feat: Service Registry + Bridge 解耦架构 + 全工程代码清理

## 架构升级：Service Registry + Bridge 模式 - 新增 PluginSDK/IPluginServices.h：10 个纯虚服务接口(IDataProvider/ILinkProvider/...) - 新增 MavLinkServiceBridge：单 QObject 实现全部服务，隔离 MavLinkNode 依赖 - 升级 PluginManifest：支持 plugin.json 的 provides/consumes 声明式依赖 - 实现 ExtensionHost::autoWire()：元对象自省自动连接信号槽 - 集成到 AppController：initModules() 中创建桥接器并注册到 ServiceRegistry - CockpitPlugin 演示服务发现：initialize() 中通过 PluginContext 查找服务 ## 代码清理 - Plugins/opmap：~280 行死代码(waypointsetting 100行注释块/tilematrix 54行/等27个文件) - Plugins/MavLinkNode：~200 行 GBK 乱码注释翻译为 UTF-8 + 12 行注释死代码 - Plugins/ToolsUI：~222 行死代码(ECU.cpp 82行/INS.cpp 113行/Parse/ToolsUI 等) - StatusUI/Setting/MissionUI：~65 行注释死代码 - Cockpit/leftladder.cpp：10 处 GBK 乱码翻译为中文 - 清理头文件注释掉的 #include(19 处)、空 if-else 分支、注释变量声明 ## 编译验证 - [100%] Built target GCS 零错误 - 运行时 timeout 3s 正常退出，无崩溃
2026-06-01 09:46:36 +08:00
parent 6fbb96dd9a
commit e7cf44504c
2188 changed files with 549867 additions and 45008 deletions
@@ -0,0 +1,377 @@
+#include "ParameterInspector.h"
+#include "ui_ParameterInspector.h"
+
+ParameterInspector::ParameterInspector(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::ParameterInspector)
+{
+    ui->setupUi(this);
+
+    setWindowTitle(tr("ParameterInspector"));
+
+    // Make sure "All" is an option for both the system and components
+    ui->systemComboBox->addItem(tr("All"), 0);
+    ui->componentComboBox->addItem(tr("All"), 0);
+
+    // Set up the column headers for the message listing
+    QStringList header;
+    header << tr("Name");
+    header << tr("Value");
+    ui->treeWidget->setHeaderLabels(header);
+
+
+    TimerRunningFlag = true;
+    QTimer::singleShot(1000,this,SLOT(mReflush()));
+}
+
+ParameterInspector::~ParameterInspector()
+{
+    TimerRunningFlag = false;
+
+    //clear 那些消息
+
+    delete ui;
+}
+
+void ParameterInspector::mReflush()
+{
+   if(isReflush == true)
+   {
+       isReflush = false;
+
+       ui->progressBar->setValue(currentpersent);
+
+       refreshView();
+   }
+
+   if(TimerRunningFlag == true)
+   {
+      QTimer::singleShot(10,this,SLOT(mReflush()));
+   }
+}
+
+
+
+void ParameterInspector::resizeEvent(QResizeEvent * event)
+{
+    Q_UNUSED(event);
+
+
+}
+
+
+//添加一个设备，
+void ParameterInspector::addVehicles(uint16_t sysid,uint16_t compid)
+{
+    if(!vehicles.keys().contains(sysid))
+    {
+        //如果还没有这个设备，就添加一个
+        QMap<int, mavlink_param_value_t> param;
+        vehicles.insert(sysid,param);
+
+        //同时检查combox有没有，没有就添加
+        if(ui->systemComboBox->findText(tr("Vehicle %1").arg(sysid)) == (-1))
+        {
+            ui->systemComboBox->addItem(tr("Vehicle %1").arg(sysid), sysid);
+        }
+    }
+
+
+
+    //同时检查combox有没有，没有就添加
+    if(ui->componentComboBox->findText(tr("Comp %1").arg(compid)) == (-1))
+    {
+        ui->componentComboBox->addItem(tr("Comp %1").arg(compid), compid);
+    }
+
+
+}
+
+
+
+
+//直接接受整个msg，这个函数传来的只有param_value这一帧，因此不需要识别
+void ParameterInspector::appendParameter(mavlink_message_t msg)
+{
+    //查找这个消息归属的设备和部件
+
+    if(!vehicles.keys().contains(msg.sysid))
+    {
+        //如果还没有这个设备，就添加一个
+        QMap<int, mavlink_param_value_t> param;
+        vehicles.insert(msg.sysid,param);
+
+        //同时检查combox有没有，没有就添加
+        if(ui->systemComboBox->findText(tr("Vehicle %1").arg(msg.sysid)) == (-1))
+        {
+            ui->systemComboBox->addItem(tr("Vehicle %1").arg(msg.sysid), msg.sysid);
+        }
+    }
+
+    //解码
+    mavlink_param_value_t param_value;//
+    mavlink_msg_param_value_decode(&msg,&param_value);
+
+
+    //如果当前是航点0，那么设置状态条
+    if(param_value.param_index == 0)
+    {
+        ui->progressBar->setMaximum(0);
+        ui->progressBar->setMaximum(param_value.param_count - 1);
+    }
+
+    //这里可能有bug,程序会死机
+    //ui->progressBar->setValue((int)param_value.param_index);
+
+    currentpersent = param_value.param_index;
+
+
+    //qDebug() << QThread::currentThreadId();
+
+    //检查是否包含了该参数，如果没有，那么添加
+    QMap<int, mavlink_param_value_t> ParameterStorage;
+    ParameterStorage = vehicles.value(msg.sysid);
+
+    ParameterStorage.insert(param_value.param_index,param_value);
+    vehicles.insert(msg.sysid,ParameterStorage);
+
+    //需要刷新一次
+
+    isReflush = true;
+}
+void ParameterInspector::refreshView()//来一个参数更新一次
+{
+    QMap<int,QMap<int,mavlink_param_value_t>>::iterator ite;
+
+    for(ite=vehicles.begin(); ite!=vehicles.end();++ite)//每一个key下面都是一个设备的所有参数
+    {
+        //查找参数的index
+        QMap<int,mavlink_param_value_t> params = ite.value();//得到所有参数item
+        QMap<int,mavlink_param_value_t>::iterator param_ite;
+
+
+        QMap<int, QTreeWidgetItem* > widgetitems;//获取单独一个设备的参数显示条
+        widgetitems = uasParamTreeItems.value(ite.key());
+
+        for(param_ite=params.begin(); param_ite!=params.end();++param_ite)//历遍每一个参数
+        {
+             mavlink_param_value_t param = param_ite.value();//每一个value
+             QString paraName = param_id(param.param_id); //得到名称
+
+             qDebug() << paraName;//ok
+
+             //查找这个value是不是已经存，存在更新，不存在则建立
+             bool paramFound = false;
+
+             foreach (QTreeWidgetItem* Item, widgetitems.values()) {
+                 if(Item->data(0,Qt::DisplayRole) == param_id(param.param_id))
+                 {
+                     //这个设备已经存在
+                     paramFound = true;
+                     //更新该参数
+                     Item->setData(1,Qt::DisplayRole,param_value(param));
+                     widgetitems.insert(param.param_index,Item);
+                 }
+             }
+
+             if(!paramFound)//没有找到
+             {
+                 //没有找到，新建一个组
+                 QTreeWidgetItem* paraItem = new QTreeWidgetItem();
+                 paraItem->setData(0,Qt::DisplayRole,param_id(param.param_id));
+                 paraItem->setData(1,Qt::DisplayRole,param_value(param));
+                 widgetitems.insert(param.param_index,paraItem);
+             }
+        }
+
+        uasParamTreeItems.insert(ite.key(),widgetitems);//保存一整个设备的参数
+
+
+
+        //得到一个vehicle
+        bool VehicleFound = false;
+        foreach (QTreeWidgetItem* Item, uasTopLevelItems.values()) {
+            if(Item->data(0,Qt::DisplayRole) == tr("Vehicle %1").arg(ite.key()))
+            {
+                //这个设备已经存在
+                VehicleFound = true;
+                //存在测更新
+                Item->addChildren(uasParamTreeItems.value(ite.key()).values());
+                uasTopLevelItems.insert(ite.key(),Item);
+            }
+        }
+
+        if(!VehicleFound)//没有找到
+        {
+            //没有找到，新建一个组
+            QTreeWidgetItem* TopItem = new QTreeWidgetItem();
+            TopItem->setData(0,Qt::DisplayRole,tr("Vehicle %1").arg(ite.key()));
+
+            TopItem->addChildren(uasParamTreeItems.value(ite.key()).values());
+
+            uasTopLevelItems.insert(ite.key(),TopItem);
+        }
+
+       ui->treeWidget->addTopLevelItems(uasTopLevelItems.values());
+    }
+}
+
+
+void ParameterInspector::clearview(void)
+{
+    QMap<int, QMap<int, QTreeWidgetItem*>>::iterator ite;
+    for (ite=uasParamTreeItems.begin(); ite!=uasParamTreeItems.end();++ite)
+    {
+        QMap<int, QTreeWidgetItem*> param_ite = ite.value();
+
+        QList<int> groupKeys = param_ite.uniqueKeys();
+        QList<int>::iterator listKeys;
+        for (listKeys=groupKeys.begin();listKeys!=groupKeys.end();++listKeys)
+        {
+            delete param_ite.take(*listKeys);
+        }
+    }
+    uasParamTreeItems.clear();
+
+    QMap<int, QTreeWidgetItem* >::iterator iteTree;
+    for(iteTree=uasTopLevelItems.begin(); iteTree!=uasTopLevelItems.end();++iteTree)
+    {
+        delete iteTree.value();
+        iteTree.value() = NULL;
+    }
+    uasTopLevelItems.clear();
+
+
+    QMap<int,QMap<int,mavlink_param_value_t>>::iterator vehicle_ite;//删除这个
+    for (vehicle_ite=vehicles.begin(); vehicle_ite!=vehicles.end();++vehicle_ite)
+    {
+
+        vehicle_ite.value().clear();
+        //delete vehicle_ite.value();
+
+    }
+    vehicles.clear();
+
+    ui->treeWidget->clear();
+}
+
+
+
+
+
+
+
+
+
+
+QVariant ParameterInspector::param_value(mavlink_param_value_t param)
+{
+        QVariant value;
+
+        switch (param.param_type)
+        {
+        case MAV_PARAM_TYPE_UINT8:
+        {
+            value = ((uint8_t *)&param.param_value)[0];
+        }break;
+        case MAV_PARAM_TYPE_INT8:
+        {
+            value = ((int8_t *)&param.param_value)[0];
+        }break;
+        case MAV_PARAM_TYPE_UINT16:
+        {
+            value = ((uint16_t *)&param.param_value)[0];
+        }break;
+        case MAV_PARAM_TYPE_INT16:
+        {
+            value = ((int16_t *)&param.param_value)[0];
+        }break;
+        case MAV_PARAM_TYPE_UINT32:
+        {
+            value = ((uint32_t *)&param.param_value)[0];
+        }break;
+        case MAV_PARAM_TYPE_INT32:
+        {
+            value = ((int32_t *)&param.param_value)[0];
+        }break;
+        case MAV_PARAM_TYPE_UINT64:
+        {
+            value = ((uint64_t *)&param.param_value)[0];
+        }break;
+        case MAV_PARAM_TYPE_INT64:
+        {
+            value = ((int64_t *)&param.param_value)[0];
+        }break;
+        case MAV_PARAM_TYPE_REAL32:
+        {
+            value = ((float *)&param.param_value)[0];
+        }break;
+        case MAV_PARAM_TYPE_REAL64:
+        {
+            value = ((double *)&param.param_value)[0];
+        }break;
+         default:
+        {
+            value = ((int32_t *)&param.param_value)[0];
+            qDebug() << "Unsupported type " << param.param_type;
+        }break;
+
+        }
+
+        return value;
+}
+
+
+char* ParameterInspector::param_id(char *id)//设置id,如果id小于16，那么能够找到/0，如果等于或者大于，那么会找不到，因此乱码
+{
+     uint8_t len = 0;
+     while(len < 16)
+     {
+         if(id[len] != '\0')
+         {
+            //continue;
+         }
+         else
+         {
+             return id;
+         }
+         len++;
+     }
+
+     id[16] = '\0';
+     return id;
+}
+
+void ParameterInspector::on_ReadButton_clicked()
+{
+    uint8_t m_sysid = 0;
+    uint8_t m_compid = 1;
+    uint8_t m_type = 0;
+
+    m_sysid = ui->systemComboBox->currentData().toInt();
+    m_compid = ui->componentComboBox->currentData().toInt();
+
+    emit ReadCmd(m_sysid,m_compid,m_type);
+}
+
+void ParameterInspector::on_treeWidget_itemDoubleClicked(QTreeWidgetItem *item, int column)
+{
+
+    ui->SearchlineEdit->setText(item->data(0,Qt::DisplayRole).toString());
+
+    //根据type 设置这个value
+
+    ui->ValuelineEdit->setText(item->data(1,Qt::DisplayRole).toString());
+
+}
+
+void ParameterInspector::on_clearButton_clicked()
+{
+    //清除所有的存储数据，包括显示
+    clearview();
+}
+
+void ParameterInspector::on_WriteButton_clicked()
+{
+     //读取是哪设备，是哪个参数，然后发送出去
+}