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
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#ifndef MISSIONPROCESS_H
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#define MISSIONPROCESS_H
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#include <QObject>
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#include "opmapwidget.h"
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#include "waypointitem.h"
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#include "maptype.h"
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#include "QDebug"
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#include "QThread"
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#include "mavlink.h"
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#include "QTimer"
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#include "QTime"
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#include "ThreadTemplet.h"
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#ifdef QtMavlinkNode
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#include <mavlinknodeglobal.h>
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class MAVLINKNODESHARED_EXPORT MissionProcess : public ThreadTemplet {
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#else
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class MissionProcess : public ThreadTemplet
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{
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#endif
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Q_OBJECT
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enum _modetype {
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Nop_Mode = 0,
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RecieveMode,
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TransmitMode
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};
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typedef struct {
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bool isWaitingforCount;
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bool isWaitingforItem;
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int group;
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}_recieve;
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typedef struct {
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uint32_t count;
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bool isWaiteforRequest;
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bool isWaiteforACK;
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int seq;
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uint8_t type;
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int group;
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}_transmit;
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typedef struct
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{
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_recieve recieve;
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_transmit transmit;
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_modetype m_Mode;
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}_mission_;
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public:
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explicit MissionProcess(QObject *parent = nullptr);
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~MissionProcess();
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_mission_ mission_status;
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int currentGroup = 3;
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QMap<int,QMap<int,QMap<int,mavlink_mission_item_int_t >>> missions;//SysID 航线组 航线
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public slots:
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void Parse(mavlink_message_t msg);
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//读取航线的指令
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void ReadCmd(uint8_t m_sysid, uint8_t m_compid, int m_group);
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void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count ,int m_group);
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void SetCurrentPoint(int seq);
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void transmitPoint(float param1,float param2,float param3,float param4,
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int32_t x,int32_t y,float z,
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uint16_t seq,
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uint16_t group,
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uint16_t command,
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uint8_t target_system,
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uint8_t target_component,
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uint8_t frame,
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uint8_t current,
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uint8_t autocontinue,
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uint8_t mission_type);
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void sendFence(qreal Vertex,
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qreal group,
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qreal Lat,
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qreal Lng,
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uint16_t FecneSeq,
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uint16_t command,
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uint16_t sysid,
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uint16_t compid,
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uint16_t mission_type);
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void checkoutVehicle(int sysid);
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private slots:
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//线程私有接口
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void process();
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//定时器
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//状态机
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void ReadStateMachine(void);
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void WriteStateMachine(void);
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//所有的相关函数
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void request_list(int missiontype);
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void count(uint16_t count,int missiontype);
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void request_int(uint16_t seq,int missiontype);
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void request(uint16_t seq, int missiontype);
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void item_int(float param1, float param2, float param3, float param4,
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int32_t x, int32_t y, float z,
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uint16_t seq, uint16_t command,
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uint8_t frame, uint8_t current,
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uint8_t autocontinue, uint8_t mission_type);
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void item(float param1,float param2,float param3,float param4,
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float x,float y,float z,
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uint16_t seq,uint16_t command,
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uint8_t frame,uint8_t current,
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uint8_t autocontinue,uint8_t mission_type);
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void ack(void);
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void current(void);
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void setcurrent(uint16_t seq);
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void clear_all(void);
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void item_reached(void);
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void request_partial_list(void);
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void write_partial_list(void);
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signals:
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void clearWaypoint(void);
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void readReady();
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void readError();
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void sendItemOK(uint16_t seq,bool flag);
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void receivedPoint(float param1,float param2,float param3,float param4,
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int32_t x,int32_t y,float z,
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uint16_t seq,
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uint16_t group,
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uint16_t command,
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uint8_t target_system,
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uint8_t target_component,
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uint8_t frame,
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uint8_t current,
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uint8_t autocontinue,
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uint8_t mission_type);
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void vehicleChanged(float param1,float param2,float param3,float param4,
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int32_t x,int32_t y,float z,
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uint16_t seq,
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uint16_t group,
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uint16_t command,
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uint8_t target_system,
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uint8_t target_component,
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uint8_t frame,
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uint8_t current,
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uint8_t autocontinue,
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uint8_t mission_type);
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//void currentGroup(int group);
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void currentPoint(int seq);
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private:
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mavlink_mission_request_list_t mission_request_list;
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mavlink_mission_count_t mission_count;
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mavlink_mission_request_int_t mission_request_int;
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mavlink_mission_request_t mission_request;
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mavlink_mission_item_int_t mission_item_int;
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mavlink_mission_item_t mission_item;
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mavlink_mission_ack_t mission_ack;
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mavlink_mission_current_t mission_current;
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mavlink_mission_set_current_t mission_set_current;
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mavlink_mission_clear_all_t mission_clear_all;
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mavlink_mission_item_reached_t mission_item_reached;
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mavlink_mission_request_partial_list_t mission_request_partial_list;
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mavlink_mission_write_partial_list_t mission_write_partial_list;
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//超时时间（ms）
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int readTimeout = 3000;
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int sendTimeout = 3000;
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QList<mapcontrol::WayPointItem *> wplist;
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QMap<int,mapcontrol::WayPointItem::_property> items;
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QMap<int,mapcontrol::WayPointItem::_property> FenceItems;
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};
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#endif // MISSIONPROCESS_H
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