从点击这个 【Connect】按钮开始。
1，main.cc 函数 调用了 自定义的 QGCApplication类->这个类的构造函数中 定义了 QGCToolBox类
_toolbox = new QGCToolbox(this);QGCToolBox类的 构造函数中 定义了 所需要的所有模块类
LinkManager* linkManager(void) { return _linkManager; }// 管理连接，包括串口，tcp，UDP,蓝牙，模拟等 MAVLinkProtocol* mavlinkProtocol(void) { return _mavlinkProtocol; }//对 收到的数据 进行解析 MultiVehicleManager* multiVehicleManager(void) { return _multiVehicleManager; }//对 多架飞机进行管理 QGCMapEngineManager* mapEngineManager(void) { return _mapEngineManager; } QGCImageProvider* imageProvider() { return _imageProvider; } UASMessageHandler* uasMessageHandler(void) { return _uasMessageHandler; } FollowMe* followMe(void) { return _followMe; } QGCPositionManager* qgcPositionManager(void) { return _qgcPositionManager; } VideoManager* videoManager(void) { return _videoManager; } MAVLinkLogManager* mavlinkLogManager(void) { return _mavlinkLogManager; }
2，Connect 按钮点击时-》LinkSettings.qml 文件总 调用 LinkManager总 createConnectedLink函数
QGCButton { text: qsTr("Connect") enabled: _currentSelection && !_currentSelection.link onClicked: { QGroundControl.linkManager.createConnectedLink(_currentSelection) } }3，LinkManager.cc
// This should only be used by Qml codevoid LinkManager::createConnectedLink(LinkConfiguration* config){ for(int i = 0; i < _sharedConfigurations.count(); i++) { SharedLinkConfigurationPointer& sharedConf = _sharedConfigurations[i]; if (sharedConf->name() == config->name()) createConnectedLink(sharedConf); }}4,LinkManager 根据不同的配置文件(LinkConfiguation) 创建不同连接。用到了 工厂模式
LinkInterface* LinkManager::createConnectedLink(SharedLinkConfigurationPointer& config){ if (!config) { qWarning() << "LinkManager::createConnectedLink called with NULL config"; return NULL; } LinkInterface* pLink = NULL; switch(config->type()) {#ifndef NO_SERIAL_LINK case LinkConfiguration::TypeSerial: { SerialConfiguration* serialConfig = dynamic_cast<SerialConfiguration*>(config.data()); if (serialConfig) { pLink = new SerialLink(config); if (serialConfig->usbDirect()) { _activeLinkCheckList.append((SerialLink*)pLink); if (!_activeLinkCheckTimer.isActive()) { _activeLinkCheckTimer.start(); } } } } break;#endif case LinkConfiguration::TypeUdp: pLink = new UDPLink(config); break; case LinkConfiguration::TypeTcp: pLink = new TCPLink(config); break;#ifdef QGC_ENABLE_BLUETOOTH case LinkConfiguration::TypeBluetooth: pLink = new BluetoothLink(config); break;#endif#ifndef __mobile__ case LinkConfiguration::TypeLogReplay: pLink = new LogReplayLink(config); break;#endif#ifdef QT_DEBUG case LinkConfiguration::TypeMock: pLink = new MockLink(config); break;#endif case LinkConfiguration::TypeLast: default: break; } if (pLink) { _addLink(pLink); connectLink(pLink); } return pLink;}
bool LinkManager::connectLink(LinkInterface* link){ if (link) { if (_connectionsSuspendedMsg()) { return false; } return link->_connect(); } else { qWarning() << "Internal error"; return false; }}
5，SerialLink.cc 以串口为例，建立连接后 开始接受原始数据。
void SerialLink::_readBytes(void){ qint64 byteCount = _port->bytesAvailable(); if (byteCount) { QByteArray buffer; buffer.resize(byteCount); _port->read(buffer.data(), buffer.size()); emit bytesReceived(this, buffer); }}接收到的数据 发送给 MAVLinkProtocol 处理。所有的连接 都继承自 LinkInferface。
connect(link, &LinkInterface::bytesReceived, _mavlinkProtocol, &MAVLinkProtocol::receiveBytes);
6，MAVLinkProtocol 收到数据后 开始按照 mavlink协议 进行解包
void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b){ // Since receiveBytes signals cross threads we can end up with signals in the queue // that come through after the link is disconnected. For these we just drop the data // since the link is closed. if (!_linkMgr->containsLink(link)) { return; }// receiveMutex.lock(); mavlink_message_t message; mavlink_status_t status; int mavlinkChannel = link->mavlinkChannel(); static int nonmavlinkCount = 0; static bool checkedUserNonMavlink = false; static bool warnedUserNonMavlink = false; for (int position = 0; position < b.size(); position++) { unsigned int decodeState = mavlink_parse_char(mavlinkChannel, (uint8_t)(b[position]), &message, &status); if (decodeState == 0 && !link->decodedFirstMavlinkPacket()) { nonmavlinkCount++; if (nonmavlinkCount > 2000 && !warnedUserNonMavlink) { //2000 bytes with no mavlink message. Are we connected to a mavlink capable device? if (!checkedUserNonMavlink) { link->requestReset(); checkedUserNonMavlink = true; } else { warnedUserNonMavlink = true; emit protocolStatusMessage(tr("MAVLink Protocol"), tr("There is a MAVLink Version or Baud Rate Mismatch. " "Please check if the baud rates of %1 and your autopilot are the same.").arg(qgcApp()->applicationName())); } } } if (decodeState == 1) { if (!link->decodedFirstMavlinkPacket()) { mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(mavlinkChannel); if (!(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && (mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) { qDebug() << "Switching outbound to mavlink 2.0 due to incoming mavlink 2.0 packet:" << mavlinkStatus << mavlinkChannel << mavlinkStatus->flags; mavlinkStatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1; } link->setDecodedFirstMavlinkPacket(true); } // Log data if (!_logSuspendError && !_logSuspendReplay && _tempLogFile.isOpen()) { uint8_t buf[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)]; // Write the uint64 time in microseconds in big endian format before the message. // This timestamp is saved in UTC time. We are only saving in ms precision because // getting more than this isn't possible with Qt without a ton of extra code. quint64 time = (quint64)QDateTime::currentMSecsSinceEpoch() * 1000; qToBigEndian(time, buf); // Then write the message to the buffer int len = mavlink_msg_to_send_buffer(buf + sizeof(quint64), &message); // Determine how many bytes were written by adding the timestamp size to the message size len += sizeof(quint64); // Now write this timestamp/message pair to the log. QByteArray b((const char*)buf, len); if(_tempLogFile.write(b) != len) { // If there's an error logging data, raise an alert and stop logging. emit protocolStatusMessage(tr("MAVLink Protocol"), tr("MAVLink Logging failed. Could not write to file %1, logging disabled.").arg(_tempLogFile.fileName())); _stopLogging(); _logSuspendError = true; } // Check for the vehicle arming going by. This is used to trigger log save. if (!_vehicleWasArmed && message.msgid == MAVLINK_MSG_ID_HEARTBEAT) { mavlink_heartbeat_t state; mavlink_msg_heartbeat_decode(&message, &state); if (state.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY) { _vehicleWasArmed = true; } } } if (message.msgid == MAVLINK_MSG_ID_HEARTBEAT) { // Start loggin on first heartbeat _startLogging(); mavlink_heartbeat_t heartbeat; mavlink_msg_heartbeat_decode(&message, &heartbeat); emit vehicleHeartbeatInfo(link, message.sysid, message.compid, heartbeat.mavlink_version, heartbeat.autopilot, heartbeat.type); }7，收到 一帧 心跳包 后，MultiVehicleManager 会 实例出 一架飞机
connect(_mavlinkProtocol, &MAVLinkProtocol::vehicleHeartbeatInfo, this, &MultiVehicleManager::_vehicleHeartbeatInfo);void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType){
Vehicle* vehicle = new Vehicle(link, vehicleId, componentId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, _firmwarePluginManager, _joystickManager);}
8，同时 vehicle 会绑定 第6步 收到的mavlink协议。
connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
9，这样 飞机 这个 类（Vehicle） 就收到了来自飞控的所有mavlink 数据。之后 qml界面 可对这些数据进行处理。
void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message){ if (message.sysid != _id && message.sysid != 0) { // We allow RADIO_STATUS messages which come from a link the vehicle is using to pass through and be handled if (!(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS && _containsLink(link))) { return; } } if (!_containsLink(link)) { _addLink(link); } //-- Check link status _messagesReceived++; emit messagesReceivedChanged(); if(!_heardFrom) { if(message.msgid == MAVLINK_MSG_ID_HEARTBEAT) { _heardFrom = true; _compID = message.compid; _messageSeq = message.seq + 1; } } else { if(_compID == message.compid) { uint16_t seq_received = (uint16_t)message.seq; uint16_t packet_lost_count = 0; //-- Account for overflow during packet loss if(seq_received < _messageSeq) { packet_lost_count = (seq_received + 255) - _messageSeq; } else { packet_lost_count = seq_received - _messageSeq; } _messageSeq = message.seq + 1; _messagesLost += packet_lost_count; if(packet_lost_count) emit messagesLostChanged(); } } // Mark this vehicle as active _connectionActive(); // Give the plugin a change to adjust the message contents if (!_firmwarePlugin->adjustIncomingMavlinkMessage(this, &message)) { return; } switch (message.msgid) { case MAVLINK_MSG_ID_HOME_POSITION: _handleHomePosition(message); break; case MAVLINK_MSG_ID_HEARTBEAT: _handleHeartbeat(message); break; case MAVLINK_MSG_ID_RADIO_STATUS: _handleRadioStatus(message); break; case MAVLINK_MSG_ID_RC_CHANNELS: _handleRCChannels(message); break; case MAVLINK_MSG_ID_RC_CHANNELS_RAW: _handleRCChannelsRaw(message); break; case MAVLINK_MSG_ID_BATTERY_STATUS: _handleBatteryStatus(message); break; case MAVLINK_MSG_ID_SYS_STATUS: _handleSysStatus(message); break; case MAVLINK_MSG_ID_RAW_IMU: emit mavlinkRawImu(message); break; case MAVLINK_MSG_ID_SCALED_IMU: emit mavlinkScaledImu1(message); break; case MAVLINK_MSG_ID_SCALED_IMU2: emit mavlinkScaledImu2(message); break; case MAVLINK_MSG_ID_SCALED_IMU3: emit mavlinkScaledImu3(message); break; case MAVLINK_MSG_ID_VIBRATION: _handleVibration(message); break; case MAVLINK_MSG_ID_EXTENDED_SYS_STATE: _handleExtendedSysState(message); break; case MAVLINK_MSG_ID_COMMAND_ACK: _handleCommandAck(message); break; case MAVLINK_MSG_ID_AUTOPILOT_VERSION: _handleAutopilotVersion(link, message); break; case MAVLINK_MSG_ID_WIND_COV: _handleWindCov(message); break; case MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS: _handleHilActuatorControls(message); break; case MAVLINK_MSG_ID_LOGGING_DATA: _handleMavlinkLoggingData(message); break; case MAVLINK_MSG_ID_LOGGING_DATA_ACKED: _handleMavlinkLoggingDataAcked(message); break; case MAVLINK_MSG_ID_GPS_RAW_INT: _handleGpsRawInt(message); break; case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: _handleGlobalPositionInt(message); break; case MAVLINK_MSG_ID_ALTITUDE: _handleAltitude(message); break; case MAVLINK_MSG_ID_VFR_HUD: _handleVfrHud(message); break; case MAVLINK_MSG_ID_SCALED_PRESSURE: _handleScaledPressure(message); break; case MAVLINK_MSG_ID_SCALED_PRESSURE2: _handleScaledPressure2(message); break; case MAVLINK_MSG_ID_SCALED_PRESSURE3: _handleScaledPressure3(message); break; case MAVLINK_MSG_ID_CAMERA_FEEDBACK: _handleCameraFeedback(message); break; case MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED: _handleCameraImageCaptured(message); break; case MAVLINK_MSG_ID_SERIAL_CONTROL: { mavlink_serial_control_t ser; mavlink_msg_serial_control_decode(&message, &ser); emit mavlinkSerialControl(ser.device, ser.flags, ser.timeout, ser.baudrate, QByteArray(reinterpret_cast<const char*>(ser.data), ser.count)); } break; // Following are ArduPilot dialect messages case MAVLINK_MSG_ID_WIND: _handleWind(message); break; } // This must be emitted after the vehicle processes the message. This way the vehicle state is up to date when anyone else // does processing. emit mavlinkMessageReceived(message); _uas->receiveMessage(message);}
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