生成很多定时器的bug解决

App/ComponentUI/Scope/Chart.cpp

@@ -0,0 +1,6 @@
+#include "Chart.h"
+
+Chart::Chart(QObject *parent) : QObject(parent)
+{
+
+}

App/ComponentUI/Scope/Chart.h

@@ -0,0 +1,16 @@
+#ifndef CHART_H
+#define CHART_H
+
+#include <QObject>
+
+class Chart : public QObject
+{
+    Q_OBJECT
+public:
+    explicit Chart(QObject *parent = nullptr);
+
+signals:
+
+};
+
+#endif // CHART_H

App/ComponentUI/Scope/Scope.pri

@@ -10,9 +10,11 @@ FORMS += \
     $$PWD/Scope.ui
 
 HEADERS += \
+    $$PWD/Chart.h \
     $$PWD/Scope.h
 
 SOURCES += \
+    $$PWD/Chart.cpp \
     $$PWD/Scope.cpp
 
 

App/ComponentUI/Scope/VirtualScope.cpp

@@ -1,117 +0,0 @@
-#include "VirtualScope.h"
-
-
-
-VirtualScope::VirtualScope(QWidget *parent) : QWidget(parent)
-{
-
-}
-
-VirtualScope::~VirtualScope()
-{
-
-}
-
-void VirtualScope::mouseReleaseEvent(QMouseEvent *e)
-{
-    qDebug() << "VirtualScope release" << e;
-}
-
-void VirtualScope::mousePressEvent(QMouseEvent *e)
-{
-    qDebug() << "VirtualScope press" << e;
-}
-
-void VirtualScope::mouseDoubleClickEvent(QMouseEvent *e)
-{
-    qDebug() << "VirtualScope double clicked" << e;
-}
-
-void VirtualScope::wheelEvent(QWheelEvent *e)
-{
-    qDebug() << e;
-}
-
-
-
-void VirtualScope::paintEvent(QPaintEvent *)
-{
-    //qreal scale = 4000.0;
-
-    QPainter painter(this);
-    painter.setRenderHint(QPainter::Antialiasing); 	/* 使用反锯齿(如果可用) */
-    painter.setRenderHint(QPainter::TextAntialiasing);
-    painter.setRenderHint(QPainter::SmoothPixmapTransform);
-
-    painter.translate(width() / 2,  height() / 2);	/* 坐标变换为窗体中心 */
-    //int side = qMin(width(), height());                 /* 这一句决定了这个模块只能是方形 */
-    //painter.scale(side / scale, side / scale);	/* 比例缩放 */
-    painter.setPen(Qt::NoPen);
-
-    drawBackground(&painter);
-
-}
-
-
-void VirtualScope::drawBackground(QPainter *painter)
-{
-     QPen pen;
-     QFont font;
-
-     float w = width();
-     float h = height();
-
-     //画大黑背景
-     painter->save();
-     painter->setBrush(Qt::black);
-     painter->drawRect(-w/2,-h/2,w,h);
-     painter->restore();
-
-
-     //画坐标系
-     painter->save();
-
-     //painter->translate(-200,0);
-
-     //水平，垂直虚线
-     pen.setColor(QColor("#FFFFFF"));
-     pen.setWidthF(1);
-     painter->setPen(pen);
-
-     font.setPointSize(15);
-     font.setFamily("Arial");//非衬线
-     painter->setFont(font);
-
-     //水平分成8个格,竖直分成10个格
-     float g_h = (h - 50)/8;
-     float g_w = (w - 50)/10;
-
-     for(int i = -4;i <= 4;i++)
-     {
-        painter->drawLine(-(w - 50)/2,g_h * i,(w - 50)/2,g_h * i);
-     }
-
-     //水平分成10条线
-     for(int i = -5;i <= 5;i++)
-     {
-        painter->drawLine(g_w * i,-(h - 50)/2,g_w * i,(h - 50)/2);
-        painter->drawText(QRect(g_w * i - 100,(h - 50)/2,200,20), Qt::AlignCenter,QString::number(i));
-     }
-
-     painter->restore();
-
-
-
-}
-
-
-
-
-
-
-
-
-
-
-
-

App/ComponentUI/Scope/VirtualScope.h

@@ -1,43 +0,0 @@
-#ifndef VIRTUALSCOPE_H
-#define VIRTUALSCOPE_H
-
-#include <QObject>
-#include <QWidget>
-#include <QMouseEvent>
-#include <QPainter>
-#include "QDebug"
-#include "QPicture"
-#include "QtMath"
-
-class VirtualScope : public QWidget
-{
-    Q_OBJECT
-public:
-    explicit VirtualScope(QWidget *parent = nullptr);
-    ~VirtualScope();
-
-
-signals:
-
-
-
-
-
-protected:
-    void mouseReleaseEvent(QMouseEvent *e);
-    void mousePressEvent(QMouseEvent *e);
-    void mouseDoubleClickEvent(QMouseEvent *e);
-    void wheelEvent(QWheelEvent *e);
-    void paintEvent(QPaintEvent *);
-
-
-private slots:
-    void drawBackground(QPainter *painter);
-
-
-
-
-
-};
-
-#endif // VIRTUALSCOPE_H

App/MenuBarUI/MenuBarUI.cpp

@@ -109,6 +109,7 @@ void MenuBarUI::showMessage(const QString &message, int TimeOut)
 {
     ui->label_Status->setText(message);
     //这句：如果小于0，那么不生成定时器，减少内存开支，因为小于0时，定时器永远不会触发
+
     if(TimeOut > 0)
     {
         if(MessageTimer->isActive())
@@ -124,6 +125,7 @@ void MenuBarUI::showMessage(const QString &message, int TimeOut)
             MessageTimer->stop();
         }
     }
+
 }
 
 void MenuBarUI::clearMessage()

App/mainwindow.cpp

@@ -19,6 +19,8 @@ MainWindow::MainWindow(QWidget *parent)
     setFocusPolicy(Qt::StrongFocus);
     setAttribute(Qt::WA_AcceptTouchEvents);
 
+    tts = new QTextToSpeech(this);
+
     //ui initial
 
     //menubar
@@ -209,44 +211,38 @@ MainWindow::MainWindow(QWidget *parent)
     connect(dlink->mavlinknode->Mission,SIGNAL(currentPoint(int)),
             map,SLOT(WPSetCurrent(int)),Qt::DirectConnection);
 
-
-    //menuBarUI->showMessage(tr("存在bug，连接界面udp数字输入的.可以超过3个，不合理"));
-
     //==== showmessage=====
     connect(copk,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
     connect(dlink,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
     connect(map,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
 
-
-
-
-
-
     qDebug() << "main window start";
-
     //监测ssl，用于网络连接
     qDebug()<<"QSslSocket="<<QSslSocket::sslLibraryBuildVersionString();
     qDebug() << "OpenSSL支持情况:" << QSslSocket::supportsSsl();
 }
 
-//对返回的数据进行处理
-void MainWindow::getData(QNetworkReply *reply)
-{
-    //获得返回数据存在字节数组中
-    QByteArray data=reply->readAll();
-    //将字节数组转为字符串
-    QString str=QString::fromUtf8(data);
-    //将数据展示在textEdit中
-    qDebug() << str;
-}
-
 MainWindow::~MainWindow()
 {
-    map->close();
+    if(tts)
-    delete map;
+    {
+        tts->stop();
+        delete tts;
+        tts = nullptr;
+    }
 
-    copk->deleteLater();
+    if(map)
-    delete  copk;
+    {
+        map->close();
+        delete map;
+    }
+
+
+    if(copk)
+    {
+        copk->close();
+        delete  copk;
+    }
 
     QCoreApplication::quit();//退出所有窗口
 }
@@ -300,9 +296,6 @@ void MainWindow::mousePressEvent(QMouseEvent* event)
     Q_UNUSED(event)
 }
 
-
-
-
 void MainWindow::keyPressEvent(QKeyEvent *event)   //键盘按下事件
 {
     //qDebug() << event;
@@ -522,6 +515,8 @@ void MainWindow::beep(void)
 
 
 
+
+// 16~20Hz左右 运行频率可能太高
 void MainWindow::updateUI()//事件驱动式更新数据
 {
     static uint32_t custommode_old = 0;
@@ -530,6 +525,21 @@ void MainWindow::updateUI()//事件驱动式更新数据
     bool isStateChanged = false;
 
 
+    /*
+    static int frq_count = 0;
+    static qint64 frq_time = 0;
+
+    frq_count++;
+    if((QDateTime::currentMSecsSinceEpoch() - frq_time) >= 1000)
+    {
+         qDebug() <<frq_time <<  "running frq is:" << frq_count;
+
+         frq_count = 0;
+
+         frq_time = QDateTime::currentMSecsSinceEpoch();
+    }
+    */
+
     copk->setAttitude(dlink->mavlinknode->vehicle.attitude.pitch * 57.3,
                       dlink->mavlinknode->vehicle.attitude.roll * 57.3,
                       dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
@@ -677,8 +687,8 @@ void MainWindow::updateUI()//事件驱动式更新数据
     }
     copk->setMode(mode_str);
 
-    QTextToSpeech *tts = new QTextToSpeech();
 
+    //这里会一直生成一个，导致无法释放
     if(isStateChanged == true)
     {
         tts->say(arm_str);
@@ -687,11 +697,12 @@ void MainWindow::updateUI()//事件驱动式更新数据
     if(isCustomChanged == true)
     {
         mode_str.append(tr("flight mode"));
-
         tts->say(mode_str);
     }
 
 
+
+
     map->setUAVPos(dlink->mavlinknode->vehicle.sysid,
                    dlink->mavlinknode->vehicle.compid,
                    (double)(dlink->mavlinknode->vehicle.gps_raw_int.lat * 10e-8),
@@ -703,6 +714,8 @@ void MainWindow::updateUI()//事件驱动式更新数据
                    dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
 
 
+
+
     if(MainIndex == 3)//飞行界面
     {
         //刷新时间1Hz
@@ -719,6 +732,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
 
     }
 
+
 }
 
 void MainWindow::TotalDistance(double value)

App/mainwindow.h

@@ -88,7 +88,7 @@ private slots:
 
 protected slots:
 
-    void getData(QNetworkReply *reply);
+
 
 protected:
 
@@ -114,6 +114,7 @@ protected:
 
     QTimer *updateTimer = nullptr;
 
+    QTextToSpeech *tts = nullptr;
 
 };
 

Cockpit/Cockpit.h

@@ -99,23 +99,23 @@ typedef struct {
 
 typedef struct{
 
-    qreal pitch;
+    qreal pitch = 0;
-    qreal roll;
+    qreal roll = 0;
-    qreal yaw;
+    qreal yaw = 0;
 
-    qreal height;
+    qreal height = 0;
 
-    qreal airspeed_maximun;
+    qreal airspeed_maximun = 0;
-    qreal airspeed;
+    qreal airspeed = 0;
-    qreal airspeed_minimun;
+    qreal airspeed_minimun = 0;
 
-    qreal heading;//航线方向
+    qreal heading = 0;//航线方向
-    qreal position;//侧偏距
+    qreal position = 0;//侧偏距
-    qreal altitude;//海拔
+    qreal altitude = 0;//海拔
 
-    qreal verticalspeed;//纵向速度
+    qreal verticalspeed = 0;//纵向速度
 
-    bool isUpdate;
+    bool isUpdate = false;
 
 }_target;
 
@@ -211,93 +211,8 @@ private:
 
     QTimer *UpdateTimer = nullptr;
 
-    /*
-    QString m_mode;//显示模式
-
-    QString m_GPS;
-    QString m_MODE;
-    QString m_STATE;
-
-    double m_PitchValue;
-    double m_RollValue;
-    double m_YawValue;
-    double m_CourseValue;
-
-    double m_BatteryValue;
-
-
-    double m_GPSAltitudeValue;
-    double m_PressureAltitudeValue;
-
-    int m_Max_Roll;
-    int m_Min_Roll;
-
-    int m_Max_Altitude;
-    int m_Min_Altitude;
-
-    double m_gps_altitude;
-    double m_pre_altitude;
-
-    double m_gps_speed;
-    double m_air_speed;
-
-    QString m_CtrlModeValue;
-    QString m_AirplaneModeValue;
-    QString m_CurrentStatusValue;
-    QString m_LockStatusValue;
-    QString m_TurningStatusValue;
-
-    int m_GPSStatusValue;
-    int m_GPSStarValue;
-
-    float m_Z_SpeedValue;
-    float m_Z_HightValue;
-    //float m_X_SpeedValue;
-
-    //保护
-    QString m_ProtectString;
-    quint8  m_Protect;
-    //数值的最大最小值
-    double m_Pitch_MinValue;
-    double m_Roll_MinValue;
-    double m_Yaw_MinValue;
-    double m_CourseMinValue;
-
-    double m_Pitch_MaxValue;
-    double m_Roll_MaxValue;
-    double m_Yaw_MaxValue;
-    double m_CourseMaxValue;
-
-    double m_BatteryMinValue;
-    double m_BatteryMaxValue;
-
-    /*
-    QColor m_CentreLineColor;
-    QColor m_ForeColor;
-    QColor m_CornerColor;
-
-    QColor m_GroundColor;//大地颜色
-    QColor m_SkyColor;//天空颜色
-
-    QColor m_LedColor;
-
-    QColor m_CurrentColor;
-    QColor m_TargetColor;
-    QColor m_StatusColor;
-
-    QColor m_NormalColor;
-    QColor m_NoticeColor;
-    QColor m_WarningColor;
-
-
-
-    QColor m_WColor;
-    */
-
-
     QPoint m_c;
 
-
 };
 
 

MavLinkNode/commandprocess.h

@@ -84,7 +84,10 @@ public slots:
     void setRunFrq(uint32_t frq);
     void start();
     void stop();
-
+    bool isActive(void)
+    {
+        return running_flag;
+    }
 
     void Parse(mavlink_message_t msg);
 

MavLinkNode/mavlinknode.cpp

@@ -19,7 +19,7 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
     initbuff();
 
     //初始化ID
-    int Current_sysID = 0xF1;
+    int Current_sysID = 0xFB;
     int Current_CompID = MAV_COMP_ID_MISSIONPLANNER;
 
     Mission = new MissionProcess();
@@ -52,22 +52,44 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
     connect(Commander,SIGNAL(showMessage(QString,int)),
             this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
 
+
+    showMessage(tr("解锁才能有航迹，需要修正,示波器显示时间不对"));
+
+
 }
 
 MavLinkNode::~MavLinkNode()
 {
     //停止任务
-    Mission->stop();
+    if(Mission)
-    delete Mission;
+    {
-    Mission = nullptr;
+        if(Mission->isActive())
+        {
+            Mission->stop();
+            delete Mission;
+            Mission = nullptr;
+        }
+    }
     //停止参数
-    Parameter->stop();
+    if(Parameter)
-    delete Parameter;
+    {
-    Parameter = nullptr;
+        if(Parameter->isActive())
+        {
+            Parameter->stop();
+            delete Parameter;
+            Parameter = nullptr;
+        }
+    }
 
-    Commander->stop();
+    if(Commander)
-    delete Commander;
+    {
-    Commander = nullptr;
+        if(Commander->isActive())
+        {
+            Commander->stop();
+            delete Commander;
+            Commander = nullptr;
+        }
+    }
 
     if(Nodethread->isRunning())
     {
@@ -102,11 +124,20 @@ void MavLinkNode::start()
         qDebug() << "MavLinkNode thread start" << running_flag;
 
 
-        //启动子线程
+        if(Mission)
-        //Mission->start();
+        {
-        //Parameter->start();
+            Mission->start();
-        //Commander->start();
+        }
 
+        if(Commander)
+        {
+            Commander->start();
+        }
+
+        if(Parameter)
+        {
+            Parameter->start();
+        }
     }
     else
     {
@@ -206,21 +237,14 @@ QByteArray MavLinkNode::readbuff(quint32 src)
 {
     QByteArray datagram;
 
-    //datagram.clear();
-
     switch (src) {
     default:
     case SourceType::c_sock:
            if(client_buff.select == 0)
            {
+               datagram.clear();
+               datagram.append(client_buff.buff[1]);
                //datagram.setRawData(client_buff.buff[1],client_buff.buff[1].size());
-               //datagram.append(client_buff.buff[1]);
-
-               for (QByteArray::const_iterator i = client_buff.buff[1].cbegin(); i != client_buff.buff[1].cend(); ++i)
-               {
-                   datagram.append(*i);
-               }
-
                //清除这个未选择的buff
                client_buff.buff[1].clear();
                //读取完成，可以往这个内存里面写数了
@@ -228,17 +252,11 @@ QByteArray MavLinkNode::readbuff(quint32 src)
            }
            else if(client_buff.select == 1)
            {
+               datagram.clear();
+               datagram.append(client_buff.buff[0]);
                //datagram.setRawData(client_buff.buff[0],client_buff.buff[0].size());
-               //datagram.append(client_buff.buff[0]);
-
-               for (QByteArray::const_iterator i = client_buff.buff[0].cbegin(); i != client_buff.buff[0].cend(); ++i)
-               {
-                   datagram.append(*i);
-               }
-
                //清除这个未选择的buff
                client_buff.buff[0].clear();
-
                //读取完成，可以往这个内存里面写数了
                client_buff.select = 0;
            }
@@ -246,24 +264,18 @@ QByteArray MavLinkNode::readbuff(quint32 src)
     case SourceType::s_port:
            if(serial_buff.select == 0)
            {
-               //datagram.append(serial_buff.buff[0]);
+               datagram.clear();
-               for (QByteArray::const_iterator i = serial_buff.buff[1].cbegin(); i != serial_buff.buff[1].cend(); ++i)
+               datagram.append(serial_buff.buff[1]);
-               {
+               //datagram.setRawData(serial_buff.buff[1],serial_buff.buff[1].size());
-                   datagram.append(*i);
-               }
                //读取完成，可以往这个内存里面写数了
                serial_buff.buff[1].clear();
                serial_buff.select = 1;
            }
            else if(serial_buff.select == 1)
            {
-               //datagram.append(serial_buff.buff[0]);
+               datagram.clear();
-
+               datagram.append(serial_buff.buff[0]);
-               for (QByteArray::const_iterator i = serial_buff.buff[0].cbegin(); i != serial_buff.buff[0].cend(); ++i)
+               //datagram.setRawData(serial_buff.buff[0],serial_buff.buff[0].size());
-               {
-                   datagram.append(*i);
-               }
-
                //读取完成，可以往这个内存里面写数了
                serial_buff.buff[0].clear();
                serial_buff.select = 0;
@@ -288,20 +300,18 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
 
             count++;
 
+            /*
             if(msg.compid == Current_CompID)             //过滤地面站发过来的数据
             {
                 //不能使用这种方法过滤，不正确
-                //qDebug() << msg.msgid << "msg come from groundstation";
+                qDebug() << msg.msgid << "msg come from groundstation";
             }
+            */
 
 
-            //if(msg.compid != Current_CompID)             //过滤地面站发过来的数据
+            if(msg.sysid < 250)             //过滤地面站发过来的数据
             {
-
                 MAVLinkRcv_Handler(msg);                 //接收完一帧数据并处理
-                //QThread::sleep(5);
-                //qDebug() << "msg.sysid" <<msg.sysid << "msg.compid" << msg.compid << "fifo parse:" << count << msg.msgid;
-
                 emit recievemsg(msg);                    //将信息广播出去
             }
         }

MavLinkNode/mavlinknode.h

@@ -98,7 +98,10 @@ public slots:
     void setRunFrq(uint32_t frq);
     void start();
     void stop();
-
+    bool isActive(void)
+    {
+        return running_flag;
+    }
     //缓存对外接口
     void setbuff(quint32 src, QByteArray data);
 

MavLinkNode/missionprocess.h

@@ -74,6 +74,10 @@ public slots:
     void setRunFrq(uint32_t frq);
     void start();
     void stop();
+    bool isActive(void)
+    {
+        return running_flag;
+    }
 
 
     void Parse(mavlink_message_t msg);

MavLinkNode/parameterprocess.h

@@ -87,7 +87,10 @@ public slots:
     void setRunFrq(uint32_t frq);
     void start();
     void stop();
-
+    bool isActive(void)
+    {
+        return running_flag;
+    }
 
     void Parse(mavlink_message_t msg);
 

dlink/dlink.cpp

@@ -22,10 +22,10 @@ DLink::DLink(QObject *parent) : QObject(parent)
      mavlinknode->start();
 
 
-     /*
+
      connect(this,&DLink::REVMessageTo1,
              this,&DLink::SendMessageTo1);
-    */
+
      //其他协议节点。。。
 
 }
@@ -55,8 +55,7 @@ int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
 
     if (DLink::serialPort)
     {
-       qint64 flag =  DLink::serialPort->write((const char *)msg,len);
+       emit REVMessageTo1(ch,msg,len);
-       qDebug() << "serialPort Send Msg";
     }
 
     return 0;
@@ -66,7 +65,14 @@ int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
 int DLink::SendMessageTo1(quint8 ch, quint8 *msg, quint16 len)
 {
 
-
+    if (DLink::serialPort)
+    {
+       qint64 flag =  DLink::serialPort->write((const char *)msg,len);
+       if(flag  != -1)
+       {
+           qDebug() << "serialPort Send Msg";
+       }
+    }
 
     return 0;
 }
@@ -268,18 +274,24 @@ void DLink::readPendingDatagramsSerialPort(void)
     QByteArray datagram = serialPort->readAll();
     mavlinknode->setbuff(SourceType::s_port,datagram);
 
+    /*
+
     mavlink_message_t msg;
     mavlink_status_t status;
 
     for (QByteArray::const_iterator i = datagram.cbegin(); i != datagram.cend(); ++i)
     {
+
         if(MAVLINK_FRAMING_OK == mavlink_parse_char(3,*i,&msg,&status))
         {
-             //qDebug() << "direct parse:" << count << msg.msgid;
+             qDebug() << "direct parse:" << count << msg.msgid;
              count++;
         }
+
      }
 
+     */
+
     /*
     QString num;
     for (int i = 0; i < datagram.size(); ++i) {
@@ -306,17 +318,20 @@ void DLink::readPendingDatagramsClient(void)
         mavlinknode->setbuff(SourceType::c_sock,datagram);
 
 
+        /*
         mavlink_message_t msg;
         mavlink_status_t status;
 
         for (QByteArray::const_iterator i = datagram.cbegin(); i != datagram.cend(); ++i)
         {
+
             if(MAVLINK_FRAMING_OK == mavlink_parse_char(2,*i,&msg,&status))
             {
-                 //qDebug() << "direct parse:" << count << msg.msgid;
+                 qDebug() << "direct parse:" << count << msg.msgid;
                  count++;
             }
          }
+         */
 
     }