Thread::Thread(QThread *parent)
    : QThread(parent)
{
    status=false;
    marker=0;
    num=0;
    serialDevice=new TSerialDevice("COM1");
    moveToThread(this);
}

Thread::~Thread()
{
    serialDevice->close();
    delete serialDevice;
    serialDevice=0;
}

void Thread::stop()
{
    status=false;
}

void Thread::run()
{
    status=true;
    if(!(serialDevice->open(QIODevice::ReadOnly|QIODevice::Unbuffered))){
        emit massage(serialDevice->deviceName()+" not open!");
        status=false;
    }
    setCOM();
    emit massage("baudrate=\t"+serialDevice->baudRate());
    while(status){
        read();
    }
    serialDevice->close();
    emit massage("Stop");
    return;
}

void Thread::read()
{
    nav_arr.clear();
    arr.clear();
//    marker=0;
//    num=0;
    arr=serialDevice->read(4);
    marker=(((arr.at(3)<<24)&0xFF000000)|((arr.at(2)<<16)&0xFF0000)
            |((arr.at(1)<<8)&0xFF00)|(arr.at(0)&0xFF));
    switch(marker){
    case 0x75868A53:
        arr+=serialDevice->read(4);
        num=(((arr.at(7)<<24) & 0xFF000000)|((arr.at(6)<<16) & 0xFF0000)|
            ((arr.at(5)<<8) & 0xFF00)|((arr.at(4)<<0) & 0xFF));
        nav_arr=serialDevice->read(88+24*num);
        emit data(nav_arr,marker,num);
        break;
    }
    return;
}