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This commit is contained in:
hm
2020-03-23 18:39:05 +08:00
parent 5db211d510
commit 20787ce3fc
8 changed files with 322 additions and 289 deletions
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MavLinkNode/ParameterInspector/ParameterInspector.cpp
+139 -80
View File
@@ -12,7 +12,6 @@ ParameterInspector::ParameterInspector(QWidget *parent) :
// Make sure "All" is an option for both the system and components
ui->systemComboBox->addItem(tr("All"), 0);
ui->componentComboBox->addItem(tr("All"), 0);
ui->ReadcomboBox->addItem(tr("All"),0);
// Set up the column headers for the message listing
QStringList header;
@@ -23,6 +22,8 @@ ParameterInspector::ParameterInspector(QWidget *parent) :
//ui->treeWidget->SelectedClicked
QTimer::singleShot(500,this,SLOT(mReflush()));
}
ParameterInspector::~ParameterInspector()
@@ -30,6 +31,25 @@ ParameterInspector::~ParameterInspector()
delete ui;
}
void ParameterInspector::mReflush()
{
if(isReflush == true)
{
isReflush = false;
ui->progressBar->setValue(currentpersent);
refreshView();
//qDebug() << "reflush the view";
}
QTimer::singleShot(500,this,SLOT(mReflush()));
}
void ParameterInspector::resizeEvent(QResizeEvent * event)
{
Q_UNUSED(event);
@@ -38,64 +58,95 @@ void ParameterInspector::resizeEvent(QResizeEvent * event)
}
//添加一个设备，
void ParameterInspector::addVehicles(uint16_t id)
{
if(!vehicles.keys().contains(id))
{
//如果还没有这个设备，就添加一个
QMap<int, mavlink_param_value_t> param;
vehicles.insert(id,param);
//同时检查combox有没有，没有就添加
if(ui->systemComboBox->findText(tr("Vehicle %1").arg(id)) == (-1))
{
ui->systemComboBox->addItem(tr("Vehicle %1").arg(id), id);
}
else
{
}
}
}
//直接接受整个msg，这个函数传来的只有param_value这一帧，因此不需要识别
void ParameterInspector::appendParameter(mavlink_message_t msg)
{
//查找这个消息归属的设备和部件
if(!systems.values().contains(msg.sysid))//如果不包含，那么新建
if(!vehicles.keys().contains(msg.sysid))
{
systems.insert(msg.sysid,msg.sysid);
//如果还没有这个设备，就添加一个
QMap<int, mavlink_param_value_t> param;
vehicles.insert(msg.sysid,param);
//同时检查combox有没有，没有就添加
if(ui->systemComboBox->findText(tr("Vehicle %1").arg(msg.sysid)) == (-1))
{
ui->systemComboBox->addItem(tr("Vehicle %1").arg(msg.sysid), msg.sysid);
}
}
//解码
mavlink_param_value_t param_value;//
mavlink_msg_param_value_decode(&msg,&param_value);
//如果当前是航点0，那么设置状态条
if(param_value.param_index == 0)
{
ui->progressBar->setMaximum(0);
ui->progressBar->setMaximum(param_value.param_count - 1);
}
//这里可能有bug,程序会死机
//ui->progressBar->setValue((int)param_value.param_index);
currentpersent = param_value.param_index;
//qDebug() << QThread::currentThreadId();
//检查是否包含了该参数，如果没有，那么添加
if(ParameterStorage.keys().contains(param_value.param_index))
{
//如果已经存在，那么覆盖
ParameterStorage.value(param_value.param_index) = param_value.param_value;//这个value需要转换
}
else
{
ParameterStorage.insert(param_value.param_index,&param_value);
}
QMap<int, mavlink_param_value_t> ParameterStorage;
ParameterStorage = vehicles.value(msg.sysid);
ParameterStorage.insert(param_value.param_index,param_value);
vehicles.insert(msg.sysid,ParameterStorage);
//需要刷新一次
isReflush = true;
}
void ParameterInspector::refreshView()
void ParameterInspector::refreshView()//来一个参数更新一次
{
//查看当前选择的uav，下面的参数
QMap<int,QMap<int,mavlink_param_value_t>>::key_iterator ite;
for(ite=vehicles.keyBegin(); ite!=vehicles.keyBegin();++ite)//每一个key下面都是一个设备的所有参数
{
//查找当前设备下的所有参数并显示
}
QMap<int, mavlink_message_t* >::const_iterator ite;
for(ite=uasMessageStorage.constBegin(); ite!=uasMessageStorage.constEnd();++ite)
{
mavlink_message_t* msg = ite.value();
@@ -111,7 +162,48 @@ void ParameterInspector::refreshView()
// Update the message frenquency
// Get the previous frequency for low-pass filtering
float msgHz = 0.0f;
QMap<int, QMap<int, float>* >::const_iterator iteHz = uasMessageHz.find(msg->sysid);
QMap<int, float>* uasMsgHz = iteHz.value();
while((iteHz != uasMessageHz.end()) && (iteHz.key() == msg->sysid))
{
if(iteHz.value()->contains(msg->msgid))
{
uasMsgHz = iteHz.value();
msgHz = iteHz.value()->value(msg->msgid);
break;
}
++iteHz;
}
// Get the number of message received
float msgCount = 0;
QMap<int, QMap<int, unsigned int> * >::const_iterator iter = uasMessageCount.find(msg->sysid);
QMap<int, unsigned int>* uasMsgCount = iter.value();
while((iter != uasMessageCount.end()) && (iter.key()==msg->sysid))
{
if(iter.value()->contains(msg->msgid))
{
msgCount = (float) iter.value()->value(msg->msgid);
uasMsgCount = iter.value();
break;
}
++iter;
}
// Compute the new low-pass filtered frequency and update the message count
msgHz = (1.0f-updateHzLowpass)* msgHz + updateHzLowpass*msgCount/((float)updateInterval/1000.0f);
uasMsgHz->insert(msg->msgid,msgHz);
uasMsgCount->insert(msg->msgid,(unsigned int) 0);
// Update the tree view
QString messageName("%1 (%2 Hz, #%3)");
messageName = messageName.arg(msgInfo->name).arg(msgHz, 3, 'f', 1).arg(msg->msgid);
addUAStoTree(msg->sysid);
// Look for the tree for the UAS sysid
QMap<int, QTreeWidgetItem*>* msgTreeItems = uasMsgTreeItems.value(msg->sysid);
@@ -146,60 +238,27 @@ void ParameterInspector::refreshView()
message->setData(0, Qt::DisplayRole, QVariant(messageName));
for (unsigned int i = 0; i < msgInfo->num_fields; ++i)
{
updateField(msg, msgInfo, i, message->child(i));
// updateField(msg, msgInfo, i, message->child(i));
}
}
}
}
void ParameterInspector::addItem(void)//添加
void ParameterInspector::on_ReadButton_clicked()
{
uint8_t m_sysid = 0;
uint8_t m_compid = 1;
uint8_t m_type = 0;
m_sysid = ui->systemComboBox->currentData().toInt();
qDebug() << "m_sysid" << m_sysid;
emit ReadCmd(m_sysid,m_compid,m_type);
}
void ParameterInspector::delItem(void)//删除
{
}
void ParameterInspector::insItem(void)//插入
{
}
QStandardItem *ParameterInspector::getItem(QStandardItemModel *model, QString s)
{
QStandardItem *getitem = nullptr;
return getitem;
}
QStandardItem *ParameterInspector::getItem(QStandardItem *item, QString s)
{
if(item == nullptr)
return nullptr;
qDebug() << tr("fine %1").arg(item->text());
QStandardItem *getitem = nullptr;
return getitem;
}
MavLinkNode/ParameterInspector/ParameterInspector.h
+34 -19
View File
@@ -6,7 +6,7 @@
#include <QObject>
#include <QWidget>
#include "QThread"
#include "QPushButton"
#include "QTreeView"
#include "QDebug"
@@ -14,7 +14,7 @@
#include "QMap"
#include <QList>
#include "QStandardItemModel"
#include "QTimer"
@@ -108,41 +108,56 @@ public:
void refreshView();
void addItem(void);
void delItem(void);
void insItem(void);
QStandardItem * getItem(QStandardItemModel *model, QString s);
QStandardItem * getItem(QStandardItem *item, QString s);
signals:
void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count);
public slots:
void addVehicles(uint16_t id);
void appendParameter(mavlink_message_t msg);
private slots:
void mReflush();
void on_ReadButton_clicked();
private:
int selectedSystemID; ///< Currently selected system
int selectedComponentID; ///< Currently selected component
QMap<int, int> systems; ///< Already observed systems
bool isReflush = false;
uint16_t currentpersent;
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, 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_param_value_t* > ParameterStorage; ///< Stores the parameter for every UAS
//QMap<int, mavlink_param_value_t* > ParameterStorage; ///< Stores the parameter for every UAS
QMap<int,QMap<int,QMap<int,mavlink_param_value_t*>*>> vehicles;
QMap<int,QMap<int,mavlink_param_value_t>> vehicles;
Ui::ParameterInspector *ui;
MavLinkNode/ParameterInspector/ParameterInspector.h.autosave
-151
View File
@@ -1,151 +0,0 @@
#ifndef PARAMETERINSPECTOR_H
#define PARAMETERINSPECTOR_H
#include <QWidget>
#include <QObject>
#include <QWidget>
#include "QPushButton"
#include "QTreeView"
#include "QDebug"
#include "QMap"
#include <QList>
#include "QStandardItemModel"
#include "QDateTime"
#include "mavlink.h"
#include "mavlink_get_info.h"
#include "QHeaderView"
#include "QTreeWidgetItem"
#ifdef QtMavlinkNode
#include <mavlinknodeglobal.h>
namespace Ui {
class ParameterInspector;
}
class MAVLINKNODESHARED_EXPORT ParameterInspector : public QWidget{
#else
namespace Ui {
class ParameterInspector;
}
class ParameterInspector : public QWidget
{
#endif
Q_OBJECT
public:
explicit ParameterInspector(QWidget *parent = nullptr);
~ParameterInspector();
void resizeEvent(QResizeEvent * event);
const QHash<int, QString> _mavlinkCompIdHash {
{ MAV_COMP_ID_CAMERA, "Camera1" },
{ MAV_COMP_ID_CAMERA2, "Camera2" },
{ MAV_COMP_ID_CAMERA3, "Camera3" },
{ MAV_COMP_ID_CAMERA4, "Camera4" },
{ MAV_COMP_ID_CAMERA5, "Camera5" },
{ MAV_COMP_ID_CAMERA6, "Camera6" },
{ MAV_COMP_ID_SERVO1, "Servo1" },
{ MAV_COMP_ID_SERVO2, "Servo2" },
{ MAV_COMP_ID_SERVO3, "Servo3" },
{ MAV_COMP_ID_SERVO4, "Servo4" },
{ MAV_COMP_ID_SERVO5, "Servo5" },
{ MAV_COMP_ID_SERVO6, "Servo6" },
{ MAV_COMP_ID_SERVO7, "Servo7" },
{ MAV_COMP_ID_SERVO8, "Servo8" },
{ MAV_COMP_ID_SERVO9, "Servo9" },
{ MAV_COMP_ID_SERVO10, "Servo10" },
{ MAV_COMP_ID_SERVO11, "Servo11" },
{ MAV_COMP_ID_SERVO12, "Servo12" },
{ MAV_COMP_ID_SERVO13, "Servo13" },
{ MAV_COMP_ID_SERVO14, "Servo14" },
{ MAV_COMP_ID_GIMBAL, "Gimbal1" },
{ MAV_COMP_ID_ADSB, "ADSB" },
{ MAV_COMP_ID_OSD, "OSD" },
{ MAV_COMP_ID_FLARM, "FLARM" },
{ MAV_COMP_ID_IMU, "IMU1" },
{ MAV_COMP_ID_IMU_2, "IMU2" },
{ MAV_COMP_ID_IMU_3, "IMU3" },
{ MAV_COMP_ID_GPS, "GPS1" },
{ MAV_COMP_ID_GPS2, "GPS2" }
};
typedef struct{
char name[16];
union{
double *d;
float *s;
uint32_t *I;
int32_t *i;
uint16_t *H;
int16_t *h;
uint8_t *B;
int8_t *b;
} val_ptr;
MAV_PARAM_TYPE typ;
} _param_props;
_param_props param_props;
void refreshView();
void addItem(void);
void delItem(void);
void insItem(void);
QStandardItem * getItem(QStandardItemModel *model, QString s);
QStandardItem * getItem(QStandardItem *item, QString s);
signals:
public slots:
void appendParameter(mavlink_message_t msg);
private:
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, 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_param_value_t* > ParameterStorage; ///< Stores the parameter for every UAS
QMap<int,QMap<int,mavlink_param_value_t*>*> vehicles;
Ui::ParameterInspector *ui;
};
#endif // PARAMETERINSPECTOR_H
MavLinkNode/ParameterInspector/ParameterInspector.ui
+61 -14
View File
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>531</width>
<height>421</height>
<width>627</width>
<height>416</height>
</rect>
</property>
<property name="windowTitle">
@@ -35,7 +35,14 @@
</widget>
</item>
<item>
<widget class="QComboBox" name="systemComboBox"/>
<widget class="QComboBox" name="systemComboBox">
<property name="minimumSize">
<size>
<width>90</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_2">
@@ -54,6 +61,32 @@
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="ReadButton">
<property name="maximumSize">
<size>
<width>75</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>read</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
@@ -82,15 +115,14 @@
</item>
<item row="0" column="1" rowspan="2">
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="1">
<widget class="QPushButton" name="ReadButton">
<property name="text">
<string>read</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QPushButton" name="WriteButton">
<property name="maximumSize">
<size>
<width>75</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>write</string>
</property>
@@ -98,6 +130,12 @@
</item>
<item row="1" column="1">
<widget class="QPushButton" name="SearchButton">
<property name="maximumSize">
<size>
<width>75</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>search</string>
</property>
@@ -105,6 +143,12 @@
</item>
<item row="1" column="0">
<widget class="QLineEdit" name="lineEdit_2">
<property name="maximumSize">
<size>
<width>95</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>id</string>
</property>
@@ -115,19 +159,22 @@
</item>
<item row="2" column="0">
<widget class="QLineEdit" name="lineEdit">
<property name="maximumSize">
<size>
<width>95</width>
<height>16777215</height>
</size>
</property>
<property name="frame">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="ReadcomboBox"/>
</item>
<item row="3" column="0" colspan="2">
<widget class="QLabel" name="label_3">
<property name="maximumSize">
<size>
<width>16777215</width>
<width>180</width>
<height>16777215</height>
</size>
</property>