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
52 lines
1.7 KiB
C++
52 lines
1.7 KiB
C++
/****************************************************************************
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*
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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*
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* QGroundControl is licensed according to the terms in the file
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* COPYING.md in the root of the source code directory.
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*
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****************************************************************************/
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#ifndef MissionManager_H
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#define MissionManager_H
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#include "PlanManager.h"
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Q_DECLARE_LOGGING_CATEGORY(MissionManagerLog)
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class MissionManager : public PlanManager
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{
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Q_OBJECT
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public:
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MissionManager(Vehicle* vehicle);
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~MissionManager();
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/// Current mission item as reported by MISSION_CURRENT
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int currentIndex(void) const { return _currentMissionIndex; }
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/// Last current mission item reported while in Mission flight mode
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int lastCurrentIndex(void) const { return _lastCurrentIndex; }
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/// Writes the specified set mission items to the vehicle as an ArduPilot guided mode mission item.
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/// @param gotoCoord Coordinate to move to
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/// @param altChangeOnly true: only altitude change, false: lat/lon/alt change
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void writeArduPilotGuidedMissionItem(const QGeoCoordinate& gotoCoord, bool altChangeOnly);
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/// Generates a new mission which starts from the specified index. It will include all the CMD_DO items
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/// from mission start to resumeIndex in the generate mission.
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void generateResumeMission(int resumeIndex);
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private slots:
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void _mavlinkMessageReceived(const mavlink_message_t& message);
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private:
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void _handleMissionCurrent(const mavlink_message_t& message);
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void _handleHeartbeat(const mavlink_message_t& message);
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int _cachedLastCurrentIndex;
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};
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#endif
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