160 lines
3.4 KiB
C++
160 lines
3.4 KiB
C++
#ifndef COMMANDPROCESS_H
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#define COMMANDPROCESS_H
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#include <QObject>
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#include "QDebug"
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#include "QThread"
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#include "mavlink.h"
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#include "QTimer"
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#include "QTime"
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#ifdef QtMavlinkNode
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#include <mavlinknodeglobal.h>
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class MAVLINKNODESHARED_EXPORT commandprocess : public QObject {
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#else
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class commandprocess : public QObject
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{
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#endif
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Q_OBJECT
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enum _modetype {
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Nop_Mode = 0,
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RecieveMode,
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TransmitMode
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};
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typedef struct {
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//bool isWaitingforCount;
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bool isWaitingforValue;
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}_recieve;
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typedef struct {
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bool isWaitingforACK;
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uint8_t type;
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}_transmit;
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typedef struct
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{
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_recieve recieve;
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_transmit transmit;
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_modetype m_Mode;
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}_command_;
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public:
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explicit commandprocess(QObject *parent = nullptr);
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_command_ status;
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void setGCSID(int m_sysid, int m_compid)
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{
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Current_sysID = m_sysid;
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Current_CompID = m_compid;
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}
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public slots:
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void setID(int m_sysid, int m_compid);
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void WriteCmd_long( float param1,float param2,float param3,float param4,float param5,float param6,float param7,uint16_t command,uint8_t confirmation);
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//读取和写入指令
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//void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
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void WriteCmd_int(uint8_t m_sysid, uint8_t m_compid ,
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float param1,
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float param2,
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float param3,
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float param4,
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int32_t x,
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int32_t y,
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float z, uint16_t command, uint8_t frame, uint8_t current, uint8_t autocontinue);
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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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void Parse(mavlink_message_t msg);
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private slots:
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//线程私有接口
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void SendMessage(mavlink_message_t msg);
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void process();
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//状态机
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void ReadStateMachine(void);
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void WriteStateMachine(void);
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//所有相关函数
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void _int(float param1,
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float param2,
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float param3,
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float param4,
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int32_t x,
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int32_t y,
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float z, uint16_t command, uint8_t frame, uint8_t current, uint8_t autocontinue);
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void _long(float param1,
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float param2,
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float param3,
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float param4,
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float param5,
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float param6,
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float param7,
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uint16_t command,
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uint8_t confirmation);
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void ack(uint16_t command,uint8_t result,uint8_t progress,int32_t result_param2);
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signals:
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void readError();
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void SendMessageTo(quint8 ch, quint8 *data,quint16 len);
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void commandAccepted(bool flag,uint16_t command,uint8_t result);
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void showMessage(const QString &message,int TimeOut = 0);
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private:
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bool running_flag = false;
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quint32 running_frq = 200;//200Hz
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QThread *thread = nullptr;
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//目标id
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uint8_t sysid;
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uint8_t compid;
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//本机的id
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int Current_sysID = 0xF1;
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int Current_CompID = 0xF1;
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//超时时间（ms）
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int readTimeout = 5000;
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int sendTimeout = 5000;
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mavlink_command_int_t cmd_int;
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mavlink_command_long_t cmd_long;
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};
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#endif // COMMANDPROCESS_H
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