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把忘记提交的重新添加回来

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hm
2022-09-20 22:48:55 +08:00
parent 41bf683dc3
commit fc31fe169a
6 changed files with 159 additions and 27 deletions
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App/ToolsUI/ServoSystem/ServoSystem.cpp
+93
View File
@@ -172,10 +172,47 @@ ServoSystem::ServoSystem(QWidget *parent) :
});
HILStateFile = new QFile(QString("./log/Other/HILState%1.csv").arg(QDateTime::currentDateTime().toString("yyyyMMddHHmmss")));
HILStateFile->open(QIODevice::WriteOnly);
if(HILStateFile)
{
QString data;
data.clear();
data.append("year,mon,day,hour,min,sec,ms,");
data.append("parse"); data.append(",");
data.append("comm"); data.append(",");
data.append("parse"); data.append(",");
data.append("comm"); data.append("\n");
QTextStream stream(HILStateFile);
stream << data;
HILStateFile->flush();
}
/*
ui->comboBox_HoverDir->addItem("左盘旋",-1);
ui->comboBox_HoverDir->addItem("右盘旋",1);
ui->comboBox_HoverDir->setCurrentIndex(1);
*/
}
ServoSystem::~ServoSystem()
{
if (HILStateFile)
{
HILStateFile->close();
delete HILStateFile;
HILStateFile = NULL;
}
delete ui;
}
@@ -397,8 +434,64 @@ void ServoSystem::setHILMode(QString mode)
emit showMessage((mode.toInt()>0)?("进入HIL仿真"):("退出HIL仿真"));
}
void ServoSystem::setSimulatorState(bool paser,bool comm)
{
QString state;
state = (comm)?("通讯正常"):("通讯丢失");
if(comm == true)
{
//通讯正常
if(paser == true)
{
state = "通讯正常，解析正确";
}
else
{
state = "通讯正常，解析错误";
}
}
else
{
state = "通讯丢失";
}
ui->label_simulator->setText(state);
if(HILStateFile)
{
QString data;
data.clear();
QDateTime time = QDateTime::currentDateTime();
data.append(QString::number(time.date().year())); data.append(",");
data.append(QString::number(time.date().month())); data.append(",");
data.append(QString::number(time.date().day())); data.append(",");
data.append(QString::number(time.time().hour())); data.append(",");
data.append(QString::number(time.time().minute())); data.append(",");
data.append(QString::number(time.time().second())); data.append(",");
data.append(QString::number(time.time().msec())); data.append(",");
data.append(paser?("1"):("0")); data.append(",");
data.append(comm?("1"):("0")); data.append(",");
data.append((paser)?("parse ok"):("parse error")); data.append(",");
data.append((comm)?("connet"):("lost")); data.append("\n");
QTextStream stream(HILStateFile);
stream << data;
HILStateFile->flush();
}
}
float ServoSystem::param_getvalue(QVariant param,uint8_t type)
{
float value;
App/ToolsUI/ServoSystem/ServoSystem.h
+3
View File
@@ -165,6 +165,7 @@ public slots:
void setAPversion(QString ver);
void setHILMode(QString mode);
void setSimulatorState(bool paser, bool comm);
void setServoOffset(QVariant dirla, QVariant dirra, QVariant dirle, QVariant dirre, QVariant dirru,
QVariant maxla, QVariant maxra, QVariant maxle, QVariant maxre, QVariant maxru,
@@ -237,6 +238,8 @@ private:
bool isWaitPitotClose = true;
bool isWaitTracerAck = false;
QFile *HILStateFile;
};
#endif // SERVOSYSTEM_H
App/ToolsUI/ServoSystem/ServoSystem.ui
+46 -23
View File
@@ -1172,27 +1172,8 @@
<string>版本信息</string>
</property>
<layout class="QGridLayout" name="gridLayout_26">
<item row="0" column="0">
<widget class="QLabel" name="label_28">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>120</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>飞控固件版本号：</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_APVer">
<item row="3" column="2">
<widget class="QLabel" name="label_simulator">
<property name="minimumSize">
<size>
<width>0</width>
@@ -1207,7 +1188,7 @@
</property>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="1">
<widget class="QLabel" name="label_31">
<property name="minimumSize">
<size>
@@ -1226,7 +1207,14 @@
</property>
</widget>
</item>
<item row="1" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_33">
<property name="text">
<string>仿真机状态：</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_HILMode">
<property name="minimumSize">
<size>
@@ -1242,6 +1230,41 @@
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_APVer">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>0</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_28">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>120</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>飞控固件版本号：</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
App/mainwindow.cpp
+4
View File
@@ -1688,6 +1688,10 @@ void MainWindow::updateUI()//事件驱动式更新数据
healthui->setState(25,getBit(enable,7)?(HealthUI::state::success):(HealthUI::state::failure));//安控区
healthui->setValueState(25,getBit(enable,7)?(tr("安控区内")):(tr("安控区外")));//安控区
if(toolsui->servosystem)
{
toolsui->servosystem->setSimulatorState(getBit(enable,11),getBit(enable,12));
}
if(((vehicle.turbinstate.SysState & 0x000F) == 0x04) ||
((vehicle.turbinstate.SysState & 0x000F) == 0x00))
MavLinkNode/mavlinknode.cpp
-4
View File
@@ -863,10 +863,6 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
for (QByteArray::const_iterator i = datagram.cbegin(); i != datagram.cend(); ++i)
{
//QApplication::processEvents();
if(MAVLINK_FRAMING_OK == mavlink_parse_char(src,*i,&msg,&status))
{
parserSuccess += 1;
MavLinkNode/statusprocess.cpp
+13
View File
@@ -22,6 +22,7 @@ statusprocess::statusprocess(QObject *parent) : ThreadTemplet(parent)
data.clear();
data.append("date"); data.append(",");
data.append("year,mon,day,hour,min,sec,ms,");data.append(",");
data.append("elapse"); data.append(",");
data.append("custom_mode "); data.append(",");
data.append("type "); data.append(",");
@@ -108,6 +109,18 @@ void statusprocess::process()//线程函数
QString data;
data.clear();
QDateTime time = QDateTime::currentDateTime();
data.append(QString::number(time.date().year())); data.append(",");
data.append(QString::number(time.date().month())); data.append(",");
data.append(QString::number(time.date().day())); data.append(",");
data.append(QString::number(time.time().hour())); data.append(",");
data.append(QString::number(time.time().minute())); data.append(",");
data.append(QString::number(time.time().second())); data.append(",");
data.append(QString::number(time.time().msec())); data.append(",");
data.append(QDateTime::currentDateTimeUtc().toString("yyyy.MM.dd HH:mm:ss:zzz")); data.append(",");
data.append(QString::number(QTime::currentTime().msecsSinceStartOfDay() - timeCount)); data.append(",");
data.append(QString::number(m_heartbeat.custom_mode)); data.append(",");