135 lines
2.9 KiB
C++
135 lines
2.9 KiB
C++
#ifndef PARAMETERPROCESS_H
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#define PARAMETERPROCESS_H
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#include <QObject>
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#include "QDebug"
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#include "QThread"
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#include "mavlink.h"
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#include "QTimer"
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#include "QTime"
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#include <QtEndian>
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#include "ThreadTemplet.h"
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#ifdef QtMavlinkNode
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#include <mavlinknodeglobal.h>
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class MAVLINKNODESHARED_EXPORT ParameterProcess : public ThreadTemplet{
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#else
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class ParameterProcess : public ThreadTemplet
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{
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#endif
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Q_OBJECT
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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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enum _readtype {
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All = 0,
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One = 1
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};
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typedef struct {
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bool isWaitingforValue;
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_readtype type;
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}_recieve;
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typedef struct {
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uint32_t count;
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//bool isWaiteforRequest;
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bool isWaitingforValue;
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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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}_parameter_;
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public:
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explicit ParameterProcess(QObject *parent = nullptr);
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~ParameterProcess();
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_parameter_ status;
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public slots:
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//读取和写入指令
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void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
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void WriteCmd(uint8_t m_sysid, uint8_t m_compid , const char *id, uint8_t type, float value);
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void WriteCmd2(uint8_t m_sysid, uint8_t m_compid ,QVariant id,QVariant type,QVariant value);
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//线程对外接口
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void Parse(mavlink_message_t msg);
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QVariant setvalue(mavlink_param_value_t param);
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float getvalue(QVariant param,uint8_t type);
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QVariant settype(mavlink_param_value_t param);
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uint8_t gettype(QVariant type);
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QString setid(char *id);
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char * getid(QString id);
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private slots:
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//线程私有接口
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void process();
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//状态机
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void ReadStateMachine(void);
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void WriteStateMachine(void);
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//所有的相关函数
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void set(const char *id, uint8_t type, float value);
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void value(float value);
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void ext_ack(float value);
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void ext_set(const char *id, uint8_t type, float value);
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void ext_value(float value);
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void request_list(void);
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void request_read(const char *id, int16_t index);
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signals:
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void RecieveValue(mavlink_message_t msg);
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private:
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//超时时间（ms）
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int readTimeout = 3000;
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int sendTimeout = 3000;
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mavlink_param_set_t param_set;//
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mavlink_param_union_t param_union;
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mavlink_param_value_t param_value;//
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mavlink_param_map_rc_t param_map;
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mavlink_param_ext_ack_t param_ext_ack;
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mavlink_param_ext_set_t param_ext_set;
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mavlink_param_ext_value_t param_ext_value;
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mavlink_param_request_list_t param_request_list;//
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mavlink_param_request_read_t param_request_read;//
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mavlink_param_union_double_t param_union_double;
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mavlink_param_ext_request_list_t param_ext_request_list;
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mavlink_param_ext_request_read_t param_ext_request_read;
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};
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#endif // PARAMETERPROCESS_H
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