添加参数的相关函数，添加参数进程

2020-03-19 23:36:25 +08:00
parent b50977f923
commit dc87a664fe
6 changed files with 348 additions and 46 deletions
@@ -0,0 +1,253 @@
+#include "parameterprocess.h"
+
+ParameterProcess::ParameterProcess(QObject *parent) : QObject(parent)
+{
+    setRunFrq(200);
+}
+
+void ParameterProcess::setRunFrq(uint32_t frq)
+{
+    if((frq != 0)||(frq <= 1000))
+    {
+        running_frq = frq;
+        qDebug() << "set thread running frquency:" <<frq <<"Hz";
+    }
+}
+
+void ParameterProcess::start()
+{
+    if(thread == nullptr)
+    {
+        thread = new QThread();
+        this->moveToThread(thread);
+        connect(thread, &QThread::started, this, &ParameterProcess::process);
+    }
+
+    if(!thread->isRunning())
+    {
+        running_flag = true;
+        thread->start();
+        qDebug() << "thread start" << running_flag;
+    }
+    else
+    {
+        qDebug() << "thread has started";
+    }
+}
+
+void ParameterProcess::stop()
+{
+    if(thread->isRunning())
+    {
+        running_flag = false;
+        qDebug() << "thread stop" << running_flag;
+    }
+    else
+    {
+        qDebug() << "thread is not running";
+    }
+}
+
+void ParameterProcess::process()//线程函数
+{
+    uint8_t count = 0;
+    while (running_flag)
+    {
+         count ++;
+         QThread::msleep(1000/running_frq);
+
+
+
+    }
+    //退出线程
+    thread->quit();
+    thread->wait(200);//等待结束
+    thread->deleteLater();
+    thread = nullptr;
+}
+
+
+void ParameterProcess::SendMessage(mavlink_message_t msg)
+{
+    uint8_t  buff[256+20];
+    uint16_t len = mavlink_msg_to_send_buffer(buff, &msg);
+    emit SendMessageTo(0,buff, len);//使用信号和槽
+}
+
+
+
+//这个函数类似中断，专门处理接收到的状态
+void ParameterProcess::ParameterParse(mavlink_message_t msg)
+{
+    switch (msg.msgid) {
+    case MAVLINK_MSG_ID_PARAM_SET:{
+         mavlink_msg_param_set_decode(&msg,&param_set);
+    }break;
+    case MAVLINK_MSG_ID_PARAM_VALUE:{//
+         mavlink_msg_param_value_decode(&msg,&param_value);
+    }break;
+    case MAVLINK_MSG_ID_PARAM_EXT_ACK:{
+         mavlink_msg_param_ext_ack_decode(&msg,&param_ext_ack);
+    }break;
+    case MAVLINK_MSG_ID_PARAM_EXT_SET:{
+         mavlink_msg_param_ext_set_decode(&msg,&param_ext_set);
+    }break;
+    case MAVLINK_MSG_ID_PARAM_EXT_VALUE:{
+         mavlink_msg_param_ext_value_decode(&msg,&param_ext_value);
+    }break;
+    case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:{
+         mavlink_msg_param_request_list_decode(&msg,&param_request_list);
+    }break;
+    case MAVLINK_MSG_ID_PARAM_REQUEST_READ:{
+         mavlink_msg_param_request_read_decode(&msg,&param_request_read);
+    }break;
+    case MAVLINK_MSG_ID_PARAM_EXT_REQUEST_LIST:{
+         mavlink_msg_param_ext_request_list_decode(&msg,&param_ext_request_list);
+    }break;
+    case MAVLINK_MSG_ID_PARAM_EXT_REQUEST_READ:{
+         mavlink_msg_param_ext_request_read_decode(&msg,&param_ext_request_read);
+    }break;
+
+    }
+}
+
+
+
+
+
+
+/*all msg
+ MAVLINK_MSG_ID_PARAM_SET
+ MAVLINK_MSG_ID_PARAM_VALUE
+ MAVLINK_MSG_ID_PARAM_EXT_ACK
+ MAVLINK_MSG_ID_PARAM_EXT_SET
+ MAVLINK_MSG_ID_PARAM_EXT_VALUE
+ MAVLINK_MSG_ID_PARAM_REQUEST_LIST
+ MAVLINK_MSG_ID_PARAM_REQUEST_READ
+ MAVLINK_MSG_ID_PARAM_EXT_REQUEST_LIST
+ MAVLINK_MSG_ID_PARAM_EXT_REQUEST_READ
+*/
+
+void ParameterProcess::set(char id[16],uint8_t type,float value)//
+{
+    static mavlink_message_t msg;
+    static mavlink_param_set_t param_set;
+
+    memcpy(param_set.param_id,id,16);
+    param_set.param_type = type;
+    param_set.param_value = value;
+    param_set.target_system = sysid;
+    param_set.target_component = compid;
+
+    mavlink_msg_param_set_encode(2,MAV_COMP_ID_MISSIONPLANNER, &msg,&param_set);
+    SendMessage(msg);
+}
+
+void ParameterProcess::value(float value)//一般只接收不发送
+{
+    static mavlink_message_t msg;
+    static mavlink_param_value_t param_value;
+
+
+    //param_value.param_count
+    //param_value.param_id
+    //param_value.param_index
+    //param_value.param_type
+    param_value.param_value = value;
+    //param_value. = sysid;
+    //param_value.target_component = compid;
+
+    mavlink_msg_param_value_encode(2,MAV_COMP_ID_MISSIONPLANNER, &msg,&param_value);
+    SendMessage(msg);
+}
+
+void ParameterProcess::ext_ack(float value)
+{
+    static mavlink_message_t msg;
+    static mavlink_param_ext_ack_t param_ext_ack;
+
+    Q_UNUSED(value);
+
+    //param_ext_ack.param_id
+    //param_ext_ack.param_result
+    //param_ext_ack.param_type
+
+    //param_ext_ack.param_value = value;
+    //param_ext_ack.target_system = sysid;
+    //param_ext_ack.target_component = compid;
+
+    mavlink_msg_param_ext_ack_encode(2,MAV_COMP_ID_MISSIONPLANNER, &msg,&param_ext_ack);
+    SendMessage(msg);
+}
+
+void ParameterProcess::ext_set(char id[16],uint8_t type,float value)
+{
+    static mavlink_message_t msg;
+    static mavlink_param_ext_set_t param_ext_set;
+
+    Q_UNUSED(value);
+
+    memcpy(param_ext_set.param_id,id,16);
+    param_ext_set.param_type = type;
+    //param_ext_set.param_value = value;
+    param_ext_set.target_system = sysid;
+    param_ext_set.target_component = compid;
+
+    mavlink_msg_param_ext_set_encode(2,MAV_COMP_ID_MISSIONPLANNER, &msg,&param_ext_set);
+    SendMessage(msg);
+}
+
+void ParameterProcess::ext_value(float value)
+{
+    static mavlink_message_t msg;
+    static mavlink_param_ext_value_t param_ext_value;
+
+    Q_UNUSED(value);
+
+    //param_ext_value.param_value = value;
+
+
+    //param_ext_value.target_system = sysid;
+    //param_ext_value.target_component = compid;
+
+    mavlink_msg_param_ext_value_encode(2,MAV_COMP_ID_MISSIONPLANNER, &msg,&param_ext_value);
+    SendMessage(msg);
+}
+
+void ParameterProcess::request_list(void)//
+{
+    static mavlink_message_t msg;
+    static mavlink_param_request_list_t param_request_list;
+
+    param_request_list.target_system = sysid;
+    param_request_list.target_component = compid;
+
+    mavlink_msg_param_request_list_encode(2,MAV_COMP_ID_MISSIONPLANNER, &msg,&param_request_list);
+    SendMessage(msg);
+}
+
+void ParameterProcess::request_read(const char id[16],int16_t index)//
+{
+    static mavlink_message_t msg;
+    static mavlink_param_request_read_t param_request_read;
+
+    memcpy(param_request_read.param_id,id,16);
+    param_request_read.param_index = index;
+    param_request_read.target_system = sysid;
+    param_request_read.target_component = compid;
+
+    mavlink_msg_param_request_read_encode(2,MAV_COMP_ID_MISSIONPLANNER, &msg,&param_request_read);
+    SendMessage(msg);
+}
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