284 lines
7.7 KiB
C++
284 lines
7.7 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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#include "statusprocess.h"
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#include "Terminal.h"
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#include "sbusparser.h"
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//#include "QAxObject"
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#include "rcprocess.h"
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#include "rtkprocess.h"
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#include "ThreadTemplet.h"
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#include "ParsePack.h"
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#ifdef QtMavlinkNode
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#include <mavlinknodeglobal.h>
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class MAVLINKNODESHARED_EXPORT MavLinkNode : public ThreadTemplet {
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#else
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class MavLinkNode : public ThreadTemplet
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{
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#endif
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Q_OBJECT
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public:
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typedef struct {
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int sysid = 0; /* ID of message sender system/aircraft */
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int compid = 0; /* ID of the message sender component */
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mavlink_autopilot_version_t autopilot_version = {0};
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mavlink_sys_status_t sys_status = {0};
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mavlink_heartbeat_t heartbeat = {0};
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mavlink_ping_t ping = {0};
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mavlink_attitude_t attitude = {0};
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mavlink_ins1_t ins1 = {0};
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mavlink_ins2_t ins2 = {0};
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mavlink_gps_raw_int_t gps_raw_int = {0};
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mavlink_global_position_int_t global_position_int = {0};
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mavlink_servo_output_raw_t servo_output_raw = {0};
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mavlink_rc_channels_raw_t rc_channels_raw = {0};
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mavlink_nav_controller_output_t nav_controller_output = {0};
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mavlink_airspeed_autocal_t airspeed_autocal = {0};
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mavlink_rpm_t rpm = {0};
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mavlink_scaled_pressure_t scaled_pressure = {0};
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mavlink_extended_sys_state_t extended_sys_state = {0};
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mavlink_battery_status_t battery_status = {0};
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mavlink_vibration_t vibration = {0};
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mavlink_enginestate_t enginestate = {0};
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mavlink_vfr_hud_t vfr_hud = {0};
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mavlink_aoa_ssa_t aoa_ssa = {0};
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mavlink_emb_atmo_com_t emb_atom_com = {0};
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mavlink_turbinestate_t turbinstate = {0};
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mavlink_bmustate_t bmustate = {0};
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mavlink_ccmstate_t ccmstate = {0};
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mavlink_serial_control_t serial_control = {0};
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}_vehicle;
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explicit MavLinkNode(QObject *parent = nullptr);
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~MavLinkNode();
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_vehicle vehicle;//没有初始化，所以会有野值
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QHash<int,_vehicle> vehicleList;
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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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statusprocess *Status = nullptr;
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terminal *Terminal = nullptr;
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rcprocess *RC = nullptr;
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rtkprocess *rtk = nullptr;
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bool isCommunicationLost = false;
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uint64_t rate_in = 0;
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uint64_t count_in = 0;
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uint64_t rate_out = 0;
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uint64_t count_out = 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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uint64_t TotalFrame_1s = 0;
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uint64_t LossFrame_1s = 0;
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float rssi = 100;
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QByteArray rtkrawdata;
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QFile * autopilot_version_file = nullptr;
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QFile * sys_status_file = nullptr;
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QFile * heartbeat_file = nullptr;
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QFile * ping_file = nullptr;
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QFile * attitude_file = nullptr;
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QFile * ins1_file = nullptr;
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QFile * ins2_file = nullptr;
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QFile * gps_raw_int_file = nullptr;
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QFile * global_position_int_file = nullptr;
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QFile * servo_output_raw_file = nullptr;
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QFile * rc_channels_raw_file = nullptr;
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QFile * nav_controller_output_file = nullptr;
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QFile * airspeed_autocal_file = nullptr;
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QFile * rpm_file = nullptr;
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QFile * scaled_pressure_file = nullptr;
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QFile * extended_sys_state_file = nullptr;
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QFile * battery_status_file = nullptr;
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QFile * vibration_file = nullptr;
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QFile * enginestate_file = nullptr;
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QFile * vfr_hud_file = nullptr;
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QFile * aoa_ssa_file = nullptr;
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QFile * emb_atom_com_file = nullptr;
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QFile * turbinstate_file = nullptr;
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QFile * bmustate_file = nullptr;
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QFile * ccmstate_file = nullptr;
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QFile * serial_control_file = nullptr;
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signals:
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void signal_autopilot_version(mavlink_autopilot_version_t);
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void signal_sys_status(mavlink_sys_status_t);
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void signal_heartbeat(mavlink_heartbeat_t);
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void signal_ping(mavlink_ping_t);
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void signal_attitude(mavlink_attitude_t);
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void signal_ins1(mavlink_ins1_t ins);
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void signal_ins2(mavlink_ins2_t ins);
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void signal_gps_raw_int(mavlink_gps_raw_int_t);
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void signal_global_position_int(mavlink_global_position_int_t);
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void signal_servo_output_raw(mavlink_servo_output_raw_t servo);
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void signal_rc_channels_raw(mavlink_rc_channels_raw_t);
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void signal_nav_controller_output(mavlink_nav_controller_output_t);
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void signal_airspeed_autocal(mavlink_airspeed_autocal_t);
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void signal_rpm(mavlink_rpm_t);
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void signal_scaled_pressure(mavlink_scaled_pressure_t);
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void signal_extended_sys_state(mavlink_extended_sys_state_t);
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void signal_battery_status(mavlink_battery_status_t);
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void signal_vibration(mavlink_vibration_t);
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void signal_enginestate(mavlink_enginestate_t);
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void signal_vfr_hud(mavlink_vfr_hud_t);
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void signal_aoa_ssa(mavlink_aoa_ssa_t);
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void signal_emb_atom_com(mavlink_emb_atmo_com_t);
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void signal_turbinstate(mavlink_turbinestate_t);
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void signal_bmustate(mavlink_bmustate_t);
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void signal_ccmstate(mavlink_ccmstate_t);
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void signal_serial_control(mavlink_serial_control_t);
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void signal_vehicle(MavLinkNode::_vehicle vehicle);
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void updateDlink(float rssi,uint64_t in,uint64_t out);
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void CommuniationLost(bool);
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void beep(int);
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void addVehicles(int sysid,int compid);
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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 CreateCSV(void);
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void CloseCSV(void);
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bool setFileData(QFile *file,const QByteArray &data);
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//缓存对外接口
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void readPendingDatagramsReplay(void);
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void setCurrentSelected(int sysid,int compid);
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void setLogfile(QString file);
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void setGCSID(int id);
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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 TimerOut(void);
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void LogTimerOut(void);
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void timer_1s_Out(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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bool setLogData(mavlink_message_t msg);
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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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QDateTime startuptime;
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QTimer *gdt_timer = nullptr;
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QTimer *timer = nullptr;
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QByteArray databuff;
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_buffdef serial_buff;
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_buffdef client_buff;
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QString mavlogFileName;
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QFile *mavLogFile = NULL;
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QTimer *logTimer = nullptr;
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QTimer *timer_1s = nullptr;
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Parser2_t parser;
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Packer2_t packer;
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mutable QReadWriteLock RWlock;
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};
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#endif // MAVLINKNODE_H
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