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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#pragma once
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// MESSAGE CAMERA_SETTINGS PACKING
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#define MAVLINK_MSG_ID_CAMERA_SETTINGS 260
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MAVPACKED(
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typedef struct __mavlink_camera_settings_t {
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uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
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uint8_t mode_id; /*< Camera mode*/
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float zoomLevel; /*< Current zoom level (0.0 to 100.0, NaN if not known)*/
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float focusLevel; /*< Current focus level (0.0 to 100.0, NaN if not known)*/
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}) mavlink_camera_settings_t;
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#define MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN 13
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#define MAVLINK_MSG_ID_CAMERA_SETTINGS_MIN_LEN 5
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#define MAVLINK_MSG_ID_260_LEN 13
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#define MAVLINK_MSG_ID_260_MIN_LEN 5
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#define MAVLINK_MSG_ID_CAMERA_SETTINGS_CRC 146
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#define MAVLINK_MSG_ID_260_CRC 146
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_CAMERA_SETTINGS { \
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260, \
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"CAMERA_SETTINGS", \
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4, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_camera_settings_t, time_boot_ms) }, \
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{ "mode_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_camera_settings_t, mode_id) }, \
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{ "zoomLevel", NULL, MAVLINK_TYPE_FLOAT, 0, 5, offsetof(mavlink_camera_settings_t, zoomLevel) }, \
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{ "focusLevel", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_camera_settings_t, focusLevel) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_CAMERA_SETTINGS { \
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"CAMERA_SETTINGS", \
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4, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_camera_settings_t, time_boot_ms) }, \
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{ "mode_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_camera_settings_t, mode_id) }, \
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{ "zoomLevel", NULL, MAVLINK_TYPE_FLOAT, 0, 5, offsetof(mavlink_camera_settings_t, zoomLevel) }, \
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{ "focusLevel", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_camera_settings_t, focusLevel) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a camera_settings message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param mode_id Camera mode
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* @param zoomLevel Current zoom level (0.0 to 100.0, NaN if not known)
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* @param focusLevel Current focus level (0.0 to 100.0, NaN if not known)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_camera_settings_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_boot_ms, uint8_t mode_id, float zoomLevel, float focusLevel)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_uint8_t(buf, 4, mode_id);
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_mav_put_float(buf, 5, zoomLevel);
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_mav_put_float(buf, 9, focusLevel);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN);
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#else
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mavlink_camera_settings_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.mode_id = mode_id;
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packet.zoomLevel = zoomLevel;
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packet.focusLevel = focusLevel;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CAMERA_SETTINGS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_SETTINGS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN, MAVLINK_MSG_ID_CAMERA_SETTINGS_CRC);
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}
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/**
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* @brief Pack a camera_settings message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param mode_id Camera mode
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* @param zoomLevel Current zoom level (0.0 to 100.0, NaN if not known)
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* @param focusLevel Current focus level (0.0 to 100.0, NaN if not known)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_camera_settings_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint32_t time_boot_ms,uint8_t mode_id,float zoomLevel,float focusLevel)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_uint8_t(buf, 4, mode_id);
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_mav_put_float(buf, 5, zoomLevel);
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_mav_put_float(buf, 9, focusLevel);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN);
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#else
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mavlink_camera_settings_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.mode_id = mode_id;
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packet.zoomLevel = zoomLevel;
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packet.focusLevel = focusLevel;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CAMERA_SETTINGS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_SETTINGS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN, MAVLINK_MSG_ID_CAMERA_SETTINGS_CRC);
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}
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/**
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* @brief Encode a camera_settings struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param camera_settings C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_camera_settings_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_camera_settings_t* camera_settings)
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{
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return mavlink_msg_camera_settings_pack(system_id, component_id, msg, camera_settings->time_boot_ms, camera_settings->mode_id, camera_settings->zoomLevel, camera_settings->focusLevel);
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}
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/**
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* @brief Encode a camera_settings struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param camera_settings C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_camera_settings_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_camera_settings_t* camera_settings)
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{
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return mavlink_msg_camera_settings_pack_chan(system_id, component_id, chan, msg, camera_settings->time_boot_ms, camera_settings->mode_id, camera_settings->zoomLevel, camera_settings->focusLevel);
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}
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/**
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* @brief Send a camera_settings message
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* @param chan MAVLink channel to send the message
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*
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param mode_id Camera mode
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* @param zoomLevel Current zoom level (0.0 to 100.0, NaN if not known)
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* @param focusLevel Current focus level (0.0 to 100.0, NaN if not known)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_camera_settings_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t mode_id, float zoomLevel, float focusLevel)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_uint8_t(buf, 4, mode_id);
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_mav_put_float(buf, 5, zoomLevel);
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_mav_put_float(buf, 9, focusLevel);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_SETTINGS, buf, MAVLINK_MSG_ID_CAMERA_SETTINGS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN, MAVLINK_MSG_ID_CAMERA_SETTINGS_CRC);
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#else
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mavlink_camera_settings_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.mode_id = mode_id;
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packet.zoomLevel = zoomLevel;
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packet.focusLevel = focusLevel;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_SETTINGS, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_SETTINGS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN, MAVLINK_MSG_ID_CAMERA_SETTINGS_CRC);
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#endif
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}
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/**
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* @brief Send a camera_settings message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_camera_settings_send_struct(mavlink_channel_t chan, const mavlink_camera_settings_t* camera_settings)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_camera_settings_send(chan, camera_settings->time_boot_ms, camera_settings->mode_id, camera_settings->zoomLevel, camera_settings->focusLevel);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_SETTINGS, (const char *)camera_settings, MAVLINK_MSG_ID_CAMERA_SETTINGS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN, MAVLINK_MSG_ID_CAMERA_SETTINGS_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_camera_settings_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t mode_id, float zoomLevel, float focusLevel)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_uint8_t(buf, 4, mode_id);
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_mav_put_float(buf, 5, zoomLevel);
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_mav_put_float(buf, 9, focusLevel);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_SETTINGS, buf, MAVLINK_MSG_ID_CAMERA_SETTINGS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN, MAVLINK_MSG_ID_CAMERA_SETTINGS_CRC);
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#else
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mavlink_camera_settings_t *packet = (mavlink_camera_settings_t *)msgbuf;
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packet->time_boot_ms = time_boot_ms;
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packet->mode_id = mode_id;
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packet->zoomLevel = zoomLevel;
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packet->focusLevel = focusLevel;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_SETTINGS, (const char *)packet, MAVLINK_MSG_ID_CAMERA_SETTINGS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN, MAVLINK_MSG_ID_CAMERA_SETTINGS_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE CAMERA_SETTINGS UNPACKING
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/**
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* @brief Get field time_boot_ms from camera_settings message
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*
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* @return [ms] Timestamp (time since system boot).
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*/
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static inline uint32_t mavlink_msg_camera_settings_get_time_boot_ms(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 0);
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}
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/**
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* @brief Get field mode_id from camera_settings message
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*
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* @return Camera mode
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*/
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static inline uint8_t mavlink_msg_camera_settings_get_mode_id(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 4);
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}
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/**
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* @brief Get field zoomLevel from camera_settings message
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*
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* @return Current zoom level (0.0 to 100.0, NaN if not known)
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*/
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static inline float mavlink_msg_camera_settings_get_zoomLevel(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 5);
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}
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/**
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* @brief Get field focusLevel from camera_settings message
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*
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* @return Current focus level (0.0 to 100.0, NaN if not known)
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*/
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static inline float mavlink_msg_camera_settings_get_focusLevel(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 9);
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}
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/**
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* @brief Decode a camera_settings message into a struct
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*
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* @param msg The message to decode
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* @param camera_settings C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_camera_settings_decode(const mavlink_message_t* msg, mavlink_camera_settings_t* camera_settings)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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camera_settings->time_boot_ms = mavlink_msg_camera_settings_get_time_boot_ms(msg);
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camera_settings->mode_id = mavlink_msg_camera_settings_get_mode_id(msg);
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camera_settings->zoomLevel = mavlink_msg_camera_settings_get_zoomLevel(msg);
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camera_settings->focusLevel = mavlink_msg_camera_settings_get_focusLevel(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN? msg->len : MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN;
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memset(camera_settings, 0, MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN);
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memcpy(camera_settings, _MAV_PAYLOAD(msg), len);
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#endif
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}
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