42 lines
1.2 KiB
C++
42 lines
1.2 KiB
C++
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#include <QDebug>
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#include "DroneCheckConnRun.h"
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#include "protocol/ByteUtilsLowBefore.h"
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#include "QGCApplication.h"
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#include "GDUDroneManager.h"
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#include "GduCmdGenerator.h"
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#include "GDUFlightInfo.h"
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#include "protocol/ProtocolEnum.h"
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#include "EasyLink/easylinkmanager.h"
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DroneCheckConnRun::DroneCheckConnRun(QObject *parent) : QThread(parent)
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{
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}
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void DroneCheckConnRun::setupSendDroneConnectionCmdBlock(SendDroneConnectionCmdBlock block)
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{
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_sendBlock = block;
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}
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void DroneCheckConnRun::run()
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{
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GDUFlightInfo *flightInfo = qgcApp()->toolbox()->gduDroneManager()->gduFlightInfo();
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GDUCmdGenerator *cmdGenerator = qgcApp()->toolbox()->gduDroneManager()->cmdGenerator;
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EasyLinkManager *easyLinkManager = qgcApp()->toolbox()->easyLinkManager();
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while(true){
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QThread::msleep(1000);
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if(flightInfo->drone_connect_state != DroneConnState::DroneConn_None){
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continue;
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}
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QByteArray frameData = cmdGenerator->CmdsendNPSConnect().data;
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if(_sendBlock){
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_sendBlock(frameData);
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}else{
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easyLinkManager->writeCmdDataFull(frameData,QHostAddress("145.192.1.64"),7894);
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//qDebug() <<"write connect msg " << frameData.toHex();
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}
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}
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}
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