195 lines
4.4 KiB
C++
195 lines
4.4 KiB
C++
#ifndef MAVLINKNODE_H
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#define MAVLINKNODE_H
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#include <QObject>
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#include "QThread"
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#include "QFile"
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#include "QDebug"
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#include "mavlink.h"
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#include "replay.h"
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#include "missionprocess.h"
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#include "parameterprocess.h"
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#include "commandprocess.h"
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#ifdef QtMavlinkNode
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#include <mavlinknodeglobal.h>
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class MAVLINKNODESHARED_EXPORT MavLinkNode : public QObject {
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#else
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class MavLinkNode : public QObject
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{
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#endif
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Q_OBJECT
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typedef struct {
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qint32 max_size;
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quint8 select;
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QByteArray buff[2];
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}_buffdef;
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typedef struct {
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uint8_t sysid; /* ID of message sender system/aircraft */
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uint8_t compid; /* ID of the message sender component */
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mavlink_autopilot_version_t autopilot_version;
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mavlink_sys_status_t sys_status;
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mavlink_heartbeat_t heartbeat;
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mavlink_ping_t ping;
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mavlink_attitude_t attitude;
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mavlink_ins1_t ins1;
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mavlink_ins2_t ins2;
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mavlink_gps_raw_int_t gps_raw_int;
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mavlink_global_position_int_t global_position_int;
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mavlink_servo_output_raw_t servo_output_raw;
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mavlink_rc_channels_raw_t rc_channels_raw;
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mavlink_nav_controller_output_t nav_controller_output;
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mavlink_airspeed_autocal_t airspeed_autocal;
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mavlink_rpm_t rpm;
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mavlink_scaled_pressure_t scaled_pressure;
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mavlink_extended_sys_state_t extended_sys_state;
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mavlink_battery_status_t battery_status;
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mavlink_vibration_t vibration;
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mavlink_enginestate_t enginestate;
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mavlink_vfr_hud_t vfr_hud;
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mavlink_aoa_ssa_t aoa_ssa;
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mavlink_emb_atmo_com_t emb_atom_com;
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mavlink_turbinestate_t turbinstate;
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mavlink_bmustate_t bmustate;
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mavlink_ccmstate_t ccmstate;
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}_vehicle;
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public:
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explicit MavLinkNode(QObject *parent = nullptr);
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~MavLinkNode();
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_vehicle vehicle;
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Replay *replay = nullptr;
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MissionProcess *Mission = nullptr;
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ParameterProcess *Parameter = nullptr;
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commandprocess *Commander = nullptr;
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bool isCommunicationLost = false;
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uint64_t bitrate = 0;
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uint64_t bitcount = 0;
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uint64_t bittotal = 0;
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uint64_t parserSuccess = 0;
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uint64_t parserFailure = 0;
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float rssi = 100;
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signals:
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void CommuniationLost(bool);
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void showMessage(const QString &message,int TimeOut = 0);
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void beep(void);
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void addVehicles(int sysid,int compid);
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void SendMessageTo(quint8 ch, quint8 *data,quint16 len);
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void recievemsg(mavlink_message_t msg);
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void state_updated();
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void parameter_updated();
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//void mission_updated();
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void setCurrentID(int sysid,int compid);
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void setAltitude(int sysid,int compid,double roll,double pitch,double yaw);
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void setPos(int sysid,int compid,double x,double y,double z);
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void setHeading(int sysid,int compid,double x,double y,double z);
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public slots:
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//线程对外接口
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void setRunFrq(uint32_t frq);
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void start();
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void stop();
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bool isActive(void)
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{
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return running_flag;
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}
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//缓存对外接口
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void readPendingDatagramsReplay(void);
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void setbuff(quint32 src, QByteArray data);
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void setCurrentSelected(int sysid,int compid);
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void setLogfile(QString file);
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private slots:
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//线程私有接口
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void process();
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//缓存私有接口
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void initbuff(void);
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QByteArray readbuff(quint32 src);
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void TimerOut(void);
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//解析
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void Mavlinkparse(quint32 src,QByteArray datagram);
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void MAVLinkRcv_Handler(mavlink_message_t msg);
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void StatusParse(mavlink_message_t msg);
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void CommandParse(mavlink_message_t msg);
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//
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//check for new vehicle
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void CheckVehicle(int sysid, int compid);
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protected:
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int Current_sysID = 0xF1;
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int Current_CompID = MAV_COMP_ID_MISSIONPLANNER;
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enum SourceType{
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c_sock = 0,
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s_port = 1
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};
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bool hasConneted = false;
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int32_t CommucationOverCount = 5;
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uint64_t CommucationOverTimer = 5000;
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uint8_t GCS_System_ID = 0xFF;
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bool running_flag = false;
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quint32 running_frq = 200;//200Hz
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QThread *thread;
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QThread *Parameterthread;
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QHash<int,int> vehicleList;
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QTimer *timer = nullptr;
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_buffdef serial_buff;
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_buffdef client_buff;
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QFile *mavLogFile = NULL;
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};
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#endif // MAVLINKNODE_H
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