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多机管理完成

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2020-06-02 18:39:43 +08:00
parent 9c69cd6522
commit eb7e7913e1
14 changed files with 215 additions and 158 deletions
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MavLinkNode/missionprocess.cpp
+15 -6
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@@ -74,6 +74,15 @@ void MissionProcess::process()//线程函数
Missionthread = nullptr;
}
void MissionProcess::setID(int m_sysid,int m_compid)
{
//qDebug() << "Mission set id";
sysid = (uint8_t)m_sysid;
compid = (uint8_t)m_compid;
}
void MissionProcess::SendMessage(mavlink_message_t msg)
{
uint8_t buff[256+20];
@@ -84,22 +93,22 @@ void MissionProcess::SendMessage(mavlink_message_t msg)
void MissionProcess::ReadCmd(uint8_t m_sysid, uint8_t m_compid)
{
sysid = m_sysid;
compid = m_compid;
//sysid = m_sysid;
//compid = m_compid;
mission_status.m_Mode = RecieveMode;//接收模式
qDebug() << "recieve read cmd";
qDebug() << "read mission" << sysid << compid;
start();//开启线程
}
void MissionProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count )
{
sysid = m_sysid;
compid = m_compid;
//sysid = m_sysid;
//compid = m_compid;
mission_status.transmit.count = count;
mission_status.m_Mode = TransmitMode;//发送模式
qDebug() << "write mission" << sysid << compid;
start();//开启线程
}