缓存bug修复，状态机完成

2020-03-18 18:49:18 +08:00
parent f5b3fa5a09
commit 082ed2d316
13 changed files with 1232 additions and 190 deletions
@@ -0,0 +1,92 @@
+#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"
+
+
+
+#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 _vehicleAdded(quint32 id);
+
+private:
+    Ui::MAVLinkInspector *ui;
+};
+
+#endif // QGCMAVLINKINSPECTOR_H