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#include "MAVLinkDecoder.h"
#include "UASManager.h"
MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
QObject(parent)
{
mavlink_message_info_t msg[256] = MAVLINK_MESSAGE_INFO;
memcpy(messageInfo, msg, sizeof(mavlink_message_info_t)*256);
memset(receivedMessages, 0, sizeof(mavlink_message_t)*256);
connect(protocol, SIGNAL(messageReceived(LinkInterface*,mavlink_message_t)), this, SLOT(receiveMessage(LinkInterface*,mavlink_message_t)));
}
void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t message)
{
Q_UNUSED(link);
memcpy(receivedMessages+message.msgid, &message, sizeof(mavlink_message_t));
uint8_t msgid = message.msgid;
QString messageName("%1 (#%2)");
messageName = messageName.arg(messageInfo[msgid].name).arg(msgid);
// See if first value is a time value
quint64 time = 0;
uint8_t fieldid = 0;
uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
if (messageInfo[msgid].fields[fieldid].name == "time_boot_ms" && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT32_T)
{
time = *((quint32*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
}
else if (messageInfo[msgid].fields[fieldid].name == "time_usec" && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT64_T)
{
time = *((quint64*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
}
else
{
emitFieldValue(&message, fieldid, time);
}
// Send out field values
for (unsigned int i = 1; i < messageInfo[msgid].num_fields; ++i)
{
emitFieldValue(&message, i, time);
}
// Send out combined math expressions
// FIXME XXX TODO
}
void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time)
{
// Add field tree widget item
uint8_t msgid = msg->msgid;
QString fieldName(messageInfo[msgid].fields[fieldid].name);
QString fieldType;
uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
QString name("%1.%2");
QString unit("");
name = name.arg(messageInfo[msgid].name, fieldName);
switch (messageInfo[msgid].fields[fieldid].type)
{
case MAVLINK_TYPE_CHAR:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
char* str = (char*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// Enforce null termination
str[messageInfo[msgid].fields[fieldid].array_length-1] = '\0';
QString string(name + ": " + str);
emit textMessageReceived(msg->sysid, msg->compid, 0, string);
}
else
{
// Single char
char b = *((char*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
unit = QString("char[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
emit valueChanged(msg->sysid, name, unit, b, time);
}
break;
case MAVLINK_TYPE_UINT8_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
uint8_t* nums = m+messageInfo[msgid].fields[fieldid].wire_offset;
fieldType = QString("uint8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
uint8_t u = *(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = "uint8_t";
emit valueChanged(msg->sysid, name, fieldType, u, time);
}
break;
case MAVLINK_TYPE_INT8_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
int8_t* nums = (int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("int8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
int8_t n = *((int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "int8_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_UINT16_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
uint16_t* nums = (uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("uint16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
uint16_t n = *((uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "uint16_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_INT16_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
int16_t* nums = (int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("int16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
int16_t n = *((int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "int16_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_UINT32_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
uint32_t* nums = (uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("uint32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
float n = *((uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "uint32_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_INT32_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
int32_t* nums = (int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("int32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
int32_t n = *((int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "int32_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_FLOAT:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
float* nums = (float*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("float[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
float f = *((float*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "float";
emit valueChanged(msg->sysid, name, fieldType, f, time);
}
break;
case MAVLINK_TYPE_DOUBLE:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
double* nums = (double*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("double[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
double f = *((double*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "double";
emit valueChanged(msg->sysid, name, fieldType, f, time);
}
break;
case MAVLINK_TYPE_UINT64_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
uint64_t* nums = (uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("uint64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
uint64_t n = *((uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "uint64_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_INT64_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
int64_t* nums = (int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("int64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
int64_t n = *((int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "int64_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
}
}