【无人机】地面站QGC：软件架构

比眉伴天荒 2022-10-23 08:20 350阅读 0赞

## 版本信息 ##

<table> 
 <thead> 
  <tr> 
   <th>软件</th> 
   <th>版本</th> 
  </tr> 
 </thead> 
 <tbody> 
  <tr> 
   <td>QGC</td> 
   <td>V3.4</td> 
  </tr> 
  <tr> 
   <td>Qt</td> 
   <td>5.11.0</td> 
  </tr> 
  <tr> 
   <td>Visual Studio</td> 
   <td>2015</td> 
  </tr> 
 </tbody> 
</table>

--------------------

## 软件架构 ##

// main.cc内209行

QGCApplication* app = new QGCApplication(argc, argv, runUnitTests)

QGCApplication在QGCApplication.h内定义。

`QGCApplication`是QGC数据交互的主体，QGC将相关的类在其中构造并将App作为一个全局的静态变量通过`qgcApp()`来访问。

QGCApplication.cc内定义`qgcApp()`。

/// @brief Returns the QGCApplication object singleton.
    QGCApplication* qgcApp(void)
    { 
        return QGCApplication::_app;
    }

在该类的`QGCApplication`的`_initCommon()`实现名称为`QGroundControlQmlGlobal`的单例，也就是qml文件中常常看到的`QgroundControl 1.0`模块，通过该单例，可以在qml中访问C++的接口和一些属性信息。

void QGCApplication::_initCommon(void)
    { 
        QSettings settings;
    
        // Register our Qml objects
    
        qmlRegisterType<QGCPalette>     ("QGroundControl.Palette", 1, 0, "QGCPalette");
        qmlRegisterType<QGCMapPalette>  ("QGroundControl.Palette", 1, 0, "QGCMapPalette");
    
        qmlRegisterUncreatableType<CoordinateVector>    ("QGroundControl",                      1, 0, "CoordinateVector",       "Reference only");
        qmlRegisterUncreatableType<QmlObjectListModel>  ("QGroundControl",                      1, 0, "QmlObjectListModel",     "Reference only");
        qmlRegisterUncreatableType<MissionCommandTree>  ("QGroundControl",                      1, 0, "MissionCommandTree",     "Reference only");
        qmlRegisterUncreatableType<CameraCalc>          ("QGroundControl",                      1, 0, "CameraCalc",             "Reference only");
    
        qmlRegisterUncreatableType<AutoPilotPlugin>     ("QGroundControl.AutoPilotPlugin",      1, 0, "AutoPilotPlugin",        "Reference only");
        qmlRegisterUncreatableType<VehicleComponent>    ("QGroundControl.AutoPilotPlugin",      1, 0, "VehicleComponent",       "Reference only");
        qmlRegisterUncreatableType<Vehicle>             ("QGroundControl.Vehicle",              1, 0, "Vehicle",                "Reference only");
        qmlRegisterUncreatableType<MissionItem>         ("QGroundControl.Vehicle",              1, 0, "MissionItem",            "Reference only");
        qmlRegisterUncreatableType<MissionManager>      ("QGroundControl.Vehicle",              1, 0, "MissionManager",         "Reference only");
        qmlRegisterUncreatableType<ParameterManager>    ("QGroundControl.Vehicle",              1, 0, "ParameterManager",       "Reference only");
        qmlRegisterUncreatableType<QGCCameraManager>    ("QGroundControl.Vehicle",              1, 0, "QGCCameraManager",       "Reference only");
        qmlRegisterUncreatableType<QGCCameraControl>    ("QGroundControl.Vehicle",              1, 0, "QGCCameraControl",       "Reference only");
        qmlRegisterUncreatableType<LinkInterface>       ("QGroundControl.Vehicle",              1, 0, "LinkInterface",          "Reference only");
        qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",      1, 0, "JoystickManager",        "Reference only");
        qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",      1, 0, "Joystick",               "Reference only");
        qmlRegisterUncreatableType<QGCPositionManager>  ("QGroundControl.QGCPositionManager",   1, 0, "QGCPositionManager",     "Reference only");
        qmlRegisterUncreatableType<QGCMapPolygon>       ("QGroundControl.FlightMap",            1, 0, "QGCMapPolygon",          "Reference only");
        qmlRegisterUncreatableType<MissionController>   ("QGroundControl.Controllers",          1, 0, "MissionController",      "Reference only");
        qmlRegisterUncreatableType<GeoFenceController>  ("QGroundControl.Controllers",          1, 0, "GeoFenceController",     "Reference only");
        qmlRegisterUncreatableType<RallyPointController>("QGroundControl.Controllers",          1, 0, "RallyPointController",   "Reference only");
        qmlRegisterUncreatableType<VisualMissionItem>   ("QGroundControl.Controllers",          1, 0, "VisualMissionItem",      "Reference only");
        qmlRegisterUncreatableType<FactValueSliderListModel>("QGroundControl.FactControls",     1, 0, "FactValueSliderListModel","Reference only");
    
        qmlRegisterType<ParameterEditorController>      ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
        qmlRegisterType<ESP8266ComponentController>     ("QGroundControl.Controllers", 1, 0, "ESP8266ComponentController");
        qmlRegisterType<ScreenToolsController>          ("QGroundControl.Controllers", 1, 0, "ScreenToolsController");
        qmlRegisterType<PlanMasterController>           ("QGroundControl.Controllers", 1, 0, "PlanMasterController");
        qmlRegisterType<ValuesWidgetController>         ("QGroundControl.Controllers", 1, 0, "ValuesWidgetController");
        qmlRegisterType<QGCFileDialogController>        ("QGroundControl.Controllers", 1, 0, "QGCFileDialogController");
        qmlRegisterType<RCChannelMonitorController>     ("QGroundControl.Controllers", 1, 0, "RCChannelMonitorController");
        qmlRegisterType<JoystickConfigController>       ("QGroundControl.Controllers", 1, 0, "JoystickConfigController");
        qmlRegisterType<LogDownloadController>          ("QGroundControl.Controllers", 1, 0, "LogDownloadController");
        qmlRegisterType<SyslinkComponentController>     ("QGroundControl.Controllers", 1, 0, "SyslinkComponentController");
        qmlRegisterType<EditPositionDialogController>   ("QGroundControl.Controllers", 1, 0, "EditPositionDialogController");
        qmlRegisterType<QGCMapCircle>                   ("QGroundControl.FlightMap",   1, 0, "QGCMapCircle");
    #ifndef __mobile__
        qmlRegisterType<ViewWidgetController>           ("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
        qmlRegisterType<CustomCommandWidgetController>  ("QGroundControl.Controllers", 1, 0, "CustomCommandWidgetController");
        qmlRegisterType<FirmwareUpgradeController>      ("QGroundControl.Controllers", 1, 0, "FirmwareUpgradeController");
        qmlRegisterType<GeoTagController>               ("QGroundControl.Controllers", 1, 0, "GeoTagController");
        qmlRegisterType<MavlinkConsoleController>       ("QGroundControl.Controllers", 1, 0, "MavlinkConsoleController");
    #endif
    
        // Register Qml Singletons
        qmlRegisterSingletonType<QGroundControlQmlGlobal>   ("QGroundControl",                          1, 0, "QGroundControl",         qgroundcontrolQmlGlobalSingletonFactory);
        qmlRegisterSingletonType<ScreenToolsController>     ("QGroundControl.ScreenToolsController",    1, 0, "ScreenToolsController",  screenToolsControllerSingletonFactory);
        qmlRegisterSingletonType<KMLFileHelper>             ("QGroundControl.KMLFileHelper",            1, 0, "KMLFileHelper",          kmlFileHelperSingletonFactory);

将QGC内的主要数据注册为qml内的框架。

### QGCApplication ###

构造了一个`QGCToolbox* _toolbox`，是一个主要模块，是QGC内很大的一个工具箱。在QGCToolBox的构造函数中，我们可以看到如下代码：

{ 
        // SettingsManager must be first so settings are available to any subsequent tools
        _settingsManager =          new SettingsManager(app, this);
    
        //-- Scan and load plugins
        _scanAndLoadPlugins(app);
        _audioOutput =              new AudioOutput             (app, this);  // 语音播报
        _factSystem =               new FactSystem              (app, this);
        _firmwarePluginManager =    new FirmwarePluginManager   (app, this);
    #ifndef __mobile__
        _gpsManager =               new GPSManager              (app, this);
    #endif
        _imageProvider =            new QGCImageProvider        (app, this);
        _joystickManager =          new JoystickManager         (app, this);  //虚拟遥感
        _linkManager =              new LinkManager             (app, this);  //连接管理，UDP、TCP、串口、MOCKLink
        _mavlinkProtocol =          new MAVLinkProtocol         (app, this);  //MAVLink消息处理
        _missionCommandTree =       new MissionCommandTree      (app, this);  //Mission默认配置
        _multiVehicleManager =      new MultiVehicleManager     (app, this);  //飞机管理
        _mapEngineManager =         new QGCMapEngineManager     (app, this);  //地图引擎
        _uasMessageHandler =        new UASMessageHandler       (app, this);  //UAS
        _qgcPositionManager =       new QGCPositionManager      (app, this);
        _followMe =                 new FollowMe                (app, this);
        _videoManager =             new VideoManager            (app, this);
        _mavlinkLogManager =        new MAVLinkLogManager       (app, this);   //MAVLink日志管理
    }

在其中实现的类均继承于QGCTool，其状态都维护于protected的\_toolbox变量，在其他模块，我们可以简单通过qgcApp()->toolbox()来访问其中的变量  
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## QGroundControlQmlGlobal ##

它将需要在前端访问的C++类注册为它的属性，如下面代码所示：

Q_PROPERTY(LinkManager*         linkManager         READ linkManager            CONSTANT)
        Q_PROPERTY(MultiVehicleManager* multiVehicleManager READ multiVehicleManager    CONSTANT)
        Q_PROPERTY(QGCMapEngineManager* mapEngineManager    READ mapEngineManager       CONSTANT)
        Q_PROPERTY(QGCPositionManager*  qgcPositionManger   READ qgcPositionManger      CONSTANT)
        Q_PROPERTY(MissionCommandTree*  missionCommandTree  READ missionCommandTree     CONSTANT)
        Q_PROPERTY(VideoManager*        videoManager        READ videoManager           CONSTANT)
        Q_PROPERTY(MAVLinkLogManager*   mavlinkLogManager   READ mavlinkLogManager      CONSTANT)
        Q_PROPERTY(QGCCorePlugin*       corePlugin          READ corePlugin             CONSTANT)
        Q_PROPERTY(SettingsManager*     settingsManager     READ settingsManager        CONSTANT)
        Q_PROPERTY(FactGroup*           gpsRtk              READ gpsRtkFactGroup        CONSTANT)

同时将toolBox中的C++类指针指向它内部的指针，从而保证C++和qml前端访问相同的信息。

void QGroundControlQmlGlobal::setToolbox(QGCToolbox* toolbox)
    { 
        QGCTool::setToolbox(toolbox);
    
        _linkManager            = toolbox->linkManager();
        _multiVehicleManager    = toolbox->multiVehicleManager();
        _mapEngineManager       = toolbox->mapEngineManager();
        _qgcPositionManager     = toolbox->qgcPositionManager();
        _missionCommandTree     = toolbox->missionCommandTree();
        _videoManager           = toolbox->videoManager();
        _mavlinkLogManager      = toolbox->mavlinkLogManager();
        _corePlugin             = toolbox->corePlugin();
        _firmwarePluginManager  = toolbox->firmwarePluginManager();
        _settingsManager        = toolbox->settingsManager();
        ......     
    }

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