因为项目进度排期较紧，并且觉得之前在代码中添加注释的方法有些生硬用处不大，所以从本片开始，着重介绍类的内容和功能，只对重要代码进行粘贴。
Comm文件夹下有众多的类
这个类处理链路的配置，查看属性可以看到有名称，具体的链路接口类，链路类型，是否动态的，是否自动连接的等等。
Q_PROPERTY(QString name READ name WRITE setName NOTIFY nameChanged)
Q_PROPERTY(LinkInterface* link READ link NOTIFY linkChanged)
Q_PROPERTY(LinkType linkType READ type CONSTANT)
Q_PROPERTY(bool dynamic READ isDynamic WRITE setDynamic NOTIFY dynamicChanged)
Q_PROPERTY(bool autoConnect READ isAutoConnect WRITE setAutoConnect NOTIFY autoConnectChanged)
Q_PROPERTY(QString settingsURL READ settingsURL CONSTANT)
Q_PROPERTY(QString settingsTitle READ settingsTitle CONSTANT)
Q_PROPERTY(bool highLatency READ isHighLatency WRITE setHighLatency NOTIFY highLatencyChanged)以下是qgc支持的链路类型
/// The link types supported by QGC QGC支持的链路类型
/// Any changes here MUST be reflected in LinkManager::linkTypeStrings() 这里的任何更改都必须反映在LinkManager::linkTypeStrings()中
enum LinkType {
#ifndef NO_SERIAL_LINK
TypeSerial, ///< Serial Link 串口
#endif
TypeUdp, ///< UDP Link
TypeTcp, ///< TCP Link
#ifdef QGC_ENABLE_BLUETOOTH
TypeBluetooth, ///< Bluetooth Link 蓝牙
#endif
#ifdef QT_DEBUG
TypeMock, ///< Mock Link for Unitesting
#endif
TypeLogReplay,
TypeLast // Last type value (type >= TypeLast == invalid)
};
Q_ENUM(LinkType)其中类中有一个创建链路配置的工厂方法
/*!
Configuration Factory
@return A new instance of the given type
*/
LinkConfiguration* LinkConfiguration::createSettings(int type, const QString& name)
{
LinkConfiguration* config = nullptr;
switch(type) {
#ifndef NO_SERIAL_LINK
case LinkConfiguration::TypeSerial:
config = new SerialConfiguration(name);
break;
#endif
case LinkConfiguration::TypeUdp:
config = new UDPConfiguration(name);
break;
case LinkConfiguration::TypeTcp:
config = new TCPConfiguration(name);
break;
#ifdef QGC_ENABLE_BLUETOOTH
case LinkConfiguration::TypeBluetooth:
config = new BluetoothConfiguration(name);
break;
#endif
case LinkConfiguration::TypeLogReplay:
config = new LogReplayLinkConfiguration(name);
break;
#ifdef QT_DEBUG
case LinkConfiguration::TypeMock:
config = new MockConfiguration(name);
break;
#endif
}
return config;
}根据不同的链路类型创建不同的链路配置类。
该类定义用于与地面站应用程序通信的所有链接的接口。继承自thread，是一个用于通信的类。
该类负责组织物理链路。它可以管理任意链接，并负责连接它们，以及分配正确的协议实例将链接数据传输到应用程序。
该类的文件中还定义了一个类叫做LogReplayLinkConfiguration，继承自上边的LinkConfiguration，是针对本协议的定义的链接配置类。
第二个类就是LogReplayLink，他继承自上边的LinkInterface，用于专门处理logreplay出的信息。
此类处理所有设备的mavlink协议相关的操作
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include <QObject>
#include <QMutex>
#include <QString>
#include <QTimer>
#include <QFile>
#include <QMap>
#include <QByteArray>
#include <QLoggingCategory>
#include "LinkInterface.h"
#include "QGCMAVLink.h"
#include "QGC.h"
#include "QGCTemporaryFile.h"
#include "QGCToolbox.h"
class LinkManager;
class MultiVehicleManager;
class QGCApplication;
Q_DECLARE_LOGGING_CATEGORY(MAVLinkProtocolLog)
/**
* @brief MAVLink micro air vehicle protocol reference implementation.
* MAVLink微型飞行器协议参考实现。
* MAVLink is a generic communication protocol for micro air vehicles.MAVLink是一种用于微型飞行器的通用通信协议。
* for more information, please see the official website: https://mavlink.io更多信息请访问官方网站:https://mavlink.io
**/
class MAVLinkProtocol : public QGCTool
{
Q_OBJECT
public:
MAVLinkProtocol(QGCApplication* app, QGCToolbox* toolbox);
~MAVLinkProtocol();
/** @brief Get the human-friendly name of this protocol 获取此协议的人类友好的名称 */
QString getName();
/** @brief Get the system id of this application 获取此应用程序的系统id*/
int getSystemId() const;
/** @brief Get the component id of this application 获取此应用程序的组件id*/
int getComponentId();
/** @brief Get protocol version check state 获取协议版本检查状态*/
bool versionCheckEnabled() const {
return m_enable_version_check;
}
/** @brief Get the protocol version 获取协议版本*/
int getVersion() {
return MAVLINK_VERSION;
}
/** @brief Get the currently configured protocol version 获取当前配置的协议版本*/
unsigned getCurrentVersion() const{
return _current_version;
}
/**
* Reset the counters for all metadata for this link.
* 重置此链接的所有元数据的计数器
*/
virtual void resetMetadataForLink(LinkInterface *link);
/// Suspend/Restart logging during replay.在重播期间暂停/重新启动日志记录
void suspendLogForReplay(bool suspend);
/// Set protocol version 设置协议版本
void setVersion(unsigned version);
// Override from QGCTool
virtual void setToolbox(QGCToolbox *toolbox);
public slots:
/** @brief Receive bytes from a communication interface 从通信接口接收字节*/
void receiveBytes(LinkInterface* link, QByteArray b);
/** @brief Log bytes sent from a communication interface 从通信接口发送的日志字节*/
void logSentBytes(LinkInterface* link, QByteArray b);
/** @brief Set the system id of this application 设置此应用程序的系统id */
void setSystemId(int id);
/** @brief Enable / disable version check 启用/禁用版本检查*/
void enableVersionCheck(bool enabled);
/** @brief Load protocol settings 加载协议设置*/
void loadSettings();
/** @brief Store protocol settings 存储协议设置*/
void storeSettings();
/// @brief Deletes any log files which are in the temp directory 删除临时目录中的所有日志文件
static void deleteTempLogFiles(void);
/// Checks for lost log files 检查丢失的日志文件
void checkForLostLogFiles(void);
protected:
bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC 开启MAV和QGC版本匹配检查
uint8_t lastIndex[256][256]; ///< Store the last received sequence ID for each system/componenet pair 为每个系统/组件对存储最后接收到的序列ID
uint8_t firstMessage[256][256]; ///< First message flag 第一个消息标志
uint64_t totalReceiveCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< The total number of successfully received messages 成功接收的消息总数
uint64_t totalLossCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Total messages lost during transmission. 传输过程中丢失的消息总数。
float runningLossPercent[MAVLINK_COMM_NUM_BUFFERS]; ///< Loss rate 丢失率
mavlink_message_t _message; //消息
mavlink_status_t _status; //消息状态
bool versionMismatchIgnore;
int systemId;
unsigned _current_version;
int _radio_version_mismatch_count;
signals:
/// Heartbeat received on link 链路上收到心跳
void vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleFirmwareType, int vehicleType);
/** @brief Message received and directly copied via signal 接收到的信息通过信号直接复制*/
void messageReceived(LinkInterface* link, mavlink_message_t message);
/** @brief Emitted if version check is enabled / disabled 如果启用/禁用版本检查，则触发*/
void versionCheckChanged(bool enabled);
/** @brief Emitted if a message from the protocol should reach the user 当来自协议的消息到达用户时发出*/
void protocolStatusMessage(const QString& title, const QString& message);
/** @brief Emitted if a new system ID was set 如果设置了新的系统ID，则触发*/
void systemIdChanged(int systemId);
void mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent);
/**
* @brief Emitted if a new radio status packet received 当接收到一个新的无线电状态包时发出
*
* @param rxerrors receive errors
* @param fixed count of error corrected packets
* @param rssi local signal strength in dBm
* @param remrssi remote signal strength in dBm
* @param txbuf how full the tx buffer is as a percentage
* @param noise background noise level
* @param remnoise remote background noise level
*/
void radioStatusChanged(LinkInterface* link, unsigned rxerrors, unsigned fixed, int rssi, int remrssi,
unsigned txbuf, unsigned noise, unsigned remnoise);
/// Emitted when a temporary telemetry log file is ready for saving 当临时遥测日志文件准备好保存时发出
void saveTelemetryLog(QString tempLogfile);
/// Emitted when a telemetry log is started to save. 当遥测日志开始保存时发出
void checkTelemetrySavePath(void);
private slots:
void _vehicleCountChanged(void);
private:
bool _closeLogFile(void);
void _startLogging(void);
void _stopLogging(void);
bool _logSuspendError; ///< true: Logging suspended due to error 日志记录由于错误而挂起
bool _logSuspendReplay; ///< true: Logging suspended due to replay 由于重放，日志暂停
bool _vehicleWasArmed; ///< true: Vehicle was armed during log sequence 在日志序列中，车辆被武装起来
QGCTemporaryFile _tempLogFile; ///< File to log to
static const char* _tempLogFileTemplate; ///< Template for temporary log file
static const char* _logFileExtension; ///< Extension for log files
LinkManager* _linkMgr;
MultiVehicleManager* _multiVehicleManager;
};
后面的文件类似都是协议管理消息的收发，因此不再赘述。
