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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#ifndef MissionItem_H
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#define MissionItem_H
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#include <QObject>
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#include <QString>
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#include <QtQml>
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#include <QTextStream>
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#include <QJsonObject>
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#include <QGeoCoordinate>
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#include "QGCMAVLink.h"
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#include "QGC.h"
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#include "QmlObjectListModel.h"
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#include "Fact.h"
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#include "QGCLoggingCategory.h"
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#include "QmlObjectListModel.h"
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class SurveyComplexItem;
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class SimpleMissionItem;
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class MissionController;
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#ifdef UNITTEST_BUILD
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class MissionItemTest;
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#endif
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// Represents a Mavlink mission command.
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class MissionItem : public QObject
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{
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Q_OBJECT
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public:
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MissionItem(QObject* parent = nullptr);
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MissionItem(int sequenceNumber,
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MAV_CMD command,
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MAV_FRAME frame,
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double param1,
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double param2,
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double param3,
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double param4,
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double param5,
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double param6,
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double param7,
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bool autoContinue,
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bool isCurrentItem,
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QObject* parent = nullptr);
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MissionItem(const MissionItem& other, QObject* parent = nullptr);
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~MissionItem();
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const MissionItem& operator=(const MissionItem& other);
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MAV_CMD command (void) const { return (MAV_CMD)_commandFact.rawValue().toInt(); }
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bool isCurrentItem (void) const { return _isCurrentItem; }
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int sequenceNumber (void) const { return _sequenceNumber; }
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MAV_FRAME frame (void) const { return (MAV_FRAME)_frameFact.rawValue().toInt(); }
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bool autoContinue (void) const { return _autoContinueFact.rawValue().toBool(); }
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double param1 (void) const { return _param1Fact.rawValue().toDouble(); }
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double param2 (void) const { return _param2Fact.rawValue().toDouble(); }
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double param3 (void) const { return _param3Fact.rawValue().toDouble(); }
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double param4 (void) const { return _param4Fact.rawValue().toDouble(); }
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double param5 (void) const { return _param5Fact.rawValue().toDouble(); }
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double param6 (void) const { return _param6Fact.rawValue().toDouble(); }
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double param7 (void) const { return _param7Fact.rawValue().toDouble(); }
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QGeoCoordinate coordinate (void) const;
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int doJumpId (void) const { return _doJumpId; }
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/// @return Flight speed change value if this item supports it. If not it returns NaN.
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double specifiedFlightSpeed(void) const;
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/// @return Flight gimbal yaw change value if this item supports it. If not it returns NaN.
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double specifiedGimbalYaw(void) const;
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/// @return Flight gimbal pitch change value if this item supports it. If not it returns NaN.
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double specifiedGimbalPitch(void) const;
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void setCommand (MAV_CMD command);
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void setSequenceNumber (int sequenceNumber);
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void setIsCurrentItem (bool isCurrentItem);
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void setFrame (MAV_FRAME frame);
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void setAutoContinue (bool autoContinue);
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void setParam1 (double param1);
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void setParam2 (double param2);
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void setParam3 (double param3);
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void setParam4 (double param4);
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void setParam5 (double param5);
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void setParam6 (double param6);
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void setParam7 (double param7);
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void save(QJsonObject& json) const;
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bool load(QTextStream &loadStream);
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bool load(const QJsonObject& json, int sequenceNumber, QString& errorString);
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bool relativeAltitude(void) const { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
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signals:
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void isCurrentItemChanged (bool isCurrentItem);
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void sequenceNumberChanged (int sequenceNumber);
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void specifiedFlightSpeedChanged(double flightSpeed);
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void specifiedGimbalYawChanged (double gimbalYaw);
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void specifiedGimbalPitchChanged(double gimbalPitch);
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private slots:
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void _param1Changed(QVariant value);
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void _param2Changed(QVariant value);
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void _param3Changed(QVariant value);
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private:
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bool _convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Json, QString& errorString);
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bool _convertJsonV2ToV3(QJsonObject& json, QString& errorString);
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int _sequenceNumber;
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int _doJumpId;
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bool _isCurrentItem;
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Fact _autoContinueFact;
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Fact _commandFact;
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Fact _frameFact;
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Fact _param1Fact;
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Fact _param2Fact;
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Fact _param3Fact;
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Fact _param4Fact;
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Fact _param5Fact;
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Fact _param6Fact;
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Fact _param7Fact;
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// Keys for Json save
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static const char* _jsonFrameKey;
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static const char* _jsonCommandKey;
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static const char* _jsonAutoContinueKey;
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static const char* _jsonParamsKey;
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static const char* _jsonDoJumpIdKey;
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// Deprecated V2 format keys
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static const char* _jsonCoordinateKey;
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// Deprecated V1 format keys
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static const char* _jsonParam1Key;
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static const char* _jsonParam2Key;
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static const char* _jsonParam3Key;
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static const char* _jsonParam4Key;
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friend class SurveyComplexItem;
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friend class SimpleMissionItem;
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friend class MissionController;
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#ifdef UNITTEST_BUILD
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friend class MissionItemTest;
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#endif
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};
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#endif
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