Servo5" },
+        { MAV_COMP_ID_SERVO6,   "Servo6" },
+        { MAV_COMP_ID_SERVO7,   "Servo7" },
+        { MAV_COMP_ID_SERVO8,   "Servo8" },
+        { MAV_COMP_ID_SERVO9,   "Servo9" },
+        { MAV_COMP_ID_SERVO10,  "Servo10" },
+        { MAV_COMP_ID_SERVO11,  "Servo11" },
+        { MAV_COMP_ID_SERVO12,  "Servo12" },
+        { MAV_COMP_ID_SERVO13,  "Servo13" },
+        { MAV_COMP_ID_SERVO14,  "Servo14" },
+        { MAV_COMP_ID_GIMBAL,   "Gimbal1" },
+        { MAV_COMP_ID_ADSB,     "ADSB" },
+        { MAV_COMP_ID_OSD,      "OSD" },
+        { MAV_COMP_ID_FLARM,    "FLARM" },
+        { MAV_COMP_ID_IMU,      "IMU1" },
+        { MAV_COMP_ID_IMU_2,    "IMU2" },
+        { MAV_COMP_ID_IMU_3,    "IMU3" },
+        { MAV_COMP_ID_GPS,      "GPS1" },
+        { MAV_COMP_ID_GPS2,     "GPS2" }
+    };
+
+
+    typedef struct{
+        char name[16];
+        union{
+            double *d;
+            float *s;
+            uint32_t *I;
+            int32_t *i;
+            uint16_t *H;
+            int16_t *h;
+            uint8_t *B;
+            int8_t *b;
+        } val_ptr;
+        MAV_PARAM_TYPE typ;
+    } _param_props;
+
+    _param_props param_props;
+
+
+    void refreshView();
+    void addItem(void);
+    void delItem(void);
+    void insItem(void);
+
+
+
+    QStandardItem * getItem(QStandardItemModel *model, QString s);
+    QStandardItem * getItem(QStandardItem *item, QString s);
+
+
+
+
+signals:
+
+public slots:
+    void appendParameter(mavlink_param_value_t item);
+
+private:
+
+    QTreeView *parView = nullptr;
+    QStandardItemModel *model = nullptr;
+
+    QList<mavlink_param_value_t> list;
+
+
+    QMap<QString,float> par_map;
+
+
+    Ui::ParameterInspector *ui;
+};
+
+#endif // PARAMETERINSPECTOR_H

MavLinkNode/ParameterInspector/ParameterInspector.pri

@@ -0,0 +1,35 @@
+
+#添加mavlink目录
+INCLUDEPATH += $$PWD/../mavlink \
+               $$PWD/../mavlink/ardupilotmega \
+               $$PWD/../mavlink/common \
+               $$PWD/../mavlink/icarous \
+               $$PWD/../mavlink/uAvionix \
+               $$PWD/../mavlink/XYK \
+               $$PWD/../mavlink/message_definitions
+
+HEADERS += \
+    ParameterInspector/ParameterInspector.h \
+
+
+SOURCES += \
+    ParameterInspector/ParameterInspector.cpp \
+
+
+
+FORMS += \
+    ParameterInspector/ParameterInspector.ui
+
+
+
+
+
+
+
+
+
+
+
+
+
+

MavLinkNode/ParameterInspector/ParameterInspector.ui

@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ParameterInspector</class>
+ <widget class="QWidget" name="ParameterInspector">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>399</width>
+    <height>390</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

MavLinkNode/mavlinknode.cpp

@@ -21,6 +21,9 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
            this,SIGNAL(SendMessageTo(quint8,quint8*,quint16)));
            */
 
+
+
+
 }
 
 MavLinkNode::~MavLinkNode()

MavLinkNode/mavlinknode.h

@@ -10,6 +10,9 @@
 #include "missionprocess.h"
 #include "parameterprocess.h"
 
+
+
+
 #ifdef QtMavlinkNode
 #include <mavlinknodeglobal.h>
 class MAVLINKNODESHARED_EXPORT MavLinkNode : public QObject {

MavLinkNode/parameterprocess.cpp

@@ -3,6 +3,11 @@
 ParameterProcess::ParameterProcess(QObject *parent) : QObject(parent)
 {
     setRunFrq(1000);
+
+    paramInspect = new ParameterInspector();
+
+    paramInspect->show();
+
 }
 
 void ParameterProcess::setRunFrq(uint32_t frq)
@@ -110,6 +115,7 @@ void ParameterProcess::ParameterParse(mavlink_message_t msg)
     }break;
     case MAVLINK_MSG_ID_PARAM_VALUE:{//
          mavlink_msg_param_value_decode(&msg,&param_value);
+         paramInspect->appendParameter(param_value);
          status.recieve.isWaitingforValue = false;
          status.transmit.isWaitingforValue = false;
          qDebug() << "param_value.param_index" << param_value.param_index;

MavLinkNode/parameterprocess.h

@@ -8,6 +8,9 @@
 #include "mavlink.h"
 #include "QTimer"
 #include "QTime"
+
+#include "ParameterInspector/ParameterInspector.h"
+
 #ifdef QtMavlinkNode
 #include <mavlinknodeglobal.h>
 class MAVLINKNODESHARED_EXPORT ParameterProcess : public QObject{
@@ -60,6 +63,9 @@ public:
 
     _parameter_ status;
 
+
+    ParameterInspector *paramInspect;
+
     //读取和写入指令
     void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
     void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count );