QGC地面站二次开发（一）地面站介绍以及软件框架（2）QGC软件架构介绍

目录

QGCApplication 

QGroundControlQmlGlobal

---

在QGC的main函数里面我们看到

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

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。在该类的QGCApplication的_initCommon()实现名称为QGroundControlQmlGlobal的单例，也就是我们在qml文件中常常看到的QGroundControl 1.0模块了，通过该单例，我们可以在qml中访问C++的接口和一些属性信息。下面我们一起看一下它们的主要实现： 

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",       "Re