修改线程

App/mainwindow.cpp

@@ -1091,11 +1091,43 @@ void MainWindow::updateUI()//事件驱动式更新数据
     case 5:
         gps_str.append(tr("float[%1颗]").arg(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible));
         break;
+    case 6:
+        gps_str.append(tr("float[%1颗]").arg(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible));
+        break;
     default:
-        gps_str.append(tr("err[%1颗]").arg(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible));
+        gps_str.append(tr("%1[%2颗]").arg(dlink->mavlinknode->vehicle.gps_raw_int.fix_type).arg(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible));
         break;
     }
 
+
+    switch (dlink->mavlinknode->vehicle.gps_raw_int.fix_type) {
+    case 0:
+        gps_str.append(tr("UnKnow"));
+        break;
+    case 1:
+        gps_str.append(tr("Unlocated"));
+        break;
+    case 2:
+    case 3:
+        gps_str.append(tr("%1D[%2颗]").arg(dlink->mavlinknode->vehicle.gps_raw_int.fix_type).arg(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible));
+        break;
+    case 4:
+        gps_str.append(tr("DGPS"));
+        break;
+    case 5:
+        gps_str.append(tr("FLOAT"));
+        break;
+    case 6:
+        gps_str.append(tr("INT"));
+        break;
+    default:
+        gps_str.append(tr("%1").arg(dlink->mavlinknode->vehicle.gps_raw_int.fix_type));
+        break;
+    }
+
+
+
+
     copk->setGPS(gps_str);
 
 

MavLinkNode/Terminal.cpp

@@ -26,6 +26,7 @@ void terminal::start()
         thread = new QThread();
         this->moveToThread(thread);
         connect(thread, &QThread::started, this, &terminal::process);
+        connect(thread, &QThread::finished,thread,&QObject::deleteLater);
     }
 
     if(!thread->isRunning())
@@ -45,11 +46,13 @@ void terminal::stop()
     if(thread->isRunning())
     {
         running_flag = false;
+        /*
         qDebug() << "thread stop"
                  << QThread::currentThreadId()
                  << QThread::currentThread()
                  << "running state:"
                  << running_flag;
+                 */
 
         disconnect(thread, nullptr, nullptr, nullptr);
     }
@@ -77,7 +80,7 @@ void terminal::process()//线程函数
         //qDebug() << count;
     }
     //退出线程
-    disconnect(thread, nullptr, nullptr, nullptr);
+    //disconnect(thread, nullptr, nullptr, nullptr);
     thread->quit();
     //thread->wait();//等待结束
     thread->deleteLater();

MavLinkNode/commandprocess.cpp

@@ -48,11 +48,13 @@ void commandprocess::stop()
     if(thread->isRunning())
     {
         running_flag = false;
+        /*
         qDebug() << "thread stop"
                  << QThread::currentThreadId()
                  << QThread::currentThread()
                  << "running state:"
                  << running_flag;
+                 */
         disconnect(thread, nullptr, nullptr, nullptr);
     }
     else

MavLinkNode/mavlinknode.cpp

@@ -50,18 +50,23 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
     connect(thread, &QThread::finished,
             timer,&QTimer::stop),Qt::DirectConnection;
 
+    connect(thread, &QThread::finished,
+            timer,&QTimer::deleteLater),Qt::DirectConnection;
+
     timer->start();
 
     timer_1s = new QTimer();
     timer_1s->setInterval(1000);
     connect(timer_1s,&QTimer::timeout,
             this,&MavLinkNode::timer_1s_Out,Qt::DirectConnection);
-    timer_1s->start();
 
     connect(thread, &QThread::finished,
             timer_1s,&QTimer::stop),Qt::DirectConnection;
 
+    connect(thread, &QThread::finished,
+            timer_1s,&QTimer::deleteLater),Qt::DirectConnection;
 
+    timer_1s->start();
 
 
     hasConneted = false;
@@ -174,8 +179,8 @@ MavLinkNode::~MavLinkNode()
         if(replay->isActive())
         {
             replay->stop();
-            QThread::msleep(10);
+
-            delete replay;
+            replay->deleteLater();
             replay = nullptr;
         }
     }
@@ -187,7 +192,7 @@ MavLinkNode::~MavLinkNode()
         {
             Mission->stop();
             QThread::msleep(10);
-            delete Mission;
+            Mission->deleteLater();
             Mission = nullptr;
         }
     }
@@ -199,7 +204,7 @@ MavLinkNode::~MavLinkNode()
         {
             Parameter->stop();
             QThread::msleep(10);
-            delete Parameter;
+            Parameter->deleteLater();
             Parameter = nullptr;
         }
     }
@@ -210,7 +215,7 @@ MavLinkNode::~MavLinkNode()
         {
             Commander->stop();//可能还没停止线程，后面不能紧跟着删除
             QThread::msleep(10);
-            delete Commander;
+            Commander->deleteLater();
             Commander = nullptr;
         }
     }
@@ -221,7 +226,7 @@ MavLinkNode::~MavLinkNode()
         {
             Status->stop();//可能还没停止线程，后面不能紧跟着删除
             QThread::msleep(10);
-            delete Status;
+            Status->deleteLater();
             Status = nullptr;
         }
     }
@@ -232,7 +237,7 @@ MavLinkNode::~MavLinkNode()
         {
             Terminal->stop();//可能还没停止线程，后面不能紧跟着删除
             QThread::msleep(10);
-            delete Terminal;
+            Terminal->deleteLater();
             Terminal = nullptr;
         }
     }
@@ -468,11 +473,13 @@ void MavLinkNode::stop()
 
 
         running_flag = false;
+        /*
         qDebug() << "thread stop"
                  << QThread::currentThreadId()
                  << QThread::currentThread()
                  << "running state:"
                  << running_flag;
+                 */
 
         disconnect(thread, nullptr, nullptr, nullptr);
     }
@@ -516,7 +523,7 @@ void MavLinkNode::process()//线程函数
     }
     running_flag = false;
     //退出线程
-    disconnect(thread, nullptr, nullptr, nullptr);
+    //disconnect(thread, nullptr, nullptr, nullptr);
     thread->quit();
     //thread->wait();
 

MavLinkNode/missionprocess.cpp

@@ -25,6 +25,7 @@ void MissionProcess::start()
         thread = new QThread();
         this->moveToThread(thread);
         connect(thread, &QThread::started, this, &MissionProcess::process);
+        connect(thread, &QThread::finished,thread,&QObject::deleteLater);
     }
 
     if(!thread->isRunning())
@@ -44,11 +45,13 @@ void MissionProcess::stop()
     if(thread->isRunning())
     {
         running_flag = false;
+        /*
         qDebug() << "thread stop"
                  << QThread::currentThreadId()
                  << QThread::currentThread()
                  << "running state:"
                  << running_flag;
+                 */
         disconnect(thread, nullptr, nullptr, nullptr);
     }
     else
@@ -87,7 +90,7 @@ void MissionProcess::process()//线程函数
         //qDebug() << count;
     }
     //退出线程
-    disconnect(thread, nullptr, nullptr, nullptr);
+    //disconnect(thread, nullptr, nullptr, nullptr);
     thread->quit();
     //thread->wait();//等待结束
     thread->deleteLater();

MavLinkNode/parameterprocess.cpp

@@ -25,6 +25,7 @@ void ParameterProcess::start()
         thread = new QThread();
         this->moveToThread(thread);
         connect(thread, &QThread::started, this, &ParameterProcess::process);
+        connect(thread, &QThread::finished,thread,&QObject::deleteLater);
     }
 
     if(!thread->isRunning())
@@ -44,11 +45,13 @@ void ParameterProcess::stop()
     if(thread->isRunning())
     {
         running_flag = false;
+        /*
         qDebug() << "thread stop"
                  << QThread::currentThreadId()
                  << QThread::currentThread()
                  << "running state:"
                  << running_flag;
+                 */
         disconnect(thread, nullptr, nullptr, nullptr);
     }
     else
@@ -75,7 +78,7 @@ void ParameterProcess::process()//线程函数
 
     }
     //退出线程
-    disconnect(thread, nullptr, nullptr, nullptr);
+    //disconnect(thread, nullptr, nullptr, nullptr);
     thread->quit();
     //thread->wait();//等待结束
     thread->deleteLater();

MavLinkNode/replay.cpp

@@ -41,6 +41,7 @@ void Replay::start()
         thread = new QThread();
         this->moveToThread(thread);
         connect(thread, SIGNAL(started()), this, SLOT(process()));
+        connect(thread, &QThread::finished,thread,&QObject::deleteLater);
     }
 
     if(!thread->isRunning())
@@ -88,11 +89,13 @@ void Replay::stop()
     if(thread->isRunning())
     {
         running_flag = false;
+        /*
         qDebug() << "thread stop"
                  << QThread::currentThreadId()
                  << QThread::currentThread()
                  << "running state:"
                  << running_flag;
+                 */
         disconnect(thread, nullptr, nullptr, nullptr);
     }
     else
@@ -248,7 +251,7 @@ void Replay::process()//线程函数
         //mutex.unlock();
     }
     //退出线程
-    disconnect(thread, nullptr, nullptr, nullptr);
+    //disconnect(thread, nullptr, nullptr, nullptr);
     thread->quit();
     thread->deleteLater();
     thread = nullptr;

MavLinkNode/statusprocess.cpp

@@ -28,6 +28,7 @@ void statusprocess::start()
         thread = new QThread();
         this->moveToThread(thread);
         connect(thread, &QThread::started, this, &statusprocess::process);
+        connect(thread, &QThread::finished,thread,&QObject::deleteLater);
     }
 
     if(!thread->isRunning())
@@ -47,11 +48,13 @@ void statusprocess::stop()
     if(thread->isRunning())
     {
         running_flag = false;
+        /*
         qDebug() << "thread stop"
                  << QThread::currentThreadId()
                  << QThread::currentThread()
                  << "running state:"
                  << running_flag;
+                 */
 
         disconnect(thread, nullptr, nullptr, nullptr);
 
@@ -90,9 +93,9 @@ void statusprocess::process()//线程函数
          }
     }
     //退出线程
-    disconnect(thread, nullptr, nullptr, nullptr);
+    //disconnect(thread, nullptr, nullptr, nullptr);
     thread->quit();
-    //thread->wait(200);//等待结束
+    //thread->wait();//等待结束
     thread->deleteLater();
     thread = nullptr;
 }