134 lines
2.7 KiB
C++
134 lines
2.7 KiB
C++
#ifndef COMMANDPROCESS_H
|
|
#define COMMANDPROCESS_H
|
|
|
|
#include <QObject>
|
|
|
|
#include "QDebug"
|
|
#include "QThread"
|
|
#include "mavlink.h"
|
|
#include "QTimer"
|
|
#include "QTime"
|
|
|
|
#ifdef QtMavlinkNode
|
|
#include <mavlinknodeglobal.h>
|
|
class MAVLINKNODESHARED_EXPORT commandprocess : public QObject {
|
|
#else
|
|
class commandprocess : public QObject
|
|
{
|
|
#endif
|
|
Q_OBJECT
|
|
|
|
enum _modetype {
|
|
Nop_Mode = 0,
|
|
RecieveMode,
|
|
TransmitMode
|
|
};
|
|
|
|
|
|
typedef struct {
|
|
//bool isWaitingforCount;
|
|
bool isWaitingforValue;
|
|
|
|
|
|
}_recieve;
|
|
|
|
typedef struct {
|
|
bool isWaitingforACK;
|
|
}_transmit;
|
|
|
|
typedef struct
|
|
{
|
|
_recieve recieve;
|
|
_transmit transmit;
|
|
|
|
|
|
_modetype m_Mode;
|
|
|
|
}_command_;
|
|
|
|
|
|
|
|
|
|
public:
|
|
explicit commandprocess(QObject *parent = nullptr);
|
|
|
|
_command_ status;
|
|
|
|
|
|
public slots:
|
|
//读取和写入指令
|
|
//void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
|
|
void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,
|
|
float param1,
|
|
float param2,
|
|
float param3,
|
|
float param4,
|
|
int32_t x,
|
|
int32_t y,
|
|
float z, uint16_t command, uint8_t frame, uint8_t current, uint8_t autocontinue);
|
|
|
|
|
|
|
|
//线程对外接口
|
|
void setRunFrq(uint32_t frq);
|
|
void start();
|
|
void stop();
|
|
|
|
|
|
void Parse(mavlink_message_t msg);
|
|
|
|
private slots:
|
|
//线程私有接口
|
|
void SendMessage(mavlink_message_t msg);
|
|
|
|
void process();
|
|
|
|
//状态机
|
|
void ReadStateMachine(void);
|
|
void WriteStateMachine(void);
|
|
|
|
|
|
//所有相关函数
|
|
void _int(float param1,
|
|
float param2,
|
|
float param3,
|
|
float param4,
|
|
int32_t x,
|
|
int32_t y,
|
|
float z, uint16_t command, uint8_t frame, uint8_t current, uint8_t autocontinue);
|
|
void _long(float param1,
|
|
float param2,
|
|
float param3,
|
|
float param4,
|
|
float param5,
|
|
float param6,
|
|
float param7,
|
|
uint16_t command,
|
|
uint8_t confirmation);
|
|
void ack(uint16_t command,uint8_t result,uint8_t progress,int32_t result_param2);
|
|
|
|
|
|
signals:
|
|
void readError();
|
|
|
|
void SendMessageTo(quint8 ch, quint8 *data,quint16 len);
|
|
|
|
|
|
private:
|
|
bool running_flag = false;
|
|
quint32 running_frq = 200;//200Hz
|
|
QThread *thread = nullptr;
|
|
|
|
//目标id
|
|
uint8_t sysid;
|
|
uint8_t compid;
|
|
|
|
mavlink_command_int_t cmd_int;
|
|
mavlink_command_long_t cmd_long;
|
|
|
|
|
|
|
|
};
|
|
|
|
#endif // COMMANDPROCESS_H
|