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
96 lines
2.2 KiB
C++
96 lines
2.2 KiB
C++
#pragma once
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#if defined(MAVLINK_USE_CXX_NAMESPACE)
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namespace mavlink {
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#elif defined(__cplusplus)
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extern "C" {
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#endif
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/* Visual Studio versions before 2010 don't have stdint.h, so we just error out. */
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#if (defined _MSC_VER) && (_MSC_VER < 1600)
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#error "The C-MAVLink implementation requires Visual Studio 2010 or greater"
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#endif
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#include <stdint.h>
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/**
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*
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* CALCULATE THE CHECKSUM
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*
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*/
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#define X25_INIT_CRC 0xffff
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#define X25_VALIDATE_CRC 0xf0b8
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#ifndef HAVE_CRC_ACCUMULATE
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/**
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* @brief Accumulate the X.25 CRC by adding one char at a time.
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*
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* The checksum function adds the hash of one char at a time to the
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* 16 bit checksum (uint16_t).
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*
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* @param data new char to hash
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* @param crcAccum the already accumulated checksum
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**/
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static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
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{
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/*Accumulate one byte of data into the CRC*/
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uint8_t tmp;
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tmp = data ^ (uint8_t)(*crcAccum &0xff);
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tmp ^= (tmp<<4);
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*crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
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}
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#endif
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/**
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* @brief Initiliaze the buffer for the X.25 CRC
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*
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* @param crcAccum the 16 bit X.25 CRC
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*/
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static inline void crc_init(uint16_t* crcAccum)
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{
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*crcAccum = X25_INIT_CRC;
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}
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/**
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* @brief Calculates the X.25 checksum on a byte buffer
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*
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* @param pBuffer buffer containing the byte array to hash
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* @param length length of the byte array
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* @return the checksum over the buffer bytes
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**/
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static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
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{
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uint16_t crcTmp;
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crc_init(&crcTmp);
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while (length--) {
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crc_accumulate(*pBuffer++, &crcTmp);
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}
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return crcTmp;
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}
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/**
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* @brief Accumulate the X.25 CRC by adding an array of bytes
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*
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* The checksum function adds the hash of one char at a time to the
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* 16 bit checksum (uint16_t).
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*
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* @param data new bytes to hash
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* @param crcAccum the already accumulated checksum
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**/
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static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint16_t length)
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{
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const uint8_t *p = (const uint8_t *)pBuffer;
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while (length--) {
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crc_accumulate(*p++, crcAccum);
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}
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}
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#if defined(MAVLINK_USE_CXX_NAMESPACE) || defined(__cplusplus)
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}
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#endif
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