定时器在线程的用法好像很奇怪，需要研究一下

MavLinkNode/missionprocess.cpp

@@ -6,47 +6,38 @@ void SendMessageTo(uint8_t ch, uint8_t *data,uint16_t len)
      qDebug() << data;
 }
 
-
-
-
-
-
-
-
-
 MissionProcess::MissionProcess(QObject *parent) : QObject(parent)
 {
-
+      QTimer::singleShot(1000,this, &MissionProcess::mTimerOut);
 }
 
 void MissionProcess::mTimerOut()
 {
     ismTimerTimeOut = true;
-    qDebug() << ismTimerTimeOut;
+    qDebug() << QThread::currentThread();
+    qDebug() << "time out" << ismTimerTimeOut;
 }
 
 void MissionProcess::mTimerReset(int time)
 {
-    if(MissionProcess::mTimer != nullptr)
+    if(mTimer != nullptr)
     {
-      //mTimer->start(time);
+      mTimer->start(time);
 
-      MissionProcess::mTimer->start(time);
-
-      if(MissionProcess::mTimer->isActive())
+      if(mTimer->isActive())
       {
           qDebug() << "start timer";
       }
-
-
     }
     ismTimerTimeOut = false;
 }
 
 void MissionProcess::mTimerStop()
 {
-    if(MissionProcess::mTimer != nullptr)
-    MissionProcess::mTimer->stop();
+    if(mTimer != nullptr)
+    {
+        mTimer->stop();
+    }
 }
 
 void MissionProcess::setRunFrq(uint32_t frq)
@@ -60,9 +51,6 @@ void MissionProcess::setRunFrq(uint32_t frq)
 
 void MissionProcess::start()
 {
-
-    qDebug() << QThread::currentThreadId();
-
     if(Missionthread == nullptr)
     {
         Missionthread = new QThread();
@@ -75,9 +63,6 @@ void MissionProcess::start()
         running_flag = true;
         Missionthread->start();
         qDebug() << "thread start" << running_flag;
-
-
-        qDebug() << QThread::currentThreadId();
     }
     else
     {
@@ -102,10 +87,11 @@ void MissionProcess::process()//线程函数
 {
     uint8_t count = 0;
 
-    if(!MissionProcess::mTimer)
+    if(!mTimer)
     {
-        MissionProcess::mTimer = new QTimer;
-        connect(MissionProcess::mTimer,&QTimer::timeout,this,&MissionProcess::mTimerOut);
+        mTimer = new QTimer;
+        mTimer->moveToThread(Missionthread);
+        connect(mTimer,&QTimer::timeout,this,&MissionProcess::mTimerOut);
     }
 
     while (running_flag)
@@ -131,12 +117,9 @@ void MissionProcess::process()//线程函数
 
 void MissionProcess::SendMessage(mavlink_message_t msg)
 {
-    uint8_t  MAVLink_Buf[256+20];
-    uint16_t MAVLink_Len;
-
-    MAVLink_Len = mavlink_msg_to_send_buffer(MAVLink_Buf, &msg);
-
-    SendMessageTo(0,MAVLink_Buf, MAVLink_Len);
+    uint8_t  buff[256+20];
+    uint16_t len = mavlink_msg_to_send_buffer(buff, &msg);
+    SendMessageTo(0,buff, len);
 }
 
 
@@ -183,13 +166,17 @@ void MissionProcess::ReadStateMachine(void)
    static uint8_t step = 0;
    static uint8_t timeout_count = 0;
 
+   //定时器好像行不通，需要读取当前时间来做超时
+
    if(step == 0)
    {
        request_list();//请求读取某一个设备的航线
-       //mTimerReset(1000);//1秒，如果超时，那么重新发送一次指令
+       mTimerReset(1000);//1秒，如果超时，那么重新发送一次指令
 
        QTimer::singleShot(1000,this, &MissionProcess::mTimerOut);
 
+       qDebug() << this << QThread::currentThread();
+
        step++;//下一个阶段
    }
    else if(step == 1)//等待收到Count