feat: Service Registry + Bridge 解耦架构 + 全工程代码清理
## 架构升级：Service Registry + Bridge 模式 - 新增 PluginSDK/IPluginServices.h：10 个纯虚服务接口(IDataProvider/ILinkProvider/...) - 新增 MavLinkServiceBridge：单 QObject 实现全部服务，隔离 MavLinkNode 依赖 - 升级 PluginManifest：支持 plugin.json 的 provides/consumes 声明式依赖 - 实现 ExtensionHost::autoWire()：元对象自省自动连接信号槽 - 集成到 AppController：initModules() 中创建桥接器并注册到 ServiceRegistry - CockpitPlugin 演示服务发现：initialize() 中通过 PluginContext 查找服务 ## 代码清理 - Plugins/opmap：~280 行死代码(waypointsetting 100行注释块/tilematrix 54行/等27个文件) - Plugins/MavLinkNode：~200 行 GBK 乱码注释翻译为 UTF-8 + 12 行注释死代码 - Plugins/ToolsUI：~222 行死代码(ECU.cpp 82行/INS.cpp 113行/Parse/ToolsUI 等) - StatusUI/Setting/MissionUI：~65 行注释死代码 - Cockpit/leftladder.cpp：10 处 GBK 乱码翻译为中文 - 清理头文件注释掉的 #include(19 处)、空 if-else 分支、注释变量声明 ## 编译验证 - [100%] Built target GCS 零错误 - 运行时 timeout 3s 正常退出，无崩溃
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#include "MAVLinkInspector.h"
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#include "ui_MAVLinkInspector.h"
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#include <QList>
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#include <QDebug>
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const float MAVLinkInspector::updateHzLowpass = 0.2f;
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const unsigned int MAVLinkInspector::updateInterval = 1000U;
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MAVLinkInspector::MAVLinkInspector(const QString& title, QAction* action,QWidget *parent) :
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selectedSystemID(0),
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selectedComponentID(0),
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ui(new Ui::MAVLinkInspector)
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{
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Q_UNUSED(action)
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Q_UNUSED(parent)
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ui->setupUi(this);
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setWindowTitle(title);
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// Make sure "All" is an option for both the system and components
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//ui->systemComboBox->addItem(tr("All"), 0);
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//ui->componentComboBox->addItem(tr("All"), 0);
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// Set up the column headers for the message listing
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QStringList header;
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header << tr("Name");
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header << tr("Value");
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header << tr("Type");
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ui->treeWidget->setHeaderLabels(header);
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ui->treeWidget->header()->resizeSection(0,650);
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ui->treeWidget->header()->resizeSection(1,300);
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ui->treeWidget->header()->resizeSection(2,50);
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ui->treeWidget->header()->setStretchLastSection(true);
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ui->treeWidget->setHeaderHidden(false);
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connect(ui->clearButton, &QPushButton::clicked, this, &MAVLinkInspector::clearView);
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// Attach the UI's refresh rate to a timer.
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connect(&updateTimer, &QTimer::timeout, this, &MAVLinkInspector::refreshView);
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updateTimer.start(updateInterval);
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//loadSettings();
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}
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void MAVLinkInspector::_vehicleAdded(quint32 id)
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{
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ui->pushButton_system->setText(tr("Vehicle %1").arg(id));
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// Add a tree for a new UAS
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addUAStoTree(id);
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}
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void MAVLinkInspector::selectDropDownMenuSystem(int dropdownid)
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{
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//selectedSystemID = ui->systemComboBox->itemData(dropdownid).toInt();
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rebuildComponentList();
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}
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void MAVLinkInspector::selectDropDownMenuComponent(int dropdownid)
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{
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//selectedComponentID = ui->componentComboBox->itemData(dropdownid).toInt();
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}
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void MAVLinkInspector::rebuildComponentList()
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{
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//ui->componentComboBox->clear();
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components.clear();
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//ui->componentComboBox->addItem(tr("All"), 0);
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// Fill
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/*
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Vehicle* vehicle = qgcApp()->toolbox()->multiVehicleManager()->getVehicleById(selectedSystemID);
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if (vehicle)
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{
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UASInterface* uas = vehicle->uas();
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QMap<int, QString> components = uas->getComponents();
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foreach (int id, components.keys())
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{
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QString name = components.value(id);
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ui->componentComboBox->addItem(name, id);
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}
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}
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*/
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}
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void MAVLinkInspector::on_pushButton_system_clicked()
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{
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ui->pushButton_system->hide();
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ui->clearButton->hide();
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if(!scope)
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{
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scope = new Scope(this);
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connect(scope,SIGNAL(willclose()),
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this,SLOT(ScopeClose()));
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connect(scope,SIGNAL(clearall()),
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this,SLOT(ScopeClearall()));
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ui->gridLayout->addWidget(scope,0,0,1,1);
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scope->show();
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}
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else
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{
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scope->show();
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}
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}
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void MAVLinkInspector::ScopeClose(void)//可能有点问题
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{
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ui->pushButton_system->show();
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ui->clearButton->show();
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}
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void MAVLinkInspector::ScopeClearall(void)
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{
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clearView();
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//qDebug() << "ScopeClearall";
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}
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void MAVLinkInspector::addComponent(int uas, int component, const QString& name)
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{
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Q_UNUSED(component);
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Q_UNUSED(name);
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if (uas != selectedSystemID) return;
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rebuildComponentList();
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}
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/**
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* Reset the view. This entails clearing all data structures and resetting data from already-
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* received messages.
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*/
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void MAVLinkInspector::clearView()
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{
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QMap<int, mavlink_message_t* >::iterator ite;
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for(ite=uasMessageStorage.begin(); ite!=uasMessageStorage.end();++ite)
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{
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delete ite.value();
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ite.value() = nullptr;
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}
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uasMessageStorage.clear();
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QMap<int, QMap<int, QTreeWidgetItem*>* >::iterator iteMsg;
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for (iteMsg=uasMsgTreeItems.begin(); iteMsg!=uasMsgTreeItems.end();++iteMsg)
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{
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QMap<int, QTreeWidgetItem*>* msgTreeItems = iteMsg.value();
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QList<int> groupKeys = msgTreeItems->uniqueKeys();
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QList<int>::iterator listKeys;
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for (listKeys=groupKeys.begin();listKeys!=groupKeys.end();++listKeys)
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{
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delete msgTreeItems->take(*listKeys);
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}
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}
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uasMsgTreeItems.clear();
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QMap<int, QTreeWidgetItem* >::iterator iteTree;
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for(iteTree=uasTreeWidgetItems.begin(); iteTree!=uasTreeWidgetItems.end();++iteTree)
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{
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delete iteTree.value();
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iteTree.value() = NULL;
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}
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uasTreeWidgetItems.clear();
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QMap<int, QMap<int, float>* >::iterator iteHz;
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for (iteHz=uasMessageHz.begin(); iteHz!=uasMessageHz.end();++iteHz)
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{
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iteHz.value()->clear();
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delete iteHz.value();
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iteHz.value() = NULL;
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}
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uasMessageHz.clear();
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QMap<int, QMap<int, unsigned int>* >::iterator iteCount;
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for(iteCount=uasMessageCount.begin(); iteCount!=uasMessageCount.end();++iteCount)
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{
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iteCount.value()->clear();
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delete iteCount.value();
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iteCount.value() = NULL;
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}
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uasMessageCount.clear();
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QMap<int, QMap<int, quint64>* >::iterator iteLast;
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for(iteLast=uasLastMessageUpdate.begin(); iteLast!=uasLastMessageUpdate.end();++iteLast)
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{
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iteLast.value()->clear();
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delete iteLast.value();
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iteLast.value() = NULL;
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}
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uasLastMessageUpdate.clear();
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onboardMessageInterval.clear();
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ui->treeWidget->clear();
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}
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void MAVLinkInspector::refreshView()
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{
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QMap<int, mavlink_message_t* >::const_iterator ite;
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for(ite=uasMessageStorage.constBegin(); ite!=uasMessageStorage.constEnd();++ite)
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{
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mavlink_message_t* msg = ite.value();
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const mavlink_message_info_t* msgInfo = mavlink_get_message_info(msg);
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if (!msgInfo) {
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qWarning() << QStringLiteral("MAVLinkInspector::refreshView NULL msgInfo msgid(%1)").arg(msg->msgid);
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continue;
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}
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// Ignore NULL values
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if (msg->msgid == 0xFF) continue;
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// Update the message frenquency
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// Get the previous frequency for low-pass filtering
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float msgHz = 0.0f;
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QMap<int, QMap<int, float>* >::const_iterator iteHz = uasMessageHz.find(msg->sysid);
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QMap<int, float>* uasMsgHz = iteHz.value();
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while((iteHz != uasMessageHz.end()) && (iteHz.key() == msg->sysid))
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{
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if(iteHz.value()->contains(msg->msgid))
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{
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uasMsgHz = iteHz.value();
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msgHz = iteHz.value()->value(msg->msgid);
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break;
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}
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++iteHz;
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}
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// Get the number of message received
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float msgCount = 0;
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QMap<int, QMap<int, unsigned int> * >::const_iterator iter = uasMessageCount.find(msg->sysid);
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QMap<int, unsigned int>* uasMsgCount = iter.value();
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while((iter != uasMessageCount.end()) && (iter.key()==msg->sysid))
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{
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if(iter.value()->contains(msg->msgid))
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{
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msgCount = (float) iter.value()->value(msg->msgid);
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uasMsgCount = iter.value();
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break;
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}
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++iter;
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}
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// Compute the new low-pass filtered frequency and update the message count
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msgHz = (1.0f-updateHzLowpass)* msgHz + updateHzLowpass*msgCount/((float)updateInterval/1000.0f);
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uasMsgHz->insert(msg->msgid,msgHz);
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uasMsgCount->insert(msg->msgid,(unsigned int) 0);
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// Update the tree view
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QString messageName("%1 (%2 Hz, #%3)");
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messageName = messageName.arg(msgInfo->name).arg(msgHz, 3, 'f', 1).arg(msg->msgid);
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addUAStoTree(msg->sysid);
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// Look for the tree for the UAS sysid
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QMap<int, QTreeWidgetItem*>* msgTreeItems = uasMsgTreeItems.value(msg->sysid);
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if (!msgTreeItems)
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{
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// The UAS tree has not been created yet, no update
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return;
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}
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// Add the message with msgid to the tree if not done yet
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if(!msgTreeItems->contains(msg->msgid))
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{
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QStringList fields;
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fields << messageName;
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QTreeWidgetItem* widget = new QTreeWidgetItem();
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for (unsigned int i = 0; i < msgInfo->num_fields; ++i)
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{
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QTreeWidgetItem* field = new QTreeWidgetItem();
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field->setCheckState(0,Qt::Unchecked);
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//widget->setCheckState(0,Qt::PartiallyChecked);
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widget->addChild(field);
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}
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msgTreeItems->insert(msg->msgid,widget);
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QList<int> groupKeys = msgTreeItems->uniqueKeys();
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int insertIndex = groupKeys.indexOf(msg->msgid);
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uasTreeWidgetItems.value(msg->sysid)->insertChild(insertIndex,widget);
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}
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// Update the message
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QTreeWidgetItem* message = msgTreeItems->value(msg->msgid);
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if(message)
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{
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message->setFirstColumnSpanned(true);
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message->setData(0, Qt::DisplayRole, QVariant(messageName));
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for (unsigned int i = 0; i < msgInfo->num_fields; ++i)
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{
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updateField(msg, msgInfo, i, message->child(i));
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}
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}
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}
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}
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void MAVLinkInspector::addUAStoTree(int sysId)
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{
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if(!uasTreeWidgetItems.contains(sysId))
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{
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if (1)//vehicle)
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{
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//UASInterface* uas = vehicle->uas();
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QStringList idstring;
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idstring << QString(tr("Vehicle %1").arg(sysId));//uas->getUASID());
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QTreeWidgetItem* uasWidget = new QTreeWidgetItem(idstring);
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uasWidget->setFirstColumnSpanned(true);
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uasTreeWidgetItems.insert(sysId,uasWidget);
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ui->treeWidget->addTopLevelItem(uasWidget);
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uasMsgTreeItems.insert(sysId,new QMap<int, QTreeWidgetItem*>());
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}
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}
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}
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void MAVLinkInspector::receiveMessage(mavlink_message_t message)
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{
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//Q_UNUSED(link);
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quint64 receiveTime;
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if (selectedSystemID != 0 && selectedSystemID != message.sysid) return;
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if (selectedComponentID != 0 && selectedComponentID != message.compid) return;
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// Create dynamically an array to store the messages for each UAS
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if (!uasMessageStorage.contains(message.sysid))
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{
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mavlink_message_t* msg = new mavlink_message_t;
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*msg = message;
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uasMessageStorage.insertMulti(message.sysid,msg);
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}
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bool msgFound = false;
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QMap<int, mavlink_message_t* >::const_iterator iteMsg = uasMessageStorage.find(message.sysid);
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mavlink_message_t* uasMessage = iteMsg.value();
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while((iteMsg != uasMessageStorage.end()) && (iteMsg.key() == message.sysid))
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{
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if (iteMsg.value()->msgid == message.msgid)
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{
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msgFound = true;
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uasMessage = iteMsg.value();
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break;
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}
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++iteMsg;
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}
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if (!msgFound)
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{
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mavlink_message_t* msgIdMessage = new mavlink_message_t;
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*msgIdMessage = message;
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uasMessageStorage.insertMulti(message.sysid,msgIdMessage);
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}
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else
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{
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*uasMessage = message;
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}
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// Looking if this message has already been received once
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msgFound = false;
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QMap<int, QMap<int, quint64>* >::const_iterator ite = uasLastMessageUpdate.find(message.sysid);
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QMap<int, quint64>* lastMsgUpdate = ite.value();
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while((ite != uasLastMessageUpdate.end()) && (ite.key() == message.sysid))
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{
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if(ite.value()->contains(message.msgid))
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{
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msgFound = true;
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// Point to the found message
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lastMsgUpdate = ite.value();
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break;
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}
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++ite;
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}
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//输入时间
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receiveTime = QDateTime::currentMSecsSinceEpoch();//0;//QGC::groundTimeMilliseconds();
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// If the message doesn't exist, create a map for the frequency, message count and time of reception
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if(!msgFound)
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{
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// Create a map for the message frequency
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QMap<int, float>* messageHz = new QMap<int,float>;
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messageHz->insert(message.msgid,0.0f);
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uasMessageHz.insertMulti(message.sysid,messageHz);
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// Create a map for the message count
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QMap<int, unsigned int>* messagesCount = new QMap<int, unsigned int>;
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messagesCount->insert(message.msgid,0);
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uasMessageCount.insertMulti(message.sysid,messagesCount);
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// Create a map for the time of reception of the message
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QMap<int, quint64>* lastMessage = new QMap<int, quint64>;
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lastMessage->insert(message.msgid,receiveTime);
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uasLastMessageUpdate.insertMulti(message.sysid,lastMessage);
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// Point to the created message
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lastMsgUpdate = lastMessage;
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}
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else
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{
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// The message has been found/created
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if ((lastMsgUpdate->contains(message.msgid))&&(uasMessageCount.contains(message.sysid)))
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{
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// Looking for and updating the message count
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unsigned int count = 0;
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QMap<int, QMap<int, unsigned int>* >::const_iterator iter = uasMessageCount.find(message.sysid);
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QMap<int, unsigned int> * uasMsgCount = iter.value();
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while((iter != uasMessageCount.end()) && (iter.key() == message.sysid))
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{
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if(iter.value()->contains(message.msgid))
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{
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uasMsgCount = iter.value();
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count = uasMsgCount->value(message.msgid,0);
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uasMsgCount->insert(message.msgid,count+1);
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break;
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}
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++iter;
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}
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}
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lastMsgUpdate->insert(message.msgid,receiveTime);
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}
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if (selectedSystemID == 0 || selectedComponentID == 0)
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{
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return;
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}
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switch (message.msgid)
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{
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case MAVLINK_MSG_ID_DATA_STREAM:
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{
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mavlink_data_stream_t stream;
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mavlink_msg_data_stream_decode(&message, &stream);
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onboardMessageInterval.insert(stream.stream_id, stream.message_rate);
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}
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break;
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}
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}
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MAVLinkInspector::~MAVLinkInspector()
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{
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clearView();
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delete ui;
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}
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void MAVLinkInspector::updateField(mavlink_message_t* msg, const mavlink_message_info_t* msgInfo, int fieldid, QTreeWidgetItem* item)
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{
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// Add field tree widget item
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||||
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;
|
||||
}
|
||||
|
||||
|
||||
#ifdef MAVLINK_VERSION_2
|
||||
uint8_t* m = (uint8_t*)&uasMessage->payload64[0];
|
||||
#else
|
||||
uint8_t* m = (uint8_t*)&uasMessage->payload[0];
|
||||
#endif
|
||||
|
||||
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 n = *(m+msgInfo->fields[fieldid].wire_offset);
|
||||
item->setData(2, Qt::DisplayRole, "uint8_t");
|
||||
item->setData(1, Qt::DisplayRole, QString::number(n,'f',0));
|
||||
}
|
||||
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, QString::number(n,'f',0));
|
||||
}
|
||||
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, QString::number(n,'f',0));
|
||||
}
|
||||
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, QString::number(n,'f',0));
|
||||
}
|
||||
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, QString::number(n,'f',0));
|
||||
}
|
||||
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, QString::number(n,'f',0));
|
||||
}
|
||||
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 n = *((float*)(m+msgInfo->fields[fieldid].wire_offset));
|
||||
item->setData(2, Qt::DisplayRole, "float");
|
||||
item->setData(1, Qt::DisplayRole, QString::number(n));
|
||||
}
|
||||
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 n = *((double*)(m+msgInfo->fields[fieldid].wire_offset));
|
||||
item->setData(2, Qt::DisplayRole, "double");
|
||||
item->setData(1, Qt::DisplayRole, QString::number(n));
|
||||
}
|
||||
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, QString::number((quint64)n,'f',0));
|
||||
}
|
||||
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, QString::number((qint64)n,'f',0));
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
if(item->checkState(0) == Qt::Checked)
|
||||
{
|
||||
if (msgInfo->fields[fieldid].array_length > 0)
|
||||
{
|
||||
QString str = item->data(1,Qt::DisplayRole).toString();
|
||||
|
||||
QStringList sections = str.split(QRegExp("[,*/^]")); //把每一个块装进一个QStringList中
|
||||
|
||||
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
|
||||
{
|
||||
if(scope)
|
||||
{
|
||||
scope->chartView->setSerieData(QString::number(msg->sysid) + "." + item->data(0,Qt::DisplayRole).toString() + "[" + QString::number(j) + "]",sections[j]);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(scope)
|
||||
{
|
||||
scope->chartView->setSerieData(QString::number(msg->sysid) + "." + item->data(0,Qt::DisplayRole).toString(),item->data(1,Qt::DisplayRole));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void MAVLinkInspector::on_treeWidget_itemClicked(QTreeWidgetItem *item, int column)
|
||||
{
|
||||
QString parentdata;
|
||||
|
||||
if(item->parent())//不是根节点才可以把数据写入框内
|
||||
{
|
||||
if(item->parent()->parent())
|
||||
{
|
||||
parentdata = item->parent()->parent()->data(0,Qt::DisplayRole).toString();
|
||||
}
|
||||
else
|
||||
{
|
||||
parentdata = item->parent()->data(0,Qt::DisplayRole).toString();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
parentdata = item->data(0,Qt::DisplayRole).toString();
|
||||
}
|
||||
|
||||
ui->pushButton_system->setText(parentdata);
|
||||
|
||||
}
|
||||
|
||||
|
||||
void MAVLinkInspector::on_treeWidget_itemChanged(QTreeWidgetItem *item, int column)
|
||||
{
|
||||
QString itemText = item->text(0);
|
||||
if (item->checkState(0) == Qt::Checked)
|
||||
{
|
||||
|
||||
}
|
||||
else if (item->checkState(0) == Qt::Unchecked)
|
||||
{
|
||||
if(itemText.size() != -1)
|
||||
{
|
||||
//太频繁，可能会出问题
|
||||
if(scope)
|
||||
{
|
||||
if(item->parent()->parent())
|
||||
{
|
||||
QString str = item->parent()->parent()->text(0);
|
||||
str = str.mid(str.indexOf(' ') + 1);
|
||||
scope->chartView->removeSerie(str + "." + item->data(0,Qt::DisplayRole).toString());
|
||||
//qDebug() << str + "." + item->data(0,Qt::DisplayRole).toString();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void MAVLinkInspector::updateParentItem(QTreeWidgetItem *item)
|
||||
{
|
||||
QTreeWidgetItem *parent = item->parent();
|
||||
if (parent == NULL)
|
||||
{
|
||||
return;
|
||||
}
|
||||
//选中的子节点个数
|
||||
int selectedCount = 0;
|
||||
int childCount = parent->childCount();
|
||||
for (int i = 0; i < childCount; i++)
|
||||
{
|
||||
QTreeWidgetItem *childItem = parent->child(i);
|
||||
if (childItem->checkState(0) == Qt::Checked)
|
||||
{
|
||||
selectedCount++;
|
||||
}
|
||||
}
|
||||
if (selectedCount <= 0)
|
||||
{
|
||||
//未选中状态
|
||||
parent->setCheckState(0, Qt::Unchecked);
|
||||
}
|
||||
else if (selectedCount > 0 && selectedCount < childCount)
|
||||
{
|
||||
//部分选中状态
|
||||
parent->setCheckState(0, Qt::PartiallyChecked);
|
||||
}
|
||||
else if (selectedCount == childCount)
|
||||
{
|
||||
//选中状态
|
||||
parent->setCheckState(0, Qt::Checked);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,106 @@
|
||||
#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
|
||||
@@ -0,0 +1,84 @@
|
||||
<?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="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>
|
||||
<item row="2" column="0" colspan="2">
|
||||
<widget class="QTreeWidget" name="treeWidget">
|
||||
<property name="headerHidden">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<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="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>
|
||||
</layout>
|
||||
</widget>
|
||||
<resources/>
|
||||
<connections/>
|
||||
</ui>
|
||||
@@ -0,0 +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
|
||||
Reference in New Issue
Block a user