71 lines
1.3 KiB
C++
71 lines
1.3 KiB
C++
#ifndef TERMINAL_H
|
||
#define TERMINAL_H
|
||
|
||
#include <QObject>
|
||
|
||
#include "QDebug"
|
||
#include "QThread"
|
||
#include "mavlink.h"
|
||
#include "QTimer"
|
||
#include "QTime"
|
||
#include <QtEndian>
|
||
|
||
#include "ThreadTemplet.h"
|
||
|
||
#ifdef QtMavlinkNode
|
||
#include <mavlinknodeglobal.h>
|
||
class MAVLINKNODESHARED_EXPORT terminal : public ThreadTemplet {
|
||
#else
|
||
class terminal : public ThreadTemplet
|
||
{
|
||
#endif
|
||
Q_OBJECT
|
||
public:
|
||
explicit terminal(QObject *parent = nullptr);
|
||
~terminal();
|
||
mavlink_serial_control_t m_serial_control;
|
||
|
||
public slots:
|
||
//读取和写入指令
|
||
void Transmit(QString msg);
|
||
|
||
//线程对外接口
|
||
void Parse(mavlink_message_t msg);
|
||
private slots:
|
||
//线程私有接口
|
||
|
||
void process();
|
||
|
||
//状态机
|
||
void ReadStateMachine(void);
|
||
void WriteStateMachine(void);
|
||
|
||
|
||
//所有相关函数
|
||
void serial_control(void);
|
||
|
||
|
||
signals:
|
||
void readError();
|
||
|
||
void commandAccepted(bool flag,uint16_t command,uint8_t result);
|
||
|
||
void Recieve(QString msg);
|
||
|
||
private:
|
||
bool running_flag = false;
|
||
quint32 running_frq = 200;//200Hz
|
||
QThread *thread = nullptr;
|
||
|
||
|
||
//超时时间（ms）
|
||
int readTimeout = 5000;
|
||
int sendTimeout = 5000;
|
||
|
||
|
||
QString SerialData;
|
||
|
||
};
|
||
|
||
#endif // STATUSPROCESS_H
|