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 +1,294 @@
+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "MissionSettingsItem.h"
+#include "JsonHelper.h"
+#include "MissionController.h"
+#include "QGCGeo.h"
+#include "QGroundControlQmlGlobal.h"
+#include "SimpleMissionItem.h"
+#include "SettingsManager.h"
+#include "AppSettings.h"
+#include "MissionCommandUIInfo.h"
+
+#include <QPolygonF>
+
+QGC_LOGGING_CATEGORY(MissionSettingsComplexItemLog, "MissionSettingsComplexItemLog")
+
+const char* MissionSettingsItem::_plannedHomePositionAltitudeName = "PlannedHomePositionAltitude";
+
+QMap<QString, FactMetaData*> MissionSettingsItem::_metaDataMap;
+
+MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, bool flyView, QObject* parent)
+    : ComplexMissionItem                (vehicle, flyView, parent)
+    , _plannedHomePositionAltitudeFact  (0, _plannedHomePositionAltitudeName,   FactMetaData::valueTypeDouble)
+    , _cameraSection                    (vehicle)
+    , _speedSection                     (vehicle)
+{
+    _isIncomplete = false;
+    _editorQml = "qrc:/qml/MissionSettingsEditor.qml";
+
+    if (_metaDataMap.isEmpty()) {
+        _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/MissionSettings.FactMetaData.json"), nullptr /* metaDataParent */);
+    }
+
+    _plannedHomePositionAltitudeFact.setMetaData    (_metaDataMap[_plannedHomePositionAltitudeName]);
+    _plannedHomePositionAltitudeFact.setRawValue    (_plannedHomePositionAltitudeFact.rawDefaultValue());
+    setHomePositionSpecialCase(true);
+
+    _cameraSection.setAvailable(true);
+    _speedSection.setAvailable(true);
+
+    connect(this,               &MissionSettingsItem::specifyMissionFlightSpeedChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
+    connect(&_cameraSection,    &CameraSection::itemCountChanged,                       this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
+    connect(&_speedSection,     &CameraSection::itemCountChanged,                       this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
+    connect(this,               &MissionSettingsItem::terrainAltitudeChanged,           this, &MissionSettingsItem::_setHomeAltFromTerrain);
+    connect(&_cameraSection,    &CameraSection::dirtyChanged,                           this, &MissionSettingsItem::_sectionDirtyChanged);
+    connect(&_speedSection,     &SpeedSection::dirtyChanged,                            this, &MissionSettingsItem::_sectionDirtyChanged);
+    connect(&_cameraSection,    &CameraSection::specifiedGimbalYawChanged,              this, &MissionSettingsItem::specifiedGimbalYawChanged);
+    connect(&_cameraSection,    &CameraSection::specifiedGimbalPitchChanged,            this, &MissionSettingsItem::specifiedGimbalPitchChanged);
+    connect(&_speedSection,     &SpeedSection::specifiedFlightSpeedChanged,             this, &MissionSettingsItem::specifiedFlightSpeedChanged);
+    connect(_vehicle,           &Vehicle::homePositionChanged,                          this, &MissionSettingsItem::_updateHomePosition);
+    connect(&_plannedHomePositionAltitudeFact,  &Fact::rawValueChanged,                 this, &MissionSettingsItem::_updateAltitudeInCoordinate);
+
+    _updateHomePosition(_vehicle->homePosition());
+}
+
+int MissionSettingsItem::lastSequenceNumber(void) const
+{
+    int lastSequenceNumber = _sequenceNumber;
+
+    lastSequenceNumber += _cameraSection.itemCount();
+    lastSequenceNumber += _speedSection.itemCount();
+
+    return lastSequenceNumber;
+}
+
+void MissionSettingsItem::setDirty(bool dirty)
+{
+    if (_dirty != dirty) {
+        _dirty = dirty;
+        if (!dirty) {
+            _cameraSection.setDirty(false);
+            _speedSection.setDirty(false);
+        }
+        emit dirtyChanged(_dirty);
+    }
+}
+
+void MissionSettingsItem::save(QJsonArray&  missionItems)
+{
+    QList<MissionItem*> items;
+
+    appendMissionItems(items, this);
+
+    // First item should be planned home position, we are not responsible for save/load
+    // Remaining items we just output as is
+    for (int i=1; i<items.count(); i++) {
+        MissionItem* item = items[i];
+        QJsonObject saveObject;
+        item->save(saveObject);
+        missionItems.append(saveObject);
+        item->deleteLater();
+    }
+}
+
+void MissionSettingsItem::setSequenceNumber(int sequenceNumber)
+{
+    if (_sequenceNumber != sequenceNumber) {
+        _sequenceNumber = sequenceNumber;
+        emit sequenceNumberChanged(sequenceNumber);
+        emit lastSequenceNumberChanged(lastSequenceNumber());
+    }
+}
+
+bool MissionSettingsItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
+{
+    Q_UNUSED(complexObject);
+    Q_UNUSED(sequenceNumber);
+    Q_UNUSED(errorString);
+
+    return true;
+}
+
+double MissionSettingsItem::greatestDistanceTo(const QGeoCoordinate &other) const
+{
+    Q_UNUSED(other);
+    return 0;
+}
+
+bool MissionSettingsItem::specifiesCoordinate(void) const
+{
+    return true;
+}
+
+void MissionSettingsItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
+{
+    int seqNum = _sequenceNumber;
+
+    // IMPORTANT NOTE: If anything changes here you must also change MissionSettingsItem::scanForMissionSettings
+
+    // Planned home position
+    MissionItem* item = new MissionItem(seqNum++,
+                                        MAV_CMD_NAV_WAYPOINT,
+                                        MAV_FRAME_GLOBAL,
+                                        0,                      // Hold time
+                                        0,                      // Acceptance radius
+                                        0,                      // Not sure?
+                                        0,                      // Yaw
+                                        coordinate().latitude(),
+                                        coordinate().longitude(),
+                                        _plannedHomePositionAltitudeFact.rawValue().toDouble(),
+                                        true,                   // autoContinue
+                                        false,                  // isCurrentItem
+                                        missionItemParent);
+    items.append(item);
+
+    _cameraSection.appendSectionItems(items, missionItemParent, seqNum);
+    _speedSection.appendSectionItems(items, missionItemParent, seqNum);
+}
+
+bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& /*items*/, int /*seqNum*/, QObject* /*missionItemParent*/)
+{
+    return false;
+}
+
+bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex)
+{
+    bool foundSpeedSection = false;
+    bool foundCameraSection = false;
+
+    qCDebug(MissionSettingsComplexItemLog) << "MissionSettingsItem::scanForMissionSettings count:scanIndex" << visualItems->count() << scanIndex;
+
+    // Scan through the initial mission items for possible mission settings
+    foundCameraSection = _cameraSection.scanForSection(visualItems, scanIndex);
+    foundSpeedSection = _speedSection.scanForSection(visualItems, scanIndex);
+
+    return foundSpeedSection || foundCameraSection;
+}
+
+double MissionSettingsItem::complexDistance(void) const
+{
+    return 0;
+}
+
+void MissionSettingsItem::_setDirty(void)
+{
+    setDirty(true);
+}
+
+void MissionSettingsItem::_setCoordinateWorker(const QGeoCoordinate& coordinate)
+{
+    if (_plannedHomePositionCoordinate != coordinate) {
+        _plannedHomePositionCoordinate = coordinate;
+        emit coordinateChanged(coordinate);
+        emit exitCoordinateChanged(coordinate);
+        _plannedHomePositionAltitudeFact.setRawValue(coordinate.altitude());
+    }
+}
+
+void MissionSettingsItem::setHomePositionFromVehicle(Vehicle* vehicle)
+{
+    // If the user hasn't moved the planned home position manually we use the value from the vehicle
+    if (!_plannedHomePositionMovedByUser) {
+        QGeoCoordinate coordinate = vehicle->homePosition();
+        // ArduPilot tends to send crap home positions at initial vehicle boot, discard them
+        if (coordinate.isValid() && (coordinate.latitude() != 0 || coordinate.longitude() != 0)) {
+            _plannedHomePositionFromVehicle = true;
+            _setCoordinateWorker(coordinate);
+        }
+    }
+}
+
+void MissionSettingsItem::setInitialHomePosition(const QGeoCoordinate& coordinate)
+{
+    _plannedHomePositionMovedByUser = false;
+    _plannedHomePositionFromVehicle = false;
+    _setCoordinateWorker(coordinate);
+}
+
+void MissionSettingsItem::setInitialHomePositionFromUser(const QGeoCoordinate& coordinate)
+{
+    _plannedHomePositionMovedByUser = true;
+    _plannedHomePositionFromVehicle = false;
+    _setCoordinateWorker(coordinate);
+}
+
+
+void MissionSettingsItem::setCoordinate(const QGeoCoordinate& coordinate)
+{
+    if (coordinate != this->coordinate()) {
+        // The user is moving the planned home position manually. Stop tracking vehicle home position.
+        _plannedHomePositionMovedByUser = true;
+        _plannedHomePositionFromVehicle = false;
+        _setCoordinateWorker(coordinate);
+    }
+}
+
+void MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber(void)
+{
+    emit lastSequenceNumberChanged(lastSequenceNumber());
+    setDirty(true);
+}
+
+void MissionSettingsItem::_sectionDirtyChanged(bool dirty)
+{
+    if (dirty) {
+        setDirty(true);
+    }
+}
+
+double MissionSettingsItem::specifiedGimbalYaw(void)
+{
+    return _cameraSection.specifyGimbal() ? _cameraSection.gimbalYaw()->rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
+}
+
+double MissionSettingsItem::specifiedGimbalPitch(void)
+{
+    return _cameraSection.specifyGimbal() ? _cameraSection.gimbalPitch()->rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
+}
+
+void MissionSettingsItem::_updateAltitudeInCoordinate(QVariant value)
+{
+    double newAltitude = value.toDouble();
+
+    if (!qFuzzyCompare(_plannedHomePositionCoordinate.altitude(), newAltitude)) {
+        _plannedHomePositionCoordinate.setAltitude(newAltitude);
+        emit coordinateChanged(_plannedHomePositionCoordinate);
+        emit exitCoordinateChanged(_plannedHomePositionCoordinate);
+    }
+}
+
+double MissionSettingsItem::specifiedFlightSpeed(void)
+{
+    if (_speedSection.specifyFlightSpeed()) {
+        return _speedSection.flightSpeed()->rawValue().toDouble();
+    } else {
+        return std::numeric_limits<double>::quiet_NaN();
+    }
+}
+
+void MissionSettingsItem::_setHomeAltFromTerrain(double terrainAltitude)
+{
+    if (!_plannedHomePositionFromVehicle && !qIsNaN(terrainAltitude)) {
+        _plannedHomePositionAltitudeFact.setRawValue(terrainAltitude);
+    }
+}
+
+QString MissionSettingsItem::abbreviation(void) const
+{
+    return _flyView ? tr("L") : tr("Launch");
+}
+
+void MissionSettingsItem::_updateHomePosition(const QGeoCoordinate& homePosition)
+{
+    if (_flyView) {
+        setCoordinate(homePosition);
+    }
+}