gcs-nf/App/ToolsUI/tools_Index0/MAVLinkInspector/MAVLinkInspector.h

#ifndef MAVLINKINSPECTOR_H
#define MAVLINKINSPECTOR_H

#define MAVLINK_USE_MESSAGE_INFO


#include <QMap>
#include <QTimer>
#include "QDateTime"
#include "QWidget"
#include "mavlink.h"
#include "mavlink_get_info.h"

#include "Scope.h"

#ifdef QtMavlinkInspector
#include <mavlinkinspectorglobal.h>

namespace Ui {
    class MAVLinkInspector;
}

class MAVLINKINSPECTORSHARED_EXPORT QTreeWidgetItem;
class MAVLINKINSPECTORSHARED_EXPORT UASInterface;
class MAVLINKINSPECTORSHARED_EXPORT MAVLinkInspector : public QWidget{
#else
namespace Ui {
    class MAVLinkInspector;
}

class QTreeWidgetItem;
class UASInterface;
class MAVLinkInspector : public QWidget
{
#endif

    Q_OBJECT

public:
    explicit MAVLinkInspector(const QString& title, QAction* action, QWidget *parent = nullptr);
    ~MAVLinkInspector();

public slots:
    void receiveMessage(mavlink_message_t message);
    /** @brief Clear all messages */
    void clearView();
    /** @brief Update view */
    void refreshView();
    /** @brief Add component to the list */
    void addComponent(int uas, int component, const QString& name);
    /** @Brief Select a system through the drop down menu */
    void selectDropDownMenuSystem(int dropdownid);
    /** @Brief Select a component through the drop down menu */
    void selectDropDownMenuComponent(int dropdownid);

protected:
    //MAVLinkProtocol *_protocol;     ///< MAVLink instance
    int selectedSystemID;          ///< Currently selected system
    int selectedComponentID;       ///< Currently selected component
    QMap<int, int> systems;     ///< Already observed systems
    QMap<int, int> components; ///< Already observed components
    QMap<int, float> onboardMessageInterval; ///< Stores the onboard selected data rate
    QTimer updateTimer; ///< Only update at 1 Hz to not overload the GUI

    QMap<int, QTreeWidgetItem* > uasTreeWidgetItems; ///< Tree of available uas with their widget
    QMap<int, QMap<int, QTreeWidgetItem*>* > uasMsgTreeItems; ///< Stores the widget of the received message for each UAS

    QMap<int, mavlink_message_t* > uasMessageStorage; ///< Stores the messages for every UAS

    QMap<int, QMap<int, float>* > uasMessageHz; ///< Stores the frequency of each message of each UAS
    QMap<int, QMap<int, unsigned int>* > uasMessageCount; ///< Stores the message count of each message of each UAS

    QMap<int, QMap<int, quint64>* > uasLastMessageUpdate; ///< Stores the time of the last message for each message of each UAS

    /* @brief Update one message field */
    void updateField(mavlink_message_t* msg, const mavlink_message_info_t* msgInfo, int fieldid, QTreeWidgetItem* item);
    /** @brief Rebuild the list of components */
    void rebuildComponentList();
    /* @brief Create a new tree for a new UAS */
    void addUAStoTree(int sysId);

    static const unsigned int updateInterval; ///< The update interval of the refresh function
    static const float updateHzLowpass; ///< The low-pass filter value for the frequency of each message
    
private slots:

    void ScopeClose(void);
    void ScopeClearall(void);

    void _vehicleAdded(quint32 id);

    void on_pushButton_system_clicked();

    void on_treeWidget_itemClicked(QTreeWidgetItem *item, int column);


    void on_treeWidget_itemChanged(QTreeWidgetItem *item, int column);

    void updateParentItem(QTreeWidgetItem *item);

private:
    Ui::MAVLinkInspector *ui;
    Scope *scope = nullptr;
};

#endif // QGCMAVLINKINSPECTOR_H