113 lines
2.5 KiB
C++
113 lines
2.5 KiB
C++
#include "Terminal.h"
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terminal::terminal(QObject *parent) : ThreadTemplet(parent)
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{
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setRunFrq(1);//默认10Hz频率运行
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status.m_Mode = Nop_Mode;
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}
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terminal::~terminal()
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{
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qDebug() << "stop terminal" << QThread::currentThreadId();
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}
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void terminal::process()//线程函数
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{
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QThread::msleep(5000);//5s后再发送
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uint8_t count = 0;
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while (true)
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{
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count ++;
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switch(status.m_Mode)
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{
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default:
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case Nop_Mode : QThread::msleep(1000/frq());break;
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case RecieveMode : ReadStateMachine();break;//QApplication::processEvents();break;
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case TransmitMode : WriteStateMachine();break;//QApplication::processEvents();break;
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}
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if(isInterruptionRequested())//退出
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{
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break;
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}
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}
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}
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void terminal::Transmit(QString msg)
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{
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if(status.m_Mode == Nop_Mode)//没有任务在上传
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{
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SerialData.clear();
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SerialData.append(msg);
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status.transmit.type = 0;
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status.m_Mode = TransmitMode;//发送模式
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}
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}
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//这个函数类似中断，专门处理接收到的状态
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void terminal::Parse(mavlink_message_t msg)
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{
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switch (msg.msgid) {
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case MAVLINK_MSG_ID_SERIAL_CONTROL :
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mavlink_serial_control_t serial_control;
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mavlink_msg_serial_control_decode(&msg,&serial_control);
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QByteArray str;
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str.append((char *)serial_control.data,serial_control.count);
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emit Recieve(str);
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break;
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}
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}
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//读状态机
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void terminal::ReadStateMachine(void)
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{
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static uint8_t step = 0;
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static uint8_t timeout_count = 0;
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static int time = 0;
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status.m_Mode = _modetype::Nop_Mode;
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}
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//写状态机
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void terminal::WriteStateMachine(void)
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{
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serial_control();
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status.m_Mode = _modetype::Nop_Mode;
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}
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void terminal::serial_control(void)
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{
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static mavlink_message_t msg;
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static mavlink_serial_control_t serial_control;
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serial_control.baudrate = 115200;
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serial_control.count = SerialData.size();
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memcpy(serial_control.data,SerialData.toLocal8Bit().data(),SerialData.size());
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serial_control.flags = SERIAL_CONTROL_FLAG_EXCLUSIVE | SERIAL_CONTROL_FLAG_RESPOND | SERIAL_CONTROL_FLAG_MULTI;
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serial_control.device = SERIAL_CONTROL_DEV_SHELL;
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serial_control.timeout = 5000;
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mavlink_msg_serial_control_encode(GCS_SysID,GCS_CompID, &msg,&serial_control);
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Send(msg);
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}
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