调整UI不允许在其他线程运行

App/App.pro

@@ -170,7 +170,7 @@ win32|win64 {
     qml_src_dir ~= s,/,\\,g
     qml_dst_dir ~= s,/,\\,g
 
-    system(xcopy $$qml_src_dir $$qml_dst_dir /y /s)
+    #system(xcopy $$qml_src_dir $$qml_dst_dir /y /s)
 
 }
 

App/GCS_zh_CN.ts

@@ -2395,7 +2395,7 @@
     <message>
         <location filename="mainwindow.cpp" line="1243"/>
         <source>Unlocated</source>
-        <translation type="unfinished"></translation>
+        <translation>未定位</translation>
     </message>
     <message>
         <location filename="mainwindow.cpp" line="1488"/>

App/StatusUI/StateGroup.cpp

@@ -37,7 +37,7 @@ void StateGroup::addItem(StateWidget * w)
     {
         //为什么减2？
         m_lenght += w->height() + layout->verticalSpacing() - 2;
-        qDebug() << this->height() << w->height() << layout->verticalSpacing();
+        //qDebug() << this->height() << w->height() << layout->verticalSpacing();
     }
     else
     {

App/mainwindow.cpp

@@ -245,7 +245,7 @@ MainWindow::MainWindow(QWidget *parent)
             dlink->mavlinknode->Parameter,SLOT(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),Qt::DirectConnection);
 
     connect(commandUI,SIGNAL(Accepted(bool,uint16_t,uint8_t)),
-            toolsui->command,SLOT(commandAccepted(bool,uint16_t,uint8_t)),Qt::DirectConnection);
+            toolsui->command,SLOT(commandAccepted(bool,uint16_t,uint8_t)));
 
     //command ----- map
 
@@ -256,7 +256,7 @@ MainWindow::MainWindow(QWidget *parent)
             commandUI,SLOT(setPointCount(QList<int>)));
 
     connect(map,SIGNAL(uav_selected(int,int)),
-            commandUI,SLOT(CurrentUAV(int,int)),Qt::DirectConnection);
+            commandUI,SLOT(CurrentUAV(int,int)));
 
     /*
     connect(map,&mapcontrol::OPMapWidget::PointNumber,
@@ -342,6 +342,8 @@ MainWindow::MainWindow(QWidget *parent)
     //dlink ---- rc
     qRegisterMetaType<QList<uint16_t>>("QList<uint16_t>");
     qRegisterMetaType<uint32_t>("uint32_t");
+    qRegisterMetaType<uint16_t>("uint16_t");
+    qRegisterMetaType<uint8_t>("uint8_t");
 
     connect(dlink->mavlinknode->RC,SIGNAL(new_remote_ctrl(QList<uint16_t>)),
             toolsui->remotecontrol,SLOT(setChannelOveride(QList<uint16_t>)));
@@ -378,7 +380,7 @@ MainWindow::MainWindow(QWidget *parent)
 
 
     connect(dlink->mavlinknode->Commander,SIGNAL(commandAccepted(bool,uint16_t,uint8_t)),
-            commandUI,SLOT(commandAccepted(bool,uint16_t,uint8_t)),Qt::DirectConnection);
+            commandUI,SLOT(commandAccepted(bool,uint16_t,uint8_t)));
 
     connect(commandUI,SIGNAL(WriteParam(uint8_t,uint8_t,QVariant,QVariant,QVariant)),
             dlink->mavlinknode->Parameter,SLOT(WriteCmd2(uint8_t,uint8_t,QVariant,QVariant,QVariant)),Qt::DirectConnection);
@@ -484,7 +486,7 @@ MainWindow::MainWindow(QWidget *parent)
 
     //航点确认窗口
     connect(map,SIGNAL(setCurrent(int)),
-            commandUI,SLOT(missionConfirm(int)),Qt::DirectConnection);
+            commandUI,SLOT(missionConfirm(int)));
 
 
     connect(commandUI,SIGNAL(SetCurrentPoint(int)),
@@ -955,7 +957,6 @@ void MainWindow::beep(int sysid)
     {
         if(map->getUAVCurrent() == sysid)
         {
-
             QApplication::beep();
         }
     }
@@ -1129,19 +1130,8 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
 // 16~20Hz左右 运行频率可能太高（30fps）
 void MainWindow::updateUI()//事件驱动式更新数据
 {
-    int currentUAV = map->getUAVCurrent();
 
 
-    if(currentUAV < 1)//滤掉错值
-    {
-        return;
-    }
-
-    if(!dlink->mavlinknode->vehicleList.keys().contains(currentUAV))//滤掉不存在的无人机
-    {
-        return;
-    }
-
 
     //qDebug()<<"updeta";
 
@@ -1162,6 +1152,20 @@ void MainWindow::updateUI()//事件驱动式更新数据
     frq_time = QDateTime::currentMSecsSinceEpoch();
 
 
+    int currentUAV = map->getUAVCurrent();
+
+
+    if(currentUAV < 1)//滤掉错值
+    {
+        return;
+    }
+
+    if(!dlink->mavlinknode->vehicleList.keys().contains(currentUAV))//滤掉不存在的无人机
+    {
+        return;
+    }
+
+
     copk->setAttitude(dlink->mavlinknode->vehicleList.value(currentUAV).attitude.pitch * 57.3,
                       dlink->mavlinknode->vehicleList.value(currentUAV).attitude.roll * 57.3,
                       dlink->mavlinknode->vehicleList.value(currentUAV).attitude.yaw * 57.3);

dlink/dlink.cpp

@@ -19,7 +19,7 @@ DLink::DLink(QObject *parent) : QObject(parent)
 
      //在当前线程运行
      connect(mavlinknode,SIGNAL(showMessage(QString,int)),
-             this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
+             this,SIGNAL(showMessage(QString,int)));
 
      //在当前线程运行
      connect(this,SIGNAL(recieveMessage(quint32,QByteArray)),