‘航线读取状态机完成，可以很快安全的传输航线，关于部分航线功能后面优化，同时发现串口缓存存在bug，明日修复

App/mainwindow.cpp

@@ -109,7 +109,7 @@ void MainWindow::keyPressEvent(QKeyEvent *event)   //键盘按下事件
             if(event->modifiers() == Qt::AltModifier)
             {
                 qInfo() << "alt + D";
-                dlink->mavlinknode->Mission->ReadCmd(0,0);
+                dlink->mavlinknode->Mission->ReadCmd(1,1);
             }
        break;
         case Qt::Key_U :

MavLinkNode/mavlinknode.cpp

@@ -50,11 +50,11 @@ void MavLinkNode::start()
 
         running_flag = true;
         Nodethread->start();
-        qDebug() << "thread start" << running_flag;
+        qDebug() << "MavLinkNode thread start" << running_flag;
     }
     else
     {
-        qDebug() << "thread has started";
+        qDebug() << "MavLinkNode thread has started";
     }
 }
 
@@ -89,6 +89,7 @@ void MavLinkNode::process()//线程函数
          datagram = readbuff(SourceType::c_sock);//每次全部读取
          if(!datagram.isEmpty())
          {
+             //qDebug() << "client parse";
               Mavlinkparse(SourceType::c_sock,datagram);
          }
 
@@ -131,7 +132,7 @@ void MavLinkNode::setbuff(quint32 src,QByteArray data)
                client_buff.buff[client_buff.select].clear();
            }
            client_buff.buff[client_buff.select].append(data);
-          //qDebug() << "set buff";
+          qDebug() << "buff" << client_buff.select <<   client_buff.buff[client_buff.select].size() ;
         break;
     case SourceType::s_port:
         //当前的buff超过10M字节之后就清除，防爆机制，不然buff太大后容易卡死
@@ -154,12 +155,16 @@ QByteArray MavLinkNode::readbuff(quint32 src)
            if(client_buff.select == 0)
            {
                datagram.setRawData(client_buff.buff[1],client_buff.buff[1].size());
+               //清除这个未选择的buff
+               client_buff.buff[1].clear();
                //读取完成，可以往这个内存里面写数了
                client_buff.select = 1;
            }
            else if(client_buff.select == 1)
            {
                datagram.setRawData(client_buff.buff[0],client_buff.buff[0].size());
+               //清除这个未选择的buff
+               client_buff.buff[0].clear();
                //读取完成，可以往这个内存里面写数了
                client_buff.select = 0;
            }
@@ -276,16 +281,25 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
         case MAVLINK_MSG_ID_EngineState:
         case MAVLINK_MSG_ID_VFR_HUD:
            StatusParse(msg);
+           //qDebug() << msg.compid << msg.sysid;
+
         break;
 
         //航线部分  
+        case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
         case MAVLINK_MSG_ID_MISSION_COUNT:
-        case MAVLINK_MSG_ID_MISSION_CURRENT:
-        case MAVLINK_MSG_ID_MISSION_ITEM:
-        case MAVLINK_MSG_ID_MISSION_ITEM_INT:
-        case MAVLINK_MSG_ID_MISSION_REQUEST:
         case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
+        case MAVLINK_MSG_ID_MISSION_REQUEST:
+        case MAVLINK_MSG_ID_MISSION_ITEM_INT:
+        case MAVLINK_MSG_ID_MISSION_ITEM:
         case MAVLINK_MSG_ID_MISSION_ACK:
+        case MAVLINK_MSG_ID_MISSION_CURRENT:
+        case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
+        case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
+        case MAVLINK_MSG_ID_MISSION_ITEM_REACHED:
+        case MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST:
+        case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
+
            Mission->MissionParse(msg);
         break;
 

MavLinkNode/missionprocess.cpp

@@ -100,6 +100,7 @@ void MissionProcess::MissionParse(mavlink_message_t msg)
     }break;
     case MAVLINK_MSG_ID_MISSION_COUNT: {
        mavlink_msg_mission_count_decode(&msg,&mission_count);
+       //qDebug() << "mission_count" << mission_count.count;
        isRecieveCount = true;
     }break;
     case MAVLINK_MSG_ID_MISSION_REQUEST_INT: {
@@ -112,10 +113,12 @@ void MissionProcess::MissionParse(mavlink_message_t msg)
     }break;
     case MAVLINK_MSG_ID_MISSION_ITEM_INT: {
        mavlink_msg_mission_item_int_decode(&msg,&mission_item_int);
-       isWaitingforItem = false;
+       //qDebug() << "recieve item int:" << mission_item_int.seq;
+       isWaitingforItem = false;//已经收到航点，不用再等待
     }break;
     case MAVLINK_MSG_ID_MISSION_ITEM: {
        mavlink_msg_mission_item_decode(&msg,&mission_item);
+       //qDebug() << "recieve item:" << mission_item.seq;
        isWaitingforItem = false;
     }break;
     case MAVLINK_MSG_ID_MISSION_ACK: {
@@ -153,9 +156,12 @@ void MissionProcess::ReadStateMachine(void)
 
    if(step == 0)
    {
+       qDebug() << "start reading mission";
+       isRecieveCount = false;
        request_list();//请求读取某一个设备的航线
        step++;//下一个阶段
        time = QTime::currentTime().msecsSinceStartOfDay();
+
    }
    else if(step == 1)//等待收到Count
    {
@@ -177,28 +183,38 @@ void MissionProcess::ReadStateMachine(void)
        {
            if(isRecieveCount == true)//收到count
            {
+              qDebug() << "step" << step << "isRecieveCount" << isRecieveCount;
               timeout_count = 0;
-              isWaitingforItem = false;
+              isRecieveCount = false;
+
+              isWaitingforItem = true;
+
+              request_int(0);//读取0点
+
               step ++;
            }
        }
 
    }
-   else if(step ==3)//请求航点
+   else if(step ==2)//请求航点
    {
        if(isWaitingforItem == false)
        {
            //分成两类，int和不带int
 
-           if(mission_item_int.seq < mission_count.count)
+           if((mission_item_int.seq+1) < mission_count.count)
            {
+               qDebug() << "mission_item_int.seq+1" << (mission_item_int.seq+1);
+
+              isWaitingforItem = true;
               request_int(mission_item_int.seq+1);
               //定时
               time = QTime::currentTime().msecsSinceStartOfDay();
-              isWaitingforItem = true;
+
            }
            else
            {
+               qDebug() << "mission recieve all";
                step++;
            }
        }
@@ -216,7 +232,7 @@ void MissionProcess::ReadStateMachine(void)
                   timeout_count = 0;
                   qDebug() << "mission read fail";
               }
-              isWaitingforItem = false;
+              isWaitingforItem = false;//重新发送一次
            }
            else
            {
@@ -224,8 +240,10 @@ void MissionProcess::ReadStateMachine(void)
            }
        }
    }
-   else if(step == 4)//航线传输结束，发送ack
+   else if(step == 3)//航线传输结束，发送ack
    {
+      qDebug() << "step" << step << "transmit ok";
+
       ack();
       step = 0;
       m_TransmitMode = 0;//切换到什么都不做

MavLinkNode/missionprocess.h

@@ -80,7 +80,7 @@ private slots:
 signals:
    void readError();
 
-   void SendMessageTo(uint8_t ch, uint8_t *data,uint16_t len);
+   void SendMessageTo(quint8 ch, quint8 *data,quint16 len);
 
 private:
 

dlink/dlink.cpp

@@ -9,9 +9,9 @@ DLink::DLink(QObject *parent) : QObject(parent)
 {
      qDebug() << "Dlink " <<  QThread::currentThreadId();
 
-     mavlinknode = new MavLinkNode(this);
+     mavlinknode = new MavLinkNode();//不允许带参数,因为这是单独的线程
-    // connect(mavlinknode->Mission,SIGNAL(SendMessageTo(uint8_t,uint8_t*,uint16_t)),
+     connect(mavlinknode->Mission,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
-      //      this,SLOT(SendMessageTo(uint8_t,uint8_t*,uint16_t)));
+            this,SLOT(SendMessageTo(quint8,quint8*,quint16)));
 }
 DLink::~DLink()
 {
@@ -20,7 +20,7 @@ DLink::~DLink()
 }
 
 
-int DLink::SendMessageTo(uint8_t ch, uint8_t *msg, uint16_t len)
+int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
 {
     if (DLink::Clientsock)
     {

dlink/dlink.h

@@ -51,7 +51,7 @@ public slots:
 
     void readPendingDatagramsClient(void);
 
-     int SendMessageTo(uint8_t ch, uint8_t *msg, uint16_t len);
+     int SendMessageTo(quint8 ch, quint8 *msg, quint16 len);
 
 protected: