132 lines
2.2 KiB
C++
132 lines
2.2 KiB
C++
#ifndef THREADTEMPLET_H
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#define THREADTEMPLET_H
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#include <QObject>
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#include "QThread"
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#include "QFile"
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#include "QDebug"
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#include "mavlink.h"
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#ifdef QtMavlinkNode
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#include <mavlinknodeglobal.h>
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class MAVLINKNODESHARED_EXPORT ThreadTemplet : public QObject {
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#else
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class ThreadTemplet : public QObject
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{
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#endif
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Q_OBJECT
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public:
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explicit ThreadTemplet(QObject *parent = nullptr);
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~ThreadTemplet();
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signals:
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Q_INVOKABLE void error(QVariant type);
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Q_INVOKABLE void SendMessageTo(quint8 ch, quint8 *data,quint16 len);
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Q_INVOKABLE void showMessage(const QString &message,int TimeOut = 0);
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public slots:
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//地面站对外接口
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void setGCSID(int m_sysid, int m_compid);
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void setID(int m_sysid,int m_compid);
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//线程对外接口
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void setRunFrq(qreal frq);
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void start();
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void stop();
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bool isActive(void)
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{
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return running_flag;
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}
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bool isInterruptionRequested(void)
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{
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return QThread::currentThread()->isInterruptionRequested();
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}
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float frq(void)
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{
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return running_frq;
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}
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//缓存对外接口
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Q_INVOKABLE void setbuff(quint32 src,QByteArray data);
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void initbuff(void);
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QByteArray readbuff(quint32 src);
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void Send(mavlink_message_t msg);
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private slots:
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//线程私有接口
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virtual void process();
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//缓存私有接口
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//解析
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protected:
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typedef struct {
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qint32 max_size;
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quint8 select;
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QByteArray buff[2];
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}_buffdef;
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enum SourceType{
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c_sock = 0,
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s_port = 1
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};
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enum _modetype {
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Nop_Mode = 0,
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RecieveMode,
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TransmitMode
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};
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typedef struct {
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bool isWaitingforValue;
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}_recieve;
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typedef struct {
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bool isWaitingforACK;
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uint8_t type;
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}_transmit;
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typedef struct
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{
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_recieve recieve;
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_transmit transmit;
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_modetype m_Mode;
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}_status_;
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_status_ status;
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bool running_flag = false;
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qreal running_frq = 0.01;//1Hz
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QThread *thread = nullptr;
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_buffdef serial_buff;
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_buffdef client_buff;
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int GCS_SysID = 0xF1;
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int GCS_CompID = MAV_COMP_ID_MISSIONPLANNER;
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//目标id
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uint8_t sysid;
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uint8_t compid;
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};
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#endif // THREADTEMPLET_H
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