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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/****************************************************************************
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*
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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*
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* QGroundControl is licensed according to the terms in the file
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* COPYING.md in the root of the source code directory.
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*
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****************************************************************************/
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#include "GeoFenceManager.h"
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#include "Vehicle.h"
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#include "QmlObjectListModel.h"
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#include "ParameterManager.h"
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#include "QGCApplication.h"
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#include "QGCMapPolygon.h"
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#include "QGCMapCircle.h"
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QGC_LOGGING_CATEGORY(GeoFenceManagerLog, "GeoFenceManagerLog")
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GeoFenceManager::GeoFenceManager(Vehicle* vehicle)
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: _vehicle (vehicle)
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, _planManager (vehicle, MAV_MISSION_TYPE_FENCE)
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, _firstParamLoadComplete (false)
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#if defined(QGC_AIRMAP_ENABLED)
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, _airspaceManager (qgcApp()->toolbox()->airspaceManager())
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#endif
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{
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connect(&_planManager, &PlanManager::inProgressChanged, this, &GeoFenceManager::inProgressChanged);
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connect(&_planManager, &PlanManager::error, this, &GeoFenceManager::error);
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connect(&_planManager, &PlanManager::removeAllComplete, this, &GeoFenceManager::removeAllComplete);
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connect(&_planManager, &PlanManager::sendComplete, this, &GeoFenceManager::_sendComplete);
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connect(&_planManager, &PlanManager::newMissionItemsAvailable, this, &GeoFenceManager::_planManagerLoadComplete);
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}
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GeoFenceManager::~GeoFenceManager()
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{
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}
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bool GeoFenceManager::inProgress(void) const
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{
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return _planManager.inProgress();
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}
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void GeoFenceManager::loadFromVehicle(void)
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{
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_planManager.loadFromVehicle();
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}
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void GeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn,
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QmlObjectListModel& polygons,
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QmlObjectListModel& circles)
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{
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QList<MissionItem*> fenceItems;
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_sendPolygons.clear();
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_sendCircles.clear();
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for (int i=0; i<polygons.count(); i++) {
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_sendPolygons.append(*polygons.value<QGCFencePolygon*>(i));
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}
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for (int i=0; i<circles.count(); i++) {
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_sendCircles.append(*circles.value<QGCFenceCircle*>(i));
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}
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_breachReturnPoint = breachReturn;
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for (int i=0; i<_sendPolygons.count(); i++) {
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const QGCFencePolygon& polygon = _sendPolygons[i];
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for (int j=0; j<polygon.count(); j++) {
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const QGeoCoordinate& vertex = polygon.path()[j].value<QGeoCoordinate>();
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MissionItem* item = new MissionItem(0,
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polygon.inclusion() ? MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION : MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION,
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MAV_FRAME_GLOBAL,
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polygon.count(), // vertex count
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0, 0, 0, // param 2-4 unused
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vertex.latitude(),
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vertex.longitude(),
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0, // param 7 unused
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false, // autocontinue
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false, // isCurrentItem
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this); // parent
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fenceItems.append(item);
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}
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}
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for (int i=0; i<_sendCircles.count(); i++) {
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QGCFenceCircle& circle = _sendCircles[i];
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MissionItem* item = new MissionItem(0,
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circle.inclusion() ? MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION : MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION,
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MAV_FRAME_GLOBAL,
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circle.radius()->rawValue().toDouble(),
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0, 0, 0, // param 2-4 unused
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circle.center().latitude(),
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circle.center().longitude(),
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0, // param 7 unused
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false, // autocontinue
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false, // isCurrentItem
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this); // parent
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fenceItems.append(item);
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}
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if (_breachReturnPoint.isValid()) {
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MissionItem* item = new MissionItem(0,
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MAV_CMD_NAV_FENCE_RETURN_POINT,
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MAV_FRAME_GLOBAL_RELATIVE_ALT,
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0, 0, 0, 0, // param 1-4 unused
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breachReturn.latitude(),
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breachReturn.longitude(),
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breachReturn.altitude(),
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false, // autocontinue
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false, // isCurrentItem
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this); // parent
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fenceItems.append(item);
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}
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// Plan manager takes control of MissionItems, so no need to delete
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_planManager.writeMissionItems(fenceItems);
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}
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void GeoFenceManager::removeAll(void)
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{
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_polygons.clear();
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_circles.clear();
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_breachReturnPoint = QGeoCoordinate();
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_planManager.removeAll();
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}
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void GeoFenceManager::_sendComplete(bool error)
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{
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if (error) {
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_polygons.clear();
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_circles.clear();
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_breachReturnPoint = QGeoCoordinate();
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} else {
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_polygons = _sendPolygons;
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_circles = _sendCircles;
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}
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_sendPolygons.clear();
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_sendCircles.clear();
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emit sendComplete(error);
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}
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void GeoFenceManager::_planManagerLoadComplete(bool removeAllRequested)
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{
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bool loadFailed = false;
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Q_UNUSED(removeAllRequested);
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_polygons.clear();
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_circles.clear();
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MAV_CMD expectedCommand = (MAV_CMD)0;
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int expectedVertexCount = 0;
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QGCFencePolygon nextPolygon(true /* inclusion */);
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const QList<MissionItem*>& fenceItems = _planManager.missionItems();
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for (int i=0; i<fenceItems.count(); i++) {
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MissionItem* item = fenceItems[i];
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MAV_CMD command = item->command();
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if (command == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION || command == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION) {
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if (nextPolygon.count() == 0) {
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// Starting a new polygon
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expectedVertexCount = item->param1();
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expectedCommand = command;
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} else if (expectedVertexCount != item->param1()){
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// In the middle of a polygon, but count suddenly changed
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emit error(BadPolygonItemFormat, tr("GeoFence load: Vertex count change mid-polygon - actual:expected").arg(item->param1()).arg(expectedVertexCount));
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break;
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} if (expectedCommand != command) {
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// Command changed before last polygon was completely loaded
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emit error(BadPolygonItemFormat, tr("GeoFence load: Polygon type changed before last load complete - actual:expected").arg(command).arg(expectedCommand));
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break;
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}
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nextPolygon.appendVertex(QGeoCoordinate(item->param5(), item->param6()));
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if (nextPolygon.count() == expectedVertexCount) {
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// Polygon is complete
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nextPolygon.setInclusion(command == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION);
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_polygons.append(nextPolygon);
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nextPolygon.clear();
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}
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} else if (command == MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION || command == MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION) {
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if (nextPolygon.count() != 0) {
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// Incomplete polygon
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emit error(IncompletePolygonLoad, tr("GeoFence load: Incomplete polygon loaded"));
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break;
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}
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QGCFenceCircle circle(QGeoCoordinate(item->param5(), item->param6()), item->param1(), command == MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION /* inclusion */);
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_circles.append(circle);
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} else if (command == MAV_CMD_NAV_FENCE_RETURN_POINT) {
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_breachReturnPoint = QGeoCoordinate(item->param5(), item->param6(), item->param7());
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} else {
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emit error(UnsupportedCommand, tr("GeoFence load: Unsupported command %1").arg(item->command()));
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break;
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}
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}
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if (loadFailed) {
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_polygons.clear();
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_circles.clear();
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_breachReturnPoint = QGeoCoordinate();
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}
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emit loadComplete();
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}
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bool GeoFenceManager::supported(void) const
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{
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return (_vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE) && (_vehicle->maxProtoVersion() >= 200);
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}
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