98 lines
3.2 KiB
C++
98 lines
3.2 KiB
C++
#ifndef MAVLINKINSPECTOR_H
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#define MAVLINKINSPECTOR_H
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#define MAVLINK_USE_MESSAGE_INFO
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#include <QMap>
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#include <QTimer>
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#include "QDateTime"
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#include "QWidget"
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#include "mavlink.h"
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#include "mavlink_get_info.h"
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#ifdef QtMavlinkInspector
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#include <mavlinkinspectorglobal.h>
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namespace Ui {
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class MAVLinkInspector;
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}
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class MAVLINKINSPECTORSHARED_EXPORT QTreeWidgetItem;
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class MAVLINKINSPECTORSHARED_EXPORT UASInterface;
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class MAVLINKINSPECTORSHARED_EXPORT MAVLinkInspector : public QWidget{
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#else
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namespace Ui {
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class MAVLinkInspector;
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}
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class QTreeWidgetItem;
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class UASInterface;
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class MAVLinkInspector : public QWidget
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{
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#endif
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Q_OBJECT
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public:
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explicit MAVLinkInspector(const QString& title, QAction* action, QWidget *parent = nullptr);
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~MAVLinkInspector();
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public slots:
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void receiveMessage(mavlink_message_t message);
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/** @brief Clear all messages */
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void clearView();
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/** @brief Update view */
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void refreshView();
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/** @brief Add component to the list */
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void addComponent(int uas, int component, const QString& name);
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/** @Brief Select a system through the drop down menu */
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void selectDropDownMenuSystem(int dropdownid);
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/** @Brief Select a component through the drop down menu */
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void selectDropDownMenuComponent(int dropdownid);
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protected:
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//MAVLinkProtocol *_protocol; ///< MAVLink instance
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int selectedSystemID; ///< Currently selected system
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int selectedComponentID; ///< Currently selected component
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QMap<int, int> systems; ///< Already observed systems
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QMap<int, int> components; ///< Already observed components
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QMap<int, float> onboardMessageInterval; ///< Stores the onboard selected data rate
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QTimer updateTimer; ///< Only update at 1 Hz to not overload the GUI
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QMap<int, QTreeWidgetItem* > uasTreeWidgetItems; ///< Tree of available uas with their widget
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QMap<int, QMap<int, QTreeWidgetItem*>* > uasMsgTreeItems; ///< Stores the widget of the received message for each UAS
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QMap<int, mavlink_message_t* > uasMessageStorage; ///< Stores the messages for every UAS
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QMap<int, QMap<int, float>* > uasMessageHz; ///< Stores the frequency of each message of each UAS
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QMap<int, QMap<int, unsigned int>* > uasMessageCount; ///< Stores the message count of each message of each UAS
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QMap<int, QMap<int, quint64>* > uasLastMessageUpdate; ///< Stores the time of the last message for each message of each UAS
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/* @brief Update one message field */
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void updateField(mavlink_message_t* msg, const mavlink_message_info_t* msgInfo, int fieldid, QTreeWidgetItem* item);
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/** @brief Rebuild the list of components */
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void rebuildComponentList();
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/* @brief Create a new tree for a new UAS */
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void addUAStoTree(int sysId);
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static const unsigned int updateInterval; ///< The update interval of the refresh function
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static const float updateHzLowpass; ///< The low-pass filter value for the frequency of each message
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private slots:
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void _vehicleAdded(quint32 id);
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void on_pushButton_system_clicked();
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void on_treeWidget_itemClicked(QTreeWidgetItem *item, int column);
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private:
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Ui::MAVLinkInspector *ui;
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};
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#endif // QGCMAVLINKINSPECTOR_H
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