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 +1,353 @@
+#ifndef MAVLINKNODE_H
+#define MAVLINKNODE_H
+
+#include <QObject>
+#include "QThread"
+#include "QFile"
+#include "QDebug"
+
+#include "mavlink.h"
+#include "replay.h"
+#include "missionprocess.h"
+#include "parameterprocess.h"
+#include "commandprocess.h"
+#include "statusprocess.h"
+#include "Terminal.h"
+#include "sbusparser.h"
+#include "QUdpSocket"
+
+#include "rcprocess.h"
+#include "rtkprocess.h"
+
+#include "ThreadTemplet.h"
+#include "../DataLogger.h"
+
+
+#ifdef QtMavlinkNode
+#include <mavlinknodeglobal.h>
+class MAVLINKNODESHARED_EXPORT MavLinkNode : public ThreadTemplet {
+#else
+class MavLinkNode : public ThreadTemplet
+{
+#endif
+    Q_OBJECT
+public:
+
+    typedef struct {
+        int sysid;          /* ID of message sender system/aircraft */
+        int compid;         /* ID of the message sender component */
+
+        mavlink_autopilot_version_t autopilot_version;
+        mavlink_sys_status_t sys_status;
+        mavlink_heartbeat_t heartbeat;
+        mavlink_ping_t ping;
+        mavlink_attitude_t attitude;
+        mavlink_ins1_t ins1;
+        mavlink_ins2_t ins2;
+        mavlink_gps_raw_int_t gps_raw_int;
+        mavlink_global_position_int_t global_position_int;
+        mavlink_servo_output_raw_t servo_output_raw;
+        mavlink_rc_channels_raw_t rc_channels_raw;
+        mavlink_nav_controller_output_t nav_controller_output;
+        mavlink_airspeed_autocal_t airspeed_autocal;
+        mavlink_rpm_t rpm;
+        mavlink_scaled_pressure_t scaled_pressure;
+        mavlink_extended_sys_state_t extended_sys_state;
+        mavlink_battery_status_t battery_status;
+        mavlink_vibration_t vibration;
+        mavlink_enginestate_t enginestate;
+        mavlink_vfr_hud_t vfr_hud;
+        mavlink_aoa_ssa_t aoa_ssa;
+        mavlink_emb_atmo_com_t emb_atom_com;
+        mavlink_turbinestate_t turbinstate;
+        mavlink_bmustate_t bmustate;
+        mavlink_ccmstate_t ccmstate;
+        mavlink_serial_control_t serial_control;
+
+        mavlink_statustext_t statustext;
+
+    }_vehicle;
+
+    typedef struct
+    {
+        uint16_t flag;//0x23f8
+        uint16_t id;//1
+        int32_t time;//(second+min*60+hour*3600)*1000
+        int32_t lng;//*10000000
+        int32_t lat;//*10000000
+        int32_t alt;//*10
+        int32_t ve;
+        int32_t vn;
+        int32_t vu;
+        int32_t v;
+        int32_t course;//*10
+    }_showinfo;//192.168.5.8:10038
+
+
+    explicit MavLinkNode(QObject *parent = nullptr);
+    ~MavLinkNode();
+
+     _vehicle vehicle;
+      QHash<int,_vehicle> vehicleList;
+
+     Replay *replay = nullptr;
+
+     MissionProcess *Mission = nullptr;
+     ParameterProcess *Parameter = nullptr;
+     commandprocess *Commander = nullptr;
+     statusprocess *Status = nullptr;
+     terminal *Terminal = nullptr;
+     rcprocess *RC = nullptr;
+     rtkprocess *rtk = nullptr;
+
+     bool isCommunicationLost = false;
+
+     // 通讯状态机：Connected(正常) / Lost(丢失) / Recovering(恢复观察期)
+     enum CommState { Connected, Lost, Recovering };
+     CommState m_commState = Connected;
+     bool m_commandBlocked = false;   // 指令下发阻断标志
+     QTimer *m_recoveryTimer = nullptr;  // 恢复观察期定时器
+
+     uint64_t rate_in = 0;
+     uint64_t count_in = 0;
+
+     uint64_t rate_out = 0;
+     uint64_t count_out = 0;
+
+
+
+     uint64_t bittotal = 0;
+
+     uint64_t parserSuccess = 0;
+     uint64_t parserFailure = 0;
+
+
+     uint64_t TotalFrame_1s = 0;
+     uint64_t LossFrame_1s = 0;
+
+     float rssi = 100;
+
+
+
+     QByteArray rtkrawdata;
+
+
+    QByteArray csvData;
+
+    QByteArray autopilot_version_csv;
+    QByteArray sys_status_csv;
+    QByteArray heartbeat_csv;
+    QByteArray ping_csv;
+    QByteArray attitude_csv;
+    QByteArray ins1_csv;
+    QByteArray ins2_csv;
+    QByteArray gps_raw_int_csv;
+    QByteArray global_position_int_csv;
+    QByteArray servo_output_raw_csv[10];
+    QByteArray rc_channels_raw_csv;
+    QByteArray nav_controller_output_csv;
+    QByteArray airspeed_autocal_csv;
+    QByteArray rpm_csv;
+    QByteArray scaled_pressure_csv;
+    QByteArray extended_sys_state_csv;
+    QByteArray battery_status_csv;
+    QByteArray vibration_csv;
+    QByteArray enginestate_csv;
+    QByteArray vfr_hud_csv;
+    QByteArray aoa_ssa_csv;
+    QByteArray emb_atom_com_csv;
+    QByteArray turbinstate_csv;
+    QByteArray bmustate_csv;
+    QByteArray ccmstate_csv;
+    QByteArray serial_control_csv;
+
+
+    QFile * autopilot_version_file = nullptr;
+    QFile * sys_status_file = nullptr;
+    QFile * heartbeat_file = nullptr;
+    QFile * ping_file = nullptr;
+    QFile * attitude_file = nullptr;
+    QFile * ins1_file = nullptr;
+    QFile * ins2_file = nullptr;
+    QFile * gps_raw_int_file = nullptr;
+    QFile * global_position_int_file = nullptr;
+    QFile * servo_output_raw_file = nullptr;
+    QFile * rc_channels_raw_file = nullptr;
+    QFile * nav_controller_output_file = nullptr;
+    QFile * airspeed_autocal_file = nullptr;
+    QFile * rpm_file = nullptr;
+    QFile * scaled_pressure_file = nullptr;
+    QFile * extended_sys_state_file = nullptr;
+    QFile * battery_status_file = nullptr;
+    QFile * vibration_file = nullptr;
+    QFile * enginestate_file = nullptr;
+    QFile * vfr_hud_file = nullptr;
+    QFile * aoa_ssa_file = nullptr;
+    QFile * emb_atom_com_file = nullptr;
+    QFile * turbinstate_file = nullptr;
+    QFile * bmustate_file = nullptr;
+    QFile * ccmstate_file = nullptr;
+    QFile * serial_control_file = nullptr;
+
+
+    int infoExportID = 1;
+
+    DataLogger *m_dataLogger = nullptr;
+
+signals:
+
+    void signal_autopilot_version();
+    void signal_sys_status();
+    void signal_heartbeat();
+    void signal_ping();
+    void signal_attitude();
+    void signal_ins1(mavlink_ins1_t ins);
+    void signal_ins2(mavlink_ins2_t ins);
+    void signal_gps_raw_int();
+    void signal_global_position_int();
+    void signal_servo_output_raw(int sysid,mavlink_servo_output_raw_t servo);
+    void signal_rc_channels_raw();
+    void signal_nav_controller_output();
+    void signal_airspeed_autocal();
+    void signal_rpm();
+    void signal_scaled_pressure();
+    void signal_extended_sys_state();
+    void signal_battery_status();
+    void signal_vibration();
+    void signal_enginestate();
+    void signal_vfr_hud();
+    void signal_aoa_ssa();
+    void signal_emb_atom_com();
+    void signal_turbinstate();
+    void signal_bmustate();
+    void signal_ccmstate();
+    void signal_serial_control();
+
+
+    void signal_vehicle(MavLinkNode::_vehicle vehicle);
+
+
+    void SendMessageToExport(quint8 ch, quint8 *data,quint16 len);
+
+    void updateDlink(float rssi,uint64_t in,uint64_t out);
+    void CommuniationLost(bool);
+    void communicationStateChanged(int state);  // 通讯状态变更（0=Connected, 1=Lost, 2=Recovering）
+
+    void beep(int);
+
+    void addVehicles(int sysid,int compid);
+
+    void recievemsg(mavlink_message_t msg);
+
+    void state_updated();
+    void parameter_updated();
+    //void mission_updated();
+
+    void setCurrentID(int sysid,int compid);
+
+
+
+    void setAltitude(int sysid,int compid,double roll,double pitch,double yaw);
+    void setPos(int sysid,int compid,double x,double y,double z);
+    void setHeading(int sysid,int compid,double x,double y,double z);
+
+
+    void recieveData(const int &id,const QByteArray &data);
+
+
+
+public slots:
+    //线程对外接口
+    void CreateCSV(void);
+
+    //缓存对外接口
+    void readPendingDatagramsReplay(void);
+
+    void setCurrentSelected(int sysid,int compid);
+
+    void setLogfile(QString file);
+
+    void setGCSID(int id);
+
+    void infoExport(_showinfo info);
+
+    // 查询指令阻断状态（通讯丢失期间禁止下发指令）
+    bool isCommandBlocked(void) const { return m_commandBlocked; }
+
+private slots:
+   //线程私有接口
+   void process();
+
+   //缓存私有接口
+
+
+   void TimerOut(void);
+   void LogTimerOut(void);
+   void timer_1s_Out(void);
+
+
+
+
+   //解析
+   void Mavlinkparse(quint32 src,QByteArray datagram);
+
+   void MAVLinkRcv_Handler(mavlink_message_t msg);
+
+   void StatusParse(mavlink_message_t msg);
+   void CommandParse(mavlink_message_t msg);
+   //
+
+   //check for new vehicle
+   void CheckVehicle(int sysid, int compid);
+
+   // 通讯状态恢复观察期回调
+   void onRecoveryTimerOut(void);
+
+private:
+   // CSV 文件写入辅助函数（消除重复的 open/write/close 模式）
+   static void writeCsvFile(QFile *&file, const QString &filePath, const QByteArray &data);
+
+
+protected:
+
+   int Current_sysID = 0xF1;
+   int Current_CompID = MAV_COMP_ID_MISSIONPLANNER;
+
+   enum SourceType{
+      c_sock = 0,
+      s_port = 1
+   };
+
+   bool hasConneted = false;
+   int32_t CommucationOverCount = 5;
+   uint64_t CommucationOverTimer = 5000;
+
+    uint8_t GCS_System_ID = 0xFF;
+
+
+
+
+
+    QTimer *gdt_timer = nullptr;
+    QTimer *timer = nullptr;
+
+
+    QByteArray databuff;
+
+    _buffdef serial_buff;
+    _buffdef client_buff;
+
+    QString mavlogFileName;
+    QFile *mavLogFile = NULL;
+
+    QTimer *logTimer = nullptr;
+
+
+
+    QTimer *timer_1s = nullptr;
+
+    QDateTime startuptime;
+
+};
+
+#endif // MAVLINKNODE_H