hm
e7cf44504c
## 架构升级：Service Registry + Bridge 模式 - 新增 PluginSDK/IPluginServices.h：10 个纯虚服务接口(IDataProvider/ILinkProvider/...) - 新增 MavLinkServiceBridge：单 QObject 实现全部服务，隔离 MavLinkNode 依赖 - 升级 PluginManifest：支持 plugin.json 的 provides/consumes 声明式依赖 - 实现 ExtensionHost::autoWire()：元对象自省自动连接信号槽 - 集成到 AppController：initModules() 中创建桥接器并注册到 ServiceRegistry - CockpitPlugin 演示服务发现：initialize() 中通过 PluginContext 查找服务 ## 代码清理 - Plugins/opmap：~280 行死代码(waypointsetting 100行注释块/tilematrix 54行/等27个文件) - Plugins/MavLinkNode：~200 行 GBK 乱码注释翻译为 UTF-8 + 12 行注释死代码 - Plugins/ToolsUI：~222 行死代码(ECU.cpp 82行/INS.cpp 113行/Parse/ToolsUI 等) - StatusUI/Setting/MissionUI：~65 行注释死代码 - Cockpit/leftladder.cpp：10 处 GBK 乱码翻译为中文 - 清理头文件注释掉的 #include(19 处)、空 if-else 分支、注释变量声明 ## 编译验证 - [100%] Built target GCS 零错误 - 运行时 timeout 3s 正常退出，无崩溃
135 lines
2.7 KiB
C++
135 lines
2.7 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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#include <QtEndian>
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#include "ThreadTemplet.h"
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#ifdef QtMavlinkNode
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#include <mavlinknodeglobal.h>
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class MAVLINKNODESHARED_EXPORT commandprocess : public ThreadTemplet {
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#else
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class commandprocess : public ThreadTemplet
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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 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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~commandprocess();
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_command_ status;
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// 通讯丢失时阻断指令下发
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bool m_commandBlocked = false;
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public slots:
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void setCommandBlocked(bool blocked) { m_commandBlocked = blocked; }
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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 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 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 commandAccepted(bool flag,uint16_t command,uint8_t result);
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private:
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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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