DroneSimClient/Application/application.cpp - master - vasandi/DroneControl

DroneSimClient/Application/application.cpp

61 строка2 KB

Андрей Васильченко

управление дроном в Airsim

08 июл 2026, 13:29

08 июл 2026, 13:29d1a17d2

#include <QStyleFactory>
#include <QDebug>
#include <QSharedPointer>
#include <QThread>
#ifndef __linux__
#include <windows.h>
#endif
#include "application.h"
#include "MainWindow/mainwindow.h"
#include "Controller/controller.h"
#include "ImageServer/imageserver.h"


Application::Application(int &argc, char **argv)
    : QApplication(argc, argv)
{
#ifndef __linux__
    setlocale(LC_ALL, ".UTF-8");
    SetConsoleOutputCP(CP_UTF8);
#endif

    setStyle(QStyleFactory::create("Fusion"));
}

Application::~Application()
{
}

int Application::run()
{
    // VAS: здесь QSharedPointer только для RAII
    QSharedPointer<Controller> controller = QSharedPointer<Controller>(new Controller());
    if (!controller->setInit()) {
        return -1;
    }

    QSharedPointer<MainWindow> mainWindow = QSharedPointer<MainWindow>(new MainWindow());
    mainWindow->setController(controller.data());
    mainWindow->show();

    QThread *thread = new QThread();
    Q_CHECK_PTR(thread);
    connect(controller.data(), SIGNAL(destroyed()), thread, SLOT(quit()), Qt::QueuedConnection);
    connect(thread, SIGNAL(finished()), thread, SLOT(deleteLater()), Qt::QueuedConnection);
    controller->moveToThread(thread);
    thread->start();

    QSharedPointer<ImageServer> imageServer = QSharedPointer<ImageServer>(new ImageServer());
    thread = new QThread();
    Q_CHECK_PTR(thread);
    connect(controller.data(), &Controller::signalSaveImage,
            imageServer.data(), &ImageServer::slotSave, Qt::QueuedConnection);
    connect(imageServer.data(), &ImageServer::signalAiDataResponse,
            controller.data(), &Controller::slotAiDataResponse, Qt::QueuedConnection);
    connect(imageServer.data(), SIGNAL(destroyed()), thread, SLOT(quit()), Qt::QueuedConnection);
    connect(thread, SIGNAL(finished()), thread, SLOT(deleteLater()), Qt::QueuedConnection);
    imageServer->moveToThread(thread);
    thread->start();

    return exec();
}