用自定义信号与曹函数来解决在子线程中不能调用QTimer定时器

报错：

           QObject::startTimer: Timers cannot be started from another thread

（此方法区别与其他博主给的方案，其他博主给的方案是在子线程中创建QTimer定时器，我的方法是用信号和槽来处理，此方法的好处是可以在子线程中开启定时器，在其他线程或主线程中关闭定时器）

 如何在ros的 SimpleActionClient的回调函数子线程中调用主线程创建的QTimer定时器

 实例 1 ：

#ifndef VISUALORIENTATION_CarStartServuceClient_H
#define VISUALORIENTATION_CarStartServuceClient_H
 
#include <Eigen/Geometry>
#include <opencv/cxeigen.hpp>
#include <opencv2/opencv.hpp>
#include <QtWidgets>
#include <QDebug>
#include <QComboBox>
#include <QHBoxLayout>
#include <QVBoxLayout>
#include "ros/ros.h"
#include <actionlib/client/simple_action_client.h>
#include "move_base_msgs/MoveBaseAction.h"
#include "move_base_msgs/MoveBaseGoal.h"
#include <ros/package.h>
#include <iostream>
#include <math.h>
#include <qrcode_srvs/qRcode.h>
#include "qrcode_msg/qRcode_msg.h"
#include "geometry_msgs/PoseWithCovarianceStamped.h"
#include <visualization_msgs/Marker.h>
#include <std_msgs/String.h>
#include <QtSql/QSqlDatabase>
#include <QtSql/QSqlQuery>
#include <QtSql/QSqlRecord>
#include <QTimer>
#include "utils/data.h"
#include "disinfect_msg/gono_msg.h"
/**
 * 发送路点目标点
 * 苏凯
 * 2021-03-26
 */
using namespace std;
using namespace cv;
 
class CarStartServuceClient: public QWidget {
Q_OBJECT
public:
    CarStartServuceClient(ros::NodeHandle *node, QWidget *parent = nullptr);
 
    ~CarStartServuceClient() ;
private:
    ros::NodeHandle *node;
    ros::Subscriber subscriber;
  
    //等待5分钟执行下一条送餐指令： 1000*60*5
    QTimer* waitGoalTimer;
    //move_base 控制小车运动
 //   actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> ac_client;
    actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> *ac_client;
private:
 
      //SimpleActionClient 回调函数
    void done_cb(const actionlib::SimpleClientGoalState &state,
                 const move_base_msgs::MoveBaseResult::ConstPtr &result);
//发送SimpleActionClient
void CarStartServuceClient::move_to_goal(double xGoal,double yGoal,double z,double w)；
//自定义信号与槽
signals:
    void backwaitGoalWithTimeSignal();
protected slots:
    void sendwaitGoalWithTimeSignal();
 
};
#endif //VISUALORIENTATION_CarStartServuceClient_H

#include "carStartServuceClient.h"
#include "utils/Rotation3DUtils.h"
#include "utils/data.h"
#include <thread>
 
/**
 * 发送目标点
 * 苏凯
 * 2021-03-26
 */
CarStartServuceClient::CarStartServuceClient(ros::NodeHandle *node, QWidget *parent): QWidget(parent),node(node)  {
 
  
initWidgets();
bindSignal();
initRosCommunication();
}
 
CarStartServuceClient::~CarStartServuceClient(){
 
};
 
 
 
void CarStartServuceClient::initWidgets() {
    //等待5分钟执行下一条送餐指令： 1000*60*5
    waitGoalTimer= new QTimer(this);
    waitGoalTimer->setInterval(1000*60*5);
}
void CarStartServuceClient::bindSignal() {
 
    //等待5分钟执行下一条送餐指令： 1000*60*5
    connect(waitGoalTimer, &QTimer::timeout, this, &CarStartServuceClient::waitGoalWithTime);
 
    //自定义信号与曹, 调用waitGoalTimer 待5分钟执行下一条送餐指令： 1000*60*5 [处理多线程中不能调用QTimer定时器的问题]
connect(this,SIGNAL(backwaitGoalWithTimeSignal()),this,SLOT(sendwaitGoalWithTimeSignal()));
}
 
//自定义曹 调用waitGoalTimer 待5分钟执行下一条送餐指令： 1000*60*5 [处理多线程中不能调用QTimer定时器的问题]
void CarStartServuceClient::sendwaitGoalWithTimeSignal(){
    //等待5分钟执行下一条送餐指令： 1000*60*5
    waitGoalTimer->start();
    cout << "多线程 sendwaitGoalWithTimeSignal！"<< endl;
}
 
//ros通讯
void CarStartServuceClient::initRosCommunication() {
    ac_client = new actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction>(*node,"move_base");
 
}
 
 
//等待5分钟执行下一条送餐指令： 1000*60*5
void CarStartServuceClient::waitGoalWithTime(){
    waitGoalTimer->stop();
    isGoal=true;
    cout << "等待5分钟执行下一条送餐指令"<< endl;
}
 
 
//SimpleActionClient 回调函数【此函数是在子线程中运行的，这个函数里不能直接操作主线程创建的QTimer定时器，需要通过自定义的信号与曹来间接的调用定时器】
void CarStartServuceClient::done_cb(const actionlib::SimpleClientGoalState &state,
                                    const move_base_msgs::MoveBaseResult::ConstPtr &result){
 
    if (state==actionlib::SimpleClientGoalState::SUCCEEDED){//服务端setSucced
  ROS_INFO_STREAM("成功到达—new！");
        cout << "成功到达—new！"<< endl;
        //【子线程中通过自定义的信号与曹间接的调用定时器】
        emit  backwaitGoalWithTimeSignal();
        
    }else if(state==actionlib::SimpleClientGoalState::ABORTED){//setAborted
       ROS_INFO_STREAM("服务出错—new!");
        cout << "服务出错—new!"<< endl;
      
    }else if(state==actionlib::SimpleClientGoalState::PREEMPTED){//setAborted
        ROS_INFO_STREAM("取消—new!");
        cout << "取消—new!"<< endl;
    }
 
 
}
 
//发送SimpleActionClient
void CarStartServuceClient::move_to_goal(double xGoal,double yGoal,double z,double w){
 
    while (not ac_client->waitForServer())
        cout << "等待move_base actionserver启动" << endl;
 
    move_base_msgs::MoveBaseGoal goal;
    //指定地图参考系
    goal.target_pose.header.frame_id = "map";
    goal.target_pose.header.stamp = ros::Time::now();
    //移动目标设定位姿 xyz和四元数
    goal.target_pose.pose.position.x = xGoal;
    goal.target_pose.pose.position.y =yGoal;
    goal.target_pose.pose.position.z= 0;
 
    goal.target_pose.pose.orientation.x = 0.0;
    goal.target_pose.pose.orientation.y = 0.0;
    goal.target_pose.pose.orientation.z = z;
    goal.target_pose.pose.orientation.w = w;
    cout << "发送目标到actionserver ..." << endl;
//发送带有回调函数的SimpleActionClient
    ac_client->sendGoal(goal,boost::bind(&CarStartServuceClient::done_cb,this,_1,_2),boost::bind(&CarStartServuceClient::active_cb,this),boost::bind(&CarStartServuceClient::feedback_cb,this,_1));
 
}

 实例 2 ：自定义信号和槽函数简单示例

class MyMainWindow : public QWidget   
{ 
Q_OBJECT 
public: 
void MyMainWindow();   
void SetNum(int); 
signals:    
void backwaitGoalWithTimeSignal(int);     //自定义信号
public slots: 
void sendwaitGoalWithTimeSignal(int);        //自定义槽
}; 

//调用函数
void MyMainWindow::SetNum(int num) 
{ 
//调用自定义信号执行自定义槽函数
emit backwaitGoalWithTimeSignal(num); 
} 
} 
 
//自定义槽函数
void MyMainWindow::sendwaitGoalWithTimeSignal(int num) 
{ 
   cout<<num<<endl;
}