gcs-nf/MavLinkNode/replay.cpp

 #include "replay.h"


Replay::Replay(QObject *parent) : ThreadTemplet(parent)
{
    setRunFrq(5);//100

    logFile.clear();

    Parser2_init(&parser);
    Packer2_init(&packer);

}

Replay::~Replay()
{
    qDebug() << "stop replay" << QThread::currentThreadId();
}

void Replay::process()//线程函数
{
    QThread::msleep(5000);//5s后再发送
    quint64 lastTimestamp = 0;
    quint64 currentTimestamp = 0;

    quint64 timeStamp = 0;

    while (true)
    {
        if(isplaying)
        {
            if(!ispause)//不暂停
            {
                 if(file)//已经有文件，那么可以读取
                 {
                     if(position <= file->size())
                     {
                         QByteArray data;
                         file->seek(position);

                         //data = file->readAll();
                         data = file->read(255);

                         for (QByteArray::const_iterator i = data.cbegin(); i != data.cend(); ++i)
                         {
                             position ++;

                             if(0x01 == Parser2_char(&parser,*i))
                             {
                                  QByteArray raw;
                                  QByteArray time;

                                  raw.setRawData((const char*)parser.buff,parser.len);

                                  /*
                                  QString hex;
                                  for (int var = 0; var < raw.size(); ++var) {
                                      hex.append(QString::number((uint8_t)raw[var],16).toUpper() + " ");
                                  }
                                  qDebug() << hex << parser.len << endl;
                                  */

                                  time = raw.left(8);

                                  union {uint8_t B[8];uint64_t DW;}src;

                                  src.B[0] = time.data()[7];
                                  src.B[1] = time.data()[6];
                                  src.B[2] = time.data()[5];
                                  src.B[3] = time.data()[4];
                                  src.B[4] = time.data()[3];
                                  src.B[5] = time.data()[2];
                                  src.B[6] = time.data()[1];
                                  src.B[7] = time.data()[0];

                                  currentTimestamp = src.DW;

                                  if(lastTimestamp == 0)
                                  {
                                      lastTimestamp = currentTimestamp - 50;
                                  }

                                  if(((currentTimestamp - lastTimestamp) >0)&&((currentTimestamp - lastTimestamp) < 5000000))
                                  {
                                     timeStamp = currentTimestamp - lastTimestamp;
                                  }

                                  if((currentTimestamp - lastTimestamp) >0)
                                  {

                                     if((((double)timeStamp)/ multiple) > 50)
                                     {
                                         QThread::usleep(uint64_t(timeStamp / multiple));
                                     }
                                     else
                                     {
                                         QThread::usleep(1000);
                                     }

                                      if(timeStamp < 50)
                                      {
                                          timeStamp = 50;
                                      }
                                  }




                                  buff.clear();
                                  buff = raw.mid(8);

                                  //qDebug() << QString::number((uint8_t)buff[0],16).toUpper();

                                  //读取一帧数据
                                  //将百分比增加，或者位置增加
                                  percentage = (float)position / file->size();
                                  emit currentPercentage(percentage);
                                  emit readReady();

                                  lastTimestamp = currentTimestamp;

                                  break;
                             }
                         }
                     }
                     else
                     {
                         emit replayComplete();
                         isplaying = false;
                     }
                 }
            }
            else
            {
                QThread::msleep(1000);//如果没有播放，那么每秒钟检测一下是否要播放
            }
        }
        else
        {
            QThread::msleep(1000);//如果没有播放，那么每秒钟检测一下是否要播放
        }

        if(isInterruptionRequested())//退出
        {
            break;
        }
    }
}

//类相关函数
QByteArray Replay::readAll(void)
{
    //把buff里面的数据返回
    QByteArray data;

    data.clear();
    if(!buff.isEmpty())
    {
        data.append(buff);
        buff.clear();
    }
    return data;
}


void Replay::setLogfile(const QString name, float percent)
{
    if(name != logFile)
    {
        logFile = name;
        //重置各种参数
        percentage = 0;
        ispause = false;
        isplaying = false;
        position = 0;
        emit currentPercentage(percentage);
        emit readReady();
        emit replayComplete();
        if(!file)
        {
            file = new QFile();
        }

        file->setFileName(logFile);
        if(!file->open(QIODevice::ReadOnly))
        {
            if(!logFile.isEmpty())
            {
                QMessageBox::warning(nullptr,
                                     tr("Error"),
                                     tr("%1").arg(file->errorString()));
            }
            delete file;
            file = nullptr;
        }

    }
    else
    {
        logFile = name;
        //重置各种参数
        percentage = percent;
        ispause = false;
        isplaying = false;
    }

    qDebug() << name << percent;
}

void Replay::setPercentage(float value)
{
    percentage = value;

    qDebug() << "percent"<< value;

    if(file)//已经有文件，那么可以读取
    {
        position = percentage * file->size();
    }

}

void Replay::startReplay(bool flag)
{
    qDebug() << "play flag" << flag;
    if(flag)
    {
        if(ispause == true)
        {
            ispause = false;
        }

        if(isplaying == false)
        {
            isplaying = true;
        }

        //根据百分比设置位置
        if(file)//已经有文件，那么可以读取
        {
            position = percentage * file->size();
        }
        //启动线程
        start();
    }
    else
    {
       ispause = true;
    }
}


void Replay::setMultiple(double value)
{
    qDebug() << "multiple";
    if(value != 0)
    {
         multiple = value;
         qDebug() << "multiple" << multiple;
    }
}