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
This commit is contained in:
@@ -0,0 +1,280 @@
|
||||
#pragma once
|
||||
// MESSAGE STATUSTEXT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_STATUSTEXT 253
|
||||
|
||||
MAVPACKED(
|
||||
typedef struct __mavlink_statustext_t {
|
||||
uint8_t severity; /*< Severity of status. Relies on the definitions within RFC-5424.*/
|
||||
char text[50]; /*< Status text message, without null termination character*/
|
||||
uint16_t id; /*< Unique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.*/
|
||||
uint8_t chunk_seq; /*< This chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.*/
|
||||
}) mavlink_statustext_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_STATUSTEXT_LEN 54
|
||||
#define MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN 51
|
||||
#define MAVLINK_MSG_ID_253_LEN 54
|
||||
#define MAVLINK_MSG_ID_253_MIN_LEN 51
|
||||
|
||||
#define MAVLINK_MSG_ID_STATUSTEXT_CRC 83
|
||||
#define MAVLINK_MSG_ID_253_CRC 83
|
||||
|
||||
#define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50
|
||||
|
||||
#if MAVLINK_COMMAND_24BIT
|
||||
#define MAVLINK_MESSAGE_INFO_STATUSTEXT { \
|
||||
253, \
|
||||
"STATUSTEXT", \
|
||||
4, \
|
||||
{ { "severity", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_statustext_t, severity) }, \
|
||||
{ "text", NULL, MAVLINK_TYPE_CHAR, 50, 1, offsetof(mavlink_statustext_t, text) }, \
|
||||
{ "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 51, offsetof(mavlink_statustext_t, id) }, \
|
||||
{ "chunk_seq", NULL, MAVLINK_TYPE_UINT8_T, 0, 53, offsetof(mavlink_statustext_t, chunk_seq) }, \
|
||||
} \
|
||||
}
|
||||
#else
|
||||
#define MAVLINK_MESSAGE_INFO_STATUSTEXT { \
|
||||
"STATUSTEXT", \
|
||||
4, \
|
||||
{ { "severity", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_statustext_t, severity) }, \
|
||||
{ "text", NULL, MAVLINK_TYPE_CHAR, 50, 1, offsetof(mavlink_statustext_t, text) }, \
|
||||
{ "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 51, offsetof(mavlink_statustext_t, id) }, \
|
||||
{ "chunk_seq", NULL, MAVLINK_TYPE_UINT8_T, 0, 53, offsetof(mavlink_statustext_t, chunk_seq) }, \
|
||||
} \
|
||||
}
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Pack a statustext message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param severity Severity of status. Relies on the definitions within RFC-5424.
|
||||
* @param text Status text message, without null termination character
|
||||
* @param id Unique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
|
||||
* @param chunk_seq This chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_statustext_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t severity, const char *text, uint16_t id, uint8_t chunk_seq)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN];
|
||||
_mav_put_uint8_t(buf, 0, severity);
|
||||
_mav_put_uint16_t(buf, 51, id);
|
||||
_mav_put_uint8_t(buf, 53, chunk_seq);
|
||||
_mav_put_char_array(buf, 1, text, 50);
|
||||
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_STATUSTEXT_LEN);
|
||||
#else
|
||||
mavlink_statustext_t packet;
|
||||
packet.severity = severity;
|
||||
packet.id = id;
|
||||
packet.chunk_seq = chunk_seq;
|
||||
mav_array_memcpy(packet.text, text, sizeof(char)*50);
|
||||
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_STATUSTEXT_LEN);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a statustext message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message will be sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param severity Severity of status. Relies on the definitions within RFC-5424.
|
||||
* @param text Status text message, without null termination character
|
||||
* @param id Unique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
|
||||
* @param chunk_seq This chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_statustext_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t severity,const char *text,uint16_t id,uint8_t chunk_seq)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN];
|
||||
_mav_put_uint8_t(buf, 0, severity);
|
||||
_mav_put_uint16_t(buf, 51, id);
|
||||
_mav_put_uint8_t(buf, 53, chunk_seq);
|
||||
_mav_put_char_array(buf, 1, text, 50);
|
||||
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_STATUSTEXT_LEN);
|
||||
#else
|
||||
mavlink_statustext_t packet;
|
||||
packet.severity = severity;
|
||||
packet.id = id;
|
||||
packet.chunk_seq = chunk_seq;
|
||||
mav_array_memcpy(packet.text, text, sizeof(char)*50);
|
||||
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_STATUSTEXT_LEN);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a statustext struct
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param statustext C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_statustext_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_statustext_t* statustext)
|
||||
{
|
||||
return mavlink_msg_statustext_pack(system_id, component_id, msg, statustext->severity, statustext->text, statustext->id, statustext->chunk_seq);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a statustext struct on a channel
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message will be sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param statustext C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_statustext_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_statustext_t* statustext)
|
||||
{
|
||||
return mavlink_msg_statustext_pack_chan(system_id, component_id, chan, msg, statustext->severity, statustext->text, statustext->id, statustext->chunk_seq);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a statustext message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param severity Severity of status. Relies on the definitions within RFC-5424.
|
||||
* @param text Status text message, without null termination character
|
||||
* @param id Unique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
|
||||
* @param chunk_seq This chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text, uint16_t id, uint8_t chunk_seq)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN];
|
||||
_mav_put_uint8_t(buf, 0, severity);
|
||||
_mav_put_uint16_t(buf, 51, id);
|
||||
_mav_put_uint8_t(buf, 53, chunk_seq);
|
||||
_mav_put_char_array(buf, 1, text, 50);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
|
||||
#else
|
||||
mavlink_statustext_t packet;
|
||||
packet.severity = severity;
|
||||
packet.id = id;
|
||||
packet.chunk_seq = chunk_seq;
|
||||
mav_array_memcpy(packet.text, text, sizeof(char)*50);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)&packet, MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a statustext message
|
||||
* @param chan MAVLink channel to send the message
|
||||
* @param struct The MAVLink struct to serialize
|
||||
*/
|
||||
static inline void mavlink_msg_statustext_send_struct(mavlink_channel_t chan, const mavlink_statustext_t* statustext)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
mavlink_msg_statustext_send(chan, statustext->severity, statustext->text, statustext->id, statustext->chunk_seq);
|
||||
#else
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)statustext, MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
|
||||
#endif
|
||||
}
|
||||
|
||||
#if MAVLINK_MSG_ID_STATUSTEXT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
||||
/*
|
||||
This varient of _send() can be used to save stack space by re-using
|
||||
memory from the receive buffer. The caller provides a
|
||||
mavlink_message_t which is the size of a full mavlink message. This
|
||||
is usually the receive buffer for the channel, and allows a reply to an
|
||||
incoming message with minimum stack space usage.
|
||||
*/
|
||||
static inline void mavlink_msg_statustext_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t severity, const char *text, uint16_t id, uint8_t chunk_seq)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char *buf = (char *)msgbuf;
|
||||
_mav_put_uint8_t(buf, 0, severity);
|
||||
_mav_put_uint16_t(buf, 51, id);
|
||||
_mav_put_uint8_t(buf, 53, chunk_seq);
|
||||
_mav_put_char_array(buf, 1, text, 50);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
|
||||
#else
|
||||
mavlink_statustext_t *packet = (mavlink_statustext_t *)msgbuf;
|
||||
packet->severity = severity;
|
||||
packet->id = id;
|
||||
packet->chunk_seq = chunk_seq;
|
||||
mav_array_memcpy(packet->text, text, sizeof(char)*50);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)packet, MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE STATUSTEXT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field severity from statustext message
|
||||
*
|
||||
* @return Severity of status. Relies on the definitions within RFC-5424.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field text from statustext message
|
||||
*
|
||||
* @return Status text message, without null termination character
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, char *text)
|
||||
{
|
||||
return _MAV_RETURN_char_array(msg, text, 50, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field id from statustext message
|
||||
*
|
||||
* @return Unique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_statustext_get_id(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 51);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chunk_seq from statustext message
|
||||
*
|
||||
* @return This chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_statustext_get_chunk_seq(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 53);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a statustext message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param statustext C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_statustext_decode(const mavlink_message_t* msg, mavlink_statustext_t* statustext)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
statustext->severity = mavlink_msg_statustext_get_severity(msg);
|
||||
mavlink_msg_statustext_get_text(msg, statustext->text);
|
||||
statustext->id = mavlink_msg_statustext_get_id(msg);
|
||||
statustext->chunk_seq = mavlink_msg_statustext_get_chunk_seq(msg);
|
||||
#else
|
||||
uint8_t len = msg->len < MAVLINK_MSG_ID_STATUSTEXT_LEN? msg->len : MAVLINK_MSG_ID_STATUSTEXT_LEN;
|
||||
memset(statustext, 0, MAVLINK_MSG_ID_STATUSTEXT_LEN);
|
||||
memcpy(statustext, _MAV_PAYLOAD(msg), len);
|
||||
#endif
|
||||
}
|
||||
Reference in New Issue
Block a user