161 lines
3.4 KiB
C++
161 lines
3.4 KiB
C++
#ifndef MISSIONPROCESS_H
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#define MISSIONPROCESS_H
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#include <QObject>
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//#include "mavlinknode.h"
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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 MissionProcess : public QObject {
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#else
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class MissionProcess : 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 isWaitingforItem;
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}_recieve;
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typedef struct {
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uint32_t count;
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bool isWaiteforRequest;
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bool isWaiteforACK;
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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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}_mission_;
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public:
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explicit MissionProcess(QObject *parent = nullptr);
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_mission_ mission_status;
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//读取航线的指令
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void ReadCmd(uint8_t m_sysid, uint8_t m_compid);
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void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count );
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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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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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//定时器
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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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//所有的相关函数
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void request_list(void);
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void count(uint16_t count);
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void request_int(uint16_t seq);
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void request(uint16_t seq);
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void item_int(float param1,float param2,float param3,float param4,
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float x,float y,float z,
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uint16_t seq,uint16_t command,
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uint8_t frame,uint8_t current,
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uint8_t autocontinue,uint8_t mission_type);
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void item(float param1,float param2,float param3,float param4,
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float x,float y,float z,
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uint16_t seq,uint16_t command,
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uint8_t frame,uint8_t current,
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uint8_t autocontinue,uint8_t mission_type);
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void ack(void);
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void current(void);
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void setcurrent(void);
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void clear_all(void);
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void item_reached(void);
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void request_partial_list(void);
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void write_partial_list(void);
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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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private:
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uint8_t sysid;
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uint8_t compid;
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mavlink_mission_request_list_t mission_request_list;
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mavlink_mission_count_t mission_count;
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mavlink_mission_request_int_t mission_request_int;
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mavlink_mission_request_t mission_request;
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mavlink_mission_item_int_t mission_item_int;
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mavlink_mission_item_t mission_item;
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mavlink_mission_ack_t mission_ack;
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mavlink_mission_current_t mission_current;
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mavlink_mission_set_current_t mission_set_current;
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mavlink_mission_clear_all_t mission_clear_all;
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mavlink_mission_item_reached_t mission_item_reached;
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mavlink_mission_request_partial_list_t mission_request_partial_list;
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mavlink_mission_write_partial_list_t mission_write_partial_list;
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bool running_flag = false;
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quint32 running_frq = 200;//200Hz
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QThread *Missionthread = nullptr;
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//bool isReadMission = false;
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//bool isWriteMission = false;
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//bool ismTimerTimeOut = false;
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};
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#endif // MISSIONPROCESS_H
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