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 +1,79 @@
+#ifndef PARAMETERPROCESS_H
+#define PARAMETERPROCESS_H
+
+#include <QObject>
+
+#include "QDebug"
+#include "QThread"
+#include "mavlink.h"
+#include "QTimer"
+#include "QTime"
+#ifdef QtMavlinkNode
+#include <mavlinknodeglobal.h>
+class MAVLINKNODESHARED_EXPORT ParameterProcess : public QObject{
+#else
+class ParameterProcess : public QObject
+{
+#endif
+    Q_OBJECT
+public:
+    explicit ParameterProcess(QObject *parent = nullptr);
+
+
+public slots:
+    //线程对外接口
+    void setRunFrq(uint32_t frq);
+    void start();
+    void stop();
+
+
+    void ParameterParse(mavlink_message_t msg);
+
+private slots:
+   //线程私有接口
+   void SendMessage(mavlink_message_t msg);
+
+   void process();
+
+
+   void set(char id[], uint8_t type, float value);
+   void value(float value);
+   void ext_ack(float value);
+   void ext_set(char id[], uint8_t type, float value);
+   void ext_value(float value);
+   void request_list(void);
+   void request_read(const char id[], int16_t index);
+
+signals:
+   void readError();
+
+   void SendMessageTo(quint8 ch, quint8 *data,quint16 len);
+
+
+
+private:
+   bool running_flag = false;
+   quint32 running_frq = 200;//200Hz
+   QThread *thread = nullptr;
+
+   uint8_t sysid;
+   uint8_t compid;
+
+   mavlink_param_set_t param_set;//
+   mavlink_param_union_t param_union;
+   mavlink_param_value_t param_value;//
+   mavlink_param_map_rc_t param_map;
+   mavlink_param_ext_ack_t param_ext_ack;
+   mavlink_param_ext_set_t param_ext_set;
+   mavlink_param_ext_value_t param_ext_value;
+   mavlink_param_request_list_t param_request_list;//
+   mavlink_param_request_read_t param_request_read;//
+   mavlink_param_union_double_t param_union_double;
+   mavlink_param_ext_request_list_t param_ext_request_list;
+   mavlink_param_ext_request_read_t param_ext_request_read;
+
+
+
+};
+
+#endif // PARAMETERPROCESS_H