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 +1,22 @@
+# VehicleManage — 载具管理（共享库 / DLL）
+add_library(VehicleManage SHARED
+    src/Vehicle.cpp
+    src/VehicleManage.cpp
+    inc/Vehicle.h
+    inc/VehicleManage.h
+    inc/VehicleType.h
+)
+
+target_include_directories(VehicleManage PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}/inc
+)
+
+target_link_libraries(VehicleManage PUBLIC
+    Qt${QT_VERSION_MAJOR}::Core
+    Qt${QT_VERSION_MAJOR}::Widgets
+    mavlink_headers
+)
+
+target_compile_definitions(VehicleManage PRIVATE VEHICLEMANAGE_LIBRARY)
+set_target_properties(VehicleManage PROPERTIES PREFIX "" SUFFIX ".dll" RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin/plugins/VehicleManage")
@@ -0,0 +1,12 @@
+#ifndef VEHICLEMANAGE_GLOBAL_H
+#define VEHICLEMANAGE_GLOBAL_H
+
+#include <QtCore/qglobal.h>
+
+#if defined(VEHICLEMANAGE_LIBRARY)
+#  define VEHICLEMANAGE_EXPORT Q_DECL_EXPORT
+#else
+#  define VEHICLEMANAGE_EXPORT Q_DECL_IMPORT
+#endif
+
+#endif // VEHICLEMANAGE_GLOBAL_H
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="VehicleManage_zh_CN">
+</TS>
@@ -0,0 +1,320 @@
+#ifndef VEHICLE_H
+#define VEHICLE_H
+
+#include "VehicleManage_global.h"
+#include <QObject>
+#include "QIcon"
+#include "QHash"
+#include "QMap"
+#include "QDebug"
+#include "QDateTime"
+#include "mavlink.h"
+#include "QTimer"
+
+
+
+
+/*
+
+ 定时往外发消息
+
+ 航线 航迹 图片 颜色
+
+ 参数 状态 指令
+
+ 消息 警告
+
+
+ 自己在发送心跳
+
+
+ 有自己的定时器，定时查询是否要解码，定时检查是不是来数据了
+
+
+*/
+
+
+class VEHICLEMANAGE_EXPORT Vehicle : public QObject
+{
+    Q_OBJECT
+public:
+    explicit Vehicle(int id = 1, QObject *parent = nullptr);
+    ~Vehicle();
+
+
+public slots:
+
+    QString Name(void)
+    {
+        return name;
+    }
+    void setName(QString value)
+    {
+        name = value;
+    }
+
+    QIcon Icon(void)
+    {
+        return icon;
+    }
+    void setIcon(QIcon value)
+    {
+        icon = value;
+    }
+
+    QColor TailColor(void)
+    {
+        return tailColor;
+    }
+    void setTailColor(QColor value)
+    {
+        tailColor = value;
+    }
+
+    QColor WayColor(void)
+    {
+        return wayColor;
+    }
+    void setWayColor(QColor value)
+    {
+        wayColor = value;
+    }
+
+
+    int SysID(void)
+    {
+        return sysid;
+    }
+    void setSysID(int value)
+    {
+        sysid = value;
+    }
+
+
+    int Type(void)
+    {
+        return type;
+    }
+    void setType(int value)
+    {
+        type = value;
+    }
+
+
+    bool Selected(void)
+    {
+        return isSelected;
+    }
+    void setSelected(bool value)
+    {
+        isSelected = value;
+    }
+
+    bool Heartbeat(void)
+    {
+        return heartbeat;
+    }
+    void setHeartbeat(bool value)
+    {
+        heartbeat = value;
+        //发一次声音 beep
+    }
+
+    bool Arm(void)
+    {
+        return arm;
+    }
+    void setArm(bool value)
+    {
+        arm = value;
+        //有变化后要播报语音
+    }
+
+    int Flightmode(void)
+    {
+        return flightmode;
+    }
+    void setFlightmode(int value)
+    {
+        flightmode = value;
+        //有变化后要播报语音
+    }
+
+    int Flightstate(void)
+    {
+        return flightstate;
+    }
+    void setFlightstate(int value)
+    {
+        flightstate = value;
+        //有变化后要播报语音
+    }
+
+    void setMsg(mavlink_message_t *msg);
+    void setParam(mavlink_param_value_t *param);
+    void setMission(mavlink_mission_item_int_t *item);
+
+    void _Handler(mavlink_message_t msg);
+
+
+private slots:
+
+    void receiveMessage(mavlink_message_t message);
+
+
+    void heartbeattimeout(void);
+
+
+signals:
+
+private:
+
+    QTimer *heartbeattimer = nullptr;
+
+
+
+    //一些可以配置的东西可以存在json里面，一旦生成这个飞机就导入json的设置
+    //基本信息
+    QString name = "vehicle";
+    QIcon icon = QIcon("fixwing.png");
+    QColor tailColor = "#026F80";
+    QColor wayColor = "#F09382";
+
+    qint32 group = 0;//当前飞机的组别
+    qint32 sysid = 0;//当前飞机的ID
+    qint32 type = 0;//设备类型
+    bool isSelected = false;
+
+    bool issendheartbeat = false;
+    bool heartbeat = false;//反复变化
+    bool arm = false;//false 上锁 true 解锁
+    qint32 flightmode = 0;//飞行模式 stanby  bit  operational
+    qint32 flightstate = 0;//
+
+    qint32 imu_select = 0;//惯导选择
+    qint32 das_select = 0;//大气选择
+
+    //健康字
+    bool inner_INS = false;
+    bool outer_INS = false;
+    bool servosystem = false;
+    bool loadinggear = false;
+    bool recorder = false;//数据记录健康
+    bool inner_das = false;
+    bool outer_das = false;
+
+    //惯性
+    qreal roll = 0;
+    qreal pitch = 0;
+    qreal yaw = 0;
+
+    qreal p = 0;
+    qreal q = 0;
+    qreal r = 0;
+
+    qreal ax = 0;
+    qreal ay = 0;
+    qreal az = 0;
+
+    //导航
+    qreal lat = 0;
+    qreal lng = 0;
+    qreal gpsalt = 0;//GPS海拔
+    qreal relalt = 0;//相对海拔
+    qreal absalt = 0;//绝对海拔
+    qreal baroalt = 0;//气压海拔
+
+    qreal groudspeed = 0;
+    qreal heading = 0;
+
+    qint32 fixtype = 0;
+    qint32 directioncapture = false;
+    qint32 satellites = 0;
+
+    qreal vn = 0;
+    qreal ve = 0;
+    qreal vd = 0;
+
+    //大气
+    qreal tas = 0;//真空速
+    qreal cas = 0;//表速
+    qreal Ma = 0;//马赫数
+    qreal alpha = 0;//攻角
+    qreal beta = 0;//侧滑角
+
+    //控制
+    qreal aileron = 0;//副翼
+    qreal elevator = 0;//升降舵
+    qreal throttle = 0;//油门
+    qreal ruddor = 0;//方向舵
+    //...
+
+
+
+    //遥控
+    QList<uint16_t> rc = {0};//收到的rc信号
+    QList<uint16_t> rc_cmd = {0};//地面站站发出的rc指令
+
+    //电压
+    qreal mainvoltage = 0;//飞控电压
+    qreal servovoltage = 0;//舵机电压
+    qreal powervoltage = 0;//动力电压
+    QList<qreal> battery = {0};//其余电压
+    QList<qreal> voltagegain = {1};//电压转换系数
+
+    //数据链
+    bool isOnline = false;//数据链有没有丢失
+    qreal rssi = 0;//数据链强度
+    qint32 datain = 0;//数据输入量
+    qint32 dataout = 0;//数据输出量
+
+    //数据记录
+    bool isrecording = false;//是否在记录
+
+
+    /*
+     *       航线组
+     *         |
+     *        /  \
+     *       /    \
+     *     航线1  航线2
+     *    / | \    | \
+     *   p  p  p   p  p
+     *
+     * 组下面有航线，航线下面有航点
+     *
+     */
+
+    //当前飞机的航线
+    QMap<int,QMap<int,mavlink_mission_item_int_t *>> missions;//航线组  航线
+
+
+    //电子围栏 geoFancy
+
+    //飞机的参数
+    QMap<int,mavlink_param_value_t *> parameters;
+
+    //飞机收到的消息
+    QMap<int,mavlink_message_t *> messages;
+
+    //飞机已经发出去的消息
+
+
+
+
+    //飞机收到的指令
+
+
+
+
+    //飞机要发出去的指令
+
+
+
+
+    //log文件，各种操作都要记录
+
+
+};
+
+#endif // VEHICLE_H
@@ -0,0 +1,46 @@
+#ifndef VEHICLEMANAGE_H
+#define VEHICLEMANAGE_H
+
+#include "VehicleManage_global.h"
+#include "QObject"
+#include "QDebug"
+
+
+#include "Vehicle.h"
+
+
+
+//收到信息，根据信息的ID，生成载具，管理各个载具的通讯，数据进出，航线，参数等，和界面的交流
+//独立线程
+
+
+
+class VEHICLEMANAGE_EXPORT VehicleManage : public QObject
+{
+public:
+    explicit VehicleManage();
+    ~VehicleManage();
+
+
+
+
+
+signals:
+
+    void PluginLoading(bool flag);
+
+public slots:
+
+    Vehicle *addVehicle(int id);
+
+private slots:
+    void setMsg(int sysid, mavlink_message_t *msg);
+
+private:
+
+
+    QMap<int,Vehicle *> Vehicles;
+
+};
+
+#endif // VEHICLEMANAGE_H
@@ -0,0 +1,139 @@
+#ifndef VEHICLETYPE_H
+#define VEHICLETYPE_H
+
+#include "QDebug"
+#include "QObject"
+
+
+#include "mavlink.h"
+
+typedef struct __state
+{
+      bool isSeleted = false;
+
+      int type;//设备类型
+
+      bool arm;
+      int flightmode;
+
+
+      int lat;
+      int lng;
+      int alt;
+
+      float vel;
+      float heading;
+
+      int fix;
+      int svn;
+
+
+
+      float tas;
+      float cas;
+      float gs;
+      float ma;
+      float as_err;
+
+
+
+
+      float rol;
+      float pit;
+      float yaw;
+
+      float p;
+      float q;
+      float r;
+
+      float ax;
+      float ay;
+      float az;
+
+
+
+}state;
+
+
+
+
+
+
+typedef struct __param {
+ float param_value; /*<  Onboard parameter value*/
+ uint16_t param_count; /*<  Total number of onboard parameters*/
+ uint16_t param_index; /*<  Index of this onboard parameter*/
+ char param_id[16]; /*<  Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string*/
+ uint8_t param_type; /*<  Onboard parameter type.*/
+} param;
+
+typedef struct __item_int {
+ float param1; /*<  PARAM1, see MAV_CMD enum*/
+ float param2; /*<  PARAM2, see MAV_CMD enum*/
+ float param3; /*<  PARAM3, see MAV_CMD enum*/
+ float param4; /*<  PARAM4, see MAV_CMD enum*/
+ int32_t x; /*<  PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7*/
+ int32_t y; /*<  PARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7*/
+ float z; /*<  PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.*/
+ uint16_t target_system; /*<  System ID*/
+ uint16_t seq; /*<  Waypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).*/
+ uint16_t command; /*<  The scheduled action for the waypoint.*/
+ uint8_t target_component; /*<  Component ID*/
+ uint8_t frame; /*<  The coordinate system of the waypoint.*/
+ uint8_t current; /*<  false:0, true:1*/
+ uint8_t autocontinue; /*<  Autocontinue to next waypoint*/
+ uint8_t mission_type; /*<  Mission type.*/
+} item_int;
+
+
+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;
+
+}_vehicle;
+
+
+/*
+ * 历史 -1指令
+ *     -2参数
+ *     -3消息
+ *     -4状态
+ * 当前 -状态
+ *      -参数
+ *      -指令
+ *      -消息
+ *      -航线
+ *
+ *
+ */
+
+
+
+#endif // VEHICLETYPE_H
@@ -0,0 +1,38 @@
+#include "Vehicle.h"
+
+Vehicle::Vehicle(int id, QObject *parent)
+    : QObject(parent)
+{
+    Q_UNUSED(id)
+}
+
+Vehicle::~Vehicle() {}
+
+void Vehicle::setMsg(mavlink_message_t *msg)
+{
+    Q_UNUSED(msg)
+}
+
+void Vehicle::setParam(mavlink_param_value_t *param)
+{
+    Q_UNUSED(param)
+}
+
+void Vehicle::setMission(mavlink_mission_item_int_t *item)
+{
+    Q_UNUSED(item)
+}
+
+void Vehicle::_Handler(mavlink_message_t msg)
+{
+    Q_UNUSED(msg)
+}
+
+void Vehicle::receiveMessage(mavlink_message_t message)
+{
+    Q_UNUSED(message)
+}
+
+void Vehicle::heartbeattimeout(void)
+{
+}
@@ -0,0 +1,17 @@
+#include "VehicleManage.h"
+#include "Vehicle.h"
+
+VehicleManage::VehicleManage() {}
+VehicleManage::~VehicleManage() {}
+
+Vehicle *VehicleManage::addVehicle(int id)
+{
+    Q_UNUSED(id)
+    return nullptr;
+}
+
+void VehicleManage::setMsg(int sysid, mavlink_message_t *msg)
+{
+    Q_UNUSED(sysid)
+    Q_UNUSED(msg)
+}