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
239 lines
10 KiB
C
239 lines
10 KiB
C
#pragma once
|
|
// MESSAGE MESSAGE_INTERVAL PACKING
|
|
|
|
#define MAVLINK_MSG_ID_MESSAGE_INTERVAL 244
|
|
|
|
|
|
typedef struct __mavlink_message_interval_t {
|
|
int32_t interval_us; /*< [us] The interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.*/
|
|
uint16_t message_id; /*< The ID of the requested MAVLink message. v1.0 is limited to 254 messages.*/
|
|
} mavlink_message_interval_t;
|
|
|
|
#define MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN 6
|
|
#define MAVLINK_MSG_ID_MESSAGE_INTERVAL_MIN_LEN 6
|
|
#define MAVLINK_MSG_ID_244_LEN 6
|
|
#define MAVLINK_MSG_ID_244_MIN_LEN 6
|
|
|
|
#define MAVLINK_MSG_ID_MESSAGE_INTERVAL_CRC 95
|
|
#define MAVLINK_MSG_ID_244_CRC 95
|
|
|
|
|
|
|
|
#if MAVLINK_COMMAND_24BIT
|
|
#define MAVLINK_MESSAGE_INFO_MESSAGE_INTERVAL { \
|
|
244, \
|
|
"MESSAGE_INTERVAL", \
|
|
2, \
|
|
{ { "message_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_message_interval_t, message_id) }, \
|
|
{ "interval_us", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_message_interval_t, interval_us) }, \
|
|
} \
|
|
}
|
|
#else
|
|
#define MAVLINK_MESSAGE_INFO_MESSAGE_INTERVAL { \
|
|
"MESSAGE_INTERVAL", \
|
|
2, \
|
|
{ { "message_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_message_interval_t, message_id) }, \
|
|
{ "interval_us", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_message_interval_t, interval_us) }, \
|
|
} \
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* @brief Pack a message_interval message
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param msg The MAVLink message to compress the data into
|
|
*
|
|
* @param message_id The ID of the requested MAVLink message. v1.0 is limited to 254 messages.
|
|
* @param interval_us [us] The interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_message_interval_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
|
uint16_t message_id, int32_t interval_us)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN];
|
|
_mav_put_int32_t(buf, 0, interval_us);
|
|
_mav_put_uint16_t(buf, 4, message_id);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN);
|
|
#else
|
|
mavlink_message_interval_t packet;
|
|
packet.interval_us = interval_us;
|
|
packet.message_id = message_id;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_MESSAGE_INTERVAL;
|
|
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MESSAGE_INTERVAL_MIN_LEN, MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN, MAVLINK_MSG_ID_MESSAGE_INTERVAL_CRC);
|
|
}
|
|
|
|
/**
|
|
* @brief Pack a message_interval message on a channel
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param chan The MAVLink channel this message will be sent over
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param message_id The ID of the requested MAVLink message. v1.0 is limited to 254 messages.
|
|
* @param interval_us [us] The interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_message_interval_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
|
|
mavlink_message_t* msg,
|
|
uint16_t message_id,int32_t interval_us)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN];
|
|
_mav_put_int32_t(buf, 0, interval_us);
|
|
_mav_put_uint16_t(buf, 4, message_id);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN);
|
|
#else
|
|
mavlink_message_interval_t packet;
|
|
packet.interval_us = interval_us;
|
|
packet.message_id = message_id;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_MESSAGE_INTERVAL;
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MESSAGE_INTERVAL_MIN_LEN, MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN, MAVLINK_MSG_ID_MESSAGE_INTERVAL_CRC);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a message_interval struct
|
|
*
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param message_interval C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_message_interval_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_message_interval_t* message_interval)
|
|
{
|
|
return mavlink_msg_message_interval_pack(system_id, component_id, msg, message_interval->message_id, message_interval->interval_us);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a message_interval struct on a channel
|
|
*
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param chan The MAVLink channel this message will be sent over
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param message_interval C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_message_interval_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_message_interval_t* message_interval)
|
|
{
|
|
return mavlink_msg_message_interval_pack_chan(system_id, component_id, chan, msg, message_interval->message_id, message_interval->interval_us);
|
|
}
|
|
|
|
/**
|
|
* @brief Send a message_interval message
|
|
* @param chan MAVLink channel to send the message
|
|
*
|
|
* @param message_id The ID of the requested MAVLink message. v1.0 is limited to 254 messages.
|
|
* @param interval_us [us] The interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_message_interval_send(mavlink_channel_t chan, uint16_t message_id, int32_t interval_us)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN];
|
|
_mav_put_int32_t(buf, 0, interval_us);
|
|
_mav_put_uint16_t(buf, 4, message_id);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MESSAGE_INTERVAL, buf, MAVLINK_MSG_ID_MESSAGE_INTERVAL_MIN_LEN, MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN, MAVLINK_MSG_ID_MESSAGE_INTERVAL_CRC);
|
|
#else
|
|
mavlink_message_interval_t packet;
|
|
packet.interval_us = interval_us;
|
|
packet.message_id = message_id;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MESSAGE_INTERVAL, (const char *)&packet, MAVLINK_MSG_ID_MESSAGE_INTERVAL_MIN_LEN, MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN, MAVLINK_MSG_ID_MESSAGE_INTERVAL_CRC);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Send a message_interval message
|
|
* @param chan MAVLink channel to send the message
|
|
* @param struct The MAVLink struct to serialize
|
|
*/
|
|
static inline void mavlink_msg_message_interval_send_struct(mavlink_channel_t chan, const mavlink_message_interval_t* message_interval)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mavlink_msg_message_interval_send(chan, message_interval->message_id, message_interval->interval_us);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MESSAGE_INTERVAL, (const char *)message_interval, MAVLINK_MSG_ID_MESSAGE_INTERVAL_MIN_LEN, MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN, MAVLINK_MSG_ID_MESSAGE_INTERVAL_CRC);
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
|
/*
|
|
This varient of _send() can be used to save stack space by re-using
|
|
memory from the receive buffer. The caller provides a
|
|
mavlink_message_t which is the size of a full mavlink message. This
|
|
is usually the receive buffer for the channel, and allows a reply to an
|
|
incoming message with minimum stack space usage.
|
|
*/
|
|
static inline void mavlink_msg_message_interval_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t message_id, int32_t interval_us)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_int32_t(buf, 0, interval_us);
|
|
_mav_put_uint16_t(buf, 4, message_id);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MESSAGE_INTERVAL, buf, MAVLINK_MSG_ID_MESSAGE_INTERVAL_MIN_LEN, MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN, MAVLINK_MSG_ID_MESSAGE_INTERVAL_CRC);
|
|
#else
|
|
mavlink_message_interval_t *packet = (mavlink_message_interval_t *)msgbuf;
|
|
packet->interval_us = interval_us;
|
|
packet->message_id = message_id;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MESSAGE_INTERVAL, (const char *)packet, MAVLINK_MSG_ID_MESSAGE_INTERVAL_MIN_LEN, MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN, MAVLINK_MSG_ID_MESSAGE_INTERVAL_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE MESSAGE_INTERVAL UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field message_id from message_interval message
|
|
*
|
|
* @return The ID of the requested MAVLink message. v1.0 is limited to 254 messages.
|
|
*/
|
|
static inline uint16_t mavlink_msg_message_interval_get_message_id(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field interval_us from message_interval message
|
|
*
|
|
* @return [us] The interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.
|
|
*/
|
|
static inline int32_t mavlink_msg_message_interval_get_interval_us(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a message_interval message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param message_interval C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_message_interval_decode(const mavlink_message_t* msg, mavlink_message_interval_t* message_interval)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
message_interval->interval_us = mavlink_msg_message_interval_get_interval_us(msg);
|
|
message_interval->message_id = mavlink_msg_message_interval_get_message_id(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN? msg->len : MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN;
|
|
memset(message_interval, 0, MAVLINK_MSG_ID_MESSAGE_INTERVAL_LEN);
|
|
memcpy(message_interval, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|