diff --git a/App/ToolsUI/ServoSystem/ServoSystem.cpp b/App/ToolsUI/ServoSystem/ServoSystem.cpp
index 0966181..c9d1113 100644
--- a/App/ToolsUI/ServoSystem/ServoSystem.cpp
+++ b/App/ToolsUI/ServoSystem/ServoSystem.cpp
@@ -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;
diff --git a/App/ToolsUI/ServoSystem/ServoSystem.h b/App/ToolsUI/ServoSystem/ServoSystem.h
index 996551a..786e5e2 100644
--- a/App/ToolsUI/ServoSystem/ServoSystem.h
+++ b/App/ToolsUI/ServoSystem/ServoSystem.h
@@ -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
diff --git a/App/ToolsUI/ServoSystem/ServoSystem.ui b/App/ToolsUI/ServoSystem/ServoSystem.ui
index db118f0..9657a4c 100644
--- a/App/ToolsUI/ServoSystem/ServoSystem.ui
+++ b/App/ToolsUI/ServoSystem/ServoSystem.ui
@@ -1172,27 +1172,8 @@
版本信息
- -
-
-
-
- 0
- 30
-
-
-
-
- 120
- 16777215
-
-
-
- 飞控固件版本号：
-
-
-
- -
-
+
-
+
0
@@ -1207,7 +1188,7 @@
- -
+
-
@@ -1226,7 +1207,14 @@
- -
+
-
+
+
+ 仿真机状态：
+
+
+
+ -
@@ -1242,6 +1230,41 @@
+ -
+
+
+
+ 0
+ 30
+
+
+
+ background-color: rgb(205, 205, 205);
+
+
+ 0
+
+
+
+ -
+
+
+
+ 0
+ 30
+
+
+
+
+ 120
+ 16777215
+
+
+
+ 飞控固件版本号：
+
+
+
diff --git a/App/mainwindow.cpp b/App/mainwindow.cpp
index c7f91ca..70d3a43 100644
--- a/App/mainwindow.cpp
+++ b/App/mainwindow.cpp
@@ -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))
diff --git a/MavLinkNode/mavlinknode.cpp b/MavLinkNode/mavlinknode.cpp
index 6cdd22e..3aff732 100644
--- a/MavLinkNode/mavlinknode.cpp
+++ b/MavLinkNode/mavlinknode.cpp
@@ -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;
diff --git a/MavLinkNode/statusprocess.cpp b/MavLinkNode/statusprocess.cpp
index b347794..e07d0b0 100644
--- a/MavLinkNode/statusprocess.cpp
+++ b/MavLinkNode/statusprocess.cpp
@@ -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(",");