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2020-06-11 17:32:58 +08:00
parent 0b540377d8
commit ca6b64172b
13 changed files with 1045 additions and 1009 deletions
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MavLinkNode/MAVLinkInspector/MAVLinkInspector.cc → App/ToolsUI/tools_Index0/MAVLinkInspector/MAVLinkInspector.cc
+716 -700
View File
@@ -1,700 +1,716 @@

#include "MAVLinkInspector.h"
#include "ui_MAVLinkInspector.h"
#include <QList>
#include <QDebug>
const float MAVLinkInspector::updateHzLowpass = 0.2f;
const unsigned int MAVLinkInspector::updateInterval = 1000U;
MAVLinkInspector::MAVLinkInspector(const QString& title, QAction* action,QWidget *parent) :
selectedSystemID(0),
selectedComponentID(0),
ui(new Ui::MAVLinkInspector)
{
Q_UNUSED(action)
Q_UNUSED(parent)
ui->setupUi(this);
setWindowTitle(title);
// Make sure "All" is an option for both the system and components
ui->systemComboBox->addItem(tr("All"), 0);
ui->componentComboBox->addItem(tr("All"), 0);
// Set up the column headers for the message listing
QStringList header;
header << tr("Name");
header << tr("Value");
header << tr("Type");
ui->treeWidget->setHeaderLabels(header);
ui->treeWidget->header()->setStretchLastSection(true);
//ui->treeWidget->header()->resizeSection();
// Connect the UI
connect(ui->systemComboBox, static_cast<void (QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
this, &MAVLinkInspector::selectDropDownMenuSystem);
connect(ui->componentComboBox, static_cast<void (QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
this, &MAVLinkInspector::selectDropDownMenuComponent);
connect(ui->clearButton, &QPushButton::clicked, this, &MAVLinkInspector::clearView);
// Connect external connections
//connect(qApp()->toolbox()->multiVehicleManager(), &MAVLinkInspector::vehicleAdded, this, &QGCMAVLinkInspector::_vehicleAdded);
//connect(protocol, &MAVLinkInspector::messageReceived, this, &MAVLinkInspector::receiveMessage);
// Attach the UI's refresh rate to a timer.
connect(&updateTimer, &QTimer::timeout, this, &MAVLinkInspector::refreshView);
updateTimer.start(updateInterval);
//loadSettings();
}
void MAVLinkInspector::_vehicleAdded(quint32 id)
{
ui->systemComboBox->addItem(tr("Vehicle %1").arg(id), id);
// Add a tree for a new UAS
addUAStoTree(id);
}
void MAVLinkInspector::selectDropDownMenuSystem(int dropdownid)
{
selectedSystemID = ui->systemComboBox->itemData(dropdownid).toInt();
rebuildComponentList();
}
void MAVLinkInspector::selectDropDownMenuComponent(int dropdownid)
{
selectedComponentID = ui->componentComboBox->itemData(dropdownid).toInt();
}
void MAVLinkInspector::rebuildComponentList()
{
ui->componentComboBox->clear();
components.clear();
ui->componentComboBox->addItem(tr("All"), 0);
// Fill
/*
Vehicle* vehicle = qgcApp()->toolbox()->multiVehicleManager()->getVehicleById(selectedSystemID);
if (vehicle)
{
UASInterface* uas = vehicle->uas();
QMap<int, QString> components = uas->getComponents();
foreach (int id, components.keys())
{
QString name = components.value(id);
ui->componentComboBox->addItem(name, id);
}
}
*/
}
void MAVLinkInspector::addComponent(int uas, int component, const QString& name)
{
Q_UNUSED(component);
Q_UNUSED(name);
if (uas != selectedSystemID) return;
rebuildComponentList();
}
/**
* Reset the view. This entails clearing all data structures and resetting data from already-
* received messages.
*/
void MAVLinkInspector::clearView()
{
QMap<int, mavlink_message_t* >::iterator ite;
for(ite=uasMessageStorage.begin(); ite!=uasMessageStorage.end();++ite)
{
delete ite.value();
ite.value() = nullptr;
}
uasMessageStorage.clear();
QMap<int, QMap<int, QTreeWidgetItem*>* >::iterator iteMsg;
for (iteMsg=uasMsgTreeItems.begin(); iteMsg!=uasMsgTreeItems.end();++iteMsg)
{
QMap<int, QTreeWidgetItem*>* msgTreeItems = iteMsg.value();
QList<int> groupKeys = msgTreeItems->uniqueKeys();
QList<int>::iterator listKeys;
for (listKeys=groupKeys.begin();listKeys!=groupKeys.end();++listKeys)
{
delete msgTreeItems->take(*listKeys);
}
}
uasMsgTreeItems.clear();
QMap<int, QTreeWidgetItem* >::iterator iteTree;
for(iteTree=uasTreeWidgetItems.begin(); iteTree!=uasTreeWidgetItems.end();++iteTree)
{
delete iteTree.value();
iteTree.value() = NULL;
}
uasTreeWidgetItems.clear();
QMap<int, QMap<int, float>* >::iterator iteHz;
for (iteHz=uasMessageHz.begin(); iteHz!=uasMessageHz.end();++iteHz)
{
iteHz.value()->clear();
delete iteHz.value();
iteHz.value() = NULL;
}
uasMessageHz.clear();
QMap<int, QMap<int, unsigned int>* >::iterator iteCount;
for(iteCount=uasMessageCount.begin(); iteCount!=uasMessageCount.end();++iteCount)
{
iteCount.value()->clear();
delete iteCount.value();
iteCount.value() = NULL;
}
uasMessageCount.clear();
QMap<int, QMap<int, quint64>* >::iterator iteLast;
for(iteLast=uasLastMessageUpdate.begin(); iteLast!=uasLastMessageUpdate.end();++iteLast)
{
iteLast.value()->clear();
delete iteLast.value();
iteLast.value() = NULL;
}
uasLastMessageUpdate.clear();
onboardMessageInterval.clear();
ui->treeWidget->clear();
}
void MAVLinkInspector::refreshView()
{
QMap<int, mavlink_message_t* >::const_iterator ite;
for(ite=uasMessageStorage.constBegin(); ite!=uasMessageStorage.constEnd();++ite)
{
mavlink_message_t* msg = ite.value();
const mavlink_message_info_t* msgInfo = mavlink_get_message_info(msg);
if (!msgInfo) {
qWarning() << QStringLiteral("MAVLinkInspector::refreshView NULL msgInfo msgid(%1)").arg(msg->msgid);
continue;
}
// Ignore NULL values
if (msg->msgid == 0xFF) continue;
// 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);
if (!msgTreeItems)
{
// The UAS tree has not been created yet, no update
return;
}
// Add the message with msgid to the tree if not done yet
if(!msgTreeItems->contains(msg->msgid))
{
QStringList fields;
fields << messageName;
QTreeWidgetItem* widget = new QTreeWidgetItem();
for (unsigned int i = 0; i < msgInfo->num_fields; ++i)
{
QTreeWidgetItem* field = new QTreeWidgetItem();
widget->addChild(field);
}
msgTreeItems->insert(msg->msgid,widget);
QList<int> groupKeys = msgTreeItems->uniqueKeys();
int insertIndex = groupKeys.indexOf(msg->msgid);
uasTreeWidgetItems.value(msg->sysid)->insertChild(insertIndex,widget);
}
// Update the message
QTreeWidgetItem* message = msgTreeItems->value(msg->msgid);
if(message)
{
message->setFirstColumnSpanned(true);
message->setData(0, Qt::DisplayRole, QVariant(messageName));
for (unsigned int i = 0; i < msgInfo->num_fields; ++i)
{
updateField(msg, msgInfo, i, message->child(i));
}
}
}
}
void MAVLinkInspector::addUAStoTree(int sysId)
{
if(!uasTreeWidgetItems.contains(sysId))
{
// Add the UAS to the main tree after it has been created
//Vehicle* vehicle = qgcApp()->toolbox()->multiVehicleManager()->getVehicleById(sysId);
if (1)//vehicle)
{
//UASInterface* uas = vehicle->uas();
QStringList idstring;
idstring << QString("Vehicle %1").arg(sysId);//uas->getUASID());
QTreeWidgetItem* uasWidget = new QTreeWidgetItem(idstring);
uasWidget->setFirstColumnSpanned(true);
uasTreeWidgetItems.insert(sysId,uasWidget);
ui->treeWidget->addTopLevelItem(uasWidget);
uasMsgTreeItems.insert(sysId,new QMap<int, QTreeWidgetItem*>());
}
}
}
void MAVLinkInspector::receiveMessage(mavlink_message_t message)
{
//Q_UNUSED(link);
quint64 receiveTime;
if (selectedSystemID != 0 && selectedSystemID != message.sysid) return;
if (selectedComponentID != 0 && selectedComponentID != message.compid) return;
// Create dynamically an array to store the messages for each UAS
if (!uasMessageStorage.contains(message.sysid))
{
mavlink_message_t* msg = new mavlink_message_t;
*msg = message;
uasMessageStorage.insertMulti(message.sysid,msg);
}
bool msgFound = false;
QMap<int, mavlink_message_t* >::const_iterator iteMsg = uasMessageStorage.find(message.sysid);
mavlink_message_t* uasMessage = iteMsg.value();
while((iteMsg != uasMessageStorage.end()) && (iteMsg.key() == message.sysid))
{
if (iteMsg.value()->msgid == message.msgid)
{
msgFound = true;
uasMessage = iteMsg.value();
break;
}
++iteMsg;
}
if (!msgFound)
{
mavlink_message_t* msgIdMessage = new mavlink_message_t;
*msgIdMessage = message;
uasMessageStorage.insertMulti(message.sysid,msgIdMessage);
}
else
{
*uasMessage = message;
}
// Looking if this message has already been received once
msgFound = false;
QMap<int, QMap<int, quint64>* >::const_iterator ite = uasLastMessageUpdate.find(message.sysid);
QMap<int, quint64>* lastMsgUpdate = ite.value();
while((ite != uasLastMessageUpdate.end()) && (ite.key() == message.sysid))
{
if(ite.value()->contains(message.msgid))
{
msgFound = true;
// Point to the found message
lastMsgUpdate = ite.value();
break;
}
++ite;
}
//输入时间
receiveTime = QDateTime::currentMSecsSinceEpoch();//0;//QGC::groundTimeMilliseconds();
// If the message doesn't exist, create a map for the frequency, message count and time of reception
if(!msgFound)
{
// Create a map for the message frequency
QMap<int, float>* messageHz = new QMap<int,float>;
messageHz->insert(message.msgid,0.0f);
uasMessageHz.insertMulti(message.sysid,messageHz);
// Create a map for the message count
QMap<int, unsigned int>* messagesCount = new QMap<int, unsigned int>;
messagesCount->insert(message.msgid,0);
uasMessageCount.insertMulti(message.sysid,messagesCount);
// Create a map for the time of reception of the message
QMap<int, quint64>* lastMessage = new QMap<int, quint64>;
lastMessage->insert(message.msgid,receiveTime);
uasLastMessageUpdate.insertMulti(message.sysid,lastMessage);
// Point to the created message
lastMsgUpdate = lastMessage;
}
else
{
// The message has been found/created
if ((lastMsgUpdate->contains(message.msgid))&&(uasMessageCount.contains(message.sysid)))
{
// Looking for and updating the message count
unsigned int count = 0;
QMap<int, QMap<int, unsigned int>* >::const_iterator iter = uasMessageCount.find(message.sysid);
QMap<int, unsigned int> * uasMsgCount = iter.value();
while((iter != uasMessageCount.end()) && (iter.key() == message.sysid))
{
if(iter.value()->contains(message.msgid))
{
uasMsgCount = iter.value();
count = uasMsgCount->value(message.msgid,0);
uasMsgCount->insert(message.msgid,count+1);
break;
}
++iter;
}
}
lastMsgUpdate->insert(message.msgid,receiveTime);
}
if (selectedSystemID == 0 || selectedComponentID == 0)
{
return;
}
switch (message.msgid)
{
case MAVLINK_MSG_ID_DATA_STREAM:
{
mavlink_data_stream_t stream;
mavlink_msg_data_stream_decode(&message, &stream);
onboardMessageInterval.insert(stream.stream_id, stream.message_rate);
}
break;
}
}
MAVLinkInspector::~MAVLinkInspector()
{
clearView();
delete ui;
}
void MAVLinkInspector::updateField(mavlink_message_t* msg, const mavlink_message_info_t* msgInfo, int fieldid, QTreeWidgetItem* item)
{
// Add field tree widget item
item->setData(0, Qt::DisplayRole, QVariant(msgInfo->fields[fieldid].name));
bool msgFound = false;
QMap<int, mavlink_message_t* >::const_iterator iteMsg = uasMessageStorage.find(msg->sysid);
mavlink_message_t* uasMessage = iteMsg.value();
while((iteMsg != uasMessageStorage.end()) && (iteMsg.key() == msg->sysid))
{
if (iteMsg.value()->msgid == msg->msgid)
{
msgFound = true;
uasMessage = iteMsg.value();
break;
}
++iteMsg;
}
if (!msgFound)
{
return;
}
uint8_t* m = (uint8_t*)&uasMessage->payload64[0];
switch (msgInfo->fields[fieldid].type)
{
case MAVLINK_TYPE_CHAR:
if (msgInfo->fields[fieldid].array_length > 0)
{
char* str = (char*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
str[msgInfo->fields[fieldid].array_length-1] = '\0';
QString string(str);
item->setData(2, Qt::DisplayRole, "char");
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single char
char b = *((char*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, QString("char[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, b);
}
break;
case MAVLINK_TYPE_UINT8_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
uint8_t* nums = m+msgInfo->fields[fieldid].wire_offset;
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("uint8_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
uint8_t u = *(m+msgInfo->fields[fieldid].wire_offset);
item->setData(2, Qt::DisplayRole, "uint8_t");
item->setData(1, Qt::DisplayRole, u);
}
break;
case MAVLINK_TYPE_INT8_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
int8_t* nums = (int8_t*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("int8_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
int8_t n = *((int8_t*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "int8_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_UINT16_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
uint16_t* nums = (uint16_t*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("uint16_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
uint16_t n = *((uint16_t*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "uint16_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_INT16_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
int16_t* nums = (int16_t*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("int16_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
int16_t n = *((int16_t*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "int16_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_UINT32_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
uint32_t* nums = (uint32_t*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("uint32_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
float n = *((uint32_t*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "uint32_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_INT32_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
int32_t* nums = (int32_t*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("int32_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
int32_t n = *((int32_t*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "int32_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_FLOAT:
if (msgInfo->fields[fieldid].array_length > 0)
{
float* nums = (float*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("float[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
float f = *((float*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "float");
item->setData(1, Qt::DisplayRole, f);
}
break;
case MAVLINK_TYPE_DOUBLE:
if (msgInfo->fields[fieldid].array_length > 0)
{
double* nums = (double*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("double[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
double f = *((double*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "double");
item->setData(1, Qt::DisplayRole, f);
}
break;
case MAVLINK_TYPE_UINT64_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
uint64_t* nums = (uint64_t*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("uint64_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
uint64_t n = *((uint64_t*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "uint64_t");
item->setData(1, Qt::DisplayRole, (quint64) n);
}
break;
case MAVLINK_TYPE_INT64_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
int64_t* nums = (int64_t*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("int64_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
int64_t n = *((int64_t*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "int64_t");
item->setData(1, Qt::DisplayRole, (qint64) n);
}
break;
}
}

#include "MAVLinkInspector.h"
#include "ui_MAVLinkInspector.h"
#include <QList>
#include <QDebug>
const float MAVLinkInspector::updateHzLowpass = 0.2f;
const unsigned int MAVLinkInspector::updateInterval = 1000U;
MAVLinkInspector::MAVLinkInspector(const QString& title, QAction* action,QWidget *parent) :
selectedSystemID(0),
selectedComponentID(0),
ui(new Ui::MAVLinkInspector)
{
Q_UNUSED(action)
Q_UNUSED(parent)
ui->setupUi(this);
setWindowTitle(title);
// Make sure "All" is an option for both the system and components
//ui->systemComboBox->addItem(tr("All"), 0);
//ui->componentComboBox->addItem(tr("All"), 0);
// Set up the column headers for the message listing
QStringList header;
header << tr("Name");
header << tr("Value");
header << tr("Type");
ui->treeWidget->setHeaderLabels(header);
ui->treeWidget->header()->resizeSection(0,700);
ui->treeWidget->header()->resizeSection(1,250);
ui->treeWidget->header()->resizeSection(2,50);
ui->treeWidget->header()->setStretchLastSection(true);
//ui->treeWidget->header()->resizeSection();
// Connect the UI
/*
connect(ui->systemComboBox, static_cast<void (QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
this, &MAVLinkInspector::selectDropDownMenuSystem);
connect(ui->componentComboBox, static_cast<void (QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
this, &MAVLinkInspector::selectDropDownMenuComponent);
*/
connect(ui->clearButton, &QPushButton::clicked, this, &MAVLinkInspector::clearView);
// Connect external connections
//connect(qApp()->toolbox()->multiVehicleManager(), &MAVLinkInspector::vehicleAdded, this, &QGCMAVLinkInspector::_vehicleAdded);
//connect(protocol, &MAVLinkInspector::messageReceived, this, &MAVLinkInspector::receiveMessage);
// Attach the UI's refresh rate to a timer.
connect(&updateTimer, &QTimer::timeout, this, &MAVLinkInspector::refreshView);
updateTimer.start(updateInterval);
//loadSettings();
}
void MAVLinkInspector::_vehicleAdded(quint32 id)
{
//ui->systemComboBox->addItem(tr("Vehicle %1").arg(id), id);
ui->pushButton_system->setText(tr("Vehicle %1").arg(id));
// Add a tree for a new UAS
addUAStoTree(id);
}
void MAVLinkInspector::selectDropDownMenuSystem(int dropdownid)
{
//selectedSystemID = ui->systemComboBox->itemData(dropdownid).toInt();
rebuildComponentList();
}
void MAVLinkInspector::selectDropDownMenuComponent(int dropdownid)
{
//selectedComponentID = ui->componentComboBox->itemData(dropdownid).toInt();
}
void MAVLinkInspector::rebuildComponentList()
{
//ui->componentComboBox->clear();
components.clear();
//ui->componentComboBox->addItem(tr("All"), 0);
// Fill
/*
Vehicle* vehicle = qgcApp()->toolbox()->multiVehicleManager()->getVehicleById(selectedSystemID);
if (vehicle)
{
UASInterface* uas = vehicle->uas();
QMap<int, QString> components = uas->getComponents();
foreach (int id, components.keys())
{
QString name = components.value(id);
ui->componentComboBox->addItem(name, id);
}
}
*/
}
void MAVLinkInspector::on_pushButton_system_clicked()
{
}
void MAVLinkInspector::addComponent(int uas, int component, const QString& name)
{
Q_UNUSED(component);
Q_UNUSED(name);
if (uas != selectedSystemID) return;
rebuildComponentList();
}
/**
* Reset the view. This entails clearing all data structures and resetting data from already-
* received messages.
*/
void MAVLinkInspector::clearView()
{
QMap<int, mavlink_message_t* >::iterator ite;
for(ite=uasMessageStorage.begin(); ite!=uasMessageStorage.end();++ite)
{
delete ite.value();
ite.value() = nullptr;
}
uasMessageStorage.clear();
QMap<int, QMap<int, QTreeWidgetItem*>* >::iterator iteMsg;
for (iteMsg=uasMsgTreeItems.begin(); iteMsg!=uasMsgTreeItems.end();++iteMsg)
{
QMap<int, QTreeWidgetItem*>* msgTreeItems = iteMsg.value();
QList<int> groupKeys = msgTreeItems->uniqueKeys();
QList<int>::iterator listKeys;
for (listKeys=groupKeys.begin();listKeys!=groupKeys.end();++listKeys)
{
delete msgTreeItems->take(*listKeys);
}
}
uasMsgTreeItems.clear();
QMap<int, QTreeWidgetItem* >::iterator iteTree;
for(iteTree=uasTreeWidgetItems.begin(); iteTree!=uasTreeWidgetItems.end();++iteTree)
{
delete iteTree.value();
iteTree.value() = NULL;
}
uasTreeWidgetItems.clear();
QMap<int, QMap<int, float>* >::iterator iteHz;
for (iteHz=uasMessageHz.begin(); iteHz!=uasMessageHz.end();++iteHz)
{
iteHz.value()->clear();
delete iteHz.value();
iteHz.value() = NULL;
}
uasMessageHz.clear();
QMap<int, QMap<int, unsigned int>* >::iterator iteCount;
for(iteCount=uasMessageCount.begin(); iteCount!=uasMessageCount.end();++iteCount)
{
iteCount.value()->clear();
delete iteCount.value();
iteCount.value() = NULL;
}
uasMessageCount.clear();
QMap<int, QMap<int, quint64>* >::iterator iteLast;
for(iteLast=uasLastMessageUpdate.begin(); iteLast!=uasLastMessageUpdate.end();++iteLast)
{
iteLast.value()->clear();
delete iteLast.value();
iteLast.value() = NULL;
}
uasLastMessageUpdate.clear();
onboardMessageInterval.clear();
ui->treeWidget->clear();
}
void MAVLinkInspector::refreshView()
{
QMap<int, mavlink_message_t* >::const_iterator ite;
for(ite=uasMessageStorage.constBegin(); ite!=uasMessageStorage.constEnd();++ite)
{
mavlink_message_t* msg = ite.value();
const mavlink_message_info_t* msgInfo = mavlink_get_message_info(msg);
if (!msgInfo) {
qWarning() << QStringLiteral("MAVLinkInspector::refreshView NULL msgInfo msgid(%1)").arg(msg->msgid);
continue;
}
// Ignore NULL values
if (msg->msgid == 0xFF) continue;
// 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);
if (!msgTreeItems)
{
// The UAS tree has not been created yet, no update
return;
}
// Add the message with msgid to the tree if not done yet
if(!msgTreeItems->contains(msg->msgid))
{
QStringList fields;
fields << messageName;
QTreeWidgetItem* widget = new QTreeWidgetItem();
for (unsigned int i = 0; i < msgInfo->num_fields; ++i)
{
QTreeWidgetItem* field = new QTreeWidgetItem();
widget->addChild(field);
}
msgTreeItems->insert(msg->msgid,widget);
QList<int> groupKeys = msgTreeItems->uniqueKeys();
int insertIndex = groupKeys.indexOf(msg->msgid);
uasTreeWidgetItems.value(msg->sysid)->insertChild(insertIndex,widget);
}
// Update the message
QTreeWidgetItem* message = msgTreeItems->value(msg->msgid);
if(message)
{
message->setFirstColumnSpanned(true);
message->setData(0, Qt::DisplayRole, QVariant(messageName));
for (unsigned int i = 0; i < msgInfo->num_fields; ++i)
{
updateField(msg, msgInfo, i, message->child(i));
}
}
}
}
void MAVLinkInspector::addUAStoTree(int sysId)
{
if(!uasTreeWidgetItems.contains(sysId))
{
// Add the UAS to the main tree after it has been created
//Vehicle* vehicle = qgcApp()->toolbox()->multiVehicleManager()->getVehicleById(sysId);
if (1)//vehicle)
{
//UASInterface* uas = vehicle->uas();
QStringList idstring;
idstring << QString("Vehicle %1").arg(sysId);//uas->getUASID());
QTreeWidgetItem* uasWidget = new QTreeWidgetItem(idstring);
uasWidget->setFirstColumnSpanned(true);
uasTreeWidgetItems.insert(sysId,uasWidget);
ui->treeWidget->addTopLevelItem(uasWidget);
uasMsgTreeItems.insert(sysId,new QMap<int, QTreeWidgetItem*>());
}
}
}
void MAVLinkInspector::receiveMessage(mavlink_message_t message)
{
//Q_UNUSED(link);
quint64 receiveTime;
if (selectedSystemID != 0 && selectedSystemID != message.sysid) return;
if (selectedComponentID != 0 && selectedComponentID != message.compid) return;
// Create dynamically an array to store the messages for each UAS
if (!uasMessageStorage.contains(message.sysid))
{
mavlink_message_t* msg = new mavlink_message_t;
*msg = message;
uasMessageStorage.insertMulti(message.sysid,msg);
}
bool msgFound = false;
QMap<int, mavlink_message_t* >::const_iterator iteMsg = uasMessageStorage.find(message.sysid);
mavlink_message_t* uasMessage = iteMsg.value();
while((iteMsg != uasMessageStorage.end()) && (iteMsg.key() == message.sysid))
{
if (iteMsg.value()->msgid == message.msgid)
{
msgFound = true;
uasMessage = iteMsg.value();
break;
}
++iteMsg;
}
if (!msgFound)
{
mavlink_message_t* msgIdMessage = new mavlink_message_t;
*msgIdMessage = message;
uasMessageStorage.insertMulti(message.sysid,msgIdMessage);
}
else
{
*uasMessage = message;
}
// Looking if this message has already been received once
msgFound = false;
QMap<int, QMap<int, quint64>* >::const_iterator ite = uasLastMessageUpdate.find(message.sysid);
QMap<int, quint64>* lastMsgUpdate = ite.value();
while((ite != uasLastMessageUpdate.end()) && (ite.key() == message.sysid))
{
if(ite.value()->contains(message.msgid))
{
msgFound = true;
// Point to the found message
lastMsgUpdate = ite.value();
break;
}
++ite;
}
//输入时间
receiveTime = QDateTime::currentMSecsSinceEpoch();//0;//QGC::groundTimeMilliseconds();
// If the message doesn't exist, create a map for the frequency, message count and time of reception
if(!msgFound)
{
// Create a map for the message frequency
QMap<int, float>* messageHz = new QMap<int,float>;
messageHz->insert(message.msgid,0.0f);
uasMessageHz.insertMulti(message.sysid,messageHz);
// Create a map for the message count
QMap<int, unsigned int>* messagesCount = new QMap<int, unsigned int>;
messagesCount->insert(message.msgid,0);
uasMessageCount.insertMulti(message.sysid,messagesCount);
// Create a map for the time of reception of the message
QMap<int, quint64>* lastMessage = new QMap<int, quint64>;
lastMessage->insert(message.msgid,receiveTime);
uasLastMessageUpdate.insertMulti(message.sysid,lastMessage);
// Point to the created message
lastMsgUpdate = lastMessage;
}
else
{
// The message has been found/created
if ((lastMsgUpdate->contains(message.msgid))&&(uasMessageCount.contains(message.sysid)))
{
// Looking for and updating the message count
unsigned int count = 0;
QMap<int, QMap<int, unsigned int>* >::const_iterator iter = uasMessageCount.find(message.sysid);
QMap<int, unsigned int> * uasMsgCount = iter.value();
while((iter != uasMessageCount.end()) && (iter.key() == message.sysid))
{
if(iter.value()->contains(message.msgid))
{
uasMsgCount = iter.value();
count = uasMsgCount->value(message.msgid,0);
uasMsgCount->insert(message.msgid,count+1);
break;
}
++iter;
}
}
lastMsgUpdate->insert(message.msgid,receiveTime);
}
if (selectedSystemID == 0 || selectedComponentID == 0)
{
return;
}
switch (message.msgid)
{
case MAVLINK_MSG_ID_DATA_STREAM:
{
mavlink_data_stream_t stream;
mavlink_msg_data_stream_decode(&message, &stream);
onboardMessageInterval.insert(stream.stream_id, stream.message_rate);
}
break;
}
}
MAVLinkInspector::~MAVLinkInspector()
{
clearView();
delete ui;
}
void MAVLinkInspector::updateField(mavlink_message_t* msg, const mavlink_message_info_t* msgInfo, int fieldid, QTreeWidgetItem* item)
{
// Add field tree widget item
item->setData(0, Qt::DisplayRole, QVariant(msgInfo->fields[fieldid].name));
bool msgFound = false;
QMap<int, mavlink_message_t* >::const_iterator iteMsg = uasMessageStorage.find(msg->sysid);
mavlink_message_t* uasMessage = iteMsg.value();
while((iteMsg != uasMessageStorage.end()) && (iteMsg.key() == msg->sysid))
{
if (iteMsg.value()->msgid == msg->msgid)
{
msgFound = true;
uasMessage = iteMsg.value();
break;
}
++iteMsg;
}
if (!msgFound)
{
return;
}
uint8_t* m = (uint8_t*)&uasMessage->payload64[0];
switch (msgInfo->fields[fieldid].type)
{
case MAVLINK_TYPE_CHAR:
if (msgInfo->fields[fieldid].array_length > 0)
{
char* str = (char*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
str[msgInfo->fields[fieldid].array_length-1] = '\0';
QString string(str);
item->setData(2, Qt::DisplayRole, "char");
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single char
char b = *((char*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, QString("char[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, b);
}
break;
case MAVLINK_TYPE_UINT8_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
uint8_t* nums = m+msgInfo->fields[fieldid].wire_offset;
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("uint8_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
uint8_t u = *(m+msgInfo->fields[fieldid].wire_offset);
item->setData(2, Qt::DisplayRole, "uint8_t");
item->setData(1, Qt::DisplayRole, u);
}
break;
case MAVLINK_TYPE_INT8_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
int8_t* nums = (int8_t*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("int8_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
int8_t n = *((int8_t*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "int8_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_UINT16_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
uint16_t* nums = (uint16_t*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("uint16_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
uint16_t n = *((uint16_t*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "uint16_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_INT16_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
int16_t* nums = (int16_t*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("int16_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
int16_t n = *((int16_t*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "int16_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_UINT32_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
uint32_t* nums = (uint32_t*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("uint32_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
float n = *((uint32_t*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "uint32_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_INT32_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
int32_t* nums = (int32_t*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("int32_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
int32_t n = *((int32_t*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "int32_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_FLOAT:
if (msgInfo->fields[fieldid].array_length > 0)
{
float* nums = (float*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("float[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
float f = *((float*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "float");
item->setData(1, Qt::DisplayRole, f);
}
break;
case MAVLINK_TYPE_DOUBLE:
if (msgInfo->fields[fieldid].array_length > 0)
{
double* nums = (double*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("double[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
double f = *((double*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "double");
item->setData(1, Qt::DisplayRole, f);
}
break;
case MAVLINK_TYPE_UINT64_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
uint64_t* nums = (uint64_t*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("uint64_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
uint64_t n = *((uint64_t*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "uint64_t");
item->setData(1, Qt::DisplayRole, (quint64) n);
}
break;
case MAVLINK_TYPE_INT64_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
int64_t* nums = (int64_t*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("int64_t[%1]").arg(msgInfo->fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
int64_t n = *((int64_t*)(m+msgInfo->fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "int64_t");
item->setData(1, Qt::DisplayRole, (qint64) n);
}
break;
}
}
MavLinkNode/MAVLinkInspector/MAVLinkInspector.h → App/ToolsUI/tools_Index0/MAVLinkInspector/MAVLinkInspector.h
+94 -92
View File
@@ -1,92 +1,94 @@
#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
#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);
void on_pushButton_system_clicked();
private:
Ui::MAVLinkInspector *ui;
};
#endif // QGCMAVLINKINSPECTOR_H
MavLinkNode/MAVLinkInspector/MAVLinkInspector.pri → App/ToolsUI/tools_Index0/MAVLinkInspector/MAVLinkInspector.pri
+19 -19
View File
@@ -1,19 +1,19 @@
#添加mavlink目录
INCLUDEPATH += $$PWD/../mavlink \
$$PWD/../mavlink/ardupilotmega \
$$PWD/../mavlink/common \
$$PWD/../mavlink/icarous \
$$PWD/../mavlink/uAvionix \
$$PWD/../mavlink/XYK \
$$PWD/../mavlink/message_definitions
FORMS += \
$$PWD/MAVLinkInspector.ui
HEADERS += \
$$PWD/MAVLinkInspector.h
SOURCES += \
$$PWD/MAVLinkInspector.cc
#添加mavlink目录
INCLUDEPATH += $$PWD/../mavlink \
$$PWD/../mavlink/ardupilotmega \
$$PWD/../mavlink/common \
$$PWD/../mavlink/icarous \
$$PWD/../mavlink/uAvionix \
$$PWD/../mavlink/XYK \
$$PWD/../mavlink/message_definitions
FORMS += \
$$PWD/MAVLinkInspector.ui
HEADERS += \
$$PWD/MAVLinkInspector.h
SOURCES += \
$$PWD/MAVLinkInspector.cc
MavLinkNode/MAVLinkInspector/MAVLinkInspector.pro → App/ToolsUI/tools_Index0/MAVLinkInspector/MAVLinkInspector.pro
+91 -91
View File
@@ -1,91 +1,91 @@
QT += core gui network
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
TARGET = MAVLinkInspector
TEMPLATE = lib
DEFINES += MAVLINKINSPECTOR_LIBRARY
CONFIG += resources_big
# The following define makes your compiler emit warnings if you use
# any feature of Qt which has been marked as deprecated (the exact warnings
# depend on your compiler). Please consult the documentation of the
# deprecated API in order to know how to port your code away from it.
DEFINES += QT_DEPRECATED_WARNINGS
# You can also make your code fail to compile if you use deprecated APIs.
# In order to do so, uncomment the following line.
# You can also select to disable deprecated APIs only up to a certain version of Qt.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
DESTDIR = $$PWD/../thirdpart/lib
MOC_DIR = $$PWD/../build
OBJECTS_DIR = $$PWD/../build
DEFINES += QtMavlinkInspector
#添加mavlink目录
INCLUDEPATH += $$PWD/../mavlink \
$$PWD/../mavlink/ardupilotmega \
$$PWD/../mavlink/common \
$$PWD/../mavlink/icarous \
$$PWD/../mavlink/uAvionix \
$$PWD/../mavlink/XYK \
$$PWD/../mavlink/message_definitions
FORMS += \
$$PWD/MAVLinkInspector.ui
HEADERS += \
$$PWD/MAVLinkInspector.h \
MAVLinkInspectorGlobal.h
SOURCES += \
$$PWD/MAVLinkInspector.cc
win32|win64 {
src_dir = $$PWD\\*.h
dst_dir = $$PWD\\..\\thirdpart\\include\\
# dst_dir 最后的 \\ 是必须的，用来标示 xcopy 到一个文件夹，若不存在，创建之
# Replace slashes in paths with backslashes for Windows
src_dir ~= s,/,\\,g
dst_dir ~= s,/,\\,g
system(xcopy $$src_dir $$dst_dir /y /e)
}
unix {
src_dir = $$PWD/*.h
dst_dir = $$PWD/../thirdpart/include/
!exists($$dst_dir): system(mkdir -p $$dst_dir)
system(cp $$src_dir $$dst_dir -arf )
}
QT += core gui network
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
TARGET = MAVLinkInspector
TEMPLATE = lib
DEFINES += MAVLINKINSPECTOR_LIBRARY
CONFIG += resources_big
# The following define makes your compiler emit warnings if you use
# any feature of Qt which has been marked as deprecated (the exact warnings
# depend on your compiler). Please consult the documentation of the
# deprecated API in order to know how to port your code away from it.
DEFINES += QT_DEPRECATED_WARNINGS
# You can also make your code fail to compile if you use deprecated APIs.
# In order to do so, uncomment the following line.
# You can also select to disable deprecated APIs only up to a certain version of Qt.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
DESTDIR = $$PWD/../thirdpart/lib
MOC_DIR = $$PWD/../build
OBJECTS_DIR = $$PWD/../build
DEFINES += QtMavlinkInspector
#添加mavlink目录
INCLUDEPATH += $$PWD/../mavlink \
$$PWD/../mavlink/ardupilotmega \
$$PWD/../mavlink/common \
$$PWD/../mavlink/icarous \
$$PWD/../mavlink/uAvionix \
$$PWD/../mavlink/XYK \
$$PWD/../mavlink/message_definitions
FORMS += \
$$PWD/MAVLinkInspector.ui
HEADERS += \
$$PWD/MAVLinkInspector.h \
MAVLinkInspectorGlobal.h
SOURCES += \
$$PWD/MAVLinkInspector.cc
win32|win64 {
src_dir = $$PWD\\*.h
dst_dir = $$PWD\\..\\thirdpart\\include\\
# dst_dir 最后的 \\ 是必须的，用来标示 xcopy 到一个文件夹，若不存在，创建之
# Replace slashes in paths with backslashes for Windows
src_dir ~= s,/,\\,g
dst_dir ~= s,/,\\,g
system(xcopy $$src_dir $$dst_dir /y /e)
}
unix {
src_dir = $$PWD/*.h
dst_dir = $$PWD/../thirdpart/include/
!exists($$dst_dir): system(mkdir -p $$dst_dir)
system(cp $$src_dir $$dst_dir -arf )
}
MavLinkNode/MAVLinkInspector/MAVLinkInspector.ui → App/ToolsUI/tools_Index0/MAVLinkInspector/MAVLinkInspector.ui
+81 -75
View File
@@ -1,75 +1,81 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MAVLinkInspector</class>
<widget class="QWidget" name="MAVLinkInspector">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>658</width>
<height>444</height>
</rect>
</property>
<property name="windowTitle">
<string>MAVLink Inspector</string>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="2,0,0,0,0">
<property name="leftMargin">
<number>6</number>
</property>
<property name="topMargin">
<number>6</number>
</property>
<property name="rightMargin">
<number>6</number>
</property>
<property name="bottomMargin">
<number>6</number>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>System</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="systemComboBox"/>
</item>
<item row="0" column="3">
<widget class="QComboBox" name="componentComboBox"/>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Component</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QPushButton" name="clearButton">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="2" column="0" colspan="5">
<widget class="QTreeWidget" name="treeWidget">
<column>
<property name="text">
<string notr="true">1</string>
</property>
</column>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MAVLinkInspector</class>
<widget class="QWidget" name="MAVLinkInspector">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>707</width>
<height>504</height>
</rect>
</property>
<property name="windowTitle">
<string>MAVLink Inspector</string>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="2,0">
<property name="leftMargin">
<number>6</number>
</property>
<property name="topMargin">
<number>6</number>
</property>
<property name="rightMargin">
<number>6</number>
</property>
<property name="bottomMargin">
<number>6</number>
</property>
<item row="0" column="1">
<widget class="QPushButton" name="clearButton">
<property name="minimumSize">
<size>
<width>120</width>
<height>60</height>
</size>
</property>
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="3" column="0" colspan="2">
<widget class="QTreeWidget" name="treeWidget">
<property name="columnCount">
<number>3</number>
</property>
<column>
<property name="text">
<string notr="true">1</string>
</property>
</column>
<column>
<property name="text">
<string notr="true">2</string>
</property>
</column>
<column>
<property name="text">
<string notr="true">3</string>
</property>
</column>
</widget>
</item>
<item row="0" column="0">
<widget class="QPushButton" name="pushButton_system">
<property name="minimumSize">
<size>
<width>0</width>
<height>60</height>
</size>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
MavLinkNode/MAVLinkInspector/MAVLinkInspectorGlobal.h → App/ToolsUI/tools_Index0/MAVLinkInspector/MAVLinkInspectorGlobal.h
+18 -18
View File
@@ -1,18 +1,18 @@
#ifndef MAVLINKINSPECTORGLOBAL_H
#define MAVLINKINSPECTORGLOBAL_H
#include <QtCore/qglobal.h>
#ifdef QtMavlinkInspector
#if defined(MAVLINKINSPECTOR_LIBRARY)
# define MAVLINKINSPECTORSHARED_EXPORT Q_DECL_EXPORT
#else
# define MAVLINKINSPECTORSHARED_EXPORT Q_DECL_IMPORT
#endif
#endif
#endif // MAVLINKINSPECTORGLOBAL_H
#ifndef MAVLINKINSPECTORGLOBAL_H
#define MAVLINKINSPECTORGLOBAL_H
#include <QtCore/qglobal.h>
#ifdef QtMavlinkInspector
#if defined(MAVLINKINSPECTOR_LIBRARY)
# define MAVLINKINSPECTORSHARED_EXPORT Q_DECL_EXPORT
#else
# define MAVLINKINSPECTORSHARED_EXPORT Q_DECL_IMPORT
#endif
#endif
#endif // MAVLINKINSPECTORGLOBAL_H
App/ToolsUI/tools_Index0/tools_Index0.cpp
+8 -2
View File
@@ -15,6 +15,12 @@ Tools_Index0::Tools_Index0(QWidget *parent) :
this->setStyleSheet(stylesheet);
file.close();
mavlinkinspector = new MAVLinkInspector("mavlink inspector",nullptr,nullptr);
mavlinkinspector->setParent(this);
mavlinkinspector->show();
}
Tools_Index0::~Tools_Index0()
@@ -26,9 +32,9 @@ Tools_Index0::~Tools_Index0()
void Tools_Index0::resizeEvent(QResizeEvent *event)
{
Q_UNUSED(event)
if(Inspect)
if(mavlinkinspector)
{
Inspect->setGeometry(0,0,ui->frame->width(),ui->frame->height());
mavlinkinspector->setGeometry(0,0,ui->frame->width(),ui->frame->height());
}
update();
}
App/ToolsUI/tools_Index0/tools_Index0.h
+5 -1
View File
@@ -7,7 +7,7 @@
#include "QDebug"
#include "MAVLinkInspector.h"
namespace Ui {
class Tools_Index0;
@@ -24,6 +24,8 @@ public:
void resizeEvent(QResizeEvent *event);
MAVLinkInspector *mavlinkinspector = nullptr;
public slots:
void setInstallWidget(QWidget *w);
@@ -38,6 +40,8 @@ private:
Ui::Tools_Index0 *ui;
QWidget *Inspect = nullptr;
};
#endif // INDEX0_H
App/ToolsUI/tools_Index0/tools_Index0.pri
+6
View File
@@ -8,6 +8,12 @@ QT += opengl
QT += sql
QT += svg
include (./MAVLinkInspector/MAVLinkInspector.pri)
INCLUDEPATH += $$PWD/MAVLinkInspector
FORMS += \
$$PWD/tools_Index0.ui
App/mainwindow.cpp
+5 -1
View File
@@ -85,6 +85,10 @@ MainWindow::MainWindow(QWidget *parent)
missionUI->hide();
//tools ----- map
connect(dlink->mavlinknode,SIGNAL(recievemsg(mavlink_message_t)),
toolsui->index0->mavlinkinspector,SLOT(receiveMessage(mavlink_message_t)),Qt::DirectConnection);
//setting ----- map
connect(setting->index0->mapsetting,SIGNAL(getMapTypes()),
map,SLOT(getMapTypes()));
@@ -103,7 +107,7 @@ MainWindow::MainWindow(QWidget *parent)
//setting ----- dlink
//setting->index1->setInstallWidget(dlink->mavlinknode->Parameter->paramInspect);
toolsui->index0->setInstallWidget(dlink->mavlinknode->mavlinkinspector);
//toolsui->index0->setInstallWidget(dlink->mavlinknode->mavlinkinspector);
connect(dlink->mavlinknode,SIGNAL(state_updated()),
this,SLOT(updateUI()));
MavLinkNode/MavLinkNode.pro
+1 -1
View File
@@ -45,7 +45,7 @@ DEFINES += QT_DEPRECATED_WARNINGS
# include sub project
#include (./ParameterInspector/ParameterInspector.pri)
include (./MAVLinkInspector/MAVLinkInspector.pri)
#include (./MAVLinkInspector/MAVLinkInspector.pri)
DESTDIR = $$PWD/../thirdpart/lib
MOC_DIR = $$PWD/../build
MavLinkNode/mavlinknode.cpp
-6
View File
@@ -38,12 +38,6 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
connect(this,SIGNAL(setCurrentID(int,int)),
Commander,SLOT(setID(int,int)),Qt::DirectConnection);
mavlinkinspector = new MAVLinkInspector("mavlink inspector",nullptr,nullptr);
connect(this,SIGNAL(recievemsg(mavlink_message_t)),
mavlinkinspector,SLOT(receiveMessage(mavlink_message_t)),Qt::DirectConnection);
mavlinkinspector->hide();
}
MavLinkNode::~MavLinkNode()
MavLinkNode/mavlinknode.h
+1 -3
View File
@@ -11,8 +11,6 @@
#include "parameterprocess.h"
#include "commandprocess.h"
#include "MAVLinkInspector/MAVLinkInspector.h"
#ifdef QtMavlinkNode
#include <mavlinknodeglobal.h>
class MAVLINKNODESHARED_EXPORT MavLinkNode : public QObject {
@@ -68,7 +66,7 @@ public:
ParameterProcess *Parameter;
commandprocess *Commander;
MAVLinkInspector *mavlinkinspector = nullptr;
//MAVLinkInspector *mavlinkinspector = nullptr;
signals: