695 lines
24 KiB
C++
695 lines
24 KiB
C++
|
|
#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);
|
|
|
|
// 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;
|
|
}
|
|
}
|