QGCMAVLinkInspector.h

#ifndef QGCMAVLINKINSPECTOR_H
#define QGCMAVLINKINSPECTOR_H

#include <QWidget>
#include <QMap>
#include <QTimer>

#include "MAVLinkProtocol.h"

namespace Ui {
    class QGCMAVLinkInspector;
}

class QTreeWidgetItem;
class UASInterface;

class QGCMAVLinkInspector : public QWidget
{
    Q_OBJECT

public:
    explicit QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *parent = 0);
    ~QGCMAVLinkInspector();

public slots:
    void receiveMessage(LinkInterface* link,mavlink_message_t message);
    /** @brief Clear all messages */
    void clearView();
    /** Update view */
    void refreshView();
    void addSystem(UASInterface* uas);
    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);

    void rateTreeItemChanged(QTreeWidgetItem* paramItem, int column);

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, quint64> lastMessageUpdate; ///< Used to switch between highlight and non-highlighting color
    QMap<int, float> messagesHz; ///< Used to store update rate in Hz
    QMap<int, float> onboardMessageInterval; ///< Stores the onboard selected data rate
    QMap<int, unsigned int> messageCount; ///< Used to store the message count
    mavlink_message_t receivedMessages[256]; ///< Available / known messages
    QMap<int, QTreeWidgetItem*> treeWidgetItems;   ///< Available tree widget items
    QMap<int, QTreeWidgetItem*> rateTreeWidgetItems; ///< Available rate tree widget items
    QTimer updateTimer; ///< Only update at 1 Hz to not overload the GUI
    mavlink_message_info_t messageInfo[256]; // Store the metadata for all available MAVLink messages.

    // Update one message field
    void updateField(int msgid, int fieldid, QTreeWidgetItem* item);
    /** @brief Rebuild the list of components */
    void rebuildComponentList();
    /** @brief Change the stream interval */
    void changeStreamInterval(int msgid, int interval);

    static const unsigned int updateInterval;
    static const float updateHzLowpass;

private:
    Ui::QGCMAVLinkInspector *ui;
};

#endif // QGCMAVLINKINSPECTOR_H